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size=000B fl=05 iwFz /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 wFz@*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 wFz /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 wFz /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 wFz@*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 wFz /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 )wFz /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 IwFz@*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 iwFz /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 wFz /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 wFz@ƿxFzNLoaded Config Component "Config/vehicleNxFzROpening 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 &xFz*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 (xFz*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 +xFz 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 )-xFz*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 I/xFz*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 i1xFza*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 3xFz*e code=0102 elementURI="LcmListener.listenPrefix" type=01 *a code=009D owner=000E element=0102 universal=3FFF unitName="none" 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code=013D elementURI="VerticalControl.maxBuoyDiveAccel" type=01 *a code=00D8 owner=000F element=013D universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 1yFz9*e code=013E elementURI="VerticalControl.maxBuoyDiveRate" type=01 *a code=00D9 owner=000F element=013E universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 )4yFzL=*e code=013F elementURI="VerticalControl.maxBuoyInt" type=01 *a code=00DA owner=000F element=013F universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 I7yFzQ9*e code=0140 elementURI="VerticalControl.maxDepthInt" type=01 *a code=00DB owner=000F element=0140 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 i:yFz¸>*e code=0141 elementURI="VerticalControl.maxDiveAccel" type=01 *a code=00DC owner=000F element=0141 universal=3FFF unitName="meter_per_second_squared" type=0B size=0003 fl=05 *e code=0143 elementURI="VerticalControl.maxPitchElevatorInt" type=01 *a code=00DE owner=000F element=0143 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 ByFz >*e code=0144 elementURI="VerticalControl.maxPitchMassInt" type=01 *a code=00DF owner=000F element=0144 universal=3FFF unitName="millimeter" type=0B size=0003 fl=05 EyFz<*e code=0145 elementURI="VerticalControl.maxPitchRate" type=01 *a code=00E0 owner=000F element=0145 universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=05 HyFz=*e code=0146 elementURI="VerticalControl.minAscendPitch" type=01 *a code=00E1 owner=000F element=0146 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 )KyFz¸=*e code=0147 elementURI="VerticalControl.minDepthExcursion" type=01 *a code=00E2 owner=000F element=0147 universal=3FFF unitName="meter" type=0B size=0003 fl=05 IPyFz?*e code=0148 elementURI="VerticalControl.pitchLimit" type=01 *a code=00E3 owner=000F element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=05 iTyFz ?*e code=0149 elementURI="VerticalControl.pitchTimeoutGoToSurface" type=01 *a code=00E4 owner=000F element=0149 universal=3FFF unitName="second" type=0B size=0003 fl=05 XyFzpB*e code=014A elementURI="VerticalControl.stopDepthExcursion" type=01 *a code=00E5 owner=000F element=014A universal=3FFF unitName="meter" type=0B size=0003 fl=05 [yFz A*e code=014B elementURI="VerticalControl.stopOverrideDelay" type=01 *a code=00E6 owner=000F element=014B universal=3FFF unitName="minute" type=0B size=0003 fl=05 ayFzC*e code=014C elementURI="VerticalControl.stopOverrideDelayBuoy" type=01 *a code=00E7 owner=000F element=014C universal=3FFF unitName="minute" type=0B size=0003 fl=05 hyFzRD*e code=014D elementURI="VerticalControl.surfaceThreshold" type=01 *a code=00E8 owner=000F element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=05 oyFz?*e code=014E elementURI="VerticalControl.useElevIntInDepthMode" type=01 *a code=00E9 owner=000F element=014E universal=3FFF unitName="bool" type=02 size=0001 fl=05 )ryFzƿyFzNLoaded Config Component "Config/ControlNyFzZOpening 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unitName="micromole_per_second_per_square_meter_per_microampere" type=0B size=0003 fl=05 cFzC*e code=0385 elementURI="PAR_Licor.serial" type=01 *a code=0320 owner=001B element=0385 universal=3FFF unitName="none" type=00 size=0007 fl=05 dFzUWQ4562*e code=0386 elementURI="Turner_Cyclops_rhodamine.loadAtStartup" type=01 *a code=0321 owner=001B element=0386 universal=3FFF unitName="bool" type=02 size=0001 fl=05 )dFz*e code=0387 elementURI="Turner_Cyclops_rhodamine.simulateHardware" type=01 *a code=0322 owner=001B element=0387 universal=3FFF unitName="bool" type=02 size=0001 fl=05 IdFz*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 idFz+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 dFz8*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 dFz*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 dFz6*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 dFzTBD*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 eFz>*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 )eFz?*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 IeFz*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 ieFz*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 eÅFz@*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 eŅFz*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 eDžFz*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 eɅFzQ8>*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 f˅Fz*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 )fͅFz*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 IfЅFz*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 if҅Fz*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 fԅFz*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 fօFz*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 f؅Fz@?*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 fڅFz*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 g݅Fz*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 )g߅Fz*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 IgᅰFz*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 igㅰFz*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 g兰Fz*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 g煰Fz5*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 gꅰFz0*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 g셰Fz2*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 hFz2*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 )hFz2*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 IhFz 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 ihFzcw1*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 hFz>*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 hFz@?*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 hFz4*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 hFz6;*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 iFzm-*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 )iFzj@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 IiFz*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 iiFzpA*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 i Fz*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 i Fz*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 iFz*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 iFzUBAT0051*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 jFz -ldir /mnt/mmc/LRAUV/Logs/latestƿXFzNLoaded Config Component "Config/ScienceNZFzxLooking for Config files in directory: Config/lrauv-whoidhs/N[FzpOpening Config file at: Config/lrauv-whoidhs/vehicle.cfgdeFzwhoidhst?hFzjFzff66FF66kFz9228lFz173298?nFz?qFzsFz /dev/ttyTX0?tFzvFz /dev/ttyTX2?wFziyFz /dev/loadC7zFz /dev/ttyC7?{Fz|Fz /dev/loadC6 ~Fz /dev/ttyC6)?Fz*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 )jFz /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 IjFz /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 ijFz @ Fz /dev/loadC3)Fz /dev/ttyC3I?FzFz /dev/loadC2Fz /dev/ttyC2 ?Fz) Fz /dev/loadC0I Fz/dev/mcp3553C0i ?Fz ?Fz ?FzI Fz /dev/loadB7i Fz /dev/ttyS2 ?FzI Fz /dev/loadB6i Fz /dev/loadB2 Fz /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 jFz /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 jFz /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 jFz @Fz /dev/loadB0Fz/dev/mcp3553B0?Fz?Fz ?Fz*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 jFz /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 kFz /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 )kFz@*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 IkÆFz /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 ikƆFz /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 kɆFz /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 kˆFz@ ͆Fz /dev/loadA5 ΆFz /dev/ttyA5) ?φFz цFz /dev/loadA4 ҆Fz /dev/ttyA4 ?ӆFzՆFz /dev/loadA3ֆFz /dev/ttyA3 ?׆FzنFz /dev/loadA2چFz /dev/ttyA2?ۆFz݆Fz /dev/loadA1ކFz /dev/ttyA1?߆FzN&FzpOpening Config file at: Config/lrauv-whoidhs/Control.cfg.Fz1Fz94FzBi6Fz8*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:Fz:)Fz;@Fz+=BFz9NFzhOpening Config file at: Config/lrauv-whoidhs/BIT.cfg) ?FzI Fzi FzWC FzC!Fz !Fz A)#FzZ49#?Fz)$Fz2.6.27.8I$Fz'#2 PREEMPT Thu Jan 11 20:13:48 PST 2018i$?FzNFzpOpening 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 k%Fz0165*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 l'Fz0135*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 )l)Fz0149*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 Il,Fz0146*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.Fz013D*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 l0Fz014D*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 l3Fz0156*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 l5Fz0133*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 l8Fz0131*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:Fz0145*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 )mFz013C*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 imAFz013B*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 mCFz0132*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 mEFz0134*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 mGFz0153*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 mJFz014B*e code=03D5 elementURI="Config/Battery.stick18" type=00 *a code=0370 owner=001C element=03D5 universal=3FFF unitName="none" type=00 size=0004 fl=05 nLFz013A*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 )nNFz0136*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 InQFz014F*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 inSFz014E*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 nUFz013F*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 nWFz0152*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 nZFz014C*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 n\Fz016B*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 o_Fz0141*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 )oaFz0139*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 IocFz0137*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 ioeFz0142*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 ohFz013E*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 ojFz0147*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 omFz0140*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 opFz0163*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 prFz0157*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 )ptFz0159*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 IpvFz016E*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 ipyFz0160*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 p{Fz015C*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 p}Fz016D*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 pFz012D*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 pFz015E*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 qFz0164*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 )qFz015B*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 IqFz0172*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 iqFz0166*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 qFz0170*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 qFz0148*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 qFz0130*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 qFz0169*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 rFz0158*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 )rFz0162*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 IrFz0150*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 irFz015F*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 rFz0171*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 rFz0143*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 rFz0144*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 rFz016A*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 sFz0155*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 )sFz0151*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 IsFz0154*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 isFz0161*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 sFz0138ƿFzNLoaded Config Component "Config/BatteryNFztOpening Config file at: Config/lrauv-whoidhs/Simulator.cfg$?Fz %FzNKFzvOpening Config file at: Config/lrauv-whoidhs/Navigation.cfg5?TFz5VFzdI6?XFz6ZFzdI9?[Fz8?]Fz7_Fz 7?`FzNFznOpening Config file at: Config/lrauv-whoidhs/logger.cfgNFznOpening Config file at: Config/lrauv-whoidhs/secure.cfgi> Fzlrauv-whoidhs.shore.mbari.org> Fz300234065063620>FzHde`3XNUFzlOpening Config file at: Config/lrauv-whoidhs/Servo.cfg>?_Fz ?`Fzi?cFz%?eFz)AgFzQ9IA?hFziAiFzAlFz?IB?mFzB?oFz CpFziD?qFzDrFzDuFz?iE?vFz F?xFz)FyFziF|Fz>NFznOpening Config file at: Config/lrauv-whoidhs/Sensor.cfgIIˊFziI̊FzIЊFz,f1.0 f0.0 f0.0 f0.0 f1.0 f0.0 f0.0 f0.0 f1.0IL?ӊFziLԊFz M?ՊFz)M?؊FzIMڊFz BiM?܊FzMߊFzpBM?⊰FzO?䊰Fz P劰Fz)P?犰FzIP?芰FziPꊰFzPFP슰Fz?8P?튰FzPFz QFziNFzNFzQ?FzQFz RFzbenthos_atm900)RFz0IR?FziR?FzRFzRFzRFzR? Fz S FzS? FzS?Fz TFz)TFzڢ@ITFz$ciTFz(#.TFzŏ1w-!O?T?FzTFzFT?FziUFzUFz UFz)UFziV? FzV"Fz*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&Fz?V?'FzV(FzV*Fz W?+Fz)W?-FzNsFzpOpening Config file at: Config/lrauv-whoidhs/Science.cfgI[?{Fzi[}Fz[?~Fz[FzI\?Fzi\Fz\?Fz\?Fz ]Fz\?Fz\?FzbFz cFz dFzUWQ8594)c?FzIcFzfcFz7C fFzigFzgFzg?Fzg?Fzg?Fz h?Fz)h?FzIh?Fzih?Fzh?Fzh?Fzh?Fzh?Fz i?Fz)i?FzIiFzii?Fz^"FznReading configuration overrides from Data/persisted.cfgN#FzS(Fz*FzFLoading 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 qFzƿFzlSyncComponent "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 YFz*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 FzƿFzhComponent "DataOverHttps" handled in its own thread.*n code=001F name="DataOverHttps ThreadHandler" FzDCreated PCaller Thread at 4075B4E0FzDProtected caller Thread ID is 1577*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 eFzHC*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 1FzƿFzvSyncComponent "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 q Fzƿ FzrSyncComponent "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 =Fzƿ=FzxSyncComponent "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 dFzƿdFzrSyncComponent "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  Fz;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  Fz;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  Fz;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 ŽFzƿÎFzlSyncComponent "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 ҎFzƿҎFzlSyncComponent "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 ؎Fzƿ؎FzpSyncComponent "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 ގFzƿߎFzhComponent "Radio_Surface" handled in its own thread.*n code=0028 name="Radio_Surface ThreadHandler" FzDCreated PCaller Thread at 4078B4E0FzDProtected caller Thread ID is 1578*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 FzƿFzzSyncComponent "RDI_Pathfinder" handled in the control thread.*n code=002A name="BPC1" *e code=0458 elementURI="BPC1.reserve_battery_charge" type=02 *a code=0430 owner=002A element=0458 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0459 elementURI="BPC1.reserve_battery_voltage" type=02 *a code=0431 owner=002A element=0459 universal=3FFF unitName="volt" type=0B size=0003 fl=05 *e code=045A elementURI="BPC1.platform_battery_charge" type=00 *a code=0432 owner=002A element=045A universal=0022 unitName="ampere_hour" type=0B size=0003 fl=05 *e code=045B elementURI="BPC1.platform_battery_voltage" type=00 *a code=0433 owner=002A element=045B universal=0025 unitName="volt" type=0B size=0003 fl=05 i.FzaD m.Fz>*a code=0434 owner=002A element=0189 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=04 *a code=0435 owner=002A element=018A universal=3FFF unitName="volt" type=0B size=0003 fl=04 *a code=0436 owner=002A element=02CA universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0437 owner=002A element=02CB universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0438 owner=002A element=02CC universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=0439 owner=002A element=02C9 universal=3FFF unitName="count" type=0D size=0004 fl=04 *e code=045C elementURI="BPC1.BattCapacity_1" type=00 *a code=043A owner=002A element=045C universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=045D elementURI="BPC1.BattCurrent_1" type=00 *a code=043B owner=002A element=045D universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=045E elementURI="BPC1.BattStatus_1" type=00 *a code=043C owner=002A element=045E universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=045F elementURI="BPC1.BattTemp_1" type=00 *a code=043D owner=002A element=045F universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0460 elementURI="BPC1.BattVoltage_1" type=00 *a code=043E owner=002A element=0460 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0461 elementURI="BPC1.BattCapacity_2" type=00 *a code=043F owner=002A element=0461 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0462 elementURI="BPC1.BattCurrent_2" type=00 *a code=0440 owner=002A element=0462 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0463 elementURI="BPC1.BattStatus_2" type=00 *a code=0441 owner=002A element=0463 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0464 elementURI="BPC1.BattTemp_2" type=00 *a code=0442 owner=002A element=0464 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0465 elementURI="BPC1.BattVoltage_2" type=00 *a code=0443 owner=002A element=0465 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0466 elementURI="BPC1.BattCapacity_3" type=00 *a code=0444 owner=002A element=0466 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0467 elementURI="BPC1.BattCurrent_3" type=00 *a code=0445 owner=002A element=0467 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0468 elementURI="BPC1.BattStatus_3" type=00 *a code=0446 owner=002A element=0468 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0469 elementURI="BPC1.BattTemp_3" type=00 *a code=0447 owner=002A element=0469 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=046A elementURI="BPC1.BattVoltage_3" type=00 *a code=0448 owner=002A element=046A universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=046B elementURI="BPC1.BattCapacity_4" type=00 *a code=0449 owner=002A element=046B universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=046C elementURI="BPC1.BattCurrent_4" type=00 *a code=044A owner=002A element=046C universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=046D elementURI="BPC1.BattStatus_4" type=00 *a code=044B owner=002A element=046D universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=046E elementURI="BPC1.BattTemp_4" type=00 *a code=044C owner=002A element=046E universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=046F elementURI="BPC1.BattVoltage_4" type=00 *a code=044D owner=002A element=046F universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0470 elementURI="BPC1.BattCapacity_5" type=00 *a code=044E owner=002A element=0470 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0471 elementURI="BPC1.BattCurrent_5" type=00 *a code=044F owner=002A element=0471 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0472 elementURI="BPC1.BattStatus_5" type=00 *a code=0450 owner=002A element=0472 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0473 elementURI="BPC1.BattTemp_5" type=00 *a code=0451 owner=002A element=0473 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0474 elementURI="BPC1.BattVoltage_5" type=00 *a code=0452 owner=002A element=0474 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0475 elementURI="BPC1.BattCapacity_6" type=00 *a code=0453 owner=002A element=0475 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0476 elementURI="BPC1.BattCurrent_6" type=00 *a code=0454 owner=002A element=0476 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0477 elementURI="BPC1.BattStatus_6" type=00 *a code=0455 owner=002A element=0477 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0478 elementURI="BPC1.BattTemp_6" type=00 *a code=0456 owner=002A element=0478 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0479 elementURI="BPC1.BattVoltage_6" type=00 *a code=0457 owner=002A element=0479 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=047A elementURI="BPC1.BattCapacity_7" type=00 *a code=0458 owner=002A element=047A universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=047B elementURI="BPC1.BattCurrent_7" type=00 *a code=0459 owner=002A element=047B universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=047C elementURI="BPC1.BattStatus_7" type=00 *a code=045A owner=002A element=047C universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=047D elementURI="BPC1.BattTemp_7" type=00 *a code=045B owner=002A element=047D universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=047E elementURI="BPC1.BattVoltage_7" type=00 *a code=045C owner=002A element=047E universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=047F elementURI="BPC1.BattCapacity_8" type=00 *a code=045D owner=002A element=047F universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0480 elementURI="BPC1.BattCurrent_8" type=00 *a code=045E owner=002A element=0480 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0481 elementURI="BPC1.BattStatus_8" type=00 *a code=045F owner=002A element=0481 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0482 elementURI="BPC1.BattTemp_8" type=00 *a code=0460 owner=002A element=0482 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0483 elementURI="BPC1.BattVoltage_8" type=00 *a code=0461 owner=002A element=0483 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0484 elementURI="BPC1.BattCapacity_9" type=00 *a code=0462 owner=002A element=0484 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0485 elementURI="BPC1.BattCurrent_9" type=00 *a code=0463 owner=002A element=0485 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0486 elementURI="BPC1.BattStatus_9" type=00 *a code=0464 owner=002A element=0486 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0487 elementURI="BPC1.BattTemp_9" type=00 *a code=0465 owner=002A element=0487 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0488 elementURI="BPC1.BattVoltage_9" type=00 *a code=0466 owner=002A element=0488 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0489 elementURI="BPC1.BattCapacity_10" type=00 *a code=0467 owner=002A element=0489 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=048A elementURI="BPC1.BattCurrent_10" type=00 *a code=0468 owner=002A element=048A universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=048B elementURI="BPC1.BattStatus_10" type=00 *a code=0469 owner=002A element=048B universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=048C elementURI="BPC1.BattTemp_10" type=00 *a code=046A owner=002A element=048C universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=048D elementURI="BPC1.BattVoltage_10" type=00 *a code=046B owner=002A element=048D universal=3FFF 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code=0582 elementURI="BPC1.BattVoltage_59" type=00 *a code=0560 owner=002A element=0582 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0583 elementURI="BPC1.BattCapacity_60" type=00 *a code=0561 owner=002A element=0583 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0584 elementURI="BPC1.BattCurrent_60" type=00 *a code=0562 owner=002A element=0584 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=0585 elementURI="BPC1.BattStatus_60" type=00 *a code=0563 owner=002A element=0585 universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0586 elementURI="BPC1.BattTemp_60" type=00 *a code=0564 owner=002A element=0586 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0587 elementURI="BPC1.BattVoltage_60" type=00 *a code=0565 owner=002A element=0587 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=0588 elementURI="BPC1.BattCapacity_61" type=00 *a code=0566 owner=002A element=0588 universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=0589 elementURI="BPC1.BattCurrent_61" type=00 *a code=0567 owner=002A element=0589 universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=058A elementURI="BPC1.BattStatus_61" type=00 *a code=0568 owner=002A element=058A universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=058B elementURI="BPC1.BattTemp_61" type=00 *a code=0569 owner=002A element=058B universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=058C elementURI="BPC1.BattVoltage_61" type=00 *a code=056A owner=002A element=058C universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 *e code=058D elementURI="BPC1.BattCapacity_62" type=00 *a code=056B owner=002A element=058D universal=3FFF unitName="ampere_hour" type=0B size=0003 fl=05 *e code=058E elementURI="BPC1.BattCurrent_62" type=00 *a code=056C owner=002A element=058E universal=3FFF unitName="ampere" type=0B size=0003 fl=05 *e code=058F elementURI="BPC1.BattStatus_62" type=00 *a code=056D owner=002A element=058F universal=3FFF unitName="none_ushort" type=06 size=0002 fl=05 *e code=0590 elementURI="BPC1.BattTemp_62" type=00 *a code=056E owner=002A element=0590 universal=3FFF unitName="celsius" type=0B size=0003 fl=05 *e code=0591 elementURI="BPC1.BattVoltage_62" type=00 *a code=056F owner=002A element=0591 universal=3FFF unitName="millivolt" type=0B size=0003 fl=05 SFzƿSFzfSyncComponent "BPC1" handled in the control thread.SFzlLoaded Module: Sensor (Contains the sensor components)TFzFLoading Module at Modules/Sample.so`FzLoaded Module: Sample (This is a Sample Module of Sample Components)aFzNLoading Module at Modules/Navigation.so*n code=002B name="DeadReckonUsingMultipleVelocitySources" *a code=0570 owner=002B element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0571 owner=002B element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0572 owner=002B element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0573 owner=002B element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0574 owner=002B element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0575 owner=002B element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=0592 elementURI="DeadReckonUsingMultipleVelocitySources.latitude" type=00 *a code=0576 owner=002B element=0592 universal=0017 unitName="degree" type=37 size=0006 fl=05 IFz*e code=0593 elementURI="DeadReckonUsingMultipleVelocitySources.longitude" type=00 *a code=0577 owner=002B element=0593 universal=001A unitName="degree" type=37 size=0006 fl=05 MFz*e code=0594 elementURI="DeadReckonUsingMultipleVelocitySources.depth" type=00 *a code=0578 owner=002B element=0594 universal=0006 unitName="meter" type=0B size=0003 fl=05 QFz*e code=0595 elementURI="DeadReckonUsingMultipleVelocitySources.horizontal_path_length_since_last_fix" type=00 *a code=0579 owner=002B element=0595 universal=0015 unitName="meter" type=0B size=0003 fl=05 UFz*e code=0596 elementURI="DeadReckonUsingMultipleVelocitySources.fix_distance_made_good" type=00 *a code=057A owner=002B element=0596 universal=000D unitName="meter" type=0B size=0003 fl=05 YFz*e code=0597 elementURI="DeadReckonUsingMultipleVelocitySources.fix_horizontal_path_length_since_last_fix" type=00 *a code=057B owner=002B element=0597 universal=000E unitName="meter" type=0B size=0003 fl=05 ]Fz*e code=0598 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_distance" type=00 *a code=057C owner=002B element=0598 universal=000F unitName="meter" type=0B size=0003 fl=05 aFz*e code=0599 elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_bearing" type=00 *a code=057D owner=002B element=0599 universal=0010 unitName="radian" type=2F size=0004 fl=05 eFz*e code=059A elementURI="DeadReckonUsingMultipleVelocitySources.fix_residual_percent_distance_traveled" type=00 *a code=057E owner=002B element=059A universal=0011 unitName="percent" type=0B size=0003 fl=05 iFz*a code=057F owner=002B element=0216 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0580 owner=002B element=0213 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0581 owner=002B element=0212 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0582 owner=002B element=0214 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0583 owner=002B element=0215 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0584 owner=002B element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0585 owner=002B element=0041 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=059B elementURI="SpeedCalculator.platform_speed_wrt_sea_water" type=02 *a code=0586 owner=002B element=059B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=059C elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_orientation_read" type=02 *a code=0587 owner=002B element=059C universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=059D elementURI="DeadReckonUsingMultipleVelocitySources.elapsed_since_velocity_read" type=02 *a code=0588 owner=002B element=059D universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=059E elementURI="DeadReckonUsingMultipleVelocitySources.latitude_accuracy" type=02 *a code=0589 owner=002B element=059E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=059F elementURI="DeadReckonUsingMultipleVelocitySources.velocity_source" type=02 *a code=058A owner=002B element=059F universal=3FFF unitName="count" type=0D size=0004 fl=05 ǗFzƿȗFzSyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.*n code=002C name="DeadReckonUsingSpeedCalculator" *a code=058B owner=002C element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=058C owner=002C element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=058D owner=002C element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=058E owner=002C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=058F owner=002C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0590 owner=002C element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05A0 elementURI="DeadReckonUsingSpeedCalculator.latitude" type=00 *a code=0591 owner=002C element=05A0 universal=0017 unitName="degree" type=37 size=0006 fl=05  ϗFz*e code=05A1 elementURI="DeadReckonUsingSpeedCalculator.longitude" type=00 *a code=0592 owner=002C element=05A1 universal=001A unitName="degree" type=37 size=0006 fl=05  Fz*e code=05A2 elementURI="DeadReckonUsingSpeedCalculator.depth" type=00 *a code=0593 owner=002C element=05A2 universal=0006 unitName="meter" type=0B size=0003 fl=05  Fz*e code=05A3 elementURI="DeadReckonUsingSpeedCalculator.horizontal_path_length_since_last_fix" type=00 *a code=0594 owner=002C element=05A3 universal=0015 unitName="meter" type=0B size=0003 fl=05   Fz*e code=05A4 elementURI="DeadReckonUsingSpeedCalculator.fix_distance_made_good" type=00 *a code=0595 owner=002C element=05A4 universal=000D unitName="meter" type=0B size=0003 fl=05  Fz*e code=05A5 elementURI="DeadReckonUsingSpeedCalculator.fix_horizontal_path_length_since_last_fix" type=00 *a code=0596 owner=002C element=05A5 universal=000E unitName="meter" type=0B size=0003 fl=05  Fz*e code=05A6 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_distance" type=00 *a code=0597 owner=002C element=05A6 universal=000F unitName="meter" type=0B size=0003 fl=05  Fz*e code=05A7 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_bearing" type=00 *a code=0598 owner=002C element=05A7 universal=0010 unitName="radian" type=2F size=0004 fl=05  Fz*e code=05A8 elementURI="DeadReckonUsingSpeedCalculator.fix_residual_percent_distance_traveled" type=00 *a code=0599 owner=002C element=05A8 universal=0011 unitName="percent" type=0B size=0003 fl=05  "Fz*a code=059A owner=002C element=021C universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=059B owner=002C element=0219 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=059C owner=002C element=0218 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=059D owner=002C element=021A universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=059E owner=002C element=021B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=059F owner=002C element=059B universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *e code=05A9 elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_orientation_read" type=02 *a code=05A0 owner=002C element=05A9 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05AA elementURI="DeadReckonUsingSpeedCalculator.elapsed_since_velocity_read" type=02 *a code=05A1 owner=002C element=05AA universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05AB elementURI="DeadReckonUsingSpeedCalculator.latitude_accuracy" type=02 *a code=05A2 owner=002C element=05AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 1 1Fzƿ1FzSyncComponent "DeadReckonUsingSpeedCalculator" handled in the control thread.*n code=002D name="DeadReckonWithRespectToSeafloor" *a code=05A3 owner=002D element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A4 owner=002D element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A5 owner=002D element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A6 owner=002D element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A7 owner=002D element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05A8 owner=002D element=0034 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05AC elementURI="DeadReckonWithRespectToSeafloor.latitude" type=00 *a code=05A9 owner=002D element=05AC universal=0017 unitName="degree" type=37 size=0006 fl=05 Q 9Fz*e code=05AD elementURI="DeadReckonWithRespectToSeafloor.longitude" type=00 *a code=05AA owner=002D element=05AD universal=001A unitName="degree" type=37 size=0006 fl=05 Q =Fz*e code=05AE elementURI="DeadReckonWithRespectToSeafloor.depth" type=00 *a code=05AB owner=002D element=05AE universal=0006 unitName="meter" type=0B size=0003 fl=05 Q BFz*e code=05AF elementURI="DeadReckonWithRespectToSeafloor.horizontal_path_length_since_last_fix" type=00 *a code=05AC owner=002D element=05AF universal=0015 unitName="meter" type=0B size=0003 fl=05 Q FFz*e code=05B0 elementURI="DeadReckonWithRespectToSeafloor.fix_distance_made_good" type=00 *a code=05AD owner=002D element=05B0 universal=000D unitName="meter" type=0B size=0003 fl=05 Q KFz*e code=05B1 elementURI="DeadReckonWithRespectToSeafloor.fix_horizontal_path_length_since_last_fix" type=00 *a code=05AE owner=002D element=05B1 universal=000E unitName="meter" type=0B size=0003 fl=05 Q OFz*e code=05B2 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_distance" type=00 *a code=05AF owner=002D element=05B2 universal=000F unitName="meter" type=0B size=0003 fl=05 Q SFz*e code=05B3 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_bearing" type=00 *a code=05B0 owner=002D element=05B3 universal=0010 unitName="radian" type=2F size=0004 fl=05 Q XFz*e code=05B4 elementURI="DeadReckonWithRespectToSeafloor.fix_residual_percent_distance_traveled" type=00 *a code=05B1 owner=002D element=05B4 universal=0011 unitName="percent" type=0B size=0003 fl=05 Q \Fz*a code=05B2 owner=002D element=0228 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05B3 owner=002D element=0225 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05B4 owner=002D element=0224 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05B5 owner=002D element=0226 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05B6 owner=002D element=0227 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05B7 owner=002D element=0040 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05B5 elementURI="DeadReckonWithRespectToSeafloor.elapsed_since_orientation_read" type=02 *a code=05B8 owner=002D element=05B5 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05B6 elementURI="DeadReckonWithRespectToSeafloor.elapsed_since_velocity_read" type=02 *a code=05B9 owner=002D element=05B6 universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=05B7 elementURI="DeadReckonWithRespectToSeafloor.latitude_accuracy" type=02 *a code=05BA owner=002D element=05B7 universal=3FFF unitName="radian" type=2F size=0004 fl=05 q kFzƿkFzSyncComponent "DeadReckonWithRespectToSeafloor" handled in the control thread.*n code=002E name="NavChart" *a code=05BB owner=002E element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05BC owner=002E element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05BD owner=002E element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05BE owner=002E element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05B8 elementURI="NavChart.sea_floor_depth_below_geoid" type=00 *a code=05BF owner=002E element=05B8 universal=0053 unitName="meter" type=0B size=0003 fl=05 *e code=05B9 elementURI="NavChart.height_above_sea_floor" type=00 *a code=05C0 owner=002E element=05B9 universal=0014 unitName="meter" type=0B size=0003 fl=05 *e code=05BA elementURI="NavChart.distance_from_shore" type=00 *a code=05C1 owner=002E element=05BA universal=0009 unitName="meter" type=0B size=0003 fl=05 zFzD*e code=05BB elementURI="NavChart.Height_Above_Sea_Floor_Comp" type=02 *a code=05C2 owner=002E element=05BB universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=05C3 owner=002E element=0236 universal=3FFF unitName="bool" type=02 size=0001 fl=04 FzƿFznSyncComponent "NavChart" handled in the control thread.*n code=002F name="UniversalFixResidualReporter" *a code=05C4 owner=002F element=023A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05C5 owner=002F element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C6 owner=002F element=0018 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C7 owner=002F element=001B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C8 owner=002F element=000E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05C9 owner=002F element=000D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CA owner=002F element=000F universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CB owner=002F element=0010 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=05CC owner=002F element=0011 universal=FFFF unitName="none" type=FF size=0000 fl=04 FzƿFzSyncComponent "UniversalFixResidualReporter" handled in the control thread.FzLoaded Module: Navigation (Contains the base navigation components)FzDLoading Module at Modules/Servo.so*n code=0030 name="BuoyancyServo" *a code=05CD owner=0030 element=025D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05CE owner=0030 element=0267 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05CF owner=0030 element=0266 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05D0 owner=0030 element=025F universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05D1 owner=0030 element=0260 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D2 owner=0030 element=0261 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D3 owner=0030 element=0263 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D4 owner=0030 element=0264 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D5 owner=0030 element=0265 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05D6 owner=0030 element=0262 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=05D7 owner=0030 element=025E universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05D8 owner=0030 element=0268 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05D9 owner=0030 element=026A universal=3FFF unitName="count_per_cubic_centimeter" type=0B size=0003 fl=04 *a code=05DA owner=0030 element=026B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05DB owner=0030 element=0269 universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=05DC owner=0030 element=026E universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05DD owner=0030 element=026D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=05DE owner=0030 element=026C universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05DF owner=0030 element=0116 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=05E0 owner=0030 element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=05E1 owner=0030 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=05BC elementURI="BuoyancyServo.platform_buoyancy_position" type=00 *a code=05E2 owner=0030 element=05BC universal=0028 unitName="cubic_centimeter" type=0B size=0003 fl=05  ☰Fz4*e code=05BD elementURI="VerticalControl.buoyancyAction" type=02 *a code=05E3 owner=0030 element=05BD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 1 昰Fzƿ昰FzxSyncComponent "BuoyancyServo" handled in the control thread.*n code=0031 name="ElevatorServo" *a code=05E4 owner=0031 element=0270 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05E5 owner=0031 element=027B universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05E6 owner=0031 element=0272 universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05E7 owner=0031 element=0274 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05E8 owner=0031 element=0275 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05E9 owner=0031 element=0278 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05EA owner=0031 element=0279 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05EB owner=0031 element=027A universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05EC owner=0031 element=0277 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=05ED owner=0031 element=0271 universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=05EE owner=0031 element=0276 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05EF owner=0031 element=0273 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=05F0 owner=0031 element=0120 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=05BE elementURI="ElevatorServo.platform_elevator_angle" type=00 *a code=05F1 owner=0031 element=05BE universal=002E unitName="radian" type=2F size=0004 fl=05 Q Fz;*e code=05BF elementURI="VerticalControl.elevatorAngleAction" type=02 *a code=05F2 owner=0031 element=05BF universal=3FFF unitName="radian" type=2F size=0004 fl=04 q FzƿFzxSyncComponent "ElevatorServo" handled in the control thread.*n code=0032 name="MassServo" *a code=05F3 owner=0032 element=027D universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=05F4 owner=0032 element=0283 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=05F5 owner=0032 element=027F universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=05F6 owner=0032 element=0280 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05F7 owner=0032 element=0281 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05F8 owner=0032 element=0282 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 *a code=05F9 owner=0032 element=027E universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05FA owner=0032 element=0284 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=05FB owner=0032 element=0287 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=05FC owner=0032 element=0286 universal=3FFF unitName="count_per_millimeter" type=0B size=0003 fl=04 *a code=05FD owner=0032 element=0285 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=05FE owner=0032 element=0136 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *e code=05C0 elementURI="MassServo.platform_mass_position" type=00 *a code=05FF owner=0032 element=05C0 universal=0032 unitName="meter" type=0B size=0003 fl=05 *e code=05C1 elementURI="VerticalControl.massPositionAction" type=02 *a code=0600 owner=0032 element=05C1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 FzƿFzpSyncComponent "MassServo" handled in the control thread.*n code=0033 name="RudderServo" *a code=0601 owner=0033 element=0289 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0602 owner=0033 element=0294 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0603 owner=0033 element=028B universal=3FFF unitName="percent" type=0B size=0003 fl=04 *a code=0604 owner=0033 element=028D universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0605 owner=0033 element=028E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0606 owner=0033 element=0291 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0607 owner=0033 element=0292 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0608 owner=0033 element=0293 universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0609 owner=0033 element=0290 universal=3FFF unitName="degree" type=2F size=0004 fl=04 *a code=060A owner=0033 element=028A universal=3FFF unitName="count_per_angular_degree" type=0B size=0003 fl=04 *a code=060B owner=0033 element=028F universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=060C owner=0033 element=028C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=060D owner=0033 element=010F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *e code=05C2 elementURI="RudderServo.platform_rudder_angle" type=00 *a code=060E owner=0033 element=05C2 universal=003C unitName="radian" type=2F size=0004 fl=05 *e code=05C3 elementURI="HorizontalControl.rudderAngleAction" type=02 *a code=060F owner=0033 element=05C3 universal=3FFF unitName="radian" type=2F size=0004 fl=04 FzƿFztSyncComponent "RudderServo" handled in the control thread.*n code=0034 name="ThrusterServo" *a code=0610 owner=0034 element=0296 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=05C4 elementURI="ThrusterServo.platform_propeller_rotation_rate" type=00 *a code=0611 owner=0034 element=05C4 universal=0038 unitName="radian_per_second" type=0B size=0003 fl=05 *e code=05C5 elementURI="SpeedControl.propOmegaAction" type=02 *a code=0612 owner=0034 element=05C5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0613 owner=0034 element=029D 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size=0003 fl=04 *a code=070C owner=0043 element=016C universal=3FFF unitName="fahrenheit" type=0B size=0003 fl=04 *a code=070D owner=0043 element=0173 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=070E owner=0043 element=016D universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=070F owner=0043 element=016E universal=3FFF unitName="count" type=0D size=0004 fl=04 *a code=0710 owner=0043 element=0170 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0711 owner=0043 element=0172 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0712 owner=0043 element=0171 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0713 owner=0043 element=016F universal=3FFF unitName="celsius" type=0B size=0003 fl=04 *a code=0714 owner=0043 element=0174 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0715 owner=0043 element=0175 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0716 owner=0043 element=0176 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0717 owner=0043 element=0177 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0718 owner=0043 element=0178 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=0719 owner=0043 element=0179 universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071A owner=0043 element=017A universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071B owner=0043 element=017B universal=3FFF unitName="milliampere" type=0B size=0003 fl=04 *a code=071C owner=0043 element=017C universal=3FFF unitName="hour" type=0B size=0003 fl=04 *a code=071D owner=0043 element=017D universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=071E owner=0043 element=017E universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=071F owner=0043 element=017F universal=3FFF unitName="microampere" type=0B size=0003 fl=04 *a code=0720 owner=0043 element=0180 universal=3FFF 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size=0003 fl=04 *a code=075F owner=0044 element=0112 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0760 owner=0044 element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0761 owner=0044 element=014A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0762 owner=0044 element=014B universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0763 owner=0044 element=014C universal=3FFF unitName="minute" type=0B size=0003 fl=04 *a code=0764 owner=0044 element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=0765 owner=0044 element=014E universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=0766 owner=0044 element=0273 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=0767 owner=0044 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0768 owner=0044 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0769 owner=0044 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=076A owner=0044 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=076B owner=0044 element=002E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=076C owner=0044 element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=076D owner=0044 element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=060C elementURI="VerticalControl.depth2buoyIntInternal" type=02 *a code=076E owner=0044 element=060C universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *e code=060D elementURI="VerticalControl.depthErrorInternal" type=02 *a code=076F owner=0044 element=060D universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=060E elementURI="VerticalControl.depthIntegralInternal" type=02 *a code=0770 owner=0044 element=060E universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=060F elementURI="VerticalControl.dtInternal" type=02 *a code=0771 owner=0044 element=060F universal=3FFF unitName="second" type=0B size=0003 fl=05 *e code=0610 elementURI="VerticalControl.elevatorIntegralInternal" type=02 *a code=0772 owner=0044 element=0610 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0611 elementURI="VerticalControl.massIntegralInternal" type=02 *a code=0773 owner=0044 element=0611 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0612 elementURI="VerticalControl.massPitchErrorInternal" type=02 *a code=0774 owner=0044 element=0612 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0613 elementURI="VerticalControl.pitchInternal" type=02 *a code=0775 owner=0044 element=0613 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0614 elementURI="VerticalControl.smoothDepthInternal" type=02 *a code=0776 owner=0044 element=0614 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=0777 owner=0044 element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=0778 owner=0044 element=05BF universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0779 owner=0044 element=05C1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=077A owner=0044 element=05BD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=077B owner=0044 element=05BF universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=077C owner=0044 element=05C1 universal=3FFF unitName="meter" type=0B size=0003 fl=04 1aFzƿaFz|SyncComponent "VerticalControl" handled in the control thread.*n code=0045 name="HorizontalControl" "bFz8Construct HorizontalControl.*a code=077D owner=0045 element=05F3 universal=3FFF unitName="enum" type=02 size=0001 fl=04 *e code=0615 elementURI="HorizontalControl.latitudeCmd" type=02 *a code=077E owner=0045 element=0615 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0616 elementURI="HorizontalControl.longitudeCmd" type=02 *a code=077F owner=0045 element=0616 universal=3FFF unitName="degree" type=37 size=0006 fl=04 *e code=0617 elementURI="HorizontalControl.headingCmd" type=02 *a code=0780 owner=0045 element=0617 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0618 elementURI="HorizontalControl.headingRateCmd" type=02 *a code=0781 owner=0045 element=0618 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=04 *a code=0782 owner=0045 element=05F4 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *e code=0619 elementURI="HorizontalControl.bearingCmd" type=02 *a code=0783 owner=0045 element=0619 universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=0784 owner=0045 element=0106 universal=3FFF unitName="second" type=0B size=0003 fl=04 *a code=0785 owner=0045 element=0107 universal=3FFF unitName="reciprocal_second" type=0B size=0003 fl=04 *a code=0786 owner=0045 element=0109 universal=3FFF unitName="none" type=1F size=0008 fl=04 *a code=0787 owner=0045 element=010A universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=04 *a code=0788 owner=0045 element=0108 universal=3FFF unitName="radian_per_second_per_meter" type=0B size=0003 fl=04 *a code=0789 owner=0045 element=010B universal=3FFF unitName="angular_degree_per_second_squared" type=0B size=0003 fl=04 *a code=078A owner=0045 element=010C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *a code=078B owner=0045 element=010D universal=3FFF unitName="angular_degree_per_second" type=0B size=0003 fl=04 *a code=078C owner=0045 element=010E universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=078D owner=0045 element=010F universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=078E owner=0045 element=0110 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=078F owner=0045 element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0790 owner=0045 element=004B universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0791 owner=0045 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0792 owner=0045 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0793 owner=0045 element=003C universal=FFFF unitName="none" type=FF size=0000 fl=04 *e code=061A elementURI="HorizontalControl.headingInternal" type=02 *a code=0794 owner=0045 element=061A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=061B elementURI="HorizontalControl.smoothHeadingInternal" type=02 *a code=0795 owner=0045 element=061B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=061C elementURI="HorizontalControl.headingIntegralInternal" type=02 *a code=0796 owner=0045 element=061C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=061D elementURI="HorizontalControl.xteIntegralInternal" type=02 *a code=0797 owner=0045 element=061D universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=061E elementURI="HorizontalControl.xteInternal" type=02 *a code=0798 owner=0045 element=061E universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=061F elementURI="HorizontalControl.kxteInternal" type=02 *a code=0799 owner=0045 element=061F universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=0620 elementURI="HorizontalControl.bearingInternal" type=02 *a code=079A owner=0045 element=0620 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=079B owner=0045 element=05C3 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=079C owner=0045 element=05C3 universal=3FFF unitName="radian" type=2F size=0004 fl=04 qFzƿFzSyncComponent "HorizontalControl" handled in the control thread.*n code=0046 name="SpeedControl" #Fz.Construct SpeedControl.*a code=079D owner=0046 element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 *a code=079E owner=0046 element=0114 universal=3FFF unitName="meter_per_radian" type=0B size=0003 fl=04 *a code=079F owner=0046 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07A0 owner=0046 element=05C5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 FzƿFzvSyncComponent "SpeedControl" handled in the control thread.*n code=0047 name="LoopControl" #Fz,Construct LoopControl.*a code=07A1 owner=0047 element=060B universal=3FFF unitName="second" type=0B size=0003 fl=04 FzƿFztSyncComponent "LoopControl" handled in the control thread.FzLoaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)FzHLoading Module at Modules/Trigger.soFz|Loaded Module: Trigger (Contains triggers for use in missions)*n code=0048 name="MissionManager" *a code=07A2 owner=0048 element=05F1 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07A3 owner=0048 element=0067 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *e code=0621 elementURI="MissionManager.mission_started" type=00 *a code=07A4 owner=0048 element=0621 universal=001C unitName="count" type=0D size=0004 fl=05 ƿFzzSyncComponent "MissionManager" handled in the control thread.*n code=0049 name="Reporter" ƿFznSyncComponent "Reporter" handled in the control thread.*n code=004A name="NavChartDb" *e code=0622 elementURI="NavChartDb.closestDistance" type=02 *a code=07A5 owner=004A element=0622 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0623 elementURI="NavChartDb.nextDistance" type=02 *a code=07A6 owner=004A element=0623 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0624 elementURI="NavChartDb.closestDepth" type=02 *a code=07A7 owner=004A element=0624 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0625 elementURI="NavChartDb.nextDepth" type=02 *a code=07A8 owner=004A element=0625 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07A9 owner=004A element=0237 universal=3FFF unitName="none" type=00 size=0047 fl=04 *a code=07AA owner=004A element=0238 universal=3FFF unitName="millisecond" type=0B size=0003 fl=04 ƿÞFzbComponent "NavChartDb" handled in its own thread.*n code=004B name="NavChartDb ThreadHandler" %ĞFzDCreated PCaller Thread at 40AD04E0%ŞFzDProtected caller Thread ID is 1581NɞFz*Main Thread ID is 802FɞFz&Running supervisor.ʞFz2Handler Thread ID is 1582̞Fz2Handler Thread ID is 1583 ͞Fz4Initializing ControlThread*a code=07AB owner=0021 element=02EC universal=3FFF unitName="bool" type=02 size=0001 fl=04 ӞFzlInitializing DeadReckonUsingSpeedCalculator component. ԞFz>Initialize NavChart Navigation.ԞFzhInitializing UniversalFixResidualReporter component.՞FzBInitializing DepthRateCalculator. ՞FzBInitializing PitchRateCalculator.՞Fz:Initializing SpeedCalculator. ֞FzHInitializing TempGradientCalculator.֞Fz>Initializing YawRateCalculator. מFzLInitializing ElevatorOffsetCalculator. מFz4Initialize SBIT Component. ؞Fz6git: 2019-03-18-30-g7da7159 ؞Fzdgit hash: 7da7159d5431eac8e9f43cbd3a8b52ad9cf33c07 ݞFz0Kernel Release: 2.6.27.8 ឰFzlKernel Version:#2 PREEMPT Thu Jan 11 20:13:48 PST 2018)ϿឰFz ➰FzHBeginning SBIT in 28.000000 seconds.!㞰Fz4Initialize IBIT Component.ѿ㞰Fz!䞰Fz4Initialize CBIT Component.垰Fz2Handler Thread ID is 1584!Fz*Initialized mux pins.!Fz@Initializing the watchdog timer.Fz2Handler Thread ID is 1585 FzdashIP=134.89.2.23 starts with a digit so assuming it is a numeric IPFz2Handler Thread ID is 1586!FzTLast reboot was NOT due to watchdog timer.!Fz.Initializing heartbeat.Fz2Handler Thread ID is 1587FzPowering down*e code=0626 elementURI="CTD_NeilBrown.component_voltage" type=00 *a code=07AC owner=0035 element=0626 universal=3FFF unitName="volt" type=07 size=0002 fl=05 Fz*e code=0627 elementURI="CTD_NeilBrown.component_avgVoltage" type=00 *a code=07AD owner=0035 element=0627 universal=3FFF unitName="volt" type=07 size=0002 fl=05 Fz*e code=0628 elementURI="CTD_NeilBrown.component_current" type=00 *a code=07AE owner=0035 element=0628 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 !Fz*e code=0629 elementURI="CTD_NeilBrown.component_avgCurrent" type=00 *a code=07AF owner=0035 element=0629 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 &Fz6Fz2Handler Thread ID is 15886FzPowering down*e code=062A elementURI="WetLabsSeaOWL_UV_A.component_voltage" type=00 *a code=07B0 owner=0039 element=062A universal=3FFF unitName="volt" type=07 size=0002 fl=05 :Fz*e code=062B elementURI="WetLabsSeaOWL_UV_A.component_avgVoltage" type=00 *a code=07B1 owner=0039 element=062B universal=3FFF unitName="volt" type=07 size=0002 fl=05 )?Fz*e code=062C elementURI="WetLabsSeaOWL_UV_A.component_current" type=00 *a code=07B2 owner=0039 element=062C universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ICFz*e code=062D elementURI="WetLabsSeaOWL_UV_A.component_avgCurrent" type=00 *a code=07B3 owner=0039 element=062D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 iGFzȿGFzȿGFz ɿGFz)ɿGFzIɿHFzɿHFzɿHFzɿHFzamHFz@!LFz2Deactivating GF circuits.!MFz8Deactivating emergency mode.%QFz2Handler Thread ID is 1589%TFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000%TFztAlready Loaded Electronic Nav Chart data from US1WC07M.000%TFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000%TFztAlready Loaded Electronic Nav Chart data from US2WC11M.000%UFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000%UFztAlready Loaded Electronic Nav Chart data from US3CA52M.000%UFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000%UFztAlready Loaded Electronic Nav Chart data from US4CA60M.000%UFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000%UFztAlready Loaded Electronic Nav Chart data from US5CA50M.000%VFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000%VFztAlready Loaded Electronic Nav Chart data from US5CA61M.000%VFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000%VFztAlready Loaded Electronic Nav Chart data from US5CA62M.000%VFzLooking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000%WFztAlready Loaded Electronic Nav Chart data from US5CA83M.000!pFz$Backplane powered. "pFzHInitialize VerticalControlComponent."rFzLInitialize HorizontalControlComponent. #rFzBInitialize SpeedControlComponent.#sFz@Initialize LoopControlComponent.$sFzJLoading Mission: Missions/Startup.xml*n code=004C name="Startup" *n code=004D name="Startup:A.GoToSurface" &}Fz,Construct GoToSurface.*a code=07B4 owner=004D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B5 owner=004D element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B6 owner=004D element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07B7 owner=004D element=0608 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07B8 owner=004D element=05E9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07B9 owner=004D element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07BA owner=004D element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07BB owner=004D element=05F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07BC owner=004D element=05EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07BD owner=004D element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07BE owner=004D element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07BF owner=004D element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07C0 owner=004D element=013A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07C1 owner=004D element=0135 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07C2 owner=004D element=0149 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=004E name="Startup:StartupSatComms" *n code=004F name="Startup:StartupSatComms:A" *n code=0050 name="Startup:StartupSatComms:B" $FzA $FzJLoading Mission: Missions/Default.xml*n code=0051 name="Default" *e code=062E elementURI="Default.ElapsedSinceDefaultStarted" type=00 *a code=07C3 owner=0051 element=062E universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=07C4 owner=0051 element=062E universal=3FFF unitName="minute" type=1F size=0008 fl=05 Fz$ FzvDefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min*n code=0052 name="Default:A.Wait" )FzConstruct Wait.*n code=0053 name="Default:B.GoToSurface" ) Fz,Construct GoToSurface.*a code=07C5 owner=0053 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C6 owner=0053 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C7 owner=0053 element=0035 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=07C8 owner=0053 element=0608 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07C9 owner=0053 element=05E9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07CA owner=0053 element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=07CB owner=0053 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=07CC owner=0053 element=05F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=07CD owner=0053 element=05EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=07CE owner=0053 element=014D universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07CF owner=0053 element=0148 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 *a code=07D0 owner=0053 element=011A universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=07D1 owner=0053 element=013A universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=07D2 owner=0053 element=0135 universal=3FFF unitName="bool" type=02 size=0001 fl=04 *a code=07D3 owner=0053 element=0149 universal=3FFF unitName="second" type=0B size=0003 fl=04 *n code=0054 name="Default:CheckIn" *n code=0055 name="Default:CheckIn:Read_GPS" *n code=0056 name="Default:CheckIn:Read_Iridium" *n code=0057 name="Default:CheckIn:Read_Iridium:A_Timeout" *n code=0058 name="Default:CheckIn:Read_Iridium:A_Timeout:A.Execute" ,:Fz$Construct Execute.*n code=0059 name="Default:CheckIn:Read_Iridium:A_Timeout:B" *n code=005A name="Default:CheckIn:C.Wait" - 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 pFz Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,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,0A|) \(A*Initializing AHRS_M2.t !e@!a@-dPressure reading out of range: 1913.424561 decibarPowering up 6Initializing DUSBL_Hydroid.ePowering up)dG*a code=07D6 owner=002A element=02C8 universal=3FFF unitName="bool" type=02 size=0001 fl=04 ]>Depth measurement is not activeIeIe I}@ M}@ Q}@ U}@! @! @! @! @a @a @a @a @); iIi  4Initializing EZServoServo. 6Initializing BuoyancyServo.4Initializing EZServoServo.56Initializing ElevatorServo. =4Initializing EZServoServo. u.Initializing MassServo.}4Initializing EZServoServo.2Initializing RudderServo. 4Initializing EZServoServo. 6Initializing ThrusterServo. fG|) !(AiyRVPowering upZ0Initializing Micromodem.iMF=IMC)>Depth measurement is not activeII iIi  d N|) :(A!e"!a"!a& x"'n>!e& x&pE)bGIvIvIXz:  i I i   ^Rudder initialization uart error serial timeout 6Rudder failed to initialize  (Communications Fault ! \Communications Fault in component: RudderServoU|) jmX(Axg>xsEi,I,)^vG na}n2=}n IvIvI i I i  E4Uninitialize Rudder Servo.EPowering down*e code=062F elementURI="RudderServo.component_voltage" type=00 *a code=07D7 owner=0033 element=062F universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0630 elementURI="RudderServo.component_avgVoltage" type=00 *a code=07D8 owner=0033 element=0630 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0631 elementURI="RudderServo.component_current" type=00 *a code=07D9 owner=0033 element=0631 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )*e code=0632 elementURI="RudderServo.component_avgCurrent" type=00 *a code=07DA owner=0033 element=0632 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 I% ߑT[|) =r(Ax",t>x"#E)^Gn<}rJ=IvIvI  i I i   !b|) j(Ax"o>x"JEi0I0)bSGng7}rJ=IvIvI  i I i  %4Initializing EZServoServo.2Initializing RudderServo. !^Clearing failed state for component RudderServo 3 i|) (Ax"Ml>x"LE)bGnb}rJ=IvIvI  i I i   !5o|) ˿(AxZe>x Ei I )RSGb}bL=InInI9 iIi  v|)  (Ax]y>x]E)Gw+=},=III iIi! ! 9fH||) (Ax~`>x~. EiI)}+Gʝ튽}c=III iIi !  Yx: ߩ0|) ` (Ax]'n>x]pE)SG!=}D=III !!i!I!i! )*e code=0633 elementURI="ThrusterServo.component_voltage" type=00 *a code=07DB owner=0034 element=0633 universal=3FFF unitName="volt" type=07 size=0002 fl=05 i*e code=0634 elementURI="ThrusterServo.component_avgVoltage" type=00 *a code=07DC owner=0034 element=0634 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0635 elementURI="ThrusterServo.component_current" type=00 *a code=07DD owner=0034 element=0635 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 *e code=0636 elementURI="ThrusterServo.component_avgCurrent" type=00 *a code=07DE owner=0034 element=0636 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 5!  9µ ߹Z|) ;'(Axg>xsEi I )mGʍ|c}3=Qm?am ʕQ?a ʝQ>a ʝII iIi  ߩIB|) A(Ax]o>x]JE)+G<}h=QN?I I! !!i!I)i) ) ul|) ZZ(Afx]Ml>x]LEm6Nmea out: $CCCFG,ALL,0*33 iIC)=SGU`}UD=YYQ]?YIaI iIi   Β{ |) t(Ax]Rr>x]E)G5p<}5L=99Q=?9IIIa aaiaIiii i*e code=0637 elementURI="BuoyancyServo.component_voltage" type=00 *a code=07DF owner=0030 element=0637 universal=3FFF unitName="volt" type=07 size=0002 fl=05 *e code=0638 elementURI="BuoyancyServo.component_avgVoltage" type=00 *a code=07E0 owner=0030 element=0638 universal=3FFF unitName="volt" type=07 size=0002 fl=05 E*e code=0639 elementURI="BuoyancyServo.component_current" type=00 *a code=07E1 owner=0030 element=0639 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )*e code=063A elementURI="BuoyancyServo.component_avgCurrent" type=00 *a code=07E2 owner=0030 element=063A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 IMm vA m vA= 9 I ~|) (Ax]}v>x]EiyI}C)Ge(<}N=Q@I I! !!i)I)i) 1U U)QIQ |) DŽ(A*e code=063B elementURI="Radio_Surface.component_voltage" type=00 *a code=07E3 owner=0027 element=063B universal=3FFF unitName="volt" type=07 size=0002 fl=05 ir?A*e code=063C elementURI="Radio_Surface.component_avgVoltage" type=00 *a code=07E4 owner=0027 element=063C universal=3FFF unitName="volt" type=07 size=0002 fl=05 -?Ax-_>x5 E)+Gʽ4e}N=ʹʹQ@II iIi  _|) ](Ax]?s>x]EiyIy)SG<=}F=Q4@I I! ))i)I)i) 1 Y|) 8(Ax]i>x]NE)dGɼ}J=QN@I I! !!i!I)i) ) |) (A*e code=063D elementURI="Radio_Surface.component_current" type=00 x ,t>x #E*a code=07E5 owner=0027 element=063D universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 8>i)I)*e code=063E elementURI="Radio_Surface.component_avgCurrent" type=00 )Gʝ<}P=ʡʡQg@ʡII iIi *a code=07E6 owner=0027 element=063E universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 4> |) ((Axx)}vGQ@II1 1qiqIqiy y ߙ|) C)(Aa ~ YtvJ@a~ tvX@a ytvAca tvB>a  tvH@ :T?` +Ͽ t?`YL|?@e?`?)uvJ@ uvqi;IuvCx%x>x%EiYIY)dGɳ;}xR'Eidh)%G=}=Z=IEE>!E AIQM@I MU>U IQIq qqiqIqi  ߡ|) ](A*e code=063F elementURI="AHRS_M2.component_voltage" type=00 *a code=07E7 owner=001D element=063F universal=3FFF unitName="volt" type=07 size=0002 fl=05 &@*e code=0640 elementURI="AHRS_M2.component_avgVoltage" type=00 *a code=07E8 owner=001D element=0640 universal=3FFF unitName="volt" type=07 size=0002 fl=05 N@YtZ}J@tZ>:Y@ytZXtZJ(>tZH``-? 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A}) `(AYt-M@t[@yt?vһtR{>tH`?@{ҿ l?Nz??V ?)u-M@ u|;IuCx"z>x" Ei,I2C)bG*e code=0643 elementURI="RDI_Pathfinder.component_voltage" type=00 *a code=07EB owner=0029 element=0643 universal=3FFF unitName="volt" type=07 size=0002 fl=05 ivvA*e code=0644 elementURI="RDI_Pathfinder.component_avgVoltage" type=00 *a code=07EC owner=0029 element=0644 universal=3FFF unitName="volt" type=07 size=0002 fl=05 wA6Failed to parse:Pathfinder a 1@a 5%@a 9%@a -%@-O;}-F=Y-ܑ:5>11Q5A1}Q<}>II iIi  }) y(AYtWM@t\@yt1t,>tHŚ0?@_6 ҿ`pE?}?5??)uWM@ u;IuCx"Wx>x"Ei``)bvGn任}rO=Yr r>ttQvAtzA;z>IxI iIi! ! 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Ʊl?`+?@?)uSR@ uDn;IuCx"t>x"lE)bGddrK}rW=YrI8r>ttQvAtzE<z>IxI iIi! ! Aќ}) &(AYtlR@ta@ytvG`t>tH @? #6{׿? l??x"Ei,I,bC>`)bvGrVn}rJ=YrP9v>ttQvAtzz>I|I 9i9I9iA A Y}) .(A) I YtR@tl?a@ytu$tE>tH`?J`:׿̘X?@Md? ? ?)uR@ u|n;IuCx">x"E)bdGa 1a 1 a 5a 5 a 9a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) %<=}%F=Y%;%>))Q-A)5m;5>I9Iq yiIi  ߡޮ~) r(AYtR@tOa@yt\t>tH!?xh׿@P?@JY_?͂?c?)uR@ uˆn;IuCx"|>x"Ei,I2C)fGidhrM}rO=Yr:r>ttQvAtz %;z>IxI iI9iA A !~) |(AYt)R@tOa@ytEt|>tH?@Y׿e?h?@?M?)u)R@ un;IuCx"Wx>x"Ei``)bׄGa 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) ]w0}]C=Ye{,e>aaQmAim7m>IqI iIi )y }*Beginning Startup BITI}i} >} <} } > ߁!6Beginning ground fault scaniߝ ~) 6(A@ YtR@tJa@yttm>tHӭ` ?[ ׿`M!?o`?W?@?)uR@ uo;IuCx"p>x"E*VNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 iDID)QA %< >I I))5 < 5 > 11i1I9i= > Aa m 9e0::I)i111 1 9~) rP(AYtR@ta@yt3 +tp{>tH@X`=?vQ׿ڍB?ae?v?0?)uR@ un;IuCx"n>x"E)fSGfR=f4=nq}r^=Yrкr>ttQvAtv)z>IxI  iIi 9untH @?1й x׿`D?`B[? ??)uR@ u n;IuCx"r>x"IEi4I6C``)fdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )-3!<}-F=Y5;5>11Q5A9=dG;E>IAI! ! !!i!I!i) )*e code=0647 elementURI="ElevatorServo.component_voltage" type=00 *a code=07EF owner=0031 element=0647 universal=3FFF unitName="volt" type=07 size=0002 fl=05 vA*e code=0648 elementURI="ElevatorServo.component_avgVoltage" type=00 *a code=07F0 owner=0031 element=0648 universal=3FFF unitName="volt" type=07 size=0002 fl=05 EvA9 {=Ii   ~) S%(A)4tHä RG?ؿ$?@b?? B?)uS@ u o;IuCx"k>x"E)`r}rO=Yrĺr>ttQvAtz;z>I|I  iIi! !9a5=9Iϩiϩϩϱ б ߹('~) (AYtS@tha@ytmft붊>tH 7>?.C ؿ@?̬b? ?)?)uS@ uo;IuCx"o>x"Ei,I.C)hill~C;}~H=Y5> Q AEGM>IYI  iIi 9mf!>%}tH8? ؿ୊ ?j`?BE??)uS@ u-o;IuCx"}>x"Ei\`)bGa 1a 1 a 5a 5 a 9a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) %=}%H=Y%:%>))Q-A)5.5>IYIq  iIi *e code=0649 elementURI="ElevatorServo.component_current" type=00 *a code=07F1 owner=0031 element=0649 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )=*e code=064A elementURI="ElevatorServo.component_avgCurrent" type=00 *a code=07F2 owner=0031 element=064A universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 IU=9MUP>)=IR=V=Ii  94~) 9(A@ YtFS@ta@yttL>tH ݛ`y? CFؿ4?[s`? ??)uFS@ u o;IuCx"'n>x"pEi,I.C)^Gn:}rO=Yr8r>ttQvAtv<z>IxI  99i9I9iA A9>8{>t=Ii  t&Hƪ`=?׿" %j?ii?S? ?)u&R@ u&Gn;Iu&CxVHf>xV E)y<%=6only read 2 of 4 data itemsHFailed to parse: :BS,-32768,-32768, ʽ}==Y)>QA"7>II  iIi! !9>})>Iρiρρω Љ ߑ/KA~) m(AYt3R@ta@yt 0Dt>tHޭ%?t׿G?@h?@}z??)u3R@ u o;IuCx>>x>@EiHIH``)zG=B=}=S=YE99E>AAQMAIM*M>IQI  iIi  )IEvA EvA[>Ii  JuG~) $H(A) I;YtR@tBTa@ytkt >tH?Ҏ׿ l?@m?? ?`޴?)uR@ u o;Iux">x"E)vG&:}%L=Y%@;%>))Q-A)-2$5>I1IQ Q YYiYIYia a?{>Ii  !kM~) K#9(AYtgR@tBa@yt'tt>tH X?@v׿Y`{m?$N??@_?)ugR@ un;IuCx"{>x"iEi,I0)fdGidda 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yʕ}C=Yʽ>ʹʹQA|>II    iIi1 9>Ii  >T~) 7R(AYtBUR@ta@ytōͺtb>tH@?L`e׿R?෱Y?`r?`?)uBUR@ u8o;IuCx"q>x"Ei``)bGr¼}rW=Yrܺr>ttQvAtzAz>I|I1 1 99i9I9iA Am m)mIuI!i!!! ! )bZ~) jl(A YtQ@t\`@yt5ֺt",>tH ;?`a׿ @I?`Z?|l??)uQ@ uvo;IuCx"i>x"Ei,I,)bGa 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) E9}ED=YEJ&M>IIQMAIUTU>IyI 9 99i9I9iA AIQiYYY Y aܙa~) (AYtQ@t\`@yt{PtW0>tH6(?9׿? T??Ҹ?)uQ@ u"p;IuCx"f>x" E)`b4=b=nw}rQ=Yr:r>ttQvAtzSLz>IxI  iIi! !Iϙiϙϙϙ Й ߡg~) (AYtڒQ@tA`@yt]JBt>tH ?J@ֿ `$?KIH? ???)uڒQ@ u p;IuCx"v>x"GEi,I0b;>`)`a 1a 1 a 5a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) E=}ED=YE:E>IIQMAIUqU>IyI  iIi Ii  ym~) j(A) I YtQ@t~?`@ytJt0>tH@Bl?EֿO?@3?-v?`?)uQ@ uo;IuCx&u>x&E)bvGrm}rQ=Yr:r>ttQvAtzz>I|I  99i9I9iA AI9i99A A It~) O(AYtQQ@tF`@ytȀt>tHfX?9|sֿi'?@P?`:??)uQQ@ uo;IuCx"Rr>x"Ei,I:C) dGivA=-}ED=YMsٺM>QYQ]AYmfu>II  iIi  } }>6Iρiωωω Љ ߑz~) )!(AYtQ@t_@yt􊺙t>tH&b?ꜸA@ֿy?^Q???)uQ@ u*p;IuCx"xp>x"Ei``)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)A]T}eH=YeHe>iiQmAim`u>IqI  iIi D8Ii  !j~) ](A@ YtFP@tp_@ytb󠷙t>tHh?@f̷/տ n@]R?@l>@O_?m?)uFP@ utp;IuCx">x"Ei0I2C)҄G==}=L=YE*;E>AIQMAIM`M>IQI  iIi *e code=064B elementURI="MassServo.component_voltage" type=00 *a code=07F3 owner=0032 element=064B universal=3FFF unitName="volt" type=07 size=0002 fl=05 iwA*e code=064C elementURI="MassServo.component_avgVoltage" type=00 *a code=07F4 owner=0032 element=064C universal=3FFF unitName="volt" type=07 size=0002 fl=05 uwA9Iϑiϙϙϙ Й ߡ~) !(AYt>P@t_@yt-oR9t2>tH @:?` տ{G]?M*@7??)u>P@ uo;IuCx":m>x"E)mvGm=u%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 ) 4}B=Y:>QBB=;>II  iI i  ]E:Iaiaaa a i<~) ;(AYtMP@tj^@yttO,>tH`$ٰ?V@nտ`Tj? C4?`l?@?)uMP@ uLJp;IuCx"y>x"E&&NAL9602 initializedi0I0bG>`)fGr=}rZ=Yrgr>ttQvBtzz>I|I  iI!i! )ux:Iyiyyρ Ё ߁:%~) ٔU(A)&;I*4[P@t> _@yt>ɸt>>t>H!?`:`տ(?7?@??)u>[P@ u>5wq;Iu>Cxfz>xj E*e code=064D elementURI="NAL9602.component_voltage" type=00 *a code=07F5 owner=0024 element=064D universal=3FFF unitName="volt" type=07 size=0002 fl=05 MvA*e code=064E elementURI="NAL9602.component_avgVoltage" type=00 *a code=07F6 owner=0024 element=064E universal=3FFF unitName="volt" type=07 size=0002 fl=05 uA)Ga 1%a 1% a 5%a 5% a 9%a 9- a --a -- a 1-@a - a 5-@a M a 9M@a M a -M@a M ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))e:}e(=Ye9e>ʉʉQBʉ͕:>II  iIi *e code=064F elementURI="MassServo.component_current" type=00 *a code=07F7 owner=0032 element=064F universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 u=*e code=0650 elementURI="MassServo.component_avgCurrent" type=00 *a code=07F8 owner=0032 element=0650 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 ==:IAiAII I QM~) ho(AYtP@t~^@yt9tL>tH ,@?@zpOտ35?3=2??)uP@ up;IuCx"x>x"E ^Fix RequestedihIjC)1i=wA9]}]r=Ye:e?aiQmBim@u?IqI  iIi :Ii  i6~) G(AYtO@txy^@yt~tU >tH`9K? ٵտ) ?O? }? }?)uO@ uSMq;IuCx"p>x"%Ei`d)-SG=M}EL=YEgE>IIQMBIUGU>IQIq y yyiyIyi d;Ii  _~) (A@ YtO@th^@yt纙t>tH|<`p1?`a%Կ@~{?`\?g?A?)uO@ u)r;Iux"|>x"CE*e code=0651 elementURI="NAL9602.component_current" type=00 *a code=07F9 owner=0024 element=0651 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 )>a=*e code=0652 elementURI="NAL9602.component_avgCurrent" type=00 *a code=07FA owner=0024 element=0652 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 INp=i I C)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )<}@=YC>Q B>II9 A AAiAIAiI Ii-;I9i999 A Iً~) (AYt=jO@t^@yt_:t?>tH@wIr?cԿ?K@ ?Ƕ?)u=jO@ u]Ar;IuCx"xp>x"E*6Nmea out: $CCCFG,BND,1*3B )}G%=ʝ$}O=Yʝ;>ʡʡQ BʡͭQJ>II  iIi  -;Ii  !r~) Q(AYtAO@t]@yt 8t>tHP? {0`Կd/`a?@K?@*?)uAO@ u=r;IuCx"Wx>x"Ei4I6Cf,>d)-vGeΞ<}eN=Ymu>yʁQ Bʁ͕xͻ>IIi  iIi C;Ii  y9ܷR C=4)3I5i66!mNo ground fault detected mA: CHAN A0 (Batt): -0.019845 CHAN A1 (24V): -0.026253 CHAN A2 (12V): -0.007073 CHAN A3 (5V): -0.002096 CHAN B0 (3.3V): 0.000176 CHAN B1 (3.15aV): 0.000096 CHAN B2 (3.15bV): 0.000540 CHAN B3 (GND): 0.002230 OPEN: 0.005535 Full Scale Calc: 4.765 mA, -1.589 mAi߭Λ~) (A) I;YteO@t&]@yt)t½>tHoY?@/JԿ QE ?1P???)ueO@ u+r;IuCx"1z>x"E*uA*vAi~6&~:)rdGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))u;}u:=Y}m!}>yʁQBʁͅ>II  iIi = -X;I1i111 9 9~) v (AYtN@tf]@ytùtEn>tHX]q?`ڵ`2Կ1W?u8W?8? ?)uN@ u40s;IuCx"\~>x"gEidIh))i11="7<}E`=YE\E>AIQMBIMU>IQIq q yyiyIyi ak;Ii  ~) j$(AYtўN@tM]@ytL t>tHie$?@ֵӿZ;xBE)Fi\\)aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )կ;}B=Y ;>QBI->II! ! !!i!I!i) Q;Iϑiϑϑϑ Б ߙ~) B>(A@ YtN@tL0]@ytZIt7>tH`=n?[ӿ@O7\? k#I?E0??)uN@ u~s;IuCx"v>x"E)(I*a=ihIh)5G]4Ǽ}]Q=Yee>aaQmBimm>IqI  iIi i   ;Iϙiϙϙϙ Й ߡ~) X(AYtFN@t\@ytxtS%>tHDw`? ӿXb?W?` .?@S?)uFN@ us;IuCx"q>x"E)fGddrR}rS=YrAغr>ttQvBtzQz>I|I  iIi! !Ui;Iaiaaa a ix~) q(AYt0 N@t\@ytytt>tH@)}?hBoӿL@K? >?`6?@ ?)u0 N@ u t;IuCx"v>x"GEi,I0bC>b8>)bGa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) %g!<}%F=Y-;->))Q5B15 5>IaI  iIi e;Iϑiϑϑϑ Б NMass: EXPECTED:0.008600 ACTUAL:0.004864ϝI ߡw~) =֋(A) IYtM@t\@ytft9>tH@k?A&ӿ V?qL?@?`E?)uM@ uut;IuCxR̀>xReEVvAT)%GEA<}MI=YU]>iiQmBiuc9u>IyI)I  iIi  = ;Ii   ~) (AYtM@ty\@yt̺tn>tH s?ӿ&o@G?Y???)uM@ utu;IuCx"k>x"Ei0I4) Gi%Y}-L=Y5ߺ=>IIQMBIU紺U>IYIq  iIi  ;I!i!)) ) 1&~) (AYt"M@t^\@yt7ͺt*NJ>tH`2Y?`ӿ`do`c?Y?@"??)u"M@ uw;IuCx"Ze>x" Ei``)bGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qʍix}D=YʕG >ʱʱQBʹͽ>II  iIi U;Iϑiϑϑϑ Б ߙ]~) f(A YtM@t9\@yt tү>tH}*?ҿ`d4? bP???)uM@ u w;IuCx"'n>x"pE)&=I*=i0I0)fSGa 1-a 1- a 5-a 5- a 9-a 9- a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1<}E=Y:>QB5S5>I9I  iIi i.;Ii  7~) ?(AYtLM@tV[@ytEt?l>tH?#=ҿsnr? W?@??)uLM@ uv;IuCx"`k>x"E)nGppn}Z=Yd>  Q B M*>II1 9 YYiYIYia a9U@o>mK;=(`>IAiAAA A I )  (AxVm>xZ'E\b?>ilIl)5G];}]D=Yee>aaQeBamm>IqI  iIi 9?{>;m w>Iρiρωω Љ ߡJ )  &(A)4tH੭? y Vҿ Z?ZZ?PT?`?)uL@ ux;IuCx"0>x" E&uA&uA)*)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iʅ]=}H=Yʍ>ʉʑQ!Bʑ͵I>II  iIi 9L> = o;Q>Ii  2) @(AYtwM@t8[@ytQ1t)v>tH5? Q?_ҿ`xW?0F?7?@?)uwM@ u?x;IuCx&t>x*lEitIvC)MvGiQQ]}]M=Ye;e>aaQe#Bam:m>IqI  iIi )=I=9D->[[;vA wA=H!>Iϩiϩϩϩ б ߱^) EZ(AYt*L@t*r<[@yt*Uźt*>t*H`C?]Nѿ ?X?ɘ?B?)u*L@ u*,xx;Iu*CxNo>xREi^@A\)Ga 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yʕ"X}G=Yʵ?>ʹʹQ$Bʹ>II    i I1i1 99 c=-F;^1=I i     ;) t(A Yt.L@tC[@yt@@~t&>tHܶQ?~ѿs?O??@S?)u.L@ upx;IuCx^v>x^GE)bR=Ib=ilInC)=SGU<}UN=YU:U>YYQ]&BYe:e>IiI  iIi 9ur=i2;=Iϡiϡϡϡ С ߩp#) n(AYt>L@tTZ@ytt:E>tH X?ֲOѿ@?1??1??)u>L@ uw;Iuxu>x"E)~G}N=Yw:>!!Q%'B!-Z->I1II Q QQiQIYiY YmvA mvA9UZRtH `6?)Nѿ `?@9:?`?`?)u?6L@ ux;Iux",t>x"#Ei,I0)bG~?>|a 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5@a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) 5$J}5:=Y=49=>99QE)BAEtE>III  iIi 9$;Iϩiϩϩϩ Щ ߱0) .(A);IYtLK@t Z@ytDNt>tH ?`5ɲDPѿYt?I? v? ?)uLK@ u;x;IuCx"`k>x"E$$)b+Gnyü}rc=Yrr>ptQv+BtvUz>IxI  !i!I!i! )9|= =5A:Ii  6) (AYtK@tZ@ytmt'/>tH`^ϧ?k'`=Cѿ`-s?`mQ?g?q?)uK@ u^x;Iux"f>x" Ei0I0)bGidda 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) %S3}-F=Y-c:->)1Q5,B15=>IaI  iIi )=IU=94-x:1 5vANI i     "<) (AYtÛK@tJZ@yt^tX>tHd?S ѿY?O?q??)uÛK@ u/x;IuCx">x"E)^Gnh=}rO=Yr\9r>ptQv.Btv"z>Ixi~?A|I  !!i!I!i) )93Uו: 2/Ii  .C) (A YtK@t2Z@yt`E/:t>tH >?`X`пo>?E@? N?)uK@ uy;IuCx"|>x"E)$I&R=i0I0)bvGnI}rJ=Yr;;r>ptQv0Btv3jz>IxI ! !!i!I!i) )9MdU~Y:5`IAiIII Q i=I) )(AYt@HK@tY@yt|9ty>tH?0`п`v?w"@dc?`?)u@HK@ uiz;IuCx"o}>x"E)ndGrR=v4=a 1ua 1u a 5ua 5u a 9ua 9u a -ua - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )ʭ:}>=Yʵ>Q1B >II! ! ))i)I)i1 Q]tA Y9mᄾ9)=I=EBIIiIII I Q P) ^dC(AYtBK@t|Y@ytEtZ3>tH``e?~యп!_? 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Using default value of nan m/s.&M~No pitch setting specified. Using default value of nan degrees.&UNo speed setting specified. Using default value of 1.000000 m/s.&UNo surface timeout specified. 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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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X ̿ !( ,?@jB@+?`xbEifAdipIp)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )ʽ;}(=Yʽx:>QJC7+< >I! I=&6R>]>ٮ! M&6! QtI ! U{A9!%ҧ= %=)%,q&6 B7) B7I tIi B c;);I+B7I ?9IiI  iIi ! 1k-) $(AYt2-H@t2:6W@yt2~[t2S>t2H 8x?@̿@%@;?o 4? 5? |?)u2-H@ u2ҳt;Iu2Cx8x8)vGizwAxY=0E ?AAQEJCAM9M ?IQ IU'6ٮQ M]'6Q Q]tI Q U]|A9QU: UM:)U'6 mB7)aIa mtIia mBa e%:)eԘ:IeB7yIy9yIiI  iIi  ߹!3) s$(AYt*4H@t*AxW@yt*41t*y>t*HI1M?D̿'+@?&F? 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U57B9!%F: %:)%`6 =8)1I1 =tIi1 E^C1 5:)5ض:I5K8IIM<>9QIQiYI  iIi  ;9) ,\(AYt*41P@t*@^@yt*ڪt*7>t*H)@?jcտ0?@Y[5??`?)u*41P@ u*m;Iu*CxNRr>xRE)G% ȼ}-I=Y-3:->)1Q5C15ܺ=>I9 IE6ٮ9 ME69 QMtI 9 UM7B99=: =:)=6 U8)QIQ UtIiQ ]^CQ Q)U:IUL8iImT>9iIqiqqqI  iIi  ߡ=E2SBD MTMSN=20190401T225832"@) ](A@ Yt.P@t.^@yt.t.#>t.H q.}? ˶`Dտg60?4?@u)?@?)u.P@ u.m;Iu.CxBw>xBjEiFAFAiFAFAiLIP)|ia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)A=/<}="=YE9E>AIQMCIM0U>IQ I]6ٮQQ Q]tI Q U]7B9QUF: UJ:)U6 m8)aIa mtIia m_Ca e[:)e:Iek8yI}>9yIiI  iIi  ߱>x>LF) k](AYt* P@t*,^@yt*7t*>t*H/0?@$@տ 5?F?`?@?)u* P@ u*m;Iu*CxRm>xR'E)SG !)!ɤ!!!)ɥ)i)I))I1i1 5+1)11 999ɦ99AIA)AiA)AIEzAEɧI IɨIMzAIiIIiQQ)Q QIQ]~}e=Yee?iiQmCimMFu?Iq I}6ٮqq QtI q U8B9quc: u:)u6 8) 8I tIi _C :):I8I>9IiI  iIi  wL) H4](AYt*O@t*^@yt*7t*e>t*H@5Cc?ൿ@տ,\?f#?@?b?)u*O@ u*Sm;Iu(xBn>xB$EiLIL)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9=}A=Y8:>QC  >I I-6ٮ M56 Q=tI  UE8B9@; ;)l6 M8)III UtIiI U_CI Mn:)ML:IMa8aIe>9aIiiiiiIy y yiIi  ߙaS) #,N](A)I4t.H4a? i< C տ@z%@?v'`?h?)u.pO@ u.}ln;Iu,x>t>x>lEB=B=Bp;F<)~G~4=~4=}5e}}S=Y}\:}>ʁʁQCʁ͍D:>I I6ٮ QtI  U8B9鰍: :)6 8)I tIi `C :):I|8I+>9IiI  !!i!I!i! ) aiY) g](AYt2O@t2d^@yt2(t2U@>t2H@= -?tc@Կ: A?$}??N1??)u2O@ u22n;Iu2CxB{>xBiEiLIRѓC)~Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aʥ}<}H=YʥӺ>ʩʩQCʩ͵I>I I6ٮ M6 QtI  U9B9; _;)G6 %8)!I! %tIi! -`C! %:)%$:I%;89I=>99IAiAAAIQ Q qqiqIyiy  ߑdq`) ہ](AYt*^O@t*jW^@yt*|>t*:>t*HV?`*?,͵ԿW.@?`OG?@??)u*^O@ u*Pn;Iu*CxB'n>xBpE)5+Gʝμ}#=Yʥ+>QC3ֺ>I I6ٮ QtI  U9B9: ;)6  8)  8I  tIi  aC :)":IY=8Ii>9AIIiIIIIQ Q YYiYIYi  ߙf) ̶](A Yt.TO@t.`8^@yt.醭8t.(>t.HcD`?߉dԿ@$< Y? ݰ@?@?)u.TO@ u.n;Iu.CxBu>xBEiFAFAiFAFAiLIP)]Giaaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )ɑ=zAiIIih{A  )    E Fɒ 11I1)1i1)9I99ɓ9 9ɔAAAiAAiAMyA)I III I)IɕIIQ}R<}}u=Y};}?ʁʁQCʁ͍7?I I6ٮ M6 QtI  U9B9鰵: :)+6 8)I tIi aC [:)O;It8I>9Ii I1 1 19i9I9i9 A qV>l) ?](AYt*~O@t*+^@yt*Q8t*>t*HoF ?@wԿ`;K|? j_ H?4?)u*~O@ u*n;Iu(xBeq>xBnE)~G}U=Y8>QC>I I6ٮ QtI  U:B9 ; ;);6 %8)!I! -tIi! -aC! %}:)%N:I%8YI]ʶ>9YIaiaaaIq  iIi  |s) l](AYt*8fO@t*D^@yt*عt*zd>t*H`dJ`?nʵGԿ4 ?;?? ?)u*8fO@ u*yn;Iu*CxB~>xBEiLIL)~dG} =}}P=Y}>ʁʁQCʁ͍z>I I=6ٮ Q=tI  U=:B9鰕< /<)@6 E8)AIA MtIiA MbCA E:)E:IEZ8I>9IQiQYYI   i I i  iy) H](A) I;Yt.FO@t.]@yt._8t.lLj>t.HwO ? XbԿ C< l? @ ?j?)u.FO@ u.Vqn;Iu.CxBWx>xBEF=F=FFp<)~G<%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aʥ}}H=Yʥm:>ʩʩQCʩ͵Y>I I6ٮ M6 QtI  U:B9: ^:)o6 8) 8I tIi bC <)9IiI  iIi  i) ^(AYt*GO@t*]@yt*wt*龅>t*HGO 0?`%ԿG R? .?[?@?)u*GO@ u*wn;Iu(xBo>xBJEiLIP)G]=}]O=Ye0@e>aaQmCim>9m>Iq I6ٮqq QtI q U;B9qu5; u;)u6 8)I tIi bC :):I8I>9IiI  iIi ! 9醗) ~^(AYt*"O@t*]@yt*8t*w>t*H@9U2?Y`BcԿG ?T`??)u*"O@ u*EPn;Iu*CxBg>xBsE)Ga 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)Yʽe}D=YʽY:>QC˲>I I6ٮ M6 QtI  U;B9#; ;)UK6 8)I  tIi  cC  :)4:I789I=>99IAiAAAIQ q qqiqIyiy y 1) '6^(A@ Yt.8)O@t.D]@yt.h9t.r>t.H,Tϲ?fiԿ 8F`4?Q-??)u.8)O@ u.7n;Iu,x>p>xB%EiFAFAiFAFAiLIR֓C)Gi!!=<}=S=YE%9E>AAQECAMƇ:M>IQ I]6ٮQQ Q]tI Q U];B9QU: U:)UG6 m8)a m8Ia mtIia mcCa e:)eM:Ie8yI}>9IiI  iIi  >t>+) P^(AYt2N@t2]@yt278t2QR>t2HS\?`8ԿjR@~?3@'??)u2N@ u2PEn;Iu0xV>xVBE)-dGe$=}eH=YmVu>yʁQCʁͅ>I I6ٮ M6 QtI  U9IiI  iIi  )EReceived command:sched asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;report m HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" 4ivsx 1 2= got command schedule asap "report t acoustic_contact_range;report m SpeedControl.speedCmd;report m HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" 4ivsx 1 2.000000=PScheduling command #1 of 2 with id=4ivsx=Scheduled #1 (#1 of 2 with id='4ivsx'): "report t acoustic_contact_range;report m SpeedControl.speedCmd;report m HorizontalControl.headingCmd;maintain control VerticalControl.massPositionACtion 2.5 cm;maintain control verticalControl.buoyancyAction 945 cc" ASAP%) j^(AYt*O@t*(]@yt*۹t*$Q>t*HYW?@CGԿ@O@_?|y;???)u*O@ u*Bn;Iu*CxF\~>xFgEitIt)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )ʭW}F=Yʭ*>ʱʱQCʱͽV;>I I6ٮ QtI  U9IiI  i I i   !1 ) i^(A) IYtBzN@tB~]@ytBJ9tB?v>tBH bld? `DԿW@[?@8}??)uBzN@ uB̮m;IuBCx^|>xbCEb=f=)}Gʽ}I=Yʽ;>QC}>I I6ٮ M6 QtI  U9IiI  iIi ! 1=-2SBD MTMSN=20190401T225839iqq6) |B^(AYt>N@t>]@yt>>t>R>t>H@<`Lv?s@C!Կ`]`?x?`X[??)u>N@ u>[xbEilIl)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )'ٻ}H=Yއ>QCS:>I I6ٮ QtI  U =B9}: :)ct6 8)  8I  tIi  eC  b:) ?:I 8!I->9)I1i111I9 A AAiAIAiI I ae) f.^(AYt6N@t6]@yt6 [9t6>t6H_t? h崿%ԿlWf?a1 ?`y?)u6N@ u6L&m;Iu6CxZ5g>x^*E)5vG%6}I=Y K:>QC:>I  I6ٮ   QtI  U=B9  : E:) `6 8)I %tIi %eC B:):Ip^81I5>91I9i999II Q QQiQIQiY Y q L) ^(A@ Yt*WN@t*cx]@yt*pIt*>t*Hc\?`4 `pԿ\M?m I?B?`&?)u*WN@ u*1m;Iu*CxNl>xNd EiRARAiXI\)dGi %C)%zAɩ%%F%-Cɪ-yAi-I-$F-I-@Ci5zA 55AF)553C =zA==ؐFɫ==C=zAIEt)EߐFiE)ECIE1zAEɬElF EɭMّCMzAMiMVFMUh=}]U=Y]0]>aaQeCaeam>Ii Iu6ٮi Mu6i Q}tI i U}=B9im : m:)m0L6 8)I tIi fC -:):I&8I>9IiI  iIi  m>u> s) ^(AYt.N@t.\]@yt.nߜt.>t.HYgG?@鸴`ӿZf?3?`?@\?)u.N@ u.@l;Iu.CxBC>xBE)|a 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)a.}?=Y;:>!!Q%C!-->I) IU6ٮ)) Q]tI ) U]=B9)-; -;)-6 e8)aIa etIia mfCa e:)eԘ:Ie8I9>9Ii!!I) i qqiqIqiq y ߑ[) _(AYt*bN@t*nx]@yt*9t*t5>t*Hc g?`Si{Կ(e`"?@#38?x?)u*bN@ u*l;Iu(xB>xBEiLINѓC)~G}@}}U=Y}o:>ʁʁQCʁ͍;>I I6ٮ M6 QtI  U>B9鰕: :))6 8) 8I tIi gC N:):I'8It>9IiI  iIi ! QǗ) i_(A)4tjH`]asm?jpԿ@$\`;?`!r?`?)ujN@ ujl;Iuhxel>xeE=p;p<)XG4=a 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YʕA}:=Yʝ>ʙʙQCʙͥ:>I I6ٮ QtI  U>B9鰭; ;) 6 8)I tIi gC p:):Ir8I>9Ii!!I  iIi  iu@Aqȯ͗) g9_(AYt*}N@t*j]@yt*ذt*Ň>t*H/eP?IԿ#U`? ???)u*}N@ u*Cm;Iu*CxVk>xZEidId)-G=$}=c=YEzE>AAQMCIMM>IQ I]6ٮQ M]6Q Q]tI Q U]>B9QU: U:)UP6 m8)aIa mtIia mgCa e:)e9:IeԮ8yI>9IiI  iIi  ԗ) CS_(AYt*1N@t*=f]@yt*t*>t*H`e5R?[4ӿ^\>}? =;8?!?@?)u*1N@ u*w/m;Iu*CxB1z>xBE)5vG] =}]H=Yed7e>aaQeCam(m>Iq I}6ٮqq Q}tI q U}?B9qu: u:)us6 8)I tIi hC :):I8Id>9IiI  iIi  ڗ) /m_(A( (YtVN@tVw]@ytV9]8tV>tVH$cf?ej Կc+?  lC??)uVN@ uV=m;IuTxzi>xzEi||i~A~Ai=I)Gia 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iʅb}8=Yʭы:>ʩʱQCʱ͵;>I I6ٮ QtI  U?B9鰽; ж;)6 8) 8I tIi hC E:)7:I?8!I->9)I1i111I9 A AAiaIaii i ߁mR>m{>) v_(AYt*N@t*]@yt*i@t*>t*H@aek?' ԿX@l? M(?@ɋ?~?)u*N@ u*l;Iu*CxBy>xBE)zSGZ0=}e=Y%CR%>!!Q-C)-:->I1 I=6ٮ1 M=61 Q=tI 1 UE?B915: 5:)5"N6 M8)AIA MtIiA MiCA EՐ:)Eȗ:IEjz89I=>99IAiAAAIQ  iIi  ) ՠ_(AYt*N@t*j]@yt*Al9t*,0>t*H+eKN?dԿ S`l? - ??)u*N@ u*7m;Iu*CxB`k>xBEiLIL)~G= }=H=YEe:E>AAQECAM?eM>IQ I}6ٮQQ Q}tI Q U}@B9QU$; Uܵ;)U6 8)I tIi iC ) :Iտ8I͹>9IiI q qqiqIyiy y )) _(A);IYt. N@t.W]@yt. 2t.<>t.H8h`6C?`ӿ^#?`A? $??)u. N@ u.Wm;Iu.CxBu>xBEF=F=Fp;F;)~+G=4=a 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)Aʝ<}D=YʝY>ʡʡQCʡͭ<>I I6ٮ M6 QtI  U@B9鰵R; #;)/6 8) 8I tIi iC :):I8I>9I!i!!!I1  iIi  1iu?Aq ) _(AYt:}N@t:y]@yt:)t:w>t:Hb-n?Կ@=g ? 5E?!?`z?)u:}N@ u:Rm;Iu:CxR{>xRiEinF=Ir֓C)eGi<}F=Y>QC;>I I 6ٮ Q tI  U@B9: S:)V6 =8)9I9 EtIi9 EjC9 =:)=:I=K8QIU>9QIyiyyyI  iIi1 1 I) d_(AYt*N@t*v]@yt*ct*>t*H?c^?ڴ ԿW?v,>Q?V?)u*N@ u*Gm;Iu*CxBo>xBE)zXG%6only read 3 of 5 data items%VFailed to parse: :BI,-32768,-32768,-3278,V 5#}5V=Y5:5>99Q=C9E۹E>II IM6ٮI MU6I QUtI I UUAB9IM: M:)M6 e8)YIY etIiY ejCY ]:)]:I]78qIu>9qIyiyI  iIi  ߩReceived command:sched asap "maintain sensor Depth_Keller.depth 0 m;report DUSBL_Hydroid.xAngle" 4ivsx 2 2=-got command schedule asap "maintain sensor Depth_Keller.depth 0 m;report DUSBL_Hydroid.xAngle" 4ivsx 2 2.000000=-PScheduling command #2 of 2 with id=4ivsx=5Scheduled #2 (#2 of 2 with id='4ivsx'): "maintain sensor Depth_Keller.depth 0 m;report DUSBL_Hydroid.xAngle" ASAP) A`(A@ Yt.5N@t.Af]@yt.7wQ8t.P>t.HeH?)58ӿ`O?. ?`%?)u.5N@ u. an;Iu.CxBx>xBEiFAFAiFAFAixIx)UGiYY}<}}F=Y}*9>ʁʁQCʁ͍Y!>I I6ٮ QtI  UAB9鰕: ߼:)x6 8)I tIi kC :)9:I8I>9IiI  iIi  uV>ue>!) "`(AYt*N@t*K]@yt*<t*|>t*H`i ;?Arӿb^?3?J?)?)u*N@ u*+)n;Iu*CxB~>xBE)zvGa 1ua 1u a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yʕ}l<}I=Yʽ^>ʹQC>I I6ٮ QtI  UAB9; ^;)J6 8) 8I tIi  kC :):I81I=>99IAiAAAII Q qqiqIqiy y ߱M) X;`(AYt*N@t*q]@yt*&a9t*ԃ>t*H dG`?@vA Կ c@{?;,`L??)u*N@ u*pm;Iu(xNm>xN'EiXIX)G=.}=P=Y=:=>AAQECAM;M>IQ I7ٮQ M7Q QtI Q UBB9QU< UO<)U)7 8)I tIi kC :)ȗ:IhZ8I>9I!i!!!I) Q QQiQIQiY Y ߑ17) 3U`(A),I0YtrN@trj]@ytr@ݚ7tr>trH`'eR?`Դ`zԿ`=Y?[[?`?)urN@ urzm;IurCxx>xE===%<)G4=%=a 15a 15 a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9u<}}8=Y} }>yʁQCʁͅO>I I7ٮ QtI  UBB9鰍1: 5:)sf7 8)I tIi lC %;);I8I>9IiI   iIi  Qiii]) o`(AYt.ޛN@t.H]@yt.$t.>t.Hlj/4?Vӿ5Zf?`ԚD? ? ?)u.ޛN@ u.n;Iu.CxBp>xBEiLIL)~G ļ}d=Y%I%>!)Q-C)-h->I1 I=7ٮ11 Q=tI 1 UEBB915`: 5:)5n7 M8)AIA MtIiA MlCA E[:)Eo:IE58yI}|>9IiI  iIi   F") @`(AYt* N@t*f]@yt*t*a>t*He ^U?ll ӿ"c??%]??)u* N@ u*m;Iu*CxBp>xB%E)zG;}J=Y% :%>!!Q-C)-m;->I1 I=7ٮ11 Q=tI 1 UECB915: 5:)57 M8)A M8IA MtIiA MmCA E:)E+:IEK#8yI}>9IiI  iIi  &p() Rd`(A@ Yt.N@t._]@yt.`>9t.1>t.HftM?x`ӿ@c(?'`g?@d?)u.N@ u.xREiRAVAiVAVAi^=I\)XGi%wA!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)a};}} =Yʅ:>ʁʁQCʁ͍d1>I I7ٮ M7 QtI  UCB9鰕: ¿:)7 8)I tIi mC :):I8I>9IiI  iIi1 9 IuR>ut>.) <`(AYt*;N@t*G[]@yt*kt*Y>t*H gC?Դ@ӿ V?@m????)u*;N@ u*m;Iu(x@x@)+GYCɖxAiI%ԈF%I%fCi%zA %D%F)--@C -xA--Fɗ-5LC5O{AI594)5Fi5)=fCI=x{A=ɘ=F =əE CEzAEiE*FEiE CE{A)M M&FIMUCalculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. i YMwI m yMyzA MUH)MALReceived data from all battery sticks.YʵH04?QCm/?I I 7ٮ Q tI  UCB9: >:)@7 ]8)QIQ ]tIiQ ]mCQ Uȗ:)U:IUK8iIi9iIiI  iIi  !5) 5)`(AYt2N@t2L]@yt2]츙t2:>t2Hi 4?紿ӿW???`?)u2N@ u2n;Iu2Cx>o>x>EiHIJѓC)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )}QC- ->I1 I=7ٮ11 Q=tI 1 U=DB915h: 5į:)5x7 M8)AIA mtIiA mnCA E;)Eh;IE/8yI}>9yIiI  iIi  >;) `(A) IYt.N@t.A]@yt.) 9t.q>t.Hk/?@ ӿ dW? %a6~?U?)u.N@ u.n;Iu.CxBt>xBlEF=F=F!!Q-C)-->I1 I7ٮ11 QtI 1 UDB915u< 5<)507 8) 8I tIi nC ,:):IW68I+>9I!i!!!I) 1 QQiQIQiY Y ߑiqq=B)  a(AYt*اN@t*T]@yt* mt*a>t*Hh`G?Dӿf \ ? 3?@S? ?)u*اN@ u*m;Iu*CxB~>xBEiNF=IR֓C)SG<}%J=Y%Ϻ%>))Q-C)-;;5>I1 I]7ٮ11 Q]tI 1 UeDB915Z; 5 ;)5V7 m8)aIa mtIia moCa eՐ:)e:Iegx8I>9I!i!!!I1 q qqiyIyiy  OH) &$a(AYt* N@t*X]@yt*t*b>t*Hh@@?д ӿjY ?5#??E?)u* N@ u*3m;Iu*CxBsj>xB(E)zdGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)A}F}}G=Y}˻9}>ʁʁQCʁ͍9>I I7ٮ M7 QtI  UEB9鰍g; A;)7 8)I tIi oC h:)|:Iw8IC>9IiI  iIi  N) ‡>a(A Yt.gN@t.sB]@yt.,kt.7>t.Hnk@4+?ִ1ӿLY?v-???)u.gN@ u.n;Iu.CxB>xBEiFAFAiJAJAiTIT) Gi xA t=}N=Y%'I%>!!Q-C)-\->I1 I=7ٮ11 QEtI 1 UEEB915; 5;)5P7 M8)III UtIiI UoCI M:)Mȗ:IM8aIe>9aIiiiiiIy y yyiyIi  ߙu>}x>= ^got command report touch acoustic_contact_range*a code=0803 owner=0049 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 = Xgot command report mod SpeedControl.speedCmd*a code=0804 owner=0049 element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04 = fgot command report mod HorizontalControl.headingCmd*a code=0805 owner=0049 element=0617 universal=3FFF unitName="radian" type=2F size=0004 fl=04 = got command maintain control VerticalControl.massPositionAction 2.500000 centimeter*n code=005F name="Maintain_VerticalControl.massPositionAction" *a code=0806 owner=005F element=05C1 universal=3FFF unitName="meter" type=0B size=0003 fl=05 ƭ SyncComponent "Maintain_VerticalControl.massPositionAction" handled in the control thread.= got command maintain control VerticalControl.buoyancyAction 945.000000 cubic_centimeter*n code=0060 name="Maintain_VerticalControl.buoyancyAction" *a code=0807 owner=0060 element=05BD universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 ƽ SyncComponent "Maintain_VerticalControl.buoyancyAction" handled in the control thread.U) cXa(AYt.4N@t.@I]@yt.AF8t.>t.H_j4? ӿI_@q?@>??)u.4N@ u.X\n;Iu.CxRRr>xRE)XGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)Iʝ}5=Yʝ:>ʡʡQCʡͭkp:>I I7ٮ QtI  UEB9а:  :)7 8) 8I tIi pC  :):IL8YI]T>9YIaiaaaI  iIi  ߱$UDSpeedControl.speedCmd 0.000000 m/s$UJHorizontalControl.headingCmd no_value }i Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,Depth_Keller,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,DeadReckonUsingSpeedCalculator,DeadReckonWithRespectToSeafloor,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,Maintain_VerticalControl.massPositionAction,Maintain_VerticalControl.buoyancyAction,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,[) =ra(AYt2N@t2M]@yt2a7t2믅>t2Hi;?㏴ӿ a`8g? ?@T?)u2N@ u2@m;Iu2Cx>x>xBEiHINѓC)zvG<}f=Y%R%>!!Q-C)-YL:->I1 I=7ٮ11 Q=tI 1 U=FB915#: 5:)57 M8)AIA MtIiA MpCA E:)Eo:IE8YI]>9aIiiiiiIq  iIi 2@<:@w: = zgot command maintain sensor Depth_Keller.depth 0.000000 meter*n code=0061 name="Maintain_Depth_Keller.depth" *a code=0808 owner=0061 element=0418 universal=3FFF unitName="meter" type=0B size=0003 fl=05  SyncComponent "Maintain_Depth_Keller.depth" handled in the control thread.= .got command report list$ Zacoustic_contact_range reporting when touched$ NSpeedControl.speedCmd reporting changes$ \HorizontalControl.headingCmd reporting changesb) a(A)4t.H*fKN?`维`Vӿ[`w?>@?`?)u.:N@ u.m;Iu.Cx=5g>x=*EE=E=E=E<)G%=U}}]8=Y]V]>YaQeCae}J;m>Ii I7ٮii QtI i UFB9imC+< m+<)m7 8)I tIi qC k;);Is8 I >9 IiI-Xz:)M; I QQiQIQiQ Y2@]<:@ew: y  Component order: CycleStarter,AHRS_M2,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,Onboard,PowerOnly,RDI_Pathfinder,BPC1,Depth_Keller,Maintain_Depth_Keller.depth,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,iqq i) (a(AYt*N@t*E]@yt*E9t*H>t*H k(?@Fӿ@_V@f?=`??)u*N@ u*Q'n;Iu*CxRw>xRjEi^=I\)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@#}T=Y١:>QC3>I I7ٮ M7 QtI  UFB9: :)(07 8) 8I tIi qC :):I8I?9I i IXz:); ! !!i!I!i) )2@5<:@5w: A06o) hͿa(AYt*ʰN@t*]]@yt*R9t*Tʇ>t*H +gEC?78ӿ>Wj?S3`? 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ԿkQ? wX?v?)u*sN@ u*`m;Iu*Cx2|>x6CEi@I@)ndGF@ Y>QC6[:%>I! I-7ٮ! M-7! Q5tI ! U5HB9!%: %:)% 7 = 8)9 = 8I9 =tIi9 EsC9 = :)=:I=U% 8I9IiIXz:)%; ) ))i)I)i1 12@=<:@=w:}; ߉~lj) h)b(A);IYt..N@t.:o]@yt.^h#t.R>t.Hsd Q?&Կ@WO? m$? ?W?)u..N@ u.in;Iu.Cx6n>x6E:=:=)x~=|F@Y X >  Q C c@>I I%7ٮ Q%tI  U%HB9t: :)eD7 5 8))I) =tIi) EsC) -W;)-[f;I-h 8iIq9qIiI=Xz:)=; A AIiIIIiy y2@<:@w:ixAxA; i)  Bb(AYt*N@t* ]@yt*$Dt*4>t*H`!_nx?ٴ'Կ mU|?(? ?.?)u*N@ u*n;Iu*Cx6r>x6IEi@I@)pa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEM>IIQMCIU;U>IY Ie7ٮYY QetI Y UeHB9Y]: ]l:)]|7 m 8)iIi utIii usCi m:)mA:ImG 8I9IiIXz:);  iIi 2@<:@w: 0; ٖ) \b(AYt*FN@t*R]@yt*d8t*>t*H\`5? 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D>տ@Q?@H? ?i?)u* P@ u*'dn;Iu(xBo>xBJE)~Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅl%>ʁʁQCʁ͍>I I7ٮ M7 QtI  U]B9鰕#; ;))7 18)I tIi C h:)|:Iq18I9Ii IXz:)5; 1 99i9I9i9 A2@E<:@Mw:-< 9e-) ih(AYt*9O@t*E^@yt*t*_>t*H 2?@@7+տ`#?T3? P?@?)u*9O@ u*n;Iu*CxB0>xB EiPIP)~+GF@=YE:E>AAQMCIMPM>IQ I]7ٮQQ Q]tI Q U]]B9QU%: U:)U:F7 m18)aIa mtIia mCa e:)e :Ie׳18yIy9IiIXz:);  iIi 2@<:@w:< 4) Zh(A) I Yt*#O@t*/h^@yt*t*>t*HL<N[?`@bԿ 6'| ?`/?`?@?)u*#O@ u*o;Iu*CxN`>xR. ETV=)SGR=F@%Y- ->11Q5C15K=>IA IE7ٮAA QMtI A UM^B9AE:: Eٮ:)E}7 U18)QIQ UtIiQ ]CQ U:)U:IUt18iIi9iIqiqqqIXz:);  iIi 2@<:@w:i< i#:) ^h(AYt2 O@t2m^@yt26 t2>t2H@;c?Կ .?8s?@݋? -?)u2 O@ u2[o;Iu2CxBh>xBEiLIL)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]!:e>aaQeCam'?:m>Iq I}7ٮqq Q}tI q U}^B9qu: uc:)u 7 28) 28I tIi C :)":I<28I9IiIXz:);  iIi 2@<:@w:;< =m2SBD MTMSN=20190401T225920YA) %;i(AYt*)O@t*54^@yt*)t*LY>t*HD`(?@EԿ&. ?݀???)u*)O@ u* ;o;Iu*CxB1z>xBE)҄GF@=YE::E>AAQMCIMM>IQ I}7ٮQQ Q}tI Q U}^B9QUg; U(;)U7 28)I tIi C ::)N:Ì28I9IiIXz:);  iIi 2@ <:@ w:M< aXG) !!i(A&@ $Ytf3{O@tf?(^@ytfRtf ̈>tfHF?@׳ Կ@-`K)?Ձ?q? ?)uf3{O@ ufo;IufCxn>xnEirApiAIA)ƄGiyAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y 5 >  Q Ci޺>I I%7ٮ M%7 Q%tI  U-_B9|: ^:)m&7 528))I) 5tIi) 5C) -:)-:I-28AIA9IIQiQQQI]Xz:)e; a aaiaIaii i2@u<:@uw:}= y< ߹ N) :i(AYt*VYO@t*b^@yt*t*;>t*H@,L?v Կ {9 ?ׁ?.??)u*VYO@ u*o;Iu*CxBp>xB%E)zGF@%Y%%>))Q-C)55>I9 I=7ٮ99 QEtI 9 UE_B99=h: =:)=|Y7 M38)I M38II UtIiI UCI M:)M :IM38I9IiIXz:);  iIi 2@ <:@ w:5< AT) :Ti(AYt*KO@t*]@yt*t*B>t*HPN`?2#ԿG?V?`? ??)u*KO@ u*x_p;Iu*CxBRr>xBEiLIL)~dGF@=YE9(E>AAQECIMM>IQ I}7ٮQQ Q}tI Q U_B9QU; U;)U%7 38)I tIi C :)ȗ:IM389I999IAiAAAIXz:);  iIi 2@<:@w: < [) ni(A) IYt.t.HPY?1!{Կ@=?@U?(?7?)u.xB(EF=D)zG~%=~4=a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yʝ>ʡʡQCʡͭ>I I7ٮ QtI  U`B9鰵; ;)7 38)I tIi C :)Z:I+38I9IiIXz:);  iIi 2@<:@w:iIIu< yb) Ni(AYt*&O@t*]@yt*vt*>t*H3T?`gԿ67SK??X?o?)u*&O@ u*O^p;Iu*CxBx>xBEiLIP)~+GF@Y%V(:%>))Q-C)5a5>I1 I]7ٮ11 QetI 1 Ue`B915; 5s;)57 m38)iIi mtIii uCi mO:)m:Im38I9IiIXz:);  iIi 2@<:@w:i  1h) ^i(AYt*O@t*]@yt*Nt*;>t*HV ? E@WԿA?`?D?k?)u*O@ u*Lp;Iu*CxBo>xBJE)zGF@Y%>:%>))Q-C)-o'5>I1 I=7ٮ1 M=71 QEtI 1 UE`B915: 5r:)567 M48)I M48II MtIiI UCI M:)Mϝ:IM48I9IiIXz:);  iIi 2@<:@w: [n) !:i(A@ Yt./O@t.]@yt.;t.Vn>t.H`R?붲@CoԿJ>e? h'?^?%?)u./O@ u.6p;Iu.CxBeq>xBnEiDDiLIL)~GiwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmCimw;u>I I7ٮ QtI  UaB9鰕: :)[n7 48)I tIi C O:):I(^48I9IiIXz:);  iIi 2@ <:@ w: !>Du) i(AYtMqO@tM}]@ytMσ tM>tMHU ? 1\Կ@?d?? ?)uMqO@ uMp;IuMCx]j>x]qE)vGa 15a 15 a 55a 55 a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@uYu}>yyQ}Cyͅ6>I I7ٮ QtI  UaB9鰍; ;)Z7 48)I tIi C :):I948I9IiI Xz:) ; ) ))i1I1i1 92@=<:@=w: )m{) i(AYt*O@t*]@yt*t*6>t*HMV?T~ZԿ`: A?@?E?7?)u*O@ u*o;Iu*CxBDy>xBEEiLIL)=GF@]YeiD:e>aaQeCimܜm>Iq I}7ٮqq Q}tI q U}aB9qu: u{:)u7 48)I tIi C ̒:):I48I9IiIXz:);  iIi 2@<:@w: U)  j(A)IYt.E O@t.Q]@yt.t./J>t.H@FU? $`Կ@Ay?1Â??V?)u.E O@ u. p;Iu.CxB>xBBEF=F=FF4<)U+GU4=]=F@}Yʅ g:>ʁʁQCʁ͍:>I I7ٮ M7 QtI  UaB9鰕w: Y:)O7 58) 58I tIi C :)U:I`*58I9IiIXz:);  iIi! !2@%<:@-w: Yi~) <#j(AYt*3'O@t*?]@yt*{t*΅>t*H"T?1ҲWgԿ QF`P?`fσ??@v?)u*3'O@ u*3so;Iu(xBeq>xBnEiPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>QC:>I I7ٮ Q tI  U bB9: :)VM7 58)I 5tIi =C 5;)-;Ip58III9IIQiQQqIXz:);  iIi 2@<:@w: ߩɩ) =j(AYt*2O@t*]@yt*t*Ć>t*HYR?@ rԿ`@?@%6?@? ?)u*2O@ u*Bo;Iu(xBI>xBE)zƄGF@=YEXH:E>AAQMCIM:M>IQ I]7ٮQQ Q]tI Q U]bB9QU: U:)U7 m58)aIa mtIia mCa e:)e:Ie+58yIy9yIiIXz:);  iIi 2@<:@w: y Received command:sched asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4ivtx 1 3) iWj(A Yt24O@t2 ]@yt2t2>6>t2HR@?Km{sԿ@6@-??@?6?8?)u24O@ u2V o;Iu2C=Rgot command schedule asap "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" 4ivtx 1 3.000000=RPScheduling command #1 of 3 with id=4ivtx=VScheduled #3 (#1 of 3 with id='4ivtx'): "load Engineering/lineCaptureHoming.xml;set lineCaptureHoming.Repeat 3 count;set lineCaptureHoming.DockRange 2 meter;set lineCaptureHoming.RolloutTimeout 1 minute;set lineCaptureHoming.InitDepth 0 meter" ASAPxzx>xzEiAiAiI)҄GixAa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a m a 9m@a m a -m@a m ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Yʅι>QCR9>I I7ٮ QtI  UcB9s< <)7 558))I) 5tIi) 5C) - :)-:I-C58I9IiIXz:);  !!i!I!i) )2@5<:@5w: ߡR>>,) 74qj(AYt*BO@t*]@yt*t*~>t*HO?G Կ:=? ;???)u*BO@ u*n;Iu*CxBp>xB%E)zvGF@=YE9E>AIQMCIM(;M>IQ I]7ٮQQ Q]tI Q UecB9QU: U:)U7 m68)a m68Ia mtIia mCa e:)e:IeX968yI9IiIXz:);  iIi 2@<:@w: = 2SBD MTMSN=20190401T225927?) bj(AYt. mO@t.^@yt.t.>t.HH ?~Կ?y?@N?l?`??)u. mO@ u.n;Iu,x^eq>x^nEihIh)5dGF@}Y} >ʁʁQCʁ͍;>I I7ٮ M7 QtI  UcB9鰕s: :)(7 68)I tIi C :)N:I~68I9IiIXz:);  iIi 2@<:@w: yͨ) j(A) I4t.H@8I?,Կ6 ?@,??]?)u. kO@ u.n;Iu.Cx^u>x^Eb=f=fp;f<)9E=E=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YV>QCϛ>I I7ٮ QtI  UcB9: J:)X`7 68)I tIi C Ր:):IJ68I9Ii   IXz:);  iIi! !2@-<:@-w: 9i@AR) žj(AYt*O@t*>^@yt*B%t*>t*HB :?8x@3Կ, ? =? ??)u*O@ u* n;Iu*CxBp>xBEiLIP)1F@mYuI8u>qqQuCq};}>I I7ٮ QtI  UdB9鰅: :)7 78) 78I tIi C Z:):I78I9IiIXz:);  iIi 2@<:@w: ൚) j(AYt*`O@t*lG^@yt*0t*3>t*H A=? ֳ jԿ@H+3????)u*`O@ u*}n;Iu(xBb>xBQ E)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y@;>QC{: >I  I57ٮ   Q5tI  U=dB9  9; ;) 7 E78)9I9 EtIi9 EC9 =F:)=:I=iN78qIq9yIiIXz:);  iIi 2@<:@w:  ) +j(A@ Yt.6O@t.B}^@yt.Ω!t.H>t.H8w?`q<տ -+?@$5?@? ?)u.6O@ u.;n;Iu.CxNMl>xNLEiRARAiRARAi\I\)SGi%wA!F@=Y=D0=>AAQECAM <M>IQ I]7ٮQ M]7Q Q]tI Q U]dB9QU|: U:)U7 e78)aIa mtIia mCa eɏ:)e:Ieҍ781I999IAiAAAIXz:);  iIi 2@<:@w: >>š) .Y k(AYt.O@t.^@yt.+ "t.>t.H4?cտ`*}r?C?q??)u.O@ u.n;Iu.CxBm>xB'E)zGF@Y%%>!)Q-C)-l;5>I1 I=7ٮ11 Q=tI 1 UEeB915: 5ʽ:)50:7 M78)AIA MtIiA MCA E:)E:IE978YIa9aIiiiiiIuXz:);  iIi 2@<:@w: Y*ɚ) 5&k(AYt.>P@t.J^@yt.A$t.r>t.H. F?ҳ`Dտ ?? l?`?)u.>P@ u.xn;Iu.CxBk>xBEiLIL)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}>ʁʁQCʁ͍;>I I7ٮ QtI  UeB9鰕; |;)r7 88) 88I tIi C :)۞:I88I9IiIXz:);  iIi 2@<:@w: QК) @k(A) I;Yt.0P@t.^@yt.2It.c܉>t.H(?`;bտ =?I?=? z?)u.0P@ u.n;Iu.CxBb>xBQ EF=F=Jp;J;)G = F@Y%l:%>!!Q-C)-!;->I1 I=7ٮ11 Q=tI 1 U=eB915: 5:)5}7 M88)AIA MtIiA MCA E:)E:IEfY88YIa9aIiiiiiIuXz:);  iIi 2@<:@w: i?A/֚) Yk(AYt%WP@t%_@yt%kt%w>t%H;"B? [@տ_ ?\?@??)u%WP@ u%!o;Iu%Cx5x>x5EiQIY)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UY] ]>YYQ]Cae;e>Ii I7ٮii QtI i UfB9imV; m;)m7 88)I tIi C :),:I88I9IiIXz:);  iIi 2@<:@w: KXܚ) ;sk(AYt.+P@t.74_@yt.$t.4>t.H5#?ȳ@տR? ܞ?@TP? ?)u.+P@ u.o;Iu.Cx>md>xBu E)~GF@MYUٺU>QYQ]CYe ;e>Ia Im7ٮa Mm7a QutI a UufB9aeN: eR:)e7 }88)yIy tIiy Cy }:)}s:I}88I9IiIXz:);  iIi 2@<:@w: @) fk(A@ Yt.4P@t.@k_@yt.p%t.8*>t.H S?@/@jտ``G[??.u? ?)u.4P@ u.mo;Iu.Cx>s>xBEiBAFAiFAFAiLIL)]GiexAaF@}Y}>ʁʁQCʁ͍b<>I I7ٮ QtI  UfB9鰕: :)O7 98) 98I tIi C E:){:I'98I9IiIXz:);  iIi 2@<:@ w: 9V>t>j) W|k(AYt*CP@t*O_@yt*0+t*[;>t*H@ `?Hᴿտt`l#?e??@?)u*CP@ u*n;Iu*CxBz>xB E)~Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʥ"a>ʩʩQCʩ͵Ru;>I I7ٮ QtI  UgB9ٮ: :)7 98)I tIi C :)A:I9m98I!9!I)i)))IUXz:)]; Y YYiYIYia a2@m<:@mw: ߡ+R) Xk(AYt*Q@t*_@yt*b!t*Ɉ>t*H-@f?`~",ֿ`C?A,? ??)u*Q@ u*o;Iu*Cx>xp>xBEiHIL)zGF@Y%t:%>!!Q-C)-;->I1 I=7ٮ11 Q=tI 1 UEgB915: 5):)5?7 M98)AIA MtIiA MCA Ep:)E:IE׭989I999IAiAAAIUXz:);  iIi 2@<:@w: 9$|) "3k(A)4t.HT?/﴿ _ֿo??3??)u.=Q@ u. o;Iu.CxB'n>xBpEF=F=Fp;F<)~G~4=4=F@%Y%9:%>))Q-C)52<5>I9 I=7ٮ99 QEtI 9 UEgB99=: =а:)=r7 M98)III UtIiI UCI M:)M :IM98aIa9aIiiiiiI}Xz:)}; y yiIi 2@<:@w: ߡi yReceived command:sched asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.Speed 0 meter_per_second;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer" 4ivtx 2 3=% got command schedule asap "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.Speed 0 meter_per_second;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer" 4ivtx 2 3.000000=- PScheduling command #2 of 3 with id=4ivtx=5 Scheduled #4 (#2 of 3 with id='4ivtx'): "set lineCaptureHoming.InitDepthTimeout 1 minute;set lineCaptureHoming.Speed 0 meter_per_second;set lineCaptureHoming.MinAltitude 0 meter;set lineCaptureHoming.MinOffshore 0 kilometer" ASAPn) k(AYt.iQ@t.`@yt.o t.aO>t.H`2?״fֿ>?a?Z?@?)u.iQ@ u.n;Iu.Cx>i>xBEi\I\)-dGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ}9>ʹʹQCʹ ;>I I7ٮ M7 QtI  UhB9: `<)-7 =:8)9 =:8I9 EtIi9 EC9 =U:)=&:I=B;:8QI9IiIXz:) ;  IiIIIiQ Q2@]<:@]w: č) l(AYt*Q@t*M`@yt*qYt*w>t*H]@?ֿn??_? a?)u*Q@ u*jn;Iu*CxBx>xBE)zGF@=YEP/E>AAQMCIM <M>IQ I]7ٮQQ QetI Q UehB9QU; U;)U;b7 m:8)iIi utIii uCi mO:)m :Imz:8I9IiIXz:);  iIi 2@<:@w: = 2SBD MTMSN=20190401T225933˸ ) (l(A Yt.^Q@t.jq`@yt.Ԁ+t.X>t.H`]4?@ֿ (?p?`k ?e?)u.^Q@ u.ǡn;Iu.Cx^p>x^%EifAjAijAjAi|I|)mGiF@Y 9 >QC-;U>Ia I7ٮaa QtI a UhB9aex; e;)e+7 :8)I tIi C };)S;I:8I9IiIXz:);  iIi !2@%<:@-w: 9>) Bl(AYt2Q@t2`@yt2h&t2)>t2Hf?@'@׿@c?`ބ?@??)u2Q@ u2˰n;Iu2CxR|>xRCE)ׄGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}&=:}>ʁʁQCʁ͍v;>I I7ٮ QtI  UiB9鰍; 3;)7 ;8) ;8I tIi C 9:)n:IK;8I9IiIXz:);  iIi 2@<:@w: ) yy\l(AYt*R@t*`@yt*S\%t*">t*H`P?᮵,׿Z?`s? 8? ?)u*R@ u*ݏn;Iu*CxBj>xBqEiLIL)1a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽu9>QC;>I I7ٮ M7 QtI  UiB9; ;) 7 ;8)I  tIi  C h:)9:IbJ;89I999IAiAAAIUXz:)U; Y YYiYIaiq 2@<:@w: ߩ) Vvl(A);IYt. LR@t.`@yt.t.)>t.H=?U5[׿ K n?@>U? ??)u. LR@ u.Dzn;Iu,x>m>xB'EF=F=Fp;Fp<)MGQU%=F@Yʝ:>ʡʡQCʡͭ";>I I7ٮ QtI  UiB9鰵; G;){@7 ;8)I tIi C :),:I;8I9I!i!))IUXz:)U; Q YYiYIYia a2@m<:@mw: ߙig#) w-l(AYt*kR@t*a@yt*mt*slj>t*H?Ķ`x׿* ??`?@?)u*kR@ u*n;Iu*CxB\>xBEiLIP)GF@Y%'%>))Q-C)5 ;5>I1 I7ٮ11 QtI 1 UjB915< 5#<)5vu7  ;8)I  tIi  C :)؛:I;8!I!9!I)i)))IeXz:)m; i iIi 2@<:@w: A}*)  l(AYt*dR@t*pHa@yt*'6+t*c^>t*H ?@K׿ ?`f?&??)u*dR@ u*DŽn;Iu*CxBx>xBE)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yʝ? >ʡʡQCʡͭ0;>I Iu7ٮ Q}tI  U}jB9鰵o< <)ʮ7 <8) <8I tIi C :)Ӡ:If<8I9IiIXz:);  iIi 2@<:@w: !]0) l(A@ Yt.+R@t.7ea@yt. *t.>t.H A? 91׿8?A?? ?)u.+R@ u."Pn;Iu,xBs>xBEiDFAiDFAiLIR̓C)~ƄGiyAF@Y%m?9%>!!Q-C)-O;->I1 I=7ٮ11 Q=tI 1 UEjB915+: 5/:)57 M<8)AIA MtIiA MCA E:)E:IEV<8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: >>7) l(AYt*R@t* a@yt*KM%t*>t*H`.84?q׿}?`?`?? "?)u*R@ u*]2n;Iu*CxBs>x@)~ʁʁQCʁ͍;>I I7ٮ M7 QtI  UkB9鰕j; +;)7 <8)I tIi C F:):I<8I9Ii   IXz:)5; 9 99i9I9iA A2@M<:@Mw: B=) ^l(AYt*wR@t*a@yt*.t*>>t*H_9?el׿` ?Z?@??)u*wR@ u*߆n;Iu*CxBy>xBEiLINѓC)~GF@=YE:;E>AAQECIM;M>IQ I}7ٮQQ Q}tI Q U}kB9QU ; U;)UR7 <8)I tIi C %:)9:I><8I9IiIXz:);  iIi 2@<:@ w: 9*D) ym(A) IYt.S@t.߳a@yt.gK/t.U>t.H`ݧ^?`ؿ +}?Q?#?@ ?)u.S@ u.%Wn;Iu.Cx^`k>xbEf=f=fʉʉQCʉͥxa;>I I7ٮ QtI  UkB9鰽l< p<)7 ==8)  E=8I  EtIi  MC  <) t*H@ ߋ?`Ԥ45ؿN#+???@O?)u*6S@ u*en;Iu*CxRk>xREi\I\)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʉ9>QC;>I I7ٮ QtI  UlB9N; ;)7  =8)I  tIi  C Ր:):I#k=89I999IAiAAIIuXz:)u; q yyiyIyiy 2@<:@w: ߙ{t*H?E <4ؿ ]J?@{3??6?)u*5S@ u*gn;Iu*CxB?s>xBE)5vGF@]Ye:e>aaQeCim{-m>Iq I}7ٮqq Q}tI q U}lB9qu>: uc:)u7 =8)I tIi C %:):I=8I9IiIXz:);  iIi 2@ <:@ w: fW)  _m(A@ Yt.@S@t.a@yt.1ot.G>t.H`?` >ؿ{z??@ҭ?`P??)u.@S@ u.n;Iu,xBh>xBEiFAFAiFAFAiLIR̓C)~dGiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y!:>QC:>I I7ٮ M 7 Q tI  U lB99: ض:)?27 5=8)I =tIi =C <:)w:I=8III9IIqiqqqIXz:);  iIi 2@<:@w: R>p>3]) vxm(AYt.2QS@t.>a@yt.Bt.ш>t.H@? Ú Mؿ`܅@ɰ?@@???)u.2QS@ u.n;Iu.CxB'n>xBpE)zGF@Y : >QC,;>I! I%7ٮ!! Q-tI ! U-mB9!%: %>:)%ue7 5>8)1 5>8I1 5tIi1 =C1 5I:)5¿:I52>8III9IIQiQQQIeXz:)e; a aaiiIiii q2@u<:@uw: % Received command:sched asap "set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4ivtx 3 3=m got command schedule asap "set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " 4ivtx 3 3.000000=m PScheduling command #3 of 3 with id=4ivtx=u Scheduled #5 (#3 of 3 with id='4ivtx'): "set lineCaptureHoming:StandardEnvelopes.MinAltitude 0 meter;set lineCaptureHoming:StandardEnvelopes.MinOffshore 0 meter;run " ASAPWxd) m(AYt*\OS@t*ha@yt*rt* >t*H@>`n?`(1Lؿ` ??t?A?)u*\OS@ u*n;Iu(xBw>xBjEiPIP)҄GF@ Y%%>11Q5C9EE>II IM7ٮII QUtI I UUmB9IM: M:)MN7 ]>8)YIY etIiY eCY ]:)]:I]w>8qIq9qIyiyyIXz:);  iIi 2@<:@w: q= zgot command load ./Missions/Engineering/lineCaptureHoming.xml$ zLoading Mission: ./Missions/Engineering/lineCaptureHoming.xml*n code=0062 name="lineCaptureHoming" *e code=0657 elementURI="lineCaptureHoming.MissionTimeout" type=00 *a code=0809 owner=0062 element=0657 universal=3FFF unitName="hour" type=1F size=0008 fl=04 *a code=080A owner=0062 element=0657 universal=3FFF unitName="hour" type=1F size=0008 fl=05 R@ @$ nDefineArg lineCaptureHoming.MissionTimeout = 4.000000 h*e code=0658 elementURI="lineCaptureHoming.NeedCommsTime" type=00 *a code=080B owner=0062 element=0658 universal=3FFF unitName="minute" type=1F size=0008 fl=04 *a code=080C owner=0062 element=0658 universal=3FFF unitName="minute" type=1F size=0008 fl=05 b@ @$ tDefineArg lineCaptureHoming.NeedCommsTime = 120.000000 min*e code=0659 elementURI="lineCaptureHoming.Repeat" type=00 *a code=080D owner=0062 element=0659 universal=3FFF unitName="count" type=1F size=0008 fl=04 *a code=080E owner=0062 element=0659 universal=3FFF unitName="count" type=1F size=0008 fl=05 r@ ?$ fDefineArg lineCaptureHoming.Repeat = 1.000000 count*e code=065A elementURI="lineCaptureHoming.DockLat" type=00 *a code=080F owner=0062 element=065A universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0810 owner=0062 element=065A universal=3FFF unitName="degree" type=1F size=0008 fl=05 @ $ `DefineArg lineCaptureHoming.DockLat = nan arcdeg*e code=065B elementURI="lineCaptureHoming.DockLon" type=00 *a code=0811 owner=0062 element=065B universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0812 owner=0062 element=065B universal=3FFF unitName="degree" type=1F size=0008 fl=05 @% $- `DefineArg lineCaptureHoming.DockLon = nan arcdeg*e code=065C elementURI="lineCaptureHoming.StartLat" type=00 *a code=0813 owner=0062 element=065C universal=3FFF unitName="degree" type=1F size=0008 fl=04 *a code=0814 owner=0062 element=065C universal=3FFF unitName="degree" type=1F size=0008 fl=05 @= $E bDefineArg lineCaptureHoming.StartLat = nan arcdeg*e code=065D elementURI="lineCaptureHoming.StartLon" type=00 *a code=0815 owner=0062 element=065D 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owner=007B element=0683 universal=3FFF unitName="degree" type=2F size=0004 fl=05 Ow) Tm(AYt.QS@t.a@yt.Lt.>t.H˙`v?`iNؿ@az s)?Ƀ?9?`L?)u.QS@ u.Xn;Iu.Cx>i>x>E*e code=0684 elementURI="TrackAcousticContact.contact_longitude_lowpass" type=02 )zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9*a code=08AA owner=007B element=0684 universal=3FFF unitName="degree" type=2F size=0004 fl=05 *e code=0685 elementURI="TrackAcousticContact.eastings_to_contact" type=02 F@Yʝ;>ʡʡQCʡͭ`:>I*a code=08AB owner=007B element=0685 universal=3FFF unitName="meter" type=0B size=0003 fl=05 I7ٮ QtI  UnB9鰵Է; ;)D7 ?8) ?8I tIi C :)n:IG?8I9) ;I Xz:  i*e code=0686 elementURI="TrackAcousticContact.northings_to_contact" type=02 *a code=08AC owner=007B element=0686 universal=3FFF unitName="meter" type=0B size=0003 fl=05 Ii*e code=0687 elementURI="TrackAcousticContact.contact_depth" type=02 2@<:@w: !*a code=08AD owner=007B element=0687 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0688 elementURI="TrackAcousticContact.contact_depth_lowpass" type=02 *a code=08AE owner=007B element=0688 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=0689 elementURI="TrackAcousticContact.range_to_contact" type=02 *a code=08AF owner=007B element=0689 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *e code=068A elementURI="TrackAcousticContact.azimuth_to_contact_vehicle_frame" type=02 *a code=08B0 owner=007B element=068A universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=068B elementURI="TrackAcousticContact.elevation_to_contact_vehicle_frame" type=02 *a code=08B1 owner=007B element=068B universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=068C elementURI="TrackAcousticContact.heading_to_contact" type=02 *a code=08B2 owner=007B element=068C universal=3FFF unitName="radian" type=2F size=0004 fl=05 *e code=068D elementURI="TrackAcousticContact.direction_vehicle_frame" type=12 blobType=11 fixedSize=0003 *a code=08B3 owner=007B element=068D universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=068E elementURI="TrackAcousticContact.direction_navigation_frame" type=12 blobType=11 fixedSize=0003 *a code=08B4 owner=007B element=068E universal=3FFF unitName="none" type=00 size=0000 fl=05 *e code=068F elementURI="TrackAcousticContact.relativePosition_vehicleFrame" type=12 blobType=11 fixedSize=0003 *a code=08B5 owner=007B element=068F universal=3FFF unitName="meter" type=00 size=0000 fl=05 *e code=0690 elementURI="TrackAcousticContact.relativePosition_navigationFrame" type=12 blobType=11 fixedSize=0003 *a code=08B6 owner=007B element=0690 universal=3FFF unitName="meter" type=00 size=0000 fl=05 *n code=007C name="lineCaptureHoming:J.Mass" >Construct.*a code=08B7 owner=007C element=0285 universal=3FFF unitName="millimeter" type=0B size=0003 fl=04 *a code=08B8 owner=007C element=0032 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08B9 owner=007C element=05EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08BA owner=007C element=0137 universal=3FFF unitName="centimeter" type=0B size=0003 fl=04 *n code=007D name="lineCaptureHoming:K.Buoyancy" >e&Construct Buoyancy.*a code=08BB owner=007D element=026B universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *a code=08BC owner=007D element=0028 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08BD owner=007D element=060A universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=05 *a code=08BE owner=007D element=0119 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04 *n code=007E name="lineCaptureHoming:L" *n code=007F name="lineCaptureHoming:M" *n code=0080 name="lineCaptureHoming:DiveCmd" *n code=0081 name="lineCaptureHoming:DiveCmd:InitialDive" *n code=0082 name="lineCaptureHoming:DiveCmd:InitialDive:dive" *n code=0083 name="lineCaptureHoming:DiveCmd:InitialDive:dive:A.SetSpeed" AConstruct.*a code=08BF owner=0083 element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C0 owner=0083 element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08C1 owner=0083 element=060B universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=0084 name="lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch" BMConstruct.*a code=08C2 owner=0084 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08C3 owner=0084 element=0607 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08C4 owner=0084 element=0608 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08C5 owner=0084 element=05F2 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08C6 owner=0084 element=05EA universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08C7 owner=0084 element=05E9 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08C8 owner=0084 element=0609 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08C9 owner=0084 element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0085 name="lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout" *n code=0086 name="lineCaptureHoming:DiveCmd:InitialDive:dive:B.Pitch:A_Timeout:A" *a code=08CA owner=0086 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=0087 name="lineCaptureHoming:DiveCmd:InitialDive:dive:C" *a code=08CB owner=0087 element=0675 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0088 name="lineCaptureHoming:DiveCmd:AltitudeServo" *n code=0089 name="lineCaptureHoming:DiveCmd:AltitudeServo:dive" *n code=008A name="lineCaptureHoming:DiveCmd:AltitudeServo:dive:A" *a code=08CC owner=008A element=011B universal=3FFF unitName="meter" type=0B size=0003 fl=05 *n code=008B name="lineCaptureHoming:DiveCmd:AltitudeServo:dive:B.SetSpeed" E= Construct.*a code=08CD owner=008B element=003E universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08CE owner=008B element=05E8 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05 *a code=08CF owner=008B element=060B universal=3FFF unitName="second" type=0B size=0003 fl=05 *n code=008C name="lineCaptureHoming:DiveCmd:AltitudeServo:dive:C.AltitudeServo" F Construct.*a code=08D0 owner=008C element=0168 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *a code=08D1 owner=008C element=0449 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08D2 owner=008C element=0607 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *a code=08D3 owner=008C element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08D4 owner=008C element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=008D name="lineCaptureHoming:RequestPing" *n code=008E name="lineCaptureHoming:RequestPing:A" *n code=008F name="lineCaptureHoming:RequestPing:B" *a code=08D5 owner=008F element=02DF universal=3FFF unitName="enum" type=02 size=0001 fl=05 *n code=0090 name="lineCaptureHoming:RequestPing:C" *a code=08D6 owner=0090 element=02E0 universal=3FFF unitName="count" type=0D size=0004 fl=05 *n code=0091 name="lineCaptureHoming:StartingMission" *n code=0092 name="lineCaptureHoming:Lap" *n code=0093 name="lineCaptureHoming:Lap:Dive" }) 0m(A Yt.CS@t.a@yt.%%t.>t.H@gR?4(Aؿ ?-?`P?Z?)u.CS@ u.n;Iu.Cx>|>x>CEiDFAiLIRѓC) Gi xA F@Y%ח%>!!Q%C)-->I1 I=7ٮ11 Q=tI 1 U=nB915: 5:)5y7 M?8)AIA MtIiA UCA E:)E:IĖ?8aIa9a)u;IuXz: qqiqIyiy 2@<:@w: ߙ*n code=0094 name="lineCaptureHoming:Lap:Dive:A" *n code=0095 name="lineCaptureHoming:Lap:PingTransponder" *n code=0096 name="lineCaptureHoming:Lap:PingTransponder:A" *n code=0097 name="lineCaptureHoming:Lap:C" *a code=08D7 owner=0097 element=0672 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=0098 name="lineCaptureHoming:Lap:MidcourseGuidance" *a code=08D8 owner=0098 element=0689 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=0099 name="lineCaptureHoming:Lap:MidcourseGuidance:A.Waypoint" Lu&Construct Waypoint.*a code=08D9 owner=0099 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DA owner=0099 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DB owner=0099 element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08DC owner=0099 element=0619 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08DD owner=0099 element=05F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08DE owner=0099 element=0615 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08DF owner=0099 element=0616 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=009A name="lineCaptureHoming:Lap:TerminalGuidance" *a code=08E0 owner=009A element=0689 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=009B name="lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading" *a code=08E1 owner=009B element=0689 universal=3FFF unitName="meter" type=0B size=0003 fl=04 *n code=009C name="lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:A.Point" NmConstruct.*a code=08E2 owner=009C element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E3 owner=009C element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E4 owner=009C element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08E5 owner=009C element=05F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08E6 owner=009C element=0617 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08E7 owner=009C element=0618 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05 *a code=08E8 owner=009C element=05F4 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08E9 owner=009C element=0615 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08EA owner=009C element=0616 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08EB owner=009C element=068C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *n code=009D name="lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:B" *a code=08EC owner=009D element=0033 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=009E name="lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:C" *a code=08ED owner=009E element=068C universal=3FFF unitName="radian" type=2F size=0004 fl=04 *n code=009F name="lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading:D.Wait" O%Construct Wait.*n code=00A0 name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera" *a code=08EE owner=00A0 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00A1 name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:A" *a code=08EF owner=00A1 element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 *n code=00A2 name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:B" *n code=00A3 name="lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera:C" *a code=08F0 owner=00A3 element=0673 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A4 name="lineCaptureHoming:Lap:Dock" *n code=00A5 name="lineCaptureHoming:Lap:Dock:UpdateNav" *n code=00A6 name="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav" S"Construct SetNav.*e code=0691 elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.latitude_fix" type=00 *a code=08F1 owner=00A6 element=0691 universal=0018 unitName="degree" type=37 size=0006 fl=05 )E5*e code=0692 elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.longitude_fix" type=00 *a code=08F2 owner=00A6 element=0692 universal=001B unitName="degree" type=37 size=0006 fl=05 )I5*e code=0693 elementURI="lineCaptureHoming:Lap:Dock:UpdateNav:A.SetNav.time_fix" type=00 *a code=08F3 owner=00A6 element=0693 universal=0063 unitName="second" type=1F size=0008 fl=05 *n code=00A7 name="lineCaptureHoming:Lap:Dock:B.Wait" SConstruct Wait.*n code=00A8 name="lineCaptureHoming:Lap:Dock:C" *a code=08F4 owner=00A8 element=0673 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00A9 name="lineCaptureHoming:Lap:Dock:D" *a code=08F5 owner=00A9 element=0672 universal=3FFF unitName="bool" type=02 size=0001 fl=05 *n code=00AA name="lineCaptureHoming:Lap:Rollout" *n code=00AB name="lineCaptureHoming:Lap:Rollout:NavToStart" *n code=00AC name="lineCaptureHoming:Lap:Rollout:NavToStart:A.Waypoint" V}&Construct Waypoint.*a code=08F6 owner=00AC element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F7 owner=00AC element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F8 owner=00AC element=002D universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=08F9 owner=00AC element=0619 universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=08FA owner=00AC element=05F3 universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=08FB owner=00AC element=0615 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *a code=08FC owner=00AC element=0616 universal=3FFF unitName="degree" type=37 size=0006 fl=05 *n code=00AD name="lineCaptureHoming:Lap:Rollout:MaintainHeading" >>*n code=00AE name="lineCaptureHoming:Lap:Rollout:MaintainHeading:A.Wait" WConstruct Wait.*n code=00AF name="lineCaptureHoming:PhoneHome" $S 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 If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. 15 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. Vehicle HDG: . Contact HDG: . 2 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.xmlń) Kn(AYt*-S@t*a@yt*Y%t*&>t*H@d|?,ؿ ॓??@?g?)u*-S@ u*;n;Iu*CxBr>xBIE)SGF@]YeZC8e>aaQmCimqXm>Iq I7ٮqq QtI q UoB9qu]< uT^<)uұ7 ?8)I tIi C ̒:):I>?8YIY9YIaiaaaIXz:);  iIi 2@<:@w: a!) -n(AYt*$%S@t*0a@yt*`t*S>t*H`;@i?;@%ؿR`F(?@? h3?.?)u*$%S@ u*n;Iu*Cx>"h>xBEiPIP)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@EYʵD:>ʱʹQCʹͽ+>I I7ٮ Q-tI  U-oB9C^< ^<)7 =@8)1 =@8I1 =tIi1 =C1 5:)5ʢ:I5@8I9IiIXz:);  !)i)I)i) 12@5<:@=w: ߩؑ) Gn(A)IYt.S@t. a@yt./"t.7>t.HL?@u, ؿ``hE?S?N?U?)u.S@ u.v"o;Iu.Cx>?s>xBEB=B=FF<)vGz%=z=F@Y%%>!!Q-C)-->I1 I=7ٮ1 M=71 Q=tI 1 U=oB915: 5:)5 7 M@8)AIA MtIiA MCA ES:)E:IET@8yI9IiIXz:);  iIi 2@ <:@ w: i) Ֆan(AYt*KR@t*Wa@yt*"t*->t*H` =?׿U`?W?1?T?)u*KR@ u*n;Iu(xR |>xREi\I\)]+GF@}Yʅ>ʁʁQCʉ͍#>I I7ٮ QtI  UpB9鰕k< q<)W7 }@8)qIq }tIiq }Cq uE:)uY:Iu@8I9IiIXz:);   i I i  q2@u<:@}w: ߉X,) `r{n(AYt*R@t*a@yt*)t*_>t*H x,? }`׿~`?9?xBE)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ鈺>QCe>I IU7ٮ QUtI  U]pB9؎< <) 7 e@8)YIY etIiY eCY ]:)]:I]A@8qIy9yIiIXz:);  iIi 2@<:@w: Qc) 8Nn(A@ Yt.ðR@t.]a@yt.t.>t.H `? 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-?)uZR@ uZn;IuZCxn|>xnE)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Y_:>QC%v*%>I) I57ٮ)) Q5tI ) U5rB9)-%: -):)-)7 EB8)9I9 EtIi9 C9 =nZ<)=[xnEi~A~AiAAi!I%̓C)}GiF@Yʝ>ʡʡQCʡͭ>I I 7ٮ M 7 QtI  UrB9鰵3: d:) 7 B8)I tIi C %:):IB8I9I!i!!!I5Xz:)u; q qqiqIyiy y2@<:@w: ߑR>t>tқ) QLJo(AYt*Q@t*h`@yt* t*H-?Mյֿ? l'? ?/?)u*Q@ u*n;Iu*CxB,t>xB#E)%GF@=YElĺE>AIQMCIM3VM>IQ I} 7ٮQQ Q}tI Q UsB9QU˵; U;)UG 7 B8)I tIi C ):IKB8I9IiIXz:)U; Q YYiYIYiY a2@e<:@mw: ؛) 'do(Axnm>xn'Ei|I~ѓC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>QC>I I 7ٮ QtI  UsB9: :) 7 C8) MC8I UtIi UC ]<)3^t.H`?nѵ`Δֿ@.?#?`?`?)u.wQ@ u.եn;Iu,xBz>xF ER=R=Rp;Rp<)dG%=%=F@=YE:7E>AAQECIMsAM>IQ I] 7ٮQQ Q]tI Q U]sB9QU: U:)Ug 7 mC8)aIa mtIia mCa e:)e:IeʅC8YIY9YIaiaaaIXz:);  iIi 2@<:@w: i+) o(AYtb*Q@tb_@ytb#tb/B>tbH?~hMֿ`?`a?@?h?)ub*Q@ ubҦn;Iu`xjf>xj EiI)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Yʭz>ʱʱQCʱͽ_>I I 7ٮ Q tI  U tB9< <) 7 C8)I tIi C :):IMC8I9IiIXz:);  99i9I9iA A2@M<:@Mw: A) Mo(AYt2 Q@t2_@yt2 t23>t2H?`3㴿0.ֿ@@?`? +??)u2 Q@ u2tn;Iu2CxZx>x^E)F@Y9?QC(?I I!7ٮ M!7 QtI  UtB9= =)'!7 %D8) D8I tIi C `<)ޏt.H `o?%iֿ@U@?K?? ?)u.P@ u.n;Iu.CxnDy>xrEEirAvAi|I|)GF@=Y=ѻ=>AAQECAM̑M>IQ I!7ٮQQ QtI Q UtB9QUw< U:)U`!7 D8)I tIi C Ր:)ȗ:IZD8III9IIiAIMXz:)U; Q QQiQIQiY Y2@<:@w: :) o(AYt*3P@t*?k_@yt*T t*f>t*HvC? -`pտB?? ?(?)u*3P@ u*Dn;Iu*Cx^5g>xb*E)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a m a 5m@a m a 9m@a u a -u@a u ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yʍ:>QC>I I!7ٮ QtI  UuB9{< <)!7 D8)I tIi C ݖ:):ID8I!9!I)i)))I=Xz:)=; 9 99i9IAiA A2@E<:@Mw: a#) -p(AYt*IP@t*UM_@yt* 0t*#>t*H@+0?⎴@Uտ@`K?E?D??)u*IP@ u*n;Iu(xBn>xBEiLIL)~SGF@Y% :% ?!)Q-C)--?I1 I!7ٮ11 QtI 1 UuB915_< 5L`<)5Z!7 D8)I tIi C :):ID89I999IAiAIIIXz:);  iIi 2@<:@w: qL) Ump(A)4t.H qv1?Nտ`k??? ?)u.xP@ u.En;Iu.CxBxp>xBEF=F=)-G-4=)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@-Y-jm->1ʑQCʑ͝ȹ>I I"7ٮ M"7 QtI  UuB9鰥: $:)"7 E8) E8I tIi C @:):I/E8I9IiIXz:);  iI!i) )2@5<:@5w: Fw ) ,I4p(AYt*nP@t*_@yt*٦#t*>t*H`W$?@տ}V?t???)u*nP@ u*n;Iu*CxBr>xBIEiPIV֓C) GF@Y%)%>!)Q-C)-5>I1 I"7ٮ11 QtI 1 UuB915^< 5r^<)59"7 E8)I tIi C :):I#gE8I9I!i!!)IXz:);  iIi 2@<:@w: _) %Np(AYt2cP@t2!_@yt2 Q%t2>t2HN ?u տ "?` ?`/?`G?)u2cP@ u2n;Iu2Cx^o>x^E)evGF@}Y}>ʁʁQCʁ͍ >I I"7ٮ QtI  UvB9鰕^< 7_<)rr"7 E8)I  tIi  C :)ICE8yIy9yIiIXz:);  iIi 2@<:@w: y) hp(A@ Yt*&DP@t*2^@yt*t* >t*H%!?@Ktտ ?练?q??)u*&DP@ u*Fn;Iu*Cx>i>xBEi@DiLINѓC)GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YԎ:>QCl>Iq I}"7ٮqq Q}tI q U}vB9qu: u:)u"7 E8)I tIi C p:):IE8I9IiIXz:);  iIi) 12@5<:@=w: IY]l>q ) #݁p(AYt.o3P@t.{^@yt. t.̞>t.H`S(`?Q˳`dտSa??F?@9?)u.o3P@ u.o;Iu.Cx>f>xB E)~GF@Y%i%>))Q-C)-405>I1 I"7ٮ11 QtI 1 UvB915Ȳ: 5p:)5&"7 F8) F8I tIi 5C ;]<)L^t*H@)r?᳿`.\տ`f?@mك?C??)u*;*P@ u*2n;Iu(x>p>xBEiHIL)~GF@Y%9%>!!Q-C)-^->I1 I=#7ٮ1 M=#71 Q=tI 1 UEwB915: 5:)5B#7 MF8)AIA MtIiA MCA E:)EԘ:IExuF8YIa9aIiiiiiIXz:);  iIi 2@<:@w: ߡ~,) ?p(A);IYt.P@t.^@yt.9"t.W>t.H/?U!;տ ` &?@%G???)u.P@ u.n;Iu.CxBp>xB%EF=DF;F<)-dG-<)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@EYM'M>QIQMCIU U>IY Ie#7ٮYY QetI Y UewB9Y]: ]:)]W#7 F8)I tIi C :):I$F8I9I i IXz:);  !!i!I!i 2@<:@w: ai]@AYլ3) #jp(AYt.O@t.^@yt.O%t.>t.H0?`lj4տS$@?@婄?@?`?)u.O@ u.n;Iu,xBjw>xB"EiPIR̓C)F@=YEE>AIQMCIMԺM?IQ I}#7ٮQQ Q}tI Q UwB9QUo; UA;)U#7 F8)I tIi C ::) :IF8I9IiIXz:);  iIi! !2@-<:@-w: 99) Ip(AYt*O@t*^@yt*P)t*>t*H@#5`2?!`տ$?@2?@I?l?)u*O@ u*&n;Iu(x>v>xBGE)-GF@]Ym''u>yʁQCʉ͕x>I Iu#7ٮ QutI  U}xB9鰭< <)ʽ#7 G8)y G8Iy tIiy Cy }:)}{:I}HG8 Received command:report t TrackAcousticContact.heading_to_contactI9I!i!!!IXz:);  iIi 2@<:@w: @) N%q(A Yt.O@t.'^@yt.3"t.6^>t.H4?`տR%J?LF?a?@?)u.O@ u."n;Iu,x>v>xiqQuCq}#9}>I I#7ٮ QtI  UxB9鰅: _:)3#7 G8)I tIi C <)]>F) ~q(AYt*oO@t*{i^@yt*%t*>t*H`<`fb?Կ*@?@?+??)u*oO@ u*{n;Iu(x>i>xBE)SGF@Y%L:%>!)Q-C)-->I1 I=$7ٮ1 M=$71 Q=tI 1 UExB915: 5:)5*$7 MG8)AIA MtIiA MCA Eh:)E|:IEG8yI9IiIXz:);  iIi 2@<:@w: 9-M) D6q(AYt*O@t*~^@yt*hl+t*`D>t*H8`}?q5pտ-?`sm?@Sx??)u*O@ u*n;Iu(x>eq>xBnEiHIL)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ>ʡʡQCʡͭH;>I I$7ٮ QtI  UyB9鰵< ˵:)`c$7  H8)  H8I  tIi  C Z:)M:IH8YIY9YIaiaiiIUXz:)U; Q QQiQIQiY Y2@e<:@ew: sS) Pq(A) IYt.yO@t.X^@yt.9't.͋>t.H>X?*Կ62ۜ? 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WԿ.`? DŽ? d??)u*CO@ u*n;Iu*CxBZe>xB EiLIP)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yc9>QC>I I$7ٮ QtI  UyB9: į:)[$7 H8)I tIi C `;);IH8!I!9!I)i)))I]Xz:)]; Y YaiaIaia i2@m<:@uw: ߡ a) kq(Axnk>xnE)UGF@Yʽ>QC>I I%7ٮ M%7 QtI  UzB9; b;)W %7 H8)I tIi  C p:):IGH8QIQ9YIaiaaaImXz:)m;  iIi 2@<:@w: 7g) Eq(A@ Yt.O@t..^@yt.s%t.h>t.HE/?k/:Կ4? f??x?)u.O@ u.n;Iu.CxBz>xB EiFAFAiFAFAiLIP)~vGixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YʥT8>ʡʡQCʩͭ>I Iu%7ٮ Q}tI  U}zB9鰵5: :)@%7 I8) I8I tIi C N:):I"%I8I9IiIXz:);  iIi 2@<:@ w: ]>]>`m) q(AYt*O@t*@^@yt*%-t*{3>t*HB E?\ﲿ@Կ7? ?Gv? ?)u*O@ u*n;Iu*CxBk>xBE)~GF@=YE2E>AIQMCIM4;U>IQ I}%7ٮQQ Q}tI Q UzB9QU; UǴ;)Uuu%7 I8)I tIi C [:)o:IcI8I9IiIXz:);  iIi 2@ <:@ w: !It) Pq(AYt*xO@t*%^@yt*8%t*8u>t*HG)?@`gԿ:?馄?=~??)u*xO@ u*n;Iu*CxBsj>xB(EiLIL) GF@Y%:%>!!Q-C)-->I1 I=%7ٮ11 Q=tI 1 U={B915w: 5Y:)5%7 MI8)AIA MtIiA MCA E:)E:IEI8qIy9IiIXz:) ;  1i9I9iI q2@}<:@w: sz) ,q(A)4t.H G,'?`Կ:`?ń?̀??)u.uO@ u.5n;Iu.CxB'n>xBpEB=B=Fp;Fp<)zׄG|~=a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yl>QC  >I Iu%7ٮ QutI  Uu{B98; ;)%7 I8)yIy tIiy Cy }F:)}:I}OI8I9IiIXz:);  iIi 2@<:@w: 1iYYZ) r(AYt*qO@t*^@yt* _t*H>t*H6HT?6­Կ`8@? ΋?ӗ?~?)u*qO@ u*#n;Iu*CxBxp>xBEiLINѓC)EGF@MYU:U>YYQ]CYe(e>Ii Iu&7ٮi Mu&7i QutI i U}{B9imld< md<)mV&7 5J8) EJ8I EtIi MC NQ<)t*H K`a? C"Կ> ??`ԇ?@?)u*\O@ u*zn;Iu(xBm>xB'E)~dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y> Q D B>I I%&7ٮ Q%tI  U%|B9: а:)U&7 5J8))I) utIi) uC) -<)-t.HJ@L?#޲ӝԿ~AVt?@?Vh??)u.`O@ u.:n;Iu.CxBd>xB EiFAFAiFAFAiPIR̓C)iwAF@Y%H(8->))Q-D)5&:5>Ia Ie&7ٮaa QmtI a Um|B9ae: a)ej&7 uJ8)qIq tIiq uCq uW=)u=IuŷJ8I9IiIXz:);  iIi  2@<:@w: ]]>]{>ז) ?Sr(AYt:PO@t:]@yt:"t:>t:HM?`"Կ<y?P? ? ?)u:PO@ u:Cgn;Iu8xbm>xb'E)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y׷9>QD>I I&7ٮ QtI  U|B9: :)&7 %K8)! %K8I! %tIi! -C! %Z:)% :I%$K89I999IAiAAAIuXz:)u; q qqiqIqiy y2@<:@w: ߹) dmr(AYt*[AO@t*g]@yt*!t* >t*HO?@@Կ5=@?@#?@O? O?)u*[AO@ u*yn;Iu*CxBWx>xBEiLIL)zGF@Y%R%?!)Q-D)-))-?I1 I=&7ٮ11 Q=tI 1 UE}B915: 5f:)5&7 MK8)AIA MtIiA MCA E:)E:IE ?K8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: ˩) r(A);IYt.DO@t.]@yt.$t.>t.HaO@?<OԿ`Ez??g??)u.DO@ u.qgn;Iu.CxBw>xBjEF=F=F4!!Q-D)-:->I1 I='7ٮ1 M='71 Q=tI 1 UE}B915v: 5:)5#.'7 MK8)AIA MtIiA MCA E:)AIE&K8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: iYY ӧ) WѠr(AYt2WRO@t2c]@yt2C't2(]>t2H 0M@ ? `/ԿD@d??@g\? [?)u2WRO@ u2n;Iu2CxBRr>xBEiLIP)|a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ>ʡʡQDʡͭ;>I I'7ٮ QtI  U}B9鰵; E;)wg'7 K8)I tIi C :):IK8I9I!i!!!I5Xz:)U; Q QYiYIYiY a2@e<:@mw: y= ngot command set lineCaptureHoming.Repeat 3.000000 countr@ @= tgot command set lineCaptureHoming.DockRange 2.000000 meter@ @= got command set lineCaptureHoming.RolloutTimeout 1.000000 minute"A N@= tgot command set lineCaptureHoming.InitDepth 0.000000 meterbA =- 2got command report touch ]- FIncomplete syntax. Try: help report) ͯr(AYt*c3O@t*o]@yt*-t*>t*H`0R?rԿ@0?@? Ń?`ı??)u*c3O@ u*n;Iu(x= |>x=E)F@Y:>QD >Ii Iu'7ٮii QutI i Uu~B9im: m:)mI'7 }L8)y L8Iy tIiy Cy }x:)}':I}{L8I9IiIXz:);  iIi 2@<:@w: 1崜) ar(A Yt.R2O@t.^]@yt.t.>t.H \RN? qԿ ?`@? ?j??)u.R2O@ u.o;Iu.CxBm>xB'EiFAFAiFAFAiLIP)Yi]xAYF@}Yʅ¨7>ʁʁQDʁ͍?>I I'7ٮ QtI  U~B9鰕b: :)<'7 L8)I tIi C e;)_;IQL8I9Ii I5Xz:)=; A AIiIIIiY a2@u<:@}w: ]V>]p>) br(AYt*&O@t*"]@yt*Lt*ڣ>t*H`T`?#`UfԿG%??@?8?)u*&O@ u*n;Iu*CxBi>xBNE)|a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y;>QDC >I  I(7ٮ  M5(7  Q5tI  U=~B9  N; ;) (7 EL8)9I9 EtIi9 MC9 =:)=:I=ҘL8qIy9yIiIXz:);  iIi 2@<:@w: ) As(AYt*D%O@t*P]@yt*$t*Ƀ>t*HtT*?1`eԿNB?d? 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U"??`4?)u.TN@ u.Tp;Iu.CxB{>xBiEF=F=Fp;F<)~dG<a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YĴ7>QDR>I I)7ٮ QtI  UB9=; ;)2)7 %N8)I %tIi %C :):IݸN81I999IAiAAAIMXz:)M; Q qqiqIqiy y2@<:@w: iaao) s(AYtrN@trw]@ytroNtr ;>trHb-?R>Կ`1_@))?I?b9??)urN@ urso;IurCxz:m>xzEiI)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@]Y]:e>aaQeDam~@;m>I I*7ٮ M*7 QtI  UB9鰕: :)B*7 N8)I tIi C :)5;IN8I9IiIXz:);  iIi !2@%<:@%w: 9@) s(AYt*bN@t*ne]@yt*^ t*Ƹ>t*H e:x?bY0ӿW??@i?`?)u*bN@ u*o;Iu*CxBq>xBE)zGF@Y%%>!!Q-D)-H->I1 I=*7ٮ11 Q=tI 1 UEB915: 5g:)5B2*7 MO8)A MO8IA MtIiA MCA E :)Eϝ:IEat.HxB%EiFAFAiFAFAiLIP)~GiyAxAF@Y%9%>!)Q-D)-ͺ->I1 I=*7ٮ11 Q=tI 1 UEB915@: 5Y:)5ji*7 MO8)AIA MtIiA MCA Eh:)E:IEwO8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: ]>]p>`) ;$t(AYt*FjN@t*R]@yt*t*H>t*Hq"?@5粿@ӿS8_??`?I?)u*FjN@ u*5q;Iu(xBMl>xBLE)~+Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ; ;>ʁʁQDʁ͍">I I*7ٮ QtI  UB9鰕; ;)-*7 O8)I tIi C }:)N:I6O8I9IiIXz:);  iIi !2@%<:@-w: Y) >t(AYt*N@t*8]@yt*t*#>t*HluS?@Lױ`ӿh@2?@C?6?@e?)u*N@ u*p;Iu*CxBi>xBNEiHIL)zSGF@Y%G%>!!Q-D)- ;->I1 I=*7ٮ11 Q=tI 1 U=B915I: 5M:)5*7 MP8)A MP8IA MtIiA MCA E :)E۞:IEP8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: X) bXt(A);IYt69hN@t6E]@yt6v t6>t6H rN2?S˱ ӿ`(j@r??S??)u69hN@ u6)p;Iu4xBt>xBlEF=F=FʁʁQDʁ͍X>I I+7ٮ M+7 QtI  UB9鰕9; ;)+7 P8)I tIi C h:)Z:ImOP8I9IiIXz:)5; 1 19i9I9i9 A2@E<:@Mw: YiYY) 9rt(AYt*PkN@t*\]@yt*&at*K>t*H@qY&? ²ӿSZ? ??7?)u*PkN@ u*Zp;Iu*CxBx>xBEihIl)5vGF@}Yʅ:>ʁʁQDʉ͍9>I I+7ٮ QtI  UB9鰕; ^;)G+7 P8)I tIi C [:) :IP8I9Ii IXz:)5; 1 99i9I9i9 A2@E<:@Mw: ߙb") t(AYt*:N@t*\@yt*X t*x>t*H y@?[xӿ`MW w? ? ??)u*:N@ u*yp;Iu*CxBy>xBE)zGF@]YePe>aaQeDamm>Iq I}+7ٮqq Q}tI q U}B9qu: u:)uC~+7 P8)I tIi C :):IBP8I9IiIXz:);  iIi 2@<:@ w: y )) t(A Yt.t.Hx?`ӿl*? n>xBEiBABAiFAFAiLIL)~+Gia 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]`]>YYQ]Daef9e>Ii I+7ٮii QtI i UB9im9; m;)m+7 Q8) Q8I tIi C R:):I_ Q8I9IiIXz:);  iIi 2@<:@%w: Q]e>]i>5/) 6˿t(AYt*"N@t*\@yt*t*>t*H |?@5oӿvZ?>z?D?`?)u*"N@ u*o;Iu(xBi>xBE)SGF@Y%:%>))Q-D)5Ǝ5>I1 I]+7ٮ11 QetI 1 UeB915; 5N;)5z+7 mQ8)iIi mtIii uCi mO:)m:Im]Q8I9IiIXz:)u; q qyiyIyiy 2@<:@w: ߹e6) t(AYt*N@t*\@yt*;t*>t*H`G}@C?ﱿ` lӿ#k`??? ?)u*N@ u*o;Iu*CxBn>xBEiLINѓC)~dGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye?e>aaQeDimm>Iq I,7ٮq M,7q QtI q UB9qu; ug;)u#,7 Q8)I tIi C :):I2Q8I9IiIXz:);  iIi 2@<:@w: ߹H<) t(A) IYt.N@t.\@yt.yt.i>t.Hf? }`^ӿ]v?/??? !?)u.N@ u.o;Iu.CxBv>xBEF=F=Fp;F<)|=F@Y%:%>!!Q-D)-O ->I1 I=,7ٮ11 Q=tI 1 UEB915b: 5:)5Y,7 MQ8)AIA MtIiA MCA EF:)E9:IECQ8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: iYYo/C) -\ u(AYt*M@t*\@yt*A)t*>t*H2߹?@9ӿ@p`? 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O? /?N?)u*M@ u*[o;Iu*Cx>w>x>jE)zSGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY};}>yyQDʁͅe:>I I,7ٮ QtI  UB9鰍Ǵ; ;),7 R8)I tIi C :):IpR8I9IiI Xz:) ;  11i1I1i9 92@=<:@Ew: Q= got command set lineCaptureHoming.InitDepthTimeout 1.000000 minuterA N@= got command set lineCaptureHoming.Speed 0.000000 meter_per_secondA = xgot command set lineCaptureHoming.MinAltitude 0.000000 meterA = got command set lineCaptureHoming.MinOffshore 0.000000 kilometerA SBP) /Au(A YtjM@tj \@ytj!tjڮ>tjHa?`t@(ӿ"y d? ?4?5? ?)ujM@ ujoo;IujCx |>xEiAAiAAiI̓C)=dGi9AF@UY]7]>YaQeDaexm>Ii I-7ٮi M-7i QtI i UB9im; m^;)m-7 R8)I tIi C F:)9:IR8I9IiI Xz:);  iIi 2@%<:@%w: Y]>]t>mV) MZu(AYtRM@tRy\@ytRy;tR>tRH@C?ױӿ9q8?[?G? ?)uRM@ uRHo;IuPxZZe>xZ E)ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YBZ:>!Q%D!%{%>I) IU-7ٮ)) QUtI ) U]B9)-; -;)-:-7 eR8)YIY etIiY eCY ]p:)]:I]R8I9IiIXz:);  iIi 2@<:@w: \) tu(AYt*M@t*W\@yt*5t*E>t*Hώ|?+zҿ}d?@T3?`q?@?)u*M@ u*Eao;Iu(xBc>xB EiLINѓC)zGF@]Ye.9e>aaQeDimm>Iq I}-7ٮqq QtI q UB9qu; uQ;)un-7 S8) S8I tIi C ,:):I#;S8I9IiIXz:);  iIi 2@<:@w: !~c) ۧu(A) IYt.2M@t.>X\@yt.Q,t.n>t.H@?4ҿ @?/? ??)u.2M@ u.]o;Iu.CxB:m>xBEF=F=F%=Fp<)~SG%=F@Y%A%>!)Q-D)->9->I1 I=-7ٮ11 Q=tI 1 UEB915w: 5:)5-7 MS8)AIA MtIiA MCA E%:)E:IE}S8I9IiIXz:)5; 1 19i9I9i9 A2@E<:@Mw: yiYYi) Au(AYt*M@t*S\@yt*($t*l߄>t*H\@~?`@ҿ@?`? &l?H?)u*M@ u*>o;Iu*CxBt>xBlEiLIR̓C)~Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʥD:>ʡʡQDʡͭG>I Iu-7ٮ Q}tI  U}B9鰵2< c<)-7 S8)I tIi C :)o:IS8I9IiIXz:)5; 1 11i1I1i9 92@E<:@Ew: ߩp) B^u(AYt*M@t*,\@yt*t*gx>t*H P?<*ҿz@1H? xBE)z+GF@Y%:%>!!Q-D)-Ż->I1 I=.7ٮ1 M=.71 Q=tI 1 UEB915: 5:)5.7 MT8)A MT8IA MtIiA UCA Eȗ:)E:IET8yI9IiIXz:);  iIi 2@<:@w: v) &9u(A@ Yt..vM@t.:#\@yt.,t.>t.Hy@O?`x /ҿ ׊ u?ł?`l?C?)u..vM@ u.dp;Iu.CxBeq>xBnEiDFAiDFAiLIP)~SGiF@Y%:%>!)Q-D)-?->I1 I=.7ٮ11 Q=tI 1 UEB915b: 5ʽ:)5%J.7 MT8)AIA MtIiA MCA E[:)Eo:IEJT8YIa9aIiiiiiIuXz:);  iIi 2@<:@w: ]l>]p>|) u(AYt*M@t*1\@yt*,t*T>t*H@3l? ,9ҿ`i?`œ? X?s?)u*M@ u*X p;Iu*CxBc>xB, E)~Ga 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʝU>ʡʡQDʡͭ ;>I I.7ٮ QtI  UB9鰵; ^;)q.7 T8)I tIi C :)ȗ:IwT8I9IiIXz:);  19i9I9i9 A2@E<:@Mw: Ỹ) v(AYt*AlM@t*M\@yt*%(t*4~>t*Hٗ>M?ҿ@*u??sA??)u*AlM@ u* p;Iu(xBo>xBJEiLIL)zGF@=YV,:>QDkm>I  IU.7ٮ   QUtI  U]B9  ,< <) >.7 eT8)YIY etIiY mCY ]1:)]E:I]KT8I9IiI Xz:);  iIi !2@E<:@Mw: Y) )v(A) I4tFH@֘=?1:vҿ`0@!??`j?L?)uFeM@ uFUqp;IuDxRs>xREV=V=Vp;V<)ESGU4=QF@}Yʍ@:>ʙʙQDʡ͵'>I I.7ٮ QtI  UB9o; ;).7 %U8)! -U8I! -tIi! -C! %N:)%۞:I%U8YIa9aIiiiiiIXz:);  iIi 2@<:@w: iYYݐ) Cv(AYt*VM@t*\@yt*C$t*">t*H@O5?@ΰҿ ?`M?`m??)u*VM@ u*`p;Iu(xBn>xBEilIl)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YG >QD>I! I-/7ٮ! M-/7! Q-tI ! 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ZӿDw`o'?͔?@??)u64M@ u606p;Iu4xReq>xRnEiVAVAiVAZAi`I`)5GiExAAF@}Yʍ{ֹ>ʙʡQDʩ>I I-07ٮ QutI  UuB96< 2<)07 W8)yIy tIiy Cy }t:)}:I}́W8I9IiIXz:);  iIi 2@<:@w: ]V>]x>גʝ) OY,w(AYt*M@t*r\@yt*&t* >t*HѢ?°ӿ@j ? ڄ??`E?)u*M@ u*qo;Iu*CxB:m>xBE)-Ga 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Y>QD ; >I IU17ٮ M]17 Q]tI  U]B9 < Z<)17 eW8)aIa mtIia mCa e:)eN:IeOW8I9IiIXz:);  iIi 2@%<:@%w: y{ѝ) 5Fw(AYt*N@t*ѱ\@yt*U#t*(Iy>t*H@/`?F@CSӿ@\ s?c?`1? ?)u*N@ u*o;Iu(x>Rr>xBEiHINѓC)zdGF@eY}:}>ʉʉQDʉ͕\"<>I I17ٮ QtI  UB9鰝%: :)P17 X8) X8I tIi C Z:):InX8I9I i   I]Xz:)]; Y YYiYIYia a2@m<:@mw: 'ם) `w(A);IYt.N@t.\@yt.hc't.֠>t.H}`?`R jӿ~a? U?`?`n?)u.N@ u.o;Iu,x>q>xBEB=B=Fp))Q5D1u2];u>Iy I17ٮyy QtI y UB9y}: }ٮ:)}'17 X8)I tIi C <)t*H`x? 챿@?ӿ d?y?@8??)u*\;N@ u*go;Iu*CxBu>xBEiLIR̓C)~GF@%Y=m=]>aaQeDae;m>Ii Iu17ٮii QutI i UB9im; mض;)m17 X8)I tIi C Ĕ:):I[X8I9q(>Aggregate::uninitialize Default)DUninitialize GoToSurfaceComponent.1 *NAggregate::uninitialize Default:CheckIn -8Uninitialize Wait Component.=$BStarted mission lineCaptureHoming 1NAggregate::initialize lineCaptureHoming1rAggregate::initialize lineCaptureHoming:StandardEnvelopes1 2JInitialize AltitudeEnvelopeComponent.q2DInitialize DepthEnvelopeComponent. 3JInitialize OffshoreEnvelopeComponent.=DInitializing TrackAcousticContact.1 >Initialize.q>t*Hv@C?W`ӿr:?k?@0? ?)u*MN@ u*n;Iu(xBq>xBE)ׄGF@]Ymg.u>ʁʁQDʉ͵Z1;>I I17ٮ QtI  U B9< <)Y17 MX8)9I9  tIi9 C9 =L<)=xr Ei~A~Ai~A~AiI)yiyAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@EYMM>qqQuDq}}>I I27ٮ M27 QtI  UB9鰅N: R:)027 5Y8)1 5Y8I1 5tIi1 =C1 5ϝ:)5:I55Y8AII9IEQEQCYq]1]);I9 iIi 2@<:@w: ]>]p>)  |w(AYt* N@t*Z]@yt*1t*">t*HLg 3~?8@]ӿnn։?@ ?@۲?T?)u* N@ u*vn;Iu*CxBWx>xBE)GF@=YE1E>AAQMDIM<M>IQ I]27ٮQQ Q]tI Q U]B9QUǺ: U:)Ub27 mY8)aIa mtIia mCa e:)e:IekXY8yI9EED @1q);I9 iIi 2@<:@w: O) Xw(AYt2N@t2]@yt2""t2"8>t2Ht_ ?@#o#ԿK ?`>D???)u2N@ u2n;Iu2CxBp>xB%Ei`I`)%dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ;>ʡʩQDʩͭ;>I I27ٮ QtI  UB9鰽: Ȳ:)}27 Y8)I tIi C :):IY8I9E ED5q5q$5H=nAggregate::initialize lineCaptureHoming:StartingMission)M;IM9 IIiIIIiq q2@}<:@}w: ߱) T5w(A) IYt.N@t.}]@yt.?(t.ҷ>t.H`a@Ԕ? Կ[`AR??jH?`?)u.N@ u. 6o;Iu,xju>xjEn=n=rp;rp;)UGQYF@}Y}t>ʁʁQDʁ͍>I I27ٮ QtI  UB9鰕õ; ;)27 Y8)I tIi C :)9:IY8I9E E   ; hAggregate::initialize lineCaptureHoming:SurfaceCommsD1515 <5lAggregate::initialize lineCaptureHoming:SurfaceComms:B)M;IM9 IIiIIIiq q2@}<:@}w: ߩiYYX)  x(AYtRXO@tR^@ytR@&tRy>tRH&L@}?@:NԿ R@}?`ڄ?@?@?)uRXO@ uRn;IuRCxZv>xZGE*e code=0694 elementURI="DUSBL_Hydroid.component_voltage" type=00 *a code=08FF owner=0022 element=0694 universal=3FFF unitName="volt" type=07 size=0002 fl=05 G@A*e code=0695 elementURI="DUSBL_Hydroid.component_avgVoltage" type=00 *a code=0900 owner=0022 element=0695 universal=3FFF unitName="volt" type=07 size=0002 fl=05 H@AiI)uvGF@YʝbL9>ʙʡQDʡͥ՚<>I I37ٮ M37 QtI  UB9鰭; M;) 37 Z8) Z8I tIi C V:)':I,Z8I9E!E!% 5%bAggregate::initialize lineCaptureHoming:NeedComms1- 6-@Initialize GoToSurfaceComponent.6-HReceived depth rate setting nan m/s.6MRReceived pitch setting 19.999999 degrees.6UHReceived speed setting 1.000000 m/s. 6UNo surface timeout specified. Using default value of 1000.000000 seconds.6]nReceived pitch timeout configuration 60.000000 seconds.]zDYDYDYD]5last time_fix was: 1554159290.000000 second since 1970/01/01T00:00:00Z IXz:);  iIi! !2@<:@w: X/ ) .x(AYt>1ZO@t>=^@yt>sT6t>>t>H`K`? Կ = ?oʆ? ??)u>1ZO@ u> n;Iu>CxNp>xR%E)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y#>QDi9>I I37ٮ QtI  U B9U; W;)A37 Z8) I  tIi  C  Գ:)  :I dlZ8!I!9)E1E5;zD1D9D9D=q=IMXz:)M; Q QQiQIQiY Y2@e<:@ew: q;) Hx(A Yt6eO@t6^@yt6)t6VC>t6H`J? Կ'B]?[3?FY??)u6eO@ u6Bo;Iu4xNp>xNEiRARAiRARAi\I\)GiwAF@%Y-$;->11Q5D1=D:=>IA IE37ٮAA QMtI A UMB9AE.: ES:)Ev37 UZ8)QIQ ]tIiQ ]CQ Uٓ:)U:IUZ8iIi9iEqEu;*a code=0901 owner=006D element=0063 universal=FFFF unitName="none" type=FF size=0000 fl=04 6\Initialize ReadDataComponent to sense time_fixzDDDDIXz:);  iIi! !2@%<:@-w: YU>Ut>@) Vbx(AYt*O@t*P^@yt**$t*>t*H'@2^?@8|Կ J #xBE*e code=0696 elementURI="DUSBL_Hydroid.component_current" type=00 *a code=0902 owner=0022 element=0696 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 HZR=*e code=0697 elementURI="DUSBL_Hydroid.component_avgCurrent" type=00 *a code=0903 owner=0022 element=0697 universal=3FFF unitName="milliampere" type=07 size=0002 fl=05 Hna=)USGF@]Ye-T:e>iiQmDim<u>Iq I}37ٮqq QtI q UB9qu: ul:)u37 Z8)I tIi C  :)ݖ:IZ8I9EE;zDDDDIXz:);  iIi 2@<:@w: k) Oy|x(AYt*O@t*^@yt* #"t*>t*Ha8`0?@e@k տAhN?KD? +??)u*O@ u* qn;Iu*CxBl>xBE)DIFC=iPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>iiQmDimj;u>Iq I}37ٮqq QtI q UB9qu: u5:)u637 [8) [8I tIi C A:):I5[8q Software FaultI9EE;zDDDDIXz:);  iIi 2@<:@w: !-xSoftware Fault in component: DeadReckonWithRespectToSeafloorIS%) Vx(A) IYt.O@t.^@yt.so.t.C>t.H2?`$*տ+K?`ͅ?OY??)u.O@ u.n;Iu,xB}v>xBEF=F=F=F< ~Fix Requested)mGm4=iF@Yʝ>ʡʡQDʡͭr;>I I47ٮ M47 QtI  UB9鰵0: :)m47 [8)I tIi C :)J:I({[8I9EE;zDDDDIXz:);  i I i  2@<:@w: )!=Clearing failed state for component DeadReckonWithRespectToSeafloorq =iYY}+) Y2x(AYt*wO@t*^@yt*)t*>t*H g4?u7տ@+[?5?b??)u*wO@ u*ckn;Iu*CxN'n>xNpE ^Parsing RMC sentence: $GPRMC,230022.00,A,3648.16283,N,12147.20890,W,0.175,3.07,010419,,,D*77 ^^(A^?ـ^ 0^SSfB@%@M-[r^fhGPS fix at 20190401T230022: (36.802714, -121.786815)I^`=i^cx[=ipIp)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;:>ʡʩQDʩͭܺ>I I;4ٮ? M;4 0 QtI  U?9鰵v: :)>g;4 ;4)? ;4I 0 tIi ? :):I>g;4?I?9AAEE;q1zDDDDI Xz:) ;  iIi 2@<:@%w: 1Fe2) A x(AYt6P@t6"^@yt6:"t6Ŝ>t6H/Ӷ?ʲ;տ6l?`P? ??)u6P@ u6mn;Iu6CxN}v>xRETT)҄GF@Yʽ:>QD;>I II4  ɮ MI4   QtI  U?  )q: :)iLI4 4! I ) 4! M I tIi ?! 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Received command:report t TrackAcousticContact.heading_to_contactE) ?](AYt*RmQ@t*\`@yt*#-t*vۇ>t*Hc`~?3 ֿzG? ?Z??)u*RmQ@ u*fm;Iu*CxBt>x@)FR=IFC=iPIP)Ga 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Y%g%>))Q-D)-;5>IQ I]5ٮQ M]5Q QetI Q Ue@9QU: U:)Up5 m6)i m6Ii mtIii Ai mq`<)mat.H@?`ӃֿB T,?C? i??)u.eQ@ u.Ƅm;Iu,xBo>xBEF=F=)F@=YE:E>AAQMDIM^M>IQ I]5ٮQ M]5Q Q]tI Q Ue@9QU: U:)Uj5 m6)a m6Ia mtIia mBa e9:)e:Ie6yI9EE;zDDDDIXz:);  iIi 2@]<:@]w: yiYY1 $) (AxrU_>xrS Ei =I )GF@Y>QD>I I-5ٮ M-5 QtI  U@9< <)5 56) =6I =tIi =B -<)};Iy6I9EE;zDDDDIXz:);  iIi 2@<:@w: YC5*) Ъ(AYt*PtQ@t*Z!`@yt*0t*0>t*H$@?Ǵֿ@dY?`g???)u*PtQ@ u*~m;Iu*CxBp>xB%EFvAD)H)e{Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>QDr;>I I5ٮ M5 QtI  U@9: :)$5 6) 6I tIi B ;)Ȱ;I6!I)9)E1EU;zDYDYDYD]ImXz:)m; i q)i)I1i1 12@=<:@=w: ߑ= got command report touch TrackAcousticContact.heading_to_contact*a code=0905 owner=0049 element=068C universal=3FFF unitName="radian" type=2F size=0004 fl=04 h1) Ā(A Yt*[GQ@t*e_@yt*J&t*G>t*H+?]hֿ@[@v?@EɄ?t?@?)u*[GQ@ u*^m;Iu*CxBWx>xFEiVAVAi-f=I))ƄGiF@Yʽ:>QDv߻>I I5ٮ M5 QtI  U@9M: :)wQ5 6) 6I tIi B :):If6I!9!E)E-;zD1D1DQDUIeXz:)m; i iiiiIii 2@<:@w: i]>]>F7) ހ(AYtn[Q@tn`@ytn(tn>tnH?JJzֿ۫??@#?@?)un[Q@ unkm;IunCxx>xE)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%D!-=;->I) I55ٮ) M=5) Q=tI ) U=@9)-6: -9:)-5 E6)A M6IA MtIiA MBA Ec:)Ew:IEfI6YIY9YEaEe;zDiDiDiDmIXz:);  iIi 2@<:@w: ߩq=) `(AYtBFQ@tB_@ytB "tB>tBH@@??J `Tgֿs9?D???)uBFQ@ uBYm;IuBCx^d>x^ E)fa=IfR=in=Ir“C)=GF@MYM:U>QQQUDQ],Y]>Ia Im5ٮa Mm5a QmtI a Um@9ae: e:)ew5 }6)q }6Iq }tIiq }Bq u˵:)uʽ:IuaF6I9EE;zDDDDIXz:);  iIi 2@<:@w: YD) \<(A)";I Yt>XQ@t>`@yt>3$t>>t>H`@?34xֿp?o? ?`>?)u>XQ@ u>hm;Iu>Cx~q>x~E== <)<F@Y>QD r(;>I1 IE5ٮ1 MM51 QMtI 1 UU@915}; 5;)5L5 m6)i u6Ii utIii u Bi mH:)m:Im6I9EE;zDDDDIXz:);  iIi 2@<:@w: iYYJ) Z*,(AYt.6Q@t._@yt.vt.Dž>t.H?ش_Xֿ`0g?`:փ?`>??)u.6Q@ u.xXm;Iu,xZWx>xZEijf=Ih)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1 @a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-@f:M>IIQUDQUU>IY Ie5ٮY Me5Y QetI Y Ue@9Y]; ]=;)]K5 6) 6I tIi  B 0:):I6I9EE;zDDDDI Xz:) ;  iIi 2@<:@%w: Q kQ) E(AYt*UQ@t*!`@yt*V$t*jσ>t*H@?Štֿ``5??`GK??)u*UQ@ u*vm;Iu*Cx^{>x^iEdd)=GF@]Ye|e>aaQeDim;m>Iq I5ٮq M5q QtI q U@9qu+< u]<)up5  6)  6I  tIi   B :)Ɵ:It6YIY9YEaEm;zDiDiDiDmIXz:);  iIi 2@<:@w: )W) S_(A Yt.d;Q@t.n_@yt.`W!t.F>t.H5@? \ֿ$:?*?o??)u.d;Q@ u.IXm;Iu.CxBl>xBEiDDiFAFAiPIR̓C)vGi yA a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe4:m>iiQmDiu}u>Iy I5ٮy M5y QtI y UA9y}: }÷:)}霫5 6) 6I tIi B а;);Iͼ6I9EE;zDqDqDqDuIXz:);  iIi 2@<:@w: I]>]>]) vy(AYt*CQ@t*_@yt*0t*#>t*H`1?sdֿ-Vw?b?Z??)u*CQ@ u* hm;Iu*CxBxp>xBE)~dGF@Y%n}:%>!!Q-D)-:->I1 I=5ٮ1 M=51 Q=tI 1 UEA915: 5:)5'L5 M6)A M6IA MtIiA UBA ER:)Eʢ:IE[6aIa9aEiEm;zDqDqDqDuIXz:);  iIi 2@<:@w: |d) s(AYt*OQ@t*&_@yt**t*>t*H@`?~Poֿ ^?X? ?@g?)u*OQ@ u*\Dm;Iu*CxB"h>xBE)FR=IFC=iPIP)F@EYU@U>aaQmDi}:>I I5ٮ M5 QtI  UA9鰕< <)5 56)  =6I  EtIi  MB  v<) Rt.H@w?``Uֿ5?GԄ?j?x?)u. 4Q@ u.!Vm;Iu.CxBmd>xBu EF=F=FF<)~G%=a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝ:>ʡʡQDʡͭ>I I5ٮ M5 QtI  UA9鰽L; :)а5 6) 6I tIi B ;);I;61I199EAEM;zDIDQDqDuIXz:);  iIi 2@<:@w: yiYYq) <ǁ(AYt*>TQ@t*H`@yt* E t*>t*H``y?/(tֿ*?@?T??)u*>TQ@ u*F4m;Iu*Cx>p>xBEiR=IR“C)AIQMDIMD;M>IQ I5ٮQ M5Q QtI Q UA9QUO< UtO<)UR|5 6) 6I tIi B :):IX6I9EE;zDDD D I]Xz:)]; Y YaiaIaia i2@m<:@uw: w) zၦ(AYt*VQ@t*`@yt*y?t*[>t*H t ? 紿cvֿ``I?ǃ?{?S?)u*VQ@ u*m;Iu(x>sj>xB(EDD)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʽ9>QD9>I I5ٮ M5 QtI  UA9 ; ;)F5 6)  6I  tIi  B :):I69I999EAEE;zDIDIDIDMI}Xz:);  iIi 2@<:@w: ߩ ~) =(A@ Yt.`MQ@t.j_@yt. t.>t.H`?mֿ@A ???`?)u.`MQ@ u."!m;Iu,x>'n>xBpEiBAFAiFAFAiRf=IR̓C)ivA F@Y%%>!!Q-D)-->I1 I=5ٮ1 M=51 Q=tI 1 UEA915&: 5?:)5D5 M6)A M6IA MtIiA UBA E$:)EӠ:IE6I9EE ;zD D D D IEXz:)E; A AAiIIIiI Q2@<:@w: ߩ]]>]l>) !(AYt*2kQ@t*<`@yt*oH t*~_>t*H?ȴ ֿ&<??\? 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Ƶ@-׿zh?[???)u.$R@ u.Ul;Iu.Cx>>x>BEiBA@iLIL)ixA a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QD>I1 I=B6ٮ1 M=B61 QEtI 1 UEA915: 5ϸ:)5htB6 Md7)A Md7IA MtIiA BA E<)Et.H d?/׿ .? DŽ?/? >?)u.;R@ u.|l;Iu.Cx>g>xBsEHBp=H@) GF@Y%%>!!Q-D)-d9->I1 I=C6ٮ1 M=C61 Q=tI 1 U=A915: 5:)5>C6 Me7)A Me7IA MtIiA MBA E9:)E+:IE/e7YIa9aEiEm;zDqDqDqDuIXz:);  iIi 2@<:@w: DP) M(AYt.9R@t.`@yt.Fw!t.σ>t.H?sJ׿>d?`.?`@K??)u.9R@ u.{l;Iu.Cx>j>x>qE nFix RequesteditIt)USGF@}Y}7:>ʁʁQDʁ͍;>I ID6ٮ MD6 QtI  UA9鰕s: :)"D6 f7) f7I tIi B A:):If7I9EE;zDDDDIXz:); ! !!i!I!i) )2@5<:@5w: IP{) g(A)IYt.)R@t.`@yt.|%t.=>t.H`?|;׿ ??@? g?)u.)R@ u. l;Iu,x>eq>x>nE@@BʩʩQDʩ͵$>I I;4ٮ? M;471 QtI  U?9: :)>g;4 ;4) ? ;4I 71 tIi  ?  <) g;4a a a a )?I71i :)Im?Im?9msAEqEu;q}zDyDyDyD}5JCompleted lineCaptureHoming:NeedComms 5fAggregate::uninitialize lineCaptureHoming:NeedComms1 6DUninitialize GoToSurfaceComponent.IXz:);  iIi 2@<:@w: ߙiQQa) k(AYt*kLR@t*v`@yt* ,t*>t*H@d?6[׿״ ?D?1?`?)u*kLR@ u*Ӹl;Iu*Cx>:m>xBEG@H@i I )uSGF@Yʝ4>ʡʡQDʡͭ ;>I IH4  ɮ MH4  鮱 QtI  U?  )鰵 : :)H4 }4!  ) }4!  I tIi ?!   :)5:I8}4a @a I a @a M a @a @a U !I!9!E1Eu;t*H@A?aJ^׿ >`a?m?l?9?)u*OR@ u*l;Iu*Cx>eq>x>nE)zGF@=Y=:=>AAQEDAMk9M>II IUV4ٮI M]V4I Q]tI I U]?9IM: M:)Mt6H9?1{l׿"??=?u?)u6:^R@ u6ůl;Iu6Cx>jw>xB"EiBADiFAFAi~^%~\~`~b~b b)b'Ib"ib$b%ihIh)MqqQuDq}l ;}>I Ie4ٮ Me4 QtI  U?9鰅N: 0:)CXe4 4) 4I tIi @ :):I}I4 I 9 EQEQDY];]PCompleted lineCaptureHoming:SurfaceComms] ;]lAggregate::uninitialize lineCaptureHoming:SurfaceComms)m;Im9 iiiiIiiq q2@}<:@}w: )U>U>) 'ώ(AYt*ZR@t*e=a@yt*P*t*o >t*H 0?`޵ ׿@ ?0R?q??)u*ZR@ u*l;Iu(xBm>xB'EHBa=HFp=)MGF@]Ye;e>aiQmDim<u>Iq Iq4ٮq Mq4q QtI q U?9qu; u;)uq4 4) 4I tIi &@ N:)۞:ID4a?Ia?9HVCompleted lineCaptureHoming:StartingMissionq$HrAggregate::uninitialize lineCaptureHoming:StartingMission$ IVAggregate::initialize lineCaptureHoming:Lap$I`Aggregate::initialize lineCaptureHoming:Lap:Dive1% JdAggregate::initialize lineCaptureHoming:Lap:Dive:Aq%JvAggregate::initialize lineCaptureHoming:Lap:PingTransponder% KzAggregate::initialize lineCaptureHoming:Lap:PingTransponder:A%EE)5;I59 11iQIQiY Y2@e<:@ew: yȹ) 鎦(AYt*R@t*-a@yt*h4t*w>t*H ?H r׿@g??.???)u*R@ u*Ol;Iu*CxB'n>xBpEiPIP)uSGF@Yq>QD>I) I]4ٮ) Me4) QetI ) Um?9)-fZ< -QW<)-C4 5) 5I tIi B@ :):I05I9F%1& LzAggregate::initialize lineCaptureHoming:Lap:MidcourseGuidanceq&L:Initialize WaypointComponent.q%$q#FfAggregate::initialize lineCaptureHoming:RequestPing##1$1$F #F#*a code=0907 owner=008E element=0004 universal=FFFF unitName="none" type=FF size=0000 fl=04 GxInitialize ReadDataComponent to sense acoustic_contact_range*a code=0908 owner=008E element=0002 universal=FFFF unitName="none" type=FF size=0000 fl=04 GInitialize ReadDataComponent to sense acoustic_contact_direction_vehicle_frame1  @^Aggregate::initialize lineCaptureHoming:DiveCmdq @%vAggregate::initialize lineCaptureHoming:DiveCmd:InitialDive % A%Aggregate::initialize lineCaptureHoming:DiveCmd:InitialDive:dive %A%Initialize.1!% B%Initialize.1"- D-zAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServoq"-D-Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive"-"-EMInitialize.1#MFMInitialize.1"U DU~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServoq"UDUAggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive"]"]E]Uninitialize.1#] F]Uninitialize.q ]JF]F]1!]!e eFaEaEa); I9 iIc&i 2@<:@w: ߉) (A)IYt.R@t.La@yt.o1t.?؄>t.H ?˵&׿Y`?-?`?k?`U?)u.R@ u.l;Iu,xBeq>xBnE {FF Y|FF8****** ping requested ******J=J=J=Jp<NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eG}4==a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@%Y%9->)iQmDiu;u>Iy I4ٮy M4y QtI y U?9y}: }0:)}4 u5)i u5Ii utIii }`@i m:)mC:Imu=5`?I`?9FFF?F71FFZF!FAhCompleted lineCaptureHoming:DiveCmd:InitialDive:dive  AAggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive:dive AUninitialize.@^Completed lineCaptureHoming:DiveCmd:InitialDiveEE)U;IU9 QUiQI] ) /i_I 2@<:@w: iQQƣ) (AYt*~R@t*Sa@yt*&t*B>t*H@ݹL?@fݵ`׿ ޵ ?ք?9Y?@?)u*~R@ u*l;Iu*CxBmd>xBu EiXIX)vGF@=YE:E?AAQEDIM:M?IQ I4ٮQ M4Q QtI Q U?9QU}< U<)U4 %5) %5I tIi t@ :)+:Iβ%5I9FFFFFF1" D zAggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServoq" D Aggregate::initialize lineCaptureHoming:DiveCmd:AltitudeServo:dive" " E Initialize.1# F Initialize.1" q" 1# "5rF1"5bF5E9E9)M;IM9 IQiQIqy y)y}-i}弉yIy 2@<:@w: #ͣ) 6(AYt*|R@t*ha@yt*t*Q>t*H `?@`)׿ {?Z?η? 1?)u*|R@ u*l;Iu*CxBl>xBE)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝs:>ʡʡQDʡͭI;>I Iu4ٮ Mu4 QutI  U}?9鰵< <)%4 75)y 75Iy tIiy @y }:)}:I}Ȣ75I9FFFFFFrFbFEE)-;I-9 iiiiIiq q)q}(i}lyIy y2@<:@w:  ӣ) ;sP(A@ Yt*׵R@t*ba@yt*">t*%>t*H?@׿@??`??)u*׵R@ u*l;Iu*CxBDy>xBEEiFAFAiFAJAiPIT) GixAF@=YE'ĹE>AAQMDIMUfM>IQ I4ٮQ M4Q QtI Q U?9QU< Uf<)U`4 G5) G5I tIi @ :):IWG5I9FFFFFFrFbFE!E)) ;I 9 iI )V#iŽI !2@e<:@mw:Y aU>U>)ڣ) ,Jj(AYt*8R@t*C}a@yt*qi&t*B>t*H2?t]׿?̈́? c?z?)u*8R@ u*l;Iu*CxBc>xB, E)~SGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQDʉ͍;>I I4ٮ M4 QtI  U?9鰕; ;)h4 X5) X5I tIi @ :)b:IX5I9F F F F FFrF9bF9E9E9)U;IU9 iI )gilI !2@%<:@-w:M: Q) E)(AYt*R@t*a@yt*/t*4>t*H`h@@?[׿ ` ?`?ev?@?)u*R@ u*l;Iu*CxBsj>xB(EiLIL)~GF@Y%r%>!!Q-D)-;->I1 I=4ٮ1 M=41 Q=tI 1 UE?9153: 5:)54 Mi5)A Mi5IA MtIiA U@A E|:)E+:IEi5aIa9aFiFiFqFqFqFqrFbFEE);I9 iI )L-ila I 2@<:@w:J () h(A)IYt.R@t. a@yt.N%t.>t.H`4?@m˶)׿Ϝ@????)u.R@ u.'m;Iu.Cx>?s>xBEB=F=)zG|~C=a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yʝ:>ʡʡQDʡͭ>I I4ٮ M4 QtI  U?9鰵j; <;)C4 z5) z5I tIi @ :){:Iz5I9F)F)F)F)F1F1rFYbFYEYEY)m;I9 iI )oi>EI 2@<:@w:xA xA˺ iQQR) ޷(AYt*R@t*a@yt*I#t*>t*H (H?@k@׿s@ l?i???)u*R@ u*:l;Iu*CxBr>xBIEGBAAH@i\I^̓C)GF@=YEԤ9E>AAQMDIM@;M>IQ I]4ٮQ M]4Q Q]tI Q U]@9QU: Um:)U)4 m5)a m5Ia mtIia m@a e:)e:Ie5yI9FFFFFFrFbFEE);I9 11i1I19 9)9E//iEt*Hũ2V?׿?`???)u*R@ u* l;Iu*CxB,t>xB#E)MvGF@}Yʍ/:>ʙʡQDʡ͵n:>I I4ٮ M4 QtI  U% @9D@< @<)4 ]5)1 e5I1 etIi1 m@1 5 J;)5M;I505`?I`?9FFFFFFrFbFEE)%;I%9 !)i)I)1 1)15Yi51I1 92@=<:@Ew:MzA Q1d) 돦(A Yt.l S@t.wa@yt.vt.A>t.H v`?@ r ؿ`v?@?E? ?)u.l S@ u.Dl;Iu.CxBl>xBEiDFAiLIN“C)~GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y9>QD:>I I4ٮ M4 QtI  U@9V: :)4 5) 5I tIi @ :):I5`?I`?9F F F F FFrFbFEE)5;I59 11i1I99 9)9EU>K) o(AYt*S@t*a@yt*e(0t*>t*HϤ`-k?5Ҷ@ؿ̒ ??@u??)u*S@ u*l;Iu*CxB{>xBE {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGF@Y&>!!Q%D!-:->I1 I=4ٮ1 M=41 Q=tI 1 U=@915: 5:)54 E5)A M5IA MtIiA M@A E=:)E:IEn5YIY9YFiFiFiFiFqFqrFybFyEyEy);I9 iI )׬iI 2@<:@w:T ߱v) K(AYt*S@t*a@yt*A)t*?ԇ>t*H@`e? ⶿`ؿ3J?`0?~?@?)u*S@ u*m;Iu*CxBDy>xBEE){BARI{Bi{B={B>{BC{BA{BCJ |BAN 9|B?F zidIfC)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ:>ʑʑQDʑ͝/K>I I4ٮ M4 QtI  U@9鰥Ȳ: $:)`4 5) 5I tIi @ :)f:I~ܧ5I9FFFFFFrFbFEE2E}zE}AE}v+@-E}?F zE}ARE}E}fB2d7B @XGo(E}x-r,~:? aǿE}DA.@=DHdg To Contact =156.001138 degreesZE}AbE}:E}xo$?BE}JE} RE}jE}CqrE});I9 iI )riI 2@<:@w:%,g $Dacoustic_contact_range 20.339998 m$hTrackAcousticContact.heading_to_contact 2.722733 rad@ ) &9(A)IYt.S@t.a@yt.K*t.Ӆ>t.H֤o?W ؿ`0 ? YI??S?)u.S@ u.l;Iu,xBeq>xBnEF=F=)+G %= =F@=YEE>AIQMDIMD6:M>IQ I]4ٮQ M]4Q Q]tI Q Ue@9QU|: U:)Ul4 m5)a m5Ia mtIia mAa e:)e:Ie6,5yI91& L~Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidanceq&L>Uninitialize WaypointComponent.& MxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'FFrFbFEE);I9 iIi 2@<:@w: f iQY+) S(AYt:n3S@t:ya@yt:*t:>t:H{?M2ؿ& '?8Y? ?@v?)u:n3S@ u:l;Iu:Cxbp>xb%Ei!I%“C)SGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=YEaE>AAQMDIM;M>IQ I]4ٮQ M]4Q Q]tI Q Ue#@9QU: U÷:)U4 m5)a m5Ia mtIia m Aa e:)e߼:Ie_5yI91( PAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera(q((*a code=0909 owner=00A2 element=0448 universal=3FFF unitName="bool" type=02 size=0001 fl=04 Q~Initialize ReadDataComponent to sense PowerOnly.samplePowerOnlyPRLights, Camera on at range: 20.339998 m .q((&N}@Vehicle HDG: 202.215468 arcdeg .q''1'*G2GDA.@FFrFbFEE);I9 iIBi DA.@ 2@<:@w:XM $ RHorizontalControl.headingCmd 2.722733 rad,) l(AYt*S@t*%a@yt*/t*44>t*H]rj?ฯEؿ@s??+??)u*S@ u*l;Iu*CxBv>xBE)zdG~Powering upF@=YE^E>AAQMDIMͨM>IQ I]4ٮQ M]4Q Q]tI Q Ue(@9QU: U:)U54 m5)a m5Ia mtIia mAa eȗ:)e:Ie)15yI9G(P~Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera1( PAggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera(=O@Contact HDG: 156.001138 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF!E)E))=;IE9 AAiAIAM%iII I2@U<:@Uw:U' Y!) (A Yt.S@t.a@yt.zt.t>t.H``Zh?`#ؿ ;r?@IO?`t??)u.S@ u.m;Iu.Cx>,t>x>#EiBA@iLIL)~Gi||F@Y%V;%>!!Q-D)-ug:->I1 I=4ٮ1 M=41 Q=tI 1 UE-@915: 5:)5 4 M5)A M5IA MtIiA MAA E:)E:IE5YIa9a*Gq2GqFqFyrFybFyEE);I9 iIAi 2@<:@w:)=I=# e>e>b') ⓠ(AYt*R@t*a@yt*"t*V؆>t*H ,N?@DM׿s@Z?@R??"?)u*R@ u*Esp;Iu*CxN,t>xPHPHRa=)GI%a 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅc>ʉʉQDʉ͕ا>I I4ٮ M4 QtI  U3@9鰽: :)94 5) 5I tIi A J;)k;I|5I9*G12G9F9F9rFAbFAEAEA)};I}9 yyiyIyi 2@<:@w:-mꊽ 1-)  o(AYt*R@t*oa@yt*sc,t*N\>t*H` ? r׿҈?`T???)u*R@ u*ZCu;Iu*CxN:m>xREi\Ix)YIaF@}Yʅº>ʁʁQDʁ͍i>I I4ٮ M4 QtI  U8@9鰕; A;)4 5) 5I tIi $A :):I5I9*G 2GFF1rF9bF9E9E9)u;Iu9 qqiqIy}fiyy 2@<:@w:𕭼 ߱g4) t.HeY? Y?׿` &?? ??)u.R@ u.u;Iu.CxB,t>xB#EF=F=)~GI=%=F@uY} }>ʁʁQDʁ͍̻>I I5ٮ M5 QtI  U=@9鰕R: :)u5 5) 5I tIi *A :):If5I9*G2GFFrF!bF!E!E))m;Im9 iIOi 2@<:@w:%vA %wAE9 IiQQ:) !(Axrl>xrEGr?AHpiI)e GIaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I  I5ٮ  M5  Q5tI  U=B@9  o; Z;) { 5 E5)9 E5I9 EtIi9 E1A9 =:)={:I=S5yI9*G2GFFrFbFEE);I9 iI*i 2@<:@w: m XA) C(AYt**]R@t*5 a@yt*Xt*ц>t*H@eq?\)yk׿m^q?@ʃ?`Z?B?)u**]R@ u* r;Iu*CxB>xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UׄGIaF@Yʝ8;>ʡʡQDʡͭ{>I I5ٮ M5 QtI  UH@9鰽q ; ;)g5 m5)a u5Ia tIia 8Aa e/;)e ;Ie]5I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rFbFEE);I9 iI@i 2@<:@w:Q| H) !(A&@ $YtFy(R@tF`@ytF$&tFШ>tFH @?`,a:׿ @?|Ą?#?@?)uFy(R@ uF=p;IuFCxjRr>xjE){n-_I{li{n={n7>{l{nA{l|npA9|n"0?F~i~A|iIC)}YYQ]DYee>I  I  5ٮ  M 5  QtI  UM@9  : ^:) 7 5 5) 5I %tIi %?A ݖ:):I5qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 201.281905 arcdeg .q''*G2GFFrFbF!E!E!2E)zE-pAE-Nqzb4@h8!@8E-"0?F~E--_E)E-Ȓ]S;gֿ,@qԛE-/V0. ?ɿE-;G*@==DHdg To Contact =152.441011 degreesZE-eAbE-Z:E-`o$?BE)JE-} RE)jE- rE));I9 iIi 2@<:@w:)=I=; ߩ$Dacoustic_contact_range 31.679998 m$hTrackAcousticContact.heading_to_contact 2.660598 radUR>Ut>=N) j;(AYt.}R@t.`@yt.E*t.>t.H?ߌ%׿ BS?H?Ɍ??)u.}R@ u.o3o;Iu,x>s>x>E)~GIF@Y5%>!!Q%D!-q->I1 I=5ٮ1 M=51 Q=tI 1 U=R@915": 5~:)5%5 M6)A M6IA MtIiA MDAA E :)E:IE6YIY9a=O@Contact HDG: 152.441011 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI iw 2@<:@%w: E/ ~$U) őU(AYt*7R@t*B`@yt*J(t*M>t*HU y?NJ@׿X? ; ?c??)u*7R@ u*xXn;Iu*CxNl>xREi`Ib“C)%vGI)F@=YE+9E>AAQMDIM!M>IQ I}5ٮQ M}5Q Q}tI Q U}W@9QUE; U;)U5 6) 6I tIi KA  :)۞:I]6I9*G2GFFrF bF E E )E;IE9 AAiAIAMBiMlTI Q2@u<:@}w:UJ YN[) mo(A)IYt.Q@t.`@yt.O#t.>t.HV?Gڵֿ-?i?? ?)u.Q@ u.n;Iu,xBa>xB EF=D)EGIIM%=Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ>:>QD>I I5ٮ M5 QtI  U]@9V; ;)7>5 % 6) % 6I %tIi -QA :)ߡ:If 69I999*GI2GIFQFqrFybFyEyEy);I9 iI@il1 2@<:@w: vA\z iQQ 6b) F(AYt*JQ@t*U~`@yt*A&t*|>t*H &C?̵ ֿ ?PЄ??xBEiLIL) XGIF@mYmhu>qqQuDq}Y}>I I5ٮ M5 QtI  Ub@9鰅J; >;)5 6) 6I tIi XA :)e:Ia6I9*G2GFFrFbFEE)-;I59 11iQIY]i]eGa a2@m<:@mw:MĆ YE`h) !(AYt*ĶQ@t*c`@yt* t*e>t*Ho./? poOֿ{~? =? xRE)vGIF@%Y-e:->))Q5D15N5>I9 IE5ٮ9 ME59 QEtI 9 UMg@99=: =':)= 5 U6)I U6II UtIiI ]^AI Mض:)M:IM6iIi9q*G2GFF rF bF EE)E;IM9 IIiIIIUDiuܽq y2@}<:@w:?΅ In) e(A@ Yt.EQ@t.PQ`@yt.&t.y>t.H f%?[촿ֿe? ,߄? _?@?)u.EQ@ u.ӕm;Iu.Cx6s>x6Ei:A8i@ID)rGIpivwAta 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYUWo]>iqQuDq}=3}>I I 5ٮ M 5 QtI  Ul@9鰅|: :).w 5 6) 6I tIi eA :)¿:I 6I9*G2GFFrFbFEE)];Ie9 aaiaIam4[$imߗi i2@<:@w:)=I=~ ߙUY>Ui>tu) *֑(AYtfQ@tfG`@ytf+tf>tfHb ?5ֿ`4?<? a?t?)ufQ@ uftm;IufCxneq>xrnEHrp=Hrp=)mvGIia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YN>>QD>I I$5ٮ M$5 QtI  Uq@9: :)$5 6) 6I tIi kA :):Id`6I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rFbFEE);I9 iI*iZ 2@<:@w:%XM 1D{) (Ax~v>x~Ei9I9)GIF@Yʭ>ʱʱQDʱͽ>I I'5ٮ M'5 QtI  Uw@95: Z:)Fn'5  6)  6I tIi rA Z:){:I- 6I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 200.785883 arcdeg .q' ' *G2G;G*@FFrFbFE!E!)5;I=9 99i9I9E8/iEB(廉E;G*@ A2@M<:@Mw:M\\! 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XaԿ F@?7&?r??)uR!O@ uRfn;IuRCx^m>x^'E`b=ilInC)=GIAE4=AF@MYU:U>YYQ]"DY]e>Ia Im5ٮa Mm5a QmtI a Uu@9ae: e:)e䢈5 }6)y }6Iy }tIiy Ay }:)}e:I}6I9*G2GFFrFbFEE);I9 iIٜi 2@<:@w: )I ߩi H)  5%(AYt:&O@t:1]@yt:H!t:3>t:H2V|?>ZԿ B?)?$??)u:&O@ u:n;Iu8xzy>xzE)mGIqa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>Q#D5>I I5ٮ M5 QtI  U@9 : ˵:)o5  6)   6I   tIi  A  4:) 3:I [ؓ6!I!9!*G12G1F9F9rF9bFAEAEA)U;I]9 YYiYIYaeiaa i2@m<:@uw: ߁O)  ?(AYt*kO@t*v]@yt*p#t*ʆ>t*HV@?jղwVԿD? n??Y?)u*kO@ u*\o;Iu*CxBo>xBEGBAAH@iLIR“C)~GIF@Yʕ>ʙʙQ#Dʙ͝[@>I I5ٮ M5 QtI  U@9鰥N: :)J5 6) 6I tIi A :)/:I6I9*G2GFFrFbFEE);I9 iI!%œi!! !2@-<:@-w: AU) \X(A Yt*O@t*]@yt* !t*6>t*HW?鲿PԿBD@?M!? ? ?)u*O@ u*Jlo;Iu(x>c>xB EiFAD)~vGI|ivAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>aaQe#Dimkm>Iq I}5ٮq M}5q Q}tI q U@9quM: u:)uyύ5 6) 6I tIi A ,:)w:I6I9*G)2G)F1FQrFYbFYEYEY);I9 iI si 2@<:@w:  R> >|\) ˿r(AYt*O@t*]@yt*#t*>t*H3W? TԿlH~?@u?`f??)u*O@ u*To;Iu(xBh>xBEiLIL)~dGI|F@ Yֹ>Q#D+:>I! I-5ٮ! M-5! Q-tI ! U-@9!%: %R:)%}5 =6)1 =6I1 =tIi1 =A1 5=:)5:I56III9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFibFqEqEq);I9 iIќi 2@<:@w: ߱==$got command report$=Zacoustic_contact_range reporting when touched$=NSpeedControl.speedCmd reporting changes$=\HorizontalControl.headingCmd reporting changes$E|TrackAcousticContact.heading_to_contact reporting when touchedrc) J(AYt* O@t*ź]@yt*xt*Q>t*H/X?ڲ`1OԿG??ġ?&?)u* O@ u*o;Iu*CxBi>xBNEH@HBp=)xI|F@Y%+c:%>))Q-#D)-Kn5>I1 I=5ٮ1 M=51 QEtI 1 UE@915: 5:)5395 M6)I M6II MtIiI UAI MЕ:)M:IM96aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 198.502632 arcdeg .q''*G2GF F rFbFEE)-;I-9 ))i)I)15[i99 92@E<:@Ew: H+i) 6u(A) IYt*O@t*]@yt*V~$t*>t*HfV@-?@Ѳ`YԿ@D>? ???)u*O@ u*gn;Iu*CxBq>xBEDF=Fp;FpiiQm#Diun:u>Iy I5ٮy M5y QtI y U@9y}$: }÷:)}5 6) 6I tIi A :):Ie6I9=OE@Contact HDG: 150.060308 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiqu+iqy y2@}<:@w: ߑi =p) P(AYt* O@t*]@yt*P#t*s>t*HIX ?4`eNԿ;gK?~?`?+?)u* O@ u*Ho;Iu*CxNi>xRE {PY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GIF@Y8>Q#D>I  I5ٮ  M5  QtI  U@9  ; 1;) ɔ5 -6)! -6I! -tIi! 5A! %r:)%7 ;I%6III9I*Ga2GaFiFirFqbFyEyEy);I9 iI;i 2@<:@w: Y@v) X8ڕ(AYtnN@tn]@ytnG tnk>tnHZm?y>ԿWB`{-??`??)unN@ uno;IulxvHf>xz EGxH|){~cI{|i{~={~7>{|{~B{||~A9|~yd#? t=ai1I5C)ׄGIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y9>  Q #D ] >I I5ٮ M%5 Q%tI  U%@9c: 9:)U5 -6)) 56I) 5tIi) 5A) -˵:)-:I-~â6AIA9A*GQ2GQFYFYrFabFaEaEa2EizEmAEm0nOij/@+3^e3Emyd#? t=aEmcEiEmI.4Hˆ)@od#Em_4`0;^?"dfɿEm"%@=}DHdg To Contact =148.541451 degreesZEmFLAbEm:Emqo$?BEm^o$?JEm~ REm| jEmrEm?);I9 iIWi 2@<:@w: ߹$Dacoustic_contact_range 24.959997 m$hTrackAcousticContact.heading_to_contact 2.592537 radg|) y(A Yt.O@t.׿]@yt.5t.B?>t.HgW?䲿@TԿGr?? ??)u.O@ u.)o;Iu.CxBp>xB%EiFAHiJAJA)9I9iEvAEwAF@]Ye:e>aaQm#Dimh;m>Iq I}5ٮq M}5q Q}tI q U@9qu: uA:)u&5 6) 6I tIi A A:)w:I'Ǥ6I9*G2GFFrFbFEE)5;I59 19i9I99E;iAA A2@M<:@Mw: ߁ > N) / (AYt* O@t*]@yt*t*>t*H@)X`?n벿@[OԿ@El????)u* O@ u*n;Iu*CxBjw>xB"EiPIT)yyQ}#Dyͅ@>I I5ٮ M5 QtI  U@9鰍: :)5 6) 6I tIi A |:):I 6I9*G2GFFrFbFEE);I9 iI;bi 2@ <:@w: !]y) '(AYt*bO@t*m]@yt*T0t*z>t*H` W?qUԿF;ED??`??)u*bO@ u*:o;Iu*CxN,t>xR#EHRp=HP)GIa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYp2>Q$D%&t:%>I) I55ٮ) M55) Q5tI ) U5@9)-: -Q:)-5 E6)9 E6I9 EtIi9 EB9 =:)=7:I=(6qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: 1=a) ٗA(A)4t.H+Y?nHIԿ`7`dl?݃? ?@8?)u.O@ u.Io;Iu.CxN?s>xREV=V=V;V99Q=$D9Et E>II IM5ٮI MM5I QUtI I UU@9IM: Ms:)M8L5 ]6)Y e6IY etIiY eBY ]9:)]n:I]!6qIq9q*G2GFFrFbFEE);I9 iI웽i 2@<:@w: i ) Fx[(AYt*O@t*]@yt*yVt*:>t*H`V@e?9= VԿ @??`?U?)u*O@ u*Ro;Iu*Cx>Dy>x>EEF8Not Powering down - fast GPSF F)FIFiJi~J~J~J~J~J J)JIJiJJJN)!I)F@5Y=#:=>AAQE$DAE ;M>II IU5ٮI MU5I Q]tI I U]@9IM: M{:)M5 e6)a e6Ia etIia mBa e :)eb:IeC6yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@ w: ׵) Ou(AYt*O@t*]@yt*t*>t*HjV 6?` YԿC?@aڃ?C??)u*O@ u*#:o;Iu*CxBRr>xBEG@HDiLIR“C)~ʁʁQ$Dʁ͍9>I I5ٮ M5 QtI  U@9鰕$: :)ɠ5 6) 6I tIi B :):Io6I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 198.541510 arcdeg .q'='=*G92G="%@FAFArFAbFIEIEI)u;Iu9 qqiqIq}#&@iy}"%@ 2@<:@w: $=RHorizontalControl.headingCmd 2.592537 radΝ) +(A Yt.O@t.]@yt.Rt.A>t.H V}?@Y]VԿe;A? ?? ?)u.O@ u.Lo;Iu.CxBj>xBqEiFAFAiFAFA)~SGI|ivAF@=YEj:E>AIQM$DIMM>IQ I]5ٮQ Me5Q QetI Q Ue@9QU: U&:)Uy5 m6)i m6Ii utIii uBi m|:)m+:Imw6I9=O%@Contact HDG: 148.541451 arcdeg .'%'%O-4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)M;IM9 QQiQIQ]&@]>창iYY Y2@e<:@ew: y > >Pǩ) (AYt6:O@t6E]@yt6ct6Ċ>t6HU V? ]Կ3`"n? y?`7"??)u6:O@ u6o;Iu4xRx>xREihIh)EdGIIF@uYʅع>ʑʑQ$Dʙͭ:>I I5ٮ M5 QtI  U @9< %<)B5 -6)! 56I! =tIi! EB! %.;)%;I%Ƴ6iIq9q*G2GFFrFbFEE);I9 iI"%@i 2@<:@w: i) –(AYt*O@t*ļ]@yt* kt*>t*H@W ?@>QԿ<@??@M̓? e??)u*O@ u*8o;Iu*CxB{>xBiEHDHD {DY|DJ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )jGIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@mYuu>yyQ}$Dyͅ>I I5ٮ M5 QtI  U@9鰍+< !,<):5 6) 6I tIi  B :)/:I66I9*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: 9ڶ) 4ܖ(A);IYt.W,O@t.b]@yt.qt.>t.H@OS ?.`5lԿO<' ? ?? ?)u.W,O@ u.o;Iu,xBMl>xBLE){BQ oI{@i{B={@{@{BA{@|BfA9|B1? 2R=R=VpYYQ]$DY] ;e>Ia I5ٮa M5a QtI a U@9ae< e<)eq5 6) 6I tIi  B :):IjN6 I 9*G!2G!F!F!rFIbFIEIEQ2EYzE]fAE] =0@ 5E]1? 2E]Q oEYE] q36J\=-@H;aTmE]Cgbm?IʿE]?K#@=eDHdg To Contact =146.188328 degreesZE]mAbE]:E]no$?BE]qo$?JE]} RE]~ jE]jrE]);I9 iIi 2@<:@w: $EDacoustic_contact_range 27.300001 m$MhTrackAcousticContact.heading_to_contact 2.551468 radi ) >(AYt*O@t*]@yt*t*1>t*HpY`2?@:GԿK>????@?)u*O@ u*`o;Iu(xNHf>xR E)%GI!F@]Ye :e?aaQe$DimZm?Iq I}5ٮq M}5q Q}tI q U}@9qu: u:)ub5 6) 6I tIi  B )@:I6I9*G2GF=>got command show variable DUSBLFrFbFEE)m;Iu9 qqiqIqy}iyy 2@<:@w: =DDUSBL_Hydroid.loadAtStartup (bool)=JDUSBL_Hydroid.simulateHardware (bool)=XDUSBL_Hydroid.defaultTurnAroundTime (second)=dDUSBL_Hydroid.defaultSoundSpeed (meter_per_second)=PDUSBL_Hydroid.detectionThreshold (count)=TDUSBL_Hydroid.recieveTimeout (millisecond)=VDUSBL_Hydroid.transmitLockout (millisecond)=HDUSBL_Hydroid.transponderCode (enum)=XDUSBL_Hydroid.numberOfPingsRequested (count)=Micromodem.dusblPingCode (enum)=JDUSBL_Hydroid.xAngle (angular_degree)=JDUSBL_Hydroid.yAngle (angular_degree)=LDUSBL_Hydroid.travelTime (microsecond)=FDUSBL_Hydroid.latency (microsecond)=4DUSBL_Hydroid.gain (ratio)=RDUSBL_Hydroid.inBandSignalToNoise (ratio)=TDUSBL_Hydroid.outBandSignalToNoise (ratio)=UXDUSBL_Hydroid.acoustic_contact_range (meter)=UzDUSBL_Hydroid.acoustic_contact_direction_vehicle_frame (none)=UZDUSBL_Hydroid.acoustic_contact_address (enum)= JlineCaptureHoming.EnabledDUSBL (none)=% LDUSBL_Hydroid.component_voltage (volt)=- RDUSBL_Hydroid.component_avgVoltage (volt)=- ZDUSBL_Hydroid.component_current (milliampere)=5 `DUSBL_Hydroid.component_avgCurrent (milliampere)å) \r(AYt*)O@t*]@yt*jt*>t*HS?0`@iԿU:W1?L ?(?@+?)u*)O@ u*o;Iu*CxBMl>xBLEGB?AH@iXIZ“C)%AAQM%DIMD;M>IQ I]5ٮQ M]5Q Q]tI Q UeA9QU0: U:)U5 m6)a m6Ia mtIia mBa eA:)e:Ie)6I9*G2GFFrFbFEE)=;IE9 AIiIIIi 2@<:@w: ߡʥ) bM*(A Yt.p O@t.{]@yt.@'t.>t.HYX ?hMԿ4|??,? ?)u.p O@ u.o;Iu.CxBRr>xBEiFAFAiFAFA)SGIiuAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeCe>iiQm%Diu[u>Iy I}5ٮy M5y QtI y UA9y}: }s:)}֬5 6) 6I tIi B :)@:IJP6I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: ! > >Х) x'D(AYt*O@t*]@yt*st*>t*H@uU_?9` y_Կ82K?`?? ?)u*O@ u*o;Iu(xRt>xRlEilIl)=GIAF@MYUv:U>QYQ]%DYe7;e>Ii Im5ٮi Mm5i QutI i UuA9imN: mR:)m5 }6)y }6Iy tIiy By }E:)}7:I}n6I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ,(ץ) ^(AYt* O@t*]@yt* t*v>t*H`X?@3KԿ`q@@&+? O? ?i?)u* O@ u*o;Iu*CxBy>xBEHFa=HFa=)EׄGIAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʥRR:>ʩʩQ%Dʩ͵I>I I5ٮ M5 QtI  UA9鰽 : :)Q5 6) 6I tIi B b<)t:HY?" IԿ@@/?`K?(??)u:)O@ u:2o;Iu:Cx^>x^Ef=f=fʱʱQ%Dʱ>I I5ٮ M5 QtI  UA9; 8;)5 %6) %6I %tIi -B :):IC69I999=O@Contact HDG: 146.188328 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI ?K#@i   2@<:@w: )i b9) (AYt*N@t*]@yt*cnt*lj>t*H@]c?K>@.Կ?T?@m???)u*N@ u*%Io;Iu*CxR}v>xRE)%ʁʉQ%Dʉ]e>Iq I5ٮq M5q QtI q UA9qu< uC;)urݳ5 6) 6I tIi B g:)Y:Ii6I9*G2GF F rF)bF1E1E1)E;IM9 IIiIIIqqiqq y2@}<:@w: +d) (AYt*N@t*]@yt*_t*B>t*H^r?/&)Կ@@`&Y?7փ?@?`d?)u*N@ u*Go;Iu*CxNo>xNEGRAAHPi\I\)GIa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}>ʁʁQ%Dʁ͍>>I I5ٮ M5 QtI  UA9鰕; ;)w5 6) 6I tIi B :)w:I6I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9K) Xoŗ(A Yt.1N@t.<~]@yt.4"t.O>t.Ha?.貿`Կ F+@?0P??@b?)u.1N@ u. ,o;Iu.CxNr>xRIE {PY|TV8****** ping requested ******i^AbAifAfAjNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGIiwAF@YQ>Q%D6>I IM5ٮ MU5 QUtI  UU A9d< b<)F`5 ]6)Y ]6IY etIiY eBY ]:)]:I]ld6 I9*G!2G!F!FIrFIbFQEQEQ);I9 iIi 2@<:@w:  R> >lu) Hߗ(AYt*N@t*(g]@yt*7,t*>t*HYe s?쿲@ӿ@M'?rŃ???)u*N@ u* ro;Iu*CxBn>xBE){F6TI{Di{D{D{D{FA{D|D9|F?-i`I`)%҄GI!a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ/:>ʉʉQ%Dʉ͕%>I I5ٮ M5 QtI  U A9鰝9: :)5 6) 6I tIi B A:)4:I:6I9*GQ2GQFQFYrFYbFaEaEa2EizEiEmiyMv2@-Zя4Em?-Em6TEiEmLE7,9& L)@bjEmFCXfo? :ǿEm)@=DHdg To Contact =151.859585 degreesZEm`JAbEm0:Emjo$?BEmno$?JEm~ REm} jEmWrEmj)-;I-9 IQiQIQQYiYY Y2@e<:@ew: ߱$Dacoustic_contact_range 27.300001 m$hTrackAcousticContact.heading_to_contact 2.650450 rad,) t&(AYt*N@t*\]@yt*%t*E>t*Hg0d?ӿBKkG?@$???)u*N@ u*fWo;Iu*CxBWx>xBEHFR=HD)~vGI|F@=YE;E>AAQM%DIMѺM>IQ I]5ٮQ M]5Q Q]tI Q Ue A9QU: U:)U5 m6)a m6Ia mtIia mBa e:)ew:IeO6yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: LJ) u(A)pt*H`i`X?串 fӿcR`T(? h??`?)u*EN@ u*77o;Iu(x^r>x^IEf=f=fp;fpQ&D]e>Iq I5ٮq M5q QtI q U A9qu; u/;)uQ{5 6) 6I tIi B R:)ߡ:I6I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E)%;I%9 !!i!I))1i11 12@=<:@=w: Ii @A ) n,(AYt*N@t*F]@yt*np"t*쓇>t*H`WjX?`{ DӿT?M?@??)u*N@ u*o;Iu*CxRp>xR%E)UGIYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@-Y55>99Q=&D9ED,E>II IM5ٮI MM5I QUtI I UUA9IM=: M:)M.5 ]6)Y e6IY etIiY e BY ]:)]b:I]76qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 198.097766 arcdeg .q' ' *G 2G)@FFrFbFEE)5;I59 11i1I9=Ӭ$@i9=)@ A2@E<:@Mw: Y$}RHorizontalControl.headingCmd 2.650450 rad) F(AYt*sN@t* ]@yt*!8t*ډ>t*HRp`-?#ҲӼӿ Q ^? ?? ?)u*sN@ u*qo;Iu(xBo}>xBEG@H@iLIP)~SGIF@mYu2:u>yyQ}&Dyͅ#ʻ>I I5ٮ M5 QtI  UA9鰍: ˵:)tͿ5 6) 6I tIi !B |:)M:IԺ6I9=O@Contact HDG: 151.859585 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E )%;I%9 !!i!I!MPe'@iUx>Q Q2@]<:@]w: q) `(A Yt*SN@t*]@yt*3 t*V>t*H +u ?|ӿ Y@J?@2?P? ?)u*SN@ u*[mo;Iu*CxBu>xBEiFAFAiFAFA)~GIivAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYege>iiQm&Diuu>I I5ٮ M5 QtI  UA9鰽: :)75 6) 6I tIi #B :)w:Io61I191*GI2GIFIFIrFQbFqEqEy);I9 iI(@i 2@<:@w:  > >) kz(AYt*HN@t*\@yt*ց t*4f>t*H v ?mQӿf@?-p?`f??)u*HN@ u*o;Iu*CxRI>xREi\I\)GIF@-Y5:;5>11Q5&D1=F=>IA IM5ٮA MM5A QMtI A UMA9AEN: E:)EN65 ]6)Q ]6IQ ]tIiQ e%BQ U:)Ux:IU(6iIq9q*G2GFFrFbFEE);I9 iI)@i-m> 2@<:@w: $) G(AYt.+N@t.\@yt.t.e>t.Hs{ ?1wӿj{?`蜂?`M?@?)u.+N@ u.o;Iu.CxNZ>xRzEHR=HT)vGI!F@-Y55>11Q=&D9=lE>IA IM5ٮA MM5A QMtI A UUA9AE: E:)E5 ]6)Q ]6IQ ]tIiQ e&BQ U:)U8:IU76iIq9q*G2GFFrFbFEE);I9 iIbmi > 2@<:@w:@o> *) #(A);IYt.N@t.\@yt.M&t.?g>t.H`}?걿 lӿ`gc!?r؄?Z?`?)u.N@ u.1bo;Iu.Cx6>x6E:=:=>4<>4QQQU&DY]e>Ia Im5ٮa Mm5a QmtI a UmA9ae: e$:)e\5 }6)q }6Iq }tIiq (Bq u0:)uf:IuG76I9*G2GFFrFbFEE);I9 iI{Hmi 2@<:@w: )I ߩi ?A Z1) ǘ(AYt*M@t*\@yt*x9t*+>t*H ?");>ӿ h(U?`G?? h?)u*M@ u*zo;Iu*CxBw>xBjE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GIF@Y.:>Qu&Dqͅݻ>I I5ٮ M5 QtI  UA9鰍M= L=)5 %6) %6I %tIi M*B  ;)t.HQ?`[.ӿv?{?9??)u.M@ u.=o;Iu.Cx=\~>x=gEGE@AHAiI)ESGIAF@Ye:>Q&D  >I1 I55ٮ1 M551 Q=tI 1 U=A915s: 54:)55 E6)A u6IA }tIiA }+BA E<)E<>) (A YYtM@t_\@yt`t>tHઍ?Sӿ~??f? 7?)uM@ u> o;Iuxn>xEiAAiAA)uGIyi}wAya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y9>Q&D0ܻ>I I5ٮ M5 QtI  UA99: ^:)5 6)  6I  tIi  -B :)|:I6I9&-M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'5N@Vehicle HDG: 197.286544 arcdeg .q''*G2G F F rFbFEE)-;I-9 ))i)I)15Lai19 92@=<:@ew: q > {>#E) (AYt**M@t*5I\@yt*}t*>t*H l?`~ҿ }7? ? ?m?)u**M@ u*o;Iu*Cxju>xjEi|I|)]vGIYF@mYm8u>qqQu'Dq}=t}>I I5ٮ M5 QtI  UA9鰅 : :)t5 6) 6I tIi .B 9:)n:IV6I9=OM@Contact HDG: 151.859585 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFQFQrFYbFYEYEa)u;Iu9 qyiyIyy_i 2@<:@w: ߡ1NK) k/(AYt*fM@t*\@yt*t*>t*H@1=?'Q }ҿل@?@?`W??)u*fM@ u*n;Iu*CxBq>xBEHBp=HD)zGI|a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ>ʩʩQ'Dʩ͵>I I5ٮ M5 QtI  UA9鰽$: ÷:)?W5 6) 6I tIi 0B :)I:Ip6I9*G2GFF rF bF EE)%;I-9 ))i)I)15Yi11 92@=<:@Ew: Q 6R)  FI(A)4t*H `%0?`鰿ɩҿ[?B?@zg??)u*DSM@ u*5n;Iu(xB}>xBEF=F=F4=FAAQM'DIMGM>IQ I5ٮQ M5Q QtI Q UA9QUl< U<)UH5 6) 6I tIi 2B ÷:):I6 I 9 *G92G9FAFArFAbFIEIEI);I9 iIDXi 2@<:@w: i _X) \c(AYt*\t*H@?`ⰿ`ޓҿ ?s?{?8?)u*\xB*E)~+GIa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ>ʡʡQ'Dʩͭ"\>I I}5ٮ M}5 Q}tI  U}A9鰵< :)5 6) 6I tIi 3B Ԙ:):IJ6I9*G2GF1F1rF9bF9E9E9);I9 iI9Vi 2@<:@w: 1^) d}(AYt*N M@t*Y[@yt*Ut*;>t*H@ץ`Q?ٰeҿ@V ? ;?E? ?)u*N M@ u*n;Iu*Cx>U_>x>S EG@H@iLIL)~GI|F@Y9%>!!Q%'D!-->I1 I=5ٮ1 M=51 Q=tI 1 U=A915&: 5:)5up5 M6)A M6IA MtIiA M5BA EZ:)EM:IE56YIY9Y*Gi2GqFqFrFbFEE);I9 iIPi 2@<:@w: ue) 喙(A( ,YtJM@tJ׳[@ytJ<tJ>tJH@2?ⰿ`ҿ:? Wy?_?@?)uJM@ uJo;IuJCx^v>x^EibAbAibAbA)5+GI9i=vA=wAa 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YMZ:U>QQQU'DQ]F]>I I5ٮ M5 QtI  U!A9: ϸ:)g5 6) 6I tIi 7B :)_;IF61I191*G2GFFrFbFEE);I9 iIfQi 2@<:@w: Q R> ˛k) (AYt*L@t*}[@yt*5t*v>t*H`m?,ҿj?`?`?-?)u*L@ u*!o;Iu*CxBu>xBEiLIP)~SGIF@Y% I:%>))Q-'D)55>I1 I]5ٮ1 M]51 QetI 1 Ue"A915; 54;)55 m6)i m6Ii mtIii u8Bi m:)mƟ:Im{6I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I-9 ))i)I)15DJiQQ Y2@]<:@ew: ߑr) ʙ(AYt*`L@t*k{[@yt*#t*:;>t*H?` @*ҿ xw?}?]9??)u*`L@ u*Vo;Iu*CxBu>xBEHBa=H@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGIaF@Y[>>!!Q%'D!-ԝ->IY Ie5ٮY Me5Y QetI Y Ue#A9Y]; ];)]5 6)q 6Iq tIiq :Bq u :)u:Iuf6I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.490595 arcdeg .q''*G2GFFrF!bF!E!E!)M;IM9 QQiQIQ`Ki 2@<:@]w: ߩx) jk䙦(A);IYt6L@t6Q[@yt6;t6>t6HA?R`fҿ@??ƒ?.?)u6L@ u6eo;Iu6CxBWx>xBE){BqI{@i{B/={@{@{BA{@|BB9|BT Ž?7 R=R=Rp;RʩʩQ'Dʱӻ>I I5ٮ M5 QtI  U$A9; ;)n5 %6) %6I %tIi %;B :)n:I6QIQ9Q=O@Contact HDG: 151.859585 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzEBEqScA3@즦:ET Ž?7 EqEEb\9#]@E3@իUIE*u97?+:DʿE@=-DHdg To Contact =143.228944 degreesZE*AbEJ:Edo$?BEjo$?JEy RE~ jE,rEW)e;Ie9 aaiaIiimzhFiii i2@u<:@uw: ߩ$Dacoustic_contact_range 32.880001 m$hTrackAcousticContact.heading_to_contact 2.499817 radi @A ~) cB(AYt*TL@t*_6[@yt*St*>t*Hnq?@C^@Jѿ H?@? ̐?w?)u*TL@ u*o;Iu*CxBX>xBVE)U+GIQF@Yʽ:>Q'Dއ>I I5ٮ M5 QtI  U&A9I; ;)I$5  6)  6I  tIi  =B :)+:I69I999*GI2GQFQFqrFybFyEyEy);I9 iI$)Di 2@<:@w: )  !(AYt*nL@t*[@yt*[t*ip>t*H#`]?A@ѿ ;`?8??@^?`?)u*nL@ u*xBEG@H@iPIP)GI a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y>Q(Di>I I%5ٮ M%5 Q%tI  U%'A9: :)5 56)) 56I) UtIi) U?B) -N;)-5;I- 6aIa9a*G2GFFrFbFEE);I9 iIAi 2@<:@w: ꋦ) &1(A Yt.UL@t.[@yt./ t..>t.HD? `ѿ0u?`6!?T?~?)u.UL@ u.! p;Iu.CxB>xBEiFAFAiFAFA)~!)Q-(D)-C->I1 I=5ٮ1 M=51 Q=tI 1 UE(A915: 5:)55 M6)A M6IA MtIiA U@BA E:)E+:IE6aIa9a*Gq2GqFqFrFbFEE!)u;Iu9 qqiqIqy}T?iy 2@<:@w:  > >ђ) JK(AYt*ZHL@t*eZ@yt* t*>t*Hr@:?Z ީѿjO?_!?G?.?)u*ZHL@ u*)p;Iu*CxBv>xBGEiLIP)~SGIF@Y%%>))Q-(D)55>I1 I]5ٮ1 M]51 QetI 1 Ue*A915; 5o;)5&:5 m7)i m7Ii mtIii uBBi m:)m :Im 7I9*G2GFFrFbFEE);I9 iIJ>i 2@<:@w: ) }e(AYt*#L@t*Z@yt**t*ƙ>t*Hay?-6`ѿ@~?]??`A?)u*#L@ u*XZp;Iu*CxBn>xBEHBp=H@)~dGI|a 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}+>ʁʁQ(Dʁ͍>I I5ٮ M5 QtI  U+A9鰕b; ;)m5 7) 7I tIi CB :):Iy87I9*G 2G FFrFbFEE);I 9 iI159i11 92@=<:@=w: ߑ&) (A) I4t.H?Cf*uѿ`@&?݄?`??)u.L@ u.%p;Iu,xB`k>xBEF=F=FFAIQM(DIM]8M>IQ I]5ٮQ M]5Q Q]tI Q Ue,A9QU: U^:)U5 m7)a m7Ia mtIia uEBa eA:)eU:Ie@7yI9*G2GFFrFbFEE);I9 iIu8i 2@<:@w: i ?A ) e(AYt* K@t*Z@yt*cGt*>t*H }?`Rѿ`?ȁ?`>C??)u* K@ u*p;Iu*CxBj>xBqE)zSGI|a 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅho;>ʁʁQ(Dʉ͍i>I I5ٮ M5 QtI  U-A9鰕: :)r5 7) 7I tIi GB :):IsV7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9  i I E4i 2@<:@w: 18) C(AYt*QK@t*\Z@yt*it*%>t*Hv? r@Zѿ`=??`?W?)u*QK@ u*_p;Iu*CxNt>xRlEGPHPilIn“C)=GI9F@MYMWU>QQQU(DQ]&:]>Ia Im5ٮa Mm5a QmtI a Um/A9aeN: e:)eu%5 }7)q }7Iq }tIiq }HBq u9:)u:Iub7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 195.731529 arcdeg .q'%'%*G)2G-@F)F)rF1bF1E9E9)M;IM9 IIiQIQ]2(@iY]@ Y2@e<:@ew: q$RHorizontalControl.headingCmd 2.499817 rad ) ͚(A Yt.BK@t.M~Z@yt.Yg$t.>t.H?@A7ѿ`Jo?Ԍ? r?i?)u.BK@ u.Obp;Iu.CxBl>xBE {DY|DJ8****** ping requested ******iNARAiVAVAZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GIiwAF@Y>Q(Dڪ>I I5ٮ M5 QtI  U0A9; ;)z5 57) =7I =tIi =JB ;);I7qIy9y=O=@Contact HDG: 143.228944 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9FArFAbFAEIEI);I9 iIv$@i   2@<:@w: q p> l>vJ) 暦(AYt*ݳK@t*`Z@yt* 0t**E>t*H``4?6ٮ@ѿ&? ?`]??)u*ݳK@ u*p;Iu*CxBi>xBE){BwI{@i{Bw={@{@{BpA{@|B\A9|Blݴ?o%i`I`)%GI!a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅR:>ʉʉQ(Dʉ͕>I I5ٮ M5 QtI  U1A9鰝9: :)5 7) 7I tIi KB V:)@:I7I9*G2GFFrFbFEE2EzE\AEFJ+@ 20;Elݴ?o%EwEEpe;4r f5@ s৩ETiH?WzHuyͿEӥ@= DHdg To Contact =133.076387 degreesZEAbEۡ:Eso$?BEdo$?JEw REy jEMrE,)%;I%9 !!i)I)-Z!@i)1 2@<:@w: $%Dacoustic_contact_range 30.419996 m$-hTrackAcousticContact.heading_to_contact 2.322621 rad2) (AYt*_K@t*jIZ@yt*t*[>t*H *?@C`Rѿb|?-{? F\?@n?)u*_K@ u*p;Iu*CxBs>xBEHBa=H@)+GIF@=YE:E>AAQM(DIMmM>IQ I]5ٮQ M]5Q Q]tI Q Ue3A9QU: Uw:)UN5 m7)a m7Ia mtIia mMBa eA:)e:Ie|7yIy9*G2GFFrFbFEE);I9 iI?@i 2@<:@w: \Ʀ) (A) IYt*K@t*9Z@yt*t*O>t*HW?ୀ;п`&e?`? ?@?)u*K@ u*}p;Iu*CxB'n>xBpEF=J=J=JAAQM)DIMM>IQ I]5ٮQ M]5Q Q]tI Q Ue4A9QU: U:)U5 m7)a m7Ia mtIia mOBa e:)e:Ieբ7yI9*G2GFFrFbFEE);I9 iI9@i 2@<:@w: ߱i @A 6̦) 64(AYt*K@t*/Z@yt*Tt*>t*H;? п ' k?m?P??)u*K@ u*dp;Iu*CxZr>xZIE)-dGI1a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʕC:>ʙʙQ)Dʙ͝>I I5ٮ M5 QtI  U5A9鰥,: :)<5  7)  7I tIi PB )b:I 7I9I*Ga2GaFaFarFibFiEiE);I9 iIAD@i 2@<:@w: nӦ) fN(AYt* YK@t*Z@yt*#t*U>t*H`7W? Neп 2`,?q9?M?O?)u* YK@ u*Ҍp;Iu*CxRd>xR EGVAAHTi`I`)GIF@=YE9E>AAQM)DIMԻM>IQ I}5ٮQ M}5Q Q}tI Q U}7A9QU#; U÷;)Uz5  7)  7I tIi RB :)w:IQ 7I9*G 2G F F rFbFEE)-;I-9 ))i)I152@i99 92@E<:@Ew: Q٦) ?h(A Yt.LK@t.Y@yt.$t.>t.H 7R?@M Aп@5? \?@QS? ?)u.LK@ u.(p;Iu,xRq>xREiVAVAiVAVA)GIiuAvAF@Y=~ͺ=>AIQM)DQ]e>Iy I5ٮy M5y QtI y U8A9y}+; }ީ;)}l\5  7)  7I tIi TB Mu;)q;I( 7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%@i!! )2@-<:@5w: A R> >J) (AYt*.3K@t*9Y@yt*0t*m>t*H8?*_@Ӟп} z?߃?i^?!?)u*.3K@ u*p;Iu*CxBz>xB EiPIP)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽv:>ʹQ)D>I I5ٮ M5 Q tI  U 9A9< ]<)5  7)  7I tIi UB :)/:I& 7)I)9)&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 195.052622 arcdeg .q''*G2Gӥ@FFrFbFEE);I9 iI@iӥ@ 2@<:@w: $5RHorizontalControl.headingCmd 2.322621 rad) (AYt*#K@t*Y@yt*$t* >t*H,?@п? 晄?`R??)u*#K@ u*4p;Iu*CxB,t>xB#EHDHD)~SGIF@=YEjoE>AAQM)DIM`M>IQ I]5ٮQ M]5Q Q]tI Q Ue;A9QU: Ub:)U05 m 7)a m 7Ia mtIia mWBa ec:)e4:Ie 7yIy9=O@Contact HDG: 133.076387 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i 2@<:@w: B) _ӵ(A)4t.H < k ?Ԭп?>?@W? ?)u.NK@ u.Ezp;Iu.CxBv>xBEF=F=FFiiQu)Dqu>I I5ٮ M5 QtI  Ut*H?U@Ouп C@U9?@|ք?Ԟ?@?)u*9K@ u*6p;Iu*CxBg>xBsE {DY|DJ8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GI F@Y!9>Q)D ׺>I Ie5ٮ Mm5 QmtI  Um>A9S-< -<)5 }7)q }7Iq =tIiq EZBq u<)u{x^EGb?AH`){bOI{`i{b={`{`{bA{`|bB9|b2_?~/;iI)eGIaF@Yʽ?Q)D?I I55ٮ M55 Q=tI  U=?A9~^< ^<)q5 E7)A E7IA EtIiA M\BA Eȗ:)E:IE87yIy9y*G2GFFrF1bF1E1E92E9zE=BE=:@,ڭLj;E=2_?~/;E=OE9E=,i @i2@CE=n4+!?_OD<ǿE=I&@=MDHdg To Contact =149.430237 degreesZE=AbE=m:E=To$?BE=so$?JE=y RE=w jE=GrE=M);I9 iI@i 2@<:@w: $MDacoustic_contact_range 37.920002 m$UhTrackAcousticContact.heading_to_contact 2.608050 rad=eZgot command report touch DUSBL_Hydroid.xAngle*a code=090C owner=0049 element=041C universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04 ) tb(A@ Yt*J@t*Y@yt*Zt*>t*H $? Wп@?? aE?m?)u*J@ u*p;Iu(x^o>xbJEifAfA)=XGI9iEvAAF@]Ye:e>aaQm)Dim埻m>Iq I}5ٮq M5q QtI q U@A9qu; ue;)u5 7) 7I tIi ]B :):I97I9*G2GFqFqrFybFyEE);I9 iI5@i 2@<:@w:  > >) >(AYt*kJ@t*vY@yt*l#t*u>t*H %?ӪVп`?`m?c_??)u*kJ@ u*sp;Iu*CxBjw>xB"EiPIP)+GI5\Failed to parse: :SA, +0.00, +0.00, 0.00 F@Yʥ >ʩʩQ*Dʩͭy>I I6ٮ M6 QtI  UAA9鰽0: I:)6 7) 7I tIi _B Ԙ:)M:IN7I9*G2GFFrFbFE E );I9 !!i!I!-@i)) )2@5<:@w: !" )  7(AYt*J@t*tY@yt*$t*n>t*HE@ܤ?ܬ"7п!:?E?a? ?)u*J@ u*p;Iu*CxNi>xREHRp=HRp=)GIF@YʍaP>ʉʑQ*Dʑ͕<>I I6ٮ M6 QtI  UBA9鰝N: :)6 7) 7I tIi `B :):I\7I9*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIe@iiii y2@<:@w: ߙ ) kP(A) IYt*J@t*}Y@yt*; t*>t*H+M?F?п.?N?~?0?)u*J@ u*q;Iu*CxBo>xBEV=V=i\Ib̓C)%SGI!)-4=F@5Y57:=>9AQE*DI]:e>Ii Iu6ٮi Mu6i QutI i UuDA9im: m:)m]6 7)y 7Iy tIiy bBy }Ԙ:)}Ɵ:I}/i7I9O-Done Waiting.'-O58Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F9rF9bF9EAEA)};I9 iI @i 2@<:@w: i @A 4) :j(AYt*J@t*bY@yt*!?t* >t*H@?Ƭ$пK"?Ї?@???)u*J@ u*q;Iu*CxRxp>xRE)GIa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}o:}>ʁʁQ*Dʁ͍H>I I6ٮ M6 QtI  UEA9鰍I: +:);6 7) 7I tIi dB  :)۞:Io|7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.611446 arcdeg .q''*G2GI&@FFrF bF E E)=;I=9 99i9I9E@iAEI&@ I2@M<:@Uw: a$RHorizontalControl.headingCmd 2.608050 rad|!) i(AYt*0J@t*;\Y@yt*t*mƒ>t*Hq2{?M=п 7?T?I??)u*0J@ u*q;Iu*Cx>g>xBsEGBAAH@iLIN“C)~GI|F@=YE9E>AAQE*DAMqkM>IQ I]6ٮQ M]6Q Q]tI Q U]FA9QU: U:)U6 m7)a m7Ia mtIia meBa eԘ:)e:Ieˇ7yIy9=O]@Contact HDG: 149.430237 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFibFEE);I9 iI@i 2@<:@w: &G') (A@ Yt.+J@t.6`Y@yt.f"t.>t.H_?`d#пic ? L? m??)u.+J@ u.p;Iu,xBRr>xBEiDD)~GI|iwAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye엺e>aaQm*Dim:m>Iq I}6ٮqq Q}tI q UHA9qu: u:)up6 7) 7I tIi gB :) :I7I9*G2GFFrFbFEE)-;I-9 11i1I1=@i99 92@E<:@Ew: Y > >w-) >z(AYt*BJ@t*M=Y@yt** t*a>t*H L8?@ Jп@u 3L? ? ߬? ?)u*BJ@ u** q;Iu*Cx:t>x:lEiHIH)zGIxF@5Y595>99Q=*D9EE>II IM6ٮI MU6I QUtI I UUIA9IM: Mk:)M6 ]7)Y ]7IY etIiY ehBY ]:)]@:I]{7qIq9q*G2GFFrFbFEE);I9 iI"@iN |> 2@<:@w: X4) <Ҝ(AYt*>J@t*I]Y@yt*at*>t*HNx?`B пY?&l?@r?{?)u*>J@ u*?q;Iu*CxRi>xREHZa=HZa= {XY|\r8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGI6only read 3 of 4 data itemshFailed to parse: :RA, 0.00, 0.00, 0.00, 0.00 F@Yʥ::>ʩʩQ*Dʩ;>I I6ٮ M6 QtI  UJA9g; ;)O6 %7) %7I %tIi -jB :):I79I999*GI2GIFFrFbFEE);I9 iIy%@i m> 2@<:@w: 9 :)  윦(A);Ixn:m>xrExxzp;z4Q*D>I I6ٮ M6 Q tI  U LA9: :)6 7)  7I  tIi  lB  :) :I 7!I)9)*G92G9FAFArFAbFIEIEI)e;Ie9 aaiaIamG&@iii i2@u<:@}w: ߉i jA) (Ax~Wx>xE)+GIF@Y>Q*D>I I6ٮ M6 QtI  UMA9c: :)_o6 7)  7I  tIi  mB  :) k:I 7!I)9)*G92G9F9FArFAbFAEIEI)];I]9 aaiaIam{&@mu;eim >i i2@u<:@uw:e> qG) )(Ax~Dy>x~EEG?AHiAIE̓C)GIa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYAE>IIQM+DIQU>IY I] 6ٮY Me 6Y QetI Y UeNA9Y]: ]:)]pR 6 m7)i m7Ii utIii uoBi ms:)mr:ImA7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iII&@RXi 2@<:@w: )I ߁M) "9(A@ Yt*J@t*CY@yt*G!t*؅>t*HH?l@пE*?(?`D?I?)u*J@ u*7q;Iu(xB1z>xBEiDD)IiuAF@%Y-@->11Q5+D15T=>IA IE 6ٮA MM 6A QMtI A UMOA9AEp: Eض:)Eq 6 U7)QIQ ]tIiQ ]qBQ Uа:)Uk:IUq7iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} NInitialize.q'N@Vehicle HDG: 194.503147 arcdeg .q''*G2GFFrFbFEE);I9 iIMWi 2@<:@w:  R> p>T) bS(Ax~eq>x~nEiI“C)yIyF@Yʍ>ʑʑQ+Dʑ͝>I I 6ٮ QtI  UQA9鰥.: 1:) 6  7)  7I tIi rB :)R:I$ 7I9=O @Contact HDG: 149.430237 arcdeg .'5'5O54Initialize Wait Component.*G92G9FAFIrFybFEE);I9 iIXi )2@-<:@5w: AZ) c^m(AYt*J@t*>Y@yt*"t*F>t*H`;?пU?fS?@j?`W?)u*J@ u*9q;Iu*CxNv>xREHV4=HT)9I9a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ,Q>ʡʡQ+Dʡͭ*>I I 6ٮ M 6 QtI  URA9鰵=: :) 6 !7) !7I tIi tB Z:)n:I<#!7I9*G2GFFrF bF E E )%;I%9 !!i)I))-Wi11 12@=<:@=w: Ia) 9(A) I4t*H@ M?\a5 пm.??@??)u*sJ@ u*@&q;Iu*CxBZe>xB ER=Vx>i`I`)%GI!!!F@]Yeee>aaQe+Dim:m>Iq I} 6ٮq M} 6q Q}tI q U}SA9qu: u:)u̴ 6 "7) "7I tIi uB Ԙ:)M:I."7I9*G2GFFrFbFEE);I9 iIYi 2@<:@w: i ?A g) \(AYtvߩJ@tvVY@ytv,tv>tvH ?o? пD3K?U?9??)uvߩJ@ uv:x~jE)u+GIya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y/>Q+D%;>I I 6ٮ M 6 QtI  U UA9: g:)h 6 #7)  #7I  tIi  wB  g:) :I J#7!I)9)*G92G9F9F9rFAbFAEIEI)];I]9 aaiaIaam] [iii i2@u<:@uw: ߉B n) ﺝ(AYt:EJ@t:PrY@yt:&t:j>t:H?ꬿ4п@@rK?܄?? ?)u:EJ@ u:H@q;Iu:Cx^sj>xb(EGb@AH`iI)}GIF@Yʕr:>ʑʙQ+Dʙ͝;>I I6ٮ M6 QtI  UVA9鰥g: :)q6 $7) $7I tIi yB ):I"S$7I9*G2GFFrFbFEE);I9 iI!%H%^i!! !2@-<:@-w: At) Tԝ(A@ YtXJ@tclY@ytst>tH@l ?@.п]?т? ?@{?)uXJ@ uq;IuCx-5g>x5*E {Y|8****** ping requested ******iiAANmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGIivAF@Yʽ;>Q+DLV>I I6ٮ M6 QtI  UXA9: ;)c6 %7) %7I tIi zB :):I~%7I9*G12G1F9F9rFAbFAEIEI)m;Im9 qqiqIqy},\iy 2@<:@w: ߩ > >Y${) (AYt2-J@t28uY@yt2"t2`>t2H??e7п`=@?^Y?5??)u2-J@ u2 q;Iu0x:}v>x>E){>ymI{Ǻ={<{<{>`A{<|>3A9|>&p0?݂Ni\I\)dGIa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}(}>ʁʁQ+Dʁͅ9:>I  I6ٮ  M6  QtI  UYA9  : k:) 26 %&7) %&7I %tIi %|B :)g;Iw}&7QIQ9YODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzE3AES 2@ms8E&p0?݂NEymEEz' 8:b2@4E叢T/ ?d @ɿEF@=DHdg To Contact =142.589228 degreesZEAbEM:Eio$?BETo$?JEz REy jErEG) ;I 9  i I ]i 2@<:@%w: 1$mDacoustic_contact_range 30.900002 m$}hTrackAcousticContact.heading_to_contact 2.488652 rad$}LDUSBL_Hydroid.xAngle -53.150002 arcdeg) (AYt* J@t*Y@yt*/#t*>t*H`?謿_п?e?sj>xB(EHBp=HBp=)|IF@=YE}E>AAQM+DIM;M>IQ I]6ٮQ M]6Q Q]tI Q UeZA9QUs: UV:)U6 m'7)a m'7Ia mtIia m}Ba e,:)eb:Ie8}'7yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.824821 arcdeg .q''*G2GF@FFrFbFEE);I9 iIo%@iF@ 2@ <:@ w: !$]RHorizontalControl.headingCmd 2.488652 radK1) \"(A)4t*H@?`Ŭ3пJ?f?ফ??)u*J@ u*p;Iu*CxB,t>xB#EF=J=J;J))Q-,D)5r5>I1 I=6ٮ11 Q=tI 1 UE[A915U: 5:)5.6 M(7)I M(7II MtIiI UBI M:)M:IM؊(7aIa9a=O@Contact HDG: 142.589228 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E )%;I%9 !!i)I)-#@i)1 12@=<:@=w: Ii g[) 7<(AYt*J@t*Y@yt* t*w>t*H@?@fпr?g?*?`?)u*J@ u*p;Iu(xRsj>xR(E)Ia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ;>ʡʡQ,Dʡͭ;>I I6ٮ M6 QtI  U]A9鰵: :)j6 )7) )7I tIi B :):I)7I9*G2GFFrF bF E E )%;I%9 !!i!I!-F@i)) 12@5<:@=w: I,F) V(AYt~J@t~Y@yt~[t~(>t~H_? 뭿@Zп`@[v?W??`?)u~J@ u~p;Iu~Cx%xp>x%EG%AAH)i9I9)jGIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y 8 >Q,D>I! I%6ٮ! M%6! Q-tI ! U-^A9!%5: %:)%6 5*7)1 5*7I1 =tIi1 =B1 5:)5:I51*7III9I*GY2GYFYFarFabFaEiEi)};I9 iIi 2@<:@w: ߩ\m) o(A@ Yt*nJ@t*yY@yt*-t*>t*H ?✬Nп] ~$??&??)u*nJ@ u*p;Iu(xZi>xZNEibAbAibAbA)5vGI9i=wA9F@EYM*1M>QQQU,DQU]>Ia Ie6ٮa Me6a QmtI a Um_A9ae: e:)et6 u+7)q u+7Iq utIiq }Bq u÷:)u:Iu[+7I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  x> >T) lj(AYt*K@t*Y@yt*&t*>t*H@?ү|}пC?E܄?`G? ?)u*K@ u*ep;Iu*CxBDy>xBEEiPIP)5GI1F@}Y}':>ʁʁQ,Dʁ͍ ;>I I6ٮ M6 QtI  UaA9鰕: :)T6 ,7) ,7I tIi B ,:):I ,7I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )a) 3(AYt*KJ@t*VY@yt*i't* >t*H`e?lTп .`i? ?u? ?)u*KJ@ u*yq;Iu(xRs>xREHRa=HT) GIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y=ٸ>Q,D8ͻ>I I6ٮ M6 QtI  UbA9Z: :)76 -7) -7I tIi B Z:):I-7I9*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIQQiQQ Y2@]<:@ew: qy) 5(A);IYt* K@t*Y@yt*(%t*<>t*Ho ?@YU yп c`˧?? ?@?)u* K@ u*5q;Iu(xBRr>xBEF=F=FAAQM,DIMK;M>IQ I]6ٮQ M]6Q Q]tI Q UecA9QUg: U:)U 6 m.7)a m.7Ia mtIia mBa e:)e:Ie.7yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߁i 󑵧) \מ(AYt*RJ@t*]Y@yt**t*Ɇ>t*H?" eXпGD?WY?V?@U?)u*RJ@ u*)@q;Iu*CxNi>xNE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yb#>Q,Dh>I I6ٮ M6 QtI  UeA9A; ;)M6 07) 07I tIi B :)n:I807I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 194.797828 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: Ի) 6(AYt*J@t*Y@yt*%t*E>t*H1 ?@i;eп@ ?? 4I?@?)u*J@ u*lq;Iu*CxBj>xBqEG@HBAA){F%KI{Di{Fޫ={D{D{FA{D|FA9|F'dc?9i`I`)%GI!F@-Y5z:5 ?99Q=,D9E&;E ?II IM6ٮII QUtI I UUfA9IMɪ: MF:)MP6 ]17)Y ]17IY etIiY eBY ]$:)]:I]417qIq9q=O @Contact HDG: 142.589228 arcdeg .' 'O4Initialize Wait Component.*G2GFFrFbF!E!E!2E)zE-AE-ƒ֧1@w-2E-'dc?9E-%KE)E-X>52Ɠ'(@.E-a\aY>?#q]ƿE-i'@==DHdg To Contact =150.276962 degreesZE-FAbE-:E-oo$?BE-io$?JE- RE-z jE->rE-)M;IU9 iIi 2@<:@w: $UDacoustic_contact_range 25.440001 m$ehTrackAcousticContact.heading_to_contact 2.622828 rad$eLDUSBL_Hydroid.xAngle -45.599999 arcdegƣ§) f (A@ Yt.K@t.ɯY@yt.^(t.n.>t.H@O?@pп@E? ?V??)u.K@ u.Eq;Iu.CxBl>xBEiDJAiHJA)GIi  wAF@=YEʹE>AAQE,DIM :M>IQ I]6ٮQ M]6Q Q]tI Q U]gA9QU: U:)U6 m27)a m27Ia mtIia mBa e:)e۞:Ie 27yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  > dȧ) h$(AYt* J@t*Y@yt*(t*t>t*H m?@㭿eп(`? g??@!?)u* J@ u*z|q;Iu*CxR}v>xREi`I`)%GI!a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅc>ʉʉQ-Dʉ͕|Ϻ>I I6ٮ M6 QtI  UhA9鰝Գ: s:)H6 37) 37I tIi B Е:)@:I637I9*G2GFFrFbFEE) ;I 9  i I i 2@<:@%w: 1Χ) e>(AYt*6J@t*AY@yt*0t* >t*H%?n`Fп@p?`V???)u*6J@ u*Lq;Iu*Cx^h>x^EHb=H`)5vGI1F@}Y}ɔ>ʁʁQ-Dʁ͍ޝ>I I6ٮ M6 QtI  UjA9鰕: (:)J]6 47) 47I tIi B ,:):IF47I9*G2GFFrFbFEE );I9 !i!I!!)i)) )2@5<:@5w: Aէ) /X(A)4t*H N? >@$Xп ?`)?S??)u*J@ u*_q;Iu(xReq>xRnEV=V=VpʙʙQ-Dʙͥ(";>I I6ٮ M6 QtI  UkA9鰭s; ,;)VM6 57) 57I tIi B $:)7:Iq57I9*G!2G!F!F)rFIbFQEQEQ)e;Ie9 iiiiIi 2@<:@w: i ܧ) g}r(AYt*J@t*Y@yt*H t* ~>t*H`?8RпdG? ???)u*J@ u*q;Iu*CxBu>xBE)~iqQu-Dqu$q}>Iy I6ٮy M6y QtI y UlA9y}Գ: }R:)}%6 67) 67I tIi B :);:Ie67I9*G2GFFrFbFEE)];I]9 YaiaIaaiiii i2@<:@w: ߙ) hX(AYt*J@t*(Y@yt*$t*^݆>t*H@%?.qQп E?(?? ?)u*J@ u*Zq;Iu*CxNZe>xR EGPHR@Ai\I\)%GI!F@-Y5g95>19Q=-D9EbE>II IM6ٮII QUtI I UUnA9IM: Ml:)M6 ]77)Y ]77IY etIiY eBY ]:)]Y:I]!q77qIq9qO%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E1)M;IM9 IIiIIIqqiqy y2@<:@w: ߹) v3(A@ Yt.J@t. Y@yt.a"t.ٺ>t.H`[`?ZEп@?@V? ??@n?)u.J@ u.fr;Iu.CxNjw>xR"EiVAVAiVAVA)%GI%i!)a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ(9>ʉʉQ-Dʉ͕=>I I6ٮ M6 QtI  UoA9鰝: :)Q6 87) 87I tIi B A:):I87I9&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q']N@Vehicle HDG: 194.730551 arcdeg .q''*G2Gi'@FFrFbFEE)5;I=9 99i9I9E @iAEi'@ A2@M<:@mw: ߁$RHorizontalControl.headingCmd 2.622828 rad >/) Z (AYt*J@t* SY@yt*+t*>t*H n? .Pп%?fv? 5l?xB(EiPIP)ׄGPowering down*e code=069A elementURI="PowerOnly.component_voltage" type=00 *a code=090D owner=0026 element=069A universal=3FFF unitName="volt" type=07 size=0002 fl=05 jH-*e code=069B elementURI="PowerOnly.component_avgVoltage" type=00 *a code=090E owner=0026 element=069B universal=3FFF unitName="volt" type=07 size=0002 fl=05 rHURHUZHUIQF@eYmm>iiQm-DquLu>Iy I6ٮy M6y QtI y UpA9y}: }:)}Ϊ6 97) 97I tIi B :);:Iy97I9=O@Contact HDG: 150.276962 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI#@iBx> 2@<:@w: qQ0) ٟ(AYtrbJ@trmY@ytrr'trP>trHB@a?`Uп ?`8???)urbJ@ ur/ds;IurCxzq>xzEH~p=H| {|Y||8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y :>Q-D  y< >I I 6ٮ M 6 QtI  UrA9,: :) 6 -:7)! -:7I! -tIi! -B! %:)%Ɵ:I%:79I999*GQ2GQFQFQrFYbFYEYEY)u;Iu9 qqiyIy}i'@iʿ]> 2@<:@w: ߡ X) *(A) IYt.J@t.Y@yt.*J%t.)>t.H`?sˬ%Kп?@.?~? p?)u.J@ u.Res;Iu.CxB\~>xBgE){FmI{Di{F={D{D{FA{D|FA9|F|[);I9 iI  Fi  >  2@<:@w: )$EDacoustic_contact_range 28.259996 m$MhTrackAcousticContact.heading_to_contact 2.491390 rad$ULDUSBL_Hydroid.xAngle -53.050001 arcdegi ?) f (AYt*J@t*Y@yt*u$t*V>t*H?)<fпƫ?? ?`c?)u*J@ u*5/r;Iu*CxBp>xB%E)SGF@=YEQ9E>AAQM-DIM;M>IQ I]"6ٮQ M]"6Q Q]tI Q UetA9QU: UR:)U="6 m<7)a m<7Ia mtIia mBa e:)e:Ie%<7I9*G2GFFrFbFEE);I9 iInKi 2@<:@w:-> 1i ) J{'(AYt*J@t*Y@yt*!t*7>t*H ?_Rп.O?`=8?@??)u*J@ u*q;Iu(x^t>xblEGb@AH`ipIp)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʭ9>ʩʩQ.Dʩ͵pC>I I#6ٮ M#6 QtI  UuA9鰽Գ: s:)!#6 =7) =7I tIi B "<)#t.H ?@T.hп ?D$?`?`8?)u.J@ u.Rq;Iu.Cx61z>x6Ei:A:A)-ׄGi-xA1F@]Yee>aaQm.Dimg`;m>Iq I}#6ٮqq Q}tI q U}wA9quS: u5:)u.#6 >7) >7I tIi B :):I>7I9*G2GFFrFbFEE)U;IU9 YYiYIYaeKiaa a2@m<:@mw: ߁ > >{) 1[(AYt*J@t*Y@yt*x$t*[>t*H ?#Nbп n@??`:E?l?)u*J@ u*p;Iu(xB"h>xBEiPIP)~GF@mYm:u>qqQu.Dq}p}>I I$6ٮ M$6 QtI  UxA9鰅: $:)$6 ?7) ?7I tIi B :)f:I0?7I9*G2GFFrFbFEE)-;I-9 ))i)I)15Ii99 92@E<:@Ew: Q)  u(AYt*,J@t*7Y@yt*L$t*)>t*HQL?@`Mп u?@m?`?#?)u*,J@ u*p;Iu*CxNh>xREHRa=HRa=)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@uYu[7>ʑʙQ.Dʙ͝A>I I%6ٮ M%6 QtI  UzA9鰥: {:)%6 A7) A7I tIi B |:)M:I"A7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rF1bF1E1E1)M;IM9 IiiiIqquK Giyy y2@<:@w: ߱#) 玠(A) IYt.J@t.ԄY@yt."t.Ba>t.H@Dj?~Fпr?@Z? ??)u.J@ u.p;Iu,xNb>xR EV=V=i`I`)G%?%=F@-Y5g95>11Q=.D9=E>IA IM&6ٮA MM&6A QMtI A UU{A9AEN: E0:)Eԋ&6 ]B7)Q ]B7IQ ]tIiQ eBQ U:)Un:IUB7iIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 194.733010 arcdeg .q'U'U*GQ2GUr@FYFYrFYbFaEaEa);I9 iIm&@ir@ 2@<:@w: $=RHorizontalControl.headingCmd 2.491390 radi ۷)) ¨(AYt*7J@t*BlY@yt*<(t*Q>t*H@[` ?H` .п` =8?h?@?`?)u*7J@ u*p;Iu*CxB`k>xBE)GF@eYuQu>ʁʁQ.Dʉ͝l>I I'6ٮ M'6 QtI  U|A9鰵^< ۭ<)o'6 uC7)a C7Ia tIia Ba e;)ew;Ie3t*HV?@mOпM@H?`??,?)u* J@ u*{p;Iu*CxNWx>xREGRAAHPi`I`)dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ&>ʁʁQ.Dʉ͍;>I I(6ٮ M(6 QtI  U}A9鰕: :)oJ(6 D7) D7I tIi B :)ϝ:It.H@g? %п Bn?@e???)u.صJ@ u.p;Iu.Cx^5g>x^*E {`Y|`f8****** ping requested ******ilpzNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iwAxAa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʕIù>ʙʙQ.DʙͥNĻ>I I)6ٮ M)6 QtI  UA9鰵; ;)+;)6 E7) E7I tIi B +;) ;IeE7I9*G2GFFrF!bF!E!E!)=;I=9 99i9IAE@iAA I2@U<:@Uw: a > {> <) T(AYt2J@t2wY@yt2F&-t2DX>t2H?[9п@@?`?E? ?)u2J@ u2q;Iu2Cxjl>xjEi I )eGF@Yʝ)>ʡʡQ.Dʡͭ_;>I I*6ٮ M*6 QtI  UA9鰵g: :)*6 F7) F7I tIi B :)4:Im_F7I9*G2GFFrFbF E E )%;I%9 !!i!I!-Rz@i)) 12@5<:@=w: IC) /(AYt*J@t*SY@yt*$%t*3>t*Hw ^k? IпG?j?Pv??)u*J@ u*ip;Iu(xNx>xREHRR=HP)]GF@eYm>:m>qqQu/Dqu}>I I*6ٮ QtI  UA9鰅: l:)*6 G7) G7I tIi B :)H:IOkG7I9*G2GFFrFbF E E )%;I%9 !!i!I!-@-i)) 12@5<:@=w: aJ)  *(A);IYt*J@t*&WY@yt*v!t*mJ>t*H *z?gNп`$~?`.?@?`?)u*J@ u*dp;Iu*Cx6f>x6 E8>=iHIH)xzQ/D:>I I+6ٮ M+6 QtI  UA9: :)+6  H7)  H7I  tIi  B  :):IH7I9!*G12G1FQFQrFYbFYEYEa);I9 iIQ@i 2@<:@w: i P) 2C(AYt.J@t.]Y@yt.t.م>t.H@3@y?糬` п``(??h?`G?)u.J@ u.] q;Iu.CxRe>xRP E)GF@]Ye9e>aaQm/Dim\:m>Iq I},6ٮq M},6q Q}tI q UA9qu[: u:)u=,6 I7) I7I tIi B :)۞:II7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEaEa);I9 iIr@i 2@<:@w: W) ](AYt*J@t*IY@yt*Mnt*A>t*HI?#5& п@ q? ?`?A?)u*J@ u*hiq;Iu(xNn>xREGPHPi\I`)Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʁʁQ/Dʁ͍H>I I-6ٮ M-6 QtI  UA9鰕0: w:)u-6 J7) J7I tIi B o:):IJ7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.525686 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: B]) ̛w(A@ Yt*TJ@t*_UY@yt*#qt*H"w?#īпQ`.?`?@?Q?)u*TJ@ u*Jwq;Iu*CxBo>xBEiDD)~GixAF@=YEE>AAQM/DIM:M>IQ I].6ٮQ M].6Q Q]tI Q UeA9QU: U:)UFN.6 mK7)a mK7Ia mtIia mBa e:)eƟ:IeK7yI9=O@Contact HDG: 142.746104 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w:  R> )d) w(AYt.J@t.$>Y@yt.2t.>t.HM?`pп |?VB? P? ?)u.J@ u.qq;Iu.CxBs>xBEiPIP) GF@]Ye?:e>aaQe/Dimcm>Iq I/6ٮq M/6q QtI q UA9qu; u֩;)u -/6 L7) L7I tIi B ;) ;IaL7!I!9)*GY2GaFiFirFbFEE);I9 iIQQiQQ Q2@]<:@]w: qUj) X(AYt*J@t*BY@yt*t*D>t*H|A?׬пO 3O?`??@?)u*J@ u*N~q;Iu*CxNe>xNP EHRa=HRp=)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}I;}>yʁQ/Dʁͅ>:>I I06ٮ M06 QtI  UA9鰍: w:) 06 M7) M7I tIi B N:)b:I M7I9*G2GFFrFbFEE);I9 iI i   2@<:@w: !\t.H`?RϿ7s?@? a?)?)u.FJ@ u.q;Iu.CxZ"h>x^E`b=ilIl)5G=%==4=F@}Y}7>ʁʁQ/Dʁ͍$>I I06ٮ QtI  UA9鰕: x:)w06 N7) N7I tIi B :)Ɵ:IN7I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )i ew) yߡ(AYt*kJ@t*v8Y@yt*$t*[4>t*H@@1?ぬ@7Ͽ5@35?@҃?`V?@?)u*kJ@ u*q;Iu*CxR:m>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y`/>Q/DW:%>I! I-16ٮ! M516! Q5tI ! U5A9!%: %:)%=16 UP7)I UP7II UtIiI ]BI MÜ:)Mr:IMP7aIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: @}) (AYt*4vJ@t*?#Y@yt*);t*>t*Hh`?kϿ` ?e?VP? ?)u*4vJ@ u*Oq;Iu*CxNs>xREGPHP){R\lI{Pi{R={P{P{RB{P|R A9|RrzM?΅ipIp)Q/Dg>I I26ٮ M26 QtI  U A9p: ˵:)26 Q7)  Q7I  tIi  B  4:) :I T Q7!I)9)*G92G9F9F9rFAbFAEIEI2EQzEU AEURk.@ ! >4EUrzM?΅EU\lEQEU 3P G.@PEUv\k<?8++$ɿEUH4@=]DHdg To Contact =142.527033 degreesZEU=rAbEU:EUto$?BEUno$?JEU| REU{ jEUrEU)u;I}9 yyiyIyi 2@<:@w: ߡ$Dacoustic_contact_range 25.379997 m$hTrackAcousticContact.heading_to_contact 2.487566 rad$LDUSBL_Hydroid.xAngle -52.900000 arcdegpx) (A Yt.xJ@t.#%Y@yt.G?t.>t.H%#?^Ͽ@<?e?@c?B?)u.xJ@ u.q;Iu,xB>xB@EiDH)GiyAwAF@]Ye?e>aaQe0Dam9m>Iq I}36ٮq M}36q Q}tI q UA9quq: u:)u|36 R7) R7I 5tIi =B <)! i>) ,(AYt*aJ@t*Y@yt*(t*>t*HY?ѬبϿY ??T ??)u*aJ@ u*"q;Iu*CxBi>xBEiTIT)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmj;m>iiQu0DquZu>Iy I46ٮy M46y QtI y UA9y}Գ: }0:)}cY46 S7) S7I tIi B d:)B:IS7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.320945 arcdeg .q''*G2GH4@FFrFbFEE);I9 iIH4@iH4@ !2@%<:@-w: Y$RHorizontalControl.headingCmd 2.487566 rad[)  vF(AYt*{PJ@t*X@yt*bPt*@>t*H :y?@ Ͽ tu??@?C?)u*{PJ@ u*q;Iu*CxBn>xBEHF=HD)~AAQM0DIM'/M>IQ I]56ٮQ M]56Q Q]tI Q UeA9QU: UV:)U#356 mT7)a mT7Ia mtIia mBa e :)e:Ie+T7yI9=O%@Contact HDG: 142.527033 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F)rF)bF)E1E);I9 iIi 2@<:@w: 1) ;R`(A);IYt*8J@t*X@yt*A]#t*缃>t*H ?@v@XϿ ?k? I??)u*8J@ u*|q;Iu*CxNRr>xREV=V=i`I`)SG%4=%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥdh>ʡʩQ0DʩͭFd>I I66ٮ M66 QtI  UA9: k:)66  U7)  U7I  tIi  B  :)U:I:JU79IA9A*Gq2GqFqFqrFybFyEE)U;IU9 QQiQIQYYiYY a2@e<:@mw: ߹i ݝ) g)z(AYt*1J@t**X@yt*} (t*2!>t*H?/JϿ'|??'U?O?)u*1J@ u*mq;Iu*CxBk>xBE)dGF@Y%D%>))Q-0D)55>I1 I]66ٮ11 QetI 1 UeA915; 5I;)5C66 mV7)i mV7Ii mtIii uBi m:)m:ImLV7I9*G2GFFrFbFEE)%;I%9 !)i)I))1i11 12@=<:@=w: Q_Ȥ) b(AYt.J@t.ͽX@yt.8t.H|>t.H W?#۪S ϿMJ??`??)u.J@ u.zq;Iu.Cx>p>x>EGB@AH@iLIL)~GF@Y%>!!Q%0D!-@->I1 I=76ٮ1 M=761 Q=tI 1 U=A915: 5:)576 EW7)A MW7IA MtIiA MBA E,:)E:IEeZW7YIY9Y*Gi2GqFqFrFbFEE);I9 iIi 2@<:@w: )) 㭢(A Yt.hJ@t.sX@yt.\8t.)>t.H@ ;6??ο@w@y???`?)u.hJ@ u.q;Iu,xNxp>xREiTT)Gi%xA%xAa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YEy>Q0D>I I86ٮ M86 QtI  UA9: 4:)z86  X7)  X7I  tIi  B Ԙ:):I{X79I99A*GI2GQFqFqrFybFyEyEy);I9 iIi 2@<:@w:  V> >Xر) 'Ǣ(AYt*zI@t*X@yt*0t*>t*H?%.ο`L?}??}?)u*zI@ u*aq;Iu(xBp>xB%EipIp)MGF@]Ye=:e>aaQm0Dimֻm>Iq I96ٮq M96q QtI q UA9quE; u;)ul96 Y7) Y7I tIi B  :):I9Y7I9*G2GF!F!rF)bF)E)E))e;Ie9 aaiaIaiiiii q2@}<:@}w: ߉) ᢦ(AYt*I@t*eX@yt*J#t*t>t*H ய?6L`ο?3v? a??)u*I@ u*ջq;Iu(x>t>xBlEHBp=HBa= {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y5:5>99QE0DAMeM>IQ I:6ٮQ M:6Q QtI Q UA9QU< UH<)Up:6 Z7) Z7I tIi B <:) :I:Z71I191OEDone Waiting.'EOE8Uninitialize Wait Component.*GA2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rFAbFEE);I9 iIiAI Q2@<:@w: !-) u(A) IYt* I@t*OX@yt*ct*l>t*H`?f?t4ο@5?W? _??7?)u* I@ u*rq;Iu(xBu>xBE){B \I{@i{B&={@{@{BA{@|BfB9|B ch?<=R=Pi`I`)%G%%=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʝ :>ʙʙQ0Dʡͥ&\>I I;6ٮ M;6 QtI  UA9鰭< <)|S;6 [7) [7I tIi B c:):I[7QIQ9Y&eMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'N@Vehicle HDG: 193.649810 arcdeg .q''*G2GFFrFbFEE2EzEfBEZN5@IWUEt9E ch?<=E \EEvtz/;M72@X E1ğ鿶J?R!ǿETq"@= DHdg To Contact =145.426257 degreesZEߕAbEx:Eao$?BEto$?JEy RE| jErE)e;Ie9 iiiiIiqqiqq q2@}<:@w: $5Dacoustic_contact_range 33.600002 m$}hTrackAcousticContact.heading_to_contact 2.538167 rad$LDUSBL_Hydroid.xAngle -49.250001 arcdegi Ũ) O(AYt*s}I@t*~*X@yt*+t*S>t*H|r@?@ةEͿ5 3?p? ? W?)u*s}I@ u*8q;Iu*CxBjw>xB"E) SGF@=YEOE>AAQM1DIMS˻M>IQ I}<6ٮQ M}<6Q Q}tI Q U}A9QU; Uo;)U<6 \7) \7I tIi B :)I\7I9=O @Contact HDG: 145.426257 arcdeg .' ' O 4Initialize Wait Component.*G 2G F1F1rF1bF9E9E9);I9 iIi 2@<:@w: $?˨) +/(AYt*pOI@t*{W@yt*56t*D>t*H`! ;?bͿs?߆???)u*pOI@ u*_q;Iu*Cx>'n>xBpEG@H@iPIT)dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQu1Dqu>I I<6ٮ QtI  UA9鰝):  :)<6 ]7) ]7I tIi B ;);Ik]7I9*G!2G)F)F)rF1bFEE);I 9  i I QQiQQ Y2@]<:@]w: ߱&Ҩ) I(A@ Yt* I@t*W@yt*4t*>t*H$'"?nԨ8Ϳ@c9?U?ր?p?)u* I@ u*'q;Iu*CxB |>xBEiDD)~GiF@Y%G9%>!!Q-1D)-R->I1 I==6ٮ1 M==61 Q=tI 1 UEA915: 5:)5=6 M^7)A M^7IA MtIiA MBA E:)E:IE^7YIa9a*Gq2GqFqFrFbFEE);I9 iI  i   2@<:@w: ) > >0Pب) Db(AYt*I@t*W@yt*t*&>t*H~*]?2Ϳ &`?`i??h?)u*I@ u*q;Iu*CxBeq>xBnEiPIP)vGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9}@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵ;>QQQU1DQ]~]>Ia Im>6ٮa Mm>6a QmtI a UmA9ae : e:)e>6 _7) _7I tIi B  :):I_7I9*G2GFFrFbFEE)M;IM9 IIiQIQQYiYY Y2@e<:@ew:  {ި) |(AYt.H@t. W@yt. t.Ҧ>t.Ht-+?@RL̿" e??aF?J?)u.H@ u.8q;Iu.CxVv>xVGEHZa=HX)-GF@5Y=Ⱥ=>AAQE1DAMLM>IQ IU?6ٮQ MU?6Q Q]tI Q U]A9QUb: U:)U&?6 e`7)a e`7Ia mtIia mBa eZ:)en:Ie`7yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: Yd) o(A)(I,YtVH@tVRW@ytV-tV͗>tVH 5 إ?@3I̿u{?`?@1?@?)uVH@ uVq;IuVCx^b>x^Q Ef=f=i!I))}G=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q1D  >I I@6ٮ M@6 QtI  UA9N: 0:)t@6 -b7)! -b7I! -tIi! -B! %:)%ʽ:I%Zb79I99A*GQ2GQFQFQrFYbFYEYEa)u;Iu9 yyiyIyi 2@<:@w: ߡi @A f)  p(AYt*H@t*!6W@yt*-t*>t*H(8@t?G̿#@J?h?#? ?)u*H@ u* r;Iu*CxBi>xBE)~+GF@Yʅ8>ʉʉQ1Dʉ͕ɓ>I IA6ٮ MA6 QtI  UA9鰝Գ: )HA6 c7) c7I tIi B :):Ic7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!!i!) )2@5<:@5w: Ayt) Lʣ(AYt*#WH@t*.W@yt*>,t*>t*H=_!??ȯ˿|8@?-??x?)u*#WH@ u*=7r;Iu*CxB`k>xBEGBAAHDiPIR̓C)GF@=YE&8E>AAQM1DIMM>IQ I]B6ٮQ M]B6Q Q]tI Q UeA9QU: U:)U9 B6 md7)a md7Ia mtIia mBa e:)e:IeB!d7yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.492626 arcdeg .q''*G2GTq"@FFrFbFEE);I9 iI @i~>Tq"@ 2@<:@w: 1$uRHorizontalControl.headingCmd 2.538167 rad) (䣦(A Yt.KDH@t.VV@yt.ǣ&t.bk>t.H??M `˿`n5@?`aԄ?`.?? 5?)u.KDH@ u.Hr;Iu.CxBe>xBP E {DY|DJ8****** ping requested ******iLPZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]vGiqya 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a  a 5@a  a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Y U:}>yyQ}1Dʁͅ >I IC6ٮ MC6 QtI  UA9^: w:))C6 e7) e7I tIi B H;)B;I.he7III9I=O5@Contact HDG: 145.426257 arcdeg .'='=O=4Initialize Wait Component.*G92G9FaFarFibFiEqEq);I9 iITq"@iTs> 2@<:@w: I V> >) (AYt*&H@t*1V@yt*6t*>t*H`Fe?˿)`{?`??` ?)u*&H@ u*b2r;Iu*CxBo>xBJE){BoeI{@i{B7={@{@{BA{@|B+B9|B_eh?ci`Ib“C)GF@]Ye:e>aaQe1Dim4Km?Iq I}C6ٮqq Q}tI q U}A9qu: uB:)uC6 f7) f7I tIi B  :):IDf7I9*G2GFFrFbFEE2EzE+BE߭u:@@E_eh?cEoeEEBW@|9@Pj !E\ ;eV?&ĬyɿEY@=DHdg To Contact =141.929268 degreesZEAbE:EQo$?BEao$?JEt REy jE<rE);I9 iIt(i  >  2@<:@w: )$EDacoustic_contact_range 42.780003 m$MhTrackAcousticContact.heading_to_contact 2.477133 rad$MLDUSBL_Hydroid.xAngle -51.350001 arcdeg) (AYt*G@t*V@yt*t*x>t*HWJ`m;?2`ʿGw??`?`?)u*G@ u*r;Iu*CxBjw>xB"EH@H@)SGa 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe"m>iiQm2Diuu>Iy ID6ٮy MD6y QtI y UA9y}Գ: }ض:)}͸D6 g7) g7I tIi B :):IUg7I9*G2GFFrFbFEE)%;I%9 !!i!I!)-$Ri)1 12@=<:@=w:M> Q ) H1(A) IYt*#G@t*.V@yt*#t*2!>t*HIH?@ ʿ@L@kA?Jw??k?)u*#G@ u*Qr;Iu*Cx>p>x>EF=F=iPIR̓C)G  F@=YEE>AAQM2DIM':M>IQ I]E6ٮQ M]E6Q Q]tI Q UeA9QU: U':)UE6 mh7)a mh7Ia mtIia mBa e :)e4:Iebh7yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: )I ߩi ?A \) K(AYt*G@t*'VV@yt*c5t*j.>t*HO`?R[ʿ A`n!?]?@V??)u*G@ u*r;Iu*CxJ~>xJE) SGF@=YE /E>AIQM2DIMCM>IQ I]F6ٮQ MeF6Q QetI Q UeA9QU; Ur;)UDoF6 mi7)i ui7Ii utIii uBi m :)m:ImYsi7I9*G2GFFrFbFEE);I9 iIR~i 2@<:@w: ߁) Lpe(AYt*NG@t*YRV@yt*;]%t*z}>t*HfP]? 礿 .TʿFX?`?U\?@?)u*NG@ u*As;Iu*CxB:m>xBEGB@AH@iPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@5Y=;=>AAQE2DAE M>II IuG6ٮI MuG6I Q}tI I U}A9IM,; M;)Mf]G6 j7) j7I tIi B :):Ij7I9*G2GFFrFbFEE)-;I-9 11i1I19=i99 A2@u<:@uw: ߁) EJ(A@ Yt.͊G@t.7V@yt.t.탃>t.H`'S W? 楿`U ʿUH ?? ,B? ?)u.͊G@ u.ڳs;Iu.CxNz>xR EiTT)eGimyAiF@uY};:}>yyQ2Dʁͅ׋>I IH6ٮ MH6 QtI  UA9鰍D; ;)a,H6 k7) k7I tIi B E:):Iߘk7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF)rF1bF1E1E9)M;IM9 IIiIIQQ]I?|iYY Y2@e<:@ew: q > >%) $(AYt*G@t*4V@yt* "t*[>t*HpS`"?{Z YʿP¢?@ZA?n?~?)u*G@ u*4s;Iu(xBk>xBEiPIP)~>Q2D>I II6ٮ MI6 QtI  UA9: :)I6 l7) l7I tIi B V:):IFl7I9&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NuInitialize.q'uN-@Vehicle HDG: 191.767396 arcdeg .q'-'-*G)2G-Y@F1F1rF1bF9E9E9);I9 iIm @iY@ 2@<:@w: $URHorizontalControl.headingCmd 2.477133 rad(,) u(AYt*`tG@t*k!V@yt*3-t*0>t*H [Uq? /@[ɿ@uK`?V?8??)u*`tG@ u*Kt;Iu*CxBw>xBjEHB=HFp=)~SGF@=YE6E>AAQM2DIMGM>IQ I]I6ٮQQ Q]tI Q UeA9QU: U:)UI6 mm7)a mm7Ia mtIia mBa eA:)e:Iehm7yIy9=O@Contact HDG: 141.929268 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 !!i!I!-Y@i)) )2@5<:@5w: I3) Y̤(A) IYt*0mG@t*;V@yt*E,t*oɃ>t*HVNb?hC@HɿIF?`?J??)u*0mG@ u*Pt;Iu*CxN\>xREV=V=i`I`)G%4=%=F@-Y585>19Q=2D9E쎺E>IA IMJ6ٮA MMJ6A QUtI A UUA9AE: E:)E_J6 ]n7)Q ]n7IQ etIiQ eBQ U˚:)U:IUn7qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i :9) R椦(AYt*fG@t*V@yt*]!t*u>t*H`VMM?ǥ`ɿ@F`7?+?n? ?)u*fG@ u*et;Iu*CxBxp>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@EYM:M>QQQU2DQ]Rj]>Ii IuK6ٮi MuK6i Q}tI i U}A9imJ; mhL;)m K6 o7) o7I tIi B Đ;)˞;Io7I9*G!2G!F!F!rF)bF)E1E1)E;IM9 IIiQIQY]=iYY a2@<:@w: ߙ"@) (AYt*ziG@t*V@yt* !t*>t*H V`R?8˥ ɿ E8?9?o? ?)u*ziG@ u*et;Iu*CxBm>xB'EGBAAHD){FivI{Di{F={D{D{FA{D|FA9|Fl'I?Z:`Bi`Ib“C)%GF@]Yeʖe>aaQe2Dim9m>Iq I}L6ٮq M}L6q Q}tI q U}A9qu: u:)uyL6 p7) p7I tIi B 5:)I:I4p7I9*G2GFFrFbFEE2EzEAEy(@K&W;1El'I?Z:`BEivEEy5R.5I+@K:EAVUK翫1%?@AʿE@=DHdg To Contact =137.531091 degreesZE ^AbEr:Eo$?BEQo$?JE} REt jE։rE<);I9 iI ti   2@<:@w: )$EDacoustic_contact_range 21.000000 m$MhTrackAcousticContact.heading_to_contact 2.400370 rad$MLDUSBL_Hydroid.xAngle -55.150000 arcdeg1MF) 7n(A@ Yt6s[G@t6~V@yt6 t6L>t6H@W1?@ɿ%?`Bs??`K?@?)u6s[G@ u6Jt;Iu6CxNxp>xREiTT)aaQe3Dam m>Iq I}M6ٮq M}M6q Q}tI q U}A9qq u:)uKVM6 q7) q7I tIi B :)۞:Iq7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9 > vL) F4(AYt*hG@t*V@yt*.!t*چ>t*H`VL?@)'ɿ>`=q? ??q??)u*hG@ u*Ht;Iu*CxBn>xBEilIn̓C)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y>Q3Dq;>I IN6ٮ MN6 QtI  UA9; Z;)9N6  s7)  s7I  tIi  B :)Ɵ:Is7QIa9a*G2GFFrFbFEE);I9 iI[i 2@<:@w: )^S) B#N(AYt*+UG@t*6V@yt*,t*wH>t*HX`+?N¥`;ɿ=?`??@B?)u*+UG@ u*^#t;Iu*CxR*[>xREHRa=HRa=)]dGF@mYmۺm>qqQu3Dq}H}>I IO6ٮ MO6 QtI  UA9鰅 : :)O6 t7) t7I tIi B :):Iyt7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 9AiAIAAMiII I2@U<:@Uw: iY) ig(A) IYt*}TG@t*V@yt*t*>t*H@X`? b ɿ'=/?`4?`??)u*}TG@ u*9t;Iu*CxBp>xBEF=FJ>iPIP)~GR=%=F@Yʵ9;>Q3D@͸>I) I=O6ٮ)) QMtI ) UMA9)-; -B;)-O6 uu7)a uu7Ia }tIia Ba e;)ew;Iet*H@Y J?Uɿ>΀? ;?@ŷ? &?)u*OG@ u*ht;Iu*CxBs>xBE)~+Ga 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]ٺ]>aaQe3DamJ=m>Iq IuP6ٮq MuP6q Q}tI q U}A9qup: u:)uxP6 v7) v7I tIi B :):I9v7I9=O@Contact HDG: 137.531091 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI/@i 2@<:@ w: Af) (AYt*1GG@t*t*H@Z@?`#Jɿ1?^??p??)u*1GG@ u*,t;Iu*CxBr>xBIEG@HDiPIP)~SGF@=YE:E>AAQM3DIMiM>IQ I]Q6ٮQ M]Q6Q QetI Q UeA9QUW: U[:)U)Q6 mw7)i mw7Ii mtIii uBi m:)m:ImGw7I9*G2GFFrFbFEE)U;I]9 YYiYIYe@iaa a2@m<:@mw: ߡ%l) ɏ(A@ Yt.JG@t.%U@yt.<t.;U>t.H Yl ?3ɿ`B?`?c?5?"?)u.JG@ u.@t;Iu.CxNq>xREiTT)Gi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ>ʩʩQ3Dʩͭ9>I IR6ٮ MR6 QtI  UA9鰽g: ':)R6 x7) x7I tIi B  :)b:Is`x7q Software FaultI9*G2GF F rFbFEE)-;I-9 ))i)I)@i 2@<:@w: !xSoftware Fault in component: DeadReckonWithRespectToSeafloor > {>Ps) 'lϥ(AYt* 0G@t*U@yt*s(t*f>t*H<\`q?Dڥ nɿ<`?c???)u* 0G@ u* t;Iu*CxBp>xBEiLIR“C)~AIQM3DIUބ]>Iq I}S6ٮq MS6q QtI q UA9qu; q)u^S6 y7) y7I tIi B J:)Ü:Iky7I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: !%Clearing failed state for component DeadReckonWithRespectToSeafloorq %y) AI饦(AYt*/G@t*U@yt*j5 t*>t*H O\l?mɿ@<;?`?~?[?)u*/G@ u*%t;Iu*Cx>v>xBEHBR=H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5ɗ:5>99Q=3D9E7E>II I]T6ٮI M]T6I Q]tI I UeA9IM1; M3;)MJT6 mz7)i uz7Ii utIii }Bi m3;)m ;Im(z7I9*G2GFFrFbFEE);I9 iI)i)) )2@5<:@5w: iϾ) O (A) Ix~xp>xE){ehI{i{={>{{A{|BA9|sb!?Q2E=E=iaIi)G%=F@Y>Q3D>I IU6ٮ MU6 QtI  UA9 : $:)Q!U6 {7)  {7I  tIi  B  $:) #:I \{7!I!9!*G92G9F9F9rFAbFAEAEI2EIzEMBAEMrL@F+.#EMsb!?Q2EMehEIEML [p"jـH@+lEMb8!|?Q6ɿEM@=]DHdg To Contact =140.607927 degreesZEMD@bEM:EMo$?BEMo$?JEM REM} jEM@rEM։)u;Iu9 yyiyIyi 2@<:@w: ߡ$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.454071 rad$LDUSBL_Hydroid.xAngle -51.949999 arcdegi -醩) v(AYt*G@t*U@yt*3t*$>t*H _`ҕ?Rv/ɿ?T? 7?Q?u?)u*G@ u*Jt;Iu*CxBr>xBIE)MQ4D>I IU6ٮ QtI  UA9T; U;)U6 |7) |7I tIi B Z:):I^|7 I 9 ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E1)E;IE9 AIiIIIIQiQQ Q2@]<:@]w: i) 6(AYt*G@t*U@yt*t*s,>t*HX`@ʊ?`X勵@ɿ >º?\??a?)u*G@ u*es;Iu(xBk>xBEGB@AHDiTIV̓C)mGF@Yʝ>ʡʡQ4Dʡͭ۱>I IV6ٮ MV6 QtI  UA9鰵: :)WV6 }7) }7I tIi B ,:)۞:Iٱ}7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.316959 arcdeg .q''*G2G@FFrFbFEE);I9 iI@i@ 2@<:@w: $RHorizontalControl.headingCmd 2.454071 rad/) IJP(A Yt*F@t*U@yt*Jt*Y>t*H cV?@ ȿA`ó?GɃ???)u*F@ u*t;Iu*CxBi>xBEiDD)SGi!!F@Y>Q 4D %>I1 IEW6ٮ1 MMW61 QUtI 1 U]A915c; 5E;)5W6 }~7)a }~7Ia tIia Ba e;)eЕ;IeI~7I9=O@Contact HDG: 140.607927 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i 2@<:@w:  > >$) j(AYt*F@t*U@yt*=t*C>t*Hlb c?`ᱥ`ȿ Cz?`G??;?)u*F@ u*Et;Iu*CxFv>xFGEi`I`)dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ[&:>ʁʁQ4Dʉ͍А:>I IX6ٮ MX6 QtI  UA9鰕: R:)YX6 7) 7I tIi B :):I7YIY9Y*Gi2GiFiFqrFbFEE);I9 iIi 2@<:@w:  ) h(AYtBF@tB}U@ytB5tBz>tBH`e@ ?`[ȿ B w?&?y?@?)uBF@ uBs;Iu@xJ1z>xJEHNa=HL)GF@Y%(9%>!)Q-4D)-5>I1 I=Y6ٮ1 M=Y61 QEtI 1 UEA915: 5:)5pbY6 M7)I M7II MtIiI UBI M9:)Mn:IMl7aIa9a*Gq2GqFqFyrFybFEE);I9 iIi 2@<:@w: 07) C(A) I4F@t>$[U@yt>Xt>>t>H h`g?晥oȿB ?ʂ? ?~?)u>F@ u>s;Iu>CxF{>xFEJ=N=iTIT) +G=a 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYun9u>qqQ}4Dy}}>I IZ6ٮ MZ6 QtI  UA9鰅c: E:)DZ6 7)I tIi B t:)$:I7I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: i @A Sa) (AYt:>F@t:I^U@yt:Is t:>t:H h?Uuȿ!Bd? T?? \?)u:>F@ u:\s;Iu:CxRi>xRE)GF@]Ye)ɺe>aaQe4Dim9m>Iq I}[6ٮq M}[6q Q}tI q U}A9qu: u:)u[6 7) 7I tIi B :):I7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: :Z) hAҦ(AYt2YF@t2dHU@yt2&!t2Պ>t2Hj?CJȿ@A '?@$?<$?I?)u2YF@ u2s;Iu2CxRxp>xREGTHXidId)=vGF@eYuٸ}>ʁʁQ4Dʉ͕S>I I\6ٮ M\6 QtI  UA9鰭$< ;)\6 7)  %7I  %tIi  -B  ;) Ӡ;I z7YIY9Y*Gi2GiFiFqrFqbFyEyEy);I9 iIi 2@<:@w: ߹s) E릦(A Yt*FF@t*QDU@yt*Qt*౉>t*H$k?jDBȿF@O???0?)u*FF@ u*ut;Iu(xRv>xRE {TY|TV8****** ping requested ******i\\jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gia 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Y:>!!Q%4D!%\->I I]6ٮ M]6 QtI  UA90: U:)H]6 7)I tIi B ::);I_7I9OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEY);I9 iIi 2@<:@w:  V> > [) (AYt*5F@t*@=U@yt*t*É>t*Hks? O4ȿF &?@?C??)u*5F@ u*St;Iu*CxBp>xB%E){FgI{Di{F~={F7>{D{F`A{D|FAA9|F-a?Ҷ(*i`I`)]҄GF@Yʥ:>ʡʡQ4Dʡͭ>I I]6ٮ QtI  UA9鰵; ;):]6 7) 7I tIi B .;)2;IA7!I!9!&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 NUInitialize.q'UN@Vehicle HDG: 190.901711 arcdeg .q''*G2GFFrFbFEE2E zE AAE Q%Wz@NdQ#E -a?Ҷ(*E gE E *A9"Q|飌h@ GE tQ?ʿE я@==DHdg To Contact =140.161397 degreesZE D@bE :E BE o$?JE RE  jE rE @)u;I9 iIi 2@<:@w: ߹$Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 2.446278 rad$LDUSBL_Hydroid.xAngle -51.850001 arcdegiǩ) (AYt*YF@t*d.U@yt*/t*+>t*H8m?`<ȿFC?TԂ??+?)u*YF@ u*Q/t;Iu*CxB:m>xBEHF4=HD)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʩʱQ5Dʱͽ>I I^6ٮ M^6 QtI  UA9鰽g: :)^6 7)I tIi B H;)WL;I7I9=O@Contact HDG: 140.161397 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: ݯͩ) Eh9(A) I;Yt.xF@t.%U@yt.Pqt.ȋ>t.Hnv?;@ȿ\@?΃?~A?8?)u.xF@ u.4t;Iu.CxB{>xBiEJ=J=iTIT) G = %=F@=YE۟E>AAQE5DIMM>IQ I]_6ٮQ M]_6Q Q]tI Q U]A9QU$: U:)Ul_6 m7)a m7Ia mtIia mBa e :)e@:Ie&7yIy9*G2GFFrFbFEE)5;IU9 QQiQIQYYiYa a2@e<:@mw: ߙi ?A ԩ) @S(AYt*fF@t*U@yt*4It*FI>t*H o NR?2 ǿH?)?a??)u*fF@ u*?Kt;Iu*CxReq>xRnE)F@]Ye;e>aaQm5Dim].m>Iq I}`6ٮq M}`6q Q}tI q UA9qu: u:)uK`6 7)I tIi B :):I+7I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: ߩyک) m(AYt*wF@t*$U@yt*}t*>t*H"nw?`$ȿ Nz?O??@?)u*wF@ u*t;Iu*CxNg>xRsEGPHPi\I`)SGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ<>ʁʁQ5Dʁ͍R';>I Ia6ٮ Ma6 QtI  UA9鰕: :)n*a6 7) 7I tIi B ȗ:)۞:I97I9*G2GFFrFbFEE);I9 11i1I199i99 92@E<:@Ew: Y) D(A Yt.RmF@t.]U@yt.hst.nՊ>t.Hob?E @pǿ E?Yn?=$? Q?)u.RmF@ u.s;Iu.CxBm>xB'EiDD)~GiwAF@=YEE>AAQM5DIMԺM>IQ I]b6ٮQ M]b6Q Q]tI Q UeA9QU: U:)Ub6 m7)aIa mtIia mBa e:)e:Ie07yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Y > >) ݠ(AYtr]F@tr U@ytrjtr>trH`p~:?@p&ǿ561i?JM?!?@i?)ur]F@ ur*t;IurCxzs>x~EiI)uvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y9>Q5D(>I  Ib6ٮ   QtI  UA9  : :) Ib6 7) %7I %tIi %B ȗ:)۞:I^O71I191*GA2GAFIFIrFQbFQEQEQ)m;Im9 iiiiIqqqiqy y2@<:@w: ߑ) u(AYt.FF@t.)T@yt.t.n>t.Hr`p? ,jǿ F?܂?6? ?)u.FF@ u. t;Iu.CxZn>xZEH^R=H`)=GF@eYm:m>iqQu5Dquv}>I Ic6ٮ Mc6 QtI  UA9鰅: ':)c6 7)I tIi B :)+:IVц7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )) ԧ(A)4t*Ho`U?ǿO`?۠?? ?)u*gF@ u*t;Iu*CxBu>xBEF=F=iPIP)5ʁʁQ5Dʁ͍W;>I Id6ٮ Md6 QtI  UA9鰕; ;)d6 7) 7I tIi B :)۞:I[7I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N5Initialize.q'5N@Vehicle HDG: 190.760203 arcdeg .q''%*G!2G%я@F!F!rF)bFIEQEQ)e;Ie9 aiiiIiuя@qiquя@ q2@}<:@}w: ߑ$RHorizontalControl.headingCmd 2.446278 radi g) c(AYt*CF@t*T@yt*=t*=>t*Hr? ǿ@xG??0??)u*CF@ u*s;Iu*CxRRr>xRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGa 1 a 1  a 5 a 5  a 9 a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>Q5Dk>I Ie6ٮ Me6 QtI  U A9: :)e6 7)I tIi B h:)|:IJ7!I)9)=O@Contact HDG: 140.161397 arcdeg .''O4Initialize Wait Component.*G2G FFrFbFE!E!)e;Ie9 aiiiIiqqiqq y2@<:@w: ߡ) kF(AYt*WF@t*U@yt*4!t*>t*Hq4?@`ǿ@ :R?Q3???)u*WF@ u*t;Iu*Cx>y>xBEGB?AH@iXIX)t.H@s L?U`ǿe?A?\?s?-?)u.9F@ u.t;Iu.CxR>xRBEiTT)%Gi%yA!F@5Y5;5>99Q=6D9E<E>II IMg6ٮI MUg6I QUtI I UUA9IM: M:)M-g6 ]7)YIY etIiY eBY ]S:)]:I]7qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w:  > >iK) ;(AYt*:F@t*T@yt*)t*E>>t*Hs@?HຌǿP??3? ?)u*:F@ u*,t;Iu*Cx6v>x6GEiHIH)xa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a = a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYUy:U>QYQ]6DYe)r9e>Ii Imh6ٮi Mmh6i QutI i UuA9ii m:)mA h6 }7)y }7Iy tIiy By }9:)}M:I}6y7I9*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 1S5) ^U(AYt mQF@t xT@yt Kft >t Hqb,?@ 䤿@ǿNI????)u mQF@ u 2 t;Iu Cx=n>x=EHE=HEp=)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y >Q6DI;>I Ii6ٮ Mi6 QtI  UA9< <)i6 7) 7I tIi B :):IC7 I 9*G2G!F!FarFbFEE);I9 iIi 2@<:@w: ]) Xo(A);I Yt6 "F@t6T@yt6Nt6a>t6Hv?l@}\ǿ@8}~?X? 7??)u6 "F@ u6Mt;Iu4xRv>xRGETTi`I`)%99Q=6D9E,E>II IMi6ٮII QUtI I UUA9IMի: M:)M^i6 ]7)YIY etIiY eBY ]t:)]:I]D7qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i \E") f(AYt*S"F@t*^T@yt*Pt*>t*H`vS?? ]ǿn@ I?x?rz?;?)u*S"F@ u*HFt;Iu*CxnI>xnE)UGF@eYe6ĸe>iiQm6Diux48u>Iy Ij6ٮy Mj6y QtI y UA9y}Z: }:)}dj6 7) 7I tIi B ,:)۞:I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)%;I%9 !!i!I)))i)1 12@=<:@=w: Ip() c(AYt*K1F@t*VT@yt*t* 1>t*Ht=?`{~zǿ RX? l}??X?)u*K1F@ u*t;Iu*CxBZe>xB EG@H@iLIP)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʵL9>ʱʹQ6Dʹͽ;>I Ik6ٮ Mk6 QtI  UA9: ض:)[k6 -7))I) 5tIi) 5B) -˵:)-#:I-7AIA9A&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q']N@Vehicle HDG: 190.569791 arcdeg .q''*G2GFFrFbFEE);I9 iI  i 2@<:@w: )4.) )?(A Yt. !F@t.T@yt.%t.蘊>t.Hv`?TyZǿ@'M ?@Z??H?)u. !F@ u.=t;Iu,xBw>xBjEiDD)GiwAF@=YEy/E>AAQM6DIM&M>IQ Il6ٮQ Ml6Q QtI Q UA9QUJ= UK=)UYl6 7) 7I tIi B Ԙ:):I{17I9=O@Contact HDG: 140.161397 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: 1 > x>J5) #ר(AYt6"F@t6-T@yt6t6X>t6Hv?`(Lǿ`> _??_? ?)u6"F@ u69t;Iu4xNn>xNEi\I\)+Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}#;}>ʁʁQ6Dʁ͍>I Im6ٮ Mm6 QtI  UA9鰍: D:);m6 7)I tIi B ::)o:IE7qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: ۫;) (AYt*F@t*T@yt*t*~>t*Hx u?`v`8#ǿ`b?td? A? ?v?)u*F@ u*It;Iu*Cx2Rr>x2EH6a=H6a= {8Y|8:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGF@Yʕ :>ʙʙQ6DʙͥP>I In6ٮ Mn6 QtI  UA9鰭H!; o;)Rn6 7) 7I tIi B ;)p;I57I9*G2GFFrFbFE)E1)E;IE9 AAiIIIi 2@<:@w: B)  (A) I Yt*E@t*T@yt*t*rq>t*Hy?;ǿ P ?G?0? ?)u*E@ u*Zt;Iu*CxNf>xR E){R qI{Pi{RM={P{P{RA{P|RfNB9|RD ?FCb=`ipIp)E+GAE%=F@]Yeze>iiQm6DiuKu>Iy I}n6ٮyy QtI y UA9y}: }:)}7n6 7)I tIi B h:):IQ7I9*G2GFFrFbFEE2EzEfNBE,12]>@cDED ?FCE qEEB^A@rp%E,(翺g?"pwʿE7@=DHdg To Contact =137.557483 degreesZE,BbE:EFo$?BEJEm REjE-rE);I9 iI!!i!) )2@-<:@5w: A$Dacoustic_contact_range 51.600002 m$hTrackAcousticContact.heading_to_contact 2.400831 rad$LDUSBL_Hydroid.xAngle -53.950001 arcdegi ٽH) 7$(AYt*E@t*T@yt*] t*>t*H@5zɀ?>ã>ǿ]S ?6? ?`i?)u*E@ u*]zt;Iu*CxBi>xBE)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye5׹e>iiQm7DiuXu>Iq Io6ٮq Mo6q QtI q UA9qu: us:)uo6 7) 7I tIi B :)r:IC7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: N) Ƌ>(AYt*E@t*ؔT@yt*@t*7>t*HO{_?`Zƿ I-??@Y[??)u*E@ u*mt;Iu*Cx>u>xBEG@H@iPIP)GF@=Y=ϧ:E>AAQE7DAMM>IQ I]p6ٮQ M]p6Q Q]tI Q U]A9QUg: U(:)Up6 e7)aIa mtIia mBa e:)e:Ie/ʎ7yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: U) `X(A Yt*E@t*T@yt*Ot*->t*H|E?8ƿU@????)u*E@ u*t;Iu(xRw>xRjEiVAT)5+Gi11a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ,>ʱʱQ7Dʱͽ7>I Iq6ٮ Mq6 QtI  UA9p: :)}q6 7) 7I tIi B 0:)":IW7I9O Done Waiting.' O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Mw: a a> >[) :r(AYt*E@t*T@yt*t*[>t*H`| H?xƿ-Y`? ? ?@?)u*E@ u*%t;Iu*CxB{>xBiEiPIP)SGF@=YELz9E>AIQM7DIMJ9U>IQ I}r6ٮQ M}r6Q Q}tI Q UA9QU; UV;)U?br6 7)I tIi B h:):Iۏ7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.250125 arcdeg .q''*G2G7@FFrFbFEE);I9 iI{@i7@ 2@<:@w: 1$uRHorizontalControl.headingCmd 2.400831 radb) (AYt*+E@t*6sT@yt*t*߇>t*HH~-?ວƿ` ????)u*+E@ u*t;Iu*CxNo>xRJEHRp=HP)GF@%Y-9->11Q57D15=>I Is6ٮ Ms6 QtI  UA9鰭: +:)Ds6 7) 7I tIi B o:)b:Imf7I9=O}@Contact HDG: 137.557483 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFyFrFbFEE);I9 iI7@i 2@<:@w: K i) =󥩦(A) IYt.GE@t.RgT@yt.t./R>t.H@]`? Xƿ]h %p?Â??`_?)u.GE@ u.[t;Iu.CxBsj>xB(EDF=iPIP)~SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeM:e>iiQm7DimMu>Iq I}t6ٮq M}t6q QtI q UA9qu˵: u÷:)ut6 7)I tIi B :)9:If7!I!9!*GQ2GQFYFYrFYbFaEaEa);I9 iIi 2@<:@w: i 5o) ˿(AYt*UE@t*`T@yt*yt*h>>t*HY|IZ?d``ƿ@iM?@?@w?`?)u*UE@ u*t;Iu(xRk>xRE)dGF@]Ye19e>aaQm7DimĨ;m>Iq I}t6ٮqq Q}tI q UA9qu: u5:)u4t6 7) 7I tIi B A:)w:Ift7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !v) ٩(AYt~E@t~jT@yt~E#%t~T>t~H~$*?@Y/ؖƿ o`6?Q?h[??)u~E@ u~.7u;Iu~Cx ?s>x EG@AHi)I))Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YO>Q7DŐ >I  Iu6ٮ  Mu6  QtI  UA9  E: ÷:) u6 %7)! %7I! %tIi! -B! % :)%:I%79I999*GI2GIFFrFbFEE)-;I-9 ))i)I111i99 92@E<:@Ew: qH|) E(A Yt.E@t.T@yt.jt.N>t.H`{`h??ƿkyxRE {PY|TV8****** ping requested ******i\`jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uSGiF@Yc;>Q7D*;>I Iv6ٮ Mv6 QtI  UA9~: ;)[v6 7) I  tIi  B  ;) ;I 71I191*GI2GQFQFYrFabFaEaEa);I9 iIi 2@<:@w: A V> >/) ] (AYt*9E@t*DT@yt*t*҂>t*H@|{@p?}آ ƿr2?@?,??)u*9E@ u*au;Iu*CxB5g>xB*E){FaaQm7Dimh:m>Iq I}w6ٮq M}w6q Q}tI q UA9qu9: u:)uw6 7) 7I tIi B :):I 7I9*G2GFFrFbFEE2EzEAEfG$@t2HXz=?࠲ƿ Rj`d;?gi?c?~?)u2E@ u2u;Iu2CxNk>xREHRa=HP)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ4>ʁʁQ8Dʉ͍k:>I Ix6ٮ Mx6 QtI  UA9鰕: f:)nx6 7)I tIi B :):I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I 9  i I i 2@<:@%w: 1VB) <A(A) IYt.F@t.T@yt.t.">t.HZw? D@ǿi@j&?@? rQ??)u.F@ u.;v;Iu.CxBq>xBEF=Jl>ilIn̓C)=GE%=AF@]YeT;e>aaQe8Dim1;m>Iq I}y6ٮq M}y6q Q}tI q UA9qu: u:)uLIy6 7) 7I tIi B ݖ:):IX7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.466683 arcdeg .q''*G2GN-@FFrFbFEE);I9 iIN-@iN-@ 2@<:@ w: $eRHorizontalControl.headingCmd 2.377765 radi k) Z(AYt*F@t*T@yt**Ut*M>t*H uw??>ǿ`~l??h?p?)u*F@ u*v;Iu(xRz>xR E)UGF@eYm)wm>iiQu8Dqu?u>Iy Iz6ٮy Mz6y QtI y UA9y}Գ: }s:)}&z6 7)I tIi B ):)':Iݥ7I9=OM@Contact HDG: 136.235909 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIyyyi 2@<:@w: ߙ) !t(AYt*\t*Hs?=ǿ,bC?҂?p??)u*\xNIEGR?AHPi\I\)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y8>Q8Dp;>I I{6ٮ M{6 QtI  UA9(: :), {6 7) 7I  tIi  B :)M:I37I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQYYiYY a2@e<:@mw: y~)  (A@ Yt*[F@t*U@yt*#t*>t*H@pnM? ǿ`S3?b~? ??)u*[F@ u*Zw;Iu*CxNg>xRsEiTT)SGi%xA!F@-Y-h 5>11Q58D1=;=>IA IM{6ٮAA QMtI A UMA9AE: E1:)E{6 U7)QIQ ]tIiQ ]BQ U:)U4:IU7iIi9i*Gy2GFFrFbFEE);I%9 !!i!I!))i)) )2@5<:@=w: I > >) (AYt*WF@t*U@yt*0"t*4>t*Hq`E? ǿTғ? P???)u*WF@ u*jx;Iu*CxBx>xBEiPIP) GF@=YExa9E>AIQM8DIM#M>IQ I]|6ٮQ Me|6Q QmtI Q UmA9QUo; U;)U||6 7) 7I tIi B ;)ʉ;I=7I9*G2GFFrFbFEE);I 9  i I i 2@<:@%w: 1) [\ª(AYt*ڃF@t*0U@yt*gt*c>t*H@m`?>@ȿJ+??]??)u*ڃF@ u*lx;Iu*Cx6eq>x6nEH:=H:p=)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]e0;]>aaQe8Dam;m>Ii Iu}6ٮi Mu}6i Q}tI i U}A9im: m#:)m}6 7)I tIi B }:)o:IŖ7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 6) z7ܪ(A) I Yt*QwF@t*\$U@yt*t*#>t*H2np?cȿG??Ӂ??W?)u*QwF@ u*kx;Iu*CxBq>xBEF=F=iPIRѓC)G4= 4=a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe.9m>iiQm8Diulu>Iy I~6ٮy M~6y QtI y UA9y}: }=:)}cu~6 7) 7I tIi B N:):IN7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i 伪) (AYt*sF@t*~2U@yt*jt*`׉>t*H`l?@r[ȿG2?]6?? ?)u*sF@ u*{x;Iu*CxBt>xBlE {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGF@Yʭ>ʱʱQ8Dʱ;>I I%6ٮ M-6 Q-tI  U-A9: ];)g]6 ]7)QIQ etIiQ eBQ U:)U*:IUߗ7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 9AiAIAi 2@<:@w: ê) (AYt2ߍF@t2:U@yt2*t2/Ĉ>t2H`k`?|Q0ȿJ`޵?`@Z? m? ?)u2ߍF@ u2w;Iu2CxN,t>xR#EGR@AHPihIj̓C)=GF@]Ye~e>aaQe9Dim :m>Iq I6ٮq M6q QtI q UA9qu|; u=;)u6 7) 7I tIi B  :):I`7I 9 &=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'= N=Initialize.q'=N@Vehicle HDG: 190.893542 arcdeg .q'%'%*G)2GFFrFbFEE)=;I=9 99i9I9AAi 2@<:@w: ɪ) %)(A@ Yt*F@t*7U@yt*"t*>t*HHl? ܤ(*ȿ`G?@~U??[?)u*F@ u*w;Iu*CxBWx>xBEiFAD)MʱQ9D >I I6ٮ QtI  UA95; ;)lj6 %7)!I! -tIi! -B! %:)%:I%7YIY9Y=O @Contact HDG: 136.235909 arcdeg .'-'-O-4Initialize Wait Component.*G12G1F1F1rF9bF9E9E9)u;Iu9 qyiyIyyi 2@<:@w: ߹ R> Ъ) C(AYt*F@t*?U@yt*t*n>t*H`k??>9ȿH ?`҂?@?R?)u*F@ u*|w;Iu*CxB}v>xBEi\I\)mSGF@}Yʅ:>ʁʁQ9Dʉ͍l:>I I6ٮ QtI  UA9鰕ش; ;)6 7) 7I tIi B ȗ:):Iq7I9*G2GFF1rF9bF9E9EA)U;Iu9 qqiyIyyyi 2@<:@w: ߹ת) ](AYt*F@t*4U@yt*t*켊>t*HlC?#ȿCA? 6?O!? ?)u*F@ u*Hw;Iu*CxBeq>xBnEHBp=HBa=)~dGa 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@5Y=6:=>9AQE9DAEκM>II Iu6ٮI Mu6I QutI I U}A9IMk; M4;)Mi6 7)y 7Iy tIiy By }:)}+:I}7I9*G2GFFrFbFEE) ;I-9 11i1I199i99 92@E<:@Ew: y3ݪ) _w(A)IYt.wF@t.$U@yt.t.+ω>t.H`$n t?@;ȿI?D=?@??)u.wF@ u.v;Iu.Cx>i>xBEDF=iLIP)|F@Y%u%>!!Q%9D)-+->I1 I=6ٮ11 Q=tI 1 U=A915U: 5:)5΁6 M7)AIA MtIiA MBA EF:)E|:IE|7YIY9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: ߹i ) 6(AYt*muF@t*x"U@yt* t*>t*H Kn>|?`mWȿP??`? ?)u*muF@ u*W.v;Iu*CxBa>xB E)xF@%Y-L5>99Q=9D9EθE>II IM6ٮI MU6I QUtI I UUA9IM: M:)M=6 ]7)Y e7IY etIiY eBY ]:)]+:I]7qIq9q*G2GFFrFbFEE);I9 i!I!!)i)) i2@u<:@uw: ߁,E) (AYt*1[F@t*<U@yt*kt*>t*Hp@I?6@ǿ_Xv?j-?Z??)u*1[F@ u*ۼu;Iu*Cx>}v>xBEGBAAH@iLIL)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʽ͌:>ʹʹQ9DWy>I I6ٮ Q5tI  U5A9*^< ^<)6 E7)9I9 EtIi9 EB9 =:)=:I=7)Ii9q*G2GFFrFbFEE);I9 iIi 2@<:@w: I,)  ī(A@ Yt*]F@t* U@yt*$t*>t*HxpT?=⣿@ǿX,w? ???)u*]F@ u*?u;Iu*CxBy>xBEiDD)~GiF@Y%%>!!Q-9D)-89->I1 I=6ٮ1 M=61 Q=tI 1 UEA915: 5:)56 M7)A M7IA MtIiA UBA E9:)E :IEL7aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi !2@%<:@-w: 9 > >V) ޫ(AYt*2AF@t*=T@yt*"t*X>t*H@$s '?೙ǿ?l`?`=P?@? ?)u*2AF@ u*t;Iu*CxB"h>xBEiLIL)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ$9>ʁʁQ9Dʁ͍>I I6ٮ QtI  UA9鰕x; 0;)6 7)I tIi B :):Iբ7I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 190.625402 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@ w: ,) n(AYt2bIF@t2mT@yt2t2;>t2H@vr+?@ کǿf ?O@?PG?=?)u2bIF@ u2t;Iu2CxBl>xBEH@HBp= {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )m+GF@Yʥ!;>ʡʡQ9Dʡͭp:>I I6ٮ QtI  UA9鰽; ;)L6 7) 7I tIi %B  '<)y*t.HIu? 㢿0mǿt΃?3?r?`?)u.*F@ u. t;Iu,x^"h>xbE]f^unknown deviceResponse_: !U000,18A,80,81,0E,FF U=U=iqIuѓC)G%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5=>99Q=:D9E]E>II IU6ٮI MU6I QUtI I UUA9IM: M:)Mv6 ]7)YIY etIiY eBY ]:)]N:I]ĝ7qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i ) 6\,(AYt*BF@t*T@yt*Xt*g>t*Hs6.?@ͩ&ǿ`vE? ?$?$?)u*BF@ u*Ut;Iu*Cx>md>xBu E)-GF@mYuHu?yyQ}:Dyٌͅ;?I I6ٮ QtI  UA9鰅q: ͭ:)%Մ6 7) 7I tIi B |:):I97I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !z) 3F(AYt*-F@t*T@yt*"t*0>t*Ht? Ҋusǿws ?T?@?`?)u*-F@ u*_1t;Iu*CxBe>xBP EGB@AHDiPIT)vGF@Yʍv>ʑʑQ:Dʑ͝>P>I I6ٮ M6 QtI  UA9鰥Գ: :)OD6 7)I tIi B ٮ:):Iž7I9*G2GFFrFbFEE) ;I9 iIi! !2@%<:@-w: 9) `(A@ Yt*JF@t*T@yt*c@t*[{>t*HFr@xA?gլǿ| ??I*? ?)u*JF@ u*RAt;Iu*CxN?s>xREiTT)Gi%wA!a 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}}:>ʁʁQ:Dʁ͍';>I IU6ٮ QUtI  U]A9鰕< (<)6 e7)Y e7IY etIiY mBY ]9:)]+:I]hR7I9*G2GFFrFbFEE);I 9 iIi 2@%<:@%w: Y >j) hy(AYt*OF@t*T@yt*nJt*wɀ>t*Hq@}D?Mǿ@xREi\I\)ׄGF@-Y-)5>11Q5:D1=C:=>IA IM6ٮA MM6A QMtI A UMA9AE: E:)E6 U7)QIQ ]tIiQ ]BQ U:)U:IUϟ7iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: $) eœ(AYt*QLF@t*\T@yt*Ft*3>t*H!r`@?BǿtV?`4ރ?`]??)u*QLF@ u**t;Iu*CxNi>xREHRa=HRa=)aaQe:Dimjm>Iq I}6ٮqq Q}tI q U}A9qu: u:)u6 7) 7I tIi B :):I\Y7I9*G2GFFrFbFEE);I9 QQiQIQYYiYY a2@e<:@mw: 9b*) (A) IYt*yF@t*&U@yt*ft*>t*Hm?[\ȿ@Pq!G?`\z? ??)u*yF@ u*t;Iu*CxN`k>xNEV=V=i\I\)SG!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQ:Dʉ͍&;>I I6ٮ QtI  UA9鰕: :)6 7)I tIi B :)ݖ:I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )i ~1) ՓǬ(AYt*rF@t* U@yt*YG!t*߃>t*Hn?`}ǿa ?(?FM?b?)u*rF@ u*d7u;Iu*Cx>x>x>E)zGF@5Y55>99Q=:D9EE>II IU6ٮI MU6I QUtI I UUA9IMs: M:)Mi6 ]7)Y e7IY etIiY eBY ]ȗ:)]w:I]ch7qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 190.799422 arcdeg .q'M'M*GI2GIFQFQrFQbFYEYEY)u;Iu9 qqiqIqyyiyy 2@<:@w: ߙ7) Wᬦ(AYt.F@t.BU@yt.t.^>t.H Gk ?@l?ȿ f_?҃?@??)u.F@ u.#7u;Iu.CxVs>xVEGZAAHXidIf̓C)%GF@]Ye9e>aaQe:Dam;m>Iq I}6ٮqq Q}tI q U}A9qu: u:)u؇6 7)I tIi B :)c:I7I9=O@Contact HDG: 136.235909 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: 6>) 2(A Yt.DF@t.O^U@yt.%t.>t.H@h?!uȿ Y2?@`?6a?`?)u.DF@ u.u;Iu.CxB?s>xBE {DY|DJ8****** ping requested ******iPP^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%s%>!!Q%:D)m]p;m>Iq I}6ٮq M}6q Q}tI q U}A9qu˵: u:)uX6 7) -7I -tIi -B  <) >E)  (AYt*F@t*PU@yt*\,t*H >t*Hi?v죿ZȿX@D?h? q?@?)u*F@ u*lu;Iu*CxB"h>xBE){BCoI{@i{B={@{@{BA{@|BA9|B" ?]B>ri`Id)=GF@YʥP>ʡʡQ;Dʡͭd>I I6ٮ QtI  UA9鰵: f:)P6 7) 7I tIi B 9:):I7I91*GA2GAFIFIrFQbFQEqEq2EyzE}AE}Iٕ.@lNDb4E}" ?]B>rE}CoEyE}%Cv2o00@)2LE}HvwJ/9`? ɿE}@=DHdg To Contact =138.458644 degreesZE}ɅAbE}:E}vo$?BE}o$?JE}{ RE} jE}rE}d);I9 iIi 2@<:@w: $EDacoustic_contact_range 25.740000 m$uhTrackAcousticContact.heading_to_contact 2.416559 rad$uLDUSBL_Hydroid.xAngle -53.550001 arcdeg.K) !.(AYt*F@t*sU@yt*t*d>t*H`f?錄೟ȿRR???`?)u*F@ u* u;Iu*CxB>xBBEH@HD)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y2G;> Q ;D ҧ;>I I%6ٮ M%6 Q%tI  U%A9˵: :)N)6 57))I) UtIi) UB) -Ȯ;)-;I-7iIi9i*G92G9F9F9rFAbFAEAEI);I9 iI!!i 2@<:@w: R) H(A) IYt*^F@t*ifU@yt*  t*>t*Hg@?ԅȿ`J`?tb?@}?u?)u*^F@ u*G v;Iu*CxNx>xREV=V=i`Id)-+G)-4=F@]Ye;e>aaQe;Dim m>Iq I}6ٮqq Q}tI q U}A9qu: u :)u6 7) 7I tIi B :):I7I9*G2GFFrFbFEE);I9 qqiqIqyyiyy 2@<:@w: ߹i @X) Üb(AYt*BF@t*MxU@yt*a t*S>t*H`#f`^%? IިȿS:I?  ?@3z?o?)u*BF@ u*ku;Iu*CxR|>xRCE)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʥN>ʡʡQ;Dʡͭ-;>I I6ٮ M6 QtI  UA9鰵|: ^:)76 7)I tIi B :) :I~7I9*G2GFFrF bF E E )%;I%9 !!i!I!))i)) 12@=<:@=w: Ij^) y|(AYt*jF@t*uU@yt*/t*>t*H@c R?Ӥ`>ȿ G@C? ?`?V?)u*jF@ u*#u;Iu(xBc>xB, EGB@AHDiPIRѓC)~GF@%Y%" %>))Q-;D)5rn;5>I9 IE6ٮ99 QEtI 9 UEA99=F: =:)=El6 M7)I U7II UtIiI UBI M :)M:IMg 7aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: Ue) `(A( (Yt^سF@t^`U@yt^*t^'>t^H Uh?|zȿM z?)_??`?)u^سF@ u^su;Iu\xfo>xfJEihh)=ׄGiEyAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥO<:>ʩʩQ;Dʩ͵ݻ>I I6ٮ QtI  UA9鰽: _:)Nߊ6 7)I tIi B H;)WL;IZ7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)-;I-9 )1i1I119i99 92@E<:@Ew: Q > }k) /(AYt6F@t6vU@yt6't6>t6HWf?դ`ȿ`pU@xR Ei\I^̓C)GF@-Y-[L;5>11Q5;D1=`;=>IA IM6ٮA MM6A QMtI A UMA9AE: Es:)E?I6 U7)Q ]7IQ etIiQ eBQ U]:)UP:IU*17qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.102368 arcdeg .q''*G2G@FFrFbF!E!E!)=;I=9 99i9I9E@iAE@ I2@M<:@Mw: a$RHorizontalControl.headingCmd 2.416559 rad8er)  ʭ(AYt*ӿF@t*lU@yt*˄t*XΆ>t*H@Og@?iM|ȿNs??`?a?)u*ӿF@ u*u;Iu(xBe>xBP EH@H@)GF@=YE:E>AAQM;DIM2M>IQ I}6ٮQQ QtI Q UA9QU; U;)U-6 7)I tIi B :):I7I9=Om@Contact HDG: 138.458644 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GFFrFbFEE);I9  iI@i 2@%<:@%w: yx) l㭦(A)4t.H7i@?@ : ]jȿ]?y[? C??)u.gF@ u.#t;Iu,xNq>xNEV=V=i\I\)uSGqu%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yº>Q;D?>I I6ٮ M6 QtI  UA9: :)_,6 7)  7I  tIi  B  :) :I I7!I!9)*G92G9F9F9rFAbFAEAEI)];I]9 aaiiIii 2@<:@w: ߩi ~) (AYt*\F@t*g\U@yt*f,t*T>t*Hh *?@ߣrȿYc.?r?][?v?)u*\F@ u*bt;Iu*CxB`k>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UdGF@Y.>  Q ;D *:>I! I-6ٮ!! Q-tI ! U5A9!%: %;)%워6 m7)iIi tIii Bi m;)m;Imէ7I9*G!2G!F!F!rF)bFEE);I9 iI!!i!I I2@U<:@]w: ߑ)  (AYt*F@t*PU@yt*&t*Uy>t*Hi@ ?>@[ȿb? Մ?!??)u*F@ u*t;Iu*CxNp>xR%EGPHRAA){PI{Pi{RT={P{P{R@A{P|R@A9|R" ?]B>ripIp)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@uY}d:}>yʁQI I6ٮ M6 QtI  UA9鰍; M;) 6 7) 7I tIi B :):Ia7I9*G 2G F F)rF1bF1E9E92EAzEE@AEEVd@f#EE" ?]B>rEAEAEE=|!w= d@~TEEw翟n?+t*Hj?@﨣Gȿhc?`Y?@c#??)u*F@ u*s;Iu*CxBi>xBNEiDH)Gi xA F@=YE):E>AAQMIQ I]6ٮQQ Q]tI Q UeA9QU: U:)U\q6 m7)aIa mtIia mCa e::)e:Ieڨ7yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  > >) PK(AYt*F@t*!HU@yt*çt*>t*Hj?@VJȿ jF}?@? ??)u*F@ u*s;Iu(xRq>xREib=Id)!F@5Y=y:=>99QEII IU6ٮII QUtI I UUA9IM: Mz:)M_ߍ6 e7)Y e7IY etIiY eCY ]:)]Y:I]b7qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: !ݘ) k-e(AYt*F@t*@U@yt*t*j>t*Hsk ?y;ȿ |h`{?a? 2?R?)u*F@ u*'s;Iu(xBy>xBEH@HFp=)~vGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeQe>aaQeIq I}6ٮq M}6q Q}tI q U}A9qu: u4:)uO6 7)I tIi C :):I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I i 2@%<:@%w: 9 ) ((A);IYt*]F@t*hDU@yt*!t*R>t*H k@?7`Bȿ_m vW?@5???)u*]F@ u*s;Iu*Cx>Ml>x>LEDDiNf=IRѓC)~dG%=F@=Y=}=>AAQEIQ IU6ٮQQ Q]tI Q U]A9QU: Uc:)UD6 e7)a m7Ia mtIia mCa e :)eϝ:Ie_s7yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 190.926737 arcdeg .q'E'E*GA2GEM@FAFArFIbFIEQEQ)m;Im9 iiiiIiuM@qiq}M@ y2@<:@w: ߑ$RHorizontalControl.headingCmd 2.415851 radi 7參)  䘮(AYt*OF@t*ZIU@yt*"t* >t*Hj?7 Lȿ f?Y? ?@?)u*OF@ u*s;Iu(xjj>xnqE)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y*>QI I6ٮ M6 QtI  UA9: g:)]06  7)   7I  tIi  C  :) ߼:I 7!I!9!=O@Contact HDG: 138.418059 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: ) /(AYt*5F@t*@ZU@yt*L*t*c>t*H`h?*0 mȿil?yI??[?)u*5F@ u*s;Iu(xBe>xBP EGFAAHF@AiR=IR̓C)GF@eYuՙu>ʙʙQI I6ٮ QtI  UA9鰥: :)̛6 7)I tIi C :):I=7I9!*G)2G1FQFQrFYbFYEYEa);I9 iIi 2@<:@w: $) ̮(A Yt.BF@t.M]U@yt.t.=>t.Hh@?@sȿb ?߱?? ?)u.BF@ u.s;Iu.Cx6n>x6Ei88)rׄGivwAtF@Y-=;->9AQEI I6ٮ M6 QtI  UA9T; s:) 6 7) 7I tIi C s:):I7 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: i > >+) !v殦(AYt*F@t*dU@yt*bt*ւ>t*Hh?C ȿ_?G ?@@-??)u*F@ u*s;Iu*CxBo>xBEiPIRѓC)%IIQUI I6ٮ QtI  UA9鰝: J:) 6 7)I tIi C  :)Y:IF7I9 *GY2GYFYFYrFabFaEiEi);I9 iIi 2@ <:@w: !)  R(AYt*4F@t*?U@yt*!t*>t*H ]e:?@=tȿ[?(>?`;5?@?)u*4F@ u*s;Iu(xBeq>xBnEHBp=HBa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Yx>QI I6ٮ QtI  UA9: ):)B6 -7) -7I -tIi 5C ?:)C:I77AI9*G2G F F rFbFEE)};I9 iIi 2@%<:@-w: y>ƫ) .(A)4t.H`d`R@?@6omȿ iR I?H? x??)u.F@ u.s;Iu.Cx>Rr>xBE){BpI{@i{B={@{@{@{@|BBA9|BeL?p R=R=irf=Ip)IU=QF@}Y}ݹ>ʁʁQ=Dʁ͍1-:?I I6ٮ M6 QtI  UA9鰕E: I:)IT6 7)I tIi C ::) :I*7I9*G2GFFrFbFEE2E1zE5BAE5GӤ@.2#E5eL?p E5pE1E5]r!hPq=@01JXE5_mdle#!?o.'CɿE5w@=UDHdg To Contact =138.287384 degreesZE5@bE5{:E1BE5o$?JE1RE5 jE5RrE5)m;Im9 iqiqIqyyiyy y2@<:@w: $eDacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.413570 rad$LDUSBL_Hydroid.xAngle -53.900001 arcdegi h̫)  4(Axnp>xn%E)mXGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y>Q=D>I I6ٮ QtI  UA9: :)ő6 7) 7I tIi  C Е:)':I`37QIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy);I9 iIi 2@<:@w: Pӫ) M(AYt2F@t2'U@yt2țt2>t2HycoR?`ȿ`qJw?f3?;??)u2F@ u2 t;Iu0xNRr>xREGPHRAAib=I`)-+GF@]Y]*;e>aaQe=Damn(;m>Iq I6ٮq M6q QtI q UA9qu ; u;)u/6 7)I tIi C :)9:I7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' N%Initialize.q'%N@Vehicle HDG: 191.205613 arcdeg .q''*G2Gw@FFrFbFEE);I 9 )i)I)5w@1i1=w@ 92@E<:@Ew: Q$RHorizontalControl.headingCmd 2.413570 rad[z٫) g(A YtBF@tBU@ytBb^&tBn>tBH c_?( `ȿI@{?˄??s?)uBF@ uBs;Iu@xNj>xNqEiTT)SGixAF@Yʝ>ʡʡQ=Dʡͭ:>I I6ٮ QtI  UA9鰵~; =Q<)Q6 57)! ]7I! etIi! eC! %" <)%X >>b) (AYt^F@t^U@yt^K't^2>t^Hb`?@Iȿ fD?``??@v?)u^F@ u^&s;Iu\x~V>x~EiYI]̓C)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q=Dv9>I I6ٮ M6 QtI  UA9N: 0:)6 7) I  tIi  C  į:) 0:I _ׯ7!I!9!*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIYaaiaa i2@u<:@uw: ߁) (AYt:F@t:NjU@yt:Rt:>t:H`Fd A?@_ ȿ`H`Ϗ?G??@?)u:F@ u:os;Iu:CxZe>xZP EH^a=H\)5GF@=YE:E>IIQM=DIUU>IY I]6ٮYY QetI Y UeA9Y]ի: ]t:)]z6 m7)i m7Ii  tIii Ci m<)m1t.Ham?>ȿItr?t??I?)u.F@ u.Ss;Iu.Cx:n>x:E>=B=iJf=INѓC)G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:e>iʉQ=Dʉ͕yg;>I I6ٮ QtI  UA9鰝: =)6 7)I tIi C c:):IW7I9!*G12G1F1F9rF9bF9EE);I9 iIi 2@<:@w: ai |) )ϯ(AYt*F@t*U@yt*(t*ɠ>t*H@Cc]?WߤGȿ 9Kq?I? f?@?)u*F@ u*As;Iu*CxB?s>xBE)+GF@]YeSe>aiQm=Dim m>Iq I6ٮq M6q QtI q UA9qu; u:)u`W6 7) 7I tIi C :)b:I`7I9*G2GFFrFbFEE);I9 iIIIaaia 2@<:@w: A) 鯦(AYt*F@t*U@yt*)t*C>t*H bvg?7LȿC? |9? ?(?)u*F@ u*H0s;Iu*Cx^jw>x^"EG`Hb@Ain=Il)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-->)1Qu=Dq}t:}>I I6ٮ QtI  UA9鰅: :)ϔ6 7)I tIi C :){:I7I9*G2GFFrF!bF!E!E);I9 iIi 2@<:@w: ) Y(A Yt*=F@t*HuU@yt*Yt*>>t*Hsf?`ȿ@C ?$k?(?@?)u*=F@ u*s;Iu*Cx>:m>xBE {DY|DF8****** ping requested ******iJALZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )-dGi5wAYF@uY}w ;>ʁʁQ=Dʉ͕»>I I6ٮ M6 QtI  UA9鰝; _;)V>6 7) 7I tIi C :)T:I}7IQ9QODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEEA);I9 iIi 2@<:@ w: ! > >H) ˹(AYt*F@t*U@yt*t*,q>t*H`e g/?yಿȿSN @g?Ӂ???)u*F@ u*5s;Iu*CxBRr>xFE){F"lI{Di{F~={F>{D{FA{D|FAA9|F.? .S?Js#~i|I|)]jGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y;>Q>D;>I I6ٮ QtI  UA9: :)t6 7)I tIi C [:)o:I7I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 191.148786 arcdeg .q''*G2GFFrFbFEE2EzEAAEo9F@k7R#E.? .S?Js#~E"lEE/8,"X@$ڌE7\翬Jk?=DɿE@=DHdg To Contact =139.346910 degreesZEz@bE:Eo$?BEJE REjEfrER);I9 iIi! !2@%<:@-w: 9$]Dacoustic_contact_range 12.120000 m$ehTrackAcousticContact.heading_to_contact 2.432062 rad$eLDUSBL_Hydroid.xAngle -52.849999 arcdegH ) ˜6(AYt* F@t*{U@yt*Dft*g>t*H@e?Uaȿ N`-j?,?`ʞ??)u* F@ u*%s;Iu*Cx>p>xB%EH@HBp=)=+GF@}Y}}>ʁʁQ>Dʁ͍ó>I I6ٮ M6 QtI  UA9鰕: :)6 7) 7I tIi C :)w:I7I9=O@Contact HDG: 139.346910 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: ) .qP(A) IYt*pF@t*{iU@yt*a)t*F>t*Hg ?ȿ@L?,?o?`M?)u*pF@ u*3?s;Iu*CxBY>xB!EJ=J=iTIT)5G54=1F@Y0h>Q>Df*>I I6ٮ QtI  UA9_= W=)6 %7) -7I MtIi UC ;);IJ7aIa9a*G2GFFrFbFEE);I9 iIi 2@<:@w: 1i g) 0Kj(AYt*F@t*gU@yt*'!t*>t*Hg@?``]ȿQ `?`/7?^?`U?)u*F@ u*B3s;Iu*CxRDy>xREE)a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@-Y5:E>AAQE>DIMM>IQ I]6ٮQQ Q]tI Q U]A9QU1: U:)U6 m7)aIa mtIia m Ca e:)e:Ie7yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  ) J'(AYt*dF@t*oJU@yt*Yt*>t*H`j`g?ŬNȿS@>n?`xR?@&??)u*dF@ u*-`s;Iu(xN`>xR. EGR@AHPi\I`)F@-Y-0:5>11Q5>D1=ɞ=>IA IM6ٮA MM6A QMtI A UMA9AEp: E˵:)EY6 U7)Q ]7IQ ]tIiQ ] CQ U:)U:IU7iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: '') u(A@ Yt.F@t.VU@yt.t.]>t.H`ei@?gȿV I?Ђ?]{?`T?)u.F@ u.Is;Iu.CxNxp>xREiVAT)i%yA!a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQ>Dʁ͍:>I I6ٮ QtI  UA9鰕: x:)ʗ6 7)I tIi  C Ր:):I¡7I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w:  > >lQ-) 'ܷ(AYt*F@t*JU@yt*hFt*F>t*Hj`m? Oȿ`R@qo?`(?'?(?)u*F@ u*y1s;Iu*CxBg>xBsEiPIR̓C)F@ Y:W:>Q>D.%>I! I-6ٮ! M-6! Q-tI ! U5A9!%Z: %:)%P56 =7)1 =7I1 =tIi1 E C1 5E:)5߼:I53%7IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIi 2@<:@w: ߱;4) ӾѰ(AYt*F@t* DU@yt*r"t*B…>t*H`k?;DBȿ VX?@8_?? ?)u*F@ u*Os;Iu(x>u>xBEHBp=H@)SGF@]YmX*u>yʁQ>Dʁ͝">I I6ٮ QtI  UA9鰭^; ;)n6 7)I tIi  C oq;);I7I9*G2GFFrFbFEE);I9  i Ii 2@<:@w: c:) 밦(A)4t*Hh`?ABmȿRe?`V?;??)u*IF@ u*#s;Iu(x^h>x^Ef=f=ilIl)=GE%=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʡQ>Dʩͭc[;>I I6ٮ M6 QtI  UA9鰵: :)6 7) 7I tIi  C o:)b:I;7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!!i)) )2@5<:@5w: Ii @A KA) n(AYt*ߌF@t*9U@yt*t*Hl?`i.ȿR ?`tm?"??)u*ߌF@ u*Rs;Iu*CxBu>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@Yʽ;>Q>D>I I6ٮ QtI  UA9; :)6 7)I tIi  C :)]:IƷ7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 190.890045 arcdeg .q']']*GY2G]@FYFarFabFaEiEi);I9 iI-@i)-@ 12@5<:@=w: $URHorizontalControl.headingCmd 2.432062 radvG) @K(AYt*F@t*KU@yt*t*Ž>t*Hj? դPȿ9R)t?Ղ???)u*F@ u*Fs;Iu*CxBHf>xB EGF?AHD){FKuI{Di{FT={F7>{D{FA{D|F@A9|Fuqf?THH.i`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅd?:>ʉʉQ?Dʉ͍,;>I I6ٮ QtI  UA9鰝: :)6 7) 7I tIi  C |:):IJ7I9=O@Contact HDG: 139.346910 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!2EIzEM@AEMR@, ػ#EMuqf?THH.EMKuEIEMwv!H!וl @QπEM~濧+O?gwʿEM!@=]DHdg To Contact =137.091186 degreesZEMAbEMA :EMo$?BEMo$?JEM REM jEM/ rEMf);I9 iIi 2@<:@w: $Dacoustic_contact_range 12.059997 m$%hTrackAcousticContact.heading_to_contact 2.392693 rad$%LDUSBL_Hydroid.xAngle -54.899998 arcdeg'M) _&9(A@ Yt.=F@t.Ht.H ka?@v 3ȿGJ˸?|?I??)u.=F@ u.}s;Iu.CxB?s>xBEiJAH)+Gi xA F@=YE:E>AAQM?DIMM>IQ I]6ٮQ M]6Q Q]tI Q UeA9QU: Uk:)Uv^6 m7)aIa mtIia m Ca e:)eԘ:Ie,и7yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  > i>T) 7S(AYt*&F@t*1HU@yt*bt*Lԇ>t*H j@?礿sJȿM? >L?`??)u*&F@ u*7qs;Iu*CxBf>xB EiTIVѓC)GF@=YEbE>AAQM?DIM:M>IQ I]6ٮQQ Q]tI Q UeA9QU: U:)U̚6 m7)a m7Ia mtIia m Ca e:)e:IeSX7yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: ;Z) l(AYt*8F@t*CGU@yt**-t*>t*Hj @?&HȿAQ` ~?j?v??)u*8F@ u*s;Iu(xBv>xBEHBa=HD)|a 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]?e>aaQe?Damm>Iq Iu6ٮq M}6q Q}tI q U}A9qu: ub:)u<6 7)I tIi  C -:)ݖ:I7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ԙa) 򶆱(A);IYt*GF@t*RUU@yt*=8t*>t*H i?*`8dȿQGf?? ??)u*GF@ u*؍s;Iu*CxZv>x\`b=ilIn̓C)1===4=F@}Yʅ#;>ʁʁQ?Dʁ͍ ;>I I6ٮ QtI  UA9鰕: :)6 7) 7I tIi  C N:)@:I_k7I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: i ?A 2g) (AYt NF@t Y5U@yt t .>t H@lΓ?at%ȿjB :??&)??)u NF@ u s;Iu Cx̀>xeE)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y3(:>Q?D4>I  I6ٮ  M6  QtI  UA9   : :) B6 %7)I %tIi % C  :):I7AIA9A*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡm) l(AYt*TF@t*_?U@yt*t*ˉ>t*H`k?@|*9ȿF`? .? E??)u*TF@ u*s;Iu*CxB{>xBiEGFAAHDiPIRѓC)GF@Yʵ:>Q?Dj:>I I6ٮ QtI  UA9: :)6 7) 7I tIi C :)n:I7 I 9 ODone Waiting.'%O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F)rF)bF)E1E1)e;Ie9 iiiiIiqqiqq y2@}<:@}w: ߑt) GԱ(A Yt*F@t*8U@yt*t*i>t*HZl`?`#?*ȿ`HM????)u*F@ u*,s;Iu*CxB c>xB EiFAD)AAQM?DIMM>IQ I]6ٮQQ Q]tI Q UeA9QU: U:)UG6 m7)a m7Ia mtIia mCa e:)e:Ie67yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.883392 arcdeg .q''*G2G!@FFrFbFEE);I9 iI -@i!@ 2@<:@w: )$eRHorizontalControl.headingCmd 2.392693 rad > >z) "(AYt*t*H@mW?m ȿxBjEiPIR̓C)Ga 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeae>iiQm?Diu#u>Iy I6ٮy M6y QtI y UA9y}: }=:)}c6 7)I tIi C :)N:I7I9=Oe@Contact HDG: 137.091186 arcdeg .'e'eOe4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iI!@i 2@<:@w:  聬) X(AYt*hF@t*s?U@yt*t$t*O>t*H k? @9ȿDB?8? !??)u*hF@ u*s;Iu*CxB}v>xBEHDHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )m+GF@Yʵ9>ʹʹQ?Dʹpi;>I I6ٮ QtI  UA9W: ;)ԝ6 7) 7I tIi C j:):I7I9*G!2G!F!F)rF1bF1EIEI)m;Im9 iiiqIi 2@<:@w: ) w!(A) I Yt*fF@t*U@yt*h!t*^ >t*H`o [?@`7ǿ MI@t?`,? ??)u*fF@ u*s;Iu*CxBp>xB%E){FkI{Di{D{F>{D{D{D|D9|Fwpo?8kR=R=i`I`)%G-%=-=F@EYE9E>IIQM@DIUU>IY I]6ٮY Me6Y QetI Y UeA9Y]: ]ض:)]Q?6 m7)iIi utIii uCi m:)m|:Im뙽7I9*G2GFFrFbFEE2EzEEѿL@!XI)#Ewpo?8kEkEEhY!1e@:OE\mjn?8"6eQʿE@=DHdg To Contact =139.272434 degreesZEk@bE:EBEo$?JE RE jErE/ );I9 iIi 2@<:@w: $Dacoustic_contact_range 12.059997 m$%hTrackAcousticContact.heading_to_contact 2.430763 rad$%LDUSBL_Hydroid.xAngle -52.600001 arcdegi @A 6<) ;(AYt*1{F@t*<(U@yt*t*D>t*Hmh?﹤ ȿ@.L >?σ?`i?k?)u*1{F@ u*s;Iu*CxBu>xBE)~vGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]}9e>aaQe@Dam+J;m>Iq I}6ٮqq Q}tI q U}A9qu\: u:)u6 7) 7I tIi C N:):I7#7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: $) ҏU(AYt wF@t $U@yt Tt #>t H/n =r?.K@ȿ hC 6??-??)u wF@ u s;Iu CxEx>xEEGU@AHQiI)Ga 1a 1 a 5a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@uY}p:}>yʁQ@Dʁͅ>I I6ٮ M6 QtI  UA9鰍: 4:)&6 7)I tIi C }:)N:I7I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  N) jo(A Yt*FF@t*T@yt*~t*oߋ>t*H@r?5ǿDi??ED?@?)u*FF@ u*Es;Iu*CxBs>xBEiFAD)Gi!!F@]Yet7e>aaQm@Dim(m>Iq I6ٮqq QtI q UA9qu; u`;)u66 7) 7I tIi C o:):I$57I9*G2GFFrFbFE!E!)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߡ > >5) D(AYt*YfF@t*dU@yt*%|t* d>t*HoU?錄`ǿdLV?t?? ?)u*YfF@ u*Is;Iu*CxRp>xREi\I\)F@-Y-:5>11Q5@D1ͥH;>I I6ٮ QtI  UA9鰭+; ;)~6 7)I tIi C :):Im7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! !2@-<:@-w: I{`) "(AYt*7F@t* T@yt*8#t*>t*Ht?iхǿ@Rp?~? ?/?)u*7F@ u*'s;Iu*CxBRr>xBEHFp=HFa=)~SGa 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]]>aaQe@Damfm>Iq Iu6ٮq M}6q Q}tI q U}A9quR: uw:)ug6 7) 7I tIi C 9:)n:IC7I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 190.590036 arcdeg .q''*G2G@FFrFbFEE);I9 iI @i  @ 12@5<:@5w: I$RHorizontalControl.headingCmd 2.430763 rad) (A)IYt.0AF@t.;T@yt.f&t. >t.HsM? Df ǿ]H?`̄?*?b?)u.0AF@ u.s;Iu.CxB?s>xBEF=DiPIRѓC)G4==F@=YENùE>AAQM@DIM:M>IQ I]6ٮQQ Q]tI Q U]A9QU`: U:)Uՠ6 m7)aIa mtIia mCa e:)eȗ:Ie7yIy9=Om@Contact HDG: 139.272434 arcdeg .'m'mOu4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i 2@<:@w: i ?A t) ֲ(AYt>-F@t>T@yt>t>>t>Ht?`g٤rsǿLB 5?ꣃ?d?`M?)u>-F@ u>0s;Iu>Cx^f>x^ E)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ:>ʙʙQ@Dʙͥ_;>I I6ٮ M6 QtI  UA9鰭: :)pF6 7) 7I tIi C 9:)n:IV7I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 8) d(AYt*F@t*T@yt*5t*y>t*H`jx`W?p@A)ǿmTL??[? ?)u*F@ u*cs;Iu*CxNs>xREGR?AHPi\Ib̓C) GF@-Y-S:5>11Q5@D1=T=>IA IM6ٮAA QMtI A UMA9AEF: Eį:)E 6 U7)QIQ ]tIiQ ]CQ U:)Uϸ:IU`7iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: !¬)  (A Yt*ZF@t*eT@yt*ct*>t*H@v?@@qIǿV ?m̂? ?`?)u*ZF@ u*cs;Iu(xNZe>xR E {PY|TV8****** ping requested ******i^A`jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}҄GiyAF@Yk9>Q@DG;>I I6ٮ M 6 Q tI  U A9; ;)%6 7) %7I %tIi %C :):I k7IIQ9Q*Gi2GiFqFqrFybFEE);I9 iIi 2@<:@w:  i> ZȬ) b$(AYt*E@t*T@yt*"t*>t*Hzs?|`zƿK@8?V?G?T?)u*E@ u*s;Iu*Cx:f>x: E){>ivI{@A{<|<9|>l'I?Z:`Bi\I^ѓC)vGa 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʵ>ʱʹQADʹͽл>I I6ٮ QtI  UA9J: p:)6 7)I tIi C [:)Ԙ:I7I9*G2GFFrF bF EE2EzEErq֐@vsI#El'I?Z:`BEivEE2vl!+YD @%9mE\=/濜!Qה?/˿EC@=%DHdg To Contact =136.313719 degreesZE"AbE>:Eo$?BEJE RE jE&rE)M;IM9 QQiQIQQYiYY Y2@e<:@ew: y$Dacoustic_contact_range 12.059997 m$hTrackAcousticContact.heading_to_contact 2.379123 rad$LDUSBL_Hydroid.xAngle -55.150000 arcdegά) AE>(AYt2E@t2T@yt2 t2o>t2H|&S?@F@ƿ \@?@i?L?`z?)u2E@ u2*t;Iu2CxRv>xRGEHRa=HRp=)%GF@]Ye9e>aaQeADam>Wm>Iq I}6ٮqq Q}tI q U}A9qu: u:)u6 7) 7I tIi C N:):Iu7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: =լ) X(A) IYt*mE@t*xT@yt*t*:F>t*H@{ _?q `ƿ@a?RP?k?@k?)u*mE@ u*s;Iu*CxBZe>xB EJ=HitIt)MSGU=U4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ;>ʱʹQADʹͽ :>I I6ٮ M6 QtI  UA9: g:)n6 7) 7I tIi C $:):I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)-;I-9 ))i)I)AAiAA I2@M<:@Uw: ai c۬) @q(AYt*E@t*fT@yt*;!t*T>t*H ]@4?\ƿ`[?13???)u*E@ u*t;Iu*CxBp>xB%E)GF@eYmm>iiQmADquλu>Iy I6ٮyy QtI y UA9y}: }:)}ڣ6 7)I tIi C :):I7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 190.151483 arcdeg .q'M'M*GI2GMC@FIFQrFQbFYEYEY)m;Iu9 qqiqIq}#@iy}C@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.379123 rad) ׋(AYt*cE@t*nuT@yt*} t*4>t*H~5?u梿`ƿ?c\??`L? ?)u*cE@ u*s;Iu*CxBp>xBEGB@AHDiPIP)~+GF@=YER 9E>AAQEADIM};M>IQ I6ٮQ M6Q QtI Q UA9QU< U<)UpG6 7) 7I tIi C g:)Y:Ij7I9=O@Contact HDG: 136.313719 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIC@i 2@<:@w: ) O(A Yt.E@t.UT@yt. t.t>t.H`?H@mƿ3e X?؂???)u.E@ u.=s;Iu,xBi>xBEiFAD)~SGiwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeg:e>aaQeADimٛm>Iq I}6ٮqq Q}tI q U}A9qu9: u=:)uض6 7)I tIi C :)N:Iƕ7I9*G2GFAFArFAbFIEIEI)e;Ie9 aaiaIaiiiii q2@}<:@}w: ߉ > >&) 狿(AYt*}E@t*dT@yt*5t*>t*H ?!݊ƿ &fc?X???)u*}E@ u*t;Iu*CxBo>xBEiPIP)~GF@Y%`":%>!)Q-AD)-z;5>I1 I=6ٮ1 M=61 Q=tI 1 UEA915: 5:)5"6 M7)I M7II MtIiI UCI M:)M7:IMF7aIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w: ߹=) vٳ(AYt5E@t5fT@yt5ct5e>t5HhW?@ƿe? a,?@??)u5E@ u5s;Iu5CxEs>xEEHIHI) +Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yuc%>))Q-AD)5T95>I9 I=6ٮ99 QEtI 9 UEA99=,; =;)=6 m7)iIi utIii uCi mJ:)m:Im]7I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: a8) C(A)4t.H ?¢lƿ`h`3{? -?@??)u.E@ u.s;Iu.CxBx>xBEF=DiPIP)G  %=F@Y%i%?!!Q-AD)-O-?I1 I=6ٮ11 Q=tI 1 UEA9158: 5r:)56 M7)A M7IA MtIiA MCA Eg:)E:IE+7aIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w: !i 6!)  (AYt*E@t*_T@yt*t*>t*H  ?@Alƿwg{?߂?z??)u*E@ u*s;Iu*Cx>y>xBE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UvGF@Yʥ69>ʩʩQADʩ͵>:>I I6ٮ M6 QtI  UA9< <)s6 7)I tIi C 5:):I7I9I*GY2GYFaFarFabFiEE);I9 iIiiiii i2@u<:@uw: ߉ K ) &(AYt*bE@t*mKT@yt*t*)>t*H́?Ƣ`kYƿ`hȂ?@? ??)u*bE@ u*t;Iu*Cx>Ml>xBLEGBAAH@){B;d]I{@i{B?={B7>{@{B B{@|BA9|B&)Q ?Yi`I`)%dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽx>QBDG>I I6ٮ QtI  UA9< <)6 7) 7I tIi C :)w:I!L71I191OEDone Waiting.'EOE8Uninitialize Wait Component.*GI2GIM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzEAE̟/@kH<2E&)Q ?YE;d]EE 2䦆m-@F+EDrŶ违F!^?qȿE%@=-DHdg To Contact =141.580983 degreesZEnAbE:Ewo$?BEo$?JE} RE jErE&)E;IE9 iIi 2@<:@w: $Dacoustic_contact_range 24.480000 m$hTrackAcousticContact.heading_to_contact 2.471054 rad$LDUSBL_Hydroid.xAngle -49.550000 arcdeg2) @(A Yt.E@t.[T@yt.9)t.>t.H@i?@l@yƿ`????)u.E@ u.Ut;Iu.CxBi>xBEiDH)tizyAxF@Y 9: >  QBD+;>Ia Ie6ٮa Me6a QmtI a UmA9aeR: e:)eK6 u7)qIq tIiq Cq u<)u( >\) ͬZ(AYt*E@t*FT@yt*X_t*a>t*H`,p?ڢPƿ zb?׋?`??)u*E@ u*&t;Iu*CxB'n>xBpEiTIT)zGF@=YU}>ʉʉQBDʑ0>>I! I-6ٮ!! Q-tI ! U-A9!%F: %į:)% 6 7) 7I tIi C :)?:I`7)I)9=O5@Contact HDG: 141.580983 arcdeg .'5'5O54Initialize Wait Component.*G12G1F1F9rF9bFAEAEA);I9 iI6[@i 2@<:@w: )) ΋t(AYt*E@t*VT@yt*f!t*>t*H? pƿ \`? ,???)u*E@ u*Mt;Iu*CxBm>xB'EH@H@)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}D>ʁʁQBDʁ͍%;>I I6ٮ M6 QtI  UA9鰕; =;)^*6 7)I tIi C :)o:I7I9*G 2G FFrF9bF9E9E9)U;Iu9 qqiqIq}@i}|>y 2@<:@w: ߹!o#) Ug(A)IYt*ҨE@t*UT@yt*zK#t*t>t*H ր@?(mƿWi? Yi?p? ?)u*ҨE@ u*ut;Iu*CxBq>xBEF=DiPIR̓C)G4=4=F@Y%%>!!Q-BD)-x4->I1 I=6ٮ11 Q=tI 1 U=A915: 5r:)5g6 M7)A M7IA MtIiA MCA E:)E:IE\7aIa9a*Gq2GqFqFrFbFEE);I9 iI@Ai > 2@<:@w: i )) @(AYt6E@t6KT@yt6^ct6>t6H@ȁr?H Zƿ \`?Ẑ? ? }?)u6E@ u62t;Iu6CxBjw>xB"E)~GF@Y%o:%>))Q-BD)5NȺ5>I1 I=6ٮ1 ME61 QEtI 1 UEA915: 5ϸ:)56 M7)III UtIiI UCI Mp:)M:IM7I9*G 2G F1F9rFIbFIEQEy);I9 iI%@mћi 2@<:@w: 10) #´(AYt*E@t*iT@yt*N t*׳>t*H ,?\ƿM0?ɉ?]?`R?)u*E@ u*0t;Iu*Cx>f>x> EG@H@ilIp)=vGa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y:>QBDh;>I I6ٮ QtI  UB9; ܵ;)x6 %7) %7I %tIi %C |:)n:Itv7QIY9Y*Gi2GiFiFrFbFEE);I9 iId㞽i 2@<:@w:]> i'6) Q۴(A Yt.uE@t.7T@yt.١t.>t.H?'֣/2ƿ +M@R? *?}??)u.uE@ u.Yt;Iu,xBk>xBEiDD)EdGiMwAIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʱʱQBDʱ>>I I6ٮ QtI  UB9F: į:)I6 7)I tIi C ;)а;I7!I)9)*GY2GYFYFarFabFaEiEi);I9 iI#i 2@<:@w: )I a e> {>W<) (AYt*PE@t*[YT@yt*t*a>t*H`?J@tƿ\ ??b??)u*PE@ u*+t;Iu*CxB?s>xBEiPIP)F@Y%E%>))Q-BD)5!;5>I1 I6ٮ1 M61 QtI 1 UB915< 5G<)5N6 7) 7I tIi C ,:):Iӂ7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA)};I}9 yyiyIy +i 2@<:@w: WC) `(AYt*E@t*CT@yt*'t*>>t*H j ?CIƿlV ? ?0?`}?)u*E@ u*4t;Iu(xBeq>xBnEHFp=HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]GF@Y%J %>))Q-CD1-;5>IA I6ٮAA QtI A UB9AE< E<)E_Ϫ6 7) 7I tIi C ':)P:I"7AII9I&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q']NU@Vehicle HDG: 190.028499 arcdeg .q'U'U*GQ2GYFYFrFbFEE);I9 iIP;i 2@ <:@w: QI) )(A);IYt.E@t.3T@yt.[t.op>t.Hكȟ? ~*ƿA?Mk??һ?)u.E@ u.@t;Iu.Cx>i>xBE){BQ oI{@i{B={@{@{BXB{@|B\A9|B1? 2R=R=i`Id)%+G)-%=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ:>ʉʉQCDʑ͕ 2>I I6ٮ M6 QtI  UB9鰝|: ^:).6 7)I tIi C :)^:I@7I9=O@Contact HDG: 141.580983 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzE\AE1# -@룿S3E1? 2EQ oEEBĩ*1Y{ 0@Xz}NEXO jo.jlr?4(˿E@=DHdg To Contact =137.681669 degreesZE[AbE:Ezo$?BEwo$?JE| RE} jEtrE)U;IU9 QQiQIQY]tiYY a2@e<:@mw: ߙ$Dacoustic_contact_range 24.420002 m$hTrackAcousticContact.heading_to_contact 2.402998 rad$LDUSBL_Hydroid.xAngle -53.500001 arcdegi P) bC(AYt*hrE@t*sT@yt*t*6F>t*Hx? 㣿ƿLHc??xB(E)GF@=YE::E>AAQMCDIM,MM>IQ I]6ٮQQ Q]tI Q UeB9QU2: U:)U6 m7)a m7Ia mtIia mCa e:)e4:Ie;7yIy9*G2GFFrFbFEE);I9 iI&fi 2@<:@w: V) =](AYt*vE@t*#T@yt* t*٭>t*HI?OO ƿg``?Y?? Q?)u*vE@ u*Z;t;Iu*CxBt>xBlEGB?AHDiTIVѓC) ƄGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmO:m>iqQuCDqu-:}>Iy I6ٮy M6y QtI y UB9y}˵: }4:)}f 6 7)I tIi C :)I:I67I9*G2GFFrFbFEE);I9 iIqi 2@<:@w: H#]) w(A Yt.XE@t.T@yt.t.>t.H҇DO?@7ſ`U`b7?ق?@_? ?)u.XE@ u.t;Iu.CxBjw>xB"EiDD)~AAQECDIMpM>IQ I]6ٮQQ Q]tI Q U]B9QU: U:)U4w6 m7)a m7Ia mtIia mCa eȗ:)e:Ie'7yIy9*G2GFFrFbFEE);I9 iImi 2@<:@w:  > d) 8(AYt*VE@t*T@yt*W'"t*׎>t*H@eK?4 ſvL x?@D?ਟ??)u*VE@ u*At;Iu(x^j>xbqEilIl)USGF@eYm ޺m>iiQuCDqu͹u>Iy I6ٮyy QtI y UB9y}: }:)}6 7)I tIi C ͭ:):Iz7I9*G2GFFrFbFE E )U;I]9 YaiaIaq}Biy 2@<:@w: 4j) xϪ(AYt*.E@t*S@yt*:!t*r>t*H@O?W}ſ`^`?H'?@.7? ?)u*.E@ u*&t;Iu*CxB^>xB EHBa=HFa=)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ9>ʡʡQCDʩͭ>I I6ٮ M6 QtI  UB9鰵p: :))W6 7) 7I tIi C ,:):I*<7I9*G2GFFrFbFEE);I9 iI!%i!! )2@-<:@-w: Aq) ĵ(A)IYt.A!E@t.LS@yt.l t.>t.H~?*bſ`Nk@j?\??`a?)u.A!E@ u.J:t;Iu.CxBt>xBlEF=F=iPIR̓C)iiQmCDiuI u>I I6ٮ QtI  UB9鰝: W:)ĭ6 7)I tIi C [:),:I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)];I]9 YYiYIYaeriaa i2@m<:@w: ߡi Fw) ޵(AYt.7E@t.BS@yt.et.L>t.H`8?ƮVſa! ? ?2?`a?)u.7E@ u.(t;Iu.CxR:m>xRE)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y:>QCDMg>I I6ٮ M6 QtI  UB9: :)d56 7) 7I tIi C g:)ŧ:IaN7 I 9 &M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 189.597336 arcdeg .q''*G2G@FFrFbFEE);I9 iIѯ@i@ 2@<:@w: $RHorizontalControl.headingCmd 2.402998 radFq}) a(AYt*D@t* S@yt*zt*)>t*H@l?Pſ l| G^?@S?@6??)u*D@ u*!Bt;Iu*CxB`k>xBEGB@AH@iPIRѓC)|F@=YE]E>AAQMCDIM>ջM>IQ I]6ٮQQ Q]tI Q UeB9QU: U:)U6 m7)aIa mtIia mCa e:)eȗ:Ie7yI9=Om@Contact HDG: 137.681669 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFFrFbFEE);I9 iIe@i 2@<:@w: !X) <(A@ Yt*E@t*S@yt*Et*n>t*H@ഺ?9$'ſp? U?@r??)u*E@ u*.t;Iu*CxNt>xRlE {PY|TV8****** ping requested ******i^A`jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGixAF@Yʭ>QDD;>I  I6ٮ  M6  QtI  UB9  ; ;) G6 7) 7I tIi C :):Ir7I9*G2GFFrFbFEE);I9 iIE@iAI I2@U<:@]w: ߙ > t>) {,(AYt*kD@t*vS@yt*&!t*y~>t*H:xREihIh)5Ga 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ"`>ʙʙQDDʡͥ>I I6ٮ QtI  UB9鰭: :)b~6 7)I tIi  C :):I7I9*G2GFFrFbFEE);I9 iI^e@i !2@%<:@-w: 9j) E(AYt*qD@t*|S@yt*/t*߃>t*H@ಓ?@Ŀ-?W?@KM?i?)u*qD@ u*/:t;Iu(xB?s>xBEH@HFp=)+GF@Y%:%>))Q-DD)595>I1 I=6ٮ11 QEtI 1 UEB915: 5:)56 M7)I M7II MtIiI U CI M:)M:IMg7aIa9a*Gq2GqFqFyrFybFEE);I9 iI%@i 2@<:@w: ) y_(A)4t*H@,?@^ؠ ſ@? ?1/?c?)u*D@ u*2Ft;Iu(xBDy>xBEEF)>J=iTIV̓C)G  %=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm]:m>qqQuDDq}K:}>I I6ٮ M6 QtI  UB9鰅: =:)xY6 7)I tIi  C N:)+:I7I9*G2GFFrFbFEE);I9 iIM@i 2@<:@w: i !) Ly(AYt6E@t6S@yt6t6j>t6H.?8۠#ſ`R?!Ђ?'? V?)u6E@ u6u}t;Iu6CxN1z>xRE)SGF@]Yeke>aaQeDDim1:m>Iq I}6ٮqq Q}tI q U}B9qu: u5:)uQǰ6 7) 7I tIi !C ,:)@:Iz7I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: ) {(AYt*+ E@t*6S@yt*!;t*Ȃ>t*H? ?E9ſO ?R?`x+??)u*+ E@ u*_t;Iu(xBs>xBEG@HDi\IbѓC)5dGF@]Yee>aaQmDDim}:m>Iq I6ٮq M6q QtI q UB9qu; u;)u56 7) 7I tIi !C  :)4:IG7I9*G2GFFrFbFEE!)U;I]9 YYiYIYaaiaa i2@m<:@mw: Ѫ) t^(A@ Yt.s-E@t.~S@yt.h#t.>t.Hj? zſ৅ ?l? ? *?)u.s-E@ u.t;Iu,xRz>xR EiVAT)aiimwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Yg>QDD;>I I6ٮ QtI  UB9ի: ٮ:)6 7)I tIi "C J:)':I7I9 ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: i a> >׸) 9Ƕ(AYt*ODE@t*ZS@yt* t*_F>t*HAA?@V@ſ wz`7?D?@Y??)u*ODE@ u*6,u;Iu*CxBo>xBEiPIR̓C)|F@=YEg9E>AIQMDDIMyl;M>IQ I6ٮQ M6Q QtI Q UB9QU< U4<)U%6 7) 7I tIi "C 0:)D:I77I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N@Vehicle HDG: 189.741043 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: `㷭) ᶦ(AYt.^RE@t.iS@yt.bt.+>t.H`^'X?`ſ~`?A?7?M?)u.^RE@ u.u;Iu.CxBeq>xBnEHFR=HD) GF@=YE:E>AAQMDDIM3 ;M>IQ I]6ٮQQ Q]tI Q U]B9QU: Up:)Uq6 m7)aIa mtIia m"Ca eO:)eA:Ie7yIy9=O@Contact HDG: 137.681669 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@ w: 97 ) (A);I Yt*E@t*2T@yt*wt*m>t*H?J`+)ƿ@p` Z? .???)u*E@ u*)v;Iu*CxN'n>xRpEV=V=i\IbѓC)SG%4=%4=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ)E>ʁʉQDDʉ͍;>I I6ٮ QtI  UB9鰕 : E:)6 7) 7I tIi #C :)ߡ:I %7I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ߡi ĭ) (AYt*FE@t*QBT@yt*ft*?>t*H?=NwGƿoQ?s?w??)u*FE@ u*Dv;Iu*CxRw>xRjE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGF@Yʽc>QED;>I I6ٮ M6 QtI  UB9K; In;)`6 7) I  %tIi  %#C  j;)  ;I 79I999*GY2GYFYFarFibFiEiEq)-;I-9 ))i)I111i19 92@E<:@Ew: QC˭) H.(AYt*ظE@t*eT@yt*$t*1M>t*Hk`?{ע`yƿ`_? ?@??)u*ظE@ u*kw;Iu*CxNr>xRIEGPHPihIh)5Ga 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝǸ>ʙʙQEDʙͥ;>I I6ٮ QtI  UB9鰭l: 9:)cͳ6 7) 7I tIi $C :):IW67I9*G 2G F FrFbFEE)-;I59 11i1I199i99 A2@E<:@Mw: Yҭ) H(A Yt*yE@t*wT@yt*pt*>t*H@}m:?1ۢ 1ƿ&e|?@?@ߤ??)u*yE@ u*w;Iu(x>p>x>%EiDD)~GixAxAF@=Y=J:=>AAQEEDAMy3;M>IQ I]6ٮQ M]6Q Q]tI Q U]B9QUs: Uw:)U86 e7)aIa mtIia m$Ca e::)e:Ieɺ7yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w:  > >1ح) [b(AYt*E@t*ܛT@yt*8t*'>t*Hzz?6{`ƿ \` ?`???)u*E@ u*Ax;Iu*CxRe>xRP EidId)-dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y9>QED;>I I6ٮ QtI  UB9}: :)6 7) 7I tIi $C Z:)+:I I7 I 9 *G!2G!F!F!rF)bF)E)E))E;IE9 AAiAIIIIiIQ Q2@]<:@]w: id[ޭ) 7|(AYt*E@t*T@yt*]t*ƈ>t*Hy࿆?> ǿ`X8?8`?@? ?)u*E@ u*x;Iu*CxBq>xBEHFa=HD)GF@]Ym9m>ʙʙQEDʙͥ:>I I6ٮ M6 QtI  U B9鰭: :)56 7)I tIi %C :)<:I7I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bFQEQEY)m;Im9 iiiiIiqyiyy y2@<:@w: ߱E) (A)(I,Ytj F@tjT@ytj/tj>tjH"x?۟@.ǿO\?`΅?\?o?)uj F@ ujYx;IujCxri>xrNEtva>iI)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5.5>99Q=ED9=>;E>IA IM6ٮAA QUtI A UU B9AE: E:)E36 ]7)Q ]7IQ ]tIiQ e%CQ UԘ:)Un:IU]7qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.435441 arcdeg .q''*G 2G F F rFbFEE)-;I-9 11i1I199i99 92@E<:@Ew: Yi @A am) (AYt*F@t*"T@yt*[t*Y>t*HKv?;Vǿ@[ʌ??@ĸ? ?)u*F@ u*)x;Iu(xB?s>xBE)~vGF@EYMӸM>IQQUEDQUsX;]>IY Ie6ٮYY QmtI Y Um B9Y]: ]):)]D6 u7)iIi utIii &Ci m<)m^t*Hv{?*Oǿ@dZ?f?`??)u*IF@ u*Dx;Iu(x6?s>x4G6?AH4i@ID)rGF@%Y-]->))Q-ED)5_5>I9 IE6ٮ9 ME69 QEtI 9 UE B99=|: =s:)=W_6 U7)I U7II UtIiI U&CI M:)M:IMb7aIa9i*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: b) 8㷦(A Yt.&F@t.T@yt.b$t.O>t.H@u ?ۢ@eǿj ?:?;??)u.&F@ u.x;Iu.CxNj>xRqEiTT)-Gi-wA)a 1ma 1m a 5ma 5m a 9ma 9m a -ma -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ3>ʑʑQEDʑ͝:>I I6ٮ QtI  U B9鰥ɪ: %:)1Ѷ6 7)I tIi &C ٮ:):I7I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: ) > {>U) ~(Ax~q>x~EiI)}vGF@Yʍ>ʑʑQEDʑ͝>I I6ٮ M6 QtI  U B9鰥: 0:)q?6 7) 7I tIi 'C :):I6w7I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )) [(AYt**F@t*T@yt*t**g>t*HZu? '@Plǿrr?@? ? q?)u**F@ u*3Vx;Iu*CxRc>xR, EH\H\ {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@=YEA;E>IIQMFDI]g9]>Ia Im6ٮaa QmtI a Uu B9ae; e;)e6 7)y 7Iy tIiy 'Cy }|:)}:I}>7I9*G2GFFrFbFEE)];I]9 YYiYIYaai 2@<:@w: ߹E ) =1(A) IYt*?F@t*T@yt* t*q>t*HIs@x#?̖ǿ`k ??#??)u*?F@ u*x;Iu*CxBp>xFE){JsI{Hi{J={H{H{JpA{H|JpA9|J2P?ć%Z=Z=ihIh)5vG99F@uY}1}>ʁʁQFDʁ͍%e;>I I6ٮ M6 QtI  U B9鰍: :)6 7)I tIi (C :):I7I9*G2GFFrFbFEE2EzEpAE!80@8Q7E2P?ć%EsEE!Ŀ4$孎3@}`sE$ 翁WM?tֿ)ɿEC@=DHdg To Contact =137.209020 degreesZEAbE:Ero$?BEzo$?JEy RE| jErEt) ;I 9  i I i 2@<:@%w: 1$MDacoustic_contact_range 28.679998 m$]hTrackAcousticContact.heading_to_contact 2.394749 rad$]LDUSBL_Hydroid.xAngle -54.400001 arcdegi ?A Y) K(AYtFxUF@tFU@ytF6tF u>tFHIqP?@⢿ǿq r?`ƃ?@?%?)uFxUF@ uFw;IuFCxvRr>xvE)eGF@Yʝ9>ʙʙQFDʡͥE;>I I6ٮ QtI  U B9鰭: u:)6 7) 7I tIi (C :)Ɵ:Ia7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi !2@%<:@-w: 9) $d(AYt>MF@t>&T@yt>t>>t>Hr@a>?"ǿ p?@j}??`?)u>MF@ u>w;IuxfP EGjAAHjAAixIx)UvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ9>ʹʹQFDʹ[>I I6ٮ QtI  U B9: :)$6 7)I tIi (C F:)|:Iי7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' N Initialize.q' N@Vehicle HDG: 190.667053 arcdeg .q''*G2GC@FFrFbFEE);I9 iIC@iC@ 2@<:@w: $RHorizontalControl.headingCmd 2.394749 rad1) '~(A Yt6vF@t6#U@yt6t6[>t6H1ny?w(@+ȿqcF?d3? ?`?)u6vF@ u6w;Iu4xN}v>xNEiPP)]GieyAewAF@mYu9u>qqQuFDy};}>I I6ٮ M6 QtI  U B9鰅: :)Df6 7) 7I tIi )C :)@:IW7I9=O=@Contact HDG: 137.209020 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9FArFAbFAEIEI)];Ie9 aaiaIaiiiii q2@u<:@}w: ߉ a> >:%) a(AYt*?hF@t*JU@yt*-8t*>t*Ho@qt?tǿo{? ?@I? z?)u*?hF@ u*w;Iu(x>o>xBJEiLIL)~SGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]_e>aaQeFDamm>Iq I6ٮqq QtI q U B9quT]< u]<)uӹ6 7)I tIi )C :)Ԙ:I7I9*G)2G)F)FQrFQbFQEYEY)m;Iu9 qqiqIqi 2@<:@w:  ,) F~(AYt*ƑF@t*>U@yt*st*S>t*Hk?ޣ8ȿlSt?_?&?`p?)u*ƑF@ u*bw;Iu*CxRp>xR%EHRp=HRa=)dGF@%Y-R-;->11Q5FD15*;=>IA IE6ٮA ME6A QMtI A UM B9AE: E:)E;@6 U7)Q U7IQ ]tIiQ ]*CQ Ug:)Uf:IUZ,7iIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: z2) OX̸(A)4t*H`hj ?nj@2Rȿm`%D? ނ???)u*F@ u*?x;Iu(x6{>x6E:=8iDID)rGv%=v%=F@Y%[%>!)Q-FD)-9;->I1 I=6ٮ11 Q=tI 1 UE B915: 5:)56 M7)AIA MtIiA M*CA E-:)E:IE7YIa9a*Gq2GqFqFqrFybFyEE);I9 iIi 2@<:@w: i W9) Y2渦(AYt*F@t*VU@yt*vt*>t*H@\i@M?/`ugȿ`@[?N?/? L?)u*F@ u*FIx;Iu*CxRn>xRE)-SGa 1ma 1m a 5ma 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ>ʑʑQFDʑ͝[:>I I6ٮ M6 QtI  U B9鰥g: ÷:)C 6 7) 7I tIi *C E:)#:I@7I9*G2GFFrFbFEE);I9 i I   i 2@<:@w: )@) (AYt*F@t*wU@yt*-,t*>t*H5f`0?𳣿 ǧȿ i@D?q?@m?@?)u*F@ u*x;Iu(xBeq>xBnEGF@AHF@AiPIP)dGF@ YE߹>QFD%٨;%>I! I-6ٮ!! Q-tI ! U5 B9!%%: %į:)%@6 =7)1I1 =tIi1 E+C1 5%:)5Z:I57IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIi 2@<:@w: ߱-F) (A Yt*F@t* U@yt*Bt*0>t*Hc&R?襤ȿ@4Z ? V? 8?4?)u*F@ u*x;Iu(x^t>x^lE {`Y|`f8****** ping requested ******illzNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iwAxAF@Y%:>QGDW;>I I 6ٮ M6 QtI  UB9;  ;)O6 %7)! -7I! -tIi! -+C! %:)%:I%V7IIQ9YO}Done Waiting.'}O}8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 1 > >WL) 3(AYt*nF@t*yU@yt*9t*[>t*HdiA?@|uȿz^?"?G??)u*nF@ u*x;Iu*CxbRr>xbEiI)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@YCk9>QGDپ>I I6ٮ QtI  UB9B: :)m6 7)I tIi ,C 1:)E:I7I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 191.154278 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: @S) M(AYt*F@t*U@yt*et*r>t*H`a iy?O-ɿ H[`?` ?4!?E?)u*F@ u*y;Iu*CxBt>xBlEH@HBp=)ƄGF@Yʅ;>ʉʉQGDʉ͕,;>I I6ٮ QtI  UB9鰝: >:)=ټ6 7) 7I tIi ,C :):IUa7I9=OM@Contact HDG: 137.209020 arcdeg .'M'UOU4Initialize Wait Component.*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡiY) }zg(A);IYt.G@t.ݳU@yt.(gt.>t.Hj` ܒ?B ɿTb?`,?@I?@?)u.G@ u.Ey;Iu,xRl>xREV=Z=idId)%G-<-=F@eYuu>yyQ}GDʁͅ?;>I I6ٮ M6 QtI  UB9鰍< ە<)F6 ]7)!I! etIi! e,C! %<)%nt*Hb_ г?a`0ɿ`>X@?(?!??)u*.G@ u*y;Iu(xBn>xBE)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]me>aaQeGDam޺:m>Iq Iu6ٮqq Q}tI q U}B9quJ: uN:)uX6 7) 7I tIi -C :)M:Io7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: y|f) 2(AYt*,G@t*U@yt*_(t*>t*H@\?ߤgɿPb?s?@G?`?)u*,G@ u*x;Iu*CxBz>xB EGFAAHDiPIR̓C)GF@=YE:9E>AAQMGDIM%;M>IQ I]6ٮQ M]6Q Q]tI Q UeB9QU: Uw:)U!6 m7)aIa mtIia m-Ca e:)e:Ie7yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ٥l)  (A@ Yt*G@t*)U@yt*)t*>t*H^m?AɿwU]?`S?%4??)u*G@ u*x;Iu*CxBp>xB%EiDD)dGiyAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe";e>iiQmGDiu?u>Iy I}6ٮyy QtI y UB9y}%: }į:)}@6 7) 7I tIi .C ݖ:):I7I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  R> x>s) ι(AYt*C9G@t*NU@yt*v t*b>t*Ht[?é@ɿ1S?w?/?`W?)u*C9G@ u*#Xx;Iu*CxBy>xBEiPIP)|F@=YE,:E>AIQMGDIM;M>IQ I]6ٮQQ Q]tI Q UeB9QU: U:)U=6 m7)a m7Ia mtIia m.Ca e :)e:Ie27yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9y) ]蹦(AYt2=G@t2U@yt2et2>t2H` [?=:ɿO ?? ,F? p?)u2=G@ u2"x;Iu2CxNm>xR'EHPHRa=)a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ#:>ʁʁQGDʁ͍!):>I I6ٮ M6 QtI  UB9鰕: M:)n6 7)I tIi /C }:):I7I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !) (A) I Yt*BG@t*U@yt* t*S\>t*H gZN ?Y3`ɿO?`? `=?y?)u*BG@ u*w;Iu*CxBi>xBNEilInѓC)MGM4=M%=F@]Y]o|e>aaQeGDam7Q:m>Iq Iu6ٮqq Q}tI q U}B9qu: uN:)uۿ6 7) 7I tIi /C :)+:I7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i Ɇ) x(AYt*WG@t*V@yt*-t*>t*H`@X=?`դ ɿP@?`丅?`&?X?)u*WG@ u*^ew;Iu*CxB"h>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q HD ͵.;>I I6ٮ M6 QtI  UB9鰽Գ: :)^6 7)I tIi /C ;)};I7I9&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'5N@Vehicle HDG: 191.599210 arcdeg .q''*G2GFF!rF)bF1E1E1)u;Iu9 qqiqIyi 2@<:@w: U) U6(AYt*cSG@t*nV@yt*t*y>t*H`X+?VгɿR? R?`!??)u*cSG@ u*Jw;Iu*CxBMl>xBLEGB?AH@){FM;~I{Di{F={F>{D{F A{D|F ?A9|FN˪y?1ji`I`)%vGF@=YEy];E?IIQMHDIUQU?IQ I]6ٮQQ QetI Q UeB9QU: U_:)U6 m7)i m7Ii mtIii u0Ci mo:)m:Im(7I9=Ou@Contact HDG: 137.209020 arcdeg .'u'uOu4Initialize Wait Component.*Gy2GyFyFyrFbFEE2EzE ?AEF(@Ҳ5$EN˪y?1jEM;~EE.n !uV @!jEBc,!?,ٮ^ʿE@=DHdg To Contact =135.645877 degreesZEAbE:Eo$?BEro$?JE REy jElrE);I9 iIi 2@ <:@ w: !$]Dacoustic_contact_range 11.940001 m$ehTrackAcousticContact.heading_to_contact 2.367467 rad$mLDUSBL_Hydroid.xAngle -56.900001 arcdeg)ܓ) 0P(A@ Yt.aG@t.V@yt.Wht.p>t.H`qW`E8?@\ɿ@cK\??N?I?)u.aG@ u.]w;Iu.CxBMl>x@)~Gi~wA|F@=YEQ;E>AAQMHDIM9 ;M>IQ I]6ٮQ Me6Q QetI Q UeB9QUD; U;)U%6 m7)iIi utIii u0Ci m-:)mc:ImA7I9*G2GFFrFAbFAEIEq);I9 iI99iAA Q2@]<:@ew: y > >) S j(AYt*kG@t*V@yt*t*3>t*H iVRR?@lɿaRb??l? t?)u*kG@ u*w;Iu*CxR>xRBEi`Ib̓C)%XGa 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍmȹ>ʉʉQHDʑ͕:>I I6ٮ QtI  UB9鰝F: :)6 7) 7I tIi 1C $:)#:IQ;7I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: ) 僺(AYt*}G@t**V@yt*t*H>t*H}T S{?`ʿJk?@K?@ ;?@?)u*}G@ u*wv;Iu*CxNh>xREHRa=HRp=)+GF@%Y-m\->11Q5HD157;=>IA IE6ٮA MM6A QMtI A UMB9AE: ER:)E6 U7)QIQ UtIiQ ]1CQ U:)U:IU7iIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: ) (A)4t*H S`ۍ?"SʿIo? 9?@=9?`?)u*eG@ u*>v;Iu*CxNs>xREi\I^ѓC)SG%%=%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQHDʉ͍y]:>I I6ٮ QtI  UB9鰕: W:)r6 7) 7I tIi 1C  :):IPK7I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !i H) ٴ(AYt*RG@t*]HV@yt*'t*qс>t*H`iQ?^@ʿ*M?[? ??)u*RG@ u*Iv;Iu*Cx:sj>x:(E)vGF@5Y5 A:5>99Q=HD9Eq;E>II IM6ٮII QUtI I UUB9IM>: M :)M6 ]7)YIY etIiY e2CY ]:)] :I]7qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: )) wѺ(AYtB~G@tB?V@ytB tBȠ>tBH`sR~?`Fu/ʿ@C k'?P?d?`g?)uB~G@ uB[zv;IuBCxJa>xJ EGVAAHTidId)5SGF@}Yʍl;>ʙʡQHDʩͽ>I I6ٮ M6 QtI  UB9; a;)Q6 7) %7I %tIi -2C ;);IT`7YIa9aODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: %T) YR뺦(A@ Yt*LG@t*WdV@yt*dt*}>t*H@N?+wʿ P`K?|,?1?`&?)u*LG@ u*Lv;Iu*CxNRr>xRE)UGi]xAYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ;>QHDm;>I I6ٮ QtI  UB9-: :)ۿ6 7)I tIi 3C :):Im7I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 191.933657 arcdeg .q''*G2G@FFrFbFEE);I9 iIw@i@ 2@<:@w: $RHorizontalControl.headingCmd 2.367467 rad ]> x>;) Z-(AYt*gG@t*r~V@yt*bt*>t*HK`?@`ʿ??B?M?_?)u*gG@ u*|v;Iu*CxB"h>xBEiLIP)~vGF@mYmƠu>qqQuHDq}b;}>I I6ٮ M6 QtI  UB9鰅Ȳ: :)+6 7) 7I tIi 3C :):INk7I9=OE@Contact HDG: 135.645877 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiu@qiqq y2@}<:@w: ߑofǮ)  (AYt*G@t*V@yt*9't*>t*H@[K@$?_N@?ʿ9> ?`?S??)u*G@ u*Mu;Iu*CxBm>xB'EHBp=HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UdGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yʽﴺ>ʹQID(:>I I6ٮ QtI  UB9:  :)6 7) 7I tIi -3C };)|;I=79I999*Gi2GqFqFqrFybFEE);I9 iI@i 2@<:@w: 4ͮ) z8(A);I Yt* H@t*V@yt*X%t*(>t*HE`?`@O˿@{?`? ?R?)u* H@ u*uu;Iu(xBsj>xB(E){FgI{Di{F҇={D{D{FPA{D|FCA9|F-a?Ҷ(*i`I`)%G!-%=F@]Ye۷9e?aaQmIDim@*Y@@#EE-a?Ҷ(*EEgEAEEY v" y˻@EEB`ǚ?ţUȿEEN@=UDHdg To Contact =141.376583 degreesZEE@bEE+:EEo$?BEEo$?JEE REE jEErEEl);I9 iIi 2@<:@w: $Dacoustic_contact_range 12.240001 m$hTrackAcousticContact.heading_to_contact 2.467487 rad$%LDUSBL_Hydroid.xAngle -51.850001 arcdegi wԮ) R(AYt*G@t*V@yt*It*~y>t*H@eGS`?`tʿ@ 5@2>?.?~??)u*G@ u*u;Iu(xBDy>xBEE)~GF@=YE*;E>AAQMIDIM M>IQ I]6ٮQQ Q]tI Q UeB9QU: U:)Ut6 m7)a m7Ia mtIia m4Ca e:)e۞:Ie7yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: ڮ) l(AYt*"5H@t*-V@yt*t*>Ʌ>t*HdAW?}m˿.3D?s?@p??)u*"5H@ u*Ou;Iu*CxB?s>xBEGF@AHDiTIT)vGa 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQmIDiut <u>Iy I6ٮyy QtI y UB9y}: }:)}6 7)I tIi 5C :)p:I7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: m) Wv(A Yt./H@t.V@yt.r t.>t.HA?`W`9c˿7?Kn?C?@?)u./H@ u.u;Iu.CxBk>xBE)~GiwAF@=YE,K:E>AAQMIDIMSM>IQ I]6ٮQ M]6Q Q]tI Q U]B9QUg: UI:)UeQ6 m7)a m7Ia mtIia m5Ca e:)e:Ie57yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  > >) Y(AYtoH@tW@yttqi>tH:I?G!˿9?F~? ? Z?)uoH@ u:u;IuCx- |>x-EiAIA)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q ID T <>I I6ٮ Q%tI  U%B9 : :)6 -7))I) 5tIi) 55C) -:)-:I-7AIA9A*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡ_) V+(AYt*wH@t*$W@yt*0t*>t*H :U?G@\˿%TK?9? ??)u*wH@ u*X\u;Iu*CxBsj>xB(EH@HD)5GF@mYunu>qqQ}IDy}:>I I6ٮ M6 QtI  UB9鰅: :)/6 7) 7I tIi 6C g:):I$7I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 1) >Ի(A) I Yt*H@t*6W@yt*Uct*O>t*H;8*d?@C̿n?`Zl??B?)u*H@ u*sPu;Iu*CxB|>xBEiPIP)~ʙʙQIDʙͥi.;>I I6ٮ QtI  UB9鰭: :)S6 7)I tIi 6C :):Iu7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.668872 arcdeg .q'm'm*Gi2GmN@FqFqrFybFyEyE);I9 iI @iN@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.467487 radi ) S(AYt.H@t.(^W@yt.[Kt.z>t.H 3`?@b |_̿0.?`\?`)"??)u.H@ u.bu;Iu.Cx>p>x>%E)zSGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]%:]>YYQeIDae;e>Ii Iu6ٮi Mu6i QutI i U}B9im: mA:)m 6 7)y 7Iy tIiy 7Cy }N:)}:I}147I9=O@Contact HDG: 141.376583 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIe@i 2@%<:@%w: 9?) (AYt*H@t*ׁW@yt*t*>t*H/ ?̿/`rZ?jX?!?(?)u*H@ u*Qu;Iu*CxBr>xBIEGDHDiPIP)GF@=YEEE>AAQMIDIMN;M>IQ I]6ٮQQ Q]tI Q UeB9QUJ: U-:)Ux6 m7)aIa mtIia m7Ca e::)eN:Ie7yIy9*G2GFFrFbFEE);I9 iI{@i 2@<:@w: YS) !(A@ Yt.sH@t.~W@yt.t.΅>t.H +@B?H@_̿`m>?䠃?? w?)u.sH@ u.u;Iu.CxNn>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiyAwAF@Y+>  Q JD x;>I! I-6ٮ!! Q-tI ! U-B9!%; %j;)%V6 7) 7I tIi 7C e:)X:IQ7I9*G)2G)F)FQrFQbFQEYEY)5;I59 99iAIAmv@qiqq q2@}<:@w: ߙ > x>+,) q;(AYt*I@t* W@yt*t*>t*H )`i?@sͿ` a?ƒ???)u*I@ u*au;Iu*CxBc>xB, E){FoI{Di{F={F7>{D{FpA{D|F ?A9|FQJDGe;>I I6ٮ M6 QtI  UB9: V:)Y6 7)I tIi 8C p:):I7I9*G 2G FFrFbFEE2E!zE% ?AE%r$IF@(>#E%g$,pٯ&?n'ʿE%W@=5DHdg To Contact =140.502442 degreesZE%@bE%N:E%o$?BE%o$?JE!RE% jE%#rE%)M;IM9 IIiIIQUN@iYY Y2@e<:@ew: q$Dacoustic_contact_range 11.940001 m$hTrackAcousticContact.heading_to_contact 2.452230 rad$LDUSBL_Hydroid.xAngle -53.699999 arcdeg) OU(AYtZ.@I@tZ9W@ytZ tZd>tZH# ? >`"vͿ F@X??F?T?)uZ.@I@ uZt;IuZCxl>x%EH-R=H1)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=w=>99QEJDAEc;E>II IU6ٮII QUtI I U]B9IMJ: M:)M6 e7)Y e7IY etIiY e8CY ]:)]:I]V^7qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: ߑ@) 2o(A)I4/>t*H-K$?˩ Ϳ @?ނ?7? xBsEiTIT) G 4= %=F@=Y= :=>AAQEJDAM;M>IQ IU6ٮQ M]6Q Q]tI Q U]B9QUI: UM:)U 26 e7)aIa mtIia m9Ca e:)e:Ie7yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: i %") (AYt*g|I@t*r)X@yt*t*"ك>t*H?xRE)]vGF@Yʥ2;>ʡʡQJDʡͭX:>I I6ٮ QtI  UB9鰵=; ;)6 7) 7I tIi 9C o:):I]i7I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFYEaEa);I9 iIi 2@<:@w: Q() ᢼ(AYt*I@t*jX@yt*r:t*Y>t*H` ?(_ jο`Q ?<'? =??)u*I@ u*iPt;Iu*CxBu>xBEGBAAH@iPIP)MdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭb9>ʱʱQJDʱ<>I I6ٮ M6 QtI  UB9: :)6 7)I tIi 9C O;)b:I=7)I)9)&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q'eN@Vehicle HDG: 193.746252 arcdeg .q''*G2GW@FFrFbFEE)-;IM9 IIiQIQUW@iY]W@ Y2@e<:@ew: ߑ$RHorizontalControl.headingCmd 2.452230 rad#{.) ܼ(A@ Yt* I@t*+X@yt**)t*;>t*H?@dο@`?A%?@UX? ?)u* I@ u*t;Iu*CxBn>xBE)~GixAF@mYm!m>qqQuJDq}_;}>I I6ٮ QtI  UB9鰅: :)~6 7) 7I tIi :C 3:):IDv7I9=O=@Contact HDG: 140.502442 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFIrFIbFIEQEq);I9 iIi 2@<:@w:  e> >vc5) ּ(AYtJ I@tJX@ytJ 'tJ2>tJHw `(?@+;ο G?@?Y? ?)uJ I@ uJXt;IuHxRj>xRqEi`I`)%SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y?95>19Q=JD9=q;E>IA IM6ٮAA QMtI A UMB9AE; E;)E6 }7)q }7Iq }tIiq }:Cq u:)u7:IuY7I9*G2GFFrFbFEE);I9 i I )1i11 12@=<:@=w: q8;) ys(AYt*4J@t*X@yt*t*>t*H?ב@QϿza?M6?Ub??)u*4J@ u*Zt;Iu*CxBc>xB EH@H@)~dGF@Y%";%>!!Q-JD)-l<->I1 I=6ٮ1 M=61 Q=tI 1 UEB915¿: 5:)5X6 M7)AIA MtIiA M;CA Eh:)E:IEa7YIa9a*Gq2GqFqFrFbFEE);IU9 QQiQIQYYiYa a2@e<:@mw: yvB) iR (A)4t.H?j|@lϿ7{?? f#? ?)u.BJ@ u.^t;Iu.Cx>eq>x>nEiLIL)|%=F@Y%q:%>!!Q%JD!- ;->I1 I=6ٮ11 Q=tI 1 U=B915: 5:)56 M7)A M7IA MtIiA M;CA EN:)E:IE 7YIY9a*Gi2GqFqFrFbFEE);I9 iIi 2@<:@w: i H) [($(AYt*J@t*GY@yt* t*2>t*H}[?^g пfw?͠?Q?3?)u*J@ u*ct;Iu*CxB{>xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=E>AAQMKDIUG<u>Iy I6ٮy M6y QtI y UB9y}a; };)}@6 7)I tIi ;C Z:)+:I=7I9*GY2GYFaFarFbFEE);I9  i I i 2@e<:@w: ^N) >(AYt*J@t*!IY@yt*0t*>t*H`Z?  п`z 2?@c?`}??)u*J@ u*&ot;Iu*CxBk>xBEGB@AH@){FoI{Di{F6={F>{D{FA{D|FGB9|F?i`I`)%GF@=YEZSE>AAQMKDIM-o9M>IQ I]6ٮQQ Q]tI Q U]B9QU%: U:)U6 m7)a m7Ia mtIia m7I9*G2GFFrFbFEE2EzEGBE,C));5@v<E?EoEE8$C; 5@vL EIBMp[S?VɿE_@=DHdg To Contact =141.929350 degreesZEAbE:E_o$?BEo$?JEw REjErE#)-;I-9 ))i)I1QQiYY Y2@e<:@ew: ߑ$Dacoustic_contact_range 35.820000 m$hTrackAcousticContact.heading_to_contact 2.477134 rad$LDUSBL_Hydroid.xAngle -53.649999 arcdeg1U) W(A@ Yt6hJ@t6spY@yt6*t6Ҍ>t6H` ?1`2пc??\??R?)u6hJ@ u6~t;Iu6CxBxp>xBE)SGi  a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeb:m>iiQmKDiu`;u>I I6ٮ M6 QtI  UB9鰝E: ^:)Z6 7)I tIi  >O[) жq(AYt*J@t*֓Y@yt*t*>t*Hm`a? Uп .?\?wI?@?)u*J@ u*r7t;Iu*CxZk>x^EiI)mdGF@Yʥri;>ʡʡQKDʩͭ;>I I6ٮ QtI  UB9鰵=; ;)u6 7) 7I tIi =C :):I27I9O-Done Waiting.'-O58Uninitialize Wait Component.*G12G1MU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFYEaEa);I9 iIi 2@<:@w: b) ݕ(AYt* K@t*Y@yt*/t*I>t*H?@{٬`yп`, l?셂?`2??)u* K@ u*A{t;Iu*CxBxp>xBEHBp=HBp=)|F@eYePe>iiQmKDiu;u>Iy I}6ٮyy QtI y UB9y}: }:)}6 7)I tIi =C ::)o:IV7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 194.918040 arcdeg .q']']*GY2Ge_@FaFarFibFiEiEi);I9 iIR@i_@ 2@<:@w: $]RHorizontalControl.headingCmd 2.477134 radDh) q(A);IYt.@K@t.Y@yt.SWt.̓>t.H`iF?wVп@FD? ʃ?@K??)u.@K@ u.u't;Iu.CxBb>xBQ EiLIP)~G=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y>!!Q%KD!%;->I) Iu6ٮ) Mu6) QutI ) U}B9)-< -<)-ke6 7)y 7Iy tIiy =Cy }N:)}:I}J7I9=Oe@Contact HDG: 141.929350 arcdeg .'e'mOm4Initialize Wait Component.*Gi2GFFrFbFEE) ;I 9  iI&@i 2@%<:@%w: 9i o) J(AYt*sLK@t*~Y@yt*,t*u̅>t*H.@DQ? /п`O@!??`?`m?)u*sLK@ u*s;Iu(xBj>xBqE)~SGF@=YEE>AAQMKDIM:M>IQ I]6ٮQQ Q]tI Q UeB9QU: U:)U6 m7)aIa mtIia m>Ca e:)e|:Ie7yIy9*G2GFFrFbFEE);I9 iI_@i 2@<:@w: 'v) I/ٽ(AYt~K@t~/Z@yt~,G(t~c>t~H@ ?׭п Q?@?@l?/?)u~K@ u~–s;Iu~Cx-r>x-IEG5AAH1iIIQ)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y9.:>QKDh;%>I! I-6ٮ! M-6! Q5tI ! U5B9!%: %Y:)%A6 =7)9 =7I9 =tIi9 E>C9 =N:)=:I=W7I9*G2GFFrF bF E E)%;I%9 !!i!I!IIiQQ Q2@]<:@]w: i(|) P(A@ Yt*+K@t*68Z@yt*pt*[>t*H@`?`пM? Z?@:\?m?)u*+K@ u*gs;Iu*CxNe>xRP E)SGiwAF@]Ye:e>aaQmKDim:m>Iq I}6ٮqq Q}tI q U}B9qu>: u:)uǩ6 7)I tIi ?C Ր:),:I7I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  > >)  (AYt*YK@t*dkZ@yt*vt*>t*H9-?薮%ѿ` ?΂?`P??)u*YK@ u* $s;Iu(xBn>xBEiPIP)~GF@=YE:E>IIQMKDIM;U>IQ I]6ٮQ M]6Q QetI Q UeB9QU: U:)U6 m7)i m7Ii mtIii u?Ci m:)mϝ:Im^7I9*G2GFFrFbFEE);I9 iIi 2@<:@w: :) &(AYt*K@t*zZ@yt*t*Q>t*H3j?3ѿV?&P?o??)u*K@ u*r;Iu(xZs>xZEHZ=HX {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@=YE:E>IIQMLDQ] ;]>Ia Im6ٮaa QmtI a UuB9ae; ec;)eĎ6 7)yIy tIiy ?Cy }:)}V:I}7I9*G2GFFrFbFEE);I9 iIi   2@<:@w: 19#) @(A)4t.H R?@\ѿ @?X?@K?`?)u.gK@ u.a\r;Iu,xBDy>xBEE){BiaI{@i{B={B7>{@{B0A{@|BA9|B7{YD`?hVidId)EvGMʁʁQLDʁ͍;>I I6ٮ QtI  UB9鰕o; (;)6 7) 7I tIi @C Ԙ:)Ɵ:Is7I9O Done Waiting.' O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!2E)zE-AE-? T/@޲2E-7{YD`?hVE-iaE)E-BhR4u*@K 6E- 6܉j%DIk?/F%LȿE-|r#@=}DHdg To Contact =146.325547 degreesZE-EVAbE-̠:E-so$?BE-_o$?JE-~ RE-w jE-qrE-);I9 iIi 2@<:@w: $uDacoustic_contact_range 24.600000 m$}hTrackAcousticContact.heading_to_contact 2.553863 rad$LDUSBL_Hydroid.xAngle -50.450000 arcdegi 5M) HnZ(AYt*L@t*Z@yt* 2t*>t*H ?>/|ѿ[W?xA?54?`?)u*L@ u*q;Iu*CxBo>xBJE)GF@eYeٺe>iiQmLDiuP;u>Iy I6ٮy M6y QtI y UB9y}: }:)}Jc6 7)I tIi @C p:)d:I7I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 195.856016 arcdeg .q'='=*G92G=|r#@FAFArFIbFIEIEI)e;Ie9 aaiaIam@iim|r#@ q2@u<:@}w: ߉$RHorizontalControl.headingCmd 2.553863 radIw) 8It(AYt.)L@t.Z@yt.F%t.օ>t.Hf?| ċѿ@ ?Q?@ ? L?)u.)L@ u.7q;Iu.CxB`k>xBEG@H@iPIT)SGa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe ;m>iiQmLDiu;u>I I6ٮ QtI  UB9: x:)6  7)   7I   tIi  AC  :) 5;I ^7AIA9A=O @Contact HDG: 146.325547 arcdeg .' ' O 4Initialize Wait Component.*G)2G1F1F1rF9bF9E9E9)u;Iu9 qqiqIq}X"@iyy 2@<:@w: ߹^)  #(A@ Yt.TL@t.[@yt.!t.8>t.H@Ŀ>?Iѿ`@X?@U܁? ѕ??)u.TL@ u.Oq;Iu,xNeq>xRnE)GiF@=YE];E>IIQMLDIM-;U>IQ I]6ٮQ M]6Q Q]tI Q UeB9QU: U:)U>6 m7)i m7Ii mtIii uACi m:)m:Im7I9*G2GFFrFbFEE)U;IU9 QQiYIY]S$@ieS>a a2@m<:@mw: ߁ >) (AYt*wTL@t*[@yt* t* >t*Hտ??3@ѿR?T?s?``?)u*wTL@ u*p;Iu*CxRv>xREi\I`)-IIQMLDIUamU>IY Ie6ٮYY QetI Y Ue B9Y]: ]:)]6 m7)iIi utIii uACi m%:)mZ:Im7I9*G2GFFrFbFEE);I9 iID$@`i > 2@<:@w: Yp) 8(AYt*@L@t*KC[@yt*J"t*y>t*H`A?@ѿ ~\?C?:(? xBEHFp=HFa=)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeIfe>aiQmLDiml!<m>Iq I}6ٮq M}6q Q}tI q U B9quw: u:)u;6 8) 8I tIi BC :):I 8I9*G2GFFrFbFEE);I9 iIvx#@i 2@<:@w: F) ۾(A) IYt.L@t.9[@yt.>-t.Xz>t.H ?#\ѿR@ȓ? ?@? ?)u.L@ u.TAp;Iu.CxBi>xBEiPIP) = a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYem>iiQmLDiuʺu>Iy I6ٮyy QtI y U B9y}ͭ: }:)}ʊ6 8)I tIi BC B:)x:IP8I9*G2GFFrFbFEE);I9 iIp~#@갽i 2@<:@w: > i ˼) (AYt*YL@t*dm[@yt*,t*SR>t*H`?ҿຕU?d? ? ?)u*YL@ u*o;Iu*Cx:xp>x:E)xF@5Y5(95>99Q=LD9E <E>IA IM6ٮAA QUtI A UU!B9AE: E:)E6 ]8)YIY ]tIiY eCCY ]:)]Ԙ:I]8qIq9q*G2GFFrFbFEE);I9 iI|r#@i 2@<:@w: )I yï) j(AYt*L@t* Y[@yt*t*ȇ>t*H` /? ҿdOB?`Q?-?>?)u*L@ u*o;Iu*CxFo>xFEGJ@AHHiTIT) SGF@=YEV5;E>IIQMMDIUOIU>IQ I]6ٮQ Me6Q QetI Q Ue!B9QU: U:)Uf6 m8)iIi utIii uCCi m:)m:ImE8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: dɯ) G)(AYt*]L@t*h[@yt*̎t*R>t*H lT?R@ҿЫ??C ?@N?)u*]L@ u*o;Iu*CxBr>xBIE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGia 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y9 >11Q5MD1=;=>IA IE6ٮAA QMtI A UM"B9AE< E<)E6 8)  8I  tIi  DC  :) ]:I *8AII9I&]MeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'N5@Vehicle HDG: 196.570987 arcdeg .q'='=*G92G9FaFarFibFiEqEq);I9 iIi 2@<:@w:  R> >Я) C(AYt*L@t*[@yt*Xt*L>t*Hc?2@jGҿK?v?`&?q?)u*L@ u*o;Iu(xBl>xBE){FoeI{Di{F={D{D{FA{D|F&B9|F_eh?ci`I`)aF@Yʥ >ʡʡQMDʡͭ6:>I I6ٮ M6 QtI  U"B9鰵; ÷;)E6 8)I tIi DC :):Ic8I9=O@Contact HDG: 146.325547 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzE&BEsv'9@6@E_eh?cEoeEEp5<@1j6@B狿E#X2ls?FCxȿEm]#@=%DHdg To Contact =146.251904 degreesZE AbE:EOo$?BEso$?JEv RE~ jErEq)];I]9 YYiaIaaaiii 2@<:@w: ߩ$Dacoustic_contact_range 41.520000 m$MhTrackAcousticContact.heading_to_contact 2.552577 rad$ULDUSBL_Hydroid.xAngle -51.350001 arcdeg֯) /\(AYt* M@t*[@yt*$t*Ї>t*H?谿dҿ@`??@???)u* M@ u*bo;Iu(xBo>xBJEHDHD)Ga 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@5Y==>AAQEMDAM;M>II IU6ٮII Q]tI I U]"B9IM: M:)M6 e8)aIa etIia mDCa e:)e:Ieީ8yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: :ݯ) Iv(A);I Yt*M@t*[@yt*S-t** >t*H b`?@nҿe?p?@??)u*M@ u*oo;Iu(xBsj>xB(EiTIT)ƄG %= F@=YEE>AAQMMDIMe:M>IQ I]6ٮQ Me6Q QetI Q Ue"B9QU; U; ;)U:6 m8)iIi utIii uECi m:)m:Im8I9*G2GFFrFbFEE)5;I59 99i9I9AAiAA A2@M<:@Mw: ai ) %(AYt*M@t*[@yt*b $t*>t*Hs ?``nҿ`D@?5??_?)u*M@ u*o;Iu*CxRv>xRGE)ׄGF@-Y-":5>11Q5MD1=S=>II I]6ٮII QmtI I Um#B9IMb; M};)M16 u8)q }8Iq tIiq ECq uP:)u;Iu,8I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: B%) (AYt*@M@t*[@yt*y t*? >t*H9%?`f3ҿ ]`?{?_??)u*@M@ u*o;Iu*CxN5g>xR*EGPHRAAi\Ib̓C)҄Ga 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅBg:>ʁʁQMDʁ͍;>I I6ٮ QtI  U#B9鰕; ;)6 8)I tIi FC }:)N:I'r8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ! ) hĿ(A Yt*YM@t*\@yt*t*k>t*Ht0?`K`ҿ` ?s;?` ?@?)u*YM@ u*!o;Iu*CxBRr>xBE)~+GiyAF@ Y N:>QMD~;>I! I-6ٮ! M-6! Q-tI ! U-#B9!%: %:)%th6 =8)1I1 =tIi1 =FC1 5>:)5:I58III9I*Ga2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩ > x> =) :\޿(AYt*nfM@t*y\@yt*2)t*i>t*H@4;? Buҿy ?q?@-?? ?`L?)u*nfM@ u*o;Iu*Cx:i>x:EiHIJѓC)zSGa 15a 15 a 55a 55 a 95a 95 a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYUhU>YYQ]MDYe1:e>Ii Im6ٮii QutI i Uu$B9im: m :)m6 }8)yIy tIiy FCy }:)}:I}8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: a) O (AYt*}M@t**\@yt*+t*†>t*H GBW? Cҿ?`s? g?t?)u*}M@ u*to;Iu(xVRr>xVEHXHX)-GF@5Y==>AAQEMDAMh;M>II IU6ٮI MU6I Q]tI I U]$B9IM: MD:)MF6 e8)a e8Ia mtIia mGCa eo:)e:Ie<8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: J) (A)IYt* tM@t*!\@yt*?m't*>t*H`R?@Ѱҿ??b?@?)u* tM@ u*5o;Iu*Cx>c>xB, EiLIL)-҄G11F@YʝD :>ʡʡQNDʡͭk>I I6ٮ QtI  U$B9鰵4; FL;)Z6 8)I tIi GC ;);I89I99A&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u N}Initialize.q'}Nm@Vehicle HDG: 197.069959 arcdeg .q'm'm*Gi2Gmm]#@FqFqrFybFyEyEy);I9 iIm]#@im]#@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.552577 radi s ) +(AYt*M@t*c\@yt*'t*v>t*H  ?@#ӿ`$?D?r~?`?)u*M@ u*o;Iu*CxBxp>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y<;>QND!<>I! I-6ٮ! M-6! Q-tI ! U%B9!%$< %i<)%36 8)I tIi HC Е:):I58)I)9)=O}@Contact HDG: 146.251904 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFFrFbFEE)%;I%9 !)i)I)11i11 92@<:@w: ߡ0[) 6E(Ax~'n>x~pEGAAH@A){Q oI{i{={{{ B{|A9|1? 2iAIA)GF@5Y==>AAQENDAEM>II I]6ٮII Q]tI I U]%B9IM; MQ;)Md6 e8)a m8Ia mtIia mHCa e:)e:Ie8yIy9y*G2GFFrFbFEE2EzEAETjsC-@Q}^3E1? 2EQ oEEV3dVN+@dE~bƞ*oV ?ɿE5!@=DHdg To Contact =144.831334 degreesZE ^AbE:Eto$?BEOo$?JE} REv jErE);I9 iIi 2@<:@w: $Dacoustic_contact_range 24.600000 m$hTrackAcousticContact.heading_to_contact 2.527784 rad$LDUSBL_Hydroid.xAngle -53.500001 arcdeg) _(A@ x~u>x~E)Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QND >I  I6ٮ  M6  QtI  U%B9  < Ȱ<) {6 8)I tIi HC Ր:)ȗ:IT8I9*G2GFFrFbFEE)-;I-9 )IiIIQQQiYY Y2@e<:@ew: q >,) ^ey(AYt.M@t.\@yt.W&t.Ȅ>t.H`?5C*ӿ M|?`ʄ?ki??)u.M@ u.1wo;Iu.CxRI>xREi`Ib̓C)%҄GF@eYeQm>iiQmNDiu۸;u>Iy I6ٮyy QtI y U&B9y}: }:)}o6 8)I tIi IC :),:I98I9*G2GFFrFbFEE);I9 iIi 2@<:@w: $) $C(AYt*OM@t*Z\@yt*t*>t*H`Ѭ?`᱿x1ӿ@p`&? 7? ?'?)u*OM@ u*do;Iu(xBn>xBEHBa=HBp=)~vGF@=YE:E>IIQMNDIM:U>IQ I]6ٮQQ QetI Q Ue&B9QU: UJ:)U6 m8)iIi mtIii uICi mp:)mA:Im8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: *) 5'(A)IYt*d N@t*o\@yt*0$t*(k>t*H`?`:@Wӿdg ;? u?`??)u*d N@ u*wo;Iu*Cx>s>x>EiLINѓC) G4=a 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}42:}>yyQ}NDʁͅ;>I I6ٮ M6 QtI  U&B9鰍: :)L6 8) 8I tIi JC :)@:I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i 21) f(AYt*4N@t*?\@yt*t*JB>t*H`?@Qӿ m ?+xRE)-GF@=YE:E>AIQMNDIMyM>IQ I]6ٮQQ Q]tI Q Ue'B9QU: U :)U16 m8)aIa mtIia mJCa eɏ:)ex:Ie]8I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: a7) (AxvB`>xv EGxHxi I ̓C)m+GF@uY}}>ʁʁQNDʁͅ>I I6ٮ M6 QtI  U'B9鰍: A:))6 8)I tIi JC :) :I 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@ w: =) կ(A@ Yt2L;N@t2W\@yt2$t2Ɔ>t2Hx`?`04ӿf@z ?`ƛ??h?)u2L;N@ u2o;Iu2CxBh>xBE)=Gi=xAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y3>QND!%9<%>I) I56ٮ)) QUtI ) UU'B9)-Ե; -;)-T6 e8)YIY etIiY eKCY ]:)]g:I]88qIq9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.766748 arcdeg .q'' *G 2G 5!@F F1rF9bF9E9E9)u;Iu9 qqiqIq}5!@iy}5!@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.527784 rad V> p>@D) (AYt*9N@t*\@yt*ut*C >t*H3yj?@ӿIU ?@n?*?n?)u*9N@ u*ào;Iu(xFw>xFjEiTIT)F@=YE:E>AIQMODIMώM>IQ I6ٮQ M6Q QtI Q U(B9QU,< Ug<)U6 8) 8I tIi KC ,:):I,8I9=O@Contact HDG: 144.831334 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: K) d.(AYtBbN@tB]@ytBtB嗄>tBHr)?@ӿYi ?ق?c?@~?)uBbN@ uBo;Iu@xJ>xJEHJp=HNa= {LY|LR8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mSGa 1}a 1} a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝg:>ʡʡQODʡͭw;>I I6ٮ QtI  U(B9鰵: >:)6 8)I tIi LC 5:)I:I"{8I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: AQ) 5AH(A)I Yt>$N@t>/3]@yt>t>y>t>Hnm@G?MqӿP\a?`?@? ?)u>$N@ u>@o;Iu>CxNxp>xREihIjѓC)5G99F@}Y}?ʁʁQODʁ͍;?I I6ٮ QtI  U(B9鰕: :)6 8)I tIi LC :):I}8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ߙi %X) 4-b(AYt2~N@t2,]@yt2~t2Y>t2H@n@7?ⲿ`ӿ L`pv?`ك?y?`=?)u2~N@ u2o;Iu2Cx>i>x>NE)~+Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]c]>YaQeODae~e>Ii Iu6ٮi Mu6i Q}tI i U})B9im: mw:)m)P6 8)yIy tIiy LCy }O:)}A:I}8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: IL^) Y{(AYt*ȀN@t*-]@yt*q>t*>t*HIn;?W]ӿSuE? ?%??)u*ȀN@ u*yo;Iu(xB}>xBEGDHDiTIT) SGF@=YED:E>AAQEODIM9M>IQ I]6ٮQQ Q]tI Q U])B9QUS: Ux:)UL6 m8)a m8Ia mtIia mMCa ec:)e:IeR:8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 4e) |֕(A8 8YtzqN@tz|\]@ytz!tzh>tzHgq?D1@ӿ`]^w?+d? ]?`:?)uzqN@ uz&p;IuzCxv>xGE)}GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yٹ>QOD;>I I6ٮ M6 QtI  U)B9: :)U16  8)I  tIi  MC Ր:):I8I!9!*G12G1F1F1rF9bF9EAEA)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߁ a> >]k) (AYt*wN@t*m]@yt*n t*>t*Hddz?Կ4S?\?K? ?)u*wN@ u*p;Iu(xBjw>xB"Ei\I\)SGF@=YEMT:E>AIQMODIM1;M>IQ I]6ٮQQ Q]tI Q Ue*B9QU: U:)U6 m8)aIa mtIia mNCa e:)e:Ie8I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: ߁_Fr) (AYt*N@t*]@yt*Pt*r>t*HH``?O&ԿBP?i?K?@?)u*N@ u*o;Iu*Cx>k>xBEH@H@)~GF@=YEPE>AAQEODAM;M>IQ I6ٮQ M6Q QtI Q U*B9QU[< U<)U46 8) 8I tIi NC ˚:):I 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)-;I-9 ))i)I)11i19 92@E<:@Ew: Qpx) d(A)I4t.H*gQb?#ӿ`Gg??b??)u.N@ u.po;Iu.CxBu>xBEiLIL)~vG%==a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye :e>aaQeODimֻm>Iq I}6ٮqq Q}tI q U}*B9qu>: u:)uw6 8)I tIi NC :)N:I[K8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.170234 arcdeg .q''*G2GFFrFbFEE)5;I59 11i1I199i99 A2@E<:@Mw: yi ~) K(AYt.wN@t.]@yt. t.n>t.H`^?f`'Կ7Mf?=?ӣ??)u.wN@ u.q]o;Iu.CxN'n>xNpE) GF@UY]1]>YaQeODae<e>Ii Iu6ٮii Q}tI i U}+B9im.: m:)m6 8)I tIi OC )A:Iw8I9=O@Contact HDG: 144.831334 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  i   2@<:@w: I) t$¦(AYt*N@t*ʗ]@yt*gt*=>t*H]|?.Կ`Q?`匃?w?`?)u*N@ u*uo;Iu*Cx>e>x>P EG@H@iLIL)~+Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]Y].:]>aaQePDam:m>Iq Iu6ٮq M}6q Q}tI q U}+B9qu|: u^:)uCT6 8)I tIi OC :):I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ѫ) 0¦(A Yt*"O@t*-]@yt*+{t*[">t*H@iY h?@HԿYF?S/?`? ?)u*"O@ u*>ho;Iu*CxBt>xBlE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGiyAF@Yʵ9>ʱʹQPDʹͽ4;>I I6ٮ QtI  U+B9b; ;)6  8)  8I tIi PC >:) :I 8 I 9 *G!2G)F)F)rF9bF9E9EA)];I]9 aaiaIaiiiiq q2@}<:@w: ߙ > {>) lJ¦(AYt*O@t*]@yt*s&t*{>t*HyU?@mC_Կ 7P?ل?? P?)u*O@ u*",o;Iu*CxB'n>xBpE){BwI{@i{B={@{@{B`A{@|BA9|Bh%?W0[i`I`)%+GF@]Yepe>aaQmPDimw;m>Iq I}6ٮq M}6q Q}tI q U,B9qu: u:)u06  8)I tIi PC :):I[ 8I9*G2GFFrFbFEE2EzEAE/@2L[7Eh%?W0[EwEE"!N(6g?/@#Et![8UI?b5C˿E !@=DHdg To Contact =144.201577 degreesZEAbEB:Eno$?BEto$?JE| RE} jErE);I9 iIi 2@<:@w: $5Dacoustic_contact_range 27.959997 m$=hTrackAcousticContact.heading_to_contact 2.516792 rad$ELDUSBL_Hydroid.xAngle -55.449999 arcdeg2) d¦(AYt*RO@t*]]@yt*vt*8>t*HbY@?A/HԿ;?W8? ?? ?)u*RO@ u*n;Iu*CxNu>xREHPHRp=)%SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ6 ;>ʡʡQPDʩͭj>I I6ٮ QtI  U,B9鰵: W:)c6  8)I tIi PC  :):I3 8I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: A 螰) ~¦(A) I;Yt**@O@t*5]@yt*t*q>t*H(P`?@l벿Կ mC@?&}?(?e?)u**@O@ u*o;Iu(xB>xB EiPIT)%dG-4=-4=F@]Yex e>aaQmPDim*<m>Iq I6ٮq M6q QtI q U,B9quI; u,;)ur 6  8)I tIi QC }:),:I 8I9*G2GFFrFbFEE)5;IU9 QQiQIYYYiaa a2@m<:@mw: ߙi ѥ) #i¦(AYt28O@t2]@yt2? t2>t2H\Qn?@I벿 wԿC?s?`??)u28O@ u2mn;Iu0x:,t>x:#E)xa 15a 15 a 55a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʥK>ʩʩQPDʩ͵>I I6ٮ QtI  U-B9鰽F: :)S~6  8)  8I tIi QC :):I) 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I9 !!i!I!))i)) )2@5<:@5w: I>) <¦(AYt*e[O@t*p^@yt*X!t*>t*HK?TŘԿ-5)?`+??/?)u*e[O@ u*Co;Iu*CxB0>xB EG@HFAAiPIP)GF@=YE E>AIQMPDIM-;M>IQ I]6ٮQQ Q]tI Q Ue-B9QU: U:)U6 m 8)aIa mtIia mRCa e:)e :Iegk 8yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 198.774242 arcdeg .q'e'e*Ga2Ge !@FaFirFibFiEE);I9 iI !@i !@ 2@<:@w: $5RHorizontalControl.headingCmd 2.516792 radᲰ) ¦(A@ Yt*ZO@t*^@yt*Z#t*㝈>t*H@K` ?bԿ2-?up? ??)u*ZO@ u*Xo;Iu*CxBHf>xB E)~҄GiwAF@=YE뫹E>AAQMPDIMPM>IQ I]6ٮQ M]6Q QetI Q Ue-B9QU: U:)U=W6 m 8)aIa mtIia uRCa eO:)e:Ie 8yI9=O@Contact HDG: 144.201577 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w:  > > ) ¦(AYt*؇O@t*4^@yt*݈t*>t*HDw0?Կ0` ? ?M??)u*؇O@ u*Xo;Iu*CxRt>xRlEi`I`){Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʉQPDʉ͍ ;>I I6ٮ QtI  U.B9鰕G: J:)6  8)I tIi RC  :) :I 8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !6) ¦(AYt*O@t* -^@yt*+t*>t*H@E *?]mrԿ3@?`e%???)u*O@ u*n;Iu*CxBp>xBEHFa=HD)~vGF@=YE:E>AAQMPDIMwM>IQ I]6ٮQ M]6Q Q]tI Q Ue.B9QU|: U:)U36 m 8)a m 8Ia mtIia mSCa e,:)eb:Ie7 8yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: ư) iæ(A)4t*H>T?`bdԿ 3@M?`$?@g{?T?)u*LO@ u*~n;Iu*CxB |>xBEiPIP)~G%=%=F@ Y:>QQD%i;%>I! I-6ٮ!! Q-tI ! U5.B9!%: %):)%6 = 8)1I1 EtIi1 ESC1 5:)5:I5z 8IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIi 2@<:@w: ߱i H̰) #3æ(AYt6$O@t6/^^@yt64't6͂>t6H@=` Y?IԿ@~)T?`?`?`U?)u6$O@ u6n;Iu4xR}>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-->)1Q5QD1=]T:=>IA IM6ٮA MU6A QUtI A U]/B9AE; ER;)E6 m 8)aIa mtIia mTCa e:)eL:IeE 8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Q0Ӱ) _Mæ(AYt*O@t*t^@yt*'t*~>t*H=: j? Կ "M"???2?)u*O@ u*n;Iu*CxNWx>xREGR@AHR@A){RdI{Pi{R'={P{P{RA{P|R="B9|RT?N&Mi|I|)]vGF@}YʅS7>ʁʁQQDʁ͍e;>I I6ٮ QtI  U/B9鰕 ; ;)6  8)  8I tIi TC $:)Ӡ:I 8I9*G 2GFF1rF9bF9E9E92EIzEM="BEME70c9@H#ҡ?EMT?N&MEMdEIEM6 ALSx4@0% EM4}a&?%_zɿEM#p&@=uDHdg To Contact =149.003077 degreesZEM£AbEMI:EMNo$?BEMno$?JEMx REM| jEM/rEM);I9 iIi 2@<:@w: $5Dacoustic_contact_range 40.559998 m$=hTrackAcousticContact.heading_to_contact 2.600594 rad$=LDUSBL_Hydroid.xAngle -51.250000 arcdeg=Zٰ) *:gæ(A Yt.'O@t.2o^@yt.(t.>t.H ;`Hk?c`Կ@*?@??x?)u.'O@ u.o;Iu.CxNMl>xRLE)]GiexAaF@uYʅPh>ʑʑQQDʙ͝YA>I I6ٮ QtI  U/B9鰥ի: t:)6  8)I tIi TC :):II 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)E;IM9 IQiQIYiiiqq y2@<:@w:  t> {>A) æ(AYt*O@t* ^@yt*(t*$>t*HO5`?@Nտ *b}?g?nt?)?)u*O@ u*n;Iu(xR}>xREi`Ib̓C)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y5>QQD;>I I6ٮ M6 QtI  U0B9: 0:)y`6  8)I tIi UC :):IA 8 I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 199.255469 arcdeg .q''*G2G#p&@FFrFbFEE);I9 iI͌"@i#p&@ 2@<:@w: $RHorizontalControl.headingCmd 2.600594 radll) 5æ(AYt*lO@t*w^@yt*t*Fڅ>t*H"5׊?  9տ(@?dy?w?I?)u*lO@ u*n;Iu*CxBjw>xB"EHDHD)|F@=YE;E>AAQMQDIMk9M>IQ I]6ٮQQ Q]tI Q U]0B9QUG: Ul:)U6 m 8)aIa mtIia mUCa eF:)e:Ie- 8yIy9=O@Contact HDG: 149.003077 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I 9  i I u%@iqq q2@}<:@}w: ߱8) ʴæ(A);IYt.O@t.^@yt.K&t.6>t.H3ߐ?`#տ!?߄??`?)u.O@ u.n;Iu.CxR'n>xRpEi`I`)G!%4=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅٺ>ʉʉQQDʉ͕7:>I I6ٮ M6 QtI  U0B9鰝: :)V:6  8)  8I tIi VC  :):I 8I9*G2GFFrFbFEE);I9 iI&@i 2@ <:@ w: ߹i }) ʤæ(AYt*O@t*^@yt*.t*/>t*H`f1@(? W1տo?@???)u*O@ u*o;Iu*Cx2v>x6GE)rvGF@zYz~>||Q~QDS;>I  I6ٮ   QtI  U0B9  \: _:) 6 % 8)I %tIi %VC :):IV 81I191*GI2GIFIFIrFQbFQEQEQ)m;Im9 iiiqIquEP'@u2iyy y2@<:@w: ߑ) kæ(AYt*WO@t*b^@yt*F!t*>t*H2@?e(տ &@(? ??҂?@G?)u*WO@ u*.n;Iu*CxBo>xBJEG@H@iPIRѓC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:e>iiQmQDiubu>Iy I}6ٮy M6y QtI y U1B9y}: }:)}6  8)I tIi VC :) :I= 8I9*G2GFFrFbFEE);I9 iI#p&@i 2@<:@w: ) bĦ(A@ Yt. P@t.Ӹ^@yt.#t.t>t.H.`կ?ґ s?տE# ?~?.~? ?)u. P@ u.+n;Iu.Cx>q>xBE) +Gi yA F@=Y=۝E>AAQEQDAMt;M>IQ I]6ٮQQ Q]tI Q U]1B9QU: U:)U߂6 e 8)aIa mtIia mWCa e[:)e,:Ie 8yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w:  R> >) 6Ħ(AYt* P@t*^@yt*!t*n >t*Hj- ԯ?# 4Hտ@ ?z?/?&?)u* P@ u*n;Iu*CxRMl>xRLEi`I`)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ@:>ʩʩQRDʱ͵j:>I I6ٮ QtI  U1B9鰽: :)6 8) 8I tIi WC 0:)ʽ:I&8I9*G2GFFrFbFE E );I9 !!i!I!))i)) )2@5<:@5w: IX ) 6Ħ(AYt*P@t*^@yt*A#t*؆>t*Hp0 ?`³@6տ@>X?q{? .?@?)u*P@ u*vn;Iu(xBj>xBqEHDHFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@Y}>QRD2>I! I-6ٮ! M-6! Q-tI ! U52B9!%; %t;)%f6 e8)YIY etIiY mXCY ]:)]:I]n8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF!rF!bF!E)E));I9 iI!!i!! I2@U<:@Uw: q=) OĦ(A) I Yt*P@t*^@yt*)t*L>t*H-,?@{)Eտ"@?:?]y??)u*P@ u*\n;Iu(xBu>xBEi\I\)G]p=e=F@Yʕr>ʙʙQRDʙͥ;>I I6ٮ QtI  U2B9鰭; B;)6 8)I tIi XC ٓ:):I\8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 199.412332 arcdeg .q''*G2GFF rFbF!E)E1)};I}9 iIi 2@<:@w: ߱i ) iĦ(AYt*iP@t*t^@yt*O|*t*v>t*H-?؄sIտ=! ?pO?e~??)u*iP@ u*KKn;Iu(xBn>xBE)~SGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Y¸>!!Q%RD!-,:->I1 I56ٮ1 M=61 Q=tI 1 U=2B915R: 5:)5C6 E8)AIA MtIiA MYCA E:)Eȗ:IE8yIy9y=O @Contact HDG: 149.003077 arcdeg .' ' O 4Initialize Wait Component.*G 2G)FQFQrFQbFYEYEY)u;Iu9 qqiqIqyyiyy 2@<:@w: ߹= ) #Ħ(AYt* P@t*^@yt*'t*2>t*H@.$?@sͳ#Aտ?? ?@?)u* P@ u*qZn;Iu*CxNu>xREGR?AHPi`I`)%GF@]YeE9e>aaQmRDimŹm>Iq I}6ٮqq Q}tI q U}3B9qu: uJ:)u}6 8) 8I tIi YC :):I58I9*G2GF1F1rF9bF9EAEA)u;Iu9 qyiyIyyi 2@<:@w: ߡ') Ħ(A Yt.9 P@t.D^@yt.dUt.8>t.H.`?ﳿ`?տq@?@ʃ?@??)u.9 P@ u.-n;Iu.CxBn>xBE)~SGi~xA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ:>ʁʁQRDʁ͍U>I I6ٮ M6 QtI  U3B9鰕: :)6 8)I tIi YC }:):Ilz8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ߙ > {>2-) ZĦ(AYt*P@t*^@yt*p$t*9>t*HF.?qCտ#@fy?@ו?w?@?)u*P@ u*/n;Iu*CxBj>xBqEiPIP)~GF@=YESE>AAQMRDIM :M>IQ I]6ٮQQ Q]tI Q Ue3B9QU2: U:)U6 m8)aIa mtIia mZCa e-:)e:Ie%8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 4) L7Ħ(AYt*O@t*͜^@yt*(t*[r>t*H3?d $տ'`΍?#?}??)u*O@ u*On;Iu*CxB?s>xBEH@HFp=)GF@%Y%O&->))Q-RD)55>I9 IE6ٮ99 QEtI 9 UE4B99=: =:)=6 U8)I U8II UtIiI UZCI Mݖ:)M:IM8aIa9a*Gy2GyFyFyrFbFEE);I9 iIi !2@5<:@=w: yE:) Ħ(A)IYt* P@t*^@yt*&%t*Ӯ>t*H\0 K?f17տ` ?ͷ?@??)u* P@ u*u n;Iu*Cx>xp>xBEiLIL)~vG%=4=a 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]z9e>aaQeRDamr;;m>Iq I}6ٮq M}6q Q}tI q U}4B9qu: u:)ud6 8)I tIi [C -:)A:I F8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i h,A) Ŧ(AYt*O@t*^@yt*Rz"t*:>t*H7y?@`̳`)տ! d?`4O?`? E?)u*O@ u*n;Iu*CxRxp>xP)GF@=YE:E>AIQMRDIMuٻM>IQ I}6ٮQQ Q}tI Q U4B9QU; U;)U6 8)I tIi [C :)o:I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9IAAAiII I2@U<:@Uw: aVG) Ŧ(AYt* O@t*^@yt*'t*3>t*H5?@Fտ`+q??In??)u* O@ u*m;Iu*CxRs>xREGRAAHTiI)]QSD:>I I6ٮ M6 QtI  U5B9: :)D6 8)I tIi [C O:)ȗ:II8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.248585 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: M) 8Ŧ(A@ Yt.O@t.r^@yt.&t.Xt>t.Ht:p?/C^Կh.(?҄?!~?@?)u.O@ u.n;Iu.CxBeq>xBnE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiF@Yi89>QSD>I I 6ٮ QtI  U55B9; ;)´6 E8)9 M8I9 MtIi9 M\C9 =:)=:I=L8I9=O@Contact HDG: 149.003077 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!i!! a2@<:@w: ߹ {> hT) t{RŦ(AYt*O@t*^^@yt*:(t*>t*H`=`[? "YGԿ,?? L??)u*O@ u*_m;Iu*CxBr>xBIE){Br$I{@i{B={@{@{B A{@|BB9|BZh?{#xipIr֓C)IF@Y>QSD G >I I56ٮ M=6 Q=tI  U=5B9; ;)e#6 E8)AIA MtIiA M\CA E}:)E:IEmZ8yIy9y*G2GFFrFbFEE2EzEBEtÂN2@yd>EZh?{#xEr$EE? ;?P5@(+EJM!?2y!?iO˿Euk@=DHdg To Contact =140.929492 degreesZEAbEf:Eao$?BENo$?JEw REx jErE/)=;I=9 AAiIIIi 2@<:@w: I$ Dacoustic_contact_range 35.699997 m$hTrackAcousticContact.heading_to_contact 2.459684 rad$LDUSBL_Hydroid.xAngle -59.149998 arcdeg!Z) ZlŦ(AYt*ѯO@t*\^@yt*-t*>t*H@>R?̳Կ=%'???Y?)u*ѯO@ u* n;Iu*CxBeq>xBnEH@HBa=)|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY}:}>ʁʁQSDʁ͍`>I I6ٮ QtI  U6B9鰕N; ;)?6 8)I tIi ]C %:):I8qIq9y*G2GFFrFbFEE);I9 )i)I)11i19 92@E<:@Ew: ߑza) 5Ŧ(A)IYt.O@t.#/^@yt.lU&t.W>t.H}E /?4`aԿ4? ʄ?`??)u.O@ u.m;Iu.CxB\~>xBgEiPIVѓC) 4= F@Y%⑺%>!)Q-SD)-->I1 I=6ٮ11 Q=tI 1 UE6B915: 5߼:)5^6 M8)AIA MtIiA M]CA E:)E:IE48YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: !i g) *Ŧ(AYt=O@t=;^@yt=C't=R>t=HeC C?YԿn?y?`?.xME)a 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@mYuMu>qyQ}SDy}:>I IE6ٮ MM6 QMtI  UM6B9鰅Z< <)r6 U8)Q ]8IQ ]tIiQ ]]CQ U0:)U:IU,8I9*G2GFFrFbFEE);I9 AAiAIAIM4iII Q2@U<:@]w: om) Ŧ(AYt*uO@t*"^@yt*m't*v>t*HxG )?ҲԿ`>s??f?@?)u*uO@ u*.m;Iu*Cx>Wx>xBEG@H@iPIP)|F@Y%u8%>!!Q-SD)-->I1 I=6ٮ11 Q=tI 1 U=7B915: 5:)56 M8)AIA MtIiA M^CA E̒:)E:IEae8YIa9a*Gq2GqFqFqrFbFEE);I9 iIUi 2@<:@w: 8t) qŦ(A Yt2kO@t2^@yt2$t2^>t2H@"I ? FeԿ1`$??.??)u2kO@ u2xn;Iu2CxB`k>xBE)~GivAF@Y%9%>!!Q-SD)-mʺ->I1 I=6ٮ1 M=61 Q=tI 1 UE7B915: 5m:)5GC6 M8)AIA MtIiA M^CA E:)E:IE{8YIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w:  R> >z) rŦ(AYt:kTO@t:v^@yt: (t:w>t:HL?O@%ԿF3_1? ?k?S?)u:kTO@ u:Nn;Iu:Cxn{>xnEi|I~֓C)m+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y  >11Q5SD1=[S=>IA IE6ٮAA QMtI A UM7B9AE: E_:)E6 u8)qIq utIiq }_Cq uݖ:)uϝ:Iu 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI QUUŮiQQ Q2@]<:@]w: q%Ɂ) g}Ʀ(AYt.FO@t.]@yt. !t.V(>t.HO?@Ͳ ԿC@?@!?@t? !?)u.FO@ u.m;Iu.CxNv>xREHRR=HRp=)eSGF@}YʅҒ:>ʁʁQSDʁ͍_>I I6ٮ M6 QtI  U8B9鰕: X:))#6 8) 8I tIi _C :):I38I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.701363 arcdeg .q''*G2Guk@FFrFbFEE);I9 iIA$%@iuk@ 2@ <:@ w: A$RHorizontalControl.headingCmd 2.459684 radH) X!Ʀ(A) IYt*l>O@t*w]@yt*rt*5;>t*HzPA?a}Կ VM5?>;? h9?`?)u*l>O@ u*JGn;Iu*CxB:m>xBEiLIRѓC)~G=F@mYu;u>yyQ}TDyͅ>I I6ٮ QtI  U8B9鰍: :)%6 8)I tIi _C :):Iw8I9=O@Contact HDG: 140.929492 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI&z"@i 2@<:@w: i w) /;Ʀ(AYt*ZO@t*^@yt*"'t*>t*HK-?1IJԿA lj?`?`op??)u*ZO@ u*n;Iu(xB,t>xB#E {DY|DJ8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )M+Ga 1 a 1  a 5 a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʵ5>ʱʱQTDʹͽm;>I I6ٮ M6 QtI  U8B9<  <)R6 8)I tIi `C n!<)v"t:H U@?`_aԿ ;@3?fQ?T?@?)u: O@ u:n;Iu:Cxb|>xbCEGj?AHhiI)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y)>QTD>I I6ٮ Q%tI  U%9B9}: :){6 M8)) M8I) UtIi) U`C) -̯;)-ı;I-O8aIa9a*G2GFFrFbFEE);I9 iIi 2@<:@w: !9/) :nƦ(A@ Yt.yO@t.]@yt.~%t.ڄ>t.HTU`? _ԿJ??k?Z?)u.yO@ u.m;Iu.CxBk>xBE)AAQMTDIMM?IQ I]6ٮQQ Q]tI Q U]9B9QU: U:)U)6 m8)aIa mtIia maCa e:)ec:IeB8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  > >v) Ʀ(AYt*'"O@t*2]@yt*t*<>t*HT@y?` bԿ (P4?@M3?@mC?`?)u*'"O@ u*]n;Iu*CxBu>xBEiTIT)GF@=YEk:E>AIQMTDIM@9M>IQ I]6ٮQ M]6Q Q]tI Q Ue9B9QU: Uw:)UwH6 m8)aIa mtIia maCa e:)e:Ie8yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: @) bƦ(AYt*PO@t*[]@yt*t*˅>t*H`V?.ز>YԿH`D?%? ?@?)u*PO@ u*D8n;Iu*CxBf>xB EHBa=HD)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY] 9]>aaQeTDamm>Iq Iu6ٮqq Q}tI q U}:B9qux: ug:)uŷ6 8)I tIi aC :):Iu8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: }k) 9{Ʀ(A) IYt* O@t*]@yt*t*ʆ>t*H`V3?䲿XԿD ??|? _?)u* O@ u*MEn;Iu*CxZ"h>xZEihIh)5G5=9F@EYEM>IIQMTDIUKU>IY Ie6ٮY Me6Y QetI Y Ue:B9Y]: ]^:)]^%6 u8)i u8Ii utIii ubCi mV:)m:Im8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i U) _Ʀ(AYtRN@tR]@ytRI!tR>tRH ]`?\.Կ@MT|?@ )? b??)uRN@ uRKn;IuRCxZo}>xZE)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YRx>QTDͻ>I I6ٮ QtI  U:B9: :)6 8)I tIi bC :):IAV8 I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E1)M;IM9 IIiIIQQQiQY Y2@]<:@ew: qV}) 0Ʀ(AYt*O@t*]@yt*E.t*3e>t*HlW'?!5SԿmR :?M؅?i>?C?)u*O@ u*un;Iu*CxBMl>xBLEGB@AH@iPIP)~dGF@Yʍ}>ʑʑQTDʑ͝;>I I6ٮ M6 QtI  U;B9鰥: $:)m6 8)I tIi cC :)÷:IĘ8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 198.517645 arcdeg .q'e'e*Ga2GaFiFirFibFqEqEq);I9 iIi 2@<:@w: ߱d±)  Ǧ(A Yt*N@t**]@yt*t*!>t*Hd\@ѫ?5Կ`?K? ?`?`B?)u*N@ u*ʊn;Iu(xBq>xBE)|i~xA~wAF@=YEX;E>AAQMTDIMݜM>IQ I]6ٮQQ Q]tI Q Ue;B9QU2: U:)Uo6 m8)aIa mtIia mcCa eO:)e :Ie/8yIy9=O}@Contact HDG: 140.929492 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  i   )2@5<:@=w: ߩ R> {>ȱ) #Ǧ(AYt*N@t*]@yt*t*>t*H_`+?ⲿ@&Կ@-L?ƣ?U?:?)u*N@ u*7dn;Iu*Cx2i>x6Ei@I@)rGa 1%a 1% a 5%a 5% a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@}Yʅ:>ʁʁQUDʉ͍>I I6ٮ QtI  U;B9鰕S: :)v6 8) 8I tIi cC :):I 8I9*G2GFFrFbFEE);Iu9 qqiqIyyyi 2@<:@w: ߙα) =Ǧ(AYt*t*H`.]A? F<T1ԿY`=$?j?6?e?)u*xBGEH@HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )e҄GF@Yʵr>ʹʹQUDʹͽ:>I I6ٮ M6 QtI  Ut*H\@:?豿1ԿZ?`^?(?@?)u*N@ u*o;Iu*CxB,t>xB#E){BrSI{@i{B~={@{@{BB{@|BAA9|B_?_+ji`I`)vG%4=%%=a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ5>ʁʁQUDʉ͍8>I I6ٮ QtI  U rE) ;I 9 iIi 2@%<:@%w: 9$UDacoustic_contact_range 12.120000 m$]hTrackAcousticContact.heading_to_contact 2.655828 rad$eLDUSBL_Hydroid.xAngle -47.249999 arcdegi ۱) wqǦ(AYt*N@t*]@yt*M 0t*>t*H`;[?@a`_<Կ`L?m???)u*N@ u*@co;Iu*CxBp>xBE)dGF@=YEѹE>AIQMUDIM:U>IQ I]6ٮQ M]6Q QetI Q Uet*H@`ǐ?kϲԿJ?׃??@a?)u*N@ u*o;Iu(xZn>xZEGXH\ilIn̓C)5GF@]Ye);e>aiQmUDimvm>Iq I}6ٮqq QtI q U=B9qu: uC:)u6 8) 8I tIi eC c:)U:I\08I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) ,-Ǧ(A@ Yt*lN@t*ww]@yt*t*|>t*Hb ?T VԿY}?}P?=c??)u*lN@ u*n;Iu*CxBxp>xBE)5Gi15xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ#:>ʩʱQUDʱͽ >I I6ٮ M6 QtI  U=B9鰽p: 0:) 6 8)I tIi eC :)k:Iv8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E )%;I%9 !!i!I)))i11 12@=<:@=w: I V> >D) Ǧ(AYt*N@t*Љ]@yt*)t*L>t*H_`2?, Կ[0?? ;??)u*N@ u*o;Iu*CxB`k>xBEiPIRѓC)~dGF@Yʕg>ʑʑQUDʙ͝$7;>I I6ٮ QtI  U=B9鰥: :)v6 8)I tIi fC _:):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 198.331427 arcdeg .q'e'e*Ga2Ge)@FiFirFqbFqEqEq);I9 iI@i)@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.655828 rad) Ǧ(AYt~N@t~w]@yt~9t~>t~Hb?nԿ Wț?T?s?Y?)u~N@ u~n;Iu~Cx5u>x=EHEp=HEp=)Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY] :]>aaQeUDae-m>Iq Iu6ٮqq Q}tI q U}>B9qu: u:)u6 8) 8I tIi fC :)ӻ:I8I9=O%@Contact HDG: 152.167708 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F1rF1bF9EAEI)u;Iu9 qqiyIy}!@iy 2@<:@w: ߙD) Ǧ(A) IYt*N@t*ى]@yt*&t*>t*H_?k@ Կ@pU? 1?m?3?)u*N@ u*In;Iu*CxBi>xBNEiLIP)~ƄG%=F@=YEO'E>AAQMUDIML;M>IQ I]6ٮQ M]6Q Q]tI Q Ue>B9QU: U:)UP6 m8)aIa mtIia mgCa e:)e:Ie?8yIy9*G2GFFrFbFEE);I9 iI't%@i 2@<:@w: i ) l Ȧ(AYt*LN@t*Wq]@yt*U&*t*y>t*Hc ?G8x Կ_VN?D?@~?`?)u*LN@ u*n;Iu(xBu>xBE)~AIQMUDIMrM>IQ I]6ٮQQ Q]tI Q Ue>B9QU: U:)U6 m8)aIa mtIia mgCa e::)e,:Ie8yI9*G2GFFrFbFEE);I9 iI$(@iBv> 2@<:@w: b+ ) u&Ȧ(AYt*lN@t*wy]@yt*t*>t*H@b? ᕲ@>ԿSX??`+?`?)u*lN@ u*8n;Iu(xBxp>xBEGBAAHDiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye0;e>aaQmVDimA:m>Iq I}6ٮq M}6q Q}tI q U?B9qu: u:)us.6 8)I tIi gC ɏ:):I8I9*G2GFFrFbFEE);I9 iIu)@i 2@<:@w: ) R@Ȧ(A@ Yt.N@t.#Y]@yt.t.|ׅ>t.Hgf? @ӿY?@?-?`j?)u.N@ u.ln;Iu.CxBu>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGiyyF@Yʵ;>ʹʹQVDʹț>I I6ٮ QtI  U?B9@; ";)6 8) 8I tIi hC  ;)l;I8 I9*G12G1F9F9rFAbFAEIEI)m;Im9 iqiqIq}S)@2āi > 2@<:@w: ߹ x> =) *ZȦ(AYt6&N@t61Z]@yt6-Rt6o>t6Hgg`p?iӿ@bB?4?C?`?)u6&N@ u6كn;Iu6CxRv>xRE){RymI{Pi{Rk={P{P{RA{P|RA9|R&p0?݂NipIp)EʁʁQVDʉ͍*9>I I6ٮ M6 QtI  U?B9鰕R: V:) 6 8)I tIi hC [:):IQ8I9*G2GFFrFbFEE2EzEAEՖ3>0@NrG6E&p0?݂NEymEEN`6S ̀.@ۆ7E J5ч?_Ɨ/QɿE#@=DHdg To Contact =146.022314 degreesZEtAbE :Emo$?BEo$?JE| RE jE5rE> ) ;I 9 iI)@i 2@%<:@%w:) 1$UDacoustic_contact_range 27.839996 m$]hTrackAcousticContact.heading_to_contact 2.548570 rad$]LDUSBL_Hydroid.xAngle -53.150002 arcdegg) tȦ(AYt*N@t*P]@yt*-O"t*>t*Hh@i?`#ӿ`ca.f?I?Q??)u*N@ u**n;Iu(xZeq>xZnEH\H\)5SGa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕغ>ʙʙQVDʙͥ'>I I6ٮ QtI  U@B9鰭: |:)C{6 8)I tIi iC F:)Z:IN8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9 iIqi !2@%<:@%w:1 1)1I1 5O#) rȦ(A)p;I Yt*.N@t*94]@yt*zt*)>t*H@Em@KF??x`nӿW/?-σ?F??)u*.N@ u*9n;Iu*CxRr>xRIEidId)uG}4=}4=F@Yʍ:>ʉʉQVDʉ͕>I I6ٮ QtI  U@B9鰝: _:) 6 8)I tIi iC O:):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.032114 arcdeg .q''*G 2G #@F FIrFQbFQEYEY);I9 iI'@i#@ 2@<:@w: $-RHorizontalControl.headingCmd 2.548570 radi y)) Ȧ(AYt*jN@t*u<]@yt*L"t*\6>t*H@kQ?!=?ӿ[Y?@mI???)u*jN@ u*No;Iu*CxBWx>xBE)SGF@Yʝg>ʡʡQVDʡͥ:>I I6ٮ M6 QtI  U@B9鰭W; n;)W6 8) 8I tIi iC ?;);I8!I)91=OM@Contact HDG: 146.022314 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFQFQrFYbFYEYEY)u;Iu9 qqiqIq}\%@iyy 2@<:@w: ߙa0) (Ȧ(AYt*gN@t*]@yt*& t*>>t*H6r,? zӿ@cj o?@?X?@?)u*gN@ u*n;Iu(xBWx>x@GB?AH@iPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeLP;e>iiQmVDiuXȻu>Iy I}6ٮyy QtI y UAB9y}S: }а:)}[6 8)I tIi jC :):Isa8YIY9Y*Gi2GiFqFqrFybFyEyE);I9 iI#@i 2@<:@w: V6) rȦ(A Yt*oN@t*]@yt*%t*1>t*H@p` 5? 8ӿj``?uҁ?@P??)u*oN@ u*#o;Iu(xR?s>xRE)Gi%wA!a 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}>ʁʁQVDʁ͍ܟ:>I I6ٮ M6 QtI  UAB9鰕: :)36 8)I tIi jC :)Ԙ:I8I9*G2GFFrFbFEE);I9 iIJ#@i 2@<:@w:  > >-<) LȦ(AYt*[N@t*]@yt*t*>t*H t ?6K`ӿb`?@? P?e?)u*[N@ u*%o;Iu(xR}v>xREi\I`)%GF@-Y5 \5>19Q=VD9ELE>II IM6ٮII QUtI I UUAB9IM: M:)MI6 ]8)YIY etIiY ekCY ]:)]:I]8qIq9q*G2GFFrFbFEE);I9 iI#@i 2@<:@w: YC) 0)ɦ(AYt*\DN@t*g\@yt*Q t*>t*Hw ? Q ُӿ@d!?@ ???)u*\DN@ u*/o;Iu*CxNn>xREHPHRa=)GF@%Y-v->11Q5WD15kf=>IA IM7ٮA MM7A QMtI A UMBB9AE,: E0:)E7 ]8)Q ]8IQ ]tIiQ ekCQ UA:)U?:IU,8iIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: I) )ɦ(A);IYt.BN@t.\@yt.p$t.r">t.H`w?& hӿtk"?`w?>t?5?)u.BN@ u.xBEiLIP)~SG%=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe&e>iiQmWDi}h>I I7ٮ QtI  UBB9鰝: l:)m?7 8)I tIi lC R:) :Ir8I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )i \P) Bɦ(AYt65N@t6\@yt6:Gt6>t6H@y?`(ӿn(?`H?n??)u65N@ u6o;Iu4xR]>xRxE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Y-;>  Q WD !>I! I%7ٮ!! Q-tI ! U-BB9!%; %;)%x7 =8)9I9 EtIi9 ElC9 = :)=L:I=8YIY9aO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: V) \ɦ(AYt*)N@t*\@yt*t*>t*H{W?X mvӿl`P? ߂?Ό??)u*)N@ u*Vo;Iu*CxRh>xREGRAAHP){VPI{Ti{V={T{T{VB{T|VBA9|V| ? NipIr֓C)Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y&;>QWD >I  I%7ٮ   Q-tI  U-CB9  Es; t;) 7 =8)1I1 =tIi1 =lC1 5:)5:I58III9I&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 197.704989 arcdeg .q'5'5*G12G1F9F9rF9bFAEAEA2EIzEMBAEMlj^ @ʰx%E)ixAF@Y>QWD  >I  I7ٮ   QtI  UCB9  G: :) 7 %8)! %8I! %tIi! -mC! %:)%:I%XA89I999=O@Contact HDG: 152.016720 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@ <:@w: ! > p>c) qɦ(AYt*N@t*\@yt*aOt*,>t*H@}}? | hӿi?Ƀ?K??)u*N@ u*Jo;Iu*CxBv>xBEiTIVѓC)GF@Y>QWDW>I I7ٮ M7 QtI  U CB9g; ;)P7 -8)I 5tIi =mC S;);IO8iIi9q*G2GFFrFbFEE)%;I-9 11i1I199i99 A2@E<:@Ew: Yj) UMɦ(Ax~,t>x~#EHa=H)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q WD   >I I7ٮ QtI  UDB9: _:)SU7 -8)!I! -tIi! -nC! %Ր:)%,:I%89I999*GI2GQFQFQrFYbFYEYEa)u;Iu9 qqiyIyyyi 2@<:@w: ߙyp) $'ɦ(A) I Yt*N@t*\@yt*:t*>t*H@9~`?@Ɏ3fӿv 2q?LG?O??)u*N@ u*^o;Iu*CxRx>xVEilIn֓C)=GE4=AF@MYU:+:U>QQQUWDQ]ۢ]>Ia Im7ٮaa QmtI a UmDB9ae: eٮ:)e_7 }8)q }8Iq }tIiq }nCq ug:)u:Iu 8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i N'w)  ɦ(AYt*N@t*\@yt*t*Q>t*HࠁK?@챿Pӿ`l`(??@ʷ?.?)u*N@ u*^o;Iu*Cx2v>x6GE)zvGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ"ݹ>ʁʁQWDʉ͍~\>I I7ٮ QtI  UDB9鰕u: :)U7 8)I tIi nC Ր:) :IO8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: R}) ɦ(AYtBN@tB\@ytBHtBH7>tBHҁ? ӱOӿ dq@? ???)uBN@ uB_o;IuBCx^o>x^EG`H`ilInѓC)=dGF@MYMg@:M>QQQUWDQ]8]>Ia Ie7ٮaa QmtI a UmDB9aeF: e:)e7 u8)qIq }tIiq }oCq ul:)uI:Iu8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ";) ʦ(A Yt>iM@t>t\@yt>Gt>㤅>t>H? @Aӿu?63??(?)u>iM@ u>Wo;Iu>Cx^,t>x^#E)5Gi=wA9F@}YʍL>ʙʙQXDʙͥ >I I7ٮ M7 QtI  UEB9鰭: :)07 8)I tIi oC :)ȗ:I8I9*G2GFFrFbFEE)5;I=9 9AiAIAYYiaa q2@}<:@w: ߹ > >c) ђ+ʦ(AYt>M@t>\@yt>t>m>t>H`#@?@aMӿ@p? ?փ?@I?@?)u>M@ u>5io;Iu>Cxnl>xnEi|I|)]QXD:>I I7ٮ QtI  UEB92: W:)g7 8) 8I tIi pC :):I8I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9AAiAA A2@M<:@Mw: aDP) fEʦ(AYt..M@t.9\@yt.6t.>t.H i?`~屿 :ӿtm 1?`2݃?T??)u..M@ u.Yho;Iu.Cx>}v>x>EH>R=H@ {@Y|@F8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@Y>QXD = >I I%7ٮ Q%tI  U%EB9k: Z;)n7 ]8)QIQ ]tIiQ epCQ U:)U :IU[c8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.486573 arcdeg .q''*G2G)@FFrFbFEE);I9 iI%7$@i!%)@ !2@-<:@-w: a$RHorizontalControl.headingCmd 2.653192 radev) L_ʦ(A) IYt.M@t.\@yt. t.^k>t.H`9?;Cӿ`&r?^?@??)u.M@ u.Bo;Iu.CxBp>xBE){B>kI{@i{B<={@{@{B`A{@|BpA9|Bi?h)/pi`I`)=G=%=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YX>QXDO:>I I7ٮ QtI  UFB9; N;)7 %8)!I! %tIi! -pC! %:)%Ԙ:I%*8YIY9Y=O@Contact HDG: 152.016720 arcdeg .''O4Initialize Wait Component.*G2GF F rFbFEE2E!zE%pAE%&o;)@Ifi@0E%i?h)/pE%>kE!E%}%l#01aS@'@LsE%`VL?1^ɿE%X#@=UDHdg To Contact =145.926391 degreesZE%:AbE%:E%{o$?BE%o$?JE% RE% jE%ˇrE% )m;I9 iI'@is> 2@<:@w: ߱$Dacoustic_contact_range 21.179998 m$hTrackAcousticContact.heading_to_contact 2.546896 rad$LDUSBL_Hydroid.xAngle -52.650001 arcdegi Z) 5'yʦ(AYt*HM@t*S\@yt*K(t*>t*H1`&?uaFӿt??`0?S?)u*HM@ u*+o;Iu(xRx>xRE)vGF@-Y5i5>11Q=XD9=M :E>IA IM7ٮA MM7A QMtI A UUFB9AEp: E:)E 7 8)QIQ tIiQ qCQ U9:)U@:IU8I9*G2GFFrF bF E E )E;IE9 AAiAIIM+)@iIQ Q2@]<:@]w: ߙԇ) ʦ(AYt*M@t*\@yt*t*@1>t*HM w?ڱ x9ӿp @?B? ߳?`?)u*M@ u*Ko;Iu*CxBp>xB%EGF?AHDiTIT)dGF@=YE;E>AAQMXDIMM>IQ I]7ٮQQ Q]tI Q UeFB9QU: U:)ULB7 m8)a m8Ia mtIia mqCa eZ:)e7:IeI*8yI9*G2GFFrFbFEE);I9 QQiQIQ]>t)@] ji] >a a2@e<:@mw: ߙᱪ) ۬ʦ(A Yt.M@t.\@yt. t.0>t.HU` ?@α@Eӿ`n9?@???)u.M@ u.9o;Iu.CxNp>xRE)GiyAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥo>ʡʡQXDʡͭ:>I I7ٮ QtI  UGB9鰵>:  :){7 8)I tIi rC :)9:Ifp8I9*G2GFFrFbFEE);I9 iI)@*bi 2@<:@w:> ߱ i> >) ʦ(AYt*M@t*"\@yt*uQt*>t*H̄?~ֱ<ӿpq?@*?_??)u*M@ u*wQo;Iu*Cx6Rr>x6EiDID)rSGF@zY~ :~>||QXDHƺ>I  I7ٮ   QtI  UGB9  : :) Z7 %8)I %tIi %rC :):I81I199*GI2GIFIFIrFQbFQEQEY)m;Im9 iqiqIqq}pciyy y2@<:@w: )I ÷) ʦ(AYt*M@t*\@yt*$t*p>t*H?@6ӿs;? Ⴤ?`? ?)u*M@ u*Io;Iu*Cx6md>x6u EH6p=H6p=)rGF@Y%$Ӻ%>!)Q-XD)-6o->I1 I=7ٮ11 Q=tI 1 UEGB915`: 5B:)557 M8)AIA MtIiA MrCA E:)E :IE8YIa9a*Gq2GqFqFqrFybFyEE);I9 iIPKci 2@<:@w: ｲ) usʦ(AYt*M@t*\@yt*w-&t*Lu>t*H@b?uAӿ`u)?ń??~??)u*M@ u*Cfo;Iu*CxN?s>xNEi\I\)SG=!a 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}Ꝺ}>ʁʁQXDʁ͍:>I I7ٮ M7 QtI  UHB9鰕o: Q:) 7  8)  8I tIi sC :):I< 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIdi 2@ <:@ w: !i IJ) RH˦(AYt.M@t.\@yt.( t.|k>t.H{`s?@رDӿm`"????)u.M@ u. Do;Iu.CxRi>xRNE)-GF@=YESs:E>AIQMYDIM9M>IQ I}7ٮQQ Q}tI Q UHB9QUN; U;)UV7  8)I tIi sC :)o:Ik 8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 197.523129 arcdeg .q'u'u*G2GX#@FFrFbFEE);I9 iI=(@iX#@ 2@<:@w: $=RHorizontalControl.headingCmd 2.546896 rad6˲)  $.˦(AYt*M@t*\@yt*ϕ t*mۇ>t*HE? ߱ A=ӿGm@l0??b?@?)u*M@ u*Lo;Iu*CxB̀>xBeEGB@AH@iPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ1>ʱʹQYDʹͽ>I I7ٮ QtI  UHB9: J:)27  8)I tIi tC :)؛:IC 8I9=O@Contact HDG: 145.926391 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIx%@i 2@<:@w: -Ѳ) G˦(AYt* N@t*\@yt* t*Z>t*H wc?Wӿ6o``???.?)u* N@ u*vQo;Iu*CxB?s>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UdGixAF@Ycl>  Q YD ͕;>I I7ٮ QtI  UIB9鰥; ;))7 !8) !8I tIi tC j:):I!8I9*G2GFFrFbFEE);I 9  i I $@i 2@<:@w: Y > e>ز) sa˦(AYt*M@t*\@yt*^" t*>t*H`@J?V`Bӿ`-qE?6? ??)u*M@ u*#o;Iu*CxRd>xR EihIh)1a 1ua 1u a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y595>99Q=YD9E_E>II IM7ٮII QUtI I UuIB9IM; Mk;)M7 }!8)yIy tIiy tCy }:)}$:I}P!8I9*G2GFFrFbFEE);I 9  i I X#@i 2@<:@w: Q<޲) l{˦(AYt*M N@t*X\@yt*g!t*)>t*H`W?@Gޱe[ӿ@k? ,?? D?)u*M N@ u*Lo;Iu*CxRk>xREHTHVa=)%GF@]YeWe>aiQmYDimN;m>Iq I}7ٮq M}7q Q}tI q UIB9qu0: u:)u;37 !8)I tIi uC [:)N:Iʏ!8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: y%) ˦(A),I,Yt~M@t~\@yt~Et(t~{>t~Ha?`xұKӿ j?2?@p?`?`?)u~M@ u~n5o;Iu~Cx 5g>x *Ei1I1)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y(>QYD>I  I 7ٮ   QtI  UJB9   : $:)  m7 !8)I %tIi %uC S:):I(!81I191*GA2GAFIFIrFbFEE);I9 iI i 2@<:@w: 1i M) i˦(AYt*yN@t*\@yt*,t*->t*H`?DZ\ӿEo@????)u*yN@ u*Po;Iu*CxRt>xRlE)GF@]Ye:e>aaQmYDimK9;m>Iq I}7ٮqq Q}tI q UJB9quJ: u-:)u7 "8) "8I tIi vC :)w:I"8I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  6) (F˦(AYt* N@t*\@yt*"t*>t*H`E`L? Yӿ Xq@?$Z???)u* N@ u*@o;Iu*CxN:m>xREGRAAHPi\I\)GF@-Y-->11Q5YD1=x=>IA IM7ٮAA QMtI A UMJB9AEի: E:)E7 U"8)QIQ ]tIiQ ]vCQ Uа:)Uk:IUZ"8iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: `)  !˦(A@ Yt* N@t*\@yt*3t*T>t*H}?40hӿ`d9? S?`??)u* N@ u*Oo;Iu*Cx^p>xb%E)1i=wA=wAa 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʽz:>QYD;>I I7ٮ M7 QtI  UKB9: :)u7 "8)I tIi vC :),:I)"8I9O Done Waiting.' O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)5;I=9 99i9I9AAiAA I2@M<:@Mw: a ]> t>3)  ˦(AYt.oM@t.z\@yt.t.>t.H˂8?& pIӿ`hA?A???)u.oM@ u.:o;Iu.CxRWx>xREi|I|)YF@mYm):u>qqQuYDq}}>I I7ٮ QtI  UKB9鰅}: _:)>G7 "8)I tIi wC :)÷:I"8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 197.539917 arcdeg .q'E'E*GA2GIFIFIrFQbFQEQEY)m;Im9 iiiiIqqyiyy y2@<:@w: ߑt) ̦(AYt2eN@t2p\@yt2,(t2:>t2H@1~?`seӿsH?`h?c?h?)u2eN@ u28]o;Iu2CxN?s>xNEHRa=HP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>ʹQZD;>I I7ٮ QtI  UKB9: 0:)7 #8) #8I tIi wC :):IV*#8I9=O@Contact HDG: 145.926391 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: 3 ) O0̦(A) I Yt*M@t*\@yt*T(t*>t*Hz??Jӿ q?@ ?@~?&?)u*M@ u*VNo;Iu*CxBmd>xBu EiPIP)~ƄG4=F@ Yvַ>QZD%%>I! I-7ٮ!! Q-tI ! U5LB9!%ի: %:)%7 =#8)1I1 =tIi1 ExC1 5:)50:I5j#8IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 i I   i 12@=<:@=w: Qi ) J̦(AYt*N@t*ǯ\@yt* +t*@>t*H@t?`KQӿ@d` [?Da?@q??)u*N@ u*A0o;Iu*CxRv>xRGE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )u҄GF@Yʽ˹>QZD5c:5>I9 I=7ٮ99 QEtI 9 UELB99=: =:)=U7 M#8)III utIiI uxCI M;)M;IM1#8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) id̦(AYt*jM@t*u\@yt*s%t*c>t*H?汿`@ӿdj$A?W??`?)u*jM@ u*FGo;Iu*CxNDy>xREEGR@AHP){RpI{Pi{R={R>{P{RpA{P|R̈A9|ReL?p ipIp)=+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥn:>ʡʡQZDʩͭfC>I I7ٮ M7 QtI  ULB9鰵+: :)$7 #8)I tIi xC 1:)˚:I#8I9*G2GFFrFbFEE2E zE ̈AE ΓLU&$@1+E eL?p E pE E jn1XN+V#@/H E `/:Jkw?)t lvʿE L!@=DHdg To Contact =144.691766 degreesZE AbE rZ:E o$?BE {o$?JE  RE  jE EbrE ˇ)-;I-9 11i1Ii 2@<:@w: $UDacoustic_contact_range 17.100002 m$]hTrackAcousticContact.heading_to_contact 2.525348 rad$eLDUSBL_Hydroid.xAngle -53.900001 arcdeg) E~̦(A@ Yt.M@t.\@yt. t.V>t.H`?].=ӿ_{@I?d?[?@~?)u.M@ u.Co;Iu.CxBo>xBJE)GixAxAF@=YExM:E>AAQMZDIMM>IQ I]7ٮQQ Q]tI Q U]MB9QU: U:)U.Z7 m$8)a m$8Ia mtIia myCa e:)e:Ie7$8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  i> {>[%) '̦(AYt>M@t>˓\@yt>~_%t>_y>t>H`?M@ u>io;Iux^EipIp)=Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YI>QZDZ>I I7ٮ QtI  UMB9`: :)7 $8)I tIi yC Ր:),:Il$8I9*G)2G)F)F)rF1bF1E9E9)M;IM9 QQiQIQQYiYY Y2@e<:@ew: y7+) ̦(AYt*M@t*\@yt**t*,>t*Hg@a?ر1ӿDjS?@WB?}?@Y?)u*M@ u*^Ro;Iu*CxJk>xJEHNp=HL)GF@Y%E%>))Q-ZD)-4N5>I1 I=7ٮ11 QEtI 1 UEMB915: 5:)57 M$8)III MtIiI UzCI M:)Mȗ:IM|$8aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIi 2@<:@w: T2) ̦(A) I4t*H@`Ə?豿#ӿ@jr?t? ? ?)u*M@ u*kbo;Iu*CxMl>xLEiI!)}ׄG=F@YʽL9>QZDo>I I7ٮ M7 QtI  UNB9: :)7 %8) %8I tIi zC N:):I%8I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N@Vehicle HDG: 197.348371 arcdeg .q''*G2GL!@FFrFbFEE);I9 iIL!@iL!@ 2@<:@w: $RHorizontalControl.headingCmd 2.525348 radi 8) ̦(AYt*TM@t*_m\@yt*5t*>t*H{?@6`ӿ@K?`|?S??)u*TM@ u*Uo;Iu*CxN |>xNE)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y:>QZD>I I 7ٮ Q tI  U NB9}: :)97 =%8)1I1 =tIi1 =zC1 5:)5ʢ:I5L%8III9I=O@Contact HDG: 144.691766 arcdeg .''O4Initialize Wait Component.*G2GFFrF)bF1E1E1)E;IM9 IiiiIiqqiqq y2@}<:@w: ߱'?) ֏̦(AYt*FM@t*Q[\@yt*u,t*$>t*H?@yİ ӿ҈ xZ??6?K?)u*FM@ u*>po;Iu*Cx>j>xBqEGB?AH@iNf=IL)~GF@=YE,E>AIQMZDIM+=U>IQ I]7ٮQQ Q]tI Q UeNB9QU: U:)Um7 m%8)aIa mtIia m{Ca e :)e :Iex%8I9*G2GF FrFbFEE)m;Iu9 qqiqIqyyiyy 2@<:@w: ߙ"F) iͦ(A@ Yt*M@t*\\@yt*K+t*Rt>t*H?ibӿsI?}?@?@Y?)u*M@ u*M^o;Iu*Cx6r>x6IE)vvGizwAzwAF@Y%f8%>!!Q-[D)-v8->I1 I=7ٮ11 Q=tI 1 U=OB915: 5p:)57 M%8)AIA MtIiA M{CA E:)E:IE%8aIa9a*Gq2GqFyFyrFybFEE);I9 iIi 2@<:@w:  > >E9L) E3ͦ(AYt.M@t.8\@yt.#t.>t.H> Z? _ѱҿ`pڅ?@y?`??)u.M@ u.<8o;Iu.Cx^u>x^Ein=Il)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y w: >Q[D䙻>I I7ٮ QtI  UOB9: :) 7 5&8)) 5&8I) 5tIi) 5|C) -ߡ:)-:I-n&8AIA9I*G2GFFrFbFEE);I9 !i)I))1i11 12@=<:@=w: QN!S)  Mͦ(AYt*uM@t*-\@yt*#t*r>t*H \?簿ҿ@~?z?@_??)u*uM@ u*$Yo;Iu*Cx>eq>xBnEH@H@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@Yߝ%>!)Q-[D)55>I9 IE 7ٮ9 MM 79 QMtI 9 UMOB99=0; =;)= 7 e&8)YIY etIiY e|CY ]A:)]:I]]&8I9*Gi2GiFqFqrFqbFyEyEy);I9 iI))i)) 12@=<:@=w: YJY)  fͦ(A)4t.H;@q?`kҿ@?`? ?3?)u.M@ u.&Go;Iu.CxBn>xBE){BLI{@i{B={B7>{@{BA{@|Bp#B9|B+-O?[i`Ib֓C)%dG%4=!F@]Ye6:e>aaQe[Dam@;m>Iq I} 7ٮqq Q}tI q UPB9quC; u0U;)uK 7 &8)I tIi |C PB;)n;;I&8I9*G2GFFrFbFEE2EzEp#BE55u|<@JJ=E+-O?[ELEEU AJ"2@ɿOE͈Y뿎8?F+ƿE5*@=DHdg To Contact =152.380359 degreesZE@AbE:EJo$?BEo$?JEz RE jExrEEb)%;I-9 11i1I9IQiQY a2@u<:@}w: 1$}Dacoustic_contact_range 40.859997 m$hTrackAcousticContact.heading_to_contact 2.659539 rad$LDUSBL_Hydroid.xAngle -45.800001 arcdegi 3`) Հͦ(AYtb`M@tb \@ytb()tbG>tbH@7? Nnҿ}@T?$?@?l?)ub`M@ ubPvo;IubCxmd>xu E)Ga 1a 1 a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]Yeڰe>aaQe[Damm>I I 7ٮ QtI  UPB9鰕W: :)U 7 &8)I tIi }C Ȳ;)5;I&8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))};I}9 yiIiA 2@<:@w: \f) 6ͦ(AYt*DM@t*[@yt*!t*>t*H? GV`ҿ =~[?I8?? v?)u*DM@ u*go;Iu*CxBx>xBEGB@AHDipIrѓC)ESGF@}Y}:>ʁʁQ[Dʁ͍>I I 7ٮ QtI  UPB9鰕: c:) 7 '8) '8I tIi }C Ԙ:)+:II&'8I9&M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'=N@Vehicle HDG: 196.904587 arcdeg .q''*G2G5*@FFrFbFEE);I9 i!I!%&"@i)-5*@ )2@U<:@Uw: i$RHorizontalControl.headingCmd 2.659539 radl) .ͦ(A@ Yt.@M@t.[@yt.t.)>t.HM@?@}İҿq&?`B؂? M?e?)u.@M@ u.Mo;Iu,x>:m>x>E)dGi yA xAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm :m>qqQu[Dq}&}>I I 7ٮ QtI  UQB9鰅%: :) 7 '8)I tIi ~C ,;)E;Ij'8I9=O@Contact HDG: 152.380359 arcdeg .''O4Initialize Wait Component.*G2G!F!F!rF)bFiEiEi);I9 iI%@il{> 2@<:@w: ) > >ns) eͦ(AYt*+M@t*[@yt*Y(,t*[>t*H`@?@_4ҿ`nN? ?`'?@?)u*+M@ u*po;Iu*CxBv>xBEiPIP)GF@]YeTe>aaQm[DimQm>Iq I 7ٮq M 7q QtI q UQB9qu; ub;)u' 7 '8)I tIi ~C :)o:I'8I9*G2GFFrFbFEE);I9 iI-)@in`> 2@<:@5w: ߉y) Eͦ(AYt*OM@t*Z[@yt*+t* >t*H. ?`ܰiҿƋ 7H?|?-?`?)u*OM@ u*o;Iu*Cx>i>x>EH@H@)SGa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmA!8m>iiQm[Dquj>I I 7ٮ QtI  UQB9鰝: W:)_ 7 '8)I tIi ~C ;);I'8I9*G2GF!F!rF!bF)E)E));I9 iI!%;,@i%AQ>! i2@u<:@uw: ߁) OΦ(A);IYt.L@t.[@yt.t.=>t.H@?`~`>ҿX?`?P?l?)u.L@ u.o;Iu.Cx>v>xBGEiLIP) GF@=YEJ;E>AAQE[DIM߻M>IQ I] 7ٮQQ Q]tI Q U]RB9QU: U:)Uy 7 m(8)a m(8Ia mtIia mCa e:)e۞:IeR5(8I9*G2GFFrFbFEE)%;I%9 !!i!I!-W-@i)) 12@5<:@=w:E@o> Qi 惘) fΦ(AYt2[L@t2f[@yt2(9t2 >t2H X?L ;ҿ&?g?@MF?T?)u2[L@ u2$o;Iu2CxB |>xBE)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye e>iiQm\Diuu>Iy I} 7ٮyy QtI y URB9y}S: }:)}C 7 (8)I tIi C p:)c:I(z(8I9*G2GFFrFbFEE);I9 iI%ǁ-@%aԼi% >! )2@-<:@-w:UE}> YCՌ) c5Φ(AYtF(L@tF3v[@ytF 'tFa#>tFH]?{%ҿ k8?K??b?)uF(L@ uF~o;IuFCxNn>xREGRAAHPi\I\)dGF@=YEE>AAQM\DIM>hM>IQ I] 7ٮQ M] 7Q Q]tI Q U]RB9QUT: U:)U 7 m(8)aIa mtIia mCa e:)e$:Ie(8yI9*G2GFFrFbFEE);I59 99i9I9Ea,@iAA A2@M<:@Mw:hW> ) uOΦ(A Yt*L@t*a[@yt*-t*>t*HTҝ? C@&ҿƞ`!?@??z?)u*L@ u*uo;Iu*Cx^s>x^E {`Y|`f8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iF@YTa >  Q\D=C=>IA IU 7ٮAA Q}tI A USB9AEd; E <)E*? 7 )8) )8I tIi C <) 9 > >N癳) ׉iΦ(AYt*L@t*<[@yt*i#t*#>t*H@qt? ѿX n?}??}?)u*L@ u*ro;Iu*CxBl>xBEiXIX)Ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>Q\D & >I I5 7ٮ Q=tI  U=SB9^; ;)^u 7 E)8)AIA MtIiA MCA E:)E:IEgJ)8yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 196.272289 arcdeg .q'u'u*Gq2GqFqFyrFybFyEE);I9 iIN[Ҽi 2@m<:@mw:E[> Q-Ϡ) dΦ(AYt*NdL@t*Y[@yt*$t*~>t*H`gS?鯿ѿ Z??m??)u*NdL@ u*o;Iu(xBq>xBEH@HBp=)GF@Y%:%>!!Q-\D)-7->I1 I= 7ٮ11 Q=tI 1 U=SB915: 5f:)5 7 M)8)AIA MtIiA MCA E:)E:IE)8I9=O@Contact HDG: 152.380359 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIмi 2@<:@w:V}> P) %@Φ(A)IYt.jL@t.[@yt.t.+>t.Hৼ]?@Zѿ >?`#?? R?)u.jL@ u.o;Iu.CxB?s>xBEiPIP)G  a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmB8:m>iqQu\Dq:>I I% 7ٮ Q%tI  U%TB9: :) 7 -)8))I) utIi) uC) -4<)-4 i ")  Φ(AYt* PL@t*Z@yt*9$t*>t*HU B?{:ѿ@n?Ѐ?Cc?v?)u* PL@ u*o;Iu(xBi>xBNE)|F@]Yeغe>aaQe\Dimm>Iq I 7ٮq M 7q QtI q UTB9qu; u;)u 7 *8) *8I tIi C :)w:IF*8I9*G2GFFrFbFEE)E;IE9 IIiIIIȍ/i 2@<:@w: )I a9 )  Φ(AYt*#L@t*Z@yt*,t*j>t*H`?ѿ K?`???)u*#L@ u*o;Iu*CxBeq>xBnEG@HDiPIR̓C)F@%Y-o5>9AQE\DAEqݻM>II IU 7ٮII QUtI I U]TB9IM: M:)MN 7 e*8)aIa etIia mCa eՐ:)e :IeU*8I9*G2GFFrFbFEE) ;I 9  iIIIquY*iqq q2@}<:@}w: e5) _Φ(A Yt.L@t.Z@yt.%t.>t.H?M`~ѿ`) ??`҄??)u.L@ u.Io;Iu.CxBs>xBE)~SGiwAa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ:>ʁʁQ\Dʉ͍>I I 7ٮ QtI  UUB9鰕; ;) 7 *8)I tIi C :)o:I%*8I9*G 2G FF1rF9bF9E9E9) ;I 9 iI*i 2@%<:@%w: 9 V> >S) Ϧ(AYt*K@t*׬Z@yt*(t*8>t*HO@?`; dѿ q??(?9?)u*K@ u*p;Iu*CxBp>xBEiPIRѓC)GF@=YEE>AIQM\DIMbU>IQ I} 7ٮQQ Q}tI Q UUB9QU; UA;)U 7 *8)I tIi C  :):I*8I9*G2GFFrFbFEE);I59 19i9I99E8'iAA A2@M<:@Mw: ߁iGdz) Ϧ(AYt*K@t*Z@yt*O-t*$c>t*H> ?@mHѿ|?`?%]?`L?)u*K@ u*p;Iu*CxNd>xN EHRR=HRa=)҄Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y0:>Q]D>I I 7ٮ QtI  UUB9g; R;) 7 %+8)! %+8I! -tIi! -C! % :)%:I%Q&+8YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIZ$i 2@<:@w: ߹*qͳ) Ja8Ϧ(A)4t*H`e?A -ѿ @H,?%?`?S?)u*K@ u*o;Iu*Cx5 |>x5EiQIQ)ƄGF@Yj:>Q]D  >I I 7ٮ M 7 QtI  UVB9$: :). 7 %+8)!I! -tIi! -C! %:)%:I%hj+89I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 195.571361 arcdeg .q''*G2GFFrFbFEE);I9 iI!i   2@<:@w: !i XԳ) >t*H? 댮ѿ?Q ? ?@a?)u*FK@ u*.p;Iu*CxNs>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y=>Q]D唻>I! I- 7ٮ!! Q5tI ! U]VB9!%^; %;)%f 7 e+8)aIa mtIia mCa eD:)e :Ieݯ+8I9=O@Contact HDG: 152.380359 arcdeg .''O4Initialize Wait Component.*G2GFFrFYbFaEE);I9 iI  4i   2@<:@w: yڳ) @lϦ(AYt*4K@t*?4Z@yt*(t*+>t*H{@?`oпkk?`{?`7? 5?)u*4K@ u*e$p;Iu*CxBV>xBEG@HD){F[YUI{Di{F={F>{D{FA{D|FBA9|Fi?eݯi`I`)%vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQ]Dʉ͕a>I I 7ٮ QtI  UVB9鰝ٮ: x:)ǚ 7 +8)I tIi C [:):I+89I99A*GQ2GQFQFQrFYbFYEaEa2EizEmBAEm5u` @B"Emi?eݯEm[YUEiEmDt$@ް嚚EmnrZ(aSb? ǿEm&@=}DHdg To Contact =148.624261 degreesZEm@bEm#:Emo$?BEmJo$?JEm REmz jEm rEmx);I9 iI 4i 2@<:@w: $Dacoustic_contact_range 12.179997 m$ hTrackAcousticContact.heading_to_contact 2.593983 rad$-LDUSBL_Hydroid.xAngle -47.749999 arcdeglk) MϦ(A Yt.yK@t.&&Z@yt.a$t./ >t.H@]`}?&gKп ? (?@3?@?)u.yK@ u.MKp;Iu.CxBi>xBE)dGiyA F@=YE:E>AAQE]DIMM>IQ I] 7ٮQQ Q]tI Q U]VB9QU: U:)U 7 m,8)a m,8Ia mtIia mCa e:)e4:Ie2,8yIy9*G2GFFrFbFEE);I9 iICsi 2@<:@w:  > p>) s؟Ϧ(AYt :QK@t EY@yt hk#t >t HU?һп?Vm?c?c?)u :QK@ u Ep;Iu Cx=}v>x=EiaIa)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@Y%"9%>))Q-]D)5Ϸ5>I9 I=7ٮ9 ME79 QEtI 9 UEWB99=p: =s:)= 7 ,8)III tIiI CI M<)Mt*HC?lEп?f?R??)u*@K@ u*sp;Iu*CxRi>xREHRp=HVp=)GF@-Y-8->11Q5]D1=8=>IA IM7ٮAA QMtI A UMWB9AE: E:)E>7 U,8)QIQ ]tIiQ ]CQ Uа:)U:IU`,8iIi9i*Gy2GFFrFbFEE);I9 iIi 2@M<:@Uw: ߩ) AϦ(A) I Yt*K@t*Y@yt*!t*ׄ>t*H?@&/@п`b?@GxBsEiRf=IP)~+G%==F@}Yʅϭ9>ʉʉQ]Dʉ͕>I I7ٮ QtI  UWB9鰵: ݱ:)[|7 -8) -8I tIi C '<)(tFH@U` ?@zkп?ؗ? 7?*?)uFXJ@ uF-Wp;IuFCxN=Z>xN1E)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʽJι>ʹʹQ]Dk>I9 IE7ٮ99 QUtI 9 U]XB99=; =;)=յ7 -8)qIq tIiq Cq uf9;)u>;IuYN-8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI i 2@<:@w: W) ;Ц(AYt*)J@t*4Y@yt*~&t*>t*H)?@uQVпh?`τ?P?`?)u*)J@ u*=p;Iu*CxBi>xBNEGB@AH@iR=IR̓C)~dGF@=YE E>AAQE]DIMyM>IQ I]7ٮQQ Q]tI Q U]XB9QU: U:)U|7 m-8)aIa mtIia mCa e::)e,:Ie-8yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.790274 arcdeg .q''*G2G&@FFrF!bF!E!E!)=;I=9 99i9I9E,)@iAE&@ I2@M<:@Uw: $=RHorizontalControl.headingCmd 2.593983 radA) ]!Ц(A Yt*HJ@t*SoY@yt*t*J>t*H? }@1п2?B?3Z??)u*HJ@ u*@)p;Iu*CxNu>xRE)GiwAF@]Yel:e>aaQe^Dimm>Iq I}7ٮq M}7q Q}tI q U}XB9qu[: u:)u07 -8)I tIi C :):I-8I9=O-@Contact HDG: 148.624261 arcdeg .'-'-O54Initialize Wait Component.*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYe?&@iaa a2@m<:@mw: ߁ x> > ) :Ц(AYt*J@t*RY@yt*#t*t>t*H`m? 㫿 _п@Z?`r?;@??)u*J@ u*!Jp;Iu*CxB]>xBEiPIRѓC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yece>iiQm^Dimu>Iq I}7ٮqq QtI q UYB9qu: uJ:)ufS7 .8) .8I tIi C A:)U:I.8I9*G2GFFrFbFEE);I9 iIj`%@i 2@<:@w: ) RTЦ(AYt*uJ@t*7Y@yt*['t*k>t*H *A?T PϿ.?s?G ?>?)u*uJ@ u*<8p;Iu*CxR"h>xREHZa=HZa= {lY|pv8****** ping requested ******%Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) +Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>Q^Di>I I 7ٮ QEtI  UMYB9+= +=)}7 U.8)III UtIiI UCI Ml:)M؛:IMuc.8I9*G2GFFrFbFEE)5;I59 11i1I1]%@iaa a2@m<:@uw: ߱B) DnЦ(A);I Yt*fJ@t*Y@yt*r*t*k>t*Hg Q?pMϿt?8N?'^?@?)u*fJ@ u*Up;Iu*CxBv>xBE){FuWI{Di{F҇={D{D{F(B{D|FCA9|F3(I?Equi`I`)%G-=-%=F@Y>Q^D>I I7ٮ QtI  UYB9: -:)7 .8)I tIi  C p:):Iš.8I9*G)2G)F)F1rF9bF9E9E92EAzEECAEEhEEH @P,G"EE3(I?EquEEuWEAEEZ3$~p_G&@l[+EE\Pg!iX?0JǿEEK$@=UDHdg To Contact =147.085952 degreesZEE2@bEE!:EEo$?BEEo$?JEAREE jEE)rEE )m;Im9 iiiiIiu%@ukiqy y2@<:@w: ߑ$Dacoustic_contact_range 12.240001 m$hTrackAcousticContact.heading_to_contact 2.567134 rad$LDUSBL_Hydroid.xAngle -48.300000 arcdegi @A ") AЦ(AYt*d7J@t*oX@yt*t*]>t*HV_?߫ mVϿ@?@kՂ?q{?Q?)u*d7J@ u*`p;Iu*CxBq>xBE)AAQM^DIMM>IQ I]7ٮQQ Q]tI Q UeZB9QU: U:)U@7 m.8)aIa mtIia mCa e:)e:Ie.8yIy9*G2GFFrFbFEE);I9 QQiQIQ]&@]5diaa a2@m<:@mw: ߉1() ]Ц(AYt* %J@t*X@yt*t*)>t*H?߻2Ͽ~????)u* %J@ u*p;Iu*CxB:m>xBEGF?AHDiTIV̓C) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>qqQu^Dq}&3}>I I7ٮ M7 QtI  UZB9鰅: =:)/07 /8) /8I tIi C :):I /8I9*G2GFFrFbFEE);I9 iIci 2@<:@w: c[.) 7Ц(A@ Yt* J@t*X@yt*&t*Ā>t*Hd L?@ ο V6?Ä?`/??)u* J@ u* {p;Iu*CxBq>xBE)~GiyAF@=YEoE>AAQM^DIMM>IQ I]7ٮQQ Q]tI Q UeZB9QU: U:)Uf7 m/8)aIa mtIia mCa eB:)e5:Iec/8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI`i 2@<:@w:  p> {>E5) Ц(AYt^I@t^X@yt^j&t^^>t^H`A`f?@LKeο@C`?`?̈́?`=?k?)u^I@ u^֝p;Iu^Cx~u>x~Eif=I)}vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y4>Q^DM>I I7ٮ QtI  U[B9: :)z7 /8)I tIi  C :)ݖ:I4/8I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 193.883799 arcdeg .q''*G2GK$@FFrFbFEE);I9 iI c$@iK$@ 2@<:@mw: y$RHorizontalControl.headingCmd 2.567134 radm;) lЦ(AYt*!I@t*,eX@yt*&t*M>t*Hf?@vY_ο@ME?`>?d?^?)u*!I@ u*p;Iu(x-?s>x-EH5p=H5p=)GF@Y݀8>Q^D޻>I I7ٮ QtI  U[B9>: c:)7 /8)I  tIi  C O:)A:I;/8I9=O@Contact HDG: 147.085952 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIqB$@i 2@<:@w: UB) S Ѧ(A) IYt.RI@t.]@X@yt.t.u>t.H`f?`ο ? ? d@??)u.RI@ u.%p;Iu,xBZe>xB EiR=IRѓC)~ׄG4=4=F@=YE;E>AAQM^DIMM>IQ I7ٮQ M7Q QtI Q U[B9QU< U%<)U 7 08) 08I tIi C s:):I208I9*G)2G)F1FQrFYbFYEYEY)u;I9 iIK$@i 2@<:@w: ߹i ?A H) Ӣ#Ѧ(AYt*cI@t*n5X@yt**t*b~>t*HIa?Zο "?`rY?`x? )?)u*cI@ u*/p;Iu*CxRk>xRE)a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʅ>ʉʉQ_Dʉ͕ Ժ>I I7ٮ QtI  U\B9鰝: :)VD7 08)I tIi C :) :Ivu08yIy9y*G2GFFrFbFEE) ;I 9 iI15$i11 92@=<:@Ew: QN) N=Ѧ(AYt*;jI@t*FX@yt*t*>t*H?m Ϳ ? NՃ?*??)u*;jI@ u*p;Iu*CxNm>xR'EGR@AHPi\I`)GF@-Y-5>11Q5_D1=W=>IA IM7ٮAA QMtI A UM\B9AA E>:)Ez7 U08)QIQ ]tIiQ ]CQ U:)UI:IU08iIi9i*G2GFFrFbFEE);I9 iIh|i 2@<:@w: qU) ZWѦ(A@ Yt*6@I@t*AW@yt*TZ+t*I>t*H#? K%vͿG"L?0k??h?)u*6@I@ u*p;Iu*CxNo>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAa 1 a 1  a 5 a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=ME>AAQM_DIUJU>IY Iu7ٮYY QtI Y U\B9Y]< ]K<)]7 18) 18I tIi C |:)M:I18qIq9q*G2GF)F)rF1bF1E1E1)m;Im9 iiiiIiqu4xiyy y2@<:@w:  > >[) 5qѦ(AYt*"&I@t*-W@yt*"t*ق>t*H`& |?dΨ`lCͿJ ? R?-??)u*"&I@ u*p;Iu*CxBz>xB E){BVI{@i{Bl={B7>{@{BA{@|B‰A9|B4\4d?Xi`I`)%SGF@]Ye:e>aaQm_Dim"m>Iq I}7ٮqq Q}tI q U}]B9quJ: up:)u)7 18)I tIi C :)9:I@18I9*G2GFFrFbFEE2EzE‰AE=S'@i\/)E4\4d?XEVEE #, k"@_D^2E6qh~%O#?Hu 7ǿEJ#@=DHdg To Contact =146.186798 degreesZEAbEa:Eo$?BEo$?JE REjEGrE));I9 iIui 2@<:@ w: $=Dacoustic_contact_range 17.219997 m$UhTrackAcousticContact.heading_to_contact 2.551441 rad$eLDUSBL_Hydroid.xAngle -48.049998 arcdegb) QѦ(AYt*NI@t*YW@yt*Q t*n>t*H(?`gͿ,??`,??)u*NI@ u*p;Iu(xBc>xB, EHBa=HFa=)dGF@=YEs9E>AAQE_DIMKFM>IQ I]7ٮQ M]7Q Q]tI Q U]]B9QU: U:)U7 m18)aIa mtIia mCa e:)e,:Iee18yIy9*G2GFFrFbFEE);I9 iI51ti 2@<:@w: h) Ѧ(A) I Yt*@H@t*KW@yt*kt*Ƃ>t*H+L? ̿$@? w?@Q+? ?)u*@H@ u*Ip;Iu*Cx^sj>xb(EipIp)EGEʩʩQ_Dʩ͵9]>I I7ٮ QtI  U]B9鰽ͭ: l:)X7 18)I tIi C O:) :I18I9ODone Waiting.'O8Uninitialize Wait Component.*G2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E1)E;IE9 AIiIIIIUqiQQ Q2@]<:@]w: ii Pn) žѦ(AYt*H@t*#W@yt*t*rg>t*H.?̿f3?@?|?!?)u*H@ u*p;Iu*CxBRr>xBE)=GF@MYM?U>QQQU_DQ]a]>Ia Im7ٮaa QmtI a Um^B9ae: eS:)eP7 u28)q }28Iq }tIiq }Cq uϸ:)u:Iu 28I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.989058 arcdeg .q'M'M*GI2GMJ#@FIFQrFYbFYEYEY)m;Iu9 qqiqIq}J#@iy}J#@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.551441 radu) Ѧ(AYtfH@tftW@ytfd'tfZ>tfHG1@q?u@)̿ '?`4?@,=?w?)ufH@ uf>p;Iudxzd>x~ EG H iI)҄Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQ_Dʉ͍@>I I7ٮ QtI  U^B9鰕: J:)7 28)I tIi C  :)E:IW28I9=OU@Contact HDG: 146.186798 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡ |) |~Ѧ(A@ x~t>x~lE)uvGixAF@Y>Q_D  >I  I7ٮ   QtI  U^B9  : 5:) 7 %28)!I! %tIi! -C! %Ր:)%,:I%ǘ289I999*GI2GIFIFIrFQbFYEYEY)m;Im9 qqiqIyy}`i 2@<:@w: ߙ > {>7) 6W Ҧ(AYt*]H@t*hdW@yt*"t*9>t*H3?৿k̿@,f?@\Y?`$?`?)u*]H@ u*p;Iu(x2Ml>x6LEi@IB̓C)rdGF@zYzT]:z>||Q~_D|.>I  I7ٮ  M7  QtI  U_B9  : :) 827 %28)I %tIi %C :)Z:I7281I191*GA2GAFIFIrFQbFQEQEQ)u;Iu9 iIpi 2@<:@w: ߹) 4&Ҧ(AYt*H@t*ZW@yt*H#t*~>t*H`/4?@X̿9/?R~???)u*H@ u*ep;Iu(xB,t>xB#EH@H@)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ/>ʁʉQ`Dʉ͍>I I7ٮ QtI  U_B9鰕: :)k7 38) 38I tIi C V:):IU38I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !) @Ҧ(A) IYt*WH@t*b`W@yt*Ot*[>t*H3?`D`c̿5#H?U?@??)u*WH@ u*p;Iu*CxBl>xBEiPIP)~SG%=F@EYUrq:U>QQQ]`DY]g:e>Ia Im7ٮaa QmtI a Uu_B9ae: ex:)e"7 }38)qIq }tIiq Cq u:)u۞:Iu[a38I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i @A R-) YҦ(AYt*H@t*[W@yt*z5't*:>t*H`4 ? , vZ̿@ 9`??@?p?)u*H@ u*4p;Iu*CxBRr>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}dGF@YL>Q`D3>I I 7ٮ Q tI  U `B9k: Y;)7 %38)I %tIi %C A:):I389IA9A*GY2GYFaFarFibFiEqEq);I9 iI4i 2@<:@w: W) sҦ(Axs>xEG H ){ ɭTI{ i{ ={ { { B{ | \B9|  ?4"miIII)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y  >  Q`D>I I%7ٮ M%7 Q%tI  U-`B9: :)7 538))I) 5tIi) =C) -S:)-R:I-38AIA9IO]Done Waiting.']O]8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFabFiEiEi2EqzEu\BEu2|d_8@ՠ1f4;Eu ?4"mEuɭTEqEu>O>!>o[04@[xEue~?+I+\݉?ax%oƿEuF#@=DHdg To Contact =146.172373 degreesZEuAbEu :EuYo$?BEuo$?JEux REu jEurEuG);I9 iIFi 2@<:@w: $Dacoustic_contact_range 36.840000 m$hTrackAcousticContact.heading_to_contact 2.551189 rad$LDUSBL_Hydroid.xAngle -47.600002 arcdeg?) @Ҧ(A@ Yt.H@t.mW@yt.#t.?>t.H 2o?@d?~̿85,?-s?^??)u.H@ u.9p;Iu.CxbRr>xbE)Yi]yAaF@Yʝ:>ʡʡQ`Dʡͭ<;>I I7ٮ QtI  U`B9鰵S: W:)H7 48) 48I tIi C :)M:IL/48I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 192.862604 arcdeg .q'u'u*Gq2GuF#@FyFyrFbFEE);I9 iIF#@iF#@ 2@<:@w: $RHorizontalControl.headingCmd 2.551189 rad x>i) {Ҧ(AYt*H@t*pW@yt*H#t*̀>t*H1@? ō b̿@F2V?z?[??)u*H@ u*p;Iu*CxVd>xV Ei|I~ѓC)YF@}Yʅm>ʁʁQ`Dʁ͍9>I I7ٮ QtI  UaB9鰕$; ;)7 48)I tIi C ::):Ifs48I9!=O@Contact HDG: 146.172373 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI 艃i 2@<:@w: 1Q) TVҦ(AYt*H@t*(W@yt*b#t*ƀ>t*HV/`?@뺧b̿/@R?`?l?@? ?)u*H@ u*p;Iu(xRxp>xREHRp=HT)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ8>Q`D3V;>I I7ٮ QtI  UaB9: :)ķ7 48)I tIi C :)o:I$48I9*G 2G FFrFbFEE)5;I59 11i1I19=ri99 A2@E<:@Mw: Y{) 1Ҧ(A) IYtBH@tBْW@ytB6'tBqa>tBH@-+?@? ̿ )(?`??h?)uBH@ uBp;IuBCx^jw>xb"EilIl)=SGE=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q`D:>I  I 7ٮ   QtI  UaB9  : |:) 7 48)I %tIi %C :)Ԙ:Ir481I191*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiquoiqq y2@}<:@w: ߑi ) A Ҧ(AYt:{I@t:W@yt:- )t:q7>t:H)j?w Ϳ ?m!? 8??)u:{I@ u:tp;Iu:Cx^s>xbE)=GF@}YʅҖ>ʁʁQ`Dʉ͍\;>I I7ٮ M7 QtI  UbB9鰕$: k:)$7 58) 58I tIi C o:)Ɵ:I>58q Software FaultI9*G2GFQFYrFYbFYEaEa);I9 iIňi 2@<:@w: !xSoftware Fault in component: DeadReckonWithRespectToSeafloorô) Ӧ(AYt>H@t>W@yt>^&t>>t>H+@I?`̿2?˄?N?@/?)u>H@ u>qp;IuxFnEGF?AHHiTIV̓C)vGF@=YEF9E>AAQMaDIMRM>IQ I]7ٮQQ Q]tI Q U]bB9QU: U:)U [7 m58)aIa mtIia mCa e:)e:Ie58yIy9y*G2GFFrFbFEE);I9 iIqi 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq Ӽɴ) (Ӧ(A Yt2d%I@t2oW@yt21+t2>t2H&#?AͿq&>\?lq???)u2d%I@ u2vyp;Iu2Cx>`k>x>E)~GiwAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YegJe>aaQeaDamd;m>Iq I}7ٮqq Q}tI q U}bB9quS: u:)u7 58)I tIi C :):I58I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  R> д) EBӦ(AYt*I@t*W@yt*&t*>t*H( ?SͿ!@?@yބ?*??)u*I@ u*p;Iu(xBr>xBIEiPIRѓC)~+GF@=YEB8:E>AAQMaDIMe2M>IQ I]7ٮQQ Q]tI Q UecB9QU: U:)UW7 m68)a m68Ia mtIia mCa eN:)e:Ie 68yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIAi 2@<:@w: Sִ) {\Ӧ(AYt*7I@t*W@yt*K%t*=x>t*H$`͹?m _dͿ@2? r?~??)u*7I@ u*Ptp;Iu*CxV"h>xZEHZa=HZp= {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}Ga 1 a 1  a 5 a 5  a 9 a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=N9=>AAQEaDAMP;M>IY Ie7ٮY Me7Y QetI Y UmcB9Y]/; ]L:)]7 }68)qIq }tIiq Cq u:)u:IuS68I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 193.275721 arcdeg .q'e'e*Ga2GaFaFirFqbFqEqEq);I9 iI:Љi 2@<:@w: ߱Rܴ) UvӦ(A)IYt. I@t.W@yt.^'t.0>t.H<'@?먿8Ϳ@l ??W??)u. I@ u.p;Iu.CxBjw>xB"EiXI^̓C)EGM4=IF@}Yʅci>ʁʁQaDʁ͍&m>I I7ٮ QtI  UcB9鰕ش; ;)87 68)I tIi C :):I68I9=O@Contact HDG: 146.172373 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIχi 2@<:@ w: 9i ?A ) 4.Ӧ(AYt.;I@t.W@yt."t. >t.H,$q?`)V mͿ'?`W?e??)u.;I@ u.p;Iu.CxRsj>xR(E)eGF@Yʥ4:>ʩʩQaDʩ͵;>I I7ٮ QtI  UdB9鰽: :)p7 68)I tIi C ::):IZ68I9*G2GFFrFbF EE)];Ie9 aiiiIii 2@<:@w: )  Ӧ(AYt*=I@t*W@yt*&&t*Đ>t*H#{?@0qͿ!y?@Ą?`?@?)u*=I@ u*vp;Iu*Cx2e>x6P EG6@AH4iHIJѓC)rGa 1%a 1% a 5%a 5% a 9%a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Y>!!Q%aD!-x9->I) IU7ٮ)) Q]tI ) U]dB9)-,; -;)-ǩ7 e78)a e78Ia etIia mCa e :)e:Ie78I9*G2GFFrFbFEE);I9 iIتi 2@<:@w: ) Ӧ(A@ Yt.FAI@t.QW@yt.B.t.z>t.Hs#u?>1xͿ@V@4?ޅ?~??)u.FAI@ u.0p;Iu.CxBg>xBsE)~Gi|wAF@=YEE>AAQMaDIM:M>IQ I]7ٮQQ Q]tI Q UedB9QU: Ux:)U7 m78)aIa mtIia mCa e:)e,:IeU^78yIy9*G2GFFrFbFEE);I9 iImi 2@<:@w: Y > >) Ӧ(AYt*,I@t*W@yt*n,t*H҄>t*H% ?PͿZ:!?ཌྷ?`j?t?)u*,I@ u*p;Iu*CxRZ>xRzEi\I`)vGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʁʁQaDʉ͍gE>I I7ٮ M7 QtI  UeB9鰕[: ^:)W7 78)I tIi C Ր:) :Iƣ78I9*G2GFFrFbFEE);I9 iI}i 2@ <:@ w: !B) Ӧ(AYt*.I@t*#W@yt*dt*܀>t*H% ?@ʚRͿk&L?`??@?)u*.I@ u*`p;Iu*CxNo>xRJEHRp=HP)GF@%Y-#;->11Q5aD1=;9=>IA IE7ٮAA QMtI A UMeB9AE: El:)EK7 U78)QIQ UtIiQ ]CQ U:)U:IU78iIi9i*Gy2GyFFrFbFEE);I9 iI4i 2@<:@w: *) %wԦ(A) IYt*(I@t*W@yt*t*>t*HZ& ?@|QHͿ@&S??\?`/?)u*(I@ u*ؽp;Iu(xNRr>xREi\I\)G%%=!F@-Y55>11Q5bD1=W=>IA IM7ٮAA QMtI A UMeB9AE%: E:)EJ7 ]88)Q ]88IQ ]tIiQ ]CQ U:)U :IU<*88iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI*i 2@<:@w: i T ) R+Ԧ(AYt*'I@t* W@yt* $t*>t*Hg& ? GͿ@?`J?G??)u*'I@ u*p;Iu*Cx^h>xbE)1a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝM>ʙʡQbDʡͥƸ>I I7ٮ QtI  UfB9鰭B: g:)B7 88)I tIi C ̒:)E:Ip88I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 193.223005 arcdeg .q'm'm*Gi2GiFqFqrFybFyEyEy);I9 iIi 2@<:@w: ߹N<) .EԦ(AYt*I@t*W@yt*y.t*[؄>t*H( ~?4Ϳ#?܅?Dk?`X?)u*I@ u*p;Iu*CxB,t>xB#EGDHDiPIP)5SGF@uY}:ƺ}>yyQ}bDʁͅbI>I I7ٮ QtI  UfB9鰍: E:)7 88)I tIi C :)|:I88I9=OE@Contact HDG: 146.172373 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFQbFQEYEY)m;Im9 iiiqIqq}F;iyy y2@<:@w: ߙ%f) _Ԧ(A Yt*,H@t*7W@yt*;(t*}>t*H]+X? ` ̿y(@Y???F?)u*,H@ u*p;Iu*CxBp>xB%E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGiyAxAa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝb:>ʡʡQbDʡͭV>I I7ٮ M7 QtI  UfB9s: :)/7 -98)! -98I! -tIi! C! %<)% l>) xԦ(AYt*H@t*W@yt*t*>t*H 4+Y? `W̿I,cI?@?`?"?)u*H@ u*~p;Iu*CxBk>xBE){F*rI{Di{F={D{D{FPA{D|FQA9|F*?΄y<i`Ib̓C)%GF@]Ye7:e>aiQmbDimã9m>Iq I}7ٮqq Q}tI q UgB9qu: ul:)u_7 98)I tIi C  :):I;98I9*G)2G)F1F1rFYbFYEYEY2EazEeQAEes#@6+Ee*?΄y<Ee*rEaEeGR)) YZ%@ }7 Ee>&z^wt*H-`Y+?` ̿@%`}??@2??)u*H@ u*Fp;Iu(xRB`>xR EHRa=HRa=)%GF@-Y595>11Q=bD9=LE>IA IM7ٮAA QMtI A UUgB9AE : E:)E7 ]98)QIQ ]tIiQ eCQ U:)U:IU~98iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: R*) =Ԧ(A) IYt*H@t*)W@yt*)v&t*>t*H6/`/? T̿0C?΄???)u*H@ u*DOp;Iu(xB:m>xBEiVf=IVѓC) vG 4= =a 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmӹm>qqQubDq} }>I I7ٮ QtI  UgB9鰅}: :)H7 98)I tIi C ׾:):I98I9*G2GFFrFbFEE);I9 iI-li 2@<:@w: i 1) tԦ(AYt*pH@t*{nW@yt*"t*a>t*H@1 9?@kT@<̿ 6 ?EY?@^? )?)u*pH@ u*>/p;Iu*CxBk>xBE)GF@ Y:>QbD%{%>I! I-7ٮ! M-7! Q5tI ! U5gB9!% : %:)%7 =:8)1 =:8I1 EtIi1 EC1 5R:)5:I55:8QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI i 2@<:@w: ߱ʵ7) VԦ(AYt*H@t*%gW@yt*t* ]>t*H`2?xЧ p̿`?1`#v? ?@??)u*H@ u*Hp;Iu(x>k>x@GBAAH@iN=IP)~+GF@=Y=i:E>AAQEbDAM1M>IQ I]7ٮQQ Q]tI Q U]hB9QU: U :)U;7 e:8)aIa mtIia mCa e:)e:IeOK:8yIy9y*G2GFFrFbFEE);I9 iI0i 2@<:@w: =) ,Ԧ(A@ Yt.ͷH@t.dW@yt.C6#t. K|>t.H3@?y覿ql̿=`?@f?@7?8?)u.ͷH@ u.$p;Iu.CxRs>xRE)SGi%xA!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ0x>ʁʁQbDʉ͍>I I7ٮ QtI  UhB9鰕: (:)t7 :8)I tIi C %:)|:Iǐ:8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIq肽i 2@ <:@w: ! R> >9D) `զ(AYt* H@t*JW@yt*t*0>t*H6T?@`H8̿1?ރ?@?9?)u* H@ u*Ap;Iu*CxBp>xB%EiPIP)5GF@uY}(:}>yyQcDʁͅDŽ>I I7ٮ QtI  UhB9鰍: :) 7 :8)I tIi C }:)o:I:8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.737106 arcdeg .q'M'M*GI2GM3@FIFQrFYbFYEYEY)m;Iu9 qqiqIq}!@iy}3@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.440654 rad]J) -զ(AYt2˜H@t2IW@yt2v#t2(~>t2H` 6)?`妿`7̿$=?t?`xq?@?)u2˜H@ u2Cp;Iu2CxNj>xNqEHR=HRp=)]QcD8>I I7ٮ QtI  UiB91: :)7 ;8) ;8I tIi C :)Ü:I_;8I9=O@Contact HDG: 139.839176 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIN@i 2@<:@w: FQ) ܼGզ(A) I Yt*ɜH@t*IW@yt* #t*>t*H 6`?`7̿`9@"?Jx??@^?)u*ɜH@ u*Orp;Iu*CxBB`>xB EiPIP)~G%=F@ Y>QcD%%>I) I-7ٮ) M-7) Q5tI ) U5iB9)-: -0:)-7 =;8)9I9 EtIi9 EC9 =,:)=$:I=Z;8QIQ9Q*Ga2GiFiFirFqbFqEqEq);I 9  i I |@i1 92@=<:@=w: Qi X) aզ(AYt*H@t*>W@yt* 't*>t*H@97?y"̿+ ??&O? ?)u*H@ u*p;Iu*CxBMl>xBLE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UvGa 1ma 1m a 5ua 5u a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝع>ʙʙQcDʙͥS>I I7ٮ QtI  UjB9鰭: ݱ:)Y7 ;8)I tIi C Ր:) :I;8I9*G2GFFrFbFEE) ;I9 iI3@i 2@%<:@%w: 9,^) Xt{զ(AYt*$H@t*/NW@yt*%t*>t*H 5ʬ? H@=@̿ 5f?[??@?)u*$H@ u*p;Iu*CxBs>xBEG@HDi\I^̓C)GF@]Ye9e?aaQecDam 8;m?Iq I}7ٮqq Q}tI q U}jB9qu: u:)u97 ;8)I tIi C O:) :I;8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: e) Xզ(A( ,Yt H@t t H{7 ?W}̿`R1&?:?:!? "?)u H@ u p;Iu Cxo>xJE)GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y 9> Q cD  $>I I7ٮ QtI  U%jB9: :)R7 -<8)! -<8I! -tIi! 5C! %:)%ʽ:I%3,<8AIA9A*GQ2GQFQFYrFYbFYEaEa)u;I}9 yyiyIyi 2@-<:@-w: 9 > >2>k) (զ(AYt*H@t*FW@yt*"t*.>t*He6@ؐ?41̿%9/?S? s?E?)u*H@ u*Wq;Iu*CxB0a>xBw EiTIT)ƄGF@=YE9E>AIQMcDIMi:M>IQ I]7ٮQQ Q]tI Q UejB9QU2: U:)U7 m<8)aIa mtIia mCa ep:)eݖ:Iel<8yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: a&r) uզ(AYt**H@t*5IW@yt*St*R.>t*H`'6e?C6̿\) ?OJ?V?@*?)u**H@ u*q;Iu*CxZn>xZEHZp=H^a=)-AAQEcDAM9M>IQ IU7ٮQ M]7Q Q]tI Q U]kB9QU: U:)U,7 e<8)aIa mtIia mCa e:)e,:Ie<8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: Px) զ(A) IYt.H@t.FW@yt.t%t.>t.Hd6ř?@[1̿/`?@?&?@g?)u.H@ u.Uq;Iu,xB{>xBEiPIRѓC)ESGIM4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ(޺>ʩʱQcDʱͽʹ>I I7ٮ QtI  UkB9:: :)-e7 <8)I tIi C :)I:I}<8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.724743 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: i z~) úզ(AYt.H@t.ZW@yt.zN0t.T<>t.H4@?EħX̿&}?` ?`iX??)u.H@ u.fr;Iu.CxBI>xBE)~GF@ Y Gغ >QcDQ;}>I I7ٮ QtI  UkB9鰅: J:)47 =8) =8I tIi C s:):I29=8I9=OM@Contact HDG: 139.839176 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFIFQrFqbFyEyEy);I9 iIi 2@<:@w: We) ¡֦(AYt>H@t>AW@yt>E}t>*>t>H6?E@'̿"mM?o?*?`?)u>H@ u>ێr;Iu>CxF>xFBEGHHHiTIT) ҄Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@eYmG;m>qQdDf>I I7ٮ QtI  U lB9:: ٮ:)7 =8)I tIi C ٓ:):I'=8!I)9)*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: ) Gr0֦(A Yt.H@t.QW@yt.kt.$>t.HP5Ġ?vE̿(q?h?U? V?)u.H@ u.r;Iu.CxBsj>xB(E)~+GiyAF@=YEt:E>AAQEdDIM ;M>IQ I]7ٮQ M]7Q Q]tI Q UelB9QU: UI:)U7 m=8)aIa mtIia mCa e:)eȗ:Iew=8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Y > >1t) JJ֦(AYt*H@t*hW@yt*'t*8>t*H@2?@m駿t̿d)?@?@8??)u*H@ u*&s;Iu*CxRjw>xR"Ei\I\)SGF@-Y-6->11Q5dD1=o;=>IA IM7ٮAA QMtI A UMlB9AE: E:)E?7 U>8)Q ]>8IQ ]tIiQ ]CQ U^:)U:IU>8iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: ) ['d֦(AYt*H@t*vW@yt*&t*]>t*H 1?|@S̿K&5? ?ф?i{? >?)u*H@ u*s;Iu(xNy>xREHRa=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGa 1a 1 a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y5J'9=>9AQEdDAM:M>IQ I]7ٮQQ QetI Q UemB9QU: U;)U{7 u>8)iIi }tIii }Ci mj;)m.:ImQN>8 I 9 *G2GF!F!rFIbFIEIEI)e;Ie9 aaiaIi 2@<:@w: Ȟ) O~֦(A) I Yt*H@t*mW@yt* E*t*>t*H2F?A~̿` e?H?`Ϋ??)u*H@ u*s;Iu(xNmd>xRu E){R^I{Pi{R<={P{P{RA{P|RpA9|Rw,?5nYYQ]dDYeܺe>Ii Im7ٮii QutI i UumB9im:: mٮ:)m7 }>8)yIy tIiy Cy }:)}:I})>8I9*G2GFFrFbFEE2EzEpAE>t:H5- Q*? ̿ M?@΄?? ?)u:H@ u:Vs;Iu:CxJi>xJE)Ga 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYu:}>yyQ}dDyͅ;>I I7ٮ QtI  UmB9鰍: а:)7 >8)I tIi C :)A:I>8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: )۫) b֦(AYt*H@t*ޘW@yt*&t*h>t*HE-T$?@T̿``P?`???)u*H@ u*s;Iu(xV?s>xVEGZ@AHXihIl)5vGF@EYEo:M>IIQMdDIUU>IY Ie7ٮY Me7Y QetI Y UenB9Y]: ]^:)]7 u?8)i u?8Ii utIii uCi mt:)mʽ:Im?8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.012595 arcdeg .q''*G2G @FF!rF!bF!E)E))=;IE9 AAiAIAMI@iIM @ I2@U<:@Uw: i$RHorizontalControl.headingCmd 2.514093 rad ò) ֦(A Yt.AH@t.LW@yt. t.8͆>t.H4-/&? I ̿_]??ȧ?S?)u.AH@ u.s;Iu.CxBmd>xBu E)=Gi=xAAF@}Yʅ/>ʁʁQdDʁ͍8>I I7ٮ QtI  UnB9鰕G: l:)T7 ?8)I tIi C :):IXZ?8I9=O]@Contact HDG: 144.046927 arcdeg .']']O]4Initialize Wait Component.*Ga2GaFaFarFibFiEiEi);I9 iIq @i> 2@<:@w: ߱ t>층) n֦(AYtJt,I@tJW@ytJ]#tJ„>tJH@%Ȧ?B`OͿk?k? h??)uJt,I@ uJ%s;IuJCxnp>xnEi|I~̓C)Ga 15a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY}Ϲ}>yyQ}dDʁͅT<>I I7ٮ QtI  UnB9鰍; ;)=7 ?8)I tIi C :):Iw?8I9*G2GFFrFbFEE)-;I-9 )IiIIIU!@iQQ Y2@]<:@ew: ߑS) K֦(AYt*I@t*W@yt*O/t*>t*H'h?@*,ͿLV???`I?)u*I@ u*s;Iu*CxNq>xREHR4=HP)SGF@=YE#E>AAQMdDIMEM>IQ I]7ٮQQ Q]tI Q UeoB9QUG: U):)U7 m?8)aIa mtIia mCa e:)eA:Ie.?8I9*G)2G)F1F1rFqbFyEyEy);I9 iIJ!@ji > 2@<:@w: ;ŵ) 9'צ(A)IYt*VI@t*X@yt* (t*臊>t*H` ? êPͿF@?k?@??)u*VI@ u*{s;Iu*CxBh>xBEiNf=IRѓC)~G4=F@Y%ڑ:%>!!Q-eD)-<->I1 I=7ٮ11 Q=tI 1 U=oB915: 5:)57 M@8)A M@8IA MtIiA MCA E:)E:IE$@8YIa9a*Gq2GqFqFrFbFEE);I9 iI @i > 2@<:@w:?΅> ߑi ^)̵) i3צ(AYt*[I@t*X@yt*%Bt*>t*H ?`;Ϳ@?3?I ?@?)u*[I@ u*Ӑs;Iu(xB{>xBE)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}d4;>ʁʁQeDʁ͍@:>I I7ٮ M7 QtI  UoB9鰕=; ;)[17 @8)I tIi C :):Ick@8I9*G 2G FFrFbFEE);I 9 iIi 2@%<:@%w: )I Y6ӵ) jLצ(AYt*|rI@t*X@yt*ht* %>t*H?`4 Ϳ ^@? ??`?)u*|rI@ u*s;Iu(xBr>xBIEGB?AH@iR=IP)vGF@Y%Zŷ%>!)Q-eD)-|f;->I1 I=7ٮ11 Q=tI 1 U=pB915: 5n:)5f7 M@8)AIA MtIiA MCA E%:)E|:IEƬ@8YIa9a*Gq2GqFqFqrFbFEE);I9 iI?i 2@<:@w: !;ٵ) =fצ(AYt*fI@t*q`X@yt*?t*Æ>t*H@?A>VοO?g??`?)u*fI@ u*ss;Iu(x>r>x@ {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )5GiMwAQF@Yʝ9>ʩʩQeD!<>I I7ٮ QtI  UpB9; ;)47 -@8)!I! ]tIi! ]C! %;)% >)) Tצ(AYt*I@t*tX@yt**)t*>t*H? 怫u}ο@@ð? C%?/?@E?)u*I@ u*'s;Iu*Cx:s>x:E){>ˁI{*={>>{<{>`A{<|>A9|>뛁?*iXIZ̓C) ƄGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yʕ$Y>ʑʑQeDʙ͝K;>I I7ٮ QtI  UpB9鰥V; 9;)S7 A8) A8I tIi C :):IG8A8)I)9)&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'= N=Initialize.q'EN@Vehicle HDG: 193.781291 arcdeg .q''*G2GFFrFbFEE2EzEAE:x'@8(43E뛁?*EˁEE .0ķ`<.@դۨEo<g! Xc?8h6̿E<@=DHdg To Contact =136.746234 degreesZEqAbE:E~o$?BE|o$?JE| RE jErE);I9 iIY]ԊiYY a2@e<:@mw: ߹$Dacoustic_contact_range 22.619999 m$%hTrackAcousticContact.heading_to_contact 2.386672 rad$%LDUSBL_Hydroid.xAngle -58.100000 arcdeg|M) roצ(AYt2I@t2tX@yt2/t2>t2H ?@/}ο ??d]?6?)u2I@ u2YNs;Iu2CxB̀>xBeEHFp=HFp=)!!Q-eD)-Ӥ->I1 I=7ٮ1 M=71 Q=tI 1 UEqB915$: 5(:)5U 7 MA8)AIA MtIiA MCA E:)E,:IE yA8yI9=O@Contact HDG: 136.746234 arcdeg .''O4Initialize Wait Component.*G 2G F F rF1bF1E9E9)M;IM9 IIiQIqq}!약iyy y2@<:@w: ߹w) t*H G J?@zϿi@?1?? ?)u*J@ u*1s;Iu*CxBi>xBEiPIVѓC)-G5=5=a 1ua 1u a 5ua 5u a 9ua 9u a -ua - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YI;>QeD6<%>I! I-7ٮ!! Q-tI ! U5qB9!%< %<)%G7 }A8)qIq }tIiq }Cq u(:)u<:IuA8I9*G2GFFrFbFE)E1)E;IE9 AAiAII&i 2@<:@w: i k^) >!צ(AYt*4J@t*?X@yt*At* >t*Hk Z?@^P`%ϿBk?+?6??)u*4J@ u*xr;Iu*CxBn>xBE)U҄GF@Yʥ\-:>ʡʡQeDʡͭ:>I I7ٮ QtI  UqB9鰵; Z;)|7 B8) B8I tIi C  :):IB8I9*G)2G)F1F1rFYbFYEYEY)u;I9 iIxi 2@<:@w: ) qצ(AYt*ItJ@t*T!Y@yt*t*͉>t*H`?uGlϿV``?w?x??)u*ItJ@ u*6r;Iu*CxBo}>xBEGB@AHBAAiPIP)ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]lr]>YaQeeDaeI<e>Ii I7ٮii QtI i UrB9im0; m;)m>7 B8)I tIi C :)c:ILB8I9*G2GFFrFbFEE)-;IM9 IIiQIQQ] iYY Y2@e<:@ew: y-q) ئ(A Yt.J@t..Y@yt.'t.Z>t.H} ?`rϿ@?h?`Yw?@?)u.J@ u.r;Iu.CxBo>xBE)~҄Gi~xAF@=YEYE>IIQMeDIU7;U>IQ I]7ٮQQ QetI Q UerB9QU1: U:)U7 mB8)iIi mtIii uCi mގ:)mx:ImB8I9*G2GFFrFbFEE)5;I59 19i9I99EN iAA A2@M<:@Mw: ߁ R> {>) ئ(AYt*J@t*AY@yt*}"t*G>t*H*?@^4п?C?o?`?)u*J@ u*r;Iu*CxN\~>xRgEi\I\)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅZ:>ʁʁQfDʉ͍v8;>I I 7ٮ M 7 QtI  UrB9鰕N: :)! 7 B8)I tIi C :):IB8I9*G2GFFrFbFEE);I9 iIRi 2@ <:@ w: ߙ! ) 5ئ(AYt*J@t*Y@yt*t*P>t*H`|?q >Iпl ?ૼ?Z?h?)u*J@ u*r;Iu*CxNs>xREHR=HRa=)dGF@%Y-*:->11Q5fD151<=>IA IE 7ٮAA QMtI A UMsB9AE: E:)ElW 7 UC8)Q UC8IQ UtIiQ ]CQ U:)Ui:IUC8iIi9i*Gy2GyFFrFbFEE);I9 iI3i 2@<:@w: ) t*H `?k@#[пl? ?)?@?)u*J@ u*rr;Iu*CxBo>xBJEiLIP)~G4==F@=YE9E>AAQMfDIM5;M>IQ I] 7ٮQQ Q]tI Q UesB9QUD: U:)U 7 mC8)aIa mtIia mCa e}:)e,:IeVVC8yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI ߐi 2@<:@w: i ) Diئ(AYt*4K@t*Y@yt*#t*?>t*H\+? 'c@1п; u?aă?O?4?)u*4K@ u*BXr;Iu*CxRu>xRE {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@]Ye*e>iiQmfDi͕C <>I I 7ٮ QtI  UUsB9鰥ҵ< <) 7 ]C8)QIQ ]tIiQ ]CQ UV:)Uj:IUC8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 195.057567 arcdeg .q''*G2G<@FFrFbFE!E!)};I}9 yiIV@i<@ 2@<:@w: $%RHorizontalControl.headingCmd 2.386672 radH ) K"ئ(AYt*st*HLU.?^п =?2ф?@??)u*sxBEG@HB@A){FhI{Di{F ={F7>{D{FA{D|FB9|Fo9?D-@i`I`)%GF@Yʽs>QfD>:>I I 7ٮ QtI  UtB9; ;)j 7 C8)I  tIi  C :):IC89IQ9Q=O@Contact HDG: 136.746234 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzEBEц378@?Eo9?D-@EhEE/m>?*9i6@T ERD\ qL?!w-˿E!@= DHdg To Contact =144.193080 degreesZEPAbE:EVo$?BE~o$?JEv RE| jErE)E;IE9 AIiIIIu0@iqq q2@}<:@}w: ߑ$Dacoustic_contact_range 39.419998 m$hTrackAcousticContact.heading_to_contact 2.516644 rad$LDUSBL_Hydroid.xAngle -52.100000 arcdego&) ئ(A Yt.^yK@t.i&Z@yt.!t.>t.HW`i? ,п ?6?jz?-?)u.^yK@ u.IXr;Iu.CxBv>xBGE)iiQmfDiu'<u>Iy I}!7ٮy M!7y QtI y UtB9y}Z: }:)} 5!7 D8) D8I tIi C ȗ:):Ia#D8!I!9!*G12G1F9F9rF9bFAEAEA)u;I}9 yyiyIy<@i 2@<:@w: ߡ > >-) նئ(AYt*K@t*SZ@yt*5Xt*י>t*Hb`W?}ѿ{@d?j?;?@?)u*K@ u*gr;Iu*CxR`k>xREi`Ib̓C)%GF@]Ye{|:e>aaQmfDim;m>Iq I}!7ٮqq Q}tI q UtB9qu: u:)ul!7 D8)I tIi C p:) :IXgD8I9*G2GFFrFbFEE);I9 iI%i 2@<:@w: ߙ:3) ئ(AYt*GK@t*R`Z@yt*+(!t*>t*H?MB`bѿ \? $?d?@C?)u*GK@ u* Nr;Iu*CxNv>xRGEHRa=HP)SGF@-Y-j->11Q=fD9M:M>Ia Ie!7ٮaa QmtI a UmuB9aeS: e:)e!7 uD8)qIq utIiq }Cq u0:)u:IuD8I9*G2GFFrFbFEE);I9 iI6i 2@<:@%w:  %:) Όئ(A) IYt./ L@t.:Z@yt.!t.;>t.H`? oʰ`oѿ`ϕ@ ?7? ? ?)u./ L@ u.jr;Iu.CxR|>xRCEi\I^ѓC)G%=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQfDʉ͍qW<>I I!7ٮ QtI  UuB9鰕: :)!7 D8)I tIi C :):IBD8I9*G2GFFrFbFEE);I9 iIS[i 2@ <:@ w: !i 7 A) +i٦(AYt*L@t*"Z@yt*6)t*>t*H@?v`7gѿ_W'?@ ?`)? ?)u*L@ u*cr;Iu*CxBWx>xBE)~vGF@=YEE>AAQMfDIM޷M>IQ I]"7ٮQ M]"7Q QetI Q UeuB9QU: U:)U"7 mE8)i mE8Ii mtIii uCi mԘ:)mƟ:Im2E8I9*G2GFFrFbFEE);I9 iIdi 2@<:@w: 7G) =E٦(AYt2VML@t2aZ@yt2o't2>t2H0?V° ѿ`??`[?t?)u2VML@ u2*nr;Iu2CxB:m>xBEGFAAHDiPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe.+9e>iiQmgDiu5<u>Iy I"7ٮyy QtI y UvB9y}: }_:)}H"7 E8)I tIi C :)ȗ:IwE8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: aM) X 8٦(A Yt.YL@t.[@yt.""t.>t.H@8?ѿ @j?`O?@|??)u.YL@ u.tr;Iu.CxB]>xBxE)%Gi%wA!F@=YE\Y:E>AAQMgDIMA:M>IQ I]"7ٮQQ Q]tI Q UevB9QU: U:)UN"7 mE8)aIa mtIia mCa e[:)eN:Ie"E8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.083393 arcdeg .q''*G2G!@FFrFbFEE);I9 iI%Cf@i!%!@ !2@-<:@-w: A$RHorizontalControl.headingCmd 2.516644 rad R> t> IT) QQ٦(AYt*L@t*:[@yt*t*\>t*H`Ʒ`Xf?jcѿ`?@ۃ?`Ґ? ?)u*L@ u*G]r;Iu*CxRu>xREi\I\)%GF@-Y5:5>9ʑQgDʑ͝R;>I I"7ٮ QtI  UvB9鰥: ٮ:)ҷ"7 F8) F8I tIi C :):IF8I9=OU@Contact HDG: 144.193080 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi)};I}9 yyiIb@i 2@<:@w: ߡsZ) k٦(AYt*sL@t*~_[@yt* !t*K6>t*H@?h`ҿ>{@H?:? ?`xBEH@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a = a 9=@a = a -=@a =  Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@UYU|ȹU>YYQ]gDYeԞ;e>Ii I"7ٮii QtI i UwB9im^< m߼:)m"7 F8)I tIi C %:):IPF8I9*G!2G!FIFIrFIbFQEQEQ)u;Iu9 yyiyIy!@i 2@<:@w: 4[a) G٦(A)4t*Hޱ ?`qҿ@~??@p? ?)u*L@ u*&r;Iu*CxBu>xBE){BTI{@i{B={@{@{@{@|BA9|Bб?"q1>i`I`)%vG-4=)F@]Yez&e?aaQmgDimPo:m?Iq I}#7ٮq M}#7q Q}tI q UwB9qu: ub:)uK%#7 F8)I tIi C :):IF8I9*G2GFFrFbFEE2EzEAELR0@\XOr2Eб?"q1>ETEEBRy05Z{B(@ *MnEJ*Xj?;4ɿE_'@=DHdg To Contact =149.962090 degreesZE DAbE:Epo$?BEVo$?JE REv jEcrE);I9 iIquiyy y2@<:@w: ߱$Dacoustic_contact_range 24.959997 m$hTrackAcousticContact.heading_to_contact 2.617332 rad$LDUSBL_Hydroid.xAngle -47.649999 arcdegi @A ug) ٦(AYtvL@tv[@ytv!&tvh>tvH?/FRҿv}?Մ?%?`|?)uvL@ uvѳr;Iutx?s>x%E)dGa 1 a 1  a 5 a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5B5>ʱʱQgDʱͽ<>I I#7ٮ QtI  UwB9: :)Ib#7 F8)I tIi C :)':IF8 I 9 *Ga2GaFiFrFbFEE);I9 iI)/i 2@<:@w: m) f٦(AYt*L@t*([@yt*t*)>t*H?߱`Iҿu?〃?༙??)u*L@ u*r;Iu(xRWx>xREGR?AHTidId)%GF@]YeX:e>iiQmgDiu ºu>Iq I}#7ٮqq QtI q UxB9qu1: u:)u#7 G8) G8I tIi C  :)۞:IMG8I9*G2GFFrFbFEE);I9 iIًi 2@<:@w: wt) BB٦(A Yt*-M@t*[@yt*A$t*G>t*H@?ұҿ>rj??o?@?)u*-M@ u* r;Iu*CxBmd>xBu E)~SGiF@=YEE>AAQMgDIM<M>IQ I]#7ٮQQ Q]tI Q U]xB9QUG: U:)U3#7 mG8)aIa mtIia mCa e:)eԘ:IeSG8I9*G2GFFrFbFEE);I9 iIuˉi 2@<:@w:  > >z) *٦(AYtV7M@tV[@ytVJ1tVu>tVH r h ?`vҿn?@&)?z? ?)uV7M@ uVr;IuTxj1z>xnEixIz̓C)UdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>QgDS:>I I$7ٮ M$7 QtI  UxB9|: 0:)$7 G8)I tIi C  :) :IG8I9*G 2G F FrFbFEE)-;I59 11i1I19=i99 A2@E<:@Ew: Y) bڦ(AYt*IM@t*[@yt* $t*UE>t*H?8sҿe?냄?`׬? ?)u*IM@ u*;s;Iu*CxBMl>xBLEHF4=HD))F@]Yeu;e>aaQegDim4;m>Iq I$7ٮqq QtI q UyB9qut; u$;)u9$7 G8)I tIi C [:):I-G8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYaet.H*?-@ҿh@x?f? 3?9?)u.`M@ u.EHs;Iu.CxBs>xBEiPIRѓC)IMR=IF@UY],:]>aaQehDamf;m>Iq Iu$7ٮqq Q}tI q U}yB9qu[: u(:)u&p$7 H8) H8I tIi C g:):I H8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 197.002750 arcdeg .q'5'5*G12G5_'@F9F9rFAbFAEAEA)];I]9 YYiYIYeko"@iae_'@ i2@m<:@uw: ߡ$RHorizontalControl.headingCmd 2.617332 radi ?A ) S:ڦ(AYt*M@t*0\@yt*t*+>t*Hr@O? ҿ`lm@?d?:?!?)u*M@ u*vs;Iu(xBu>xBE)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]8e>aaQehDam;m>Iq Iu$7ٮqq Q}tI q U}yB9qu: u:)uO$7 H8)I tIi C :)Ԙ:IdH8I9=O@Contact HDG: 149.962090 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=u%@i99 A2@E<:@Ew: y锶) WTڦ(AYt6wM@t6$\@yt6"t6fˍ>t6H/@@?8ҿe? lY?l?v?)u6wM@ u6s;Iu4xNp>xNEGV@AHXitIv̓C)}G6only read 3 of 5 data itemsVFailed to parse: :BI,-32768,-32768,-32768V F@Y} >QhDӺ>I I$7ٮ QtI  UzB9< 5<)$7 H8)I tIi C :):IH8I9*G2GFFrFbFEE );I9 iIE&@iAI I2@M<:@Uw: ߁) dnڦ(A Yt.ΛM@t.H\@yt.H"t.ܵ>t.H@ 6a?]ҿ`?H?|? ?)u.ΛM@ u.E~s;Iu.CxRMl>xRLE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )yixAF@Yz8>QhD>;>I I%7ٮ M%7 QtI  UzB98; z;)%7 H8) I  -tIi  5C   z=) !z=I H8I9*G)2G)F1F1rF1bF9E9E9)m;Iu9 qqiqIq}X&@}i 2@<:@w:  > i>') `>ڦ(AYt*M@t*5\@yt*i#t*1 >t*Hഓ4Q?/ҿ` f`R?m?j?`?)u*M@ u*,s;Iu*Cx2Wx>x6E){6HtI{4i{6ž={4{4{6A{4|6A9|6?'"r?3! &iTIVѓC)F@=YEy<E>AIQMhDIMHM>IQ I]%7ٮQQ Q]tI Q UezB9QUS: Ux:)UBL%7 mI8)a mI8Ia mtIia mCa e:)e@:IeC0I8yI9*G2GFFrFbFEE2EzEAE:%'@0E?'"r?3! &EHtEE 720n'@n] E鿢(&?r˿EG @=DHdg To Contact =143.490431 degreesZE?AbE:E~o$?BEpo$?JERE jErEc);I9 iI_'@i 2@<:@w: $=Dacoustic_contact_range 20.639997 m$EhTrackAcousticContact.heading_to_contact 2.504380 rad$ELDUSBL_Hydroid.xAngle -54.800001 arcdeg!) *ڦ(AYt*M@t*]\@yt*t*nB>t*HЍz? ӿ`}lMz?F?`?@?)u*M@ u*5s;Iu*CxBo}>xBEHBa=HBp=)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aiQmhDim;u>Iq I}%7ٮqq QtI q UzB9qu|: uW:)u%7 I8)I tIi C :):IuI8I9*G2GFFrFbFEE);I9 iI4׆i  2@ <:@w: !FM) ~ڦ(A)IYt*gM@t*rL\@yt*y*t*w>t*H`Nk?>ҿqiܢ? C?7?@?)u*gM@ u*t;Iu*Cx>sj>xB(EiPIR̓C)G= F@=Y=bE>AAQEhDAMs,M>IQ I]%7ٮQQ Q]tI Q U]{B9QU`: U:)U%7 eI8)aIa mtIia mCa e[:)e :IepI8yIy9y*G2GFFrFbFEE);I9 iIe*i 2@<:@w: i 5) ڦ(AYtncM@tnnX\@ytn)%tn >tnH`p?D\ҿ1_`?N?w??)uncM@ uns;IunCxvz>xv E)e+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y+:>QhD:>I I%7ٮ QtI  U {B9\: ٮ:)%7 J8)  J8I  tIi  C  ,:) 7:I @J8!I)9)*G92G9F9F9rFAbFAEIEI)];I]9 aaiaIaimsiii q2@u<:@uw: ߉]) Gڦ(AYt*&M@t*1j\@yt*#t*>t*HN?C9ӿcਫ?r?#E? ?)u*&M@ u*s;Iu*CxBj>xBqEGDHDiPIP)GF@]YmQ9u>ʙʩQhDʩ͵4;>I I&7ٮ M&7 QtI  U{B9鰽$: ÷:)*&7 J8)I tIi C :):IBJ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E )%;I%9 !!i!I!)-Ȅi)) 12@5<:@=w: IE¶) χ ۦ(A Yt*[M@t*fL\@yt*%t*7>t*H`Un?`{ҿsq i?`z?F??)u*[M@ u*t;Iu(xB1z>xBE)~GiwAF@Yʵ崹>ʹʹQhDʹ͒>I I&7ٮ QtI  U|B9: :)b&7 J8)I tIi C :)$:I+J8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.221412 arcdeg .q''*G2GG @FFrFbFEE);I9 iIz&@iG @ 2@<:@w: $RHorizontalControl.headingCmd 2.504380 rad > >oȶ) b#ۦ(AYt*M@t*\@yt*&t*u>t*H@t`?{b+ӿ?ib?Є???)u*M@ u*ݦs;Iu(xBc>xB, EiLIRѓC)~dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅĸ>ʁʁQiDʉ͍<>I I&7ٮ QtI  U|B9鰕\< <)I&7 %J8)!I! -tIi! -C! %F:)%9:I%J8YIY9Y=O@Contact HDG: 143.490431 arcdeg .' 'O4Initialize Wait Component.*G2GFFrFbFE!E!)U;IU9 QYiYIY]"@iaa a2@m<:@mw: ߁ۙζ) ==ۦ(AYt*cM@t*nU\@yt*/t* >t*H@@t?ҿ`{e`??I??)u*cM@ u*xPHRp=HRa=)5GF@EYE繺E>IIQMiDIU5U>IY Ie&7ٮYY QetI Y Ue|B9Y]%: ]:)]o&7 mK8)i uK8Ii utIii uCi m:)m:Im K8I9*G2GFFrFbFEE);I9 iI!@i 2@<:@w: aն) Wۦ(A) IYt.M@t.t\@yt.f&t.>t.HU?-`ӿ` f`? U߄?@&??)u.M@ u.h,s;Iu.CxNp>xR%Ei\I\)5҄G11a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ\:>ʙʙQiDʙͥ;>I I'7ٮ M'7 QtI  U}B9鰭: E:)'7 K8)I tIi C h:):IRK8I9*G2GFFrFbFEE) ;I 9  i I G @i 2@<:@%w: 1i ۶) pۦ(Ax~s>x~E {Y| 8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GF@Y55>99Q=iD9EE>II IU'7ٮII Q]tI I U]}B9IM; M>;)M@'7 mK8)aIa mtIia uCa e:)e;IeK8I9*G2GFFrFbFEE);I9 iI!%߃i!I I2@U<:@Uw: ߁) ϊۦ(AYt*M@t*`\@yt*/)t*l>t*HJ?`(u`ӿw`**?%? ?`?)u*M@ u*$s;Iu(xRb>xR EG^AAH^AA){^4gI{\i{^={\{\{\{\|^pA9|^G ¾?6Q.ixI|)USGF@Yʝ>ʡʡQiDʡͭ'O>I I'7ٮ QtI  U}B9鰵S: 5:)ku'7 K8)I tIi C [:)N:I+K8I9*G2GFFrFbFEE2EzEpAEoi$@@1>@*EG ¾?6Q.E4gEEDl׮@+ "@I긙 Em̪B$Ux@0zQ?vp\ɿE#@=DHdg To Contact =146.476398 degreesZEoAbEZ:Eo$?BE~o$?JE REjETrE)-;I-9 ))i)I11=B8i99 92@E<:@Ew: Q$uDacoustic_contact_range 16.680002 m$}hTrackAcousticContact.heading_to_contact 2.556495 rad$LDUSBL_Hydroid.xAngle -51.899998 arcdeg2) ۦ(A Yt.M@t.q\@yt.80,t.Q̉>t.H@xf#E)MdGiMyAMxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ>ʱʱQiDʱͽl';>I I'7ٮ QtI  U~B9: :)'7 L8) L8I tIi C ض:)ʽ:IL8I9*G2GFFrF bF E E )%;I%9 !!i!I))-qi)1 12@=<:@=w: I R> p>2) Iۦ(AYtB_M@tBjN\@ytB5+tB~>tBH``_s?c dҿ@sW? Mb?`?p?)uB_M@ uBZr;IuBCx^i>x^EipIp)F@Yʽ~/9>QiDm>I I'7ٮ QtI  U~B9: :)D'7 L8)I tIi C :),:IdL8I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9AEũiAA A2@M<:@Mw: a) `ۦ(AYtj M@tjh\@ytjBs$tjR>tjH@;?- ӿZu .?Q?@?`?)uj M@ ujr;IujCxb>x  EHa=Hp=) a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmx:m>iiQuiDq}p;}>Iy I(7ٮy M(7y QtI y U~B9y}c: }:)}s(7 L8)I tIi C :)p:IӫL8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 197.318209 arcdeg .q'='=*G92G=#@FAFArFIbFIEIEQ)e;Ie9 aaiaIam!@iiu#@ q2@}<:@}w: ߉$RHorizontalControl.headingCmd 2.556495 rad) 3Oۦ(A)4t6HHj? z`uҿ@fz2?S???)u6M@ u6Yq;Iu6CxZu>xZEihIh)5G5%=9F@EYE9E>IIQMiDIUKĻU>IY I](7ٮYY QetI Y UeB9Y]:: ]S:)]P(7 mL8)iIi utIii uCi m:)m:ImL8I9=O@Contact HDG: 146.476398 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI#@i  2@<:@w: Ai 5)  ܦ(AYt*ҔM@t*A\@yt*#t*z>t*Hf? lҿwI?)~??I?)u*ҔM@ u*rq;Iu*Cx>u>x<)zGF@Y W >  Q iD>I I%(7ٮ Q%tI  U%B9: :)(7 5M8)) 5M8I) 5tIi) =C) -:)-:I-x,M8AII9I*GY2GYFYFYrFabFaEiEi)};I}9 iIPi 2@<:@w: ߩ ) %ܦ(AYt*;M@t*F?\@yt*%t*Ԉ>t*H@F@d?ޓҿ`vT??o?@?)u*;M@ u*mq;Iu*CxBeq>xBnEGF@AHF@AiPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeчe>aiQmjDimǹm>Iq I}(7ٮqq Q}tI q UB9qu: u$:)uB(7 M8)I tIi C :):IbrM8I9*G2GFFrFbFEE);I9 iIBi 2@<:@w: #6) 1?ܦ(A Yt*J[M@t*U\@yt*F#t*^^>t*HZ`2?Soҿ`5 TJ?h?+??)u*J[M@ u*p;Iu*CxBu>xBE)|iF@=YEx9E>AAQMjDIMh M>IQ I](7ٮQQ Q]tI Q UeB9QU: U:)U(7 mM8)aIa mtIia mCa e:)e:IeĵM8yIy9*G2GFFrFbFEE);I9 iIMi 2@<:@w:  >) PYܦ(AYt*sM@t* \@yt*t*>t*HϖfM?@ҿ?/1?#q??)u*sM@ u*Τp;Iu*CxBjw>xB"EiPIP)|F@ Y:>QjDjv;%>I! I-)7ٮ! M-)7! Q-tI ! U5B9!%: %ض:)%.,)7 =M8)1I1 =tIi1 EC1 5ݱ:)5:I5M8IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI}i 2@<:@w: ߱%H) sܦ(AYt*^DM@t*i[@yt*`$t* LJ>t*H௝?!ҿ΅`:?@? ?:?)u*^DM@ u*p;Iu(x^sj>xb(EH`Hba= {dY|df8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MYUɺU>YYQ]jDYeԻm>Iq I})7ٮqq Q}tI q UB9qu8; uU;)ui)7 N8) N8I tIi C ;)& ;I=DN8I9*G2GFFrFbFEE);I9 i I n|i 2@%<:@%w: 1P0#) _ܦ(A);IYt.t.HĞL?F `<ҿUM??@ ?@?)u.xBE){BGF\I{@i{B={@{@{BB{@|BDA9|BUG9n?9Bi|I|)mGu4=u4=F@Y(>QjD>I I)7ٮ QtI  UB9: :))7 N8)I tIi C ::):IN8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F9rFAbFAEIEI2EYzE]DAE]_z @m"E]UG9n?9BE]GF\EYE]t`,$@INE][zn8꿩#DQ?E ȿE]&@=uDHdg To Contact =148.684079 degreesZE]@bE]$:E]o$?BE]o$?JE] RE] jE]rE]T);I9 iI zi 2@<:@w: ߹$Dacoustic_contact_range 12.299998 m$hTrackAcousticContact.heading_to_contact 2.595027 rad$LDUSBL_Hydroid.xAngle -49.300001 arcdegi Z)) 9ܦ(AYt*uM@t*[@yt*$%t*>\>t*HJ? ిmҿ;`1? ???)u*uM@ u*(Qp;Iu*CxBc>xB E)~GF@mY}:>ʉʉQjDʉ͕˻>I I)7ٮ QtI  UB9鰝t: :))7 N8)I tIi C Ր:):IN8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.735676 arcdeg .q''*G 2G &@F9F9rFAbFAEAEA)];I]9 YYiaIae*%@iam&@ i2@u<:@uw: ߁$RHorizontalControl.headingCmd 2.595027 radIB0) ܦ(AYt*L@t*([@yt*'t*$>t*Hc *?m hTҿ@8??@~t?(?)u*L@ u*1p;Iu*CxBDy>xBEEGDHDiTIT)dGa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeùm>iiQmjDiuu>I I*7ٮ M*7 QtI  UB9E: ÷:) *7 O8) O8I tIi C  ;);I O8!I!9!=O@Contact HDG: 148.684079 arcdeg .''O 4Initialize Wait Component.*G2GFFrFbFEE)U;IU9 QQiQIY]&@iYY a2@e<:@mw: y&l6) ܦ(A Yt*L@t*[@yt*e't*t>t*HM`?@id :ҿ?@?? &?)u*L@ u*H(p;Iu*CxNsj>xR(E)ixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ7>ʡʡQjDʡͭk>I I5*7ٮ Q=tI  U=B9鰵\< <)cB*7 EO8)AIA EtIiA MCA Eh:)E:IESO8yIy9y*G2GFFrFbFEE);I9 iIDyi 2@<:@w:  > x><) !ܦ(AYt*;L@t*FW[@yt*2%t*a>t*H@ ?u`ҿe9?p;Iu*CxRa>xR Ei\I\)GF@-Y-95>11Q5jD1==>IA IM*7ٮAA QMtI A UMB9AE: EJ:)Ew*7 UO8)QIQ ]tIiQ ]CQ Uݱ:)U:IUO8iIi9i*G2GFFrFbFEE);I9 iI+ xi 2@<:@w: ~C) ݦ(AYt*JL@t*U.[@yt*m t*>t*H j?`Nѿ^ .??`??)u*JL@ u*|+p;Iu*Cxrm>xr'EHr4=Ht)]GF@YʥF-:>ʡʡQkDʩͭû>I I*7ٮ QtI  UB9鰵,: į:)*7 O8)I tIi C :):IO8I9*G2GFFrFbFEE);I9 iI%ڜvi!! !2@-<:@-w: 9I) (ݦ(A)I4t.H`̾@M?``wѿ?r?p?@?)u.ZL@ u.ap;Iu.CxBf>xB EiPIR̓C)+G = %=a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeۺm>iiQmkDiuu>Iy I*7ٮyy QtI y UB9y}%: }:)}*7 P8) P8I tIi C :)ӻ:IfP8I9*G2GFFrFbFEE);I9 iIDui 2@<:@w: i P) sBݦ(AYt*;L@t*FZ@yt*(t*˅>t*Hh?Fq~ѿ@`?@? ?v?)u*;L@ u*p;Iu*Cx:Rr>x>E)zGF@5Y= :=>99QEkDAESE>II IU+7ٮI MU+7I QUtI I U]B9IM: Mض:)Mi+7 eP8)YIY etIiY eCY ]:)]ݖ:I]^P8qIq9y*G2GFFrFbFEE);I9 iIsi 2@<:@w: AV) 7\ݦ(AYt*$K@t*/Z@yt* t*΅>t*H?{Yѿ$2?oڂ???)u*$K@ u*p;Iu(xR,t>xR#EGR?AHTi`I`)1a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ%;>ʩʩQkDʱ͵¶>I I+7ٮ QtI  UB9鰽%: :)ZV+7 P8)I tIi C :)^:IP8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E )%;I%9 !!i!I!)-{ri)) 12@5<:@=w: Iz\) 4vݦ(A@ Yt*@K@t*K_Z@yt*^X!t*ʄ>t*H ?8cdѿ`{?`*?`i?@?)u*@K@ u*vp;Iu*CxBeq>xBnE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGiyAF@Yʽκ>QkD">I I+7ٮ QtI  UB9; 8;)n+7 P8) I  %tIi  %C  <;) >J;I jP8AIA9A&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 195.496994 arcdeg .q'%'%*G!2G!F)F)rFQbFQEQEQ)m;Im9 iIpi 2@<:@w:  V> Fc) ݦ(AYt*uK@t*"Z@yt*ܡ(t*J>t*Hw?ԭп5? #?@ y?@?)u*uK@ u*p;Iu(xBn>xBE){BqRI{@i{BT={B>{@{BB{@|B@A9|B'?w?W9Upi`I`)%GF@]Yee>aaQekDimm>Iq I}+7ٮqq Q}tI q U}B9quS: u:)u[+7 Q8) Q8I tIi C ,:):I+Q8I9=O@Contact HDG: 148.684079 arcdeg .''5O54Initialize Wait Component.*G92G9FAFIrFybFyEyEy2EzE@AEnBk @y>!E'?w?W9UpEqREEͦ\',b$e@gB@fXEhilT 䕚q?]<ǿE}&@=DHdg To Contact =149.245603 degreesZE@bE#:EBEo$?JERE jE rE)-;I-9 ))i)I)15՘oi11 92@E<:@Ew: q$ Dacoustic_contact_range 12.059997 m$hTrackAcousticContact.heading_to_contact 2.604827 rad$LDUSBL_Hydroid.xAngle -47.100001 arcdegTi) ȩݦ(AYt*i4K@t*tY@yt*"t*>t*H]6?yЭп@@f7?LW? ?K?)u*i4K@ u**q;Iu*CxBo>xBEHFa=HFp=)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝ1e:>ʡʡQkDʡͭv>I I+7ٮ QtI  UB9鰵`: B:)+7 Q8)I tIi C :):IqQ8I9*G2GFFrFbFEE);I9 iInni 2@<:@w: Gp) Lݦ(A) I;Yt*J@t*Y@yt*Rt*>t*H1?Sͬ Oп?B ?`nO?$?)u*J@ u*Iq;Iu(xN?s>xREi`IbѓC)%dG-%=)F@=YEM:E>AIQMkDIMUU>IQ I],7ٮQ M],7Q Q]tI Q UeB9QU: U:)U$1,7 mQ8)aIa mtIia uCa eF:)e$:Ie!Q8I9*G2GFFrFbFEE);I9 iI 1mi 2@<:@w: i w) ~ݦ(AYt*J@t*]Y@yt*$t*7܂>t*H`5`?Ϋ@ п ?? -? |?)u*J@ u*q;Iu*CxR{>xRE)a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ[>ʡʡQkDʡͭu>I I,7ٮ QtI  UB9鰵: :)i,7 Q8)I tIi C ::):I6Q8I9*G2GFFrFbFEE);I9 iIki!! !2@-<:@-w: Ak3}) N^ݦ(AYt*aJ@t*Y@yt*J*t*>t*H@?@ë Ͽ@@T1? xVEGZAAHXidIf̓C)-GF@]Y]ge>aaQekDamGm>Iq I},7ٮqq Q}tI q U}B9qu<: u:)u,7 R8) R8I tIi C ,:)@:I;R8I9*G2GFFrFbFEE);I9 iIވji 2@<:@w: \) 5ަ(A@ Yt*I@t*ŞX@yt*!t*mu>t*H @;? s~8οc@c?5??@?)u*I@ u*0r;Iu*Cx^,t>xb#E)5Gi99F@}YʅǨ:>ʁʁQlDʁ͍n>I I,7ٮ QtI  UB9鰕: 3:),7 R8)I tIi C TE;)c;IR8I9*G2GFFrFbFEE);I9 iI%3ii!! !2@-<:@-w: Y 7D) +ަ(AYt*ҷI@t*dX@yt*t*>t*H ? F^ο@`?q?4?`?)u*ҷI@ u*!s;Iu*CxRo>xREiI)] Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yd:>QlDi >I I-7ٮ M-7 QtI  UB9: :)-7 R8)I tIi C p:):I:R8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)=;I=9 99i9I9AEgiAI I2@M<:@Uw: a,) 5Dަ(AYt.jI@t. X@yt.t.>t.H@i?`Ϳ>?@OZ?%??)u.jI@ u.rfs;Iu.CxBo>x@HBp=HFa=)ׄGF@eYeVe>iiQmlDiu"Fu>Iy I-7ٮyy QtI y UB9y}: }:)}E-7 S8) S8I tIi C ȗ:)w:IVS8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 193.454125 arcdeg .q'='=*G92G=}&@F9FArFAbFAEIEI)];Ie9 aaiaIam}&@im>m}&@ i2@u<:@uw: ߉$RHorizontalControl.headingCmd 2.604827 rad~V) ^ަ(A) I Yt*%I@t*0W@yt*'t*Ԅ>t*Hl(~?D$Ϳ !??`j?`q?)u*%I@ u*t;Iu*CxB'n>xBpEiPIRѓC)~G=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmlDimOu>Iq I-7ٮqq QtI q UB9qu]< uԳ:)u|-7 S8)I tIi C :):IaNS8I9!=O@Contact HDG: 149.245603 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%fi!! !2@-<:@-w: yi M) Ǡxަ(AYt*H@t*kW@yt*t*φ>t*HP2?y̿ _???J?)u*H@ u*t;Iu(xBu>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )EGF@}Yʕ.:>ʡʩQlDʱ@>I I -7ٮ Q tI  U B9W< /<)-7 S8)I tIi C ,:)@:IS8I9*G2GFFrFbF E E )%;I%9 !!i!I!)--ei)1 12@=<:@=w: Qh) V}ަ(AYt*D`H@t*O W@yt*t*bj>t*H@<$?|˿2@?`? ??J?)u*D`H@ u*u;Iu*CxNm>xR'EGR@AHPihIh)5vGF@EYE:M>IIQMlDIUۆU>IY Ie-7ٮYY QetI Y UeB9Y]: ]W:)]w-7 uS8)iIi utIii uCi m:)mA:ImS8I9*G2GFFrFbFEE);I9 iI+di 2@<:@w:@o> ) 2Xަ(A Yt.(*H@t.3V@yt. t.>t.H~B`?5W˿?N?@?@| ?@?)u.(*H@ u.@Kv;Iu.Cx6p>x6%E)vGizwAxa 1-a 1- a 5-a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYM柺U>QQQUlDQ]]>Ia Im.7ٮa Mm.7a QmtI a UmB9aeȲ: e:)e!.7 }T8)q }T8Iq }tIiq }Cq u:)u:Iu3T8I9*G2GFFrFbFEE);I9 iI+i > 2@<:@w:u>  > z) 4ަ(AYt*G@t*cV@yt*0t*υ>t*H@N)?`覿`tʿ:K?@ł?8? {?)u*G@ u*w;Iu(xB:m>xBEiPIT)vGF@=YE':E>AAQMlDIMpM>IQ I].7ٮQQ Q]tI Q U]B9QU: UW:)UX.7 mT8)aIa mtIia mCa e:)e:Ie[T8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:K> ) ަ(AYt*|G@t*/V@yt*~t*>t*HTb?@ ʿ@MW ;?@Ư?ݦ?3?)u*|G@ u*Fx;Iu*CxBp>xBEHDHFp=)~dGF@=YEE>AAQMlDIMM>IQ I].7ٮQQ Q]tI Q UeB9QU: Uc:)Uɏ.7 mT8)aIa mtIia mCa e:)eA:IeT8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:xA xA?΅> ߡν) ަ(AYt*(G@t*'U@yt*`)t*!x>t*H@]3?P@^ɿn@[?,?X?>?)u*(G@ u*5my;Iu(x^Ze>xb EilIl)=GEʡʡQlDʡͭ;Y>I I.7ٮ QtI  UB9鰵: :).7 T8)I tIi C ):I/T8I9*G2GFFrFbFEE);I9 iIkvi!! !2@-<:@-w:5 5)1I1 i Sķ) ߦ(AYt.G@t.U@yt.d!t.br>t.H`H_?ᢿ2ɿz@?4?? ?)u.G@ u.׎z;Iu.Cx6l>x6E)҄GF@-Y-ɞ:->11Q5mD1=Xg=>IA IM.7ٮAA QMtI A UMB9AE: E>:)E.7 UU8)Q ]U8IQ ]tIiQ ]CQ U=:)U׾:IU'U8iIi9iO}Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIIi 2@<:@w: ʷ) -ߦ(AYt6F@t6tU@yt6ECt6%k>t6H`~f@?@롿Uȿ3,?`V(?@D8?S'?)u6F@ u6Z{;Iu6CxNj>xNqEGRAAHPi\I\)]vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YV:>QmD->I I/7ٮ M/7 QtI  UB9: ^:)7/7 U8)I tIi C 5:)U:I=oU8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.096522 arcdeg .q''*G2GFFrFbFEE);I9 iI1i 2@<:@w: ѷ) [|Gߦ(A@ Yt.cF@t.npU@yt.Ft.5l>t.Hf5?@xȿN?h?C?@&?)u.cF@ u.H5{;Iu.CxB:m>xBE)~Gi~xA|F@=YEw:E>AAQMmDIM=;M>IQ I]/7ٮQQ Q]tI Q U]B9QU`: UB:)Udl/7 mU8)aIa mtIia mCa e::)e:IemU8I9=O@Contact HDG: 149.245603 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIʾi 2@<:@w: 9 V> ]>h׷) Taߦ(AYt.VF@t.ayU@yt.%t.іf>t.Hf~T?`ȿI? ? F?`0?)u.VF@ u.{;Iu.CxRj>xRqEi\I\)vGa 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}3>ʁʁQmDʁ͍٭:>I I/7ٮ QtI  UB9鰕: :)/7 U8)I tIi C :)ȗ:IU8I9*G2GFFrFQbFYEYEY)m;Im9 qqiyIyi 2@<:@w: ߹޷) @1{ߦ(AYt*F@t*YU@yt*(t*m>t*H`i ?{lȿ``C-??y?o#?)u*F@ u*z;Iu(xReq>xRnEHPHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )5GF@Y>Q%mD!%%>I) I5/7ٮ)) Q5tI ) U=B9)-: -W:)-/7 EV8)9 EV8I9 EtIi9 EC9 =V:)=I:I=BV8YIY9Y*Gi2GiF)F)rF1bF1E1E1)m;Iu9 qqiqIqy.i 2@<:@w:  )  "ߦ(A),I.4t Hdu?Luȿ ??6'? C(?)u wF@ u %y;Iu x5o>x5E){=skI{9i{=~={=7>{9{=A{9|=AA9|=ʋ^?d'xiqIq)SG%=%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y59=>99Q=mD9E <E>II IU07ٮI MU07I QUtI I UUB9IM9: M:)MY07 eV8)YIY etIiY eCY ]э:)]Ĕ:I]8V8I9*G!2G!F)F)rF)bF1E1E12E9zE=AAE=H@4;X@K#E=ʋ^?d'xE=skE9E=X"T@I'@"x![E=֔lN翤@Tg?sWkƿE=@=DHdg To Contact =139.253091 degreesZE=<@bE=:E=o$?BE9JE= RE9jE=rE= );I9 iId i 2@<:@w: $Dacoustic_contact_range 12.120000 m$ hTrackAcousticContact.heading_to_contact 2.430425 rad$LDUSBL_Hydroid.xAngle -52.749998 arcdegi ].) ߦ(AYt*yF@t*U@yt*!t*st>t*Hmb?ʢȿ={@?`z1?C?L?)u*yF@ u*kw;Iu(xBi>xBE)=GF@}Yʅ[;:>ʁʁQmDʉ͍\3;>I I07ٮ QtI  UB9鰕; s;)J07 V8)I tIi C :)Ԙ:IV8I9*G 2GFFrF9bF9E9EA)U;Iu9 qqiqIyy}zi 2@<:@w: 9U) Xߦ(AYt*' G@t*2U@yt*Dt*x>t*H_?D3(ɿpm??2? ?)u*' G@ u*kv;Iu*CxBV>xB3EGB@AH@iPIV̓C)vGF@Y%X:%>!!Q-mD)-;->I1 I=07ٮ11 Q=tI 1 U=B915 : 5:)507 MW8)A MW8IA MtIiA MCA EZ:)E:IE5W8YIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w: A) ߦ(A Yt6j7G@t6uU@yt6l"t67>t6H[Q?Q|ɿ`t,?`M?/??)u6j7G@ u6u;Iu6Cx>0a>xBw E)~GiwAa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}Xú}>ʁʁQmDʁ͍;>I I07ٮ QtI  UB9鰕; Ե;)f07 W8)I tIi C :) :IJW8I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9EA)u;Iu9 qqiyIyy}i 2@<:@w: ߹ i> >Ck) Fzߦ(AYt*LG@t*U@yt*(t*5>t*H\Y )'?pҤɿcS?z???)u*LG@ u*,t;Iu*CxBs>xBEiLInѓC)=GF@]Yete>aaQemDimbV;m>Iq I}07ٮqq Q}tI q U}B9qub: u#:)u07 W8)I tIi C :):IW8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 191.561425 arcdeg .q'u'}*Gy2G}@FyFyrFbFEE);I9 iIG%@i@ 2@<:@w: $ERHorizontalControl.headingCmd 2.430425 radU) `(AYtFUrG@tF`V@ytF{tFmӆ>tFHU@\?`R@jɿK=Do? у??@x^EH^a=Hba=)}QnD;>I  I517ٮ  M517  Q5tI  U=B9  I: :) (17 EW8)9I9 EtIi9 EC9 =:)=A:I=W8qIq9y=O@Contact HDG: 139.253091 arcdeg .''O-4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)m;Im9 iqiqIquaE"@iyy y2@<:@w: } ) 10(A)4t.H MTm? ʿ 9`.}?`Y?`b? ?)u."G@ u.Es;Iu.CxBt>xBlEiLIP)~G==F@Y%;%>!!Q-nD)-;->I1 I=17ٮ11 Q=tI 1 U=B915: 5{:)59\17 MX8)A MX8IA MtIiA MCA E:)E:IEX8I9*G2GFF1rF9bF9E9E9)U;I9 iIr@i 2@<:@w: i nd) J(AYt*(G@t*3LV@yt*&t*Є>t*H Q? $Hʿ@2?Y؄?[j??)u*(G@ u*Ts;Iu*CxBr>xBIE)aiQmnDim;m>Iq I17ٮqq QtI q UB9quN; u;)uv17 X8)I tIi C :)c:IZX8yIy9y*G2GFFrFbFEE);I-9 11i1I1=,@i99 92@E<:@Ew: ߙ) c(AYt*G@t*SV@yt*vr)t*Ke>t*H5P`?@#cWʿ=`C?6.?N|??)u*G@ u*s;Iu*CxBv>xBEG@H@iPIR̓C)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeiԹe>aiQmnDimM:m>Iq I17ٮqq QtI q UB9quõ; uZ:)u17 X8)I tIi C :):I͞X8I9*G2GFFrFbFEE);I9 iIS@i 2@<:@ w: Y) }(A Yt*G@t*cV@yt*]t*>t*HN`7?-!vʿ@\6m?˂???)u*G@ u*s;Iu*CxBsj>xB(E {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )IiaiF@Y\7;>QnD;>I I 27ٮ M 27 Q tI  UB9; ;)B27 EX8)9I9 EtIi9 EC9 =:)=:I=X8I9*G2GF)F)rF1bF1E9E9);I9 iI@9 i 2@<:@w: Q V> >%) ۤ(AYtN G@tNkV@ytNtNQ0>tNHM`? nʿK0?݂???)uN G@ uNgs;IuLxVi>xVE){Z_rI{Xi{Z+={Z>{X{Z0A{X|Z?A9|Zڠ^?\i1I1)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y==>99Q=nDAE):E>II Iu27ٮII QutI I UuB9IM; M;)M=27 Y8)y Y8Iy tIiy Cy }o:)}b:I}+Y8III9Q*Ga2GaFaFarFbFEE2EzE?AE@p}#Eڠ^?\E_rEEDE!yTB|@}~E){\G?}!ʿEW@=DHdg To Contact =138.725937 degreesZE@bE$ :Eo$?BEo$?JE RE jErE)U;IU9 YYiYIYe@iaa a2@m<:@mw: $Dacoustic_contact_range 11.999999 m$-hTrackAcousticContact.heading_to_contact 2.421224 rad$-LDUSBL_Hydroid.xAngle -54.300000 arcdeg+) E(AYt*G@t*V@yt*t*®>t*HK?@" ʿ@74[f? ????)u*G@ u*Ms;Iu(x>r>x>IEHB4=HBp=)z+GF@Y%>!!Q%nD!-Jc;->I1 I=27ٮ11 Q=tI 1 U=B915h: 5):)5o27 EY8)AIA MtIiA MCA EՐ:)EA:IEiY8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIO i 2@ <:@ w: Ar2) "T(A) IYt.G@t.V@yt.Zt.>t.HK`O?N즿ԫʿ:`5?> ?`s?k?)u.G@ u.^Ss;Iu,x^i>x^EipIrѓC)EGE4=E%=F@}Y}5:>ʁʁQnDʁ͍>>I I27ٮ QtI  UB9鰕2: W:)¨27 Y8)I tIi C :):IY8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.027299 arcdeg .q'M'M*GI2GMW@FQFQrFYbFYEYEa)u;Iu9 qyiyIy}W@iW@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.421224 radi 8) ,(AYt*G@t*ۀV@yt*%jt*>t*HK? 4ʿ4oa?`0̓? ؞??)u*G@ u*Bs;Iu*CxBo>xBJE)5vGa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝm>ʡʡQnDʡͭ^9>I I27ٮ QtI  UB9鰵: B:)q27 Y8)I tIi C  :):IY8I9=Om@Contact HDG: 138.725937 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEyEy);I9 iI i 2@<:@w: ߹?)  (AYt*G@t*V@yt*lt*@Ј>t*HsJ $?ʿ@$*z? ڃ???)u*G@ u*Fs;Iu*CxBn>xBEG@H@iPIP)GF@]Ye]e>aaQenDam:m>Iq I37ٮq M37q QtI q UB9qu; uo;)u37 Z8) Z8I tIi C :):IK7Z8I9*G2GFFrFbFEE)U;IU9 QQiQIYY]x iaa a2@m<:@mw: ywE) (A@ Yt.G@t.rV@yt.׵t.I >t.HM?.Zʿ 0@z?V?@ ?,?)u.G@ u.s;Iu.CxBj>xBqE)~SGixAF@=YEO$:E>AAQMoDIM}M>IQ I37ٮQQ QtI Q UB9QU=< Um<)UM37 Z8)I tIi C ̒:):I|Z8I9*G 2G F F rFbFEE)-;I-9 )1i1I19=i99 92@E<:@Ew: Y > >L) ܽ2(AYt*/G@t*:V@yt*Tt*>t*H@/K`k?@樂ŷʿZ:4? *?Ir? ?)u*/G@ u*s;Iu*CxRi>xREi\I^̓C)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅU9>ʉʉQoDʉ͍3;>I I37ٮ QtI  UB9鰕J: ݱ:)j37 Z8)I tIi C O:)ȗ:IZ89I99A*GQ2GQFqFqrFybFyEyE);I9 iI Yi 2@<:@w: S) ݙL(AYt*HG@t*S{V@yt*բ t*>t*H.L@ ?զ `ʿ`d7R?E???)u*HG@ u*jr;Iu*CxBz>xB EHB=HD)~SGF@ Y>QoDX˺>I! I-37ٮ!! Q-tI ! U-B9!%: %:)%37 =[8)1 =[8I1 =tIi1 EC1 5:)5Y:I5$[8III9Q*Ga2GaFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱H+Y) 6uf(A);IYt*G@t*nV@yt*t*>t*HM +?`DB@ۋʿ0Ō?Ƃ???)u*G@ u*r;Iu*CxBWx>xBEiLIP)~dGR=4=F@%Y%2:%>))Q-oD)55>I9 IE37ٮ99 QEtI 9 UEB99=S: =:)=37 M[8)III UtIiI UCI M:)MԘ:IME[8aIa9a*Gq2GqFyFyrFbFEE);I9 iIhi 2@<:@w: i `) /P(AYt*G@t*`V@yt*x t*W>t*H`N?@`bpʿr/͡? >? ??)u*G@ u*r;Iu*CxB`k>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yy:>!!Q%oD!-5>I9 IE47ٮ9 ME479 QMtI 9 UMB99=; =;)=-47 ][8)QIQ ]tIiQ eCQ U:)Uk:IUu[8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I 9  i I yi 2@<:@%w: 1=f) ,(AYt*QG@t*\TV@yt*&t*l#>t*H /P?)Xʿ>;?\݄?`[t? .?)u*QG@ u*gr;Iu*CxBxp>xBEG@H@){FxI{Di{F={F7>{D{F`A{D|FDA9|Fn&O?*̼]ki`IbѓC)%GF@]Ye;e>iiQmoDimBu>Iq I}47ٮqq QtI q UB9qu: u:)u|a47 [8)I tIi C  :) :I2[8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 191.877772 arcdeg .q'5'5*G12G9F9F9rFAbFAEAEA2EIzEMDAEMw@bFVO$EMn&O?*̼]kEMxEIEM9~!llV @Pe';REM̊: MA?\{!oʿEMN@=]DHdg To Contact =137.248061 degreesZEMAbEMe :EIBEMo$?JEM REM jEM"rEM)u;Iu9 qyiyIyy:i 2@<:@w: ߙ$Dacoustic_contact_range 12.299998 m$hTrackAcousticContact.heading_to_contact 2.395431 rad$LDUSBL_Hydroid.xAngle -55.650001 arcdeggl) (A Yt.G@t.hV@yt.ϔt.ք>t.H"N@?Р!ʿ&>`'/? R?k?x?)u.G@ u.r;Iu.CxNxp>xP)vGi%wA!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yd:>QoD|D;>I I47ٮ QtI  UB9G: :)@47 \8) \8I tIi C c:)4:IH\8I9=O@Contact HDG: 137.248061 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIEQi 2@<:@w:  R> l>TOs) (AYt*ƇG@t*4V@yt*t*p>t*H{SK?#ͦ@lʿ8?"?m?p?)u*ƇG@ u*>}r;Iu*CxBp>xB%EiPIV̓C)GF@Yʍd9>ʑʑQoDʑͥy>I I47ٮ QtI  UB9鰥1: :)47 \8)I tIi C :):IlX\8I9*G2GFFrFbFEE);I9  i I mi 2@<:@w: 1,zy) (AYt*ϣG@t*PV@yt*Jt*逇>t*H`P ?@JQʿ5`? s?z?k?)u*ϣG@ u*Җr;Iu*Cx>xp>xBEHBa=HBa=)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]e]>aaQeoDam<;m>Ii Iu57ٮi Mu57i Q}tI i U}B9im[: m:)m57 \8)I tIi C :):I]\8I9*G 2G F F rF1bF1E9E9)M;IM9 QqiqIqy}Aiyy y2@<:@w: ߹a) N(A)IYt.xG@t.%V@yt.t.~+>t.H@U@i?@I`ɿe? Z?_?E??)u.xG@ u.~r;Iu.CxBeq>xBnEiLIRѓC)~vG4=%=F@=YEnE>AAQEoDIM׻M>IQ I]57ٮQQ Q]tI Q UeB9QU: Uh:)U|=57 m\8)aIa mtIia mCa e:)ec:Ie\8yI9*G2GFFrFbFEE);I9 iIF`i 2@<:@w: i ) q(AYt*G@t*7V@yt*9Yt*)v>t*H.Sď?+ ʿH? ?@? ?)u*G@ u*r;Iu(xRjw>xR"E)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ7:>ʡʡQpDʡͭ,/;>I I57ٮ QtI  UB9鰵: :)Fv57 ]8) ]8I tIi C o:):I$]8I9*G2GFFrFbFEE);I9 iI8i!! !2@-<:@-w: 9|) N5(AYt*xG@t*%V@yt*)t*=>t*H@U`g?mɿ? V?`S??o?)u*xG@ u*r;Iu*CxB'n>xBpEGDHDiPIP)+GF@Y%%>))Q-pD)5:5>I1 I=57ٮ11 QEtI 1 UEB915\: 5:)5E57 M]8)III MtIiI UCI M:)Mݖ:IMXf]8aIa9a*Gq2GqFqFyrFybFEE);I9 iIGi 2@<:@w: ĝ) *O(A@ Yt.qG@t.V@yt.t.U>t.HUxZ? ]ɿ <t?eÃ?@?}?)u.qG@ u.Yr;Iu.CxBHf>xB E)~SGixAwAF@=YE}E>AIQMpDIMM>IQ I]57ٮQQ Q]tI Q UeB9QU: UN:)U57 m]8)aIa mtIia mCa e:)eȗ:Ie]8yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI/i 2@<:@w:  {>Ǚ) }i(AYt*Z]G@t*e V@yt*t*@(>t*HWn5? Uɿ@.Bi[?y???)u*Z]G@ u*ur;Iu*CxNp>xR%Ei\Ib̓C)%dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ!9>ʩʩQpDʩͭ.B>I I67ٮ M67 QtI  UB9: ^:)c67 ]8)I tIi C :):I]8I!9!&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'=N@Vehicle HDG: 191.619113 arcdeg .q''*G2GN@FFrFbFEE);I9 iIS@iN@ 2@<:@w: !$RHorizontalControl.headingCmd 2.395431 rad^) ߂(AYt*cdG@t*nV@yt*pt*K҃>t*HW H?ɿJB?c?K??)u*cdG@ u*Tr;Iu*CxBk>xBEH@HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Y8>QpDG:>I I 67ٮ Q tI  UB9I: h;)FT67 %^8) %^8I %tIi -C :):I17^8YIa9a=O@Contact HDG: 137.248061 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!%IW@%iiq q2@}<:@w: ߹w٦) (A) I Yt*B_G@t*M V@yt*O#t*6>t*HW@:?!ɿ`CN? V??`?)u*B_G@ u*ler;Iu*CxBg>xBsE){BVhI{@i{B&={B>{@{B A{@|BEA9|Br޷?&+Ob7i`IbѓC)QU%=Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yk>QpDH%>I! I-67ٮ!! Q-tI ! U5B9!%\: %:)%67 ]^8)QIQ ]tIiQ ]CQ U:)UR:IU|^8iIi9q*G2GFFrFbFEE2EzEEAEW74p@rz#Er޷?&+Ob7EVhEE(iA"Z=st@=.E8D?*uJɿE#@=DHdg To Contact =140.676133 degreesZE@bE:Eo$?BEJE RE jEIrE")U;IU9 QQiQIY]N@]iaa a2@m<:@mw: ߡ$Dacoustic_contact_range 12.360002 m$hTrackAcousticContact.heading_to_contact 2.455262 rad$ LDUSBL_Hydroid.xAngle -51.999999 arcdegi T) (AYt*SG@t*V@yt*t*,>t*HX ? 3ɿ,C[?^1?u??)u*SG@ u*"Yr;Iu*CxBx>xBE)GF@YʍV:>ʉʉQpDʉ͕>I I67ٮ QtI  UB9鰝: J:)67 ^8)I tIi C :)s:I^8I9*G2GFFrFbFEE);I9 iI i   2@<:@w: !}본) p(AYt*cG@t*V@yt*#t*>t*HWK?@yɿgJ@?@xR%EGRAAHTidIf̓C)%GF@eYuu>yyQ}pDyͅ[';>I I67ٮ QtI  UB9鰍: .<)67 }_8)a _8Ia tIia Ca e;)e&]t.HVUM?7ɿF2?&/?i?@?)u.~fG@ u.or;Iu.CxBi>xBNE)~aaQepDam9m>Iq I}77ٮq M}77q Q}tI q U}B9qu: u:)ua.77 _8)I tIi C :)|:IDD_8I9*G2GFFrFbFEE);I9 iI;ۼi 2@<:@w: ߩ e> >') %(AYt*vG@t*(#V@yt*t*j>t*H ?U |e?`=ɿ>`b??@?@?)u*vG@ u*]sr;Iu*CxR c>xR Ei\I`)GF@-Y->95>11Q5pD1= ;=>IA IM77ٮAA QMtI A UMB9AE: E>:)Ed77 U_8)QIQ ]tIiQ ]CQ U:)U:IUJ_8iIi9i*G2GFFrFbFEE);I9 iIؼi 2@<:@w: 'Ǹ) .(AYt*rG@t*V@yt*t*-;>t*H Up\? !Zɿ ?`Q\?6?@,??)u*rG@ u*`r;Iu*CxNk>xREHPHP)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@uY}e:}>ʁʁQqDʁ͍>I I77ٮ QtI  UB9鰕 : :)377 _8)I tIi C :)o:I_8I9*G2GFFrFbFEE);I9 iIOmռi 2@<:@ w: Q͸) 7(A)4t*HR4?@[ 6ʿ@@:? }v?Vt?@=?)u*G@ u*Bnr;Iu*CxB'n>xBpEiPIP)~G4=F@ YG>QqD%;%>I! I-77ٮ!! Q-tI ! U5B9!%F: %:)%77 =`8)1 =`8I1 EtIi1 EC1 5:)58:I5`8QIQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFqbFqEqEq);I9 iI`Ҽi 2@<:@w: ߱i 9Ը) Q(AYt6G@t6DV@yt6COt6ͯ>t6HQ?Ϧ@?9ʿZ:g??A? ?)u6G@ u6tUr;Iu4xNz>xR E)SGF@%Y-,:->11Q5qD1=Wy9=>IA IE87ٮA MM87A QMtI A UMB9AE: EE:)E 87 U`8)QIQ ]tIiQ ]CQ U:)U:IUS`8iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'N@Vehicle HDG: 191.822516 arcdeg .q''*G2G#@FFrFbF EE)E;IE9 AAiAIAM@iIM#@ Q2@U<:@]w: i$RHorizontalControl.headingCmd 2.455262 raddڸ) k(AYt*G@t*rV@yt*#t*>t*HM?Цʿ+8S?]?@??)u*G@ u*CKr;Iu*CxNDy>xREEGR@AHPilInѓC)=dGa 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ>ʡʡQqDʡͭ;>I I87ٮ QtI  UB9鰵: :)9C87 `8)I tIi C t:)$:I `8I9=O@Contact HDG: 140.676133 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI#@i 2@<:@w: K) n(A Yt*G@t*tV@yt*nt*K>t*HL@?gʿg5`f?`?T??)u*G@ u*zmr;Iu*CxB{>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAF@=YE1E>AIQMqDIup9u>I I87ٮ QtI  UB9鰅Ji< i<)~87 `8)I tIi C N:):I`8I9*G2GFFrFbFEE))=;I=9 99iAIAim ϼiii q2@}<:@}w: ߱ > t>~u) H(AYtZG@tZךV@ytZStZ>tZH H H? :' ʿ24@Q?iʃ?D??)uZG@ uZ fr;IuXxrxp>xvE){zmI{xi{z={z7>{x{z0A{x|zBA9|z|[QqD;>I I87ٮ QtI  UB9:  :)87 a8) a8I tIi C Ԙ:)+:I(a8I9*G!2G)F)F)rF1bF1E1E92E9zE=BAE= UI@|mw#E=|[t*H@E W?~@;(˿`-:b?@\?Ң?`?)u*H@ u*lr;Iu*CxBp>xB%EHFp=HD)SGF@=YE|c9E>AAQMqDIM;M>IQ I]87ٮQQ Q]tI Q U]B9QU: U5:)U87 ma8)aIa mtIia mCa e[:)e:IePda8I9*G 2G FFrFbFEE)5;IU9 QQiQIQY]KɼiYa a2@e<:@mw: ߙ) P(A);I4t.H zB?7ߧ W˿@$ ????)u.*H@ u.fr;Iu.CxNRr>xREi`I`)%dG%4=-%=F@eYu}>ʁʁQqDʉ͍l;>I I97ٮ M97 QtI  UB9鰕: o:)T97 a8)I tIi C Ր:)c:I˩a8I9*G2GFFQrFYbFYEYEY)u;I9 iItƼi 2@<:@w: i ) X(AYtVkgH@tVvW@ytVtV1a>tVH@;`)?d`˿!t????)uVkgH@ uVSr;IuTx^v>x^GE)1a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ)|:>ʹʹQqDʹ<>I I97ٮ QtI  UB9:  :)yW97 a8)I tIi C :)N:Ia8I9*G2GF F rF bFEE)-;I-9 ))i)I)9~üi 2@<:@w: ) k(AYt*~kH@t*W@yt*.t*2Ƈ>t*Hu;20? @˿`??? E?)u*~kH@ u*Dr;Iu*CxNu>xREGRAAHPi\I`)-GF@}Yʅ>ʁʁQqDʁ͍a$:>I I97ٮ QtI  UB9鰕: x:)97 b8) b8I tIi C :)4:I1b8I9*G2GFFrFbFEE);I9 iIYi 2@ <:@ w: )  (A Yt*ݧH@t*TW@yt*!t*l߇>t*H 4 ?^M̿@*? /?`??)u*ݧH@ u* r;Iu*CxNo>xRE)5Gi5xA1F@}Yʅ>ʁʁQrDʁ͍o<>I I97ٮ QtI  UB9鰕: -:)97 b8)I tIi C :)ȗ:Ivb8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: ! > > ) {k:(AYt*H@t*W@yt*I t*2>t*H/]?ڂ ̿? a? D? ?)u*H@ u*{r;Iu*Cx^i>x^EitIt)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ{:>ʹʹQrDʹ,;>I I97ٮ QtI  UB9:: :)97 b8)I tIi C :)^:I5b8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.931561 arcdeg .q''*G2G@FFrFbFEE);I9 iI@i@ 2@<:@w: $RHorizontalControl.headingCmd 2.445613 rad.) MIT(Axv>xGEHa=Hp=)dGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMM>IQQUrDq}}>I I:7ٮ M:7 QtI  UB9鰅: :)77:7 c8) c8I tIi C <:)ʢ:IHc8I9=O}@Contact HDG: 140.123325 arcdeg .'}'}O}4Initialize Wait Component.*G2GFFrFbFEE);I9 iILi 2@<:@w: Q) "n(A)4t*H&?& @Ϳ2`?t?Y??)u*$I@ u*r;Iu*CxRu>xVEidId)iu=qF@Yʽ#>QrDR<>I I:7ٮ QtI  UB9: B:)Ok:7 c8)I tIi C  :):ICc8I9*G 2G FFrFbFEE)5;I59 11i1I19=i9A A2@E<:@Mw: Yi !) (AYt*,I@t*W@yt*'t*>t*H%??aPͿ ^?'?@/??)u*,I@ u*dr;Iu*CxBt>xBlE {DY|HJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Y%%>))Q-rD)U`:]>Ia Im:7ٮaa QmtI a UuB9ae< e,<)e:7 c8)I tIi C :)j:IQc8)I9*G2GFFrFbFE E );I9 !!i!I!IMiIQ Q2@]<:@ew: y() Q١(AYtBҌI@tB9X@ytBQC!tB>tBHM?l4 ο4`ƌ?T(??`?)uBҌI@ uB)\r;IuBCxJj>xJqEGN@AHLidIf̓C)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ]:>ʑʑQrDʑ͝y<>I I:7ٮ QtI  UB9鰥%: :):7 c8)I 5tIi 5C Ӎ<)M@I@t>KAX@yt>)t>$>t>H[?οv?[8? ? ?)u>@I@ u>cjr;Iu>CxF}>xFE) +GiF@Y%8%>!!Q-rD)-Z:->I1 I=;7ٮ1 M=;71 Q=tI 1 UEB915[: 5=:)5;7 Md8)A Md8IA MtIiA MCA E:)E:IE d8YIY9a*Gq2GqFqFqrFybFyEE);I9 iI i 2@<:@w:  > >e(5) #(AYtnI@tnmX@ytn"tn,Պ>tnHF?ثoο?`]?/$? I?)unI@ un3Vr;IunCxvl>xvEiI)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y:>QrDF;>I I;7ٮ QtI  UB92: 5:)qH;7 d8)I tIi C :)A:ITd8I9*G!2G!F!F!rF)bF1E1E1)E;IE9 IIiIIIQU IiQQ Y2@]<:@]w: WN;) k(AYt*I@t*xX@yt*t*>t*HQ`?@֫@ο_2? Ã?`?@?)u*I@ u*tr;Iu*CxNq>xREHPHRa=)+GF@-Y-:5>11Q5rD1=:=>IA IM;7ٮAA QMtI A UMB9AE: E:)E|;7 Ud8)QIQ ]tIiQ ]CQ U:)U:IUd8iIi9iO}Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIYi 2@<:@w: 7B) L (A);IYt*mI@t*xX@yt*!t*>t*H`5? @ο @l? "?\?u?)u*mI@ u*xr;Iu(x>sj>xB(EiLIL)~SG4=F@ Y;F>QrD%;%>I) I-;7ٮ)) Q5tI ) U5B9)-:: -:)-P;7 =d8)9I9 EtIi9 EC9 =%:)=:I=d8QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'mN@Vehicle HDG: 193.906448 arcdeg .q''*G2GFFrFbFEE);I9 iI%G"i!! !2@-<:@-w: 9i *`H) G!#(AYt*zJ@t*X@yt*Q"t*9>t*H N?Dl iϿ@T ? ]?@{?@?)u*zJ@ u* ur;Iu*CxRg>xRsE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@uY}}>ʁʁQsDʁ͍;>I I;7ٮ QtI  UB9鰕>: :)=;7 e8) e8I tIi C A:)4:Ie8I9=OM@Contact HDG: 140.123325 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFQFQrFYbFYEYEa)u;Iu9 qyiyIyyi 2@<:@w: ߙN) <(AYt*RJ@t*]X@yt*<'t*M>t*H` Y)? Vο@\e?O???)u*RJ@ u*r;Iu*CxBxp>xBEG@HDiPIRѓC)5yyQsDʁͅQ>I I<7ٮ M<7 QtI  UB9鰍: #:)S#<7 e8)I tIi C :)$:Ibe8I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  uU) V(A@ Yt.AJ@t.X@yt.(t. >t.H?iϿNr??`??)u.AJ@ u.r;Iu.CxNMl>xNLE)Gi]wAYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ#>QsDt<>I I<7ٮ QtI  UB9h: :)[<7 e8)I tIi C :):Ie8I9*G 2G FFrFbFEE)5;I59 11i1I19=Ii99 A2@E<:@Mw: Y > >[) ѱp(AYt*J@t*X@yt*M%t*Ox>t*H" \?`x(Ͽ@ZN?? ??)u*J@ u*r;Iu*CxRWx>xREi\I^̓C)GF@-Y-\:5>11Q5sD1==>IA IM<7ٮAA QMtI A UMB9AE: E_:)EU<7 Ue8)QIQ ]tIiQ ]CQ U:)U:IUfe8iIi9i*G2GFFrFbF E E )=;IU9 QQiYIYY]iaa a2@m<:@mw: ߙ!b) (AYt*CJ@t* X@yt*Ϙt*.>t*H0?@$7`nϿ@? s?1?`"?)u*CJ@ u*Or;Iu*CxNw>xRjEHRp=HRp= {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )QsD;>I I<7ٮ QtI  UB9 < =<)<7 f8) f8I tIi C :)ߡ:I:f8I9*G2GFFrFbF E E )%;I%9 !!i!I!Imiii q2@u<:@}w: ߙ@h) h(A) I Yt*B@J@t*MX@yt*gt"t*Ň>t*H@2y?`,@gϿ )i? wN?`?C?)u*B@J@ u*r;Iu(xNk>xRE){RbI{Pi{R>{P{P{RA{P|RfB9|RB??ipIp)ESGAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ>ʩʩQsDʩ͵+#>I I=7ٮ M=7 QtI  UB9鰽: ˵:)=7 f8)I tIi C -:):I#tf8I9*G2GFFrFbFEE2E zE fBE E@N䲙JE B??E bE E I5nKSM^cC@ +E $WRt93?ɴ,ɿE t!@=DHdg To Contact =144.543646 degreesZE KBbE w[:E o$?BE o$?JE i RE jE .XrE );I9 iI3i 2@<:@w: Q$Dacoustic_contact_range 68.699997 m$hTrackAcousticContact.heading_to_contact 2.522763 rad$LDUSBL_Hydroid.xAngle -50.749999 arcdegi @A `n) C(AYt.BJ@t.X@yt.j%t.8>t.H@ ?˶kϿ |;?? ӕ??)u.BJ@ u.*r;Iu.CxBn>xBE)GF@=YEE>AAQMsDIM9M>IQ I]=7ٮQQ Q]tI Q UeB9QU: U:)U6=7 mf8)aIa mtIia mCa a)e:Ief8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIbi 2@<:@w: wu) (AYt*RJ@t*#X@yt*++t*>t*H? L@Ͽ@n?@Ge? ??)u*RJ@ u*r;Iu(xBRr>xFEGHHLitIt)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YA>QsD; >I  I=7ٮ   QtI  UB9  : :) p=7 %f8)!I! %tIi! -C! %%:)%9:I%0f81I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 194.265483 arcdeg .q'%'%*G!2G%t!@F!F!rF)bF1E1E1)E;IE9 IIiIIIuH@iqut!@ q2@}<:@}w: ߱$RHorizontalControl.headingCmd 2.522763 rad3{) (A@ Yt*1.J@t*t*H_v?˩~DϿF?@?|4??)u*1.J@ u*.r;Iu*Cx>jw>x>"E)~SGi~xA|F@=Y=>9=>AAQEsDAM޼M>IQ IU=7ٮQQ Q]tI Q U]B9QU: UB:)Uf=7 eg8)a mg8Ia mtIia mCa eԘ:)e:IeC>g8yIy9y=O@Contact HDG: 144.543646 arcdeg .' ' O 4Initialize Wait Component.*G 2G F FrFbFEE)-;I59 11i1I1=C @i99 A2@E<:@Ew: Y > >H҂) x (AYt*5J@t*X@yt*9!t*r>t*Hw? `SϿ ?&'?@x?3?)u*5J@ u*r;Iu*Cx^b>x^ EilInѓC)5GF@}Yʅ:>ʁʁQsDʁ͍C:>I I=7ٮ QtI  UB9鰕: :)=7 g8)I tIi C -:):Ig8I9*G2GFFrFbFEE);I9 iI8"@i 2@<:@ w: f) %(AYt*J@t* X@yt*uTt*c>t*H `?}@WϿ@-?| ?@$m?6?)u*J@ u*r;Iu(xNs>xREHPHRa=)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>QtD>I I>7ٮ M>7 QtI  UB9: :)>7 g8)I tIi C p:) :I9g8I9*G2GFFrFbFE!E!)5;I59 99i9I9EHF"@EꁌiAA A2@M<:@Mw: a') ?(A) IYt*,J@t*X@yt*{9!t*=>t*H ?2sAϿ`r?'?vw??)u*,J@ u*r;Iu*CxNc>xN Ei\I^̓C)%%=!F@-Y-5>11Q5tD1ͭ 1;>I I>7ٮ QtI  UB9鰵G: W:)K>7 h8) h8I tIi C ,:):I h8I9*G2GFFrFbFEE);I9 iIt!@i!! !2@-<:@-w: 9i ?A b) fY(AYt.zJ@t.X@yt.jX5t.G>t.H  [?ӎ`Ͽs??`??)u.zJ@ u.jr;Iu.CxN?s>xRE)%GF@]Ye$De>aaQetDimyVm>Iq I}>7ٮqq Q}tI q U}B9qu: uW:)u>7 h8)I tIi C }:):IIOh8I9*G)2G)F)F1rFQbFYEYEY)m;Iu9 iIWi 2@<:@w: ߹w8) As(AYt*I@t*X@yt*_l*t*A>t*H` ?`Hg ο`'}?rM?? 0?)u*I@ u*}r;Iu*CxNy>xREGRAAHRAAi\I`)҄Ga 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ):>ʁʁQtDʁ͍ƻ>I I>7ٮ QtI  UB9鰕: l:)@>7 h8)I tIi C Ր:)ȗ:I h8I9*G2GFFrFbFEE);I9 qqiqIqy}iyy 2@<:@w: ߹W ) (A Yt*LI@t*WX@yt*`$t*>t*H? οE9?@?`?@?)u*LI@ u*}r;Iu*CxRk>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uvGiwAF@Y]:>QtD>I I>7ٮ QtI  UB9: 5:)>7 h8)I tIi C V:):Ih8I9!O=Done Waiting.'=O=8Uninitialize Wait Component.*G92GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFIrFQbFEE)U;IU9 YYiYIYaeiaa a2@m<:@-w: 9 R> l>1J) (AYt*I@t*ÀX@yt*t*>t*H`]? οi5?`???)u*I@ u*Zr;Iu*CxB}v>xBEiXI\)GF@]Ye:e>aaQmtDimISm>Iq I}?7ٮq M}?7q QtI q UB9qu-; uG;)u'?7 i8) i8I tIi C + ;);Ii8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 193.823543 arcdeg .q'e'e*Ga2GaFaFarFqbFqEqEq);I9 iIzi 2@<:@w: m2) (AYt*NI@t*YUX@yt*Jht*|>t*H @?@οB@G?̂?? ?)u*NI@ u*-r;Iu*CxBe>xBP EHF4=HD)҄Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYev:e>iiQmtDiuֻu>Iy I}?7ٮyy QtI y UB9y}t: }:)}E^?7 i8)I tIi C p:):I_i8I9=O%@Contact HDG: 144.543646 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rF1bF1E1E1)M;IM9 IIiIIIQU`l|iYY Y2@e<:@ew: q\) (A)I4t6H"`]?`Щ`pEο ??`I\?T?)u6ѪI@ u6q;Iu6CxNl>xREi`I`)%+G!-4=a 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅor>ʉʉQtDʉ͕9>I I?7ٮ QtI  UB9鰝}: >:)?7 i8)I tIi C  :) :Ii8I9*G2GFFrFbFEE);I9 iIvi 2@ <:@w: !i ) (AYt*̈I@t*5X@yt*5t*p{>t*H`8[?>Hο`2?乆?`~??)u*̈I@ u*q;Iu*CxBr>xBIE)5GF@=YEE>IIQMtDIUU>IQ I]?7ٮQQ QetI Q UeB9QU): UW:)U?7 mi8)iIi utIii uCi m:)m9:Im7i8I9*G2GFFrFbFEE);I9 iImXqi 2@<:@w: {nù) d(AYt*TI@t*X@yt*-t*쑇>t*HI!m?`穿ɜͿ+r?d?{? ?)u*TI@ u*gq;Iu*CxNm>xR'EGR?AHR@Ai\I^ѓC)iF@uY}z:}>ʁʁQtDʁͅH>I I@7ٮ M@7 QtI  UB9鰍: o:)@7 j8) j8I tIi C :):I},j8I9*G2GFFrFbFEE)=;I=9 AAiAIAIMjiII Q2@U<:@Uw: iɹ) ?((A@ Yt.yHI@t.W@yt.Zt.j>t.H"@?@⩿KͿ 0?x6E)nSGirxApa 1a 1 a 5a 5 a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Y%5,;%>!)Q-uD)-$ں5>I1 I=@7ٮ11 QEtI 1 UEB915S: 5а:)50>@7 Mj8)AIA MtIiA UCA E:)E:IE0tj8aIa9a*Gq2GqFqFyrFybFyEE);I9 iI(ei 2@<:@w:  >.й) B(AYt*I@t*W@yt*t*b>t*H@S(J?K('ͿW `%?@B?3??)u*I@ u*]q;Iu*CxRW>xREi\I\)dGF@-Y-VX95>11Q5uD1==>IA IM@7ٮAA QMtI A UMB9AE: E:)Eq@7 Uj8)QIQ ]tIiQ ]CQ U:)U:IUj8iIi9i*G2GFFrFbFEE);I9 iIG|`i 2@5<:@=w: Iֹ) [(AYt.I@t. W@yt.(t.qe>t.H*\?`차̿?`?@f]? 7?)u.I@ u.q;Iu.CxRs>xREHRp=HVp=)!a 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍM>ʉʉQuDʉ͕]F>I I@7ٮ QtI  UB9鰝_:  :)Ω@7 j8)I tIi C :)I:I j8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  Zi   2@<:@w: ߩܹ)  u(A) I;Yt**H@t*5W@yt*@0t* >t*H 0[?@?ǟ̿BDi?`?&?@?)u**H@ u*zq;Iu*CxNsj>xR(Ei\I^̓C)G%4=%%=F@-Y-I5>11Q5uD1==>IA IM@7ٮAA QMtI A UMB9AE: Eį:)Ee@7 ]k8)Q ]k8IQ ]tIiQ ]CQ U˵:)U:IU4;k8iIi9i&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.922860 arcdeg .q''*G2GF F rFbFEE)-;I-9 ))i)I)15 Ui99 92@E<:@Ew: Qi M) (AYt*۲H@t*_W@yt*k-t*[m>t*H3`'?@W#@b̿`R!@9??D}??)u*۲H@ u*(r;Iu*CxB0a>xBw E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uvGF@Y9>QuD=>I I A7ٮ MA7 QtI  UB9 ;  ;)A7 %k8)!I! -tIi! -C! %:)%:I%k8III9Q=O@Contact HDG: 144.543646 arcdeg .''O4Initialize Wait Component.*G2G F F rFbFEE);I9 iITUNi 2@ <:@ w: i) 臩(AYt*͘H@t*EW@yt*Ψt*3H>t*H6h?  /̿`*)@O??Y??)u*͘H@ u*1qr;Iu*CxBz>xB EGF@AHDi\I^ѓC)dGa 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ;>ʡʡQuDʡͭH>I IA7ٮ QtI  UB9鰵: :)OA7 k8)I tIi C }:):Ik8I9*G2GFFrFbFEE);I9 iIIi!! !2@-<:@-w: 9) |b(A@ Yt*hH@t* W@yt*/ !t*f>t*H;@5?1ŧ˿,`#?p!?@e? ?)u*hH@ u*r;Iu*Cx^e>x^P E)9i=yA9F@MYMaM>QQQUuDQ]]>Ia IeA7ٮaa QmtI a UmB9ae: eį:)e_A7 ul8)q }l8Iq }tIiq }Cq u^:)u:Iul8I9*G2GFFrFbFEE);I9 iIGDi 2@<:@w:  > t>h) X<(AYt*^>H@t*iV@yt*o%t*~>t*HN@?pq˿S-=B?@㭄?@a?Q?)u*^>H@ u*s;Iu*CxRm>xR'Ei`Id)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y'>QuDʻ>I IA7ٮ QtI  UB9: :)A7 l8)I tIi C :):INl8 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIIIM>iIQ Q2@]<:@]w: i") (AYt*)H@t*V@yt*vj!t*샄>t*HBE? :ZW˿3!?`9-?a??)u*)H@ u*Ls;Iu*CxBh^>xBEHDHD)~SGF@Yʅ":>ʉʉQuDʉ͕P>I IA7ٮ QtI  UB9鰝: į:)A7 l8)I tIi C p:)A:Il8I9*G2GFFrFbFEE);I9 iIc9i 2@ <:@w: ! ) (A)4t*H`H\?*:ʿ;? 5?`M?`B?)u*G@ u*+t;Iu(xRHf>xR Ei\Ib̓C)G!%4=F@-Y5v%5>11Q=vD9=E>IA IMB7ٮA MMB7A QMtI A UUB9AEZ: E:)EU*B7 ]l8)QIQ ]tIiQ eCQ U:)U:IUl8iIq9q*G2GFFrFbFEE)%;I%9 !!i!I))-I3i11 Q2@e<:@mw: ߩi 4 ) *(AYt*(G@t*3V@yt*')t*#>t*H{J 1?@cʿ@g7E? L1???)u*(G@ u*t;Iu(xRk>xRE)ƄGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥ:>ʡʡQvDʡͭ/>I IB7ٮ QtI  UB9鰵: :)acB7 m8) m8I tIi C :):I;m8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyE);I9 iIb.i 2@<:@w: ) D(AYt*YG@t*dKV@yt*dt*>t*H /Qr?Fʿ8m?̂???)u*YG@ u*t;Iu(xNp>xR%EGPHPi\I^ѓC)GF@-Y-D;->11Q5vD1=#=>IA IMB7ٮAA QMtI A UMB9AE: E:)EB7 Um8)QIQ ]tIiQ ]CQ Uа:)U':IU[m8iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.846408 arcdeg .q''*G2GFFrF bF EE)%;I%9 ))i)I)15L(i11 92@=<:@=w: QF) ^(A Yt.ӆG@t.3V@yt.t.>t.HS܈?]ʿ@D(?d?a??)u.ӆG@ u.u;Iu.CxRMl>xRLE)dGia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}x}>yʁQvDʁͅ{c>I IB7ٮ QtI  UB9鰍: :) B7 m8)I tIi C :):Im8I9=OE@Contact HDG: 144.543646 arcdeg .'E'EOM4Initialize Wait Component.*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIqy}aG#iyy 2@<:@w: ߙ Y> p>Lq) ax(AYt*lG@t*%V@yt*#t*OG>t*H`=VZ?!1ɿ`$H`#? ?`Y??)u*lG@ u*3v;Iu*CxBp>xB%EiLIR̓C)|F@Y%%>!)Q-vD)-->I1 I=C7ٮ1 M=C71 Q=tI 1 UEB915m: 5:)5C7 Mm8)AIA MtIiA UCA E:)E:IEm8aIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w:  Z$) @(AYt2_>G@t2jU@yt2-t2>t2HZ?` @ɿ@,Kr0?@?9c?l?)u2_>G@ u2Zv;Iu0xBu>xBEHFa=HD {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iF@Y>QvD ջ>I I%C7ٮ Q-tI  U-B94: ;)AC7 ]n8)Y en8IY etIiY eCY ]H:)]:I]-n8I9*G2GFFrFbFEE )%;I%9 !!i!I!IMiQQ Q2@]<:@]w:  *) (A);IYt*G@t* U@yt*6t*>t*H@^`?a;ɿH`?Æ?7? >?)u*G@ u*fbw;Iu(x^:m>x^E){bH^I{`i{bs={b>{`{bPA{`|bGA9|b(G& ?9fliI)]Ge%=e%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YrBIi0sB0sBɅ0sBArB )F@Y>  Q vD ƻ>I9 I=C7ٮ99 QEtI 9 UEB99=: =:)=yC7 Mn8)III MtIiI uCI MȮ;)Mٰ;IMqn8I9*G2GFFFFVBrFbFEE2EzEGAE`= *@AuN.E(G& ?9flEH^EE 4I|/~'@Cw˴Ed 迃cO ?߹^ȿEd@=DHdg To Contact =142.696872 degreesZE?AbE{:Eo$?BEo$?JE REi jEurE.X5,=)5; 9=I)8=I)I=9 ==i9I=JAEiAA i2@u<:@uw: ߁$=Dacoustic_contact_range 20.160000 m$EhTrackAcousticContact.heading_to_contact 2.490530 rad$LDUSBL_Hydroid.xAngle -49.750002 arcdegi "k1) (AYt*F@t*U@yt*#t*΋>t*Hpa?d`ɿV`? t?C? ?)u*F@ u*pw;Iu(xBw>xBjE)UvGF@mYm@;u>qqQuvDq}}>I IC7ٮ QtI  UB9鰅: į:)C7 n8)I tIi C S:)˵:In8I9*G2GFFFFrFbFEE%q )-; )-r8-rI-9 -ٴ)i)I-rQUɨ iYY Y2@e<:@ew: ߱7) }(AYt*AF@t*LU@yt*t*kC>t*HRd|L?`/ )ȿ.Z@ ? ~?``:??)u*AF@ u*$ x;Iu(xB"h>xBEG@H@iXIX)%GF@Y : >Q%vD!5u>Iy I}C7ٮyy QtI y UB9y}ٮ: }W:)}C7 n8)I tIi C <)t*Hf@Q+?hkȿo^??&? v?)u* F@ u*?x;Iu(xBo>xBE)~9AQEvDAE)M>II ID7ٮI MD7I QtI I UB9IM@< M<)MSD7 o8) o8I tIi C ,:):I?o8I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G MM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFQrFQbFYEYEY);I9 iIHi 2@<:@w:  > >̦D) (AYt*pF@t*{]U@yt*])t*|>t*H@h?@o 1tȿ ?e?r6?^? ?)u*pF@ u*ux;Iu(xBm>xB'EiPIRѓC)GF@EYEAE>IIQMwDIUU>Iy I}D7ٮyy QtI y UB9y}: }:)}+RD7 o8)I tIi C :):I}o8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'UN@Vehicle HDG: 191.014423 arcdeg .q''*G2Gd@FFrF!bF!E!E!)};I}9 yyiyIy" @id@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.490530 radJ)  a-(AYt* F@t*XU@yt*&"t*+>t*H 7i ? #@iȿBd@+?NS?\? V?)u* F@ u*lax;Iu*Cx>`k>xBEHBp=HBa=)zSGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Y:>QwDK>I ID7ٮ QtI  UB9< <)D7 o8)I tIi C [:)N:I1o8QIQ9Q=O@Contact HDG: 142.696872 arcdeg .''O4Initialize Wait Component.*G2GFAFIrFIbFIEQEQ);I9 iId@i 2@<:@w: IQ) t*H`j?@ZIȿfk*q? 4s?`h?,?)u*F@ u*[x;Iu*CxBg>xBsEiLIL)~dG4==F@Y%a%>!!Q-wD)-,->I1 I=D7ٮ11 Q=tI 1 U=B915: 5:)5߿D7 Mp8)A Mp8IA MtIiA MCA Eg:)EY:IEp8YIa9a*Gq2GqFqFrFbFEE);I9 iIgi 2@<:@w: i W) a(AYt* F@t*CU@yt*Pt*@->t*H Ek,? u@ȿ`re@???O?)u* F@ u*vw;Iu*CxB'n>xBpE)F@Y%V;%>))Q-wD)545>I1 I]D7ٮ11 QetI 1 UeB915$; 5;)5D7 mp8)iIi mtIii uCi m:)m:ImLIp8I9*G2GFFrFbFEE);I9 iI!%%i!! )2@-<:@5w: ߑX^) z(AYt*F@t*AU@yt*vt* >t*Hxk?tY<ȿ@1fB??@??)u*F@ u*=w;Iu(x>i>x>NEG@H@iLIL)|a 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YʝE8>ʡʡQwDʡͥ>I IE7ٮ ME7 QtI  UB9鰭\; 6;)Z0E7 p8)I tIi C :):I#p8I9*G)2G)FQFQrFYbFYEYEY);I9 iIi 2@<:@w: wd) ̔(A Yt69F@t6DGU@yt6j3t6F_>t6Hj2?$Hȿc?=m??@a?)u69F@ u6Hv;Iu6CxBx>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )QimxAqF@Yʭ}>ʹʹQwDʹͽv:>I IE7ٮ QtI  UB9\G; ?B;)gE7 p8)I tIi C ;)m ;IDp8 I 9*G)2G)F1F1rF9bF9EAEA)e;Ie9 aaiaIiquq%ڻiqq y2@<:@w: ߡ R> >Wk) (AYt*F@t*!XU@yt*$5.t*c؃>t*H'i ?쳣 iȿ8\ ?ƅ?VL? p?)u*F@ u*]v;Iu(x^n>xbE){boeI{`i{b~={b7>{`{b@A{`|bAA9|b_eh?ciI̓C)ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YBIiBBɅBPB )F@Y%F:%>!!Q%wD!-l!;->IQ I]E7ٮQQ Q]tI Q U]B9QU: U:)U|E7 mq8)a mq8Ia mtIia mCa e:)e:Ieq8I9*G2GFFFFBrFbFEE2EzEAAE(T[G@vOL"E_eh?cEoeEEf@Ug" %@D;ɣE=Kv+?,_:cȿE#@=5DHdg To Contact =140.679590 degreesZE,@bE8:Eo$?BEo$?JE RE jErEuMzT)M; QUE8UEIU9 UUiQIUY]i%λiYa a2@e<:@mw: ߹$Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 2.455322 rad$LDUSBL_Hydroid.xAngle -51.350001 arcdegsr) (AYt*|F@t*?U@yt*5(t*>t*H@k@K?@ףc9ȿa[`8??pe?'?)u*|F@ u*?u;Iu(xBDy>xBEEHBa=H@)F@mYm;:m>qqQuwDq}}>I IE7ٮ QtI  UB9鰅: :)E7 q8)I tIi C 1:):IZq8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEEz ); 8I9 $iIEAĻi 2@<:@w: P1x) \(A) I4t*H)gp?`w @ȿXK+?t?[?@{?)u*F@ u*u;Iu*CxBb>xBQ EiPIT) %>F@Yb:>!!Q-wD)E;E>Iy IF7ٮy MF7y QtI y UB9y} < }<)}gF7 q8)I tIi C :):It*Hg?ͤ ȿQni?ݕ? ?`?)u*mF@ u*Ut;Iu*CxF,t>xF#E) a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1U@a U a 5U@a U a 9U@a U a -U@a U a )U@a U IIɄIiMMb@Mb@Mb@IMIIiIMMɅMMI I)IF@mYm8m>qqQuwDq}}>I IF7ٮ QtI  UB9鰅%: :)BCF7 q8)I tIi C [<) \t*Hh ?_vȿN?u?`? ?)u*F@ u* t;Iu*CxBq>xBEGBAAH@iPIP)|F@=YEE>AAQMxDIMM>IQ I]F7ٮQQ Q]tI Q U]B9QUu: UW:)UyF7 mr8)a mr8Ia mtIia mCa e:)e:Ie%r8yIy9*G2GFFrFbFEE);I9 iI#@ii 2@<:@w: YXm) /(A Yt.F@t.#vU@yt.K.t.B>t.H`Ff&?KQȿ@Q]?@҅?:??)u.F@ u.Ss;Iu.CxNt>xRlE)ixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}㬺}>ʁʁQxDʁͅc;>I IF7ٮ QtI  UB9鰍q: :)ȱF7 r8)I tIi C :)Z:IAkr8I9*G2GFFrFbFEE);I9 iIFi 2@<:@ w:  > >T) I(AYt*F@t*oU@yt*Ω"t*SO>t*H f`?᤿՗ȿ)L`?#U?z?2?)u*F@ u*s;Iu*CxBi>xBEiPIP)|F@=YE:E>AIQMxDIMXM>IQ I]F7ٮQQ Q]tI Q UeB9QU: U:)UF7 mr8)aIa mtIia mCa e:)e9:Ier8I9*G2GFFrFbFEE);I9 iIii 2@<:@w: ) c(AYt*F@t*rU@yt*t*`A>t*H f`q ?ȿD?ق??`?)u*F@ u*s;Iu*CxBj>xBqEH@H@)~GF@=YE:E>AAQMxDIMF9M>IQ I]G7ٮQ M]G7Q Q]tI Q UeB9QU: U$:)UG7 mr8)aIa mtIia mCa e:)eo:Ie2r8yI9*G2GFFrFbFEE);I9 iIWxi 2@<:@w: ҩ) }(A)I;Yt.GF@t.RuU@yt.t.(>t.Hmf^?wɤ ȿP`_?N?4?]?)u.GF@ u.Zs;Iu.CxN}v>xREilInѓC)=ʡʡQxDʩͭ9>I IG7ٮ QtI  UB9鰵: 0:)WG7 s8) s8I tIi C :):IP8s8I9*G2GFFrFbFEE);I9 iI%xi!! !2@-<:@-w: Ai _) qZ(AYt* F@t*zU@yt*$t*{1>t*He(?_ȿO Cd? ʛ?`??)u* F@ u*dXs;Iu*CxB`k>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@YL>Q xD C7:>I I%G7ٮ Q-tI  U-B9; j;)G7 ]s8)YIY }tIiY }CY ]$;)];I]s8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!);I9 iIVfi 2@ <:@ w: !) 5(AYt*F@t*YU@yt*$t*2v>t*Hi? `lȿ8E?y?? ?)u*F@ u*=s;Iu*CxBo>xBJEG@HD){FdI{Di{FT={F>{D{F A{D|F@A9|F +?ղJi`I`)=dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y}:8>QxD!>I IG7ٮ QtI  UB9=; ;)>G7 %s8)!I! %tIi! -C! %S:)%:I%rs8YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 191.000708 arcdeg .q''*G2GF!F!rF!bF)E)E)2EQzEU@AEU"A@fZ$EU +?ղJEUdEQEUb ] @LmaEUΕ_~忚 RD?SA ˿EU@@=eDHdg To Contact =134.513226 degreesZEUFAbEU:EUo$?BEUo$?JEU REU jEU(rEU);I9 iIdOi 2@<:@w: $MDacoustic_contact_range 12.059997 m$UhTrackAcousticContact.heading_to_contact 2.347699 rad$]LDUSBL_Hydroid.xAngle -57.549999 arcdeg) (A Yt.F@t.~U@yt.#t.>t.He f+? " յȿALxBnE)GiwA F@=YE:E>AAQExDIMj;M>IQ I]G7ٮQQ Q]tI Q U]B9QU: U:)UG7 mt8)a mt8Ia mtIia mCa e :)e:Iet8I9=O@Contact HDG: 134.513226 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI9i 2@<:@w: 1 > i>͸) (AYt*F@t*^U@yt*>t*Ά>t*Hh?@椿vȿPv?G??U?)u*F@ u*:s;Iu*CxBs>xBEi\I`)-+GF@]Ye9e>aiQmxDimem>Iq IH7ٮq MH7q QtI q UB9quQ; u:)ui3H7 t8)I tIi C :):IHt8I9*G2GFFrFbFEE1);I9 !!iIIQim ziii q2@u<:@}w: ߉)  (AYt*F@t*_U@yt*]'t*>t*Hzho?EDxȿcN?`?`9??)u*F@ u*s;Iu*CxBm>xB'EHB=HFp=)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]e>aaQexDam8m>Iq I}H7ٮqq Q}tI q U}B9qu: u:)ujH7 t8)I tIi C O:) :IVt8I9*G2GFFrFbFEE);I9 iIv i 2@<:@w: ź) (A)IYt.9F@t.DyU@yt.et.>t.H@f#?ݤ ƪȿP@\?? ? ?)u.9F@ u.1s;Iu.Cx>e>x>P Ei\I\)%G-4=-!>F@=YEQ:E>AAQEyDAM;M>IQ I]H7ٮQQ Q]tI Q U]B9QU: U:)U&H7 mt8)aIa mtIia mCa e[:)eԘ:Iet8yIy9y*G2GFFrFbFEE);I9 iIi 2@ <:@ w: i ̺) V~2(AYt*F@t*CU@yt*)ot*؆>t*H#kֽ?``0Bȿ:R9y??(?%?)u*F@ u*s;Iu(xn`k>xrE)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-U->1QQUyDQ]]>Ia ImH7ٮaa QmtI a UmB9ae: e:)eH7 u8) u8I tIi C :)m:Ifu8I9*G2GFFrFbFEE)%;I%9 ))i)I)15i11 12@=<:@=w: ߁Һ) \L(AYt*F@t* lU@yt*#t*'>t*HMgn?@qf`ϐȿVB??b?o??)u*F@ u*'s;Iu*Cx>m>xB'EGB@AH@iPIP)MGF@}Y}>ʁʁQyDʁ͍@;>I II7ٮ MI7 QtI  UB9鰕: :)I7 u8)I tIi C :):ITXu8I9*G2GFFrFbFEE!)U;IU9 QYiYIYYeiaa a2@m<:@mw: ߡٺ) 4f(A Yt.F@t.\U@yt.Ot.>t.Hh@?:rȿTU? ?`&??)u.F@ u.Js;Iu.CxBp>xBE)~ƄGixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ:>ʹʹQyDʹ>I II7ٮ QtI  UB9: W:)HI7 u8)I tIi C ̒:):Iu8I9*G2GF F rF bFEE)-;I-9 ))i)I)15\=i11 92@=<:@Ew: Q > >) (AYt*XF@t*c\U@yt*qt*f>t*H hF?`ϫ rȿ V(K? ? |?@*?)u*XF@ u*,!s;Iu*CxFp>xDiTIT)AAQMyDIe +e>Ii ImI7ٮii QutI i UuB9im\: mS:)m~I7 }u8)yIy tIiy Cy }}:)}:I}u8I9OeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFibFqEE);I9 iI&,i 2@U<:@Uw: a-) (AYt*F@t*mU@yt* t*>t*H`!g?h`ȿ@W`2?^?b??)u*F@ u*s;Iu*Cxb,t>xb#EHfa=Hfa= {dY|df8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʕ^>ʙʙQyDʡs;>I II7ٮ QtI  UB9}: :)|I7 v8)  v8I  tIi  C 6;) ;Im6v8I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 191.072083 arcdeg .q''*G2G@@FFrFbFEE)5;I59 qqiqIq}@iy}@@ 2@<:@w: $=RHorizontalControl.headingCmd 2.347699 radY) Cʳ(A)Ixnp>xn%E){rt.Hg ?7mȿUC?R?s?J?)u.F@ u.s;Iu.CxB'n>xBpE)!F@=YE5E>AAQMyDIMq%M>IQ I}J7ٮQ M}J7Q Q}tI Q UB9QUw; U/;)U7#J7 v8)I tIi C %:):I v8I9*G2GFFrFbFEE)=;I=9 99i9I9E@iAA I2@M<:@Uw: ߁j) (AYt*F@t*fU@yt*@t*V>t*H`g?ߤPȿ R\??Ԏ??)u*F@ u* s;Iu*Cx>x>x>EG@H@iPIT)XGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʡʡQyDʡͥF>I IJ7ٮ QtI  UB9鰭,; ';)[J7 v8)I tIi C >:):I-v8I9*G)2G)F)FQrFYbFYEYEY);I9 iI@!b8i 2@<:@w: R) O[(A@ Yt2F@t2U@yt2? t2>t2Hd =?@ȿO Z? ??`?)u2F@ u2ys;Iu0x>u>xBE)vGi vA F@Y%E%>!!Q%yD)-2;->I1 I=J7ٮ11 Q=tI 1 UEB9158: 5<:)5J7 Mw8)A Mw8IA MtIiA MCA E:)E:IE2w8yI9*G2GFFrFbFEE);I9 iI@@i 2@ <:@ w: I > {) M1(AYt*F@t*pU@yt*#V't*@>t*Hf@9?|@ȿ2L0??`?j?)u*F@ u*_s;Iu(xjw>xnjEixIx)UdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ[º>ʹQzDS>I IJ7ٮ QtI  UB9l: N:)J7 w8)I tIi C :)Ԙ:IDzw8I9*G 2G F F rFbFEE)M;IU9 QQiQIQY] 9iYY a2@e<:@mw: y0 )  5(AYt.F@t.U@yt.)%t.j>t.H vbl?rȿ`qJp?m?`آ??)u.F@ u.s;Iu,xNl>xREHPHRp=)YF@}Yʅi9>ʁʁQzDʉ͍;>I IK7ٮ MK7 QtI  UB9鰕: :)K7 w8)I tIi C O:)c:I#w8I9*G2GFFrFbFEE);I9 iI  "v_:i )2@-<:@5w: A) N(A) I Yt*F@t*ٌU@yt*ӝt*٢>t*H+d>?Ѽ@3ȿ?`2?ও?`M?l?)u*F@ u* s;Iu(xBZe>xB EiPIR̓C)|=F@=YEw:E>AAQMzDIM-M>IQ IK7ٮQQ QtI Q UB9QU< Uġ<)U6K7  x8) x8I tIi %C Ö;)s;I/x89I99AOMDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEaEa)};I}9 yyiyIy2=:i 2@<:@w: i ) Qh(AYt*QF@t*\U@yt*et*G>t*HtcQ?pr ȿ I@?@,? ?]?)u*QF@ u*s;Iu*CxBq>xBE)~Ga 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>aaQezDam_:m>Iq I}K7ٮqq Q}tI q U}B9quS: u:)unK7 x8)I tIi C }:)Ԙ:IDx8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 191.206337 arcdeg .q'}'}*Gy2G}@FyFrFbFEE);I9 iI@ :i@ 2@<:@w: )$eRHorizontalControl.headingCmd 2.342350 rad ) A(AYt* G@t*+U@yt*_<t*ij>t*H@=``?2 J ɿ8Ho?x???)u* G@ u*@s;Iu*CxB`k>xBEGDHDiPIP)~GF@=YE+E>AAQMzDIM;M>IQ I]K7ٮQQ Q]tI Q U]B9QU: UB:)UBK7 mx8)aIa mtIia mCa a)e,:Iex8yIy9=O@Contact HDG: 134.206756 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI ;i 2@%<:@%w: 1&) y(A Yt*F@t*U@yt*t*>t*H`aqt?nrɿ 9L]?Ԃ?ǒ?3?)u*F@ u*[r;Iu(xRr>xRIE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eƄGi}wAya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5M:5>99Q=zD9E E>IQ I]K7ٮQQ Q]tI Q UeB9QUh; U:)UK7 mx8)iIi tIii Ci m9<)m >#,) Y(AYt*"G@t*U@yt*$t*>t*H]`?m`Tɿ 3@n?蛄??n?)u*"G@ u*r;Iu(xBDy>xBEE){BsI{@i{B={B7>{@{BA{@|B\ B9|B2P?ć%i`Ib“C)yyQzDʁͅ;>I IL7ٮ ML7 QtI  UB9鰍: :)L7 y8) y8I tIi C :)b:Iwy8I9*G2GFFrFbFEE2EzE\ BEEY}4@3'<E2P?ć%EsEE"9ȋ7@E8#VEKxKVZ?^L&ZʿE>@=DHdg To Contact =138.087341 degreesZEAbE:Edo$?BEo$?JEv REjErEv");I9  i I ;;i 2@<:@w: 1$MDacoustic_contact_range 35.340000 m$]hTrackAcousticContact.heading_to_contact 2.410079 rad$]LDUSBL_Hydroid.xAngle -54.400001 arcdegB3) 1(AYt*G@t*U@yt**<'t*>t*H `8?x¥ !ɿ;9?m? ? g?)u*G@ u*ur;Iu*CxBm>xB'EHDHFa=)GF@Y~>!Q%zD!%f%>IA IUL7ٮAA Q]tI A U]B9AEW; E`J;)E`JL7 ey8)aIa mtIia mCa e:)e9:Ie:Ty8yIy9y*G2GFFrFbFEE);I9 iI]cU;i 2@<:@w: P:)  (A) IYt6)G@t6U@yt67!t6跆>t6H\?2 bɿ`D@o?@&?5??)u6)G@ u6r;Iu6CxR,t>xR#EidIf̓C)=ʩʩQzDʩͭO;>I IL7ٮ QtI  UB9鰽1: 5:)L7 y8)I tIi C :)A:Iy8I9*G2GFFrFbFEE);I9 iI!%p;i!! )2@-<:@-w: Ai @) P(Ax v>xGE)GF@Yʽ>QzD>I IL7ٮ QtI  UB9}: :)3L7 y8)I tIi C  :):I#y8I9*G 2G FFrFbFEE)5;I59 11i1I19=V;i99 A2@E<:@Mw: YG) (AYt*<2G@t*GU@yt*cWt*A>t*H`\@I?Trɿ`= ? ʂ?@?H?)u*<2G@ u*jr;Iu(xNc>xR, EGRAAHPi`IbѓC)vGF@Y-=:5>QQQ]{DY]:]>Ia ImL7ٮaa QmtI a UmB9ae\: e;)eL7 z8) z8I tIi C ˚:)ߡ:I'z8I9*G2GFFrFbFEE)%;I%9 !)i)I)QU~;iQQ Q2@]<:@]w: q}BM) 7(A@ x~o>x~E)GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q{D>I  I M7ٮ  MM7  QtI  UB9  : :) *M7 %z8)I %tIi %C [:)9:Ihz81I191OEDone Waiting.'EOE8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFQEYEY)m;Im9 qqiqIqy}c;iyy 2@<:@w: ߙ V> >*T) 2wQ(AYt.?G@t.U@yt.=y%t.`z>t.H Z@h?@֥ɿk???@?z?)u.?G@ u.Fs;Iu.CxVo>xVJEilIl)EvGF@eYuH}>yyQ}{Dyͅ ;>I IM7ٮ QtI  UB9鰍:: :)n_M7 z8)I tIi C ̒:)$:Iz8I91&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 191.514939 arcdeg .q''*G2G>@FFrFbFEE) ;I 9  i)I)5q@i15>@ 92@=<:@Ew: q$RHorizontalControl.headingCmd 2.410079 radUZ) Yk(AYt-FG@t-U@yt-[t- >t-H Z?xٚɿ`{8 ?h???)u-FG@ u-r;Iu-CxMi>xMEHIHMp=)Ga 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@Yʥt:>ʩʩQ{Dʩ͵:>I IM7ٮ QtI  UB9鰽.: ͭ:)M7 z8)I tIi C ٓ:)˚:Iz8I9=O}@Contact HDG: 138.087341 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFyFrFbFEE);I9 iI>@i 2@<:@w: ;a) Q-(A) I Yt>cEG@t>nU@yt>t>׍>t>H3Z+?Ʀgɿ 6?F???)u>cEG@ u>r;Iu>Cx^Dy>xbEEilIn̓C)=QQQU{DQ]`]>Ia ImM7ٮaa QmtI a UmB9ae: e:)e M7 u{8)q }{8Iq }tIiq }Cq u:)uQ:Iu11{8I9*G2GFFrFbFEE);I9 iIު;i 2@<:@w: i eg) !(AYt>`G@t> V@yt>7t>[i>t>HwW6?@{`ɿ<?? ??)u>`G@ u>/r;Iu>Cx^v>xbE {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y%`%>!)Q-{D)5{;5>IA IEN7ٮA MMN7A QMtI A UMB9AE; Ez;)EN7 e{8)YIY etIiY eCY ]:)]:I]9z{8yI9*G2GFFrFbFEE);I-9 ))i)I)15 ;i11 92@=<:@Ew: Qmm) ( (AYt.cG@t.V@yt.*t.>t.HW F?`:ݥɿ`">nt?S?ສ??)u.cG@ u.r;Iu.CxFr>xFIEGHHH){JwI{Hi{J/={H{H{JA{H|JB9|J+~?([XAihIjѓC)-ƄGa 1ma 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ=>ʑʑQ{Dʑ͝:>I IN7ٮ QtI  UB9鰥B: l:)t.H@cW;?@+0ɿ5`"?x^E)MׄGiUyAQF@Yʭ>ʹQ{D>I IN7ٮ QtI  UB9; ;)tN7 =|8)) E|8I) MtIi) MC) -;)-̖;I-x|8I9*G2GFFrFbFEE);I9 iI;i 2@<:@w:  > x> z)  (AYt.]tG@t.h!V@yt.4t.ހ>t.H@xUzQ?oS@mɿ@.?`?@??)u.]tG@ u.r;Iu,xRo}>xREi`Ib̓C)eQ{DF;>I IN7ٮ QtI  UB9h: l:)N7 |8)I tIi C :):ID|8I9*G2GFFrF!bF!E)E))=;I=9 AAiAIAIM;iII I2@U<:@Uw: i&) .u(AYt*iG@t*V@yt*'t*t>t*H`V;B?`Rtɿ2? D? U??)u*iG@ u*r;Iu*CxBHf>xB EHDHFa=)~SGF@Yʅ.>ʉʉQ{Dʉ͕)غ>I IN7ٮ QtI  UB9鰝: J:)N7 |8)I tIi C -:)ݖ:IԆ|8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  Z;i   2@<:@w: )) Q (A) IYt.G@t.,V@yt.t.>t.H`GT w?@Y ʿ@`{K?6?? ?)u.G@ u. s;Iu.CxB{>xBEiPIRѓC)~G4=4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye68e>aaQm|Dim^;m>Iq I}O7ٮq M}O7q Q}tI q UB9qu: u:)uAO7 |8)I tIi C :):I$|8I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N @Vehicle HDG: 191.739994 arcdeg .q'-'-*G12G5@F1F1rF9bF9E9EA)u;Iu9 qqiyIy} @iy@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.343262 radi "ލ) V*:(AYt*8G@t*CEV@yt**t*X>t*HQ? 6䦿:ʿ7 ?|?B%? ?`?)u*8G@ u*s;Iu*CxBmd>xBu E)~AAQM|DIMs;M>IQ I]O7ٮQQ Q]tI Q UeB9QU: Uc:)UNO7 m}8)a m}8Ia mtIia mCa e:)eϝ:Ie }8yI9=O]@Contact HDG: 134.259020 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFibFiEiEi);I9 iI@i 2@<:@w: QƔ) T(AYtRQG@tR\/V@ytR+tRX>tRH@St?s@ʿx(@?>|? 4??)uRQG@ uR/r;IuRCxju>xjEGr?AHpiI!)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y X. >  Q |D K>I I%O7ٮ Q%tI  U%B9}: :)O7 5}8))I) tIi) C) -Ӯ<)-Qt.H@1S0~?dWʿ%<??C?@?)u.G@ u.s;Iu,xBWx>xBE)~+Gi~wA~wAF@=YE:E>AAQM|DIM:M>IQ I]O7ٮQQ Q]tI Q U]B9QU: UB:)U$O7 m}8)aIa mtIia mCa e:)eN:Ie}8yIy9*G2GFFrFbFEE);I9 iIF ء) (AYt*ʏG@t*t*HR?#o **ʿo4S?8p?? ?)u*ʏG@ u*r;Iu(xRh>xREi\I\)GF@-Y-2y;5>11Q5|D1=uc:=>IA IMO7ٮAA QMtI A UMB9AE: E>:)EO7 U}8)QIQ ]tIiQ ]CQ UW:)U:IU^}8iIi9i*G2GFFrFbFEE);I9 iIt*HrP`h?, SʿhB`p!? ?Z?`?)u*G@ u*.*s;Iu*Cx^Rr>xbEH`H` {dY|dj8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1-@a - a 5-@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@MYU<U>YYQ]|DYe}@;e>Ii I}P7ٮi M}P7i Q}tI i UB9im4; m;)md0P7 ~8) ~8I tIi C ;) ;I($~8I9*G2GFFrFbFEE);I 9  i INkV@yt.U)(t.*>t.HM?@ʿ,???@y?)u.3G@ u. s;Iu,xBn>xBE){BrI{@i{B~={B>{@{B A{@|BAA9|B%쏦?$,_i|I|)mGu%=u%=F@Yʽ >Q|DՂ;>I IP7ٮ QtI  UB9$; ;)dP7 ~8)I  tIi  C :):IWe~89I999*GI2GIFIFQrFqbFyEyEy2EzEAAEm{/vA@^͔d~#E%쏦?$,_ErEEJf|!!?K@~l<E!`翸?G׶ʿE'@=DHdg To Contact =138.697305 degreesZEY@bEx:Eo$?BEmo$?JE REjE!rE);I9 iItnHP@ʮ?&bZʿZ`xG?`Z?`?O?)unwG@ unZBs;IunCxvf>xv E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5J:=>99Q=|D9EOE>II IUP7ٮII QUtI I UUB9IM: MJ:)MP7 ]~8)YIY etIiY eCY ]:)]ȗ:I]p~8qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIZo) *(AYt*ZG@t*e_V@yt*c3%t*>t*H O U?2cmʿT' W?U???)u*ZG@ u*0s;Iu(xBr>xBIEGDHDiTIT)SGF@=YE:DE>AAQE|DIM:M>IQ IP7ٮQQ QtI Q UB9QUE< U~<)UP7 ~8)I tIi C :)˚:I~8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 191.916363 arcdeg .q''*G2G'@FFrFbFEE);I9 iI)V@i'@ 2@<:@w: $RHorizontalControl.headingCmd 2.420725 radg&»)  (A Yt*NG@t*YiV@yt*t*>t*H`N@z?Aʿ 9`T?`??@:?)u*NG@ u*>@s;Iu(xB5g>xB*E)~GivAxAF@=YE";E>AAQM|DIM:M>IQ I]Q7ٮQ M]Q7Q Q]tI Q UeB9QU: U:)U Q7 m8)a m8Ia mtIia mCa eȗ:)e:Ie=.8yI9=O@Contact HDG: 138.697305 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%@i 2@<:@w: Q > >+PȻ) /"(AYt*IG@t*TV@yt*t*;>t*H K?󕧿@ ʿ@0~?dx?9?8?)u*IG@ u*"s;Iu*CxR{]>xR/Ei`Ib̓C)҄Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅA&9>ʁʁQ}Dʉ͍r;>I IQ7ٮ QtI  UB9鰕|: :)M@Q7 8)I tIi C ::)Ԙ:Is8I9*G2GFFrFbFEE);I9 iIs@i 2@ <:@ w: ߙzλ) Ǻ<(AYt*G@t*~V@yt*})'t*e>t*H@K ?@@ʿ$@?? ?@ ?)u*G@ u*Ps;Iu*CxRo>xRJEHPHVp=)+GF@%Y-QE->11Q5}D1=-=>IA IEQ7ٮAA QMtI A UMB9AE\: E_:)EvQ7 U8)QIQ UtIiQ ]CQ U:)U^:IU8iIi9i*Gy2GyFFrFbFEE);I9 iI@{Z"t*HJ? .ʿ+#`?? p??)u*G@ u*3s;Iu(xBi>xBEi\I^ѓC)G%4=)F@eYu}Hu>ʁʁQ}Dʉ͕:>I IQ7ٮ QtI  UB9鰭; ;) Q7 8)I tIi C m};);I8)I191*GY2GaFaFarFibFiEiEi);I9 iI'@i 2@<:@w: ߩi ۻ) p(AYt*G@t*V@yt*y[/t*LC>t*H`OK>?릿Mʿ,?S?`? #?)u*G@ u*Ts;Iu*Cx:?s>x:E)zSGa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYUU>YYQ]}DY]FJe>Ia ImQ7ٮaa QutI a UuB9aeu: e:)e+Q7 }8)q }8Iq }tIiq Cq u:)u+:Iu8I9*G2GFFrFbFEE);I9 iI",(t*H`XI7;?_u@ʿ g-g?`?`?@O?)u*G@ u*Ds;Iu*CxZ~>xZEG^@AH\ihIh)5GF@EYE";M>IIQM}DIUBC;U>IY IeR7ٮY MeR7Y QetI Y UeB9Y]|: ]=:)]R7 m8)iIi utIii uCi m::)m :ImeA8I9*G2GFFrFbFEE);I9 iIK.t*HtJ?`ʿ)d?`?@? ?)u*_G@ u*/s;Iu(xRh>xRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGiwAa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a u a 9u@a u a -u@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Y5:5>99Q=}D9EE>IA I R7ٮAA Q tI A U B9AE< E<)E[R7 8)I tIi C 5:):Ij8III9IO]Done Waiting.']Oe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI6 x>q) (AYt*G@t*V@yt*t*g>t*H H T>?`ϧ;ʿ`z*xBE){FsI{Di{F={F7>{D{FA{D|FA9|F2P?ć%i`Id)]҄GF@Yʥ=>ʡʡQ}Dʡͭ$;>I IR7ٮ QtI  UB9鰵N; ;)‹R7 8)I tIi C :):IƆ8I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 192.124588 arcdeg .q''*G2GFFrFbFEE2EzEAE ',@Z<4a4E2P?ć%EsEEm2!F/@T?E׋?o]ʿE @= DHdg To Contact =138.796780 degreesZE}AbEϐ:Exo$?BEo$?JE| RE jE<rE!)e;Ie9 aaiaIait;t*H@bH S?`ʿ-@?vޅ??@?)u*G@ u*s;Iu(xBj>xBqEHF4=HFa=)GF@=YE cE>AAQM}DIM#:M>IQ I]R7ٮQQ Q]tI Q UeB9QUl: UN:)UDR7 m8)aIa mtIia mCa e[:)eԘ:Iex8yIy9=O@Contact HDG: 138.796780 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIZAt.HJ6?`צ@ʿ.ނ?`?`?@>?)u.1G@ u.)s;Iu.CxNjw>xR"Ei`I`)%ƄG-%=-4=a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅB>ʉʉQ}Dʉ͕D>I IR7ٮ QtI  UB9鰝: :)R7 8)I tIi C  :)c:IBʀ8I9*G2GFFrFbFEE)};I}9 yyiyIyXGt*HH`'9?=ʿ '`Q?E?@?`?)u*aG@ u*M#s;Iu*CxR:m>xRE)GF@]Yel;e>aaQm}Dim8:m>Iq I}S7ٮq M}S7q Q}tI q UB9quE: uI:)u0S7 8)I tIi C :):I8I9*G2GFFrFbFEE);I9 iI2Mt*H@J?ԧ 'ʿE,Ù?k?@!?@m?)u*oG@ u*%s;Iu*CxNo>xREGR?AHPi\Ib̓C)GF@-Y-a$95>11Q5~D1=c4=>IA IMS7ٮAA QMtI A UMB9AE: E1:)ErfS7 ]8)Q ]8IQ ]tIiQ ]CQ U$:)U߼:IUi 8iIi9q*G2GFFrFbFEE);I9 iIcDSt.H@MK ?@=æ ʿ{9QxBE)~ƄGi|~wAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]e>aaQe~Dam6m>Iq IuS7ٮqq Q}tI q U}B9quu: u:)ucS7 8)I tIi C }:),:I/8I9*G2GFFrFbFEE);I9 iI`Y >) [%Y(AYt*G@t*)V@yt*W+t*-[>t*HI@F?_ ʿ9;`"?@q?&\?]?)u*G@ u*s;Iu*Cx^v>x^GEihIl)5ʙʙQ~Dʡͥ;>I IS7ٮ QtI  UB9鰭: :)S7 8)I tIi C :):IR8I9*G2GFFrFbFEE) ;I 9  iI6_t*H@L@d? ʿ@/A?]z? ?@?)u*G@ u*s6s;Iu*CxBRr>xBEHFp=HD)5GF@mYu^u>qqQu~Dy}=>I IT7ٮ MT7 QtI  UB9鰅˵: I:) T7 8)I tIi C Е:):I?t8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIlet*H M ?`vʿ*??N??)u*G@ u*( s;Iu*CxBu>xBEiPIP)~SGR=F@ YK;>Q~D%չ%>I! I-T7ٮ!! Q-tI ! U5B9!%: %:)%BT7 8)1I1 tIi1 C1 5DZ<)5@[t*H.N?Dʿ 7+`?@؂???)u*tG@ u*x;s;Iu*CxB`k>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGa 1Ua 1U a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yƛ:>Q~DS>I I T7ٮ QtI  UB9<  <)T7 8)I tIi C :):I׾8)I)9)=O@Contact HDG: 138.796780 arcdeg .''%O%4Initialize Wait Component.*G!2G)F)F)rF1bF9E9E9);I9 iIO tt*H`kNv?楿zʿ@%K`5?`8?Z?`g?)u*G@ u*6s;Iu*CxR`k>xPGR@AHT){VI{Ti{VT={V>{T{V0A{T|V@A9|V1xO?SǦipIrѓC)EGF@}Yʅ>ʁʁQ~Dʁ͍>I IT7ٮ QtI  UB9鰕: ):)T7 8)I tIi C ɏ:):Iځ89I999*GI2GIFIFQrFqbFyEyEy2EzE@AE_غ@^u-I$E1xO?SǦEEE2 T< @|i Etc΂f?cɃpNʿE@=DHdg To Contact =135.636683 degreesZE AbE:Eo$?BExo$?JE RE| jErE<);I9 iIVxt*HJM@n?^x]ʿ 4= /?J>? j?y?)u*G@ u*Gs;Iu*CxB>xBBE)dGixAa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeVe>iiQm~Diu`:u>Iy IT7ٮyy QtI y UB9y}: }:)}rT7 8)I tIi C )x:IM8I9*G2GFFrFbFEE);I9 iIn~ x>v<) F(AYt*ʗG@t*DV@yt*O.t*e։>t*HQT?_9ʿ ,?ޅ?v?y?)u*ʗG@ u*v4s;Iu*CxBi>xBEiTIV̓C)F@=YElE>AIQM~DIM#ۻM>IQ I]U7ٮQ M]U7Q Q]tI Q UeB9QU: U:)UU7 m8)a m8Ia mtIia mCa e,:)e:Ie8yI9*G2GFFrFbFEE);I9 iI->t*HQ?'1HʿC>` E?@?}??)u*/G@ u* r;Iu(xBe>xBP EHFa=HD)|F@ Y1:>Q~D:%>I! I-U7ٮ!! Q-tI ! U-B9!%F: %):)%DVU7 =8)1I1 =tIi1 =C1 5:)5|:I5y?8III9Q*Ga2GaFaFarFibFiEiEq);I9 iIuBt.HR§?`西@.5ʿM?$??Z?)u.oG@ u.s;Iu.CxRv>xRGEi`I`)5G5%=5%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ+;>ʱʱQDʹͽǷ>I IU7ٮ QtI  UB9I: f:)@U7 8)I tIi C :)h:IPc8I9*G 2G F F rFbFEE)-;I-9 11i1I19=}V@yt*Ët*>t*H@zR 1?r-ʿG ?@eq?B??)u*G@ u*Ir;Iu*CxBxp>xBE)=SGF@]Yee>aaQmDim m>Iq I}U7ٮqq Q}tI q U}B9quM: u :)uU7 8)I tIi C :):Io8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 YYiYIYaeat*HRRe? f.ʿI?5x?`P.?c?)u*:G@ u*r;Iu*CxNe>xNP EGPHPi\I\)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y|>QD8>I! I-V7ٮ! M-V7! Q-tI ! U-B9!%: %M;)%7V7 ]8)QIQ ]tIiQ ]CQ U:)U:IU8iIi9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 191.804020 arcdeg .q'%'%*G!2G%@FIFIrFQbFQEQEQ);I9 iIb@i@ 2@<:@w: $RHorizontalControl.headingCmd 2.367307 rad\) u(A Yt6|G@t6)V@yt6p(t6>t6H@TÁ? y*GʿBO ???9??)u6|G@ u6r;Iu6CxBu>xBE)iwAF@=YE; :E>AAQMDIMtfM>IQ IV7ٮQQ QtI Q UB9QU< U&<)U3V7 %8)I %tIi %C :)s:I)ʂ8QIQ9Q=O @Contact HDG: 135.636683 arcdeg .' 'O4Initialize Wait Component.*G2GFFrFbFE!E!)U;IU9 QYiYIY]@iaa a2@m<:@mw: ߁ > >c) h(AYt.t.HR? 9**ʿ S@Og?@F? ?g?)u.xBEiPIP)GF@]Ye.:e>aiQmDim}A;u>Iq IV7ٮqq QtI q UB9qu; uԵ;)uhkV7 8)I tIi C :),:I8YIY9Y*Gi2GiFqFqrFbFEE);I9 i!I!q}Ǝt*H`+T`?l ʿ[R ?@l?@K??)u*G@ u*Ԗr;Iu*CxNMl>xNLEHRp=HP {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGa 1a 1 a 5a 5 a 9a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Y :>Q%D!%}m>Iq I}V7ٮqq Q}tI q UB9qu < uc<)uV7 -8)) 58I) 5tIi) 5C) -*:)-:I-8I9*G2GFFrF9bFAEAEA);I9 iIlt.H`QZ?@~Fʿ@W ?4?` |? ?)u.G@ u.r;Iu.CxNWx>xREihIh)5dG99F@]Yee ?aaQeDim;m ?Iq IV7ٮqq QtI q UB9qu; u;)uV7 8)I tIi C p:):I.8I9*G2GFFrFbFEE)5;I59 QQiQIQY] t*H P ?`1kNʿ@4SF?৅?@q? m?)u*\G@ u*vr;Iu*CxBZe>xB E) a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵù>QD:>I IW7ٮ MW7 QtI  UB9Ȳ: :)W7 8)I tIi C :)4:IBR8)I)91*GA2GAFAFArFIbFIEIEQ);I9 iIY)t*>t*H@P?' :Kʿ T`3?`'?u??)u*G@ u*Tr;Iu(x>"h>x>EG@H@iPIRѓC) GF@YR%>!!Q%D!-->I1 I=W7ٮ11 Q=tI 1 U=B915: 5:)5FW7 E8)AIA MtIiA MCA E:)E:IEr8YIY9Y*Gi2GiFqFqrFbFEE);I9 iIjt*HM`G?9ʿ@RX?@? p? ?)u*DG@ u*^r;Iu*CxRp>xRE)%҄Gi!%xAF@=YE:E>AAQMDIM;M>IQ I]W7ٮQQ Q]tI Q U]B9QU: U߼:)U~W7 m8)aIa mtIia mCa e:)aIer8yIy9*G2GFFrFbFEE);I9 iI >$) *(AYt*G@t*cV@yt*Bt*@n>t*HNq?@2@3vʿhH@?B? ? H?)u*G@ u*%>r;Iu*CxBWx>xBEiPIP)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YS:>QD  m >I I=W7ٮ Q=tI  U=B9s: :)W7 M8)AIA MtIiA MCA EՐ:)E,:IEฃ8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI[8t*HlLr?ȥ`ޟʿ Lp?`b?? k?)u*G@ u*Er;Iu*CxBg>xBsEH@H@)E+GF@]Yee>aaQeDim2^;m>Iq I}W7ٮqq Q}tI q U}B9qu: u߼:)uvW7 8)I tIi C F:)Z:I؃8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.005975 arcdeg .q'm'm*G2GFFrFbFEE);I9 iI,rt*H6I@'M?&Z)ʿ`p=?u? 0I??)u*PG@ u*2r;Iu(xBi>xBEiLIN̓C)~G<=F@Y%ǫ%>!!Q-D)-6;->I1 I=X7ٮ1 MEX71 QEtI 1 UEB915; 57;)5#X7 M8)III UtIiI UCI M:)M:IMI89I999=O@Contact HDG: 135.636683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I19=1ͨt.HJ4?4Mʿm?@ ? "?:D?@?)u.G@ u."r;Iu.CxB*[>xBE)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYmFm>qqQuDq}}>I IX7ٮ QtI  UB9鰅F: ):)\X7 8) 8I tIi C :)r:I8I9*G92G9FAFArFAbFIEIEI)};I9 iI߫t*H=G m? @˿=@?筃?7?3?)u*G@ u*q;Iu*Cx>eq>x>nEGBAAH@iLIL)~GF@=Y=:E>AAQEDAM_;M>IQ I]X7ٮQQ Q]tI Q U]B9QU: U:)U[X7 e8)aIa mtIia mCa e::)e:Ie>8yIy9*G2GFFrFbFEE);I9 iIVt~HG n?֦˿l8#?c?@`??)u~G@ u~:r;Iu|x 'n>x pE {Y|8****** ping requested ******ENmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGixAa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʭI>ʱʱQDʱͽg9>I IMX7ٮ QUtI  UUB9/: /;)X7 e8)YIY tIiY CY ]6<)]} &[)  (AYt*G@t*V@yt*H#t*rS>t*HFHGW? x馿$ʿ`@6*=?i?*z?m?)u*G@ u*q;Iu*CxRd>xR EiIѓC)GF@Yʵqķ>ʹʹQDʹ˺>I IY7ٮ MY7 QtI  UB9^q; #s;) Y7 58))I) =tIi) =C) -;)-^;I-l8aIi9i*G12G1F9FrFbFEE);I9 QiYIYiunt=HoGj? ʿG; ?l{?BM? _?)u=pG@ u=Yq;Iu=Cx}"h>x}EHHp=)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1%@a - a 5-@a - a 9-@a % a -%@a - ɄiMb@Mb@Mb@IIiɅ )F@Yʍv>ʑʑQDʑ͝؈:>IA IMY7ٮAA QMtI A UMB9AEͭ: E):)EMY7 U8)QIQ ]tIiQ CQ U;)U;IUd8I9*G2GFFrFbFEE);I9 iI  &dt.HHc?@Jʿ@@`L?? ,? ?)u.[G@ u.q;Iu.CxNp>xR%Eibf=If̓C)-SG-4=-4=F@=YEOE)?AAQMDIMM)?IQ I]Y7ٮQQ Q U]B9QU: U:)UnY7 m8)aIa mtIia mCa e:)e:IeƄ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%t:H>Gk?@妿]˿ >7`-?@`?@j? t?)u:TG@ u:kq;Iu:CxB1z>xBE)udGF@Y :>QD,: >I  IY7ٮ   Q=tI  U=B9  ۻ; ϼ;) YY7 E8)AIA EtIiA MCA E:)Es:IE<8yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.178560 arcdeg .q''*G!2G!F!F!rF)bF)EIEQ)e;Ie9 aaiaIit*H YIvC?ަ }ʿp8@4??`r?@?)u*pG@ u*ɵq;Iu*CxBy>xBEG@HDiR=IRѓC)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ9>ʱʱQDʱͽI>I IY7ٮ QtI  UB9F: :)4Y7 8) 8I tIi C g:)߼:I 8I9=O@Contact HDG: 135.636683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIt.HIC? 3pʿh?`? L? >?N?)u.,G@ u.q;Iu.CxB`k>xBE)zGi~wA|F@=YEȶE>AAQEDIMM>IQ IZ7ٮQ MZ7Q QtI Q UB9QUc< U<)UkZ7  8)I  tIi  C :):I.8!I!9!*GY2GYFYFYrFabFaEaEi);I9 iI= {>׼) `(AYt*|G@t*V@yt*R t*Ӄ>t*H I9K? `uʿ/=@??K??)u*|G@ u*q;Iu*Cxjy>xjEixIx)UvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽxH:>ʹʹQDʹp:>I IZ7ٮ QtI  UB9: :)MZ7 8)I tIi C S:)$:IPP8I9*G 2G F F rFbFEE)-;I-9 )1i1I19=+t*HJ*?r`jʿ#<c%?n? `??)u*G@ u*xq;Iu*CxBMl>xBLEH@HFa=)GF@]Y}}>yʁQDʁ͍4>I IZ7ٮ QtI  UB9鰕U: :)ÃZ7 8)I tIi C F:)9:Iq8I9*G2GFFrFbFEE);I9 iI_tHM G? ʿ6G|? ? ?+?)uG@ ulq;Iux-q>x5EiIIU̓C)YaQeDae\m>Ii IuZ7ٮii Q}tI i U}B9im%: mį:)mZ7 8)yIy tIiy Cy }O:)}c:I}58I9*G2GFFrFbFEE);I9 iIt*HK ?ݥʿG?j? ?l?)u*G@ u*q;Iu*CxB`k>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MSGF@Y%q9%>))Q-D)͵F:;>I IZ7ٮ QtI  UB9< H<)dZ7 8)I tIi C ;)c;IT8I9*G2GFFrF!bF!EIEI)];I]9 aaiaIa3t*H'N?Z`n~ʿN Pd?`? ? w?)u*G@ u*kq;Iu*CxN,t>xR#EGR@AHPijf=Ih)5dGF@EYEM>IIQMDIUuU>IY Ie[7ٮY Me[7Y QetI Y UeB9Y]9: ]:)]T([7 u8)iIi utIii uCi m:)m:ImEׅ8I9*G2GFFrFbFEE);I9 iIb.t*]W>t*HnNz? xʿ`R`w-?Å? ?@/?)u*G@ u*q;Iu*CxBs>xBE)~Gia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe\e>iiQmDiuu>Iy I}[7ٮyy QtI y UB9y}: }:)}_[7 8)I tIi C -:)c:I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIR\ >K)  (AYt*oG@t*ztV@yt*t*̈z>t*H`L?@. ʿZx? P?? ?)u*oG@ u*q;Iu*CxBV>xBEiV=IVѓC) GF@=YEcD;E>AIQMDIM ;U>IQ I][7ٮQQ Q]tI Q UeB9QU: U:)U[7 m8)a m8Ia mtIia uCa ec:)e4:IeK8yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.990088 arcdeg .q''*G2GFFrF!bF!E!E!)=;I=9 99i9I9AEtH`.P ?/YʿY?†?uB??)uاG@ uq;IuCx5o>x=JEHEa=HEp=)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y|>QD!%%>I) I5[7ٮ)) Q5tI ) U5B9)-:: -ٮ:)-[7 E8)9I9 EtIi9 EC9 =:)=:I=?8QIQ9Y=O@Contact HDG: 135.636683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iI1t*HJE?߿ʿ`'`?@ ?@ ?s?)u*WG@ u*Bq;Iu*CxRq>xREi\Ib̓C)%G%4=!F@=YE*/E>AIQMDIM0 <M>IQ I]\7ٮQ M]\7Q QetI Q UeB9QU: U:)U\7 }8)yIy tIiy Cy }:)}:I}_8I9*G2GFFrFbFEE);I 9  i I *t*HM?(ʿ/W@?|?@+D?l?)u*FG@ u*q;Iu*CxN>xRE)UʡʡQDʡͭNj>I I\7ٮ QtI  UB9鰵: p:)=\7 8)I tIi C }:)N:Im8I9*G2GFFrFbFEE);I9 iInt*HHzg?ꤿ VʿW|?TI?2?5 ?)u*G@ u*q;Iu*CxNn>xREGRAAHPi`I`)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yy>QD;>I I\7ٮ QtI  UB9: :)u\7 8)I tIi C |:):I8 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIAIMt.HHh? ʿpS ?)? K-??)u.G@ u.q;Iu.CxBt>xBlE) AAQMDIM~9M>IQ I]\7ٮQQ Q]tI Q UeB9QU: U:)U=\7 m8)aIa mtIia mCa e[:)e :Ieņ8yIy9*G2GFFrFbFEE)5;I59 QQiqIqy} >u%) (AYt* H@t*V@yt*~r#t* ~>t*H Es?@ȥ˿L@7?9n?,n??)u* H@ u*Ңq;Iu(xRv>xREi`IbѓC)SGF@-Y5v:5>11Q5D1=u;E>IA IM\7ٮAA QMtI A UMB9AE\: E>:)E\7 ]8)QIQ ]tIiQ ]CQ U:)U$:IU\8iIi9q*G2GFFrFbFEE);I9 iIt*HA`?a`9b˿D>?`~? ?'?)u*f/H@ u*q;Iu(xBxp>xBEHFp=HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ YC9>QD%-;->I1 I=]7ٮ1 M=]71 Q=tI 1 UEB915; 5;)5b]7 U8)I 8II tIiI CI M3<)Mt.H`B?󋦿OT˿@D'N?s??`?)u.D(H@ u.q;Iu.CxB|>xBCEiXI^̓C) GF@]Ye`:e>aaQeDam m>Iq I}]7ٮqq Q}tI q U}B9qu: u :)u=P]7 8)I tIi C :)|:I+8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 192.328715 arcdeg .q'5'5*G12G1F9F9rFAbFAEAEA)];I]9 YYiYIYq}t*H<#?˿ 6a??`'?V?)u*(_H@ u*q;Iu(xBr>xBIE)ׄGF@=YEp_:E>AIQMDIM9 <M>IQ I]]7ٮQQ Q]tI Q UeB9QUS: U5:)U؆]7 m8)aIa mtIia mCa e}:)e:IeM8yIy9=O @Contact HDG: 135.636683 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE!)5;I59 11i9I9AM) Ɔ(AYt*XH@t*W@yt*)4t*>t*Hd=&?EȲ˿06`?@? %?x?)u*XH@ u*q;Iu*CxRDy>xREEGR@AHTilIl)=>ʱʱQDʱͽew>I I]7ٮ QtI  UB9%: ):)]7 8)I tIi C ͭ:):Ip8I9*G2GFFrF bF E E )=;IE9 AAiIIIIUuft*H`8m?`Ej`̿P/?7? :? ?)u*NH@ u*Wq;Iu*CxB:m>xBE)Gi!!F@]Ye:e>aaQmDimA;m>Iq I]7ٮqq QtI q UB9qu; u;)u]7 8)I tIi C :):Ir8I9*G2GFFrF!bF!E)E))=;I=9 AAiAIAIMW=iII I2@u<:@uw: ߉ > t>K) C:2(AYt*E{H@t*P(W@yt*%t*?L>t*H@9`[?7 Y˿,z?\?\Z??)u*E{H@ u*q;Iu(xRj>xRqEi\I\)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y:>QD>I I ^7ٮ M ^7 Q tI  UB9p: :)g/^7 8)I tIi %C 1:):I8)I191*GA2GAFAFIrFIbFIEQEQ)e;Ie9 iiiiIiqud=iqq y2@}<:@}w: ߑR) L(AYt*9H@t*D3W@yt*q!t*w>t*H8o?`kǧ ̿- ?X ?E?`\?)u*9H@ u*:q;Iu*CxRp>xR%EHPHP)aaQmDim:m>Iq I}^7ٮqq Q}tI q U}B9qu`: u:)ud^7 8)I tIi C :):I1և8YIY9Y*Gi2GiFiFqrFqbFyEyEy);I9 iI=i 2@<:@w:  Y) e(A) I;Yt./H@t.:fW@yt./t.>t.H2? o̿*o?? .?O?)u./H@ u.q;Iu.CxNs>xREi\I\)G%%=%4=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅm>ʁʁQDʉ͕r;>I I^7ٮ QtI  UB9鰵: ݱ:);^7 8)I tIi C }:)I8I9*G2GqFqFqrFybFyEE);I9 iIY=i 2@<:@w: i 5_) (AYt*|H@t*>W@yt**t*>t*H @7 ?䧿!̿&_/?`R?q?@~?)u*|H@ u*q;Iu*CxB"h>xBE)SGF@Y%gN:%>))Q-D)5ʻ5>I9 I]^7ٮ99 QetI 9 UeB99=; =J;)==^7 8)i 8Ii tIii Ci m;)m;Im8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)%;I%9 ))i)I)15=i11 I2@M<:@Uw: !f) (AYt*FH@t*QiW@yt*+%t*z>t*H@2@l? 'u̿ c(>?`\? A?`?)u*FH@ u*oq;Iu*CxBi>xBNEGBAAH@iLIP)~dGa 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@}Yʅ%P:>ʁʉQDʉ͍;>I I_7ٮ M_7 QtI  UB9鰕: :) _7 8)I tIi C  :) :I<8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 192.846307 arcdeg .q'U']*GY2GYFYFYrFabFaEaEi)};I}9 iI$=i 2@<:@w: ߩMHl) '(A@ Yt*@H@t*KRW@yt*׽$t* >t*H5? ȧ BH̿ , ? ?3?@?)u*@H@ u*q;Iu*CxBl>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qiF@Y8>QD\>I I _7ٮ Q tI  U B9^; ;)C_7 %8)I %tIi %C :):I_89IA9A=O@Contact HDG: 135.636683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!%| =i!! !2@<:@w: ߡ x> Y>/s) 5](Axi>xE){%nI{i{(={7>{{,B{|A9|ʾ?_ԉa%ief=Ia)F@Y>QD  >I I_7ٮ QtI  UB9G: :)}z_7 %8)!I! -tIi! -C! % :)% :I%89I999*GI2GIFIFQrFQbFYEYEY2EazEeAEe;'@C .Eeʾ?_ԉa%Ee%nEaEe͓I8-dI\(@qEeM2(?4Ũ5ɿEe@=mDHdg To Contact =140.472252 degreesZEe@AbEei:Eeo$?BEeo$?JEe REe jEesrEe);I9 iI =i 2@<:@w: ߱$Dacoustic_contact_range 19.320000 m$hTrackAcousticContact.heading_to_contact 2.451703 rad$LDUSBL_Hydroid.xAngle -53.299999 arcdeglZy) :(AYt*ĬH@t*YW@yt*>3t*3>t*H@24 e?`V̿E' o?@g?S?`u?)u*ĬH@ u*h8q;Iu*CxNjw>xR"EHPHP)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʩʩQDʩ͵:>I I_7ٮ QtI  UB9: :)@_7 8)I tIi C p:)ӻ:ID8I9*G2GFFrFbF E E );I%9 !!i!I!)-օ =i)) 12@5<:@=w: ITB) 3(A)Ixl>xEi5=I9)G4==F@Yʭ>ʩʱQDʱͽ>I I_7ٮ QtI  UB9鰽.: 1:)e_7 8)I tIi C :):IMň8I9*G2GFFrFbFE E );I9 !!i!I!!-$,=i)) )2@5<:@5w: Ii k) x(AYt*H@t*VW@yt*פ%t*>t*H4?@ͧ`P̿ +??@k5?@~?)u*H@ u*b&q;Iu*CxR?s>xVE)5dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>QD3>I I`7ٮ M`7 QtI  UB9: :)b`7 8)I  tIi  C :)ȗ:I8I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQY]t=iYY a2@e<:@mw: y>) 4(AYt*H@t*WW@yt*/t*ϋ>t*Hv4? c@vR̿-/??$?`?)u*H@ u*q;Iu*CxNy>xREGR@AHPi\IbѓC)F@-Y-׺5>11Q5D1=9=>IA IM`7ٮAA QMtI A UMB9AE:: E:)ES`7 U8)Q ]8IQ ]tIiQ ]CQ U:)U]:IU8iIi9i*G2GFFrFbFEE);I9 iIh=i 2@5<:@=w: I7~) N(A@ YtBhH@tBsFW@ytB?'tB >tBH@e6?է%1̿)? ?R??)uBhH@ uBCp;Iu@xJRr>xJE)GivAwAF@%Y%:%>))Q-D)5)5>I9 I=`7ٮ99 QEtI 9 UEB99=: =l:)=z`7 M8)III UtIiI UCI M:)M,:IM)8aIa9a*Gq2GqFyFyrFbFEE);I9 iIz =i 2@<:@w:  a> >X) Áh(AYt>sH@t>~IW@yt>t>>t>H6?@7̿+?]Ճ?C?`?)u>sH@ u>&q;Iu>CxRMl>xRLEi`I`)%ׄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽ:>QD9>I I`7ٮ QtI  UB9: B:)N`7 8)I tIi C B:):IM8I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9AE=iAA A2@M<:@Mw: a ) h(AYt:H@t:.W@yt:1&t:x>t:H@9jg? ̿*@?ӄ?@_? ?)u:H@ u:^p;Iu:CxNv>xNGEHR=HP)YaQeDaecm>Ii Iu`7ٮii QutI i U}B9im: m:)m`7 8)yIy tIiy Cy }p:)}:I}n8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 192.640841 arcdeg .q'-'-*G)2G5@F1F1rF9bF9E9E9)U;IU9 QQiQIY]@iY]@ a2@e<:@mw: y$RHorizontalControl.headingCmd 2.451703 rad侦) K(A)I4t.H9 Z? ˧˿1@?{??5??)u.{H@ u.Kp;Iu.CxJ"h>xNEiXIZ̓C)G%=%=a 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ<:>ʙʙQDʙͥX>I Ia7ٮ Ma7 QtI  UB9鰭; E;)2a7 8)I tIi C O:):Iˑ8I9=O@Contact HDG: 140.472252 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I 9  i I c@i 2@<:@w: Qi 䬽) M(AYt*dH@t*W@yt**t*bo>t*H#<xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@5YEE>AIQMDIUZU>Ia Iea7ٮaa QmtI a UmB9ae: e;)eAla7 8)I tIi C /:)C:I˵8I9*G)2G)FFrFbFEE)-;I-9 ))i)I15\@i99 92@E<:@mw: yJ̳) (AYt*sH@t* W@yt*#t*v>t*H: lO?l ˿`G0 |?}? @? ?)u*sH@ u*p;Iu*Cx2sj>x6(EG4H4){6SQI{4i{6\={6>{4{6`A{4|6A9|6d?s!4XiVf=IT)EdGF@Yʝ$:>ʙʡQDʡͥ$;>I Ia7ٮ QtI  UB9鰭: o:)Ka7 8)I tIi C ::):IՉ8I9*G2GFFrFbFEE2EzEAEI$1@C^2Ed?s!4XESQEE_Fb5Q9n+@O#HE#8`V}@?^ƿE|#@=DHdg To Contact =146.773170 degreesZE]AbE:Eqo$?BEo$?JE~ RE jEGrEs)-;I-9 ))i)I)5@5=i19 92@E<:@Ew: Q$mDacoustic_contact_range 25.619999 m$}hTrackAcousticContact.heading_to_contact 2.561675 rad$}LDUSBL_Hydroid.xAngle -46.849999 arcdeg) (A@ Yt.[DH@t.fV@yt.^"t.>t.H?? D&˿ 3 ?UX?M?O?)u.[DH@ u.p;Iu,xBb>xBQ E)iwAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmB<9m>iiQuDqu9u>I Ia7ٮ QtI  UB9J:  :)Ba7 8)I tIi C ;)t;I8!I!9!*GQ2GYFYFYrFabFaEaEa);I9 iI@i 2@<:@w:  i> t>) (AYt*GH@t*V@yt*%t*,>t*H@L??@`ϑ˿ -<̔? ,?` ?d?)u*GH@ u*p;Iu*CxRI>xREib=IbѓC)%GF@eYe"e>iiQmDiur:u>Iq I}b7ٮq Mb7q QtI q UB9qu: u:)u b7 8) 8I tIi C A:)U:I8I9*G2GFFrFbFEE)U;IU9 YYiYIYae=iaa a2@m<:@mw: ߁`ǽ) R(AYt*?H@t*!V@yt*et*ׁ>t*H@D@@W? ˿|<`ʞ?X?f??)u*?H@ u* q;Iu*CxRMl>xRLEHVa=HVp=)5GF@]Ymߍ:u>ʁʉQDʉ͝>I Ib7ٮ QtI  UB9鰵5; ;)Eb7 8)I tIi  C U;);I<8I9*G2GFFrFbFEE) ;I 9  i I)15g=i11 92@=<:@Ew: qs2ͽ) >Z7(A) I;Yt.%H@t.V@yt.{(t.$>t.H@B?0|O˿^C`?`d?@?@&?)u.%H@ u.q;Iu,xNv>xRGEi\I^̓C)G%4=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅѺ>ʁʁQDʉ͍D{>I Ib7ٮ QtI  UB9鰕a; ;)s|b7 8)I tIi C O:):Il]8I9*G2GFFrFbFEE);I9 iIs=i 2@ <:@w: !i @AbԽ) 5Q(AYt*9H@t*V@yt*[&*t*J>t*H`@~?`yv˿VE`\?`D?`w?N?)u*9H@ u*?q;Iu*CxBd>xB E)~҄GF@=YEE>AAQMDIMI;M>IQ I]b7ٮQQ Q]tI Q UeB9QU: U3:)U}b7 m8)aIa mtIia mCa e:)eȗ:Ie~8yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIX=i 2@<:@w: Dڽ) k(AYt 0H@t )V@yt I%t }}>t HA@?c˿`UI`?@ ?f?9?)u 0H@ u fq;Iu xEm>xE'EGQHQiqIq)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y=2:=>9AQEDAEtE>II IUb7ٮII QUtI I U]B9IM2: M:)Mb7 e8)YIY etIiY eCY ]:)]g:I]x8qIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.356172 arcdeg .q' ' *G 2G |#@FFrFbFEE)5;I59 11i1I1=@i9=|#@ A2@E<:@Ew: Y$}RHorizontalControl.headingCmd 2.561675 rad,) N(A Yt.0H@t.V@yt.$t.;>t.HA?A d˿ D:?@? ر?u?)u.0H@ u.Xp;Iu.CxBl>xBE)-Gi15xAF@mYub\8u>qyQ}Dy}8>I Ic7ٮ Mc7 QtI  UB9鰅 : :)!c7 8)I tIi C _:)R:I_Ê8I9=OE@Contact HDG: 146.773170 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFQbFQEYEY)m;Im9 iiiqIq}KA!@iyy y2@<:@w: ߑ > >EV)  ƞ(AYt*CH@t*V@yt*?Ot*}>t*H?`?Yd˿TG?Ƀ?h?'?)u*CH@ u*p;Iu*CxRn>xREi\I\)aF@uY}c:}>yʁQDʁͅ=;>I Ic7ٮ QtI  UB9鰍: :)Xc7 8)I tIi C :):I{8I9*G2GFFrFbFEE);I9 iI"@i 2@<:@w: ) f(AYt*mGH@t*xV@yt*:Nt*>t*H\? J?`a)˿`X@=U??`?`u?)u*mGH@ u*p;Iu*CxNh>xREHPHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGa 1a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʽN>QD)9>I Ic7ٮ QtI  UB9: :);c7 8) 8I tIi C ÷:);:I 8I9*G 2G FFrFbFEE)5;I59 99i9I9E|#@iAA A2@M<:@Mw: Yh) ~(A)IYt.WH@t. W@yt.$t.>t.H=3 ? ˿`=@h?_?b?9?)u.WH@ u.p;Iu.CxBj>xBqE){BplNI{@i{B?={B>{@{BA{@|BA9|B6l &?i`I`)5dG11F@}YʍPg?ʙʡQDʩͽ.9;?I Iec7ٮ QutI  UB9< <)ic7 8)I tIi C ;)';Ir,8I9*G2GFFrF!bF!E!E!2EQzEUAEU>]0@ tH/1EU6l &?EUplNEQEU:I4<[*@ L2'EUo`꿘o ?1]J!ƿEUB$@=]DHdg To Contact =147.282948 degreesZEUPAbEUI:EUso$?BEUqo$?JEQREU~ jEUqrEUG)u;Iu9 yyiyIyy)=i 2@<:@w: $Dacoustic_contact_range 24.480000 m$hTrackAcousticContact.heading_to_contact 2.570572 rad$-LDUSBL_Hydroid.xAngle -46.200001 arcdegi ?AN) W(AYt*\WH@t*gW@yt*~$t*>>t*H =?ᦿ`A˿ : ˑ?ď?h?`|?)u*\WH@ u*Jp;Iu*CxBi>xBE)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYexe>iiQmDiui8u>Iy Ic7ٮyy QtI y UB9y}}: }>:)} c7 8)I tIi C :)x:IdK8I9*G2GFFrFbFEE);I9 iIO=i 2@<:@w: xz) j3(AYt*[iH@t*fW@yt*Tt*A>t*H`;7?@n˿{2?Y?@/:?@?)u*[iH@ u*p;Iu*CxBf>xB EGDHDiVf=IT)F@=YE":E>AAQMDIM24;M>IQ I]d7ٮQ M]d7Q Q]tI Q UeB9QU: U:)U4d7 m8)aIa mtIia mCa e}:)eԘ:Iem8yI9*G2GFFrFbFEE);I9 iIc =i 2@<:@w: )  (A Yt*oH@t*W@yt*t*"j>t*H;@?@@˿%-a?`s?^?4?)u*oH@ u*p;Iu*CxBsj>xB(E)~GixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeje>aaQmDimy:m>Iq I}d7ٮqq Q}tI q UB9qu: u:)uAld7 8)I tIi C :):Ip8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!=i 2@<:@w:  > > ) 9(AYt*ĂH@t*/W@yt*+t*8>t*H8`r? @̿ j3?F|? ??)u*ĂH@ u*ip;Iu*CxRz>xR Eib=I`)5҄GF@mYuS u>qqQ}Dy};;>I Id7ٮ QtI  UB9鰅: >:)d7 8)I tIi C  :):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 192.645199 arcdeg .q'E'E*GA2GEB$@FAFIrFIbFIEQEQ)e;Im9 iiiiIiuB$@iquB$@ y2@}<:@w: ߑ$RHorizontalControl.headingCmd 2.570572 rad۶) S(AYt2ɐH@t2=W@yt2yt2>t2H a7*?`Ƌ[ ̿3 `?@?? ?)u2ɐH@ u2p;Iu0xb c>xf EHhHY)+Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm:u>qqQuDy}v;}>I Id7ٮ QtI  UB9鰅%: į:)Od7 8)I tIi C ̒:)Iu֋8I9=O=@Contact HDG: 147.282948 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIaquG_#=iqq y2@}<:@}w: ߑ) bm(A) IYt.VH@t.aFW@yt.s t.m>t.Ho6v?r.` 1̿0'@#?@? jh??)u.VH@ u.qp;Iu.CxBMl>xBLEiRf=IP)~SGF@Yʕ̸>ʙʙQDʙͥڵ:>I Ie7ٮ Me7 QtI  UB9鰭: :)e7 8)I tIi C :):I)8I9*G2GFFrFbFEE) ;I 9  i I $=i 2@%<:@%w: 1i @A V!) z(AYt*H@t*OW@yt*?t*{>t*Hq5h?dwC̿Q%)?`g?`Ip??)u*H@ u*p;Iu*CxRB`>xR E)%GF@]Ye,W:e>aaQmDim:m>Iq I}e7ٮqq Q}tI q UB9qu: u:)uHe7 8) 8I tIi C :)۞:I8I9*G)2G)F1F1rFYbFYEYEY)u;Iu9 iI%=i 2@<:@w: ') V(AYt*H@t*MW@yt*4!t*T<>t*H5\?ާ,>̿,?0xBEGDHDiR=IR“C)~+Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeFe>aiQmDimCŹu>Iq I}e7ٮqq QtI q UB9quc: u:)u e7 8)I tIi C :):I98I9*G2GFFrFbFEE);I9 iI%'=i 2@<:@w: ߹W.) r3(A Yt*FH@t*QoW@yt*#t*N>t*H1 s?@܀̿ d0t? gs??`?)u*FH@ u*%p;Iu*CxN`k>xNE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]GimwAqF@Y>QD;>I Ie7ٮ QtI  UB97!; ";)+e7 8)I  tIi  C :)?:I]8!I!9!*GA2GAFAFIrFQbFEE);I9 iI!%(=i!! )2@M<:@Uw: a R> > 5) r(AYtz4H@tz?tW@ytzytz߃>tzH\1? f ~̿`%?ۃ?KM?d?)uz4H@ uzp;IuzCxo>xJEi9I=̓C)ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y8:>QDg@:>I  Ie7ٮ   QtI  UB9  : :) e7 %8)I %tIi %C Ր:) :Iw81I999*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIqy})=iyy y2@<:@w: .;) (AYt*H@t*zW@yt* #t*>>t*H 0+?٨`̿[ N?)a???)u*H@ u*0p;Iu*CxBt>xBlEHFp=HD)҄GF@=YE/E>AAQMDIM:M>IQ I]f7ٮQ M]f7Q Q]tI Q UeB9QUR: U:)U$f7 m8)aIa mtIia mCa e:)eo:Iet8yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI+=i 2@<:@w: B) (A) IYt*H@t*̈́W@yt*@t*>t*H`/ : ?`lŪ̿ '`?`ԝ?6?s?)u*H@ u*p;Iu*Cx^Rr>xbEipIp)E+GAIF@}Yʅm:>ʁʁQDʁ͍:>I If7ٮ QtI  UB9鰕>: :)(]f7 8)I tIi C ),:I*Œ8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.942421 arcdeg .q'M'M*GI2GQFQFQrFYbFYEYEa)u;Iu9 qyiyIyys{,=i 2@<:@w: ߙi @H) ǜ"(AYt*H@t*W@yt*Et*V>t*H/`O?L`h̿j,ք??` ?@;?)u*H@ u*1p;Iu*CxB,t>xB#E)Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YO:>QD:>I If7ٮ QtI  UB9 ; õ;)lf7  8)I  tIi  C ::)o:I<89I999=O@Contact HDG: 147.282948 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIk-=i  2@5<:@5w: AjN) y<(AYt*H@t*W@yt*Ӭt*%ۃ>t*H'+N? )̿K?5?@L?@~?)u*H@ u* p;Iu*CxNv>xREGPHPi^f=I\)eSGF@uY}i}>yʁQDʁͅ.;>I If7ٮ QtI  UB9鰍5: |:)^f7 8) 8I tIi C 9:) :I38I9*G2GFFrFbFEE);I9 iIP/=i 2@<:@w: RU) ?TV(A@ Yt*H@t*W@yt*t*#>t*H-.? ⨿ ̿@'?у?`p??)u*H@ u*?p;Iu*CxNxp>xRE)5dGiMxAIF@mYA> Q D Y%>I1 IMg7ٮ1 MMg71 QUtI 1 U}B915< 5\ <)5ug7 8)I tIi C :):I*8I9*G2GFFrFbFEE)5;I59 11i1I19=0=i99 A2@E<:@Mw: Y > {>|[) -p(AYt*.I@t*9W@yt*[t*Y>t*H'?)B`3Ϳ`?`׿?!b?@?)u*.I@ u*p;Iu*CxRn>xREi^=I\)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ8>ʁʁQDʉ͍<>I Ig7ٮ QtI  UB9鰕: :)9g7 8)I tIi C ::)o:IZJ8I9*G2GFFrFYbFYEYEY)u;Iu9 iI1=i 2@<:@w: 0eb)  (AYt*H@t*کW@yt*?,t*nf>t*H^+QL?`j⨿ ̿@!`?u%?>?Y?)u*H@ u* p;Iu(xBt>xBlEHBa=H@)~GF@Y%D:%>!)Q-D)-C->I1 I=g7ٮ11 Q=tI 1 UEB9158: 5:)5Jog7 M8)AIA MtIiA MCA Et:)E:IEck8YIa9a*Gq2GqFqFqrFbFEE);I9 iIq3=i 2@<:@w: !Jh) (A)IYt.A=I@t.LW@yt.8"t.+Ɂ>t.H`$?訿tpͿ!F?@3?@ ?@?)u.A=I@ u.p;Iu.CxB?s>xBEiNf=IP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmDimL<u>Iq I}g7ٮqq QtI q UB9qu: ul:)ug7 8)I tIi C :):I!8I9*G2GFFrFbFEE);I9 iIZ4=i 2@<:@w: i ?A n) (AYt*-I@t*W@yt*tt*F#>t*H% `?@лRͿ` %? r΂?@at?B?)u*-I@ u*Xp;Iu(xBu>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UʹʹQDʹ>I Ig7ٮ QtI  UB9%: :)&g7 8)I tIi C :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E9E9)];I]9 YYiaIaim5=iii q2@}<:@}w: ߙˢu) (AYt*G>I@t*RW@yt*W t*|>t*H#`w?nrͿ1?@ ?`.??)u*G>I@ u*p;Iu*Cx>n>x>EG@H@){B_rI{@i{B={B>{@{BA{@|BzA9|Bڠ^?\i`IbѓC)GF@]Y]Ǻ]>aaQeDam+);m>Iq Iuh7ٮq M}h7q Q}tI q U}B9qu: u:)uh7 8)I tIi C :):I/ҍ8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 193.300938 arcdeg .q'-'5*G12G1F1F1rF9bF9EAEA2EIzEMzAEM(e%@&;U-EMڠ^?\EM_rEIEMRD1|+m^&@Bl k EMx 迼Qy?BʿEMuk@=UDHdg To Contact =140.034246 degreesZEM5AbEMX:EMo$?BEMso$?JEM REIjEMXkrEMq)m;Iu9 qqiqIqy}7=iyy 2@<:@w: ߙ$Dacoustic_contact_range 18.059998 m$hTrackAcousticContact.heading_to_contact 2.444059 rad$LDUSBL_Hydroid.xAngle -54.300000 arcdegl{) `x(A@ Yt.nWI@t.yX@yt.Gt.1т>t.H !O?`kͿ< ?Ȃ?,??)u.nWI@ u.ܷp;Iu.CxRn>xP)Gi%yA!a 1}a 1} a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Ye:>QDq;>I Ih7ٮ QtI  UB9: :)Nh7 8)I tIi C :):IB8I9=O@Contact HDG: 140.034246 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI;p8=i 2@<:@w:  > l>) R (AYt*edI@t*pX@yt*Yt*fF>t*H{ ? Y`Ϳ@?{?:??)u*edI@ u*Cp;Iu(xBp>xB%EiV=IT)%+GF@]Ye de>aaQmDimZ;m>Iq Ih7ٮqq QtI q UB9qu^; u;)u#h7 8) 8I tIi C c:)۞:I8I9*G2GFFrFbFEE!)U;IU9 QYiYIYYem9=iaa a2@m<:@mw: ߁݈) Z/%(AYt*I@t*@X@yt*t*}>t*H`@ e?uDWο ?oQ?H`? ?)u*I@ u*vp;Iu(xN`k>xREHR=HP)GF@}YʅSN9>ʉʉQDʉ͕;>I Ih7ٮ QtI  UB9鰝ͭ: J:)h7 8)I tIi C :)N:I88I9*G2GFFrFbF!E!E!)e;Ie9 iiiI<;=i 2@<:@w: )  ?(A) IYt*I@t*(.X@yt*t*{>t*H@. O:?@٢Ϳ E.?`5? ?d?)u*I@ u*ӊp;Iu*CxBo}>xBEiNf=IP)~SG=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yel:e>iiQmDiu8u>I Ih7ٮ QtI  UB9:  :)Ch7 -8)!I! -tIi! -C! %::)% :I%\8yIy9y*G2GFFrFbFEE)5;I59 11i1I19=~<=i99 A2@E<:@Mw: i ) X(AYt*I@t*lX@yt*0t*>t*H? W1 nο N ??2? ?)u*I@ u*~p;Iu*CxBb>xBQ E)Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵp޺>QQQ]DY]<]>Ia Imi7ٮa Mmi7a QmtI a UuB9ae : e:)e-i7 8)I tIi C :):I8I9*G!2G!F!F!rF)bF)E)Ei);I9 iI==i 2@<:@w: i) r(AYt*I@t*}X@yt*-!t*>t*H?-οW `?p;?1??)u*I@ u*_p;Iu*CxBq>xBEGBAAH@iPIP)GF@Y%A%>!!Q-D)-<;->I1 I=i7ٮ11 Q=tI 1 U=B915ϸ: 5+:)5_i7 M8)AIA MtIiA MCA E:)E:IEȝ8YIa9a*Gq2GqFqFqrFbFEE);I9 iI?=i 2@<:@w: >) (A@ Yt*I@t*X@yt*t*1q>t*H7j?(;οTE?W?జ??)u*I@ u*"jp;Iu*Cx>p>xB%E)~GiwAwAF@Y%Z:%>!!Q%D)-Z!:->I1 I=i7ٮ11 Q=tI 1 U=B915w: 5{:)5ϖi7 M8)AIA MtIiA MCA E:)E:IEԿ8YIY9aOmDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIa@=i 2@<:@w: ! R> t>-) |(AYt*n J@t*yX@yt*U|t*t*H`v @?-ѫ Ͽ A7?@zo?@?@-?)u*n J@ u*?p;Iu*Cx>r>x>IEiN=IL)~vGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@uY}.:}>ʁʁQDʁ͍<>I Ii7ٮ QtI  UB9鰍; ;)i7 8)I tIi C %:)I78I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 194.025361 arcdeg .q''*G2Guk@FFrFbFEE);I9 iIY"@iuk@ 2@<:@w: $}RHorizontalControl.headingCmd 2.444059 rad) R(AYt2J@t2X@yt2Ct2>t2HS `M_?OϿj|? fH???)u2J@ u2Yp;Iu0x>1z>xBEHBp=HBa= {DY|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGF@Yʭ>9>ʱʱQDʱ:>I Ij7ٮ Mj7 QtI  UB9; ;)Aj7 -8)! -8I! -tIi! 5C! %;)%;I%N8aIi9i=O-@Contact HDG: 140.034246 arcdeg .'-'-OM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY)m;Iu9 qqiqIq}@i 2@<:@w: =) -(A) IYt.WJ@t.Y@yt.t.>t.HW?@=@ϿH?ƒ?%??)u.WJ@ u.Np;Iu,xBq>xBE){BNYjI{@i{B={B7>{@{BA{@|BzA9|Bz?~^i`I`)SG%=%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y5s5>99Q=D9Eh<E>II IMj7ٮII QutI I UuB9IM; M;)MAj7 }8)yIy tIiy Cy }:)}:I}G)8I9*G2GFFrFbFEE2EzEzAEu9ꐫ)@O\c0Ez?~^ENYjEEv0@\;(@0f7ZE<鿭y?ȿE@= DHdg To Contact =142.835949 degreesZEGAbE:E}o$?BEo$?JE RE jEՂrEXk)E;IE9 AAiAIAm@iii q2@u<:@}w: ߩ$Dacoustic_contact_range 21.059998 m$hTrackAcousticContact.heading_to_contact 2.492958 rad$LDUSBL_Hydroid.xAngle -52.449999 arcdegi f) (AYt*eJ@t*Y@yt*t*$>t*H@?򰬿`JϿ`)q?Ã? :??)u*eJ@ u*9Rp;Iu*CxBp>xB%E)dGF@Yʥ3>ʡʡQDʩͭ;>I Ij7ٮ QtI  UB9鰵; õ;)uj7 8)I tIi C %:)II8I9*G)2G)F1F1rFYbFYEYEY)u;I9 iIuk@i 2@<:@w: Oþ)  (AYt*oJ@t*Y@yt*t*?>t*Ha R?`p,@ϿC?/?`[??)u*oJ@ u*1p;Iu(xNz>xR EGR@AHPi`I`)%GF@=YE<:E>AAQMDIMn:M>IQ I]j7ٮQQ Q]tI Q UeB9QUu: UW:)Uj7 m8)aIa mtIia mCa e-:)eA:Iecj8I9*G)2G)F1FqrFybFyEyEy);I9 iIA=i 2@<:@w: yɾ) '(A@ Yt. J@t.TY@yt.̗ t.>t.H`zh?kcпy4?벁?`%0?L?)u. J@ u.p;Iu,xBs>xBE)~SGixAxAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ:>ʡʡQDʡͭ<>I IUj7ٮ QUtI  U]B9鰵/< c<)j7 e8)YIY etIiY eCY ]:)]:I]8I9*G2GFFrFbFEE)-;Im9 iiiqIqquC=iyy y2@<:@w: ߙ > >Raо) 1A(AYt*J@t*Y@yt*t*>t*H ?  xKпb O?t??_?)u*J@ u*Z;p;Iu*CxRjw>xR"Ei`I`)%dGF@]Ye e>aaQeDim <m>Iq I}k7ٮq M}k7q Q}tI q U}B9qu: u:)uk7 8)I tIi C :)N:IϮ8I9*G2GFFrFbFEE);I9 iIBE=i 2@<:@w: Z־) r[(AYt*.J@t*9Y@yt*~*t*3>t*H`K?V :Yп f?`^?9?y?)u*.J@ u*-p;Iu*CxNt>xRlEHPHRp=)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQDʉ͍ ;>I Ik7ٮ QtI  UB9鰕9: =:)Qk7 8)I tIi C [:)o:I5я8I9*G2GFFrFbFEE);I9 iIbF=i 2@ <:@ w: !ܾ) /Nu(A) IYt*K@t*Y@yt*Ht*>t*H`>?tڮп,~?@? ?`?)u*K@ u*Ip;Iu*CxB{>xBEiLIR̓C)4=4=F@=YEA;E>AAQMDIM<M>IQ I]k7ٮQQ Q]tI Q UeB9QU: U:)Uk7 m8)aIa mtIia mCa e:)eN:Ie8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI)H=i 2@<:@w: i O) 1B(AYt*#K@t*Y@yt*>t*>t*H"? A׏п.S?v?/?@5?)u*#K@ u*Y8p;Iu*Cx:5g>x:*E)vGF@Y7>!Q%D!%:%>I) I5k7ٮ)) Q5tI ) U=B9)-: -:)-_k7 E8)9 E8I9 EtIi9 EC9 =:)=:I=L8iIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.998308 arcdeg .q''*G2G@FFrFbFEE)-;I-9 )1i1I15>@i9=@ 92@E<:@Ew: Q$uRHorizontalControl.headingCmd 2.492958 rad) (AYt*qK@t*Z@yt*xt*;܂>t*H`r?xп@%?@ޝ?@-??)u*qK@ u*q[p;Iu*CxN`k>xREGPHPi`I`)%QDe6<>I Ik7ٮ QtI  UB9t: :)k7  8) I   tIi  C  :) :I e889IA9A=O-@Contact HDG: 142.835949 arcdeg .'-'-O-4Initialize Wait Component.*G)2GIFQFQrFQbFYEYEY);I9 iI@i 2@<:@w: f) (A Yt.zK@t.(Z@yt.0t.$<>t.H2js?@%пj3C?`f?3??)u.zK@ u.mQp;Iu.CxNu>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGiwA wAF@Y%N9%>))Q-D)5:5>IA IMl7ٮA MMl7A QMtI A UMB9AE; E(;)EG1l7 8)yIy tIiy Cy } :)}o:I}[8I9*G12G9F9F9rFAbFAEAEA)-;I59 11i1I19=TI=i99 A2@E<:@mw: ߡ > >N) (AYt*K@t*TZ@yt*=t*Y>t*H7Ř?QAѿ@~???`?)u*K@ u*p;Iu*CxReq>xRnEilIl)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yoʺ>QD;>I Il7ٮ Q tI  U B9: :)Ugl7 8)I tIi C :)9:I|8)I)9)*G92G9FAFArFAbFIEIEI)e;Ie9 aaiaIaimZ K=iii q2@u<:@}w: ߉) (AYt*K@t*cZ@yt*t*>t*H-e?ѿ  V?@??@?)u*K@ u*ԟp;Iu*CxBi>xBEH@HBa=)GF@=YEVĹE>AAQMDIM;M>IQ I]l7ٮQQ Q]tI Q U]B9QU: U:)Uwl7 m8)aIa mtIia mCa ep:)eA:IeƜ8yI9*G2GFFrFbFEE)5;I=9 99i9I9Q]~L=iYY Y2@e<:@ew: y}) p(A) IYt.K@t.&Z@yt.t.d>t.H`Y`i? GUѿ@_ ? ݃? r?@?)u.K@ u. p;Iu,xNZe>xR Eibf=Id)%XG- ?-=F@]Ye8e>aiQmDim<m>Iq I}l7ٮqq Q}tI q UB9qu:: u:)u/l7 8)I tIi C :)ȗ:I+8I9*G2GFFrFbFEE);I9 iI N=i 2@<:@w: i O ) J*(AYt*^L@t*iZ@yt*Y`t*(>t*H T@?ѿ`1?˃???)u*^L@ u*Ap;Iu(xRq>xRE)+Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ8>ʡʡQDʡͭ;>I Im7ٮ Mm7 QtI  UB9鰵g: :)g m7 8)I tIi C :):I8I9*G2GFFrFbFEE);I9 iI!%ݘO=i!! )2@-<:@-w: Ay) $'D(AYt*,L@t*Z@yt*Nt*>t*H=?|Tѿ` Z?I?:?2?)u*,L@ u* q;Iu*CxB|>xBCEG@HDiPIP)~GF@Y%':%>))Q-D)5;5>I1 I=m7ٮ11 QEtI 1 UEB915: 5:)5f@m7 M8)I M8II MtIiI UCI M,:)MƟ:IM8aIa9a*Gq2GqFqFyrFybFEE);I9 iIQ=i 2@<:@w: ') ^(A@ Yt*ML@t*Z@yt*t*u[>t*HI,? ѿu?Z?@q?h?)u*ML@ u*rZq;Iu*CxBx>xBE)~ƄGixAxAF@=YE%E>AAQMDIMt;M>IQ I]m7ٮQQ Q]tI Q UeB9QU2: UW:)Uxm7 m8)aIa mtIia mCa ep:)e:Ie$8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIR=i 2@<:@w:  x> sQ) Dw(AYt*ZL@t*[@yt*t*W>t*H @?DYѿr@JV?z?e? ?)u*ZL@ u*Oq;Iu*CxZi>x^Eij=Ih)5ʡʡQDʡͭ:>I Im7ٮ QtI  UB9鰭W: |:)ʰm7 8)I tIi C :):IG8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 196.085483 arcdeg .q'u'}*Gy2GyFyFyrFbFEE);I9 iIET=i 2@<:@w: 9$) 鹑(AYt.L@t.P[@yt.Ht.I=>t.H༴@B? Pyҿۦ ?!?w??)u.L@ u.Xmq;Iu.CxBp>xBEHBa=H@)GF@]YeRe>aaQeDim18<m>Iq Im7ٮqq QtI q UB9qu; uõ;)um7 8)I tIi C %:):Ii8I9=Om@Contact HDG: 142.835949 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GqFFrFbFEE)U;IU9 QQiQIQY]fU=iYY a2@e<:@mw: ߙMg*) (A)(I(YtjL@tuV[@yt"t~>tH߳?Z ҿZ?C??`?)ujL@ uq;IuCxEHf>xE EiaIa)))Q-D)5Y:5>I9 IEn7ٮ9 MEn79 QEtI 9 UEB99= : =0:)=!n7 U8)III UtIiI UCI M:)Mg:IM8aIa9a*Gy2GyFyFyrFbFEE);I9 iI]W=i 2@<:@w: i dK1) m(AYt*L@t*v[@yt*t*o>t*H`O ?Q&ҿ@p{`.??+??)u*L@ u*q;Iu*CxBe>xBP E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]SGF@Y%9%>))Q-D)͵a;>I In7ٮ QtI  UB9; ;)[n7 8)I tIi C S:):I!8I9*G2GFF)rF)bF1E1E1)m;Im9 qqiqIqy}#Y=iyy 2@<:@w: ߙu7)  J(AYt*GL@t*Rj[@yt*t*>t*Hv?x]@"ҿ!? ?@CI?)?)u*GL@ u*q;Iu*CxN5g>xR*EGPHP){RܢaI{Pi{R={P{P{RA{P|RA9|R -Z?p&ipIp)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ :>ʡʡQDʡͭw>I In7ٮ QtI  UB9鰭: :)in7 8)I tIi C :):I'Б8QIQ9Y*Gi2GiFiFirFbFEE2EzEAEn2@0܈\6E -Z?p&EܢaEE_/7Q>.@F:לyE;;uN@S?ɿExK$@=DHdg To Contact =147.084354 degreesZEvAbE:Eio$?BE}o$?JE| RE jE̻rEՂ);I9 iIO~Z=i 2@<:@w: I$Dacoustic_contact_range 28.979998 m$hTrackAcousticContact.heading_to_contact 2.567106 rad$LDUSBL_Hydroid.xAngle -50.500001 arcdeg=) 5%(A@ Yt*XL@t*c[@yt*t*8>t*H ީ?`ܰKҿ?2???)u*XL@ u*dq;Iu*CxNk>xRE)SGi!!F@-Y595>99Q=D9E<E>II IMn7ٮII QUtI I UUB9IMq: MS:)Mn7 ]8)YIY etIiY eCY ]:)]:I]8qIq9q*G2GFFrFbFEE);I9 iI+[=i 2@<:@w:  e> p>D) (AYt6 M@t6[@yt6Qt6>t6H3m?V@acҿ%` ?@#? ? ?)u6 M@ u6q;Iu6Cx^u>xbEizf=Ix)dGF@Yʽb>QD0o;>I I n7ٮ QtI  U%B9; |;)n7 -8)) -8I) -tIi) 5C) -:)-3:I-[8AIA9A*GQ2GQFYFYrFYbFaEaEa);I9 iI]=i 2@<:@w: !ٱJ) ^,(AYt*]L@t*h[@yt*"t*>t*Hh?رVҿs ? T??M?)u*]L@ u*q;Iu*CxN1z>xREHR=HRp=)a 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}~>ʁʁQDʁ͍>I Io7ٮ Mo7 QtI  UB9鰕0: w:)X2o7 8)I tIi C :)Ԙ:I58I9*G2GFFrFbFEE);I9 iI _=i 2@<:@ w: Q) #F(A) IYt*'M@t*[@yt*^$t*x>t*H`ۡ ?@d@ҿ}vC??V? 6?)u*'M@ u*q;Iu(x>b>x> EiLIL)|4==F@=Y=L=>AAQEDAM:;M>IQ I]o7ٮQQ Q]tI Q U]B9QU: U:)Uoho7 e8)aIa mtIia mCa e}:)e:IeYW8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIq`=i 2@<:@w: i W) ё`(AYt*XM@t*c[@yt*0t**>t*H@J?/|kҿ@`Fs?@V6???)u*XM@ u*Iq;Iu*CxRo>xRJE)Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ7;>ʡʡQDʡͥL>I Io7ٮ QtI  UB9鰭: :)(o7 8)I tIi C :)E:I]z8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 196.728286 arcdeg .q'm'm*Gi2GmxK$@FqFqrFybFyEyEy);I9 iI!@ixK$@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.567106 rad]) oz(AYt* CM@t*+[@yt* t*d>t*H@? ȱ[ҿyғ??A'?`?)u* CM@ u*5q;Iu(xB:m>xBEG@HDiPIP)GF@]Ye-e>aaQeDam;m>Iq Io7ٮqq QtI q UB9qu; u;)uKo7 8)I tIi C F:)Ԙ:I8I9=Om@Contact HDG: 147.084354 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFFrFbFEE);I9 iI> $@i 2@<:@w: )d) rP(A*@ ,Yt-,M@t8[@ytDtZ>tH A`6?+@dҿo`??k??)u-,M@ u q;Iux]q>xeE)GiyAa 1a 1 a 5a 5 a 9a 9 a -a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=Y==>AAQEDAM'TM>IQ IUp7ٮQ M]p7Q Q]tI Q U]B9QU: U÷:)Ufp7 e8)aIa mtIia mCa e:)e:Ie@8I9*G2GFFrFbFEE);I9 iI%@i 2@<:@w:  > x>j) -!(AYt* DM@t*[@yt*t*֊>t*Hʝ?@9ҿy ??`m$?M?)u* DM@ u*=q;Iu*CxBe>xBP EiPIRѓC)=҄GF@Y`)>QDr;>I I p7ٮ Q tI  U B9: l:)Hp7 %8)I -tIi -C I;)L;Ia89I999*GI2GIFIFQrFYbFaEiEq);I9 iI%@a=i 2@<:@w: q) 7(AYt*aVM@t*l\@yt*qt*>t*H`@*?@ ҿ`5|`l?`y???)u*aVM@ u*q;Iu*CxBb>xB EHFa=HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}vGF@Yʭ>ʱʱQDʱͽ=9;>I Ip7ٮ QtI  UB9: H:)!~p7 e8)Y m8IY mtIiY mCY ]?:)]W:I]=8I9*G2GFFrFbFEE);I9 iIxK$@i 2@<:@ w: x) (A) IYt*TM@t*\@yt*9%t*1>t*HQ!?  ҿm?(? l??)u*TM@ u*q;Iu*Cx6xp>x6E){6DWI{4i{6={6>{4{6A{4|6BA9|6%N?RڶiTIT) G %==a 1Ma 1M a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu_u>qqQuDy}}>I Ip7ٮ QtI  UB9鰅O: :)2p7 8)I tIi C :):I$8I9*G2GFFrFbFEE2EzEBAE528 @f<,"E%N?RڶEDWEE||ة$@V#ED$8y?tI5$ɿE o'@=DHdg To Contact =149.894785 degreesZE@bEN%:Eo$?BEio$?JE RE| jErE̻);I9 iI  'c=i   2@<:@w: ߩ$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.616158 rad$ LDUSBL_Hydroid.xAngle -48.250000 arcdegi <~) (AYt*aM@t*\@yt*Lt*{׎>t*H&? gҿd?B???)u*aM@ u* >q;Iu(xBz>xB E)~GF@=YE:E>AAQMDIMv:M>IQ I]p7ٮQQ Q]tI Q UeB9QU: U:)Up7 m8)aIa mtIia mCa e:)eȗ:IeE8yIy9*G2GFFrFbFEE);I9 iId=i 2@<:@w: #) (AYtjl\M@tjw \@ytjyutjlƌ>tjH T@ ?nҿo@?N?`? ?)ujl\M@ ujsp;IujCx g>x sEG?AHAAie=Im̓C)vGa 1%a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMW;M>IIQMDQU)]>IY Ieq7ٮY Meq7Y QetI Y UmB9Y]: ]:)]H&q7 u8)iIi utIii }Ci mͭ:)mE:Imj8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIf=i 2@<:@w: O) q/(A@ Yt*ǀM@t*-\@yt*t*c>t*H@1O?0ͱOҿ`,wXb?ۂ??~?)u*ǀM@ u*Hq;Iu*Cx>s>xBE)~Gi~wA|F@=Y=\E>AAQEDAMx;M>IQ I]q7ٮQQ Q]tI Q U]B9QU: U:)UXq7 e8)aIa mtIia mCa e:)e:Ie8yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 197.114478 arcdeg .q'5'5*G12G5 o'@F1F9rF9bFAEAEA)U;I]9 YYiYIYe6%@iae o'@ a2@m<:@mw: ߁$RHorizontalControl.headingCmd 2.616158 rad V> {>5) EI(AYt*nM@t*\@yt*|,t*3|>t*Ht??ҿxREi`IbѓC)%GF@=YEUE>AIQMDIM1M>IQ I}q7ٮQQ Q}tI Q UB9QU; U;)Uq7 8)I tIi C ȗ:)ϝ:IK8I9=O}@Contact HDG: 149.894785 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GFFrFbFEE);I9 iI o'@i 2@<:@w: `)  c(AYt*yM@t*$&\@yt* t*'>t*H@?=ҿ`f?h?v??)u*yM@ u*>Dq;Iu*CxR`k>xREHPHT)]ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;:>QD:>I Iq7ٮ QtI  UB9%: J:)q7  8)I  tIi  C :):Iϓ8I!9!*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYaepg=iaa a2@m<:@mw: ߁I) e|(A) IYt*1M@t*t*H G? [`ҿ e`? 6e? D{??)u*1M@ u*2Sq;Iu(xB5g>xB*EiRf=IR̓C)~G=%=F@Yʽ:>QDY:>I Ir7ٮ Mr7 QtI  UB9: :)ar7 8)I tIi C :):I38I9*G 2G F F rFbFEE)-;I-9 11i1I19=h=i99 92@E<:@Ew: Yi r) =ז(AYt*wM@t*"$\@yt*t*!>t*H`T@? ҿ!m `?` ?xBE)~GF@EYM9M>IQQUDQUU>IY Ier7ٮYY QetI Y UmB9Y]t: ]x:)]5r7 u8)i u8Ii utIii }Ci m:)m0:Im8I9*G2GFFrF!bF!E)E))];I]9 YaiaIaam+j=iii i2@<:@w: ߡ9) h(AYt*M@t*K\@yt*t*1Ӊ>t*H@"i?`ҿ`1q zl?2?%??)u*M@ u*q;Iu*CxN5g>xR*EGR@AHPi^=I`)-ʙʙQDʙͥ;>I Ir7ٮ QtI  UB9鰭O: ͭ:)nr7 8)I tIi C t:):I48I9*G2GFFrFbFEE);I9 iI3k=i 2@<:@w: ) i(A x~c>x E {Y|  8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGixAF@5Y==>AAQEDAMM>I Ir7ٮ QtI  UB9鰽): :)ur7 8)I tIi C n:)*:I\8I9*G 2GFFrFbFEE)5;I59 11i1I19=tm=i99 A2@M<:@Mw: Y 5) h(AYt*M@t*_\@yt*g&t*>t*Hx?A Eӿa?@̄?^??)u*M@ u*jp;Iu*CxBm>xB'E){B\mI{@i{B6={B7>{@{BA{@|BGB9|By%?\ߣilIl)=GF@}Yʅ:>ʁʁQDʁ͍L;>I Ir7ٮ QtI  UB9鰕: B:)r7 8)I tIi C Ր:)N:Ix8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzEGBE#rn5@n<Ey%?\ߣE\mEEc\+<@r3@e6IEO[鿠U?{˿E."@=DHdg To Contact =145.193907 degreesZEߟAbE:E\o$?BEo$?JEx RE jEMrE);I9 iI=n=i! !2@%<:@-w: 9$]Dacoustic_contact_range 35.820000 m$ehTrackAcousticContact.heading_to_contact 2.534112 rad$eLDUSBL_Hydroid.xAngle -53.249999 arcdeg9ھ) K(Ax~g>x~sEHHa=)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QD>I Is7ٮ Ms7 QtI  UB9: :)s7 8)I  tIi  C :) :I՛8I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 197.286558 arcdeg .q''*G2G."@FFrFbFEE);I9 iI%@i."@ 2@<:@w: $RHorizontalControl.headingCmd 2.534112 radſ)  (A)IYt.M@t.H\@yt.Ot.[=>t.H`a?H`ҿlɔ?? 0??)u.M@ u.tp;Iu,xNxp>xREilIl)=SGEp=E4=F@]YeNn;e>aaQeDimgm>Iq Is7ٮqq QtI q UB9quǴ; uo;)uIs7 8)I tIi C Ր:):IԼ8I9=Om@Contact HDG: 145.193907 arcdeg .'u'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI#@i 2@<:@ w: !i 2˿) r1(AYtF|M@tFK\@ytFtF~N>tFH`Gg?"`ҿ`j?`?2?J?)uF|M@ uFp;IuFCxNh>xNE)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>ʹQD9>I Is7ٮ QtI  UB9:  :)ms7 8)I tIi C :):I~ߔ8I9*G 2G F F rFbFEE)-;I-9 11i1I1=/!@i99 92@E<:@Ew: Y=ҿ) IK(AYt:7M@t:BJ\@yt: &t: >t:Hog?`@oҿwg*?`lք? I??)u:7M@ u:p;Iu:CxRk>xREGVAAHV@Ai`IbѓC)%GF@-Y55>9ʙQDʙ͝K>I Is7ٮ QtI  UB9鰥\: :)s7 8) 8I tIi C |:)M:I8I9*G2GFFrFbFEE);I9  i I s!@o=i 2@<:@w: 1Bٿ) e(A@ Yt6M@t6E\@yt6(t6>t6H S`c?,ҿ+hE?@?H? $?)u6M@ u6qp;Iu4x^>x^E)5vGi5wA9a 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y4>QD%0%>I) IMs7ٮ)) QUtI ) UUB9)-: -:)-}s7 ]8)YIY ]tIiY eCY ]:)]:I]%8I9*G2GFFrFbFEE);I 9  i I ."@i 2@<:@w: Q > > (߿) (AYt*M@t*a\@yt*t*>t*H@Tby?`wS2ӿ e@?@O?`G?s?)u*M@ u*p;Iu*CxN:m>xNEi\I\)GF@-Y5;5>11Q=D9=;=>IA IMt7ٮA MMt7A QMtI A UMB9AE: EE:)E%t7 ]8)QIQ ]tIiQ ]CQ US:)U0:IU1D8iIi9q*G2GFFrFbFEE);I9 iIq=i 2@<:@w: h) f(AYt*M@t*C\@yt*}?t*tˍ>t*H X?@#ҿa?߇?x? ?)u*M@ u*p;Iu*CxNb>xRQ EHRp=HP)-SGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ p:>ʙʙQDʡͥ>I It7ٮ QtI  UB9鰭: N:)s^t7 8)I tIi C ::),:IOg8I9*G2GFFrFbFEE) ;I 9  i Ir=i 2@%<:@%w: 18) A(A) IYt*ӥM@t*R\@yt*Z t*ъ>t*H~k?Sҿqlt?]?@#?`r?)u*ӥM@ u*ap;Iu*CxNk>xREi\I\)%G%4=!F@-Y5:5>99Q=D9E;E>II IMt7ٮII QUtI I UUB9IM\: M>:)Mt7 ]8)YIY etIiY eCY ]ٓ:)]0:I]J8qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI<t=i 2@<:@w: i ' ) (AYt*M@t*W\@yt*%t*L>t*H@y?@'`ҿp`?範?`??)u*M@ u*lp;Iu*CxBn>xBE {DY|DJ8****** ping requested ******UNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@UY]p]>aaQeDam8:m>Iq I}t7ٮqq QtI q UB9qu;: u;)uFt7 8)I tIi C T:):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 197.261874 arcdeg .q'm'm*Gq2GqFyFrFbFEE)-;I-9 ))i)I)15v=i11 92@=<:@w: J) D(AYt* M@t*+Q\@yt*(*t*&>t*H tn? ҿ e?E?L??)u* M@ u*p;Iu*CxRZe>xR EGR@AHVAAi|I~̓C)Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽGB>QD؍>I Iu7ٮ Mu7 QtI  UB9s: :)u7 8)I tIi C [:):I͕8I9=O@Contact HDG: 145.193907 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI7w=i 2@<:@w: Q3) =(A Yt.ݶM@t.c\@yt.VU#t.?Z>t.Hی%{?Kiӿr^?j? q?d?)u.ݶM@ u.p;Iu.CxBRr>xBE)%SGi))F@=YE:E>AAQEDAMA;M>IQ I}u7ٮQQ QtI Q UB9QU; U2;)U9u7 8)I tIi C :)Ԙ:I8I9*G2GFFrFbFEE!)U;IU9 QYiYIYYex=iaa a2@m<:@mw: ߁ t>:\) G(AYt*M@t* D\@yt*t*3>t*H॑\?Sҿqh?C?tN?s?)u*M@ u*q;Iu(xRv>xREi`I`)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y ;>QD 蔻 >I Iu7ٮ QtI  UB9: l:)su7 %8)! %8I! -tIi! -C! %c:)%۞:I%89I999*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqy}`0z=iyy 2@<:@w: ߙ ) 4(AYt*M@t*b\@yt* t*Q@>t*H`+@z?dR@ӿ l`Ut?@I@?Q? ?)u*M@ u*"q;Iu*CxNx>xREHPHP)GF@]Ye :e>aaQmDim;m>Iq I}u7ٮqq Q}tI q U}B9qu: u:)ubu7 8)I tIi C p:)ȗ:I28q 55Software Fault9I99A*GQ2GQFQFYrFYbFYEaEa)};I}9 yiI{=i 2@<:@w: ߩ!xSoftware Fault in component: DeadReckonWithRespectToSeafloor{n) dN(A) IYt*UM@t*`V\@yt*S5t*>t*H@=t?@ ҿpld????)u*UM@ u*LRq;Iu*Cx6s>x6EiBf=IFѓC)rdGv!)Q-D)-'->I1 I=u7ٮ11 Q=tI 1 UEB915: 5:)5pu7 M8)AIA MtIiA MCA Eɏ:)E:IEWT8YIY9Y*Gi2GiFiFqrFqbFyEyEy);I9 iI<}=i 2@<:@w: !mClearing failed state for component DeadReckonWithRespectToSeafloorq mi ) ?h(AYt*,M@t*7R\@yt*1!t*/ы>t*H~m?% ҿg/?&?`B??)u*,M@ u*Fq;Iu(xBsj>xB(E)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmDim{!m>Iq I}v7ٮq M}v7q Q}tI q UB9qu: u:)uv7 8)I tIi C :):Iw8I9*G2GFFrFbFEE);I9 iI-~=i 2@<:@w: v ) (AYt*M@t*O\@yt*0(t*O,>t*Hӏl?`ҿ`f`??zM?|?)u*M@ u*_Tq;Iu(xBg>xBsEGDHF@AiPIR̓C)~GF@=YEE>AAQMDIM4ƹM>IQ I]v7ٮQQ Q]tI Q UeB9QU: UW:)UJMv7 m8)aIa mtIia mCa ep:)e:IeĘ8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=i 2@<:@w: &) w(A Yt*M@t*F\@yt*At*Y։>t*HH`c?k ҿ r'l?X"?@? ?)u*M@ u*mq;Iu*CxBv>xBGE)|iyAa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye i;e>aaQeDamm>Iq I}v7ٮqq Q}tI q U}B9qu: u:)uv7 8)I tIi C :)Ԙ:I$8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 197.201222 arcdeg .q'5'5*G92G9F9F9rFAbFAEAEI)];I]9 YYiaIaaeـ=iii i2@u<:@uw: ߁ i> >,) Wѵ(AYt6M@t6F\@yt6t68>t6H Ae?R걿&ҿuLV?oY?"?@?)u6M@ u6.q;Iu6CxNp>xR%Ei^=I^ѓC)GF@-Y-5>11Q5D1=7=>IA IMv7ٮAA QMtI A UMB9AE: Eͭ:)EMv7 U8)QIQ ]tIiQ ]CQ UW:)Uϸ:IUܖ8iIi9i=O@Contact HDG: 145.193907 arcdeg .''O4Initialize Wait Component.*G2GFFrFbF E E )%;I%9 !!i!I!)-=i)) 12@5<:@=w: I3) m(AYt*M@t*`\@yt*Rt*.c>t*H`kx?]&ӿg@?z;?@T5?@?)u*M@ u*%q;Iu*Cxfq>xfEHj=Hjp= {hY|hr8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y7 9>QD hs; >I Iv7ٮ Q%tI  U%B9'; ;)v7 58)) 58I) =tIi) =C) -;)-T ;I-8QIQ9Q*Gi2GqFyFrFbFEE);I9 iI%_=i 2@<:@w: 9) (A)4t.H G@?@)Tҿ`k@8?J?vZ?@?)u.IzM@ u.ܚq;Iu.CxBo>xBE){B\I{@i{B={@{@{BB{@|BBA9|B'{$?UPKi`I`)MGU%=U%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y595>99Q=D9E E>IA IMw7ٮA MMw7A QUtI A UUB9AEo; Ek;)E%.w7 }8)yIy }tIiy Cy }S:)}E:I}#8I9*G2GFFrFbFEE2EzEBAE:@UB3~"E'{$?UPKE\EEjO 9m$|t@NŌE0qzB꿈M^7?btdɿEpE&@=DHdg To Contact =148.853755 degreesZE@bEi#:Eo$?BE\o$?JE REx jErEM)=;I=9 AAiAIAIM'=iII q2@u<:@uw: ߉$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.597988 rad$LDUSBL_Hydroid.xAngle -49.399999 arcdegi @A O@) Ra(AYt*ʔM@t*A\@yt*#t*>t*H@7h?zzeҿy8?$}?i? ?)u*ʔM@ u*q;Iu*CxBv>xBE)~aiQmDim;u>Iq I}w7ٮqq Q}tI q UB9qu : u:)uaw7 8)I tIi C 5:):IC8I9*G2GFFrFbFEE)%;I-9 ))i)I)15փ=iQQ Y2@]<:@ew: ߑF) =(AYt* M@t*1\@yt*t*>t*HoS?R±nҿpxU? _т?@?G?)u* M@ u*bq;Iu*Cx6h>x6EG4H4iHIH)~GF@ Y;>QD%)%>I1 IMw7ٮ11 QUtI 1 U]B915J; 5;)5w7 8)iIi tIii  Ci mң<)mŦt.H`g9I?l@=ҿ`s@}?p?`_?j?)u.}M@ u.q;Iu.CxNw>xRjE)SGixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}9}>ʁʁQDʁ͍x>I Iw7ٮ QtI  UB9鰍: g:)_w7 8)I tIi C :)0:I8I9*G2GFFrFQbFQEQEY)m;Im9 iiiqIq\=i 2@<:@w:  e> >j T) P(AYt*0wM@t*;$\@yt*t*V>t*HYB? 7 )ҿ`tD}?@T??{?)u*0wM@ u*Pq;Iu*CxRt>xRlEi\I^̓C)GF@-Y5Q95>11Q5D1=*=>IA IMx7ٮA MMx7A QMtI A UMB9AEZ: E:)E7x7 ]8)QIQ ]tIiQ ]CQ U:)UE:IU8iIi9i*G2GFFrFbFEE);I9 iIo=i 2@<:@w: 4Z) 5j(AYtV{M@tV(\@ytVDtV4>tVH`@P?lwҿ ,#?VxrEHva=Hx)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD(: >I  Ix7ٮ   QtI  UB9  : 9:) @x7 %8)I %tIi -C :)9:I*͗81I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEY)u;Iu9 qqiqIyy}چ=iy 2@<:@w: a) G(A) I4t*H ؕO?9gҿ%|E??? )?)u*zM@ u*7q;Iu*CxBHf>xB EiPIRѓC)~SG4=F@=YEE>AAQMDIMM>IQ I]x7ٮQQ Q]tI Q UeB9QUh: UJ:)Utx7 m8)aIa mtIia mCa e:)e:Ie58yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.090778 arcdeg .q''*G2GpE&@FFrF!bF!E)E))=;I=9 AAiAIAE#@iIMpE&@ I2@U<:@Uw: a$RHorizontalControl.headingCmd 2.597988 radi ?A Fg) (AYt*RmM@t*]\@yt*Rt*>t*H`ɗ =? ^ҿ@5{Z?Yr?4??)u*RmM@ u*p;Iu*CxRv>xRGE)5GF@EYE1;E>IIQMDIUU>IY I]x7ٮYY QetI Y UeB9Y]: ]:)]x7 m8)i m8Ii utIii uCi m:)m@:ImJ8I9=O@Contact HDG: 148.853755 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))=;I=9 99iAIAE6&@iII I2@U<:@Uw: agqm) Jb(AYt*M@t*-\@yt*t*A>t*H]S?@@ҿ|rxREGRAAHPi\Ib̓C)m+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YQƺ>QD.;>I I%x7ٮ Q%tI  U-B91: а:)x7 U8))I) UtIi) ]C) -);)-;I-z38aIi9i*G2GFFrFbFEE);I9 iI'@i 2@ <:@ w: 3Yt) =(A Yt.9pM@t.D\@yt.t.>t.HRD?r`xҿ ;? ?@,?@k?)u.9pM@ u. p;Iu.CxBn>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiyAF@Y ?9 >Q%D!5U>Ii Iy7ٮi My7i QtI i UB9im < m7 <)my7 8)I tIi C ݖ:):I^W8I9*G2GF F rF1bF1E1E1)M;IM9 iIv['@ =i 2@<:@w:  > i>z) (AYt* M@t*7\@yt*t*T>t*H`Y?,ҿ:z@B????)u* M@ u*|p;Iu*CxB |>xBE){F$_I{Di{D{F>{D{F(B{D|D9|Fh ʉʉQDʉ͕;>I Iy7ٮ QtI  UB9鰝t: :)Ry7 8)I tIi C :):Iv89IA9A*GQ2GQFqFqrFybFyEE2EzEE)͵H@u ɫ"Eh t*Hn`mK?%cSҿ@h"?T???)u*XvM@ u*pp;Iu(xB`k>xBEHDHD)SGF@=YEjME>AAQEDIMWGM>IQ I]y7ٮQQ Q]tI Q U]B9QU: U:)Uy7 m8)aIa mtIia mCa eՐ:)e :Ien8yIy9*G2GFFrFbFEE);I9 iI3=i 2@<:@w: ) (A);I;Yt.ːM@t.=\@yt.t.J>t.H "h?6`ҿ? ?`Ʉ??)u.ːM@ u. pp;Iu,xNxp>xREi`I`)G!!a 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ(>ʡʡQDʡͭN~;>I Iy7ٮ QtI  UB9鰵: :)[y7 8)I tIi C %:)9:I|8I9*G2GFFrFbFEE);I9 iI=i!! !2@-<:@-w: 9i о) 9(AYt*/M@t*:1\@yt*t*yz>t*He`W?v|ҿ@P~*?V?`??)u*/M@ u*Jp;Iu*CxR,t>xR#E)GF@]Ye2.:e>aaQmDimm>Iq I}y7ٮqq Q}tI q UB9qul: u:)ujy7 8)I tIi C [:),:Iۘ8I9*G2GFFrFbFEE);I9 iIך=i 2@<:@w: U) dS(AYt.sM@t.~?\@yt.t.W>t.H@Mc?▱0ҿ@{-? ?e??)u.sM@ u.~Jp;Iu.CxNmd>xNu EGTHTipIr̓C)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YԂ9>  Q D ;>I I%z7ٮ M%z7 Q%tI  U%B9: g:)1z7 58))I) 5tIi) 5C) -:)-:I-8AIA9AOUDone Waiting.']O]8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFarFabFaEiEi)};I}9 iIsW=i 2@<:@w: ߩ}њ) `m(A Yt.5M@t.@4\@yt.t.>t.H]?R`oҿ@f?ʼ?`Ơ?H?)u.5M@ u.p;Iu.Cxn}v>xnE)UGiYYF@YʝbJ>ʡʡQDʡͭ>I Iz7ٮ QtI  UB9鰵>: :)fz7 8) 8I tIi C ):I 8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 197.136963 arcdeg .q'm'u*Gq2Gu$%@FqFyrFybFyEE);I9 iI$%@i$%@ 2@<:@w: $RHorizontalControl.headingCmd 2.586434 rad V> t>{) ;(AYt*M@t*I\@yt*Ut*\>t*HĐt?23ҿ``?ʂ?^\?q?)u*M@ u*o;Iu(xB`k>xBEiPIRѓC)vGF@=YEk:E>AAQMDIM];M>IQ I}z7ٮQQ Q}tI Q U}B9QU; UA;)UVz7 8)I tIi C O:) :IA8I9=OM@Contact HDG: 148.191773 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFqrFybFyEyEy);I9 iI4=i 2@<:@w: o) (AYt*M@t*B\@yt*t*e5>t*Hőm?@G6ҿЄ?}?@v??)u*M@ u*p;Iu*CxBs>xBEHBp=HD)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʝW>ʡʡQDʡͭG>I Iz7ٮ QtI  UB9鰵: c:)z7 8)I tIi C :)N:Id8I9*G2GFFrFbFEE);I9 iI5=i! !2@%<:@-w: 98 ) (A) I Yt*M@t*Y\@yt*!t*Ƞ>t*Hg~?`# ҿw@.?4?N??)u*M@ u*o;Iu(xNk>xREi\I\)G%%=!F@-Y5j5>11Q5D9=Qg;E>IA IM{7ٮA MM{7A QMtI A UUB9AE: E:)E^ {7 8)QIQ tIiQ CQ U<)U`tH`/@|g?lg ҿ }*?`Y?`ޮ?_?)uM@ uo;IuCxq>xE {Y|!%8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YKV9E>IIQMDIUIU>IQ I]{7ٮQQ Q]tI Q UB9QU=; U;)USO{7 8)I tIi C :):I|8I9*G2GFFrFbFE E )E;IE9 AAiIIIIMS=iQQ Q2@]<:@}w: ߙ) (AYt*M@t*L\@yt* t*}у>t*H`f`.u?Gҿ`}q? |?K??)u*M@ u*o;Iu*CxBq>x@G@H@){F/^I{Di{F~={F7>{D{F0B{D|FAA9|F떧?1UVqi`I`)%vGF@=YE^z;E ?AAQMDIM#&;M?IQ I]{7ٮQQ Q]tI Q UeB9QUS: UW:)Ux{7 m8)aIa mtIia mCa e-:)e:Ieə8I9*G2GFFrFbFEE2EzEAAEk^J@ȶ"E떧?1UVqE/^EEtj0H$x_@'YRELhA oq?Px/ȿE+%@=DHdg To Contact =148.443657 degreesZEP@bED":EBEJEREjErE);I9 iI;=i 2@<:@w: Q$Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 2.590831 rad$LDUSBL_Hydroid.xAngle -49.799999 arcdeg) (A Yt."M@t.-a\@yt.. t.f>t.H@GG?谿Vӿs:?`? *? ?)u."M@ u.o;Iu.CxBp>xB%E)Gi  F@Y%J%>!)Q-D)-|L;->I1 I={7ٮ11 Q=tI 1 UEB915ӻ: 5r:)5{7 M8)AIA MtIiA MCA E:)E:IE8YIa9a*Gq2GqFqFrFbFEE);I9 iI=i 2@<:@w: ! > >s1) W]"(AYt*M@t*L\@yt*C#t*xp>t*H O@,u?`FRҿ@:~@ ?Zh? ?@?)u*M@ u*o;Iu*CxB'n>xBpEi\I\)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y>QDA>I I{7ٮ QtI  UB9): 5:)y{7  8)  8I  tIi  C :)Ɵ:I8I9!O5Done Waiting.'5O58Uninitialize Wait Component.*GQ2GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFYbFaEaEa);I9 iIXL=i 2@<:@mw: ߁[) .:<(AYt2_M@t2jR\@yt2sot2A>t2H|w?w Aҿ ^z@"?ڍ?@ߵ? r?)u2_M@ u2 o;Iu2CxBp>xB%EH@H@)~+GF@Y%_:%>!!Q-D)-p:->I1 I=|7ٮ1 M=|71 Q=tI 1 UEB915: 5:)5|7 M8)AIA MtIiA MCA E1:)EE:IE/8YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN-@Vehicle HDG: 197.242449 arcdeg .q'5'5*GQ2GU+%@FQFYrFYbFYEaEa);I9 iI+%@=i+%@ 2@<:@w: $RHorizontalControl.headingCmd 2.590831 radC)  V(A)IYt*M@t*f\@yt*t*s>t*H}?0?` ӿJ`? @?S??)u*M@ u*o;Iu(xNn>xREi`Ib̓C)5SG5=1F@]Ym4:u>yʁQDʉ͝B;>I I|7ٮ QtI  UB9鰵 Y< <)-W|7 U8)!I! etIi! eC! %<)%d t*H@\~? n{ҿZ\?΃?;??)u*M@ u*o;Iu*CxBjw>xB"E)UdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y {>QD!%wR%>I) I5|7ٮ)) QUtI ) UUB9)-õ; -;)-o|7 e8)YIY etIiY eCY ]:)]|:I]v8I9*G2GFFrFbFEE);I9 iIPp=i 2@%<:@%w: 1U) !ˉ(AYt*TM@t*_d\@yt*t*Z>t*HٌM?@M@k ӿ ?H?&\?y?)u*TM@ u*+p;Iu*CxB1z>xBEGB@AH@iPIRѓC)GF@mYmS:m>qqQuDq}O;}>I I|7ٮ QtI  UB9鰅:: :)|7 8)I tIi C ͭ:):I8I9*G2GFFrFbFEE)%;I%9 !!i!I!)-=i)) 12@U<:@]w: i) L(A@ Yt*M@t*J\@yt*Ît*G>t*HĐ@@m?餱`@ҿ{ !?Ǒ?@? b?)u*M@ u*IMp;Iu*CxB,t>xB#E)~GixAa 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye2g9e>aaQeDimm>Iq Iu|7ٮqq Q}tI q U}B9qu = u =)u|7 8)I tIi C [:),:I28I9*G2GF)F)rF1bF1E9E9);I9 iI=i 2@<:@w:  > ) t}(AYt*M@t*S\@yt*gXt*Ƅ>t*H@L}?1 qҿ@`??i?`?)u*M@ u*Jp;Iu*CxB~>xBEiPIR̓C)F@]Yee>aaQmDim:m>Iq I}7ٮq M}7q QtI q UB9quض; u;)u2}7 8)I tIi C :)ȗ:Iښ8yI9*G2GFFrFbFEE);I9 iI=i 2@<:@w: Q) ](AYt*QM@t*\T\@yt*l%t*8>t*H(? ҿ@g?{?`?`}?)u*QM@ u*Bp;Iu*Cx>?s>xBEHBa=HBa= {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )1F@mYʝ>ʡʡQDʡͭ8>I I}7ٮ QtI  UB9I; Z:)k}7 8)I tIi C  =):I8I9 *G2GFFrFbFEE)];I]9 aaiaIaWY=i 2@<:@w: ) S>(A)IYt*M@t*I\@yt*t**>t*Ht?|+2ҿK?,S?c?x?)u*M@ u*Sp;Iu(x>5g>x>*E){Bf_I{@i{BT={@{@{B4B{@|B@A9|B)kP?ZnUoi\I\)G%4=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʉʉQDʉ͕_Ϻ>I I}7ٮ QtI  UB9鰽ͭ: :)C}7 8) 8I tIi C ;);I`8I9O5Done Waiting.'5O58Uninitialize Wait Component.*G12G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA2EzE@AEh5@"(z"E)kP?ZnUoEf_EEu#$/xas@(|GWEnA{-χ?ȓ:UȿE%@=DHdg To Contact =148.252739 degreesZE[@bE!:Eo$?BEJEREjErE)U;IU9 QQiQIQY]=iYY a2@e<:@mw: y$Dacoustic_contact_range 12.059997 m$hTrackAcousticContact.heading_to_contact 2.587498 rad$LDUSBL_Hydroid.xAngle -50.000000 arcdegi ԩ) + (AYt.M@t.V\@yt.t.2>t.H {? Ԇ2ҿN{`? σ?4??)u.M@ u.p;Iu.Cx:"h>x:E)z  Q D (;>I I%}7ٮ Q%tI  U%B9: ٮ:)}7 58))I) 5tIi) 5C) -9:)-˚:I-?8AIA9A&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q']N@Vehicle HDG: 197.256888 arcdeg .q''*G2G%@FFrFbFEE);I9 iI%@Y=i%@ 2@ <:@ w: $=RHorizontalControl.headingCmd 2.587498 rad) $(AYt.zM@t.6\@yt./t.|>t.HL^?\ҿ?`?+? ?)u.zM@ u.p;Iu.CxVp>xVEGZAAHXihInѓC)5SGF@}Y}:>ʁʁQDʁ͍X>I I~7ٮ M~7 QtI  UB9鰕E: :)~7 8)I tIi C Ր:)N:I c8I9=OU@Contact HDG: 148.252739 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEa);I9 iIY=i 2@<:@w:  ) >(A Yt.RM@t.]O\@yt.ńt.>t.H @y?O) \ҿ@`wz??M?f?)u.RM@ u. p;Iu.CxBq>xBE)Gi%wA%wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ3>ʱʱQDʹͽ,r;>I I~7ٮ QtI  UB9%: į:)G~7 8)I tIi C :):I8I9*G2GFFrF bF E E )%;I%9 !!i)I))-)=i11 12@=<:@=w: I p>) X(AYt*3M@t*>>\@yt*t*+>t*H {k?@ҿދ{o?C?@;E?z?)u*3M@ u*@p;Iu*CxRl>xREi`Ib̓C)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y#4>QD'>I I~7ٮ QtI  UB9:  :)~7 8)I tIi C :)˚:I 8I9*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIQU=iQQ Y2@]<:@ew: q ) c}r(AYt*M@t*F\@yt*],t*>t*H5@q?U$%ҿ` U?@x? e?C?)u*M@ u*gp;Iu*CxBRr>xBEH@HD)F@=YEE>AAQMDIMo:M>IQ I]~7ٮQQ Q]tI Q UeB9QU: UN:)U4~7 m8)aIa mtIia mCa eO:)eA:Ie~ț8yIy9*G2GFFrFbFEE)5;I59 QQiQIQY]t=iYY a2@e<:@mw: ߙs") 2X(A) IYt.gM@t.r<\@yt.t.>t.Hདྷb?{v Fҿ }~`?`_? ?b?)u.gM@ u.!o;Iu.CxN,t>xR#Ei\I\)!%%=!F@-Y5?95>99Q=D9EbͺE>II IM~7ٮII QUtI I UUB9IM: Mٮ:)M*~7 ]8)YIY etIiY eCY ]1:)]E:I]j8qIq9q*G2GFFrFbFEE);I9 iI=i 2@<:@w: i @A x)) 2(AYt.M@t.E\@yt. t.Ab>t.H_`Hm?``_ҿ?@Qa?{?C?)u.M@ u.o;Iu,xRf>xR E)%SGa 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ:>ʉʉQDʉ͕x:>I I7ٮ M7 QtI  UB9鰝 : g:)#7 8) 8I tIi C :)ʽ:IX 8I9*G2GFFrFbFEE);I9 iI uٙ=i   2@<:@w: )|0) (AYt*M@t*@\@yt*zt*5->t*H`[m?ҿ5#?`Io?@V?`-?)u*M@ u*Tgo;Iu(xBc>xB EGB@AHDiPIRѓC)~GF@EYEM>IIQMDIUFIU>IY Ie7ٮYY QetI Y UeB9Y]: ]:)]Y7 m8)iIi utIii uCi mՐ:)m:Im.8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=i 2@<:@w: -6) !(A@ Yt*%M@t*0S\@yt*t*i>t*H_ ,{?Uҿ܀`?@}?@?D?)u*%M@ u*Mo;Iu(xB:m>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGi}xA}xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%%>))Q-D)5Y(;5>I9 IE7ٮ99 QMtI 9 UMB99==: =;)=7 ]8)YIY etIiY eCY ]:)]:I]NS8yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.245153 arcdeg .q''*G2GFFrFbFEE)-;I-9 ))i1I19=c=i99 92@E<:@Ew:  V> x>W<)  (AYt*M@t*N\@yt*7st*l>t*H`q?ҿ tz&?U΂??`?)u*M@ u*/o;Iu*CxRv>xREizf=Ix)UGF@eYme:m>iiQuDqu <u>I I7ٮ QtI  UB9鰅S: :)7 8)I tIi C B:)ܹ:I/s8I9=O=@Contact HDG: 148.252739 arcdeg .'='=O=4Initialize Wait Component.*GA2GAFAFArFIbFIEIEI)e;Ie9 aaiiIiimm=iqq q2@}<:@}w: ߉?C)  (AYt*M@t*c\@yt*Dt*܅>t*H`? ]u`ӿ}.? H??B?)u*M@ u*To;Iu*CxB,t>xB#EH@HFp=)aaQmDimgR;m>Iq I7ٮqq QtI q UB9qu; u;)u7 8)I tIi C :) :Iy8I9*G)2G)F)F)rF1bF1E9E9)M;IM9 IQiQIQq}C=iyy y2@<:@w: ߙiI) {'(A) IYt.M@t.h\@yt.!t.;>t.H'xR Eib=Ib̓C)%SG-4=)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD6:>I I7ٮ M7 QtI  UB9: :)7  8)I  tIi C :)N:I8I!9!*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYaegh=iaa a2@m<:@mw: ߁i PQP)  UA(AYt*M@t*m\@yt*:5t*ۅ>t*H m`’?@Wjӿ|?F?@?E?)u*M@ u*B1o;Iu*CxBg>xBsE)~GF@=YE:E>AIQMDIM U:M>IQ I]7ٮQQ Q]tI Q UeB9QU: UB:)U67 m8)aIa mtIia mCa e:)e,:Ie؜8yI9*G2GFFrFbFEE)5;I59 QqiqIqy}Q=iyy 2@<:@w: ߙ{V) ]1[(AYt*M@t*u\@yt*Qt*[>t*HB? @ӿ =y?,J?@#?;?)u*M@ u*io;Iu*CxR |>xREGRAAHTi`I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQDʉ͍C:>I I7ٮ QtI  UB9鰕: :)R7 8)I tIi C :) :I8I9*G2GFFrFbFEE);I9 iI֞=i 2@<:@w: ڥ\)  u(A Yt*M@t*؉\@yt*t*ԃ>t*H@;@? $Ա`*-ӿRq&?@+r?Խ?`_?)u*M@ u*To;Iu(xRt>xRlE)SGiwAwAF@]Yee>aaQeDimG;m>Iq I}7ٮqq Q}tI q U}B9qul: u:)u"n7 8) 8I tIi C :):IE8I9*G2GFFrFbFEE);I9 iIȁ=i 2@<:@w:  R> l>fc) K(AYt*M@t*\@yt*7t*m>t*H`\x?t2ӿnr?܃??`?)u*M@ u*o;Iu*CxBs>xBEiPIRѓC)~dGF@=YE*E>AIQMDIM!d:M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)Uo7 m8)aIa mtIia mCa e:)e,:Ie>8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIA6=i 2@<:@w: Bi) Ĩ(AYt*M@t*ę\@yt*\#t*s>t*Ḧ́U? T<ӿ`r? |?`??)u*M@ u*ro;Iu*CxBv>xBEHF=HFa=)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]De>aaQeDamq:m>Iq I}7ٮqq Q}tI q U}B9quu: ux:)uF7 8)I tIi C :):IXa8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 197.491969 arcdeg .q'5'5*G12G1F1F9rF9bFAEAEA)U;I]9 YYiYIYaeG=iaa i2@m<:@mw: ߁p) {(A)4t6H]"?z- Rӿ n. ?@ ???)u6\N@ u6=o;Iu4xBm>xB'EiLIP)~SG%=F@Y%ʊ;%>!)Q-D)-n;->I1 I=7ٮ11 Q=tI 1 UEB915n: 5Q:)5R7 M8)AIA MtIiA MCA E%:)E9:IE8YIa9a=O@Contact HDG: 148.252739 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!)U;IU9 QYiYIYYet=iaa a2@m<:@mw: ߁i ?A v) y(AYt*:N@t*E\@yt*Zt*ц>t*H`l~@?dӿ`k ??U?E?)u*:N@ u*bo;Iu*CxBv>xBGE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@]Y}5}>ʁʁQDʁ͍(;>I I7ٮ QtI  UB9鰝k: ';)߀7 8)I tIi C :):I81I191*GI2GqFyFyrFbFEE)5;I=9 99i9I9AE}=iAA I2@M<:@Uw: iG|) zU(AYt*N@t*\@yt*i t*́>t*H6~^?>fӿ ih@#?`" ?? b?)u*N@ u*io;Iu*CxBv>xBEG@HD){F[I{Di{F~={D{D{F8B{D|FAA9|F'N?M9i`I`)%GF@]YeK"e>aaQeDamc]9m>Iq I}7ٮqq Q}tI q U}B9qu: u:)u7 8)I tIi C :):I~ǝ8I9*G2GFFrFQbFYEYEY2EazEeAAEeG޷F@bf|Y"Ee'N?M9Ee[EaEeM凘$f&N@)4EeL{(uG?^NrȿEe1'@=mDHdg To Contact =149.534820 degreesZEe@bEe $:Eeo$?BEeo$?JEaREajEerEe);I9 iI`=i 2@<:@w: $]Dacoustic_contact_range 12.120000 m$ehTrackAcousticContact.heading_to_contact 2.609875 rad$eLDUSBL_Hydroid.xAngle -49.200001 arcdegۃ) 4/(A Yt*;N@t*\@yt*t*<:>t*Hx@?J$`χӿod`R?`>???)u*;N@ u*`Xo;Iu(xBc>xB, E)vGi  xAF@Y:>!Q%D!%L;%>I) I57ٮ) M57) Q5tI ) U5B9)->: -4:)-7 E8)9I9 EtIi9 MC9 =1:)=$:I=8QIQ9Y*Gi2GiFiFirFqbFqEqEy);I9 iIģ=i 2@<:@w: ߹ > x>)  *(AYt*9N@t*\@yt*vc"t*U>t*H y?#ޅӿdD?YL?@G? ?)u*9N@ u*So;Iu*CxBv>xBGEiTIT)dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmTm>iiQuDquu>Iy I7ٮyy QtI y UB9y}: }J:)}?/7 8) 8I tIi C ˵:):I 8I9*G2GFFrFbFEE);I9 iI=i 2@<:@w: .) C(AYt*[N@t*]@yt*t*>t*Hs?`6ӿa ?Ǟ?`o??)u*[N@ u*3o;Iu*CxB:m>xBEHFa=HD)~GF@=YEY:E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)UxJ7 m8)aIa mtIia mCa e:)e:IeJ-8yIy9*G2GFFrFbFEE);I9 iI4=i 2@<:@w: ) ](A);IYt*gN@t*]@yt*t*>t*H*r(? k`lӿ\? ?"?`5?)u*gN@ u*]o;Iu(x^i>x^NEilIn̓C)=G9AF@MYM\:M>QQQUDQ]N:]>Ia Im7ٮaa QmtI a UmB9ae: e:)e,f7 u8)qIq }tIiq }Cq u:)uI:IuyO8I9*G2GFFrFbFEE);I9 iI7=i 2@<:@w: i A) Кw(AYt*0uN@t*;"]@yt*t*O>t*H@ p8?`3Qӿw_`?"߃?`?^?)u*0uN@ u*_o;Iu(xRp>xR%E)Ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽc>QD;>I I7ٮ QtI  UB9>: B:)7 8)I tIi C :):Ir8I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9AE=iAA A2@M<:@Mw: aG*) Kx(AYt*7N@t*B9]@yt*`&t* 7>t*Hsl@M?P1ӿ@X#?Մ???)u*7N@ u*o;Iu(xBeq>xBnEGF@AHDiPIP)vGF@mYmu>qqQuDq}i;}>I I7ٮ QtI  UB9鰅: į:)7 8)I tIi C h:)$:I铞8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 198.049722 arcdeg .q'='=*G92G=1'@F9F9rFAbFAEIEI);I9 iI1'@i1'@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.609875 radW)  a(A, ,Yt N@t ;]@yt t >t H@lK?`tӿU&? v? ? z?)u N@ u o;Iu Cx5m>x5'E)GixAa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}:}>yyQDʁͅ29>I I7ٮ QtI  UB9鰍: >:)7 8)I tIi C :)c:I縞8I9=OE@Contact HDG: 149.534820 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFQbFQEQEY)m;Im9 iqiqIqq}l=iyy y2@<:@w: ߙ {> p>;) ,(AYt*ñN@t*^]@yt*[t*8<>t*Hfl?ӿR ?@?2? ?)u*ñN@ u*Fn;Iu*CxB|>xBCEiRf=IP)~vGF@=YE:E>AIQMDIM;M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)UXԁ7 m8)aIa mtIia mCa e:)e:Ieמ8yI9*G2GFFrFbFEE);I9 iIM=i 2@<:@w: yf) p(AYt*~N@t*=]@yt* t*>t*HkhN?Jӿ@V?`?`?[?)u*~N@ u*o;Iu*CxBo>xBJEHFp=HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )=dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-R->1ʱQDʱͽ~>I I7ٮ QtI  UB9G = d =)-7 8) 8I tIi C :) :IJ8 I9*G!2G!F!F!rFIbFQEQEQ);I9 iI4=i 2@<:@w: ) (A)4t.Hew?XӿY?Io? /w??)u.4N@ u.o;Iu.CxBu>xBEiZ=I\)=F@]Ye8e>aaQeDam;m>Iq I}7ٮq M}7q Q}tI q U}B9qu: u:)u 7 8)I tIi C p:) :I8I9*G2GFFrFbFEE);I9 iIer=i 2@ <:@w: !i w) (AYt*BN@t*M_]@yt*;ft*>t*Hf`l?񳲿_ӿwO@%&? ̃?@?K?)u*BN@ u*Zo;Iu*CxF1z>xFE)-GF@UYem>qqQ}Dy͍Pi>I I7ٮ QtI  UB9鰥R; (;)'7 8)I tIi C u;)ƒ;I ?89I999*GI2GQFQFQrFYbFYEYEa)u;Iu9 qyiyIyy7-=i 2@<:@w: ߙ%) ,(AYt*N@t*`]@yt*o&t*V>t*H Tf p? 5 ӿ@#P@?̈́?`??)u*N@ u*zo;Iu*CxN c>xN EGPHPi`I`)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʽԚ>ʹQDP9>I I7ٮ QtI  UB9G: ):)C7 8)I tIi C %:):Ia8I9*G 2G F F rFbFEE)-;I-9 )1i1I19=Tݪ=i99 92@E<:@Ew: Yr) lvF(A Yt.N@t.u]@yt.{U$t.\>t.H`c ? M Կ`V ?? K{? E?)u.N@ u.vo;Iu.CxRxp>xRE)Gi!!F@-Y-d95>11Q5D1=,[;=>IA IM7ٮAA QMtI A UMB9AE: EJ:)E^7 e8)QIQ utIiQ }CQ U;)U;IU8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=i 2@<:@w:  R> >) N`(AYt*N@t*t]@yt*et*,>t*H [c ? ԿS`?L?`j? ?)u*N@ u*o;Iu(xBxp>x@iPIP)5҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Ya:>QDŅ>I I7ٮ QtI  UB9:: :) {7 8)I tIi C t:):II8 I 9 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 198.255216 arcdeg .q''*G2GFFrFbFEE);I9 iIM=i 2@<:@w: ) -z(AYt*N@t*{]@yt*d t*g>t*Hb c?ز]ԿtIK0? ?G??)u*N@ u*o;Iu*CxBp>xB%EH@HD)~+GF@Yʍr>ʉʉQDʉ͕:>I I7ٮ QtI  UB9鰝: :)7 8)I tIi C >:):IƟ8I9=O]@Contact HDG: 149.534820 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFibFiEiEi);I9 iIf=i 2@<:@w: ߩ) (A);I;YtvN@tvm]@ytvtvO>tvH Sd|?@ ?Կ@JT-??? g?)uvN@ uvAp;IuvCx-h>x5EiiIi)SG%==a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}:}>ʁʁQDʁ͍p>I I7ٮ QtI  UB9鰍: :)7 8)I tIi C [:)o:IB8I9*G2GFFrFbFEE);I9 iI=i 2@<:@ w: i ) ;(AYt*N@t*]@yt*$t*gU>t*H_ؤ?%ԿzZ77??@xB. E)GF@]Yee>aaQmDim;m>Iq I}7ٮqq Q}tI q UB9qu2: uW:)û7 8) 8I tIi C  :):I> 8I9*G2GFFrFbFEE);I9 iI\=i 2@<:@w: y:) (Ax~p>x~%EGHiI)}SGF@Yʍ>ʑʑQDʑ͝>I I7ٮ QtI  UB9鰥: :)7 8)I tIi C t:):I,8I9*G2GFFrFbFEE);I9 iI  =i   2@<:@w: )V) (A Yt*N@t*y]@yt*t*>t*Hnb`?`VԲ Կ Kf&?`?`?@?)u*N@ u*bp;Iu*CxR?s>xVE {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gia 1a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@EYMJ:U>QYQ]DYeDe>Ii Iu7ٮi M}7i Q}tI i U}B9im; m;)m!7 8)I tIi C ;) ;IQ8I9*G92G9F9F9rFAbFAEAEi)};I9 iI=i 2@<:@w:  V> {>1,) q(AYt*˼N@t*i]@yt*:t*8v>t*H`d@x? ]eԿ@GT@?@'? M? ?)u*˼N@ u*žp;Iu(xFKS>xFE){F?zI{Di{Fk={D{D{FA{D|FB9|F ; ?!uidId)MSGF@mYm?@:m>qqQuDq}*}>I I7ٮ QtI  UB9鰅: :)7 8)I tIi C l:):Ip8I9*G2GFFrFbFEE2EzEBE5Usls5@Iz?E ; ?!uE?zEEv_m6>*6@uA, E?~鿺Ew?H~sʿE}@=DHdg To Contact =143.146736 degreesZEiAbE:EYo$?BEo$?JEv REjEbrE);I9 iI{=i   2@<:@w: !$EDacoustic_contact_range 38.459995 m$MhTrackAcousticContact.heading_to_contact 2.498382 rad$MLDUSBL_Hydroid.xAngle -56.100001 arcdegA)  V(AYtj(N@tj3~]@ytjAtj6->tjHaO?`i@Կ !V?4?u? ?)uj(N@ uj5p;Iuhx md>x u EH!H!)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y==>9AQEDAE.=;E>II IU7ٮII QUtI I U]B9IM : M:)M =7 e8)YIY etIiY eCY ]O:)] :I]ϔ8qIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI:=i 2@<:@w: > ) */(A)I Yt>"N@t>-z]@yt>&t>7>t>H`Ub? v`Կ@Q O? ڄ??w?)u>"N@ u>o;Iu>Cxnw>xnjEiI)am4=iF@Yʥκ>ʡʡQDʡͭ'>I I7ٮ QtI  UB9鰵u: :)t2H@a ?lz KԿ4T????)u2N@ u2!o;Iu0x:`k>x>E)GF@UYUW:]>YYQ]DYe9e>Ii I7ٮii QtI i UB9im; mg;)mCr7 8)I tIi C :)o:I֠8I9=O]@Contact HDG: 143.146736 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFrFbFEE);I9 iI|"@i 2@<:@w: P) b(AYt*N@t*u]@yt*t*>t*Hc@?`T?@ Կ`\S?C?M?@[?)u*N@ u*%o;Iu*CxNw>xRjEGPHPi\I`)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YC:>QD>I I7ٮ QtI  UB9: :)Ў7 8)I tIi C :):I8 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIAM}@iII Q2@]<:@]w: iz) Ϻ|(A@ Yt*N@t* ]@yt*t*>t*H]p?)KS.ԿVX??`P? ?)u*N@ u*n;Iu(xNi>xRE)GiwAF@]Yepe>aaQeDimn;m>Iq I7ٮqq QtI q UB9quӎ< u<)uh7 8) 8I  tIi  C 9:)Ɵ:I8I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QQiQIQY]=iYY a2@e<:@mw: y > >Cb%) ٔ(AYt.N@t.y]@yt.-N#t.>t.Hrb@?p@OԿSm?i??a?)u.N@ u.n;Iu.CxRsj>xR(Ei\I\)vGF@-Y-5>11Q5D1==>IA IM7ٮAA QMtI A UMB9AEF: EJ:)Eă7 ]8)QIQ ]tIiQ ]CQ U:)U:IU<8iIi9i*G2GFFrFbFEE);I9 iI=i 2@<:@w: +) p(AYt*.N@t*9]@yt*7ut*>t*H^!?R'ԿiXP? N?M? c?)u*.N@ u*Ln;Iu(xN:m>xREHRR=HP)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}:>ʁʁQDʁ͍d;>I I7ٮ QtI  UB9鰕>: B:)7 8)I tIi C :)o:I_8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !|t2) L(A)4t*H__`?@VF#ԿT?? k?K?)u*N@ u*Bn;Iu*CxBf>xB EiPIP)~+G%=F@ Y_>QD%,%>I) I-7ٮ)) Q5tI ) U5B9)-\: -:)-{7 =8)9I9 EtIi9 EC9 =:)=s:I=8QIQ9Q*Ga2GaFiFirFibFqEqEq);I9 iIi 2@<:@w: ߱i Q8) %(AYt*LN@t*W]@yt*O!t*>t*H_?t`I Կ@R߹? )?'?_?)u*LN@ u*n;Iu*CxBw>xBjE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGF@YʥOb:>ʱʱQDʱͽ> >I I7ٮ M7 QtI  UB9: R:)e7 8)I tIi C F:):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF!rF)bF)E)E1)U;I]9 YYiYIYaaiii i2@}<:@}w: ߙ>) (AYt2N@t2]@yt2t2>t2HO_?xLGR?AHP){R[YUI{Pi{R҇={R>{P{R(B{P|RCA9|Ri?eݯirf=Ip)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ=:>ʹʹQDʹA3:>I I7ٮ QtI  UB9J:  :)47 8)I tIi C [:):Iš8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' N Initialize.q' N@Vehicle HDG: 198.345661 arcdeg .q''*G2GFFrFbFEE2EzECAEjtu @h"Ei?eݯE[YUEEr-%&8g@jEP5-.tZ?܎nMǿEG])@=DHdg To Contact =151.622864 degreesZE @bEm):Eo$?BEYo$?JE REv jErEb);I9 iIi 2@<:@w: $%Dacoustic_contact_range 12.240001 m$-hTrackAcousticContact.heading_to_contact 2.646318 rad$5LDUSBL_Hydroid.xAngle -47.749999 arcdegE) m (A Yt.N@t.]@yt.jt.x5>t.H`_?N^F&Կ_Wd?>M?W? ?)u.N@ u.*n;Iu.Cx>`k>xBE)e+GiewAaF@}Y}>ʁʁQDʁ͍9>I I7ٮ QtI  UB9鰕: :)$O7 8)I tIi C %:):I48I9=O@Contact HDG: 151.622864 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@ <:@w: ! e>cK) V1 (AYt*N@t*]@yt*$S t*>t*HN\?@~Ll6ԿU R?O ?M?`Z?)u*N@ u*dm;Iu*Cx>i>xBEi\I^ѓC)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y8_>QD% ;%>I) I57ٮ)) Q5tI ) U5B9)-9: -:)-l7 E8)9 E8I9 EtIi9 EC9 =:)=:I= 8QIQ9Y*Gi2GiFiFirFqbFqEqEy);I9 iIi 2@<:@w: R) ՗K (AYt*N@t*]@yt* t*g>t*H`p?ZԿUې??l?Ml>xBLEHBa=H@) SGF@Y%%>!!Q-D)-P->I1 I=7ٮ11 Q=tI 1 U=B915Ǻ: 5ʽ:)5z7 M8)AIA MtIiA MCA E:)EԘ:IEJ*8YIY9a*Gq2GqFqFqrF9bF9E9E9)U;I9 iIi 2@<:@w: ߹X) se (A);IYt.TN@t._]@yt.#t.Vf>t.HV\@ ?@T"6ԿS |r?r?]? :?)u.TN@ u.m;Iu.Cx>k>xBEiR=IP)dG a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmh׹m>iiQmDiu`f;u>I I7ٮ QtI  UB9鰝а: ,:)7 8)I UtIi UC <)t*Hb?>eԿ@{V??7ă? {?R?)u*N@ u*&n;Iu(xVp>xV%E)-GF@]YeX:e>aaQeDamͻm>Iq I}7ٮqq Q}tI q U}B9qu: uW:)u*7 8)I tIi C Ր:),:I o8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 3f) I+ (AYt*N@t*(]@yt*t*R>t*H`Fa`?C@ԿXo?? .[? ?)u*N@ u*en;Iu*CxN5g>xN*EGR@AHPi\I^̓C)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ4>ʩʩQDʩ͵r:>I I7ٮ QtI  UB9ͭ: į:)ل7 8)I tIi C ;);I98!I!9)*GY2GYFYFYrFabFaEiEi);I9 iI!!i!! i2@u<:@uw: ߁ *l) G (A@ Yt2N@t2z]@yt2.p!t2>t2H?b`%? Կ\B?`-?`-B??)u2N@ u2tn;Iu2Cx>xp>x>E)dGiyAxAF@=YE¹E>AAQEDIMM>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)U7 m8)aIa mtIia mCa e:)e :Ieв8I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: a > {>#s)  (AYt6N@t6U]@yt60t6>t6Hgq?˱`fӿ`n??Q? ?)u6N@ u6n;Iu6CxBsj>xB(EiNf=IL)|F@Y%[%>!)Q-D)-ո->I1 I=7ٮ1 M=71 Q=tI 1 UEB915: 5*:)5[7 M8)AIA MtIiA MCA E}:)E,:IEԢ8YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!) )2@-<:@5w: ߁t.H1oC?_౿ ӿ@^go??`GT?w?)u.zN@ u.]n;Iu.Cx>v>x>EiXIZѓC)UGYYF@}Y}:}>ʁʁQDʁ͍>I I7ٮ QtI  UB9鰕< <)SG7 8) 8I tIi C |:):IL89I999=OU@Contact HDG: 151.622864 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFYbFaEaEa);I9 iIʦ$@i a2@m<:@mw: yi M) ~p (AYt*yN@t*#&]@yt*;#t*>t*H to .C?@± ӿ@k@94?S?5? ?)u*yN@ u*n;Iu*Cx>o>xBJE) SGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y 9 >  QD]m]>IY Ie7ٮYY QetI Y UmB9Y]: ]_:)]d7 8)iIi tIii Ci ms:)m:Im=8I9*G2GFF!rF!bF!E)Ei)};I9 iI~(@i 2@<:@w: ) w) 8H4 (AYt*iSN@t*t]@yt*S#t*>t*H 8u ?+*ӿ ns\? ts? F?P?)u*iSN@ u*n;Iu*CxNmd>xRu EGRAAHRAAib=I`)%dGF@]Yee>aaQeDimɻm>Iq I}7ٮqq Q}tI q U}B9quh: u:)u2~7 8)I tIi C p:)A:IY]8I9*G2GFFrF9bF9E9E9)M;IU9 qqiqIq} +@iyy 2@<:@w: ߹_) %N (A Yt.4N@t.\@yt.R[t.>t.Hy@+? ڱӿk&?V˃?`_? 9?)u.4N@ u.n;Iu,x6c>x6, E)~GiF@}YʅM:>ʁʁQDʉ͍>I I7ٮ QtI  UB9鰕; ܹ:)7 8)I tIi C :)$:I8I9*G2GFFrFbFEE);I9 iI :-@i 2@M<:@Mw: Y >) &g (AYt*"N@t*-\@yt*{t*`>t*H`?[m (]ӿy[?O?@B??)u*"N@ u*o;Iu*CxBm>xB'EiLIR̓C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>aaQmDimʼm>Iq I}7ٮqq Q}tI q UB9qu: u:)uZ7 8)I tIi C :):Iq8I9*G2GFFrFbFEE);I9 iI9-@i 2@<:@w: (q) ځ (AYt*N@t*\@yt*7)t*<>t*HVe?ӰRӿ߄ ?`??@?)u*N@ u*n;Iu*CxBc>xB, EHBp=HBa=)~GF@=YEpE>AAQMDIM M>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)UЅ7 m8)aIa mtIia mCa e-:)e :Ie%ã8yIy9*G2GFFrFbFEE);I9 iI,@i 2@<:@w: ) 崛 (A);IYt*M@t*\@yt*#t*)>t*H``P?@=`1ӿ@}{?p?V?4?)u*M@ u*[ o;Iu*CxB"h>xBEiLIP)~G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeVW:e>aiQmDimu>Iq I}7ٮqq QtI q UB9quc: u5:)u7 8)I tIi C O:)A:I8I9*G2GFFrFbFEE);I9 iI*@i 2@<:@w: i 'Ŭ) ҏ (AYt*yM@t*h\@yt*E6%t*Zj>t*H)?AT ӿ6~@??|?@ ?)u*yM@ u*n;Iu*CxRo>xRJE)vGF@]Ye9e>aaQeDimJm>Iq I}7ٮq M}7q Q}tI q U}B9quR: uV:)u7 8) 8I tIi C  :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI)@i 2@<:@w: ) j (AYt*ÔM@t*A\@yt*t*G>t*H ro?`hҿ`<`C? b?/?P?)u*ÔM@ u*n;Iu*CxBk>xBEG@HF@AiPIRѓC)5GF@uYu\;}>yyQ}Dʁͅ5>I I7ٮ QtI  UB9鰍: c:)#7 8)I tIi C h:):I)8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 197.184365 arcdeg .q'M'M*GI2GIFIFIrFQbFYEYEY)m;Im9 qqiqIq}G])@yiyy 2@<:@w: ߙu׹) ^G (A Yt.LM@t.W=\@yt.t.>t.Hr?f@ҿ`8?@*ԃ?`??)u.LM@ u.n;Iu.CxBMl>xBLE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>  Q D  >I I7ٮ Q%tI  U%B9: ):)B7 8))I) tIi) C) -[<)-] {>) ! (AYt*VM@t*\@yt*,t*b>t*H@:? y`ҿws?? >?`R?)u*VM@ u*9n;Iu*CxBsj>xB(E){BehI{@i{B={B7>{@{BA{@|BfQD>I I7ٮ QtI  UB9x: :)[7 8)I tIi C F:)Z:In8I9*G!2G!F)F)rF1bF1E1E12E9zE=ft*H@(?Ű@ҿ`(ų?` ?qb??)u*IM@ u*&o;Iu*CxBu>xBEH@HBp=) dGF@=YM#;U>YaQeDau}>I I7ٮ QtI  UB9鰍9; #<)v7 M8)AIA mtIiA mCA E^<)ET]t.H ? .?}ҿU?.?K??)u.%%M@ u.1o;Iu.CxB`k>xBEiR=IV̓C)G 4= a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe9e>iiQmDiuu>Iy I7ٮyy QtI y UB9y}%: }):)}7 8)I tIi C Ր:):I۱8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i ) P (AYt*u M@t*[@yt*t*>t*H`E@2?`d(cҿ>?m?#??)u*u M@ u*Mo;Iu*CxBi>xBE)~GF@=YE:E>AIQMDIMM>IQ I]7ٮQQ Q]tI Q UeB9QU): U :)UB7 m8)aIa mtIia mCa e:)e:IeӤ8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %) j (AYtNNL@tNY[@ytNw!tN>tNH`x sEG9HAiyI)iiQmDiu]-u>Iy I7ٮyy QtI y UB9y}: }:)}mˆ7 8)I tIi C :)I:I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  ) h (A Yt*WL@t*b[@yt*kI#t*^>t*Hͫ`o?@X`=ҿJ?@i?"#??)u*WL@ u*?o;Iu*CxBo>xBE)5Gi5wA1F@mYu>u>qyQ}DyͅWV>I I7ٮ QtI  UB9鰅\: >:)7 8) 8I tIi C :):I!8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w:  V> >7) B (AYt*$L@t*/z[@yt*q/t*z >t*H`®?SG)ҿr?? 3?@?)u*$L@ u*)o;Iu*CxBn>xBEiPIP)GF@]Ye e>aaQmDim*Sm>Iq I7ٮq M7q QtI q UB9qu< u)<)uC7 8)I tIi C t:)g:I:8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 196.486278 arcdeg .q'm'm*Gi2Gm!#@FqFrFbFEE);I9 iI'@i!#@ 2@<:@w: $=RHorizontalControl.headingCmd 2.548891 rada) ! (AYt*L@t*n[@yt*E*t*>t*Hl?``5ҿ``m??? 1??)u*L@ u*o;Iu*Cx>i>xBEHBa=HBa=)~{Ga 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@uY}9:}>yʁQDʁͅҺ>I I7ٮ QtI  UB9鰍0; Գ:)P7 8)I tIi C [:)o:Ij_8I9=O@Contact HDG: 146.040673 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I$@i 2@<:@%w: Q_J)  (A)4t.H`?H6ҿ@ȫԢ?č?M?c?)u.aL@ u.0o;Iu.Cx>i>x)1Q5D9E砻M>IQ I]7ٮQQ Q]tI Q U]B9QUN: U:)U&77 m8)aIa mtIia mCa eՐ:)e :Ie}8I9*G2GFFrF)bF1E1E1)E;IE9 IiI"@i 2@<:@w: ߱i s)  (AYt*5L@t*@;[@yt*]t*>t*Hp?:`ѿ75?`u?D??)u*5L@ u*o;Iu*CxBe>xBP E {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y:>!Q%D!-L->IQ I]7ٮQQ QetI Q UeB9QU+; U#;)UT7 8)iIi tIii Ci m;)m;Im8I9*G2GFFrFqbFqEyEy);I9 iI]"@i 2@<:@w: )X]) A (AYt2֍L@t2:[@yt2\t26>t2H`ȷ s? R ѿ|?@K??%?)u2֍L@ u2 o;Iu2Cx>e>x<G@H@){BYPI{@i{B={@{@{BB{@|BHA9|BEL9?wIi^f=I\)GF@=Y=_9=>AAQEDAM|M>IQ IU7ٮQQ Q]tI Q U]B9QU: Uʽ:)ULn7 e8)aIa mtIia mCa eٓ:)e:Ie8yIy9y*G2GFFrFbFEE2EzEHAELgH3!@>@"EEL9?wIEYPEEtZ%P`^F@[EʦJDo`2?nƿEJ,(@=DHdg To Contact =150.556303 degreesZE4@bE,:Eo$?BECo$?JE REt jE rE) ;I 9  i I 5!#@i11 92@=<:@Ew: Q$Dacoustic_contact_range 12.540001 m$hTrackAcousticContact.heading_to_contact 2.627703 rad$LDUSBL_Hydroid.xAngle -46.700001 arcdeg) ڍ (A Yt.L@t.8[@yt.\4t.%#>t.H ߂?5ˮ@WѿjG?핆?r?Q?)u.L@ u.n;Iu.CxN0a>xNw E)%Gi%yA!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥ|>ʩʩQDʩ͵>I I7ٮ QtI  UB9鰽}: >:)Ɗ7 8)I tIi C ;) ;I8I9*G12G1F9F9rFAbFAEAEA)};I}9 yyiyIyi 2@<:@w: ߡ > {> ) e9 (AYt.oL@t.[@yt.,/t.>t.H ڻAf?K@ѿ`@%??4??)u.oL@ u.6n;Iu,xBi>xBNEi=I)evGF@}YʅF<:>ʁʁQDʉ͍m>I I7ٮ QtI  UB9鰕; ;)7 8) 8I tIi C :):I8I9*G 2GFFrF9bF9E9EA)U;Iu9 qqiqIyyyi 2@<:@w: ߙ/) MS (AYt:{L@t:([@yt:*)t:r>t:H`8o?4CWѿ O z? 8%?L4??)u:{L@ u:o;Iu8xNk>xREHXHZp=)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Yt:>QD=:>I I7ٮ QtI  UB9; 0;)ć7 58))I) 5tIi) 5C) -ٓ:)-:I-,8AIA9iO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFrFbFEE);I9 iIi 2@<:@w: ))  m (A);IYt*mL@t*[@yt*%t*Ђ>t*H 1=b?24 ѿZ`Ik?`>?u,??)u*mL@ u*o;Iu(xNeq>xRnEi\I`)G%R=%%=F@=YE7:E>AAQMDIM M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)U܇7 m8)aIa mtIia mCa e[:)e:IeI89I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN}@Vehicle HDG: 196.153170 arcdeg .q''*G2GJ,(@FFrFbFEE);I9 aaiiIim$@iquJ,(@ q2@}<:@}w: $-RHorizontalControl.headingCmd 2.627703 radi !) Z (AYt*nL@t*[@yt*t* &>t*H d?3ѿ`L?(??d?)u*nL@ u*o;Iu*CxBi>xBNE)GF@]Yeˋ:e>aaQmDim9m>Iq I7ٮqq QtI q UB9quд; u;)ur7 8)I tIi C O:):Il8YIY9Y=O@Contact HDG: 150.556303 arcdeg .''O4Initialize Wait Component.*G2GFF1rF1bF1E9E9);I9 iI'@i 2@<:@w: ߹') =ՠ (AYt*nL@t*[@yt*F+t*P>t*HLg?`{@ѿ q?`h? ? ?)u*nL@ u*)n;Iu*CxBo>xBEGB@AH@iPIRѓC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʅ>ʉʉQDʉ͕>I I7ٮ M7 QtI  UB9鰝: I:)`7 8)I tIi C ;) ;I׎8I9*G2GFFrF!bF!E!E!);I9 iIr(@i 2@ <:@ w: !-) ` (A Yt.KsL@t.V [@yt.}3t.O>t.H]k?mǮ` ѿ hi? 2w?'?@6?)u.KsL@ u.n;Iu.CxBy>xBE)GixAF@Y%߬%>!)Q-D)-?:5>I1 I=7ٮ11 Q=tI 1 UEB915M: 5/:)5/7 M8)III MtIiI UCI M:)M:IMͯ8aIa9a*Gq2GqFqFrFbFEE);I9 iI(@i 2@<:@w: ! >54)  (AYt-niL@t-y[@yt-T/t-c̓>t-H@¼^?"`ѿ౳*??@K??)u-niL@ u-@n;Iu)x="h>x=EiYIY)aaQeDamwm>I I7ٮ QtI  UB9鰕ٮ: 5:)M7 8)I tIi C O:)Ft2H@j?G ѿ$`X?@-?`?q?)u2tL@ u2n;Iu2CxRo>xRJEHRp=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@Y ;>QD:>I I7ٮ QtI  UB9; ;)g7  8)I  tIi C :);I8)I)9)*GA2GIFIFIrFYbFYEYEa)};I}9 iIi 2@<:@w: ߹A) cA (A) IYt.L@t.,[@yt.$t.4>t.Hw?ѿ?`?4??)u.L@ u.un;Iu.CxB}v>xBE){B8RI{@i{BΈ={@{@{B0B{@|BIA9|BmO5?plidId)MGM%=IF@}Yʅ>ʁʁQDʁ͍:>I I7ٮ QtI  UB9鰕^; ;)7 8) 8I tIi C ݖ:)j:IG8I9*G 2GFFqrFybFyEyEy2EzEIAE ߖ+!@K6q"EmO5?plE8REE>Xt\%A@D:*E'tT^'N_?_b^OƿE'@=DHdg To Contact =150.144538 degreesZE@bE*,:EBEo$?JERE jE rE );I9 iIi 2@<:@w: 1$mDacoustic_contact_range 12.599998 m$}hTrackAcousticContact.heading_to_contact 2.620517 rad$}LDUSBL_Hydroid.xAngle -47.050001 arcdegi ^!H) " (AYt*L@t*B[@yt*Y.t*2}>t*H@3?Pܮ$ѿ`?/ޅ?@b?`?)u*L@ u*';o;Iu*CxRi>xRE)eQDgU;>I I7ٮ QtI  UB9%: į:)Ӟ7 8)I tIi C :)ϸ:I98I 9 ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: iKN) Q; (AYt*HL@t*S=[@yt*7t*Z>t*H`L~? ѿܐ??=?c?)u*HL@ u*9o;Iu*CxB |>xBEG@HDiTIT)SGF@=YEE>AAQMDIMbM>IQ I7ٮQQ QtI Q UB9QU< Uˎ<)U37 8)I tIi C ̒:):I[8I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 196.273450 arcdeg .q''*G2G'@FFrFbFEE);I9 iI'@i'@ 2@<:@w: $RHorizontalControl.headingCmd 2.620517 rad4U) U (A@ Yt.L@t.C[@yt.\0t.9>t.Ht?`ѿI?/?,??)u.L@ u.=oo;Iu,xBo>xBE) dGiyAF@]Ye|:e>iiQmDqͅqt:>I I7ٮ QtI  U5B9鰕u< K<)YՈ7 U8)AIA etIiA eCA E;)EP;IE~8I9=O]@Contact HDG: 150.144538 arcdeg .']'eOe4Initialize Wait Component.*Ga2GaFaFarFbFEE);I9 iIi 2@<:@w:  > v][) *o (AYt*3L@t*>T[@yt*t*2>t*H2@J?@[ҿK? ??/?)u*3L@ u*Go;Iu*CxRm>xR'Ei\I^̓C)jGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅO';>ʁʁQDʉ͍'$;>I I7ٮ QtI  UB9鰕h: J:)7 8)I tIi C :):I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Eb)  (AYt*ʿL@t*l[@yt*` t*[>t*H@m? 8]ҿѴ@? ? a?w?)u*ʿL@ u*_8p;Iu(xNi>xRNEHRa=HRa=)vGF@%Y-M->11Q5D1=z;=>IA IE7ٮA MM7A QMtI A UMB9AEԳ: E0:)E 7 U8)QIQ ]tIiQ ]CQ Uٮ:)U:IU@8iIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: oh) b (A) I Yt*L@t*p[@yt*+t*.>t*H`` ? t`A ҿQj7?`z~?`??)u*L@ u*Zp;Iu*CxBp>xBEiLIRѓC)~G=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeSe>iiQmDim:u>Iq I}7ٮqq QtI q UB9qup: ux:)u'7 8)I tIi C ::):I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i n) -> (AYt.|L@t.r[@yt.n0t.r>t.H֯`?@W`!ҿݭh:?` ?`Q??)u.|L@ u.p;Iu.CxBn>xBE) GF@=YE73E>AAQMDIM\9M>IQ I]7ٮQQ Q]tI Q UeB9QU: U5:)UC7 m8)a m8Ia mtIia mCa eo:)eb:Ie8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 6u)  (AYt*L@t*[@yt*k&t*D>t*H,`E?@4;ҿ@`?߄?`,? ?)u*L@ u*Bo;Iu*CxNi>xREGPHPi\Ib̓C)vGF@=YE˺:E>AAQMDIMO;M>IQ I]7ٮQQ Q]tI Q U]B9QUb: U#:)U^7 m8)aIa mtIia mCa e:)e:Ie&8yI9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: 97{) { (A Yt.L@t.ŝ[@yt.C#t.>t.H? mKҿ?``?=??)u.L@ u.+o;Iu.CxBb>xBQ E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y:>!!Q%D!-R;->I I7ٮ QtI  UB98r; s;)7 8)I tIi C t:)$:IO8)I)9)O=Done Waiting.'=O=8Uninitialize Wait Component.*GA2GAMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFyrFbFEE);I9 iIi 2@%<:@-w: a x>) ! (AYt*M@t*[@yt*f(t*l>t*H?|\ҿ?@??9?)u*M@ u*o;Iu*CxB,t>xB#EiXI^ѓC)SGF@Yʍ\>ʑʑQDʑ͝M;>I I7ٮ QtI  UB9鰥: :)7 8)I tIi C %:)˚:Ik8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 196.674273 arcdeg .q'e'e*Gi2GiFiFirFqbFqEyEy);I9 iIi 2@<:@w: ߹Ὀ) X$(AYt*M@t*[@yt*̪#t*>t*H?"mҿ|?@Cu?*?x?)u*M@ u*1o;Iu*CxB,t>x@HBR=HFp=)dGF@=YEQ:E>AAQMDIM4;M>IQ I]7ٮQQ Q]tI Q UeB9QU: U :)Ub7 m8)aIa mtIia mCa e::)eȗ:Ie8I9=O@Contact HDG: 150.144538 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!i)) Q2@e<:@w: ) >(A) IYtUtUHʞ %?$ҿɞ5?|t?@ ??)uUxEif=I̓C)G4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a  AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yt>QD!u;u>I I7ٮ QtI  UB9鰭< <)։7 ]8)III 5tIiI 5DI M1=)M1|=IMM8AIA9I*GI 2GI FQ FQ rFQ bFY EY EY )M ;IM 9 Q Q iQ IQ Y Y iY Y i a 2@ <:@ w: q \)  EY(AYtqfM@t|\@yt $t>tH@oL?GҿC`4?*?? r?)uqfM@ un;Iux c>x EGAAH)vGa 1a 1% a 5%a 5% a 9%a 9% a --a -- a 1-@a - a 5@a  a 9@a  a -@a  ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Y%Q:%>))Q-D)5;5>I9 I 7ٮ99 Q tI 9 U% B99=< ="<)=7 U 8)9 I9   tIi9   D9 = =)= =I= 8 I 9 *G 2G F F rF bF E E ) ;I 9 i I i  2@ <:@ w: 9) tz(A@ YtрM@t-\@ytL%tfE>tHה@b?’`Nҿ(?@???)uрM@ uon;IuCxi>xNEi =I ѓC)mdGF@}Y}=>ʁʁQDʁ͍ޏ;>I I7ٮ M7 QtI  UB9鰝: :)7 8) 8I tIi D :)r:IS8I9*G2GFFrFbFYEYEY)u;Iu9 qqiyIyyi 2@<:@w: ߙդ) 0H(AYtb@M@tbK;\@ytb@"tbƸ>tbH n?`'ҿb ?`RB?@ ??)ub@M@ ub'In;IubCxzl>x~E)GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:%>!!Q%D!-;->I1 I=7ٮ11 Q=tI 1 U=B915S: 5:)5]*7 M8)AIA MtIiA MDA EO:)Ec:IE"8I9*G2GF FrFbFEE)U;IU9 QQiQIQYYiYY a2@e<:@mw: ߙ>>) K#(AYt*`M@t*ki\@yt*)t*2~>t*H?@R.ӿ=L{? 6?@?)?)u*`M@ u*2n;Iu*CxNy>xREHR=HPibf=Ib̓C)+GF@-Y525>11Q=D9=;E>IA IM7ٮAA QMtI A UUB9AE}: Eٮ:)EC7 ]8)QIQ ]tIiQ eDQ Ut:)U˵:IUA8iIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: T) 2(A)IYt.M@t.\@yt.cq2t.η>t.H?w`p#ӿ?N???)u.M@ u.m;Iu,xBqQ>xBE)~GF@Y < >QD_;>I! I%7ٮ!! Q-tI ! U-B9!%h: %:)%"_7 58)1I1 5tIi1 =D1 5:)5:I5:c8III9I*GY2GYFaFarFabFiEiEi);I9 iIi 2@<:@w: ߩ) T(AYt*M@t*\@yt*r-t*>t*Hރ@u?`7ﰿ Aӿ؀R3??u&?`g?)u*M@ u*"m;Iu*Cx^n>x^Eij=Il)5SG=%===a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ-/:>ʡʡQDʡͥ;>I I7ٮ QtI  UB9鰭: :){7 8)I tIi D :):Iچ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi!! !2@-<:@-w: 9iK<) F(AYt*N@t*\@yt*s't*>t*H଀@?.`XVӿ&|G??4? ?)u*N@ u*Vam;Iu(xB5g>xB*EGF@AHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@YQ:> Q D M;5>IA IM7ٮAA QMtI A UMB9AE: E;)Eɘ7 8)yIy tIiy Dy }:)}#:I}઩8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.587428 arcdeg .q''*G2GFFrFbFEE)5;I59 19i9I9AAiAA 2@<:@w: c() (A4 4YtjZ5N@tje\@ytjc tj>tjH yZ ?@p!ӿ ~? d ?]?>?)ujZ5N@ ujm;IujCxrr>xrIE){vSQI{ti{v={v>{t{v$B{t|vBA9|vd?s!4Xi!I!)a 15a 15 a 55a 55 a 95a 95 a -5a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYUq:U>YYQ]DYee;e>Ii Im7ٮii QutI i UuB9im1: mJ:)mʴ7 }8)yIy tIiy Dy }[:)}:I}̩8I9=O%@Contact HDG: 150.144538 arcdeg .'%'%O%4Initialize Wait Component.*G)2G)F)F)rF1bF1E1E12E9zE=BAE= @!E=d?s!4XE=SQE9E=g'%dY>@E#VE=4O #gW?_iƿE=)@=MDHdg To Contact =151.885990 degreesZE=Դ@bE=;):E9BE9JE9RE9jE=zrE= )e;Ie9 iiiiIiiqiqq q2@}<:@}w: ߑ$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.650911 rad$LDUSBL_Hydroid.xAngle -46.849999 arcdegwN) Dl/(AYt*HHN@t*S\@yt*R+t*~>t*Hv!?ϰ`ӿ@;g?`7j??Y?)u*HHN@ u*Sm;Iu*CxB`k>xBE)~GiF@=YEE>AAQMDIMN;M>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)U͊7 m8)aIa mtIia mDa e:)e9:Ie8yIy9*G2GFFrFbFEE);I9 11i1I199i99 A2@E<:@Mw: y>>5) DI(AYt*~sN@t* ]@yt*S*t*X>t*H@pC? "m`ӿ@n@?Z?? ?)u*~sN@ u*Um;Iu*CxRu>xREHRa=HTidId)-GF@]Ye78e>aaQmDim;m>Iq I}7ٮqq Q}tI q UB9quu: u :)u7 8) 8I tIi D o:):IY8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: `)  c(A)4t.Hzk|]?ӿe`Y??@E? R?)u.8N@ u.Hm;Iu.CxReq>xRnE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ)>ʡʡQDʡͭ&;>I I7ٮ M7 QtI  UB9鰵: :)7 8)I tIi D :),:I18I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9B) H|(AYt.N@t.H]@yt."t.>t.Hjg?*ӿk2?=V?@?T?)u.N@ u.#m;Iu,x^Rr>xbEilIl)EGE4=E%=F@UYUj:U>YYQ]DYeQ:e>Ii Im7ٮii QutI i UuB9im\: m_:)m 7 }8)yIy tIiy Dy }S:)}:I}SR8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i2t) (AYtrN@tr]@ytr+ trh>trH`? 3Կ@h}u?_?F??)urN@ urDm;IurCxz'n>xzpEG~AAH|)uvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y9>QD <>I I7ٮ QtI  UB9: :)=7 8)I tIi D }:)Ԙ:Iu8I9*G!2G)F)F)rF1bF1E1E9)M;IM9 IIiQIQQYiYY Y2@e<:@ew: qO) IJ(A Yt*XN@t*c]@yt*"t*>t*H `? Կ`Z]E(?C?4??)u*XN@ u*K&m;Iu*CxBU_>xBS EilIl)EdGF@UY]e>aaQeDamøm>Iq Iu7ٮqq Q}tI q U}B9qul: u:)uX7 8)I tIi D :)N:I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ") (AYt*\O@t*g]@yt*++t*~!>t*HYi?QEԿUL*?_?`<6?[?)u*\O@ u*Fm;Iu*CxB'n>xBpE)|i5yA9F@}YʅJ>ʁʉQDʉ͍O;>I I7ٮ QtI  UB9鰕: J:)s7 8)I tIi D ::)9:I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 198.466378 arcdeg .q'U'U*GQ2G])@FYFYrFabFaEaEa)};I}9 yyiyIy9)@i)@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.650911 radR>H) h(AYt* O@t*]@yt*v6t*t>t*H 1X@?ZNԿZY ?Ն?` ?`?)u* O@ u*/m;Iu(xR^>xR EHPHPi`IbѓC)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y5>QD:>I I7ٮ QtI  UB9: :)]7  8) I  tIi  D  ;) ;I ܪ8AIA9A=O%@Contact HDG: 151.885990 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F)rFIbFQEQEQ)e;Ie9 iiiiI(-)@i 2@<:@w: _) C(A) IYt*+NO@t*6]@yt*1t*u>t*H M? 1ԿO`?xR E {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}҄GF@5Y5+:=>99Q=D9E<E>II I7ٮII QtI I UB9IM0< M0<)Mݮ7 8) 8I tIi D ^:)r:I8I9*G2GFFrF!bF!E!E!)];I]9 YYiYIa)@i 2@<:@w: H) 2(AYt*(>O@t*3]@yt*^&t*hm>t*HmP|? m@}ԿK@r0?@˄?@m??`-?)u*(>O@ u*m;Iu(xRHf>xR E){RDWI{Pi{R҇={R7>{P{R@B{P|RCA9|R%N?RڶipIr̓C)=vG99F@MYM ;M?QQQUDQ]t;]?Ia Im7ٮaa QmtI a UmB9ae: e:)e0Ƌ7 u8)qIq }tIiq }Dq u:)u:Iu8I9*G2GFFrFbFEE2EzECAEu1M @ÖsC"E%N?RڶEDWEEja$%b@ˎ[E0:"ɣ?j`ǿE,)@=DHdg To Contact =151.452765 degreesZE@bE#):EBEJEREjErEz)];I]9 YYiYIYaaiaa i2@m<:@uw: ߁$Dacoustic_contact_range 12.240001 m$hTrackAcousticContact.heading_to_contact 2.643349 rad$LDUSBL_Hydroid.xAngle -48.250000 arcdegi\ ) "1(AYt*9bO@t*D^@yt*qt* >t*HJ@A?@㲿DԿDJ??(U?@d?)u*9bO@ u*^kn;Iu(xR5g>xR*EGR@AHT)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y;>QDn;>I I7ٮ QtI  UB9: :)7 8)I tIi D -:)A:IA8I9*G 2G FFrFbFEE);I9 iIi 2@<:@w: :) =K(A Yt*TlO@t*_^@yt*t*E >t*H I"?a`ϨԿYF?@؃?3??)u*TlO@ u*mun;Iu(xRi>xREibf=I`)%SGF@]Yeەe>aaQeDimO:m>Iq I}7ٮqq Q}tI q U}B9qu: u:)u|7 8)I tIi D  :) :Ib8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: W) Se(AYt*uO@t*"^@yt*>*t*>t*HG{0?Y{ԿhHC?`X???)u*uO@ u*m;Iu(xBi>xBE)~GiwAF@ Y>QD:>I! I-7ٮ! M-7! Q-tI ! U-B9!%: %:)%^7 =8)1I1 =tIi1 =D1 5:)5^:I58III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩ>>') (AYt*O@t*D^@yt*0t*Z!>t*H A WN? |@Կv>3?Z?46?`U?)u*O@ u*Om;Iu(x>Ml>x>LEHBR=HBa=iN=IL)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Y}K}>ʁʁQDʁ͍;>I I7ٮ QtI  UB9鰕: ):)47 8)I tIi D :):I78I9*G2GFFrFbFEE);I9 iIi 2@<:@w: &) h(A);IYt.O@t.J^@yt.:%t.t>t.HAN?XԿ8 ]? ??`<_??)u.O@ u.q n;Iu.CxZi>x^E)1F@=YE:E>IIQMDIUUo:U>IQ I]7ٮQQ QetI Q UeB9QU: U:)UO7 m8)iIi mtIii uDi mp:)m:Imȫ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 8,) A(AYt*O@t*^^@yt*5$t*q->t*H@=@`?`aԿ@6 J? ?V?!?)u*O@ u*m;Iu*CxBv>xBGEiPIRѓC)SG!%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ*9>ʱʱQDʹͽ@;>I I7ٮ QtI  UB9}: :)~l7 8)I tIi D :)0:I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.075986 arcdeg .q''*G2G,)@FFrFbFEE);I9 iI,)@i,)@ 2@<:@w: $RHorizontalControl.headingCmd 2.643349 radi!3) 6#(AYt*O@t*z^@yt*&t*Ô>t*H`.9~?Ӳ`տ`8q? $߄?`:%??)u*O@ u*m;Iu*Cx>i>x>EGB?AH@)~dGF@Yʍݹ>ʉʉQDʉ͕;>I I7ٮ QtI  UB9鰙 ٮ:)7 8) 8I tIi D :)/:Iw 8I9=O]@Contact HDG: 151.452765 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFabFiEiEi);I9 iIi 2@<:@w: ߩJ9) (A Yt.DO@t.O^@yt.7!t.ƒ>t.H7|?! տ 2p*? &?I??)u.DO@ u.qm;Iu.CxBHf>xB EiLIP)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye!g:e>aaQeDimn:m>Iq I}7ٮqq Q}tI q U}B9qu: u:)u7 8)I tIi D }:):I/8I9*G)2G)F)F1rFQbFYEYEY)m;Iu9 iIi 2@<:@w: X2@) ((AYt*P@t*^@yt*~(t*=>>t*H 0?VH8տ(4D? ?X??)u*P@ u*Μm;Iu*CxNq>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GiF@YD>QD;>I I7ٮ QtI  UB9#^= ]=)7 8)I tIi D :):IV8I9*G2GFFrF bF E E )%;I%9 !!i!IIIIiQQ Q2@]<:@]w: ߑt>.\F) (AYt*O@t*^@yt*I*t*Ø>t*H 17?`p`0տ%?I?@?`F?)u*O@ u*om;Iu*CxRq>xPHRp=HRp=){V?3NI{Ti{V={T{T{V,B{T|VBA9|Vc1+?'ipIp)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YG>QD>I I7ٮ QtI  UB9: :)/ی7 8)I  tIi  D :):I~t8I9*G)2G)F1F1rFbFEE2EzEBAEz= @Sk0>!Ec1+?'E?3NEEJ%Zgeo@p\6lE5>O~[쿄+[?_jƿE'L,@=DHdg To Contact =154.248717 degreesZE@bE,:EBEJE REjEg rE);I9  i I 11i11 92@=<:@=w: q$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.692148 rad$LDUSBL_Hydroid.xAngle -46.150000 arcdegL) 4(A)4t.Hk(?@D gdտ j$`2??E?|?)u.2P@ u.lm;Iu.CxBl>xBE)GF@=YE<;E>AAQMDIMZ<M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)Ue7 m8)aIa mtIia mDa e:)e:Ie۔8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: vnS) dN(AYt*g0P@t*r^@yt*R%t*U>t*H(e?naտb#`P'? ?M?`J?)u*g0P@ u*cm;Iu*CxNjw>xR"Ei`I`)+G!!F@]Yee>aaQmDimȹm>Iq I}7ٮq M}7q Q}tI q UB9qu: u=:)u?7 8)I tIi D ɏ:):I=8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: iY) Eh(AYt*`P@t*_@yt*!t*>t*H` ?nγ@տ@I?!"?Ge?`6?)u*`P@ u*͆m;Iu*Cx>Wx>x>EGBAAH@)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]5:]>aaQeDam;m>Ii Iu7ٮii Q}tI i U}B9im: m:)m,7 8)I tIi D :)9:IC٬8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: p`) (A Yt.jP@t._@yt.t.>t.H ?` տ6?M? ? ?)u.jP@ u.aym;Iu.CxZr>xZIEihIh)5GF@}Y}A>9>ʁʁQDʁ͍:>I I7ٮ QtI  UB9鰕: :)H7 8)I tIi D ::):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 199.723829 arcdeg .q'M'M*GI2GU'L,@FQFQrFYbFYEYEa)u;Iu9 qyiyIy}*@i'L,@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.692148 radf) b(AYt*9P@t*D0_@yt*7+t*">t*H?@ݳտf? v?Dt?*?)u*9P@ u*R}m;Iu*CxBj>xBqE)Gi!!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ=>ʡʩQDʩͭm;>I I7ٮ QtI  UB9鰵F: į:)d7 8) 8I tIi D ݖ:):I8I9=Ou@Contact HDG: 154.248717 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFybFEE);I9 iI'L,@i 2@<:@w: R>l) 5ѵ(AYt*ߠP@t*M_@yt*$t*>>t*H:? ﳿտ@@)?E?`X??)u*ߠP@ u*am;Iu*CxBl>xBEHBa=HBa=iPIR̓C)~dGF@Yʍ:>ʑʑQDʑ͝;>I I7ٮ QtI  UB9鰥\: :)7 8)I tIi D 1:)˵:I?8I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )s) ;(A);IYt**P@t*5c_@yt*Ot*>t*H`A I?`KD տ` J?`i? Fo?@?)u**P@ u*m;Iu*CxRxp>xRE)GF@]YeѸ:e>aaQmDimV;m>Iq I}7ٮqq Q}tI q U}B9qu: u:)u7 8)I tIi D O:)c:Ita8I9*Gi2GiFFrFbFEE)e;Ie9 iiIi 2@<:@w: *y) @(AYt*P@t*~_@yt*"t*Ԅ>t*H `mc?NRտL??A?j? ~?)u*P@ u*Km;Iu*CxB,t>xB#EiNf=IL)~vG=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeXe>aaQmDimM;m>Iq I}7ٮqq Q}tI q UB9qu: u:)u7 8)I tIi D :):I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: yi΀) tb(AYt*P@t*͕_@yt* t*Q\>t*H w?@Yudֿm@E\?&?@?{?L?)u*P@ u*?m;Iu*CxBu>xBEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGF@Yʽ ݹ>QDv_;>I I7ٮ QtI  UB9w: ;)+Ӎ7 8)I tIi D ;);I8I9*G12G1F9F9rFAbFAEIEI);I9  i I 11i11 92@=<:@=w: ) =(A@ Yt*Q@t*ۯ_@yt*m"t*(f>t*H` Z?@޲'ֿ @?M?V??)u*Q@ u*m;Iu(xNm>xR'E){RNI{Pi{R҇={P{P{RLB{P|RCA9|RV˞d?ʩʩQDʩͭ8;>I I7ٮ QtI  UB9鰽ͭ: :)q7 8)I tIi D Ր:):INȭ8I9*G2GFFrFbFEE2E zE CAE A-d @.8!E V˞d?t*H'@ ?J7ֿ|`B?у? q??)u*Q@ u*l;Iu*CxBu>xBE)~GiF@=YEV:E>AAQMDIM+;M>IQ I]7ٮQ M]7Q Q]tI Q UeB9QU: UA:)U' 7 m8)aIa mtIia mDa e1:)e˚:IeL8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: {>w ) P(AYt*t*H@ ?ͳhֿG?U?\?\?)u*xZEHXHZp=ilIl)5+GF@}Yʅ9>ʁʁQDʉ͍;>I I7ٮ QtI  UB9鰕: :)F%7 8) 8I tIi D ݖ:)ϝ:I 8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 200.497731 arcdeg .q'U'U*GQ2GU/+-@FYFYrFYbFaEaEa)};I}9 yyiyIy/+-@i/+-@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.705761 rad*5) hj(A)4t.H;?䴿$rֿ`.]`?xBE)SGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥK>ʡʡQDʩͭ:>I I7ٮ QtI  UB9鰵: B:)%A7 8)I tIi D :):Im.8I9=Ou@Contact HDG: 155.028669 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: ) (AYt*oQ@t*`@yt*!t*`>t*H #@?\@Eֿ@H?@6?`{? 9?)u*oQ@ u*l;Iu*CxBt>xBlEiLIP)~GF@Yʍ7>ʑʑQDʑ͝M;>I I7ٮ QtI  UB9鰥:: :)\7 8)I tIi D :):I@P8I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )iH) (AYt6]Q@t6h:`@yt6 t6ͅ>t6H` ?'ֿ [?? ?w?)u6]Q@ u6l;Iu6CxBn>xBEGJ@AHL)EGF@mY}19>ʉʉQD;>I I7ٮ Q tI  U B9F: :)x7 58) I  5tIi  =D   :) :I Vs8AII9I*Gy2GyFyFrFbFEE);I9 iIi 2@<:@w: q) `(A@ Yt.Q@t.Z`@yt. t.|_>t.H)?9`ֿ`GxREi^f=I\)ׄGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅGi9>ʁʁQDʁ͍C;>I I7ٮ QtI  UB9鰕: >:)7 8)I tIi D :):I.8I9*G2GFFrFbFEE);I9 qiqIqyyiyy 2@<:@w: ߹X) ;(AYt.Q@t.r`@yt.ѱt.>t.H$;?∵@ֿ /_?(?@? 2?)u.Q@ u.sl;Iu.CxR`k>xRE))i5xA1F@}Yʅ|~:>ʁʁQDʁ͍dd;>I I7ٮ QtI  UB9鰕S: 5:)'7 8)I tIi D O:) :I;8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: >O) #-(AYtrQ@tr`@ytr4tr>trHLPQ?@Դ`ֿ9p?p?_??)urQ@ urm;IurCxq>xEHHa=i1I5ѓC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y8>QD@v;>I I 7ٮ QtI  UB9: :)ˎ7 8)I %tIi %D :)o:Iٮ81I191*GA2GAFAFIrFIbFQEQEQ)m;Im9 iiiiIiqqiqq y2@}<:@w: ߑj) R(A);IYt.Q@t.`@yt.jt.S„>t.Hpq?~׿?7? h? ?)u.Q@ u. m;Iu.CxNp>xR%E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Yp>  Q D v;>I! I-7ٮ!! Q-tI ! U-B9!%; %Y;)%7 =8)9I9 EtIi9 ED9 =:)=:I=8YIY9aO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: S) (AYt6R@t6`@yt6bmt6e>t6H N?蹵`c-׿ ]=?`?`?`?)u6R@ u6l;Iu6CxBWx>xBEiXI\)GR=4=F@%Y-?->11Q5D15";=>IA IE7ٮA ME7A QMtI A UMB9AEԳ: E:)E*7 U8)Q U8IQ ]tIiQ ]DQ U:)U׾:IUx8iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'N@Vehicle HDG: 201.233028 arcdeg .q''*G2GFFrF bF EE)%;I%9 ))i)I)11i11 92@=<:@=w: Qi,) z9(AYt*6R@t*`@yt*ڎ%t*4>t*H]ৡ?+G׿_F? ı?E??)u*6R@ u*f-m;Iu*Cxjh>xjEGhHh)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʵE>ʹʹQDʹ;>I I7ٮ QtI  UB9B: :)7 8)I tIi D h:):I?8I9=O@Contact HDG: 155.028669 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: J) S(A@ Yt.9=R@t.D`@yt.t.m>t.H8 o?p޵M׿N@G? }?v??)u.9=R@ u.(%m;Iu.CxBp>xFEiXIZ̓C)uGF@Y^:>Q D =9v:=>IA IE7ٮAA QMtI A UMB9AE: E_:)E:7 u8)QIQ }tIiQ }DQ UN:)U:IUSb8I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )) x^m(AYt*$hR@t*/a@yt*&t*,>t*HY? ͵ u׿ o?`?u? ?)u*$hR@ u*vm;Iu*CxNt>xRlE)Gi%wA%wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Ys>QD;>I I7ٮ QtI  UB9%: );U7 8)I tIi D B:):I@8I9*G2GFFrF!bF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Uw: a>x>) q8(AYt*K_R@t*V a@yt*4t*#>t*H .?[ }m׿>@|?u? xBEHBp=HDiPIRѓC)~GF@%Y%U2;->))Q-D)5v5>I9 IE7ٮ99 QEtI 9 UEB99=: =:)=lo7 U8)III UtIiI UDI M::)M:IM8aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: A) (A)4t.H7 ?`U`׿? _?s(?@??)u.~R@ u.7Km;Iu,xNh>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ%>ʡʡQDʡͭ;>I I7ٮ QtI  UB9鰵: :)7 8)I tIi D [:)N:IƯ8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ߹; ) (AYt*R@t*6a@yt*%t*>t*H?k?1۔׿ӵ)?U?@~??)u*R@ u*/:m;Iu*CxNo>xRJEi\I\)G%=%%=F@-Y-e5>11Q5D1=:=>IA IM7ٮAA QMtI A UMB9AE: E:)E7 ]8)QIQ etIiQ eDQ U:)U;IU8qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i8) (AYtR@t$;a@yt)Lty>tHh? `׿@?qɃ?~??)uR@ u3m;IuCx%w>x%jEG)H))Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y h >QD$:>I! I%7ٮ!! Q-tI ! U-B9!%: %:)%3ď7 58)1 =8I1 =tIi1 =D1 5:)5:I5D 8III9IO]Done Waiting.']O]8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱) (A@ Yt*R@t*Xa@yt*Tt*v>t*H` ? ?m׿z?֠???)u*R@ u*m;Iu*Cx^Wx>x^Ein=In̓C)5GF@}YʅR9>ʁʁQDʉ͍S;>I I7ٮ QtI  UB9鰕 ; T ;)}ޏ7 8)I tIi D :)N:I,8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 201.740552 arcdeg .q']']*GY2GYFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩn) (AYt*R@t*Ia@yt*qt*;>t*H`>? g׿@4 ?+΃? ?`0?)u*R@ u*l;Iu*CxBl>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGiF@Y%}U%>!)Q-D)͵>I I7ٮ QtI  UB9鰽< <<)7 8)I tIi D N:):IT8I9=O-@Contact HDG: 155.028669 arcdeg .'-'5O54Initialize Wait Component.*G12G1F1F1rFAbFAEE);I9 iIi 2@<:@w: YY>e>I1) \"(AYt*hR@t*sJa@yt*r"t*>t*H@@?8_@2׿`5q?`T?@?`?)u*hR@ u*sm;Iu(xBi>xBEHBa=H@i^f=I^ѓC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y_+>QDp9>I I7ٮ M7 QtI  UB9: 0:)T7 8)I tIi D :):Iq8 I 9 *G2GF!F!rF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: i[) 8<(A)I4t.H@V``?`׿`L?D? r? ?)u.R@ u.l;Iu.CxB|>xBCE)+GF@=YE*;E>AAQMDIMͅ9M>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)U07 m8)aIa mtIia mDa e:)e :Ie.8yIy9*G2GFFrFbFEE);I9 QQiQIQYYiYY a2@e<:@mw: yhF)  V(AYtN*R@tN5Ha@ytNtN>tNH  j? _@"׿v CV?l? -?^?)uN*R@ uNm;IuNCxVe>xVP EihIj̓C)-SG15=a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʽʺ>ʹʹQD>I I7ٮ QtI  UB9: :)VM7 8)I tIi D [:),:I8I9*G2G F F rFbFEE);I9 iIi 2@<:@w: i m) o(AYt*ÜR@t*Ia@yt*t*&c>t*H ?*U@׿`Ư`xBIEG@HD)~dGF@=YEdKE>AIQMDIMă9M>IQ I]7ٮQQ Q]tI Q UeB9QU: U-:)Ug7 m8)aIa mtIia mDa e:)e:IeEְ8yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: U") Xʉ(A@ Yt.R@t.3a@yt.('t.O>t.H ?FH׿@? ?`o?-?)u.R@ u.Um;Iu,x]c>x] EiyIy)GF@Y>QD L >I I7ٮ QtI  UB9b: :) 7 %8)!I! -tIi! -D! %:)%:I%X8YIY9a*Gq2GFFrFbFEE)U;IU9 QQiQIQYYiYY a2@e<:@mw: y{() (AYt*zR@t*'a@yt* t*dz>t*H?6 )׿ _-? {?΅??)u*zR@ u*edm;Iu*Cx>d>x> E)zvGi~yA~xAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]:]>aaQeDamm>Ii I7ٮii QtI i UB9imд; m;)m>7 8) 8I tIi D :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 QQiQIQYYiYY a2@e<:@mw: ߁>>!.) }(AYt*S`R@t*^ a@yt*t*p>t*H?fqn׿ Ҷ??`??)u*S`R@ u*ȑm;Iu*CxRo>xRJEHPHPi`IbѓC)%GF@=YE4:E>AIQMDIMU>IQ I]7ٮQQ Q]tI Q UeB9QU: UD:)U7 m8)iIi mtIii uDi m:)m:Imi<8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 201.477221 arcdeg .q'U'u*Gq2GqFyFyrFybFEE);I9 iIi 2@<:@w: 5) \(A);I;Yt:.MR@t:9`@yt:8t:>t:H`bk?@s඿`\׿`t?@ҁ? ?`#?)u:.MR@ u:DZm;Iu:Cx5i>x=E) SGMNonly read 0 of 1 data item for altitudeuFailed to parse: :BD, +0.00, , +0.00, 0.00,1153.94 F@}Yʅ:>ʁʁQDʉ͍,>I I7ٮ QtI  UB9鰽: x:)@ِ7 8)I tIi D x;);IIb8I9=O@Contact HDG: 155.028669 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIi 2@<:@w: ߙ;) 7(AYt*AR@t*L`@yt*;t*jm>t*H`t?V "׿?c? ?`?)u*AR@ u*m;Iu(xBh>xBEiLIL)EGE=IF@]Ye0e>aaQeDimp+m>Iq I}7ٮqq Q}tI q U}B9qu: uD:)u7 8)I tIi D :):IՀ8I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: YiB)  (AYt*R@t*ľ`@yt*i"t*>t*H``F?@?Q 1%׿?@S?|Q?@?)u*R@ u*em;Iu*CxBWx>xBEG@HD {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )EGF@Y#>QD9}>I I7ٮ M7 QtI  UB9鰅< <)7 8)I tIi D :):I38I9)*GA2GAFFrFbFEE);I9 iIi 2@ <:@w: iH) $(A Yt.HQ@t.S`@yt.(t.>t.H'OT? ֿq???`?)u.HQ@ u.m;Iu.CxBxp>xBE){BjI{@i{B={@{@{BA{@|BA9|B`jAz?m &ci`I`)%QD4>I I7ٮ Q tI  U B9k; o;),7 58)1I1 =tIi1 =D1 5l:)5<:I5ɱ8IIi9i*Gy2GyFFrFbFEE2EzEAE~_2@57E`jAz?m &cEjEEl\ %9Uzx-@s}E6 ȲhQ?FXɿE'@=DHdg To Contact =149.599297 degreesZElAbE-:Efo$?BEo$?JE} REjErE );I9 iIi)) )2@5<:@5w: a$Dacoustic_contact_range 29.760000 m$UhTrackAcousticContact.heading_to_contact 2.611000 rad$]LDUSBL_Hydroid.xAngle -52.500000 arcdeg.N) T>(AYt.oQ@t.zd`@yt.(t.[>t.HU ?@`ֿ ?8Q?`?%=??)u.oQ@ u.dYn;Iu.CxBxp>x@)SGiwA wAF@Y%$;%>!!Q-D)--?I1 I=7ٮ11 Q=tI 1 UEB915 : 5f:)5*D7 M8)AIA MtIiA MDA E:)E:IEL8YIa9a*Gq2GqFqFrFbFEE);Iu9 qqiqIqyyiyy 2@<:@w: N>{>U) QX(AYt*FQ@t*QL`@yt* t*>t*H? d`kֿ` v=??`D+? g?)u*FQ@ u*sTn;Iu*CxBx>xBEHBR=HDiV=IT) dGF@Y%;%>))Q-D)-;o5>I1 I]7ٮ11 Q]tI 1 UeB915$; 5;)5_7 m8)a m8Ia mtIia uDa e:)e7:Ie8I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w:  \) Zr(A)IYt*tQ@t*!`@yt*, t*yI>t*H:?`t`ֿ@~l?XP? ? ?)u*tQ@ u*n;Iu*CxN{>xRiE)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y9>QDƻ>I I7ٮ QtI  UB9; ;)|7 %8)I %tIi %D :)؛:I,81I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFqrFbFEE)];I]9 aaiaIaiii 2@<:@w: b) Z(AYt*DcQ@t*O`@yt*)t*\>t*H@:z?@;ֿ`G?0? O{?K?)u*DcQ@ u*n;Iu*CxBl>xBEiNf=IL)~G%=%=F@Y%yX%>!!Q-D)->8->I1 I=7ٮ11 Q=tI 1 U=B9154: 5:)5㖑7 M8)AIA MtIiA MDA Eh:)E|:IElL8YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 200.592260 arcdeg .q''*G12G5'@F9FArFqbFqEyEy);I9 iI+@i'@ 2@<:@w: q$RHorizontalControl.headingCmd 2.611000 radii) 3(AYt*=Q@t*_@yt*t*jQ>t*H@ 9?@f k^ֿ5?ž?`U??)u*=Q@ u*!o;Iu(xB1z>xBEGBAAH@)~GF@ YA9>QD%3%>I) I-7ٮ)) Q5tI ) U5B9)-: -ٮ:)-X7 =8)1I1 EtIi1 ED1 51:)5R:I5Ln8QIQ9Q=O@Contact HDG: 149.599297 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E )=;IE9 AAiAIAM n)@iII Q2@U<:@]w: ߙp) (A@ Yt.Q@t.Լ_@yt.T#t.[>t.H@@ކ?@絿3ֿtr? w?q?`]?)u.Q@ u.o;Iu,x^u>x^Ein=In̓C)=Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʩQDʩͭ9ֻ>I I7ٮ QtI  UB9鰵: W:).ϑ7 8)I tIi D O:):I葲8I9*G2GF FrF!bF!E!E!)=;I=9 99i9I9E/(@iAA I2@M<:@Uw: a.v) B(AYt2P@t2_@yt2%z t2~>t2H a?q ֿ@?`7/???)u2P@ u2o;Iu2CxBi>xBNE)=vGi9Aa 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ;>ʡʡQDʡͭd>I I7ٮ QtI  UB9鰵: =:)7 8)I tIi D x1;)L;I볲8I9*G2GFFrFbFE!E!)5;I=9 99i9I9E'@iAA A2@M<:@Mw: a>>W|) 7(AYt*mP@t*xu_@yt*Үt*>t*H /U?Bտ&c?Ձ?R? p?)u*mP@ u*o;Iu*CxB`k>xBEH@HBp=iRf=IP)~GF@mYmQm>qqQuDq}}>I I7ٮ M7 QtI  UB9鰅: :)7 8)I tIi D F:):Ikղ8I9*G2GFFrFbFEE);I9  i I i 2@<:@w: 1?)  (A) I Yt*IP@t*T__@yt*t*~>t*H @?8?@V$Dտ``,?h?? ?)u*IP@ u*jp;Iu*CxBHf>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGF@-YMGM>QqQuDy}J>I I7ٮ QtI  UB9鰍; ;)#7 8)I tIi D =)F=I89IA9*G2GFF!rF)bF)E1E1);I9 iIi 2@<:@w: i) 1{'(AYt*yP@t*&_@yt*t*>t*H@? Jdտ?]? 2Z??)u*yP@ u*ap;Iu*CxNWx>xREij=Ih)5G9=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ܍>QD]>I IU7ٮ QUtI  U]B94< d<)=7 e8)Y e8IY etIiY mDY ]s:)]e:I]8I9*G2GFFrFbFEE);I9 iIi 2@%<:@%w: YiIQ) TA(AYt*WjP@t*b_@yt* t*ϥ>t*Hz?`ǩտA4???@Z?)u*WjP@ u*yq;Iu(xB{>xBiEGDHD)~GF@=YMKyU>aaQmDiuzu>Iy I7ٮyy QtI y UB9y}F: }:)}X7 8)I tIi D :) :It;8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: {) 1[(A@ Yt*"OP@t*-^@yt* t*48>t*H#@?~@~տu *? ?p?+?)u*"OP@ u*{'r;Iu*CxB,t>xB#EiPIVѓC)SGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍn8>ʉʉQDʑ͕,>I I7ٮ QtI  UB9鰙 _:)it7 8)I tIi D :)÷:I]8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 199.626608 arcdeg .q'e'e*Ga2GaFiFirFibFqEqEq);I9 iIi 2@<:@w: Qإ)  u(AYt*0P@t*^@yt*K9 t*z>t*H(?@@bտ 7 "g?@'?58?`?)u*0P@ u*dr;Iu*CxBMl>xBLE)~dGi xAF@]Yei;e>aaQeDimm>Iq I}7ٮqq Q}tI q U}B9qu: uJ:)u7 8)I tIi D :):I|8I9=O5@Contact HDG: 149.599297 arcdeg .'5'5O54Initialize Wait Component.*G12G1F9F9rFAbFAEAEA)];I]9 YYiYIYaaiaa i2@m<:@uw: ߁>>u) (AYt*! P@t*,^@yt*Ut*>t*H /F?@F?տ=? ?c??)u*! P@ u*r;Iu*CxBk>xBEHBp=HBa=i^f=I^̓C)=GF@]Ye:e>aiQmDim쵻m>Iq I}7ٮqq Q}tI q UB9quǺ: uf:)u17 8)I tIi D (:)^:I8I9*G2GFFrFbFEE);I9 !)i)I)11iQQ Y2@]<:@ew: ߙ޷) ¨(A)4t*H`!/@?@&x`>տX@h8?€??j?)u* P@ u*0s;Iu*CxBn>xBE)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ=>QDC9>I I7ٮ QtI  UB9: :)ǒ7 8)I tIi D h:)|:Iij8I9*G 2G F FrFbFEE)-;I-9 11i1I199i99 A2@E<:@Ew: Y) (Ax~sj>x~(EiI5ѓC)G4=%=F@Yʥ>ʩʩQDʩ͵>I I7ٮ QtI  UB9鰽F: l:)7 8)I tIi D  :)A:I[8I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: Aiɶ) w(AYt.O@t. ^@yt.#t.ދ>t.H@5 z?Vt տ ?`c`?@0D??)u.O@ u.s;Iu.CxFi>xJNEGLHNAA)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY>QD >I  I7ٮ   Q5tI  U=B9  0; ;) A7 E8)9 E8I9 EtIi9 ED9 =Ԙ:)=Ɵ:I= 8QIY9Y*Gi2GiFiFirFbFEE);I9 iIi 2@<:@w: t) 6V(A YtBRO@tB]P^@ytBk tB+>tBH3@xNEEiZ=IZ̓C)GF@%Y%e;->))Q-D)5)5>I9 IE7ٮ9 ME79 QEtI 9 UEB99=: =:)=7 U8)III UtIiI UDI Mh:)M:IM)8aIa9a*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: ) @/(AYt>KO@t>Vn^@yt>t>^>t>H`H;_?`s 0Կ#@%?;?\??)u>KO@ u>s;Iu>CxFo>xFE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )e+Giy}xAF@YM'>QD;>I I7ٮ QtI  UB9,; ;)57 8)I tIi D ;);IL8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@%w: >>. ) O *(AYt6O@t68^@yt6't6>t6HC-?@Կ??;??)u6O@ u6Gr;Iu6CxJi>xJEHN4=HLidIfѓC)-SGa 1ma 1m a 5ma 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʕT>ʑʑQDʑ͝>I I7ٮ QtI  UB9鰥: $:)%Q7 8)I tIi  D :)Z:Iln8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 198.944054 arcdeg .q'e'e*Ga2GaFiFirFqbFqEqEq);I9 iIi 2@<:@w: ߱) C(A)IYt*EO@t*PG^@yt*'t*6>t*HA %1?o`EԿ]?@ă?B??)u*EO@ u*r;Iu*Cx^q>x^E)=dGF@EYM:M>IQQUDQ] ;]>Ia Ie7ٮaa QmtI a UmB9ae%: e:)el7 u8)qIq }tIiq } Dq u%:)u|:Iu8I9=O@Contact HDG: 149.599297 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF!E)E))=;IE9 AAiAIAIIiII Q2@U<:@]w: i?) ](AYt*QO@t*\,^@yt*t*>t*H F@5?)~ҺԿ H?`?d?@W?)u*QO@ u*Ber;Iu*CxB"h>xBEiRf=IV̓C)9E=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ ;>ʹʹQDʹͽo>I I7ٮ QtI  UB9 :)7 8)I tIi  D :):IȲ8I9*G2GFF rF bF EE)%;I%9 ))i)I)11i11 92@=<:@=w: QiA) w(AYt*O@t*8^@yt* t*->t*H@D*?`Կ 'XA?q}?0?=?)u*O@ u*q;Iu*CxBr>xBIEG@HF@A)|F@Yʅ:>ʉʉQDʉ͕:>I I7ٮ QtI  UB9鰝1: :)7 8)I tIi  D :) :IWԴ8I9*G2GFFrFbFEE);I9 iIi  2@ <:@w: !*) pw(A Yt.O@t./^@yt.t.Į>t.H~E`?M<@۽Կ@ ~??k>??)u.O@ u.Ip;Iu,xNMl>xRLEi^=I^ѓC)GF@-Y-5>11Q5D1=<=>IA IM7ٮAA QMtI A UMB9AE : E1:)E7 U8)QIQ ]tIiQ ] DQ U:)U:IUp8iIi9i*G2GFFrFbFEE);I%9 !!i!I!))i)) 12@U<:@]w: iS) Q(AYt.mO@t.^@yt.Jt.U>t.HH?@6Կ^?`1??&?)u.mO@ u.]p;Iu.Cx6o>x6JE)rSGivyAta 1%a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMFM>IIQMDQUKU>IY Ie7ٮYY QetI Y UmB9Y]h: ]):)]Sړ7 u8)i u8Ii utIii u Di m:)m߼:Im8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: R>{>;) R,(AYt*uO@t*"^@yt*.t*Jb>t*H`G^?.?@ԿD??T??)u*uO@ u*Nwp;Iu*CxB,t>xB#EHFa=HFp=iRf=IP)GF@=YEE>AIQMDIM:U>IQ I]7ٮQQ Q]tI Q UeB9QU: UB:)U7 m8)aIa mtIia u Da e:)e:Ie98yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: f) (A);IYt*bO@t*^@yt*V~$t*>t*H J@ ?aԿ,-L? ?? ?)u*bO@ u*[p;Iu(xRu>xRE)SGF@-Y-->11Q5D1=V==>IA IM7ٮA MM7A QMtI A UMB9AEc: E$:)E?7 U8)QIQ ]tIiQ ] DQ U:)U::IU[8iIi9iODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: a) 6(AYt*qO@t*^@yt*t*>t*H -H ? TԿd'@c?@I܂?? ?)u*qO@ u*&p;Iu*CxNa>xR Ei^=I`)G%%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ;>ʉʉQDʉ͕J;>I I7ٮ QtI  UB9鰝: :)-7 8)I tIi  D }:):I~8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 198.853007 arcdeg .q']']*GY2GYFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩi(x) (AYt*MOO@t*X]@yt* t* ׎>t*H@M? bԿ@O?˙???)u*MOO@ u*Rp;Iu*CxVz>xV EGXHX {XY|X 8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )AAQMDIUU>IY Im7ٮYY QmtI Y UmB9Y]S; ]*;)]J7 8)yIy tIiy  Dy }:)}v:I}ڢ8I9=Om@Contact HDG: 149.599297 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFqFqrFybFyEE);I9 iIi 2@m<:@mw: ߁6 ) +,(A.@ ,Ytf;`O@tfF ^@ytfqtf@>tfHK?EaԿe _? $?g??)uf;`O@ ufo;IufCxr{>xriE){r[YUI{pi{r~={p{p{r B{p|rAA9|ri?eݯi!I%̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yغ>QD,;>I I7ٮ Q tI  U B9ի: :)e7 8)I tIi  D ̒:):Iõ8)I)9)*G92G9FAFArFAbFIEIEI2EQzEUAAEUH\TL @Fּ a!EUi?eݯEU[YUEQEU ό%集)@6lEUHA#QXaB?e[YȿEU*@=eDHdg To Contact =152.216407 degreesZEUO@bEUD(:EUo$?BEUfo$?JEU REU} jEUTrEU)};I}9 yyiyIyi 2@<:@w: ߡ$Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 2.656677 rad$LDUSBL_Hydroid.xAngle -47.749999 arcdeg) vF(AYt*}GO@t*]@yt*t*>t*HO7??w Կ`9?q??`? g?)u*}GO@ u*Cp;Iu(xBp>xBE)~҄GixAF@%Y%f:->))Q-D)5肻5>Iy I}7ٮyy QtI y UB9y}J: }B:)}7 8)I tIi  D [:):IW8I9*G2GFFrFbFEE)5;I=9 99i9I9AAiAA I2@M<:@Mw: ߁>l>) ;S`(AYt*kO@t*^@yt*t*U>t*H +I@P?`,Կ-@1>?p?@??)u*kO@ u*{p;Iu*CxNe>xNP EHPHPi`IbѓC)%+Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ >ʉʑQDʑ5;5>I9 IE7ٮ99 QEtI 9 UEB99=: =:)=O7 M8)I u8II utIiI u DI M;)M;IM{8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !`) Z+z(A) I Yt6@O@t6]@yt6N.#t65>t6H PB?`PԿ`#?e??j?)u6@O@ u6x^E)MSGF@}Yʅ/>ʁʁQDʉ͍{>I I7ٮ QtI  UB9鰕; V;)i7 8)I tIi  D :):I)8I9*G2GFFrF bF)E1E1)E;IE9 AIiIIIQQiQQ Q2@]<:@]w: q=-JlineCaptureHoming.cameraRange (meter)==PlineCaptureHoming.cameraRequested (bool)$) (AYt6?O@t6]@yt6t6t>t6H_P? f}Կ@?`f? Փ??)u6?O@ u6\p;Iu6Cxb |>xbEiI ̓C)G=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y ;>QDc%>I! I-7ٮ!! Q-tI ! U-B9!%: %<)%DԔ7 8)I tIi  D 5:):I N8I9*G2GF!F!rF!bF)E)E1)U;Im9 iiiqIqqqiyy y2@<:@w: ߑi *) ;(AYt*AO@t**]@yt* nt*<>t*HP?`>yԿ=?`? J? ?)u*AO@ u*p;Iu*CxBz>xB EG@HD)~SGF@=YE ;E>AIQMDIM9M>IQ I]7ٮQQ QetI Q UeB9QU7: U\:)U7 m8)iIi mtIii u Di m}:)mo:Im$l8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: E1) ؼ(A Yt*mO@t*^@yt*8t*pH>t*HH?@5 ;Կ@=`8?UЂ?x??)u*mO@ u*p;Iu*CxBj>xBqEiLIRѓC)~dGF@=YEEE>AIQMDIM;U>IQ I]7ٮQ M]7Q QetI Q UeB9QU: U:)U 7 m8)aIa mtIia u Da e:)aIe08yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 8) |(AYt*PFO@t*[]@yt*-t*<>t*H O@M?s᳿ĄԿ"??An??)u*PFO@ u*#p;Iu*CxV}>xVE)%Gi-wA)a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍXa>ʑʑQDʑ͝Ҿ>I I7ٮ QtI  UB9鰥: :)%7 8)I tIi  D \:):I 8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 198.700517 arcdeg .q'e'e*Ga2Ge*@FiFirFibFqEqEq);I9 iIx(@i*@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.656677 radR>>,>) s(AYt*FO@t*]@yt*t*.8>t*HO?l[Կ 1??G? 9?)u*FO@ u*sp;Iu*Cx>v>xBEH@HBa=iPIP)GF@uY}!;}>ʁʁQDʁ͍8>I I7ٮ QtI  UB9鰕: :)AA7 8)I tIi  D h:)9:IҶ8I9=OU@Contact HDG: 152.216407 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIy*@i 2@<:@w: ߡE) Y(A),I,YtnNO@tn]@ytn tn>tnHM`?Կ@8`P?`??%?)unNO@ unp;IunCxvt>xvlE {xY|x~8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]Ga 1ea 1e a 5ea 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y0;>  Q D }:>I I7ٮ Q%tI  U5B9st; v;)b7 E8)9I9 EtIi9 E D9 =^:)= :I=08QIQ9Q*G2GFFrFbFEE);I9 iI!!i!! )2@5<:@5w: q>K) )/(AYt*YO@t*^@yt*N1t*s">t*H@L ? U!uԿH=F? F?/? ?)u*YO@ u*Lq;Iu*CxNl>xRE){RMI{Pi{R={P{P{P{P|RBA9|RWB Y0?Ϸ03ipIp)=dGAAF@MYUUfU ?YYQ]DYeD;e ?Ii Im7ٮii QutI i UuB9im: m:)mx7 }8)y }8Iy tIiy  Dy }9:)}M:I}8I9*G!2G!F!F!rF)bF)E)E12E9zE=BAE=biM) @x!E=WB Y0?Ϸ03E=ME9E=6T|%ZD5@Q/:)E=A:-?]\ ǿE=3+@=MDHdg To Contact =153.734813 degreesZE=@bE=+:E9BE=o$?JE= RE= jE=a rE=T);I9 iIi 2@<:@w: ߩ$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.683179 rad$LDUSBL_Hydroid.xAngle -46.100000 arcdegi&R) GI(AYt*#]O@t*. ^@yt*t*c>t*HK@? ųoԿ +s^???`5?)u*#]O@ u*up;Iu*CxBu>xBEGB@AH@)GF@=YExĹE>AIQMDIML9M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)Uv7 m8)aIa mtIia m Da e :)ec:Ied88yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: PX) b(A@ Yt*KO@t*!]@yt*t*\>t*HqN?@C _Կk)‚?y?`>?`?)u*KO@ u*Mp;Iu*CxBp>xB%EiRf=IP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝ^:>ʡʡQDʡͭ->I I7ٮ QtI  UB9鰵: :)ۯ7 8)I tIi  D Ր:):Ir[8I9*G2GFFrFbFEE);I9 iIi! !2@%<:@-w: 9z^) |(AYt.qO@t.^@yt.ȧt..>t.H >Hk?ƳԿ. -?@4?@:??)u.qO@ u.p;Iu.CxN'n>xRpE)+GiyAF@]YeB9e>aaQeDim;m>Iq I}7ٮqq Q}tI q U}B9qu: u:)uʕ7 8)I tIi  D F:)Z:I|8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >>he) 2(AYtrtmO@tr^@ytr&trj>trHH? r`Կ2@?? ?@?)urtmO@ ur>p;Iupx?s>xEHHp=i5=I5̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y(׺>QD >I I 7ٮ QtI  UB9 : :)7 8)I tIi % D  :)c:I81I191*GA2GAFAFIrFQbFQEQEQ)m;Im9 iiiiIiqqiqq y2@}<:@w: ߑk) "q(A) IYt*HzO@t*S'^@yt*/t*h{>t*HF#?]vԿ2? Q?@Ѽ??)u*HzO@ u*%Op;Iu*CxRi>xRE)F@=YE9E>AIQMDIM;M>IQ I]7ٮQ M]7Q Q]tI Q UeB9QUB: UE:)U7 m8)aIa mtIia m Da e:)e:Ie8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: }tr) L(AYt*MO@t*X5^@yt*9t*N>t*HD ^/?`OԿ 1@R?/g?`^?I?)u*MO@ u*gIp;Iu*CxNf>xR EixIx)USG]<]=F@eYmE:m>iiQuDqu ;u>Iy I7ٮyy QtI y UB9y}\: }:)}7 8)I tIi  D h:):I 8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.931281 arcdeg .q''*G2G3+@FFrFbFEE);I9 iIh+@i3+@ 2@<:@w: $=RHorizontalControl.headingCmd 2.683179 radix) ('(AYt*O@t*N^@yt*[kt*>t*Hg@:?@o@SԿ@`7?XM?:\?@|?)u*O@ u*MCp;Iu*CxBt>xBlEGBAAH@)~dGa 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y>QD Mp; >I IU7ٮ Q]tI  U]B9< k<):7 e8)a e8Ia mtIia m Da eԘ:)eb:Ie^8yIy9y=O@Contact HDG: 153.734813 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI I+@ i   2@<:@w: ) ~) (A Yt.O@t.L^@yt.3t.C[>t.H@=?(@rԿ$v?߃?W4?`?)u.O@ u.o;Iu.CxBi>xBEiLINѓC)~GF@=YE@E>AAQMDIM0M>IQ I7ٮQQ QtI Q UB9QUE< U~<)U}T7 8)I tIi  D :)˚:I(8I9*G 2G F F rFbFEE)-;I-9 )1i1I1=3+@i99 92@E<:@Ew: Q) (AYt*O@t*_^@yt*Ct*?>t*H =@d?β`fԿ?@ҽ?3? ?l?)u*O@ u*o;Iu*CxNs>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}SGiF@Y%(G:%>!)Q-D)5,/;U>IY Ie7ٮYY QmtI Y UmB9Y]; ];)]gr7 8)I tIi  D {:):IL8I9*G2GFF!rFQbFQEQEQ)e;Im9 iiiIi 2@<:@w: V>]>xڋ) |1(AYt*O@t*’^@yt*q!t*>t*H :5 '?"8տ]/4?@.?P??)u*O@ u*&o;Iu(xBq>xBEHBp=HFa=){FqI{Di{FH">{D{D{FpA{D|FB9|FT Ž?7 i`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ >ʉʉQDʉ͕ <>I I7ٮ QtI  UB9鰝: ):)?7 8)I tIi  D ::):Ik8I9*G2GFFrFbFEE2EzEBE=U*G@2|PET Ž?7 EqEEX҅W݊P07F@}-V0EP!~&y?9ɿE7#@=}DHdg To Contact =146.120286 degreesZE1BbEV:En$?BEJEd RE jErEa );I9 iIi 2@<:@w: ߹$Dacoustic_contact_range 81.360008 m$hTrackAcousticContact.heading_to_contact 2.550280 rad$LDUSBL_Hydroid.xAngle -54.149999 arcdeg’) ݔK(A) IYt.O@t.^@yt.Dzt.k>t.H4u? @7տ`^?4?t?V?)u.O@ u.o;Iu.CxBe>xBP E)ƄGF@=YE :E>AAQMDIM:M>IQ I]7ٮQQ Q]tI Q U]B9QU`: Uc:)U87 m8)aIa mtIia m Da e:)eN:IeՌ8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) ne(AYt*O@t*^@yt* t*UH>t*H6`e?Qrտ?`X? D??)u*O@ u*.o;Iu*CxB|>xBCEiRf=IV̓C)G = F@=YE9;E>AAQMDIMM>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)U–7 m8)aIa mtIia m Da eO:)e:Ie᮸8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i) J(AYt*O@t*^@yt*t*D|>t*H@2@*? <)տ`B@? ? C??)u*O@ u*"o;Iu*CxB?s>xBEG@H@)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅź>ʁʁQDʉ͍5e;>I I7ٮ QtI  UB9鰑 :)ޖ7 8)I tIi  D :):IѸ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !) &(A Yt.@P@t.^@yt.it$t.|>t.H &`?@y@vqտ`j5.?v? L??)u.@P@ u.ap;Iu.Cx^i>x^Ein=Il)=+GF@MYMM>QQQUDQ]o?<]>Ia Im7ٮaa QmtI a UmB9ae\: eٮ:)e7 }8)qIq }tIiq } Dq uį:)u:Iu8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.576611 arcdeg .q''*G2G7#@FF!rF!bF!E)E))E;IE9 AAiAIAMJ*@iIM7#@ Q2@]<:@]w: i$RHorizontalControl.headingCmd 2.550280 rad2)) (AYt*;P@t*^@yt*-t*O>t*H& #?Њjlտ e ?ඵ? ?ַ?)u*;P@ u*o;Iu*CxBRr>xBE)-SGi5wA1a 1ua 1u a 5ua 5u a 9ua 9u a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ>ʙʙQDʙͥN>I I7ٮ M7 QtI  UB9鰭: V:)G7 8) 8I tIi  D |:)+:I8I9=O]@Contact HDG: 146.120286 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFirFibFiEqEq);I9 iIo'@i 2@<:@w: ߱R>l>}) b(AYt*,P@t*^@yt*t*Ѱ>t*H|)h?`-ӵ^տ ?a4?@=?;?)u*,P@ u*o;Iu*CxBv>xBGEHBa=HDiPIP)~dGF@]YeI;e>aaQmDimnm>Iq I7ٮqq QtI q UB9quc; u,;)u`17 8)I tIi  D ::),:I78I9*G2GFFrFbFEE!)5;IU9 QQiYIY]_\#@iYa a2@m<:@mw: ߉=;) $(A) IYt.5P@t.^@yt.t.>t.H( 8?U4gտ34"? ?`S??)u.5P@ u.o;Iu.CxBw>xBjE)xa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yr;>QD : >I  I57ٮ   Q=tI  U=B9  V; (;) QN7 E8)AIA EtIiA M DA E%:)E:IEv[8yIy9y*G2GFFrFbFEE);I9 iI܅ @i 2@<:@w: ") ɑ(AYt*sP@t* _@yt*XC t*l{>t*H `J?m@տ@0?]H?? ?)u*sP@ u*wp;Iu*CxNsj>xR(Ei\I\)G%%=%%=F@-Y5Kۺ5>11Q=D9=#<E>IA IM7ٮAA QMtI A UUB9AE: E:)E h7 ]8)QIQ ]tIiQ e DQ U:)U:IUz8iIi9q*G2GFFrFbFEE);I9 iIz1@i 2@<:@w: iL) k(AYt*4P@t*?I_@yt*}_6t*Ҋ>t*H@)?dտ LY?ˆ? #? :?)u*4P@ u*No;Iu*CxBWx>xBEGB@AHD {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʝ>ʡʡQDʡͭC;>I I7ٮ QtI  UB9鰵h: :)7 8)I tIi  D `;);I8I9*G)2G)F1F1rF9bF9EAEA);I9 i I \@i 2@-<:@-w: Aw) L4(A Yt.mP@t._@yt.H3t.>t.Hs?q`տ ?h?,?@?)u.mP@ u.n;Iu.CxN`k>xNE){RKI{Pi{R={P{P{RB{P|RBA9|Rr?UipIp)EdGF@]YeP:e?aaQeDam m?Iq I}7ٮqq Q}tI q U}B9qu: u׾:)u7 8)I tIi  D :)$:I8I9*G2GFFrFbFEE2EzEBAEuv!@H \!Er?UEKEE ¾ %zr@YEYF b ?*)QȿE-@=DHdg To Contact =155.516509 degreesZE@bE .:Eo$?BEn$?JE REd jErE)M;IM9 IIiIIIu̔ @iqq y2@}<:@w: ߑ$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.714275 rad$LDUSBL_Hydroid.xAngle -45.450001 arcdegl_) t%N(AYt*bP@t*_@yt*H̻t*;>t*H ? տ?@ y???)u*bP@ u*Oo;Iu*CxBn>xBE)=GiExAAF@]Ye><e>aaQeDimպm>Iq I}7ٮqq Q}tI q U}B9qu@: u:)uB7 8)I tIi  D t:):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%'.#@i!! !2@-<:@-w: A>>ӈ) g(AYt*P@t*B_@yt*Wt*e~>t*H3?1`տP&? ?x?@A?)u*P@ u* p;Iu*CxBk>xBEH@HBp=iTIVѓC)UvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽfn>QD ;>I I7ٮ QtI  UB9; R;)ח7 8) 8I tIi   D :):I81I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 199.873096 arcdeg .q''*G2G-@FFrFbFEE) ;I-9 11i1I1=-'@i9=-@ 92@E<:@Ew: ߙ$RHorizontalControl.headingCmd 2.714275 rad= bgot command get lineCaptureHoming.cameraRequested= PlineCaptureHoming.cameraRequested 1 bool]q) {ہ(A)4t.H@ `l? `+տ0? a?`bU??)u.P@ u.o;Iu.Cx>>xB E)zGF@=YEQ/E>AIQMDIM<U>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)U%7 m8)aIa mtIia m Da e-:)e :Ieb%8yI9=O]@Contact HDG: 155.516509 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFibFiEiEi);I9 iIm*@i 2@<:@w: ) (AYt*vP@t*#_@yt*T˻t*(>t*H`4i?kտ``?ry?`?R?)u*vP@ u* o;Iu*CxB>xBBEiLIP)~G4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yed<e>aaQmDim3Xm>Iq I}7ٮq M}7q Q}tI q UB9qu : u:)u 7 8)I tIi  D  :)c:IG8I9*G2GFFrFbFEE);I9 iI-@i 2@<:@w: i) u(AYt*VP@t*_@yt*;庙t*>t*H" ?0=տ'`?`f\?ˉ?d?)u*VP@ u*p;Iu*CxBp>xB%EGBAAHD)~GF@=YE6<E>AIQMDIMM>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)UH)7 m8)aIa mtIia m Da e}:)e:Ieti8yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) Hm(A@ Yt*P@t*'p_@yt*QB7t*>t*Hf? Aտ`@s?*?? ?)u*P@ u*WAp;Iu*CxBq>xBEiLIL)~GF@=YEHE>AAQEDIMG<M>IQ I]7ٮQQ Q]tI Q U]B9QUS: U5:)UD7 m8)aIa mtIia m Da e[:)eN:Ie8yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: ) _D(AYt.RP@t.]_@yt.]A,t.>t.H`. h?(9տX??`s? S?)u.RP@ u.o;Iu.CxB~>xBE)iiQmDqu;u>Iy I7ٮyy QtI y UB9y}: }:)}`7 8)I tIi  D :)|:I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: R>>) (AYt*`P@t* _@yt*?;t*?,>t*H ! ?gտ b?gt`??)u*`P@ u*r;Iu*CxRo>xREHVR=HTilIl)USGF@Yʕ=>ʙʙQDʙͥ>I I7ٮ QtI  UB9鰭q: :)|7 8)I tIi  D :)|:Iк8I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 9 ) @(A);I;Yt*P@t*P_@yt*1t*6>t*H?.XտP G?p6f?Q?*?)u*P@ u*wt;Iu(xRv>xRGE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YE>QD1<>I! I-7ٮ!! QMtI ! UUB9!%4; %;)%7 ]8)QIQ ]tIiQ e DQ UĔ:)U:IU8 I 9 ODone Waiting.'O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!FIrFIbFQEQEQ);I9 iIi 2@<:@w: ߹ ) 6(AYt*#Q@t*_@yt*~[t*>t*H3?Fֿ`^G??@R? ?)u*#Q@ u*s;Iu*CxB~>xBEiXIX)SGF@Yʍ>ʑʑQDʑ͝t<>I I7ٮ QtI  UB9鰥: l:)׳7 8) 8I tIi D :):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 200.369323 arcdeg .q']']*GY2GYFYFYrFabFaEiEi)};I9 iIi 2@<:@w: ߩi#) P(AYt* P@t*_@yt*|\;t*K>t*H`< "? ֿ0? kQ?`S?)u* P@ u*Yt;Iu(xBo>xBEG@H@)GF@=YED=E>AAQMDIM7M>IQ I]7ٮQQ Q]tI Q UeB9QU2: U:)UΘ7 m8)aIa mtIia mDa eh:)e9:Ie58yIy9=O@Contact HDG: 155.516509 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: !%) j(A@ Yt.oP@t._@yt.Ǐ;t.>t.H @P}?ݓ@ȝտ@Kb?r̡? t?)u.oP@ u.Sy;Iu.CxB`k>xBEiPIP)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmD;m>iqQuDqu,}>Iy I7ٮyy QtI y UB9y}1: }5:)}7 8)I tIi D :):I7X8I9*G2GFFrFbFEE)];I]9 aaiaIaaiiii i2@<:@w: ߩ !) h(AYt*Q@t*_@yt*Wt*r>t*HP?>ֿJ ?`?%?@ޖ?)u*Q@ u*"xt;Iu(xN|>xRE)vGi%wA%xAF@-Y5\75>11Q5D9=<E>IA IM7ٮA MM7A QMtI A UUB9AEc: EE:)E7 ]8)QIQ ]tIiQ eDQ U:)U:IUy8iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: >l>6') xB(AYt:AQ@t:_@yt: һt:Ȁ>t:H@U "? Y̴bֿk?&Az?f? ?)u:AQ@ u:t;Iu:CxRMl>xRLEHZp=H\ipIt)Ga 1 a 1  a 5 a 5  a 9 a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y-N}<5>11Q5D9=;=>IA IM7ٮAA QMtI A UMB9AE%: E:)E#7 ]8)QIQ ]tIiQ ]DQ UĔ:)U:IUl8iIi9i*Gy2GFFrFbFEE);I%9 !!i!I!))i)) Q2@U<:@]w: iaa-) (A)4t*H`a-`l?MJտ`q&9?Q?e?)u*UP@ u*Jw;Iu*CxBk>xBE)zGF@=YEB<E>AAQMDIMGM>IQ Ie7ٮQQ QetI Q UeB9QUp; U;)U =7 m8)iIi utIii uDi m:)m:Im8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: jI4) (AYt*P@t*7_@yt*@Ct*Rڠ>t*Hs? @տ? g??@|n?)u*P@ u*~Ss;Iu(xZ>xZEidIh)-vG5=5=F@}Yʅ>ʉʉQDʉً͕<>I I7ٮ QtI  UB9鰝ͭ: :)6Y7 8)I tIi D :)x:I8I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !i@At:) (AYt uQ@t "`@yt dt ɝ>t H ?=4kֿ{"w?? 3i?I}?)u uQ@ u xEG%@AH!)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD  = >I I7ٮ QtI  UB91: а:)u7 -8)! -8I! -tIi! -D! %:)%w:I%89I99AOUDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡ[A) ͱ(A Yt.P@t.^@yt.wt.Hl>t.H0?R6տb?On?@?,'?)u.P@ u.=r;Iu.CxBi>xBEiLIL)~GF@=YE3<E>AAQMDIMKuM>IQ I7ٮQQ QtI Q UB9QU!< US<)Uď7 8)I tIi D [:),:I\%8I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 199.356379 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: pG) ߋ(AYt*dP@t*o^@yt*t*b>t*H@.? ;AտY?`!\?F? t?)u*dP@ u*Lr;Iu*CxBxp>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGi}yAyF@Y%HD%>))Q-D)5V:=>IA IM7ٮAA QMtI A UMB9AE<; E<)Ei7 8)I tIi D :):IJ8yIy9y=O@Contact HDG: 155.516509 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)=;I=9 AAiAIAiiiiq q2@}<:@w: ߱R>a>M) 'g9(AYt*Q@t*_@yt*t*>t*HH%? C޺)ֿ@z!? W?%??)u*Q@ u*p;Iu*Cx> |>xBEHB4=H@i\I^̓C)vGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}v}>ʁʁQDʁ͍ !=>I I7ٮ QtI  UB9鰕: :)rǙ7 8)I tIi D ;);Ih8I9*G2GFFrFbFEE)u;I}9 yyiyIyi 2@<:@w: ߡT) ,DS(A)IYt.P@t. ^@yt.^Nt.MB>t.H,Ł? j@Mտ`;7? Is?'?@i?)u.P@ u.2o;Iu.CxBHf>xB E)-dGF@Yʍ<>ʹQD >I  IE7ٮ   QMtI  UuB9  Q< v<) 7 }8)yIy tIiy Dy }:)}R:I}%8)I)91*GA2GAFAFArFIbFiEqEq);I9 iIi 2@<:@w: $Z) m(AYt*^O@t*i^@yt*t*u>t*H\1`?4տ U¡?`r?.W?@?)u*^O@ u*t;Iu*CxBMl>xBLEiPIRѓC) 4= 4=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmF<<m>iqQuDq}}>I I7ٮ QtI  UB9鰅: :)v7 8)I tIi D  ;);I8I9*G2GFFrFbFE E )=;I=9 AAiAIAIIiII I2@}<:@}w: ߉ia) (AYt2OP@t2^@yt2c-Ut23>t2HV#`q? 1 տ!? {?F?&?)u2OP@ u2'r;Iu0xB,t>xB#EGFAAHD)F@Y%%>))Q-D)-CK<5>I1 I]7ٮ1 M]71 QetI 1 UeB915#; 5Է;)5a7 m8)iIi mtIii uDi m!:)mV:ImCμ8I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: Ag) ՠ(A Yt*d P@t*o^@yt* t*>t*Hl/@T^?-`E=տ1`a?I_? ڭ?r?)u*d P@ u*p;Iu*CxB~>xBEilIr̓C)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥp0<>ʡʩQDʩͭ&>I I7ٮ QtI  UB9鰽ٮ: :)67 8)I tIi D :):I\8I9*G2G1F1F9rF9bF9EAEA)u;Iu9 yyiyIyi 2@<:@w: m) }(AYt*u$P@t*^@yt*-񹹙t*ԓ>t*H2+ jv? 9Vտ90?%>7?!9??)u*u$P@ u*R@p;Iu*CxBh>xBE)~Gi=xA9F@}Y}<>ʁʁQDʁ͍;>I I7ٮ QtI  UB9鰕$; ;)XQ7 8) 8I tIi D :):IZ8I9O Done Waiting.' O 8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9EAEA)u;Iu9 qyiyIyyi 2@<:@w: i>>t) :(AYte`O@tek3^@yteT7teyw>teH`DP?@b= _Կ \`m?y?`ء?@n?)ue`O@ ue`o;Iuax>xEH=Ha=iI)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YƼ>QD0>I I57ٮ Q5tI  U5B99; :)+p7 E8)9I9 EtIi9 ED9 =Ր:)= :I=98qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 198.924547 arcdeg .q'-'-*G)2G)F1F1rF1bF9E9E9)m;Iu9 qqiqIqyyiyy 2@m<:@mw: ߁{) f(A);IYt2"O@t2-x^@yt2!t2>t2H 9 ]?`մoտ@L?`9?`?B?)u2"O@ u2sp;Iu2CxB"h>xBE) ҄GF@Y%rv;%>!)Q-D)-ZG<-?I1 I=7ٮ11 Q=tI 1 UEB915: 5:)57 M8)AIA MtIiA MDA E:)E:IEV8YIa9a=O@Contact HDG: 155.516509 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;IM9 IQiQIQQYiYY Y2@e<:@ew: y) VD(AYt*O@t*^@yt*펺t*^ >t*H5@*?׎@տ@}?Q?`3?w?)u*O@ u** p;Iu*Cx>jw>x>"EiLINѓC)z+G|~%=F@=Y=l<E>AAQEDAM;M>IQ I7ٮQQ QtI Q UB9QU'< U<)U7 8)I tIi D :)9:I%y8I9*G 2G F FrFAbFAEAEI)};I}9 yyiIi 2@<:@w: ߑi?A!) ""(AYt2t2HML` ?`7ܲ@Կ@+:e?ˊ? ??)u2C>xBEGB@AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGa 1a 1 a 5a 5 a 9a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@MYU߼]>YYQeDamǢm>Iq I}7ٮqq QtI q UB9qu; uj;)u7 8)I tIi D <)st.H@ ?J?@Կ`A@Y?s?u'??)u.O@ u.=p;Iu,xNe>xRP EihIh)5GF@}Y}|<>ʁʁQDʁ͍-c<>I I7ٮ QtI  UB9鰕=; ;)9ۚ7 8)I tIi D %:):I8I9*G 2G FFrF9bF9E9E9)M;IU9 qqiqIyi 2@<:@w: 57) DU(AYtRUQO@tR`]@ytROϺtR'>tRHM?`,~Կ#? Y??C?)uRUQO@ uRo;IuRCxrI>xrE)uvGiuyAya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yr;>QD%T%>I) I]7ٮ)) QetI ) UB9)-O< - P<)-.7 8)I tIi D :):I8I9*G2GFFrFbF E E );I%9 !!i!I!IIiII Q2@U<:@]w: ߉R>t>a]) Ҫo(AYt*!O@t*]@yt*Izt*c>t*HnT?`ٴ aԿ8q? H?@#??)u*!O@ u*t;Iu*CxBw>xBjEHBR=HDiTIT) GF@mYmu>qqQuDq}n}>I I7ٮ M7 QtI  UB9鰅Գ: :)<7 8) 8I tIi D &:):I#8I9*G2GFFrFbFEE);I9  i I  i 92@M<:@ew: yE) (A)4t*HCN?`9ƴԿ`x37? s?`??)u*MO@ u*Dt;Iu*CxN"h>xRE)GF@]Ye<e>aaQeDimk;m>Iq I7ٮqq QtI q UB9qu6< uj<)u-7 8)I tIi D :)˚:I:$8I9!OEDone Waiting.'EOE8Uninitialize Wait Component.*GA2GAMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFiEqEq);I9 iIi 2@<:@w: ߱o) b(AYt*ApN@t*L]@yt*t*>t*H`pE3?F<ӿa`3????)u*ApN@ u*q;Iu(xBr>xBIEiLIP)~SG%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aaQmDimm>Iq I}7ٮqq Q}tI q UB9qu9: u:)uCI7 8)I tIi D O:):IE8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.951941 arcdeg .q''*G2GFFrFbFEE);I9 i I )1i11 12@=<:@=w: Qi) <(AYt*N@t*]@yt*Sqyt*>t*H_r?4봿Կa`?`-?p? |?)u*N@ u*]t;Iu*CxBMl>xBLEGBAAHFAA)~GF@=YEitE>AIQMDIM2<M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)Ud7 m8)aIa mtIia mDa e:)e:Ief8yI9=O@Contact HDG: 155.516509 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 1) (A@ Yt:wN@t:W]@yt:λt:(>t:H`hJ?DNӿ`<@4?y? x??)u:wN@ u:Zr;Iu8xFi>xFEiPIP)-GF@}Yʍ<>ʙʡQDʩ>I I7ٮ QtI  UB9; ס;)X7 8)I tIi D :)؛:I8)I)9)*G92GAFAFArFIbFIEIEI)m;Im9 iiiiIii 2@<:@w: 1׫) (AYt2E N@t2P\@yt2Bt2}>t2H@W`;?1'qWӿz"Z?U?_?@?)u2E N@ u22q;Iu2CxNr>xRIE)!i!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥta>ʩʩQDʱ͵ȼ>I I7ٮ QtI  UB9鰽: :)7 8)I tIi D ٮ:)R:I8I9*G2GFFrFbFE E );I9 !!i!I!))i)) )2@5<:@=w: I>>Y)  (AYt*lN@t*]@yt*)t*a>t*HEq%?p첿`lӿ~G? 3?`S??)u*lN@ u*q;Iu*Cx>Ze>xB EHBp=H@i^f=I^̓C)F@=YE;E>AAQMDIM<M>IQ Ie7ٮQQ QmtI Q UuB9QUL< U[M<)UJ7 8)I tIi D :)I:I;8I9*G2GF F rFbFE1E1)M;IM9 IIiIIIqqiqq y2@}<:@w: ߑ) $(A) IYt.M@t.q\@yt.7jٻt.F >t.H`s?-ӿOS ?9-{??`ǽ?)u.M@ u.\q;Iu.Cx^jw>xb"E {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@MYU <]>aaQeDam m>Iy I7ٮyy QtI y UB9y}b: }f;)}i՛7 8)I tIi D  :):I,8I9*G2GFFrFbFEE);I 9  i Ii !2@-<:@-w: AU) ۆ>(AYt.M@t.!\@yt.qt.qo>t.HȂ?IK`Eӿ <@}?@xBqEiv=It)edGm4=iF@uY}}>ʁʁQDʁ͍<>I I7ٮ QtI  UB9鰍: 9:)7 8) 8I tIi D :)@:I8I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: i) `X(AYt*M@t* \@yt**'t*{>t*H %? X@s*ӿhy?@ ?@~?`?)u*M@ u*t;Iu*CxBn>xBEGB?AHB@A)F@Yʍ6<>ʉʉQDʉ͕>I I7ٮ M7 QtI  UB9鰝Գ: s:) 7 8)I tIi D :):I38I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )M) x~u Ei!I!)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y  >  Q D>I I%7ٮ Q%tI  U%B9: :)Y'7 58))I) 5tIi) 5D) -:)-:I->W8AIA9A&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q'eN@Vehicle HDG: 197.426468 arcdeg .q''*G2GFFrFbFEE);I9 i I i 2@<:@w: 10) /(AYt*M@t*m\@yt*ZAt*K>t*H?Wr?Ɨ #ӿ + ? ???@?)u*M@ u*Zu;Iu*CxB}>xBE)SGiwAF@=YEъE>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q U]B9QU2: Ux:)U*A7 m8)aIa mtIia mDa e:)e:Ie#w8yIy9=Om@Contact HDG: 155.516509 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFiFrFbFEE);I9 iIi 2@<:@w: R>l> ) (Ax~s>x~EHHp=iI)}dGF@Yʕ>ʑʑQDʙ͝>I I7ٮ QtI  UB9鰥:: ٮ:)q]7 8)I tIi D h:)$:I8I9*G2GFFrFbFEE);I9 iI!)i9A Q2@]<:@mw: 6) Ϳ(A) IYt."M@t.-[@yt.3t.\}>t.H S?|®]ҿ`4k? {?X? ?)u."M@ u. t;Iu.CxNb>xR E)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY} ;}>ʁʁQDʁͅ3>I I7ٮ QtI  UB9鰍W: :)x7 8)I tIi D [:):Iػ8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) /(AYtB3L@tB>[@ytB>/tB6>tBH غ?첿`aVҿ ]Jl? ?`ʴ?ƙ?)uB3L@ uBr;IuBCx^:m>xbEilInѓC)=SGE%=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ :>ʡʡQDʩͭ>I I7ٮ QtI  UB9鰵: :)7 8)I tIi D :):IN޿8I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: Ai)I) ‡(AYt:M@t:[@yt:C't:i>t:HW?@BlҿN j?J?@?`?)u:M@ u:u;Iu8xNDy>xNEEGRAAHP)GF@]Y]A:e>aaQeDamIl;m>Iq I}7ٮqq Q}tI q U}B9qu: u:)u7 8)I tIi D ::)N:I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 3) nn (A Yt>?L@t>J[@yt>q")t>>t>H 8?$ Hҿ<d?5$?/?/?)u>?L@ u>s;Iu>CxZv>x^GEihIj֓C)5GF@EYE5M>IIQMDIUþU>IY Ie7ٮYY QetI Y UeB9Y] : ]:)],˜7 m8)i u8Ii utIii uDi m=:)m;:Im~!8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Z ) }<' (AYt*LL@t*Z@yt*t*Ԕ>t*H@R2?󉰿 vѿ]? "?@?@?)u*LL@ u*W$s;Iu*Cx>j>xBqE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GixAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YʍHX;>QDP>I I7ٮ Q tI  U B9S: {;)^7 58)1I1 =tIi1 =D1 5N:)5:I5aH8III9ODone Waiting.' O 8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I19AiAA i2@u<:@uw: ߡ>t>B) A (AYt*M@t*[@yt*YEt*>t*H? wPrҿ @H@K ? h?xB#EHBa=HBa=){FyI{Di{F={D{D{FA{D|FA9|F:"L?Nyi`IbѓC)=GF@]Ye޺e>aaQmDim=m>Iq I7ٮq M7q QtI q UB9quM; u';)uy7 8)I tIi D :),:I!f8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.754063 arcdeg .q''*G2GFFrFbFEE2EzEAEgשZ,@5 4E:"L?NyEyEEȊj3ś8.@ c{E :\"Q]α(?xAIEοEӻ@=DHdg To Contact =142.105788 degreesZEqAbEP:Euo$?BEo$?JE| RE jErE)U;IU9 QQiQIQYYiYa a2@e<:@mw: ߙ$Dacoustic_contact_range 25.320000 m$hTrackAcousticContact.heading_to_contact 2.480214 rad$ LDUSBL_Hydroid.xAngle -55.950000 arcdeg&l) Z (A);IYt*JL@t*Z@yt*'t*$>t*H3`{?`rAѿYB`?@9{?>?J?)u*JL@ u*r;Iu(xBu>xBE)|a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeg;e>iiQmDimu>Iq I}7ٮqq QtI q UB9qu: u_:)u7 8)I tIi D :):Iڇ8I9=O@Contact HDG: 142.105788 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@-<:@5w: Ae) t (AYt*&L@t*1q[@yt*KQt*>t*H D@/? ҿ@ ,Y?j~? 5??)u*&L@ u*Vr;Iu*CxBn>xBEiPIP) 4= F@Y%:%>))Q-D)-I<5>I1 I=7ٮ11 Q=tI 1 UEB915k: 5:)597 M8)III MtIiI UDI M̒:)M$:IM58aIa9a*Gq2GqFqFyrFybFEE);I9 iIi 2@<:@w: i~#) ; (AYt*d2L@t*oZ@yt*!t*:>t*H`n`?Ӌѿ@e.?=?n0?@?)u*d2L@ u*zq;Iu*CxNS>xN5EGR?AHP)SGF@-Y-ƻ5>11Q5D1==>IA IM7ٮAA QMtI A UMB9AE: Eٮ:)ET7 ]8)QIQ ]tIiQ ]DQ US:)U:IUc8iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: ))  (A Yt.OL@t.Z@yt.t.R>t.H_?|@(ѿ]6;9?+߃?@?Yl?)u.OL@ u.r;Iu,xBv>xBEiLIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>iiQmDim;u>Iq I}7ٮqq QtI q UB9quB: u:)up7 8)I tIi D p:)A:I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %0) \ (AYt*gL@t*[@yt*(t*>t*H`0? pf ѿ ]+???Ř?)u*gL@ u*r;Iu*CxBHf>xB E)~GiF@=YE俺E>AAQMDIMk;M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)U7 m8)a m8Ia mtIia mDa ec:)ew:Ie8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Y>x>6) 6 (AYt*5 L@t*@Z@yt*'t*߄>t*H`@?@ qѿ`? 7?0l?u?)u*5 L@ u*lq;Iu*CxRp>xREHVp=HVp=i`Ib̓C)%+Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʭT;>ʩʱQDʱ1V>I I7ٮ QtI  UB9: :)ܨ7 8)I tIi D ;);I/38!I)9)*GY2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: <)  (A)IYt2KL@t2Z@yt2tFt2u>t2H`8?{:@ѿL?@lΈ?H?@?)u2KL@ u25p;Iu2CxB]>xBxE)ESGF@]YeR:e>aiQmDim4 <m>Iq I}7ٮqq Q}tI q UB9qu: u:)uÝ7 8)I tIi D :)Ԙ:IT8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: JC) !(AYt*UL@t*[@yt*ut*wG>t*H@?`w ѿ`61???l?)u*UL@ u*nq;Iu*CxBw>xBjEiPIP)G %= F@mYu<u>qqQuDy}1:}>I I7ٮ QtI  UB9鰅F: :)9ߝ7 8)I tIi D :)|:IMv8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 196.069336 arcdeg .q'='E*GA2GEӻ@FQFarFibFiEiEi);I9 iI2,@iӻ@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.480214 radi@A!I) )!(AYt*b3L@t*mZ@yt*DGt*>t*H`&?`.ѿSӜ? @?$?K?)u*b3L@ u*Aq;Iu(xBs>xBEGBAAH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a u a 5u@a u a 9u@a u a -u@a } QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@5Y=m=>99QEDAEmE>II I7ٮII QtI I UB9IM: M,:)M7 8)I tIi D o:):Iz8I9=OU@Contact HDG: 142.105788 arcdeg .'U']O]4Initialize Wait Component.*GY2GYFaFarFbFEE);I9 iI(@i 2@<:@w: YEP) DC!(A Yt*L@t*8[@yt*k+t*cY>t*H{?멯`ѿB?@Im?[? e?)u*L@ u*6q;Iu*CxB5g>xB*EiXI\)GF@]Ye;e?aaQmDim<m?Iq I}7ٮq M}7q Q}tI q UB9quE: u(:)u;7 8)I tIi D ::)o:I<8I9*G2GFFrFbFEE);I9 qqiqIq}32%@iyy 2@<:@w: ߙSW) ]!(AYt*0dL@t*;[@yt*?Kt*C>t*HTT?` vѿ?|v?` ?I?)u*0dL@ u*Pq;Iu*CxRb>xRQ E)҄Gi!!a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ靻>ʉʉQDʑ͕>I I7ٮ QtI  UB9鰝\: >:)*27 8)I tIi D t:):I8I9*G2GFFrFbFEE);I9 iI@i   2@<:@w: !>-2]) Yw!(AYt*hL@t*[@yt*V0t*>t*HԼ0?@~ ѿ`V4Z?.???)u*hL@ u*gq;Iu*CxR?s>xREHPHVa=idId)%+GF@eYeE;e>iiQmDiuD<:u>Iy I}7ٮyy QtI y UB9y}: }:)}hM7 8)I tIi D :)c:IY8I9*G2GFFrFbFEE);I9 iIA@i 2@<:@w: id) 5!(A) IYt*M@t*[@yt*/nQt*&>t*H9 ?A gҿW`? -? B?`Ϊ?)u*M@ u*Zr;Iu*CxBi>xBE)~GF@=YEڣE>AAQMDIMP<M>IQ I]7ٮQQ Q]tI Q UeB9QUu: UW:)Uh7 m8)a m8Ia mtIia mDa e:)ew:Ie 8I9*G2GFFrFbFEE);I9 iIpH@i 2@<:@w: Dj) !(AYt*L@t*/[@yt*Gkt*>>t*H@ 2?d,ѿe&?F~?Ύ?5?)u*L@ u*i s;Iu*CxZi>xXihIh)-ƄG54=5=a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQDʡͥD>I I7ٮ QtI  UB9鰭J: [:)7 8)I tIi D h:):IC8I9*G2GFFrFbFEE) ;I 9  iI;@i 2@%<:@%w: 1i?A",q) !(AYt**M@t*[@yt*TKt*>t*H` ? Bҿ?_ ?P? ?)u**M@ u*t;Iu*CxBT>xBEG@H@)aaQmDim<m>Iq I7ٮqq QtI q UB9quN; u(;)u7 8)I tIi D :):Id8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)];I]9 YYiYIae" @aiii i2@u<:@uw: ߁Vw)  !(A Yt..L@t.9[@yt.j]Et.tt>t.H@?@4ҿwf࿅? ?`?@?)u..L@ u.t;Iu,xN]>xREi\I\)eGF@uYu)}>yyQ}DyͅH>I I7ٮ QtI  UB9鰍:  :)⻞7 8)I tIi D h:):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 196.528380 arcdeg .q'M'M*GI2GIFQFQrFYbFYEaEa)u;I}9 yyiyIy@i 2@<:@w: ߡ}) H!(AYt.MM@t.[@yt. t.<@>t.H^@?:ҿK`p?(A?wd? ?)u.MM@ u.6s;Iu.CxBw>xBjE)i  a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y;>QD<>I I7ٮ Q tI  U B9S: 5:)~؞7 58)I =tIi =D  ;);I 8III9I=O@Contact HDG: 142.105788 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E )=;I=9 AAiAIAM@iII i2@u<:@uw: ߉R>a>Dh) J|"(AYt*J M@t*U[@yt*ht*'>t*H?"dҿ~ ?z:?$? d?)u*J M@ u*=t;Iu(xBm>xB'EHFa=HDiPIP)F@=YE> 8E>AIQMDIM.M>IQ I]7ٮQQ Q]tI Q UeB9QU: Ux:)U7 m8)aIa mtIia mDa e:)eȗ:Ie=8yIy9*G2GFFrFbFE!E!)];I]9 YYiYIYe .@iaa i2@m<:@uw: ߡ) eo,"(A),I0YtbEM@tb[@ytb\)tb^mx>tbH7?@.ڮ@,ҿ`W?{+?@?@?)ubEM@ ubr;IubCxju>xnE {lY|pr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD;>I I 7ٮ M 7 Q tI  UB9N: 0:)C7 8)I tIi %D :):I8)I191*GA2GAFAFIrFIbFIEQEQ)e;Im9 iiiiIiu@@qiqq q2@}<:@}w: ߑz) 4F"(AYt*zM@t*=\@yt*tt*M>t*H[R? Pҿ{`@?΂?@ ?L?)u*zM@ u*lr;Iu*CxBHf>xB EiXIZѓC)%==F@]Yepm;e ?aaQeDaml<m ?Iq I}7ٮqq Q}tI q U}B9qu: u:)u)7 8) 8I tIi D :):I8I9*G2GFFrFbFEE);I9 iIӻ@i 2@<:@w: iK) J `"(AYt*M@t*W\@yt*,/t*MD>t*H[? ۝>ҿ4N?? '??)u*M@ u*vq;Iu*CxB"h>xBEG@HD)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe|te>iiQmDiuu;u>Iy I}7ٮyy QtI y UB9y}1: }l:)}E7 8)I tIi D ::)9:I08I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Ν) )y"(A Yt*M@t*d\@yt*$ot*d >t*H@Ō?@O` ӿ xS?Э?`K?`T?)u*M@ u*p;Iu*CxBRr>xBEiPIV̓C)+GF@=YE1;E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)U`7 m8)aIa mtIia mDa e:)e,:IekR8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) ѓ"(AYt6M@t6\@yt6t6>t6HQ?`簿`sLӿ-`B??z??)u6M@ u6q;Iu6Cx^Ml>xbLE)Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y zJ: >QDy"<>I I%7ٮ Q%tI  U-B9: :)A~7 58)1I1 5tIi1 =D1 5:)5Ԙ:I5v8AIA9IO]Done Waiting.']Oe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFqbFqEqEq);I9 iIi 2@<:@w: ߹>) 4"(AYt*M@t*\@yt*o*t*09>t*H ?@ Cӿ`^h`*M? ;~?? P?)u*M@ u*p;Iu*CxBb>xBQ EH@H@iPIRѓC)F@]Ye;e>aaQeDimkѺm>Iq I7ٮqq QtI q UB9qu; uõ;)uJ7 8)I tIi D :):I/8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.516052 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@5<:@5w: Iȱ) {"(A) I Yt*'XN@t*2]@yt*rt*R>t*H t ?ӿ6@9?3?@??)u*'XN@ u* q;Iu*CxNv>xRGE)F@YʥJ>ʡʡQDʡͭ t<>I I7ٮ QtI  UB9鰵`: c:)h7 8)I tIi D }:)o:I8I9=Om@Contact HDG: 142.105788 arcdeg .'m'uOu4Initialize Wait Component.*Gq2GqFqFyrFybFyEE);I9 iIi 2@<:@w: ) &V"(AYt* N@t*\@yt*Xt*ل>t*HL? YӿFv`?j?`xk?@?)u* N@ u*@kp;Iu*CxNi>xRNEi\I\)!%=a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y*;>QD 7 >I I57ٮ Q=tI  U=B9=; ;)П7 E8)AIA MtIiA MDA E:)E9:IE8yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@ w: i}) /"(AYt*N@t* /]@yt*bK t*|y>t*H`&nJU?`8ӿ?@^? ?@ ?)u*N@ u*o;Iu*CxBe>xBP EGDHFAA)~GF@=YEE>AIQMDIM<M>IQ I]7ٮQQ Q]tI Q UeB9QU: Up:)U7 m8)aIa mtIia mDa eh:)e:Ie8yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: a ) #(A( ,Ytv,{N@tv7(]@ytvQtvL>tvHBo@$?ʳ`ӿA@?@(?z? I?)uv,{N@ uv|dp;Iutx~xp>x~EiI)mvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yy;>QD>I I7ٮ M7 QtI  UB9: o:)7 8) 8I tIi D Ԙ:) :IW 8 I9*G!2G!F!F!rFbFEE);I9 iI  i  2@<:@w: Q.) .#(AYt*ǁN@t*.]@yt*+t*鎑>t*H n-?V@ӿM.,E?`~???)u*ǁN@ u*o;Iu*CxNp>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGiF@Y>  Q D :>I! I-7ٮ!! Q-tI ! U-B9!%; %j:)%#7 E8)9I9 EtIi9 ED9 =:)=:I=C8aIa9i*G2GFFrFbFEE)-;I-9 )1i1I119i99 92@E<:@Ew: Y>i) {H#(AYt*FN@t*\@yt*<ﻙt*2>t*H[w@P?@۶ӿ`ud@ ?`}?` ??)u*FN@ u*ap;Iu*CxBm>xB'EHDHFp=){FnF>I{Di{F={F>{D{F B{D|FA9|F?8C ?i`Ib̓C)GF@]Yez<e>aaQmDimm>Iq I}7ٮqq Q}tI q UB9quu: u :)u=7 8)I tIi D :):Ic8I9*G2GFFrFbFEE2EzEAE4.X>@bc*@E?8C ?EnF>EEQAn <{E+(ß?ENkgUܿ?*#?Erf@=DHdg To Contact =206.308582 degreesZE]bE[:E^o$?BEuo$?JE RE| jE?rE);I9 iIi 2@<:@w: $5Dacoustic_contact_range 31.320002 m$=hTrackAcousticContact.heading_to_contact 3.600764 rad$EHDUSBL_Hydroid.xAngle 8.800000 arcdeg:A) b#(A)4t.H`|s5?hӿ`?z?<?s ?)u.-_N@ u.x^ E)=SGa 1}a 1} a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ戻>ʡʡQDʡͭAn;>I I7ٮ QtI  UB9鰵 : $:)Y7 8)I tIi D h:):Iׅ8I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9Jk) cz|#(AYt*N@t*Y]@yt*Gt*>t*H Ugk?`Tv Pӿ D|?`)???)u*N@ u*to;Iu(xBp>xB%EiPIRѓC)5G54=5%=F@]Ye}e>aaQeDimB<m>Iq I7ٮqq QtI q UB9quZ; u;)ut7 8)I tIi D )|:I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 !!i!I!))i)) )2@]<:@]w: iiU) `#(AYt N@t a]@yt ,bAt ِ>t He c?􍳿ӿ(2? ,? M?˹?)u N@ u o;Iu Cxq>xEG%@AH%@A)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yu:>QD: >I  I7ٮ   QtI  UB9  : ):) ݑ7 %8)I %tIi -D :):I81I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'UN@Vehicle HDG: 198.192050 arcdeg .q''*G2Grf@FFrFbFEE);I9 iIL @irf@ 2@ <:@ w: !$=RHorizontalControl.headingCmd 3.600764 radK}) 0#(A Yt.N@t.A]@yt.ٗt.H k dY?"ӿES@u-?ْ?@??)u.N@ u.فo;Iu.CxBo>xBEiPIP)~҄GF@YʍD:>ʑʑQDʑ͝G>I I7ٮ QtI  UB9鰥 : ͭ:)u7 8)I tIi D ٮ:)s:I8I9=Oe@Contact HDG: 206.308582 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GiFiFirFqbFqEqEy);I9 iI"@i 2@<:@w: ߱d) R #(AYt*?N@t*J]@yt*t*JM>t*H`^?@D(Կ BD? ^??@?)u*?N@ u*˞o;Iu*CxB`>xB. E)~vGiyAF@ Y;>QD$P<>I! I-7ٮ!! Q-tI ! U-B9!%: %):)%Ơ7 =8)1 =8I1 =tIi1 =D1 5R:)5 :I5t 8III9Q*Ga2GaFaFarFibFiEiEq);I9 iI;&@i 2@<:@w: )>) \#(AYt* N@t*+]@yt*/Rt*_>t*H@6`@?8Կ= |?`VP?? O?)u* N@ u*2Yo;Iu(xBm>xB'EH@HFa=iPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeAe>iiQmDimu>Iq I}7ٮqq QtI q UB9qu : uа:)u77 8)I tIi D Ր:) :If/8I9*G2GFFrFbFEE);I9 iI<,@i 2@<:@w: a) #(A);I;Yt.MN@t.X]@yt.?1t.3@>t.H@[`?• 8ԿVG`?'? ?^?)u.MN@ u.o;Iu.CxNX>xRVE)%GF@-Y52;5>99Q=D9E;E>II IM7ٮII QUtI I UUB9IMի: M:)Me7 ]8)YIY etIiY eDY ]:)]g:I]P8qIq9q*G2GFFrFbFEE);I9 iI(1@i 2@<:@w: C) $(AYt*^O@t*i]@yt*OIt*1>t*HW@+?ޱdTԿPNt?@)? T?-?)u*^O@ u*Ao;Iu*CxBs>xBEiLIN̓C)~ƄGR=F@=YE'mE>AAQMDIM[;M>IQ I]7ٮQ M]7Q Q]tI Q UeB9QU: UR:)U7 m8)aIa mtIia mDa e[:)eo:Ie s8yIy9*G2GFFrFbFEE);I9 iI7@i 2@<:@w: i ) u1$(AYt*O@t*ʹ]@yt*0 t*>t*H`Y ?ײIԿF@?`?ߪ??)u*O@ u*p8o;Iu*CxB,t>xB#EG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eQD%<׺%>I1 I=7ٮ11 Q=tI 1 UEB915S; 5;)577 M8)III ]tIiI eDI M;;)MG;IM8qIy9y*G2GFFrFbFEE);I9 iIp<@i 2@<:@w: 1δ) YK$(A Yt*=O@t*]@yt*t*t>t*HP?p|Կ@D? ܁??`>?)u*=O@ u*Zo;Iu*Cx>,t>xaaQeDamQ<m>Iq Iu7ٮqq Q}tI q U}B9quh: ul:)uQ7 8)I tIi D :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIcA@i2> 2@<:@w: () -e$(AYt*O@t*]@yt*Gyt*>t*HUp?d`=^Կ`_=*?@/?`??)u*O@ u*Uo;Iu*CxR'n>xRpE)%Gi%wA)F@=YE"ιE>AIQMDIMM>IQ I}7ٮQQ Q}tI Q UB9QU; U;)Ul7 8)I tIi D :):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.557998 arcdeg .q''*G2GFFrFbFEE)E;IE9 IIiQIQ}H@iY> 2@<:@w: QN>i>) [$(AYt*,lO@t*7^@yt*d)t*n>t*HI-+? Կ`O D|?j,? X?0?)u*,lO@ u*Ro;Iu*CxBg>xBsEH@HDiTIVѓC)Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥe>ʡʡQDʡͭ<<>I I7ٮ QtI  UB9鰵; o;)47 8)I tIi D :)Ԙ:I8I9=O@Contact HDG: 206.308582 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=Di=h:>9 A2@E<:@Mw: y%) $(A)4t*H.D A?Կ3?? ?@?)u*ֈO@ u*]o;Iu*CxNu>xRE)GF@Yʥ>ʡʡQDʡͭ;>I I7ٮ QtI  UB9鰵: l:)Ƥ7 8) 8I tIi D c:)4:I[8I9*G2GFFrFbFEE);I9 iI ?i"j>! !2@-<:@-w: > >,) ƾ$(AYt*ɖO@t*C^@yt*<t*>t*H@*Bc%?`Կ LX+? S؃?y? ¶?)u*ɖO@ u*o;Iu*Cx2k>x6Ei@IB̓C)rGr=v4=a 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYE;M>IIQMDIU;U>IY Ie7ٮYY QetI Y UeB9Y]: ]:)]7 m8)iIi utIii uDi m:)m:Imt?8I9*G2G1F1F9rF9bFAEAEA)u;I}9 yyiyIyJ:i= 2@<:@w:>8{> ߙi3) $(AYt*eO@t*^@yt*זt*>t*H-J1?jԿ@!( l?ɲ?(?`?)u*eO@ u*(o;Iu*Cx2?s>x2EG6AAH4)rGF@zYz:z>||Q~D|>I  I 7ٮ   QtI  UB9  : l:) uڡ7 8)I %tIi %D :)R:I`81I191*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiuV5iu =q y2@}<:@w:]LR> a:+9) t$(A@ Yt*-pO@t*8^@yt* et*6{>t*H{H .?; }ԿY ?,? )?7 ?)u*-pO@ u*o;Iu*CxNo>xREi\I^ѓC)ƄGa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQDʁ͍:>I I7ٮ QtI  UB9鰕: N:):7 8)I tIi D h:):I'8I9*G2GFFrFbFEE);I9 iI,1i}= 2@ <:@ w:Em$> (@) YP%(AYt*O@t*S^@yt*C t*L>t*H?S?5@Կ`>4??ay??)u*O@ u*o;Iu*CxN{]>xR/E)aaQeDim?<m>Iq I}7ٮq M}7q Q}tI q UB9qu: u:)u7 8)I tIi D p:)c:Iݥ8I9*G2GFFrFbFEE);I9 iI#.i>fL= 2@<:@w:-;> 1R>>N=F) +%(AYt*sO@t*~Y^@yt*80t*>t*H@> F?aeԿ?J?Æ?W?)u*sO@ u*"p;Iu(x6Dy>x6EEH6p=H4i@ID)rGa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYE&M>IIQMDIU\f:U>IY Ie7ٮYY QetI Y UeB9Y]%: ]į:)]-7 u8)iIi utIii uDi m:)mo:Im8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIʬ+i?o< 2@<:@w: > ߹gL)  4%(A);IYt._O@t. ^@yt.1t.>t.HK=?Կ  ?x3?T{??)u._O@ u.p;Iu.CxZn>x^E {`Y|`f8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGF@Yi>QD 5>I I7ٮ QtI  UB9h: :)J7 8) I  tIi  D   ;)  ;I g81I199&UM]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q'eN-@Vehicle HDG: 198.788954 arcdeg .q'-'-*G12G9F9F9rFAbFAEAEA)];I]9 YYiaIae!*ieٝt*H`C;?`d @uԿ?!?2?@D??)u*O@ u*o;Iu*CxB'n>xBpE){BCoI{@i{B7={B>{@{B`A{@|BQA9|B" ?]B>rilIl)9E4=EC=F@]Yem;e>aaQeDam ;m>Iq I7ٮqq QtI q UB9qu-< u<)uDe7 8) 8I tIi D $:)Ӡ:I 8I9=Ou@Contact HDG: 206.308582 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE2EzEQAE1@)@r]S1E" ?]B>rECoEEF Ք1E`[\'@KCj)Ex$]îZ?\Wz~ɿEo#@=DHdg To Contact =146.398807 degreesZE:AbE:Ezo$?BE^o$?JE RE jEKrE?);I9 iI*D=i  2@<:@w: 5[= 1$eDacoustic_contact_range 21.540003 m$mhTrackAcousticContact.heading_to_contact 2.555141 rad$uLDUSBL_Hydroid.xAngle -53.550001 arcdegiyY) g%(AYt*BO@t*]@yt* t* >>t*HO6?gFTԿ%A`?D\?`?@?)u*BO@ u*4o;Iu*CxBh^>xBEGB@AH@)ʩʱQDʱͽ3>I I7ٮ QtI  UB9h: :)7 8)I tIi D :):I.8I9*G2GFFrFbF E E );I%9 !!i!I!-2=+i-=) )2@5<:@=w:-\J= ia`) %(A Yt*6O@t*]@yt*Jwt*t;>t*HQ ?jr`TvԿ1?`?΀?%? ?)u*6O@ u*Xp;Iu*CxNp>xREi`Ib̓C)%SGF@Yʭ.:>ʱʱQDʱͽ(>I I7ٮ QtI  UB9: ٮ:)7 8)I tIi D :):IP8I9*G2GFFrFbF E E )%;I%9 !!i!I!-+-{=i)) 12@5<:@=w: = ^f) s%(AYt*v[O@t*^@yt*?t*f>t*H K?\ԿU<`??o?`?)u*v[O@ u*p;Iu*CxBDy>xBEE)~GiyAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeue>iiQmDim-;u>Iq I}7ٮqq QtI q UB9qu: u:)u7 8)I tIi D :) :I'r8I9*G2GFF1rF9bF9E9EA)u;Iu9 qqiyIy}ʬ+iy 2@<:@w:@o= ߱>p>wl) N%(AYt*N@t*߬]@yt*>t*%>t*H@9Z?eAԿ*6?@`ه?`Q(?@?)u*N@ u*+p;Iu*Cx6Rr>x6EH6a=H6p=i@ID)vSGF@Y%,9%>!)Q-D)-g->I1 I=7ٮ11 Q=tI 1 UEB915>: 5c:)5Ӣ7 M8)AIA MtIiA MDA E:)E:IE~8YIa9a*Gq2GqFqFqrFybFyEE);I9 iIɬ+`=i 2@<:@w: )I iYs) 0)%(A) IYt.3O@t.]@yt./Pt.>t.H7R$?@T sԿc4@P?@)?7? ??)u.3O@ u.o;Iu.Cx6s>x6E)nGF@Y%*;%>!)Q-D)-<->I1 I=7ٮ11 Q=tI 1 UEB915: 5:)57 M8)AIA MtIiA MDA E::)E:IE8YIa9a*Gq2GqFqFqrFybFyEE);I9 iIʬ+C=i 2@<:@w: y) %(AYt*N@t* J]@yt*>t*݉>t*H@jE?qͳ`TӿM@OK?w? ??)u*N@ u*«o;Iu*CxBp>xB%EiLIP)~SG==a 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yep;e>aaQmDimm>Iq I}7ٮq M}7q QtI q UB9quY; u/;)u 7 8)I tIi D :)9:IN8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIˬ+$=i 2@<:@w: i) 6&(AYt*N@t*]@yt*4t*3>t*H_?@ Կ`a?`??`?)u*N@ u*lp;Iu*Cx>Hf>x> EG@H@)~GF@=Y=SE>AAQEDAM<M>IQ I]7ٮQQ Q]tI Q U]B9QUu: Ux:)U&7 e8)aIa mtIia mDa e:)eݖ:Ie8yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.332192 arcdeg .q''*G2Go#@FFrFbF!E!E!)=;I=9 99i9I9E' -iEr}2=Eo#@ I2@M<:@Mw: ߁$RHorizontalControl.headingCmd 2.555141 radن) '&(A@ Yt.N@t.4]@yt.72t.F>t.Hm`gL?$ӿ X ?F?`a?B?)u.N@ u.`p;Iu.CxRo>xREi\IbѓC)%ʩʩQDʩ͵~L>I I7ٮ QtI  UB9鰽%: į:)B7 8) 8I tIi D ˵:)D:I8I9=O@Contact HDG: 146.398807 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI0iƄ= !2@-<:@-w: q,) $6&(AYt*N@t*F]@yt*Bt*n>t*H.jW?ꥲӿ B`?O?>?c?)u*N@ u*N q;Iu*Cxv{>xvE {xY|xz8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gi-xA1F@uY}>ʁʁQDʉ?%;>I I7ٮ QtI  U-B9*< !+<)`7 E8)9I9 EtIi9 ED9 =m:)=:I=C8I9*G2G F F rFbFEE);I9 iI 5i != 2@}<:@w:>l> ) .sP&(AYt*c%N@t*n\@yt*t*>t*HG|@?s ]rӿ X`?iv?+?H?)u*c%N@ u*p;Iu*Cx>,t>xB#EH@H@){BH^I{@i{Bn={B7>{@{BB{@|BA9|B(G& ?9fli`Ib̓C)!F@=YEw;E>AAQMDIMM>IQ I7ٮQQ QtI Q UB9QU{< U<)Ux7 8)I tIi D :):Ita89I999*GI2GIFIFQrFbFEE2EzEAEf[4@N{]7E(G& ?9flEH^EEu.:\/@CEEx-)`꿮c.?#PUlɿE&@=DHdg To Contact =149.082758 degreesZEzAbEv:Eco$?BEzo$?JE| RE jErEK);I9  i I 9iHo> 2@<:@w:Nw = )$MDacoustic_contact_range 31.139997 m$UhTrackAcousticContact.heading_to_contact 2.601985 rad$ULDUSBL_Hydroid.xAngle -49.750002 arcdeg/) wNj&(A)4컙t.F%>t.HFy`? <;,ӿwrb?}?U? t?)u.:N@ u._lp;Iu.CxBs>xBE)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʥq;>ʡʩQDʩͭF;>I I7ٮ QtI  UB9鰽>: 5:)s7 8)I tIi D ;);I8I9*G12G1F9F9rF9bFAEAEA);I9 iI?if&> 2@<:@w:eQO= i) A)&(AYt*M@t*ŀ\@yt*{t*Z>t*H`?@'($ӿ @&Y?۳?@=??)u*M@ u*p;Iu(xB"h>xBEiPIP)G %= %=F@Y%ʻ%>!)Q-D)- ->I1 I=7ٮ11 Q=tI 1 UEB9154: 5:)57 M8)AIA MtIiA MDA E:)E :IEܣ8YIa9a*Gq2GqFqFqrFbFEE);I9 iI>Diˋ@> 2@<:@w:]ٹ= qi() &(AYt:M@t:s\@yt:"t:b>>t:H yŐ?z >ӿ i y?kS???)u:M@ u:&Yp;Iu:CxNo>xNJEGRAAHP)UׄGF@Yʭc=>QD>I I%7ٮ Q%tI  U%B9: :)=ͣ7 58))I) UtIi) UD) -;)-;I-f8aIa9a*G2GFFrFbFEE);I9 iI#G@iͅi> 2@<:@w:)U=IUa=%= )nR) a&(A@ Yt*ϬM@t*Y\@yt* 5t*n>t*H@Bz?ܱGҿ4f@4?? =??)u*ϬM@ u*>p;Iu*Cx>o>x@iLINѓC)~҄Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ>>ʡʡQDʡͭ>I I7ٮ QtI  UB9鰵; Z;)7 8)I tIi D ̒:)E:I8I9*G)2G)F1F1rFQbFYEYEY)m;I9 iIۺB@iǃ> 2@<:@w:> ::) 0&(AYt*&BM@t*1[@yt**t*u>t*H{?"]ҿ`P? Q??@T?)u*&BM@ u*3p;Iu(x>j>xBqE)z+GizyAxF@Y%:%>!!Q-D)-q->I1 I=7ٮ1 M=71 Q=tI 1 U=B915: 5?:)5[7 }8)y }8Iy tIiy Dy }:)}:I} 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=@i > 2@<:@w:  > R>>h) &(AYt~]M@t~ \@yt~Ft~n=>t~H'`A?CXҿ9??v? ?)u~]M@ u~hBq;Iu~Cx l>x EHup=HqiI)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5@a  a 9@a  a -@a  aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y ;>!!Q%Dam`;m>Iq I}7ٮqq Q}tI q U}B9qu: u:)u#7 8)I tIi D :):I28I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.989418 arcdeg .q''*G2G&@FFrFbFEE)-;I-9 1iI!6@i&@ 2@<:@w:NM> $RHorizontalControl.headingCmd 2.601985 radL) &s'(A);IYt:|L@t:[@yt:/t:*>t:Hҩ6?5o@7Kҿ@j ?e?`PV?8?)u:|L@ u:Kq;Iu:Cx^p>x^E)eSGF@Y>QDw>I I7ٮ QtI  UB9= =)%;7  8)I -tIi -D ;)c;IR89I99A=O@Contact HDG: 149.082758 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E))=;I=9 99i9IAeQ1@iai i2@u<:@uw:r> S) e'(AYt*L@t*o[@yt* ?#t*Ռ>t*HK?@U@Rҿ `n?`g?`a? ?)u*L@ u*ar;Iu*Cx^Rr>xbEilIp)}G}4=F@Yʥ/>ʡʡQDʡͭ>I I7ٮ QtI  UB9鰵ܹ: {:)tV7 8)I tIi D :)|:Iq8I9*G2GFFarFbFEE);I9 iIl,@i 2@<:@w:1> )  9'(AYt*vL@t*H[@yt*!t*ql>t*Hֵ@$|? yްѿ @_?|2?? ?)u*vL@ u*r;Iu*CxMl>xLE {!Y|!-8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@%Y-c?95>11Q=D9>I I7ٮ QtI  UB9ͭ: :)}7 8)I tIi D :):IL81I191*GA2GAFAFIrFIbFEE);I9 i I - x'@i) 1 1 2@= <:@= w:] > i ) S'(A Ytf'LL@tf2Z@ytf^)tf>tfH>?Jwѿ@l?@?/?P?)uf'LL@ uf$r;IufCxc>x E){8gI{i{={{{A{|A9|?JP!iqIq)%҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y;>QDe?I IE7ٮ QEtI  UMB9^< G_<);7 U8)III UtIiI UDI Mt:)M:IMV8I9*G2GFFrFbFE E 2EzEAE8l2@%^7E?JP!E8gEEk]8-& 0@i-EK , ?eJȿE=J"@==DHdg To Contact =145.289557 degreesZEAbE:Eio$?BEco$?JE{ RE| jEѷrE)U;IU9 YYiI%@i 2@<:@w:E > Q $m Dacoustic_contact_range 29.760000 m$u hTrackAcousticContact.heading_to_contact 2.535781 rad$} LDUSBL_Hydroid.xAngle -51.750001 arcdegR) em'(AYt**L@t*Z@yt*o*t*wρ>t*Hm$'?Crѿ%u:?M?Y ??)u**L@ u*r;Iu*Cx'n>xpE)VGF@Y?QDB?I  IU7ٮ   QUtI  UUB9  ^< c:) 7 e8)YIY etIiY eDY ]h:)]:I]Z8I9*G2GFFrFbFEE);I9 iI$@i 2@<:@w:  ) I  ) b'(AYt*bL@t*mZ@yt*$t*@،>t*Ht?򛰿hjѿT??0b??)u*bL@ u*s;Iu*Cx>_>xB Ei\I^̓C)5GF@Yʽ:>QDhȻ>I I57ٮ Q=tI  U=B9]< e^<)Ť7 E8)AIA EtIiA MDA E:)EN:IEY8I9*G2G)F1F1rF1bF9E9E9);I9 iI$@yi 2@<:@w: qP) ԛ'(A)I4t.HB?n"ѿx? 6Ɂ?@D??)u.K@ u.{^s;Iu.Cx>Rr>xBE)~SGa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5]@a ] a 9]@a ] a -]@a e QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yʝk#;>ʙʙQDʙͥU,>I I7ٮ QtI  UB9鰭`< `<)T7 8) %8I %tIi %D Z:):I 8I9ODone Waiting.'O8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE);I9 iIF&@i|> 2@<:@w: p-) v'(AYt*~K@t*+Z@yt*)t*}>t*H@`?2пZ`ڛ?`:?a??)u*~K@ u*.s;Iu*Cx>Hf>xB EiLIL)GF@%Y==>IIQMDIU)U>IY I]7ٮYY QetI Y UeB9Y]: ]J:)]7 m8)iIi mtIii uDi mp:)m:Im>8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.316718 arcdeg .q''*G2G=J"@FF!rF!bF!E)E))];I]9 aaiaIam7&@mXBrim >m=J"@ i2@u<:@uw: $RHorizontalControl.headingCmd 2.535781 radT) ^'(AYtj K@tj7Z@ytj&tj]>tjH`z?I`пC sl?`ل??w?)uj K@ ujRt;IujCx5"h>x5E)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y9>QD9:>I I7ٮ M7 QtI  UB9|: ^<)g7 e8)aIa mtIia mDa eo:)e@:Iesh8yIy9=O@Contact HDG: 145.289557 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI˝$@i 2@<:@w: ^) '(A Yt*AK@t*Y@yt*Kt*)d>t*H F-?ncпshw?5܃? ??)u*AK@ u*9t;Iu*Cxbq>xbEipIp)=dGF@}Y}:>ʁʁQDʁ͍mX?I I7ٮ QtI  UB9鰕`: c:)$47 8)I tIi D -:):I8I9*G2GFFrFbFEE);I9 iIx/#@i 2@ <:@ w:e6Ʌ> qF) U ((AYt** K@t*5Y@yt*t*.>t*H@ L?`xп? W?l?+?)u** K@ u*M3u;Iu*Cxs>xE)iwAF@Yʽ!:>QD죻>I I7ٮ QtI  UB9; M;)FP7  8)I  tIi  D :)N:I89IA9A*Gq2GqFqFyrFybFEE);I9 iIF"@i 2@<:@w: )Ie>e> ߱p) g#((AYtB K@tBY@ytB@7&tB~>tBH 2?KпJ?Ƅ?}?@?)uB K@ uBu;IuBCxnb>xnQ EHpHra=i|I)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YEQںE>IIQMDIMa8u>Iy I}7ٮyy QtI y UB9y}l: }:)}Sm7 8)I tIi D ;);I8I9*G2GFFrFbFEE)=;I=9 99iAIAE=J"@MepiIi i2@u<:@uw: ߩ.) BC=((A)I;Yt>J@t>rY@yt>x(t>>t>Hk? 4п֢@??yT? _?)u>J@ u>t;Iu>CxN'n>xNpE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}+GF@Yʕ>ʑʑQDʙ͝0L>I I7ٮ QtI  UB9鰥: f:)7 8)I tIi D %:)|:I`8I9*G2GFFrF bF EE)E;IM9 IIiIIIQ]6oiYY a2@m<:@mw: I) W((AYt>J@t>%GY@yt>t>>t>H@@#?~P п@@Xv?`?`?:?)u>J@ u>/)u;Iu>CxNMl>xNLE){RQ =I{Pi{R={R+>{P{RpA{P|R@B9|RE ??ilIrѓC)MSGU%=Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y;u?qqQuDq}}>I I7ٮ QtI  UB9鰅Q< #<)7 8) 8I tIi D I:)ף:I8)I)91*GA2GAFAFArFbFEE2EzE@BERzH@ : @EE ??EQ =EEp݄F4Τ.ן@"?ER׍>UZԿ6iֺ?E]@=DHdg To Contact =198.551482 degreesZE&ubE6:E0o$?BEio$?JE RE{ jE?rEѷ);I9 iI  mi   2@<:@w: i$Dacoustic_contact_range 48.179996 m$hTrackAcousticContact.heading_to_contact 3.465377 rad$HDUSBL_Hydroid.xAngle 4.200000 arcdegiYY) Mq((AYt.J@t. UY@yt.t.Ov>t.Heb?JPпc_? ?`?@?)u.J@ u.Xt;Iu.Cx:xp>x:EG>?AH<)dGF@-Y5;5>99Q=D9E<;E>II IU7ٮII QUtI I UUB9IMͭ: M:)M7 ]8)YIY etIiY eDY ]%:)]|:I]-8qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIEli 2@<:@w: ߙ") Ԋ((A Yt.%J@t.0@Y@yt.4t.%x>t.H@b?Y`п@V ??Զ?C?)u.%J@ u.?t;Iu.Cx> c>x> EiPIR̓C)GF@=Y=E>AAQEDAMNM>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)U ٥7 e8)aIa mtIia mDa e}:)e:IeO8yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.492970 arcdeg .q''*G2G]@FFrFbFE!E!)5;I=9 99i9I9E5#@iAE]@ A2@M<:@Mw: $RHorizontalControl.headingCmd 3.465377 rad() e((AYt*7J@t*BLY@yt*.5t*jN>t*HQ`5?пѱI?@'? ? S?)u*7J@ u*t;Iu*CxBr>xBIE)zGi~xA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]]]>aaQeDam:m>Iq Iu7ٮqq Q}tI q U}B9qu: ug:)u7 8)I tIi D :) :Ipq8I9=O%@Contact HDG: 198.551482 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F1rF1bF9E9E9)M;IU9 QQiQIQ]&@iYY a2@e<:@ew: y]>]>v.) ɏ((AYt*SJ@t*Y@yt*'"t*=ʑ>t*H?' Ͽ ?T?C??)u*SJ@ u*t;Iu*Cx>g>x>sEHB4=H@iLIL)~SGF@=Y=>;=>AAQEDAM<M>II IU7ٮI M]7I Q]tI I U]B9IM: M:)M37 e8)aIa mtIia mDa e-:)eA:Ie/8yIy9y*G2GFFrFbFEE);I9 iItl*@iCf> 2@<:@w: 5) `((A) IYt J@t 1Y@yt N t >t H`xE, E)Ga 1a 1 a 5a 5 a 9a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=Y=?9E>AAQEDAM;M>IQ I]7ٮQQ Q]tI Q U]B9QUٮ: U):)U-7 e8)aIa mtIia mDa e:)e :Ie8yIy9y*G2GFFrFbFEE);I9 iI.E0@iE`@> 2@<:@w: ;) ;((AYt*)aJ@t*4Y@yt*W|t*Hi>t*H)?@@[Ͽ b?vσ?L??)u*)aJ@ u*Qs;Iu*CxBv>xBGEiLIP)vG%4=!F@]Ye89e>aaQmDimm>Iq I7ٮqq QtI q UB9qu; uõ;)uG7 8)I tIi D }:):I8I9*G2GFFrFbFEE)5;IU9 QQiQIY]5@i];>a a2@e<:@mw: ߙiYYB)  )(AYt*pJ@t*Y@yt*Zt*Ԍ>t*H>?`C2Ͽ??K?@w??)u*pJ@ u* s;Iu*CxNo>xRJEGPHP)GF@-Y5D&:5>11Q5D1͝;>I I7ٮ QtI  UB9鰥F: :)c7 8)I tIi D 1:):I,8I9*G2GFFrFbFEE);I9  i I  c:@i}= 2@<:@w: 8j> R I) Z%)(A Yt.OJ@t.&X@yt.Bt.>t.He@?x _ϿLw?A??ȹ?)u.OJ@ u.;s;Iu,xB~>xBEiLIL)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQeDimm>Iq I}7ٮqq Q}tI q U}B9qu: uR:)u~7 8) 8I tIi D :) :I8I9*G)2G)F1F1rFIbFIEIEI);I9 iI|@@iC= 2@<:@w:Β{> ߹6O) ?)(AYt*49J@t*?X@yt*t*v>t*H?{wYϿ4?`? %? ?)u*49J@ u*r;Iu*CxN |>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qiuAwAF@Y׍>QDUQ>I I7ٮ QutI  U}B9?< z<)a7 8)I tIi D <) ߹eR>e{>V) צY)(AYt*ƉJ@t*6Y@yt*;)t*Gy>t*H S?੿Ͽ =?6?? P ?)u*ƉJ@ u*r;Iu*CxBt>xBlEHBp=HD){Ff=I{Di{F~={F>{D{FB{D|FAA9|FNK?Lvl?i`I`)%GF@]YeYٺe>aaQmDimN<m>Iq I}7ٮqq Q}tI q UB9qu: u:)u7 8)I tIi D :)N:I_8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 194.460199 arcdeg .q'5'5*G12G1F9F9rFAbFAEAEA2EIzEMAAEM>2]h#(@Zgv?EMNK?Lvl?EMf=EIEMmp#]&3U8 "?EM?1T#{CkiտD[斠?EMU^@=]DHdg To Contact =199.557214 degreesZEMbEM6:EMo$?BEM0o$?JEM REM jEM>rEM?)u;I9 iIFi< 2@<:@w:m> $Dacoustic_contact_range 12.120000 m$%hTrackAcousticContact.heading_to_contact 3.482930 rad$%HDUSBL_Hydroid.xAngle 5.250000 arcdegH\) #s)(A)4t.H@?D`4|Ͽx`?@@?@~?e?)u.JJ@ u.sr;Iu.CxBeq>xBnE)~ׄGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]p]>aaQeDamm>Ii Iu7ٮii Q}tI i U}B9im: m:)mzѦ7 8)I tIi D ::),:Iˁ8I9=O-@Contact HDG: 199.557214 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIY]UAi]KqY a2@e<:@mw:5= 9/c) ])(AYt*AJ@t*X@yt*t* >t*H`m?@6jϿj?n?IT?|?)u*AJ@ u*r;Iu(xB\~>xBgEiTIT) !!Q%D)-->I1 I=7ٮ11 Q=tI 1 U=B915: 5:)57 M8)AIA MtIiA MDA E[:)Eo:IE-8YIY9Y*Gi2GqFqFqrFybFyEyE);I9 iI!pt*H ?%RϿ "?0?@/?i?)u*V5J@ u*Tr;Iu*CxB:m>xBEGB@AH@)GF@=YEj;E>AIQMDIU]>Ii I}7ٮi M}7i Q}tI i UB9imb; m ;)m7 8)I tIi D }:)I8I9*G2GFFrFbF EE9);I9 iI-%8i 2@<:@w:-= 1Ap) )(A Yt*zJ@t*'Y@yt*t*5v>t*H``6?񫩿`Ͽ@ L? Ѓ?z??)u*zJ@ u*=r;Iu(x6xp>x6Ei@ID)5SGa 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝB>ʙʙQDʡͥ%<>I I7ٮ QtI  UB9鰭: N:)$7 8)I tIi D h:):I8I9*G2GFFrFbFEE) ;I 9  i Iw5i4 2@%<:@%w:Tw= 1lv) =)(AYt*J@t*6Y@yt*Ut* >t*HH? ϿX?ᶊ? ?@o?)u*J@ u*r;Iu(xB`k>xBE)~dGixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y>QD4;>I I7ٮ QtI  UB9ͭ: ):)@7 8) 8I tIi D x:)ϝ:I 8I!9!*G12GQFQFQrFYbFYEaEa);I9 iIOj4i 2@<:@w:$< ߹]>]>Y|) )(AYt*]dJ@t*hY@yt*]U:t*ٕ>t*H @?`g( kϿ` ?J?v?#?)u*]dJ@ u*=ar;Iu(xBp>xB%EH@HDiPIRѓC)GF@ Y;>Q%D!%Ļ%>I) I57ٮ)) Q5tI ) U5B9)-}: -ٮ:)-Z7 E8)9I9 EtIi9 ED9 =:)=:I=H+8QIQ9Q*Gi2GiFiFirFqbFqEqEq);I9 iI}4li 2@<:@%w:; ~) *(A);IYt.J@t.,Y@yt.t.H|&?# Ͽu`JT?3???)u.J@ u.qr;Iu,x6?s>x6E)rGF@Y%<%>!)Q-D)-;->I1 IE7ٮ11 QEtI 1 UEB915D; 5;)5jv7 M8)III UtIiI UDI I)Mo:IMuM8aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIV4li 2@<:@w:tE C) k(*(AYt*J@t*6Y@yt*_n t*y>t*H`E?ܪϿ @? ?B? ?)u*J@ u*r;Iu*CxNsj>xR(Ei\I\)vG%=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ>ʉʉQDʉ͕@:>I I7ٮ QtI  UB9鰝: :)ޒ7 8)I tIi D p:):Ip8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.460117 arcdeg .q''*G2GU^@FFrFbFEE!)U;IU9 QYiYIY]`73ieýeU^@ a2@m<:@w:mz q$RHorizontalControl.headingCmd 3.482930 radiYYƏ) [B*(AYt*J@t*EY@yt*PJ%t*@o>t*H;A?4T п$@?3??xR EGTHT {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y&9>  Q D  ;>I! I-7ٮ!! Q5tI ! U5B9!%#; %$;)%7 E8)9I9 MtIi9 MD9 =:)=>:I=-8I9=O@Contact HDG: 199.557214 arcdeg .''O4Initialize Wait Component.*G2GFFrFIbFIEIEI)e;Ie9 aaiaIa73 mi 2@<:@w:Up a) 79\*(A Yt*J@t*6Y@yt*bt*K>t*H!@2?@~歿@Ͽ`?`.? J??)u*J@ u*4or;Iu*CxB}v>xBE){BmII{@i{B={B>{@{BPA{@|BB9|B"o?!ïi`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅGs:>ʉʉQDʉ͕U>I I7ٮ QtI  UB9鰭ٮ: |:)*ʧ7 8)I tIi D %:):IѴ8I9*G2GFFrFbFEE2EzEBE97@W .7E"o?!ïEmIEEn;Ϣ /@@@K(Es71]7Ӏ?n̵ǿE(@= DHdg To Contact =150.469627 degreesZEp}AbE:E_o$?BEo$?JE| RE jEBrE>)%;I%9 !!i!I)-`73-'mi)1 12@=<:@=w:2 $=Dacoustic_contact_range 32.699997 m$EhTrackAcousticContact.heading_to_contact 2.626190 rad$ELDUSBL_Hydroid.xAngle -45.149999 arcdeg) <v*(AYt*fJ@t*q;Y@yt*P&t*Hل>t*H`@? Ͽ@ ~?`rބ?fk?^?)u*fJ@ u*r;Iu*CxBr>xBIE)SGiwA xAF@=YEXE>AAQMDIM6A:M>IQ I]7ٮQQ Q]tI Q U]B9QU: U:)U7 m8)aIa mtIia mDa ep:)e:Ie8yIy9*G2GFFrFbFEE);I9 iIa73=Lmi 2@<:@w:-/ý 1Y]> ̣) *(AYt* J@t*Y@yt*NTt* >t*H?_`>Qп [@??IR?k?)u* J@ u*r;Iu*CxVh>xVEHZa=HXilIn̓C)=dGF@MYMU>QQQUDQ]P<]>Ia Im7ٮa Mm7a QmtI a UmB9aep: e:)e7 }8)qIq }tIiq }Dq u:)uz;Iu 8I9*G2GFFrFbFEE);I9 iI`73pmi 2@<:@w: ) I  ߩ^) ɩ*(A) IYt.J@t.UY@yt.C7t. >t.H2Z?갭Cп{?_?x6P E)la 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽ;>QD >I I7ٮ QtI  UB9: c:)<7 8) 8I tIi D A:):I_8I9*G2GFFrFbFE!E!)5;I59 99i9I9Ea73EmiAA A2@M<:@Mw: a:ް) *(AYt*J@t*Y@yt*[t*hÈ>t*H@C?MîVп Jt?q ?@o?xBEiPIRѓC)|4=F@ Y<>QD%)<%>I! I-7ٮ!! Q5tI ! U5B9!%: %:)%T77 }8)1I1 }tIi1 D1 5<)5wt*H``?5@Lп Q@?€???)u*iJ@ u*s;Iu*CxBs>xBEGFAAHD)|a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye]e>aiQmDimٺm>Iq I}7ٮqq Q}tI q UB9qu): u:)uS7 8)I tIi D :)o:Iu^8I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEaEa);I9 iIa73mi 2@<:@w: 2) Z*(A@ Yt*MK@t*XY@yt*+St*2>t*HO?1@cqп Y?Ke?v??)u*MK@ u*,s;Iu*CxBHf>xB EiPIP)~GF@=YE@E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q UeB9QU: U:)Un7 m8)aIa mtIia mDa e:)eA:Ie(8yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.888684 arcdeg .q''*G2G(@FFrFbFEE);I9 iI4i; (@ 2@<:@w: 1$}RHorizontalControl.headingCmd 2.626190 radW) r5+(AYt*J@t*Y@yt*Mt*H?D]1Oп`w.,?ী?Z??)u*J@ u*r;Iu*CxBsj>xB(E)~yGiyAF@ Yh;>QD%>I! I-7ٮ!! Q-tI ! U5B9!%: %:)% 7 =8)1I1 =tIi1 ED1 5:)5:I58III9Q=O@Contact HDG: 150.469627 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E )=;I=9 AAiAII"97il | 2@<:@w: i]x>]t>oD) s++(AYt*K@t*Y@yt*Pt*>t*Hk`9?`sп s ? ^?.?j?)u*K@ u*r;Iu*CxBeq>xBnEHFp=HFp=iPIP)ׄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQmDiu;u>Iq I}7ٮqq QtI q UB9qu: u:)uR7 8)I tIi D p:)c:I8I9*G2GFFrFbFEE);I9 iIo;ir 2@<:@w: ,) gD+(A) IYt.vJ@t.Y@yt."t.ł>t.H@`?Vc]п {?@iC?&+??)u.vJ@ u.s;Iu.CxBl>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UʱʹQDʹW>I I7ٮ QtI  UC9-: :)¨7 8)I tIi D  :):I8I9*G!2G!F)F)rF1bF9E9E9)];I]9 aaiaIamP@im4t;q y2@<:@w:Kk½ ߑV) ^+(AYt*K@t*۲Y@yt*]%0t*l>t*H Q?x`rп??@!U?^?)u*K@ u*r;Iu(xZl>xX){^=I{\i{^={^+>{\{^A{\|^BA9|^;-M?ıܳ?i|I|)UGYYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y:>QDZ;>I I7ٮ QtI  UC9%: :)ި7 8)  8I  tIi  D :)b:I 8I9*G)2G)F1F1rF9bF9E9E92EAzEEBAEEc[I(@0=?EE;-M?ıܳ?EE=EAEELU^ &Q$nH0?EEe5Iտm]??EER|^@=UDHdg To Contact =199.179490 degreesZEEbEE7:EEo$?BEE_o$?JEE REE| jEE>rEEB)m;Im9 iiiiIiu.Fiu =y y2@}<:@w:M Y$uDacoustic_contact_range 12.179997 m$}hTrackAcousticContact.heading_to_contact 3.476338 rad$HDUSBL_Hydroid.xAngle 4.450000 arcdegiYY) bx+(AYt*|J@t*Y@yt*y6t*a>t*H ?`'Fbп m?@??`?)u*|J@ u*r;Iu*CxBp>xB%EGDHD)ׄGF@eYmY;m>iqQuDq}2}>Iy I7ٮyy QtI y UC9y}: }:)}!7 8)I tIi D l:)÷:I*8I9*G2GFFrFbFEE);I9 iIF@iȴ= 2@<:@w:+, h) ~+(A@ Yt./%K@t.:Y@yt.4.t.4~>t.H`G8?7v`Dпc? Ѕ?r?`k?)u./%K@ u. Zr;Iu.CxBi>xBNEiPIT)AAQMDIMR;M>IQ I7ٮQ M7Q QtI Q UC9QUΊ< U<)US7 8)I tIi D h:):IM8I9*G 2G F F rFbFEE)-;I-9 ))i1I15}7A@i=6=9 92@E<:@Ew: ?Bɺ ) OX+(AYt*K@t*ڱY@yt*Ic;t*aG>t*Hb?eqп ?Gl?x?~?)u*K@ u*br;Iu(xNh>xRE)GiwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥ>ʡʡQDʡͭ>I I57ٮ Q=tI  U=C9鰵M< <)07 E8)AIA EtIiA MDA E[:)E,:IEp8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIv;@i~> 2@<:@ w:%y; 1]>]>zz) r3+(AYt*K@t*Y@yt*@0t*,>t*H`F?@moп [?`?@? ?)u*K@ u*pq;Iu(xN:m>xREHPHRa=i`I`)vGF@-Y5:5>11Q=D9=E>IA IM7ٮAA QMtI A UUC9AE.: E:)EZK7 ]8)QIQ ]tIiQ eDQ Uͭ:)Ug:IUV8iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 194.882550 arcdeg .q'}'}*Gy2G}R|^@FyFyrFbFEE);I9 iILv7@i:'>R|^@ 2@<:@w: < $%RHorizontalControl.headingCmd 3.476338 rad) +(A)p;I Yt*!K@t*Y@yt* t*Z>t*H`&?W~п@@I?Q?==?`?)u*!K@ u*q;Iu*CxNm>xR'E)GF@]Yex;e>aaQmDim@;m>Iq I}7ٮqq Q}tI q U}C9qu: u :)uSg7 8)I tIi D F:)9:I8I9=O-@Contact HDG: 199.179490 arcdeg .'5'5O54Initialize Wait Component.*G12G1F9F9rF9bFAEAEA);I9 iIV4@iJ7> 2@<:@w: Y= ) +(AYt* K@t*Y@yt*.7t* u>t*H@>?i п@ ?@? _h??)u* K@ u*iLr;Iu*CxNi>xREi\I\)ƄG%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ<ϻ>ʁʁQDʉ͍>I I7ٮ QtI  UC9鰕9: :)/7 8)I tIi D :),:IJ8I9*G2GFFrFbFEE);I9 iIl3@i 2@ <:@ w:5h= 9iYY) q,(AYt.wJ@t.Y@yt.z3Ct.Vʍ>t.Hu? 6`fZпo?`If?@3?`O?)u.wJ@ u.q;Iu.CxBeq>xBnEGB@AHD)ׄGF@=YEE>AAQEDIMRM>IQ I]7ٮQQ Q]tI Q U]C9QU: Uc:)U47 m8)aIa mtIia mDa e:)e:Ie8yIy9y*G2GFFrFbFEE);I9 iIW3@li 2@<:@w:K> ߡ ) &-,(A@ Yt:'J@t:2Y@yt:t:+ϐ>t:H`~?JBп`e?<? 9?@I?)u:'J@ u:fq;Iu:Cx^Rr>x^EilIn̓C)1a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ!<>ʙʡQDʡͥhs>I I7ٮ QtI  UC9鰭: :)7 8) 8I tIi D N:)@:I8I9*G2GFFrFbFEE) ;I 9 iI4@ip-> 2@%<:@%w:%> 19) }G,(AYt*K@t*Y@yt*Nt*t>t*H `?nп@6?? I??)u*K@ u*{q;Iu*Cx>q>xBE {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )҄GiF@YFE>QD;>I I 7ٮ QtI  UC9n$; g;)֩7 %8)!I! -tIi! -D! %Q:)%:I%<8aIa9i*G2GFFrFbFEE);I9 iI7@iX> 2@<:@w:R5#> ߙ]V>]x>)) Xa,(AYt*sJ@t*~Y@yt*`Jt*Us>t*H$?U lп?a[?3??)u*sJ@ u*̯q;Iu*CxBo>xBEH@HBp=i\I^ѓC)ƄGa 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYy>QD>>I I7ٮ QtI  UC9; I;)@7 8)I %tIi %D :):I^8QIQ9Q*Ga2GaFiFirFibFEE);I9 iI;@i= 2@<:@w:-> ) 1{,(A);IYt.J@t.yY@yt.*bt.H ?@;п=?@#?@??)u.J@ u.sQq;Iu.Cx6'n>x6pE)v҄GF@zY~ ;~>QD . >I I7ٮ M7 QtI  UC9: b:) 7 %8)!I! -tIi! -D! %:)%Ԙ:I%~89I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa)u;Iu9 qqiyIy}s@@ie= 2@<:@w:UP"> a!%) ,(AYtnOJ@tnZAY@ytntn`>tnH@@? k>пټ`? @?@?`&?)unOJ@ un/)q;IunCxu>x Ei1I=̓C)+G4=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>QD >I  I7ٮ   QtI  UC9  _: :) )7 %8)!I! %tIi! -D! %p:)%:I%8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.497041 arcdeg .q''*G2GFFrFbFEE) ;I 9  i I G@i6= 2@<:@w:-= 1i]@AY.+) ,(AYt*J@t*jY@yt*t*l>t*H`1?0,п ŕ?䙂?@O??`&?)u*J@ u*wFq;Iu*CxNp>xR%EGR?AHP)GF@-Y-6->11Q5D1=;=>IA IM7ٮAA QMtI A UMC9AE: E1:)EC7 U8)QIQ ]tIiQ ]DQ UB:)Uw:IU8iIi9i=O@Contact HDG: 199.179490 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E );I%9 !!i!I!-'qFi-3<) )2@5<:@5w:-= 12) ,(A@ Yt*J@t*]Y@yt*4t*_~>t*H!?_r п`l??`x?@?)u*J@ u*aq;Iu*CxBB`>xB EiLIP)~SGF@=YEtE>AAQMDIMM>IQ I]7ٮQQ Q]tI Q UeC9QUS: UW:)U<_7 m8)aIa mtIia mDa e:)e:Ie8yIy9*G2GFFrFbFEE);I9 iI5Aip 2@<:@w:O)= ߡ@8) =,(AYt*RaJ@t*]Y@yt*5t*>t*H@?xϿ@@??@?b?)u*RaJ@ u*Mq;Iu*CxZxp>xZE)-dGi-yA1a 1ma 1m a 5ma 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ퐹>ʑʑQDʙ͝?>I I7ٮ QtI  UC9鰥%: :){7 8) 8I tIi D :)Y:I8I9*G2GFFrFbFEE);I9 i I  H;i %W 2@<:@w:|= ]>]t>k>) Oy,(AYt*yQJ@t*X@yt*t*O>t*H?Ͽ`?\? y??)u*yQJ@ u*q;Iu*CxBu>xBEHBa=HDiPIP)F@EYEƈ;E>IIQMDIU U>IY Ie7ٮYY QetI Y UeC9Y]: ]x:)]q7 m8)iIi utIii uDi m:)mN:Im)8I9*G2GFFrFbFEE);I9 iI7i+ƙ 2@<:@w:*< ߹`UE) ^-(A) I$YtB݃J@tB0Y@ytB tB0"_>tBHm?O٦ϿJ= o??`?=?)uB݃J@ uBgq;Iu@xJ:m>xJE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭbb>ʱʱQDʱͽ;>I I7ٮ QtI  UC9: _:)7 8)I tIi D _:):ITL8I9*G2GFFrF bF E E )%;I%9 !!i!I)-4i5&1 12@=<:@=w:%< 1|K) o/0-(AYt*"J@t*-4Y@yt*Lt*b>t*H3`.?dϿ B?@?5?@?)u*"J@ u*pIq;Iu*CxB]>xBEiLIL)~G%=F@=YEE>AAQMDIMh:M>IQ I]7ٮQQ Q]tI Q UeC9QU>: U :)Uͪ7 m8)aIa mtIia mDa e::)eȗ:Ie!m8I9*G 2GFF1rF9bF9E9E9)U;Iu9 qqiqIq}3iyy 2@<:@w:m] ; yi]?AYdR) _ J-(AYt*cJ@t*nX@yt*z2t*>t*HI ? "@Kοj@MQ?@4O??o?)u*cJ@ u*r;Iu(x2~>x2EG6@AH4 {4Y|8:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )EGF@Yʥz;>ʩʩQDʩ͵>I I7ٮ QtI  UC9鰽: ;)7 ]8)I ]tIi eD <)gt*H@ d{?@٩ $ϿA"+??n??)u*J@ u*-r;Iu*CxNu>xRE){RɭTI{Pi{Rߡ={R7>{P{RA{P|R=A9|R ?4"mipIp)=+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;>ʩʩQDʩͭ'q;>I I7ٮ M7 QtI  UC9鰵ض: :)7 8)I tIi D :):IJ8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 194.082339 arcdeg .q'u'u*Gq2GqFyFyrFbFEE2EzE=AEkUc_-@Pc0E ?4"mEɭTEEt+Y2P>y%'@AC ES꿜,!ڟ?ߙ\ſET$@=DHdg To Contact =147.370620 degreesZE(9AbE:Eyo$?BEo$?JE RE jEbmrE>);I9 iIb32mi 2@<:@w:C $Dacoustic_contact_range 21.779999 m$hTrackAcousticContact.heading_to_contact 2.572103 rad$LDUSBL_Hydroid.xAngle -47.600002 arcdeg^) G}-(AYt.SJ@t.*Y@yt.>/t.X[>t.HS?@ϿKH`?,?F?@]C?)u.SJ@ u.+q;Iu.CxBg>xBsE)Gi  F@=Y=E>AAQEDAMa<M>IQ I]7ٮQQ Q]tI Q U]C9QU: U:)UD 7 e8)aIa mtIia mDa ep:)eA:IeC8q uuSoftware FaultyI9=O @Contact HDG: 147.370620 arcdeg .''O4Initialize Wait Component.*G2GFFrFbF!E!E!)=;I=9 99i9I9Ec3EUmiAA I2@M<:@Uw:u# ߁!xSoftware Fault in component: DeadReckonWithRespectToSeafloor]R>]x>fe) ?-(AYtJJ@tJX@ytJ@btJ4>tJH )?`ο8?G?4??)uJJ@ uJq;IuJCxRsj>xR(EHTHTiI)a 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM%M>QQQUDQ]2]>IY Ie7ٮYY QetI Y UmC9Y]: ]:)]<>7 u8)qIq utIiq }Dq u:)uc:IuB8I9*G2GFFrFbFEE);I9 iId3w}mi 2@<:@w: )I a!}Clearing failed state for component DeadReckonWithRespectToSeafloorq } k) !w-(A)4t.H Y?Rο@?b?J.??)u.I@ u. s;Iu.Cx6V>x6E)%GF@-Y5+<5>99Q=D9EE>II IM7ٮII QUtI I UUC9IM: Mٮ:)MSW7 e8)Y e8IY etIiY eDY ]^:)]:I]?8qIq9q*G2GFFrFbFEE);I9 iIc3"miȽ 2@<:@w: r) ?R-(AYt*I@t*WX@yt*/㻙t*Lm>t*Hi~?UtEο>$?@e|?`s?$?)u*I@ u*r;Iu*CxB5g>xB*EiLIL)G%%=%=F@mYuS;u>qyQ}DyͅM;>I I7ٮ QtI  UC9鰅ի: :)os7 8)I tIi D t:)E:I98I9*G2GFFrFbFEE);I9 iId3mi 2@<:@w: iYa&x) --(AYt*I@t*X@yt*Hct*p>t*H`6?إ`æο0>X?a??&?)u*I@ u*r;Iu*CxBZe>xB EGBAAHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YʥS>ʡʡQDʩͭ;>I I7ٮ QtI  UC9鰵: x:)j7 8)I tIi D :)ȗ:I\8I9!*G12G1FQFQrFYbFYEYEa);I9 iIc3!mi 2@<:@w: ߹)  -(A Yt*nxI@t*y%X@yt*[st*>t*H @&?HnͿ 6.?v?y?>?)u*nxI@ u*xNGEi\I\)҄GF@-Y-"+5>11Q5D1=/=>IA IM7ٮAA QMtI A UMC9AEͭ: E:)E7 U8)QIQ ]tIiQ ]DQ U:)U:IUJ}8iIi9i*G2GFFrFbFEE);I9 iId3ni 2@5<:@=w:- 1) .(AYt26I@t2W@yt2wt2#>t2H`$wu?`Ml>x>LE)+Gi  F@YZ<>Q%D!%c#%>I) I57ٮ)) Q5tI ) U5C9)-:: -:)-^ū7 E8)9I9 EtIi9 ED9 =:)=Ԙ:I=8QIQ9Q*Gi2GiFiFirFqbFqEqEy);I9 iIc36Hni 2@<:@w:7ƽ ߩY]>) 2.(AYt*(I@t*3;X@yt*ѻt*#z>t*H)h?`)@ ο*T?@n?? ?)u*(I@ u*~jr;Iu(xNi>xREHRR=HRa=i`I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ7>ʉʉQDʉ͍P<>I I7ٮ QtI  UC9鰕: 5:)7 8)I tIi  D ::):IJ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iId3sni   2@<:@w: ɽ ) ̙L.(A) I Yt*I@t*3X@yt*Qt*}j>t*H@0@ӓ?@g@ Ϳ@^F@ޞ?xB%E {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eʹʹQDS>I I7ٮ QtI  UC9: 4:)7 8)I tIi  D d:)S:I8I9 &%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N-Initialize.q'-N=@Vehicle HDG: 193.554188 arcdeg .q'='=*GA2GET$@FAFArFIbFIEQEQ)};I}9 yyiyIyY[5iƲT$@ 2@<:@w: )I ߡ$RHorizontalControl.headingCmd 2.572103 rad+) lvf.(AYt*pLI@t*{W@yt*It*z>t*H"s?ʨ ȍͿ: W?"??r?)u*pLI@ u*Fs;Iu*CxBMl>xBLEi\I\)G=%%=F@]Yei:e>aaQeDamPm>Iq I}7ٮq M}7q Q}tI q U}C9qu: u:)u7 8) 8I tIi  D A:)4:I8I9=O@Contact HDG: 147.370620 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIR8iK 2@<:@w: )iYY%) LP.(AYt*EI@t*W@yt*t*g>t*H#?젮Ϳ@\z?@A??@?)u*EI@ u*Rs;Iu*CxVq>xZEGZ@AHX)5+Ga 1ua 1u a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ<>QD>I I7ٮ QtI  UC9: :)57 8)I tIi  D  :):I )8I9*G 2G FFrFbFEE)5;I59 11i1I1=;i=h 9 A2@E<:@Mw: aN=) +.(A@ Yt*F4I@t*QW@yt*K+t*s>t*H$?X@^Ϳ ` ??p??)u*F4I@ u*zs;Iu(xBc>xB EiPIT)%GF@=YEE>AIQMDIM1M>IQ I}7ٮQQ Q}tI Q UC9QU=; U;)UO7 8)I tIi  D :),:IJ8I9*G2GFFrFbFEE);I%9 ))i)I)=g]Ai=\9 92@E<:@Ew: ߑog) .(AYt*9I@t*W@yt*28t* h>t*H B$-?}iͿ@2T9O?>?`H?.?)u*9I@ u*s;Iu*CxNi>xRNE)QDR:>I I7ٮ QtI  UC9: :)dl7 8)I tIi  D 5:):IFm8I 9 *G2GFF!rF!bF!E)E))=;IE9 AAiAIAMFiM&]>VO) .(AYt.BI@t.W@yt.t.~~>t.H`d#?Ƕ{Ϳ{*.?A?@u~?`?)u.BI@ u.Is;Iu.CxBp>xB%EHDHDiPIP)GF@%Y%&;%>))Q-D)5b:5>I9 IE7ٮ99 QEtI 9 UEC99=: =):)=7 M8)III UtIiI U DI MՐ:)M,:IM8aIa9a*Gq2GqFyFyrFbFEE);I9 iI%rE@i%wf=! !2@-<:@-w:벫 1y) /.(A) IYt.,I@t.W@yt._!t. >t.H%g?gAPͿB?`63? ?a?)u.,I@ u.s;Iu.CxNf>xN E)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅe>ʉʉQDʉ͍U>I I7ٮ QtI  UC9鰵į: c:)37 8)I tIi  D :)A:I8I9*G2GFFrFbFEE);I9 iI@@iA= !2@%<:@-w:M# Qa) ș/(AYt*6H@t*AW@yt*4t*o>t*H +`1?K!̿f 3??d? '?)u*6H@ u*ms;Iu*CxBu>xBEiLIL)~dG4=4=F@Y%:D%>!)Q-D)-->I1 I=7ٮ11 Q=tI 1 UEC915ϸ: 5:)57 M8)AIA MtIiA M DA E}:)E:IE8aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI<;@iFy> 2@<:@w:; iYY) q/(AYt*H@t*W@yt*'t*(Kp>t*H@+m?쥿̿MG? ??@?)u*H@ u*!0t;Iu*CxBn>xBEGBAAHD)|a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ:>ʡʩQDʩͭ!9>I I7ٮ QtI  UC9鰵V;  :)Rڬ7 8)I tIi  D h:):IX8I9!&-M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'UN@Vehicle HDG: 193.058712 arcdeg .q''*G2GFFrFbFEE);I9 iI%Z4@i%R->! i2@m<:@uw:e2g= q) W5/(A@ Yt.I@t.W@yt."% t.>t.Ha(`~?F'Ϳ&s?@???)u.I@ u.s;Iu.CxNy>xNEi\I\)GF@=Y=0;=>AAQEDAMK;M>IQ I]7ٮQQ Q]tI Q U]C9QU>: U:)U7 e8)a m8Ia mtIia m!Da e :)e@:Ie8I9=Ou@Contact HDG: 147.370620 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFybFEE);I9 iID0@iM> 2@<:@w:.= ) g+O/(AYt2LH@t2WW@yt2='t2>t2H`, ?N/d̿ }u??@?`9?)u2LH@ u2;Ot;Iu0xBy>x@ {@Y|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGixAF@Yʭ5>ʱʱQDӫ>I I7ٮ M%7 Q%tI  U%C9; %;)7 U8))I) ]tIi) ]!D) -2;)-;I-::8I9*G2G!F)F)rFYbFaEaEA)e;Ie9 iI)@ict> 2@<:@w:]>]{>2= ) i/(AYt*H@t*ʤW@yt*7t*z>t*H+C?|̿@]?>???)u*H@ u*ht;Iu*CxB5g>xB*EHBp=HFp=){Fk=I{Di{FP={F>{D{FB{D|FFA9|FWj?`8.y?i9I=ѓC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=Y=ME>AAQEDAM*:M>IQ I}7ٮQQ Q}tI Q U}C9QU: Ua;)Uk.7 8)I tIi !D <;)h;I\]8I9*G2GFFrFbFEE!2E!zE%FAE%~(@>:E%o$?BE%yo$?JE% RE% jE%>rE%bm);I9 iI%@ic> 2@<:@w:%P > Q$mDacoustic_contact_range 12.419999 m$}hTrackAcousticContact.heading_to_contact 3.425029 rad$}HDUSBL_Hydroid.xAngle 3.300000 arcdeg) /(A)IYt.H@t.&yW@yt.4t.[>t.H@0@?{̿@*?[?@L?n?)u.H@ u.?s;Iu,xBRr>xBE)GF@Y%9%>!!Q-D)-\->I1 I=7ٮ11 Q=tI 1 U=C915ϸ: 5M:)5G7 M8)AIA MtIiA M!DA E[:)Eo:IE{8YIa9a*Gq2GqFqFqrFbFEE)u;I}9 yiIB#@i > 2@<:@w:e *> ) +/(AYt*H@t*W@yt*t*۫>t*Hy.`,?Ә̿ ?(р?p?]?)u*H@ u*s;Iu(x>Ml>xBLEiPIP)SG  =a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm;m>iiQuDq͕JS;>I I7ٮ QtI  UC9鰝: :)d7 8)I utIi u!D <)v iiYY) /(AYt*BH@t*MnW@yt*t*r>t*H !2?*~̿W`?׀?@v?@X?)u*BH@ u*s;Iu(x>t>xBlEGB@AH@)~GF@Y%&%>!)Q-D)-5>I1 I=7ٮ11 Q=tI 1 UEC915: 5߼:)5~7 M8)AIA MtIiA M!DA EF:)E:IE8YIa9a*Gq2GqFqFqrFbFEE);I9 iIr!@}2mi 2@<:@w:8>  ) Ks/(A Yt*QH@t*\iW@yt*"t*>t*H2`?8?u̿d&@ ? _? P?`?)u*QH@ u*s;Iu(xBx>xBEiLIN̓C)~+GF@Y%ڋ%>!!Q-D)-C->I9 IE7ٮ99 QMtI 9 UUC99=-e; =~;)=G7 8)yIy tIiy !Dy }(:)}:I}8I9*G2G F1F9rFAbFIE E)%;I%9 !!i!I)M#"@iIQ Q2@]<:@]w:e2j> q') UN/(AYt*0H@t*;W@yt*A0t*F>t*H`-`/?t⧿@̿h&`?? X*??)u*0H@ u*&t;Iu*CxBd>xB E)zGi~wA~wAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yʝ>ʡʡQDʡͭl;>I I7ٮ QtI  UC9鰵R< S<)趭7 8) %8I %tIi %!D 0:)":IK8QIQ9QOeDone Waiting.'eOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFbFEE);Im9 iIT$@i 2@<:@w:<-> ߑ]R>]>) p%0(AYt*H@t*[W@yt*6t*&>t*H 4=?n@IY̿m@ɍ?SԆ?n??)u*H@ u*s;Iu*CxBg>xBsEHBa=HFa=iPIRѓC)ƄGF@Y%%>))Q-D)55>I1 I=7ٮ11 QEtI 1 UEC915@: 5:)5eѭ7 M8)III MtIiI U!DI M1:)Mg:IM &8aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uNe@Vehicle HDG: 192.796474 arcdeg .q'e'e*Gi2Gm3[@FiFirFbFEE);I9 iIf'@i:q>3[@ 2@<:@w:> ߑ$RHorizontalControl.headingCmd 3.425029 rad)) ( 0(A);IYt.bH@t.mPW@yt.t.ސ>t.H`f5t?T D̿? )?`??)u.bH@ u.s;Iu.Cx>s>x>E)v҄Ga 1-a 1- a 5-a 5- a 9-a 9- a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYMr;U>QQQUDQ]rϺ]>Ia Im7ٮaa QmtI a UmC9ae: e:)eh7 }8)qIq }tIiq }!Dq u̒:)uE:IuH8I9=OE@Contact HDG: 196.239681 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFIrFIbFQEQEQ)e;Im9 iiiiIiu,+@iuS>q y2@}<:@}w:K> ߱yR ) 70(AYt*tH@t*!W@yt*nIt*>t*H:3?Rt˿|?I? ?x?)u*tH@ u*2t;Iu*CxNxp>xNEi\I^̓C)vG!%%=F@=YEiE>AAQEDIMM>IQ I]7ٮQ Me7Q QmtI Q UuC9QUtL< U M<)U7 8)I tIi "D :)^:Idk8I9*G2GFF rF bF EE1)E;IE9 IIiIIIU0@iuO.>q q2@}<:@}w:0p> ߑiYYe9) Q0(AYt*H@t*\W@yt*{,t*Mr>t*H`3@D?@\e\̿QP?{?2?\?)u*H@ u*\t;Iu*CxN1z>xREGRAAHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )%GF@=YEǺE>IIQMDI}<}>I I7ٮ QtI  UC9鰅; ;) '7 8)I tIi "D 8<){8 2@<:@w:[> c) k0(A Yt*$H@t*/GW@yt*JBt*.>t*H@+6(?>r2̿4%1? +I?o? ?)u*$H@ u*ns;Iu*CxBMl>xBLE){B=I{@i{B~={B+>{@{BB{@|BAA9|B2Qȿ?e) ?i`I`)-vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>>ʩʩQDʩ͵cb>I I7ٮ Q%tI  U%C9: ,:)A7 -8)!I! -tIi! 5"D! %Ր:)%ȗ:I%8aIa9a*G2GFFrFbFEE2EzEAAEg11(@uWhHZ?E2Qȿ?e) ?E=EE U}D'W$k ’!?Eִ0ZbJL<ѿ )Q!?Ep*[@=DHdg To Contact =196.207402 degreesZEkXbE#::Eo$?BEo$?JERE jE>rE>) ;I9 iI<@i`= 2@%<:@%w:-Z6> 9$UDacoustic_contact_range 12.120000 m$]hTrackAcousticContact.heading_to_contact 3.424465 rad$eHDUSBL_Hydroid.xAngle 3.600000 arcdegK!)  o0(AYt*zH@t*2W@yt*HHt*V>t*H@g8e>? B  ̿`@Y??|?’?)u*zH@ u*t;Iu*CxBu>xBE)GixAF@]Yere>aaQeDimQm>Iq I}7ٮqq Q}tI q U}C9qu: u:)u[7 8)I tIi "D :):I8I9*G2GFFrFbFEE);I9 iIc@@i= 2@<:@w:q-> Y]x>yu') H0(Ax-k>x-EH=p=H9iqIq)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y==>AAQEDAMM>II IU7ٮII Q]tI I U]C9IM:: M:)MMy7 e8)aIa etIia m"Da e-:)ec:IeR8I9*G!2G!F)F)rFQbFQEQEQ)m;Im9 iiiI%G@i= 2@<:@w:> ߑٟ-) %0(A) IYt.؉H@t.6W@yt.ct.HI8w? ̿ QE Ғ?@xg?$? ?)u.؉H@ u.s;Iu.Cx6\>x6UE)zvGF@YL<>  Q D ?:>I I%7ٮ Q%tI  U%C9: ):),7 -8)) 58I) 5tIi) 5"D) -:)-I:I- 8AIA9A*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIyJwFi ~~; 2@<:@w:Us= aO4) 0(Ax~n>x~EiI)uG}%=}4=F@Yʍ>ʉʑQDʑ͝>I I7ٮ QtI  UC9鰝: S:)7 8)I tIi "D ٮ:):I78I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  @i   2@<:@w:PV= iYYW:) 0(AYtbH@tb͌W@ytbc. tbwN>tbH.&?@A p̿?E?Q? ?)ubH@ ubs;IubCx~{>x~iEG|H|)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QDO<>I I7ٮ QtI  UC9: :)6ˮ7 8)I tIi "D :):IsZ8I9&%M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 192.970398 arcdeg .q''*G2Gp*[@FFrFbFEE);I9 iIZH@t>e5W@yt>zdt>앉>t>H7?@c@̿- |?@?? :?)u>ZH@ u>s;Iu>Cx^h>x^EilIl)GF@Yʕe>ʙʙQDʡͥ$]>I I7ٮ QtI  UC9鰭W: :)07 8)I tIi "D :):I{8I9=Oe@Contact HDG: 196.207402 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFiFqrFqbFyEyEy);I9 iIy:i 2@<:@w:m[-i= yG)  1(AYt>0H@t>;WW@yt> HBt>H>t>He4~?ΧQ̿T:m? H?`??f?)u>0H@ u>(t;Iu>Cx^:m>xbE)5+Gi9=xAF@Yʥ];>ʩʩQDʩ͵Ѧ;>I I7ٮ M7 QtI  UC9鰽9: :)7 8)I tIi "D d:):I8I9*G2GFFrFbFEE);I9 iI%F6i%#! )2@-<:@5w:k< ]>]>M) N:1(AYt6H@t6vW@yt6t6Lʅ>t6H`c15?Ka̿ 7 @C.?r???)u6H@ u6;s;Iu6CxJMl>xJLEHLHLiXIX)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@MYU=<U>QQQ]DY];]>Ia Im7ٮaa QmtI a UuC9ae: e9:)e7 }8)qIq }tIiq }#Dq u:)uc:Iu8I9*G2GFFrFbFEE);I9 !!i)I)-5i)1 12@=<:@=w:%_  1T) YT1(A)IYt6\H@t6gW@yt6(t6"x>t6H@y,@?`̿@X@c?`+?@??)u6\H@ u6s;Iu6Cx>i>x>E {DY|DJ8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+G6only read 3 of 5 data itemsVFailed to parse: :BI,-3278,-32768,-32768,V F@ Y Z > QDľ;>I I%7ٮ QtI  UC9p< Mq<)7<7 8)I tIi #D :) :I<8I9*G2GFFrFbFEE);I9 iI47\mi 2@<:@w:gW -[) #n1(AYt*H@t*aW@yt* Dt*\>t*H2?觿`pd̿?@PȐ?`?#?)u*H@ u*s;Iu*Cx2a>x6 E){6¸{4{6B{4|49|6D ?pAV?iTIT)G 4= %=F@Y%%?))Q-D)- 75?I1 I=7ٮ11 Q=tI 1 UEC915: 5D:)5wS7 M8)I M8II MtIiI U#DI M$:)M:IM8aIa9a*Gq2GqFqFyrFybFEE2EzEErE>);I9 iI5i 2@<:@w:pu $Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 3.386250 rad$HDUSBL_Hydroid.xAngle 1.250000 arcdegiYYa) a1(AYt*H@t*wW@yt*f=t*X>t*H 0,?@̿`21? ?z?e?)u*H@ u*s;Iu*CxBl>xBEGB@AHBAA)+GF@=YEϏ<E>AAQMDIM_;M>IQ I]7ٮQQ Q]tI Q UeC9QUh: U:)ULo7 m8)aIa mtIia m#Da e :)ex:Ie%8yIy9*G2GFFrFbFEE);I9 iIF6i- 2@<:@w: ߡh) ١1(A Yt*I@t*&W@yt*g.t*+>t*H n* 2?H AͿa?@ťv?@??)u*I@ u*]s;Iu*CxBf>xB EiPIP)Ga 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmF<m>iiQmDqu^<u>Iy I7ٮyy QtI y UC9y}1: }:)}<7 8)I tIi #D h:):IG8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIE6tsmi 2@<:@w:M Qpt2H0+T? ҍ ̿` ୴?g#?`:?:?)u2H@ u2ms;Iu0xN`k>xRE)GiyAF@]Yee>aaQeDamm>Iq I}7ٮqq Q}tI q U}C9qu: uB:)u7 8)I tIi #D :):Iui8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.068192 arcdeg .q''*G2GSX@F!F!rF!bF)E)E))M;IU9 QQiQIQ]l8i]df]SX@ a2@e<:@mw:- 9$]RHorizontalControl.headingCmd 3.386250 radY]>'u) R1(AYt^ I@t^W@yt^]Yt^>t^H/)i?@ ͿC?w#?`^?@?)u^ I@ u^=s;Iu\x5}>x5EH=a=H9iQIUѓC)Q%D!% ;%>I) I57ٮ)) Q5tI ) U=C9)-1: -J:)-ï7 E8)9I9 EtIi9 E#D9 =O:)=:I=8QIQ9Y=O@Contact HDG: 194.017848 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iIcg9i 2@%<:@%w:}2 ߉}N{) ]l1(A) IYt.nH@t.yW@yt.,t.>t.H.? &̿G??` -?5?)u.nH@ u.\s;Iu.CxB{>xBE)~GF@Yʅ\l<>ʉʉQDʉ͕>I I7ٮ QtI  UC9鰝: _:)6ޯ7 8)I tIi #D :)ȗ:I8I9*G2GFFrFbFEE);I9 iIbg9xzmi 2@ <:@w: 5) E 2(AYt*%I@t*W@yt*t*>t*H&@?6ѨvBͿJ$|?#? ?`T?)u*%I@ u*js;Iu*CxRg>xRsEi\I^̓C)vG!!F@-Y55>11Q5D9=V-<E>IA IM7ٮAA QMtI A UMC9AE:: E:)E 7 ]8)QIQ ]tIiQ ]#DQ U1:)U:IU8iIi9q*G2GFFrFbFEE)%;I%9 !!i!I!-cg9-|mi)) Q2@]<:@]w:Mmꊽ Qiaa_) #2(AYt.*I@t. W@yt.+t.M>t.H#&͙?@;੿ JͿє?o?l?r?)u.*I@ u.PIs;Iu.CxB0a>xBw EGDHF@A) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu@2u>yyQ}Dyͅ*:>I I7ٮ M7 QtI  UC9鰍: :)47 8)I tIi #D :):I8I9*G2GFFrFbFEE);I9 iIbg93miq q2@}<:@}w: )I )4)  <2(A@ Yt.I@t.W@yt.4"t.#>t.H >)E? ⫿@Ϳ q?4??`.?)u.I@ u."as;Iu.Cx6V>x6Ei@ID)r҄GF@Y%D;%>!)Q-D)-(->I1 I=7ٮ11 Q=tI 1 UEC915: 55:)507 M8)A M8IA MtIiA M$DA Ec:)E:IE8YIa9a*Gq2GqFqFqrFybFyEE);I9 iIcg9mi 2@<:@w: Sr) 8V2(AYt*I@t*W@yt*+t*꿉>t*H'yx?0+Ϳ A+?8~???)u*I@ u*Ws;Iu*CxNo}>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mvGiwAa 1a 1 a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y=D4=>AAQEDAMd:M>IY Ie7ٮYY QetI Y UeC9Y]<; ]o:)].N7 u8)qIq }tIiq }$Dq u;)u:IuA88I9*G 2G F F rFbFEE)M;IM9 IQiQIQUbg9]'miYY Y2@e<:@ew: ߡ]R>]>ᛛ) p2(AYt*7;I@t*BW@yt*0t*iG>t*H`$$? elͿ 7k??|?`B?)u*7;I@ u*Hs;Iu(xB"h>xBEHBR=H@iXIX)GF@]Ye/e>aaQmDim;m>Iq I}7ٮqq Q}tI q UC9qul: u:)ug7 8)I tIi $D Ր:)o:IW8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIcg9vmi 2@<:@w:  ) 2(A)4t2H`(UZ? Ϳ?@1́?`(?`?)u2EI@ u2ds;Iu0xNe>xNP E)eSGF@}Yʅ;>ʁʉQDʉ͕>I I7ٮ QtI  UC9鰝: :)7 8)I tIi $D :):IBz8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'%N@Vehicle HDG: 193.154034 arcdeg .q''*G2GFFrFbFEE)=;IE9 IIiI  bg9mi 2@<:@%w: y) h2(AYt*-I@t*W@yt*t*A>t*H%w?\u=RͿ@ @Bo?B?*??)u*-I@ u*9Os;Iu*CxBq>xBEipIp)%dG-%=)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@eYmתm>qʱQDʱͽBf;>I I7ٮ QtI  UC9%: <)ס7 8)I tIi $D J:)Ü:I*8qIq9q=O%@Contact HDG: 194.017848 arcdeg .'e'mOm4Initialize Wait Component.*Gi2GFFrFbFEEiYY)e;Im9 iiiiIiucg9uЦmiqq y2@<:@w: ׮) A2(AYt*WI@t*X@yt*-t*M>t*H T?@-Ϳ B? 6?%??)u*WI@ u*s;Iu(xB1z>xBEGB?AHD)~GF@Yo>Q%D!%;%>I) I57ٮ)) Q5tI ) U5C9)-O: -:)-۹7 E8)AIA EtIiA M$DA E:)EZ:IE%8YIY9a*Gq2GqFqFqrFybFyEE);I9 iI5bg95mi99 92@E<:@Ew: Q_) 2(A@ YtB^I@tBiW@ytBTQtBk>tBH@A'@_?㨿4Ϳ?@g*?t??)uB^I@ uBqss;IuBCx^j>xbqEiIѓC)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y B>ʑQDʑ͝>I I7ٮ QtI  UC9鰥}: :)ذ7 8)I tIi $D 5:):I8I9*G92G9F9F9rFAbFAEIEI)};I}9 yiIcg9mi 2@<:@w: Y) H2(AYt./I@t.W@yt.ݮt.4>t.H@%?^UͿ}??`2?{?)u./I@ u.)gs;Iu.Cx6'n>x6pE)rGiprwAF@Y%<%>!!Q%D)-?;->I1 I=7ٮ11 Q=tI 1 U=C915: 5:)57 M8)A M8IA MtIiA M$DA Eo:)E@:IEP8YIY9Y*Gi2GqFqFqrFybFyEyE);I9 iIbg9mi 2@<:@w: ]>]{>)  3(AYt.WI@t.X@yt.:t.@D>t.H!?ͿB@zN?@Q?̬?@#?)u.WI@ u.;t;Iu,xNs>xREHRa=HPi`Ib̓C)SGF@-Y5q;5>11Q=D9=;E>IA IM7ٮA MM7A QMtI A UUC9AE: ER:)E 7 ]8)QIQ ]tIiQ e$DQ U:)U:IU#8iIq9q*G2GFFrFbFEE);I9 iIcg9Bmi 2@<:@w: )  %3(A) IYt*4I@t*W@yt*H2t*ڈ>t*H@$q? z˩.`Ϳ@r?lV?%?@?)u*4I@ u*s;Iu*CxNn>xNE)Ga 1Ua 1U a 5Ua 5U a 9Ua 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYu2}>yyQ}Dyͅ(>I I7ٮ QtI  UC9鰍W; X;))7 8)I tIi $D :):IF8I9*G2GFFrFbFEE);I9 iIbg9ۿmi 2@ <:@w: !') ޏ?3(AYt*>I@t*(W@yt*Er:t*Mw~>t*H#(?yyqͿ*V?'N?@z??)u*>I@ u*s;Iu*CxZsj>xZ(EidIh)-vG54=1F@=YE뛺E>IIQMDIM:U>IQ I]7ٮQQ QetI Q UeC9QUͭ: Uį:)UD7 m8)aIa mtIia u%Da e:)e:Ieg8yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIcg9mi 2@<:@w: iYY ) eY3(AYt*>I@t*W@yt*t*Q>t*H#`Ƨ? #w rͿ?q??3?I?)u*>I@ u*s;Iu*CxBn>xBEGF@AHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@=YE;E>IIQMDIU[U>Ia Im7ٮaa QmtI a UmC9ae; e8;)eb7 8)I tIi %D Y:):I"8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.300036 arcdeg .q''*G2GFFrFbFEE);I9 iIbg9mi 2@<:@w: 8) (Cs3(A Yt.pI@t.X@yt.+t.>t.H ?XͿ@N?@?`?׸?)u.pI@ u./t;Iu.CxBo>xBJE){F{D{FA{D|F?A9|Fo2At?MG&c)|?i`Id)!a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍȗ>ʉʉQDʑ͕<5>I9 IE7ٮ99 QEtI 9 UEC99=ͭ: =):)=D}7 M8)III utIiI u%DI Mį;)M;IMZ8I9=OM@Contact HDG: 194.017848 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFQFYrFYbFYEaEa2EizEm?AEm_K4s'@?Emo2At?MG&c)|?Em<EiEm+'O6Zݑ){?Em^i3 iGп;jս?EmY@=DHdg To Contact =195.062075 degreesZEmGbEm_9:Emo$?BEmo$?JEiREm jEmc>rEm>);I9 iIcg9Zmi 2@<:@w: $UDacoustic_contact_range 11.999999 m$]hTrackAcousticContact.heading_to_contact 3.404475 rad$eHDUSBL_Hydroid.xAngle 1.650000 arcdeg ) ?3(AYt* I@t*W@yt*b-t*L>t*H6'?b᩿`o8Ϳ[@?Q? ?@?)u* I@ u*s;Iu*CxBo>xBE)Gi yA xAF@=YEOyE>AAQMDIMhKM>IQ I]7ٮQQ Q]tI Q UeC9QU: Uz:)Uі7 m8)aIa mtIia m%Da e:)eo:Ie8yI9*G2GFFrFbFEE)5;I9 iIbg9mi 2@<:@w: ]>]a>(J) 3(AYt*t*H &$ ?@;-aoͿ!? `?r??)u*xBUEHFp=HDiTIT) SGF@=YE;E>AIQMDIMY;M>IQ I]7ٮQQ Q]tI Q UeC9QU: U :)Ud7 m8)aIa }tIia %Da e;)e;Ie8I9*G2GFFrFbFEE);I9 iIcg9mi 2@<:@w: 1w2) 3(A) IYt*nlI@t*yX@yt*O5t*B >t*H@k0?n`Ϳ ޘ?@K?P? ?)u*nlI@ u*s;Iu(xBn>xBE)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yɻ>QD;>I I7ٮ QtI  UC9: į:)]ϱ7  8)  8I  tIi  %D c:):I8I9!*G12G1F1F1rF9bF9E9EA)U;IU9 QYiYIY]bg9e miaa a2@m<:@mw: y\) 3(AYt*,#I@t*7W@yt*&:t*>t*H&`=?@w =Ϳ ?@D? ? ?)u*,#I@ u*"s;Iu*CxZjw>xZ"EidId)%SG-%=-4=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ.>ʑʑQDʑo5>I I7ٮ QtI  UC9: :)7  8)I  tIi  %D :)N:I58I9!*G)2G1F1F1rF9bF9E9EA)U;IU9 QYiYIY]cg9e miaa a2@m<:@mw: ߁iYYY) f3(AYt*[GI@t*fW@yt*!t*Đ>t*H"?"Ϳ`?`*??]?)u*[GI@ u*%s;Iu*CxRz>xR EGR?AHT)MGF@YʍT;>ʑʑQDʑ;>I! I%7ٮ! M%7! Q-tI ! U-C9!%: %=:)%7 U8)1I1 ]tIi1 ]%D1 5;)5;I5FX8iIi9i*G2GFFrFbFEE);I9 iIbg9imi 2@<:@w: )n) d4(A Yt*I@t*W@yt*t*1>t*H w'd{?`5_5Ϳ~?`-r?@?L?)u*I@ u*Vs;Iu*CxBsj>xB(EiPIP)~GF@Y  >  QDoǻ>I I%7ٮ Q%tI  U-C9: :)w"7 58))I) =tIi) =%D) -;:)-:I-Mz8III9IO]Done Waiting.']O]8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFqEyE);I9 iIcg9hmi 2@<:@w:  ) A(4(AYt*&!I@t*1W@yt*skt*~>t*H:'@$? 59Ϳ-` ?@[m??K?)u*&!I@ u*r;Iu*CxBp>xBE)|ixAa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye7e>aaQeDame9m>Iq I}7ٮqq Q}tI q U}C9qu: ul:)u<7 8)I tIi %D ::)o:I8I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 193.199072 arcdeg .q''*G2GY@FFrFbFE!E!)U;IU9 YYiYIYe<8iaeY@ a2@m<:@w: ߡ$RHorizontalControl.headingCmd 3.404475 rad]V>]p>) B4(AYt*>I@t*W@yt*X*t*3>t*H# q?1 sͿ)?W?Ƒ?y?)u*>I@ u*1r;Iu*CxBV>xB3EH@HBp=iPIP)~SGF@=YE,E>AAQMDIM3;M>IQ I]7ٮQQ Q]tI Q UeC9QUS: U:)UW7 m8)aIa mtIia m&Da e[:)e:Ie:8yIy9=O@Contact HDG: 195.062075 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 99i9I9E<8EJmiAA I2@M<:@Uw: a) [4(A);I4t.ɍ>t.H`'@|?^4Ϳ@2?`ȇ?`? \?)u.JI@ u.Br;Iu,xN|>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʵ!>ʹʹQDʹY>I I7ٮ QtI  UC9F: :)x7 8)I tIi &D :):I8I9*G!2GIFIFIrFQbFQEQEQ);I9 iI<8 ni 2@<:@w: ) u4(AYt*- I@t*8W@yt*ot*>t*H)C.? Ϳ  ?@͍?wy??)u*- I@ u*/s;Iu(xNo>xRE){RPw䂑?ETY@=DHdg To Contact =194.565561 degreesZEEbEr>:Eo$?BEo$?JEREjEcW>rEc>);I9 iI <8 ni   2@<:@w: )$EDacoustic_contact_range 12.299998 m$MhTrackAcousticContact.heading_to_contact 3.395810 rad$]HDUSBL_Hydroid.xAngle 1.500000 arcdegiYY#) 4(AYt*H@t*KW@yt*N,t*>t*H 5 ?` 8:̿$7`L?ĉ?? ?)u*H@ u*X9s;Iu*CxBq>xBEGBAAH@)SGF@=YEE>IIQMDIUIU>IQ I]7ٮQQ QetI Q UeC9QU: U:)U7 m8)iIi mtIii u&Di m:)m:Imc"8I9*G2GFFrFbFEE);I9 iI<8'ni 2@<:@w: D)) ލ4(A Yt*H@t*W@yt*t*Wt>t*H/@?̿`J?Ѐ? 7?4?)u*H@ u*s;Iu*Cx>i>xBEiPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQmDiu<u>Iy I}7ٮyy QtI y UC9y}: }l:)}Ʋ7 8)I tIi &D -:) :ID8I9*G2GFFrFbFEE);I9 iI<87ni 2@<:@w: 0) c4(AYt*I@t*W@yt*t*>t*H`(@@? =Ŭ`!ͿN? 7?`"??)u*I@ u*s;Iu*CxR P>xZD))i-wA)F@=Y=E>AAQEDAM<M>IQ IU7ٮQQ Q]tI Q U]C9QU): U :)U7 e8)aIa mtIia m&Da eO:)eȗ:Iemf8yIy9y*G2GFFrFbFEE);I9 iI<8Eni 2@<:@w: ]e>]>v6) <4(AYt*mH@t*W@yt*ft*Xj>t*H : Z0?W@˿O(?6Œ?`@i? ޤ?)u*mH@ u*s;Iu*CxB0>xB EHFa=HFa=iPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YH>QDƼ>I I7ٮ QtI  UC9: :)f7 8)I tIi &D ) :I؉8I9*G 2G FFrFbFEE)5;I59 11i1I9=<8=XniAA A2@M<:@Mw: Y"=)  4(A) IYt*ôH@t*aW@yt*t*>t*H3?ިf̿ ,@?`nX?}.??)u*ôH@ u*8s;Iu(xBs>xBE)~GF@YʅVz<>ʉʉQDʉ͕~2<>I I7ٮ M7 QtI  UC9鰭: ض:)7 8)I tIi &D :)E:Ip8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I<8ini 2@%<:@%w: 9 D) 5(AYt*EH@t*PW@yt*+t*y>t*H`r.@9$?Y٧Z̿>X?y? ?E ?)u*EH@ u*Qs;Iu*CxBe>xBP EiPIP)GR=4=F@ YU>QD%;%>I) I-7ٮ)) Q5tI ) U5C9)-: -_:)-47 =8)9I9 EtIi9 E&D9 =:)=<:I=8QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'mN%@Vehicle HDG: 192.979181 arcdeg .q'-'-*G)2G-TY@F)F)rFQbFYEaEi);I9 !i!I)=8i9ETY@ Q2@e<:@w: ߡ$RHorizontalControl.headingCmd 3.395810 radiYY4J) *5(AYt*gH@t*W@yt*W2kt*8>t*Hi;P^?@@ ˿03g?f?$?`@?)u*gH@ u*f&s;Iu*CxBj>xBqEGF@AHD)~SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yewe>aiQmDimm>Iq I}7ٮqq Q}tI q UC9qu: u:)uOP7 8)I tIi 'D -:):I8I9=O@Contact HDG: 194.565561 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI8wni 2@<:@w: !Q) qD5(A Yt*8uH@t*C"W@yt*fo컙t* >t*H:@?gp@˿@z9}?܍}???)u*8uH@ u*rs;Iu(xBi>xBNEiPIP)~GF@=YEE<E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q UeC9QU`: U :)Uk7 m8)a m8Ia mtIia m'Da eV:)eI:Ie8yIy9*G2GFFrFbFEE);I9 iI8݄ni 2@<:@w: 7GW) ^5(AYt*H@t*!V@yt*tt*a>t*HC h?FM|B˿@&?5?;+?൮?)u*H@ u*4s;Iu(xBeq>xBnE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MGiaia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-@t->11Q5D1=FE>II IU7ٮII Q]tI I U]C9IM; M;)MR7 m8)aIa mtIia m'Da e:)e;Iep58I9*G2GFFrFbFEE) ;I9 iI8Ƙni !2@%<:@-w: 9]>]t> q]) `x5(AYt* H@t*V@yt*?t*qf>t*HE ?}˿ w_9?`S??0?)u* H@ u*t;Iu*CxBz>xB EH@HBp=){FQ =I{Di{F={D{D{FA{D|FBA9|F-?(א¢?i`I`)%GF@]YeU1e>aaQeDimJm>Iq I}7ٮqq Q}tI q U}C9qu: u:)u7 8)I tIi 'D [:)N:IU8I9*G2GFFrFbFEE2EzEBAEҝSoW(@݂?E-?(א¢?EQ =EEZ'newBrEcW>);I9 iI8 ni  2@ <:@w: !$EDacoustic_contact_range 12.179997 m$MhTrackAcousticContact.heading_to_contact 3.390777 rad$MHDUSBL_Hydroid.xAngle 2.100000 arcdegGYd) l=5(A) I;Yt6AiH@t6LW@yt6޿t6S>t6H;@0?`Y˿>0?~?@о??)u6AiH@ u6]2t;Iu6CxRm>xR'E)11Q=D9E)j<E>IA IM7ٮAA QMtI A UUC9AEF: E:)E97 ]8)QIQ ]tIiQ e'DQ U:)Ug:IUv8iIq9q*G2GFFrFbFEE);I9 iI8ni 2@<:@w: j) 5(AYt*G@t*uV@yt*Gt*_4>t*HLz?qʿ G`۹???`?)u*G@ u*0t;Iu(xBj>xBqEiTIVѓC)5SG54=1a 1ua 1u a 5ua 5u a 9ua 9u a -ua - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YM5>QD>I I7ٮ QtI  UC9ͭ: J:)W۳7  8) I   tIi  'D  :) c:I 8AIA9A*Gq2GqFqFyrFybFyEE);I9 iI86nit 2@<:@w: iYYjq) 5(AYt*G@t*V@yt*"t*Ç>t*HI 8?`PTfʿ@-E? U? ?`J?)u*G@ u*4t;Iu(xBv>xBGEGDHD)5dGF@mYuĽ;u>qqQ}Dy};>I I7ٮ QtI  UC9鰅: :)7 8)I tIi 'D E;)I;If8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI8Wni 2@ <:@ w: )w) 5(A Yt*G@t*ӚV@yt*Qt*.y>t*H`2I8?Ч`>ʿZ`Q? r?@? ?)u*G@ u*s;Iu*CxBi>xBEiPIR̓C)~GF@Yʕ]<>ʡʩQDʩͭa:>I I7ٮ M7 QtI  UC9鰵: :)7 8)I tIi 'D :)V:I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 192.124192 arcdeg .q'u'u*Gq2Gu}Y@FyFyrFybFEE);I9 iI99ni}Y@ 2@<:@w: $RHorizontalControl.headingCmd 3.390777 radq}) 5(AYt*G@t*0V@yt*/Ut*q{>t*HS?ʿu]?`?@+?@?)u*G@ u*Tt;Iu*CxBq>xBE)~GiwAa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye屼e>aaQeDam&m>Iq I}7ٮqq Q}tI q U}C9qu2: u:)u,7 8)I tIi 'D Ր:):IO8I9=O@Contact HDG: 194.277204 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI89Ini 2@ <:@ w:% )]Y>]>) w6(AYt*G@t*V@yt*a#-t*;s>t*H`J@?=I@wʿ= TS?Q???)u*G@ u*Dt;Iu*CxBn>xBEHDHDiPIP)QD%d\<%>I) I-7ٮ)) Q5tI ) U5C9)-: -:)-G7 =8)9 E8I9 EtIi9 E'D9 =g:)=:I= 8QIQ9Q*Ga2GaFiFirFqbFqEqEq);I9 iI99 oi 2@<:@w:u ߁ӊ) wi-6(A)IYt6pvG@t6{#V@yt6给t6=P>t6HdU`$?@.Fɿ!?`|?G??)u6pvG@ u6t;Iu6Cx^g>x^sE)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʥ<>ʩʩQDʩ͵l>I I7ٮ QtI  UC9鰽:: :)d7 8)I tIi (D ):)÷:I8D8I9*G2GFFrFbFEE);I9 iI!%89%!oi)) )2@<:@w:xA xA 츑) \9G6(AYt*\\G@t*g V@yt*t|]t*ݻ|>t*H@W@g?ɿ@_(?@W?D?`?)u*\\G@ u*u;Iu*Cx6o>x6Ei@I@)rvGtv=F@Y%%>!)Q-D)-5>I1 I=7ٮ11 Q=tI 1 UEC915: 5:)57 M8)AIA MtIiA M(DA E:)E9:IEd8YIa9a*Gq2GqFqFqrFybFyEE);I9 iI994oi 2@<:@w: )I iiaa) a6(AYt*G@t*lV@yt*t*fD>t*HM}?` ʿ`MD ^?9?:? ?)u*G@ u* u;Iu*Cx6o>x4G6AAH6AA {8Y|8>8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y k.< >QD%Yd<%>I) I57ٮ)) Q=tI ) U= C9)-; -;)-Ϝ7 M8)AIA MtIiA U(DA E;)ED;IE8iIi9i*G2GFFrFbFEE);I9 iI89EGoi 2@<:@w: ) jz6(A Yt*/G@t*:U@yt*ột*_h>t*HS_`{?\ 6ɿ'O?=|?h??)u*/G@ u*Ϛt;Iu(x>=Z>x>1E){Bq|I{@i{B:={B7>{@{@{@|BA9|BVոw?V1i`I`)GF@]Y];]>aaQeDamdm>Iq Iu7ٮqq Q}tI q U} C9quJ: u-:)uʶ7 8)I tIi (D :),:I8I9*G2GFFrFbFEE2EzEAEVAk+@!}4EVոw?V1Eq|EExg1J0@w^EY _Hk濘4'ܪ?%$ ̿E4@=DHdg To Contact =135.976772 degreesZEAbE8:Ezo$?BEJE{ REjErEw>);I9 iI99[oi 2@ <:@ w: !$=Dacoustic_contact_range 24.840002 m$EhTrackAcousticContact.heading_to_contact 2.373242 rad$MLDUSBL_Hydroid.xAngle -56.500001 arcdeg-) ܔ6(AYt-RG@t-U@yt-t-߅>t-HX!?cɿbDTS? z?'?2?)u-RG@ u-Cu;Iu-Cx=?s>x=E)vGixAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5ƻ5>11Q=D9=<=>IA IM7ٮAA QMtI A UU C9AE: E:)EBԴ7 ]8)QIQ ]tIiQ ](DQ UՐ:)U:IU8iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI89poi 2@<:@w: UR>U{>) r6(AYt*mG@t*V@yt*`;t*4>t*HU`!f?@x-OɿRBM?`k?;?{?)u*mG@ u*t;Iu*CxBm>xB'EHFp=HFa=itIt)MdGF@UY]]>aaQeDam";m>Iq Iu7ٮqq Q}tI q U} C9qu: u:)u7 8)I tIi (D :):I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 191.676446 arcdeg .q']']*GY2G]4@FYFYrFabFaEiEi)};I}9 iIo:i=04@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.373242 rad) E6(A) I Yt*+F@t*6U@yt*>rt*a>t*Hcu?@xȿK@w?G? ??)u*+F@ u*u;Iu(xBc>xB E)=GF@}YʅT>ʁʁQDʁ͍>I I7ٮ M7 QtI  U C9鰕Ǐ< <) 7 %8)! %8I! -tIi! -(D! %:)%:I%[8YIY9Y=O@Contact HDG: 135.976772 arcdeg .''O4Initialize Wait Component.*G2GF FrFbFEE)M;IU9 QQiQIQ]l=i]~GY Y2@e<:@ew: 1) ]6(AYt**G@t*U@yt*ﻙt*>t*H\?ݩ`(dɿ@JG?@}??@xB EiLIP)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@ Y ΐ< >1Q5D1=h,<=>IA IE7ٮAA QMtI A UM C9AEO: ES:)E&7 m8)aIa mtIia m(Da el:)e:Ie38yIy9*G2GFFrFbFEE);I9 iITAi 2@<:@w: iYY[) v66(AYt*F@t*U@yt*Jt*%ބ>t*H`cD?@=꥿ȿ@S2?Bi~?@l? |?)u*F@ u*_Yt;Iu*CxB`k>xBEGB@AHB@A)~ׄGF@=YEዹE>AIQMDIM 9M>IQ I]7ٮQQ QetI Q Ue C9QUn: U:)Ue@7 m8)iIi utIii u(Di m:)m9:ImtS8I9*G2GFFrFbFE!E!)U;IU9 YYiYIYeFiegtJH@dBY?ί`ȿR M?@}k? =r??)uJyF@ uJ6v;IuJCxRu>xREi\I`)ʹʹQDʹͽ">I I7ٮ QtI  U C9: p:)]7 8)I tIi (D %:):Iv8I9*G2GFFrF bFEE);I9 iIlE@i I= 2@<:@w:X ߱Pm) /7(AYt*G@t*U@yt*{t*ţ>t*H``y?[ɿ{Ea?P/~???)u*G@ u*y2u;Iu*Cx6g>x6sE)rGiprwAF@zYzŒ<z>||Q~D|`<>I  I7ٮ   QtI  U C9  : į:) v7 %8)I %tIi %)D t:):I81I191*GA2GAFIFIrFQbFQEQEQ)m;Im9 iiiiIiuA@iu=q y2@}<:@w:U𕭼 aY]>T) uI7(AYt*F@t*TU@yt*Ct*>t*HVi?@Kcȿ`RP {? q?`פ??)u*F@ u*t;Iu*CxR`k>xREHVa=HTi`IbѓC)%vGF@-Y555>99Q=D9E,dE>II IM7ٮII QUtI I UU C9IM: MS:)M7 ]8)YIY etIiY e)DY ]:)]:I]k8qIq9q*G2GFFrFbFEE);I9 iI;@i= 2@<:@w:GgL< ߡˀ) "c7(A) IYt*KF@t*VU@yt*>Rt*>t*Hbz?FvȿN@hZ? X[?8??)u*KF@ u*eu;Iu(x>Rr>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-o 5>99Q=D9E<E>IQ I]7ٮQQ Q]tI Q Ue C9QU; U ;)U7 u8)iIi }tIii })Di m~ ;)m;Imr8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIj5@i> 2@<:@w:%a< 1ک) ˀ}7(AYt2IF@t2TlU@yt2t2 >t2Hg?[y ȿE?[v? s??)u2IF@ u2*t;Iu0xNk>xRE){R5{P{P{P|R?A9|Rޙ%?B7߁?ipIr̓C)5G=%==%=F@}Y}<>ʁʁQDʁ͍>I I7ٮ QtI  U C9鰕>+< +<)ʵ7 8)I tIi )D Ր:)9:I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.066346 arcdeg .q''*G2GFFrFbFEE2EzE?AEŶ3'@κ?Eޙ%?B7߁?E5<EEp'J37 q莩?E YYnj՟ɿKcR?E.U@=DHdg To Contact =191.548421 degreesZEbE<:Eo$?BEzo$?JE RE{ jEL=rE);I9 iI<0@i~<> 2@<:@w:?< $Dacoustic_contact_range 11.999999 m$hTrackAcousticContact.heading_to_contact 3.343151 rad$%HDUSBL_Hydroid.xAngle 0.500000 arcdegiaae) g7(AYtNF@tNFU@ytNÎ6tN# >tNHj ? 5`DGȿ`d?`ц? ? [?)uNF@ uNIu;IuNCxn`k>xnEGlHl)mdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y]%>!!Q%D!-i->I1 I=7ٮ11 Q=tI 1 U= C915: 5>:)57 E8)A M8IA MtIiA M)DA E:)E:IE#"8YIY9Y=O@Contact HDG: 191.548421 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%*@i%h _>) )2@5<:@5w:e<= iN) 47(A Yt*F@t*U@yt* )t*N>t*H@dD?@िȿIL?h4? ^?,?)u*F@ u*u;Iu*CxRMl>xRLEi`If“C)!F@Yʝ:>ʙʙQDʡͥ<>I I7ٮ M7 QtI  U C9鰭: :)n7 8)I tIi )D :):IqE8I9*G 2G F F rF)bF1E1E1)E;IE9 IIiIIQe3%@imZW>q y2@}<:@w:Mɯ= ^) 7(AYt*F@t*CU@yt*t*->t*H Pki? Aȿ`9F ?U?? @?)u*F@ u*qt;Iu(xRj>xRqE)i!%xAF@-Y5;5>11Q=D9E@E>IA IM7ٮAA QMtI A UU C9AE}: E>:)E7 ]8)QIQ ]tIiQ e)DQ U%:)UE:IUc8iIq9q*G92G9FAFArFIbFIEIEI);I9 iIT% @i > 2@<:@w:7> ߙ]>]{>) 7(AYt*F@t*~U@yt*kPt*>t*H CeNH?` ȿ@yOb?E ?8?`?)u*F@ u*t;Iu(x2p>x2EH6p=H6p=i@IF̓C)zGa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYUBKU>YYQ]Dae.<e>Ii Iu7ٮii QutI i Uu C9im: m:)m87 8)yIy tIiy )Dy }:)}:I}8I9*G2GFFrFbFEEq);I9 iI@i 2@<:@w:}> ) 7(A) IYt.FF@t.QOU@yt. t.r>t.H`j`?r@lXȿT\?,? ??)u.FF@ u.t;Iu.CxNm>xN'E)5GF@]Ye;e>aaQeDimm>Iq I7ٮqq QtI q U C9qu(; uش;)unT7 8)I tIi )D :)Z:I8I9*G)2G)F)FrFbFEE) ;I 9  i I fF@i 2@<:@w:E/> Q) 8(AYt*(F@t*3>U@yt*7Et*>t*H k`E?2n6ȿ`W`Y? ~??@?)u*(F@ u*07t;Iu*CxBz>xB EiLIL)dG4= F@Y%y;%>!)Q-D)-,->I1 I=7ٮ11 Q=tI 1 UE C915ӻ: 5:)5wo7 M8)AIA MtIiA M)DA E[:)E:IE8YIa9a*Gq2GqFqFqrFbFEE);I9 iI!@i 2@ <:@ w:IU> iYY/ ) l{28(AYt*F@t*VU@yt*s9t*.>t*H9iQ?5ˣ fȿ Ri?/??@?)u*F@ u*`At;Iu*CxBmd>xBu EG@HFAA)|a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>QDdf;>I I7ٮ QtI  U C9: :)7 8)I tIi *D Ѯ;);It8)I)9)*GY2GYFaFarFabFiEiEi)U;IU9 QQiQIQ] K@]miYa a2@m<:@mw:MS> Q) ,aL8(A@ Yt.@F@t.KrU@yt.^8t.#>t.Hf#.? pEȿ`V`???I?)u.@F@ u.(t;Iu.Cx>sj>x>(EiLIL)|F@Y8%>!!Q%D!-F;->I1 I=7ٮ11 Q=tI 1 UE C9158; 5f;)57 M8)A M8IA MtIiA U*DA Eȗ:)E:IE 8YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iI4@i 2@<:@w:%2> 1) "8f8(AYt*F@t*qU@yt*-t*蘂>t*Hf &?@ @ȿ^O?@}?%?@?)u*F@ u*St;Iu(xN`k>xNE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iF@YA:%>!)Q-D)}>I I7ٮ QtI  U C9鰽}< ~ <)Ŷ7 58) I  =tIi  E*D   N;) hL;I 48I9&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eNM@Vehicle HDG: 191.085539 arcdeg .q'U'U*GQ2GU.U@FQ]R>]t>FrFbFEE);I9 iI=@i.U@ 2@ <:@ w:Y Y)YIY  $- RHorizontalControl.headingCmd 3.343151 radp ) k8(AYt*_F@t*jyU@yt*,t*}>t*H)f,?@4@(ȿ`:`"?E?`|8? ?)u*_F@ u*Dt;Iu*CxBeq>xBnEH@H@){FdI{Di{F={D{D{FHB{D|F ?A9|F 29?QC1mli`I`)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y^;>QD: >I  I57ٮ   Q5tI  U= C9  : c:) 7 E8)9I9 EtIi9 E*D9 =:)=:I=.W8QIY9Y=O@Contact HDG: 191.548421 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzE ?AEH *W>'@uVE 29?QC1mlEdEErr'E#vևj?EB%{kHw?ȿX1#|?EUBU@=DHdg To Contact =190.919483 degreesZEbE;:EBEo$?JERE jEP=rEL=)M;IM9 IIiIIIU@@iQQ Y2@]<:@w: ߹$Dacoustic_contact_range 11.940001 m$ehTrackAcousticContact.heading_to_contact 3.332174 rad$eJDUSBL_Hydroid.xAngle -0.200000 arcdeg_.&) 8(A)IYt.F@t.LU@yt.M>t.0>t.H@jw?`$RȿTy_?'??`?)u.F@ u. Ut;Iu.Cx>z>xB E)+GF@eYe)9e>iiQmDiuu>Iy I}7ٮyy QtI y U C9y}: }:)}7 8)I tIi *D :):It8I9*G2GFFrFbFEE)U;IU9 QQiQIY]@iYa a2@e<:@mw: y@X,)  dz8(AYt*dF@t*oqU@yt*4t*>t*Hf@/?`+`PȿhW?r???)u*dF@ u*Wt;Iu(xBe>xBP EiPIP)G  a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>qqQuDqU;U>IY Ie7ٮY Me7Y QetI Y Ue C9Y]: ]s:)]~7 u8)iIi tIii *Di mO;)mF;Im8I9*G2GFFrFbFEE)];I]9 YYiYIYeo$@ier>a i2@m<:@uw: ߁iYY/?3) =8(AYt*F@t* `U@yt*<"t*)݊>t*Hth?`k;yȿ>`Z?V?`&%?@'?)u*F@ u*t;Iu*CxBo>xBEG@HF@A)|F@Y%y/;%>))Q-D)5=5>I1 I]7ٮ11 QetI 1 Ue C915д; 5;)5~07 m8)iIi mtIii u*Di m :)m:Im:8I9*G2GFFrFYbFYEYEi);I9 iI )@i'Q> 2@<:@w: Ej9) g}8(A@ Yt.F@t.vU@yt.dR8t.M>t.H%f`7?:ȿaŻ?, ? ?I?)u.F@ u.Gt;Iu.CxBv>xBEiLIL)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeQe>aaQmDim,^;m>Iq I7ٮqq QtI q U C9qu; u;)uL7 8)I tIi *D :):I~8I9*G2GF F rFbFEE);I9 iI-)J/@i5X.>1 12@=<:@=w: QR@) `X9(AYt*;F@t*FLU@yt*ct*.w>t*H_j%?vRȿ ~`C?bl?? ?)u*;F@ u*t;Iu(xBu>xBE)z+Gi~yA|F@Y%-;%>!!Q-D)-׻->I1 I=7ٮ11 Q=tI 1 UE C915: 5:)5g7 M8)AIA MtIiA M*DA EՐ:)E:IE8I9*G2GFFrFbFEE)5;I=9 99i9I9Eg4@iEn >A A2@M<:@Mw:e> qY]x>{F) v29(AYt*F@t*GU@yt*Xt*\>t*Hj?@`Iȿ`>H`g? ???)u*F@ u*@t;Iu*Cx>r>xBIEHBa=HBa=iPIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@mYʅ;>ʉʉQDʉ͕/>I I7ٮ QtI  U C9鰝: :)7 8) 8I tIi *D :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  iI}9@i = 2@%<:@%w:-E}> 9L)  59(A) IYt.G@t.U@yt.9t.,u>t.H``?`Aɿw ?@2;?VZ? ?)u.G@ u.t;Iu.CxRi>xRE)UvGF@}YʅZ>ʉʉQDʉ͕p<>I I7ٮ QtI  U C9鰙 ):)7 8)I tIi +D p:):I"A8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 191.299119 arcdeg .q'u'u*Gq2GuUBU@FyFyrFybFEE);I9 iIg?@i=UBU@ 2@<:@w:@N> ߙ$RHorizontalControl.headingCmd 3.332174 radoS) N9(AYt*QF@t*\]U@yt*D,At*߆>t*H`h@F?玢sȿ~h*}?c%?@??)u*QF@ u*'t;Iu*Cx>o}>xBEiLIL)G5%=54=F@YʍG>ʑʑQDʑ͝ I>I I7ٮ QtI  U C9鰥: :)T7 8)I tIi +D E;)SI;IEc8I9=O@Contact HDG: 190.919483 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iID@i= !2@-<:@5w:d> ߑiYYY) h9(Ax'n>xpEG?AH {Y|!%8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a % a 5%@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@EYUU>YYQ]DYem>Iq I}7ٮqq QtI q U C9qu; uX ;)uڷ7 8)I tIi +D :);:Iu8I9*G2GFFrFbFEE) ;I9 iI^=Gi%vD! !2@-<:@-w:%D > 1B`) ,9(A Yt.F@t.ݤU@yt.ft.зr>t.HaZ?@ǢNɿ@}/?ػ?@??)u.F@ u."t;Iu,xB1z>xBEiXIX)%GF@]YeH;e?aaQeDamR<m?Iq I}7ٮqq Q}tI q U} C9qu: u-:)u7 8)I tIi +D :):Iݦ89I999*GI2GIFIFQrFqbFqEyEy);I9 iIACiŰ 2@<:@w:= f) z9(Ax~`k>x~E)}GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>qqQuDq}}>I I7ٮ M7 QtI  U C9鰅: :)7 8)I tIi +D l:):I+8I9*G2GFFrFbF E E )=;IE9 AAiAIAM=iMjxuQ i2@u<:@uw:e&= q]>]>l) S9(AYt*F@t*ٛU@yt*/9*t*)>t*Hb{?Z ȿ'f@? G? "??)u*F@ u*:t;Iu*CxRi>xVEHZp=HZp=ilIl)5GF@}Yʅ>ʁʁQDʉ͍5>I I7ٮ QtI  U C9鰕: :)})7 8)I tIi +D :):IM8I9*G2GFFrFbFEE);I9 iI ^:i d  2@<:@w:= s) <09(A) IYt*F@t*U@yt*t*>t*H b`Xi?ȿ@e G?? q?`?)u*F@ u*Xt;Iu*CxBs>xFE)SGF@=YE;E>AAQMDIMv7M>IQ Ie7ٮQQ QmtI Q Uu C9QU; U6;)UD7 8) 8I tIi +D s:)e:I 8I9*G2GFFrFbFEE);I9 iI E7i XŽ 2@-<:@-w:U9 Y7z) | 9(AYtBNG@tBU@ytBջ5tBt{>tBHY x^EilIl)=dG=4=E%=a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʡQDʩͭf<>I I7ٮ QtI  U C9鰵T; :)`7 8)I tIi +D ):)÷:I/8I9*G2GFFrF bF E E )%;I%9 !!i!I!-E5i)) 12@5<:@=w:Myb] QiYY) :(AYt>46G@t>?U@yt>8It>`>t>Hq[ j? LmzɿH?N?&?{??)u>46G@ u>lu;Iu>CxfRr>xfEGjAAHh)MGF@}YʅB>ʁʁQDʁ͍v>I I7ٮ QtI  U C9鰕: :)7|7 8)I tIi +D :)N:IlQ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9  i I  X5mi 2@<:@w:e .) c:(A@ Yt2pPG@t2{U@yt2< t2>t2H`"Y` ?@ɿ`T?`? ??)u2pPG@ u2Tu;Iu2CxJWx>xNEiXIX)]ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y<>QD|;>I I7ٮ QtI  U C9: :)7 8)I tIi +D ::),:Iqt8 I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 191.573952 arcdeg .q''*G2GFFrFbFEE);I9 iI37i5 2@<:@w: B) 7:(AYt*ҕG@t*BV@yt* Mt*S|>t*H R@a? 5ʿ[@? ?@M?@?)u*ҕG@ u* u;Iu(x>B`>xB E)zGi|~wAF@=YEE>AAQEDAM{4<M>IQ I7ٮQQ QtI Q U C9QU< UV<)UҲ7 8)I tIi ,D (:)^:I+89I999=O@Contact HDG: 190.919483 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIeW:im${i i2@u<:@uw:E2Ľ I]Y>]p>*) wQ:(AYt*EIG@t*PU@yt*zA7t*g>t*HYU?5ߟɿAm?? ???)u*EIG@ u*kv;Iu(x>f>xB EHBa=HBa=iPIRѓC)zGF@=YE>E>AAQMDIM{=M>IQ I]7ٮQQ Q]tI Q Ue C9QU2: U:)Ueθ7 m8)aIa mtIia m,Da e:)e:Ie8yIy9*G2GFFrFbFEE);I9 iI;i 2@<:@w: ƽ `T) PSk:(A)4t.H`]M@ ?@o`ʿV?W??H?6?)u.,G@ u.lv;Iu,xNt>xRlE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 55@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@UY]r;]>aaQmDiu <>I I7ٮ Q tI  U C9< p<)7 8)I tIi ,D :)؛:I8)I)9)*G92G9F9FArFabFiEiEi)};I9 iI/;@mi 2@<:@w:< ,<) .:(AYt*AG@t*L9V@yt*r)t*->t*HR ?@K !#ʿRR x?#??b?)u*AG@ u*/w;Iu*CxBh>xBE){Bd;I{@i{B={@{@{BA{@|BBA9|B 29?QC1ml?i`Ib̓C)%SG%%=!F@]Yee>aaQeDim!m>Iq I}7ٮq M}7q Q}tI q U} C9qu=: u:)u7 8)I tIi ,D Ր:):IO8I9*G2GFFrFbFEE2EzEBAEa\(@ Jlĥ?E 29?QC1ml?Ed;EE̖s'm 8Ir?E2s+Mdfxʿ!`?EpV@=DHdg To Contact =191.976837 degreesZE!bE>:EBEJEREjE >rEP=);I9 iItbH=J/?cʿ@2 Ag? aW?}?`?)ubG@ ubv;IubCxv'n>xzpEGH)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@Y%m:%>))Q-D)5D<5>I9 I=7ٮ99 QEtI 9 UE C99=h: =:)="#7 M8)I M8II UtIiI U,DI M:)M;:IMy8aIa9a*Gq2GqFyFyrFbFEE);I9 iI<mi 2@<:@w: ) :(A@ Yt.KG@t.VV@yt..t. }>t.H I@2_?b. ʿ?PxBEiPIVѓC)%SGF@=YEE>AAQMDIM2:M>IQ I}7ٮQQ Q}tI Q U} C9QUش; U;)U<7 8)I tIi ,D O:)c:If?8I9*G2GFFrF!bF!E!E!)];Iu9 qqiqIq}_<}$miyy 2@<:@w:)=I=UXR YEx) j:(AYt*G@t*V@yt*,t*I>t*HzI@P?ﶥʿcGۊ?x?M??)u*G@ u*(w;Iu(xNo>xRE)GixAF@Yʍ9>ʉʑQDʑ͕>I I7ٮ QtI  U C9鰝: J:)X7 8)I tIi 5,D ֍<)Q]> ߡD) ɪ:(AYtVQH@tVV@ytVE tVxI>tVH S>`)?`˿ %?@h?@?4?)uVQH@ uV=x;IuTx^h>x^EH^p=H`ilIn̓C)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y;>QDm<>I I-7ٮ Q-tI  U- C9Z< <)gw7 58)1I1 =tIi1 =,D1 5:)5Ԙ:I548iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'N=@Vehicle HDG: 192.474212 arcdeg .q'='=*Ga2GepV@FaFirFibFiEqEq);I9 iI;ipV@ 2@<:@w: $5RHorizontalControl.headingCmd 3.350628 radG) u;(A) IYt.*(H@t.5V@yt.t.L@x>t.HB?@ T˿*U C?i??@?)u.*(H@ u.Yx;Iu.CxNxp>xRE)ƄGF@]Ye e>aaQeDimSm>Iq I}7ٮqq Q}tI q U} C9qu: u:)u7 8)I tIi ,D ::)o:I8I9=O@Contact HDG: 191.976837 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!)5;I=9 99i9I9E;EmiAA I2@M<:@Uw: am) P ;(AYt*ϭH@t*ZW@yt*tNt*H>t*H3@?X̿@,?dΉ?#?`?)u*ϭH@ u*wx;Iu(xN`>xR. Ei\I\)G%4=%4=F@-Y5k 5>11Q5D1=<=>IA IM7ٮAA QMtI A UM C9AE}: E:)Eߪ7 ]8)QIQ ]tIiQ ],DQ U:)Us:IU 8iIi9i*G2GFFrFbFEE);I9 iI;mi 2@<:@w: iaa) =,:;(AYt*H@t*&5W@yt*3t*B>t*H;8 e?ᨿ U̿ t?t?U1?`]?)u*H@ u*z;Iu*CxBn>xBEG@HD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aaQmDim෻m>Iq I}7ٮqq Q}tI q U C9quB: u:)uƹ7 8)I tIi -D !:)5:I8I9*G2GFFrFbFEE);I9 iI;imi 2@<:@ w: t) WT;(A Yt:H@t:tW@yt:ӻt:F>t:H ~1?f ̿ 1Y?j~z???)u:H@ u:x;Iu:Cxbsj>xb(EiI)vGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYm(<m>qqQuDq}t<}>I I7ٮ QtI  U C9鰅: :)7 8) 8I tIi -D g:):I8I9*G2GFFrFbFEE);I9 iI;,mi 2@<:@w: ߉) Cm;(AYt*I@t*W@yt*rt*y>t*H@;)? az`pͿ`D9]?@??@B ?)u*I@ u*5B|;Iu*Cx^f>x^ E {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )jGiF@Y>QD 8< >I I7ٮ Q%tI  U% C9; ;)d7 58))I) =tIi) =-D) -;)-D;I-/8IIQ9Q*Gi2GiFqFqrFybFEE);I9 iI;mi 2@<:@w: ]]>ep>Y) +;(AYt*I@t*W@yt*kt*!>t*H`P*@z?lܦ̿@7?@o?`{p?B?)u*I@ u*Zy;Iu*CxB"h>xBEH@HBp=){F;I{Di{FT={D{D{FA{D|F@A9|FZ?a|?ilIn“C)=ƄGF@]YeMe>aaQmDim m>Iq I}7ٮq M}7q Q}tI q U C9qug: u:)u7 8)I tIi -D -:)c:IO8I9*G2GFFrF bF E E 2E1zE5@AE5&Z(@>zt?E5Z?a|?E5;E1E51cs' ?{,r?E5ace|Ϳt?E5X@=EDHdg To Contact =193.476528 degreesZE53bE5;:E1BE1JE1RE1jE5G>rE5 >)};I}9 yyiyIy;mi 2@<:@w: ߡ$Dacoustic_contact_range 12.059997 m$hTrackAcousticContact.heading_to_contact 3.376802 rad$HDUSBL_Hydroid.xAngle 0.400000 arcdeg) J;(A) IYt*.sI@t*9 X@yt*v=t*#>t*H@@/$? 5Ϳ@$??-??)u*.sI@ u*^z;Iu*CxB,t>xB#E)zGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥV;>ʡʡQDʩͭX<>I I7ٮ QtI  U C9鰵 : :)57  8) I  tIi  -D  :) :I As8!I!9!O=Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9FArFAbFAEIEI)];Ie9 aaiaIam;mmiii q2@u<:@}w: ߉,) u;(AYt*j'I@t*uW@yt* t*v>t*H&?ƩFͿ!?`?!???)u*j'I@ u*}z;Iu*CxB5g>xB*EiPIR̓C)G %= F@=YEo<E>AAQEDIMuAM>IQ I7ٮQQ QtI Q U C9QUi< U<)UuP7 %8)I %tIi %-D :):I81I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 193.220984 arcdeg .q''*G2GX@FFrFbFEE);I9 iI/:i~X@ 2@<:@ w: $=RHorizontalControl.headingCmd 3.376802 radiYY) ?W;(AYtnNI@tnY`X@ytntn:fu>tnH ;?`F?Vο. [?`O?{a?@?)unNI@ uny;Iulxvj>xvqEGxHx)eSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y%k%>!!Q-Dim~<m>Iq I}7ٮqq Q}tI q U} C9qu: u:)up7 8)I tIi -D <):Is8I9=Om@Contact HDG: 193.476528 arcdeg .'m'mOu4Initialize Wait Component.*Gq2GqFqFqrFybFyEyE);I9 iIV:miY 2@<:@w: )>) *;(A Yt*I@t*dX@yt*`t*Յ>t*H K?bΨ^ο@`D?? ?@?)u*I@ u*{;Iu(xBi>xBEiPIP)~GF@=YEPME?AAQMDIM[:M?IQ I]7ٮQQ Q]tI Q U] C9QU: U:)U7 m8)aIa mtIia m-Da eՐ:)e,:Ie8yIy9*G2GFFrFbFEE);I9 iI-:mi 2@<:@w: &)  <(AYt*|J@t*X@yt*'t*o%>t*H ? rzο `h?`j??`?)u*|J@ u*Rx;Iu*CxBZe>xB E)~GiF@ Y6<>QDh6<>I! I-7ٮ!! Q-tI ! U- C9!%ͭ: %:)%Ǣ7 =8)1I1 =tIi1 =-D1 5}:)59:I58III9Q*Ga2GaFaFarFibFiEiEq);I9 iI.: mi 2@<:@w:JM ߹]e>e{>nP) H"<(AYt*I@t*X@yt*}t*ja>t*HmW?Cο?o?>?@k?)u*I@ u*y;Iu(xVRr>xZEHXHZa=ihIh)5dGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ[:>ʙʙQDʙͥ>I I7ٮ QtI  U C9鰭: :)7 8)  8I  tIi  -D  :) :I |8!I)9)*G92G9F9FArFAbFAEIEI)];I]9 aaiaIam-:mcmiii i2@u<:@uw:.[ z) f<<(A);IYt*PJ@t*X@yt*It*|>t*H@?ᨿϿ* M?/?@?@h?)u*PJ@ u*Ex;Iu*CxBh>xBE)GF@]Yeae>aiQmDimg<m>Iq I}7ٮqq Q}tI q U C9quG: u:)uں7 8)I tIi .D :)ݖ:I>8I9*G2GFF1rF9bF9E9E9)U;Iu9 qqiqIq}.:}}miyy 2@<:@w: )I Ie) V<(AYt2'J@t22sY@yt27t2>t2Hev?䡫b5п @>?`? TI??)u2'J@ u2v;Iu2Cx:?s>x:EiHIH)zSGz=~%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ,;>ʩʩQDʩȋ<>I I7ٮ QtI  U C9h: :)V7 8)I  tIi  .D :),:Ia8I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQ]-:]tmiYY a2@e<:@mw: yiQY) pp<(AYt*́J@t*.Y@yt*yt*>t*H@ ?\Ͽ ^`/?܃?b??)u*́J@ u*@v;Iu*Cx6g>x6sEG:@AH8 {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )=GF@Yyn;>  Q D '>I! I-7ٮ! M-7! Q-tI ! U5 C9!%@; %j!;)%K7 E8)9I9 EtIi9 M.D9 =:)=:I= 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E );I9 iI.:lmi   2@<:@w: It") L<(A@ Yt*]'K@t*hY@yt*6t*l>t*H1?֬`Yп`1&?چ?@0}??)u*]'K@ u*t;Iu(xBx>xBE){F|=I{Di{F={F>{D{FpA{D|FGA9|Ff?Rj?i`I`)%GF@]Yeye>aaQeDim<m>Iq I}7ٮqq Q}tI q U}C9quh: u:)uV-7 8)I tIi .D  :):I08I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.011299 arcdeg .q''*G2GFFrFbFEE2E!zE%GAE%`IaY>@b@E%f?Rj?E%|=E!E%W()e;Ie9 aaiiIiu-:uamiqq q2@}<:@}w: ߑ$Dacoustic_contact_range 30.659998 m$hTrackAcousticContact.heading_to_contact 3.476978 rad$HDUSBL_Hydroid.xAngle 4.350000 arcdeg() $)<(AYt* K@t*Y@yt*d(t*Z >t*H?nxп@^?4?3??)u* K@ u*u;Iu*CxBxp>xBE)~vGi|a 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]x ;e>aaQeDamm>Iq I}7ٮqq Q}tI q U}C9qu: u:)uH7 8)I tIi .D :):I98I9=O@Contact HDG: 199.216141 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI.:Wmi 2@ <:@w: !]{>]a>.)  <(AYt*ZyK@t*e&Z@yt*ڪt*Â>t*H[2}?  п!`?FՃ?*?@?)u*ZyK@ u*t;Iu*CxBHf>xB EHDHDiTIT) GF@=YE:E>AAQMDIM<M>IQ I]7ٮQQ Q]tI Q UeC9QU: U:)U7d7 m8)aIa mtIia m.Da eO:)ec:Ie8yIy9*G2GFFrFbFEE);I9 iI-:sKmik5 2@<:@w: V5) <(A) IYt*iK@t*&Z@yt* ;t*>t*H`Z "l?CʭпdY?2a?`??)u*iK@ u*$s;Iu*CxBe>xFP E)eSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y# >  Q D ?>I I%7ٮ Q%tI  U%C9: l:)7 58)) 58I) 5tIi) 5.D) -:)-[:I-# 8AIA9I*GY2GYFYFYrFabFaEaEi)};I}9 yiI.:=mi 2@<:@w: ߩZ;) <(AYt2K@t2Z@yt2Xt2H`|`m?Lѿ4ɹ? Ƀ?F??)u2K@ u2 s;Iu2CxR}v>xREi\I`)%dG%%=!F@5Y575>99Q=D9Eǧ<E>II IU7ٮII QUtI I UUC9IMի: MS:)MG7 e8)YIY etIiY e.DY ]:)]R:I]+8qIq9q*G2GFFrFbFEE);I9 iI-:|.mi 2@<:@w: iYYeB) Ւ =(AYt*K@t*Z@yt*S*t*>t*H N ?@~`Uѿ?ZJ?c?c?)u*K@ u*(s;Iu*CxBq>xBEGFAAHD)%GF@=YEu/;E>AIQMDIM:U>IQ I]7ٮQQ Q]tI Q UeC9QU: U:)U7 m8)aIa mtIia u.Da e:)e:IeN8I9*G2GFFrFbFEE)%;I%9 !!i)I)-.:-Hmi11 12@=<:@=w:--tY 1H) o%=(A@ Yt.?CL@t.JZ@yt.7t.x>t.H`TA?@ ߤѿ@ 4??;?@F?)u.?CL@ u.'r;Iu.Cx6m>x6'Ei@ID)rGa 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ6>ʙʙQDʡͥF<>I I7ٮ QtI  UC9鰭T; t2Hg?`xBNE)SGi  F@=YE:E>AAQMDIM<M>IQ I7ٮQQ QtI Q UC9QU< U&<)U7 8)I tIi /D :) :I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)=;I=9 99i9I9E.:E=liAA I2@M<:@Uw:Y Y)YIY ]R>]>U) [$Y=(AYt*cL@t*nF[@yt*f>t*;>t*H&?`ѿ ?Շ?G=??)u*cL@ u*r;Iu*CxB,t>xB#EHDHFp=iPIP)GF@=YEE>AAQMDIMÈ;M>IQ I]7ٮQ M]7Q Q]tI Q UeC9QU: U:)U 7 m8)aIa mtIia m/Da e[:)e:Ie68yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.305292 arcdeg .q''*G2G͆^@FFrFbFEE) ;I 9  i I)5l8i15͆^@ 92@=<:@Ew: q$RHorizontalControl.headingCmd 3.476978 rad)\) s=(A)4t.H( ?f Vҿ`S=?@?#??)u.oL@ u.s;Iu,xNk>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YF;>QD5J<>I I7ٮ QtI  UC9.: :)+7 8)I  tIi  /D а:):Iw8I9=O@Contact HDG: 199.216141 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI4i 2@<:@w: 19c) v݌=(AYt*qL@t*|[@yt*)t*]{>t*H@ ? Bҿ4=?|xBNEiXIX)G==F@]Yese ?aaQeDamPm ?Iq I}7ٮqq Q}tI q U}C9qu: uB:)uA7 8)I tIi /D :) :I8I9*G2GFFrFbFEE);I9 iI>p3i 2@<:@w: iYY:i) ȵ=(AYt*(M@t*3I\@yt*]t*ze>t*H}~?࡚;ҿx@9?@?`?@?)u*(M@ u*Sr;Iu(xBHf>xB EG@HD)AIQMDIM<M>IQ I]7ٮQQ Q]tI Q UeC9QQ UW:)Uf\7 m8)a m8Ia mtIia m/Da eݖ:)e:IeW8yI9*G2GFFrFbFEE);I9 iI2i 2@<:@w: "p) X=(A Yt*M@t*:\@yt** =t*>t*Hڒ QS?`iZҿ=SO????)u*M@ u*ns;Iu*Cx^p>x^%EipIp)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥɜ;>ʡʩQDʩͭ >I I7ٮ QtI  UC9鰵: :)x7 8)I tIi /D :):I=8I9*G2GFFrF bF E E )%;I%9 !!i!I)-s3i-荑1 12@=<:@=w:M<1 QMv) p=(AYt*M@t*l\@yt*#t*>t*HK?ӱӿ7|?@e??`?)u*M@ u*r>r;Iu*Cx>k>xBE)-Gi11a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ <>ʙʙQDʙͥP;>I I7ٮ QtI  UC9鰭: 'W;)M7 8)I tIi /D F:):I_8I9*G2GFFrFbFEE);I9 iI%3%mi!! !2@-<:@-w: 8k ]>]>(w|) H=(AYt*R1N@t*]\@yt*Ct*t>t*Hzz[? @C}ӿ`]9?k?O??)u*R1N@ u*pt;Iu*CxBRr>xBEHFa=HFa=iPIP)Q]DYek<e>Ia Im7ٮaa QmtI a UuC9ae\: e:)eL7 }8)yIy }tIiy /Dy }S:)}E:I}8I9*G2GFFrFbFEE);I9 iI3Hmi 2@<:@w: ^) #>(A);IYt*2N@t*\@yt*xFt*>t*H` z?`3~ӿ a-;? ҈???)u*2N@ u*vWs;Iu*CxNq>xRE)SGF@]Ye߻e>aaQeDim|F9m>Iq I7ٮqq QtI q UC9qu< u3<)uʼ7  8)I  tIi  /D :):I:8I9O-Done Waiting.'-O58Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rF9bFAEAEA)U;I]9 YYiYIYe3emiaa i2@m<:@mw:y y)yIy )2) '>(AYt*N@t*3]@yt*mZ-t*>>t*H>m1?@ϳ@ӿ+fP? 3???)u*N@ u*r;Iu*CxN'n>xRpEi\I\)G%4=%%=a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅfw;>ʁʁQDʁ͍N<>I I7ٮ QtI  UC9鰕: :)7 8)I tIi /D  :) :I>8I9&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q']N@Vehicle HDG: 198.031062 arcdeg .q''*G2GFFrFbF E E )];I]9 aaiaIam3m*$mi 2@<:@w: ߩiYYq) IA>(AYt*0eN@t*;]@yt* t**>t*H rc'?@G(ӿHg? #?Vu?`1?)u*0eN@ u*6r;Iu*CxN'n>xPGPHP)SGF@-Y-S;->11Q5D1=2=>IA IE7ٮA MM7A QMtI A UMC9AE: E:)E7 U8)QIQ ]tIiQ ]0DQ U :)U:IUf8iIi9i=O @Contact HDG: 199.216141 arcdeg .' ' O 4Initialize Wait Component.*G 2G F FrFbFEE);I9 iI3[-mi 2@<:@w: .) R[>(A Yt.O@t.]@yt.[i#t.w>t.H iY?r GԿrf? m?u?@M?)u.O@ u.6s;Iu.CxNo>xREi\I\)Ga 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}}>ʁʁQDʁ͍<>I I7ٮ QtI  UC9鰕: :)7 8) 8I tIi 0D Z:)7:IQ 8I9*G2GFFrFbFEE);I9 iI 3 z2mi O}  2@<:@w: )IŜ) `u>(AYt*OO@t*Z]@yt*gKMt*bC>t*H`U@a?SZԿ@?@??@)?)u*OO@ u*@s;Iu*CxBc>xB, E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UƄGiimwAF@Yʭ̻>ʱʱQDʱF;>I I7ٮ QtI  UC9; ;):7 8)I tIi 0D ];)~ ;I#,8 I9*G)2G)F1F1rF9bFAEAEA)e;Ie9 aiiiIiu3u7miyy y2@<:@w: ߩY]>⬣) Yj>(AYt2TIO@t2_]@yt2՗t2U>t2H N`?`괿`Կ@' G?沃?` ? P?)u2TIO@ u2 r;Iu2CxRv>xREHRp=HRp=){V=I{Ti{VT={V>{T{VB{T|V@A9|V?jtl?ipIp)EʁʁQDʉ͍W;>I I7ٮ QtI  UC9鰕J: -:)!U7 8)I tIi 0D p:):IjM8I9*G2GFFrFbFE E 2EzE@AE q.'@8?E?jtl?E=EE ٧%%&d5l?Eڿl@9\?Ed@=DHdg To Contact =204.615365 degreesZEbEI/:Eo$?BE\o$?JE RE jE>rEp?)=;I=9 99i9I9E3MD;miII Y2@e<:@mw: ߡ$Dacoustic_contact_range 12.059997 m$hTrackAcousticContact.heading_to_contact 3.571212 rad$HDUSBL_Hydroid.xAngle 6.150000 arcdegש) G>(A) IYt.OO@t.]@yt.&t.el>t.HM@?`Կ )`G{?ӡ?`n6?@?)u.OO@ u.`s;Iu.CxBi>xBNE)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ:>ʩʩQDʩͭ.w:>I I7ٮ QtI  UC9: :)&q7 8)I tIi 0D :)؛:Ip8I9*G2GFFrF bF E E)%;I%9 !!i)I)-3->mi11 12@=<:@=w:M؎ Q') !>(AYt*O@t*"\^@yt*ft*3t>t*H5>`Os?Կq\?@¬? L??)u*O@ u* s;Iu*CxBk>xBEiPIP)GF@uY}k}>yʁQDʁͅmo<>I I7ٮ QtI  UC9鰍: |:);7 8)I tIi 0D :):Iq8I9*G2GFFrFbFEE);I9 iI3?mi   2@<:@w: | iYYP)  >(AYt*O@t*^@yt*PtCt*$>t*H 6B?|տI4L?dn?$?`}?)u*O@ u*ms;Iu*CxNi>xRNEGR?AHP)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y;>QD;>I I7ٮ QtI  UC9:: :)7 8)I tIi 0D :)˚:Iv8 I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E9)M;IM9 IIiIIIU3U?miYY Y2@e<:@ew:i i)iIi )s) 8>(A Yt*P@t*^@yt*t*HC.@?@ô@AտG@L?`fG??׼?)u*P@ u*2q;Iu*CxBeq>xBnEiPIP)~ƄGF@=YEnjE>AAQMDIM ;M>IQ I]7ٮQQ Q]tI Q U]C9QU: U:)U½7 m8)aIa mtIia m0Da e:)e:Ie8yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.400584 arcdeg .q''*G2Gd@FFrFbFEE);I9 iI% 2i!%d@ )2@M<:@Uw: a$RHorizontalControl.headingCmd 3.571212 radH) -?(AYt*P@t*^@yt*!t*;t>t*H@9-`?@Iտ }?a;?@{?*?)u*P@ u*p;Iu*CxRp>xR%E)GixA!F@-Y-;5>11Q5D1=:=>IA IM7ٮAA QMtI A UMC9AE: E:)ER޽7 U8)QIQ ]tIiQ ]0DQ U:)Uض:IU8iIi9i=O@Contact HDG: 204.615365 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E)%;I%9 !!iaIam .im i q2@u<:@}w: ߉]V>]t>%) *?(AYt*uIP@t*^@yt*[)%t*>t*H@$(?Syտ`7$ ?? &?l?)u*uIP@ u*Op;Iu(xBp>xBEHBa=HBa=iPIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmDim;u>Iq I}7ٮqq QtI q UC9qu: u_:)uW7 8) 8I tIi 1D l:)^:Ia8I9*G2GF1F1rF9bF9E9EA)e;Ie9 iiiiIiu>>-iqq y2@}<:@}w: ߙ ) EhD?(A)4P@t>-_@yt>k/t>#>t>HF#%?Kmտ@`??@??)u>P@ u>+p;Iu>Cx^{>xbE)ESGF@}Yʅ κ>ʁʁQDʁ͍;<>I I7ٮ M7 QtI  UC9鰕: :)(7 8)I tIi 1D :):I;8I9*G2GFFrFbFEE);I9 iI,i!! !2@-<:@-w: 98) G^?(AYt*+P@t*6;_@yt* /t*` >t*H`"?^W8տ )k?@?^?@?)u*+P@ u*o;Iu(x>u>xBEiLIL)=dGE%=Aa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;8>ʡʡQDʡͭ8;>I I7ٮ QtI  UC9鰵; :)27 8)I tIi 1D ̒:):Im^8I9*G 2G F F rFbFEE)-;I-9 11i1I1=-i99 92@E<:@Ew:M QiYY4a) Xx?(AYt*zP@t*~_@yt* t*8>t*H` I?/տ??@;??)u*zP@ u*>o;Iu*CxBi>xBEG@H@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )yF@Y ; >Q5D9E9<E>II Iu7ٮII Q}tI I U}C9IM; M;)MN7 8)I tIi 1D );)|;I=8I9*G92G9F9FArFAbFAEIEI);I9 iI-emi 2@<:@w:ܪ J) ;?(A@ Yt*mP@t*x_@yt*D)t*O>t*HQ c?´@ֿ?#?]??)u*mP@ u*21o;Iu(xNf>xN EihIh)5GF@=YE忺E>IIQMDIM͔:U>IY I]7ٮYY QetI Y UeC9Y]: ]x:)]fh7 m8)iIi mtIii u1Di m :)mA:Im<8I9*G 2GF1F1rF9bF9E9E9)u;Iu9 qqiqIy}-}Xmi 2@<:@w:A s) ի?(AYt* Q@t*_@yt*}t*˸>t*H?@:`CֿB`.?:?)?@?)u* Q@ u*1eo;Iu*Cx2p>x6%E)rƄGivwAvxAa 1%a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM:M>IIQMDQU2<U>IY Ie7ٮYY QetI Y UmC9Y]: ]:)]7 u8)iIi utIii u1Di m:)ms:ImO8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIU-]fmiYY Y2@e<:@ew:i i)iIq I]R>]x> [) ?(AYt* Q@t*_@yt*t*ˇ>t*H/?6:)0ֿ@?????)u* Q@ u*o;Iu*CxNZe>xR EHRp=HRp=i`If“C)%GF@]Ye;e>aaQmDimMNm>Iq I}7ٮqq Q}tI q U}C9qu: ul:)uß7 8)I tIi 1D p:)ݖ:I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 200.285776 arcdeg .q'5'5*G12G1F1F1rF9bF9EAEA)u;Iu9 yyiyIy-nmi 2@<:@w: ߡ) H?(A);I;Yt* dQ@t*`@yt*8@&t*9>t*H`@F?׵ֿO?DŽ?`30??)u* dQ@ u*n;Iu*CxNh>xRE)GF@]Yej[e>aaQeDimZ<m>Iq I}7ٮqq Q}tI q U}C9quS: ux:)uW7 8) 8I tIi 1D V:)':I8I9=Om@Contact HDG: 204.615365 arcdeg .'m'mOu4Initialize Wait Component.*Gq2GqFqFyrFybFyEE)5;I59 11i1I9=-=miAA A2@M<:@Mw: y) bg?(AYt*0sQ@t*; `@yt*r7t*>t*HN ?'c ֿ%?!?@?Z?)u*0sQ@ u*2o;Iu(xNi>xRNEi\I\)SG!%4=a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ(>ʁʁQDʉ͍f;>I I7ٮ QtI  UC9鰕: :)2׾7 8)I tIi 1D :)Ԙ:I *89I999*GI2GIFIFQrFqbFyEyEy);I9 iI-mi 2@<:@w: yiYY%) @@(AYt*$UQ@t*/`@yt*At*\>t*H@?I(tֿ@?[ ?"?UN??)u*$UQ@ u*!o;Iu*CxV?s>xVEGZ@AHX)-dGF@]Yee>aaQmDimFm>Iq I}7ٮqq Q}tI q U}C9qu2: u:)u~7 8)I tIi 1D O:)A:IK8I9*G2GFFrFbFEE);I9 iI-ni 2@<:@w:  ) '.-@(A&@ $YtBËQ@tB8`@ytB",tBQ>tBH`O ? ֿ@]?A??@?)uBËQ@ uBKn;IuBCx u>x EiI̓C)aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y9;>QD;>I I7ٮ M7 QtI  UC9I: :)J7 8)I tIi 2D ::):Iq8I 9 *G2GFFrF!bF!E)E))=;I=9 99iAIAM-M:niII I2@U<:@Uw: ié) F@(AYt*CQ@t*NY`@yt*&t*?>t*H]@ ?`붿ֿ ?`d?@`??)u*CQ@ u*n;Iu*CxBu>x@)xi||F@}Yʅ8;>ʉʉQDʉֳ͕;>I I7ٮ QtI  UC9鰝F: :))7 8)I tIi 2D B:):I78I9*G)2G)F)F)rF1bF1E1E9)M;IM9 IIiIIQU-]aTniYY Y2@e<:@ew: yae{>) =`@(AYt*&Q@t*12`@yt*!t*֑>t*H=?i@ֿ?@3?`??)u*&Q@ u* n;Iu*CxN1z>xREHPHRa=i`Ib“C)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅi>ʉʉQDʉ͕>I I7ٮ QtI  UC9: ,:)GH7 8)I tIi 2D :)ȗ:I81I999*GI2GIFFrFbFEE);I9 iAIAM-MuniIQ Q2@]<:@]w: H) -z@(A)"4Q@t>|`@yt>9?t>Q8>t>H` X?Z`^ֿ`? ???)u>Q@ u> o;Iu>CxnMl>xnLE {pY|pv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y₻>QDMh$<M>IQ I]7ٮQQ Q]tI Q U]C9QUͭ: Uа:)Ue7 }8)iIi tIii 2Di m6~<)m|tHl`? ` ֿ@dl?ˁ?[??)uQ@ uLn;IuCxe\>xeUE){e%nI{ai{e={e7>{a{eA{a|eB9|eʾ?_ԉa%iI)-SG54=1a 1%a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a U a 5U@a U a 9U@a U a -]@a ] ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Yʥ;>ʡʡQDʩ>I I7ٮ QtI  UC9: J:)7  8)I  tIi  2D S;)B;I8I9&MMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 200.748317 arcdeg .q''*G2GFFrFbF!E!E!2E)zE-BE- F5@.^3=E-ʾ?_ԉa%E-%nE)E-F_>|_2@.4{E-R+)"`QL?OY9+˿E-%@==DHdg To Contact =148.589413 degreesZE-bAbE-:E-Xo$?BE-o$?JE-z RE- jE-erE->)u;Iu9 qqiqIq}-iYYeniaa a2@m<:@uw: $EDacoustic_contact_range 36.419998 m$MhTrackAcousticContact.heading_to_contact 2.593374 rad$ULDUSBL_Hydroid.xAngle -53.299999 arcdeg8+) b@(AYt*Q@t*){`@yt* t*>t*H@ZL0?0ֿ 'R??@CF??)u*Q@ u*#n;Iu(xBy>xBEGB?AHD)GF@Y%"9% ?))Q-D)5C<5 ?I1 I]7ٮ11 QetI 1 UeC915o; 5;)5h7 m8)i m8Ii mtIii u2Di m :)m@:Im8I9=O]@Contact HDG: 148.589413 arcdeg .']']Oe4Initialize Wait Component.*Ga2GaFaFarFibFiEiEq);I9 iI-nii 2@<:@w: 1) ,I@(A@ Yt.Q@t.#]`@yt.o,At.tԂ>t.H v:? Pֿ`y?@i%?,?t?)u.Q@ u.n;Iu.Cx> |>x>EiPIR̓C)GF@Y%>!!Q%D!-->I1 I=7ٮ11 Q=tI 1 U=C915U: 5:)57 M8)AIA MtIiA M2DA E̒:)E:IEe98YIY9Y*Gi2GqFqFrFbFEE);I9 iI-ni 2@<:@w:e:! q-"8) G@(AYt*Q@t*j`@yt*u t*{׀>t*H5@2D?zֿl4? ??`?)u*Q@ u*n;Iu*CxN\>xRUE)ivAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y;>QD:>I I7ٮ QtI  UC9; I;)3п7 %8)!I! -tIi! -2D! %:)%c:I%]8YIY9Y*Gi2GiFiFqrFbFEE);I9 iI-[ni  2@<:@w: C ]>]>@L>) 4@(AYt*Q@t*`@yt*(t*S>t*H `xBJEHBa=HBp=iPIP)qF@YʭB>ʩʩQDʱq;>I I7ٮ QtI  UC9: :)s7 8)I tIi 2D :),:I8I9*G!2G)F)F)rF1bFQEQEQ)m;Im9 iiiiIi-oi 2@<:@w: )I ߡ|7E) mA(A)*;I(YtRQ@tRG`@ytRJ&tR>tRHh?`𵶿ֿ?2Ä??4?)uRQ@ uRn;IuRCxZ |>x^E)uXGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y9>  Q D 5/5>I9 I=7ٮ9 M=79 QEtI 9 UEC99=: =:)= 7 m8)III utIiI u2DI M;)M;IM`8I9*G2GFFrFbFEE);I9 i!I!---4oi)1 12@=<:@=w: i<^K) h/A(AYt*yQ@t*Z`@yt*t*ט>t*H 'u0?4ֿ`Y?`\?@??)u*yQ@ u*n;Iu*CxBf>xB EiLIL)G= %=F@Y%=M;%>!)Q-D)-WK;->I1 I=7ٮ11 Q=tI 1 UEC915w: 58:)5J!7 M8)AIA MtIiA M3DA E:)Eo:IE8aIa9a*Gq2GqFqF1rF9bF9E9E9);I9 iI-Noi 2@<:@w: iYYER) QIA(AYt*rQ@t*}F`@yt**t*ހ>t*H %?45ߴֿ%7C?yS? {?q?)u*rQ@ u*%n;Iu*Cx>h>xBEG@H@)~+GF@%Y%j%>))Q-D)5F5>I9 IE7ٮ99 QEtI 9 UEC99=ٮ: =W:)=<7 M8)III UtIiI U3DI M}:)M:IM8aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;I9 iI-3koi 2@<:@w: Y9pX) dcA(A Yt.Q@t._`@yt.:t.Ƌ>t.H@#?ֿ @_? sQ?7A??)u.Q@ u.n;Iu.CxBjw>xB"EiLIP)~SGa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYem>iiQmDiuIw;u>I I7ٮ QtI  UC9鰝>: B:)UY7 8) 8I tIi 3D A;)ض;I8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 200.870905 arcdeg .q'}'}*Gy2G}%@FFrFbFEE);I9 iI6/i,ݑ%@ 2@<:@w: I$RHorizontalControl.headingCmd 2.593374 rad\^) ?}A(AYt*nQ@t*`@yt*/t*ϊ>t*H(`J?ֿE@E??i#?S?)u*nQ@ u*Qn;Iu*CxN:m>xRE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiyAF@5Y=S:E>AIQMDIU)u>Iy I7ٮyy QtI y UC9y}": }m=)}v7 M8)III UtIiI U3DI Mȗ:)M۞:IM08aIa9=O-@Contact HDG: 148.589413 arcdeg .'-'-O-4Initialize Wait Component.*G)2G1F1F1rF9bFyEE);I9 iIP2iD 2@<:@w: IY]l>ge) A(AYtV=Q@tVHI`@ytVtV>tVH5? +ֿ ?"?`b??)uV=Q@ uVn;IuVCxUr>xUIEHYH]a=){]8XI{Yi{]:={]>{Y{]HB{Y|]A9|]/4?ғqiI“C)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʥA;>ʡʩQDʩI;>I I7ٮ QtI  UC9: >:)C7 8)I tIi 3D <)"xrE)eSGF@Yʥ>ʡʡQDʩͭ>I I7ٮ QtI  UC9鰵z ; :)G7 8)I tIi 3D ٓ:):Im8 I 9 *G!2G!F!F!rF)bF)E)E))E;IE9 AAiIIIM;iM[t*H?m*ֿ`Yx6u EiDID)-G54=54=F@EYEE>IIQMDIU焻U>IY I]7ٮYY QetI Y UeC9Y]: ]:)] 7 m8)iIi utIii u3Di m :)m:Im28I9*G2GFFrFbFEE);I9 iIU@i+= 2@<:@ w:̓ iYYx) ҪA(AYt*W Q@t*b_@yt*M t*.>t*H;?!0ֿpS? )?â??)u*W Q@ u*Jn;Iu(xBu>xBEGB@AHD)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y^?;>QDO>I I7ٮ QtI  UC9: :)7 8)I tIi 3D :),:Iֱ8I9*G)2G)F)F)rF1bF1E1E9)M;IM9 IIiIIQU0Ei]=Y Y2@e<:@ew:-&ּ 9~) A(A Yt*GQ@t*_@yt*(!t*e>t*H?S6 >hֿ`?1??`J?)u*GQ@ u*%]n;Iu(xBj>xBqEiPIR̓C)~SGF@=YE{E>AAQMDIM<M>I I7ٮ QtI  UC9:  :)7  8) I  tIi  3D  ;) ;I 8AIA9A*Gq2GqFyFyrFbFEE);I9 iIPF@i= 2@<:@w:xA xA< ߹υ) k`B(AYt*<+Q@t*G_@yt*L2Pt*W>t*H੺?^Mֿ`5`??\??)u*<+Q@ u*9n;Iu*Cx6i>x6E)rdGirwArwAF@zYzz>||Q~D|b>I  I7ٮ  M7  QtI  UC9  : |:) 7 %8)I %tIi %3D :):I}8III9Q*Gi2GiFiFirFqbFqEqEy);I9 iI[A@iPq> 2@<:@w:h%< Y]>) ;2B(AYt*P@t*x_@yt*a/t*NT>t*H@nR?@+ Jտmb?@?v3??)u*P@ u*n;Iu*Cx6xp>x6EH4H4iDID)rGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm;m>iqQuDquc}>Iy I7ٮyy QtI y UC9y}S: }а:)}57 8) 8I tIi 4D :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!<@id[0> 2@<:@ w:m< y) LB(A) I4t*Hx?ֿ\9?$~?w?@?)u*P@ u*n;Iu(xBh>xBE) GF@%Y%<%>))Q-D)5q;5>I9 I=7ٮ99 QEtI 9 UEC99=t: =J:)=P7 M8)III UtIiI U4DI M:)M:IM88aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'}N@Vehicle HDG: 200.201601 arcdeg .q''*G2GE+@F F rF bFEE)-;I-9 ))i)I)56@i5U>5E+@ 92@=<:@Ew:)M=IM=Mڍ= Y$}RHorizontalControl.headingCmd 2.676127 radL ) AeB(Ax~V>x~3EiI“C)}Gy}=F@Yʍ>ʑʑQDʑ͝>I I7ٮ QtI  UC9鰥O: t:)&m7 8)I tIi 4D E;)SI;I=[8I9=O@Contact HDG: 153.330794 arcdeg .''O4Initialize Wait Component.*G2GFaFarFybFEE);I9 iIp0@i|> 2@<:@w:3= iYY5) hB(AYt2P@t2Z_@yt2CNt2܆>t2HwI?гտQ?`܉?p??)u2P@ u2Qn;Iu2Cx:Dy>x:EEG<H< {AIQMDIU#]>Ia Im7ٮaa QmtI a UuC9ae#; ek;)ed7 8)yIy tIiy 4Dy }:)}:I}z8I9*G2GFFrFbFEE);I9 iI,@i > 2@ <:@ w:> J) ~B(A Yt.P@t.#8_@yt.Et.C>t.H@?L`gտ]@u?@(? %J??)u.P@ u.jn;Iu,xR:m>xRE){VԏSI{Ti{Vϛ={V7>{T{VA{T|VzA9|V^ag:?;Di|I~̓C)mGF@Y<>QD>I I7ٮ QtI  UC9 ; ;)7 %8)!I! -tIi! -4D! %:)%:I%8YIY9Y*Gi2GiFiFqrFbFEE2EzEzAERH'*@^ Zi,E^ag:?;DEԏSEEw,31l !@,_Ex'P#ұ?F]:ȿE +@=DHdg To Contact =153.646827 degreesZETAbE:E{o$?BEoo$?JE RE jEprE);I9 iI)@i 2@<:@w:) -wA > $-Dacoustic_contact_range 19.560001 m$5hTrackAcousticContact.heading_to_contact 2.681643 rad$=LDUSBL_Hydroid.xAngle -47.350000 arcdeg#H) wB(AYtr$P@tr^@ytry6trH<>trH`*`u?`@Vտ`.?φ???)ur$P@ uryn;IurCxu>xE)vGiyAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y \>QD {>I! I-7ٮ!! Q-tI ! U-C9!%ͭ: %а:)%7 =8)1I1 =tIi1 =4D1 51:)5g:I58III9I*Ga2GaFaFarFibFiEiEi);I9 iIh(@i 2@<:@w:m;> y0) ^B(AYt>(QP@t>3^@yt>\t>t>t>H\#? ۀտ`U? o?@?1?)u>(QP@ u>9n;Iu>Cx^s>xbEHbp=Hbp=ipIt)GF@Y!~;>QDU;>I I7ٮ QtI  UC9.: ͭ:)7 8)I tIi 4D :)T:I8 I 9 *G2GFF!rF!bF!E)E))=;IE9 AAiAIAMG(@MniII I2@U<:@]w:- H> 9$Z) 9B(A)I";Yt:O@t:^@yt:t:U>t:H3`z?@M$տ@ X?%? ?`?)u:O@ u:.n;Iu:CxF_>xF E)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@5Y=:=>AAQEDAMjM>II Iu7ٮII Q}tI I U}C9IM; M;)M7 8)y 8Iy tIiy 4Dy }:)} :I}8I9*G2GFFrFbFEE) ;I9 iI5)@i11 92@=<:@=w:)M=IM=-?{> 1rF) x'C(AYt2MO@t2X^@yt2K>t2M>t2H2q?@DA(տ&?ۇ?by?@`?)u2MO@ u2Fo;Iu2Cx:u>x:EiHIH)v  Q D >:>I I7ٮ M%7 Q%tI  U%C9Ȳ: :)z7 -8))I) 5tIi) 54D) -:)-U:I- &8AIA9A*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIyE+@i 2@<:@w:m> yol) AC(AYt*BO@t*Mo^@yt*w/t* Ё>t*H@:x? Կ<P?s?`h ? ?)u*BO@ u*RVo;Iu*CxNw>xRjEGRAAHP)Ga 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y};>ʁʁQDʁ͍E>I I7ٮ QtI  UC9鰕: :) .7 8)I tIi 4D :):IfI8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I%9 !!i!I!)-ki)) )2@<:@w: )I iI) >4C(A Yt.kO@t.v{^@yt.t.׉>t.H 9Gi?@տ;` C? 퓂?? ?)u.kO@ u.o;Iu.Cx6:m>x6Ei@ID)rXGF@Y%;%>!)Q-D)-&:->I1 I=7ٮ11 Q=tI 1 UEC915>: 5B:)5H7 M8)AIA MtIiA M5DA E:)E,:IEoj8YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uNu@Vehicle HDG: 199.176485 arcdeg .q'u' *G2G +@FFrFbFEE!)u;I}9 yyiyIy +@zci +@ 2@<:@w: $ERHorizontalControl.headingCmd 2.681643 radi~) nNC(AYt*oO@t*^@yt*t*>t*H H?׳׫Կ) T?`;? ? i?)u*oO@ u*_Vo;Iu*CxBr>xBIE)zGi||F@=YEME>AAQMDIMhM>IQ I]7ٮQQ Q]tI Q U]C9QU`: U:)Ud7 m8)aIa mtIia m5Da e:)e:Ieь8yIy9=Ou@Contact HDG: 153.646827 arcdeg .'u'}O}4Initialize Wait Component.*Gy2GyFyFyrFbFEE);I9 iI  6Yi   2@<:@w: I]R>]t>;) IhC(AYt*-O@t*85^@yt*:t*>t*HeD`A?`GoԿ >`:?[?@OC??)u*-O@ u*o;Iu*CxZ'n>xZpEHZa=H\ihIh)5+Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ:>ʙʙQDʙͥm;>I I7ٮ QtI  UC9鰭: :)7 8)I tIi 5D :)R:I8I9*G2GFFrF bF E E )%;I%9 !!i!I!)-T_i)) 12@=<:@=w: I) y\C(A) IYt*WO@t*^@yt*)$t*m>t*H`\L`b?@XV'Կ 4'?`"?@?`?)u*WO@ u*p;Iu*CxB,t>xB#E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y[;>QD>I  I7ٮ   QtI  UC9  ; 1;) ^7 -8)!I! -tIi! -5D! %:)%:I%8aIi9i*G2GFFrFbFEE);I9 iIMPDXiQQ Q2@]<:@]w: )D) 7C(AYt*KO@t*]@yt*nt*1Ո>t*H^NH?Odz&Կ5o+?@̀???)u*KO@ u*-o;Iu*CxNn>xRE){R III{Pi{R={P{P{RA{P|RzB9|Rv?rB4ipIp)G4=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@%Y%b;%>))Q-D)5 5>I9 I=7ٮ99 QEtI 9 UEC99=: =:)=`7 M8)III UtIiI U5DI M:)M:IMg8aIa9a*Gq2GqFyFyrFybFEE2EzEzBEy5 f7@ p7Ev?rB4E IIEEMv=y+@jnE遆iw^/?'4.ǿE-,@=DHdg To Contact =154.766363 degreesZE,^AbE:E[o$?BE{o$?JE} RE jErEp);I9 iIh3Xi 2@<:@w: $Dacoustic_contact_range 33.119999 m$hTrackAcousticContact.heading_to_contact 2.701183 rad$LDUSBL_Hydroid.xAngle -45.050002 arcdegiYY) #C(AYt*EO@t*P]@yt*3t*t߆>t*HsU? % ^Կ`B@?}???)u*EO@ u*8p;Iu(xBZe>xB EGDHD)~dGF@=YEE>AAQMDIMGM>IQ I7ٮQQ QtI Q UC9QU< U<)U7  8)   8I  tIi  5D  ^:) ]:I 8!I!9!*G12G1F9F9rFAbFAEAEA)];I]9 YYiYIYaezRiaa i2@m<:@uw: ߁@) C(A@ Yt*N@t*Η]@yt*k!t*">t*H]?@{@.Կ u6@,?>?uG?]?)u*N@ u*p;Iu*CxN c>xR Ei`I`)F@]Ye/;e>aaQmDim{m>Iy I7ٮyy QtI y UC9y}P|; }Ir;)}7 8)I tIi 5D h:):I78I9*G2GF F1rFAbFAEIEI);I9 iIDMi 2@<:@w: g) *C(AYt.N@t.]@yt.t.>t.H[Z?%`X>Կ@2R@s?-? ce?H?)u.N@ u.p;Iu.CxN}v>xRE)Gia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ07;>ʡʡQDʡͭ&;>I I7ٮ M7 QtI  UC9鰵:  :) 7 8)I tIi 5D :)N:IZ8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E);I9 iIQi 2@<:@w: ]>]><) D(AYt* N@t*}]@yt*@t* >t*Ha@͒?. ԿdM5?=?D?`#?)u* N@ u*p;Iu(xB]>xBEHFp=HDiPIP)GF@ Yq>QD%%>I) I-7ٮ)) Q5tI ) U5C9)-: -S:)-M%7 =8)9I9 EtIi9 E5D9 =F:)=Ԙ:I=z8QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'mN@Vehicle HDG: 198.286894 arcdeg .q''*G2G-,@FFrFbF9E9EA)U;IU9 QYiYIY]-,@iek>e-,@ a2@m<:@mw: $=RHorizontalControl.headingCmd 2.701183 rad) D(A)IYt.N@t.]@yt.ySt.?>t.H_ฝ?1@ԿD>D?@n?@??)u.N@ u.ίp;Iu.CxB?s>xBE)~aaQeDam2:m>Iq Iu7ٮqq Q}tI q U}C9qu: u:)uA7 8)I tIi 5D :)9:I}8I9=Om@Contact HDG: 154.766363 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GqFqFqrFybFyEyE);I9 iI#-i > 2@<:@w: 4 ) `7D(AYt*N@t*N]@yt*>t*OS>t*H@,iY?岿ӿL L?G???)u*N@ u*?p;Iu*CxNk>xNEi\I\)G%%=F@]Y] <]>aaQeDam m>Iq I}7ٮqq Q}tI q U}C9quu: uW:)u]7 8)I tIi 6D Ր:)ȗ:I8I9*G2GFFrFbFEE);I9 iI0%i 2@<:@w: yiYYY) z5QD(AYt.N@t. 0]@yt.0t.%>t.HnQ=?@ӿq_v? ??2?)u.N@ u.O7p;Iu.Cxjo>xjEGn@AHl)]GF@eYm;m>qqQuDq}}}>I I7ٮ QtI  UC9鰅:: t:)x7 8)I tIi 6D l:)':I8I9*G2GFFrFbFEE);I9 iI#i 2@<:@w:M8j> qD) kD(A Yt*TN@t*_R]@yt*cI?t*>t*Hlhbu?2Xӿ`e??"??)u*TN@ u*:Qq;Iu*CxBc>xB EiPIR“C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ">ʱʱQDʹͽ<;>I I7ٮ QtI  UC9: J:)7 8) 8I tIi 6D s:):I~8I9*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiqu(iqq y2@}<:@w: )I V,!) D(AYt*oN@t*]@yt*0!t*>t*H p&?ӿ@H?9?%K??)u*oN@ u*5"q;Iu(x6?s>x6E {4Y|8:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )%Gi=wA=wAF@Yu;u>yyQ}DyͅG>I I7ٮ QtI  UC9鰕c: Ȳ:)P7 8)I tIi  6D :):I)8I9*G)2G)FFrFbFEE) ;I 9 iIM i 2@%<:@%w: a]x>]x>JV') ƞD(AYt.6N@t.\@yt.yt.,>t.Hy?@ӿ ^ G?`9??L?)u.6N@ u.xq;Iu.CxR:m>xVEHZa=H\i1I=̓C)Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ9;>QD>I I7ٮ QtI  UC9: _:)7 8)I tIi 6D Z;)'!;IN8!I!9!*G12G1F9F9rFAbFAEAEA)];I]9 YYiYIYae4iii i2@u<:@uw: ߁-) sD(A) IYt*vN@t*#]@yt*Nt*^>t*HoQ?ӿ\s C?@É?`6??)u*vN@ u*@q;Iu*CxBu>xBE)GF@=YE:E ?AAQMDIMF<M ?IQ I]7ٮQQ Q]tI Q UeC9QU: U:)U7 m8)aIa mtIia m6Da e[:)e :Iepi8yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIx%i 2@<:@w: h4) c}D(AYt*N@t*\@yt*YJt*j>t*H3} Y?9jӿCO?K?@Ag??)u*N@ u*KCq;Iu*CxBm>xB'EiPIT)AAQMDIM4\M>IQ I]7ٮQ M]7Q Q]tI Q UeC9QU: U:)UH7 m8)aIa mtIia m6Da e:)e:Ie|8yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 197.663270 arcdeg .q'%'%*G!2G!F!F)rF)bF)E1E1)E;IM9 IIiIIIQUiQQ Y2@]<:@ew: iYY2:) ^D(AYt^$SN@t^/]@yt^t^>t^Hmu ?`dӳ`ӿmC?~?*??)u^$SN@ u^mq;Iu\x~jw>x~"EGAAH)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y9<>QD;>I I7ٮ QtI  U%C9; ;)77 -8)!I! -tIi! -6D! %:)%:I%89IA9A=OM@Contact HDG: 154.766363 arcdeg .'M'MOU4Initialize Wait Component.*GQ2GQFQFQrFYbFYEYEa);I9 iI?!i 2@<:@w: zA) 1E(A@ Yt6pM@t6{\@yt6&t6!d>t6H`?BS6ӿ@{ۘ?@_Ä??]?@?)u6pM@ u6̶p;Iu6CxRsj>xR(Ei\Ib“C)11Q5D1=M=>IA IM7ٮAA QMtI A UMC9AE}: E>:)EJ97 ]8)QIQ ]tIiQ ]6DQ U:)Us:IU_8iIi9i*G2GFFrFbFEE);I9 iI>i 2@<:@w: G)  E(AYt*!N@t*,\@yt*ԃit*>t*H ~b?X^ӿ@A?90?`s??)u*!N@ u*(2q;Iu*Cxf"h>xfE)MGiMxAMxAF@]Ye3$e>aaQeDam;m>Iq I}7ٮqq Q}tI q U}C9qu: u:)uKU7 8)I tIi 6D Ր:)N:I8I9*G2GFFrFbFEE!)U;IU9 YYiYIYae^iaa a2@m<:@mw: ߡe>e{>M) 9E(AYt*M@t*\@yt*@N4t*[>t*H?`4Aӿ ``? ??`w?)u*M@ u*p;Iu*Cx^]>x^EHbR=Hba=ipIr̓C)ׄGa 1a 1 a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a U a -U@a U ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Yʥ;>ʩʩQDʩ͵9>I I7ٮ QtI  UC9鰽ի: ͭ:)s7 8) 8I tIi 7D ;);I8I9*G92G9F9F9rFAbFAEAEA)};I}9 yiIi 2@<:@w: `T) SE(A) IYt:֩M@t:V\@yt:Lt:>t:H ێ %e?ҿ@RU`#?q?@?t?)u:֩M@ u:sq;Iu:CxB>xB@E)UQQQUDY]87]>Ia Im7ٮaa QmtI a UmC9ae: e^<)e7 8)I tIi 7D :):I98I 9 *G2G!F!F!rF)bF)EE);I9 iI"s i 2@<:@w: IZ) /mE(AYt*M@t*͒\@yt*k[-t*!>t*Hͅ`,?605ӿz!?R?@e?,?)u*M@ u*tp;Iu(x6g>x6sEi@I@)zGx~%=a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]>QDh<>I I7ٮ QtI  UC9; ;)E7 8)I %tIi %7D :):Iv\8qIq9q*G2GFFrFbFEE)-;I-9 ))i)I)15$i11 92@=<:@Ew: Qia) NE(AYt*M@t*F\@yt*rOt*>t*H2v?ϰҿ+9??@'?N?)u*M@ u*np;Iu*Cx~sj>x~(EG@AH {Y| 8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y:>QDA,>I) I57ٮ)) Q5tI ) U5C9)-: -5:)-7 =8)9I9 EtIi9 E7D9 =:)=:I=8QIQ9QODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI   i   2@<:@w: Qg) bE(A@ Yt*M@t*Ä\@yt* t*m>t*H ೠ?`[(ӿ Mr@$?Й?x??)u*M@ u* p;Iu(x>`k>x>E){BZt*H=`+p?4>+ҿy@3?BM?I?@?)u*ʘM@ u*o;Iu*CxNs>xRE)+Gi!!F@=YEE>AAQMDIM!M>IQ Ie7ٮQQ QetI Q UeC9QU; UE;)Uy7 }8)yIy tIiy 7Dy y)}Ü:I}8I9=O@Contact HDG: 156.235509 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E EI)e;Ie9 aaiaIa i 2@<:@w: )R>> u) !E(AYt }M@t *\@yt YNt [>t H`S?Jj!ҿ#i?ˉ?@R?}?)u }M@ u &p;Iu Cxsj>x(EH%p=H%p=iIII)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y x>QD{>I! I%7ٮ! M=7! Q=tI ! U=C9!%bY; %Z;)%7 E8)AIA MtIiA M7DA E:)E:IEe8YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iI i 2@<:@w: ߹ 0{) E(A)I4t.Hq?=jҿv\B?@?`??)u.ZM@ u.o;Iu.Cx>p>xBE)GF@eYm<m>qqQuDq}̺;}>I I7ٮ QtI  UC9鰅F: ):)27 8) 8I tIi 7D :):Iu8I9*G2GFFrFbFEE)%;I%9 !!i!I))-!i1Q Q2@]<:@]w: ߑ) F(AYt*M@t*#:\@yt*+t*܁>t*H@`i?԰ҿ`K?@Z?@??)u*M@ u*Lo;Iu*CxNg>xNsEi\I\)%G-=)F@=YE;:E>AAQEDAMKM>IQ I]7ٮQQ Q]tI Q U]C9QU>: U:)U4M7 m8)aIa mtIia m7Da e}:)e:Ie$8AIA9I*G2GFFrFbFEE);I-9 )1i1I11=: i99 92@E<:@Ew: Yi@) s"F(AYt*ȅM@t*2\@yt*2Gt* ɇ>t*Hc?!㰿 ҿ`{@?}??@?)u*ȅM@ u*p;Iu*CxBWx>xBEG@H@) Ga 1ma 1m a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵu>qyQ}Dy}>I I7ٮ QtI  UC9鰅; w;)pk7 8)I tIi 7D  :):II8I)91*GA2GAFAFArFIbFqEqEq);I9 iI i 2@<:@w: Rk) zt.H Jz?ӱ Gҿi@?@ ?G&?`?)u.ʬM@ u.Ip;Iu.CxBn>xBEiLIL)~GF@=YEo;E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q U]C9QUG: U:)UY7 m8)aIa mtIia m8Da e:)eN:Ieh8yIy9*G2GFFrFbFEE);I9 iI_i 2@<:@w: \X) QkVF(AYt:WM@t:\@yt:Tt:hՌ>t:H!?@:$`Iҿ@nX?`y?a??)u:WM@ u:p;Iu:CxRk>xVE)%+Gi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʍj;>ʉʑQDʑ͕L>I I7ٮ QtI  UC9鰝: >:)7 8)I tIi 8D :):I 8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9 iIi 2@%<:@%w: A>>|) U/pF(AYt*#M@t*.|\@yt*s't*P>t*H 8?  ӿ@1*????)u*#M@ u*҃p;Iu*CxBp>xBEHB=H@iPIP)~GF@=YE3E>AAQMDIM<M>IQ I]7ٮQQ Q]tI Q UeC9QUu: Ux:)U7 m8)aIa mtIia m8Da e[:)eo:Ie08yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.388506 arcdeg .q''*G2GI.@FF!rF!bF!E)E))M;IM9 IIiQIQ]I.@iY]I.@ Y2@e<:@ew: y$RHorizontalControl.headingCmd 2.726824 rad1e)  F(A)I;Yt.M@t.:\@yt..At.y>t.H Ӓt??\ҿfB?%?@!??)u.M@ u."p;Iu.CxZp>x^%E {`Y|`f8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )QDr>I I7ٮ Q tI  U C9w: ;)7 %8)I %tIi %8D :):I18QIQ9Y=O%@Contact HDG: 156.235509 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rF1bF9E9E9)U;IU9 QQiQIQ]0.@] ҼiYY a2@e<:@mw: yV) !F(AYt*AM@t*L4\@yt*Bt*ӂ>t*H`[?@P\ҿk߬? M^?9?@4?)u*AM@ u*xp;Iu*CxBs>xBE){BivI{@i{B={@{@{BA{@|B3B9|Bl'I?Z:`BilIl)=SGE4=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Ỷ>!!Q%D!%t->I) IU7ٮ)) Q]tI ) U]C9)-; -^;)-7 e8)aIa etIia m8Da e:)eԘ:Ie8I9*G2GFFrFbFEE2EzE3BEړ9@$$pBEl'I?Z:`BEivEEǗAx]W:@m<#Ek]?1 _e˿E@=DHdg To Contact =143.126559 degreesZEAbEw :ELo$?BE^o$?JEs RE jErEU)%;I%9 ))i)I)5I.@5i11 92@=<:@=w: q$Dacoustic_contact_range 44.940002 m$hTrackAcousticContact.heading_to_contact 2.498030 rad$LDUSBL_Hydroid.xAngle -55.150000 arcdegi) F(AYt*M@t*H\@yt*bSt*W>t*H`!)U?`~ҿ@2^? W?c??)u*M@ u*.q;Iu*CxBj>xBqEG@HBAA)GF@]Ye1<e>aaQmDimP;m>Iq I7ٮq M7q QtI q UC9qu|; u,;)u7 8) 8I tIi 8D ,:)@:I8I9*G2GFFrFbFEE!)5;I]9 YYiYIYaeHǼiaa i2@m<:@mw: ߡ))  F(A Yt6NM@t6[@yt65/t6Z>t6HZ(?1ҿ~`?`?`/??)u6NM@ u6p;Iu4xNo>xRJEiI“C)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʍֻ>ʉʑQDʑ͕+>I I7ٮ QtI  UC9鰝: :),7 8)I tIi 8D :)˚:I78I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )!˻) %wF(AYt*/M@t*:j\@yt*i/t* K>t*HۋM?ӿ??@??)u*/M@ u*2q;Iu*CxNa>xR E)+GiF@]Yeh e>aaQeDimז<m>Iq I}7ٮqq Q}tI q U}C9qu: u:)uE7 8)I tIi 8D %:)|:IV8I9*G2GFFrFAbFAEIEI)};I}9 iIԼi 2@<:@w: >) P G(AYt*uM@t*"\@yt*bt*H[]?(ҿ௔`)??`s? ?)u*uM@ u*Op;Iu*CxNi>xREHRa=HRa=i`Ib̓C)GF@-Y5R5>19Q=D9E3E>IA IM7ٮAA QMtI A UUC9AEO: E:)E`7 ]8)QIQ ]tIiQ e8DQ US:)UE:IUHx8iIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: %) {-%G(A) IYt*M@t*!9\@yt*lm5t*>t*H L?`ҿMw? ?(?H?)u*M@ u*…q;Iu*CxNv>xRGE)SGa 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}B:}>yyQDʁͅY;>I I7ٮ QtI  UC9鰍): :)}7 8)I tIi 8D F:)|:I8I9*G2GFFrFbFEE);I9 iIIļi 2@<:@w: H ) ?G(AYt*͝M@t*J\@yt*̱t*˶>t*H@`[?ײ ҿ@X?(? ??)u*͝M@ u*q;Iu*Cx>o>x>JEiNf=IL)~G~R==F@=Y=;=>AAQEDAM2;M>IQ IU7ٮQQ Q]tI Q U]C9QU: U :)U7 e8)aIa mtIia m9Da e:)eo:Ie8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI*ȼi 2@<:@w: i.) XG(AYt*hM@t*\@yt*gt* >t*H5J?ҿ ?̃?`?+?)u*hM@ u*hq;Iu*Cx>u>x>EGB?AHB@A)GF@=YEwE>AAQEDAMM>IQ I]7ٮQQ Q]tI Q U]C9QU.: U:)U7 m8)aIa mtIia m9Da e-:)e:Ie8yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.028076 arcdeg .q''*G2G@FFrFbF E E )-;I59 YYiYIYe=-@iae@ i2@m<:@uw: ߁$RHorizontalControl.headingCmd 2.498030 rad) 3rG(A Yt.M@t.g\@yt.Km t.&Gy>t.HS͡?O p ӿ[` ?` ?@?@?)u.M@ u.dq;Iu.CxRp>xR%Eib=I`)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥS>ʡʩQDʩͭE<>I I7ٮ QtI  UC9鰵: :)7 8) 8I tIi 9D V:):I8I9=O@Contact HDG: 143.126559 arcdeg .''O4Initialize Wait Component.*G2GF!F!rF)bF)EIEI)e;Ie9 aiiiIi)@i 2@<:@w: Im) 5G(AYt*pM@t*{r\@yt*T&t*jp>t*H5?Ioӿ[ ?ׄ? yt??)u*pM@ u*p;Iu*CxB?s>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GiwAF@YCs>  Q D ͕q:>I I7ٮ QtI  U-C9鰥< <)7 =8)1I1 =tIi1 =9D1 5Ĕ:)50:I5'8I9*G2GFFrFIbFiEiEi);I9 iI]%@i 2@<:@w: >a>*) sG(AYt*gM@t*\@yt*[t*d>t*H@?` #ҿ0%Y?փ? ??)u*gM@ u*Gq;Iu*CxBV>xBEHFp=HFp=i\I\)GF@Yݡ:>QDl>I I7ٮ M7 QtI  UC9Գ: s:)7 8)I tIi 9D _:):I7F8 I 9 *G2GF!F!rF)bF)EE);I9 iI:"@i 2@<:@w: I) +PG(A)4t*H@?FR@ӿ @ ?`|? l?>?)u*M@ u*+q;Iu(xNm>xR'E)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅg9>ʁʁQDʉ͍&`<>I I7ٮ QtI  UC9鰕-: 0:)"7 8)I tIi 9D }:)Ԙ:Isg8yIy9y*G2GFFrFbFEE);I9 iI_ @i 2@<:@w: 6=) 0+G(AYt*M@t*"J\@yt*.t*{>t*H?`4@Yҿӟ ?`e?,??)u*M@ u*4q;Iu*CxRj>xRqEi`I`)%dG-%=-!>a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍI9>ʉʉQDʉ͕ݫ>I I7ٮ QtI  UC9鰝: 5:)0>7 8)I tIi 9D :)$:I8I9*G2GFFrFbFEE);I9 iI@i  2@ <:@w: ig) 2G(AYt*M@t*b\@yt**t*;>t*H@?ر@ӿSk <}?\?? ?)u*M@ u*q;Iu(xBRr>xBEGFAAHD)~GF@=YE0E>AIQMDIMw;M>IQ I]7ٮQQ Q]tI Q UeC9QU: U :)U"Y7 m8)aIa mtIia m9Da eO:)e:Ieڪ8yI9*G2GFFrFbFEE);I9 iI@i 2@<:@w: @O)  H(A Yt*M@t*v\@yt*{ t*(>t*H|? n,ӿGE]??A??(?)u*M@ u*Eq;Iu(xBp>xB%EiPIP)~SGF@ Yz;>QDL;>I! I-7ٮ!! Q-tI ! U-C9!%: %_:)%Lt7 =8)1I1 =tIi1 =9D1 5ٮ:)5R:I5^8III9I*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩ5{ ) r'H(AYt*zM@t*6\@yt*}T0t*+>t*H@ YT?`ҿ~c =?s ?x?V?)u*zM@ u*q;Iu*Cx>t>x>lE)zGi~wA~xAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]@]>aaQeDamm>Ii Iu7ٮii Q}tI i U}C9im: m:)m7 8)I tIi 9D ::),:ID8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: R>{>t*H dP?ذ "1ӿ@N{?ZH?@ `??)u*M@ u*q;Iu*CxV:m>xVEHXHXidIh)-GF@]Ye1e>aaQmDimX<m>Iq I}7ٮqq Q}tI q U}C9qu): u :)u"7 8) 8I tIi :D ȗ:)@:IS8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 197.451289 arcdeg .q'5'}*Gy2GyFyFrFbFEE);I9 iIi 2@<:@w: V) w[H(A)IYt2/M@t2:I\@yt2滙t2 >t2H^?uҿs8]?@|??@?)u2/M@ u2`&q;Iu2CxBxp>xBE)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥu?<>ʡʩQDʩͭ&>I I7ٮ QtI  UC9鰵%: į:)P7 8)I tIi :D :):I48I9=O@Contact HDG: 143.126559 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: ҵ) OuH(AYt*M@t*ʅ\@yt*V$t*0#>t*H@̇??E)ӿgZ/?Ȋ?@1k?R?)u*M@ u*p;Iu*CxBb>xBQ EiLIP)~SG=%=F@Yʍ>ʑʑQDʑ͝<>I I7ٮ QtI  UC9鰥ɪ: h:)7 8)I tIi :D :)R:IU8I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )iV#) $)H(AYt*M@t*s\@yt*NAt*>t*HW?`xB*EGB@AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]GF@Y;>  Q Dͽ#>I I7ٮ M7 Q tI  U5C9y < T <)17  8)AIA tIiA :DA E<)Et*H C?y`h ӿb`S?#?BP??)u*M@ u*wp;Iu*CxRf>xR EihIh)5Ga 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝJ;>ʙʙQDʡͥ>I I7ٮ QtI  UC9鰭J: :)7 8)I tIi :D F:)Z:I8I9*G2GFFrFbFEE) ;I 9  iIi 2@<:@w: ]0) H(AYt*AM@t*L\@yt*Wt* >t*H`? +ӿR ?? !??)u*AM@ u*Nq;Iu*CxBeq>xBnE)GiF@=YED;E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q UeC9QUG: U):)U57 m8)aIa mtIia m:Da e:)e,:Ie58yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Y>6)  H(AYt*M@t*d\@yt*Ut*d>t*H Č?± ӿ@s C?@6ރ?`?@?)u*M@ u*p;Iu*Cx>h>xBEHBa=HBa=iTIT)ƄGa 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm m>iiQmDqu8u>Iy I7ٮyy QtI y UC9y}: }į:)}Q7 8)I tIi :D :):I8I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i=) VH(A) I4t*H߀?@iTӿ`j`+?,??@?)u*^N@ u*p;Iu(x>`k>x>E)z҄GF@=Y=8=>AAQEDAMgE<M>IQ I]7ٮQQ Q]tI Q U]C9QU: Uc:)Ul7 e8)aIa mtIia m:Da e::)e :IeK8yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: C) qI(AYt*VM@t*aW\@yt*jEt*_>t*H@Ȏ]q?9ҿj Ŏ?`? )? ?)u*VM@ u*p;Iu*CxRh>xREi`I`)%G-%=-4=F@=YE;E>AIQMDIMcM>IQ I]7ٮQQ Q]tI Q UeC9QU: U:)Uz7 m8)a m8Ia mtIia m:Da eA:)e:IeY!8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.259811 arcdeg .q''*G2GFFrF!bF)EQEY);I9  i I i 2@<:@%w: Qi@AIJ) J*I(AYt*~M@t*\@yt*,t*>t*Hւ:?`,t@zHӿ@#WF??]?@4?)u*~M@ u*p;Iu*CxBi>xBEGFAAHFAA)5vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ``>ʹʹQD<<>I I7ٮ QtI  UC9: $:)7 8)I tIi ;D :) :ID8I9=O@Contact HDG: 143.126559 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: P) )DI(A@ Yt.M@t.\@yt.y5t.>t.H`?@[=ӿ@iiPL? ?@@??)u.M@ u.Hp;Iu,xBu>xBEi\I^“C)dGF@Yʍݮ>ʑʑQDʑ͝X>I I7ٮ QtI  UC9鰥%: :)Q7 8)I tIi ;D  ;)(;IEf8I9*G2GF!F!rF)bF)E)E))e;Ie9 aaiaIaiiiii q2@u<:@}w: ߉>(W) ^I(AYt*M@t*g\@yt*t*비>t*HJ`D? H ӿ@b`? Ă?g??)u*M@ u*p;Iu(xBm>xB'E)zGi~xA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yyp;>!!Q%D!%->I) Iu7ٮ)) QutI ) U}C9)-< -<)-7 8)yIy tIiy ;Dy }:)}|:I}8I9*G2GFFrF1bF1E1E9)M;I9 iIi 2@<:@w: ߱>R]) wI(AYt*M@t*\@yt*=t*}>t*H a?в0Fӿ`,]@n??`>??)u*M@ u*ap;Iu(x>:m>xBEHBp=HBp=iLIN̓C)~GF@Y%HR;%>!)Q-D)-!<5>I1 I=7ٮ11 Q=tI 1 UEC915@: 5:)57 M8)AIA MtIiA M;DA E1:)EE:IE08YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: &:d) ܺI(A);I;Yt.M@t.n\@yt.M0t.>t.HI?`v ӿ`V ? ?ছ?@]?)u.M@ u.xp;Iu.CxBh>xBE {DY|DF8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y>QD>I I%7ٮ M-7 Q-tI  U-C9: w<)!7 8)I tIi ;D D:):I8I9*G2GFFrFbFEE);I9 iIAAiAA I2@U<:@Uw: ߱Qdj) -I(AYt*M@t*$8\@yt*J0t*>t*H F$e?ҿ`?> ?? ?)u*M@ u*9q;Iu*CxBr>xBIE){B'=I{@i{B={B+>{@{BA{@|B$B9|B7G?+q?i`I`)%vG%4=-%=a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m a )ma )m iiɄiimMb@Mb@Mb@Ym3lBIiiimlBmlBɅmlBmjBi i)iF@YʭQ5>ʩʩQDʱ͵ >I I7ٮ QtI  UC9S: x:) /7 8)I tIi ;D ;) ;I8!I!9!*GY2GYFYFYFaFe3PBrFabFaEiEi2EzE$BECu D@k?E7G?+q?E'=EEɛ{gCb_]+g1?E[%,05ZFտpr?E.^@=DHdg To Contact =199.420296 degreesZEZbE<:EBo$?BELo$?JE REs jEa?rEu2 )u; qu.7}.I}9 }}iyI}.﷩i 2@<:@w: $=Dacoustic_contact_range 41.159996 m$EhTrackAcousticContact.heading_to_contact 3.480541 rad$HDUSBL_Hydroid.xAngle 2.350000 arcdegi?AKq) ToI(AYt*ĔM@t*A\@yt*lt*$|>t*H e?ٗ uҿ@̄`?a~?'? ?)u*ĔM@ u*p;Iu*CxBk>xBEG@HB@A)GF@Y%L;%>!)Q-D)-:5>I1 I]7ٮ11 Q]tI 1 UeC915; 5;)5;I7 m8)a m8Ia mtIia m;Da e:)e:Ie8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEER); '8%'ǸI%9 %뚳!i!I%$^))i)) 12@U<:@]w: iYvw) LI(A Yt2M@t2\@yt2dut2G>t2H@` >?E&ӿ `?΁?\E??)u2M@ u2+p;Iu2CxB:m>xBEiTIT) SGF@Y%к%>)1Q5D1E <M>IY Iu7ٮYY QtI Y UC9Y]< ]<)])e7 8)I tIi ;D <)FJt*H`F`g@?@|ҿf? ?x? 8?)u*OoM@ u*Qq;Iu*CxN?s>xNE)Gi%wA!a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ酅鄁 )F@Y>QDur>I I7ٮ QtI  UC9: :)7  8)I  tIi  ;D :),:I|U8III9I=O-@Contact HDG: 199.420296 arcdeg .'-'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY) ;I 9 iI[$@iKu> 2@%<:@%w: y>x>퇄) J(AYt*M@t*\@yt*t*>t*H u?X౿k;ӿy`?y?@s? ~?)u*M@ u*Pq;Iu*Cx>Ze>xB EH@HBa=iPIP)MSGF@]Ye<e>aaQmDim<m>Iq I}7ٮqq Q}tI q U}C9quS: ux:)u7 8)I tIi ;D )c:I v8I9*G2GFFrFbFEE);IE9 AAiAIAM,(@iMn>I Q2@<:@w: |)  ,J(A)I4t.H` J?<`ҿ@p`{? ??Z?)u.toM@ u.6q;Iu.CxN:m>xNE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q D  ->Iq I}7ٮqq Q}tI q U}C9qu_: u:)uS7 8)I tIi A A2@E<:@Mw: yP) FJ(AYt*M@t*Y\@yt*I&t*>t*HQ@fq?`yjnҿ\ w?qք?@܅??)u*M@ u* )q;Iu*CxB:m>x@iLIP)~G4=F@Y%29%>!!Q-D)-#<->I1 I=7ٮ11 Q=tI 1 U=C915: 5:)57 M8)AIA MtIiA M 2@<:@w:> iAė) W`J(AYt.ϧM@t.T\@yt.tct.`>t.H`*`q? `ҿ p`e?@^l???)u.ϧM@ u.+q;Iu.CxBk>xBEGB@AH@)~҄GF@=YEe=;E>AAQEDIMgHM>IQ I]7ٮQQ Q]tI Q U]C9QU: U:)U7 m8)aIa mtIia m 2@<:@w:5}> ߱ ) mzJ(A@ Yt.`M@t. \@yt. "t.;ˁ>t.H@ D?Bk ҿ?`+T? ? ?)u.`M@ u.p;Iu.CxNp>xREi\I\)vGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQDʉ͍(.>I I7ٮ M7 QtI  UC9鰕+: /:) 7 8)I tIi  դ) HJ(AYt*zM@t*\@yt*qBt*.>t*HP?0#ӿv` ?N?y??)u*zM@ u*p;Iu(xB\>xBUE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )EGiQ]wAF@YʝN>ʱʹQD<>I I7ٮ QtI  UC9D"; ;)s'7  8)  8I  tIi   ߙ> ) #J(AYt* pM@t*\@yt*Xt*L>t*Hf,?W䲿Rҿ)Z ,???p?ྐྵ?)u* pM@ u*vp;Iu*CxBWx>xBEH@HFp=){F"lI{Di{F2={F7>{D{FA{D|FzA9|F.? .S?Js#~i`I`)%ʉʑQDʙ͵^v>I I7ٮ QtI  UC9: :)B7 8)I tIi  $-Dacoustic_contact_range 25.560001 m$5hTrackAcousticContact.heading_to_contact 2.538078 rad$=LDUSBL_Hydroid.xAngle -52.849999 arcdeg5) J(A)4t.HT]j?–pҿz@c,? J? ??)u.M@ u.q;Iu.CxN`>xR. E)=GF@MYM M>QQQUDQ]@;]>Ia Im7ٮaa QutI a U}C9ae*}; e;)ec]7 8)I tIi  y) {J(AYt*_M@t*j]\@yt*?&t*y>t*H@΍`#?`qʯ`ӿ,?@Pڄ???)u*_M@ u*"8q;Iu*CxBu>xBEiPIP)qy}%=F@Yʭ>ʹʹQDL_;>I I7ٮ QtI  U%C9< <)z7 8)1I1 tIi1 if; 2@<:@w:= ߱i)<) J(AYt*-M@t*8:\@yt*p*t*W>t*Hb?@_@ҿuz@x2EG6AAH4)pa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@EYMM>IIQMDQU]>IY Ie7ٮYY QetI Y UmC9Y]q: ]:)]7 8)iIi tIii t*Hhg?@YUҿb??@?@h??)u*M@ u*p;Iu*Cx6q>x6Ei@IBѓC)nSGF@%Y5:5>11Q5D1=^;=>IA IM7ٮAA QMtI A UMC9AE\: E_:)Eگ7 ]8)QIQ ]tIiQ ]t*H`[?@`gҿ@˄`,??`?`B?)u*M@ u*Wp;Iu(x2k>x6E)rdGi~xAxAa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe m>iiQmDiuTu>Iy I7ٮyy QtI y UC9y}1: }:)}7 8)I tIi =D p:)ȗ:I8I9*G2GFFrFbFEE)};I}9 yyiyIy1i3 2@<:@w:< ߱R>{>5) EIK(AYt*yM@t*8\@yt* t*l>t*HKj?@ֳҿ-? ?c ?C?)u*yM@ u*p;Iu*Cx2k>x0H6a=H6a=i@IF̓C)zGF@=YE;E>AAQMDIM:M>IQ I]7ٮQQ Q]tI Q UeC9QU: U:)U#7 m8)a m8Ia mtIia m=Da ec:)e:IeO8yI9*G2GFFrFbFEE);I9 iIr.iga 2@<:@w:X< `)  cK(A);I Yt*OxM@t*Z%\@yt*t*>t*H@#`M?@Y3ҿ `?c}?๬??)u*OxM@ u*lp;Iu*CxBU_>xBS E) GF@=YE<:E>AAQMDIM=M>IQ I]7ٮQ M]7Q Q]tI Q UeC9QU|: U:)U7 m8)aIa mtIia m=Da e:)e:Ie\08yI9*G2GFFrFbFEE);I9 iIN-i 2@<:@w: wA A) v|K(Ax~u>x~EiI)}dGyya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I I7ٮ QtI  UC9 : 0:)7 8)I  tIi  =D :)c:IT8I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1M]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFabFiEiEi);I9 iIK2-i 2@<:@w:UY Yi@A{r) ؖK(AYtJSM@tJ \@ytJltJyZ>tJH "? ̱`ҿ@? ?@?`?)uJSM@ uJLp;IuJCxn{>xnEGr@AHp {pY|pv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGF@uY} q;}>ʁʁQDʁ͍C>I I7ٮ QtI  UC9鰕F: :)A7 8)I tIi =D <):Ia}8I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  NInitialize.q'N@Vehicle HDG: 196.957862 arcdeg .q''*G2Go"@FFrFbFEE);I9 iI!/i,o"@ 2@ <:@w:5> A$eRHorizontalControl.headingCmd 2.538078 rad)  K(A Yt>M@t>5\@yt>Dt>މ>t>H`V?@ٱ ҿ sp?UQ?`? p?)u>M@ u>$p;Iu>CxNq>xRE){RoI{Pi{R={P{P{R@A{P|RA9|R?iI)҄Ga 1 a 1  a 5a 5 a 9a 9 a -a - a 1@a U a 5U@a U a 9U@a U a -U@a U ɄiMb@Mb@Mb@IIiɅ )F@mYm$>ʱʱQDʱͽ<?I I7ٮ QtI  UC9ի: <<)X7 8)I tIi =D Е:):I"8)Ii9i=O@Contact HDG: 145.421175 arcdeg .''O4Initialize Wait Component.*G2GFFIrFIbFIEQEQ2EYzE]AE]*( -@[ 34E]?E]oEYE]Ū3<k,@HE]!ulF;!?LnʿE]!@=DHdg To Contact =144.595064 degreesZE]]cAbE]:E]to$?BE]ro$?JEYRE]} jE]wrE]);I9 iI@b2iҽ 2@<:@w: $ Dacoustic_contact_range 25.079998 m$hTrackAcousticContact.heading_to_contact 2.523660 rad$LDUSBL_Hydroid.xAngle -53.649999 arcdegx) K(AYt:NM@t:[@yt:G#t:RB>t:H@,(-?@:ְҿ`?h?@x??)u:NM@ u:0p;Iu:CxNu>xRE)+Gi%wA!F@]Ye+e>aaQmDim m>Iq I}7ٮqq Q}tI q UC9qu: uJ:)uMq7 8)I tIi =D :)c:I8I9*G)2G)F1F1rFYbFYEYEY)u;I9 iI?5iV 2@<:@w:] >l>)) 1yK(AYt.WM@t.\@yt.t.>t.Hy??`*`ҿ B?@?]??)u.WM@ u./p;Iu.Cx6b>x6Q EH8H8iHIH)zGF@Y : >  Q D r:>I I%7ٮ Q%tI  U%C9: _:),7 58))I) 5tIi) 5=D) -:)-:I- 8AIA9I*GY2GYFYFYrFabFaEiEi)};I}9 iIr:iC 2@<:@w::ҽ ) DK(A) IYt*JM@t*[@yt*Z*t*d>t*H !?@+W}ҿ}s?(K?`?`P?)u*JM@ u*5p;Iu*CxNu>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝź>ʡʡQDʡͭ^>I I7ٮ QtI  UC9鰵: :)7 8)I tIi =D  :) :I8I9*G2GFFrFbFEE);I9 iI k@iuP !2@%<:@-w: E) %L(AYt*HM@t*[@yt*n"t*>t*H@@v?y뱿ҿo ?R? %g??)u*HM@ u*Jp;Iu*CxBsj>xB(EiLIP)~GF@=YE؞:E>AAQMDIMM>IQ I]7ٮQQ Q]tI Q UeC9QUS: U5:)U7 m8)a m8Ia mtIia m=Da e:)e:Ie8yI9*G2GFFrFbFEE);I9 iIEiߤ< 2@<:@w:gW ߡi?A ) 1L(AYt*#+M@t*.[@yt*%t*I>t*HW?@ \ҿ4 u4??`"?`?)u*#+M@ u*H,p;Iu*CxBn>xBEGB?AHD)~vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeǹe>aaQmDimm>Iq I}7ٮqq Q}tI q UC9qup: uR:)u7 8)I tIi >D :) :IA8I9*G2GFFrFbFEE);I9 iIF@i@Z= 2@<:@w:B ) KL(A Yt69M@t6[@yt6[t6>t6H@L.!?@36@pҿ%ט?:???)u69M@ u6np;Iu6CxNi>xREi\I\)GF@-Y-r,;5>11Q5D1=m;=>IA IM7ٮAA QMtI A UMC9AE: Et:)E7 U8)QIQ ]tIiQ ]>DQ U:)U:IUb8iIi9i*G2GFFrFbFEE);I9 iIĦA@i= 2@<:@w:* ߙ) ݱeL(AYt*HM@t* [@yt*at*H a"?H+ҿy&?ɗ?5??)u*HM@ u*>Pp;Iu*CxB\>xBE)Gi!!a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ»>ʡʡQDʩͭ;>I I7ٮ M7 QtI  UC9鰵(; :)O7 8)I tIi >D [:) :I,8I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1MU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFYEaEa);I9 iIp;@iiQ= 2@<:@w:}U< >t>&) L(AYt*M@t*[@yt*Ct*>t*H ?@-nҿ@m|?@j?@@?X?)u*M@ u*dQp;Iu(xRxp>xREHPHVp=i`I`)GF@-Y5;5>19Q=D9EE>IA IM7ٮAA QMtI A UUC9AE:: Eٮ:)E17 8)QIQ tIiQ >DQ U:)UU:IU8I9&M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 196.737520 arcdeg .q''*G2G!@FFrF!bF!E!E))];I]9 YaiaIaeW6@im)2">m!@ 2@<:@w:mlT= q$RHorizontalControl.headingCmd 2.523660 rad[&) fL(A)4t*H@֡ ?_AҿdL?^ ?)??)u*'M@ u*Fp;Iu*CxRq>xRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )u+Ga 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a  aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʵs>ʹʹQDʹ;>Ii Iu7ٮii QutI i U}C9imv; m;)mV7 8)I tIi >D L:);I8)I)9)=O @Contact HDG: 144.595064 arcdeg .' ' O 4Initialize Wait Component.*G 2GFFrF!bF!E!E!)];I]9 YYiYIYe.@ie Q>a i2@m<:@mw:m 5[= q w8,) AL(AYt*XM@t*c[@yt*tt*82>t*HcD?`zoҿѢ?`;p?@>W??)u*XM@ u*Gp;Iu*Cx25g>x6*E){6 I{4i{6*={6>{4{6A{4|6A9|6jja?u*u*iTIT)G %= F@Y:?!!Q%D!-u-?I) I57ٮ)) Q5tI ) U=C9)-: -9:)-h7 E8)AIA EtIiA M>DA E:)EZ:IE8QIY9Y*Gi2GiFiFqrFqbFqEyEy2EzEAEu(@g`2Ejja?u*u*E EE\P;X1VG,@L^%EJ‡0;ַ?ώʿE@=DHdg To Contact =140.626997 degreesZE`AbEʈ:E{o$?BEto$?JEREjEqrEw);I9 iIa+@ib> 2@<:@w:<|^= ߹$Dacoustic_contact_range 22.619999 m$hTrackAcousticContact.heading_to_contact 2.454404 rad$LDUSBL_Hydroid.xAngle -57.099999 arcdegi 3) L(AYt*>M@t*[@yt*t*0~>t*H`?``ҿS`? Ź?\??)u*>M@ u*Cp;Iu*CxBi>xBEGB@AH@)GF@=YE"_:E>AAQMDIM;M>IQ I]7ٮQQ Q]tI Q UeC9QU: U:)UƄ7 m8)a m8Ia mtIia m>Da e:)e:Ie 8yIy9*G2GFFrFbFEE);I9 iI'@ir{> 2@<:@w:5t= 9J9) fL(A Yt.{M@t.[@yt.6t.>t.HФ@?kҿ`@[K?`yÆ???)u.{M@ u.":p;Iu.CxBg>xBsEiTIT)vGa 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYem>iiQmDiuٻu>Iy I7ٮyy QtI y UC9y}:: }_:)}7 8)I tIi >D [:):Ip/8I9*G2GFFrFbFEE);I9 iIq"@i > 2@<:@w:%% > ߑW2@) $M(AYt*-M@t*[@yt*͠;t*fK>t*H@ڠ@u?ąҿ@"?s?@ ?K?)u*-M@ u*]%p;Iu*Cx^v>xbGE)5Gi=xA9F@}YʅX>ʁʁQDʁ͍܅;>I I7ٮ QtI  UC9鰕S: 5:)x7 8)I tIi >D :):IQ8I9*G2GFFrFbFEE);I9 iI_@i 2@<:@ w:=> Q>>\F) }M(AYt*BM@t*M[@yt*t*Ɔ>t*H ?A`eZҿД????)u*BM@ u*Vp;Iu*CxBk>xBEH@HBa=iPIR“C)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ<>ʱʱQDʱͽݻ>I I7ٮ QtI  UC9: ٮ:)v7 8)I tIi >D }:)Z:IFt8I9*G2GFFrF bF E E )%;I%9 !!i!I!-X@i)) 12@5<:@=w:M׿Q> QL) 4M(A)I;Yt.'(M@t.2[@yt.k~t.ZG>t.Hѡ@?Oҿ ?@o? ??)u.'(M@ u.)Wp;Iu.CxBHf>xB E)~GF@ Y  >QD);}>I I7ٮ QtI  UC9鰅: J:)v7 8)I tIi ?D :)b:I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE )=;I=9 99i9IAE g@iAI I2@M<:@Uw:m7`> ytnS) dNM(AYt*6M@t*[@yt*2"t*/C>t*H!?` @ҿyQ?;F?κ??)u*6M@ u*p;Iu*CxNxp>xREi\I^̓C)vG!%=F@-Y5U5>11Q5D1=;=>IA IM7ٮA MM7A QMtI A UMC9AEZ: E:)E7 ]8)QIQ ]tIiQ ]?DQ U\:)U:IU8iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'%NE@Vehicle HDG: 196.856393 arcdeg .q'E'E*GI2Gu@FyFyrFbFEE);I9 ))i)I)5`@5i15@ 92@=<:@=w:e;> i$RHorizontalControl.headingCmd 2.454404 radiY) ?hM(AYt*_M@t* \@yt*]5t*w~>t*H`L?|ҿ @??^?U?)u*_M@ u*\p;Iu(x2i>x2EG6?AH4)rGa 1%a 1% a 5%a 5% a 9%a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEo<M>IIQMDIU;U>IY Ie7ٮYY QetI Y UeC9Y]: ]ݱ:)]J*7 m8)iIi utIii u?Di m:)mZ:ImL8I9=O]@Contact HDG: 140.626997 arcdeg .']']O]4Initialize Wait Component.*GY2GYFYFarFabFaEiEi);I9 iI@i 2@<:@w:> q`) M(A Yt*BM@t*[@yt*/?t*m>t*Hɝ@!? ӱ ޙҿe`#??? ?)u*BM@ u*/p;Iu*CxNh>xREi\I\)SGF@-Y-ú->11Q5D1==>IA IM7ٮAA QMtI A UMC9AE\: E:)EE7 U8)QIQ ]tIiQ ]?DQ U:)U÷:IU8iIi9i*Gy2GFFrFbFEE);I9 iI@i 2@<:@w: )I If) M(AYt*/eM@t*:\@yt*$t*ȏ>t*H` *?h@ҿ@_$?? ??)u*/eM@ u*7q;Iu*Cx6t>x6lE {4Y|8:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MdGiewAia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y){; >  QD:;>I! I-7ٮ!! Q5tI ! U5C9!%; %;)%6c7 E8)9 M8I9 MtIi9 M?D9 =:)=:I=8I9*G2GFFrFbFEE);I9 iI!%i!! I2@U<:@]w: q>t>l) _ҵM(AYt*TM@t* \@yt*xt*Y^{>t*HU4??sҿr@?}? ?` ?)u*TM@ u*JOq;Iu*CxBi>xBEHFp=HD){FG\I{Di{F={F>{D{FA{D|FA9|F|;?N=пi`I`)%GF@]Ye@;e>aaQeDim)m>Iq I}7ٮqq Q}tI q U}C9quJ: u-:)u;}7 8)I tIi ?D ::):I?8I9*G2GFFrFbFEE2EzEAEgs;@78 E|;?N=пEG\EE* l<O>vxH/ET0f\@yt.%t.:s>t.H?( ӿ@)?@?h&??)u.3M@ u.?q;Iu.CxB'n>xBpE)GF@=YEE>AAQMDIMz<M>IQ I]7ٮQQ Q]tI Q U]C9QU: U:)U7 m8)aIa mtIia m?Da e:)eȗ:Ieka8yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: y) M(AYt*M@t*W\@yt*Dt* >t*H`?`\氿 ҿ`z'?@?`$?@?)u*M@ u* p;Iu*CxRi>xREi`I`)5SG54=5%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ>ʱʱQDʹͽ>I I7ٮ QtI  UC9: :)7 8)I tIi ?D :):I8I9*G2GFFrF bF E E )%;I%9 !!i)I)))i11 12@=<:@=w: Iib΀) aN(AYt*кM@t*g\@yt*r4t*>t*H..r?< ӿ=ױ?@? R?`?)u*кM@ u*p;Iu(xBs>xBEGBAAHD)dGF@]Ye#;e>aaQmDimD+;m>Iq I7ٮqq QtI q UC9qu5; u;)u7 8)I tIi ?D [:):I08I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E )];Ie9 aaiaIaiiiii i2@<:@w: ߩ) .=N(A Yt.M@t.h\@yt. t.u>t.H^ ? ӿ``?@u?b??)u.M@ u.^p;Iu.Cx6y>x6EiHIN“C)~GF@YS;>QD27%>IA Iu7ٮAA QutI A U}C9AE; E5;)EX7 8)yIy tIiy ?Dy }h:)}:I}8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 197.318168 arcdeg .q'u'u*Gq2GuiL@FqFqrFybFyEE);I9 iI]@iiL@ 2@<:@w: $RHorizontalControl.headingCmd 3.188563 rad") 77N(AYt*7N@t*B\@yt*t*l>t*H?u`I\ӿs H?`W?L?&?)u*7N@ u*̂q;Iu*CxNh>xRE)҄Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YW>QD cN< >I  I7ٮ  M7  QtI  UC9  s: V:) y7 %8)!I! -tIi! -@D! %F:)%Z:I%89I999=O@Contact HDG: 182.691182 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI 4h!@i  2@<:@w: )>{> ) IPN(AYt*UN@t*]@yt*F/t*h>t*H t#?͙@kӿi٠??f??)u*UN@ u*q;Iu(xBx>xBEHDHDiPIP){GF@=YE5XE>AAQMDIMi<<M>IQ I]7ٮQQ Q]tI Q UeC9QU: UB:)Ui"7 m8)a m8Ia mtIia m@Da e:)ew:Ie 8yIy9*G2GFFrFbFEE)5;I59 11i1I9=8%@i99 A2@E<:@Mw: y5) jN(A)";I Yt:2N@tE\@yt#7t(/>tH`0z/? 8沿~ӿC8 ?????)u:2N@ uep;IuCx=Wx>x=E)+Ga 1Ua 1U a 5Ua 5U a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}^}>yyQ}Dyͅh>I I7ٮ QtI  UC9鰍: :)@7 8)I tIi @D ::):I18I9*G2GFFrFbFEE);I9 iI;*@iZ> 2@ <:@w: !) &N(AYt*~N@t*&+]@yt*dIt*ip>t*H@n??@H`ӿ`bҵ?I?}? ?)u*~N@ u*Op;Iu(xNRr>xREi`Ib̓C)G%%=!F@-Y5;5>99Q=D9E*Q<E>II IM7ٮII QUtI I UUC9IM: M:)MvY7 ]8)YIY etIiY e@DY ]ٓ:)]˚:I]O8qIq9q*G2GFFrFbFEE);I9 iI;/@i>> 2@<:@w: iF) N(AYt*$N@t*/C]@yt*&'-t**jt>t*Hjt?` Jӿ/,?`ʤ?B?N?)u*$N@ u*$r;Iu*CxRp>xREGV?AHT {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Yy>  Q D^;>I! I-7ٮ!! Q5tI ! U=C9!%'; %';)%v7 E8)AIA MtIiA M@DA E:)E:IE!t8aIi9i*G2GFFrFbFEE)=;I=9 99i9I9Ei5@iE>A I2@M<:@Uw: aTq) aN(A Yt.0N@t.;]@yt.t.:6>t.H `?o屿iԿ@d g???*?)u.0N@ u.Dr;Iu.CxBm>xB'EiXI\)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʝR;>ʡʡQDʡͭQ)<>I I7ٮ QtI  UC9鰵: B:)7 8)I tIi @D :)N:IԔ8I9*G2GFFrFbFEE);I9 iI1:@i(= !2@%<:@-w: 8j> 7Y) )=N(AYt*N@t*]@yt*.4t*>t*H@^[ R?`K۳i;Կ # 0 ?`? ? ׾?)u*N@ u*GFq;Iu*CxNs>xRE)MvGiIIF@}Yʍ>ʙʙQDʡͭ ;>I I7ٮ QtI  UC9; \};)B7 8)I tIi @D U;)ud;IV8)I199OeDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GqM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI2@@iS= 2@<:@w:->8{> 1V>t>) 3N(AYt*O@t*]@yt*+1t*҆>t*H@)Z`?BԿtG v?^%?l?'?)u*O@ u*~p;Iu*CxBp>xB%EHDHFp=iTIT)UdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ&9>ʹʹQD:>I I7ٮ QtI  UC9: :)7 8)I tIi @D :):I18I9&M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 198.457007 arcdeg .q''*G2GFFrFbFEE);I9 iIE@iO= 2@<:@w:;M> ߹?k) O(A) IYt.NO@t.#]@yt.1t.s>t.H@MW ?`dȰ Կm?"???)u.NO@ u.r;Iu,xB0a>xBw E)|F@Y%0R7%>!)Q-D)-I<5>I1 I7ٮ11 QtI 1 UC915]< 5;^<)5.7 8)I tIi @D ̒:):I8I9=Om@Contact HDG: 182.691182 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFrFbFEE);I9 iIHig< 2@<:@w:.@> ) O(AYt*0O@t*;G^@yt*S<4t*>t*HA Y?Կ`KF?l?w??)u*0O@ u*hkr;Iu(xNi>xREi\I^“C)!%4=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y>QD 0< >I I=7ٮ M=7 Q=tI  U=C9: :)7 M8)A M8IA MtIiA M@DA E:)E:IEd8yIy9y*G2GFFrFbFEE);I9 iIoEi< 2@<:@ w: = i) *9O(AYt*rO@t*}?^@yt*((t*>t*HB6?ճԿ "Zb?,?`? ?)u*rO@ u*q;Iu(xNp>xREGR@AHP)F@-Y-:->11Q5D1=*=>IA IM7ٮAA QMtI A UMC9AEt: E:)Eq7 U8)QIQ ]tIiQ ]ADQ U:)U:IU=8iIi9i*G2GFFrFbFEE);I9 iI((Di 2@<:@w:e= ߱) SO(A Yt.O@t.߄^@yt.y>t.(>t.H]7?CSտ#?χ? ?@?)u.O@ u.^p;Iu.CxR}v>xZEiAIE̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@%Y-:8->QD <>I I7ٮ QtI  UC9]< ]<);7 U8)III UtIiI UADI M_:)M؛:IMh8I9*G2GFFrFbFEE)5;I59 19i9I9EDApi 2@<:@w:= ) dmO(AYt*iO@t*tg^@yt* t*>t*Hm< k?ҲԿ xC`yr? 辁?R? ?)u*iO@ u*rq;Iu*CxBB`>xB E) SGixAF@%Y-<-?11Q5D1͵<>I I7ٮ QtI  UC9鰽t: :)T7 8)I tIi AD :):I/8QIY9Y*G2GFFrFAbFIEIEI)];Ie9 aiiiIiKFi< 2@<:@w:G= ]>{>j) m;O(AYt*,P@t*^@yt*3t*|>t*H d)?FF^տ9?`?0?`?)u*,P@ u*q;Iu*CxBq>xBEHBR=HBa=iRf=IP)GF@]Yeve>aaQeDam<m>Iq I7ٮqq QtI q UC9quk; u5;)um7 8)I tIi AD :)|:I٤8I9*G2GFFrFbFEE)5;IU9 QQiQIQ]pjF];iYa a2@e<:@mw:M< Y,) O(A) IYt.P@t.^@yt.հt.>t.Ha-@?@ֳ HտV$]? ց?}p? ?)u.P@ u.p;Iu,x6m>x6'E {8Y|8>8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y;>QDf:>I! IM7ٮ!! QUtI ! UUC9!%5; %;)%.7 e8)YIY tIiY ADY ];)]0;I]g8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF EE)u;Iu9 qqiqIyMFBi 2@<:@w:Ԙ< E )  O(AYt*fP@t*_@yt*p1t*>t*H@@? տ`M @6?`19?S??)u*fP@ u*gp;Iu*CxN:m>xRE){R]I{Pi{Rd={R7>{P{RA{P|RB9|RF?qo 'cir=Ip)=SGAE%=F@MYUO߻U?YYQ]DYeڀ<e ?Ii Im7ٮii QutI i UuC9im: mͭ:)m7 }8)yIy tIiy ADy }:)}:I}z8I9&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN-@Vehicle HDG: 199.708939 arcdeg .q'5'5*G12G1F1F1rF9bF9EAEA2EIzEMBEM_/Xc6@U;EMF?qo 'cEM]EIEMB}JȈ>,0@H>Z_>EM|n%ZOuN?7ȿEM2(@=uDHdg To Contact =151.150474 degreesZEMAbEMF:EMXo$?BEM]o$?JEM{ REM jEMrEM|);I9 iINFfi 2@<:@w:< $ Dacoustic_contact_range 35.520000 m$hTrackAcousticContact.heading_to_contact 2.638073 rad$LDUSBL_Hydroid.xAngle -49.650001 arcdegi) #O(AYtrjP@tr _@ytr">trȄ>trH ? s#տklb?5ć?Xi? ?)urjP@ ur;p;Iupxzsj>xz(EG~AAH|)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Ymߺu>qqQuDq}9}>I I7ٮ QtI  UC9鰅.; ;)7 8) 8I tIi AD :) :I8I9=O@Contact HDG: 151.150474 arcdeg .''O4Initialize Wait Component.*G2GFaFarFabFiEiEi);I9 iIKFsi 2@<:@w:ɯ< ) O(A@ Yt.-P@t.8M_@yt.ʞt.>t.H`xBEiPIP)+GF@=YE &<E>AAQMDIM<M>IQ I]7ٮQQ Q]tI Q U]C9QU: U:)U7 m8)aIa mtIia mADa e:)e:IeX,8yIy9*G2GFFrFbFEE);I9 iILF Di 2@<:@w: )I i) ZP(AYt*'P@t*2Y_@yt*,t* >t*H;L?e}kտ``[??f??)u*'P@ u*.Bp;Iu(x2n>x6E)nGippF@vYz ܻz>||Q~D|:>I  I 7ٮ   QtI  UC9  \: >:) 7 8)I %tIi %AD  :)g:IM81I191*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiuMFuiqq y2@}<:@w: ߑ>t>>1) y\"P(AYt*;P@t*Ft_@yt*M!t*3w>t*HN~c?Lտ  .?`)?`??)u*;P@ u*o;Iu*CxBn>x@HBp=HDiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye7:e>iiQmDim;u>Iq I}7ٮq M}7q QtI q UC9qu: u:)u7 8)I tIi AD  :)A:Ip8I9*G2GFFrFbFEE);I9 iILF]ði 2@<:@w: >]) y?t*H`nYj?wտ@ ???A?)u*P@ u*n;Iu*Cx>t>x>lE)zׄGF@=Y==>AAQEDAMM>IQ I]7ٮQQ Q]tI Q U]C9QU`: U:)UZ.7 e8)aIa mtIia mBDa eh:)e|:Ie{8yIy9y*G2GFFrFbFEE);I9 iIMFi 2@<:@w: >C) VP(AYt*P@t*Q_@yt*>t*w>t*H@,@vJ?@տ`6?@݇?`??)u*P@ u*fn;Iu(xR:m>xREilIl)E҄GY]=F@YʭF:>ʹʹQD>I  I=7ٮ   QMtI  UMC9  =Q< wS<) K7 8)yIy tIiy BDy }x:)}I:I}8I9*G2GFFrFbFEE) ;I-9 11i1I1=LF=t*H .@u;?.~ tտI@?L??@L?)u* P@ u* n;Iu*CxNh>xREGR@AHP)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y;>QD:>I I7ٮ QtI  UC92: :)f7 8)I tIi BD :):I8I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)=;I=9 99i9I9EMFEiAI I2@M<:@Uw: aU") \ʉP(A@ Yt.lP@t._@yt.1t.b>t.H`?pɚտf ?`'?ֹ?`?)u.lP@ u.m;Iu.CxB*[>xBEiLIL)~+GF@Yʍ>ʑʑQDʑ͝>I I7ٮ QtI  UC9鰥\: :)Á7 8)I tIi BD :)`:Io8I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 199.729908 arcdeg .q'e'e*Ga2Ge2(@FaFarFibFiEqEq);I9 iI}Gi5=2(@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.638073 rad() P(AYt*HP@t*S._@yt*:)t*dWz>t*H 0`/?@ᓲտ`y/?C'??@ ?)u*HP@ u*m;Iu*CxBn>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]SGimwAqa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>QD++;>I I7ٮ Q-tI  U-C9; ;)7 59)1 =9I1 =tIi1 =BD1 5R:)5":I529III9I=O@Contact HDG: 151.150474 arcdeg .''O4Initialize Wait Component.*G2GF!FArFIbFIEQEQ);I9 iIF@i'= 2@<:@%w: i>i>é.) kP(AYt*"OP@t*-^@yt*C7t*E>t*H #`G?`H~տ0% ?C?*??)u*"OP@ u*m;Iu(xB\>xBEH@HBp=){F I{Di{Fǝ={D{D{F`A{D|F=A9|FӔ:j?4weQi`Ib“C)%dGF@]Ye.e ?aaQeDimm ?Iq I}7ٮqq Q}tI q U}C9qub: u:)u7 9)I tIi BD :):I9I9*G2GFFrFbFEE2EzE=AE _1@C_7$EӔ:j?4weQE EE39 E @tӇ^ tE;l;Tn>L?5 EB=@=DHdg To Contact =169.434973 degreesZEBl@bEV:Eto$?BEXo$?JE RE{ jErE);I9 iIC@i= 2@<:@w: $5Dacoustic_contact_range 20.280001 m$=hTrackAcousticContact.heading_to_contact 2.957198 rad$ELDUSBL_Hydroid.xAngle -31.049999 arcdeg5) [P(A)4t.H }?ழ\տ@&{,?A? 4?`i?)u.`P@ u.Tn;Iu.CxBh>xBE)GF@=YE;E>AAQMDIM%.;M>IQ I]7ٮQQ Q]tI Q U]C9QU2: U:)U7 m9)aIa mtIia mBDa e:)eo:Ie_/9yI9*G2GFFrFbFEE);I9 iI>@i> 2@<:@w:< ;) 5P(AYt*P@t*^@yt*2t*>t*HY-:?I`Gտ`$Fd?FC?`g??)u*P@ u*n;Iu*CxBp>xBEiPIV̓C)SG 4= %=a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm km>iiQuDqu'9u>Iy I7ٮyy QtI y UC9y}: }:)}7 9)I tIi BD :):I@9I9*G2GFFrFbFEE);I9 iI9@iD#> 2@<:@w:3= ߑiYB)  Q(AYt*KP@t*^@yt*} 5t* 5|>t*H ($`?U^{տX4@?q?4?@L?)u*KP@ u*3n;Iu*CxV"h>xZEGXHX)%GF@UY]ع]>YaQeDae;m>Ii Iu7ٮi Mu7i Q}tI i U}C9im: m:)mk 7 9)I tIi BD :)ȗ:IR9I9*G2GFFrFbFEE);I9 QQiQIQ]3@i]OL>Y Y2@e<:@ew: = xH) $Q(A Yt*O@t*Ƙ^@yt*,t*Y>t*H-4q?$-!տf,Q?y?`[?@a?)u*O@ u*ŏn;Iu*CxNi>xREi|I|)]GF@mYm:u>qqQuDq}O}>I I7ٮ QtI  UC9鰅: _:)&7 9)I tIi BD t:):Ib9I9*G2GFFrFbFEE);I9 iI*P/@i#^> 2@<:@w:ط= aN) >Q(AYt.P@t.)^@yt.|t.U>t.H/?`+@(:տ`"+?}? ??)u.P@ u.n;Iu.CxBb>xBQ E)z+Gi~xA|a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y n;>QD|;>I I7ٮ QtI  UC9; o;){C7 %9)!I! -tIi! -CD! %:)%Ԙ:I%zt9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIv)@i[Ѓ> 2@<:@w:!> a>>|U) XQ(AYt*O@t*^@yt*(t*=>t*H@62?' 4տ/`NJ?`f?@X??)u*O@ u*n;Iu(xNp>xR%EHPHRa=i`I`)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅR>ʉʉQDʉ͕f׻>I I7ٮ QtI  UC9鰝: ):)G^7 9)I tIi CD -:):Iׄ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'uNM@Vehicle HDG: 199.223477 arcdeg .q'M'M*Gi2GmB=@FqFqrFybFyEyEy);I9 iI>%@i >B=@ 2@<:@w:U> $RHorizontalControl.headingCmd 2.957198 rad \) }rQ(A);I Yt*rO@t*}k^@yt*GIt*=>t*Hx;?`VαNԿD&U?(??<?)u*rO@ u*4o;Iu*CxBi>xBE)~GF@ Y {>QD<>I! I-7ٮ!! Q-tI ! U-C9!%: %:)%x7 59)1I1 =tIi1 =CD1 5а:)5:I5;9III9I=O@Contact HDG: 169.434973 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  "@i  2@<:@w:;> wb) CXQ(AYt*NO@t*Yt^@yt*T't*~>t*H2: z?⮲Կ;@??$?`V?)u*NO@ u*o;Iu*CxB`k>xBEiPIP)~SG=F@=YE.;E>AAQMDIM:M>IQ I]7ٮQQ Q]tI Q UeC9QU: U:)Uה7 m9)aIa mtIia mCDa eՐ:)ec:Ie9yIy9*G2GFFrFbFEE);I9 iInp!@i 2@<:@w:j> ߡii) 5Q(AYt*O@t*D^@yt*Tt*h>t*HB`8?@Կ&;?`? T?j?)u*O@ u*n;Iu*CxB"h>xBEGB?AHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y*;>!!Q%D!-Rܻ->I9 IE7ٮ99 QMtI 9 UMC99=; =& ;)=p7 ]9)QIQ etIiQ eCDQ U:)U:IU۸9yI9*G2GFFrFbFEE);I9 iIǀ!@%i 2@<:@w:6> 1vp) Q(A Yt*VO@t*aD^@yt*oCt*>t*H@ATN?@]Կ D6l?m?@p?y?)u*VO@ u*o;Iu*CxRb>xR E){VoI{Ti{V:={T{T{VA{T|VA9|V?ipIp)MGF@Yʽ&>QDL>I I7ٮ QtI  UC9: :)7 9)I tIi CD :)N:I=9I9*G 2G F FrFbFEE2E!zE%AE%e6r-@zد4E%?E%oE!E%҈71D4*@2E%`#lK [?;$ɿE%#@=-DHdg To Contact =146.385133 degreesZE%WAbE%&:E%so$?BE%to$?JE%~ RE% jE%מrE%)M;IM9 IIiIIIU"@iQQ Y2@]<:@ew:M> Q$uDacoustic_contact_range 24.840002 m$}hTrackAcousticContact.heading_to_contact 2.554903 rad$}LDUSBL_Hydroid.xAngle -53.649999 arcdeg!.v) Q(AYt*jfO@t*u^@yt*L>0t*O>t*HI(?gݱ'ԿS`h[??-??)u*jfO@ u*fPo;Iu*CxBm>xB'E);>ʱʱQDʱͽ9>I I7ٮ QtI  UC9ի: t:)7 9)I tIi CD %:):I-9I9*G2GFFrF bF E E )%;I%9 !!i!I!-v%@i)) 12@5<:@=w:A A)AIA i>{>W|) TQ(AYt*O@t*!.^@yt*kt*>t*HE@6:?}g}ԿP@D?1? ??)u*O@ u*So;Iu(x6Ml>x6LEH6a=H8iHIJ“C)~GF@=YEL;E>AAQMDIM͈;M>IQ I7ٮQ M7Q QtI Q UC9QU< U،<)U$7 9)I tIi CD :)Ԙ:IF9I9*G 2G F F rFbFEE)-;I-9 11i1I1=B)@i=Uq>9 92@E<:@Ew: Y?) < R(A) I4t.H~KK?B>ԿC=? 5? ?@?)u.\O@ u.o;Iu,xB"h>xBE)~GF@Y%%>!)Q-D)-T->I1 I=7ٮ11 Q=tI 1 UEC915: 5Y:)5s7 M9)AIA MtIiA MCDA A)AIEy9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;Iu9 qqiqIq}O/@i}I>y 2@<:@w: 8j) 1}'R(AYt*iO@t*t]@yt*E.t*P>t*H@V?I8ZԿ@9I? Å?U??)u*iO@ u*Mo;Iu(xBo>xBEiPIR̓C)G =a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm=;m>iiQmDiuK!u>I I7ٮ QtI  UC9鰝S: 5:):7 9) 9I tIi CD ;)J;I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 198.543490 arcdeg .q'%'%*G!2G-#@F)FirFqbFqEyE);I9 iIQm3@i>/>#@ )2@-<:@5w: A$RHorizontalControl.headingCmd 2.554903 radi0Q) TAR(AYt*kO@t*v]@yt*Zt*;>t*H U?+(]Կ v\`G?1??Q?)u*kO@ u*o;Iu*CxBsj>xB(EGBAAHD)GF@Y%;%>))Q-D)-95>I1 I]7ٮ11 Q]tI 1 UeC915; 5o;)5U7 m9)aIa mtIia uDDa eO:)ec:Ie9I9=O@Contact HDG: 146.385133 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE1E1)E;IE9 AIiIII5@i-"> 2@<:@w: 4|) f3[R(A Yt. O@t.]@yt.:t.@}>t.HRX ?2lMԿ 1e:*?`X?.U?9?)u. O@ u.o;Iu.CxBRr>xBEiLIL)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeǻm>iiQmDiutu>I I7ٮ QtI  UC9鰝: а:)r7 9)I tIi DD p:);I/9I9*G2GFFrF!bF!E!E!)];I]9 YYiYIYeo7@iaa i2@m<:@uw:mp> y) #uR(AYt*N@t*]@yt*4Ot*O>t*HR_ ? ܜ"Կ lU ?@o?Z?\?)u*N@ u*po;Iu*Cx>i>xBE)xiwAxAF@Y%N%>!!Q%D)-->I1 I=7ٮ11 Q=tI 1 U=C915>: 5:)57 M9)AIA MtIiA MDDA E[:)Eo:IE?9yIy9y*G2GFFrFbFEE);I9 iI7@򩮽i 2@ <:@ w:UmV> >>a) hR(AYt2N@t2]@yt2!t2ˊ>t2H@a@7|?xԿm@ l??!#??)u2N@ u2ho;Iu2CxBB`>xB EH@H@iPIP)F@Y%D<%>))Q-D)5g5>I9 I=7ٮ99 QEtI 9 UEC99=h: =:)=]7 M9)III UtIiI UDDI MS:)ME:IMP9aIa9a*Gq2GqFyFyrFbFEE);I9 iIB5@i 2@<:@w:jb+> w) aŨR(A)I;Yt*N@t*5]@yt*,t* T>t*H`lT?@Ġ`ӿg H?甅?Zx^E {`Y|`f8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@%Y-ۿ->IIQUDQUU>IY Ie7ٮYY QetI Y UeC9Y]: ]ٮ:)]7 9)I tIi DD :):Id9I9*G2GFFrFabFaEiEi);I9 iIG1@iE> !2@-<:@5w:mP"> yM) ZR(AYt*N@t*e]@yt*N:t*UCq>t*H e%?ӿ9@?W?`?`(?)u*N@ u*vo;Iu(xB\>xBE){BaхI{@i{B#={B>{@{B0A{@|BpA9|B27` ?D Ribf=I`)dG<%=F@Yʽ>QD<>I I7ٮ QtI  U C9: :)7 9)I tIi DD :)0:Ixs9I9*G 2G FFrF9bF9E9E92EAzEEpAEEhM#@Ikݳ1EE27` ?D REEaхEAEEC.-GӡB)@0e$EEY«B?翧>l?>zɿEEe@=UDHdg To Contact =139.118263 degreesZEEJAbEEpi:EEo$?BEEso$?JEAREE~ jEE&wrEEמ);I9 iI .@iC]> 2@<:@w:`=(> $Dacoustic_contact_range 19.680002 m$hTrackAcousticContact.heading_to_contact 2.428072 rad$LDUSBL_Hydroid.xAngle -59.900001 arcdegiqʶ) {R(AYt*tmN@t*]@yt*7'>t*Q>t*HqDD?ܶӿs?ć? $??)u*tmN@ u*no;Iu(xBi>xBNEG@H@)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʱʱQD7>I I7ٮ QtI  U C9%: :)7 9)I tIi DD ;)4:I9)I)9)O]Done Waiting.']O]8Uninitialize Wait Component.*GY2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFiEiEq);I9 iI(@iD> 2@<:@w: C> ) VR(A Yt*xdN@t*]@yt*Άt*X>t*HrN? [iӿ@>? ???)u*xdN@ u*lao;Iu*CxB`k>xBEiR=IP)GF@Y%;%>!!Q-D)-6->I1 I=7ٮ1 M=71 Q=tI 1 UE C915: 5L:)57 M9)AIA MtIiA MDDA E:)E:IE9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 197.910728 arcdeg .q''*G2Ge@FFrFbFEE)];I]9 YYiYIYeX#@ie >ee@ i2@<:@w:E> ߱$RHorizontalControl.headingCmd 2.428072 radr) 1S(AYt*0N@t*\@yt*`!t* >t*Hz`?7}ӿg 1 ?`6????)u*0N@ u*No;Iu*CxBi>xBNE)zGi||F@Y%.¹%>!!Q-D)-->I1 I=7ٮ11 Q=tI 1 UE C915 : 5s:)5527 M9)AIA MtIiA MDDA Ep:)E:IE9yIy9=O@Contact HDG: 139.118263 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F)rFibFiEqEq);I9 iI>5@i 2@<:@w:%&V> 1>t>) *S(AYt*2N@t*=\@yt*6t*K@n>t*Hs~@{?`z@cӿ2`?ӆ??@"?)u*2N@ u*9o;Iu*Cx>'n>xBpEH@HBp=iRf=IRѓC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YʝD>ʡʡQDʡͭk}>I I7ٮ QtI  U C9鰵; \;)N7 9)I tIi ED :):I9QIQ9Q*Ga2GiFiFirF bFEE)%;I-9 ))iiIiu@iqq q2@}<:@}w:Y> ߑ.) CS(A)IYt.'N@t.\@yt.(4t.z>t.H{ ?EA@Ltӿ! ?@炆? ?`k ?)u.'N@ u.n;Iu.CxB`>xB. E)vSGF@Y% 9%>!!Q-D)-^2;->I1 I=7ٮ11 Q=tI 1 UE C915: 5:)5Zi7 M9)AIA MtIiA MEDA E:)EN:IE9YIY9a*Gq2GqFqFqrFybFyEE);I9 iIS@i 2@<:@w:> ߹) q]S(AYt*OM@t*Z\@yt*;4t*>t*H n;? UvDӿ EW?a?^? ?)u*OM@ u*En;Iu*CxNj>xNqEi\I^̓C)G=F@-Y-->11Q5D1=4=>IA IE7ٮAA QMtI A UM C9AE: E:)E7 U9)QIQ ]tIiQ ]EDQ U%:)U|:IU9iIi9i*Gy2GyFFrFbFEE);I9 iI 1@i 2@<:@w: )I Ii)B) $wS(AYt*M@t*Lj\@yt*&t*˱>t*HV?F,ӿ`_@;?@Є?>??)u*M@ u*^o;Iu*CxJq>xJEGHHL) SGa 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm;u>qqQuDq};x}>I I7ٮ QtI  U C9鰁 ٮ:)37 9)I tIi ED :):I29I9*G2GFFrFbFEE);I 9  i I e@i 2@<:@%w: 1*) :wS(A Yt.uM@t.O\@yt.#)t.x>t.Hۏ@?} oҿ൥`?b$?`?H?)u.uM@ u.Io;Iu.CxBn>xBEiR=IP)GF@=YEFҹE>AIQMDIMM>IQ I}7ٮQQ Q}tI Q U C9QU; U;)U\7 9)I tIi ED ;);I,9I9*G2GFFrF bF E E )E;IE9 AAiAIAIIiII q2@}<:@}w: ߉U) YS(AYt(M@t3\@yt}tq!p>tH` ?@$'ӿ@#?@? ?n?)u(M@ u=n;IuxEMl>xELE {IY|IU8****** ping requested ******}Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )%Gi9=wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%;> Q D ;>I I%7ٮ Q-tI  U5 C9; ;)7 =9)9 E9I9 EtIi9 EED9 =:)=e ;I=9YIa9aO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: >> <) -S(AYt*M@t*<\@yt*:t*Iz>t*H Ul?3찿@zҿs`? q_???)u*M@ u*n;Iu*CxBv>xBGEHBp=H@){F@.I{Di{Fܘ={F7>{D{F`A{D|FדA9|FQ.a?h/d#i`I`)%҄GF@Yʽ >QDE>I I7ٮ QtI  U C9; |;)7 9)I  tIi  ED -:)A:I99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 197.166729 arcdeg .q''*G2GF F rF1bF1E1E12E9zE=דAE=x|*,@b>_VzB'E=Q.a?h/d#E=@.E9E=Rr1Jzm@\PwE=z0gw^r?כAÿE=1@=MDHdg To Contact =159.205699 degreesZE=k@bE=:E={o$?BE=o$?JE= RE9jE=6rE=&w);I9 iIi 2@<:@w: $Dacoustic_contact_range 18.479998 m$5hTrackAcousticContact.heading_to_contact 2.778664 rad$5LDUSBL_Hydroid.xAngle -39.000001 arcdegif)  S(A) I4t.H`;e^?1@ҿ`` w??`??)u.։M@ u.Apo;Iu.CxBj>xBqE)+Ga 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQDʉ͕%m>I I7ٮ M7 QtI  U C9鰝g: :)7 9)I tIi ED :):Ik.9I9=O@Contact HDG: 159.205699 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!i!! i2@m<:@mw: ߁) S(AYt*KM@t*[@yt*|"t*(>t*H 1?`kO[ҿ@:?yQ?? ?)u*KM@ u*To;Iu*CxBmd>xBu EiPIP) XG%4=!F@]YeR<e>aaQeDam%m>Iq I}7ٮqq Q}tI q U}!C9qu): uN:)u*7 9)I tIi ED -:):I:?9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: iw) T(Ax:m>xEG?AH)+Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYu}>yyQ}Dyͅ>I I7ٮ QtI  U5!C9鰍< <)H7 =9)1I1 =tIi1 =ED1 5>:)5:I5R9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: )E ) ,T(A@ Yt.YM@t.\@yt.6.t.;>t.H~q>?tm!ҿk?kԅ?h9? ?)u.YM@ u.3n;Iu.CxNr>xRIEibf=I`)-SGF@5Y==>AAQEDAM;M>IQ IU7ٮQQ Q]tI Q U]!C9QUf: U:)Ua7 m9)aIa mtIia mFDa e%:)eZ:Iea9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: !) uFT(Ax~jw>x~"E)mGiuxAuxAF@Yʽ>QD>I I7ٮ QtI  U!C9}: :)z~7 9)I tIi FD ɏ:)c:Ir9I9*G 2G F FrFbFEE)-;I59 11i1I199i99 A2@E<:@Mw: YR>) O`T(AYt* 3M@t*[@yt*N7t*O>t*H@?'ߊҿ`dz? *?`;??)u* 3M@ u* ^n;Iu(xBi>xFEHNa=HNa=iz=Ix)MʹʹQDʹB>I I7ٮ QtI  U!C9q: :)7 9)I tIi FD ٓ:)R:Iă9I9*G2GFF rF bF EE)%;I-9 ))i)I)11i11 92@=<:@Ew: Q\) I+zT(A) I;YtBMM@tB[@ytB 96tBf>tBHDd2?o@3ҿ`g ?@dž? o]?#?)uBMM@ uBxbE)uGF@Yu9>QD;>I I7ٮ QtI  U!C9G: :)7 9)I tIi FD Ր:):Iٔ9I9O Done Waiting.' O 8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I=9 99i9I9AAiAA A2@M<:@Mw: a>$) uT(AYt  M@t [@yt P_t X>t H S?Xǰbҿ`7?٫?z? h?)u  M@ u vn;Iu CxEb>xE EiI)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYex;m>iiQmDiu u>Iy I7ٮyy QtI y U!C9y}O: }:)}7 9)I tIi FD c:):IŦ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 196.695883 arcdeg .q'}'*G2G1@FFrFbFEE);I9 iI@i1@ 2@<:@w: $RHorizontalControl.headingCmd 2.778664 radi*) T(AYt6]M@t6 \@yt6l4t6">t6H`vG? ҿ``?z?@?t?)u6]M@ u6\^n;Iu4xJb>xJQ EGLHL {LY|PR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGF@Y5̛5>99Q=D9E|S<M>IQ I]7ٮQQ Q]tI Q Ue!C9QU\: U;)U7 9)I tIi FD |:)M:I]9I9=O-@Contact HDG: 159.205699 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9EY)};I}9 iIfY @i 2@<:@w: @1) XT(A@ Yt*M@t*[@yt*DE@t*>t*HM?` hҿ j?`?M?@#?)u*M@ u*Upn;Iu*CxNg>xNsE){R;d]I{Pi{R={P{P{RA{P|RB9|R&)Q ?Yinf=Il)=vGF@uY}p}>yʁQDʁͅ P>I I7ٮ M7 QtI  U!C9鰍: :)7 9)I tIi FD :)o:I9I9*G2GFFrFbFEE2EzEBE{}7@p.;E&)Q ?YE;d]EE8j>pD#2@ݴ(`!E乕`֌?,~ǿE%@=DHdg To Contact =148.214600 degreesZEɖAbET:EXo$?BE{o$?JEy RE jErE6);I9 iI#@i 2@<:@w: $EDacoustic_contact_range 36.419998 m$MhTrackAcousticContact.heading_to_contact 2.586833 rad$ULDUSBL_Hydroid.xAngle -49.550000 arcdeg18) RT(AYt*>[M@t*I\@yt*4~?t*"H>t*H6@G?@ү`MҿR????)u*>[M@ u*=ln;Iu*Cx>|>xBE)dGivAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeX8e>iiQmDiu?<u>Iy I}7ٮyy QtI y U!C9y}F: }J:)}/#7 9)I tIi FD :):Iv9I9*G2GFFrFbFEE);I9 iI(@ic> 2@<:@w: >l>,>) XtT(AYt*!M@t*[@yt*/t*'t>t*H໢? k zҿ P|8??Q!?.?)u*!M@ u*n;Iu(xB`>xB. EHBp=HFp=iV=IT) GF@=YE;E>AAQMDIMM>IQ I]7ٮQQ Q]tI Q U]!C9QU2: U:)Uj>7 m9)aIa mtIia mFDa eՐ:)e :IeG9yIy9*G2GFFrFbFEE);I9 iI:,@iIJ> 2@<:@w: E) zTU(A)IYtbq^M@tb| \@ytb6tb>tbH@˙I?cҿA?@Sކ???)ubq^M@ ub-{n;IubCxv c>xv E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yލ>QDe < >I  I7ٮ   QtI  U!C9   : R:) [7 %9)I %tIi -FD 1:)E:IQ91I999*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIq}"/@i}?=>y y2@<:@w: ߙ>K) */U(AYt*kM@t* \@yt*:t*>t*H@.L?@`dҿ@9?_??@?)u*kM@ u*?n;Iu*CxRp>xREi\Ib“C)%+G!!F@=YEm*E>AAQMDIMD;M>IQ I}7ٮQQ Q}tI Q U}"C9QU; Uo;)Uu7 9) 9I tIi GD ,:)@:I 9I9*G2GFFrFbFEE);I59 11i1I9=0@i9A A2@M<:@Mw:mL> qi_&R) lIU(AYt*OM@t*[@yt*)F)t*>t*H`1?w`ҿZܕ?(?>P?@?)u*OM@ u*Rn;Iu*CxRo>xRJEGPHP)]SGF@mYu,;u>qqQ}Dy}6>I I7ٮ QtI  U"C9鰅: :)7 9)I tIi GD :)g:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI1@iMZ2> 2@<:@w:F]~> oPX) LbU(A@ Yt*'M@t*24\@yt*o't* {>t*H`^q?@ޯZҿ 3%? ?*'?`: ?)u*'M@ u*Jn;Iu*CxBp>xB%EiPIR̓C)~dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥM9>ʡʩQDʩͭ<>I I7ٮ QtI  U"C9鰵: :)7 9)I tIi GD ::)o:I.9I9!&-M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'UN@Vehicle HDG: 197.136772 arcdeg .q' '*G2G%@FFrFbFEE!)e;Ie9 aaiaIa(1@i(;>%@ 2@<:@w::M> ߡ$RHorizontalControl.headingCmd 2.586833 radz^) |U(AYt*rM@t*\@yt*X !t*݃>t*H`P?`ΰ5ҿc?U!?L?l?)u*rM@ u*>n;Iu(xNu>xRE)iwAxAF@]Ye@:e>aaQeDimOUm>Iq I7ٮqq QtI q U"C9qu:< uf<)u7 9)I tIi GD :)˚:I'?9 I 9 =O@Contact HDG: 148.214600 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIWX/@itH> 2@<:@w:<> R>{>+be) uU(AYt*bM@t*mR\@yt*!3t*d>t*H^}?@,1ҿz`?~?!??)u*bM@ u*Qn;Iu(xBn>xBEHBa=HFa=iPIP)|F@=YE<E>AIQMDIMQ<M>IQ I]7ٮQQ Q]tI Q Ue"C9QU: U:)U7 m9)aIa mtIia mGDa e:)e:IejO9yI9*G2GFFrFbFEE);I9 iIw,@i_> 2@<:@w:~H> !k) qU(A)4t.H`??@ӿ`? ^x?u?@'?)u.mM@ u.[n;Iu,xNo>xRJE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1@a  a 5@a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@Yʽ:>QD5;5>I9 I=7ٮ9 ME79 QEtI 9 UE"C99=9: =:)=7 u9)III utIiI uGDI M;)M;IM c9I9*GQ2GQFQFYrFYbFYEaEa);I9 iIg&@i> 2@<:@w:H> tr) LU(AYt*"M@t*-\@yt*$Mt*V>t*H `?=)ӿ<`? ?`/?X?)u*"M@ u*>n;Iu*CxNb>xRQ E){R[YUI{Pi{R ={P{P{RA{P|RA9|Ri?eݯipIp)=GE%=AF@MYUIU>YYQ]DYe;e?Ii Im7ٮii QutI i Uu"C9im%: m:)m47 }9)yIy tIiy GDy }:)}:I}q9I9*G2GFFrFbFEE2EzEAEF>0@Z 2Ei?eݯE[YUEE΀G5zU=(@(Et%w猘?o`vƿEO(@=DHdg To Contact =150.679601 degreesZEAAbE:Eoo$?BEXo$?JE REy jE0rE);I9 iIe|#@i > 2@<:@w:}P> $Dacoustic_contact_range 25.140001 m$%hTrackAcousticContact.heading_to_contact 2.629855 rad$%LDUSBL_Hydroid.xAngle -47.749999 arcdegiax) 9&U(AYt*M@t*u\@yt*y t*3>t*HR?뱿 ӿ`v??`;??)u*M@ u*2n;Iu*CxBs>xBEGBAAHD)GF@=YE"<E>AIQMDIM%M>IQ I]7ٮQQ Q]tI Q Ue"C9QU: U :)U67 m9)aIa mtIia mGDa e-:)ec:Ie{9yI9*G2GFFrFbFEE);I9 iI!@i 2@<:@w:C|w> ߡ$~) U(A Yt.N@t.\@yt. t.|>t.H ـ`? Uӿn h?`0?ޣ?`?)u.N@ u.Oyn;Iu.CxRh>xREitIv“C)MׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭA>ʱʱQDʱͽ<>I I7ٮ QtI  U"C9: :)'S7 9)I tIi GD h:) :I9I9*G2GFFrF bF E E )%;I%9 !!i!I!-@i)) 12@=<:@=w:-4(> 1) V(AYt*8N@t*\@yt*'t*<~>t*H@Iy ,? _Ӱ`ӿ`ǂm?i???)u*8N@ u*{n;Iu*CxBt>xBlE)Gi%yA!F@=YEqaE>AIQMDIM>;M>IQ I}7ٮQQ Q}tI Q U"C9QU; U;)Um7 9)I tIi GD :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I=9 99i9I9E`M @EiAA I2@M<:@Mw:> ߱e>>|ڋ) 1V(AYt*$N@t*\@yt*5Dt*"}>t*H%|:?V9qӿ`aV??]??)u*$N@ u*dcn;Iu(xNt>xPHPHPi`Ib̓C)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YD>QD;>I I7ٮ QtI  U"C9: :)7 9)I tIi HD :):IM9 I 9 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 197.688392 arcdeg .q''*G2GO(@FFrFbFEE);I9 iI""@iO(@ 2@<:@w: )I i$RHorizontalControl.headingCmd 2.629855 rad’) KV(A) IYt*fN@t*]@yt*1t*>t*H@)r1?)ıӿ`co?Y?? ?&?)u*fN@ u*r4n;Iu*CxBh>xBE)~GF@=YEA;E>AAQMDIM*<M>IQ I]7ٮQQ Q]tI Q Ue"C9QU: U :)U7 m9)aIa mtIia mHDa e:)e:Ie9I9=O@Contact HDG: 150.679601 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIPT%@i 2@ <:@ w: 9) neV(AYt*N@t*.]@yt*7t*>t*H-n`0?W{@ӿ`??Ƃ?[|??)u*N@ u*'o;Iu*CxNm>xR'Ei\I^“C)%R=%4=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ;>ʉʉQDʉ͕c;>I I7ٮ QtI  U"C9鰝: :)7 9)I tIi HD h:):I9I9*G2GFQFQrFYbFYEaEa);I9 iI'@i}> 2@<:@w: i) HV(AYt.mN@t.]@yt.~%t. >t.H`#q`I=?=o@aӿq@ ??? ?)u.mN@ u.]o;Iu.CxBc>xB, EGDHD) GF@Y%%>!)Q-D)-H->I1 I=7ٮ11 QEtI 1 UE#C915I; 5;)57 M9)III UtIiI UHDI M:)M:IMu9aIa9a*Gq2GqFyFyrFbFEE);I9 iIO(@i 2@<:@w: ) $V(A Yt*1N@t*<]@yt*j"t*:s>t*H[ ? 8Կ| ?GM???)u*1N@ u*n;Iu*CxBeq>xBnEiPIP)~iiQmDiu<u>Iy I7ٮyy QtI y U#C9y}ի: }S:)}7 9)I tIi HD :)N:I9I9*G2GFFrFbFEE);I9 iI{i > 2@<:@w: A)) V(AYt*N@t*]@yt*yFt*">t*H@]ඪ? 7(,Կ H@??@??)u*N@ u*n;Iu*CxB'n>xBpE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGiimwAF@Yʽӫ>ʹʹQDʹ>I I7ٮ M7 QtI  U#C9&; C&;)G7 9) 9I tIi HD ;);I` 9I9*G12G1F9F9rFAbFIEIEI)m;Im9 qqiqIqyi 2@<:@w: ߑR>p>) V(AYt*4O@t*?]@yt*?V1t*3>t*HU`P?@g/@[Կ5Vd?*???)u*4O@ u*o o;Iu*CxR{>xRiEHPHTi~f=I~̓C)UdGF@YʥMN;>ʩʩQDʩͭ;>I I7ٮ QtI  U#C9鰵: :)/7 9)I tIi HD :)N:I49I9*G2GFFrFbFEE);I9 iI!% i!! !2@-<:@-w:9 9)9I9 :) V(A);IYt.EO@t.]@yt.@t.,>t.H=Oo? " oԿ@7@@J? g?n??)u.EO@ u.o;Iu.Cx6g>x6sE))a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ&\;>ʑʑQDʑ͝;>I I7ٮ QtI  U#C9鰥:: ٮ:) K7 9)I tIi HD :)M:I-9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i Ii 2@%<:@%w: 1") W(AYt*qO@t*^@yt* 8t*l>t*H@H13?챿ԿM v? ?`j?@#?)u*qO@ u*Dn;Iu*CxBr>xBIEiR=IT)G %= %=F@mYmu>qqQuDq}a;}>I I7ٮ QtI  U#C9鰅: :)Xf7 9)I tIi HD :)9:I=9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 198.851805 arcdeg .q'E'E*GI2GIFIFIrFQbFQEYEY)m;Im9 iiiqIqy}TEiyy y2@<:@w: ߙiL) kW(AYt* O@t*N^@yt*Tk5t*H>t*H@b@^?WԿ@Gs? L???)u* O@ u*3n;Iu*CxRg>xRsEGR@AHT)Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y{:>QD;>I I7ٮ QtI  U#C9; ;)7 %9)!I! -tIi! -HD! %:)%Ԙ:I%O9YIY9Y=O@Contact HDG: 150.679601 arcdeg .''O4Initialize Wait Component.*G2GF FrFbFEE)];I]9 YaiaIaamꫛiii i2@u<:@uw: ߉w) H4W(A Yt*O@t*z^@yt*Pt*K>t*HT9`h?0@տ@&? ?`?`?)u*O@ u*n;Iu*CxRj>xRqEi\I\)GF@-Y-% <5>11Q5D1=x;=>IA IM7ٮAA QMtI A UM#C9AE%: Eį:)E7 U9)QIQ ]tIiQ ]IDQ U>:)Us:IU_9iIi9i*G2GFFrFbFEE);I9 iI락i 2@5<:@Ew: a^) "NW(AYt*P@t*^@yt*Dt*2->t*H,`¹?@Jտ`X9?@??)?)u*P@ u*{n;Iu*CxRu>xRE)dGixAxAF@]Ye&e>aaQmDim5<m>Iq I}7ٮqq Q}tI q U}#C9qu: u:)u7 9)I tIi ID :):Ip9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >t>) gW(AYt*/P@t*^@yt*d@t*>t*H(?&aտ#<"??A? ?)u*/P@ u*Qn;Iu(xRi>xREHRp=HVp=i`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ2::>ʉʉQDʉ͕h;>I I7ٮ QtI  U#C9鰕: 5:)7 9)I tIi ID ::):I*9I9*G2GFFrFbFEE);I9 iI|ti 2@ <:@ w: !"q) ځW(A)IYt2ZP@t2_@yt2Dt2>t2H@!?eH ljտ@j(l?(??K?)u2ZP@ u2n;Iu2CxBV>xB3E)~GF@=YE;E>AAQMDIMP;M>IQ I]7ٮQQ Q]tI Q U]#C9QU: U:)U7 m9)aIa mtIia mIDa ep:)e :IeԒ9yIy9y*G2GFFrFbFEE);I9 iI^뤽i 2@<:@w: ) #W(AYt*P@t*h_@yt*+t*\>t*H; V?4ɳ`տ >?w?Q=?l?)u*P@ u*~n;Iu*CxN^>xN Ei\I\)G4=a 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}G3}>ʁʁQDʁ͍k<>I I7ٮ M7 QtI  U#C9鰕: :) 7 9)I tIi ID :):I39I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: i-) 돵W(AYt*yQ@t*_@yt*6t*C܉>t*H,$? &ֿO6?`ن?&?V?)u*yQ@ u*hn;Iu*CxBi>xBEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )к%>))Q-D)5$<=>IY Ie7ٮYY QmtI Y Um$C9Y]+; ];)]F)7 9)I tIi ID $:)Y:I9 I 9 ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E E )%;I%9 !!i!I!)-曭i)) 12@5<:@=w: q) jW(A Yt*UP@t*`_@yt*~1)t*\>t*H@D?Xֿ@p? &?`??)u*UP@ u*Kn;Iu*CxNw>xRjEihIh)}GF@Yʍ% ;>ʑʑQDʑ͝f>I I7ٮ QtI  U$C9鰥ի: :);C7 9)I tIi ID ͭ:)g:IP9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 200.197325 arcdeg .q'e'e*Ga2GaFiFirFibFqEqEq);I9 iIi 2@<:@w: ߱n) AGW(AYt*pQ@t*`@yt*yV-t*-{>t*H  ?s *ֿoL???V ?)u*pQ@ u*\n;Iu(xB`k>xBE)~vGiwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeK&e>iiQmDiu<u>I I7ٮ QtI  U$C9鰵>: :)^7 9)I tIi ID :):It9I9=Oe@Contact HDG: 150.679601 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFiFirFibFEE);I9 iIi 2@<:@w: {>i>) X(AYt*Q@t*4`@yt*t*K>t*H?D&ལֿ:?`#?>y??)u*Q@ u*Rn;Iu*CxBi>xBNEHB=HDiTIT)dGF@=YEJ;E>AIQMDIM7f;M>IQ I]7ٮQQ Q]tI Q Ue$C9QU>: U:)Uy7 m9)aIa mtIia mIDa e:)e:Ie9yI9*G2GFFrFbFEE);I9 11i1I199i9A A2@M<:@Mw: Y{) X(A)4t.H@w(?˴ֿT?? -}? ?)u.Q@ u..n;Iu.CxBu>xBE)GF@=YMoU>YaQeDiuR;}>I I7ٮ QtI  U$C9鰍3{; /;)ŕ7 9)I tIi ID j;)p;Is9 I 9*G2GFFrFbFEE);I9 iI i 2@<:@w:  ) 6X(AYt*YQ@t*dp`@yt* t*q>t*H0wJ?l`ֿ@;?@??@/?)u*YQ@ u*#n;Iu*CxN^R>xRZEi\I\)ƄG=%=a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ;>ʁʁQDʁ͍1;>I I7ٮ QtI  U$C9鰕: R:)e7 9) 9I tIi JD 9:) :IT 9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: i) OPX(AYt*Q@t*u`@yt*@t*E>t*H@M?`'ֿH?? R?`v?)u*Q@ u*:m;Iu*CxBeq>xBnEGBAAHFAA)~ׄGF@=YEE>AAQMDIMa:M>IQ I]7ٮQQ Q]tI Q Ue$C9QU: U-:)Uk7 m9)aIa mtIia mJDa e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: &) jX(A YtZZQ@tZe`@ytZODtZܼ>tZH`T?鴿ֿd?׉?͆?`?)uZZQ@ uZI.n;IuZCxrp>xvEi)I))Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y 7 > QDG:>I! I%7ٮ!! Q-tI ! U-$C9!%\: %:)%7 59)1I1 =tIi1 =JD1 5̒:)5$:I5%-9III9I*GY2GYFYFarFabFaEiEi)};I9 iIi 2@<:@w: ߩg !) iX(AYt*.Q@t*97`@yt*t*d>t*Hc^?@Z`ֿE`x??2??)u*.Q@ u*n;Iu*CxNg>xRsE)Gi%yA%wAF@=YE<;E>AAQMDIMjDM>IQ I]7ٮQ M]7Q Q]tI Q Ue$C9QUN: Us:)U7 m9)aIa mtIia mJDa e:)e:Ie=9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 !i!I!)-0i)) 12@}<:@w: ߡR>x>6') BX(AYt*_Q@t*jg`@yt*D8t*>t*H[A?@m`ֿ`?@t??1??)u*_Q@ u*Dn;Iu*CxRp>xREHRa=HVa=i`Ib“C)mׄGF@uY}ܘ}>ʁʁQDʁ͍,;>I I7ٮ QtI  U$C9鰕: :)7 9)I tIi JD }:):IfN9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 200.896873 arcdeg .q'U'U*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡa-) G X(A);I;Yt.Q@t.[`@yt.3t.M>t.H/? ֿ9F?q?`uy?n?)u.Q@ u.m;Iu.CxBp>x@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yt:>QD#>I I7ٮ Q-tI  U-$C9ش; ;)@7 59)1I1 =tIi1 =JD1 5:)5E:I5b9III9I=O@Contact HDG: 150.679601 arcdeg .''O4Initialize Wait Component.*G2GF F rFbFEE)];I]9 YYiYIYi 2@<:@w: ^I4) X(AYt*Q@t*2`@yt*t*zއ>t*H`2?i@yֿW@?N???)u*Q@ u*?n;Iu(xB`k>xBE){F-YI{Di{F={F>{D{FA{D|FA9|Fa\?9^ibf=Ib̓C)5G=%=E%=F@}YʅE; ?ʁʁQDʁ͍Y ?I I7ٮ Q%tI  U-$C9鰕"< ΢<)V7 e9)YIY mtIiY JDY ]<)] t*H ?izֿH?7? ? C?)u*Q@ u*m;Iu*CxBB`>xB EGB@AH@)Ga 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YʝA>ʡʡQDʡͭ*;>I I7ٮ QtI  U%C9鰵: :)r7 9)I tIi JD :) :I9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIi 2@<:@w: <[A) hY(A Yt*Q@t*f`@yt*C91t*G7>t*H;?д@ֿs ? '?W??)u*Q@ u*m;Iu*CxBh^>xBEiV=IT)SGF@=YEE>AAQMDIMT;M>IQ I]7ٮQQ Q]tI Q Ue%C9QUQ: Uv:)Us7 m9)aIa mtIia mJDa e:)eԘ:Ie+9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: [G) Y(AYt*Q@t*B`@yt*5+t*l>t*H 9`?d`ֿ@?lw?~??)u*Q@ u*cm;Iu*CxBu>xBE)~GiwAxAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:W:e>aaQmDimCm>Iq I}7ٮqq Q}tI q U%C9quf: u:)uM7 9)I tIi JD }:):I\9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >>3M) |e9Y(AYt*Q@t*D`@yt*@Et* >t*H@a"?@x\ֿdv ?٧?VP??)u*Q@ u*m;Iu*CxBRr>xBEHBR=H@iNf=IP)~SGF@=YE)E>AIQMDIM{9M>IQ I]7ٮQQ Q]tI Q Ue%C9QU: UB:)U7 m9)aIa mtIia mKDa e[:)aIe59yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: T) KSY(A)4tFHP`x^E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y;>QDG;>I! I-7ٮ!! Q-tI ! U-%C9!%: %:)%7 =9)1I1 =tIi1 =KD1 5Ր:)5o:I5_9III9I*GY2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩZ) mY(AYt*'Q@t*2L`@yt*jR;t*6J>t*H`1?`dz$ֿ ?+j?b?7?)u*'Q@ u*m;Iu*CxBv>xBGEiN=IN“C)=ʁʁQDʁ͍ɺ>I I7ٮ QtI  U%C9鰕: c:)L7 9)I tIi KD F:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !ia) Y(AYt*nQ@t*`@yt*Q >t*܀>t*H` ?ųֿV?@?? `?)u*nQ@ u*n;Iu*CxB*[>xBEGB?AHF@A)~GF@Yʅ׹>ʉʉQDʉ͕ >I I7ٮ M7 QtI  U%C9鰝: :)7 9)I tIi KD :)c:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 200.632477 arcdeg .q']']*GY2G]i*@FaFarFabFiEiEi);I9 iI)@i >i*@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.671290 radg) VԠY(A@ Yt.CSQ@t.N`@yt.g+t.>t.H`?Q 4sֿL? s?e?` ?)u.CSQ@ u.;n;Iu,xBg>xBsEiPIR̓C)~SGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye8;e>aaQeDimȉm>Iq I7ٮqq QtI q U%C9qu#< uS<)u.37 9)I  tIi  KD :)9:I$99I999=O@Contact HDG: 153.053625 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=i*@i99 A2@E<:@Mw: m) dY(AYt*+Q@t*_@yt*ȳ+t*G>t*H?ִDNֿ@_?@_v??&?)u*+Q@ u*%n;Iu*CxBi>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]Giq}wAF@Y9>QD%g%>I) I]7ٮ)) QetI ) Ue%C9)-; -;)-R7 9)i 9Ii tIii KDi mܵ;)m;Im 9I9*G2GFFrFbFEE);I9 iI!%9i% >! I2@U<:@Uw: ߑ>l>=t) Y(AYtFP@tQ_@yt6t>tHGS?`uֿ p?3܆?4??)uFP@ u!n;Iuxs>xEHa=Hp=){CI{i{={{{A{|A9|{'?nɉiqIq)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=ۺ=>99Q=D9EE>Ii Iu7ٮii QutI i Uu%C9imٮ: mа:)mn7 9)yIy tIiy KDy } :)} :I}<9I9*G2GFFrFbFEE2EzEAE+ $-Dacoustic_contact_range 25.320000 m$5hTrackAcousticContact.heading_to_contact 2.749764 rad$=LDUSBL_Hydroid.xAngle -43.650001 arcdeg{) eY(A);IYt.$Q@t._@yt.Y<t.t.H`3*?5zGֿ`?v? "??)u.$Q@ u.m;Iu,xBh^>xBE)~SGF@=YET;E?AAQMDIM= <M?IQ I]7ٮQQ Q]tI Q U]%C9QU: U:)U7 m9)aIa mtIia mKDa e:)e :Ie]+9yIy9*G2GFFrFbFEE);I9 iI2i 2@<:@w: )I ߉) :@Z(AYt*P@t*w_@yt*t*_>t*H`&U?ƴ@տ` A?@? ?@?)u*P@ u*j n;Iu*Cx6g>x6sEiDIH)rGttF@Y%t9%>!)Q-D)-db->I1 I=7ٮ11 Q=tI 1 UE%C915: 5 :)57 M9)AIA MtIiA MKDA E:)Eȗ:IE7<9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI)i 2@<:@w: il!) "Z(AYt*6P@t*A_@yt*<-t*>t*H< q? ֿ `*?`y?K??)u*6P@ u*7n;Iu*CxBo>xBEGFAAHD)iiQmDimZ;u>Iq I}7ٮqq QtI q U&C9qu: u:)u7 9)I tIi KD -:)c:IM9I9*G2GFFrFbFEE);I9 iIgDi 2@<:@w: L) ;Z(A@ Yt6pP@t6{_@yt6&Kt6t>t6H@#?44ֿ` ͕?d?@C?`?)u6pP@ u60n;Iu6CxRr>xRIEi`I`)SGF@-Y5l5>11Q=D9=9E>IA IM7ٮAA QMtI A UU&C9AE}: E_:)E>7 ]9)QIQ ]tIiQ eLDQ U):)U:IUY^9iIi9q*G2GFFrFbFEE);I9 iIᘆi 2@<:@w: 3) UZ(AYt*P@t*?_@yt*ݢ2t*>t*H-n6?5Qտ `?>T?`?`?)u*P@ u*n;Iu(xru>xrE)mGixAxAF@Yʵ:i;>QDS>I I7ٮ Q tI  U&C9ף; ;)M7 59))I) =tIi) ELD) -Hz;)-;I-p9qIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIۅi 2@<:@w: V>x>^) WoZ(AYt*oP@t*z_@yt*[ t*;>t*H ^?`N4@ֿJ? 4??@o?)u*oP@ u*Qn;Iu(x>^>xB EH@H@iRf=IR“C)EʹʹQDʹ5<>I I7ٮ M7 QtI  U&C9: :)7 9)I tIi LD :)Z:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q' N@Vehicle HDG: 200.117248 arcdeg .q''*G2G$/@FFrFbFEE);I9 iIN,@if>$/@ 2@<:@w: $RHorizontalControl.headingCmd 2.749764 radE) Z(A)4t.Hjw'?(տeO?ޒ?`G?@R?)u.P@ u.m0n;Iu,xBc>xB E)~GF@=YEE>AAQMDIM`.M>IQ I7ٮQQ QtI Q U&C9QU< U<)U+7 9)I tIi LD 1:):I9I9=Ou@Contact HDG: 157.549897 arcdeg .'u'}O}4Initialize Wait Component.*Gy2GyFyFyrFbFEE);I9 iI/@i l> 2@<:@w: p) cZ(AYt*P@t*]_@yt*NAt*^|>t*H lO?Yտ @SH?)?`??)u*P@ u*Qln;Iu*CxBs>xBEiN=IR̓C)~G<%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYee>iiQmDiurw;u>Iy I7ٮyy QtI y U&C9y}: }:)}G7 9)I tIi LD B:)V:I9I9*G2GFFrFbFEE);I9 iIX0@i 2@<:@w: iי) =Z(AYt*P@t*Q_@yt*'x t*˂>t*Hk4? {տ` c?? ??)u*P@ u*\on;Iu*CxBj>xBqEGB?AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mƄGF@Yʽ;>QD">I I7ٮ QtI  U&C9f; ;)lc7 9)I tIi LD .:):IO9q Software Fault!I!9)*GA2GAFIFIrFQbFYEYEY)};I}9 iIV0@7i 2@<:@w:> !xSoftware Fault in component: DeadReckonWithRespectToSeafloorA)  Z(A@ Yt.P@t.T_@yt.T&t.z>t.H`_C?yͳ`zտ J?3ք?A??)u.P@ u.:Hn;Iu.Cx^md>x^u E){br$I{`i{b={b>{`{bA{`|bA9|bZh?{#xif=I)eGF@}Yʅ~>ʁʁQDʁ͍:>I I7ٮ QtI  U&C9鰕Ǵ; ;)^~7 9)I tIi LD ɏ:)A:I9I9*G 2G F F rF1bF1E1E92EAzEEAEE+C:Z)@A85EEZh?{#xEEr$EAEEQ~2d(-@ EETmm?\?Ѯ=˿EEbT@=MDHdg To Contact =141.744047 degreesZEEIoAbEE:EEvo$?BEEko$?JEE} REAjEEXrEE);I9 iI$/@i > 2@<:@w:E}> ! Clearing failed state for component DeadReckonWithRespectToSeafloorq $Dacoustic_contact_range 24.720001 m$%hTrackAcousticContact.heading_to_contact 2.473900 rad$%LDUSBL_Hydroid.xAngle -59.149998 arcdegn) bZ(AYt*P@t*_@yt*].t*uc>t*H5 \]?3xֿ Db?˅?I5??)u*P@ u*>n;Iu*CxBV>xBE)=Gi=wAEwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ6>ʡʩQDʩͭ;>I I7ٮ QtI  U&C9鰽: J:)E7 9)I tIi LD -:):I9I9*G 2G FF1rF9bF9E9E9)U;Iu9 qqiqIqy}$p iyy 2@<:@w:Ej> I>>S) h [(AYt*P@t*f_@yt*$t*sۉ>t*HB??`.տ$@5?,??q?)u*P@ u*n;Iu(xBb>xBQ EHFp=HDi\I\)m+GF@}Yʅȿ:>ʁʁQDʉ͍K>I I7ٮ QtI  U&C9鰕9; ;)7 9)I tIi LD :):I9I9*G2GFF1rF9bF9E9EA)U;Iu9 qqiyIyy}M6 i 2@<:@w:}Gx> ߡW) G$[(A);I4t.Hta? 0տV?Ѕ?v?`y?)u.P@ u.#n;Iu.CxBk>xBE)~GF@Y%ƺ%>!)Q-D)-9->I1 I=7ٮ11 Q=tI 1 UE&C915ܹ: 58:)5G7 M9)AIA MtIiA MLDA E:)E:IEw9I9O Done Waiting.' O 8Uninitialize Wait Component.*G2GM5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9EAEA);I9 iI i 2@<:@w:(> ߱) >[(AYt* ,Q@t*_@yt*Ґ(t*e/>t*H?5@xNֿ!+???`-?)u* ,Q@ u*3n;Iu*CxBq>xBEiPIP)4= =a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYef:m>iiQmDiu<u>I I7ٮ Q%tI  U%&C9: :)7 -9)) -9I) -tIi) 5MD) -<)-ot*H@~? ѵ)ֿ?Y?@$a??)u*Q@ u*n;Iu*CxBp>xB%EGB@AHD)|a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅB%9>ʁʉQDʉ͍ Ļ>I I7ٮ M7 QtI  U&C9鰕; :)B7 9)I tIi MD :):I19I9=O@Contact HDG: 141.744047 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 ))i)I)5X+@i11 92@=<:@Ew: ߑz) =r[(A@ Yt.P@t._@yt.)t.F>t.H4z?@/#ֿ;?0?`O[??)u.P@ u.n;Iu.CxBRr>xBEiN=IP)~XGF@Y%H%>!!Q-D)-?~->I1 I=7ٮ11 Q=tI 1 UE'C915n: 5 :)5#7 M9)AIA MtIiA MMDA E1:)Eg:IE*9YIa9a*Gq2GqFqFrFbFEE);I9 iI(@i 2@<:@w: ) .[(AYt*p-Q@t*{_@yt*rt*ҹ>t*H6?: OֿFx?? ??)u*p-Q@ u*+n;Iu(x>k>xBE)z+Gi~yA~xAF@Y%x6;%>!!Q%D)-k;->I1 I]7ٮ11 Q]tI 1 U]'C915Ǵ; 5;)5>7 m9)aIa mtIia mMDa e:)e:Ie;9I9*G2GFFrFbFEE);I9 iI"@i !2@%<:@-w: 9>x>; ) [(AYt*SQ@t*^_@yt*ht*{>t*H&x?`z -ֿ`* \?@?X&?_ ?)u*SQ@ u*NDn;Iu(x>m>xB'EH@H@iNf=IP)~SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>iiQmDim u>Iq I7ٮqq QtI q U'C9qu: u :)uZ7 9)I tIi MD :):IM9I9*G2GFFrFbFE!E!)U;IU9 QYiYIY]z@iaa a2@m<:@mw: 7) Nӿ[(A)I;Yt.WQ@t.b3`@yt.9t.>t.H Q?ୟֿ`>C?!???)u.WQ@ u.{ n;Iu.Cx>v>x>GE {@Y|@F8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGF@Yʵ>ʱʱQDʹͽ <>I I7ٮ QtI  U'C9 =  =)w7 9)I tIi MD :):I_9I9*G2GFFrFbFEE);I9 iIo@i11 92@=<:@=w: q) a[(AYt*gMQ@t*r_@yt*4t*V>t*H`-?%1mֿ k@??C? ?)u*gMQ@ u*$3n;Iu*CxNi>xRE){Rq=>I{Pi{R={R>{P{RA{P|R(*B9|R 4t? =η?ir=Ip)EGE=E=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y.:>QD' >I I7ٮ QtI  U'C9F: į:)7 9)I tIi MD ;);Io9!I!9!*Ga2GaFFrFbFEE2EzE(*BE9Qw3D@M@E 4t? =η?Eq=>EEυ,%@Bdml5'@Eqd^uh8P࿸lmt?En`k@=DHdg To Contact =210.720160 degreesZEbE:EHo$?BEvo$?JE RE} jE'@rEX);I 9 iI$@i 2@%<:@%w: 9$uDacoustic_contact_range 42.540001 m$}hTrackAcousticContact.heading_to_contact 3.677761 rad$JDUSBL_Hydroid.xAngle 10.600000 arcdegi@AUH) I[(AYt*OQ@t*ZQ`@yt* $t*ꢁ>t*H,?`-y` ֿHi???@j?)u*OQ@ u*n;Iu*Cx>:m>xBEG@H@)5ׄGF@EYM*;M>QQQUDQU_<]>Ia Ie7ٮaa QmtI a Um'C9ae%: e:)eB7 u9)qIq utIiq }MDq u:)u:Iu9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI@i 2@<:@w: t0) t` \(A Yt*Q@t*%``@yt*t*>t*H`5?Nȴֿ@5? ?j#?`?)u*Q@ u*-Cn;Iu(xBMl>xBLEiPIP)GF@Yʍ:>ʑʑQDʑ͝h;>I I7ٮ QtI  U'C9鰥: :)g7 9)I tIi MD ٮ:):I<9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.871451 arcdeg .q''*G2Gn`k@FFrFbFEE);I9 iIL@in`k@ 2@<:@w: $RHorizontalControl.headingCmd 3.677761 radZ ) X;'\(AYt*;Q@t*F`@yt*( t*>t*Ha@LD?`*ֿ` R??J@?`?)u*;Q@ u* n;Iu*CxBg>xBsE)zdGi~wA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Y}e>ʁʁQDʁ͍;>I I7ٮ QtI  U'C9鰕< Y<)7 %9)!I! -tIi! -MD! %F:)%:I%9YIY9Y=O@Contact HDG: 210.720160 arcdeg .''O4Initialize Wait Component.*G 2GFFrFbFEE);I9 iI@i 2@<:@w: 9>>B) A\(AYt*Q@t*`@yt* .t*u>t*HGG?@A ֿ`N? ?7??)u*Q@ u*n;Iu*Cx>h>x>EHBa=HBa=iNf=IP)~GF@=YEE>AAQEDAMTM>IQ I]7ٮQQ Q]tI Q U]'C9QU: U :)U7 m9)aIa mtIia mNDa e:)eԘ:Ie߲9yIy9y*G2GFFrFbFEE);I9 iI "@i 2@U<:@]w: i l) Z\(A) IYt.R@t.&`@yt.~*t.ǁ>t.H`C?۴/׿ b?O?m ? ?)u.R@ u.n;Iu.CxN?s>xRE)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥ;:>ʱʹQD<>I I7ٮ M7 QtI  U'C9g: :)7 9)I tIi ND O:)A:I9I9*G2GFFrF!bF!E!E!);I9 iI(@i/Z> 2@<:@w: i) t\(AYt*\jR@t*ga@yt*u4t*>t*H v?@bw׿ 9??^O??)u*\jR@ u*'n;Iu*CxB`k>xBEiN=IR“C)|%=4=F@=YEκE>AAQMDIMlG<M>IQ I]7ٮQQ Q]tI Q Ue'C9QU: U:)U77 m9)aIa mtIia mNDa e:)eN:Ie9I9*G2GFFrFbFEE);I9 iI~-@iqd> 2@<:@w: i?A}#) r\(AYt.oR@t.a@yt.'t.>t.H@?@S@|׿@?@9?x|?@?)u.oR@ u.m;Iu,xB:m>xBEGF?AHD) SGF@=YE;E>AAQMDIMM:M>IQ Ie7ٮQQ QmtI Q Uu'C9QUe; UW;)UR7 9)I tIi ND :):I!9I9*G2GFFrFbFEE);I9 iIB3@ikA> 2@<:@w: )) w\(A Yt.jR@t.uDa@yt.t.7>t.H഼P?g@׿L?R?`N?\?)u.jR@ u.bm;Iu.CxNxp>xREi\I`)-jGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y:>QDF;>I I7ٮ QtI  U(C9t: :)^o7 9)I tIi ND J:)k:I9I9*G2GFFrF!bF!E!E))=;I=9 9AiAIAE8@iM>I I2@U<:@Uw:e> qK0) 5]\(AYt*R@t*a@yt*ft*M>t*HW R? D׿``q?}܁? 2? ?)u*R@ u*%Un;Iu(xB_>xB E {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGiyAF@Y%:%>))Q-D)]k^<u>Iy I7ٮyy QtI y U(C9y}; }i%;)}^7 9) 9I tIi ND >:):I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 AAiAIAu5?@iu=q y2@}<:@}w:/0v> ߩ>>z6) 8\(AYt*S@t*a@yt*C;t*>t*Ht?d㵿5ؿS`?Sh? uI??)u*S@ u*Un;Iu*CxB,t>xB#EHBR=HDi\I^̓C)-҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yq>QD;>I I7ٮ QtI  U(C9: :)7 9)I  tIi  ND :):I9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 202.098303 arcdeg .q''*G2GFFrFbFEE);I9 iIgC@ivߵ= 2@<:@w: lM> <) \(A) Ix~Rr>x~E)}+GF@Yʍ>ʑʑQDʑ>I I7ٮ QtI  U(C9\: :)(7 9)I tIi ND :):I*9 I 9 =O@Contact HDG: 210.720160 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIHi^Ca= 2@<:@w:xA xAEm$> ߹oC) ](AYt*SXS@t*^b@yt*}t*i>t*H?s۶Tؿܕձ?/?]?@D?)u*SXS@ u*-n;Iu(xBn>xBEiTIT)SG%4=%%=F@=YE;E>AIQMDIMl6<U>IQ I]7ٮQQ Q]tI Q Ue(C9QUǺ: U#:)U7 m9)aIa mtIia mNDa e:)e|:Ie;9yI9*G2GFFrFbFEE);I9 iICi < 2@<:@w:dA> ߹iI) )](Ax~u>x~EGAAH)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I I7ٮ QtI  U(C9p: R:)p7 9)I  tIi  OD :):IL9I9*G)2G)F)F1rF9bF9E9E9)M;IU9 iIR=i'6 2@<:@w:O > _P) C](A Yt*jS@t*!b@yt*t*_h>t*H. ? )Ѹ@dؿ/f K?Op??f?)u*jS@ u*In;Iu(xNl>xREi\I\)SGF@-Y-NҺ->11Q5D1=D:;=>IA IE7ٮA MM7A QMtI A UM(C9AEp: E0:)Ez7 U9)QIQ ]tIiQ ]ODQ U:)Uk:IU\9iIi9i*G2GFFrFbFEE);I9 iIN 9i( 2@<:@w:)=I== ߙW) ]](AYtB#RS@tB.a@ytḆ4tBw҂>tBHC?c Nؿ_q??@,??)uB#RS@ uBn;IuBCx^,t>x^#E)5dGi=wA9F@}Yʅr>ʁʁQDʉ͍g>I I7ٮ QtI  U(C9鰕: :)/7 9)I tIi OD O:):Iwn9I9*G2GFFrFbFEE);I9 iI3if 2@ <:@ w:4|E= 2]) :[w](AYtB}S@tB*b@ytB0tB4X>tBH_? \vؿ`m??x^ EilIl)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ.:>ʡʡQDʩͭ~;>I I7ٮ QtI  U(C9鰵: :)K7 9)I tIi OD  :) :I9I9*G2GFFrFbFEE);I9 iI%y.i% =ཉ! !2@-<:@-w:Vo< d) @K](A)4t:H@?p[ؿhiы?`ڋ?`!??)u:"`S@ u: vn;Iu8xJg>xNsE)5҄GF@UYUn2:]>YYQ]DYefe>Ii I7ٮii QtI i U(C9imo; m(;)mf7 9)I tIi OD :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)M;IM9 QQiQIQ]2)i]*Y Y2@e<:@ew: q< ߩHGj) e](AYtnS@tnJb@ytn|(tn+$>tnH??0˸ؿ@ ]? ? ب??)unS@ unn;IulxUn>xUEiqIu“C)+GC=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5:=>99Q=D9Eq<E>II IU7ٮII QUtI I UU(C9IM: M:)M#7 e9)YIY etIiY eODY ]Ր:)] :I]9qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.587044 arcdeg .q' ' *G 2G F FrFbFEE)-;I59 11i1I1=/'i=5N9 92@E<:@Ew:%< ߩ,q) ](AYt*S@t*!@b@yt*9 t*ׅ>t*H h?`k܊ؿ? ف?`4?`e?)u*S@ u*n;Iu(xBi>xBNEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MSGF@Y%;%>))Q-D)=Һ=>IA IM7ٮAA QUtI A UU(C9AE*$; E;)E7 e9)YIY mtIiY mODY ]:)]q:I]9I9=O@Contact HDG: 210.720160 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)M;IM9 QQiQIQ]P&iYY Y2@e<:@ew:%  9Vw) ](A@ Yt.S@t.~b@yt.A!t.v>t.Hd^?RؿZ~N?R:?|_??)u.S@ u.n^n;Iu.CxBxp>xBEiXIZ̓C)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}c}>yʁQDʁͅT"<>I I7ٮ QtI  U)C9鰍x: g:)7 9)I tIi OD Ր:),:I9I9*G2GFFrFbFqEqEq);I9 iII&i 2@<:@w:) >I=: ߙЀ}) ](AYt* T@t*b@yt*t*s>t*Hhv!$? ؿC?f? -??)u* T@ u*I5n;Iu*CxBv>xBGE)AAQMDIM<M>IQ I]7ٮQQ Q]tI Q Ue)C9QU: U:)U7 m9)aIa mtIia mODa e:)e:Ie?9yIy9*G2GFFrFbFEE);I9 iIF&i 2@<:@w: h) }^(AYt*T@t*b@yt*/t*d>t*H`r[?1@ٿ>op?$?,c?i?)u*T@ u*wn;Iu*CxB|>xFCEHNp=HNp=i\I\)5SGF@]Ym/m>qyQDʁ͍%;>I I7ٮ QtI  U)C9鰥@x; I;)7 9)I tIi OD a;)i;I9 I9*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiuE&qiyy y2@<:@w: ǒ)  Y,^(A);IYt*T@t*b@yt*3t*>t*H shd?@ArٿC}@?q??? ?)u*T@ u*G_n;Iu*Cx6k>x6E)rdG~Ponly read 0 of 1 data item for BIT errorrFailed to parse: :TS,19040116241920,35.0, -00,1448.9, 0 F@ Y O>QDJ>I! I-7ٮ! M-7! Q-tI ! U-)C9!%: %Z:)%e 7 =9)1I1 =tIi1 =PD1 5:)5:I59III9I*Ga2GaFaFarFibFiEiEi);I9 iIF&i 2@<:@w: u5 ߁nz) @3F^(AYt2cMT@t2nb@yt2L"t2>t2Hif?@k6ٿ@J>Gk?I?`? ?)u2cMT@ u2wn;Iu0xRi>xREi\I\)jG%=%=F@-Y5);5>11Q5D9=d<E>IA IM7ٮAA QMtI A UU)C9AEի: E:)ED'7 ] 9)Q ] 9IQ ]tIiQ ePDQ U:)UY:IU: 9iIi9q*G2GFFrFbFEE);I9 iIG&i 2@<:@w: i@AФ) w`^(AYt*<T@t*Gb@yt*_)t*S>t*Hfw@>?}ؿ,i K?R>???)u*<T@ u*m;Iu*CxZq>xZEG^@AH\)-{Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQDʙͥ/>I I7ٮ QtI  U)C9鰥}: ٮ:)C7  9)I tIi PD :)E:I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I H&i 2@%<:@%w:- -)-I- ߩϝ) y^(A@ Yt*NS@t*Y{b@yt*Ft* >t*H9?`ɶ xؿA??(??)u*NS@ u*m;Iu(xBp>xBEiLIP)+GF@]Ye;;e>aaQeDimm>Iq I7ٮqq QtI q U)C9qu; u;)u^7  9)I tIi PD :),:I) 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 202.757075 arcdeg .q'u'u*G2GFFrFbFEE);I9 iIG&i 2@<:@w: !ж) œ^(AYtbS@tblb@ytbtb1>tbHʄ`?뷿ؿ@szx?? ?@?)ubS@ ubm;IubCx~5g>x*E)Gi xA xAa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm9m>iiQmDiuPu>Iy I7ٮyy QtI y U)C9y}}: }ٮ:)}|7  9)I tIi PD :)g:I; 9I9=O=@Contact HDG: 210.720160 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFAbFIEIEI)m;Iu9 qqiqIq}H&yiyy 2@<:@w: ߙR>t>A) 4^(AYt*dS@t*b@yt*h-t*>t*H`!/?`R_ؿ}T?謅?2? f?)u*dS@ u*z`n;Iu*CxBw>xBjEHBR=HFa=iPIP)GF@=YE̊E>AAQEDIMxM>IQ I]7ٮQQ Q]tI Q U])C9QUS: U5:)U7 m 9)aIa mtIia mPDa e:)e|:IegK 9I9*G 2G FFrF1bF9E9E9)M;IU9 qqiqIq}G&yiyy 2@<:@w: ߙȱ) {^(A) IYt.TS@t.b@yt.It.;>t.H4 ? @BQؿhw`:??K??)u.TS@ u.|mn;Iu,xN`k>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@EYE<:M>IYQ]DYee>Ii Iu7ٮii QutI i Uu)C9im: m:)m7  9)yIy tIiy PDy }:)}:I}O_ 9I9*G2GFFrFbFEE);I9 iIH&i 2@<:@w: <) dX^(AYt*S*S@t*^a@yt*hw t*0d>t*H@U`w?/)ؿ$ ?ޮ? p??)u*S*S@ u*bn;Iu*CxBsj>xB(EiZf=IX)G%=%=a 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}+N;?ʁʁQDʁ͍f?I I7ٮ QtI  U)C9鰕: `:)c7  9)I tIi PD O:)A:Im 9I9*G2GFFrFbFEE);I9 iIG&i 2@<:@ w: i?A) 0^(AYt*HS@t*a@yt*xSt*!p>t*H}@a?_IFؿ`y`9.?\*??`?)u*HS@ u*81n;Iu*CxBb>xB EGFAAHD)҄GF@=YEE>AAQMDIM;M>IQ I]7ٮQQ QetI Q Ue)C9QUw; U ;)Ul7 m 9)iIi utIii uPDi m:)m:Im}~ 9I9*G2GFFrFbFEE);I9 iIH&i 2@<:@w: ) | _(A YtNGS@tNa@ytN&j*tNʌ>tNHƛ ,? @oDؿvR?+M?``?`?)uNGS@ uN n;IuNCxjg>xjsEi5=I1)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YD>!Q%D!%D->I) I57ٮ) M57) Q=tI ) U=*C9)-[: -:)-7 E 9)AIA EtIiA MPDA A)E,:IE 9QIY9Y*Gi2GiFiFirFqbFqEyEy);I9 iIG&i 2@<:@w: ߹/) ._(AYt*S@t*a@yt*YM&t*^_>t*HY?I)ؿ?xE?Ʉ?3??)u*S@ u*m;Iu*CxZ"h>xZE)-dGi-yA)F@=Y=/:E>AAQEDAMM>IQ IU7ٮQQ Q]tI Q U]*C9QU: UB:)U7 e 9)aIa mtIia mQDa eՐ:)aIe 9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIH&i 2@<:@w: V>x>)  H_(AYt*!+S@t*,a@yt*&t*+>t*H}?۶*ؿ=w[?߄??@?)u*!+S@ u*n;Iu(xRk>xREHRa=HVp=i`I`)iF@Yʥ+θ>ʡʡQDʡͭ;>I I7ٮ QtI  U*C9鰵f; +;);7  9)I tIi QD :)A:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 202.186440 arcdeg .q'}'}*Gy2GyFyFrFbFEE);I9 iIG&i 2@<:@w: A) b_(A) IYt*V9S@t*aa@yt*c t*\>t*H~ш?7ؿ ?=?@B{?b?)u*V9S@ u*n;Iu*CxBb>xB E)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥw;>ʩʩQDʩͭv ;>I I7ٮ QtI  U*C9鰽%: :)W7  9)I tIi QD B:)ݖ:I 9I9=Om@Contact HDG: 210.720160 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GqFqFyrFybFyEE);I9 iIH&i 2@<:@w: 0k) y|_(AYt*XS@t*b@yt*5"t*=>t*H`o`?Tؿu>?Z?O? 8?)u*XS@ u*>n;Iu*CxBh>xBEiLIP)G4=F@=YETE>AAQMDIMР;M>IQ I]7ٮQQ Q]tI Q Ue*C9QUl: U-:)UNr7 m 9)aIa mtIia mQDa eO:)e:Ie 9yIy9*G2GFFrF9bF9E9E9)U;IU9 QQiQIQ]G&YiYY a2@e<:@mw: yiR) S_(AYt*>jS@t*Ib@yt*#y*t*M͉>t*H@j? eؿ@2|@? O?a??)u*>jS@ u*mn;Iu*CxB\~>xBgEG@HD)~GF@=YEE>AAQMDIM,;M>IQ I]7ٮQQ Q]tI Q Ue*C9QU: U:)U7 m 9)aIa mtIia mQDa eɏ:)e:Ie 9yIy9*G2GFFrFbFEE);I9 iIH&i 2@<:@w: 8}) ^0_(A Yt.jS@t.b@yt.0t.">t.H`/? `peؿ`\?`? ?%?)u.jS@ u.xR#Ei\I^“C)SGa 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}z[>ʁʁQDʁ͍8>I I7ٮ QtI  U*C9鰕`: c:)7  9)I tIi QD :)Ԙ:I 9I9*G2GFFrFbFEE);I9 iIG&i 2@<:@ w: Ze)  _(AYt*޸S@t*eb@yt*42t*O>t*H T?Bؿ wQ?IV? ? ?)u*޸S@ u*Wn;Iu*CxB'n>xBpE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GiwAwAF@Yʭɹ>ʱʱQDʱͽv><>I I7ٮ QtI  U*C9/: ;)7  9)  9I tIi QD v:)v:IK 9I9*G!2G!F!F)rF)bF1E1E9)];I]9 aaiaIamH&iiiq q2@}<:@w: ߙR>>) _(AYt*lfS@t*wb@yt*@a*t*Sh>t*H@ϕ ?`ѵzaؿ5?L?? I?)u*lfS@ u*m;Iu*CxBp>xB%EHBR=HFa=){FbJI{Di{F={F>{D{FA{D|FA9|F x?E;~i`I`)vGF@]Ye:e>aaQmDimVQm>Iq I}7ٮqq Q}tI q U*C9qu`: uB:)u7  9)I tIi QD :):I 9I9*G2GFFrFbFEE2EzEAE?5@pqL6E x?E;~EbJEEcS~< &'@8E <é?NmîſEtv0@=DHdg To Contact =157.977631 degreesZE09AbE:E]o$?BEHo$?JE RE jEƩrE'@);I9 iIG&i 2@<:@w: $5Dacoustic_contact_range 31.320002 m$=hTrackAcousticContact.heading_to_contact 2.757230 rad$ELDUSBL_Hydroid.xAngle -45.400001 arcdeg) _(A)4t.H` ?÷oaؿ`z?Ud?? ?)u.AfS@ u. m;Iu.CxNn>xRE)dGa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ;>ʙʙQDʡͥѷ>I I7ٮ QtI  U*C9鰭): :)7  9)I tIi QD ::)o:I*) 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIH&i! !2@%<:@-w: 9~) `(AYt*R@t*ڬa@yt*:7 t*u>t*HYF6?ؿ[zf? &??`??)u*R@ u*n;Iu*CxBRr>xBEiPIP)AAIF@}Y}j9>ʁʁQDʁ͍>I I7ٮ M7 QtI  U*C9鰕: :)N7  9)I tIi QD :):I : 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 202.034947 arcdeg .q'U'U*GQ2GUtv0@FYFYrFabFaEaEa)};I}9 yyiyIy4(iB tv0@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.757230 radi ) Wv1`(AYt*TR@t*_wa@yt*&#t*>t*H@:?4B`׿`(?`}?)?@?)u*TR@ u*n;Iu*CxB`k>xBEGB?AH@)~Ga 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y[>QD>I I7ٮ QtI  U*C9: -:)47  9)I  tIi  RD Ր:) :IK 99I999=O@Contact HDG: 157.977631 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=k:+i=9 A2@E<:@Ew: 7) *SK`(A Yt*bR@t*ma@yt*4t*>t*HE@?n,׿@yrY??@??)u*bR@ u*ћo;Iu(xB>xBEiPIP)~GF@=YE1E>AAQMDIMs:M>IQ I]7ٮQQ Q]tI Q U]+C9QUS: Ux:)UN7 m 9)aIa mtIia mRDa e:)e:Ie[ 9yIy9*G2GFFrFbFEE);I9 1QiQIQ]/i]NY a2@e<:@ew: y) {/e`(AYt*v{R@t*(a@yt*t*(>t*H?BY@׿? 볃?ܲ??)u*v{R@ u*o;Iu*CxB,t>xB#E)~Gi|xAa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]e;e>aaQeDamYm>Iq I}7ٮqq Q}tI q U}+C9quh: u:)uj7  9)I tIi RD :)N:Il 9I9*G2GFFrFbFEE);I9 iIC4i@h 2@<:@w:' >>[) `(AYt*ɊR@t*7a@yt*# t*>t*H@T?`; ׿߇?@_?`D?h?)u*ɊR@ u*&q;Iu*CxBZe>xB EHBp=HBp=iPIP)~GF@=YEɹE>AAQMDIM:;M>IQ I]7ٮQQ Q]tI Q U]+C9QUS: U:)U7 m 9)aIa mtIia mRDa e::)aIe} 9yIy9*G2GFFrFbFEE);I9 iI9iݗ 2@<:@w: L%) e`(A);IYt*aR@t*a@yt*;t*>t*H?@o׿ٝ@w?eG?`6z?H?)u*aR@ u*dzq;Iu*CxBt>xBlE)~dGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]k;e>aaQeDamɻm>Iq Iu7ٮqq Q}tI q U}+C9qu>: uB:)u7  9)I tIi RD :):I 9I9*G2GFFrFbFEE);I9 iI?i%-< 2@<:@w:x ߹&,) b`(AYt2ZR@t2e`@yt2oF%t2>t2HX? o@(.׿*7?ඨ?`e??)u2ZR@ u2q;Iu0xRsj>xR(Ei\I^̓C)%4=%%=F@-Y5b?5>11Q5D1=0=>IA IM7ٮAA QMtI A UM+C9AE}: E:)E7 ] 9)QIQ ]tIiQ ]RDQ U:)U:IU 9iIi9i*G2GFFrFbFEE);I9 iImDi+= 2@<:@w:`k ߡi3) `(AYt*aR@t*a@yt*t*ۄ>t*HZ?K޵o׿e?`r? k?@e?)u*aR@ u*$r;Iu*CxBV>xBEGFAAHD {DY|DJ8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y:>QD #< >I I7ٮ Q%tI  U%+C9V; X ;)n7 U 9))I) ]tIi) ]RD) -;)-;I- 9I9O=Done Waiting.'=O=8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFIrFbFEE);I9 iI%F@i= 2@<:@w:=h A+9) %w`(A Yt.Q@t.̔`@yt.+t.>t.H`aL?Nֿ@u?Zp?`kc? b?)u.Q@ u.\@r;Iu.CxBeq>xBnE){BdI{@i{B={B7>{@{BB{@|BGA9|B?Fi`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@5Y==>9AQEDAE#M>II IU7ٮII QUtI I U]+C9IM: M:)M7 e 9)YIY etIiY eRDY ]-:)]:I]= 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 201.055579 arcdeg .q''*G2GFFrFbFEE2EzEGAE./@SS-3E?FEdEE/o_%5q+HE'@9d1EP kq6t2?r@U 4ʿE (@=DHdg To Contact =151.181388 degreesZE*:AbE/:Epo$?BE]o$?JERE jErEƩ)-;I-9 ))i1I15-A@i5=9 92@E<:@Ew:FJ5 !$EDacoustic_contact_range 24.659998 m$MhTrackAcousticContact.heading_to_contact 2.638613 rad$MLDUSBL_Hydroid.xAngle -51.049998 arcdeg@) YRa(AYt*"R@t*&`@yt*9K4t*;>t*H _v?Pue4׿E?`I??(?)u*"R@ u*as;Iu*CxB,t>xB#E)SGixAwAF@=YEʼE>AAQEDIM<M>IQ I]7ٮQ M]7Q Q]tI Q U]+C9QU$: U:)U7 m 9)aIa mtIia mRDa eO:)aIe 9yIy9=O]@Contact HDG: 151.181388 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFibFiEiEi);I9 iIa=@ii> 2@<:@w:( ߱R>i>=F) o*a(AYt* Q@t*+`@yt*t*ۖ>t*H`+I?y`ֿK ,?/?`?c?)u* Q@ u*7s;Iu(xB'n>xBpEHBa=HFa=iTIT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm;m>qqQuDqu}>I I7ٮ QtI  U+C9鰅: :)+7  9)I tIi RD l:):I) 9I9*G2GFFrFbFEE);I9 iI7@i;4> 2@<:@w:= HhL) J 4a(A) IYt.Q@t.j`@yt.Bt.i>t.HAT3?ӓֿ bDp?G?@͛?@?)u.Q@ u.Nr;Iu.CxBo>xBJE)~GF@=YEE>AAQEDAM&M>IQ I]7ٮQQ Q]tI Q U]+C9QU: U:)UG7 m 9)aIa mtIia mSDa ep:)e:Ie 9yIy9y*G2GFFrFbFEE);I9 iI3@i,K> 2@<:@w:`= OS) ~Ma(AYt*R@t*Ȼ`@yt* t*>t*Ht?t^w"׿t?3? a?q?)u*R@ u*4`r;Iu*CxBu>xBEiPIP)~G%=F@ Yb:>QD%K<%>I! I-7ٮ!! Q-tI ! U5+C9!%:: %_:)%Ib7 = 9)1 = 9I1 EtIi1 ESD1 5R:)5ߡ:I5 9QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI=1@i\> 2@<:@w:*= i)yY) ܻga(AYt*Q@t*r`@yt*$t*׿>t*H $?`g @kֿa@? \? ?`ؾ?)u*Q@ u*,r;Iu*CxVRr>xVEGZ@AHX)-+Ga 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʍW4>ʑʑQDʑ͝->I I7ٮ QtI  U+C9鰥: :)~7  9)I tIi SD :)g:Ik 9I9*G2GFFrFbFEE);I9 i I  _/@i  2@<:@w:[R= a`) =a(A Yt*fQ@t*qP`@yt*88t*2>t*H`!? ֿTl? ?`;N?`K?)u*fQ@ u*eOs;Iu*CxNm>xR'Ei\I^“C)eGF@uY}D}>yyQDʁͅ>I I7ٮ QtI  U+C9鰍5: |:)Q7  9)I tIi SD Ր:):IT( 9I9*G2GFFrFbFEE);I9 iI/@i 2@<:@w:B> f) sa(AYt*Q@t*`@yt*t*}>t*HJ:@? ֿT?@P???)u*Q@ u*r;Iu(xNeq>xRnE)ׄGia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y6;>QD ; >I I7ٮ QtI  U,C9`: :) 7 % 9)!I! -tIi! -SD! %:)%Ԙ:I%: 99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa)u;Iu9 qyiyIy}tv0@i 2@<:@w:MH> ߹{>l) Na(AYt*mQ@t*x5`@yt*Kt*>t*H`|?@`ֿ@m?vT?_X? ?)u*mQ@ u*q;Iu*Cx>h>xBEHBp=HBp=iPIP)~AAQMDIMFM>IQ I]7ٮQQ Q]tI Q Ue,C9QU: U :)U7 m 9)aIa mtIia mSDa e:)eȗ:IeJ 9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.722212 arcdeg .q''*G2G (@FFrFbFEE);I9 iI/@i (@ 2@<:@w:]> $-RHorizontalControl.headingCmd 2.638613 rads)  *a(A) IYt*Q@t*^`@yt*t*>t*H`y!?,ֿ`?@?,??)u*Q@ u*r;Iu*CxNc>xR E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@YG>QD~;U>IY Im7ٮYY QmtI Y Um,C9Y]; ]P<)]7   9)I  tIi  SD ׾:)q:IS] 9I9!=O@Contact HDG: 151.181388 arcdeg .''O4Initialize Wait Component.*G2GFFrFbF1E1E1)u;Iu9 qqiyIyd,@iZv> 2@<:@w: )I y) a(AYt*Q@t* .`@yt* t*J>t*H ?|ߵ@ ֿ@k0? ?}??)u*Q@ u*q;Iu*Cx6v>x6E){6DWI{4i{6a&>{4{4{6A{4|6B9|6%N?RڶiTIV̓C)G 4= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYml6m>qqQuDq}a}>I I7ٮ M7 QtI  U,C9鰅: R:)7  9)I tIi SD :)k:IYl 9I9*G2GFFrFbFEE2EzEBE(l*Z>L@wOE%N?RڶEDWEEFňRijB@p"=0EzFT5?2xH[ȿEp+@=DHdg To Contact =153.581776 degreesZESBbEF:En$?BEpo$?JEk REjErE);I9 iI)@i@> 2@ <:@w: !$Dacoustic_contact_range 84.360001 m$hTrackAcousticContact.heading_to_contact 2.680508 rad$LDUSBL_Hydroid.xAngle -48.250000 arcdegiy) b(AYt*yQ@t*'&`@yt* 7t*Fr>t*H C`?@ֿ͕?`D? ?`?)u*yQ@ u*q;Iu*CxBf>xB EG@H@)+GF@=YEG]E>AAQMDIMM>IQ I]7ٮQQ Q]tI Q Ue,C9QU/: U:)U#7 m 9)aIa mtIia mSDa e:)e:Ie#} 9yI9*G2GFFrFbFEE);I9 iI'@i > 2@<:@w: ن) b(A Yt*aQ@t*`@yt*t*J>t*H z`?񕶿 ֿ@^? A? ̘??)u*aQ@ u*DPq;Iu*CxN~>xREihIh)5GF@MYU;]>aiQmDiͅa>I I7ٮ QtI  U,C9鰕; ~y;)?7  9)I tIi SD d;)pi;I 9I9 *G92G9FAFArFYbFYEaEa);I9 iI &@i 2@<:@w: ) p6b(AYt29Q@t2_@yt2ƅt2ƈ>t2HD? õZֿ@@?P??-?)u29Q@ u2ըp;Iu0xR{>xRiE)ʡʡQDʩͭǻ>I I7ٮ QtI  U,C9鰵2: :)[7  9)I tIi TD :)Z:I 9I9*G2GFFrFbFEE);I9 iIl'@i!! !2@-<:@-w:-f\> 1>>B) oPb(AYt*WQ@t*`@yt*#t*>t*H 8@D?Sô@{wֿ 6?z?No? ?)u*WQ@ u*qp;Iu(xB`k>xBEHB=HBa=iLIP)GF@]YeMe>aaQmDimC;m>Iq I7ٮqq QtI q U,C9qu< uF<)uv7  9)I tIi TD :)˚:I 9I9*G2GFFrFbFEE)-;I-9 11i1I1] (@iYY Y2@e<:@ew:m!k> y) Mjb(A)p;IYt:eQ@t:p_@yt:%n6t:P>t:H@R{? +ֿ ?͆??=?)u:eQ@ u:Op;Iu:CxRa>xR E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@=YE+E>IIQMDIM;U>Iq I}7ٮqq QtI q U,C9quS: u:)u7  9)I tIi TD q:)p:I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I99=WiAA A2@M<:@Mw:U6Ʌ> a) 'b(AYt*P@t*ͣ_@yt*5t*>t*H,@T?lֿ M?? |??)u*P@ u*q;Iu(xNxp>xREi^f=I\)G!!F@-Y5c;5>11Q5D1ͭg#>I I7ٮ QtI  U,C9鰵: :)e7  9)I tIi TD :)c:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 200.212802 arcdeg .q'u'u*Gq2Gup+@FqFyrFybFyEE);I9 iI**@i>{>p+@ 2@<:@w: )I A$eRHorizontalControl.headingCmd 2.680508 radi@Aj') b(AYt*HP@t*Sv_@yt*Z&t*ȅ>t*H  [?O տ`s~?sۄ?X??)u*HP@ u*"p;Iu*CxNU_>xRS EGRAAHP)vGF@-Y-5>11Q5D1=L=>IA IM7ٮAA QMtI A UM,C9AEի: Eٮ:)E7 U 9)QIQ ]tIiQ ]TDQ Ux:)U4:IU* 9iIi9i=O}@Contact HDG: 153.581776 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GFFrFbFEE);I9 iIp+@i\p> 2@<:@w: Q) /޷b(A Yt.}P@t.p_@yt.q"t.P>t.H@[?cտ` ?`N?;?`?)u.}P@ u.p;Iu,xNd>xR Ei^=I^“C)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}*:>ʁʁQDʁ͍_>I I7ٮ QtI  U,C9鰕:  :)F7  9)I tIi TD ::),:I 9I9*G2GFFrFbFEE);I9 qqiqIqy}ϯiyy 2@<:@w: 9) Zb(AYt*P@t*H_@yt*$t*r>t*H?@:տ? ?@?D?)u*P@ u*cp;Iu*CxBm>xB'E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}+GiwAwAF@Yg>QD>I  I7ٮ  M%7  Q%tI  U--C9  ; 9;) 7 U 9)A  9IA tIiA TDA E{<)Ee>Xe) |b(AYt*XP@t*_@yt*nI!t*>t*H` "n?@l@տ f|?`)? Z??)u*XP@ u*p;Iu(x>y>x>EHBa=H@){BdI{@i{B={@{@{BA{@|BA9|BRr# ?A )Vi\Ib̓C)Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅd:>ʁʁQDʉ͍:*>I I7ٮ QtI  U-C9鰕: ):)u7  9)I tIi TD :)A:I 9I9*G2GFFrFbFEE2EzEAEgc(@1Yʔ.ERr# ?A )VEdEEs߸04I#@Fu Elj;u? ˿EI'@=DHdg To Contact =149.763932 degreesZEMAbE]:E}o$?BEn$?JE REk jEnrE) ;I 9  iIT_i 2@%<:@%w:%> 1$MDacoustic_contact_range 19.619999 m$UhTrackAcousticContact.heading_to_contact 2.613874 rad$]LDUSBL_Hydroid.xAngle -51.200000 arcdegL) tc(A);IYt.t5P@t.^@yt.#t.>t.H( v?2n fտ@`?S$?w??)u.t5P@ u.xp;Iu.CxN{>xNE)-GF@=YEE#;E>AAQEDAMM>IQ I}7ٮQQ Q}tI Q U}-C9QU; U;)Uw77  9)I tIi TD :):I' 9I9*G2GFFrFbFEE)5;I=9 99i9I9AEpiE >A I2@M<:@Mw:]Q|> av) Mc(AYt.BP@t.^@yt.iz t.*>t.H@%`?|!|sտ+ ? 8??R?)u.BP@ u.2p;Iu.Cx ]>x xEi1I1)+G=a 1ua 1u a 5ua 5u a 9ua 9u a -ua -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ>ʹʹQD7:>I I7ٮ QtI  U-C9˹; :)TV7  9)I tIi TD ::),:I: 91I999*GI2GIFqFqrFqbFyEyEy);I9 iIE+oi 2@<:@w:i5?A1=o> A) o)9c(AYt*9P@t*^@yt*U#t*sy>t*HJ'`?@ajտ@@?j???)u*9P@ u*p;Iu(x>p>xB%EG@H@)%GF@=YE~E>AAQEDAMӺM>IQ I7ٮQQ QtI Q U-C9QUn]< U]<)Un7  9)I tIi UD :)|:II 99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFrFbFEE);I9 iI mi   2@<:@w:?{> I) qSc(A Yt:-O@t:8^@yt:&t:~n>t:H8`I?@ տ ?ӄ?g??)u:-O@ u:+Xq;Iu8xFu>xFEilIp)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y>QD\>I I 7ٮ Q tI  U -C9: :)7  9)I tIi UD :)9:I\ 9)I)91&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN @Vehicle HDG: 199.196621 arcdeg .q''*G2GI'@FFrFbFE!E!)};I}9 yyiyIy0)@iI'@ 2@<:@w:> $%RHorizontalControl.headingCmd 2.613874 rad%) lc(AYt*O@t*M^@yt*Y t*>t*H`@ TE?@@Կ@+> ?!?1?b?)u*O@ u*q,r;Iu*CxRs>xRE)-Gi))F@=YE;E>AAQEDAMM?IQ I]7ٮQQ Q]tI Q U]-C9QU: Ur:)Uť7 m 9)aIa mtIia mUDa e1:)eE:Iesk 9yIy9=O@Contact HDG: 149.763932 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)];I]9 YYiYIYeO'@iaa i2@u<:@uw:y y)yIy !5>5>) c(AYt*O@t*!b^@yt*!t*܀>t*H U=Xd?@ԿED`s? x?&??)u*O@ u*Br;Iu(xNHf>xN EHRp=HRp=i`Ib“C)-vGF@]Y]:E;e>aaQeDamN;m>Iq I7ٮqq QtI q U-C9quZ; u:)u7  9)I tIi UD :)ȗ:I| 9I9*G2GFFrFbFE!E!);I9 iI%@i 2@<:@w: 9H) uc(A)IYt*gO@t*^@yt*MbBt*>t*H I@ ?@LԿ ?@$L? ??)u*gO@ u*Tr;Iu*CxReq>xRnE)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>QDq7>I I7ٮ QtI  U -C9: :)j7 5 9) I  5tIi  =UD  ;) ;I g 9III9I*Gy2GyFFrFbFEE);I9 iI%@i 2@<:@w: ߡe) nc(AYt.M=O@t.X]@yt.9`5t.E>t.H}P? 4|Կ`-?諆? e?`Х?)u.M=O@ u.6t;Iu.CxBsj>xB(EilIp)evGe4=e=F@}Yʅ:;>ʁʁQDʉ͍8ٻ>I I7ٮ QtI  U-C9鰕Ǻ: :) 7  9)I tIi UD :):Iܞ 9I9*G2GFFrFbFE!E!)u;Iu9 yyiyIy&@i 2@<:@w: i=@A9) dYc(AYt-(N@t-3r]@yt-2t-k>t-H@cr?팳B Կ.?R? ?`&?)u-(N@ u-it;Iu-Cx}u>x}EG?AH {Y|8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5%@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Yʝ9>ʡʡQDʡͭ^>I I7ٮ M7 QtI  U-C9鰭\&< &<)7   9)I tIi UUD %<)(xn E){r}I{pi{r={p{p{r`A{p|rןA9|rYiA?Z-i!I%̓C)GF@Y?QD ?I  I7ٮ   QtI  U-C9  }: :) I17 % 9)I %tIi %UD :):I 9qIq9y*G2GFFrFbFEE2EzEןAEV%@ o퀵0EYiA?Z-E}EE͙.g'@?WEP"3]ML7U?;g̿E[@=DHdg To Contact =142.665399 degreesZEt*Hfe?@rӿ@ G d?k?@?.?)u*8N@ u*ϛs;Iu*CxNWx>xNE)%vGi)-xAF@=YEt;E>AAQEDAM`\M>IQ I]7ٮQQ Q]tI Q U].C9QU: U:)U:K7 m 9)aIa mtIia mUDa e%:)e:Ie 99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI='@`i!! !2@-<:@w: 9E>g) P!d(AYt*BN@t*\@yt*6t*%I>t*H@w`-?᳿`ӿ &?߆?re??)u*BN@ u*u;Iu*CxbWx>xdHdHdixIz“C)]dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʽs>QDr>IA I7ٮAA QtI A U.C9AE`< Em`<)E+k7  9)I tIi UD :):I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'EN%@Vehicle HDG: 197.792252 arcdeg .q'%'%*G!2G%[@F!F)rF)bF1E1E1)E;IM9 IIiIIIUO%@iQU[@ Q2@]<:@w: $MRHorizontalControl.headingCmd 2.489981 rad=) ;d(A)IYt*<_N@t*G ]@yt*yQt*G>t*H~s@ ?䆳@zӿB? ?j?@l?)u*<_N@ u*u;Iu(x^{>x^E)eGF@Yʝ$;>ʡʡQDʡͭ";>I I7ٮ QtI  U.C9鰵< 4<)07  9)I tIi  VD :):Ix 9YIY9Y=O@Contact HDG: 142.665399 arcdeg .''O4Initialize Wait Component.*G2GFFrFibFiEiEi);I 9 iI%^"@i!! )2@-<:@5w: ߡ$) Ud(AYt2 N@t2ù\@yt2 /t2Y>t2H`3?`ﱿZӿ@c`R???L?)u2 N@ u2Hu;Iu2Cx>j>xBqEiLIL)G%=%=F@=YEE>AAQEDAMwRM>IQ I]7ٮQQ Q]tI Q U].C9QU: U#:)U7 m 9)a u 9Ia tIia VDa e*F<)epNt.H@چ?"{.ӿZ n?@eZ?\?A?)u.IM@ u.u;Iu.Cx>i>x>EGB@AH@)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YwѺ>QDܻ>I I7ٮ Q%tI  U%.C9: :)C7 - 9))I) 5tIi) uVD) -<)-t*H΅?@޼s)ӿ E"[?`yK?` ?@?)u*M@ u*fu;Iu*Cx>"h>xBEiNf=IR̓C)]ʁʁQDʁ͍\>I I7ٮ QtI  U.C9鰕_< _<)7  9)I  tIi  VD :)ȗ:I' 9yIy9y*G2GFFrFbFEE)u;Iu9 qqiqIqy}iyy 2@<:@w: xa() &d(AYt.nTM@t.y\@yt.7t.>t.H_?@l@ҿ@a='?? ?@:?)u.nTM@ u.Au;Iu.Cx>l>x>E)~GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʽ4>ʹʹQD >I I7ٮ QtI  U.C9f< <)7 % 9)!I! -tIi! -VD! %:)%:I%8 9I9*G2GFFrF bFEE)%;I%9 ))iIIIQQiQQ Y2@]<:@]w: ߑ5>5>.) d(AYt*pM@t*\@yt*Ut*$=>t*H DH?`/ҿ ?ּ?`f??)u*pM@ u*4u;Iu*CxBa>xB EH@HDiR=IP)ƄGF@Y%RZ9%>))Q-D)-r;5>I1 I]7ٮ1 M]71 QetI 1 Ue.C915V; 5;)5 7 m 9)iIi mtIii uVDi m:)mo:ImH 9I9*G)2G1F1FqrFybFyEE);I9 iIi 2@<:@w: Ar5) d(A)4t.H ?71gsҿ<} ?`췆?-??)u.M@ u.s;Iu.CxB5g>xB*E {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ʡʡQDʩͭ=->I1 I=7ٮ11 Q=tI 1 U=.C915: 5):)5 ,7 M 9)AIA tIiA VDA Ek<)Et*H@ ?`?ҿ+[Q? ?^??)u*L@ u*'>t;Iu(xBo>xBJEiXIX)SG4=a 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYʝ;>ʙʙQDʡͥ>I I7ٮ QtI  U.C9鰭; ;)/D7  9)I tIi VD :):Ink 9I!9!&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.565577 arcdeg .q''*G2GFFrFbFEE);I9 iIi !2@-<:@-w: 9i5@A9B)  e(AYt*L@t*[@yt* t*>t*H ?l豿2ҿ|/?r{??@?)u*L@ u*s;Iu*CxB^>xB EGBAAHD)~dGF@Y%C(;%>))Q-D)55>I1 I]7ٮ11 QetI 1 Ue.C915; 5V;)5^7 m 9)aIa mtIia uVDa e:)e :Ie{ 9I9=O@Contact HDG: 142.665399 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)u;I}9 yyiyIyi 2@<:@w: 1ծH) t.H۽S?`י@ѿ?σ?4N?@F?)u.#bL@ u.Bs;Iu.CxBv>xBGEiPIP)F@Y%v8%>!!Q-D)-->I1 I=7ٮ11 Q=tI 1 U=.C915: 5Y:)5Iz7 M 9)AIA MtIiA MVDA E:)E:IE 9YIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w: N) L>e(AYt*L@t*/[@yt*'t*F>t*HGVl?Qѿ ˠ@F?? ^?l?)u*L@ u*?s;Iu*Cx>b>x> E)|i~yAa 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y>QD;>I I7ٮ QtI  U/C9; ;)p7  9)I tIi %WD ̒:):IҞ 9)IQ9Q*Ga2GaFaFirFibFEE);I9 iIi 2@<:@w: ߱11`U) Xe(AYt*e!L@t*pZ@yt*$2't*>t*H q? `ѿ`y@?,?`T=? ԫ?)u*e!L@ u*dr;Iu*CxNv>xRGEHRR=HRa=i\I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ'C8>ʩʩQDʩ͵t>I I7ٮ QtI  U/C9鰽%: _:)7  9)I tIi WD :):Ii 9I9*G2GFFrFbFEE);I9 iI!!i!) )2@-<:@5w: Ax[) qe(A);IYt.K@t.mZ@yt.t.L >t.H`?@'ѿ!@ $?@? .? ?)u.K@ u.r;Iu.CxBs>xBE)%GF@UYm;u>yʁQDʁͅr>I I7ٮ QtI  U/C9鰍: +:)7  9)I tIi WD }:)N:I2 9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: b) ֋e(AYt*0K@t*;Z@yt*Xt*O>t*H+ ?B';ѿ`>? k???)u*0K@ u*Sr;Iu*CxBn>xBEiLIL)~+G=F@Yʥ{ۺ>ʩʩQDʩ͵E;>I I7ٮ QtI  U/C9鰽: ):)7  9)I tIi WD O:):It 9I9*G2GFFrFbFEE);I9 iI!!!i!) )2@-<:@5w: Ai5?A1Ph) 6e(AYt.qK@t.Z@yt.o1t.y>t.HKy?п@? -?B?@?)u.qK@ u.Ir;Iu.CxBy>xBEGF@AHFAA)Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ^>ʉʉQDʑ͕y>I I7ٮ M7 QtI  U/C9=: :)7  9) I  tIi  5WD  l;) t;I  9AIA9AO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: &o) e(A@ Yt.7K@t.Y@yt.t.ޏ>t.H@ ?d}`>п1@#E?C?S?`p?)u.7K@ u.Xr;Iu.Cx6q>x6EiHIH) XGF@=YM;M>QQQ]DYete>Ii Iu7ٮii QutI i Uu/C9im= m/=)m7 7 u 9)qIq }tIiq }WDq u:)u:Iu 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.068427 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@ w: 9v) fe(Axrz>xr E {xY|xz8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGiwAa 1a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>QD >I Ie7ٮ QmtI  Um/C95< <)D7 }9)q }9Iq tIiq WDq uB-<)u.=p>=O@Contact HDG: 142.665399 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI) i) ) 1 2@= <:@= w: Y +8|) }@e(AYt*J@t*LY@yt*3t*r>t*H J`Yp? п`]o?`?a?_?)u*J@ u*{qr;Iu*CxBn>xBEHBa=HFp=ixIx)]GF@Y=#= ?AAQEDAMM ?I I7ٮ QtI  U/C9: W:)Z7 9)I tIi WD P<)t.H? `#п &?`r?ތ? ?)u.J@ u.r;Iu.CxRl>xRE)eSGF@Yʝ ;>ʡʡQDʡͭT;>I I7ٮ QtI  U/C9鰵2: x:)s7 9)I tIi WD }:)Ԙ:I&9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9J) M&f(AYt*CJ@t*X@yt*t*l>t*Hz?ӭ@4nϿ?0"?s?"?)u*CJ@ u* Wr;Iu*Cx^,t>xb#EipIp)=G=4=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y?:>QDm>I I 7ٮ Q tI  U /C9: :)Տ7 9)I tIi WD :)؛:I79)I)9)*G92GAFAFArFIbFIEIEI)e;Ie9 aaiaIaiiiii q2@}<:@}w: ߉i192) @f(AYtBPI@tB[X@ytB;(tBd>tBH@&?rο' W)?e??`?)uBPI@ uBr;IuBCxR?s>xREGPHV@A)GF@]Yee>aaQmDimXm>Iq I}7ٮqq Q}tI q U/C9qu: u:)u(7 9)I tIi XD :)A:I;H9I9*G2GFFrF9bF9E9E9)U;IU9 QQiQIQYYiYY a2@e<:@mw: ߙ}\) `Zf(A"@ Yt>I@t>LX@yt>Ct>kz>t>H@`4?`֨.ο'Qb??? ?)u>I@ u>r;Iu>CxF`k>xFEiRf=IP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:=;m>iiQmDiuHu>Iy I7ٮyy QtI y U/C9y}: }а:)}7 9)I tIi XD O:):IIY9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: =) tf(AYt2I@t2@X@yt20!t2X>t2HU?[ο k૷? &?S ?v?)u2I@ u2wr;Iu2CxNq>xNE) ixAF@UY]]>YYQeDaee>Ii Iu7ٮii QutI i U}/C9im: mW:)mO7 9)yIy tIiy XDy }p:)yI}Fj9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5R>5x>Jn) cf(AYt*D#I@t*OW@yt*MR&t*C>t*H&{t?`q=Ϳ@Y?@2ʄ???)u*D#I@ u*Hr;Iu*CxB5g>xB*EHBp=HFa=iPIP)+GF@=YE=ME>AIQMDIMM>IQ I]7ٮQQ Q]tI Q Ue0C9QU: U:)U7 m9)aIa mtIia mXDa e}:)eo:Ie {9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ) Gf(A)4t*H 0,`2?`̿`#@?(? =??)u*H@ u*r;Iu*Cx>v>x>GE)SGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm;u>qyQ}Dy}kٻ>I I7ٮ M7 QtI  U0C9鰅 : :)7 9)I tIi XD ٓ:)0:Ip9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 193.050325 arcdeg .q'E'E*GA2GAFIFIrFQbFQEQEY)m;Im9 iiiqIqqyiyy y2@<:@w: ߑр) Lf(AYt*H@t*ďW@yt*NJt*ڿy>t*HV.+?:q`/̿n>^?HQ??< ?)u*H@ u*bXr;Iu(xNKS>xREi^=I\)G%%=%=F@=YE^E>AIQMDIM*HU>IQ I}7ٮQQ Q}tI Q U0C9QUx; U:)U37 9)I tIi XD [:),:IZ9I9=OM@Contact HDG: 142.665399 arcdeg .'M'MOU4Initialize Wait Component.*Gq2GqFqFqrFybFyEE);I9 iIi 2@<:@w: i11R) f(AYt*H@t*'W@yt*)t*>t*H.?3̿CE? ?@N? ?)u*H@ u*Tr;Iu*CxBb>xB EG@HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a u a -u@a u QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@YʝH>ʡʡQDʡͭk>I I7ٮ QtI  U0C9: :)R7 9)I tIi XD ; =)x =II9I9*G!2GIFIFQrFYbFYEYEa);I9 iIi 2@<:@w: Լ) (f(A Yt*WfH@t*bW@yt*2t*>t*H;@@)?xdp˿H?A?a ? ?)u*WfH@ u*ur;Iu*CxBo>xBEiZf=IX)ʡʡQDʩͭ>I I7ٮ QtI  U0C9鰵S: 5:)k7 9)I tIi XD [:) :I9I9*G2GFFrFbFEE);I9 iI%i!! !2@-<:@-w: A) Og(AYt* YH@t*W@yt*Pt*C9>t*H=`?`@˿h,@2?X?w?`?)u* YH@ u*er;Iu*CxBy>xBE)GiF@%Y%;->))Q-D)55>I9 IE7ٮ99 QEtI 9 UE0C99=: =x:)=E7 M9)III UtIiI UXDI M:)Mx:IM9aIa9a*Gq2GqFFrFbFEE);I9 iI!%"i!! )2@-<:@-w: A=>9s) @)g(AYt*24H@t*=V@yt*kFt*P>t*HA B?@Wb`k˿ *<?`???)u*24H@ u*rr;Iu*CxB`k>xBEH@HFp=iV=IV“C)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm::m>iqQuDqu}>I I7ٮ QtI  U0C9鰅: ):)q7 9)I tIi YD ):):I{9I9*G2GFFrFbFEE)];I]9 YYiaIaam:iii i2@u<:@w: ߡ) cbCg(A);I Yt*^H@t*iV@yt*x:t*A}>t*H F@L? ̥ ˿@>?N?T"??)u*^H@ u*[r;Iu(xBt>xBlE)~GF@=YEػE>AAQMDIMM>IQ I]7ٮQQ Q]tI Q Ue0C9QU2: U5:)U7 m9)aIa mtIia mYDa e:)e:IeH9yIy9*G2GFFrFbFEE);I9 iI|i 2@<:@w: ) }=]g(AYt*G@t*oV@yt*@_t*>t*HM #?@P< aʿ`>`%?ˀ?`9e?@X?)u*G@ u*7r;Iu*CxBr>xBIEiLIL)~SG4=%=F@ Y<>QD%C.%>I) I-7ٮ)) Q5tI ) U50C9)-: -:)-7 =9)9 =9I9 EtIi9 EYD9 =,:)=:I=9QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI&i 2@<:@w: ߱i9A") zwg(AYt*QG@t*\~V@yt*Yt*y>v>t*H`K%?8[gʿRb@?`+ ?`{??)u*QG@ u*)r;Iu*CxBl>xBEG@HFAA)~dGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQeDam;m>Iq I}7ٮqq Q}tI q U}0C9quJ: u:)u 7 9)I tIi YD :)o:I}9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIʩi 2@<:@w:  ) Mg(A Yt. G@t.`V@yt.t.HN@?@[ nʿ{U`??@5i??)u. G@ u.|or;Iu.CxR c>xR EilIl)9F@MYMWM>QQQUDQ]]>Ia Im7ٮa Mm7a QmtI a Um0C9ae,: e:)e7 u9)qIq }tIiq }YDq u:)u':Iul%9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 191.918808 arcdeg .q'%'%*G!2G!F)F)rF1bF1E1E1)M;IM9 IIiIIIQ]iYY Y2@e<:@ew: q45) Ъg(AYtfG@tqOV@ytK'ter>tH P?G|Nʿ m1?@^??@$?)ufG@ ur;IuCxM{>xME)Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5E;=>99Q=D9EE>II IM7ٮII QUtI I UU0C9IMx: ME:)M.7 ]9)YIY etIiY eYDY ]:)]Ԙ:I]79qIq9q=O@Contact HDG: 142.665399 arcdeg .''O4Initialize Wait Component.*G 2G F F rFbFEE)-;I-9 11i1I19=wi99 92@E<:@Ew: Y=]>=i>) ;g(AYt*G@t*fV@yt*3t*u>t*H sN?t|ʿ%f?kF?@h?`:?)u*G@ u*r;Iu(xBj>xBqEH@HBa=iPIP)~҄GF@Yʍ;>ʑʑQDʑ͝u;>I I7ٮ QtI  U1C9鰥\: :)4H7 9)I tIi YD :)^:IG9I9*G2GFFrFbFEE);I9 iI  Ũi   2@<:@w: )F) g(A) IYt*@G@t*KRV@yt*t*w>t*HP!?@L)Tʿ cxR'E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y:>QDO, >I  I7ٮ   QtI  U1C9  %: :) 4i7 %9)I %tIi MYD ;);I-\9QIY9Y*G2GFFrFbFEE);I9 iI%i!! )2@5<:@5w: Qr) Agg(AYt*G@t*ÑV@yt*:t*y>t*HI@x^?#K$ʿ Yn?Q??v?)u*G@ u*W]r;Iu*CxNl>xNE){RYPI{Pi{R˜={P{P{RA{P|R\A9|REL9?wIilIp)5G=%=9F@EYMM ?IQQUDQ]E<] ?Ia Ie7ٮaa QmtI a Um1C9ae: e:)e~7 u9)iIi }tIii }YDi ml:)m÷:Imi9I9*G2GFFrFbFEE2EzE\AE5!R+@:,EEL9?wIEYPEEX0(?9%@sc EfgA=}?mſERs#@=DHdg To Contact =146.328470 degreesZE6.AbE:E}o$?BEo$?JE RE jEoUrE)U;IU9 YYiYIYaeīiaa a2@m<:@mw: ߡ$Dacoustic_contact_range 19.919998 m$hTrackAcousticContact.heading_to_contact 2.553914 rad$LDUSBL_Hydroid.xAngle -46.700001 arcdegi11X) :h(AYt*hG@t*sfV@yt*(t*x>t*H@ON@?>g{ʿ`@qL?? ]? ~?)u*hG@ u*cr;Iu*CxBMl>xFLEGLHN@A)9F@eYu30;u>ʁʉQDʉ͝'һ>I I7ٮ QtI  U1C9鰵; ;)7 9)I tIi YD ֊;);I){91I99A*G2GFFrFbFEE);I9 !!i!I!)-Li)) 12@5<:@5w: I ) ,h(A Yt.H@t.'V@yt.Gt.݁>t.HYFr?˿ C?p?`??)u.H@ u.sr;Iu,xR'n>xRpEidId)%Ga 1ea 1e a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ;>ʉʉQDʉ͕N><>I I7ٮ QtI  U1C9鰝: B:)v7 9)I tIi ZD :):Iދ9I9*G2GFFrFbFEE);I9 iI ci   2@<:@w: );k) Eh(AYt*dG@t*oV@yt*t*~>t*H WH`(c?@9`ʿ {Oo?l?,o?@?)u*dG@ u*Пr;Iu*CxBu>xBE)~Gi~yA|F@=YEz:E>AAQEDIM=M>IQ I]7ٮQQ Q]tI Q U]1C9QUS: Ux:)Uf7 m9)aIa mtIia mZDa e:)e:Ie9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: =>=>)  _h(AYt*4H@t*V@yt* t*e)>t*H@sA? ڦ`Ul˿D@"5?C??_?)u*4H@ u*r;Iu*CxVk>xVEHZa=HXihIh)5Ga 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ'c:>ʙʙQDʡͥ<>I I7ٮ QtI  U1C9鰭: )7 9)I tIi ZD :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.371650 arcdeg .q'm'm*Gi2GmRs#@FiFqrFqbFyEyEy);I9 iI @i>Rs#@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.553914 radq) yh(A)IYt.h:H@t.sV@yt.@1t.P]>t.H@U?`{@w˿@'&ez? 0? ??)u.h:H@ u.r;Iu.CxBHf>xB E)SGF@]Yee>aaQeDimYl:m>Iq I7ٮq M7q QtI q U1C9qu; uo;)u7 9)I tIi ZD 1:):I9I9=Om@Contact HDG: 146.328470 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFFrFbFEE);I9 iIRs#@in> 2@<:@w: ߙI$) h(AYt>MH@t>V@yt>w1t>}>t>H >`w? ~ݥA˿ E[?`R3? l??)u>MH@ u>yr;Iu>CxV\~>xZgEipIv̓C)dG4=4=a 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5-@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@EYE rE>IIQMDIU1;U>IY I]7ٮYY QetI Y Ue1C9Y]: ]t:)]j&7 m9)iIi utIii uZDi m>:)m:Im9I9*G2GFFrFbFEE);I9 iI]wi > 2@<:@w: i19!*) ^h(AYt.+|H@t.6)W@yt.#t.>t.H9 a^?0&˿b5¢?@]D???)u.+|H@ u.Fr;Iu.CxBg>xBsEGDHD) GF@Y%;%>!!Q-D)-;->I1 I=7ٮ11 Q=tI 1 U=1C915: 5:)5l?7 M9)AIA MtIiA MZDA E:)E:IEk9YIY9a*Gq2GqFqFqrFYbFaEaEa)u;I}9 yyiyIy` }i 2@<:@w:> ߑ1) 9h(A Yt.lH@t.W@yt.t.}>t.H k;?`٩m˿@`g? 7?.?@?)u.lH@ u.{s;Iu.CxNn>xREi\I\)GF@-Y- K;->11Q5D1==>IA IM7ٮAA QMtI A UM1C9AE: E:)E [7 U9)QIQ ]tIiQ ]ZDQ UB:)UU:IU9iIi9i*Gy2GFFrFbFEE);I9 iI vyi 2@<:@w: )I i7) h(AYt*H@t*3W@yt*,"t*$(>t*H8h?H`i ̿#@O? zE?ړ??)u*H@ u*1Ys;Iu(x6Dy>x6EE {8Y|8>8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGimwAmwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y y >QD%Ah;%>I) I57ٮ)) QtI ) U1C9)-R= -+R=)-x7 9) 9I tIi ZD %:)Z:I9I9*G2GFFrFbFEE)5;I=9 99i9I9AmV,}iii i2@u<:@uw: ߩ=Y>=> >) h(AYt*ҁH@t*.W@yt*O-t*m~>t*H@8Jz? r@̿? ?ȩ?}? ?)u*ҁH@ u* r;Iu*CxBi>xBEHBp=HFp=i\I^“C)GF@]Yee>aaQmDim1m>Iq I}7ٮqq Q}tI q U2C9qu`: u :)u7 9)I tIi ZD :) :I9I9*G2GFFrFbFEE);I9 iI{i 2@<:@w: ]D) i(A) IYt2KH@t2VfW@yt2 X(t2ڀ>t2H2`"?[To̿ 3 x\?` ?? ?)u2KH@ u2Lr;Iu2Cxbc>xb E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y::>  Q D <>I I7ٮ Q%tI  U%2C9: >:)7 -9))I) -tIi) 5ZD) -1:)-:I-%9AIA9AOUDone Waiting.'UOU8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEaEi)};I}9 yiIi 2@<:@w: ߡ !K) ɭ.i(AYt*|H@t*")W@yt* t*Y>t*H9A?ᐩ˿@ ?@l?R? ?)u*|H@ u*as;Iu*Cx>j>x>qEiPIR̓C)+G%=%=F@=Y=L:=>AAQEDAMy!M>IQ I]7ٮQQ Q]tI Q U]2C9QU: U:)U7 e9)aIa mtIia m[Da e :)eA:Ie59yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.621853 arcdeg .q''*G2GFFrFbF!E!E!)5;I=9 99i9I9AEnyiAA I2@M<:@Uw: ai11R) =Hi(AYt*H@t*RW@yt*t*8>t*H.5ב? ڨ`G̿ @.?1? H??)u*H@ u*r;Iu*CxVz>xV EGXHX)-GF@]Ye؍:e>aaQmDim;m>Iq I}7ٮqq Q}tI q U}2C9qu: uB:)uo7 9)I tIi [D :)ȗ:IF9I9=O-@Contact HDG: 146.328470 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F1rF9bF9E9E9)U;IU9 QQiQIQY]4fiYY a2@e<:@mw: y1X) ]bi(A@ Yt.}H@t.,W@yt.^ t.{>t.H^9h?`#- ˿-E@? V?-?@?)u.}H@ u.r;Iu.CxB0a>xBw EiLIP)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ;>ʩʩQDʩ͵>I I7ٮ M7 QtI  U2C9鰽p: s:)7 9)I tIi [D :)^:IOX9I9*G2GFFrFbFE E );I9 !i!I!!-zi)) )2@5<:@5w: Ig[^) 7|i(AYt*oH@t*zJW@yt*t*z>t*H5?m9̿`C@???| ?)u*oH@ u*O[r;Iu*CxB`k>xBE)zdGixzxAF@YʅaS>ʉʉQDʉ͕;>I I7ٮ QtI  U2C9鰝h: ):)7 9)I tIi [D :)ȗ:I#i9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !5>=x>Ce) i(AYt*H@t*zW@yt*.t*>t*H0 `?ܨ@g̿@4?ޅ?:??)u*H@ u*3Tr;Iu*CxBs>xBEHDHFa=iPIR“C)GF@=YEdE>AAQMDIM ;M>IQ I]7ٮQQ Q]tI Q U]2C9QU: U5:)U77 m9)aIa mtIia m[Da e:)e:Iey9yIy9*G2GFFrFbFEE)5;I59 QqiqIqy}uiyy 2@<:@w: ߙmk) i(A)IYt2H@t28W@yt2, @t2M>t2H7{? ̿V`B?a???)u2H@ u25or;Iu2CxNz>xR E)+Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ%>ʁʉQDʉ͍>I I7ٮ QtI  U2C9鰕: :)T7 9)I tIi [D O:)ݖ:I+9I9*G2GFFrFbFEE)u;Iu9 qqiqIyy}{i 2@<:@w: ߙ7Ur) i(AYt*WH@t*boW@yt*t*kw>t*H@2l? X̧@)̿^F@;?}??`?)u*WH@ u*5%r;Iu(xN c>xR Ei^f=I^̓C)G!%=F@-Y59<5>11Q5D1=U <=>IA IM7ٮAA QMtI A UM2C9AE: E:)En7 ]9)QIQ ]tIiQ ][DQ U:)U:IU9iIi9i*G2GFFrFbFEE);I9 iIAi 2@<:@w: i19Qx) i(AYt*'H@t*2?W@yt* Wt*@~>t*HD7?9#̿=??@??)u*'H@ u*'Hr;Iu(xBh>xBEGBAAH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGF@Yʽ>QD>I I7ٮ QtI  U2C9A: ;)̋7 9)I tIi [D U;)1:I9I9O5Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFIEQEQ)u;Iu9 qyiyIyY;|i 2@<:@w: 1˩~) i(A@ Yt.1H@t.t.H!4\?`憎W̿ @#?@qΆ?@??)u.1H@ u.r;Iu.CxBv>xBGEiZ=I^“C)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}e}>yʁQDʁͅ;>I I7ٮ QtI  U2C9鰍l: :)7 9)I tIi [D %:):I19I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.793564 arcdeg .q'M'M*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqy}̛iy 2@<:@w: ߙ) [j(AYt*meH@t*xW@yt*t*g>t*H)<@?㨿˿Q?`g?`?`0?)u*meH@ u*4%r;Iu*CxRRr>xRE)-Gi15wAF@EYE;E>IIQMDIU4U>IY I]7ٮYY QetI Y Ue2C9Y]į: ]c:)]7 m9)iIi utIii u[Di m:)mȗ:Im9I9=O@Contact HDG: 146.328470 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9IAAEviAI I2@U<:@Uw: a=e>Ee>) 51j(AYt*ُH@t*t*H@]7?4l̿H@ Q? R?@?d?)u*ُH@ u*r;Iu*CxNMl>xRLEHPHRp=idIf̓C)mSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y=>QD;>I I7ٮ QtI  U3C9q: 1:)7 9)I tIi \D :)$:I9 I 9*G!2G!F!F!rF)bF)E)E1)E;IE9 AIiIIIIU~iQQ Q2@]<:@]w: q]) Kj(A)4t*H@6?ަy6̿`4 /v?`ip?9? @?)u*+H@ u*r;Iu*CxBu>xBE)~GF@Yʅ:>ʉʉQDʉ͕ :>I I7ٮ QtI  U3C9鰝ٮ: x:)7 9)I tIi \D :)c:IQ9I9*G2GFFrFbFEE);I9 iI i 2@ <:@w: !͘) 9dj(AYt*eH@t*W@yt*给t*t}>t*H B<@t?DN˿ Y ?|???)u*eH@ u*r;Iu*CxBt>xBlEiLIP)~SG4=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeD<e>aaQmDim/m>Iq I}7ٮq M}7q Q}tI q U3C9qu: uD:)u7 9) 9I tIi \D o:):I&9I9*G)2G1FQFQrFYbFYEYEY);I9 iI]wi 2@<:@w: i19E) ~j(AYt*͑H@t*>W@yt*8<t*x>t*H`R7?h@c"̿HJ?`v?@#??)u*͑H@ u*hq;Iu*CxBb>xB EG@HD)~GF@=YEE>AIQMDIM>;M>IQ I]7ٮQQ Q]tI Q Ue3C9QUh: U:)U07 m9)aIa mtIia m\Da eɏ:)e:Ie9yI9*G2GFFrFbFEE);I9 iI~i 2@<:@w: ߥ) fj(A Yt.H@t.ZW@yt.+Bt.t>t.H4? NX̿M/?=E?/8??)u.H@ u.r;Iu.CxNj>xRqEi\I^“C)SGa 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}߻>ʁʁQDʁ͍†;>I I7ٮ QtI  U3C9鰕:  :).L7 9)I tIi \D :):IX$9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w:  ) g}j(AYt.H@t.VW@yt.{#t.ڝ>t.H4`?@~P̿, ? \o??`5?)u.H@ u.qr;Iu,xBi>xBNE)Gi yA xAF@=YE;E>AAQMDIM>M>IQ I]7ٮQQ Q]tI Q Ue3C9QUl: UN:)U8g7 m9)aIa mtIia m\Da eՐ:)aIe 59yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI4i 2@<:@w: 1=>) Xj(AYt*H@t*IW@yt*ϣ#t*!>t*H 6`? D6̿@$9k1?ct? ?i?)u*H@ u*r;Iu(xBi>x@HBa=HBa=iPIP)GF@=YE-ǷE>AAQMDIMzM>IQ I]7ٮQQ Q]tI Q Ue3C9QU: UW:)Û7 m9)aIa mtIia m\Da e:)e:IeF9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.733527 arcdeg .q''*G2GFF!rF!bF!E)E))=;IE9 AAiAIAIM8~iII I2@U<:@Uw: i) 4j(A)I;Yt6KH@t6VW@yt6at6/w>t6H.I*?̦̿Br'??@??)u6KH@ u6q;Iu6CxRm>xR'E {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}Ga 1a 1 a 5a 5 a 9a 9 a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y5:=>99QEDAM<M>IQ I]7ٮQQ QetI Q Ue3C9QUj; U;)U7 u9)iIi }tIii }\Di m;)m;ImX9I9=OM@Contact HDG: 146.328470 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFQFQrFYbFYEYEY)-;I59 11i1I19=Oi99 A2@E<:@w: ) k(AYt*H@t*W@yt* t*>t*H`@/? `۰̿ 6? r?`4?@3?)u*H@ u*r;Iu*CxB,t>xB#EiXIZ̓C)EaaQmDimйm>Iq I7ٮqq QtI q U3C9qu; u;)u;7 9)I tIi \D [:)N:Iqh9I9*G2GFFrFbFEE)5;I59 19i9I9Q]'liYY Y2@e<:@ew: ߙi19E-) Sk(AYt* H@t*+W@yt*"t*)>t*HI+?xRiEGPHP)eSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y^>QDv;>I I7ٮ QtI  U3C9: :)7 9)I tIi \D 1:)^:Iy9I9*G2GFFrF!bF!E!E!)=;I=9 99i9IAAE򰄽iII I2@U<:@Uw: aW) 3k(A Yt*H@t*W@yt*ȠMt*>t*H S-@99?`ç̿ @P?쳉??@M?)u*H@ u*Pr;Iu(xNeq>xRnEi`Ib“C)%GF@5Y5޻=>99Q=DAEPE>II IU7ٮII QUtI I UU3C9IM.: M:)M7 e9)YIY etIiY e]DY ]:)]$:I]9qIq9q*G2GF F rF bFEE1)E;IM9 IIiIIIQu"؂iqq y2@}<:@w: ߱?) Mk(AYt.&I@t.W@yt..!t.K{>t.H@& ?F@DͿ3 z?%??- ?)u.&I@ u.q;Iu.Cx6Ze>x6 E)r҄GirwAtF@zYz;~>||Q~Dw<>I  I7ٮ  M7  QtI  U3C9  : E:)  7 %9)I %tIi %]D _:):Iƚ91I191*GI2GIFIFIrFQbFQEQEQ)m;Im9 iiiiIqqu>iyy y2@<:@w: ߑ5V>=t>]i) ygk(AYt*I@t*"W@yt*8 t*N>t*Hs(s?;&Ϳ4 ?F?Z?`?)u*I@ u*q;Iu*CxBj>xBqEHBR=HDiRf=IP)~vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye[;e>aiQmDimm>Iq I}7ٮqq Q}tI q U4C9quc: u:)u(7 9)I tIi ]D ::):I]9I9*G2GFFrFbFEE);I9 iI=i 2@<:@w: Q) Vk(A);IYt*6I@t*W@yt*&t*>t*H$`?X`|cͿfxBE)~dGF@=YEE>AIQMDIM;M>IQ I]7ٮQQ Q]tI Q Ue4C9QUS: UW:)UC7 m9)aIa mtIia m]Da e:)e:Ie89yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIOi 2@<:@w: /|) Q3k(AYt*CI@t*W@yt*FE)t*Y>t*H+#s?}}Ϳ@s`t? (?@?@?)u*CI@ u*y1r;Iu*CxB`>xB. EiN=IR̓C)|a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeee>aiQmDim ;m>Iq I}7ٮqq Q}tI q U4C9qu: u:)u_7 9)I tIi ]D :) :Ij9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 193.320896 arcdeg .q'5'5*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYae쇽iaa i2@m<:@mw: ߁i5@A9)  k(AYt.D6I@t.OW@yt.):t.e}>t.H$ D?WbͿ ^,@~?E?@d?=?)u.D6I@ u.xBLEGB@AHD)!F@=YE)E>AIQMDIM@ U>IQ I]7ٮQQ Q]tI Q Ue4C9QU: U߼:)Uz7 m9)aIa mtIia u]Da e:)e:IeC9I9=O @Contact HDG: 146.328470 arcdeg .' ' O 4Initialize Wait Component.*G 2GFF1rF9bF9E9EA)u;Iu9 qqiyIyy}цi 2@<:@w: ) k(A Yt*I@t*5X@yt* .t*T]>t*H>\?Wο@? Å?`v=?d?)u*I@ u*M/r;Iu*CxRn>xREi`Ib“C)mGF@uY}:}>ʁʁQDʁ͍yF<>I I7ٮ QtI  U4C9鰕:  :)7 9)I tIi ]D :)Z:I9I9*G2GFFrFbFEE);I9 iI[i 2@<:@ w: 0) 7k(AYt*KI@t*W@yt*ib#t*>t*HR"?ЕCͿ`!1?7l?΅?@?)u*KI@ u*Wyr;Iu(xB |>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gia 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9@a  a -@a  IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y:>QDs>I  I7ٮ   QtI  U4C9  < :) 7 9) 9I tIi ]D :):I9I9*G2GF)F)rF1bF1E1E1)m;Im9 iqiqIqy}Ciyy 2@<:@w: !5>={>w) ؜l(AYt*c|I@t*n)X@yt*t*{>t*H`a,?fHͿ=?$Y?`?O?)u*c|I@ u*r;Iu(xBp>xB%EH@HDi\I\)aaQmDim <m>Iq I7ٮqq QtI q U4C9quԊ< u<)u7 9)I tIi ]D :)9:I$9I9*G)2G)F)F)rF1bF1E9E9)M;IM9 IIiQIQY]vhiYY Y2@e<:@ew: y) 5yl(A)4t*HJ?@ ިͿ9 `I?C?E?`b?)u*'|I@ u*r;Iu(xRMl>xRLE)-GF@=YEϒE>AAQEDIM M>IQ I]7ٮQQ Q]tI Q Ue4C9QU@; U*;)UF7 }9)qIq tIiq ]Dq u&~;)u;Iuj#9I9*G2GFFrFbFEE);I9 i Idi 2@%<:@%w: 1 ) LT6l(AYt*׻I@t*hX@yt*gZIt*ف>t*H%?r^fο`?`#+? ~?@[?)u*׻I@ u*r;Iu*CxR}v>xREibf=Ib̓C)G!%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ)>ʉʉQDʉ͍^<>I I7ٮ M7 QtI  U4C9鰕: :)o7 9)I tIi ^D :):I49I9*G2GFFrFbFEE);I9 iIi  2@ <:@w: !i5?A9) .Pl(AYt*I@t*OX@yt* t*(>t*H`6a?@̀5ο@@??A? }z?5?)u*I@ u*Qr;Iu*CxRh>xREGRAAHT)%vGF@EYE;E>IIQMDIUBU>IY I]7ٮYY QetI Y Ue4C9Y]: ]а:)]w 7 m9)iIi utIii u^Di m :)m:ImhE9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI i 2@<:@w: G ) Ujl(A Yt.@I@t.K0X@yt.t.^>t.H,?׫ͿGS? h?4?@ ?)u.@I@ u._r;Iu.CxBo>xBJEib=Id)mdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>!!Q%D!%␻->II IU7ٮII QUtI I U]4C9IM_: MB:)MB>7 e9)YIY etIiY m^DY ]Ր:)] :I]W9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.542139 arcdeg .q''*G2GFFrFbFEE);I9 iICni 2@=<:@=w: Qa ) l(AYt2I@t2~X@yt2jt2>t2HX?S~ο `?? @?.?k?)u2I@ u2âr;Iu2CxN\>xNE)GiyAF@=YErE>AAQMDIMQ<M>IQ I}7ٮQQ QtI Q U4C9QU; U;)UW7 9)I tIi ^D :)ȗ:Ig9I9=OE@Contact HDG: 146.328470 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFIFIrFQbFqEqEq);I9 iI i 2@<:@w: ߱5>=x>') /l(AYt*sI@t*~pX@yt*R}/t*j>t*H@6 ?@ @Kuο`e ÷?? *??)u*sI@ u*̆r;Iu*CxVu>xVEHZp=HXilIn“C)=GF@]Ye:e>aiQmDim m>Iq I7ٮqq QtI q U4C9quG; u;)uqs7 9)I tIi ^D :):Ix9I9*G2GFFrFbF!E!E!)U;I]9 YYiYIYae*ߍiaa i2@m<:@mw: ߡB-) l(A);IYt28I@t2C\X@yt2@*t2w>t2H`? Nο [?G?@?m?)u28I@ u2܂r;Iu2Cx>eq>xBnE)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭJ:>ʱʱQDʱ?>I I7ٮ QtI  U 5C9%: :)<7 9) I  UtIi  U^D  <) t.H?G [ο t.??)?~?)u.I@ u.Ӫr;Iu.CxJ'n>xNpEiZf=IZ̓C)G ?)>F@=YE9E>IIQUDQ<>I! IU7ٮ!! QetI ! Ue5C9!%< % <)%!7 9)I tIi ^D <) t*H 4?@Ԫ@Sο ~?%B??8?)u*2I@ u*r;Iu(x>s>xBEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5M5>19Q=D9=U=>IA Im7ٮAA QutI A Uu5C9AE+; E8;)Ex7 9)yIy tIiy ^Dy }Z;)}s;I}˯9I9*Gq2GqFqFyrFbFEE);I9 iI=ji99 A2@E<:@Mw: ߹t.HP?PXοT5?ݚ?? ?)u.I@ u.ur;Iu.CxBeq>xBnEiZ=IX)F@=YE:E?AAQEDIM9M?IQ I]7ٮQQ Q]tI Q Ue5C9QU: U:)Ux7 m9)aIa mtIia m^Da e:)e :Ie9I9*G2GFFrFbFEE);I9 iIgei 2@<:@w: ߹fG)  m(AYt*I@t*X@yt*t*9>t*H@? kMοL@??@2X??)u*I@ u*ur;Iu*CxBj>xBqE)ƄGixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeG;m>iiQmDiu2<u>I I7ٮ QtI  U5C9鰝: 5:)7 9)I tIi ^D :)-;I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))];I]9 YaiaIaamŐiii i2@M<:@Uw: a5V>={>M) 8m(AYt*ǼI@t*iX@yt*G$t*=>t*Hh?@Cchο`H?͈? ??)u*ǼI@ u*8}r;Iu*Cx>c>xB EHBR=HBp=iRf=IP)!)Q-D)-߻->I1 I=7ٮ1 M=71 Q=tI 1 UE5C915: 5:)5Z7 M9)AIA MtIiA U_DA E:)E:IEm9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uNU@Vehicle HDG: 193.743316 arcdeg .q'U'u*Gq2GqFqFyrFybFyEE);I9 iIi 2@<:@w: xT) Rm(A) I YtB\I@tBgX@ytBԠ4tBu>tBH@?@'4ο}???@ ?)uB\I@ uBr;IuBCxNs>xRE)MGF@}Yʍ>ʙʡQDʡ͵;>I I7ٮ QtI  U5C9(; _;)?57  9)I  tIi  _D }:)o:Iy99I999=O-@Contact HDG: 146.328470 arcdeg .'-'-O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 11i1I19=fi99 92@E<:@Ew: YŢZ)  lm(AYt*I@t*EX@yt*c$t*iG>t*HMn?@n"οqE? [??@{?)u*I@ u*4tr;Iu(xNMl>xRLEi^=I\)+G%%=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽg;>QD>I I7ٮ QtI  U5C9; ;)P7 9) 9I  tIi  _D :):Iz99I999*GI2GIFIFQrFqbFyEyEy);I9 iIi 2@<:@w: i11a) Gsm(AYt*I@t*%zX@yt*1{(t*M>t*H? ο?M?H?`?)u*I@ u*vr;Iu(xBj>xBqEG@HFAA)EGF@]Ye'e>aiQmDim'<m>Iq I}7ٮqq Q}tI q U5C9quܹ: u{:)uk7 9)I tIi _D :):I9I9*G2GFFrFbFEE);I9 iI!%hi!! !2@-<:@-w: ag) Qm(A@ Yt.9I@t.DdX@yt.&t.z>t.H?`D']ο?`ւ?`'??)u.9I@ u.$r;Iu.CxBRr>xBEiLIN“C)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ+;>ʱʱQDʱͽ`S>I I7ٮ QtI  U5C9}: >:)7 9)I tIi _D :)Z:IC#9I9*G2GFFrF bF E E )%;I%9 !!i!I!)-&i)1 12@=<:@=w: qjm) +m(AYt*cI@t*nKX@yt*8&t*1;>t*H`r?@ߪT-ο`@?@Ƅ??Q?)u*cI@ u*ƣr;Iu*CxBB`>xB E)zdGi~yA~wAF@=YEE>AAQMDIM~M>IQ I]7ٮQQ Q]tI Q Ue5C9QU: U:)U7 m9)aIa mtIia m_Da e:)e:Ie39yIy9*G2GFFrFAbFIEIEI)e;Ie9 aaiaIaim׋iiq q2@}<:@}w: ߉5Y>=t>t)  m(AYt~I@t~ZX@yt~,6t~>t~H@ ͧ?@njzKο @?`݆?B??)u~I@ u~fr;Iu~Cx%5g>x-*EH=a=H=a=iQIY)Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ>ʑʑQDʑ͝C ;>I I7ٮ QtI  U5C9鰥:: ٮ:)7 9)I tIi _D F:)Ԙ:IF9I9*G2GFFrFbFEE);I9 iI  at.H`% Ep?4w&ο@? ?@GS?@s?T?)u.I@ u.̒r;Iu.CxBWx>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )5ƄGF@mYʅp;>ʑʙQDʡͭN>I I7ٮ QtI  U6C9鰵:  ;){7 9)I tIi _D ^q;)';IJV9 I 9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEIEI);I9 iI  i 1 12@=<:@=w: 4؁) n(AYt*tI@t*t*HQ\?t7ο? ن?5??)u*tI@ u*]r;Iu*CxBjw>xB"E){B5PI{@i{B:={@{@{BA{@|BA9|B?ҹ@i`Ib̓C)%G%4=!F@]Yee>aaQmDimm>Iq I}7ٮqq Q}tI q U}6C9qu2: uW:)u7 9)I tIi _D :)ȗ:If9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 193.584814 arcdeg .q'U'U*GQ2GQFYFYrFYbFaEaEa2EizEmAEmR71@cE[Q 2Em?ҹ@Em5PEiEmkp4 o)@eeTEm=&$Lk?tǿEmp%@=}DHdg To Contact =148.110330 degreesZEm[NAbEmԥ:Emro$?BEm}o$?JEm~ REm jEmrEmoU);I 9 iI3Qi 2@%<:@%w: a$Dacoustic_contact_range 24.840002 m$hTrackAcousticContact.heading_to_contact 2.585013 rad$LDUSBL_Hydroid.xAngle -46.600000 arcdegi9AW) !n(AYt*}xI@t*%X@yt*QA t*n>t*H@6?ӫͿ@ ? ??`?)u*}xI@ u*Lr;Iu(xBj>xBqEGB?AHB@A)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe\;e>iiQmDiucu>Iy I}7ٮy M7y QtI y U6C9y}Գ: }s:)}7 9)I tIi _D  ;);Iw9I9=OU@Contact HDG: 148.110330 arcdeg .']']O]4Initialize Wait Component.*GY2GYFYFYrFabFaEiEi)};I}9 iIi 2@<:@w: ߩc.) z;n(A@ Yt*~I@t*+X@yt*it*ν>t*Hg C?\©>ͿY??:*?`?)u*~I@ u*,zr;Iu*Cx>Ml>x>LEiPIP)dGF@=Y=B=>AAQEDAM:M>IQ IU7ٮQQ Q]tI Q U]6C9QU2: U5:)U`,7 m9)aIa utIia }`Da e;)eԖ;Ieψ9I9*G2GFFrFbFEE);I9 iIĊi 2@<:@w: h) MNUn(AYt*EMI@t*PW@yt*1t*RH>t*H "b?@y`Ϳ?:???)u*EMI@ u*{^r;Iu(xRk>xRE)=GiEwAAF@}Yʅs>ʁʉQDʉ͝ >I I7ٮ QtI  U6C9鰵; ;)H7 9)I tIi  `D ~y;)…;I99IA9A*Gy2GFFrFbFEE);I9 iI0oi 2@<:@w: 5>=>C>) N(on(AYt*ZpI@t*eX@yt*]t*A>t*H?!Ϳ@1`??? ?)u*ZpI@ u*`r;Iu*CxBp>xB%EHBR=HDiRf=IP)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Ys;>QD ;>I I7ٮ QtI  U6C9\: ٮ:)d7 9)I tIi `D :)˚:I9 I 9 *G!2G!F!F!rF)bF)E)E1)E;IE9 AAiIIIIMLxiQQ Q2@]<:@]w: ii&) n(A)4t*H` %?F^Ϳ0 &|?@x? \?`?)u*3I@ u*Er;Iu*CxBi>xBNE)xF@Yʅ(>ʉʉQDʉ͕?>I I7ٮ QtI  U6C9鰝: ):)7 9)I tIi `D O:)c:I@9I9*G2GFFrFbFEE);I9 iIi  2@ <:@w: !P) ߢn(AYt*&I@t*W@yt*Z(t*D>t*H &?먿DͿ ? B ?2T?o?)u*&I@ u*95r;Iu(xB?s>xBEiN=IN“C)SGR=4=a 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ5>ʁʁQDʉ͍>I I7ٮ QtI  U6C9鰕O< <);7 %9)!I! -tIi! -`D! %t:)%g:I%9YIY9Y*Gi2GiFiFqrFbFEE);I9 iI> i 2@<:@w: 1i19Dz) 4n(AYt.](I@t.hW@yt.!t.<>t.H@`& ?@憎GͿ?@ 7?9??)u.](I@ u./ r;Iu.CxN:m>xREGRAAHT)5GF@EYE̅:M>IIQMDIUW9U>IY Ie7ٮYY QetI Y Ue6C9Y]S: ]5:)]S7 u9)iIi utIii u`Di m:)m:Im9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI]i 2@<:@w: b) n(A x~`k>x~Eif=I̓C)}vGF@Yʍ>ʑʑQDʑ͝>I I7ٮ QtI  U6C9鰥}: :)7 9)I tIi `D :)ض:IZ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.224303 arcdeg .q''*G2Gp%@FFrFbFEE);I9 iI%@iy~>p%@ 2@<:@w: $ERHorizontalControl.headingCmd 2.585013 rad) pn(AYt*1I@t*W@yt*_)t*M>t*H<%?`xpZͿ j?+?`I? 0?)u*1I@ u*q;Iu*CxBi>xFE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGixAa 1a 1 a 5a 5 a 9a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y5ُ=>99QEDAMf:M>IQ I]7ٮQQ QetI Q Ue6C9QU; U :)U7 u9)i u9Ii }tIii }`Di m;)m ;Ima9I9=O@Contact HDG: 148.110330 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI$@9hi > )2@M<:@Mw: ߑ=]>=e>t) J o(AYtB+H@tB6W@ytBtB>tBH .+?P̿`"w ??yQ??)uB+H@ uBq;IuBCxRxp>xREHRp=HPilIn“C)5jGF@}Yʅ:>ʁʁQDʉ͍8_>I I7ٮ M7 QtI  U6C9鰕: :) 7 9)I tIi `D :):IS9I9*G2GFFrFbFEE);I9 iIp%@i 2@ <:@ w: ) -'$o(A);IYt>H@t>%W@yt>j#t>>t>H+xM?`Zy ̿#?@a?0?@?)u>H@ u>q;Iu>CxRk>xRE)%vGF@]YeOe>aaQmDim;m>Iq I}7ٮqq Q}tI q U}7C9qu: up:)u$7 9)I tIi `D O:)c:I."9I9*G2GFFrFbFEE);I9 iIVi 2@<:@w: ?΅> 1) T>o(AYt:H@t:mW@yt:żt:}>t:H 2h?C#~̿ 3,o??"?@?)u:H@ u:Vq;Iu:Cxbi>xbEiI̓C)}dG%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QD+>I I7ٮ QtI  U7C9: ):)A7  9)I  tIi  aD :):I39I9!*G12G1F1F1rF9bF9E9EA)U;IU9 QYiYIYYeTiaa a2@m<:@mw:q y)yIy iAA) Wo(AYt.^H@t.iqW@yt.,t.Ɇ>t.H1v?S̿ @a?ਛ?W?`R?)u.^H@ u.ϒq;Iu.CxNp>xNEGN@AHL)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YʽS>QDy :>I I7ٮ QtI  U7C9: :)\7 9)I tIi aD :)}:ID9I9*G 2G FFrFbFEE)5;I59 11i1I19=g`Si99 A2@E<:@Mw: Y) йqo(A Yt*H@t*XW@yt*8t*`>t*H L4?T̿ &`?@?\?4?)u*H@ u*Iq;Iu*CxBv>xBGEiN=IR“C)~GF@=YEE>AAQMDIMM>IQ I]7ٮQQ Q]tI Q U]7C9QU: U:)UIw7 m9)aIa mtIia maDa e:)e:IeU9yIy9*G2GFFrFbFEE)5;I59 QQiQIQY]RiYY a2@e<:@mw: y) ѕo(AYt*DH@t*OXW@yt*ˑ/t*1 >t*Ha4 x?`ܦS̿z7K0????)u*DH@ u*y|q;Iu*CxN?s>xNE)GiwAF@]Ye:e>aaQeDamHm>Iq I}7ٮqq Q}tI q U}7C9qq u:)u"7 9)I tIi aD -:):IDf9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIPi 2@<:@w: 5>5>n) mo(AYt*H@t*6W@yt*.t*>t*H8`au?m̿#O?a…? ֑?4?)u*H@ u*q;Iu*CxN5g>xR*EHPHRp=i`Ib̓C)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅi9>ʁʉQDʉ͍c>I I7ٮ QtI  U7C9鰕c: R:)7 9)I tIi aD )x:Ixw9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 192.668763 arcdeg .q'U'U*GQ2GFFrFbFEE);I9 iIkOi!! !2@-<:@-w: 9) Jo(A)4t*H6U?b7̿ A_??9?/?)u*H@ u*yq;Iu*CxBRr>xBE)~GF@ Y l; >QDC;>I! I-7ٮ!! Q-tI ! U-7C9!%ի: %:)%7 59)1I1 =tIi1 =aD1 5ٮ:)5:I5݇9III9I=O@Contact HDG: 148.110330 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  >Ni   2@<:@w: )) $o(AYt*H@t*9W@yt*Rs6t*w>t*H7@m?-u T̿K`%?`KΆ?`? ?)u*H@ u*Zkq;Iu*CxBe>xBP EiRf=IP)~dG%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeue>iiQmDiuu>Iq I}7ٮqq QtI q U7C9qu: u:)u7 9)I tIi aD ::) :IY9I9*G2GFFrFbFEE);I9 iILi 2@<:@w: i19() o(AYt*H@t*BW@yt*!t*i>t*H@6@4?!H@L*̿ $`7?"?|??)u*H@ u*pq;Iu*CxRm>xR'EGVAAHT {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y%yG;%>))Q-D)Uͪ:U>Ia Im7ٮa Mm7a QmtI a Uu7C9ae< e\<)e7 9)I tIi aD :)U:I]9I9*G2GFFrF bF EE)%;I%9 !IiIIIIUnnKiQQ Q2@]<:@]w: ߑ)  p(A Yt. H@t.=W@yt.t.|s>t.H7?`̿@ S@?%?%?@*?)u. H@ u.tq;Iu,xB c>xB E){F aI{Di{F={D{D{FA{D|FzB9|FQDl>I I7ٮ QtI  U7C9; o;)7 %9)!I! -tIi! -aD! %Ր:)%:I%99YIY9Y*Gi2GiFiFqrFbFEE2EzEzBE5j 5@Z\=9Ex :O 3@` 9PEj) ?FE&fƿE0@=DHdg To Contact =143.019790 degreesZEAbE[:Edo$?BEro$?JEy RE~ jErE);I9 iIDJi!! !2@-<:@-w: 9$Dacoustic_contact_range 33.119999 m$hTrackAcousticContact.heading_to_contact 2.496166 rad$-LDUSBL_Hydroid.xAngle -50.550001 arcdeg: ) &p(AYt*PH@t*[TW@yt*.t*pX|>t*H4? r xB E)dGi yA xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y_>QD 7d; >I I7ٮ QtI  U7C9: :)97 %9)!I! -tIi! -aD! !)%:I%>9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIIi 2@<:@w: 5V>=t>}") @p(AYt*%H@t*0sW@yt* 7t*MV>t*H [1`?@ǧQ̿ ]# ?`?[? b?)u*%H@ u*q;Iu*CxBj>xBqEH@HFa=iV=IV“C) F@=YEE>IIQMDIM5;U>IQ I]7ٮQQ QetI Q Ue7C9QU: UW:)US7 m9)aIa mtIia ubDa a)e:IeB9yI9*G2GFFrFbFEE)5;I59 QQiQIYY]Giaa a2@m<:@mw: ߙL) lZp(A) IYt.H@t.]W@yt./t.(~>t.H`3`?` ^̿:?@~?Mq?`?)u.H@ u.|q;Iu,xN:m>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}>:>ʁʁQDʁ͍O>I I7ٮ QtI  U8C9鰕: N:)p7 9)I tIi bD [:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;Iu9 qqiqIyy}uFi 2@<:@w: ߹v) Htp(AYt*XH@t*ceW@yt*K{t*|>t*H 3?:`m̿,?W? &?`?)u*XH@ u* nq;Iu*CxNl>xREi\I\)vG%4=!F@-Y5v;5>99Q=D9EB:E>II IM7ٮII QUtI I UU8C9IM:: M:)M7 ]9)YIY etIiY ebDY ]S:)]˚:I];9qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.832564 arcdeg .q''*G2G0@F F rFbFEE)-;I-9 ))i)I)5"$@i1=0@ 92@=<:@Ew: $RHorizontalControl.headingCmd 2.496166 radi5@A9^#) !p(AYt*I@t*W@yt*6t*>t*H(n?uͿ@ ?@!ކ??8?)u*I@ u*q;Iu*CxB5g>xB*EGB@AHD)~GF@EYE隻E>IIQMDIU\<U>IY I]7ٮYY QetI Y Ue8C9Y]: ]l:)]7 m9)i m9Ii utIii ubDi m:)mϝ:ImV9I9=O@Contact HDG: 143.019790 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))=;I=9 9AiAIAEi!@iII I2@U<:@Uw: ai)) p(A Yt.cH@t.nW@yt.(9t.pz>t.H .? i'`̿&;? $?~??)u.cH@ u.q;Iu.CxBl>xBEiLIP)~iiQmDiuu>Iy I}7ٮyy QtI y U8C9y}ͭ: }:)}7 9)I tIi bD O:):I!9I9*G2GFFrFbFEE);I9 iIX @i 2@<:@w: .q0) p(AYt2ZI@t2eW@yt2U8&t2Qz>t2H`'@O?@eA4Ϳ 5 {?@Ƅ? w? ?)u2ZI@ u2,q;Iu0xBj>xBqEiDD)~GixAF@=YE=;E>AAQMDIM"<M>IQ I]7ٮQQ Q]tI Q U]8C9QU: U:)U7 m9)aIa mtIia mbDa eՐ:)e :Ie]29I9*G2GFFrFbFEE);I9 iI @Ei 2@<:@w: 5>5>̚6) p(AYt*=I@t*W@yt*T.t*R>t*H#?FoOqͿT@M?????)u*=I@ u*#q;Iu*CxBHf>xB EHFa=HDi\In̓C)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ3>ʱʹQDʹͽ;>I I7ٮ QtI  U8C9:: :)W7 9)I tIi bD :):IC9I9*G2GFF rF bF EE)%;I%9 ))i)I)50@5Ci11 92@=<:@=w: Q<) lp(A);IYt*I@t*W@yt*)t*L>t*H' q}?`0Ϳ?`1???)u*I@ u*q;Iu*CxBw>xBjE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@Y,:> Q D 5>I9 IE7ٮ9 ME79 QMtI 9 UM8C99=U: =z;)=7 ]9)QIQ ]tIiQ ebDQ Uo:)U:IUU9iIi9q*G2GFFrFbFEE);I9 iI)15Ai11 12@=<:@=w: yC) jq(AYt*UlI@t*`X@yt*nt*g>t*H6!?k Ϳ6??`A??)u*UlI@ u*Cq;Iu*CxNl>xRE){RqI{Pi{R={P{P{RA{P|RA9|RT Ž?7 irf=Ip)G%=F@Y:>QDJ<>I I7ٮ QtI  U8C9; ;)17 9)I tIi bD :):I"f9I9*G2GFFrFbF!E!E!2E)zE-AE-w`-@u#T4E-T Ž?7 E-qE)E-A5E2{a/@%t&E- Dv? =ɿE-5@==DHdg To Contact =140.316633 degreesZE- {AbE-H:E-vo$?BE-do$?JE-| RE-y jE-rE-)U;IU9 QQiQIQY]<@iYa a2@e<:@mw: y$Dacoustic_contact_range 25.079998 m$hTrackAcousticContact.heading_to_contact 2.448987 rad$LDUSBL_Hydroid.xAngle -54.149999 arcdegi=?A9I) E)q(AYt*7I@t*W@yt*(t* ~>t*H@$@T? eͿ+@???@?)u*7I@ u*Mq;Iu*CxBB`>xB EGBAAH@)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmDiuAu>Iq I}7ٮqq QtI q U8C9qu: u:)u`L7 9)I tIi cD :),:Iv9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9FArFAbFAEIEI)};I}9 iI"?i 2@<:@w: P)  Cq(A@ Yt*I@t*SX@yt*-t*>t*H[?@f=οG ??]E?@[?)u*I@ u*'xBqEiTIV“C)vGF@=YEvME>AAQMDIM<M>IQ I]7ٮQQ Q]tI Q Ue8C9QUG: Ul:)Ug7 m9)aIa mtIia mcDa e[:)eԘ:Iey9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.666025 arcdeg .q''*G2G5@FFrFbFEE);I9 iI?Q@i5@ 2@<:@w: $URHorizontalControl.headingCmd 2.448987 radiV) r\q(AYt*"wI@t*-$X@yt*f$t*1z>t*HBY?XͿp?`Ȍ?` 8??)u*"wI@ u*$aq;Iu*CxBl>xBE)~GiwAF@=YE@:E>AAQMDIMZM>IQ I]7ٮQQ Q]tI Q U]8C9QU: U:)U:7 m9)aIa mtIia mcDa eO:)e:Ie9yIy9=O@Contact HDG: 140.316633 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E)E))=;I=9 AAiAIAM5@iII I2@U<:@w: =>=t>]) vq(AYt*I@t*7X@yt*> t*>t*H@W?S "ο2 ??b??)u*I@ u*2iq;Iu(xR|>xREHPHTi`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ4!:>ʉʉQDʉ͕=;>I I7ٮ QtI  U8C9鰝h: ):)f7 9)I tIi cD }:):I9I9*G2GFFrFbFEE);I9 iI=i 2@ <:@w: !7c) 沐q(A) IYt*CI@t*NeX@yt*[/t*e>t*H~?Ԩ_ο?\?ŗ?`?)u*CI@ u*#q;Iu*CxBi>xBE)~GF@=YEE>AAQMDIMO;M>IQ I]7ٮQQ Q]tI Q Ue8C9QU: U5:)Ua7 m9)aIa mtIia mcDa e::)eN:Ie9yIy9*G2GFFrFbFEE);I9 iItvH Z?੿nο @?2?`B??)uvI@ uv(2q;IuvCxp>x%EiU=IQ)vG=a 1a 1 a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-Q9->))Q-D)5:5>I9 IE7ٮ99 QEtI 9 UE9C99=q: =t:)=7 U9)III UtIiI UcDI M:)M^:IM9aIa9i*Gy2GyFyFyrFbFEE);I9 iIv:i 2@<:@w: i11D q) biq(AYt.I@t.X@yt.9t.9>t.Hy?bFο@ ?@<3?Q??)u.I@ u.Fq;Iu,xBjw>xB"EG@HD)GF@]Ye e>aaQeDim?;m>Iq I7ٮqq QtI q U9C9quǴ; u;)u7 9)I tIi cD :)ȗ:I9I9*G2GFFrFbFEE)5;I59 QQiQIQY]8iYa a2@e<:@mw: ߙ47w) Cq(A@ Yt*.I@t*9yX@yt*YD"t*09>t*H<@?ZPο |?`uH?`?`^?)u*.I@ u* 3q;Iu*CxBi>xBNEiRf=IP)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭa;>ʱʱQDʱͽ>I I7ٮ M7 QtI  U9C9: s:) 7 9)I tIi cD ٮ:):I.9I9*G2GFFrF bF E E )%;I%9 !!i!I!)-n7i)) 12@5<:@=w: Ia}) ) q(AYt*5J@t*@X@yt*t*N}>t*HT R?`Ͽ`4?x? k"? ?)u*5J@ u*Fq;Iu*CxBe>xBP E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAF@Yy: >  QD=<=>IA IM7ٮAA QUtI A U9C9AE< E<)E*7 9) 9I tIi cD :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I9 iIo5i !2@%<:@mw: ߡ5R>={>I) r(AYt*I@t*˩X@yt*a7t*>t*HM kB?rο Q Zk? ???)u*I@ u*#q;Iu(xB"h>xBEHB4=H@if=Id)5ׄGF@]Ymu>yʁQDʁ͕Z6>I I=7ٮ QMtI  UM9C9鰭< <) E7 }9)yIy tIiy cDy }:)}:I}'9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 193.967032 arcdeg .q'M'M*GI2GiFiFqrFqbFqEyEy);I9 iI"4i 2@<:@w: Xs) 4+r(A) IYt*HJ@t*X@yt*N*t*ݒ>t*H?)ixϿ^F?@I? ?`:?)u*HJ@ u*;Mq;Iu*CxN^>xR E)ʁʁQDʉ͍=<>I I7ٮ QtI  U9C9鰕: :)d`7 9)I tIi dD :):I!9I9=O@Contact HDG: 140.316633 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI2i 2@%<:@%w: Y2[) >Er(AYt*J@t*X@yt*hLt*|>t*H@@ \?@>@cϿN`?錉? h??)u*J@ u*kUq;Iu*CxNi>xREibf=I`)SG%4=!F@]Yee>aaQmDim m>Iq I}7ٮqq Q}tI q U}9C9qu: u:)u{7 9)I tIi dD :)ȗ:I19I9*G2GFFrFbFEE);I9 iIB1i 2@<:@w: i9A ) /_r(AYt**jJ@t*5Y@yt*s't*5ч>t*H`.?``¸Ͽaei?K?"? ?)u**jJ@ u*4q;Iu(xBe>xBP EGDHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aiQmDimR<m>Iq I}7ٮqq Q}tI q U9C9qu: u:)uC7 9)I tIi dD Ր:) :IB9I9*G2GFFrFbFEE);I9 iIJ/i 2@<:@w: )  myr(A Yt*NJ@t*X@yt*Ï't*m>t*H gX?@۪`qϿ`b?? ? 6?)u*NJ@ u*cq;Iu*CxN c>xN Ei^=I\)vGF@-Y-->11Q5D1=G=>IA IE7ٮAA QMtI A UM9C9AE: Eа:)Em7 U9)QIQ ]tIiQ ]dDQ U:)U:IUS9iIi9i*Gy2GyFFrFbFEE);I9 iI*.i 2@<:@w: ) Cr(AYt*wJ@t*$Y@yt*u&t*b~>t*H Yq?@NϿB? wӄ?`k`??)u*wJ@ u*q;Iu*CxRMl>xRLE)udGiyAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=Y= 9=>AAQEDAM;M>IQ Iu7ٮQQ Q}tI Q U}9C9QUǴ; Uk:)UV7 9)I tIi dD }:)Ԙ:IJf9I9*G2GFFrFbFEE)-;I-9 11i1I19=h,i99 92@E<:@Ew: y1=>8) r(AYt*J@t*LY@yt*2*t*>t*HO K?`.@п$ !?mR?f,?@?)u*J@ u*Wq;Iu*CxBh>xBEHBa=HDiRf=IP)5GF@uY}'}>yʁQDʁͅ;>I I7ٮ QtI  U9C9鰍: [:)47 9)I tIi dD :):Iv9I9*G2GFFrFbFEE);I9 iI+i 2@<:@w: h) Hr(A)IYt.#J@t..AY@yt.z\At..>t.H,K?4"пm`!?j+?? ?)u.#J@ u.Ǎq;Iu.CxNi>xRE)eSGF@mYuau>yyQ}Dyͅ>I I7ٮ M7 QtI  U9C9鰍: :)7 9)I tIi dD 1:)$:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIVp)i 2@<:@w: |ӷ) 9r(AYt*J@t*wY@yt*X6t*ۚ>t*H@˹?m諿9п ?l׆?c?J?)u*J@ u* q;Iu*CxBn>xBEiR=IP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeh:e>iiQmDiu<u>I I7ٮ QtI  U:C9_: 5:)"7 9)I tIi dD :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'5N@Vehicle HDG: 194.687726 arcdeg .q'' *G2GFFrFbF1E1E1)E;IE9 IIiIIIQU'iQQ Y2@]<:@]w: qi99G) r(AYt*VJ@t*a`Y@yt*Wt* >t*H #{? ׬E#п\ ?`? Uq? ?)u*VJ@ u*`fq;Iu*CxBsj>xB(EGF@AHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}SGF@}Yʅq;>ʁʁQDʉ͕F>I I7ٮ QtI  U:C9鰕:: :)~A7 9)I tIi dD h:):I9I9=O=@Contact HDG: 140.316633 arcdeg .'='=O=4Initialize Wait Component.*GA2GAFAFYrFibFiEqEq);I9 iI%i 2@<:@w: ߹) ڒs(A Yt.J@t.Y@yt.$t.>t.H?O- iпN?? ??)u.J@ u.q;Iu.CxBn>xFEiI)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y->QD;<>I I-7ٮ Q-tI  U5:C9,; ;)[7 =9)1I1 =tIi1 =dD1 5:)5ݖ:I5f9iIi9q*G2GFFrFbFEE);I9 iIx$i 2@<:@w: 1) od.s(AYt*J@t*yY@yt*3t*? >t*H?;п `?@p?5??)u*J@ u* q;Iu*CxRj>xRqE)Gi%xA!F@-Y5)5?19Q=D9E~E?IA IM7ٮAA QMtI A UU:C9AEh: EJ:)Ezs7 ]9)QIQ ]tIiQ eeDQ Ut:)U؛:IU9iIq9q*G2GFFrFbFEE);I9 iI0#i 2@<:@w: 5>={>|) ?Hs(AYt*K@t*Y@yt*/t*ċ>t*H ? mп ?w?$??)u*K@ u*q;Iu*CxB"h>xBEH@H@iTIT)GF@=YEw:E>AAQMDIM<M>IQ I]7ٮQQ Q]tI Q Ue:C9QU: U5:)U*7 m9)aIa mtIia meDa e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIi!i 2@<:@w: !) bs(A) IYt*K@t*Y@yt*|$;t*o>t*H?`p|п`|b? nd??I?)u*K@ u*&sq;Iu(xJp>xJ%E) SGa 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm7ܺu>qqQuDq};}>I I7ٮ QtI  U:C9鰅: t:))7 9)I tIi eD :)0:I/9I9*G2GFFrFbFEE);I9 iI i 2@<:@w: K) {s(AYt*K@t*Y@yt* t*T2>t*H` ?*@|п` ??;N?o?)u*K@ u*ɴq;Iu(xN:m>xREixIx)UdG]%=YF@eYmQ;m>iiQuDqu28u>Iy I7ٮyy QtI y U:C9y}F: }:)}7 9)I tIi eD :):I-9I9*G2GFFrFbFEE);I9 iIni 2@<:@w: i19A3) ϕs(AYt*!K@t* Y@yt*!t*ۅ>t*H@@%? 󃭿Dп@#?2??xREGPHP)]GF@mYmG u>qqQuDq}(;}>I I7ٮ QtI  U:C9鰅}: :)N7 9) 9I tIi eD :)8:I99I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ^) s(A Yt.K@t.Y@yt._&t.t.H?|п`?@t߄?~z?\?)u.K@ u.Gq;Iu.CxBeq>xBnEiLIR̓C)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeVe>aaQeDim`,m>Iq I7ٮqq QtI q U:C9quO< u<)u7 9)I  tIi  eD ̒:)|:I 9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa);I9 iI3/i 2@<:@w: ߹E) Ys(AYt.DK@t.Y@yt.>t.90>t.HjH?ͭп ?Ї?d?&?)u.DK@ u.dq;Iu.CxRg>xRsE)%+Gi!-wAF@5Y599Q=DAE<E>II IU7ٮI MU7I QUtI I UU:C9IMB: M|:)M7 e9)YIY etIiY eeDY ]S:)]E:I]09qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.114708 arcdeg .q''*G2GFFrFbFEE);I9 iIɍi 2@ <:@w: !5R>=i>po) Vas(AYt* K@t*Y@yt*-%t*m>t*H ?Ȯ ~п:`h?.?9?`H?)u* K@ u*`q;Iu*CxB?s>xBEHDHDiPIR“C)GF@=YEv;E>AIQMDIMλM>IQ I]7ٮQQ Q]tI Q Ue:C9QUS: U5:)U47 m9)aIa mtIia meDa e-:)e:Ie B9yI9=O @Contact HDG: 140.316633 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE);I9 iI[i 2@<:@w: 1ۙ) =s(A) IYt*^K@t*iY@yt*z!t*mf>t*H{w ?@Y Ɉп\3?`?/?_??)u*^K@ u*}q;Iu*CxBsj>xB(E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UQD%,E9%>I) I57ٮ)) Q=tI ) U=:C9)-; -);)-R7 M9)AIA UtIiA UeDA EZ=)EX[=IEFT9I9*G 2G FFrFbFEE)M;IU9 QQiQIQY]:9iYY a2@<:@w: ) t(AYt*!ZK@t*,Z@yt*0t*&>t*H` e?`򑬿`пY@c?@??@?)u*!ZK@ u*`q;Iu*CxBj>xBqEiZf=I^̓C)SG4=F@]Yee>aaQmDim""<m>Iq I}7ٮqq Q}tI q U};C9qu: u:)u l7 9)I tIi eD Ր:)ȗ:ICd9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i19 ) 0t(AYt*v;K@t*Y@yt*(t*ꒋ>t*H@k n5?˦п׻`?`9?;??)u*v;K@ u*Dq;Iu(xBr>xBIEGDHD)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe~:e>iiQmDiuu>Iy I7ٮyy QtI y U;C9y}ͭ: }:)}7 9)I tIi fD :):IOu9I9*G2GFFrFbFEE);I9 iI_i 2@<:@w: ) #Jt(A Yt*Y/K@t*dY@yt*(t*>t*H '?Dп? \?i??)u*Y/K@ u*ťq;Iu*Cx^:m>x^Eir=Ip)5GF@uY}38}>ʁʁQDʁ͍>I I7ٮ QtI  U;C9鰍: :)y7 9)I tIi fD ::) :Iy9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ߽) Pdt(AYt*u8K@t*Y@yt*'u0t*3;>t*HYB?ڬߣп`@??@FX??)u*u8K@ u*Ϫq;Iu*CxRf>xR E)IiQUxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵx>ʹʹQDʹS:>I I7ٮ QtI  U;C9.: :)7 9)I tIi fD %:)9:Iʗ9I9*G2GF F rF bFEE)-;I-9 ))i)I)15+i19 92@=<:@Ew: Q1=>) ^~t(AYt*rK@t*}Y@yt*%t*>t*H@P?@C\п9?`d?N?X?)u*rK@ u*:q;Iu*CxBm>xB'EHFR=HFp=iRf=IT)SGF@mYu_;u>qqQuDq}/}>I I7ٮ QtI  U;C9鰅}: >:)~7 9)I tIi fD ::):Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %) `t(A)p;IYt*FK@t*Y@yt* (t*>t*H`@ A?䮿п4?@I?@&??)u*FK@ u*q;Iu*CxBMl>xBLE)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeTe>iiQmDiu;u>Iq I7ٮqq QtI q U;C9qu: u:)u7  9)I  tIi  fD :):I99I999OMDone Waiting.'MOU8Uninitialize Wait Component.*GQ2GQM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEaEa)};I}9 yiI i 2@<:@w: ߩ+) >t(AYt*K@t*յY@yt*=-t*輎>t*Hp?5uп@/? ?l?@E?)u*K@ u*@q;Iu*CxBp>xBEiN=IP)G=%=F@=YE:E>AAQEDAMM>IQ I]7ٮQ M]7Q Q]tI Q U];C9QU: U:)U:7 m9)aIa mtIia mfDa e:)aIe:9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.904379 arcdeg .q''*G2GFFrFbFEE);I9 iIU i 2@<:@w: 9i112) t(AYt.J@t.Y@yt.o.t.>t.H@X?`&iп@Zzi?ۅ???)u.J@ u.q;Iu.CxBu>xBEGBAAHFAA) SGF@=YEπE>AAQMDIMM>IQ I]7ٮQQ Q]tI Q Ue;C9QUu: U:)U,7 m9)aIa mtIia mfDa e[:)eo:Ie?9yIy9=O @Contact HDG: 140.316633 arcdeg .' ' O 4Initialize Wait Component.*G2GFFrFbFE!E!)5;I59 99i9I99E1 iAA A2@M<:@Mw: aH 9) 0t(A@ Yt.K@t.Y@yt.~et.>t.H"?ά^пE ?l?(%??)u.K@ u.r;Iu.CxBc>xB EiLIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe>;e>iiQmDiu;u>Iy I}7ٮyy QtI y U;C9y}: }:)}H7 9)I tIi fD :):Iw9I9*G2GFFrFbFEE);I9 iIQi 2@<:@w: 8?) Nt(AYt*K@t*Y@yt*J"t*>t*H@p?}пq`?@[? B? k?)u*K@ u*q;Iu*Cx>x>x>E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MGiewAaF@YʽՏ>QD뗺>I I7ٮ QtI  U;C9; {;)&e7 9)I tIi fD :):I 9I9*G12G1F9F9rFAbFAEIEI)m;Im9 iiiqIqy}iyy 2@<:@w: ߩ5a>5e>F) ʨu(AYt*)J@t*4Y@yt*|-t*>t*H%?Nп`=?|?`??)u*)J@ u*r;Iu*Cxfs>xfEHja=Hja=if=I )mvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YrѺ>QD>I I7ٮ QtI  U;C9: t:)À7 9) 9I tIi fD |:)Y:I9 I 9 *G2GF!F!rF!bF)E)E))E;IE9 AAiAIAIMTiII Q2@U<:@]w: iHL) 3u(A)IYt*TJ@t*_Y@yt*"t*J>t*H@o?+OLпu@Q? DZ?ٶ? H?)u*TJ@ u*jr;Iu*CxNv>xRGE)dGF@=YE:E>AAQMDIM՗M>IQ I]7ٮQQ QetI Q Ue;C9QU@; U;)U7 m9)iIi utIii ugDi m}:)m:Im\9AIA9A*Gy2GyFyFyrFbFEE);I9 iI%|i 2@<:@w: {0S) `Mu(AYt*RJ@t*]wY@yt*&t* >t*H?2ꬿz9п`c +??`,??)u*RJ@ u*~r;Iu*CxB\>xBEiR=IR“C)G < =F@Y%R9%>!)Q-D)-H->I1 I=7ٮ11 Q=tI 1 UEt*H ¥?U+BпG#? ?`[U?a?)u*TJ@ u* r;Iu*CxBc>xB EGB@AHF@A)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅȣ>ʁʉQDʉ͍*:>I I7ٮ QtI  Ut.Ho^$?Hꮿ@п5@*?D?n?` ?)u.J@ u.r;Iu.CxB|>xBEiNf=IL)~GF@Y%;%>!!Q-D)-->I1 I=7ٮ11 Q=tI 1 U=Y@yt*/4t*2>t*H@SC?) пW?@ą? ? ?)u*J@ u*dr;Iu*Cx>:m>xBE)z+Gi~xA|a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʽOƻ>QD>I I7ٮ M7 QtI  U5>l) δu(AYt*kJ@t*v>Y@yt**t*!>t*HB?3`cп@fx5?bB???)u*kJ@ u*r;Iu*Cx>]>x>xEH@H@iN=IL)~GF@Y%w:%>!!Q-D)-8->I1 I=7ٮ11 Q=tI 1 U=XJ@t>'Y@yt>lt>*>t>HR?:`ەϿ8?`|?`ͅ??)u>XJ@ u>r;IuxRE)%GF@=YE3F;E>AAQMDIMu M>IQ I]7ٮQQ Q]tI Q U]J@t*X@yt*t*u>t*H`m?7 YdϿz??:?E?)u*>J@ u**r;Iu*CxBMl>xBLEihIj̓C)5dG=4==%=a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YP>QDp>I I7ٮ QtI  Ut*H?`qϿ ? ܃?H|?*?)u*EJ@ u*s;Iu*CxBHf>xB EG@HD {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y%c%>))Q-D)5|:u>Iy I7ٮyy QtI y Ut.H`q?`Wh+Ͽnm?Ļ??q?)u.J!J@ u.er;Iu.CxBi>xBEiXIZ“C)%SGF@=YEtE>AAQMDIM/M>IQ I7ٮQQ QtI Q Ut*Hdť?Uο }D?T? ?@9?)u*lI@ u*n(s;Iu*CxBsj>xB(E)GiwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y5;>!!Q%D!%F->I) Iu7ٮ)) QutI ) U}5x>˓) Ov(AYt*I@t* X@yt*Et*Έ>t*H ?xο`-?S?@?@?)u*I@ u*#s;Iu*CxBk>xBEHBp=HFp=iTIT)SGF@=YE E>AIQMDIM3;M>IQ I]7ٮQQ Q]tI Q Uet6H0fk?n㫿Q7ο5?ր?@ ?~?)u6uI@ u6r;Iu6Cx^s>x^E)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%8;%>!!Q%D!-G->I1 I=7ٮ11 Q=tI 1 U=t*H@?`EX?Վ?@?)u*I@ u*r;Iu(xBi>xBEiNf=IR̓C)~G<F@=YEE>AAQMDIMM>IQ I]7ٮQ M]7Q Q]tI Q Ue=C9QU: U:)U7 m9)aIa mtIia mhDa e!:)e5:Ie9yIy9*G2GFFrFbFEE);I9 iI޼i 2@<:@w: i5?A9) ~v(AYt*I@t*)GX@yt*Ɗ$t*<‰>t*H(d?@< %ο ? B?@??)u*I@ u*r;Iu*CxVi>xVEGZAAHX)-vGF@]Yes:e>aaQmDim-:m>Iq I}7ٮqq Q}tI q U=C9quu: u:)uq7 9) 9I tIi hD  :)b:I 9I9*G2GFFrFbFEE);I9 iIۼi 2@<:@w: }2) hZv(A Yt*8I@t*W@yt*Ot* v>t*H$`?@% gͿ*O?V?hV?`W?)u*8I@ u*r;Iu*CxNeq>xRnEi\I\)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y*;>QDCi>I I7ٮ QtI  U=C9: :)97 9)I tIi  hD ;) ;Ie9)I)9)*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIaimsؼiii q2@u<:@}w: ߉) P8v(AYt2NI@t2W@yt2t2>t2H !@?)k\Ϳ? ؃?? ?)u2NI@ u2r;Iu2Cx>eq>x@)Gi wA F@Yʝ[>ʡʡQDʡͭt[;>I I7ٮ QtI  U=C9鰵%f< =l<)%U7 ]9)1I1 mtIi1 mhD1 5<)5&3D) wv(AYt*I@t*W@yt*Ft*҅>t*H`(1q? Ϳ@xR"EHPHPi`Ib“C)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@UY]:]>aaQeDaeU m>Ii I7ٮii QtI i U=C9im ; m;)m[r7 9)I tIi hD }:):IfB9I9*G2GFFrFbFEE)-;I-9 QQiQIQY]8ҼiYY Y2@e<:@ew: ߙa,) w(A) IYt.UI@t.`W@yt.at.y>t.H*`T?6̿#?+l? n?@?)u.UI@ u.;r;Iu,xN |>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qF@Y>)Q5D15=>I9 IE7ٮ99 QEtI 9 UM=C99=ի: =1:)=7 U9)III UtIiI ]hDI M1:)M:IM_T9aIa9iODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I%9 !!i!I!IMμiII Q2@U<:@]w: ߩrV) w(AYt*H@t*W@yt*o"t*;>t*H`+ 6?`Mܩ@̿`d `J?xS?? ?)u*H@ u*Mr;Iu(xB\>xBUEiXI\)G4=a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ֐>ʡʡQDʡͭ,>I I7ٮ QtI  U=C9鰵C: %:)ݧ7 9)I tIi hD :):IDc9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.057086 arcdeg .q''*G2G!F!F!rF)bF)E)EI)e;Ie9 aaiaIa˼i 2@<:@w: ߱i19E) 8w(AYt*H@t*%OW@yt*P t*>t*Hx5?7#B̿ @? ?@&? ?)u*H@ u*r;Iu*CxR:m>xREGR@AHP)%GF@eYm9u>qqQuDq},Y}>I I7ٮ QtI  U=C9鰅}: :) 7 9)I tIi iD :)>:It9I9=O=@Contact HDG: 140.316633 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFIbFIEIEI);I9 iI  ɼi   2@<:@w: ){h) 1}Rw(A Yt:MH@t:XrW@yt:t:>t:H1$?Gن̿@Gh@???'?)u:MH@ u:r;Iu:CxBMl>xFLEiTIV̓C)-GF@Yʕ$;>ʡʡQDʩͽ;>I I7ٮ QtI  U=C9ۢ; ';)E7 9)I tIi iD 3&;)#;I9)I)9)*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIaim,Ƽiii q2@}<:@}w: ߉) Xlw(AYt*;zH@t*F'W@yt*R<"t*>t*H9T?  V˿' I??tG??`D?)u*;zH@ u*r;Iu*CxBc>xB E)~vGi yAa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ`:>ʁʁQDʁ͍|<>I I7ٮ QtI  U=C9鰕: :)Q7 9)I tIi iD :):I(9I9*G2GFFrFbFEE);I9 iIAüi 2@ <:@ w: 1=t>>z) v2w(AYt**jH@t*5W@yt*E t*>t*H@; 3?=`˿#'`K??]??)u**jH@ u*r;Iu*CxBh>xBEHBa=HBa=iPIR“C)dGF@}Yʅ9>ʁʁQDʉ͍ >I I7ٮ M7 QtI  U=C9鰕: !:)7 9)I tIi iD h:):I/9I9*G2GFFrFbFEE);I9 iIxE)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I I 7ٮ Q tI  U =C9q: :)t27 9)I tIi iD :)b:I̸9)I)9)*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIaimiii q2@}<:@}w: ߉) w(AYt*H@t*V@yt*#$+t*G->t*H`D ?^ 2˿@&7?jd?:?`?)u*H@ u*r;Iu*CxBxp>x@iXIZ̓C)G%=F@Yʭۺ>ʱʱQDʱͽR>I I7ٮ QtI  U=C9: _:)vM7 9)I tIi iD :):Ix9I9*G2GFFrF bF E E )%;I%9 !!i!I!)-8-i)) 12@5<:@=w: Ii19) nw(AYt G@t !V@yt \t f>t H@J7$??`cʿ8@ =?K?|?1?)u G@ u r;Iu Cx5n>x=EGIHI) SGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuf;u>yyQ}Dyͅ^>I I7ٮ QtI  U>C9鰅: -:)j7 9)I tIi iD :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ) ܟw(A Yt>H@t>ٱV@yt>$t>bڇ>t>HrF@q?+˿*ֈ?` ? @?`?)u>H@ u>r;Iu>CxbWx>xbEilIn“C)=GF@MYMAU>QQQUDQ];]>Ia Im7ٮaa QmtI a Um>C9aeͭ: e:)eʃ7 }9)qIq }tIiq }iDq u:)u:Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.204706 arcdeg .q''*G2GFFrFbFEE);I9 iI|i 2@<:@w: ) zx(AYt:G@t:mV@yt:ut:e%>t:HMZ? X!ʿi4>s?@n?t?`?)u:G@ u:Cr;Iu:CxFu>xFE {DY|HJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uʹʹQD">I I7ٮ QtI  U>C9; M;)S7 9)I tIi iD ;) ;I9 I9=O%@Contact HDG: 140.316633 arcdeg .'%'%O%4Initialize Wait Component.*G!2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQY]갼iYY a2@e<:@mw: =V>=p>) k!x(AYt6G@t6ӊV@yt6&t6>t6HJ8?` @ʿME ?@? ?~?)u6G@ u6r;Iu6CxJa>xJ EHLHL){NO~I{Li{NT={L{L{NA{L|N@A9|ND,^?U$p}ilIn̓C)5SGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝI9>ʙʡQDʡͥ@;>I I7ٮ QtI  U>C9鰵: :)7 9) 9I tIi iD ݖ:):I 9I9*G2GFFrFbFEE2EzE@AER{@)$%ED,^?U$p}EO~EEbfij!@ PE; 忝A)?5Ui˿E@=DHdg To Contact =132.335393 degreesZET AbE:Eo$?BEvo$?JE RE| jEJ%rE)%;I-9 ))i)I)1523i11 92@=<:@Ew: Q$mDacoustic_contact_range 12.059997 m$}hTrackAcousticContact.heading_to_contact 2.309688 rad$}LDUSBL_Hydroid.xAngle -60.649997 arcdeg9) X;;x(A)4t*H@R@?`&ʿfG(? ?D?`{?)u*"G@ u*_r;Iu*CxNjw>xN"E)GF@=Y==>AAQEDAMKM>IQ IU7ٮQQ Q]tI Q U]>C9QU: Ux:)Ud7 e9)aIa mtIia mjDa e-:)eA:Ie9I9*G2GFFrFbFEE);I9 iImAi !2@%<:@-w: Y)  Ux(AYt*G@t* ~V@yt*‡t*|}>t*H`K=?@西ʿ@hT`i?Ё?\??)u*G@ u*r;Iu*CxBp>xB%EiPIT)]+G]4=YF@Yʝq;>ʡʡQDʩͽ <>I I7ٮ QtI  U>C9; ;) 7 9) I  %tIi  -jD  m};) ;I /9QIY9a*G2GFFrFbFEE);I9 iI^ i 2@<:@w: !i11.) nx(AYt*#G@t*.EV@yt*{/*t*8>t*HQ5?@(c:ʿ O@?@E?D? ?)u*#G@ u*r;Iu*CxB]>xBxEGB?AHD)~SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭo>ʩʱQDʱͽ >I I7ٮ M7 QtI  U>C9Z: ÷:)x7 9)I tIi jD :)4:I@9I9*G2GFFrFbF E E );I%9 !!i!I!)-Hi)) 12@5<:@=w: I") ˆx(A Yt*G@t*qV@yt*t*%u>t*H@*M?aʿc?@ ?n? ?)u*G@ u*r;Iu(xNeq>xRnEi\I\)GF@-Y-:5>11Q5D1=Y;=>IA IM7ٮAA QMtI A UM>C9AE: Et:)E(7 U9)QIQ ]tIiQ ]jDQ U:)U:IUP9iIi9i*Gy2GFFrFbFEE);I59 19i9I99EPGiAA A2@M<:@Mw: a@() x(AYt.G@t.OV@yt.wt.>t.H PZ?{*Nʿ .R`hV?Ѐ?@m?@?)u.G@ u.9r;Iu.CxN`>xR. E)GiwAwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}us;}>ʁʁQDʁ͍>I I7ٮ QtI  U>C9鰍: :)3E7 9)I tIi jD :):Ihb9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 qqiqIqy}>iyy 2@<:@w: ߹5R>=x>j.) wx(AYt*G@t* V@yt*L%t*m>t*H^I j?`&Уʿ`n?|?x?v#?)u*G@ u*r;Iu*CxBj>xBqEHBp=HDiPIR“C)~GF@=YE>E>AIQMDIM1<M>IQ I]7ٮQQ Q]tI Q Ue>C9QU: U:)UC`7 m9)aIa mtIia mjDa eO:)e :Ies9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.107444 arcdeg .q''*G2G@FFrF!bF!E!E))=;I=9 99iAIAEj@iAM@ I2@U<:@Uw: $ERHorizontalControl.headingCmd 2.309688 radR5) .Tx(A);IYt*;H@t*FV@yt*t*>t*H`F`"?}˿ Av?@B??"?)u*;H@ u*ns;Iu*CxBsj>xB(E)~AAQMDIM;M>IQ I]7ٮQQ Q]tI Q Ue>C9QU`: U:)U{7 m9)aIa mtIia mjDa e :)aIe"9yIy9=O @Contact HDG: 132.335393 arcdeg .' ' O 4Initialize Wait Component.*G 2GFFrFbFE!E!)5;I59 99i9I9=@iAA A2@M<:@Mw: Yw};) f1x(AYt*O H@t*ZV@yt*7t*z>t*H`E .?¥˿T{?5?(? ?)u*O H@ u*s;Iu*CxBx>xBEiN=IL)~G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye$:e>aiQmDim֢9u>Iq I7ٮqq QtI q U>C9quW: u :)u7 9)I tIi jD h:)E:I9I9*G2GFFrFbFEE!)U;IU9 QQiYIY]@iYa a2@e<:@mw: yi11dB) _ y(AYt*`BH@t*kV@yt*$t*LTs>t*H ?d ?F˿L[@߱??!?e?)u*`BH@ u*s;Iu*CxVj>xVqEGZ@AHX {XY|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) Q D <>I! I-7ٮ!! Q-tI ! U-?C9!%(: %;)%Ŵ7 E9)9I9 EtIi9 EjD9 =:)=:I=R9YIa9a*Gy2GyFFrFbFEE);I9 iIM@i 2@<:@w: vH) #y(A Yt.kH@t.W@yt."t.؆>t.Hv;`H/?؏@@˿#b?҂??`2?)u.kH@ u.ņt;Iu.CxB`k>xBE){F>+I{Di{D{D{D{D{D|D9|F9?E+oi`I`)}SGF@Yʵ;>ʹʹQDʹ{;>I I7ٮ QtI  U?C9O: W:)7 9)I tIi jD :):Iշ9I9*G2GF F rF bFEE2EzEE3R*@ 'L-%E9?E+oE>+EE@0o!@! ntEwpfO!?e:7̿E@=-DHdg To Contact =132.124395 degreesZEy AbED:EBEo$?JERE jE-rEJ%)E;IE9 AAiAIAM$@iII Q2@U<:@]w: i$Dacoustic_contact_range 12.059997 m$hTrackAcousticContact.heading_to_contact 2.306006 rad$LDUSBL_Hydroid.xAngle -61.399999 arcdegN) =y(AYt*H@t* 1W@yt*|t*>t*H@8 _?`@y̿ &9??@?@?)u*H@ u*u;Iu*Cx>:m>x>E)~dGia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭÜ9>ʩʩQDʱͽo;>I I7ٮ QtI  U?C9鰽: >:)7 9)I tIi kD ٮ:):I9I9*G2GFFrFbFE E );I9 !!i!I!-~@-i)) 12@5<:@5w: I5V>5{>U) ]Wy(AYt:H@t:SW@yt:-t: {>t:H`4?#T`J̿@A`?`?m? ?)u:H@ u:Fu;Iu:Cx^Ze>x^ EHba=H`irf=Ip)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@uYuoku>yyQ}Dyͅ;>I I7ٮ M7 QtI  U?C9鰍; ;)s7 9)I tIi kD :):I9I9*G2GF F rFbFEE)5;I59 11i9I9=@iAA A2@m<:@mw: ߁[) wqy(A) IYt.bH@t.mW@yt.t.>t.H0?@n<̿ !?`o҃? g??)u.bH@ u.5u;Iu,xBe>xBP E)~QD;>I! I-7ٮ!! Q-tI ! U-?C9!%:: %:)% 7 59)1I1 =tIi1 =kD1 5l:)5:I59III9IO]Done Waiting.']Oe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFibFiEqEq);I9 iI@i 2@<:@w: ߱b) "Ry(AYt*MH@t*XW@yt*t*ԋ>t*H -`K?K3̿ R@>?H܀? C? ?)u*MH@ u*v;Iu(xR:m>xREi^=I`)SG!!F@-Y5g;5>11Q=D9=9;E>IA IM7ٮAA QMtI A UU?C9AE: A)E<7 ]9)QIQ ]tIiQ ekDQ U:)U:IU39iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.993279 arcdeg .q''*G2G@FFrFbF E E );I%9 !!i!I!-Fg@i)-@ )2@5<:@5w: I$RHorizontalControl.headingCmd 2.306006 radi19"h) o-y(AYt*I@t**W@yt*MPt*}>t*H(@p?@Q ͿC@/? ?@e`??)u*I@ u*w;Iu*CxRv>xRGEGTHT)%dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ (>ʉʉQDʉ͕;>I I7ٮ QtI  U?C9鰝: :) Y7 9) 9I tIi kD x:):I 9I9=O=@Contact HDG: 132.124395 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9FArFAbFIEIEI)m;Im9 iiiqIq}@iyy y2@<:@w: ߙo)  y(A Yt.I@t.W@yt.++t.z>t.H'`v?5+Ϳ*6{?@ee?v?@ ?)u.I@ u.v;Iu.CxZ?s>x^EilIl)=GF@EYM>M>QQQUDQ] :]>Ia Ie7ٮaa QmtI a Um?C9ae}: e:)e$t7 u9)qIq }tIiq }kDq u:)u:Iue9I9*G2GFFrFbFEE);I9 iIJi 2@<:@w: nu) y(AYt.WI@t.X@yt.&t.C>t.H ?qͿ@p? e߄?a??)u.WI@ u.f$v;Iu.CxBvW>xB|E)MGiUxAUxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ :>ʱʹQDʹͽH<>I I7ٮ QtI  U?C9: :)7 9)I tIi kD :):I.9I9*G2GFFrF bF E E)%;I%9 !)i)I))5i11 12@=<:@=w: I5>1|) wy(AYt*\I@t* X@yt*#t*>t*HS T?GתխͿ`࠻?`v?` ?b?)u*\I@ u*DAv;Iu*CxBHf>xB EH@HFp=iPIP)~SGF@Yʕ=:>ʑʑQDʑ͝I:>I I7ٮ QtI  U?C9鰥: 5:)ޫ7 9)I tIi kD į:)^:I?9I9*G2GFFrFbFEE);I9 i I   q#i 2@<:@w: ))  z(A) IYt*]I@t* X@yt*4t*>t*HJ @xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Y;>QD69>I I7ٮ Q tI  UU?C97< |7<)l7 ]9)QIQ ]tIiQ ]kDQ Ul:)U:IUS9I9*G2GFFrFbFEE);IE9 AAiIIIQUiQQ Y2@<:@w: ߡ+) :v&z(AYt*KI@t*VDX@yt*t*m|>t*H  h}?ο($ ?Â?G?E?)u*KI@ u*%u;Iu*CxB'n>xBpEiXIX)G4=a 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ->ʁʁQDʉ͍Z <>I I7ٮ QtI  U?C9鰕: ):)7 9)I tIi kD :) :Ia9I9*G2GFFrFQbFYEYEY)m;Iu9 iI㉼i 2@<:@w: i=@A9) N@z(AYt*I@t*(UX@yt*) t*=>t*H?@B@ο`r?`???)u*I@ u*:v;Iu(xNeq>xRnEGRAAHP)iiQmDiu(;u>Iy I}7ٮyy QtI y U@C9y}ͭ: }:)}47 9)I tIi lD ɏ:)ݖ:Ir9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI_i 2@<:@w: A=) ^+Zz(A@ Yt* I@t*jX@yt*$t*>t*H ? 'hο@r?? ?`?)u* I@ u*!u;Iu*CxNi>xRNEibf=I`)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʍ>ʉʉQDʑ͕L;>I I7ٮ M7 QtI  U@C9鰝$: I:)7 9)I tIi lD :)::Iڃ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 193.744272 arcdeg .q']'e*Ga2GaFaFarFibFiEiEq);I9 iI ɂi 2@<:@w: Ig) tz(AYt*I@t*TX@yt*;"t* >t*H@ފ?~@?ο`@4? aG?H?`?)u*I@ u*iu;Iu(xBf>xB E)zdGi~wA|F@=YEX9E>AAQMDIMkVM>IQ I]7ٮQQ Q]tI Q U]@C9QU>: U:)U 57 m9)aIa mtIia mlDa eF:)eZ:Ie|9yIy9=O@Contact HDG: 132.124395 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9I9AE;~iAA I2@M<:@Uw: a5Y>=p>EO) z(AYt*~I@t*X@yt*)t*&~>t*H`\@?ͩοl? T?`2q??)u*~I@ u*hu;Iu(xVe>xVP EHZp=HXidIj̓C)-GF@]Ye;e>aaQeDim<m>Iq I}7ٮqq Q}tI q U}@C9qu2: ux:)uP7 9)I tIi lD O:):I9I9*G2GFFrFbFEE);I9 iI!wi 2@<:@w: )y) z(A)4t.H6?[ ο ?o?4??)u.rI@ u.u;Iu.CxB0a>xBw E)-Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ]#>ʡʡQDʩͭS;>I I7ٮ QtI  U@C9鰵: :) m7 9)I tIi lD %:)|:I9I9*G2GFFrFbFEE);I9 iI!%Oppi!! )2@-<:@5w: A8a) ėz(AYt*I@t*X@yt*cYt*>>t*H )?窿 aοwH? ˃?@X?@?)u*I@ u*%t;Iu*CxBmd>xBu EiPIP)~ʑʑQDʑ͝ ;>I I7ٮ QtI  U@C9鰥: ٮ:)v7 9)I tIi lD S:):I9I9*G2GFFrFbFEE);I9  i I  ^Xii 2@<:@w: )i5?A9) qz(AYt**J@t*X@yt*t*>t*H@x?@=Ͽ@ 3? ?ԏ?`?)u**J@ u*t;Iu*CxBB`>xB EGB@AHD)~Ga 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye0:e>aaQeDimq;m>Iq I}7ٮqq Q}tI q U}@C9quG: u):)u7 9)I tIi lD :):I9I9*G 2G FFrF9bF9E9E9)M;IU9 QqiqIqy}Xaiyy 2@<:@w: ߹) t*H s?1p !Ͽ  ?zp?+??)u*SJ@ u*Gs;Iu*Cx6xp>x6Ei@IF“C)rׄGF@Y%\%>!)Q-D)-"->I1 I=7ٮ11 Q=tI 1 UE@C915: 5:)57 M9)AIA MtIiA MlDA EO:)E:IEm9YIa9a*Gq2GqFqFqrFybFyEE);I9 iIF[i 2@<:@w: X) ,){(AYt*BJ@t*X@yt*`t*E>t*H`d?5lϿ`.y??@Y??)u*BJ@ u*u2s;Iu(xNl>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGixAF@Y;>QD;>I I7ٮ QtI  U@C9 : :)7 9)I tIi  lD :):Im9I!9!O=Done Waiting.'=OE8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFEE);I9 iI)-Ri11 12@=<:@=w: I=>=>v) G){(AYt*ZJ@t* Y@yt*.t*p >t*H(@?ÙϿh?C? ??)u*ZJ@ u*jNs;Iu(xB1z>xBEHBa=HBa=){FhI{Di{F={F>{D{FpA{D|FA9|Fo9?D-@ib=I`)%Ga 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m a )ma )m iiɄiimMb@Mb@Mb@YmBIiiimLBmLBɅmLBm_Bi i)iF@Yʍ;>ʉʉQDʉ͕m;>I I7ٮ QtI  U@C9鰝: :)7 9) 9I tIi mD :)r:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 194.293419 arcdeg .q'e'e*Ga2GaFaFiFiFm(ArFibFqEqEq2EyzE}AE}!jz^.@&Ϋ3E}o9?D-@E}hEyE}"i3L&-@11E}@1!鿪?AYȿE}@=DHdg To Contact =143.173251 degreesZE}hAbE}O:E}uo$?BEyJE}} REyjE}rE}-%Ն*)%; !%h8%hI%9 --i)I-XǷ15Li11 92@=<:@=w: q$Dacoustic_contact_range 24.720001 m$hTrackAcousticContact.heading_to_contact 2.498845 rad$LDUSBL_Hydroid.xAngle -52.100000 arcdeg) B{(A);IYt.fJ@t.Y@yt.l%t.>t.H`r? hϿ`?i? @G?'?)u.fJ@ u.Tr;Iu.CxBi>xBE)~AAQMDIM3:M>IQ I]7ٮQ M]7Q Q]tI Q Ue@C9QUg: U:)U7 m9)aIa mtIia mmDa e:)e:Ie9yIy9=O@Contact HDG: 143.173251 arcdeg .''O4Initialize Wait Component.*G2GFFF!F!rF!bF!E!E)=@A)E; AE98E9ݸIE9 EAiAIMbIM=WEiQQ Q2@]<:@]w: ib) \{(AYtrJ@trBY@ytrw3tr!->trH@`rV?czпo?`s?V? ?)urJ@ urXr;IurCx~5g>x~*EiI!)}SGR=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QDN;>I I7ٮ QtI  U@C9: :).7  9) I  tIi  mD  :) o:I .9!I!9!*G12G1F9F9rF9bFAEAEA)];I]9 ]]iYI]ae >iaa i2@m<:@uw: ߁i!)^) Ĕv{(AYt*J@t*3Y@yt*"t*y>t*H`3?Ͽ@?aY?@E?v?)u*J@ u*q;Iu*Cx^i>xbEGb?AH`)]dGF@mYm.;m>qqQuDq}}>I I7ٮ QtI  UAC9鰅: _:)4I7 9)I tIi mD ):):I>9I9*G2GFFrFbFEE);I9 iI%)7i 2@<:@w: ~) p{(A@ Yt*J@t* Y@yt*!t*J>t*H ?@ƫBп`=?0???)u*J@ u*Sq;Iu*CxBc>xB, EiRf=IP)GF@uYuH9}>yyQ}Dyͅ$?<>I I7ٮ QtI  UAC9鰉 .:)d7 9)I tIi mD _:)؛:IP9I9*G2GFFrFbFEE);I9 iI/i 2@<:@w: ) K{(AYt*J@t*}Y@yt*;jt*>t*HW?@֜ >п| •?7-? .?x?)u*J@ u* jq;Iu*CxNj>xRqE){GiwAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y;>QDZ>I I7ٮ QtI  UAC9: ÷:)7 9)I tIi mD ::):Ipa9I9*G 2GFFrFbFEE!)5;I59 19i9I99E(iAA A2@M<:@Mw: Y5R>=>5) &{(AYt* K@t*źY@yt*%*t*(>>t*H`T?t`zп@w?@D?@9?`?)u* K@ u*nq;Iu*CxBHf>xB EH@HFp=iPIP)~GF@=YE'E>AIQMDIMI<M>IQ I]7ٮQQ Q]tI Q UeAC9QU: U:)U7 m9)aIa mtIia mmDa e:)e9:Ieq9yI9*G2GFFrFbFEE);I9 11i1I19=QB!i9A A2@E<:@Mw: y#+) {(A)4t6HD-;?@a@ zп@@o?ʆ?.?`??)u6,K@ u6tp;Iu6Cx^o>x^E)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʽ]׺>ʹʹQD;>I I7ٮ QtI  UAC9: :){7 9)I tIi  mD ;);Iބ9I9OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEY);I9 iIi 2@<:@w: Q) Y{(AYt*?K@t*Y@yt*Lt*O>t*H !I?`g֬ пY?|? q?@?)u*?K@ u*{p;Iu(xNi>xREi\I^̓C)G%=%%=F@-Y5;5>11Q5D9=bY;E>IA IM7ٮAA QMtI A UMAC9AE: E:)E7 ]9)QIQ ]tIiQ ]mDQ U:)UE:IU9iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.096950 arcdeg .q''*G2G@F F rFbFEE)-;I-9 ))i)I)5 @i15@ 92@=<:@Ew: $RHorizontalControl.headingCmd 2.498845 radi19=9)  |(AYt*K@t*:Z@yt*"t*>t*H@h?@ҭ@wп@P?@Y?`M?I?)u*K@ u*Zp;Iu*CxRf>xR EGRAAHRAA {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y>QD5<>I I7ٮ QtI  UAC9` ; c;)7 9)I  tIi  mD V:):I9!I!9!=O@Contact HDG: 143.173251 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i )2@5<:@5w: Ac ) +|(A Yt*uK@t*"Z@yt*t*>t*H n?`@п0?&??|?)u*uK@ u*3+p;Iu*CxNp>xR%E){RI{Pi{R={R7>{P{RA{P|R B9|REwʩʩQDʩ͵Vj>I I7ٮ M7 QtI  UAC9鰽: ض:) 7 9)I tIi nD :)Z:Ig9I9*G2GFFFFZBrFbFEE2E zE  BE 0D<@~vix&4E Ewt2Hl??ѿ??`O? ?)u2HK@ u2D p;Iu0xN^>xR E)Gi!!F@-Y5t5>99Q=D9E<E>II IM7ٮII QUtI I UUAC9IM: M%:)MQ%7 ]9)YIY etIiY enDY ]1:)]:I]9qIq9q*G2GFFFFrFbFEEY); N8NոI9 iIa@i 2@<:@w: 5>=i>ru) H_|(AYt*K@t*zZ@yt* 4t* h>t*H?j3ѿn?`c? ?`xBsEHBR=HFa=ipIp)E҄GF@Yʕ?>ʡʡQDʩͽT>I I7ٮ Q tI  UAC9]< *`<) B7 }9)III tIiI nDI Mf;)M;IM%9I9*G2GFFFFrFbFEE5e)5; 15zv95zvI59 =Z9i9I=øE@iAA A2@M<:@mw: ߁ڟ) %y|(A) IYt.K@t.Z@yt.v-t.0>t.H ??SG[ѿL@?཮?@9a? ?)u.K@ u.o;Iu.CxB`k>xBE)=+Ga 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ酅鄁 )F@Yʥ}:>ʡʡQDʡͭ[;>I I7ٮ QtI  UAC9鰵E: k:)c]7 9)I tIi nD O:) :Ip9I9*G2GFFrFbFEE);I9 iI@i! !2@%<:@-w: 9$) K|(AYt* 0L@t*Z@yt*{xt*>t*H #?`s{@{ѿষ? ΃?,m?-?)u* 0L@ u*o;Iu(xBo>xBJEiPIR“C)~SG%=4=F@YʍI;>ʑʑQDʑ͝<>I I7ٮ QtI  UAC9鰥%: :)x7 9)I tIi nD t:):I]9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )i19*) 'ڬ|(AYt*6L@t*Z@yt*4t*@߅>t*H&?`Zݯ!ѿ@r? s??4?)u*6L@ u*po;Iu*CxBjw>xB"EGB@AHF@A)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye49e>aaQmDim:m>Iq I}7ٮqq Q}tI q U}AC9qu: u5:)u7 9) 9I tIi nD :) :I# 9I9O Done Waiting.' O 8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9EAEA)u;Iu9 yyiyIyy i 2@<:@w: ߡ1) k|(A Yt*_L@t* [@yt*f t*>t*H GW?۝@ѿN@?` ?j??)u*_L@ u*tuo;Iu*CxNq>xREi\I\)GF@-Y--5>11Q5D1=|;=>IA IM7ٮAA QMtI A UMBC9AE:: E:)E&7 U9)QIQ ]tIiQ ]nDQ U):)U:IU9iIi9i&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 196.101206 arcdeg .q'}'}*Gy2G}D=3@FyFyrFbFEE);I9 iI%[!@iD=3@ 2@<:@w: $-RHorizontalControl.headingCmd 2.800614 rad7) |(AYt*L@t*=[@yt*M2t*G1>t*H C?@.Jѿ ̈́?S?8??)u*L@ u*Io;Iu*CxB"h>xBE)~ƄGixAF@ Y;6>QDU;>I! I-7ٮ!! Q-tI ! U-BC9!%: %t:)%u7 =9)1I1 =tIi1 =nD1 5>:)5ض:I5,9III9I=O@Contact HDG: 160.463383 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI #@i   2@<:@w: )5R>=l>=) l|(AYt*0L@t*;.[@yt* :t*>t*Hc &m? 5`^ѿr?@Y???)u*0L@ u*Zo;Iu*CxBr>xBIEHBa=HBp=iPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeXe>iiQmDiuu>Iy I}7ٮyy QtI y UBC9y}: }а:)}7 9)I tIi nD }:)Ԙ:I:>9I9*G2GFFrFbFEE);I9 iI='@i 2@<:@w: ?D) I}(A) I4t.H ̡?^_pҿ@?ڔ?@b??)u.vL@ u.!No;Iu.CxBsj>xB(E {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}dGF@Yʭ[;>ʱʱQDʹͽ\ <>I I8ٮ M8 QtI  UBC9: ;)8 9)I tIi nD :):IO9I9*G2G!F!F!rF)bF1E1E9)U;IU9 YYiYIYe-@iaa i2@u<:@}w: ߑJK) _$.}(AYt2L@t2y[@yt2F4t2I>t2HŮ?1ԯ`(ҿ`? ? S?j?)u2L@ u2`o;Iu2CxNu>xRE){R聿I{Pi{Rխ={P{P{RA{P|RGA9|Rcw?x .ir=Ip)=GE4=E%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥŸ>ʩʩQDʩ͵6;>I I8ٮ QtI  UBC9鰽ͭ: ):)?8 9)I tIi oD  :):I`9I9*G2GFFrFbFEE2E zE GAE 4n+@ X086E cw?x .E 聿E E D]d3~w)0@dSE ]^Nc?xʿE ۟@=DHdg To Contact =139.322240 degreesZE WAbE %:E uo$?BE Ro$?JE { RE  jE rE L)5;I59 11i1I9=&1@i={>9 A2@E<:@Mw: Y$}Dacoustic_contact_range 26.160002 m$hTrackAcousticContact.heading_to_contact 2.431632 rad$LDUSBL_Hydroid.xAngle -58.149997 arcdegi99Q) ;G}(AYt*yL@t*[@yt*8,t*ן>t*H'?`į5ҿ@V??&?`f?)u*yL@ u* Io;Iu*CxBZe>xB EG@H@)+GF@mYu:u>qqQ}Dy}#:>I I8ٮ QtI  UBC9鰅:: >:)8 9)I tIi oD ٓ:)$:I]q9I9*G2GFFrFbFEE);I9 iI-4@i{m> 2@<:@w: X) a}(A Yt*M@t*ϱ[@yt* !t*㵅>t*H :?ᤰ`^ҿ@9?N!???)u*M@ u*Jco;Iu*CxNg>xRsEibf=Ib̓C)%GF@Yʽ :>QDR;>I I8ٮ QtI  UBC9: l:)*8 9)I tIi oD ;):;I͂9I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QQiQIQ]u5@iYY a2@e<:@mw: ߁<^) l{}(AYt*M@t*[@yt*10t*>t*H? Y :wҿ@?#? ??)u*M@ u*O`o;Iu*CxNxp>xRE)vGiwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Y>!!Q%D!-pw;->I) I58ٮ)) Q=tI ) U=BC9)-l: -N:)-98 E9)AIA EtIiA MoDA Eɏ:)Eݖ:IEU9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iICj5@}i 2@<:@ w:%> )5>=>#e) G}(AYt*ZL@t*e[@yt*a3t*C>t*H@? KcYҿ`@R?l?>x?@?)u*ZL@ u*ko;Iu*CxNMl>xRLEHPHRa=i`Ib“C)%GF@-Y5T5>19Q=D9EuE>IA IM8ٮAA QUtI A UUBC9AE: E:)EE8 ]9)QIQ ]tIiQ eoDQ U:)U:IU9iIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.661869 arcdeg .q''*G2G۟@FFrFbFEE);I9 i!I!%3@i-5x>-۟@ )2@U<:@Uw:MQ|> Q$uRHorizontalControl.headingCmd 2.431632 radNk) j}(A);I;Yt*XBM@t*c[@yt*t*>t*H @e'?^ ҿ{~??т???)u*XBM@ u*mo;Iu*CxNT>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY};}>ʁʁQDʁ͍"<>I I8ٮ QtI  UBC9鰍: $:)S8 9)I tIi oD S:):I9I9=O@Contact HDG: 139.322240 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E)E1)E;IE9 AAiIIIu50@iu >q y2@}<:@w:l> 5r) E}(AYt.-M@t.[@yt.t.>t.H4 ?`찿ҿ଑?@???)u.-M@ u.fo;Iu,xNk>xREi\I\)G%=!F@-Y5c5>11Q5D1=O=>IA IM8ٮAA QMtI A UMBC9AE.: Eͭ:)Eva8 ]9)QIQ ]tIiQ ]oDQ U:)U:IU9iIi9i*G2GFFrFbFEE);I9 iIk-@i 2@<:@w:Bv> i19`x) !}(AYt*MM@t*[@yt*&2=t*w>t*H@:m,?@ܰ@1ҿ@`J?@"???)u*MM@ u*o;Iu*CxNmd>xRu EGRAAHP)vGa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅj>ʁʁQDʁ͍;>I I8ٮ QtI  UBC9鰕G: l:)o8 9)I tIi oD }:),:I9I9*G2GFFrFbFEE);I9 iI}'@i 2@<:@ w:> 1~) 2}(A Yt.JM@t.[@yt.ř)t.>t.H#? j8`ҿ@W?3??`>?)u.JM@ u.jo;Iu.Cx>i>xBEiN=IL)~GF@Y%G;%>!!Q-D)-->I1 I=8ٮ11 Q=tI 1 U=CC915: 5;:)5|8 M9)AIA MtIiA MoDA E::)E:IE9YIY9a*Gq2GqFqFrFbFEE);I9 iI"@i 2@<:@w: )I ߩv) ~(AYt:3M@t: [@yt:.t:ل>t:H@:?2˰@ҿcY?X?vk?l?)u:3M@ u:Qo;Iu:CxJ]>xNxE {LY|LR8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGiya 1ma 1m a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Y;>QDL>I I%8ٮ Q-tI  U-CC9f; ;)ˌ8 59)1I1 5tIi1 =oD1 5:)1I59I9*G2GFFrF bF E E)m;Im9 qqiqIq6@i 2@%<:@%w: A->->) 0~(AYt* fM@t*\@yt*3%t*j->t*H ŘlC?ి`ҿmG? ? u?`?)u* fM@ u*o;Iu(x~"h>x~EHH){ III{i{={{{A{|B9|v?rB4iEf=IA)SGF@Yʽ>QD <>I I8ٮ QtI  UCC9: l:):8 9) 9I tIi pD Е:):I 9I9*G)2G)F1F1rFYbFYEYEY2EazEeBEeɀb89@dm<D9Eev?rB4Ee IIEaEecn\S?^0./@%Ee19VD胕?%aƿEe*@=uDHdg To Contact =153.024214 degreesZEeAbEe:EeVo$?BEeuo$?JEe| REe{ jEerEe);I9 iI@i 2@<:@w: $Dacoustic_contact_range 35.699997 m$hTrackAcousticContact.heading_to_contact 2.670776 rad$LDUSBL_Hydroid.xAngle -45.050002 arcdegDŽ) dJ~(A)IYt*3:M@t*>[@yt*^t*^>t*H@@?$ԑҿvu?+?H?_?)u*3:M@ u*o;Iu*CxBeq>xBnE)EGF@]YeQ;e>aaQeDam߻m>Iq I}8ٮqq Q}tI q U}CC9quw: u߼:)u8 9)I tIi pD ::):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%8@i!! !2@-<:@-w: aݮ) ]kd~(AYt*_M@t* \@yt*~*t*)>t*H`xNEi`I`)mGiqa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y n>QD2;>I! I-8ٮ!! Q-tI ! U-CC9!%: %į:)%)8 =9)1I1 =tIi1 =pD1 5:)5:I5x-9III9I&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 196.999799 arcdeg .q''*G2G*@FFrFbFEE)-;I-9 IIiIIQU@UiQ]*@ Y2@e<:@ew: q$RHorizontalControl.headingCmd 2.670776 radi19מ) >B~~(AYt*gM@t*\@yt*S3t*Є>t*Hr4I?_Nҿ h?,|?`?j?s?)u*gM@ u*sp;Iu(xB'n>xBpEGB@AHD)GF@Y%ƺ%>))Q-D)-g:5>I1 IE8ٮ11 QEtI 1 UECC915I; 5;)58 M9)III UtIiI UpDI M:)Mȗ:IM:=9)I)9)=O@Contact HDG: 153.024214 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 )1i1I15]@i99 92@E<:@Ew: ߩ) K!~(A Yt*cM@t*\@yt*/t*>t*H7? rpҿ@s?@8?`,? ?)u*cM@ u*p;Iu*CxBMl>xBLEiLIP)SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeQ:m>iiQmDiuu>I I8ٮ QtI  UCC9鰝F: :)%8 9)I tIi pD <)Dt*Hམ3? 豿ҿw mz? ??@ ?)u*fM@ u*p;Iu*CxBg>xBsE)~dGixAF@Y%K;%>!)Q-D)-:->I1 I=8ٮ11 Q=tI 1 UECC915 : 5:)5|8 M9)AIA MtIiA MpDA E:)E|:IE@_9YIa9a*Gq2GqFqFrFbFEE);I9 iI9#@i 2@<:@w: ߙ5>9Ѳ) ~(AYt*M@t*/\@yt* t*i>t*H`[? 7@ҿ*??|??)u*M@ u*(p;Iu*CxB'n>xBpEH@HFp=iPIP)F@Y%H%>))Q-D)5;5>I1 I]8ٮ11 Q]tI 1 UeCC915ش; 5;)5F8 m9)aIa mtIia upDa e:)eA:Ieqp9I9*G2GFFrFbFEE);I9 iI%(@i%af>! )2@-<:@-w: a) ~(A)IYt*xM@t*:\@yt* "t*>t*HJ_?hҿwO?A??x?)u*xM@ u* q;Iu*CxB:m>xBE)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ>ʡʡQDʡͭK:>I I8ٮ QtI  UCC9鰵; Z;)8 9)I tIi pD ::) :I#9I9*G)2G)F1F1rFYbFYEYEY);I9 iI,@iO> 2@<:@w: ߙ') &~(AYt*#tM@t*.!\@yt* *t*r>t*H஖F?F@,ҿs?A?X??)u*#tM@ u*Gfq;Iu(xB_>xB EiLIL)~ׄG%=F@Y%%>!!Q-D)-->I1 I=8ٮ1 M=81 QEtI 1 UECC915:: 5>:)58 M9)III MtIiI UpDI M:)M:IMS9aIa9a*Gq2GqFqFrFbFEE);I9 iI  2@<:@w: !i11) Ag(AYt*M@t*4\@yt*FY)t*7C>t*Hԓ2X?@ҿqր?+? ?`?)u*M@ u*q;Iu*CxVeq>xVnEGZAAHX {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}QQQUDY]^/;e>Ii Iu8ٮii Q}tI i U}CC9im; m@#;)m8 9)I tIi pD E;);^;I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E)-;I-9 11i1I1=+0@i99 92@E<:@Ew:#> 8) RC3(A Yt.cM@t.nC\@yt.J(t.X6>t.HBl? R`ҿ@@|%?@> ? s??)u.cM@ u.hq;Iu.CxNu>xRE){R|ZI{Pi{R={P{P{RA{P|RGA9|RE7 ?= )1ipIp)ESGF@]Ye49e>aaQeDim;m>Iq I8ٮqq QtI q UDC9qu; us;)u"8 9)I tIi qD %:):I޴9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.190048 arcdeg .q''*G2GFFrFbFEE2EzEGAEM50@܅72EE7 ?= )1E|ZEE4wΒ(@|IE c 뿤IU?+OȿE&@=%DHdg To Contact =149.379680 degreesZEOEAbE:Eqo$?BEVo$?JE RE| jErE)];I]9 YYiYIYe[0@eŒVie >a i2@m<:@uw:Me}> Y$}Dacoustic_contact_range 24.659998 m$hTrackAcousticContact.heading_to_contact 2.607167 rad$LDUSBL_Hydroid.xAngle -48.900002 arcdeg ) iM(AYt*M@t*P\@yt* t*>t*H`ď o?ҿuD?@?7??)u*M@ u*߱q;Iu*CxB:m>xBE)dGi%wA%xAF@]Ye;e>aaQeDam;m>Iq I8ٮqq QtI q UDC9quظ; u;)u|08 9)I tIi qD ::),:I9I9=O@Contact HDG: 149.379680 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI .@i 2@ <:@ w: S> 5>5p>J) nf(AYt*ԕM@t*B\@yt*3t*č>t*H``?`Vҿa ?@|?w?m?)u*ԕM@ u*yUr;Iu*CxNi>xREHR=HRa=idId)ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y>QDf>I I8ٮ QtI  UDC9: :)>8 9)I tIi qD %:)Z:I_9I9*G!2G!F)F)rF9bFAEIEQ)m;Iu9 qqiqIq}.,@iyy 2@<:@w:U#@> Y3) ր(A) IYt*}M@t*l\@yt*,St*]>t*H`?@a3ӿ(n]? S*??`?)u*}M@ u*Ar;Iu*Cx>w>xBjE)|F@=YE;E>AAQEDAMl;M>IQ I8ٮQQ QtI Q UDC9QUS< U<)UK8 9)I tIi qD :)Ü:I59I9*G2GFFrFbF!E)E1)M;IM9 IIiIIIU}*@iQQ Y2@]<:@ew:e@> q\) (AYt*M@t*c\@yt*\t**>t*H -? P`2ӿ :x@o? ؃?`??)u*M@ u*r;Iu*CxBsj>xB(EiLIP)~G4=F@=YE&XE>AAQMDIMkM>IQ I]8ٮQQ Q]tI Q UeDC9QU: U:)UY8 m9)aIa mtIia mqDa e:)eo:Ie9yIy9*G2GFFrFbFEE)M;IU9 qyiyIyu*@XQi 2@<:@w:TP> i19) (AYt*M@t*j\@yt*]*t*Q>t*Hϋׇ?@P `iӿ@es?K? ,3?(?)u*M@ u*Qr;Iu(xNi>xREGPHP)+Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQDʉ͍b:>I I8ٮ QtI  UDC9鰕h: ):)g8 9) 9I tIi qD 9:):I 9I9*G2GFFrFbFEE);I9 iI*@//Li 2@<:@w:?{> ߙyn) d(A Yt*2M@t*=\@yt*C/t*k>t*H@M?W {-ӿY}??Vg??)u*2M@ u*Or;Iu*CxBsj>xB(EiPIP)~GF@=YEVE>AAQMDIMO;M>IQ I]8ٮQQ Q]tI Q UeDC9QU: U:)UIu8 m9)aIa mtIia mqDa e:)eȗ:Ie9yI9*G2GFFrFbFEE);I9  i I8FGi !2@%<:@%w:M(> Q) ?(AYt*M@t*g\@yt*t*=#>t*H^y? &} ӿkt?Â??Q?)u*M@ u*]9r;Iu*Cx2b>x6Q E)tixzwAF@Y;>  Q D 䮻>I I8ٮ Q%tI  U%DC9: :)ς8 -9))I) 5tIi) 5qD) -::)-N:I-Z+9IIQ9QODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I9 i!I!15"Ai99 A2@M<:@Uw:q q)yIy 5R>=t>) !(AYt*M@t*\@yt*,'t*@Q>t*H`h? `bKӿm!? ??@$?)u*M@ u*sr;Iu(x2n>x6EH6a=H4i@ID)rGa 1%a 1% a 5%a 5% a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM\(M>IIQMDQ]<]>Iq I8ٮqq QtI q UDC9qu* ; u:)u8 9)I tIi qD ,:)Ǻ:I<9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 197.547225 arcdeg .q'='=*GA2GE&@FAFArFIbFIEIEQ)e;Ie9 aiiiIiuS)@iqu&@ q2@}<:@}w: ߑ$RHorizontalControl.headingCmd 2.607167 rad) (A)IYt.DM@t.O\@yt.g>:t.%Ћ>t.H@ӧ?`*@-ӿf^@K?G?VB?`?)u.DM@ u.r;Iu.CxNt>xRlE {PY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GF@Y%-%>))Q-D)͕>I I8ٮ QtI  UDC9鰥c; ;)8 9)I tIi qD :)H:IO9I9=O@Contact HDG: 149.379680 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%&@i!) I2@M<:@Uw: ߉ ) B5(AYt*N@t*޵\@yt*#t*d׍>t*HO?ϲ WӿoP4?`|?݀?@?)u*N@ u*Mr;Iu(xB{>xBiE){BOI{@i{B={@{@{BB{@|BQB9|Bp@ω?3{'in=Il)eGm4=m=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@uY}W;}>yʁQDʁͅ;>I I8ٮ QtI  UDC9鰍; ӹ;)έ8 9)I tIi rD :):I`9I9*G 2G F FrFbFEE2E!zE%QBE%#8@|'͞9E%p@ω?3{'E%OE!E%k0>: Y)0@^*K.E%-\,s?)rȿE%>E*@=mDHdg To Contact =152.434058 degreesZE%LAbE%:E%Wo$?BE%qo$?JE%| RE% jE%rrE%);I9 iIgЙi 2@<:@w: $ Dacoustic_contact_range 35.579998 m$hTrackAcousticContact.heading_to_contact 2.660476 rad$LDUSBL_Hydroid.xAngle -46.349998 arcdegi19Q) O(AxB`>x  EG1H1)GF@Y>QD>I I8ٮ QtI  UDC9h: l:)̺8 9)I tIi rD B:)x:Iwp9I9*G2GFFrF!bF!E)E1)U;IU9 YYiYIYae#iaa a2@m<:@mw: ߁) i(A Yt*1 N@t*<\@yt*'t*W{>t*H@|?(E[ӿXU"? ?V?'?)u*1 N@ u**r;Iu(xNn>xREibf=I`)-vGa 1ma 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@UY]]>YaQeDae%:m>Ii I8ٮii QtI i UEC9im; m˵;)m>8 9)I tIi rD :)c:Iz9I9*G2GFFrFbFEE)-;I-9 11i1I1QUlkiQQ Y2@]<:@]w: ߑ ) ob(Ax~z>x~ E)uGiyyF@Yʽ>QD>I I%8ٮ Q%tI  U-EC99< <:<)Y8 59))I) 5tIi) =rD) -:)-g:I-9AII9I*GY2GYFYFarFabFaEiEi)};I}9 iIZi 2@<:@w: ߩ5l>=>x&) <(AYt*N@t*\@yt*lt*Ɖ>t*H }@G? biӿ^`d????)u*N@ u* r;Iu*CxBRr>xBEHJp=HLi`Ib̓C)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʽc:>QDT;>I I8ٮ QtI  UEC9%: :)"8 9)I tIi rD }:)9:I9I9*G 2G FFrFbFEE)5;I59 iIKi 2@<:@w: "-) (A) IYt*8N@t*\@yt*4t*Y$>t*H`8y?`ӿ`K??Ik?8?)u*8N@ u*,r;Iu*CxFg>xFsE)dGF@=YEnE>AAQMDIM;M>IQ I]8ٮQQ Q]tI Q UeEC9QU: UW:)U`8 m9)aIa mtIia mrDa eh:)e|:Ieܳ9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w:  4) Ѐ(AYtB!N@tB)\@ytBtB%>tBH`|?xKOnӿG? ҂??`?)uB!N@ uBr;IuBCxJp>xJ%EiXIX)%%=-=F@5Y5;=>99QEDAEiE>II IU8ٮII QUtI I UUEC9IMի: M:)M!8 e9)YIY etIiY erDY ]:)]:I]9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 !!i!I)9E_iAI Q2@e<:@mw: ߡi194:) ꀧ(AYt:/N@t:\@yt:Pt:>t:HzI?4 9|ӿXQ`?ɀ?`JY??)u:/N@ u:;r;Iu8xfv>xfGEGj@AHh)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ;>ʱʱQDʹͽ ;>I I8ٮ M8 QtI  UEC9: :)p 8 9)I tIi rD :)s:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.726108 arcdeg .q''*G2G>E*@FFrFbFEE);I9 iIU(@i<>>E*@ 2@<:@w: $RHorizontalControl.headingCmd 2.660476 radm!A) (A Yt6N@t6\@yt6t6>t6H`~?p²aӿ GT?I?iZ?@?)u6N@ u6$r;Iu6CxNh>xNEiXI\)YF@Yʕ+k>ʙʙQDʙͥp>I I8ٮ QtI  UEC9鰭: :)&8 9)I tIi rD  :):In9I9=Om@Contact HDG: 152.434058 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GqFqFqrFybFyEyEy);I9 iI>E*@i! r> 2@<:@w: AHG) ?(AYt*;N@t*\@yt*9t*>t*Hx`?@⳿@ӿ9 B?@&ǁ? xN*E {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5;5>99Q=D9E;E>IQ I]8ٮQQ Q]tI Q UeEC9QUC; U;)U+8 9)I tIi rD A:):IN9AIA9A*G2GFFrFbFEE);I 9  i I }ai} >y y2@<:@w: ߙ5>5a>rM) (e8(AYt*$N@t*/\@yt*{#t*>t*H``?1̲xVӿP6? yt? }? ?)u*$N@ u*r;Iu*Cx>Ml>xBLEH@HBp=){B^ ZI{@i{B={B>{@{BA{@|BA9|B?ԏsi`I`)-GF@]Y]e?aaQeDam%m?Iq I}8ٮqq Q}tI q U}EC9qu: u:)ut68  9)  9I tIi sD 9:)n:I$ 9I9*G2GFFrFbFEE2EzEAEUy'@>*E?ԏsE^ ZEEs#P=.Py!@2Eѡ` Evٹ' <`?t2LzɿE'@=DHdg To Contact =149.980121 degreesZE AbEq:Eo$?BEWo$?JE RE| jEcrEr);I9 i I xXi 2@<:@w:(`> )$UDacoustic_contact_range 17.820002 m$ehTrackAcousticContact.heading_to_contact 2.617647 rad$mLDUSBL_Hydroid.xAngle -48.800001 arcdegYT) l>R(A) IYt:!N@t:\@yt:%2t:o>t:H|.?`nӿU?D?;??)u:!N@ u:r;Iu:CxBp>xBE)eGF@Yʝ >ʩʩQDʱCx;>I I8ٮ QtI  UEC9; ߄;)D8   9)I UtIi UsD +<))t*Hw .?@ Bӿi="?k?`.??)u*CN@ u*Rr;Iu*Cx6i>x6EiN=IN“C)G  %=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmO;m>qqQuDq}/;}>I I8ٮ QtI  UEC9鰅\: _:)R8  9)I tIi sD 1:):IA+ 9I9*G2GFFrFbF E E )%;I%9 !!i!I!)-ai)) 12@5<:@=w: Ii19ma) (AYt*/M@t*:\@yt*>t*ё>t*H ?@`,JӿBBO??1??)u*/M@ u*/s;Iu(x>'n>x>pEGBAAH@)+GF@YR:>!!Q%D!-8->I1 I58ٮ11 Q=tI 1 U=EC915: 5:)5_8 E 9)AIA MtIiA MsDA E:)E,:IE; 9yIy9y*G2GFFrFbFEE);I9 iIDWi 2@ <:@ w: Ag) Fџ(A Yt.:N@t.E\@yt.\!t.>t.H`F@?) RӿN?@+? ˗??)u.:N@ u.nr;Iu.CxN?s>xNEi\I\)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅO$>ʉʉQDʉ͕:>I I8ٮ QtI  UFC9鰝: :)m8  9)I tIi sD ::):ImM 9I9*G2GFFrFbFEE) ;I 9  i I bZi 2@<:@%w: 1m) G(AYt.N@t.\@yt.tt.k>t.H~?@3aӿ] u?]? ??)u.N@ u.hr;Iu.CxRq>xRE)eƄGiaiF@}Yʅ:>ʁʁQDʉ͍;>I I8ٮ QtI  UFC9鰕; =:){8  9)I tIi sD ;)ܵ;I^ 9 I 9 O=Done Waiting.'EOE8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFIrFIbFIEQEq);I9 iIփ\i 2@<:@w: 5]>5>t) Ӂ(AYt*$N@t*/\@yt*נt*>t*H۴?EE`NӿUJ? ???)u*$N@ u*tNr;Iu(x>k>xBEH@HBa=iRf=IP)҄GF@mYm9m>qqQuDq}C}>I I8ٮ QtI  UFC9鰅: S:)A8  9)I tIi sD S:):IZo 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.559875 arcdeg .q''*G2G'@FQFQrFbFEE);I9 iI+(@i'@ 2@<:@w: )$ RHorizontalControl.headingCmd 2.617647 radnz) d큧(A)IYt.kM@t.v\@yt.*t.'q>t.H`M?@mo@ӿ ~;`ۆ?T?@,?=?)u.kM@ u.zr;Iu,x>o>x>E)+Ga 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YʍX>ʉʉQDʑ͕>I I8ٮ QtI  UFC9鰝: l:)D8  9)I tIi sD ;);I 9I9=O@Contact HDG: 149.980121 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI '@i   2@<:@w: I9) >(AYt*M@t*Ҙ\@yt*YBt*g>t*Hê?쩲v;ӿ:[@?9?T?@?)u*M@ u*r;Iu*Cx>}v>xBEiN=IL)G  F@Y%F;%>!!Q%D)-{->I1 I]8ٮ11 Q]tI 1 U]FC915˹; 5j;)5}8 m 9)aIa mtIia msDa e:)e|:Ie( 9I9*G2GFqFqrFybFyEyEy);I9 iIGi 2@<:@w: i19) (!(AYtNM@tNs\@ytN&tNwD>tNH@@%? `,ӿ@{f?~?1??)uNM@ uN$dr;IuNCxZWx>xZEG^@AH\ {\Y|`b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UYU];]>YyQDʁ͍ݏ>I I8ٮ QtI  UFC9鰕; ;)8  9)I tIi sD 1:):I 9 I 9 *GI2GIFIFQrFbFEE)];I]9 YYiaIaamˌiii i2@<:@w: =) :(A @Yt.N@t.ñ\@yt.D;-t. s>t.H$ ?@-Sӿ N ?N??@?)u.N@ u.r;Iu,x>o>xBJE){Bi7I{@i{B={B>{@{B`A{@|BA9|B1n!?$1ibf=Ib̓C)-dGF@=YE&E?AAQEDIMP<M?IQ I]8ٮQQ Q]tI Q U]FC9QU: U:)U38 m 9)aIa mtIia mtDa e:)e,:Ie2 9I9*G2GFFrFbFEE2EzEAEM -@>"@K)E1n!?$1Ei7EENԁ13q6"@hp/| EE*c {?ʕƿE|(0@=DHdg To Contact =157.704970 degreesZEQ@bEm:Ezo$?BEo$?JE RE jE{TrEc)-;I-9 QQiQIQY]iYY a2@e<:@mw: ߉$%Dacoustic_contact_range 19.260002 m$-hTrackAcousticContact.heading_to_contact 2.752471 rad$ULDUSBL_Hydroid.xAngle -41.050000 arcdegp) hT(AYt*M@t*T\@yt*N t*>t*H<^]?ADҿH<|?`?@X ?@.?)u*M@ u*r;Iu*CxBr>xBIE)~GiwAF@=YE!*;E>AAQMDIMgM>IQ I]8ٮQQ Q]tI Q U]FC9QU: U:)U8 m 9)aIa mtIia mtDa e::)aIe6 9yIy9*G2GFFrFbFEE);I9 iI 7i 2@<:@w: =>=>W ) Ϊn(AYt*jM@t*ux\@yt*4t*>t*H݉2?@㲿ӿW?}?|???)u*jM@ u*{q;Iu*CxVy>xVEHZ4=HXihIh)5Ga 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ:>ʙʙQDʙͥ;>I I8ٮ QtI  UFC9鰭: :)*8  9)I tIi tD }:)o:I 9I9*G2GFFrF bF E E )%;I%9 !!i)I))-Di11 12@=<:@=w: I) ^(A) IYt*|M@t*X\@yt*-%t*h>t*HCx? ۱ҿuA??p?`?)u*|M@ u*#r;Iu*Cx^>x^BE)1F@EYE,FE>IIQMDIUKU>IY Ie8ٮYY QetI Y UeFC9Y]: ]:)]8 m 9)iIi utIii utDi m:)m :ImI 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI`i 2@<:@w: O1) \(AYt*eM@t*pq\@yt*W#t*Z>t*H׊$? g-ӿ@d?`j?`A4? ?)u*eM@ u*r;Iu*CxB:m>xBEiR=IR“C)5G154=F@}Y} >ʁʁQDʁ͍Ur;>I I8ٮ QtI  UFC9鰕: 5:)8  9)I tIi tD F:):I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 197.350939 arcdeg .q'U'U*GQ2GU|(0@FYFYrFabFaEaEa)};I}9 yyiyIy)@iy<>|(0@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.752471 radi99[) &9(AYt*M@t*`\@yt*Gt*>t*H]k?")1ӿO=?`? v?K?)u*M@ u*q;Iu*CxB:m>x@GBAAH@)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YU;>QD  >I  I8ٮ  M8  QtI  UFC9  : :) 8 %!9)! %!9I! -tIi! -tD! %:)%:I%Q !9YIY9Y=O@Contact HDG: 157.704970 arcdeg .''O4Initialize Wait Component.*G 2G FFrFbFEE)U;IU9 QQiQIQ]+,@i]h>Y a2@e<:@mw: F) ւ(A$ &@YtrwM@tr$\@ytr5trm>trHM9?גzҿ`c?@w? ?@?)urwM@ urq;IurCxzeq>xznEif=I)m+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UYUh9U>YYQ]DYe=e>Ii Im8ٮii QutI i UuFC9im: mB:)m'8 }!9)yIy tIiy tDy }p:)} :I}!9I9*G2GFFrFbFEE);I9 iI|(0@iK> 2@<:@w: fm) (AYt.M@t.b\@yt.+t. >t.H@( ? 'ӿ nkj???`?)u.M@ u.r;Iu,xBq>xBE) GiF@]YeVe>aaQeDim<%<m>Iq I}8ٮqq Q}tI q UGC9qu: u:)u 8 !9)I tIi tD }:),:I*!9I9*G2GFFrFbFEE);I9 iIǎwi > 2@<:@w:FӅ> 5>=>RU) X (AYt*M@t*Q\@yt*t*>t*H` Ls?}DZ ҿrZ??` ?@?)u*M@ u* r;Iu(x2'n>x2pEH6a=H4i@IF̓C)r(GF@Y >  Q D #>I I8ٮ Q%tI  U%GC9: S:)>.8 -!9))I) 5tIi) 5tD) -:)-g:I- ;!9AIA9A*GQ2GQFYFYrFabFaEaEa)};I}9 yyiIsi 2@<:@w: )I A) #(A) Ix~s>x~E {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʕ>ʙʙQDʡͥ>I I8ٮ QtI  UGC9鰵0; ;)=8 !9)I tIi tD  =)! =IPN!9I9*GQ2GQFQFQrFYbFYEYEY);I9 iIhhmi 2@<:@w: ) =(AYt*M@t*`\@yt*Ӷt*/>t*H@y@5q? lƲKӿ@MX_?6? g??)u*M@ u*3q;Iu*CxNf>xR EihIh)9E=E%=F@MYU:U>QQQ]DYe;e>Ia Im8ٮaa QmtI a UuGC9ae: e:)e(J8 }!9)qIq }tIiq uDq u:)uR:Iu]!9I9*G2GFFrFbFEE);I9 iIii 2@<:@w: i991) YW(AYt*O`M@t*Z \@yt*Vt*e>t*H0? Iҿ`U} Y?*???)u*O`M@ u*q;Iu*CxVsj>xV(EGXHX)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ(:>ʡʡQDʡͥ>H>I I8ٮ QtI  UGC9鰭J: N:)@X8 !9)I tIi uD :):In!9I9*G2GFFrFbFEE) ;I 9 iI:ei 2@%<:@%w: 9) 5q(A Yt*ɲM@t*_\@yt*kA)t*.>t*H`o@?ӿ`% ?(?f? ?)u*ɲM@ u*(r;Iu*CxB|>xBEiPIT)%GF@=YEsE>AIQMDIMR<M>IQ I}8ٮQQ QtI Q UGC9QU < Ux<)Ue8 !9)I tIi uD ::):I!9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 QYiYIYYe`iaa a2@m<:@mw: ߡX) (AYt*cM@t*\@yt*Tt*(>t*H;@%?Z@Zҿ sc ?*?@q??)u*cM@ u*r;Iu(xNHf>xR E)GiYYF@Yʥe;>ʡʩQDʩͭe>>I I8ٮ QtI  UGC9鰵1: :)s8 !9)I tIi uD O:)ȗ:I!9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 197.012148 arcdeg .q'u'u*Gq2GqFyFyrFbFEE);I9 iIC[i 2@<:@w: 5x>=t>) 뤃(AYt*9M@t*D4\@yt*t*u=>t*H`L? o\`wҿ 8f?@?@bn??)u*9M@ u*>+r;Iu*CxBI>xBEHBp=H@iPIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Ý>QD ٫; >I I58ٮ Q=tI  U=GC9; b;) 8 E!9)AIA MtIiA MuDA E:)AIE!9yIy9y=O@Contact HDG: 157.704970 arcdeg .''O4Initialize Wait Component.*G 2G F F)rF1bF1E9E9)m;Im9 iqiqIqq} Wiyy y2@<:@w: ߙ) ƾ(A) IYt*[M@t*%\@yt*t*>t*Hu`E1?TNҿۇ@?@? ?` ?)u*[M@ u*7q;Iu(xBa>xB E)~vGF@ Y o: >QDV>I! I-8ٮ!! Q-tI ! U-GC9!%\: %ٮ:)%͎8 5!9)1I1 =tIi1 =uD1 5:)5:I5@!9III9I*Ga2GaFaFarFibFiEiEi);I9 iI8Si 2@<:@w: ߩ) ؃(AYt*=cM@t*H\@yt*t*5>t*H9z??@ҿ4@:??e?$?)u*=cM@ u*q;Iu(xRw>xRjEi\I\)G!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQDʉ͍W:>I I8ٮ QtI  UGC9鰕S: :)8 !9)I tIi uD :)ȗ:I!9I9*G2GFFrFbFEE);I9 iI-Ni  2@ <:@w: ߡi19A ) {(AYt*fM@t*\@yt*5t*>t*H`Wҿt`ΐ? 庆?5? '?)u*fM@ u*q;Iu*CxRRr>xREGTHT)-GF@=YEE>IIQMDIU :U>IY Ie8ٮYY QetI Y UeGC9Y]: ]l:)]8 u!9)iIi utIii uuDi m:)m:Im!9I9*G2GFFrFbFEE);I9 iI Ji 2@<:@w: w) CX (A Yt*M@t*[@yt*% t*>t*Ha?. hҿl >$?A?`C?:?)u*M@ u*r;Iu*CxB?s>xBEiR=IP)~ׄGF@=YE;E>AAQMDIMWM>IQ I]8ٮQQ Q]tI Q UeGC9QU: U:)Ua8 m!9)aIa mtIia muDa e::)eN:Ie!9yI9*G2GFFrFbFEE);I9 iIEi 2@<:@w:  ) 9&(AYt*JM@t*[@yt*st*n>t*H+? ҿ'?p????)u*JM@ u*q;Iu*Cx>n>xBE {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )IiexAmxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y+;>!!Q%D!-(<->I9 IE8ٮ99 QEtI 9 UMHC99=+; =;)=/8 ]!9)YIY etIiY euDY ]+:)]:I]!9yIy9*G2GFFrFbFEE);I9 iI@i 2@<:@w: 5>5>) @(AYt2/M@t2:[@yt2#t2l>t2H@Ҧ? K`_ҿ+`a{?@a?F??6?)u2/M@ u2`pq;Iu0xBk>xBEHDHDi\I\)aaQeDim5m>Iq I}8ٮqq Q}tI q U}HC9qu: ul:)u8 "9) "9I tIi vD A:)w:I"9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIxtfH@ߧ ?;@Xҿd I?G?@5??)ufL@ uf)Zq;Iudxni>xnE)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y9>QDm>I I8ٮ QtI  UHC9\: :)Z8 "9)I tIi vD :)R:If"9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.656979 arcdeg .q''*G2GFFrFbFEE);I9 iI"7i 2@<:@w:  X) &s(AYt*L@t*ܓ[@yt*t*Ԍ>t*H7`?ŤAҿ~??a? ?)u*L@ u* p;Iu(xBn>xBEiRf=IT)G%%=%4=F@uY}:}>yyQ}DʁͅXk>I I8ٮ QtI  UHC9鰍: :)8 "9)I tIi vD t:)g:I)"9I9=OE@Contact HDG: 157.704970 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFIrFIbFQEQEQ)m;Im9 iiiiIiquF3iqq y2@}<:@w: ߑi19@?#) (AYt*L@t*i[@yt*B"t*%>t*H)?@ҿK?;H? ??)u*L@ u*q;Iu*CxBHf>xB EG@HD)~GF@=YEX̺E>AIQMDIMAӻM>IQ I8ٮQQ QtI Q UHC9QUC< U<)UQ8 "9)I tIi vD :)0:IJ;"9I9*G2GFFrF bF E E )-;I-9 ))i)I)15.i11 92@=<:@Ew: Qi)) -{(A Yt*L@t*o[@yt*,"t*wv>t*H@DV? ү@ҿ (J?^?!? ?)u*L@ u*q;Iu*CxN:m>xREi^=I^“C)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}yܸ>ʁʁQDʁ͍jj:>I I8ٮ M8 QtI  UHC9鰕E: :)` 8 "9)I tIi vD Ր:):IL"99I999*GI2GIFIFQrFqbFyEyEy);I9 iI9*i 2@<:@w: Q0) &V(AYt.|L@t.)[@yt.$t.>t.HDJf?@ѿ-M?;???)u.|L@ u. q;Iu.CxRRr>xRE)aaQeDim#1m>Iq I}8ٮqq Q}tI q U}HC9qu2: u:)u8 "9)I tIi vD }:)Ԙ:I\"9I9*G2GFFrFbFEE);I9 iIv&i 2@<:@w: 9=>j{6) 0ۄ(AYt*L@t*G[@yt*t*>t*Hu?7(Tѿn?R4? %??)u*L@ u*np;Iu*CxBRr>x@HFa=HFp=iRf=IR̓C)SGF@=YE:E>AIQMDIMѕ;M>IQ I]8ٮQQ Q]tI Q UeHC9QU`: U:)U&8 m"9)aIa mtIia mvDa e :)e :Iem"9yI9*G2GFFrFbFEE);I9 iI!i 2@<:@w: ܥ<)  (A) IYt*YL@t*[@yt*Kt*>t*H@A? n`mѿuk??@?R?)u*YL@ u*p;Iu*CxBk>xBE)~dGa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]e>aaQeDamm>Iq I}8ٮqq Q}tI q U}HC9qu: u:)u48 "9)I tIi vD %:)o:I~"9I9*G2GFFrFbFEE);I9 iIN2i 2@<:@w: =C) (AYt*5L@t*%Z@yt**&t*u>t*H S0?_Tѿ`H@"?Ań??`?)u*5L@ u*p;Iu(xNRr>xNEi^=I^“C)G4=%%=F@-Y-55>11Q5D9=5=>IA IM8ٮAA QMtI A UMHC9AE}: E:)E2B8 ]"9)QIQ ]tIiQ ]vDQ US:)U0:IU"9iIi9iODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i11ٷI) ((AYt*4L@t*%Z@yt*t*>t*H=@%?`ޚgѿӸ^?J?@a??)u*4L@ u*p;Iu(x^f>x^ EG`HbAA {dY|dj8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )!!Q-D)=E>IQ I]8ٮQQ Q]tI Q UeHC9QU; U;)U$Q8 m"9)iIi utIii }wDi m:)m;Im:"9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 195.951092 arcdeg .q']']*Ga2GaFaFarFibFiEqEq);I9 iIimpiqq q2@}<:@}w: ߉P) wB(A Yt.AK@t.L{Z@yt.[~"t.=ъ>t.H?W`^4ѿU{?O?#?Z?)u.AK@ u.ʼp;Iu.CxBm>xB'E){BI`I{@i{Bz={B>{@{BA{@|BGA9|BuʞHk?TO5|iI)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=EϺ=>9AQEDAEQ{M>II Iu8ٮII QutI I U}HC9IM; MZ;)M^8 "9)yIy tIiy wDy }p:)}c:I}_"9I9=OM@Contact HDG: 157.704970 arcdeg .'M'MOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEyEy2EzEGAEԬ@[g7#EuʞHk?TO5|EI`EEBdfz]$:A@v1zE.nv,[?^"ETɿE#@=DHdg To Contact =146.385174 degreesZE@bE":Eo$?BEzo$?JERE jErE{T);I9 iI(9i 2@<:@w: 9$uDacoustic_contact_range 12.479998 m$}hTrackAcousticContact.heading_to_contact 2.554903 rad$LDUSBL_Hydroid.xAngle -50.350000 arcdegV) x\(AYt*K@t*Z@yt* t*چ>t*H`?( Zѿ3??V??)u*K@ u*p;Iu(xBq>xBE)Gi wA a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ%9>ʱʱQDʱͽ';>I I8ٮ QtI  UIC9:: ٮ:)l8 "9)I tIi wD :)s:Iu"9I9*G2GFFrF bF E E )%;I%9 !!i!I!)-0y i)) 12@=<:@=w: I5>=]>A\) aUv(AYt*UK@t*`@Z@yt*Kt*˷>t*H D?Pп {?`?|)??)u*UK@ u*p;Iu*CxB]>xBEH@H@iVf=IV̓C) SGF@=YE9E>AAQMDIM|M>IQ I]8ٮQQ Q]tI Q U]IC9QU: U :)Uhy8 m"9)aIa mtIia mwDa eՐ:)e :Ie"9yIy9*G2GFFrF1bF9E9E9)M;IU9 qqiqIqy}iyy 2@<:@w: ߙc) E/(A) IYt.VK@t.aMZ@yt.t.Y>t.H@C?{,ѿ%??F?@i?)u.VK@ u.p;Iu.CxBs>xBE)~GF@ Y;>QD;%>I! I-8ٮ!! Q-tI ! U-IC9!%:: %:)%8 ="9)1I1 =tIi1 =wD1 5:)5|:I5"9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: Cj)  (AYt*0mK@t*;Z@yt*t*G>t*H xBEiR=IR“C)~G%==a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmDimu>Iq I}8ٮqq QtI q UIC9quc: u:)u"8 "9)I tIi wD :)ȗ:I "9I9*G2GFFrFbFEE);I9 iIB i 2@<:@w: i19p) *Å(AYt*+K@t*Y@yt*&$t*X>t*H`t R/?ٵ@ԗп`8? ??7?)u*+K@ u*p;Iu*CxRg>xRsEGR@AHV@A)GF@]Yeߏe>aaQmDim!m>Iq I}8ٮqq Q}tI q UIC9qu`: uc:)u8 #9) #9I tIi wD :)@:I"#9I9*G2GFFrFbFEE);I9 iIioiU> 2@<:@w: lw) ݅(A Yt.0K@t.Y@yt.X t.>t.H@`5?>\п T???T? ?)u.0K@ u.p;Iu.CxBc>xB EiRf=IR̓C)~+Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yer;e>aaQeDimC:m>Iq I}8ٮqq Q}tI q U}IC9qu-: u:)u8 #9)I tIi wD ::):I)#9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: jB}) 4(AYt2|K@t2Y@yt25t2v>t2HDs)?п :?? c?`?)u2|K@ u2p;Iu0xNb>xR E)GiF@]Yeٻe>aaQeDamm>Iq I}8ٮqq Q}tI q U}IC9qu: u:)u|8 #9)I tIi wD Ր:) :I-)#9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 194.948776 arcdeg .q'5'5*G12G5#@F9F9rF9bFAEAEA)];I]9 YYiYIYe.@ie >e#@ a2@m<:@mw: ߁$RHorizontalControl.headingCmd 2.554903 rad5x>=x>G*) Kx(AYt*J@t*Y@yt*}g"t*W>t*Hm@t?ӭ`NEп ?L???)u*J@ u*p;Iu*CxBWx>xBEHF4=HFa=i=I)uvGF@Y;;>QD>I I8ٮ QtI  U%IC9; I;)8 =#9))I) EtIi) MwD) -Wg;)-K;I-;#9yIy9=O @Contact HDG: 146.385174 arcdeg .' ' O 4Initialize Wait Component.*G 2GFFrFbFEE)5;I59 11i1I1=+@i99 A2@E<:@Mw:e(> iT) &R+(A) IYt*J@t*zY@yt* t*>t*H@@? <п@ ?R? ?`?)u*J@ u*p;Iu*CxBk>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )jGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1U@a U a 5U@a U a 9u@a u a -u@a } QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@YCU;>Q%D!%%>I) I8ٮ)) QtI ) UIC9)-: -Z:)-8 #9)I tIi xD :):IrN#9I9*G!2GIFIFIrFQbFQEYEY);I9 iI&@i 2@<:@w: )I y;) (-E(AYt*J@t*%5Y@yt*t*n>t*Ha1?@Ͽ?B?<%??)u*J@ u*p;Iu*Cx6w>x6jE){6HtI{4i{6T={67>{4{6A{4|6@A9|6?'"r?3! &iVf=IV“C)+G 4= %=F@=YEiE?AAQMDIMJM?IQ I8ٮQQ QtI Q UIC9QUu< U<)U8 #9)I tIi xD :):I\#9I9*G)2G)F1F1rFYbFYEYEY2EazEe@AEeS6@MX#Ee?'"r?3! &EeHtEaEe|%X1D"p=O@qgQdEev4;迤6?KɿEez@=uDHdg To Contact =140.632311 degreesZEe@bEe!:Eeo$?BEeo$?JEaREajEe$rEe);I9 iI#@i 2@<:@w: $ Dacoustic_contact_range 12.059997 m$5hTrackAcousticContact.heading_to_contact 2.454497 rad$=LDUSBL_Hydroid.xAngle -54.800001 arcdegi9Af) __(AYt*J@t*OY@yt*'t*}>t*H` lz?¥ п`l??&k? ?)u*J@ u*p;Iu*CxBp>xBEGBAAH@)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@5Y=MG=>AAQEDAE2s;M>II Iu8ٮII QutI I U}IC9IM$; M;)M8 #9)yIy tIiy xDy }h:)}9:I}n#9I9*G2GFFrFbFEE);I 9  i I L "@i 2@<:@w: Q5) ~x(A Yt.J@t.1Y@yt.&t.>t.H'?H@Ͽ`b@?ڄ?n??)u.J@ u.{p;Iu.CxNi>xREi`Ib̓C)!F@]Ye%9e>aaQeDimm>Iq I}8ٮq M}8q Q}tI q U}IC9qu: u:)ul8 #9)I tIi xD :):II~#9I9*G2GFFrFbFEE);I9 iIX!@i 2@<:@w: x) ƾ(AYt*NJ@t*X@yt*5_t*Ю>t*H v௯?P߃Ͽ?`˂?`?@@?)u*NJ@ u*p;Iu*CxNo>xRJE)%Gi-yA)F@]YmV";u>ʁʁQDʉ͝=>I I8ٮ QtI  UJC9鰵͌; `;)|8 #9)I tIi xD q;)8;IՏ#9)I199*G2GFFrFbFEE)5;I59 11i1I9="@i9A A2@E<:@Mw: Y5>=>⡪) g(AYt*^J@t* Y@yt*0t*>t*Hd@p?`CϿ??O? ?)u*^J@ u*p;Iu*CxNr>xRIEHRp=HRp=i`I`)%҄Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQDʉ͍m;>I I8ٮ QtI  UJC9鰕p: J:)&8 #9)I tIi xD }:):I#9I9*G2GFFrFbFEE);I9 iI#@i 2@ <:@ w: !?) }Ɔ(A)4t.H"?bϿJ ^?@͂?!??)u.=J@ u.q;Iu.Cx>u>x>E)zGF@Yx;%>!!Q%D!-->I1 I=8ٮ11 Q=tI 1 U=JC915I: 5:)5,8 E#9)AIA MtIiA MxDA EF:)E|:IE#9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIޒi 2@<:@w: !) *R(AYt*SJ@t*Y@yt*t*|>t*H @Y?ww?Ͽ@dj?R?'?V?)u*SJ@ u*p;Iu(xNo>xRJEi^=I\)vG!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ8>ʡʩQDʩͭmQ;>I I8ٮ QtI  UJC9į: B:)&;8  #9)I  tIi  xD ):I#9I!9!&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 194.270989 arcdeg .q''*G2Gz@FFrFbFEE);I%9 !!i!I!-r!@i)-z@ I2@U<:@Uw: i$uRHorizontalControl.headingCmd 2.454497 radi19}޽) +(AYt**J@t*X@yt*j1t*>t*H`~?0>Ͽ`?P7???)u**J@ u*up;Iu(x>j>xBqEG@H@)EdGF@]YeUe>aaQmDimͻm>Iq I}8ٮqq Q}tI q UJC9qu%: u:)u^H8 #9)I tIi xD :):Ig#9I9=Ou@Contact HDG: 140.632311 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GyFyFyrFbFEE);I9 iI|@i 2@<:@w: ) $ (A@ Yt.#FJ@t..X@yt.@%t.z>t.H@v S?իrϿBB? ?`ϝ?`?)u.#FJ@ u.p;Iu.Cx>i>xBEiLIP)~GF@Y%:%>!!Q-D)-@;->I1 I=8ٮ11 Q=tI 1 U=JC915ܹ: 5:)5U8 M#9)AIA MtIiA MxDA E:)E˚:IE#9I9*G2G F F rFbF1E1E1)M;IM9 IIiIII@i 2@<:@w: ) -(AYt*$J@t*X@yt*-t*>t*H@և? \-1ϿXo?]?D ??)u*$J@ u*p;Iu(xB5g>xB*E {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]SGimwAqa 1ua 1u a 5ua 5u a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YX>QD*>II IU8ٮII QUtI I U]JC9IM: M :)M g8 e#9)aIa tIia yDa e<)e#=>r) G(AYt*/J@t*X@yt*yt*ā>t*H`\ ?^@9GϿ` `?%?& ?`?)u*/J@ u*Mp;Iu*Cx>Ze>xB EH@H@){BDWI{@i{B={@{@{BA{@|BfBB9|B%N?Rڶibf=I`)%GF@=YE;E ?AAQMDIM ;M ?IQ I]8ٮQQ Q]tI Q U]JC9QU: Uʽ:)Uq8 m$9)a m$9Ia mtIia myDa e9:)e+:IeL$9yI9*G2GFFrFbFEE2EzEfBBEJIP.@@\4n!BE%N?RڶEDWEE` D3>:@pt\Ӥ!Ev[! 0?s<ǿE$@=DHdg To Contact =146.886087 degreesZEAbE :E?o$?BEo$?JEs REjE& rE$);I9 iIk@i 2@<:@w: ߱$Dacoustic_contact_range 48.599995 m$hTrackAcousticContact.heading_to_contact 2.563646 rad$LDUSBL_Hydroid.xAngle -48.250000 arcdeg) a(A);IYt*LJ@t*X@yt*Kt*a>t*Hr? ޫϿ+??@{?:?)u*LJ@ u*p;Iu*Cx>_>x> E)~!!Q%D!-;->I1 I=8ٮ11 Q=tI 1 U=JC915Ǻ: 1)5?8 E$9)AIA MtIiA MyDA E%:)E9:IE'$9YIY9Y*Gi2GiFqFqrFbFEE);I9 iIz@i 2@<:@w:  -) Ou{(AYt.J@t.X@yt.*D.t.>t.H  j?W(Ͽ`Nr?`jȅ?p?@?)u.J@ u.p;Iu.CxBsj>xB(EiR=IP)G = 4=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmO*m>qqQuDq͝'ػ>I I8ٮ QtI  UJC9鰥h: l:)8 $9)I tIi yD ;);I($9I9*G2GFF!rF!bF!E)E))];I]9 aaiaIaiiiii i2@<:@w: ߩi11) O(AYt.^J@t. Y@yt..t.`>t.H` ?@h Ͽ6=?`ޅ?_? ?)u.^J@ u.&q;Iu.Cx>q>xBEG@H@)|F@Y%%>!)Q-D)-!<5>I1 I=8ٮ11 Q=tI 1 UEJC915Ǻ: 5:)5Қ8 M$9)AIA MtIiA MyDA ES:)E˚:IE29$9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: !?) +(A@ Yt6\J@t6 Y@yt62t6g~>t6H?`n쩿Ͽ`?\???`?)u6\J@ u6'q;Iu6CxBo>xBEiNf=IP)~SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmDim&m>Iq I8ٮqq QtI q UJC9quE: u:)u8 $9)I tIi yD Ր:):IJ$9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.302776 arcdeg .q''*G2G$@FFrFbFEE);I9 iI˰@i$@ 2@%<:@-w: Y$5RHorizontalControl.headingCmd 2.563646 rad&) ɇ(AYt*xJ@t*%Y@yt*k-t*>t*H&:?e|`4Ͽ`~? ^? g??)u*xJ@ u*] q;Iu*Cx^:m>x^E)=dGi9AF@]YeLX:e>aaQeDim8;m>Iq I}8ٮqq Q}tI q U}JC9qu@: u:)u8 $9)I tIi yD h:)|:I[$9I9=OU@Contact HDG: 146.886087 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFabFaEaEa);I9 iIlr!@i 2@<:@w: 5V>=>P) ⇧(AYt*/pJ@t*:Y@yt*_ t*>t*Hd`?P@Ͽ`r?K?+?Y?)u*/pJ@ u*8p;Iu*CxB5g>xB*EHBa=H@iR=IR“C)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ۩;>ʩʩQDʩ͵F>I I8ٮ QtI  UKC9鰽%: :)8 $9)I tIi yD :)o:Il$9I9*G2GFFrFbFEE);I9 iI%U"@i%4~>! )2@-<:@5w: A{) 3(A)IYt2kJ@t2Y@yt2t2>t2H ?ѼϿ@5?>?@%??)u2kJ@ u2p;Iu0x>l>x>E)~GF@ YK>QD?%>I! I-8ٮ!! Q-tI ! U-KC9!%: %S:)%8 $9)1I1 tIi1 yD1 5YZ<)5b:I53}$9q Software FaultI9*G2GFFrFbFEE)%;I%9 ))i)I)U$@iQQ Q2@]<:@]w: ߹!xSoftware Fault in component: DeadReckonWithRespectToSeafloorSe) (AYt:J@t:mY@yt:0t:ux>t:H# ?0п`?@?`|?@?)u:J@ u:hp;Iu:CxF`k>xFEiPIV̓C) +G %= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmS5m>qqQuDq}EL<}>I I8ٮ QtI  UKC9鰅6: ::)8 5$9)1I1 5tIi1 =yD1 5:)5۞:I5$9AIA9A*GQ2GYFYFYrFabFaEaEi);I9 iIi > 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq i11X ) o0(AYt*HJ@t*SbY@yt*7t*>t*H ? 6%п`hF??@X?`?)u*HJ@ u*p;Iu(xBy>xBEGB@AHFAA {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGF@Y>QDں>I I8ٮ QtI  UKC9 ;  ;)D8 }$9)I tIi zD ;):I@$9I9*G2GFFrFbFEEI)e;Ie9 aaiaIa)- i- >) 12@5<:@5w:=> Qzt) LJ(A Yt.~J@t.ZY@yt.-t.>t.H`c? ĭп@?Z?@SH? /?)u.~J@ u.7p;Iu,x6o>x6JEiPIR“C)~QD%7%>I) I-8ٮ)) Q5tI ) U5KC9)-\: -:)-I8 =$9)9I9 EtIi9 EzD9 =:)=:I=H$9QIQ9Q*Ga2GaFiFirFibFqEqEq);I9 iIi 2@<:@w: )I I) ('d(AYt*kJ@t*vY@yt*-#t*b>t*H ?@^2@Xпi?@?%? ?)u*kJ@ u*p;Iu*Cx2u>x6E)rSGivyAvwAa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MYMe:M>QQQUDQ]+<]>Ia Ie8ٮa Mm8a QmtI a UmKC9ae: e:)eQ 8 u$9)qIq }tIiq }zDq u:)u:Iu$9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI˕i 2@<:@w: 5>=>) X~(AYt*JJ@t*UtY@yt*t*~>t*He ?ze 6п?a_? ?`r?)u*JJ@ u*p;Iu*CxB`k>xBEHBR=HBa=iTIT)GF@=YE:E>AAQMDIMM>IQ I]8ٮQQ QetI Q UeKC9QU; U;)U 8 m$9)iIi utIii uzDi m:)m:Im$9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 194.675322 arcdeg .q'='=*G92GAFAFArFIbFIEIEI)e;Ie9 aaiaIaim*iiq q2@}<:@}w: ߉%) ߗ(A)IYt.vK@t.Y@yt.t.闄>t.H.?@A`U|пy X? Z?c?y?)u.vK@ u.p;Iu.CxN'n>xRpE)5Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YS7>QDx)<>I I8ٮ QtI  U KC9q: S:)%8 $9) I  tIi  zD  :) :I $9!I)9)=O@Contact HDG: 146.886087 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIǗi 2@<:@w: +) Ǹ(AYt*"K@t*Y@yt*Z,t* >t*H`#?` ǎп -?@???)u*"K@ u*{p;Iu(xB,t>xB#EiNf=IR̓C){G%4=%%=F@=YEJ7E>IIQMDIU)H;U>IQ I}8ٮQQ QtI Q UKC9QUJ: U5:)U28 $9)I tIi zD :):I$9I9*G2GFFrFbFEE)5;I59 QQiQIQY]iYa a2@e<:@mw: ߙi99V2) ˈ(AYt*K@t*Y@yt*=t*>t*HV(?`ك4п V?2? -??)u*K@ u*p;Iu*CxN?s>xREGPHR@A)+GF@-Y5.5>11Q5D1ͽ>I I8ٮ QtI  UKC9: S:)@8 %9) %9I tIi zD ϝ:):I:%9 I 9*G!2G!F!F!rF)bF)E)E1)e;Ie9 aiiiIiiuĖiqq 2@<:@w: ߩ8) n刧(A@ Yt.jK@t.Z@yt.t.|>t.H Hsw?/C}пe 8w??@??)u.jK@ u.cq;Iu.CxNb>xR Ei\I\)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y%;5>99Q=D9EL<E>IA IM8ٮAA QMtI A UUKC9AEu: Ep:)EBO8 ]%9)YIY ]tIiY ezDY ]1:)]E:I]%9iIq9*G2GFFrFbFEE);I9 iIFi 2@<:@w: Q?) I(AYt.3K@t.Y@yt.t.>t.HE.? п@@y?@ނ?@?@?)u.3K@ u. q;Iu.CxNr>xRIE)%Gi-xA)F@}Yʅ:>ʁʁQDʁ͍<>I I8ٮ QtI  UKC9鰕: :)B\8 %9)I tIi zD :)ȗ:I(%9I9*G2GFFrFbFEE);I9 qqiqIqy}~iyy 2@<:@w: ߹5V>=>qE) #(AYt*rK@t*Z@yt*#t*<>t*H5n? п e?g~?"?L?)u*rK@ u*[yq;Iu*CxBg>xBsEHBa=HDiPIR“C)Ga 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQDʉ͕2<>I I8ٮ QtI  ULC9鰝: :)j8 %9)I tIi zD O:):I9%9I9*G2GFFrFbFEE);I9 iI i   2@<:@w: )+)L) 3(A)4t.H @q?п`?@.??@k?)u.fK@ u.h^q;Iu.CxBP>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}SGF@Y +:>QDx>I I 8ٮ Q tI  U LC9; );)Rx8 %%9)I %tIi %{D :):IJ%9AIA9AOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFybFyEyE);I9 iI뚽iii q2@u<:@}w: )S) L(Ax~eq>x~nEi5=I1)G=F@Yʥ>ʩʩQDʩ͵>I I8ٮ QtI  ULC9鰽: :)ͅ8 %9)I tIi {D X:):IH[%9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 195.233745 arcdeg .q'}'}*Gy2GFFrFbFEE);I9 iIi 2@<:@w: i11:Y) f(AYt*K@t*dZ@yt*9t*@>t*H `?🮿 ѿ (`g?0?`? ?)u*K@ u*#q;Iu*CxBd>xB EGBAAH@)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ5>ʹʹQDʹE<>I I8ٮ QtI  ULC9: :)8 %9)I tIi {D %:):Idl%9I9=O@Contact HDG: 146.886087 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iITi 2@<:@w: #`) (A@ x u>xEi5f=I=̓C)GF@Yʭ>ʩʩQDʩ͵>I I8ٮ QtI  ULC9鰽q: t:)d8 %9)I tIi {D :):IX}%9I9*G2GFFrFbFEE);I9 iI!!%i)) )2@5<:@5w: ALf) l(AYt* K@t*tZ@yt*t*>t*H(?-ѿ z?|?`??)u* K@ u*p;Iu*CxFm>xF'E)vGi xAF@Y<>QD!%&;%>I) I58ٮ)) Q5tI ) U5LC9)-: -:)-8 E%9)9I9 EtIi9 E{D9 =:)=Z:I=%9QIQ9Q*G2GFFrFbFEE)5;I59 99i9I9AE()iAA A2@M<:@uw: ߩ5i>=e>vl) F(AYtBK@tBZ@ytB/h2tB\>tBHD?@`ѿw?L?`M=?d?)uBK@ uB>p;IuBCx^Ml>x^LEH`H`ipIp)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʩQDʩͭ;>I I=8ٮ Q=tI  U=LC9鰵'< а:)8 E%9)AIA MtIiA M{DA EO:)E:IE%9yIy9y*G2GFFrFbFEE);I9 iIOi 2@<:@ w: ^s) "Ή(A)";I Yt>,K@t>7Z@yt>/t>>t>H?@}毿@<ѿ@ ?`@?T(? ?)u>,K@ u>yp;Iu>Cx^eq>xbnE)5GF@}Yʅ:>ʁʁQDʁ͍>I I8ٮ QtI  ULC9鰕: x:)8 %9)I tIi {D ::)o:I/%9I9*G2GFFrFbFEE);I9 iI"i 2@<:@w: !׌y) g艧(AYt2K@t2Z@yt2G%t2.>t2H@W@?:Uѿ`$ ,?ݨ?g?K?)u2K@ u27lp;Iu2CxNs>xNEiXIX)%G%4=)F@5Y=:=>99Q=DAE1;E>II IU8ٮII Q]tI I U]LC9IMd.; M;C;)M8 }%9)qIq tIiq {Dq uT;)uC;Iu%9I9*G2GFFrF)bF1E9E9);I9 iIfi 2@<:@%w: 9i)1p) b(AYt.K@t.Z@yt.t./>t.H@dc?9 cѿ ?Y?@?`B?)u.K@ u.vp;Iu.CxNr>xRIEGR@AHP)҄Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ,:>ʁʉQDʉ͍;>I I8ٮ QtI  ULC9鰕B: $:)%8 %9)I tIi {D :)ȗ:I=%9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@w: !) (A@ Yt.K@t.Z@yt.| t.U>t.H?`S`3cѿ?!? 6??)u.K@ u./^p;Iu.CxZxp>xZEij=Ij“C)5GF@}Y};}>ʁʁQDʁ͍>I I8ٮ QtI  ULC9鰕: :)8 %9)I tIi {D :):I@%9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 195.764833 arcdeg .q'M'M*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIyhi 2@<:@w: ߡŌ) X5(AYt*L@t*Z@yt* t(t*U>t*H$?Hி@@~ѿbw?h? {[?x?)u*L@ u*jp;Iu*CxVp>xVE {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) GiwAwAa 1 a 1  a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YEE>AIQMDIU:;U>IY Ie8ٮY Mm8Y QmtI Y UmLC9Y]; ];)]8 %9)yIy tIiy |Dy }:)}:I}n%9I9=OU@Contact HDG: 146.886087 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi);I9 iIi 2@<:@w: ߉5R>=l> )  kO(AYt*L@t*Z@yt*4t*>t*H` ?Yfѿ`]??5? ?)u*L@ u*o;Iu(xRi>xRNEHRp=HTif=I)}ʑʑQDʑ͝]>I I8ٮ QtI  UMC9鰥q: :)8 &9) &9I tIi |D :)D:I\&9I9*G2GFFrFbFEE);I9 iI  zi   2@<:@w: )lי) 9Gi(A)IYt.L@t.Z@yt.4t.f>t.HF`?g yѿ`mK??]?`"?)u.L@ u.߳o;Iu.CxBj>xBqE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭy>ʩʩQDʱ͵f:;>I I8ٮ QtI  UMC9鰽: :){8 &9)I tIi |D W:)ϸ:I&9I9*G2GFFrFbFE E );I9 !!i!I!)-i)) )2@5<:@5w: I) -!(AYt*- L@t*8Z@yt*A2"t*>t*H ? 뭿`7ѿ`!`?`2F?@c?4?)u*- L@ u*Ro;Iu*CxBRr>xBEiPIV̓C)SG %= F@=YEw7;E>AAQMDIM:M>IQ I]8ٮQQ Q]tI Q UeMC9QU: U5:)U*8 m&9)aIa mtIia m|Da e:)eN:Ie'&9yIy9*G2GFFrFbFEE)5;I59 QQiQIQY]iYY a2@e<:@mw: yi19)  (AYt*5L@t* Z@yt*: t*Lg>t*H`@&'?v @ѿ`?@D?|??)u*5L@ u*o;Iu*CxB}v>xBEGBAAHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye@9e>aaQmDim5L;m>Iq I}8ٮqq Q}tI q UMC9quu: u:)u88 &9)I tIi |D p:)c:I18&9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: y7) =׶(A@ Yt*L@t*#Z@yt*Z#t*G>t*H?`5)iѿs`{? -k?@R??)u*L@ u*no;Iu*CxNs>xREi\I\)vGF@-Y-[->11Q5D1==>IA IM8ٮAA QMtI A UMMC9AE: E:)ENF8 U&9)QIQ ]tIiQ ]|DQ U:)U:IUH&9iIi9i*Gy2GFFrFbFEE);I9 iI @i 2@<:@w: ) FЊ(AYt*(L@t*Z@yt*"4t*ԁ>t*H@@I'?3ѿ` A?f? ??)u*(L@ u*o;Iu(xRh>xRE)dGi)-xAF@}Yʅk!>ʁʁQDʁ͍;>I I8ٮ QtI  UMC9鰕; & ;)qT8 &9)I tIi |D x;)+;IvZ&9I9O=Done Waiting.'EOE8Uninitialize Wait Component.*GA2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFqbFqEyE)5;I59 11i1I19=@Oi99 A2@E<:@Mw: y1=>$) aꊧ(AYt*L@t*%Z@yt*J)t*R>t*H ?@euѿD|?=)?.?`Y?)u*L@ u*o;Iu(xBo>xBJEHFa=HFp=iPIP)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>iiQmDiu `u>Iq I}8ٮqq QtI q UMC9qu: ul:)ub8 &9)I tIi |D p:)c:IGk&9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 195.832192 arcdeg .q'5'5*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIYaeMiai i2@m<:@uw: ߁o ) j(A)IYt:h(L@t:sZ@yt:hA.t:\>t:H@? ѿL? ȅ?-{?;?)u:h(L@ u:o;Iu:Cx^h>x^E)AF@MYUEU>YYQ]DYe];e>Ii Im8ٮii QutI i UuMC9im\: m>:)mo8 }&9)yIy tIiy |Dy }:)}:I}9|&9I9=O@Contact HDG: 146.886087 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF!E)E))=;IE9 AAiAIAIM~iII I2@U<:@]w: iB7) C(AYt*L@t*Z@yt*2t*>t*H@P?p#}ѿL?Y?`h??)u*L@ u* p;Iu*Cxf}v>xfEitIt)MGIQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ7/>ʱʱQDʹͽ~ >I I8ٮ QtI  UMC9: t:)~8 &9)I tIi |D h:):I&9I9*G2GFFrF bF E E)%;I%9 !!i)I))-`ӣi11 12@=<:@=w: Ii19 a) 8(AYt*ML@t*XZ@yt*t*s>t*H@n?@Z@fiѿ&ə?z?B?`?)u*ML@ u*+p;Iu*CxBq>xBEGDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GF@Yh;>QDeJ>I I8ٮ QtI  UMC9: ;)8 &9)I  tIi  }D :):I&9aIa9*G2GFFrFbFEE);I9 iI  wi   q2@u<:@}w: ߉)I) Q(A@ Yt*$L@t*Z@yt*(t*>t*HC@$?@ڿইѿ@ ??`? ?)u*$L@ u*{o;Iu(xB0a>xFw Ei`I`)5SGF@MYʅ<>QD(;>I I8ٮ QtI  UMC9< <)8 &9)I tIi }D h:):I&9YIY9a*G2GFFrFbFEE);I9 iIi 2@%<:@%w: As) k(AYt*L@t*Z@yt*57t*O>t*H?Thѿ཮$d??^??)u*L@ u*Ep;Iu*Cx6_>x6 E)vGizxAx Ponly read 0 of 1 data item for BIT error rFailed to parse: :TS,190401162720 -0.1, 0.0,1448.9, 0 F@Y%)%>!!Q-D)-Rɻ5 ?I9 I8ٮ99 QtI 9 UMC99=Q< =b:;)=Ħ8 &9)I tIi }D :):I&9I9*G2GFFrFbFEE);IM9 IIiIIIQU]iQQ Y2@e<:@w: 9=>Z) ͮ(AYt*K@t*Z@yt*)t*>t*H@?`ZȯjWѿ 1x?0??`?)u*K@ u*ip;Iu(xBq>xBEHFR=HFa=iV=IV“C) vGF@Yt;%>!!Q%D!-4->I1 I58ٮ11 Q=tI 1 U=NC915: 5E:)58 E&9)AIA MtIiA M}DA E:)EZ:IE &9YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iI̡i 2@<:@w: ߹Y) ~(A)4t*H /`@?*a:ѿ?@E? ?`?)u*K@ u*L6p;Iu(xBg>xBsE)~dGa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]1?:e>aaQeDam]m>Iq Iu8ٮqq Q}tI q U}NC9qu>: u:)u8 &9)I tIi }D Ր:),:Ih&9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: Ư) g(AYt*K@t*۟Z@yt*.t*M>t*H `9? {Wѿ` ?Ӆ?;? ?)u*K@ u*Kp;Iu(xBxp>xBEiLIR̓C)|4=4=F@=YE7ȺE>AAQMDIMy;M>IQ I]8ٮQQ Q]tI Q U]NC9QU: U:)UB8 m&9)aIa mtIia m}Da eF:)e:IeE&9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.722773 arcdeg .q''*G2GFFrFbF!E!E!)=;I=9 99i9I9AE򏢽iAA I2@M<:@Mw: ai19) [@Ӌ(AYt*K@t*eZ@yt*e6t*J >t*H ?mѿ ȵ{~?Mӆ??@?)u*K@ u*xp;Iu*CxBp>xBEG@H@)GF@=YEE>AIQMDIMU>IQ I]8ٮQQ Q]tI Q UeNC9QUw: U:)U 8 m'9)i m'9Ii mtIii u}Di m:)m:ImL'9I9=O-@Contact HDG: 146.886087 arcdeg .'-'-O-4Initialize Wait Component.*G)2G1F1FQrFYbFYEYEY);I9 iIFi 2@<:@%w: ߁{) 틧(A Yt*K@t*XZ@yt* t*v>t*H? mW`ѿ`'?|?_??)u*K@ u*Fp;Iu*CxRHf>xR Eif=I“C)eSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yi;>QD~>I I8ٮ QtI  UNC9h: J:)i8 '9)I tIi }D ::)o:I'9I9*G2GFFrFbF!E!E!)5;I=9 99i9I9AEHKiAA I2@M<:@Mw: aZ) (AYt.>K@t.IXZ@yt.1+t.>t.H@?yѿ@@|?` y?'?=?)u.>K@ u.rp;Iu.CxBp>xBE)~dGiwAF@]Yed e>aaQmDim78m>Iq I8ٮqq QtI q UNC9qu; u˵;)u8 '9)I tIi }D :)c:I&'9I9*G2GFFrFbFEE);I9 iI!%҃i!! )2@-<:@5w: a5>=>) M (AYtVZK@tVe5Z@ytVv3tVN>tVHF ?uп@?@n?`??)uVZK@ uVNp;IuVCx^U>x^XEH`H`ilIn̓C)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yc>QD>I I8ٮ M 8 Q tI  U NC9: :)08 '9)I tIi }D S:)g:IQ8'9)I)9)*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIaim@iiq q2@}<:@}w: ߉A ) :(A);IYt*QK@t*Y@yt*'t*>t*H L?п` ˓???,?)u*QK@ u*p;Iu*CxBDy>xBEE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@uYuZ:}>yyQ}Dyͅ>I I8ٮ QtI  UNC9鰍: c:)8 '9)I tIi ~D :)N:IrK'9I9*G2GFFrFbFEE);I9 iIS=i 2@<:@w: ) T(AYt.FK@t.Y@yt.Et.\>t.H@ }I?}пYp? h?d?`R?)u.FK@ u.q;Iu.CxB>xBBEiXI\)ƄG%=F@]Ye ;e?aaQmDimm?Iq I}8ٮqq Q}tI q U}NC9qu: ux:)u #8 '9)I tIi ~D :):IY'9I9*G2GFFrFbFEE);I9 iIFi 2@<:@w: i99Y) cn(AYt*-K@t*Y@yt*'t*ɀ>t*H`;(xB EGF?AHD)҄Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmSm>iqQuDquvu>Iy I8ٮyy QtI y UNC9y}: }_:)}08 '9)I tIi ~D :)÷:Ij'9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI֗i 2@<:@w: !) )A(A@ Yt.6K@t.AY@yt.Bt.u>t.H ?S@}п td ?`T?@~?@?)u.6K@ u.q;Iu.CxBeq>xBnEiPIT)+GF@=YE䆻E>AAQMDIMM>IQ I]8ٮQQ Q]tI Q U]NC9QUu: U:)U>8 m'9)aIa mtIia m~Da e}:)e:Ier{'9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.933831 arcdeg .q''*G2GFFrFbF!E!E!)=;I=9 99i9I9AEw]iAA I2@M<:@Uw: a!() m(AYt* J@t*Y@yt*(-t*o>t*H ks?`zVLп l|?@???)u* J@ u*5r;Iu(xBl>xBE)~SGiwAF@=YET;E>AAQMDIMAM>IQ I8ٮQQ QtI Q UNC9QU.}< U}<)UZL8 '9)I tIi ~D ٮ:):I'9I9=O}@Contact HDG: 146.886087 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIui 2@<:@w: 5t>=x>}K.) (AYt*J@t*xY@yt*!t*݄>t*H?2:п`@b ?=?k?S?)u*J@ u*7r;Iu*CxBo>xBJEHBa=HBp=iLIR“C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅb:>ʁʁQDʉ͍<3>I I8ٮ QtI  UOC9鰕: :)iZ8 '9)I tIi ~D  :):Iԝ'99I999*GI2GIFIFQrFqbFyEyEy);I9 iI: i 2@<:@w: 865) Ռ(A)*4tH`*f?묿}п`xM?@?ۯ?=?)uBJ@ u%r;IuCxMl>xLE)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yh9>QDӣ>I I 8ٮ Q tI  U OC9B< <)h8 '9)I tIi ~D :):I)'9I9*G2GFFrFbFE E );I%9 !!i!I!IMhiII Q2@U<:@]w: ߉];) *(AYt*vJ@t*#Y@yt*w%t*|}>t*Hu ?Ͽb"??<??)u*vJ@ u*%r;Iu*CxR`k>xREi^=I\)dG!%4=F@-Y5K5>99Q=D9ERE>II IM8ٮII QUtI I UUOC9IMd: M:)Mu8 ]'9)YIY etIiY e~DY ]h:)]|:I]x'9qIq9q*G2GFFrFbFEE);I9 iI?i 2@<:@w: i19HEB)  (AYt*lJ@t*Y@yt*f)t*@>t*HT?y@Ͽ@t?,? X??)u*lJ@ u*Es;Iu*CxBn>xBEGDHD)~GF@EYEcE>IIQMDIUĺU>IY I]8ٮYY QetI Y UeOC9Y]_: ]:)]8 m'9)iIi utIii u~Di m:)m,:Im'9I9*G2GFFrFbFEE);I9 iImi 2@<:@w: AqH) h#(A Yt* ;J@t*X@yt*'!t*>t*HǞ?@+s]Ͽr&?$?U?{?)u* ;J@ u*as;Iu*Cx>c>xB EiLIL)~SGa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aiQmDim@u>Iq I}8ٮqq QtI q UOC9qu: u:)uu8 '9)I tIi ~D  :) :I'9I9*G2GFFrFbFEE);I9 iIWi 2@<:@w: ,N) ?=(AYt*J@t*ѿX@yt*:2t*v>t*H X? DϿ `*H? ;G?I? ?)u*J@ u*it;Iu*CxRo>xRJE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGi!%xAF@5Y=G=>AAQEDIMBU>IY Ie8ٮYY QmtI Y UmOC9Y]o; ]:)];8 }'9)qIq }tIiq Dq uh:)u':Iu'9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIBi 2@<:@w: 5>=>U) iW(AYt*J@t*ʯX@yt*V#t*Z>t*H ,?ʫ?ο%~?j???)u*J@ u*t;Iu*CxBq>xBEHBR=HFa=){FPwVI{Di{F={D{D{FA{D|F3B9|F󔍄i?:if=I̓C)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y ;>QD%!%>I! I-8ٮ!! Q-tI ! U5OC9!%: %:)%ʭ8 =(9)9 =(9I9 EtIi9 ED9 =N:)=b:I=(9QIQ9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.988000 arcdeg .q''*G2G F F rF1bF1E1E92E9zE=3BE=jJ8@@:E=󔍄i?:E=PwVE9E=p l=s鹊]3@( 'ImE=a ZI?Km-ȿE=8N$@=MDHdg To Contact =147.093970 degreesZE=AbE=k:E=Yo$?BE=?o$?JE=y RE=s jE=lrE=& );I9 iIi 2@<:@w: $ Dacoustic_contact_range 36.299995 m$hTrackAcousticContact.heading_to_contact 2.567274 rad$LDUSBL_Hydroid.xAngle -48.000001 arcdeg-[) Qp(A)IYt.I@t.eX@yt.t.o>t.H ?_8`N`ο`k ? ???-?)u.I@ u.Gu;Iu.CxBo>xBE)5ׄGF@}Yʅg:>ʁʁQDʁ͍@>I I8ٮ QtI  UOC9鰕: x:)8 (9)I tIi D :):I(9I9=OU@Contact HDG: 147.093970 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEa)};I}9 yyiyI_i 2@<:@w: ߡb)  ϊ(AYt*)I@t*4xX@yt*`!t*<>t*H]?JWο _? ,?`D??)u*)I@ u*v;Iu*CxB`k>xBEiTIV“C)qqQuDq}8;>I I8ٮ QtI  UOC9鰅: ):)8 (9)I tIi D :)؛:I%(9I9*G2GFFrFbFEE);I9 iIoˆi 2@<:@w: i9Ah) Ϊ(AYt*gI@t*rt*HX CP? $D #ο`?%i? L??)u*gI@ u*=v;Iu*CxBp>xBEGBAAHBAA)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye2e>aaQmDimm>Iq I8ٮqq QtI q UOC9quI< uq<)u_8 (9)I  tIi  D %:)Ԙ:I7(99I999*GI2GIFQFqrFybFyEyEy);I9 iIʖi 2@<:@w: n) D(A Yt.?jI@t.JX@yt.#t.ڈ>t.H ?FͿ`6`Z?`w?(??)u.?jI@ u.Sw;Iu.CxBRr>xBEiPIR̓C)|F@ Y;>QD%>I! I-8ٮ!! Q-tI ! U-OC9!%q: %t:)%8 =(9)1I1 =tIi1 =D1 5:)5:I5sG(9III9Q*Ga2GaFaFarFibFiEiEq);I9 iI+i 2@<:@w: ߱Ju) Vb؍(AYt*[I@t*X@yt*"Ct*>t*H @?o Ϳl?T(?T?`?)u*[I@ u*Yw;Iu*CxBf>xB E)~SGi~xAwAa 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yew2;e>aaQeDam m>Iq I}8ٮqq Q}tI q U}OC9qu: u5:)u8 (9)I tIi D %:)Z:IX(9I9*G2GFFrFbFEE);I9 iIഀi 2@<:@w: 5R>5{>{) C:(AYt*LI@t*W@yt*t*>t*H7"S? ƩͿa "?Δ?@-q??)u*LI@ u*8?w;Iu*CxB'n>xBpEHFp=HDiPIP)GF@=YEE>AIQMDIM!M>IQ I]8ٮQQ Q]tI Q UeOC9QU: U:)U8 m(9)aIa mtIia mDa e[:)eo:Iei(9yI9*G2GFFrFbFEE);I9 iIWi 2@<:@w: )  (A);I4t*H(fi?" Ϳ ?]?`E=??)u*MI@ u*w;Iu*CxBV>xBE)~vGF@ Y 5` >QD>I! I- 8ٮ! M- 8! Q-tI ! U-PC9!%: %:)%* 8 5(9)1I1 =tIi1 =D1 5:)5:I5z(9III9IO]Done Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFibFiEqEq);I9 iIxi 2@<:@w: ߱P ) R%(AYt*H@t*W@yt*Dt*ֈ>t*H++5?=̿1 $?`V??@?)u*H@ u*ax;Iu*CxZi>xZEidIh)-G54=1a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ&z;>ʑʙQDʙ͝q>I I 8ٮ QtI  UPC9鰥: 1:) 8 (9)I tIi D :)s:I>(9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 193.061676 arcdeg .q'm'm*Gi2Gm8N$@FiFirFqbFyEyEy);I9 iI8N$@ůoi8N$@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.567274 radi11%6) :?(AYt*5H@t*@nW@yt*&t*>t*H@1?~̿@)@?Є? 70?@+?)u*5H@ u*x;Iu*CxBk>xBEG@HB@A {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y2>QD>I! I- 8ٮ!! Q-tI ! U5PC9!%s; %;)%) 8 e(9)YIY mtIiY mDY ]:)]:I]'(9I9=O @Contact HDG: 147.093970 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)U;IU9 YYiYIYaujiqq 2@<:@w:  ) հY(A( ,YtfH@tfW@ytfR,tfq>tfHJ- ]0?t`̿d?@?e?,?)ufH@ ufky;Iudxr?s>xrE){rskI{pi{r={p{p{rA{p|rGA9|rʋ^?d'xiqIq)a 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 55@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM^M>QQQUDQ];]>Ia Ie 8ٮaa QmtI a UmPC9aeի: eu:)e7 8 u(9)qIq }tIiq }Dq u%:)uԘ:IuQ(9I9*G2GFFrFbFEE2EzEGAEPd-@pb 3Eʋ^?d'xEskEE|c2x;.@an|E{迄xO?&u:IɿE@=DHdg To Contact =141.297626 degreesZEqAbE:Evo$?BEYo$?JE| REy jErEl);I9 iIqi 2@<:@w: $%Dacoustic_contact_range 24.659998 m$-hTrackAcousticContact.heading_to_contact 2.466109 rad$5LDUSBL_Hydroid.xAngle -52.749998 arcdegaH) {s(AYt*H@t*gW@yt*"t*YZ>t*H2?@2r̿` +?Z? S??)u*H@ u*Zy;Iu(xBj>xBqE)iyAF@=YE:E>AAQMDIMM>IQ I] 8ٮQQ Q]tI Q U]PC9QU: U:)UD 8 m(9)aIa mtIia mDa e[:)aIe޾(9I9*G 2G FFrF9bF9E9E9)U;IU9 qqiqIqy}1jiyy 2@<:@w: ߙ5>9/) ](AYt*+~H@t*6+W@yt*ޓ,t*0>t*H[9Z?5˿i`{?a?n?3?)u*+~H@ u*jy;Iu*CxRs>xREHR4=HTidId))F@5Y=:E>AAQEDAM%M>IQ IU 8ٮQQ Q]tI Q U]PC9QU: Up:)UNR 8 e(9)aIa mtIia mDa e :)e:Ie(9yIy9y*G2GFFrFbFEE);I9 iIaci 2@<:@w: YZ) z9(A) I;Yt.H@t.RW@yt.O"t.Ņ>t.H5@?r+I̿! 3B?I??`?)u.H@ u.^y;Iu.CxBj>xBqE)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye!:e>aaQeDam;m>Iq I} 8ٮqq Q}tI q U}PC9quG: u:)u=` 8 (9)I tIi D Ր:):I(9I9*G2GFFrFbFEE);I9 iI ji 2@<:@w: A) (AYt*UH@t*W@yt*&t*S>t*H= ? `d˿`e?`܄?a? ?)u*UH@ u*Dx;Iu*CxBv>xBEiPIR“C)~AAQMDIMsGM>IQ I] 8ٮQQ Q]tI Q UePC9QU: U:)Um 8 m(9)aIa mtIia mDa e:)eȗ:Ie(9yIy9*G2GFFrFbFEE);I9 iI?_i 2@<:@w: i19k) lڎ(AYt*_H@t* W@yt*3$t*8>t*H`<@\?AO ˿  ш? ^?`?S?)u*_H@ u*Gx;Iu*CxBeq>xBnEGB@AHD)~GF@=YEo9E>AIQMDIM:M>IQ I] 8ٮQQ Q]tI Q UePC9QU: U:)U{ 8 m)9)a m)9Ia mtIia mDa eA:)e4:Ie)9yI9*G2GFFrFbFEE);I9 iIci 2@<:@w: ᖼ) (A@ Yt*GH@t*V@yt*"t*J>t*H`W? ?@Z ˿x!?@ă???)u*GH@ u*w;Iu*CxFk>xJEiV=IX) Ga 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYml:u>qqQuDy}l}>I I 8ٮ QtI  UPC9鰅ի: ٮ:) 8 )9)I tIi D :):I;)9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIm_i 2@<:@w: g~) e(AYt2.H@t2V@yt2җ5t2s/>t2HA`K?Na˿@,2X?۲?ஔ? ?)u2.H@ u2w;Iu2CxB`k>xBE)-aaQeDimum>Iq I 8ٮqq QtI q UPC9qu; uj;)uf 8 )9)I tIi D ̒:):IY%)9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.352184 arcdeg .q''*G2G@FFrFbFEE)5;I59 99i9I9E5"@iAE@ A2@M<:@mw: ߁$RHorizontalControl.headingCmd 2.466109 rad5R>=x>) 0((AYt*GH@t*RV@yt*t*HC?`TO`@˿!?ϗ?@??)u*GH@ u*F;w;Iu*CxRv>xRGEH^p=H\inf=Il)SGF@Y>!Q%D)=n=>II Iu 8ٮII Q}tI I U}PC9IMM; MZ:)M# 8 )9)I tIi D %:)Z:I7)9I9=Om@Contact HDG: 141.297626 arcdeg .'m'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i 2@<:@w: ) >\B(A) I Yt*]G@t*hV@yt*t*Ԫ>t*HGjS? ʿ#?߃?A?@G?)u*]G@ u*v;Iu*Cx6g>x6sE {8Y|8>8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UG6only read 3 of 5 data itemsVFailed to parse: :BI,-2768,-32768,-32768,V F@YY;%>!!Q%D!-->Iq I} 8ٮqq Q}tI q U}QC9qu: uc:)u6 8 )9)I tIi D 3\<)3]t*HE`?`2˿+`y??Ƶ?U?)u* H@ u*Ev;Iu(xNjw>xR"EihIh)5҄G=4=9a 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝMp>ʙʡQDʡͥ<;>I I 8ٮ QtI  UQC9鰭: :) 8 )9)I tIi D ̒:)|:IX)9I9*G2GFFrFbFEE) ;I 9 iI@i 2@%<:@%w: ߱i19) 4v(AYt*G@t*{V@yt*%t*h3>t*H@LG?sWʿ)C?峄??:?)u*G@ u*u;Iu*CxBp>xBEGDHD)+GF@=YE;E>AIQMDIMM>IQ I] 8ٮQQ Q]tI Q UeQC9QU`: U:)Uj 8 m)9)aIa mtIia mDa e[:)e:Iei)9yI9*G2GFFrFbFEE);I9 iI@i 2@<:@w: ) (A@ Yt.IG@t.TV@yt.0t.Q/>t.H@J@O&? Tʿ$`??+??)u.IG@ u.u;Iu.CxBh^>xBEiR=IP) GF@Y%%>!)Q-D)-;->I1 I= 8ٮ11 Q=tI 1 UEQC915: 5]:)5 8 M)9)AIA MtIiA MDA Eh:)E9:IEy)9YIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@%<:@-w: ) ˩(AYt2G@t2&uV@yt2&t2>t2H`L j?Eʿ$I?^„?@v??)u2G@ u2u;Iu2CxBq>xBE)zGi~xA~xAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ:>ʡʡQDʡͭI>I I 8ٮ QtI  UQC9鰵 ; õ;)e 8 )9)I tIi D %:):I͋)9I9*G)2G)F)F1rFQbFYEYEY)m;Im9 iIi 2@<:@w: ߹5>=>) Ï(AYt*G@t*jV@yt*Yt*3>t*H`Mg?`1lʿ@,? ?@?@B?)u*G@ u*ju;Iu*CxBMl>xBLEHBa=HDipIp)]ƄGF@Yʽ:>QDzں>I I 8ٮ QtI  UQC9E; ;)S 8 )9)I  tIi  D :)I)99I999*GI2GIFQFQrFybFyEyEy);I9 iIi 2@<:@w: ) Zݏ(A)IYt.G@t.5V@yt.G3t.&d>t.HCSӏ?ʿ`28 u?h? ??)u.G@ u.ztu;Iu,xBZe>xB E)=QD4>I I 8ٮ M 8 QtI  UQC9A;  ;)? 8 %)9)!I! %tIi! -D! %::)%N:I%0)9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 3) \(AYt*G@t*oV@yt*q t*~>t*HtM?agʿ'? ? ??)u*G@ u*uu;Iu*CxBw>xBjEiNf=IN̓C)~GF@Y%:F;%>!!Q-D)-<->I1 I= 8ٮ11 Q=tI 1 U=QC9154: 5:)58 8 M)9)AIA MtIiA MDA E̒:)E:IE)9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.971182 arcdeg .q''-*G)2G1F1F1rF9bF9E9E9);I9 iIi 2@<:@w: i19:) *9(AYt.bG@t.'V@yt. /t.->t.H`1W??1+ɿ`4`Q?? %?E?)u.bG@ u.,u;Iu.CxBj>xBqEGF?AHD)F@=YEE>AAQEDIUj}>I I] 8ٮ QetI  UmQC9鰍e< J=)c! 8 )9)I tIi D x:):I)9I9 =O@Contact HDG: 141.297626 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)M;IM9 IQiQIQQYiYY Y2@e<:@w: ߱ E ) Y+(A@ Yt*G@t*CV@yt*Kq3t*O>t*HQF?@XL 7ʿ`2 ? n?H??)u*G@ u*,ou;Iu(x>sj>xB(EiLIN“C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye)e>aaQmDim~<m>Iq I 8ٮqq QtI q UQC9qu^; uB:)u/ 8 )9)I tIi D :) :I)9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: Y,) 5D(AYt*rG@t*V@yt*<2t*m>t*HUxBE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]ׄGimwAmwAF@Yʍ<9>ʉʑQDʑͽ䯻>I I 8ٮ QtI  UQC9; ;)7= 8 )9)I  tIi  D d:):I)9!I!9!*G2GFFrFbFEE)];I]9 YYiYIYi 2@<:@w: =>=i>V) 7^(AYt*SG@t*V@yt*.t*hÉ>t*HX@#? .ɿ3{?`х?`-?@?)u*SG@ u*P u;Iu*CxBy>xBEHBp=HFp=i\I\)QD>I I 8ٮ QtI  UQC9R; ,;) K 8 *9) *9I  tIi  D :):I*99I999*GI2GIFIFQrFqbFyEyEy);I9 )i1I119i9A 2@<:@w: ߡ<) x(A) IYt.sG@t. V@yt.d t.>t.HyU`&]?݂Lɿ&8Γ?`? ?7?)u.sG@ u.@u;Iu,xB%U>xBE)GF@Y%;%>!!Q-D)-;->I1 I= 8ٮ11 Q=tI 1 U=RC9154: 5:)5(X 8 M*9)AIA MtIiA MDA E%:)EZ:IE%*9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: !h$) ~(AYt2Y?G@t2dU@yt2)t2>t2HZ ?@勵 ~ɿ:&? #?@?@?)u2Y?G@ u2t;Iu2CxBeq>xBnEiPIR̓C) GF@]Yeѣe>aaQmDi}>I I 8ٮ QtI  URC9鰍; b;)Vf 8 *9)I tIi D ;)v;I$*9I9*GI2GQFYFarFqbFyEE);I9 iIi 2@<:@w: i11D*) V(AYt*BG@t*U@yt*/t*e>t*H \Z?@ :`ɿ0-??%??)u*BG@ u*̘t;Iu*CxBMl>xBLEGBAAHD)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʩQDʩͭ(9>I I 8ٮ QtI  URC9鰵E: c:)Jt 8 *9)I tIi D Ր:):I5*9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!!i!) )2@5<:@5w: Az1) 4Ɛ(A@ Yt.>G@t.U@yt.t.ى>t.H@Z?8ɿ5`9?`W?? ?)u.>G@ u.St;Iu,xB{>xBiEiLIL)GF@]YeS;e>aaQeDamm>Iq I 8ٮqq QtI q URC9qu; u;)uˁ 8 *9)I tIi D %:):IF*9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 191.512753 arcdeg .q'u'*G2GFFrFbFEE);I9 iI i 2@5<:@5w: A7) (AYt*G@t*U@yt*eJ#t*e>t*H@}^6? tBɿ0;@?6i??j?)u*G@ u*H1t;Iu*CxNi>xRE)SGixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y'>QD Q >I  I 8ٮ   QtI  URC9  S: 5:) C 8 %*9)!I! -tIi! -D! %:)%,:I%hX*99I999=O@Contact HDG: 141.297626 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A5>=>=) %(AYt*[+G@t*fU@yt*%t*g>t*H`\? ץReɿ = ?@??@Q??)u*[+G@ u*s;Iu*CxBg>xBsEH@HBa=iPIP)~dGF@=YE'ݹE>AAQMDIMI;;M>IQ I] 8ٮQQ Q]tI Q UeRC9QU: U-:)U; 8 m*9)aIa mtIia mDa e}:)eo:Iekh*9yIy9*G2GFFrFbFEE)5;I59 11i9I99AiAA A2@M<:@Mw: aD) !(A)IYt2WF@t2bU@yt2O&t2>t2H`Xa %v?# ɿ`7@}?Ʉ?`)?|?)u2WF@ u2Bs;Iu2CxNRr>xNE)GF@-Y-z5>11Q5D9==>IA IM 8ٮAA QMtI A UMRC9AE: ES:)E 8 ]*9)QIQ ]tIiQ ]DQ U:)Ug:IU\y*9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: J) -(AYt.?G@t.JU@yt.t%t.>t.H@z`L? ɿ@@? ?`??)u.?G@ u.s;Iu.CxNd>xR Ei\I\)ׄG!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ 9>ʁʁQDʉ͍#:>I I 8ٮ QtI  URC9鰕: s:) 8 *9)I tIi D :):Iϊ*9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: 9i19Q) {G(AYt*F@t*U@yt*++t*vȆ>t*Ha ?ɿ@fHIu? Ye?.?@Z?)u*F@ u*Ls;Iu(xBxp>xBEGB@AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )m҄GF@Y]>QDx>I I 8ٮ QtI  URC9: ;)2 8  *9)I tIi %D *;)ƣ;IH*99I999*GY2GYFYFarFibFiEiEi);I9 iI~i 2@<:@Mw: ߁W) Va(A@ Yt*%F@t*0U@yt*b1t*>t*HcZ?`V@ȿ`I~? >,?[?Y?)u*%F@ u*s;Iu(xB?s>xBEi\I\)+GF@]Ye}e>aaQeDimbm>Iq I} 8ٮqq Q}tI q U}RC9qu: u :)u 8 *9)I tIi D :):I*9I9*G2GFFrFbFEE);I9 iI尽i 2@ <:@w: !^) 1{(AYt*F@t*U@yt*!t*>t*H@?a y?`㥿 ɿ;?@=?i ? ?)u*F@ u*t;Iu*CxZr>xZIE)5Gi=yA9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ!;>ʡʡQDʡͭGm;>I I 8ٮ QtI  URC9鰭; ';) 8 *9)I tIi D F:):I3*9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))E;IE9 IIiIIIQUiQQ Y2@]<:@]w: q5R>=>e) (AYt*?F@t*JqU@yt*t*>t*Hf ?icȿEE@"?I??@?)u*?F@ u*at;Iu*Cx>i>xBNEH@HBp=iTIT)-AAQMDIMM>IQ I} 8ٮQQ QtI Q URC9QU:< U@<)U 8 *9)I tIi D :)0:I*9I9&M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 191.083694 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: V/k) 鮑(A) IYt*F@t*eU@yt*t*:p>t*Hg?(Ǥ`քȿU@K? ?}? ?)u*F@ u*+'t;Iu*CxNr>xNIE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y6:>QDպ>I I 8ٮ QtI  USC9: :)| 8 *9) I  tIi  D  x:) :I z*9!I!9!=O@Contact HDG: 141.297626 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: r) ;ȑ(AYt*F@t*U@yt*"t*Fb>t*H c oQ?`äZȿ@Q J?Z?{?`0?)u*F@ u* 4t;Iu(xB}v>xBEiLIN“C)~ׄG%==F@%Y%0%>))Q-D)5;5>I9 I= 8ٮ9 ME 89 QEtI 9 UESC99=: =;)=k 8 m*9)YIY utIiY uDY ]W;)]P;I]*9I9*G2GF1F9rF9bF9EAEA)U;IU9 YYiYIYaeұiaa a2@m<:@mw: ߡi5@A9@x) ˜⑧(AYt*բF@t*OU@yt*'t*>t*Hi?أ}Yȿ\!?`?@;N?9?)u*բF@ u*z\t;Iu*CxN"h>xREGRAAHP)ʩʩQDʩ͵>I I 8ٮ QtI  USC9鰽: :) 8 +9) +9I tIi D :){:I*+9I9*Gq2GqFyFyrFybFEE);I9 iI i 2@<:@w: k~) }y(A Yt*4F@t*?zU@yt*+t*Sw>t*He`5?wȣȿ^?@Zx?!? ?)u*4F@ u* t;Iu*CxRh>xREi\I^̓C)-GF@=YE,E>AIQMDIM;U>IQ Ie 8ٮQQ QetI Q UeSC9QU; U/;)U' 8 m+9)iIi utIii uDi m:)m9:Im+9I9*G2GFFrFbFEE);I9 iIɰi 2@<:@w: kT) Z(Axx>xE)SGiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I  I 8ٮ   QtI  USC9  :: :) 5 8 %+9)I %tIi %D :)Ԙ:I$+91I199*GA2GIFIFIrFQbFQEQEY)m;Im9 iiiqIqq}`iyy y2@<:@w: ߑ5>5> }) /0(AYt*F@t*`U@yt*(t*]>t*H _h ? 9vLzȿue ?? #?y?)u*F@ u*St;Iu*CxBsj>xB(EH@HBa=iPIP)GF@]Ye19e>aaQeDimm>Iq I} 8ٮqq Q}tI q U}SC9qu: ux:)uB 8 +9)I tIi D ):I4+9I9*G2GFFrFbFEE);I9 iIii 2@<:@w: d)  J(A) IxnV>xrE {pY|tv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@Y >QD>I! I- 8ٮ!! Q-tI ! U-SC9!%: %G ;)%bQ 8 E+9)9I9 EtIi9 ED9 =:)=<:I=F+9YIY9aO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIӮi 2@<:@w: M) c(AYt*F@t*U@yt*Zt*Ӂ>t*Hc%\?Oȿ@O_\?X? ? ?)u*F@ u*u;Iu*CxRo>xRE){Rl{P{RA{P|RAA9|RY?P')6?ipIp)EdGIM=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y;>QD;>I! I- 8ٮ!! Q-tI ! U-SC9!%: %l:)%,_ 8 u+9)qIq }tIiq }Dq uc:)u:Iu/X+9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 191.196734 arcdeg .q'M'M*Gi2GiFqFqrFqbFyEyEy2EzEAAE0<(@ -;C"?EY?P')6?El<EE--w't،~oP?E0wB!FvxI˿~cf͍?EV@=DHdg To Contact =192.310069 degreesZE[%bEp=:Eo$?BEvo$?JE RE| jE4>rE);I9 iI i 2@<:@w: 1$mDacoustic_contact_range 12.120000 m$uhTrackAcousticContact.heading_to_contact 3.356444 rad$uHDUSBL_Hydroid.xAngle 1.150000 arcdegi=?A9!) }(AYtB+G@tBU@ytBtBd>tBH\@?֤|fɿ@5Z?=@?`?n?)uB+G@ uBu;IuBCxfk>xfEGhHh)QF@Yʝ9>ʡʡQDʡͭ=7<>I I 8ٮ QtI  USC9鰵: l:)ul 8 +9)I tIi D :)ȗ:IAh+9I9=Ou@Contact HDG: 192.310069 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: )  (A Yt>#G@t>U@yt>(t>\^>t>H](?`9^Vɿ]W@?@%? ??)u>#G@ u>w;Iu>CxRt>xRlEi`If“C)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yb:>QDX>I I 8ٮ QtI  USC9q: W:)}z 8 +9)I tIi D F:):Iy+9I9*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIYYiYY Y2@e<:@ew: y,˫) Sw(AYt>]G@t> V@yt>*t>Yځ>t>HW I?ϤQɿ S?@_???)u>]G@ u>6w;Iuxb#E)=Gi9AF@Yʥԁ>ʩʩQDʩ͵J<>I I 8ٮ QtI  USC9鰽: x:) 8 +9)I tIi D :)S:IV+9I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: A5>=p>>) d˒(AYt.K^G@t.V V@yt.t.DB>t.HW@=?`4*ɿI q"?-҃?,Y??)u.K^G@ u.w;Iu.CxJk>xJEHLHLi^=I\)F@%Y-:->))Q5D158=>I9 IE 8ٮ99 QEtI 9 UMSC99=ɪ: =:)=[ 8 U+9)III UtIiI ]DI M:)M:IM+9aIa9i*Gy2GyFyFyrFbFEE);I9 iIi )2@5<:@5w: Aݸ) '0咧(A)IYt.tG@t.7V@yt.|+t.O>t.HS`?lʿHe?x?`;??)u.tG@ u.Rx;Iu.CxNt>xNlE)SGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>yʁQDʁͅ;>I I 8ٮ QtI  USC9鰍: :)t 8 +9)I tIi D %:)|:I&+9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: S) (AYt*)G@t*4BV@yt* /t*!!>t*HR`?`4ʿ@:<\??? ?)u*)G@ u*l~x;Iu*CxNn>xREi^f=I^̓C)G%4=%%=F@-Y55>11Q5D1= :=>IA IM 8ٮAA QMtI A UMTC9AE : Eͭ:)E 8 ]+9)QIQ ]tIiQ ]DQ U:)U:IUż+9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: i5@A9) i(AYt*G@t*iV@yt*$t*c>t*H`N`?ۛ@Ȁʿ>)? nD?e?.?)u*G@ u*x;Iu*CxBq>xBEGF@AHD) SGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@uYu]P;u>yyQ}Dyͅ;>I I 8ٮ QtI  UTC9鰍: :) 8 +9)I tIi D :)9:I,+9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ) 2(A@ Yt*tG@t*ZV@yt*`t*9>t*HOW?`5dʿYB ?l>x>EiN=IN“C)~dGF@=Y=:=>AAQEDAMCM>IQ IU 8ٮQQ Q]tI Q U]TC9QU: U:)U 8 e+9)aIa mtIia mDa eF:)aIe+9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 191.899233 arcdeg .q''*G2GV@FFrFbF!E!E!)=;I=9 99i9I9ED@iAEV@ I2@M<:@Uw: a$RHorizontalControl.headingCmd 3.356444 radm) 5L(AYt* G@t*+V@yt*C*t*z>t*H@I@B?Ы`ʿ6vH?bH??`?)u* G@ u* y;Iu*CxRm>xR'E {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiF@YPx>QD<>I! I- 8ٮ!! Q-tI ! U5TC9!%; %T;)%@ 8 ]+9)QIQ ]tIiQ eDQ U:)U:IU9+9I9=O@Contact HDG: 192.310069 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%Q"@i%Dm>! )2@-<:@5w: A5Y>=i>?+) uf(AYt*nG@t*y{V@yt*t*HL?`ʿ@97S?W? K?`!?)u*nG@ u*Ƥx;Iu*CxB}v>xBEH@H@i^f=I\)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅi>>ʁʉQDʉ͍|>I I 8ٮ QtI  UTC9鰕5: :)m 8 ,9) ,9I tIi D :):Iy,9I9*G2GFFrFbFE!E!)U;I]9 YYiYIYe>&@ieR>a a2@m<:@mw: ߹!) t.HNIhE?@ʦdʿA:?wy?-??)u.cG@ u.rmx;Iu.CxRr>xRIE)eSGF@mYu;u>qyQ}Dyͅ ;>I I 8ٮ QtI  UTC9鰅: _:)' 8 ,9)I tIi D :):I?,9I9*G2GFFrFbFEE);I9 iIw+@iP 0> 2@<:@w: @=) Z+(AYt*dH@t*oV@yt*t*EI>t*H$F@|?  ˿ <?@+?@;??)u*dH@ u*Tx;Iu*CxBf>xB EiPIT)G %= 4=F@Yʍ߷>ʑʑQDʑ͝I;>I I 8ٮ M 8 QtI  UTC9鰥Ȳ: :) 8 ,9)I tIi D :)Z:Ih#,9I9*G2GFFrFbFEE )%;I%9 !!i!I!-i0@i- >) 12@5<:@=w:-?΅> 1i5?A9 g) (AYt*H@t*V@yt*-t*φ>t*H@kF Tx?˿&.@?k?>??9?)u*H@ u*0x;Iu*CxBi>xBNEGBAAHD)~Ga 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye)|e>aaQeDamm>Iq I} 8ٮqq Q}tI q U}TC9qu: u:)u 8 ,9)I tIi D O:) :I-4,9I9*G 2G FFrF1bF9E9E9)M;IU9 QQiqIq}x6@i}o=y 2@<:@w:uNB{> y7O) z͓(A@ Yt*QG@t*\V@yt*jW%t*锂>t*H I>E?@ -hʿ Bv?@֪??%?`?)u*QG@ u*Rw;Iu*CxNo>xRJEi^=I\)F@-Y-:->11Q5D1==>IA IM 8ٮAA QMtI A UMTC9AE: E:)E7 8 U,9)QIQ ]tIiQ ]DQ U:)Uk:IUD,9iIi9i*Gy2GFFrFbFEE);I9 iI};@i= 2@<:@w:Q> ߡy) 瓧(AYt*$H@t* V@yt*Xt*>t*H;C ? L˿@ A??? ?)u*$H@ u*w;Iu*CxBi>xBE)|i xA F@]YeNV;e>aaQeDam<m>Iq I 8ٮqq QtI q UTC9qu |; u;)u7- 8 ,9)I tIi D f;)m};I`V,9I9ODone Waiting.'O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F1rFAbFIEQE);I9 iIאA@i= 2@<:@w: 1> 5V>=p>`) [(AYt*G@t*!V@yt*((t*9>t*H HWP?dϦʿ 5I????)u*G@ u*Sw;Iu*CxB c>xB EHDHDiRf=IP)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe\ue>iiQmDiuu>Iy I} 8ٮyy QtI y UTC9y}%: }>:)}; 8 ,9)I tIi D B:):IEg,9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 192.128754 arcdeg .q'5'5*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIaeF@ieP:a i2@m<:@uw:#< > ߑ) t(A) I4t2H`lE`2?*A"˿@E@l?;??J?)u2H@ u274v;Iu2CxBo>xBJE) SGF@=YE|:E>AAQEDIM;M>IQ I] 8ٮQQ Q]tI Q U]TC9QU5: U:)UH 8 m,9)aIa mtIia mDa e:)e :Iex,9yIy9=O @Contact HDG: 192.310069 arcdeg .' ' O 4Initialize Wait Component.*G 2G F FrFbFEE)5;I59 11i1I1=Fi= 9 A2@E<:@Mw::= ߑ ) t*HD?^ݥ)˿@I?؄???)u*yH@ u*|u;Iu*Cx^s>xbEilIl)=dGAEC=a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ<>ʡʡQDʩͭ:>I I 8ٮ QtI  UUC9鰵: :)V 8 ,9)I tIi D :):I,9I9*G2GFFrFbFEE);I9 iIBi%[! !2@-<:@-w:X= i19) 'O(AYt*H@t*V@yt*/t*>t*HDF`K?@:˿@07$'? ?a?`?)u*H@ u*pu;Iu*CxB?s>xBEGB?AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Y>  Q D==>IA IM 8ٮAA Q}tI A U}UC9AE4; E;)EIe 8 ,9)I tIi D ;);I,9I9*G2G FIFQrFYbFYEYEa);I9 iImw;iǽ 2@<:@w:% < 9|) `i(A Yt*H@t*V@yt*ܦ&t*@4>t*HC?@N C˿` B~?Ԅ?`'?!?)u*H@ u*`Ou;Iu*CxRZe>xR Eij=Ih)5Ga 1ua 1u a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝb:>ʙʙQDʡͥ;>I I 8ٮ QtI  UUC9鰭: p:)hr 8 ,9)I tIi D F:):I,9I9*G2GFFrFbFEE) ;I 9  iI 8ih 2@%<:@%w:] ; _ ) ߂(AYt*H@t*V@yt*t*f>t*HFy?A ˿@`h?݃??\?)u*H@ u*t;Iu*CxBh^>xBE)GiyA F@=YE;:E>AAQMDIMUM>IQ I] 8ٮQQ Q]tI Q UeUC9QU: U:)U 8 m,9)aIa mtIia mDa e :)e:Ie1,9yIy9*G2GFFrFbFEE);I9 iIL5i 2@<:@w:rg: =a>=t>&) (AYt2GPH@t2RV@yt2jt2jf>t2Hk> ?S:u˿8`???a?)u2GPH@ u2Qxt;Iu0xBh>xBEHDHDiVf=IV̓C) vGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm9u>qqQuDq}z=<}>I I 8ٮ QtI  UUC9鰅: :)͍ 8 ,9)I tIi D :)g:Iu,9I9*G2GFFrFbFEE);I9 iIz3i 2@<:@w:m -) ȕ(A);I;Yt*JH@t*UV@yt*u$t*>t*HE@?=@`'˿p<}?@? 2??)u*JH@ u*t;Iu*CxBvW>xB|E)GF@=YEE>AIQMDIM5M>IQ I} 8ٮQQ Q}tI Q UUC9QUx; U;)Uc 8 ,9)I tIi D :)Ԙ:Ii,9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9EA3AiAA I2@M<:@Uw:ew q3) pД(AYt*OH@t*V@yt*-'t* >t*Hm>?@!H˿={q?M?? ?)u*OH@ u*8t;Iu*CxN%U>xREi^=I^“C)uGqu=F@Yʅ3>ʉʉQDʉ͕2<>I I 8ٮ QtI  UUC9鰝F: :)| 8 ,9)I tIi D ގ:):I,9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N=@Vehicle HDG: 192.466617 arcdeg .q'='=*G92G9FAFArFAbFIEIEI)e;Ie9 aaiaIam 4iiq q2@}<:@}w:m qi99N:) Jꔧ(AYt*[AH@t*fV@yt*M!t*>t*H@`?UL˿3@? )?`T?i?)u*[AH@ u*t;Iu*CxBsj>xB(EG@H@)~Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y>z:>QD3 >I I 8ٮ QtI  UUC9; R;) 8 %-9)! --9I! -tIi! -D! %:)%:I%K-9YIY9Y=O@Contact HDG: 192.310069 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I=9 99i9I9UE7iUVڽQ Y2@]<:@]w:U4 ay@) $'(A Yt*v[H@t*W@yt*lp/t*+ڀ>t*H`=@_.?m6˿<g??L?}?)u*v[H@ u*4t;Iu(xNv>xRGEi\I\)GF@-Y-;5>11Q5D1=Lj;=>IA IM 8ٮAA QMtI A UMUC9AE: E:)E 8 U-9)QIQ ]tIiQ ]DQ U:)Uϸ:IU3-9iIi9i*G2GFFrFbFEE);I9 iIS:i 2@5<:@5w:) 1'G) T(AYt*V^H@t*a W@yt*mt*>t*H < ? ǧ`˿s05?@0?4S??)u*V^H@ u*!t;Iu(x6j>x6qE)rGirwArwAa 1%a 1% a 5%a 5% a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEwW;M>IIQMDIU9U>IY Ie 8ٮYY QetI Y UeUC9Y]S: ]:)] 8 m-9)iIi utIii uDi m:)mȗ:Im["-9I9*G2GFFrFbFEE);I9 iI =iՏ 2@<:@w: 5p>9QM) {7(AYt*(}H@t*3*W@yt*_t*w>t*H9`?@ِ ˿q3?䫃?`!? ?)u*(}H@ u*"t;Iu*CxB\>xBUEH@H@iPIR̓C)~{GF@=YEyE>AAQMDIM՘;M>IQ I] 8ٮQQ Q]tI Q UeUC9QUS: U:)US 8 m-9)aIa mtIia mDa a)e :IeY3-9yIy9*G2GFFrFbFEE);I9 iI4>i 2@<:@w: 9T) Q(A)4t:Hv;@ M?g ˿?7@t?_?o ??)u:$jH@ u:s;Iu:CxZ`k>x^E {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GF@Y-u5>9AQEDAU-]>Ia Im 8ٮaa QmtI a UuUC9ae; e~$;)eJ 8 -9)yIy tIiy Dy }:)}:I}E-9I9*G2GFFrFIbFIEIEI)e;Ie9 aaiIa=i 2@<:@w:. EcZ) ɑk(AYt2H@t2JW@yt2t2>t2H 5k?"C 9̿`)b ?O1?LQ??)u2H@ u2s;Iu2Cx:h>x:E){>tI{={>>{<{>A{<|>zA9|>x1?siXI\)SG4=%=E6only read 3 of 5 data itemsMVFailed to parse: :BI,-32768,-32768,32768,V F@UYU;]>YYQ]DYe5 <e>Ii Iu 8ٮii QutI i UuVC9im: m:)m 8 -9)yIy tIiy Dy }S:)}g:I}U-9I9*G2GFFrFbFEE2EzEzAE4O 0@|O:Ex1?sEtEE_GF6TY5@§˕Eb-S濣?"z3ʿE}'@=DHdg To Contact =136.215569 degreesZEΪAbE6:Emo$?BEo$?JEw RE jErE4>);I9 iIt*H4c?` P̿-`\?S?k)??)u*H@ u*ct;Iu*Cx>c>xB EGB@AH@)=GF@MYMY*M>QQQUDQ]H:]>Ia Ie 8ٮa Mm 8a QmtI a UmVC9ae: e:)e 8 u-9)qIq }tIiq }Dq u:)u:Iu}f-9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIg;i 2@<:@w:؎ ug) wJ(A Yt*DH@t*O\W@yt*;t*;>t*H3{?K[̿@U/`? r???)u*DH@ u*t;Iu*CxBsj>xB(EiRf=IT)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ)>ʹʹQDʹW:>I I 8ٮ QtI  UVC9: S:) 8 -9)I tIi D :)N:Ix-9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.800818 arcdeg .q''*G2G}'@FFrFbFEE);I9 iIYt*H@p1[?X/%̿)@?@r߃? /?F?)u*H@ u*,t;Iu(xBf>xB E)zGi~yA~xAF@=YE;E>AAQEDIMn;M>IQ I 8ٮQQ QtI Q UVC9QU< U<)UC% 8 -9)I tIi D h:)0:I -9I9=O@Contact HDG: 136.215569 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI}?ifU 2@<:@w:C 5>={>st) Gӕ(AYt*H@t*zW@yt*!t*q>t*H`0`?ק/̿ .`C{?G1? ?1?)u*H@ u*wtt;Iu*CxNxp>xNEHPHRp=i^=Ib“C)GF@-Y5˹5>11Q=D9=P:E>IA IM 8ٮAA QMtI A UUVC9AE: E:)E2 8 ]-9)QIQ ]tIiQ ]DQ U:)U:IUf-9iIi9q*G2GFFrFbFEE);I9 iIBi弉 2@U<:@]w:5 Qz) 앧(A);IYt.I@t.W@yt./t.=>t.H)@3}?`[W`qͿ`|?@H?9?`?)u.I@ u.$+t;Iu.CxNv>xRGE)+Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>ʁʁQDʁͅ!<>I I 8ٮ QtI  UVC9鰍): N:)A 8 -9)I tIi D ::),:IЪ-9I9*G2GFFrFbFEE);I9 iIa:Hi< 2@<:@w:)=I=e8R qǙ) (AYt*H@t*W@yt**t*>t*Hi+[?k ̿@, !J?`R?? `?)u*H@ u*t;Iu*Cx6i>x6NEi@ID)rSGttF@Y%O:%>!)Q-D)-U->I1 I= 8ٮ11 Q=tI 1 UEVC915: 5:)5~N 8 M-9)AIA MtIiA MDA E-:)EA:IE[-9YIa9a*Gq2GqFqFqrFybFyEE);I9 iID@i+= 2@<:@w:u&$ i19Ƈ)  (AYtbI@tbW@ytb)tb=.>tbH '`?X +Ϳ#? xjEGlHl)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ;8>QDT;>I I 8ٮ QtI  UVC9: :)\ 8 -9)I tIi D %:)Z:IA-9I9*G 2GFFrFbFEE)5;I59 11i1I1=>@i=!=9 A2@E<:@Mw:Mq: Q) l:(A Yt*pI@t*X@yt* t*ĥ>t*H&?<̩Ϳ 0?@X?DF?`V?)u*pI@ u*t;Iu*Cx^e>x^P EilIn̓C)5vGF@}Yʅ;>ʁʁQDʁ͍*\<>I I 8ٮ QtI  UVC9鰕: :)zj 8 -9)I tIi D ):I-9I9*G2GFFrFbFEE);I9 iI9@i6= 2@ <:@ w:   &< Ք) HT(AYt*t*H#?j`#oͿ`?`R???)u*xBLE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAwAF@Y%rB%>))Q-D)]*]>Ia Im 8ٮaa QtI a UVC9ae; ev;)e/y 8 -9)I tIi D d<)1fy y2@<:@w:}2g= ߑM>M> ) #n(AYt*I@t*IX@yt*0t*7|>t*H`?6)ο #I?? 5? N?)u*I@ u*Rt;Iu*CxN5g>xR*EHPHPijf=Il)-҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y[>QD8v<>I I 8ٮ QtI  UVC9: ÷:)x 8  .9)  .9I  tIi  D ȗ:):Ix.9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'5N@Vehicle HDG: 193.630973 arcdeg .q''*G2GFFrFbFEE);I9 iI j.@i!>> 2@<:@w:"= ) T(A)4t.HV?FX ο ? H?Zf??)u.I@ u.t;Iu.Cx>Ml>xBLE)+GF@=YE+;E>AAQEDAMt&M>IQ I] 8ٮQQ Q]tI Q U]VC9QU`: Ux:)U 8 m.9)aIa mtIia mDa e[:)eo:Ie.9yIy9y=O@Contact HDG: 136.215569 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI(@ik}_> 2@ <:@w:)=I== ) ١(AYt*OI@t*ZmX@yt*1u7t*~>t*H3?H&oο`Oq???`?)u*OI@ u*Gat;Iu(xNWx>xREib=Ib“C)%G-%=)F@]Ye%e>aaQeDim;m>Iq I} 8ٮqq Q}tI q U}WC9quS: u:)u~ 8 .9)I tIi D :):I!.9I9*G2GFFrFbFEE);I9 iI`$@iU> 2@<:@w:m~= ߉i19!<) (AYt*I@t*X@yt*,!t*g?|>t*H?%? GοA?|%?&6?Q?)u*I@ u*bt;Iu*Cx2}v>x6EG6AAH4)n҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@5YE^;E>AAQMDIM";M>IQ I] 8ٮQQ Q]tI Q UeWC9QU2: U:)U$ 8 m.9)aIa mtIia mDa e:)eԘ:Ie2.9yIy9*G2GFFrFbFEE);I9 iI٫@i > 2@<:@w:> ') 4Ֆ(A$ (YtrJ@trX@ytr/tr>trHc @B?@4ο@?@? o?@?)urJ@ uri[t;IurCxHf>x Ei5f=I1)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YK >QDW;>I  I 8ٮ   QtI  UWC9  u: :) ý 8 %.9)I %tIi %D p:)ȗ:ID.91I199*GI2GIFIFIrFQbFQEQEY)m;Im9 iqiqIqu9w@iyy y2@<:@w: wAmC2> ߑN) l(AYt*U8J@t*`X@yt*1t*ځ>t*H j? > XϿ`@w?`_;??w?)u*U8J@ u* s;Iu*CxBg>xBsE)zdGi~wA~xAF@=YEE>AAQEDIM<M>IQ I] 8ٮQQ Q]tI Q U]WC9QU: U:)U 8 m.9)aIa mtIia mDa e:)e:IeT.9I9*G2GFFrFbFEE);I9 iI=@i 2@<:@w: _> ߡ5V>5x>5) E (AYt*YJ@t*Y@yt*Xr!t*j{>t*H@ ?@㪿 ϿxZP Eij=Ih)-GF@=YEn";E>AIQMDIM;U>IQ I] 8ٮQQ QetI Q UeWC9QU: U=:)U 8 m.9)aIa mtIia uDa e:)e:Iee.9yI9*G2GFFrFbFEE);I9 iIx@i 2@<:@w:H~> ߹0`) `!#(A);IYt*(J@t*3.Y@yt*G1t*!>t*H0?@?Ͽ`b?, ?@RD?z?)u*(J@ u* s;Iu(xNMl>xRLE)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽM>QD;>I I 8ٮ QtI  UWC9: c:) 8 .9)I tIi D ::):Ipw.9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9E@E!ѱiAA A2@M<:@Mw:)]=I]=mp> q) <(AYt*J@t*^Y@yt*0t*)>t*H`?@1!п 0???aF?`5?)u*J@ u*[.r;Iu(xBmd>xBu EiNf=IL)~dG=F@]YeU8e>aaQeDam;m>Iq I 8ٮqq QtI q UWC9quǺ; uf;)u8 8 .9)I tIi D h:)Z:I#.9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.599780 arcdeg .q''*G2GFFrFbFEE);I9 iI}'@i 2@<:@w:> i19gr) V(AYt*J@t*[Y@yt*Z9t*61>t*H@R ? f п@T?9? W??)u*J@ u*Wq;Iu*CxB`>xB. EG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%D!%->I I8ٮ M8 QtI  UWC9^: :)8 .9)I tIi D [:);Id.91I191=O@Contact HDG: 136.215569 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)E;IE9 AIiIIIQUiQY Y2@e<:@mw:} })I 1 A) p(A Yt*4J@t*?Y@yt*t*H| K?E`iп k>?u?@?x6NE){6 aI{4i{6:={67>{4{6B{4|6A9|6Q.3E0+@?2IlE Kr%?A[뺻ǿEQ"@=DHdg To Contact =145.313436 degreesZEA^AbE:Eso$?BEmo$?JE} REw jEbrE);I9 iIi 2@<:@w: $Dacoustic_contact_range 24.840002 m$hTrackAcousticContact.heading_to_contact 2.536198 rad$LDUSBL_Hydroid.xAngle -50.550001 arcdeg) (AYt*TK@t*_Y@yt*oM/t*->t*H@A?tsп@=t???-?)u*TK@ u*?p;Iu(xBo>xBJE)SGiF@=YE:E>AAQMDIM@:M>IQ I]8ٮQQ Q]tI Q UeWC9QU": U%:)Ur8 m.9)aIa mtIia uDa e:)e$:Ieݺ.9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5e>=e>>) h(AYt*M;K@t*XY@yt*-t*d>t*Hi/B?%Aп@?7?`A|??)u*M;K@ u*p;Iu*CxBWx>xBEH@HDiV=IT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm9u>qqQuDq}-<}>I I8ٮ QtI  UWC9鰅: а:)q+8 .9)I tIi D Y:):I .9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: z) [D(A)4t*H@U?`пB%?@?X? ?)u*KNK@ u*tp;Iu*CxBu>xBE)~GF@=YE+8E>AIQMDIM>;U>IQ I]8ٮQQ Q]tI Q UeWC9QU}: U`:)U98 m.9)aIa mtIia mDa e:)e:Ie.9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5) ؗ(AYt*^K@t* Z@yt*0t*f>t*H``i?ٸ п`@?? %?`~?)u*^K@ u*3[p;Iu*CxZk>xZEiff=Id)%+G-%=)a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍm>ʉʉQDʑ͕;>I I8ٮ QtI  UXC9鰝: _:)"G8 .9)I tIi D :):IP.9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )i99`) 3(AYt*КK@t*GZ@yt*T*t*.|>t*H `?@ѿ@m7?`J?E?`?)u*КK@ u*~"p;Iu*CxB:m>xBEGB@AHD)SGF@=YE,:E>AIQMDIM)<M>IQ I}8ٮQQ Q}tI Q UXC9QU,; Uܵ;)UT8 .9)I tIi D }:):I.9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9AAiAA I2@M<:@Uw: aB) ^ (A Yt.K@t.LZ@yt.{3.t.>t.H5?@Y孿`rѿ.Q?Tƅ?@l?`"?)u.K@ u.N9p;Iu.CxN*[>xREi\I^̓C)edGF@uY}}>yʁQDʁͅ<:>I I8ٮ QtI  UXC9鰍: =:)b8 /9) /9I tIi D :) :IF/9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 195.431998 arcdeg .q'M'M*GI2GMQ"@FIFQrFYbFYEYEY)m;Iu9 qqiqIq}@iy}Q"@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.536198 rad) %(AYt.K@t.cZ@yt.9t.K >t.H ?@ƭ`ѿ-6?@\:?Eq?@|?)u.K@ u.Wp;Iu.CxB`k>xBE) i  a 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@YS>QD_;>I I8ٮ QtI  UXC9W: :)p8 /9)I tIi D :)9:I!/9I91=O@Contact HDG: 145.313436 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 ))i1I15@i99 92@E<:@Ew: q5R>5t>L&) Š?(AYt*\K@t*gZ@yt*\4t*>t*H ?c`);ѿ.X??? ?)u*\K@ u*p;Iu*CxBMl>xBLEHBa=HBa=iPIR“C)~GF@=YErb:E>AIQMDIM;M>IQ I]8ٮQQ Q]tI Q UeXC9QUc: U:)U}8 m/9)aIa mtIia uDa e+:)e*:Ie2/9I9*G2GFFrFbFE!E!)5;I59 99i9I9E-\ @iAA A2@M<:@Mw: a) rY(A),I,YthK@tsZ@yt2t'>tH@_?V Fѿ`_?^?`t? ?)uhK@ up;IuCx-,t>x-#E {1Y|1u8****** ping requested ******}Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )QDYe:e>Ii Im8ٮii QutI i UuXC9imF: mJ:)mV8 /9)I tIi D r:)R:II/9!I)9)*G2GFFrFbFEE)=;I=9 99i9I9E^l#@iAA I2@M<:@w: ߡ9) Ds(AYt*L@t*Z@yt*ft.t*؏>t*H@@?ٮ`hѿW5?q΅?n?e?)u*L@ u*q p;Iu*CxBRr>xBEiXI^̓C)G=F@=YE:E ?AAQMDIM;M%?IQ I}8ٮQQ Q}tI Q U}XC9QUE; U;)U8 /9)I tIi D :):I:T/9I9*G2GFFrFbFEE);I59 11i1I9=3;$@i=+p>9 A2@E<:@Mw: i19#) (AYt*K@t*Z@yt*â%t*MӅ>t*H ?Pѿ@ͼ2?@A??Z?)u*K@ u*aVp;Iu*CxBp>xB%EGDHD)vGF@Y%a:%>))Q-D)5r5>I1 I=8ٮ11 QEtI 1 UEXC915U: 5:)518 M/9)III MtIiI UDI M[:)Mo:IMd/9aIa9a*Gq2GqFqFyrFbFEE);I9 iI=E$@ai > 2@<:@w: a K)) (A Yt*zL@t*Z@yt*/t*r>t*H` ?O@ѿX׻??`eN?`(?)u*zL@ u*Zp;Iu(xB\>xBUEiR=IR“C)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmźm>iqQuDq͕;>I I8ٮ QtI  UXC9鰝: >:)q8 /9)I tIi D ;);Iv/9I9*G2GFFrF!bF!E)E))};I}9 yyiyI"@i 2@<:@w: 20) R(AYt2L@t2Z@yt2Q!t2>t2H? ѿɽ?!*?M?@U?)u2L@ u2q;Iu2CxBm>xB'E)zGi~xA~wAF@=YE;E>AAQEDIMC9M>IQ I}8ٮQQ Q}tI Q U}XC9QU; U;)U8 /9)I tIi D :)Ԙ:IK/9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 99i9I9E"@EiAA A2@M<:@Mw:m8j> q1=>\6) ͬژ(AYt*L@t*Z@yt*0At*v[>t*H@@m?@lꮿ`yѿ`xI? 4?ڸ? ?)u*L@ u* q;Iu(xB'n>xBpEHBp=HDiRf=IR̓C)MvGF@]Yeoe>aiQmDim㲺m>Iq I}8ٮqq Q}tI q UXC9qu: u:)u8 /9)I tIi D )IQ/9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.847820 arcdeg .q''*G2GFFrFbFEE);I9 iIQ"@i 2@ <:@ w:9 9)9I9 <) (A);IYt.*L@t.Z@yt.,-t.=2>t.H s!?!,ѿ ?z?`!v?@?)u.*L@ u.\q;Iu.CxBsj>xB(E)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʽD;>QD>@;>I I8ٮ QtI  UXC9; ;)8 /9)I  tIi  D :):I/99I999=O@Contact HDG: 145.313436 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i9I99AiAA A2@M<:@mw: ynC) f(AYt*$L@t*Z@yt*pt*ױ>t*HM`6?˜ѿ?؃?? ?)u*$L@ u* }q;Iu*CxBxp>xBEiN=IN“C)~!!Q-D)-Gn->I1 I=8ٮ11 Q=tI 1 U=XC915: 5:)5!8 M/9)AIA MtIiA MDA E:)E|:IE/9I9*G2GFFrFbFEE)5;I=9 99i9I9AAiAA A2@M<:@Mw: ߡi19I) -@((AYt*L@t*Z@yt*u7t*(>t*H. ?@yѿ``%^? ? ?`?)u*L@ u*rq;Iu*CxBp>xB%EG@H@)SGF@EYM@sU>YaQeDau>I I]8ٮ QetI  UmYC9鰭\< =)p8 /9)I tIi D :)j:I,/9I9*G92G9F9FArFAbFAEIEI);I9 iIi 2@<:@w: IP) zB(A Yt.2L@t.Z@yt.-#t.5>t.HV"?`Mѿɭ ;?@~?`c??)u.2L@ u.;q;Iu.CxB"h>xBEiNf=IP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeB;e>aiQmDimT;u>Iq I8ٮq M8q QtI q UYC9qu: ub:)u8 /9)I tIi D [:):I/9yIy9y*G2GFFrFbFEE)5;I=9 AAiIIi 2@<:@w: ߱.V) n[(AYt*L@t*ӵZ@yt*~'t*Ά>t*H`W>xBE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGi}wA}xAa 1-a 1- a 5-a 55 a 95a 95 a -5a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y-->11Q5D1=O=>I I8ٮ QtI  UYC9鰅: B:)68 /9)I tIi D L$<) (5{>\) u(AYt*8L@t*Z@yt*r,t*cӄ>t*H y.? ѿG-?C?j?p?)u*8L@ u*gr;Iu*Cx>p>xB%EH@H@iXIZ̓C)F@=YEgE ?AAQMDIM~<M?IQ I]8ٮQQ Q]tI Q UeYC9QU: U0:)Uk#8 m/9)aIa mtIia mDa e:)e:IeH/9I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: Yc) :(A) IYt.L@t.Z@yt.G0t.^>t.H_? ~xѿ@ ??` ??)u.L@ u.r;Iu.CxBs>xBE)SGF@=YEE>IIQMDIMU>IQ I]8ٮQQ QetI Q UeYC9QUS: U:)U718 m09)i m09Ii mtIii uDi m:)mU:ImP09I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: %i) +(AYt2L@t2Z@yt2"t2ʌ>t2H&@v?z|lѿe*? B?`??)u2L@ u2js;Iu2CxNw>xRjEi`I`)%G%4=-4=a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ ;>ʉʉQDʉ͕>I I8ٮ QtI  UYC9鰝1: :)N?8 09)I tIi D :):I 09I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 195.798779 arcdeg .q']']*GY2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: i19p) bÙ(AYt*<+L@t*GZ@yt*7At*Y>t*Hx`? ᯿ѿ @*??`x??)u*<+L@ u*ws;Iu*CxBp>xBEGBAAH@)SGF@]Ye;e>aaQeDimѭ;m>Iq I8ٮqq QtI q UYC9quN; u;)uL8 09)I tIi D ) :I109I9=Om@Contact HDG: 145.313436 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFFrFbFEE);I9 iIi 2@<:@w: 1v) =ݙ(A@ Yt.L@t.Z@yt.j$t.aͅ>t.H?@8`iѿ w?`9??t?)u.L@ u.qs;Iu.CxN:m>xREi\I\)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y\>QD>I I8ٮ QtI  UYC9: J:)*[8 09)I tIi D 5:):IC09I9*G2GFFrF!bF!E!E))=;I=9 AAiAIAIIiII I2@U<:@Uw: ߉"}) (AYt*~-L@t*Z@yt* 28t*>t*H ?@`ѿߟ?!?? 1?)u*~-L@ u*t;Iu*CxBd>xB E)z+Gi|~wAF@Yʅ H>ʉʉQDʉ͕';>I I8ٮ QtI  UYC9鰝ͭ: į:)h8 09)I tIi D :):IS09I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !5>=>t ) (AYt*NK@t*YZ@yt* t*l>t*H@?=SѿV?`?s??)u*NK@ u*t;Iu*CxJu>xJEHTHTi`I`)5SGF@}Yʍ';>!)Q5DQem>I I8ٮ QtI  UYC9鰝; ;)w8 09)I tIi D :)|:Ilf09I9*G2GF F rF1bF1E1E1)M;IM9 IIiiIiqqiqq y2@}<:@w: 4) *(A)4t.H,?@@feѿ @a?5σ?u?v?)u.,L@ u.t;Iu.CxNf>xR E)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʥІ>ʡʡQDʡͭgF;>I I8ٮ QtI  UYC9鰵: -:)W8 09)I tIi D ::) :Iu09I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %) D(AYt* L@t*͹Z@yt*r)t*>t*H?``pѿ`ϸ`P?`3???)u* L@ u*-_t;Iu*CxBm>xB'EiLIL)~GF@ Y >QD:%>I! I-8ٮ!! Q-tI ! U5YC9!%ի: %:)%8 =09)1I1 =tIi1 ED1 5:)5ض:I5309III9Q*Ga2GaFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱i11F) ^(AYt*K@t*Z@yt*5)t*Ǭ>t*HH?`m`6dѿ@$?@&?`\?`O?)u*K@ u*t;Iu*CxBh>xBEG@HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )aa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5@a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@5Y=3q8E>AAQMDIU U>IY Ie8ٮYY QmtI Y UmZC9Y]: ]{;)]8 }09)qIq tIiq Dq u:)u3:Iu09I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE)E))=;IE9 AAiAIAIIiQQ Q2@]<:@ew: ߙGq) ax(A@ Yt6K@t6ݪZ@yt6.'t6y>t6H ?@q&bѿo???@"?)u6K@ u6|u;Iu6CxNq>xRE){RfI{Pi{R={P{P{RB{P|RA9|Rȳۣ?iŪ: ipIr“C)EGF@MYU{9U>QYQ]DYee>Ia Im8ٮaa QmtI a UuZC9ae: eį:)ea8 }09)yIy }tIiy Dy }S:)}:I}09I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 195.761268 arcdeg .q'M'M*GI2GIFIFQrFYbFYEYEY2EazEeAEemf9/@23Eeȳۣ?iŪ: EefEaEeW24̢+@@^Ee 鿥V?JGD˿Ee"@=uDHdg To Contact =145.508110 degreesZEe^AbEe:EaBEeso$?JEaREe} jEerEeb);I9 iIi 2@<:@w: ߱$Dacoustic_contact_range 25.079998 m$hTrackAcousticContact.heading_to_contact 2.539596 rad$LDUSBL_Hydroid.xAngle -51.499999 arcdegGY) l=(AYt*K@t*Z@yt*+ot*>t*H@B`b?"@OѿO@?M? ??)u*K@ u*u;Iu*CxBq>x@)MvGiIMxAF@]Ye:m>yyQDʁ͝;>I I8ٮ QtI  UZC9鰵h< S<)~8 ]09))I) etIi) mD) -<)-S=i>) j(AYt*'L@t*2Z@yt*c!t*n>t*H`. ?@ίb~ѿ`r`9?;?V??)u*'L@ u*u;Iu*CxBRr>xBEH@HDiTIT)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y̎>QD3;>I I8ٮ QtI  U ZC9: :)8 09) I  5tIi  5D  W;) W;I r09AIA9I*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: j) |Ś(A);IYt*L@t*Z@yt*+t*i >t*H` (?` #gѿ`&(?7t???)u*L@ u*ku;Iu(xNu>xRE)GF@]YeǺe>aaQmDim wm>Iq I}8ٮqq Q}tI q U}ZC9qu: u:)u8 09)I tIi D %:)Z:I099I999*GI2GIFQFQrFYbFYEYEY)u;I9 iIi 2@<:@w: ) ߚ(AYt.L@t.ݻZ@yt.%t.>t.HG2?] rѿ??@6??)u.L@ u.jv;Iu,x6,t>x6#Ei@ID)r+Gv=v%=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmk:m>iqQuDq}:}>I I8ٮ QtI  UZC9鰅: _:)8 09)I tIi D 5:):I09I9*G2GFFrFbFEE);I9 iIi 2@u<:@uw: ߉i11ξ) (AYt* L@t*Z@yt*,t*>t*H??jvzѿ u?`W?`?D?)u* L@ u*tu;Iu*CxBt>xBlEGF@AHFAA)SGF@]Ye<;e>aaQmDimU:m>Iq I}8ٮqq Q}tI q UZC9qu`: uB:)u_8 09)I tIi D :)Ԙ:I09I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) b(A@ x~e>x~P EiI̓C)}GF@Yʍ>ʑʑQDʑ͝>I I8ٮ M8 QtI  UZC9鰥: :)]8 19) 19I tIi D :)f:I 19I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )5) ^-(AYt.GL@t.Z@yt.@+t.f>t.Hs@,-?3-ѿD`?@u? T?@{?)u.GL@ u.Tu;Iu,xRo>xVJE)5Gi=yA9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝxu>ʡʡQDʡͭ;>I I8ٮ QtI  UZC9鰵`: c:)78 19)I tIi D }:)Ԙ:I& 19I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!i!! !2@-<:@-w: A5t>=t> ) 9G(AYt2Q.L@t2\Z@yt2s$t2,Ė>t2H}?@ΐѿk??@ܒ??)u2Q.L@ u2~u;Iu2CxR?s>xREHRa=HPi`Ib“C)%SGF@]Yeڈ:e>aiQmDimm>Iq I}8ٮqq Q}tI q UZC9qu: u):)u8 19)I tIi D h:)$:I019I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 195.930861 arcdeg .q'-'5*G12G5"@F1F9rF9bF9EAEA)U;I]9 YYiYIYe"@aiae"@ a2@m<:@mw: ߁$RHorizontalControl.headingCmd 2.539596 rad) na(A)IYtBNL@tBZ@ytB%tBԊ>tBH3? 2ѿ ^?Ã?-$?P?)uBNL@ uB u;IuBCxz0a>xzw E {1Y|1=8****** ping requested ******ENmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@YN:>)1Q5D9Uu;]>Iy I8ٮyy QtI y UZC9y}c; };)}.8 19)I tIi D ;)ё;IG19 I 9 =O@Contact HDG: 145.508110 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E );I9 iIi 2@<:@w: ) ) z(AYt:PL@t:Z@yt: t:m֏>t:HS(?nѿ`75??`M?`?)u:PL@ u:t;Iu:CxBi>xFEi\I^̓C)eGe4=m4=F@uY}:}?yyQ}DʁͅY9?I I8ٮ QtI  UZC9鰍J: :)k78 19)I tIi D :):IS19I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i11) ۔(AYt6ZUL@t6e[@yt6ۈt6>t6H &?@K^ѿj`M? т?{??)u6ZUL@ u6t;Iu6Cx>?s>x>EGBAAHB@A)GF@ Y Q9>QD%|E:%>I) I58ٮ)) Q5tI ) U5[C9)-N: -:)-D8 E19)9I9 EtIi9 ED9 =:)=:I=c19QIQ9Q*Ga2GaFiFirFbFEE);I9 iI i 2@<:@%w: Q6") (A@ Yt.JaL@t.U[@yt.w!t.v>t.H9?@xѿ@@sP?@y?? t??)u.JaL@ u.wt;Iu.Cx>r>x>IEiPIP)~G%fFailed to parse: :BI,-32768,-32768,-32768,-32768,V F@UY]'޺]>YaQeDae:m>Ii Iu8ٮii QutI i U}[C9im: m:)mR8 19)yIy tIiy Dy }:)}:I}t19I9*G2GFFrFbFEE);I9 iIi 2@<:@w: \) Zț(AYt*>L@t*I2[@yt*Er!t*>t*H`d? VѿɎ?@3.?I? ?)u*>L@ u*t;Iu*CxRl>xRE) vGiwAF@]Ye 8e>aaQeDam;m>Iq I}8ٮqq Q}tI q U}[C9qu: u:)u`8 19)I tIi D :)I19I9*G2GFFrFbFEE);I9 iIi 2@<:@w: =R>E{>1) y[⛧(AYt*oL@t*[@yt*hi$t*,>t*H@@'I?D_`ѿ4?`?@?Ҿ?)u*oL@ u*Cs;Iu*CxBxp>xBEH@HDiPIR“C)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYee>iiQmDiu'Tu>Iy I}8ٮyy QtI y U[C9y}%: }:)}}n8 19)I tIi D p:):I19I9*G2GFFrFbFEE);I9 iIi 2@<:@w: b[) 7(A) IYt*IL@t*TJ[@yt*υt*Bі>t*H`t^? DIJsѿ R]?p? y?מ?)u*IL@ u*uks;Iu*CxB5g>xB*E)~jGF@=YE);E>AAQMDIM;M>IQ I]8ٮQQ Q]tI Q Ue[C9QU: U:)U|8 m19)aIa mtIia mDa a)ec:Ieԧ19yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: F) !(AYtVrL@tV[@ytVRvtV*>tVHb@?@w gѿ:s"?΂?}$??)uVrL@ uVCs;IuTxbq>xbEilIl)=+GE%=E%=a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʡQDʩͭ ͻ>I I8ٮ QtI  U[C9鰵: į:)[8 19)I tIi D :):Ig19I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 196.169426 arcdeg .q'}'}*Gy2GyFyFrFbFEE);I9 iIi 2@<:@w: i11|m ) _/(AYt*xL@t*%[@yt*t*f1>t*HĺS?@9oѿ`@1?`?(N??)u*xL@ u*2us;Iu*Cx>k>xBEGB@AH@)GF@mYuA:u>qqQuDq}n|:}>I I8ٮ QtI  U[C9鰅: _:)8 19)I tIi D t:)g:I 19I9=O=@Contact HDG: 145.508110 arcdeg .'='=OE4Initialize Wait Component.*GA2GAFAFArFIbFIEIEQ)e;Ie9 iiiiIiiqiqq q2@}<:@}w: ߑRU) XI(A@ Yt*۞L@t*K[@yt*|(t*)>t*H Ty?@=Kѿ#|????)u*۞L@ u*s;Iu*CxBi>xBEiPIP)|F@Yʍr>ʑʑQDʑ͝;>I I8ٮ QtI  U[C9鰥: 1:)ӥ8 19)I tIi D %:):IP19I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )) ӥc(AYt*swL@t*~$[@yt*8,t*.>t*HҺ F?`[ѿni`?l? ]?`?)u*swL@ u*Qs;Iu*CxBs>xBE)|i~vAwAa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yen)e>aaQeDim ƻm>Iq I}8ٮqq Q}tI q U}[C9qu: u:)ug8 19)I tIi D Ր:)ȗ:I19I9*G)2G)F)F1rFQbFYEYEY)m;Iu9 iIi 2@<:@w: ߹5>5x>=) 9~}(AYt*qL@t*|J[@yt* t*;>t*Hxg?%Dѿ hh? ?>E?ಪ?)u*qL@ u*Is;Iu(xBWx>xBEH@HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIr̓C)]SGF@Yʽ ;>QDa;>I I8ٮ QtI  U[C9<;  :)8 19)I tIi D :):I19I9*G2GFFrFbFEE);I-9 ))i)I)11i11 92@=<:@Ew: yl%) Z(A) IYt.d{L@t.o([@yt.GSt.ύ>t.HeMS?.kѿ N ?YJ??v?)u.d{L@ u.Ht;Iu.CxN,t>xR#E){RhlI{Pi{R={P{P{RA{P|RFB9|R/ёB?|>l)=Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ:>ʡʩQDʩͭd>I I8ٮ QtI  U[C9鰵: W:)C8 29) 29I tIi D :)+:I|29I9*G2GFFrFbFEE2E zE FBE w-3=@T`ɔ'CE /ёB?|>lE hlE E o_C8!d*-<@9WL%E s6i]̮M7?*C˿E A!@=DHdg To Contact =144.364900 degreesZE lAbE ::E Ao$?BE JE r RE jE (rE )-;I-9 11i1Ii 2@<:@w: $5Dacoustic_contact_range 49.500000 m$=hTrackAcousticContact.heading_to_contact 2.519643 rad$ELDUSBL_Hydroid.xAngle -53.000000 arcdeg»+) 6(AYt*uL@t*"[@yt*t*>t*H T?ѿ?1?>??)u*uL@ u*vt;Iu*CxBc>xB EiPIP)G  F@=YE<E>AAQMDIM_M>IQ I]8ٮQQ Q]tI Q U][C9QU): U:)U8 m29)aIa mtIia mDa e:)eN:Ie29yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i19 2) M˜(AYt*L@t*>[@yt*at*Uؐ>t*H 1`d?亱wѿx`Q?`W?>? ?)u*L@ u*t;Iu(xBp>xB%EGDHD)vGF@=YEwE>AIQMDIMk;M>IQ I]8ٮQQ Q]tI Q Ue\C9QU: U5:)Uk8 m29)aIa mtIia mDa e%:)e9:Ie029yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: W8) 䜧(A@ Yt*UL@t*[@yt*t*>t*H)&?U汿~ѿu?x?[1?@?)u*UL@ u*Fu;Iu*Cx>o>x>JEiLIL)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]4:e>aaQeDamm>Iq I}8ٮqq Q}tI q U}\C9quN: uض:)uZ8 29)I tIi D O:)c:I5A29I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 196.067875 arcdeg .q'-'-*G)2G5A!@F1F1rF9bF9E9EA)U;IU9 QYiYIY]A!@iaeA!@ a2@m<:@mw: y$RHorizontalControl.headingCmd 2.519643 rad>) P(AYt*|L@t* )[@yt*x;+t*̻>t*H /`\?@}갿ѿьT?Ug?^? ?)u*|L@ u*zu;Iu*CxRm>xR'E)Gi%wA!F@=YEE>AAQMDIM;M>IQ I}8ٮQ M}8Q Q}tI Q U\C9QUж; U^;)U8 29)I tIi D :)o:I:R29I9=OM@Contact HDG: 144.364900 arcdeg .'M'MOM4Initialize Wait Component.*GQ2GQFqFqrFybFyEyE);I9 iIi 2@<:@w: 5>={>DE) '(AYt*bKL@t*mZ@yt*+t*ċ>t*H^0?@孰ѿ'.??X? ?)u*bKL@ u*v;Iu*CxBp>xBEHFR=HFp=iPIR“C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭW>ʱʱQDʱͽ>I I8ٮ QtI  U\C9: :)C8 29)I tIi D }:):Ic29I9*G2GFFrF bF E E )%;I%9 !!i!I!))i)) 12@=<:@=w: I L) ~2(A)4t.H *? y:ѿ`[0?ߊ?ֹ?`,?)u.SL@ u.jv;Iu.CxBh>xBE)~GF@eYeuo;m>iiQmDiu͜:u>Iy I8ٮyy QtI y U\C9y}}: }:)}!8 29)I tIi D O:):IMt29I9*G2GFFrFbFEE);I9 iIi 2@<:@w: R) mXL(AYt*">L@t*-Z@yt*t* >t*H@?  ѿJ`c??H? e?)u*">L@ u*Uw;Iu*CxB,t>xB#EiPIP)~G4=F@ Y1>QD%aU%>I) I-8ٮ)) Q5tI ) U5\C9)) ))-*/8 =29)9I9 EtIi9 ED9 =,:)=:I=ބ29QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 !i!I!))i)) )2@u<:@}w: ߱i5@A9Y) Y1f(AYt*,L@t* Z@yt*ght*>t*HR? !ѿ|೩?`?`(??)u*,L@ u*w;Iu*CxBu>xBEG@HD)XGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅZ >ʁʉQDʉ͍,>I I8ٮ QtI  U\C9鰕; ;)m=8 29)I tIi D :)|:I29yIy9y*G2GFFrFbFEE)-;I59 11i1I199i99 A2@E<:@Ew: Y`) (A Yt.@L@t.Z@yt.Q;t.}ƈ>t.H@[ 1?ί<ѿ [o?hq???)u.@L@ u.w;Iu.CxBe>xBP E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIv̓C)u+GF@Yʭ>ʱʱQDʹͽGG;>I I8ٮ QtI  U\C9; ;)lK8 29)I tIi D :)?:Iѧ29I9*G!2G!F!F)rF)bF1EE)U;IU9 QQiQIQYYiYa a2@m<:@mw: y-f) 陝(AYt*QL@t*\Z@yt*.t*>t*H` ?`EWiѿ^?8Յ?0F?@z?)u*QL@ u**x;Iu*CxBmd>xBu E){FOI{Di{Fw={D{D{FA{D|FfA9|Fp@ω?3{')SGi!%xAF@-Y5;5>99Q=D9EE>II IM8ٮII QUtI I UU\C9IM : M:)MX8 ]29)YIY etIiY eDY ]:)]:I]29qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzEfAE}U+@PB,Ep@ω?3{'EOEEȜ0S6#@Qޘ Eۄ@+bDNmj\?:fȿEI:(@=DHdg To Contact =150.605248 degreesZEAbE:E|o$?BEAo$?JE REr jE(nrE();I9 iIi 2@<:@w: $%Dacoustic_contact_range 19.799997 m$5hTrackAcousticContact.heading_to_contact 2.628557 rad$=LDUSBL_Hydroid.xAngle -46.349998 arcdeg=R>=x>Wl) ij(AYt*^#L@t*iZ@yt*t* >>t*H`?m氿@PѿQ ??tn??)u*^#L@ u*Ax;Iu(xB,t>xB#EHBa=H@iTIV“C)Ga 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmR_;m>iiQmDiuu;u>Iy I8ٮyy QtI y U\C9y}_: }x:)}f8 29)I tIi D Ր:):Ij29I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 195.892571 arcdeg .q'='=*G92GEI:(@FAFArFIbFIEIEI)e;Ie9 aaiaIim"@iimI:(@ q2@}<:@}w: ߉$RHorizontalControl.headingCmd 2.628557 radAs) ͝(A);IYt*K@t*҇Z@yt*NTt*>t*H`@.?>r@ѿ ?`v?m*?s?)u*K@ u*}%y;Iu*Cx>p>x>E)~GF@=Y=7=>AAQEDAM5M>IQ IU8ٮQQ Q]tI Q U]\C9QU: Uc:)ULt8 e29)aIa mtIia mDa e:)ex:Ie:29yIy9y=O@Contact HDG: 150.605248 arcdeg .'' O 4Initialize Wait Component.*G 2G F F rFbFEE)-;I59 11i1I1=c%@i=s>9 92@E<:@Ew: Y5jy) $}睧(AYt*K@t*Z@yt*Zt*@>t*H @Z?ȯSѿT4?D?`??)u*K@ u*x;Iu*CxR`>xR. Ei\I`)-ƄG15%=F@]Ye:e>aaQeDimTF;m>Iq I8ٮqq QtI q U\C9qus< u<)u98 29)I tIi %D ? <)Ot*H`?0`BNѿ=?$?ȯ?4?)u*)K@ u*x;Iu*CxRm>xR'EGPHT)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YB>>QD`>I I8ٮ QtI  U\C9 : :)n8 29)I tIi D :):I29I9*G2GFFrFbFE!E!)5;I59 99i9I9EI:(@iEo f>A A2@M<:@Mw: Y{) 1(A Yt*ԲK@t*_Z@yt*R7t*˱>t*H ǩ?Jѿ@?;??@?)u*ԲK@ u* lx;Iu*CxB=Z>xB1EiR=IP)~GF@Yʍ>ʑʑQDʑ͝>I I8ٮ QtI  U]C9鰥: :)8 39) 39I tIi D :):I 39I9*G2GFFrFbFEE);I9 iI  mQi  >  2@<:@w: > ޥ)  5(AYt*K@t*ΆZ@yt*[t*>t*H?JTw?ѿ2y??@? n?)u*K@ u*Mx;Iu*CxNmd>xRu E)Gia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@UY].y;]>YYQeDae&;e>Ii Iu8ٮii QutI i U}]C9imS: m:)m8 39)yIy tIiy Dy }}:)}Ԙ:I}39I9*G2GFFrFbFEE);I9 iI/tXi 2@<:@w: )I ߉1=>ލ) BN(AYt*@K@t*K7Z@yt*Ot*EO>t*H2 2?@п^@z%?`Ɂ? ? t?)u*@K@ u*x;Iu*CxBm>xB'EHBp=HDiRf=IP)vGF@ Y;>QD%U[%>I) I-8ٮ)) Q5tI ) U5]C9)-ի: -ٮ:)- 8 =39)9I9 EtIi9 ED9 =Ĕ:)=:I=/39QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iILi 2@<:@w: ߱A) ~h(A) IYt.K@t.PZ@yt.7(t.;z>t.H@b?x3 ѿyp??"?`?)u.K@ u.-w;Iu.CxBg>xBsE)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]hze>aaQeDamt;m>Iq I}8ٮqq Q}tI q U}]C9qu: u:)u(8 39)I tIi D :):I@39I9*G2GFFrFbFEE);I9 iIRi 2@<:@w: ) 񝂞(AYt*ʞK@t*KZ@yt*4Mt*>t*Hw ؐ?mƯѿ@k???`l?)u*ʞK@ u*lw;Iu*CxZMl>xZLE {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI%̓C)SG4=F@Yj;>  Q D 2>I! I%8ٮ!! Q-tI ! U-]C9!%; %;)%8 =39)9I9 EtIi9 ED9 =H:)=:I=R39YIY9aO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIHQi 2@<:@w: i5?A9Uɦ) v(AYt*rZK@t*}Z@yt*<t*J>t*H`j`wR?%п]?R? ?`?)u*rZK@ u*w;Iu(xBm>xB'EGDHD){F}I{Di{F={D{D{F B{D|FA9|FYiA?Z-)]dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y$>QD ) >I I=8ٮ Q=tI  U=]C9; ^;)l8 E39)AIA MtIiA MDA Eh:)E:IEc39yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 195.189936 arcdeg .q'e'e*Ga2GaFaFirFbFEE2EzEAE}(g+@06[4EYiA?Z-E}EEP󳄞2z/@ƁIE@z@IF?N˿E@=DHdg To Contact =139.521586 degreesZE>~AbE:Ewo$?BE|o$?JE| RE jEȮrE(n);I9 iI  7xHi  2@<:@w: I$Dacoustic_contact_range 25.079998 m$hTrackAcousticContact.heading_to_contact 2.435111 rad$LDUSBL_Hydroid.xAngle -56.750000 arcdegG) zU(A Yt.TK@t._9Z@yt.@4t. >t.H `?@V`п@?i?S?s?)u.TK@ u.o v;Iu,xBo>xBJEiPIR“C)F@uYuY}>yyQ}Dyͅ<>I I8ٮ QtI  U]C9鰍q: x:)8 39)I tIi D :)Is39I9=OM@Contact HDG: 139.521586 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFIFQrFYbFYEYEY)m;Iu9 qqiqIqy}0Qiyy 2@<:@w: ߙ)ܳ) 0О(AYt*dK@t*Z@yt*jt*>t*H# e?Dп`$?xBE)GiyAF@=YE;E>AAQMDIM(ȻM>I I8ٮ QtI  U]C9; 4;)8 E39)1I1 MtIi1 mD1 5w<)5=l>)  ꞧ(AYt*RK@t*Y@yt*'t*Ȧ>t*H`iU?@пM@??`8??)u*RK@ u*ݎu;Iu*CxNg>xRsEHPHRa=ib=I`)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅA>ʉʉQDʉ͍/>I I8ٮ M8 QtI  U]C9鰕: ^:)@ 8 39)I tIi D O:):Iӕ399I99A*GQ2GQFqFqrFybFyEyE);I9 iIAIi 2@<:@w: ) (A) I Yt*aZK@t*lZ@yt*lt* c>t*H@w@U? `п J?ۂ?@??)u*aZK@ u*t;Iu*Cx6v>x6E)ndGF@Y%+;%>!)Q-D)-ӟ:->I1 I=8ٮ11 Q=tI 1 UE]C915>: 5:)58 M39)AIA MtIiA MDA E:)EN:IES39YIa9a*Gq2GqFqFqrFybFyEE);I9 iIFJi 2@<:@w: F) 2(AYt*Z'K@t*eY@yt*pt*>t*H +?<hп@ {?w?n?`?)u*Z'K@ u*Xt;Iu*Cx>i>x>EiNf=IL)  = =a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y7>QD>I I 8ٮ Q tI  U ]C9: ;)R(8 =39)1I1 =tIi1 ED1 5c:)54:I539II9*Gy2GyFyFrFbFEE) ;I 9 iIDi 2@%<:@ew: yi11F) O7(AYt*.K@t*Y@yt**t*z΂>t*H`:?ÙMп%@?@B? 3,??)u*.K@ u*@s;Iu(x:n>x>EG<H<) F@Y%%>))Q-D)5:5>I9 I=8ٮ99 QEtI 9 UE]C99=}: =:)=A58 M39)III UtIiI UDI Mݱ:)Mw:IMp39aIa9a*Gq2GqFyFyrFbFEE);I9 iI[oFi 2@<:@w: 9) VQ(A Yt2+)K@t26Y@yt2.t2Ƃ>t2H`/?[,@.п Ԇ?ՙ?P+??)u2+)K@ u2="s;Iu2Cx=y>x=EiqIq)!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YʍM$;>ʑʑQDʑ͝%>I I%8ٮ Q%tI  U-^C9鰝1< h<)F8 539))I) 5tIi) =D) ->:)-:I-39I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E));I9 iImEi 2@<:@]w: qTs) $k(AYt*J@t*Y@yt*?t*>t*HDa?D@cп` S)?@?ෆ??)u*J@ u*=xr;Iu*Cxb"h>xbE)GixAF@Y ?QD ?I I}8ٮ Q}tI  U}^C9Z: 9:)Q8 39)I tIi D %:)|:It39I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'5Nm@Vehicle HDG: 194.838482 arcdeg .q'm'm*Gq2Gu@FqFqrFybFyEyEy);I9 iI:'@i@ a2@m<:@mw: y$RHorizontalControl.headingCmd 2.435111 radj) 񅟧(AYt*J@t*Y@yt*ٵ t*f>t*H V?p߬hп ??@]?=?)u*J@ u*7q;Iu*Cxni>xrNE {pY|pv8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI̓C)=GF@eYmk;m>qqQuDy:>I  I8ٮ   Q=tI  UE^C9  R; $;) cd8 U49)I U49II UtIiI UDI MBf<)MhtH `?z@Bпo?@?1?@?)u4J@ uq;IuCxEHf>xE E)SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9@a  a -@a  AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʥ|7;>QDһ>I I8ٮ QtI  UE^C9 < <)q8 M49)III UtIiI UDI M:)M:IM49I9*G2GFFrFbFEE)E;IE9 AAiAIIM^@iQQ 2@<:@w: )  ﹟(AYt*WJ@t*boY@yt*@6t*P>t*H`ϰ?W`1п_@f?dž? #??)u*WJ@ u* q;Iu*CxNj>xNqEi`Ib“C)-G5%=5%=F@Yʝ?ʡʡQDʡͭc?I I8ٮ QtI  U^C9鰵< :);{8 49)I  tIi  D S:)|:I/49YIY9Y*Gi2GFFrFbFEE);I9 iI[@i 2@<:@w: Q_) xӟ(AYt*_J@t*joY@yt*-$t* >t*H@ ? Z21п k ??N?'?)u*_J@ u*up;Iu*Cx>o>x>JE) vGF@5Y=1;=>AAQEDAMU6M>II IU8ٮII Q]tI I U]^C9IM: M:)M8 e49)aIa mtIia mDa e:)e:IeY/49I9*G!2G!F!F!rF)bFqEyEy);I9 iI4@i 2@<:@Ew: Y ) ퟧ(A Yt6gsJ@t6r Y@yt6)t6K>t6H *?U^ Ͽ=?5?E?@V?)u6gsJ@ u6?p;Iu4x^Hf>xb EilIp)EdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%2%>))Q-D)u<6u>Iy I}8ٮyy QtI y U^C9y}: }ݱ:)}8 49)I tIi D s<){t*H@LC?IzϿ ?`g?*??)u*J@ u*o;Iu*Cx~0a>x~w E)iwAwAF@Yʥ>ʡʡQDʡͭt;>I I8ٮ QtI  U^C9鰵; s;)8 49)I tIi D }:)o:IR49QIq9q*G2GFFrFbFEE);I9 iIu@i 2@<:@w: =]>E>) al!(AYt>]J@t> Y@yt>Dt>&>t>H?5嫿3Ͽ@AQ?Ȃ? U?P?)u>]J@ u>&o;Iu>CxJ_>xJ EHNa=HLi\I^̓C)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y{I;>QDػ>II IU8ٮII QUtI I UU^C9IM: M,:)M8 e49)YIY etIiY eDY ]:)]t*HJ ?5L~5Ͽގ?ͅ?x??)u*x&J@ u*[o;Iu*Cx^i>x^E)GF@Yq>QD >I I58ٮ Q=tI  U=^C9I< g:)r8 E49)AIA MtIiA MDA E%:)E:IEt49I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 QYiYIYYaiaa a2@<:@w: ) U(AYt.L+J@t.WX@yt.it.&>t.H`c?-0>Ͽ7`6??6?[?)u.L+J@ u.wo;Iu,x>j>x>qEiLIL)  F@Y%c;%>!)Q-D)-6K:5>I1 I=8ٮ11 Q=tI 1 UE^C915: 5:)5k8 M49)AIA MtIiA UDA E:)E:IEN49iIi9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 194.129809 arcdeg .q'E'E*GA2GAFFrFbFEE);I9 iIi 2@<:@w: Qi9940) Wn(AYt.I@t.X@yt.L>'t.<>t.H l?`ο@`?? fX??)u.I@ u.|o;Iu,xBvW>xB|EG@H@)XGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YʍK >ʑʑQD>I I8ٮ QtI  U^C91: :)8 49)I tIi D E:):Ip49I9=O@Contact HDG: 139.521586 arcdeg .''O4Initialize Wait Component.*G2GFFrFIbFIEIEI)e;I9 iIi 2@<:@w: I ") ̈(A Yt.I@t.vX@yt.2t.Xʂ>t.Hs ;?@`ο] û?]?+??)u.I@ u.Bp;Iu,x>md>x>u E {@Y|@B8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iiIi)]{GF@uY}-׺}>ʁʁQDʁ͍>I I8ٮ QtI  U_C9鰝%: :)8 E49)I MtIi MD Z=)[=IE49YIY9Y*G2GFyFrFbFEE);I9  i I i q2@}<:@}w: ߑ)B() n(AYt.JI@t.U[X@yt.}(t.|؃>t.H ?? @멿@8Lο@ `"??]L?w?)u.JI@ u.`p;Iu,x>k>x>E){B>kI{@i{B ={@{@{BHB{@|BA9|Bi?h)/p)%+Gi)-xAF@=YE:E>AAQEDAMM>IQ I]8ٮQQ Q]tI Q U]_C9QU: U:)U8 m49)aIa mtIia mDa e%:)e9:Ie49I9*G2GFFrFbFEE!2E!zE%AE%}t.@*"3E%i?h)/pE%>kE!E%\#x|q3@N.@E%}πb J?v(ɿE%İ@=uDHdg To Contact =142.067115 degreesZE%wrAbE%:E%uo$?BE%wo$?JE!RE%| jE%םrE%Ȯ);I9 iIi 2@<:@w: $Dacoustic_contact_range 25.140001 m$MhTrackAcousticContact.heading_to_contact 2.479539 rad$MLDUSBL_Hydroid.xAngle -52.650001 arcdeg5>5>al.) ~(Axnj>xnqEHrR=HpiI)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y>QD%>I! I-8ٮ! M-8! Q-tI ! Uu_C9!%Q< %<)%8 }49)yIy }tIiy Dy }Ĕ:)}:I} 49I9*G2GFFrF)bF1E1E1)E;IE9 IiIi 2@<:@w: VX5) 8k֠(A)2;I0YtfTI@tfX@ytf\tfP>tfH k!O?kөͿS?K?G?@E?)ufTI@ uf'q;IufCx5s>x5E)SGa 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YN;>QD R>I! I-8ٮ!! Q-tI ! U5_C9!%J: %:)%8 =49)1I1 =tIi1 =D1 5:)5o:I5!49I9*G2GFFrFbFEE);I9 iI  i   2@u<:@}w: ߉W~;) 5(AYt*&I@t*W@yt*>7t*>t*H`w&x?`Z-DͿ`? ?~E?H?)u*&I@ u*r;Iu*Cx^5g>x^*EilIl)EGM4=M4=F@Yʭͻ>ʩʱQDʱ1>I I8ٮ QtI  U_C9}: :) 8 549)I =tIi =D 0<)~:IY49III9I*G2GFFrFbFEE);I9 iIIIiII Q2@]<:@]w: ߩiQQdB)  (AYt*H@t*ܥW@yt*@(t*U>t*H+`I?)`#̿`6Y?o? [?`v?)u*H@ u*rs;Iu*Cx>u>xBEGBAAH@) GF@=YEy;E>AIQMDIMU>IQ I}8ٮQQ QtI Q U_C9QU; Uù;)U.8 49)I tIi D }:)N:I499I999*GI2GQFFrFbFEE);I9 iIi 2@ <:@Uw: a.H) y#(A Yt*H@t*wW@yt*t*z>t*H0p?hըS̿m6??~??)u*H@ u*h-t;Iu*Cxj>xqEi9I9)Ga 1ma 1m a 5ua 5u a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y:>QDʻ>I I8ٮ QtI  U-_C9b< <)=8 =59)1 =59I1 =tIi1 =D1 5:)5/:I5#59I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)M;IM9 IIiIIIQQiQQ Y2@]<:@ew: qN) H=(AYt*όH@t*9W@yt*8t*H>t*H7@cw?&̿*? Z?Y??)u*όH@ u*Ju;Iu*CxBeq>xBnE)-ׄGi)1F@=YEV9E>AAQMDIMu/M>IQ I]8ٮQQ Q]tI Q Ue_C9QU: UB:)UI8 m59)aIa mtIia mDa ep:)e:Ie59I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.680320 arcdeg .q'u'u*Gq2Guİ@FqFqrFybFyEE);I9 iI@iİ@ 2@<:@w: Q$RHorizontalControl.headingCmd 2.479539 rad5>=>U) W(AYt2&H@t21t2H 7@?`'̿/3?@JM?0?4?)u2&H@ u2?v;Iu2Cx>'n>xBpEH@HBp=iPIP)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm$m>iqQuDq}϶9}>I I8ٮ QtI  U_C9鰅h: J:)W8 59)I tIi D ;);I.59I9=O}@Contact HDG: 142.067115 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFE)E))E;IE9 AAiAIAİ@i 2@<:@w: ߩ[) vq(A) IYt*$H@t*V@yt*5/t*,C>t*HCk?D%`8M˿-Y?? ??)u*$H@ u*pv;Iu*Cxnm>xn'E)]dGF@}Yʅ>ʁʁQDʉ͍>I I8ٮ QtI  U_C9鰕=; ;)|e8 59)I tIi D :):I5@59I9*G)2G)F1FqrFybFyEyEy);I9 iIi 2@<:@w: b) vT(AYt*%H@t*0V@yt*! (t*>t*H`D@?`|4˿@9 ?,?@4F?@G?)u*%H@ u*y;Iu*CxB^>xB E {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)G%=F@Y':%>!)Q-D)5=>IA IM8ٮAA QMtI A UU_C9AE\< E<)E t8 59)I tIi D 5:)':IR59 I)9)*G2GFFrFIbFQEYE);I9 iI!i!! !2@-<:@-w: Ai19h) +(AYt*4G@t*?V@yt*֒t*>t*H H@W?ʿ,7@4?@G?1s?`c?)u*4G@ u*Ky;Iu*CxBk>xBEGB?AHD)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QD P >I I58ٮ Q=tI  U=_C9; ;)8 E59)AIA MtIiA MDA E:)EN:IEb59yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@ w: 9o)  (A Yt*@G@t*KPV@yt*.t*̇>t*HPC?t@Pʿ3?@wÅ???)u*@G@ u*&z;Iu*CxBd>xB EiPIR“C)SGF@Y%:%>!!Q-D)-Y->I1 I=8ٮ11 Q=tI 1 U=`C915: 5#:)5p8 M59)AIA MtIiA MDA E:)E:IEr59YIa9a*Gq2GqFqFqrFbFEE);Iu9 qqiqIqy}riyy 2@<:@w: u) ء(AYt*ܟG@t*LV@yt* t*Ƅ>t*H`P3?`kJ`Iʿ@A9/?Ã?3i? ?)u*ܟG@ u*|;Iu*CxBm>xB'E)~GixAa 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y};>ʁʁQDʁ͍k>I I8ٮ QtI  U`C9鰕o; ;)8 59)I tIi D p:) :IL59I9*G 2G FFrFbFEE);I59 19i9IAAE9iII I2@U<:@Uw: a15>|) (AYt*)gG@t*4V@yt*Lt*W>t*H@V@M? ̥ ɿG +?Ƀ?6c??)u*)gG@ u*}|;Iu(xBk>xBEHB=HFa=iPIP)GF@Y%%>))Q-D)55>I1 I=8ٮ11 Q=tI 1 UE`C915: 5:)58 M59)III MtIiI UDI M:)ME:IM59aIa9a*Gq2GqFqFyrFbFEE);I9 iI竽i 2@<:@w: !)  (A)p;IYt.+G@t.U@yt.m4t.g>t.H\ ? eɿ@Dm??M?`\?)u.+G@ u.X~;Iu.CxBp>xBE)~+GF@Y%\%>!!Q-D)-->I1 I=8ٮ11 Q=tI 1 UE`C915ӻ: 5:)5ͷ8 M59)AIA MtIiA MDA E:)E:IE59YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIa稽i 2@<:@w: !+) w&(AYt*3G@t*U@yt*nt*g>t*H[ ?|J`\uɿcA@/?@M?x??)u*3G@ u*s^;Iu*Cx>}v>xBEiLIN̓C)~G=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQmDimI:u>I I8ٮ QtI  U`C9鰕J: B:)8 59)I tIi D [:):I659I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.472756 arcdeg .q''*G2GFFrFbFEE);I9 iI Xi 2@<:@w: i19) {N@(AYt*NF@t*Y}U@yt*3:t*>t*He(? $ʲȿLx?`3g???)u*NF@ u*F~;Iu*CxVn>xVEGZAAHX)-GF@=YEE>AIQMDIM8xU>IQ I}8ٮQQ Q}tI Q U`C9QUg; U;)U8 59)I tIi D h:)Z:I 59I9=OU@Contact HDG: 142.067115 arcdeg .'U'UOu4Initialize Wait Component.*Gq2GqFyFyrFybFEE);I9 iIli 2@<:@w: A) T;Z(A, ,YtRF@tRqU@ytRX;tRy>tRHf$? ȿ`@P ff? j?? ?)uRF@ uR&B;IuRCxZmd>x^u EiI“C)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>Q%D!%mԺ%>IA IM8ٮAA QUtI A UU`C9AE: E :)Ed8 e59)YIY utIiY }DY ]3;)] ;I]?59I9*G2GFFrFbFEE);I9 iIi 2@<:@w: _g) yt(AYt*F@t*WU@yt*t*>t*HLi@??@hȿ@GMH? /?@??)u*F@ u*PZ;Iu*CxBsj>xB(E)zƄGi||F@Yʍ;>ʉʉQDʉ͕ꇻ>I I8ٮ QtI  U`C9鰝: :)g8 59)I tIi D :):IL59I9*G2GFFrFbFEE);I9 iIpi   2@<:@w: !5>=t>N) i(AYt*PF@t*T@yt*t*@>t*H q:?@ ǿI_~K?@ ҃?w?@?)u*PF@ u*%@;Iu(xBS>xB5EHBa=HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)eׄGF@Y>  QDXW%>IY Ie8ٮYY QetI Y Ue`C9Y]{; ];)]8 59)qIq tIiq Dq u%<)ut*H oVt?O֣ǿ .W`r?o7? ?q?)u*lF@ u*-p;Iu*CxNsj>xR(E){RskI{Pi{R={P{P{RA{P|R(A9|Rʋ^?d'x)=ʩʩQDʩ͵+;>I I8ٮ M8 QtI  U`C9鰽Z: :) 8 69) 69I tIi D :):I 69I9*G2GqFqFqFyF}3cArFybFEE2EzE(AEX41I.@8}3Eʋ^?d'xEskEE 眆254 0@`Eh翧.5m?~ɿE^@=DHdg To Contact =139.093743 degreesZEhAbE4:Ewo$?BEuo$?JEREjErEם&); S8SI9 iI| i 2@ <:@-w: A$}Dacoustic_contact_range 25.020000 m$hTrackAcousticContact.heading_to_contact 2.427644 rad$LDUSBL_Hydroid.xAngle -52.749998 arcdega) (AYt*) F@t*4T@yt*Lt*b>t*H@w? :Q h3ǿMb>d?`5Ã???)u*) F@ u*I ;Iu*CxBo>xBEiPIP)SG=F@Y%:%>))Q-D)-3w5>I1 I=8ٮ11 Q=tI 1 UE`C915: 5:)5R8 M69)AIA MtIiA MDA E[:)EԘ:IE69YIa9a*Gq2GqFqFyFyFyrFybFEE); 8ӸI9 iIOv3i 2@<:@w: i=@A9) qۢ(AYt*^*F@t*iT@yt*ʯ!t*>t*H>u ?`hlǿg&?5?RP??)u*^*F@ u*I;Iu*CxBe>xBP EG@H@)Ga 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M a )M@a M IIɄIiMMb@Mb@Mb@IMIIiIMMɅMMI I)IF@eYm m>iiQuDqu};u>Iy I8ٮyy QtI y U`C9y}:: }t:)}k&8 69)I tIi D :)E:I9.69I9*G2GFFrFbFEE);I9 iI  hi   2@<:@w: )ŵ) LO(A@ Yt.,E@t.7T@yt.$ t.^>t.H`WzxBnEiLIP)~vGF@=YEs!9E>AAQMDIM M>IQ I]8ٮQQ Q]tI Q U]aC9QU`: U:)U48 m69)aIa mtIia mDa e:)eo:Ie?69yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIFi 2@<:@w: V) $)(AYt*qE@t*|T@yt*&+t*y>t*H{@?Q@ƿl//?d? T? R?)u*qE@ u*&~;Iu*CxRN>xR&D)dGi!!F@=YETϺE>AIQMDIMجM>IQ I8ٮQQ QtI Q UaC9QUN< UFO<)UA8 69)I tIi D Ĕ:):IP69I9&M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 190.318522 arcdeg .q''*G2G^@FFrFbFEE);I9 iI@i^@ 2@<:@ w: 9$}RHorizontalControl.headingCmd 2.427644 rad5V>=>*) )(AYt*E@t*T@yt*>t*++>t*H@d|6T?qƿb7?`s?@'? ?)u*E@ u*F~;Iu(xBn>xBEHBp=HDiPIR̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y,\;>QD c >I I58ٮ Q=tI  U=aC9E; ;)lP8 E69)AIA MtIiA MDA E:)E:IEAb69yIy9y=O @Contact HDG: 139.093743 arcdeg .' ' O 4Initialize Wait Component.*G12G1F1F1rF9bF9E9E9)u;Iu9 qqiqIy}^@iy 2@<:@w: ߹i) B(A)4t*H@9|U?@4ƿ] ? 䖂? ? ?)u*E@ u*6};Iu*CxNp>xR%E)uGF@Yʥ6>ʡʡQDʡͭ69>I I8ٮ QtI  UaC9鰵`: B:)]8 69)I tIi D :):Ir69I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9]) \(Ax~Ml>x~LEi9I=“C)G4=%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%>!!Q%D!-->I1 I=8ٮ11 Q=tI 1 U=aC915\: 5>:)5,l8 E69)AIA MtIiA MDA E:)EV:IEU69YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iIi 2@<:@w: ߹i5?A1T) v(AYt*ӻE@t*hT@yt*$t*;>t*H)`?YXƿ@%d;?G?$??)u*ӻE@ u*B{;Iu*CxRp>xREGR@AHT)5҄GF@}YʅP >ʁʁQDʉ͍/>I I8ٮ QtI  UaC9鰕: :)=y8 69)I tIi D :):Iz699I999*GI2GIFIFQrFqbFyEyEy);I9 iIi 2@<:@w: ) n(A@ x Rr>xE {!Y|!-8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iqIy)vGF@}Yʅ>ʁʁQDʉ͕>I I8ٮ QtI  UaC9鰝:: :)I8 69)I  tIi  D +W<)'Xt*H , ?G7ƿhˉ?`B?P?@?)u*qE@ u*"y;Iu*CxRk>xVE)MGiQUwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵغ?ʱʱQDʹͽ?I I8ٮ QtI  UaC9: t:) 8 69)I tIi D 1:)$:Iɶ69I9*G2GFFrF bF E E)%;I%9 !!i)I)))i11 12@=<:@=w: I1=p>*) %ģ(AYt*E@t*XT@yt*'2(t*#>t*H F?U6FsƿR%?,?@=? ?)u*E@ u*-y;Iu(xRr>xRIEHTHVp=idIf̓C)-GF@=YE{V:E>AAQEDAM;M>IQ I]8ٮQQ Q]tI Q U]aC9QU5: U|:)UR8 m69)aIa mtIia mDa e:)e:Ie269yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ') ޣ(A);I;YtB|E@tB)T@ytBtB>tBH o?ݢƿ b ?߂?@??)uB|E@ uBcx;Iu@xbp>xbE)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y$";>QDۻ>I I8ٮ QtI  UaC9: :)Ͱ8 69)I  tIi  D Ր:),:I69I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 189.939132 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: R)  (AYtBDmE@tBOT@ytB-9tB2X>tBH?`Mſ`T/?%?@R??)uBDmE@ uBσw;IuBCx^a>x^ EilIp)=dGE%=E4=F@MYUU>QYQ]DYeT"e>Ii Im8ٮii QutI i UuaC9im: m:)m8 }69)yIy tIiy Dy }:)}$:I}\69I9=O@Contact HDG: 139.093743 arcdeg .''O%4Initialize Wait Component.*G!2G!F!F!rF)bF)E)E1)E;IE9 IIiIIIIQiQQ Q2@]<:@]w: qi19\9) (AYt>QE@t>S@yt>!t>a>t>HY A?vFſ@xJ?@M4?/??)u>QE@ u>^w;Iu>CxbWx>xbEGdHd)YF@mYuf;u>qqQuDy}L>I I8ٮ QtI  UaC9鰅.: 1:)8 69)I tIi D :)@:I69I9*G2GFFrFbFEE);I9 iIi 2@<:@w: g ) <+(A@ Yt.|XE@t.T@yt.7t.>t.H͇O? 7`ſ O^??7?`?)u.|XE@ u..w;Iu,xJDy>xNEEiXIZ“C)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>QD}:>I I8ٮ QtI  UaC9\: :)8 79) 79I tIi D E:):I 79I9*G2GFFrF!bF!E!E!)=;I=9 99i9I9AAiAA I2@U<:@Uw: aK) pE(AYt*)E@t*S@yt*7t* >t*H`?6sſJY9?ƃ?)_? ?)u*)E@ u*@v;Iu*CxBZe>xB E)~GixAF@ Y W>QD>I! I-8ٮ!! Q-tI ! U-bC9!%}: %>:)%8 579)1I1 EtIi1 ED1 5:)5]:I5 79QIQ9Q*G2GFFrFbFEE)%;I59 11i9I99AiAA A2@M<:@Mw: Y5e>={>u) ,I_(AYt*GE@t*S@yt*2t*[4>t*H@8E0?@ſ PEe?@C?@ ??)u*GE@ u*1v;Iu*CxBZe>x@H@HDiPIR̓C)҄GF@=YEDE>IIQMDIU;U>IY Ie8ٮYY QmtI Y UmbC9Y]2: ]:)]8 u79)qIq }tIiq }Dq u:)u:Iuf-79I9*G2GFFrFbFEE)E;IU9 QYiYIYYaiaa a2@m<:@mw: ߁) F%y(A)4t.H{?NU ſ cUt? T???)u.D@ u.Jv;Iu.CxNjw>xR"E)+Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYʅ9>ʁʁQDʉ͍CF>I I8ٮ M8 QtI  UbC9鰕0: :)8 79)I tIi D Ր:):I>79I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ߙ̇$) (AYt*AE@t*LS@yt*I7t*'>t*H`v? / 3Kſ ].'?؆?@L??)u*AE@ u*av;Iu*CxRt>xRlE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I)G ?%>F@Y%;->19Q=D9M;M>IY Ie8ٮYY QetI Y UmbC9Y]<; ];)]8 79)I tIi D $:):IP79 I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!ME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFQEQEQ);I9 iIi 2@<:@w: i99*) ڬ(AYt*E@t*S@yt*'t*֎>t*H?*_`+,ſ@R`2|? ?@?`?)u*E@ u*bu;Iu*CxBmd>xBu EGFAAHFAA)SGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}E}>yʁQDʁͅ%>I I8ٮ QtI  UbC9鰍: :)8 79)I tIi D :):I`79I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 189.521576 arcdeg .q'M'M*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIyi 2@<:@w: ߡ!1) 5Ƥ(A Yt.D@t."uS@yt.#)t.Ȝ>t.H༓@@>? G@ĿPz?@a$?@?@?)u.D@ u.u;Iu.CxRx>xREilIl)=dGF@]Yee>aaQeDimNm>Iq I8ٮqq QtI q UbC9qu|; u$;)uY,8 79)I tIi D :):Iq79I9=O@Contact HDG: 139.093743 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@ <:@w: !7) ध(AYt*D@t*S@yt*t*N>t*H V? ||ĿX`s? ???)u*D@ u*Nu;Iu*CxR`k>xRE)MGiQQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ|D;>ʹʹQDʹ;>I I8ٮ QtI  UbC9\: :):8 79)I tIi D :):I79I9*G 2G F F rFbFEE)-;I-9 ))i1I199i99 92@E<:@Ew: Y5>=e>=) k(AYt*D@t*eS@yt*t*>t*H` 6?@!졿kĿ^W? 3?y?I?)u*D@ u*u;Iu(xRr>xRIEHPHVa=i`I`)%GF@YʍB>ʑʑQDʑ͝>I I8ٮ QtI  UbC9鰥: :)!H8 79)I tIi D _:):I79I9*G2GFFrFbFEE);I9 iI   i 2@<:@w: 1WD) V(A)(I,Yt 9D@t DKS@yt (t J>t H?@B`Ŀ`$Y ލ? ?`?`?)u 9D@ u u;Iu x-?s>x-E)+Ga 1-a 1- a 5-a 5- a 9-a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU4U>QQQUDY]u]>Ia Im8ٮaa QmtI a UmbC9aeB: eg:)eV8 }79)qIq }tIiq }Dq u:)uE:Iu79I9*G2GFFrFbFEE);I9 iIi 2@<:@w: J) #.(AYt*(D@t*3t*HK .?`{(`BĿn``c?o?`b?`?)u*(D@ u*ru;Iu*CxBo>xBJEiPIP)~G%=4=F@=YEt]E>AAQMDIM#M>IQ I]8ٮQQ Q]tI Q UebC9QU: UJ:)U\c8 m79)aIa mtIia mDa eՐ:)e:Ie79yIy9*G2GFFrFbFEE);I9 iI֩i 2@<:@w: i19Q) G(AYt*mD@t*S@yt*vt*`֋>t*H"?ݠ6ÿ &l $?@΃?@*C??)u*mD@ u*xu;Iu(xNi>xREGR?AHR@A)11Q5D1==>IA IM8ٮAA QMtI A UMbC9AE: E>:)Eq8 U79)QIQ ]tIiQ ]DQ U:)U:IUp79iIi9i*G2GFFrFbFEE);I9 iI&i 2@<:@w: X) a(A Yt*bD@t*S@yt*V(t*>t*Hě@ӄ?úÿ[eZ?@?`w?@?)u*bD@ u*Pu;Iu*CxNh>xREi\I\)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}ʺ>ʁʁQDʁ͍ĺ>I I8ٮ QtI  UbC9鰕: :)58 79)I tIi D :)Ԙ:I79I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=i 2@ <:@ w: !<^) 1{(AYt*MD@t*R@yt* t*\>t*Hw`\?k9ÿt@? ??S?)u*MD@ u*Wu;Iu*CxBj>xBqE)xi~yA|F@=YE:E>AAQEDIM VM>IQ I]8ٮQQ Q]tI Q U]cC9QU: U:)U8 m79)aIa mtIia mDa e:)e:Ie79yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 188.878595 arcdeg .q''*G!2G!F!F!rF)bF)E)E1)E;IE9 AIiIIIIUOiQQ Q2@]<:@]w: i5R>=p>&e) R(AYtRKD@tRR@ytRN tRK>tRH+O?૽ÿZq?@;?@n2?g?)uRKD@ uR2u;IuRCxrsj>xr(EHvR=Ht {tY|tz8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iQIY)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y N; >QD{>II IM8ٮII QUtI I UUcC9IMt: M:)M8 ]79)YIY ]tIiY eDY ]p:)]c:I]S79I9=O=@Contact HDG: 139.093743 arcdeg .'='=O=4Initialize Wait Component.*GA2GAFAFIrFQbFQEE);I9 i1I19=i99 A2@E<:@Mw: YNk) m(A)IYt.SFD@t.^R@yt.O)t.>t.H@V? ÿxA? )? ??)u.SFD@ u.f+u;Iu.CxNmd>xRu E){RdI{Pi{R={P{P{RA{P|Rf$B9|RT?N&M)=GF@}Y}->ʁʁQDʁ͍{>I I8ٮ QtI  UcC9鰕: :)8 89) 89I tIi D o:) :I 89I9*G2GFFrFbFEE2EzEf$BEBV9@R@ET?N&MEdEE B>o:@3Vo{ Ey翱زz?Rvv ɿE@=DHdg To Contact =138.723068 degreesZEAbE:EXo$?BEwo$?JEs REjErE) ;I 9  iI-i 2@%<:@%w: 9$UDacoustic_contact_range 41.099998 m$]hTrackAcousticContact.heading_to_contact 2.421174 rad$eLDUSBL_Hydroid.xAngle -51.250000 arcdegX6r) kGɥ(AYt*2D@t*R@yt*&t*j>t*H@,?`@ ÿ s?„?+?>?)u*2D@ u*'u;Iu*CxBv>xBEiPIR“C)=ƄGAE%=F@]Ye:e>aaQeDimDm>Iq I}8ٮqq Q}tI q UcC9qu.: u:)u:8 89)I tIi D ::):I89I9*G2GFFrFbFEE);I9 iI)i 2@<:@w: i19_x) 㥧(AYt*~LD@t*R@yt* t*>t*H`X?w`ÿ|@?@1]?w? J?)u*~LD@ u*u;Iu(xBl>xBEGFAAHD) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ!9;>ʹʹQDʹy;>I I8ٮ QtI  UcC9: :)`8 89)I tIi D :)g:II-89I9*G2GFF rF bF EE)%;I%9 ))i)I)15i11 92@=<:@=w: QP~) (A@ Yt*6D@t*R@yt*s"t*,>t*H10?WX ÿ`n@1?LN?M?@?)u*6D@ u*C#u;Iu*CxB:m>xBEiPIP)dGF@=YE|E>AAQMDIM^M>IQ I]8ٮQQ Q]tI Q UecC9QU: U-:)U8 m89)aIa mtIia mDa e:)eA:Ie=89I9*G 2G FFrF9bF9E9E9)U;IU9 qqiqIqy}p(iyy 2@<:@w: ߙ%r) w(AYt:cD@t:S@yt:4$t:>Lj>t:H൛ ? 'ÿy?z?? ?)u:cD@ u:su;Iu8xbsj>xf(E)ixAF@EYEmM>IIQMDIU;U>IY Ie8ٮYY QetI Y UecC9Y]: ]J:)]8 m89)iIi utIii uDi mа:)m:Im P89I9*G2GFFrFbFEE);I9 iIrfi 2@<:@w: 1=>) W0(AYt*ED@t*R@yt*pt*1(>t*H F?`۠jÿel? ???)u*ED@ u*\u;Iu(xBj>xBqEHFa=HDiPIR̓C)a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe)K:m>iiQmDiu,u>Iy I8ٮyy QtI y UcC9y}1: }а:)}h8 89)I tIi D :)ȗ:I_89I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: p) J(A);IYt.OD@t.R@yt.S*t.>t.H B0h?ÿv"? qR? ?@?)u.OD@ u.Cu;Iu.CxBo>xBE)|F@=YE!ߺE>AAQMDIMZ:M>IQ I]8ٮQQ Q]tI Q U]cC9QU>: Uc:)U8 m89)aIa mtIia mDa e:)e9:Iep89yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 188.885084 arcdeg .q''*G2G@FFrF!bF!E!E!)=;I=9 99i9I9E@EiAE@ I2@M<:@Uw: a$RHorizontalControl.headingCmd 2.421174 rad) #jd(AYt* D@t*+-S@yt*t*>t*H@S?wT$Ŀg7?b?W?"?)u* D@ u*u;Iu*CxB5g>xB*EiPIR“C) 4=4=a 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}7;}>ʁʁQDʁͅ&;>I I8ٮ M8 QtI  UcC9鰍V: Y:) 8 89)I tIi D ̒:):I89I9=OE@Contact HDG: 138.723068 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFQbFQEYEY)m;Im9 iqiqIqyyiyy y2@<:@w: ߙi19מ) B~(AYt*.YD@t*9S@yt*ON$t*{>t*H@`p?`Ơÿpf`X?`?@u??)u*.YD@ u*`u;Iu*CxVjw>xV"EGXHX)9F@MYMCU>QQQUDQ]û]>Ia Im8ٮaa QmtI a UmcC9aeO: e:)e8 u89)qIq }tIiq }Dq u:)u':Iuߒ89I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9) (A@ Yt*0D@t*;6S@yt*fY"t*>t*H ̘@L?@G`6Ŀ@@q?K? ?^?)u*0D@ u*zu;Iu*CxNl>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iyI̓C)GF@]Ye9e>aiQmDiuI;u>Iy I8ٮyy QtI y UcC9y}I: }<)}%8 89)I  tIi  D  :)t*H۾?`w`y.ĿY@?[?`?i?)u*D@ u*Kv;Iu*Cx2o>x6JE)zSGi~wA|a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YĹ>QDC->I I8ٮ QtI  UdC9G: l:)28 89)I  tIi  D }:):I89I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QQiQIQYYiYY a2@e<:@mw: y5>=>Ҳ) J˦(AYt*HD@t*S.S@yt*B#)t*4>t*H c ? O'Ŀ@u?O$?`?0?)u*HD@ u* v;Iu(xBu>xBEH@H@iPIT)~GF@=YE7E>AIQMDIMM>IQ I]8ٮQQ Q]tI Q UedC9QU%: U:)U?8 m89)aIa mtIia mDa e:)e :Ie89I9*G 2G FFrF9bF9E9E9)U;IU9 qqiqIqyyiyy 2@<:@w: ߹z) 妧(A) IYt.D@t._S@yt.t.BN>t.H`?@U`ňĿ{`N? ~? ep? ?)u.D@ u.1v;Iu.CxNg>xRsE)-҄GF@=YE;E>AIQMDIM;U>IQ Iu8ٮQQ QutI Q U}dC9QUc; UN;)UM8 89)I tIi D :)0:I89I9*G2GFFrFbFEE);I9 iIyi 2@<:@w: !&) ʋ(AYt*qD@t*|7S@yt*-%t*7>t*H` ?69Ŀh {0? ?@N?@R?)u*qD@ u*\v;Iu(xNv>xRGEi\I\)vG%ʁʁQDʉ͍û>I I8ٮ QtI  UdC9鰕: :)[8 89)I tIi D :)Ԙ:IB89I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@w: !i19) Me(AYt*D@t*`S@yt**t*_>t*Hm$?`w۠`?Ŀ`l ?iW??@6?)u*D@ u*Yv;Iu*CxB`>xB. EG@H@)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ\>ʁʁQDʉ͍;>I I8ٮ QtI  UdC9鰕:  :)i8 89)I tIi D ::)o:IF89I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 189.232850 arcdeg .q'U'U*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIyi 2@<:@ w: !8) lC3(A Yt.dD@t.oTS@yt. g!t.>t.H`g`?9O brĿmf+? ,?bK??)u.dD@ u.v;Iu.CxB"h>xBEiR=IR“C)~GF@=YE:E>AAQEDIMKM>IQ I]8ٮQQ Q]tI Q U]dC9QU: U:)Uw8 m99)a m99Ia mtIia mDa eN:)e۞:Ie 99yIy9=O @Contact HDG: 138.723068 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 11i9I999iAA A2@M<:@Mw: Yg ) !M(AYt*"D@t*-bS@yt*t*4>t*H`Z"?# @Ŀ@vز?ڂ?0?@~?)u*"D@ u*v;Iu*CxRh>xRE)-SGi15wAF@EYE:E>IIQMDIU;U>IY I]8ٮYY QetI Y UedC9Y]: ]:)]8 m99)iIi utIii uDi m%:)m:Im99I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=l>J) jf(AYt.D@t.oS@yt.}(t.m>t.H /@>?g8Ŀ@g3??`6??)u.D@ u.v;Iu.CxR{>xREHTHTibf=If̓C)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y&>QD:>I I8ٮ QtI  UdC9: :)[8 99)I tIi D }:):I,99I9*G!2G)F)F)rF1bF1E1E9)M;IM9 IIiIIIQQiYY Y2@e<:@ew: y4) <ڀ(A) I4t*H`^T_?M#ĿoaP?? m??)u*D@ u*v;Iu*Cx>i>xBE)~ׄGF@}Yʅ59>ʁʉQDʉ͍:>I I8ٮ QtI  UdC9鰕: l:)ʠ8 99)I tIi D O:)A:Ie=99I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !y\) O(AYt*D@t*{S@yt*dt*>t*HLM?ʡĿ iE?@p??;?)u*D@ u*v;Iu*CxNb>xRQ E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)mG%==a 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ!;>ʁʉQDʉͭ#9>I I8ٮ QtI  UdC9鰵h: )8 99)I tIi D t:)0:ITQ99I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: Ai19) a(AYt*D@t*S@yt*6ot*J>t*H೎?@ Ŀ`:D?m?he? C?)u*D@ u*v;Iu*CxB?s>xBEGB?AH@)GF@]Ye#79e?aaQeDim;m?Iq I}8ٮqq Q}tI q U}dC9qu: u:)u28 99)I tIi D :)N:I=_99I9*G2GFFrFbFEE);I9 iIi 2@<:@w: yrn) wdΧ(A Yt.IE@t.TS@yt.>xt.>t.H@4`?!ſ}L??`ul?@G?)u.IE@ u.}w;Iu.CxNo>xREi`I`)%GF@-Y5ɺ5>99Q=D9EY;E>II IM8ٮII QUtI I UUdC9IM%: Ml:)M8 ]99)YIY etIiY eDY ]ٓ:)]:I]p99qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ) @觧(AYt*T E@t*_S@yt**t*Az>t*H9?p 7ſli?@\[?`_??)u*T E@ u*>w;Iu(xN,t>xR#E)%vGi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ+>ʉʉQDʉ͕::>I I8ٮ QtI  UeC9鰝į: Ȳ:)8 99)I tIi D Ր:):I}99I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 189.541779 arcdeg .q']']*GY2GYFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩ5e>=t>0) (AYt*H E@t*SS@yt*a;t*G>t*H`?@Ų@_9ſ@ ?jc?&?@D?)u*H E@ u*nw;Iu(xB`k>xBEHBp=H@iLIP)~GF@=YE~$E>AIQMDIMW9M>IQ I]8ٮQQ Q]tI Q UeeC9QU: Ul:)Ul8 m99)aIa mtIia mDa e:)eԘ:Ie"99yI9=O @Contact HDG: 138.723068 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE!)5;I59 11i9I999iAA A2@M<:@Mw: Y) Q(A) I;Yt.E4E@t.PS@yt.t.l>t.H@ ?颿@]ſ`X]?@? &>? ?)u.E4E@ u.w;Iu.CxBMl>xBLE)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY];]>aaQeDam';m>Iq Iu8ٮqq Q}tI q U}eC9qu: u-:)uV8 99)I tIi D :):IQ99I9*G2GFFrF1bF1E9E9)M;IM9 IQiQIQYYiYY Y2@e<:@ew: ߙ ) |5(AYt*%E@t*#S@yt*Zdt*D܃>t*H +_?}Gkjſ@~`*?@y ?L? {?)u*%E@ u*Iw;Iu*CxNeq>xRnEi\I\)+G%=%%=F@-Y5&5>11Q5D1=j=>IA IM8ٮA MM8A QMtI A UMeC9AE: E:)E8 ]99)QIQ ]tIiQ ]DQ U:)U:IU99iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i19P) O(AYt*`E@t* T@yt*t*ׇ>t*H@!2l?@Rſi?o?@??)u*`E@ u*w;Iu*CxBj>xBqEGFAAHD)~SGF@5Y=N=>AAQEDAM<M>II IU8ٮII QUtI I U]eC9IM: M$:)M8 e99)aIa mtIia mDa e:)e:Ie,99qIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: ) i(A Yt.KE@t.S@yt.!$t.t>t.Hو F?@kſZf e?!??(?)u.KE@ u.ax;Iu.CxRn>xREi`Ib“C)-dGa 1ma 1m a 5ma 5m a 9ma 9m a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ>ʑʑQDʑ͝G>I I8ٮ QtI  UeC9鰥: :)8 99)I tIi D J:)÷:I99I9*G2GFFrFbFEE);I9 iI   i  2@<:@w: )) ) i(AYt*fE@t*T@yt*,*t*>t*H`?E`]ſ@x,?wE?M?E?)u*fE@ u*۞w;Iu*CxBZe>xB E)~GiF@=Y=:uE>AAQEDAM;M>IQ I]8ٮQQ Q]tI Q U]eC9QUG: U:)U\*8 e99)aIa mtIia mDa e:)e:Ie?99yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: 5R>5p>y&) <(AYt*ݎE@t*;T@yt*4Kt*>t*H`)?@~@:ƿU@?@Uɂ?xB EHBa=HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI̓C)iqQDʑ͝t;>I I8ٮ QtI  UeC9鰭7; ;)98 99)I tIi D t:)g:IK99QIQ9QOeDone Waiting.'eOm8Uninitialize Wait Component.*Gi2GiM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I999i9A A2@m<:@uw: ߩ>#-) v(A)IYt.DpE@t.OT@yt.h"t.A>t.H`@L?@V`ſnr?`L?`ݖ??)u.DpE@ u.w;Iu.CxBs>xBE)SGF@%Y-_->))Q-D15誻5>I9 IE8ٮ99 QEtI 9 UEeC99=: =J:)=E8 U:9)I U:9II UtIiI UDI MY<)M[t*H`!`}?Sa}ƿij?`Yڄ?g?o?)u*E@ u*$xw;Iu*CxNw>xRjEi`I`)%G-%=-=F@5Y=.=>AAQEDAE<M>II IU8ٮII QUtI I U]eC9IM): M9:)MS8 e:9)YIY etIiY mDY ]S:)]E:I]G:9qIy9y=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@ <:@5w: Ai994:) )ꨧ(AYt*E@t*4T@yt*!t*d>t*H`'?@,ƿVZ ?3?`??)u*E@ u*Φw;Iu*CxB'n>xBpEGB@AHD)iqQuDquȻ}>I I8ٮ QtI  UeC9鰅: :)a8 :9)I tIi D :)ض:I+:9I9*G2GFFrFbFEE);I9 iIi 2@<:@uw: ߉A) ;(A Yt*ƐE@t*=T@yt*#t*9>t*H?pt>ƿ@}?@v? ?l?)u*ƐE@ u*v;Iu(xNn>xREi\I\)SGF@-Y-5>11Q5D1=:=>IA IM8ٮAA QMtI A UMeC9AE: Eٮ:)E:o8 U:9)QIQ ]tIiQ eDQ U:)Uv:IUA<:9iIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: FG) ˅(AYt*E@t*pT@yt*"t*=>t*H~'?@9'ƿ/[`?HT???)u*E@ u*w;Iu*CxNi>xRE)GiyAxAF@]YeS'9e>aaQeDim#;m>Iq I}8ٮqq QtI q UeC9qu; u<;)u:}8 :9)I tIi D :):IM:9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=>pM) _8(AYt*GE@t*R3T@yt*.9(t*HW>t*H҃c?@)ƿt8? ?[?q?)u*GE@ u*?v;Iu(xBo>xBJEHFp=HDiPIR“C)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe ]e>iiQmDiuLu>Iq I}8ٮqq QtI q UfC9qu: u:)u8 :9)I tIi D O:)c:I^:9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >YT) G=R(A) IYt6E@t6T@yt6[0 t6>t6H|o?ƿ y??;?`?)u6E@ u6&^v;Iu6CxNi>xRE)aaQeDame]<m>Iq I}8ٮqq Q}tI q U}fC9qu: uJ:)u͘8 :9)I tIi D :):Io:9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Z) !l(AYtjɥE@tjRT@ytj0tjl>tjH`-H?ʒhƿ@Y@?f???)ujɥE@ uj΅v;IujCxro>xrJEiI)eGam%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y:>QD9 >I I8ٮ QtI  UfC9: į:)8 :9)I tIi D t:):I::9 I 9 ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E1)E;IE9 AAiAIIIQiQQ Q2@]<:@]w: ii5@A1ja) 4򅩧(AYt*E@t*oT@yt*\%t*$}>t*H~A? 3ƿ@g?4?}M??)u*E@ u*v;Iu*CxBj>xBqEG@H@)~GF@]Ye;e>aaQmDimڔ;m>Iq I8ٮqq QtI q UfC9quZ; u=;)ua8 :9)I tIi D :):Iϑ:9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.183312 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ! g) W͟(A@ Yt*E@t*|T@yt*t*F>t*Hr}@[??`Z:ƿ``ə?@nQ?P?@?)u*E@ u*v;Iu*CxN:m>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I̓C)ʉQD:>I I8ٮ QtI  UfC9\: :)8  :9) I  tIi  D  9:) n:I $:9!I!9!=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)=;I=9 99i9I9iiiii q2@}<:@w: }m) Ω(AYt*E@t*uT@yt*M"t*>t*H~`xN E)UGi]wAYF@mYmm?qqQuDq}S}?I I8ٮ QtI  UfC9鰅: :)8 :9)I tIi D ;);I:9I9*G2GFFrFbF E E )E;IE9 AAiAIAIIiIQ 2@<:@w: 5>=e>t) vө(AYt*E@t*rT@yt*4t*b]>t*H/~@H?hJ 1ƿ z`?B? ?k?)u*E@ u*)u;Iu*Cx>h>xBEHDHHilIl)mG6only read 2 of 4 data itemsHFailed to parse: :BS,-3278,-32768,V F@Y)>QDٹ>I I8ٮ QtI  UfC9g: k:)K8 :9)I tIi  D :)ݖ:Ib:9I9*G)2G)F)F)rF1bF1E9E9)M;IU9 QQiQIYYYiYa a2@e<:@mw: yz) `(A)4t.H{ U\? "ƿUT`H?5? ?`?)u.E@ u.}u;Iu.Cx>`k>xBE)GF@Y%R;%>!!Q-D)-i;->I1 I=8ٮ11 Q=tI 1 U=fC915+: 5/:)5B8 M:9)AIA MtIiA MDA EF:)E9:IEd:9I9*G2GFFrFbFEE);I9 iIi !2@%<:@-w: y|) ;(AYt*E@t*\T@yt*`q!t*D>t*H`>@?cu{ƿf|?.? ?@?)u*E@ u*2u;Iu*CxBsj>xB(EiLIL)EdGE=AF@]YeUe>aaQeDimgm>Iq I}8ٮqq Q}tI q U}fC9quܹ: uY:)uR8 :9)I tIi D :)|:I:9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: YiE?AA) !(AYt*6E@t*AT@yt*|t*>t*H{@O}?@ƿ*q2 ? xBEGBAAHD)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YpN:>QD <>I I8ٮ M8 QtI  UfC9Q: :)8  :9)I  tIi  D }:):Iv:99I99A*GQ2GQFqFqrFybFyEyE);I9 iIi 2@<:@w:  ) 4:(A@ Yt.E@t.ցT@yt.kt.NJ>t.H}@D?ʑ@ƿY?9?`? ?)u.E@ u.u;Iu,xB'n>xBpEiLIL)~SGF@Y%9%>!!Q-D)->_->I1 I=8ٮ11 Q=tI 1 U=fC915: 5{:)58 M;9)A M;9IA MtIiA MDA EA:)E:IEu;9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI i   2@<:@w: )u) vT(AYtrKE@trVmT@ytr/tr(~>trH@~??@&ƿH*/?D?@]q?`?)urKE@ urS*u;IurCxvk>xE)GiuAa 1-a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@mYut=u>qqQ}Dy}6}>I I8ٮ QtI  UfC9鰅 ; ;)#8 ;9)I tIi D ::)N:I;9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 190.174624 arcdeg .q''*G2GFFrFbFEE);I9 i9I9AAiAA I2@M<:@Uw: ߁-l>->) n(AYt.JE@t.UT@yt.t.q>t.HZy?:0ǿYq???u?)u.JE@ u. >u;Iu.CxBb>xB EHBa=HDiPIP) SGF@=YEe=;E>AAQEDIM'<M>IQ I]8ٮQQ Q]tI Q U]gC9QU: U:)UV08 m;9)aIa mtIia mDa e:)eo:Ie*;9yIy9=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 99i9I9AAiAA I2@<:@w: ߹q) (A);IYt.E@t.aT@yt.d t.ك>t.H@?@*ƿr&?@ ?L?|?)u.E@ u.Nu;Iu.CxBo>xBJE)~GF@Y%й%>))Q-D)565>IA IE8ٮAA QMtI A UMgC9AE: E:)E>8 U;9)QIQ }tIiQ }DQ U;)U;IU;;9I9*G2GFFrFbFEE) ;I 9 iI199i99 A2@M<:@Mw: IN1) \(AYt*E@t**T@yt*~"t*÷~>t*Hz ?Tƿr8?^?Ƃ?@x?)u*E@ u*t;Iu*CxBMl>xBLE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIv“C)G=a 1Ma 1M a 5Ma 5M a 9Ma 9U a -]a -] a 1e@a e a 5e@a  a 9@a  a -@a  YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@UYʭ->ʱʱQDʹ;>I I8ٮ QtI  UgC9M< s<)P8 ;9)I tIi D :):IpT;9I9*G)2G)F1F1i19rFbFEE);I9 iIi !2@%<:@-w: ߡZ) 5(AYt*E@t*oT@yt* t*(>t*H`~?^8 ^ƿ8Q`.?R????)u*E@ u*u;Iu*CxB"h>xBEGB@AHD)GF@%Y%&;-.?)1Q5D1=%*}/?I I8ٮ QtI  UgC9鰅:  :)Y8 U;9)I ]tIi ]D i<)t%H~`M?ƿ@'k?@e?V??)u%ME@ u%t;Iu%CxU"h>xQiqIu̓C)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a m a -m@a m AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʅ>ʩʩQDʩ͵:>I I8ٮ QtI  UgC9鰽}: ,;)i8 %;9)I -tIi -D d;);Ip;99I999*G 2G F F rFbFEE)m;Im9 iiiiIqqqiqy 2@<:@w: m) 盛(AYt*E@t*T@yt*!)t*>t*Hz=?ƿt*? $??z?)u*E@ u*t;Iu(x^'n>x^pE)EGiEwAAF@]Ye":e>aaQeDim;m>Iq I}8ٮqq Q}tI q U}gC9qu: u:)uiu8 ;9)I tIi D }:)Ԙ:I;9I9*G2GFFrFbFEE);I59 11i1I999iAA A2@M<:@Mw: y5>={>U) S (AYt*ȴE@t*aT@yt*;wt*$P>t*H@`S ?,ƿ@7\? ΃?`T??)u*ȴE@ u*t;Iu*Cx>j>xBqEH@HBp=iPIP)MSGF@]Ye3:e>aaQeDimm>Iq I}8ٮqq Q}tI q U}gC9qu: u:)u38 ;9)I tIi D :):I;9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 YYiYIYaaiaa a2@m<:@mw: ) a#(A)IYt.E@t.sT@yt.at.}>t.H`5~xBUE)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ >ʡʩQDʩͭ~/;>I I8ٮ QtI  UgC9鰵}: >:)I8 ;9)I tIi D [:)N:IZ;9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' N5Initialize.q'5N@Vehicle HDG: 190.197655 arcdeg .q''*G2GFFrFbFEE);I9 !!i!I!))i)) I2@U<:@]w: ߉) =(AYt*TE@t*_T@yt*{t*J>t*H{`d?1*ƿd+n?`?@ ?{?)u*TE@ u*t;Iu*CxBn>xBEiLIN“C)~SG%=%=F@=YE:E>AAQEDIMA;M>IQ I]8ٮQQ Q]tI Q U]gC9QU: U:)U8 m;9)aIa mtIia mDa e:)e:Ieز;9I9=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Uw: ai19!) mYW(AYt*E@t*UT@yt*t*{>t*H@w?@<imƿ6q?:?@`ԃ?` `?@?)u*E@ u*ut;Iu*CxBb>xB EG@HD)~GF@=YEsE>AIQMDIMM>IQ I]8ٮQQ Q]tI Q UegC9QU: U:)Ul8 m;9)aIa mtIia mDa e[:)eN:Ie;9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i}) 5q(A Yt.E@t.zT@yt.r#t.a|>t.H}`UU?Oƿ``?@In?hA??)u.E@ u.t;Iu.CxRMl>xRLEi`Ib̓C)%ʉʉQDʉ͕;>I I8ٮ QtI  UgC9鰝F: J:)8 ;9)I tIi D į:):IE;9I9*G2GFFrFbFEE);I9 iI  i   2@<:@%w: b) (AYt* E@t*+oT@yt*";&t* >t*H`~*&?) ƿ/X?LDŽ? ??)u* E@ u*it;Iu*CxNeq>xRnE)GiF@=YEGE>AIQMDIM>U>IQ I]8ٮQQ Q]tI Q UegC9QU: U:)U8 m;9)aIa mtIia mDa e%:)e|:Ie;9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=x>q) 뤫(AYt*ZE@t*ePT@yt*X!t*#>t*H S?^+cƿm?*?? g?)u*ZE@ u*t;Iu*CxBu>xBEH@HBa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)YF@Y::>QD>I I8ٮ Q tI  U hC9; ;)8 ;9)I %tIi %D :):I;99I999*Gi2GqFqFyrFbFEE);I9 iIi 2@<:@w: ߁) Ⱦ(A) IYt. E@t.~T@yt.!t.>t.HK}P?; "ƿ@-s?I0? 5?@}?)u. E@ u.ct;Iu.CxBo>xBJE)SGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@uYuַu>yyQ}Dyͅ;>I I8ٮ QtI  UhC9鰍: q:)8 <9) <9I tIi D  ;)%;IB<9I9*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9z)  ث(AYt*E@t*CT@yt*t*>t*H`qq?@LJƿ ij}? :?y?@?)u*E@ u*Rt;Iu(xV'n>xZpEihIh)5dG19F@EYMM:M>IIQMDIUU>IY Ie8ٮYY QetI Y UehC9Y]%: ]):)]f8 u<9)iIi utIii uDi m-:)mA:Im<9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i19J ) {(AYt*E@t*^T@yt*x)&t*~>t*H ?5Kƿ xA?ń??@D?)u*E@ u*,et;Iu(xB\>xBUEGBAAHD)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y>QD-};>I I8ٮ QtI  UhC9}: ٮ:)8 <9)I tIi D t:):I*<9 I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 190.123397 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: ) Y (A Yt.HE@t.S[T@yt.b&t.!M>t.HW?xƿ`?>̄?@?@?)u.HE@ u.t;Iu.CxB"h>xBEiLIL)~GF@Yʵ>ʹʹQDʹ>I I8ٮ M8 QtI  UhC9: ˵:)q 8 <9)I tIi D :):I;<9I9=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w:  ) 4&(AYt*E@t* NT@yt*t*{\>t*H`6?ɱ`^ƿ`i~`X?@]???)u*E@ u*vxt;Iu*CxB,t>xB#E)zGi~uA~wAa 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQDʁ͍>I I8ٮ QtI  UhC9鰕y< <)8 %<9)!I! -tIi! -D! %%:)%Z:I%M<9YIY9Y*Gi2GiFiFqrFybFyEE);I9 iIi 2@<:@w: 1=p>$) , @(AYt*5E@t*@aT@yt*5#t*>t*H?`T`Yƿ@}`?@w?@??)u*5E@ u*t;Iu(xBg>xBsEHBp=HFp=iPIP)aaQmDim0@;m>Iq I}8ٮqq Q}tI q UhC9qu: u5:)u(8 <9)I tIi D :):I;]<9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: y-) Y(A) Ixp>xE)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I I8ٮ QtI  UhC9: :)68 <9)I  tIi  D -:):In<9I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QiIi 2@<:@w: W) s(AYt.E@t.HT@yt.St.Ԁ>t.H ?-.Tƿ` ?Mʃ???)u.E@ u.ؖt;Iu.CxNp>xPilIn“C)=SGE4=AF@MYU`:U>QYQ]DYeT}e>Ii Im8ٮii QutI i UuhC9im: mа:)m-D8 }<9)yIy tIiy Dy }:)}:I}6<9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i99c?#) (AYt*߫E@t*XT@yt*y)t*qL>t*H`?@p sƿ#e@?"? ?6?)u*߫E@ u*Ut;Iu*CxBmd>xBu EG@HD)dGF@]YeԺe>aaQmDim);m>Iq I}8ٮqq Q}tI q UhC9qu`: u:)uR8 <9)I tIi D :):IM<9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i)) z(A YtNSE@tN^kT@ytNKtNI>tNH~ +?*# Hƿ@6u ?`?2?`?)uNSE@ uNIt;IuNCxVm>xV'E {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI̓C)a 1 a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE:E>IIQMDIU/*;]>Ia Im8ٮaa QmtI a UmhC9aew: e;)e`8 <9)yIy tIiy Dy }M:)}:I}<9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )Q0) W(AYt>E@t> CT@yt>@$t>1>t>Hx~?@2Hƿ`k p? ѝ?`??)u>E@ u>Cxv`k>xvE)qi}wA}xAF@Yʽh>QDл>I I8ٮ QtI  UhC9: :)n8 <9)I tIi D [:),:Iٲ<9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 190.026750 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: 5]>=>{6) 0۬(AYt>+E@t>6jT@yt>t>l>t>H@p&?Gƿ@w`?`Ղ?`Y ?`Q?)u>+E@ u>t;Iu>CxRB`>xR EHVR=HVa=if=If“C)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y ;>QD;>I I8ٮ QtI  UiC9: ^:){8 <9)I  tIi  D :)ݖ:I <9I9=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: <)  (A)I4t:H _?@VP5ƿl9p??? ?)u:E@ u:t;Iu:CxJt>xNlE)F@UYU׎]>YYQ]DYe(e>Ii I8ٮii QtI i UiC9im~< m<)m+8 <9)I tIi D %:)|:I<9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Uw: aC) 4(AYt*3E@t*>eT@yt* t*b>t*H@? %Bƿ{??? ?)u*3E@ u*st;Iu(x>p>x>EiNf=IL)~G%=4=F@ Y:>QD;%>I! I-8ٮ!! Q-tI ! U-iC9!%: %>:)%8 =<9)1I1 =tIi1 =D1 5̒:)5:I5<9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߱i11I) H((AYt*>E@t*IRT@yt*t*+>t*H++?0fƿYh`g~?܃? ??)u*>E@ u*t;Iu*CxB5g>xB*EGB@AHD)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeȼe>iiQmDiuG7u>Iy I}8ٮyy QtI y UiC9y}}: }_:)}Ĥ8 <9)I tIi D [:):It<9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: P) B(A Yt*E@t*WT@yt*'F%t*H>t*H`@?Aeqƿ@@d?୨?@?`e?)u*E@ u*žt;Iu*CxBb>xBQ EiR=IP)~ׄGF@%Y%Ѐ%>))Q-D)5:^:5>I9 IE8ٮ99 QEtI 9 UEiC99=ٮ: =x:)=G8 M=9)I U=9II UtIiI UDI Mc:)M:IM#=9aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: V) -y\(AYt*^E@t*ilT@yt*Ft**>t*H@~@#?/ࢿWƿ`e@??@??)u*^E@ u*t;Iu*CxBV>xBE)~iiQmDiu9H;u>Iy I}8ٮyy QtI y UiC9y}: }):)}X8 =9)I tIi D ::),:I=9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5V>=>\) Sv(AYt*ޞE@t*KT@yt*zt*>t*H ?`^ZƿF?.??@s?)u*ޞE@ u*Zt;Iu*CxZu>xZEH^a=H\ilIl)=GF@eYeP:e>iiQmDiu頻u>Iq I}8ٮqq QtI q UiC9qq u:)u8 =9)I tIi D }:):I)=9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: c) /(A)4t*H@|L?@Q( ƿDjN? b?+y? ?)u*VE@ u*Ȥt;Iu(xBj>xBqE)]GF@YʥU:>ʡʡQDʡͭ<>I I8ٮ QtI  UiC9鰵: :),8 =9)I tIi D :)ݖ:I:=9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 190.251709 arcdeg .q'u'u*Gq2GqFqFyrFybFEE);I9 iIi 2@<:@w: bj) 1 (AYt*"E@t*-VT@yt*1|"t*,>t*H Ѐu?,硿nƿXv#?@pO?7?7?)u*"E@ u*Tt;Iu*CxBt>xBlE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)ׄG4=%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Y >  QD>I I8ٮ QtI  UiC9:: :)\8  =9) I   tIi  D  ݖ:) :I O=9I!9!=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI))i)) 12@=<:@=w: yi19p) í(AYt*E@t*T@yt*'*t*"ւ>t*H |\b?@ƿws?KX?-??)u*E@ u*=t;Iu(xRi>xRNEGPHP)5҄GF@EYM쾺M?IIQMDQU<U ?IY Ie8ٮYY QetI Y UeiC9Y]%: ]:)]_8 u=9)iIi utIii uDi mB:)mB:Imo\=9I9*G2GFFrFbFEE);I9 iIi 2@<:@Uw: iw) Dݭ(A Yt:E@t:)oT@yt:"t:: >t:H~@/?fi@ƿl0K?@[?qq??)u:E@ u:2t;Iu:CxrPY>xrEi}f=I}̓C) vGa 1ma 1m a 5ua 5u a 9ua 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y5a:5>19Q=D9=:=>IA IM8ٮA Mm8A QmtI A UuiC9AE; Eo;)EK8 }=9)qIq }tIiq }Dq u:)u:IuEp=9I9*G2GFFrFbFEE);I9 iI)))i11 12@=<:@=w: isB}) Z(AYt*E@t* ~T@yt*t*V>t*HW}ZN?I@ƿx? !?@? M?)u*E@ u*t;Iu*CxBsj>xB(E)GixAF@=YE:E?AAQEDIM.;M?IQ I]8ٮQQ Q]tI Q U]iC9QU: U-:)U8 m=9)aIa mtIia mDa e:)eZ:Ieq~=9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=>)) v(AYt*E@t*T@yt*t*>t*H{9^?@ƿa?Á?@ ?@*?)u*E@ u*t;Iu*CxV`k>xZEHZp=HXihIj“C)-SGF@=YE:E>IIQMDIM[.;U>IQ I]8ٮQQ QetI Q UejC9QUN: U0:)U 8 m=9)iIi mtIii uDi m[:)mo:Imx=9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 1V) Z+(A)(I,YtkE@tvT@yt3tB>tHh|od?5ƿy 4?hF? ??)ukE@ ut;IuCx-jw>x-"E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y X >  Q D م>I I%8ٮ Q%tI  U%jC9: :)a/8 5=9))I) =tIi) =D) -:)-8:I-=9III9I*GY2GYFaFarFabFiEiEi);I9 iIi 2@<:@w: ߩ<) -E(AYt*t*Hy`o?eA ǿ`J~?Y?`ݨ?5?)u*xB EiPIR̓C)~ׄG4=F@YʍƸ>ʑʑQDʑ͝;>I I8ٮ QtI  UjC9鰥ͭ: :)<8 =9)I tIi D ٮ:):I=9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I i 2@<:@%w: 1i19e) _(AYt*E@t*T@yt*(t*z>t*Hz #?@ƿ(j@@??@f??)u*E@ u*޹t;Iu*CxBmd>xBu EG@HD)~GF@=YE E>AIQMDIMyM>IQ I]8ٮQQ Q]tI Q UejC9QUu: U:)UJ8 m=9)aIa mtIia mDa ep:)e:Ie=9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 190.330734 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: I) x(A Yt.E@t.˜T@yt.*;t.y>t.Hz~?@tH@ƿb`s?RG???)u.E@ u.t;Iu,x:Dy>x:EEiJ=IH)~dGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aaQeDam9m>Iq I}8ٮqq Q}tI q U}jC9qu: u:)uW8 =9)I tIi D F:):I=9I9=O@Contact HDG: 138.723068 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 i Ii 2@%<:@%w: 1x) (AYt*WE@t*bT@yt*t*OU>t*H k{ a?W ƿ@n\@R??@$??)u*WE@ u*t;Iu*CxReq>xRnE)=GiMwAIF@eY}r);>ʉʉQDʑͥ>I I8ٮ QtI  UjC9鰽/; &;)f8 =9)I  tIi D ;);IU=9AIA9I*G2GFFrFbF E E )E;IE9 AAiAIAIIiii q2@u<:@}w: ߩ=>=e>䡪) p(AYt*F@t**T@yt*N%t*M>t*Hx̮?`9ڢ !ǿ@ g2G??do?@?)u*F@ u*)t;Iu*CxRx>xREHRR=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i~f=I)mGa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y==>AAQEDAM`;M>IY Ie8ٮYY QetI Y UejC9Y]3: ] ;)]t8 u=9)iIi }tIii }Di m;)m;Im=9I9*G 2G F FrFbFEE)M;IM9 QQiQIQYYiYY Y2@e<:@w: ) vƮ(A);IYt.E@t.LJT@yt.-t.A->t.H`_|@>X? 9.@%ƿ T ? z??` ?)u.E@ u.\t;Iu.CxBj>xBqE)5GF@=YEE>IIQMDIM޻U>IQ I]8ٮQQ QetI Q UejC9QU,: UJ:)U98 m>9)i m>9Ii mtIii uDi mc:)m:Im>9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 8) P஧(AYt*F@t*T@yt*Ӵt*䭅>t*Hx \?@ H(ǿd@Z?V??@?)u*F@ u*]t;Iu*CxZu>xZEihIh)5jG=%=9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ7;>ʡʡQDʡͥR;>I I8ٮ QtI  UjC9鰭: N:)d8 >9)I tIi D :)|:I >9I9*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: 9i99k޽) +(AYt*E@t*%T@yt*t*ׇ>t*H`b{`h?ƿ`/^`?뻂???)u*E@ u*Et;Iu*CxBa>xB EG@H@)+GF@=YED:E>AIQMDIMfM>IQ I}8ٮQQ Q}tI Q UjC9QUV; U;)U˜8 >9)I tIi D O:)c:I(>9I9*G2GFFrFbFEE);I59 11i9I999iAA A2@M<:@Mw: y&) s(A( (Yt E@t T@yt  t (>t H@|oO?@`@ƿGb.?? Ȳ?`?)u E@ u RSt;Iu Cxem>xe'EiI)SGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYE9E>IIQMDIU%U>IY Ie8ٮYY QetI Y UejC9Y]: ]:)]8 u>9)iIi utIii uDi m%:)m:Im;>9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ) -(AYt*qE@t*|T@yt*_Tt*ר>t*H7z R?4ڣǿ]s?|?@S? ?)u*qE@ u*/t;Iu*CxB:m>xBE)~dGiF@Y%q:%>!)Q-D)-;->I1 I=8ٮ11 Q=tI 1 UEjC915: 5x:)5;8 M>9)AIA MtIiA MDA E:)E:IEJ>9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N@Vehicle HDG: 190.356990 arcdeg .q''*G2GFFrFbFEE);I9 !!i!I!))i)) I2@U<:@Uw: i5R>=t> ) G(AYt*E@t* \T@yt*2t*>t*HR?`Ք@Izƿ kO_?s?`g??)u*E@ u*t;Iu(xBo>xBEHFa=HDiPIP)GF@Y>QD%^,%>I) I-8ٮ)) Q5tI ) U5jC9)-: ->:)-8 =>9)9I9 EtIi9 ED9 =:)=:I=~[>9QIQ9Q=O5@Contact HDG: 138.723068 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GqFqFyrFybFyEE);I9 iIi 2@<:@w: e) a(A) IYt*IE@t*TT@yt*./t*1>t*H>{6{?@vƿ[f_`??.??)u*IE@ u*Wt;Iu*CxRQ>xRE)SGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ4>ʡʡQDʡͭT<>I I8ٮ QtI  UkC9鰵: W:)Z8 >9)I tIi D O:)A:IBm>9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ߹|,) r{(AYt.pE@t.{mT@yt.Pct.х>t.H~2)?Ƣqƿi@7b?`U?`f?i?)u.pE@ u.s;Iu.CxNMl>xRLEi`I`)-G-4=-%=F@=YE;E>AAQEDAMVƻM>IQ I]8ٮQQ Q]tI Q U]kC9QU): U:)U8 m>9)aIa mtIia mDa e:)e,:Ie}>9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: i99) T(AYtZ̷E@tZdT@ytZEtZ@>tZH` ?@- pƿt??@:??)uZ̷E@ uZt;IuZCxnn>xnEGrAAHp)]+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ9>QDz>I I8ٮ QtI  UkC9: :)8 >9)I tIi D Ր:)N:Ix>9I9*G 2G F F rFbFEE)-;I-9 11i1I199i99 A2@E<:@Ew: YV>) ((A Yt*E@t*T@yt*j!t*:>t*H $|c? ƿyiO?I-?)w??)u*E@ u*s;Iu*CxZ'n>x^pE {`Y|`f8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i%=I))SGF@Y>QDߺ;>I I8ٮ QtI  UkC9: ) 8 >9) I  tIi  D  E:) v;I >91I999*GQ2GQFYFYrFabFaEiEi);I9 iIi 2@<:@w: h&) ɯ(AYt*ۨE@t*UT@yt*t* >t*H?/ nƿ@8{ h? j?`{??)u*ۨE@ u*+t;Iu*CxBv>xBE)EGiMyAIF@UY];]>aaQeDam m>Ii Iu8ٮi Mu8i Q}tI i U}kC9im: mY:)m6 8 >9)I tIi D :)o:I>9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9=p>P) ⯧(AYt*E@t*|T@yt*t*F>t*Hy} F?@|ƿr?蠂? :??)u*E@ u* t;Iu(xB'n>xBpEHBp=HFp=iVf=IT)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yէ>!!Q%D!-6;->I) IU8ٮ)) Q]tI ) U]kC9)-; -Ե;)-8 e>9)aIa etIia mDa e:)eԘ:Ie6>9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi !2@%<:@-w: Yz) (A) IYt.ME@t.XT@yt.%t.x">t.Hz`? T ƿp@? ?^6?^?)u.ME@ u.^#t;Iu.CxNsj>xR(E)%GF@-Y545>99Q=D9E1;E>II IM8ٮII QUtI I UUkC9IMh: M):)M&8 ]>9)YIY etIiY eDY ]:)]:I]>9qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.332019 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: 1tb) (AYt2HE@t2StT@yt2W&t2X@>t2H#~@A?Aߡƿ\w ?S„??@?)u2HE@ u2t;Iu2CxBm>xF'EiPIRѓC)GF@]Yuu>yʁQDʉ͝G>I I8ٮ QtI  UkC9鰵wo; ;)48 >9)I utIi uD <)9I9=O=@Contact HDG: 138.723068 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9FArFAbFIEIEI)};I9 iIi 2@<:@w: i99A ) mo0(AYt*F@t*T@yt*tt*>t*Hw? t8ǿj$?@"?N?3?)u*F@ u*./t;Iu(xB`k>xBEGB@AHD)~aaQeDam6<m>Iq Iu8ٮqq Q}tI q U}kC9qu): u-:)u^B8 >9)I tIi D [:)Ԙ:I>9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: wt) KJ(A Yt*E@t**T@yt*t*<>t*H{y?@բƿ@pW?$?9??)u*E@ u*Et;Iu*CxB |>xBEiPIR̓C)~GF@ Y3:>QD %>I! I-8ٮ!! Q-tI ! U-kC9!%ɪ: %:)%O8 =?9)1 =?9I1 =tIi1 ED1 5:)5M:I5?9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߱) 'd(AYt*>"F@t*IT@yt*]\ t*[>t*Hul?`+`\ǿf`9?v ?c?i?)u*>"F@ u*(t;Iu*CxB"h>xBE)~aaQeDim<m>Iq I}8ٮqq Q}tI q U}kC9quS: u:)u]8 ?9)I tIi D :),:I$?9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5i>=>l) ~(AYt*4F@t*T@yt*,["t*QL>t*HCt\ ?bഁǿsa`N?OK?Oy??)u*4F@ u*ht;Iu(xBRr>xBEHBR=HBa=iPIP)GF@Y%8%>))Q-D)-Q=;5>I1 I=8ٮ11 Q=tI 1 UEkC915ܹ: 5D:)5yk8 M?9)III MtIiI UDI M:)M:IM'?9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: A%) vݗ(A)4t.HQu N?@jǿThR#?@ ?CL?~?)u.Y)F@ u.nt;Iu.CxB:m>xBE)=GF@MYUhU>QQQUDQ]+]>Ia Im8ٮaa QmtI a UmlC9aeͭ: e:)ewy8 }?9)qIq }tIiq }Dq u:)u=:Iu9?9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: +) (AYt*GaF@t*RU@yt*t*>t*H=p Q?K`ǿ|V`U?^?`? 6?)u*GaF@ u*t;Iu*CxB'n>xBpE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)G4=a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y5;5>99Q=D9E&;E>IA I8ٮAA QtI A UlC9AE< Eׯ<)E]8 ?9)I tIi D _:)0:IM?9)I)9)O=Done Waiting.'=O=8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFirFqbFqEqEy);I9 iIi 2@<:@w: i992) ˰(AYt*fF@t*U@yt*\t t*>t*HoW^?@KFǿ~`,2?`}? ab??)u*fF@ u*lt;Iu*CxBj>xBqEGBAAH@){FX}I{Di{F={D{D{FA{D|F(A9|F܄??)SGF@Yx:>QD}m:>I I8ٮ QtI  UlC9: :)8 ?9)I tIi D h:)$:I[?9 I 9 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'%N@Vehicle HDG: 190.756187 arcdeg .q''*G2GFFrFbFEE2EzE(AE]t+@ +`4E܄??EX}EExenT1ҢzE1@[ȱ#E8QL)R-s?BʿE@=DHdg To Contact =135.091689 degreesZE.AbE:E{o$?BEXo$?JE{ REs jEqrE);I9 iIi 2@<:@w: $-Dacoustic_contact_range 25.020000 m$5hTrackAcousticContact.heading_to_contact 2.357795 rad$=LDUSBL_Hydroid.xAngle -56.649999 arcdeg8) -w尧(A Yt*F@t*6U@yt*t*X9>t*H kl?ͤ` (ȿ M Ѣ? p??e?)u*F@ u*u;Iu*Cx>:m>x>EiPIP)~dGF@=Y==>AAQEDAM;M>IQ IU8ٮQQ Q]tI Q U]lC9QUu: U5:)U¢8 e?9)aIa mtIia mDa e:)e :Iel?9yIy9y=Ou@Contact HDG: 135.091689 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iI!QYiYY i2@}<:@}w: ?) ^J(AYt*F@t*(EU@yt*t*C|>t*H k`?@Ϥ}Dȿ O@? R?? ?)u*F@ u*1=u;Iu*CxNz>xR E)GiwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ 9>ʡʡQDʡͭF ;>I I8ٮ QtI  UlC9鰵: :)8 ?9)I tIi D :),:I}?9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=l>sE) #(AYt*۝F@t*JU@yt*`^)t*>t*Hoj?@eB@OȿBR t?@+????)u*۝F@ u* Ou;Iu*CxBi>xBEHFa=HDiR=IT)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ>ʁʁQDʉ͍e:>I I8ٮ QtI  UlC9鰕u: :)8 ?9)I tIi D )ȗ:Iw?9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: 4)L) 3(A);IYt.F@t. xU@yt.*(t.r>t.Hf` ?@`Wȿ`4Fz? (???)u.F@ u.&u;Iu.CxBi>x@)~+GF@=YEB9E>AAQMDIM;M>IQ I]8ٮQQ Q]tI Q U]lC9QU: UB:)U8 m?9)aIa mtIia mDa eF:)e9:Ie&?9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: WS) &L(AYt*F@t*kU@yt*:!t*.>t*H Xg`_?k@ ȿ@`?3?+??)u*F@ u*l5u;Iu(x>t>xBlEiNf=IL)~GF@ Yc:>QD%%>I) I-8ٮ)) Q5tI ) U5lC9)-}: -į:)-8 =?9)9I9 EtIi9 ED9 =>:)=R:I=?9QIQ9Q*Ga2GaFiFirFibFqEqEq);I9 iIi 2@<:@w: ߱i5@A1:Y) ȶf(AYt*̺F@t*gU@yt*1ut*[>t*Hg ?0wȿH`[?n?@? ?)u*̺F@ u*.u;Iu(xVi>xVEGXHX)-+Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ;>ʙʙQDʙͥ>I I8ٮ QtI  UlC9鰭\: ٮ:)8 ?9)I tIi D :):I?9I9*G2GFFrFbFEE) ;I 9  i I i 2@<:@%w: 1"`) Ց(A Yt.|F@t.U@yt.F\t.䃆>t.HcO?`8bȿ jL Hk?uk?@??)u.|F@ u.t;Iu,xBv>xBGEiPIP)GF@]Ye e>aaQmDim;m>Iq I8ٮqq QtI q UlC9qu; ug;)u8 ?9)I tIi D 1:):I?9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߁Lf)  m(AYt*F@t*ĕU@yt*Qt*u>t*H@RcS?ـȿ`-HN? ?)?`?)u*F@ u*t;Iu*CxBRr>xBE)~ƄGiyAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ29>ʩʱQDʱͽ $:>I I8ٮ M8 QtI  UlC9鰽Ȳ: :)8 ?9)I tIi D c:)b:I?9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 191.211255 arcdeg .q''*G2G@FFrFbFEE);I9 iI@i@ 2@<:@w: $RHorizontalControl.headingCmd 2.357795 rad5R>=>wl) AH(AYt*,G@t*7U@yt*ol5t*`>t*H ``ˋ?@ɿ@ǭ?o???)u*,G@ u*ot;Iu*CxBj>xBqEH@HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)m҄GF@=YE'E>IIQMDIU;>I I8ٮ QtI  UlC9: :)8 ?9)I tIi D :):I?9I9=O@Contact HDG: 135.091689 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!-@i)) 12@=<:@Ew: ߁^s)  #α(A) IYt.F@t.U@yt.+ t.>t.H,dBB?Vȿ`B`?[??c?)u.F@ u.t;Iu.CxRm>xR'E){RymI{Pi{RS={P{P{RA{P|RB9|R&p0?݂N)=vGF@MYMc;U>QQQUDQee>Ii Im8ٮii QutI i UumC9im: mt:)m8 }@9)y }@9Iy tIiy Dy }o:)}:I}b@9I9*G2GFFrFbFEE2EzEBE6m*6@_La=E&p0?݂NEymEEN.nY;s7@;>E@eE\)ح3_ ؉~?QʿEg@=DHdg To Contact =139.123754 degreesZE^AbE:E`o$?BE{o$?JEu RE{ jE*rEq);I9 iIi 2@<:@w: $%Dacoustic_contact_range 36.959999 m$-hTrackAcousticContact.heading_to_contact 2.428168 rad$LDUSBL_Hydroid.xAngle -53.150002 arcdegJy) 籧(AYt* G@t*U@yt*6 t*>t*H`_`Ȓ?`쥿_'ɿJ@X?@f? ?~?)u* G@ u*"t;Iu*CxB:m>xBEiPIP)G %=a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeM;m>iiQmDiu;u>Iy I8ٮyy QtI y UmC9y}: } :)},8 @9)I tIi D :)Ǻ:I@9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i5?A9p) (AYt* G@t*U@yt*lt*(>t*H`ও?7ʥN%ɿ=FH|? Ԃ?`ز? ?)u* G@ u*ͽt;Iu*CxVcX>xVEGZ?AHX)mSGF@}Yʅ{>ʁʉQDʉ͍">I I8ٮ QtI  UmC9鰕; :):8 @9)I tIi D p:)ȗ:I'@9I9*G2GFF1rF9bF9E9EA)u;Iu9 qqiqIyyyi 2@<:@w: ߙM) Ե(A Yt.CG@t.NU@yt.t.>t.HN`nj?ڥ`ɿ>????)u.CG@ u.et;Iu.CxBw>xBjEiPIP)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭn>ʩʩQDʱ͵i>I I8ٮ QtI  UmC9: >:)H8 @9)I tIi D :):I8@9I9*G2GFFrFbF E E )%;I%9 !!i!I!))i)) 12@5<:@=w: I'Ō) ҏ5(AYt* G@t*U@yt*-t*A>t*H``?`[KGɿ@ é??@Y?@ ?)u* G@ u*Ks;Iu*CxBg>xBsE)~ʉʉQDʉ͕MQ>I I8ٮ QtI  UmC9鰝F: į:)PV8 @9)I tIi D p:) :II@9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )1=> ) kO(AYt*G@t*U@yt*׈"t*>t*H`` ?(ɿ*K [_?Q??*?)u*G@ u*Fs;Iu*CxBk>xBEHBR=HFp=iPIP)SGF@=YE:E>AAQMDIM7BM>IQ I]8ٮQQ Q]tI Q UemC9QUu: UW:)Uc8 m@9)aIa mtIia mDa e::)e:IeeZ@9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9EAEA)};I}9 iIi 2@<:@w: "י) Fi(A) IYt.)/G@t.4U@yt.&;t.@>t.Hc\@?zեlɿ Ei?Qg? ?O?)u.)/G@ u.s;Iu,xB'n>xBpE)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeE:e>aaQeDam.;m>Iq I}8ٮqq Q}tI q U}mC9qu: u:)uq8 @9)I tIi D :):Ik@9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.457579 arcdeg .q''*G2Gg@FFrFbFEE);I9 iIc@ig@ 2@<:@w: 1$uRHorizontalControl.headingCmd 2.428168 radF) B"(AYt.F@t. U@yt.j0t.ɏ>t.H a-z?Zɿ5=`?%???)u.F@ u.s;Iu,xBn>xBEiPIP) GF@=YEH9E>AAQMDIMM>IQ I]8ٮQQ Q]tI Q U]mC9QUh: UJ:)U^8 m@9)aIa mtIia mDa e:)eݖ:Iep|@9yIy9=O @Contact HDG: 139.123754 arcdeg .' ' O4Initialize Wait Component.*G2GFFrFbFE!E!);I9 iI@i 2@<:@w: i5@A9) (AYt*O#G@t*ZU@yt*kMt*9>t*H]` ? K Uɿ;<?` ?Y?@/?)u*O#G@ u*ls;Iu*CxBi>xBEGF@AHD)~aiQmDim;m>Iq I}8ٮqq Q}tI q UmC9qu9: u:)uK8 @9)I tIi D ɏ:):I@9I9*G2GFFrFbFEE);I9 iIt@i 2@<:@w: ) ٶ(A Yt*lG@t*wU@yt* t*Ƞ>t*H F^`?5HɿJ@L?@????)u*lG@ u*^s;Iu*CxB'n>xBpE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i\I^“C)=GF@Yʍw9>ʉʉQDʉ͕>I I8ٮ QtI  UmC9 ; ;)j8 @9)I tIi D :)':IG@99I999*Gy2GyFyFrFbFEE);I9 IIiQIQC@i 2@<:@w: ) ٴв(AYt*WG@t*bU@yt**t*t݅>t*H_R?E@k,ɿJ X?Y?@Њ?)?)u*WG@ u*i>xBNE)EGiMwAIF@]Ye4Ze>aaQeDim. m>Iq I}8ٮqq Q}tI q U}mC9quM: u:)uި8 @9)I tIi D ̒:):I@9I9*G2GFFrFbFEE);I9 iIg@i! !2@%<:@-w: y=>={>%) Ҏ겧(AYt*j4G@t*uU@yt*(t*F>t*H@[?wɿ8??@3??)u*j4G@ u*Fs;Iu*Cx>jw>xB"EHB4=H@iPIP)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@5Y=39=>AAQEDAEN;M>II I8ٮII QtI I UmC9IM< Mf<)M8 @9)I tIi D :):I6@9I9*G2GFFrFbF E E )E;IE9 AAiAIAIiiiq q2@}<:@}w: ߩ ) j(A)IYt.G@t.ɿU@yt.$t.>t.H'_?<@5ɿ>έ?ܚ??E?)u.G@ u.,s;Iu.CxB`k>xBE)ׄGF@Y% :%>!)Q-D)-->I1 I=8ٮ11 Q=tI 1 UEnC915: 5:)5,8 M@9)AIA MtIiA MDA Eh:)EZ:IEb@9I9*G2GFFrF9bF9E9E9)U;I9 iIi 2@<:@w: ߹7) oF(AYt* G@t*U@yt*t*V>t*H^? Zd=ɿ_LE?.s?z?`h?)u* G@ u*u&s;Iu*CxB:m>xBEiLIN̓C)~!!Q-D)-*:->I1 I=8ٮ11 Q=tI 1 U=nC915: 5߼:)58 M@9)AIA MtIiA MDA E:)E:IEh@9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;I9 iIi 2@<:@w: i=?A9`) ;8(AYt*,G@t*U@yt*t*>t*H`\`B?)@gɿC,t??xBEG@HD)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ >ʁʉQDʉ͍O;>I I8ٮ QtI  UnC9鰕|; Ȳ:)*8 @9)I tIi D ::) :I@9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.448618 arcdeg .q''*G2GF F rFbFEE)-;I-9 ))iQIQYYiYY a2@e<:@ew: I) Q(A@ Yt.G@t.ݲU@yt.t.83>t.Hw`?`ɿ>`D?@??`F?)u.G@ u.%s;Iu.Cx>u>xBEiLIL)~XGF@Y%:%>!!Q-D)-Ż->I1 I=8ٮ11 Q=tI 1 U=nC9154: 5:)58 MA9)A MA9IA MtIiA MDA E:)E:IEsA9YIa9a=O@Contact HDG: 139.123754 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 12@=<:@=w: Iw) k(AYtjt#G@tjU@ytj tj>>tjH ]?"楿`Uɿ???[?H?)ujt#G@ uj,Es;IujCxrs>xrE)u+Giqya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y0>QD%;%>I) IM8ٮ)) QUtI ) UUnC9)-E; -;)-k8 ]A9)YIY etIiY eDY ]}:)] :I]A9I9*G2GFFirFqbFqEqEy);I9 iIi 2@<:@%w: 15>5p>[) (AYt*G@t*U@yt*,t*";>t*H``lj?"ɿoF?Q? ??)u*G@ u*hs;Iu*Cx>o>xBJEiy@HBa=H@iPIP)GF@Y% :%>!)Q-D)-ɪ->I1 I=8ٮ1 M=81 Q=tI 1 UEnC915: 5:)5 8 MA9)AIA MtIiA UDA E%:)E:IE&A9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: !) ʍ(A) I4t6H@W^?3lfEɿ GVj?`i?@?`?)u6G@ u6S+s;Iu6CxBDy>xBEE)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}\>ʁʁQDʁ͍`;>I I8ٮ QtI  UnC9鰕; o;)O8 A9)I tIi D :):I08A9I9*G 2G FFrF9bF9E9E9)M;IU9 qqiqIqyyiyy 2@<:@w: ߙ) h(AYt*<G@t*GU@yt*&$t*kC>t*H `?0jɿ9?@t?`??)u*<G@ u*ns;Iu*CxBf>xB E {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAIM“C)G%=F@Y%;%>!)Q-D)5UMu>Iy I8ٮyy QtI y UnC9y}; }#<)} &8 A9)I tIi D :)_;IJA9YIY9Y*G2GFFrFbFEE) ;I9 iIi !2@-<:@-w: ߩi117) .Vӳ(AYt2F@t2*U@yt2t2>t2Hb]?`西7ȿ >O? Q?`m? ?)u2F@ u2)*s;Iu2Cx>m>x>'EGDHD){F]I{Di{F={F>{D{FA{D|F3A9|FF?qo 'c) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YJo>Q D  B >I I8ٮ QtI  UnC9h: :)48 mA9)aIa mtIia mDa e :)ew:Ie\A9yIy9y*G2GFFrFbFEE2EzE3AE j*@_=/EF?qo 'cE]EEH / =(@EZ迍$[?qRCy>ɿEg@=DHdg To Contact =142.704467 degreesZEAAbE~:E~o$?BE`o$?JE REu jErE*)-;I-9 ))i)I)11i11 92@E<:@Ew: Q$Dacoustic_contact_range 20.400002 m$hTrackAcousticContact.heading_to_contact 2.490663 rad$LDUSBL_Hydroid.xAngle -49.650001 arcdeg) (A@ Yt*tF@t*U@yt*.Pt*ʅ>t*HBb@@n?`, ȿ`M`T?`??@?)u*tF@ u*[s;Iu*CxBm>x@iPIR̓C)ʑʑQDʑ͝:>I I8ٮ QtI  UnC9鰥: l:)@8 A9)I tIi D l:)I:I'kA9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )t) {(AYt*iF@t*tU@yt*nt*>t*H@dI?5XȿJy??S??)u*iF@ u*Hs;Iu(xN}>xRE)SGiyA!F@]Yeve>aaQeDimI5m>Iq I}8ٮqq Q}tI q U}nC9qu`: u:)uRN8 A9)I tIi D }:)o:I{A9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa);I9 iIi 2@<:@w: )9Ei>L) p (AYt*\F@t*gU@yt*f#t*6>t*HFd@C?A?Vȿ`E@?v?f?f?)u*\F@ u*ws;Iu*CxB`k>xBEH@HDiPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe'ge>iiQmDiuZu>Iy I}8ٮyy QtI y UnC9y}: }:)}"\8 A9)I tIi D :)IA9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.175014 arcdeg .q''*G2Gg@FFrFbFEE);I9 iI@ig@ 2@<:@w: $RHorizontalControl.headingCmd 2.490663 rad ) :(A) I;Yt.F@t.vU@yt.x't.ň>t.HBf ?ȿLE ?W?@??)u.F@ u.os;Iu,xB`k>x@)|F@=YECE>AAQEDIMzOM>IQ I]8ٮQQ Q]tI Q UenC9QU: U:)Ui8 mA9)aIa mtIia mDa e:)e:IeѝA9yIy9=O@Contact HDG: 142.704467 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIC@i|> 2@<:@w: ) T(AYt~F@t~[U@yt~qt~sψ>t~H h?Voȿ%HE?x *Ei-=I-“C)4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y`;>QD<>I  I%8ٮ   Q-tI  U5oC9  ; H;) ax8 =A9)1I1 =tIi1 ED1 1)5Z:I5A9IIQ9Q*Ga2GaFaFarFibFqEqEq);I9 iIB @i 2@<:@w: ii))b) cn(AYt*F@t*MU@yt*zt*f>t*H@j?JUȿ2K?`KO?$??)u*F@ u*Ԇs;Iu*CxBo>xBJEGBAAHD)~GF@=YE@:E>AIQMDIMV M>IQ I]8ٮQQ Q]tI Q UeoC9QUl: Up:)UV8 mA9)aIa mtIia mDa e:)e:IeۿA9yI9*G2GFFrFbFEE);I9 iI { @i > 2@<:@w: q!) C(A Yt>!F@t>,3U@yt>t>@>t>Hlؚ?`-!ȿS6z?@ 2???)u>!F@ u>s;Iu>Cx^j>x^qEinf=Ip)=GF@MYMU>QQQUDY]]>Ia Im8ٮaa QmtI a UmoC9ae: eٮ:)e38 }A9)qIq }tIiq }Dq u:)ub:IuA9I9*G2GFFrFbFEE);I9 iIg@i 2@<:@w: > !() L(AYt*yuF@t*"U@yt*$t*˴>t*H@En~?RFkȿQ?|??`?)u*yuF@ u*s;Iu*CxBU_>xBS E)1i=xA9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝպ>ʱʹQDʹV>I I8ٮ QtI  UoC9į: :)y8 A9)I tIi D O:)c:IA9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AEX\iAA I2@M<:@Mw:Y Y)YIY 5R>=t>|K.) (AYt*JF@t*T@yt*&t*>t*HBr.0?T ǿXm?fل?!?@+?)u*JF@ u*s;Iu*CxNU_>xPHRp=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I̓C)F@Y%%>))Q-D)U˻]>Ia Im8ٮaa QmtI a UuoC9ae=: e;)e߯8 A9)I tIi D :):IA9I9*G92G9FAFArFIbFIEIEi);I9 iIsӔi 2@<:@w: =65) 3մ(A)(I,Yt 4F@t T@yt O"t 䱅>t H@Et@E?Zu`ǿ_@Z? I?`??)u 4F@ u 8(t;Iu Cxk>x%E)a 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY},:}>yyQ}DyͅeR>I I8ٮ QtI  UoC9鰍1: į:)޽8 B9) B9I tIi D ȗ:):IB9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI i 2@<:@w: ^;) ﴧ(AYt*7F@t*T@yt*w t*>t*Ht@(?/ǿbB?Ү?p?@?)u*7F@ u*At;Iu(xBU>xBXEiPIP) = F@EYUc;]>aaQeDam:m>Iq Iu8ٮqq Q}tI q U}oC9qu$: u(:)ug8 B9)I tIi D h:):I B9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 190.593191 arcdeg .q']']*GY2GYFYFarFabFaEiEi)};I9 iINi 2@<:@w: i19AEB)  (AYt* F@t*T@yt*t*;>t*H x=?@I0ǿcX?ᑃ?`?D?)u* F@ u*Itt;Iu*CxBj>xBqEG@HD)F@EYECE>IIQMDIU!ݻU>IQ I]8ٮQQ QetI Q UeoC9QUN: U:)U8 mB9)iIi utIii uDi mՐ:)mȗ:Im&B9I9=O@Contact HDG: 142.704467 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI9i 2@<:@w: oH) b#(A Yt*F@t* T@yt*"t*m΁>t*Hw`?@v` 5ǿs?iB?? ? ?)u*F@ u*Jt;Iu*CxBMl>xBLEiLIP) Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}V}>ʁʁQDʁ͍9>I I8ٮ QtI  UoC9鰕5: |:)8 B9)I tIi D :)Z:IU7B9I9*G2GFFrFbFEE);I9 iIxi 2@<:@ w: יN) ==(Ax~p>x~E)u+Gi}wA}wAF@Y>QD>I I8ٮ QtI  UoC9ٮ: :)38 B9)I tIi D :):IHB9q Software FaultI9*G2GFFrF!bF!E!E!)=;I=9 99i9I9AEoiAA I2@M<:@Uw: a!}xSoftware Fault in component: DeadReckonWithRespectToSeafloor5Y>9U) W(AYt*E@t*(T@yt*t*ŀ>t*Hez?` o`;ƿ y@3?ⴂ?q?`?)u*E@ u*9t;Iu*Cx>k>x>EH@H@iLIL) GF@=YE,;E>AAQEDAMM>IQ I]8ٮQ M]8Q Q]tI Q U]oC9QU: U:)Uo8 mB9)aIa mtIia mDa e:)e:IeYB9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq ;[) p(A)4x~E)uvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QD>I I8ٮ QtI  UoC9: :)8 B9)I tIi D :):IjB9 I9*G!2G!F!F)rF)bF)E1E1)E;IE9 IIiIIIQU iQQ Y2@]<:@]w: qb) ϊ(AYt*:E@t*E~T@yt**t*>t*H<}@5U?rƿs@\ ?B?.?@U?)u*:E@ u*9~t;Iu*CxBp>xFEiPIT)=dGE4=E4=F@]YeMRe>aaQmDim3m>Iq I8ٮqq QtI q UpC9qu; u^;)u$8 B9)I tIi D [:) :Iq{B9I9*G2GFFrFbF1E9E9)M;IM9 IIiQIQY][ގiYY Y2@e<:@ew: yi19h) z(AYtBE@tBT@ytBݢtB/>tBH.}-H? k {ƿ f@k? I4?Δ??)uBE@ uB[t;IuBCx^v>x^GEGb@AH`)}GF@Yʕ ;>ʑʑQDʙ͝k9>I I8ٮ QtI  UpC9鰥: :)&+8 B9)I tIi D :):IB9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I ~i 2@%<:@%w: 1n) (A Yt>E@t>T@yt>t>">t>H@Kz?`u ƿ %h`J?r?St?=?)u>E@ u>?t;IuxRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>QD;>I I8ٮ QtI  UpC9_:  :):8 %B9)!I! -tIi! -D! %0<)%t2H`zs{?qƿ=c t? }???)u2KE@ u22Tt;Iu2Cx:p>x>%E){>mI{={>7>{<{>A{<|>\ B9|>|[YYQ]DYeЬe>Ii Iu8ٮii QutI i UupC9imJ: mN:)mF8 }B9)yIy tIiy Dy }:)}x:I}VB9I9=OM@Contact HDG: 142.704467 arcdeg .'M'MOM4Initialize Wait Component.*GI2GiFiFirFqbFqEqEy2EyzE}\ BE}?RV>5@ > ><E}|[5]>{) :(AYt*-F@t*8T@yt*Vt*9$>t*H y ?ǿ@^?`҂?N??)u*-F@ u*t;Iu*CxRq>xREHRa=HVa=idId)%dGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ};>ʉʑQDʑ͕L;>I I8ٮ QtI  UpC9鰥: :){T8 B9)I tIi D :):IB9I9*G2GFFrFbFEE);I9 iI  Mi   2@<:@w: ߩ)   (A);IYt* E@t*T@yt*=& t*>t*H }@IH??ƿ\ N??v??)u* E@ u*(t;Iu*CxBh>xBE)F@=YEE>AAQMDIM߻M>IQ I]8ٮQQ Q]tI Q UepC9QUS: U5:)Ua8 mB9)aIa mtIia mDa e:)e:Ie6B9yIy9*G2GFFrFbFEE);I9 iI֎i 2@<:@w: ' ) %(AYt*F@t*T@yt*2t*q>t*Hwj?Ҝ@}Fǿ b]Z?D???)u*F@ u*t;Iu(xBv>xBGEiPIR“C) =%=a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a  a 5@a  a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʵM:>QD<>I I8ٮ QtI  UpC9: :)`p8 B9)I tIi %D >:)0:I2B9)I191*Ga2GaFaFarFibFiEiEq);I9 iIݓiII Q2@U<:@]w: ߩi99.6) `?(AYt*E@t*щT@yt*8t*>t*H@N|5L?b$=ƿ@KO? ǂ?;??)u*E@ u* t;Iu*CxBn>xBEG@HD)~GF@%Y%)%>))Q-D)5)5>I9 I=8ٮ99 QEtI 9 UEpC99=: =5:)=g}8 MB9)III UtIiI UDI M::)M:IMB9aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w:  ) ~Y(A Yt*E@t*ޞT@yt*g)t*Җ>t*H`TzS?@|ޢ ƿay?,?2? +?)u*E@ u*t;Iu*Cx^,t>xb#EilIn̓C)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ6>ʡʩQDʩͭH;>I I8ٮ QtI  UpC9鰵: :)8 C9) C9I tIi D  :)4:IC9I9*G2GFFrFbFEE);I9 iI!%,Wi!! !2@-<:@-w: A;H) ܃s(AYt*,F@t*7T@yt*kBt*>t*Hx`Y?@ן`#ǿf\xBnE)5SGi=uA=xAF@EYM;M>IQQUDQUE;U>Ia Im8ٮaa QmtI a UmpC9ae1: eW:)e(8 uC9)qIq }tIiq }Dq u:)u÷:Iu^C9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIsMi 2@<:@w: 5R>=a>/) l](AYt*E@t*wT@yt*Kt*G>t*H`}/?`x`xƿQ?? 2?`?)u*E@ u* t;Iu*CxBp>xB%EHBp=H@iR=IP)~dGF@Yʕ")>ʑʙQDʙͥ >I I8ٮ QtI  UpC9鰥: S:)=8 C9)I tIi D 1:)E:I%C9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 190.210714 arcdeg .q' '*G2GE@FFrFbFE!E!)=;I=9 99i9I9E@iAEE@ I2@M<:@Uw: a$RHorizontalControl.headingCmd 2.414384 radZ) ?;(A)IYt.F@t.T@yt.t.O>t.Hx? ˥@&ǿ`^^х??@? ?)u.F@ u.s;Iu.CxBr>xBIE)|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]X:e>aaQeDam<m>Iq I}8ٮqq Q}tI q U}pC9qu: u :)uʹ8 C9)I tIi D F:)|:I6C9I9=O@Contact HDG: 138.334021 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF!E)E))];I]9 aaiaIam?@iii i2@<:@w: ߩ B)  (AYt*E@t*ގT@yt*Pt*I>t*H{@1^? o)ƿ|X? j?@??)u*E@ u*]t;Iu*CxB c>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)G4=F@Yʭ>ʱʱQDʹ+>I I8ٮ QtI  UqC99; ;)8 C9)I tIi D :)v:I HC9I9*G2GFFrFbFEE)5;I59 11i9I9=@iAA A2@M<:@Mw: yi5@A9k) ڶ(AYt*BE@t*MxT@yt*t*Vz>t*H}7? 5ƿ]@~?@Kу??P?)u*BE@ u*Ms;Iu*CxBjw>xB"EGBAAHD){F]I{Di{F={F>{D{FA{D|FB9|FF?qo 'c)%vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQDʉ͕c>I I8ٮ QtI  UqC9鰕: :)8 C9)I tIi D d:):IXC9I9*G2GFFrFbFEE2EzEBE:7@^V;<EF?qo 'cE]EEpŻL<`6@5ZeE1>瑮x?՗ ȿE>@=DHdg To Contact =141.666046 degreesZEAbEe:E^o$?BEdo$?JEREv jErE);I9 iI%@%i!! !2@-<:@-w: A$Dacoustic_contact_range 36.779999 m$hTrackAcousticContact.heading_to_contact 2.472539 rad$LDUSBL_Hydroid.xAngle -49.650001 arcdeg) S(A@ Yt.E@t.T@yt.ft.l>t.H`V{@o?V-ƿ hS?Ƭ?C}??)u.E@ u.Et;Iu.CxBc>xB EiRf=IP)GF@=YE߸:E>AAQMDIM;M>IQ I]8ٮQQ Q]tI Q U]qC9QU: Uc:)U 8 mC9)aIa mtIia mDa e:)e:IeiiC9yIy9*G2GFFrFbFEE);I9 iIE@i 2@<:@w: V~) (AYt*QE@t*\~T@yt*{t*>t*HM} P>?@ƿ X?@q?[??)u*QE@ u*ut;Iu(xB^>xB E)҄GiyAF@%Y-u->))Q5D15^5>I9 IE8ٮ99 QEtI 9 UMqC99=: =į:)=8 UC9)III UtIiI UDI M:)Mk:IMOzC9aIi9i*Gy2GyFyFrFbFEE);I9 iIi 2@<:@w: 19C) k((AYt2E@t2vT@yt2O+t2%>t2H}B?= ƿTkO?`i?t??)u2E@ u2t;Iu2CxBu>xBEH@HFp=iPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye e>iiQmDiuyu>Iy I}8ٮyy QtI y UqC9y}1: }а:)}8 C9)I tIi D O:)ȗ:IC9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: () \B(A)4t*Hz`7u? ƿ4`@?o?6??)u*pE@ u*t;Iu(xBz>xB E)1F@]Yek;e>iiQmDim̯;u>Iq I}8ٮq M}8q QtI q UqC9qu: u0:)u8 C9)I tIi D  :) :IC9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: B) 7\(AYt*^E@t*iwT@yt*At* >t*H}P3?D@ƿd`?}??g?)u*^E@ u*qt;Iu*CxN5g>xR*Ei\I\)]+Ge=e4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:~>QD>I I8ٮ QtI  UqC9S: l:)8 C9)I tIi D :):I2C9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))=;I=9 99iAIAAAiII I2@U<:@Uw: ai5?A9) v(AYt*E@t*)T@yt*At*>t*HEz`O?㢿`.ǿ@Fj:?@!?c?o?)u*E@ u*t;Iu(xBq>xBEGDHD)GF@Y%º%>))Q-D)5;5>I1 I8ٮ11 QtI 1 UqC915< 5<)5"8 C9)I tIi D O:)A:IC9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N5Initialize.q'5N]@Vehicle HDG: 190.352359 arcdeg .q']']*GY2Ge>@FaFarFibFiEiEi);I9 iIX@i>@ 2@<:@w: $-RHorizontalControl.headingCmd 2.472539 radG) (A@ Yt2E@t2րT@yt2t2ˆ>t2H}F?Pƿ[`Ժ?F߃?@G??)u2E@ u2s;Iu2CxRc>xR, Ei`I`)-AAQEDAMM>IQ IU8ٮQQ Q]tI Q U]qC9QU: Ug:)U08 eC9)aIa mtIia mDa e :)e:IeC9yIy9y=O@Contact HDG: 141.666046 arcdeg .'5'5O54Initialize Wait Component.*G12G9F9F9rFAbFAEAEA)};I}9 yyiyIy>@i2#}> 2@<:@w: i) 2ɩ(AYt*BE@t*MT@yt*t*E/>t*Hy2?-ꢿ 3ǿCk -?`ッ?V? $?)u*BE@ u*t;Iu(xRj>xRqE)SGi!a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʁʁQDʁ͍m;>I I8ٮ QtI  UqC9鰕: B:)>8 C9)I tIi D Ր:):IC9I9*G2GFFrFbFEE);I9 iIi > 2@ <:@ w: 5]>9) ע÷(AYt*:E@t*ET@yt*Ht*[ >t*Hzq?ƿX@i?? ? ?)u*:E@ u*!t;Iu*CxBq>xBEHFa=HFa= {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)mGF@Y :>QDO>I I8ٮ Q tI  U qC9; ;)M8 C9)I %tIi %D p:):IC99IA9A*GY2GaFaFarFibFqEE )5;I59 11i1I99=s^i9A A2@M<:@Mw: ߙV) (ݷ(A) I4t:H7y`'?@bb@ǿ bwo?H? &?@1?)u:E@ u:\t;Iu:CxBq>xD)E+GF@eYu}>ʁʉQDʉ͝?;>I I8ٮ QtI  UqC9鰵*; ;)Z8 D9) D9I tIi D d;)n;IHD9I9!*G12G1F1F1rF9bF9EAEA)U;IU9 YYiYIYaeԠiaa a2@m<:@mw:MN؅> Q 4) `(AYt*BF@t*MT@yt*zt*\L>t*H4w|?`ꣿXCǿ X l?>???)u*BF@ u*Nt;Iu*CxNy>xNEi`Ib“C)G%%=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ18>ʉʉQDʉ͍\;>I I8ٮ QtI  UrC9鰝_:  :)9h8 D9)I tIi D :):ID9I9*G2GFFrFbFEE);I9 iI%i 2@ <:@ w: )I i5@A1) a4(AYt*F@t* T@yt*t*J5>t*Hx?mң@!ǿU_?M?@?`;?)u*F@ u*t;Iu*Cx^g>xbsEG`H`)EƄGF@}Yʅ0>ʁʁQDʉ͍m*>I I8ٮ QtI  UrC9鰕: l:)u8 D9)I tIi D :):I$D9I9*G2GFFrFbFEE);I9 iIqi 2@ <:@ w: G ) 6+(A( (Yt-F@t-T@yt-t-B>t-Hyw ?9 >ǿ@{W? ???)u-F@ u-at;Iu)x=n>x=EiYIY)ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>Q%D!%[;%>I) I58ٮ)) Q5tI ) U=rC9)-ͭ: -:)-x8 ED9)9I9 EtIi9 ED9 =:)=N:I=6D9QIQ9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy);I9 iIi 2@<:@w: ߹5,) )D(AYt*c8F@t*nT@yt*:t*˭>t*H tD?P`lǿ [v?B??`?)u*c8F@ u*jt;Iu*CxRu>xRE)GiQYF@Yʥ8>ʡʡQDʡͭH;>I I8ٮ QtI  UrC9鰵>:  :)8 D9)I tIi D  :) :I4GD9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.594598 arcdeg .q''*G2G!F!F!rF)bF)E)E))E;IE9 AAiAIIIMiQQ Q2@]<:@]w: i=R>=V>;V) ^(AYt* F@t*T@yt*%t*2>t*Hv? qYǿN??`?@?)u* F@ u*Tt;Iu*CxRWx>xREHVR=HTi`Ib̓C)%GF@-Y5 5>99Q=D9E9rE>II IM8ٮII QUtI I UUrC9IM\: M:)M8 ]D9)YIY etIiY eDY ]F:)]Z:I]WD9qIq9q=O-@Contact HDG: 141.666046 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rFYbFYEYEY)u;I9 iIJi 2@<:@w: ) bx(A);I;Yt.GF@t.T@yt.t.>t.Hr ?9`5ǿQ j?z? p?T?)u.GF@ u.%qt;Iu.CxB,t>xB#E)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeD.;e>aaQeDam;m>Iq I}8ٮqq Q}tI q U}rC9qu: u:)u8 D9)I tIi D %:)9:IhD9I9*G2GFFrFbFEE);I9 QiQIQY]iYY a2@e<:@mw: ߙh$) }(AYt.CF@t.T@yt. "t.>t.Hr@?Bǿ5U?+^?@K??)u.CF@ u.wvt;Iu.CxRxp>xREif=Ih)9M ?M=F@eYu}>ʁʉQDʑͥ>I I8ٮ QtI  UrC9鰽C; u;)8 D9)I tIi  D ;)ݒ;I|zD9I9*G2GFFrFbFEE) ;I 9  i I)15(؛i11 92@=<:@Ew: qi5?A9>*) V(AYt*FF@t*T@yt*~'t*}̈>t*Hr<%?V ǤǿCQ??o??)u*FF@ u*=t;Iu(xRc>xR, EGR?AHP)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅi3>ʁʁQDʉ͍s:>I I8ٮ QtI  UrC9鰕: s:)8 D9)I tIi D :)x:I!D9I9*G2GFFrFbFEE);I9 iI4i 2@ <:@ w: !z1) 3Ƹ(A Yt*iF@t*U@yt*t*>t*H }oQ?O ǿ@EY?*?&??)u*iF@ u*ct;Iu*CxBq>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 inf=Ip)UGF@Yʥ;>ʱʱQDʱͽ;>I I8ٮ QtI  UrC9t: :)8 D9)I tIi D a;);IeD9I9*G2GFFrF!bF!E)E))M;IM9 IIiIIQY]ziYY a2@m<:@mw: ߉7) ว(AYt*=F@t*T@yt*3t*>t*Hsj ?0X@ǿS?@?@?`?)u*=F@ u*It;Iu*CxZxp>xZE)EvGiExAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥw>ʩʩQDʩ͵ۻ>I I8ٮ QtI  UrC9鰽: į:)t8 D9)I tIi D -:)A:I_D9I9*G2GFFrFbFEE);I9 iI!%2și!! )2@-<:@5w: A5V>=]>=) (AYt*ȂF@t*/U@yt*-t*<_>t*H@lƟ? ⣿ȿU"n??y?@ ?)u*ȂF@ u*U/t;Iu(xRmd>xRu EHRa=HTi`Id)mGF@Yʥ^J>ʡʡQDʡͭ+<>I I8ٮ QtI  UrC9鰵>:  :)48 D9)I tIi D :)9:I\D9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%i!! )2@-<:@-w: AͶD) (A)4tfH@n`\b?OZǿ>C?aЂ?74??)ufNoF@ ufW&t;IufCx{>xE)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY} Q;}>yyQ}Dʁͅd4>I I 8ٮ M 8 QtI  UrC9鰍: (:) 8 D9)I tIi D :) :ID9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.786650 arcdeg .q''*G2GFFrFbFE E );I9 !!i!I!)-Mi)) 12@5<:@5w: IJ) -(AYt*uF@t*"U@yt*at*׶>t*HTn q?@YȿM-?@]ځ?`?@c?)u*uF@ u*!t;Iu(xBo>xBEiLIP)~SG4=%=F@=YE:E>AAQMDIM :M>IQ I] 8ٮQQ Q]tI Q U]sC9QU>: UB:)U^ 8 mD9)aIa mtIia mDa e}:)e:IeD9yIy9=OU@Contact HDG: 141.666046 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEa)};I}9 yyiIqi 2@<:@w: i11PQ) yG(AYt*F@t*%RU@yt*t*m҆>t*HiC?f٤`^ȿ`.Q@v?`?n?`G?)u*F@ u*t;Iu*CxBv>xBGEGBAAHFAA)~GF@=YEºE>AIQMDIM;M>IQ I] 8ٮQQ Q]tI Q UesC9QU: U :)U( 8 mD9)aIa mtIia mDa e-:)e:IeD9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: W) 6Va(A Yt.F@t.4U@yt.kVt.>t.Hl?`iͤ $ȿ N?J???)u.F@ u./t;Iu.CxNp>xREi\I\)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}>ʁʁQDʁ͍>I I 8ٮ QtI  UsC9鰕u: x:)7) 8 E9) E9I tIi D |:)n:IFE9I9*G2GFFrFbFEE);I9 iI=i 2@ <:@ w: !^) b1{(AYt*F@t*jU@yt*'t*q܈>t*Hkg`? nȿ F >? ?\?@?)u*F@ u*ht;Iu*CxB5g>xB*E)|iF@=YEcE>AAQMDIM<M>IQ I] 8ٮQQ Q]tI Q UesC9QU: U:)U6 8 mE9)aIa mtIia mDa eɏ:)eݖ:IeE9yIy9*G2GFFrFbFEE);I9 iI)i 2@<:@w: =R>EV>re) (AYtfF@tfLU@ytftf>tfHXj|?B(SȿF@O?IB???)ufF@ uf)t;IufCxnxp>xnEHpHpiI)aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y;>QDA>I I 8ٮ QtI  UsC9: :)E 8 E9)I tIi D W:):I$E9I9*G2GFFrF!bF!E!E!)=;I=9 99i9I9AE̔iAA I2@M<:@Uw: a.k) 箹(A);I Yt*F@t*lU@yt*qt*s>t*H@?g ?@⤿ȿPj?)?`??)u*F@ u* t;Iu*Cx^Ze>x^ E)1F@EYEùE>IIQMDIU;U>IY I] 8ٮYY QetI Y UesC9YY ]J:)]UR 8 mE9)iIi utIii uDi m[:)m:Im5E9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: r) ȹ(AYt*F@t*uU@yt*1(t*>t*HUf m!?ȿ@ENr? ?2? ?)u*F@ u*"s;Iu*CxRi>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iyI)%=F@Y%ٺ%>!)Q-D)U:]>Ia Im 8ٮaa QmtI a UusC9ae; eF;)eEa 8 E9)I tIi D +:):IGE9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E )];Ie9 aaiaIaimMi 2@<:@w: i99@x) ⹧(AYt*F@t*U@yt*½t* >t*H@1d&@?ȿaB=?? ?`?)u*F@ u*s;Iu*CxRi>xPGPHV@A)qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y:>QDf;>I I 8ٮ QtI  UsC95: :)n 8 E9)I tIi D h:)Z:IWE9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-NU@Vehicle HDG: 191.179249 arcdeg .q']']*GY2GYFYFYrFabFaEiEi)};I}9 iIi 2@<:@w: ߩPk~) }z(A Yt.HF@t.S~U@yt.t.؈>t.H@e$?RȿD?p\???)u.HF@ u.s;Iu,xBm>xB'EiR=IP)F@=YE9E>AAQMDIMM>IQ I] 8ٮQQ Q]tI Q U]sC9QU>: U :)U{ 8 mE9)aIa mtIia mDa eՐ:)eȗ:IehE9I9=OU@Contact HDG: 141.666046 arcdeg .'U'UO]4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi);I9 iIL둽i 2@<:@w: R) T(AYt*EG@t*PU@yt*ɺt* >t*HN`ߕ?4@ɿ LP?`D?d??)u*EG@ u*ks;Iu(xN'n>xRpE))i5wA=wAF@UYel=m>qyQ}Dy͍<>I I 8ٮ QtI  UsC9鰥'; ";)ω 8 ]E9)QIQ ]tIiQ ]DQ U :)U:IUdzE9iIi9i*G2GFFrFbFEE);I9 iI /i 2@<:@w: I5V>=a>|) f.0(AYt*)G@t*4U@yt*t*>t*H`k?ХɿOC͘?@"? ? ?)u*)G@ u*s;Iu*CxNm>xR'EHPHRp=ibf=I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅw:>ʉʉQDʉ͍q>I I 8ٮ QtI  UsC9鰕c: :) 8 E9)I tIi D :)ȗ:IxE9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !;e)  J(A) IYt.G@t.U@yt.t.>t.H h_ޠ?0ɿ@C ׊?`B??`?)u.G@ u.s;Iu.CxNc>xN E)+GF@]Ye!e>aaQeDam;m>Iq I 8ٮqq QtI q UsC9qu; uǴ;)u, 8 E9)I tIi D :):IzE9I9*G2GFFrFbFEE)-;I59 QQiQIQY]ɏiYY a2@e<:@mw: 9S) c(AYt*(G@t*U@yt*t*Ј>t*H ] ?Qd`ɿp< N?``???)u*(G@ u*ts;Iu*CxBxp>xBEiPIP)G4=4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeQ:e>iiQmDiuo;u>Iy I} 8ٮyy QtI y UsC9y}: }:)} 8 E9)I tIi D ɏ:):I[E9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i11/) }(AYt*G@t*U@yt*it*)_>t*H_?ǀ6ɿ rHfe?@?? ?)u*G@ u*Xs;Iu*CxVo>xVEGZ?AHX)-ƄGF@]YeLge>aaQeDimSm>Iq I} 8ٮqq Q}tI q U}tC9qu: u:)u 8 E9)I tIi D :):IZE9I9*G2GFFrFbFEE);I9 iI`i 2@<:@w: ) (A@ Yt2+WG@t26V@yt2$t2>t2HXXz2?9| /ɿH-?]?@Zc?s?)u2+WG@ u2zs;Iu2CxNg>xRsEi`I`)uׄGF@Yʽu>QD"<>I I 8ٮ QtI  UtC9: :) 8 E9)I tIi D :):IE9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9AE?iAA A2@M<:@Mw: a/˫) `w(AYt*-(G@t*8U@yt*X#t*\>t*H ]0?``_ɿ@9'?4z???)u*-(G@ u*s;Iu*CxNv>xRGE)Gi%yA%xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y*9>QD!>I I 8ٮ QtI  UtC9:: :) 8 E9)I tIi D -:):IE9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 191.433154 arcdeg .q'E'E*GA2GIFIFIrFQbFQEYEY)m;Im9 iiiqIqq}猽iyy y2@<:@w: ߙ5R>=R>) R˺(AYt*cG@t*V@yt*ft*ʀ>t*HW`;?[ɿ7a?@Ĭ?V?6?)u*cG@ u*Þs;Iu(xB'n>xBpEH@HBa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)}GF@Y% w:%>))Q-D)Ui <]>Ia Im 8ٮaa QmtI a UutC9ae`+< e+<)e' 8 E9)I tIi D :)C:IE9I9=O@Contact HDG: 141.666046 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi  2@<:@w: !/ݸ) -座(A)4t.H X?`ɿ]?Mx?`Ϡ? ??)u.RG@ u.s;Iu,xNv>xRGE)5vGF@=YER.;E>IIQMDIU 7U>IQ Ie 8ٮQQ QetI Q UetC9QU; U:)U 8 uF9)i uF9Ii utIii uDi m,:)m:ImNF9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ߁@) (AYt*FkG@t*QV@yt*yt*>t*H^V R?YɿF`|-?B?e?@)?)u*FkG@ u*s;Iu*CxBr>xBIEiPIP)G  %=a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe_m>iiQmDiup;u>Iy I!8ٮy M!8y QtI y UtC9y}Z: }:)}!8 F9)I tIi D :):IF9I9*G2GFFrFbFEE);I9 iI2Ŋi 2@<:@w: i5@A9) ;(AYt*7vG@t*B#V@yt*!t*>t*H :UJe?SHɿt<qr? '4?U??)u*7vG@ u*Ps;Iu(xBt>xBlEGB@AH@)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe敺e>iiQmDiu:u>Iy I}!8ٮyy QtI y UtC9y}: }:)}!8 F9)I tIi D -:):I#F9I9*G2GFFrFbFEE);I9 iIi i 2@<:@w: ) 2(A@ Yt.vG@t.#V@yt.t.c>t.H6U`^?@Ħɿ5(??.? ?)u.vG@ u.s;Iu.CxB"h>xBEiPIP) GF@Y%N:%>!)Q-D)-k85>I1 I=!8ٮ11 Q=tI 1 UEtC915[: 5=:)5 !8 MF9)AIA MtIiA MDA Eގ:)E:IE.4F9YIa9a*Gq2GqFqFyrFybFyEE);I9 iIiWi 2@<:@w: !) L(AYt*xG@t*%V@yt*Z!t*T >t*H@ Uth?Q ɿ;u?5? ?W?)u*xG@ u*$s;Iu*Cx^s>xbE)=Gi=xAAF@MYM~IU>QQQUDQ]f9]>Ia Im!8ٮaa QmtI a UmtC9ae: el:)e.!8 }F9)qIq }tIiq }Dq u:)uR:IupEF9I9*G2GFFrFbFEE);I9 iIܛi 2@<:@w: 5V>=Y>J+) >uf(AYt*^G@t*i6V@yt*L't*"$>t*H @S?ȃ@|ʿI{? x?6?U?)u*^G@ u*bs;Iu(xB:m>xBEHB=HBp=iPIP)vGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5@a  a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Y T>QD!;>I! I%!8ٮ!! Q-tI ! U-tC9!%: %>:)%=!8 UF9)1I1 UtIi1 ]D1 5;)5;I5yWF9iIi9iODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIчi 2@<:@w: I) aR(A)IYt.vG@t.DV@yt.l4t.r>t.H@Q`r? 9ʿ2?zf??u?)u.vG@ u.ts;Iu,xB:m>x@)~GF@]Ye5:e>iiQmDiuZ;u>Iy I}!8ٮyy QtI y UtC9y}: }W:)}J!8 F9)I tIi D :),:IgF9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.822325 arcdeg .q''*G2GFFrFbFEE)-;I-9 11iQIQY] iYY Y2@e<:@ew: ߙ=)  .(AYt2+wG@t26$V@yt2 t2(>t2H:U tR?֔ɿ@x/@ ?@t? v?E?)u2+wG@ u2CQs;Iu0x>m>xB'EiPIP)vG %= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YʕX ;>ʙʙQDʙͥ>I I !8ٮ QtI  UtC9鰭]]< ]<)Y!8 F9)I %tIi %D :):IzF9I9=O-@Contact HDG: 141.666046 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF1bF9EE);I9 iI>i 2@<:@w: ߙi11f) (AYt*fG@t*qbV@yt*tt* ;>t*HN?$:sʿxBEGB?AHD)~GF@Y%1%>))Q-D)5.<5>I1 I=!8ٮ11 QEtI 1 UEuC915: 5:)5e!8 MF9)III MtIiI UDI M:)M:IMIF9I9*G2GFFrFbFEE);I9 iI^i 2@<:@w: O) ͻ(A Yt.G@t.LV@yt.&t.>t.HP:?@aϥ6IʿE 0 ?fÄ?C??)u.G@ u.xBJE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ib=Id)]GF@Yʝʺ>ʡʡQDʩͭ[N>I I!8ٮ QtI  UuC9鰽: ;)Ot!8 F9)I tIi D ,:):IF9I9*G12G1FFrFbFEE);I9 iIJӄi 2@<:@w: y) 继(AYt*iG@t*t\V@yt*Kt*!>t*HbO#?Fgʿ 42?t??4?)u*iG@ u*L:s;Iu*CxBmd>xBu E)SGiwAa 1Ua 1U a 5Ua 5U a 9Ua 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYʕ`:>ʙʙQDʙͥ;>I I!8ٮ QtI  UuC9鰭k; g;)!8 F9)I tIi D :):I#F9I9*G!2G!F)F)rF1bFQEQEQ)m;Im9 iiiiIiquz9iqy y2@<:@w: ߙ5t>=e>la) (AYt*ZG@t*ejV@yt*rt*ӊ>t*HN=?5`Sʿ%? K΁?$? f?)u*ZG@ u*s;Iu(x>?s>xBEHBa=HBa=iRf=IT)GF@Y%0;%>!)Q-D)-e;5>I1 I=!8ٮ11 Q=tI 1 UEuC915>: 5:)5L!8 MF9)AIA MtIiA MDA E::)EN:IEZF9yI9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !) u(A)IYt2JG@t2UEV@yt2t2^>t2H`Q ? Z`:ʿ?r@??@{?@K?)u2JG@ u2Os;Iu2CxBMl>xBLE)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ^ƺ>ʡʡQDʡͭ>I I!8ٮ QtI  UuC9鰵; Ե;)!8 F9)I tIi D :):I7F9I9*G)2G)F)F1rFQbFYEYEY)m;Iu9 iIÂi 2@<:@w:  ) P5(AYt*&G@t*1V@yt*t*>t*HK!?`OʿZG(?`߃?? Q?)u*&G@ u*s;Iu*CxNsj>xR(Ei\I^“C)G%4=!F@=YEjyE>AAQMDIM <M>IQ I]!8ٮQQ Q]tI Q U]uC9QU: UY:)U!8 mF9)aIa mtIia mDa e:)e:IeF9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: Ai5?A1) 'O(AYt*fG@t*qmV@yt*t*r>t*HM?,8ʿ00?`? ??)u*fG@ u*nr;Iu*CxB`k>xBEGB@AHD)EGF@]Yeve>aiQmDim7m>Iq I!8ٮqq QtI q UuC9quд; u;)u!8 F9)I tIi D F:):IF9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 191.965486 arcdeg .q'='=*G92GAFAFArFIbFIEIEI);I9 iIMi 2@<:@w: ) i(A Yt*G@t*rV@yt*(t*">t*H M?(`lʿ`+ ^?:??@|?)u*G@ u*r;Iu*CxBMl>xBLEiN=IR̓C)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭn>ʱʱQDʱXH:>I I!8ٮ QtI  UuC9: _:)4!8 G9) G9I tIi D ;);I]G9)I)9)=O@Contact HDG: 141.666046 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI1i 2@<:@w: Я ) iႼ(AYt*G@t*V@yt*t*υ>t*H J`$?`y3ʿ6VJ?؂?9?`z?)u*G@ u*r;Iu*CxBe>xBP E)zGi||F@}Yʅ4;>ʉʉQDʉ͍k;>I I!8ٮ QtI  UuC9鰝t: :)!8 G9)I tIi D d:):IG9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !=R>=i>T&) (AYt*G@t*V@yt*[m t*(O>t*H@!J0?`!@ʿ@@c? -?`;?`?)u*G@ u*r;Iu*CxBt>xBlEHBp=HFp=iRf=IR“C)҄Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQmDimr:u>Iq I}!8ٮqq QtI q UuC9qu : uJ:)uN!8 G9)I tIi D :):I"G9I9!*G)2G1F1FqrFybFyEyEy);I9 iIA~i 2@<:@w: -) h(A);IYt*$G@t*/V@yt*t*c>t*HI5?@~ʿ .`?a?@??)u*$G@ u*(r;Iu*CxNc>xR, E)vGF@]Ye>e>aaQeDim&:m>Iq I}!8ٮqq Q}tI q U}uC9quu: u :)u!8 G9)I tIi D :)I3G9I9*G2GFFrFbFEE);I9 iI|i 2@<:@w: y3) 2rм(AYt*/G@t*:V@yt*\Qt*K>t*HH@?@i`ʿ&w?@ʂ???)u*/G@ u*r;Iu*CxNq>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I̓C)mdG%==F@Yq:>QD5:>I I!8ٮ QtI  UuC9g; a;)l!8 G9) I  tIi  D  ;) ;I EG91I191*GI2GQFFrFbFEE)];I]9 YaiaIaam@{iii i2@u<:@uw: ߉i99:) "R꼧(AYt*G@t*V@yt*$t*>t*HH P?Ϧlʿ 76?@?@6s?Y?)u*G@ u*?r;Iu*Cx>xp>x>EG@H@){B0I{@i{Bz={B>{@{BPA{@|BGA9|BH?y#)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m a )ma )m aaɄaieMb@Mb@Mb@YeGLBIaiaeLBeLBɅeLBeLBa a)aF@Yʅ& >ʉʉQDʉ͕>I I"8ٮ M"8 QtI  UvC9鰽: 4:) "8 G9)I tIi D ;)+;IHVG9I 9 *G92G9F9FAFAFEG0BrFAbFIEIEI2EzEGAEՌ,,Z@Gӏ쁒%EH?y#E0EE!JO vvi!@HUE}@(lۮcû?6˿E@=5DHdg To Contact =133.299434 degreesZE AbE:Eo$?BE^o$?JE REjEh-rE=); )8)I9 iI)yi 2@<:@w: $Dacoustic_contact_range 12.479998 m$%hTrackAcousticContact.heading_to_contact 2.326514 rad$eLDUSBL_Hydroid.xAngle -59.800000 arcdega@) *(A Yt. H@t.V@yt.>/t.*>t.HEY?B$˿<^?@?2??)u. H@ u.$r;Iu.Cx>o>xBEiPIP)~XGF@=YEE>AAQEDAM#;M>IQ I]"8ٮQQ Q]tI Q U]vC9QUS: UW:)UO"8 mG9)aIa mtIia mDa eB:)ex:IefG9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEE); 8I9 piI{xi 2@<:@w: ,G) /(AYt6TH@t6_V@yt60#t6d>t6HVEƁ?`ק#˿b%?`e?c?8?)u6TH@ u6r;Iu6CxNg>xNsE)GixAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@UY]:]>YYQeDaͅ@1:>I I"8ٮ QtI  UvC9鰍: :))"8 G9)I  tIi  D b<)c5{>uRM) ~7(AYt*G@t*V@yt*Tt*>t*H\GW?@ʿ#?_?.??)u*G@ u*gr;Iu*Cx>Dy>xBEEHBR=HBa=i^=I\)%+GF@5Y}:}?ʁʁQDʁͅ^?I I"8ٮ QtI  UvC9鰍B: :)%5"8 G9)I tIi D :):IG9!I!9)=O@Contact HDG: 133.299434 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 qqiqIy u@i 2@<:@w: I:T) EQ(A)IYt*3H@t*>V@yt*qt*RW>t*Hp>xBE)GF@Y%s9%>!!Q-D)-;->I1 I="8ٮ11 Q=tI 1 UEvC915Q: 5j:)5B"8 MG9)AIA MtIiA MDA E}:)E:IEG9YIa9a*Gq2GqFqF1rF9bF9E9E9)u;Iu9 qqiqIy}@iy 2@<:@w: dZ) Jk(AYt* H@t*!V@yt*8M)t*N>t*HCJ?Ҽ ED˿?8 ?`)? -F?`F?)u* H@ u*r;Iu*CxBt>xBlEiLIL)XG 4= %=a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm2#m>iqQuDquc:}>Iy I"8ٮyy QtI y UvC9y}h: }:)}P"8 G9)I tIi D %:):I G9I9*G2GFFrFbFEE);I9 iIV@i 2@<:@w: i99La) t(AYt*/H@t*V@yt*ۥ(t*f>t*HA?@ b˿ &@??`B?o?)u*/H@ u*Tr;Iu(x>d>x> EG@H@) GF@Y%8%>!!Q-D)-?;->I1 I="8ٮ11 Q=tI 1 U=vC915ӻ: 5r:)5^"8 MG9)AIA MtIiA MDA E:)E:IEG9YIa9a*Gq2GqFqFrFbFEE);I9  i I 5c@i11 92@=<:@Ew: wg) O(A Yt./H@t.V@yt.t.>t.H`A`a? b˿@?`? ??)u./H@ u.r;Iu.Cx>o>x>JEiNf=IL)F@Y%T:%>!!Q%D)-](->I1 I="8ٮ11 Q=tI 1 U=vC9152: 5:)5k"8 MG9)AIA MtIiA MDA EO:)Ec:IEG9I9*G2GFFrF9bF9EAEI)M;IM9 IQiQIQUg@]vviYY Y2@e<:@ew: ߹Am) *(AYt*LH@t*WV@yt*V t*>t*H C?B˿,+ k??i>x>NE)+Gi yA xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QDw>I I"8ٮ QtI  UvC9ͭ: :)z"8  G9) I   tIi  D  k;) ;I G9AIA9A*Gq2GqFyFyrFbFEE);I9 iI@i 2@<:@w: ߡ15>t) 2ӽ(AYt2;H@t2V@yt2 <t2>t2H@? ^`Lz˿4x?`m?N?-?)u2;H@ u2Ȋr;Iu2Cx>Ml>xBLEHBp=HBp= {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI“C)GF@=YE:E>AIQMDIu~;u>I I"8ٮ QtI  UvC9鰅; ;)"8 G9)I tIi D :):IG9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G12G1M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA)5;I59 19i9I9=@iAA I2@U<:@Uw: ߩ:z) &콧(A)IYt.BH@t.V@yt.)t.G>t.H?*?۔ ˿o1% ?`? a??)u.BH@ u."r;Iu.Cx>xp>x>E){B>I{@i{B={B>{@{BA{@|BA9|BsZL?b1Dz?)SGa 1%a 1% a 5%a 5% a 9%a 9% a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - a )-a )- ))Ʉ)i-Mb@Mb@Mb@Y-NJBI)i)-vB-BɅ-B-ԉB) )))F@eYm'9m>iiQDʑ͕:>I I"8ٮ QtI  UvC9鰝: >:)ږ"8 H9) H9I tIi D g:):IH9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.420499 arcdeg .q'm'm*Gq2GqFqFqFyF}yBrFybFyEyE2EzEAE(  8@3b @EsZL?b1Dz?E>EEQo7|5`!=Kp ?EYM!ֿ6O?E-`@=DHdg To Contact =200.693019 degreesZE bE|:Ejo$?BEo$?JE RE jEk?rEh-5); T 8T I9 iI Ati 2@<:@w: $UDacoustic_contact_range 25.079998 m$hTrackAcousticContact.heading_to_contact 3.502754 rad$HDUSBL_Hydroid.xAngle 8.550000 arcdeg9) (AYt*OH@t*V@yt*"-t*>t*Hd>4?ާb˿`!?i? ? ?)u*OH@ u*hr;Iu*CxB5g>xB*EiR=IRѓC)-G5%=1F@Yʝ;>ʡʡQDʡͭ;>I I"8ٮ QtI  UvC9鰵u: :)"8 H9)I tIi D :):IuH9I9=O@Contact HDG: 200.693019 arcdeg .''O4Initialize Wait Component.*G2GFFF!F!rF!bF!E)E)E)E; AE8EٸIE9 Mw^IiIIM(zQU{dsiQQ Y2@]<:@]w: qi11pć)  (AYt*6H@t*V@yt*0t*#>t*H A?ۧ`p˿1`ޯ???m?)u*6H@ u*7r;Iu*Cx>xp>xBEGBAAH@)SGF@=YEԹE>AAQEDIME~M>IQ I"8ٮQQ QtI Q UwC9QU< U<)U"8 H9)I EtIi ED <)P x~EiI̓C)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@Y  > QD>I! I%"8ٮ!! Q-tI ! U-wC9!%: %:)%"8 5H9))I) 5tIi) =D) -:)-:I-4H9AII9I*GY2GYFYFarFabFaEiEi)};I9 iIoi 2@<:@w: ߩՔ) HT(AYt*@H@t*V@yt*t*x>t*H`7@?@֧˿`1`y? l\?a??)u*@H@ u*4r;Iu*CxB5g>xF*E)SGiwAF@]Ye;e>aaQeDimB:m>Iq I}"8ٮqq Q}tI q U}wC9quJ: u:)u"8 H9)I tIi D :)9:I2DH9I9*G2GFFrFbFEE);I9 iIUni 2@<:@w: y5>=>y)  n(AYt*gH@t*W@yt*n"t*i>t*H;T5?˿-?M?@]?-?)u*gH@ u*[Pr;Iu*CxRq>xREHPHRa=i`I`)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y5>QD̿;>I I"8ٮ QtI  UwC9t: а:) "8  H9) I   tIi  D  p:) ȗ:I UH99IA9A*GQ2GQFqFqrFybFyEE)5;I59 11i1I19=oli99 A2@E<:@Mw: YN) (A) IYtBUH@tBW@ytB5+tB>tBH= ?o q˿"? f????)uBUH@ uBMMr;IuBCxRr>xRIE)GF@%Y-->11Q5D1=;=>IA IE"8ٮAA QMtI A UMwC9AE: E:)E "8 UH9)QIQ ]tIiQ ]DQ U_:)Uض:IUeH9iIi9i*Gy2GyFFrFbFEE);I9 iIji 2@<:@w:  ) ١(AYtBVH@tBW@ytB3*&tBڳ>tBH=v?z`˿`\.r&?/ń?f?`?)uBVH@ uB2r;IuBCx^q>xbEilIl)=SGAAF@MYME:U>QQQUDQ]ݾ8]>Ia Im"8ٮaa QmtI a UmwC9ae: e:)e"8 }H9)qIq }tIiq }Dq uS:)u:Iu+wH9I9*G2GFFrFbFEE);I9 iI6ii 2@<:@w: i195A) ɻ(AYt.SNH@t.^V@yt.×t.>t.H > ?IЧ@˿`|+B??݄?`?)u.SNH@ u.Dr;Iu,x:s>x:EG>@AH<)dGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5@a  a 9@a  a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʭD|:>QD:>I I#8ٮ M#8 QtI  UwC9E: k;)Y#8 H9) I  tIi  D   :) U:I H9!I!9!OUDone Waiting.'UO]8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEE);I9 iIagi 2@<:@w: #) ?վ(A@ Yt.ugH@t.W@yt.:t.|>t.H ; ((?|˿{!`w???{?)u.ugH@ u.h/r;Iu.CxRb>xRQ E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 if=I)F@=YE9E>AIQMDIU=p;u>Iy I#8ٮyy QtI y UwC9y}; }҇;)}#8 H9)I tIi D :) ;IޚH9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N]@Vehicle HDG: 192.549699 arcdeg .q']']*GY2G]-`@FaFarFabFiEiEi);I9 iI@}@i-`@ 2@<:@w: ߱$RHorizontalControl.headingCmd 3.502754 rad{N) Ulﾧ(AYt*PH@t**V@yt*Bt*v>t*H@l> ?``$˿%`l?S??xBE){BPwVI{@i{Bc={B>{@{B`A{@|BB9|B󔍄i?:)Gi!!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QDn>I I#8ٮ QtI  U%wC91: а:)! #8 -H9)!I! -tIi! -D! %-:)%c:I%3H9YIY9a=O@Contact HDG: 200.693019 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzEBEn7:@lHa=E󔍄i?:EPwVEE`=?BϮ@5@naHXEȢ6?#'ǿEG"@=DHdg To Contact =145.551973 degreesZE*AbE:EUo$?BEjo$?JEw RE jErEk?);I9 iI%@i!! !2@-<:@-w: Y$Dacoustic_contact_range 39.180000 m$hTrackAcousticContact.heading_to_contact 2.540361 rad$LDUSBL_Hydroid.xAngle -48.000001 arcdeg5>5p>5) D (AYt*SYH@t*^W@yt*-t*q>t*H[=D?p ˿ *`<>?:?}??)u*SYH@ u*V*r;Iu*CxR'n>xRpEHTHTidId)-SGF@=Y=E>AAQEDAMD:M>IQ IU#8ٮQQ Q]tI Q U]wC9QU: U:)U-#8 eH9)aIa mtIia mDa e:)e:Ie*H9yIy9y*G2GFFrFbFEE)-;I-9 11i1I1]@iYY Y2@e<:@ew: y(`) >!#(A)4t.H ;?1? 䧿6˿`%Y?(?˛??)u.:gH@ u.r;Iu.CxR?s>xRE)%dGF@]Ye6:e>aaQeDim+;m>Iq I}#8ٮqq Q}tI q U}wC9qu: u:)u:#8 H9)I tIi D Ր:)ȗ:I^H9I9*G2GFFrFbFEE);I9 iI( "@i 2@<:@w: ߹M) v<(AYt*LWH@t*WW@yt*;+!t*=>t*H=?@y%˿&E]? R%?@.?Y?)u*LWH@ u*}&r;Iu*CxB}v>xBEiPIRѓC)G 4= 4=a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQmDiuXu>Iy I#8ٮyy QtI y UwC9y}ͭ: }W:)}H#8 H9)I tIi D :)^:IoH9I9*G2GFFrFbFEE);I9 iIs'@ik> 2@<:@w: i19q) ,V(AYt*[H@t*W@yt*4; t*Ӆ>t*H*=?刺 Ÿ˿k)F?Q? ?_?)u*[H@ u* r;Iu*CxB{]>xB/EG@HD)GF@Y%9%>))Q-D)52:5>I1 I=#8ٮ11 QEtI 1 UEwC915: 5:)5LV#8 MH9)III MtIiI UDI M1:)M:IMH9aIa9a*Gq2GqFqFyrFbFEE);I9 iI,@irH> 2@<:@w: ț) p(A@ Yt6iH@t6W@yt6d3$t6(>t6H@;0?5˿@e"@;o?V?@в??)u6iH@ u6vr;Iu6CxR"h>xREi^=Ib̓C)%dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQDʉ͕ ;>I I#8ٮ QtI  UxC9鰕ͭ: :)d#8 H9)I tIi D  :):IH9I9*G2GFFrFbFEE);I9 iIln2@i#&> 2@ <:@ w: !) 6(AYt*FWH@t*QW@yt*@!t*i>t*H =x ? Y1˿ \#7w?4?ૺ? ?)u*FWH@ u*`r;Iu*CxBp>xB%E)5:Gi5xA1F@EYMi9M>IIQUDQUf8U>IY Ie#8ٮYY QetI Y UmxC9Y]: ]:)] r#8 uI9)i uI9Ii utIii }Di m:)m;:ImVI9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIt7@i[> 2@<:@w:V> 5>1<) h(AYt.pH@t.%W@yt.#t.G>t.H:@B? 9짿`˿@f(x=?|? /??)u.pH@ u.Er;Iu.CxR:m>xREHV=HVp=idId)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QDj;>I I#8ٮ QtI  UxC9>: c:)x#8 I9)I tIi  D :) :I%"I9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N]@Vehicle HDG: 192.579929 arcdeg .q']']*GY2G]G"@FYFarFabFaEiEi)};I}9 iIb;@id=G"@ 2@<:@w:mNB{> y$RHorizontalControl.headingCmd 2.540361 rad) E(A) IYt*q`H@t*| W@yt*)t*>t*H<K&?`춧˿((TL?<:?`??)u*q`H@ u*I r;Iu*CxBh>xBE)GF@Y%y%>))Q-D)5a$5>I9 IE#8ٮ99 QEtI 9 UExC99=1: =а:)=|#8 UI9)III UtIiI UDI M:)Mō@i+= 2@<:@w: L> N) Kؿ(AYt*iH@t*W@yt*A t*C)>t*H;.)?6˿@@? 5a???)u*iH@ u*?q;Iu*CxBu>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ivf=Ix)eGu=}%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=:=>99QEDAE:E>II IU#8ٮII QUtI I U]xC9IM: Mx:)M#8 eI9)YIY etIiY eDY ]ɏ:)]:I]FI9yIy9y*G2GFFrFbFEE);I9 iI?@i 2@<:@w:~> i19) (AYt* bH@t*+W@yt*t*>t*H|<S!?`9`N˿&4Z? ?`w?`?)u* bH@ u*r;Iu*CxBMl>xBLEGDHD)GF@]Yee?aaQmDimZm?Iq I}#8ٮqq Q}tI q UxC9qu: u :)uK#8 I9)I tIi D  :):ITI9I9*G2GFFrFbFEE);I9 iI?@Gfi 2@<:@w:5> 9J)  (A@ Yt*VH@t* W@yt*$t*v>t*H =}?`˿ 7+@W>????)u*VH@ u*r;Iu*CxNj>xRqEi`I`)%SGF@]Yeĝe>aaQeDimm>Iq I}#8ٮqq Q}tI q U}xC9qu: u:)u#8 I9)I tIi D -:) :IeI9I9*G2GFFrFbFEE);I9 iIF>@iæ= 2@<:@w:!> i) %(AYt.0`H@t.; W@yt.3w t.j>t.H`<`?j@˿&X?`?`??)u.0`H@ u.((r;Iu.CxN5g>xR*E)%Gi%wA!a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ\0:>ʉʉQDʉ͕O:>I I#8ٮ QtI  UxC9鰝\: ٮ:) #8 I9)I tIi D ::),:IvI9I9*G2GFFrFbFEE);I9 iIm;@il= 2@ <:@w:= 5i>=i>9&) r?(AYt*JH@t*V@yt*,Mt*'>t*H@??\`˿!P????)u*JH@ u*r;Iu*CxBsj>xB(EHBa=HFa=iR=IP)~҄GF@=YE:E>AIQMDIMWM>IQ I]#8ٮQQ Q]tI Q UexC9QU: U:)U#8 mI9)aIa mtIia mDa e}:)eo:IerI9yI9*G2GFFrFbFEE);I9 iI^7@i> 2@<:@w:+= h) fY(A);IYt*>H@t*$V@yt*/T)t*d>t*HQ@?`}~˿)*[? m*??@?)u*>H@ u*Er;Iu*Cx^Ml>xbLE)5Ga 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ>QD<>I I#8ٮ QtI  UxC9: x:)#8 I9)I tIi D  :)A:I$I9I9*G 2G FFrFbFEE)5;I59 11i1I1=O1@i=>>9 A2@E<:@Mw:ͳ= 8) Bs(AYt*`H@t* W@yt*`t*>t*H<"?@꧿˿`- !?5?e?@G?)u*`H@ u*8r;Iu*CxN`k>xREixIx)UvGY]=F@eYmH;m>iiQuDquS;u>Iy I#8ٮyy QtI y UxC9y}: }:)}G#8 I9)I tIi D :)=:II9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIv,@ia> 2@<:@w:> i99 #) (AYt*%H@t*V@yt* 't*>t*H`B?@}O˿`o'@?? ??)u*%H@ u*Qr;Iu(xBo>xBEGB?AHD)~GF@Yʅ>ʉʉQDʉ͕>I I#8ٮ QtI  UxC9鰝: :)2#8 I9)I tIi D :)ݖ:II9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.320177 arcdeg .q'' *G 2G F F rFbFEE)-;I-9 11i1I1=Y(@i=u3w>9 92@E<:@Ew:-D> IJ)) (A@ Yt*5H@t*V@yt*ul t*>t*H EA?``n˿$?y ? 4??)u*5H@ u*rr;Iu*CxN\>xREi^f=I\)SGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅÎ:>ʁʁQDʁ͍;>I I$8ٮ M$8 QtI  UyC9鰕< <) $8 %I9)!I! -tIi! -D! %%:)%:I%I9YIY9Y=O@Contact HDG: 145.551973 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%@iR[> 2@ <:@ w: e *> x20) (AYt*t7H@t*V@yt*Ƃt*xm>t*HA`?@@q˿. ;?@E?S}? ?)u*t7H@ u*r;Iu*CxNt>xRlE)GixAwAF@]Ye~:e>aaQeDimܒ9m>Iq I}$8ٮqq Q}tI q U}yC9qu: uW:)u$8 I9)I tIi D O:):II9I9*G2GFFrFbFEE);I9 QQiQIQ]G"@i] >Y a2@e<:@mw:UqU> Y5R>=V>1\6) !(AYt* H@t* V@yt*l"t*>t*H@E?3˿ 6#?@?\a? ?)u* H@ u*hr;Iu(xNm>xR'EHRp=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)u+Ga 1 a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y3D>QD>I  I $8ٮ   Q5tI  U5yC9  b; M;) &'$8 =I9)9I9 EtIi9 ED9 =ٓ:)=:I=I9qIq9q*G2GFFrFbFEE);I9 iI[ei 2@<:@w:w> <) (A) IYt*8?H@t*CV@yt*-t*0>t*H@,@ ?`'b ˿@*V? ? ?`?)u*8?H@ u*r;Iu*CxBi>xBE){FًI{Di{FP={F7>{D{FA{D|FFA9|F"s?Eh)%SGF@-Y55>19Q=D9E<E?IA IM$8ٮAA QMtI A UUyC9AEF: E:)E2$8 ]I9)QIQ ]tIiQ eDQ U>:)U:IUI9iIq9q*G2GFFrFbFEE2EzEFAEN\@-J; &E"s?EhEًEE,àPU"@wڭ^EZz"?\ik]̿E.@=DHdg To Contact =130.755584 degreesZEAbE:Eo$?BEUo$?JE REw jE2rE);I9 iI=di 2@<:@w:C|w> $Dacoustic_contact_range 12.419999 m$hTrackAcousticContact.heading_to_contact 2.282115 rad$%LDUSBL_Hydroid.xAngle -62.600002 arcdegnC) e(AYt*9G@t*DV@yt*<:'t*>t*HHH?Dʿ &l?/?$??)u*9G@ u*r;Iu*CxBRr>xBEiR=IP)G 4= %=F@=YE:E>AAQMDIMBM>IQ I]$8ٮQQ Q]tI Q U]yC9QU: Ux:)U@$8 mJ9)a mJ9Ia mtIia mDa e:)eƟ:IeJ9yIy9*G2GFFrFbFEE);I9 iICbi 2@<:@w:X> ߹i5@A9lI) >((AYt*H@t*V@yt*? t*[>t*HmE?@}1"˿.@ic?`?7??)u*H@ u*Jr;Iu*CxVi>xVNEGXHX)5SGa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ{:>ʙʙQDʡͥt;>I I$8ٮ QtI  UyC9鰭: :)N$8 J9)I tIi D %:)|:I!J9I9*G2GFFrFbFEE) ;I 9 iIai 2@%<:@%w:-#> 1P) LB(A Yt*H@t*V@yt*t*>t*H@Fk?GL˿`6.?`?n? ?)u*H@ u*r;Iu*CxB1z>xBEiRf=IP)dGF@]Ye:e>aaQeDim= m>Iq I$8ٮqq QtI q UyC9qu; u;)u\$8 J9)I tIi D ):I2J9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYaeniaa a2@m<:@mw: )I IV) M[(AYt*BG@t*MV@yt*B++t*>t*HJ@,?hʿ:5?Ne?o??)u*BG@ u*Er;Iu(x6i>x6E)rGiptF@zYz`M~>QD %û%>I) I-$8ٮ)) Q5tI ) U5yC9)-h: -:)-j$8 J9)I tIi D <)b=]>\) u(AYt*G@t*V@yt*)$t*N">t*HG@^?I@ʿ2.`s?`n? ??)u*G@ u*\r;Iu*CxNZe>xR EHPHPi`I`)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@UY]c:]>YaQeDae;m>Ii I$8ٮii QtI i UyC9im; mõ;)m5y$8 J9)I tIi D :),:IeUJ9I9=O@Contact HDG: 130.755584 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)];I]9 YYiYIaeM"@iaa i2@<:@w: ߡc) (A)4t.H1M ?A6@~ʿ@E0 ?Qك?@C?e?)u.G@ u.Զr;Iu,xNRr>xRE)dGF@]Yem:e>aaQeDimKm>Iq I}$8ٮqq Q}tI q U}yC9qu2: uW:)u$8 J9)I tIi D  :)V:IdJ9I9*G2GFFrF9bF9E9E9)M;IU9 qqiqIq}S@iyy 2@<:@w: ߙi) (AYt> G@t>mV@yt>˱.t>%.>t>HM :?!#@rʿ;T=?@օ?u??)u> G@ u>r;Iu>CxFt>xJlEij=Il)au%=yF@Yʭ>ʹʹQDb0>I I$8ٮ QtI  UyC91: а:)+$8 J9)I tIi D :):IvJ9 I 9 *G2GFFrFbFEE);I9 iIo@i 2@<:@w: !i5?A9Mp) Ja(AYt*G@t*{V@yt*'t*G>t*H#L]?@D Tʿ`{CM???2??)u*G@ u*r;Iu*CxBf>xB EGFAAHD)|56only read 2 of 4 data items5HFailed to parse: :BS,32768,-32768,V F@=YE;E>IIQMDIM;U>IQ I]$8ٮQQ QetI Q UeyC9QU: Ug:)UX$8 mJ9)iIi mtIii uDi m:)m9:ImȆJ9I9*G2GFFrFbFEE);I9 iIX@i 2@<:@w: Av) ;(A@ Yt.~G@t.+V@yt.t.>t.HkTk?ʿ7 e??@? ?)u.~G@ u.Pr;Iu.Cx]`k>x]E {aY|am8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iMf=IQ)F@]Ye>:m>ʑʑQDʑ͝&>I I$8ٮ QtI  UzC9鰥b< <)$8 J9)I tIi D :)|:IXJ91I191*GA2GAFAFirFibFiEqEq);I9 iIx @i 2@<:@w: "}) (AYt2 G@t2XV@yt2W)t2>t2HO#?DӦa_ʿ/@?`*?c?@?)u2 G@ u2 s;Iu2Cx:c>x: E)i  xAa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm{m?iiQuDqu<u?Iy I$8ٮyy QtI y UzC9y}ͭ: }:)}$8 J9)I tIi D :)':I J9I9*G2GFFrFbFEE);I9 iI$ @i 2@<:@w: =R>=Y> ) §(AYt*jG@t*V@yt*'t*r>t*H[V{S?` `ɿ>k?` ? آ??)u*jG@ u*r;Iu*Cxbw>xbjEHba=H`i~=I|)YF@YʍE9>ʱʱQDʹͽ|>I I$8ٮ QtI  UzC9h: J:)2$8 J9)I tIi D ٓ:):IqJ9I9ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F9rFIbFQEYEa);I9 iI @i 2@<:@w: 14) *§(A) IYt*Y`G@t*d V@yt*,t*{>t*HbW@J? "ɿ`HL ? ?`A??)u*Y`G@ u*^s;Iu*CxNWx>xRE)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YD>QD̺>I I$8ٮ QtI  UzC9: W:)$8 J9)I tIi D O:)A:IJ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 191.629591 arcdeg .q'E'E*GA2GAFIFIrFQbFQEQEY)m;Im9 iiiiIiui$@iyy y2@<:@w: ߑ) ҫD§(AYt*~G@t*+V@yt*,t*8ޅ>t*H@gT`'s?`s@ʿ ,@MP? ??>?)u*~G@ u*gs;Iu(xBu>xBEiLIP)~vGF@Y%`;%>))Q-D)-;5>I1 I=$8ٮ11 Q=tI 1 UEzC915: 5:)5&$8 MJ9)AIA MtIiA MDA E:)E:IEJ9I9=O@Contact HDG: 130.755584 arcdeg .''O4Initialize Wait Component.*G2GFFrFbF E E )=;IE9 AAiAIAM/@iII I2@u<:@uw: ߉i19F) 8^§(AYt*|#G@t*U@yt*(h#t*>t*H@]`M?_Uɿ@3`?l??,?)?)u*|#G@ u*s;Iu(xBj>xBqEGDHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmDim]m>Iq I}$8ٮqq Q}tI q UzC9qu: u:)u5$8 J9)I tIi D :)Ԙ:IJ9I9*G2GFFrFbFEE!)=;IE9 AAiAIAM-@iII I2@u<:@uw: ߉q) `x§(A@ Yt*\FG@t*gU@yt*.-t*v>t*HY+?gt6ɿ B%i? K?`U? ?)u*\FG@ u*(t;Iu*CxBi>xBNEiRf=IP)~GF@ YϺ>QD;%>I! I-%8ٮ! M-%8! Q-tI ! U5zC9!%Z: %:)%%8 =J9)1I1 =tIi1 ED1 5>:)5ض:I5J9III9Q*Ga2GaFaFirFibFiEqEq);I9 iI=@i 2@<:@w: ߱ Y) u<§(AYt6~G@t6U@yt6t6v>t6H ]`? Nɿ@S ?Bփ?@??)u6~G@ u6Et;Iu6Cxri>xrE)ׄGiuAwAa 1ua 1u a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:%>!!Q%D!-->IQ I]%8ٮQQ Q]tI Q U]zC9QUS: U:)U%8 eK9)a mK9Ia mtIia Da eش;)e;IeK9I9*G2GFFrFbFEE);I9 iI.@i 2@%<:@-w: 91=e> ) §(AYt*G@t*U@yt*'(t*O >t*Hr_o?E`.ɿE` |??`A?F?)u*G@ u*Tgt;Iu*CxBi>xBNEH@HDiR=IP)F@=YEE?AIQMDIU9U?IY Ie%8ٮYY QetI Y UezC9Y]: ]:)]v%8 uK9)iIi utIii uDi m:)m:Im K9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: gj) §(A);IYt:0G@t:;U@yt:t-t:a>t:H^ D?󠥿9ɿf;j?`v?h?k?)u:0G@ u:Mt;Iu8xR?s>xRE)11Q5D1=`:=>IA IM%8ٮAA QMtI A UMzC9AE: E):)E#+%8 UK9)QIQ ]tIiQ ]DQ U:)UI:IU0K9iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: ) }§(AYt*F@t*U@yt*t* >t*Hd9?jȿF*?}?>?`$?)u*F@ u*t;Iu*Cxfw>xfjE {hY|hn8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I))SG=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@mYuc;u>yyQ}Dyͅ>I I%8ٮ QtI  UzC9鰕: ;)c:%8 K9)I tIi D ;)];ICK9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E )%;I%9 ))i)I)11i11 92@=<:@=w: Qi19 ) H§(AYt*1F@t*t*Hb@t?> #ȿ@NM?e*?b?`?)u*1F@ u*۱t;Iu*CxNmd>xRu EGR@AHP)eGF@Yʕ9f>ʑʙQDʙ͝;>I I%8ٮ QtI  UzC9鰥: :)(G%8 K9)I tIi D Ĕ:):I{SK9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 191.254859 arcdeg .q''*G2GFFrFbFE!E!)5;I=9 99i9I9AAiAA I2@M<:@Mw: a`) ç(A YtrF@trU@ytr"tr>trH`eQ8?ȿL@lt?]U?E? ?)urF@ urjt;IurCx1z>xEiI)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}F}>yyQDʁͅ>I I%8ٮ QtI  U{C9鰍: :)U%8 K9)I tIi D :):IeK9I9=O@Contact HDG: 130.755584 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!!i)) )2@5<:@5w: A}) `-ç(AYt*(F@t*3TU@yt*t* >t*Hih?@ O bȿnC??? ?`?)u*(F@ u*Ct;Iu*CxBRr>xBE)~GiwAxAF@=YEM:E>AAQMDIMZM>IQ I]%8ٮQQ Q]tI Q U]{C9QU: U:)U_b%8 mK9)aIa mtIia mDa e:)e:IeuK9yIy9*G2GFFrFbFEE);I9 11i1I199i9A A2@E<:@Mw: Y5{>9) \8Gç(AYt*ZF@t*e^U@yt*+t*En>t*Hht?J@vȿjI@?l?@??)u*ZF@ u*@u;Iu(xBf>xB EHBp=HFp=iRf=IP)ƄGF@=YE :E>AIQMDIM:M>IQ I]%8ٮQQ Q]tI Q Ue{C9QU: U:)U)p%8 mK9)aIa mtIia mDa e:)e$:IeK9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: x) Daç(A) IYt.F@t.AU@yt.VJt.h>t.HUk@?B`->ȿOX M?@6?|??)u.F@ u.t;Iu.CxBi>xBE)~ׄGa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ>ʁʁQDʁ͍>I I%8ٮ QtI  U{C9鰕S: 5:)9~%8 K9)I tIi D :):IxK9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w:  ) zç(AYt*tF@t*"U@yt*(t*P>t*HMn.? |飿jǿ`VW l?`?? P?)u*tF@ u*u;Iu*CxBd>xB EiN=IP) G4=%=F@=YEɱE>AAQMDIMGM>IQ I]%8ٮQQ Q]tI Q U]{C9QU: UJ:)U%8 mK9)aIa mtIia mDa e:)e :Ie(K9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i11)  ʔç(AYt*kF@t*v0U@yt*t* k>t*Hm@?`ȿM?"Ղ? ?@?)u*kF@ u* u;Iu*CxVo>xVEGZ?AHX)-GF@}Yʅ>);>ʁʁQDʉ͍N ;>I I%8ٮ QtI  U{C9鰕: :)̙%8 K9)I tIi D d:):IK9I9*G2G!F)F)rFAbFAEIEQ);I9 iIi 2@<:@w: L) nç(A@ Yt*@F@t*T@yt*i$t*>t*H,s?@lʘǿY@I??`?`?)u*@F@ u*t;Iu(xNx>xREi\I\)mSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>QD !>I I%8ٮ QtI  U{C91: l:)%8 K9)I tIi D h:):IK9 I 9 ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E1)E;IE9 AIiIIIIQiQQ Q2@]<:@]w: qx) ςç(AYt*[QF@t*fT@yt*V"t*'>t*H`q@7B?Fdvǿ`c*?X?@U?;?)u*[QF@ u*u;Iu*CxBU_>xBS E)zGi||F@Yʍ19>ʉʉQDʑ͕3(;>I I%8ٮ QtI  U{C9鰝}: ٮ:)m%8 K9)I tIi D :)÷:IK9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 190.681915 arcdeg .q' ' *G 2G F FrFbFEE)-;I59 11i1I199i99 A2@E<:@Mw: Y5R>=i>1) N^ç(AYt*7F@t*T@yt*it*X>t*H t`J?`W ǿ f&??`6Q??)u*7F@ u*t;Iu*Cx>l>xBEHBa=H@ {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1 @a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y- S:m>qqQuDq}Z}>I I%8ٮ QtI  U{C9鰅< <)S%8 K9)I tIi D Ĕ:)<:IK9)I)9)=O@Contact HDG: 130.755584 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEAEA);I9 iIi 2@<:@w: m[) 7ç(A)4t*Hw:?ɹ Eǿp`???@I?)u*]F@ u*st;Iu*CxNxp>xRE){R| =I{Pi{P{R+>{P{R0A{P|P9|R+??)=vGF@MYM%U?QQQUDQ]Ȼ]?Ia Im%8ٮaa QmtI a Um{C9aeO: e1:)e%8 }K9)qIq }tIiq }Dq u:)u:IuVK9I9*G2GFFrFbFEE2EzEE.#(@ך^4?E+??E| =EErE2);I9 iIi 2@u<:@uw: ߉$Dacoustic_contact_range 12.419999 m$hTrackAcousticContact.heading_to_contact 3.362441 rad$HDUSBL_Hydroid.xAngle 2.250000 arcdeg\C) <ħ(AYt*4?F@t*?T@yt*Ot*z>t*Hbs!?ԕǿ@s@v??!??)u*4?F@ u*=t;Iu*CxNc>xR, Eibf=I`)%G!%4=F@]Ye:e>aaQmDim;m>Iq I}%8ٮqq Q}tI q U}{C9quq: u2:)u%8 L9) L9I tIi D c:)w:IuL9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i5@A91m ) $/ħ(AYt*lF@t*wT@yt*A t*ˀ>t*HVv? v`XUǿu"? %??`?)u*lF@ u*$qt;Iu*CxB[>xB EGFAAHFAA)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmyϺm>iqQuDquء}>Iy I%8ٮyy QtI y U{C9y}h: }į:)}p%8 L9)I tIi D ):):IL9I9*G2GFFrFbFEE);I9 iIi 2@<:@w:  U) Iħ(A@ YtF/F@tFT@ytF.tF1~>tFHt`?ء 3wǿzr&?ޅ?`:p??)uF/F@ uF 3t;IuFCxnV>xnEi|I|)mʡʡQDʡͭ';>I I%8ٮ QtI  U|C9鰵J;  ;)s%8 L9)I tIi D :) :I1L9I9!*G12G1FQFQrFYbFYEaEa);I9 iIi 2@<:@w: ) Hcħ(AYt*E1F@t*PT@yt*}.$t*<>t*Ht?Yczǿv\? ?@O??)u*E1F@ u*t;Iu*CxBMl>xBLE)5Gi=xA=wAF@]Yek:e>aaQeDimh9m>Iq I}&8ٮq M}&8q Q}tI q U|C9quo: u/:)u&8 L9)I tIi D :):IAL9I9*G2GFFrFbFEE)5;I=9 99i9I9AAiAA I2@M<:@Mw: ߁5>=t>) }}ħ(AYt*>F@t*T@yt*t*}>t*Hos%?|ঔǿ@z`? ?/k? ?)u*>F@ u*s;Iu*CxBp>xB%EHB4=HFa=iR=IP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y:>QD%:%>I! I-&8ٮ!! Q-tI ! U5|C9!%: %ͭ:)%&8 ]L9)YIY etIiY eDY ]:)]:I]SL9qI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@%<:@%w: Y”%) hħ(A);IYt:nSF@t:yU@yt:t:>t:HyqK?ǿp@?.у? R??)u:nSF@ u:s;Iu:CxN'n>xNpE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽo>QDxS;>I I&8ٮ QtI  U|C9: 5:)$&8 L9)I  tIi  D :),:IEdL99I999&MMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 190.689169 arcdeg .q''*G2G;2W@FFrFbFEE);I9 ))i)I)5s@i15;2W@ 12@=<:@=w: Q$uRHorizontalControl.headingCmd 3.362441 rad+) *:ħ(AYt*bvF@t*m#U@yt* C"t*LZ>t*H`2nv?7ȿ@Ko`|k?@NH?g? ?)u*bvF@ u* s;Iu*Cx>p>xB%EiLIN“C)~ƄG%=%=F@Y%\%>!!Q%D)-U;->I1 I=&8ٮ11 Q=tI 1 U=|C915b: 5:)51&8 ML9)AIA MtIiA MDA E%:)E9:IEAtL9YIY9a=Ou@Contact HDG: 192.653668 arcdeg .'u'uOu4Initialize Wait Component.*Gy2GyFyFyrFbFEE);I9 iIM;@iQQ Q2@]<:@]w: ߩi5?A12) ħ(AYt*F@t*2U@yt* +t*X>t*Hl 7?U2ȿe,?g~???)u*F@ u*̰s;Iu(x>'n>xBpEGB@AHB@A)~!)Q-D)-;->I1 I=&8ٮ11 Q=tI 1 UE|C915n: 5/:)5>&8 ML9)AIA MtIiA MDA E:)Eg:IEGL9YIa9a*Gq2GqFqFrFbFEE);I9 iI@i 2@<:@w: ߙ 8) ħ(A Yt*wF@t*?U@yt* "t*Z>t*H`k?`_9ȿe@?@xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ibf=If̓C)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE³:E>IIQMDIm:u>Iq I}&8ٮqq Q}tI q U|C9qu: u_:)u(O&8 L9)I tIi D !<)" 2@E<:@Ew: a1>) `ħ(AYt*F@t*kU@yt*0mt*>t*Heg ?P ȿ`\?͂? RD?@?)u*F@ u*vt;Iu(xBh>xBE){B#I{@i{B={B>{@{BA{@|BB9|Bm?=,W)SGi%wA!F@=YE:E>AAQMDIM1<M?IQ I]&8ٮQQ Q]tI Q U]|C9QU4: U8:)UZ&8 mL9)aIa mtIia mDa eh:)eZ:Ie}L9yIy9*G2GFFrFbFEE2EzEBEj2@3Es>Em?=,WE#EEVd7wTV9@OGEms忄M{*?O) ;I 9  iI5߷$@i=.T>9 92@E<:@Ew: y$Dacoustic_contact_range 35.639999 m$hTrackAcousticContact.heading_to_contact 2.326834 rad$LDUSBL_Hydroid.xAngle -58.699998 arcdeg5>5a>E) ŧ(AYt2F@t2nU@yt2{t2Hw>t2Hg`?`Kȿ'` G?=?!?@#?)u2F@ u2Bht;Iu0xBm>xB'EHBp=HFp=iPIT)Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʭ4>ʩʱQDʱ͵_9>I I&8ٮ QtI  U|C9: _:)h&8 L9)I tIi D ;);I=L9!I!9)*GY2GYFYFYrFabFaEiEi);I9 iIR*@i/> 2@<:@w: . L) 2ŧ(A) IYt*F@t* U@yt*R%t* >t*Hd;? ȿ JP?S?ױ?@?)u*F@ u* wt;Iu*Cx^o>x^JE)EGF@]Yeje>aaQeDam_;m>Iq I}&8ٮqq Q}tI q U}|C9qu: u:)uEv&8 L9)I tIi D :),:IL9I9*G2GFFrFbFEE);I9 11i1I1=/@i=8 >9 A2@E<:@Mw:M@o> QR) ZLŧ(AYt*[F@t*fU@yt*D+t*;>t*Har?%Wȿ*Z?h?%??)u*[F@ u*}t;Iu*CxBn>xBEiN=IL)=KG9AF@]Ye]Ve>aaQeDim4;m>Iq I}&8ٮqq Q}tI q U}|C9quϸ: un:)u&8 L9)I tIi D 1:)g:IL9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%4@i%=! !2@-<:@-w:5}> Ai99Y) 35fŧ(AYt* G@t*U@yt*'t*>t*H_9?'ɿPT? @?C?`?)u* G@ u*Rt;Iu*CxBk>xBEG@H@)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ:>ʩʩQDʩ͵ G;>I I&8ٮ QtI  U|C9鰽: t:))&8 L9)I tIi D >:):IL9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 191.334280 arcdeg .q'%'%*G!2G%@F)F)rF1bF1E1E9)M;IM9 IIiIIQ]|9@i]<=]@ Y2@e<:@ew:-O> 9$]RHorizontalControl.headingCmd 2.326834 rad`) 0ŧ(A Yt.|G@t.U@yt.ճ't.>t.H\_`ץ? Zq0ɿ@B?b??f?)u.|G@ u.t;Iu.CxBh>xBEiLIP)~GF@=YEx 8E>AAQMDIM~;:M>IQ I]&8ٮQQ Q]tI Q U]|C9QU%: U:)U~&8 mL9)aIa mtIia mDa e[:)e,:IeL9yIy9y=O5@Contact HDG: 133.317766 arcdeg .'5'=O=4Initialize Wait Component.*G92GQFQFYrFYbFYEaEa)u;Iu9 yyiyIy;@iG= 2@<:@w:)=Ip= > ߙ-f) )ŧ(AYt*G@t*U@yt*<t*>t*Hh_}?@1ɿR ??N?`X?)u*G@ u*t;Iu*CxNg>xRsE)GixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ1;>ʡʡQDʡͭy8>I I&8ٮ QtI  U}C9鰵h: :)&8 M9) M9I tIi D c:):IM9I9*G2GFFrFbFEE);I9 iIj<@i 2@ <:@w:j> 5>=i>Xl) ȳŧ(AYt2,G@t2U@yt2"t2Q>t2H\?Ë ihɿN`$?@s?@[??)u2,G@ u2t;Iu2Cx:i>x:NEH<HQD%;%>I) I-&8ٮ)) Q5tI ) U5}C9)-: -t:)-&8 =M9)9I9 =tIi9 ED9 =:)=E:I=gM9IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIQ<@4oi 2@<:@w:> ?s) ŧ(A)4t*H\?5 (aɿJD?Ȅ?gx? ?)u*;)G@ u*u;Iu(xBeq>xBnE)~XGF@=YE"E>AAQMDIMNM>IQ I]&8ٮQQ Q]tI Q Ue}C9QUu: U:)U&8 mM9)aIa mtIia mDa ep:)ec:Ie/M9yIy9*G2GFFrFbFEE);I9 iIj;@iq)= 2@<:@w:xA xA= ߡt*H@=]?`[ɿ,Z`? ?? ?)u*Z&G@ u*t;Iu*CxB`k>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIz̓C)mvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5fV:5>99Q=DA]=ҹe>Iq I}&8ٮqq Q}tI q U}C9qu ; u ;)u&8 M9)I tIi D v;) ;IFBM9I9*G2GFFrFbFEE);I9 iI a8@i =  2@<:@w:= i114R) XƧ(AYt*-G@t*U@yt*f!t*>t*H\?٤hɿJU?@1?@$??)u*-G@ u*t;Iu*CxNo>xREGRAAHP)UGF@eYe=m>iiQmDiu:u>Iy I&8ٮyy QtI y U}C9y}: }:)}&8 M9)I tIi D !:):IQM9I9*G2GFFrFbFEE);I9 iI!4@i> 2@<:@w:= |) 2Ƨ(A Yt*20G@t*=U@yt*t*.|>t*HE\ ?nɿ e@?Ӄ?>??)u*20G@ u*."u;Iu*CxBf>xB EiPIP)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ9>ʱʹQDʹͽn9>I I&8ٮ QtI  U}C9:: :)&8 M9)I tIi D _:):IXcM9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E9E9)M;IM9 QQiQIQ]/@i]%*>Y Y2@e<:@ew:)u=Iu=5:= 9=) (5Ƨ(AYt*5,G@t*@U@yt*@t*_>t*H\=?ɉ gɿ^``9?;?`[?@?)u*5,G@ u*Vu;Iu*CxBRr>xBE)dGiyA F@YʅP>:>ʉʉQDʉ͕4 >I I'8ٮ M'8 QtI  U}C9鰝: s:)R'8 M9)I tIi D ڦ:):I!tM9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 191.447252 arcdeg .q'-'-*G)2G)F)F)rF1bF1E9E9)M;IM9 QQiQIQ]4)@i]L>Y Y2@e<:@ew:E8= Q5R>5e>̍) NƧ(AYt*@G@t*U@yt*t*4ow>t*H@Z?ӣ tɿn???෠? ?)u*@G@ u*??u;Iu*CxB:m>xBEiPIP)F@=YEE>AIQMDIMP;U>IQ I]'8ٮQQ Q]tI Q Ue}C9QU: U):)U '8 mM9)aIa mtIia mDa e!:)eV:IeDŽM9yI9=O]@Contact HDG: 133.317766 arcdeg .']']O]4Initialize Wait Component.*Ga2GaFaFarFibFiEiEi);I9 iI $@ivp> 2@<:@w:= ߹ⷙ) hƧ(A);IYt.4G@t.U@yt.t.y>t.H[@v?@Rգ:xɿ@%k@??? ?)u.4G@ u.bu;Iu.CxNk>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}R}>ʁʁQDʁ͍B>I I'8ٮ QtI  U}C9鰥Kf; T;)'8 M9)I tIi D :):IPM9I9*G2GFFqrFybFyEyEy);I9 iI@i > 2@<:@w: wAQ3(> ) QƧ(AYt* jG@t*V@yt*ه't*-s>t*H`nV s?]@!ɿ qj?@?Y??)u* jG@ u*)u;Iu*CxB:m>xBEiLIL)~G4=F@=YEE>AAQMDIM<M>IQ I]'8ٮQQ Q]tI Q U]}C9QU: U:)U`)'8 mM9)aIa }tIia Da e;)e;IeѦM9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w:H> i19ɦ) -yƧ(AYt*CjG@t*NV@yt*r%t*u>t*HkVIp?๫ɿm ? ?@i?@?)u*CjG@ u*7v;Iu*CxBe>xBP E)|F@Y%29%>))Q-D)-85>I1 I='8ٮ11 QEtI 1 UE}C915G: 5:)57'8 eM9)QIQ utIiQ uDQ U;)U`;IUM9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w:NM> ) mVƧ(A Yt.G@t. 7V@yt.t.^!s>t.HJS ?Eʿ$o?@??@?)u.G@ u.w;Iu.Cx>`k>xBEiNf=IL)~SGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5@a  a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʵE;>ʹʹQDʹ.;>I I'8ٮ QtI  U}C9}: :)uE'8 M9)I tIi D :):IM9 I9*G!2G!F!F!rF)bF)E1E1)e;Ie9 aiiiIim@i 2@<:@w:)=I={\> ߙ(ܳ) 0Ƨ(AYt2XG@t2cYV@yt2RDt2 w>t2H`O?à aʿ@ d+? vȃ?@e?d?)u2XG@ u2gw;Iu0xBRr>xBE)zGiwAwAF@]Ye e>aaQmDim;m>Iq I}'8ٮqq Q}tI q U}~C9quS: uW:)uR'8 M9)I tIi D :) :IM9I9*G2GFFrFbFEE);I9 iIi 2@<:@w:> 5>=l>=)  Ƨ(AYt2G@t2V@yt2Lnt29s>t2H@xIO\?*Ӥʿ.d`?? .??)u2G@ u2TIx;Iu2Cxrmd>xru EHHa= { Y| 8****** ping requested ******}Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i=I)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YEj:E>IiQuDq}<}>I I'8ٮ QtI  U~C9鰅; ;)b'8 M9)I tIi D _:)0:IM9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2GAMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFQEQEQ);I9 iIui 2@<:@w: [> ) ǧ(A)4t*HHr?@=`iʿ`/ST?b?`(? ?)u*G@ u*]y;Iu*CxB'n>xBpE){F=I{Di{F={F+>{D{FPA{D|FBA9|F2Qȿ?e) ?)mGF@Y2A>QD{;>I I'8ٮ QtI  U~C9:: :)n'8 M9)I tIi D Ԙ:)˚:IM9 I 9 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%NM@Vehicle HDG: 192.151854 arcdeg .q'M'M*GQ2GQFQFQrFYbFYEaEa2EizEmBAEmHaO(@/k%y?Em2Qȿ?e) ?Em=EiEm$*s'pLD T\9?Emud9@ѿXb+?Em}Z@=uDHdg To Contact =195.644553 degreesZEm$RbEm;:Emo$?BEmio$?JEm REmt jEma>rEm?);I9 iIi 2@<:@w: )I A$eDacoustic_contact_range 12.179997 m$uhTrackAcousticContact.heading_to_contact 3.414642 rad$uHDUSBL_Hydroid.xAngle 3.600000 arcdeg) ǧ(Ax~p>x~Ei!I!)G4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q D >I I'8ٮ Q%tI  U%~C9O: :)|'8 -N9)) -N9I) -tIi) 5D) -:)-I:I- N9AIA9A=O}@Contact HDG: 195.644553 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i19tB) ^7ǧ(AYt*'PH@t*2V@yt*{t*>t*H}> ?`y@D˿ C@g?@?`מ??)u*'PH@ u*]{;Iu(xBxp>xFEGLHL)GF@-Y5̃;5>11Q5D1=o<=>IA IM'8ٮAA QMtI A UM~C9AEͭ: E:)EӉ'8 ]N9)QIQ ]tIiQ ]DQ Uٮ:)U0:IUN9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: +) {Qǧ(A@ YtFMH@tFX[W@ytFH,tFKQ>tFH4@?@Y @Y̿36 >?鈅?`,??)uFMH@ uF };IuFCx^t>xblEi I )uSGF@Y%セ->QD`L<>I1 I5'8ٮ11 Q=tI 1 U=~C915: 5l:)5ę'8 EN9)AIA EtIiA MDA EX<)EjZ,t:>>t:H (1}?q܌̿/ Ot?ೇ???)u:sH@ u:9_};Iu:CxNn>xRE)dGi%xA%xAa 1ua 1u a 5ua 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@-Y565>99Q=D9=j;E>II IM'8ٮII QUtI I UU~C9IM: M:)MŨ'8 ]N9)YIY ]tIiY eDY ]h:)]:I]DN9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: 5R>5e>"<) -ǧ(AYt:H@t:W@yt:t:O>t:H,,`9G?O;̿* m????)u:H@ u:};Iu8x^k>x^EH`Hbp=ipIp)9F@MYU;;U?QQQUDY]<e?Ia Im'8ٮaa QmtI a Uu~C9aeq: e:)eT'8 }N9)qIq }tIiq }Dq uO:)u:IuQN9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Zj) Cǧ(A);IYt:I@t:W@yt:2t:K>t:H(@Mr?@<Ϳ* ?@GF?j;??)u:I@ u:;Iu:CxBy>xBE)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʅH:>ʉʉQDʉ͕};>I I'8ٮ QtI  U~C9鰝F: ):)a'8 N9)I tIi D 1:):IxbN9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !,) Xǧ(AYt*.I@t*W@yt*t*Ư>t*H%?@oy@4TͿ &C?@??:?)u*.I@ u*~;Iu(xff>xf EitIv“C)MvGM=U=F@]Ye.e>aaQeDamF;m>Iq I}'8ٮqq Q}tI q U}~C9qu: u:)u'8 N9)I tIi D :) :I>sN9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i19z) `ǧ(AYt6LI@t6W@yt6k't6Mb>t6H,"@+?@?@yͿ 7' *?b?h?@"?)u6LI@ u69~;Iu6CxRe>xRP EGZ?AH\)Ga 1-a 1- a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a  a -@a  IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝ>ʡʡQDʡͭ;>I I'8ٮ QtI  U~C9鰵: >:)+'8 N9)I tIi D :)':IN9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.351386 arcdeg .q''*G!2G%}Z@F!F!rF)bF)E1E1)E;IE9 IIiIIIU_@iQU}Z@ Q2@]<:@]w: q$RHorizontalControl.headingCmd 3.414642 rad) ǧ(A@ Yt.I@t.1X@yt. +t.J>t.H TX?)cͿ@? ~a?`>??)u.I@ u.|;Iu.CxBk>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixI|)GF@=YEEE>IIQMDI} <}>I I'8ٮ QtI  U~C9鰅; ;)'8 N9)I tIi D :):IN9I9=O]@Contact HDG: 195.644553 arcdeg .']']O]4Initialize Wait Component.*Ga2GaFaFarFbFEE);I9 iIc@i 2@<:@w: T) uȧ(AYt*yI@t*&X@yt*($t*Y>t*H >? i@Ϳ`?`N?/???)u*yI@ u*~|;Iu*CxBmd>xBu E){BCoI{@i{Bi={B7>{@{BA{@|BQA9|B" ?]B>r)5dGi5wA=wAF@}Y}:>ʁʁQDʁ͍>I I5'8ٮ Q=tI  U=C9鰕/< [<)w'8 EN9)AIA EtIiA MDA E}:)E,:IETN9I9*G2GFFrFbFEE2EzEQAEv3(-@kG3E" ?]B>rECoEE`p2M.@+bE*/]E!?dFɿEut@=DHdg To Contact =140.960966 degreesZEorAbE{:Ewo$?BEo$?JE| RE jErEa>)-;I-9 ))i)IIU@iQQ Y2@]<:@]w: ߑ$Dacoustic_contact_range 24.539997 m$hTrackAcousticContact.heading_to_contact 2.460233 rad$LDUSBL_Hydroid.xAngle -53.550001 arcdeg=>Ea>L) jP ȧ(AYt*>I@t*IHX@yt*`t*e>t*H ǃ?@+ C'ο ?`?ۗ?)?)u*>I@ u*z{;Iu*CxNg>xRsEHPHPi`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ:>ʉʉQDʉ͕;>I I(8ٮ M(8 QtI  UC9鰝: :)I(8 N9)I tIi D :):IN9I9*GQ2GQFYFYrFYbFaEaEa);I9 iI4"@iwq> 2@<:@w: q ) +:ȧ(A)4t*H$ ?!οh` ? ~?ѳ?t?)u*I@ u*g{;Iu(xBr>xBIE)SGF@%Y%$;->))Q-D)5<5>I9 I=(8ٮ99 QEtI 9 UEC99=F: =:)=(8 MN9)III UtIiI UDI M :)M :IM N9aIa9a*Gq2GqFyFyrFbFEE);I9 iI'@i fS> 2@<:@w: ) OTȧ(AYt:I@t:)X@yt: t:1f>t:H@@?@οK]? &??`a?)u:I@ u:z;Iu8x~d>x EiI)dG %= 4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y%/%>!!Q%D!-d-;->I1 I=(8ٮ11 Q=tI 1 UEC915: 5ݱ:)5#(8 MN9)AIA MtIiA UDA Eݱ:)E:IEN9YIY9a*Gq2GqFqFqrFybFyEE);I9 iI(.@i@i+> 2@<:@w: ߹i99 ) Dmȧ(AYt*I@t* X@yt* 1t*L >t*HC`5?@'Sο@@?^!? p? ?)u*I@ u*y;Iu(xRp>xR%EGR@AHP)GF@]Ye:e?iiQmDiu~Z;u?Iq I}(8ٮqq QtI q UC9quٮ: u:)u~/(8 N9)I tIi D -:)c:IkN9I9*G2GFFrFbFEE);I9 iIH2@i^(> 2@<:@w: > G!) ༇ȧ(A@ Yt*%J@t*X@yt*++t*9~>t*Hhz?3Ͽ@R? be?7}?`?)u*%J@ u*>y;Iu*CxR_>xR Einf=In̓C)=GF@MYM_j:M>QQQUDQ];]>Ia Ie(8ٮaa QmtI a UmC9ae}: e>:)e1=(8 uN9)qIq }tIiq }Dq uw:)u:IuRN9I9*G2GFFrFbFEE);I9 iI18@iW== 2@<:@w:5}> ߹d() ȧ(AYt*\?J@t*gX@yt*K_"t*}>t*HN@H? )`eϿ?K?`]?@?)u*\?J@ u*x;Iu(xBeq>xBnE))i5xA5xAa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕd:>ʙʙQDʡͥx;>I I(8ٮ QtI  UC9鰭): :)NK(8 O9) O9I tIi D Ԙ:):I O9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI:=@i%O=! !2@-<:@-w:ZO> =>=i>,.) Xtȧ(AYt2nJ@t2Y@yt2't2~>t2H` ?@kϿv`ѹ??>p??)u2nJ@ u2Ax;Iu0xBk>xBEHF4=HFa=iPIT) SGF@Yʍ>;>ʑʑQDʑ͝;>I I(8ٮ QtI  UC9鰥: :) Y(8 O9)I tIi D ;)Q;IO9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.363278 arcdeg .q''*G2Gut@FFrFbFE!E!)5;I=9 99i9I9EA@iEP=Eut@ A2@M<:@Mw:-> 9$]RHorizontalControl.headingCmd 2.460233 radm5) bNȧ(A) IYt*zJ@t*%'Y@yt*-t*0{>t*H@.?`I Ͽ m s??@0 ? ?)u*zJ@ u*Sx;Iu(xBg>xBsE)~dGF@=YE'E>AAQMDIM|:M>IQ I](8ٮQQ Q]tI Q UeC9QU: U:)Uf(8 mO9)aIa mtIia mDa eՐ:)e :IeS.O9yIy9=O5@Contact HDG: 140.960966 arcdeg .'5'=O=4Initialize Wait Component.*G92G9F9F9rFAbFAEIEI)];I]9 aaiaIaeDD@im׊=i i2@<:@w:2 > ߑ>;) )ȧ(AYt*|J@t*mY@yt*&t*r}>t*H3?6ժ`/п? ߄?X[?@?)u*|J@ u*3(w;Iu*Cx2w>x6jE {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ij=Il)UGm4=m%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yz>QDB<>I I (8ٮ Q tI  UC9; !;)+v(8 5O9))I) 5tIi) =D) -5:)-j:I-AO9AII9I*Gy2GyFyFyrFbFEE);I9 iIE@i 2@<:@w:= i19]&B) d ɧ(AYt*J@t*Y@yt*`)t*}>t*H@V 6? MMп@>?+?h??)u*J@ u*"w;Iu(xNq>xREGR?AHP)5SGF@EYEֹM>IIQMDIU;U>IY Ie(8ٮYY QetI Y UeC9Y]: ]:)](8 uO9)iIi utIii uDi m!:)mV:ImgPO9I9*G2GFFrFbFEE);I9 iILE@ցi 2@<:@w:= xPH) r"ɧ(A@ Yt*K@t* Y@yt*9K$t*~>t*H`9?є` tп?P?~??)u*K@ u*v;Iu*CxBs>xBEiPIR“C)~GF@=YEI:E>AAQMDIM;M>IQ I](8ٮQQ Q]tI Q UeC9QU: U:)U܏(8 mO9)aIa mtIia mDa eՐ:)e:IeeaO9I9*G2GFFrFbFEE);I9 iIi^D@iUTI= 2@<:@w:Ag3= ߡ{N) j<ɧ(AYt*14K@t*t*Hh B?̟п`| ?? 4??)u*14K@ u*Yv;Iu(xB'n>xBpE)SGiwAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe#4:m>iiQmDiu;u>Iy I(8ٮyy QtI y UC9y}:: }:)}ҝ(8 O9)I tIi D :)Z:IrO9I9*G2GFFrFbFEE);I9 iIA@iA= 2@<:@w:Ml= Q5>5e>bU) WVɧ(AYt2t2H@@{?@`п`^?`g|?=??)u2xR%EHRp=HPibf=Ib̓C)GF@-Y5:5>11Q=D9E#<E>IA IM(8ٮAA QMtI A UUC9AE: E:)Eb(8 ]O9)YIY ]tIiY eDY ]1:)]:I]\O9iIq9q*G2GFFrFbFEE);I9 iI=@iB= 2@<:@w:\J= ߙ[) *qpɧ(A);IYt*jK@t*u?Z@yt*x|t*>t*H f?Iп`?? {? ??)u*jK@ u*xu;Iu*CxBd>xB E)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ۷>ʡʡQDʡͭ;>I I(8ٮ QtI  UC9鰭: :)(8 O9)I tIi D ::) :IO9I9*G2GFFrFbFEE) ;I 9 iI 7@iE > 2@%<:@%w:{= tb) ULɧ(AYt*rK@t*}~Z@yt*(t*>t*H@?@bl7ѿ ? f?@ ?@X?)u*rK@ u*t;Iu*CxBi>xBEiN=IP)vG%?%=F@]Ye_e>aaQmDim<m>Iq I(8ٮqq QtI q UC9qu; uԵ;)u&(8 O9)I tIi D }:):IҥO9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)U;I]9 YYiYIYef2@ieN2>a a2@m<:@mw:e= qi=@A9h) g'ɧ(AYt*6K@t*AZ@yt*F)t*QO~>t*H@& ?)Vѿ@%?(?v?=?)u*6K@ u*s;Iu*Cx2Ml>x2LEG4H4)rdGa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMNM>IIQMDIU;U>I I(8ٮ QtI  UC9: :)a(8 O9)I tIi D :):I6O9I9&M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'=Ne@Vehicle HDG: 195.720669 arcdeg .q'e'e*Ga2GaFiFirFibFqEE);I9 iI,@iW> 2@<:@w:= n) ɧ(A Yt2Q6L@t2\Z@yt2%t2>t2H X4?`ѿc`l? ?? ?)u2Q6L@ u2#s;Iu0xBh>xBEiRf=IP) GF@=YE:E>AAQMDIM(<M>IQ I](8ٮQQ Q]tI Q UeC9QU: U:)U(8 mO9)aIa mtIia mDa eO:)e:IeO9yIy9=OU@Contact HDG: 140.960966 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi)};I}9 yyiI'@iz> 2@<:@w:> ߙu) ɧ(AYt* YL@t*[@yt*lXt*ρ>t*H(M?@;ѿ`)??s ?@?)u* YL@ u*cr;Iu*CxNj>xRqE)XGixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʝZ;>ʡʡQDʡͭ;>I I(8ٮ QtI  UC9鰵: B:)(8 O9)I tIi D :) :I O9I9*G2GFFrFqbFyEyEy);I9 iI-j#@i > 2@<:@w:oE-> ߹5R>=V>{) ɧ(AYt*ZL@t*e;[@yt*t*>t*HX?@ޮ@ѿ@? ?İ??)u*ZL@ u*q;Iu*CxN}v>xREHPHP {TY|TZ8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)uGF@YȺ>QD<>I I(8ٮ QtI  UC9&; ;(;)(8  O9)I  tIi D  ;);InO9)I)9)*GI2GIFQFrFbFEE);I9 !!i!I!%@i)) I2@U<:@Uw:Eo2> Q‚)  ʧ(A)4t.H :?@8䮿D.ҿӶࡓ?)?X?v?)u.SL@ u.p;Iu.CxNV>xRE)1F@EYEȺE>IIQMDIUX0<U>IY I])8ٮY Me)8Y QetI Y UeC9Y]: ]:)] )8 mO9)iIi utIii uDi m:)m :ImO9I9*G2GFFrFbFEE);I9 iIX@i 2@<:@w:=> 9) zp%ʧ(AYt*L@t*[@yt*St*p>t*H ɫ?@`=ҿ`?5?@o??)u*L@ u*J3p;Iu*CxBo>xBJEiPIP)vG 4= %=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQuDqu%;}>Iy I)8ٮyy QtI y UC9y}: }:)})8 P9) P9I tIi D =:):I P9I9*G2GFFrFbFEE);I9 iIJ;@i 2@<:@w: i> i5?A98) K?ʧ(AYt2p'M@t2{[@yt2;%t2>t2H ?@ҿ1?@?`y??)u2p'M@ u2o;Iu2CxRe>xRP EGR@AHP)%GF@5Y5%v=>99QEDAE -<E>II IU)8ٮII QUtI I UUC9IM: M-:)M~')8 eP9)YIY etIiY eDY ]F:)]:I]P9qIq9y*G2GFFrFbFEE);I9 iI9@i 2@<:@w:> ߙ) _%Yʧ(A@ Yt*LM@t*[@yt*Nt*Ԁ>t*H{ 2? P`ҿ@lN?i???)u*LM@ u*o;Iu*CxBi>xBEi^=I\)5vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ':>ʩʩQDʩ͵r;>I I)8ٮ QtI  UC9鰽: :)5)8 P9)I tIi D S:)R:I5.P9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I%9 !!i!I!-g@-ݐi)) )2@5<:@=w:M#> Y() sʧ(AYt*OxM@t*Z%\@yt*bg t*>t*H@[?@8o0ҿA?@ ?`?@?)u*OxM@ u*n;Iu*CxBj>xBqE)~Gi1=xAF@}YʅaL>ʁʁQDʁ͍g;>I I)8ٮ QtI  UC9鰕`: B:)`C)8 P9)I tIi D :)ȗ:I?P9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.084863 arcdeg .q''*G2GFFrF bF E E )%;I%9 !!i)I)-> @i11 12@=<:@=w:A A)AII 9=a>=) ݌ʧ(AYt*_M@t*jo\@yt*%t*?>t*H`"@Ԡ?ӿ?Ȱ?`?@?)u*_M@ u*rm;Iu*Cx6`k>x6EH6a=H6p=iDID)rGF@Y%Q%>!!Q-D)-<<->I1 I=)8ٮ11 Q=tI 1 UEC915u: 55:)5P)8 MP9)AIA MtIiA MDA E:)E,:IEOP9I9=OU@Contact HDG: 140.960966 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEa)};I}9 iI@i 2@<:@w: :) ʧ(A);IYt*WM@t*b\@yt*G.t*}>t*HBų?`L%ӿW E? ??`?)u*WM@ u*-m;Iu*CxNn>xRE)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@UY]X]>YYQ]Dae+;e>Ii Iu)8ٮii QutI i UuC9im: mp:)m_)8 P9)yIy tIiy Dy }h:)}:I}:bP9I9*G2GFFrFbFEE);I9 iIut@i 2@<:@w: ") ʧ(AYt*jN@t*u\@yt*t*C>t*Hw`?mb^ӿ@ļ??? ? ?)u*jN@ u*lm;Iu(xBv>xBEiLIP)~dG=F@ Y\];>QD%"<%>I! I-)8ٮ!! Q-tI ! U5C9!%%: %:)%Dl)8 =P9)1I1 =tIi1 ED1 5:)5:I5~qP9IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIi 2@<:@w: ߱i19^L) jʧ(AYt*SN@t*]@yt*$t*\>t*H0uM&? >Mӿ@w@???@?)u*SN@ u*{m;Iu*CxBWx>xBEGFAAHD)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅeκ>ʉʉQDʉ͕ <>I I)8ٮ QtI  UC9鰕: c:)z)8 P9)I tIi D :):IJP9I9*G2GFF1rF9bF9EAEA)u;Iu9 qqiyIyyi 2@<:@w: ߡfw) Iʧ(A Yt.cN@t.]@yt.Q/t.d >t.H@r4?gӿ ]n=?? n3? ?)u.cN@ u.ym;Iu.CxBa>xB E {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)mGF@YʵѺ>ʹʹQDʹ;>I I)8ٮ QtI  UC9q ; G;))8 P9)I tIi D :)A:IuP9I9 *G!2G!F!F)rF1bF1E9E9)];I]9 YYiYIaiiiii q2@}<:@}w: ߙ3_) $˧(AYt*N@t*b]@yt*P!t*혁>t*Her?Wӿ`h'? *?@??)u*N@ u*xm;Iu*Cx^md>x^u E){bk EI{`i{b={`{`{`{`|bA9|byˢ?#D)]dGiewAaF@mYu;u>qqQ}Dy}O<>I I)8ٮ QtI  UC9鰅: _:) )8 P9)I tIi D S:)$:IP9I9*G2GFFrFbFEE2EzEAEgy3@{E:S2Eyˢ?#DEk EEE>97J܉&@+EvZB쿽(h?`fſEq<-@= DHdg To Contact =155.089021 degreesZE0AbE$:Ejo$?BEwo$?JE RE| jE5rE)E;IE9 AAiAIAIIiII Q2@U<:@]w: i$Dacoustic_contact_range 26.580002 m$hTrackAcousticContact.heading_to_contact 2.706814 rad$LDUSBL_Hydroid.xAngle -44.100001 arcdeg5V>=R>) ]'˧(AYt*1N@t*<]@yt*5$t*dЂ>t*Had? Կ@^ {??@r,?@?)u*1N@ u*%n;Iu(xBeq>xBnEHBp=HBa=i^f=I\)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yݹ>QDe;>I I)8ٮ QtI  UC9д; ;)M)8 %P9)!I! -tIi! -D! %O:)%A:I%ضP9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 9p) UA˧(A) IYt*O@t*]@yt*+t*휂>t*H VV?`YԿTT ?x?3&?r?)u*O@ u*Kn;Iu*CxNv>xRGE)]GF@Yʝa>ʡʡQDʡͭ2<>I I)8ٮ QtI  UC9鰵: :)ѱ)8 P9)I tIi D -:):I]P9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.541920 arcdeg .q''*G2G%q<-@F!F!rF)bF)E)E))E;IE9 AAiAIIMP@iIMq<-@ Q2@]<:@]w: i$RHorizontalControl.headingCmd 2.706814 rad) x[˧(AYt*O@t*]@yt*))t*>t*H@V?GN@WԿOT?`,2?@~N?-?)u*O@ u*~o;Iu*CxBi>xBEiPIP)~+G4=F@ Y9>!Q%D!5=>I I)8ٮ QtI  UC9鰅: W:)b)8 P9)I tIi D 3#<)*t*HP?/d|Կ`&L,??xBEGB@AHD)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye[9e>aaQmDim;m>Iq I)8ٮqq QtI q UC9quW< u<)u)8 P9)I  tIi  D :):IP99I999*GI2GIFQFQrFqbFyEyEy);I9 iIH%@i 2@<:@w: ) j˧(A@ Yt.2`O@t.= ^@yt.#t.n>t.H J ?OԿ@:@?Yt?K??)u.2`O@ u. p;Iu,xNl>xREi\I\)11Q5D1=h;E>IA IM)8ٮAA QMtI A UUC9AE}: E:)E)8 ]P9)QIQ ]tIiQ eDQ U}:)U:IUP9iIi9q*G2GFFrFbFEE);I9 iIp~*@iOf> 2@<:@w: ) E˧(AYt:|_O@t: ^@yt:(-t:bB>t:H K?` ԿC `?@椅?&Y??)u:|_O@ u:Jq;Iu:CxBd>xF E)MGi]yAYF@}YʍE>ʙʙQDʡͭٸ>I I)8ٮ QtI  UC9B; l;))8 Q9) Q9I tIi D :):I Q9I9*G)2G)F)F)rF1bF1E9E9)M;IM9 IIiQIQ.@iN> 2@<:@w: 5R>=]>r) ˧(AYt*iO@t*tE^@yt*t*y>t*HAK?ȲԿ@HA v??`W%??)u*iO@ u*p;Iu(xBs>xBEHDHFp=iR=IP)vGa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe+;m>iiQmDiu<u>I I)8ٮ QtI  UC9鰍ͭ: 5:))8 Q9)I tIi D :)Z:IBQ9I9*G2GFFrFbFEE);I9 iI1@i2-C> 2@<:@w: <) ˧(A)4t*H}=a?`> Կ@3Ju?E?k?R?)u*O@ u*mp;Iu*CxB}v>xBE)~jGF@=YE!E>AAQMDIM…;M>IQ I]*8ٮQ M]*8Q Q]tI Q UeC9QU: U:)U"*8 mQ9)aIa mtIia mDa e:)e:Ie,Q9yIy9*G2GFFrFbFEE);I9 iIK2@i 2@<:@w:0e> ) '˧(AYt*$O@t*/^@yt*0t*>t*H6z?ؚ@rտb `e???`_?)u*$O@ u*yp;Iu(xFk>xFE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ivf=Iz“C)}+G=a 1a 1 a 5a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@5Y=&u=>AAQEDAM;U>IY Ie*8ٮYY QmtI Y UmC9Y]"; ]>+;)]*8 Q9)yIy tIiy Dy }:)}S:I}?Q9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIh1@i  >  2@<:@w:9Uy> i11v) ̧(AYt.XO@t.c^@yt.Q4 t.t>t.HM4 u?ѳ տ ?@u?@?`?)u.XO@ u.p;Iu,xf?s>xfEGhHjAA){jMI{hi{jؙ={h{h{jA{h|jA9|jWB Y0?Ϸ03)uGF@}Yʅ*/;>ʑʑQDʙͥ;>I I*8ٮ QtI  UC9鰵: 5:)" *8 Q9)I tIi D :):IOQ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 199.277640 arcdeg .q'M'M*GI2GQFYFYrFibFqEyEy2EzEAEA *@:r*c~&+EWB Y0?Ϸ03EMEEr0`ۇ @䃏_ EXXZaS?~z?ǿE>Q,@=DHdg To Contact =154.266516 degreesZEAbE:E|o$?BEjo$?JE RE jEZrE5);I9 iI S0@i )2@5<:@=w:MM> Q$uDacoustic_contact_range 18.840000 m$}hTrackAcousticContact.heading_to_contact 2.692459 rad$}LDUSBL_Hydroid.xAngle -46.100000 arcdeg% ) i*̧(A Yt*P@t*^@yt*D t*N>t*HC,`?@܌ Nտ@$Q? ?d?L?)u*P@ u*܃p;Iu*CxB`k>xBEiPIR̓C)MSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YN>QD;>I I *8ٮ Q tI  U C9: :)C.*8 %Q9)I -tIi -D Ĕ:)s:I`Q99I999=O}@Contact HDG: 154.266516 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFFrFbFEE);I9 iIr-@i 2@<:@w:wA xAB> f ) iḐ(AYt*>P@t*^@yt*2 t*>t*H@p& ?d۳oտ@H ?`q??@?)u*>P@ u*up;Iu*CxBU_>xBS E)Gi xA F@Yʅ7>ʉʉQDʉ͕Ų;>I I*8ٮ QtI  UC9鰝h: l:);*8 Q9)I tIi D %:)|:IrqQ9I9*G2GFFrFbFEE);I9 iIW+@i 2@ <:@w:}P> 9=R>P7) 1D^̧(AYt*YP@t**_@yt*և7t*b$>t*H!@?~ݳDտ' ?@?`=??)u*YP@ u*gp;Iu*CxBs>xBEHFa=HDiR=IV“C)vGa 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmjm>iiQmDquك;u>Iy I*8ٮyy QtI y UC9y}: }:)}@I*8 Q9)I tIi D q<)' ߹ka) ?x̧(A);IYt*UuP@t*`"_@yt*.-t*>t*H@0e ?@Xܢտ W@4? ?@?`?)u*UuP@ u*0p;Iu*CxNu>xRE)dGF@-Y-*:5>11Q5D1=";=>IA IM*8ٮAA QMtI A UMC9AE1: Eа:)EV*8 ]Q9)QIQ ]tIiQ ]DQ U:)U:IUQ9iIi9i*G2GFFrFbFEE);I9 iIq,@i 2@<:@w:)=I=> M$) N ̧(AYtRP@tRT_@ytR-tRƆ>tRH@xZ(Eijf=In̓C)iy=F@Yʭ*>ʹʹQD;>I I*8ٮ QtI  UC9*; y;)Ne*8 Q9)I %tIi -D NR;)i;I!Q9AIA9A*G2GFFrFbFEE);I9 iI%q<-@i!! I2@M<:@Mw:] ])]I] i11cs*) cի̧(AYt*+P@t*6S_@yt*g$t*MH>t*H|2?~ʴտ&?Ɍ?^??)u*+P@ u*/o;Iu(x6o>x6EG6AAH6@A)pa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM :M>IIQUDQUxU>IY Ie*8ٮYY QetI Y UmC9Y]: ]į:)]{r*8 uQ9)iIi utIii uDi m:)m:Im6Q9I9*G2GFFrFbFEE);I9 iIQi 2@<:@w: \[1) ̧(A Yt*P@t*_@yt*vt*k>t*H ^?Kտz? n???)u*P@ u*o;Iu(xBy>xBEiR=IP)~GF@%Y%:%>))Q-D)5c;5>I9 I=*8ٮ99 QEtI 9 UEC99=%: =:)=*8 MQ9)III UtIiI UDI M[:)MԘ:IM Q9aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIZXi 2@<:@w: 7) ̧(AYt2P@t2ә_@yt2%t2>t2Hu?Fٴ@&ֿ@0??S??)u2P@ u2`o;Iu2CxNeq>xRnE)SGiyAa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝĺ>ʡʡQDʡͭO;>I I*8ٮ QtI  UC9鰵: :)l*8 Q9)I tIi D :):IQ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.177914 arcdeg .q''*G2G%>Q,@F!F!rF)bF)E)E))E;IE9 AAiAIIM>Q,@iIM>Q,@ Q2@]<:@]w: i$RHorizontalControl.headingCmd 2.692459 rad5a>5]>=) ģ(AYt*t*H @x?ֿ? ?'?`l?)u*n>xBEH@HBa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i~f=I)GF@Y>QDM8>I! I-*8ٮ!! Q-tI ! U5C9!%; %;)%*8 }Q9)yIy tIiy Dy }:)}R:I}Q9I9=O@Contact HDG: 154.266516 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F)rFibFiEqEq);I9 iIBpi 2@<:@w: D) =Dͧ(A)IYtR_"Q@tRj_@ytRc9tRS>tRHr?qWEֿ`$? 8? ?`?)uR_"Q@ uR `o;IuPx`k>xE){^I{i{»={{{ B{|A9|w,?5nQD% ;%>I) IM*8ٮ)) QUtI ) UUC9)-; -s;)-*8 ]Q9)YIY ]tIiY eDY ]S:)]g:I]Q9I9*G2GFFrFbFEE2EzEAEBME"4@2;T7Ew,?5nt*Hˈ?`j@E.ֿE?@$?a?`?)u* Q@ u*jIo;Iu*Cx>k>xBEiR=IP)G  %=F@Y%;%?!!Q%D)-.-?I1 I=*8ٮ11 Q=tI 1 U=C915: 5:)5>*8 MR9)A MR9IA MtIiA MDA EZ:)E:IE R9I9*G 2G FF1rF9bF9E9E9)u;Iu9 qqiqIqy}riyy 2@<:@w: i5@A1Q) /Fͧ(AYt*qKQ@t*|_@yt*$t*Ӈ>t*Hb?2@kֿ@ ?ȁ?r?`?)u*qKQ@ u*v+o;Iu*Cx>5g>xB*EG@H@)GF@Y%~5%>!)Q-D)-"<->I1 I=*8ٮ11 Q=tI 1 UEC915+: 5:)5*8 MR9)AIA MtIiA MDA E:)E:IE"R9YIa9a*Gq2GqFqFqrFbFEE);I9 QQiQIQY]Z|iYY a2@e<:@mw: ߙW) `ͧ(A@ Yt*rSQ@t*}`@yt*/t*!>t*H L? I@\sֿ ?`??x?)u*rSQ@ u* o;Iu(xBw>xBjEiLIP)~dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye1e>aaQmDimU:m>Iq I*8ٮqq QtI q UC9qux; uB:)u*8 R9)I tIi D :) :I,R9I9*G2GFFrFbFEE);I9 iIz {i 2@ <:@ w: Y$]) zͧ(AYt*>MQ@t*I_@yt*~3t*,>t*H 2?`mֿ`N`|T?`o?.??)u*>MQ@ u*o;Iu*CxBDy>xBEE)|iwAF@Y%%>!)Q-D)-z->I1 I=*8ٮ11 Q=tI 1 UEC915: 5:)5*8 MR9)AIA MtIiA MDA E:)E:IE.=R9YIa9a*Gq2GqFqFrFbFEE);I9 iIbyi 2@<:@w: !5R>=t>d) ͧ(AYt*>~Q@t*I+`@yt*\t(t*(܉>t*Hm!?`⮵ qֿ&? s? -?i?)u*>~Q@ u*n;Iu*CxB{>xBiEH@HFp=iPIP)GF@Y%:%>))Q-D)5;5>I1 I=*8ٮ11 QEtI 1 UEC915; 5;)5e*8 eR9)YIY mtIiY uDY ]0;)]0;I]HNR9I9*G2GFFrFbFE!E));Im9 qqiqIqy}Kiyy y2@<:@w: Ck) ^gͧ(A)IYt.^_Q@t.i `@yt.}"t.E>t.H`%?~ֿ#?O?x??)u.^_Q@ u.5n;Iu,x>"h>xBE)~SGa 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}e:>ʁʁQDʁ͍v>I I*8ٮ QtI  UC9鰕E; ;)*8 R9)I tIi D %:)|:I_R9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rF9bFAEAEA)};I}9 yyiyIy{i 2@<:@w: q) Aͧ(AYt29Q@t2D9`@yt221t2h>t2H 8? {ֿ? 3?'?`K?)u29Q@ u2n;Iu0xBu>xBEiLIP)~G%=4=F@Y%'%>!!Q-D)-;->I1 I=+8ٮ1 M=+81 Q=tI 1 UEC915: 5:)5 +8 MR9)AIA MtIiA MDA E:)AIE?pR9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 200.735489 arcdeg .q''*G2GpU)@FFrFbFEE);I9 iI   +@i  pU)@ 12@=<:@=w: I$RHorizontalControl.headingCmd 2.645840 radi5?A9I!x) ͧ(AYt*nvQ@t*y#`@yt*'k+t*]>t*H@t?@ֿ 7?@Km??xREGR?AHRAA)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yg:>QDK>I I+8ٮ QtI  UC9g; ;)+8 %R9)!I! -tIi! -D! %:)%:I%rR9YIY9Y=O@Contact HDG: 151.595448 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIpU)@i 2@<:@w: )FL~) Mͧ(A@ Yt*Q@t*@`@yt*'t*#>t*H?@ӵ ֿ,??@?:?)u*Q@ u*:n;Iu*CxBc>xB E {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iYIY)GF@Y:>  Q D ;5>I9 IE+8ٮ99 QMtI 9 UMC99=@: =F3<)=&+8 R9)I tIi D Y:):I#R9I9*GI2GIFQFYrFbFEE);I9 iI)15R?i11 92@E<:@w: ߙ3) Χ(AYt*Q@t*(8`@yt*#+t*>t*H $? xֿ%!?J`??"?)u*Q@ u*n;Iu*CxBp>xBE){BnI{@i{B={@{@{BA{@|BA9|B[?z/F?@۾F)}vGi}xAF@Yʽ>QD>I I+8ٮ QtI  UC9: :)4+8 R9)I tIi D [:):I&R9I9*G 2G FFrFbFEE2E!zE%AE%hf{2@l67$9E%[?z/F?@۾FE%nE!E%:OG 0@nWE%|:* ib?(ʿE%%@=5DHdg To Contact =148.442386 degreesZE%JAbE%:E%co$?BE%ao$?JE%| RE%} jE%rE%u)M;IM9 IIiQIQQ]9]) ެ/Χ(AYt*dQ@t*oN`@yt*-t*ʈ>t*H-?`] Jֿ@@?@?@=? ?)u*dQ@ u*rn;Iu(x>'n>xBpEHBp=HBa=iTIV“C)Ga 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmvٹm>iiQmDiub;u>I I+8ٮ QtI  UC9: ݱ:)A+8 R9)I tIi D S;)[;I8R9!I!9!*GQ2GYFYFYrFabFaEaEa);I9 iI֧i 2@<:@w: E) ׇIΧ(A) IYt.Q@t.1`@yt.;+t.>t.H J@? eֿ f?`g?bJ?`?)u.Q@ u.n;Iu.CxNe>xRP E)GF@]Yej9e>aaQeDimǎm>Iq I}+8ٮqq Q}tI q U}C9qu: u:)u.O+8 R9)I tIi D :):IR9I9*G2GFFrFbFEE);I9 QQiQIQY]iYa a2@e<:@mw: ߙo) |ccΧ(AYt*JQ@t*UM`@yt*(t*5>t*H f ?@=ൿGֿ@.?`???)u*JQ@ u*ln;Iu*CxN:m>xREi\I^̓C)vG!%%=F@-Y5"95>11Q5D1= ;=>IA IM+8ٮAA QMtI A UMC9AEh: EJ:)E\+8 ]R9)QIQ ]tIiQ ]DQ U%:)U:IUsR9iIi9i*G2GFFrFbFEE);I9 iI4ݧi 2@<:@w: i19ޙ) =}Χ(AYt*Q@t*7`@yt*h%t*>t*HE?˵`ֿ`")??@= ?`?)u*Q@ u*n;Iu*CxBRr>xBEG@HB@A)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ9>ʁʁQDʉ͍JR>I I+8ٮ QtI  UC9鰕: W:)j+8 R9)I tIi D p:):IR9I9*G2GFFrFbFEE);I9 iI&i 2@ <:@ w: !S) 'Χ(A$ $YtB`Q@tBkE`@ytB]02tB鏈>tBH ?l@سֿ@ z?E?`??)uB`Q@ uB@qn;IuBCx^?s>x^EihIh)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ>ʙʙQDʡͥ;>I I+8ٮ QtI  UC9鰭: :)x+8 R9)I tIi D O:)IR9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI?i !2@%<:@-w: 9E) Χ(AYt*Q@t*<`@yt*!(t*>t*Hv?@<#ֿ avE?@#?`(?`?)u*Q@ u*Mn;Iu*CxNf>xR E)ׄGi%wA%wAF@=YE5:E>AIQMDIMоU>IQ I}+8ٮQQ Q}tI Q UC9QU; UR:)U4+8 S9) S9I tIi D  :):I S9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.745284 arcdeg .q''%*G!2G%%@F!F!rF)bF)E)E1);I9 iIB'@i%@ 2@<:@w: $RHorizontalControl.headingCmd 2.590808 rad9=>ғ) }Χ(AYt*XkQ@t*c`@yt*='t*dɌ>t*H ? Éֿ`l|??a`? ?)u*XkQ@ u*cn;Iu*CxBz>xB EH@H@iPIP)aaQeDimm>Iq I+8ٮqq QtI q UC9qu; u=;)u+8 S9)I tIi D :)$:IS9I9=OE@Contact HDG: 148.442386 arcdeg .'E'EOM4Initialize Wait Component.*GI2GQFiFirFibFqEE);I9 iI%@i 2@<:@w: ۽) ?Χ(A) IYt.wrQ@t.`@yt.~+t.M>t.H}?`w_@iֿh?Vy?"??)u.wrQ@ u. Dn;Iu.CxNMl>xRLE)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YT>QD `: >I I%+8ٮ Q-tI  U=C9z; ի;)+8 ES9)AIA MtIiA MDA ES:)AIE,S9YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iIi 2@<:@w: ߹f) #Χ(AYt*]Q@t* `@yt*l,t*]>t*H*?洿@|ֿ#?`?K??)u*]Q@ u*vzn;Iu(xBm>xB'E {DY|DF8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i~f=I)MdGQYF@eYmu>ʙʙQDʙͥEE>I I+8ٮ QtI  UC9鰭T_< Z:)+8 %S9)I %tIi %D :):I ?S9qIq9q*G2GFFrFbFEE)-;I-9 )1i1I119i99 92@E<:@Ew: ߙi19) x`ϧ(Axb |>xbEGf@AHd){fGI{di{f={d{d{fA{d|fQB9|f[L?* })eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QD>Iq I}+8ٮqq Q}tI q UC9qu: uа:)u+8 S9)I tIi D d:):I@OS9I9*G2GFFrFbFEE2EzEQBE`$O9@ o&49E[L?* }EGEE~".@Ga+@0M=EcMxX?Z`ƿE]/@=5DHdg To Contact =156.995381 degreesZE [AbE:ESo$?BEco$?JE~ RE| jE rE)M;IM9 iiiqIqqqiyy y2@<:@w: ߑ$Dacoustic_contact_range 35.579998 m$hTrackAcousticContact.heading_to_contact 2.740086 rad$LDUSBL_Hydroid.xAngle -44.649998 arcdeg) ;2ϧ(A Yt*IQ@t*_@yt**t*>t*H `?.jֿ`?EU?C{? ?)u*IQ@ u*Kn;Iu*CxB`k>xBEiPIT)SGF@=YE,9E>AAQMDIM=OM>IQ I]+8ٮQQ Q]tI Q UeC9QU: U:)U"+8 mS9)aIa mtIia mDa eO:)e:Ie^S9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) Lϧ(AYt*Q@t*_@yt*K"t* >t*Hh`?e{;ֿ2? jI? ??)u*Q@ u*Y7n;Iu*CxB`k>x@)Gi xA xAF@=YEå:E>AAQMDIMM>IQ I]+8ٮQQ Q]tI Q UeC9QU%: U):)U+8 mS9)aIa mtIia mDa eɏ:)ec:IeoS9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5V>=e> ) eϧ(AYt*2)Q@t*=_@yt*|t*>t*H dH?`FôKֿ`_? ރ?!?@?)u*2)Q@ u*Kn;Iu*CxBeq>xBnEHBa=HBp=iR=IP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʕ:>ʑʑQDʙ͝U(;>I I+8ٮ QtI  UC9鰥: _:)+8 S9)I tIi D t:):I0S9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I i 2@<:@%w: 1m6) hϧ(A) IYt.Q@t.&_@yt.T1t.2>t.H`C`? .&ֿ ?{*??3?)u.Q@ u.@n;Iu.CxR'n>xRpE)5ׄGF@uYuD7}>yyQ}DyͅȻ>I I+8ٮ QtI  UC9鰍:: W:)+8 S9)I tIi D :)N:IS9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.248989 arcdeg .q''*G2G]/@FFrFbFEE );I9 !i!I!%2'@i)-]/@ )2@5<:@5w: A$eRHorizontalControl.headingCmd 2.740086 radR) ϧ(AYt*P@t*_@yt*kW:t*k>t*H e?=ֿೃ?J?@T?`U?)u*P@ u*i]n;Iu*CxBe>xBP EiRf=IP)%G54=9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YN>QD>I I,8ٮ M,8 QtI  UC9Ȳ: :),8 S9)I tIi D ::):IS9I9=OM@Contact HDG: 156.995381 arcdeg .'M'MOU4Initialize Wait Component.*GQ2GQFQFYrFYbFYEaEa)u;I}9 yyiyIy|*@iHw> 2@<:@w: ߡi99G) ϧ(AYt* P@t*y_@yt*e/t*>t*HinQ?+@aտ`l`j? ?LxBNEG@H@)dGF@Yʭ<:>ʱʱQDʱͽN\>I I,8ٮ QtI  UC9: ):),8 S9)I tIi D Ȳ:):IfS9I9*G2GFFrFbF E E )%;I%9 !!i!I!-.@i-Z>) )2@5<:@=w: I0) ^ϧ(A@ Yt*P@t*H_@yt*t*܆>t*H ,?@w]տ&?? ?`?)u*P@ u*z.n;Iu*CxN?s>xREi^=I\))F@]YeE;e>aaQeDimm>Iq I},8ٮqq Q}tI q U}C9qu: ux:)u,8 S9)I tIi D :):IS9I9*G2GFFrFIbFIEIEQ);I9 iI0@iJ> 2@<:@w: 9Z) :ϧ(Ax~i>x~E)qi}wAya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QD>I I,8ٮ QtI  UC95: :)R,,8 S9)I tIi D ::)Ԙ:IS9I9*G2GFFrFbFEE);I9 iI-2@i 2@<:@%w:! )5a>=i>A) Ч(AYtm>BP@tmI^@ytmpG*tm% >tmH% ?`@`rտzc?H?m*? a?)um>BP@ umn;IumCx} |>x}EHHa= {Y|8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i5f=I5ѓC)GF@Y>QD;>I  I,8ٮ   QtI  UC9  : :) z<,8 %S9)I %tIi %D p:)c:IS9QIQ9Q*G2GFFrFbFEE);I9 iI1@Qi > 2@<:@w:4x> m) +Ч(A)4x~E){aFI{i{ϸ={{{A{|pA9|?/;^c)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y?QD  ?I  I,8ٮ   QtI  UC9  : E:) H,8 %S9)!I! %tIi! -D! %:)% :I%S99I999*GI2GIFIFQrFQbFYEYEY2EazEepAEeq5@i5Ee?/;^cEeaFEaEe\F 0;ao'@Ee`쿃ȓF? ǿEeS.@=mDHdg To Contact =156.326569 degreesZEe>AbEe:Eeao$?BEeSo$?JEe REe~ jEerEe );I9 iI0@i 2@<:@w:xA xA9T> $Dacoustic_contact_range 30.180000 m$hTrackAcousticContact.heading_to_contact 2.728413 rad$LDUSBL_Hydroid.xAngle -44.400000 arcdegЖ ) u4Ч(AYtBO@tBѪ^@ytB#tBׇ>tBH=1?@糿<2տ  ?@r?@?`?)uBO@ uB n;Iu@x^a>x^ EipIr̓C)MdGQU4=F@}Y} :>ʁʁQDʁ͍0>I I,8ٮ QtI  UC9鰕; ;)JU,8 T9) T9I tIi D N:)b:Ir T9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E )%;I%9 !!i!I)-]/@i)) 12@=<:@=w:I> ߑi11m~) ~NЧ(AYtBSO@tB^^@ytBtB؈>tBH@4?9`տ&??@?`?)uBSO@ uBo;Iu@x^Rr>x^EG`H`)EGF@}Yʅxk:>ʁʁQDʁ͍fT>I I,8ٮ QtI  UC9鰕: :)c,8 T9)I tIi D [:)N:ILT9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.267081 arcdeg .q''*G2GS.@FFrF bF E E )%;I%9 !!i!I)-S.@i)5S.@ 12@=<:@=w:I Q$uRHorizontalControl.headingCmd 2.728413 rad9) :hЧ(A@ Yt6?O@t6Jv^@yt6k>t6>t6H@9 h? Eտ$ `R-?G? D? ?)u6?O@ u6Oo;Iu6CxZ:m>xZEij=Ih)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ:>QD>I I,8ٮ QtI  UC9: :)-q,8 T9)I tIi D ):I+T9I9=O5@Contact HDG: 156.326569 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9F9rFAbFAEIEI)];Ie9 aaiaIaimiii q2@u<:@}w:)=I=EY> Qؒ ) gЧ(AYt*O@t*N^@yt*߷1t*>t*HJ@@uO?*@Կ@.0?`6???)u*O@ u*o;Iu*Cx>:m>x<)dGixAF@]Yeoe>aiQmDimɻu>Iq I},8ٮqq Q}tI q UC9qu: ul:)u~,8 T9)I tIi D :):I7 5>5a>r&) v8Ч(AYt*vO@t*#^@yt*2t*>t*HaGv%?#Կ1?`A? R? ?)u*vO@ u*o;Iu*CxBg>xBsEiRf=IRѓC)GF@=YEQYE>AAQMDIMڻM>IQ I,8ٮQQ QtI Q UC9QU~< U~<)U*,8 T9)I tIi D \:)N:IMT9I9*G2GFFrF bF E E )%;I%9 !!i!I!)-i)) 12@=<:@=w:-> 1j,) Ч(A);IYt.QO@t.]@yt.t.O>t.HsM`? S@Կ -`\?`? ??)u.QO@ u.*p;Iu.CxNm>xR'E)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ!S;>ʡʡQDʡͭ걻>I I5,8ٮ Q=tI  U=C9鰵u< <)],8 ET9)AIA EtIiA MDA E:)EN:IE;_T9yIy9y*G2GFFrFbFEE);I9 iIT i 2@<:@w:5 5)5I5 >3) Ч(AYt*O@t*]@yt*;jt*>t*H@W`!?NRԿ> /?`6?D? ?)u*O@ u*o;Iu*Cx6:m>x6EiB=ID)nGr%=r%=F@Y%:%>))Q-D)5#5>I9 IE,8ٮ99 QEtI 9 UEC99=_: =:)=,8 UT9)III UtIiI UDI M:)M:IMnT9iIi9i*G2GFFrFbFEE);I9 iI i 2@<:@w: i19w9) Ч(AYt.7N@t.B]@yt."t.>t.H`\@S?[<2Կ O ¶?@JP??q?)u.7N@ u.hp;Iu.CxN:m>xPGZAAHZAA)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y } >  QD>I I%,8ٮ Q%tI  U-C9F: :)m,8 5T9))I) 5tIi) =D) -:)-:I-2T9AIA9I*GY2GYFYFYrFabFaEaEi);I9 iIi  )2@5<:@5w: A@) ]ѧ(A@ Yt.N@t.m]@yt.'t.}>t.HId{}? Կ N? ? ?j?)u.N@ u.p;Iu.CxRp>xR%E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i f=I ̓C)+GF@Y4T>QD>I I,8ٮ QtI  UC9'; ;),8 T9)I  tIi  D :)H:IT9!I!9!O=Done Waiting.'EOE8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFYEYEY)};I}9 yyiIi 2@<:@w: ߹ G) ѧ(AYt*xN@t*%]@yt*C+t*>t*Hxo 6? yyӿ}Oh?`Wh? ?`?)u*xN@ u*-q;Iu*CxBHf>xB E)GiwAwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}e}>yyQDʁͅ7>I I,8ٮ QtI  UC9鰍: E:)],8 T9)I tIi D S:)˚:IuT9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.980942 arcdeg .q''*G2GFFrFbFEE );I9 !i!I!!-Ui)) )2@5<:@5w: A5V>5l>2M) [7ѧ(AYt*NN@t*\@yt* %t*Aa>t*Hur?B@ӿ\m:?̴???)u*NN@ u*~q;Iu*CxR1z>xREHVp=HVp=in=InѓC)=GF@]Ye&`:e>aaQeDimѻm>Iq I,8ٮqq QtI q UC9qut; u=;)u,8 T9)I tIi D -:)ݖ:IT9I9=O5@Contact HDG: 156.326569 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9F9rFAbFQEQEY)m;Im9 iiiiIqq}Niyy y2@<:@w: ߹_T) 5Qѧ(A)4t.H{l?W vӿ@j@:???=?)u.A)N@ u.Qs;Iu.CxNr>xRIE)GF@Ye:>QD>I  I,8ٮ   Q-tI  U-C9  ; ;) z,8 MT9)AIA ]tIiA eDA Em;)E;IEbT9I9*G2GFFrFbFEE);I9 iI"ۼi 2@<:@w: DZ) kѧ(AYt*N@t*ʭ\@yt*It*>t*Hс?`v۱pOӿknY?` ?;??)u*N@ u* ?s;Iu*Cx6j>x6qEiBf=IB̓C)rvGtta 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ>ʙʡQDʡͥzͻ>I I,8ٮ QtI  UC9鰭: g:),8 T9)I tIi D :):IT9I9*G2GFFrFbFEE) ;I 9 iIXӼi 2@%<:@%w: 9i19c,a) ѧ(AYt*M@t*s\@yt*r$*t*>t*H|?^ӿlr@07?@uD?? ?)u*M@ u*Bs;Iu*CxBm>xB'EGDHF@A)GF@Y>QD%>%>I) I--8ٮ) M5-8) Q5tI ) U5C9)-N: -:)--8 =T9)9I9 EtIi9 ED9 =:)=؛:I=T9QIQ9Q*Ga2GaFiFirFqbFqEqEq);I9 iI=Ƽi 2@<:@%w: 1|Vg) ƞѧ(A Yt.PM@t.[=\@yt.)t.>t.Hc?<} ҿlwyO?B#???)u.PM@ u.r;Iu.CxNz>xR Ei\I\)%+Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʉʉQDʉ͍>I I-8ٮ QtI  UC9鰕1: :)U-8 T9)I tIi D ɏ:):IT9I9*G2GFQFQrFYbFYEYEa);I9 iI3滼i 2@<:@w: m) jѧ(AYt*AM@t*[@yt*+%t*7 >t*H`?$ҿ IC?@?A??)u*AM@ u*Ubr;Iu*CxBHf>xB E)zGi|~xAF@=YEM:E>IIQMDIUPFU>IQ I]-8ٮQQ QetI Q UeC9QUٮ: U:)U#-8 mU9)i mU9Ii utIii uDi m :)mb:ImJU9I9*G2GFFrFbFEE);I9 iIzi 2@<:@w: 5R>=a>*ht) {ѧ(AYt:sL@t:~[@yt:t:,>t:Hҧ ?尿Xҿ h;+?`~?U??)u:sL@ u:hr;Iu8xbxp>xbEHhHna=i=I )a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y=H:=>9AQEDAEM>II IU-8ٮII QUtI I U]C9IM: M-:)M2-8 eU9)YIY etIiY eDY ]:)]:I]U9I9ODone Waiting.'O8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF1bF9E9E9)m;Iu9 qqiqIqy}Xiyy 2@<:@w: ߹z) }Xѧ(A);IYt*uL@t*r[@yt*5bt*k>t*H ?`e!ҿ HP?`2̃?}??)u*uL@ u*r;Iu(xBs>xBE)|F@ Y չ >QD>I! I--8ٮ!! Q-tI ! U-C9!%: %>:)%1?-8 5U9)1I1 =tIi1 =D1 5x:)5:I5 *U9III9I&]MeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 196.459409 arcdeg .q''*G2GFFrFbFEE);I9 iIPi 2@<:@w: |) :ҧ(AYt*\qL@t*g[@yt*G t*>t*H@o\?@j8`?ѿZ")??_??)u*\qL@ u*r;Iu(x>e>xBP E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)}SG4=4=F@Yʵ>ʱʹQDʹvE>I I-8ٮ QtI  UC9; S;)M-8 U9)I tIi D 3;);I t*H ?VฌѿP@l??`??)u**L@ u*+s;Iu(xV0a>xVw EGZ@AHX){ZϢvI{Xi{Z={Z>{X{X{X|ZA9|ZIC?[F)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ>ʹʹQDʹ0>I I-8ٮ QtI  UC9: -:)[-8 U9)I tIi D :)˚:ILU9I9*G2GF F rFbFEE2EzEAE£Fg1@Oe实9EIC?[FEϢvEEz(74l2@@QUTE&^zx\ CeX?uUf˿E>c@=-DHdg To Contact =141.796011 degreesZEAbE:Eio$?BEao$?JEy RE jErE)E;IE9 AAiAIIIMP+fiQQ Q2@]<:@]w: i$Dacoustic_contact_range 31.200001 m$hTrackAcousticContact.heading_to_contact 2.474807 rad$LDUSBL_Hydroid.xAngle -55.200001 arcdegύ) 9ҧ(A@ Yt.[K@t.fvZ@yt.*$t.K>t.H@?a/ѿ@Nb?`?? ?)u.[K@ u.3s;Iu.CxBv>xBEiPIP)GF@]Ye#9e>aaQeDamvm>Iq I-8ٮqq QtI q UC9quN; u;)uh-8 U9)I tIi D }:),:I]U9I9*G2GFFrFbFE!E!)U;IU9 YYiYIYaet:Hۉ??b}пP?-?b??)u:K@ u:s;Iu8xBmd>xFu E)-SGi1}wAF@Y};>Q D  ? >I I-8ٮ QtI  U%C9: _:)hw-8 -U9)!I! -tIi! -D! %:)%:I%qoU99IA9A*GQ2GQFqFqrFybFyEyE);I9 iI )i 2@<:@w: 1=R>m) mҧ(AYt*QK@t*Y@yt*t*1σ>t*H`T?@4пQw?@?HK??)u*QK@ u*s;Iu*CxBm>xB'EHFa=HDiRf=IP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe˹m>iiQmDiuu>Iy I-8ٮyy QtI y UC9y}: }:)}-8 U9)I tIi D  :)ݖ:IU9I9*G2GF1F9rF9bF9EAEA)u;Iu9 yyiyIyzi 2@<:@w: ȡ) 9{ҧ(A)4t*H X?@Ŭ3xп@!? f?\??)u*@ K@ u*t;Iu*CxNk>xRE)GF@]Ye!e>aaQeDima.m>Iq I}-8ٮqq Q}tI q U}C9qu: u :)uE-8 U9)I tIi D :):IU9I9*G2GFFrFbFEE);I9 iI!i 2@<:@w: y) KVҧ(AYt*J@t*gY@yt*Z0t*.>t*H`?Ь@+*п %`Qo? ?`??)u*J@ u*"u;Iu(x2eq>x6nEi@I@)rvGtv%=a 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYE9M>IIQMDIUgIU>IY Ie-8ٮYY QetI Y UeC9Y]: ]B:)]-8 uU9)iIi utIii uDi m::)m:ImU9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIңi 2@<:@w: i19) j1ҧ(AYt*rJ@t*Y@yt*t*ԧ>t*H@?Ĭ Ͽpa? ^?,?`?)u*rJ@ u*h9u;Iu*CxBp>xB%EG@H@)~GF@=YEW;E>AAQMDIM2M>IQ I]-8ٮQQ Q]tI Q UeC9QU: U:)U-8 mU9)aIa mtIia mDa e:)eN:Ie~U9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.378947 arcdeg .q''*G2G>c@FFrFbFEE);I9 iI 8-@i>c@ 2@<:@w: $-RHorizontalControl.headingCmd 2.474807 rad') Rҧ(A Yt2F*J@t2QX@yt2ot2>t2Hy?(ӫ=Ͽ P l? ^2?%o??)u2F*J@ u27t;Iu0xB?s>xBEiR=IP) ҄GF@=YE:E>AAQEDIM2M>IQ I]-8ٮQQ Q]tI Q U]C9QU: U:)U-8 mU9)aIa mtIia mDa e:)e :IeU9yIy9y=O@Contact HDG: 141.796011 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIrx*@i 2@<:@w: .) ҧ(AYt*I@t*X@yt*t*>t*H? `ο@h?т?*??)u*I@ u*$u;Iu(xZWx>xZE)-+Gi)5xAa 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʍL@>ʑʑQDʑ͝ >I I-8ٮ QtI  UC9鰥: l:)-8 U9)I tIi D S:):IU9I9*G2GFFrFbFEE);I9 i I  K&@i  2@<:@w: )1=a>G) ӧ(AYt* I@t*}X@yt*|k,t* >t*H @i?jÍο`?`U?3D??)u* I@ u*vDu;Iu*CxBZe>xB EHBR=HD {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idIh)GF@Y U>QD>I I -8ٮ Q tI  UC91: ;)-8 ]U9)QIQ tIiQ DQ UF<)UGt.H }c?!Ϳ@`{?@̀? ??)u.kI@ u.Xu;Iu.CxBi>xBE)SGF@eYm욺m>qqQuDq}3}>I I-8ٮ QtI  UC9鰅: :)-8 U9)I tIi D B:):IU9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w:  k) [y<ӧ(AYt*cI@t*X@yt*at*%>t*H` X?5 Ϳ`^ B????)u*cI@ u*-^u;Iu*CxBl>xBEiPIP)dG %= a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe{j;m>iiQmDiuu>I I-8ٮ QtI  UC9ٮ: W:)_-8  V9)   V9I  tIi  D  A:) y;I {V99IA9A*GQ2GqFqFqrFybFyEE);I9 iII@i 2@<:@w: i19R) SVӧ(AYt*{I@t*W@yt*Bt*>t*H*TQ?`v*̿#?NH?`/?V?)u*{I@ u*t;Iu*CxB`k>xBEGBAAHFAA)GF@=YE:E>AIQMDIMvM>IQ I].8ٮQ M].8Q Q]tI Q UeC9QU|: U:)Up.8 mV9)aIa mtIia mDa e:)ex:IeV9yI9*G2GFFrFbFEE);I9 iI6Q@i 2@<:@w: Yr}) Q1pӧ(A@ Yt.I@t."W@yt.et.;>t.HR*c?Ϳ)e?? ?@?)u.I@ u.t;Iu.CxNc>xN, Ei\I\)SGa 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}]>ʁʁQDʁ͍Y:>I I.8ٮ QtI  UC9鰕: :).8 V9)I tIi D :):I)V9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI;:@i 2@ <:@ w: !0e)  ӧ(AYt*H@t*gW@yt*fI1t*h>t*H 2O?@q̿ w z9?`)?|??)u*H@ u*ךt;Iu(xN'n>xRpE)dGixAwAF@]Ye}e>aaQeDam<m>Iq I}.8ٮqq Q}tI q U}C9qu: u:)u&.8 V9)I tIi D Ր:):I:V9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.840091 arcdeg .q''*G2GFFrFbFEE);I9 i I  @i  2@<:@w: )5>=Y>) ӧ(AYt*H@t*HW@yt*dG(t*>t*H %65?@o}5̿@dx?@?`M?`>?)u*H@ u*bt;Iu*CxRxp>xREHRa=HRp=ibf=I`)!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅm:>ʉʉQDʉ͍>I I.8ٮ QtI  UC9鰕S: :)*.8 V9)I tIi D :):I LV9I9=O@Contact HDG: 141.796011 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E )%;I%9 !!i!I!-5@i)) 12@=<:@=w: Ir) 3½ӧ(A)IYt.{H@t.(W@yt.@Gt.Ѓ>t.H9@|Z?Чv˿@2.5?ȃ?]K?@?)u.{H@ u.xbE)=GF@MYM{:M>QQQUDQ]#]>Ia Ie.8ٮaa QmtI a UmC9ae: e1:)e7.8 uV9)qIq }tIiq }Dq u5:)u:Iu\V9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: ) ӧ(AYt2^XH@t2iW@yt2_t2O>t2H=H?`&G˿ = b?؂??H?)u2^XH@ u2t;Iu0x>r>xBIEiPIP)EƄGM=Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ:>ʩʩQDʱ͵>I I.8ٮ QtI  UC9鰽ի: :)E.8 V9)I tIi D )k:INnV9I9*G2GFFrFbFE E );I9 !!i!I!->c@i)) )2@5<:@5w: Ai11) tӧ(AYt*TH@t*W@yt*°t*8>t*H= ??@˿8Ӳ?v???)u*TH@ u*Rt;Iu*CxBm>xB'EGF@AHF@A)GF@]Yu,Gu>qqQuDyͅ>I I.8ٮ QtI  UC9鰅: :)bS.8 V9)I tIi D :)˚:IV9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) LR ԧ(A@ Yt*q0H@t*|V@yt*"t*ӏ>t*HA@;? @d˿ 7 ?-\?C??)u*q0H@ u*s;Iu*CxBo>xBJE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)dGF@Y>  Q D j>I! I-.8ٮ!! Q-tI ! U-C9!%: %t;)%a.8 eV9)YIY etIiY mDY ]:)]:I]V9I9*G2GFFrF!bF!E!E!)];I]9 YYiYIYaaiaa i2@<:@w: ") o-%ԧ(AYt*H@t* V@yt*K,t*Q>t*HC?+ॿ`2@˿F)9?X?? ?)u*H@ u*is;Iu*CxBHf>xB E)Gia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}º}>ʁʁQDʁͅ?>I I.8ٮ QtI  UC9鰍): :)n.8 V9)I tIi D :)E:IV91I191*GA2GIFIFIrFQbFQEQEY)m;Im9 iiiiIiqyiyy y2@<:@w: ߙ=a>=a>) :?ԧ(AYt*R4H@t*]V@yt*4"t*'}>t*HfAD?ck˿H? F?i? ?)u*R4H@ u*nr;Iu*CxB*[>xBEH@HFa=iTIT)GF@=YE}:E>AIQMDIMa;M>IQ I].8ٮQQ QetI Q UeC9QU: U:)U|.8 mV9)aIa mtIia uDa eՐ:)e:IeԱV9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ) TXԧ(A) IYt.A.H@t.LV@yt.[Dt.~>t.H@B?:T`˿ KIo?xH?To??)u.A.H@ u.gr;Iu,xB0a>xBw E)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽR:>QDI I.8ٮ QtI  UC9: c:)ۊ.8 V9)I tIi D F:)Z:IV9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N=@Vehicle HDG: 192.349656 arcdeg .q'='=*G92G9FAFArFAbFIEIEI)e;Ie9 aaiaIaiiiii q2@u<:@}w: ߉) /rԧ(AYt*SH@t*W@yt*t*g{>t*H >?8 ˿ mJk?=? ?` ?)u*SH@ u*mq;Iu*CxBo>xBJEiLIRѓC)|F@=YEcE>AAQMDIMu;M>IQ I].8ٮQQ Q]tI Q U]C9QU`: Q)U.8 mV9)aIa mtIia mDa e:)e :IeV9yIy9=O@Contact HDG: 141.796011 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i99#) ԧ(AYt*]H@t*" W@yt*_t*~>t*H =-?-w˿C`W?`߃?҂?|?)u*]H@ u*q;Iu*CxBi>xBEG@HD)F@=YE*E>AIQMDIM:U>IQ I].8ٮQQ Q]tI Q UeC9QUܹ: U:)U.8 mV9)aIa mtIia uDa e:)e:IeV9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: )A+)) uԧ(A@ Yt*.H@t*9-W@yt*xX,t*}>t*H`#9 x?>O˿A??)Q?`?)u*.H@ u*ZSq;Iu*CxR`k>xREi\Ib̓C)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>QD;>I I.8ٮ QtI  UC9\: _:)J.8 V9)I tIi D ):)÷:IV9I 9 *G2GFF!rF!bF!E)E))=;I=9 AAiAIAIIiII I2@U<:@Uw: i-0) nPԧ(AYt*H@t*(JW@yt*#t*} >t*H@6?5R`d8̿s5h?@t? M? ?)u*H@ u*aq;Iu*CxBp>xB%E)~GiyAF@Yʅׯ:>ʉʉQDʉ͕Y;>I I.8ٮ QtI  UC9鰝: >:).8 W9) W9I tIi D ݖ:)4:INW9I9*G2GFFrFbFEE);I9 iIi  2@ <:@w: !5V>=V><6) )ԧ(AYt*H@t*pW@yt*t*>t*H@1?k d̿-?R?` ?`?)u*H@ u*q;Iu*CxB:m>xBEH@HDiPIP)+Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeE;e>iiQmDiu;u>Iq I}.8ٮqq QtI q UC9quc: u:)uh.8 W9)I tIi D :)ȗ:I$W9I!9!*G12G1FQFQrFYbFYEaEa);I9 iIi 2@<:@w: \g<) lԧ(A) IYt*H@t*W@yt*t*X>t*H@.?-x1̿V%H?_܃?xR E)SGF@]Ye]e>aaQeDim;m>Iq I}.8ٮqq Q}tI q U}C9qu`: u:)u..8 W9)I tIi D :):I&)W9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: yt*H*Y?@$Ϳ $? p?km??)u*I@ u*r;Iu*CxNf>xR E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i =I ѓC)}G4=F@Y1>QD;>I I.8ٮ QtI  UC9a: :)v.8 W9)I tIi  D o:):I:W9!I!9!O=Done Waiting.'EOE8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFQEQEQ)m;Im9 iiiiIiqqiqq y2@}<:@w: ߱i19 yI) f'է(AYt*(I@t* W@yt*W)t*2>t*Ha&?@@ GͿ` ?` ?GW??)u*(I@ u*&r;Iu*CxBm>xB'EG@H@){FiXI{Di{F={F7>{D{F B{D|FA9|FS}.? .)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ^>ʁʁQDʉ͍;>I I.8ٮ QtI  UC9鰕: :).8 W9)I tIi D }:)Ԙ:I^KW9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.223046 arcdeg .q''*G2GFFrF bF E E2EzEAE-mH0@EgCp2ES}.? .EiXEE 3\r<+@X(E0Pzލ&-?IϺ?ǿE`"@=%DHdg To Contact =145.716676 degreesZEYAbEП:Eto$?BEio$?JE~ REy jEFrE)=;I=9 AAiAIAIIiII I2@U<:@Uw: i$Dacoustic_contact_range 24.600000 m$hTrackAcousticContact.heading_to_contact 2.543236 rad$LDUSBL_Hydroid.xAngle -48.549999 arcdegaP) pAէ(A Yt.5I@t.W@yt.I"t.@>t.H$`? aͿ@?`!I?:?@?)u.5I@ u.m6r;Iu,xBHf>xB EiPIR̓C)GF@=YE:E>AAQMDIM> ;M>IQ I]/8ٮQ M]/8Q Q]tI Q U]C9QU: U:)Ui/8 mW9)aIa mtIia mDa e-:)eA:Ie \W9yIy9=O@Contact HDG: 145.716676 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: mV) ?s[է(AYt*׀I@t*-X@yt*zt*t>t*H`'J?&Ϳ ?׃?L!?'?)u*׀I@ u*y0r;Iu*Cx^`k>xbE)=GiUwAUxAF@Yʝ(:>ʡʡQDʡͭl4<>I I/8ٮ QtI  UC9鰵:b; "w;)/8 W9)I tIi D ;) ;ImW9)I)91*Gi2GqFyFrFbFEE);I9 iI i   2@<:@w: )5>=x>%\) Luէ(AYt*zI@t*'X@yt*P%t*>t*H:?䩿KͿ #??@r?l?)u*zI@ u*er;Iu*CxB"h>xBEHDHDiPIP)EdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʩʱQDʱ͵yk>I I/8ٮ QtI  UC9鰽: :)s"/8 W9)I tIi D :):I~W9I9*G2GFFrFbFE E );I9 !!i!I!))i)) )2@5<:@5w: Ic) o*է(A) IYt.I@t.oX@yt.!t.ގ>t.Hgɾ? @sο@?&ă?nb??)u.I@ u.Pir;Iu.CxB}v>xBE)|F@eYm(:m>iiQuDqu4<}>Iy I/8ٮyy QtI y UC9y}: }į:)}//8 W9)I tIi D :)':IUW9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i) է(AYt:I@t:pX@yt:'t:r*>t:H@;?3 uο@??`FV?*?)u:I@ u:r;Iu:Cx^h^>xbEizf=I|)Ge6only read 3 of 4 data itemsehFailed to parse: :RA, 0.00, 0.00, 0.00, 0.00 F@mYuu>yyQ}Dy} 9>I I/8ٮ QtI  UC9鰅: :)>/8 W9)I tIi D ٓ:):IɡW9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i19kp) է(AYt*I@t*X@yt*%t*>t*H@ ? xtο?_?N?`#?)u*I@ u*mQr;Iu*CxBB`>xB EGBAAHBAA)~SGF@=YE9E>AAQMDIM;M>IQ I]/8ٮQQ Q]tI Q UeC9QUu: UW:)UYK/8 mW9)aIa mtIia mDa e:)eo:Ie(W9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: av) غէ(A Yt. J@t.X@yt.Ոt.>t.H` D?%`ο`=? ?#F? a?)u. J@ u.wr;Iu.Cxnk>xnEi~=I|)dGF@Yʽ;>QD;;>I I/8ٮ QtI  UC9; ;)Y/8 W9)I  tIi  D :)9:IW9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;Iu9 qqiqIqyyiyy 2@<:@w: %}) է(AYt. J@t.X@yt.t.y6>t.H` M?ͪ*Ͽ`? .Ã?@8??)u. J@ u.A6r;Iu,xB\>xBE)~GixAwAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeȮe>aaQmDimeR9m>Iq I/8ٮqq QtI q UC9qu; u;)ug/8 W9)I tIi D [:):IW9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 194.020252 arcdeg .q']']*Ga2Ge`"@FaFarFibFiEiEq)%;I%9 !!i!I!-@iIM`"@ Q2@U<:@]w: ߩ$ RHorizontalControl.headingCmd 2.543236 rad5>=i> ) o֧(AYt*FJ@t*X@yt*Kt*G>t*H ?|rϿ@U?߃?Y??)u*FJ@ u*q;Iu*CxBi>xBEH@HD {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I))GF@Yv>  Q D <=>II I}/8ٮII QtI I UC9IM < MU<)Mu/8 W9)I tIi D <) 2@<:@w: () YN*֧(A)4t2H 7 ?ȣvGϿ =?B?m?`?)u2/J@ u2q;Iu2CxN5g>xR*E){RhI{Pi{R={P{P{RA{P|R=A9|Ro9?D-@)=XGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YI>QD b>I I/8ٮ QtI  UC9 ; ݱ:)/8 W9)I  tIi  D Ր:) :IW99I999*GI2GIFqFqrFybFyEyEy2EzE=AEX;7q.@5Y3Eo9?D-@EhEEᖄl3% )-@.E)(^鿘 ?ҐNeɿE,@=DHdg To Contact =143.107162 degreesZEHiAbEd:Euo$?BEto$?JE} RE~ jEVrEF);I9 iI曽i > 2@<:@w: 9$Dacoustic_contact_range 24.779999 m$hTrackAcousticContact.heading_to_contact 2.497691 rad$LDUSBL_Hydroid.xAngle -52.100000 arcdeg) +D֧(AYt*PJ@t*(X@yt*t*>t*HN?Pȫ`\Ͽf ?诂?BR??)u*PJ@ u*Tq;Iu*CxRMl>xRLEibf=I`)%ƄG-%=)F@=YE\;E>AAQEDAM";M>IQ I]/8ٮQQ Q]tI Q U]C9QU: Uӻ:)UK/8 mX9)a mX9Ia mtIia mDa e:)e:IeEX9yIy9*G2GFFrFbFEE);I9 iImei 2@ <:@ w: i=@A9') ^֧(AYt*XJ@t*Y@yt*8At*H>t*HXz?|୕Ͽx?h?`?`?)u*XJ@ u*Jq;Iu*Cx>}v>xBEG@HB@A)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5@a  a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Y9>QD:%>I! I-/8ٮ!! Q-tI ! U5C9!%: %9;)%/8 }X9)qIq }tIiq }Dq uA:)uU:IuX9I9*G2GFFrFbFEE)=;IE9 AAiAIAIM)bi 2@<:@w:(`> OR) w֧(A Yt*_J@t*( Y@yt*Ir$t*ւ>t*H@cJ?6,\Ͽ@l?2?0-? ?)u*_J@ u*|aq;Iu*CxBi>xBEiN=IP)GF@mYm/m>qqQuDq}U:}>I I/8ٮ QtI  UC9鰅%: _:)/8 X9)I tIi D ۞:):I(X9I9*G2GFFrFbFEE);I%9 !!i!I!)-ci)) 12@U<:@]w:a a)aIa ":) ˺֧(AYt.kJ@t.Y@yt.L$t.׆>t.H@@?; Ͽ=K?r??"?)u.kJ@ u.{q;Iu.CxBq>xBE)%YYQ]DYe:e>Ii Im/8ٮii QutI i UC9imf< m<)mܺ/8 X9)I tIi D :):I;X9)I)91*GA2GAFAFArFIbFEE);I9 iIPri 2@<:@w: =>=x>`c) :֧(AYt*JJ@t*X@yt*qt*>t*H Ը?@@|Ͽ`)?n???)u*JJ@ u*xq;Iu*CxB`k>xBEHBp=HDiRf=IP)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʍ:>ʉʉQDʑ͕2>IY I]/8ٮYY QetI Y UeC9Y]: ]:)]/8 mX9)iIi utIii uDi m<)mt.H1?|J@Ͽ@0? ?=? ?)u.mJ@ u.kq;Iu.CxB?s>xBE)|F@Y%:%>!!Q-D)-y;->I1 I=/8ٮ11 QEtI 1 UEC915{; 5;)5/8 MX9)III UtIiI UDI M:)MZ:IM;[X9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'N@Vehicle HDG: 194.359918 arcdeg .q''*G2G,@FFrFbFEE) ;I 9  i I !@i,@ 2@<:@w: 1$RHorizontalControl.headingCmd 2.497691 radJv) UL֧(AYt*\[J@t*gY@yt*tt*>>t*H`?`藫$Ͽ@?~?9??)u*\[J@ u*tsq;Iu*CxBn>xBEiN=IL)~SG=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe m>iiQmDiu+u>Iy I/8ٮyy QtI y UC9y}}: }:)}2/8 X9)I tIi D ;)S;IlX9I9=O%@Contact HDG: 143.107162 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rF1bF1EE);I9 iI,@i 2@<:@w: i5?A1ܟ) $%֧(AYt*DJ@t*X@yt*? t*+>t*H@@?@㫿oϿ 8? ?P?@?)u*DJ@ u*\q;Iu*CxBk>xBEGB@AH@)~GF@ Y>QD*h>I! I-/8ٮ!! Q-tI ! U-C9!%:: !)%/8 =X9)1I1 =tIi1 =D1 5ٮ:)5ض:I5(}X9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߱) Xק(A Yt*$PJ@t*/X@yt*w$t*w$>t*H</?$ XϿ``?`?}t?@-?)u*$PJ@ u*.q;Iu*CxBf>xB E {PY|TZ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI!)vGa 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYme m>qyQ}Dyͅ=:>I I/8ٮ QtI  UC9鰍 ; };)/8 X9)I tIi D ;);I,X9I9*G2GFFrFqbFqEqEy);I9 iIi 2@<:@w: V) j,ק(AYt*J@t*X@yt*"t*D>t*Hb `i_?@檿ϿN ? Qt?1?@?)u*J@ u*/q;Iu*CxVU_>xVS E){ZivI{Xi{Z={Z>{X{ZB{X|ZGA9|Zl'I?Z:`B)dGixAwAF@Y:>!!Q%D!%->I) IU08ٮ) MU08) Q]tI ) U]C9)-n; -H;)-V 08 eX9)aIa etIia mDa eՐ:)e:IeӠX9I9*G2GFFrFbFEE2E zE GAE Ci.,@iQ<4E l'I?Z:`BE ivE E *Kx2]R/@~E P)R0? $yLɿE B@=DHdg To Contact =139.891877 degreesZE xAbE ē:E xo$?BE uo$?JE | RE } jE rE V)U;IU9 QQiQIQYYiYa a2@m<:@w: ߙ$uDacoustic_contact_range 24.659998 m$}hTrackAcousticContact.heading_to_contact 2.441574 rad$LDUSBL_Hydroid.xAngle -55.150000 arcdeg5R>=i>) Fק(AYt*v3J@t*X@yt*vt*{>t*H`d?@@NϿ` t9?z?|?`?)u*v3J@ u*Dq;Iu(xBw>xBjEHBa=H@iPIT)MGF@}Yʅz>ʁʁQDʁ͍a;>I I08ٮ QtI  UC9鰕2: :)p08 X9)I tIi D ):IӰX9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !) ޑ`ק(A);IYt*LJ@t*WX@yt*dt*>t*H` `lN?g ϿW ?@[Â?Gc??)u*LJ@ u*W:q;Iu(xNc>xR E)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Ym:>QD>I I08ٮ QtI  UC9: l:)(08 X9)I tIi D :):I8X9I9 *G2GFF!rF!bF!E)E))=;I=9 AAiAIAIIiII I2@U<:@Uw: i) +mzק(AYt*aI@t*lX@yt*t*>t*H``?e>ο ;? ??0?)u*aI@ u*Fq;Iu*CxBq>xBEiLIP)~vG%=F@=YEE>AAQMDIMûM>IQ I]08ٮQQ Q]tI Q UeC9QU: U-:)U508 mX9)aIa mtIia mDa ep:)eȗ:IeX9I9O Done Waiting.' O8Uninitialize Wait Component.*G2GM5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F9rF9bFAEAEA);I9 iIi 2@<:@w: i19) Fק(AYt*I@t*ߖX@yt*t*4>t*H@M?Mο `?@@Ã??`(?)u*I@ u* q;Iu*CxBh>xBEGB?AHD)~GF@=YEhE>AIQMDIMuM>IQ I]08ٮQQ Q]tI Q UeC9QU!; U;;)UC08 X9)qIq tIiq Dq u.;)uc2;IuX9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.900861 arcdeg .q''*G2GB@FFrFbFEE)];I]9 YYiaIaeT@iamB@ i2@<:@w: ߡ$RHorizontalControl.headingCmd 2.441574 rad) B#ק(A Yt* I@t*+X@yt**t*B>t*H@~`p?. aο g?3?@Q?`?)u* I@ u*q;Iu*CxB:m>xBEiNf=IP)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye/:e>aaQeDim%m>Iq I}08ٮqq Q}tI q U}C9quu: u:)uuQ08 X9)I tIi D O:)c:IX9I9=O@Contact HDG: 139.891877 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI B@i   2@<:@w: 1) ק(AYt*CI@t*NdX@yt*(t*9Q>t*H@?']ο@W ?A?Z??)u*CI@ u*mp;Iu*CxBg>xBsE)zSGi~wA|F@=YEcE>AAQMDIMPM>IQ I]08ٮQQ Q]tI Q U]C9QQ U5:)U_08 mY9)a mY9Ia mtIia mDa e:)eb:IeY9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 1={>) ק(AYt.I@t.dX@yt.et.)>t.H ԥ? _ο2 @B? ?@T?~?)u.I@ u.p;Iu.Cx>Rr>xBEHBp=HFp=iPIP) Ga 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYug;u>qqQ}Dy}8>I I08ٮ QtI  UC9鰅S: x:)m08 Y9)I tIi D :):IY9I9*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 1<) ק(A) I Yt*I@t*2X@yt*Bp t*]>t*H@`N?Ϳ`v`k ?@ ?}\? a?)u*I@ u*p;Iu*Cxbp>xbE)=SGF@]Yee>aaQmDimm>Iq I}08ٮqq Q}tI q U}C9qu@: u:)uz08 Y9)I tIi D F:):I'Y9I9*G2GFFrFbFEE);I%9 !!i!I!))i)) 12@5<:@=w: I$) %ا(AYt*ÓI@t*@X@yt*b1t* ǀ>t*H|?`ο@ }G?O;???)u*ÓI@ u*^p;Iu*CxNMl>xNLE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iYIa) dG4=F@]Yee>aiQmDi͕:>I I08ٮ QtI  UC9鰝: '<)08 Y9)I tIi D :):I:Y9 IQ9Q*Ga2GaFaFirFbFEE);I9 iIi 2@<:@w: i19M ) i/ا(AYt*sI@t* X@yt*2lt*"Ղ>t*H ,?@#!Ϳ`?t? -?`?)u*sI@ u*ip;Iu*CxBi>xBEGB@AHD)Ga 1]a 1] a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y;>QD>I I%08ٮ Q%tI  U%C9: į:) 08 -Y9))I) 5tIi) 5D) -;)-;I-JY9aIa9a*G2GFFrFbFEE);I9 iIi 2@<:@w: !5) EIا(A Yt*TgI@t*_X@yt*Ht*h>t*H( ?@.VͿ +?? |?$?)u*TgI@ u*fKp;Iu*CxNj>xRqEi`I`)%SGF@5Y5i5>99Q=D9E=E>II IM08ٮII QUtI I UUC9IM: M:)M08 uY9)aIa tIia Da e;)e;IeZY9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF1bF9E9E9)M;IU9 QqiIi 2@<:@w: ߹'`) :!cا(AYt*lgI@t*wX@yt*{t*Ղ>t*H!c? } Ϳ+?N?@-?@?)u*lgI@ u*hGp;Iu*CxNg>xRsE)%Gi%xA%xAF@5YEwM>aaQeDamj7m>Ii Iu08ٮii QutI i U}C9im: mo:)m08 Y9)I tIi D h:)Z:IkY9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.444823 arcdeg .q''*G2GFFrFbFEE);I9 iI  i   2@<:@w: ߩ5l>=t>) |ا(AYt*OI@t*W@yt*St*>t*H!`n? H-Ϳ?N?? ?)u*OI@ u*S%p;Iu*CxB5g>xB*EHBa=HFa=iR=IP)Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʭF:>ʩʩQDʱ͵]f>I I08ٮ QtI  UC9: ݱ:)@08 Y9)I tIi D ̒:):I}Y9 I 9=OM@Contact HDG: 139.891877 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFQFQrFYbFYEYEa)u;Iu9 qyiyIyyi 2@<:@w: ߙu%) ا(A)*4tNH@n&?O]QͿ`U`?M[?P??)uN~mI@ uNu+p;IuNCxni>xnE)ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y >QD̑;>I I08ٮ QtI  UC9u: :)08 Y9)I tIi D }:)o:IY9 I 9*G!2G!F!F!rF)bF)E)E1)E;IE9 AAiAIIIQiQQ Q2@]<:@]w: iE+) ا(Ax~q>x~Eif=I)}GyF@Yʍ>ʑʑQDʑ͝>I I08ٮ QtI  UC9鰥: :)08 Y9)I tIi D ի:)Գ:I9Y9I9*G2GFFrFbFEE);I9 iI   i  2@<:@w: )i99Ӄ2) eا(AYt*gI@t*X@yt*t*j>t*H`?ଈtͿ`f?|?@!??@@?)u*gI@ u*vp;Iu(xBp>xB%EG@HD)%vGF@=YE?E>AIQMDIM~bU>IQ I]08ٮQQ Q]tI Q UeC9QU: U>:)U08 mY9)aIa mtIia mDa eɏ:)e:IeӯY9I9*G2GFFrFbFEE);I9 11i9I999iAA A2@M<:@Mw: aM8) iا(A@ x?s>xEi5=I5ѓC)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I  I 08ٮ   QtI  UC9  : :) 08 Y9)I tIi %D :):IY9)I191*GA2GAFAFIrFIbFIEQEQ)e;Ie9 iiiiIiqqiqq y2@}<:@}w: ߑd>) Cا(AYt*yI@t*&X@yt*t*q>t*H `Z;?#aͿ@z? ˃? (?@3?)u*yI@ u*o;Iu(xBn>xFE)i yA F@=YE+:E>AAQMDIMs<;M>IQ I18ٮQ M18Q QtI Q UC9QU< U<)U18 Y9)I tIi D >:):IvY9I9*G2GFFrF bF E E)%;I%9 !)i)I))1i11 12@=<:@=w: I5R>=]>E) ٧(AYtB/I@tB:.X@ytB` tBʁ>tBH`VN? QͿ8 ~?? ??)uB/I@ uBo;IuBCxRi>xREHPHT {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 if=I̓C)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5$5>99Q=D9=Pz:E>IA IM18ٮAA QUtI A UUC9AE`: Ec:)E18 ]Y9)YIY ]tIiY eDY ]̒:)]:I]Y9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: K) v1٧(A);IYt>I@t>IX@yt>Ot>`>t>H}??ԩ)ο?i??y?)u>I@ u>&o;Iu>CxNk>xRE)5GF@}Y}::?ʁʁQDʁ͍ݜ;?I I18ٮ QtI  UC9鰕: B:)i 18 Y9)I tIi D :):I>Y9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.630453 arcdeg .q''*G2GFFrF bF E E );I9 iIi 2@<:@w: ;R) K٧(AYt2I@t2OX@yt2b%t2h؃>t2H&?Qꩿ`5ο` `?@U? ]L? {?)u2I@ u2o;Iu2CxN c>xN Ei\I\)vG%=!F@UY]̺]>YYQ]Dae&u:e>Ii Iu18ٮii QutI i UuC9ii mx:)m.18 Z9)y Z9Iy tIiy Dy }A:)}U:I}Z9I9=O@Contact HDG: 139.891877 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi  2@<:@w: !i)1uX) Ѱe٧(AYt*5I@t*@{X@yt*!t*΄>t*H?@AοN;?D=?@j??)u*5I@ u*o;Iu*Cx>f>xB EG@H@)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe(:m>iiQmDiuT;u>Iy I18ٮyy QtI y UC9y}: }:)};18 Z9)I tIi D p:):I'Z9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: (_) X٧(A Yt*I@t*X@yt*t* >t*H@?ԇο @9? m?#?@?)u*I@ u*$o;Iu*Cx>u>xBEiR=IP)~GF@=Y=v:E>AAQEDAM&;M>IQ I]18ٮQQ Q]tI Q U]C9QU: U:)UI18 eZ9)aIa mtIia mDa e̒:)e$:Ie&Z9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: nf) f٧(AYt*9 J@t*DX@yt*7 t* ր>t*H V?5+Ͽ@ @7??`??)u*9 J@ u*J p;Iu*CxRsj>xR(E)-Gi5wA1a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ*ͺ>ʙʙQDʙͥ;>I I18ٮ QtI  UC9鰭: h:)W18 Z9)I tIi D :)Ԙ:Iu8Z9I9*G2GFFrFbFEE) ;I 9  i I i 2@<:@%w: 15>=p>=8l) @٧(AYt*>J@t*X@yt*3!t*1>t*H\@&?`eϿ@r? ?`58?&?)u*>J@ u*p;Iu*CxBf>xB EHFp=HFp=iPIP)SGF@=YEpqE>AIQMDIM <U>IQ I}18ٮQQ Q}tI Q UC9QU; UR;)Ue18 Z9)I tIi D [:)o:I1IZ9I9*G2GFFrFbFEE);I59 19i9I99AiAA A2@M<:@Mw: a\ s) ٧(A)4t.H `?[{Ͽ`,?` ք??`?)u.JJ@ u. p;Iu.CxNP>xR6E)GF@Yʅ[>ʉʉQDʉ͕:>I I18ٮ QtI  UC9鰝: :),s18 Z9)I tIi D Ր:),:IiZZ9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !Jy) #٧(AYt*kvJ@t*v#Y@yt*(t*T>t*H8? `Ͽ y ?@%?@r[??)u*kvJ@ u*Mp;Iu(xNj>xRqEi^f=I\)G%R=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ-;>ʁʁQDʉ͍l;>I I518ٮ Q=tI  U=C9鰕F< v<)18 EZ9)AIA MtIiA MDA E%:)E9:IE?lZ9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i1952) ڧ(AYt*J@t*cY@yt*<t*Y>t*H@ԑ?㾫~&пf+??`??)u*J@ u*fp;Iu*CxB{>xBiEGDHD)~҄GF@=YEn8E>AAQMDIMS"<M>IQ I]18ٮQQ Q]tI Q UeC9QU: U5:)Uq18 mZ9)aIa mtIia mDa e:)e:Ie|Z9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.617225 arcdeg .q''*G2GFFrFbFEE);I9 iIiqq y2@}<:@}w: ߱$_) ڧ(A@ Yt67J@t6BY@yt6M@&t6]>t6H ?@-Hп `C?@DŽ???)u67J@ u6p;Iu6CxNn>xNE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixI|)m+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@-Y55>99Q=D9E;E>I) I518ٮ)) Q5tI ) U5C9)-: -:)-N18 =Z9)9I9 EtIi9 ED9 =:)=:I=Z9qIq9q=O@Contact HDG: 139.891877 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!iAA A2@M<:@Mw: ߁) 4ڧ(AYt* K@t*Y@yt*oM't*rT>t*H b?@|п` ??Gz?c?)u* K@ u*@p;Iu(xN'n>xRpE){RR([I{Pi{R={R7>{P{RA{P|RB9|R ?9D+)=SGiAAF@MYU3U>QQQ]DY]<e>Ia Im18ٮaa QmtI a UuC9ae.: e:)e18 }Z9)qIq }tIiq Dq uͭ:)ug:Iu7Z9I9*G2GFFrFbFEE2EzEBE"K͉`6@&ϑ 9E ?9D+ER([EE< KK2@F#EKBW{}x%?qȿE!$@=DHdg To Contact =146.939321 degreesZEXAbE:E^o$?BExo$?JEz RE| jE!rE);I9 iIi 2@<:@w: $%Dacoustic_contact_range 34.139996 m$-hTrackAcousticContact.heading_to_contact 2.564575 rad$5LDUSBL_Hydroid.xAngle -49.049999 arcdeg5N>9n) dNڧ(AYt*&K@t*Y@yt*$t*҆>t*H`G*?L п 6H@?ː?@n?@8?)u*&K@ u*[6q;Iu*CxBi>xBEHBa=H@iPIT)dGF@=YE9E>AAQMDIMc;M>IQ I]18ٮQQ Q]tI Q UeC9QU2: UW:)Uη18 mZ9)aIa mtIia mDa e::)e,:Ie'Z9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ) _@hڧ(A);IYt*cK@t*Z@yt*t*R>t*H@:h? ovп w??9x^Q E)=Ga 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ4/:>ʡʡQDʡͭ<>I I18ٮ QtI  UC9鰵>:  :)18 Z9)I tIi D :):IZ9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9d) ڧ(AYt*K@t*BZ@yt*Kt*F>t*H@ ֜? п ???e?)u*K@ u*9q;Iu*CxR"h>xREixIz“C)UG]4=YF@eYm9m>iiQuDquM;u>Iy I18ٮyy QtI y UC9y}: }:)}18 Z9)I tIi D >:):IiZ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i19) +ڧ(AYt*}K@t*}Z@yt*|t*N>t*H?lX6ѿ|?[?;??)u*}K@ u*.q;Iu*CxN:m>xREGPHP)aF@Yʝ׼>ʡʡQDʡͭR<>I I18ٮ QtI  UC9鰵S: 5:)18 Z9)I tIi D ::)o:IZ9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9Ԭ) ѵڧ(A Yt*| L@t*Z@yt*p42t*熇>t*H? P Nnѿd.K?@qF?@$? 6?)u*| L@ u*q;Iu*CxRu>xREi`Ib̓C)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YF>QD  A < >I I18ٮ QtI  UC9F: ):)18 -Z9)!I! -tIi! -D! %:)%:I%FZ9YIY9aOmDone Waiting.'uOu8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@ w: !) ڧ(AYt*EL@t*PZ@yt**t*/Ԇ>t*H ?{y~ѿ`D@e3?zP? ?@*?)u*EL@ u*p{q;Iu*CxNq>xRE)GiF@]YeV:e>aaQeDim/;m>Iq I}18ٮqq Q}tI q U}C9qu: u:)u18 [9) [9I tIi D :):In[9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 195.864253 arcdeg .q']']*GY2G]!$@FaFarFibFiEiEi);I9 iIȔ@i!$@ 2@<:@w: $-RHorizontalControl.headingCmd 2.564575 rad5R>=]>) ڧ(AYt:UL@t:[@yt:,t:>t:H@N?~ѿ^ֺ?e?? j?)u:UL@ u:KWq;Iu:Cx^i>xbEHhHhi=I!)ʩʩQDʱ͵a<>I I28ٮ M28 QtI  UC9鰽: :) 28 [9)I tIi D :)j:Ij[9I9=O@Contact HDG: 146.939321 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI @i 2@<:@w: ) bۧ(A)4t*H`ɳЛ?Fhҿ@ ??`??)u*L@ u*q;Iu*CxBi>xBE)~GF@ YU>QDp<%>I! I-28ٮ!! Q-tI ! U5C9!%\: %:)%28 =[9)1I1 =tIi1 ED1 5t:)5:I5 &[9IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iII#@i#> 2@<:@w: ߱) =ۧ(AYt*L@t*V[@yt*(t*4>t*H`ϳ ?ʰ@ҿ`A ?D?? ?)u*L@ u*Zq;Iu*CxB`k>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)u+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%;%>))Q-D)5;=>IA IM28ٮAA QMtI A UMC9AE; E;)E$'28 e[9)YIY etIiY eDY ]:)]:I]8[9yI9*G2GFFrFbFEE);I9 iI6&@id5s> 2@<:@w: i19") 7ۧ(AYt21L@t2<[@yt2w(t2gq>t2H ?xOҿ3???@?)u21L@ u2rq;Iu2CxBj>xBqEG@H@)%GF@}Yʅ8>ʁʁQDʉ͍~E<>I I28ٮ QtI  UC9鰕; ^;)-428 [9)I tIi D h:)|:IH[9I9*G2GFFrFbF!E!E!)];I]9 YYiYIYe+'@iaa i2@m<:@mw: ߁ ) Pۧ(A Yt.*M@t.5[@yt.t%t.B#>t.H@?skҿ ???b?)u.*M@ u.Mp;Iu.Cx>eq>x>nEirf=Ip)]ƄGF@}Yʅ9>ʁʁQDʉ͕;>I I28ٮ QtI  UC9鰭w; s;)B28 M[9)9I9 tIi9 D9 =)G<)=G u5) jۧ(AYtJ[M@tJ\@ytJ-tJx`>tJHAE? ҿ`h ? '? ?c?)uJ[M@ uJp;IuHx^b>x^ E)}҄Giy}wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y؛>QD"<>I  I%28ٮ   Q%tI  U%C9  i i2@u<:@uw:E.%> I5>=p>) yۧ(AYt*rM@t*\@yt*H$t*{>t*H@UF?ҿy^?@r??@?)u*rM@ u*:qp;Iu*Cx>sj>xB(EH@HBa=i^=I\)%+GF@=YE:E?AAQEDIM$;M?IQ I]28ٮQQ Q]tI Q U]C9QU: U:)UC]28 m[9)aIa mtIia mDa e:)eȗ:Iek{[9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!$@i > 2@<:@w:' s> G) ۧ(A);IYt.*M@t.5,\@yt. 1t.5>t.H`#XM?ӱ`ҿu Ws?F?c?`.?)u.*M@ u.o;Iu.CxNZe>xN E)%XGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y:>QDa:>I I28ٮ QtI  U C9%: :)k28 [9) I  5tIi  =D  ٲ;) ;I [[9AII9I&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N@Vehicle HDG: 197.108837 arcdeg .q''*G2GFFrFbFEE)-;I-9 ))i)I115ڱi99 92@E<:@Ew:8s> ߡr) dۧ(AYt2M@t2*t\@yt2!t2V>t2Hr ?vӿ?@] ??@?)u2M@ u2o;Iu0xNl>xNEi\I\)%+G-R=-4=F@=YE&E>AAQEDIM-<<M>IQ I]28ٮQQ Q]tI Q U]C9QUh: UJ:)Ux28 m[9)aIa mtIia mDa eO:)e:Iex[9I9=O@Contact HDG: 146.939321 arcdeg .''O4Initialize Wait Component.*G2GFF rF bF EE1)M;IM9 IIiIIIqu ߹i11_) GXۧ(AYt:.M@t:9y\@yt:U-t:>t:H `Ю?``@ӿG?௻?w??)u:.M@ u:҆o;Iu:Cxjl>xhGr?AHp)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʵ>ʹʹQDʹ2:>I I28ٮ QtI  UC9ͭ: l:)t28 [9)I %tIi %D ;);I[91I191*Ga2GaFiFirFibFqEqEq);I9 iI!!%ei)) )2@5<:@5w:> ߙg) ۧ(A Yt. N@t.\@yt.ڦ4t.>t.H`?㔱Zӿbk?@??^?)u. N@ u.7o;Iu.Cx>i>x>EiLIL)GF@Y%%>!!Q%D)-7<->I1 I=28ٮ11 Q=tI 1 U=C915: 5]:)5H28 M[9)AIA MtIiA MDA Eh:)EZ:IEX[9YIY9a*Gq2GqFqF1rF9bF9E9EA);I9 iIi 2@<:@w: )I al) ܧ(AYt*3M@t*>\@yt*"$t*Lʊ>t*H@y?@:@:ӿ`xa?`M?`"?`u?)u*3M@ u*o;Iu*CxN1z>xNE)%Gi-yA-xAF@]Yel;e>aaQeDamm>Iq I28ٮqq QtI q UC9qu@; u;)uX28 [9)I tIi D :)I[9YIY9a*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: A=>Et>)) ܧ(AYt.!N@t.$\@yt.c"t. ~>t.H|?eAnӿ@wZ?`6]?uA??)u.!N@ u.n;Iu.Cx>j>xBqEHBp=HBp= {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iqIuѓC)+Ga 1a 1 a 5a 5 a 9a 9 a --a -- a 1-@a - a 5-@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYʍ9>ʑʑQDʑ͝;>I I28ٮ QtI  UC9鰥 < w<)28 [9)I tIi D :):I[9 I 9*Gi2GiFiFirFqbFqEqEy);I9 iI!!i)) )2@5<:@=w: Y9 ) 9ܧ(A)I4t.H}? iӿ-p?ḃ??`?)u. N@ u./n;Iu.Cx>i>xBE){BVI{@i{B={@{@{B@A{@|BfA9|B"X j^? jf)-GF@]Y]w:e?aaQeDamIom?Iy I}28ٮyy QtI y UC9y}: }:)}28 [9)I tIi D :)c:I[9I9*G2GFFrFbFEE2E zE fAE Xs,@u)/E "X j^? jfE VE E ϓE?2)$@}XE in??bipƿE ^*(@==DHdg To Contact =150.549582 degreesZE $AbE :E xo$?BE ^o$?JE  RE z jE btrE !)u;Iu9 yyiyIyi 2@<:@w: $Dacoustic_contact_range 21.299999 m$hTrackAcousticContact.heading_to_contact 2.627586 rad$LDUSBL_Hydroid.xAngle -48.099999 arcdegѩ) ;Sܧ(AYt:7N@t:\@yt:ۮ t: >t:H@ry? Кӿcq`x?@? S??)u:7N@ u:n;Iu:CxNi>xNNEi`I`)UGe4=iF@YʭL>QD ;>I! I%28ٮ!! Q-tI ! U-C9!%: %D<)%{28 u\9)q }\9Iq }tIiq }Dq u:)u:Iu\9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 AAiAIAIIiII Q2@U<:@]w: i11)) bmܧ(AYt*.N@t*\@yt*[q t*;>t*H@z?@4P`zӿ@^SP?`??@?)u*.N@ u*dn;Iu(xVo>xVJEGZAAHX)5҄Ga 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕg8>ʙʙQDʙͥ\ɺ>I I28ٮ QtI  UC9鰭: :)28 \9)I tIi D :):I\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.720466 arcdeg .q''*G2G^*(@FFrF!bF!E!E!)=;I=9 99i9IAE%@iAE^*(@ I2@M<:@Uw: a$RHorizontalControl.headingCmd 2.627586 radn!) ~;ܧ(A Yt.0N@t.\@yt.5d1t.G>t.Hlz? ܃@B}ӿ m@?@j,?x? ?)u.0N@ u.Pjn;Iu.CxB,t>xB#EiNf=IP)GF@Y$>QDS9>I I28ٮ QtI  UC9ͭ: į:)28 =\9)1I1 =tIi1 =D1 5E:)5:I5&\9III9Q=O@Contact HDG: 150.549582 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1='@i=ut>9 A2@E<:@Ew: ߙ') ܧ(AYt*8N@t*"\@yt*+t*UO>t*H[y@ ?-/`!ӿw@e?Bs?@??)u*8N@ u*n;Iu(x>l>x>E)|ixAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye`n:e>iiQmDim9:u>I I28ٮ QtI  UC9: ):)28  \9)I  tIi  D p:)ȗ:I7\9I!9!*GQ2GQFQFQrFYbFYEaEa);I9 iI&)@i 2@<:@w: 5>5> .) Rܧ(AYt*N@t*\@yt*t*DŽ>t*H`~?`"hcӿt?d?Yi?@?)u*N@ u*wn;Iu*CxNsj>xR(EHRa=HPib=Ib̓C)-+GF@]YeF;e>aaQmDimm>Iq I38ٮq M38q QtI q UC9qu; uԵ;)u38 \9)I tIi D Ր:) :IH\9YIY9Y*Gi2GiFiFqrFbFEE);I9 iI )@rU{i > 2@<:@%w: 9(4) :ܧ(A)4t.HX}`?@kӿ@j@ ? O?@??)u.iN@ u.n;Iu.CxNi>xRNE)GF@]Ye`e>aaQeDim:m>Iq I}38ٮqq Q}tI q U}C9quu: u:)u38 \9)I tIi D O:) :IX\9I9*G2GFFrFbFEE);I9 iI^*(@i 2@<:@w:(> P;) ܧ(AYt*M@t*\@yt*%t*R>t*H@? Iӿ`q?K?@?M?)u*M@ u*.{n;Iu*Cx2l>x6Ei@I@)rSGtv%=a 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMܺM>IIQMDIU˲U>IY Ie38ٮYY QetI Y UeC9Y]h: ]):)]S38 u\9)iIi utIii uDi m-:)mݖ:Imi\9I9*G2GFFrFbFEE);I9 iI#i 2@<:@w: )I ii9AB) ݧ(AYt*TM@t*_\@yt*g.t*>t*H ƒ M?찿@Bӿр2?̅?%?`?)u*TM@ u*ŝn;Iu(xNj>xRqEGR@AHP)dGF@-Y-尺5>11Q5D1==>IA IM38ٮAA QMtI A UMC9AE: E_:)E,38 ]\9)QIQ ]tIiQ ]DQ U:)U:IUz\9iIi9i*G2GFFrFbFEE);I9 iI8i 2@<:@w: D1H) \"ݧ(A Yt*MM@t*X\@yt*+t*=>t*H: U?᰿,ӿ@"6? v?`&?`Y?)u*MM@ u*n;Iu*Cx^u>x^E {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 if=I)GF@Y89>QDiW>I I38ٮ Q tI  U C9; ;):38 \9)I %tIi %D A:)3:I\99I999O]Done Waiting.']O]8Uninitialize Wait Component.*GY2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFibFqEyEy);I9 iI؅i 2@<:@w: [N) 8<ݧ(AYt*M@t*#x\@yt*Q%t*>t*HՉ ]?Z=ӿz$????)u*M@ u*n;Iu*CxB[>xB E){B@XI{@i{B={@{@{BA{@|BBA9|Bq'>?I)-Gi15xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y:>QDW,>I I38ٮ QtI  UC9h: J:)_H38  \9) I   tIi  D  Ր:)  :I \9AIA9A&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'}N@Vehicle HDG: 197.374367 arcdeg .q''*G2GFFrFbFEE2EzEBAE`Y, @?IE@XEE>D-$?ǜ@G`s(EQq"C<Ǹf?췟WǿE~'@=DHdg To Contact =150.039449 degreesZE<@bE%:Eo$?BExo$?JE RE jECrEbt)M;IU9 QQiQIQY] iYY a2@e<:@ew: ߹$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.618682 rad$LDUSBL_Hydroid.xAngle -48.400001 arcdeg5R>=l>mCU) Vݧ(AYt*M@t**X\@yt*[t**`>t*H@v~?Bq@ҿ }`q?`b???)u*M@ u*n;Iu*Cx>`k>xBEHBR=H@iR=IT)%+GF@mYm :u>qqQuDq}}>I I38ٮ QtI  UC9鰅:: _:)U38 \9)I tIi D F:):I\9I9=O@Contact HDG: 150.039449 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIk7i !2@%<:@-w: 9em[) oݧ(A);I;Yt*GM@t*R?\@yt*~t* s>t*H Tj?b#ҿ{ğ??`_?@?)u*GM@ u*n;Iu*CxB^R>xBZE)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y6:>!!Q%D!-Di->I) I538ٮ)) Q=tI ) U=C9)-: -:)-0d38 E\9)AIA MtIiA MDA E:)E:IE\9yIy9y*G2GFFrFbFEE);I9 iI5i 2@<:@ w: 9GUb) *ɉݧ(AYt*_wM@t*j$\@yt*@)t*@>t*H`5 Z?wCҿP@p+?O???`?)u*_wM@ u*gn;Iu*CxNi>xREi^f=I\)!%=F@-Y5;5>11Q5D1==>IA IM38ٮAA QMtI A UMC9AE: E:)Ep38 ]\9)QIQ ]tIiQ ]DQ Uh:)U:IU\9iIi9i*G2GFFrFbFEE);I9 iIi 2@U<:@]w: ii19h) ݧ(AYt*&VM@t*1\@yt*$t*,>t*H 6? ҿ`Z??@V?`#?)u*&VM@ u*n;Iu*CxBe>xBP EGBAAHD)~SGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeU:e>aaQmDimm>Iq I}38ٮqq Q}tI q UC9qu: u:)u~38 \9)I tIi D Ր:)ȗ:I \9I9*G2GFFrFbFEE);I9 iIo}i 2@<:@w: n) ݧ(A Yt*2EM@t*=[@yt*t* >t*H`!? Rҿx??{?z?)u*2EM@ u*Fn;Iu(xBt>xBlEiR=IP)~GF@%Y-:->))Q5D15*5>II IM38ٮII QUtI I UUC9IM: Mݱ:)M38 ]\9)YIY etIiY eDY ]:)]R:I]\9qIq9q*G2GFFrFbFEE);I9 iI|i 2@<:@w: cu) Zݧ(AYt*M@t*[@yt*0t*l>t*H`c`?QCnҿ??T?`O?)u*M@ u*n;Iu(xBm>xB'E)~SGiwAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye?e>aaQmDimOm>Iq I}38ٮqq Q}tI q U}C9qu: u:)u38 ]9) ]9I tIi D A:)w:I]9I9*G2GFFrFbFEE);I9 iIXwi 2@<:@w: 5e>=p>Q{) 4ݧ(AYt* M@t*[@yt*"~.t*>t*Hʥ?? !ׯzeҿ g?@υ?@ ?@?)u* M@ u*Go;Iu(xB`k>xBEHBa=HBa=i\I\)dGF@=YE9E>AIQMDIMU>IQ I]38ٮQQ Q]tI Q UeC9QU: U:)U,38 m]9)aIa mtIia mDa e:)eZ:Ie]9yI9*G2GFFrFbFEE);I9 iI:wi 2@<:@w: j)  ާ(A)4t.H ?_.Fҿ?@֙?ea?`?)u.7L@ u.Vo;Iu,xNl>xRE)]GF@eYmz;m>qqQuDq}}>I I38ٮ QtI  UC9鰅: _:)(38 ]9)I tIi D :)k:I5%]9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iILBsi 2@<:@w: ͈) g$ާ(AYt*L@t*[@yt*+'t*p>t*H`ڬ L? o p6ҿ`?K?`?|?)u*L@ u*Fo;Iu*CxB\>xBUE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)vG=a 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʥC%>ʩQD>I I38ٮ QtI  U-C9< <)~38 =]9)1I1 =tIi1 =D1 5Е:)5Ü:I5~8]9iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.534185 arcdeg .q''*G2G~'@FFrFbFEE);I9 iI~'@i~'@ 2@ <:@ w: $eRHorizontalControl.headingCmd 2.618682 radi11) .>ާ(AYt*KL@t*Vj[@yt*wS3t*㖄>t*H`ݫ?@㯿ҿ``?Qj?Xc?^?)u*KL@ u*mp;Iu*CxB}v>xBEGB@AH@){FhlI{Di{F={D{D{FA{D|F B9|F/ёB?|>l)%dGF@]Ye3e>aiQmDimm>Iq I}38ٮqq Q}tI q UC9qu: u:)u38 ]9)I tIi D :):I0G]9I9=Ou@Contact HDG: 150.039449 arcdeg .'u'uO}4Initialize Wait Component.*Gy2GyFyFyrFbFEE2EzE BE$A4@gz\;E/ёB?|>lEhlEEPoT;S3@7%IE^F鿊̦b:?yH)DUɿE`!@=DHdg To Contact =144.470495 degreesZEAbE:E`o$?BEo$?JEy RE jErEC);I9 iI88}i 2@ <:@ w: A$}Dacoustic_contact_range 34.259998 m$hTrackAcousticContact.heading_to_contact 2.521486 rad$LDUSBL_Hydroid.xAngle -53.000000 arcdegߕ) ^Xާ(A Yt*L@t*V[@yt*5!t*>t*Hܳ`9?`%ҿ7?q=?@V??)u*L@ u*T%p;Iu*CxBDy>xBEEiRf=IP)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝ);>ʡʡQDʡͭ @>I I38ٮ QtI  UC9鰵S: 5:)38 ]9)I tIi D }:)N:IX]9YIY9Y*Gi2GiFiFqrFbFEE);I9 iI{i 2@<:@w:  ) c}rާ(AYt*YL@t*dF[@yt*/.t*|>t*H?s*ѿ`^W?م?G"?`?)u*YL@ u*J.p;Iu*CxNn>xRE)!i%yA)F@5Y5=>99Q=DAEi%E>II IU38ٮII QUtI I U]C9IM: Mw:)M38 e]9)aIa etIia mDa e1:)e:Iei]9qIy9y*G2GFFrFbFEE);I9 iI$zi 2@<:@w: =>=e>#) Vާ(AYt*L@t*2[@yt*n2't*p>t*Hq?i0ѿ d'?6?@??)u*L@ u*4p;Iu*CxB:m>xBEHFp=HFp=iPIP) GF@=YE:E>AIQMDIMCM>IQ I]38ٮQQ Q]tI Q UeC9QUG: U:)U38 m]9)aIa mtIia mDa e:)eV:Iez]9yI9*G2GFFrFbFEE);I9 iIhxi 2@<:@w: ) 5ާ(A)IYt*XL@t*[@yt*&t*l>t*H-TE? ѿ`(? 1?`(? ?)u*XL@ u*YUp;Iu(xBMl>xBLE)~SGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aaQeDimۻm>Iq I48ٮq M48q QtI q UC9quR; u;)u48 ]9)I tIi D :):Ir]9I9*G2GFFrFbFEE)5;IU9 QQiQIQY]riYY a2@e<:@mw: ߙ ) Mާ(AYt*XL@t**[@yt*T-t*E>t*H+@NT?0@ѿ? {? ??)u*XL@ u*\p;Iu(x>h>xBEiLIL)~G4=F@Y%'%>!!Q-D)-->I1 I=48ٮ11 Q=tI 1 U=C9154: 5ӻ:)5W48 }]9)yIy tIiy Dy }:)}:I}<]9I9*G2GFFrFbFEE);I9 iIti1 12@=<:@=w: Qi111-) ާ(AYt*UL@t*[@yt*2)t*΂>t*HL?`ᮿ@ѿ` Bp?` 6?8,??)u*UL@ u*kp;Iu(xBn>xBEGBAAHD)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y:>QD>I I48ٮ Q%tI  U%C9: N:)%48 -]9))I) 5tIi) 5D) -;)-;I-3]9aIa9aODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIsi 2@<:@w: !EX) "ާ(A Yt26L@t2Z@yt2D+t2>t2H@'?`믿ѿ@@}L?@}h?I?`j?)u26L@ u2p;Iu0xNc>xN Ei`IbѓC)}GF@Yʭ~>ʩʩQDʱ>I I48ٮ QtI  UC9Ե; ;)248 %]9)I %tIi %D t:):I,]91I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN}@Vehicle HDG: 195.961133 arcdeg .q'}'}*Gy2G}`!@FFrFbFEE);I9 iI?&@i`!@ 2@<:@w: $MRHorizontalControl.headingCmd 2.521486 rad*@) Y ߧ(AYt*%L@t*Z@yt* #t*>t*HB`^?I@ѿT.?Ea???)u*%L@ u* p;Iu*CxBeq>xBnE)~dGixAF@Y%(:%>!!Q-D)-<->I1 I=48ٮ11 Q=tI 1 U=C915: 5#:)5?48 M]9)AIA MtIiA MDA E̒:)E$:IE]9YIa9a=O@Contact HDG: 144.470495 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI~#@i 2@<:@w: !5R>5>i) -|'ߧ(AYt*FL@t*QZ@yt*-t*&>t*H-?QɭrѿL?A?`?Q?)u*FL@ u*нp;Iu*Cx>g>xBsEH@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iv=It)Ga 1ma 1m a 5ua 5u a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yy>QD<>IQ IU48ٮQQ Q]tI Q U]C9QUݱ: U:)UO48 e]9)aIa etIia mDa eF:)et.H?@ 魿 uѿ`B?`4M???)u.uL@ u.p;Iu.Cx>`k>x>E) GF@=Y=7:=>AAQEDAM9M>IQ I]48ٮQQ Q]tI Q U]C9QU[: U:)Uj[48 e]9)aIa mtIia mDa e:)eN:Ie=]9I9*G2GFFrFbFEE);I9 iI`!@i 2@<:@w: ߹|) 6[ߧ(AYt.jK@t.uZ@yt.+t.>t.H`?&_ѿ@vD.?:b? ?`,?)u.jK@ u.p;Iu.Cx>p>xB%EiRf=IP){G%=F@Y%@Ҹ%>!!Q%D)-g\->I1 I=48ٮ11 Q=tI 1 U=C915: 5Y:)5i48 M^9)A U^9IA ]tIiA eDA E;)E;IE^9I9*G2GFFrFbFEE!)%;I%9 !!i!I!imiiq q2@}<:@}w: i11#)  uߧ(AYt.K@t.Z@yt.Q$t.>t.H`?p=ѿ`X? &??`A?)u.K@ u.Bp;Iu,x>j>xBqEG@H@)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:m>iiQmDiuu>I I48ٮ QtI  UC9鰝: :)Lw48 ^9)I tIi D :)ݖ:I^9I9*G2GFFrF!bF!E!E!)];I]9 YYiYIYaaiaa i2@m<:@uw: ߡH) ߧ(A@ Yt.5K@t.@Z@yt.C,t.>t.H@W?;魿`=ѿ%?e?@4?`?)u.5K@ u.Dp;Iu,x>o>xBJEiLIN̓C)~dGF@Y%Ϡ%>!!Q-D)-7->I1 I=48ٮ11 Q=tI 1 U=C9154: 5:)548 M^9)AIA MtIiA MDA E:)E:IE#$^9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@ <:@ w: Y) Ũߧ(AYtBlK@tBwZZ@ytB]%tB,s>tBHj?@ѿb`l?4?+!? #?)uBlK@ uBp;Iu@xNp>xR%E)1iMyAIF@Yy:>QD%Ļ->IQ I]48ٮQQ Q]tI Q U]C9QU: U:)U48 e^9)aIa mtIia mDa e:)e:Ie6^9I9*G2GFFrFbFEE)5;I59 11i1I199i99 A2@E<:@Mw: 5a>5a>ϟ) Iߧ(AYt*رK@t*^Z@yt*^t*>t*H@F?5ѿ@? ?`l???)u*رK@ u*0p;Iu*CxBh>xBEHBa=H@iR=IP)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ";>ʱʱQDʱͽB5:>I I48ٮ QtI  UC9F: l:)Ӡ48 ^9)I tIi D :):IF^9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E )%;I%9 !!i)I)))i11 12@=<:@=w: I4) zߧ(A);IYt.K@t.%>Z@yt.F.t.4>t.H$ ύ?`#hп`W?.?W?d?)u.K@ u.p;Iu.CxB`k>xBE)iiQuDquu>Iy I48ٮyy QtI y UC9y}h: }:)}S48 ^9)I tIi D S:)IW^9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.381072 arcdeg .q''*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: 9`) Uߧ(AYt.qK@t.Z@yt.K$t.>t.HTs?ԭ8п_`? M?m??)u.qK@ u.%q;Iu.CxB"h>xBEiRf=IRѓC) G%=a 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yշ:>QD 5 >I  I48ٮ   QtI  UC9  : :) 48 %^9)!I! %tIi! -D! %}:)%:I%gi^9YIY9Y=O@Contact HDG: 144.470495 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;Im9 iiiqIqqyiyy y2@<:@w: ߙi19) ^.(AYt*lK@t*Z@yt*y(t*<>t*Ht?`Kп~ i??`??)u*lK@ u*mq;Iu*CxBS>xB5EGB@AHD)҄GF@=YE@E>AIQMDIMvVM>IQ I]48ٮQQ Q]tI Q UeC9QU: U :)U48 m^9)aIa mtIia mDa e:)eԘ:Iejy^9yI9*G2GFFrFbFEE)5;I59 YYiYIaqi 2@<:@w: 9 )  *(A@ Yt.UK@t.Z@yt.Nk!t.څ>t.H V?ﭿ пM`?`T-??@?)u.UK@ u.z?q;Iu.CxNr>xNIE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i =I )vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@5Y={~:=>99QEDAEDE>Ii Iu48ٮii QutI i U}C9imٮ: m:)m48 ^9)yIy tIiy Dy }:)}:I}U^9I9*G2GFFrFbFEE)5;IM9 IIiIIIQQiQQ Q2@]<:@]w: y) C(AYt*DK@t*Y@yt*t*>t*H@LzC?`~<пi >?s???)u*DK@ u*~Mq;Iu*CxNh^>xRE)5Gi11F@EYM~:M?IIQUDQUHU?IY Ie48ٮYY QetI Y UmC9Y]>: ]ݱ:)]V48 u^9)iIi utIii uDi m:)m':Im^9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: =>=t>) ](AYt*K@t*Y@yt*Lzt*Z>t*H``V?a 9п@ ?@5σ?{?T?)u*K@ u*2q;Iu*CxNi>xRNEHRp=HRa=ibf=Id)%Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍU޹>ʑʑQDʑ͝>I I48ٮ QtI  UC9鰥: t:)i48 ^9)I tIi D l:)k:I^9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )2B) Iw(A) IYt*TK@t*_Y@yt*.K,t*6>t*Hw`k"?Kп ?K?r'?H?)u*TK@ u*[q;Iu*CxBi>xBE)vGF@=YE E>AAQMDIMM>IQ I]58ٮQ M]58Q Q]tI Q UeC9QU: U:)U58 m^9)aIa mtIia mDa e}:)eN:Ie^9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: &*$) w(AYt2PJ@t2[Y@yt2&t27]>t2H``?!Ѭ]Yп?@bل?V{?`@?)u2PJ@ u2:q;Iu2Cxbb>xf Ei|I~̓C)G4=F@Y L: >!Q%D!]4]>Ii I58ٮii QtI i UC9im>: m:)m58 ^9)I tIi D p:)ȗ:I9^9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I9 iIi 2@%<:@%w: 9i19S*) P(AYt*J@t*…Y@yt*5t*>t*H+F?ђgGп ^h?@ك???)u*J@ u*ƈq;Iu*CxBk>xBEGB?AHD)+Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a  a 5@a  a 9@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Y:>  QD1=9=>IA IE58ٮAA QMtI A UMC9AE: E:)Ez58 u^9)QIQ }tIiQ }DQ U:)U:IU^9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.736261 arcdeg .q''*G2GFFrFbFEE)U;IU9 QQiQIQYYiYa a2@e<:@mw: ߙ <1) -(A Yt*J@t*sY@yt*ct*>t*Hu%?N@5п Z(?M̃?s?T?)u*J@ u*yq;Iu*CxNd>xR Ei\I\)eGF@uY}8}>yʁQDʁͅM=>I I58ٮ QtI  UC9鰍: :){*58 ^9)I tIi D h:):I^9I9=O@Contact HDG: 144.470495 arcdeg .''O%4Initialize Wait Component.*G!2G!F!F!rF)bF)E)E1)E;IE9 AIiIIIIQiQQ Q2@]<:@]w: i+f7) (AYt*J@t*NY@yt*t)t* b>t*H`j?࡫@*пr l?2? >?@W?)u*J@ u*rq;Iu*CxBi>xBNE)zQD>I  I58ٮ   Q-tI  U5C9  ; ^U<) 858 }_9)q }_9Iq }tIiq Dq u:)uD:Iu_9I9*G2GFFrFbFEE);I9  i I 11i11 12@=<:@=w: Q5x>=]>Ϗ=) (AYtZSJ@tZ^OY@ytZ=$tZ$S>tZHb?Kп`@?? z?l?)uZSJ@ uZ`q;IuZCx='n>x=pEHEa=HEp=iYIa)-GF@]Ye;:e>iiQmDiuĺ8u>Iy I}58ٮyy QtI y UC9y}: }:)}G58 _9)I tIi D :)÷:I-_9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: zD) C(A)IYt2tJ@t2!Y@yt2+t2㭈>t2H`t?謿Ͽ`?h??`v?)u2tJ@ u2q;Iu0xN\>xNUE)}vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YʅV:>ʉʩQDʩ͵ܻ>I I58ٮ QtI  UC9鰽ի: :)/U58 _9)I tIi D :):I%_9I9*G2GFFrFbFEE)=;IM9 IIiIIIQUӰiQQ Y2@]<:@ew: qRJ) =,(Ax~s>x~E {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i]=Ia)dG< =F@Y>!!Q%D!-5>I9 IE58ٮ99 QEtI 9 UMC99=<; =:)=c58 ]_9)QIQ ]tIiQ ]DQ U:)U':IUQ7_9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i19ʼnQ) sF(Ax~xp>x~EG@AH){|ZI{i{={>{{A{|GA9|E7 ?= )1)GF@Y>QD>I I58ٮ QtI  UC9: а:)o58 _9)I tIi D 5:)w:IhF_9I9 *G2GFFrF!bF!E!E)2E1zE5GAE5M50@܅72E5E7 ?= )1E5|ZE1E5h34bP|*@lt)E5R-6꿁I?c/ȿE5a#@==DHdg To Contact =146.594451 degreesZE5+UAbE5:E5so$?BE5`o$?JE5~ RE5y jE5їrE5)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߁$Dacoustic_contact_range 24.659998 m$hTrackAcousticContact.heading_to_contact 2.558556 rad$LDUSBL_Hydroid.xAngle -48.900002 arcdegZW) P`(A Yt*zBJ@t*X@yt*Ot*Ȅ>t*H@5?@WkϿ;?@v?ii??)u*zBJ@ u*q;Iu*CxN?s>xREi`I`)5SGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y9>QD>I I58ٮ QtI  UC9: :)}58 _9)I tIi D :):IaW_9I9*G 2G FFrFbFEE)5;I59 11i9I99=6;iAA A2@M<:@Mw: Yd]) k+z(Axnmd>xru E)GiwAwAF@Yʝ>ʙʡQDʡͥ>I I58ٮ QtI  UC9鰭: :)#58 _9)I tIi D %:):I4h_9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIxi!! !2@-<:@-w: 95V>=a>d) `(AYt*C%J@t*NX@yt*= t*>t*H`j?|=:3Ͽ? ??@?)u*C%J@ u*r;Iu*CxBi>xBEHBp=HFa=i^f=I`)5GF@]Yeλe>aaQmDimNm>Iq I58ٮqq QtI q UC9qu; u;)u58 _9)I tIi D  ;);I"y_9I9&%M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'UN=@Vehicle HDG: 194.108703 arcdeg .q'='=*GA2GEa#@FiFqrFqbFqEyEy);I9 iI#@i|>a#@ 2@<:@w: $5RHorizontalControl.headingCmd 2.558556 radoj) (A) Ixi>xE)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QD>I I58ٮ Q tI  U C9ի: :)58 _9)I tIi D {:)X:I_9)I)9)=Oe@Contact HDG: 146.594451 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFiFqrFqbFyEyEy);I9 iIe#@i > 2@<:@w: q) @(AYt*5J@t*X@yt*2X"t*9>t*H`@?>@RϿk?J?X??)u*5J@ u*q;Iu(xFmd>xFu Ei^=I\)G%4=%%=F@Yʭ>ʱʱQDʱͽ$;>I I58ٮ QtI  UC9}: >:)58 _9)I tIi D h:):I__9I9*G2GFFrFbF E E )%;I%9 !!i!I!-a#@->Ύi)) 12@=<:@=w: Ii11Wx) #(AYtF7%J@tFBX@ytFC0tF>tFH oq?׫ 3Ͽ!?@V??`?)uF7%J@ uFeq;IuFCx^a>x^ EG`H`)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝs >ʡʡQDʡͥ">I I558ٮ Q5tI  U5C9鰭< \<)N58 E_9)9I9 EtIi9 ED9 =1:)=:I=_9qIq9q*G2GFFrFbFEE);I9 iI쎽i 2@<:@w:?΅> ,~) s(A Yt>'J@t>X@yt>*t>;>t>H3z?} N8Ͽ@?`?@ds?@[?)u>'J@ u>Wq;Iu>CxFq>xFEiTIX)+GF@-Y-Q@;5>11Q5D1=;9=>IA IM58ٮAA QMtI A UUC9AE2: E:)E58 ]_9)YIY etIiY eDY ]Ȳ:)]:I]ż_9qIq9y*G2GFFrFbFEE);I9 iINi 2@<:@w: )I ih) MN(AYt>j3J@t>uX@yt>!t> >t>Hಕ?`7NϿ `H?A ?Q??)u>j3J@ u>iq;Iu>CxFxp>xFE)GiyA xAF@=YEE>AAQMDIMb:M>IQ I]58ٮQQ Q]tI Q UeC9QU: U:)Uy58 m_9)aIa mtIia mDa e:)e :Ie_9yIy9*G2GFFrFbFEE);I9 iIKi 2@<:@w: 5R>9A) 7/(AYt2QCJ@t2\X@yt2C$t2>t2H`?GU{mϿ ځ?1?? ?)u2QCJ@ u2q;Iu2Cx>j>x>qEHBa=HBp= {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIl)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y " >QDT;%>I) I558ٮ)) Q=tI ) U=C9)-; -u:)-958 M_9)AIA UtIiA UDA E;)E;IE_9aIi9i*G2GFFrFbFEE);I9 iIimߌiii i2@u<:@uw: &) I(A)4t.H8?N`pϿ] ~? ?.??)u.EJ@ u. q;Iu.CxBx>xBE)EGF@]Ye:e>aaQeDam9m>Iq I58ٮqq QtI q UC9qu; uV;)u158 _9)I tIi D :),:I=_9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYae-5iaa a2@m<:@mw: ߡP) b(AYt* 5J@t*+X@yt*t*3>t*H`?RRϿ@8?p?? C??)u* 5J@ u*q;Iu*CxNo>xRJEibf=IbѓC)eGe%=iF@uYu* }>yyQ}Dʁͅ>I I68ٮ M68 QtI  UC9鰍R: :)68 `9) `9I tIi D :):I9`9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.164178 arcdeg .q''*G2GFFrFbFEE );I9 !i!I!!-i)) )2@5<:@5w: Ai5@A9z) |(AYt*~J@t*,Y@yt*#t*P>t*H@p|*?N@Ͽ n?}???)u*~J@ u* sq;Iu*Cx>v>xBEGB?AH@)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>QD l/< >I I568ٮ Q=tI  U=C9; Z;)r68 E`9)AIA EtIiA MDA E̒:)E|:IE `9q uuSoftware FaultyIy9y=O@Contact HDG: 146.594451 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I%9 !!i!I!)->Ɋi)) Q2@U<:@]w: ߉!xSoftware Fault in component: DeadReckonWithRespectToSeafloore) (A( (YtVyJ@tV&Y@ytV$tV>tVH`?Ͽ U?@"?h??)uVyJ@ uVq;IuVCxbi>xbEilIn̓C)=SGa 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ#>ʡʡQDʡͭ]>Ii Iu68ٮii QutI i UC9im; m;)m#68 `9)I tIi D %:):I$`9I9*G2GFFrFbFEE);I9 iI-#i)) )2@5<:@5w: i!}Clearing failed state for component DeadReckonWithRespectToSeafloorq }) q(AYt*{J@t* (Y@yt*(t*%>t*H@?2 ^Ͽ !??W]?`A?)u*{J@ u*ڱq;Iu*CxNh>xRE)dGiF@]Ye e>aaQeDimen9m>Iq I}68ٮqq Q}tI q U}C9qu: u:)uW068 `9)I tIi D [:):I(4`9I9*G2GFFrFbFEE);I9 iIuzi 2@<:@w: 5]>=Y>9t) J(AYt*J@t*KY@yt*.t*p>t*HL? п@l7?%?@? ?)u*J@ u*'q;Iu*CxNRr>xREHPHPi`IbѓC)GF@-Y5k;5>11Q=D9Eޯ;E>IA IM68ٮAA QMtI A UUC9AE\: E_:)E=68 ]`9)QIQ ]tIiQ eDQ U1:)U:IUD`9iIq9q*G2GFFrFbFEE);I9 iIˈi 2@<:@w: ) -'(A) I;Yt*J@t*&YY@yt*6%t*;>t*H`9?@+@;п|??`r??)u*J@ u*q;Iu*CxNn>xRE)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʝTE>ʡʡQDʡͭ;>I I68ٮ QtI  UC9鰵: :)0L68 `9)I tIi D p:):IV`9I9*G2GFFrFbFEE);I9 iI'i!! !2@-<:@-w: 9Gʾ) (AYt.J@t.Y@yt.(t.j>t.HFA?`M\п`HV?I?̺?`?)u.J@ u.~q;Iu.CxBt>xBlEiPIR̓C) ҄G 4= F@=Y=E>AAQEDAM*<M>IQ I]68ٮQQ Q]tI Q U]C9QUN: U0:)UY68 e`9)aIa mtIia mDa e:)eȗ:Ieg`9yIy9y*G2GFFrFbFEE);I9 iI0gi 2@<:@w: i5?A1[) f(AYt*SJ@t*^Y@yt*#t*P>t*Hs?ЮEп@ѿ ?c?{?`?)u*SJ@ u*Ar;Iu*CxVo>xZJEGZAAHX)-+Ga 1ma 1m a 5ma 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʕV:>ʑʑQDʑ͝n>I I68ٮ QtI  UC9鰥: :)g68 `9)I tIi D :)˵:Ix`9I9*G2GFFrFbFEE);I9 i I   ְi 2@<:@w: )) Ǹ1(A@ Yt*J@t*Y@yt*u!!t*b:>t*H@5?ϭ@8gп`Fk?`$? ?Z?)u*J@ u*>r;Iu*CxB,t>xB#E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)GF@Y9>QD;>I I 68ٮ Q tI  UC9 ; ;)u68 E`9)9I9 EtIi9 ED9 =8:)=:I=?`9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF1bF1E1E9)M;IM9 QQiQIQqu^ꅽiqq q2@}<:@}w: ߱)  K(AYt*XK@t*cY@yt**t*_ >t*H@( ?B㬿@п S?F?@z3??)u*XK@ u*r;Iu*CxBn>xBE)GixAF@eYm~L:m>iiQmDiuO;u>I I68ٮ QtI  UC9鰝: ):)>68 `9)I tIi D ::);I`9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 194.955278 arcdeg .q'E'E*GA2GAFIFIrFQbFqEqEq);I9 iI5Bi 2@<:@w: 5{>=a>) me(AYt*:K@t*Y@yt*5t*N>t*H9?` +п P` ,??`t?p?)u*:K@ u*r;Iu*CxBk>xBEHDHDiTIVѓC)+Ga 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yqg:>!!Q%D!-;->I1 IU68ٮ11 Q]tI 1 U]C915; 5;)568 e`9)aIa etIia mDa e:)e:Ie~`9I9=O@Contact HDG: 146.594451 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 !i!I!!-i)) I2@U<:@Uw: i) 0J(A);IYt*HK@t*Y@yt*Ȁt*_>t*H?? J@п@Q@?`?4??)u*HK@ u*xRE)%GF@5Y5"˺=>99QEDAE;E>II IU68ٮII QUtI I UUC9IMF: MB:)Mx68 e`9)YIY etIiY eDY ]:)]:I]`9qIq9q*G2GFFrFbFEE);I9 19i9I9AE+⃽iAA I2@U<:@Uw: a) N%(AYt.fK@t.Z@yt.I,t.Ț>t.H c?s@пs??@n??)u.fK@ u.?s;Iu.CxN:m>xREi\I\)%=!a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ]>ʁʁQDʉ͍;>I I68ٮ QtI  UC9鰕: :)68 `9)I tIi D :):I`9I9*G2GFFrFbFEE);Iu9 qqiqIqy}*iyy 2@<:@w: ߹i19() "(AYt*T}K@t*_*Z@yt*"&t*)>t*H }?@a\п ?,Մ?`??)u*T}K@ u*0ps;Iu*CxBxp>xBEGF@AHD)|F@ Yf:>QDn;%>I! I-68ٮ!! Q-tI ! U5C9!%%: %:)%68 =`9)1I1 =tIi1 ED1 5:)5:I5`9III9Q*Ga2GaFaFarFibFiEqEq);I9 iIri 2@<:@w: ߱) <(A@ Yt*VK@t*aWZ@yt*Xt*>t*H+?`\Į ѿ ??#??)u*VK@ u*s;Iu(xB |>xBEiLIL) GF@Y% ;%>!)Q-D)-;5>I1 I]68ٮ11 Q]tI 1 UeC915; 5k;)568 m`9)aIa mtIia mDa e-:)e :Ie<`9I9*G2GFFrFbFEE);I9 iIǁi! !2@%<:@-w: YD;) A(AYt2K@t2 Z@yt2t2>t2HPxB E)zvGi~wA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Y}Ј9>ʁʁQDʁ͍\;>I I68ٮ QtI  UC9鰕: :)68 a9) a9I tIi D ,:)b:Ia9I9*G2GFFrFbFEE);I9 iI%i 2@ <:@ w: 5R>5V>f") G(AYt.K@t.Z@yt.t.u>t.H C? 8Dѿ v?@Ã?i??)u.K@ u.mt;Iu.Cx=c>x= EHUp=HQiI)GF@Y _>  Q D %:->I1 I=68ٮ11 Q=tI 1 U=C915: 5:)568 Ma9)AIA MtIiA MDA E>:)ER:IEa9YIY9YOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFyrFybFEE);I9 iI*$i 2@<:@w: M) o(A)$I$Yt]K@t]¦Z@yt]~t]4>t]H0 ?熯9^ѿC+??`?/?)u]K@ u]8t;Iu]CxmMl>xmLE)vGa 15a 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -]@a ] IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʥ 8?ʩʩQDʩ;>I I68ٮ QtI  UC9%: :) 68 a9)I tIi D :):I&a9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 195.746911 arcdeg .q' ' *G2GFFrFbFEE!)m;Im9 qqiqIqy}~iyy 2@<:@w: ߡdw ) I4(AYt*-L@t*Z@yt*Ot*>t*H? ؽѿ K{ ?i?@j?]?)u*-L@ u*Qu;Iu*CxBb>xB E {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iz=Ix)G%=F@Y99>  QD]1<e>Iq I}78ٮq M}78q Q}tI q U}C9quʽ: u:)ud78 a9)I tIi D G=)RH=IB6a9I9=O@Contact HDG: 146.594451 arcdeg .''O4Initialize Wait Component.*G2GFAFArFIbFIEIEI);i5@A1Iu9 qqiqIqy}QC}i 2@<:@w: ߩ^) #N(AYt*tFL@t*Z@yt*]yt*~>>t*H71?@B ѿ7?@ς?@z? ?)u*tFL@ u*xu;Iu*Cx2c>x2, EG6AAH4)҄GF@Y%fN:%>!)Q-D)-@;5?I1 I=78ٮ11 Q=tI 1 UEC915: 5:)5 78 Ma9)AIA MtIiA UDA E:)E:IE-Da9aIa9a*Gq2GqFqFqrFbFEE);I9 iIz|i 2@<:@w: )]) g(A Yt.tL@t.![@yt..t.>t.HKX?ѿe@h_? ?z?j?)u.tL@ u.xREibf=I`)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭQ9>ʱʱQDʱͽ;>I I78ٮ QtI  UC9: S:)78 a9)I tIi D :):IUa9I9*G2GFFrF bF E E )%;I%9 !!i!I!)-{i)) 12@=<:@=w: Ip ) ف(AYt*ބL@t*1[@yt*L&t*>t*H@&p?@j3ѿ@¤'?Ʉ?@??)u*ބL@ u*+t;Iu(xBj>xBqE)vGi!!F@eYm3m>iqQuDqu!;}>I I78ٮ QtI  UC9鰅h: į:)(78 a9)I tIi D :)w:Ifa9I9*G2GFFrFbFEE);I9 iIyi 2@<:@w: 9=R>&) x(AYt*hL@t*su[@yt* t*$>t*H` ?C`$ҿ`??`d?H?)u*hL@ u*Gt;Iu*CxBn>xBEH@HDiR=IR̓C)GF@%Y%b:%>))Q-D)5*<5>I9 I78ٮ99 QtI 9 UC99=: =ݱ:)= 678 a9)I tIi D [:)N:Iwa9I9*G2GFFrFbFE!E!)U;IU9 YYiYIYae0xiaa a2@m<:@mw: ߡZ,) (A)4t.HIq? n:ҿ].?T6?`Ʋ??)u.L@ u.s;Iu.Cx6n>x4)%SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@EYMM>IIQMDIm/K;m>Iq I}78ٮqq Q}tI q UC9qu: u:)u;E78 a9)I tIi D !;);Ia9I9*G2GFFrFbFEE)5;I59 19i9I99EviAA A2@M<:@mw: ߁}3) l(AYt.6&M@t.A[@yt.Ft.>t.H@?l~ҿWgm?@(? ? ?)u.6&M@ u.s;Iu,xNj>xNqEi^f=I\)dG4=!F@-Y-:5>11Q5D1=C<=>IA IM78ٮAA QMtI A UMC9AE: E:)EQ78 ]a9)QIQ ]tIiQ eDQ Ug:)U:IU\a9iIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iINui 2@<:@w: i5?A19) D(AYt:],M@t:h[@yt:t:!Q>t:HB5?sfҿÇ`F??? ?)u:],M@ u:s;Iu8xbj>x`Gj@AHl)F@Y:>QDe:>I I 78ٮ QtI  UC9%: į:)Q`78 a9)I %tIi %D F:)Z:Ipa91I191&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 196.819278 arcdeg .q''*G2GFFrFbFE!E!)U;IU9 YYiYIYaeHsiaa a2@m<:@w: ߡ@) !!(A@ Yt2luM@t2w"\@yt2t2b<>t2H @R?԰rҿX\?`>?9?`?)u2luM@ u2Ss;Iu2CxRZe>xR Eib=I`)!a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ >ʉʑQDʑ͝;<>I I78ٮ QtI  UC9鰡 >:)m78 a9)I tIi D %:)Z:Ia9I9=O @Contact HDG: 146.594451 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 11i1I19=~Vri99 A2@E<:@Mw: YUF) (AYt*̗M@t*D\@yt*st*ˏ>t*H|n? ;Hҿ ?\΃?w? z?)u*̗M@ u*c[s;Iu*Cxn:m>xnE)]Gi]xAYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y ->QD;>I I78ٮ QtI  UC9: :){78  a9)I  tIi  D ގ:):Ida99I99A*GQ2GQFqFqrFybFyEyE);I9 iIpi 2@<:@w: 1=p>M) 6(AYt*dM@t*o\@yt*/ t*)щ>t*HĈћ?M 7#ӿ Ci l??@?@?)u*dM@ u*r;Iu*CxBj>xBqEH@HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I))SGF@Y9>QD <>I! I-78ٮ!! Q5tI ! UUC9!%; %;)%щ78 ea9)YIY mtIiY mDY ]:)]:I]a9I9*G2GFFrFbFE E )];I]9 aaiaIaim#Eoiii 2@<:@w: ߩrS) ݳP(A)I4t.H L?@@0Hӿ9i`@?`e??J?)u.#M@ u.5Tr;Iu.CxBo>xBE)=dGF@}Yʅq8:>ʉʉQDʉ͕i;>I I 78ٮ Q=tI  U=C9'v< Hw<)678 ea9)YIY mtIiY DY ]<)] t*H@z?@n@zӿ`r ? BT? Y??)u*.N@ u*q;Iu*CxBs>xBEiRf=IRѓC) = a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iqQuDquH<>I I78ٮ QtI  UC9į: B:)578 b9)  b9I  tIi  5D  ̱;) ;I {b9AIA9A*Gy2GyFyFyrFbFEE);I9 iIeli 2@<:@w: i19 a) g(AYt*dN@t*]@yt*t*t>t*H`rU(?;ͮӿT`@??@??)u*dN@ u*Zeq;Iu*CxB`k>xBEG@HD)GF@=YEq:E>AIQMDIM] <M>IQ I]78ٮQQ QetI Q UeC9QU]: U:)UC78 mb9)aIa mtIia uDa eɏ:)eݖ:Ieb9yI9*G2GFFrFbFEE);I9 iI ki 2@<:@w: yS7g) =D(A@ Yt.hN@t.s,]@yt.Wt.?>t.H@n28?@6߲ӿPnV?ٯ???)u.hN@ u.|p;Iu.CxNp>xREi^=I^̓C)SGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ*:>ʁʁQDʁ͍̀;>I I78ٮ QtI  UC9鰕: :)S78 b9)I tIi D Ր:):I!b9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIii 2@ <:@ w: !qam) X(AYt*hN@t*sf]@yt*xt*>t*H@ueu?_)ӿ R` ?߃?İ??)u*hN@ u*p;Iu*CxBb>xB E)~GiwAF@ Yú>QD<>I! I-78ٮ!! Q-tI ! U-C9!%: %t:)%78 =b9)1I1 =tIi1 =D1 5:)5^:I5b2b9III9I&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 198.207759 arcdeg .q''*G2GFFrFbFEE);I9 iI<hi 2@<:@w: 5V>=i> It) Q(AYt2N@t2]@yt2p@%t2F>t2H^?b@6(Կ`iR`??x??)u2N@ u2Mp;Iu2CxRr>xRIEHPHVa=ibf=IbѓC)UGF@YʭPl>ʹQD;>I I78ٮ QtI  U C9-; o;)F78 %b9)I -tIi -D :):IDb99I999=Ou@Contact HDG: 146.594451 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFyFrFbFEE);I9 iItfi 2@<:@w: gsz) s(A);I;Yt*CO@t*N]@yt*;%t*g>t*HW?`岿]UԿB@j?Z? q?`?)u*CO@ u*np;Iu*CxRr>xP)=GefFailed to parse: :BI,-32768,-32768,-32768,-32768,V F@mYuD6u>yyQ}Dyͅ;>I I78ٮ QtI  UC9鰍: :)78 b9)I tIi D 1:)$:ITb9I9*G2GFFrFbFEE);I9 iIg ei 2@<:@w: H[) (AYt*O@t*]@yt*5 t*r>t*H`mW ?9TԿ {7`??@g?@?)u*O@ u*\q;Iu*CxBb>xBQ EiPIR̓C)-G54=1F@uY}(r;}>ʁʁQDʁͅJ>I I78ٮ QtI  UC9鰍: :)t78 b9)I tIi D :)Z:Ifb9I9*G2GFFrFbFEE);I9 iIci 2@<:@w: i99) i(AYt*'O@t*]@yt**nt*Ee>t*HT ?/^gԿN<`%??@ ??)u*'O@ u*6q;Iu*CxBsj>xB(EGDHD)~vGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y'>!!Q%D!-B;->I1 IU88ٮ1 M]881 Q]tI 1 U]C915; 5,;)588 eb9)aIa mtIia mDa e%:)e9:Iexb9I9*G2GFFrFbFEE);I9 iI-ai !2@%<:@-w: Y~) f9(A Yt.sQO@t.~]@yt.K8t.:x>t.HaM@&?`+^Կ A@??~??)u.sQO@ u.p;Iu.CxNeq>xRnE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I )GF@Yʝ1>ʡʩQDʩ͵8;>I I88ٮ QtI  UC9鰽.<  .<)]88 b9)I tIi %D :)<:Ib9QIQ9Q*Ga2GaFaFirFbFEE);I9 iIO`i 2@<:@w: k) BS(AYt.>]O@t.I ^@yt.J(t.5>t.HnKp ?@@Կ 7? ?[?`?)u.>]O@ u.4p;Iu,xN,t>xR#E){R[YUI{Pi{R>{R7>{P{RA{P|R=B9|Ri?eݯ)uSGiwAF@YʵT>QDU:]>IY Ie88ٮYY QetI Y UmC9Y]F: ]į:)]!88 b9)iIi tIii Di m;)mc;Im5b9I9*G2GFFrFbFEE2EzE=BESĽG@2+#JEi?eݯE[YUEESNSA8@@_@GBgP*E}me% g?ǿE)@=DHdg To Contact =152.120962 degreesZEBbERu:Eo$?BEso$?JEn RE~ jERrEї)U;IU9 YYiYIYae?^iaa a2@m<:@w: ߡ$Dacoustic_contact_range 70.620003 m$hTrackAcousticContact.heading_to_contact 2.655012 rad$ LDUSBL_Hydroid.xAngle -47.749999 arcdeg=R>9) !m(AYt*#rO@t*.^@yt*)t*8>t*HH?d@FԿw,>?` ???)u*#rO@ u*Wo;Iu*CxNRr>xNEHRa=HRp=i`IbѓC)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅs>ʉʉQDʉ͕\;>I I88ٮ QtI  UC9鰝S: :).88 b9)I tIi D p:):I.b9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  ]i   2@<:@w: j) Q(A) IYt*/O@t*:>^@yt*YKt*'t>t*HC%7?Կ0+'"?`W?? l?)u*/O@ u*dfo;Iu(xNl>xRE)vGF@]Ye:e>aaQeDim;m>Iq I}88ٮqq Q}tI q U}C9qu: u:)uG<88 b9)I tIi D :):Ib9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.962345 arcdeg .q''*G2G)@FFrFbFEE);I9  i I  %@i)@ 2@<:@w: )$MRHorizontalControl.headingCmd 2.655012 radӧ) RӠ(AYt*O@t*M^@yt*t*l>t*H @)E?|Կ@(`?`{??@?)u*O@ u*_o;Iu*CxN5g>xR*Ei\I\)G%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅb9>ʁʁQDʉ͍;>I I88ٮ QtI  UC9鰕: :)5J88 b9)I tIi D p:) :I2b9I9=O@Contact HDG: 152.120962 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E )%;I%9 !!i!I!-1'@i)) 12@5<:@=w: Ii19l) (AYt*O@t*S^@yt*et*>t*H?J?߼ԿR+?ব?r??)u*O@ u*Mo;Iu*CxVc>xV, EGXHX)-SGF@]Ye:e>aaQmDimb:m>Iq I}88ٮqq Q}tI q UC9qu: u:)uW88 b9)I tIi D :):I b9I9*G2GFFrFbFEE);I9 iIF)@i 2@<:@w: ) (A Yt*fO@t*qj^@yt*t*"և>t*H@;_?qϳ}Կ &< ?1?`? ?)u*fO@ u*o;Iu*CxB:m>xBEiPIP)EdGF@}Yʅ>ʁʁQDʁ͍`;>I I88ٮ QtI  UC9鰕>: :)e88 b9)I tIi D ::)N:I;b9I9*G2GFFrFbFEE);I9 iIO)@ \i 2@ <:@ w: ) d(AYt*O@t*k^@yt*it*>t*H`;`kZ?:`ԿY?@$-???)u*O@ u*5o;Iu(xBg>xBsE)~GixAa 1}a 1} a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yv >QD@9>I I88ٮ QtI  UC9k; :)s88  b9)I  tIi  D :)c:Ib99I999*GI2GIFQFqrFybFyEyEy);I9 iI)@i 2@<:@w: 1=Y>-) y>(AYt*4O@t*?d^@yt*$ t*>t*H@<Y?6гԿ# 5)?`?/??)u*4O@ u*!*o;Iu*CxBeq>xBnEHBp=HFa=iPIP)GF@=YEE>AIQMDIMrM>IQ I]88ٮQQ Q]tI Q UeC9QU2: U:)U88 mc9)a mc9Ia mtIia mDa eԘ:)e:Iec9yI9*G2GFFrFbFEE)5;I59 QQiQIQY]AZiYa a2@m<:@mw: y!)  "(A)4t.H`x:j?JԿ@"*`W?Q2?~??)u. O@ u.ho;Iu.CxN5g>xR*E)F@]Ye&:e>aaQeDim;m>Iq I}88ٮqq Q}tI q U}C9qu: u :)u88 c9)I tIi D [:):I!!c9I9*G2GFFrFbFEE);I9 iIbYi 2@<:@w: yK) ;(AYt*~O@t*p^@yt*t*?I>t*H:@c?0볿@@Կ@!$?C??`'?)u*~O@ u*Mo;Iu*CxN:m>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I )}SG4=a 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5@a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@5Y=9=>AAQEDAM꼹M>I1 I=88ٮ11 Q=tI 1 U=C915: 5c:)588 Ec9)AIA MtIiA MDA E[;)E;IE4c9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIWi 2@-<:@-w: Ai19G3) U(AYt*O@t*c^@yt*t*>t*H$=I?깴`|Կ @p?`"?j?`w?)u*O@ u*wo;Iu*CxBMl>xBLEGBAAHD){FVSI{Di{F ={D{D{FA{D|FfA9|F "F{?lk)%GF@]Ye:e>aaQmDim;m>Iq I}88ٮqq Q}tI q UC9qu}: u:)u88 c9)I tIi D :):I,Cc9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.090957 arcdeg .q''*G2GFFrFbFEE2EzEfAExS3@K`*5E "F{?lkEVSEEbZb*9#"C)@9JDYEp4Y?ȿE*@=DHdg To Contact =152.964696 degreesZExMAbES:Efo$?BEo$?JE~ REn jEʲrER);I%9 !!i!I!)-SVi)) )2@5<:@=w: I$eDacoustic_contact_range 28.799999 m$mhTrackAcousticContact.heading_to_contact 2.669738 rad$uLDUSBL_Hydroid.xAngle -47.299999 arcdeg`^) o(A Yt*O@t*D^@yt*"Ut*>t*H+BM2?`>Q(Կ~??D??)u*O@ u*o;Iu*CxB,t>xB#EiPIR̓C)SGa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmvm>iiQuDqu>I I88ٮ QtI  UC9鰝: :)88 c9)I tIi D F;)F;IlTc9I9=OE@Contact HDG: 152.964696 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFqbFqEqEy);I9 iIXUi 2@<:@w: ,F) Ή(AYt2͡O@t2N^@yt2bpt2Y8>t2Hh@L?)Q@jԿ 5`?͂?v??)u2͡O@ u2h#p;Iu2CxB"h>xBE)dGi wAF@Y%9%>!!Q-D)-:->I1 I=88ٮ11 Q=tI 1 U=C915: 5Y:)588 Mc9)AIA MtIiA MDA E:)E$:IEdc9YIa9a*Gq2GqFqFqrFbFEE);I9 iITi 2@<:@w: !5>=l>ao) a(AYt*O@t* 7^@yt*uWt* >t*HGD./?`ԿX. ?`j? ?%?)u*O@ u*Gp;Iu(xBu>xBEHBa=HDipIrѓC)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭf9>ʩʩQDʱ͵Sa>I I88ٮ QtI  UC9_: :)g88 c9)I tIi D ;)5;Ivc9!I!9!*GY2GYFYFYrFabFaEaEa);I9 iIURi 2@<:@w: e) ?(A);IYt.>rO@t.I^@yt.!t.>t.HHY?eHeԿa?z=?x?@g?)u.>rO@ u.]p;Iu.CxBu>x@)=GF@]Yee>aaQeDamrqm>Iq I}88ٮqq Q}tI q U}C9qu: u{:)u88 c9)I tIi D :):IDc9I9*G2GFFrFbFEE);I9 iIxZQi!! !2@-<:@-w: Y) .(AYt*TO@t*^@yt*~t*e>t*H L :?IԿ ?@?>s???)u*TO@ u*p;Iu(x>p>xB%EiN=IN̓C)~+G=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@uY}:}>yyQ}Dʁͅօ>I I88ٮ QtI  UC9鰍8< <)88 c9)I tIi D :):I$c91I191*GA2GAFIFIrFbFEE);I9 iItOi 2@<:@w: Qi11) (AYt*;O@t*]@yt*Yt*>t*HP ? zԿJ72????)u*;O@ u*Sp;Iu(x>c>xB EGB@AH@)~GF@Y%@;%>!)Q-D)-C5>I1 I=88ٮ11 Q=tI 1 UEC915b: 5f:)5 88 Mc9)AIA MtIiA MDA E̒:)E:IEc9YIa9a*Gq2GqFqFqrF9bF9E9E9)U;I9 iIjNi 2@<:@w: [)  (A Yt.%O@t.]@yt. t.އ>t.HgT?@j` 6fԿ>`n????)u.%O@ u.p;Iu.Cx>r>xBIEiLINѓC)~҄GF@Y%%>!!Q-D)-U->I1 I=98ٮ1 M=981 Q=tI 1 UEC915i: 5m:)5 98 Mc9)AIA MtIiA MDA ES:)E:IEc9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI1XMi 2@<:@w: ) $(AYt*BO@t*M]@yt*dt*n>t*H@SW?rTԿ0t?L?`'G?r?)u*BO@ u*q0q;Iu(x>l>xBE)~vGi|a 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}}>ʁʁQDʁ͍3>I I98ٮ QtI  UC9鰕ش; ;)98 c9)I tIi D :):Ic9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N=@Vehicle HDG: 198.521975 arcdeg .q'='=*GA2GE*@FAFArFIbFIEIE )%;I%9 !!i!I!m*@iim*@ q2@u<:@}w: $-RHorizontalControl.headingCmd 2.669738 rad5V>5V>F) >(AYt*aN@t*l]@yt*L#t*`>t*H@]d?`,Կ.? y?@??)u*aN@ u*^q;Iu*Cx>b>xBQ EH@HBp= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ijf=Ij̓C)}GF@Y >  Q D 5ƻ=>IA IM98ٮAA QMtI A UUC9AE; E[;)E'98 c9)yIy tIiy Dy }:)}:I}c91I999=Ou@Contact HDG: 152.964696 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iIIMKiII Q2@U<:@]w: qc) bX(A)IYt*N@t*n]@yt*U t*N>t*H6dr?@O`Կ~Beq??` ??)u*N@ u*qq;Iu*CxBeq>xBnE){B֭?I{@i{B ={B>{@{B@A{@|BpA9|B[[p?8F,w)XGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʽC;>QDXɻ>I I98ٮ QtI  UC9N; ;)498 c9)I  tIi  D :)c:Ic99I999*GI2GIFIFQrFqbFyEyEy2EzEpAE1^0*@%B(E[[p?8F,wE֭?EE h0gؗ@,K*o EJi<&~*?vƿEe.@=DHdg To Contact =156.459703 degreesZE@bED:E}o$?BEfo$?JE RE~ jE3LrEʲ);I9 iIJi 2@<:@w: $ Dacoustic_contact_range 18.179998 m$hTrackAcousticContact.heading_to_contact 2.730737 rad$LDUSBL_Hydroid.xAngle -42.900002 arcdeg) >r(AYt2N@t2v]@yt2t2>t2H bI~? ԿdE^S? ? ??)u2N@ u2q;Iu2CxBW>xBEiPIRѓC)vG  4=F@Y%@%>!!Q-D)-:->I1 I=98ٮ11 Q=tI 1 U=C915: 5:)5A98 Mc9)AIA MtIiA MDA Eh:)E9:IEc9YIa9a*Gq2GqFqFrFbFEE);I9 iI Ii 2@<:@w: i5@A9") a(AYt*N@t*7]@yt* t*>t*H`lr4?@{ijӿ4;@3?-?G?N?)u*N@ u*br;Iu(xNl>xREGRAAHP)=GF@MYU<;U>QYQ]DYee>Ia Im98ٮaa QmtI a UuC9ae: e:)eO98 }d9)y }d9Iy tIiy Dy }Z:)}Y:I}_d9I9*G2GFFrFbFEE);I9 iIaBHi 2@<:@w: \ )) (A@ Yt..qN@t.9]@yt.t.ʋ>t.Hp"?Sӿ Jd??A? F?)u..qN@ u.Br;Iu.CxBDy>xBEEiN=IR̓C)%vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>:>ʹʹQDr>I I98ٮ QtI  UC9: B:)7^98 d9)I tIi D :)Ԙ:I d9I9*G 2G F F rFbFEE)-;I-9 ))i)I11=Fi99 92@E<:@Ew: Yz6/) ο(AYt*eN@t*]@yt*[2t*F>t*H`cr #?9ۯӿ@TX?6???)u*eN@ u*R0s;Iu*CxBq>xBE)zGi~yA~xAF@Yʍb>ʉʑQDʑ͕>I I98ٮ QtI  UC9鰝: :)k98 d9)I tIi D :)=:I1d9I9*G2GFFrFbFEE);I9 iI  Ei   2@<:@w: )5>=p>6) H(AYt*DAN@t*O\@yt*Ex,t*>t*Hw?f`݌ӿL`A??\?P?)u*DAN@ u*s;Iu*CxBk>xBEH@HFa=iRf=IRѓC)҄Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYem>iiQmDiu߷u>Iy I98ٮyy QtI y UC9y}: }):)}py98 d9)I tIi D  :)ݖ:IBd9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEI)};I}9 yyiIJDi 2@<:@w: HH<) (A)4t*H|@?`#] Gpӿ)I????)u*)#N@ u*.t;Iu*CxNh>xNE)+GF@]YeՐ;e>aaQeDamSm>Iq I98ٮqq QtI q UC9qu; u;)u098 d9)I tIi D :),:ISd9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.682340 arcdeg .q''*G2Ge.@FFrFbFEE)5;I59 11i1I1=hd,@i=܀>=e.@ A2@E<:@Ew: y$RHorizontalControl.headingCmd 2.730737 rad/C) ^ (AYt*M@t* \@yt*޳t*=~>t*HM ?`"@@ӿ`Zǯ?`pV?nW?D?)u*M@ u*s;Iu*CxNa>xR Ei^=I^̓C)SG!!F@-Y5:5>11Q5D1==>IA IM98ٮAA QMtI A UMC9AE: Eٮ:)EƔ98 ]d9)QIQ ]tIiQ ]DQ U:)U:IUJdd9iIi9i=O@Contact HDG: 156.459703 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI.@iQn> 2@<:@w: i5?A9YI) T8'(AYt*/N@t*:\@yt*t*<>t*H?eB@@\ӿ c`U?ᘃ???)u*/N@ u*\-u;Iu*CxBq>xBEGB@AHD)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ{>ʁʁQDʉ͍;>I I98ٮ QtI  UC9鰕: :)98 d9)I tIi D %:):Iud9I9*G2GFFrFbFEE);I9 iI,0@i 2@ <:@w: !CP) mA(A Yt*xM@t*\@yt*H(t*I܋>t*H?`Y=ӿh\V?0?`C??)u*xM@ u*0ru;Iu*Cx>i>x>E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)uGF@Y>QDl>I  I98ٮ   QtI  UC9  v"; ~$;) 898 -d9)!I! -tIi! 5D! % ;)%y;I%wd9III9I*G2GFFrFbFEE);I9 iI/@Ci 2@<:@w:> RlV) Z(AYt*pM@t*{f\@yt*82t*Ў>t*H`x?i ӿ%X?@3?ƞ??)u*pM@ u*t;Iu(xji>xh){jBI{hi{j={j7>{h{jA{h|j3A9|jHuj,? n])GixAF@Y:>QD0>I I98ٮ Q-tI  U-C9{< b<)98 d9)aIa tIia Da ea;)er;Ie՘d9I9*GQ2GQFQFYrFYbFYEaEa2EizEm3AEm3eԋ-@|{T",EmHuj,? n]EmBEiEm|)28?c!@i EmBx}.Zi?MDiǿEm -@=DHdg To Contact =154.909483 degreesZEmAbEmN:Emxo$?BEm}o$?JEm REm jEmnrEm3L)-;I59 11i1I1=e.@i99 92@E<:@Ew:%9Uy> 1$MDacoustic_contact_range 20.400002 m$UhTrackAcousticContact.heading_to_contact 2.703681 rad$]LDUSBL_Hydroid.xAngle -43.600000 arcdeg5R>=t>\) t(AYt*M@t**n\@yt*E?t*磌>t*Hd@ς?ˉ@ӿ|``>?`ǂ?[??)u*M@ u*St;Iu*CxB`k>xBEHBp=H@iPIP)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ:>ʩʩQDʩ͵Κ:>I I98ٮ QtI  UC9鰽: l:)s98 d9)I tIi D :)k:Id9I9*G2GFFrFbFEE )=;I=9 AAiIIIQUBiQQ Y2@]<:@]w:-&lm> 9,~c) n(A) I;Yt.M@t.8\@yt.]t.u>t.H`SQ?[ҿ`f@w?˂?`d?`Q?)u.M@ u.s;Iu.CxBsj>xB(E)dGF@]Ye䙷e>aaQmDimm>Iq I98ٮqq QtI q UC9quN; u;)u98 d9)I tIi D :)/:Id9I9*G2GFFrFbFEE)-;I-9 ))i)I)9=v@i99 92@E<:@Ew:-jn> 1Ki) (AYt*_gM@t*j\@yt*}t*>t*H৘V3?ҿs ? ?+?S?)u*_gM@ u*s;Iu(xRm>xR'Eibf=I`)=GM=M%=F@mY9>  QD%->IY I]98ٮYY QetI Y UeC9Y]: ]5:)]98 md9)iIi utIii Di m%;)m-;Imd9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 i!I!!%~?i)) )2@U<:@Uw:Y Y)YIa i99p) y[(AYt*gM@t*\@yt*t*.>t*H`>0?B,`bҿ`s?3?@/? ?)u*gM@ u*,gs;Iu(xN\>xREGPHP)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʉQDʉ͍c_8>I I98ٮ QtI  UC9鰕: :)98 d9)I tIi D :);Id9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 197.026806 arcdeg .q''*G2G -@FFrFbFEE);I9 iI l-@i _}>  -@ )2@5<:@5w: I$RHorizontalControl.headingCmd 2.703681 radMv) 7(A@ Yt*3M@t*>[@yt*< t*? >t*H``?ޱ`kҿ s?`?݆?@j?)u*3M@ u*&Ys;Iu(xBi>xBNEiPIRѓC)~dGF@Y%`}%>))Q-D)-/Z5>I1 I=:8ٮ1 M=:81 QEtI 1 UEC915: 5:)5:8 Md9)III MtIiI UDI Mp:)M :IMfd9aIa9a=O@Contact HDG: 154.909483 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIS-@$>i 2@<:@w: ߙx|) +(AYt*M@t*[@yt*v't*x>>t*HԤ?'lҿ@>z?@?O?/?)u*M@ u*s;Iu*CxBB`>xB E)~GiwAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye]e>aiQmDqͅ+8>I I:8ٮ QtI  UC9鰝: W:)?:8 d9)I tIi D O:):Id9I9*G2GFFrFbFEE);I9 iI -@4S=i   2@<:@w: !5V>=l>6̃) (AYt.L@t.p[@yt.wt.>t.H4z?R ҿ@͙? 9?@%?+?)u.L@ u.qcs;Iu,xBr>xBIEHBa=H@iTIT) vGF@=YEX;E>IQQUDYuDu>Iy I:8ٮyy QtI y UC9y}ٮ: y)}:8 e9) e9I tIi D :)U:Ie9I9*G2GFFrFbFEE);I9 iIJ! q) )(A) IYt*YL@t*dg[@yt*kt*>t*H`@m? Wҿ@e?Q-???)u*YL@ u*Cs;Iu*Cx>Hf>x> E)~dGa 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅn8>ʁʁQDʉ͍;>I I:8ٮ QtI  UC9鰕: :),:8 e9)I tIi D :) :Ie9I9*G2GFFrFbFEE);I9 iIt:i 2@ <:@ w:NB{> Fސ) HC(AYt*L@t*F[@yt*t* >t*Ht?`rA@9ѿ(? ?`=h?`?)u*L@ u*DPs;Iu*CxRU_>xRS E {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i~=I)GR=F@=YEE>IIQMDI͕>I I:8ٮ QtI  UC9鰥c; ;);:8 e9)I tIi D ;)o;I2e9!I!9!*GQ2GQFYFYrFYbFaEaEa);I9 iI!9i 2@<:@w:}> ߱i5@A9j) |](Axsj>x(EGHAA)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y  >QD>I! I%:8ٮ!! Q-tI ! U-C9!%q: %t:)%H:8 5e9)1I1 =tIi1 =D1 5:)5Ɵ:I5Be9III9I*GY2GYFaFarFabFiEiEi);I9 iI|8i 2@<:@w: )I )2) yZw(A Yt.JL@t.Z@yt.t. >t.H`@-?Űѿ@?^???|?)u.JL@ u.d0s;Iu.Cx6Rr>x6EiFf=IF̓C)GF@ Ymy9>QD%MU%>I) I-:8ٮ)) Q5tI ) U5C9)-: -:)-U:8 =e9)9I9 EtIi9 ED9 =:)=:I=rRe9QIQ9QODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I59 1QiYIYYe:P7iaa i2@u<:@}w: ߙf) 5(Ax~`k>x~E)SGiF@5YEM>QYQ]Dauu>I I:8ٮ QtI  UC9鰍I; :)e:8 e9)I tIi D Ր:):Igee9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.029721 arcdeg .q''*G2GFFrFbF E E )%;I%9 !!i!I!)- 6i)) 12@5<:@=w: I1=Y>D) +(AYt*K@t*Z@yt*?t*>t*H@?(TѿV.?X?@9g?`?)u*K@ u*r;Iu*CxFr>xFIEHNp=HRp=i\I^ѓC)dGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}%:}>ʁʁQDʁ͍r>I I:8ٮ QtI  UC9鰍: [:)q:8 e9)I tIi D 1:):Iue9I9=O@Contact HDG: 154.909483 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E );I9 iI4i 2@<:@w: h,) (A);IYtBK@tB[Z@ytB,!tBX>tBH`C¡?ѿ$?%???)uBK@ uB@r;IuBCx^f>xb E)5GF@}Yʅd>ʁʁQDʁ͍} >I I:8ٮ QtI  UC9鰕: :):8 e9)I tIi D }:):Ie9I9*G2GFFrFbFEE);I9 iI3i 2@ <:@ w: V) (AYt:fK@t:qFZ@yt:w-t:"o>t:H N?@ϯhѿ? t?`U?T?)u:fK@ u:%r;Iu:CxFi>xFEiR=IP)SG 4= a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQmDiuTu>Iy I:8ٮyy QtI y UC9y}h: }:)}3:8 e9)I tIi D :)9:Ie9I9*G2GFFrFbFEE);I9 iIX2i 2@<:@w: i5?A9p) Z(AYt:9[K@t:DZ@yt:E t:6>t:H@e sB? п@N?@z???)u:9[K@ u:8r;Iu:Cxfm>xf'EGjAAHh)MGF@}YʅĞ;>ʁʁQDʉ͍>I I:8ٮ QtI  UC9鰕: B:):8 e9)I tIi D :):I#e9I9*G2GFFrFbFEE);I9 iIKz1i!s> 2@ <:@ w: !l) X(A Yt>g;K@t>rY@yt>4t>܊>t>H,? ֦пD??3%?O?)u>g;K@ u>_r;Iux^zEiqIy) +Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍf;>ʑʑQDʑ͝ʐ>I I:8ٮ QtI  UC9鰥: :):8 e9)I tIi D :):Ie9I9*G2GFFrFbFEE);I9 iI  )70i   2@<:@w: 1) Y,(AYt*&AK@t*1Y@yt*Q?t* >t*H?? 4IRп`MC?G?@?O?)u*&AK@ u* r;Iu*CxNt>xRlE)GixAF@Yʭ>ʩʩQDʱ͵u:>I I:8ٮ QtI  UC9鰽: :)ٶ:8 e9)I tIi D :):Ihe9I9*G2GFFrFbFE E );I9 !!i!I!)- $/i)) )2@5<:@5w: I5Y>=i>z) 3F(AYt*9J@t*DY@yt*t*)'>t*H`Bw?@ 8@lп`*@-? ?k?J?)u*9J@ u*yr;Iu*Cx2x>x2EH4H6a= {8Y|8:8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idId)EGF@Yʭ>ʱʱQDʱ==>IA IM:8ٮAA QutI A U}C9AE; Eb;)E;:8 e9)I tIi D ;)$;Ife9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rF1bF1E1E9)M;Im9 qqiqIqy}B-iyy y2@<:@w:%}> ߑ) `(A) IYt.J@t.܃Y@yt.VLt. >t.Hpങ?yEп; 6?x ? ? ?)u.J@ u.|r;Iu.CxNq>xRE)5vGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ):>ʙʙQDʙͥ$һ>I I:8ٮ QtI  UC9鰭: :)U:8 e9)I tIi D :):IXe9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.729622 arcdeg .q''*G2GFFrFbFEE);I9 iI,i 2@<:@w:*Mt> ) -y(AYt*J@t*oY@yt*ct*h>t*H`?f`Y2п ?i,?`? ?)u*J@ u*r;Iu(xB5g>xB*EiPIP)G = F@=YEt:E>AAQMDIMsJM>IQ I]:8ٮQQ Q]tI Q U]C9QU2: U:)U:8 me9)aIa mtIia mDa e:)e,:Iee9yIy9=O@Contact HDG: 154.909483 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI+i 2@<:@w: %jr> i19) ē(AYt*J@t*HY@yt*dS t*>t*H@A??@ пG@yu? ^? ?/?)u*J@ u*Ξr;Iu*CxBi>xBEGF?AHF@A)+GF@Y":>!!Q%D!-Mû->I) I5:8ٮ)) Q5tI ) U=C9)-: -9:)-`:8 Ef9)A Ef9IA MtIiA MDA E9:)EM:IE f9QIY9Y*Gi2GiFiFqrFqbFqEyEy);I9 iI*i 2@<:@w: )I iF) z(A@ Yt.M|J@t.X)Y@yt. t.F>t.H?+Ͽ@` ? v?1?{?)u.M|J@ u.zr;Iu.Cx6 c>x6 EiFf=ID)rSGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMz9M>IIQUDQU#]>IY Ie:8ٮYY QetI Y UmC9Y]\: ]:)]c:8 uf9)iIi utIii }Di mݱ:)m:Imf9I9*G2GFFrFbFEE);I9 iIo)i 2@<:@w: ) W{(AYt*iJ@t*Y@yt*ht*h>t*H#@.?`䆮kϿq`7? ???)u*iJ@ u*pr;Iu*CxZMl>xZLE)-Gi-yA-xAF@=Y=:E>AAQEDAM6M>IQ IU;8ٮQ M];8Q Q]tI Q U]C9QU: UM:)U ;8 mf9)aIa mtIia mDa eh:)e:Ie/f9yIy9y*G2GFFrFbFEE);I9 iIM(i 2@<:@w: 5R>=Y>)  b(AYt:W5J@t:bX@yt:t:>t:H@z?`< uRϿ]V?`? '?`?)u:W5J@ u:P}r;Iu:Cx^i>x^NEH\Hbp=i=I)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y*>QD>I I;8ٮ QtI  UC9%: :);8 f9)I  tIi  D p:):IAf9I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQY]Q'iYY a2@e<:@mw: y) 1(A) IYt*!t*Hj?`_Ͽ`@k?Oo? ? z?)u*!xR*E)GF@Yʅm9>ʉʉQDʉ͕:>I I;8ٮ QtI  UC9鰝: >:)$;8 f9)I tIi D O:):IdRf9I9*G2GFFrFbFEE);I9 iIw&i 2@ <:@w: !)  (AYt*&J@t*X@yt*'t*%>t*H\ \?\ s6Ͽ? 礂?`H?`W?)u*&J@ u*evr;Iu*Cx2X>x6VEiBf=I@)rvGv4=tF@Y%%>!)Q-D)- Y->I1 I=;8ٮ11 Q=tI 1 UEC915: 5J:)5W2;8 Mf9)AIA MtIiA MDA E:)E:IEbf9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gy2GyM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)=;I=9 99iAIAIM@$iII I2@U<:@]w: ii5@A9. ) d.(AYt*I@t*ϦX@yt*{ t*>>t*H i?̭`ο@`3)? do? W??)u*I@ u*ڔr;Iu*Cx=i>x=EGEAAHA)dGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅu:>ʁʁQDʁ͍)ɻ>I I;8ٮ QtI  UC9鰵>:  :)A;8 f9)I tIi D :)Iuf9I9& M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N5Initialize.q'5N}@Vehicle HDG: 193.956595 arcdeg .q'}'}*G2GFFrFbFEE);I9 iI#i 2@<:@w: )') H(A@ Yt.uI@t.X@yt.t.>t.H? /οxm?@U?\??)u.uI@ u.ۂr;Iu.CxB,t>xB#E {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 in=Ir̓C)mGF@Yʽ:>QD>I I;8ٮ QtI  UC9w: ;)N;8 f9)I tIi D ;);I؅f9I9=O@Contact HDG: 154.909483 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!)u;Iu9 yyiyIy|"i 2@<:@w: 2A) bb(AYt*LJ@t*WX@yt*t*b>t*H "?@ο`2f?|???)u*LJ@ u* ir;Iu*CxBi>xBE){B@I{@i{B={B>{@{BA{@|B!B9|B>'I}]??`)ׄGi%xA!F@-Y5c25>19Q=D9EW;E>IA IM;8ٮAA QMtI A UUC9AE: ES:)E[;8 ]f9)QIQ ]tIiQ eDQ U:)U˚:IU f9iIq9q*G2GFFrFbFEE2EzE!BE3Xb=@lLM篡;E>'I}]??`E@EES(A2@VzE{fģ?:sƿEg)@=DHdg To Contact =151.955521 degreesZEԕAbE :ELo$?BExo$?JEy RE jE rEn);I9 iI!i 2@<:@w: $Dacoustic_contact_range 40.439999 m$ hTrackAcousticContact.heading_to_contact 2.652124 rad$LDUSBL_Hydroid.xAngle -43.100000 arcdeg19Nk) tz|(AYt*I@t*X@yt*t* >t*H w?vdzο` W?'? xBjEHDHDiTIT)iiQmDiu狻u>Iy I;8ٮyy QtI y UC9y}: }į:)}i;8 f9)I tIi D :):IXf9I9*G2GFFrFbFEE);I9 iI7a i 2@<:@w: V%) c(A)(I,YtjI@tjX@ytj tjd>tjH5? % ɚο@29? "?@??)ujI@ ujYr;Iuhxrb>xv E)mSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y;>QD>I I;8ٮ QtI  UC9: `:)x;8 f9)I tIi D :):If9 I 9 *G2GF!F!rF)bF)E)E))E;IE9 AAiAIAIM7iIQ Q2@]<:@]w: i#}+) 0(AYt*AI@t*LyX@yt*3|t*n>t*H`?@7-ο? q????)u*AI@ u*wr;Iu*CxBsj>xB(EiRf=IRѓC)G%%=%4=F@]Ye1;e>aaQeDim\ֺm>Iq I;8ٮqq QtI q UC9qu; uܵ;)uX;8 f9)I tIi D ):If9I9*G2GFFrFbFEE)5;I59 QQiQIQY]#iYa a2@e<:@mw: ߙi=?A9d2)  (AYt*vI@t*xX@yt*t*6>t*H`f@7? iο ]Z?1???)u*vI@ u*Wr;Iu*CxNo>xREGR@AHP)GF@-Y-735>11Q5D1͝c>I I;8ٮ QtI  UC9鰥: :)Y;8 f9)I tIi D :):If9I9*G2GFFrFbFEE);I9  i I  i 2@<:@w: )\8) :(A@ Yt.%I@t.0X@yt.Tt.洉>t.H`^?X ο@j|?J??+?)u.%I@ u.v[r;Iu.CxBe>xBP EiR=IP)iiQmDiuc;u>Iy I};8ٮyy QtI y UC9y}S: }x:)};8 f9)I tIi D :) :Ijf9I9ODone Waiting.'O8Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA)};I9 iIi 2@<:@w: ߹->) (AYt*MI@t*XeX@yt*t*+>t*H@ i?@_οS,? 1?@ ? ?)u*MI@ u*[Tr;Iu*CxBm>xB'E)~SGiF@=YEaE>AAQMDIMѻM>IQ I];8ٮQQ Q]tI Q UeC9QU: U:)U;8 mf9)aIa mtIia mDa e:)ec:Ie>f9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.727661 arcdeg .q''*G2Gg)@FFrFbFEE);I9 iIL+@ig)@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.652124 rad1=V>E) (AYt.I@t.ׁX@yt.t.m>t.H`K?[Ǭ`"ο $??>??)u.I@ u.&`r;Iu.Cxf>x EH%=H!i=f=IE̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>:>Q D  ; >I I;8ٮ QtI  U%C9S: :)5;8 -g9)! -g9I! -tIi! -D! %:)%I:I%Ng9III9I=O@Contact HDG: 151.955521 arcdeg .''O4Initialize Wait Component.*G2GF F rF1bF1E1E1)M;IM9 IQiQIQug)@iu >q q2@}<:@}w: ߑ%K) 6w1(A) IYt*+I@t*6mX@yt*ot* >t*H0?@'oο ?́??@?)u*+I@ u*?r;Iu*CxBHf>xB E)GF@=YEA9E>AAQMDIM|YM>IQ I];8ٮQQ Q]tI Q UeC9QU: U:)U%;8 mg9)aIa mtIia mDa e:)eȗ:IeJg9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: R) RK(AYt*+I@t*6X@yt*/_t*>t*H ?k@(οã??`j?1?)u*+I@ u*sr;Iu*CxB}v>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ir=IvѓC)}vG4=F@Y>QD;>I I;8ٮ QtI  UC9; ] ;);8 g9)I tIi D z:)\:I0g9I9!*G92G9FAFArFIbFQEQEY)u;I}9 yyiyIy}i 2@<:@w: ߹i99)X) -e(AYt2rI@t2}X@yt2t2o >t2H? 䬿ͫο?2?I??)u2rI@ u2\*r;Iu2CxBU_>xBS EGFAAHD)dGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}>ʁʁQDʁ͍j>I I;8ٮ QtI  UC9鰕: :);8 g9)I tIi D ::):I@g9I9*G2GFFrFbFEE);I9 iISUi 2@<:@ w:6s> _) | (A Yt.tI@t.X@yt.t.l>t.Hn@?Ǭο/?"?CU? ~?)u.tI@ u. r;Iu.CxBo>xBEinf=Il)EGF@]Yee>aaQeDimm>Iq I;8ٮqq QtI q UC9qu; u;)u;8 g9)I tIi D [:):IQg9I9*G 2G FFrFQbFYEYEY)m;Iu9 iI1 i 2@<:@w:*> e) (AYt*I@t*X@yt*t*k#>t*H `?sQο``?@i‚?`-??)u*I@ u*Cr;Iu*CxNRr>xRE)]XGiaaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y2>QD8>I I<8ٮ M<8 QtI  UC9: :)<8 g9)I tIi D :)o:Icg9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AEYiAA I2@M<:@Mw:mO> q=N>9l) j(AYt*I@t*X@yt*!^t*d->t*H{@o? @Oο@y@Q? ?-?`m?)u*I@ u*Cq;Iu(xNMl>xRLEHRp=HRa=i`I`)ƄGF@-Y5S:5>11Q5DʩͭF:>I I<8ٮ QtI  UC9鰵: :)<8 g9)I tIi D }:)Isg9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%i!! )2@-<:@5w:9 9)9I9 's) (A) IYt.I@t.ٓX@yt.t.X>t.H!?Uοg.?"? k? ?)u.I@ u.ar;Iu.Cx6b>x6Q E)n҄GF@Y%눹%>!)Q-D)-:->I1 I=<8ٮ11 Q=tI 1 UEC915: 5 :)5<8 Mg9)AIA MtIiA MDA E:)E :IE@g9YIa9a&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN5@Vehicle HDG: 193.890288 arcdeg .q'='=*G92G9F9F9rFAbFAEIEI)];I]9 aaiaIaimsiii i2@u<:@uw: ߉W+y) uu(AYt*I@t*X@yt*t*ӊ>t*H`?  ο 4?߁? $?f?)u*I@ u*q;Iu*CxBi>xBEiR=IP)~ G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>iiQmDim!u>Iq I}<8ٮqq QtI q UC9qu: u:)u*<8 g9)I tIi D }:)o:Ig9I9=O@Contact HDG: 151.955521 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)};I9 iI:i 2@<:@w: i19) R(AYt* I@t*X@yt*Ut* >t*H@q ?@tĬ`4οg`c?ʃ?\?_?)u* I@ u* r;Iu*CxNp>xN%EGR@AHP)҄GF@-Y-->11Q5D1=:=>IA IE<8ٮAA QMtI A UMC9AE}: Eٮ:)E_8<8 Ug9)QIQ ]tIiQ ]DQ U:)Uw:IU]g9iIi9i*Gy2GyFFrFbFEE);I9 iI$i 2@<:@w: E?) 3(A*@ (YtN?I@tNJwX@ytNotN>tNH`B?@ܬο ?:b??i??)uN?I@ uN7r;IuNCxVn>xVEidIh)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ9>ʙʙQDʙͥۡ>I I<8ٮ QtI  UC9鰭 : s:)F<8 g9)I tIi D :)ȗ:Ig9I9*G2GFFrFbFEE) ;I 9  i I Ri 2@<:@%w: 1sg) 4(AYt*I@t*X@yt*Qt**(>t*H -?@{ο@m1r?'j??@?)u*I@ u*Sq;Iu(xBl>xBE)~+GiyAF@ Yu;>QDV;%>I! I-<8ٮ!! Q-tI ! U-C9!%}: %į:)%S<8 =g9)1I1 =tIi1 =D1 5ͭ:)5g:I5?g9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߱5V>=Y>N) M(AYt*lI@t*wX@yt* t*+>t*H``C?Ы@Cο@w M8?>?`_? ?)u*lI@ u*^r;Iu*CxVs>xZEHXHZp= {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 if=I!)GF@Yv>QD3>I I<8ٮ QtI  UC9: ^;)b<8 g9) I  tIi  D  f;) ;I pg91I199*GQ2GQFYFYrFabFaEaEi);I9 iIa i 2@<:@w: y) 8g(A)IYt.I@t.ĦX@yt.)t.>t.H ?_ο`@?`5?E??)u.I@ u.Vq;Iu.CxBs>x@)E+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YAIiAAɅ|A酝A鄙 )F@Yʽ>QD<-;>I I<8ٮ QtI  UC9: :)#p<8 g9)I tIi D :):I7g9I9*G 2G F F FFArFbFEE5G7)5; 15I"85I"I=9 ==i9I=AEa3 iAA I2@M<:@Mw: aHa) (AYt*I@t*X@yt*L&t*.y>t*H ?=@οD s?zɄ? ??)u*I@ u*5r;Iu*CxBMl>xBLEiPIP)G  F@Yʍ0:>ʑʑQDʑ͝U>I I<8ٮ QtI  UC9鰥O: :)}<8 g9)I tIi D _:)=:Ig9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEE  ) ;  8 I 9 rɳiI* i 2@%<:@%w: 9i5@A9) z(AYt6I@t6vX@yt6t6>t6H7?`3ο@Ar?%|?`??)u6I@ u60%r;Iu4x>i>x>NEG@H@)vGa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M a )M@a M IIɄIiMMb@Mb@Mb@IMIIiIMMɅMMI I)IF@eYmE;m>iiQmDiu(u>Iy I<8ٮyy QtI y UC9y}: }>:)}^<8 h9) h9I tIi D m<)t*H`?@lο`? ?`LG? S?)u*I@ u*OHr;Iu(xBk>xBEiPIP)~dGF@Y%=:%>))Q-D)-:;5>I1 I=<8ٮ11 QEtI 1 UEC915: 5:)5՘<8 Mh9)III MtIiI UDI MՐ:)M,:IMuh9aIa9a=O@Contact HDG: 151.955521 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@U<:@]w: ie) c)(AYt*I@t*X@yt* t*Y>t*Hb7?ǫο?@n\?V??)u*I@ u*Kr;Iu*CxNu>xRE)GiwAF@=YEE>AIQMDIMU>IQ I]<8ٮQQ Q]tI Q UeC9QU: U:)U¦<8 mh9)aIa mtIia mDa e:)ec:Ie.h9yI9*G2GFFrFbFEE);I9 iIMii 2@<:@w: =R>=]>+ǹ)  (AYt*;I@t*FX@yt*k7t*Ȍ>t*H]?@x嫿οl ?T?=`??)u*;I@ u*Fr;Iu(xB,t>xB#EHF=HDiR=IP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYee>iiQmDiuu>Iy I}<8ٮyy QtI y UC9y}_: }x:)}<8 h9)I tIi D :):I?h9I9*G2GFFrFbFEE);I9 iIO0i 2@<:@w: h) (A)4t*H 6@? οu? ? &??)u*zI@ u*fr;Iu*CxBz>xB E)~dGF@=YEqf;E>AAQMDIMbM>IQ I]<8ٮQQ Q]tI Q UeC9QUJ: U:)UT<8 mh9)aIa mtIia mDa e:)e:IePh9yI9*G2GFFrFbFEE);I9 iIPi 2@<:@w: $) (AYtnxI@tn}X@ytn2tn…>tnH`h? _ ο`{.?`P? ??)unxI@ unr;IunCxvHf>xv EiI)mGu%=u!>a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y ;>QD>:>I  I <8ٮ   QtI  UC9  `: c:) <8 h9)I %tIi %D %:):Ibh91I191*GA2GAFAFIrFQbFQEQEQ)e;Im9 iiiiIiquiqq y2@}<:@w: ߑi11T) 6(AYt*eI@t*pX@yt*,t*/<>t*H ?ѫο42:??U??)u*eI@ u*r;Iu(xBsj>xB(EG@H@)GF@]Ye:e>aaQmDim%;m>Iq I<8ٮqq QtI q UC9qu=; u;)u <8 h9)I tIi D :):Ish9I9*G2GFFrFbFEE!)5;IU9 QQiYIYY]iaa a2@m<:@mw: ߙ) qP(A Yt.(I@t.3X@yt.t.m>t.H@@?^`ο$?? (?@?)u.(I@ u.r;Iu.CxNg>xRsE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 if=I)dGF@uY}>ʁʁQDʉ͵T>I I<8ٮ QtI  UC9鰽q'< ?(<)G<8 h9)I tIi D :):Ih9)II9QO]Done Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFbFEE);I9 iId)i 2@<:@w: ) @Lj(AYt*عI@t*fX@yt*C t*>t*HmxR E)5Gi15wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YPBIiPBPBɅQPB )F@Y欺>QDj>I I<8ٮ QtI  UC9: :)*<8  h9)I  tIi  D :)|:Ih9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N5Initialize.q'5N]@Vehicle HDG: 193.733057 arcdeg .q']'e*Ga2GaFaFaFiFm4BrFibFiEqEqE%); b 8b I9 iIi 2@<:@w: ߹=V>=R>) N'(AYt*I@t*X@yt*Ǫ*t**>t*H yp?@Jο@ ҿ??U?0??)u*I@ u* r;Iu*CxB'n>xBpEHBp=H@iR=IT)vGF@=YEʺE>AAQMDIM;M>IQ I]=8ٮQ M]=8Q Q]tI Q UeC9QU: U4:)UD=8 mh9)aIa mtIia mDa ep:)e:Ie̥h9yIy9=OU@Contact HDG: 151.955521 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYFaFarFabFaEiEiv); 8I9 tijiI+i 2@<:@w: ') (A);IYt:zI@t:X@yt: t:%m>t:H_?eͪ~ο8@[(?@?G}? ?)u:zI@ u:_ s;Iu:Cx^i>xbE)GF@YC:>QD =>I I=8ٮ QtI  UC9鰍: :)h=8 h9)I tIi D :)o:I~h9I9*G2GFFFFrFbFEErF); v9vI9 əiIǸ;i 2@ <:@ w: Q) ݷ(AYt*0I@t*;tX@yt*0t*=>t*Hྲ?J|ο@p?`???)u*0I@ u*_s;Iu*CxNU_>xRS Ei^f=I\)SG%<%C=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e a )m@a m aaɄaieMb@Mb@Mb@IeIaiaeeɅeaa a)aF@}Yʅ:>ʁʉQDʉ͍0>I I=8ٮ QtI  UC9鰕: :) #=8 h9)I tIi D :)ȗ:I1h9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !i5?A9J9) A(AYt* I@t*zX@yt*Gt*>t*H4? %쫿ο`p?Z?A?t?)u* I@ u*os;Iu*CxBq>xBEG@H@)~dGF@=YE00:E>AIQMDIMl:M>IQ I]=8ٮQQ Q]tI Q UeC9QU: Ul:)U0=8 mh9)aIa mtIia mDa a)ec:Ieh9yIy9*G2GFFrFbFEE);I9 iIi > 2@<:@w: Se) g(A@ Yt*I@t*{X@yt*Lt*>t*H@d? @ο? ր?`f??)u*I@ u*Qr;Iu*CxN_>xN Ei\I\)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Y}}>ʁʁQDʁ͍9>I I=8ٮ QtI  UC9鰕u: x:)>=8 h9)I tIi D :):I9h9I9*G2GFFrFbFEE);I9 iI-i 2@<:@ w: !K) zp(AYt*I@t*ގX@yt*!t*q>t*H?~q@Zο|N?#??? #?)u*I@ u*r;Iu*CxVm>xV'E)%vGi)-xAF@5Y=M=>AAQEDAM?;M>IQ IU=8ٮQQ Q]tI Q U]C9QU: U:)U1L=8 eh9)aIa mtIia mDa e:)e:Ieh9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: 5R>5Y>vu) H(AYt*I@t*ʟX@yt*a%t*0>t*H`<?5P .ο;\??³??)u*I@ u*Ur;Iu*CxBo>xBJEHFa=HDiV=IT)UGF@eYm>m>iiQmDqu\%;u>Iy I=8ٮyy QtI y UC9y}F: }):)},Z=8 i9) i9I tIi D :):I$ i9I9*G2GFFrFbFEE);I9 iI  nSi   2@<:@w:-;> 1D ) &9(A) IYt.I@t.X@yt.@t.R>t.H@I@?1櫿@{οD ԛ? ??`?)u.I@ u.Tr;Iu,xBeq>xBnE)~Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ:>ʡʡQDʩͭ>I I=8ٮ QtI  UC9鰵į: W:)5h=8 i9)I tIi D :):Ii9I9O-Done Waiting.'5O58Uninitialize Wait Component.*G12GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFaEaEa);I9 iIi 2@<:@w:0e> ]) S(AYt.EI@t.PX@yt.t.Z>t.H`?Aο@@?$#?`?@9?)u.EI@ u.r;Iu.Cx>j>xBqE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`If̓C)EvG]a=e=F@Yʝa:>ʡʩQDʩ͵;>I I=8ٮ Q tI  UC9%< T&<),w=8 i9)I tIi D t:)E:IP0i9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.933878 arcdeg .q''*G2GFFrFbFEE)];I]9 YYiaIaimxiqq q2@}<:@w:  ) I i19 ߹) Ml(AYt*YJ@t*dX@yt*t*A>t*H @2?mο?F?@3?@?)u*YJ@ u*r;Iu*Cx>Z>xBzEGB?AH@){B8gI{@i{B={B7>{@{@{@|BA9|B?JP!)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m a )ma )m aaɄaieMb@Mb@Mb@YeBIaiaeBeBɅelBeBa a)aF@Yʽ:>QD;>I I=8ٮ QtI  UC9<  <)=8 i9)I tIi D :):I@i91I191=Ou@Contact HDG: 151.955521 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyFyF}BrFbFEE2EzEAE u.@k'`Q3E?JP!E8gEE$IU3UK ,@dE&鿗a}?c#xȿE4@=DHdg To Contact =143.236662 degreesZE!gAbE:Euo$?BELo$?JE} REy jE3rE u[8)u; qu#8u#Iu9 u}iyI}p跩yxi 2@<:@w: ߡ$Dacoustic_contact_range 24.600000 m$}hTrackAcousticContact.heading_to_contact 2.499951 rad$LDUSBL_Hydroid.xAngle -51.750001 arcdeg;!) (A Yt.)J@t.4X@yt.I&t.C>t.H w m?z#Ͽ ?"Ʉ??Y? ?)u.)J@ u.r;Iu.CxB`>xB. EiPIP)GF@Y%j%>!!Q-D)-А;->I1 I==8ٮ11 Q=tI 1 U=C915: 5#:)5=8 Mi9)AIA MtIiA MDA A)AIEOi9YIa9a*Gq2GqFqFqFFrFbFEE(h); 8͸I9 ‰iIc'i 2@<:@w: )\') ɓ(AYt*J@t*X@yt*Y+t*SJ>t*Hv R?-Ͽ>}?`w??@ ?)u*J@ u*c?r;Iu*CxBsj>xB(E)i xA wAF@Y%[X%>!)Q-D)5=>II I]=8ٮII Q]tI I U]C9IM; M;)M=8 mi9)aIa mtIia mDa e:)eR:Ie ai9I9*G2GFFFFrFbFE!E!I)m; img9ugIu9 uqiqIu𼸩y}[%iyy 2@<:@w: ߙ5V>=t>-) ;p(AYt*?8J@t*JX@yt*2t*e>t*H?`[@WϿ`BsH? B?૟?`S?)u*?8J@ u*q;Iu(x>:m>x>EH@H@i^f=I^ѓC)a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e a )e@a e aaɄaieMb@Mb@Mb@IeIaiaeeɅeea a)aF@}Yʅs>ʁʉQDʉ͍;>I I=8ٮ QtI  UC9: :)J=8 i9)I tIi D F:)Z:Iri99I999*GI2GQFFrFbFEE);I9 iIi 2@<:@ w: Yx4) J(A)IYt.4EJ@t.?X@yt.3t.K>t.H` "? `3qϿ`~??C??)u.4EJ@ u. r;Iu.CxBl>xBE)9F@]Ye;e>aaQeDim;m>Iq I}=8ٮqq Q}tI q U}C9qu: u:)u=8 i9)I tIi D :):IBi9I9*G2GFFrFbFEE);I9 iIȨi!! !2@-<:@-w: A;) t%(AYt*gJ@t*Y@yt*5I t*ri>t*Hl'? ;Ͽ@I;?@???Z?)u*gJ@ u*q;Iu*CxB`k>xBEiLIR̓C)|=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ:>ʱQD;;>I I=8ٮ QtI  UC9: _:)=8 i9)I tIi D :):Ii9 I 9 *GA2GAFAFArFIbFIEIEI);I9 iI8 i 2@<:@w: i5@A1fA) L(AYt*uJ@t*"Y@yt*J(t*ĉ>t*H ?@"`/Ͽ@-@B?@ ?`?b?)u*uJ@ u*q;Iu*CxBp>xBEGBAAHD)F@Y%%>))Q-D)5~;5>I1 I==8ٮ11 QEtI 1 UEC915: 5:)5=8 Mi9)III MtIiI UDI M:)M9:IMi9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFYEaEa);I9 iIڐ i 2@<:@w: H) !(A@ Yt*J@t*0Y@yt*`+t*_>t*H"? ŃϿQ`"o?k?@?(?)u*J@ u*zq;Iu*CxB:m>xBEiLIP)~GF@Y%c%>!!Q-D)- ;->I1 I==8ٮ11 Q=tI 1 U=C915: 5D:)5=8 Mi9)AIA MtIiA MDA E:)EZ:IEi9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 194.438547 arcdeg .q''*G2G4@FFrFbFEE)e;Ie9 aiiiIimh(@iq4@ 2@<:@w: $uRHorizontalControl.headingCmd 2.499951 radt*H `V0? m Ͽx?p?RW??)u*J@ u*q;Iu*Cx>:m>x@)z҄Gi|~xAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Y}m:}>ʁʁQDʁ͍Q9>I I=8ٮ QtI  UC9鰕N; ;)=8 i9)I tIi D t:):Ii9I9=OU@Contact HDG: 143.236662 arcdeg .'U']O]4Initialize Wait Component.*GY2GYFYFYrFabFaEiEi)];I]9 YYiYIYe'_%@iaa i2@<:@w: 5>=e>#U) U(AYt* J@t*gY@yt*t* 0>t*H~?:@)п_s?r?`?=?)u* J@ u*}q;Iu*CxBb>xBQ EHBp=HD {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ir=IrѓC)GF@Yʵ":>ʹʹQD;>I I=8ٮ QtI  UC9; ;)=8  i9) I  tIi  =D  ;) ;I i9IIQ9Q*G2GFFirFqbFqEE);I9 iI @i) )2@5<:@=w: ߑN[) lo(A)IYt.UJ@t.`hY@yt.]t.X>t.H`?欿 *п6? ?? :?)u.UJ@ u. iq;Iu.CxBZe>xB E){BUI{@i{B={@{@{BA{@|B3A9|Boy?}=x)%vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQDʉ͍WP9>I I>8ٮ M>8 QtI  UC9鰝: :) >8 i9)I tIi D }:):Ii9I9*G2GFFrFbFEE2EzE3AETr2@=:N4Eoy?}=xEUEEL67+-@glE^^ʉh?M6~ǿE%(%@=DHdg To Contact =147.856069 degreesZE_iAbE:Eko$?BEuo$?JERE} jEܥrE3) ;I9 iIS@i !2@%<:@-w: 9$]Dacoustic_contact_range 27.900000 m$ehTrackAcousticContact.heading_to_contact 2.580575 rad$eLDUSBL_Hydroid.xAngle -47.850000 arcdega6b) G(AYt2}J@t2fY@yt2Ht2/{>t2H @?@@3)п t:? ȃ?`??)u2}J@ u2p;Iu0xNvW>xR|Eibf=I`)%G-%=)F@5Y=/9=>AAQEDAErM>II IU>8ٮII QUtI I U]C9IM: MN:)M>8 ei9)aIa etIia mDa eF:)e|:Ie6i9qIy9y*G2GFFrFbFEE);I9 iI@i 2@<:@w: i5?A9_h) ) (AYt*J@t*Y@yt*$t*(>t*H 9#?A`Nп@?ƃ?7?@G?)u*J@ u*p;Iu*CxBf>xB EG@HD)MGF@UY]d]>aaQeDamX;m>Iq Iu>8ٮqq Q}tI q U}C9quB: u:)u(>8 j9) j9I tIi D A:)U:Ij j9I9*G2GFFrFbFEE);I9 iIA@i 2@<:@w: n) (A Yt.J@t.Y@yt..t.>t.H?E`mKп4?څ?`b?r?)u.J@ u.Evp;Iu.CxBg>xBsEiLIR̓C)M+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭκ>ʱʱQDʱͽ >I I>8ٮ QtI  UC9ի: 1:)7>8 j9)I tIi D z:)W:Ij9I9*G2GFFrF bF E E )%;I%9 !!i!I)-Q@i)) 12@=<:@=w: Iru) '(AYt*J@t*Y@yt*!t*Q>t*H9M?9R@4eпQ $3???S?)u*J@ u*p;Iu*Cx>c>xB E)zSGi||F@=YE ;E>IIQMDIMu;U>IQ I>8ٮQQ QtI Q UC9QU: U5:)UgD>8 j9)I tIi D S:)$:I-j9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF EE)%;I%9 ))i)I)5@i11 12@=<:@=w: I5V>5a>{) (AYt*UJ@t*`Y@yt*#t*[В>t*H̫?Sп`? u?@??)u*UJ@ u*~p;Iu(xBi>xBEHBa=HFa=iPIRѓC)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeҹm>iiQmDiuh2u>Iy I>8ٮyy QtI y UC9y}: }а:)}YR>8 j9)I tIi D }:):I>j9I9&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'=Ne@Vehicle HDG: 194.780384 arcdeg .q'e'e*Ga2Ge%(%@FiFirFibFqEqEq);I9 iI2#@ix>%(%@ 2@<:@w: $ERHorizontalControl.headingCmd 2.580575 rad)  (A) IYt*J@t*Y@yt* t*>t*H;@Fq?`F ,Oп`d?? N%??)u*J@ u*f5p;Iu(xBi>xBE)~GF@ Y 4p; >QD<>I! I%>8ٮ!! Q-tI ! U-C9!! %):)%_>8 5j9)1I1 =tIi1 =D1 5J:)5:I5Oj9III9I=O@Contact HDG: 147.856069 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI"&@i]k> 2@<:@w: G) m$(AYt2J@t2Y@yt2!@滙t2^>t2H` k? (Zп@`?|?N??)u2J@ u2p;Iu2CxNo>xNJEib=Ib̓C)%+G))a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍm;>ʉʉQEʑ͝:>I I>8ٮ QtI  UC9鰥:: :)n>8 j9)I tIi D :)Z:I`j9I9*G2GFFrFbFEE);I9 iI y0'@i   2@<:@w: )i11U؎) C>(AYt*K@t*Y@yt*1给t*b&>t*H@?"`pп`0U?`|???)u*K@ u*o;Iu*CxBc>xB EGB@AH@)~SGF@=YEE>AIQMEIMe;U>IQ I]>8ٮQQ Q]tI Q UeC9QU: U):)U{>8 mj9)aIa mtIia mDa ep:)ec:Iefqj9yI9*G2GFFrFbFEE);I9 iI&@ci > 2@<:@w:?΅> T) dX(A Yt*K@t*Y@yt*ht*d>t*H``)B? п@ ? -?!X?K4?)u*K@ u*Cp;Iu*CxB`>xB. E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 irf=IrѓC)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@EYMiM>QQQ]EYex;e>Ii I}>8ٮii Q}tI i UC9im] ; m;$;)m>8 j9)I tIi D L ;)* ;Ij9I9*G2GFFrFbFEE);I9 iI %(%@i   2@<:@w: )I ߁d) Dq(AYt2K@t2Y@yt2`t2^>t2H V?gܥ3п`#* ?&??s??)u2K@ u2q;Iu2Cx:b>x: E){Gi wA wAF@=YETE>AAQMEIM/M>IQ I]>8ٮQQ Q]tI Q UeC9QU: U:)U>8 mj9)aIa mtIia mDa e:)e :Iepj9yIy9*G2GFFrFbFEE);I9 iIqbi 2@<:@w: =R>9Ң) Nԋ(AYt*!K@t*Y@yt*ǔt*]>t*H@`P?@(eп<B??J? ?)u*!K@ u*2q;Iu*CxBo>xBJEHB4=HDiPIT)5vGF@]Ye4e>aaQmEim!:m>Iq I}>8ٮqq Q}tI q UC9qu: u:)u >8 j9)I tIi D :)N:Ij9I9*G2GFFrFbF E E )=;IE9 AAiAIAIMaaiII Q2@u<:@}w: ߉g) (A)4t.H`H?e@pпQ@t? ? /?ܺ?)u.{K@ u."q;Iu.CxNU_>xRS E)edGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y<>QE>>I I>8ٮ QtI  UC9}: _:)n>8 j9) I  tIi  D  :) :I bj9!I!9)O=Done Waiting.'=O=8Uninitialize Wait Component.*GA2GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFIEIEQ)e;Ie9 aiiiIiiu_iqq q2@}<:@}w: ߉&) (AYt*J@t*wY@yt*t*6>t*H`l?`甬9п@Q?` X?4?`?)u*J@ u*9Zp;Iu*CxBMl>xBLEiN=IP)|=F@=YE]<E>AAQEEIMM>IQ I>8ٮQQ QtI Q UC9QU< U<)U{>8 j9)I tIi D %:):I.j9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 194.687671 arcdeg .q''*G2GFFrFbFEE);I9 iI?^i 2@<:@w: i11) Mg(AYt*HJ@t*SY@yt*4t*M>t*H@-?*gпmK@{?@?d?`Z?)u*HJ@ u*Wzp;Iu*CxRn>xREGRAAHP)a 1]a 1] a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a u a 9u@a u a -u@a } iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥ:>ʡʩQEʩͭ;>IQ I]>8ٮQQ Q]tI Q U]C9QU: Uݱ:)U>8 ej9)aIa mtIia mDa e}:)e:Iej9yI9=O@Contact HDG: 147.856069 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I%9 !!i!I!)-\iII Q2@U<:@]w: ߉8) A(A@ Yt.J@t.קY@yt.|7;t.D>t.H0>?o GhпX d? f?`;]?i?)u.J@ u.p;Iu.CxRU_>xRS Ei\I`)F@-Y-5>11Q5E1E}8E>IY Im>8ٮYY QutI Y UuC9Y]); ]:)]>8 }j9)yIy tIiy Dy }:)}:I}j9I9*G2GFFrFbFEE);I9 iI[i 2@<:@w: V )  (AYt*J@t**Y@yt*0rt*nu>t*H J+?@PMkпm?@]W?a??)u*J@ u*p;Iu*CxBMl>xBLE)~GixAF@ Y >QE-:5>IA IM>8ٮAA QMtI A UUC9AEF: E:)E>8 ]j9)QIQ ]tIiQ eDQ Uc:)QIU}j9iIq9q*G2GFFrFbFEE);I9 iIMZi 2@<:@w: 5V>=]>wJ) &(AYt.J@t.uY@yt.1Vmt.U>t.H?`7п(`? ? q)?S?)u.J@ u.p;Iu.CxBs>xBEHFp=HFp=iPIR̓C) ʁʁQEʉ͍>I I>8ٮ QtI  UC9鰕p: 0:)>8 k9) k9I tIi D Ԙ:):I k9I9*G2GFFrFbFEE);I9 iIXi 2@ <:@ w: !3) @(A);Ix~m>x'E)}SGF@Yʽ>QE>I I?8ٮ M?8 QtI  UC9: :)?8 k9)I tIi D p:)ȗ:IJk9I9*G 2G F F rFbFEE)-;I-9 )1i1I19=Wi99 92@E<:@Ew: Y\) Z(AYt*ktJ@t*v!Y@yt*6t*O>t*H`NX?8ͥϿ@fZ "? ?A?X?)u*ktJ@ u*@p;Iu(xZ^>x^ E {hY|lr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i5f=I=ѓC)G4=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@mYu[<u>yyQ}EyͅE>I I?8ٮ QtI  UC9鰍; 8;)?8 k9)I tIi D :)e;I_.k9I9*G2GFFrFbFEE)%;I%9 ))i)I)1=Vi99 92@E<:@Ew: Qi19Q) Dt(AYt*-vJ@t*8#Y@yt*?t*6P>t*H]?@@,Ͽ XK?@??`V?)u*-vJ@ u*0ip;Iu(xBx>xBEGB@AH@)uʉʑQEʑ͕9>I I?8ٮ QtI  UC9鰝: :)R!?8 k9)I tIi D :):I >k9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  #Ti   2@<:@w: )qn) sd(A@ Yt*=J@t*X@yt*Dt* 3x>t*H O?YbϿ T&?K?`F?`?)u*=J@ u*Gp;Iu(xBxp>xFEiZ=I\)GF@Yʍ=>ʑʑQEʑ͝ >I I?8ٮ QtI  UC9鰥\: _:)!/?8 k9)I tIi D E:):IOk9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.194736 arcdeg .q' ' *G2GFFrFbFE!E!)5;I59 99i9I9AESiAA A2@M<:@Mw: a) %A(AYtBʹI@tBfX@ytB`tBYw>tBH`q? ?bο Q'O7?`9??M?)uBʹI@ uBıp;IuBCx^i>x^E)=+GiAExAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y烻>QE>I I?8ٮ Q tI  U C9: t:)T=?8 k9)I tIi D :):I`k9)I)9)=Oe@Contact HDG: 147.856069 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFiFirFqbFyEyEy);I9 iI%Ri 2@<:@w: ߹5>=i>) (AYt>]I@t>h`X@yt>+'t>i>t>H*[?VοoC t?`e?m?*?)u>]I@ u>p;Iu>CxN}v>xREHPHRa=i`I`)SGF@]Ye^<e>aaQeEim6m>Iq I}?8ٮqq Q}tI q U}C9qu: u:)uJ?8 k9)I tIi D %:)|:Ipk9I9*G2GFFrFbFEE);I9 QQiQIQY]PiYY a2@e<:@mw: ߙȮ) (A)IYt6`I@t6 X@yt6r/黙t6i>t6H $? \}Ϳ@O@hL? %}?h?,?)u6`I@ u6Op;Iu6CxBMl>xBLE) GF@Y%;%>))Q-E)-I9 I=?8ٮ99 QEtI 9 UEC99=: =l:)=X?8 Mk9)III MtIiI UDI Mį:)M^:IMk9aIa9a*G2GFFrFbFEE) ;I9 iI)Oi 2@<:@w: ) @(AYt*4;I@t*?W@yt* t*;b>t*H P$?뫥lͿ^I?|??8?)u*4;I@ u*p;Iu*Cx6xp>x6Ei@I@)rƄGr%=pa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEdE>IIQMEIUU>IY Ie?8ٮYY QetI Y UeC9YY ]į:)]e?8 mk9)iIi utIii uDi mW:)m4:ImҒk9I9*G2GFFrFbFEE);I9 iI{HNi 2@<:@w: i11_) P(AYt* I@t*W@yt*Ot*~g>t*H(@?Ϳ`X`kL??U?`.?)u* I@ u*:q;Iu*CxB>xBBEGBAAH@)~GF@5YM'M>IIQMEIUƻe>Iq Iu?8ٮqq Q}tI q U}C9qu: u|:)us?8 k9)I tIi D %:)9:Ik9I9*G2GFFrFbFEE);I9 iI}Li 2@<:@w:  ) K)(A@ YtJH@tJ_W@ytJ%dtJtJH 83?Xb̿W`J?৒?r?p#?)uJH@ uJq;IuHxfRr>xfEiI̓C)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%DA%>!)Q-E)5*^5>I9 I=?8ٮ99 QEtI 9 UEC99=: =:)=?8 Mk9)III UtIiI UDI Mݱ:)MU:IMk9aIa9a*Gq2GqFqFyrFybFEE);I9 iIKi 2@<:@w: ) ^cC(AYt*$H@t*/AW@yt* Lt*`>t*H`6` ?Y@&̿sr?U?y? xBE)1i=wA9F@EYMS};M>IQQUEQUU>IY Ie?8ٮYY QetI Y UmC9Y]: ]):)]Y?8 uk9)iIi utIii }Di m:)mϸ:Imk9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI`Ji 2@<:@w: 5Y>=a>|) <](AYt*_H@t* W@yt* t* Pd>t*H@<PM?`@p˿ s?˂?[M? 4?)u*_H@ u*q;Iu*CxBl>xBEHBa=HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ivf=Ix)GF@Yx<>QEL>I I ?8ٮ Q tI  U C9o;  :)՝?8 =k9)9I9 EtIi9 ED9 =z:)=E:I=k9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.522214 arcdeg .q' ' *G 2G F F1rF1bF1E9E9)u;Iu9 qqiqIqy}Hiyy 2@<:@w: ߹") w(A) IYt*HH@t*V@yt*t*N/\>t*HR? (?(%˿U`?x?`O?C?)u*HH@ u*γq;Iu(xNh>xRE)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y:>QED_>I I?8ٮ QtI  UC9 : :)?8 k9)I tIi  D :):Ik9I9=OU@Contact HDG: 147.856069 arcdeg .'U'UO]4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi)};I}9 iIGi 2@<:@w: ߩ $) V(AYt*-H@t*8V@yt*xt*\>t*HC %?@˿j?n?AM?@C?)u*-H@ u*q;Iu*CxBg>xBsEiR=IR“C)҄G 4= F@=YEvE>AAQMEIMP޻M>IQ I]?8ٮQQ QetI Q UmC9QUn; U;)U?8 k9)I tIi D ؛:)^:Ik9I9*G2GFF1rFIbFQEyEy);I9  i I11=^Fi99 92@E<:@Ew: yi194*) ͪ(AYt*G@t*$V@yt*0t*]>t*H G7?롿`ʿ"+?`?ڀ?@,@?)u*G@ u*_q;Iu*CxBeq>xBnEGF@AHD)+Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmIm>qqQuEqu}>I I?8ٮ QtI  UC9鰅: t:)?8 l9) l9I tIi D :):I% l9I9*G2GFFrFbFEE);I9 iI9Ei 2@<:@w: 1) (A@ Yt* H@t*V@yt*t*Y>t*H`E O? M˿`?FC?@?`G?)u* H@ u*Mr;Iu*CxB{>xBEiRf=IR̓C)~GF@=YE\;E>AAQMEIMP;M>IQ I]?8ٮQQ Q]tI Q UeC9QU: Ul:)U=?8 ml9)aIa mtIia mDa e[:)eo:Iel9yIy9*G2GFFrFbFEE);I9 iICi 2@<:@w: F7) D(AYt*fH@t*qV@yt*x#t*>d>t*HD`?@2t-˿`z@?z?X?`(4?)u*fH@ u*U?r;Iu(xBf>xB E)|ia 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeپe>aaQmEim`:m>Iq I}?8ٮqq Q}tI q U}C9qu: u:)u*?8 l9)I tIi D ) :I#,l9I9*G2GFFrFbFEE);I9 iIBi 2@<:@w: 5>9Zr=) Ef(AYt*H@t*V@yt*W$t*_a>t*HAF ±?v˿ړ?`芄?@?9?)u*H@ u*gQr;Iu(x>q>x>EH@HBp=iN=IL)~GF@=Y=ᡸE>AAQEEAM M>IQ I]?8ٮQQ Q]tI Q U]C9QUu: UW:)U?8 el9)aIa mtIia mDa e-:)e:Iet:HkB]? 5Y˿n?`>?`?*?)u:++H@ u:q;Iu8xZZe>xZ E)}ʹQE;>I I?8ٮ Q tI  UC9; 6;)F?8 %l9)I %tIi %D t:)˚:INl91I191OEDone Waiting.'EOM8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFYEYEY)m;Im9 qqiqIqy} @iyy 2@<:@w: ߙJ) ,(AYt*%H@t*V@yt*ESt*l>t*HB ?F^WO˿ _j)?T?sW?y%?)u*%H@ u*q;Iu*CxB?s>xBEiRf=IRѓC)=SGAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʩʩQEʩͭY>I I@8ٮ M@8 QtI  UC9鰽: :) @8 l9)I tIi D ::):I_l9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 192.319836 arcdeg .q'%'%*G!2G!F)F)rF1bF1E1E1)M;IM9 IIiIIIQU>iYY Y2@e<:@ew: qi19jQ) E(AYt* IH@t*V@yt*t*t>t*H7?`? , [˿@YZ?@?7??)u* IH@ u*q;Iu*CxBHf>xB EGB?AH@)~GF@Yʅ6:>ʉʉQEʉ͕~;>I I@8ٮ QtI  UC9鰝: į:)}@8 l9)I tIi D  :) :Inpl9I9=O@Contact HDG: 147.856069 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E)%;I%9 ))i)I)15~=i11 12@=<:@=w: QHW) S_(A Yt.@H@t.V@yt.Kt.v>t.H@ H?˿:U ?gɃ?@#??)u.@H@ u.q;Iu,xB'n>xBpE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIr̓C)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UYUj?U>YYQ]EYeܒe>Ii I@8ٮii QtI i UC9im; m:)mL)@8 l9)I tIi D %:):I!l9I9*G2GF F)rF)bF1E1E1)M;IM9 IIiIIIQUQ;iQQ Y2@e<:@mw: ߡa]) Xy(AYt*aH@t*W@yt*6.t*W s>t*H`p<M?`˿AX?҅? ??)u*aH@ u*קq;Iu*CxBl>xBE){BTI{@i{B={@{@{B B{@|BA9|Bб?"q1>)i%yA!F@-Y5C5?19Q=E9E;E?II IM@8ٮII QUtI I UUC9IM: Mh:)M4@8 ]l9)YIY ]tIiY eDY ]_:)]s:I]l9qIq9q*G2GFFrFbFEE2EzEAE40@_ v2Eб?"q1>ETEEiEr4,+@fтEMUl?A2}hRſED"@=DHdg To Contact =145.768750 degreesZE^AbE:Ero$?BEko$?JEREjErEܥ);I9 iI:i 2@<:@w: $Dacoustic_contact_range 25.079998 m$hTrackAcousticContact.heading_to_contact 2.544145 rad$LDUSBL_Hydroid.xAngle -47.649999 arcdeg5V>=V>d) (AYtvLaH@tvWW@ytv6&tvG4v>tvH<(E?;˿Rd? ݄?pz?@?)uvLaH@ uv Cq;IuvCx=i>xEEHQHUa=iyIy)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y=؋:=>AAQEEAEpM>II I@8ٮII QtI I UC9IM8< Ml<)MC@8 l9)I tIi D :):I$l9I9*G!2G!F)F)rFQbFQEQEQ)m;Im9 iiI{9i 2@<:@w: j) _^(A) IYt.7cH@t.BW@yt.%t.P'z>t.H`a<=? Lq˿?Ky?1S?-? k ?)u.7cH@ u.(Oq;Iu,xBB`>xB E)GF@=YE;E>AAQMEIM9M>IQ I]@8ٮQQ Q]tI Q UeC9QUS: Ux:)UTP@8 ml9)aIa mtIia mDa e}:)e:Ie%l9yIy9*G2GFFrFbFEE);I9 iIcb8i 2@<:@w: ^q) :;(AYt*oH@t*W@yt*)*t*{>t*H`!;`J?`˿H ?8ŀ??@ ?)u*oH@ u*"q;Iu*CxBRr>xBEiLIP)~ƄG%=F@=YEXJ;E>AAQEEIM:M>IQ I]@8ٮQQ Q]tI Q U]C9QU: U5:)U^@8 ml9)aIa mtIia mDa ep:)eA:Ie+l9yIy9*G2GFFrFbFEE);I9 iI7i 2@<:@w: i99w) (AYt*-pH@t*8W@yt*t*s>t*H :`]?vȥ`˿ 1W?`???)u*-pH@ u*Jq;Iu(xVI>xVEGZAAHX)-ׄGa 1ma 1m a 5ma 5m a 9ma 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ>ʑʑQEʑ͝8>I I@8ٮ QtI  UC9鰥: :)@l@8 l9)I tIi D :)$:Il9I9*G2GFFrFbFEE);I9 iI   5i  2@<:@w: ) ~) F(A@ Yt*H@t*"4W@yt*#t*3}p>t*Hl8?jBl ̿xB3EiPIP)EGF@UY] ]>aaQeEamf;m>Ii Iu@8ٮii QutI i U}C9imW: m:)my@8 l9)I tIi D :)9:IZl9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI~4i 2@<:@w: %) .(AYt*H@t*-W@yt*(t*|>t*H@+9 kw?]@˿B?`?`C?o?)u*H@ u*udq;Iu*CxB5g>xB*E)~vGiwAF@YʍH>ʑʑQEʑ͝>I I@8ٮ QtI  UC9鰥m; m;)Շ@8 l9)I tIi D !;);Il9)I)91&eMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'uN@Vehicle HDG: 192.635759 arcdeg .q''*G2GD"@FFrFbFEE );I9 !i!I!%:}#@i)-D"@ )2@5<:@5w: A$eRHorizontalControl.headingCmd 2.544145 rad5R>=]>) .(AYt.vH@t.#W@yt.+t.f>t.H):c? `˿ > ?t?`?@?)u.vH@ u.`Zq;Iu,xB`k>xBEHBp=HFp=iPIT) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuHu>qqQ}Ey}F>I I@8ٮ QtI  UC9鰅: :)|@8 m9) m9I tIi D 3[<)i:I m9 I 9 =O@Contact HDG: 145.768750 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI*T#@,3i 2@<:@w: Yr) H(A)4t.H:: c?zr@˿ R?? Z??)u.wH@ u.Xq;Iu.CxBp>xBE)~GF@=YEW;E>AAQMEIM9M>IQ I@8ٮQQ QtI Q UC9QU'< U\<)U@8 m9)I tIi D |:)s:Im9I9*G2GFFrF bF E E )%;I%9 !!i!I)-D"@i)) 12@=<:@=w: IL1) \b(AYt*TH@t*_/W@yt*9xt**q>t*H 9@]?9@8̿ Y`qa?`΁???)u*TH@ u*.q;Iu*CxNm>xR'E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I ѓC)G=a 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-C->11Q5E1=:=>IA IE@8ٮAA QMtI A UMC9AE: E:)E@8 Um9)QIQ ]tIiQ ]DQ US:)U:IU-m9iIi9i*Gy2GyFFrFbFEE);I9 iI*1i 2@<:@w: i19X[) 7|(AYt*mH@t*x/W@yt*UZt*av>t*H8}?4"[̿N ?7k??)?)u*mH@ u*<q;Iu*CxBr>xBIEG@H@)GF@]YeGe?aaQmEim7m?Iq I}@8ٮqq Q}tI q U}C9qu: u:)už@8 m9)I tIi D :) :I~t.H:S?@`˿U>O(? >?`ݩ??)u.TsH@ u. q;Iu.CxRe>xRP Ei`I`)%SGF@]YeO[9e>aaQeEimzm>Iq I}@8ٮqq Q}tI q U}C9quu: ux:)u@8 m9)I tIi D )ȗ:IMm9I9*G2GFFrFbFEE);I9 iI&/i 2@<:@w: fm) (AYt*WH@t*W@yt*_Zt*Px>t*H =(?m@˿ PA?@:???)u*WH@ u*p;Iu*CxBi>xBE)GixA a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm9m>iqQuEqu*}>Iy I@8ٮyy QtI y UC9y}:: }:)}f@8 m9)I tIi D 5:)k:I^m9I9*G2GFFrFbFEE);I9 iIv-i 2@<:@w: 5V>=R>hV) (AYt*tH@t*!W@yt*t*Tp>t*H : i?ʐ>˿[_Q? ?i??)u*tH@ u*" q;Iu*Cx>"h>x>EH@HBR=iLIP)~AAQEEAMb;M>IQ I]@8ٮQQ Q]tI Q UeC9QU; U;)U@8 mm9)aIa mtIia mDa ep:)e:Iehom9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIu,i 2@<:@w: l) a(A);I;Yt*?SH@t*JW@yt*t*Rv>t*H`!>|"?`饿H˿ NT?@?8~??)u*?SH@ u*3p;Iu(xRq>xRE)SGF@=YE}(E>AIQMEIMM>IQ I]@8ٮQQ Q]tI Q UeC9QU: U:)U@8 mm9)aIa mtIia mDa e:)e9:Iejm9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.479020 arcdeg .q''*G2GFFrFbFEE)%;I%9 !)i)I))5H+i11 q2@}<:@}w: ߉ͩ) (AYt*PUH@t*[W@yt*)X t*usz>t*H=@!?[˿ L}? ?y? ?)u*PUH@ u*p;Iu*CxBj>xBqEiLIP)dG%%=!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ:>ʱʱQEʹͽ9>I IA8ٮ MA8 QtI  UC9: :)A8 m9)I tIi D :)0:Im9I9=O%@Contact HDG: 145.768750 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F1rF1bF9E9E9)M;IU9 QQiQIQY])iYY a2@e<:@mw: yi19) g(AYt2t2H?*?"} ގ˿Z,?_? ,??)u2r>x>IEG@H@)zGa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y{ۺ>QE>I  I5A8ٮ   Q5tI  U5C9  ,; ;) .A8 =m9)9I9 EtIi9 ED9 =[:)=,:I=m9qIq9q*G2GFFrFbFEE);I9 iIG(i 2@<:@w: 1) 51(A@ Yt.cDH@t.nV@yt.gt.p>t.H??(@=˿_2c?`Y? @??)u.cDH@ u.*p;Iu.CxNe>xRP Ei\I\)vGF@-Y-CM->11Q5E1==>IA IMA8ٮAA QMtI A UMC9AE%: E:)EA8 Um9)QIQ ]tIiQ ]DQ U:)U':IU`m9iIi9i*G2GFFrFbFEE)=;IE9 AAiAIAIM'iII I2@u<:@}w: ߉ʣ) wK(AYt.v>H@t.V@yt.ިt.Fv>t.He@@4?I`˿V? ?|??)u.v>H@ u.>p;Iu.CxNp>xR%E)dGiF@]Ye:e>aaQeEamgm>Iq I}A8ٮqq Q}tI q U}C9quS: uW:)u-A8 m9)I tIi D :)ȗ:Im9I9*G2GFFrFbFEE);I9 iI´%i 2@<:@w: Q15]>t) d(AYt*DH@t*V@yt*t*Zk>t*H`?v?\͋˿`i? OS?(?9(?)u*DH@ u*hp;Iu*CxBw>xBjEH@HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y ͺ>QE%h:%>I) I5A8ٮ)) Q=tI ) U=C9)-; -;)-;A8 Mm9)AIA UtIiA UDA Ea;)E;IEm9iIi9i*G2GFFrFbFEE)};I}9 yyiI-$i 2@<:@w: ߡ) C~(A) IYt*SH@t*W@yt*pt*αn>t*H> B1?@⤿q˿'b` ?쭃?`? "?)u*SH@ u*p;Iu(xRl>xRE){R8gI{Pi{R ={P{P{RA{P|RA9|R?JP!)AF@MYUIU>YYQ]EYe ;e>Ii ImA8ٮii QutI i UuC9im: mͭ:)mHA8 }m9)yIy tIiy Dy }ٓ:)}:I}m9I9*G2GFFrFbFEE2EzEAE80, /@Χ,3E?JP!E8gEEԊc37B.@u0E=: K? { uƿE#@=DHdg To Contact =141.574795 degreesZEvAbE:Euo$?BEro$?JE| REjE$rE);I9 iI#i 2@<:@w: $%Dacoustic_contact_range 25.140001 m$-hTrackAcousticContact.heading_to_contact 2.470946 rad$5LDUSBL_Hydroid.xAngle -51.750001 arcdeg) (AYt*LH@t*V@yt*t*Sq>t*H@>?{u`&˿`h^xbEipIr̓C)AAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ:>ʩʩQEʩ͵э>I IA8ٮ QtI  UC9鰽}: :)VA8 m9)I tIi D  :)$:Im9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I9 !!i!I!)-7!i)) )2@5<:@5w: Ii99 ) 5}(AYt*>fH@t*IW@yt*„t*9*k>t*H<@R? e˿f?@?#?(?)u*>fH@ u*$p;Iu*CxBg>xBsEG@H@)!F@=YE9E>AIQMEIM;M>IQ I}A8ٮQQ Q}tI Q UC9QU; U9;)UdA8 n9) n9I tIi D N:):In9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.545451 arcdeg .q''*G!2G%#@F!F!rF)bF)E)E1)e;Ie9 aaiaIime!@iiu#@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.470946 radv) ?X(A Yt*H@t*4W@yt*et*0t>t*H8$?H<@w ̿@Q ?`L? O??)u*H@ u*ڼp;Iu(xNn>xREi\I^ѓC)eGF@uY}}>yyQEʁͅ;>I IA8ٮ QtI  UC9鰍): :)rA8 n9)I tIi D }:)o:In9I9=O@Contact HDG: 141.574795 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%}@i!! )2@-<:@5w: A) 4(AYt*$H@t*/=W@yt* t*s>t*Hx7 ?[ץ̿S@-?`.r?? ?)u*$H@ u*Vp;Iu*CxN1z>xRE)GiyAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Y>!!Q%E!-:->I) IUA8ٮ)) Q]tI ) U]C9)-; -x;)-A8 en9)YIY etIiY mDY Y)]N:I]+n9I9*G2GFFrFbFEE);I9 iI_@i 2@%<:@%w: Y1=Y>P) (AYt6H@t6VW@yt6pt6Jbn>t6H 4?@֔@P̿YP? -?@=?"?)u6H@ u6mp;Iu4xNi>xNEHRa=HPi\Ib̓C)SGF@-Y5Q95>11Q5E9=x;E>IA IMA8ٮAA QMtI A UUC9AE: Et:)EfA8 ]n9)QIQ ]tIiQ eDQ U:)U:IU;n9iIi9q*G2GFFrFbFEE);I9 iIAT@L i 2@<:@w: 6.) F(A)4t*H/@ ?}̿C%?b???)u*H@ u*np;Iu(xNq>xNE)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}u:}>yʁQEʁͅP;>I IA8ٮ QtI  UC9鰍>: :)A8 n9)I tIi D F:)Z:ILn9I9*G2GFFrFbFEE);I9 iI#@i 2@<:@w: W ) P3(AYt*H@t*W@yt*t* >t*H. ?@৿̿`t4?1݂?@??)u*H@ u*p;Iu(xBw>xBjEiLIRѓC)~ׄG4=F@=YEE>AAQMEIM:M>IQ I]A8ٮQQ Q]tI Q UeC9QU: U:)UA8 mn9)aIa mtIia mDa e:)e:Ie]n9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: i5@A9Y?) M(AYt*H@t*&W@yt*^t*v>t*H@+T[?̿ A z? x?Z??)u*H@ u*up;Iu*CxBp>xB%EGB?AHD)~GF@=YEgE>AIQMEIMd;M>IQ I]A8ٮQQ Q]tI Q UeC9QU: U:)UѶA8 mn9)aIa mtIia mDa eՐ:)e :Ienn9yI9*G2GFFrFbFEE);I9 iID[i 2@<:@w: j) |g(A Yt.+6I@t.6W@yt.Qt.V7n>t.H$ ? ۦbͿ J`?(??`#?)u.+6I@ u.p;Iu,xNMl>xRLE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)Ga 1-a 15 a 55a 55 a 95a 9U a -Ua -U a 1U@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@}Yʅ:>ʉʉQEʉͽ <>I I5A8ٮ Q5tI  U5C9b< 6c<);A8 =n9)9I9 EtIi9 ED9 =̒:)=|:I=Hn9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iICi 2@<:@w: QQ ) W(AYt*QBI@t*\W@yt*Q#t* v>t*Hc#?9XGzͿ@8 ?'j??r?)u*QBI@ u*xBqE){BHI{@i{B`={@{@{BA{@|BA9|B~嫥?7GƏ)=GiEwAEwAF@]YeYe>aaQeEim;m>Iq IA8ٮqq QtI q UC9qu; uԵ;)uA8 n9)I tIi D :):In9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 193.315063 arcdeg .q'='=*G92GAFAFArFIbFIEIEI2EqzEuAEu_H1@6I1Eu~嫥?7GƏEuHEqEuim5 .,y)@VEumE%sw9"?@SYĿEuX&@=DHdg To Contact =149.273074 degreesZEuKAbEul:Eupo$?BEuuo$?JEu~ REu| jEurEu$);I9 iIBi 2@<:@w: $=Dacoustic_contact_range 25.259996 m$MhTrackAcousticContact.heading_to_contact 2.605307 rad$mLDUSBL_Hydroid.xAngle -44.950001 arcdeg5>5i>{&) 2(AYt*LoI@t*WX@yt*3t*}>t*HN`)?#CͿ'`?i?a??)u*LoI@ u*¡p;Iu(x>v>xBEH@H@iPIV̓C)M+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ;>ʹʹQEʹ;>I IA8ٮ QtI  UC9:: :)A8 n9)I tIi D :):Ihn9I9=O-@Contact HDG: 149.273074 arcdeg .'-'-O-4Initialize Wait Component.*G)2G1F1F1rF9bF9E9EA)U;IU9 QYiYIYYeiaa a2@m<:@mw: ߁4,) (A) IYt.mI@t.X@yt.Ft.z>t.H `+?@ިͿ.U?Ȁ?? ?)u.mI@ u.-p;Iu,xBo>xBE)GF@=YE9E>AAQMEIMM>IQ IA8ٮQQ QtI Q UC9QU~< U<)UA8 n9)I tIi D h:):Ifn9I9*G2GFFrF bF E E )%;I%9 !!i!I))-Qi)1 12@=<:@=w: I֍3) !(AYt*mI@t*xXX@yt*#t*p>t*H @?"`Fο)8A?fq?? \?)u*mI@ u* p;Iu*CxNl>xREi\I\)G%=!F@-Y55>11Q5E1=<=>IA IMA8ٮAA QMtI A UMC9AE: E):)EA8 ]n9)QIQ ]tIiQ ]DQ U%:)U:IUn9iIi9i*G2GFFrFbFEE);I9 iI i 2@<:@%w: i=?A9ѷ9) (AYt*I@t*wX@yt*+8t*wu>t*Hz?@m@Gο` ,??c?j?)u*I@ u*͡p;Iu*CxBu>xBEGBAAH@) +Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʭ:>ʱʱQEՒ;>I IB8ٮ MB8 QtI  UC9: :)- B8 n9)I tIi D :)s:In9 I 9*G2GFFrFbFEE)E;IE9 AAiAIAIM+iii q2@}<:@}w: ߩ@) (A Yt.I@t.{X@yt.6[t.SL}>t.H@?{`;ο@? W+?`V?V?)u.I@ u.p;Iu,x>B`>x> EiLINѓC)~GF@Y%r:%>!!Q%E)-&+:->I1 I=B8ٮ11 Q=tI 1 U=C915: 5Y:)53B8 Mn9)AIA MtIiA MDA Eh:)E:IEn9YIY9Y*Gi2GqFqFqrFQbFYEYEY)m;I9 iIќi 2@<:@w: F) (}(AYtRJ@tRX@ytR tR{>tRH eF?`RݩοEYg?@? _? ?)uRJ@ uRp;IuRCx^h>x^E)mSGiuxAqF@Yʝ.:>ʡʡQEʡͭq;>I IB8ٮ QtI  UC9鰵: :)%B8 n9)I tIi D F:)Z:Ihn9I9*G)2G)F1FQrFYbFYEYEY);I9 iI3i 2@<:@w: 9=l>L) T6(AYt*J@t*X@yt*Kt*@u>t*H q?騿 K Ͽ#?6V?\??)u*J@ u*p;Iu*Cx-o>x-JEiI)Ga 1ma 1m a 5ma 5m a 9ua 9u a -ua - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y s>QE;>I! I-B8ٮ!! Q-tI ! UMC9!%f; %;)%4B8 ]o9)Q ]o9IQ ]tIiQ ]DQ U:)Un:IU o9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF EE)%;I9 iIOi 2@<:@w: IoS) pP(A) IYt*G#J@t*RX@yt*Qt*%v>t*HȐ? 3i/Ͽ`B P??x? ?)u*G#J@ u*9p;Iu*Cxni>xrNE)GF@EYE-9E>IIQMEIU8;U>IY IeB8ٮYY QetI Y UeC9Y]: ]>:)]AB8 mo9)iIi utIii Di m5;)m=;Imo9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 194.101764 arcdeg .q'e'e*Ga2GeX&@FiFirFbFEE);I 9  i I '@iX&@ 2@<:@%w: ߡ$RHorizontalControl.headingCmd 2.605307 radZ) Pj(AYtfxHJ@tfX@ytf?Xtf{>tfH`G`?qwϿs?@ʁ?o$? ?)ufxHJ@ ufQp;IufCxW>xE {YY|Ye8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI̓C)5dG54=54=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%V:%>))Q-E)57;5>I9 IB8ٮ99 QtI 9 UC99="< =#<)=RB8 o9)I tIi D Ր:)ȗ:I/o9YIY9Y=O@Contact HDG: 149.273074 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)=;IM9 IQiQIQUZ8#@iYY Y2@e<:@ew: `) '(AYt*SJ@t*Y@yt*Xt*z>t*H u?(N`nϿ@@Z?` K?`l ?1 ?)u*SJ@ u*vp;Iu(xB"h>xBE){B%KI{@i{B={@{@{BA{@|B=A9|B'dc?9)F@Yʽ [?QEj;?I I5B8ٮ Q=tI  U=C9_< i_<)\B8 Eo9)AIA MtIiA MDA E}:)E:IEXt2H5 ?bϿ-?ӂ?`?@?)u2QfJ@ u2 Wp;Iu2Cx>c>x> EiPIP) a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYm-m>qqQuEqͽ8;>I IB8ٮ QtI  UC9: >:)jB8 o9)I tIi D <)~:ILo9)I)9)*Gy2GyFFrFbFEE);I9 iI=(@i) 12@5<:@5w: ASm) (AYt*J@t*t*H`o Z? пX?8?U?;?)u*J@ u*[up;Iu*Cxvx>xvEi~A~A)GiwAF@Y>QE;>I I5B8ٮ Q5tI  U=C9b< <)xB8 Eo9)9I9 EtIi9 MD9 =:)=9:I=c^o9I9*G2GFFrFbFEE)M;IM9 QQiQIQ])@iYY Y2@e<:@ew: y1:t)  (AYt*3J@t*>t*H|4Q? p@Kп ;a?^~? ?h ?)u*3J@ u*^p;Iu*CxBe>xBP EHBR=H@iTIVѓC)Ga 1a 1 a 5a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@}Yʅ9>ʁʁQEʁ͍X*>I IB8ٮ QtI  UC9鰕ի: :)LB8 o9)I tIi D =)=ITqo9I9*G 2G F F rFbFEE)m;Im9 qqiqIq}2)@}F iyy 2@<:@w: ߙXdz) J(A);IYt.8J@t.CYY@yt.Pnt. a|>t.H@@~?`jп ~Jz?཭?Y:?@/?)u.8J@ u.Qhp;Iu.CxBp>xBE)EGF@]Ye-;e?aaQeEim;m?Iq I}B8ٮqq Q}tI q U}C9quǺ: u:)uB8 o9)I tIi D 1:):Ilo9YIY9Y*Gi2GiFiFrFbFEE);I9 iI(@i   2@u<:@uw: ߁L) r(AYt*2J@t*=fY@yt*2 t*x>t*H2?|(п@ M ????)u*2J@ u*Qp;Iu*Cx>u>xBEiLIN̓C)|F@Y%1%>!!Q-E)-;->I1 I=B8ٮ11 Q=tI 1 U=C915: 5Y:)57B8 Mo9)AIA MtIiA MDA E}:)E:IEo9YIY9a*Gq2GqFqFqrFbFEE);I9 iIX&@i 2@<:@w: ߹i9Aw) O(AYt*~J@t*Y@yt*t*~1w>t*H@?/`ODп ?@Ұ?B?"?)u*~J@ u*jp;Iu*Cx>s>x>EG@H@)+Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Ya9>QE; >I  IB8ٮ   QtI  UC9  < <) B8 o9)I tIi D :)N:I|o9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;Iu9 qqiqIyy}W i 2@<:@w: )) *9(A@ Yt.J@t.Y@yt.t.{>t.H?>Lп `k? ?`*?  ?)u.J@ u.Qp;Iu.Cx>n>x>EiLINѓC)~SGF@Y%?:%>!!Q%E)-a:->I1 I=B8ٮ11 Q=tI 1 U=C915ܹ: 5:)5ʼB8 Mo9)AIA MtIiA MDA E1:)EE:IE%o9YIY9a&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 194.753651 arcdeg .q''*G2G;'@FFrFbFEE)E;IE9 AAiAIAM;'@MTE iIM;'@ Q2@]<:@]w: i$RHorizontalControl.headingCmd 2.611037 rad>) S(AYt.J@t.Y@yt.R t.|>t.H`1 ? 櫿`^п ?@? F? c?)u.J@ u.-p;Iu,xRX>xRVE)GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yx,:>QE#;>I IB8ٮ Q tI  U C9l =  =)B8 o9)I tIi D J:):I o9I9=O%@Contact HDG: 149.601401 arcdeg .'%'%O%4Initialize Wait Component.*G!2G)F)F)rF1bF1E1E1);I9 iI i 2@<:@%w: 15>5>;) *l(AYt*J@t*Y@yt*rt*z>t*Hz`=?ϕ@fkп F?L.??J ?)u*J@ u*8p;Iu(x>Ml>x>LEHB=HBp= {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i\I`)5+GF@uY}N_}>ʁʁQEʁͭ;>I IB8ٮ QtI  UC9鰵ͭ: :)B8 o9)I tIi %D CB<)Ht.H`?@Ӌbwп@[@??@?,?)u.P K@ u.hp;Iu,x>i>x>NE){B;d]I{@i{Bd={B>{@{BA{@|BB9|B&)Q ?Y)GF@Yʽ9>ʹQE;>I IB8ٮ QtI  UC9h: :)B8 o9)I tIi D Ր:)ȗ:Io91I999*GI2GIFIFrFbFEE2EzEBEcϱ y 7@?;E&)Q ?YE;d]EEg=xNg3@\c@E312o{?L,pƿƿEd#@= DHdg To Contact =146.277298 degreesZE?AbE:E\o$?BEqo$?JEy RE jErEk)%;I%9 iiiiIiqu9iqq y2@}<:@}w: ߑ$Dacoustic_contact_range 35.520000 m$hTrackAcousticContact.heading_to_contact 2.553020 rad$LDUSBL_Hydroid.xAngle -49.550000 arcdegħ) (AYt. K@t.Y@yt. t.D{>t.H`q ?@ zп2a?:?`)?`3 ?)u. K@ u.p;Iu.Cx>i>xBEiPIR̓C)|%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]tV:]>YaQeEae :m>Ii IB8ٮii QtI i UMC9im< m<)mPB8 ]o9)QIQ ]tIiQ ]DQ U:)U:IUo9I9*G2GFFrFibFiEiEi);I9 iIi 2@<:@w: ii19) p(AYt.|>K@t.Y@yt.Ht.K}>t.HK?]<éп??M??)u.|>K@ u.|-p;Iu,x>i>x<GB@AH@) SGF@Y%%>!!Q-E)-M<->I1 I=C8ٮ1 M=C81 Q=tI 1 U=C9153: 5:)5C8 Mp9)A Mp9IA MtIiA MDA EZ:)E+:IEBp9aIa9a*Gq2GqFFrFbFEE);I9 iI֪i 2@<:@w: Y ٴ) PU(A Yt.K@t.Y@yt.it.}>t.HM`w-?@koп)? '-? 4j? ?)u.K@ u.{p;Iu.CxǸ>xReEipIt)Ga 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@Y>QEc>I IC8ٮ QtI  UC9: :)cC8 -p9))I) 5tIi) 5D) -:)-ϝ:I-p9AIA9A*G2GFFrFbFEE);I9 iIE;iAA I2@e<:@ew: y) B'(AYt*kbK@t*vZ@yt*ut*v>t*H@>n?F }п`?N? v??)u*kbK@ u*p;Iu*Cx^s>x^E)E+GiMxAMwAF@]Yeh;e>aaQeEamZ?<m>Iq IC8ٮqq QtI q UC9quK; uX;)uC8 p9)I tIi D :):I)p9I9*GY2GYFaFirFQbFQEQEQ);I9 iIIMAiII Q2@U<:@]w: i5i>=>) z(AYt*gVK@t*rZ@yt*=t*DL>t*H^?@-ڬп``$???@?)u*gVK@ u*߶p;Iu*CxBr>xBIEHBa=HBa=iPIRѓC)GF@=YECE>AAQMEIM`M>IQ I]C8ٮQQ Q]tI Q UeC9QU: U:)U:+C8 mp9)aIa mtIia mDa e:)e:Ie|:p9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w:  ) !(A) IYt*yK@t*&Z@yt* t*YZ>t*Hh z? ⭿пG`?˽?8??)u*yK@ u*l q;Iu*CxZMl>xZLE)5+Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝЛ:>ʙʡQEʡͥ;>I IC8ٮ QtI  UC9鰭: :)h9C8 p9)I tIi D :)Z:IKp9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 195.298632 arcdeg .q'='=*G92GEd#@FAFArFIbFIEIEI)e;Ie9 aaiaIim`%@iimd#@ q2@}<:@}w: ߉$RHorizontalControl.headingCmd 2.553020 radT=) ;(AYt.qK@t.Z@yt."( t.|>t.H`r 3y?@鬿Qп`4k? $?@?? ?)u.qK@ u.gq;Iu.Cx>i>x>EiPIP)SG!!F@=YEB:E>AAQEEAMYM>IQ I}C8ٮQQ Q}tI Q U}C9QUE; U;)UFC8 p9)I tIi D Ր:) :I\p9I9=O%@Contact HDG: 146.277298 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rF)bFQEQEQ)m;Im9 iiiiIiud#@iyy y2@<:@w: ߙi99#) \U(AYt*GK@t*R?Z@yt*) t*ox>t*H%?@听п?a?տ??)u*GK@ u*q;Iu*CxBc>xB, EG@HD)~dGF@%Y%Z->))Q-E)53;5>I IC8ٮ QtI  UC9鰝: 5:)TC8 p9)I tIi D ɏ:):Imp9I9*G)2G)F)F)rFQbFQEYEY)m;Im9 iqiqIqSi 2@<:@w: ߹"N) jo(A@ Yt.EK@t.PnZ@yt.[t.e|>t.H`?5'ѿ@@d?m˂?:?@?)u.EK@ u.rq;Iu.Cx6}v>x6E {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yú>QE;>I I%C8ٮ Q%tI  U-C9: B:)`dC8 5p9))I) 5tIi) =D) -S:)-:I- p9AIA9I*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: 5) E(AYt*K@t*TZ@yt*&t*j>t*H91?ѿ@ã?? %??@@?)u*K@ u*qKr;Iu*CxBi>xBE)ixAF@%Y-ʺ-?))Q-E15 5?I9 IEC8ٮ99 QEtI 9 UEC99=S: =W:)=pC8 Up9)III UtIiI UDI M:)M:IMwp9iIi9i*Gy2GyFFrFbFEE);I9 iIMPi Q2@]<:@]w: i5>=>_) (AYt*#K@t*.Z@yt*t* >t*H: ?^Aѿa? ? V?@?)u*#K@ u*#r;Iu*CxBp>xB%EHFR=HDiTIT)F@=YEC:E>AIQMEIM<M>IQ I]C8ٮQQ QetI Q UmC9QUz; U;)U}C8 p9)I tIi D :):Iՠp9I9*G2GFFrFbFEE);I9 iIrpi 2@<:@w: ) (A) IYt*6K@t*AZ@yt*t*fz>t*H@?4`eNѿo@X!?`€??` ?)u*6K@ u*[r;Iu*CxBYL>xBMD)Ga 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ ;>QE8:>I IC8ٮ QtI  UC9h: :)YC8 p9)I tIi D jr;)w;Iap9I9*G)2G)F9F9rFIbFQEYEY)m;Iu9 qqiqIqy}msiyy 2@<:@w: r) V(AYt*L@t*Z@yt*a t*@+}>t*H 2`"? eѿ`+m?~@? R? ?)u*L@ u*3r;Iu*CxN}v>xREi\I\)%SG99F@MYU!!U>QYQ]EYeD{;e>Ia ImC8ٮaa QmtI a UuC9ae: e:)eC8 }p9)qIq }tIiq Dq u_:)us:Iup9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIri 2@<:@w: i19) (AYt*L@t*Z@yt*t*rЃ>t*H m@?&5`ѿ?%?nK??)u*L@ u*RNr;Iu*CxR?s>xREGPHT)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ >ʱʹQEʹͽ;>I IC8ٮ QtI  UC9:: :)ЧC8 p9)I tIi D :):IQp9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q' N5@Vehicle HDG: 195.869745 arcdeg .q'5'=*G92G9F9F9rFAbFAEAEI)];I]9 YaiaIaamNiii i2@u<:@uw: ߁b)  (A@ xm>x'Ei1I5̓C)GF@Yʥ>ʡʡQEʩͭ>I IC8ٮ QtI  UC9鰵Ȳ: :)C8 p9)I tIi D -:):I;p9I9=O@Contact HDG: 146.277298 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F!rF)bF)E1E1)E;IE9 IIiIIIQUiQQ Y2@]<:@]w: q) i$(AYt*v2L@t*Z@yt*nt*u|>t*H@|/?@ `֔ѿ#X?`v?xBE) +GiwAa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a  a 5@a  a 9@a  a -@a  QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@YD:>QEP;>I I C8ٮ Q tI  UC9: õ;)C8 =p9)9I9 =tIi9 ED9 =:)=^:I=p9IIQ9q*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=i>) B>(Ax~v>x~GEHa=Hp=iI%ѓC)}SGF@Yʕ>ʑʑQEʙ͝>I IC8ٮ QtI  UC9鰥%: l:)C8 =q9) =q9I =tIi =D #<)t.H_ -?1nѿs ~?f?7?@??)u.:L@ u.bq;Iu.CxNRr>xRE)dGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝݣ8>ʡʡQEʡͭ!:>I IC8ٮ QtI  UC9鰵`: :)C8 q9)I tIi D B:):IHq9I9*G2GFFrFbFEE);I9 iI9i 2@<:@w: ]) 'q(AYtBA;L@tBLZ@ytBtB">tBH`D]5?@p@Iѿ?(?Q??)uBA;L@ uBq;IuBCxJ`k>xJE {LY|LR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)uG%=4=F@Y3й>QE8>I IC8ٮ QtI  UC9': ;)C8 q9)I tIi D ;):I)q9I9*G12G1F9F9rFAbFAEIEI)m;Im9 iiiiIqqu;)߼iqq q2@}<:@}w: ߑi99") Ӌ(AYt:?L@t:Z@yt:t:l~>t:H@xb#EGbAAH`){b){`{bB{`|bדA9|bK۫?O(~)]GF@mYu8u>qyQ}Eyͅ%@:>I IC8ٮ QtI  UC9鰅\: :)DC8 q9)I tIi D 1:):I:q9I9*G2GFFrFbFEE2EzEדAE%7Pa+@y(EK۫?O(~E)<EE:Gjʀ0 G%@ [E.⧓?Tϛ89ĿE,@=DHdg To Contact =154.740408 degreesZE,@bE:E}o$?BE\o$?JE REy jE:rE);I9 iI  ߝܼi   2@<:@w: )$EDacoustic_contact_range 18.479998 m$MhTrackAcousticContact.heading_to_contact 2.700730 rad$ULDUSBL_Hydroid.xAngle -42.199999 arcdegT)) ?ť(A@ Yt6z\L@t6 [@yt6t6 >t6Hா P?47ѿ (? ?`??)u6z\L@ u6p;Iu6CxZ{]>xZ/EilIl)5SGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y:>QEy;>I ID8ٮ MD8 QtI  UC99: ^:)D8 q9)I tIi D :):IKq9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E1)M;IM9 IIiQIQQUټiYY Y2@e<:@ew: qr'/) (AYt29L@t2Z@yt2Zt2UL>t2H`@-?z:ѿH?{5???)u29L@ u21p;Iu2Cx>eq>xBnE)~GiyAxAF@=YE:E>AAQEEAMM>IQ I]D8ٮQQ Q]tI Q U]C9QU: U:)UD8 mq9)aIa mtIia mDa e-:)e:Ie[q9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.970121 arcdeg .q''*G2G,@FFrFbFEE);I9 iIc$@i,@ 2@<:@w: $-RHorizontalControl.headingCmd 2.700730 rad5Y>5a>6) 4h(AYt*VML@t*aZ@yt*% t*>t*H C?访ѿַ? ?`?5?)u*VML@ u*p;Iu*CxBu>xBEHBp=HBa=iPIR̓C)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭS:>ʱʱQEʱͽC=;>I ID8ٮ QtI  UC9O: :)#D8 q9)I tIi D :):I{mq9I9=O%@Contact HDG: 154.740408 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F)rF1bF9E9E9)M;IM9 QQiQIQ]}'@iYY a2@e<:@ew: y8<) BC(A)IYt.AL@t.Z@yt.t.h*~>t.Hf?;?@|ѿ ? ?q??)u.AL@ u.%p;Iu,xBHf>xB E)~vGF@eYe m>iiQmEiuu>Iy ID8ٮyy QtI y UC9y}1: }:)}^1D8 q9)I tIi D -:)c:I~q9I9*G2GFFrFbFEE);I9 iIc+@i 2@<:@w: a C)  (AYt*M7L@t*XZ@yt*l t*6Ԁ>t*Hg-?D@ѿQ?q??@?)u*M7L@ u*p;Iu*CxB:m>xBEiPIP)~G%=F@ Y:>QE%Ժ%>I) I-D8ٮ)) Q5tI ) U5C9)-: -:)->D8 =q9)9I9 EtIi9 ED9 =:)=Ԙ:I=q9QIQ9Q*Ga2GaFaFirFibFiEqEq);I9  i I  .@i-,~> 12@=<:@=w: Qi19RJI) f&(AYt*DL@t*Z@yt*b t* '>t*H`7?jѿW;??@?`r?)u*DL@ u*$p;Iu(xBn>xBEGB@AHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye~e>aaQmEim;m>Iq I}D8ٮqq Q}tI q UC9quu: u:)uLD8 q9)I tIi D [:):Iq9I9*G2GFFrFbFEE);I9 QQiQIQ]0b/@iYY a2@e<:@mw: b2P) R@(A@ Yt.mL@t.xZ@yt.t.!0>t.H@K ?@쬮wѿ qu ?@?B?L?)u.mL@ u.p;Iu,xNu>xREi\I\)vGF@-Y-c5>11Q5E1=i=>IA IMD8ٮAA QMtI A UMC9AE}: E>:)E}ZD8 Uq9)QIQ ]tIiQ ]DQ Uа:)Uk:IU߰q9iIi9i*G2GFFrFbFEE);I9 iIx[/@E׼i 2@<:@w: y\V) OZ(AYt*,L@t*Z@yt*e t*T~>t*H@U&?$d` ѿ ??"m??)u*,L@ u*p;Iu*CxNi>xRE)dGiwAwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}:}>ʁʁQEʁ͍h;>I ID8ٮ QtI  UC9鰍N: :)hD8 q9)I tIi D :) :IQq9I9*G2GFFrFbFEE);I9 iI-@iP> 2@<:@w: > 5V>=V>\) t(AYt*kL@t*vZ@yt*ht*i~>t*H J?> vѿ/@??ay?!?)u*kL@ u*p;Iu(xNeq>xRnEHR=HRp= {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I)yF@Yħ>QE{>I ID8ٮ QtI  UC9|; *(;)vD8 q9)I  tIi  D `:):Iq9!I!9)OEDone Waiting.'EOE8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFabFaEaEi);I9 iI,@i > 2@<:@w:> Rnc) c(A) I Yt.L@t.Z@yt.t.>t.H`3(?ӮM{ѿk?`2xRE){RiXI{Pi{R={R>{P{RA{P|RA9|RS}.? .)YF@}YʅE;>ʁʁQEʉ͍n]:>I ID8ٮ QtI  UC9鰕j< ^<)3D8  q9)I  tIi  D :):Iq99I99A&MMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'uN@Vehicle HDG: 195.852355 arcdeg .q''*G2GFFrFbFEE2EzEAEgmuV'@cKT*ES}.? .EiXEE D-Y`"@Qƥq Eȧ꿌>&f?|%ǿE%@=DHdg To Contact =148.264651 degreesZEAbEm:Eo$?BE}o$?JE RE jELrE:);I%9 !!i!I!)-ռi)) Q2@U<:@]w:exA ewAe> ߉$Dacoustic_contact_range 17.759998 m$hTrackAcousticContact.heading_to_contact 2.587706 rad$LDUSBL_Hydroid.xAngle -48.549999 arcdegi) ?(AYt*L@t*Z@yt*t*\>t*H, ?rlѿ`}@??`6? ?)u*L@ u*p;Iu(xBxp>xBEiPIRѓC)G  a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ8>ʹʹQEʹ>I ID8ٮ QtI  UC9: S:)8D8 q9)I tIi D F:)Z:Iq9I9=O-@Contact HDG: 148.264651 arcdeg .'5'5O54Initialize Wait Component.*G12G1F9F9rF9bFAEAEA)];I]9 YYiYIYaeʼiaa i2@m<:@mw:} })yIy i19 p) (AYt*K@t**Z@yt*~t*A>t*H@)y?pwIѿ`c@?@O???)u*K@ u*p;Iu*CxNi>xNEGPHP)%vGF@]Ye:e>aaQeEamm>Iq I}D8ٮqq Q}tI q U}C9qu: uB:)uD8 r9) r9I tIi D ,:):I@r9I9*G)2G)F)F1rFQbFYEYEY)m;Im9 iIi 2@<:@w: v) (A Yt.K@t.Z@yt.@t.{>t.H@s? Hѿ`xR'Ei\I\)-GF@]YemO;e>aaQeEimVqm>Iq ID8ٮqq QtI q UC9quף; uH;)uoD8 r9)I tIi D x;)ۃ;Ir9yIy9*G2GFFrFbFEE) ;I 9 )i1I115üi99 92@E<:@Ew: q|) (AYt*^K@t*iZ@yt*t*<{>t*H`?@6D`FѿBOE?@p? ? ?)u*^K@ u*p;Iu*CxNi>xRE)SGiyAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}Pc}>ʁʁQEʁ͍I ID8ٮ QtI  UC9鰍5: |:)UD8 r9)I tIi D :)Ԙ:Ir(r9I9*G2GFFrFbFEE);I9 iI]üi 2@<:@w: 5R>=]>㼃) y(AYt*K@t*fZ@yt*xt*W>t*Hε?^ w ѿ/We??$?@?)u*K@ u*8p;Iu*CxB:m>xBEHFR=HFa=iPIP)GF@=YELJ:E>IIQMEIUȻU>IQ I]D8ٮQQ QetI Q UeC9QU: U_:)UD8 mr9)iIi mtIii uDi m:)m,:Im*9r9I9*G2GFFrFbFEE);I9 iIm2i 2@<:@w: /) )(A);IYt6̺K@t6gZ@yt6t6c>t6H`?`6!ѿ h?`dЀ?=??)u6̺K@ u6p;Iu6CxNWx>xRE)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y:>QE%:9%>I! I-D8ٮ!! Q5tI ! U5C9!%: %|:)%D8 =r9)9I9 EtIi9 ED9 =%:)=:I=WKr9QIQ9Q*Ga2GaFaFirFibFqEqEq);I9 iI{i 2@<:@w: ߱ΐ)  dC(AYt*ڍK@t*:Z@yt*F t*z>t*H ޕ?`ɬ[п 8?ͨ?`R ?@ ?)u*ڍK@ u*p;Iu*Cx^Ml>x^LEilIl)=G=4=AF@MYMU>QQQUEQ]]>Ia ImD8ٮaa QmtI a UmC9ae: e:)eD8 }r9)qIq }tIiq }Dq u:)up:IuF[r9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i11r) <](AYt*K@t*QZ@yt*Gt*%y>t*H? ѿ@!?(?@?f?)u*K@ u*p;Iu(xBjw>xB"EGBAAHD)GF@]Yee>aaQmEimc;m>Iq ID8ٮqq QtI q UC9quش; u;)u^D8 r9)I tIi D :):Ilr9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 195.450494 arcdeg .q'='=*G92GU%@FYFYrFYbFaEaEa)};I}9 yyiyIyR+@i%@ 2@<:@w: $RHorizontalControl.headingCmd 2.587706 rad") w(A Yt*K@t*.Z@yt*t*W>t*HH :?7п`~?T???)u*K@ u*p;Iu*CxN}>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iYIa)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y7@>QEߙ>I I E8ٮ MME8 QUtI  UUC9s< <)E8 ]r9)YIY ]tIiY eDY ]:)]$:I]r9qIq9q=O@Contact HDG: 148.264651 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI-.'@i)) )2@5<:@5w: i ) <(AYt*cK@t*)Z@yt*t*.I>t*H d`*e?t'п`?d?^?`?)u*cK@ u*'p;Iu*CxB>xBE){FK6I{Di{F#={F7>{D{FA{D|FpA9|FM9? BH)%Gi%wA%xAF@Yʝ ;>ʡʡQEʡͭϪ>I IE8ٮ QtI  UC9鰵ж; ;)7E8 r9)I %tIi %D 8<)7=Y>4) ͪ(AYt*sK@t* Z@yt*ֆt*(}>t*H'{?ܬ`7п@}?`?@gc??)u*sK@ u*rwp;Iu*CxBs>xBEHFa=HDiTIT)XGa 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm׺m>iiQmEiu(;u>I IE8ٮ QtI  UC9: i:)PE8  r9) I  tIi  D  h:) :I +r9!I!9!*GQ2GYFYFYrFabFaEaEa);I9 iIx&@g„i 2@<:@w: ) (A)4t.Hk@?s=п fy??B??)u.K3K@ u.xp;Iu.CxRp>xRE)+GF@]Yee>aaQeEimm>Iq I}E8ٮqq Q}tI q U}C9qu2: u5:)u)E8 r9)I tIi D ::)|:Iyr9I9*G2GFFrFbFEE);I9 QQiQIQ]%@]liYY a2@e<:@mw: yF) <(AYt.LK@t.Y@yt..;t.P|>t.H`S? aп@v? Q?K??)u.LK@ u.Тp;Iu.CxNi>xREi\I\)SG%%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ1;>ʁʁQEʉ͍ew;>I IE8ٮ QtI  UC9鰕B: |:)r7E8 r9)I tIi D ɏ:):Ir9I9*G2GFFrFbFEE);I9 iIsi 2@ <:@ w: !i19p) ^(AYt*6K@t*Y@yt*ft*]}>t*H@G@>?Ȭ@п B V?ࠕ?k??)u*6K@ u*jp;Iu(xB:m>xBEG@HD)~dGF@=YEuE>AIQMEIMcM>IQ I]E8ٮQQ Q]tI Q UeC9QU: UW:)UDE8 mr9)aIa mtIia mDa e-:)e :IeYr9yI9*G2GFFrFbFEE);I9 iIGi 2@<:@w: X) ;(A Yt: K@t:عY@yt::at:o~>t:H ? `yп``̴??@ z?`?)u: K@ u:p;Iu8xB,t>xF#EiPIR̓C)GF@MY]D]>iiQmEqͅ$ɻ>I IE8ٮ QtI  UC9鰝Ö; ܘ;) SE8 r9)I tIi D  ;)9;Ir9I9*G!2G)F)F)rF1bF1E1E9)M;IM9 IIiIIIQU?iYY Y2@e<:@ew: q) ,(AYt*K@t*Y@yt*t*0}>t*H1/?@G?п?@Eӂ? qS??)u*K@ u*lp;Iu*CxZp>xZ%E)-ׄGi5xA1a 1ma 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ4>ʑʑQEʙ͝s;;>I IE8ٮ QtI  UC9鰥: 1:)`E8 r9)I tIi D :):Ir9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I  i 2@%<:@%w: 15R>=V>j) E(AYt.J@t.Y@yt.t.z{>t.Hb ?]п T?`j?`o? ?)u.J@ u.p;Iu,xB'n>xBpEHFp=HDiPIT)%GF@=YE?p;E>AIQMEIMU>IQ I}E8ٮQQ Q}tI Q UC9QU=; U;)URnE8 s9) s9I tIi D N:):Is9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.816270 arcdeg .q''*G2G-@F!F!rF)bF)E)E))e;Ie9 aaiaIam'@imjQ~>m-@ q2@u<:@}w: ߉$RHorizontalControl.headingCmd 2.711892 rad) B_(A);IYt*K@t*۲Y@yt*A&t*Q}>t*Hw ? sп@s??{i?)?)u*K@ u*+np;Iu*CxB c>xB E)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ-%>ʩʩQEʩ͵SU;>I IE8ٮ QtI  UC9鰽: J:)|E8 s9)I tIi D ::),:Is9I9=O@Contact HDG: 155.379946 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F)rF)bF)E1E1)E;IM9 IIiIIIU)@iU4k>Q Y2@]<:@]w: y?) ʨy(AYt*J@t*Y@yt*t*.>t*Hu?c"Dп` ?`???)u*J@ u*ӊp;Iu*CxBz>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIzѓC)uG4=F@=YE8E>IIQMEI͕^ݻ>I IE8ٮ Q tI  UC9鰥f< f<)[E8 s9)I tIi %D J:)<:I)s9IIQ9Q*Ga2GaFaFarFbFEE);I9 iI-@iH:P> 2@<:@w: i5@A9`) (AYtjJ@tj{Y@ytjO tj|>tjH "?=п M?!?@B??)ujJ@ ujwp;IujCxze>x~P EG H )Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@mYuI:u>yyQ}EyͅQ>I IE8ٮ QtI  UC9鰍B: :)E8 s9)I tIi D %:)Z:I&:s9I9*G2GFFrFbFEE);I9 iIOi > 2@<:@w: w) _(A Yt.J@t.Y@yt.xt.!w>t.HaU?ުLFп @?@?? l?)u.J@ u.Cp;Iu,xN:m>xREi`I`)!F@]Yeޠe>aaQeEam:m>Iq I}E8ٮqq Q}tI q U}C9quh: ul:)uE8 s9)I tIi D :)9:IIs9I9*G2GFFrFbFEE);I9 iIlUi 2@<:@w:I I)III ) 9(AYt*J@t*wY@yt*t*|{>t*HU?c/9п [c?@с?`E!? ?)u*J@ u*gp;Iu(x6i>x6NE)tizwAxF@Y%9%>!)Q-E)-->I1 I=E8ٮ11 Q=tI 1 UEC915: 5:)5E8 Ms9)AIA MtIiA MDA Ep:)E:IE\Zs9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI@Li 2@<:@w: =i>A") (AYt*J@t*SY@yt*ct*>t*Hp?׫п`RQ?^̂??y?)u*J@ u* q;Iu(xRo>xRJEHVa=HVp=i`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽē>QE!>I IE8ٮ QtI  UC9: :)E8 s9)I tIi D :):I9ls9I9*G 2G FFrFbFEE)5;I59 11i1I19=0t*H`+`t?@Uп~?`?@c?_?)u*J@ u*Fq;Iu*Cx^l>x^E)5+GF@EYM;M>IIQUEQUi:U>IY IeE8ٮYY QetI Y UmC9Y]: ]:)]E8 us9)iIi utIii uDi m:)mE:Im|s9I9*G2GFFrFbFEE);I9 iIBi 2@<:@w: +* G(AYt*`J@t*k7Y@yt*Jt*'w>t*H#@dH?$KϿ`7@?@Q ? ? ?)u*`J@ u*Kq;Iu*CxNi>xRNEi|I|)mSGqqF@Yʥ >ʱʱQEʹ\>I IE8ٮ QtI  U C9; ;)@E8 -s9)!I! 5tIi! =D! %v;)%";I%s9iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  k51i 2@<:@w: )i5?A9 * ".(AYt*J@t*(\Y@yt*Vt*x>t*H@|?@/п `L?j?? 1?)u*J@ u*Wq;Iu(xBRr>xBEGB@AHD)jGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YԺ>QE ?; >I I5E8ٮ Q=tI  U=C9; ;);E8 Es9)AIA MtIiA MDA E}:)E:IE̟s9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.590778 arcdeg .q''*G2GFFrFbFEE);I9 iI  $Hi   12@5<:@=w: I+* H(A Yt*J@t*0Y@yt*t*#>t*HN5?@R&Ͽ d?w?`??)u*J@ u*q;Iu*CxBHf>xB EiR=IP)~+GF@ Yr>QE%%>I) I-E8ٮ)) Q5tI ) U5C9)-ɪ: -%:)-E8 =s9)9I9 EtIi9 ED9 =:)=0:I=fs9QIQ9Q=O@Contact HDG: 155.379946 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 QQiQIQY]ޣ,iYY a2@e<:@mw: ߙ1*  ^b(AYt*J@t*RY@yt*t*NH~>t*H`gu?RпB ?,\?@Xu?`f?)u*J@ u*Dr;Iu(xNq>xRE)GiwAa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ9>ʡʡQEʡͭ~;>I IF8ٮ MF8 QtI  UC9鰵: ]:)eF8 s9)I tIi D :):I+s9YIY9Y*Gi2GiFiFqrFbFEE);I9 iICi 2@<:@w: 5{>={>[* T6|(AYt*J@t*BY@yt*A1t*0|>t*H Z?@@п@2@??>D??)u*J@ u*Xq;Iu*CxBu>xBEHFp=HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 irf=Ir̓C)SGF@YʽN>ʹʹQE>I IF8ٮ QtI  UC9$; !;)RF8 s9)I tIi D ;) ;Iis9I9*G)2G1FFrFbFEE)5;I59 11i1I19= 7i9A A2@E<:@Mw: y5C%* (A) IYt.J@t.'BY@yt.t.n}>t.H` Q?| п0 ?`?l?` ?)u.J@ u.q;Iu,xRp>xRE){REI{Pi{R:={P{P{RA{P|RA9|R\T? 6LT)=GF@MYU9:U>QQQUEQ]g]>Ia ImF8ٮaa QmtI a UmC9ae: e:)e!F8 }s9)qIq tIiq Dq u:)u:Ius9I9*G2GFFrFbFEE2EzEAEA1@% GU1E\T? 6LTEEEE@~w53|T'@t<nE(Ί뿠yt*Hth?^:Dп@cfh? -?`S$? ?)u*J@ u* q;Iu*CxBs>xBEiPIRѓC)G %= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm|m>iqQuEqu>:}>Iy IF8ٮyy QtI y UC9y}: }:)}/F8 s9)I tIi D :):Is9I9*G2GFFrFbFEE);I9 iID>i 2@<:@w: i19T2* L(AYt2ZJ@t2eWY@yt2Y t2Yz>t2H` ी?'пuk?? 2+?@I? ?)u2ZJ@ u2Vtq;Iu0xBz>xB EGBAAHFAA)))Q-E)5:5>I IF8ٮ QtI  UC9鰝: :)o=F8 t9) t9I tIi D o:)@:It9I9*GA2GAFAFIrFYbFaEqEq);I9 iICCi 2@<:@w: A8* (A Yt.rJ@t.}NY@yt.kt.Z|>t.H/ar?пm@a? h?G?@@?)u.rJ@ u.5q;Iu.CxBc>xB EipIr̓C)EGF@]Yeim>iiQmEq}}>I IF8ٮ QtI  UC9鰅: :)#KF8 t9)I tIi D M:):Ijt9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFQrFYbFYEYEa);I9 iIe$=i 2@<:@w: Q>* ((AYt*J@t*UY@yt*.t*}>t*H;? u-п@໮?`E?e?\?)u*J@ u*p;Iu*CxBp>xB%E)5SGi=yA=xAa 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y%ι%>!!Q-E)-ڋ:5>I9 IEF8ٮ99 QEtI 9 UEC99=: =x:)=YF8 Ut9)III tIiI DI M(<)M(5]>E* ji(AYt2ͤJ@t2QY@yt2}Rt2}>t2H=w?1п}?= ?j?`?)u2ͤJ@ u2p;Iu0x>:m>x>EH<H@iLINѓC)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Y9>QEI%>I  IF8ٮ   QtI  UC9  ; ];) RgF8 %t9)I %tIi %D -:)A:I8t91I199=Ou@Contact HDG: 151.195076 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iI-f)@i 2@<:@w: K* 51(A)4t*H=`3|? X п@<`hT???@ ?)u*J@ u*p;Iu(xBWx>xBE)~GF@=YEJC;E>AAQMEIM{H:M>IQ I]F8ٮQQ Q]tI Q UeC9QU3: U:)UJtF8 mt9)aIa mtIia mDa eՐ:)eo:IeHt9yI9*G2GFFrFbFEE)5;IU9 QQiYIY]@(@iYa a2@m<:@mw: ߙoR* K(AYt*J@t*vY@yt*t*{>t*H`(?M 9п@iJN??? ?)u*J@ u*tp;Iu(xNWx>xPi\I\)dG%p=%=F@-Y5P65>11Q5E1=٠;=>IA IMF8ٮAA QMtI A UMC9AE}: E>:)EF8 ]t9)QIQ ]tIiQ ]DQ U:)U˵:IUYt9iIi9q*G2GFFrFbFEE);I9 iI'@Gi 2@<:@w: i5@A9X* d(AYt*bJ@t*mTY@yt*t*}>t*Ho`|?@ @п* Ȩ??`??)u*bJ@ u*np;Iu(xB`k>xBEGB@AHB@A)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye8e>aaQmEimUm>Iq I}F8ٮqq Q}tI q U}C9qu: u`:)uF8 t9)I tIi D :):I kt9I9*G2GFFrFbFEE);I9 iI(@iQ> 2@<:@w: ^* ~(A Yt*eJ@t*pY@yt*J t*q{>t*H@(?Hпls]?? N? ?)u*eJ@ u*jp;Iu*CxBi>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)GF@Y7:>!!Q%E!-e;->I9 IEF8ٮ99 QEtI 9 UMC99=o; =M:)=F8 ]t9)QIQ ]tIiQ ]DQ U:)U:IU,}t9yIy9y*G2GFFrFbFEIEQ)e;Ie9 aaiaIiF.i > 2@<:@w: e* b(AYt*J@t*jY@yt*t*|>t*H`?@ ;@-п s? DR?.?`?)u*J@ u*Xp;Iu*CxBl>xBE){B^ ZI{@i{B={B>{@{BA{@|BA9|B?ԏs)SGi%xA!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅI>ʁʉQEʉ͍>I IF8ٮ QtI  UC9鰕: а:)F8 t9)I tIi D -:)A:IGt9I9*G2GFFrFbFEE2EzEAE.8/@KGL 1E?ԏsE^ ZEEa>3M.()@vZE7X6z#Z@?Dp"ƿE#@=DHdg To Contact =146.781667 degreesZEqLAbE:Euo$?BEpo$?JE~ RE jErEp) ;I9 iI#)i !2@%<:@-w: 9$]Dacoustic_contact_range 23.700001 m$ehTrackAcousticContact.heading_to_contact 2.561823 rad$eLDUSBL_Hydroid.xAngle -48.800001 arcdeg19 l* }(AYt2J@t2Y@yt2WEt2e|>t2H$*?sWпŁ?? )???)u2J@ u2d(p;Iu2CxBp>xB%EHBa=HDiPIV̓C)GF@=YEqfE>AAQMEIMo;M>IQ I]F8ٮQQ Q]tI Q UeC9QUS: U:)U;F8 mt9)aIa mtIia mDa eՐ:)eȗ:Iet9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI/i 2@<:@w:) 9r* Z(A);IYt.qJ@t.|Y@yt.t.}>t.H P?ܫ`MCп` ?@8?vl??)u.qJ@ u.}Vp;Iu,xBf>xB E)EGF@]Yeu~:e>aaQeEim#Hm>Iq I}F8ٮqq Q}tI q U}C9qu : u:)u(F8 t9)I tIi D :):I$t9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.721317 arcdeg .q''*G!2G%#@F!F!rF)bF)E)E1)e;Ie9 aaiiIim]'@iiu#@ 2@<:@w: )I !$ERHorizontalControl.headingCmd 2.561823 rad&y* 5(AYt*J@t*Y@yt*t*|>t*H @E?e Xп@N?S?C??)u*J@ u*Gp;Iu*CxB}v>xBEiLINѓC)=GE4=E4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ,9>ʩʩQEʩ͵O;>I IF8ٮ QtI  UC9: l:)bF8 t9)I tIi D Ր:) :It9!I!9!=O}@Contact HDG: 146.781667 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFFrFbFEE);I9 iIn$@i 2@<:@w: i5?A9* (AYt*J@t*Y@yt*F t*{>t*H2?*bп@@q^?@?@Y!? ?)u*J@ u*cp;Iu*Cx> |>xBEGB?AH@)~vGF@Y%9%>!)Q-E)-r:->I1 IF8ٮ11 QtI 1 UC915< 5<)5vF8 t9)I tIi D (:):Iqt9I9*G2GFFrF bF E E)E;IE9 AAiAIIM"@iIQ Q2@]<:@]w: i!.* (A Yt*J@t*Y@yt*-t*']y>t*H?`rjп{!?e?? ?)u*J@ u*bp;Iu*CxBu>xBEiLIR̓C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmEimE:m>Iq I5F8ٮqq Q=tI q U=C9qu< uȲ:)uF8 Et9)AIA MtIiA MDA E:)Eȗ:IE;t9yIy9y*G2GFFrFbFEE)-;I59 11i1I1="@=ei99 A2@E<:@Ew: ߙ9X* 3(AYt* K@t*ڸY@yt*t*1|>t*H?`«`xп`wr?(? y4?{?)u* K@ u*p;Iu*CxBi>xBNE)~GiwAwAF@Y%u:%>!!Q-E)-;->I1 I=F8ٮ11 Q=tI 1 UEC915 : 5/:)5 F8 Mt9)AIA MtIiA MDA E:)EԘ:IEt9YIa9a*Gq2GqFqFqrFbFEE);I9 iI#@i 2@<:@w: 1=x>t.H78?~п`(?U?? ?)u.&K@ u.p;Iu.CxBe>xBP EHFp=HDiPIVѓC) SGF@Y%͹%>))Q-E)--;5>I1 I=G8ٮ1 M=G81 QEtI 1 UEC915$: 5:)5 G8 Mu9)I Mu9II MtIiI UDI M,:)M:IMu9I9*G2GFFrFbFEE);I9 iI6#@x%i 2@ <:@w: !7j* ,}g(A)IYt*K@t*Y@yt*Ӗt*}>t*H` )?Q-Dп ?2?d? ?)u*K@ u*4 q;Iu*CxBf>xB E)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}k:>ʁʁQEʁ͍&κ>I IG8ٮ QtI  UC9鰕; ;)G8 u9)I tIi D :):Iu9I9*G 2G FFrF9bF9E9E9)U;IU9 qqiqIq}#@}Qiyy 2@<:@w: Y=R* X(AYt*AK@t*Y@yt*t*z>t*H N?Aпb0B?3?; ? ?)u*AK@ u*Mp;Iu*Cx>m>xB'E {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i\I\)5҄GU%=U%=F@Yʍ9>ʑʑQEʑͽɵ;>I IG8ٮ QtI  UC9; ;)(G8 u9)I  tIi  D :):I&u9aIa9aODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iICi 2@<:@w: 9i11s{* <0(AYt2AK@t2Y@yt2ht2x>t2H@yQ?ګ@пGx??H?`1?)u2AK@ u2j7q;Iu2CxB,t>xB#EGB@AHD)vGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y%O>QE9>I IG8ٮ QtI  UC9д; 4:)5G8  u9)I  tIi  D :)E:I8u99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NUInitialize.q'UN@Vehicle HDG: 195.104053 arcdeg .q''*G2GFFrFbFEE);I9 iI  5i11 12@=<:@=w: Ia* (A Yt*yQK@t*Y@yt*t*8{>t*H `]? Qп[?;?` '?W ?)u*yQK@ u*Yoq;Iu(xBs>xBEiPIP)5GF@]YeJe>aaQeEam;m>Iq IG8ٮqq QtI q UC9quE< u<)u?CG8 u9)I tIi D h:):IHu9I9=OU@Contact HDG: 146.781667 arcdeg .']']O]4Initialize Wait Component.*GY2GYFYFarFabFaEiEi);I9 iIzÛi 2@<:@w: !8* (AYt*-rK@t*8Z@yt*%t*}>t*HU{?`п`1?2?:j?@?)u*-rK@ u* q;Iu*CxBp>xB%E)Gi  F@Y%z%>!)Q-E)-#;->I1 I=G8ٮ11 Q=tI 1 UEC915: 5:)5PG8 Mu9)AIA MtIiA MDA EՐ:)E:IEYu9I9*G)2G)F1FQrFYbFYEYEY)u;I9 iIi 2@<:@w: 9=p>* r(AYt* nK@t*Z@yt*w3t*;|>t*H@`8u?Aп@@j?@b?U???)u* nK@ u* q;Iu*CxN?s>xREHRa=HRa=i`I`)%+Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ ";>ʉʉQEʉ͕>I IG8ٮ QtI  UC9鰝F: :)^G8 u9)I tIi D )c:Iju9YIY9a*Gq2GqFqFqrFybFyEE);I9 iI᜽i 2@<:@w: * (A) I4t*H ?@`ѿ;@?`Z?@}??)u*K@ u*p;Iu*CxB`k>xBE)~GF@=YE#E>AAQMEIM;M>IQ I]G8ٮQQ Q]tI Q UeC9QU: U$:)UylG8 mu9)aIa mtIia mDa e:)e:Ie<{u9yIy9*G2GFFrFbFEE);I9 iIUןi 2@<:@w: * x(AYt*t*Hb?Bѿ[? r?`1??)u*xB EiPIP)~+G<F@=YEf:E>AAQMEIM(79M>IQ I]G8ٮQQ Q]tI Q UeC9QUJ: U:)UCzG8 mu9)aIa mtIia mDa a)aIeBu9yI9*G2GFFrFbFEE);I9 iI8i 2@<:@w: i99* R6(AYt*ӸK@t*eZ@yt*it*cY|>t*H Ǿ? ѿd?[Â?Z9? ,?)u*ӸK@ u*M9p;Iu(xBt>xBlEGBAAH@)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]٦]>aaQeEam=;m>Iq IuG8ٮqq Q}tI q U}C9qu: u:)u*G8 u9)I tIi D :):Imu9I9*G2GFFrFbFEE);I9 iI"i 2@<:@w: * 7P(A Yt2cK@t2nhZ@yt2Xt2|>t2H@˿?#9>"ѿA@XY??$2? ?)u2cK@ u2%*p;Iu2Cx>:m>xBEiPIR̓C)ׄGF@=Y=:=>AAQEEAM9M>IQ IUG8ٮQQ Q]tI Q U]C9QU: U :)U֕G8 eu9)aIa mtIia mDa e::)eN:IeMu9yIy9y*G2GFFrFbFEE);I9 iI٠i 2@<:@w: *  j(AYtZK@tZZ@ytZtZH  ?!ì#NѿO*????)uZK@ uZlo;IuZCxrm>xv'E)Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y > >QE;>I! I-G8ٮ!! Q-tI ! U-C9!%: %:)%G8 =u9)1I1 =tIi1 =D1 5t:)5:I5ou9III9IO]Done Waiting.']Oe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱5>={>* (AYt*L@t*ԻZ@yt*p_!t*`|>t*H N.? i}rѿBo?+?H?&?)u*L@ u*#o;Iu*CxRjw>xR"EHRp=HT {TY|TZ8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAIEѓC)GF@Y% %>))Q-E)U߷;]>Ia ImG8ٮaa QmtI a UuC9ael0; e3;)eG8 u9)I tIi D :):Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.820595 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@-<:@5w: A* (A) I;Yt*bL@t*mZ@yt*t*B,>t*H@e?3 jkѿj??@??)u*bL@ u*o;Iu*CxBw>xBjE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y;;>QE>I IG8ٮ QtI  UC9ٮ: :)G8  u9) I   tIi  D  d:) x:I ?u9AIA9A=O@Contact HDG: 146.781667 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%}i!! !2@-<:@-w: AB* (AYt*t*H =9?1֞ѿ ;Y?{?@!???)u*xBnEiPIP)~G%==F@=YEHE>AAQMEIM <M>IQ I]G8ٮQQ Q]tI Q UeC9QU: U:)UG8 mu9)aIa mtIia mDa e:)e,:Iedu9I9*G)2G)F1F1rFYbFYEYEY);I9 iI%i 2@<:@w: i19)* u(AYt*[FL@t*fZ@yt*rt*z>t*H ]B?@ѿ $,$?K΁?@ ? ?)u*[FL@ u*o;Iu(xNi>xREGR@AHP)5iqQuEqͅ:>I IG8ٮ QtI  UC9鰝; ;)G8 ev9) mv9I }tIi D ;);Iv9I9*G2GFFrFbFEE)U;IU9 QQiQIQY]E秽iYY a2@e<:@mw: ߙT* *R(A Yt.QdL@t.\[@yt.t.{>t.HZ`?ѿN@? W?#&?`[ ?)u.QdL@ u.;o;Iu.CxNp>xR%Ei\I\)SGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQEʁ͍;>I IG8ٮ QtI  UC9鰕: :)G8 v9)I tIi D ::)N:Iv9I9*G2GFFrFbFEE);I9 iI@i 2@ <:@ w: !;* <-(AYt*LqL@t*W[@yt*pB!t*"{>t*H@m?@'@/ѿ`H?8(?`,?@?)u*LqL@ u*o;Iu(xB"h>xBE)~GixAF@ Yⅺ>QE*;>I! I-G8ٮ!! Q-tI ! U-C9!%ի: %:)%$G8 =v9)1I1 =tIi1 =D1 5:)5=:I50%v9III9I*Ga2GaFaFarFibFiEiEq);I9 iI<i 2@<:@w: ߩ=R>=i>e* (AYt*QL@t*\\[@yt*ݶt*,z>t*H ֧?Ti ҿ ?Ƕ? ?`b ?)u*QL@ u*(o;Iu(xB`k>xBEHBR=HDiPIP)~+Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aiQmEim<m>Iq I}H8ٮq M}H8q QtI q UC9qu: u:)uGH8 v9)I tIi D :):I6v9I9*G2GFFrFbFEE);I9 iI_i 2@<:@w: ) * 8(A)4t.H ğ?{`ҿ? Մ??a?)u.L@ u.o;Iu.Cxn5g>xn*E)USGF@Yʝǭ>ʡʡQEʡͭ.r>I IH8ٮ QtI  UC9鰵; 1;)VH8 v9)I tIi D 4:):I5Hv9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF!rF!bF!E)E))=;IE9 AAiAIAIM̙iII I2@U<:@Uw: iz* OR(AYt2L@t2[@yt2t2^>t2H "? a/ҿ?`?̜?`?)u2L@ u2xp;Iu0x=a>x= EiyI̓C)G  %=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ>:>ʑʑQEʑ͝;>I IH8ٮ QtI  UC9鰥: c:)0!H8 v9)I tIi D :):IWZv9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 196.507029 arcdeg .q' ' *G 2GFFrFbFEE)5;I59 11i1I19=ei9A A2@M<:@Mw: Yi11M* (l(Ax~u>x~EG?AH)GF@Y>QE>I IH8ٮ QtI  UC9ͭ: l:)5.H8  v9)I  tIi  D :):Ihjv9I9!=O]@Contact HDG: 146.781667 arcdeg .']']O]4Initialize Wait Component.*GY2GaFaFarFibFiEiEi);I9 iIˮi 2@<:@w: ߩ!* R}(A x~sj>x~(E {Y| 8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIѓC)}+GF@Yʙ>ʡʡQEʡͱ>I IH8ٮ QtI  UC9鰽: 6)<)'* /P(AYt.*M@t.[@yt.-t.z{>t.HT?@!ҿ]+? ?D?@ ?)u.*M@ u.o;Iu,xNU_>xRS E)5GiIIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YU-]>YYQ]EYe*_<e>Ii ImH8ٮii QtI i UC9im; m;)mJJH8 v9)I tIi D :):IAv9I9*G2GFFrFbFEE)-;I-9 ))i)I)QUiQQ Y2@]<:@ew: q=V>=l> -* )(AYt* +M@t*+[@yt*t*;>t*H@i?-_cҿ.@ ? kւ??d?)u* +M@ u*o;Iu(xBu>xBEHFp=HFp=iTIT) vGF@=YE{;E>AAQMEIMg 8M>IQ I]H8ٮQQ Q]tI Q UeC9QUh: U):)UVH8 mv9)aIa mtIia mDa ep:)ec:Iev9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: 4* (A)IYt6HM@t6[@yt6t6_}>t6H@$2?@N ҿ]@S? ?&Y?)?)u6HM@ u6o;Iu6Cx^_>xb E)dGa 1a 1 a 5a 5 a 9a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y%k-->))Q-E)5f;5>I9 IEH8ٮ99 QEtI 9 UEC99=: =S:)=eH8 Uv9)III UtIiI UDI Mt:)M0:IMv9aIa9a*G2GFFrFbFEE)5;I=9 99i9I9AAiAA i2@m<:@uw: ߁\:* (AYt*IhM@t*T\@yt*2t*s>t*HyN[?@Uҿ #?I???)u*IhM@ u*o;Iu*CxRm>xR'Ei`I`)1==9F@}Yʅ>>ʁʁQEʉ͍U;>I IH8ٮ QtI  UC9鰕: :)rH8 v9)I tIi D :)A:Iv9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !i19A* (AYt*RqM@t*]\@yt*$t* q>t*H@/ c?.ҿb?? ? ?)u*RqM@ u*o;Iu*Cxj`k>xjEGlHl)eGF@uY}ğ:}>ʁʁQEʁ͍0:>I IH8ٮ QtI  UC9鰍: :)|H8 v9)I tIi D :):Iv9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !H* x!(A Yt.oM@t.z<\@yt.,-t.q>t.H ?0T@ҿٳ?}?r?*?)u.oM@ u.o;Iu.CxBZe>xF Ei`Ib̓C)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YjT>QE;>I IH8ٮ QtI  UC9 :)H8 v9)I tIi D F:)9:Iv9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E9E9)M;IM9 QQiQIQYYiYY Y2@e<:@ew: y8-N*  v;(AYt*hM@t*sY\@yt*2&t*+Pu>t*H e ?@:`ҿ@`?ӄ?`^?`?)u*hM@ u*o;Iu*Cx^p>x^%E)m+GiuyAqF@Yʽ:>QE;>I IH8ٮ QtI  UC9 ; m ;)ZH8 v9)I tIi D Ր:)N:Ikv9I9& MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 197.267051 arcdeg .q'E'E*GA2GAFAFIrFIbFIEQEQ)e;Im9 iiiiIiqqiqq y2@}<:@w: ߑ=>=e>]U* NU(AYtBM@tBm\@ytB<tB%n>tBHf?Җ {ӿ ҳ?Ӷ??#?)uBM@ uBBo;IuBCxJo>xJEHNa=HNa=iXIZѓC)GF@%Y-:->11Q5E15;T;=>IA IEH8ٮAA QMtI A UMC9AE: E:)EH8 Uw9)Q Uw9IQ UtIiQ ]DQ Uض:)Ur:IUw9iIi9i=O%@Contact HDG: 146.781667 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIqqiqq y2@}<:@w: ߑ>[* R)o(A);I Yt>GM@t>Rw\@yt>yt>o>t>H C?ܮ~ӿ? c?2? k!?)u>GM@ u>0o;IuxRE)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ29>ʁʉQEʉ͍е:>I IH8ٮ QtI  UC9鰕: į:)H8 w9)I tIi D p:) :Iw9I9*G2GFFrFbFEE)u;I}9 yyiyIyi 2@<:@w: ߡ[*b* #(AYt2M@t2p\@yt25"t2#u>t2H``? @ ӿ4Em?@F?vq?`?)u2M@ u2p;Iu2CxNMl>xNLE {LY|PR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI )G4=4=F@YG>QEG>I IH8ٮ QtI  UC9b; ;)H8  w9)I tIi D :);I%w9)I)91*GI2GIF)F)rF1bF1E1E1)m;Im9 iiiiIiqqiqq y2@}<:@w: ߱i)1FPh* ޢ(AYt*M@t*\@yt*z1t*꿀>t*H@?0氿F(ӿ?Ƃ??`?)u*M@ u*o;Iu*CxBMl>x@GFAAHD){F^I{Di{F~={F7>{D{FA{D|FAA9|Fw,?5naaQmEimO;m>Iq I}H8ٮqq QtI q UC9qu; u;)uH8 w9)I tIi D ɏ:):I5w9I9*G2GFFrFbFEE2EzEAAEBSl$:@4m|"Ew,?5nt.HW!?@`ӿ r?~ ?]?;?)u.M@ u.Np;Iu.CxBi>xBNEiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeɺe>iiQmEiuZu>I IH8ٮ QtI  UC9鰍ť; ;)H8 w9)I tIi D ;);IJGw9I9*G2GFFrF bF E E )%;I%9 !!i!I!))i)) 12@=<:@=w: Ibu*  (AYt*M@t*j\@yt*t*~>t*H?`Ͱӿ``M?`g?bm??)u*M@ u*vo;Iu*CxZo>xZJE)5SGi=xA9F@EYM;M>IIQUEQU&U>IY IeH8ٮYY QetI Y UmC9Y]%: ]:)]H8 uw9)iIi utIii uDi mh:)m0:ImWw9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5R>=]>W{* o(AYt*M@t*\@yt*t*6p>t*H уv? jï6Cӿɧ??e?@?)u*M@ u*Zp;Iu*CxBp>xBEHDHFp=iPIR̓C)5dGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕֺ>ʹʹQEʹ,<>I IH8ٮ QtI  UC9: S:)H8 w9)I tIi D :):Iiw9I9OEDone Waiting.'EOE8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFqbFqEyEy);I9 iIi 2@<:@w: t* wM (A)4t.HH?:&ӿ???1?)u.M@ u.u%p;Iu.CxBi>xBNE)~GF@Yʅ>ʉʉQEʉ͕>I II8ٮ MI8 QtI  UC9鰝: ':)m I8 w9)I tIi D ٮ:):IHzw9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 197.412111 arcdeg .q' ' *G2G%@FFrFbFE!E!)5;I59 99i9I9Eb9%@iAE%@ A2@M<:@Mw: a$}RHorizontalControl.headingCmd 2.591784 rad히* ($(AYt*$M@t*/\@yt*W$t*/+>t*H #?@@ӿ,? 銄??`C?)u*$M@ u*o;Iu*CxB`k>xBEiPIRѓC)~G=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmEim~;u>Iq I}I8ٮqq QtI q UC9qu: ul:)u I8 w9)I tIi D :):Iw9I9=O=@Contact HDG: 148.498312 arcdeg .'='=O=4Initialize Wait Component.*GA2GAFAFArFIbFIEIEQ);I9 iI%@i 2@<:@w: i19Ȏ* T>(AYt*9M@t*D}\@yt*#,+t*z|>t*H ?`o8 !ӿP:?je?BE?Q?)u*9M@ u*.p;Iu(xRp>xR%EGR@AHT)҄GF@]YeXe>aaQmEimm>Iq I}I8ٮqq Q}tI q U}C9qu: u:)u%I8 w9)I tIi D :)V:Iw9I9*G2GFFrFbFEE);I9 qqiqIqy}fiyy 2@<:@w: ߙ* W(A@ Yt.M@t.ʐ\@yt.At.k>t.H-?Xw3ӿ@ @7? ?3?'?)u.M@ u.pp;Iu.CxBo}>xBEiPIR̓C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeA;e>aaQmEim;A;m>Iq I}I8ٮqq Q}tI q UC9quc: u$:)u3I8 w9)I tIi D -:)A:I#w9I9*G2GFFrFbFEE);I9 iI/i 2@<:@w: ڛ* ̸q(AYt*M@t*\@yt*W]t*8p>t*H@@xBE)~vGiF@=YEu;E>AAQMEIM3:M>IQ I]I8ٮQQ Q]tI Q UeC9QU: U-:)UCAI8 mw9)aIa mtIia mDa e:)eN:Iew9yIy9*G2GFFrFbFEE);I9 iIxi 2@<:@w: 1=Y>Q¢* (AYt*FM@t*Q\@yt*؉ t*` z>t*H?}*ӿ`?,?? ?)u*FM@ u*p;Iu*CxBr>xBIEHBR=HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)uGF@Yʭu>ʱʱQEʹͽE0>I II8ٮ QtI  UC9kS; Q;)OI8 w9)I tIi D :)z;Iw9 I 9*G)2G)F)F1rF9bF9EAEA)e;Ie9 aaiaIaiu"iqq y2@<:@w: ߡ* rp(A);IYt.M@t.\@yt.$t. ~>t.H+S?`󎰿Fӿ: Z?H?`.o??)u.M@ u.Rqp;Iu,xR5g>xR*E){RDWI{Pi{R={R>{P{RB{P|RBA9|R%N?Rڶ)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Ya>QE;>I II8ٮ QtI  U%C9: :)]I8 -w9)!I! -tIi! -D! %:)%:I%w9YIY9a*Gq2GFFrFbFEE2EzEBAE528 @f<,"E%N?RڶEDWEE/$w@8{P3Epv.X뿀"C?9/<~RƿE'@=DHdg To Contact =150.244067 degreesZEg@bE&:EBEo$?JERE jE rE );I9 iIQi 2@%<:@%w: q$Dacoustic_contact_range 12.179997 m$hTrackAcousticContact.heading_to_contact 2.622254 rad$LDUSBL_Hydroid.xAngle -48.250000 arcdeg&* 8K(AYt*ѾM@t*k\@yt*t*Jcw>t*H k?SӿoT?`^?G?`?)u*ѾM@ u*pp;Iu*CxBx>xBEiPIRѓC)ESGIIF@UY]:]>YaQeEaee>Ii IuI8ٮii QutI i U}C9imJ: m9:)mjI8 w9)yIy tIiy Dy }Ր:)}N:I}1w9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i99* J%(AYt*M@t*\@yt*t*Ik>t*HS?Ä.ӿ -)?@g? &?Y(?)u*M@ u*p;Iu*CxBo>xBEGBAAH@)~dGa 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y9>QEY;>I I5I8ٮ Q=tI  U=C9ʠ; r;)ByI8 Ex9)A Ex9IA MtIiA MDA E :)Eϝ:IECx9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'uN@Vehicle HDG: 197.442928 arcdeg .q''*G2G'@FFrFbFEE);I9 iI Ԃ'@i y> '@ 12@5<:@=w: I$RHorizontalControl.headingCmd 2.622254 rad(* 2(A@ Yt*M@t*\@yt*Kt*v>t*H ӻ?@Ro&,ӿ@ji?? ?p?)u*M@ u*p;Iu*CxBB`>xB EiPIP)~GF@=YE;E>AAQMEIMM>IQ I]I8ٮQQ Q]tI Q UeC9QU: U:)U3I8 mx9)aIa mtIia mDa e::)e:Iex9I9=O]@Contact HDG: 150.244067 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFabFiEiEi);I9 iI)'@دi > 2@<:@w: * j (AYt*M@t*\@yt*nt*Hh>t*Ho? $,ӿGz? M?|?*?)u*M@ u*Yo;Iu*CxBv>xBGE)~GiF@ Yn9>QE%6>I! I-I8ٮ!! Q-tI ! U-C9!%:: %:)%ȓI8 =x9)1I1 =tIi1 =D1 5:)5÷:I5#x9III9Q*Ga2GaFaFarFibFiEiEq);I9 iI'@&ችi 2@<:@w: ߩ1=V>:* $&(AYt*M@t*i\@yt*gt*>t*H@ 3{?g ӿ X?`匃?`I?`?)u*M@ u*a!o;Iu*CxB'n>xBpEHBp=HDiPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye^e>iiQmEiuu>Iq I}I8ٮqq QtI q UC9qu_: u:)uI8 x9)I tIi D %:):IT5x9I9*G2GFFrFbFEE);I9 iIVvi 2@<:@w:  "* @(A)4t*HdE?ҿa@6?}?^?`?)u*M@ u*n;Iu*CxN5g>xR*E)F@]Ye;e>aaQeEimXm>Iq I}I8ٮqq Q}tI q U}C9qu: u:)uI8 x9)I tIi D p:):IUFx9I9*G2GFFrFbFEE);I9 iI'ʅi 2@<:@w: )I ߉L* lZ(AYt2M@t2(U\@yt25Wt2f>t2HOk?]`ҿ  ?*w????)u2M@ u25o;Iu2Cx:Ml>x:LEiHIL)~G<a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aiQmEimY;m>Iq I}I8ٮqq Q}tI q UC9qu: uR:)uI8 x9)I tIi D ) :I]Wx9I9*G2GFFrFbFEE);I9 iI`i 2@<:@w: i19v* Gt(AYt*M@t*a\@yt*x8廙t*$>t*Hzz??{`WӿJ?|??@?)u*M@ u*o;Iu*CxVsj>xV(EGZ@AHX)-GF@]YePYe>aaQmEim:m>Iq I}I8ٮqq Q}tI q U}C9qu: u:)uGI8 x9)I tIi D }:):I`hx9I9*G2GFFrFbFEE);I9 iIȸi 2@<:@w: ^* "(A@ Yt*nM@t*yi\@yt*{t*>t*Hnj?@`Eӿ w?b??o?)u*nM@ u* n;Iu*CxNk>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iyI) F@UY]ֿe>aiQmEi͕X:>I II8ٮ QtI  UC9鰥C&< &<)aI8 x9)I tIi D :):Id{x9IIQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFbFEE);I9 iIi 2@<:@w: I* ~(AYt*sM@t*~D\@yt*+t*Ì>t*Hya? ҿe ? p?_??)u*sM@ u*Wmn;Iu*CxB?s>xBE)ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ>QEû>I II8ٮ QtI  UC9; p;)CI8 x9)I tIi D B:)ݖ:Ix9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 197.193763 arcdeg .q'E'E*GA2GAFAFArFIbFIEQEQ)e;Ie9 iiiiIiquiqq y2@}<:@}w: ߑ5x>=]>p* o(AYt.M@t.^\@yt.Xt.kD>t.H@u?i ӿ =d?9?@mP?)?)u.M@ u.m?n;Iu,xBp>xB%EHBa=H@iPIT)GF@=YEUS;E>AAQMEIMW;M>IQ I]I8ٮQQ Q]tI Q UeC9QU: U:)UI8 mx9)aIa mtIia mDa e-:)e:IeFx9I9=OU@Contact HDG: 150.244067 arcdeg .'U']O]4Initialize Wait Component.*GY2GYFYFYrFabFaEiEi);I9 iIJ؈i 2@<:@w: * (A);IYt.'M@t.27\@yt.nڻt.f>t.H` {J?`o]ҿr_y?M{???)u.'M@ u.Cn;Iu,xNm>xN'E)5GF@EYMP;M>IIQUEQUAûU>IY IeJ8ٮY MeJ8Y QetI Y UmC9Y]: ]=:)]WJ8 ux9)iIi utIii }Di m:)m:ImYx9I9*G2GFFrFYbFaEiE);I9 iI Յi 2@<:@w: Q+* (AYt*̦M@t*S\@yt*ӻt*>t*Hxu?`ҿ?Huz?)?@N?)u*̦M@ u*o;Iu*CxNW>xREi\I\)dG%=!a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQEʉ͍a;>I IJ8ٮ QtI  UC9鰕g: :)\J8 x9)I tIi D [:)o:Ix9I9*G2GFFrFbFEE);I9 iIOi  2@ <:@w: !i19* i(AYt*M@t*!f\@yt*\t*x>t*Hў?# ӿ P??@??)u*M@ u*(p;Iu*CxB5g>xB*EG@HD)~GF@=YEE>IIQMEIU8;U>IQ I]J8ٮQQ QetI Q UeC9QU`: UB:)UJ8 mx9)iIi mtIii uDi mO:)mc:ImYx9I9*G2GFFrFbFEE);I9 iIfi 2@<:@w:  * E)(A@ Yt:M@t:`\@yt:CDt:h>t:H N?ӿ ?@V? ?,?)u:M@ u:Kq;Iu:Cxbp>xbEiI )SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y=λ=>AAQEEAMr>M>II IUJ8ٮII Q]tI I U]C9IM: M=:)M,J8 ex9)aIa etIia mDa e:)eA:Iex9yIy9y*G2GFFrFbFEE);I9 iIui 2@<:@w: * d!C(AYt*M@t*\@yt*t,^t*i>t*H?>L,ӿ *?Vŋ?`?X*?)u*M@ u*r;Iu(xVw>xVjE)-jGi-yA)F@5Y=xE>AAQEEAM;M>IQ IUJ8ٮQQ Q]tI Q U]C9QU: U:)Un9J8 ex9)aIa mtIia mDa e::)e,:Ie^x9yIy9y*G2GFFrFbFEE);I9 iIi@i 2@<:@w: 5V>=e>*  \(AYt*M@t*y\@yt*Dt*C_n>t*H gy?Mӿ@Rb?*?`?w"?)u*M@ u*q;Iu*CxBo>xBJEH@HDiPIR̓C)ƄGF@]Yey;e>aaQmEim m>Iq IJ8ٮqq QtI q UC9qu; uܵ;)u_GJ8 y9) y9I tIi D o:):Iy9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))];I]9 YYiaIaam&iii i2@u<:@w: ߩ>* Zv(A)4t.Ht?缭\+ӿ ݸ'? jބ?@?`,?)u.M@ u.q;Iu.CxNjw>xR"E)ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YQ;>QE;>I IJ8ٮ QtI  UC9: l:)UJ8  y9)I  tIi  D B:)V:IKy9I!9!&-M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'5Ne@Vehicle HDG: 197.429801 arcdeg .q'e'e*Ga2GaFiFirFibFqEqEq);I9 iIzi 2@<:@w: ߱i#* (AYt*M@t*\@yt*t*U>t*Hૄ+?bj~=ӿ@I?5??M?)u*M@ u*}q;Iu(xBMl>xBLE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iz=Ix)uG4=F@EYM;:u>yʁQEʉ/;>I I5J8ٮ Q=tI  UEC9< <)dJ8 y9)I tIi D ݖ:)I:Iq&y9I9=O@Contact HDG: 150.244067 arcdeg .''O4Initialize Wait Component.*G2GF9F9rF9bFAEAEA)};I9 iIi 2@<:@w: i11$** ;(AYt*`M@t*k\@yt*) 0t*cW>t*H1 ? ?ӿ@~?`I? \?J?)u*`M@ u*Rr;Iu*CxBv>xBGEGBAAHD){FMI{Di{FΈ={F7>{D{D{D|FIA9|FWB Y0?Ϸ03)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅl>ʉʉQEʉ͍69>I IJ8ٮ QtI  UC9鰕S: :)pJ8 y9)I tIi D :):I4y9I9*G2GFFrFbFEE2EzEIAE!}0Ey!@Ԏk3k("EWB Y0?Ϸ03EMEE. &@U@FᘇE @뿇fǡ?sajM¿E)@=DHdg To Contact =152.108012 degreesZE@bEY0:Eo$?BEJEREjErE );I9 iIi 2@<:@w: ߹$Dacoustic_contact_range 12.599998 m$hTrackAcousticContact.heading_to_contact 2.654786 rad$LDUSBL_Hydroid.xAngle -46.100000 arcdegh 1* i(A Yt.HM@t.S\@yt.NBt.Y>t.H[?ߪcDӿ M5?`I?V?@F?)u.HM@ u.ߦs;Iu.CxBn>xBEiRf=IP)GF@=YE8E>AAQMEIMoF:M>IQ I]J8ٮQQ Q]tI Q U]C9QU2: Ux:)Ub~J8 my9)aIa mtIia mDa eՐ:)eȗ:IeEy9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: H77* D(AYt*N@t*\@yt*;@Ht*/b>t*H 5?A:Vӿ`ڼy/?? U?8?)u*N@ u*1t;Iu*CxBl>xBE)iwA a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYehm>iiQmEiuU7;u>Iy IJ8ٮyy QtI y UC9y}\: }:)}WJ8 y9)I tIi D :):IVy9I9*G2GFFrFbFEE);I9 iI)i 2@<:@w: 5R>=]>Ca=* (AYt*FN@t*Q\@yt*Ot*]>t*Hy?5Oӿ?I????)u*FN@ u*u;Iu*CxB:m>xBEH@H@i\I\)GF@=YEE>AIQMEIMM>IQ I]J8ٮQQ Q]tI Q UeC9QU: U;:)UJ8 my9)aIa mtIia mDa e:)eZ:Iegy9yI9*G2GFFrFbFEE);I9 iIKi 2@<:@w: lMD*   (A)IYtNN@tN\@ytNJR+tNoW>tNH? G CPӿnI?/j? ܺ?J?)uNN@ uNt;IuNCxVm>xV'E)ʑʙQEʙ͝{X8>I IJ8ٮ QtI  UC9鰥c: E:)AJ8 y9)I tIi D :):Ilzy9I9*G2GFFrFbFEE);I9  i I li 2@<:@w: 1|sJ* + (AYt.FN@t.Q\@yt.'$t. "W>t.HI@? @,_ӿ@@?@?a?`xK?)u.FN@ u.eWt;Iu.Cxnq>xnEi|I|)G4=F@Yt:>QEE$;>I IJ8ٮ QtI  UC91: :)=J8  y9)I  tIi  D :),:Iry9I9!O5Done Waiting.'5O58Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA)];I]9 YYiYIYae uiaa i2@m<:@uw: ߁i9AB[Q* E (AYt*%N@t*\@yt*ϴ)t*]>t*H`C| ?@L`rӿ.?6? A???)u*%N@ u*t;Iu*CxB`k>xBEGF?AHD)SGF@=YE5YE>AAQMEIMbN;M>IQ I]J8ٮQQ Q]tI Q UeC9QU: U:)URJ8 my9)aIa mtIia uDa e:)e:Iey9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N5Initialize.q'5N}@Vehicle HDG: 197.688979 arcdeg .q'}'}*Gy2G)@FFrFbFEE);I9 iIE)@iHF>)@ 2@<:@w: $ERHorizontalControl.headingCmd 2.654786 rad]W* _ (A@ Yt2N@t2\@yt2٬.t2a>t2HÁ@d?'`8Oӿ ?Յ?@?9?)u2N@ u2H?t;Iu2CxN`k>xPi`I`)%dGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍT@>ʉʑQEʑ͝>I IJ8ٮ QtI  UC9鰥.: ͭ:)pJ8 y9)I tIi D ):):Iy9I9=O@Contact HDG: 152.108012 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIfN)@mqi > 2@<:@w: 9ϯ]*  hy (AYt*,N@t*\@yt*X9t*`Z>t*H@{`-?ء`Myӿ"G?j2?"?@DE?)u*,N@ u*St;Iu*CxBq>xBE)~GivAwAF@=YEܺE>IIQMEIM;U>IQ I]J8ٮQQ QetI Q UeC9QU: Uݱ:)UJ8 my9)iIi mtIii uDi m%:)m|:Imy9I9*G2GFFrFbFEE);I9 iI)@i 2@<:@w: 19+d* A (AYtNN@tN\@ytN8tN;[>tNHY~?W`hdӿ fl?@_? [G?FC?)uNN@ uNs;IuNCxm>x'EHH {Y|!-8****** ping requested ******UNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIѓC)Ga 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@YXM9>QE4>I I J8ٮ Q tI  U C9; ;)J8 y9)I tIi D :)g:I_y99I999*Gi2GiFqFqrFybFyEyEy);I9 iIei 2@<:@ w: j*  (A)p;IYt*"N@t*\@yt*+ .t*[>t*H |D!? @oӿ~@]?*???C?)u*"N@ u*r;Iu*Cx6r>x6IE)vGF@ Y:?QE%;%?I! I-J8ٮ!! Q-tI ! U5C9!%F: %:)%GJ8 =y9)1I1 =tIi1 ED1 5h:)5:I5qy9IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIPgi 2@<:@w: )I )ժq* C (AYt*$N@t*\@yt*k=!t*^>t*Hv|$?ᬿ qӿ@ ?'?ɟ?>?)u*$N@ u*r;Iu*Cx2e>x6P EiDID)vGzR=xF@=Y=:E>AAQEEAMM9M>IQ I]K8ٮQ M]K8Q Q]tI Q U]C9QU: Ub:)UCK8 ey9)aIa mtIia mDa e:)e:Iey9yIy9y*G2GFFrFbFEE);I9 iIgi 2@<:@w: i99:w* $ (AYt* N@t*\@yt*Lt*_>t*Hj ? R TXӿ@`d??`z?mxREGRAAHRAA)%Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍT?:>ʉʉQEʑ͕]{>I IK8ٮ QtI  UC9鰝F: :)^K8 z9) z9I tIi D  :)-:Iz9I9*G2GFFrFbFEE);I9 i I   (ci 2@<:@w: )}* ͯ (A@ Yt.N@t.\@yt.W&t.^Z>t.H~?ebӿYF? ʄ?`C*?D?)u.N@ u.Up;Iu,xBf>xB EiPIR̓C)vGF@=YEc˺E>AAQMEIM:M>IQ I}K8ٮQQ Q}tI Q U}C9QU; UZ;)U#K8 z9)I tIi D }:)N:Iz9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I=9 99i9I9AEeiAA I2@M<:@Mw: ߁* Ɗ (AYt*M@t*\@yt*`$t*RV>t*H? MGӿ,`2?@՘? ?4L?)u*M@ u*Vp;Iu(xBz>xB E)~dGixAxAF@Yʥp9>ʡʡQEʩͭX>I IK8ٮ QtI  UC9鰵@; ;) 2K8 z9)I  tIi D ;)Ά;I#z9AIA9I&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 197.533702 arcdeg .q''*G2GFFrFbFE!E!)5;I59 99i9I9AEaaiAA A2@M<:@Mw: a5Y>=l>* e. (AYt*N@t*\@yt*)6t*Dc>t*H@?񴬿.Rӿj`B?ņ?@*'?6?)u*N@ u*Io;Iu*CxBRr>xBEHBp=HDiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeU/m>iiQmEiu:u>Iy IK8ٮyy QtI y UC9y}F: }):)}?K8 z9)I tIi D p:)t*Hψ`U?"ӿ @?.N??n/?)u*M@ u*&o;Iu*CxN'n>xRpE)+GF@]YeC;e>aaQeEimsm>Iq I}K8ٮqq QtI q UC9qur; u;)uVMK8 z9)I tIi D :)ȗ:IEz9I9*G2GFFrFbFEE)u;Iu9 qyiyIyyU<]i 2@<:@w: !* *b (AYt*XM@t*cv\@yt*t*\^>t*H`!@?@ bӿ=`? ? ?>?)u*XM@ u*Oo;Iu*CxBv>xBEiLIL)~SG4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye8:e>aaQmEimݫm>Iq I}K8ٮqq Q}tI q UC9qu: uE:)u"[K8 z9)I tIi D :)Ԙ:IVz9I9*G2GFFrFbFEE);I9 iI]i 2@ <:@ w: !i19fK* { (AYt*=M@t*Hr\@yt*%t*+WR>t*H m?`Oӿ2L?? R?@_S?)u*=M@ u*o;Iu*CxB,t>xB#EG@HF@A)~dGF@=YEžE>AIQMEIMK$M>IQ I]K8ٮQQ Q]tI Q UeC9QU: U:)UhK8 mz9)aIa mtIia mDa e}:)eN:Iefz9yI9*G2GFFrFbFEE);I9 iId^]i 2@<:@w: a-4* ӕ (A@ Yt*8M@t*CV\@yt* t*TfS>t*H@G?u ҿ Isk??@xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)eGF@YʝcY:>ʡʡQEʩͭ>I IK8ٮ QtI  UC9鰽+; ;)wK8 z9)I tIi D :):I|xz99I999*Gq2GqFyFyrFbFEE);I9 iIYi 2@<:@w: F^*  (AYt2śM@t2H\@yt2~at2z_>t2H ,?@+`ҿ`R? ?`}?=?)u2śM@ u2Po;Iu2Cx>p>xBE){@I{@i{B~={@{@{BA{@|BAA9|BWB Y0?Ϸ03)SGi!!a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽ!8>QE>I IK8ٮ QtI  UC9; ;)K8  z9)I  tIi  D :),:Iȉz9I9!*G12G1FQFQrFYbFYEYEa2EazEeAAEe @-Vw!EeWB Y0?Ϸ03EaEaEe^{"%@͏Ee5ۈW뿚x?n'YÿEe)@=DHdg To Contact =151.858478 degreesZEeߴ@bEe):Eeo$?BEeo$?JEaREajEerEe);I9 iI Xi 2@<:@w: $Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 2.650430 rad$%LDUSBL_Hydroid.xAngle -46.100000 arcdeg5>=t>(E*  (AYt*LeM@t*W\@yt*0t*d>t*HҘi? ҿ_??Z?`3?)u*LeM@ u*>o;Iu(xRe>xRP EHRR=HRp=i`Id)%dGF@=YEE3E>IIQMEIM^ U>IQ I}K8ٮQQ Q}tI Q UC9QU,; U;)U%K8 z9)I tIi D %:)Ԙ:Iz9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9AE%RiAA I2@M<:@Uw: a;p* d (A)4t.HT0Q? ҿ5L?d?ba?A?)u.FM@ u.o;Iu.CxB}v>xBE)-GF@]Ye;e>aaQeEim5m>Iq IK8ٮqq QtI q UC9qu< ub<)uK8 z9)I tIi D :):Ixz9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 196.911936 arcdeg .q''*G2G)@FFrFbFEE)U;IU9 YYiYIYe)@e$Yiae)@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.650430 rad蚾* B (AYt*3?M@t*>[@yt*,t* Q>t*H@P?֩ ҿ@L(?@e?@?@U?)u*3?M@ u*Ho;Iu*Cx>o>xBJEiLIL)~SG==a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aiQmEimu>IQ I]K8ٮQQ Q]tI Q U]C9QU>: UW:)UٮK8 mz9)aIa mtIia mDa e:)e;Ie_z9I9=OM@Contact HDG: 151.858478 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFQFYrFYbFYEaEa);I9 iIVi 2@<:@w: i11* & (AYt>&M@t>[@yt>>t>jU>t>H`6?Gmҿ 4 o?`Ň?{?@fN?)u>&M@ u>35o;Iu>CxNh>xNEGN@AHP)Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ$>ʹQEh>I IK8ٮ QtI  UC9: c:)K8 z9)I tIi D }:)Ԙ:Iz9I9*G2GF)F)rF1bF1E1E1);I9 iI)Ti 2@<:@w: ߱v* 0 (A@ Yt. M@t.[@yt.K't.$e>t.H`?ƫ@ eҿT`s? b?(g?U3?)u. M@ u.5ao;Iu.CxBn>xBEiLIP)~GF@Y%F%>!!Q-E)-䎻->I1 I=K8ٮ11 Q=tI 1 U=C915w: 5ӻ:)5)K8 Mz9)AIA MtIiA MDA E:)E:IEz9YIa9a*Gq2GqFqFqrFbFEE);I9 iI,Qi 2@<:@w: !A* NJ (AYt*L@t*s[@yt*t*B+h>t*H?9#ҿ?׃?? -?)u*L@ u*ko;Iu*CxB`k>xBE)~+GiwAwAF@Y%0:%>!!Q-E)-F*->I1 I=K8ٮ11 Q=tI 1 U=C915ϸ: 1)5K8 Mz9)AIA MtIiA MDA E:)E:IEz9YIa9a*Gq2GqFqFqrFbFEE);I9 iIIi 2@<:@w: !5R>=i>* Td (AYt.ѫL@t.X[@yt.t.WN]>t.H4?ު@f ҿV?`@?r?A?)u.ѫL@ u. o;Iu.CxBk>xBEHBp=HFa=iTIT) Ga 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yʍ:>ʑʑQEʱͽt>I IK8ٮ QtI  UC9: >:)[K8 {9) {9I tIi D ;):I{9 I 9 *G92GAFAFArFIbFIEIEI);I9 iI+Gi 2@<:@w: ߩ* ~ (A);IYt6L@t6@[@yt6%t69>t6H??`g ѿ2|??@?`Ny?)u6L@ u6p;Iu4xBh>xBE)~GF@Y%[{%>!!Q-E)- |->I1 I=K8ٮ11 Q=tI 1 U=C915ܹ: 5:)5K8 M{9)AIA MtIiA MDA E:)E:IE{9YIa9a*Gq2GqFqFqrFbFEE);I9 iIEEi 2@<:@w: !F* Eb (AYt*}L@t*I[@yt*<$t*)/>t*H?ѿc?@D?P???)u*}L@ u*p;Iu*CxBk>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAIA)G%=a 1-a 1- a 5-a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a = a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@}YʅK>ʉʉQEʉͽ$:>I IL8ٮ ML8 QtI  UC9z; m;)L8 {9)I tIi D Е:)<:II${9IIQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFrFbFEE);I9 iI  j4Gi   2@<:@w: QiQQ * ; (AYt*@xL@t*K%[@yt*:t*hTB>t*H` ܧ?@|nѿ`) P?P? $?gl?)u*@xL@ u*mp;Iu*CxB,t>xB#EGB?AH@)GF@}Yʅi>ʁʁQEʁ͍Nƻ>I IL8ٮ QtI  UC9鰕; ܵ;)L8 {9)I tIi D :):I3{9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  NInitialize.q'N=@Vehicle HDG: 196.189411 arcdeg .q'='=*G92GAFAFArFIbFIEIEI);I9 iI&Bi 2@<:@w: *  (A Yt*.L@t*Z@yt*^1t*&Z>t*HsO?@!9ѿ@ kw?@1?"?OE?)u*.L@ u*p;Iu(xNWx>xREi`I`)%҄GF@]Ye4:e>aaQeEim7m>Iq IL8ٮqq QtI q UC9qu|< u<)u(L8 {9)I tIi D ̒:):ID{9I9=OU@Contact HDG: 151.858478 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyI9i 2@<:@w: ߡ *  (AYt* L@t*Z@yt*:2t*P>t*H V8?,qѿ@!BO?@G?`?@U?)u* L@ u* p;Iu*CxBi>xBNE)+Gi a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝ)и>ʡʡQEʡͭx>I IL8ٮ QtI  UC9鰵2: :)8*L8 {9)I tIi D %:):IU{9YIY9Y*Gi2GiFqFrFbFEE);I9 iI7i 2@<:@w: U>]t>89*  (AYt6K@t6̏Z@yt6Qmt6 D>t6HI`T?)@Hѿ:@??"l?i?)u6K@ u6q;Iu6CxZc>xZ EHba=Hbp=ilIl)=SGF@uY} <;}>yyQEʁͅ׻>I IL8ٮ QtI  UC9鰍`: :)7L8 {9)I tIi D  :) :If{9I9*G2GFFrFbFEE);I9 iI3i 2@<:@w: * / (A) IYt*xK@t*Z@yt*$t*}KA>t*H@@: ?꥿`3@ѿ>Avh? Ӏ??`6n?)u*xK@ u*pq;Iu*CxNr>xRIE)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ%s;>ʡʡQEʡͭw>I IL8ٮ QtI  UC9鰵: :)EL8 {9)I tIi D :)N:Iw{9I9*G2GFFrFbFEE);I9 iI%DM3i!! !2@-<:@-w: 9iH * 3 (AYt*K@t*fZ@yt*t*WG>t*H?`'ѿ <`/??0? d?)u*K@ u*q;Iu(xBDy>xBEEiLINѓC)~ƄG%=F@=YE E>AAQMEIMgM>IQ I]L8ٮQQ Q]tI Q U]C9QUh: U:)U,SL8 m{9)aIa mtIia mDa e:)eȗ:Ie?{9yIy9*G2GFFrFbFEE);I9 iI&/i 2@<:@w: iQQ/* d]M (AYt*߫K@t*XZ@yt**t*`T>t*H^? &8ѿq(?[?h? KO?)u*߫K@ u*r;Iu*CxBt>xBlEGB@AHD)AIQMEIMU>IQ I]L8ٮQQ Q]tI Q UeC9QUb: U#:)U`L8 m{9)aIa mtIia uDa et:)e:IeF{9I9*G2GFFrFbFEE);I9 iI|.i 2@<:@ w: %Z* 9g (A Yt*3aK@t*>Z@yt*I"t*`R>t*H@?n<пR6 ? I?|? TS?)u*3aK@ u*3s;Iu*CxNMl>xRLEi\I\)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y:>QEC1>I IL8ٮ QtI  UC9h: :)YoL8 {9)I tIi D :):I{9I9 ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))E;IE9 AAiAIAIM6%iII Q2@]<:@]w: iJB *   (AYt*_K@t* Z@yt*t* C>t*H ?r뤿`п qN`?@ ?@7:?`k?)u*_K@ u*t;Iu*CxBu>xBE)zׄGi~xA~xAF@Yʅ:>ʉʉQEʉ͕^>I IL8ٮ QtI  UC9鰝: :)|L8 {9)I tIi D ɏ:) :I{9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.207749 arcdeg .q''*G2GF F rFbFEE)-;I-9 ))i)I)155'i99 92@E<:@Ew: QUV>Ue>k&*  (AYt*CK@t*Y@yt*}t*6G>t*H w?ǥп`)L))??u?0e?)u*CK@ u*Zu;Iu*CxB\~>xBgEHBp=HFa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)mQE5Ft5>I9 I=L8ٮ99 QEtI 9 UEC99=}: =:)=rL8 m{9)III utIiI uDI M;)M;IM{9I9=O@Contact HDG: 151.858478 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF EE)%;I%9 !IiIIIQUմ#iQY Y2@e<:@w: ߙ,* ̴ (A) IYt.yK@t.Y@yt.t.AS>t.H@|B? 8п {?@y??#8?R?)u.yK@ u.Bv;Iu.CxBu>xBE){BOI{@i{B={@{@{BA{@|BzA9|Bp@ω?3{')SGF@]Ye9e>aaQeEam?m?Iq I}L8ٮqq Q}tI q U}C9qu: uB:)u@L8 {9)I tIi D :)N:I{9I9*G2GFFrFbFEE2EzEzAEDYG$/@9HR0Ep@ω?3{'EOEEx5(%13Y &@p_ E8뿤u{y0?KDAL>¿E.&@=DHdg To Contact =149.258512 degreesZE6AbE:Evo$?BEo$?JE REjEMrE);I9 iI i 2@<:@w: $%Dacoustic_contact_range 22.560001 m$UhTrackAcousticContact.heading_to_contact 2.605052 rad$ULDUSBL_Hydroid.xAngle -46.349998 arcdeg~3*  (AYt*@K@t*KY@yt*qt*Y>t*H@ ;?˧~п5LY?1??`G?)u*@K@ u*\w;Iu*CxR`k>xREi`I`)%G%=-=F@]Ye`e>aaQeEimDm>Iq I}L8ٮqq Q}tI q U}C9quu: ux:)u L8 {9)I tIi D :):I{9I9*G2GFFrFbFEE);I9 iIUi 2@<:@w: iYa)9*  (AYt*J@t*‘Y@yt*RDt*.P>t*H@?@( Sп7JFD?{ȁ?@?V?)u*J@ u*=w;Iu*CxBw>xBjEG@H@)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmem>iiQuEquۻu>Iy IL8ٮyy QtI y UC9y}ٮ: } :)}߳L8 {9)I tIi D  :):I{9I9*G2GFFrFbFEE);I9 iI#i 2@<:@w: 1@* d\ (A Yt*J@t*Y@yt*@t*F>t*HT ?+Ǥ@FпZ`!?(?}?:f?)u*J@ u**y;Iu(xBx>xBEiLIP)~+GF@=YEE>AAQMEIMM>IQ I]L8ٮQQ Q]tI Q UeC9QU: U:)UzL8 m|9)a m|9Ia mtIia mDa eA:)eU:Iel|9yI9*G2GFFrFbFEE);I9 iIYMi 2@<:@w: =F* 7 (AYt*NJ@t*YY@yt*t*"G>t*H'(? 琥>_п@UDB?5?? d?)u*NJ@ u*6*y;Iu*CxZt>xZlE)-Gi15wAF@=YE@;E>AAQMEIM,{;M>IQ I]L8ٮQQ Q]tI Q UeC9QU : US:)UCL8 m|9)aIa mtIia mDa e:)eA:Iet!|9yI9*G2GFFrFbFEE);I9 iI0i 2@<:@w: ]e>]a>_L* 6 (AYt**J@t*5kY@yt*t*[j>t*H@`:?@/-п d"@k?G?`? W)?)u**J@ u*nx;Iu(xBp>xBEHBa=HBp=iPIR̓C)EׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y >QEl>I IL8ٮ QtI  UC9h: :)L8 |9)I tIi D :)ض:I73|9 I 9 ODone Waiting.'O8Uninitialize Wait Component.*G2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))E;IE9 AAiIIIIM'iQQ Q2@]<:@]w: iS* VO (A) IYt.?J@t.J@Y@yt.Et.YՀ>t.H A?]L`Cп?U~?_? ?)u.?J@ u.xBE)~iiQuEq͍ ڻ>I IL8ٮ QtI  UC9鰝: l:)+L8 |9)I tIi D :)Q:IC|9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.493325 arcdeg .q' ' *G 2G .&@F F rFbFEE)-;I-9 11i1I1=F(@i9=.&@ A2@E<:@Ew: Y$}RHorizontalControl.headingCmd 2.605052 radZY* %i (AYt.wsJ@t. Y@yt.ջt.߻o>t.H@?@Z`Ͽ#?z?@o?@Z ?)u.wsJ@ u.hw;Iu.Cx^{>xbiEiI)SG%=%=a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]Y]H;]>aaQeEamϒm>Iq IuL8ٮqq Q}tI q U}C9qu: u5:)uL8 |9)I tIi D :)9:I V|9I9=O@Contact HDG: 149.258512 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI .&@i   2@<:@w: !iQQG`* L (AYt*vJ@t*#Y@yt*ǻt* y`>t*H8?`й}ϿC>&?@x?@?@;?)u*vJ@ u*ߧw;Iu*CxBj>xBqEG@H@)~GF@EYUy:U>YYQ]EYe:e>Ii ImM8ٮi MuM8i QutI i UuC9im: mR:)mM8 }|9)yIy tIiy Dy }:)}؛:I}e|9I9*G2GFFrFbFEE);I9 iI|rZiQQ q2@}<:@}w: ߉cg* _ (A Yt.J@t.6Y@yt.X̻t.k>y>t.HX4? ѫϿ?@y? ?@`?)u.J@ u.bw;Iu,xN'n>xRpE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I)Ga 1 a 1  a 5 a 5  a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yܔ>QE0';>I IM8ٮ QtI  UC9; ;)M8 |9)I %tIi %D (:):Ix|9I9*G2GFFrFbFEE);I9  i I \i 2@<:@w: A2m* Z (AxDy>xEE){ III{i{˜={{{A{|\A9|v?rB4)vGiwAF@Y>QE>I IM8ٮ QtI  UC9: :)"M8 |9)I  tIi  D  :)ȗ:Ik|9I9*G)2G)F)F1rF1bF9E9E92EAzEE\AEExc%,@ 32,EEv?rB4EE IIEAEE# n1b(u#@rϵz EExsp&i3VtB?\;DſEE'@=MDHdg To Contact =150.309350 degreesZEEAbEE:EE{o$?BEEvo$?JEE REE jEESrEEM)m;Im9 iiiiIiX9\i 2@<:@w: $-Dacoustic_contact_range 19.919998 m$UhTrackAcousticContact.heading_to_contact 2.623393 rad$]LDUSBL_Hydroid.xAngle -45.050002 arcdeg]l>]]> t* 4 (AYt**J@t*X@yt*\㻙t*:>t*H  _? l>Ͽ l?k|? ?`?)u**J@ u*x;w;Iu(xRn>xREHTHTihIl)EjGF@}Yʍ]>ʡʡQEʩͽ n>I IM8ٮ QtI  UC9l; t;)W0M8 |9) I  %tIi  -D  ׂ;) ;I |9YIY9a*G2GFFrFbFEE);I9 IQiQIQQ]3OiYY Y2@e<:@ew: yFz*  (A) I4x~E)uƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QE>I  IM8ٮ   QtI  UC9  : :) c>M8 %|9)I %tIi %D :):I|91I191*GA2GAFIFIrFQbFQEQEQ)m;Im9 iiiqIqquRiyy y2@<:@w: ߑU-* (AYt*hAJ@t*sX@yt*GSڻt*uIg>t*H EQ? 먿jϿ8 0?[J{? @?/?)u*hAJ@ u*gHv;Iu*CxR'n>xRpEi`IbѓC)-G5R=1F@}Y}M::>ʁʁQEʁ͍g;>I IM8ٮ QtI  UC9鰕; ;)KM8 |9)I tIi D :)Ԙ:I'|9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9EA)u;Iu9 qqiyIyy}qUi 2@<:@w: ߙiYYV* C(AYtBJ@tBX@ytBtB1y>tBH 0?@E;`f Ͽ1? ?@-?@?)uBJ@ uB;pt;IuBCxR5g>xR*EGVAAHT)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y{>QE>I IM8ٮ QtI  UC9:: ٮ:)YM8 |9)I tIi D :):Ic|9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 194.036713 arcdeg .q'E'E*GA2GE'@FIFIrFQbFQEQEY)m;Im9 iiiiIiu'@i}D<>}'@ y2@<:@w: ߑ$RHorizontalControl.headingCmd 2.623393 rad퀍* f8(A@ Yt>J@t>X@yt>t>>t>H`i @%S?%DϿy`??.??)u>J@ u>Ns;Iu>CxbMl>xbLEipIr̓C)vGF@YʝG:>ʡʡQEʡͭt:>I IM8ٮ QtI  UC9鰭: :)UgM8 |9)I tIi D :) :I/|9I9=O@Contact HDG: 150.309350 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99iAIAAE92iM >I I2@U<:@Uw: ih* V}R(AYt>J@t>X@yt>9ϻt>dt>t>H@y `Lf? NϿ'T?3y?6?`T?)u>J@ u>rns;Iu>CxbWx>xbE)Gi yA xAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYmY;m>qqQuEq}h7}>I IM8ٮ QtI  UC9鰅: :) vM8 |9)I tIi D :):IV|9I9*G2GFFrFbFEE);I9 iI"2i 2@<:@w: UV>]e>ޗ* enl(AYt.*J@t.X@yt.Tgt.Kz>t.H z}? j=Ͽ@7? x??\ ?)u.*J@ u.>s;Iu.Cx:v>x>GEH<H>a=iLIL)~ƄGF@5Y5:=>99Q=E9EW;E>II IUM8ٮII QUtI I UUC9IM: M:)MM8 e|9)YIY etIiY eDY ][:)]:I]|9qIq9q*G2GFFrFbFEE);I9 iIX5i 2@<:@w:]> az* 4(A)I;Yt.D$J@t.OX@yt.:׻t.ή>t.H`?`1Ͽ`X@?Oz? uG?@`?)u.D$J@ u.yr;Iu.Cx6|>x6CE)r))Q-E)5/5>I9 I=M8ٮ99 QEtI 9 UEC99=: =ݱ:)=,M8 M}9)I M}9II UtIiI UDI M :)MU:IM}9aIa9a*Gq2GqFyFyrFbFEE);I9 iI~3i 2@<:@w: )I I* (AYt*I@t*X@yt*#t*a>t*HU 7?Uο`$?w?@=? ?)u*I@ u*|r;Iu(x6d>x6 E {8Y|8:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)eG=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Yݸ>QE%%>I) I=M8ٮ)) Q=tI ) U=C9)-; -1;)- M8 M}9)III UtIiI UDI Mn;)M ;IM!}9iIi9q*G2GFFIrFQbFQEYEY);I9 iI(/i 2@<:@w: ߹iQYjέ* h(AYt*&J@t*X@yt*!t*qx>t*H@h O?5Ͽ ?'D?@ ??)u*&J@ u*+r;Iu(xBu>xBEGF@AHD){F"lI{Di{F={D{D{FA{D|FA9|F.? .S?Js#~)%GF@eYeH9e>iiQmEiuj;u>Iy I}M8ٮyy QtI y UC9y}ٮ: }:)}M8 }9)I tIi D :):I1}9I9*G2GFFrFbFEE2EzEAEHN.J.@?BQ}3E.? .S?Js#~E"lEE,D_v3;.@)߯DVEi^近$Bdt:H -a?u &Ͽ@ ~?CF?@ 0?`?)u:J@ u:Κr;Iu:CxNw>xNjEitIt)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5;=>99Q=E9Ez&E>II IUM8ٮII QUtI I UUC9IMu: Mx:)MM8 ]}9)YIY etIiY eDY ]::)] :I]*D}9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI1i 2@<:@w: * (AYt*kJ@t*vX@yt*⻙t*@~>t*HB \?Q? Ͽaॸ?hP|? yt??)u*kJ@ u*lr;Iu*CxN:m>xRE)SGi%xA%wAF@=YE6;E>AAQMEIM!:M>IQ I}M8ٮQQ Q}tI Q U}C9QU; U;)UsM8 }9)I tIi D Ր:)ȗ:IT}9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.063788 arcdeg .q''*G2Gn@FF rF bF EE)E;IE9 IIiIIIUU&@iimn@ q2@}<:@}w: ߉$RHorizontalControl.headingCmd 2.481227 radUR>Q`* -z(AYt*=J@t*HX@yt*ڻt* }>t*H X?@W3 IϿ`'d?@P{?M??)u*=J@ u*r;Iu(xB5g>xB*EHBp=HDiPIP)GF@]Yu:}>yʁQEʁͅ>I IM8ٮ QtI  UC9鰍 : $:){M8 }9)I tIi D :):I,e}9I9=O@Contact HDG: 142.163858 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E );I%9 !!i!I!-#@i)) )2@5<:@5w: I* qV!(A) IYt*RJ@t*]X@yt*t*ߜw>t*H`G @_a?~Ͽ] @?@)?X?`c?)u*RJ@ u*:4s;Iu*CxBq>xBE)~Ga 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʽ>QE>I IM8ٮ QtI  UC9; ;)M8 }9)I  tIi  D :)Ԙ:Iv}99I999*GI2GIFQFQrFybFyEyEy);I9 iI*@i 2@<:@w: * 1;(AYt*-J@t* X@yt*v t*x>t*HM?bcBϿ@@D.??? ?)u*-J@ u*k>s;Iu(xN{>xREi\I\)+G%%=!F@-Y5w5>11Q5E1=0;=>IA IMM8ٮAA QMtI A UMC9AE: E_:)EM8 ]}9)QIQ ]tIiQ ]DQ U:)U÷:IU҆}9iIi9q*G2GFFrF bF EE)E;IE9 AIiIIIM@iQQ q2@}<:@}w: ߉iQY*  U(AYt*J@t*۾X@yt*(t*N>>t*H [?@އ` Ͽ ?u??@?)u*J@ u*&s;Iu(xNz>xR EGPHP)SGF@-Y-V;5>11Q5E1==>IA IMM8ٮAA QMtI A UMC9AE\: Eٮ:)EM8 U}9)QIQ ]tIiQ ]DQ U:)U4:IU՗}9iIi9i*G2GFFrFbFEE);I9 iI@i 2@<:@w: .* n(A@ Yt**J@t*X@yt*Kt*pRy>t*H?@@=Ͽ /+?v?`t?@?)u**J@ u*s;Iu(x6c>x6 Ei@IFѓC)ndGa 1a 1 a 5a 5 a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]YeJ;e>aaQmEimq;m>Iq I}N8ٮq M}N8q Q}tI q UC9qu: uI:)u N8 }9)I tIi D :) :I!}9I9*G2GFFrFbFEE);I9 iIH@i 2@<:@w: * ˆ(AYt*:J@t*X@yt*_t*+r>t*H  ?é\Ͽ% N?~?@;?@?)u*:J@ u*)t;Iu*CxNp>xRE)GiwAxAF@]Ye:e>aaQeEim;m>Iq I}N8ٮqq Q}tI q U}C9qu: u:)uON8 }9)I tIi D :):I%}9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: UV>]V>@* (AYt*@J@t*X@yt*M* t*v>t*H B@?@5xhϿ$@?<%? R? ?)u*@J@ u*&|t;Iu*CxBm>xB'EHDHFp= {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIz̓C)}GF@Y>QEc:>I I N8ٮ Q tI  U C9: ;)(N8 %}9)I %tIi %D :)U:I}99IA9AO]Done Waiting.']O]8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFqbFqEyEy);I9 iIn@i 2@<:@w: j* x(A) I Yt*oTJ@t*zY@yt*t*q~>t*H`a?Ͽ ?x?]z??)u*oTJ@ u*at;Iu*CxRg>xRsE){V\I{Ti{V:={T{T{V8B{T|VA9|V'{$?UPK)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YOҺ>QE@D;>I IN8ٮ QtI  UC9; ;)o6N8 %}9)!I! -tIi! -D! %}:)% :I% }9q U USoftware FaultYIY9a&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NInitialize.q'N@Vehicle HDG: 194.273666 arcdeg .q''*G2GFFrFbFEE2EzEAE ?L*0@q <2E'{$?UPKE\EETQ64f.q+@b,EW- ү ?F&&ǿE"@=5DHdg To Contact =145.831123 degreesZE[AbE:Eso$?BEuo$?JE~ RE| jErEZ)m;Im9 qqiqIqyyiyy y2@<:@w: ߹!xSoftware Fault in component: DeadReckonWithRespectToSeafloor$Dacoustic_contact_range 24.840002 m$hTrackAcousticContact.heading_to_contact 2.545233 rad$LDUSBL_Hydroid.xAngle -49.399999 arcdegS* KX(AYt*QJ@t*X@yt*> t*}>t*H#@e?eު@͉Ͽ ?`G?`??)u*QJ@ u*ct;Iu*CxB"h>xBEiPIP)%dG-=)F@=YE:E>AAQEEAM,ֹM>IQ I}N8ٮQQ Q}tI Q U}C9QU; U^;)UCN8 }9)I tIi D B:)Е:I7}9I9=O@Contact HDG: 145.831123 arcdeg .'5'5O54Initialize Wait Component.*G12G1F9F9rF9bFAEAEA)};I}9 yyiyIyi 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq  iQQ|* 0.(AYt*qJ@t*Y@yt*Q t*N&t>t*H@."?q婿 Ͽ W?`#?:??)u*qJ@ u* s;Iu(xBs>xBEGDHD)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ>ʱʹQEʹ;>I IN8ٮ QtI  UC9 : :)QN8 }9)I tIi D t:):I}9I9*G2GFFrF bF E E )%;I%9 !!i!I)))i)1 12@=<:@=w: I%e*  (A@ Yt.߆J@t.3Y@yt. t.r>t.HJ?ϿX [X? ??@?)u.߆J@ u. s;Iu.CxBd>xB EiPIP)~GF@=YEO:E>AAQMEIMSX;M>IQ IN8ٮQQ QtI Q UC9QU2< Ug<)U_N8 ~9) ~9I tIi D :):I~9I9*G 2G F F rFbFEE)-;I-9 ))i)I119i99 92@E<:@Ew: Y=* #(AYt*cJ@t*nRY@yt*t*u>t*H? <@п`??@p??)u*cJ@ u*Is;Iu*CxBPY>xBE)~SGia 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye8e>aaQeEam;m>Iq I}N8ٮqq Q}tI q U}C9qu%: uJ:)u mN8 ~9)I tIi D :)ȗ:IG ~9I9*G2GFFrF1bF9E9E9)M;IU9 QQiQIQYYiYY a2@e<:@mw: ߙUR>UY>Ÿ* ]=(AYt*J@t*LY@yt* t*C}>t*H@u`7g?yTп@\?39?rc??)u*J@ u*s;Iu*CxBk>xBEHBR=HFa=iPIP)dGF@=YEi:E>AIQMEIMaM>IQ I]N8ٮQQ Q]tI Q UeC9QUS: U:)UzN8 m~9)aIa mtIia mDa eh:)e:Ie"1~9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: * W(A)4t*Hp?%=п`?`???)u*J@ u*/8s;Iu*CxNo>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>yʁQEʁͅ;>I IN8ٮ QtI  UC9鰍x: :)N8 ~9)I tIi D :):IwB~9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: * wq(AYt.RJ@t.]Y@yt. t.r>t.H@ ? j@HпGS?? ??)u.RJ@ u. s;Iu.CxBp>xBEiPIVѓC) +G=F@Y%%>!!Q-E)-:->I1 I=N8ٮ11 Q=tI 1 UEC915`: 5:)5 N8 M~9)AIA MtIiA MDA E:)E:IES~9YIY9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFyrFbFEE);I9 iIi 2@<:@w: iQY"* V(AYt*0J@t*;Y@yt*Dt t*Ws>t*H} ?Gƪcп f?zn?!?|?)u*0J@ u*qr;Iu*Cx>n>x>EGB?AH@)~SGF@=Y=9E>AAQEEAM;M>IQ I]N8ٮQQ Q]tI Q U]C9QU: U:)U N8 e~9)aIa mtIia mDa e:)e:Ie2d~9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.839329 arcdeg .q''*G2G"@FFrFbFEE);I9 iIO; @i"@ 2@<:@w: $-RHorizontalControl.headingCmd 2.545233 radj(* .(A Yt.#K@t.Y@yt.+t. x>t.H 6? dgп7o?`??p?)u.#K@ u.=Qr;Iu.CxRh>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I̓C)Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a  a 5@a  a 9@a  a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʽn>QE;>I IN8ٮ QtI  U C9: :)N8 ~9)I tIi D :):Iw~9!I)9)=O@Contact HDG: 145.831123 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI"@iK> 2@<:@w: /*  (AYt*|K@t*Y@yt*]t*U|~>t*Hn@#?`$ +п`c?ऋ?@{?@?)u*|K@ u*SBr;Iu*CxBo>xBE)-Gi15wAF@}YʅQ9>ʁʁQEʉ͍S>I IN8ٮ QtI  UC9鰕: `:)N8 ~9)I tIi D Ր:)c:I~9I9*G2GFFrFbFEE);I9 iI>ܥi > 2@ <:@ w: !QY5* ~(AYt* YK@t*Z@yt*S t*~>t*H@1a? ެmп@VO?p?~??)u* YK@ u*q;Iu*CxBp>xBEHFa=HDiTIVѓC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ:>ʹʹQET$<>I IN8ٮ QtI  UC9-: :)N8 ~9)I tIi D O:)A:I~9I9*G 2G F F rFbFEE)-;I-9 ))i1I11=񂪽i99 92@E<:@Ew: YA<* Ӿ(A);I4t*Hm[?@[Gп@K?R ??] ?)u*NK@ u*q;Iu*CxBi>xBNE)~҄GF@=YEE>AAQMEIM#кM>IQ I]N8ٮQQ Q]tI Q UeC9QU>: Uc:)U4N8 m~9)aIa mtIia mDa a)e:IeI~9yIy9*G2GFFrFbFEE)5;I59 QQiQIQY]ШiYY a2@e<:@mw:M> QC* ę (AYt*0K@t*;8Z@yt*0 t*z>t*H@i?㬿п@6?#?` ? ?)u*0K@ u*kq;Iu*Cx6o>x6JEi@IB̓C)rGv4=v4=F@Y%:%>!)Q-E)-<->I1 I=N8ٮ11 Q=tI 1 UEC915: 5B:)5N8 M~9)AIA MtIiA MDA E:)E:IE$~9YIa9a*Gq2GqFqFqrFybFyEE);I9 iIi 2@<:@w: )I iiU@AY*I* s&(AYt*ߖK@t*CZ@yt*t*v^>t*Hv?ꭿп /?xZ??`?)u*ߖK@ u*Jq;Iu*CxNeq>xRnEGRAAHP)vGa 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅq:>ʁʁQEʉ͍:>I IN8ٮ QtI  UC9鰕: :) N8 ~9)I tIi D ::) :I~9I9*G2GFFrFbFEE);I9 iIEi 2@ <:@ w: gP* aQ@(A Yt..K@t.9CZ@yt.t.ws>t.H@?`_пah?ꏂ?S1? ~?)u..K@ u.p;Iu.CxBi>xBEiLIP)~GF@=YEx2E>AAQMEIMv߸M>IQ I]O8ٮQ M]O8Q Q]tI Q UeC9QU: Uw:)UO8 m~9)aIa mtIia mDa ep:)e:Ie[~9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: H=V* |+Z(AYt*iK@t*tZ@yt*U#t*q>t*Hl"? 飼@AUѿ `(&?`?@S? x?)u*iK@ u*ep;Iu(xNq>xRE)SGixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ >ʡʡQEʡͭX<>I IO8ٮ QtI  UC9鰵: :)O8 ~9)I tIi D Ր:)N:I~9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.714371 arcdeg .q''*G2G!F!F!rF)bF)E)E))E;IE9 AAiAIIIMvhiIQ Q2@]<:@]w: iUN>Yfg\* t(AYt*K@t*!|Z@yt*(+"t*w>t*H{?S?+5ѿ@> ?@OE?` ?`?)u*K@ u*Ͽp;Iu*CxVs>xVEHXHXidId)%GF@]Ye 9e>aaQeEimLm>Iq I}O8ٮqq Q}tI q U}C9qu): up:)uH O8 ~9)I tIi D :)Z:I~9I9=O@Contact HDG: 145.831123 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  <ܮi   2@<:@w: )5Oc* r(A) I;Yt* &L@t*Z@yt*_t*g>t*H$?ѿ@ -?෶? ?;?)u* &L@ u*p;Iu(xBm>xB'E)=GF@EYM1:M>QQQUEQ]X<]>Ia IeO8ٮaa QmtI a UmC9aeͭ: e:)e-O8 u9)q u9Iq }tIiq }Dq u:)u¿:Iuz9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: yi* ˽(AYt*L@t*Z@yt*=t*R}>t*Hu@?  ѿ@^@A}?9?a??)u*L@ u*Qp;Iu*CxBg>xBsE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)=%=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5@a  a 9@a  a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʽ&:>QE`>I IO8ٮ QtI  UC9: :)=O8  9) I  5tIi  MD  t<) t.HA?$ѿ @)l?R?`B?&?)u.8L@ u.q;Iu,xBDy>xBEEGF@AHD){F^I{Di{Fd={D{D{FA{D|F3A9|Fw,?5naaQeEim;m>Iq IO8ٮqq QtI q UC9qu< u<)uIO8 9)I  tIi  D :):IN199I999*GI2GIFIFQrFqbFyEyEy2EzE3AEz 0@V4 3Ew,?5nt*Hʊ? OѿAWH?@?G%?(?)u*(L@ u*4q;Iu*CxB`k>xBEiPIT)GF@EYUr|U>QQQUEQ]{><e>Ia ImO8ٮaa QmtI a UmC9aeF: e:)e_WO8 }9)qIq }tIiq }Dq u:)uE:IuA9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: )t|* M(AYt*SeL@t*^[@yt*=2t*{~>t*H`PPd?ƭѿ ?Q?`X{??)u*SeL@ u*}9q;Iu*CxNsj>xR(E)Gia 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}8>ʁʁQEʁ͍j>I IO8ٮ QtI  UC9鰕: B:)YeO8 9)I tIi D :)Z:IR9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: ]R>eR>* ((AYt*WL@t*b6[@yt*t*H=?@!i 0ѿ 9O1? ?0 ??)u*WL@ u*xq;Iu*CxBs>xBEHBR=HFp=iPIP)~dGF@=YE^ҺE>AIQMEIM˵;M>IQ I]O8ٮQQ QetI Q UeC9QUZ: U:)UrO8 m9)iIi mtIii uDi m::)m :Imc9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: Rlj* )(A) I Yt:L@t:3[@yt:t:|>t:H@߸`y? .ѿ T? Fs?%L? ?)u:L@ u:?q;Iu:Cxb'n>xbpE)F@Y<>QEĹ>I I O8ٮ Q tI  UC9F: į:)pO8 9)I tIi %D ̒:):Iu9)I191&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'ENu@Vehicle HDG: 196.240064 arcdeg .q'u'u*Gq2Gu$@FyFyrFbFEE);I9 iI$@i$@ 2@<:@w: $RHorizontalControl.headingCmd 2.563713 radѯ* mB(AYt*˜L@t*E[@yt*-t*am>t*H@]?@O['ѿ?0?r?` $?)u*˜L@ u*2p;Iu*CxRp>xR%Ei`I`)G%%=%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ 9:>ʉʉQEʉ͕.8;>I IO8ٮ QtI  UC9鰝_: :)O8 9)I tIi D :)ȗ:I9I9=O@Contact HDG: 146.889953 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E)%;I%9 !)i)I))5di11 12@=<:@=w: IiYYٖ* \(AYt*uL@t*n[@yt* t*j>t*HM?+ҿn?? ;? *?)u*uL@ u*p;Iu*CxBMl>xBLEG@H@)+GF@mYu- u>qyQ}Eyͅ;>I IO8ٮ QtI  UC9鰅: :)uO8 9)I tIi D h:):Iޖ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: _* v(A@ Yt.]L@t.hq[@yt.Ut.2w>t.H#Ȼ?u ҿM?`J?@ˣ?`?)u.]L@ u.kp;Iu.CxBh>xBEiLIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʵR>ʹʹQEʹ9>I IO8ٮ QtI  UC9ͭ: :)O8 9)I tIi D :)0:I>9I9*G2GFF rF bF EE)%;I%9 ))i)I)15'i11 92@=<:@=w: Qz* p(AYt*L@t*[@yt*t*H­@?-|/ҿP?m?`.?@?)u*L@ u*xBE)+Gi  F@Yݻ>Q%E!%V;%>I) I5O8ٮ)) Q5tI ) U5C9)-q: -:)-O8 E9)9I9 EtIi9 ED9 =:)=9:I=l9QIQ9Q*Gi2GiFiFirFqbFqEqEq) ;I 9  i I 5hi99 I2@U<:@]w: ߱Q]Y>T* J(AYt*L@t*p[@yt*Z?t*C>t*H`P?aa> ҿ@?`'?@??)u*L@ u*](r;Iu*CxBMl>xBLEH@HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)]Ga 1Ma 1U a 5Ua 5U a 9Ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yxǹ>!Q%E!%N->I) I5O8ٮ)) Q5tI ) U=C9)-: -:)-O8 E9)9I9 EtIi9 MD9 =:)=ȗ:I=69yIy9y*G2GFFrFbFEE);I9 iI4Ei 2@<:@w: 9}* 5'(A) IYt*aL@t*l|[@yt*I#t*>t*H@@?J*+ҿ`7? V~?!??)u*aL@ u*Ir;Iu*CxNe>xRP E){RjI{Pi{R={P{P{RA{P|RB9|R`jAz?m &c)ESGF@MYUF<U?YYQ]EYe;e?Ii ImO8ٮii QutI i UuC9imq: m1:)mzO8 }9)yIy tIiy Dy }ٓ:)}0:I}9I9*G2GFFrFbFEE2EzEBEsc[6@=C=E`jAz?m &cEjEE 4=N 4@~4OyEU:Ln] ?U~ȿE!@=DHdg To Contact =144.934989 degreesZEЧAbE:EYo$?BEro$?JEx REjErE);I9 iIEi 2@<:@w: $Dacoustic_contact_range 37.200001 m$hTrackAcousticContact.heading_to_contact 2.529593 rad$LDUSBL_Hydroid.xAngle -52.500000 arcdeg'* T(AYt*4L@t*?[@yt*Fk给t*jy>t*H`LG?ï4ҿ ?Y|? }? ?)u*4L@ u*!q;Iu*CxNp>xREi`I`)%dG%=-%=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ>:>ʉʑQEʑ͕W:>I IO8ٮ QtI  UC9鰥: :)O8 9)I tIi D :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI   峭i  2@<:@w: )iQYQ* (AYt*8L@t*C[@yt*;t*/s>t*H @?``@1/ҿ \@:*?x?`?`?)u*8L@ u*r;Iu*CxBk>xBEG@H@)GF@=YEƒE>AAQMEIMrM>IQ I]O8ٮQQ Q]tI Q UeC9QU: U:)UO8 m9)aIa mtIia mDa e:)e:Ie9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.507534 arcdeg .q''*G2G!@FFrFbFEE);I9 iI"@i!@ 2@<:@w: $5RHorizontalControl.headingCmd 2.529593 rada;* (A@ Yt* L@t*[@yt*At*G~t>t*Hwm?@@D@ҿ`6X??`SE?B?)u* L@ u*q;Iu*CxF'n>xFpEiXIX)%qyQ}Eʁ͍,;>I IO8ٮ QtI  UC9鰭'; +;)&O8 9) 9I tIi D ;);I99)I199=O}@Contact HDG: 144.934989 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GFFrFbFEE);I9 iI!@i 2@<:@w: c* +(AYt*ۿL@t*l[@yt*>t*Ҝx>t*H?yI}ҿ+c?_և?`$?4?)u*ۿL@ u*q;Iu*CxR:m>xRE)Gi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y>QE->I IP8ٮ MP8 QtI  UC9: R:)F P8 9) I  5tIi  5D  ;) ;I 9AIA9A*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: QYtK* 7nE(AYt*L@t*t[@yt*3t*}>t*H`@?k#ҿr|?a? }j? ?)u*L@ u*eq;Iu(xBl>xBEHFa=HFa=iPIP)vGF@=YE:E>AIQMEIM:U>IQ I}P8ٮQQ Q}tI Q UC9QU; Us;)UTP8 9)I tIi D F:)Ԙ:I9I9*G2GFFrFbFEE);I9 iI  i   2@5<:@=w: I>v* #L_(A)4t.Hy?ҿ??@ ?1?)u.L@ u.rq;Iu.CxB,t>xB#E)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y;>QE_>I IP8ٮ QtI  UC9R; ;)&P8 %9)!I! -tIi! -D! %:)%9:I% 9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIi 2@<:@w: [* 9'y(AYt2F}L@t2Q*[@yt2 t2tx>t2H8s?ѿ ?`/???)u2F}L@ u2q;Iu0xBm>xB'EiPIP) vG4=F@=YE!:E>AAQEEIMӻM>IQ I]P8ٮQQ Q]tI Q UeC9QU0: Uw:)U3P8 m9)aIa mtIia mDa e:)e:Ie(99Iq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: qiQQo* (AYt>\L@t>g?[@yt>Bt>vs>t>HB?)ѿ 5??b%? N?)u>\L@ u>q;Iu>Cxe>x%P EG5?AH1)%Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5u@a u a 9u@a  a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʭ>ʱʱQEʱͽ';;>I IP8ٮ QtI  UC9:: :)ICP8 9)I tIi D :):I29 I 9 *G2GF!F!rF!bF)E)E))e;Ie9 aaiaIaii 2@<:@w: d* ݬ(A@ Yt.?hL@t.J[@yt.EUt.|>t.H` ,b?\@ѿ`V?`ʂ?@??)u.?hL@ u.™q;Iu.CxBp>xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)UvGF@Yj>QE-޻>I I P8ٮ Q tI  UC9.< <)>PP8 9)I tIi D :):I:9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF!rFbFEE);I9 iI  i   2@<:@w: 1̚* (AYt*3L@t*'Z@yt*8t*p>t*H`83? @\ѿ!@G ?`Y?`? E?)u*3L@ u*tq;Iu*Cx>t>xBlE) dGiwAF@=YEE>AAQEEAM M>IQ I]P8ٮQQ Q]tI Q U]C9QU: U:)UE]P8 m9)aIa mtIia mDa e̒:)e:IeuB9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.947622 arcdeg .q''*G2GFFrFbFEE)%;I%9 !!i!I!))i)) 12@=<:@=w: IY]t>&* (AYt*ZL@t*eZ@yt*cT%t*K|>t*H@oB?Sѿ`\'_?`u?7?4?)u*ZL@ u*1q;Iu*Cx>m>xB'EHBp=H@iPIP)a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm6;m>iiQuEqu^u>I IP8ٮ QtI  UC9鰝: :)`kP8 9)I tIi D ;);I(K9I9=OE@Contact HDG: 144.934989 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFqbFqEqEy);I9 iIi 2@<:@w: q!* u(A);IYt*K@t*Z@yt*t*1x>t*H@? Qѿ`??x?N?)u*K@ u*Pq;Iu*Cx>Ml>x>LE)~GF@Y;%>!!Q%E!-u->I1 I=P8ٮ11 Q=tI 1 U=C915@: 5#:)5xP8 E9)AIA MtIiA MDA E[:)Eo:IEeS9YIY9Y*Gi2GiFqFrFbFEE);I9 iIi 2@<:@w: m* VJ(AYt*VK@t*aZ@yt*@{t*:w>t*HY ? M:ѿA?\o?@z? $?)u*VK@ u*Rq;Iu*CxN:m>xREi\I\)ׄG%R=!F@=YE%E>AAQMEIMnU>Ii I}P8ٮii Q}tI i U}C9im; m. ;)mP8 9)I tIi D :):I\9I9*G2GFFrFbFEE);I9 iIi !2@-<:@Mw: aiQQ * q!.(AYt*K@t*OZ@yt*>t*xw>t*H?Ƭ@ ѿ `{??`??)u*K@ u*3Aq;Iu*CxB"h>xBEGB@AHD)E҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YY>QE P >I I5P8ٮ Q=tI  U=C9; ;)=P8 E9)AIA MtIiA MDA E}:)E:IEe9yIy9y*G2GFFrFbFEE);I9 iIi 2@ <:@ w: 9d* uH(A@ Yt*^K@t* Z@yt*4t*dMs>t*H0s?@a!п@g `?`4?`J ?`?)u*^K@ u*-q;Iu*CxBl>xBEiLIL)MvGF@]YejNe>aaQeEim.m>Iq I}P8ٮqq Q}tI q U}C9quM: u:)uXP8 9)I tIi D h:)|:Im9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9* a(AYt*eK@t*Z@yt*:0t*ift>t*H@~?U п ? +?@OB?P?)u*eK@ u*Չq;Iu*CxBm>xB'E)zGi||a 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Ye>QE:>I IP8ٮ QtI  UC9o; Z;)P8 %9)!I! %tIi! -D! %F:)%9:I%v9YIY9Y*Gi2GiFiFrFbFEE);I9 iIi 2@<:@w: U>Ui>;* ̳{(AYt* K@t*Y@yt*++t*L}>t*H@ F?@ 7vп? ?@V?6?)u* K@ u*Yq;Iu(xNKS>xREHRa=HPi`IbѓC)GF@-Y5M:5>11Q=E9E9qE>IA IMP8ٮAA QMtI A UUC9AE:: E:)EP8 ]9)QIQ ]tIiQ eDQ U:)U:IU}9iIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIjѰi11 92@=<:@Ew: q$%* ҏ(A) IYt.J@t.Y@yt.t.>t.H? LPп!"??`f??)u.J@ u.]q;Iu.CxNp>xRE)ƄGF@]Ye$;e>aaQeEimm>Iq I}P8ٮqq Q}tI q U}C9qu: u:)uP8 9)I tIi D :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.768308 arcdeg .q''*G2GFFrFbFEE);I9  i I  i 2@<:@w: N+* j(AYt*3J@t*>\Y@yt*e=޻t*E*>t*Ht?ZWп{?{?ې?@?)u*3J@ u*6q;Iu*CxBj>xBqE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIr̓C)uG4=C=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%;%>!)Q-E)5,5>IA IMP8ٮAA QMtI A UMC9AEM; E;)EdP8 ]9)YIY etIiY eDY ]:)]:I]9I9=O}@Contact HDG: 144.934989 arcdeg .'}'}O}4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: 9iQQ52* E(AYt*mJ@t*Y@yt*t* w>t*H I? Ͽ``?@?|??)u*mJ@ u*~yq;Iu*CxBw>xBjEG@H@){FqI{Di{F٬={D{D{FA{D|FfA9|FT Ž?7 )%GF@]Ye3\e>aaQmEim,m>Iq I}P8ٮqq Q}tI q U}C9qu: u:)uHP8 9)I tIi D :):I9I9*G2GFFrFbFEE2EzEfAEJ"g8.@&ZD4ET Ž?7 EqEE@tTi3$0/@AEBs运Rڻ?"rDȿE6@=DHdg To Contact =141.092994 degreesZE~AbE:Eto$?BEYo$?JE| REx jErE);I9 iIri 2@<:@w: $5Dacoustic_contact_range 25.799997 m$=hTrackAcousticContact.heading_to_contact 2.462537 rad$ELDUSBL_Hydroid.xAngle -54.149999 arcdeg~`8* "(A@ Yt.\J@t. Y@yt.nt.v>t.H??b~Ͽdl?@{9??`$?)u.\J@ u.\q;Iu.CxBb>xBQ EiPIRѓC)~vGF@=YEYE>AAQMEIM+M>IQ I]P8ٮQQ Q]tI Q U]C9QQ U:)UP8 m9)aIa mtIia mDa e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIgi 2@<:@w: >* (AYt2&J@t2X@yt2H,t27}>t2H@V? ,6Ͽ% .? w?i? ?)u2&J@ u2q;Iu0xN`k>xRE)dGiyAxAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝz9>ʡʡQEʡͭ>I IQ8ٮ MQ8 QtI  UC9鰵: =:)!Q8 9)I tIi D -:):Iר9I9*G2GFFrFbFEE);I9 iI0i!! !2@-<:@-w: 9UR>U>tE* (AYtFI@tF X@ytFtF-~>tFHR`H ?`L@ο3e??3?`u?)uFI@ uFnq;IuFCxri>xrEHtHtiI ̓C)aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YM>QEN >I IQ8ٮ QtI  UC9: :)"Q8 9)I tIi D :):Iz9I9 *G2GFFrF!bF!E!E))=;I=9 9AiAIAAM!6iII I2@U<:@Uw: aGK* 0(A) IYt*^I@t*i|X@yt*" t*=z>t*H`?"iο"gT?@O??@P ?)u*^I@ u*q;Iu*CxBk>xBE)~GF@]Ye"?;e>aaQmEimm>Iq IQ8ٮqq QtI q UC9qu8; u;)uoQ8 9)I tIi D ɏ:):Iȹ9I9*G2GFFrFbFEE!)5;IU9 QQiYIYY]F#iaa a2@m<:@mw: ߙrR* J(AYt*I@t*FX@yt*Gt*'w>t*Hb}?@7U$οb.`F?@?? V?)u*I@ u*q;Iu*CxB,t>xB#EiLIP)~AAQMEIM@M>IQ I]Q8ٮQQ Q]tI Q U]C9QU: U:)U,Q8 m9)aIa mtIia mDa e:)e :Ie€9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9EA)u;Iu9 qqiyIyyi 2@<:@w: iQQ-X* {hd(AYt*|I@t*)X@yt*vt*bw>t*H J? Ψ SͿ1@.?`S??@n?)u*|I@ u*q;Iu(xBxp>xBEG@H@)~SGa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye}e>aiQmEimu>Iq I}Q8ٮqq Q}tI q UC9qu%: u:)u:Q8 9)I tIi D :):Iʀ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.519832 arcdeg .q''*G2G6@FFrFbFEE);I9 iI%a @i!%6@ !2@-<:@-w: A$}RHorizontalControl.headingCmd 2.462537 radX^* C~(A Yt*\I@t* X@yt*Ut*XLz>t*H^ ?U,Ϳ/`mg?WQ??# ?)u*\I@ u*jHr;Iu*CxBi>xBEiLIP)~dGF@=YEFoE>AIQMEIMOU>IQ I]Q8ٮQQ Q]tI Q UeC9QUG: U:)UGQ8 m9)aIa mtIia mDa eɏ:)e:Ie%Ӏ9yI9=O@Contact HDG: 141.092994 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIB@i 2@<:@w: e* G (AYt*3I@t*W@yt*x t*q{>t*H %?ק`a^Ϳ`61`??F&?`Q ?)u*3I@ u*r;Iu*CxBU_>xBS E)vGizwAzwAa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 1=@a = a 5=@a = a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@UYU{U>YYQ]EYeȻe>Ii ImQ8ٮii QutI i UuC9im: mٮ:)mUQ8 }9)yIy tIiy Dy }:)}:I}ۀ9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: UV>Ue>k* (AYt*&I@t*W@yt*6t*"/x>t*H`&`P?n&DͿ@9@#.?? ?3?)u*&I@ u*Xr;Iu*CxRi>xREHRp=HRp= {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)vGF@YK9>QE>I IQ8ٮ QtI  UC9; ;)cQ8 9)I tIi  D :):I99I99A*GY2GaFaFarFibFqEqEy);I9 iIk@i 2@<:@w: ߑr* b(A)4t*H+T?y̿;`V? 7N??? ?)u*H@ u*ڽr;Iu*Cx>`k>x>E){B@I{@i{Bё={@{@{@{@|Bf~A9|B>'I}]??`)dGF@-Y-);5>11Q5E9=ڻ=>IA IMQ8ٮAA QMtI A UMC9AE: E:)EpQ8 ]9)QIQ ]tIiQ ]DQ U:)U:IU9iIi9i*G2GFFrFbFEE2EzEf~AE?8'@,Md%E>'I}]??`E@EE <m+j@R!@Ea9Cb?|`ĿE(@=DHdg To Contact =150.879248 degreesZEs@bEh[:Eo$?BEto$?JE RE| jE"rE);I9 iI6@i 2@<:@w: $%Dacoustic_contact_range 15.899998 m$-hTrackAcousticContact.heading_to_contact 2.633340 rad$-LDUSBL_Hydroid.xAngle -43.100000 arcdegx* (AYt2H@t2W@yt23t2z>t2HG, zB?4q`̿/;n? kF~??z ?)u2H@ u2Pr;Iu2CxNRr>xREi`I`)!)-%=a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ :>ʉʉQEʉ͕{}>I IQ8ٮ QtI  UC9鰝1: :)!Q8 9)I tIi D }:)g:I`9I9*G2GFFrFbF E E )%;I%9 !!i!I!))i)) 12@5<:@=w: IiQQx&* z(AYt* H@t*W@yt*t*v>t*H70`? `̿NF 8?@?:?T?)u* H@ u*5s;Iu*CxBDy>xBEEG@H@)9F@MYUhU>QQQUEQ]Ĵ]>Ia ImQ8ٮaa QmtI a UmC9ae: e:)eQ8 }9)qIq }tIiq }Dq uͭ:)qIu9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: X* f(A Yt*H@t*%W@yt*t*t>t*H/f?\̿'IJ? 6? N? ?)u*H@ u*:s;Iu*CxBp>xBEiPIP)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y뵺>Q EG9>I IQ8ٮ QtI  UC9: :)Q8 9) 9I tIi D :)":I9 I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E9)M;IM9 IIiIIIQQiYY Y2@e<:@ew: q8* FC3(AYt*H@t*wW@yt*%t*z>t*H`0`?@ȸ̿@q?(?? ?)u*H@ u*Ds;Iu(xBu>xBE)~Gi|xAF@=YEE>AAQM EIMźM>IQ IQ8ٮQQ QtI Q UC9QU{< U<)U-Q8 9)I tIi D :)Z:I9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 192.896372 arcdeg .q''*G2G(@FFrFbFEE);I9 iI:@i(@ 2@<:@w: !$eRHorizontalControl.headingCmd 2.633340 radUx>Ui> * M(AYt*H@t*lW@yt*t*2}>t*H M2 ?bz̿;A?j?`YP? ?)u*H@ u*s;Iu(xB c>xB EHDHFa=iPIP)GF@=YE; ;M>QYQe Eauu>Iy IQ8ٮyy QtI y UC9y}: }J:)}"Q8 9)I tIi D p:)c:IT9I9=O@Contact HDG: 150.879248 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!@iw> 2@<:@w: YJ* ]f(A);IYt..H@t.9rW@yt. t.a{>t.H`1? `̿@= {?eR?`*? ?)u..H@ u.{s;Iu.CxBj>xBqE)~Ga 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ;>ʁʁQ Eʉ͍p:>I IQ8ٮ QtI  UC9鰕: :)Q8 9)I tIi D }:)Ԙ:I9I9*G2GFFrFbFEE);I9 iI%@iK=]> 2@ <:@ w: !_2* FӀ(AYt*dH@t*oqW@yt* t*`t>t*H1?/ܦ`̿`Kt?G?`aR??)u*dH@ u*Rs;Iu*CxBs>xBEiPIP)+G4==F@5Y585>99Q= E9EE>II IMQ8ٮII QUtI I UUC9IM: M1:)MQ8 ]9)YIY etIiY eDY ]:)]o:I]9(9qIq9q*G2GFFrFbFEE);I9 iICT(@iN> 2@<:@w: iU@AQ/_* (AYt.NH@t.YW@yt.t.t>t.H).5?C䦿D̿G ?S?J??)u.NH@ u.s;Iu.Cx>k>x>EG@H@)SGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmcm>iiQu Equ-;}>Iy IQ8ٮyy QtI y UC9y}}: }ٮ:)}Q8 9)I tIi D t:):I09I9*G2GFFrFbFEE);I9 iIG)@i 2@<:@w: * (A x~o>x~E {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iiIm“C)GF@-Y==>99Q= E9EE>II I]Q8ٮII Q]tI I U]C9IM!; M=;)M6Q8 m9)iIi utIii }Di m2 ;)mB;Im99I9*G2GFFrFbFEE);I9 iI)@tּi > 2@<:@w:z>  o* f(AYt*0H@t*;W@yt*u"t*Ө|>t*H@e+^?{̿5>?N?@B?`?)u*0H@ u*u-s;Iu*CxBeq>xBnE){B \I{@i{Bi={@{@{BA{@|BQA9|B ch?<=)Q Eys;>I IQ8ٮ QtI  UC9: :)Q8 9)I  tIi  D :):I5B9I9*G)2G)F)F1rF1bF9E9E92EAzEEQAEEd0@N=^42EE ch?<=EE \EAEE<3k8+@,UEE N,B9)?uƿEE!@=MDHdg To Contact =144.771488 degreesZEE^AbEEɝ:EEto$?BEEo$?JEE} REE jEE5rEE")m;Im9 iiiiIiu(@iqq y2@}<:@w:MsU> Y$uDacoustic_contact_range 24.539997 m$}hTrackAcousticContact.heading_to_contact 2.526739 rad$LDUSBL_Hydroid.xAngle -49.250001 arcdegUV>Ua>m* >(AYt*H@t*)W@yt*vt*n{>t*H,@E? dJ̿92?z?? ?)u*H@ u*r;Iu*CxBU_>xFS EHNa=HNp=i`Ib̓C)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>:>Q E >I IR8ٮ MR8 QtI  UC9Գ: :)O R8 9)I tIi D :)$:IJ9 I 9 ODone Waiting.'O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E1E1)E;IE9 IIiIIIQU].ԼiQQ Y2@]<:@]w:N> ߱׀* e(A) IYtF&I@tFW@ytFWtF dw>tFH&?` `DͿ; ??t??)uF&I@ uFr;IuDxb?s>xbE)EƄGF@UYUs;>ʩʩQ Eʩ͵I <>I IR8ٮ QtI  UC9鰽: >:)R8 9)I tIi D :)o:IS9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 193.218374 arcdeg .q'%'%*G!2G-!@F)F)rF1bF1E1E9)M;IM9 IIiIIQU('@iY]!@ Y2@e<:@ew:-]> 9$]RHorizontalControl.headingCmd 2.526739 rad* (AYt>T2I@t>_W@yt>b:"t>x>t>H`;% ,?@hn*[Ϳx7.9?6G?|??)u>T2I@ u>"ar;Iu>Cx^u>x^EipIp)UGY]%=F@Yʝ>ʡʡQ EʡͭA:>I I5R8ٮ Q=tI  U=C9鰵< :)$R8 E9)AIA MtIiA MDA E:)EZ:IE[9YIY9Y=O@Contact HDG: 144.771488 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI 8$@i 2@<:@w: 5> iYa* %5(AYt>[I@t>X@yt>A2t>{>t>Hd Z?7VͿ,Ř?[?@ ? ?)u>[I@ u>Iqr;Iu>CxJi>xJNEGN?AHL)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}1&}>ʁʁQ Eʁ͍;>I IR8ٮ QtI  UC9鰕%: :)]2R8 9)I tIi D :) :Id9I9*G2GFFrFbFEE);I9 iI"@i 2@<:@ w:> ߩ*  O(A Yt.[I@t.X@yt.{3t."|>t.HX ?@꣧Ϳg+`3?Wo?2?q?)u.[I@ u.s7r;Iu.Cx:Ml>x>LEiXIX)%҄GF@Y>Q E%F8->I1 I5R8ٮ11 Q=tI 1 U=C915$: 5(:)5CR8 E9)AIA MtIiA MDA E:)E:IEYn9YIY9Y*Gi2GiFqFqrFqbFyEyEy);I9 iI!@i 2@<:@w: )I ߱H* Si(AYt2vkI@t2X@yt2Ɍt2fz>t2H2?0 \ͿS. w^??? ?)u2vkI@ u2!r;Iu2Cx>?s>x>E)vGia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ YU;U>QYQ] EY]3;]?Ia ImR8ٮaa QmtI a UuC9ae: e:)eNR8 }9)qIq }tIiq }Dq u:)uZ:Iuu9I9*G2GFFrFbFEE);I9 iIp>* f(AYt*I@t* ZX@yt* t*~9w>t*H?`ӨIο,`?揁?@D??)u*I@ u*q;Iu(xNv>xNEHR=HRa=i`I`)udGF@YG%;>Q E(<>I IR8ٮ QtI  UC9; Ǻ;)\R8 %9)!I! -tIi! -D! %::)% :I%}9YIY9Y*Gi2GiFFrFbFEE);I9 iIJi 2@<:@w: !* A(A)4t.H I?nMο(@Z4? ?`V?@ ?)u. I@ u.r;Iu.Cx>W>xBE)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y`E>Q ES9>I IR8ٮ QtI  UC9O: ͭ:)iR8  9) I   tIi  D  ݭ;) 9;I Q9AIA9A*Gq2GqFqFyrFybFyEE);I9 iIp]i 2@<:@ w: !#* (AYt*.I@t*9|X@yt*E t*{|>t*H@?@"&ο ԧ??D?`j?)u*.I@ u*q;Iu*Cx>=Z>xB1E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)GF@Y7>Q E;>I I-R8ٮ Q5tI  U5C9<< <)xR8 =9)9I9 EtIi9 ED9 =:)=N:I=9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 QQiQIYae#gi 2@<:@w: i?A * (AYt*fI@t*qX@yt* &t*}>t*HO `C? jο/?ׄ?@qe?O?)u*fI@ u*wq;Iu*Cx>f>x> EGB@AH@){B[YUI{@i{B ={@{@{BA{@|BA9|Bi?eݯ)5ׄGF@]Y]ve>aaQe Eam<m>Iq I}R8ٮqq QtI q UC9quƄ; u<)uR8 9)I tIi D  <)0@Z 2Ei?eݯE[YUEEk%6z4g*@t.H `??`rο Z >?>? r?0?)u.I@ u.q;Iu,xNv>xNEi`IbѓC)-Q EK>I  IR8ٮ   Q=tI  U=C9  _;  ;) aR8 E9)AIA MtIiA MDA E:)E<:IE9I9=O5@Contact HDG: 147.182271 arcdeg .'5'5O54Initialize Wait Component.*G12G9F9F9rFAbFAEAEA);I9 iI5Φi 2@<:@w: I* y(AYt*@J@t*X@yt*c t*x>t*H0? HVhϿ [?A??g?)u*@J@ u*q;Iu*CxNw>xNjE)-Gi15xAF@]Y]z%;e>aaQe Eam@<m>Iq I}R8ٮqq Q}tI q U}C9qu: u:)uR8 9)I tIi D [:)N:I9I9*G2GFFrFbFEE)5;I59 99i9I9AEѫiAA A2@M<:@Mw: ߁>H* i(AYt*2J@t*X@yt*gt*{>t*H `?@H 8MϿOVv?? ?` ?)u*2J@ u*q;Iu*Cx>q>x>EHBa=H@iLIN̓C)~Q E  >I  IuR8ٮ   Q}tI  U}C9  _< 2`<) R8 9)I tIi D F:):I29I9*G2GFFrFbFEE);I9 iI!%Hi!! !2@-<:@5w: Aq * d8(A);IYt.aJ@t.Y@yt.Nt.Lz>t.H ?@^Ͽ@/O?ȩ?? ?)u.aJ@ u.ؐq;Iu.Cx>v>xBE)=GF@}Y}1}>ʁʁQ Eʁ͍;>I IR8ٮ QtI  UC9鰕: c:)5R8 9)I tIi D :) :I9I9*G2GFFrFbFEE);I9 iIBi 2@<:@ w: X* ;R(AYt:݋J@t:8Y@yt:,t:}y>t:H{Y?@Zǩ`Ͽ 2:? ?? ?)u:݋J@ u:q;Iu:CxBi>xBEiPIRѓC)mG}%==F@Y >Q Ec;>I  I R8ٮ   QtI  UC9  ի: :) R8 9)I %tIi %D [:)I91I191*Ga2GaFaFirFibFiEqE);I9 iI<i 2@<:@w: i@A<* l(AYt*=J@t*H,Y@yt* t*V%|>t*H`k@7?]Ͽ T??2??)u*=J@ u*q;Iu*Cx>q>xBEGB?AH@) vGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@uYu:>Q E>I I R8ٮ Q tI  UC9:: 6;)KR8 =9)1I1 =tIi1 =D1 5x:)5:I5ʁ9III9I*G2GFFrFbFEE);I9 iIi 2@<:@w: )j!* (A@ Yt.J@t. |Y@yt._+t.z>t.H f ?g몿>п)`iW? X? ? ?)u.J@ u.q;Iu.CxNj>xRqEi\I^̓C)GF@-Y-Y:5>11Q5 E1=R<=>IA IMR8ٮAA QMtI A UMC9AEF: E:)E:R8 U9)QIQ ]tIiQ ]DQ U:)U:IUlҁ9iIi9iODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: '* ͟(AYt*J@t*[Y@yt*2#t*ݹ{>t*HJ?&п1k?W? &?i ?)u*J@ u*q;Iu(xN"h>xRE)+GiyAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ(:>ʡʡQ EʡͭX>I IR8ٮ QtI  UC9鰵: $:)R8 9)I tIi D [:):I=ہ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.586789 arcdeg .q'%'%*G!2G%xg$@F!F!rF)bF)E1E1);I9 iIU#@ix*}>xg$@ 2@<:@w: )$mRHorizontalControl.headingCmd 2.568815 rad>>Ǿ-* Ҧ(AYt*J@t*Y@yt*tLt*wy>t*H@|?2`[п`1&?{i?? ?)u*J@ u*q;Iu*CxBd>xB EHBp=HBp= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)eGF@Yʽں>Q Eq<>I IS8ٮ MS8 QtI  UC93: H;)wS8 9)I tIi D :)p:I9I9=O}@Contact HDG: 147.182271 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 19i9I9=xg$@iAA A2@M<:@Mw: J4* (A)p;IYt:K@t:Y@yt:t:lk~>t:H@?\ Frп ? Ã?`y?`?)u:K@ u:q;Iu8x^i>xbNE){fGI{di{f:={d{d{fA{d|fA9|f- :ֹ?5I)ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeҹe>iiQm EiuZ;u>Iy IS8ٮyy QtI y UC9y}: }J:)}S8 9)I tIi D W:)ϸ:I9I9*G2GFFrFbFEE2EzEAE?S01@CҬ|1E- :ֹ?5IEGEEq5W-ʬ'@+>ETFr?hHſE(@=DHdg To Contact =151.100436 degreesZEf=AbE:Epo$?BEqo$?JE RE~ jE(rE);I9 iINi > 2@<:@w: ߹$Dacoustic_contact_range 24.840002 m$hTrackAcousticContact.heading_to_contact 2.637200 rad$LDUSBL_Hydroid.xAngle -44.749999 arcdeg{:*  `(AYt*J@t*Y@yt*t*}>t*H!} ?@ɯ`Efп @o?ւ?P??)u*J@ u*q;Iu(xR`k>xREilIl)=GE4=E%=F@MYU^:U>QQQU EY]e>Ia ImS8ٮaa QmtI a UmC9ae\: e:)eS8 }9)qIq }tIiq }Dq u:)u:Iu9I9*G2GFFrFbFEE);I9 iI="i 2@<:@w:8j> i?AA* L8(AYt*XRK@t*cY@yt*6t*ax>t*H@{`d?`{@п?`փ?z?Y?)u*XRK@ u*q;Iu(xBMl>xBLEGF@AHFAA)=GF@mYuu>qqQu Eq}[<}>I IS8ٮ QtI  UC9鰅: :)s*S8 9)I tIi D 1:):I'9I9*G2GFFrFbFEE);I9 iI4i 2@<:@w: ) I  ߉G* !(A@ Yt*(+K@t*3Y@yt*ds t*|>t*H@??)u*(+K@ u*q;Iu(x6md>x6u Ei@ID)rvGa 1%a 1% a 5%a 5% a 9%a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@YS> Q  E  y >I1 I=S8ٮ11 Q=tI 1 UEC915ٮ: 5:)59S8 M9)A M9IA MtIiA MDA E:)E:IE%9yI9*G2GFFrFbFEE);I9 iIJi 2@ <:@ w: !5 N* :(AYt.\K@t. Z@yt.t.{>t.H!j? п @a? b?'?9 ?)u.\K@ u.=q;Iu,xNeq>xRnE)GixAF@]Ye9e>aaQm Eim6<m>Iq I}S8ٮqq Q}tI q U}C9qu2: u:)uES8 9)I tIi D :)c:I"9I9*G)2G)F1F1rFQbFYEYEY)m;Iu9 iI'i 2@<:@w: V>e>T* T(AYt*nK@t*Z@yt*Jt*~>t*H `Mv?묿6п?@9V? ??)u*nK@ u*dq;Iu(xNm>xR'EHPHPi`I`)GF@-Y5:5>19Q= E9E3;E>IA IMS8ٮAA QUtI A UUC9AE\: Eٮ:)ESS8 ]9)QIQ ]tIiQ eDQ U:)U:IU9iIq9q*G2GFFrFbFEE);I9 iIhi 2@<:@w: [* Dn(A)4t.H i?سjп`H ٞ?O?@m??)u.O`K@ u.Xq;Iu,xBv>xBGE)|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]7]>aaQe Eam m>Iq IuS8ٮqq Q}tI q U}C9qu: u9:)uaS8 9)I tIi D Ր:),:I&9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIOi 2@<:@w: bb* s(AYt*K@t*VZ@yt*$t*n>t*H@?ѿ ,?@ɓ?k?@!"?)u*K@ u*HRq;Iu(xBi>xBEiPIR“C)~G%=4=F@=YE5E>AAQM EIM6<M>IQ I]S8ٮQQ Q]tI Q U]C9QU: U:)U-oS8 m9)aIa mtIia mDa e[:)eN:Ie'9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.466463 arcdeg .q''*G2G(@FFrFbFEE);I9 iI%@iȄ>(@ 2@<:@w: $-RHorizontalControl.headingCmd 2.637200 radiH1h* \(AYt*K@t*=Z@yt* t*w>t*HHu?`ܫ@п X??@??)u*K@ u*jkq;Iu(xBi>x@G@HF@A)~AAQM EIM~wM>IQ I]S8ٮQQ Q]tI Q UeC9QUJ: U-:)U|S8 m9)aIa mtIia mDa e:)eZ:Ie09yIy9=O@Contact HDG: 151.100436 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI܅(@ijm> 2@<:@w: [n* 8(A Yt6K@t6dZ@yt6(t6|>t6H?􆬿`ѿv??B? ?)u6K@ u6q;Iu6CxNv>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|IѓC)}Ga 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 15@a 5 a 55@a 5 a 95@a 5 a -5@a = ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@]Yee>aiQm Eiu ;}>I IS8ٮ QtI  UC9鰅"; #;)S8 9)I tIi D *:)q:Is99I9*G2GFFrFbFEE);I9 iI%%)@i!! !2@-<:@-w: 9Cu* (AYt*K@t**Z@yt* t*|>t*H`?@)<ѿ`%Xm?`#a?C?`}?)u*K@ u*5p;Iu*CxBxp>xBE){BUI{@i{B={@{@{BB{@|BA9|Boy?}=x)]GiewAewAF@}Yʅ;>ʁʁQ Eʁ͍<;>I IS8ٮ QtI  UC9鰕^; (;)јS8 9)I tIi D p:):I_A9I9*G!2G!F)F)rF1bF1E1E12E9zE=AE=]4Ŗ0@KS2E=oy?}=xE=UE9E=04_+pE)@ >>GE=>)꿌/V[? g{]ƿE= &@=MDHdg To Contact =148.725634 degreesZE=+JAbE=l:E=qo$?BE=po$?JE=~ RE= jE=9rE=();I9 iI)@_/i > 2@<:@w:?΅> $Dacoustic_contact_range 24.720001 m$hTrackAcousticContact.heading_to_contact 2.595752 rad$LDUSBL_Hydroid.xAngle -47.850000 arcdegR>l>pm{* -(AYt*K@t*KZ@yt* Kt*x>t*H}?zfѿQ? Qi?@(? ?)u*K@ u*p;Iu*CxNMl>xRLEHRa=HPi`If̓C)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y:>Q E>I IS8ٮ QtI  UC9}: :)S8 9)I tIi D t:)g:IJ9 I 9*G!2G!F!F!rF)bF)E)E1)E;IE9 AIiIIIM(@iQQ Q2@]<:@]w:a a)aIi 9U*  (A);IYt.OK@t.ZZ@yt. t.>cQ>t.HO0?@]ѿn$`O?` ā? ? U?)u.OK@ u.p;Iu.Cx6k>x6E)vGF@Y%zX:%>!)Q- E)-n<->I1 IS8ٮ11 QtI 1 UC915< 5<)5S8 9)I tIi D }:):IZR9I9*G2GFFrFbFEE);I9 i I   .i 2@<:@w: )Y* #(AYt*K@t*Z@yt*.t*J>t*H`(?6[^ѿ`-?`[Ӆ?@3?(_?)u*K@ u*vCq;Iu*CxBg>xBsEiPIP)|R=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe{e>iiQm Eiu 8u>Iy I}S8ٮyy QtI y UC9y}: }):)}S8 9)I tIi D :)ȗ:IZ9I9!*G12G1FQFQrFYbFYEYEa);I9 iI*-i 2@<:@w: i0* ~=(AYt*W L@t*bZ@yt*sTt*,Y>t*H~6?0`oѿ an?G?0?F?)u*W L@ u*p;Iu*CxB"h>xBEGBAAHD)~SGF@=YErE>AIQM EIM.;M>IQ I]S8ٮQQ Q]tI Q UeC9QU: U:)US8 m9)aIa mtIia mDa e:)eԘ:Ie)c9yI9*G2GFFrFbFEE);I9 iI+i 2@<:@w: * [W(A Yt.d'L@t.oZ@yt.ZFt.N>t.H@ CU?QT ѿ  ?3ˈ?@w?X?)u.d'L@ u.)p;Iu,xBk>xBEiLIRѓC)~dGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye, ;e>aaQm Eimx;m>Iq I}S8ٮqq Q}tI q U}C9qu : u:)uS8 9)I tIi D ):Ik9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI*i 2@<:@w: »* 6q(AYt* L@t*'Z@yt*c!St*DD>t*H``]B?'M lѿ4?c?[?@i?)u* L@ u*p;Iu*CxBb>xBQ E)~GiF@ Y>Q E>I! I-S8ٮ!! Q-tI ! U-C9!%: %l:)%S8 =9)1I1 =tIi1 =D1 5>:)5:I5t9III9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 195.800746 arcdeg .q''*G2G &@FFrFbFEE);I9 iIwq'@i &@ 2@<:@w: $RHorizontalControl.headingCmd 2.595752 radN>Y>^* (AYt*WL@t*[@yt*5Ht*8<>t*H@@7?Jxѿ >5?`?ou?t?)u*WL@ u*p;Iu(xBHf>xB EH@H@iPIP)~SGF@=YE:E>AAQM EIM?<M>IQ I]S8ٮQQ Q]tI Q UeC9QU: U:)US8 m9)aIa mtIia mDa e:)e:Ie|9yIy9=O@Contact HDG: 148.725634 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI &@i 2@<:@w: ͨ* (A)IYt.=L@t.Z@yt.%t.MpG>t.H)i?yl`ѿ))?+?q?`d?)u.=L@ u.p;Iu.CxZ"h>x^E)5dGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ;>ʙʙQ Eʙͥ{>I IT8ٮ MT8 QtI  UC9鰭0: :)9T8 9)I tIi D }:):Ip9I9*G2GFFrFbFEE) ;I 9  i I tI)i 2@%<:@%w: 1* Ǿ(AYt*8;L@t*CZ@yt*?t*Hd?$ѿIV?ۇ??`sU?)u*8;L@ u*)\p;Iu*CxBw>xBjE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI%̓C)<F@Y^>  Q  E 5=>IA IMT8ٮAA QMtI A UUC9AE; Eq*<)ET8 9)I tIi D :)a:I9I9*G2GFFrFbFE!E!)U;IU9 QYiYIYYe'iaa a2@m<:@w: ߡi@A'ߵ* (AYt*UL@t*[@yt*Dt*HS>t*H`@~}?>`ѿ@c`??`8?Q?)u*UL@ u*p;Iu*CxBWx>xBEGDHD){FVI{Di{FO={D{D{FA{D|FA9|F4\4d?X)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q E ; >I I=T8ٮ Q=tI  U=C9; o;)>#T8 E9)AIA MtIiA MDA E:)EA:IEҖ9yIy9y*G2GFFrFbFEE2EzEAEgC%@`'E4\4d?XEVEEN't1+ӑ6 @ ϐEf=]Tr?DqQ*y¿E6&@=DHdg To Contact =148.706086 degreesZE=AbEY:Eo$?BEqo$?JE RE~ jErE9) ;I 9  i I 15n&i11 92@=<:@Ew: q$Dacoustic_contact_range 16.079996 m$hTrackAcousticContact.heading_to_contact 2.595411 rad$LDUSBL_Hydroid.xAngle -48.049998 arcdeg * }(A Yt*&L@t*Z@yt*:t*NK>t*HT?K0;ѿ`& ū?C?@>?@^?)u*&L@ u*Ipp;Iu*CxBi>xBEiPIVѓC)SGF@=YE:E>AAQM EIMM>IQ IT8ٮQQ QtI Q UC9QU< U҈<)U50T8 9)I tIi D :):I9I9*G2G F F rFbFEE)-;I-9 ))i)I)15-%i99 92@E<:@Ew: Q* GV (AYt.XL@t.[@yt.ZB:t.>H>t.HG?@ѿ@v$ .K?`*H? ?Xc?)u.XL@ u.p;Iu.CxR{>xRE)%Gi!-xAF@5Y5а=>99Q= E9Eq;E>II IUT8ٮII QUtI I UUC9IM: M:)M=T8 e9)YIY etIiY eDY ]S:)]˚:I]99qIq9q*G2GFFrFbFEE);I9 iI#i11 92@=<:@Ew: QR>Z* f2&(AYt*/L@t*Z@yt*2t*M>t*H Z?;=ѿ"?C? u?@[?)u*/L@ u*fp;Iu*CxNp>xR%EHRp=HRa=i`Ib̓C)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʉʉQ Eʉ͍ƻ>I IT8ٮ QtI  UC9鰕: :)LT8 9)I tIi D :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIw"i  2@<:@w: * Z@(A)4t*H@h?@צ2ѿq%~???H`?)u*]?L@ u*p;Iu*CxRu>xRE)GF@-Y-% ;->11Q5 E1=;=>IA IMT8ٮAA QMtI A UMC9AE: E:)EYT8 U9)QIQ ]tIiQ ]DQ U:)U:IU99iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.990475 arcdeg .q''*G2G6&@FFrFbFEE);I9 iI6&@x!i6&@ 2@<:@w: $RHorizontalControl.headingCmd 2.595411 rad-* Y(AYt*"L@t*Z@yt*+t*M>t*H@`mL?Ԧ`ѿ@$?@p?>v?@[?)u*"L@ u*-p;Iu*CxNo}>xREi`I`)G%%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʉʉQ Eʉ͕B>I IT8ٮ QtI  UC9鰝h: :)gT8 9)I tIi D :):I9I9=O@Contact HDG: 148.706086 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E)%;I%9 !!i)I))-Ÿi11 12@=<:@=w: Ii?At*H@ Qh? tѿ K!`?? n?)\?)u*=L@ u*p;Iu*CxNh>xNEGPHP)GF@-Y5ѽ5>99Q= E9E;E>IA IMT8ٮAA QMtI A UUC9AE : Eͭ:)EuT8 ]9)YIY ]tIiY eDY ]:)]:I]Dɂ9iIq9q*G2GFFrFbFEE);I9 iIhi 2@<:@w: ?* 0(A Yt*L@t*Z@yt*0t*O>t*H@D?` }ѿ!&?:?@?W?)u*L@ u*ap;Iu*Cx^t>x^lEilInѓC)=dGF@}Yʅ0&:>ʁʁQ Eʁ͍|>I IT8ٮ QtI  UC9鰕: c:)5T8 9)I tIi D :):Iт9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !i* {(AYt* L@t*Z@yt*@#t*SL>t*H`A5?&֦ynѿt)@?b?^?]?)u* L@ u*tq;Iu*CxBr>xBIE)5Gi=yA9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ;;>ʡʡQ Eʡͭ>I IT8ٮ QtI  UC9鰵): p:) T8 9)I tIi D :)Ԙ:Iڂ9I9*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9i>[Q* ;U(AYt*}L@t*Z@yt*yt*{K>t*H` H?G ѿ(? [?aD?`k^?)u*}L@ u*7q;Iu(xBq>xBEHBa=HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIv̓C)GF@YF:>  Q  E G;>I! I-T8ٮ!! Q-tI ! U5C9!%g; %;)%iT8 e9)YIY etIiY mDY ]:)]{:I]~9I9*G2GFFrFbFEE);I9 iI+i !2@%<:@-w: Y{* Y1(A);IYt*K@t*Z@yt*a,t**BK>t*H8% ?DUVѿ@7.??I=?^?)u*K@ u*p;Iu(xRi>xRE){RFI{Pi{R={P{P{RpA{P|R=A9|R%? mHm)=dGF@mYm8u>qqQu Eq>I9 IMT8ٮ99 QUtI 9 U}C99=K< =<)=LT8 9)I tIi D  <)/'@ Een4J뿝?igEe:)@=DHdg To Contact =151.843001 degreesZEe}9AbEeG:Eeoo$?BEeo$?JEe REe jEeHOrEe);I9 iIi 2@<:@w: $MDacoustic_contact_range 24.779999 m$UhTrackAcousticContact.heading_to_contact 2.650160 rad$]LDUSBL_Hydroid.xAngle -44.500001 arcdegޥ*  (AYt*@ L@t*KZ@yt*2t*L>t*H @q7?@unѿ`(%?V?r?[?)u*@ L@ u*=aq;Iu(xRd>xR Ei`I`)%G%=)a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍx>ʉʉQ Eʉ͕?};>I IT8ٮ QtI  UC9鰝h: :)gT8 9)I tIi D O:)t*H@ ?M +<ѿ`i*`9?@vH? L?V?)u*ZK@ u*4q;Iu(xRi>xREGR@AHT)%GF@5Y=&;=>AAQE EAEM>II IUT8ٮII QUtI I U]C9IM: M9:)MT8 e9)YIY etIiY mDY ]F:)]:I]X9qIq9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.623243 arcdeg .q''*G2G:)@FFrFbFEE);I9 iIW'@i:)@ 2@<:@w: $RHorizontalControl.headingCmd 2.650160 rad_ * ((A Yt:K@t:Z@yt:"yt:]O>t:H@E`Y? 9ѿ7+ K0?σ?@X?`JW?)u:K@ u:Xwq;Iu:CxNi>xPi\I`)EGF@}YʍT:>ʡʡQ Eʩͽɭ>I IT8ٮ Q tI  U5C9b< #<)8T8 =9)9 E9I9 EtIi9 ED9 =:)=:I=r9I9=O@Contact HDG: 151.843001 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI:)@i 2@<:@w: >* B(AYt*sK@t*~oZ@yt*)t*XI>t*H`x?Х(ѿ~7@mp?i1?X?a?)u*sK@ u*q;Iu*CxBp>xBE)~Gia 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee޺e>aaQe Eim3m>Iq IT8ٮqq QtI q UC9qu; u;)uT8 9)I tIi D :)N:I 9I9*G2GFFrFbFEE)5;IU9 QQiQIQY]DhiYa a2@m<:@mw: y>p>* V~\(AYt*ŠK@t*MZ@yt*yt*Q#J>t*H(@%?. ѿ#;@?\9?@4? `?)u*ŠK@ u*q;Iu*Cx>,t>x>#EHBp=H@iPIP)F@Y%;%>!!Q% E)-->I1 I=T8ٮ11 Q=tI 1 U=C915: 5:)5T8 M9)AIA MtIiA MDA Ep:)E :IE9yIy9y*G2GFFrFbFEE);I9 iI/i 2@ <:@ w: 9* eVv(A)4t.H`?>I ѿ4 ? m??Z?)u.ѡK@ u.^q;Iu.CxN_>xR E)SGa 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʝT>ʡʡQ Eʡͭ9>I IT8ٮ QtI  UC9鰵; |;)pT8 9)I tIi D :):I9I9*G)2G)F)F1rFQbFYEYEY)m;Iu9 iI[i 2@<:@w: #* 3(AYt.UrK@t.`Z@yt.*t.@M>t.H9?Pܥп T; ?X?f?Z?)u.UrK@ u.q;Iu.CxN'n>xNpEiI)edGm4=iF@}Y} >ʁʁQ Eʁ͍\>I IU8ٮ MU8 QtI  UC9鰕: :) U8 9)I tIi D S.;)@;I'9I9*G 2G F F rF9bFAEIEI);I9 iI15i99 I2@}<:@}w: ߑi@**  (AYt*iK@t*Z@yt*!t*vFO>t*Hh?`M uп):&?#?I?@\X?)u*iK@ u*q;Iu*Cx>eq>xBnEGBAAH@)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ@:>ʩʩQ Eʩ͵>I IU8ٮ QtI  UC9_: :)0U8 9)I tIi D ;);I/9!I!9!*GQ2GQFYFYrFabFaEaEa);I9 iIZi 2@<:@w: h0* (A Yt*BK@t*Y@yt*t*N>t*Hu?%п-@ ?}?Щ?GY?)u*BK@ u*q;Iu*CxBRr>xBE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i\I\)MGF@=YE)D:E>IIQM EI]]>Ia ImU8ٮaa QtI a UC9ae*< e*<)e)U8 9)I tIi D _:):I89I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)Mm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFqbFyEyEy);I9 iI%i 2@<:@w: A7* (AYt*/K@t*Y@yt*t*I>t*H@e?@rп`J]??@?`?)u*/K@ u*Qq;Iu*CxB"h>xBE)GiwAwAa 1Ua 1U a 5Ua 5U a 9Ua 9U a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYʕu:>ʙʙQ EʙͥI>I IU8ٮ QtI  UC9鰭Q< <)6U8 ]9)YIY ]tIiY eDY ]V:)]:I]A9iI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 195.040737 arcdeg .q'5'5*G12G1F1F9rF9bF9EAEA);I9 iIi 2@<:@w: V>Y>A=* ,(AYt*NK@t*YY@yt*Ӄ$t* L>t*H Y=U?bп)H?c?@e? \?)u*NK@ u*/q;Iu*CxBe>xBP EHBR=HDiTIT) GF@Y%%>))Q- E)5>5>I1 I=U8ٮ11 QEtI 1 UEC915%: 5:)5CU8 M9)III MtIiI UDI Mɏ:)Mx:IMH9I9=O@Contact HDG: 151.843001 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9  i I  _ i 2@<:@w: }*D* -y(A);IYt.DJ@t.OY@yt.<t.l0O>t.HS?΢{UпK,???X?)u.DJ@ u.q;Iu.CxB?s>xBE)%SGF@]Yu :u>ʙʡQ Eʡ>I I%U8ٮ Q-tI  UUC9Z< <)pRU8 m9)aIa mtIia uDa e<)et*H?@eXQп@O?E?@t?[?)u*J@ u*t>xBlEiLIN“C)~dG|a 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>aaQe Eam/m>Iq I}U8ٮqq Q}tI q U}C9qup: u:)u_U8 9)I tIi D }:):IZ9I9*G2GFFrFbFEE);I9 iI5 i 2@<:@w: it2H??!&пDTF? ?{?[?)u2PJ@ u2~q;Iu0xNn>xNEGR@AHP)GF@]Yee>aaQe Eim/ݻm>Iq I}U8ٮqq Q}tI q U}C9quJ: uN:)uwmU8 9)I tIi D :):Ib9I9*G2GFFrFbFEE);I9 iI i 2@<:@w:  fW* _(A Yt*J@t*AY@yt*t*M>t*H?^&`пX?`U? u?`[?)u*J@ u*nq;Iu*CxFj>xFqEilIn̓C)=Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ4:>ʡʡQ Eʩͭ>I IU8ٮ QtI  UC9鰵,; Ȳ:){U8 9)I tIi D :) :IYk9I9!*G12G1FQFQrFYbFYEYEa);I9 iI`i 2@<:@w: ]* &x(AYt*J@t*4Y@yt*Ket*VK>t*H@g?礿|Ͽ\?`L?I? 5^?)u*J@ u*X_q;Iu*CxR1z>xRE)]GiY]xAF@YʝG98>ʡʡQ Eʡͭ>I IU8ٮ QtI  UC9鰵: :)QU8 9)I tIi D :)A:Is9I9*G2GFFrFbFEE);I9 iI%|i!! !2@-<:@-w: 9>x>hxd* (AYt*t*HRE?@ʤϿ@1b?2ց?`9g?`\?)u*xREH^a=H\ixIz“C)aaQe Eamm>Ii IU8ٮii QtI i UC9im; m:)mU8 9)I tIi D [:):I|9I9*G2GFFrFbFEE)M;IM9 QQiQIQY]9#iYY Y2@e<:@ew: Oj* 1(A) IYt.CJ@t.X@yt.Ht.M>t.H E?@ϩMnϿ@b`?@I?@t?\?)u.CJ@ u.Xoq;Iu.CxBeq>xBnE)~SGF@ Y>Q E >I! I-U8ٮ!! Q-tI ! U-C9!%: %:)%FU8 =9)1I1 =tIi1 =D1 5:)5:I5g9III9IOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFibFqEqEq);I9 iIi 2@<:@w: 1q* t(AYt*7J@t*BX@yt*ct*lL>t*HJ `7?#A'Ͽ`3hS? ;Â?`a?\?)u*7J@ u*q;Iu*CxBk>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIr̓C)eG}R=F@Yʵ>ʱʱQ Eʹͽϫ>I IU8ٮ QtI  UC9Z; ;)ɲU8 9)I tIi D (:):Ic9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 194.087557 arcdeg .q']']*GY2GYFYFarFabFiEiEi);I9 iIi 2@<:@w: i6w*  P(AYt*TI@t*_X@yt*ct*4N>t*H@ |?`Xt`ο i1?g?@ݙ?'Z?)u*TI@ u*q;Iu*CxN:m>xREGRAAHP){REI{Pi{R)={P{P{R@B{P|RB9|R\T? 6LT)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥi:>ʩʩQ Eʩ͵>I IU8ٮ QtI  UC9鰽t: x:)U8 9)I tIi D d:):Iԕ9I9=O@Contact HDG: 151.843001 arcdeg .''O4Initialize Wait Component.*G!2G!F!F!rF)bF)E)E)2EzEBEyyn:@JW9E\T? 6LTEEEE`?On2@;'lEZ^MwFH#la?e^E'@=DHdg To Contact =150.347654 degreesZEAbE@:ETo$?BEoo$?JEz RE jEerEHO);I9 iIЅi 2@<:@w: A$}Dacoustic_contact_range 36.900002 m$hTrackAcousticContact.heading_to_contact 2.624062 rad$LDUSBL_Hydroid.xAngle -44.249999 arcdeg}* b,(A Yt.I@t.X@yt.{t.K>t.H@b`3? Ị`cο@:r`w?p?M? ]?)u.I@ u.q;Iu.CxBc>xB, EiTIT)GF@=YEN(E>AAQM EIMλM>IQ I]U8ٮQQ Q]tI Q U]C9QU>: UB:)UU8 m9)aIa mtIia mDa e:)eo:Ie9yI9*G2GFFrFbFEE);I9 iI li 2@<:@w: <Ƅ* l(AYt*3I@t*>hX@yt*s/t*cJ>t*H j` ?*#@|eοw դ?@e?9"?F`?)u*3I@ u*bq;Iu*CxB,t>xB#E)+Gi  wAF@=YEX;E>AAQM EIMtM>IQ I]U8ٮQQ Q]tI Q UeC9QUC: U:)UU8 m9)aIa utIia }Da eg;)e{r;Ie9I9*G2GFFrFbFEE);I9 iI&3i 2@<:@w: !R>i>* -(AYt*#I@t*.?X@yt*Dt*)I>t*H@)V?@@ο|S??)?a?)u*#I@ u*q;Iu*Cx^C>xbEHbR=H`i|I~“C)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y r>Q Eeû>I IU8ٮ QtI  UC9: а:)U8 9)I tIi D :)ݖ:Ip9I9*G2GFFrFbFE!E!)5;I59 99i9I9AEiAA A2@M<:@Mw: a5ؑ* G(A) I Yt*jI@t*X@yt*t*Q>t*H`c?@䣿PͿ Rv|? ??U?)u*jI@ u*q;Iu*CxBRr>xBE)SGF@]Ye*:e>aaQm EimWȻm>Iq IU8ٮqq QtI q UC9qu; uõ;)uYU8 9)I tIi D :) :IƷ9I9*G2GFFrFbFEE)5;IU9 QQiQIYY][}iaa a2@m<:@mw: ߩ* a(AYt*oDI@t*zW@yt*t* N>t*HQ# ? ~Ϳ~5?~? ?`'Y?)u*oDI@ u*q;Iu*CxBm>xB'EiPIP)dG4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YC;>Q E>I IV8ٮ MV8 QtI  UC9: :)V8  9) I   tIi  D  ݭ;) ;I 9AIA9A*Gy2GFFrFbFEE);I9 iIi 2@<:@w: )i,* mq{(AYt*I@t*W@yt*ut*H>t*H'?ɢ 5Ϳ? ?x?`b?)u*I@ u*q;Iu(xBn>xBEGDHD)GF@=YEE>AIQM EIMŻM>IQ I]V8ٮQQ Q]tI Q UeC9QU: U :)UV8 m9)aIa mtIia mDa e[:)e:Ieȃ9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;IE9 IIiQIqy}&iyy 2@<:@w: ߹\* N(A Yt2I@t2W@yt2"= t2fI>t2H)`2?@`Ϳv ?g??a?)u2I@ u2q;Iu0xBa>xB EiTIV̓C) SGF@=YEdE>AAQM EIMAM>IQ I]V8ٮQQ Q]tI Q UeC9QU`: UB:)U V8 m9)aIa mtIia mDa e:)aIe#у9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.144813 arcdeg .q''*G2G'@FFrFbFEE);I9 iI[(@i'@ 2@<:@w: $RHorizontalControl.headingCmd 2.624062 rad>* *(AYt*nH@t*yW@yt*Xt*jK>t*H/H? ^̿;s? ?dB? ^?)u*nH@ u*r;Iu*CxB,t>xB#E)~dGiyAxAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>iiQm Eiuu>Iy I}V8ٮyy QtI y UC9y}ͭ: }:)}.V8 9)I tIi D p:)ȗ:Iك9I9=O@Contact HDG: 150.347654 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I%9 ))i)I)5r(@543i11 92@=<:@Ew: Q>]>%* X(AYt*H@t*oW@yt*껙t*M>t*H 2?9 ̿S?/_}? ? X[?)u*H@ u*r;Iu*Cxn{>xniEHrp=Hrp= {tY|tv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iqIu“C)F@=Y;>Q E>I IV8ٮ QtI  UC9< 7<)(?V8 9)I tIi D :):Ip9!I191*Gi2GiFiFqrFybFyEyEy);I9 iI'@i 2@<:@w: kP* ;(A) Ix,t>x#E)iF@Yʭ>ʹQ E>I I V8ٮ QMtI  UMC9= =)KV8 ]9)QIQ ]tIiQ eDQ UW:)U@;IUd9I9*G2GFFrFbFEE)5;I59 11i1I19EziAA A2@M<:@Uw: ibz* (AYt*H@t*?W@yt*HHt*I>t*H@T7x6EidIj̓C)15%=9a 1ua 1u a 5ua 5u a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ僺>Q E>I IV8ٮ QtI  UC9c: $:)CXV8 9)I tIi D ::) :I9I9*G 2G F FrFbFEE)-;I59 11i1I19=i99 A2@E<:@Ew: Yid* 0(AYtRcH@tRW@ytRŮtRJ>tRHm<Xq?ѡ ˿S??_2?m_?)uRcH@ uRr;IuRCx }v>x EG H)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y } >  Q E:>I I%V8ٮ Q%tI  U-C9}: :)ifV8 59))I) 5tIi) 5D) -:)-g:I->9AIA9I*GY2GYFYFYrFabFaEaEi)};I}9 yiITi 2@<:@w: ߡ* q0(A x~p>x~%EiI“C)F@Y>Q E>I IV8ٮ QtI  UC9): :)sV8 9) 9I tIi D A:)۞:I9I9*G)2G)F)F)rF1bF1E9E9)M;IM9 IIiQIQQ]SiYY Y2@e<:@ew: y|t* LJ(AYt*$GH@t*/V@yt*-t*N>t*H@?0? > ˿~@G?P~?`?6Y?)u*$GH@ u*6r;Iu*CxBn>xBE)|iwAwAF@EYM{;M>QQQU EQ]"]>Ia IeV8ٮaa QmtI a UmC9aeO: e:)e%V8 u9)qIq }tIiq }Dq uW:)uU:Iu 9I9*G2GFF!rF!bF!E)E))=;I=9 AAiAIAIMiII I2@U<:@Uw: ia>Y>[*  &d(AYt* H@t*V@yt*t*мJ>t*HE ? `3˿#@ ?!?-?`_?)u* H@ u* r;Iu(xBxp>xBEHFa=HFa=iPIR̓C) a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅq>ʉʉQ Eʉ͍\>I IV8ٮ QtI  UC9鰕ͭ: _:)*V8 9)I tIi D Ր:)A:Ig9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)};I}9 yyiyIy^ i 2@<:@w: * ~(A) Ix~k>xE)}GF@Yʍ>ʑʑQ Eʑ͝>I IV8ٮ QtI  UC9鰥 : ٮ:)V8 9)I tIi D :)Z:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.226330 arcdeg .q' ' *G 2GFFrFbFEE!)5;I59 19i9I99E/iAA A2@M<:@Mw: * ݗ(AYt*G@t*V@yt*1 t*>G>t*HH?/ ʿv?෠?`N?`d?)u*G@ u*7r;Iu*CxB,t>xB#EiPIP)G%4=!a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍD>ʑʑQ Eʑ͝P>I IV8ٮ QtI  UC9鰥: :)ͪV8 9)I tIi D :):Iu&9I9=O @Contact HDG: 150.347654 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 11i9I99=;E޼iAA A2@M<:@Mw: Yi* ḱ(Ax~sj>x~(EG@AH)}ʑʑQ Eʑ͝>I IV8ٮ QtI  UC9鰥: į:)V8 9)I tIi D :):I.9I9*G2GFFrFbFEE);I9 i I   iۼi 2@<:@w: )* ٓ(A Yt*G@t*V@yt*t*6O>t*H`!I^?ݡtʿ@L`LZ?@>? ?X?)u*G@ u*^xnNE {pY|pv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIII)GF@Y ; >  Q  E >I! I-V8ٮ!! Q-tI ! U5C9!%: %;)%V8 E9)9I9 EtIi9 MD9 =:)=H:I=79YIa9a*Gy2GyFFrFbFEE);I9 iIWټi 2@<:@w: %* p(AYtFG@tFV@ytFMtF(I>tFH`[Ie?O^ʿ`Ş?w~??:b?)uFG@ uFjLr;IuFCx^}v>x^E)MGiUxAUxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ?:>ʹʹQ Eʹ>I IV8ٮ QtI  UC9ɪ: :)TV8 9)I tIi D %:)|:I@9I9*G2GFFrFbFEE);I9 iIUּi 2@<:@w: 1V>* J(AYtJG@tJmV@ytJ#OtJL>tJH M5?@f> Tʿ ? ? l?\?)uJG@ uJ=r;IuJCxno>xnEHrp=Hrp=iI)aF@Yʝ>ʡʡQ Eʡͭѻ>I IV8ٮ QtI  UC9鰵`: B:)V8 9)I tIi D -:):IH9I9*G2GFFrFbFEE);I9 iI!%Լi!! !2@-<:@-w: A* \> (A)IYt6CG@t6N}V@yt6!|t6TJ>t6HL@T?_ʿݭ``? o?D ?@^`?)u6CG@ u6}ar;Iu6Cx>q>x>E)ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye+9e>iiQm EiuA;u>Iy I}V8ٮyy QtI y UC9y}q: }:)}V8 9)I tIi D :):IP9I9*G2GFFrFbFEE);I9 iIGҼi 2@<:@w: + * _ 3 (AYt*G@t*"lV@yt*t*M>t*H@M`/?cɆʿ`~?"?t?@\?)u*G@ u*Pr;Iu*CxB1z>xBEiLIL)~AAQE EAM,M>II IUV8ٮII Q]tI I U]C9IMl: M:)M.V8 e9)aIa etIia mDa e:)eZ:IePY9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI1ϼi 2@<:@w: i* L (AYt*G@t*kV@yt* t*ZO>t*HM?2? &ʿ@g?rw?ٽ? TX?)u*G@ u*Kr;Iu*CxRi>xRNEGRAAHT)%SGF@=YEkE>AIQM EIMU>IQ I]W8ٮQ M]W8Q QetI Q UeC9QU-: U:)U W8 m9)aIa mtIia uDa e:)e :Iea9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.959147 arcdeg .q''*G2GF!F!rF)bF)E)E))e;Ie9 aaiaIaim`ͼiii q2@<:@w: ߩ:* ȶf (A Yt*ܵG@t*bV@yt*\t*H>t*HN o%?;@tʿ`0@? k?R?c?)u*ܵG@ u*^r;Iu*CxB\>xBEiPIP)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭH:>ʱʱQ Eʱͽ>I IW8ٮ QtI  UC9: :)>W8 9)I tIi D :):Ij9I9=O-@Contact HDG: 150.347654 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQY]dʼiYa a2@e<:@mw: y" * ޑ (AYt*G@t*yV@yt*$ t*J>t*H@xLN? ʿ౭ ?`9A?`)?_?)u*G@ u*Br;Iu*CxBh>xBE)~GiwAF@Yʅ4T9>ʉʉQ Eʉ͕1f;>I IW8ٮ QtI  UC9鰝ͭ: J:)&W8 9)I tIi D :):Is9I9*G2GFFrFbFEE);I9 iIȼi 2@ <:@w: !R>V>gN&* Ks (AYt:G@t:ZV@yt:m=t:nL>t:HO@&?j⠿dʿ`` ??Fb?]?)u:G@ u:~Nr;Iu:CxNl>xNEHPHPi`I`)-+Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ M>Q Eo>I IW8ٮ QtI  UC9: :)4W8 9)I tIi D :):I{9 I 9*GA2GAFAFArFIbFIEIEI);I9 iI#Ƽi 2@<:@w: w,* RH (A) IYt*G@t*V@yt*G t*oM>t*HJj?" ʿ-?{?``?C[?)u*G@ u*xBE)~SGF@=YE<E>AIQM EIM;M>IQ I]W8ٮQQ Q]tI Q UeC9QU: Ux:)U BW8 m9)aIa mtIia mDa e[:)eN:Ie߃9yI9*G2GFFrFbFEE);I9 iIüi 2@<:@w: ^3* # (AYt*{G@t*]V@yt*4t* ML>t*H VO@?? jʿ`` ? F?^?-]?)u*{G@ u*n\r;Iu*CxBs>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)udG%=F@Yʵr>ʹʹQ Eʹʻ>I IW8ٮ QtI  UC9; ;)oPW8 9)I tIi D ;);I9 I 9 *G)2G)F)F1rF9bF9EAEA)U;IU9 YYiYIYae*,iaa a2@<:@w: ߡi9*  (AYt*G@t*%uV@yt*Kt*|uK>t*H`L`F?`bʿ`ˬ?؀?C?^?)u*G@ u*;r;Iu*CxBmd>xBu EGF@AHD)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5e@a e a 9e@a e a -e@a e a )ea )e YYɄYi]Mb@Mb@Mb@Y](AIYiY]A]AɅ]A]AY Y)YF@}Yʅ_:>ʁʉQ Eʉ͍m;>I IW8ٮ QtI  UC9鰕: J:)]W8 9)I tIi D :):I9I9*G2GFFFF(ArFbFEE>5); h 8h I9 iI׷  i   2@<:@w: );q@* !(A Yt."G@t.-V@yt.t.CJ>t.H K Y?ʿɬ?@]? 0?_?)u."G@ u.4Jr;Iu.CxB,t>xB#EiTIV“C)GF@=YE:E>AAQE EIM:M>IQ I]W8ٮQQ Q]tI Q U]C9QUG: Ul:)U{kW8 m9)aIa mtIia mDa e-:)eA:Ieg9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEE ); 8I9 uųiI0Vi 2@<:@w: F* Զ!(AYt2G@t2lV@yt2 t28K>t2H M@V6?e蠿ཇʿ ?u?MxB E)SGi xA wAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U a )U@a U IIɄIiMMb@Mb@Mb@IMIIiIMMɅMMI I)IF@eYmm>qqQu Eq}4}>I IW8ٮ QtI  UC9鰅:: :)xyW8 9)I tIi D :)^:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.962672 arcdeg .q''*G2GFFrFbFEE);I9 iIy3i!! !2@-<:@-w: 9e>-L* 5!(AYt*G@t*ȆV@yt*LTt*L>t*H` Kl?4Š@պʿ l?x?d?`\?)u*G@ u*s0r;Iu*Cx^s>xfEHja=Hja=ixIz̓C)MdGF@]Yepe>iiQm Eiu;u>Iq I}W8ٮqq QtI q UC9qu: u:)u5W8 9)I tIi D :):I9I9=O@Contact HDG: 150.347654 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9  i I  ͷi 2@<:@w: 1RS* /lO!(A)IYt.G@t.kV@yt.t.?L>t.HM/??Voʿ%u ? ?g?\?)u.G@ u.ar;Iu.CxBw>xBjE)F@]YeYn;e>aaQe Eim턻m>Iq IW8ٮqq QtI q UC9qub; uD;)uW8 9)I tIi D h:)Z:I9I9*G2GFFrFbFEE!)U;IU9 QQiYIYY]Viaa a2@m<:@mw: ߙ&Y* Fi!(AYt*G@t*V@yt*t*BK>t*H`K@c?􁠿Hʿ@?^?@j=?^?)u*G@ u*gGr;Iu*Cx2cX>x6EiDIF“C)ttta 1-a 1- a 5-a 5- a 9-a 9- a --a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYMM>QQQU EQkH;>I IW8ٮ QtI  UC9h: į:)?W8 9)I tIi D _;)N;Iѿ9)I)9)*GY2GYFaFarFabFiEiEi);I9 iI߲i 2@<:@w: i`*  !(AYt*gG@t*rV@yt*t*}I>t*H`K@]?T㠿@~ʿ D ָ?@? ?5a?)u*gG@ u*Pr;Iu*CxNt>xRlEGPHP)F@]Ye 0;e>aaQm Eimm>Iq I}W8ٮqq Q}tI q UC9qu: u:)uW8 9)I tIi D [:):I Ȅ9I9*G2GFF1rF9bF9E9EA)u;Iu9 qqiyIyy}i 2@<:@w: ߹f* x !(A*@ (YtZAG@tZLV@ytZytZ\I>tZH~Ka? ʿB ? z?\?hb?)uZAG@ uZr;IuZCxb c>xb EipIr̓C)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥr:>ʩʩQ Eʩ͵g9>I IW8ٮ QtI  UC9鰽: l:)W8 9)I tIi D S:):IЄ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 8m* A׶!(AYt*xG@t*uV@yt*t*}K>t*H`L E? ' ʿ ? nC?`T?@]?)u*xG@ u*զr;Iu*CxBk>xBE)~GiwAxAF@=YEܹE>AIQM EIMU U>IQ I]W8ٮQQ Q]tI Q UeC9QU: UW:)UW8 m9)aIa mtIia uDa e1:)e$:Ie؄9yI9*G2GFFrFbFEE);I9 iIԫi 2@<:@w: V>]>s* !(AYt*_G@t*jV@yt*Nt*(XP>t*HKV?֡_ʿ~?9??V?)u*_G@ u**r;Iu*CxBr>xBIEHDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIz“C)eGF@YʵG:>ʹʹQ Eʹ:>I IW8ٮ QtI  UC9; ;)KW8 9)I tIi D :):I9I 9 O%Done Waiting.'%O%8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F1rF9bF9EAEA)e;Ie9 aaiaIiqu9Jiqq y2@<:@w: ߡ&z* !(A)4t*HM_8? [ʿt ?+??q`?)u*nG@ u*r;Iu*CxBm>xB'E){FQy>I{Di{Fi={F>{D{FA{D|FQA9|FC-c?Z$?)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m a )ma )m aaɄaieMb@Mb@Mb@Ye[BIaiae[Be[BɅe[Be[Ba a)aF@}Yʅӹ>ʉʉQ Eʉ͕CH>I IW8ٮ QtI  UC9鰝: :)W8 9)I tIi D O:):I19I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.969092 arcdeg .q''*G2GF F F F ?BrFbFEE2EzEQAEHB-17@j:@EC-c?Z$?EQy>EEHA6p%J9%y?E<8ۿX c?Ete@=-DHdg To Contact =205.663498 degreesZE)bE:Eno$?BETo$?JE REz jEW?rEeE<)E; IM(8M(IM9 MMiIIMنѷQU榼iYY Y2@e<:@ew: q$Dacoustic_contact_range 24.539997 m$hTrackAcousticContact.heading_to_contact 3.589505 rad$JDUSBL_Hydroid.xAngle 13.950000 arcdeg* l"(AYt2G@t2wV@yt2z t2F>t2HLQ?_`ʿ` W?!??=?@9f?)u2G@ u2r;Iu2CxB:m>xBEiPIR̓C)G  F@=YE`ӺE>AAQE EAM:M>IQ I]W8ٮQQ Q]tI Q U]C9QU: UN:)U]W8 m9)aIa mtIia mDa ep:)e :Ie9yIy9y=O@Contact HDG: 205.663498 arcdeg .''O4Initialize Wait Component.*G2GFFFFrFbFEE/m ); 8I9 [ƳiI>EWYi 2@<:@w: i6* B"(AYt:G@t:V@yt:St:x=L>t:HFK`p`?ʿ% N?~?A\? _]?)u:G@ u:r;Iu:Cxb?s>xbEGjAAHnAA)Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] a )]@a ] YYɄYi]Mb@Mb@Mb@I]IYiY]]Ʌ]]Y Y)YF@uYu0;}>yyQ} Eyͅx:>I IX8ٮ MX8 QtI  UC9鰍: :)X8 9)I tIi D :)Ԙ:I9I9*G2GFFrFbFEE);I9 iIki 2@<:@w: a* d 8"(A Yt.G@t.fV@yt.t.]>t.HgN?`|ʿ`LV"?`?Q?:@?)u.G@ u.ws;Iu.CxBp>xB%EiPIR“C)~vGF@mYmbu>qqQu Eq}}>I IX8ٮ QtI  UC9鰅ի: ٮ:)&X8 9) 9I tIi D Z:):I9I9*G2GFFrFbFEE);I9 iIßi 2@<:@w: 5I* Q"(AYt*G@t*lV@yt*t*Nv>t*HMj?Iʿ` d ?Qр?}??)u*G@ u*t;Iu*CxBm>xB'E)GixAF@=YEu9E>AAQM EIMsk:M>IQ IX8ٮQQ QtI Q UC9QU< U}<)UX8 9)I tIi D S:)Ӡ:IW 9I9*G2GFFrF bF E E )%;I%9 !!i!I))-)Pi11 12@=<:@=w: I>e>s* wk"(AYt*ǍG@t*:V@yt*^лt*e>t*H@S ? + U&ʿ ? `z?`}?M2?)u*ǍG@ u*au;Iu(xBr>xBIEHFp=HDiPIP)vGa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe;m>iiQm Eiumu>Iy IX8ٮyy QtI y UC9y}: }:)},X8 9)I tIi D Ր:)ȗ:I9I9*G12G1F1F9rF9bFAEAEA)u;I}9 yyiyIyښi 2@<:@w: 7[* S"(A);I4t*H`R?K;ʿ~?ts??`)?)u*G@ u*at;Iu*CxBp>xBE)GF@=YE;E>AAQM EIM_:M>IQ I]X8ٮQQ Q]tI Q UeC9QU: U:)UM:X8 m9)aIa mtIia mDa e[:)e,:Ie9yIy9*G2GFFrFbFEE);I9 iI`i 2@<:@w: e* "(AYt.VG@t.aSV@yt.%zt.@>t.H P?C{VʿPe?@AOq??@F?)u.VG@ u.<u;Iu,xBs>xFEiTIT)G  F@=YE:E>AAQM EIMA;M>IQ I]X8ٮQQ Q]tI Q UeC9QU: UW:)UHX8 m9)aIa mtIia mDa e:)e:Ie%9yIy9*G2GFFrFbFEE);I9 iII5i 2@<:@w: i* g"(AYt*}G@t*7V@yt*»t*Kx>t*HiS`"?s3@ʿ`fxR EGPHV@A)ׄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅK>ʁʁQ Eʉ͍>I IX8ٮ QtI  UC9鰕: 9:)(VX8 9)I tIi D Ր:),:IC.9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIcÓi 2@ <:@w: !8* :A"(A@ Yt6kG@t6veV@yt6qt6r{>t6H Np?0$yʿ[D?{|~?x!? ?)u6kG@ u6wt;Iu6CxB"h>xFE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)}҄GF@Yʵp>ʹʹQ Eʹ;>I IX8ٮ QtI  UC9 ;  ;)+dX8 9)I tIi D :)V:I69I9&M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%Nm@Vehicle HDG: 191.937577 arcdeg .q'm'm*Gi2Gmte@FqFyrFbFEE);I9 iIv)@ite@ 2@<:@w: $RHorizontalControl.headingCmd 3.589505 rad* ~"(AYt*MG@t*X8V@yt*t*>t*H BSO? q!ʿH@?@}?D?`?)u*MG@ u*t;Iu*CxZ`k>x^E)M+GiMwAMwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YBIiVBBɅB酕B鄑 )F@Yʭ9>ʱʱQ Eʹͽ߻>I IX8ٮ QtI  UC9: _:)qX8 9)I tIi D :):Ii?9I9=O-@Contact HDG: 205.663498 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1F9F=BrF9bF9E9EAU7)]; Y]"8]"I]9 ]]iYIeeQ,,@iet>i i2@m<:@uw: ߁R>a>a* +#(AYt*{G@t*XV@yt*'ֻt*pz>t*HO?@s]@w`ʿ ^@?`z? >?` ?)u*{G@ u*t;Iu*CxRp>xR%EHVa=HVp=idId)]GF@}Yʅ:>ʁʁQ Eʉ͍ӡ;>I IX8ٮ QtI  UC9鰕t; 5;)X8 9)I tIi D :)x:IG9I9*G 2G FFF9F9rF9bF9E9EAuu' )u; y}[8}[I}9 } ϳyiyI}8^0@iX> 2@<:@w: v*  #(A)4t.H@R@?i69ʿbh ? 5v? 0?@+?)u.gG@ u.t;Iu.CxBi>xBNE) SGF@YB;%>!!Q% E!-#M->I1 I5X8ٮ11 QtI 1 UC915< 5<)5X8 9)I tIi D >:)s:IaP9 I99*G2GFFFFrFbFEEEfT)E; AE9EIE9 MDܩIiIIMu)16@iu/>q q2@}<:@}w: ߱* `:#(AYt*G@t* eV@yt*ٻt*uy>t*HN?P yʿ_`?`2{?? ?)u*G@ u*nWt;Iu*Cx6?s>x6EiDIF̓C)vdGz4=xa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a = a -=@a = a )=@a = 11Ʉ1i5Mb@Mb@Mb@I5I1i155Ʌ551 1)1F@MYUFHU>YYQ] EYe;e>Ii ImX8ٮii QutI i UuC9imq: m:)mX8 }9)yIy tIiy Dy }:)}:I}X9I9*G!2G!F!F!rF)bF)E)E1)e;Ie9 emiiImm);@iuU>q 2@<:@w:> ߑi,* /T#(AYt*ݧG@t*TV@yt*t*>t*HJP? QYʿ L2?q;? B?`?)u*ݧG@ u*9Gt;Iu*Cx2f>x2 EG6@AH4)pF@zY~V>Q E &% >I IX8ٮ QtI  UC9: $:)PX8 -9)!I! -tIi! -D! !)%$:I%`99I999*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIq}*@@i}= 2@<:@w:u& > ߁* dn#(A Yt*EG@t*PUV@yt* ڻt*bS>t*HRP? -Zʿ `C ?s\{?X[?`?)u*EG@ u*"t;Iu(xBm>xB'EiPIR“C)Ga 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm>C;m>iiQm Equy8u>Iy IX8ٮyy QtI y UC9y}h: }:)}X8 9)I tIi D :)÷:Ii9I9*G2GFFrFbFEE);I9 iIE@i= 2@<:@w:R> * A#(AYt*eG@t*pUV@yt*!ѻt*d>t*H`SP@?@ݧoZʿ 7C?X"z?z]?@{?)u*eG@ u*Dt;Iu(xBeq>xBnE)~SGixAxAF@=YED:E>IIQM EIU=7U>IQ I]X8ٮQQ QetI Q UeC9QU1: Uį:)U2X8 m9)iIi mtIii uDi mɏ:)mݖ:Im0r9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIGiJ*= 2@<:@w:B+#> 1N>!* "#(AYt*G@t*=V@yt*лt*>t*HRŅ?ke`+ʿ`KK2? z?`m1?F?)u*G@ u*e t;Iu*CxN|>xRCEHRp=HRa=i`I`)GF@]Ye7e>iiQm Eimiu>Iq I}X8ٮqq QtI q UC9qu: u5:)uX8 9)I tIi D :):Iz9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.798392 arcdeg .q''*G2GFFrFbFEE) ;I 9  i I tAiN; 2@<:@%w: M> L* f#(A);IYt6[G@t6f8V@yt6̻t6>t6H`OSz?l!ʿK?y? 1?5?)u6[G@ u6s;Iu6CxBt>xBlE)~ƄGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;9e>aaQm EimPm>Iq I}X8ٮqq QtI q UC9qu]; u;)uX8 9)I tIi D :):IL9I9=O@Contact HDG: 205.663498 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9  i I f 13* #(AYt*G@t*BV@yt*̻t*>t*H`ERڎ?:p|5ʿ`L?8y?@ (? ?)u*G@ u*ks;Iu(xBo>xBJE {DY|DJ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IE̓C)  Q  E ݾ:>I! I-X8ٮ!! Q5tI ! UUC9!%; %e;)%tX8 e9)aIa mtIia mDa e:)e)t*HTa?(@ʿG?*}?xZ??)u*|G@ u*@s;Iu*CxB:m>xBEGFAAHD){F!I{Di{F&={F>{D{F0A{D|FEA9|FIJ?N6)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q Ex>I  I X8ٮ   QtI  UC9  : p:)  X8 %9)I %tIi %D %:):I91I199*GA2GIFIFIrFQbFQEQEY2EYzE]EAE]-@T2M%E]IJ?N6E]!EYE]譂ӆ 6,?!@onE] 忰nS?ܞ}U˿E]'@=mDHdg To Contact =134.425622 degreesZE] AbE]<:E]o$?BE]no$?JE] RE] jE](rE]W?);I9 iI+2i| 2@<:@w:mT= y$Dacoustic_contact_range 12.360002 m$hTrackAcousticContact.heading_to_contact 2.346170 rad$LDUSBL_Hydroid.xAngle -58.249998 arcdegE *  $(A Yt.vG@t. $V@yt.xpt.R>t.HLU1\?@$Ҧɿ`G??&[? ?)u.vG@ u.Cs;Iu.CxBo>xBEiTIT) F@YʍϺ>ʑʑQ Eʑ͝sc>I IY8ٮ MY8 QtI  UC9鰥9: :)v Y8 9)I tIi D :)˵:I9I9*G2GFFrFbFEE);I9  i I  r/i!н 2@<:@w:]= o * b#$(AYt*gxG@t*r%V@yt*&໙t**>t*H 5U]?ҦuɿPy?|?`n??)u*gxG@ u*s;Iu*CxBl>xBE) SGi yA F@Y!;%>!!Q% E!-f9->I1 I5Y8ٮ11 Q=tI 1 U=C915: 5:)5Y8 E9)AIA MtIiA MDA E::)EN:IE'9YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iI=@e,i=M9 92@E<:@Ew:5: 9R>V> * <=$(AYt*IG@t*U@yt*yֻt*>t*H`Y?oɿ U?z?{? ?)u*IG@ u*r;Iu*CxBsj>xB(EHFa=HDiPIP)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ/:>ʁʁQ Eʉ͍0߻>I IY8ٮ QtI  UC9鰕: :)$Y8 9)I tIi D :),:I9I9*G2GFFrFbFEE);I9 iI*iw 2@<:@w: ߱ * W$(A)4t.HT`?ʿ`WQ7?z??G?)u.zG@ u.r;Iu.Cx6v>x6E)rvGF@zY~ln~>|Q E; >I  IY8ٮ   QtI  UC9  : :) ,2Y8 %9)I %tIi %D :):I91I199*GI2GIFIFIrFQbFQEQEY)m;Im9 iqiqIqui*}Viyy y2@<:@w:Uȿ ߫ *  p$(AYt*9G@t*U@yt* Yt*>t*H@n[@? |@ɿVе?ˀ?e? ?)u*9G@ u*r;Iu*CxB"h>xBEiPIP)dGR= 4=a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYel}m>iiQm Eiueu>Iy IY8ٮyy QtI y UC9y}F: }l:)}q@Y8 9)I tIi D :) :Iᾅ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!+i 2@<:@w:5 ǫ 9i@Aɓ" * Wϊ$(AYt*aG@t*V@yt*t*#>t*HrW"??ݥɿV}? t?W??)u*aG@ u*r;Iu*CxRb>xR EGR@AHT)GF@-Y595>11Q5 E1=;E>IA IMY8ٮAA QMtI A UMC9AE: Et:)EMY8 ]9)QIQ ]tIiQ ]DQ U\:)U:IU>Dž9iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.633812 arcdeg .q''*G2G'@FFrFbFEE);I9 iIB-iн'@ 2@<:@w:r ߹$RHorizontalControl.headingCmd 2.346170 rad8( * ū$(A Yt63G@t6U@yt6Pt6T{>t6H\`?:uɿM\%?)?"`? ?)u63G@ u6r;Iu6CxBp>xBEiPIR“C)SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ=9>ʡʡQ Eʡͭۻ>I IY8ٮ QtI  UC9鰵: x:)B\Y8 9)I tIi D h:)Z:I Ѕ9I9=O@Contact HDG: 134.425622 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF)E)E))=;IE9 AAiAIAM1iMlI I2@U<:@]w:  ߱w. * j$(AYt*,G@t*U@yt* 仙t*<>t*H\ ?wc_hɿ@S?o|?9?)?)u*,G@ u*r;Iu*CxFg>xFsE)-Gi5wA5wAF@YS;>Q E>I IY8ٮ QtI  UC9ͭ: :)UjY8 E9)9I9 EtIi9 ED9 =:)=:I=؅9YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iI-?7i! 2@<:@w: ߹Y>Y>y5 * c$(AYt*+G@t*U@yt*㻙t*">t*H\?`]fɿ;\z?||? +? ?)u*+G@ u*r;Iu(xNl>xREHR4=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iyI}̓C) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-%7->)1Q5 E155>I9 IEY8ٮ99 QEtI 9 UEC99=: =:)=yY8 9)I tIi D 9:):IP9I9*G2GFFrFbFE E!)];I]9 YYiYIYep=ie /й 2@<:@w:t ; * ;$(A) I;Yt.s"G@t.~U@yt.!t. ~>t.H]?'PTɿOd` ?`"d~?`R|?`?)u.s"G@ u.r;Iu.Cxp>x%E){oI{i{={{{{|BA9|ʹʹQ E>I IY8ٮ QtI  UC9; i;)چY8 9)I tIi  D :):Ip9I9*G)2G)FIFQrFQbFQEYEY2EazEeBAEeT@ۇ#Eet*H^`?C@ɿ[ם?`?`? ?)u*JG@ u*\r;Iu*CxBo>xBEiPIP)G %= %=F@Y%%>))Q- E)-5>I1 I=Y8ٮ11 QEtI 1 UEC915: 5:)5ߒY8 M9)III MtIiI UDI M:)MA:IM9yI9*G2GFFQrFYbFYEYEY);I9 iIƋGix~= 2@<:@w:p i?A I *  %%(AYt*TG@t*_U@yt* t*1n>t*H_`?@p0ɿ.U@?4??? K?)u*TG@ u*r;Iu*CxBo>x@GBAAHD) +Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʭz:>ʱʱQ Eʱͽ>I IY8ٮ QtI  UC9h: :)CY8 9)I utIi }D <)t*Hag}?@/) ɿ@_ c?f%? V??)u*IF@ u*r;Iu*CxNDy>xNEEi\I\)GF@=YE֭:E>AAQM EIMkMM>IQ I]Y8ٮQQ Q]tI Q UeC9QU%: U):)UY8 m9)a m9Ia mtIia mDa e :)e:Ie9I9*G2GFFrFbFEE);I9 iI@@i%W>! !2@-<:@-w:< ߙV * iY%(AYt* G@t*ضU@yt* t*a}>t*H1`?GѤ@#ɿ`]h??^? ?)u* G@ u* s;Iu(xB:m>xBE)~GixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye=8e>aiQm Eimi;u>Iq IY8ٮqq QtI q UC9quB: uN:)uY8 9)I tIi D  :)c:I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)];I]9 YYiYIYeZ|:@ie&>a i2@m<:@mw:9= ߱R>{>NH\ * +s%(AYt*F@t*U@yt*t*ʁ>t*Hb@o?Vȿx^ j?v?@ ? ?)u*F@ u*r;Iu*Cx>Ml>xBLEHBa=HBp=iPIP)+GF@Y%f9%>!)Q- E)-B5>I1 I=Y8ٮ11 Q=tI 1 UEC915Ǻ: 5߼:)5Y8 M9)AIA MtIiA UDA E:)Eg:IE9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 191.259586 arcdeg .q''*G2G(@FFrFbFEE);I9 i I  M75@i CG>(@ 12@=<:@=w:I6= ߙ$RHorizontalControl.headingCmd 2.419687 rad0c * `%(A);IYt.XF@t.cU@yt. t.Ix>t.H pbR}?`Zǣȿgt@Y?ӝ?L? ?)u.XF@ u. s;Iu.CxNi>xRE)GF@=YEE>AAQM EIM$M>IQ I]Y8ٮQQ Q]tI Q U]C9QU: U#:)UY8 m9)aIa mtIia mDa e:)e:Ieg9yIy9=O@Contact HDG: 138.637868 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 i I  /@i /j> 2@<:@w:Ѵ= Zi * ;%(AYt.sG@t.~U@yt.t.,{>t.H^ ?$UBɿIk@O?Ӏ?? ?)u.sG@ u.gr;Iu.CxB=Z>xB1EiPIP)IQU=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵq:>Q E;>I IY8ٮ QtI  UC9:: ;)`Y8 9)I tIi %D _:)؛:Ie%91I19Q*Ga2GaFaFirFibFiEE);I9 iI;*@i > 2@<:@w: > iAp * %(AYt*F@t*U@yt*|t*F{>t*HTb@y?4 'ȿ`n ??"?`Q ?)u*F@ u*wr;Iu(xBZe>xB EGDHD)SGF@eYmAm>iiQm Equ»u>Iy IY8ٮyy QtI y UC9y}: }B:)}Y8 9)I tIi D :);I-9I9*G2GFFrFbFEE)=;I=9 99i9IAE$@iAA I2@M<:@Uw:5=&> 9lv *  %(A@ Yt.)G@t. U@yt.+ t.0q>t.H@\4?vbɿX|@|?oe?`??)u.)G@ u.gr;Iu.CxBm>xB'E {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iXI\)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%I%>))Q- E)U;U>IY I]Z8ٮY MeZ8Y QetI Y UeC9Y]p: ]R:)]Z8 9)iIi tIii Di m;)m:ImS79I9*G2GFFrFbFEE);I9 iI%t @i!! I2@e<:@w:kd&> ߡҖ| * }%(AYt*!G@t* U@yt*;Xt*yy>t*H]?`r Sɿ gm|? j?,? ?)u*!G@ u*or;Iu*CxnS>xn5E)uvGiq}xAF@Y">  Q  E  g>I IZ8ٮ Q%tI  U%C9t: x:)Z8 -9))I) -tIi) 5D) -;)-;I->9aIa9a*G2GFFrFbFEE);I9 iI@i 2@<:@w:|1> V>i>~ * Ψ&(AYt*5G@t*U@yt*,t*w>t*H[`?zʣTyɿ`dnL?@z?? ?)u*5G@ u*Fs;Iu*Cx>o>xBEH@H@iPIP)dGF@Y%%>!!Q- E)-wP;->I1 I=Z8ٮ11 Q=tI 1 U=C915U: 5ӻ:)5Z8 M9)AIA MtIiA MDA Et:)E:IEF9YIa9a*Gq2GqFqFqrFbFEE);I9 iIke@i 2@<:@w:mY> yϨ * (&(A)IYt.DG@t.U@yt.k t.L^z>t.HMZs?@#ɿvhǒ? ? ? ?)u.DG@ u.tbs;Iu.CxBeq>xBnE)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye ;e>iiQm EimC;u>Iy I}Z8ٮyy QtI y UC9y}1: }а:)}*Z8 9)I tIi D :):IO9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w:2g> r * ]B&(AYt*MOG@t*XU@yt*1t*3|>t*HOYxBIEiLIN“C)~G%=F@=YE2&;E>AAQM EIM:M>IQ I]Z8ٮQQ Q]tI Q U]C9QU: U:)Ut8Z8 m9)aIa mtIia mDa ed:)e5:IeW9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIO@i 2@<:@w:> iƻ * >\&(AYt*vG@t*#V@yt*t*j>t*HKUk?`:ɿY`$?蟀?? 9?)u*vG@ u* s;Iu*Cx>m>x>'EG@H@)~GF@=Y=診E>AIQM EI];]>Ii I}Z8ٮii QtI i UC9imm; mj;)m]FZ8 9)I tIi D sQ;)hg;I`9I9& MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.708056 arcdeg .q''*G2GFFrFbFEE);I9 iIL@i 2@<:@w: )I ab * v&(A Yt.}yG@t.&V@yt.S t.,>t.HT`*k?`2@ɿK?c?7?@R?)u.}yG@ u.`t;Iu.CxZMl>xZLEihIj̓C)5vGa 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʕO>ʙʙQ Eʙͥ@9>I IZ8ٮ QtI  UC9鰭u: :)iTZ8 9)I tIi D :) :It*HP;? RʿMIy? ?@+? ?)u*G@ u*št;Iu*CxBHf>xB E)dGiwAF@mYm:u>qqQu Eq};}>I IZ8ٮ QtI  UC9鰅%: :)bZ8 9)I tIi D :):Iq9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: R>p>' * ȩ&(AYt*uG@t*OV@yt*}t*j>t*HPH? Nʿ@B?π? ^? I?)u*uG@ u*~u;Iu*CxB=Z>xF1EHJp=HLidId)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=Y=G/=>AAQE EAM{M>IQ IuZ8ٮQQ Q}tI Q U}C9QU; U,:)UpZ8 9)I tIi D %:)9:Iz9I9*G2GFFrFbFEE)5;I=9 9AiAIIUe@iQQ Y2@]<:@ew: ߑް * &(A)4t.HK.?@˻ʿ0%?}?? p?)u..G@ u.w v;Iu.CxBy>xBE)zGF@=YE;E>AAQE EIM<M>IQ I]Z8ٮQQ Q]tI Q U]C9QU: U:)Ue}Z8 m9)aIa mtIia mDa e-:)eA:Ie9yIy9y*G2GFFrFbFEE)5;I59 99i9I9]@YiYY Y2@e<:@ew: ߙ+ * t~&(AYt.G@t.V@yt.t.>t.HK?zʿ`&?m€? ??)u.G@ u.Cv;Iu.Cx6?s>x6E {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)UGm4=m%>F@Yʝ>ʡʡQ Eʡͭ>I IZ8ٮ QtI  UC9鰵: :)Z8 9)I tIi D ;);IO9I9*Gi2GiFiFirFbFEE);I9 iI(@i 2@<:@w: !i3 * \&(AYt*{G@t*V@yt*`t*l>t*HHi>xBNEGB@AH@){BˁI{@i{BP={@{@{@{@|BFA9|B뛁?*)EʩʩQ Eʩ͵";>I IZ8ٮ QtI  UC9鰽: į:)kZ8 9)I tIi D :):Iӓ9!I!9!*G12G9F9F9rFAbFAEAEA2EIzEMFAEM s@@x %EM뛁?*EMˁEIEMC3G'!O N$!@O#~EMN\t8\ 6?o<˿EMx@=DHdg To Contact =135.023004 degreesZEM" AbEM> :EMo$?BEMo$?JEIREIjEM+rEM);I9 iIi 2@<:@w: $UDacoustic_contact_range 12.419999 m$]hTrackAcousticContact.heading_to_contact 2.356596 rad$eLDUSBL_Hydroid.xAngle -58.100000 arcdegL * u9'(A@ Yt*4H@t*?V@yt* t*\>t*HXE ~?Y%˿/V?`3?G? =?)u*4H@ u*9v;Iu*CxNZe>xN Ei`Ib“C)5GF@Yʝߺ>ʡʡQ EʡͭB;>I IZ8ٮ QtI  UC9鰵< b<)-Z8 =9)1I1 MtIi1 MD1 5;<)5 t*HsE@t?$˿+)?wu? ?`U?)u*H@ u* rv;Iu*Cx>d>xB E) SGia 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu:>ʙʙQ Eʙͥvи>I IZ8ٮ QtI  UC9鰭;  ;)Z8 9)I tIi D :):I褆9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-NU@Vehicle HDG: 192.242272 arcdeg .q']']*GY2G]x@FYFYrFabFaEiEi);I9 iIIUy@iQUx@ Q2@]<:@]w: ߱$RHorizontalControl.headingCmd 2.356596 rad>, * D'(AYt*6H@t*V@yt*{At*vT>t*HMA?{p˿ (`o?? .?C?)u*6H@ u*v;Iu*CxBp>xB%EHBa=HBa=iPIR̓C)GF@=YE7:E>AAQE EIM;M>IQ I]Z8ٮQQ Q]tI Q U]C9QU>: U:)UUZ8 m9)aIa mtIia mDa e:)ec:Ie9yIy9=O@Contact HDG: 135.023004 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIr@i 2@<:@w: V * i^'(A);IYt*/H@t*V@yt*_t*>t*H@A@?`@c˿@K1 0??@r?{?)u*/H@ u*)v;Iu*CxZj>xZqE)5SGa 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝfo>ʡʡQ Eʡͥ>I IZ8ٮ QtI  UC9鰭: g:)Z8 9)I tIi D F:):I׵9I9*G2GFFrFbFEE) ;I 9 iIS@i 2@%<:@%w: Y * x'(AYt*SH@t*W@yt*t*8>t*H`)>? ˿(-G2?`_?@v??)u*SH@ u*uv;Iu*CxBHf>xB EiLIP)5G15=F@}YʅG:>ʁʁQ Eʁ͍P;>I IZ8ٮ QtI  UC9鰕u: :).Z8 9)I tIi D :),:IG9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: AiDh * J|'(AYt:@H@t:V@yt:Dt:Aى>t:H8@?e@Ճ˿ }~?|{???)u:@H@ u:Uv;Iu8xRf>xR EGXH\)Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ ;>ʑʑQ Eʑ͝(>I IZ8ٮ QtI  UC9鰥.: :)(Z8 9)I tIi D :)0:Idž9I9*G2GFFrFbFEE);I9 iI x@ i  2@<:@w: ) * hX'(A Yt*cH@t*W@yt*Ut*:>t*Hs<S ?@Z-˿v?*??B?)u*cH@ u*j*v;Iu(xBi>xBEiLIP)~SGF@EYE59M>IIQM EIUf;U>IY IeZ8ٮYY QetI Y UeC9Y]: ]:)]Z8 m9)iIi utIii uDi m-:)mA:Im%φ9I9*G2GFFrFbFE!E!)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߡxz * j3'(AYt*NH@t*V@yt*(R t*>t*H > h?֨ ğ˿#{?@7j?? ?)u*NH@ u*yu;Iu*CxN0a>xRw E)GiwAF@]Yeúe>iiQm EiuJu>Iq I}[8ٮq M[8q QtI q UC9qu: u:)um[8 9)I tIi D p:)I׆9I9*G2GFFrFbFEE)};I}9 yyiyIyi 2@<:@w: ]>l>X *  '(AYt*lH@t*W@yt*t*)>t*Hm;+?ڨ˿& K?`s?? ?)u*lH@ u* u;Iu*CxBk>xBEHBp=HFp= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%9%>))Q- E)=;=>IA IM[8ٮAA QMtI A UUC9AEY< E<)E[8 9)I tIi D :)^:I&9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rFqbFqEqEq);I9 iIi 2@<:@w:  *  '(A)IYt.9_H@t.D W@yt./ t.)>t.H <` ? ˿  m?2??`?)u.9_H@ u.ft;Iu,xBs>xBE){B&QdI{@i{@{B7>{@{B@A{@|@9|B/F?7%^)dGF@eYu}>ʁʁQ Eʁ͍R >I I[8ٮ QtI  UC9鰕; ;)#[8 9)I tIi D p:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.520903 arcdeg .q''*G2GFF rF bF EE2EzEE{{2@O)T#E/F?7%^E&QdEEd@O#JuJ@ ]EqPr 迚?ZKɿEO-@=%DHdg To Contact =142.502649 degreesZE@bE:Eo$?BEo$?JE REjEbrE+)=;IE9 AAiAIAIIiII Q2@U<:@]w: i$Dacoustic_contact_range 12.419999 m$hTrackAcousticContact.heading_to_contact 2.487140 rad$LDUSBL_Hydroid.xAngle -51.099999 arcdeg * g((AYtqtH@t|!W@ytZ t0>tH`:3?Id˿{)?\?@?`?)uqtH@ ur#t;IuCx=sj>xE(EiqIq)%=a 1a 1 a 5a 5 a 9a 9 a -a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=Y==>AAQE EAME;M>IQ I][8ٮQQ Q]tI Q U]C9QU: U_:)U1[8 e9)aIa mtIia mDa e:)eض:Ie9yIy9y=O@Contact HDG: 142.502649 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIiiiii i2@u<:@uw: ߩiw * -((AYt*RyH@t*]&W@yt*#t*ݟ>t*H: 6?;˩`˿@k ?X???)u*RyH@ u*s;Iu*CxBp>xBEGBAAHD)MGF@]Ye):e>aaQm EimJP:m>Iq I[8ٮqq QtI q UC9qu; u˵;)u>[8 9)I tIi D :)9:I9I9*G2GFFrFbFE E );I%9 !!i!I!))i)) 12@5<:@=w: I * 9{G((A@ Yt.gH@t.'W@yt.Nt.?>t.H<%?@˿`$)p??Ձ?d??)u.gH@ u.s;Iu.CxNl>xREi\IbѓC)}GF@Yʍƺ>ʑʑQ Eʑ͝1>I I[8ٮ QtI  UC9鰥h: ):)L[8 9) 9I tIi D =:)׾:Ig9I9*G2GFFrFbFEE);I9  i I  i 2@<:@w: ) * ;Va((Ax~k>x~E)GixAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q E>I I [8ٮ Q tI  U C9: :)Z[8 9)I tIi %D 1:)E:I1 9)I191*GA2GAFAFArFIbFIEQEQ)e;Ie9 iiiiIiqqiqq y2@}<:@}w: ߑR> * Q0{((AYt*GkH@t*RW@yt*okt*>t*H`;g?`C˿v?a? ? %?)u*GkH@ u*(r;Iu(xRi>xREH\H\ipIr̓C)EʁʁQ Eʉ͍5+:>I I[8ٮ QtI  UC9鰕: :)h[8 9)I tIi D [:)Ԙ:Id99I99A*GQ2GQFqFqrFybFyEyE);I9 iIi 2@<:@w: % *  ((A) IYt.H@t..W@yt. +t.ǔ>t.H 9)P?@rLa̿@?T? ?`?)u.H@ u.r;Iu,xF"h>xFE)-GF@=YE<ٺE>AAQE EAMd;M>IQ I][8ٮQQ Q]tI Q U]C9QUh: U:)Uu[8 m9)aIa mtIia mDa ep:)e:Ie9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !.+ * ((AYt*6}H@t*A*W@yt*]t*ꑅ>t*H 9Q?`8˿K':?@K??`?)u*6}H@ u*jr;Iu(xF"h>xDiPIT)G = a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQm Equv7u>Iy I[8ٮyy QtI y UC9y}: }:)}[8 9)I tIi D :):IY$9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i2 * ((AYtBH@tBKW@ytB- tBbT>tBH@5@?@\ϩ;̿m? ???)uBH@ uBQr;IuBCxR5g>xR*EGPHT)aaQe EimD;m>Iq I}[8ٮqq Q}tI q U}C9qu: uJ:)uJ[8 9)I tIi D :):I,9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.742939 arcdeg .q''*G2GO-@FFrFbFEE);I 9  i I +9@iO-@ 2@<:@w: 1$MRHorizontalControl.headingCmd 2.487140 radB8 * ((A"@ Yt>gH@t>W@yt>Cbt>fĊ>t>H@;`[?E|`˿`6?`8L?5"?@?)u>gH@ u>Bpr;Iu>CxN]>xNxE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)mSGa 1a 1 a 5a 5 a 9a 9 a -a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y5f5>99Q= E9EM>IQ I][8ٮQQ Q]tI Q UeC9QU: U;)U[8 u9)iIi utIii }Di m';)m;Im59I9=O@Contact HDG: 142.502649 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE );I9 !!i!I!-Z@i 2@<:@w: !p> * ((AYt2ɥH@t2RW@yt2t2>t2H@05?e`oI̿`!@A?q?5??)u2ɥH@ u2_r;Iu0xRn>xRE){VbI{Ti{V={T{T{VA{T|VpA9|VID?]RL)EGiMyAIF@UY]];]>YYQe Eae$<e>Ii Iu[8ٮii QutI i U}C9im: m:)m[8 9)yIy tIiy Dy }:)}:I}=9I9*G2GFFrFbFEE2EzEpAEI/F7U*2@C,16EID?]RLEbEEme6HyV50@s=Q~aESe? UȿE(@=DHdg To Contact =143.114101 degreesZEAbE:Emo$?BEo$?JE{ RE jE rEb);I9 iI @i 2@<:@w: $-Dacoustic_contact_range 28.679998 m$5hTrackAcousticContact.heading_to_contact 2.497812 rad$=LDUSBL_Hydroid.xAngle -50.699999 arcdeg>]>RE * T)(AYt*H@t*/W@yt*%t*Q>t*H8@c? >! C̿*?P?`??)u*H@ u*yr;Iu*Cx>j>xBqEH@H@iTIT)+GF@=YEeE>AAQM EIMM>IQ I}[8ٮQQ Q}tI Q UC9QU; UI;)U[8 9)I tIi D :)Ԙ:I`F9I9*G2GFFrFbFEE);I9 iI!@i%}v>! !2@-<:@-w: A }K * /0)(A) IYt.H@t.EW@yt.Gt.̹>t.H6`9? 00̿h{?Ȃ?Z?`?)u.H@ u.jr;Iu.CxRa>xR E)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y!:>Q EP;>I I[8ٮ QtI  UC9:: ٮ:)[8 9)I tIi D :)ض:I*O9I9 *G2GFFrF!bF!E)E))=;I=9 9AiAIAE.#@iII I2@U<:@Uw: idR *  J)(AYt*H@t*UW@yt* t*>t*H4`#?@qa O̿ @g?{? :?B?)u*H@ u*Rr;Iu(xBl>xBEiPIRѓC)|4=F@=YE:E>AAQM EIM1#;M>IQ I][8ٮQQ Q]tI Q UeC9QU>: U:)U[8 m9)aIa mtIia mDa e}:)e9:IeOW9yIy9*G2GFFrFbFEE)5;I59 QQiQIQ]%#@]#8i] >Y a2@e<:@mw: yiCX * c)(AYt*~H@t*,W@yt* t* >t*HX9X?Db@˿$vM?M??'?)u*~H@ u*?r;Iu*CxNeq>xNnEGR@AHP)F@-Y5&5>11Q5 E1=Bϻ=>IA IM[8ٮAA QMtI A UMC9AEի: Eٮ:)E[8 ]9)QIQ ]tIiQ ]DQ U:)Ug:IU_9iIi9q*G2GFFrFbFEE);I9 iI!@i 2@<:@w:0e> "^ * })(A Yt.H@t.jW@yt.ϖt.>t.Hm2?Tqx̿@*xREi\I^̓C)SGa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅC:>ʁʁQ Eʁ͍<>I I[8ٮ QtI  UC9鰕: :)[8 9)I tIi D :)|:Ih9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIO-@i 2@ <:@ w: )I e * A)(AYt.H@t.AW@yt.t.>t.H 7t?I&̿ #??`{??)u.H@ u.r;Iu,xB_>xB E)vdGizwAxa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYUO:U>YYQ] EYeѻe>Ii Im[8ٮii QutI i UuC9im:: m:)m[8 }9)yIy tIiy Dy }h:)}Z:I}p9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.705714 arcdeg .q''*G2G(@FFrFbFEE);I9 iI@i(@ 2@ <:@w: !$ERHorizontalControl.headingCmd 2.497812 rad>l>,k * Sw)(AYt*XH@t*cIW@yt*ft*p+>t*H%6`?4`6̿???,?)u*XH@ u*br;Iu*CxR c>xR EHPHPi`IbѓC)%GF@-Y5#5>19Q= E9E:E>II IM\8ٮI MM\8I QUtI I UUC9IM: M9:)M1 \8 ]9)YIY etIiY eDY ]:)]؛:I]Ry9qIq9q=O@Contact HDG: 143.114101 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i 2@<:@w: Kr * ~S)(A)IYt6H@t6eW@yt6@t6u>t6H 38?`pm̿` G?V? ?@?)u6H@ u6or;Iu6CxNl>xRE)҄GF@%Y-\0->11Q5 E1=;=>IA IE\8ٮAA QMtI A UMC9AE: E:)E\8 U9)QIQ UtIiQ ]DQ U:)U:IUρ9iIi9i*Gy2GyFFrFbFEE);I9 iI\@i 2@<:@w: dx * .)(AYt*H@t*:W@yt*y%t*Ҩ>t*H7|?刺-̿(]"?@? e?'?)u*H@ u*Kr;Iu(xBd>xB E {@Y|DF8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IE̓C)+G=a 1-a 1- a 5-a 5- a 9-a 9- a -5a -5 a 15@a U a 5U@a U a 9U@a ] a -]@a ] 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@Yʥo޺>ʡʩQ Eʩ7>I I\8ٮ Q tI  U C9; c;)*\8 59))I) 5tIi) =D) -N:)-:I-9AII9I*GY2GYFYFarFabFaEiE);I9 iI)@i 2@<:@w: i@A * 1)(AYt*~H@t*zW@yt*qt*!>t*H0`X?!ǖ̿0H?@%?`?`(?)u*~H@ u*,\r;Iu*CxFq>xFEGNAAHNAA){N`I{Li{N:={L{L{NB{L|NA9|N-D?2G3)UGF@Yʥ;>ʡʡQ Eʡͭl0<>I I\8ٮ QtI  UC9鰵^; ;)7\8 9)I tIi D :)Ԙ:I:9I9*G)2G)F1F1rFIbFQEQE2EzEAEP}/@3E-D?2G3E`EEB`V34:ώ!,@Q;)EX鿦 \iU?RȿE @=DHdg To Contact =143.818348 degreesZE9fAbEb:Eto$?BEmo$?JE} RE{ jELrE );I9 iI(@i 2@<:@w: )$eDacoustic_contact_range 24.840002 m$mhTrackAcousticContact.heading_to_contact 2.510104 rad$LDUSBL_Hydroid.xAngle -50.150001 arcdeg * *(A Yt*vH@t*?W@yt*t*>t*HB7`k? #̿('?4??M?)u*vH@ u*}wr;Iu*CxNsj>xR(Ei`I`)]+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YɄ:>QE>I I\8ٮ QtI  UC9: ٮ:)E\8 9)I tIi D :)9:Iƛ9 I 9 *G2GF!F!rF!bF)E)E))E;IE9 AAiAIAIM櫽iII Q2@U<:@]w: i< * 2*(AYt*)H@t*4aW@yt*t*M=>t*H|3@?fѨ^e̿[tN?I?k??)u*)H@ u*|r;Iu(xNe>xRP E)GiwAF@]Yee>aaQmEimì;m>Iq I\8ٮqq QtI q UC9qux< ux<)uSR\8 9)I tIi D >:):IH9 I 9 *G2GF!F!rF!bF)E)E))E;IE9 AAiAIAIMiII Q2@U<:@]w: ix>e> * xL*(AYt*H@t*]W@yt*t*.ʃ>t*H3?ZR@_̿(@W?@ b?J??)u*H@ u*,{r;Iu*CxNk>xREHPHRa=i`I`)%+GF@-Y595>19Q=E9EE>IA IM\8ٮAA QUtI A UUC9AEF: E:)E_\8 ]9)QIQ ]tIiQ eDQ U:)Un:IUa9iIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iItFi 2@<:@w: Q+ * hvf*(A)4>t.H 3 ?@`^̿:%??`d? N?)u.fH@ u.or;Iu,xBo>xBE)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y] e>aaQeEamHm>Iq Iu\8ٮqq Q}tI q U}C9qu: u:)um\8 9)I tIi D :)N:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.804779 arcdeg .q''*G2G @FFrFbFEE);I9 iI  @i   @ 2@<:@w: )$RHorizontalControl.headingCmd 2.510104 rad~ * Q*(AYt*H@t*xW@yt*($t*S>t*H 0?"̿&o????)u*H@ u*xr;Iu(xB0a>xBw EiLIL)~GF@=YEFE>AAQEEIM*;M>IQ I]\8ٮQQ Q]tI Q U]C9QUl: Q)U{\8 m9)aIa mtIia mDa e:)e:Ieq9yIy9=O@Contact HDG: 143.818348 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i?A< * A**(AYt*H@t*^W@yt*`Rt*Jd>t*H3`J?@;婿`z`̿ ?:ʂ?? ;?)u*H@ u*r;Iu*CxB:m>xBEGDHF@A)ׄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQmEim~u>Iq I}\8ٮqq QtI q UC9qu: u:)u{\8 9)I tIi D )ȗ:I Ƈ9I9*G2GFFrFbFEE);I9 iI䣽i 2@<:@w: mg * *(A Yt*H@t*\W@yt*t*}>t*H` 4@y?@娿\̿`#`w)?`?@r? y?)u*H@ u*Or;Iu*Cx^m>x^'EilIl)=GF@MYMZ:M>QQQUEQ]]>Ia Ie\8ٮaa QmtI a UmC9ae: a)e.\8 u9)qIq }tIiq }Dq uB:)u:Iu·9I9*G2GFFrFbFEE);I9 iI(i 2@<:@w: O * *(AYt*H@t*}W@yt*.t*H>t*HR0_?`dd̿ R+????)u*H@ u*Vr;Iu*CxB\>xBUE)5dGi=xA9F@EYMIM>QQQUEQ]٤;]>Ia Ie\8ٮaa QmtI a UmC9ae: e:)e\8 u9)qIq }tIiq }Dq u:)uw:Iuׇ9I9*G2GFFrFbFEE);I9 iI^i 2@<:@w: N>y * *(AYt*ٷH@t*dW@yt* t*;>t*H3?ଢl̿T@?i?O?@?)u*ٷH@ u*r;Iu(xBi>xBEHDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)Ga 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʵf>ʹʹQE]>I I\8ٮ QtI  UC9): Ȳ:)\8  9)I  tIi  D -:)p;I99I999*Gq2GqFqFqrFybFyEyE);I9 iItAi 2@<:@w: Ca * +(A);IYt*H@t*W@yt* m"t*K >t*H@]. m ?Mg̿ ?M? C?@?)u*H@ u*Is;Iu(xBMl>xBLE){Fc6I{Di{F#={D{D{FA{D|FpA9|FtD+?vë )%+GF@]Yee>aaQeEim;m>Iq I\8ٮqq QtI q UC9qu{< u<)u\8 9)I  tIi  D F:)Z:Ik99I999*GI2GIFQFYrFYbFYEaEa2EizEmpAEm=^W-@[)EmtD+?vë Emc6EiEmUYO1I0!@5ꢫ Em>E֝r%쿹0 8?OIٰ:ſEmA+@=uDHdg To Contact =153.116025 degreesZEmi AbEmz:Em{o$?BEmto$?JEm REm} jEmPrEmL);I9 iIni 2@<:@w: $5Dacoustic_contact_range 19.680002 m$=hTrackAcousticContact.heading_to_contact 2.672379 rad$=LDUSBL_Hydroid.xAngle -40.950000 arcdegb * s+(AYt*4H@t*?dW@yt*mt*$>t*H@$3@?dKk̿ /@?y?@Y݃? ??)u*4H@ u*zs;Iu*CxBy>xBEiPIP)SG 4= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYma :m>qqQuEq}[һ}>I I\8ٮ QtI  UC9鰅1: :)x\8 9)I tIi D :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)e;Ie9 aaiaIaim飽iii 2@<:@w: ߩi+ * L5+(AYt*H@t*'W@yt*LWt*Lt>t*H@-?'䨿 ̿l$?@j?`N@?(?)u*H@ u*gzs;Iu*CxBc>xB, EGB?AH@)dGF@EYE":E>IIQMEIU;U>IY I]\8ٮYY QetI Y UeC9Y]S: ]J:)]\8 m9)iIi utIii uDi m-:)mc:Im9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.992609 arcdeg .q''*G2GA+@FFrFbFEE);I9 iI"!@iA+@ 2@<:@w: $5RHorizontalControl.headingCmd 2.672379 rad] * A)O+(A@ Yt* H@t*W@yt*et*o>t*Ht.@ ?灩@̿9@ ? ?@En?"?)u* H@ u*:s;Iu*CxBWx>xBEiPIRѓC)|F@=YE:E>AAQMEIM M>IQ I]\8ٮQQ QetI Q UeC9QU3; U;)U\8 m9)i m9Ii utIii uDi m :)m:Im9I9=O@Contact HDG: 153.116025 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI$@i@n> 2@<:@w:  * i+(AYt*H@t*W@yt*7t*Y>t*Hg,0?@@2̿ }Y??`!?`?)u*H@ u*s;Iu*CxBV>xB3E)~GiwAxAa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQeEam,;m>Iq I}\8ٮqq QtI q UC9qu; u;)u\8 9)I tIi D Ր:)ȗ:I" 9I9*G2GFFrFbFEE);I9 iIW(@iS> 2@<:@w: e>Y>" * ނ+(AYt*I@t*íW@yt*30't*a݇>t*H@*L?}@̿`}??? ?)u*I@ u*Ss;Iu*CxV,t>xV#EHZa=HZp=idIj̓C)-SGF@]Ye4e>aaQmEim;m>Iq I}]8ٮq M}]8q Q}tI q UC9qu$: u(:)u]8 9)I tIi D F:)|:I9I9*G2GFFrFbFEE);I9 iIBJ+@iD> 2@<:@w: { * +(A) IYt*\H@t*gW@yt*Ot*,>t*H,8?1]j̿] B?@I?`? ?)u*\H@ u*t;Iu*CxNm>xR'E)UdGF@eYmK:m>iiQuEqu̺u>Iy I]8ٮyy QtI y UC9y}\: }:)}f]8 9)I tIi D :):I,9I9*G2GFFrFbFEE);I9 iI,@i 2@<:@w:?΅>  * +(AYt*o)I@t*zW@yt*t*>t*H R&,?@詿IͿ Ri3?@-^??V?)u*o)I@ u*70t;Iu*CxNf>xR Ei\I\)%%=!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YX:>QE;>I I]8ٮ QtI  UC9: :)!]8 9)I tIi D t:):I#9 I9*G!2G!F!F)rF)bF)E1E1)E;IE9 IIiIIIU|,@UUiQQ Y2@]<:@]w:5NB{> 9i *  q+(AYt*I@t*W@yt*+ot*z>t*H*|D?O̿&m? m?ü?`?)u*I@ u*]t;Iu*CxNh>xREGR@AHP)F@-Y-H5>11Q5E1=һ=>IA IM]8ٮAA QMtI A UMC9AE:: E:)E.]8 U9)QIQ ]tIiQ ]DQ UȲ:)U:IU ,9iIi9i*G2GFFrFbFEE)=;IE9 AAiAIAMA+@iMҢN>I I2@U<:@Uw:5Q> 9 * L+(A@ Ytf0I@tfW@ytfttf6>tfH~%t? CXͿ]:??6?>?)uf0I@ ufgs;Iudx~e>xP E {Y|8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIѓC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y9>QE;>I I]8ٮ QtI  UC9: [:)j?]8 9)I tIi D :)Z:IY69I 9 ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))E;IE9 AAiAIIIMiQQ Q2@]<:@]w:)e=Imp=}D> ߉ * (,(AYt*'I@t**W@yt*'t*B>t*H}&?@8SEͿ@d-?`>? x??)u*'I@ u*s;Iu*CxBsj>xB(E){BϢvI{@i{B={@{@{BB{@|B(A9|BIC?[F)Gi%xA!F@-Y55 ?99Q=E9E\E ?II IM]8ٮII QUtI I UUC9IM: Mٮ:)MQJ]8 ]9)YIY etIiY eDY ]̒:)]g:I]=9qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.219959 arcdeg .q''*G2GFFrFbFEE2EzE(AE@MM,@34EIC?[FEϢvEE*;*~2Xf 0@E6~b` ۆ?4ñpMʿEP@=DHdg To Contact =139.046259 degreesZEeAbE:Ewo$?BE{o$?JE| RE jErEP);I9 iI0i 2@<:@ w:NM> $5Dacoustic_contact_range 25.020000 m$EhTrackAcousticContact.heading_to_contact 2.426815 rad$ELDUSBL_Hydroid.xAngle -55.200001 arcdegR>i>' * ,(AYt*bFI@t*mW@yt*=x&t*1>t*H"?Dҩ-Ϳ X? ΄?@2??)u*bFI@ u*Or;Iu*CxBr>xBIEHF4=HFa=iTIV̓C)a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm8m>iiQmEiuQ;u>Iy I]8ٮyy QtI y UC9y}ի: y)}VX]8 9)I tIi D C:)Գ:IE9I9=O@Contact HDG: 139.046259 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I 9  i I ޚi 2@<:@%w:-N> 1R * 7,(A)IYt.EI@t.W@yt.ct.P>t.H #?QjͿ`@? e? '?:?)u.EI@ u.r;Iu.CxBMl>xBLE)(GF@=YE:E>AAQMEIMM>IQ I]]8ٮQQ Q]tI Q U]C9QUh: U:)Ue]8 m9)aIa mtIia mDa e:)e :Ie!N9yIy9*G2GFFrFbFEE);I9 iI i 2@<:@w: )I y9 * Q,(AYtFzZI@tFX@ytFP tFTG>tFH G? dͿP _C? j?@?@?)uFzZI@ uFr;IuDx^|>xbCEilIl)UdGam=F@YʝA;>ʩʩQEʱH;>I I]8ٮ QtI  UC9 ;  ;)Pt]8 9) I  -tIi  -D  c;) i;I W9aIa9a*Gy2GyFyFyrFbFEE);I9 iI*ji 2@<:@w: ic * ѓk,(AYt*BzI@t*M'X@yt*Jt*5>t*H  g:?@%Ϳ@(?>? .?l?)u*BzI@ u*gr;Iu*CxVj>xVqEGZAAHX)-Ga 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʍP>ʑʑQEʑ͝;>I I]8ٮ QtI  UC9鰥:: :)ށ]8 9)I tIi D ٮ:)R:I]_9I9*G2GFFrFbFEE);I9 iI   8ܟi  2@<:@w: )K! * n,(A@ Yt*I@t*2X@yt*i t*JU>t*H J?)Ϳ` @)??`ez?`h?)u*I@ u*^Vr;Iu*CxN`k>xREi\I\)mGF@}Y}Ƈ>ʁʁQEʁ͍5:>I I]8ٮ QtI  UC9鰕: 5:)]8 9)I tIi D [:)o:Ig9I9*G2GFFrFbFEE);I9 iIGi 2@<:@ w: u' * I,(AYt*AI@t*LYX@yt*(t*>t*H@@?٪CHο  x?g?)?[?)u*AI@ u*!)r;Iu(x6p>x6%E)rSGirwArwAa 1%a 1% a 5%a 5% a 9%a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Yʥ>ʩʩQEʩ͵;>I I]8ٮ QtI  UC9: W:)]8 9)I tIi D ɏ:)ݖ:Ip9!I!9!*G12GQFQFYrFYbFYEaEa);I9 iIwi 2@<:@w: V>Y>ڟ- * %,(AYt*I@t*VX@yt*D't*->t*He? `Aο `??V??)u*I@ u* Dr;Iu*CxNMl>xRLEHRp=HRp=i`I`)-dGF@=YE9E>AIQMEIMqU>IQ Ie]8ٮQQ QetI Q UeC9QU: U>:)U]8 u9)iIi utIii uDi m1:)m:Imx9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))e;Ie9 aaiaIaimZiii 2@<:@w: ߩ4 * X,(A)p;IYt>zI@t>X@yt>=t>A>t>Hg? 6_`Vο `?5?w??)u>zI@ u>n3r;IuxVE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y9J;u>qqQ}Ey}h<}>I I]8ٮ QtI  UC9鰅?:  :)]8 9)I tIi D }:)N:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 193.896134 arcdeg .q'M'M*GQ2GUP@FQFQrFYbFYEYEY);I9 iIb)@iqb>P@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.426815 radر: * Y,(AYt*}I@t*X@yt*t*Z4>t*HT?Dο@>=?b2?`Y? ?)u*}I@ u*Fr;Iu*CxNi>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)}SG4=%=F@YF>QE>I I]8ٮ QtI  UC9; 1;)$]8 9) I  tIi  D  ;)  ;I '91I19=OM@Contact HDG: 139.046259 arcdeg .'M'MOM4Initialize Wait Component.*Gi2GiFqFqrFybFyEyEy);I9 iIz&@iv> 2@<:@w: 1iÙA * -(AYt*J@t*X@yt*-t* >t*H@? d?`ի((Ͽ`@4?`?o??)u*J@ u*lxBEGDHD)dGF@%Y-q9->)1Q5E15/<5>I9 IE]8ٮ99 QEtI 9 UMC99=: =:)=']8 U9)III UtIiI UDI M:)M:IM(9aIi9i*Gy2GyFyFrFbFEE);I9 iI"#@i > 2@<:@w: G *  -(A@ x~i>x~NEi!I%ѓC)ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QE>I I]8ٮ QtI  UC9F: J:)]8  9)I  tIi  D :)c:I)9I9!*G12G1F1F1rF9bF9EAEA)U;IU9 YYiYIY]h@iaa a2@m<:@mw:mϚN> qxM *  s:-(AYt*NJ@t*&X@yt*>(t*:>t*Hw@J?`E[`Ͽ`a ?`?:e?@.?)u*NJ@ u*N>r;Iu(x>\>xBUE)~GiF@=Y=T5E>AAQEEAM;M>IQ I]]8ٮQQ Q]tI Q U]C9QU2: U:)U]8 e9)aIa mtIia mDa e:)e,:Ie=9yIy9y*G2GFFrFbFEE);I9 iI@i 2@<:@w:[> ߙY>i>"T * IT-(AYt*kJ@t*Y@yt*K;,t*>t*Hp? xҫϿ65?`O??W?)u*kJ@ u*Er;Iu*Cxbm>xb'EHja=Hja=i I ̓C)vGa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@EYM!M>QQQuEq}[;}>Iy I]8ٮyy QtI y UC9y}: }:)}]8 9)I tIi D ݖ:):I9I9*G2GFFrFbFE E )=;I=9 9AiAIAEf@iII i2@u<:@uw:MV> QZ * #n-(A)4t.H`I?@$@Ͽ`D?5?ء??)u.gJ@ u.Fcr;Iu.CxRi>xRE)]dGF@mYm:m>qqQuEq}I}>I I^8ٮ M^8 QtI  UC9鰅,: :) ^8 9)I tIi D :):Ib9I9*G2GFFrFbFEE);I9 iIb@i 2@<:@w:)=Ip=-> 9a * 3-(AYt*J@t*%NY@yt*zt*ք>t*H?`xY?/ пn`?Io?k??)u*J@ u*uJr;Iu*CxBq>xBEiPIP)~GF@mYm9,;u>qqQuEq}H <}>I I^8ٮ QtI  UC9鰅: t:)d^8 9)I tIi D :):I弈9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIpd@i 2@<:@w:  ) I  ikh * /ۡ-(AYt*J@t* GY@yt*&t*k4>t*H W?꫿ п;?„?{W? ?)u*J@ u*r;Iu*CxBi>xBEGB@AH@)~ƄGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye 9e>aaQeEamUm>Iq I^8ٮqq QtI q UC9quW< u<)u'^8 9)I  tIi  D h:)Z:Iň99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN}@Vehicle HDG: 194.516944 arcdeg .q'}'}*G2GFFrFbFEE);I9 iI@i  2@<:@w: )ot.H@`-?@@?п`. ?;H?`Of??)u.J@ u.ar;Iu.CxB"h>xBEiPIP) ׄGF@=YEE>AAQMEIM<M>IQ I]^8ٮQQ Q]tI Q U]C9QU: U :)U4^8 m9)aIa mtIia mDa eF:)e:Ie͈9yIy9=O@Contact HDG: 139.046259 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)};I9 iI@i 2@<:@w: ߩ{$u * -(AYt*wJ@t*hY@yt*.t*ņ>t*H#?В`+п-G?@Å? ¦?d?)u*wJ@ u*9r;Iu(xBg>xBsE)~!!Q-E)-S->I1 I=^8ٮ11 Q=tI 1 U=C915: 5Y:)5jB^8 M9)AIA MtIiA MDA E:)E$:IE9ֈ9YIa9a*Gq2GqFqFrFbFEE);I9 iI$@i 2@<:@w: >l>(O{ * *o-(AYt*J@t*Y@yt*-%t*م>t*H -?`ȬaBп@L(?N?Z?@?)u*J@ u*Ir;Iu*Cx>l>xBEHBp=HBp= {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idId)EGa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a 5 a -5@a 5  Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@UY] :]>aaQeEam^X;->I1 I=^8ٮ11 Q=tI 1 U=C915>: 5B:)5qR^8 M9)AIA tIiA DA EӍ<)ESt*H|?p Sп?ɼ?1??)u*J@ u*=Nr;Iu*Cx>p>x>E) ҄GF@=Y=]:=>AAQEEAMF;M>IQ I]^8ٮQQ Q]tI Q U]C9QU : U:)U ^^8 e9)aIa mtIia mDa e:)e:IeU9I9*G2GFFrFbFEE);I9 iIP@i !2@%<:@-w: 9` * ##.(AYt* J@t*Y@yt*')t*߂>t*H@N?EJпDo?$?`O.?`g?)u* J@ u*Ar;Iu(xNv>xRGEi`I`)%vG-%=-=F@=YE޺E>AAQMEIMM>IQ I]^8ٮQQ Q]tI Q U]C9QUӻ: U:)Uk^8 m9)aIa mtIia mDa e:)eg:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: Ai@AK * n<.(AYt*-K@t*8Y@yt*Z3,t*F>t*H,??uп`lu)?@Q? ?`?)u*-K@ u*aq;Iu(xBsj>xB(EG@H@)]dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QE L; >I I5^8ٮ Q=tI  U=C9; ;)z^8 E9)AIA EtIiA MDA EF:)E:IE9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: r * V.(A@ Yt./J@t.:Y@yt.9/t.W>t.HC K?Mп V?#? u?@?)u./J@ u.Ӧq;Iu.CxBv>xBGEiLIP)MGF@]Yee>aaQeEimvջm>Iq I}^8ٮqq Q}tI q U}C9qu: u{:)u^8 9) 9I tIi D |:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! )2@-<:@-w: a˜ * ̴p.(AYt*K@t*Y@yt*ps"t*ނ>t*H??`$rпdU?@XN?/.?t?)u*K@ u* vq;Iu*CxBp>xBE)~Gia 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y:>!!Q%E!%l;->I) IU^8ٮ)) QUtI ) U]C9)-; -˵;)-<^8 e9)YIY etIiY mDY ]:)]o:I] 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.890897 arcdeg .q''*G2GFFrFbFEE)%;I%9 !!i!I!))iII Q2@U<:@]w: ߉x> * ޏ.(AYt*J@t*Y@yt*t*M>t*H@ ?`2gп!?c?l??)u*J@ u*q;Iu(x>q>xBEHB=HBa=iPIP)GF@Y%:%>!!Q-E)-->I1 I=^8ٮ11 Q=tI 1 U=C915: 5#:)5^8 M9)AIA MtIiA MDA E:)E:IE9YIa9a=O@Contact HDG: 139.046259 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)e;Ie9 aaiaIaiiiii 2@<:@w: ᮨ * nk.(A)IYt.xJ@t.Y@yt.'t.&?>t.HSa?@=X%dп ??9?`?)u.xJ@ u.q;Iu.CxN}v>xNE)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YK>QE.>I I^8ٮ QtI  UC9G< ~<)^8 9)I tIi D 1:):IP9I9*G2GFF rFIbFQEQEQ)e;Ie9 iiiiIi 2@<:@w: &ۮ * O.(AYt*J@t*Y@yt*d<*t*>t*H`Y ?TпbJ?`sG?`ƭ?w?)u*J@ u*q;Iu*Cx>i>x>NEiLIL)G  4=F@Y&ʹ>!!Q%E!-G'->I1 I5^8ٮ11 Q=tI 1 U=C915+: 5/:)5^8 }9)qIq }tIiq }Dq us:)u":Iu"9I9*G2GFFrFbFEE);I9 iI  IiQQ Q2@]<:@]w: Ii?Ax * .(AYt.-J@t.8oY@yt.A.t.>t.H ?@;V 1п<J%? Ѕ??@?)u.-J@ u.;lq;Iu.Cx>o>xBEGBAAH@)ƄGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>QE [ >I I]^8ٮ Q]tI  U]C9< :)B^8 e9)aIa mtIia mDa e:)e:Ie,9I9*G2GFFrFbFEE)=;I=9 AAiAIAi 2@<:@w: I * .(A Yt.(J@t.3Y@yt.b!t.>t.H?ϱCп &?I,??U?)u.(J@ u.}q;Iu.CxjMl>xjLE {lY|lr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAIA)GF@Y ; >  QE-;;>I I^8ٮ QtI  UC9< a<)^8 9)I tIi D #;);I49I9*GI2GIFQFQrFYbFYEYEY);I9 iIi 2@<:@w: ߑI *  /(AYt*GJ@t*R^Y@yt*"t*>t*H,v?\᫿B!п}n? t? ?`?)u*GJ@ u*Nrq;Iu*Cx>n>xBE){BbI{@i{B={@{@{BA{@|BA9|Bޡp9?;dUaX)GixAF@Yf:>QE䲻>I I ^8ٮ Q tI  UC9ϸ;  ;)^8 =9)9I9 EtIi9 ED9 = :)=:I==9QIq9q*G2GFFrFbFEE2EzEAE|]IL&@; W+Eޡp9?;dUaXEbEE*9;|WO,d #@*ȣ E^捴E+n?aG )ȿE!@=DHdg To Contact =144.798248 degreesZEAbEzb:Eo$?BEwo$?JE RE| jEUrE);I9  i I 11i19 A2@m<:@uw: ߁$Dacoustic_contact_range 17.639997 m$hTrackAcousticContact.heading_to_contact 2.527206 rad$LDUSBL_Hydroid.xAngle -50.800000 arcdeg>p> * F%/(AYt*J@t*_Y@yt*i%t*6K>t*H@P?Ua"п??`*y??)u*J@ u*Iq;Iu*CxN{>xNiEHRa=HPi`I`)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y˺>QEl9>I I^8ٮ QtI  UC9h: :)^8  9) I   tIi  D  O:) c:I dE9!I!9!*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYaaiaa a2@m<:@mw: ߁t' * ?/(A)IYt.J@t.1Y@yt.W+t.Յ>t.H`,?4Ͽ`-? 1w?`?G?)u.J@ u.cp;Iu.Cx>e>xBP E)҄GF@=YEepE>AAQEEAMM>IQ I]_8ٮQ M]_8Q Q]tI Q U]C9QU: U:)U_8 m9)aIa mtIia mDa e:)eԘ:IevM9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9EA)u;Iu9 qqiqIyyyi 2@<:@w: ߙc * fY/(AYt*ցJ@t*.Y@yt*t*>t*H ,? ۃ@Ͽ`?@{?@$??)u*ցJ@ u*p;Iu*CxNxp>xREi`I`)+G%4=!a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅo:>ʉʉQEʉ͕>I I_8ٮ QtI  UC9鰝h: :)_8 9)I tIi D ):I)V9I9&MUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 194.432441 arcdeg .q''*G2G!@FFrFbFEE);I9 iI @i!@ 2@<:@w: 1$}RHorizontalControl.headingCmd 2.527206 radi'8 * l@s/(AYt*taJ@t*Y@yt*K t* {>t*H%?ϿT?t?`)??)u*taJ@ u*p;Iu(xB c>xB EG@HD)~SGF@=YEE>IIQMEIṂU>IQ I]_8ٮQQ QetI Q UeC9QUG: U:)U)_8 m9)iIi mtIii uDi m}:)mԘ:Im}^9I9=O@Contact HDG: 144.798248 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI;@i 2@<:@w: X * /(A Yt*`J@t* Y@yt*t*So>t*H1 Q?v ΦϿ`q@????-?)u*`J@ u*Lp;Iu*CxNn>xREi\I^ѓC)%GF@-Y5,85>99Q=E9EE>II IM_8ٮII QUtI I UUC9IMF: M:)M,_8 ]9)YIY etIiY eDY ]:)]Z:I]f9qIq9q*G2GFFrFbFEE);I9 iIމ @i 2@<:@w: J * f/(AYt*M*J@t*XX@yt*%t*Å>t*H%?j <Ͽu/?H? ? ?)u*M*J@ u*%p;Iu*CxBh>xBE)zSGi~xAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝi>ʡʡQEʡͭ>I I_8ٮ QtI  UC9鰵: :)$;_8 9)I tIi D :)V:Io9I9*G2GFFrFbFEE);I9 iI!@i! !2@%<:@-w: 9x>>4 * #/(AYt*["J@t*fX@yt*%t*T>t*H 5y?@Kݪ-Ͽ`G?ౄ?@nF?B?)u*["J@ u* o;Iu(x>h>x<H@HBp=iPIR̓C)~GF@=YE8E>AAQMEIMM>IQ I]_8ٮQQ Q]tI Q UeC9QU: U:)UH_8 m9)aIa mtIia mDa e:)e:Iex9yIy9*G2GFFrFbFEE);I9 iIGi 2@<:@w: \ * /(A)4t*H K?ZϿ @7?Ѣ?G? ?)u* J@ u*o;Iu*CxZi>x^E)5҄Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ::>ʡʡQEʡͭV>I I_8ٮ QtI  UC9鰭: :)V_8 9)I tIi D :)Iƀ9I9*G2GFFrFbFEE) ;I9 iIkDi !2@%<:@-w: 9 * /(AYt*I@t*؛X@yt*!t*x>t*HS?򆪿ο`?|=?@?@?)u*I@ u*o;Iu(xB c>xB E {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|IѓC)G==F@Y;;>QEn>I! I-_8ٮ!! Q-tI ! U5C9!%=: %;)%d_8 e9)YIY etIiY mDY ]:)]H:I]9I9*G2GFFrFbFEE)5;I59 11i9I99=iAA A2@M<:@Mw: yi(n * Ac0(AYt* I@t*+X@yt*x!t*5>t*HU#?ο#m?/?8??)u* I@ u*6o;Iu*CxBX>xBVEGF@AHD){Fz4I{Di{Fǝ={D{D{FA{D|F=A9|F|Y?)9F@Yʥ\8>ʩʩQEʩͭ:>I I_8ٮ QtI  UC9鰽: 5:)Ur_8 9)I tIi D S;);Iӑ9I9O=Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9FArFAbFAEIEI2EQzEU=AEU]ws.@D(3kP*EU|Y?EUz4EQEUnzM2vA!@zSv EUsevAv9?`ĿEU׏,@=DHdg To Contact =154.485424 degreesZEU AbEU:EUyo$?BEUo$?JEU REU jEUKrEUU);I9 iIUi 2@<:@w: 9$uDacoustic_contact_range 20.280001 m$}hTrackAcousticContact.heading_to_contact 2.696279 rad$LDUSBL_Hydroid.xAngle -40.449999 arcdeg * A(0(A@ Yt.xI@t.rX@yt.X"t.*>t.H ?ZGyο? J?QV?@/?)u.xI@ u.$p;Iu,xBmd>xBu EiPIP)+Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>QE ] >I  I_8ٮ   QtI  UC9  : :) ~_8 %9)!I! -tIi! -D! %p:)%A:I%9iIi9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.773710 arcdeg .q''*G2G׏,@FFrFbFE!E!)U;IU9 YYiYIYe2#@ie[~>e׏,@ a2@m<:@mw: ߁$RHorizontalControl.headingCmd 2.696279 rad * mB0(AYt*I@t*dX@yt*T2t*[>t*H {?@Z^ο6 ?` Y?==?e?)u*I@ u*Ƿp;Iu*CxBf>xB E)GiwA wAF@=YE-E>AAQMEIM}M>IQ I]_8ٮQQ Q]tI Q U]C9QU: U:)Uu_8 m9)aIa mtIia mDa a)aIe9yIy9=OE@Contact HDG: 154.485424 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFQFQrFYbFYEaEa);I9 iIԺ%@i`k> 2@<:@w: 9V>a>O * [0(AYt*cI@t*n_X@yt*/t*>t*HX?q8@Tο ?`%?_4?`?)u*cI@ u*\q;Iu*CxBi>xBEHFp=HDiPIR̓C)GF@]Yez;e>iiQuEq}EM>I I_8ٮ QtI  UC9鰕; ;)_8 9)I tIi D Zn;)Zr;IT9 I9*G2GFFrFbFEE) ;I 9  i I 5t *@i5L>1 92@=<:@=w: ߑ * u0(A);IYt.8I@t.C@X@yt.*t.S>t.H@e?@*ο 8?27?O??)u.8I@ u.Ϗq;Iu.CxR5g>xR*E)ƄGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}٩>ʁʁQEʁ͍>I I_8ٮ QtI  UC9鰕: $:)L_8 9)I tIi D }:):I³9I9*G2GFFrFbFEE);I9 iI%d,@i%ҧ=>! !2@-<:@-w:M [> Q# * K0(AYt* I@t*+-X@yt*$t*>t*H5D?c੿Ϳ} ?`?`h??)u* I@ u*f{r;Iu*CxNl>xREi\I\)G%4=%4=F@-Y5yݺ5>19Q=E9EAE>II IM_8ٮII QUtI I UUC9IM: M_:)MĶ_8 ]9)QIQ etIiQ eDQ U:)U:IU9iIq9q*G2GFFrFbFEE);I9 iIB..@i 2@<:@w:ط~> ߹i) * Ǡ0(AYt.lI@t.X@yt.Te(t.,>t.H`p$?tͿmm?@ ? !R??)u.lI@ u.hAs;Iu,xJp>xJEGPHT)eG6only read 3 of 5 data itemsVFailed to parse: :BI,-2768,-32768,-32768,V F@Yt >QEa4>I I_8ٮ QtI  UC9: а:)Z_8 9)I  tIi  D :)U:Iʼn9I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQ]L.@]iYY a2@m<:@mw: Q> ߑ0 * b0(A@ Yt.ZI@t.X@yt."t.P>t.H@ ?@Ϳ@F{?l]??V?)u.ZI@ u.t;Iu,xZp>x^%EihIh)5dGF@EYMid:M>IIQMEIU>U>IY Ie_8ٮYY QetI Y UeC9Y]: ]:)]p_8 u9)iIi tIii Di m;)m;Im%͉9I9*G2GFFrFbFEE);I9 iI!%-@i 2@<:@w:<> 6 * =0(AYt*^I@t* X@yt*w&t*2G>t*H * ` ?`HͿ@#@?@ׄ???)u*^I@ u*\t;Iu*Cx>p>x>E)-Gi15xAF@eYuf}>yʁQEʁͅ:>I I_8ٮ QtI  UC9鰍: -:)o_8 9)I tIi D :):IՉ9I9*G2GFFrFbFEE);I9 iI׏,@i 2@<:@w:  )I ߩY>e>#= * q0(AYt*FI@t*W@yt*-t*m>t*H "1?`xͿ }?U?_^??)u*FI@ u*%u;Iu*Cx6Wx>x6EH4H4 {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)Ga 1a 1 a 5a 5 a 9a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]Y}>}>ʁʁQEʁ͍W>I I_8ٮ QtI  UC9鰝 ; ;)g_8 9)I tIi D ,:)۞:I#߉9I9ODone Waiting.'O8Uninitialize Wait Component.*G2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bFIEQEQ)e;Ie9 aaiiIiQXi 2@<:@w:  D * 01(A)4t.H`':? Q ;Ϳ@??@Y܄?a? >?)u.!I@ u.`u;Iu.CxB:m>xBE){F9>I{Di{F={F>{D{FA{D|FGA9|Fjy?MWe@?)5ʡʡQEʡͭxû>I I_8ٮ QtI  UC9鰵ӻ: ׾:)-_8 9)I tIi D ;)UEE|&H6RF1r#d\?ESZVm#/;ٿ??Ei c@=DHdg To Contact =203.260870 degreesZEbE:Emo$?BEyo$?JE RE jE?rEK) ;I 9 iIĤi 2@%<:@%w: Y$Dacoustic_contact_range 24.659998 m$hTrackAcousticContact.heading_to_contact 3.547571 rad$JDUSBL_Hydroid.xAngle 10.400000 arcdeg+5J * l*1(Axsj>x(Ei1I1)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%>!!Q%E!-->I1 I=`8ٮ1 M=`81 Q=tI 1 U=C915: 5:)5 `8 E9)AIA MtIiA MDA Eގ:)E5:IE9YIY9Y=O@Contact HDG: 203.260870 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIDi 2@<:@w: iQ *  D1(AYt*nI@t*yW@yt*(2t*>t*H*`]W?̿ r$[?2&?\'?d?)u*nI@ u*ku;Iu*CxBRr>xBEG@H@) F@=YE;E>AAQMEIMˬM>IQ I]`8ٮQQ Q]tI Q UeC9QU: U:)UV`8 m9)aIa mtIia mDa eO:)eA:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: FW * D^1(A x~`k>x~EiI)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QE>I I `8ٮ Q tI  UC9.: S:)%`8 9) 9I tIi %D :)ʢ:I9)I)91*GA2GAFAFArFIbFIEQEQ);I9 iI%i 2@5<:@5w: Ip] * `x1(AYt*H@t*W@yt*u/t*>t*H-@(?@1̿ #? s?@1F?@=?)u*H@ u*5u;Iu*CxRh^>xRE)i%xA%wAF@-Y5k5>19Q=E9E?E>IA IM`8ٮAA QMtI A UUC9AE: A)E2`8 ]9)QIQ ]tIiQ eDQ U,:)U:IU9iIq9q*G2GFFrFbFEE);I9 iI|i 2@<:@w: >Xd * :1(AYtNH@tN_W@ytN%%tNrɅ>tNH@3@?@@ubb̿ `B??@i?@?)uNH@ uNt;IuNCxr%U>xrEHza=H|i)I1)a 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a 5 a 55@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MYM:M>QQQUEQ]]>Ia Ie`8ٮaa QmtI a UmC9aeի: e:)eA`8 u9)qIq }tIiq }Dq uS:)u$:Iu9I9*G2GFFrFbFEE);I9 iI! i 2@<:@w: j * 1(A) I Yt>ƩH@t>VW@yt>#t>>t>H`4?ɛ!Q̿[$`*?@?:r??)u>ƩH@ u>?t;Iu>CxZ:m>xZE)-SGF@5Y=d ;E>AAQEEAMUM>IQ IU`8ٮQQ Q]tI Q U]C9QU): UN:)UzN`8 e9)aIa mtIia mDa e:)e9:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: Wkq * 1(AYt>GH@t>R;W@yt>t> 1>t>H7Ȃ?l@w̿@2p?@?1?4?)u>GH@ u>t;Iu>CxNxp>xREi\I^“C)]dGYe%=F@Yʝz>ʡʡQEʡͭ>I I`8ٮ QtI  UC9鰵: W:)\`8 9)I tIi D :)x:I}"9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%i!! )2@-<:@-w: AiXw * +1(AYt.1H@t.<7W@yt.&t.L?>t.H 8\~?"h>x>EG>AAH@)xa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y>QE>I I`8ٮ QtI  UC9Ե; ;)j`8 9)I %tIi %D :)c:IA+9QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'mNE@Vehicle HDG: 192.671167 arcdeg .q'e'e*Gi2Gmi c@FiFirFqbFqEqEq);I9 iIN.@iU<2>i c@ 2@<:@w: $RHorizontalControl.headingCmd 3.547571 radV} * *1(A@ Yt*_H@t* W@yt*u)(t*>t*H<`%?@ G˿@*@G??? R?`?)u*_H@ u*ts;Iu*CxNe>xRP E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I̓C)yF@Y=.b=>AAQEEAMm̻U>I I`8ٮ QtI  UC9: ;)y`8 9)I tIi D ;)B;I49I9=O}@Contact HDG: 203.260870 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFFrFbFEE);I9 iI1@i}> 2@%<:@-w:  * 2(AYtrVCH@traV@ytrC)trZ>trH??_"˿@-;?a(? {?G?)urVCH@ urws;IurCx t>x lE){HtI{i{:={7>{{pA{| B9|?'"r?3! &)GiwAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ(>ʡʡQEʩ͵g>I I`8ٮ QtI  UC9鰵: :)6`8 9)I tIi D h:)$:I<9I9*G2GFFrFbFEE2E zE  BE 2l>p4@<E ?'"r?3! &E HtE E k31:Jz6@\vWfE _L(As&?0$+ʿE K@=DHdg To Contact =138.655832 degreesZE oAbE y:E do$?BE mo$?JE v RE  jE rE ?)-;I59 11i1I1=K5@i==9 92@E<:@Ew: Y$uDacoustic_contact_range 35.460003 m$}hTrackAcousticContact.heading_to_contact 2.420001 rad$LDUSBL_Hydroid.xAngle -54.800001 arcdeg>-ъ * ^-2(AYt.%H@t.V@yt.Nt.O>t.HC?21O˿ t9??;?`?)u.%H@ u.?as;Iu.CxB"h>xBEHBR=HBa=iTIT)SGF@=YE8;E>AAQMEIM奻M>IQ I]`8ٮQQ Q]tI Q UeC9QU2: U:)Un`8 m9)aIa mtIia mDa e[:)eo:IeHD9yIy9*G2GFFrFbFEE);I9 iI :@iQ= 2@<:@w:`>>  * t*H*Dŧ?@9˿ A ~? 'F???)u*H@ u*]s;Iu*Cx>`k>xBE)GF@=YE_E>AAQEEAM׺M>IQ I]`8ٮQQ Q]tI Q U]C9QU: U:)U7`8 m9)aIa mtIia mDa e:)eZ:IeL9yIy9y*G2GFFrFbFEE);I9 iIw?@ig= 2@<:@w:f/> ߡE * na2(AYt*;G@t*FV@yt*1 t*r>t*HH\?妿`ʿ8`)? ?g? ?)u*;G@ u*bs;Iu*CxBj>xBqEiLIR“C)~҄G=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeke>aiQmEim粻u>Iq I}`8ٮqq Q}tI q UC9qu : ug:)u&`8 9)I tIi D :)N:IeU9I9*G2GFFrFbFEE);I9 iID@i.< 2@<:@w:4> i, * z2(AYt*G@t*V@yt* (t*9.>t*H`#K(?@Q Aʿ= ??V??)u*G@ u*{s;Iu*Cx^l>xbEGb@AH`)=vGF@MYM'U>QQQUEQ]і]>Ia Im`8ٮaa QmtI a UmC9ae:: eٮ:)eۼ`8 u9)qIq }tIiq }Dq u5:)uϸ:Iu]9I9*G2GFFrFbFEE);I9 iIGiuU 2@<:@w: = ߹: * ˔2(A@ Yt*G@t*kV@yt*FM-t*(>t*H M ?`Y ʿL͆?@?`P?G?)u*G@ u*s;Iu*CxRKS>xREiI̓C)uGF@YʅeI>ʉʉQEʉ͕v>I I`8ٮ QtI  UC9鰭Hv; r;)`8 9)I tIi D e;)u;If9I!9!*GQ2GYFaFarFqbFyEE);I9 iIAi;N 2@<:@w:=  * 2(AYt*G@t*TV@yt*k#t*䝁>t*H*PK?􍥿`Xʿ L ? q?^??)u*G@ u*3s;Iu*CxBi>xBNE)~SGi||a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y:>QE]>I I`8ٮ QtI  UC9: :) `8 9)I  tIi  D Ր:):IBo9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9EA)U;IU9 QYiYIY]j; * ρ2(AYt*@G@t*KEV@yt*t*>t*HQ? -:ʿVF?`?H??)u*@G@ u*Zs;Iu*CxBZe>xB EHBa=HDiPIP)dGF@=YE:E>AAQMEIMh M>IQ I]`8ٮQQ Q]tI Q UeC9QQ U :)U(`8 m9)aIa mtIia mDa e:)eȗ:IeYw9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'Nu@Vehicle HDG: 191.825084 arcdeg .q'}'}*Gy2G}K@FyFyrFbFEE);I9 iI8iڽK@ 2@<:@w:r= $RHorizontalControl.headingCmd 2.420001 rad1 * ^2(A)4t*H@LWfD?EɿG-??d?J?)u*aG@ u*s;Iu*CxB*[>xBE)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQmEimhm>Iq I}`8ٮqq Q}tI q UC9qu: u$:)u`8 9)I tIi D :)o:I9I9=O@Contact HDG: 138.655832 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 !!i!I!-5i-) )2@5<:@5w:- 1[ * 92(AYt*TG@t*V@yt*Ot*(>t*H`X,?@:}`jɿM ?@?IC??)u*TG@ u* t;Iu(xBj>xBqE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)+G4=F@Yʽ1:>QER>I Ia8ٮ Ma8 QtI  UC9u ; -;)Ta8 9)I tIi D :)Y:I܉9I9*G2GFFrFbFEE)=;I=9 99i9I9Eǵ4iii i2@u<:@}w:BJ ߑiDC * 3(AYt*4G@t*U@yt*bt*>t*H[`^? xɿ#S?J?/? D?)u*4G@ u*r8t;Iu*CxNa>xR EGPHP){R8gI{Pi{R={P{P{RA{P|RA9|R?JP!)ESGF@UYUù]>YYQ]EYee>Ii Iua8ٮii QutI i UuC9im: m:)ma8 9)yIy tIiy Dy }:)}:I}9I9*G2GFFrFbFEE2EzEAE u.@k'`Q3E?JP!E8gEE4M"2u@ݍ.@T?E|TxJO迺%-d?ZsȿE4@=DHdg To Contact =140.737974 degreesZEntAbE:Ewo$?BEdo$?JE| REv jErE);I9 iI4 i 2@<:@w: O $5Dacoustic_contact_range 24.600000 m$=hTrackAcousticContact.heading_to_contact 2.456341 rad$ELDUSBL_Hydroid.xAngle -51.750001 arcdegm * =/3(A@ Yt.!G@t.U@yt.t.2T>t.H]2?3`Rɿ@gS`?鯃?fxB(EiPIP)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm9m>iiQuEqu;u>Iy Ia8ٮyy QtI y UC9y}}: }:)}~a8 9)I tIi D :)^:I9I9*G2GFFrFbFEE);I9 iI6i 2@<:@w: U * XI3(AYt*G@t*ʾU@yt*V"t*s>t*H@C_?ि!3ɿ;R?T?@]P??)u*G@ u*]t;Iu(xBh>xBE)i F@=YEME>AAQMEIM1!M>IQ I]a8ٮQQ Q]tI Q U]C9QU): U-:)U+a8 m9)aIa mtIia mDa eh:)e:Ie硊9I9*G2GFFrFbFEE);I9 iIB8iĽ 2@<:@w:Qڽ ߙ>i * Uc3(AYt*F@t*U@yt*3#t*Թ>t*H c`d?`0ȿ@Rd6?0~?g??)u*F@ u*u;Iu*CxZxp>xZEH^p=H^p=ihIh)1F@EYEPM>IIQMEIU\U>IY Iea8ٮYY QetI Y UeC9Y]S: ]:)]8a8 m9)iIi utIii uDi mO:)mȗ:Imn9I9*G2GFFrFbFEE);I9 iIut*H`;c a?ឤȿW` ?˃?`E?h?)u*cF@ u* ;u;Iu*CxBi>xBE)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥOV:>ʡʩQEʩͭ|>I Ia8ٮ QtI  UC9鰵ٮ: )Ga8 9)I tIi D [:):I39I9*G2GFFrFbFEE);I9 i!I!%qBi%s) )2@-<:@5w:3W۽ : * kf3(AYt.^F@t.iuU@yt.t.6>t.H@of"?d6ȿ`M[?!?A??)u.^F@ u.?ju;Iu.CxNf>xN Ei\I\)UGY]4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽƍ9>QEҡ>I Ia8ٮ QtI  UC9 ) Ua8 9)I tIi D i:)l:I̻9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)=;I=9 99i9I9EGiE:A I2@M<:@Uw:-蕔 1i * z73(AYt*yF@t*jU@yt*ɔt*Ri>t*Hxg 7?:`ҍȿ\R?҃?>?G?)u*yF@ u*u;Iu*CxBZe>xB EG@H@)~ƄGF@=YE%E>AAQMEIMM>IQ I]a8ٮQQ Q]tI Q UeC9QU: U5:)U@ba8 m9)aIa mtIia mDa e:)e:IeÊ9I9&-M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'UN @Vehicle HDG: 191.060007 arcdeg .q' ' *G 2G 4@F1F1rF1bF9E9E9);I9 iIV&D@i)w"=4@ 2@<:@ w:T $-RHorizontalControl.headingCmd 2.456341 rad * <3(A Yt2 F@t2iU@yt2Kt2>t2Hg`) ?&@ȿ`_V?f?(?@2?)u2 F@ u2#u;Iu2Cx:s>x:EiLIL)AAQMEIMcM>IQ I]a8ٮQQ Q]tI Q UeC9QU: U:)U pa8 m9)aIa mtIia mDa ep:)e:Iev̊9yI9=O]@Contact HDG: 140.737974 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFabFiEiEi);I9 iIz4?@iu= 2@<:@w:l ߙ * 3(AYt**F@t*5EU@yt*Rt*C>t*H@ k1?aܣDȿ>c?B? '?@h?)u**F@ u*u;Iu*CxBsj>xB(E)~GixAa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye톶e>aaQeEam篻m>Iq I}a8ٮqq Q}tI q U}C9qu: u:)u}a8 9)I tIi D :)IՊ9I9*G2GFFrFbFEE);I9 iI#:@i(= 2@<:@w:' x> * 3(AYt*eF@t*pWU@yt*Uwt*>t*HXi?`( ihȿ`d@?`n??@?)u*eF@ u*u;Iu*CxBk>xBEHDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)SGF@YʵҪ:>ʹʹQEʹo/;>I Ia8ٮ QtI  UC9%-; :;)*a8 9)I tIi D ;) ;I݊9I9*G92G9F9FArFIbFIEIEQ);I9 iI3@i> 2@<:@w: y= | * 4(A)4t*Hj@?(@Iȿe@? ?$??)u*F@ u* lu;Iu*CxB"h>xBE)dGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuºu>yyQ}Eyͅ`>I Ia8ٮ QtI  UC9鰍 : :)a8 9)I tIi D F:)9:I"9I9*G2GFFrFbFEE);I9 iIE/@iS-> 2@<:@w:M$= Q * }24(AYt*lF@t*w9U@yt*t*x=>t*H#l ?-ȿe`U?@Ճ???)u*lF@ u*Lju;Iu(xBq>xBEiPIP)G %= %=F@=YE݁E>AAQMEIM;M>IQ I]a8ٮQQ Q]tI Q UeC9QUG: UJ:)U0a8 m9)aIa mtIia mDa e:)e|:Ie9yIy9*G2GFFrFbFEE);I9 iIK)@iO> 2@<:@w:gW= ߡi@A * yXL4(AYt*F@t*(VU@yt*_t*܄>t*H xiC?S`eȿ`X :? k?`k? g?)u*F@ u*u;Iu*Cx^q>x`GbAAH`)ESGF@}Yʅp:>ʁʁQEʉ͍7;>I Ia8ٮ QtI  UC9鰕: :)Aa8 9)I tIi D O:):I09I9*G2GFFrFbFEE);I9 iIk$@ixs> 2@ <:@ w:~=  * 4f4(A Yt.2~F@t.=+U@yt.t.K>t.H|mђ? ȿ@v\E??@C?zm?$?)u.2~F@ u.=u;Iu.CxBp>xB%EiLIL)Ga 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʽĺ>QEkл>I Ia8ٮ QtI  UC9; ܵ;)Oa8 9)I  tIi  D :):I99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFrFbFEE);I9 iI7 @ie> 2@<:@w:a`>  * 4(AYt.F@t.IU@yt.%t.fׄ>t.Hj@?`jMȿ`Y@X=?? -k?h?)u.F@ u.u;Iu.CxNl>xRE)ʉʉQEʉ͕;>I Ia8ٮ QtI  UC9鰝h: ):)a8 9) 9I tIi D v:):I:9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 190.945329 arcdeg .q'e'e*Ga2GaFaFarFibFiEqEq);I9 iI-@i > 2@<:@w:moE-> yR>{>-& * 4(AYt*]F@t*hKU@yt*"t*di>t*Hkj?k Pȿ@?S[l? jV??@?)u*]F@ u*u;Iu*CxB{]>xB/EHBa=HFa=iPIRѓC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe59e>iiQmEiuֆ9u>Iy I}a8ٮyy QtI y UC9y}S: }5:)}a8 9)I tIi D p:):I9I!9!=O@Contact HDG: 140.737974 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iId@i !2@%<:@%w:! )W, * aų4(A);IYt.7F@t.B3U@yt.t. >t.H l>?+|`Z!ȿHW_?l?@8??)u.7F@ u.Ou;Iu.Cx6q>x6E)rGF@vYz:z>||Q~E|w>I  I a8ٮ   QtI  UC9  : :) a8 %9)I %tIi %D :):I91I191*GA2GIFIFIrFQbFQEQEQ)m;Im9 iiiiIiuuc@u4iiqy y2@<:@w:U 8> a?3 * ܟ4(AYt*rF@t*}SU@yt*<t*˅>t*Hi?`ȿ}UU?X?? ?)u*rF@ u*Tsu;Iu*CxBh^>xBEiLIP)~vGF@=YEO:E>AAQMEIMڛ;M>IQ I]a8ٮQQ Q]tI Q UeC9QUl: U :)Ua8 m9)aIa mtIia mDa eO:)eA:Ie!9yIy9*G2GFFrFbFEE);I9 iI4@i 2@<:@w:+d> i?A j9 * p|4(AYt*rF@t*U@yt*wst*Y>t*H ns{?/ǿ`XY^?@Z? Ì?@?)u*rF@ u*mu;Iu*CxBo>xBJEG@H@)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye2e>aaQmEimm>Iq I}b8ٮq M}b8q Q}tI q UC9qu: u:)ub8 9)I tIi D :):I,*9I9*G2GFFrFbFEE);I9 iI-i 2@<:@w:3> Q@ * W5(A Yt.DF@t.O8U@yt.'t.m>t.H4l`?@ȣ6+ȿ |\@5??xB*E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIv̓C)]SGF@Yʽo>QERl;>I Ib8ٮ QtI  UC9; ;) b8 9)I tIi D & ;)u;I29I9*G92G9F9FArFIbFIEIEQ)m;Iu9 qqiyIy]랽i 2@<:@w:#> [~F * m<5(AYt*rzF@t*}'U@yt*Nt*]>t*Hm?b@6 ȿ`S? Ƀ?@A? 2?)u*rzF@ u*u;Iu(x>k>x>E){BϢvI{@i{B={B>{@{BA{@|BHA9|BIC?[F)%dGi))a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʭD:>ʱʱQEʱͽ'>I Ib8ٮ QtI  UC9: :)#b8 9)I tIi D c:)w:I;9 I 91*GA2GAFAFArFIbFiEqEq2EyzE}HAE}5qM@1),$E}IC?[FE}ϢvEyE} U!TD*~ @TkE};=濒VHy?[9蟳ʿE}@=DHdg To Contact =136.673834 degreesZE}AbE}:E}o$?BE}wo$?JE} RE}| jE}k'rE});I9 iIi 2@<:@w: )I ߡ$Dacoustic_contact_range 12.540001 m$hTrackAcousticContact.heading_to_contact 2.385408 rad$LDUSBL_Hydroid.xAngle -55.200001 arcdeg>>L * 55(AYt2pF@t2U@yt2A t2>t2Hn7{?[̣ǿ^`?7??@Ad?@Z?)u2pF@ u2u;Iu2CxBMl>xBLEH@HBp=iTIT)F@YԖ>QE Ž >I  I5b8ٮ   Q=tI  U=C9  ; Ϻ;) 1b8 E9)AIA MtIiA MDA E:)E$:IE6D9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@w: !S * N5(A) IYt*F@t*-U@yt*Dt*C>t*H Pmf?棿@ȿ^+? Ճ?`ZY??)u*F@ u*su;Iu*CxN8T>xN}E)]GF@Yʽ'9>QE;>I Ib8ٮ QtI  UC9; :)i?b8 9)I  tIi  D :) :IL9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.844938 arcdeg .q'' *G 2G @F F rFbFEE)M;IM9 IQiQIQUކ@iY]@ Y2@e<:@w: $RHorizontalControl.headingCmd 2.385408 radY * h5(AYt*wYF@t*U@yt*t*p>t*H`pG?qǿ`]+O?@@?}?@?)u*wYF@ u*t;Iu*Cx>sj>xB(Ei\I\)mGim=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yj:>QE>I! I-b8ٮ!! Q-tI ! U-C9!%: %:)%Mb8 =9)1I1 =tIi1 =D1 5:)5:I52U9III9I=O@Contact HDG: 136.673834 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF)E)E))E;IE9 AAiAIAMY@i 2@<:@w: ߩi` * 䡂5(AYt*tF@t*(!U@yt*I t*W͂>t*Hjn?zǿe` ??,??)u*tF@ u*t;Iu*Cx>c>xB, EG@H@)+GF@Y%%>!!Q-E)-;->I1 I=b8ٮ11 Q=tI 1 U=C915: 5:)5LZb8 M9)AIA MtIiA MDA E_:)E:IE]9YIY9a*Gq2GqFqFqrFbFEE)U;IU9 QQiQIY]@iYa a2@m<:@mw: ߹(f * [z5(A Yt.]F@t. U@yt.7.!t.C'>t.H{p[?[`?ǿpf ?%?6?`P?)u.]F@ u.Et;Iu.CxBj>xBqEiPIP)~GF@=YEE>AAQMEIM2YM>IQ I]b8ٮQQ Q]tI Q U]C9QU: U:)U8hb8 m9)aIa mtIia mDa eՐ:)e :Iee9yIy9*G2GFFrFbFEE);I9 iIj@i 2@<:@w: l * uX5(AYt*`YF@t*kU@yt*Tt*>t*H`pV?@ZAǿ "sD[?*?? ?)u*`YF@ u*Lt;Iu(x>}v>xBE)iiuxAuxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y|:>QE%*%>I) I5b8ٮ)) QUtI ) UUC9)-; -;)-vb8 e9)YIY etIiY eDY ]:)]R:I]n91I191*GA2GAFIFrFbFEE);I9 iI@i 2@<:@w: Y>>Es * 15(AYtRbF@tRU@ytR1*tR{}>tRHpk?fӢ`ǿwo?3%?`s\??)uRbF@ uR t;IuRCxnk>xrEHrp=Hra=iI)GF@Yʝ7>ʡʡQEʡͭ:>I Ib8ٮ QtI  UC9鰵: :)5b8 9)I tIi D -:)A:Iv9I9*G 2GFF1rF9bF9E9EA)u;Iu9 yyiyIyi 2@<:@w: "z * V5(A)IYtZZF@tZU@ytZ;-tZߤ>tZHpa?`Ā ǿkp@Z??g?`T?)uZZF@ uZs;IuZCxl>xE)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y(6>QE G->I1 I=b8ٮ11 Q=tI 1 U=C915>: 5:)5b8 M9)AIA mtIiA mDA E;)E;IE}9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ! * p6(AYt*]F@t* U@yt*>t*Hmp`Hx?@ ,\ǿ (@X??М? ?)u*]F@ u*s;Iu*CxNi>xNE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)uG}4=}%=F@YʕK >ʙʙQEʙ͝9>I Ib8ٮ QtI  UC9鰥M: :)b8 9)I tIi D F:):IO9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)U;IU9 QQiYIYi 2@<:@w: ߩiP * \6(AYt*aF@t*U@yt*,t*i{>t*Hpt?4ǿ z@? ? &? 7 ?)u*aF@ u*s;Iu(xNi>xLGR@AHP){R%KI{Pi{R={P{P{R A{P|RBA9|R'dc?9)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʵ';>ʱʱQEʹͽ'F:>I Ib8ٮ QtI  U C9< b<)Ʈb8 9)I tIi D Е:)j:Ib9iIi9q&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 190.739084 arcdeg .q'='=*G92G9F9F9rFbFEE2EzEBAE06 !@g!E'dc?9E%KEE #hT@rwL9E(huO/꿰ӿLƚ?gUvPſEG.#@=DHdg To Contact =146.087023 degreesZEl@bEx:Eo$?BEo$?JE RE jErEk');I9 9AiAIAIIiII I2@U<:@]w: $-Dacoustic_contact_range 12.179997 m$5hTrackAcousticContact.heading_to_contact 2.549700 rad$}LDUSBL_Hydroid.xAngle -45.599999 arcdegOC * 76(A@ Yt.PF@t.T@yt.t.–u>t.Hq\R? $ǿO@<?^6?ag?-?)u.PF@ u.s;Iu,x>sj>xB(EiPIP) vGF@=YER;E>AAQEEAM?M>IQ I]b8ٮQQ Q]tI Q U]C9QU|: U:)Ub8 m9)aIa mtIia mDa e:)e:Ie9I9=O-@Contact HDG: 146.087023 arcdeg .'-'-O-4Initialize Wait Component.*G2GFFrFbFEE)U;IU9 QQiQIQYYiYY a2@e<:@mw: ߹C* * :xQ6(AYt*ucF@t*U@yt*vt*Iaw>t*H po? ǿmJ???`?)u*ucF@ u*{s;Iu*CxBp>xB%E) GiyAwAF@]Yu[:}>ʁʉQEʉ͝o5;>I Ib8ٮ QtI  UC9鰵@; D;)*b8 9)I tIi  D E;):;I91I99A*Gy2GFFrFbFEE )%;I%9 !!i!I!IQiQQ Q2@]<:@]w: ߉>> T * DRk6(AYt*_F@t* U@yt*F t*Tv>t*H dp o?@6HǿuC0? ?k~??)u*_F@ u*Ts;Iu*Cx=l>x=EHEa=HEp=iYIa)Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Y}}>ʁʁQEʁ͍=$>I Ib8ٮ QtI  UC9鰵B: Z:) b8 9)I tIi D %:):I9I9*G2G F F rFbFEE)e;Ie9 iIi 2@<:@w: ߱a> * a76(A)IYt*6kF@t*AU@yt*65t*6>h>t*H$o@?`41ǿ ?@?`?-?)u*6kF@ u*Ks;Iu*CxNm>xN'E)GF@UY]g]>aaQeEam;m>Ii Iub8ٮii Q}tI i U}C9im: m:)mrb8 9)I tIi D :)ȗ:IW9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: f *  6(AYt*SfF@t*^U@yt*M/t*pl>t*H`o?ǿ] ?`?Z@?&?)u*SfF@ u*is;Iu*CxrMl>xrLEi~=I)]Gaaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YOz:>QE;>I Ib8ٮ Q%tI  U%C9: B:)b8 -9))I) -tIi) 5D) --:)-;I-K9aIa9a*G2GFFrFbFEE);I9 iIi 2@<:@w: i * 6(AYt*dF@t*U@yt*/(t*Nr>t*Ho`ق?`Y ǿL?M?E?`L?)u*dF@ u*:s;Iu*Cx>i>xBEG@H@)EGF@]Yet:e>aaQeEimVm>Iq I}c8ٮq M}c8q Q}tI q U}C9qu&: u:)uc8 9)I tIi D :)9:I^Ë9I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: A{ * 26(A@ Yt._F@t. U@yt. x8t.9h>t.H /p(?ꟿǿ? ??@-?)u._F@ u.Gs;Iu,xNs>xREinf=Ip)Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]]>aaQeEam)m>I Ic8ٮ QtI  UC9鰕_: B:)c8 9)I tIi D W;)_;I̋9I9O Done Waiting.' O 8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE!)U;IU9 YYiYIYaaiaa 2@<:@w: ߡǢ * (6(AYt*eF@t*U@yt*|4t*]>t*Ho@s?Rǿ@@3??`)l?HA?)u*eF@ u*bs;Iu(xB}v>xBE)~GiwAxAF@Y%/:%>!!Q-E)-y:->I1 I=c8ٮ11 QEtI 1 UEC9153; 5;)5Tc8 U9)III UtIiI UDI Mٓ:)M˚:IM<ԋ9aIa9a&uMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.752512 arcdeg .q''*G2GG.#@FFrFbFEE);I9 iI6@i  G.#@ I2@U<:@Uw: a$RHorizontalControl.headingCmd 2.549700 radR>> * Ks7(AYt*uF@t*#U@yt*0t*V>t*H)nE? bVȿp???K?)u*uF@ u*Zs;Iu*CxBu>xBEH@HFa= {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idIh)}GF@Yʥ :>ʩʩQEʱͽ;>I Ic8ٮ QtI  UC9Q: <))c8 9)I tIi D <)t.Hm?`&ӛ@ȿ Y?? |? Z?)u.yF@ u."s;Iu.CxB{>xBiE){BftI{@i{Bϛ={B7>{@{BA{@|BzA9|BʑC}?Õ)%ƄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʥU9>ʩʩQEʩͭ:>I Ic8ٮ QtI  UC9): c:)7c8 9)I tIi D :)A:I9I9!*G12G1FFrFbFEE2EzEzAE>*&@>"c/EʑC}?ÕEftEE>$,_.x*@ƫE<{ 60?&וĿE@=DHdg To Contact =136.754635 degreesZESAbE&a:Eo$?BEo$?JE~ RE jE-DrE)-;I-9 iiiiIiuo @iuNl>q y2@}<:@w: $Dacoustic_contact_range 19.560001 m$ hTrackAcousticContact.heading_to_contact 2.386819 rad$LDUSBL_Hydroid.xAngle -54.700000 arcdeg * -:7(Axnm>xn'EiIѓC)eGm%=iF@}Y}>ʁʁQEʁ͍>I Ic8ٮ QtI  UC9鰕; ;)Ec8 9)I tIi D O:)c:I9I9*G2GFFrFbFEE);I9 iI%K}#@i%Z^>! !2@-<:@-w: ߙi * T7(AYt.F@t.2U@yt.8Jt.k@>t.H@l?ߗ` ȿ@{?[?@?n?)u.F@ u.Ps;Iu.Cx>s>x>EGDHD)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE~E>AAQEEIm:m>Iq I}c8ٮqq Q}tI q U}C9qu\: u:)uSc8 9)I tIi D ;)c;I%9I9*G2GFFrFbFEE);I9 iI;%@i 2@%<:@%w: 9 * Tm7(A Yt.eF@t.p:U@yt.d]t.4(G>t.H`k`%?@ &/ȿ?u?X?d?)u.eF@ u.Xs;Iu.CxNRr>xNEi^=I^̓C)GF@=YEKE>AAQEEIM:M>IQ I]c8ٮQQ Q]tI Q U]C9QU: U׾:)Ug`c8 m9)aIa mtIia mDa e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iI%%@%wi > 2@ <:@ w:  *  7(AYt*F@t*AU@yt*]Jt*;J>t*H@#k?6=ȿi?`Q?i0? ,_?)u*F@ u*s;Iu*CxB`k>xBE)5SGi=xA9F@]YeC<;e>aaQeEimx:m>Iq I}c8ٮqq Q}tI q U}C9qu: uJ:)uTnc8 9) 9I tIi D :):It9I9*G2GFFrFbFEE)5;I59 99i9I9E#@iAA A2@M<:@Mw:Y Y)YIY > * d7(AYt*kF@t*vCU@yt*׌0t*!J>t*Hk5 ?\@Aȿ }?~?`1?G_?)u*kF@ u* Ys;Iu*CxB|>xBCEH@HFp=iRf=IP)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵz;>QE9>I Ic8ٮ QtI  UC9: ;)|c8 %9)I %tIi %D V:)Ü:I_9QIQ9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFqrFbFEE);I9 iIG.#@i 2@<:@w: 9 - * Ku7(A)IYt.fF@t.q5U@yt.(,t.H>t.Hrl?{;%ȿ@P???b?)u.fF@ u.\s;Iu,xBRr>xBE)|F@Y%B:%>!!Q-E)-->I1 I=c8ٮ11 Q=tI 1 UEC915: 5:)5c8 M9)AIA MtIiA MDA ES:)EE:IEO9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.874404 arcdeg .q''*G2G@FFrFbFEE )];I]9 YYiaIae @iam@ i2@u<:@uw: ߁$RHorizontalControl.headingCmd 2.386819 rad * O7(AYt2}F@t2SU@yt2#9t21@>t2H i67? -;`ȿ`?Y$??o?)u2}F@ u2~=s;Iu2CxRu>xREi`I`)%G!)F@]Yee>aaQeEam;m>Iq I}c8ٮqq Q}tI q U}C9qu: ux:)uc8 9)I tIi D :):I 9I9=O@Contact HDG: 136.754635 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 19i9I9=@iAA A2@M<:@w: i4> * (7(AYt*PF@t*[YU@yt**HCt*~D>t*H hB?邙@kȿ@EA?`h?Rj?h?)u*PF@ u*Gs;Iu*CxB{>xBiEGB?AHD)~+Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeȺe>aiQmEimf:m>Iq I}c8ٮqq Q}tI q UC9qu: u:)u{c8 9)I tIi D S:):I)9I9*G2GFFrFbFEE);I9 iIh@i 2@<:@w: ߁b&* y 8(A Yt*F@t*MU@yt*?t*fJ>t*Hj&?`Uȿ@/!??&? _?)u*F@ u*9s;Iu*CxBU>xBXE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)eSGF@YʭH9>ʱʱQEʱͽ<ܺ>I Ic8ٮ QtI  UC9: @:)c8 9)I tIi D :)3:I=29I9*G2GF!F!rF)bF)E1E1)U;I9 iI@i 2@<:@w: P* "8(AYt*!F@t*,TU@yt*be8t*yJ>t*H`yi`/?@:aȿ?` ?$?_?)u*!F@ u*Cs;Iu*CxB c>xB E)dGiwAF@]Ye$:e>aaQeEimt|:m>Iq I}c8ٮqq Q}tI q UC9qu: u":)u c8 9)I tIi D %:):I:9I9*G2GFFrFbFEE);I9 iI7,@i 2@<:@w: >x>z* <8(AYt*F@t*MU@yt*8&t*D>t*H)j`d"?Uȿ`{&?@DŽ?Y?i?)u*F@ u*9s;Iu*CxBWx>xBEH@HBa=iPIT)a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe3;m>iiQmEiutu>Iy Ic8ٮyy QtI y UC9y}F: }:)}c8 9)I tIi D :) :I C9I9*G2GFFrFbFEE);I9 iIC@i 2@<:@w: b* 5V8(A)IYt.F@t.aU@yt.q<#t."A>t.HIhDI?@@|ȿ2?xg?@?Xm?)u.F@ u.@As;Iu,xNx>xRE)9F@MYMi9M>QQQUEQ]:E;]>Ia Imc8ٮaa QmtI a UmC9ae%: e):)ec8 u9)qIq }tIiq }Dq u:)uض:Iu~K9I9*G2GFFrFbFEE);I9 iI=b@i 2@<:@w: * qp8(AYt*F@t*bU@yt*$7t*H>t*Hh@M?@z~ȿ c ?d?@?b?)u*F@ u*zs;Iu(xB:m>xBEiLIP)9AAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ#H>ʡʡQEʩͭ7?9>I Ic8ٮ QtI  UC9鰵: :)c8 9)I tIi D :):I:T9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 i!I!%@i)) )2@5<:@5w: Ait"* wL8(AYt*BF@t*M\U@yt* (t*ʀM>t*Hh_6?᜿qȿ@J?`??)[?)u*BF@ u*r;Iu*CxBg>xBsEGF@AHD)~GF@Yʅ;>ʉʉQEʉ͕>I Ic8ٮ QtI  UC9鰝h: :)ac8 9)I tIi D Ր:)t:I\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 191.010297 arcdeg .q']']*GY2GYFYFarFabFaEiEi)};I}9 iI@i 2@<:@w: ߩ(* (8(A@ Yt.F@t.jU@yt.&t.XG>t.HmgV?@ȿ?@i?@?d?)u.F@ u.Vr;Iu.CxBo>xBEiLIP)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:9e>aaQeEamM;m>Iq I}d8ٮq M}d8q Q}tI q U}C9qu: us:)ud8 9)I tIi D :)$:Ie9I9=O@Contact HDG: 136.754635 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 ))iQIQQ]iYY Y2@e<:@ew: y.* q8(AYt*F@t*}U@yt*F+t*G?>t*He[?`xȿ2`c?u??+p?)u*F@ u*nr;Iu*CxBDy>xBEE)xi~wA~xAF@=YEbE>AAQMEIMA;M>IQ I]d8ٮQQ Q]tI Q UeC9QU%: UJ:)Ud8 m9)aIa mtIia mDa e:)e:Iem9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: y>>X5* Y8(AYt*AF@t*LU@yt*`t*yxF>t*Hc?ȿ El? w??:f?)u*AF@ u*? s;Iu*CxN5g>xR*EHPHRp=i`I`)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʉQEʉ͍1;>I Id8ٮ QtI  UC9鰕h: Գ:)!d8 9)I tIi D p:) :I1v9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !;* 8(A);I Yt*F@t*}U@yt*v$t*MiO>t*H e@s?`Zȿy ?Ď?@?X?)u*F@ u*r;Iu*CxB5g>x@)~SGF@=YES6E>AAQMEIM:M>IQ I]d8ٮQQ Q]tI Q UeC9QUh: U):)U8/d8 m9)aIa mtIia mDa e:)e:Ie~9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: B* ) 9(AYt*F@t*U@yt*D2#t*K>t*H /cF?yȿ ?`2f?N?]?)u*F@ u*r;Iu(xBi>xBNE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)mG==F@YʭB9>ʱʱQEʱͽm;>I Id8ٮ QtI  UC9(; ;)=d8 9)I tIi D 3:)Q:I]9I9*G!2G!F!F)rF1bF1E9E9)u;I}9 yyiyIyi 2@<:@w: ߹iH* ;p%9(AYt*F@t*U@yt*2t*D>t*Hdb ~?5_ȿ z>?S?@q?h?)u*F@ u*"r;Iu(x>\~>xBgEGB?AH@){BMI{@i{B={@{@{BA{@|B(B9|BWB Y0?Ϸ03)=҄Ga 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ>ʡʡQEʡͭ:>I Id8ٮ QtI  UC9鰵,; ˵;)5Kd8 9)I tIi D h:)|:I⏌9!I)9)*Ga2GaFaFarFibFiEqE2EzE(BEbZr76@j"7EWB Y0?Ϸ03EMEE "@:#1@XE ,8 knl?yUXE"@=DHdg To Contact =145.732263 degreesZEAbE:Eco$?BEo$?JEz RE~ jEUrE-D);I9 iIi 2@<:@w: )$eDacoustic_contact_range 32.040001 m$mhTrackAcousticContact.heading_to_contact 2.543508 rad$LDUSBL_Hydroid.xAngle -46.100000 arcdegO* N?9(A@ Yt. G@t.U@yt.]t.1?>t.H%`z?@蛿"ɿ@??w?@q?)u. G@ u.2r;Iu,x>:m>xBEiPIP) +GF@uY}^;}>ʁʁQEʁ͍q;>I Id8ٮ QtI  UC9鰍l: -:)Xd8 9)I tIi D ::):I89I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!i!! !2@-<:@-w: A U* p&Y9(AYt*nG@t*yU@yt*eGt*F>t*H\^? Ɲ(FɿY?? ?f?)u*nG@ u*r;Iu*CxBj>xBqE)Gi xA a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭF:>ʱʱQEʱͽ<3;>I Id8ٮ QtI  UC9F: :)fd8 9)I tIi D ;);Iݠ9 I 9 &M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 191.388580 arcdeg .q''*G2G"@FFrFbFEE);I9 iI:L@i"@ 2@<:@w: $RHorizontalControl.headingCmd 2.543508 rad>(\* es9(AYt*G@t* U@yt*$"t*N>t*H Q``?@ɿ0@l?]??` Y?)u*G@ u*r;Iu(xBq>xBEH@H@iPIR“C)~+GF@=YEE>AAQMEIMzQM>IQ I]d8ٮQQ Q]tI Q UeC9QU: U:)U)td8 m9)aIa mtIia mDa e :)eݖ:Ie9yIy9=O]@Contact HDG: 145.732263 arcdeg .']']O]4Initialize Wait Component.*Ga2GaFaFarFibFiEiEi);I9 iI[@i 2@<:@w: c* @ی9(A) I Yt*,G@t*U@yt*t*EJ>t*H\ &?yc gɿ m? ܃?t%?_?)u*,G@ u*r;Iu(xNjw>xR"E)SGF@]Ye:e>aaQeEima;m>Iq I}d8ٮqq Q}tI q U}C9qu2: u:)ud8 9)I tIi D g;)E;I9I9*G2GFFrFbFEE)};I}9 yyiyIyP'!@i'o> 2@<:@w: :i* [9(AYt*h+G@t*sU@yt*qt*8cG>t*H \t"?eɿ#? O?`?d?)u*h+G@ u*{r;Iu*CxBz>xB EiLIR̓C)~G%=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeN:e>qqQ}Ey͕=>I Id8ٮ QtI  UC9鰝1: :) d8 9)I tIi D ٮ:):IK9I9*G2GFFrFbFEE);I9 iI#@i `>  2@<:@w: )i^"p* %9(AYt*DG@t*U@yt*ke)t*f?>t*H /Zb?ٛ˖ɿȐ?,??p?)u*DG@ u*r;Iu*CxBl>xBEGB@AH@)~GF@=YE5eE>QQQ]Eau{;u>Iy Id8ٮyy QtI y UC9y}}: }:)}d8 9)I tIi D :)ȗ:IŒ9I9*G2GFFrFbFEE);I9 iIXX%@i 2@<:@w: Lv* @m9(A@ Yt*YG@t*V@yt*t*C>t*HX ?@ɿ@?:?W? (j?)u*YG@ u*+r;Iu(xBjw>xB"EiPIP)~ׄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ;>ʉʉQEʉ͕P;>I Id8ٮ QtI  UC9鰝: а:)d8 9)I tIi D  :):INˌ9I9*G2GFFrFbFEE);I9 iIr%@+i > 2@ <:@w:-> 1Iw|* 8I9(AYt2WG@t2V@yt2t2 O>t2HvXDm?}bɿi:f?ہ? ?`X?)u2WG@ u2 r;Iu2CxB,t>xB#E)~19Q=E9EE>II IMd8ٮII QUtI I UUC9IM%: M:)M d8 ]9)YIY etIiY eDY ]:)]:I]ӌ9qIq9q*G2GFFrFbFEE);I9 iI@$@i 2@<:@w: )I N>^* !:(AYt*BeG@t*MV@yt*t*M>t*H@VC?@ݟɿ`E?@? ?Z?)u*BeG@ u*hr;Iu*CxB'n>xBpEHDHFa= {DY|DJ8****** ping requested ******}Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i=I“C)5GF@mY}}>yyQ}Eʁͅ:>I Id8ٮ QtI  UC9鰍: :)>d8 9)I tIi D V:):I܌9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 !!i!I!-"@i11 12@=<:@Ew: Yo* (:(A)4t.H U1? h }ɿ??`|? m?)u.pG@ u.>s;Iu,xBn>xBE){FH^I{Di{F={D{D{FA{D|FA9|F(G& ?9fl)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q E  :>I Id8ٮ Q%tI  U%C9ٮ: W:)d8 -9))I) -tIi) 5D) -J:)-:I-/9AIA9A&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q']N@Vehicle HDG: 191.687265 arcdeg .q''*G2GFFrFbFEE2EzEAE!'@ƨ3+E(G& ?9flEH^EEc',.|%@8 ETbM<&K?W|E\.@=DHdg To Contact =142.506324 degreesZE+AbE`:Eo$?BEco$?JE REz jExrEU);I9 iI!%%ri!! )2@5<:@5w: A$]Dacoustic_contact_range 17.820002 m$ehTrackAcousticContact.heading_to_contact 2.487205 rad$mLDUSBL_Hydroid.xAngle -49.750002 arcdegp* wA:(Axnxp>xrEif=I̓C)UG]ʉʉQEʉ͕>I Id8ٮ QtI  UC9鰝F: :)d8 9)I tIi D ގ:):I[9iIi9i=O@Contact HDG: 142.506324 arcdeg .'i'= O= 4Initialize Wait Component.*G9 2G9 F9 FA rFA bFI EI EI )] ;Ie 9 a a ia Ia i m Xqii i i 2@u <:@u w: ߑ * (\:(AYtߐG@t=V@yt|.tvL>tH R`c?XG`@,ʿD?? OU?]?)uߐG@ ur;IuCxEc>xE EGMAAHI)vGa 1a 1 a 5a 5 a 9a 9 a -a -% a 1%@a % a 5%@a % a 9%@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@5Yu:u>qqQ}Ey}[;>I IEd8ٮ QEtI  UMC9鰍xk= k=)d8 U9)QIQ UtIiQ ]DQ U:)U:IU9 I 9 *GQ 2GQ FQ FQ rFY bFY Ea Ea )} ;I} 9 y y iy Iy #ui 2@ <:@ w: ߡ <* w:(A>@ @Ytu}G@tuCV@ytuj>tuKG>tuHR ?@@@7ʿ`v?g?? e?)uu}G@ uuߗr;IuuCx}v>xEiI“C) GF@Y}Q9}?ʁʁQEʁͅ:?I Ie8ٮ Me8 QtI  UC9鰍: $:)se8 9)I tIi D :):I9I9*G2GF1F1rF9bF9E9EA)-;I-9 99i9IA!%ui!! a2@e<:@mw: ߁W* r5:(AYt*CG@t*NSV@yt*t*B>t*HZP ?@VʿxRE)GiwAwAF@]Yeee>aaQmEim,;m>Iq I}e8ٮqq Q}tI q U}C9qu: u:)u e8 9) 9I tIi D :):I`9I9*G2GFFrFbFEE);I9 iI!wi 2@<:@w: >{>aG* :(AYt~ίG@t~\V@yt~t~ݳE>t~HhO "? ̟`hʿ`B?3??yg?)u~ίG@ u~r;Iu~Cx o>x Hp=Hi1I1)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QE%]:%>I) I5e8ٮ)) Q5tI ) U5C9)-z: -~:)-e8 E9)9I9 EtIi9 ED9 =O:)=:I=e9QIQ9Q*Ga2GaFiFirFqbFqEqEy);I9 iIYxi 2@<:@w: ߱^,* :(A);IYt*G@t*ZV@yt*1t*F>t*HO y? `dʿ`N?@,Ɓ??f?)u*G@ u*r;Iu*Cx^i>xbNE)5dGF@}Yʅ:>ʁʁQEʁ͍5>I Ie8ٮ QtI  UC9鰕): :)(e8 9)I tIi D  :)A:I{9I9*G2GFFrFbFEE);I9 iIwi 2@ <:@ w: !V* *:(AYt*ۨG@t*UV@yt*pt*iNI>t*HPi? 2[ʿ Y?@]??@a?)u*ۨG@ u*Mr;Iu(xBHf>xB EiLIL)=GE%=E=F@}Yʅ>ʁʁQEʁ͍`A>I Ie8ٮ QtI  UC9鰕: :)k6e8 9)I tIi D %:)Z:I 9I9*G2GFFrFbFEE);I9 iI9wi 2@ <:@ w: !iR* ܠ:(AYt*G@t*OV@yt*t*pI>t*HP?@Oʿڵ?@?`X? a?)u*G@ u*lEr;Iu*CxBv>xBGEGB?AHD)~vGa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ@:>ʡʡQEʩͭ^i>I Ie8ٮ QtI  UC9鰵; ;)YDe8 9)I tIi D h:):I)9I9!O5Done Waiting.'5O58Uninitialize Wait Component.*G12GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFYbFaEaEa);I9 iICvi 2@<:@w: h* N};(A Yt*!G@t*,kV@yt*9 t*9@>t*HMA?لʿ?`%? ? p?)u*!G@ u*Ir;Iu*CxBv>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)GF@=YM9M>YaQeEamL~;m>Iy Ie8ٮyy QtI y UC9y}+; };)}Re8 9)I tIi D :)Z:I29I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 191.957549 arcdeg .q'%'-*G)2G-\.@F)F1rF9bF9E9E);I9 i I  @i\.@ 2@e<:@ew: q$RHorizontalControl.headingCmd 2.487205 radܒ* dY,;(AYt*gG@t*rcV@yt*t*oC>t*HN 2?)uʿ@?캂?G?`j?)u*gG@ u*Mr;Iu*CxBg>xBsE){B\mI{@i{B={@{@{BA{@|BGA9|By%?\ߣ)Gi%xA%xA=Ponly read 0 of 1 data item for BIT error=rFailed to parse: :TS,19040116390, -0.1, 0.0,1448.9, 0 F@}Yʅ_>ʁʁQEʁ͍>I Ie8ٮ QtI  UC9鰕: \:)_e8 9)I tIi D Ր:)c:I:9I9=OM@Contact HDG: 142.506324 arcdeg .'M'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi2EqzEuGAEuZYe-@gecH3Euy%?\ߣEu\mEqEu+2z2ZY/@ EuXy0d?L ¿Eu@=}DHdg To Contact =139.248091 degreesZEu~AbEuՓ:Euwo$?BEuo$?JEu| REu jEu=grEux);I9 iI\.@i 2@<:@w: Y$Dacoustic_contact_range 24.659998 m$hTrackAcousticContact.heading_to_contact 2.430338 rad$LDUSBL_Hydroid.xAngle -53.249999 arcdegR>a>pz* H3F;(AYt*G@t*tV@yt*pP t*WJ>t*H@LH?g ʿݮ`?*?`)?`?)u*G@ u*Dr;Iu*CxBi>xBNEHBa=HBp=iTIT) XGF@=YE:M>IIQMEIU0;U>IY Iee8ٮYY QetI Y UeC9Y]1: ]:)]Tme8 m9)iIi utIii uDi m:)mݖ:ImB9I9*G2GFFrFbFEE);I9 iIXi 2@<:@w: * `;(A)I4t*H!MF? ʿ w?`;?>?c?)u*.G@ u*r;Iu*Cx>p>x>%E)~ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye8e>aiQmEimu>Iq I}e8ٮqq QtI q UC9qu: u:)u@{e8 9)I tIi D :)N:IzK9I9*G2GFFrFbFEE);I9 iIK@i 2@<:@w: * ly;(AYt*G@t*ZV@yt*t**F>t*H OE?ޟSdʿp XQ?`3?@?f?)u*G@ u*xPi\I`)ׄG!!F@=YEE>IIQMEIMvU>IQ I]e8ٮQQ QetI Q UeC9QU%: U˵:)Ue8 m9)iIi mtIii uDi i)m,:ImS9I9*G2GFFrFbFEE);I59 11i9I99EiAA A2@M<:@Mw: ai3* ˓;(AYtG@tV@ytWtA>tH`J;y?@ʿ`? ? ?@|n?)uG@ uGr;IuCxsj>x(EGAAH)uGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@ Yܔ:>QE_;>IA IMe8ٮAA QMtI A UMC9AEͭ: E:)Ee8 ]9)QIQ ]tIiQ }DQ U;)U1;IU_9I9*G2GFFrFbFEE);I9 iI  i   2@<:@=w: Q* <;(A Yt.'G@t.2fV@yt.m t.CMD>t.H xN(3?{ʿ1?m? c?i?)u.'G@ u.c_r;Iu.CxNq>xREi\I\)dGF@-Y5VS5!?11Q5E1ͥ?I Ie8ٮ QtI  UC9鰭x: :)֤e8 9)I tIi D :):I'e9I9*G2GFFrFbFEE) ;I 9 iIܩi 2@%<:@%w: 9* N{;(AYt*cG@t*nV@yt*G t*G>t*HK`a?a`xʿu?9?`? d?)u*cG@ u*MCr;Iu*CxNo>xRE)GiF@]Ye3e>aaQeEimx~;m>Iq I}e8ٮqq Q}tI q U}C9qu: uW:)u_e8 9)I tIi D [:):Im9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa);I9 iI6Ii 2@<:@w: V>>$* X;(AYt*yG@t*`V@yt*zt*H>t*HO`"?āpʿ?@B??b?)u*yG@ u*Mr;Iu(xBx>xBEHFp=HDiPIR̓C)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:e>iiQmEiuØu>Iy Ie8ٮyy QtI y UC9y}h: }):)}2e8 9)I tIi D ɏ:):I v9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.920283 arcdeg .q''*G2G@FFrFbFEE);I9 iIb@i@ 2@<:@w: )$eRHorizontalControl.headingCmd 2.430338 rad* 1;(A) I;Yt*G@t*qV@yt*F t*D>t*H`JM&I? fʿ OU?h?2]?i?)u*G@ u*sr;Iu*CxBv>xBE)~dGF@=YE'̹E>AAQMEIM*;M>IQ I]e8ٮQQ Q]tI Q UeC9QUu: Ux:)Ue8 m9)aIa mtIia mDa e}:)eԘ:Ier~9yIy9=O @Contact HDG: 139.248091 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 iI@i 2@<:@w: T* <(AYtVDG@tVOzV@ytVItV9A>tVH`\L@p^?IZ`sʿ ?? ?m?)uVDG@ uVQ]r;IuTxbq>xbE {dY|dj8****** ping requested ******~Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI!)G4=%=a 15a 15 a 55a 55 a 95a 95 a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]YeCe>iiQuEq}:}>I Ie8ٮ QtI  UC9鰅;= ;=)e8 9)I tIi D (:):I9!I)9)*G92G9F9F9rFIbFIEIEI)m;Im9 iiiiIiquiqq y2@<:@w: i. * .<(AYt*;G@t*FjV@yt*t*WNF>t*H@N 6?`[fʿ@ܵO?$??f?)u*;G@ u*_r;Iu(xR:m>xREGR@AHT){V_(FI{Ti{V={T{T{VA{T|VA9|V?<^)EGF@UYU9:]>YYQeEaeT.e>Ii Iue8ٮii QutI i UuC9imu: m:)m~e8 9)yIy tIiy Dy }:)}:I}9I9*G2GFFrFbFEE2EzEAECUf)@KK:s(E?<^E_(FEE D-[gz"@T!HE64꿬i?}xE%@=DHdg To Contact =148.187661 degreesZEAbEwo:Eo$?BEwo$?JE RE| jEFrE=g);I9 iIi 2@<:@w: $-Dacoustic_contact_range 17.759998 m$5hTrackAcousticContact.heading_to_contact 2.586363 rad$=LDUSBL_Hydroid.xAngle -44.349999 arcdeg* H<(A Yt*&G@t*1}V@yt*A0 t*G>t*HL`[?~~ ʿ@ |?`e? ?[d?)u*&G@ u*eNr;Iu*Cx>md>xBu EiPIP)SGF@=Y=\\=>AAQEEAM<;M>IQ IUe8ٮQQ Q]tI Q U]C9QQ UW:)U-e8 e9)aIa mtIia mDa e:)eo:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: @* b<(AYt*5G@t*@oV@yt*t*PF>t*H M`A?fV`،ʿE`Q?D?N?f?)u*5G@ u*6pr;Iu*CxRt>xRlE)=GiEwAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ9>ʩʩQEʩͭ>I If8ٮ Mf8 QtI  UC9鰽 : :)gf8 9)I tIi D :),:I9I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: A>>j* x|<(AYt*MG@t*X{V@yt*Rht*E>t*HIL Y?o_@ʿ@@B?` ??@Fg?)u*MG@ u*r;Iu*CxRc>xR EHR=HTi`Ib“C)=GF@}Yʅa8>ʁʁQEʉ͍2:>I If8ٮ QtI  UC9鰕,; ;)f8 9)I tIi D :):IA9I9*G 2GFFrF9bF9E9E9)U;Iu9 qqiqIyyyiy 2@<:@w: ߹R%* T<(A)4t:HMP?`F`˕ʿK?#"?8?k?)u:G@ u:r;Iu8xF}v>xFE)-SGF@Y;>QE%č%>I) I5f8ٮ)) QUtI ) UUC9)-; -;)-{!f8 e9)YIY etIiY eDY ]t:)]0:I]-9I9*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 9|+* E/<(AYt*nG@t*yV@yt*..t**F>t*HEKJh?ƠZʿm`F?`??f?)u*nG@ u*\r;Iu*CxRMl>xRLEi\I^̓C)G%%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅA;>ʁʉQEʉ͍F7;>I If8ٮ QtI  UC9鰕o< N:).f8 -9)!I! -tIi! -D! %}:)%Ԙ:I%9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gq2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: id2* B <(AYt*G@t*V@yt*UQt*XH>t*HKc?@Ġʿ=??`?qc?)u*G@ u*-s;Iu*CxBp>xBEG@HD)~GF@=YEE>IIQMEIMoܹU>IQ I]f8ٮQQ Q]tI Q UeC9QU: Uu:)Ut*HJ@(v?@inʿ@jsxREi\I^“C)ƄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ >ʁʁQEʉ͍^:>I If8ٮ QtI  UC9鰕: :).Jf8 9)I tIi D Ր:)ȗ:I7ˍ9I9=O@Contact HDG: 148.187661 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I 5B@i5>1 92@=<:@=w: Q*>* <(AYt*9G@t*DV@yt* t*E>t*H2J`? bvʿ 8?,]?@? g?)u*9G@ u*xRGE)ׄGiF@]YeHe>aaQeEim@E:m>Iq I}f8ٮqq Q}tI q UC9qu: ua:)uWf8 9)I tIi D :)IӍ9q  Software FaultI9*G2GFFrFbFEE);I9 iI*W#@i`f> 2@<:@w: !%xSoftware Fault in component: DeadReckonWithRespectToSeafloor{>E* =(AYt*}G@t*V@yt*t*nD>t*HI>?@闠ʿ@r"?c?w?`h?)u*}G@ u*9s;Iu(xBDy>xBEEHFp=HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)F@Y:>QEm:>I I f8ٮ QtI  UC9M; O;)>ff8 -9)!I! 5tIi! 5D! % ;)%6;I%܍9AIA9I*Ga2GaFiFirFqbFyEyEy);I9 iI &@iKX> 2@<:@w: 1!mClearing failed state for component DeadReckonWithRespectToSeafloorq m RK* w1=(A) I;Yt*G@t*"V@yt*ʵ t*J>t*HSH? fʿg/?V? ?@`?)u*G@ u*rs;Iu*Cx^i>x^NE){b-tI{`i{bܘ={`{`{bA{`|bדA9|b7o?a)]҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yg>QE:>I If8ٮ QtI  UC9: ^:)sf8 9)I tIi D }:),:I9I9*G 2G F FrFbFEE2E!zE%דAE%%CIb%@W:R%.E%7o?aE%-tE!E%hpZ,+Pƺc(@E%TEц翮? \*ÿE%?@=5DHdg To Contact =138.090183 degreesZE%CAbE%bY:E%o$?BE%o$?JE% RE% jE%G7rE%F)M;IM9 IQiQIQ]9'@iYY Y2@e<:@ew:m#> q$Dacoustic_contact_range 18.479998 m$hTrackAcousticContact.heading_to_contact 2.410128 rad$LDUSBL_Hydroid.xAngle -54.650000 arcdegR* TK=(AYt.G@t.ݠV@yt.t.R>t.H \Hu?6衿ʿ@?S?L$? S?)u.G@ u.r;Iu.CxBHf>xB EiPIP)EvGM4=IF@UY]<9]>YYQeEaew0e>Ii Iuf8ٮii QutI i U}C9imJ: m:)m+f8 9)yIy tIiy Dy }S:)}˚:I}(9I9*G2GFFrFbFEE);I9 iIA!'@ii > 2@<:@w:Wg~> ߹iX* M-e=(AYt*G@t*ީV@yt*i\t*j>t*H rGۃ?kʿs?` ??W)?)u*G@ u*?r;Iu*CxNo>xRJEGRAAHP)%dGF@Yʍ::>ʑʑQEʑͽ:>I If8ٮ QtI  UC9}: :)Tf8 9)I tIi  D l;);I99IA9A*GQ2GqFyFyrFbFEE) ;I 9 11i1I9M%@iM >q y2@<:@w:KY> ߱1_* J=(A Yt.G@t.zV@yt. t.mj>t.H_L)?@qʿ ox ?/v??)?)u.G@ u.Sr;Iu.Cx6k>x6EiDIF̓C)rGa 1%a 1% a 5%a 5% a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@5Y=9=>AAQEEAM޻M>II Iuf8ٮII Q}tI I U}C9IM$; MԵ;)Mf8 9)I tIi D :)Ԙ:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I19=&i99 A2@E<:@Mw:)U=I]a=eW> i!e* =(AYt*uG@t*V@yt*lһt*b>t*H@I``?aʿ ?Az?y? 9?)u*uG@ u*:r;Iu(x6o>x6JE)rSGiryAvwAa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEh_;M>IIQMEIU;U>IY Ief8ٮYY QetI Y UeC9Y]: ]:)]tf8 u9)i u9Ii utIii uDi m:)mI:Im9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.109070 arcdeg .q''*G2G?@FFrFbFEE);I9 iI%-$@i!%?@ )2@U<:@Uw:-g> 1$URHorizontalControl.headingCmd 2.410128 radR>>8l* =(AYt*G@t* V@yt*:t*ii>t*HG[l? 西ʿ@vk?Pt??+?)u*G@ u*Ss;Iu(xBRr>xBEHFa=HFa=iPIP)GF@Y{W;>QE%C&;%>I) I-f8ٮ)) Q5tI ) U5C9)-: -l:)-f8 =9)9I9 EtIi9 ED9 =:)=:I=9QIQ9Q=O@Contact HDG: 138.090183 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I !@iqq y2@}<:@}w:}Ȥ> ߉s* ԙ=(A);IYt*G@t*ҠV@yt*N'ột*]l>t*HtH(i?S@ʿq?@$|?Q?&?)u*G@ u*Is;Iu(xRd>xR E)GF@-Y-L->11Q5E1=rt=>IA IEf8ٮAA QMtI A UMC9AE: E_:)Ef8 U9)QIQ ]tIiQ ]DQ U>:)U:IU9iIi9i*Gy2GyFFrFbFEE);I9 iI@i 2@<:@w:xA xA -> 1J+y* >u=(AYt*G@t*V@yt*Vt*$g>t*HG`?5ʿ`y7???/?)u*G@ u*Ss;Iu*CxRq>xREi\I^“C)SG%%=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ @>ʁʉQEʉ͍:>I If8ٮ QtI  UC9鰕-: ݱ:)f8 9)I tIi D ɏ:):IU 9I9*G2GFFrFbFEE);I9 iIh@i 2@ <:@ w: )I i** T>(AYt* H@t*V@yt* t*HZ>t*H`Ev?֢g˿෍ ?7??@KF?)u* H@ u*t;Iu*CxVo}>xVEGZ@AHX)-GF@]Y]Re>aaQeEam4;m>Iq I}f8ٮqq Q}tI q U}C9qu): u:)uf8 9)I tIi D p:)A:I(9I9*G2GFFrFbFEE);I9 iIZ?@i 2@<:@w: =* ->(A Yt.H@t.V@yt.Pt.$e>t.H`E`?@Jg,˿@ty@ ?Z?y{?X2?)u.H@ u.s;Iu.CxZ?s>xZE {\Y|`b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I!)Ga 1%a 1% a 5%a 5% a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MY]}:]>YaQeEam:m>Iq I}f8ٮqq QtI q UC9qu; u;)uf8 9)I tIi D <:)w:I19I9*G2GFFrFbFEE);I9  i I?@i !2@%<:@%w: 9g* 4>(AYt*H@t*V@yt*t*X>t*HpE`#?``$˿ V`Ey?? ? I?)u*H@ u*As;Iu*CxBv>xBGE){B"lI{@i{B={@{@{BB{@|BA9|B.? .S?Js#~)M+GiUxAUxAF@Yʵ:>ʹʹQEʹ*">I If8ٮ QtI  UC9:: 1:)f8 9)I tIi D :)9:I:9I9*G2GFF rF bF EE2EzEAEɛ7d-@3E.? .S?Js#~E"lEEL[_X28׀nN/@O.?rUEj6UC?ƥ}DĿE$w@=%DHdg To Contact =140.075104 degreesZEszAbE:Ewo$?BEo$?JE| RE jEʀrEG7)E;IE9 AAiAIAIIiII Q2@U<:@]w: i$Dacoustic_contact_range 24.720001 m$hTrackAcousticContact.heading_to_contact 2.444772 rad$LDUSBL_Hydroid.xAngle -52.849999 arcdega>x>O* 7M>(AYt*_&H@t*jV@yt*Ot*8>t*H C ?؍P˿@ ?I??@{?)u*_&H@ u*8u;Iu(xB:m>xBEHBp=HDiTIT)GF@Yʍj>ʑʑQEʑ͝`;>I Ig8ٮ Mg8 QtI  UC9鰥N: :)F g8 9)I tIi D :):IgB9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I 9  i I i 2@<:@%w: ISy* g>(A) IYt*pH@t*W@yt*t*S5>t*H:}?@qR"˿@6D?J?(?,?)u*pH@ u*[u;Iu(xBRr>xBE)ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeXe>iiQmEiu:<u>Iy I}g8ٮyy QtI y UC9y}: }):)}g8 9)I tIi D :)A:IJ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.582539 arcdeg .q''*G2G$w@FFrFbFEE);I9 iIP@i$w@ 2@%<:@%w: 9$}RHorizontalControl.headingCmd 2.444772 rad5a* >(AYt* bH@t*+W@yt*`,t*RV>t*Hh< p?<˿N??@Z?K?)u* bH@ u*$Mt;Iu*CxBp>xB%EiPIP)~AAQMEIMlM>IQ I]g8ٮQQ Q]tI Q UeC9QUJ: Up:)U&g8 m9)aIa mtIia mDa e%:)eZ:Ie9S9yIy9=Oe@Contact HDG: 140.075104 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GiFiFirFbFEE);I9 iI#@i 2@<:@w: iW* r>(AYt*}EH@t*V@yt*C4t*b>t*Hv?`.?բH˿`Dx`?`*??i7?)u*}EH@ u*u0s;Iu*CxRh^>xREGRAAHT)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ^>ʁʁQEʉ͍>I Ig8ٮ QtI  UC9鰕: s:)4g8 9)I tIi D -:):I[9I9*G2GFFrFbFEE);I9 iI$w@i 2@ <:@ w: * HN>(A Yt*QNH@t*\V@yt*5 t*cf>t*H>8*?s ˿`q?`x?&?<1?)u*QNH@ u*tr;Iu*CxBo>xBJEiPIP)~GF@=YE;E>AAQMEIMf:M>IQ I]g8ٮQQ Q]tI Q UeC9QU^: U:)UBg8 m9)aIa mtIia mDa e:)e:Ie?d9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: V* $)>(AYt*9H@t*V@yt*t*L>t*H@@?`d( kv˿`Q?~?@r? C\?)u*9H@ u*$r;Iu*CxBRr>xBE)~GiyAF@ Y5;>QEO>I! I-g8ٮ!! Q-tI ! U-C9!%\: %ٮ:)%Og8 =9)1I1 =tIi1 =D1 5ٮ:)50:I5l9III9I*Gq2GqFyFrFbFEE);I9 iIi 2@<:@w: l>>eɹ* c >(AYt*kH@t*W@yt*ͻt*2>t*H;t?C ˿K?,y?>?`5?)u*kH@ u*Zs;Iu*Cx>'n>x>pEHBa=HBp=iPIP)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YezC;e>aaQmEim;m>Iq I}g8ٮqq Q}tI q U}C9qu: u:)u]g8 9)I tIi D :)ȗ:I\u9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: * ?(A)4t.H:@?W N˿`?@}?n?@xn?)u.lqH@ u.s;Iu,xRxp>xRE)GF@=YE%E>AAQMEIM:M>IQ I}g8ٮQQ Q}tI Q U}C9QU; U;)Utkg8 9)I tIi D :):I}9I9*G2GFFrFbFEE) ;I 9  iI19i99 92@E<:@Ew: yw* ?(AYt*+KH@t*6V@yt*!t*M]R>t*H>@gD?`)v˿@.? ? ? [S?)u*+KH@ u*r;Iu*CxBo}>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iYIa)G%=4=a 1}a 1} a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y>  Q E ͭʞ>I Ig8ٮ QtI  UC9鰵: :){g8 9)I tIi D 5;)_;I퇎9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFiEiEi);I9  i I i 2@%<:@-w: Qi=* :6?(AYt*LH@t*V@yt*TDt*`$Q>t*H@>V?@' ˿`? x? ?'U?)u*LH@ u*qr;Iu*CxRmd>xRu EGV@AHT){VpzI{Ti{Vܘ={V>{T{VA{T|VדA9|V(%?fr)ESGF@MYUzʻU?YʹQEʹ 9?I Ig8ٮ QtI  UC9}: ٮ:)g8 9)I tIi D :)|:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 192.455839 arcdeg .q''*G2GFFrFbFEE2EzEדAEzDd$@`f|.E(%?frEpzEED*DB* :&(@=ܷ E1s翪?>zĿE9@=DHdg To Contact =136.959513 degreesZE%GAbEBU:Eo$?BEwo$?JE RE| jEP?rEʀ);I9 iI!!i!! )2@M<:@Uw: a$Dacoustic_contact_range 18.479998 m$hTrackAcousticContact.heading_to_contact 2.390394 rad$LDUSBL_Hydroid.xAngle -56.150002 arcdeg* CrP?(A Yt.-H@t.V@yt.nWt.[vL>t.HA'?㊞^˿`\'??@b?@\?)u.-H@ u.s;Iu.CxB`>xB. EiPIP)dGF@=YE%>E>AAQMEIMM>IQ I]g8ٮQQ Q]tI Q U]C9QU: UB:)UДg8 m9)aIa mtIia mDa e:)e:IeO9yIy9y=O}@Contact HDG: 136.959513 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: Q* Kj?(AYt*|H@t*V@yt*HBt*E>t*HF?۷X˿p>?@H?`%{?/h?)u*|H@ u*Ls;Iu*CxBr>xBIE)GiwA a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeN;m>iiQmEiuػu>Iy Ig8ٮyy QtI y UC9y}1: }:)}Ƣg8 9)I tIi D :)Z:I쟎9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >e>* J%?(AYt* yG@t*&V@yt*^t*D>t*H`U?ɿG@!?`Հ?m? &i?)u* yG@ u*t;Iu*CxBp>xBEHBp=HFa=iPIP)GF@Y%<%>))Q-E)55>I1 I]g8ٮ11 QetI 1 UeC915; 5o;)5Bg8 m9)iIi mtIii uDi m:)m:ImU9I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: a&(* ?(A)IYt.dF@t.U@yt.#t.@>t.HpN? ǿ=ޮ?{w??n?)u.dF@ u.z;Iu,xBk>xBE)|F@Y% ;%>!!Q-E)- +->I1 I=g8ٮ11 Q=tI 1 U=C915: 58:)5 g8 M9)AIA MtIiA MDA E}:)E:IEð9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: !T* ?(AYt*D@t*"S@yt*Int**0>t*H@fZ?" Ŀ@?`~? q?`׆?)u*D@ u*F;Iu*Cx>t>x>lEiLIL)~XG=a 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQeEimnm>I Ig8ٮ QtI  UC9鰕5: :)Dg8 9)I tIi D -:) :I9I9*G2GFFrFbFEE)5;I59 11i1I99=i9A A2@M<:@Mw: yil:* ?(AYt*fNC@t*qQ@yt*9`3t*U+>t*H`?}!`0=cM?k?P??)u*fNC@ u*;Iu*CxNt>xLGRAAHP){GF@=YE E>AAQEEIM2xM>IQ I]g8ٮQQ Q]tI Q U]C9QU: Uʽ:)Ug8 m9)aIa mtIia mDa eՐ:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !g* ?(A( (Ytv(:A@tv3O@ytv@S;tv;>tvH@b?倿@O`;GZT?Fj?@N? v?)uv(:A@ uv;IuvCxMl>xLEi9I9)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=Y=t=>AAQEEAM-m>Iq Iug8ٮqq Q}tI q U}C9qu: uݱ:)ug8 9)I tIi D ;);I*ˎ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 99i9I99EAeiAA a2@m<:@mw: ߁=L* q@(AYt*?@t*M@yt*u-t*t*H@?jq zG`,M??`E?J^?)u*?@ u* ;Iu*Cx>i>xBE)5ׄGi=xA=wAF@]Ye;e>aiQmEimnu>Iq I}g8ٮqq QtI q UC9qu: u>:)u{g8 9)I tIi D :),:IҎ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 184.241348 arcdeg .q''*G2G9@FFrFbFEE);I9 iI%!@i!%9@ !2@-<:@Mw: Y$RHorizontalControl.headingCmd 2.390394 radR>x>Zu* gH@(AYt*<@t*GK@yt*=t*#[>t*H?1p? 縡?7?2? .?@D?)u*<@ u*K;Iu*CxB|>xBCEHBa=HD {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idIh)eGa 1a 1 a 5a 5 a 9a 9 a -a -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@-Y55>99Q=EA͕_>I Ih8ٮ Mh8 QtI  UC9鰝R1< 1<)h8 9)I EtIi MD %<):)t*H`\k^?+M?I?`H,? ??`6H?)u*U:@ u*6/;Iu*CxBq>xBE)dGF@=YEI>E?AAQMEIMuM?IQ I]h8ٮQQ Q]tI Q U]C9QU@: U#:)Uh8 m9)aIa mtIia mDa eh:)e:Ie9yIy9*G2GFFrFbFEE);I9 iI'i 2@ <:@ w: !* S@(AYt27@t2|F@yt2%[t2l>t2HÖ?Μ?@ 9:?~d?`P?@%?)u27@ u2S;Iu2Cx>x>x>EihIl)q4=%=a 1a 1 a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]Yee>aaQeEamu>Iq I}h8ٮqq Q}tI q UC9qu\: u:)uh8 -9)I -tIi -D <)t*H @pT@??c? hy?`? ?)u*@A5@ u*;Iu*Cx>eq>xBnEG@H@)GF@Y%7%>!)Q-E)-5>I1 I=h8ٮ11 Q=tI 1 UEC915: 5:)5Y,h8 M9)AIA MtIiA UDA Et:)E:IE9aIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w: ! !* 0@(A@ Yt.~2@t.A@yt.Xt.>t.H@2?x?P? ?`??)u.~2@ u.;Iu.Cx^xp>x^EilIl)=GF@EYM:;M>QQQUEQ]C]>Ia Ieh8ٮaa QmtI a UmC9ae: e:)eT:h8 u9)qIq }tIiq }Dq u:)u:Iuz9I9*G2GFFrFbFEE);I9 iI(Ht*H `%¿D?w?@Dx?ᕅ???)u*K0@ u*s;Iu*CxB`k>xBE)%ׄGi)-xAa 1ma 1m a 5ma 5m a 9ma 9m a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ;>ʑʑQEʑ͝+>I Ih8ٮ QtI  UC9鰥: _:)gHh8 9) 9I tIi D Z:)ӻ:I*9I9*G2GFFrFbFEE);I9 iI   9-* &m@(AYt*q!/@t*|=@yt*qt*{>t*H_`wſ@֩?d??Ӏ?@.??)u*q!/@ u*'j;Iu*CxBo>xBEH@H@iPIP)҄GF@]YeC;e>aaQmEimm>Iq Ih8ٮqq QtI q UC9quд; u;)uUh8 9)I tIi D }:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYae-=iaa a2@m<:@mw: ߡ4*  T@(A),I,Yt~-@t~<@yt~!t~\>t~Hc 3ǿ?Q?@qa?:$t?`f'??)u~-@ u~;Iu|xjw>x "E)vGa 1a 1 a 5a 5 a 9a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y%Y;->))Q-E15<5>I9 IEh8ٮ99 QEtI 9 UEC99=: =t:)=dh8 U9)III UtIiI ]DI MĔ:)M:IM9aIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N@Vehicle HDG: 168.788017 arcdeg .q''*G2GFFrF!bF!E1E1)E;IE9 IIiIIIQU+=iQQ Q2@]<:@]w: q;* t&@(AYt*f,@t*qv;@yt*Zt*Yu>t*HG ɿ駮? ? " v?9Qk?7??)u*f,@ u*a;Iu*Cx>Ml>xBLEiLIL)~G%=F@=YE;E>AAQEEAM-8M>IQ I]h8ٮQQ Q]tI Q U]C9QU: U:)Ulqh8 m9)aIa mtIia mDa eՐ:)e:Ie}9yIy9y=Om@Contact HDG: 136.959513 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFFrFbFEE);I9 iI15F=i11 12@=<:@=w: qiA* A(AYt*E,@t*:@yt*Zt*`>t*H9@ʿSm?@?`@I?`Zk??c?)u*E,@ u*;Iu*CxBr>xBIEGF@AHD)~+GF@ Y>>QE%>I! I-h8ٮ!! Q-tI ! U5C9!%F: %:)%h8 =9)1I1 =tIi1 ED1 5S:)5˵:I5'9III9Q*Ga2GaFaFarFibFiEqEq);I9 iI^ O=i 2@<:@w: ߱H* E!A(A@ Yt*+@t*:@yt*/|t*>t*H/ʿ@"?Ű? 6d@?o?r?@,&?)u*+@ u*b;Iu*CxBy>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIr̓C)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%>!!Q-E)5XN5>I9 IEh8ٮ99 QMtI 9 UMC99=; =3:)=h8 59)1I1 5tIi1 =D1 5$:)57:I519AII9I*GY2GYFYFarFabFaEiEi)=;I=9 99i9IAAm݈V=iii q2@}<:@}w: ߱gt*H--Gʿ?|?5?@h?`_h?r?)u* +@ u*Q-;Iu*CxBDy>xBEE){BƇ#I{@i{B={B>{@{BpA{@|BQB9|B"—?4ZĿ)Gi%wA%wAF@]Ye9;e>aaQeEama\m>Iq I}h8ٮqq Q}tI q UC9quz: u:)uh8 9)I tIi D  :)x:I99I9*G2GFFrFbFEE2EzEQBEIA@dɵE"—?4ZĿEƇ#EE|;g@)*@ʴxA E[Y?x#LFE0@=DHdg To Contact =158.395912 degreesZEOQAbE#:EQo$?BEo$?JE~ RE jEbrEP?);I9 iI^V=i 2@<:@w: $5Dacoustic_contact_range 35.579998 m$=hTrackAcousticContact.heading_to_contact 2.764530 rad$EJDUSBL_Hydroid.xAngle -9.150000 arcdeg>>&U* kUA(AYt~+@t~ؔ:@yt~кt~6>t~H2/ʿ???"Z??m?)u~+@ u~;Iu~Cx5~>x5EH9H=p=iYI]“C)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%5L;%>!!Q%E!=$;=>IQ I]h8ٮQQ Q]tI Q UeC9QUl: U:)Uh8 m9)aIa utIia uDa e0:)e:Ie=B9I9*G2GFFrFbFEE);I9 iIS=i 2@<:@w: N[* joA(A) IYt*+@t*:@yt*]t*#T>t*H 1`ʿ@@?@!?`?3?I??)u*+@ u*;Iu*CxZy>xZE)=GF@MYM`;U>QQQUEQ]=3;]>Ia Imh8ٮaa QmtI a UmC9ae: e:)enh8 }9)qIq }tIiq }Dq uͭ:)uE:IuJ9I9*G2GFFrFbFEE);I9 iIR=i 2@<:@w: 6b* FA(AYt*[S,@t*f;@yt*k񔺙t*u >t*H ;ʿ:2?"?7,L? -R?-?@e?)u*[S,@ u*thxBiEiLIP)G!!F@]Yee>aaQmEimq_<m>Iq Ih8ٮqq QtI q UC9qu; u;)uIh8 9)I tIi D ɏ:)ݖ:IR9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))e;Iu9 qqiqIyy}@F=i 2@<:@w: ߙi_h* A(AYt*,@t*;@yt*t*_Y>t*HHE/ɿ?`? z ?[up?~?`0$?)u*,@ u*xBGEGBAAHD)~!!Q%E!-ɕ<->I1 IUh8ٮ11 Q]tI 1 U]C915E; 5;)5h8 e9)aIa etIia mDa e[:)e,:Ie[9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 167.860846 arcdeg .q'M'U*GY2G]0@FYFYrFabFaEaEa);I9 iIx@i>0@ 2@<:@w: $ERHorizontalControl.headingCmd 2.764530 rad:n* &A(A Yt*-@t*E<@yt*0تt*mq>t*H\-ǿH?h?'?Zu?`4?\?)u*-@ u*<xR Ei\I^̓C)GF@-Y5Q5>11Q5E1===>IA IMh8ٮAA QMtI A UMC9AE:: E:)Eh8 ]9)QIQ ]tIiQ ]DQ Uܹ:)U:IUc9iIi9q=O}@Contact HDG: 158.395912 arcdeg .'}'}O}4Initialize Wait Component.*G2GFFrFbFEE);I9 iI3@it> 2@<:@w: 9ru* AA(AYt*.@t* m=@yt*Ht*0>t*Hxſ ְ? $??Iw?`S?ad?)u*.@ u*";Iu*CxBu>xBE)~vGi~yAF@=YEE>AAQMEIM5=M>IQ I]h8ٮQQ Q]tI Q UeC9QU: U:)Uh8 m9)aIa mtIia mDa ep:)eA:Iel9I9*G2GFFrFbFEE)U;IU9 YYiYIYe&!@ie`>a a2@m<:@mw: ߡ>x>{* A(AYt*<0@t*>@yt*~t*>t*H%@9ÿ@_?@5?@0M?/s? ?c?)u*<0@ u*գ;Iu(xNb>xR EHRp=HPi`I`)%Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭG;>ʩʩQEʩ͵ld=>I Ih8ٮ QtI  UC9鰽S: :)h8 9)I tIi D a:)0:It9I9*G2GFFrFbFEE );I9 !i!I!%w&@i-EF>) )2@5<:@5w:@o> * q B(A) IYt.|1@t.@@yt.(t.2k>t.H`:4`Mʨ?3? ?ev? %?3?)u.|1@ u.$;Iu.Cx6eq>x6nE)r҄GF@Y%%>!)Q-E)-=->I1 IMi8ٮ1 MUi81 Q]tI 1 UeC915Ȯ; 5;)5i8 m9)iIi utIii uDi m%:)m|:Im}9I9*G2GFFrFbFEE);I9 iIMn*@i`;> 2@<:@w:u> * +j$B(AYt*3@t*]B@yt*λt*>t*H @ᑸR? ?@,?y? ??)u*3@ u*;Iu*CxB,t>xB#E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)uƄG4=4=F@YT>QE=>I Ii8ٮ QtI  UC9; m ;)}i8 9)I tIi  D X:):I9!I!9!*GA2GAFIFIrFYbFYEaEi);I9 iI'<0@i8> 2@<:@w:zS> ߹ic؎* C>B(Axl>xd EGH){hlI{i{2={>{{`A{|B9|/ёB?|>l)!!Q%E!-->I) I5i8ٮ)) Q=tI ) U=C9)-G: -:)-%i8 E9)AIA EtIiA MDA E :)EA:IE9YIY9Y*Gi2GiFiFirFqbFyEyEy2EzEBE5@D.<E/ёB?|>lEhlEE%D24rG=@\C#E_T?$BAѿE/ @=DHdg To Contact =122.815134 degreesZE>AbE :Evo$?BEQo$?JEq RE~ jErEb);I9 iIJ4@i> 2@<:@w:IE> $Dacoustic_contact_range 36.180000 m$hTrackAcousticContact.heading_to_contact 2.143528 rad$LDUSBL_Hydroid.xAngle -53.000000 arcdeg* !XB(A Yt.0O7@t.;E@yt.t.6>t.H/ wۥ~?J?`jV[ ? ?-?]?)u.0O7@ u.;Iu.CxB c>xB EiPIP)mGF@Yʝ>ʡʡQEʡͭ<>>I Ii8ٮ QtI  UC9鰵: :)2i8 9)I tIi D :)Ԙ:I喏9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%6@i%{;>! !2@-<:@-w: o8> w* qB(Ax~n>x~E)+GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QE>I  I i8ٮ   QtI  UC9  .: ):) Ai8 9)I tIi %D F:):I9)I191&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 177.245636 arcdeg .q''*G2G/ @FFrFbFEE);I9 iIE8@i>/ @ 2@ <:@ w: > $RHorizontalControl.headingCmd 2.143528 rad>>;Ң* AՋB(AYt* :@t*H@yt*Mct*>t*He …?_Fv??Vl??হ?)u* :@ u*S;Iu*CxBh>xBEHJ=HHi`I`)%GF@]YeTe>aaQeEim=m>Iq I}i8ٮqq Q}tI q U}C9qu: u:)u*Ni8 9)I tIi D ::),:I9I9=O@Contact HDG: 122.815134 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI)8@%&G=i%!>! !2@-<:@-w:e> ߉X* WB(A) IYt.:@t.I@yt.ʔ3t.>t.H>@?&u?|``r?{r?q??)u.:@ u.3T;Iu,xB:m>xFE)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmnm>iqQuEquQ=}>I Ii8ٮ QtI  UC9鰅: :)\i8 9)I tIi D l:):II9I9*G2GFFrFbFEE);I9 iIi6@iS-> 2@<:@uw:U> Yw&* vB(AYtBRJ:@tB]H@ytB4utB,5>tBH S??|X? $?O??7?)uBRJ:@ uBbD~;IuBCxJU_>xJS EiXIZ“C) G%=F@]Ye"e>aaQeEim(¼m>Iq I}i8ٮqq Q}tI q U}C9quG: u:)uii8 9)I tIi D :)ȗ:IŸ9I9*G2GFFrFbFEE);I9 iICC4@iQm:> 2@<:@w:>!> i * #eB(AYt>9@t>4H@yt>ڻt>e >t>H`ʁ?h?К@?@,\{? ? ??)u>9@ u>;Iu>Cx^md>xbu EGb@AH`)=Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥŤ<>ʡʡQEʡͭj>I Ii8ٮ QtI  UC9鰵: `:)wi8 9)I tIi D Ր:):Is9I9*G2GFFrFbFEE);I9 iI0@iUR>! !2@%<:@-w:xj0> %=* \UB(A Yt68@t6*\G@yt6t6Y >t6H "?#:?G Y?kWs? + ??)u68@ u6ƀ;Iu6CxNW>xNEiXIZ̓C)vGF@UY];]>YYQ]EYee>Ii Iui8ٮii QutI i UuC9im: m :)mQi8 9)yIy tIiy Dy }p:)}:I}ɏ9I9*G2GFFrFbFEE);I9 iI*@iHq> 2@<:@w:;> R!*  C(AYt2d8@t2G@yt2ﻙt28>t2H*@'.?ޟ? Hw ?k}??z?)u2d8@ u2Lx;Iu2CxN`>xR. E)GiF@-Y-ջ->11Q5E1=:=>IA IEi8ٮAA QMtI A UMC9AE: Et:)Ei8 U9)QIQ ]tIiQ ]DQ Ul:)U:IU+ҏ9iIi9i*Gy2GyFFrFbFEE);I9 iIJr%@i > 2@<:@w:H> ߱{>J* Q&C(AYt* 8@t*F@yt*:t*x>t*H`GP?孢?` ?@Y?` ?@?)u* 8@ u*|;Iu*Cx^"h>x^EHbp=H` {dY|dj8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IA)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@=YE E>AAQMEI2>I Ii8ٮ QtI  UC9%: :)i8 9)I -tIi -D ;)ó;I܏99I999OmDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFybFEE);I9 iI%@iAA I2@U<:@Uw:eA qi2* o@C(A) IYt*+7@t*6.F@yt* S`t*4>t*Hj٣G? ? {zMI?' ? {W?"?)u*+7@ u*qz;Iu(xBi>xBE){BSsI{@i{B={B>{@{BA{@|BQB9|BL?Tmb)=GF@Yʝֻ>ʡʡQEʡͭӼ?I Ii8ٮ QtI  UC9鰵: :)i8 9)I tIi D p:):I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N@Vehicle HDG: 177.420420 arcdeg .q''*G2GFFrFbFEE2E zE QBE _Ȑ5@ Bt4>E L?TmbE SsE E yO4>qYݼ=@qP/)!E l2RN?"-~οE  @=UDHdg To Contact =124.333581 degreesZE AbE }:E so$?BE vo$?JE p RE q jE Y rE )u;Iu9 qqiqIq}@iyy 2@<:@w:) 1$UDacoustic_contact_range 37.080002 m$]hTrackAcousticContact.heading_to_contact 2.170030 rad$eLDUSBL_Hydroid.xAngle -54.549999 arcdeg\* ɯZC(AYt*fu6@t*q"E@yt*V.t*j>t*H`@nƪ@NM?@=e?`I ?E?`??)u*fu6@ u*Viz;Iu*CxBp>xB%EiPIP)SG < a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>!!Q%E!%g->I) I5i8ٮ)) Q=tI ) U=C9)-u: -5:)-Ii8 E9)AIA EtIiA MDA EO:)E :IEX9qIy9y=O @Contact HDG: 124.333581 arcdeg .'-'-O-4Initialize Wait Component.*G12G1F1F1rF9bF9E9EA)u;Iu9 qqiyIy}f@i 2@<:@w:K> iY* ftC(AYt*ڡ4@t*NC@yt*]t*y>t*H+`|?`]? @X??W?"?)u*ڡ4@ u*z;Iu*CxN}v>xREGPHP)%GF@]Yee;e>aaQmEimʙm>Iq I}i8ٮqq Q}tI q UC9qu: u:)uAi8 9)I tIi D ::):IY9I9*G2GFFrFbFEE);I9 iIʲ@i 2@<:@w:#> Fn* cC(A Yt.62@t.AZA@yt.R-t.WE>t.H- >4? ¾?&n???I?)u.62@ u.~;Iu,x6s>x6EiDID)v+GF@zY~7;~>QE 럽 >I Ii8ٮ QtI  UC9: :)i8 %9)!I! -tIi! -D! %̒:)%$:I%99I999*GI2GIFQFQrFQbFYEYEY)u;Iu9 qqiqIq} @iyy 2@<:@w: )I * ?C(AYt.1@t.?@yt.E t.>t.HD`?@̈́?`? x6lE)rGitvxAa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM;M>IIQMEIUuU>IY Iei8ٮYY QetI Y UeC9Y]: ]į:)]i8 u9)i u9Ii utIii uDi m:)m:ImM9I9*G2GFFrFbFEE);I9 iIJ@i 2@<:@w: >>* ) C(AYt*0@t*>@yt*qHt*U>t*H Qÿ?@S?? p?/O?X?)u*0@ u*l^;Iu*CxVk>xVEHXHXidIh)-GF@}Y}V&<}>ʁʁQEʁ͍t>I Ii8ٮ QtI  UC9鰕: B:)i8 9)I tIi D :)Z:I 9I9*G2GFFrFbFEE);I9 iI@i 2@<:@ w: * +C(A) IYt*/@t*<>@yt*"HRt*͞>t*H@sÿ&Z??5i 7?@Ij?`*??)u*/@ u*i؃;Iu*CxNl>xRE)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yu;>QE>I Ij8ٮ Mj8 QtI  UC9˵: ÷:)j8 9)I tIi D Ր:):I9I9*G2GFFrFbFE!E!)5;I59 99i9I9E@EԞiAA A2@M<:@Mw: a* lC(AYt*X/@t*>@yt*Bt*UF>t*HNÿ VW?`q? ? p? qR?qc?)u*X/@ u*;Iu*CxNX>xRVEi\I^“C)%G%%=!F@5Y5>5>ʑʑQEʑ͝ >I Ij8ٮ QtI  UC9鰥: :)hj8 9)I tIi D 1:)˵:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I 9  i I - @iGz> 2@<:@w: 1i@A@A`* TD(AYt*/@t*=@yt*t*$H>t*H \}Ŀ5?9?`-|`t?@Pq?@_?`?)u*/@ u*;Iu*CxBi>xBEGBAAH@)~dGF@%Y-ۖ->))Q-E)5@/5>I9 IEj8ٮ99 QEtI 9 UEC99=: =J:)=j8 U9)III UtIiI UDI M[:)MԘ:IMC'9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N@Vehicle HDG: 169.875383 arcdeg .q''*G2G @FFrFbFEE);I9 iI @iur> @ 2@<:@w: 9$RHorizontalControl.headingCmd 2.170030 rad * )D(A Yt.Z.@t.e=@yt.t.[>t.H`z`ןĿ`M>?? frT?_c?o??)u.Z.@ u.P|;Iu.CxB_>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y-;->11Q5E1= E>II Ij8ٮII QtI I UC9IMY< M<)M+j8 9)I MtIi MD dc<)\dy y2@<:@w: P* VaCD(AYt*.@t*C=@yt*2UӺt*{>t*H2u|1ſ"?@Nv?ˈ|?jZ? ??)u*.@ u*.z;Iu*Cxj`k>xjE){jsI{hi{j={j>{h{j A{h|jpYB9|j2P?ć%)u+Giq}wAF@Yʍ|;>ʉʉQEʑ͕&>I Ij8ٮ QtI  UC9鰝: :)8j8 9)I tIi D :):I89I9*G2GFFrFbFEE2EzEpYBE~C?@͗FE2P?ć%EsEEA^(7ȂF0UF@w攑2E]*ܿS??!혐տE@=DHdg To Contact =117.751683 degreesZE4BbEQ:Ejo$?BEso$?JEd REp jErEY );I9 iI!%'^Wi!! !2@-<:@-w:-> 1$UDacoustic_contact_range 54.359993 m$]hTrackAcousticContact.heading_to_contact 2.055155 rad$]LDUSBL_Hydroid.xAngle -54.400001 arcdeg>l>*  >]D(AYt:uu.@t:"=@yt:~t:>t:Hr ſ-?`??Po? \? ba?)u:uu.@ u:mx;Iu:CxN:m>xREHRa=HRa=idIh)]GF@Yv>QE>I I j8ٮ QtI  UC9: :)Fj8 9)I %tIi %D %:)9:IYA91I191*GA2GAFIFIrFIbFQEQEQ)e;Im9 iiiiIiqu%Uiqq y2@}<:@w: )I )"* wD(A)4t6Hx`_IſU>?&?Hv?`u?1?g?)u6T.@ u6y;Iu6CxB`k>xBE)~SGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ:j>ʁʁQEʁ͍<<>I Ij8ٮ QtI  UC9鰕; ;)ETj8 9)I tIi D :):II9I9*G2GFFrFbFEE);I9 iI_i 2@ <:@ w: ! $* #D(AYt*F`/@t*Q >@yt*Jѻt*b(>t*H ,Ŀ R+?2?uay?`S)z?p?@?)u*F`/@ u*x;Iu*CxBv>xBGEi\I^̓C)5G54=1F@uYu1u>yyQ}Eyͅ<>I Ij8ٮ QtI  UC9鰍: :)bj8 9)I tIi D F:):IR9I9*G2GFFrFbFEE);I9 iI'ri 2@<:@w: i?A?AA7** +٪D(AYtҽ/@tj>@yttvE>tH2ÿ@3? 0?`~? S?`;?? /?)uҽ/@ u6x;IuCx-r>x-IEG5@AH1)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y}Ż>QEL\<%>I! I-j8ٮ!! Q5tI ! U5C9!%5: %:)%pj8 =9)9I9 =tIi9 ED9 =:)=:I=Z9QIQ9Q*Ga2GaFaFarFibFiEqEq);I9 iIdyi 2@<:@w: ߱1* D(A Yt./@t.W>@yt.c&黙t.BU>t.H ÿV? W?`F?@$}? "? 4?)u./@ u.vw;Iu.CxBu>xBEiPIR“C)~+GF@=YEu;E>AAQMEIMRM>IQ Ij8ٮQQ QtI Q UC9QUV< U<)U\}j8 9)I tIi D :)Z:I:c9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i9I99=UtiAA A2@M<:@Mw: YF7* D(AYt*+g/@t*6>@yt*t*F>t*H``wTĿ??7FX?mv???)u*+g/@ u*-v;Iu*CxB`k>xBE)~SGixAF@=YE;E>AAQMEIMZ%M>IQ I]j8ٮQQ Q]tI Q UeC9QU: UW:)U&j8 m9)aIa mtIia mDa e:)e:Iekk9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 170.167524 arcdeg .q''*G2G@FFrFbFEE);I9 iIV @i@ 2@ <:@5w: A$RHorizontalControl.headingCmd 2.055155 radV>{>p=* _D(AYt..@t.=@yt.ƻt. >t.H|=ſ??Ȝd?x?@??)u..@ u.;v;Iu.CxB c>xB EHDHDiPIV̓C) dGa 1Ma 1M a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuӺu>qqQuEy}c>I Ij8ٮ QtI  UC9鰅: :)&j8 9)I tIi D :):It9I9=O@Contact HDG: 117.751683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I-9 11i1I1=r@i99 92@E<:@Ew: YYD* C<E(A) IYt*.@t*d=@yt*+t* >t*H@wſ`?4?@80?R@?`?@x?)u*.@ u*3u;Iu*CxBk>xBE) F@Y >!!Q%E!-:޻->I) I=j8ٮ)) QEtI ) UMC9)-u; -Ӂ;)-j8 m9)YIY utIiY }DY ];)];I]l|9I9*G2GFFrFbFE!E!);I9 iIs@i 2@ <:@ w: AJ* ,E(AYt*.@t**m=@yt*j}t*>t*Hx_ſhI?a$?%<~O?/??J?)u*.@ u*eu;Iu*CxN`k>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I ѓC)}G=a 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5@a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@5Y=:=>AAQEEAM:M>IY Iej8ٮYY QetI Y UmC9Y]; ]X:)]j8 }9)qIq }tIiq Dq u\:)u:Iu9I9*GI2GIFIFIrFQbFQEQEY);I9 iI@i 2@<:@w: ijQ* EE(AYt*/@t*(=@yt*pt*>t*H mĿUϲ?`Bw?`3 5?`?U? ?)u*/@ u*G=u;Iu(xB5g>xB*EGDHD)GF@]Ye ;e>aaQmEimj<m>Iq I}j8ٮqq Q}tI q UC9qu: u:)upj8 9)I tIi D h:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: gW* _E(A Yt*?/@t*$=@yt*Xt*>t*H߃5/Ŀy?l*?OUi ?+?À?@:?)u*?/@ u*iu;Iu*Cx^d>x^ EipIr̓C)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥJ>ʡʩQEʩͭ;>I Ij8ٮ QtI  UC9鰵: l:)j8 9)I tIi D :):I=9I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A]* &yE(AYt*/@t*d>@yt*D6t*|>t*H@iÿ@Jְ? >?}u?f?m?j ?)u*/@ u*u;Iu(xBi>xBE)5vGi11F@mYu+u>qqQ}Ey}<>I Ij8ٮ QtI  UC9鰅: F:)j8 9)I tIi D :) :I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >>Ħd* oE(AYtrff0@trq?@ytr!tru>trHU¿HF??@g4 ? !? c?@(?)urff0@ urHu;IurCx}r>x}IEHyHp=iI)Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]V]>aaQeEam <m>Ii Iuj8ٮii Q}tI i U}C9imc: m:)mj8 9)I tIi D :)ȗ:I§9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: j* (`E(A);I4t.H@`|`j]? :?y a?B?.D?Y?)u.t1@ u.u;Iu.CxB,t>xB#E)~SGF@=YEuE>AAQEEIM7=M>IQ I]j8ٮQQ Q]tI Q U]C9QU: U:)Utj8 m9)aIa mtIia mDa e:)eԘ:Ie9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 172.005241 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: 1q* 9E(AYt*2@t*A@yt*8$t*"/>t*H1̧? ?;`,R?? ?N?)u*2@ u*v;Iu*CxNy>xREi\I\)G%%=!F@-Y55>11Q=E9=q=E>IA IMk8ٮA MMk8A QMtI A UUC9AEc: E:)E.k8 ]9)QIQ ]tIiQ eDQ U:)U0:IU9iIq9q=O@Contact HDG: 117.751683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: !iw* UE(AYt*l4@t*#C@yt*\rt*#>t*H `@V? ^ѷ?c6 ;?JK?g?@S?)u*l4@ u*x;Iu*CxBg>xBsEGBAAHD)~ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye>e>aiQmEima=m>Iq I}k8ٮqq Q}tI q UC9quh: uJ:)u+k8 9)I tIi D [:)N:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 7 ~* E(A Yt.Z5@t.eJD@yt.t.H` ϰ@? ? c@Ty?H?k?t?)u.Z5@ u.%Az;Iu.CxBl>xBEiPIRѓC) ׄGF@Y%%>!)Q-E)5@=5>I1 I=k8ٮ11 QEtI 1 UEC915p: 5:)5"k8 M9)III MtIiI UDI M:)M:IMȐ9aIa9a*Gq2GqFqFyrFybFEE);I9 iIi 2@<:@w: * IF(AYtb֌5@tb9D@ytb񪉼tbe-P>tbHy@@4?}R?BK?)5?`?@)V?)ub֌5@ ubmz;IubCxjP>xjE)M҄GiUxAUwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ3B:>ʱʹQEʹͽ2>I Ik8ٮ QtI  UC9J: :)1k8 9)I tIi D :):Iѐ9I9*G2GFFrF bF EE)%;I%9 !)i)I)11i11 12@=<:@=w: Qi>x>8* .F(AYt*5@t*D@yt*2t* f>t*H``@??$ @^?@6R??1?)u*5@ u*{;Iu*CxVU_>xVS EHXHZa= {XY|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I̓C)vGF@YT<>QE}~<>I Ik8ٮ QtI  UC9A; ';)?k8 9) I  tIi  D  ':) j;I ڐ91I199*GI2GQFQFYrFabFaEaEi);I9 iIi 2@<:@w: ^* bHF(A)p;I;Yt.6@t.?E@yt.t.Hc`.`0?? @?m?m?@?)u.6@ u.Ez;Iu.CxBmd>xBu E)UdGF@eYe_<e>iiQmEiu'<u>Iy Ik8ٮyy QtI y UC9y}F: }_:)}ZLk8 9)I tIi D :)ݖ:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: :1* h\bF(AYt*;7@t*FF@yt*h+t*Z`>t*Hl@%@? ˣ? 5q? ~?]?:?)u*;7@ u*qy;Iu*CxBmd>x@iPIP)=GAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>ʹʹQEʹO=>I Ik8ٮ QtI  UC9: :)}Zk8 9)I tIi D :)$:Ih9I9ODone Waiting.' O 8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF FrFbFEE)-;I59 11i1I199i99 A2@E<:@Ew: Yia[* 7|F(AYt*8@t*܍G@yt*ort*>t*H`??0L ?`M?ܐ?L?)u*8@ u*t};Iu*CxBn>xBEGB@AH@)GF@=YEC5E>AAQMEIM2=M>IQ Ik8ٮQQ QtI Q UC9QU< U#<)Ugk8 9)I tIi D :)s:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 178.650155 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: YE* F(A@ Yt*9@t*nH@yt*tt*>t*H@f ?W(?@ ? Cn? ?)??)u*9@ u*;Iu(xN:m>xNEi\I\)=GF@]Ym?Nm>yyQEʁ͕=>I Ik8ٮ QtI  UC9鰭5; ;)uk8 9)I tIi D l;)s;Is9)I191=O@Contact HDG: 117.751683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: cm* F(AYt*:@t*DI@yt*;t*>t*H??uj@?G? ř? ?)u*:@ u*݁;Iu*CxRe>xRP E)-vGi5yA5xAa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQEʙͥ=>I Ik8ٮ QtI  UC9鰭: C:)k8 9) 9I tIi D ȗ:):I9I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 1>p>T* F(AYt*|b;@t*J@yt*z Ot*ԍ>t*H Y?S&?IY? "?@n?@?)u*|b;@ u*J;Iu(xBn>xBEHB=H@iLIP)GF@uY}<}>yʁQEʁͅF<>I Ik8ٮ QtI  UC9鰍: c:)]k8 9)I tIi D :):IG 9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: * פF(A);IYt* <@t*J@yt*sc˻t*ު>t*H``Hk?i@`8?cly??;?)u* <@ u*Ӂ;Iu*CxBWx>xBE)~ʩʩQEʩ͵u<>I Ik8ٮ QtI  UC9鰽%: :)Yk8 9)I tIi D [:)9:I9I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: A * F(AYt.<@t.BK@yt.mDt.Tا>t.H?PR2? F ?@??/K?)u.<@ u.;Iu,xB |>xBEiPIP) SG=F@=YErE>AAQEEIM<M>IQ I]k8ٮQQ Q]tI Q U]C9QU[: U=:)Uk8 m9)aIa mtIia mDa eɏ:)eݖ:Ie'9yIy9*G2GFFrFbFEE)5;I59 QqiqIqyyiyy 2@<:@w: ߙie* ZG(AYt*o<@t*K@yt*缙t*K9>t*H`??ft_#?u??@w?)u*o<@ u*;Iu(xBa>xB EGDHFAA)dGF@=YEM%E>AAQMEIMfM>IQ I]k8ٮQQ Q]tI Q UeC9QUu: U:)U|k8 m9)aIa mtIia mDa eO:)e :Ie&9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: }* 51G(A@ Yt.+;@t.6I@yt.gt."=t.H``?@:ß? u)? ?H? ?)u.+;@ u.;Iu.CxNO>xRJD {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I )Ga 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5@a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@5Y= =>AAQEEAM@U>I Ik8ٮ QtI  UC9_: :);k8 -9)!I! -tIi! MD! %;)%;I%a09YIY9aO Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYaaiaa 2@<:@w: 1c* KG(AYt*t8@t*&!G@yt*^t*[>t*H@ @+?Z?@B?C܋?S-?`rD?)u*t8@ u*;Iu*CxBKS>xBE)vGixAwAF@%Y-R=->)1Q5E155>I9 IEk8ٮ99 QEtI 9 UMC99=t: =5:)=k8 U9)III UtIiI UDI M :)ME:IM79aIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N@Vehicle HDG: 178.269986 arcdeg .q''*G2GFFrF bF E E )%;I%9 !!i!I!))i)) 12@5<:@=w: IR>i>* 1dG(AYt*5@t*C@yt*.Uct* ~>t*H䳿%a?@i? `-?jj?km?m?)u*5@ u*U;Iu*CxBo>xBEHBa=H@iPIR“C)GF@=YE.E>AAQMEIMM>IQ I]k8ٮQQ Q]tI Q UeC9QU: U:)Uk8 m9)aIa mtIia mDa e:)e:Ie2@9yIy9=O @Contact HDG: 117.751683 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrF1bF1E9EA)U;IU9 QYiYIYYaiaa a2@m<:@mw: y* m~G(A)IYt63@t68B@yt6̝t6C?>t6H4-?N?`1F@k? s? $?`zp?)u63@ u6 ;Iu6CxNKS>xRE)%+Ga 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍϭ>ʉʉQEʉ͕Pe>I Ik8ٮ QtI  UC9鰥: B:)k8 9)I tIi D :)Ǻ:IH9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )* +G(AYt*2@t*FA@yt*戼t*>t*HO@Deܩ?z?~v*?????)u*2@ u*;Iu*CxBp>xBEilIl)5G99a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽͺ>QE]>I Ik8ٮ QtI  UC9`: c:)k8 9)I tIi D :):IQ9I9*G 2G FFrFbFEE)5;I59 11i1I199i9A A2@E<:@Mw: YiR * {G(AYt*1@t*@@yt*Шt*|>t*H@?$? @Up??K?@?)u*1@ u*D;Iu*CxBk>xBEGB?AHF@A)~SGF@]Ye"e>aaQmEim>ּm>Iq Il8ٮq Ml8q QtI q UC9qu; uM;)uY l8 9)I tIi D :),:IY9I9*G2GFFrFbFEE!)5;IU9 QQiYIYYYiaa a2@m<:@mw: ߁u* :XG(A Yt.0@t. ?@yt.漼t.5ǽ>t.HϢ:?5?~?R?7-?@?)u.0@ u.u{;Iu,xNl>xREi^=I\)dGF@-Y5ɻ5>11Q=E9=2E>IA IMl8ٮAA QMtI A UUC9AE:: E>:)El8 9)QIQ tIiQ DQ U<)UV@yt*t*a>t*H?ÿ@~?@r?$ U?O?U?@N?)u*/@ u*O;Iu*CxNd>xR E)GiwAa 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ;>ʡʡQEʡͭFL>I I5l8ٮ Q=tI  U=C9鰵< Ǐ<)2)l8 E9)AIA EtIiA MDA E:)Eo:IEWk9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: x>>* H(AYt._-@t. <@yt.3t./8>t.HUmǿ-J?? jਫ਼?4?K? ^?)u._-@ u.1,;Iu.Cx>i>x>EHBR=H@iRf=IR̓C)GF@Y;>QE%%>I) I-l8ٮ)) Q5tI ) U5C9)-%: -:)-d6l8 =9)9I9 EtIi9 ED9 =:)=؛:I=&s9QIQ9QOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy);I9 iIR~i 2@<:@w: ߹-* H(A)4t*H ʿC? L?PG?`>t?TB?@`e?)u*+@ u*;Iu(xBg>xBsE)|a 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye/e>aaQeEamm>Iq I}l8ٮqq QtI q UC9qu; u/;)u~Dl8 9)I tIi D h:):I{9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 166.305735 arcdeg .q'5'5*G12G1F9F9rF9bFAEAEA)];I]9 YYiYIYae$3iaa i2@m<:@mw: X * ?3H(AYt*>)@t*I@8@yt*"t*x>t*H@ઓͿc?`? yq? ??`{?)u*>)@ u*;Iu*CxB"h>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)USGe4=iF@Yʵ6<>ʹʹQEʹhi>I Il8ٮ QtI  UC9; ;)Rl8 9)I tIi D :);I9 I 9 =OU@Contact HDG: 117.751683 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi);I9 iI-Ԅi)) 12@5<:@=w: yi?* MH(AYt*)@t*7@yt*Ɂct*>t*H \7Ͽn?b*?@2`?`5pl??B?)u*)@ u*j;Iu(x>b>xB EGB@AH@)GF@=YED<E>AAQMEIMM>IQ I]l8ٮQQ Q]tI Q UeC9QU: Us:)U_l8 m9)aIa mtIia mDa e[:)eN:Iě9I9*G2GFFrFbFEE);I9 iI%i!! !2@-<:@-w: AEj* g}gH(A Yt2[(@t2f7@yt2Wt254>t2H`8ο/?`??@j? ~?8?Z?)u2[(@ u2;Iu2Cx>d>xB EiPIP)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ>ʡʡQEʡͭO>I Il8ٮ QtI  UC9鰵; ;)!nl8 9)I tIi D h:):I9I9*G)2G)F1FQrFYbFYEYEY);I9 iIqi 2@<:@w: $R * XH(AYt*(@t*׫7@yt*t*}]>t*H`%Dο=H?F-? p?@V?@? ?)u*(@ u*=;Iu(xNq>xRE)%Gi!)F@=YE$E>AAQMEIM <;M>IQ I]l8ٮQQ Q]tI Q UeC9QU: UJ:)U{l8 m9)aIa mtIia mDa e::)eN:Ieҝ9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9>>{&* 1H(AYt*")@t*-Y8@yt*t*C>t*HͿ`D? ?`#??^?@[?)u*")@ u*T~;Iu*Cx>Ml>xBLEHBa=HBp=iR=IP)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y=>QE%(<%>I! I-l8ٮ!! Q-tI ! U5C9!%\: %;)%9l8 ]9)YIY ]tIiY eDY ]:)]s:I]9iIq9*G2GFFrFbFEE);I9 iIli 2@<:@w: Q,* RH(A)IYt.*@t. 39@yt.@t.3>t.H̿~%?)f?,dS??+?>?)u.*@ u.Dz;Iu,x>p>xBE)~vGF@]Yee>iiQmEiu=u>Iy I}l8ٮyy QtI y UC9y}: } :)}Al8 9)I tIi D ̒:):I9I9*G2GFFrFbFEE);I9 iIR_i 2@ <:@w: AJ3* H(AYt*e+@t*:@yt*bt*i>t*H๬ʿb? ?@$?`??I?s?)u*e+@ u*cw;Iu*CxBn>xBEiNf=IL)~dGF@Y%j%>!!Q-E)- =->I1 I=l8ٮ11 Q=tI 1 U=C9154: 5:)5l8 M9)AIA MtIiA MDA E:)E|:IED9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)};I9 iIzi 2@<:@w: i|9* DH(AYt*B!,@t*M:@yt*Rpt*r>t*H4vɿݸ?F?@ P? ?{M?r?)u*B!,@ u*av;Iu*CxBRr>xBEG@HD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʽ$>QE<>I Il8ٮ QtI  UC9|< <)6l8 9)I tIi D :)Ԙ:I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' Nm@Vehicle HDG: 167.237305 arcdeg .q'm'm*Gi2GiFqFqrFybFyEyEy);I9 iI$i 2@<:@w: =@* I(A Yt*/k,@t*:;@yt*'t*黶>t*Hp< 2ɿ??P? ?>[? ?)u*/k,@ u*0v;Iu*CxBU_>xBS EiLIL)~SGF@Y%%>!)Q-E)-w@<->I1 I=l8ٮ11 Q=tI 1 UEC915: 5߼:)5Rl8 M9)AIA MtIiA MDA Eh:)E|:IEJȑ9YIa9a=O@Contact HDG: 117.751683 arcdeg .''O4Initialize Wait Component.*G2GFFrFbF!E!E!)U;I]9 YYiYIYae7Diaa i2@m<:@mw: 9]F* 9{I(AYt*b,@t*;@yt*čt*]>t*H ;pɿb7?@u?`y%y?e?@m??@?)u*b,@ u*u;Iu*CxB`k>xBE)zdGi|~xAa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝb:>ʡʡQEʡͭ>I Il8ٮ QtI  UC9鰵; ;)l8 9)I tIi D :)Ԙ:I8ё9I9*G)2G)F)F1rFQbFYEYEY)m;Im9 iIwi 2@<:@w: ߹>t>5L* .U6I(AYt*",@t**:@yt*n~t*>t*H@4Oɿ wx?VD?ɒ ?@|͏??j??)u*",@ u*Nu;Iu*Cx>g>xBsEHBp=H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)mGF@Yʵ;>QE>I Il8ٮ Q%tI  U%C9; #;)l8 59))I) ]tIi) ]D) -l;)-E;I-ّ9I9*G2GFFrFbFEE);I9 iIpi 2@<:@w: a;S* 0PI(A);IYt2 ,@t2:@yt2\^t2y>t2H`2CɿG?l?+hE?`ˋ??37?)u2 ,@ u2Wu;Iu0xB`>xB. E){B^ =I{@i{Bt={B>{@{BA{@|BA9|B7hΝ?O4?)-҄GF@EYEy;M>QQQUEQ]KT]>Ia Iml8ٮaa QmtI a UmC9aeF: e:)el8 }9)qIq }tIiq }Dq uį:)u:Iu9I9*G2GFFrFbFEE2EzEAEh:@~!_@E7hΝ?O4?E^ =EES:/N*Z @K$(M?E-RKￕLG#?{e$?Ep@@=DHdg To Contact =172.745647 degreesZEZ@bE:Eao$?BEjo$?JE REd jEB?rE);I9 iI i 2@<:@w: $%Dacoustic_contact_range 27.119997 m$-hTrackAcousticContact.heading_to_contact 3.014980 rad$5HDUSBL_Hydroid.xAngle 6.100000 arcdegoZ* g jI(AYt* 8,@t*+:@yt*at*q>t*H7`rɿ ??@ f ?`???)u* 8,@ u*ru;Iu*CxNMl>xRLEi`I`)%vG))a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ<>ʩʱQEʱͽ;>I Il8ٮ QtI  UC9鰽ի: :)l8 9)I tIi D :)^:I9I9*G2GFFrFbFE E );I%9 !!i!I!)-]&i)) 12@=<:@=w: Qi@A`* I(AYt*,@t*9;@yt*)$ t*d>t*H@A@cȿR?@u?`L\?`wd?E??)u*,@ u*v;Iu*CxB:m>xBEGB?AHD)jGF@=YET;E>AIQMEIMX<U>IQ I}m8ٮQ M}m8Q Q}tI Q UC9QU; U;)Uem8 9)I tIi D :):I9I9*G2GFFrFbFEE)5;IU9 QYiYIYYe iaa a2@m<:@mw: ߁;g* I(A Yt.,-@t.;@yt.B7t.$>t.HQusǿv? ;?*?`7?@? VJ?)u.,-@ u.v;Iu.CxNsj>xR(Ei\I^ѓC)ƄGF@-Y-ۻ->11Q5E1ͥ<>I Im8ٮ QtI  UC9鰭: ^:)m8 9)I tIi D :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi!! !2@-<:@-w: 9%Bm* I(AYt*-@t*<@yt*/Vt*>t*HMe@*ƿk?`n?4?Њ?`?m?)u*-@ u*(Kv;Iu*CxBv>xBE)z҄Gi~yA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ▻>ʁʁQEʁ͍<>I Im8ٮ QtI  UC9鰕< <)>!m8 %9)! %9I! -tIi! -D! %:)%7:I%t99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'UN5@Vehicle HDG: 168.872534 arcdeg .q'5'5*G12G5p@@F9F9rFAbFAEAEA)};I}9 yiI/:@ip@@ 2@<:@w: $RHorizontalControl.headingCmd 3.014980 radY>>)t* uI(AYt* 4/@t*=@yt*eTt*$K>t*H$ÿ ?@?? .`?? I?@?)u* 4/@ u*v;Iu*CxBWx>xBEH@HDiPIP){GF@=YE!{9E>AIQMEIMI=M>IQ I]m8ٮQQ Q]tI Q UeC9QU: UW:)U.m8 m9)aIa mtIia mDa eՐ:)e,:Iev 9yI9=O@Contact HDG: 172.745647 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@i>|> 2@<:@w: 1TVz* [I(A)(I*4trH (??"@?(p?$??)ur"0@ ur%pw;IurCxzk>x~E)m+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@YT>QEC=>I Im8ٮ QtI  UC9: [:)7=m8 9)I tIi D :):Ib9I9*G!2G!F)F)rF1bF1E1E1)M;IM9 IIiIIIU @iUji>Q Y2@]<:@ew:  <* -J(AYt*1@t*ԥ@@yt*sΖt*>t*H@}/Ȯ???ْ?N? x@iLIR̓C)~G%=4=F@=YE+E>AAQMEIMt=M>IQ I]m8ٮQQ Q]tI Q UeC9QU: U :)UUJm8 m9)aIa mtIia mDa e%:)e:Ie{9yI9*G2GFFrFbFEE);I9 iI@iO> 2@<:@w: i?A8g*  J(AYt*2@t*tA@yt*7༙t*>t*H`%A$?W?HR??~? ?)u*2@ u*VRy;Iu*Cx>J>x>DGBAAH@)~+Ga 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye$e>aaQeEam7<m>Iq I}m8ٮqq Q}tI q U}C9qu: u:)uCXm8 9)I tIi D :)ȗ:I&9I9*G2GFFrFbFEE);I9 iIx@il0> 2@<:@w:6Ʌ> * 8J(A Yt.V3@t.B@yt.+ZἙt.foX>t.H`P }?{?c@P?\*?? F?)u.V3@ u.z;Iu.CxZ=>xZD {\Y|\b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIѓC)GF@Y8>QE<>I I m8ٮ QtI  UC9&; \(;)fm8 %9)I =tIi ED ;);I/9aIa9i*G2GFFrFbFEE);I9 iI6L@iu^> 2@<:@w:%I_y> 1wx* t:H@ O@甩?`?`B[?`?D?"=?)u:w3@ u:Cz;Iu:CxRM>xRD){Z5I{Xi{Z={Z+>{X{ZA{X|ZzFB9|ZD/vq ?&k۱)EvGiExAMwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y;;>Q E 0>I I%m8ٮ Q%tI  U%C9: :)um8 U9))I) UtIi) UD) -ݖ:)-Ü:I-=89aIa9a*G2GFFrFbFEE2EzEzFBE)~EH@P^ư ED/vq ?&k۱E5EEKeH5!@q5?EuXw￬q j/?LUt#'?E|g=@=DHdg To Contact =169.563490 degreesZEAbE/C:E(o$?BEao$?JE RE jE?rEB?);I9 iIH"@ic= !2@%<:@Mw:EFH> I$mDacoustic_contact_range 49.619995 m$uhTrackAcousticContact.heading_to_contact 2.959441 rad$uJDUSBL_Hydroid.xAngle -4.000000 arcdegV>x>G* lJ(Ax~Ze>x~ EHa=Hi!I%̓C)dGF@Yʽ>QE>I Im8ٮ QtI  UC9: c:)m8 9)I tIi  D ƣ;);I?9I9!O5Done Waiting.'5O58Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA)];I]9 YYiYIYe6&@ieW2=a i2@m<:@mw:Mxj0> Y(* 6uJ(A) I;Yt*11@t*?@yt*t*֜>t*H " 16?cO? >@'??I?`J~?)u*11@ u*7w;Iu*CxB\>xBUE)~GF@=YEE>AAQMEIM`M>IQ I]m8ٮQQ Q]tI Q UeC9QU: U:)UFm8 m9)aIa mtIia mDa e :)ec:Ie H9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N@Vehicle HDG: 171.771130 arcdeg .q''*G2G|g=@FFrFbFEE);I9 iI,@i6<|g=@ 2@%<:@%w:eh`0> i$RHorizontalControl.headingCmd 2.959441 rad?* 3PJ(AYt*10@t*>@yt* ׼t* >t*HX¿ ?J?0)`??Q?~?)u*10@ u*xv;Iu(x6f>x6 Ei@IFѓC)vvGtv%=a 1-a 1- a 5-a 5- a 9-a 9- a --a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYM<M>QQQUEQ]]>Ia Imm8ٮaa QmtI a UmC9ae:: e:)em8 u9)qIq }tIiq }Dq u:)u:IuP9I9=O@Contact HDG: 169.563490 arcdeg .''O4Initialize Wait Component.*G2GFFrF bFEE)%;I-9 ))i)I)Uv.2@iUaԦQ Q2@]<:@]w:Ml > Yi ޭ* )J(AYt*.@t*=@yt*2Lt*8΢>t*H`dy@b ſ}??@xB EG@HD)GF@=YE|<E>AIQMEIM XM>IQ I]m8ٮQQ Q]tI Q UeC9QU: U:)U٪m8 m9)aIa mtIia mDa e:)e:IeY9I9*G2GFFrFbFEE);I9 iI6@iޛs 2@<:@w:U= Y3ȴ* J(A$ (Ytz-@tza<@ytz4tz µ>tzH] ƿ@ ?`+0?@ xK?t?H=??)uz-@ uzew;Iuxxc>xi-=I1)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y K >QE'>I! I%m8ٮ!! Q-tI ! U-C9!%h: %:)%m8 59)1I1 =tIi1 =D1 5:)5˚:I5"b9III9I*G2GFFrFbFEE);I9 i!I!%kG;@i-F) I2@U<:@Uw:%8= 1d* J(AYt*N,@t*Ya;@yt*.t*5:>t*HDgMȿ[?&?@ \&?ZT?@?T?)u*N,@ u*Tx;Iu*CxBc>xB, E)~ƄGiwAxAF@EYUH<]>aaQeEaeb(m>Ii Ium8ٮii QutI i U}C9imW: m[:)mm8 9)yIy tIiy Dy }:)}:I}'j9I9*G2GFFrFbFEE);I9 iI==@it޽ 2@<:@w:< 9e>>* wK(AYt*\+,@t*g:@yt*ct*_Y>t*Ht6Jɿ@櫶? 2?  ?@U?`??)u*\+,@ u*Yx;Iu(xBMl>xBLEHFp=HDiTIV̓C)~҄GF@=YE<E>IIQMEIUĪU>IQ I]m8ٮQQ QetI Q UeC9QU: U:)U8m8 m9)iIi mtIii uDi m::)m:Imr9I9*G2GFFrFbFEE);I9 iI>@i 2@<:@w:}< * (!K(A) IYt.+@t.:@yt.Yt.}>t.H`'/Alʿ@?@??!k?8??)u.+@ u.Kx;Iu,x^md>x^u E)UvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽG:<>QEL!>I Im8ٮ QtI  UC9: N:)m8 9)I tIi D F:):Io{9I9*G 2G F F rFbFEE)-;I-9 11i1I1=2>@9i99 92@E<:@Ew: ; ,*  s;K(AYt*2,@t*=:@yt*ɻt*>t*H3@ʿ@Dž?"d?Q@? 3y?` ?`z?)u*2,@ u*x;Iu*CxzV>xzE {xY||8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iaIa)G4=F@Y%߻%>!)Q-E)-;5>I9 IEm8ٮ99 QMtI 9 UMC99=/; =~ ;)=m8 ]9)YIY etIiY eDY ]:)]:I]D9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI|g=@i 2@<:@w:Ep* Qi* B]UK(AYt%--@t%8z<@yt%Hvt%>t%H b ǿ ??`,s ?t??`?)u%--@ u%d v;Iu%CxUxp>xUEG]@AHY)+Ga 1-a 1- a 5-a 5- a 9-a 9- a --a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@EYMnH;U>QQQUEQ]=]>Ia Iem8ٮaa QmtI a UmC9aex: e|:)em8 u9)qIq }tIiq }Dq u:)u:Iuߌ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 168.733758 arcdeg .q'%'-*G)2G)F)F)rF1bF1E1E9)M;IM9 IQiQIQQYi]׷Y Y2@e<:@ew:eп i>* *oK(A x~o>x~Ei!I!)GF@Yʽ>QE>I In8ٮ Mn8 QtI  UC9: :) n8 9)I tIi D :)Ԙ:I9I9=O@Contact HDG: 169.563490 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: )I &* )K(AYt*//@t*=@yt*/t*r>t*H` BĿo?$I?S?\6x? =??)u*//@ u*^v;Iu*Cx^0a>x^w E)=YYQ]EYeb=e>Ii Imn8ٮii QutI i UuC9imի: mS:)m?n8 9)I tIi D :)@:I9)I)9)*G92GAFAFArFIbFIEIEI)e;Ie9 aaiaIaim@iii q2@}<:@}w: ߉>i>P* ݢK(AYtBH2@tBSQA@ytBtBj>tBH` }|?t?4l?Ñ?xbEH`H`irf=Ip)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʡʩQEʩͭ>>I In8ٮ QtI  UC9鰵: :)\'n8 9)I tIi D :)ȗ:I륒9yIy9y*G2GFFrFbFEE);I9 iIigf 2@<:@ w: 9z* غK(A) I Yt>C4@t>B@yt>)b't>W>t>H`"Iu?-r?`BuB=?@-?Eh? m?)u>C4@ u>;IuxJE) ׄGF@YB>!!Q%E!-0=->I1 I5n8ٮ11 Q=tI 1 U=C915: 5:)54n8 E9)AIA MtIiA MDA Eh:)EZ:IE9YIY9Y*Gi2GiFqFqrFqbFyEyE);I9 iI\i 2@<:@w: f* K(AYt2\5@t2gD@yt2lit2Tx>t2H t rU`?`g1?@^?C-?(?r?)u2\5@ u2I;Iu2CxNs>xNEi\I\)G4=F@UY] ]>YYQ]EYeNs=e>Ii Iun8ٮii QutI i UuC9im: m:)mBn8 9)yIy tIiy Dy }:)}o:I}Ķ9I9*G2GFFrFbFEE);I9 iIqiE" 2@<:@w: ik* pK(AYt* 7@t*,F@yt*nӌt*>t*H qZ좿Hԟ?:? 0@?4??5?)u* 7@ u*%?;Iu*CxBn>xBEGBAAH@)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅi>ʁʁQEʉ͍i=>I In8ٮ QtI  UC9鰕J: :)Pn8 9)I tIi D p:):I\9I9*G2GFFrFbFEE);I9 iI!di 2@ <:@ w:-ٽ 1t* M L(A Yt.L9@t.G@yt.vt.>t.Hsu+?@%^? m@?`ʷ??m?)u.L9@ u.;Iu.CxRi>xREi`IbѓC)=GF@]Yer2e>iiQmEiu&=u>I In8ٮ QtI  UC9鰕: J:)c^n8 9)I tIi D :)N:Iǒ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)];I]9 YqiqIqy}?i}tᎼy 2@<:@w:/[ ߑ* J'$L(AYt*2;@t*=I@yt*t*>t*HhV?`?{h?@?`??@Nh?)u*2;@ u*$;Iu*CxR:m>xRE)UGiQYF@eYm6T;m>iiQmEiu=u>Iy In8ٮyy QtI y UC9y}: }:)}ln8 9)I tIi D p:):IRВ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 180.574861 arcdeg .q'='=*GA2GAFAFArFIbFIEIEI)e;Ie9 aaiiIiim8iuݻq 2@<:@w:u_> ߑV>{>* >L(AYt*<@t*͚K@yt*pœt*^>t*H 40?t?]Uvi?`lx??'p?)u*<@ u*‰;Iu*CxBMl>xBLEHF=HD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iz=Ix)+Ga 1Ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʥ>ʩQE =>I In8ٮ QtI  UuC9< <)l{n8 }9)qIq }tIiq Dq u:)u<:Iu'ڒ9I9=O @Contact HDG: 169.563490 arcdeg .' ' O 4Initialize Wait Component.*G2GFFrFbFEE!)};I}9 iIޱi^; 2@<:@w:U a* WL(A) IYt.>@t.IM@yt.zt.S >t.HbN?ԉ@[䰿c`ܜ? 6?b?u?)u.>@ u.ی;Iu.CxBk>xBE)GF@]Yee>iiQmEim=u>Iq I}n8ٮqq QtI q UC9qu: u:)un8 9)I tIi D :)ȗ:IT99I999*GI2GQFqFqrFybFyEyEy);I9 iIsi< 2@<:@w:ԅ * qL(AYt*E;@@t*PN@yt*𡤼t*#T>t*H4bҷ?lOXWn ?@㓔??`ё?)u*E;@@ u*h;Iu*Cx6'n>x6pEiDID)v+Gz%=z=a 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU:U>QQQ]EY]=e>Ia Imn8ٮaa QmtI a UuC9ae\: e_:)eRn8 }9)qIq tIiq Dq ux:)u:Iu9I9*G2GFFrFbFEE);I9 iI}i6< 2@<:@w:r; i"* L(AYt*A@t*P@yt*.t*v>t*HT K?_ѐK V?? V??)u*A@ u*ȓ;Iu*CxNeq>xRnEGPHP)%GF@]Ye<e>aaQeEimΉ=m>Iq I}n8ٮqq Q}tI q U}C9qu: u :)u+n8 9)I tIi D -:)A:IX9I9*G2GFFrFbFEE);I9 iI=iy= 2@<:@w:ϩ; (* ?oL(A@ Yt.|C@t.)R@yt.Ct.ˆ>t.HGe ?`4@#¿V?@RH?`0??)u.|C@ u.F;Iu.Cx6d>x6 EiDID)rGa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEv:M>IIQMEIUp=U>IY Ien8ٮYY QetI Y UeC9Y]: ]а:)]ڰn8 u9)iIi utIii uDi m:)mȗ:Im9I9*G2GFFrFbFEE);I9 iIi؆== 2@<:@w:D-< 9F/* KL(AYt*3D@t*>S@yt*-t*x~>t*H@ss?Zkſ@`y?E?d?@/?)u*3D@ u*lś;Iu*CxB?s>xBE)~dGi|xAF@ Y j>QE"k=>I! I-n8ٮ!! Q-tI ! U-C9!%: %>:)%fn8 59)1 =9I1 =tIi1 =D1 5:)5:I5%9III9I*Ga2GaFaFarFibFiEiEi);I9 iIiQ%c= 2@<:@w:mr = yR>>5* >%L(AYt*̍F@t*:U@yt*fMt* v>t*Hj-?vC/ȿ}@b?R? Yt??)u*̍F@ u*;Iu*Cx^f>xb EHba=Hba=ipIp)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥk>ʩʩQEʩͭus=>I In8ٮ QtI  UC9鰵>: :)n8 9)I tIi D Ր:):I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I9 !!i!I!)-^i-=) )2@5<:@5w:&V= 9)<* L(A)4t.HNLr?J @jʿ`C?S?@]5?4?)u. G@ u.#;Iu.CxB8T>xB}E)5ʁʁQEʁ͍A@=>I In8ٮ QtI  UC9鰕2: :)un8 9)I tIi D O:)A:Iy9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 191.967740 arcdeg .q'U'U*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIy i 2@<:@w:Jc= ߱C*  M(AYt*9I@t*W@yt*hzt*4\>t*H #`B"?@ǿgͿ@e`?`C?Be?1A?)u*9I@ u*;Iu*CxBj>xBqEiLIP)~SG=F@mYmI<u>qqQuEq}i=}>I In8ٮ QtI  UC9鰅ɪ: h:).n8 9)I tIi D :):I9I9=OE@Contact HDG: 169.563490 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFIFIrFQbFQEQEQ)m;Im9 iiiiIiq}7i}F=y y2@<:@w:U_= qi:I* &M(AYt*J@t*:Y@yt*?ht*W>t*H6ަ?@᣿ϿF\?'?@? J?)u*J@ u*;Iu*CxBxp>xBEGF?AHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye.;e>aaQmEimS=m>Iq In8ٮqq QtI q UC9qu< uK<)un8 9)I  tIi  D ::):I%9I9*G)2G)F1FQrFYbFYEaEa);I9 iITi 2@<:@w:= "P* @M(A@ Yt*MK@t*XPZ@yt*gt*<>t*H ?? ѿUK`4?`?y?s?)u*MK@ u*;Iu(x6`k>x6E {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ihIn̓C)mSGF@}Yʅ˻>ʁʉQEʉͭG=>I Io8ٮ Mo8 QtI  UC9鰵N: :)6o8 9)I tIi D F;);Iz/9I9*G12G1F9F9rFAbFAEiEi);I9 iIa宽ii= 2@<:@w:K= LV* lZM(AYt.L@t.[@yt.苟t.v>t.HV E?`_ÙLҿG@tg?`*?@͂??)u.L@ u.0;Iu,xNn>xRE){R:I{Pi{R={R$>{P{RA{P|R A9|R9L?n p\?)=dGiAEwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ߻?ʡʩQEʩͭw=?I Io8ٮ QtI  UC9鰵p: :)o8 9)I tIi D :)V:I69I9*G2GFFrFbFEE2E zE  AE |DEa6@f ?E 9L?n p\?E :E E .Dn5]˾[cF?E rt>gҿ6L6?E :[@=DHdg To Contact =196.717235 degreesZE bE p:E po$?BE (o$?JE  RE  jE 3>rE ?);I9 iIHiv= 2@<:@w:\= $-Dacoustic_contact_range 22.379997 m$5hTrackAcousticContact.heading_to_contact 3.433363 rad$=HDUSBL_Hydroid.xAngle 0.100000 arcdeg>>Ow\* RItM(AYt*N@t*\@yt*ǰt*y>t*H~W? \ӿ@EG??Z? ߟ?)u*N@ u*;Iu(xBl>xBEHFR=HFp=iTIT)jGF@=YEE>AAQMEIM5=M>IQ I]o8ٮQQ Q]tI Q UeC9QU4: U:)Uo8 m9)aIa mtIia mDa e-:)e :Ie>9yIy9*G2GFFrFbFEE);I9 iI1i 2@<:@w:= ^c* `#M(A);I;Yt*P|M@t*[)\@yt*ԫt*ޏ=t*H.j?F? 0ҿ ?z?Ͱ??)u*P|M@ u*u;Iu(xBHf>xB E){GF@=YE":E>AAQMEIMMM>IQ I]o8ٮQQ Q]tI Q UeC9QU: U:)U,o8 m9)aIa mtIia mDa e[:)e,:Ie^G9yIy9*G2GFFrFbFEE);I9 iI˭i 2@<:@w:t= ؊i* M(AYt*,K@t*Y@yt*%wt*<;=t*HR?Fz?fп?@W?>&??)u*,K@ u*&n;Iu*Cx>D>x> DiLINѓC)~vG%=a 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yej<e>aaQeEam m>Iq I}o8ٮqq Q}tI q U}C9quį: u:)u:o8 9)I tIi D :)N:IO9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIlir= 2@<:@w: )I ߉ipp* 0M(AYt*lDG@t*wU@yt*t*]>t*H`Z"s?,ຖɿ Ͽ?Up? ??)u*lDG@ u*y;Iu*CxVqQ>xZEGZ@AHX)-GF@=YE.<E>AAQEEIMM>IQ I]o8ٮQQ Q]tI Q U]C9QU: U:)U{Ho8 m9)aIa mtIia mDa e:)e:IecX9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.531932 arcdeg .q''*G2G:[@FFrF bF E E )%;I%9 !!i!I!-#>@i- hJ=-:[@ 12@=<:@=w: I$}RHorizontalControl.headingCmd 3.433363 radQv* M(A@ Yt._B@t.jQ@yt.3t.=t.H@?@5}HF?[]?@iE?C?)u._B@ u.¥;Iu.CxBmd>xBu EiPIR̓C)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ>ʱʱQEʱͽ'>I Io8ٮ QtI  UC9ի: :)Vo8 9)I tIi D :)|:I3a9I9=O}@Contact HDG: 196.717235 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFFrFbFEE);I9 iIA@i9 2@<:@w: "|* M(AYt*?@t*N@yt*t*B=t*HF?A``,¾? [@`?վ? Z?)u*?@ u*H(;Iu*CxB`>xB. E)~GiF@Yʅv<>ʉʉQEʉ͕}>I Io8ٮ QtI  UC9鰝: :)`do8 9)I tIi D :)Ii9I9*G2GFFrFbFEE);I9 iIȪE@iUc,  2@ <:@w: !>t>* mN(AYt2m=@t2L@yt2T-t2>t2HP? Cl V`CT?(e?@T?`?)u2m=@ u2돞;Iu2CxBxp>xBEHFa=HFR=iPIT) SGF@=YEٺE>AIQMEIMϽM>IQ I]o8ٮQQ Q]tI Q UeC9QU.: U:)Uqo8 m9)aIa mtIia mDa e:)e :Ieq9yI9*G2GFFrFbFEE)5;IU9 QQiQIQ]Fi]N½Y a2@e<:@mw:Z= ߩ ׉* E)N(A) IYt*&<@t*1J@yt*컙t*GM>t*H-sɚ?2`?@ԙX`^? B}?l?@Y[?)u*&<@ u*B;Iu*Cx6j>x6qE)rdGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYE9E>IIQMEIUIY I]o8ٮYY QetI Y UeC9Y]: ]а:)]o8 m9)iIi utIii uDi m%:)mZ:Imrz9I9*G2GFFrFbFEE);I9 iIFAif 2@<:@w:/= j* "CN(AYt*Ӟ:@t*KI@yt*Tt*>t*H }ҁ??}n`:@s?`O??@?)u*Ӟ:@ u* ;Iu*CxBm>xB'E {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)}G=F@Yʽܼ>ʹʹQER>I Io8ٮ QtI  UC9"; #;)o8 9)I tIi D  ;);IM9I9*G12G1F9F9rFAbFAEIEI)m;Im9 iiiIQm;i9 2@<:@w:·3= ߱iu* \N(AYt2.9@t290H@yt2Bt2>t2H .`?w3?/?@T`?`?d?R?)u2.9@ u2;Iu2Cx^j>x^qEG`H`)GF@YʽH>QE.>I Io8ٮ Q tI  UC9|; ;)o8 -9)!I! -tIi! 5D! %:)%:I%9AIA9A*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIy7i V 2@<:@w:?B: ߙS* vN(A Yt*88@t*F@yt*'it*X>t*H@| T?`M?&@XU?c=?]_?(?)u*88@ u*ma;Iu*CxB̀>xBeEiPIP)GPonly read 0 of 1 data item for BIT error%tFailed to parse: :TS,19040116402020,35.0, -0.1, 0.0,144 F@]Ye<e>aaQeEim#Tm>Iq I}o8ٮqq Q}tI q U}C9qu: u[:)u#o8 9)I tIi D [:)ȗ:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI4icm 2@<:@w:<1 k* N(AYt* 7@t*E@yt*a媻t*>t*H ͗?? `u?\u???)u* 7@ u*2;Iu*CxRMl>xRLE)=GiEyAExAF@MYUy<U>YYQ]EYe;e>Ii Imo8ٮii QutI i UuC9im: mS:)mo8 }9)yIy tIiy Dy }:)}:I}9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 177.005568 arcdeg .q'%'%*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIUf3iU|Q Y2@]<:@ew:- 9>"(* N(AYt$6@tD@yt[=t>tH u ?E?zw$??0?&?)u$6@ u}A;IuCx-n>x5EH9H=p=iQIQ)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YPr>QE%%>I) I5o8ٮ)) Q5tI ) U5C9)-: -:)-o8 =9)9I9 EtIi9 ED9 =::)=o:I=9QIQ9Q=O@Contact HDG: 196.717235 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iI.`3ȭi !2@%<:@%w:]l½ iu * /jN(A)4t.H' 0@ө? ?->??`D?&=?)u._5@ u.&;Iu.CxBt>xBlE)~GF@Yʅ>ʉʉQEʉ͕S>I Io8ٮ QtI  UC9鰝: ݱ:)o8 9)I tIi D :) :I9I9*G2GFFrFbFEE);I9 iI;}4i 2@ <:@w:Qڽ <7* CN(AYt*4@t*|C@yt*ZHt*h>t*H@٨? D?*`g??+? A?)u*4@ u*;Iu*CxBt>x@iPIRѓC)~GF@ Yu'<>QE%"%>I) I-o8ٮ)) Q5tI ) U5C9)-: -S:)-o8 =9)9I9 EtIi9 ED9 =:)=b:I=㵓9QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI|c6i`So 2@<:@w:E/ i@Ada* !N(AYt*A4@t*B@yt*sst*P>t*H7?T{? U @m1?Z? Z?`(?)u*A4@ u*;Iu(xNm>xR'EGR?AHP)+Ga 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ<>ʁʁQEʁ͍>I Io8ٮ QtI  UC9鰕: :)6o8 9)I tIi D Ր:) :I9I9*G2GFFrFbFEE);I9 qiqIq}6iyy 2@<:@w:uuK yL* O(A@ Yt6z3@t6B@yt6t6h4>t6H Cĩ?ٹ?`#?`ց?+?D?)u6z3@ u6U;Iu6CxFm>xDiTIV̓C)GF@-Y5P;5>19Q=E9=^=>IA IMo8ٮAA Q]tI A U]C9AEw; Ey;)Eo8 }9)iIi tIii Di mF;)mA;ImǓ9I9*G2GFFrFbF EE)M;I9 iIzc6i~y 2@<:@w:Nu r* A+O(AYt.t3@t.=B@yt. st.>t.H`@.?p;?tk?w??@~?)u.t3@ u.";Iu.CxRs>xRE)+GixAwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥr>ʡʡQEʩͭqU>I Ip8ٮ Mp8 QtI  UC9鰵: :) p8 9)I tIi D ̒:)g:Iϓ9I9*G2GFFrFbFEE);I9 iI{c6%Yi!! !2@-<:@-w:-Q| 1R>x>[* %EO(AYt*D3@t*A@yt*mt*H>t*HRH?Kh?uI?p?:?@?)u*D3@ u*;Iu*CxBo>xBEHFp=HFa= {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)eGF@Yʵq:>QE9>I Ip8ٮ QtI  UC9m(; &;)p8 9)I tIi D ;) ;Ilؓ9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFIEQEQ)u;Iu9 yyiyIy|c6toi 2@<:@w:Wx )*  _O(A);Ix~i>x~E){-\-I{i{={>{{0A{|B9|>:?RVſ)ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QE  >I Ip8ٮ QtI  UC9: :)%p8 %9)!I! -tIi! -D! %O:)%:I%99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 173.628299 arcdeg .q''*G2GFFrFbFEE2EzEBE7B@'#E>:?RVſE-\-EE8Bf,$@!EzTB?DMuE8@=DHdg To Contact =164.795662 degreesZEc!AbEt:EFo$?BEpo$?JE RE jE rE3>) ;I 9 iI{c6Ȯi 2@%<:@%w:) ))1I1 $Dacoustic_contact_range 38.520000 m$hTrackAcousticContact.heading_to_contact 2.876227 rad$JDUSBL_Hydroid.xAngle -9.700000 arcdegЯ* hyO(AYt*2@t*bA@yt*tt*3>t*H:-?@?~t@??@P??)u*2@ u* ;Iu*CxNMl>xRLEi`IbѓC)-yyQ}Eyͅ1>I Ip8ٮ QtI  UC9鰍: :)3p8 9)I tIi D :)g:I:9I9=OE@Contact HDG: 164.795662 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFIFQrFQbFYEYEY)m;Iu9 qqiqIq}|c6}iyy 2@<:@w: ߙi?A* _CO(AYtV<2@tVGKA@ytVjtVjs>tVHǣbʨ??o,???@Rj??)uV<2@ uV;IuVCx}c>x} EG@AH)SGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}#:}>yyQEʁͅT>I Ip8ٮ QtI  UC9鰍: :) Bp8 9)I tIi D  :):Io9I9*G2GFFrFbFEE);I9 iI{c6vi 2@<:@w: * O(A@ Yt*2@t*}A@yt*.!&t*G+>t*H`SJ@?r6?@`V?`Ą??@?)u*2@ u*#;Iu*CxBj>xBqEiPIP)dGF@YʕY5<>ʙʙQEʙͥn<>I Ip8ٮ QtI  UC9鰥: S:)Np8 9)I tIi D t:):IS9I9*G2GFFrFbFEE);I9  i I |c6&ǯi 2@<:@w: 1c* 4O(AYt*=3@t*A@yt* t*Yt>t*HF#@"2??`y?y?H??)u*=3@ u*E;Iu*CxNZ>xRzE)ixAF@]Ye:e>aaQeEimW<m>Iq I}p8ٮqq Q}tI q U}C9qu: uN:)ua\p8 9) 9I tIi D c:):I9I9*G)2G)F1F1rFYbFYEYEY)m;Iu9 iI{c6Z i 2@<:@w: >>* O(AYt*3@t*FB@yt*t*&w>t*Hx˹?`3?9P???@E?)u*3@ u*;Iu*CxN^R>xRZEHRa=HRp=i`Ib̓C)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:;>ʉʉQEʉ͍a<>I Ip8ٮ QtI  UC9鰝: :)Tjp8 9)I tIi D  :) :IN 9I9*G2GFFrFbFEE)u;Iu9 qyiyIy}|c6si 2@<:@w: o* O(A) I4t.H܊`?`?/`7?~ b??`?)u.}3@ u.G;Iu.CxRm>xR'E)ƄGF@-Y-<->11Q5E1=u;=>IA IMp8ٮAA QMtI A UMC9AE: E:)Ewp8 U9)QIQ ]tIiQ ]DQ UT:)U:IU9iIi9i*G2GFFrFbFEE);I9 iI{c6!°i 2@<:@w: * P(AYtjk3@tjvpB@ytjR:tj@ݑ>tjH+@@?`wq?W?` [?ɵ?)ujk3@ uj};Iuhxro>xvJEiIѓC)e҄Gm4=m%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YN<>QE:>I Ip8ٮ QtI  UC9: S:)t*H@v8c0Y?Z?@ =!?@[ D7?)?)u*3@ u*&y;Iu*CxB]>xBEG@H@)~GF@=YE!7E>AIQMEIMtl:M>IQ I]p8ٮQQ Q]tI Q UeC9QU: U:)Uep8 m9)aIa mtIia mDa e::)eԘ:Ie$9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI{c6%ji 2@<:@w: * ?HP(A@ Yt*ܞ3@t*KB@yt*~t*zk>t*HA@?@? qN?/_??W?)u*ܞ3@ u*w;Iu(xb:m>xbE {dY|dj8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I5̓C)GF@Y >QEƻ>I I p8ٮ QtI  UC9; '!;)p8 %9)!I! -tIi! -D! %:)%:I%-9AIA9A&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN-@Vehicle HDG: 173.943266 arcdeg .q'-'-*G12G58@F1F1rF9bF9E9EA)U;IU9 QQiYIY]8"8ieme8@ a2@m<:@mw: y$]RHorizontalControl.headingCmd 2.876227 rad!* ;bP(AYt*C3@t*NKB@yt*{3t*>t*H5 Gt?@C?``|?{f?`L??)u*C3@ u*Iv;Iu*CxBn>xBE){Bԇ=I{@i{B={B+>{@{@{@|BGB9|B :X?{S?)MvGiUwAUwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QE#>I  I p8ٮ   QtI  U5C9  E; ;) įp8 =9)9I9 EtIi9 ED9 =:)=:I=A69qIq9q=O@Contact HDG: 164.795662 arcdeg .''O 4Initialize Wait Component.*G 2G F)F)rF1bF1E9E92EAzEEGBEE&`H@ @EE :X?{S?EEԇ=EAEEJH^@EH?EEL~B?g~P ?EEXF@=mDHdg To Contact =177.568854 degreesZEE@bEEG:EE%o$?BEEFo$?JEE REE jEE?rEE );I9 iI(;i/W 2@<:@w: $Dacoustic_contact_range 49.980003 m$hTrackAcousticContact.heading_to_contact 3.099161 rad$%HDUSBL_Hydroid.xAngle 3.800000 arcdegV>i>K* {P(AYt*3@t*_B@yt*t*ě>t*HJ`"SQ?=?]` ?o`? ,?ȇ?)u*3@ u*u;Iu*CxR]>xRxEHR=HVa=ibf=Id)-dGF@Yʍ:>ʑʑQEʑ͝P;>I Ip8ٮ QtI  UC9鰥h: ):)p8 9)I tIi D \:)Գ:If>9I9*G2GFFrFbFEE);I9 iI  >i 5=  2@<:@w: )3%* =ѕP(A) I;Yt*3@t*LB@yt*:t*>t*HL~ѡ?? 9`(? ?'_??d?)u*3@ u*4u;Iu(xRRr>xVE)EGF@UY]9]>aaQeEam0m>Ii I}p8ٮii Q}tI i U}C9im: m:)mp8 9)I tIi D -:):IxG9I9*G2GFFrFbFEE);I9 iIDi 2@<:@w:C|w ]+* dP(AYt*3@t*OB@yt*Ϻt*J>t*Huh??@<'W?Y?v?Q?)u*3@ u*t;Iu(xBsj>xB(EiR=IP)~G%=a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm_:m>iiQmEqu:u>Iy Ip8ٮyy QtI y UC9y}t: }:)}p8 9)I tIi D }:)˵:IQO9I9*G2GFFrFbFEE);I9 iIH@i8콉 2@<:@w:Ui YiE2* P(AYt*3@t*OB@yt*0dVt*>t*H vw``?Y?%#`?J?~?`P?)u*3@ u*t;Iu*CxB:m>xBEGDHD)~SGF@ Y}:>QEI%>I! I-p8ٮ!! Q-tI ! U5C9!%F: %):)%p8 =9)1I1 =tIi1 ED1 5:)5:I5W9III9Q*Ga2GaFiFirFqbFqEqEq);I9 iIVXC@iT5 2@<:@w:? o8* bP(A@ Yt*y3@t*6B@yt*t*Z>t*H ! bʢ?W?@ ?TU?A?.?)u*y3@ u*a\t;Iu(xBi>xBEiPIRѓC)~dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye)e>aaQmEimqm>Iq I}p8ٮqq QtI q UC9qu ; uH;)u p8 9)I tIi D :):IU`9I9*G2GFFrFbFEE);I9 iI=@iG 2@<:@w:5E/ 9M>* ?P(AYt*r}3@t*}*B@yt*rxӺt*>^>t*H {Hƹ`]?@̇?`z? oZ?ќ??)u*r}3@ u*nt;Iu*CxBc>xB, E)|iF@=YE+LE>AAQEEIMM>IQ I]q8ٮQ M]q8Q Q]tI Q UeC9QU: U:)Uq8 m9)iIi mtIii uDi m>:)m:Imh9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI9@iؼ 2@<:@w:- R>>cE* Q(AYtB]3@tB B@ytB1tB >tBH`q??  ?4?F? S?@A?)uB]3@ uB@t;IuBCx^i>x^EHbR=Hdi|I|)aF@}Y};>ʁʁQEʁ͍>I Iq8ٮ QtI  UC9鰕%: J:)q8 9)I tIi D [:)o:Imq9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 173.714988 arcdeg .q''*G2GXF@FFrFbFEE) ;I 9  i)I)56@i5N5XF@ 92@=<:@Ew: $MRHorizontalControl.headingCmd 3.099161 radcK* 40Q(A)IYt*P3@t*[,B@yt*Eͺt*$>t*H빿@Ye?_?" e?Y??`VO?)u*P3@ u*Ht;Iu(xjl>xjE)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y5=>99Q=E9Eם;E>II IMq8ٮII QutI I UuC9IMR; M,;)MZq8 }9)yIy tIiy Dy }:)}E:I}z9I9=OM@Contact HDG: 177.568854 arcdeg .'M'MOM4Initialize Wait Component.*Gi2GiFqFqrFqbFyEyEy);I9 iI5@i 2@<:@w:X t*H`en?3?t?@~?@b?xBE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ibf=Id)҄G < =F@5Y= rE>AAQMEIMI?;U>IY Ieq8ٮYY QmtI Y UmC9Y]o; ]r;)]9,q8 9)I tIi D :):Iƃ9I9*G2GFFrFbFEIEI);I9 iI<6@ >i a2@m<:@mw:@o ߡi_X* idQ(AYt*T}3@t*_*B@yt*9t*ʥ>t*H `. ?ч? d, +?8?\? U?)u*T}3@ u*+Nt;Iu*CxB{]>xB/EG@H@)ƄGF@}Yʅ"#>ʉʉQEʉ͕,a>I Iq8ٮ QtI  UC9鰝:  :)(9q8 9)I tIi D :)|:I9I9*G2GFFrF!bF!E!E!)e;Ie9 aaiaIimrf7@imҩi 2@<:@w:&ּ ߱^* ~Q(A@ Yt.f93@t.qA@yt.&t.͠>t.H X@odo?? kA`9?g„?B?`n?)u.f93@ u.Gt;Iu.CxBh^>xBEiPIP)iiQmEqu)u>I9 IEq8ٮ99 QEtI 9 UEC999 =W:)=Gq8 U9)III utIiI uDI Mx;)M;IM쓔9I9*G2GFFrFbFEE)=;I=9 99i9I9E:@iEy?A I2@U<:@Uw:EU Ie* dQ(AYt* 3@t*ηA@yt* t*B˘>t*HfY:?sO?d?р?`?`?)u* 3@ u*jt;Iu*Cx>Q>xBE)GixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe6;m>iiQmEiuu>I Iq8ٮ QtI  UC9鰝ͭ: :)Tq8 9)I tIi D g<)@i%Y! )2@m<:@mw:UI i>>k* ->Q(AYt*+3@t*A@yt*Bͻt*>t*H`@0,V?˼?`@?@7y??@ʱ?)u*+3@ u*t;Iu*CxBRr>xBEHBp=H@iR=IP)F@Y%;%>!!Q-E)-;->I1 I=q8ٮ11 Q=tI 1 U=C9158: 5:)5bq8 M9)AIA MtIiA MDA E:)E:IE>9YIa9a*Gq2GqFqFqrFbFEE);I9 iIC@i8Dݽ 2@<:@w:I6 ~r* vQ(A)4t*H A???`x?`I ?@?)u*@c3@ u*t;Iu*CxBi>xBNE)~SGF@Y%Cf%>!!Q-E)- <->I1 I=q8ٮ11 Q=tI 1 U=C915@: 5:)5oq8 M9)AIA MtIiA MDA E:)E:IE9YIa9a*Gq2GqFqFqrFbFEE);I9 iI,G@iG 2@<:@w:hp  y* AQ(AYt*h3@t*s,B@yt*R2t*^>t*HDu??V@(?:f? T?!?)u*h3@ u*t;Iu*CxBm>xB'EiLIL)~G4=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeNe>iiQmEiu;u>Iy I}q8ٮyy QtI y UC9y}1: }:)}}q8 9)I tIi D :)ȗ:Iq9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9EGiEiA I2@M<:@Uw:MAɽ Yi7* $Q(AYt*ä3@t*QB@yt*Ft*>t*H9渿@? !?SO`c? ??@?w?)u*ä3@ u*tt;Iu(x>Wx>xBEG@H@)~+GF@Y%%>!!Q-E)-߼;->I1 I=q8ٮ11 Q=tI 1 U=C915: 5:)5rq8 M9)AIA MtIiA MDA ES:)E$:IEƽ9YIY9a&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN-@Vehicle HDG: 173.963907 arcdeg .q'-'5*GQ2GQFQFQrFYbFYEaEa);I9 iIoFi 2@<:@w:Qڽ * mR(A@ Yt6P3@t6[yB@yt6&t6q>t6H@7-$ l?M?6`? ڄ?`3?\?)u6P3@ u6t;Iu4xBj>xBqEiLIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye e>aiQmEimٿ;u>Iq Iq8ٮqq QtI q UC9qu: u:)uq8 9)I tIi D  :)A:IƔ9I9=O@Contact HDG: 177.568854 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%F%]i!! !2@M<:@Uw:M(K QH* 3R(AYt*F4@t*QB@yt*Et*Э>t*H`R?J#?`[ +#? ?tO?+?)u*F4@ u*t;Iu*CxBk>xBE)z{GixxF@}Yʍ>ʹʹQEʹ4<>I Iq8ٮ QtI  UC9: t:)q8 9)I tIi D 5:)':IGϔ9 I9*GA2GAFAFIrFIbFIEQEq);I9 iIlHi 2@<:@w:3 ߱p>J0* _MR(AYt*i4@t*C@yt*.nt*>t*Hz1 "?$۷?`)y?@ڍ?T? !?)u*i4@ u*xB*EHBa=H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)+GF@Y%q%>))Q-E)=^D<=>IA IMq8ٮAA Q}tI A UC9AE; E<)Eq8 9)I tIi D :):I6ؔ9I9MuJTimed out from 2019-04-01T23:09:52.9Z&u Mu|Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance&uM}Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'}'}O}8Uninitialize Wait Component.1)} R}`Aggregate::initialize lineCaptureHoming:Lap:Dockq)RtAggregate::initialize lineCaptureHoming:Lap:Dock:UpdateNav) S6Initialize SetNavComponent.FaFirFqbFqEqEy);I9 YiYIYie a2@m<:@mw:": ߹Z* ;gR(A)IYt*Fg4@t*QC@yt*ܨ}t*>t*HA@a??`V4zF?ȴ? %s?`Q?)u*Fg4@ u*!u;Iu*CxBi>xBE){B5zI{@i{Bx/>{B>{@{BA{@|B B9|BC>c?.xA)SGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQEʉ͍ƹ>I Iq8ٮ QtI  UC9鰕: :)q8 9)I tIi D :)ȗ:I9I9q)RxAggregate::uninitialize lineCaptureHoming:Lap:Dock:UpdateNav) S:Uninitialize SetNavComponent.)S4Initialize Wait Component.FFrFqbFyEyEy2EzE BE~?:jV@ h9EC>c?.xAE5zEEU I~Vےr+@paX׿E$Fￎ=L?^pE`?@=DHdg To Contact =171.327837 degreesZE[AbE:En$?BE%o$?JE~ RE jErE?);I9 iIi 2@%<:@5w:MY Q$uDacoustic_contact_range 91.020004 m$}hTrackAcousticContact.heading_to_contact 2.990235 rad$}JDUSBL_Hydroid.xAngle -3.500000 arcdegLB* R(AYt*3@t*˝B@yt*\1Rt*p:>t*HvC(??H?@E? ?l?)u*3@ u*_t;Iu*CxB"h>xBEiPIP)dG%= F@=YE;E>AAQMEIMM>IQ I]q8ٮQQ Q]tI Q U]C9QU: U:)Uq8 m9)aIa mtIia mDa e:)eݖ:Iei9yIy9FFrFbFEE);I9 iIi 2@<:@w:zҽ ߙi9l* _R(AYt*#|3@t*.)B@yt*给t*">t*H7V?Ռ?Od?G|? ?(?)u*#|3@ u*f}u;Iu*CxB\>xBEGBAAHD)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm}f<m>iiQuEquu>Iy Iq8ٮyy QtI y UC9y}ͭ: }l:)}}q8 9)I tIi D :):I9I9FFrFbFEE);I9 iIi 2@<:@w:Ba ߹H* :˴R(A Yt*'2@t*2A@yt*{Q 9t*a>t*H`@??_ e?`/!??)u*'2@ u*kw;Iu(xZe>x^P EihIj̓C)5GF@EYM<M>IIQMEIUZU>IY Ieq8ٮYY QetI Y UeC9Y]: ]>:)]"q8 u9)iIi utIii uDi m}:)m:Imt9I9FFrFbFEE);I9 iIi 2@<:@w:4|E ߡ(~* ]R(AYt*#2@t*.,A@yt*;t*=}>t*HӾ+?`'z?E@+? xRpE)MSGiUxAUwAF@]Ye2A<e>iiQmEiuguu>Iq I}q8ٮqq QtI q UC9qu: u:)uq8 9) 9I tIi D 5:):I 9I9FFrFbFEE);I9 iIi 2@<:@w:9 ia>>K* R(AYt*2@t*t*Hai?8??` t ?@s?)u*2@ u*ebx;Iu*CxBRr>xBEHB=HFp=iPIRѓC)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʵK_9>ʹʹQEʹ;>I Ir8ٮ Mr8 QtI  UC9: :)/r8 9)I tIi D :):I 9I9FFrF bF E E )%;I%9 !!i)I)i) 12@5<:@=w:A A)AIA /* `S(A);IYt.U2@t.A@yt.@;t.Œ>t.H6{/??>?(pIY? 6?)u.U2@ u.v;Iu.Cx>cX>x>E)GF@]Ye4e>aaQeEamm>Iq Ir8ٮqq QtI q UC9qu͐< u<)ur8 9)I  tIi  D :):Ie99I99AFFrFbFEE);I9 iIi 2@<:@w: * e9S(AYtR91@tRD6@@ytRΑ;tRMF>tRH@f??zp?62q@? ׼?)uR91@ uRu;IuRCxn0a>xrw EiI)}G}=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QEt>I  IUr8ٮ   QUtI  UUC9  < <) *%r8 e9)YIY etIiY eDY ]:)]:I]9I9FFrF bF EE)%;Im9 iiiiIiiq q2@}<:@}w: iYY#* 6S(AYt*h0@t*?@yt*t t*>t*H¿@QΧ? ?@J?Ma? 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I?)u*A@ u*᳈;Iu*CxBg>xBsE){BoI{@i{B={B>{@{BA{@|BGA9|B?)%SGF@-Y55>99Q=E9EE>II IMx8ٮII QUtI I UUC9IM: Mٮ:)M^9x8 9)I tIi D ȗ:)۞:Iuݘ9I9FFrFbFEE2EzEGAE7at+@HsOe@2E?EoEEo`m/R0@'(x(? Ek忌*BY?"{¿EF@=%DHdg To Contact =133.636613 degreesZEAbE|:Eo$?BE`o$?JE{ RE jEYrEԉ=)];I]9 YaiaIaia i2@m<:@uw: ߁$Dacoustic_contact_range 23.160000 m$hTrackAcousticContact.heading_to_contact 2.332399 rad$LDUSBL_Hydroid.xAngle -53.649999 arcdeg* ^(AYt*;B@t*FdQ@yt*-t*{^>t*H@ݶ_?^?˚S`b?q?܈?=xBEiPIT)G 4= 4=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmo;m>iiQuEquh0=u>Iy Ix8ٮyy QtI y UC9y}: }:)}dGx8 9)I tIi D :)÷:I9I9F1F1rF9bF9EAEA)u;Iu9 qyiyIyiy 2@<:@w: ߹i99έ* ^(AYt*VB@t*Q@yt*6t*br>t*H Z?R?dS@:?R??`E?)u*VB@ u*;Iu*CxBu>xBEG@H@)GF@=YEʓE>AIQMEIMrU>IQ I]x8ٮQQ Q]tI Q UeC9QU: U:)UTx8 m9)aIa mtIia mDa e:)eo:IeV9yI9FFrFbFEE);I9 iIi 2@<:@w: ƹ* (^(A@ Yt:B@t:Q@yt:t:;W>t:H@^*?` s?!?`?I?)u:B@ u:M;Iu:Cx^jw>x^"Ei|I|)Ga 1a 1 a 5a 5 a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y%M<->)1Q5E1=z<=>I9 IEx8ٮ99 QEtI 9 UMC99=: =t:)=cx8 U9)QIQ ]tIiQ ]DQ U1:)U:IU9aIi9iFyFyrFbFEE);I9 iIi 2@<:@w: * ^(AYt*{D@t*)S@yt*3t*^G>t*HW`B?gkĿ? &? ?b?)u*{D@ u*;Iu*CxRs>xRE)Gi%wA%wAF@=YE+E>AIQMEIM=M>IQ I]x8ٮQQ Q]tI Q UeC9QU: Ul:)Upx8 m9)aIa mtIia mDa e:)eȗ:Ie\9I9FFrFbFEE);I9 iIi 2@%<:@%w: Y1={>W* z_(AYt*C@t*R@yt*7ؼt*~=>t*H`ġ@[?<[]ÿ I?*??q?)u*C@ u*S;Iu*CxR_>xR EHRa=HTi`I`)mGF@uY}=>ʁʁQEʁ͍X>I Ix8ٮ QtI  UC9鰕: :)~x8 9) 9I tIi D :)n:I9I9FFrFbFEE);I9 iIi 2@<:@w: * TV!_(A) IYt.ӪD@t.WS@yt.˂t.y>t.Ha ?頿@SyĿ @?@Px?? ?)u.ӪD@ u.T;Iu.CxRk>xRE) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YuK=>QEt<>I Ix8ٮ QtI  UC9: :)x8 9)I tIi D O:):I9I9FFrFbFEE)5;I59 11i9I9i9 A2@E<:@Ew: Y* 1;_(AYt*D@t*S@yt*Uüt*S>t*H࢏?Ŀ`g? j? B? _O?)u*D@ u*tj;Iu*CxBk>x@iPIP)~G%=%=F@=YE>E>AAQMEIM<M>IQ I]x8ٮQQ Q]tI Q UeC9QU: U:)Ux8 m9)aIa mtIia mDa e:)e:Ie9yIy9FFrFbFEE)-;I-9 ))i)I1iQ Y2@]<:@ew: ߑi99s* _ U_(AYt*ZD@t*eQS@yt*jt*>>t*H5?v?4iĿi! ?`J?? m?)u*ZD@ u*W;Iu*CxNj>xRqEGPHP)dGF@-Y-5>11Q5E1=`=>IA IMx8ٮAA QMtI A UMC9AE:: E:)Ex8 ]9)QIQ ]tIiQ ]DQ U:)U:IUZ!9iIi9iFyFrFbFEE);I9 iIi 2@<:@w: .* n_(A@ Yt*E@t*t*H`V5c?΃`:ƿbR? ?r?q?)u*E@ u* †;Iu*CxBh>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y}<>!!Q%E!-=->I9 IEx8ٮ99 QEtI 9 UMC99=; =;)=x8 9)QIQ tIiQ DQ U<)UZ:IU*9iIi9qFyFrFbFEE);I9 iIi I2@M<:@Uw: q* Ĉ_(AYt*C@t*R@yt*t*B>t*H \S?DP?`ÿ@N 7R?@?@?@?)u*C@ u*B;Iu*CxB_>xB E){B:I{@i{B={B>{@{BA{@|BA9|BUx?T,_7ǿ)SGi%xA%xAF@]Ye:e>aaQeEam?m>Iq I}x8ٮqq Q}tI q U}C9qu: u-:)uox8 9)I tIi D }:):I29I9FFrFbFEE2EzEAE4@ cbEUx?T,_7ǿE:EEe94A:?KbE a%a? lEG@=DHdg To Contact =178.243854 degreesZEG$?bEp:Eqo$?BEo$?JE RE{ jErEY);I9 iIi 2@<:@w: $%Dacoustic_contact_range 20.939997 m$5hTrackAcousticContact.heading_to_contact 3.110942 rad$5LDUSBL_Hydroid.xAngle -10.450000 arcdeg=>=p>BA* _(AYt*C@t*ljR@yt*gt*LrX>t*H`?MJ¿I?,??EH?)u*C@ u*w};Iu*Cx>o>xBJEHBp=HBa=iPIT)dGF@=YE<E>AAQEEIMM>IQ I]x8ٮQQ Q]tI Q U]C9QU: U>:)Ux8 m9)aIa mtIia mDa eՐ:)e:Ie:9yIy9FFrFbFEE);I9 iIi 2@<:@w: Yk* z_(A);IYt.HuC@t.S"R@yt.Ķżt.d>t.Hx O?3 ¿H{k?@;?E?C3?)u.HuC@ u.^|;Iu.CxRp>xR%E)9a 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʽQS>ʹʹQEu>I Ix8ٮ QtI  UC9ͭ: ):)x8 9)I tIi D :)M:IC9 I 9 FFrF!bF!E!E))=;I=9 99iAIAiA I2@M<:@Mw: aR* &T_(AYt*6tA@t*A!P@yt*'վt*$>t*H̼?4u?4Xaѹ?ڗ?^?ɓ?)u*6tA@ u*;Iu(xBB`>xB EiR=IRѓC)G% ?%=F@]Ye4 ;e>aaQmEimm>Iq Ix8ٮqq QtI q UC9quд; u;)ux8 9)I tIi D [:),:I L9I9FFrFbFEE)-;I-9 ))i1I1i1 92@=<:@Ew: qi99|* #._(AYt*qSA@t*|P@yt*nt*D>t*H `?zڳ8h?`֍?[Y?i?)u*qSA@ u*i;Iu(xN[>xR EGRAAHP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y<>QEA>I Ix8ٮ QtI  UC9: į:)x8 9)I tIi D :) :IT9I9FFrFbFEE!)5;I59 19i9I9i9 A2@E<:@Ew: Y*e*  `(A Yt.۱?@t.^N@yt.üt.RY>t.H@4?w?`e4>) ?`~?L?E?)u.۱?@ u.;Iu.CxB"h>xBEiNF=IP)~GF@=YEżE>AAQMEIMφM>IQ I]y8ٮQ M]y8Q Q]tI Q UeC9QU^: U:)U<y8 m9)aIa mtIia mDa a)e:Ie\9yIy9FFrFbFEE)-;I-9 ))i)I1iQ Y2@]<:@]w: ߑ* #`(AYt*F?@t*M@yt*Ǽt*QI>t*H a?j?`< KG@83?z?j?@X_?)u*F?@ u*&;Iu*Cx6B`>x6 E)rGirwAvwAa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEfvM>IIQMEIUU>IY Iey8ٮYY QetI Y UeC9Y]: ]):)]y8 u9)iIi utIii uDi m:)m:Ime9I9FFrFbFEE);I9 iIi 2@<:@w: 5R>=t>ʸ* r=`(AYt*>@t*HM@yt*˼t*oM>t*Hɱ??)ܰ@G 5?b??9Y?)u*>@ u*4;Iu*CxBa>xB EHFa=HFp=iPIP)SGF@=YEОE>AIQMEIMAռM>IQ I]y8ٮQQ Q]tI Q UeC9QU2: UW:)U#y8 m9)aIa mtIia mDa e:)e:Ien9yI9FFrFbFEE);I9 iIi 2@<:@w: * W`(A)4t*H#?B?jd@?@Zh??@l?)u*Z=@ u*i;Iu*CxB"h>xBE)~jGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yej<e>aaQeEam;Dm>Iq I}y8ٮqq Q}tI q U}C9quu: u:)u1y8 9)I tIi D :):Iv9I9FFrFbFEE);I9 iIi 2@<:@w: '* >wq`(AYt*9=@t*DL@yt*t*D^>t*H`?@s?櫿`/1`9?]C?V? =?)u*9=@ u*{;Iu*CxBv>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 in=Ip)M{Ge%=m=F@Yʽ;>QEQ<>I Iy8ٮ QtI  UC9; Z;)?y8 9)I tIi D z ;)N;Ia9I9F)F)rF1bF9E9E9)];I]9 YaiaIaii i2@u<:@}w: ߑi99"* aR`(AYt2=@t2L@yt2#缙t2+]b>t2HZ?؏? G۫ *`<7?@y?@ ?`y5?)u2=@ u2;Iu2CxB"h>xBEGF?AHD){F5I{Di{F ={F>{D{F B{D|F(HB9|FD/vq ?&k۱)vGF@]YeLe>aaQeEimEm>Iq I}y8ٮqq Q}tI q U}C9quu: u:)uPMy8 9)I tIi D %:)9:I9I9FFrFbFEE2EzE(HBEU_H@`Gi ED/vq ?&k۱E5EEdO!I@5?[=)?E(0dA?j"S?E0H@=DHdg To Contact =179.217265 degreesZE.?bEH:E$o$?BEqo$?JERE jE$?rE);I9 iIi 2@<:@w: $%Dacoustic_contact_range 50.039997 m$5hTrackAcousticContact.heading_to_contact 3.127931 rad$5JDUSBL_Hydroid.xAngle -4.000000 arcdeg(* .`(A Yt.F=@t.QL@yt.żt.>t.H L??@] {??`k?M?)u.F=@ u.Vb;Iu.CxBh>xBEinF=Il)=Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y <>QE<;>I Iy8ٮ QtI  UC9J; :)[y8 9)I  tIi  D }:) :Ix99I999FIFIrFqbFqEqEy);I9 iIi 2@<:@w: @/* `(AYt*Λ>@t*HM@yt*t*.>t*H@1?XJ?ి@Ow? ?@k?@?)u*Λ>@ u*;Iu*CxN_>xR E)]GiYexAF@mYm @<u>qqQuEq}<}>I Iy8ٮ QtI  UC9鰅: :)hy8 9)I tIi D :)$:I9I9FFrFbFEE);I9 iIi 2@<:@w: 5>=p>5* v`(AYt*)>@t*4L@yt*kǼt*9gd>t*H`ٯ?@!? 5ԭ$uq?? MN?2?)u*)>@ u* ;Iu(xBn>xBEHFp=HDiPIP)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʵQ?>ʹʹQEʹ1>I Iy8ٮ QtI  UC9: t:) wy8 9)I tIi D :):Ia9I9FFrF bF E E )%;I%9 !!i!I!i) )2@5<:@5w: I<* `(A) IYt.>@t.M@yt.mt.M>t.H`eβ? h?`% ?Gm?x??)u.>@ u.B|;Iu.CxBRr>xBE)~GF@=YEQ;E>AAQMEIM<M>IQ I]y8ٮQQ Q]tI Q U]C9QU: U:)UTy8 m9)aIa mtIia mDa e%:)eZ:Ie9yIy9FFrFbFEE)-;I-9 ))i)I1i1 92@=<:@Ew: qC*  a(AYt*>@t*M@yt*e<t*>t*H@@?z?`oH)U`?І?@(?j?)u*>@ u*æ{;Iu*CxNo>xRJEi\I^̓C)G%4=%%=F@-Y5Ӽ5>11Q5E1=yL;=>IA IMy8ٮAA QMtI A UMC9AE: E:)E y8 ]9)QIQ ]tIiQ ]DQ US:)U:IU 9iIi9iFyFrFbFEE);I9 iIi 2@<:@w: iM@AI*I* s&a(AYt*>@t*EM@yt*f߸t*@>t*H 2ñ?n?uӰ ڵ@|?@l?m?@5?)u*>@ u*xBIEGB@AHBAA)~ׄGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]@<e>aaQeEamem>Iq Iuy8ٮqq Q}tI q U}C9qu: u:)uy8 9)I tIi D :):I9I9FFrFbFEE);I9 iIi 2@<:@w: P* P@a(A Yt.>@t.M@yt.}鼙t.Į>t.H@W?@D?R`|? .?d? ??)u.>@ u.Igw;Iu.CxB_>xB EiPIVѓC) AAQMEIMbp<M>IQ I]y8ٮQQ Q]tI Q UeC9QU: U:)Uy8 m9)aIa mtIia mDa e:)e:IeÙ9yIy9FFrFbFEE);I9 iIi 2@<:@w: ]=V* +Za(AYt*_>@t* M@yt*Zt*xq>t*Hs ?t? گ` ?.?,??)u*_>@ u*ex;Iu(xBi>xBE)~GixAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye1<e>aaQmEimm>Iq I}y8ٮqq Q}tI q U}C9qu: uB:)uy8 9)I tIi D :):I˙9I9FFrFbFEE);I9 iIi 2@<:@w: 1=a> g\* ta(AYt*]?@t* N@yt*9t*>t*Hm ?Ir,峿 K_?f?q?e?)u*]?@ u*sx;Iu(xBsj>xB(EH@HBa= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IA)+GF@=YELͺE>IIQMEIU=]>Ia Imy8ٮaa QmtI a UuC9aeД< e<)epy8 9)I tIi D :)I:I6ՙ9 I9FFrFbFEE);I9 iIi 2@%<:@%w: YOc* a(A);IYt.FN>@t.QL@yt.fA⼙t.y>t.H`?wk? S'j`]? AG?`in?z?)u.FN>@ u.y;Iu.CxNi>xNE)uSGF@Yʅː>ʉʉQEʉ͕2>I Iy8ٮ QtI  UC9鰝: x:)]y8 9)I tIi D Ր:) :Iܙ9I9SDone Waiting.)S8Uninitialize Wait Component.1*FFrFbFEE);I9 iIi 2@ <:@ w: !yi* ཧa(AYt* ?@t*ĸM@yt*t*>t*H8@z?Qxe?9@@ ?@?h?`?)u* ?@ u*Ow;Iu*CxBv>xBGEiPIP)G %= a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmHP<m>iiQmEqu<u>I Iy8ٮ QtI  UC9j; ";)ny8 9)I tIi  D :):I9I9G%1*-q*-F)F)rF1bF1E1E9)M;IM9 IIiQIQiq y2@}<:@w: ߱i99`p* a(AYt*">@t*L@yt*ݼt*Zq>t*H`@m1?伉?`{ `? E??E?)u*">@ u*%x;Iu*CxBmd>xBu EGDHF@A)ƄGF@=YE9E>AIQMEIMM>IQ I]y8ٮQQ Q]tI Q UeC9QUS: U:)Uy8 m9)aIa mtIia mDa e[:)e:Ie9yI9Gq*RHCompleted lineCaptureHoming:Lap:Dock1) RdAggregate::uninitialize lineCaptureHoming:Lap:Dock* UfAggregate::initialize lineCaptureHoming:Lap:Rollout*U|Aggregate::initialize lineCaptureHoming:Lap:Rollout:NavToStart1+ V:Initialize WaypointComponent.FFrFbFEE);I9 iIi 2@<:@w: aVv* ra(A Yt*i>@t*tgM@yt*jxt*J>t*H67?@QqzZ Ϧ ?` ?? Z?)u*i>@ u*(x;Iu(xRu>xREi\I\)-ׄGF@EYM<M>IIQMEIU"<U>IY Iez8ٮY Mez8Y QetI Y UeC9Y]: ]:)]tz8 u9)iIi utIii uDi mp:)m:Im29I9*UAggregate::uninitialize lineCaptureHoming:Lap:Rollout:NavToStart1+ V>Uninitialize WaypointComponent.q+VAggregate::initialize lineCaptureHoming:Lap:Rollout:MaintainHeading+ W4Initialize Wait Component.q%JzAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder% K~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:AFFrFbFEE)-;I-9 iIi 2@<:@w: |* /Na(AYt*t>@t*"M@yt*Lt*ᮉ>t*H`ӭ?3? D???`/?)u*t>@ u*w;Iu*CxN5g>xR*E)҄GiwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}[ }>ʁʁQEʁͅ )>I Iz8ٮ QtI  UC9鰍: -:)vz8 9)I tIi D :)E:I9I9FFrFbFEE);I9 iIi 2@<:@w: 5R>=x>* (b(AYt*O>@t*Z4M@yt*Wt*J>t*H @m ?r?]YMC?*?`E+? ^?)u*O>@ u*(y;Iu*CxBjw>xB"EH@H@iN=IP)~vGF@=YEv<E>AIQMEIM8;M>IQ I]z8ٮQQ QetI Q UeC9QU: U:)Uz8 m9)i m9Ii mtIii uDi m :)m:Im49I9FFrFbFEE);I9 iIi 2@<:@w: ɉ* 5 )b(A)IYtF[>@tFf`M@ytFҼtFi}>tFH`T?3?@_=` ?R^?[??)uF[>@ uF-rw;IuDxNd>xN E)eGF@Y˛>QE`;>I Iz8ٮ QtI  UC9h: :)*z8  9)I  tIi  D }:)Ԙ:I&9I9!F)F1rF9bF9E9E9)U;IU9 QQiQIQiY Y2@e<:@ew: yc* Bb(AYt*>@t*ʜM@yt*t茼t*3>t*Hn? r?@!/l ]?՜?D?`߁?)u*>@ u*rw;Iu*Cx65g>x6*EiBF=ID)%ƄG-4=)a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍް<>ʉʑQEʑ͝<>I Iz8ٮ QtI  UC9鰝: J:)7z8 9)I tIi D :)^:Ik9I9FFrFbFEE);I9 iIi 2@ <:@ w: !i=?A9Dٖ* \b(AYt* @@t*۹N@yt*ʼt*Tj>t*H@uv?ȸo?@*1?9@?@?(?)u* @@ u*!w;Iu(xRPY>xREGV?AHT)]ʑʑQEʑ͝.0=>I Iz8ٮ QtI  UC9鰥}: >:)Ez8 9)I tIi D ):):I 9I9FFrFbFEE);I9 iIi 2@ <:@w: ! * vb(A@ Yt*.?@t*9^N@yt*Ǽt*V>t*Ho?ez?`1``-/??`?I?)u*.?@ u* x;Iu(xR}v>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)SGa 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y: >  QE<>I I%z8ٮ Q%tI  U-C9: ;)BVz8 M9)III MtIiI UDI M:)M':IM<+9YIa9aFFrFbFEE);I9 iIi  2@<:@w: q* qb(AYt.@@t.UO@yt.Ļt.R>t.H ˶? c?@ ($O? x?`%? Q?)u.@@ u.w;Iu.CxBW>xBE){B:I{@i{Bz={B>{@{BA{@|B̸A9|B9L?n p\?)5dGi99F@MYMܖ;M ?QQQUEQ]D=]?Ia Iez8ٮaa QmtI a UmC9aeS: eW:)e`z8 u9)qIq }tIiq }Dq u@;)u;Iu19I9FFrFbFEE2EzE̸AE7@4p?E9L?n p\?E:EEnvA%6Pd4?E'o+2 QVzb"G՗?EqO@=DHdg To Contact =185.713253 degreesZE"bEշ:Elo$?BE$o$?JE REjE ?rE$?);I9 iIi 2@ <:@w: $]Dacoustic_contact_range 23.099997 m$ehTrackAcousticContact.heading_to_contact 3.241308 rad$mHDUSBL_Hydroid.xAngle 0.100000 arcdeg5V>=]>* Kb(AYt*@@t**3O@yt*kt*Q>t*H )4?'j?쁸 J- ?a?0?@S?)u*@@ u*7w;Iu*CxR"h>xREHPHTif=Id)-Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ?/>ʙʙQEʙͥ>I Iz8ٮ QtI  UC9鰥ի: :)oz8 9)I tIi D 5:)j:I~:9I9FFrFbFEE);I9  i I i  2@<:@w: )M* *b(A)4t.H5?Ng@㺿9 r?N?@N??)u.pA@ u.suy;Iu.CxBk>xBE)5vGF@EYE:E>IIQMEIU}<U>Iy I}z8ٮyy QtI y UC9y}: }5:)}|z8 9)I tIi D -:) :IB9I9FFrFbFEE);I59 11i1I1i9 92@E<:@Ew: yO(* Bb(AYt*@@t*mO@yt*Hͼt*]b>t*H2?d?h j>xBqEiNF=IN̓C)~G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeVe>iiQmEiuiu>I Iz8ٮ QtI  UC9鰽: W:)z8 9)I tIi D p:):IK9I!9!F1FqrFybFyEyEy);I9 iIi 2@<:@w: i99YQ* b(AYt2;A@t2FO@yt2+ګt2yB>t2H } /?P?#hm>N? z?(?@j?)u2;A@ u2"w;Iu2CxBv>xBGEG@HD)ƄGF@Y%%)<%>))Q-E)5j"<5>I1 I=z8ٮ11 QEtI 1 UEC9152: 5:)5z8 M9)III MtIiI UDI M:)M :IMS9I9FFrFbFEE);I9 iIi 2@<:@w: :* c(A@ Yt.Q@@t.N@yt.^-t.HJ>t.H`C?]?@;+8?L??h_?)u.Q@@ u.xv;Iu.Cxjp>xjEi5=I5ѓC)GF@Yʽ :>ʹʹQEʹ>I Iz8ٮ QtI  UC9: :)z8 9)I tIi D }:)Ԙ:IS]9I9FF rF bF EE)5;I=9 99i9I9iA A2@M<:@Mw: yCd* +c(AYt*)g@@t*4O@yt*8t*K4>t*H ^?n?gZ?`&?v??)u*)g@@ u*v;Iu*CxB]>xBE)5Gi99F@]Ye5e>aaQmEimk;m>Iq I}z8ٮqq Q}tI q UC9qu: u:)uγz8 9)I tIi D -:)ݖ:Id9I9FFrFbFEE) ;I9 i1I1i9 92@E<:@Ew: q5R>=>L* ;sEc(AYt.g@@t.O@yt.)tмt.B>t.H`(Jո?&}?kDe? ?@12?i?)u.g@@ u.b>x> EH@HBp=iRF=IP) SGF@=YE:DE>AAQEEAM8M>IQ Iz8ٮQQ QtI Q UC9QUl< U<)Usz8 9)I tIi D :)ȗ:Im9I9F FrF1bF9E9E9)M;IU9 qqiqIqiy y2@<:@w: ߑ]v* L_c(A);IYt.kL@@t.vN@yt.WMt._=>t.H?vX?@@[O࿧? `I? i?r?)u.kL@@ u."[u;Iu.CxBn>xBE)~dG Ponly read 0 of 1 data item for BIT error.Failed to parse: :TS73 F@Y%^<%>!!Q-E)-O->I1 I=z8ٮ11 Q=tI 1 U=C915ܹ: 5:)5z8 M9)AIA MtIiA MDA E:)E$:IEu9YIa9aFqFqrFbFEE);I9 iI)i1 12@=<:@=w: ߉t* 'yc(AYt*h@@t*O@yt*Lt*XF>t*H(@f?gR?`??<)?@2?`d?)u*h@@ u*#u;Iu*CxBg>xBsE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ib=Id)UGe=iF@YʝJ>ʡʡQEʩ͵u;>I Iz8ٮ QtI  UC9; @;)z8 9)I tIi D :):I~9I9FFrFbFEE);I9 iIi! !2@m<:@mw: yi99i* c(AYtVP@@tVN@ytVEtVB>tVH`A?f?魷FY?d>?4?ej?)uVP@@ uVZ-u;IuVCx=W>x=EGU@AHQ)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q E 5T5>I9 I=z8ٮ99 QEtI 9 UEC99=:: =:)=z8 m9)III utIiI uDI MB;)M);IM+9I9FFrFbFEE);I9 iIi  )2@5<:@5w: Ab* ݬc(A Yt*@@t*?O@yt*gt*VO>t*HU}??`?`- $ ?^??@ET?)u*@@ u*v>u;Iu*CxB'n>xBpEiRF=IP)+GF@Y%ü%?!!Q-E)-C<-?I1 I=z8ٮ11 Q=tI 1 U=C915@: 5:)5xz8 M9)AIA MtIiA MDA Eh:)E9:IEK9YIa9aFqFqrFbFEE);I9 iIi 2@<:@w: L* c(AYt*-@@t*N@yt*t*rQ>t*H`S׷?uRp? "0 &?`v??@!S?)u*-@@ u*lu;Iu*Cx>=Z>xB1E)SGi F@Y%t<%>!!Q-E)- z->I1 I={8ٮ1 M={81 Q=tI 1 UEC915T: 5:)5A{8 M9)AIA MtIiA MDA E[:)E:IEΗ9I9FFrFbFEE);I9 iIi 2@<:@%w: q=>={>* c(AYt*Fj@@t*QO@yt*'t*_`>t*H ȸ?`?@.?k? ?``9?)u*Fj@@ u*OYu;Iu*Cx>i>xBEHBa=H@iPIP)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥٹ>ʩʩQEʩ͵<>I I{8ٮ QtI  UC9鰽l: p:){8 9)I tIi D S:)˵:I9I9FFrFbFEE);I9 iIi! !2@-<:@-w: 9)* mc(A)4t*H@ ֐?Ws?`ٵ@F7`? .?g?U?)u*$?@ u*yu;Iu(xBu>xBE)~ׄGF@Yʅ:>ʉʉQEʉ͕>I I{8ٮ QtI  UC9鰝ͭ: l:)E"{8 9)I tIi D :):I9I9FFrFbFEE);I9 iIi 2@<:@ w: 6* oId(AYt*?@t*N@yt*׼t*YY>t*H?\?H@&&?? ? `E?)u*?@ u*Zu;Iu*CxBxp>xBEiLIL)~G%=F@EYMU>YYQeEae:e>Ii Iu{8ٮii QutI i U}C9im: m8:)m/{8 9)yIy tIiy Dy }:)}˚:I}}9I9!FqFyrFbFEE)=;I=9 9AiAIAiA I2@<:@w: ߡi99 * K#.d(AYt*ߌ?@t*9N@yt*/t*]U>t*HJ?Un?Z1V?`e?x?M?)u*ߌ?@ u*{7v;Iu(xBZe>xB EG@H@)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y][<e>aaQeEamRm>Iq I}{8ٮqq Q}tI q U}C9qu: u :)u={8 9)I tIi D :)E:I9I9FFrFbFEE);I9 iIi 2@<:@w: * CGd(A@ Yt*G~?@t*R+N@yt*et*UF>t*HI.?~%?fI?[?,?`c?)u*G~?@ u*av;Iu*CxBh>xBEiN=IP)~GF@=YEջE>AAQMEIMM>IQ I]{8ٮQQ Q]tI Q UeC9QU: U:)UTK{8 m9)aIa mtIia mDa e[:)eo:Ieqš9yIy9FFrFbFEE);I9 iIi 2@<:@w: * ad(AYt*?@t*M@yt*ܹt*mR>t*H ӛ?*1}?JѲ:I?;?$?`)Q?)u*?@ u*v;Iu*CxBt>xBlE)zʁʁQEʁ͍v>I I{8ٮ QtI  UC9鰕: :)dY{8 9)I tIi D Ր:) :I˚9I9FFrFbFEE);I9 iIi 2@<:@w: 5>=>;* }{d(AYt*Z?@t*N@yt*ȼt*8 H>t*H ? D5?`AسH?? ?a?)u*Z?@ u*v;Iu*CxB]>xBxEHBR=HD {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ifF=If̓C)eGF@Y>QE<>I I{8ٮ QtI  UC9{; ;)g{8 9)I tIi  D :):IӚ9!I!9!F9F9rFAbFIEIEI)m;Im9 iqiqIqiy 2@<:@w: o$%* d(A);IYt62l?@t6=N@yt6dt6 Z>t6H@W?d$J?e+ T$?QL?` ?`E?)u62l?@ u6v;Iu6CxNHf>xR E){RdI{Pi{RŊ={R$>{P{RA{P|RUA9|R 29?QC1ml)=҄GF@MYM?<U>QQQUEQ]5;]>Ia Im{8ٮaa QmtI a UmC9ae: e:)et{8 }9)qIq }tIiq }Dq u:)u:Iuܚ9I9FFrFbFEE2EzEUAẸ*@1o AΧE 29?QC1mlEdEEƅ*ʕ7KJk5?E#9dޯ<@ݡr?EUM@=DHdg To Contact =184.313543 degreesZE7bE|T:Eo$?BElo$?JE RE jEi>rE ?);I9 iIi 2@<:@w: $Dacoustic_contact_range 13.319998 m$%hTrackAcousticContact.heading_to_contact 3.216878 rad$-JDUSBL_Hydroid.xAngle -0.200000 arcdeguN+* t*H д?t?  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EiPIP)5+G54=1F@uY}_ڻ}>ʁʁQEʁͅ;>I I}8ٮ QtI  UC9鰍: :)}8 9)I tIi D :)Z:IJ9I9FFrFbFEE);I9 iIi 2@<:@w: i99A* &8i(AYt*}4@t**C@yt**;t*>t*H?`ֶU ?`?৩@ V?@~Se"e? ?)u*}4@ u*u;Iu*CxNv>xREGRAAHP)GF@-Y-ME;5>11Q5E1}F);>I I}8ٮ QtI  UC9鰕: ݱ:)}8 9)I tIi D ;);IR9I9F!F)rF)bF)E1E1)e;Ie9 iiiiIiii 2@<:@w: ߩG* !i(A Yt.54@t.B@yt.;t.>t.H AiH?U?=7?͡}`{?F?)u.54@ u.{u;Iu.CxNKS>xREi\I\){Ga 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ7<>ʁʁQEʁ͍0>I I}8ٮ QtI  UC9鰕< I<)k}8 %9)!I! %tIi! -D! %F:)%:I%z[9YIY9YFiFirFqbFEE);I9 iIi 2@<:@w: 6 N* :i(AYt* 4@t*B@yt*9;t*U6>t*H`"ͷ?&?{`n? `b??)u* 4@ u*_pu;Iu*CxNp>xRE)+GiF@]YejLe>aaQmEimRm>Iq I}}8ٮqq Q}tI q U}C9qu: u:)u}8 9)I tIi D :)Ԙ:Ic9I9FFrFbFEE);I9 iIi 2@<:@w: q5R>=p>T* Ti(AYt*y3@t*DB@yt*F>t*D>t*H*}?`C ?d?g?0?ُ?)u*y3@ u*u;Iu*CxNq>xREHRp=HRp=i`I`)SGF@-Y5S5>19Q=E9EE>IA IM}8ٮAA QUtI A UUC9AE: E:)E}8 ]9)QIQ ]tIiQ eDQ U%:)UZ:IUk9iIq9qFFrFbFEE);I9 iIi 2@<:@w: 1[* ni(A) I Yt*SB3@t*^A@yt*t*H?@@̏? r?_d?Z??@i?)u*SB3@ u*/u;Iu*CxNMl>xRLE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥ|E;>ʡʡQEʡͭK>I I~8ٮ M~8 QtI  UC9鰵: :) ~8 9)I tIi D %:)9:It9I9FFrFbFEE) ;I 9 iIi 2@%<:@%w: 1.b* i(AYt*3@t*7B@yt*0 ;t*).>t*H]?vS?A\ ?az`?q?)u*3@ u*Rpu;Iu(xNc>xR E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)}G%=F@Y<>QE,0<>I I~8ٮ QtI  UC9; ;)~8 9)I tIi  D :):Im}9!I!9!F9FArFAbFIEIEI)m;Im9 qqiqIqiy 2@<:@w: ߩi=?A9K1h* \i(AYt2[3@t2B@yt2:t2FJ>t2H`Ի!?@ ? ) K1?Z@M?X?)u2[3@ u2pu;Iu0xBk>xBEGF@AHD){FI{Di{F={D{D{FB{D|FA9|FEä?|ӄ{)҄GF@]YeKe>aaQeEimSm>Iq I}~8ٮqq Q}tI q U}C9qu: uJ:)u9&~8 9)I tIi D :)ȗ:I9I9FFrFbFEE2EzEAEږz=a1@CJEEä?|ӄ{EEEIp01]8 @& FE-Zￔ{Q?6EO<@=DHdg To Contact =168.585652 degreesZE]@bEو:E{o$?BEmo$?JE RE jE rE2);I9 iIi 2@<:@w: $-Dacoustic_contact_range 17.459999 m$5hTrackAcousticContact.heading_to_contact 2.942375 rad$=JDUSBL_Hydroid.xAngle -5.400000 arcdeg[n* ~9i(A Yt.B 3@t.MA@yt.Vbt.>t.H=[?U?@#3;?Jl? c? U?)u.B 3@ u. u;Iu.CxNe>xRP Ei`I`)=ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭH>ʩʩQEʱ͵G>I I~8ٮ QtI  UC9S: а:)_4~8 9)I tIi D Ր;)];IZ9 I 9 FFrF!bF!E!E))=;I=9 99iAIAiA I2@M<:@Mw: aCu* i(AYt*3@t**A@yt*H t*W>t*HHS{g??@?)!A?@U#?H4?)u*3@ u*u;Iu(xNp>xR%E)]GiexAexAF@mYu;u>yyQ}Eyͅ\;>I I~8ٮ QtI  UC9鰅: ):)A~8 9)I tIi D :):I9I9FFrFbFEE);I9 iIi 2@<:@w: 5>5l>m{* i(AYt*bo3@t*mB@yt*(:t*C>t*H@s0ʠ?@?`%O?%_@\k?S?)u*bo3@ u*{u;Iu*CxBx>xBEHBa=HFa=iPIP)~vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YW;>QE t>< >I I5~8ٮ Q=tI  U=C9; ;)EP~8 E9)AIA MtIiA MDA E:)E:IE9yIy9yFFrFbFEE);I9 iIi 2@<:@w: 1U*  j(A);IYt.E3@t.A@yt.Ā t.g>t.H@u X? d?FC`:?A? =?7s?)u.E3@ u.@u;Iu.CxNe>xRP E)dGF@]YeDлe>aaQeEim׻m>Iq I}~8ٮqq Q}tI q U}C9qu: u:)u`]~8 9)I tIi D :):I9I9F)F)rF1bFQEQEY)m;Im9 iiiiIii 2@<:@w: K* ף#j(AYt* 3@t*A@yt*gt*{>t*H A?P?,R? LQ?v? Q?)u* 3@ u*Gt;Iu*Cx6u>x6Ei@ID)rGvR=v4=a 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMM>IIQUEQU U>IY Ie~8ٮYY QetI Y UmC9Y]ٮ: ]5:)]k~8 u9)iIi utIii uDi m :)m:Im9I9FFrFbFEE);I9 iIi 2@<:@w: i=@A9* }=j(AYt*b3@t*B@yt*Xۣt*J>t*H``X`ض? ?C?j{T? ?>F?)u*b3@ u* 6u;Iu*CxBZ>xBzEGFAAHD)~SGF@=YEE>AIQMEIMY<M>IQ I]~8ٮQQ Q]tI Q UeC9QU: U:)Ux~8 m9)aIa mtIia mDa e:)e :Ie9q } }Software FaultI9FFrFbFEE);I9 iIi 2@<:@w: !xSoftware Fault in component: DeadReckonWithRespectToSeafloork* ZWj(A Yt.3@t.B@yt.7t.ƛ>t.H@-`fڸ6?#?0_@?`R?D,??)u.3@ u.u;Iu.CxBr>xBIEiPIRѓC) dGa 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu9u>qqQ}Ey}h<>I I~8ٮ QtI  UC9鰅y: ::)҆~8 9)I tIi D \:)Ԙ:I<9I9FFrFbFEE);I9 iIi 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq  ܻ* 7qj(AYt*3@t*B@yt* ul9t*,9>t*H <??`@.?-+E??)u*3@ u*G u;Iu*CxBq>xBE)~GiwAwAF@=YE^_;E>AAQMEIM;M>IQ I]~8ٮQQ Q]tI Q U]C9QU: U:)Ud~8 m9)aIa mtIia mDa e̒:)e:Ieɜ9yIy9yFFrFbFEE);I9 iIi 2@<:@w: 5V>1 * Mj(AYt*S3@t*!B@yt*ݸ:t*>t*H-`? ;0?`[@C?@W? ȋ?)u*S3@ u*t;Iu(xVf>xV EHXHX {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)QEļ>I I~8ٮ QtI  UC9 ; ;)ޢ~8 9) I  tIi  D  ;) ;I Ҝ9)I191FIFIrFQbFYEYEY)};I}9 yiIi 2@<:@w: ߹ͨ* j(A) IYt.y'3@t.A@yt.9t. />t.HY޻@?ݼ?s ?`1`? ?)u.y'3@ u.2\u;Iu.CxBo>xBE)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ;>ʹʹQEʹڻ>I I~8ٮ QtI  UC92: :){~8 9)I tIi D S:)$:Iڜ9I9FFrF bF E E)%;I%9 !)i)I)i) 12@5<:@=w: I* ƾj(AYt*3@t*bB@yt*/Jt*a>t*H l)v`0??`3?@#Zi? xBEiPIP)G 4= %=F@mYm u>qqQuEq}<}>I I~8ٮ QtI  UC9鰅: :)~8 9)I tIi D :):IE9I9FFrFbFEE);I9 iIi 2@<:@w: i=?A9%ߵ* j(AYt*3@t*&iB@yt*BŖ:t*>t*HǹL??1?R@??)u*3@ u*"t;Iu*CxBMl>xBLEGF?AHD)vGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmq,<m>iiQuEquā:u>I I~8ٮ QtI  UC9ͭ: :)E~8  9) I  tIi  D  :) :I 9!I!9!FQFYrFYbFYEaEa);I9 iIi 2@<:@w: ߹ * }j(A Yt*T3@t*B@yt*x;t*>t*Hw@攖? O*?5?/y C??)u*T3@ u*&"u;Iu*CxN"h>xREi\I^̓C)GF@-Y-N<5>11Q5E1==>IA IM~8ٮAA QMtI A UMC9AE:: E:)EA~8 U9)QIQ ]tIiQ ]DQ Ul:)U:IU9iIi9iFyFrFbFEE);I9 iIi 2@<:@w: * \Y k(AYt*t3@t*!B@yt*f;t*q>t*H@V캿? ;?y#?l??)u*t3@ u*}t;Iu*CxBi>xBE)zƄGi~yA~xAF@=YEӻE>AAQMEIM;M>IQ I]~8ٮQQ Q]tI Q U]C9QU: U:)U~8 m9)aIa mtIia mDa e::)e :Ie9yIy9FFrFbFEE);I9 iIi 2@<:@w: 5>5>C* 2&k(AYt*74@t*BB@yt*t*;>t*H@@?;?[?`3s? ww? ?)u*74@ u*4t;Iu*CxBo>xBJEHBp=HBp=iLIP)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ2>ʁʁQEʉ͍þ<>I I~8ٮ QtI  UC9鰕`: :).~8 9) 9I tIi D 9:)M:I]9I9FFrFbFEE);I9 iIi 2@<:@w: * @k(A) IYt*&4@t*1B@yt*Ǩt*Լ>t*Hdd`D?k?@s(?U?J@??)u*&4@ u*/u;Iu*CxB}v>xBE)~GF@=YE <E>AAQMEIMM>IQ I]8ٮQ M]8Q Q]tI Q UeC9QU0: U4:)U8 m9)aIa mtIia mDa e:)eԘ:Ie 9yIy9FFrFbFEE);I9 iIi 2@<:@w: -* OYk(AYt*w3@t*$B@yt*V;t*>t*H%@ؘ?랻?|@?y?@˶?)u*w3@ u*lIu;Iu*Cx^>x^@EilInѓC)=vG=%=Aa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥS<>ʡʡQEʡͭ>I I8ٮ QtI  UC9鰵|: :)8 9)I tIi D Ր:):Iy9I9FFrFbFEE) ;I 9 iIi 2@%<:@%w: 1i99W* sk(AYt*(3@t*A@yt*k?;t*J>t*H @ U?Bۼ?@z` ?tg%?`?)u*(3@ u*u;Iu*CxBr>xBIEGF@AHD)GF@=YE E>AIQMEIMJM>IQ I}8ٮQQ Q}tI Q UC9QU; Uõ;)UF8 9)I tIi D  :):I9I9FFrFbFEE) ;I 9 iIi9 92@E<:@Ew: q+@* ^k(A@ Yt.3@t.1B@yt.9t.>t.H@@y &?m? @ٗ?`Ұ???)u.3@ u.u;Iu.CxBy>xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)vGF@=YEǼE>IIQMEIUQ<]>Ia Im8ٮaa QmtI a UC9ae< e<)e=-8 9)I tIi D Е:):IR(9I9FFrFbFEEI)e;I9 iIi 2@<:@%w: Rj* }k(AYt*,]3@t*7 B@yt*܈t*u<>t*H˜ա??>?q?&?`?)u*,]3@ u*Gu;Iu*CxBPY>xBE){B.žI{@i{B={@{@{B`A{@|BB9|B%#n?H'M!ؿ)%dGi%wA-wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%<%>))Q-E)5x»5>IY I]8ٮYY QetI Y UeC9Y]: ]:)]:8 m9)iIi mtIii Di m_;)m;Ims09I9FFrFbFEE2EzEBEbP>@`W(E%#n?H'M!ؿE.žEEUO+=g3Cm.@¾ E24ҁ?a{=4E 8*@=DHdg To Contact =152.387900 degreesZEosAbE:E\o$?BE{o$?JE| RE jE.XrE )-;I-9 IQiQIQiQ Y2@]<:@ew: q$Dacoustic_contact_range 32.999996 m$hTrackAcousticContact.heading_to_contact 2.659671 rad$LDUSBL_Hydroid.xAngle -22.150000 arcdeg5>5t>^R* yYk(AYt.[3@t.fA@yt.`"Z;t.>t.H*z t؝?m?@?HDk? |?)u.[3@ u.q u;Iu.Cx>g>xBsEH@HBa=iPIR̓C) GF@Y%<%>!!Q-E)-%r->I1 I=8ٮ11 Q=tI 1 U=C915+: 5:)5G8 M9)AIA MtIiA MDA E:)E$:IE.89YIY9aFiFqrFbFEE)-;I-9 ))i1I1iq y2@}<:@}w: K|* 3k(A)IYt.2@t.A@yt."8:t.N>t.H``?`۽?0| G?Z ?`??)u.2@ u.t;Iu.Cx>n>xBE)ƄGF@Y%%>)1Q5E1EcM>IQ I]8ٮQQ Q]tI Q U]C9QU: U(:)UkU8 m9)aIa mtIia mDa e:)e:Ie@9I9FFrFbFEE);I9 iI iI Q2@U<:@Uw: i]* k(AYt*B3@t*A@yt*O컙t*m>t*H@ ?κ@]^?p?W̧?}?? ?)u*B3@ u*bt;Iu*CxBh>xBEiPIRѓC)iiQmEqu=^<u>I I8ٮ QtI  UC9鰝1: J:)c8 9)I tIi D ;);IzI9I9FFrFbF!E!E!)U;I]9 YYiYIYia a2@m<:@mw: i99I* l(AYt*-K3@t*8A@yt*t*-J>t*Hj`&? 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Un¡?dMz?`s?b?)u*3@ u*.jv;Iu*CxRZe>xR EGPHT)5+GF@}Yʅ.4>ʁʁQEʉ͍w<>I I8ٮ QtI  UC9鰕: c:)^8 9)I tIi D ::),:I:9I9FFrFbFEE);I9 iIi 2@<:@w: X*  Nn(A@ x~k>x~E {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iaIi)GF@Y-->))Q-E15=>I9 IE8ٮ99 QMtI 9 UMC99=: =:)=[e8 ]9)QIQ ]tIiQ eDQ U+:)U:IU6'9qIy9yFFrFbFEE);I9 iIi 2@<:@w: 1{>* 9)n(AYt23@t2ǰA@yt2l̹t2_>t2H$%?k?@pQ?͑9?q?j?)u23@ u21u;Iu2CxRg>xRsE)UGiUxA]xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ}<>ʹʹQEݼ>I I8ٮ QtI  UC9: :)l8 9)I tIi D :)9:Ih/9I9F F rF bFEE)-;I-9 ))i)I)i1 12@=<:@=w: I=>=l> &* n(AYt*2@t* |A@yt*:t*p>t*H`ڼ?"=?00l?Y T? $g?)u*2@ u*Xu;Iu*CxBDy>xBEEHJa=HNp=i|I|)]vGF@}YʅN;>ʁʁQEʉ͍>I I8ٮ QtI  UC9鰕 : :)r8 9)I tIi D h:)|:I79I9FFrFbFEE) ;I9 iIi9 92@E<:@Ew: QyP* vn(A) IYt.3@t.صA@yt..t.>t.H@뙻@٢?W?H@? uՅ?_?`L?)u.3@ u.,u;Iu.CxRd>xR E)]GF@Yʍ>ʑʑQEʑ͝y<>I I8ٮ QtI  UC9鰥:: :)y8 9)I tIi D į:)=:IN@9I9FFrFbFEE);I9 iIi 2@ <:@ w: !z* n(AYtBa3@tBlA@ytB3%_tBWg>tBHWs5?@P=?g&@@)?k? MQ?/X?)uBa3@ uBu;IuBCx^Wx>xbEilIl)=ׄGE%=E%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y<>QE|:>I I 8ٮ Q tI  U C9\: ٮ:)΀8 9)I tIi D ,:):II9)I)9)F9F9rFAbFAEIEI)];I]9 aaiaIaia i2@m<:@uw: ߁i99c* 0o(AYtN53@tNA@ytN57tNO>tNH@Zr? ?`]@?`??)uN53@ uNu;IuNCxnP>xnEGrAAHp)UQE;>I IU8ٮ QUtI  UUC9K< <)8 e9)YIY etIiY eDY ]:)]0:I]Q9I9FFrFbFEE);I9 iIi  2@<:@w: I* 0o(A@ Yt22@t2A@yt2t2&>t2H찻rҤ?`??,߁?? O?)u22@ u2[/u;Iu0x>xp>x>EiHIH)zGF@5Y=c=>99Q=E9E E>II IU8ٮII QUtI I UUC9IM: M:)M68 e9)YIY etIiY eDY ]Ր:)]:I]Y9qIq9qFFrFbFEE);I9 iIi 2@<:@w: t* MJo(AYt*3@t*A@yt*#Ft*>t*H ?w'? !` H?RĈ?-?O?)u*3@ u*™u;Iu*CxNj>xRqE)+GiF@]Ye4e>aaQeEim6Y;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u,8 9)I tIi D :)N:I;b9I9FFrFbFEE);I9 iIi 2@<:@w: 5R>1Z* &do(AYt*L3@t*A@yt*x0t*4>t*H]@ /?@ I?^ ?@?`??)u*L3@ u*u;Iu(xB:m>xBEHF=HDiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe?Z;e>iiQmEiuk <u>Iy I}8ٮyy QtI y UC9y}: }J:)}8 9)I tIi D -:)ݖ:Ij9I9FFrFbFEE);I9 iIi 2@<:@w: * K~o(A) I Yt*R2@t*]A@yt*?t*tC>t*HB.7`p? ?J*L? g?@Go?#?)u*R2@ u* wu;Iu*Cx^md>xbu E)5vGF@}Yʅ,<>ʁʁQEʁ͍aE>I I8ٮ QtI  UC9鰕%: J:)8 9)I tIi D F:):IVs9I9FFrFbFEE);I9 iIi 2@<:@w: * ]ݗo(AYt*2@t*xA@yt*f?t*i<>t*Hj@ H?hJ?]P?*g? ?`͓?)u*2@ u*\u;Iu(x25g>x6*E {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I̓C)dG4=a 1-a 15 a 55a 55 a 95a 9U a -Ua -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YL5>!Q%E!%2ջ->I1 I58ٮ11 Q=tI 1 U=C915: 5į:)5Ӫ8 E9)AIA EtIiA MDA E:)E:IE|9I9FFrFbFEE);I9 iIi 2@%<:@%w: ai99* o(AYt**E3@t*5A@yt*%ZRt*>t*H `ا? f?>?@K?2? j?)u**E3@ u*u;Iu*CxBv>xBEGB@AH@){F"?I{Di{F={F>{D{F A{D|F A9|F+ (?v ?)9F@}Yʅ>ʁʁQEʁ͍ެ<>I I8ٮ QtI  UC9鰕; s;)Ұ8 9)I tIi D :):Ir9I9F F rF1bF1E9E92EAzEE AEEc$-6@b(@EE+ (?v ?EE"?EAEE+nbJ7Eii"b Iw@EEgA ]6׿7?EE 'a@=MDHdg To Contact =201.567024 degreesZEEKbEES:EEko$?BEEn$?JEE REEp jEE@rEE)};I}9 yiIi 2@<:@w: $Dacoustic_contact_range 25.379997 m$hTrackAcousticContact.heading_to_contact 3.518008 rad$ JDUSBL_Hydroid.xAngle 29.100000 arcdeg* ɓo(A@ @Yt*YO3@t*dA@yt*Uit*t>t*H'<#|?^>?@຅?s*?? ?)u*YO3@ u*wu;Iu*CxNr>xRIEi`I`)!F@]Yeee>aaQeEim:m>Iq I8ٮqq QtI q UC9quP< u<)u8 9)I tIi D F:):I9I9F!F!rF)bF)E1E1)E;IE9 IIiIIIiI Q2@]<:@]w: i* no(AYt*I2@t*TtA@yt*=t*6>t*H(⼿4?@[?t g?@պg?`D?@!?)u*I2@ u*2u;Iu*CxNo>xRJE)ia 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ<>ʡʡQEʡͭ>I I8ٮ QtI  UC9鰵`: c:)8 9)I tIi D :):Iw9YIY9YFiFirFqbFEE);I9 iIi 2@<:@w: 5>9* Ho(AYt*O2@t*ZA@yt*Dt*>t*H`-`֢??1?@`H?`R?e?)u*O2@ u*L9u;Iu*CxNc>xR EHPHRa=i`IbѓC)%GF@-Y5d;5>19Q=E9E<E>II IM8ٮII QUtI I UUC9IM: M>:)MVŀ8 ]9)QIQ etIiQ eDQ Uh:)UR:IU9iIq9qFFrFbFEE);I9 iIi 2@<:@w: &* &p(A)IYt.`3@t.kWB@yt.g:t.gN>t.HX縿̤?@Ժ?ˆ?^? (?Ů?)u.`3@ u.m&u;Iu.CxBg>xBsE)~ƄGa 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]ռe>aaQeEam<m>Iq I}8ٮqq Q}tI q U}C9qu: u:)uS̀8 9)I tIi D 1:):IQ9I9FFrFbFEE);I9 iIi 2@<:@w: ( * 2p(AYt*h3@t*B@yt*@bt*/>t*HO͹!?@ٻ?b`w?@G? ?`?)u*h3@ u*u;Iu*CxR`k>xREi\I^̓C)11Q5E9=,%E>IA IM8ٮAA QMtI A UMC9AE}: E_:)EӀ8 ]9)QIQ ]tIiQ ]DQ U1:)U:IU9iIi9qFFrFbFEE);I9 iIi 2@<:@w: i99* Lp(AYt*2@t*A@yt*t*ȗ>t*HdxRS EGVAAHT)%GF@=YE<E>AIQMEIMU>IQ I]8ٮQQ Q]tI Q UeC9QU: Uʽ:)U ڀ8 m9)aIa mtIia mDa e:)e0:IeC9yI9FFrFbFEE);I9 iIi 2@<:@w: 1B;* 9fp(A@ @Yt.,,3@t.7A@yt.,%9t.x1>t.H` G?@ʼ?^Q?8@"m?y?)u.,,3@ u.=t;Iu.CxBd>xB EiPIP)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ(<>ʱʱQEʱͽ8<>I I8ٮ QtI  UC9:: :).8 9)I tIi D %:)|:I9I9FFrFbFEE );I9 !i!I!i! )2@-<:@-w: A" * p(AYt*3@t*B@yt*t*+>t*H2o??Bq?*?@]??)u*3@ u*u;Iu*CxBv>xBE)~SGiwAF@Yʅ]>ʉʉQEʉ͕<>I I8ٮ QtI  UC9鰝ͭ: l:)8 9)I tIi D :),:IwȞ9I9FFrFbFEE);I9 iIi 2@<:@ w: 5R>=e>O&* yp(AYt.3@t.3B@yt.?_t.>t.H@=@GD? a?`FN?? ?o?)u.3@ u.Cu;Iu.Cx>sj>x>(EHBa=HBp= {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIvѓC)]jGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʝ8>>ʙʙQEʙ?1>I I8ٮ QtI  UC91: :)8 9)I tIi D ;);IҞ9I9FIFIrFQbFQEYEY);I9 iIi 2@<:@w: !w,* wHp(A) IYt.3@t.A@yt.ڽt.z>t.H1e!?}?@V?Tw?@3? '?)u.3@ u.fu;Iu.CxRWx>xRE){Vϸ>I{Ti{Vg={V>{T{V@{T|VA9|V[-_~? g?)E+GF@UYUh<]?YYQ]Eae3e?Ii Iu8ٮii QutI i UuC9im : m:)m8 9)yIy tIiy Dy }̒:)}:I}]ٞ9I9FFrFbFEE2EzEAEY]:@zv۾!@E[-_~? g?Eϸ>EEeH;ͅMrP1 |@EU[#U￴?3ǿ$y*>?ET@=DHdg To Contact =190.487159 degreesZEbE:E_o$?BEko$?JE RE jE#@rE@)];I]9 YaiaIaia i2@m<:@uw: ߡ$Dacoustic_contact_range 28.199999 m$hTrackAcousticContact.heading_to_contact 3.324628 rad$JDUSBL_Hydroid.xAngle 17.649999 arcdeg^3* K#p(AYt*q3@t*B@yt*Ӌt*e>t*H@P??``?@qz1?`j?f?)u*q3@ u*Ju;Iu(xB[>xB EiPIP)~G%>R=F@%Y%c<%>))Q-E)5N<5>I9 I=8ٮ99 QEtI 9 UEC99=\: =1:)=t8 M9)III UtIiI UDI M:)M9:IM9aIa9aFqFqrFybFyEyE);I9 iIi 2@<:@w: ߹i999* p(AYt*3@t*kB@yt*t*>t*H ظ ?`?^?@8?W:? s?)u*3@ u*u;Iu*CxBi>xBEGF@AHD)a 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmu>qqQuEq}9<}>I I8ٮ M8 QtI  UC9鰅N: :)8 9)I tIi D :)R:Is9I9FFrFbFEE);I9 iIi 2@<:@w: p@* q(A Yt*`3@t*k@B@yt*=t*/>t*H߸࠽?0?@5?`? ,? ]?)u*`3@ u*Uv;Iu*CxBl>xBEiPIP)SGF@=YEE>AAQMEIMٻM>IQ I]8ٮQQ QetI Q UeC9QUf; U;)UM 8 m9)iIi utIii uDi m:)m:Im9I9WDone Waiting.+ W8Uninitialize Wait Component.VnCompleted lineCaptureHoming:Lap:Rollout:MaintainHeadingq+VAggregate::uninitialize lineCaptureHoming:Lap:Rollout:MaintainHeadingUNCompleted lineCaptureHoming:Lap:Rollout* UjAggregate::uninitialize lineCaptureHoming:Lap:RolloutI>Completed lineCaptureHoming:Lap$ IZAggregate::uninitialize lineCaptureHoming:Lap$IdAggregate::uninitialize lineCaptureHoming:Lap:Dive1% JhAggregate::uninitialize lineCaptureHoming:Lap:Dive:AIRunning loop #2$ IVAggregate::initialize lineCaptureHoming:Lap$I`Aggregate::initialize lineCaptureHoming:Lap:Dive1% JdAggregate::initialize lineCaptureHoming:Lap:Dive:Aq%JvAggregate::initialize lineCaptureHoming:Lap:PingTransponder% KzAggregate::initialize lineCaptureHoming:Lap:PingTransponder:A%FFrFbFEE);I9 iIi 2@<:@w: F* Jq(AYt2݈3@t25B@yt2ߋt2x{>t2H z?`TZ?H?x1r??o?)u2݈3@ u2v;Iu2CxN{]>xN/E)%Gi-xA)F@=YE<E>AAQEEIMкM>IQ I]8ٮQQ Q]tI Q U]C9QU : Uf:)U38 m9)aIa mtIia mDa e:)e:IeY9I9F%1& LzAggregate::initialize lineCaptureHoming:Lap:MidcourseGuidanceq&L:Initialize WaypointComponent.q%JzAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder% K~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:AFFrFbFEE);I9 iIi 2@ <:@w: A=V>=x>L* ѓ5q(AYt*^f3@t*iB@yt*^t*y>t*H 2ד? ? u?k???)u*^f3@ u*u;Iu(xVq>xVEHZ4=HZa=iI)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yj ;>QEb>I I8ٮ QtI  UC9t: :)t8  9)   9I   tIi  D  :) D:I M9!I!9!1&- Lu~Aggregate::uninitialize lineCaptureHoming:Lap:MidcourseGuidanceq&uLu>Uninitialize WaypointComponent.&u MuxAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u N}Initialize.q'}q%}J}vAggregate::initialize lineCaptureHoming:Lap:PingTransponder%} K}zAggregate::initialize lineCaptureHoming:Lap:PingTransponder:AFyFrFbFEE);I9 iIi 2@<:@w: S* PoOq(A)I4t.H࣍?? c9?` ~? ?`?)u.3@ u.Qu;Iu.CxBb>xB E)eSGF@}Y}$>ʁʁQEʁ͍&<>I I8ٮ QtI  UC9鰕: :)8 9)I tIi D }:):I 9I9N}@Vehicle HDG: 173.973770 arcdeg .q'}'}*G2GT@FFrFbFEE);I9 iIW*HviT@ 2@<:@ w: $=RHorizontalControl.headingCmd 3.324628 radY* Yiq(AYt23@t2&B@yt21໙t2x>t2Hj 7 ?@? l?|?? ?)u23@ u2ptu;Iu0xNWx>xNEipIp)dG%==a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5m@a m a 9m@a m a -m@a m AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʅ:>ʩʩQEʱ͵k*<>I I8ٮ QtI  UC9鰽; ;)&8 9)I tIi D :)4:I9!I)9)=O@Contact HDG: 190.487159 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I%9 !!i!I)-5Fi-Q1 12@=<:@=w: i11`* $q(AYt*Q3@t*\WB@yt*Cut*A*>t*H q@$?Jպ? u#?n?YC?Q?)u*Q3@ u* u;Iu*Cx>t>xBlEGBAAH@) GF@Y%<%>!!Q-E)-HN->I1 I=8ٮ11 Q=tI 1 UEC915`: 5 :)5,8 M9)AIA MtIiA MDA E[:)EԘ:IEO9yI9*G2GFQFQrFYbFYEYEa);I9 iI#QDi"' 2@<:@w: f* Tq(A@ Yt.eY3@t.pB@yt.L5t.ӟ>t.H@n?!? z_0?gf?rQ?@>?)u.eY3@ u.%u;Iu,xBn>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y:>QEm+m>Iq I}8ٮqq QtI q UC9qu\; u`e;)u58 9)I tIi D :);I(9I9*G)2G)F)F1rF1bFYEYEY)u;Iu9 qqiqIq>iF R 2@<:@w:`;  m* ضq(AYt>3@t>dB@yt>ٻt>'͙>t>Hc@k︿?:?@dh? {?@??)u>3@ u>u;Iu>Cx~Ml>x~LE){ÐI{i{/={>{{@A{|B9|M?-r.)dGiwAwAF@Y>N?QE < ?I I%8ٮ Q%tI  U%C9l:  :):8 -9))I) ]tIi) ]D) -;)-;I-.9iIi9i*G92G9F9F9rFAbFAEIEI2EzEBElY[!f@@ϢEM?-r.EÐEEǴ_Q2@T߸x@z(޿Ejr?VEEb>@=DHdg To Contact =170.161131 degreesZEų@bE:ESo$?BE_o$?JE RE jErE#@);I9 iI;i\ 2@M<:@Mw:%NJκ 1$MDacoustic_contact_range 32.880001 m$UhTrackAcousticContact.heading_to_contact 2.969872 rad$]JDUSBL_Hydroid.xAngle -4.050000 arcdeg=>=>Ms* tq(AYt* 4@t*B@yt*86t*J>t*H<@etɣ? X? ΌA? Ɔ?? `?)u* 4@ u*&*u;Iu*Cx>o>xBJEHBp=H@iPIP)GF@=YEAE>AAQEEAMWX<M>IQ I]8ٮQQ Q]tI Q U]C9QUӻ: U:)UuA8 m9)aIa mtIia mDa eF:)e9:Ie69I9*G2GF F rFAbFIEIE)u;Iu9 qqiqIq}F:iyy 2@<:@w:  ߱&(z* Йq(A)I;Yt.3@t.΃B@yt.t.S>t.H?n$?Zp?`s???)u.3@ u.u;Iu.Cx>k>x>E) ҄G-xFailed to parse: :RA, 0.00, 0.00, 0.00, 0.00, 0.00 F@5Y=~<=>AAQEEAMM>II IU8ٮII Q]tI I U]C9IM0: M:)MZH8 e9)aIa mtIia mDa eO:)ec:Iep?9I9*G2GFFrFbFEE);I9 iI%U9i%o:i! !2@-<:@-w:}xA }xAt iN* mr(AYt*3@t*xB@yt*17t*֓>t*HSY? P?!?8f? U9?լ?)u*3@ u*au;Iu*CxN:m>xNEi\I\)%vG-=-=F@=YE;E>AAQEEAMغM>IQ I}8ٮQQ Q}tI Q U}C9QU; UϺ;)U?O8 9)I tIi D :):I H9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE )=;I=9 9AiAIAE9iII I2@<:@w:mV yiAA8* 8Kr(AYt*Q 4@t*\B@yt*׻t*>t*H{?@2W?@ٽ?z?C?K?)u*Q 4@ u*u;Iu*CxNb>xN EGR@AHP)mdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y>Q E <>I! I-8ٮ!! Q-tI ! U-C9!%˹; %+;)%V8 ]9)QIQ ]tIiQ eDQ U :)Uϝ:IUQ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 174.319050 arcdeg .q'5'5*G12G5b>@F9F9rFAbFAEAEA)};I}9 yyiyIygD@ 2@<:@w:eQ9 q$RHorizontalControl.headingCmd 2.969872 radb* "8r(A@ Yt.&h4@t.1C@yt.wMt.Tt>t.H(J]? ?Z@i??h? ?)u.&h4@ u.4u;Iu.Cx>xp>xBEiLIL)~GF@Yʍ8>ʑʑQ Eʑ͝r<>I I8ٮ QtI  UC9鰥\: _:)3]8 9)I tIi D :):I,Y9I9=O]@Contact HDG: 170.161131 arcdeg .']']O]4Initialize Wait Component.*GY2GaFaFarFibFiEiEi);I9 iI^?iϘ5 2@<:@w:)x>I>mQ yII* YQr(AYt:4@t:FC@yt:8t:Q>t:H CTlۡ??1b ;?[R?=[??)u:4@ u:Nu;Iu:Cxb\~>xbgE)Gia 1a 1 a 5a 5 a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-->QQQU EQ]*;]>Ia Ie8ٮaa QmtI a UmC9ae; e;)ee8 9)I tIi D :):Ib9I9*G2GFFrF bF EE)%;I%9 IIiIIIUEiU Q Q2@]<:@]w:*R s* kr(AYt2wa4@t2C@yt2"׻t2&&>t2HΠ?;?ݎ ?Fz?$?ӯ?)u2wa4@ u2ɍu;Iu2Cx:g>x:sEiLIL)~GF@ Y t; ?Q EE(?I! I-8ٮ!! Q-tI ! U-C9!%%: %_:)%j8 59)1I1 =tIi1 =D1 5:)5:I5i9III9I*Ga2GaFaFarFibFiEiEi);I9 iIH@i轉 2@<:@w:u\J ߁E[* r(A) IYt*/4@t*B@yt*{t*xܘ>t*H`Y?¸? qC?{/q?+?`?)u*/4@ u*8mu;Iu(xBPY>xBE)~+GF@=YE ;E>AAQM EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU2: U:)Uq8 m9)aIa mtIia mDa e-:)e:Ier9yIy9*G2GFFrFbFEE);I9 iIjC@iJޣ 2@<:@w: wA/! ^* r(AYt*D4@t*OB@yt*T9t*O>t*H @8?7?Bkc?"w??`Ϗ?)u*D4@ u*Fu;Iu(xB{]>xB/E {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)}SG%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y5i5>99Q= E9EE>IQ I]8ٮQQ Q]tI Q UeC9QUQ; U ;)U(y8 u9)iIi }tIii }Di m;)m";Im{9I9*G 2G FFrFbFEE)M;IU9 QQiQIQ]>@i]׏ba 2@<:@w:#< ߡ* fr(AYt* M4@t*B@yt*黙t*>t*H ܶ@?M??1}?`??)u* M4@ u* .u;Iu(xBp>xBE)dGF@%Y%t->))Q- E)5S<5>I9 IE8ٮ99 QEtI 9 UEC99=: =:)=r8 M9)III UtIiI UDI Mp:)Mc:IMs9aIa9a*Gq2GqFyFyrFbFEE);I9 iI)<@i, 2@<:@w: ߙl* Br(A Yt: 4@t:B@yt:ut:Hk>t:H. h?@,?Gn?nu?4?@ݒ?)u: 4@ u:u;Iu:Cxrr>xrIEiQIQ)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmF;m>qqQu Eq} }>I I8ٮ QtI  UC9鰅:: :)8 9)I tIi D ٓ:)R:Iڌ9I9*G2GFFrFbFEE);I9 iIt;@i 2@<:@w:)=I =x Q* r(AYt*@3@t*KB@yt*t*n>t*H`` e?{"?@Y`*? t?rK?@?)u*@3@ u*Xu;Iu*CxBeq>xBnE)i!!F@mYm2:m>qqQu Eq}&}>I I8ٮ QtI  UC9鰅: :)c8 9)I tIi D į:)^:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI;@ai 2@<:@w:rg 5>1* s(AYt*3@t*lB@yt*3ڻt*܃>t*H 1Ơ?@8? @+?`qF{?L??)u*3@ u*Zu;Iu*CxBg>xBsEiPIR̓C)~GF@=YE[E>AAQM EIMOjM>IQ I8ٮQQ QtI Q UC9QU}< U<)U.8 9)I tIi D S:):IZ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 174.058902 arcdeg .q''*G2GFFrFbFEE);I9 iI$=@i&ah 2@<:@w:Xf *  s(A) IYt.04@t.B@yt.lt.l>t.HK??` ;?͂?2?z?)u.04@ u.H&u;Iu,xBa>xB E)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Y}Ȼ>ʁʁQ Eʁ͍Ĉ<>I I8ٮ QtI  UC9鰕: :)68 9)I tIi D :):I99I999=O@Contact HDG: 170.161131 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=b>@i99 A2@E<:@Ew:u u)uIu * :s(AYt*4@t*B@yt*ktt*>t*H+nO??R?|΂? ?` ?)u*4@ u*yNu;Iu*CxBmd>xBu EiLIL)~dG%=F@=YERE>AAQM EIMMiM>IQ I]8ٮQQ Q]tI Q U]C9QU: Ux:)U8 m9)aIa mtIia mDa eO:)eA:Ie9yIy9*G2GFFrFbFEE);I9 iISi 2@<:@w: i99|* Ts(AYt*y3@t*B@yt*5t*Z>t*H,VӸa??z? w??o?)u*y3@ u*u;Iu*CxBt>xBlE)~jGF@=YE@ <E>AAQM EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU: UB:)Uݨ8 m9)aIa mtIia mDa e}:)e:Ie9yIy9*G2GFFrFbFEE);I9 iI@Ei 2@<:@w: * dns(A Yt.3@t.B@yt.揻t.q>t.H~S@rҟ??K?`q?67?@?)u.3@ u.B#u;Iu,xBj>xBqEiPIP) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm#];u>qqQu Eq};}>I I8ٮ QtI  UC9鰅ի: 1:)ܯ8 9)I tIi D :):I99I9*G2GFFrFbFEE);I9 iI5i 2@<:@w: * $Fs(AYt*$4@t*B@yt*7ct*r>t*H@@ǟ?m?=?as?Z?@?)u*$4@ u*Mt;Iu*Cx>_>x> E)z+Gi~yA|F@=Y=~E>AAQE EAM&;M>IQ I]8ٮQQ Q]tI Q U]C9QUS: Ux:)U8 e9)aIa mtIia mDa e:)e :Ieǟ9yIy9y*G2GFFrFbFEE);I9 iI]&i 2@<:@w: 5R>5>W!* s(AYt*;4@t**B@yt*pt*P>t*H` L⶿7d?@۔?`gl`q??}? ~?)u*;4@ u*lLu;Iu*CxV_>xTHZa=HX {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI!)GF@YK>Q ES;>I I8ٮ QtI  UC9O; ;)佁8 9) I  tIi  D  L;) " ;I П91I191*GQ2GQFQFYrFabFaEaEi);I9 iIMi 2@<:@w:  L* Qs(A) IYt..4@t.B@yt.eջt.V9>t.HWf6?`ɸ? OuJ?z??m?)u..4@ u.u;Iu,xB c>xB E)-Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʵT;>ʹʹQ Eʹt>I I8ٮ QtI  UC9: :)ā8 9)I tIi D t:)g:I؟9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF FrFbFEE)-;I59 11i1I19=i99 A2@E<:@Mw: Y3* gs(AYt* 4@t*B@yt*`t*">t*H@ P@5?Rh?@u?Sl?@??)u* 4@ u*ou;Iu*CxB?s>xBEiPIP)vGF@Yʍ;>ʑʑQ Eʑ͝XȻ>I I8ٮ QtI  UC9鰥: S:)ˁ8 9)I tIi D :)÷:I[9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 174.304092 arcdeg .q'e'e*Ga2GaFiFirFibFqEqEq);I9 iI(i 2@<:@w: ߱i=@A9m]* s(AYt*3@t*۫B@yt*pt*>t*H` @K9? ?q@#? p?@??`?)u*3@ u*Pu;Iu*CxBh>xBEGBAAHD)dGa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm7Ժm>iiQm Equu>Iy I8ٮyy QtI y UC9y}S: }:)}Qҁ8 9)I tIi D :)[t*Hն?@Oϸ?`@@y?`^??@b?)u*l,4@ u* u;Iu*CxNX>xRVEi\I\)F@-Y-hN5>11Q5 E1=;=>IA IM8ٮAA QMtI A UMC9AE%: E:)Eف8 ]9)QIQ ]tIiQ ]DQ Uٮ:)Uض:IU9iIi9i*G2GFFrFbFEE);I9 iIOذi 2@<:@w: p* c#t(AYt*)D4@t*4B@yt*{?ͻt*2>t*Hk?p?;`?`y?2??)u*)D4@ u*yu;Iu*CxBZe>xB E)xi~wA~xAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ=;>ʁʁQ Eʁ͍He;>I I8ٮ QtI  UC9鰕>: :)'8 9)I tIi D :):I9I9*G2GFFrFbFEE);I9 iIǰi 2@ <:@ w: 5>=x>* h<=t(AYt*3@t*B@yt*:t*[>t*HG@[-?aܹ??!xQ?.?)u*3@ u*u;Iu*CxBq>xBEHBp=HDiPIRѓC)F@=YE<E>AIQM EIMfM>IQ I]8ٮQQ Q]tI Q UeC9QU2: U:)U8 m9)a m9Ia mtIia mDa eԘ:)en:Ie09yI9*G2GFFrFbFEE);I9 iI#i 2@<:@w: N* ?Wt(A)p;IYt.3@t.%fB@yt.Jgt.2>t.H`q,`M?`z?/o3?@Yl???)u.3@ u.XVu;Iu.CxBc>xB, E)|a 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Y}6>ʁʁQ Eʁ͍>I I8ٮ QtI  UC9鰕E; ;)8 9)I tIi D :)c:I 9I9*G 2G FF1rF9bF9E9E9)U;Iu9 qqiqIqy}iyy 2@<:@w: ߙ]* pt(AYt2_4@t2 C@yt2qt2I>t2H@ֵ@T?6?@u`.?>?`?$?)u2_4@ u2zu;Iu2CxBk>xBEiPIR̓C) G4=F@=YE|E>AAQM EIM}<M>IQ I]8ٮQQ Q]tI Q UeC9QU|: U:)U8 m9)aIa mtIia mDa eO:)aIe79I9*G2GFFrFbFEE);I9 iI%i!! !2@-<:@-w: ai=?A9H"* :͊t(AYt*^4@t*i_C@yt*Vt*%>t*Hݴ@&8??-?ފ? ?ڳ?)u*^4@ u*Œu;Iu*Cx^c>x^ EG`H`)M{GF@]Yea;e>aiQm EimMJ<m>Iq I8ٮqq QtI q UC9qu; uõ;)u8 9)I tIi D :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)];I]9 YYiYIYaeiaa i2@m<:@uw: ߁(* t(A Yt*m3@t*xkB@yt*ˉӹt*u>t*Hdq@?`V?@ӹ?`9q:??@?)u*m3@ u*Tu;Iu*CxBh>xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idId)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@}Yʅ<>ʁʁQ Eʉ  >I I8ٮ M8 QtI  U%C9 : u:)8 m9)iIi utIii uDi m:)mU:ImQ'9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'-N@Vehicle HDG: 174.053656 arcdeg .q''*G2GFFrFbFEE);I9 iIti 2@<:@w: '.* ~t(AYt*z3@t*A@yt*gL't*t>t*H!?@'?p?`d?T?`?)u*z3@ u*v;Iu(x>p>x>E) GiF@=Y=Dջ=?AAQE EAMM?IQ I]8ٮQQ Q]tI Q U]C9QU: U:)Ua 8 e9)aIa mtIia mDa eՐ:)eȗ:Ie-91I999=O@Contact HDG: 170.161131 arcdeg .''O4Initialize Wait Component.*G 2G F FrFbFEE)m;Im9 qqiqIqy}kiyy y2@<:@w: 15R>5{>v5* ^t(AYt.2@t.wA@yt.dt.:}[>t.H,3@)?NM? i?`9~?9?`ND?)u.2@ u.zx;Iu.CxBQ>xBEHBa=HFp=iPIT) SGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʭC>ʱʱQ Eʱ5>I I8ٮ QtI  UC9%: :)8 9)I tIi D <)t*H`UԠ?+q?@?zk? ?H;?)u*?1@ u*Yy;Iu*CxB*[>xBE)GF@Y%3<%>!!Q- E)-JA->I1 I=8ٮ11 Q=tI 1 U=C915: 5Y:)58 M9)AIA MtIiA MDA E:)E9:IE>9YIa9a*Gq2GqFqFrFbFEE);I9 iIYi| 2@<:@w: !B*  u(AYt*0@t*?@yt*_\;t*Go>t*H` ¿pߟ?`?k?kǯ?@ ?)u*0@ u*y;Iu(xRf>xR Ei`I`)%+G-%=-=F@EYE<M>IIQM EQUs]>I I8ٮ QtI  UC9鰅S: l:))8 9)I tIi D ;);IfG9I9*G!2G!F!F!rF)bF)E)E1);I9 iITi 2@<:@w: i99 I* Z%u(AYt*h/@t*s>@yt*l;t*Њs>t*H rGĿ@?_??`x-w'?E?)u*h/@ u*y;Iu*CxBu>xBEGB@AH@)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʍd;>ʉʑQ Eʑͽp>I I8ٮ QtI  UC9: :)3%8 9)I tIi D c:)j:IP9)I191*GA2GAFIFIrFIbFQEE);I9 iIRi 2@<:@w: 6O* p?u(A Yt..@t.]=@yt.R9t.5o>t.H@w8ƿ`v? C? ?B 1N?)?)u..@ u.Rx;Iu.Cx>l>xBEiLIP)~SGF@Y%a%>))Q- E)5W5>I9 IE8ٮ99 QEtI 9 UMC99=%: =:)=+8 U9)III UtIiI UDI MX<)Mt2HE\/Jǿ@m?`h? ,w|?W??L?)u2j-@ u2Fz;Iu0xBf>xB E)~dGiyAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ">ʡʡQ Eʡͭ6'>I I8ٮ QtI  UC9鰵$; ;)28 9)I tIi D :):I&a9I9*G)2G)F1FQrFYbFYEYEY)u;I9 iIZi 2@<:@w:Љ 5>=x>}J\* Tsu(AYt27,@t2B=;@yt2?t2->t2H@Afɿ}?@4n?#eH@?^u?n>x>EH@H@iPIRѓC)%GF@=Y=͡<=>AAQE EAMu(M>IQ IU8ٮQQ Q]tI Q U]C9QUG: U:)U98 e9)aIa mtIia mDa eB:)ex:IeSi9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;Iu9 qqiqIqy}Idi} ؽ 2@<:@w:m q0c* ,au(A)IYt.|+@t.):@yt.A;t.'F>t.H@" ̿? d?: 2v?v} ?`?)u.|+@ u.Ry;Iu,xBg>xBsE)ESGF@]Ye0<e>aaQe Eam(m>Iq I}8ٮqq Q}tI q U}C9quܹ: u:)u@8 9)I tIi D ٓ:):Iq9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 166.661697 arcdeg .q'M'M*GI2GIFqFqrFybFyEyEy);I9 iIxqi 2@<:@w:)=I>=c Zi* ;u(AYt*ŷ*@t*d9@yt**t*>t*H o̿ͬ?/?-b?dT?? ?)u*ŷ*@ u*?y;Iu*CxBZe>xB E {@Y|DF8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)dG4=%=a 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a % a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@=YE押E>ʉʉQ Eʉ͕¼>I I8ٮ QtI  UC9鰝#< ?$<)BI8 9)I tIi D 2'<)(t*H` ˿?[?`4?ð? /?1?)u**@ u*z;Iu*CxBi>xBEGDHD)GF@]Ye /e?iiQm Eim8:u?Iq I}8ٮqq QtI q UC9qu_: u:)ueN8 9)I tIi D [:):I9I9!*G12G1FQFQrFYbFYEYEa);I9 iI6i 2@<:@w:lؽ ;lv* gu(A Yt.'+@t.$9@yt.+t.y>t.H˿ۺ?@-?`Iu?hq?@???)u.'+@ u.,y;Iu.Cx6l>x6EiDIH)rGF@Y%&<%>!)Q- E)-F<->I1 I=8ٮ11 Q=tI 1 UEC915l: 5p:)5%U8 U9)III etIiI eDI Mo;)MPx;IML9I9*G2GFFrFbFEE);I9 iIGi 2@<:@w:uwA }xAMh׽ YK|* Gu(AYt**@t*9@yt*e.;t*r>t*H`E`̿ȟ?೼?@^߆?e3:?h?)u**@ u*w;Iu(xBxp>xBE)GiwA a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeL=m>iiQm Eiu2u>Iy I8ٮyy QtI y UC9y}S: }а:)}1\8 9)I tIi D :) :I9I9*G2GFFrFbFEE);I9 iIti 2@<:@w:lؽ 1=>k~* vv(AYt*.+@t*9::@yt*˅t*c>t*H$n˿ض? _g?:`^$?vp??`?)u*.+@ u*2]v;Iu*CxB?s>xBEHBR=HBa=iPIP)SGF@=YEeE>AAQM EIM<M>IQ I]8ٮQQ Q]tI Q U]C9QU: Uc:)Uc8 m9)aIa mtIia mDa e:)ex:Iec9yIy9*G2GFFrFbFEE)};I}9 yyiyIyιi 2@u<:@uw:׽ ߩ* ˆ(v(A) IYt2(-@t2;@yt2nYt2(>t2HPǿ,? C?@C? -?`^}?`?)u2(-@ u2qv;Iu0x^e>x^P E)uGF@Yʥ^>ʱʹQ!Eʹt=>I I8ٮ QtI  U C9; f;):j8 %9)I %tIi %D :):Ie99I999*GI2GIFIFQrFYbFYEYEY)u;Iu9 qqiqIqy}2i}Fǽy 2@<:@w:)>I?>ٽ (* \Bv(AYt*`.@t*k=@yt*Rt*P>t*Hz Ŀ ?? a?6? ?"|?)u*`.@ u*}w;Iu*CxF'n>xFpEiTIV̓C)G %= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmk<m>qqQu!Eq}A=}>I I8ٮ QtI  UC9鰅ի: 1:)p8 9)I tIi D а:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI°i% 2@<:@w:Dcֽ i99* 9\v(AYt*0@t*?@yt*k٥t*C>t*H`bD (?` ?@^?'t?f)?6l?)u*0@ u*};Iu*CxB{>xBEG@H@)GF@=YE ;E>AAQM!EIMٟ=M>IQ I}8ٮQQ Q}tI Q U}C9QU; UԵ;)Uw8 9)I tIi D ::)N:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 171.439469 arcdeg .q''*G2GFFrFbFEE);I9 iI  ӽi x  12@5<:@=w:e7ƽ ih* vv(A@ Yt.]$2@t.h@@yt.tvt.S>t.H6JIۮ?p? ?@bӎ?z?b?)u.]$2@ u.x;Iu.Cx6`k>x6Ei@ID)nGa 1a 1 a 5a 5 a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Yʽ¼>Q!EH=>I I8ٮ QtI  UC9Z; ;)~8  9)I  tIi  D :)c:Iܾ9qIq9y=O @Contact HDG: 170.161131 arcdeg .' ' O 4Initialize Wait Component.*G)2G1F1F1rF9bF9E9E9)u;Iu9 qqiqIqy}hiyy 2@<:@w:xA wA ߱Ḅ* v(AYt*َ1@t*;@@yt*| t*8d>t*H`'U?a? ??C?}3?)u*َ1@ u*(c~;Iu*CxN P>xRD)GiF@]Yee>aaQm!Eimm>Iq I}8ٮqq Q}tI q UC9qu: u`:)u8 9)I tIi D Ր:),:IǠ9)I)91*G2GFFrFbFEE);I9 iI/i 2@<:@w: ߩ1={>Y* ȩv(AYt*1@t*?@yt*1mTt*-g>t*H 0,??@.?`u?y?Z.?)u*1@ u*U~;Iu*Cx2J>x2tD {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idIfѓC)5dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʵ<>ʹʹQ!Eʹͽ >I I8ٮ QtI  UC9; ;)8 9)I tIi D F:)Z:I:Ѡ9)I191*GA2GAFAFirFqbFqEqEy);I9 iIZi 2@<:@w:d ߡ>ް* 'v(A) IYt*!0@t*>@yt*bZt*]t>t*HX@R%ÿ`6? k?`+\u?`$L??h?)u*!0@ u*^Zz;Iu*CxBb>xB E){BG\I{@i{B >{B1>{@{B A{@|BדB9|B -?%`)!F@-Y55 ?99Q=!E9E.E ?II IM8ٮII QUtI I UUC9IMɪ: MF:)M;8 ]9)YIY etIiY eDY ]:)]:I]נ9qIq9q*G2GFFrFbFEE2EzEדBETR@ "E -?%`EG\EE)2(Q[N4@2\C|EH$4?XRE6@=DHdg To Contact =163.759673 degreesZEWAbE:En$?BESo$?JEx RE jEӿrE);I9 iIxix 2@<:@w:  ) I  ߩ$Dacoustic_contact_range 73.920006 m$hTrackAcousticContact.heading_to_contact 2.858145 rad$JDUSBL_Hydroid.xAngle -7.350000 arcdeg_* Nv(AYt*.@t*=@yt*قt*>t*H@|Dſyr?#?ID? Z?? ?)u*.@ u*w;Iu*CxN\>xREi`Ib̓C)G!!a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ѻ>ʁʁQ!Eʉ͍3>I I8ٮ QtI  UC9鰕;  ;)K8 9)I tIi D t:)E:I9I9*G2GFFrFbFEE);I9 iI!%覰i!! )2@-<:@5w: Ai19<2* XYv(AYt*j7.@t*u<@yt*iTt*>t*HkſI?0?`CJ?@|?`S? ?)u*j7.@ u*Aw;Iu*CxB5g>xB*E)GF@=YEL;E>AIQM!EIMM>IQ I]8ٮQQ QetI Q UeC9QU: U%:)U 8 m9)iIi mtIii uDi m:)m:Im9I9*G2GFFrFbFEE);I9 iIi`½ 2@<:@w: _* 5w(A@ Yt*'-@t*2B<@yt*Xnt*͸>t*H@[ƿF?n?'?ʍ?S?ڵ?)u*'-@ u*w;Iu*Cxj?s>xjEixIzѓC)uGF@Yʵv>Q!E>I I8ٮ QtI  U C9q|; ;)F8 %9)I 5tIi =D w;);I9aIa9iO}Done Waiting.'}O}8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: D* +w(AYt*-@t*;@yt*Urt*b>t*H5Oǿ`?U?1@'??xB E)%Gi15xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y/7>Q!E^>I I8ٮ QtI  UC91: W:)!8 9)I tIi D :):I^9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 168.124560 arcdeg .q''*G2G6@FFrFbFEE);I9 iI׬<@i6@ 2@<:@w:-6 9$URHorizontalControl.headingCmd 2.858145 rad5R>=>g,* Dw(AYt*,@t*:@yt*#St*>t*H`S4]ɿ[s?$Q? g~?@Ld?`3C?ƛ?)u*,@ u*w;Iu*CxBxp>xBEHBp=HBp=iPIP)~GF@Yʝ<>ʡʡQ!Eʡͭw">I I8ٮ QtI  UC9鰵; ;)﵂8 9) 9I tIi D :):I9I9=O@Contact HDG: 163.759673 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI9@ip! !2@%<:@-w:  S V* ^w(A)IYt.n+@t.y5:@yt.OEѻt.>t.H6$˿ <?p?,b Z?@(z?K? -?)u.n+@ u.Yx;Iu.CxBj>xBqE)Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1@a  a 5@a  a 9@a  a -@a  QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@YM<>Q!E̲>I I8ٮ QtI  UC9u: x:)8 9)I tIi  D :)Ԙ:Is 9I9*G)2G)F)F1rF1bF9E9E9)M;IM9 QQiQIQ]6@i]2yY a2@e<:@ew:EOý Q* xw(Ax~g>x~sEiI)}SG=F@Yʕ>ʑʙQ!Eʙ͝>I I8ٮ QtI  UC9鰥 : :)Â8 =9)I =tIi =D A:)4:I9III9I*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w:mТ yi19k* ߇w(AYt*L5,@t*W:@yt*m[Ҽt*zi>t*H -5ȿQ(?m?@$c?@J?`dT?(`?)u*L5,@ u*w;Iu(x>*[>xBEGFAAHH)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y=>Q!Es<>I I 8ٮ Q tI  U C9/< u<)ʂ8 9)I tIi D l:)؛:I9I9*G2GFFrFbF E E )%;I%9 !!i!I!IM%iII Q2@U<:@]w:=w I* CXw(A Yt*+@t*N:@yt*st*z>t*H@O& ʿي???@ Y?? }?@??)u*+@ u*vw;Iu(x6 O>x6D {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ihIl)EGF@}Yʍ0<>ʡʩQ!Eʩ͵5>I I8ٮ QtI  UC9鰽7 ;  ;)т8 9)I tIi D s:):I$9I9*G2G!F!F!rF)bF1E9E9)];I]9 YYiYIaimōiii 2@%<:@%w:  ) I  ߹vz* a3w(AYtno+@tnzg:@ytnɳtn>tnH)Dʿ@-?`[?x?Jv?0? s?)uno+@ unƼu;IunCxj>xqE)GixAF@Y=>Q!Ey;>I I8ٮ QtI  UC9S: W:)|؂8 9)I tIi D :):Im-9I9*G2GFFrFbF!E!E!)5;I=9 99i9I9AEaiAA I2@M<:@Mw: a9Et>W* | w(AYt:r+@t:}:@yt:U߿t:o>t:H@p/$ɿ.?`?A*m"?Z?@*?P?)u:r+@ u:Yu;Iu:CxRh>xREHRa=HTi`Id)%Ga 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅԗ>ʉʉQ!Eʉ͕)<>I I8ٮ QtI  UC9鰝ٮ: x:)?߂8 9)I tIi D p:):I59I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  5vi   2@<:@w: )@* w(A) I Yt>+@t>J:@yt>>t>U>t>H@%j<ʿr^? E? g?g?I??)u>+@ u>|u;Iu>Cxbj>xbqE)ESGF@]Ye_<e>aaQe!EimZom>Iq I8ٮqq QtI q UC9qu: uݱ:)u8 9)I tIi D :)c:IG>9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 166.777893 arcdeg .q''*G2GFFrFbFEE);I9 iIji !2@%<:@%w: 9u* x(AYt2+@t2T:@yt2<$t2}\>t2H`'wʿ@?3??@{?s?2? ?)u2+@ u2J|u;Iu2CxNPY>xNEiXIX)UjG]4=]4=F@mY}<}>ʉʉQ!Eʑ͕p:>I I8ٮ QtI  UC9鰝q: t:)8 9)I tIi D :):IF9I9=O@Contact HDG: 163.759673 arcdeg .''O4Initialize Wait Component.*G2G9F9F9rFAbFIEIEI)];I]9 aaiaIaim}^iii q2@u<:@uw: ߉i11| * -x(AYt*i+@t*tl:@yt*)Ot*3>t*H*wʿ ??,a@?`?P?!?)u*i+@ u*pu;Iu*CxB3N>xBDGB@AHD)~ƄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye e>aaQm!Eimo;m>Iq I8ٮqq QtI q UC9qu]< u]<)u8 9)I tIi D %:)|:IuO9I9*G)2G)F1FQrFYbFYEYEY)u;I}9 yyiyIySi 2@<:@w: * |Gx(A Yt.+@t..:@yt.t.AR>t.H"OKʿ$?|?H(?OÓ??`G?)u.+@ u.au;Iu,xBcX>xBEiLIL)~GF@=YEWE>AAQE!EIMM>IQ I]8ٮQQ Q]tI Q U]C9QUG: U:)U8 m9)aIa mtIia mDa eՐ:)e:IeW9yIy9y*G2GFFrFbFEE);I9 iIIi 2@<:@w: Y* Rbax(AYt*+@t*G:@yt*t~t*@>t*HZ%@Qʿ?K?!i?/? G?`a?)u*+@ u*^ v;Iu(xNd>xN E)Gia 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ@;>ʙʙQ!Eʡͥ7r;>I I8ٮ M8 QtI  UC9鰭=: :)8 9)I tIi D S:)0:If`9I9*G2GFFrFbFEE) ;I9 iI1>i 2@%<:@%w: ߱5>5>* I0{x(AYt.i+@t.tC:@yt.zaPt.Tl>t.HU%ʿ ޤ?T?._?@ ?H?@?)u.i+@ u.u;Iu.CxB0a>xBw EHDHDiTIT) SGF@=YE)<E>AIQM!EIM#1M>IQ I]8ٮQQ Q]tI Q UeC9QUS: U5:)Uu8 m9)aIa mtIia mDa eՐ:)e:Ieh9yI9*G2GFFrFbFEE);I9 iIv3i 2@<:@w:  %*  x(A)IYt.c+@t.:@yt.DXt.k>t.Hh 5˿i$?߷?2$?t??@?)u.c+@ u.1Fu;Iu.CxBj>xBqE)~dGF@=YE;E>AAQM!EIMM>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)UY8 m9)aIa mtIia mDa e:)e:Ie*q9yIy9*G2GFFrFbFEE);I9 iI)i 2@<:@w: .+* x(AYt*++@t*'9@yt*e}t*>t*H \˿ >ٺ?@%?j?`uo?@U? m?)u*++@ u*u;Iu*CxZe>xZP E {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI!)%=%=a 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MYUk U>YYQ]!Eae1m>Iq I}8ٮqq Q}tI q UC9qu: uD;)u8 9)I tIi D ;);Iwz9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I 9  i I Xi 2@<:@%w: 1i992* x(AYt*hJ+@t*s9@yt*XQt*>t*H ʿ?(?x^EG`H`)}GF@Yʍ˺>ʑʑQ!Eʑ͝;>I I8ٮ QtI  UC9鰥: :)N8 9)I tIi D į:)=:Id9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 166.485957 arcdeg .q'e'e*Ga2GaFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱*A8* Ax(A Yt.q+@t.|,:@yt.΄t.n>t.HJ";ʿyxB EiPIP)GF@mYm f;u>qqQu!Eq}<}>I I8ٮ QtI  UC9鰅1: x:)"$8 9)I tIi D :)g:IҊ9I9=O=@Contact HDG: 163.759673 arcdeg .'='EOE4Initialize Wait Component.*GA2GAFAFArFIbFIEQEQ)e;Ie9 iiiiIiqu iqq y2@}<:@}w: ߑMk>* pzx(AYt*q%+@t*|9@yt*7mt*ϼ>t*H@`u˿ ?f0? (7? c?[?s?)u*q%+@ u*u;Iu*CxBf>xB E)҄Gi wA wAa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y;>!!Q%!E!-CS->I) IU8ٮ)) Q]tI ) U]C9)-; -N;)-g+8 e9)YIY etIiY mDY ]:)]:I]ⓡ9I9*G2GFFrFbFEE) ;I 9 )i)I115i99 92@E<:@Ew: q1=i>TE* \y(AYtV*@tV%9@ytVuptV*>tVH ˿6??@U]??@)E?`&?)uV*@ uV t;IuTxnm>xn'EHlHra=i|I|)]vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@UYuu>yyQ}!EyͅKջ>I I8ٮ QtI  UC9鰅: g:)28 9)I tIi D ::)N:I9I9*G2GFFrF bFEE)%;I%9 IIiIIIQUiQQ Y2@]<:@]w: q|K* E/0y(A)4t.H@sʿ ׹?d? ?@uk??h?)u.Q+@ u.u;Iu.CxN?s>xRE)GF@]Yeile>aaQm!EimOp<m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u88 9)I tIi D :):IQ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: dR* N Jy(AYt*+@t*9@yt*7t*M>t*H@9*V˿j?H?]?@&?`P?@&?)u*+@ u*t;Iu*Cx6"h>x6Ei@IB֓C)rGv4=v=F@Y%%>!)Q-!E)-5>I1 I=8ٮ11 Q=tI 1 UEC915: 1)5?8 M9)AIA MtIiA MDA E:)E:IE9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI䯽i 2@<:@w: i19X* *cy(AYt*!+@t*9@yt*p(~t*8l>t*HvL˿M3?A7? z?ď???)u*!+@ u*t;Iu*CxBg>xBsEGFAAHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeD;e>aiQm!Eim:m>Iq I}8ٮqq Q}tI q UC9quB: u:)uF8 9)I tIi D p:)ȗ:IW9I9*G2GFFrFbFEE);I9 iIگi 2@<:@w: ^* &}y(A Yt*R+@t*9@yt*Yt* E>t*HyA˿?&?`/?@=?@A?`?)u*R+@ u*t;Iu*CxNU_>xNS Ei\I^ѓC)+GF@-Y-1;->11Q5!E1=;=>IA IE8ٮAA QMtI A UMC9AEt: E:)E\M8 U9)QIQ ]tIiQ ]DQ Uͭ:)UE:IU9iIi9i*Gy2GyFFrFbFEE);I9 iIЯi 2@<:@w: e* oy(AYt*5j+@t*@:@yt*et*1>t*H``ʿ:??t࿷?@?U?? ?)u*5j+@ u*(t;Iu*CxZi>xZE)-SGi))a 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍл>ʑʑQ!Eʙ͝_;>I I8ٮ QtI  UC9鰥: _:)wT8 9)I tIi D :):I}ơ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I ůi 2@<:@%w: 15{>={>k* Svy(AYt*+@t*]:@yt*t*>t*Hh'{ʿ郺?3"?&P?`Փ?@4?՝?)u*+@ u*u;Iu*CxBi>xBNEHDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)GF@Yʽ>Q!E *<>I I8ٮ QtI  UC9 ; ;)}[8 9)I tIi D A:):I.ϡ99I999&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N%@Vehicle HDG: 166.841304 arcdeg .q'%'%*G!2G!F)F)rFQbFQEQEQ)m;Im9 iiiI丯i 2@<:@w: 1sr* &Ty(A);IYt.ւ+@t./:@yt.t.Oq>t.H"ʿJƹ?|z? ?T?`͸?@:?)u.ւ+@ u.q/u;Iu.CxBV>xBE){B5{@{BA{@|BA9|Bޙ%?B7߁?)]GF@Yʵ[;>ʱʹQ!Eʹͽ>I I8ٮ QtI  UC9: :)Tb8 9)I tIi D %:):Iס9I91( PAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera(q(PRLights, Camera on at range: 17.939997 m .q((=O@Contact HDG: 163.759673 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE 2EzEAEp{v1@4G ?Eޙ%?B7߁?E5<EE1Ey|1Q7v@P$?EUX$1|n,Yw?MH?E:@=DHdg To Contact =167.147761 degreesZEW@bE:Ezo$?BEn$?JE REx jE'>rEӿ)5;I59 99i9I9AEiAA A2@M<:@Uw: ߁$Dacoustic_contact_range 17.939997 m$hTrackAcousticContact.heading_to_contact 2.917279 rad$HDUSBL_Hydroid.xAngle 0.500000 arcdegx* '/y(AYt*S+@t*:@yt*C[t*];>t*H o˿@?@? >SE?2r??@?)u*S+@ u*,9u;Iu(xBR>xBEiPIP)SG Powering up <a 1Ma 1M a 5Ma 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@ Y  < >Q!E5I=>I9 IE8ٮ99 QEtI 9 UMC99=h: =:)=|i8 u9)III utIiI uDI My;)Mx;IMp9I9G(P~Completed lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera1( PAggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:ActivateCamera(*G2GFFrFbFEE);I9 iI -i11 12@=<:@=w: ii11* Oy(AYt*Q+@t*9@yt*dt*>t*H$˿$P? ?T-`١? Q??0?)u*Q+@ u* \u;Iu*CxBk>xBEGF?AHD) dGF@=YE>\E>AIQM!EIMAعM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)Uo8 m9)aIa mtIia mDa eO:)e:IeR9yIy9*G2GFFrFbFEE)5;I59 QQiQIQY]iYY a2@e<:@mw: ߙ!* z(A Yt.*@t.&.9@yt.Ɠt.'>t.HM*̿?`n?GN|??ъ?7?)u.*@ u.z;Iu.CxN=Z>xR1Ei\I\)%GI%a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍB>ʉʉQ"Eʉ͕>I I8ٮ QtI  UC9鰝ի: t:)v8 9)I tIi D B:):I9I9*G2GFFrFbFEE)};I}9 yyiyIydiΕ 2@<:@w: ߡR* 2z(AYt*T)@t*8@yt*t*>t*HiRο?x?H?@V? |? c?)u*T)@ u*:|;Iu*CxNX>xRVE)ƄGIi%uA!F@]Ye[;e>aaQe"Eim<m>Iq I}8ٮqq Q}tI q U}C9qu2: u:)u}8 9)I tIi D :)9:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5>=>&*  Lz(AYt*'@t*6@yt*>t*>t*H`п%?`)#?#?`5?`G??)u*'@ u*iy;Iu*CxNl>xREHRp=HPi`I`)AAQE"EAEhVM>II IU8ٮII QUtI I U]C9IMl: M:)M8 e9)a e9Ia etIia mDa e:)e:Ie9qIy9y*G2GFFrFbFEE);I9 iI͐i# 2@<:@w: +* vfz(A) I4t.Hdnҿ+T??@T)?@5?w?@xB6E)~SGI|a 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YecM<e>iiQm"Eimu>Iq I}8ٮqq QtI q UC9quS: u):)u8 9)I tIi D :):Iu 9I9*G2GFFrFbFEE);I9 iIhiϽ 2@<:@w:mx * Qz(AYt2$@t2W3@yt2^ct2\>t2H,`Lӿ ?M?@֚`_?@a?!?25?)u2$@ u2uzw;Iu2CxZ c>x^ EilIl)=jGIAE4=E4=F@MYUU>YYQ]"EYee>Ii Im8ٮii QutI i UuC9im}: m:)mb8 9)yIy tIiy Dy }:)}:I}9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI;i㽉 2@<:@w:X ߹i11@* i:z(AYt:#@t: 1@yt:-kt:+i>t:H 'ԿF?@?`@g`?9-? X?7?)u:#@ u:ry;Iu:CxZ[>x^ E)mƄGRHm @ZHm@Iqa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>Q"Em>I I8ٮ QtI  UC9: :)8 9)I tIi D ::):I9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N-Initialize.q'-N@Vehicle HDG: 159.158202 arcdeg .q''*G2G:@FFrFbFEE);I9 iI…8@i:@ 2@<:@w:rAн $RHorizontalControl.headingCmd 2.917279 radg* z(A Yt.!@t.30@yt.&ݻt.ܦ>t.Hտ`Y?=?>@d?ˤ{?@(?`?)u.!@ u.:z;Iu.CxBX>xBVE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIz̓C)GIF@=YE<E>IIQM"EIuto}>I I8ٮ QtI  UC9鰅SG< G<)ɠ8 9)I tIi D n:):I$9I9=O@Contact HDG: 167.147761 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI:@i! 2@<:@w:vA vA/ν !:O* z(AYt*j@t*um.@yt* t*>t*HDa׿`h)?G?@iw?Q}A?BW??)u*j@ u*|;Iu(xBV>xBE)dGIivAvAF@]Ye<e>aaQe"Eimm>Iq I8ٮqq QtI q UC9quG< uu<)u8 9)I tIi D :):I,9I9*G)2G)F)F)rF1bF1E9E9)M;IM9 IIiQIQY]ïiYY Y2@e<:@ew:- 91=x>`y* üz(AYt*'@t*2W-@yt*ct*7>t*HV ]׿?@?`6? 9x???)u*'@ u*wP~;Iu*CxR\>xRUEi`IbѓC)%GjH!rH)I)a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍjW>ʉʉQ"Eʑ͕)>I I8ٮ QtI  UC9鰝: :)8 9)I tIi D :)ϸ:I59I9*Gq2GyFyFyrFbFEE);I9 iIi/ 2@<:@w:PV ߹Aa* {(A) I;Yt*@t*,@yt*P*t*S>t*H`@Wؿ@ ? ؘ?c1?I?@??)u*@ u*?;Iu(xRvW>xR|E)%SGI!F@]Ye8e>aaQe"Eimm>Iq I}8ٮqq Q}tI q U}C9quG: u:)uߴ8 9)I tIi D  :)ȗ:I=9I9*G2GFFrFbFEE);I9 iIi 2@<:@w:)=I= a" j* 2s{(AYt*<@t*+@yt*|3t*>t*H bؿ`L?&? I~?M|f?@?``?)u*<@ u*~;Iu(x6PY>x6Ei@I@)rGIttv%=F@Y%A<%>!)Q-"E)-Ƽ->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)58 M9)AIA MtIiA MDA E:)E9:IEE9YIa9a*Gq2GqFqFqrFybFyEE);I9 iIMi 2@<:@w:u- ߁i99* DN5{(AYt*y+@t*+@yt*+;t*@ >t*HTٿ@?@;6?`_?zez? ?)u*y+@ u*|;Iu*CxN\>xRE)ʁʉQ"Eʉ͍d%>I I8ٮ QtI  UC9鰕: l:)ƒ8 9)I tIi D ::) :IN9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w:-v/ 1ɝ* +O{(A Yt.y @t.+@yt.t.r>t.H@@ؿ?Q? .`?雃?< ?~?)u.y @ u.yz;Iu.Cx^i>x^EilIl)=SGI9F@MYM\U>QQQU"EQ]ݛ]>Ia Im8ٮaa QmtI a UmC9ae: e:)eɃ8 }9)qIq }tIiq }Dq uh:)u:IuW9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: )I i* i{(AYt:@t:.,@yt:Rt:D?t:Hؿ )??`.? Wj?f??)u:@ u:9y;Iu:CxRKS>xRE)GIiuAa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@uY}k<}>yʁQ"Eʁͅ<>I I8ٮ QtI  UC9鰍; ;)у8 9)I tIi D :) :Ih`9I9&M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 154.145949 arcdeg .q''*G2GF F rFbFEE)M;IM9 IIiIIIQUx갽iQY Y2@]<:@ew: ߑ* {(AYt2@t2)9.@yt2<{xR*Ei`I`)mSGjHqrHqIqF@Yʅ>L=>ʉʉQ"Eʉ͕>=>I I8ٮ QtI  UC9鰝: :)n׃8 9)I tIi D :)A:I,h9I9=OM@Contact HDG: 167.147761 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqy} i}$ 2@<:@w: ߙ* 4{(A)4t*H@ ԿH?@$?U ?o@?D?)u*w"@ u*)y;Iu(xBo>xBJE)~dGIa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y>Q"ES=>I I8ٮ QtI  UC9N; (;)ރ8 %9)!I! -tIi! -D! %}:)%,:I%q9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIg-ik/ 2@<:@w: Y* {(AYt*#&@t*4@yt*-ot*>t*H5h@{\ѿv?@?Z?`͒?N?`?)u*#&@ u*;Iu*CxN'n>xRpE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i F=I֓C)IR=4=F@Y>b>ʁʁQ"Eʁ͍Y=>I I8ٮ QtI  UC9鰕: :)R8 9)I tIi D l:):Iz9I9*G2GFFrFbFEE);I9 iIBi 2@ <:@ w: * Kr{(AYt*)@t*y8@yt*u@t*->t*H@Ϳ?f?7W`?@?@?m@?)u*)@ u*+ʃ;Iu*CxB5g>xB*EGBAAH@)GRH%@ZH% @I)F@}Y}>ʁʁQ"Eʁ͍,>?I I8ٮ QtI  UC9鰕0; 6;)8 9)I tIi D -J;)\;I9I9*G12GFFrFbFEE) ;I 9  iI15Ii5<1 92@=<:@=w:Ef/ Y* t*H0XVǿ h?`?`q@y?`r?-??)u*t-@ u*;Iu*Cx6:m>x6EiF=IFѓC)vGIxa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU<;U>QQQ]"EYe>e>Ia Im8ٮaa QmtI a UuC9ae: e:)e8 }9)qIq }tIiq Dq u:)u$:Iu9I9*G2GFFrFbFEE);I9 iIfEiP 2@<:@w:O$ * (|(AYt*1@t*?@yt*8 t*~K>t*Hʤў`??k@Œ?L&?`g? s?)u*1@ u**;Iu*CxBQ>xBE)SGIi  F@=YE$E>AAQM"EIM>M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U8 m9)aIa mtIia mDa e-:)e :Ie9yIy9*G2GFFrFbFEE);I9 iI4iУD 2@<:@w: ߙ5e>=>'* m|(AYt*|2@t*)A@yt*bSt*li>t*Hڶ ?y? ? Vi?7?t!?)u*|2@ u*T;Iu*CxZAG>xZ DijF=Ij֓C)-GjH1rH1I1a 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ2>ʙʙQ"EʡͥZ=>I I8ٮ M8 QtI  UC9鰭: :)8 9)I tIi D %:)Ԙ:IJ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I9 iIi !2@%<:@%w:份 *R * D7|(A);IYt.a2@t.lKA@yt.$t.a)>t.H@???@[`T? ڣ? t?`?)u.a2@ u.;Iu.CxBN>xB&D)SGIF@=YEp=E>IIQM"EIM ;U>IQ I}8ٮQQ Q}tI Q UC9QU: Uа:)U8 9)I tIi D  :)ݖ:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 173.046340 arcdeg .q'e'e*Gi2GiFiFirFbFEE);I9 iIi 2@<:@w: 9* Q|(AYt:1@t:G@@yt:e/`t:>t:H;:%ן??`rڿ?`?/Q?@d?)u:1@ u:2;Iu8x^fE>xbDitIt)GI=%=a 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝe=>ʙʙQ"Eʡͥ>I I8ٮ QtI  UC9鰭: p:)-8 9)I tIi D F:):I9I9=Oe@Contact HDG: 167.147761 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GiFiFirFqbFqEqEy);I9 iI$i 2@<:@w:Ԙ ߑi1=@Ad* 6k|(AYt*9/@t*D>@yt*廙t*>t*HRÿ@? "?? |?͋??)u*9/@ u*Ċ;Iu(xB c>xB E)~ׄGRH~@ZH~@IF@=YEF<E>AAQM"EIMvM>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)UR8 m9)aIa mtIia mDa e}:)eo:Ie9I9*G 2G FFrFbFEE)5;IU9 QQiQIYY]谽i]a a2@m<:@mw:mJ yK!* o|(A Yt./@t.=@yt.ʗt.[>t.H2Ŀ2?t? a??Ћ?U?)u./@ u..;Iu,x6`>x6. EiB=ID)r҄GItF@Y%K%>!)Q-"E)-:->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5%8 M9)AIA MtIiA MDA E:)EԘ:IE9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI߰i 2@<:@w:m C ߹v'* +K|(AYt*.@t*J=@yt*I[t*P>t*HYt8Ŀ 0? ;g?',?`˓?q+?ൟ?)u*.@ u* ;Iu(xBHf>xB E)zvGI|i~vA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY])]>aaQe"Eamm>Iq Iu8ٮqq Q}tI q U}C9qul: u-:)u,#8 9)I tIi D ):IŢ9I9*G2GFFrFbFEE);I9 iINְi 2@<:@w:X ߹5>=x>#-* N&|(AYt*-@t*e<@yt*,a3t*>t*H_`Iƿ`?`)?? l?@>?[g?)u*-@ u*;Iu*CxB |>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIp)UGjHarHiIqF@Yʵ<>ʹʹQ"Eʹ >I I8ٮ QtI  UC9; #;)D*8 9)I tIi D [;);Iy΢9I9*G12G1F9F9rFAbFIEIEI)m;Im9 qqiqIqlаi 2@U<:@Uw:EL Q4* |(A)IYt.k-@t.v><@yt. xVt.>t.H[ƿ@x^E){b0>I{`i{bCb>{b1>{`{bpA{`|b8C9|b78!}?,)=;?)GIF@Y $ >Q"E-H->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5d18 M9)AIA MtIiA MDA E:)EV:IE<ע9YIY9a*Gq2GqFqFqrFybFyEE2EzE8CEk~]@2-+H@E78!}?,)=;?E0>EELX]._"5O4@E>h Stſ4]$F?ElT@=DHdg To Contact =189.888165 degreesZEbEp:E`n$?BEzo$?JE RE jE}ArE'>);I9 iI<˰i 2@<:@w:M Y$uFacoustic_contact_range 128.220001 m$}hTrackAcousticContact.heading_to_contact 3.314174 rad$JDUSBL_Hydroid.xAngle 22.850000 arcdeg:* |(AYt*1-@t*;@yt*&bt*;>t*HQ`wǿҐ?43?^1?`D??yz?)u*1-@ u*y;Iu*CxBi>xBNEiRF=IP)SGI 4= a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQm"EiuJ}u>Iy I8ٮyy QtI y UC9y}: y)}78 9)I tIi D a:):I?ߢ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIǰi 2@<:@w: )I ߩi9=?AܙA* }(AYt*bM-@t*m;@yt*s軙t*K>t*H5U`Vǿ*?@ ??`>}?.=?/?)u*bM-@ u*Dx;Iu*CxJ̀>xJeE)GRH@ZHIF@]YeQ<e>aaQe"Eimʌ;m>Iq I}8ٮqq Q}tI q UC9qu: u:)u>8 9)I tIi D :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 168.286859 arcdeg .q'5'5*G92G=lT@F9F9rFAbFAEAEA)];I]9 YYiaIaeL.<@ieώmlT@ i2@m<:@uw: ߁$RHorizontalControl.headingCmd 3.314174 radgG*  }(A @Yt*7y-@t*B&<@yt*׃at*_>t*HYƗǿl? ϥ?@u@*?@0?wk?@&?)u*7y-@ u*jw;Iu*CxB`k>xBEiN=IRѓC)MSGIIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʵӃ>Q"Ee;>I I8ٮ QtI  UC9: :)E8 9)I tIi D :)ϝ:I9)I)9)=O@Contact HDG: 189.888165 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI /?@i O⽉  )2@5<:@5w: yM* o:}(AYt*`.@t* =@yt*vkt*<1>t*H`9oƿ? ?`?AM?BJ?QX?)u*`.@ u*Dw;Iu*CxBj>xBqE)~dGI|itAF@eYmڲm>iqQu"Equ==}>Iy I8ٮyy QtI y UC9y}: }:)}L8 9)I tIi D :)M:I9I9*G2GFFrFbFEE);I9 !!i!I!-C@i-) )2@5<:@5w: I5>=>]T* JT}(AYt*0@t*>@yt*mGt*L>t*H `T¿1C?.u? d? ?`?`j?)u*0@ u*uw;Iu(xBPY>xBEiPIP):GjHwArHIF@Y%<%>))Q-"E)-=5>I1 I=8ٮ11 Q=tI 1 UEC915U: 1)5MS8 M9)I M9II MtIiI UDI M:)M:IM9aIa9a*Gq2GqFqFrFbFEE!)u;Iu9 qqiqIy}uH@i}J 2@<:@w:X ߱[* B%n}(A)4t.Hfa ? B? H?`U? p?`?)u.1@ u.x;Iu.CxBo>xBE)~GIa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ>ʡʡQ"Eʡͭjv=>I I8ٮ QtI  UC9鰵д; ;)wZ8 9)I tIi D :):I 9I9*G2GFFrFbFEE)-;Im9 iiiqIquCiu9y y2@<:@w:BF ߑTa* 2}(AYt294@t2B@yt2 t2ii>t2Hh ص??@Q3? j??o?)u294@ u2F};Iu2CxBh>xBEiPIP) GI%=4=F@=YEX;E>AAQE"EIM=M>IQ I]8ٮQQ Q]tI Q UeC9QUg: U:)U(a8 m9)aIa mtIia mDa e :)e:Ie59I9*G2GFFrFbFEE);I9 iI?i! !2@-<:@-w:m ߹i19|h* wۡ}(AYt*5@t*)VD@yt*KIt*G>t*H`4ð@m?`? `,???@H?-?)u*5@ u*쩂;Iu(xBh>x@)|RHZHIF@Y%<%>!!Q-"E)-f=->I1 I=8ٮ11 Q=tI 1 UEC915M: 5/:)5g8 M9)AIA MtIiA MDA E%:)E9:IE9YIa9a*Gq2GqFqFqrFbFEE);I9 iI(=ixE 2@<:@w:D- t.H` '?`b? m? =?`?@?)u.% 7@ u.W;Iu.CxBl>xBE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idIj̓C)uSGIa 1 a 15 a 55a 55 a 95a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@eYʵ#>ʱʹQ"Eʹ]C=>I I8ٮ QtI  UC9~= ~=)o8 9)I }tIi }D l=)m=I%9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)%;I-9 ))i)I)5:;iqq y2@}<:@}w: T7 ߱ $u* }(AYt*q98@t*|F@yt*\t*,L">t*H@U.|?^I??@X˒? 2??)u*q98@ u*;Iu(xNY>xRE)uGIqi}vAyF@Yʽ`ۻ>Q"EI=>I I8ٮ QtI  UC9; N;)v8 9)I  tIi  D  :)V:I*,99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 178.064835 arcdeg .q'%'%*G!2G!F!F!rFIbFIEQEQ)e;Ie9 aiiiIi*;f밽i7 2@<:@w:Vw$ ߑ5>={>N{* l}(AYt*~P7@t*E@yt*p%/t*=t*Hѧ;?Ə?@˻?? ??)u*~P7@ u*ق;Iu*CxByD>xBDiPIRѓC)҄GjH vArH I a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YʽY<>Q"E>I I8ٮ QtI  UC9; ^:)}8 9)I  tIi  D ):I499I999=O@Contact HDG: 189.888165 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!)5;I=9 99i9I9EH=iAA A2@M<:@mw:z: x6* G ~(A);IYt.}65@t.C@yt.:t.&N >t.H<@ϋn??`R? _\?L?)u.}65@ u.2;Iu,xBc>xB E){GIF@Y%=%>!!Q-"E)-5->I1 I=8ٮ11 Q=tI 1 U=C915: 5{:)58 M9)AIA MtIiA MDA Eh:)E:IE<9YIa9a*Gq2GqFqFqrFbFEE)5;IU9 QQiQIYuI>iuCy y2@<:@w:89 `* 1##~(AYt*3@t*B@yt*;t*3=t*H`v乿Prr?ٹ?` T޽?~Խ??)u*3@ u* ;Iu*CxBmd>xBu EiLIL)~+GI4=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ+S<>ʡʡQ#Eʡͭ1F>I IU8ٮ QUtI  U]C9鰵'< Y<)8 e9)YIY etIiY eDY ]:)]ȗ:I]E9I9*G2GFFrFbFEE)-;I-9 iiiiIquH>u*iyy y2@<:@w:i yi19* <~(AYt*4@t* B@yt* t*(>t*H`&??`7j ? a?@?`ʐ?)u*4@ u*{;Iu*CxBHf>xB E)~GRH~@ZH~@IF@=YEƼE>AAQM#EIMF;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)Ui8 m9)aIa mtIia mDa e:)eݖ:IeM9yIy9*G2GFFrFbFEE);I9 iII>o[i 2@<:@w:}*C r* V~(A@ Yt*95@t*C@yt*xt*bn>t*H@3`ͲX?@՝?4Z?@n?}?xBEiPIP)~GI|a 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]3e>aaQe#Eam/=m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u_8 9)I tIi D :),:IaV9I9*G2GFFrFbFEE);I9 iIJ>i 2@<:@w: )I ߉* p~(AYt.*6@t.D@yt.يt.9>t.H %k?Zݰ?@@?[? =?Q?)u.*6@ u.x;Iu.Cx6p>x6E)r+GIpittF@Y%H9%>!!Q%#E)-=->I1 I=8ٮ11 Q=tI 1 U=C915: 55:)5!8 M9)AIA MtIiA MDA E}:)E:IE^9YIY9a*Gi2GqFqFqrFybFyEyE);I9 iII>ñi[8 2@<:@w: 15>* O~(AYt6-6@t68rE@yt6Zt6>t6HΞ??? F?H??)u6-6@ u6B;Iu4xBp>x@iPIP)SGjH rH I F@=YE<E>AAQE#EAM<M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U8 m9)aIa mtIia mDa e[:)eo:IeQg9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIJ>/i 2@<:@w: * Yj~(A)IYt.7@t.F@yt.t.R>t.H ] Bp?`x?f^?Mr?5?l?)u.7@ u.$;Iu.CxBp>x@)%dGI!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y_B<>Q#E =>I I8ٮ QtI  UC9h: :)Y8  9) I   tIi  D  p:) ;I Ep9AIA9A&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 177.708408 arcdeg .q''*G2GFFrFbFEE)E;IM9 IIiiIiuI>ua'iu+$.q y2@}<:@w: ߱خ* oE~(AYt*@7@t*KlF@yt*[Z t*>t*H` I??s`f}?=??@ y?)u*@7@ u*;Iu*CxBRr>xBE {@Y|DF8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)I=F@Y#>Q#EDD>I! I-8ٮ!! Q5tI ! UUC9!%k; %+;)%V8 e9)aIa mtIia mDa e:)e;Iey9I9=O]@Contact HDG: 189.888165 arcdeg .']']O]4Initialize Wait Component.*Ga2GaFaFarFibFEE);I9 iI-J>-VWi11 12@=<:@=w:]HC ii5@A9*  ~(AYt*$08@t*/F@yt*ft*W>t*Hɞ>=?M?} L?@?`S?`xB E)GRH@ZH@Ia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Y}z }>ʁʁQ#Eʁ͍J<>I I8ٮ QtI  UC9鰕I< <)麄8 %9)I %tIi %D ٓ:):IZ91I999*GI2GIFIFIrFqbFyEyEy);I9 iII>~i 2@<:@w:7 j* ]~(A@ Yt*W7@t*F@yt* :t*؉>t*H6?@U??@P?@?)u*W7@ u*z;Iu*CxN?s>xREi`I`)%SGI)F@5Y=R<=>AAQE#EAEM>II IU8ٮII QUtI I U]C9IMJ: M:)M8 e9)aIa etIia mDa e:)e:IeY9qIy9y*G2GFFrFbFEE);I9 iIJ>Ҩi 2@<:@w:vA vAQ- ߹C* c (AYt*J6@t*D@yt*;t*/p>t*H`;`,?@O^? ?u?l?)u*J6@ u*'_z;Iu*CxNi>xRE)%dGI)i-uA)F@5Y=/<=>AAQE#EAM&M>II IU8ٮII QUtI I U]C9IM: M:)MȄ8 e9)aIa etIia mDa e:)e|:Ieܑ9qIy9y*G2GFFrFbFEE);I9 iII>i,W< 2@<:@w: )I I=>=>g* %(AYt*vQ5@t*C@yt*wg;t*A>t*HGi?`??ߢ? l?^?)u*vQ5@ u*y;Iu*Cx2f>x2 Ei@I@)pjHprHpIta 1-a 1- a 5-a 5- a 9-a 9- a --a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYMBM>QQQU#EQ],]>Ia Im8ٮaa QmtI a UmC9ae: e:)e}τ8 u9)qIq }tIiq }Dq u:)u:Iuk9I9*G2GFFrFbFEE);I9 iIJ>i 2@<:@w: &* ߋ?(A) IYt*?4@t*B@yt*. t*Hͷ?@?p ?׃@?@?)u*?4@ u* w;Iu*CxBq>xBE)zGIxF@EYE0L<E>IIQM#EIU)U>IQ I]8ٮQQ QetI Q UeC9QUį: UB:)U\ք8 m9)iIi utIii uDi mF:)mZ:Im碣9I9*G2GFFrFbFEE);I9 iII>isI 2@<:@w: * QgY(AYt*w 3@t*A@yt*\It*}>t*H @C? L?6 @?H0i?p?X?)u*w 3@ u*y;Iu(xZz>xZ EihIh)5SGI154=1a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝY>ʡʡQ#Eʡͭ9>I I8ٮ QtI  UC9鰵2: W:)r݄8 9)I tIi D :)Ԙ:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI5J>9iAA I2@U<:@Uw: ai5?A9;9* Ds(AYt*Rg2@t*]A@yt*t*n>t*H`w4 ?a׿?wx? ?|"?Ǯ?)u*Rg2@ u*z;Iu(x>v>xBGE)5dGRH1ZH5@I9F@}YʅU>ʁʁQ#Eʉ͍̼>I I8ٮ QtI  UC9鰕: :)H8 9)I tIi D :)ȗ:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 172.853797 arcdeg .q''*G2GFFrFbFEE);I9 iII>ijT 2@<:@w:r. k * 2(A@ Yt2ɞ2@t2KA@yt2t2:>t2H ۼ !?@|?`D&?3?d??)u2ɞ2@ u2#|;Iu2CxBi>xBNEiPIP)!I)F@uY}P;}>ʁʁQ#Eʁ͍ <>I I8ٮ QtI  UC9鰕; ;)*8 9)I tIi D t:)$:I9I9=O}@Contact HDG: 189.888165 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIJ>i 2@<:@w:xj0 ߙJ* (AYt*2@t*A@yt*(3t*Rn>t*H@W૖??c 5?YF?u? "?)u*2@ u* {;Iu*CxB^>xB E)xI|i~vA|a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YƬ<>Q#E;T<>I  I8ٮ   Q5tI  U5C9  ; ж;) T8 =9)9I9 EtIi9 ED9 =̒:)=:I=ţ9qIq9q*G2GFFrFbFEE);I9 iII>i 2@<:@w:) =I%R= 5>5l>y2* (AYt*(4@t*B@yt*c3t*`>t*H * 䳷^{?޸?0?@hr?_?u?)u*(4@ u*,Vy;Iu(xRn>xRE {TY|TZ8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)GjHrHIF@Y=<>Q #E u )=u>Iy I}8ٮyy QtI y UC9y}ͭ: }J:)}8 9)I tIi D :):IΣ9I9*G2GFFrFbFE!E!)U;Im9 iiiiIiuJ>qiuEq y2@}<:@}w:T \* (A) IYt.15@t.C@yt.ҥ0t.1>t.H z? ?p ?@?2)??)u.15@ u.lx;Iu.Cx6`k>x6E)~GIF@ Y7?Q#E%]I=%?I) I-8ٮ)) Q5tI ) U5C9)-O: -1:)-8 =9)9I9 EtIi9 ED9 =1:)=:I=գ9QIQ9Q*Gi2GqFFrFbFEE);I9 iII>i 2@<:@w:L * (AYt*6@t*fE@yt*P Yt*>t*H w '۟? B?@17?!??'A?)u*6@ u*z;Iu(xNk>xREi`I`)%SGI!))a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʱʱQ#Eʱͽg=>I I8ٮ M8 QtI  UC9: :)8 9)I tIi D :)Z:Iޣ9I9*G2GFFrF bF E E )%;I%9 !!i!I!-J>)i-K4) 12@=<:@=w:MvA MvAM5E Qi5@A9n * d(AYt*8@t*F@yt*,[t*>t*H`@MI? 8? `?`Ze??.?)u*8@ u*;Iu*CxBm>xB'E)GRH@ZH I F@EYUU>QYQ]#EYeQ=e>Ia Im8ٮaa QmtI a UuC9ae: eį:)e 8 }9)qIq }tIiq Dq uS:)u:Iu9I9*G2GFFrFbFEE);I9 iII>i 2@<:@w:8 9 * W@((A Yt*8@t*FG@yt*LXjt*~>t*H@,+@7?琜?`6?J?@A ?7?)u*8@ u*W;Iu(xBf>xF EiXIX)=SGIAF@eYuu>ʁʁQ#Eʉ͝T<>I I8ٮ QtI  UC9鰭A; ^;)8 9)I tIi D V;)a];I9I!9!OEDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFQrFQbFYEYEY)m;Iu9 qyiyIy}J>iAU* 2@<:@w:04  * !B(AYt*9@t*H@yt*rt*>t*HO۫v@?ϩ?ܰ2?J΃?v??)u*9@ u*;Iu*CxV`k>xVE)=dGI9i9Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ8<>ʡʡQ#EʩͭA=>I I8ٮ QtI  UC9鰵}: :)8 9)I tIi D :),:IF9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 179.505814 arcdeg .q'm'm*Gq2GqFqFqrFybFyEyE);I9 iII>i(! 2@<:@w:)=I;>* ߙ5R>5> * [(Ax t>x lEi)I-̓C)jHrHIF@Yʥ>ʡʡQ#Eʡͭ>I I8ٮ QtI  UC9鰵: :)e"8 9) 9I tIi D 5:):I9I9=Oe@Contact HDG: 189.888165 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFiFqrFqbFyEyEy);I9 iIJ>i 2@<:@w:YX+ ߱ * -u(A) IYt*d;@t*J@yt*nkot*>t*H@F? ?m!q?(??8?)u*d;@ u*#;Iu*CxBm>xB'E)GIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YD>Q#Er=>I I8ٮ QtI  UC9; ;)j)8 %9)I %tIi -D ̒:)Z:I 91I999*GI2GIFIFIrFqbFqEyEy);I9 iII>i  2@<:@w:MR! ߹# * T(AYt*;@t*RJ@yt*Kt*q>t*HA?u?m05x?@0{?`N?H7?)u*;@ u*8;Iu*CxR`k>xREi`IbѓC)5SGI199F@EYM;M>IIQU#EQU(<U>IY Ie8ٮYY QetI Y UmC9Y]1: ]:)]/8 u9)iIi utIii uDi m:)m:Im9I9*G2GFFrFbFEE)=;I=9 99i9IAEJ>AiII I2@U<:@Uw:i q\\! ߑi19 ) * (AYtB '=@tBK@ytBU_AtB>tBH?2BC` ?+? ??)uB '=@ uBE;IuBCxRi>xRE)dGRH@ZH%@I!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʉQ#Eʉ͍j=>I I8ٮ QtI  UC9鰕į: x:)78 9)I tIi D :):I:9I9*G2GFFrFbFEE);I9 iII>i k  2@ <:@ w:m y0 * cÀ(A Yt>=@t>;L@yt>et>>t>H$V?4&Z [@w-S?5?M??)u>=@ u>;Iu>Cx^m>x^'E {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I1)GIF@YЭ>Q#EVx<>I I 8ٮ Q tI  UC9; ;)$>8 %9)I %tIi -D q:):I#9AIA9I*Ga2GaFiFirFbFEE)U;IU9 YYiYIYeJ>aiaa a2@<:@w:=  ߑ6 * ?݀(AYt:E2>@t:PL@yt:ݯCt:(>t:H`ٿ?@-Ӂvr?u? 9q?@%?)u:E2>@ u:Á;Iu:CxRe>xRP E)5SGI1i=uA9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ,;>ʙʡQ#Eʡͥ<>I I8ٮ QtI  UC9鰭: [:)D8 9)I tIi D h:)|:IP+9I9*G2GFFrFbFEE) ;I 9  iII>i 2@%<:@%w:)5=I5= Y1={>'= * M.(AYt.$>@t.L@yt.kRt.F>t.H`7`?=v tIF?OM? B??)u.$>@ u. ;Iu.CxJj>xJqEi\I\)dGjH!rH!I!F@5Y==>99Q=#E9E E>II Iu8ٮII QutI I UuC9IM; M;)MK8 9)yIy tIiy Dy }:)},:I}39I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I-9 11i1I1=J>9i99 92@E<:@Ew:}Y ߉ D * (A)4t.H`T?yyyVd?_@?@F`??)u.0?@ u. ;Iu.Cx6g>x6sE)YIaF@Yʕy8>ʡʩQ#Eʩͽ=>I I8ٮ QtI  UC9|; y~;)R8  9)I tIi D `;)sp;I<9AIA9I&uM}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'N @Vehicle HDG: 184.138335 arcdeg .q' ' *G 2G FFrFbFEE)5;I59 11i1I1=I>9i=9 A2@E<:@Ew:U U)UIU 4J * O*(AYt*"?@t*M@yt*nJt*j*>t*H` ?QN@|@+?`CY??@?)u*"?@ u*;Iu*Cx6g>x4i@I@)rGIpv%=v4=a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʡʡQ#Eʡͥ;>I I8ٮ QtI  UC9鰭: :)Y8 9)I tIi D :),:ID9I9=Om@Contact HDG: 189.888165 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GqFqFqrFybFyEE);I9 iIJ>i 2@<:@w: i19Q * D(AYt*\k?@t*gN@yt*7!t*N>t*HG`?qI?`6?% ?k?)u*\k?@ u*5(;Iu(xBb>xB E)~GRH@ZH@IF@ Y;>Q#E%W<<%>I) I-8ٮ)) Q5tI ) U5C9)-: -:)-"`8 =9)9I9 EtIi9 ED9 =ٓ:)=E:I=L9QIQ9Q*Ga2GaFaFirFibFiEqEq);I9  i I  I>i 2@<:@w: YFW * I^(A Yt.Y@@t.dN@yt.vt.>t.H`G?~@ޭp?`׎??w?)u.Y@@ u.\.;Iu.CxRq>xREi\I\)SGIa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ_K>ʁʁQ#Eʉ͍n<>I I8ٮ QtI  UC9鰕: k:)Cg8 9)I tIi D -:)ݖ:IU9I9*G2GFFQrFYbFYEYEY)u;I9 iIJ>i 2@<:@w: q] * `x(AYt*_@@t*jN@yt*^t*]>t*HU*?pն ???ਃ? x??)u*_@@ u*};Iu*CxNq>xP)dGIiwAF@]Yenкe>aaQe#Eim:m>Iq I}8ٮqq Q}tI q U}C9qu: u:)un8 9)I tIi D :)c:I9^9I9*G2GFFrFbFEE);I9 iII>i 2@<:@w: 5>=>[d * G(AYt6V@@t6aO@yt6P't6y q>t6H`Q?@ꀌ??=? ?)u6V@@ u6};Iu6CxN?s>xNEipIp)ijHqrHyIya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ YBR<>Q#E<>I! I-8ٮ!! Q-tI ! U5C9!%: %:)%au8 =9)1I1 =tIi1 =D1 5:)5N:I5:g9III9Q*Ga2GaFaFarFibFiEqEq);I9 iIMJ>IiMI齉I i2@m<:@uw:] qj * (A) IYt.`A@t. P@yt.Yt.K>t.Ho?@U黿,;W?`)"?`N?@]?)u.`A@ u.E\;Iu.Cx6i>x6NE)nGIlF@Y%%>!)Q-#E)-!<->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5{8 M9)AIA MtIiA MDA E:)EԘ:IEo9YIa9a*Gq2GqFqFqrFybFyEE);I9 iII>i 2@<:@w:uh5 ߁jq * Ł(AYt*$_A@t*/ P@yt*0t*M>t*HY? Oaỿ '@??? aY?)u*$_A@ u*˪;Iu*CxZeq>xZnE {\Y|\b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI֓C)vGI4=%=F@Y'>Q#E m>I I%8ٮ Q-tI  U-C9T; ;)$8 =9)9I9 EtIi9 ED9 = :)=:I==x9YIa9aO}Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIJ>i 2@<:@w:)=I=% 9iAAZw * ߁(AYt*rB@t*Q@yt*1rt*-G>t*H/$?Y@!F?@]? ?c?)u*rB@ u*(߀;Iu*CxB^>xB E){BI{@i{B<={B>{@{BA{@|BfA9|B^?KԌÿ)=dGRH=@ZH=@IAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YEZ<>Q#Eg,=>I I8ٮ QtI  U%C9: :)8 -9)!I! -tIi! -D! %-:)%c:I%9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 187.218094 arcdeg .q'}'}*Gy2GyFFrFbFEE2EzEfAE[ۑj?@bݭE^?KԌÿEEE2H'?)?WQ(>߿EeJ.i!?h]upEO_G@=DHdg To Contact =178.487364 degreesZEV?bEH:ETo$?BE`n$?JE RE jErE}A);I9 iII>ifԽ) )2@5<:@5w:9 9)=I= $Dacoustic_contact_range 31.799999 m$hTrackAcousticContact.heading_to_contact 3.115192 rad$ JDUSBL_Hydroid.xAngle -8.900000 arcdegϿ} * &(A Yt.B@t.(CQ@yt.n{t.:>t.H }M?毌Z4%?`[/?.?&x?)u.B@ u.d;Iu.CxNeq>xNnEi`IbѓC)iIiF@}Y}d<>ʁʁQ#Eʁ͍(;>I I8ٮ QtI  UC9鰕: :)8 9)I tIi D :):I݈9I9=OM@Contact HDG: 178.487364 arcdeg .'M'MOM4Initialize Wait Component.*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIyJ>i 2@<:@w: ߡ * A(AYt*g-C@t*rQ@yt*W7t*ԏE>t*HRy?@u† ?`?o?g?)u*g-C@ u*~;Iu*CxB"h>xBE)GIi vA F@=YE,E>AAQM$EIM<M>IQ I8ٮQQ QtI Q UC9QU܏< U <)Ub8 9)I tIi D }:) :I9)I)9)*G2GFFrFbFEE)m;Im9 iII>i 2@<:@w: 5>={>ъ * F^-(AYt*K+D@t*VR@yt*pVt*wF>t*Hǟ "r?Y` }ÿep?ފ??f?)u*K+D@ u*,;Iu*CxRP>xR6Ei`I`)ʉʉQ$Eʉ͕=>I I8ٮ QtI  UC9鰝_:  :)m8 9)I tIi D :) :I晤9yIy9y*G2GFFrFbFEE);I9 iIJ>i 2@%<:@%w: 9 * 9G(A);IYt.D@t.S@yt.mt.~A>t.H3`?`ڐĿ+?@T?@h ?Um?)u.D@ u.;Iu.CxNf>xR E)SGIF@]Yeee>aaQm$Eim<m>Iq I}8ٮqq Q}tI q U}C9qu2: u:)u=8 9)I tIi D :)o:IP9I9*G2GFFrFbFEE);I9 iII>i 2@<:@w: i * ia(AYt6D@t6&S@yt6Cut6]Hc>t6H}?`Ŀ$`?=? ,?%6?)u6D@ u6c;Iu4x>n>x>EiLIL)~GI|=a 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yexe>aaQe$Eim;m>Iq I}8ٮqq Q}tI q U}C9qut: u5:)u%8 9)I tIi D :),:I֪9I9*G2GFFrFbFEE);I9 iIJ>i 2@<:@w:?̽ i5?A1 * z(AYt*E@t*T@yt*^t*J>t*H@z?`@Fƿ@-d?hՋ?x?@0`?)u*E@ u*c;Iu*Cx>=Z>xB1E)~SGRH~@ZH@IF@=YEZ`;E>AAQE$EAMo"=M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U8 m9)aIa mtIia mDa e%:)e:Ie?9yIy9y*G2GFFrFbFEE);I9 iII>*iۊ 2@<:@w:$ӿ  * ʔ(A Yt*؉F@t*6U@yt*1ht*D>t*Hk$?\ꖿ(ȿ) ~^?E?"x?h?)u*؉F@ u*};Iu*CxZ5g>x^*EihIh)5GI9F@EYM˺M>IQQU$EQU<U>IY Ie8ٮYY QetI Y UmC9Y]: ]:)]ๅ8 u9)iIi utIii uDi m1:)m:ImȻ9I9*G2GFFrFbFEE);I9 iIJ>}i 2@<:@w: ߹N * v(AYt*'F@t*2U@yt*(t*& _>t*H` d)y?mlȿ@U?@??&>?)u*'F@ u*o3;Iu*CxNMl>xRLE)MSGIQiUuAQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ5j<>ʹʹQ$EʹHS<>I I8ٮ QtI  UC9: :)8 9)I tIi D F:):IĤ9I9ODone Waiting.'O8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)-;I-9 11i1I1=I>=i99 92@E<:@Ew:I Q)QIQ 1=l>* * Ȃ(AYt*(G@t*3_V@yt*J7t*?z>t*H@Nm?#@mʿ\@? ??? ?)u*(G@ u*Ȧ;Iu*CxBw>xBjE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)dGjHrHIF@Y>Q$Eq<>I! I-8ٮ!! Q-tI ! U5C9!%; %;)%ȅ8 e9)YIY etIiY mDY ]v:)]:I]rͤ9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'}N@Vehicle HDG: 191.915680 arcdeg .q''*G2GO_G@FF)rF)bF9E9E9)u;Iu9 qyiyIy?igO_G@ 2@<:@w: $5RHorizontalControl.headingCmd 3.115192 rad1 *  ^₨(A)IYt.G@t.[V@yt.䆼t.|`>t.H N`%8?@pݝVfʿউM?Pܐ??`:?)u.G@ u.1V;Iu.CxBRr>xBE){B5zI{@i{B={B>{@{BA{@|BWB9|BC>c?.xA)I!F@]Ye4_e>aaQe$Eamm>Iq I8ٮqq QtI q UC9qu܏< u<)u΅8 9)I  tIi  D :):Iդ9I9=O@Contact HDG: 178.487364 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzEWBE@J@1xNzP EC>c?.xAE5zEEjJLM"[t=?E0D9:￠¿ؼ'i?ER@=DHdg To Contact =188.488168 degreesZE~bE(U:Eo$?BETo$?JE RE jE->rE)%;I%9 ))i)I)5qzBi5_#1 92@E<:@Uw: ߙ$Dacoustic_contact_range 53.880001 m$hTrackAcousticContact.heading_to_contact 3.289739 rad$JDUSBL_Hydroid.xAngle -3.500000 arcdeg\ * :(AYt*H@t*^W@yt*9Vt*K>t*H3 #?`^̿ڑ ?Tފ? M?@]?)u*H@ u*.h;Iu(x>v>xBGEiPIR̓C)GI 4= =a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmU<m>iiQm$EiuM=u>Iy I8ٮyy QtI y UC9y}: }):)}Յ8 9)I tIi D :)=:Iݤ9I9*G2GFFrFbFEE);I9 iIFi)һ 2@<:@w: i5@A1TF * (AYtVyH@tV&W@ytVl tV,\O>tVH@: 9?}a =˿``Z?@-?`?@TX?)uVyH@ uVH;IuVCx^_>x^ E)EGRHAZHAIIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ;<>ʩʩQ$Eʱͽ>I I8ٮ QtI  UC9鰽: :)܅8 9)I tIi D S:):I9I9*G2GFFrFbFE E );I9 !!i!I!-HHi-;) )2@5<:@5w:E Im * /(A Yt* VI@t*+X@yt*t*e>t*H`B!?@Ϳ`&Vv?۽??2?)u* VI@ u*>;Iu(xBr>xBIEiLIRѓC)~SGIF@=YE:E>AAQM$EIM =M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U78 m9)aIa mtIia mDa e:)eݖ:Ie9yIy9*G2GFFrFbFEE);I9 iIG@iX< 2@<:@w: ߡ"U * I(AYt2dNI@t2oW@yt2)Z3t2J~>t2H`! ?kɧ಑Ϳ( d?'k?tu?9?)u2dNI@ u2/Ƙ;Iu2CxRV>xRE)dGIiwAF@]Yede>aaQm$Eimm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u-8 9)I tIi D }:):Il9I9*G2GFFrFbFEE);I9 iIH@yi 2@<:@w:cռ ߹5>=> * c(AYt*&]I@t*1 X@yt*?t*a>t*H`# H?`]D@XͿ[L?}???`;9?)u*&]I@ u*;Iu*CxBMl>xBLEi\I^̓C)AjHArHAIAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ >ʩʩQ$Eʩ͵;>I I8ٮ QtI  UC9鰽: :)<8 9) 9I tIi D k:)H:I!9I9*G2GFFrFbFEE );I9 !!i!I!-O_G@i)) )2@5<:@5w: yb];  * }(A) IYt*I@t*X@yt*F6t*y ^>t*H_?ο oP2?@Ȇ?3???)u*I@ u*d;Iu*CxB"h>xBE)IF@mYmE:u>qqQu$Eq}<}>I I8ٮ QtI  UC9鰅q: :)8 9)I tIi D F:):I{9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI Ai 2@<:@w:; ȑ * )\(AYt*I@t*X@yt*CaCt*2(t>t*H``U?@+ο@+K?l?:?`?)u*I@ u*;Iu(xB,t>xB#EiLINѓC)GI =a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>Q$E[>I I8ٮ Q%tI  U%C9: :)98 -9))I) -tIi) 5D) -!:)-_;I-e9aIa9a&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 193.841861 arcdeg .q'5'5*G12G5R@F1F1rF9bF9EAEA)U;IU9 YYiYIYe Iie%;eR@ a2@m<:@w:]< ߑ$RHorizontalControl.headingCmd 3.289739 radi5?A1 * 5(AYt*J@t*X@yt*>t*y>t*H) ?@?&Ͽ` "?V؇??f?)u*J@ u*1;Iu*CxNU_>xRS E)SGRH!ZH!I!F@5Y5A:5>99Q=$E9Ei6<E>II IM8ٮI MU8I QUtI I UUC9IM: M˵:)M8 ]9)YIY etIiY eDY ]1:)]g:I][9qIq9q=O@Contact HDG: 188.488168 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E );I9 iIeFi' 2@<:@w:e< ߱c * ˃(A Yt.` J@t.kX@yt.t.z>t.H T?@Ͽ`} tb??,? ?)u.` J@ u.B;Iu.Cx6xp>x6E {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 idId)]GIiF@Yʥ<>ʩʩQ$Eʩͭ7>I I8ٮ QtI  UC9鰽; a;) 8 9)I tIi D :)a:I2"9I9*G2GF!F!rF)bF)E1E9)U;I]9 YYiYIYmTBimo!i q2@<:@w:9  * 䃨(AYt.6{J@t.A(Y@yt.\)t.e>t.H [H?SϿ 5)??`b?3?)u.6{J@ u.y;Iu,xBxp>x@){BI{@i{B={B>{@{BA{@|BDA9|BI -D?=k)%҄GI!i-vA)a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ9>ʉʉQ$Eʑ͕<>I I8ٮ QtI  UC9鰝: :)8 9)I tIi D :)k:I*9I9*G2GFFrFbFEE2EzEDAE6(@"wEI -D?=kEEET>(.D؃wE$徉￘ſ(kES@=DHdg To Contact =189.728817 degreesZEbEA:Eo$?BEo$?JE RE jErE->);I9 iI%ȓ?i%N! !2@-<:@-w:-*: 1$MDacoustic_contact_range 12.299998 m$]hTrackAcousticContact.heading_to_contact 3.311393 rad$]JDUSBL_Hydroid.xAngle -4.800000 arcdeg=>=p>W * (AYt*jZJ@t*uY@yt*f0t*X]>t*H'?^奿1ϿD@v? ?s?@?)u*jZJ@ u*`w;Iu(xBs>xBEiPIR̓C)GjHwArHI F@=YEڻE>IIQM$EIM饻U>IQ I]8ٮQQ QetI Q UeC9QU1: U):)U`8 m9)iIi mtIii uDi m:)mݖ:Im29I9*G2GFFrFbFEE);I9 iI!>i 2@<:@w:8Ƽ ߹!* /(A) IYt**nJ@t*5Y@yt*It*N>t*HR ?`ө@QϿ\? 4?`T??)u**nJ@ u*-u;Iu*Cx^`k>x^E)EvGIAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭFr>ʩʱQ$Eʱ͵{=;>I I8ٮ QtI  UC9鰽: :)~!8 9)I tIi D :)=:I;9I9*G2GFFrFbFE E );I9 !!i!I!-Y >-/i)) )2@5<:@5w:O  !* p}2(AYt*J@t*KY@yt*<t*O>t*H4)?y@пོvX? ??K?)u*J@ u*u;Iu*CxBo>xBEiPIP)5GI19=%=F@uY}<>ʁʁQ$Eʁ͍J;>I I8ٮ QtI  UC9鰕: :)J(8 9)I tIi D Ր:):ID9I9*G2GFFrFbFEE);I9 iIBN?i 2@<:@ w: )I ߱i99!* mXL(AYt*[J@t*Y@yt*Jt*Ĉ>t*H`? ɬ6Ͽ`:?A??@?)u*[J@ u*Qu;Iu*Cx2Ze>x2 E)rvGRHr@ZHr@ItF@zY~~>Q$E O, >I  I8ٮ   QtI  UC9  ]< ^<) .8 9)I tIi D Ԙ:)M:IL9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I-9 11i1IQ]c*?]*iYY a2@e<:@ew: !* 4f(A Yt.^J@t.# Y@yt.nMt.\s>t.HJ? 5ҧ(Ͽ`ݦ?a?3? ?)u.^J@ u.0w;Iu.CxBh>xBEiLIP)dGIa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYee>iiQm$Eiux9u>I I8ٮ QtI  UC9_: :)<68 9)I tIi D :) :IPU9!I!9!&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q']N@Vehicle HDG: 194.307448 arcdeg .q''*G2GS@FFrFbFEE);I9 iI!%1>i!%S@ )2@5<:@5w: A$RHorizontalControl.headingCmd 3.311393 rad !* (AYt.J@t.3Y@yt.ٻt.7>t.H =%?Yi Ͽ??>{?`ƫ? ?)u.J@ u.w;Iu.CxBi>xBNE)~GI|iuAF@=YEp<E>AAQM$EIM';M>IQ I]8ٮQQ Q]tI Q U]C9QU: U-:)U<8 m9)aIa mtIia mDa e:)e:Iex]9yIy9=Oe@Contact HDG: 189.728817 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFiFirFibFEE);I9 iI1>, i 2@<:@w: =V>E>0&!* (AYtBFJ@tBQX@ytBtB>tBH W'?7$Ͽ <?t?@CF??)uBFJ@ uBew;IuBCxJcX>xJEiXIZѓC)GjHvArHIa 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y} ;>ʁʁQ$Eʁ͍~>I I8ٮ QtI  UC9鰕: :)C8 9)I tIi D :)N:I)f9I9*G2GFFrFbFEE);I9 iI1>'i 2@<:@ w: !W,!* ij(A) IYt*J@t*X@yt*_Dt*`>t*H` @q?4Ͽ hI? ??`?)u*J@ u*Dy;Iu*CxBi>xBE)~GIF@Y%%>))Q-$E)-Ͽ5>I1 I=8ٮ11 QEtI 1 UEC915S: 5:)5J8 M9)III MtIiI UDI I)M:IMin9aIa9a*Gq2GqFqFqrFybFEE);I9 iI1>뱽i 2@<:@w: @3!* ̈́(AYt*J@t*X@yt*g-\t*u%~>t*H@9 i?`7ο@?v?p?D?)u*J@ u*z;Iu*CxBk>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIr̓C)mdGIy%=4=F@YY^>Q$EV>I I8ٮ Q tI  U C9e: ;)Q8 9)I %tIi %D :)M:I}w99I999*Ga2GaFiFirFqbFqEyEy);I9 iI1>ڱi 2@<:@w: i19i9!* >{焨(AYt.OI@t.ZAX@yt.Vt.=U>t.H#]?VѪ ο `?@>ـ?[?`?)u.OI@ u.@{;Iu,x^\>xbE){baI{`i{b@={`{`{bA{`|bA9|bBHNE?-?Uտ)]GRHe@ZHaIaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YQAIiAAɅA酭A鄩 )F@Y U<>Q$Ey>I I8ٮ QtI  UC9ͭ: J:)X8 9)I tIi D į:)':I9I9*G2GFFF!F%QArF!bF!E)E)2E1zE5AE5d-=3@SoIGE5BHNE?-?UտE5aE1E5yV맧4NLiF@!ɓ&UE5fPJ RK?/$<E5RB@==DHdg To Contact =174.374866 degreesZE53@bE5=:E5ro$?BE5o$?JE5 RE5 jE5ҿrE5]T8)]; ]2]O$8]O$I]9 ]eiaIe+zڷe1>m~̱imUxi i2@u<:@}w: ߉$Dacoustic_contact_range 20.820002 m$hTrackAcousticContact.heading_to_contact 3.043416 rad$LDUSBL_Hydroid.xAngle -19.850000 arcdegQ@!* W(A Yt.vI@t.#X@yt.t.>t.H2?~ϭͿ@?orr??W?)u.vI@ u.\{;Iu.CxB P>xBDiPIP){GIF@uYu<}>yyQ}$Eʁͅ=>I I8ٮ QtI  UC9鰍: p:)n_8 9)I tIi D :):I-9I9*G2GFFFFrFbFEE] ); F8FI9 s³iI,(1>i 2@ <:@ w: )}F!* :(AYt.4I@t.W@yt.zt.>t.H3%~?@@^Ϳ?1?`~???)u.4I@ u.E{;Iu.CxNxp>xNE)+GIia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ酭鄩 )F@Y~>Q$E_>I  I8ٮ   QtI  UC9  : J:) f8 %9)I %tIi %D )A:I 91I191OEDone Waiting.'EOM8Uninitialize Wait Component.*GI2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFQbFYEYEY)u;Iu9 uuiqIu}1>}jiyy 2@<:@w: ߙ5>5>'L!*  5(AYt.H@t.W@yt.?t.H,L?{ 3̿@/0?E?`?@?)u.H@ u.|;Iu.CxBq>xBEiPIRѓC)GjHrHIF@=YEK-E>AAQM$EIM6M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)Um8 m9)aIa mtIia mDa eF:)e|:Ie 9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.022416 arcdeg .q''*G2GRB@FFrFbFEE);I9 iI?iRB@ 2@<:@w:9jbJ $%RHorizontalControl.headingCmd 3.043416 radS!* }N(A)p;IYt.hH@t.sOW@yt.t.CS>t.Hz5`R?@mB̿/(k?p??[??)u.hH@ u.};Iu.Cx6j>x6qE)rGIpF@Y%r;%>!)Q-$E)->->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5s8 M9)AIA MtIiA MDA E:)EN:IEy9YIY9a=Oe@Contact HDG: 174.374866 arcdeg .'e'eOm4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iIhBi1X  2@<:@w:9"5r ߱۷Y!* h(AYt*(ZH@t*3W@yt*ӱt*@>t*H=? ˿g?j:v? (? ?)u*(ZH@ u*|;Iu*Cx6'n>x6pEi@ID)rdGIpv4=v%=a 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM<M>IQQU$EQU0]>IY Ie8ٮYY QetI Y UmC9Y]h: ]):)]z8 u9)iIi utIii }Di mJ:)mI:Im9I9*G2GFFrFbFEE);I9 iIFi`0 2@<:@w:9*Pz ߩi5@A9`!* ؝(AYt*H@t*V@yt*mt*G>t*H@Dh?`0˿D@c? v?`4? ?)u*H@ u*?!};Iu*Cx6̀>x6eE)rGRHr@ZHr@ItF@Y%K8%>!)Q-$E)-*->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)58 M9)AIA MtIiA MDA E:)E:IE9YIa9a*Gq2GqFqFqrFybFyEE);I9 iIF@ig< 2@<:@w: )I. of!* 胜(A$ $YtF&H@tFV@ytFJtF:Vj>tFHC??`Q˿@Tp`?PIw?` ?L*?)uF&H@ uF|;IuFCxN'n>xRpEi`Ib̓C)%vGI)a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ<>ʉʑQ$Eʑ͝J ;>I I8ٮ QtI  UC9鰥d: :)و8 9)I tIi D :):IN9I9*G2GFFrFbFEE);I9 iI B@i tA=  2@<:@w:}U ߑl!* T(AYt.G@t.%,V@yt.N0t.#w>t.H @T`?&Y ʿ FgD? ?ˢ?`i?)u.G@ u.|;Iu.CxZB`>xZ E)-GI)i5vA1F@=YESE>AAQM$EIMռM>IQ I]8ٮQQ Q]tI Q UeC9QUS: U:)U8 m9)aIa mtIia mDa eՐ:)e:Ieå9yIy9*G2GFFrFbFEE);I9 iI@@i 2@<:@w:ܪ& 5>=>s!* /Ѕ(AYt*wG@t*$V@yt*B &t*k>t*HUh?Bɿ:?Ä?@?`?)u*wG@ u*q|;Iu*CxBj>xBqE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IA)vGjHrHIF@Y%T:%>))Q-$E)5-=>IA IM8ٮAA QUtI A UUC9AE$; E ;)E8 e9)aIa mtIia mDa e:)eC:Ie̥9I9*G2GFFrFbFEQEQ)e;Ie9 aaiiIiu`>@iuy=q q2@}<:@}w:< ߑz!*  ꅨ(A)4t*H}^?ۧGɿ ?0?Lw???)u*6G@ u*n8{;Iu*CxBeq>xBnE)GIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y0<>Q$Ee>I  I58ٮ   Q5tI  U=C9  ݳ; Ǵ;) 8 E9)9I9 EtIi9 ED9 =:)=:I=6ե9qIq9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI6?@ii 2@<:@w: 31= m!* (AYt*F@t*U@yt*[⻙t*r>t*Hb m?>:ɿ~`?W|??o?)u*F@ u*Ⱥz;Iu*CxNp>xN%Ei`I`)%GI!-%=-4=F@=YE:<E>AAQM$EIMM>IQ I]8ٮQQ Q]tI Q U]C9QU: UW:)U?8 m9)aIa mtIia mDa e:)e:Ie#ݥ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 191.263656 arcdeg .q' ' *G 2G F)F1rF1bF9E9E9);I9 iI*@@i"= 2@<:@w:B= i5?A9{!* (AYt*wF@t*U@yt*U/'t* l>t*He@b?վȿ`* 7??#>?&?)u*wF@ u*6{{;Iu(xB'n>xBpE)GRH?ZH@I a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQu%Equ{>I I8ٮ QtI  UC9鰝t: а:)N8 9)I tIi D 5;)=;I9I9=O@Contact HDG: 174.374866 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))};I}9 iIRB@iP < 2@<:@w:"= ߑB!* 7(A@ Yt.'F@t.2TU@yt.t.|W>t.Hid? 5bȿ`W E?`w?`z??)u.'F@ u.y;Iu.CxBeq>xBnEiPIRѓC)!)Q-%E)-->I1 I=8ٮ11 Q=tI 1 U=C915: 5:)58 M9)AIA MtIiA MDA E:)E:IE9YIa9a*Gq2GqFqFqrFbFEE);I9 iI3i 2@<:@w: x*!* yQ(AYt*AFF@t*LT@yt*#-t*]>t*Hr?ܥ֣ǿY?`x?U?7?)u*AFF@ u*7x;Iu*CxBg>xBsE)~GI|iF@=YE;E>AAQE%EIMmM>IQ I}8ٮQQ Q}tI Q U}C9QU; UV;)U8 9)I tIi D :):I9I9*G2GFFrFbFEE);I9 11i1I19= i99 A2@E<:@Mw:< 91=>V!* ]k(AYt*TF@t*U@yt*t*4m>t*H@mq[?¡ǿ@??p?@$?)u*TF@ u*x;Iu*Cx>v>x>GEiLIL)~+GjH|rHIa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeȻe>iiQm%Eim;u>Iy I}8ٮyy QtI y UC9y}t: }5:)}꿆8 9)I tIi D d;);IJ9I9*G2GFFrFbFEE)5;I=9 99i9I9AEiAA I2@M<:@uw:y y)yIy t*H `rgc?@ ǿ@ʙ<?|m? Y;?`&?)u*FF@ u*y;Iu(xN]>xRE)SGIF@=YE:E>AAQM%EIMM>IQ I]8ٮQQ Q]tI Q U]C9QUY: U;:)UƆ8 m9)a m9Ia mtIia mDa e:)e:Ie9yI9*G2GFFrFbFEE);I9 iI~i 2@ <:@ w: 9f!*  (AYt.+F@t.T@yt.t.}>t.H 3u`? (oǿ`z|@v ?|?h`?`?)u.+F@ u.Bx;Iu.CxNr>xRIEiI̓C)edGIiiiF@}Yʅ+<>ʁʁQ%Eʁ͍>I I8ٮ QtI  UC9鰕w: {:)͆8 9)I tIi D :):I`9I9*G2GFFrFbFEE);I59 11i1I99=AiAA A2@M<:@Mw: Yi19ɐ!* 帆(AYt*@E@t*KT@yt*t*>t*HP{ bU?`ƿ`fY?Xv?`p?@?)u*@E@ u*Jv;Iu*CxBy>xBE)~GRH@ZH?Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭD <>ʱʱQ%Eʱ>I I8ٮ QtI  UC9: :)Ԇ8 9)I tIi D ;);I9)I)9)O]Done Waiting.']O]8Uninitialize Wait Component.*GY2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFiEiEi);I9 iIi 2@<:@w: x!* ҆(A@ Yt.aF@t.lT@yt.Ot.&jx>t.H`x?ߑ *ǿ@ @h?~?M?@?)u.aF@ u.v;Iu,xN:m>xRE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I)EGIA6only read 3 of 5 data itemsVFailed to parse: :BI,-32768,-3768,-32768,V F@Yz>Q%Eˇ;>I I8ٮ Q%tI  U%C91: :)c܆8 9))I) tIi) D) -,<)-t*Hr`_?WNkǿy?$?`?`=?)u*+FF@ u*jx;Iu*CxB,t>xB#E)vGIiuAF@=YEE>AAQM%EIM{2<M?IQ I]8ٮQQ Q]tI Q UeC9QU: Ug:)UK8 m9)aIa mtIia mDa eO:)eA:Ie)9I9=O@Contact HDG: 174.374866 arcdeg .' ' O4Initialize Wait Component.*G2GFFrFbFEE!)5;I59 11i9I9AEiAA I2@<:@w: ߡ5V>=p>z!* v(AYt*F@t*T@yt*t*k>t*Hv?N{Nǿ`ƟP?t?@5?'?)u*F@ u*1y;Iu(xBp>xB%EiPIRѓC)GjHrHI F@=YE?;E>AAQE%EIMPֻM>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U/8 m9)aIa mtIia mDa e:)eV:Ie?29yIy9y*G2GFFrFbFEE);I9 iIWVi 2@<:@w: @!* 7P (A);IYt*>F@t*T@yt*ٻt*>t*H s`W?`(ͤǿg?0{?M?@?)u*>F@ u*w;Iu*CxBe>xBP E)GI a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmi;m>iqQu%Equ;}>I I8ٮ QtI  UC9鰅t: :)-8 9)I tIi D B:):I:9I9*G2GFFrFbFEE);I9 iI}i 2@<:@w: !* ,:(AYt*o+F@t*zT@yt*> )t*>t*HuD?enǿd`:? !? c?a?)u*o+F@ u*ow;Iu*CxBw>xBjEiLIN̓C)~GI4=F@=YE5E>AAQM%EIM5AM>IQ I]8ٮQQ Q]tI Q U]C9QU`: UB:)U8 m9)aIa mtIia mDa e:)e :IeEC9yIy9*G2GFFrFbFEE);I9 iI~ޮi 2@<:@w: i19!* 8T(AYt F@t =U@yt X̻t f>t Hk?{@6ȿJ4?y??"1?)u F@ u ~w;Iu xj>x%qE)GRH?ZH?Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y<> Q %E  wl<>I I8ٮ QtI  U%C9: :)N8 -9)!I! -tIi! 5D! %O:)%-:I%PL9AIA9A*GQ2GQFYFYrFYbFaEaEa)u;I}9 yyiyIyi 2@<:@w: ߡ[!* m(A Yt*F@t*,U@yt*$t* V>t*HIm@?@+ȿ`a?囄? ?xL?)u*F@ u* y;Iu*CxBRr>xBEiLIRѓC)GI!F@=YE%E>AIQM%EIM3M>IQ I}8ٮQ M}8Q Q}tI Q UC9QU8; U;)U8 9)I tIi D h:):IaT9I9*G2GFFrFbFEE)5;I59 99i9I99EbiAA A2@M<:@Mw: ߁.!* w(AYt*hF@t*stU@yt*FVt*y>t*H4fLM?YȿRu?@Ȋ??5?)u*hF@ u*lx;Iu*CxN'n>xRpE)+GIi]wAYF@Yʥ>ʡʡQ%Eʡͭ+<>I I8ٮ QtI  UC9鰵u: :) 8 9)I tIi D :):I]9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%$i!! )2@-<:@-w: A=a>=>!* (AYt.F@t.SU@yt.hƻt. >t.Hi 5? z `ȿQgs?x?=??)u.F@ u.5x;Iu,xBr>xBIEiPIR̓C) SGjH wArH I a 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a  a -@a  QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Y<>!!Q%%E!-->I1 IU8ٮ11 Q]tI 1 U]C915; 5^;)58 e9)aIa etIia mDa e :)e :Iee9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 190.978195 arcdeg .q'u'u*Gq2GqFyFyrFbFEE);I9 iIK߭i 2@<:@w: z,!* r(A)4t*HbK?`ȿ A?ZO{?*?`7?)u*F@ u*w;Iu(xB_>xB E)~dGI|F@=YEzԺE>AAQM%EIMF<M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)Uq8 m9)aIa mtIia mDa a)eA:Iem9yIy9=O@Contact HDG: 174.374866 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  i   12@5<:@=w: Ix!* VՇ(AYtF.G@tFU@ytFztF,M>tFH`[K?}kɿ qe?^?)?Z?)uF.G@ uFy;IuFCxNu>xNE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI )}GIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@%Y-->11Q5%E159;=>I9 Ie8ٮ99 QetI 9 UmC99=~; =z;)=!8 }9)qIq }tIiq }Dq uT;)u\;Iutx9I9*G2GFFrFbFEE) ;I 9 iIZiAA A2@M<:@Uw: ߩi11>!* )(AYt*GG@t*R:V@yt*#t*-o>t*HR׹?@V(%ʿu_A? aq??(!?)u*GG@ u*!y;Iu*CxNl>xRE)5҄GRH5?ZH5?I1F@EYMt<M?IIQU%EQU<U?IY Ie8ٮYY QetI Y UmC9Y]: ]:)]A'8 u9)iIi utIii uDi m:)m:Im~9I9*G2GFFrFbFEE);I9 iI+i8a= 2@<:@w: +&"*  (A Yt.G@t.U@yt.1/t.Ư>t.H`W^ӕ?rJɿ@? ?Ew?`!?@?)u.G@ u.ex;Iu.CxRm>xR'Ei`I`)%vGI!F@]Ye-<e>aaQm%Eimm>Iq I}8ٮqq Q}tI q U}C9qu: uW:)u1.8 9)I tIi D O:):Iq9I9*G2GFFrFbFEE);I9 iIv쬽i 2@<:@w: P"* ;"(AYt*҆G@t*3V@yt*Z$t*8k>t*HS@ ?@좿ʿ|@?C?4?@'?)u*҆G@ u*Ow;Iu*CxBZe>xB E)GIi uA a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm/m>iiQm%Equ<u>Iy I8ٮyy QtI y UC9y}ͭ: }J:)}58 9)I tIi D :)U:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5e>5>z"* <(AYt*I!H@t*TV@yt*:Et*n+U>t*H`>C?zF˿ $+??s?@N?)u*I!H@ u*hx;Iu*CxZp>xZEihIh)5GjH5vArH1I1F@EYMΦM>IIQM%EIU7<U>IY Ie8ٮYY QetI Y UmC9Y]: ]:)];8 u9)iIi utIii uDi m:)m:Img9I9*G2GFFrFbFEE);I9 iIiji 2@<:@w:) 1}b"* ͕V(A);IYt: G@t:+V@yt:Tt: g>t:HK 9?P'@ʿ@}`s4?J?@z? #0?)u: G@ u:.w;Iu:Cxfsj>xf(E)-GI)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ!<>ʡʡQ%Eʩͭ%,>I I8ٮ QtI  UC9鰵: >:)C8 9)I tIi D F:):Iס9I9*G2GFFrFbFEE);I9 iI%"i!! !2@-<:@-w: = Q"* *qp(Ax:m>xEiI%“C)GI%=%=F@Yʵ>ʹʹQ%Eʹ>I I8ٮ QtI  UC97; ;)I8 9)I tIi D :):Iϩ9I9O%Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F1rF1bF9E9E9)M;IM9 QQiQIQY]䫽iYY a2@e<:@ew:q q)qIq )i99t""* nM(AYt*x$H@t*V@yt*X8It*s>t*H B?@Uͣ@L˿@]\r?&?g4?@?)u*x$H@ u*}v;Iu*CxBT>xBE)~GRH?ZH?IF@%Y%E%>))Q-%E)5^P<5>I9 I=8ٮ99 QEtI 9 UEC99=: =:)=P8 M9)III MtIiI UDI MO:)Mc:IMֱ9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uNE@Vehicle HDG: 192.315437 arcdeg .q'E'E*GA2GAFAFArFIbFIEQEq);I9 iIZi 2@<:@w: ("* '(A@ Yt*H@t*,W@yt*ɋ9t*NV>t*H9?޻@D˿fB?X1?`n?`L?)u*H@ u*wv;Iu*CxNZe>xR Ei\I^̓C)GI!a 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʕ6;>ʡʩQ%Eʩͽ&Y<>I I8ٮ QtI  UC9鰽: :)W8 9)I tIi D :)b:I9I9=O@Contact HDG: 174.374866 arcdeg .''O4Initialize Wait Component.*G 2GFFrFbFEE)U;IU9 QQiQIQY]zYiYa a2@e<:@mw: ߙ."* (AYt*H@t*)TW@yt*et*NT>t*H`5?; L̿@V?l?Y? RP?)u*H@ u*ìv;Iu*CxNRr>xRE) SGIiwAwAF@]Yu<}>ʁʉQ%Eʉ͕T;>I I8ٮ QtI  UC9鰝: :)^8 9)I tIi D :):I æ9I9*G2GFFrFbFEE);I9 iI i   2@<:@w: !5>=e>5"* ;׈(AYt*H@t*PW@yt*u\t*T>t*H`4?@E̿ 2 ???@Q?)u*H@ u*5u;Iu*CxN,t>xR#E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I)dGjHwArHIF@Ync>Q%EF>I I8ٮ QtI  UC9^; ;)e8 9) I  tIi  D  :) ;I ˦91I199*GQ2GQFQFYrFabFaEaEi);I9 iIZΪi 2@<:@w: ;"* (A)4x~(E){I{i{={+>{{@A{|A9|ipgB?zc0)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@Y%%>))Q-%E)-5>I9 I=8ٮ99 QEtI 9 UEC99=: =_:)=l8 M9)III MtIiI MDI Mގ:)M:IMԦ9YIa9a*Gq2GqFqFyrFybFyEE2EzEAEbij0@KmEipgB?zc0EEEÎWE0T$ ~$ǻۄEQ\￢ĿBkE&S@=DHdg To Contact =189.032821 degreesZE3(bEB:E}o$?BEro$?JE RE jE&drEҿ);I9 iIi 2@<:@w: $uDacoustic_contact_range 16.740000 m$}hTrackAcousticContact.heading_to_contact 3.299245 rad$JDUSBL_Hydroid.xAngle -3.850000 arcdegB"*  (AYt*׽H@t*jW@yt*+t*`>t*H2@?@ _x̿ EqN?`?*?\x^Eirf=Ip)UGIQ]4=YF@eYm~<m>iiQu%EquX;u>Iy I8ٮyy QtI y UC9y}: }ݱ:)}(s8 9)I tIi D :):Iܦ9I9*G2GFFrFbFEE);I9 iI.Qi 2@<:@w: i11H"* o%(AxPY>xE)ʩʩQ%Eʱ͵>I I8ٮ QtI  UC9鰽{; g;)0z8 9)I tIi D R:) :IZ9 I 9 *G2GF!F!rF!bF)E)E))=;IE9 AAiAIAIU iQY a2@u<:@}w: ߱O"* I?(A@ Yt*I@t*ûW@yt*Jt* >l>t*H`)L?{Ϳ@ Q ?`t^?ND?W&?)u*I@ u*Yt;Iu(x6y>x6EiF=ID)zG~Powering downjH~rH~RH~ZH~I|a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y<>Q%E%A<%>I) I-8ٮ)) Q5tI ) U5C9)-: -p:)-Q8 =9)9I9 EtIi9 ED9 =:)=o:I=9QIQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFqbFqEqEy);I9 iIéifUG= 2@<:@w: ߹U"* &Y(Ax~g>x~sE)uSGiyya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%>!!Q%%E!-->I1 I=8ٮ11 Q=tI 1 U=C915: 5:)5;8 E9)AIA MtIiA MDA E!:)E5:IE9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'uN@Vehicle HDG: 193.134623 arcdeg .q''*G2G&S@FFrFbFEE);I9 iICD@i=&S@ !2@%<:@%w: A$eRHorizontalControl.headingCmd 3.299245 rad=V>=><)\"* s(AYt*H@t*W@yt*Ut*e>t*He,@g?f`̿[a?` ?t?2?)u*H@ u*Hu;Iu*CxFsj>xF(EiIIM“C)dGF@Y2<>Q%Eˆ>I Im8ٮ QmtI  UmC9< %<)8 }9)qIq }tIiq }Dq u:)u:Iu?9I9=O@Contact HDG: 189.032821 arcdeg .''O4Initialize Wait Component.*G2G!F!F!rF)bF)E)E1)E;IE9 AAiAIIM+G@iUotBH#`XC?Z`nͿ@W?NƉ?`?@ ?)uBxJE)GF@Y%"%>))Q-%E)-><5>I1 I=8ٮ11 QEtI 1 UEC915: 5:)5x8 M9)I M9II MtIiI UDI MV:)Mϝ:IM9aIa9a*Gq2GqFqFyrFybFEE);I9 iI.Gi#ۻ 2@<:@w:;= :i"* (AYt: NI@t:W@yt:M t:U[>t:H#"? 6Ϳg ??OG?@C?)u: NI@ u:Ov;Iu:CxFRr>xFEiRf=IV̓C)G %= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm<m>iiQu%Equ);u>Iy I8ٮyy QtI y UC9y}%: }į:)}8 9)I tIi D F:):I9I9*G2GFFrFbFEE);I9 iI6 Bi3 2@<:@w:< i99i'p"* L(AYt6H@t6 W@yt6nt6te>t6H@/4? F̿dz?@ʭ?p?2?)u6H@ u6+u;Iu4x^t>x^lEG^@AH`)5GF@EYMM>IQQU%EQU ]>IY Ie8ٮYY QetI Y UmC9Y]: ]1:)]]8 u9)qIq utIiq }Dq u:)u:Iu9I9*G2GFFrFbFEE);I9 iI~>i 2@<:@w:S ߱rOv"* wډ(A@ Yt*x6I@t*W@yt*9;t*A>t*H$@!?@%cͿ@j? g?'?@em?)u*x6I@ u*Pu;Iu*Cx>i>x>NE {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%->11Q5%E1=HZ<=>II IU8ٮII Q]tI I U]C9IM; M$;)Mê8 m9)aIa utIia uDa e;)e ;IeA!9I9*G2GFFrFbFEE);I9 iI A;iQo 2@<:@w:)=Ip=E`Ի Qw|"* MJ(AYt*I@t*W@yt*C/et*rA>t*H (`? @"Ϳi? ??xm?)u*I@ u* t;Iu(xBt>xBlE){BI{@i{B~={B1>{@{BA{@|BAA9|B*G?d)]+GiaaF@}Yʅۻ>ʁʁQ%Eʁ͍>I I8ٮ QtI  UC9鰕; 0;)@8 9)I tIi D }:):IS)9I9*G 2G FFrF9bF9E9E92EAzEEAAEE|K(@&'EE*G?dEEEAEEܧJ"(2Xc~NÿEEe"93n܅|EEN@=UDHdg To Contact =185.252202 degreesZEEbEEA:EEo$?BEE}o$?JEE REE jEEsrEE&d);I9 iI:i 2@<:@w:m} y$Dacoustic_contact_range 12.120000 m$hTrackAcousticContact.heading_to_contact 3.233261 rad$JDUSBL_Hydroid.xAngle -8.050000 arcdeg15e>^"* %#(AYt*H@t*٨W@yt*>"Qt*aQ>t*H@.+@? F̿@̀ѭ?@$?`?T?)u*H@ u*/it;Iu*CxBd>xB EiPIT)GF@eYe!H;m>iiQm%Eiuu>Iy I8ٮyy QtI y UC9y}: }5:)}8 9)I tIi D :)g:I19I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%:ĩi 2@<:@ w:mx  "* z'(A)p;IYt*H@t*ߎW@yt*!t*?T>t*H@^.@1b?@բ``̿%e?i??`W? CP?)u*H@ u*t;Iu(xB}v>xBE)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y;>Q&E%s%>I! I-8ٮ!! Q-tI ! U5C9!%: %:)%\8 =9)9I9 EtIi9 ED9 =t:)=˚:I=:9QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 192.977638 arcdeg .q''*G2GN@FFrFbF EE)%;I%9 ))i)I)5;i5Ғ5N@ 12@=<:@=w:MwA MwA  $5RHorizontalControl.headingCmd 3.233261 radp"* A(AYt*)H@t*4aW@yt*"t*:>t*Hv3o'?@IXe̿%@?`Y? ?x?)u*)H@ u*t;Iu(xBo>xBJEiR=IR“C)~G4=4=F@=YEV E>AAQM&EIMBM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UŇ8 m9)aIa mtIia mDa e-:)e:IeB9yIy9=O}@Contact HDG: 185.252202 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI>ixW 2@<:@w:%| )i19"* [(AYt*H@t*W@yt*/\t*h*>t*H -?}̿yo ??t3??)u*H@ u*ȳt;Iu*Cx6̀>x6eEG6AAH4)rSGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@}YʅK >ʁʁQ&Eʁ͍<>I I8ٮ QtI  UC9鰕: )̇8 9)I tIi D %:):IGK9I9*G2GFFrFbFEE);I9 iIcBir¼ 2@ <:@ w:U YŜ"* u(A Yt*+H@t*65W@yt*!9Bt*8>t*H%8`L?la̿ + X?F?@1?@{z?)u*+H@ u* Gt;Iu*CxNsj>xR(Ei^f=I^̓C)dGF@-Y-;5>11Q5&E1=6x=>IA IM8ٮAA QMtI A UMC9AE: Eٮ:)EӇ8 U9)QIQ ]tIiQ ]DQ Uа:)U:IUS9iIi9i*G2GFFrFbFEE);I9 iIiEi-M 2@<:@w:)=I= @W "* j(AYt*+H@t*6@W@yt*&Ft*c>t*H@6?ࢿ$̿n?@]?(? 6?)u*+H@ u*s;Iu*Cx6l>x6E)pirxApF@zYzz>||Q~&E|:>I  I8ٮ   QtI  UC9  }: _:) Pڇ8 %9)I %tIi %D :):I[91I191*GI2GIFIFIrFQbFQEQEQ)m;Im9 iiiqIquMFiqy y2@<:@w:U! a5R>9֩"* =E(AYt*6H@t*V@yt*t*[>t*H.Am ?@q˿WU?q?@F?C?)u*6H@ u*s;Iu(x^1z>xbEHba=Hbp=ipIp)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;>ʡʩQ&EʩͭX>I I8ٮ QtI  UC9鰵: :)8 9)I tIi D  :):Id9I9*G2GFFrFbFEE);I9 iI%F%؛i!! !2@-<:@-w:hW "* #Ê(A)4t*HC`@?枿C˿@.? }?x;?F?)u*H@ u*fs;Iu(x>v>xBE)GF@=YEV;E>AAQM&EIMmM>IQ I}8ٮQQ Q}tI Q U}C9QU5; U;)UD8 9)I tIi D :)|:I>m9I9*G2GFFrFbFEE);I59 11i1I1=Ei99 A2@E<:@Mw:U U)UIU ="* ܊(AYt*cZH@t*nW@yt*wBt*P?%>t*H@!= [?@%闿 ˿`f 9g?N? ??)u*cZH@ u*et;Iu(x2U_>x6S E {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`I`)+G%=%=a 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@}Yʅ#>ʁʉQ&Eʩ͵a;>I I8ٮ QtI  UC9鰵: :)~8 9)I tIi D [;):IPw9I9O=Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFibFiEiEq);I9 iI1Ci 2@<:@w: !i19M"* (AYt*UH@t*`V@yt*at*V>t*HF? ˿ mi?\ ??@K?)u*UH@ u*t;Iu*CxN,t>xR#EGR@AHP){RU>I{Pi{R*>{R>{P{R`A{P|R׮B9|RzZ?>kn?)=SGF@MYU귻U?QYQ]&EYe.e?Ia Im8ٮaa QmtI a UuC9ae: a)e8 9)I tIi D ݖ:):I9~9 I 9 &M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 192.189065 arcdeg .q''*G2GFFrFbFEE2EzE׮BE_!`U@N2&@EzZ?>kn?EU>EEfST:1E=8 @E }rmտV?E^@=DHdg To Contact =199.578920 degreesZE)bE:En$?BEo$?JE RE jE5e@rEs)5;I59 11i1I1=rBi99 A2@E<:@Mw: ߙ$Dacoustic_contact_range 87.419998 m$hTrackAcousticContact.heading_to_contact 3.483309 rad$HDUSBL_Hydroid.xAngle 7.550000 arcdegt"* (A@ Yt.G@t.~V@yt.eW0t.{b>t.HK\O?#ʿ@? ? ?`7?)u.G@ u.t;Iu.CxBj>xBqEiR=IT)GF@=YEC;E>AAQE&EIMM>IQ I]8ٮQQ Q]tI Q U]C9QU: U5:)U8 m9)aIa mtIia mDa e:)eԘ:Ie9yIy9=O]@Contact HDG: 199.578920 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFirFibFiEE);I9 iIYBi 2@<:@w: E%"* *(AYt*G@t*V@yt*Ft*F*@>t*HH@?+K@ʿ[?`z??o?)u*G@ u*|jt;Iu*CxN|>xRE)҄GiwAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ;>ʡʡQ&Eʡͭ6;>I I8ٮ M8 QtI  UC9鰵: :) 8 9)I tIi D %:)|:It9I9*G2GFFrFbFEE);I9 iI1Ci 2@<:@w:QO ߱5>=t>" "* hD(AYt*G@t*V@yt*dxt*3>t*H I ?a@cʿ@M-?@?`)E?@?)u*G@ u*t;Iu(x2u>x2EH4H6a=i@IF“C)nvGF@Y%%>!)Q-&E)-O->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5 8 M9)AIA MtIiA MDA E:)E:IE9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI1CDki 2@<:@w:uѼ :7"* C^(A);I Yt*G@t*@V@yt*ItRt*8>t*HQ5? &1ʿ?YN??`Yz?)u*G@ u*!v;Iu(xBp>xBE)~GF@=YE|;E>AAQM&EIMJM>IQ I]8ٮQQ Q]tI Q UeC9QU: U):)U8 m9)aIa mtIia mDa eՐ:)aIe99yIy9*G2GFFrFbFEE);I9 iI1CRi 2@<:@w:*_ b"* %x(AYt*G@t*JV@yt*ޟt*_A>t*H`Q?[``Eʿ`?s? 4?`En?)u*G@ u*t;Iu*Cx>i>x>EiLIN̓C)~aaQe&Eamd:m>Iq I}8ٮqq Q}tI q U}C9quc: u$:)u8 9)I tIi D ),:IҨ9I9*G2GFFrFbFEE);I9 iI1C*:i 2@<:@w: )I ߉i5@A1"J"* (AYt*XG@t*cfV@yt*%+t*I>t*HMN9?u@^{ʿ 3?d?U?`?)u*XG@ u*ont;Iu*CxB{>xBiEGF?AHD)zSGF@=YEfE>AAQE&EAM;M>IQ I]8ٮQQ Q]tI Q U]C9QU: UB:)Uj8 m9)aIa mtIia mDa e}:)e:Ie>9yIy9y*G2GFFrFbFEE);I9 iI1C!i 2@<:@w: uv"* C⫋(A( (YtVُG@tVtVHPR!? 囿)ʿҴ:? ?H?b?)uVُG@ uVcu;IuVCxrz>xr EiI)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yл>Q&Eû>I I8ٮ QtI  UC9: :)&8 9)I tIi D B:)x:I.9I9O%Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF1bF9E9E9)U;IU9 QQiQIQ]1C]EiYY a2@e<:@mw: y["* ŋ(AYt*vG@t*#V@yt*Ļt*5>t*HiU`?eÞ[ɿ I?x?`?!?)u*vG@ u*$u;Iu*CxBp>xBE)zƄGi99F@}Yʅ<>ʁʁQ&Eʁ͍>I I8ٮ QtI  UC9鰕2: :)W-8 9)I tIi D F:):Io§9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 191.708110 arcdeg .q'M'M*GI2GU^@FQFQrFYbFYEYEa)u;Iu9 qyiyIy}AiH^@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 3.483309 rad=>=a>Z"* ߋ(AYt*4G@t*?:V@yt*At*Q:>t*H S@?,)%ʿs? V>~?!?x?)u*4G@ u*t;Iu*CxBn>xBEHBp=HFp= {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)Ga 1a 15 a 55a 55 a 95a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}YʅʉʉQ&Eʩ͵<;>I I8ٮ QtI  UC9鰽F: :)o58 9)I tIi D c:)ϝ:Im̧9I9=O@Contact HDG: 199.578920 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)=;I=9 99iIX=ikԚ 2@<:@w: "* 8g(A) IYt*G@t*RV@yt*t*'mC>t*H`O=?lTʿ-?d?F?@6j?)u*G@ u*F"u;Iu*CxNRr>xRE)5dGF@=YEƼE>IIQM&EIMf;U ?IQ I]8ٮQQ QetI Q UeC9QU: Uݱ:)U:8 m9)iIi mtIii uDi m:)mo:ImLӧ9I9*G2GFFrFbFEE);I9 iI&;i$ 2@<:@w: #* ?(AYtBYG@tBV@ytB߻tB L>tBHKX!i?@zɿ` ?D{? Jf?\?)uBYG@ uBou;Iu@xZ`k>xZEiI)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y<>  Q &E X1>I I%8ٮ Q%tI  U%C9: :)PB8 -9))I) 5tIi) 5D) -:)-:I-Sܧ9AIA9A*G2GFFrFbFEE);I9 iI%k$5i%M ! !2@-<:@-w:%# 1i=?A9x #* -(AYt*(^G@t*3 V@yt*yEt*9>t*H`X(n?#`-ɿ@:ື?h?p?Gy?)u*(^G@ u*t;Iu*Cx6g>x6sEG:@AH8)vjGF@~Y(<>  Q &E  q9:>I I8ٮ Q%tI  U%C9%: :)H8 -9))I) -tIi) 5D) -ɏ:)-ݖ:I-$9AIA9A*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIyw1i  2@<:@w:UX; a#* F(A@ Yt*dG@t*V@yt*Ft*f-/>t*HVs?`0`3ɿ`@?xڈ?@?Ӈ?)u*dG@ u*(,t;Iu(xBr>xBIEiPIP)ƄGF@=YEWE>AAQM&EIMsw:M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UO8 m9)aIa mtIia mDa e:)eȗ:Ie9yI9*G2GFFrFbFEE);I9 iIo.iQ0 2@<:@w:D ߙ#* N`(AYt*mG@t*V@yt*tKt*mA>t*HUټ?~ɿ \?#b?~?@m?)u*mG@ u*jt;Iu*CxZv>xZE)-ׄGi5vA1a 1ma 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ#>ʑʑQ&Eʙ͝е:>I I8ٮ QtI  UC9鰥: :)V8 9)I tIi D :)؛:I9I9*G2GFFrFbFEE);I9  i I  -i 2@<:@w:%vA -wA 5{>=Y>#* Sz(AYt*G@t*U@yt*t*A?>t*H`_ e?8ɿ N@?&^?{?`Eq?)u*G@ u*jGt;Iu(xB:m>xBEH@HDiPIP)%GF@=YE7<E>AIQM&EIMbM>IQ I}8ٮQQ Q}tI Q UC9QU ; Uܵ;)Uv]8 9)I tIi D }:)o:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9E@-E;iAA I2@M<:@Uw:e q~$#* (A)&p;I$YtfWG@tfV@ytf&tf)>tfHGX "?@@]ɿ ?`?@? h?)ufWG@ ufs;IufCxn%U>xnE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y飻>Q&E< >I  I8ٮ   QtI  UC9  : :) d8 %9) %9I %tIi -D ݖ:)ϝ:I99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 191.599606 arcdeg .q''*G2GFFrFbFEE);I9 iIj.i 2@<:@w:| +#* f(AYt* G@t*U@yt*x9(t*N9>t*H_?3 &ɿ 5?? ?@x?)u* G@ u*s;Iu(xBi>xBEiLIN“C)~ƄG4=F@%Y%w%>))Q-&E)5J5>I9 I8ٮ99 QtI 9 UC99=: =,:)=0k8 9)I tIi D :) :I 9I9=O]@Contact HDG: 199.578920 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFarFibFiEqE);I9 iIV<1iJ 2@<:@w:)=I=xj0 i19t1#* ?Ȍ(AYt*MG@t*U@yt*".t*a+>t*H@hY@~?0Ҙ hɿ`=!?@e?lR?+?)u*MG@ u*Is;Iu(x2eq>x2nEG4H6AA)rGF@zYz;~>||Q~&E$<>I  I8ٮ   QtI  UC9  : :) q8 %9)I %tIi %D :):I.91I191*GI2GIFIFQrFQbFQEYEY)m;Im9 qqiqIq}i2i}>y 2@<:@w:u7% ߁!8#* ⌨(A@ Yt*1G@t*U@yt*sOt*DQ->t*H`[_Y?ÕpqɿN r?@P?F?K?)u*1G@ u*s;Iu*CxBl>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)dGa 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yݻ>  Q &E ͭC_>I I8ٮ QtI  UC9鰵ͭ: ):)^z8 9)I tIi D ;);I!9I9*G12G1F1F1rF9bF9EAEA)};I}9 iIS2ei 2@<:@w:wA 0B K>#* (AYt*ukG@t*V@yt*tVt* ->t*H V`?䕿ɿ j? ^Ί?`?@?)u*ukG@ u*Рs;Iu*CxBh^>xBE){FI{Di{F={F>{D{FA{D|FTB9|FQxp?"&)%Gi%xA!F@]Ye՟e>aaQm&Eim4/<m?Iq I}8ٮqq QtI q UC9quD; u;)u8 9)I tIi D :)N:I~(9I9*G2GFFrFbFEE2EzETBEVpP9@ÊNhGEQxp?"&EEEbAPtD@ɼũ*EL1plx?*aw#¿E@=DHdg To Contact =130.509916 degreesZE7 BbE:ENo$?BEn$?JEh RE jEUrE5e@);I9 iI!2i 2@<:@ w: $Dacoustic_contact_range 53.220001 m$hTrackAcousticContact.heading_to_contact 2.277828 rad$ LDUSBL_Hydroid.xAngle -61.600001 arcdeg5V>=i>6E#* ](AYtr?G@trU@ytrL0tr)>trH Zm?@햿4ɿ?`M? ? ?)ur?G@ urSs;IurCxz[>xz EH~a=H~a=iI̓C)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y;>Q&E%[̻%>I) I58ٮ)) Q5tI ) U5C9)->: -:)-M8 =9)9I9 EtIi9 ED9 =:)9I=19QIQ9Q*Ga2GaFiFirFqbFqEqEq);I9 iI2ąi 2@<:@w: ^K#* /(A);IYt.iG@t.tSV@yt.^}t.#>t.H@]P@.?A iVʿ -/? ?Nb??)u.iG@ u.$t;Iu.CxBf>xB E)+GF@eYm;m>qqQu&Eq}<}>I I8ٮ QtI  UC9鰅h: l:)Ѝ8 9)I tIi D :)ϸ:I99I9*G2GFFrFbFEE);I9 iI+13i 2@<:@w: )I  ߉ER#* I(AYt*G@t*V@yt*13t*I6>t*H`KA?Qʿ@ }t?!f??~?)u*G@ u*t;Iu*Cx6m>x6'EiBf=I@)rGtv%=F@Y%%>!)Q-&E)-#;->I1 I8ٮ11 QtI 1 UC915< 5<)58 9)I tIi D :):I+B9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI*13%i!! !2@-<:@-w: Ai99oX#* bc(AYt*G@t* qV@yt*v t*D!>t*H BM;m? Dʿ?@??xREGPHR@A)҄Ga 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅA;>ʁʁQ&Eʁ͍+>I I8ٮ QtI  UC9鰕< <)8 %9)!I! -tIi! -D! %:)%Z:I%J9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 191.978080 arcdeg .q''*G2G@FFrFbFEE)-;IM9 IQiQIQU4i]l]@ Y2@e<:@ew: y$RHorizontalControl.headingCmd 2.277828 rad^#* =}(A@ Yt*, H@t*7V@yt*]G,t*v9>t*HE ?5 W˿?ш??`ny?)u*, H@ u*rt;Iu*CxNxp>xREi^=I^“C)GF@-Y-k5>11Q5&E1=@7<=>IA IM8ٮAA QMtI A UMC9AE: Eį:)E]8 U9)QIQ ]tIiQ ]DQ Uį:)U^:IUR9iIi9i=Oe@Contact HDG: 130.509916 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iIz7ilϽ 2@<:@w: 9e#* (AYt*H@t*V@yt*7t*Է:>t*HD?t7˿`?`?5?@w?)u*H@ u*u;Iu*CxBh>xBE)~vGiF@ Y>Q&E;>I! I-8ٮ!! Q-tI ! U-C9!%}: %:)%08 =9)1I1 =tIi1 =D1 5):)5I:I5U[9III9I*Ga2GaFaFarFibFiEiEq);I9 iI(;ib웽 2@<:@w: ߩ5>9k#* ((AYt*[H@t* W@yt*1:t*A>t*H`=`R?@!˿@תL? P? ?`m?)u*[H@ u*}w;Iu*CxBP>xB6EHFR=HFp=iRf=IR̓C)dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeܹe>iiQm&Eiuu<u>Iy I}8ٮyy QtI y UC9y}: }x:)}D8 9)I tIi D Ր:):Id9I9*G2GFFrFbFEE);I9 iI@if 2@<:@w:-#< 1˓r#* _ʍ(A)4t*H7?;̿˜y?]~? ?`c?)u*iH@ u*y;Iu*CxB0a>xBw E)~GF@=YE"<E>AAQM&EIMM<M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mDa eh:)e:Ie}l9yIy9*G2GFFrFbFEE);I9 iILFiL 2@<:@w: ߡ=x#* ګ䍨(AYt*{H@t*]W@yt*ӻt*R>t*H4V?``^̿b`̚?){z??T?)u*{H@ u*{;Iu*CxVv>xZGE {XY|Xb8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I!)GF@Y;>Q&E;>I I 8ٮ Q tI  UC9 ; $;)[8 59)!I! =tIi! ED! %;)%T;I%u9YIY9a*Gy2GyFFrFbFEE);I9 iI<F@iW= 2@<:@w:M Qi11R~#* φ(AYt*I@t*W@yt*3 ̻t*e>t*H)? ʦ|Ϳ@=``?;y?jf?3?)u*I@ u* ~;Iu*CxBZ>xBzEGDHD){FI{Di{F={F7>{D{F@A{D|F(TA9|F-?ak8~%)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y:>Q&ESi<>I I 8ٮ Q tI  UC9: S:)Bň8 =9)1I1 =tIi1 =D1 5:)5:I5~9III9Q*G2GFFrFbFEE2EzE(TAE;Ze>d&@VkE-?ak8~%EEE;ܽ$(: @|SE\?3"'E?4M&EkK4@=DHdg To Contact =161.408121 degreesZEh@bEG:Eo$?BENo$?JE REh jErEU);I9 !i!I!%@@i-I=) I2@U<:@Uw:-# 1$UDacoustic_contact_range 13.260000 m$]hTrackAcousticContact.heading_to_contact 2.817103 rad$]LDUSBL_Hydroid.xAngle -32.400000 arcdeg1Ѕ#* a(A@ Yt.0I@t.W@yt.at.kl>t.H`% c?`XͿM ?ఀ?@BX?@%?)u.0I@ u.r;Iu,xBZe>xB EiPIT)GF@uYu}>yyQ}'EyͅZ;>I I8ٮ QtI  UC9鰍q: :)ˈ8 9)I tIi D ̒:)g:I+9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIų;@i= 2@<:@w:  #* ;2(AYt*I@t*VX@yt*^!t*!Fz>t*H ZS? *`Cο&`b? ???& ?)u*I@ u* ;Iu*CxBc>xB E)vGi wA a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yㅻ>!!Q%'E!-ԍ<->I) IU8ٮ)) Q]tI ) U]C9)-ش; -;)-#ӈ8 e9)aIa etIia mEa e:)e:Ie59I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 193.676038 arcdeg .q'%'%*G!2G-kK4@F)F)rFQbFQEQEY)m;I9 iIS7@i>kK4@ 2@<:@w:m ߑ$RHorizontalControl.headingCmd 2.817103 rad5R>=]>#* L(AYt*I@t*X@yt*ot*X>t*H`?b)ο@ ?`u?t%??)u*I@ u*R~;Iu*CxBj>xBqEHF=HDiPIP)GF@=YE&I<E>AAQM'EIMB<M>IQ I]8ٮQQ Q]tI Q UeC9QU2: U:)Uو8 m9)aIa mtIia mEa e:)eݖ:Ie 9yIy9=O@Contact HDG: 161.408121 arcdeg .''O4Initialize Wait Component.*G2GF F rF bFEE);I9 iI4@i> 2@<:@w:Vo< ߹ #* e(A) IYt*\J@t* Y@yt*@t*>t*H#`? @Ͽ ws?h?B??)u*\J@ u*;Iu*CxBg>xBsE)~Ga 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aaQe'EamE<m>Iq I}8ٮqq Q}tI q U}C9qu\: u:)u8 9)I tIi E :) :I9I9*G2GFFrFbFEE);I9 iI3@i> 2@<:@w:#= !6#* )(AYt*\J@t* Y@yt*]t*|>t*HL? 2ҞϿ`t?8~?0??)u*\J@ u*};Iu*CxBi>xBEiPIP)G%=4=F@=YE;E>AAQM'EIM8M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UW8 m9)aIa mtIia mEa e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iI3@Bi 2@<:@w:w= ߡi99#* ʨ(AYt*pJ@t*{Y@yt*8t*T>t*H J?^Tп@A h?U?`g?`EO?)u*pJ@ u*B{;Iu(xB_>xB EGDHD)~҄Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQm'Eiu<u>Iq I}8ٮqq QtI q UC9qu: u:)uO8 9)I tIi E  :):I9I9*G2GFFrFbFEE);I9 iIkK4@i 2@<:@w:Ma5= QH#* (A Yt6,K@t6Y@yt6͕t6n>t6H@M_? Hп( `?`?Ҏ?!?)u6,K@ u6{;Iu6Cx^5g>x^*EilIl)MGF@Yʝx0>ʡʡQ'Eʡͭ*<>I I8ٮ QtI  UC9鰵t; N;)U8 9)I tIi E p:)c:Il9I9*G)2G)F)F)rFQbFQEYEY)m;Im9 iI'i 2@<:@w:= ߹z0#* `͎(AYt*KK@t*Y@yt*0At*>t*H/`H?bJп@?%?Y?`?)u*KK@ u*+xB%E)5ƄGi99F@]Yey!<e>aaQm'Eim;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi E F:)|:I9I9*G2GFFrFbFEE);I9 iI%GGi!! !2@-<:@-w:u.@> ߉5>=i>Z#* ;玨(AYt*2K@t*Y@yt*t*_>t*H@T? q@п@]?=bu? u??)u*2K@ u* w;Iu*CxBDy>xBEEHBa=H@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`IbѓC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y[<>Q'EmDm>Iq Iu8ٮq M}8q Q}tI q U}C9qu9: u:)u8 9)I tIi E ,<)0 C#* (A)IYt*rK@t*Z@yt*[qt*e>t*H |? 6AHп` ? t+n?@~?^2?)u*rK@ u*Gu;Iu*Cx>o>x>JE){B|o=I{@i{B&={B+>{@{BPA{@|BEA9|B(Sd?o8?)GF@Yʝ_;?ʡʡQ'EʡͭK<?I I8ٮ QtI  UC9鰵?`< `<) 8 %9)!I! %tIi! -E! %̒:)%:I%"Ө9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' N Initialize.q'N@Vehicle HDG: 195.274671 arcdeg .q''*G2GFFArFIbFIEIEQ2EQzEUEAEUɁ(@ ȿ?EU(Sd?o8?EU|o=EQEUGa8o'|jpRKe?EUUwcYԿ&F?EU]@=DHdg To Contact =198.540963 degreesZEU{bEUx;:EUo$?BEUo$?JEU REU jEU.S>rEU);I9 9iAIAIM-iII I2@U<:@]w:F> $Dacoustic_contact_range 12.360002 m$hTrackAcousticContact.heading_to_contact 3.465194 rad$HDUSBL_Hydroid.xAngle 3.350000 arcdegQl#* (AYt*K@t*6Z@yt*";8t*AM>t*H&`o?ߌп8`?D?`{?x[?)u*K@ u*#*s;Iu*CxBj>xBqEiPIV̓C)M+GU4=U%=a 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 15@a 5 a 55@a 5 a 95@a 5 a -@a  11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@YʭP>ʱʱQ'EʱͽLL;>I I8ٮ QtI  UC9: _:)8 59)1I1 =tIi1 E1 5e@<)5]A !#* 4(AYt*K@t*'Z@yt*lt*>t*H*?^WMѿS?}?@f??)u*K@ u*q;Iu(xre>xrP EGvAAHt)GF@Y>Q'Ej<>I I8ٮ QtI  UC9 ; ݱ:)}8 9)I %tIi %E }:)N:I9QIQ9Q*Ga2GaFFrFbFEE);I9 iI@i 2@<:@w:  ) I  ߙ-~#* rN(A Yt*K@t*Z@yt*lPt*Ӗ>t*H̿? hCѿNt? ??x?)u*K@ u*p;Iu*CxnvW>xr|Ei|IѓC)SGF@Y|;>Q'E^>I I8ٮ QtI  UC9ɪ: _<)8 m9)aIa tIia Ea e<)e t2H`W?tͮ2ѿ~g?~?+)?H?)u2QK@ u2[p;Iu2Cx~o>x~E)Gia 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y><>Q'E >I  I58ٮ   Q5tI  U5C9  ; M;) i&8 E9)9I9 EtIi9 EE9 =:)=N:I=9I9*G2GFQFQrFQbFYEYEY);I9 iI-i 92@E<:@Ew: YR#* Y߂(AYt*1L@t*t*HgD?Ψ eѿ6,?`w?e?\?)u*1L@ u*p;Iu*Cxnc>xr, EiI)SGF@uY};}>yʁQ'Eʁͅ6w<>I I8ٮ QtI  UC9鰍^< X_<)-8 9)I tIi E :):Iq91I999*GI2GIFFrFbFEE);I9 iIi 2@<:@w: Q#* +(A);IYt.!L@t.Z@yt.t.iX>t.H >?IѿA!?@7??jI?)u.!L@ u.p;Iu.Cx~V>x~3E)=Ga 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@-Y5vٻ5>11Q5'E9=Ҍ;=>IA I8ٮAA QtI A UC9AE{< E<)E58 9) 9I tIi E :):I#9I9*G2GFFrFbF E E )};I9 iI+&i 2@<:@w: #* ܶ(AYt.$L@t.Z@yt.Et..>t.H$?تKѿ`Mo?w?@??)u.$L@ u.Up;Iu.Cx>m>x>'EiLIN̓C)~+GF@Y%*%?!!Q%'E!- :-?I1 I=8ٮ11 Q=tI 1 U=C915: 5:)54:8 M9)AIA MtIiA MEA E:)E:IE^9YIY9a*Gq2GqFqFqrFbFEE);I9 iIͣi 2@<:@w: #* ̸Џ(AYt*L@t* Z@yt*b1t*T}>t*H?b@lѿ@r?<,??`?)u*L@ u*q;Iu*Cx>i>x>E)GF@Y%G;%>!!Q%'E!-L->I1 I=8ٮ11 Q=tI 1 U=C915: 5#:)5A8 M9)AIA MtIiA MEA E:)E:IE9YIY9YOmDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI?Vi 2@ <:@ w: a%#* ꏨ(A Yt6LK@t6WZ@yt6{'t6MFi>t6H?@T`Jѿm Z-??? +?)u6LK@ u6Iq;Iu6Cx>k>xBE {@Y|DF8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)+Ga 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Yʽ:>!Qe'Eamm>Iq I}8ٮqq QtI q UC9qu3&< u(<)u^J8 9)I tIi E d<)f ]@ ! 2@ <:@ w: ߹ $U RHorizontalControl.headingCmd 3.465194 rad/ $*  i(AYt*F6L@t*QZ@yt*yt*%N>t*HW?y ѿ v!L? b??GZ?)u*F6L@ u*),r;Iu*Cx~h>x~E){'7I{i{d={>{{(B{|3A9| ΆF}?tl)uGi}xAyF@Yʝb;?ʙʙQ'Eʡͥ0<?I I8ٮ QtI  UC9鰭*^< ^<)O8 %9)I %tIi %E :)o:I+)9I9=O@Contact HDG: 198.540963 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzE3AĘۿ2@5B$b0E ΆF}?tlE'7EEiw6P^Nj$@S~E%_RnYg?¥ E,-@= DHdg To Contact =155.427293 degreesZE^$AbE:Emo$?BEo$?JE RE jEGrE.S>)%;I9 iI9@i+ = 2@<:@w: i$Dacoustic_contact_range 24.900000 m$hTrackAcousticContact.heading_to_contact 2.712718 rad$LDUSBL_Hydroid.xAngle -41.150001 arcdeg=R>=a>7$* F(AYtRTL@tR[@ytR"k㻙tRy>tRHܿJ?7⮿ ѿ`?@Um|?Q? ?)uRTL@ uR\q;IuRCxrb>xr EHzp=Hza=iI)UׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE W;E>IIQ'Eʉ͕D;>I I8ٮ QtI  UC9鰝: _:)W8 9)I tIi E :)Ɵ:I29I9*G 2G FFrFbFEE)m;Iu9 qqiqIq}_>@i}۹=y 2@<:@w: ߙa $* !8(A)IYt.\K@t.gZ@yt.Lt.ާ>t.HNl? ίbѿ`?r? <\?2?)u.\K@ u.q;Iu.CxBo>xBJE)-GF@=YEyE?AAQM'EIM@M?IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U\8 m9)aIa mtIia mEa ed:)ex:Ie99I9*G2GFFrFbFEE);I9 iI,B@i H~= 2@<:@w:e> I$* PQ(AYtzK@tzZ@ytzTVtzw>tzH?㪿Vѿ@9@?bʊ?9??)uzK@ uzr;IuzCxo>xi9I9)G4=F@Yʽ>Q'EL>I I8ٮ QtI  UC9: ߼:)c8 9)I tIi E }:):IA9I9*G)2G)F1F1rFbFEE)-;I9 iI_H@i@o< 2@<:@w:| > i99`w$* k(AYtR|L@tRZ@ytRHtRW>tRH`3?ͨ@xѿT@B?7ӂ? ?@J?)uR|L@ uRr;IuRCxZh^>x^EG^@AH\)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ<>ʩʩQ'Eʩԧ;>I I8ٮ QtI  UC9: :)j8 U9)III UtIiI UEI M:)MY:IMJ9aIa9i*Gy2GyFyFyrFbFEE);I9 iI`/Diʗ! 2@<:@w:t= )\!$* (A Yt2pL@t2{Z@yt26 t2Ml>t2HX?wѿw?@&?`yX? %?)u2pL@ u2q;Iu2Cx>'n>x>pEiLIN“C)~dGF@Y% ;%>!!Q%'E)-a1->I1 I=8ٮ11 QEtI 1 UEC915; 5/;)5[q8 M9)III MtIiI UEI M:)Mȗ:IMwR9aIa9a*Gq2GqFFrFbFEE);I9 iI?i& 2@ <:@Uw:)]=Ie=-[= 9'$* X(AYt*#L@t*Z@yt*|.7t*^>t*H`\T?Xaѿ` j?@?`??)u*#L@ u*}}q;Iu*Cxnp>xn%E)eGiaiF@}Y}ݻ}>ʁʁQ'Eʁ͍;>I I8ٮ QtI  UC9鰕: Ȳ:)vx8 9)I tIi E :)|:IP[9I9*G2GF1F1rF9bF9E9E9);I9 iI9ih 2@<:@w:E|= i5>5>ð-$*  l(AYt.wK@t.Z@yt.`|It.>t.H_ ?AEѿ@\?`b/???)u.wK@ u.q;Iu.CxNi>xNEi I )uaiQm'Ei͕>I I8ٮ QtI  UC9鰝: :)8 9)I tIi E M<)Zt:r^>t:H`?WYѿ? Ӈ??>?)u:K@ u:9q;Iu:CxRf>xR E)USGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y:>Q'EC;>I I8ٮ QtI  UC9E: Գ:)8 %9)I %tIi %E :)Ԙ:ICm9QIY9Y&mMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 195.730368 arcdeg .q'='=*G92GE,-@FAFrFbFEE)E;IE9 AAiAIAM2iMs潉M,-@ Q2@U<:@]w:exA ewA=Ǥ I$mRHorizontalControl.headingCmd 2.712718 rad:$* 퐨(Axni>xnE {pY|pv8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAIM̓C)]dG%=F@Yʽ>Q'E>I I8ٮ QtI  UMC91g< g<)܍8 U9)QIQ ]tIiQ ]EQ U:)U:IUu9iI9)=O}@Contact HDG: 155.427293 arcdeg .'}'}O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI1i !2@%<:@-w:%8R 1i99A$* (Axn5g>xn*EGpHp)GF@Y>Q%'E!!%>I) I8ٮ)) QtI ) UC9)-< -'<)-^8 9)I tIi E {:)a:I}9!I!9!*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIYe2eeiai i2@u<:@uw:Ex QG$*  (A Yt.7K@t.BZ@yt.1UWt.ϳ>t.H@?`}Uѿ TR?`s?@ ??)u.7K@ u.vp;Iu,xBm>xB'EiPIR“C)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ>ʁʁQ'Eʉ͍>I I8ٮ QtI  UC9鰕`: c:)횉8 9)I tIi E e;);IDž9I9*G2GFFrFbFE E );I9 !i!I!%I3i-Խ) )2@5<:@5w:)E=IE=MѦ Q4M$*  :(AYt*K@t*wZ@yt*1+t*wU>t*H`~x?|0ѿ@" A?f??@bM?)u*K@ u*p;Iu*Cx>d>x> E)~GiwAF@=Y=;E>AAQE'EAMûM>IQ I]8ٮQQ Q]tI Q U]C9QU7: U~:)U8 m9)aIa mtIia mEa e:)e :Ie9yIy9y*G2GFFrFbFEE);I9 iI/5i'I 2@<:@w:މ 5>5>T$* T(AYtL@tZ@yt$4tu`>tH@u5? xEHa=Hp=i9I=̓C)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UYU]>YYQ]'EYe-<e>Ii I8ٮii QtI i UC9im; mR;)m18 9)I tIi E ::),:Iy9I9*G2GFFrF bFEE)%;I%9 IIiIIIUu:iU=lNQ Q2@]<:@]w:]a5ս i[$* dn(A)4xE)GF@Y>Q'E>I I8ٮ QtI  UC9: x:)ϯ8 9)I  tIi  E :):I9I9*G)2G)F)F1rF1bF9E9E9)M;IU9 QYiYIY]U?ie䎼a a2@m<:@mw:q yM:! Ya$* ?(Ax~PY>x|iI)dG%=F@Y>Q'E>I I8ٮ QtI  UC9%: J:)8 9)I  tIi  E :),:I9I9*G)2G)F)F1rF1bF9E9E9)M;IU9 QQiQIQ]Ei]x DG!H!)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y!%>!)Q-'E))->I1 I=8ٮ11 Q=tI 1 UEC915\: 5_:)58 M9)AIA MtIiA MEA E:)E :IEŰ9YIY9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIFG@iP= 2@<:@w: L ߱Ln$* (A Yt.?K@t.JZ@yt.t.H`T?V,Qѿ`3 l????~:?)u.?K@ u.) q;Iu.CxB"h>xBEiLIL)GF@]Yee>aaQe'Eamm>Iq I}8ٮqq Q}tI q U}C9qu2: uW:)u8ĉ8 9)I tIi E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.699810 arcdeg .q'' *G 2G F F rFbFEE);I9 iIB@iv= 2@<:@w:)=I=[ 5u$* Ց(Ax~\>x~E)u+Giqya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>Q'E>I  I8ٮ   QtI  UC9  : :) tˉ8 %9)I %tIi %E :):I91I191=O]@Contact HDG: 155.427293 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFbFEE);I9 iI+<@i= 2@<:@w:hW< ]{$* ?(AYt*K@t*ZZ@yt*i:;t*]|>t*H J? ߫ѿ* y?+g?9??)u*K@ u*y3p;Iu*CxR,t>xV#E {`Y|`b8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i-=I1)GF@Ye9>Q'E>I  I 8ٮ   QtI  UC9  }: x:) T҉8 %9)I %tIi -E f:):I/ʩ9AIA9A*Ga2GaFiFirFqbFqEyEy);I9 iI%B7@i&> 2@<:@w:<H= pE$*  (A);IYt~K@t~'Z@yt~!6t~m>t~H  ?@Wѿ` ?Ć?@y?M#?)u~K@ u~q;Iu~Cx=_>x= E){uxI{qi{uۢ={u=>{q{u@{q|uA9|uNHg?RYeo) !!Q-'E)-)<->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5Sى8 M9)AIA MtIiA MEA Eɏ:)Ex:IEҩ9YIY9a*Gq2GqFqFqrFybFyEE2EzEAEt9j{(@<|1J2ENHg?RYeoExEEn`0?#z+@UJEϣu~dhr*c? ~vǿEU@=DHdg To Contact =140.853431 degreesZE[AbE:E|o$?BEmo$?JE~ RE jEWrEG);I9 iI23@ic*3> 2@<:@w: XR= $%Dacoustic_contact_range 22.140001 m$-hTrackAcousticContact.heading_to_contact 2.458356 rad$5LDUSBL_Hydroid.xAngle -55.700001 arcdeg)p$* ^d#(AYt>K@t>Z@yt>hr-t>l>t>HA r?@V`Nѿ\?2?`w?`?)u>K@ u>Iq;Iu>Cx^V>xb3EipIp)EGIIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭx:>ʱʱQ(Eʱͽx>I I8ٮ QtI  UC9: 5:)߉8 9)I tIi E :):I۩9I9*G2GFFrF bF E E )%;I%9 !!i!I!-0@i-y@>) 12@=<:@=w: t0= L$* ?=(AYt>K@t>Z@yt>j!t>Rv>t>H?"@b?ѿ@ڪ?x#?v?`3?)u>K@ u> q;Iu>Cx^_>xb E)}GF@Yʍ:>ʑʑQ(Eʑ͝$">I I8ٮ QtI  UC9鰥ͭ: ):)8 9)I tIi E :)ϸ:In9I9*G2GFFrFbFEE);I9 iI ,-@i ʏS>  2@<:@w:=  $* 'W(A YtRӷK@tRdZ@ytR|.tRV>tRH`? bѿ`#@o ?Ѕ?k?K?)uRӷK@ uRSp;IuRCxjq>xjEiI)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ>ʁʁQ(EʉͭЙ>I I8ٮ QtI  UC9鰵: t:)M8 9)I tIi E ;);I9I9*G12G1F1F1rF9bF9E9EA)u;Iu9 qqiyIyy}򿢽i 2@<:@w:)I>!> ߩ($* q(AYt*L@t*Z@yt*{/t*ʖl>t*HK.)?Sު@yѿ@??`=O?%?)u*L@ u*+q;Iu(x>=Z>x>1E)zdGi||F@YZ >  Q (E b<>I I%8ٮ Q%tI  U%C9h: :)N8 59))I) 5tIi) 5E) -:)-ض:I-9AIA9A*GY2GYFYFYrFabFaEaEa);I9 iIg ->-t> $* hЊ(AYt*K@t*aZ@yt*t* >t*H?}(@/ѿ]?珂?y ??)u*K@ u*Gq;Iu*CxNo>xRJEHPHRa=i`I`)GF@-Y5v;5>11Q=(E9=nE>IA IM8ٮAA QMtI A UUC9AE%: Eį:)EF8 ]9)QIQ ]tIiQ eEQ U:)U:IU9iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIYi 2@<:@w:3> $* (A) IYt*L@t*Z@yt*z$t*M|>t*H`?`Oxѿ@&n? {ă?EJ?`?)u*L@ u*xR'E)SGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>yʁQ(Eʁͅyi<>I I8ٮ M8 QtI  UC9鰍(: o:)R8 9) 9I tIi E Ԙ:):Im9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.840689 arcdeg .q''*G2GU@FFrFbFEE)-;I-9 ))i)I1UY+@iU_>UU@ Q2@]<:@]w:i imG> y$RHorizontalControl.headingCmd 2.458356 rad$* 䅾(AYt*VK@t*aZ@yt*NK4t*Y>t*HQ@?H˧@?ѿU*\?L?s?@\G?)u*VK@ u*%p;Iu*CxBmd>xBu EiRf=IP) G4=F@%Y-7a->))Q-(E)55>IA IE8ٮAA QMtI A UMC9AE: E:)E 8 U9)QIQ ]tIiQ ]EQ U:)U¿:IU 9iIi9i=O@Contact HDG: 140.853431 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E )%;I%9 !!i!I)-U)@i-o>) 12@=<:@=w:M̘S> Qi99Tе$* bؒ(AYt* L@t*Z@yt*'t*S3a>t*H@@@'? BvoѿM@6?@??F:?)u* L@ u*o;Iu*CxBh^>xBEGB?AH@)~GF@=YE;E>AAQE(EIM_;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U8 m9)aIa mtIia mEa e :)e:IeK9yIy9y*G2GFFrFbFEE);I9 iI^%@i > 2@<:@w:`> ߡ$* JB(A Yt*Q%L@t*\Z@yt*[#t*GX>t*H@7j ?ʝ(ѿ g? t?R??)u*Q%L@ u*|o;Iu*Cx>a>x> E {@Y|@F8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iv=IzѓC)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%)9%>))Q-(E1=l;=>IA IM8ٮAA QUtI A UUC9AE{!; E;)Ej8 e9)aIa mtIia uEa e ;)e;Ie}9I9*G2GFFrFbFEE);I9 iIUl@i 2@<:@w:) =I  ;o> 8$* P (AYt2L@t2Z@yt2O+t2 >t2H?ctvѿm@:?@i??@9?)u2L@ u2/Sq;Iu2CxRZe>xR E)5IIQM(EIUCU>IY Ie8ٮYY QetI Y UeC9Y]ٮ: ]W:)]8 u9)iIi utIii uEi m:)mԘ:ImU'9I9*G2GFFrFbFEE);I9 iI9@i 2@<:@w:nV{> ߹5>=> $* ,%(AYt*TL@t*[@yt*"t*<=[>t*H@ho?U`ѿ 1z?@ P?1?D?)u*TL@ u*15q;Iu(xBi>xBEinf=In̓C)=SGF@MYU:U>QQQU(EQ]!<]>Ia Im8ٮaa QmtI a UmC9aeF: e):)e$8 }9)qIq tIiq Eq u%;)umC;Iu/9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: > )6$* K?(A) IYt*XL@t*[@yt*p%t*I[>t*H7s?"<ѿjXt?ֱ?`*?`D?)u*XL@ u*zp;Iu*CxBi>xBNE)~dGa 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ)>ʡʡQ(Eʡͭ :>I I8ٮ QtI  UC9鰵: :)+8 9)I tIi E :)x:I89I9*G2GFFrFbFEE);I9 iI9c@i !2@%<:@-w:5 5)5I5 $* aY(AYt*[L@t*fD[@yt*9t*օ>t*HJ݇? ѿu?=?? 2?)u*[L@ u*x6 EiB=I@)pv%=v=a 1%a 1% a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM[OM>IIQM(EIU!<U>I I8ٮ QtI  UC9t: W:)28 9)I tIi E :),:I4A9!I!9!OUDone Waiting.'UOU8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEiEi);I9 iIwh@i 2@<:@w: i99G$* s(AYt*L@t*/[@yt*t*>t*H oU?`Qѿ*|kI?f?`?@?)u*L@ u*q;Iu*CxBf>xB E)~GF@=YE;E>AIQM(EIM SM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UY98 m9)aIa mtIia mEa a)ec:Ie\I9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 196.223767 arcdeg .q'e'e*Ga2GaFiFirFibFqEE);I9 iI@i 2@<:@w: /$* ^(A Yt*7L@t*BG[@yt*a>t*n>t*Hݵ_? aѿ` ?̇?H?!?)u*7L@ u*0s;Iu*CxRi>xREi\I`)GF@-Y-5>11Q5(E1=Ip;=>IA IM8ٮAA QMtI A UMC9AE: E:)E5@8 U9)QIQ ]tIiQ ]EQ Ul:)UI:IUQ9iIi9i=O]@Contact HDG: 140.853431 arcdeg .']']O]4Initialize Wait Component.*GY2GYFYFarFabFaEiEi);I9 iI1@i 2@<:@w: 9"Z$* 9(AYt*{L@t*q[@yt* t*K>t*H?`{Z@ !ҿ` 5?B?ZT?@]?)u*{L@ u*us;Iu(xRe>xRP E)Gia 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥc;>ʡʡQ(Eʡͭ&;>I I8ٮ QtI  UC9鰵: l:)WG8 9)I tIi E Ր:):IZ9I9*G2GFFrFbFEE);I9 iIn@i!! !2@-<:@-w: ߹1=l>A$* (AYt*=(M@t*H[@yt*R4t* z>t*H௡@?]@ҿ<@?,??@ ?)u*=(M@ u*r;Iu*CxBd>xB EHDHDiRf=IT)GF@=YEnE>AIQM(EIM~<M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UN8 m9)aIa mtIia mEa e:)e9:Ieb9yI9*G2GFFrFbFEE);I9 iI0@i 2@<:@w: k$* (ړ(A) IYt.M@t.[@yt. 6t.}>t.H@W ? #Zҿ?\[?ц??ۏ?)u.M@ u.mt;Iu.CxRj>xRqE)SGa 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>yʁQ(Eʁͅq>I I8ٮ QtI  UC9鰍l: :) U8 9)I tIi E )Ԙ:Ik9I9*G2GFFrFbFEE);I9 iIU@i 2@<:@w: I$* >(AYt*L@t*"[@yt*?t*c>t*H@? `Dҿ` ?? |?`?)u*L@ u*Hu;Iu(xRj>xP {PY|TV8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IA)G=%=F@Y%%>))Q-(E)U>I I8ٮ QtI  UC9< p<)\8 u9)qIq }tIiq }Eq u:)u:IuTu9I9*G2GFFrFbF E E )%;I%9 !!i!I!IIiIQ Q2@U<:@]w: ߙi99}%* (AYt*BM@t*[@yt*t*)R>t*H '2P?SSҿC?@??@S?)u*BM@ u*'u;Iu*CxR:m>xREGV@AHT){V%˽I{Ti{V={V1>{T{VA{T|V A9|V0m~?hܸm)ׄGF@Y <>Q(E^<>I I8ٮ QtI  UC9: :) c8 9)I  tIi  E p:)c:I|9I9*G)2G)F1F1rF9bF9E9EA2EQzEU AEU N9?@(EU0m~?hܸmEU%˽EQEU"|>Yyd[,\׿EU6``g}ɿ*5vEUQU@=DHdg To Contact =191.314596 degreesZEUbEU$:EUWo$?BEU|o$?JEU REU~ jEU꿾rEUW);I9 iIi 2@<:@%w: Y$Dacoustic_contact_range 31.379999 m$hTrackAcousticContact.heading_to_contact 3.339070 rad$JDUSBL_Hydroid.xAngle -5.700000 arcdego %* #((A Yt.M@t.J\@yt._4t.W>t.H"?`q (ҿ`5 )?@׋??J?)u.M@ u.s;Iu.CxNsj>xN(Eif=Id)-QʑQ(Eʑ͝4U<>I I8ٮ QtI  UC9鰥\: _:)Uj8 9)I tIi E A:)w:I9I 9 O}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI))i)) 12@5<:@5w: I%* _^B(AYt*M@t*\\@yt*Ot*Vs>t*H`?±.ӿ<]?V?t??)u*M@ u*\s;Iu*CxB]>xBE)Gi xA xAF@=YEE>AAQE(EIMQ;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)Up8 m9)aIa mtIia mEa e:)eN:Ies9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.279427 arcdeg .q''*G2GQU@FFrFbFEE);I9  i I @iQU@ 2@<:@w: Q$RHorizontalControl.headingCmd 3.339070 rad5>5>E%* 7\(AYt*=M@t*H=\@yt*#t*`>t*H @pB? ҿ@< ?s?? Ϡ?)u*=M@ u*+t;Iu(xNV>xR3EHPHPibf=I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ;>ʉʉQ(Eʉ͕>I I8ٮ QtI  UC9鰝: :)w8 9)I tIi E )ȗ:I%9I9=O @Contact HDG: 191.314596 arcdeg .' '-O-4Initialize Wait Component.*G12G1F1F1rF9bF9E9EA)u;Iu9 qqiqIy}t.H``?ӿ@o?k=? T?Z4?)u.M@ u.4t;Iu.CxNi>xRE)dGF@]Yeo}e>aaQe(Eim9;m>Iq I}8ٮqq Q}tI q U}C9qu`: u:)u[~8 9)I tIi E :),:I9I9*G2GFFrFbFEE);I9 iIת$@i 2@<:@w: 8#%* 폔(AYt*BN@t*\@yt*/t*3J>t*Hw`M?3zӿ`Y@d??./? d_?)u*BN@ u*t;Iu*CxN"h>xREi^=I\)G%%=!F@-Y5r5>19Q=(EAE7<E>II IU8ٮII QUtI I UUC9IM%: Mį:)M)8 e9)YIY etIiY eEY ]:)]o:I]9qIq9q*G2GFFrFbFEE);I9 iI})@i d> 2@<:@w: i99k)%* :ɩ(AYt*jNN@t*u\@yt*0t*w>t*Hu'&?@^ӿ{{`u??r??)u*jNN@ u*s;Iu*CxB]>xBxEGBAAH@)~SGa 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe%e>iiQm(Eiup:u>Iy I}8ٮyy QtI y UC9y}: }а:)}'8 9)I tIi E ::):I9I9*G2GFFrFbFEE);I9 iIQ/@iB@> 2@<:@w: 0%* Ô(A Yt6N@t67]@yt6u.t66>t6H`l %? ӿ)?օ? ?ߚ?)u6N@ u6~s;Iu4xN5g>xR*Ei\I^“C)GF@-Y-\9->11Q5(E1=<=>IA IM8ٮAA QMtI A UMC9AEF: E:)E8 U9)QIQ ]tIiQ ]EQ UJ:)U÷:IU9iIi9i*G2GFFrFbFEE);I9 iIY4@i > 2@<:@w: h7%* sݔ(AYt*nN@t*]@yt*[t*g>t*Hp@N?i@'ӿ +u?`w?_??)u*nN@ u*Ls;Iu*Cxfo>xfJE)E+GiMwAMwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʵ(ֻ>ʱʹQ(Eʹͽ>I I8ٮ QtI  UC9:: :)8 9)I tIi E :):I9I9*G2GFFrF bF E E)%;I%9 !!i)I)-F:@i5H=1 12@=<:@=w:M6Ʌ> Q5V>=>:2=%* OY(AYt*2N@t*=]@yt*mt*ߺM>t*H`a]?yԿ ?@׃?`ڊ?Z?)u*2N@ u*s;Iu(xBc>xB EHBp=HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIv̓C)GF@Y<>Q(Ex<>I I 8ٮ QtI  U5C9_; ';)%8 E9)AIA MtIiA MEA E:)E:IEɪ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9E9);I9 iIqz@@i= 2@<:@w: 1v> D%* H6(A)4t*HV?3@ZԿe@?nP??`.?)u*!O@ u*̥r;Iu*CxB:m>xBE){F%nI{Di{F={F>{D{F0A{D|FQA9|Fʾ?_ԉa%) GF@5Y==>AAQE(EAE&<M>II I]8ٮII Q]tI I UeC9IM; M;)M28 m9)aIa mtIia mEa e :)e :Ie:Ҫ9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.546004 arcdeg .q''*G2GFFrF!bF!E!E)2E1zE5QAE5}@</@)n 4E5ʾ?_ԉa%E5%nE1E5 Y$uDacoustic_contact_range 26.039999 m$}hTrackAcousticContact.heading_to_contact 2.549095 rad$LDUSBL_Hydroid.xAngle -53.299999 arcdegDJ%* 4+(AYt*lN@t*w]@yt*8t*Ӕ>t*H^@?|'Կ`N??NW?ۧ?)u*lN@ u* r;Iu*CxB^>xB EiPIP)iiQm(Eiuwu>Iy I8ٮyy QtI y UC9y}>: }:)}8 9)I tIi E :)^:I'ڪ9I9=O-@Contact HDG: 146.052380 arcdeg .'5'5O54Initialize Wait Component.*G12G1F1F9rF9bF9EAEA)U;IU9 YYiYIYeGie" yi99,Q%* D(AYt*] O@t*h]@yt*Θt*n>t*HEX?gNԿ [;K??.??)u*] O@ u*q;Iu*CxBeq>xBnEGB?AHD)GF@=YE ;E>AIQM(EIM2;M>IQ I]8ٮQQ Q]tI Q UeC9QU: Ul:)Up8 m9)aIa mtIia mEa eՐ:)e,:Ie9yI9*G2GFFrFbFEE);I9 iIgCi/ 2@<:@w:= VW%* 2^(A Yt.:O@t.E]@yt.v>t.vX>t.HV?1VԿ@`V?`·??I?)u.:O@ u.0r;Iu,xNi>xREi\I\)GF@-Y-5>11Q5(E1=:=>IA IM8ٮAA QMtI A UMC9AE\: Eٮ:)EL8 U9)QIQ ]tIiQ ]EQ U:)U:IU9iIi9i*G2GFFrFbFEE);I9 iI>ij 2@<:@w:= ܀]%* x(AYt*CO@t*N9^@yt*(Gt*Z>t*HC=v?&Կ.??'?D?)u*CO@ u*rr;Iu*CxB`>xF. E)=dGi9Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>Q(E<>I I8ٮ QtI  UC9; ;)Ê8 %9)!I! -tIi! -E! %:)%A:I%9QIQ9Y*Gi2GiFiFirFqbFqEyEy);I9 iI9ij 2@<:@w:uZ= y5>1hd%* [}(AYt2~O@t2+^@yt2-It2Љ>t2H`EO.?@!-`AԿ@& Y?{4??o?)u2~O@ u2&r;Iu2CxBv>xBGEHFa=HFp=iRf=IP)F@=YEڠE>AAQM(EIM M>IQ I]8ٮQQ Q]tI Q UeC9QU>: U :)Uʊ8 m9)aIa mtIia mEa e:)e9:Ie9yIy9*G2GFFrFbFEE);I9 iIK7i{’ 2@<:@w:mx= ߡ@j%* kc(A) I";YtBO@tB5^@ytB@XtBb>tBHD`u ?@ŵԿ W??`R+??)uBO@ uBq;IuBCxjw>xjjE)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ0<>ʱʱQ(Eʹͽ:>I I8ٮ QtI  UC9: S:)Eъ8 9) 9I tIi E :):I9I9*G2GFFrF bF E E)%;I%9 !!i!I!-5i11 12@=<:@=w: l;< zq%* 3ƕ(AYt*O@t*%Q^@yt*-t*BZf>t*H@s?@Կ@Rx@S??`?S1?)u*O@ u*=s;Iu*CxBsj>xB(EiPIRѓC)G%<%=F@mYuƗu>qyQ}(Eyͅ;>I I8ٮ QtI  UC9鰅: :)؊8 9)I tIi E ̒:):I@ 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=6^i 2@<:@w:+O iAAYw%*  (AYt*P@t*^@yt*I0Kt*H>t*H 3.?`C9 3Bտ`?e?`2?b?)u*P@ u*{u;Iu*CxBi>xBEGBAAHFAA)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʥ%>ʡʡQ(EʡͭR<>I I8ٮ QtI  UC9鰵Ƕ; ;)ߊ8 9)I tIi E :):I9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N5Initialize.q'5N@Vehicle HDG: 199.401813 arcdeg .q''*G2G_$#@FFrFbFEE)5;I59 99i9I9E7iEcE_$#@ A2@M<:@Mw:E Q$mRHorizontalControl.headingCmd 2.549095 rad}%*  (A Yt. JP@t.^@yt.3}t.G>t.H# ?`#yտ+p?@-?`??)u. JP@ u.$u;Iu.CxN c>xR E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i =I)+GF@Y8>Q(E<>I I8ٮ QtI  UC9;  #;) 8 9) I  tIi  E  <) tnH,`?FKտ@@?@څ?Wv?@A?)unP@ unUt;IunCx u>x E){wI{i{ף={+>{{@{|A9|# b?e奾L)GiuAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5<<=>99Q=)E9EE>II IU8ٮII QUtI I UUC9IM: MW:)M#8 ]9)YIY etIiY eEY ]}:)]Ԙ:I]S'9I9*G2GFFrF)bF)E1E12E9zE=AE=Pt6@ E=# b?e奾LE=wE9E=χG5pnV}}k8ƿE=ğ;37ѿ~-2E=Z@=EDHdg To Contact =195.942923 degreesZE=bE=:E=oo$?BE=po$?JE= RE=} jE=1rE=i);I9 iILd?i`%} 2@<:@w: c $Dacoustic_contact_range 22.499998 m$hTrackAcousticContact.heading_to_contact 3.419849 rad$JDUSBL_Hydroid.xAngle -3.650000 arcdeg=>=e>%* -(AYt*t*H`& ?/`mտ@K' U?@yz?@2?`?)u*vv;Iu*CxBxp>xBEH@HBa=iVf=IV̓C)GF@=YES9<E>AAQM)EIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U|8 m9)aIa mtIia mEa e:)aIe)/9yIy9*G2GFFrFbFEE);I9 iICi< 2@<:@w:= ߡȑ%* g{G(A);IYt*1P@t*<-_@yt*t*HFc?տ`~`P,?@?+?_?)u*1P@ u*vw;Iu*CxNl>xRE)ׄGF@]YeJe>aaQe)Eim$<m>Iq I}8ٮqq Q}tI q U}C9qu: u:)ur8 9)I tIi E :):I79I9*G2GFFrFbFEE);I9 iIGH@i(= 2@<:@w:- ߹%* uVa(AYt*P@t*|_@yt*Ԍ2t*Z>t*H` ?@տ@Z?}Q? ?F?)u*P@ u*$w;Iu(x^v>xbEin=Il)=GE4=E=a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ:>ʡʡQ)Eʩͭ@<>I I8ٮ M8 QtI  UC9鰵 : :){8 9)I tIi E :):Ip@9I9*G2GFFrFbFEE);I9 iI%m5C@i%=! !2@-<:@-w: yb] i=@A9%* 1{(AYt*̨P@t*U_@yt*?t*>t*H[J'? .`2տ` ?`? ?@?)u*̨P@ u*!u;Iu(xBk>xBEGB@AHB@A)dGF@]Yee>aaQm)EimĻm>Iq I8ٮqq QtI q UC9qu$; u;)u<8 9)I tIi E ̒:):IH9I9*G2GFFrFbFEE)5;IU9 QQiQIY]=@i]j>Y a2@e<:@mw:U*:< Y%* U(A$ $YtRNP@tRYY_@ytRtRp>tRH`? u`տ@? ?p?&?)uRNP@ uRt;IuPxZq>xZEidIjѓC)qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y;>Q)E:>I I8ٮ QtI  UC99: :)h8 9)I tIi  E p:)A:IQ9I9*G)2G)F)F1rF1bF1E9E9)M;IU9 QQiQIQ]E8@i]6+>Y Y2@e<:@ew:-rg= 1.%* 箖(AYt*P@t*b_@yt*t*ob>t*HZv?`jտQ9? ??.8?)u*P@ u*u;Iu*CxB`k>xBE)~GiwAxAF@ Y̎:>Q)E:>I! I-8ٮ!! Q-tI ! U-C9!%O: %:)%8 =9)1I1 =tIi1 =E1 5:)5:I5Y9III9IOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFibFqEqEq);I9  i I  2@iNM> 12@=<:@=w:5/= 95R>=t>z%* Ȗ(AYt* Q@t*ʷ_@yt* +t*I>t*H?`?׭>/ֿviA?`??`?)u* Q@ u* v;Iu*CxBg>xBsEH@HDiRf=IR̓C)+GF@=YE0E>AIQM)EIMO<M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa e:)e:Ie9b9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.282703 arcdeg .q''*G2GZ@FFrFbFEE);I9 iI.@iv2h>Z@ 2@<:@w:/= !$RHorizontalControl.headingCmd 3.419849 rad@%* M▨(A) IYt.fQ@t.`@yt.t.'E>t.H?`|`}ֿE@O? Q???)u.fQ@ u.7Wv;Iu.Cx6i>x6E)rGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYE";E>IIQM)EIUcc<U>IY I]8ٮYY QetI Y UeC9Y]}: ]:)]#8 m9)iIi utIii uEi m:)m|:Imj9I9=O@Contact HDG: 195.942923 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E)E))=;I=9 AAiAIAE=,@iM_x>I I2@U<:@Uw:M= YYk%* z(AYt* &Q@t*_@yt*JKt*ޙ>t*H` ہ?@RHֿ@ ?-i??@=?)u* &Q@ u*lt;Iu*CxB,t>xB#E {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIrѓC)U҄GeʹQ)EZ>I I8ٮ QtI  UC9; ;)*8 9)I tIi E " ;);Is9 I9*G)2G1F1F9rFAbFAEIEI)m;Im9 iiiqIq}>*@iy 2@<:@w:z!> ߙi=?A9oV%* =c(AYtVQ@tV_@ytV tV1>tVH`ة?DB=ֿP??`58? '?)uVQ@ uVwr;IuTxj:m>xnEGn?AHl){nnI{li{n&={n7>{l{nPA{l|n׷A9|n[?z/F?@۾F)}vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y;>Q)E>I I8ٮ QtI  UC9\: >:)18 9)I  tIi  E t:):I4|9I9*G12G1F1F1rF9bF9E9E92EAzEE׷AEE g+@Vr2EE[?z/F?@۾FEEnEAEE\k3qv'@ *EEɖ5Ε? ?KɿEET@%@=UDHdg To Contact =147.940641 degreesZEEP?AbEE:EEvo$?BEEoo$?JEE REE jEEPrEE1)m;Im9 qqiqIqum+@}iyy y2@<:@w:mQ> q$Dacoustic_contact_range 22.980001 m$hTrackAcousticContact.heading_to_contact 2.582051 rad$LDUSBL_Hydroid.xAngle -53.400000 arcdegX}%* 00(A Yt.oQ@t.`@yt.t.M>t.H` 5?ʯֿRU?࿙?`?~Z?)u.oQ@ u.@s;Iu.Cx^j>x^qEipIp)EdGF@MYU :U>QYQ])EYe_<e>Ia Im8ٮaa QmtI a UuC9ae:: e:)ew88 }9)yIy }tIiy Ey }:)}:I}R9I9*G2GFFrFbFEE);I9 iI_,@i 2@<:@w:Zh> ߹e%*  J(AYt*Q@t*`@yt*5!Ct* ?p>t*H@?ֿ@6N?d??`?)u*Q@ u*s;Iu(xNb>xR E)]GiYewAF@mYmFu>qqQu)Eq}]<}>I I8ٮ QtI  UC9鰅\: :)l?8 9)I tIi E :):I猫9I9*G2GFFrFbFEE);I9 iI,/@ii^> 2@<:@w:Xh> q=>=>%* c(AYt*{Q@t*n`@yt*=Lt*}>t*HK@?+? i %ֿ >M??@w?`ƿ?)u*{Q@ u*p;Iu(xRi>xRNEHVp=HTib=Ib̓C)]Q)E>I I8ٮ QtI  UC9 :)F8 9)I tIi E S:)˚:I9I9*G!2G!F)F)rF)bF1E1E1)M;IM9 IIiIIIU~3@iU>>Q Y2@]<:@ew:5I^> 9%* }(A)4t*H@T3?`3ֿ` ~?`@?.??)u*Q@ u*o;Iu*CxNHf>xR E)GF@=YEZ;E>AAQM)EIMr;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UM8 m9)aIa mtIia mEa eO:)eA:IeΝ9q 5 5Software Fault9IA9AOUDone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI59@i> 2@ <:@w:!^> ߩ!xSoftware Fault in component: DeadReckonWithRespectToSeafloor%* k(AYt*6R@t*`@yt*t*f>t*H@?G׿? sZ?@a?`0?)u*6R@ u*=p;Iu*CxB_>xB EiLIL)~G4=4=F@Y% ;%>!!Q-)E)-j<->I1 I=8ٮ11 Q=tI 1 U=C915I: 5+:)5S8 M9)AIA MtIiA MEA E::)E,:IE;9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 201.332025 arcdeg .q''*G2GT@%@FFrFbFEE)M;IU9 QQiQIQ]U=@ie[>eT@%@ 2@<:@w: bM> )!=Clearing failed state for component DeadReckonWithRespectToSeafloorq = $RHorizontalControl.headingCmd 2.582051 radi99%* Su(AYt*R@t*?a@yt*gt*_>t*H +? N׿_;?@,??xBEGBAAHD)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}YʅX>ʉʉQ)Eʉ͕[<>I I8ٮ QtI  UC9鰕: :) [8 9)I tIi E :):I9I9=O@Contact HDG: 147.940641 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI- @@i-8=1 12@=<:@=w:%"> ߑ%* T˗(A Yt2ݾR@t2ka@yt2a=t2>>t2H@;`E'?ʵ)׿*@??r?>?)u2ݾR@ u2uo;Iu0xB]>xBxEiPIP)dGF@Y%%>!)Q-)E)-;5>I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5a8 M9)AIA MtIiA UEA E:)EZ:IEA9aIa9a*Gq2GqFqFrFbFEE);I9 iIx9A@i 2@<:@w:"> %* /嗨(AYt*R@t*~a@yt*9t*>t*H@@`?c׿T{?`4?`? ?)u*R@ u*+n;Iu*CxBn>xBE)~GixAF@Y%:%>!!Q-)E)-}<;->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5h8 M9)AIA MtIiA UEA E:)EN:IEĿ9aIa9a*Gq2GqFqFrFbFEE);I9 iIJA@䗱i 2@<:@w:=> Y5>9f%* ) (AYt* R@t*+a@yt*Yt*?~>t*H@@c?)׿ @R?#K?`??)u* R@ u*4n;Iu*Cx>?s>xBEH@HBp= {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)Ga 1a 1 a 5a 5 a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@eYm;>ʙʙQ)Eʙͥ;>I I8ٮ QtI  UC9鰵] ; ;)Xp8 e9)I tIi E p=) 2@<:@w:= (&* 1(A);IYt.yS@t.&b@yt.n,t._`>t.H?;Բ wsؿU6?3?`:?`;?)u.yS@ u.8n;Iu.Cx>Hf>x> E)  GF@=Y=1=>AAQE)EAM<M>IQ I]8ٮQQ Q]tI Q U]C9QU|: U:)Uxv8 e9)aIa mtIia mEa eO:)e :IeЫ9I9*G2GFFrFbFEE);I9 iI%=@iq> !2@%<:@%w:=  &* 72(AYt*S@t*[b@yt*r t*x>t*H ?Ls *ؿ B`?`H??a?)u*S@ u*$n;Iu*CxNB`>xR Ei`I`)%ʉʉQ)Eʑ͵;>I I8ٮ QtI  UC9鰽ͭ: а:)}8 9)I tIi E p;);I٫9I9 *G92G9F9F9rFAbFAEAEI)};I}9 yyiI8@io8> 2@<:@w:%> )i99=&* kL(AYt*S@t*Xb@yt*78t*R>t*H|?鷿\ؿ1i$??`<3??)u*S@ u*4n;Iu*CxBq>xBEG@H@)MGF@]Yeue>aaQm)Eim#m>Iq I}8ٮqq Q}tI q U}C9quw: uӻ:)uT8 9)I tIi E :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 YYiYIYe3@ieRT]>a a2@m<:@mw:UI> i+&* pwf(A@ Yt.S@t.b@yt. t. >t.Hy)?`C@ؿ@jY?`??@t?)u.S@ u.In;Iu.Cx>B`>xB EiLIL)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ;>ʩʩQ)Eʱ͵8<>I I8ٮ QtI  UC9: _:)t8 9)I 5tIi 5E <) 2@<:@w:U7>  &* R(AYt*c.T@t*nb@yt*Kt*q>t*H>ö?@Z`ٿ `????)u*c.T@ u*.#n;Iu(xBp>xB%E)dGixAF@=YEE>AAQE)EIM <M>IQ I8ٮQQ QtI Q UC9QU< U͏<)U 8 9)I tIi E :):I@9I9=O@Contact HDG: 147.940641 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI?)@i > !2@%<:@-w:89> 5Y>5t>h>&&* 40(AYt*mT@t*x5c@yt*6t*4o>t*HS]2?@Rlٿv ?ن??H!?)u*mT@ u*n;Iu(x>,t>x>#EH@H@iLIP)!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥꗻ>ʩʩQ)Eʩ͵X<>Iq I}8ٮqq Q}tI q U}C9qu_: u :)u8 9)I tIi E ;)Y;I49I9*G2GF)F1rF1bF1E9E9);I9 iI)&@i 2@<:@w:G> g,&* )(A)IYt.T@t.Fc@yt.t.>t.HZ:?_@|ٿ a@?`eځ?N??)u.T@ u.n;Iu.CxBi>xBNE)GF@]YeD;e>aaQe)Eam.;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u矋8 9) 9I tIi E |:):I9I9*G2GFFrFbFEE);I9 iI%@i 2@<:@w:%m> 6O3&* v͘(AYt*T@t*[c@yt*t*>t*H`U0?`)<`ǏٿO`? d]??W?)u*T@ u*Rn;Iu(x6d>x6 Ei@IFѓC)G%4=%4=F@]Ye|e>aaQm)Eim P;m>Iq I}8ٮqq Q}tI q U}C9qul: up:)u̦8 9)I tIi E [:) :I 9I9*G2GFFrFbFEE);I9 iIn%@ʰi 2@<:@w:x> i99Wy9&* 瘨(AYt*T@t*Sc@yt*Sft*Y>t*H`V?J>?ٿK?@ʌ?@R?.?)u*T@ u*bwo;Iu*CxR |>xREGV@AHT)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅx8>ʉʉQ)Eʉ͕2>I I8ٮ QtI  UC9鰝1: :)ƭ8 9)I tIi E :),:I$9I9*G2GFFrFbFEE);I9 iIT@%@i   2@<:@w:m> qb@&* M(A@ Yt*7T@t*BGc@yt*%t*/>t*HY F?@|ٿ .e ?|?`?`W?)u*7T@ u*Ap;Iu*Cx>b>x>Q E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I%̓C)GF@Y8<>Q)EG>I I8ٮ Q tI  U C9; P#;)崋8 %9)I %tIi -E m:):I9AIA9A*Ga2GaFaFirFqbFqEyEy);I9 iIi 2@<:@w: )I ߁oF&* Gs(AYt*HwT@t*S$c@yt*ػt*Pfq>t*H a ?@0]ٿ`+?{?E?@??)u*HwT@ u*o;Iu*CxF%U>xFE){J|oI{Hi{J={J>{H{H{H|JXB9|Jq ?] AͿ)uGiy}wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y, <>Q)E>I I8ٮ QtI  UC9: :)8 9)I  tIi  E ::):If&9I9*G)2G)F)F1rF1bF9E9E92EAzEEXBEEjƢյaJ@ySo#)EEq ?] AͿEE|oEAEE֦Jed#8EE g+rCƿHmEET@=MDHdg To Contact =190.310135 degreesZEE%bEE6U:EEo$?BEEvo$?JEE REE jEE%rEEP)m;Im9 iiiiIiqqiqq y2@}<:@w: ߑ$Dacoustic_contact_range 54.239998 m$hTrackAcousticContact.heading_to_contact 3.321538 rad$LDUSBL_Hydroid.xAngle -13.400000 arcdeg5R>9L&* DN5(AYt*T@t*bc@yt*At*C>t*HaTf?㏷ ]ٿ [1?3Ճ?s??)u*T@ u*Ho;Iu(xBp>xB%EH@H@iPIP)]vGF@}Yʅ>ʁʁQ)Eʉ͍<>I I8ٮ QtI  UC9鰕˵; ;)q‹8 9)I tIi E :)o:I.9I9O Done Waiting.' O8Uninitialize Wait Component.*G2GM5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F9rF9bF9EAEA)u;Iu9 yyiyIyi 2@<:@w: &S&* [(O(A) I Yt*T@t*:c@yt*_Ht*>t*H`O\`7?`tpٿ4 R?@ ?Rv??)u*T@ u*`p;Iu(xBeq>xBnE)dGF@Y">IIQM)EIUU>IY Ie8ٮYY QetI Y UC9Y]< ]<)]ʋ8  9) I  tIi  E  :) I:I 99!I!9)&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'= N=Initialize.q'=N@Vehicle HDG: 203.424166 arcdeg .q''*G2GT@FFrFbFEE)%;I%9 !)i)I)5'@i15T@ 92@E<:@Ew: a$RHorizontalControl.headingCmd 3.321538 radDY&* ui(AYt*pST@t*{c@yt*T0,t*7>t*H@gJ?;ٿm??`? ?)u*pST@ u*8q;Iu(xB"h>xBEiLIRѓC)G  %=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yʽd;>Q)E >I) I8ٮ)) QtI ) UC9)-!< -K<)-ҋ8 9)I tIi E 1:)E:INC9i=@A9YIY9a=O= @Contact HDG: 190.310135 arcdeg .'= '= O= 4Initialize Wait Component.*G9 2G9 FA FA rFI bFI EI EI )e ;Ie 9 a a ia Ia m ,@im cy>i q 2@u <:@u w: ߉ `&* ݂(AYt*oT@t*zMc@yt*{t*ko>t*HXQ?yٿ`j/?@`o?? ?)u*oT@ u* 8p;Iu*CxRh>xREGPHP)et*H@`w?`0]ٿd>/?\Յ?@"'?O?)u*jxT@ u*#o;Iu*CxBl>xBEiPIP)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yq:>Q)Em»>I I8ٮ QtI  UC9: s:)(ދ8 9)I tIi E :):IP9I9*G2GFFrFbFE!E!);I9 iI}3@iL> 2@<:@w: m&* (AYt*oRT@t*zb@yt*t*>t*H)h`ck?@;ٿBI? Â?T{??)u*oRT@ u*Uo;Iu*CxBxp>xBE)iwAF@=YEi;E>AIQM)EIMM>Iq I}8ٮqq Q}tI q UC9qul: uȲ:)uh8 9)I tIi E ɏ:)c:IY99I999*G2GFFrFbFEE);I9 iId9@iY%> 2@<:@w:(> 1=p>s&* qЙ(AYt.vT@t.#c@yt.!t.&>t.H@`?⦷o\ٿ_7{?7?U?@?)u.vT@ u.n;Iu.Cx6e>x6P EH8H8iHIJ̓C)5GF@EYMM>IIQM)EQUR;U>IY Ie8ٮYY QetI Y UeC9Y]1: ]:)]8 u9)iIi utIii uEi m:)m:Ima9I9*G2GFFrFbFEE);I9 iIx=@ig > 2@<:@w:> ߹z&* MꙨ(A) IYt.E6T@t.Pb@yt.t.:s>t.H mk? k.!ٿf`"(?ۃ?p??)u.E6T@ u.ɦn;Iu.CxNi>xRE)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ9>ʩʩQ)Eʱ͵>I I8ٮ QtI  UC9鰽i); a;)8 9)I tIi E !;);Ilj9 I 9 *G!2G!F!F!rF)bF)E)E))E;IE9 AAiIIIMC@iM =Q Q2@]<:@]w:-cU> 9'&* )(AYt*xQT@t*b@yt*=t*^q>t*H *h@?i`:ٿs??? ?)u*xQT@ u*ln;Iu(x>sj>xB(E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iyI}ѓC)dG %= F@=YE%E>AIQM)EIU;]>Ia Im8ٮaa QmtI a UC9aeI; e;)e 8 9)I tIi E :):Ils9I9O Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I=9 99i9I9E޾HiE=A A2@<:@w:)=IR=mV*> ߁i5?A1,(&* (Axo>x JEG?AH)a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Y}}>ʁʁQ*Eʁ͍>I I8ٮ M8 QtI  UC9鰕0: U:) 8 9)I tIi E  :):I{9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 203.215763 arcdeg .q'E'E*GA2GIFIFIrFQbFQEQEY)m;Im9 iqiqIqu ߉R&* 7(A xvj>xvqEi I ̓C)}GF@Yʹ>Q*E>I I8ٮ QtI  UC9S: :)8 9)I tIi E -:)ȗ:I9I9=O@Contact HDG: 190.310135 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF EE)5;I=9 99i9I9Em Q9&* Q(Ax~"h>x~E)GiF@Y>Q*E>I I8ٮ QtI  UC9}: :)z8 9)I  tIi  E )c:I9I9*G)2G)F)F1rF1bF9E9E9)M;IM9 QQiQIQ]Yt^H@?ض+ؿ`G?Z?`1?@?)u^S@ u^o;Iu^CxfRr>xfEixI~ѓC)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y;>Q*E™>I I8ٮ QtI  UC9: -:)[8 9)I tIi E :):I9 I 9 *G2G!F!F!rF)bF)E)E1)E;IE9 AAiAIIM3;iUQ Q2@]<:@]w:| u= ߑK&* ]p(A)Ixv c>xv E)GF@Yʽ>Q*E>I I8ٮ QtI  UC9: 2:)28 9)I tIi E d:) :Ix9I9*G 2G F FrFbFEE)-;I-9 11i1I1=b;=i99 A2@E<:@Ew:< u&* J(AYt*S@t*Zb@yt*k t*˃>t*H@>@!?qؿ`̂?@xjEiI̓C)}GyyF@Yʍ1>ʑʑQ*Eʑ͝ǻ>I I8ٮ QtI  UC9鰥ի: S:)"8 9)I tIi E :):Iڥ9I9*G2GFFrFbFEE);I9 iI ]t*H`..?@뵿vwؿ(?i4?@?c?)u*G~S@ u*p;Iu*CxBi>xBE)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ)>ʹʹQ*Eʹ9>I I8ٮ QtI  UC9: ))8 9)I tIi E t:):Ix9I9*G2GF F rF bFEE)-;I-9 ))i)I)5=i11 92@=<:@Ew:LM< "&* Ӛ(A x%Ml>x-LEiiImѓC)%SGa 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥ>ʩʩQ*Eʩ>I I8ٮ QtI  UC9}: :)v18 9)I tIi E <;);I9!I!9)O]Done Waiting.']O]8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFarFabFaEiE);I9 iI=`i 2@<:@w:`Ի ౺&* {욨(AYt*4S@t*a@yt*t*̍>t*H@M ?`? 3ؿ` T?`? j$??)u*4S@ u*Zp;Iu*CxNl>xRE)%Gi-xA)F@]Ye ;e>aaQe*EimXMm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u78 9)I tIi E :)o:IC9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.220181 arcdeg .q''*G2GFFrFbFEE);I9 iI=6i 2@%<:@%w:U U)UIU 9=Y>s&* [(AYtB`R@tBka@ytB tBߎ>tBH@<AF?Ķ`J׿ Ф7?[?f??)uB`R@ uBG|o;IuBCxJ_>xJ EHNa=HNa= {LY|LR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i1I9)GF@Yn;>Q*EC#>I I8ٮ QtI  UC9p; ;)>8  9)I  tIi E V:)";IȬ9)I)9)=O]@Contact HDG: 190.310135 arcdeg .']']O]4Initialize Wait Component.*Ga2GaFaFarFibFEE);I9 iIm=miii q2@}<:@w: ߹$&* ޒ (A)4t:HiM?@ @׿`?K?`}??)u:R@ u:tn;Iu:Cx^u>x^E)]dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>Q*EeN>I I8ٮ QtI  UC9ٮ: l:)E8 9)I tIi E :)Z:IЬ9I9*G2GFFrFbFE!E!)5;I59 99i9I9E=E|㱽iAA A2@M<:@Mw: aO&* z:(AYt65R@t6@a@yt6:"t6uNz>t6H5@0J?@ϴ׿K4?@x^%EilIl)AM4=IF@uY}a;}>yyQ*Eʁͅ>I I8ٮ QtI  UC9鰍$: I:)RL8 9)I tIi E :)N:Iج9I9*G2GFFrFbFEE);I9 iI=i 2@<:@w: i11&* WT(AYtR@t?a@ytUt>tH?2D׿q@Gn? ʂ?ˮ?n?)uR@ um;IuCx55g>x5*EG=@AH9)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@MYU>:U>YYQ]*EY]e>Ia Im8ٮaa QutI a UuC9ae: e5:)eS8 }9)yIy }tIiy Ey y)}ȗ:I}9I9*G2GFFrFbFEE);I9 iI=i 2@<:@w:  &* `#n(A Yt*R@t*Aa@yt*"t*!@>t*HM ?꫷ ׿`@*G? G?O?@M?)u*R@ u*lm;Iu*CxB]>xBxEiPIR̓C)EGF@uYuS";u>yyQ}*Eyͅi9>I I8ٮ QtI  UC9鰍:: :)Z8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iI=ei 2@<:@w: &* C(AYt*sR@t* a@yt*"t*͞>t*HG}?=׿?-^?ž?`?)u*sR@ u*m;Iu(xNjw>xR"E)%Gi))F@Yʅ>ʉʉQ*Eʉ͕:>I I8ٮ QtI  UC9鰝: :)a8 9)I tIi E }:):Im9I9*G2GFFrFbFEE);I9 iI=^&* ڡ(AYt*hR@t*a@yt*Pt*o>t*HH?കFv׿ @[?Vr? ??)u*hR@ u*]n;Iu*CxBe>xBP EH@H@iRf=IP) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuڒ:u>qyQ}*Ey}պ>I I8ٮ QtI  UC9鰅}: :)g8 9)I tIi E ;)b;I$9)I)9)O=Done Waiting.'=O=8Uninitialize Wait Component.*G92G9ME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFIEIEI);I9 iI=i 2@<:@w: <&* (A);IYt*uR@t*"a@yt*"t*̄>t*H ?@յ#׿ @L?;Y?i??)u*uR@ u*n;Iu*CxNk>xNE)%dGF@]Yee>aaQe*Eam:m>Iq I}8ٮqq Q}tI q U}C9qu: u:)un8 9) 9I tIi E  :)b:IZ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 201.551424 arcdeg .q''*G2GFFrFbFEE);I9  i I U=U䰽iQQ Q2@]<:@]w: qz%&* ՛(AYt:2KR@t:=`@yt:t:k>t:H?8Z׿6? ?g?a?)u:2KR@ u:p;Iu:CxBm>xB'EiR=IP) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu;u>yyQ}*Eyͅ.л>I I8ٮ QtI  UC9鰅: ٮ:)u8 9)I tIi E :):I 9I9=O5@Contact HDG: 190.310135 arcdeg .'5'5O54Initialize Wait Component.*G12G1F9F9rF9bFAEAEA);I9 iI=1i 2@<:@ w: !i11M&* Ii(AYt*t*H`xBEGDHD) GF@=YEE>AIQM*EIMAM>IQ I]8ٮQQ Q]tI Q UeC9QUu: UW:)Uq|8 m9)aIa mtIia mEa ep:)ec:IeJ9yI9*G2GFFrFbFEE);I9 iI=ޘi 2@<:@w:  6'* (F (A Yt*4R@t*`@yt*41t*b>t*H?ݱ@E׿@`?3?d? 8?)u*4R@ u*s;Iu*CxBT>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIrѓC)vGF@Y⃻>Q*E<>I I8ٮ QtI  UC9: M;)8 9)I tIi E f:);I'9 I 9*G)2G)F1F1rF9bF9EAEA)e;Ie9 aaiaIam=umiqq y2@<:@w: ߡj`'* S"#(AYt22R@t2=`@yt2t2n>t2H ?`ݴ׿@ZJ? "Ӄ?`?B?)u22R@ u2Vs;Iu2CxNxp>xRE){RHI{Pi{R^5>{R7>{P{RA{P|RB9|R~嫥?7GƏ)MGiUwAUxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭN=;>ʱʱQ*Eʹͽ>I I8ٮ QtI  UC9: :)y8 9)I tIi E :):I%9I9*G2GFFrF bF E E 2EzEBEP \P@jKPE~嫥?7GƏEHEEN U+2Al5B@a[10E!yAr?MgſE/@=%DHdg To Contact =157.194441 degreesZEBbE8:En$?BEo$?JEk RE jErE%)=;I=9 AAiAIAE=MNFiII I2@U<:@Uw: i$Dacoustic_contact_range 95.340004 m$hTrackAcousticContact.heading_to_contact 2.743561 rad$LDUSBL_Hydroid.xAngle -44.950001 arcdeg5V>=e>A'* D<(AYt*R@t*`@yt* t* >t*Hj@O?@g׿`k-??? ,1?భ?)u*R@ u*7rw;Iu(xB?s>xBEHBp=H@iPIV̓C)5GF@]Ye9e>aaQm*Eim%9m>Iq I8ٮqq QtI q UC9qu< u<)u18 9)I tIi E :)s:I.9I9*G2GFFrFbFEE)-;I-9 ))i1I1U=]iYY Y2@e<:@ew: ߙDt'* ]V(A)IYt2Q@t2`@yt2vU t2>t2H9@_?(`C ׿ Uפ??6?@?)u2Q@ u2x;Iu2CxBi>xBNE)SGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a 5 a 55@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM;M>QQQU*EQ] ]>Ia Ie8ٮaa QmtI a UmC9ae: eS:)e8 u9)qIq }tIiq }Eq u:)uZ:Iu79I9*G2GFFrFbFEE);I9 iI=i 2@<:@w: '* p(AYt*Q@t*`@yt*),t*g>t*H@.|? VֿB qI?ʘ?t?.?)u*Q@ u*&x;Iu(xBRr>xBEiPIRѓC) G%=F@Y%%>!!Q-*E)-->I1 I=8ٮ11 Q=tI 1 U=C915: 5:)5מ8 M9)AIA MtIiA MEA E:)E:IE>9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%=%Bϯi!! )2@-<:@-w: Ai19"'* (AYt*R@t*`@yt*(t*q>t*HK`?@N@T.׿``]?? ?m?)u*R@ u* y;Iu*CxB\>xBEGDHD)%SGF@]Ye5:e>aaQm*Eim )<m>Iq I}8ٮqq Q}tI q UC9quD: u:)uߥ8 9)I tIi E :)ȗ:IqG9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 201.236702 arcdeg .q''*G2G/@FFrFbFEE);I9 iI ?ia;/@ 2@<:@w: I$RHorizontalControl.headingCmd 2.743561 rad>('* h(A Yt*iQ@t*t`@yt*C< t* y>t*H`l:? 'B2ֿe?z?@Z??)u*iQ@ u*y;Iu(xNl>xREi\I^̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yl;>Q*Ea>I I 8ٮ Q tI  U-C9; ܵ;)8 =9)1I1 =tIi1 =E1 5ٓ:)50:I5Q9iIi9q=O@Contact HDG: 157.194441 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 99i9I9=aBiEuڏ>t*H @L$?붿rֿ`ٮ`?`̹? ?W?)u*Q@ u*R{;Iu(xBxp>xBE)~vGi]yAYF@mYmϷm>qqQu*Eq}}>I I8ٮ QtI  UC9鰅: :)8 9)I tIi E 5;)$;IX9I9*G2GFFrFbFEE);I9 iI%Ei%JB=! !2@-<:@-w: A5R>5l>5'* C؜(AYt2Q@t2[`@yt2^9t2lz>t2H>? 6۳`ֿ sm?ǃ?`V?4 ?)u2Q@ u2Qz;Iu2CxN{]>xR/EHRa=HRp=i`Id)MGF@}Yʅl;>ʁʁQ*Eʉ͍O>I I8ٮ QtI  UC9鰕:  :)8 9)I tIi E :):Ia9I9*G2GFFrFbFEE);I9 iIF@i%= 2@ <:@ w: u ;'* (A) IYt*Q@t*`@yt*ks*t*Gn>t*H Us?8ֿ `E? TN?|?1#?)u*Q@ u*y;Iu*CxN c>xN E)-+Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQ*Eʙ͝;>I I8ٮ QtI  UC9鰥: t:)8 9)I tIi E h:)Z:Ii9I9*G2GFFrFbFEE);I9  i I A@iΠ= 2@<:@w:< B'*  (AYt*Q@t*`@yt*t* >t*H@U?`c`ֿk5? ?A?o?)u*Q@ u**x;Iu*CxZk>xZE {\Y|\b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iIѓC)5GE4=AF@UY]wm;e>aiQm*Eiu@;u>I I8ٮ QtI  UC9鰅#; &%;)Ȍ8 9)I tIi E :):Ir9I9*G2GFFrFbFEE);I9 iI%;@i%>! !2@-<:@-w:-&o= 1i11H'* ѱ%(AYt*|Q@t*\`@yt*{2t*⨎>t*H`?.qֿ-?@]?`??)u*|Q@ u*w;Iu(xBj>xBqEGDHD)mGF@uY}6}>ʁʁQ*Eʁ͍ >I I8ٮ QtI  UC9鰕 +; eA;)Lό8 9)I tIi E @:;)J4;Iz9I9*G2GFFrFbFEE) ;I 9 iI۱6@i=> 2@-<:@-w:= 1}&O'* ?(A @Yt*EQ@t*Pi`@yt*_Bt*d`>t*HH2?@RֿV9?`R??`?)u*EQ@ u*)x;Iu(xNm>xR'EidIf̓C)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YB>Q*E :>I I8ٮ QtI  UC9%: :)m֌8  9) I  tIi  E  l:) ϸ:I `9!I!9!O5Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9FArFAbFAEIEI)];Ie9 aaiaIam2@imtU>i i2@u<:@uw:mp= V'* hY(AYt*Q@t*K`@yt*E#t*Dy>t*H` '3?G ֿ\`G?b???)u*Q@ u*_ v;Iu*CxBk>xBE)SGiwAwAa 1Ua 1U a 5Ua 5U a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY};}>yyQ*Eʁͅ>I I8ٮ QtI  UC9鰍B< <)݌8 9)I %tIi %E :)^:I91IQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'mN@Vehicle HDG: 200.799461 arcdeg .q''*G2GFFrFbFEE)%;I%9 !!i!I!-`/@iM b>I Q2@U<:@]w:Mh{= Q5>=t>y8\'* As(AYt*Q@t*`@yt*t*t>t*H@\e?[ Cֿ`2`ݝ??9??)u*Q@ u*Zs;Iu*CxBf>xB EHFp=HFa=iPIRѓC)MGF@UY]4;]>aaQe*Eam~<m>Iq Iu8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi E :)Ԙ:I9I9=OU@Contact HDG: 157.194441 arcdeg .'U'uO4Initialize Wait Component.*G2GFFrFbFEE);I9 iId.@i 2@<:@w:t > S c'* (A) I Yt*Q@t*``@yt*&t*>t*H!?W`Xֿ@s ??;Մ? V&??)u*Q@ u*:s;Iu*CxR'n>xRpE)eGF@mYuOUu>yyQ}*Eyͅ>I I8ٮ QtI  UC9鰍: :)8 9)I tIi E :)R:I9I9*G2GFFrFbFEE);I9 iI.@5i 2@<:@w:x?> Ji'* Q(AYt*~Q@t*t`@yt*0|It*>t*H=F/? @ֿ@?`\/?`??)u*~Q@ u*2\s;Iu*CxB}v>xBEiLIR̓C)a 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]]>YaQe*Eaem7;m>Ii I8ٮii QtI i UC9im; mZ;)mA8 9)I tIi E ::)o:Iҥ91I191*GA2GAFIFIrFqbFqEqEy);I9 iI/@i 2@<:@w:ֽV> ߩi19u2p'* (AYt*XuQ@t*c"`@yt*U )t*4a>t*H ?`ֿ @?r!?\?@H?)u*XuQ@ u*zAr;Iu(x6Hf>x6 EG4H4)r+GF@Y ; >  Q *E c>I I%8ٮ Q%tI  U%C9: :)h8 59))I) 5tIi) 5E) -:)-,:I-U9AIA9A*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIi 2@<:@w:uh^> ߁\v'* ڝ(A @Yt*Q@t*C`@yt*g#t*\p>t*H@( Q6?~Ѳ *ֿAN?l??@n?)u*Q@ u*cq;Iu*Cx^Ml>xbLEilInѓC)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YP:>Q*Es;>I I8ٮ QtI  UC9: :)8  9) I  tIi  E  :) :I q9!I!9!*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIYae+iaa i2@m<:@uw:b> |'* (AYt*Q@t*j`@yt*et*o>t*Hi%3? @(ֿ1?>?`}? ?)u*Q@ u*q;Iu(xNo>xRJE)jGiF@YʽU;>Q*E;>I I8ٮ M8 QtI  UC9; y;)8 9)I tIi E -:) :Iݾ9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AEIeiAA I2@M<:@Mw:Y Y)YIY 5R>=e>~n'* d(AYt*Q@t*,`@yt*7t*>t*H ?޶ֿ C???`ʴ?)u*Q@ u*jVq;Iu*Cx6'n>x6pEH6a=H4 {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i`Id)}ƄGF@Y >QYQ]+EYͭ'>I I8ٮ QtI  UC9鰵ͭ: l:)8 9)I tIi E #<)t*H)?i ֿ@`_)?Ѕ??m?)u*?tQ@ u* :q;Iu*CxNg>xRsE){R}eI{Pi{R:={P{P{RB{P|RA9|R ;?8g)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y:>Q+E>I I8ٮ QtI  UC92: :)o8 9)I tIi E ٓ:)R:Iϭ9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 200.651642 arcdeg .q''*G2GF!F!rF!bF)E)E)2E1zE5AE5co.@T@.m3E5 ;?8gE5}eE1E5_q $5/`(@0:E5JjA}<뿼Q'5[?BɿE5('@=EDHdg To Contact =150.328529 degreesZE5@AbE5 :E5po$?BE5n$?JE5 RE5k jE5rE5)};I}9 yyiyIyli 2@<:@w: $Dacoustic_contact_range 24.840002 m$hTrackAcousticContact.heading_to_contact 2.623728 rad$-LDUSBL_Hydroid.xAngle -51.450002 arcdeg̀'* ;B(AYt*!\Q@t*, `@yt*~t*ys>t*H`?@{ֿ?`O?%?+?)u*!\Q@ u*p;Iu*CxBj>xBqEiPIP) G = F@=YE P;E>AAQM+EIMzM>IQ I]8ٮQQ Q]tI Q U]C9QU: U :)U8 m9)aIa mtIia mEa e}:)e:Ie ح9yIy9=O@Contact HDG: 150.328529 arcdeg .''O4Initialize Wait Component.*G2GFF rF bF EE)%;I-9 ))i)I)1=Bi99 92@E<:@Ew: Qi19֪'* [(AYt*Q@t*E`@yt*)t*M3>t*H`&?@.ֿ?@E0???)u*Q@ u*Aq;Iu*CxBj>x@GBAAHD)-Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQ+Eʙͥ <>I I8ٮ QtI  UC9鰭: 1:)"8 9)I tIi E F:):I9I9*G2GFFrFbFEE);I 9  i I 䪽i 2@<:@%w: 1՜'* u(A Yt6ZQ@t6`@yt6W.t6ʕ>t6H`i?xlyֿ`?ޅ?y?`?)u6ZQ@ u6q;Iu4xNs>xREi\I\)-GF@5Y="^E>AAQE+EAMM>IQ IU8ٮQQ Q]tI Q U]C9QU: U:)U(8 e9)aIa mtIia mEa e:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iIHi 2@<:@w: '* O(AYt*a^Q@t*l `@yt*b&t*0>t*H` ?@8b}ֿ!z?=̄?:?1?)u*a^Q@ u*a q;Iu*Cxf?s>xfE)mSGiiiF@}Y}:>ʁʁQ+Eʁ͍):>I I8ٮ QtI  UC9鰕: N:)/8 9)I tIi E [:):I9I9*G2GFFrFbFEE) ;I 9 iIi!! !2@-<:@-w: 95]>9z'* ](AYt*\Q@t* `@yt*6t*>>t*H_?QO:|ֿ f?f?`??)u*\Q@ u*-p;Iu*CxBi>xBEHBp=HDiPIP) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@5Y=:=>AAQE+EAMeM>II I8ٮII QtI I UC9IM; M;)M78 9)I tIi E 0;);I9I9*G2GFFrFbFEE)%;I-9 ))i)I)QUiQQ Y2@]<:@ew: ߑΰ'* |bÞ(A) IYt.RQ@t.'_@yt.%t.~v>t.H5@?%rֿ@S? ɯ?!u?F?)u.RQ@ u.p;Iu.CxRm>xR'E)%vGF@Yʥպ>ʩʩQ+Eʩ͵,ߺ>I I8ٮ QtI  UC9鰽: l:)=8 9) 9I tIi E :)4:I9I9*G2GFFrFbFEE);I9 iI!%bi!! )2@-<:@-w: Ai'* @ݞ(AYt2ՒQ@t2?`@yt2u t2),>t2H S?E ֿ6@d?Y?{M??)u2ՒQ@ u2|p;Iu2CxNh>xREi`I`)-G5%=5=a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʕE:>ʙʙQ+Eʙͥ <>I I8ٮ QtI  UC9鰭.: :)D8 =9)1I1 =tIi1 =E1 5:)5:I5 9III9QODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIӶi 2@<:@w: i9A"'* r(AYt*LQ@t*_@yt*&t*0>t*H$@?#)mֿඪt}?@i?p?@ ?)u*LQ@ u*tp;Iu*CxBl>xBEGF@AHD) SGF@=YE~^E>AIQM+EIM'2M>IQ I]8ٮQQ Q]tI Q UeC9QU: Ux:)UBK8 m9)aIa mtIia mEa e:)e :Ie9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 200.513659 arcdeg .q']']*GY2G]('@FYFarFabFaEiEi);I9 iII.@i;l>('@ 2@<:@w: $-RHorizontalControl.headingCmd 2.623728 rad '* (A Yt*tQ@t*I`@yt*0t*>t*H @?ݴֿ@yxRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i1I9)dGF@Y̺>Q+E;<>I I8ٮ QtI  U C9<;  :)R8 9)I tIi E ;);I91I999=O@Contact HDG: 150.328529 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 99i9I9E +@iEg>A A2@m<:@uw: ߱45'* *(AYt*5[Q@t*@`@yt*t*Jz>t*H`?@K@zֿ@{ {i?>?`y?`' ?)u*5[Q@ u*p;Iu*CxBHf>xB E)%Gi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m a )ma )m iiɄiimMb@Mb@Mb@YmqBIiiimepBmArBɅmArBmRqBi i)iF@Yʅ~h;>ʉʉQ+Eʉ͕,&>I I8ٮ QtI  UC9鰝_: B:)4Y8 9)I tIi E S:):I$9I9*G2GFFFFUBrFbFEE ); ?7?I9 i I >з ('@i  > 2@<:@w: )5e>=a>'* \D(AYt*ڻQ@t*h`@yt*!t*8چ>t*H`@1?מֿ1?"$?_?`&?)u*ڻQ@ u*p;Iu*CxV[>xV EHZ=HZp=ihIh)E+GF@}Yʅ9>ʁʁQ+Eʁ͍o<>I I8ٮ QtI  UC9鰕: :)`8 9)I tIi E -:)c:IR-9I9*G2GFFFFrFbFEEU); 8ԸI9  LiIIfai   2@<:@w:- \c> 1F'* ^(A)p;IYt*Q@t*1`@yt*61t*%G>t*HE@?᷿Mֿ@z?&?|??)u*Q@ u*(9q;Iu*CxN`k>xRE)SGF@Y d >Q+E-]->IA IU8ٮAA Q]tI A UeC9AE; E;)EZg8 }9)qIq tIiq Eq uB;)u>J;Iud69I9*G2GFFFFrFbFEE-ނ); n9nI9 ]ӕiI4i 2@<:@w: q'* `x(AYt*#Q@t*.Z`@yt*7t*a>t*H1?ྋXֿE se?@?S??)u*#Q@ u*=q;Iu(xNRr>xREi\I\)-dG-4=5%=Ponly read 0 of 1 data item for BIT errorrFailed to parse: :TS,19040116450, -0.1, 0.0,1448.9, 0 F@YʥƄ;>ʩʩQ+Eʩ͵;>I I8ٮ QtI  UC9鰽}: ٮ:)m8 9)I tIi E :):Is>9I9*G2GFFFFrFbFE E )%; !%u9%uĹI%9 %PP!i!I-{)- i11 12@=<:@=w:> i19X'* <(AYt*sQ@t*~`@yt*"t*[}>t*HZ f?]A`ֿΰ?Aă?X? *?)u*sQ@ u*%q;Iu(xN`k>xREGPHP)-GF@5Y==>AAQE+EAM;M>IQ IU8ٮQQ Q]tI Q U]C9QU: U$:)Ut8 e9)aIa mtIia mEa e:)eԘ:IeF9yIy9y*G2GFFFFrFbFEE5F+)5; 15G:5GI=9 =69i9I=AEiAA I2@M<:@Mw:y y)yIy )'* (A Yt.Q@t.o`@yt.E{%t.eA>t.Hh-?`;ֿ H?Q?@61?u?)u.Q@ u.>q;Iu.Cx61z>x6EiDID)rSGa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a = a 5=@a = a 9=@a = a -=@a = a )=@a = 11Ʉ1i5Mb@Mb@Mb@I5I1i155Ʌ551 1)1F@UYUeU>YYQ]+EYee>Ii Im8ٮii QutI i UuC9im: mt:)m{8 9)yIy tIiy Ey }:)}|:I}BO9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: qj'* ş(AYt*R@t*`@yt*(t*>t*H a?$: ,׿`U?@?@Y??)u*R@ u*[r;Iu*CxBMl>xBLE)~Gi  F@YL%>!!Q%+E!-]<->I1 I58ٮ11 Q=tI 1 U=C915: 5:)5V8 E9)AIA MtIiA MEA E:)Eȗ:IEW9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'uN@Vehicle HDG: 201.230965 arcdeg .q''*G2GFFrFbFEE);I9  i I i 2@<:@w: 15]>=V>'* ߟ(AYt*Q@t* `@yt*it*g>t*H 5$=?Bֿ`OH?@+-?";? ,?)u*Q@ u*$q;Iu*CxBk>xBEHFp=HFa=iPIP) GF@=YEke;E>AAQM+EIM|M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UN8 m9)aIa mtIia mEa e:)e :Ie9`9yI9=O@Contact HDG: 150.328529 arcdeg .''O4Initialize Wait Component.*G2GF F rF bFEE)-;I-9 ))i)I)11i11 92@=<:@Ew: Q'* (A);IYt.!IR@t.,`@yt.!t.N+>t.H@ ?뵿`X׿@`@Q? 9?xBE) dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iqQu+Eq}<}>I I8ٮ QtI  UC9鰅}: ٮ:)K8 9)I tIi E :)^:Ih9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: R(* „(AYt2RR@t2`@yt2/]Ht2L@>t2H@!Ʀ?aca׿`@2?} ??@?)u2RR@ u2q;Iu2CxNn>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IA)G%=4=F@Yָ>Q+EA:>I I8ٮ QtI  UC9: ;)r8 9) I  tIi  E  ;) ;I q91I199*GI2GQFQFYrFabFaEaEi);I9 iIi 2@<:@w: i193 (* ^-(AYt*AR@t*`@yt*<t* a>t*Hy`?`ժQ׿??`4??)u*AR@ u*(q;Iu*CxBm>xB'EGBAAH@){F"z.I{Di{Fx={D{D{F@A{D|FB9|Fグ?!Q()USGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YG;>Q+E& >I  I8ٮ   QtI  UC9  ): p:) d8 %9)!I! %tIi! -E! %}:)%,:I%Az9QIY9Y*Gi2GiFiFirFbFEE2EzEBE x=@`ˀ7Eグ?!Q(E"z.EE4ݪA`.$@A_Ek1#?]!??^ſE;6@=DHdg To Contact =163.484717 degreesZE'AbEV :EKo$?BEpo$?JE RE jErE);I9 iIi 2@<:@w: q$Dacoustic_contact_range 37.380001 m$hTrackAcousticContact.heading_to_contact 2.853347 rad$LDUSBL_Hydroid.xAngle -39.050001 arcdeg(* t.H@@ ?ᶿz׿(@u?iY~?`Џ??)u.hR@ u.$Gq;Iu.CxBi>xBEiPIP)]GF@}Y};>ʁʁQ+Eʁ͍˗<>I I8ٮ QtI  UC9鰕 : ʽ:)8 9)I tIi E F:):Io9I9*G2GFFrFbFEE);I59 11i1I999iAA A2@M<:@Mw: Y(* ]a(AYt*R@t* ba@yt*}5t*V'>t*H@`?~ ׿ ? ?`l??)u*R@ u*>q;Iu(x> c>xB E) vGiF@}Yʅ>ʉʉQ+Eʉ͍>I I8ٮ QtI  UC9鰝: а:)8 9)I tIi E :)N:I9I9*G!2G)F)F)rFQbFQEYEY);I9 iI!i!) q2@<:@w: ߹5>5p>g (* z(AYt*0R@t*;]a@yt*RHt*d>t*H`?޸}׿rc;? ???)u*0R@ u**Fq;Iu*Cx>n>xBEHBa=H@iPIP) jGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@-Y-05>qqQu+Eq}1}>I I8ٮ QtI  UC9鰅}: :)T8 9)I tIi E  :):IE9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF EQEQ)e;Ie9 aaiiIiiqiqq q2@}<:@}w: ߑ$(* ͔(A)p;IYt*S@t*a@yt*Tt*o>t*H J?݌`eؿ@`?}J?@\??)u*S@ u*j7q;Iu*CxBu>xBE) vGF@Y%IK<%>!!Q-+E)-a<->I1 I=8ٮ11 Q=tI 1 U=C915M: 5:)58 M9)AIA MtIiA MEA E̒:)E:IE9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 202.041572 arcdeg .q''*G2G;6@FFrFbFEE);I9 iI%9)@i!%;6@ )2@u<:@uw: ߁$RHorizontalControl.headingCmd 2.853347 rad+(* ʨ(AYt*\R@t*ga@yt*O4t*$]>t*H Z?׿@?૕?@]\?I?)u*\R@ u* r;Iu*CxNu>xLi\I\)-G5=5=a 1ma 1m a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵ>ʱQ+EJ>I I8ٮ QtI  UC9ͭ: J:)8 9)I tIi E Ԙ:):IȤ9)I)9)=O-@Contact HDG: 163.484717 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9E9);I9 iIm,@i}u> 2@<:@w: i112(* xȠ(AYt*QS@t*a@yt*Ut*>t*H"?@Y NؿUP"?ྊ?0?`?)u*QS@ u*NFq;Iu(xBn>xBEGB@AHD)-GF@=YEʪE>IIQM+EIMg<U>IQ I]8ٮQQ QetI Q UeC9QU2: U5:)UZǍ8 m9)iIi mtIii uEi mՐ:)mȗ:ImҬ9I9*G2GFFrFbFEE);I9 iI%/@i%'b>! !2@-<:@-w: y18(* ^⠨(A@ Yt*f,S@t*qa@yt*t*Hژ>t*HD? S`+ؿ8I%?M?? M?)u*f,S@ u*vrq;Iu*CxBi>xBEiLIP)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y <>Q%+E!%h%>I) Iu8ٮ)) QutI ) UuC9)-< -Q<)-΍8 9)yIy tIiy Ey }t:)}g:I}9I9*G2GFFrFbFEE);I9  i I 5@i55> 2@<:@w: 1[>(* 9(AYt2+S@t2a@yt2Zt2 >t2H?H@+ؿ`?F?0q??)u2+S@ u2vq;Iu2CxBi>xBNE)=Gi=xA=xAF@]Ye^e>aaQe+Eimwm>Iq I8ٮqq QtI q UC9qu(; uش;)u5Ս8 9)I tIi E -:)c:I9I9*G 2G FFrFIbFIEqEq);I9 iI9@i" > 2@<:@w:6Ʌ> 5e>=e>DE(* (AYt6S@t6 Gb@yt6Dt6O|>t6HЋ`6?OBؿNp?у?@B?Q?)u6S@ u6T s;Iu6CxVu>xVEHXHZp= {XY|XZ8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iQIY)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>!!Q%+E!Ml<M>IQ I]8ٮQQ Q]tI Q U]C9QU\: U:)U(ݍ8 9)aIa tIia Ea eK;)e ;IeǮ9I9*G2GFFrFbFEE)U;IU9 QYiYIY_<@i> 2@<:@w:7r> !mK(* /(A);IYt*sS@t* b@yt*kG*t*J>t*H ?`,?`mؿ[??@H??`?)u*sS@ u*as;Iu*CxBi>xBNE){Bl$>I{@i{B={B1>{@{B A{@|BzA9|B\ʞ?Čsv?)F@Yʽڏ;>Q+EP׻>I I8ٮ QtI  UC9: 8:)38 9)I tIi E ::)N:I4Ϯ9I9*G 2G FFrF9bF9E9E92EAzEEzAEE2-z1@ n@EE\ʞ?Čsv?EEl$>EAEEm].qG"e%?EEE뺄[N?l =+?EEzl@=UDHdg To Contact =211.283351 degreesZEEbEEv:EEo$?BEEKo$?JEE REE jEEa~?rEE);I9 iIX=@i 2@<:@w:aO> ߹$Dacoustic_contact_range 18.059998 m$hTrackAcousticContact.heading_to_contact 3.687590 rad$HDUSBL_Hydroid.xAngle 9.200000 arcdegUR(* I(AYt*S@t*lb@yt*643t*ٔ>t*H?ɳؿ:VC?if?n?@h?)u*S@ u*vr;Iu*CxBu>xBEiPIP)}G%=%=F@Yʝ}>ʡʡQ+EʡͭK=<>I I8ٮ QtI  UC9鰵: #:)8 9)I tIi E :)$:I׮9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYem=@e'Ciaa a2@m<:@mw:mA'> yi19~X(* Uc(AYt*S@t*Ab@yt*wt*e>t*H `??׶)ؿK@?΃?S??)u*S@ u*"t;Iu(xBxp>xBEGBAAHD)ׄGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a ] a 5]@a ] a 9@a  a -@a  QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@-Y-D;->11QU+EQ]ɻ]>Ia Im8ٮaa QmtI a UmC9ae}: eٮ:)eM8 }9)qIq }tIiq }Eq u:)u:Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.555161 arcdeg .q''*G2Gzl@FFrFbF!E!E!)=;I=9 99i9I9EA?@iE>Ezl@ I2@M<:@Uw:eHo> i$RHorizontalControl.headingCmd 3.687590 rad^(*  }(A Yt.T@t.b@yt.v t.(t>t.Hu Mh?ؿ@??? ǎ?@:??)u.T@ u.gw;Iu.CxBc>xB EiLIP) AAQE+EIMħ<M>IQ I]8ٮQQ Q]tI Q U]C9QU: U):)U8 m9)aIa mtIia mEa e}:)eN:Iee9yIy9y=OE@Contact HDG: 211.283351 arcdeg .'E'EOE4Initialize Wait Component.*GA2GIFIFIrFqbFqEqEy);I9 iIkB@i3= 2@<:@w:0> /e(* Y(AYt.T@t.b@yt.n>%t.m%>t.Hv:?""ؿ@a)??)?u?)u.T@ u.=w;Iu.Cx6Hf>x6 E)rGivwAvwAa 1ma 1m a 5ma 5m a 9ma 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍo>ʑʑQ+Eʑ͝>I I8ٮ QtI  UC9鰥: į:)8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9  i I eF@iX= 2@<:@w:> 5V>=p>$k(* 4(AYt*T@t*b@yt*8t*K>t*H`yv@?sؿ`x1S ?@4?:N?`6?)u*T@ u*Yu;Iu*CxBo>xBJEHBp=HBa=iPIR̓C)=SGF@}Yʅ\C>ʁʁQ+Eʉ͍,.9>I I8ٮ M8 QtI  UC9鰕: :)8 9)I tIi E O:):I9I9*G2GFFrFbFEE);I9 iIVFiz;= 2@ <:@ w:I Qjr(* ˡ(A) IYt*8?T@t*Cb@yt*u#t*<>t*H@kr?@ec)ٿ_R$?@~?e??)u*8?T@ u*~v;Iu*CxBf>xB E)dGF@YdE;>!!Q%+E!-<->I) IU8ٮ)) Q]tI ) U]C9)-; -;)- 8 e9)a e9Ia etIia mEa ec:)ew:Ie9I9*G2GFFrFbFEE);I9 iI‹@i58< 2@<:@w:= x(* N䡨(AYt2"tT@t2-!c@yt2|8t2*q>t2HWa? @Yٿ @?c??Z?)u2"tT@ u2y;Iu0xNZ>xRzEi`IbѓC)%G))a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍT>ʉʑQ+Eʑ͝J <>I I8ٮ QtI  UC9鰝}: :)Y8 9)I tIi E ::)|:I 9I9*G2GFFrFbFEE);I9 iI };i   2@<:@w:m= i11c~(* (AYt*T@t*[c@yt*t*H@U?`"ٿZ, ??6? d?)u*T@ u*y;Iu*Cxbo>xbJEGhHl){GF@Y->Q+ES <>I I8ٮ QutI  UuC9Ǐ< <)i8 9)yIy tIiy Ey }t:)}:I}9I9*G2GFF rF1bF1E1E1)M;IM9 IIiiIiu u5iurZbq y2@}<:@w:m d6= q߅(* Q(A Yt.T@t.Oc@yt.;/t.ԍ>t.H@]X? ٿ3@?? E?@?t?)u.T@ u.5x;Iu.Cx65g>x6*E {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ihI)ƄGa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@%Y%;M>IQQU,EQ]Ǻ]>I I8ٮ QtI  UC9鰍S: J:)"8 9)I tIi E ::):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!FArFIbFQEQEQ);I9 iI/i ~Ľ 2@<:@w:C;=  (* ~2(AYt*bT@t*mwc@yt*t*Ʌ>t*HIP ?V!ٿ@I` ??v? ?)u*bT@ u*Tx;Iu*CxBcX>xBE){Bɩ=I{@i{B`={@{@{BA{@|BA9|Bl3V?لY.2?RResponse from modem failed NMEA checksum: $CAREV,234509,AUV,2.0.27$CAREV,234509,COPROC,0.10.0.46*49 )=GiEvAAF@UY]`]?YaQe,Eae;m?Ii I8ٮii QtI i UC9im5< m,6<)m{(8 9)I tIi E s<)s6"n'>-A ?E43.HA޿g[g?E"h@=DHdg To Contact =208.229218 degreesZE?bE:Eno$?BEo$?JE RE jEJH?rEa~?) ;I 9  iI;'+iѨ 2@%<:@Ew:== A$eDacoustic_contact_range 25.259996 m$mhTrackAcousticContact.heading_to_contact 3.634285 rad$mHDUSBL_Hydroid.xAngle 4.750000 arcdegUi>]{>t(* 6XL(AYt* U@t*c@yt*Ct*y>t*H?Y?]@ٿ`Y`?p?Q? ?)u* U@ u*^x;Iu(xBHf>xB EH@H@iPIT)dGF@}Yʅʻ>ʁʁQ,Eʉ͍sV<>I I8ٮ QtI  UC9鰕: :).8 9)I tIi E -:)ȗ:I,9I9=O@Contact HDG: 208.229218 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 !!i!I!-(i-l) I2@U<:@Uw:-_ 1(* {3f(A) IYt*#-U@t*.c@yt* >t*?|>t*H`1<e?bUڿVQ@m?|?@5?,?)u*#-U@ u*<\x;Iu(xNZe>xR E)!a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍLX:>ʉʉQ,Eʉ͕2;>I I8ٮ QtI  UC9鰝F: :)58 9)I tIi E :):I/59I9*G2GFFrFbFEE);I9 iI'i  2@ <:@w:_> (* (AYt*kU@t*d@yt*e$t*H>t*H/`?<ڿ`,`z?֒?um??)u*kU@ u*Tv;Iu*CxB5g>xB*EiLIP)%G-<-=F@]Ye;e>aiQm,EimN<m>Iq I}8ٮqq Q}tI q UC9qu: u:)u<8 9)I tIi E :)N:I=9I9*G2GFFrFbFEE);I9 iI&Zi 2@<:@w: iQQR-(* 虢(AYt*u}U@t**d@yt*Lt*>t*H+?`Lڿ\.,?@)? I??)u*u}U@ u*Yt;Iu*CxBZe>xB EG@HD) GF@=YE:E>IIQM,EIM7/;U>IQ I]8ٮQQ QetI Q UeC9QQ UJ:)UrC8 m9)iIi mtIii uEi mO:)mA:ImF9I9*G2GFFrFbFEE);I9 iI;&imt  2@<:@w:-SĽ 1)X(* Ƴ(A Yt.NfU@t.Yd@yt.2t.:lf>t.H0 ?괿7ڿ wly?`U?@?`0?)u.NfU@ u.=t;Iu.Cx^m>x^'EilIl)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yo>Q,E X >I I8ٮ QtI  U%C9: ):)J8 -9)!I! -tIi! -E! % :)!I% O99I99A*GQ2GQFQFQrFYbFYEaEa)};I}9 yyiyIy<&vi 2@<:@w:mM y?(* ͢(AYt*|U@t*)d@yt*Vt*q>t*H+ ?`wKڿ4T*?Lъ??@q?)u*|U@ u*r;Iu*CxBc>xB, E)-vGi-wA1F@]Ye⸻e>aaQe,Eimj;m>Iq I8ٮqq QtI q UC9quд; ux;)uLQ8 9)I tIi E Ր:) :I6W9I9*G!2G!F!F!rF)bF)E)E))e;Ie9 aaiaIim;&moiiq 2@<:@w:m yU>Ue>i(* pz碨(AYt.'LU@t.2c@yt.3t.p>t.H`5DZ?@[ڿ@?eq? ??)u.'LU@ u.p;Iu.CxN?s>xREHR=HTihIh)dGF@=YM{;M>qyQ},Ey͍ݻ>I I8ٮ QtI  UC9鰽: :)X8 9)I tIi E ݯ;);I`9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G92GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa)u;Iu9 qqiqIy}<&Pi 2@<:@w: )I aQ(* TV(A) Ix sj>x (E)Ga 1a 1 a 5a 5 a 9a 9 a -a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y%%>))Q-,E)55>I9 IE8ٮ99 QEtI 9 UEC99=\: =į:)=_8 M9)III UtIiI UEI M1:)M:IMh9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'}N@Vehicle HDG: 204.092418 arcdeg .q''*G2G"h@FF rFbFEE)-;I-9 ))i)I)5l'i5{5"h@ 92@=<:@Ew: Q$uRHorizontalControl.headingCmd 3.634285 rad|(* 2(Ax f>x  E {Y|8****** ping requested ******=Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iaIi)SG%= %=F@Yʑ>ʙʙQ,Eʙ͡>I I8ٮ QtI  UC9鰭$: :)7g8 9)I tIi E ̒:):I=r9I9=OU@Contact HDG: 208.229218 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIy)iXH潉 2@<:@w: ߩiYY٥(*  5(Ax "h>x EG H)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q,E!%>I) I-8ٮ)) Q5tI ) U5C9)-: --:)-Em8 =9)9I9 EtIi9 EE9 =:)=:I=y9QIQ9Q*Ga2GaFiFirFibFqEE)%;I-9 ))i)I)Ue"*iQQ Q2@]<:@]w: q(* N(A x sj>x (EiQIQ)GF@Y>Q,E>I I8ٮ QtI  UC9h: :)s8 9)I tIi E :)5:I9I9*G2GFFrFbFE!E!)U;IU9 YYiYIY]])iaa a2@m<:@mw: ߑ\(* !h(AYt*T@t*b@yt*= t*>t*Hs` U?mٿpѫ? ?dg??)u*T@ u*8r;Iu*Cx>f>xB E))i-xA-xAa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʍZB;>ʑʑQ,Eʑ͝A>I I8ٮ QtI  UC9鰥: ͭ:)z8 9)I tIi E t:)E:IR9I9*G2GFFrFbFEE);I9 iI () i 6  2@<:@w:p Ue>U>(* (AYt*S@t*b@yt*TJt*=|>t*Hn5?WNؿ@v_?YJ?5?@?)u*S@ u* oq;Iu(xRb>xR EHPHTi`Ib̓C)5vGF@}Y}sѻ>ʁʁQ,Eʁ͍I&>I I8ٮ QtI  UC9鰕<  <)8 9)I tIi E :)^:I풯9I9*G2GFF rF bFEE)%;I-9 ))i)I)5)1i11 92@=<:@Ew:M Q(*  y(A)p;IxU>x%XE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q,E  >I  I8ٮ   QtI  UC9  `: :) ʈ8 %9)!I! %tIi! -E! %:)%o:I%91I999*GI2GIFIFIrFQbFQEYEY)m;Im9 iqiqIq})yiyy y2@<:@w:M Y(* iT(AYt*YS@t*d9b@yt*pt*(>t*H@ ?Âؿ??f? ?)u*YS@ u*Fp;Iu*CxFV>xF3Ei`IbѓC)-G11F@Yʭr1<>ʱʱQ,Eʱͽ8>I I8ٮ QtI  UC9: :)8 9)I tIi E 4:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E)%;I%9 !)i)I)-)1i11 12@=<:@=w:A A)III iQY(* w/У(AYt."S@t.a@yt. At.c.>t.H@ ?F`"ؿd@ ? <:?u?`?)u."S@ u.q;Iu,xRc>xR, EGR?AHP)ESGF@}Yʅ>ʁʁQ,Eʁ͍>I I8ٮ QtI  U=C9鰝ڦ< <)S8 }9)III tIiI EI Ma<)M,StBH M?PI׿@?ͣ?@p?@Y"?)uBqR@ uBpp;IuBCxJ*[>xJEiXIX)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9:>ʉʉQ,Eʉ͕p>I I8ٮ QtI  UC9鰝: ٮ:)68 9)I tIi E [:):I״9I9=O@Contact HDG: 208.229218 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I)5)1i11 92@=<:@Ew: q)* (AYt>R@t>}a@yt>5t>`v>t>H O?*@׿T@? ???)u>R@ u>!p;Iux^%E)E҄GiEwAMwAF@}Y}:>ʁʁQ,Eʁ͍l;>I I8ٮ QtI  UC9鰕: :)8 9)I tIi E )o:IW9I9*G2GFFrFbFEE);I9 iI)i 2@<:@ w: U>Ue>)* (AYt2v}R@t2*a@yt2J@t2G>t2H@M`?Q@b׿4??^T?E?)u2v}R@ u2jIp;Iu0xJo>xNEHNa=HL {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I-̓C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YEʺE>AIQM,EIUAU>Ia Ie8ٮaa QmtI a UuC9ae; e;)et8 9)yIy tIiy Ey }I:)} t.H`"`? y@g׿ j?I?` ??)u.WYR@ u.!p;Iu.CxB"h>xBE){B-YI{@i{B={B7>{@{B0A{@|B3_B9|Ba\?9^)-ƄGF@]Ye;e>aaQe,Eamm>Iq I}8ٮqq Q}tI q U}C9qu>: uc:)uб8 9)I tIi E h:):IHί9I9*G2GFFrFbFEE2EzE3_BEÆQOeB@DEa\?9^E-YEEB4iH7F2AL8@}vu$E%4Q?*2 wǿE+@=DHdg To Contact =153.708612 degreesZE`AbED:E'o$?BEno$?JEu RE jE#rEJH?);I9 iI)i 2@<:@w: !$=Dacoustic_contact_range 55.799995 m$EhTrackAcousticContact.heading_to_contact 2.682721 rad$MLDUSBL_Hydroid.xAngle -48.750001 arcdeg))* vQ(AYtB*R@tB`@ytBff&tBm>tBH`? wW<׿`7`?`̄?Ts?#?)uB*R@ uBLo;IuBCx^l>xbEitIvѓC)G4=F@Y!>Q,E%޻>I  I8ٮ   Q%tI  U%C9  W; K;)  8 -9))I) 5tIi) 5E) -:)-/:I-<ׯ9AIA9A*GQ2GYFYFYrFabFaEaEa)};I}9 yyiyIy)i 2@<:@w: ߩiQYS)* ;Qk(AYt*Q@t*`@yt* [It*?k>t*H 0 {?@6ֿ7?7+?5?>'?)u*Q@ u*2o;Iu*CxB{]>xB/EGF@AHD)5jGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ]>ʹQ,E[>I I8ٮ QtI  UC9: $:)̿8 9)I tIi E :)ȗ:I߯9I9*G 2G F F rFbFEE)-;I-9 )1i1I1=)9i99 92@E<:@Ew:M Qt*H | [? h೿ֿ ]?B?@???)u*Q@ u*`Vo;Iu*CxBn>xBEiPIP) GF@mYmʫ:u>qqQu,Eq}}>I I8ٮ QtI  UC9鰅: :)Ǝ8 9)I tIi E %:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI)i 2@<:@w: :f')* (AYt*gQ@t*`@yt*L)"t*>t*Hr?Av Jֿ#K?E?[??)u*gQ@ u*64o;Iu(xBi>xBE) ƄGi  xAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm#;m>qqQu,Eq\q>I I8ٮ QtI  UC9%: :)͎8 9) I  tIi  E  l:) :I 9!I!9!&UM]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'] N]Initialize.q']N@Vehicle HDG: 200.607464 arcdeg .q''*G2G+@FFrFbFEE)%;I%9 !!i)I)MB/+iQU+@ Q2@]<:@]w:a a)aIi $%RHorizontalControl.headingCmd 2.682721 radUV>]>-)* ⸤(AYt*vPQ@t*_@yt*t*s>t*H ?@pֿ &? ӂ?@1?x?)u*vPQ@ u*n;Iu(xBo}>xBEHB=HDiPIP) ׄGF@=YEC:E>AIQM,EIMoM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U7Ԏ8 m9)aIa mtIia mEa e::)eN:Ie9yI9=Oe@Contact HDG: 153.708612 arcdeg .'e'mOm4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iIt-isݽ 2@<:@w: /x4)* Ҥ(A) IYt*%Q@t*_@yt*z?t*H@?@LHֿ GK?`͇?`E?WC?)u*%Q@ u*Φo;Iu*Cx6i>x6E)nGF@ Y\>Q,Eֻ>I! I-8ٮ!! Q-tI ! U-C9!%: %t:)%ێ8 =9)1 =9I1 =tIi1 =E1 5:)5l:I5!9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIɓ1iz 2@<:@w: ߱:)* x줨(AYt. Q@t.ٹ_@yt.?t.#>t.H)?m 1ֿ q^t??t?`l?)u. Q@ u.o;Iu,xBX>xBVEiPIP)5dG=<9a 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ>ʡʡQ,Eʡͭm>I I8ٮ QtI  UC9鰵: :)58 9)I tIi E -:):I 9I9*G2GFFrFbFEE);I9 iI<7il? !2@%<:@-w: 9iQQ)A)* :u(AYt*@P@t*KK_@yt*bt*{>t*Hi?` xտ`@ z?@??W?J?)u*@P@ u*o;Iu*CxBg>xBsEG@HD)F@Y<>!!Q%,E!-->I) IU8ٮ)) Q]tI ) U]C9)-; -g;)-`8 e9)aIa etIia mEa eh:)e|:Ie9I9*G2GFIFQrFQbFQEYEY);I9 iIN=iF 2@<:@w:4 ߩG)* Z (A&@ $YtNq~P@tN|+_@ytN>A!tNq>tNH5?yտ??`(?@K??)uNq~P@ uNo;IuNCxz\>xzE {9Y|9=8****** ping requested ******eNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI))a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5Q`=>99QE,EAMM>IQ I]8ٮQQ QetI Q UmC9QU#; U#;)U8 }9)qIq }tIiq Eq u:)u:Iu99I9*G2GFFrFbFEE);I9 iIBi< 2@<:@w:} ߉aM)* ^+:(AYt*m[P@t*x_@yt*,Dst*, a>t*H$!8? 7 -տ`_ S?@xRxE)}Giy}wAF@Yʽf>Q,EŻ>I I8ٮ QtI  UC9):  :)8 9)I tIi E F:)|:I#9I9*G 2G FFrFbFEE)5;I59 11i1I1=`Gi=O=9 A2@E<:@Mw:0 UR>Ux>1T)* >T(AYt*7P@t*%^@yt*(t*Ex>t*H'?$@Fhտ?c?`??`?)u*7P@ u* o;Iu*Cx2m>x6'EH6a=H6p=iHIH)vGF@Y%A<%>!)Q-,E)-6->I1 I=8ٮ11 Q=tI 1 UEC915S: 5:)58 M9)AIA MtIiA MEA E:)Eȗ:IE+9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 QYiYIY]E@ie=a a2@m<:@mw:S% RZ)* em(A) IYt. O@t.^@yt.t.vɅ>t.H@8 t?@~ճ տ1,?@€?|??)u. O@ u. p;Iu.CxBl>xBE)SGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ ;>ʡʡQ,Eʡͭk>I I58ٮ M=8 Q=tI  U=C9鰵Տ< <)8 E9)AIA MtIiA MEA E:)EԘ:IE49yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.196170 arcdeg .q''*G2GF!F!rF!bF)E)E))e;Ie9 aaiaIam=?@i\s= 2@<:@w:: ߩ1a)* (AYt*O@t*t^@yt*t*>t*H@#:@t?npԿM5&?@Ã?G??)u*O@ u*o;Iu*Cx6k>x6Ei@IB̓C)rdGv%=v4=F@zY5v5>11Q=,E9=E>IA IM8ٮAA QMtI A UUC9AE\: E_:)EV 8 ]9)QIQ ]tIiQ eEQ U:)UR:IU<9iIi9q=O@Contact HDG: 153.708612 arcdeg .''O4Initialize Wait Component.*G2GF F rF bFEE);I9 iI#:@ixi> 2@<:@w:: iQYfh)* (AYt* kO@t*^@yt*=t*Pt*H@IH?HzԿ`,|@1?` ? ?-?)u* kO@ u*Lo;Iu*CxNw>xRjEGRAAHP)-GF@=Y=E>AAQE,EAMeM>IQ IU8ٮQQ Q]tI Q U]C9QU): U :)UA8 e9)aIa mtIia mEa e[:)e:IeXE9yIy9y*G2GFFrFbFEE);I9 iI$5@i6> 2@<:@w: = ,n)* Ps(A@ Yt*O@t*]@yt*:?t*b>t*H2Wm?"SԿ`˓?`? ? 7?)u*O@ u* o;Iu*CxBmd>xBu EiPIR֓C) Ga 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuu>qqQ},Ey}V>I I8ٮ QtI  UC9鰅}: :)C8 9)I tIi E :):IM9I9*G2GFFrFbFEE);I9 iI1@iBK> 2@<:@w:*= QFu)* !Vե(AYtz1O@tz]@ytztzl>tzH`R`?`!Ͳ pԿ@Ja?Pp?T^?3?)uz1O@ uz}(o;IuzCxMc>xM, E)Gia 1a 1 a 5a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-8;->))Q-,E15%;5>I9 IE8ٮ99 QEtI 9 UEC99=: =:)= 8 U9)III UtIiI UEI M:)M:IMW9aIa9a*Gy2GyFyFyrFbFEE);I9 iIR.@i0@\> 2@<:@w:= Ue>U>>{)* V)泌(AYt*N@t*m]@yt*)t*x>t*HBd5y?ֲԿhF`V?8???)u*N@ u*o;Iu*CxBg>xBsEHF=HDiPIRѓC)}GF@Yʵe>ʹʹQ,Eʹ>I I8ٮ QtI  UC9:: :)2'8 9)I tIi E :):I3_9I9*G2GF F rF bFEE)-;I-9 ))i)I)5+@i5Eti>1 92@=<:@Ew:-= 1P&)* . (A) I Yt*+N@t*6T]@yt*'t*oj>t*HBh`!?Uӿ??`4 ?@)?)u*+N@ u*A+p;Iu*CxBp>xB%E)GF@UY]9]>aaQe,Eaepm>Ii I8ٮii QtI i UC9im2; m;)ms.8 9)I tIi E :)A:I@h9I9*G2GFFrFbFEE);I9 iI6i!! !2@-<:@-w:  > P)* "(AYt*kqN@t*v]@yt*<5t*DZ>t*H p>m? ӿ /?ɸ?@N?F?)u*kqN@ u*o;Iu*CxBRr>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI֓C)=%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y >Q-E>I I8ٮ QtI  UC9: %:)"68 9)I tIi E ͭ:):Iq9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)=;I=9 99i9I9AEoUiAI I2@U<:@Uw:%=> qiQYz)* <(AYt*NyN@t*Y&]@yt*Ut*BB>t*H no &I?D\ ?ӿ`v?wb???)u*NyN@ u*(o;Iu*CxBe>xBP EGF?AHD){F|>I{Di{Fޫ={F1>{D{FA{D|FA9|Fҧ?\'\Ƀ\?)aF@Yʝ˟;?ʡʡQ-Eʡͭ:?I I8ٮ QtI  UC9鰵]: :);8 9)I tIi E :)A:Ix9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.983593 arcdeg .q''*G2GFFrF bFEE2EzEAEw%9@J@Eҧ?\'\Ƀ\?E|>EEn6&&y>a?EmNaBRqܿ ߑ$Dacoustic_contact_range 25.440001 m$hTrackAcousticContact.heading_to_contact 3.602698 rad$HDUSBL_Hydroid.xAngle 8.700000 arcdegb)* V(A Yt*N@t*!\@yt*At* >t*H`~?޲@aӿI[i? 2?@U-?$?)u*N@ u*o;Iu(xB:m>xBEiPIRѓC)USGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽyB;>Q-ECx>I I8ٮ QtI  UC9: L:)B8 9)I tIi E :):IC9I9=O@Contact HDG: 206.419368 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI"#i 2@M<:@Uw:ei> iR)* xp(AYt*RM@t*]\@yt*b;t*nn>t*H }t?@⭿$ӿF?Jz??h"?)u*RM@ u*ݍp;Iu*Cx>c>xB E)zGiyyF@Y>Q-E>I I8ٮ QtI  UC9: :)I8 9)I tIi  E p:):I݉9I9*G)2G)F)FQrFQbFQEYEY)m;I9 iIi&`> 2@<:@w: )I ߁U>Ue>t)* 0L(AYt*M@t*e\@yt*N%t*X>t*H ?:` ӿ?ಠ?F? ^H?)u*M@ u*qp;Iu*CxF^>xF EHJR=HJa=iTIX)EׄGF@]Yej;e>iiQm-Eiu u>Iy I}8ٮyy QtI y UC9y}: }:)}bP8 9)I tIi E S:)g:I 9I9*G2GFFrFbFEE);I9 iI쮽i 2@<:@w: 枨)* g((A)IYt.M@t.*W\@yt.8t.ry>t.H @?Iҿ=?`[?$? ?)u.M@ u.p;Iu.CxB_>xB E)-ʱʹQ-Eʹͽ >I I8ٮ QtI  UC9: _:)sW8 9)I tIi E :)^:IŚ9I9*G2GFFrF bF E E)%;I%9 ))i)I))5Gi11 92@=<:@=w: YȮ)* (AYt*1M@t*[@yt*t*l>t*Ht?yҿ 6i???W?)u*1M@ u*u*p;Iu*CxBr>xBIEiPIP)=SGE4=AF@Yʝ#;>ʡʡQ-Eʡͭ>I I8ٮ QtI  UC9鰵: :)L^8 9)I tIi E :):I99I9*G2GFFrFbFEE);I9 iIi! !2@%<:@-w: 9iQQ)* צ(AYt*M@t*([@yt*t*cby>t*H v ?@7juҿE??@V? ?)u*M@ u*p;Iu(xBb>xB EG@HD) dGa 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmђ:u>qqQu-EqF>I I8ٮ Q tI  U C9S: :)]e8 59)I =tIi =E ;);I9III9I*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: i> ڻ)* (A Yt2/L@t2:[@yt26%t2Z>t2H`@??ZWҿ<@V?? ?`E?)u2/L@ u2up;Iu2Cx:e>x:P EiLIL)zGF@]YeLe>aaQm-Eimrm>Iq I}8ٮqq Q}tI q U}C9qu: uN:)uk8 9)I tIi E :) :I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 YYiYIYae ߙ)* ޓ (AYt*ԳL@t*`[@yt*Jt*j>t*H 0 R? MҿU\?[??(?)u*ԳL@ u*q;Iu(x2i>x6E)r҄GiprxAF@zYzz>| Q -E ;>I I8ٮ Q%tI  U%C9G: :)r8 -9))I) -tIi) 5E) -:)-x:I-W9AIA9A&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 196.397759 arcdeg .q''*G2Gf@FFrFbFEE);I9 iI ,@i *}O> f@ 2@<:@w: !)!I! $RHorizontalControl.headingCmd 3.602698 radUa>]x>|)* m%(AYt*L@t*b[@yt*}+t*ޅ>t*Hb?n4ҿ - ?q?`?`&?)u*L@ u*q;Iu*CxNm>xR'EHRa=HP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAII)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5%@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@EYM;M>IQQU-EQ]y9]>Ia Im8ٮaa QutI a U}C9aeW; e;)eEz8 9)I tIi E :):IŰ9I9=OM@Contact HDG: 206.419368 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY);I9 iIź0@i4> !2@-<:@-w: Q4)* sK?(A)IYt.s6L@t.~Z@yt. t.'>t.H (? ⏯ѿ 9?v?` ?@{?)u.s6L@ u. |q;Iu.CxBo>xBJE)%dGF@-Y5:;5>19Q=-E9EE>II IM8ٮII QUtI I UUC9IM: M:)M8 ]9)YIY etIiY eEY ]1:)]g:I]~Ͱ9iIq9q*G2GFFrFbFEE);I9 iI3@i> 2@<:@w: )* ?Y(AYtZEL@tZZ@ytZτ0tZtZH`l]?`|ѿ`?}?`;?5?)uZEL@ uZ*r;IuZCxbMl>xbLEitIt)UGYYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽoһ>ʹʹQ-E;>I I8ٮ QtI  UC9ͭ: :)8 9)I tIi E -:):Ieְ9I9*G 2G F F rFbFEE)-;I-9 11i1I15 Z9@i=e=9 92@E<:@Ew: YiII()* s(AYt*uL@t*Z@yt*}.t*Ga>t*H@w0?owѿ9J?Tԅ??K9?)u*uL@ u*{r;Iu*CxVRr>xVEGZAAHX)EGF@}YʅB9>ʁʁQ-Eʁ͍6>I I8ٮ QtI  UC9鰕>: :)}8 9)I tIi E Ր:)ȗ:Iް9I9*G2GFFrFbFEE);I9 iI>@ik)= 2@ <:@ w: na> )* Uی(A@ Yt*K@t*Z@yt* t*Z}>t*H cg?,L@ѿLଂ?oу?{X?`+?)u*K@ u*pFr;Iu(xBo>xBEiPIR̓C)5GF@Yʍ;>ʉʉQ-Eʑ͕>I I8ٮ QtI  UC9鰝\: ٮ:)h8 9)I tIi E а:):IA9I9*G2GFFrFbFEE);I9 iI mD@i =9=  2@<:@w:BR> :)* (AYt*|K@t*)Z@yt*wt*.>t*H``L{?#пʨ??@C? ?)u*|K@ u*zq;Iu*CxN=Z>xR1E)%Gi-xA-wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y{;>Q-Ec>I I8ٮ QtI  UC9F: ):)s8 9)I tIi E h:):I9 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIAMHiM 9]R>et>")* ő(AYt*[eK@t*fZ@yt*H%t*t>t*H@{?@(䪿 =пN~?Q?@8??)u*[eK@ u*"q;Iu*CxN`>xR. EHPHPi`I`)5ׄGF@EYE^E>IIQM-EIUpU>IY I]8ٮYY QetI Y UeC9Y]: ]:)] 8 m9)iIi utIii uEi m:)m:Im9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)];I]9 YYiYIYetCieyռa i2@m<:@uw:h= ߙL)* lڧ(A)4t.H`@Lo? @п `W?@?CB?T5?)u.+FK@ u.sr;Iu.CxN"h>xRE)!F@]Ye 9e>aaQm-Eim m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u8 9) 9I tIi E  :)4:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.119025 arcdeg .q''*G2GFFrFbFEE)%;I%9 !!i)I)UJK=iUɀQ Q2@]<:@]w:Mh= Q w)* 4H(AYt* %K@t*Y@yt*zt*Q4l>t*HmvA?4пP? Z?@cC?&?)u* %K@ u*r;Iu*CxN'n>xRpEi\I^ѓC)-G)5=a 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍe;>ʑʑQ-Eʙ͝z>I I8ٮ QtI  UC9鰥: :)8 9)I tIi E h:):IQ 9I9=O@Contact HDG: 206.419368 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I%9 !!i!I!-7iUǽQ Q2@]<:@]w:v= ߉iQQ^** 1#(AYt.J@t.){Y@yt.|l1t.g>t.Hk@?@Ӫ@=п? s-?9??)u.J@ u.q;Iu.CxN}v>xREGR?AHP)-GF@=Y=mE>AAQE-EAM\M>IQ IU8ٮQQ Q]tI Q U]C9QU: U:)U8 e9)aIa mtIia mEa eF:)e9:Ie9yIy9y*G2GFFrFbFEE);I9 iI3i 2@<:@w:e= ߡv ** l((A Yt*J@t*uY@yt*2t*G>t*H  ?8п l/?uT? ? Q?)u*J@ u*/q;Iu*CxBqQ>xFE {LY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i9IE̓C)GmQ-E >I I8ٮ QtI  UC9: M:)8 9)I tIi E Q:)N;I9I9*G12G1F9F9rFAbFIEIEI)m;Im9 qqiqIq[.i^ 2@<:@w:w\< !bCommunications Fault in component: RDI_PathfinderEq** A(AYt*#zJ@t*.'Y@yt*Qt*m>t*H :C?o`Ͽ}%@O?v|? Pl?@$?)u*#zJ@ u*q;Iu(xR_>xR E){VMI{Ti{V >{V>{T{T{T|VfB9|VpvN.5?ڜ )EGuPowering downiuuuuF@-Y5l;5>11Q5-E9=L=>IA IM8ٮAA QMtI A UMC9AE: E5:)E%Ǐ8 m9)aIa mtIia uEa el:)e:Ie$9yIy9*G2GFFrFbFEE2EzEfBET G\H@V %EIEpvN.5?ڜ EMEEdDwM9sA@_]>** [(AYt*zJ@t*'Y@yt*}+t*[>t*H]c?@pϿC?o? G?PC?)u*zJ@ u*r;Iu*CxRu>xREHRp=HVp=i`IfѓC)}GF@Yʽ@ ?Q-Eŷ ?I I8ٮ QtI  UC9%: ):)̏8 9)I tIi E :)Ԙ:I|+9I9*G 2G FFrFbFEE)5;I59 11i1I1=)+i99 A2@E<:@Mw:Љ %** ɏu(A);IYt*e&J@t*pX@yt*} $t*o>t*HZ?@y g5Ͽ@,? y?`k?k!?)u*e&J@ u*iq;Iu*CxBl>xBE) GF@Yʅ:>ʉʉQ-Eʉ͕R>I I8ٮ QtI  UC9鰝\: :)rӏ8 9)I tIi E Ր:) :I39I9*G2GFFrFbFEE);I9 iI>+锬i 2@ <:@w:7ƽ !dClearing failed state for component RDI_Pathfinderq "#** fk(AYt*@J@t*KX@yt*!t*X>t*H @??Y;ο@(?`!?@?@?)u*@J@ u*6q;Iu(xBV>xBEiPIP) GF@%Y%9->))Q--E)5ՙ5>I9 IE8ٮ99 QEtI 9 UEC99=h: =J:)=#ڏ8 U9)III UtIiI UEI M:)M$:IM<9aIa9iO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 !!i!I!-+-Rìi)) )2@U<:@Uw:]Ƚ ߑiU@AQ)** D(AYt*2I@t*=YX@yt*w,t*@>t*H@`? Ϩ!Hο`c`]?`׎?`U?]?)u*2I@ u*8q;Iu*CxNp>xR%EGPHP)-SGF@5Y=P=>AAQE-EAMQbM>IQ IU8ٮQQ Q]tI Q U]C9QUl: U:)U8 e9)aIa mtIia mEa e:)eo:IeD9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.685327 arcdeg .q''*G2Gy&@FFrFbFEE);I9 iIl-iͪ"y&@ 2@<:@w:U $RHorizontalControl.headingCmd 2.603972 rad0**  è(A@ Yt*I@t*AX@yt*284t*oEY>t*H w? @οBc?膆?6?G?)u*I@ u*>(r;Iu*Cx6V>x6Ei@ID)rGF@ Y>Q-E%s>I! I-8ٮ!! Q-tI ! U-C9!% : %:)%8 =9)1I1 =tIi1 =E1 5:)5I:I5M9III9I=O@Contact HDG: 149.196590 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9  i I :0iF 2@<:@w:Q w6** ܨ(AYt*՛I@t*HX@yt*2t*˷`>t*H ?@(ο4W GN? _?/? L;?)u*՛I@ u*q;Iu*CxBU_>xBS E)~GF@Y<>!Q%-E!%:->I) I58ٮ)) Q5tI ) U5C9)-: -:)-8 E9)9I9 EtIi9 EE9 =:)=N:I=U9QIQ9Y*Gi2GiFiFirFqbFqEyEy);I9 iIh4i0ཉ 2@<:@w:r. U>U>=** V(AYt.9I@t.!W@yt.e$t.o>t.Hq$ y?RNhͿ????%?)u.9I@ u.dDq;Iu.CxBHf>xB EHDHFa=iTIT)+GF@]Yeʾe>aaQm-Eim*om>Iq I}8ٮqq Q}tI q U}C9qu2: u5:)u8 9)I tIi E -:)A:IM^9I9*G2GFFrFbFEE);I9 iIz9ij 2@<:@w:)=I=V !C** (A) IYt*SI@t*^W@yt*CCt*t*H`(c?@u^(ͿFgv? }?g??)u*SI@ u*q;Iu*Cxbw>xbjE)MGF@UY]]>aaQe-Eamkm>Ii Iu8ٮii QutI i U}C9im: mp:)m8 9)I tIi E F:):If9I9*G2GFFrFbFEE);I9 iIY?i/ 2@<:@w: A%J** *(AYt*H@t*W@yt*" t*2W>t*H-Jm? +̿@zz@?w4??{K?)u*H@ u*q;Iu*CxNg>xRsE {PY|PV8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)5SGF@YʭQ<>ʱʱQ-Eʹ乻>I I8ٮ M8 QtI  UC9z%; .';)^8 9)I tIi E : ;)^;IGp9I9*G12G1F1F9rFAbFAEAEI)e;Im9 qqiqIq}{Ei}ʥ 2@<:@w: iU?AY Q** hD(AYt*H@t*W@yt*t*(h>t*H@.2?@-̿`_OA?µ?b?`.?)u*H@ u*6q;Iu*CxBV>xBEGBAAH@)GF@5YE^:E>AIQM-EIM0+U>IY I]8ٮYY QetI Y UeC9Y]S: ]5:)] 8 m9)iIi mtIii uEi my;)m;Imrx9I9*G2GFFrFbFEE);I9 !i!I!%@_G@i-<) )2@U<:@Uw:]wA exA-7ƽ 17W** kE^(A@ Yt.H@t.uW@yt.Pt.Lr>t.H0, ? ̿M`?C?@? ?)u.H@ u.&q;Iu.CxBc>xB EiPIP)=vGF@}Y}W>ʁʁQ-Eʁ͍g>I I8ٮ QtI  UC9鰕Ǵ; ;)y8 9)I tIi E Ր:):I9qIq9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF)rF1bF1E9E9);I9 iIA@i|= 2@<:@w:0M a]** !x(AYt*xH@t*W@yt*k*t*]>t*H-b?бa̿Eo?[M??`??)u*xH@ u*O:q;Iu*CxBh>xBE)%GF@=YE;E>AAQE-EIM;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U߼:)U;8 m9)aIa mtIia mEa e̒:)e:Ieƈ9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.993866 arcdeg .q'U'u*Gq2GqFqFyrFybFyEE)5;I59 11i1I9=<@i==A A2@E<:@Mw:m2D qU>U>Jd**  (AYt*H@t*zW@yt*t*p>t*H0`?)6̿`RA;?2_?g? ?)u*H@ u*Pp;Iu*CxNu>xNEHRa=HPi\I\)=GF@]Y]e;]>aaQe-Eamtsm>Iq Iu8ٮqq Q}tI q U}C9quܹ: u#:)u28 9)I tIi E :)g:I^9I9=O-@Contact HDG: 149.196590 arcdeg .'-'-OU4Initialize Wait Component.*GQ2GQFQFQrFYbFYEaEa);I9 iI@Z7@i+> 2@<:@w:)>I= sj** {׫(A)4t2H}2 ?&u̿`g??g?O3?)u2H@ u2 q;Iu2Cx>j>xBqE)zdGF@=YE{E>AAQM-EIM]+M>IQ I]8ٮQQ Q]tI Q UeC9QU): U:)U&8 m9)aIa mtIia mEa e%:)e:Ie̙9I9*G2GFFrFbFEE);I9 iI)2@i<">! !2@-<:@-w:8; [q** Ȳũ(AYt*H@t*sW@yt*` t*!a>t*H1? Ϥ̿@6n2r?,??:?)u*H@ u*yp;Iu*Cx^b>x^ EilIl)IF@]Ye;e>aaQe-Eim:m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u,8 9)I tIi E :)9:Id9I9*G2GFFrFbFEE);I59 11i1I9=,@i=QF>A A2@E<:@Mw:5S= 9iU@AQw** ߩ(AYt*ʻH@t*hW@yt* 0t*ul>t*H2?@0Ԥ )t̿Z3?`?Ze>x> EG@H@)MjGF@]Ye|e>aaQe-Eamںm>Iq I}8ٮqq Q}tI q U}C9qu: u :)u38 9)I tIi E S:)g:I窱9I9*G2GFFrFbFEE);I9 iI(@i%ȱ\>! !2@-<:@-w:UxA Y-!= 9|}** j(A Yt*H@t* W@yt*1YYt*]c>t*H,? ;̿ c?*?@v/?06?)u*H@ u* p;Iu(x>m>xB'EiLIL)+GF@YʝpȻ>ʡʡQ-Eʡͭ<>I I8ٮ QtI  UC9鰵: #:):8 9)I tIi E :):I9I9*G2GFFrFbFEE)5;IU9 QQiQIQ]%@i]c9m>Y a2@e<:@mw:->> 9** 5D(AYt*6H@t*A|W@yt*k t*Ђm>t*H 0?`@-̿ eWJ? ߣ?l?`U$?)u*6H@ u*Ap;Iu*CxBw>xBjE)~GF@}Y}><>ʁʁQ.Eʁ͍첻>I I8ٮ QtI  UC9鰕͏< <)A8 %9)!I! -tIi! -E! %t:)%:I%X9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIa$@i 2@<:@w:> UR>Ut>** e-(AYt*H@t*W@yt*给t*,i>t*H+@d?` ¦`̿Yj? |??N+?)u*H@ u*p;Iu*CxBn>xBEHBp=HD {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)vGF@YMO;>Q.E 7; >I I8ٮ QtI  UC9: :)J8 %9)!I! mtIi! mE! % <)%e# !** F(A);IYt.DH@t.OW@yt.@t.*g>t.H \,@w?q&B̿]>??@+?/?)u.DH@ u.Fp;Iu.CxB^>xB E){BVhI{@i{BV={@{@{@{@|BA9|Br޷?&+Ob7)GF@Y`?Q.E ޺ ?I  I8ٮ   QtI  U-C9  S= o=) O8 =9)1I1 =tIi1 =E1 5:)50:I5α9iIi9q&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 193.035121 arcdeg .q'5'5*G12G1F1F9rF9bFAEAEA2EizEmAEmL3o?2@ϞL[7Emr޷?&+Ob7EmVhEiEmx6{~K 2@ j"EmcgL98,|?kſEmp@=uDHdg To Contact =141.843549 degreesZEmbAbEmķ:Emlo$?BEm o$?JEmz REml jEmqrEmv2);I9 iIy&@iW_> 2@<:@w:G> )$EDacoustic_contact_range 29.639999 m$MhTrackAcousticContact.heading_to_contact 2.475637 rad$ULDUSBL_Hydroid.xAngle -51.999999 arcdeg ԗ** `(AYt*%I@t*0W@yt*8Mt*o>t*H ( ?`@;ͿII?@?@޵?`?)u*%I@ u*Fp;Iu(xNp>xNEi`I`)-SGF@=YE E>AAQM.EIM;M>IQ I}8ٮQQ Q}tI Q U}C9QU; U;)UGV8 9)I tIi E :)A:Iuձ9I9=OU@Contact HDG: 141.843549 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFybFEE)5;I59 19i9I99EN4iAA A2@M<:@w:dh> iU?AQ** z(AYt*$I@t*/W@yt*t*Y o>t*H(?O`ͿM ?? ?`{!?)u*$I@ u*p;Iu(xBp>x@GB?AH@)MGF@]Ye<e>aaQe.Eamm>Iq I}8ٮqq Q}tI q U}C9quh: ul:)u<]8 9)I tIi E :):Iݱ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: wAbm> f** "(A@ Yt*wI@t*W@yt**t*)k>t*H'?펥`.Ϳ@Q?R?`-?`'?)u*wI@ u*xbnEilIr֓C)SGF@Yʥ>ʡʩQ.Eʩͭs:>I I8ٮ QtI  UC9鰵: ݱ:)Fd8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iI!%i!! !2@-<:@-w:Fa> ** (e(AYt* [I@t*X@yt*,t* ao>t*H`} @)? gYͿ Cn%??$? ?)u* [I@ u*,p;Iu(xRo>xRJE)dGF@YY >  Q .E |<5>I9 IE8ٮ99 QEtI 9 UEC99=: =:)=vk8 M9)III UtIiI uEI M;)M;IM9I9*G2GFFrFbFEE);I9 iINi 2@ <:@=w:_> ߉U>U>** -@Ȫ(AYt*t5I@t*W@yt*5t*Cm>t*H$ ?@'aͿ`>Ja?Թ?`$x?j#?)u*t5I@ u*p;Iu*Cx2{]>x2/EH6R=H4i@IFѓC)rGF@Yʅuʺ>ʉʉQ.Eʉ͕»>I I8ٮ QtI  UC9鰝: l:)r8 9)I tIi E h:)=:I9I9*G2GFFrFbFEE);I9 iIi   2@<:@w: )%I% ߩ!** ⪨(A) IYt.mI@t.X@yt.[.t.k>t.HR R?bhͿG?]˅?Mx6Q E)rƄGF@zYz:~>  Q .E <>I I%8ٮ Q%tI  U%C9: :)x8 -9))I) 5tIi) 5E) -B:)-:I-9AIA9A*GQ2GQFYFYrFabFaEaEa);I9 iIi 2@ <:@ w: !zK** (AYt.{I@t.(X@yt.#"t.GMp>t.H a?`.Ϳd> 9?`LD???)u.{I@ u.p;Iu.CxRmd>xRu Ei`I`)MׄGF@UY]S:e>aaQe.Eam> ;m>Iq Iu8ٮqq Q}tI q U}C9quc: u:)u8 9) 9I tIi E ˚:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;Iu9 qqiyIyy}Rki 2@<:@w: iQYT3** (AYt*aI@t*X@yt*/-t*Fh>t*H@Z@?J@ Ϳ@O1N? ƥ??-?)u*aI@ u*ݡp;Iu(xBRr>xBEGB@AHD) GF@=YEܺE>AIQM.EIMDM>IQ I]8ٮQQ QetI Q UeC9QUU; U;)U8 m9)iIi utIii uEi mF:)m|:Im9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.424346 arcdeg .q'%'%*G!2G%p@F!F!rF)bF)E1E1);I9 iI6%@ip@ 2@<:@w: $URHorizontalControl.headingCmd 2.475637 rad]** C/(A@ Yt*ʹI@t*aX@yt*)t* f>t*H? Xο@I@?e;?`?1?)u*ʹI@ u*p;Iu*CxBZ>xBzE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ilIp)dGF@Y 9 > Q.EXA<>I) I-8ٮ)) Q5tI ) U=C9)-; -;)-䍐8 E9)AIA MtIiA MEA E :)E:IE 9aIa9i=Ou@Contact HDG: 141.843549 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GyFyFyrFbFEE);I9 iI-!@i- >) 12@=<:@=w: E** I(AYt*zI@t*'X@yt*L9t*p>t*H~j?@]VͿT=eM?3??k?)u*zI@ u*p;Iu*CxBi>xBE)!F@]Ye$e>aaQe.Eimm>Iq I}8ٮqq Q}tI q U}C9quS: uW:)ud8 9)I tIi E :) :I"9I9*G2GFFrFbFEE);I9 iI @i 2@<:@w: QU{>o** ac(AYt*I@t*fX@yt*]p4t*_.b>t*H@n`=?G`ο`O?퍆? ?}8?)u*I@ u*p;Iu*CxVmd>xVu EHZp=HXihIh)AF@}YʅFK:>ʁʁQ.Eʉ͍<>I I8ٮ QtI  UC9鰕: :)Z8 9)I tIi E :)V:I*9I9*G2GFFrFbFEE);I9 iIp@i 2@ <:@w:-`> 1** =}(A) IYt*I@t*iX@yt*;'t*ta>t*H@{?jhο P@J???@8?)u*I@ u*q;Iu*CxRo>xRJE)aF@Yʥ :>ʡʡQ.Eʩͭ:>I I8ٮ QtI  UC9鰵S: x:)Q8 9)I tIi E F:):I?39I9*G2GFFrF bFEE!)=;I=9 AAiAIAIMQiII I2@U<:@]w:-.o> 9Ł** (AYt*I@t*X@yt*$t*_n>t*H /?~ ɹοf5? j?`چ?`"?)u*I@ u*q;Iu(xNp>xR%Ei\I\)-GF@5Yʍ9>ʉʉQ.Eʉ͕k;>I I8ٮ QtI  UC9鰝}: :))8 9)I tIi E :)E:I;9I9*G2GFFrF bF E E)%;I%9 ))i)I)15`覽i11 92@=<:@=w:6Ʌ> iQQ** 򰫨(AYt*I@t*uX@yt*4t*^>t*H] ?οT4?}ƃ?`?>?)u*I@ u*{q;Iu*CxBmd>xBu EGBAAHD) GF@=YE:E>AIQM.EIMM>IQ I]8ٮQQ QetI Q UeC9QUC: Uh:)U毐8 m9)iIi mtIii uEi m:)mo:ImD9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AE,'iAA I2@M<:@Uw: )I I** ʫ(A, ,YtrDJ@trOX@ytr;trdi>trH " S|?`yο9k?`b??i+?)urDJ@ urq;Iupxzp>x%EiI!)}dG6Failed to parse:Pathfinder F@YA>Q.E<>I I8ٮ QtI  UC9 =  =)"8 9)I tIi E ̒:):IM9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E9)M;IM9 IIiQIQQU(UiYY Y2@e<:@ew: q** z䫨(AYt* J@t*ʹX@yt*6t*d>t*H@_ ?Ͽ@A2?܆?@a?3?)u* J@ u*҄q;Iu*CxBRr>xBE)xF@=YEH.:E>AIQM.EIM:U>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia uEa eU9;)eT;Ie U9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 194.022971 arcdeg .q'='=*G92G9FAFArFIbFIEIEI);I9 iIGi 2@<:@w: )]V>Y8** b(AYt*DJ@t*X@yt*@ t*qc>t*H"?@pϿ >@f?`W?~'?7?)u*DJ@ u*q;Iu*CxBMl>xBLEH@HBp=iTIV̓C)!-%=-%=F@eYuh;}>yyQ.Eʁͅ<>I I8ٮ QtI  UC9鰍l: |:)Đ8 9)I tIi E h:)Z:I]9I9=OM@Contact HDG: 141.843549 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIyy}Mࣽiy 2@<:@w: ߙ+* a(A)4t*Hc Ģ?*$Ͽ; -?­?å? /?)u*J@ u*}r;Iu*CxBi>xBE)ta 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅw>ʉʉQ.Eʉ͕>I I8ٮ QtI  UC9鰝: :)ː8 9)I tIi E p:)c:I>f9I9*G2GFFrFbFEE);I9 iI&i 2@ <:@w: ! +* ;2(AYt*̃J@t*0Y@yt*Kt*#_>t*H @}?˪`5Ͽ ;C?r?@V?@xVNE {XY|Xb8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iQI]ѓC)GF@YҶ>Q.Es<>I  I8ٮ   QtI  UC9  B; ;) Ґ8 -9)!I! 5tIi! 5E! %;)% ;I%o9III9I*Gi2GiFiFirFybFyEyE);I9 iIYi 2@<:@w: iU@AQ+* L(AYt*rJ@t*Y@yt*`/2t*l>t*H@$@?"槿?Ͽ`&?@E?{W? ]%?)u*rJ@ u*s;Iu*CxBe>xBP EG@HD){Fg'I{Di{F={F7>{D{FPA{D|FןA9|F^+^?׶)MSGiUwAUwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@5Y=u;=>AAQE.EAM%M>II Iu8ٮII Q}tI I U}C9IM; M;)Mِ8 9)I tIi E ::):Iw9I9*G2GFFrFbFEE2EzEןAEG `/@sQZ(E^+^?׶Eg'EE vP2| )@LFEDU@&?.0]E0@= DHdg To Contact =157.625111 degreesZEH@bE:Exo$?BElo$?JE REz jE'rEq)E;IE9 IIiIIIQUriQQ Y2@]<:@]w: ߑ$Dacoustic_contact_range 19.980001 m$hTrackAcousticContact.heading_to_contact 2.751077 rad$LDUSBL_Hydroid.xAngle -37.550000 arcdeg +*  e(A x S>x 5EiIII)GF@Y>Q.E>I I8ٮ QtI  UC9W: 9:)o8 9)I tIi E B:)V:I9I9*G 2G FFrFbF!E!E!)=;I=9 99i9I9AE۠iAA I2@M<:@Uw: a'6+* B(AYt*qJ@t*|NY@yt*z;t*Hd>t*H@ݨ?䦿 п0`X?3o?+L?@4?)u*qJ@ u*&t;Iu(xV'n>xVpE)MGF@YʽQ>Q.E;>I I8ٮ QtI  UC9: :)Q8 9)I tIi E %:):Io9I9*G 2G F F rFbFEE)-;I-9 11i1I19=i99 A2@E<:@Ew: YU>U>&+* (AYt*J@t* cY@yt*/t*Ph>t*Hz?e%п%^B??r?`,?)u*J@ u*gt;Iu*CxR]>xRxEHTHVa=i`Id)5ƄG====a 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʙʙQ.EʡͥM;>I I8ٮ QtI  UC9鰭: 9:)"8 9)I tIi E :)o:Iڐ9IQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFbFEE);I9 iILi 2@<:@w: H,+* M(A);IYtBJ@tB܋Y@ytB @tBwg>tBH 8@ ? 6Mп!,?@P?? .?)uBJ@ uBt;IuBCx^k>xbE)EaaQe.Eam ;m>Ii Iu8ٮii QutI i U}C9imx: mg:)m8 9)I tIi E :):I29I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 194.757599 arcdeg .q'5'5*G2G0@FFrFbFEE);I9 iI@i0@ 2@ <:@-w: A$}RHorizontalControl.headingCmd 2.751077 rad/3+* }^ͬ(AYt:K@t:Y@yt:Ѥt:<4a>t:H a(?Ik oп*]E?? L?_:?)u:K@ u:t;Iu8x^e>xbP EilIl)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ;>ʱʱQ.Eʱͽ>;>I I8ٮ QtI  UC9}: :)8 9)I tIi E :)g:I9I9=O}@Contact HDG: 157.625111 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E)%;I%9 !!i!I)M "@iQQ Q2@]<:@]w: ߑiU?AQZ9+* %=笨(AYt:L>K@t:WY@yt:\5t:ʱe>t:H &^?FR`п  ?@f?@rx?r2?)u:L>K@ u: v;Iu8xNg>xNsEGR@AHP)1i=xA=xAF@]Ye йe>aaQe.Eam<m>Iq I}8ٮq M}8q Q}tI q U}C9qu: u:)u8 9)I tIi E :)o:I<9I9*G2GFFrFbFEE)5;I59 99i9I9Ed&@iEr>A A2@M<:@Mw: ߁@+* wh(A YtVNNK@tVYY@ytVNtV^>tVH 9?$Ϧ߸п$#? wÉ?ˠ?`;>?)uVNNK@ uV,t;IuTxn0a>xnw EiI)F@Yʝ[>ʙʡQ.Eʡͥ;;>I I8ٮ QtI  UC9鰭: M:) 8 9)I tIi E :):IU9I9*G2GFFrFbFEE) ;I 9 iI,@i@K> 2@%<:@%w: y:F+* ;(AYt*tK@t*!Z@yt*It*^>t*H?&3пz ? ??r>?)u*tK@ u*s;Iu*CxN0a>xL)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YA:>!!Q%.E!-f;->I) Iu8ٮ)) Q}tI ) U}C9)-4< -<)-<8 9)I tIi E F:)Z:I[9I9*G2GFFrFbFEE);I9 iI70@i5> 2@<:@w: 9>>L+* 6(AYt*oK@t*Z@yt*C t*Nj>t*H` ? cn`rп* `"D?b? ?@*?)u*oK@ u*s;Iu*CxNo>xNJEHRa=HRp= {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iyIy)5GF@UY]K<e>aiQm.EiD:>I I8ٮ QmtI  UmC9"< W<)8 }9)qIq }tIiq }Eq u:)u:IuŲ9iIi9q*G!2G!F)F)rF1bF1E9E9);I9 iI 3@i%> 2@E<:@Mw:-> 9S+* ^O(A)4t.H?;ѿ`8?x?\?J?)u.5K@ u.R t;Iu.CxN5g>xN*E)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%m%>))Q-.E)UG<U>IY I]8ٮYY QetI Y UeC9Y]: ]W:)]8 m9)iIi tIii Ei mg;)m;ImRͲ9I9*G2GFFrFbFEE);I9 !!i!I!%I3@i)) I2@U<:@Uw:E3> QY+* i(AYt* L@t*Z@yt*Mt*l>t*H0E(?xqѿ@u@ ?J?`W?@/%?)u* L@ u*xr;Iu(xRk>xVEidIf̓C)5SGF@}Y}ۻ>ʁʁQ.Eʁ͍<>I I8ٮ Q tI  U C9鰕Z< <)%8 9)I tIi E Ĕ:)0:Iղ9)I)9)OMDone Waiting.'MOM8Uninitialize Wait Component.*GQ2GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFYbFaEaEa)};I}9 yyiyIyv3@Ӟi 2@<:@w:mz^> yit`+*  (AYt*!L@t*Z@yt*:t*.b>t*H>?l3ѿ`{GW?zW??8?)u*!L@ u*ip;Iu*Cxw>xjEG?AH)dGF@UYU6$;]>YYQ].EYe$;e>Ii I8ٮii QtI i UC9im< m÷:)m-8 9)I tIi E h:)Ԙ:I?߲9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% NmInitialize.q'mN@Vehicle HDG: 195.884348 arcdeg .q''*G2GFFrFbFEE);I9 iI€1@i]i<>Y a2@e<:@mw:E8)> g+* (A Yt.sL@t. [@yt.`/ t.Y>t.Hz ? ѿ7.B?ݥ?@? F?)u.sL@ u.tq;Iu.CxNsj>xR(Ei\I\)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅC<?ʉʉQ.Eʉ͕\p<?I I8ٮ QtI  UC9鰽: :)q38 9)I tIi E :):Ii9I9=O@Contact HDG: 157.625111 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI0@idH> 2@<:@w:h%> ߩ3m+* 5_(AYt2ڱL@t2^[@yt2Rt2Du>t2Hk?2`ҿ?k]?`k??)u2ڱL@ u26Op;Iu0xNn>xNE)%GF@=YEY0E>AAQE.EAM<M>IQ I}8ٮQQ Q}tI Q U}C9QUù; U;)U:8 9)I tIi E :)o:I9I9*G2GFFrFbFEE)5;I=9 99i9I9AEeJiAA I2@M<:@Mw: =%2> >>t+* !;ѭ(AYt*aL@t*l][@yt*y4t*uk>t*H̲`Ż?@Ӧ ҿ L`?`? ,?'?)u*aL@ u*@o;Iu(x c>x EHHa=i9I9)dGF@Y;>!!Q%.E!%#Z->I) IU8ٮ)) Q]tI ) U]C9)-ӹ; ))-~A8 e9)aIa etIia mEa e:)e:Ie9I9*G2GFFrFbFEE);I9 iIoi 2@-<:@5w:-H> 1Ez+* U뭨(A)IYt.L@t.ʞ[@yt.F&t.c\>t.H?@rLҿc4?d?U?B?)u.L@ u.o;Iu.Cxj"h>xjE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@EYEȢ;E>IIQM.EIu<u>Iy I8ٮyy QtI y UC9y}%: }:)}H8 9) 9I tIi E ;);Iz9I9*G2GFFrFbF E E))E;IE9 AAiAIAimiiq q2@}<:@}w: )I !,+* (AYt.KgM@t.V\@yt.St.o>t.H@U@i?JҿNY?(z?F?!?)u.KgM@ u.3n;Iu.Cx^'n>x^pEilInѓC)SGF@Yʽ_'>Q.Eߙ<>I I8ٮ QtI  UC9l: p:)O8 9)I tIi E p:):I9I9*G 2G FFrFbFEE)5;I59 11i1I99=ÙiAA A2@M<:@Mw: YiV+* (AYtEHWM@tES\@ytE'>tEҲ{>tEH̚^J? Xٮҿ5?ć?$? = ?)uEHWM@ uECn;IuECxp>x%EGAAH)dGiwAwAa 1a 1 a 5a 5 a 9a 9 a -a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]Y]=;e>aaQe/Eam >I I8ٮ QtI  UC9>: c:)(W8 9)I -tIi -E ;)Ƕ;I99I999*Gq2GqFqFqrFybFyEyE);I9 iI꛽i 2@<:@w: ߡk+* v8(A Yt.u{M@t.(\@yt.7t.mg>t.Hகzv?DQ`7ҿ@? F?? W.?)u.u{M@ u.5n;Iu.CxFV>xFE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixI|)uGF@]Yeȱ;e>aaQe/Ea;>I I8ٮ QtI  UC9F: į:)]8 -9)I -tIi -E $<)#t*H`(B?̢`?ӿ` Q?`eˆ? 4?@6?)u*fM@ u*m;Iu(xb_>xb E)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ䠻>ʹʹQ/E?<?I I8ٮ QtI  UC9: :)c8 9)I tIi E :):I "9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 197.504824 arcdeg .q''*G2GFFrFbFEE);I 9  i I yٚi 2@<:@%w: q>>+* Yl(AYt*M@t*\@yt*Ft*]>t*H@P?D49ӿ ?`܈????)u*M@ u*:n;Iu*Cxbn>xbEH`H`ipIp)EGF@}Yʅ&>ʁʁQ/Eʁ͍>I I8ٮ QtI  UC9鰕: B:)j8 9)I tIi E }:)Ԙ:Ig*9I9=OM@Contact HDG: 157.625111 arcdeg .'M'MOU4Initialize Wait Component.*GQ2GQFQFYrFYbFYEaEa);I9 iIEi!! !2@-<:@-w: 9z+* 3(A);IYt*M@t*J\@yt*5*t*5k>t*Hq? _EҿJ6?@\?o!?(?)u*M@ u*:#n;Iu*Cx}]>xE)Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a  a 5@a  a 9@a  a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʭk;>ʱʱQ/Eʱͽ >I I8ٮ QtI  UC9: :)r8 9)I tIi E p:)A:Ik49I9*G2GFFrFbF E E )%;I%9 !!i!I!)-i)) 12@5<:@=w: I#+* (AYt*,M@t*7p\@yt*N1@t*Er>t*H ?`ӿL??5? ?)u*,M@ u*n;Iu*CxB?s>xBEiPIP)~+GF@=Y=炻E ?AAQE/EAM;M ?IQ I]8ٮQQ Q]tI Q U]C9QU: UB:)U*x8 e9)aIa mtIia mEa e%:)e9:IeA;9yIy9y*G2GFFrFbFEE);I9 iI0i 2@<:@w: i@Ahέ+* `蹮(AYt*M@t*j\@yt*DHt*֛s>t*H@?"`ӿ???@)??)u*M@ u*n;Iu*Cxnr>xrIEGr@AHp)}GF@Yʍo>ʑʑQ/Eʑ͝I>I I8ٮ QtI  UC9鰥}: :):8 9)I tIi E ٮ:):IC9I9*G2GFFrFbFEE);I9 iI  {i   2@<:@w: )+* Ӯ(A Yt*zM@t*'\@yt*7t*Y>t*HF?cegҿ V`6?@??:G?)u*zM@ u*an;Iu(x~Ze>x~ EiI)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y#;>Q/E !>I  I 8ٮ   QtI  UC9  : B:) Y8 9)I %tIi %E :):IL91I191*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiquiqy y2@}<:@w: ߑ+* (AYt*M@t*n\@yt**Dt*i>t*H??Ԭ+ӿ`??5?I?+?)u*M@ u*4n;Iu*Cx]U_>x]S E)GF@5Y==>AAQE/EAM+<M>II IU8ٮII Q]tI I U]C9IM: M#:)Me8 e9)aIa etIia mEa eՐ:)eȗ:IewU9I9*G2GFFrFbFEE);I9 IiiIiqudiqq y2@}<:@w: ߑR>>*+* (AYt2M@t24\@yt2Et2>t2H j?``ҿ `??@p?}?)u2M@ u2o;Iu0x=p>xE%EHIHQiI)UvGU%=Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵy>ʹʹQ/Eʹ >I I8ٮ QtI  UC9ٮ: J:)8 9)I tIi E !:):IR^9I9*G2GF F rFbFEE)-;I-9 ))i)I)15Ֆi19 92@=<:@Ew: Q+* uV!(A) IYt*mM@t*\@yt*qdBt*3p>t*H +j? xUҿ0?hL?[? ?)u*mM@ u*o;Iu*CxFf>xF E)GF@Y%W:%>))Q-/E)55>I1 I=8ٮ11 QEtI 1 UEC915: 5:)58 M9)III MtIiI UEI M-:)M:IMe9aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIVi 2@<:@w: +* r1;(AYt*M@t*P\@yt*:t*NX>t*H`ޯ?kjҿ?A[??H?)u*M@ u*۩n;Iu(xVi>xVE {TY|XZ8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI̓C)GF@Y:> Q /E {;>I I%8ٮ Q-tI  U-C9a: U:)8 9)I tIi E :) :Izo9)I)9)&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 197.236056 arcdeg .q'u'u*Gy2GyFyFrFbFEE);I9 iITi!! )2@5<:@5w: qi?A+*  U(AYt*tM@t*!\@yt*UHt*?p>t*Hjr?ҿE?z ???)u*tM@ u*Tn;Iu*CxNi>xRNEGRAAHP)5SGi9=xAa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ >ʡʡQ/Eʡͭ3>I I8ٮ QtI  UC9鰭x: [:)8 9)I tIi E :),:Iw9I9=Om@Contact HDG: 157.625111 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFrFbFEE)-;IM9 QQiQIQY] iYY Y2@e<:@ew: y:1+* n(A Yt*tM@t*!\@yt*(,t*3b>t*H `X?qҿ4?脅? ? _?)u*tM@ u*n;Iu*CxN'n>xNpEi\I^ѓC)GF@]Y] ;]>aaQe/EamUm>Iq Iu8ٮqq Q}tI q U}C9qu: u:)uc8 9)I tIi E  :) :In9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ߙ+* Cˈ(AYt:ZM@t:#\@yt:y;t:>um>t:HfY?䬿@7ҿ R?`~?=j?3$?)u:ZM@ u:kn;Iu:CxV\>xVE)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%y%>!!Q%/E)-x->I1 I=8ٮ11 Q=tI 1 U=C915S: 5:)58 M9)AIA MtIiA MEA Eɍ<)EO@+* (AYt*M@t* ;\@yt*(Ot*5ac>t*H?=ҿamf??/? ;6?)u*M@ u*}n;Iu*CxJt>xJlEHLHNp=iXIX)G4=%=F@]YeIe>aaQm/Eim4 <m>Iq I}8ٮqq Q}tI q UC9qu>: uB:)u,8 9)I tIi E :)9:Is9I9*G2GFFrFbFEE);I9 iIzi 2@<:@w: k+* py(A) IYt*fM@t*\@yt*:O+t*p>t*H^?Lҿ?i?g?@)?)u*fM@ u*tn;Iu*CxF P>xFD) GF@Y%ɴ;%>!!Q-/E)-ǻ->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5Ñ8 M9)AIA MtIiA MEA E:)E :IE˘9YIY9a*Gq2GqFqFqrFybFyEE);I9 iI<뒽i 2@<:@w: R+* XT֯(AYt*rM@t**\@yt*M1t*{>t*H@<`?@k`9ҿਥ@+? )?j%?H ?)u*rM@ u* o;Iu*Cxb`k>xbEipIp)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥc>ʩʩQ/Eʩ͵:>I I8ٮ QtI  UC9鰽: :)ˑ8 9)I tIi E ɏ:):I9I9*G2GFFrFbFEE);I9 iI!%}Si!! )2@-<:@-w: Ai@A|+* 0.(AYt*M@t*P\@yt*o%It*v>t*H`? dҿR?$?P?f?)u*M@ u*Po;Iu(xR]>xRxEGPHP)USGiUxAQF@Yʕ*m>ʙʙQ/Eʡͥ;>I I8ٮ QtI  UC9鰭: :)ё8 9)I tIi E [:):I"9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9 iI{i"R> !2@%<:@%w: 9d,*  (A@ Yt.RoM@t.]\@yt.b{/t.7/g>t.H\ sp?ҿM?P?˦? /?)u.RoM@ u.Kn;Iu,xF\>xFUEiTIT)dGF@Yʍ~;>ʑʑQ/Eʑ͝,>I I8ٮ QtI  UC9鰥O: :)ؑ8 9)I tIi E :)Z:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 197.053430 arcdeg .q'U'U*GY2GYFYFYrFabFaEaEi)};I}9 yyiI*i 2@<:@w: ߩQ,*  #(AYt*zM@t*4\@yt*N7t*g>t*Hœ@?Sk ҿ@?@?=? /?)u*zM@ u*/n;Iu*CxFQ>xFE)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYmm>qqQu/Eq_h;>I I8ٮ QtI  U C9: :)ߑ8 59) I  5tIi  =E  l;) B;I a9AII9I=O@Contact HDG: 157.625111 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E E))E;IE9 AAiAIAim{iii q2@u<:@}w: ߩV>l>и,* =(AYt*M@t*u\@yt*ĉDt*|>t*H@ʳ?魯ӿ `O??J??)u*M@ u*Xo;Iu*CxFf>xJ EHHHH {LY|LR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI̓C)SG%=F@]Yee>iiQm/Ei}<}>I I8ٮ QtI  UC9鰅#; %;)!8 9)I tIi E :)t*Hёt?ҿU?@???)u*{M@ u*o;Iu(x6:m>x6E){6KI{4i{6~={6>{4{6@{4|6fZB9|6L|e?zݿ)GF@%Y-;->))Q5/E15 5>I9 IE8ٮ99 QEtI 9 UMC99=1: =:)=P8 U9)III UtIiI UEI Mɏ:)M\:IM˳9iIi9i*Gy2GFFrFbFEE2EzEfZBEEx9H@JDoP+9EL|e?zݿEKEEqrhJwbv!@dbEaￔz E?u3iE}y>@=DHdg To Contact =170.521697 degreesZEAbE.V:Eo$?BExo$?JE RE jErE');I9 iIY|i 2@<:@w:}P> $Dacoustic_contact_range 54.599998 m$hTrackAcousticContact.heading_to_contact 2.976165 rad$LDUSBL_Hydroid.xAngle -27.449999 arcdegj,* Wxq(AYt*M@t*e\@yt*5t*qc>t*H@M?E ӿ@U?`E?`2?C6?)u*M@ u*So;Iu*CxFp>xFEiXIX)Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYuEJ}>ʁʁQ/Eʁ͍y;>I I8ٮ QtI  UC9鰍 : $:)b8 9)I tIi E h:)9:IԳ9I9*G2GFFrFbFEE);I9 iI.玽i 2@<:@w:R> i",* PR(AYt*M@t*%\@yt*WQt*\f>t*H@E?@YLӿ?:?@?`0?)u*M@ u*+o;Iu*CxFo>xJEGHHH)GiwAwAF@%Y-ڎ->)1Q5/E150<=>I9 IE8ٮ99 QEtI 9 UMC99=: =_:)=8 U9)III UtIiI UEI Mа:)Mk:IMܳ9iIi9i*Gy2GyFyFrFbFEE);I9 iI1Wi 2@<:@w: )I I(,* b-(A Yt.xM@t.\@yt./t.>t.H@`?)ӿ&?@;? ?4?)u.xM@ u.o;Iu,x6j>x6qEiDIFѓC)zGa 15a 15 a 55a 55 a 95a 95 a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYU;U>YYQ]/EYeƲe>Ii Iu8ٮi Mu8i QutI i UuC9imȲ: m(:)m8 9)yIy tIiy Ey }:)}:I}9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: D/,* (AYt*N@t*\@yt* t*4>t*H`Lr?Q@_ӿ@~g ???`/?)u*N@ u*Dp;Iu(xZp>xZE)-AAQE/EAM <M>IQ IU8ٮQQ Q]tI Q U]C9QUB: U:)U8 e9)aIa mtIia mEa e:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iI|/i 2@<:@w: R>>'5,* ذ(AYt**$N@t*5\@yt*Ct*T/m>t*HC|+? @qӿ @r?@b?a?$?)u**$N@ u*Up;Iu*CxFm>xF'EHJp=HHiXIZ̓C)USG]=Ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yϻ>Q/E.;>I I8ٮ QtI  UC9 ; e ;),8  9)I  tIi  E [:)I9I!9!O5Done Waiting.'5O58Uninitialize Wait Component.*G12G1M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEAEA)];I]9 YYiYIYaeiaa i2@m<:@uw: ߁f<,* n(A) IYt*YN@t*]@yt*Ut*b>t*HtRV?xH@أӿ sG;?C??7?)u*YN@ u* *p;Iu(xFe>xFP E) GF@Yʅ0<>ʉʉQ/Eʉ͕<>I I8ٮ QtI  UC9鰝: _:)8 9)I tIi E O:)ȗ:I29I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 197.872588 arcdeg .q']']*GY2Ge}y>@FaFarFibFiEiEi);I9 iIx1@i}y>@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.976165 radrC,* J (AYt*zvN@t*#]@yt*X!t*?>t*H@ocH? <ӿZw?3?`ݱ?z?)u*zvN@ u* Fp;Iu*CxFm>xF'EiTIT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm<m>qqQu/Eq}$;}>I I8ٮ QtI  UC9鰅: >:)8 9) 9I tIi E <)w1 92@=<:@Ew: Qi?A*I,* s&(AYt*7N@t*BD]@yt*t*>t*Hj@V?f ӿ XY`?螃??B?)u*7N@ u*ռp;Iu*CxF`k>xFEGJ@AHH) iF@=YE::E>AIQM/EIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U$8 m9)aIa mtIia mEa e:)eԘ:Ie9yI9*G2GFFrFbFEE);I9 iI[8@i| > 2@<:@w: A$P,* HP@(A@ Yt.N@t.}]@yt.x Gt.ww>t.Ha߬?@e1Կw ?F?'?@d?)u.N@ u.p;Iu,xF\>xFUE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIx)}SGF@YȻ>Q/E<>I I8ٮ QtI  UC9; ; ;)+8 9)I tIi E :):I9I9!*G2GFFrFbFE)E1)E;IE9 AAiIIIU>@iU&=Q Q2@]<:@]w: ߙ=V,* ,Z(AYt*O@t*]@yt*?t*a>t*H@Y@|?j筿@DԿ—@?@8?k?d9?)u*O@ u* `p;Iu(xFl>xFE){J"WI{Hi{J={J7>{H{JPA{H|JA9|J,Y?< ,)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ:>ʑʑQ/Eʑ͝;>I I8ٮ QtI  UC9鰥}: >:)y28 9)I tIi E \:):IC!9I9*G2GFFrFbFEE2EzEAET~2@k{4E,Y?< ,E"WEEw6 7L:y*@㦥/Es㙬2U?ÿE(@=DHdg To Contact =151.092213 degreesZESAbEȿ:Eio$?BEo$?JE~ RE jE}rE);I9 iI%A@i%ʇ=! )2@-<:@5w:M׿Q> Q$mDacoustic_contact_range 27.720001 m$uhTrackAcousticContact.heading_to_contact 2.637057 rad$}LDUSBL_Hydroid.xAngle -48.149999 arcdege>x>g\,* :t(AYt*`SO@t*k^@yt*;t*w>t*HL "?Կ@#du?@Qz?R? ?)u*`SO@ u*Yrp;Iu*CxFi>xFEHJa=HHiXIX)SG%==F@%Y-:->))Q5/E15M<5>I9 IE8ٮ99 QEtI 9 UMC99=S: =:)=&98 U9)III UtIiI UEI Mh:)M:IM)9aIi9i*Gy2GyFyFrFbFEE);I9 iI D@i= 2@<:@w:D> ߙAOc,* ፱(A)4t*H@Q@?@XvԿ 0@ye?刄?`b??)u*7O@ u*$r;Iu*CxZ'n>x^pE)=dGa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ`;>ʡʡQ/Eʡͭ+>I I8ٮ QtI  UC9鰵h: ):)K@8 9)I tIi E :):IT29I9*G2GFFrFbFEE);I9 iI%"F@i!! !2@-<:@-w:=xA =wA> ryi,* (AYt.iO@t.t7^@yt.;t. J>t.HDF?6;,ԿWC+?|u? "?@?)u.iO@ u.s;Iu.CxVmd>xVu Ei`Id)QF@}Yʅi>ʁʁQ/Eʉ͍^P<>I I8ٮ QtI  UC9鰕; ܵ;)G8 9)I tIi E Ր:)c:I:9I9O Done Waiting.' O 8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))=;I=9 AAiAIAM2F@MCiII I2@U<:@]w:5Dc= Aiap,* (AYt.~O@t.z^@yt.'5t.QUi>t.H9ࡠ?`տj`?@? ?+?)u.~O@ u.q;Iu.Cxmo>xmEGqHq)AF@YQ:>Q/E<>I I8ٮ QtI  U C9:: :)N8 59))I) =tIi) =E) -;)-%;I-UD9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'-Nm@Vehicle HDG: 199.173248 arcdeg .q'm'm*Gi2Gm(@FqFqrFybFyEyEy);I9 iID@i=(@ 2@<:@w:)=I=M== Y$}RHorizontalControl.headingCmd 2.637057 radv,* 6u۱(A Yt.O@t.^@yt.tet.r>t.H4E?ñ8տW |????)u.O@ u.Ep;Iu.Cx^r>x^IEilIl)ya 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʅ;>ʉʉQ/Eʉ͕;>I I8ٮ QtI  UC9鰝: :)}U8 9)I tIi E ;);I~L9I9=O@Contact HDG: 151.092213 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  A@i#= 2@<:@w:/= )|,* DP(AYt*2P@t* ^@yt*)t*>t*H@\(?@Գfdտ=?#?`?4?)u*2P@ u*q;Iu*CxN5g>xR*E)-GF@}Y}>ʁʁQ/Eʁ͍YI<>I I8ٮ QtI  UC9鰕$; õ;)[8 9)I tIi E }:)o:I`T9qIy9y*G2GFFrFbFEE);I-9 )1i1I15=@i=J>9 92@E<:@Ew:M= Y>>ߝ,* c+(AYt.&WP@t.1_@yt. t.ft>t.HW"J?B㴿}տ` j?`a?]7?@?)u.&WP@ u.eq;Iu.Cx^>x^EHbR=H`irf=IrѓC)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y:>Q0E&;>I! I-8ٮ!! Q-tI ! U-C9!%h: %:)%c8 9)I tIi E :):I]9I9*Gy2GyFFrFbFEE);I9 iI-#7@i-?>) )2@5<:@5w:EwA ExA]8= aȉ,* )(A) I;Yt*P@t* ?_@yt*t*y>t*Hp;?ײտ.1q?@т?? ?)u*P@ u*9q;Iu*CxN'n>xRpE)GF@=YEz:E>AAQM0EIM<M>IQ I]8ٮQQ Q]tI Q UeC9QUk: UM:)Uti8 m9)aIa mtIia mEa e:)e:Ie&e9I9*G2GFFrFbFEE);I9 iI=W3@i%!^>! !2@-<:@-w:5!> 9,* 3B(AYt*P@t*_@yt*+q6t*i>t*HW x^E {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 im=Ii) GF@5Y=E>AIQM0EIUd<U>Ia Im8ٮaa QmtI a UC9ae1; e;)ep8 9)I tIi  E :)\:I~n9I9*G2GF!F)rFbFEE);I9 iYIYe-.@imaz>i i2@u<:@uw:iUi7> aږ,* \(AYt2LQ@t2_@yt2SDt2 >t2H?q]lֿR-??`@?J?)u2LQ@ u2p;Iu2CxFp>xFEGJAAHH)%SGi%xA)a 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥ>ʩʩQ0Eʩ͵<>I I8ٮ QtI  UC9: 5:)w8 9)I tIi  E };);Iv9!I!9!*GQ2GQFYFYrFabFaEaEa);I9 iIa+@i > 2@<:@w:n?>  ,* v(A Yt.O@Q@t.Z_@yt.t.ؑ>t.Hgա?l@aֿ@*3 ?`? ??)u.O@Q@ u.Z'q;Iu.CxnDy>xnEEiI)eGF@}Yʅ;>ʁʁQ0Eʁ͍>I I8ٮ QtI  UC9鰕u: :)F~8 9)I tIi  E Ր:):I~9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYeBC(@iaa a2@m<:@mw:mL> y ,* Cs(AYt*NQ@t*Y<`@yt*t*ԁ>t*H?պ|ֿ }`Yi?+ف? ??)u*NQ@ u*p;Iu*Cx%,t>x-#E)GF@YgH:>Q0E;<5>IA Iu8ٮAA Q}tI A UC9AEj< E<)E8 9)I tIi  E _;);I9I9&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'5N@Vehicle HDG: 200.746267 arcdeg .q''*G2GFFrFbFEE)m;Im9 iiiiIiuj&@iqq y2@<:@w: wA> $,* HN(AYt*Q@t*`@yt*4-Rt*xh>t*HVI?ֿ?@wE? ?},?)u*Q@ u*p;Iu*Cxne>xnP EHrp=Hra=iI)SG=%=a 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1@a  a 5@a  a 9@a  a -5@a 5 ɄiMb@Mb@Mb@IIiɅ )F@MYM!M>qqQu0Eq}:<}>I I8ٮ QtI  UC9鰅F: į:)8 9)I tIi  E :):I9I9=O]@Contact HDG: 151.092213 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFabFiEiE);I9 iI&&@ᝋi 2@ <:@ w:> ,* 9)IJ(A);IYt*#R@t*`@yt*#,t*M>t*H@?M 5׿@#?_? Z??)u*#R@ u*p;Iu*Cx c>x E)GF@Yo;>Q0Ee)<>I I8ٮ QtI  UC9; ;)8 9)I %tIi % E }:)Ԙ:Id9QIQ9Q*Ga2GaFiFirFbFEE);I9 iIA'@i   2@<:@w: %)%I% ߙ"(,* ޲(AYt:BR@t:`@yt:it:ϒ>t:H C`?`IR׿ _?`͂?@?4?)u:BR@ u:<1q;Iu:CxR5g>xR*Eivf=It)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YEW;>Q0E;>I I 8ٮ QtI  UC9; ;)8 9)I %tIi % E :):I塴9QIQ9Q*Ga2GaFaFirFbFEE);I9 iI(@i 2@<:@w: BR,* (AYt*oR@t*a@yt*b%t*0>t*H'?D|׿ Y`K?E?`? (?)u*oR@ u*˽p;Iu*Cxnu>xnEGpHp)]+GiewAaF@}Yʅ:&>ʁʁQ0Eʁ͍;>I I8ٮ QtI  UC9鰕: :)8 9)I tIi  E [:),:Ig9I9*G2GFFrFbFEE)5;I9 iIi 2@<:@w: 9,* s(A@ Yt.R@t.ta@yt.t$t.%s>t.H`G?7׿@i??h? ?)u.R@ u.fp;Iu.Cxn5g>xn*Ei=I)eGF@Yʝ9>ʡʡQ0EʡͭY<>I I8ٮ QtI  UC9鰵2: W:)8 9)I tIi  E F:)$:I9I9*G2GFFrFbFEE);I9 iIi! !2@-<:@-w: 9c,* +(AYt* S@t*a@yt**t*Z>t*H bo?掠y ؿĮ`#?@Y?y?@?)u* S@ u*hp;Iu(x=b>x=Q EiAI)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a % a 5%@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@UY]Sm]>aaQe0EamC<m>Ii I8ٮii QtI i UC9im; mش;)m8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I 9  i I i 2@<:@%w: 1V>K,* nE(AYt*S@t*!a@yt*t*9>t*H SQ?⭸ؿ`od?/?y?F?)u*S@ u*p;Iu*Cxjk>xjEHj=Hl {lY|lr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAIM̓C)dGF@Y 6;>!!Q-0E)=:;=>II Ie8ٮII QmtI I UuC9IMy; M;)MԵ8 9)I tIi  E z;);Iô9I9ODone Waiting.'%O%8Uninitialize Wait Component.*G)2G)M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9FArFIbFIEQEQ)e;Ie9 iiiiIiqqiqq q2@}<:@}w: )u,* 4J_(A)4t*Hݛ|? DؿAs@i? I?*??)u*GS@ u*p;Iu*CxF,t>xF#E)Ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y:>Q0E$;>I I8ٮ QtI  UC9: 5:)y8 9)I tIi  E ͭ:):I˴9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.284330 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: 3,* &y(AYt*%S@t*0Eb@yt*K2t*>t*Ha@? kB`|ؿd`? 7&??@?)u*%S@ u*1p;Iu*CxR:m>xVEidIfѓC)-GF@Yʥ[>ʩʩQ0Eʩ͵J<>I I8ٮ QtI  UC9鰽: ):)KÒ8 9)I tIi  E :):IԴ9I9=Ou@Contact HDG: 151.092213 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: i,* m(AYt*1S@t*t*H~~`v8? cѵ@ؿ@?@4?K?c?)u*1S@ u*-ap;Iu(xRi>xRNEGPHRAA)%Ga 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQ0Eʉ͕1<>I I8ٮ QtI  UC9鰝: :)ʒ8 9)I tIi  E :)V:I|ܴ9!I!9!*GQ2GQFYFYrFYbFaEaEa);I9 iIi 2@<:@w: ޱ,* s۬(A@ Yt.WS@t.bb@yt.9t.>t.H ?E縿ؿ@N@?0?@ߺ?Ӿ?)u.WS@ u.'ep;Iu.CxRp>xR%Ei\I\)SGF@-Y5_:5>11Q50E1=Ÿ=>IA IM8ٮAA QMtI A UMC9AE: E:)EВ8 ]9)QIQ ]tIiQ ] EQ U_:)U:IU9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: ,* tƳ(AYt.T@t.ϳb@yt.黙t.\>t.H`w? ؿ 2?3}?`g??)u.T@ u.Fp;Iu.CxRs>xRE)=GF@eYu&<}>ʁʉQ0Eʉ͝;>I I8ٮ QtI  UC9鰽l; ;)ג8 9)I tIi   E H;);I9)I199*Ga2GaFaFirFibFiEE);I9  i I )1i11 12@=<:@=w: Q>>~,* %೨(AYt*#XT@t*.c@yt*t*^>t*H g? '<i@ٿbW?W? ??)u*#XT@ u*Np;Iu*CxFjw>xJ"EHJa=HHiXIZ̓C) +G56only read 3 of 4 data items=hFailed to parse: :RA, 0.00, 0.00, 0.00, 0.00 F@}YʅX >ʁʁQ0Eʉ͍J<>I I8ٮ QtI  UC9鰕S: :)ޒ8 9)I tIi  E t:):I9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: Ay,* s(A)I4t*Hf*?`𙶿j@ٿ Vq?@ ???)u*\XT@ u*p;Iu*CxNb>xN E)SGF@%Y-->)1Q50E1=8=>IA IE8ٮAA QMtI A UMC9AEի: ES:)E8 U9)III ]tIiI ] EI M:)Mk:IMJ9iIi9i*Gy2GyFyFrFbFEE);I9 iIi 2@<:@w: -*  H(AYt*qT@t*|]c@yt*At*HSU`?@?:ٿ`_*g????)u*qT@ u*.p;Iu(xRn>xREi`IbѓC)5dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʭE>ʱʱQ0EʱͽwQ<>I I8ٮ QtI  UC9Y; ;)8 9) 9I tIi  E R:):I?9 I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF1E1E1)M;IM9 IIiIIIQQiYY Y2@e<:@ew: qi -* #.(AYt*xT@t*Tc@yt*xt*ݜ>t*H`iW` ? c Bٿ``?@~??@ؑ?)u*xT@ u*3p;Iu*CxRk>xREGPHV@A)MGiQQF@Yʕ.)<>ʙʙQ0Eʡ͵F>I I8ٮ QtI  UC9I: :)8 9)I tIi  E :)$:I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 203.516510 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: -* G(A YtvT@tv`c@ytv9ﻙtv>tvH@U ?`ғٿ``7`8 ?!}?@L??)uvT@ uvp;IuvCx%k>x! {Y|8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I5̓C)ƄGa 1Ea 1E a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ8>ʙʙQ0Eʙͥ:>I I8ٮ QtI  UC9鰭: į:)8 9)I tIi  E :)w:I.9I9=Om@Contact HDG: 151.092213 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEE);I9 iIi 2@<:@w: 1-* t*H z?`9I? ٿG? `ԅ?x ? ?)u*YU@ u*6Bp;Iu*CxF|>xFCE){J}I{Hi{J={J>{H{JA{H|J(B9|JYiA?Z-)-GF@eY}6?ʁʉQ0Eʉ͍<?I I8ٮ M8 QtI  UC9鰕ӻ: ÷:)C8 -9)!I! -tIi! - E! %1:)%:I% 9YIY9Y*Gi2GiFFrFbFEE2EzE(BE$v(7@hAEYiA?Z-E}EEAs5@6!EB[?i ʿEEz%@=DHdg To Contact =148.143265 degreesZEAbE :ELo$?BEio$?JEw RE~ jE rE});I9 i Ii 2@%<:@%w: Q$Dacoustic_contact_range 42.240002 m$hTrackAcousticContact.heading_to_contact 2.585588 rad$LDUSBL_Hydroid.xAngle -56.750000 arcdeg>>$<-* {(AYt*U@t*c@yt*\,t*)[>t*HE?j`ٿ`?? /??)u*U@ u*o;Iu(xJp>xJEHLHNp=i\I^ѓC)dG%=F@eYe49m>iiQm0Eiuu>Iy I8ٮyy QtI y UC9y}: }:)}8 9)I tIi  E :)N:I)9I9*G2GFFrFbFEE)];Iu9 qqiqIyyyi 2@<:@w: ߙ$%-* ɏ(A);I;Yt.Z*U@t.ec@yt.*t. >t.H<F?`P ڿnJ???@?$?)u.Z*U@ u.*p;Iu,xFs>xFE)Ga 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝa;>ʙʡQ0Eʡͥ;>I I8ٮ QtI  UC9鰭: :)8 9)I tIi  E :)$:I19I9*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: ߱N+-* j(AYt*+U@t*c@yt*itt*e>t*H<?Sڿ +?|? B??)u*+U@ u*R.p;Iu(xFc>xF EiTIV̓C)%GF@5Y=8=>9AQE0EAEs9M>II IU8ٮII QUtI I UUC9IM: M:)M8 e9)YIY etIiY m EY ]:)]:I]99qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: ik52-* Cɴ(Axbi>xbEGhHl)dGiyAxAF@Yu>ʁʁQ0Eʉee>Iq I}8ٮqq QtI q UC9qu7z; u;)u8 9)I tIi  E l;)p;IC9I9*G2GFFrFbFAEAEA)];I]9 YYiYIYaiiii i2@u<:@}w: ߑ(`8-* >!㴨(A@ Yt:U@t:,d@yt:[1t:>t:H]+B?!㹿Nڿ? Y+?`8? V?)u:U@ u:Ro;Iu:CxRg>xRsEiQIQ)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>Q0EZ<>I1 I58ٮ11 Q=tI 1 U=C915: 5B:)5$8 M9)AIA MtIiA M EA E\ =)E7=IE;L9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I-9 ))i)I)11i99 92@e<:@mw: ߁>-* (AYt*U@t*&2d@yt*|t*/:>t*H@h*@u^? ?@SڿH? s?c? 0?)u*U@ u*o;Iu*Cxbv>xbE)UGF@}Yʅk;>ʉʉQ0Eʉ͕i:>I I8ٮ QtI  UC9鰝>: W:)*8 9)I tIi  E \<)]{>JrE-* (AYt*wU@t* $d@yt*Et*M>t*H`]-yE?@༿ Fڿ;?xREHRp=HPi`I`)SG%4=!a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʕ;>ʑʑQ0Eʙͥ >I I8ٮ QtI  UC9鰭}:  :)18 9)I tIi  E :):I2\9I9=O@Contact HDG: 148.143265 arcdeg .' 'O4Initialize Wait Component.*G2GFFrFbFE!E!)U;IU9 YYiYIY]Ez%@iaa a2@m<:@mw: ߁KK-* 0(A) I4tJH@X?ڿ?(V? e(??)uJU@ uJo;IuJCxnf>xn E)UdGF@mYuu>qqQu0Eq}^<}>I I8ٮ QtI  UC9鰅: į:)a88 9)I tIi  E J:):Id9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 3R-* J(AYt:U@t:@d@yt:at:>t:HR'+? Haڿ@fe?`R?`??)u:U@ u:O`o;Iu8x^j>xbqE {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI%ѓC)F@Y e;>Q0E >I I8ٮ QtI  U%C9; h;)?8 -9))I) 5tIi) = E) -:)-;I-m9III9Q*Gi2GiFqFqrFybFyEE);I9 iIi 2@<:@w: iX-* xd(AYt2U@t2qd@yt2t2H [`?@}]@ɍڿ< s8?'???)u2U@ u2||o;Iu0xju>xjEGn@AHl)eGimwAmwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y;>Q0E;>I I8ٮ QtI  UC9-: :)dF8 9)I tIi  E ::):Iu9 I9*G!2G!F!F!rF)bF)E1E1)E;IE9 AIiIIIQQiQQ Q2@]<:@]w: qD^-* G~(A@ Yt.DU@t.ORd@yt.3t.X>t.H`#@yi?KS`qڿFf? !? o?;?)u.DU@ u.bo;Iu,xFk>xFEiXIX)E҄GF@]Yege>aaQe0Eamݡm>Iq I8ٮqq QtI q UC9qu < u]<)uM8 9)I tIi  E t:):ID~9I9*G2GFFrFbF!E!E!)U;I]9 YYiYIYaaiaa a2@m<:@mw: ߁\e-* (AYt*|U@t*Ud@yt*t*>t*H#?@ttڿ  ?CՂ? ??`?)u*|U@ u*?o;Iu*CxFsj>xF(E) +GF@Y%X9%>!)Q-0E)- :5>I1 I8ٮ11 QtI 1 UC915m< 5$n<)5S8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )>>'k-* D(AYt*WU@t*bSd@yt*t*T>t*H#ɲ?`@rڿ ? ?Qz?p?)u*WU@ u*o;Iu*CxFh>xFEHHHJa=iTIX) SG4=a 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu@eu>qqQ}0Ey}>I I8ٮ QtI  UC9鰅h: J:)Z8 =9)I =tIi = E <){:I)9III9IO]Done Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFibFiEqEq);I9 iIi 2@<:@w: &r-* ~˵(A)4t:HCD? ڿ?(?]r? ?)u:U@ u:o;Iu:Cx^Ml>x^LE)-Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ6>ʙʙQ0EʙͥY;>I I8ٮ QtI  UC9鰥: :)a8 9)I tIi  E F:):Iȗ9iIi9q&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 204.580435 arcdeg .q''*G2GFF)rF)bF)E1E1)E;IM9 IIiIIQiiiii q2@u<:@}w: ߩyx-* 嵨(AYt*֞U@t*Kd@yt*,t*q>t*H %vX? 轿@5kڿս&?}%?^?a?)u*֞U@ u*o;Iu*CxVu>xVEi`I`)%GF@]Ye<:e>aaQe0Eim]m>Iq I}8ٮqq Q}tI q U}C9qu: uc:)uh8 9)I tIi  E Ր:)ȗ:I#9I9=O@Contact HDG: 148.143265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@ w: i&-* L(AYt6U@t6,d@yt6t6u)>t6H`+x|?`1 Nڿk 4?`̽?^.??)u6U@ u6o;Iu6Cx>Rr>x>EG]AAHY)GixAF@5Y=9=>9AQE0EAEM>II Iu8ٮII Q}tI I U}C9IM; M˹;)Mo8 9)I tIi  E [:)IS9I9*G2GFFrFbFEE) ;I-9 )1i1I119i99 92@E<:@Ew: q-* 'h(A Yt.U@t.\d@yt.)t.4>t.H`!?緿gzڿ 0>h?_:?`=? ?)u.U@ u.p;Iu.Cxn}v>xnEi|I)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YJ>Q1E;>I I8ٮ QtI  UC9:  :)v8 -9)!I! -tIi! - E! %p:)% :I%9QIQ9Q*Ga2GaFiFirFibFqEqEy);I9 iIi 2@<:@w: ߹8-* 5B3(AYt*oU@t*d@yt*%t*<->t*H`.g?K@?ڿ@A?@k?-?@?)u*oU@ u*Rp;Iu*CxNr>xNIE)-SGF@}Y}(:>ʁʁQ1Eʁ͍$>I I8ٮ QtI  UC9鰕z: \:)X}8 9)I tIi  E :)c:I9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: {>t -* XM(AYt*F~U@t*Q+d@yt*f t*ag>t*H+@MD?@ SMڿ@q`?@>?`0??)u*F~U@ u*Tp;Iu*CxN]>xRxEHPHRp= {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i I)dG%=%=a 1ua 1u a 5ua 5u a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YWW;>11Q51E1=;=>IA IE8ٮAA QMtI A UMC9AE: E<)E.8 9) I  tIi   E  ݖ:) :I õ9!I!9)*G92G9F9F9rFAbFAEiEq);I9 iIi 2@<:@w: !J-* f(A) I;Yt*'U@t*c@yt*z#t*Y>t*H`^=!?@ٿ `4?Xz? ?`-?)u*'U@ u*p;Iu(xNsj>xN(E)%GF@]Yewe>aaQm1Eimym?Iq I}8ٮqq Q}tI q UC9qu: uJ:)u8 9)I tIi  E Ր:):Iʵ9I9*G2GFFrF9bF9E9E9)U;Iu9 qqiqIqyyiy 2@<:@w: ߙa2-* NӀ(AYt*JU@t*c@yt*F7t*y>t*H(6?` ڿ^Q? ??F?)u*JU@ u*/:r;Iu*CxZ`k>xZEihIn̓C)5GF@EYM!IM>IQQU1EQU<;U>IY Ie8ٮYY QetI Y UmC9Y]\: ]>:)]둓8 u9)iIi utIii } Ei m>:)m=:Im%ӵ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i(\-* (AYt*EU@t*c@yt*Et*Ձ>t*HP7|h?L @ڿu@6? ?#??)u*EU@ u*lr;Iu*CxRk>xREGR@AHP)%Gi)-wAa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ;>ʉʉQ1Eʑ͕C>I I8ٮ QtI  UC9鰝: į:)8 9)I tIi  E :)0:I۵9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI   i 2@<:@w: )-* 犴(A Yt.T@t.c@yt.` t.^>t.H/F?Bֻ@ٿ ?L?,h?`?)u.T@ u.xq;Iu.CxF_>xF EiTIVѓC) GF@=YE?5;E>AAQM1EIM8M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U8 m9)aIa mtIia m Ea eɏ:)ec:Ie$9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 203.815509 arcdeg .q''*G2GFFrFbF E E )-;I-9 ))i1I199i99 92@E<:@Ew: Y@p-*  lζ(AYt*U@t*c@yt*'t*>t*HA?w^ٿ ??N?V?)u*U@ u* Nq;Iu*Cxbv>xbGE)=vGa 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ>ʡʡQ1Eʡͭl;>I I8ٮ QtI  UC9鰵: :)ɦ8 9)I tIi  E ):I9I9=Oe@Contact HDG: 148.143265 arcdeg .'e'eOm4Initialize Wait Component.*Gi2GiFiFqrFqbFqEyEy);I9 iIi 2@<:@w: ߹R>p>-* }A趨(AYt*6T@t*Arc@yt*"t*I|>t*HLQ?) _ٿg@?]?`c7?;?)u*6T@ u*nr;Iu(x u>x EHa=Ha=i)I-̓C)G4=F@YʥE:>ʡʩQ1EʩͭF>I I8ٮ QtI  UC9鰵ٮ: :)8 9)I tIi  E :)ݖ:Im9I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A-* &(A) IYt*T@t*rc@yt*;2t*3g>t*HQ"?چڤٿ@: `?^G?༶?.?)u*T@ u*]s;Iu*Cx]:m>x]E)SGF@Y>!!Q%1E!-Z8->I) Iu8ٮ)) QutI ) U}C9)-< -8<)-״8 9)yIy tIiy  Ey }:)}:I}o9I9*G2GFFrF!bF)EQEQ)e;Ie9 iiiiIii 2@<:@w: -* (AYt.U@t.c@yt.x6t.>t.H@D&?@{ٿ@s-`V?o܆?l?@)?)u.U@ u.r;Iu.CxB`k>xBEiTIT) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu Cu>qqQ}1EyͅM<>I I8ٮ QtI  UC9鰅: ݱ:)^8 9) 9I tIi  E Ɵ:)ڦ:I9)I)9)*Ga2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: io-* 5(AYt*T@t*Cc@yt*<t*Q>t*HZy? 2]@zٿKߙ? Ѐ??@?)u*T@ u*7q;Iu*Cxb}v>xbEGfAAHd)EGiEyAExAF@}YʅU;>ʁʁQ1Eʉ͍>I I8ٮ QtI  UC9鰕: :)I“8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I9 qqiqIqyyiyy 2@<:@w: ߙܼ-* \O(A Yt*eT@t*p:c@yt*_$t*f>t*Hl\=?@S綿0qٿj?U?`??)u*eT@ u*lr;Iu(xjMl>xjLE {lY|lr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i1I1)vGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@YM>IQQU1EQU=]>IY Ie8ٮYY QetI Y UmC9Y]h: ]:)]/ʓ8 9) I  tIi   E  :) :I  9!II9I*GY2GYFYFYrFabFEE);I9 iIi 2@<:@w: -* ʈi(AYt*T@t*Fc@yt*{t*H Y ?@|ٿ¥?M?E?VC?)u*T@ u*s;Iu*Cx=Hf>x= E)dGF@Ys>!!Q%1E!-L ;->I) I58ٮ)) Q=tI ) U=C9)-w: -8:)-kГ8 E9)AIA EtIiA M EA E:)E$:IEO 9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)M;IU9 QQiQIQYYiYY a2@e<:@ew: ߹x>-* b(AYt*YjT@t*dc@yt*t*HAc е?7`Pٿt 'g?}?e?,?)u*YjT@ u**s;Iu*CxZ_>xZ EH^p=H^p=ilIl)=GE%=AF@MYUոU>QQQ]1EY]e>Ia Im8ٮaa QmtI a UuC9ae: eį:)e֓8 }9)qIq }tIiq  Eq u:)u:IuF(9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 203.302766 arcdeg .q''*G2GFF!rF!bF)E)E))=;IE9 AAiAIAIIiII Q2@U<:@]w: i-* =(A);IYt*QVT@t*\c@yt*|It*>t*Hlg[?@1 >ٿ+`^? ? 0?i?)u*QVT@ u*q;Iu*CxR{]>xR/E)=Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y;>Q1E?>I I8ٮ QtI  UC9;  :)ޓ8  9)I  tIi   E p:)c:I+199IQ9Q=O@Contact HDG: 148.143265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I)11i11 92@=<:@Ew: q"-* (AYt*>T@t*Ib@yt*Bt*[>t*H` x%/?xzdؿ ^?Ih??@Z?)u*>T@ u*Jq;Iu*CxRi>xVEi|I~ѓC)]GF@mYmYu>qqQu1Eq}W}>I I8ٮ QtI  UC9鰅.: :)8 9)I tIi  E :):I`99I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ij -* з(AYt*/T@t*:b@yt*ژ^t*]>t*Hs`-?m`!ٿ^E? ҋ?~?` @?)u*/T@ u*r;Iu*CxFf>xF EGHHJAA) SGiwAF@Yʍ%>ʑʑQ1Eʑ͝j;>I I8ٮ QtI  UC9鰥h: J:)8 9)I tIi  E :)s:IA9I9*G2GFFrFbFEE);I9 iI   i  2@<:@w: )4-* )귨(A@ Yt*MT@t*Xb@yt*#t*Ye>t*Ht`? 鳿%ؿ˱`?`kw?`m?2?)u*MT@ u*-r;Iu*CxNe>xRP Ei\I\)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅJ<>ʁʁQ1Eʉ͍ќ>I I8ٮ QtI  UC9鰕G< w<)8 %9)!I! -tIi! - E! %h:)%|:I%J9YIY9Y*Gi2GiFqFrFbFEE);I9 iIi 2@<:@w: .* X(AYt*,S@t*7b@yt*4t*ō>t*H{? ؿT(Y?`p?~?`?)u*,S@ u*p;Iu*CxFc>xF E)SGF@Y.:>!!Q%1E!-˸->I) I58ٮ)) Q5tI ) U=C9)- : -$:)-88 E9)AIA EtIiA M EA A)EԘ:IER9QIY9Y*Gi2GiFiFqrFqbFqEyEy);I9 iIi 2@<:@w: ߹>F.* f(AYt*S@t*Wb@yt*(t*Gٍ>t*Hg?@Qؿ`f???`2?)u*S@ u*ԣp;Iu(xZv>xZGEH`Hdi I ̓C)G4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y  >  Q 1E>I I%8ٮ M%8 Q%tI  U-C9Գ: :)8 59))I) 5tIi) = E) -:)-:I-[9AII9I*G2GFFrFbFEE);I9 iI!!i!! )2@M<:@Uw: ap .* p`8(A) I Yt*ߖS@t*Cb@yt*;4>t*k>t*Hr`?@ٺ )ؿ@F`3?`dƇ?`0?'?)u*ߖS@ u*Mq;Iu*CxF"h>xJE) GF@Ykf>!!Q%1E!-tL->I1 I58ٮ11 Q=tI 1 U=C915B: 5:)58 E9)AIA MtIiA M EA E:)E9:IEc9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEE);I9 iIi 2@<:@w: Y.* )?R(AYt*3S@t*>Jb@yt*{&t*([>t*HY%?ʇؿ]`-?ڄ?`X/?D?)u*3S@ u*vp;Iu(xFHf>xF E {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)udGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%U;%>))Q-1E)=f:=>IA IM8ٮAA QMtI A UUC9AE; E;)E8 e9)YIY etIiY m EY ]w:)]:I]l9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.585351 arcdeg .q''*G2GFFrFbFEE)U;IU9 QYiYIYYaiaa 2@<:@w: i.* l(AYt2S@t2=b@yt2t#t2}>t2H̍? ȵ@iؿ v?b?b?@|?)u2S@ u2o;Iu0xFi>xFNEGJ@AHJ@A)!i!)F@]Ye:e>aaQm1Eim4m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi  E :) :It9I9=O%@Contact HDG: 148.143265 arcdeg .'%'%O%4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)M;IM9 IQiQIQYYiYY Y2@e<:@ew: yj!.* 񅸨(A@ Yt*bS@t*b@yt*'t*y>t*H@ѕ?r`]ؿ`fe??@ ? ?)u*bS@ u*vo;Iu(xFu>xFEihIh)=GF@]Ym=m>yʁQ1Eʁ͕>I I8ٮ Q tI  UC9< X<)8 M9)AIA }tIiA } EA E;)EDt*H?Mu"ؿ ?0??F?)u*"S@ u*NOo;Iu(xFi>xFE)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ>ʱʱQ1Eʱͽ>I I8ٮ QtI  UC9: į:)"8 9)I tIi  E ͭ:):I%9I9*G2GFFrF bF E E )%;I%9 !!i!I!))i)1 12@=<:@=w: IV>p>;-.* 즹(AYt*S@t*a@yt*gt*Hล?ie&ؿ@K???@A?K?)u*S@ u*Bo;Iu*CxRj>xRqEHTHTi`Ib“C)%G%%=!F@}YʅE>ʁʁQ1Eʉ͍R*>I I8ٮ QtI  UC9鰕^; ;))8 9)I tIi  E Ր:):I9I9*G 2G FFrF9bF9E9E9)U;IU9 qqiqIqyyiy 2@<:@w: 4.* ^Ӹ(A)4t.H`g? }"ؿ L`}*?@g?b?7.?)u.o"S@ u.p;Iu.Cx6l>x6E)zGa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 1=@a = a 5=@a = a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@UYUUU>YYQ]1EYe$&;e>Ii Im8ٮii QutI i UuC9im\: m_:)m08 }9)yIy tIiy  Ey }%:)}|:I}9I9*G!2G!F!F!rF)bF)E1E1)E;IE9 IIiIIIQQiqq q2@}<:@}w: ߱':.* ^(AYt*`R@t*ka@yt*t*2>t*H N`I?@ ׿`wxFEiTIV̓C) dGF@Y;>!!Q%1E!-5->I1 I58ٮ11 Q=tI 1 U=C915: 5 :)5E78 E9)AIA MtIiA M EA E:)E:IEI9YIY9Y*Gi2GiFiFqrFqbFqEyEy);I9 iIi 2@<:@w: ߹iA.* =(AYt:?R@t:J\a@yt:O!t:T>t:HD`U ?ӆƷ׿@n?)??`?)u:?R@ u:,o;Iu:CxR`k>xREG\H\)iiywAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%1E!%zŻ->I) I58ٮ)) Q=tI ) U=C9)-: -^:)->8 E9)AIA EtIiA M EA E:)E:IE}9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFQbFQEQEY);I9 iIi 2@<:@w: G.* !(A@ Yt.tR@t.!a@yt.$At.g2`>t.H`o?%@׿@Bf?^$? ?;?)u.tR@ u.n;Iu.CxFm>xJ'EiXIX)GF@]Yee>aaQe1Eamm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u4E8 9)I tIi  E [:):I~9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 201.546247 arcdeg .q'-'-*G12G1F1F1rF9bF9EAEA)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߁ N.* V:(AYt*R@t*Ya@yt*05t*`>t*HI?@R@[׿ _@)R?@??*xFE)GF@Y*:>!!Q%1E!%q<->I) I58ٮ)) Q5tI ) U=C9)-: -B:)-K8 E9)AIA EtIiA M EA E:)Eo:IEи9QIQ9Y=O@Contact HDG: 148.143265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  iIi 2@%<:@%w: 9>T.* T(AYt*]R@t* a@yt*{ t*v>t*Hfͱ?qCk׿ħ6?U? 7??)u*]R@ u*o;Iu*Cxbo>xbEHfa=Hfa= {dY|dj8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iAII)G  a 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@%Y-.;>Q1E\ >I I8ٮ QtI  UC9_: :)_T8 9)I tIi  E :):I6ö9I9*G!2G!F1F1rF1bF9E9E9)m;Iu9 qqiqIqyyiyy 2@<:@w: ߹E[.* Pn(A);IYt*R@t*`@yt*̠t*z>t*H1M~? PP/׿`~? Ԃ?`U?`?)u*R@ u*o;Iu*CxFxp>xFE)%vGF@]YeL e?aaQe1EimIm ?Iq I8ٮqq QtI q UC9qu< uE<)uY8 9)I tIi  E :)s:IRʶ9 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIIIIiIQ Q2@]<:@]w: ib.* 8(AYt:Q@t:Ѥ`@yt:t:H@>?. ׿?@/? "/?@c6?)u:Q@ u:o;Iu:Cxb`k>xbEi!I-ѓC)dGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍS>ʑʑQ1Eʑ͝2>I I8ٮ QtI  UC9鰥: :)oa8 9)I tIi  E t:):IWӶ9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )i0h.* [(AYt*Q@t*`@yt*]0t*)6a>t*H?@d׿? ?e?@5:?)u*Q@ u*Do;Iu*CxRZ>xRzEGPHP)!i)-xAF@]Ye ;e>aaQm1Eim^Um>Iq I}8ٮqq Q}tI q UC9quh: ul:)ug8 9)I tIi  E :)o:I ۶9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: a[n.* 7(A Yt*Q@t*|`@yt*~'t*ۃ>t*H?N?}ֿv ??L?`k?)u*Q@ u*)p;Iu*CxFxp>xFEiTIV̓C) GF@Y%M:%>!!Q%1E)-Q->I1 I=8ٮ11 QEtI 1 UEC915X ; 5 ;)5mn8 M9)III UtIiI U EI M:)M:IMe9aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: DCu.* ֹ(AYt*aQ@t*`@yt*ٙ t*>t*H@?`ۀֿ@@D?-? ??)u*aQ@ u*Vp;Iu*CxFWx>xFE) +Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYu߁;u>qqQu1Ey}}>I I8ٮ QtI  UC9鰅: t:)u8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: a>{>m{.* ﹨(AYt*^"Q@t*i_@yt*!1t*p>t*H}?:_EֿV%Tn?3?? ?)u*^"Q@ u*\p;Iu(xRj>xRqEHPHTi`I`)SG!!F@=YEE>AIQM1EIMGU>IQ I]8ٮQQ Q]tI Q UeC9QU2: U5:)UJ|8 m9)aIa mtIia u Ea e%:)e:Ie9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! )2@-<:@5w: aPU.* O (A) IYt*Q@t*_@yt*f(t*-X>t*Ha'?J@ֿ O d?@??`H?)u*Q@ u*ap;Iu*CxJV>xJE)MGF@UY]S:]>aaQe1Eam>m>Iq Iu8ٮqq Q}tI q U}C9qu5: u:)u>8 9)I tIi  E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 200.348313 arcdeg .q'5'5*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYaaiaa i2@m<:@mw: ߁.* a#(AYt*BQ@t*M_@yt*At* >t*HU`? p :ֿt@v? xVQ Ei`I`)%SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yk> Q 2E  5k>I1 I=8ٮ11 Q=tI 1 UEC915: 55:)58 M9)A M9IA MtIiA U EA E:)E;IE 9I9=Om@Contact HDG: 148.143265 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iIi I2@M<:@Uw: ai'.* }=(AYt*P@t*K_@yt*z0t*>t*H`)` ?z{`տ`1f?:? ??)u*P@ u*p(q;Iu*Cx=t>x=lEGEAAHA)GiwAF@5Y=N);=>AAQE2EAMM>II Iu8ٮII Q}tI I U}C9IM; MZ;)M8 9)I tIi  E :)|:I9I9*G2GFFrFbFEE) ;I 9 )1i1I119i99 92@E<:@Ew: q.* [W(A Yt.RP@t.^@yt.Jt.6e~>t.H-#?LN@տ/1 ? ^8? x?`??)u.RP@ u.ohq;Iu.CxNsj>xR(E {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i)I5ѓC)Q2E@>IQ Ie8ٮQQ QmtI Q UmC9QUi}< U}<)U8 9)I =tIi = E z$<)'t*H=R?0տ`fe}?ጃ?@1?D?)u*ۄP@ u*q;Iu*CxrV>xrE){v6TI{ti{v={v7>{t{vpA{t|vA9|v?-)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%;%>!!Q%2E)-;->I1 I=8ٮ11 Q=tI 1 U=C915: 5l:)5?8 M9)AIA MtIiA M EA E:)EA:IE9I9*G 2G F)F1rF1bF1E9E92EAzEEAEEi(@=lPakA*EE?-EE6TEAEE`k/uMM@'xldEERq\5A?,I\O5ÿEE*@=mDHdg To Contact =153.086123 degreesZEE2@bEE\{:EEo$?BEELo$?JEE REEw jEE#+rEE );I9 iIi 2@<:@w: $5Dacoustic_contact_range 17.820002 m$=hTrackAcousticContact.heading_to_contact 2.671857 rad$ELDUSBL_Hydroid.xAngle -47.450000 arcdeg>>X.* (AYt*c:P@t*n^@yt*"t*p>t*H''x? dkտ L?`U??+?)u*c:P@ u*q;Iu*CxNm>xR'EHPHPi`Id)%G)-=F@]Ye^e>aaQe2EimADm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi  E :):I'9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ͨ.* 뤺(A) IYt*O@t*Ʀ^@yt*v9t*ދ>t*H`1?8W.տV o? 9?D??)u*O@ u*q;Iu(xNeq>xNnE)%ƄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅvb>ʉʉQ2Eʉ͕F>I I8ٮ QtI  UC9鰝: :)8 9)I tIi  E ɏ:):I@09I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !#.* %ɾ(AYt21O@t2<@^@yt2t2>t2HB;?@rԿ9 s??^s?u?)u21O@ u2Lp;Iu2Cx^"h>xbEilIl)=GF@]YeN;e>aaQe2EimNm>Iq I}8ٮqq Q}tI q U}C9qu2: ux:)u8 9)I tIi  E :):I89I9*G2GFFrFbFEE);I9 11i1I199i9A A2@E<:@Mw: ߁i@Aߵ.* Zغ(AYt*O@t*Y^@yt*Zt*ـc>t*H> ?*Կ {`1 ?>?4?I6?)u*O@ u*q;Iu(x^Hf>x^ EG`H`)=GiAAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YC>Q2Et;>I I8ٮ QtI  UC9N; Գ:)8  9)I  tIi   E Ր:):IA99I999OMDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GQMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFyrFybFEE);I9 iIi 2@<:@w:  .* A(A@ Yt.dO@t.oA^@yt.o31t.Egh>t.HwB`l?s- Կu?Q&??t-?)u.dO@ u.Wp;Iu.CxNp>xREif=I)eGF@}YʅR>ʁʁQ2Eʁ͍t>I I8ٮ QtI  UC9鰕u: 5:)]8 9)I tIi  E :):II9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 198.973560 arcdeg .q'}'}*G2G*@FFrFbFEE);I9 iI&@i*@ 2@<:@w: $5RHorizontalControl.headingCmd 2.671857 rad.* Z (AYt*JBO@t*U]@yt*et*翃>t*HO@f?@~Կ hJ:?,?nI??)u*JBO@ u*ˢo;Iu*Cxne>xnP E)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=^;=>9AQE2EAE?M>II Iu8ٮII QutI I U}C9IMش; M;)MȔ8 9)yIy tIiy  Ey }}:)},:I}R9I9=Oe@Contact HDG: 153.086123 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GFFrFbFEE);I9 iIh)@im> 2@<:@w: >&.* 5&(AYt*F(O@t*Q]@yt*t*c>t*HS?0$`_hԿ` @ ?@0???)u*F(O@ u*{jo;Iu(xnl>xnEHpHrp=i~=I)]SGae4=F@}Yʅ|>ʁʁQ2Eʁ͍刻>I I8ٮ QtI  UC9鰕6< b<)'ϔ8 %9)!I! -tIi! - E! %:)%:I%#[9YIY9Y*Gi2GiFiFrFbFEE);I9 iIl+@i 2@<:@w: Y.* @(A)IYt.:N@t.E]@yt.4t.r>t.H`%?``fԿ`݂?t? ??)u.:N@ u.'p;Iu.Cx]p>x]E)dGF@=YExb9E>AAQE2EIMg8M>Iq I}8ٮqq Q}tI q U}C9quٮ: u:)u֔8 9)I tIi  E :)x:Ic9I9*G)2G)F1F1rF9bF9E9E9)u;Iu9 qqiqIq}a+@iEJi > 2@<:@w: ..* Y(AYt*O@t*']@yt*6t*9]>t*HY@?uDԿw?܆?`o?A?)u*O@ u*Ip;Iu(xNsj>xR(E {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I-̓C)a 1Ma 1U a 5 a 5 a 9a 9 a -a - a 1@a  a 5@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@}Yʅ>ʉʑQ2Eʑ͝;>I I8ٮ QtI  UC9: :)ޔ8 9)I EtIi E E P(<)u) W.* vs(AYt*N@t*u]@yt*&t*x>t*Hc ?찿 Կ Xx??`??)u*N@ u*0uo;Iu*Cxbw>xbjEGb@AHfAA){fZ;I{di{f={f1>{d{fA{d|f=A9|fvR?=w*'ܿ)}Gi}xA}xAF@Yʽ X;?Q2E7?I I8ٮ QtI  UC9E; ;)8 9)I  tIi   E  :):It99I999*GI2GIFIFQrFqbFyEyEy2EzE=AE@6@%EvR?=w*'ܿEZ;EEox8|9]@},#1E{WY:<)?k*ȸEA@=DHdg To Contact =172.856419 degreesZEJD@bE:Eho$?BEo$?JE RE jErE#+)e;Im9 iiiIB.Yi 2@<:@w: )I ߡ$Dacoustic_contact_range 24.779999 m$hTrackAcousticContact.heading_to_contact 3.016914 rad$LDUSBL_Hydroid.xAngle -26.100000 arcdegC@.* ¢(A@ Yt.N@t.u]@yt.t.>t.Hc`?`\p ԿX?k?`q??)u.N@ u.;n;Iu.Cxjxp>xjEixI|)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yx ;>Q2E9B6 >I  I58ٮ   Q5tI  U=C9  ,; ;) 8 E9)9I9 EtIi9 E E9 =:)=:I=C}9qIy9y*G2GFFrFbFEE);I9 iIg{[i 2@<:@w: 7j.* ,}(AYt2[iN@t2f]@yt2%t21}>t2Hq??f ӿ } !E?ꡄ? h??)u2[iN@ u2o;Iu0x}d>x} E) vGF@UY] ]>YYQe2EaeZee>Ii I8ٮii QtI i UC9im< m,<)m8 9)I tIi  E %:)Z:I9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)U;IU9 QQiQIQY]OiYY a2@<:@w: ߹>t>R.* Z(AYt*͒N@t*?]@yt*t*Γ_>t*Hwk?'ǭzӿ @7? ?@n?`"=?)u*͒N@ u*o;Iu*Cx~Ml>x~LEHHa=iI)}GF@Yʝh:>ʡʡQ2Eʡͭ;>I I8ٮ QtI  UC9鰵h: :)8 9)I tIi  E :):I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 198.072754 arcdeg .q''*G2GA@FFrFbFEE)-;I-9 IIiQIQe(,@iA@ 2@<:@Mw: ߩ$ RHorizontalControl.headingCmd 3.016914 rad@|.* 3ۻ(A)IYt. N@t.+2]@yt. t.h>t.Hm@m?@} @xӿ@t???`,?)u. N@ u.o;Iu.CxFl>xFE)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭsf>ʱʱQ2Eʱͽ>I I8ٮ QtI  UC9O: :)8 9)I tIi  E :)R:I~9I9=Ou@Contact HDG: 172.856419 arcdeg .'u'uO}4Initialize Wait Component.*Gy2GyFyFyrFbFEE);I9 iIǍ.@idq> 2@<:@w: D.* E(AYt*SsN@t*^ ]@yt*x t*7>t*HTp@?`󈱿ӿ@Rpa????)u*SsN@ u*2_o;Iu(xRq>xVEi`I`)%GF@Yʥ8>ʩʩQ2Eʩ͵0>I I8ٮ M8 QtI  UC9鰽: :)c8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I9 iI%?2@i%V>! )2@-<:@-w: Ii/* (AYt*GN@t* \@yt*.t*(>t*H` w e ? Ӱ eӿ`~?F؅?@ ? {?)u*GN@ u*:o;Iu(xFf>xF EGJAAHJ@A) dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmm>qqQu2Eq}޻>I I8ٮ QtI  UC9鰅}: >:)* 8 9)I tIi  E :)0:IZ9I9*G92G9FAFArFIbFIEIEI);I9 iI&7@i/> 2@<:@w:  /* ((A@ Yt*WN@t*]@yt**t*h>t*H tB?@Ůӿ '?`;?@? -?)u*WN@ u*ӳo;Iu(xNa>xR Ei\I\)GF@-Y-;5>11Q52E1=!;=>IA IM8ٮAA QMtI A UMC9AE\: E:)E8 U9)QIQ ]tIiQ ] EQ UW:)U:IU9iIi9i*G2GFFrFbFEE);I9 iIfg;@iՏ> 2@<:@w:.ą> ߹ٟ/* sB(AYt*lN@t*]@yt*t*{f>t*H\q Y?@Ӑ=ӿS ??ą?1?)u*lN@ u*קo;Iu*CxF\>xFUE)SGF@YE9>!Q%2E!%W;->I) I58ٮ)) Q5tI ) U5C9)-?: -B:)-8 E9)9I9 EtIi9 E E9 =[:)=Ԙ:I=%9QIQ9Y*Gi2GiFiFirFqbFqEqEy);I9 iI7>@i.> 2@<:@w:ub|> e>x>B/* z\(AYt*5N@t*\@yt*{0t*u>t*H@y`?ӿ4e??`Ko?`?)u*5N@ u*o;Iu(xF:m>xFEHJp=HJp= {HY|HN8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)G4=%=a 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@5Y=W$=>AAQE2EIM7U>IY Ie8ٮYY QmtI Y UmC9Y]x; ]$;)]S"8 9)yIy tIiy  Ey }~:)}\:I}9I9*G)2G)F1F1rF9bF9E9E9)};I9 iIA@i= 2@<:@w:wA xAB> /* Sv(A) IYt6_N@t6 ]@yt6&t6}>t6H|s/? U@éӿҀH,?`?@`?@?)u6_N@ u6_eo;Iu6CxFr>xFIE){J3I{Hi{J={J7>{H{JA{H|J A9|J={fl?08 )-GF@]Ye;e>aaQm2Eim|;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u(8 9)I tIi  E :)ȗ:I[ɷ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzE AE}B7@jΪ~F4E={fl?08 E3EE3<@&@,LWE8pnB0?s`wÿE1@=DHdg To Contact =158.563566 degreesZE\5AbE:E\o$?BEho$?JE RE jErE);I9 iIȁNi 2@<:@ w:B+#> $Dacoustic_contact_range 31.379999 m$hTrackAcousticContact.heading_to_contact 2.767456 rad$LDUSBL_Hydroid.xAngle -40.250001 arcdeg#/* {2(AYt*#N@t*\@yt*"t*js>t*H |@ ?`Pگpӿ@X` ?X?"?`?)u*#N@ u*n;Iu*Cx^j>x^qEirf=Ip)UׄGF@eYmVm>iiQu2Equ}>Iy I8ٮyy QtI y UC9y}: }J:)}/8 9)I tIi  E :)÷:Iѷ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.683829 arcdeg .q''*G2G1@FFrFbFEE);I9 iILt?@i, >1@ !2@%<:@%w:%;> )$MRHorizontalControl.headingCmd 2.767456 radi*/*  (AYt*TN@t* ]@yt*u-.t*.la>t*HuI?x8ӿ?Ņ? ?9?)u*TN@ u*n;Iu*CxFxp>xFEGHHH)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ!ܺ>Q2E;>I I8ٮ QtI  UC9: :)68 9)I tIi  E :):Iڷ9I9=O@Contact HDG: 158.563566 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI<@iF!> 2@<:@w:)=I=_> 20/* ü(A@ Yt.HIN@t.S\@yt.T3t.=q>t.Hv1?3lyӿ ?v?`??)u.HIN@ u.n;Iu.CxFV>xFEiTIT) GF@Yʍ^>ʑʑQ2Eʑ͝>׺>I I8ٮ QtI  UC9鰥: _:)}=8 9)I tIi  E ٮ:)s:I9I9*G2GFFrFbFEE);I 9 i!I!58@i5 <>1 92@=<:@Ew:- > 17/* ݼ(AYt:#N@t:\@yt:t:h{>t:H`|?@pӿ /??(? ?)u:#N@ u:n;Iu:CxbHf>xb E)m11Q52E1==>IA IM8ٮAA QMtI A UMC9AE: E:)ED8 ]9)QIQ ]tIiQ ] EQ U:)U:IU9iIi9i*Gy2GFFrFbFEE);I9 iI&3@inva> 2@<:@w:>J> ߙ>t>%B=/* (AYt*B/N@t*M\@yt*ԡt*\n>t*Hz?{ӿ`t?`/4? ?R"?)u*B/N@ u*1n;Iu*CxFb>xFQ EHJa=HHiZ=IX) Ga 1Ma 1M a 5Ma 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmm;u>qqQu2Eq}:}>I I8ٮ QtI  UC9鰅}: >:)6K8 9)I tIi  E _:)s:I9I9*G2GFFrFbFEEq);I9 iI /@i4y> 2@<:@w:xA wAp:> ߹)D/* w(A)4tJHVy /?6łӿm?@jR??@*?)uJ6N@ uJn;IuHxVf>xV E)%AAQE2EAE!:M>II IU8ٮII QUtI I U]C9IM`: M:)MQ8 e9)YIY etIiY m EY ]}:)] :I]R9qIq9y*G2GFFrFbFEE);I9 iI,@i0Ã> 2@<:@w:Z5<> TJ/* R+(AYt*M@t*Ʀ\@yt*.t*9-r>t*Hʂ?Hӿࠣ`8?[܅?,?@?)u*M@ u*@m;Iu*Cx2j>x6qEiHIH)zSGa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 1=@a = a 5=@a = a 9=@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@UYU2;U>YYQ]2EYee>Ii Im8ٮii QutI i U}C9imEP; mg;)mX8 9) 9I tIi  E ʢ:):I9I9*G2GFFrFbFEE);I9 iIx+@i 2@<:@w:5J> 9i_t*H ?c`Gӿ`K?~e?@g?q?)u*M@ u*Wqm;Iu*CxFj>xDGJ@AHH) Gi wAwAF@=YEnD;E>AAQM2EIM1M>Ii I8ٮii QtI i UC9imNR; m<;)m_8 9)I tIi  E J4;)=;Iv 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI+@8Mi   2@<:@w:)-=I-=1v> ߉fW/* g _(A Yt6$ N@t6/\@yt6@t6Z`p>t6H@(?ׯWZӿ>k??M?`?)u6$ N@ u6vFm;Iu6CxFn>xFE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i~f=I)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE:M>IQQU2EQ]1;]>Ii Iu8ٮii QutI i U}C9im; m~$;)mIg8 9)I tIi  E  ;);I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 197.601840 arcdeg .q'e'e*Ga2GaFaFirFYbFYEYEY);I9 iI-@ixz> 2@<:@w:9> ]/* x(AYt*fM@t*q\@yt*dQt*tZn>t*H Y`p?X*Jӿ `?i,? ? m"?)u*fM@ u*} m;Iu(x^{]>x^/E){b DI{`i{b ={`{`{bA{`|bfA9|b?t1:)uGF@Yʽ_)>Q2E->I I8ٮ QtI  UC9: :)m8 9)I tIi  E :)o:I9I9=O@Contact HDG: 158.563566 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzEfAE2x_4@-84E?t1:E DEEܣ9'?(@jcfE'2\2WT?XwTÿEx,@=DHdg To Contact =154.404486 degreesZEDAbEh:Eeo$?BE\o$?JE RE jE0rE);I9 iIw/@i8>h> 2@<:@w:E}> 1$MDacoustic_contact_range 28.799999 m$UhTrackAcousticContact.heading_to_contact 2.694867 rad$]LDUSBL_Hydroid.xAngle -44.000000 arcdeg{>e>jxd/* (Axp>xEH%p=H%a=iE=IA)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y> Q 2E   >I I8ٮ QtI  U%C9O: S:)t8 -9)!I! -tIi! - E! %!:)%:I%j'99I99A*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIy0@i 2@<:@w: ߱Jj/* (A) IYt*M@t*>\@yt*t*rr>t*H`|}?ҿ???0?)u*M@ u*om;Iu*CxFe>xFP E)ʩʩQ2Eʩ͵̆>I I8ٮ QtI  UC9鰽: l:){8 9)I tIi  E :) :I/9I9*G2GFFrFbFEE);I9 iI% 1@%"Li!! )2@-<:@5w:l> 6q/* quƽ(AxW>xEiAIA)-ނGa 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ>ʡʡQ2Eʡͭ>I I8ٮ QtI  UC9鰵F: ):)8 9)I tIi  E :)I89I9*G2GFFrFbFEE);I9 iI1@Ji !2@%<:@-w:Eg> Iiw/* uWཨ(AYt*(mM@t*3\@yt*|/t*o>t*Hf?{ҿ{@?~?? ?)u*(mM@ u*xV/EGVAAHT)%SGi))F@]Y]ۻ]>aaQe2Eam%ɻm>Iq Iu8ٮqq Q}tI q U}C9qu: u:)u88 9)I tIi  E :):I@9I9*G2GFFrFbFEE);I9 iI Ii 2@<:@w: )I ߩV}/* 0+(A YtJ#M@tJ[@ytJ&AtJn>tJH?\'?ۊS|ҿ>@? "?@? !?)uJ#M@ uJtm;IuJCxR`k>xVEibf=Id)%dGF@5Y=0=>99QE2EAE7E>II IU8ٮII QUtI I UUC9IMի: M :)M8 e9)YIY etIiY e EY ]:)]:I]H9qIq9y*G2GFFrFbFEE);I9 iIHi|^> 2@<:@w: BƄ/* (AYt>XM@t>\@yt>{yt>#x>t>HŚ F?~mҿկ W?@o?`?W?)u>XM@ u>m;Iu>CxR^>xR E)Ga 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y};>ʁʁQ3Eʁ͍;>I I8ٮ QtI  UC9鰕: :)8 9)I tIi  E )o:IQ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIWGi 2@ <:@ w: !V>p>//* -(AYtR M@tR[@ytR`!tR-tRH `?Y Mdҿ#? +?@m{??)uR M@ uRm;IuRCxni>xnEHra=HpiI)eGF@Yʥbg>ʡʡQ3Eʡͭ?>I I8ٮ QtI  UC9鰵:  :) 8 9)I tIi  E h:)|:I6Z9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 196.701511 arcdeg .q'm'm*Gi2Gux,@FqFqrFybFyEyE);I9 iI/@ij>x,@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.694867 radݑ/* |G(A);IYt NL@t Y[@yt {Ct e>t H ? }檿jVҿ r? )}?t?b2?)u NL@ u Sn;Iu x=h>x=E)+Ga 1a 1 a 5a 5 a 9a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=Y=>E>AAQE3EAM M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)UO8 m9)aIa mtIia m Ea e:)e:Ie/c9yIy9y=O @Contact HDG: 154.404486 arcdeg .' ' O4Initialize Wait Component.*G2GFFrFbFEE!)5;I59 19i9I9=,@iE'>A A2@M<:@Mw:'g> ߡ/* Na(AYt*_L@t*j{[@yt*W3t*k>t*H ? xr*ҿi?j?:?'?)u*_L@ u*prn;Iu*CxRh^>xVE {TY|TZ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i =I“C)SGF@Y%+&;%>))Q-3E)u:u>I I8ٮ QtI  UC9鰅.; :;)H8 9)I tIi  E :):Ik9qIq9q*G2GFFrFbFEE)-;I-9 ))i)I)5H+@i11 92@=<:@=w:%Ex> 9i,/* `s{(AYt*2L@t*=v[@yt*dt*~x>t*Hd@?@t-%ҿ?w?@´?c?)u*2L@ u*"o;Iu*Cx`>x. EGH)=GF@UY]$=;]>aaQe3EaeMm>Ii I8ٮii QtI i UC9im ; m;)m!8 9)I tIi  E [:),:IVt9I9*G2GFFrFbFEE)-;I-9 IIiIIQU*@UʊFiYY Y2@e<:@ew:Pڀ> /* O(A Yt.L@t.L[@yt.Gt.~>t.HP?gѿ@M|? X?]o??)u.L@ u.o;Iu,xNeq>xRnEibf=IbѓC)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@eYm:m>iiQu3Eʑ͕ʻ>I I8ٮ QtI  UC9鰝: _:)!8 9)I tIi  E <)';I|9I9*G2GFFrF!bF!E!E!)];I]9 YYiYIYe-,@iaa i2@<:@w: )I A>/* N)(AYt*&cL@t*1[@yt*bI&t*Lk>t*H>p? Xѿj?Ʉ?G6?`'?)u*&cL@ u* p;Iu(x6xp>x6E) dGF@Y@%>!!Q%3E!-4)->I1 I58ٮ11 Q=tI 1 UEC915; 5;)5:8 M9)AIA MtIiA M EA Eh:)E:IEn9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI<,@:Ei 2@<:@w: >x>e&/* ɾ(AYt*8vL@t*C#[@yt*`1t*+b>t*H` (? !ѿ@n\?+?@?@7?)u*8vL@ u*Lq;Iu*CxNHf>xN EHPHRp=i\I^̓C)F@-Y-ں->11Q53E1=;;=>IA IM8ٮAA QetI A UmC9AE; E;)E)Ǖ8 }9)qIq }tIiq  Eq u:)us:Iu9I9*G2GFFrFbFEE);I9 iIx,@GDi 2@<:@w: 9P/* ⾨(A) IYt*HSL@t*S[@yt*:t*x>t*Hſ`Z?_@Fѿ*?^???)u*HSL@ u*plr;Iu*CxZRr>xZE))a 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQ3Eʙͥs>I I8ٮ QtI  UC9鰭: :)FΕ8 9)I tIi  E ٓ:)0:IÕ9I9*G2GFFrFbFEE);I 9  i I Z Ci 2@<:@%w: 1z/* (AYt*L@t*Z@yt*I*t*z>t*HyB?` ѿ+?S?JN? 3?)u*L@ u* t;Iu*CxZo>xZEif=IjѓC)-jGF@]Ye$;e>aaQe3Eim m>Iq I}8ٮqq Q}tI q U}C9qux: u:)uՕ8 9)I tIi  E F:)Z:I"9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIAiiw> 2@<:@w: iIb/* (AYt*'L@t* Z@yt*t*oyp>t*H>3?@ѿR?@܃?I??)u*'L@ u*u;Iu(xRc>xR, EGR@AHT)]+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y^:>Q3E:>I I8ٮ QtI  UC9: l:)+ܕ8 9)I tIi  E p:):Iꦸ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.908759 arcdeg .q''*G2GFFrFbFEE);I9 iI@i 2@<:@w: /* ur0(A Yt.K@t.$Z@yt.,rEt.c>t.H@'?`Wѿ  ,?`? %?@6?)u.K@ u.gu;Iu.CxfRr>xfEitIx)mGF@Y[>Q3EQ>I I8ٮ QtI  UC9:: :)8 9)I tIi  E :):Iv9 I 9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI e?i 2@<:@w: t/* bLJ(AYt*`L@t*kZ@yt*(x$t*!Zu>t*H`?`6W@tѿ`?`?_? ?)u*`L@ u*!w;Iu*Cxbk>xbE)9F@Yʽ';>Q3E;>I I8ٮ QtI  UC9: :)8 9)I tIi  E ::)o:I그9I9*G 2GFFrFbFEE!)5;I59 19i9I99E?>iAA A2@M<:@Mw:-u> 1V>i>/* k'd(AYt*K@t*Z@yt*+t*Ņ>t*H ?>ѿɿh?q??@?)u*K@ u*kx;Iu*Cxi>xNEHH {Y|8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iaIi)G=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UY]s:]>YYQ]3Eaeb>I  I8ٮ   QtI  UC9  >: ݱ:) 8 9)I EtIi E E ;);I¸9YIY9Y*G2GFFrFbFEE);I9 iI  ? 9/* *~(A) IYt*K@t*#Z@yt*g8t*Py>t*HS`?߫ ?ѿ*?l??@ ?)u*K@ u*'[z;Iu*Cx6v>x6GE)~ׄGF@ Y'?Q3E%;n9%?I! I-8ٮ!! Q-tI ! U5C9!%:: %:)%[8 =9)1I1 =tIi1 E E1 5ի:)5N:I5zȸ9IIQ9Q*Ga2GaFiFirFibFqEqEq);I9 iI;i 2@<:@w: )I )/* Uݗ(AYt*K@t*Z@yt*(8t*t*H ?~Pѿ@w?e?+?6?)u*K@ u*QVz;Iu*Cx2Hf>x6 EidIf̓C))F@5Y=7=>AAQE3EAM-;M>IQ IU8ٮQQ Q]tI Q U]C9QU: U:)UW8 e9)aIa mtIia m Ea eF:)e:IeѸ9yIy9y*G2GFFrFbFEE);I9 iIb:i 2@<:@w: i/* (AYt*K@t*]Z@yt*:2t*O s>t*H`?꪿`ѿ@vr]? [?@??)u*K@ u*ƨz;Iu*Cxni>xnNEGrAAHp)eGiamxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y3V:>Q3E >I I8ٮ M8 QtI  UC9: ^:)8 9)I tIi  E ٮ:):Iٸ9I9*G2GFFrF!bF!E!E!)=;I=9 99iAIAAET|9iII I2@U<:@Uw: ag/* s˿(A( (YtQK@t\Z@yttKR>tH f?F殿`Zѿ``}??@[?@?)uQK@ uD|;IuCxPY>xEiI)edGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y >;> Q3E%<%>I) I58ٮ)) Q5tI ) U5C9)-: -:)-. 8 =9)9I9 EtIi9 E E9 =B:)=5:I=k9QIQ9QOeDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFqrFqbFqEyEy);I9 iI^)8i 2@<:@w: ߹ /* "p忨(AYt*K@t*^Z@yt*V0t*>t*H? ` ѿ6?@ ??`?)u*K@ u* |;Iu(xZ,t>xZ#E)-GF@}Y}R>ʁʁQ3Eʁ͍B>I I8ٮ QtI  UC9鰕Nn< n<)+8  9) I  tIi   E  :) R:I 9!I!9!&5M5Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'5 N5Initialize.q'=N@Vehicle HDG: 195.495846 arcdeg .q''*G2GFFrFbFEE);I9 iIB 7i 2@<:@w: R>l>/* J(AYt*dK@t*o}Z@yt*Й7t*?g>t*H?]^6ѿ`x`???.?)u*dK@ u*};Iu(xFeq>xFnEHJp=HJa=iTIT) GF@=YEE>AAQM3EIMޙ;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia m Ea e:)eԘ:Ie)9yIy9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI5i !2@%<:@-w: 90* >%(A) IYt*fK@t*qZ@yt*0t*n>t*H? .Bѿ?E?֎?"?)u*fK@ u*|;Iu(xR`k>xVE)!a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ]:>ʉʉQ3Eʉ͕:>I I8ٮ QtI  UC9鰝ͭ: J:) 8 9)I tIi  E  :):I9I9*G2GFFrFbFEE);I9 iI4i 2@ <:@w: !( 0* ?3(AYt*NK@t*YZ@yt*9/t*">t*H?M୿Aѿ6 0?@?h6?O?)u*NK@ u*f};Iu(xF,t>xF#EiTIT) ƄGF@=YEi9E>AIQM3EIU0U>IY Ie8ٮYY QetI Y UeC9Y]c: ]:)]'8 u9)i u9Ii utIii } Ei m:)m:Im39I9*G2GFFrFbFEE);I9 iI=3i 2@<:@w: iz0* UL(AYt*K@t*Z@yt*N(t*4ф>t*H`?qx;ѿg? ?kj?@~?)u*K@ u*};Iu*CxRHf>xR EGV@AHT)҄Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅV:>ʁʁQ3Eʉ͍v>I I8ٮ QtI  UC9鰕: R:).8 9)I tIi  E :):I 9I9*G2GFFrFbFEE);I9 iIc^2i 2@ <:@ w: !:0* |f(A Yt*K@t*rZ@yt*6t* t>t*H@ `?N,ѿ z?†?7??)u*K@ u*p7|;Iu*Cxbj>xbqE {dY|df8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI!)ƄGF@Y0>  Q 3E 5>IA IM8ٮAA QMtI A UMC9AE\: E m<)E68 9)I tIi  E D:)X:I9I9*G2GFFrF bF EE)%;I%9 AIiIIIQU0iQQ Q2@]<:@]w: q" 0* (AYt*K@t*ҩZ@yt*Lj%t* 5m>t*H@?@h&aѿ d?2?b?$?)u*K@ u*G={;Iu*CxF?s>xFE)]GF@eYmX-;m>qqQu3Eq}<}>I I8ٮ QtI  UC9鰅%: :)~<8 9)I tIi  E ;:):I9I9*G2GFFrFbFEE);I9 iI/i 2@<:@w: e>L&0* m(AYt*L@t*Z@yt*8t*d|>t*H@G?kѿ$`??`sL??)u*L@ u*0z;Iu*CxR,t>xR#EHPHVp=ibf=IfѓC)%G-4=)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y7 >  Q 3E Z:5>I9 IE8ٮ99 QEtI 9 UEC99=: =:)=C8 M9)III UtIiI u EI M;)M;IM&9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI .i   2@5<:@5w: Av,0* H(A) IYt*K@t*Z@yt*/t*>t*H~f?/V Fѿm? Z?g??)u*K@ u*yy;Iu(xFj>xFqE)҄GF@%Y%:%>))Q-3E)5 һ5>I9 I=8ٮ99 QEtI 9 UEC99=_: =а:)=J8 M9)III UtIiI U EI MO:)M:IM.9aIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uNm@Vehicle HDG: 195.659156 arcdeg .q'm'm*Gi2GiFqFqrFybFyEyEy);I9 iI+-i 2@<:@w: ^30* :#(AYt*+L@t*Z@yt*߸t*m~>t*Ho@&? N.ѿ? w?ԉ??)u*+L@ u*x;Iu*CxF^>xJ EiTIV̓C)  Ga 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm8;u>qqQu3Eq}5<}>I I8ٮ QtI  UC9鰅%: ):).Q8 9)I tIi  E 1:):I_79I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIM,i 2@ <:@ w: Yi90* (AYt*K@t*Z@yt*6t*bk>t*H@I?@`$Bѿ`u?ֆ?@)?(?)u*K@ u*v;Iu*CxF*[>xFEGJAAHH) AIQM3EIMPFM>IQ I]8ٮQQ Q]tI Q UeC9QU: UN:)UW8 m9)aIa mtIia m Ea e:)e|:Ie?9yI9*G2GFFrFbFEE);I9 iI;+i 2@<:@w: p@0* ^(A Yt*4L@t*Z@yt*@4t*w>t*H=?|@ѿ??`?@?)u*4L@ u*Y5v;Iu*CxFo>xFEiTIT) GF@Y%,9%>!!Q-3E)-\<->I1 I=8ٮ11 Q=tI 1 U=C915>: 5 :)5^8 M9)AIA MtIiA M EA E}:)EԘ:IE.H9YIY9a*Gi2GqFqFqrFybFyEyE);I9 iI *i 2@<:@w: ߹`F0* $(AYt*I*L@t*TZ@yt*Jt*>t*H`S?x˯Ќѿ ޝ@)?`hP?)? G?)u*I*L@ u*u;Iu*CxFv>xFE)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm\Wm>iqQu3Equͺ}>Iy I8ٮyy QtI y UC9y}: }):)}e8 9)I tIi  E :):IP9I9*G2GFFrFbFEE);I9 iIo(i 2@<:@w: >i>L0* m5(AYt*{L@t*Z@yt*t*)>t*H;@?V+sѿ ?=?u?"?)u*{L@ u*:u;Iu(xRk>xREHVa=HVa=if=If“C)5G11F@]Ye;e>aaQm3Eimm>Iq I}8ٮqq Q}tI q U}C9qu: u8:)ul8 9)I tIi  E F:):IaY9I9*G2GFFrFbFEE);I9 iI'i 2@<:@w: S0* vO(A) IYt*uDL@t*Z@yt*Qt*d>t*HuW?@^@ѿ@?6?c[?@4?)u*uDL@ u*s;Iu*CxF[>xF E)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭn7>ʩʩQ3Eʩ͵;>I I8ٮ QtI  UC9鰽q: 1:)s8 9)I tIi  E :)9:Ib9I9*G2GFFrFbFEE );I9 !i!I!!-,e&i)) )2@5<:@5w: AY0* Ei(AYt*hL@t*[@yt*Bt*HEp>t*H@ȼw?#f`ѿ kf?Q?@??)u*hL@ u*r;Iu*CxF1z>xJE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixI~̓C)GF@YZ>  Q 3E ;>I! I-8ٮ!! Q-tI ! U-C9!%u: %;)%z8 e9)YIY etIiY e EY ]D:)]W:I]j9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF!rF!bF!E)E))=;IE9 AAiAIAIM%iMV>  2@<:@w: Ii`0* (AYt*FL@t*Z@yt*Kt*`>t*H`2?@P@\ѿ @y?Vu?`vr??)u*FL@ u*8Fs;Iu*CxRRr>xREGV@AHT)5SGi=xA=wAF@}YʅO>ʁʁQ3Eʉ͍>I I 8ٮ QtI  UC9鰕X< <)x8 %9)I %tIi % E :):IPs91I191&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NMInitialize.q'MN@Vehicle HDG: 196.016976 arcdeg .q''*G2GFFrFbFEE);I9 iI#i 2@<:@w: f0* 3(A Yt*L@t*Z@yt*t* >t*H ?]ϰ0ѿI? l? E ??)u*L@ u*qs;Iu(xFi>xJNEiXIX)dGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@uYu0<u>yyQ}3Eyͅջ>I I8ٮ QtI  UC9鰍q: :)X8 9)I tIi  E S:):I{{9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI"i 2@ <:@ w: !6m0* 8׶(AYt*PL@t*Z@yt*,$t*i>t*H9T`?>ѿ@@5??`!?*?)u*PL@ u*fr;Iu(xFk>xJE)GF@%Y%9%>))Q-3E)5n<5>I1 I=8ٮ11 QEtI 1 UEC915: 5:)58 M9)III UtIiI U EI M:)MA:IMŃ9aIa9a*Gq2GqFqFyrFybFEE);I9 iIɣ!i 2@<:@w:7x> l>s0* !(AYt*a_L@t*l [@yt*RYt*Jj>t*H@ 3y?שʿѿ`%Z?u5?y?)?)u*a_L@ u*r;Iu*CxFg>xFsEHJp=HJp=iVf=IX) G%=F@=YEE>AIQM3EIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU2: U:)U8 m9)aIa mtIia m Ea eՐ:)eo:Ie[9yI9*G2GFFrFbFEE);I9 iIl i 2@<:@w:> ߡN%z0* (A) IYt*ejL@t*p[@yt*2t*0>t*HY?<ѿ2;?@?`? ?)u*ejL@ u*r;Iu*CxFsj>xF(E)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm;m>iqQu3EquR:}>I I8ٮ QtI  UC9鰅: :)8 9)I tIi  E ):):I9I9*G2GFFrFbFEE);I9 iI4i 2@<:@w: )I ߩ& 0* h¨(AYt21L@t2Z@yt2Rt2U>t2H?@kѿd@??@ ?R?)u21L@ u2s;Iu2Cx:eq>x:nEiPIP)Q3E%%>I! I-8ٮ!! Q-tI ! U5C9!%: %:)%8 =9)1I1 =tIi1 E E1 5:)5$:I5A9IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI i 2@<:@w: ߱iY90* L¨(AYt.Y7L@t.dZ@yt.@t.}>t.H=?ꬿ@hѿ*4?`?b?`U?)u.Y7L@ u. r;Iu.Cx~xp>x~EG HAA) GiwAxAa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYusu>qyQ}4Ey}a:}>I I8ٮ QtI  UC9鰅: E:)_8 9)I tIi  E Ր:) :I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: \a0* 8¨(A Yt.mL@t.[@yt.&t.[>t.H -@և?l`ѿe?`Մ?7=?C?)u.mL@ u.?r;Iu.CxJo>xJEiZ=IX)]GF@Yʍ ;>ʑʑQ4Eʑ͝<>I I8ٮ QtI  UC9鰥: >:)ñ8 9)I tIi  E >:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9  i I Fi 2@<:@w: 1NI0* nQ¨(AYt*?rL@t*J[@yt*qr(t*>t*H`l? Yѿ @\?5?q?@L?)u*?rL@ u*Yr;Iu(xFHf>xF E) ҄Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y鈹>Q4E%:>I I8ٮ QtI  U C9:: :)۸8 9) I  5tIi  5 E  _;) W;I ^9AIA9I&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N@Vehicle HDG: 196.168415 arcdeg .q''*G2GFFrFbFEE)=;I=9 99i9I9AEJBiAI I2@u<:@uw: ߁R>a>es0* kk¨(AYt*dL@t*[@yt*6t*~>t*H ` 9?`` ѿ` m?҆?JS?@x?)u*dL@ u*&s;Iu(xFu>xJEHJa=HH {LY|LR8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ivf=Ix)eGu4=yF@Yʕ>ʱʹQ4Eʹ>I I8ٮ QtI  UC9; ;)48 9)I tIi  E :):I9!I)9)=O5@Contact HDG: 154.404486 arcdeg .'5'5O54Initialize Wait Component.*G92G9F9F9rFAbFAEiEi);I9 iIi 2@<:@w: Z[0* 氅¨(A)4t*H`W#?ePѿ 9?|??s?)u*$5L@ u*r;Iu*CxVZ>xVzE)MvGF@]Y]z e>aaQe4Eamm>Iq I}8ٮqq Q}tI q UC9qu/>; uEP;)uVƖ8 9)I tIi  E 7;)u;Iȹ9I9*G2GFFrFbFEE);I9 iIvi !2@%<:@-w: Y̅0* a¨(AYt*cEL@t*nZ@yt*t*Ga`>t*H Z?@ >`ѿ ][? q?`?;?)u*cEL@ u*r;Iu*Cx}]>x}Ei=I)Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@MYʭ;>ʱʱQ4Eʱͽn;>I I8ٮ QtI  UC9; |;)Ζ8 9)I tIi  E :)˚:I5ҹ9)I)9)*G92G9FAFArFabFiEiEi)};I9 iIi 2@<:@w: i0* f¨(AYt*bzL@t*m'[@yt*j1t*-r>t*Hc@Ղ? dI ѿ.-? A-???`~?)u*bzL@ u*Gr;Iu*Cx^^>x^ EG`Hb@A)}Giy}wAF@Yʥ)?ʡʡQ4Eʡͭ<?I I8ٮ QtI  UC9鰵k; $;)EԖ8 9)I tIi  E ̒:):ILٹ9 I 9 *G2GF!F!rF!bF)E)E))E;IE9 AAiAIAIMiII Q2@U<:@]w: i 0* 8I¨(A Yt*lL@t*[@yt*77t*S>t*HE`xNIEi\I\)dGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Y}|}>ʁʁQ4Eʁ͍ >I I8ٮ QtI  UC9鰕: :)ۖ8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I9 iI^]i 2@<:@ w: 0* ¨(AYt.EL@t.Z@yt.)t.A6>t.HL?`Hwѿ`s`I?;??D??)u.EL@ u.t;Iu.Cx^q>xbE)5GF@}Yʅ;>ʁʁQ4Eʁ͍>I I8ٮ QtI  UC9鰕>: B:)8 9)I tIi  E :):I&9I9*G2GFFrFbFEE);I9 iI)i 2@ <:@ w: p>p>0* è(AYt:JL@t:Z@yt:B &t::h>t:H@\?`R꪿Nѿy?Ä? ?.?)u:JL@ u:-]t;Iu8x-x>x-EH=R=H=a=if=I)%ʩʩQ4Eʩ2:>I I8ٮ QtI  UC9ի: 1:)8  9) I  5tIi  5 E  ;)  ;I 9AIA9AOuDone Waiting.'uOu8Uninitialize Wait Component.*Gy2GyM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIi 2@<:@w: y0* , è(A) I Yt*L@t*E[@yt*9t*sb>t*H`2෭?Lѿ_X?`8??7?)u*L@ u*V3t;Iu*CxFp>xF%E) GF@Y%]%>!!Q-4E)-^<-?I1 I8ٮ11 QtI 1 UC915/]< 5]<)58 9)I tIi  E :):I+9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 196.300552 arcdeg .q'M'M*GI2GIFIFIrFqbFqEyEy);I9 iI,i 2@<:@w: 0* :è(AYt. L@t..[@yt. t.>t.H&T?@yPѿw)g?{?`?ڶ?)u. L@ u.t;Iu.CxJeq>xJnEiXIX)F@-Y5v;5>11Q54E9=JbE>IA IM8ٮAA QMtI A UMC9AE: E:)E8 ]9)Q ]9IQ ]tIiQ e EQ U:)U+:IUx9iIi9q=Ou@Contact HDG: 154.404486 arcdeg .'u'uOu4Initialize Wait Component.*Gy2GyFyFyrFbFEE);I9 iIwi 2@<:@w: i,0* /Tè(AYt*>L@t*Z@yt*%(t*w>t*H>?৊ϠѿX`7t??@??)u*>L@ u*\v;Iu*Cxbn>xbEGdHd)ESGiIIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭJ>ʱʱQ4Eʱͽu>I I8ٮ QtI  UC9: :)8 9)I UtIi U E ˍ<)Gt*H@m L?@Mѿ:@C?w?`? ?)u*OL@ u*حu;Iu*Cx6,t>x6#E {8Y|8>8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i=I!)dGF@Y/ >Q4E;>I  I8ٮ  M8  QtI  UC9  4; ;) 8 -9))I) 5tIi)  E) -7<)-t:H`v?*«`0ѿe@ʈ?/?``?3?)u:QL@ u:t;Iu:Cxa>x E)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YM;M>IIQM4EIU;U>IY Ie8ٮYY QetI Y UC9Y]"< ]"<)] 8 9)I tIi  E 5:)':IQ9 I9*GA2GAFAFIrFIbFIEQEQ);I9 iI i 2@<:@w: ߩN>l>%"0* &è(AYt*JL@t*U2[@yt*M7t*z>t*Hո`x?`@Qѿ @??g??)u*JL@ u*(t;Iu*CxN`k>xREHRp=HRp=i`I`)!))F@=YERE?AAQM4EIMtM?IQ I]8ٮQQ Q]tI Q UeC9QUS: U:)U8 m9)aIa mtIia m Ea eB:)e:Ie%9I9*G2GFFrFbFEE);I9 iI!%ʵ i!! !2@-<:@-w: aL0* è(A)IYt.LL@t.W0[@yt.u#t.>t.H6`[D?ϲvѿ`SxW?`p??`A?)u.LL@ u.;u;Iu.Cx]Ze>x] E)GF@Y8;> Q 4E   >I I8ٮ QtI  U%C91: W:)n8 -9)!I! -tIi! - E! %:)%:I%.99IA9A*Gq2GqFqFyrFybFyEE);I9 iIp i 2@<:@w: @40* è(AYt*ZL@t*[@yt*Ut*0>t*H ]9?Wѿl?6?@l? "?)u*ZL@ u*t;Iu*Cxnl>xnEi|I~“C)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UY]W:]>YYQe4Eae^Ļe>Ii I8ٮii QtI i UC9imõ; m;)m 8 9)I tIi  E ::)N:Il79I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)M;IU9 QQiQIQY]-iYY a2@e<:@ew: ߙic]0* ڪè(AYt*KTL@t*V[@yt*d8t*%;m>t*He?@# Aѿ 8?@t ? 1c?`$?)u*KTL@ u*t;Iu*Cx}u>x}EGAAH)UGiY]xAF@YʽG~>ʹʹQ4Ep>I I8ٮ QtI  UC9s< <)'8 %9)I %tIi % E :):IE@9qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.063667 arcdeg .q''*G2GF)F)rF1bF1E1E1)u;I}9 yiI i 2@<:@w: )F1* ‰ Ĩ(A@ Yt*:L@t*EM[@yt*$(t*}|>t*H`#(?`xL7ѿH@b??@I??)u*:L@ u*jt;Iu*Cx^l>x^Einf=In̓C)=XGF@]Ye4;e>aaQe4EimR<m>Iq I}8ٮqq Q}tI q U}C9qu: uc:)u-8 9)I tIi  E :),:IG9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GF F rFQbFQEQEQ)m;I 9  i I iy> 2@<:@%w: ߁Dp1* d#Ĩ(AYt*4CL@t*?Z@yt*Xt*b>t*H@+?dѿKq?Ղ?]??)u*4CL@ u*s;Iu(xN}v>xRE)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y%;>Q4E\>I I%8ٮ Q%tI  U%C9S: :)58 59))I) UtIi) U E) -1;)-9;I-P9aIa9a*G12G1F9F9rF9bFAEAEA);I9 iIki 2@<:@w: >>W1* ?=Ĩ(AYt*gL@t*[@yt* t*̂>t*H' G;?`h@%ѿ&?@:?J??)u*gL@ u*.Mt;Iu*Cx^,t>x^#EHb=H`ir=Iv“C)EdGIMa=F@]Ye;e>aaQe4Eim[;m>Iq I}8ٮqq Q}tI q U}C9quh: ul:)u;8 9)I tIi  E Ր:)ȗ:IX9I9*G2GFFrFbFEE);I59 11i1I99=wiAA A2@M<:@Mw: yW1* eWĨ(A);IYt.ReL@t.][@yt.IEt.%x>t.H 6pn?^`ѿ`D;? ?`?`?)u.ReL@ u.{s;Iu.CxNn>xRE)GF@=YEE>AAQE4EIMSȹM>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U^B8 m9)aIa mtIia m Ea eh:)e|:Ie#a9I9*G2GFFrFbFEE);I9 iI9Fi!! !2@-<:@-w:p> Z1* pĨ(AYt29L@t2Z@yt2 8#t2w>t2Hjd>?@śѿ`>?f??`7?)u29L@ u2s;Iu2CxNe>xNP E {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I~̓C)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Y0;>Q4E&>I I8ٮ QtI  UC9: а:);J8 %9)!I! -tIi! - E! %:)% :I%j9YIY9Y*G!2G!F)F)rF1bF9E9E9);I9 iIi 2@E<:@Ew:iu?΅> yA"1* NъĨ(AYt*`L@t* [@yt*At*\>>t*H@,I?+gGѿ`kU?`t?S?O?)u*`L@ u*{s;Iu*CxNl>xREGR?AHP)5Gi9=wAF@]YeR:e>aaQe4EamN;m>Iq I}8ٮqq Q}tI q U}C9qu[: u:)u9P8 9)I tIi  E :):I>r9I9*G2GFFrFbFEE);I59 11i9I99EeiAA A2@M<:@Mw:q q)yIy C(1* Ĩ(A@ Yt.L@t.Z@yt.t.wP>t.H4?zAgѿG?B??k?)u.L@ u.Ֆs;Iu.CxF'n>xFpEiXIX)]dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ6:>Q4E_>I I8ٮ QtI  UC9: :)QW8 9)I tIi  E ::),:I{9I9*G 2G F FrFbFEE)5;I59 11i1I19=Si9A A2@E<:@Mw: Y.1* Ĩ(AYt*L@t*Z@yt*P.t*>t*H` ?ͮ`vѿ ?ԅ?o??)u*L@ u*~s;Iu*CxFp>xF%E)GF@}Yʅ5>ʁʁQ4Eʁ͍;>I I8ٮ QtI  UC9鰑 5:)^8 9)I tIi  E :):IY9q  Software FaultI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )!ExSoftware Fault in component: DeadReckonWithRespectToSeafloort><51* bĨ(AYt*K@t*Z@yt*3t*jq>t*H@2?P'Oѿ6?`"{?@? ?)u*K@ u*s;Iu(xF:m>xFEHJa=HJa=iVf=IT)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y)D>!!Q%4E!-羻->I) IU8ٮ)) Q]tI ) U]C9)-ض; -;)-Pe8 e9)aIa etIia m Ea e:)e:Ie^9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 195.692228 arcdeg .q'm'u*Gq2GqFqFqrFybFyEyE);I9 iIHHi 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq  ~;1* =Ĩ(A)IYt.L@t.۴Z@yt.t.G|>t.HH ?1ykѿy[?h]?`17?I?)u.L@ u.s;Iu.CxFk>xFE)dGF@=YE;E>AAQE4EIM-;M>IQ I]8ٮQQ Q]tI Q U]C9QU`: U :)Uk8 m9)aIa mtIia m Ea e:)e :Ie39yIy9y=O}@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIR i 12@5<:@=w: IB1*  Ũ(AYt*[K@t*fuZ@yt*94t*&>t*H@ !?.ѿ`r? ɑ?-??)u*[K@ u*s;Iu*CxF`>xF. EiTIT) jGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYmjzm>qqQu4Eq}}>I I8ٮ QtI  UC9鰅: _:)r8 9)I tIi  E :):IԜ9I9*G2GFFrFbFEE);I9 iIi 2@u<:@}w: ߉i@A@A I1* %Ũ(AYt*|K@t*.Z@yt*t*(>t*H@Mw?Pfпn ~?``??t?)u*|K@ u*s;Iu*CxR,t>xR#EGR@AHP)GF@]Ye};e>aaQm4Eim/0m>Iq I}8ٮqq Q}tI q UC9qu: ul:)uy8 9)I tIi  E :):IN9I9*G2GFFrFbFEE);I9 iI|i 2@<:@w: !6O1* )?Ũ(A Yt.,K@t.75Z@yt.e,t.u>t.HT\?'`пܯ?`2? cl?`?)u.,K@ u.|s;Iu.CxJp>xJEiZ=IX)+GF@%Y-u3->11Q54E1=:=>IA IE8ٮAA QMtI A UMC9AE: E1:)E^8 U9)QIQ UtIiQ ] EQ U:)UU:IU9iIi9i*Gy2GFFrFbFEE);I9 iIR)i 2@<:@w: V1* YŨ(AYt*SK@t*Z@yt*Y(t*p>t*HDn?0 п<1 ?? i?o?)u*SK@ u*;$t;Iu*CxF{]>xF/E)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm@::m>qqQu4Equ}>I I8ٮ QtI  UC9鰅: :)f8 9)I tIi  E :)k:I\9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: p>G\1* sŨ(AYt*"TK@t*-Z@yt*@ t*>t*H=@(`?@i@пT??X?@?)u*"TK@ u*`s;Iu*CxRk>xREHR4=HP {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI!)SG4=%=F@Y:>Q4E8>I I 8ٮ Q tI  UC9; :)8 %9)I %tIi - E I:):I>9iIq9*G2GFFrFbFEE)=;I=9 9AiAIAAM%iII i2@u<:@uw: ߉ 0c1* ^Ũ(A) IYt*;J@t*FY@yt*$t*>t*Hj ?2 uTпINw?@h?k??)u*;J@ u*z(t;Iu*CxFjw>xF"E)%dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Yc:>Q4EI>I I8ٮ QtI  UC9.: :)e8 9)I tIi  E 5:)ϸ:IǺ9I 9 ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFQEQEQ)m;Im9 iiiiIiqu[iqy y2@}<:@w: ߑlZi1* :Ũ(AYt*J@t*Y@yt*&t*>t*H ??`_NпF?߄? /? ?)u*J@ u*Et;Iu*CxF'n>xFpEiZf=IZѓC)GF@]YeFe>aaQe4Eamㆺm>Iq I}8ٮqq Q}tI q U}C9qu: uc:)u8 9)I tIi  E  :):IϺ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.760508 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@ w: 9i?A?AAp1* jŨ(AYt*=J@t*HRY@yt*%4t*Km>t*H@?@nLп3?@?Wq?#?)u*=J@ u*t;Iu*CxJmd>xJu EGJ?AHL)GiyAxAF@-Y-->11Q54E1==>IA IM8ٮAA QMtI A UMC9AEF: E:)Eע8 U9)QIQ ]tIiQ ] EQ U:)U:IU<غ9iIi9i=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI7Bi 2@<:@w:  lv1* Ũ(A Yt*zJ@t*0Y@yt*B2 t*ir>t*H D?ϿP`? ;&? R??)u*zJ@ u*t;Iu*CxFh>xFEiTIV̓C) Ga 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm@;u>qqQu4Eq}}>I I8ٮ QtI  UC9鰅: į:)ᩗ8 9)I tIi  E S:)0:I9I9*G2GFFrFbFEE) ;I 9  i I i> 2@<:@%w: 1N|1* SŨ(AYt*aJ@t*Y@yt*bt*z>t*H?Ͽ[Z?ԃ??p ?)u*aJ@ u*t;Iu*CxFe>xFP E)vGF@Y"Z>!!Q%4E!%->I) I58ٮ)) Q5tI ) U=C9)-`: -:)-8 E9)AIA EtIiA M EA E:)EN:IE59QIQ9Y*Gi2GiFiFirFqbFqEyEy);I9 iIS޼i 2@<:@w: R>l>}1*  ƨ(AYt*4 J@t*?X@yt*\2t*f>t*H` lU?  ο ы?`tK?@e?x?)u*4 J@ u*Hu;Iu*CxFo>xFEHJp=HHiXIX) dG%=a 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@uYʍ<>ʙʙQ5EʡͥR>I I8ٮ QtI  UC9鰭: )8 9)I tIi  E Ր:)ȗ:I9I9*G2GFFrFbFEE) ;I 9  i I{ܼi 2@%<:@%w: 1C1* k(ƨ(A) IYt*dI@t*oX@yt*1t*y>t*H  ? Xο!S?5?q? 7 ?)u*dI@ u*t;Iu(xbq>xbE)=GF@eYu8u>yyQ}5Eyͅ9>I I8ٮ QtI  UC9鰍F: ):)8 9)I tIi  E :):Iz9I9*G2GFFrFbFEE);I9 iI}:ڼi 2@<:@w: n>  1* \Bƨ(AYt.I@t.[X@yt.Mt.;h>t.H`?@%MοDG@xJEiXIZѓC)evGF@Yʕx;>ʑʙQ5Eʙ͝Vѻ>I I8ٮ QtI  UC9鰥ի: :)ŗ8 9) 9I tIi E ˚:):I9I9*G2GFFrFbFEE);I9  i I  b׼i 2@<:@w:0ƀ> iD1* 7\ƨ(Ax~f>x~ EG@AH):GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%%>!)Q-5E)-->I1 I=8ٮ11 Q=tI 1 UEC915%: 5J:)5̗8 M9)AIA MtIiA MEA Eɏ:)E:IE 9YIY9aOmDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFybFEE);I9 iI<ռi 2@<:@w: )I Ie1* vƨ(A Yt*^I@t* X@yt*S0:t*U;>t*H?DZͿ"i/?E?Ǹ?`?)u*^I@ u**u;Iu*CxFh^>xFE {HY|LN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|I~̓C)GF@=YE&E>AIQM5EIͭVC>I I8ٮ QtI  UC9鰵; :)ӗ8 9)I tIi E :){:I9 I 9 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.415016 arcdeg .q''*G2GFFrFbFE!E!)];I]9 YaiaIaҼi 2@<:@w: F̣1* ƨ(AYt*4 I@t*?W@yt*Et*>t*H)`+h?@ Ϳ# ?(?_#??)u*4 I@ u*y'u;Iu*CxFd>xF E)%҄GF@5Y=;E>IQQU5EQe&]m>Ii Iu8ٮii QutI i U}C9im: mb:)mڗ8 9)I tIi E F:):Is9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFYbFYEaEa)u;Iu9 yyiyIyмi 2@<:@w: >p>a1* ɩƨ(Axno>xrJEHra=Hpi=IѓC)e+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>Q5E>I I8ٮ QtI  UC9h: :)78 9)I tIi E X:):I>%9I9*G2GFFrFbF!E!E!);I9 iIμi 2@<:@w: Nް1* jƨ(A) IYt*H@t*sW@yt* (t*m\[>t*H`1 r(?Cf̿Gw`?? 5?TD?)u*H@ u*%u;Iu*Cx6i>x6NE)SGF@Y]>Q5E !) >I  I58ٮ   Q=tI  U=C9  R; ;) :8 E9)AIA EtIiA MEA E:)E:IE-9qIy9y*G2GFFrFQbFQEQEQ)m;Im9 iiIvk̼i 2@<:@w: 1* ƨ(AYtVpH@tV W@ytVT2tVEf>tVH:`|?0=˿`m!?sJ??1?)uVpH@ uVt;IuVCx~e>xP EiaIe̓C)Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥp>ʡʡQ5EʡͭI>I I8ٮ QtI  UC9鰵ͭ: а:)|8 9)I tIi E -:):I69I9*G2GFFrFbFEE);I9 iI/ʼiw> 2@<:@ w: i(21* Yƨ(AYt>iH@t>W@yt>!t>Q>t>H@; ~?@֡˿?k2?f?S?)u>iH@ u>t;Iu>Cx^g>x^sEG`H`)=vGF@MYM9;M>QQQU5EQ]İ]>Ia Ie8ٮaa QmtI a UmC9ae: e:)e8 u9)qIq }tIiq }Eq u:)u:Iut>9I9*G2GFFrFbFEE);I9 iIZȼi 2@<:@w: X1* v5Ǩ(A Yt>GiH@t>RW@yt>뻙t>˽g>t>H;Q?`Cx@i˿@Om:?{}?e?.?)u>GiH@ u>t;Iux"Ei5f=I1)GF@Yʥ>;>ʩʩQ5Eʩ͵8>I I8ٮ QtI  UC9鰽\: :)8 9)I tIi E :):I3G9I9*G2GFFrFbFEE);I9 iI!%QƼi!! )2@-<:@-w: AH1* -"+Ǩ(AYt.^aH@t.iW@yt.&3t.P>t.Ht<@w? '"˿ ?@gx??U?)u.^aH@ u.Mt;Iu.CxJcX>xJE) +Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ4>ʱʱQ5Eʱͽ>I I8ٮ M8 QtI  UC9: :)8 9)I tIi E %:)Z:IO9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bFEE)%;I%9 ))i)I)15"üi11 92@=<:@=w:%> )R>l>,1* DǨ(AYt.aH@t.lt.Hu7F?â@̿B| 6?=ׅ?]F? bC?)u.aH@ u.3t;Iu,xbmd>xbu EHbR=Hdir=It)EGM=M4=F@}YʅJ:>ʁʁQ5Eʉ͍;>I I8ٮ QtI  UC9鰕Տ< <)m 8 %9)!I! -tIi! -E! %:)%:I%vX9aIi9i&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.689308 arcdeg .q'-'-*G)2G)F)F1rF1bF1E9E9)m;Iu9 qqiqIqy}Aiyy y2@<:@w:}/0v> ߉V1* ^Ǩ(A) IYt.{H@t.(W@yt.Xt.ZS>t.H9 ?h.˿ `??;?`Q?)u.{H@ u.t;Iu.Cx6'n>x6pE)zƄGa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYUj;U>YYQ]5EYeEe>Ii Im8ٮii QutI i UuC9im:: m:)m;8 }9)yIy tIiy Ey }S:)}:I}`9I9=Om@Contact HDG: 154.404486 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFybFEE);I9 iIjZi 2@<:@w: )I ߡ(1* ,xǨ(AYt.H@t.rW@yt.t.‚[>t.H1`i?@`=̿@w? ?^:? 'D?)u.H@ u.5s;Iu.Cx6`>x6. E {8Y|8>8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ijf=Il)]GF@Yʥ>ʡʩQ5Eʩͭ2<>I I8ٮ QtI  UC9鰽=: ^;)K8 9)I tIi E @;)H;ICi9I9*G2GFFrF!bF!E)E));I9 iIpi 2@<:@w: ih1* }Ǩ(AYt*#H@t*.W@yt*|t*\>t*H .M?` .̿r?`ς?@hb?@A?)u*#H@ u*s;Iu*Cxbr>xbIEGdHd)]GiewAewAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yg9>Q5E?{;>I I8ٮ QtI  UC9p: :)?8 9)I tIi E :):Iq9I9*G 2G FFrFbFEE)5;I59 11i1I99=KiAA A2@M<:@Mw: Y1* SXǨ(A Yt*I@t*W@yt*t*b>t*H`*ӌ?Τn̿c@??`"?@7?)u*I@ u*qt;Iu*Cxbd>xb EipIp)EGF@UY]]>YaQe5Eae;e>Ii Iu8ٮii QutI i UuC9im: m:)m%8 9)yIy tIiy Ey }:)}:I}z9I9*G2GFFrFbFEE);I9 iIոi 2@<:@w:  |1* :Ǩ(AYt*+I@t*W@yt*ˉ;t*:e>t*H%@?vNͿZ ?q?i? 3?)u*+I@ u*ܜs;Iu*Cx]Rr>x]E)}!!Q%5E!-;->I I8ٮ QtI  UC9: :)&.8 9)I tIi E <)e>1* Ǩ(AYt*lUI@t*wX@yt*t* m>t*H@@!@?Mצ Ϳ H?㜂?`,n?-$?)u*lUI@ u*Ns;Iu*Cx^a>xb EHbp=H`ipIp)EGM%=IF@UY]J;]?YaQe5Eae;m?Ii Iu8ٮii QutI i UuC9im: m:)m38 9)yIy tIiy Ey }S:)}g:I}9I9*G2GFFrFbFEE);I9 iIWi<> 2@<:@w: 1* Ǩ(A) IYt*zI@t*6X@yt*,t*+r>t*H6`Hp?駿ο9@yh?vށ?` ??)u*zI@ u*Js;Iu*Cx~e>x~P E)uXGF@Yʍh:>ʉʑQ5Eʑ͝;>I I8ٮ QtI  UC9鰥: S:):8 9)I tIi E :)4:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9  i I  \ i 2@<:@w: 92* Ȩ(AYt*ĵI@t*bX@yt*+t*=k>t*H`?O Zοo? z?q?@J9?,'?)u*ĵI@ u*r;Iu(xj\>xjEixIz“C)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q5E; >I  I8ٮ   QtI  UC9  : -:) A8 %9)!I! %tIi! -E! %Ր:)% :I%91I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 193.718795 arcdeg .q''*G2GFFrFbFEE);I9 iIBi 2@<:@w: i 2* -Ȩ(AYt*4I@t*?X@yt*N;t*Uyk>t*H=? zο:"?i?q,?'?)u*4I@ u*q;Iu*Cxk>xEGAAH)GixAF@Y>Q5E;>I I8ٮ QtI  UC9S: а:)?I8  9)I MtIi UE <) ߡ2* (|GȨ(A@ Yt6I@t6X@yt6&(t6 v>t6H6?G ο?'?` ? ?` ?)u6I@ u6g|q;Iu4xEi>xEEi=I̓C)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ:=;>ʩʩQ5Eʩͭ>I I8ٮ QtI  UC9鰽\: :)P8 9)I tIi E J:):I9I9*G2GFFrFbFEE);I9 iI!%i!! )2@-<:@5w: K> 2* zVaȨ(AYt*B J@t*MX@yt*Gt*v>t*H2 ?ˈ`)Ͽ3 P?ȁ?ׄ?l?)u*B J@ u*sq;Iu(xFc>xF E)))Q-5E)-=<5>I1 I=8ٮ11 QEtI 1 UEC915%: 5J:)5V8 M9)III MtIiI UEI MՐ:)M:IM9aIa9a*Gq2GqFqFyrFybFEE);I9 iIi 2@<:@w: )I Ie>Y>2* n1{Ȩ(AYt*'J@t*X@yt*1/t*0l>t*H"@? _7ϿM1E?*?B? &?)u*'J@ u*'q;Iu(x2V>x2EH4H4 {4Y|8:8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ivf=Ix)uG%=F@Y>Q5E:>I I8ٮ QtI  UC9: 8;)O]8 9)I tIi E U=;):Iw9I!9!*G92G9FAFArFIbFIEQEQ)u;Iu9 qyiyIyi 2@ <:@ w: !%2*  Ȩ(A) IYt*TJ@t*Y@yt*\*t*ji>t*H`" ?eϿc0c?@V? ? +?)u*TJ@ u*p;Iu*CxFU>xFXE)%SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʅB:>ʉʉQ5Eʉ͕;>I I8ٮ QtI  UC9鰝h: ):)d8 9)I tIi E ɏ:):Iƻ9I9*G2GFFrFbFEE);I9 iITi 2@ <:@w: ).+2* Ȩ(AYt*XJ@t*Y@yt**jt*v>t*H: ?֩@uϿm?5m???)u*XJ@ u*q;Iu*CxRd>xR Eib=I`)5GF@}Yʅf;>ʁʁQ5Eʁ͍":>I I8ٮ QtI  UC9鰕; E;)j8 9)I tIi E :):I]ϻ9I9*G 2G FFrF9bF9EAEA)u;Iu9 yyiyIyi 2@<:@w: im22* Ȩ(AYt*(UJ@t*3Y@yt*<-t*@{>t*H?f Ͽ@ ?h?8-? ?)u*(UJ@ u*p;Iu(xF"h>xFEGJ?AHH)U+Gi]wAYF@eYu^}>ʁʁQ5Eʉ͝>I I8ٮ QtI  UC9鰥}: :)q8 9)I tIi E :):I׻9I9*G2GFFrFbFEE)%;I%9 ))i)I1AMiII a2@u<:@}w: ߹@82* ,Ȩ(A@ Yt*~J@t*,Y@yt* #t*`i>t*HpU?sϿ+Y?z?:?@M+?)u*~J@ u*q9p;Iu*CxFk>xJEiVf=IT) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YI:>Q5E:;>I I8ٮ QtI  UC9: :)x8 9)I tIi E p:) :I|9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))=;I=9 99iAIAAE3]iMe]>I I2@U<:@Uw: i[k>2* zȨ(AYt*đJ@t*>Y@yt*+t*Ƅb>t*H ?` п5҄?ew?:?7?)u*đJ@ u*$p;Iu*CxFQ>xFE)vGF@=YEE>AAQE5EIMCB;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U|8 m9)aIa mtIia mEa e:)e,:Ie9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 194.488148 arcdeg .q'u'u*Gq2GqFqFyrFybFEE);I9 iI*i 2@<:@w: R>a> SE2* Uɨ(AYt*eJ@t*pUY@yt* t*H !ɞ?@ݨ`пߘ?r? 5??)u*eJ@ u*MKp;Iu*CxF\>xFUEHHHHiTIX) Ga 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu!u>qqQ}5Ey}\;>I I8ٮ QtI  UC9鰅: :)}8 9)I tIi E :):II9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIPi > 2@ <:@w: ! }K2* /0ɨ(A) IYt*J@t*1Y@yt*#&t*>t*H`z7?e/@Ͽ`r?lۄ???)u*J@ u*up;Iu*CxFeq>xFnE) SGF@YW;>!!Q%5E!-m->I1 I58ٮ11 Q=tI 1 U=C915: 5|:)528 E9)AIA MtIiA MEA E1:)EE:IE9YIY9Y*Gi2GiFqFqrFqbFyEyEy);I9 iIli 2@<:@w:p> dR2*  Jɨ(AYt.J@t.HY@yt..t. o>t.H@@{?2iq п?ƅ? ȭ?g ?)u.J@ u..p;Iu.Cx:"h>x:EiPIP) GF@Y%8;%>!)Q-5E)-ge;->I1 I=8ٮ11 Q=tI 1 UEC915: 5W:)58 M9)A M9IA MtIiA MEA EZ:)EM:IE9YIa9a*Gq2GqFqFqrFybFyEE);I9 iIX8i 2@<:@w:u6Ʌ> ߁iX2* cɨ(AYt*hJ@t*siY@yt*Q%t*{W>t*H?@]3`,пB??@?3?J?)u*hJ@ u*ֶp;Iu*CxFo>xFJEGJAAHH) SGi  a 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm%u>qqQu5Eq};}>I I8ٮ QtI  UC9鰅: ͭ:)+8 9)I tIi E :):I 9I9*G2GFFrFbFEE);I9 iI֑i 2@<:@w: )I  ߩ^2* }ɨ(A@ Yt68J@t6CyY@yt6.,t6g>t6H !?` `H;п:%P?+?`?.?)u68J@ u6p;Iu6CxFj>xFqE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixI|)uGF@Y>Q5E;>I I 8ٮ Q tI  UC9: #:)U8 %9)!I! -tIi! -E! %D:)%f:I%9AIA9I*Ga2GaFaFirFqbFqEyEy);I9 iI.`i 2@<:@w: Re2* Vɨ(AYt*J@t*Y@yt*Gt*8t>t*H`x? MWCп @??@1R?6?)u*J@ u*lp;Iu(xFk>xFE)]GF@eYmCm>qqQu5Eq}y:}>I I8ٮ QtI  UC9鰅%: :)8 9)I tIi E l:):I9I9*G2GFFrFbFEE);I9 iI/i 2@<:@w: ]>]>xk2* xɨ(AYt*J@t*Y@yt*'*t*_>t*H`C M? g)6Fп2"?P? ?5=?)u*J@ u*mq;Iu*CxFKS>xFEHJa=HHiXIX)E+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y;>Q5E9>I I8ٮ QtI  UC9ٮ: 5:) 8 9)I tIi E :):I$9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF!rF!bF!E)E))=;IE9 AAiAIAIM+ɊiII I2@U<:@]w: ir2* [ɨ(A)*4tVHh,?䋨sпq.N? 1_??>?)uVK@ uV r;IuVCx~vW>x~|E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YO;%>!!Q%5E!-;->I1 I=8ٮ11 Q=tI 1 U=C915: 5а:)5"8 E9)AIA MtIiA MEA E:)EA:IEW-9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 194.897016 arcdeg .q''*G2GFFrFbFEE) ;I 9  i IJi 2@<:@%w: 1x2* b-ɨ(AYt*E+K@t*PY@yt*t*otu>t*H ??37п@4 ? )`?=c?u?)u*E+K@ u*r;Iu*CxF"h>xJEiTIV“C) ҄GF@=YE*E>AAQM5EIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU: Ux:)U8 m9)aIa mtIia mEa e:)eԘ:Ie>59yIy9=Om@Contact HDG: 154.404486 arcdeg .'m'uOu4Initialize Wait Component.*G2GFFrFbFEE);I9 iI?i 2@<:@w: i2* )ɨ(AYt*NK@t*Y@yt*`Zt*TUb>t*H@?覿4п? K? 3?7?)u*NK@ u*'Dr;Iu(xFl>xFEGHHH) +GF@=YE0E>AIQM5EIM[;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UmĘ8 m9)aIa mtIia mEa e:)e|:Ie=9yI9*G2GFFrFbFEE);I9 iIكi 2@<:@w: 2* ʨ(A@ Yt*QK@t*\:Z@yt*RBt*.Lf>t*H@? п`i ?$S? ? "1?)u*QK@ u*2r;Iu(xFsj>xF(EiTIT) SGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm!h;u>qqQu6Eq}<}>I I8ٮ QtI  UC9鰅: ٮ:)l˘8 9)I tIi E :)˵:IcF9I9*G2GFFrFbFEE);I9 iIfsi 2@<:@w: D2* 2ʨ(AYt*iK@t*tbZ@yt*#t*v>t*H f?T!tѿ`(?Md???)u*iK@ u*'xFJE) GF@Y;>!!Q%6E!-;->I) I58ٮ)) Q5tI ) U=C9)-: -:)-"Ҙ8 E9)AIA EtIiA MEA E:)EԘ:IEN9QIY9Y*Gi2GiFiFqrFqbFqEyEy);I9 iIdG~i 2@<:@w: ߹>i>2* Lʨ(AYt.3K@t.>Z@yt.+'t..oh>t.H L ?PVѿV ?@J??s-?)u.3K@ u.r;Iu.CxReq>xRnEHVp=HVp=idId)-G54=1a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʥM>ʩʩQ6Eʩ͵ <>I I8ٮ QtI  UC9S: :)f٘8 9)I tIi E Ր:),:IW9!I!9!*GQ2GQFYFYrFYbFaEaEa);I9 iIyi 2@<:@w: )C+2* !ufʨ(A);IYt*TL@t*[@yt*[(t*d>t*H `h?@y@ѿ4`?@S?@]? 3?)u*TL@ u*=rs;Iu*CxF:m>xJE)M+GF@UY]/]>aaQe6Eam{<m>Iq Iu8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi E :):I_9I9*G2GFFrFbFEE);I9 iIʘti 2@<:@w: "2* @Pʨ(AYt*L@t*L[@yt*h4t*Is>t*H@% ?}ѿ OS?@? h(??)u*L@ u*#r;Iu*CxFU_>xFS E {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIv̓C)SGF@Y>  Q 6E 0<>I! I-8ٮ!! Q-tI ! U-C9!% ; %;)%X8 E9)9I9 EtIi9 EE9 =:)=:I=h9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 i I !%niqy 2@<:@w: Ii<2* *ʨ(AYt*L@t*j[@yt*At*x>t*H ۰ X?1Vҿ`h?:?? B??)u*L@ u*5q;Iu(xF'n>xFpEGJ?AHH)Gia 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y! >Q6E;>I I8ٮ QtI  UC9; ^;)!8 %9)!I! %tIi! -E! %:)%:I%Rq99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 196.432006 arcdeg .q''*G2GFFrFbFEE);I9 i I  5mji11 12@=<:@=w: ieg2* ʨ(A Yt.:M@t.E[@yt.ܒ,t.ci>t.H#?@`wҿ?`A? ?i+?)u.:M@ u.96q;Iu.CxF:m>xFEiXIX)SGF@%Y%`;%>))Q-6E)54<5>I9 IE8ٮ99 QEtI 9 UEC99=h: =:)=8 M9)III UtIiI UEI M}:)M:IMBy9aIa9a=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GF!F!rF!bF)E)E))];Ie9 aaiaIaimeiii q2@u<:@}w: ߉EO2* ʨ(AYt*M@t*9\@yt*@\0t*l>t*H#`K?rz@ҿV)l? l ?}T?%?)u*M@ u*p;Iu(xF`>xF. E)Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@uYuQu>yyQ}6EyͅK<>I I8ٮ QtI  UC9鰍:: :)8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iI% ai 2@<:@w: {> y2* fʨ(AYt*VN@t*a\@yt*;t*dq>t*Hm?`'@Pӿy?q?^?6?)u*VN@ u*o;Iu*CxVHf>xV EHVa=HXidId)%G-%=)F@]Ye9ߺe>aaQm6Eimp<m>Iq I}8ٮq M}8q Q}tI q UC9qu: u:)u8 9)I tIi E ɏ:):Ip9I9*G2GFFrFbFEE);I9 iI\i 2@<:@w: Ja2* ˨(A) IYt*rN@t*}\@yt*Ғ0t*s>t*H}?hӿ +?@>?/?|?)u*rN@ u*n;Iu*Cx}c>x}, E)SGF@Y_:>!!Q%6E!-j;->I1 IU8ٮ11 Q]tI 1 U]C915̳; 5t;)5 8 e9)aIa etIia mEa e-:)e :Ie9I9*G2GFFrFbFEE);I9 iIWVi 2@<:@w: .2* 6r˨(AYt*ףN@t*P]@yt*M:t*i>t*H@h ?`hӿxL?(Z??*?)u*ףN@ u*DHn;Iu*Cx i>x EiYIY)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y=ɺ=>AAQE6EAE<<M>II IU8ٮII QUtI I U]C9IM: MB:)M8 e9)YIY etIiY mEY ]F:)]Ԙ:I] 9qIy9y*G2GFFrFbFEE);I9 iIUQi 2@<:@w: i2* O5˨(AYt*2N@t*=]@yt*It*wr>t*H@Q\`?@4Կq|?`0???)u*2N@ u* m;Iu*CxJY>xJEGLHL)Gi!%xAF@-Y55>ʑʑQ6Eʙ͝L<>I I8ٮ QtI  UC9鰥\: ٮ:)T8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 i I   -Li 2@<:@w: )f2* `>O˨(A YtNdO@tN^@ytN*tNt>tNHRJ`O1?Կg?@R?M?@?)uNdO@ uN:mm;IuNCxzZe>xz EiI)+Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu;u>yyQ}6Eyͅ<>I I8ٮ QtI  UC9鰍: x:)8 9)I tIi E ɏ:)c:IA9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)-;I-9 ))i1I115AGi99 92@E<:@Ew: Q2* i˨(AYt*WO@t*bR^@yt*o>t*FSk>t*H@?{? OFԿzmU ?Շ?'?(?)u*WO@ u*]im;Iu*CxNHf>xN EiRARA)%GF@=YE]E>AAQE6EAM3<M>IQ I]8ٮQQ Q]tI Q U]C9QU2: U:)U$8 m9)aIa mtIia mEa e[:)eo:Ie鴼9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.032833 arcdeg .q''*G2GFFrFbFEE);I9 iI3Bi 2@ <:@w: !>V2* ˨(AYt*O@t*۩^@yt*T>t*^n>t*HC1?wӰ;1տZDW?nʇ??"?)u*O@ u*Bm;Iu(x^l>x^EH`H` {`Y|`f8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)AF@-Y5@85>99Q=6E9E:<E>IA I 8ٮAA Q tI A UC9AE\< E<)E,8 9)I tIi E :):IH9qIq9q=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2G F F rFbFYEYEY)u;Iu9 qqiqIqp;i 2@<:@w: 2* '˨(A)IYt.7P@t.^@yt.iEt.o>t.H`e'?ZhտFM??]??)u.7P@ u.Lym;Iu.CxNsj>xN(E)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YGAIiAAɅA酥A鄡 )F@Yݜ>Q6E#<>I I%8ٮ Q%tI  U%C9ͭ: ):)+38 -9))I) UtIi) UE) -ݳ;)-;I-xƼ9aIa9a*G2GFFFFGArFbFEEʊ); 7ᬷI9 iI!跩7i 2@<:@w: 2* )˨(AYt2P@t2&3_@yt2f,t2q>t2HZ>? 2ױտ`>"?@?`?A?)u2P@ u2m;Iu2CxFd>xF EiXIX)GF@%Y%;%>))Q-6E)5^N<5>I9 I=8ٮ99 QEtI 9 UEC99=į: =:)=98 M9)III UtIiI UEI M:)M:IM^μ9aIa9a*Gq2GqFyFyFyFrFbFEEŶ); g8gI9 PviIs[ 3i 2@<:@w: i~2* ˨(AYtn4P@tn?}_@ytn9tnTt>tnH z?|>տ@,?@6?` @?f?)un4P@ un n;IunCxz]>xzEG~@AH|)XGa 1a 1 a 5a 5 a 9a 9 a -a - a 1 @a  a 5 @a  a 9 @a  a - @a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@%YMM>QQQU6EQ];'<]>Ia Ie8ٮaa QtI a UC9ae; eۻ;)e A8 9)I tIi E ݖ:)ϝ:I׼9I9*GI2GIFIFIrFQbFQEQEY)m;Im9 muiqIuq}-iyy y2@<:@w: ߑ{2* K˨(A Yt.P@t._@yt."=t.!s>t.H`x ?v ֿ *?!?c3?&?)u.P@ u.Yn;Iu.Cxrg>xrsEi|I)vGF@Y6&>Q6E<;>I I8ٮ QtI  UC9: :)G8 9)I  tIi  E :)N:I߼9I9*G)2G)FFrFbFEE);I9 iI1 (i 2@<:@w: 3* +̨(AYt*HQ@t*_@yt* ZMt*q>t*H ?@diֿg`}? ?`??)u*HQ@ u*Mo;Iu*Cxk>xE)=dGF@UY]z]>YYQe6Eaes<e>Ii I8ٮii QtI i UC9imf< m<)mN8 9)I tIi E }:)o:I9I9*G!2G)FQFYrFYbFYEaEa);I9 iId"i 2@<:@w: t>(3* [̨(AYt*QQ@t*_@yt* t*H/?`沿qֿ`uL?? ??)u*QQ@ u*o;Iu*CxNb>xN EHRp=HRa=in=Il)UGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1-@a - a 5-@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@eYe*;m>iiQm6Ei͕:>I I8ٮ QtI  UC9鰝S: 5:)U8 9)I tIi E :)":I_9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)EIEQ)e;Ie9 iiILi 2@<:@w:  S 3* 7̨(A)IYt.Q@t.C`@yt.o7t.nv>t.H `3?P 0ֿ??{?@k?)u.Q@ u.o;Iu,xn`k>xnE)mׄGF@YʝJC:>ʡʡQ6Eʡͭ8<>I I8ٮ QtI  UC9鰵; :)M\8 9)I tIi E :):IZ9!I!9!&MMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 200.771867 arcdeg .q''*G2GFF)rF)bF)E1E1);I9 iIiMi 2@<:@w: @;3* {Q̨(AYtMTQ@tM_`@ytMItMWz>tMHa@?~ ׿`/`?"?_? ?)uMTQ@ uMo;IuIx`>x. Eif=I)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@5Y==>99Q=6E9EK<E>I I8ٮ QtI  UC9鰍: :)t*H?{ y$׿9w?x]EGaHa)GF@Y,';>Q6E ; >I IU8ٮ Q]tI  U]C9< <)Kj8 e9)aIa mtIia mEa e:)e:Ie 9I9*G2GFFrFbFEE);I9 ))i)I)15֫ i11 92@=<:@Ew: ߡM!3* Kx̨(A@ Yt.OeR@t.Za@yt.g9t.u>t.HX? b r׿@?,? j??)u.OeR@ u.o;Iu,x^f>x^ E {`Y|`b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)GF@Y!8>Q6E 5O<5>I9 IE8ٮ99 QMtI 9 UMC99=O; =$;)=Kq8 }9)qIq tIiq Eq u:)u:IuG9I9*G2GFFrFbF EE );I9 i!I!!% i!) )2@5<:@=w: ߑQv'3* sL̨(AYt*R@t*Ea@yt*@t*@|>t*HN`h?@ib׿k`?2?[E?/?)u*R@ u*/n;Iu(x^p>x^%E)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YgBIiiBiBɅbBhB )F@YX>  Q 6E ;>I I8ٮ Q%tI  U%C9: :)x8 -9))I) -tIi) 5E) -;)-а;I-9aIa9a*G2GFFFFKBrFbFEE !);  8 I9 iIVi 2@<:@w: )e>>b-3* W'̨(AYt*R@t* a@yt*1t*_}>t*H.k? ׿x`?53? c?g?)u*R@ u*_n;Iu*Cxvp>xvEHxHzp=iI)uGyyF@Y;>Q6Ev<>I I8ٮ QtI  UC9,; ܵ;)~8 %9)!I! -tIi! -E! %[:)%,:I%$9YIY9Y*Gi2GiFiFFFrFbFEEH); 8I9 1iI6i 2@<:@w: !?43* m̨(A)I4}Ot.)rv>t.H2@ ?#ؿоa?`z??A?)u.$S@ u.n;Iu,xRj>xRqE) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y-5>11Q56E1=;=>IA IE8ٮAA QMtI A UmC9AE; Eж;)E8 u9)qIq }tIiq }Eq u:)u:Iu{-9I9*G2GFFrFbFEE);I9 iI)-i)) 12@5<:@=w: c:3* ̨(AYt*{S@t*"(b@yt**t*v>t*H`ݑ?tؿ-? Z?6?`R?)u*{S@ u*mxn;Iu*CxNxp>xREi\I^“C)vGF@=YE;E?AAQM6EIM}<M?IQ I]8ٮQQ Q]tI Q UeC9QU: UJ:)UZ8 m9)aIa mtIia mEa e:)e$:Ie499I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GQM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIxi 2@ <:@ w: yiGA3* ͨ(AYt*{S@t*Ub@yt*>t*$)~>t*H`?@ jؿԘ Ȕ?܇?Xq?@k?)u*{S@ u*^n;Iu*CxFb>xFQ EGHHH) dGiF@Y%H%>))Q-6E)5;5>I1 I=8ٮ11 QEtI 1 UEC915%: 5:)5.8 M9)III MtIiI UEI M :)M:IM=9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.624802 arcdeg .q''*G2GFFrFbFEE);I9 iIOػi  2@<:@w: !cG3*  ͨ(A@ Yt.-T@t.8b@yt.'t.>t.HxJ?󷶿Iؿ`d~?+?`??)u.-T@ u.xen;Iu.CxF`>xF. EiTIV̓C) Ga 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yʍ+^;>ʑʑQ6EʱͽR<>I I8ٮ QtI  UC9}: :)b8 9)I tIi E Ԙ:):IE9 I 9 =O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)M;IM9 IQiQIQQ]˻iYY Y2@e<:@w: ߱{M3* n:ͨ(AYt*#T@t*b@yt*v.t*߸z>t*H@7q x?޵`ٿ`f?Ӆ??@8 ?)u*#T@ u*(dn;Iu*CxNg>xRsE)GF@}Y}>ʁʁQ6Eʁ͍;>I I8ٮ QtI  UC9鰕,; ;)+8 9)I tIi E :):I\N9I9*G 2G FFrF9bF9E9E9)U;I 9 iI:i 2@%<:@%w: y>x>T3* HTͨ(AYt*T@t* 2c@yt*rJt*.at>t*H]h?@4Riٿa?V?A?5?)u*T@ u*'n;Iu*CxF5g>xF*EHHHHi\I`)=vGAE=F@]Yeee>aaQm6Eims<m>Iq I}8ٮqq Q}tI q UC9qu: u.:)u8 9)I tIi E d:)5:IV9I9*G)2G)F1F1rF9bF9E9EA);I9 iI i !2@-<:@-w: A[3* &nͨ(A)I;Yt*4T@t*?Yc@yt*t*H+V`?@ @Wٿ\@ ?`|?@K??)u*4T@ u*tCn;Iu*CxNc>xN, E)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y};}>ʁʁQ6Eʁ͍6;>I I8ٮ QtI  UC9鰕Ǵ; ;)8 9)I tIi E :):Ib_9I9*G 2G F FrF1bF9E9E9)M;IU9 qqiqIqy}iyy 2@<:@w: ߹@a3* ͨ(AYt2T@t2c@yt2t2zQ>t2HrI ?#iٿMA*?`?ޘ?``?)u2T@ u2lWn;Iu0xF\>xFUE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIt)eGF@Y5;>Q6E<>I I8ٮ QtI  UC9Q; ;)8 9)I tIi E u:)K:Ih9I9*G12G1F9F9rFAbFAEIEI)m;Im9 iiiiIiy}Iiyy 2@<:@w: ߩih3* sءͨ(AYt*0U@t*c@yt* 6t*bE~>t*Hv;c?Sڿ HM@L?`Ć? t? @?)u*0U@ u*Yn;Iu*Cx^xp>xbEGbAAH`)UGiYYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yt>Q6E0(<>I I8ٮ QtI  UC9:  :)8 9)I  tIi  E ̒:)$:Ip9I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QQiQIQY]iYY a2@e<:@mw: y+t*H, )? Hڿ O`D?@n?N?p?)u*xU@ u*96n;Iu*CxF`k>xFEiXIZ“C)EdGF@uY}Z}>yʁQ6Eʁͅ6<>I I8ٮ QtI  UC9鰍x: [:)Ù8 9)I tIi E :)Ix9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iISi 2@ <:@ w: ! $u3* ڏͨ(AYt*ȕU@t*Bd@yt*;t*r|>t*H&?)bڿ@*<@ ?@?:xFsE)F@Yʝ;>ʡʡQ6Eʡͭc;>I I8ٮ QtI  UC9鰵ס; ť;)ʙ8 9)I tIi E :)˚:I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' N@Vehicle HDG: 204.349903 arcdeg .q''*G2GFFrFbFE E)e;Ie9 iqiqIqyi 2@<:@w: ߡ>>}N{3* ]lͨ(AYt*U@t*Wd@yt*At*v>t*H@b"?Ը`vڿ ? 2:?&?M?)u*U@ u*eOn;Iu*CxFZe>xF EHHHJa=iTIV̓C)G  a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmjm>iiQm6Eiu+U;u>Iy I8ٮyy QtI y UC9y}: }:)}aљ8 9)I tIi E t:)÷:Iʉ9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I%9 ))i)I)QUbiQQ Y2@]<:@ew: ߑ 63*  F Ψ(A)4t*H?nqڿjc?:4?`??)u*4U@ u*Nn;Iu(xFc>xF, E)vGF@YH:>!!Q%6E!%W;->I) I58ٮ)) Q5tI ) U=C9)-: -:)-ؙ8 E9)AIA EtIiA MEA E:)E:IE9QIQ9Y*Gi2GiFiFirFqbFqEyEy);I9 iIxNi 2@<:@w: ߹(`3* >!#Ψ(AYt*U@t*ed@yt*g:t*1w>t*H?ٶ@tڿA=X?[? n?r?)u*U@ u*Cn;Iu*CxFc>xF EiTIT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYm>m>qqQu7Eq}}>I I8ٮ QtI  UC9鰅F: :)-ߙ8 9)I tIi E  :)n:IӚ9I9*G2GFFrFbFEE);I9 iI07i 2@<:@w: iB3* H<Ψ(AYt*zU@t*d@yt*Z3t*F>t*H^?@nη^ڿ )@PH?z? ?H?)u*zU@ u*#n;Iu(xNv>xREGR@AHP)Gi%xA!F@]Ye:e>aaQe7Eimͨ;m>Iq I}8ٮqq Q}tI q U}C9quG: uJ:)u 8 9)I tIi E O:)A:IM9I9*G2GFFrFbFEE);I9 iI9 i 2@<:@w: Dr3* VΨ(A Yt.U@t.rd@yt.@$5t.)>t.H@?``ڿ@ B?i?@? ?)u.U@ u.]n;Iu,xFi>xJEiXIZ“C)ʁʁQ7Eʁ͍L>I I8ٮ QtI  UC9鰕): :)8 9)I tIi E :)Z:I䫽9I9*G2GFFrFbFEE);I9 iI}i 2@<:@ w: G3* pΨ(AYt*U@t*nd@yt* t*'>t*H@`?K%`'ڿ@ q??t?@)?)u*U@ u*Bn;Iu*Cx^i>x^E)5GF@EYMr;M>IIQU7EQUFU>IY Ie8ٮYY QetI Y UeC9Y]%: ]į:)]8 u9)iIi utIii uEi m:)m:ImC9I9*G2GFFrFbFEE);I9 iITi 2@<:@w: >t>83* pΨ(AYtRU@tRd@ytR9tRw>tRH f~?ڿ2 s?>???)uRU@ uR Pn;IuRCxp>x%EH a=H  { Y|8****** ping requested ******=Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iaIm̓C)ƄG 4= %=a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʥ※>ʩʩQ7Eʩ͵+;>I I8ٮ QtI  UC9; ;)u8 9)I tIi E :)3;IŽ9I9ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F)rF1bF1E9E9)U;I]9 YYiYIYam Qiii q2@}<:@}w: ߑ3* 3jΨ(A);IYt.U@t.{d@yt. :t.'|>t.H`*`Z?"\ڿq1?YA?!3?_?)u.U@ u.6n;Iu.CxFxp>xFE)GF@Yʥa>ʩʩQ7Eʩ͵>I I8ٮ M8 QtI  UC9鰽: ض:)8 9)I tIi E v;);IŽ9I9 &MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 204.546448 arcdeg .q'u'u*Gy2GyFyFyrFbFEE);I9 iI?׃i 2@<:@w: bخ3* CΨ(AYt*"U@t*-sd@yt*D8t*>t*H?e(؎ڿ@7?s??k?)u*"U@ u*C8n;Iu*CxFk>xFEiXIX)dGF@=YE9E>AAQM7EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)Uq8 m9)aIa mtIia mEa e-:)eA:Ieͽ9yI9=Om@Contact HDG: 154.404486 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFrFbFEE);I9 iI|)i 2@<:@w: i3* Ψ(AYt*U@t*td@yt*@!t*:݅>t*H ?@ iڿ`4?(?ϊ?6?)u*U@ u*#n;Iu(xFeq>xFnEGJAAHH)GiwAwAa 1Ua 1U a 5Ua 5U a 9Ua 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY} `;}>yʁQ7Eʁ͍yz9>I I8ٮ QtI  UC9鰥 ; };)8 9)I tIi E ):Iֽ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: a3* 7Ψ(A Yt*!U@t*,]d@yt*5t*z>t*H@`!_?'@zڿ:@P?`?\?s ?)u*!U@ u*Sn;Iu(xFc>xF, EiTIT) XGF@=YENE>AIQM7EIMmU>IQ I]8ٮQQ Q]tI Q UeC9QU; U_3;)U<8 9)yIy tIiy Ey } ;)}$;I}޽9I9*G2GFFrFbFEE);I9 iIp8i 2@<:@w: F3* o Ϩ(AYt*U@t*pd@yt*s05t*{>t*HI? G Ҍڿ5? ??@ ?)u*U@ u*n;Iu*CxFp>xF%E)Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍt8>ʑʑQ7Eʑ͝>;>I I8ٮ QtI  UC9鰥: 1:)L8 9)I tIi E :)Z:I9I9*G2GFFrFbFEE);I9 iI  a9i   2@<:@w: )R>a>%3* %Ϩ(AYt*kU@t*vTd@yt*=t*>t*H"#?rڿ *@?@^??`?)u*kU@ u*Yn;Iu*Cx^m>xb'EHbp=H`ipIp)]vGaaF@}Yʅ>ʁʁQ7Eʉ͍>I I8ٮ QtI  UC9鰕: :)($8 9)I tIi E %:):I9I9*G2GFFrFbFEE);I9 iI  B:i   2@5<:@=w: I&3* ʋ?Ϩ(A) IYt*gU@t*d@yt*s"t*7x>t*H@V0ท?@|9ڿLÜ?8S??@?)u*gU@ u*Vn;Iu*Cx}?s>x}E)GF@5Y=|;=>AAQE7EAEnM>II Iu8ٮII QutI I U}C9IM(; Mд;)Mu+8 9)yIy tIiy Ey }-:)}:I}9I9*G2GFFrFbFEE) ;I 9 )i)I115:i99 92@E<:@Ew: q 3* iYϨ(AYt*xVU@t*d@yt*MX(t*z>t*H3@F? 7+)ڿGM`?` ??@ ?)u*xVU@ u*(n;Iu*CxN^>xR Ei\I\)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʵZ>ʹʹQ7Eʹ&>I I8ٮ QtI  UC9; ;)28 9) 9I tIi E o:)@:I9 I 9 ODone Waiting.'O8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E1E1)E;IE9 AIiIIIQU^:iQQ Q2@]<:@]w: qi 83* O@sϨ(Ax~sj>x~(EG@AH)}dGixAxAF@Yʕ>ʑʑQ7Eʙ͝>I I8ٮ QtI  UC9鰥: ٮ:)88 9)I tIi E  :)ݱ:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 204.128495 arcdeg .q''*G2GFFrFbFEE);I9 iIc:i 2@<:@5w: AX 3* Ϩ(A Yt*T@t*Sc@yt*1XMt*]>t*H1W?`Ӷ&ٿ`D\? ڪ?O?P?)u*T@ u*"m;Iu(x^k>xbE {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i!I!)Ga 1-a 1- a 5-a 5- a 9-a 9- a --a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@Yѥ>Q7Eļ->I1 I=8ٮ11 Q=tI 1 UEC915а: 5:)5@8 M9)AIA tIiA EA E"\<)E&]t*H]`?Eζ@kٿmvx?^?ݒ?p?)u*T@ u*m;Iu(xVsj>xV(E)ESGF@}Yʅ;>ʁʁQ7Eʁ͍x>I I8ٮ QtI  UC9鰕:  :)F8 9)I tIi E p:)ȗ:I9I9*G2GFFrFbFEE);I9 iI}";i 2@ <:@ w: V>]>m23* Ϩ(AYtZ1T@tZb@ytZ*tZ9}>tZHynG?$6ٿ x _S?V?kT?]?)uZ1T@ uZm;IuZCxr`>xr. EHra=HtiI “C)edGm%=m=F@Yʝ`>ʡʡQ7EʡͭQ>I I8ٮ QtI  UC9鰵:  :)M8 9)I tIi E :)9:I##9I9*G2GFFrFbFEE);I9 iI&9;i! !2@%<:@-w: 9w\3* GϨ(A)4T@t>°b@yt>8t>K>t>HmwG? @ؿ mp??'y?`q?)u>T@ u>m;Iux^(E)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ >ʡʩQ7Eʩͭ:>I I8ٮ QtI  UC9鰵: :)}T8 9)I tIi E :):I+9I9*G2GFFrFbFEE);I9 iI!%XP;i!! !2@-<:@-w: A3* ݙϨ(AYt6uS@t6jb@yt6#3t6>t6H?$`ұؿ@ ?Ed?`E??)u6uS@ u6m;Iu6CxFc>xF, EiTIV̓C)MGF@UY]a:]>aaQe7Eaet1m>Ii Iu8ٮii Q}tI i U}C9imp: m:)m>[8 9)I tIi E p:):I39I9*G2GFFrFbFEE);I9 iIfe;i 2@<:@w: i q4* eoШ(AYt*SS@t*^ib@yt*-t*gq>t*HSE'?4̰ؿ@@ !?b? R?J?)u*SS@ u*m;Iu(x^cX>xbEGb?AH`)1i}wA}wAF@YʭnS:>ʩʩQ7Eʱͽ/>I I8ٮ QtI  UC9: į:)Ob8 9)I tIi E ٓ:):I<9I9*G2GFF!rF!bF!E)E))=;IE9 AAiAIAIM};iII Q2@U<:@]w: iޘ 4* @(Ш(A@ Yt*QS@t*\Jb@yt*\; t*6v>t*H[?@+@<ؿͪ=?V?z??)u*QS@ u*n;Iu*CxbB`>xb EilIr“C)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y;>Q 7E   >IQ I]8ٮQQ Q]tI Q U]C9QU: Uݱ:)Ui8 m9)aIa mtIia mEa e:)eݖ:IeE9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%rb;i!! !2@-<:@Mw: a4* BШ(AYt*gS@t*b@yt*$7t*w>t*HకŽ?@>c bؿ@)??S??)u*gS@ u*n;Iu*Cx6c>x6, E)vGF@=YU::U>ʁʁQ7Eʁ͕>I I8ٮ QtI  UC9鰝: l:)p8 9)I tIi E |:)b:ISN9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.>l>q'N@Vehicle HDG: 202.397561 arcdeg .q''*G2GFFrFbFEE);I9 iI;i 2@<:@w:  4* #Ш(A);IYt2YKS@t2da@yt2,t2yy>t2H L? nHؿwd?֑?@?`?)u2YKS@ u2RZn;Iu2Cx:h>x:EH>p=HIIQM7EIUSU=>IY I]8ٮYY QetI Y UeC9Y]\: ]į:)]8 9)I tIi E :)w:IPb9I9=O@Contact HDG: 154.404486 arcdeg .' ' O 4Initialize Wait Component.*G 2G F FrFbFEE)M;IM9 QQiQIQY]֯;iYY 2@<:@w: ߙ%4* Ш(AYt*t*Hj`?)ٳ@@ؿ@@V?`??ಢ? ?)u*xBP E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uSGF@=YEE>IIQM7EIU7]>Ia Im8ٮaa QmtI a UmCiyy9ae< e&<)e8 9)I tIi E :);Ik9I9*GI2GQFQFQrFYbFaEaEa);I9 iI;i 2@<:@w: ),4* Ш(AYt*3S@t*'a@yt*t*|>t*H` (?X2ؿc??E?b?)u*3S@ u*Cn;Iu*CxBcX>xBEiXIX)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Y}u;}>ʁʁQ7Eʁ͍y*>I I8ٮ QtI  UC9鰕: c:)8 9)I tIi E :)|:Ir9I9*G2GFFrFbFEE);I9 iI;i 2@<:@ w: !34* Ш(A@ Yt*/S@t*a@yt*;yt*l>t*Hb@"?XSV.ؿYl?/?`11?`?)u*/S@ u*o+n;Iu*CxBn>xBEGB@AHFAA)vGi a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmim>qqQu7Eq} }>I I8ٮ QtI  UC9鰅S: а:)8 9)I tIi E :)÷:I${9I9*G2GFFrFbFEE);I9 iI;i 2@<:@w: O+94* SuШ(AYt*["S@t*fa@yt*¹;t*z>t*H @Ӕ? l"ؿqC?w?f?Z ?)u*["S@ u*9>n;Iu(xBb>xB EilIl)EdGF@MYU٪U>YYQ]7EYee>Ii Im8ٮii QutI i UuC9im: m:)m8 }9)yIy tIiy Ey }>:)}s:I}9I9*G2GFFrFbFEE);I9 iI;i 2@<:@w: uR>u]>"@4* @PѨ(AYt*-S@t*a@yt*$+t*Oj>t*H@?^`3-ؿlg?q??)?)u*-S@ u*un;Iu*CxBeq>xBnE)5GF@}Yʅ;>ʁʁQ7Eʁ͍:>I I8ٮ QtI  UC9鰕`: :)8 9)I tIi E :)Z:I89I9*G2GFFrFbFEE);I9 iI;i 2@ <:@ w: Z=F4* +Ѩ(A) IYt*%S@t*a@yt*h+t*4r>t*H` `7?8%ؿ`D?@r??z?)u*%S@ u*&n;Iu*CxBt>xBlEHBR=H@iPIR“C)~SG%=a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yt>Q7E  >I I8ٮ QtI  UC9\: :)ߩ8 %9)!I! -tIi! -E! %:)%:I%9YIY9Y*Gi2GiFqFrFbFEE);I9 iI1;i 2@<:@w: gL4* l4Ѩ(AYt*S@t*a@yt*M't*nx>t*Hࡨv?dؿ ????)u*S@ u*Im;Iu*CxRHf>xR E)GF@EYEj#:M>IIQM7EIUU>IY Ie8ٮYY QetI Y UeC9Y]h: ]:)]^8 m9)iIi utIii uEi m::)mN:Im9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9IAAE;iII I2@Ut*HDZ S?@V׿`.>?ⱄ??w?)u*R@ u*m;Iu(xNZe>xR Ei\I\)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʉʉQ7Eʉ͕->I I8ٮ QtI  UC9鰝S: :)f8 9)I tIi E :) :Iå9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 201.875025 arcdeg .q''*G2GFFrFbFEE);I9 iIt.H?޳:׿``cv? d?? ?)u.R@ u.m;Iu.CxBh^>xBEG@HF@A)SGiF@EYEN9M>IIQM7EIUHU>IY Ie8ٮYY QetI Y UeC9Y]1: Y)]'8 m9)iIi utIii uEi m::)mN:Im9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!%rt*Hz?`cKp׿2$? K? u?@Z?)u*bR@ u*m;Iu*CxB5g>xB*EiPIR̓C)~GF@EYE]8M>IIQM7EIUU>IY I]8ٮYY QetI Y UeC9Y]h: ]l:)] Ś8 m9)iIi utIii uEi i)mȗ:Im9I9*G2GFFrFbFEE);I9 iI 5ut>-f4* zѨ(AYt*(R@t*`@yt*^/t*5>t*H @?`|:׿@X ? ?`? ?)u*(R@ u*_ n;Iu*Cx>i>x>E {@Y|@F8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YK>!!Q%7E!-->I9 IE8ٮ99 QEtI 9 UEC99=8; =;)=p̚8 ]9)QIQ ]tIiQ ]EQ UM:)U:IUĿ9yIy9*G2GFFrFbFEE);I9 iInt*H; z?@`׿vGv?Ä?? D ?)u*Q@ u*!n;Iu(xBp>xB%EHBa=HBp=idIh)MGM%=U=F@}Yʅ:>ʁʁQ7Eʁ͍>I I8ٮ QtI  UC9鰕 ; ˵;)Қ8 9)I tIi E :)Ԙ:IǾ9I9*G 2G FFrF9bF9E9E9)U;Iu9 yyiyIyNVt*H$?o!ֿཞ?`(?`?:)?)u*tQ@ u* n;Iu*CxRi>xRE)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Ym>Q7Et >I I8ٮ QtI  UC9: :)ٚ8 9)I tIi E :):I|о9I9*G2GFFrFbFE!E!)5;I59 99i9I9AEt*HyP?` ֿ@ q?B??#?)u*Q@ u* n;Iu*CxBx>xBEiPIP)dGF@Y%:%>))Q-7E)-5>I1 IE8ٮ11 QEtI 1 UEC915 ; 5 ;)58 U9)III UtIiI UEI M:)M :IMؾ9I9*G2GFFrFbFEE);I9 iI!%#t*H1?>ֿ*?? ?|?)u*Q@ u*Wn;Iu*CxBm>xB'EG@HD)~GiF@EYEM>IIQM7EIUpU>IY Ie8ٮYY QetI Y UeC9Y]: ]):)]8 m9)iIi utIii uEi mՐ:)iIm,9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9AEW)t*H`@S?`$}ֿ@?h?>D??)u*|^Q@ u*"*n;Iu*CxBl>xBEiPIP)~SGa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmg;m>iiQm8EiuDu>Iy I8ٮyy QtI y UC9y}ͭ: }J:)}}8 9)I tIi E O:)A:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 200.575540 arcdeg .q'm'm*Gi2GiFqu]>ul>FqrFbFEE);I9 iI.t*H}?HKuֿ`"?@y?Ij?R$?)u*5VQ@ u*2m;Iu(xBr>xBIE)zGF@EYEE>IIQM8EIUU>IY I]8ٮYY QetI Y UeC9Y]%: ]:)]N8 m9)iIi mtIii uEi m:)m:Im19I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIP3t*HE?@O*`wֿ 7?`7??:?)u*WWQ@ u*xBEHBp=HFa=iPIP)G%=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYm+m>qqQu8Eq}319}>I I8ٮ QtI  UC9鰅: h:)I8 9)I tIi E ):):I9I9*G2GFFrFbFEE);I9 iI/9t.H`? .ֿ d:? w?@p?@?)u.cQ@ u.n;Iu.CxRi>xRE)%GF@EYEM>IIQM8EIU7:U>IY Ie8ٮY Me8Y QetI Y UeC9Y]Գ: ]:)]8 m9)i u9Ii utIii uEi m|:)mn:Im89I9*G2GFFrFbFEE);I9 iI:u>t*HB?mM Dֿ@+? ^`?@??)u*a!Q@ u*n;Iu*CxZ"h>xZEihIj“C)-+GF@EYE%;E>IIQM8EIU#U>IY I]8ٮYY QetI Y UeC9Y]: ]>:)] 8 m9)iIi utIii uEi m:)m:Im 9I9*G2GFFrFbFEE);I9 iICt*H`R l?Ej,ֿd ? @??@ ?)u*NQ@ u*5n;Iu*CxBi>xBEGDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʵP:>Q8Era>I! I-8ٮ!! Q-tI ! UC9!%;< %<)%8 9)I tIi E N:)۞:I9I9)*Gq2GqFqFyrFbFEE);I9 iIZJt*Hp?OcYֿ`J@4?@3??H?)u*98Q@ u*`n;Iu*CxRe>xRP EihIh)}ׄGF@Yʍ8I>ʑʑQ8Eʑ͝ <>I I8ٮ QtI  UC9鰥: į:)8 9)I tIi E :)g:I9I9*G2GFFrFbFEE);I9 i I   sNuY>:4* wҨ(AYt*>Q@t*_@yt*+t*=p>t*H ? $l_ֿ @j?yv??`?)u*>Q@ u*zZn;Iu*CxNi>xRE)GF@-Y-'5>11Q58E1E:E>II IM8ٮII QUtI I UUC9II M>:)M8 9)I tIi E :):I%9I9O%Done Waiting.'%O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF)bF1EQEQ)m;Im9 iiiiIiSt.H?@ ش9ֿ`?m(?`A??)u.*Q@ u.b~n;Iu,xN0a>xRw EHRa=HPidIf̓C)%dG))a 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ:>ʑʑQ8Eʑ͝û>I I8ٮ QtI  UC9鰥: ٮ:)%8 59)I =tIi =E ܍<)^t*H?8-/ֿ ?`j?@p#??)u* Q@ u*.Kn;Iu(xRq>xRE)GF@EYE3p:M>IIQM8EIUU>IY Ie8ٮYY QetI Y UeC9Y]: ]:)]u,8 m9)iIi utIii uEi m :)m:ImH69I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFiu?AqrFybFyEE);I9 iI^tHp?ZpMֿ@7 !?@ ?x?^2?)u*Q@ upn;Iux5`k>x=EiYIY)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YI>!!Q%8E!-;->I1 I58ٮ11 Q=tI 1 U=C915%: 5:)538 E9)AIA MtIiA MEA EX:)E:IEb?9I9*G 2G F)F)rF1bF1E1E9)m;Im9 iqiqIqy}W[dt*H < 7?$e@/bֿl9?۽? ?7?)u* AQ@ u*en;Iu*CxRd>xR EGRAAHT)i!%wAF@-Y5v:5>11Q=8E9Ep;E>II IU8ٮII QUtI I UUC9IM: MS:)M6:8 e9)YIY etIiY eEY ](:)]:I]DG9qIq9q*G2GFFrFbFEE);I9 iI7ht*H?г`cֿ= ?n̄?`/? ?)u*XBQ@ u*pn;Iu*CxRb>xRQ Ei\I`)SGa 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQ8Eʉ͕I9>I I8ٮ QtI  UC9鰝h: ):)HA8 9)I tIi E :):IO9I9*G2GFFrFbFEE);I9 iI^nut>.4* lӨ(AYt.=Q@t._@yt.*t.Ј>t.H`I?8 _ֿ`?@ R?`?`?)u.=Q@ u.okn;Iu.CxRk>xRE)GF@EYE(E>IIQM8EIU:U>IY I]8ٮYY QetI Y UeC9Y]%: ]:)] H8 m9)iIi utIii uEi m:)m9:ImTX9I9*G2GFFrFbFEE);I9 iIGst*H?$@Yֿ ?s?@??)u*7Q@ u* n;Iu(xBt>xBlEHNp=HNp=i\I\)G=F@Y q ;>9AQE8EAEWM>II I8ٮII QtI I UC9IM< Mk<)MvO8 9)I tIi E t:)$:Ia9I9*G!2G!F!F)rF)bFIEQEQ)e;Ie9 iiiiIi%yt*H"A?l`zֿ7I?t?H?OC?)u*Q@ u*On;Iu(xRMl>xRLE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Giqya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@Yʽt>ʹʹQ8Eʹ3<>I I8ٮ QtI  UC9: :)BW8 9)I tIi E :):I k91I191OeDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEE);I9 iIՋt*H\?@uֿA`?@hn?`?D?)u*oQ@ u*Ln;Iu*CxN[>xR EihIh)5GF@Y9?Q8ER?I I8ٮ QtI  UC9F: :)\8 9)I tIi E  :)c:I3r9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 200.635277 arcdeg .q'm'u*Gq2GyFyFyrFbFEE);I9 iICt*H@@? aеֿ@??`Ѓ??`+?)u*Q@ u*qn;Iu*CxBg>xBsEGDHD)i  a 1Ma 1M a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuT;u>qqQu8Ey};>I I8ٮ QtI  UC9鰅!: :)c8 9)I tIi E :)|:I}z9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9  i I 15Xt*H!?n =ֿ@)?k ?3n?@?)u*iQ@ u*{Mn;Iu(xBi>xBNEiTIV“C)SGF@%Y%w:->))Q-8E)5ѵ5>I9 IE8ٮ99 QEtI 9 UMC99=: =B:)=nj8 U9)III UtIiI UEI M:)M:IMς9aIi9i*Gy2GyFFrFbFEE);I9 iIQY>5* eԨ(AYtZQ@tZL`@ytZ4tZ>a>tZHR? Dֿ*@??j?@!:?)uZQ@ uZTn;IuZCxrU_>xvS E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y~>Q8E!%|;%>I) I58ٮ)) Q5tI ) U5C9)-: -:)-q8 U9)AIA etIiA mEA E;)ET;IE9I9*G 2G F F rF1bF1E1E9)M;IM9 iiiqIqqu0t*H z?ֿY^?` N?/*?@6?)u*%Q@ u*n;Iu*CxBu>xBEHFR=HFa=iPIP)SG %=F@Yx;>Q8E% <%>I) I58ٮ)) Q5tI ) U5C9)-%: -į:)-0x8 E9)AIA MtIiA MEA E:)E0:IE˓9YIY9a*Gi2GqFqFqrFybFyEyE);I9 iIAzt*H~`}T? "ֿ ^? ?B^??)u*Q@ u*m{n;Iu*CxB]>xBxE)~dGF@=YEW E>IIQM8EIM\:U>IQ I]8ٮQQ QetI Q UeC9QU1: U5:)U/8 m9)iIi mtIii uEi m[:)mo:Imj9I9*G2GFFrFbFEE);I9 iI<4t*H@? k8ֿ9L?`т?9?P?)u*6Q@ u*Sn;Iu*CxRx>xREi`I`)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʥ0;>ʡʡQ8Eʡͭ>I I8ٮ QtI  UC9鰵2: :)F8 9)I tIi E -:) :I+9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AE$t.H T@v?ZȲֿ ' ??? V!?)u.Q@ u.m;Iu.CxRe>xRP EGTHT)}GiyxAF@YR>Q8EI;>I I8ٮ QtI  UC9E: I:)M8 9)I  tIi  E [:),:I٭9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F9rF9bF9EAEA)U;I]9 YYiYIYaeֵtJH3?`Z׿@ 7?!?V}?|@?)uJ9Q@ uJI~n;IuJCxf5g>xf*Ei I )a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm.5;m>quR>yyQ}8EyͅȬ;>I I8ٮ QtI  UC9鰍5: :)8 9)I tIi E  :)c:IŶ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 201.130657 arcdeg .q'%'%*G!2G!F!F)rF)bF1E1E1)E;IM9 IIiIIIQUx~ E {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )YF@Y>Q8E>I I8ٮ Q5tI  U5C9%*< *<)8 E9)9I9 MtIi9 ME9 =v:)=3;I=9yIy9y=OE@Contact HDG: 154.404486 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFIFQrFQbFQEYEY)m;Im9 qqiqIqy}%t.HhC|?S(׿I)?`o?`?@(?)u.NR@ u.n;Iu.CxBt>xBlEHBa=HDi\I\)G4=F@EYUO]>aiQm8Equn;u>Iy I8ٮyy QtI y UC9y}: }):)}8 9)I tIi E :)÷:Iǿ9I9*G2GFFrFbFEE);I9 iI1t*H Y`cy?p)~׿?? ?Y:??)u*Q@ u*m;Iu(xBm>xB'E)ׄGa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍE:>ʑʑQ8Eʑ͝R>I I8ٮ QtI  UC9鰥: ٮ:)8 9)I tIi E W:):IϿ9I9*G2GFFrFbFEE);I9 iI  o;5* }Ԩ(AYt* R@t*޺`@yt*#t*c>t*H?L!׿?mĂ?B? y5?)u* R@ u*m;Iu*CxNt>xRlEi`I`)5GF@}Yʅ :>ʁʁQ8Eʁ͍^ ;>I I8ٮ QtI  UC9鰕: :)8 9)I tIi E }:):I&ؿ9I9*G2GFFrFbFEE);I9 iI xsEG @AH )GiwAF@Y>Q8E>I I8ٮ QtI  UC9: >:)8 9)I  tIi  E d:):I9I9*G)2G)F)F1rF1bF9E9E9)M;IU9 QQiQIQY]t*HEܺ? a׿[??f? H?)u*RR@ u*m;Iu*CxZ`k>xZEixIx)UGqui>a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>Q8Eh<>I I8ٮ QtI  UC9: :)$8 -9) I  5tIi  5E  ;) ;I #9AIA9A*Gq2GqFyFyrFybFEE)5;I59 19i9I99E ը(AYt*fR@t*q`@yt*Jt*[>t*H5k? $׿ yp?Ղ?i??)u*fR@ u*n;Iu*CxBi>xBE)UGF@}Y};>ʁʁQ8Eʁ͍6>I I8ٮ QtI  UC9鰕ܹ: ߼:)@ě8 9)I tIi E S:)E:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 99i9I9AE[Ot.Hi?Cg@zB׿}9? ~??`3?)u.$1R@ u.m;Iu.CxBp>xF%EHLHLiXI^̓C)Q8E;>I I8ٮ QtI  UC9 ; ;)H˛8 9)I  tIi  E ::) :Is99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 201.312217 arcdeg .q''*G2GFFrFbFEE)-;I-9 IIiQIQQ]&BtRH ?_Zy׿ ????)uRU|R@ uRfm;IuRCxZi>x^NE)eSGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]Ye]:e>iiQm8Eiu0<u>iu?AqI I8ٮ QtI  UC9鰝: x:)қ8 9) 9I tIi E ;);Ig9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI5R@t>`@yt>z!t>)>t>H`?CF׿?@/?`Ê??)u>5R@ u>n;Iu>CxN:m>xREi\I^“C)%GF@=YEWE>AAQM8EIM7@M>IQ I]8ٮQQ QetI Q UeC9QUy: U|:)U؛8 m9)iIi mtIii uEi m:)mZ:Im 9I9*G2GFqFyrFybFyEE);I9 iI—t:H?@SQ׿[w? ?Q??)u:AR@ u:8*n;Iu8xNp>xN%EGNAAHL {PY|PR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )evGiya 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a  a -@a  AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y :>!!Q%8E!-:->I1 I=8ٮ11 Q=tI 1 U=C915O: 5t:)5O8 9)I tIi E :)*:I9I9*G2GF9FArFAbFIEIEI);I9 iIt*H?vM_E׿_?@?`9?0?)u*O4R@ u*m;Iu*Cx>Hf>x> EiTIV̓C) GF@5Y=h=?99Q=8EAE%E?II IU8ٮII QUtI I UUC9IM: M:)M8 e9)YIY etIiY eEY ]-:)]c:I]9I9*G2GFFrFbFEE);I 9  i Idٷm>tv5* Dkը(AYt*NR@t*`@yt*t*Hp>t*H`?`ҳ^׿`7? ?^??)u*NR@ u*m;Iu*Cx>m>xB'E)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aiQm8Eima;u>Iy I}8ٮyy QtI y UC9y}: }:)}8 9)I tIi E ):I$9I9*G2GFFrFbFEE);I9 iI!%ct6H?`"i׿`L???I?)u6ZR@ u6am;Iu6CxBsj>xB(EH@HDiTIV“C) vG 4=4=F@Y%eĻ%>))Q-8E)-f:5>I1 I]8ٮ11 QetI 1 UeC915$; 5˵;)5N8 m9)aIa mtIia uEa eh:)e:Ie-9I9*G2GFFrFbFEE);I9 iI!%tHt*H%>?@ö@!4׿ h?v?Z??)u*!R@ u*n;Iu*CxBp>xBE)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y:>Q8E>I  I8ٮ   Q5tI  U5C9  ܵ; ;) 8 E9)9I9 EtIi9 EE9 =:)=˚:I=/69iqqyIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI~.t*Hg ?f׿`@vY?Ѐ?x?@?)u*/XR@ u*&vn;Iu(xBZe>xB EiLIL)ESGF@]Ye];e>aaQe9Eiml <m>Iq I}8ٮq M}8q Q}tI q U}C9qui: u:)u;8 9)I tIi E 1:):I4>9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 201.448752 arcdeg .q''*G2GFFrFbFEE);I9 iI(t*H`i?Y`D׿ I`g2?@?? .?)u*T3R@ u*-n;Iu*CxBh>xBEGB@AH@)~jGixAxAF@ Y=>ʁQ9Eʁ͍贻>I I8ٮ QtI  UC9鰍: [:)/ 8 9)I tIi E :):IF9I9=OM@Contact HDG: 154.404486 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFIFQrFYbFYEYEY)m;Iu9 yyiyIyt.H`]`v?ਦ$k׿a`)?@?z? @?)u.\R@ u.Kn;Iu.CxBmd>xBu EiPIP)~vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye.e>aaQm9Eim;m>Iq I8ٮqq QtI q UC9quP]< u]<)u8 9)I tIi E :):IyO9I9*G)2G)F1F1rFYbFYEYEY)u;u>u{>I9 iI=t*H?Ҷ@S׿x`M?? B??)u*CR@ u*un;Iu(xN5g>xR*E)%GF@]Ye:e>aaQe9Eimwm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi E }:):IW9I9*G2GFFrFbFEE);I9 qyiyIyy<t*H?@#0׿ ??´?p?)u*R@ u*|n;Iu*CxNf>xR EHPHRp=i`Ib̓C)G%=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ.;>ʉʉQ9Eʉ͕ù>I I8ٮ QtI  UC9鰝: į:)8 9)I tIi E :):IV`9I9*G2GFFrFbFEE);I9 iI֨(AYt*BR@t*`@yt*5!t*[g>t*H1?q@R׿`E&?&? G?i/?)u*BR@ u* n;Iu(xBHf>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )evGF@Yʥ>ʩʩQ9Eʩ͵;>I I8ٮ QtI  UC9; ;)$8 9)I tIi E :)A:Ih9I9*G2GF!F!rF)bF)E1E1)M;IU9 QQiYIYae?Rt*Hྤ?T۴9׿o? A?`?`?)u*'R@ u*4Yn;Iu(xBf>xB EiXIZ“C)GF@%Y-->))Q-9E155>I9 IE8ٮ99 QEtI 9 UEC99=: =:)=y+8 U9)III UtIiI UEI Mɏ:)M :IMq9aIa9i*Gy2GyFyFyrFbFEE);I9 iIt6H` @r?@@}"׿``7S?S?hB??)u6R@ u6R}o;Iu6CxBi>xBEGB?AHD)~GiwAa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9H:e>aaQe9Eamtm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u{28 9)I tIi E [:)ȗ:Iy9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIt*H ^?a ֿ`?`i???)u*Q@ u*9qo;Iu*CxBKS>xBEilIl)9F@MYMo:U>QQQU9EQ]; ]>Ia Im8ٮaa QmtI a UmC9ae}: e:)eX98 u9)qIq }tIiq }Eq u:)u:Iu=9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 200.999367 arcdeg .q'%'-*G)2G)F)F)rF1bF1E9E9)M;IM9 QQiQIQY]ju> ߁5* ~ר(AYt*R@t*`@yt*nt*rj>t*Hܬ?@ϲ`M&׿ o?ǭ?s?H)?)u*R@ u*n;Iu*CxBp>xB%E)xa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ`:>Q9E <>I I8ٮ QtI  UC9>: B:)z@8 9)I tIi E :):I 9I9=O@Contact HDG: 154.404486 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI7t*H9{?~W ׿ah?@?`? ?)u*wQ@ u*n;Iu*CxBr>xBIEHBp=H@iPIR̓C)~G4=F@=YEE>AAQM9EIMܜM>IQ I8ٮQQ QtI Q UC9QU]< UP^<)UG8 9)I tIi E :) :Iz9I9*G 2G FFrF9bF9E9E9)U;IU9 yyiyIy t*H@6?@!ֿ``??`g??|?)u*QQ@ u*#o;Iu*CxNj>xRqE)ׄGF@]YeR;e>aaQe9Eamm>Iq I}8ٮqq Q}tI q UC9qu: uS:)uN8 9)I tIi E :)Ԙ:Iӛ9I9*G2GFF1rF9bF9E9E9iu?Aq)U;I}9 yyiyIyt*H``e?Xvֿ|?(?\1??)u*Q@ u*7o;Iu*CxN"h>xREi\I\)ʁʁQ9Eʉ͍G;>I I8ٮ QtI  UC9鰕: :)U8 9)I tIi E O:)ȗ:Ik9I9*G2GFFrFbFEE);I9 iI.t*H@f?@mֿ??)t?`#?)u*AQ@ u*7n;Iu(xBl>xBEGB@AHD)~SGixAF@=YEE>IIQM9EIM$U>IQ I]8ٮQQ QetI Q UeC9QU: U:)U[8 m9)iIi mtIii uEi m:)m:Imì9I9*G2GFFrFbFEE);I9 iIt*H h V?~ֿ`?@2?0? t?)u*!Q@ u*Ҩn;Iu*CxBc>xB EiPIP)%GF@=YMM>QQQ}9Ey͍>I I8ٮ QtI  UC9 < u<)b8 M9)9I9}R>> tIi9 E9 =)<)=)Ϫר(AYt*Q@t*>`@yt* &t*>t*H` ?xbIE {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MY];]>YaQe9Eam1ܻm>Iy I8ٮyy QtI y UC9y}+; };)}8j8 9)I tIi E o:)[:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%:lt.Hb?!fֿ `.?u??;?)u.Q}Q@ u.!n;Iu.CxBf>xB EHBa=HBa=){FII{Di{F={D{D{FA{D|Fz@B9|F:]?XʹidId)E҄GM?M=F@}Y}6C;>ʁʁQ9Eʁ͍-W>I I8ٮ QtI  UC9鰕x; I;)p8 9)I tIi E :):I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N@Vehicle HDG: 200.683361 arcdeg .q''*G2GFFrFbFEE2EzEz@BEE@@2f.wAE:]?XʹEIEEy EǓ2@KU_ Elt6H@}"?b ֿ`1`?`?\?@%?)u6{Q@ u6n;Iu6CxRsj>xV(E)vGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 55@a 5 a 95@a 5 a -5@a U ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@eYm!m>iqqʑʑQ9Eʑ͝s>I I8ٮ QtI  UC9鰥: :)x8 9)I tIi E :)4:I9I9=O@Contact HDG: 156.461452 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIt*H?!@ֿ5 `f?k[?|??)u*/Q@ u*Vtn;Iu(xRZe>xR Ei`Id)eGF@Yʝqm>ʡʡQ9Eʡͭ:>I I8ٮ QtI  UC9鰵: -:)t~8 9)I tIi E %:)9:I9I9*G2GFFrFbFEE);I9 iI8t*HR@?ghfֿ@V3?@=?e?`?)u*EQ@ u*]}n;Iu*CxB'n>xBpEGF?AHD)~vGiwAwAF@=YEźE>AIQM9EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU`: U :)U%8 m9)aIa mtIia mEa e:)e:Ie9I9*G 2G FFrF9bF9E9E9)U;IU9 yyiyIyNt.Hw`;?N-fֿ lxREi`Ib“C)dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ;>ʁʉQ9Eʉ͍D>I I8ٮ QtI  UC9鰕p: :)-8 9)I tIi E ) :I9I9*G2GFFQrFYbFYEYEYqup>)u;I9 iIt*H@?U@Eֿ"?M??g?)u*!Q@ u*"n;Iu*CxNeq>xRnE)GF@]Yee>aaQm9EimAm>Iq I}8ٮqq Q}tI q UC9qu: u:)u8 9)I tIi E O:)A:I9I9*G2GFFrFbFEE);I%9 !)i)I)ht*H?_`k8ֿ !b??=??)u*Q@ u*Utn;Iu*CxRi>xREHVp=HVp=i`I`)%G%4=-=a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅJ:>ʉʉQ9Eʉ͕>I I8ٮ QtI  UC9鰝: :)8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iIt*H`?E)/.ֿɎ? o?m ?@ ?)u* Q@ u*n;Iu(x>e>xBP E) +GF@=Y=9E>AAQE9EAM>ݺM>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U8 m9)a m9Ia mtIia mEa eA:)e4:Ie9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI6=i 2@<:@w: iqqS$6* DŽب(AYt* P@t*t_@yt*(t*g>t*HM`?e?@ տ??`?P?)u* P@ u*o;Iu(xVg>xVsEidIf̓C)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQ9Eʙͥn >I I8ٮ QtI  UC9鰭.: 1:)̧8 9)I tIi E %:)9:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 200.045955 arcdeg .q'e'e*Ga2Ge.@FaFarFibFiEqEy);I9 iI .@i.@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.730767 rad!*6* ^ب(A Yt.P@t.s_@yt.X}0t.by>t.HPuq?லgտ$??`?` ?)u.P@ u.j6o;Iu.CxBg>x@GB@AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ixAxAF@Y>Q9E4>I! I-8ٮ!! Q-tI ! U-C9!%: %@;)%8 ]9)QIQ etIiQ eEQ UQ:)U#:IU9I9=O@Contact HDG: 156.461452 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!);I9 iI-@D=i 2@<:@w: 16* 9ب(AYt:'P@t:2G_@yt:/t:Ar>t:H@@FQ?籿@}տ 9`1? ??\?)u:'P@ u:Xp;Iu:CxR'n>xRpEi1I1)-SGu]>qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ8>ʹʹQ9Eʹͽnϻ>I I8ٮ QtI  UC9J: N:)58 9)I tIi E O:) :If9I9*G2GFFrF bF EE)%;I%9 ))i)I)5.@i11 92@=<:@=w: Q76* ب(AYt*P@t*%{_@yt*0t*Pw>t*H z?UNտ8'_B??è?` ?)u*P@ u*+Eq;Iu*Cx>sj>xB(E)~dGF@=YE|NE>IIQM9EIMy<U>IQ I]8ٮQQ QetI Q UeC9QU: Ul:)UM8 m9)aIa mtIia uEa eɏ:)e:Ie#9yI9*G2GFFrFbFEE!)5;I59 11i9I99=@=iAA A2@M<:@Mw: ߁i >6* ب(A) I;Yt*P@t*-_@yt*6t*>t*H? ,?ӲZտ %:?҆?۠?r?)u*P@ u*QZq;Iu(xNm>xN'EHRa=HRa=i`If“C)!-<-%=F@]Yeae>iiQm9Eiu%>u>Iq I}8ٮqq QtI q UC9quh: u>:)uDÜ8 9)I tIi E B:)5:I,9I9*G2GFFrFbFEE);I9 iI=i 2@<:@w: ߡ$D6* )٨(AYt*iP@t* _@yt*#t*;{>t*H&_?@E8տ@1h?@v??H ?)u*iP@ u*7q;Iu*CxBeq>xBnE)xa 15a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a = a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU;;U>YYQ]9EYe`e>Ii Im8ٮii QutI i UuC9im: m1:)m ʜ8 9)yIy tIiy Ey }:)}s:I}49I9*G2GFFrFbFEE);I9 iIT=i 2@<:@w: iqqMK6* r.٨(AYt*``P@t*k _@yt*At*ps>t*H@ `?տ>@V?6?R)? ?)u*``P@ u*q;Iu*CxBd>xB EiLIN̓C)~GF@=YEME>AAQM9EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UМ8 m9)aIa mtIia mEa e::)e:Ier=9yIy9*G2GFFrFbFEE);I9 iIv=i 2@<:@w:  R6* ]H٨(A, ,Yt MP@t ^@yt _Ct u>t H`#@ ?:}տ? ,? k? p?a?)u MP@ u r;Iu CxUv>xUGEG]AAHY)SGiwAwAa 1a 1 a 5a 5 a 9a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=Y=rE>AAQE9EAM(M>IQ I]8ٮQQ Q]tI Q U]C9QU: Ux:)Uq؜8 m9)aIa mtIia uEa ef:)e:IeF9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=i 2@<:@w: F1X6* \b٨(AYt*#P@t*&^@yt*t*W>t*H+L?Ჿ {Uտ`D6*??8?H?)u*#P@ u*q;Iu*CxVU_>xZS EidIf“C)%dGF@]Ye;e>aaQe9Eimfm>Iq I}8ٮqq Q}tI q U}C9qu: ux:)uޜ8 9)I tIi E :)c:IN9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 199.472642 arcdeg .q'5'5*G12G1F9F9rFAbFAEAEA)];I]9 YYiYIYae =iaa i2@muY>:@uw: ߉r[^6* 7|٨(AYt.@&P@t.K^@yt.$t.7{>t.H@*_?igXտN< ?@? a!? ?)u.@&P@ u._p;Iu.CxBh>xBE)%GF@=YEE>AAQM9EIM9M>IQ I}8ٮQQ Q}tI Q UC9QUV; U;)U8 9)I tIi E :)o:IW9I9=OM@Contact HDG: 156.461452 arcdeg .'M'MOM4Initialize Wait Component.*GQ2GQFyFyrFbFEE);I9 iIg =i 2@<:@w: TCe6* ٨(A)4t*H4H?"2տU !??Q?,?)u*O@ u*gDp;Iu(xBr>xBIEHBp=HBp=iPIP)+G%%=!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YШ>Q9E>I I8ٮ QtI  U%C9@ < ;)8 -9)!I! -tIi! -E! %:)%:I%`99IA9A*Gq2GqFyFyrFbFEE);I9 iI2 =i 2@<:@w: #mk6* ٨(AYt*O@t*ݧ^@yt*At**u>t*H1i? QW/տ@N7!? k>? Z? ?)u*O@ u*3o;Iu*CxRb>xR E {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) SGF@%Y-_r:->11QU9EQ]+;e>Ii Iu8iyyٮii QtI i UC9imc; m;)m 8 9)I tIi E a<)ct*H">Ek?$@.ԿK ?ೃ?`2]??)u*ZO@ u*!o;Iu*CxN5g>xR*EihIh)=dGF@YʍM;>ʡʡQ9Eʩ5:==>II I8ٮII QtI I UC9IMNJ< M<)M8 9)I tIi E t:):Iq9I9*G2GFF rF bF1E1E1)E;IE9 IIiIIIqu-=iqq y2@}<:@}w: ߑx6* ٨(A Yt*%O@t*0o^@yt*p$t*_K>t*H`;y?ftԿC`d??Ǽ??)u*%O@ u*1o;Iu(xBv>xBGEGB@AHD)Gi vA a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm(Om>iiQm9EiuLF;u>Iy I8ٮy M8y QtI y UC9y}: }:)}R8 9)I tIi E Ր:) :I y9I9*G2GFFrFbFEE);I9 iIA=i 2@<:@w: 1~6* ~٨(AYt*.}O@t*9*^@yt*O(t*w>t*HFF ~E? bԿ _ X?? Փ?_?)u*.}O@ u*o;Iu*CxBi>xBNEiPIT)ׄGF@=YE$E>AIQM9EIM,M>IQ I]8ٮQQ Q]tI Q UeC9QU>: U :)U!8 m9)aIa mtIia mEa e[:)aIe9yI9*G2GFFrFbFEE);I9 iIw=i 2@<:@w: u>u>j6* Zڨ(AYt*_UO@t*j^@yt*:t*vo>t*HL,?@fԿrd?q@?@ԫ?R ?)u*_UO@ u*{o;Iu*CxBp>xBE)z҄Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ)>ʁʁQ:Eʁ͍=>I I8ٮ QtI  UC9鰕 : S:))8 9)I tIi E )ȗ:I89I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI=i 2@ <:@w: !6* ;1ڨ(A) IYt*4O@t*]@yt*/t*z>t*H`Q ?`R`=tԿc P?@? ? ?)u*4O@ u**p;Iu*Cx>Ml>x>LEHB=H@iLIL)~+G==F@=Y=:E>AAQE:EAM#M>IQ I]8ٮQQ Q]tI Q U]C9QU: U :)U8 e9)aIa mtIia mEa a)eo:Ie9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.639523 arcdeg .q''*G2GFFrFbFE E )-;I-9 ))i)I)15=i99 92@E<:@Ew: Q6* QKڨ(AYt*N@t*]@yt*T(t*߀>t*H \?kp4Կ qa@Ǧ? r? ? q?)u*N@ u*lp;Iu(x^:m>xbE)=GF@EYM:M>QQQU:EQ] &]>Ia Ie8ٮaa QmtI a UmC9ae: e:)e8 u9)qIq }tIiq }Eq u:)u:Iu9I9=O@Contact HDG: 156.461452 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9I9AE]+=iAI I2@M<:@Uw: aiqq͘6* dڨ(AYt*N@t*]@yt*1*t*>t*H _@D?R}d"Կkg@mz?@F??@?)u*N@ u* q;Iu*CxB|>xBCEiLIR̓C)-ʩʩQ:Eʩ͵6>I I8ٮ QtI  UC9鰽: :)#8 9)I tIi E ?:)0:Iڣ9I9*G2GFFrFbFEE);I9 iI!!%]=i)) )2@5<:@5w: AY6* ~ڨ(A Yt*ΡN@t*N]@yt*n5t*Hv>t*H iB?`[ӿ xg?? |? ?)u*ΡN@ u*fq;Iu*CxBf>xB EGBAAHD)~GixAF@Yʝغ>ʙʙQ:Eʡͥ>I I8ٮ QtI  UC9鰭): :)*8 9)I tIi E }:)o:IS9I9*G2GFFrFbFEE) ;I 9  iI]=i 2@%<:@%w: 9.ߥ6* ˠڨ(AYt*pN@t*]@yt*L&t*r>t*H@p R?V%-ӿ ?Ʉ?? ?)u*pN@ u*q;Iu*CxBi>xBNEiPIR“C)~GF@=YE;E>AIQM:EIM2M>IQ I]8ٮQQ QetI Q UeC9QU: U:)U~18 m9)iIi mtIii uEi m:)m,:Im9I9*G2GFFrFbFEE!)5;I=9 99iAIAY]=iYY Y2@e<:@ew:u>ul> ߙ 6* (}ڨ(AYt*)bN@t*4]@yt*Lt*m}>t*H@r8?97ӿ65?? Z??)u*)bN@ u*r;Iu*CxBf>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yg|:>Q:E  >I I8ٮ QtI  UC9: :)98 9)I tIi  E ˵;)˷;IӾ9I9*GQ2GQFQFQrFYbFYEaEa);I9 iI8=i 2@<:@w: 1:6* CWڨ(A);I Yt*'N@t*\@yt*Z/t*|>t*H {?/@sӿ;wH??5?~?)u*'N@ u*ws;Iu*CxBeq>xBnEHBa=HFa=){F[䨾I{Di{F»={F1>{D{F0A{D|FA9|F#2TF?Կi`I`)%G-p=-4=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ3>ʉʉQ:Eʑ͕&>I I8ٮ QtI  UC9鰙 x:)q?8 9)I tIi E :):I9I9*G2GFFrFbFEE2EzEAE>=@.V@$E#2TF?ԿE[䨾EE,q>`-? dj?9ȧmE/P%?;4miE`H@=DHdg To Contact =179.385042 degreesZEU>bEk:EVo$?BE6o$?JE REy jErE);I9 iI!%'=i!! )2@-<:@-w: $Dacoustic_contact_range 31.259998 m$hTrackAcousticContact.heading_to_contact 3.130860 rad$ LDUSBL_Hydroid.xAngle -18.899999 arcdeg6* <3ڨ(AYt*nM@t*y\@yt*Tt*H_? `z1ӿ -?w?@l.??)u*nM@ u*hs;Iu*CxBi>xBE)AAQM:EIMD0M>IQ I]8ٮQQ Q]tI Q UeC9QUu: Ux:)U-F8 m9)aIa mtIia mEa e:)e:Ie"9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIM=i 2@<:@w: iqq6* ۨ(AYt*EM@t*Ps\@yt*4%t*-r>t*H ?@ӿ)-? ?`?%?)u*EM@ u*s;Iu(xB:m>xBEiPIT) GF@=YEd;E>AAQM:EIMsM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UM8 m9)aIa mtIia mEa a)e:Ie9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.357496 arcdeg .q''*G2G`H@FFrF!bF!E!E!)=;I=9 99i9I9E @0@iAE`H@ I2@M<:@Uw: a$RHorizontalControl.headingCmd 3.130860 rad-6* ۨ(A@ Yt6M@t6[\@yt6Ct6>t6H@- ?` ӿ̗5t?Á??@?)u6M@ u6ݼs;Iu6CxB]>xBxEG@HD)~SGixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeIb;e>iiQm:Eiugu>Iy I}8ٮyy QtI y UC9y}: }:)} T8 9)I tIi E )o:I@9I9=O-@Contact HDG: 179.385042 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQ]3@iYY a2@e<:@mw: ߁W6* 3ۨ(AYt*xM@t*%\@yt*'t*>t*H `P?2ҿR@"?`4?`g??)u*xM@ u*lut;Iu(xBmd>xBu Ei\I`)dGF@=YEE>AIQM:EIMM>IQ I}8ٮQQ Q}tI Q UC9QU$; U;)UZ8 9)I tIi E %:)9:I9I9*G2GFFrFbFEE);I9 iI 7@i   2@5<:@5w: Iu>u>?6* 0Mۨ(AYt*FM@t*[@yt*t*HSS8?`ҿ `$f?`s? lV?#?)u*FM@ u*\t;Iu*CxR`k>xRE)Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y:>Q:E>I I8ٮ QtI  UC9: :)b8 9)I  tIi  E O:):I9I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QQiQIQ]<<@i]rd>Y a2@e<:@mw: ߁xi6*  zgۨ(A) I Yt*w7M@t*[@yt*(t*s>t*H W/?!%ҿH??c5?$?)u*w7M@ u*s;Iu*CxRd>xR EHPHTi`Ib̓C)!%<%%=F@Yʽ7>;>Q:E>I I8ٮ QtI  UC9 :)h8 9)I tIi E :):I9I9*G 2G FFrFbFEE)5;I59 11i1I1=B@i=қA>9 A2@E<:@Mw: a^Q6* GUۨ(AYt.M@t.[@yt.t. >t.H` q? i㰿 uuҿ`*??q??)u.M@ u.s;Iu.CxRi>xRE)%GF@]Ye};e>aaQm:EimHm>Iq I}8ٮqq Q}tI q U}C9qu: u:)uo8 9) 9I tIi E  :):II9I9*G2GFFrF9bF9E9E9)U;iu@AqI}9 yyiyIyF@iQ)> 2@<:@w: ߡ|6*  3ۨ(AYt*L@t*Ƀ[@yt*HR#t*M†>t*H t ?@2ҿ@U#?2j?u?}?)u*L@ u*Ƨs;Iu*CxNk>xREi\I^“C)ʡʡQ:Eʡͭg)>I I8ٮ QtI  UC9鰵wT; U;)v8 9)I tIi E :):I 9I9*G2GFFrFbF E E );I9 iIH@i> 2@<:@w:?΅> 6* ( ۨ(A@ Yt*L@t*p[@yt* t*}>t*HFJ?࿉F ҿ-ua?`6?@c^??)u*L@ u*.s;Iu(xNi>xRNEGR@AHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uSGiwAF@Y0z;>Q:E9>I I8ٮ QtI  UC9; %;)}8 9) I  tIi  E   ;)  ;I 91I199OUDone Waiting.'UOU8Uninitialize Wait Component.*GY2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFiEqE)u;Iu9 qqiqIq}6Hiyy 2@<:@w:m..{> q!6* [ۨ(AYt*L@t*r[@yt*[t*dt>t*H ?@ƭ"ҿ@h?`g?P??)u*L@ u*Zr;Iu*CxBj>xBqEiXIX)dGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}G}>yʁQ:Eʁͅ9>I I8ٮ QtI  UC9鰍: |:)Y8 9)I tIi E Ր:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 196.459955 arcdeg .q'E'E*GA2GAFIFIrFQbFQEQEY)m;Im9 iiiiIiuR>ui>}(H}e=iyy 2@<:@w:mQ> y16* ;ۨ(AYt2 L@t2+.[@yt26t2#>t2Hl?|?zHRѿZ?`†?`L?@?)u2 L@ u2;r;Iu2CxNZ>xRzE)GF@-Y-z5>11Q5:E1=-=>IA IM8ٮAA QMtI A UMC9AE: Eٮ:)E8 ]9)QIQ ]tIiQ ]EQ US:)U0:IU3#9iIi9i=O@Contact HDG: 179.385042 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE E );I9 !!i!I!-!H@i)) )2@5<:@5w:EwA EwA Vw$> 7* wܨ(A)4[@yt.2$t. >t.H GFx?uѿN??7? ?)u.L@ u.r;Iu.CxBo>xBJEH@H@ilIn̓C)=GE=E=F@]Ye*;e>aaQe:Eim;m>Iq I8ٮqq QtI q UC9qu; u;)u8 9)I tIi E d:)V:I+9I9*G2GFFrFbFEE!)U;IU9 QQiQIY]RH@]6=iaa a2@m<:@mw:2> ߹7* yܨ(AYt* DL@t*Z@yt*t*q݃>t*H4?`ѿ@?`B?M?}?)u* DL@ u*r;Iu*Cx65g>x6*E)rGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ)5;>ʁʉQ:Eʉ͍<>I I8ٮ QtI  UC9鰕p: :) 8 9)I tIi E p:):Iq49I9*G2GFFrFbFEE);I9 iI`H@a=i 2@ <:@ w:iu?Aq )]>  7* ;T6ܨ(AYt*>L@t*Z@yt*:#t*B]u>t*H tD?ZѿY?`L@ u*r;Iu*CxBf>xB EiPIR“C)~SGF@=YE9-E>AAQM:EIMsM>IQ I8ٮQQ QtI Q UC9QU}< U~<)U̟8 9)I tIi E _:)s:I=9I9*G2GFFrF bF E E )%;I%9 !!i!I))-)=i)1 12@=<:@=w:)E=IM=-"> 17* /Pܨ(A@ Yt.RNL@t.]Z@yt.3$t.>t.H J?*ѿ@7@??Q??)u.RNL@ u.jq;Iu.CxNt>xRlEGPHP)dGi%wA!a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅp>ʁʁQ:Eʉ͍N;>I I8ٮ QtI  UC9鰕B: $:)Ԧ8 9)I tIi E :) :IvE99I999*GI2GIFQFQrFybFyEyE);I9 iI=i 2@<:@w:2> 7*  jܨ(AYt*VL@t*aZ@yt*: t*>t*H _@?4rѿ`sc?`.?@?)?)u*VL@ u*q;Iu*Cx6u>x6Ei@I@)nGF@Y%9:%>!)Q-:E)-E#->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)58 M9)AIA MtIiA MEA ES:)Eg:IEM9YIa9a*Gq2GqFqFqrFybFyEE);I9 iI(=i 2@<:@w:q}Y>)]>  7* ܨ(AYt.bL@t.mZ@yt.o%t.4g>t.H? ?@zyѿѴ%?ʭ?@u??)u.bL@ u.q;Iu.CxB[>xB E)+GF@=YE0LE>AAQE:EAMɝ:M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)Uz8 m9)aIa mtIia mEa e:)eo:IeOV9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI8=i 2@<:@w: "> E'7* ܨ(AYt*K@t*Z@yt*;%t*2>t*H@@? Q䯿Pѿ `6{?Р?`?`>?)u*K@ u*Eq;Iu*CxBk>xBEHDHDiPIP)~SG~%=~%=a 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ{8>ʁʁQ:Eʁ͍wλ>I I8ٮ QtI  UC9鰑 :)8 9)I tIi E [:)N:I^9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 195.698416 arcdeg .q'M'M*GI2GQFQFQrFYbFYEYEa)};I}9 yyiyIy1=i 2@<:@w: ߱C-7* jܨ(AYt*XK@t*cZ@yt*xt*>t*Hd?| @Gѿ@5r$? ?9?Ú?)u*XK@ u*iq;Iu(x>Ml>x>LE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MdGF@Yʽ ;>ʹQ:E`>I I8ٮ QtI  UC9j; /;)8 9)I tIi E :)h:Ig9I9iyy=O@Contact HDG: 179.385042 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!);I9 iIC=i!! )2@-<:@5w:]2> iL*47* `xܨ(AYt2rK@t2}{Z@yt2'껙t2>t2H 2w?z`4ѿ;7?`D}?F*?@^?)u2rK@ u2 t;Iu0xB_>xB EiXIX)GF@%Y-;->))Q5:E15N5>I9 IE8ٮ99 QEtI 9 UMC99=F: =:)=ɝ8 U9)III UtIiI UEI M:)M:IMo9aIa9i*Gy2GyFyFyrFbFEE);I9 iI(=i 2@<:@w:)I9g> >T:7* Rܨ(AYt*}K@t**Z@yt*fͻt*]>t*H  Q?"`пI`ǟ?Ԭy?*?ڮ?)u*}K@ u*3s;Iu*Cxfc>xf EGjAAHh)UGiQQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ8;>ʹʹQ:Eʹb?>I I8ٮ QtI  UC9W: :)PН8 9)I tIi E %:):Ix9I9*G 2G F F rFbFEE)-;I-9 ))i)I1AEWw =iII Y2@e<:@ew:9 I;A7* V+ݨ(AYt.K@t.aZ@yt.ۻt.oU>t.H` ?@"ѿe'@?t{?`P?M?)u.K@ u.cs;Iu.Cx6{]>x6/EiHIH)zGF@MYMM>QQQU:EQ]* <]>Ia Ie8ٮaa QmtI a UmC9ae}: e:)e֝8 u9)qIq }tIiq }Eq uа:)u:Iu9I9*G2GFFrFbFEE);I9 iIZ =i 2@<:@w:"> %fG7* ݨ(AYtjK@tj#Z@ytjDtjƐ1>tjH^@+?@ @&MѿT ? ?A?`?)ujK@ ujC=t;IujCxZ>x zE)+Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]BF]>aaQe:Eae=;m>Ii Iu8ٮii Q}tI i U}C9im: m:)muޝ8 9)I tIi E p:) :I#9I9*G2GFFrFbFEE);I9 iI5m!=i 2@<:@w: '> =M7* 8ݨ(AYt*0K@t*;Z@yt*]3t*!Y>t*H@`?{'Eѿ ?,F?@$?@G?)u*0K@ u*1/s;Iu(xRsj>xR(EHV=HTi`I`)%G%4=%4=F@]Yee>aaQm:Eimm>Iq I}8ٮqq Q}tI q UC9qu: u:)u8 9)I tIi E :):I9I9*G2GFFrF9bF9E9E9)U;IU9 qqiqIqy}!=iyy 2@<:@w: )I axT7* ¾Rݨ(AYt*K@t*Z@yt*x׈t*߹>t*H@?F@ѿv??S??@?)u*K@ u*ٚr;Iu(x6n>x6E)rSGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM:;M>IQQU:EQU6]>Ia Ie8ٮaa QmtI a UmC9ae\: e:)e8 u9)iIi utIii }Ei m>:)m:Imm9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIT"=i 2@<:@w: i7Z7* ̙lݨ(AYt*K@t*9Z@yt*3Dt*s>t*H@?@`zп ?? _? ?)u*K@ u*xBEiPIP)dGF@=YE><E>AAQM:EIM}EM>IQ I]8ٮQQ Q]tI Q UeC9QU: U :)U8 m9)aIa mtIia mEa e::)e:Ie9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 195.363436 arcdeg .q'5'5*G12G1F9F9rF9bFAEAEA)];I]9 YYiYIYaeB"=iaa i2@m<:@uw: 9!a7* uݨ(AYt.K@t.fZ@yt.%t.HP>t.H ? ѿ -Q?? %?@U?)u.K@ u. r;Iu.CxBi>xBEGF@AHD))i19F@]Ym;u>ʉʉQ:EʉͥJ;>I I8ٮ QtI  UC9鰽; ;)8 9)I  tIi E u;)"{;IЫ9AIA9I=Oe@Contact HDG: 179.385042 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFirFbFEE);I9 iITT#=i 2@<:@w: g7* TVݨ(AYt*WK@t*bZ@yt*K"t*U:>t*H6?<`Bѿ`I`Բ?3X?8?w?)u*WK@ u*Bq;Iu*CxNi>xNEi\I^̓C)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ0K>ʡʩQ:EʩͭY;>I I8ٮ M8 QtI  UC9鰵Գ: s:)8 9)I tIi E ɏ:)h:I49I9*G2GFFrFbFEE);I9 iI!%_#=i!! )2@-<:@-w: Aa>m7* ,ݨ(AYt*MK@t*XZ@yt*4 ]t*o>t*H@F? T Eѿ'????)u*MK@ u*$q;Iu*CxVh>xVE {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y >Q:EI9>I I 8ٮ Q tI  UC9; 9;)8 %9)I %tIi -E :):I9AIA9A*GY2GaFaFarFibFiEqEy);I9 iI9$=i 2@<:@w: t7* ݨ(A)Ix-y>x5EH5p=H5p=iiIu“C)G%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y==>99QE:EAEE>II IU8ٮII QUtI I UUC9IM: M :)M8 e9)YIY etIiY eEY ]O:)] :I]9qIq9q*G2GFFrFbFEE);I9 iI$=i 2@<:@w: z7* ݨ(AYt*mK@t*xPZ@yt*Et*Ȁ>t*H@ E?nŭ`' ѿ@?؁?5??)u*mK@ u* t;Iu*CxB`>xB. E) GF@Y%T<%>!!Q-:E)-N%->I1 I8ٮ11 QtI 1 UC915}< 5<)58 9)I tIi E _:)0:I9I9*G2G!F!F!rF)bF)E)E))e;Ie9 aaiaIaim&%=iiq 2@<:@w: ߩi؁7* ߿ި(Axl>xEiaIi)ʡʡQ:Eʡͭ>I I8ٮ QtI  UC9: :)8 9)I tIi E :)5:I9I9*G)2GIFIFQrFQbFQEYEY);I9 iI%=i 2@<:@w: 7* !ި(A@ Yt*K@t*Z@yt*'t*ަW>t*H` t?@Yѿ;`E?F?@?J?)u*K@ u*At;Iu*CxBsj>xB(EG@HD)%SGi%yA-xAF@=YEE>AIQM;EIMb<U>IQ I}8ٮQQ Q}tI Q UC9QU; U;)U"8 9)I tIi E :),:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIB&=i 2@<:@w: A,7* Lq;ި(AYt*űK@t*^Z@yt*(t*ӂ>t*H `"? ѿ`:@U?&?,?@?)u*űK@ u*]u;Iu*CxR5g>xR*Ei\I`)GF@=YEx@E>AIQM;EIM^&U>IQ I}8ٮQQ Q}tI Q UC9QU; Ug;)U)8 9)I tIi E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'V>p>NE@Vehicle HDG: 195.495314 arcdeg .q'E'E*GA2GAFIFIrFqbFqEqEq);I9 iIr&=i 2@<:@w: 17* ePUި(AYtBK@tBZ@ytBBtBf>tBH`?@bAѿ`@?X??1?)uBK@ uBcu;IuBCxNj>xRqE)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y{u>Q;E;>I I8ٮ QtI  UC9; ;)08 %9)!I! -tIi! -E! %:)%g:I%9YIY9Y=Ou@Contact HDG: 179.385042 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFybFEE);I9 iIe'=i )2@-<:@-w: A>7* )oި(A);IYt>K@t>Z@yt>u3t>=a>t>Hk ?ߨ cFѿ C?|? T?":?)u>K@ u>Mt;Iu>CxNo>xRJEHR=HPi`I`)%G%%=!F@=YE;E>AIQM;EIMGV:M>IQ I}8ٮQQ Q}tI Q UC9QU; U˵;)Uw78 9)I tIi E :):I9I9*G2GFFrFbFEE);I=9 99i9I9AE{'=iAA I2@M<:@Mw: ߁27* 7ި(AYtNL@tNZ@ytNtN*t>tNH ? Ttѿ4p?#?F? .?)uNL@ uN>t;IuNCxvo>xt)ׄGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʍ;>ʑʑQ;Eʑͽ;>I I8ٮ QtI  UC9: :)5?8 9)i 9I tIi E ;)o;I9 I 9 *G2GFFrFbFEE)U;IU9 QQiYIYim (=iii 2@<:@w: R7* :ި(AYt*8K@t*CZ@yt*§t*1>t*H ? |Gѿ@S?t?@?`u?)u*8K@ u*Mu;Iu(xNm>xN'Ei\I\)GF@=Y=;=>AAQE;EAM~M>IQ I]8ٮQQ Q]tI Q U]C9QU2: U:)UAE8 e9)aIa mtIia mEa eO:)e:Ie 9I9*G2GFFrFbFEE);I9 iIl(=i !2@%<:@-w: YKz7* Rި(A Yt* L@t*Z@yt**t*!k>t*H?تmѿ|?`_?xBEGBAAHD {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGi wAwAF@}Yʅ@˻>ʁʉQ;Eʉ;>I I8ٮ QtI  UC9}: ٮ:)L8 9)I UtIi UE Xc<)`dt*HU? !iѿ@8???:?)u*X7L@ u*t;Iu(xBi>xBEilIn̓C)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y"? >  Q ;E ;5>I9 IE8ٮ99 QEtI 9 UEC99=1: =:)=S8 M9)III UtIiI uEI M%;)M$;IM9I9*G2GFFrFbFEEx>]>);I9 iI  5i)=i11 12@=<:@=w: q(7* 6sި(AYt* +L@t*Z@yt*5t*~q>t*H`V:? ԋ@ѿ`G.?@???)u* +L@ u* t;Iu*CxBi>x@)GF@Y%m:%>!!Q-;E)-(->I1 I=8ٮ11 Q=tI 1 UEC915M: 5Q:)5Y8 M9)AIA MtIiA MEA E:)EZ:IE"9YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 YYiYIYae7)=iaa a2@m<:@mw: ߁t7* jL ߨ(A) IYt*&HL@t*1Z@yt*H5t*>o>t*H@H=?`\ ѿ?@?"?0?)u*&HL@ u*s;Iu*CxBZe>xB EHBa=HBa=iTIV“C)SG 4= F@=YE;E>AAQM;EIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U`8 m9)aIa mtIia mEa e:)eԘ:Ie+9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.021197 arcdeg .q'' *G 2G F F rFbFEE);I9 iIw[*=i 2@<:@w: 7* R'$ߨ(AYt*>L@t*Z@yt* t*r>t*HC?8⬿vѿ?`ι?? ?)u*>L@ u*s;Iu*CxRs>xRE) dGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu3u>qyQ};Eyͅ?>I I8ٮ QtI  UC9鰅: h:)g8 9)I tIi E %:)9:I39I9=O5@Contact HDG: 179.385042 arcdeg .'5'5O54Initialize Wait Component.*G92G9F9F9rFAbFAEAEA)];I]9 YYiaIaae"*=iii i2@uߨ(AYt*oL@t*[@yt*D5t*d>t*H?=tѿ ?d?aV?64?)u*oL@ u*@r;Iu*CxB]>xBxEiLIP)~GF@=YEgƻE>AAQM;EIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU`: UB:)Un8 m9)aIa mtIia mEa e}:)e:Ie<9yIy9*G2GFFrFbFEE);I9 iIH+=i#> 2@<:@w: ۱7* Wߨ(A Yt*rL@t*[@yt*'t*l>t*Hh~?@ѿ@n@?@?|P?%?)u*rL@ u*q;Iu*Cx>Ze>x> EG@H@)~Gi|F@=Y=;E>AAQE;EAM9M>IQ I]8ٮQQ Q]tI Q U]C9QU>: Uc:)Uu8 e9)aIa mtIia mEa e:)eN:IeD9yIy9y*G2GFFrFbFEE);I9 iI+=i 2@<:@w: 7* qߨ(AYt*njL@t*9[@yt*tt*&>t*H'?5@ѿ@H???@u?)u*njL@ u*q;Iu(xfk>xfEitIt)M҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ;>ʱʱQ;EʱͽUy;>I I8ٮ QtI  UC9}: _:)|8 9)I tIi E !:)W:ImM9I9*G2GFFrF bF E E)%;I%9 !!i)I))-E,=i11 12@=<:@=w: Ie>l>7* ߨ(AYt*t*H@@ ? <ѿ?,҄?ܳ? i?)u*xB"E)zvGF@]Yee>aaQe;Eim?am>Iq I}8ٮqq Q}tI q U}C9qu: u:)u]8 9)I tIi E :)o:IU9I9*G2GFFrFbFEE);I9 iIg,=i 2@<:@w:&> ,7* pߨ(A)IYt.L@t.A[@yt.T`!t.h>t.Hʶ?&ѿP? +?@=?4.?)u.L@ u.Pp;Iu.CxB'n>xBpEHB=H@iPIP)G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@UY]>:]>YYQe;Eae:e>Ii I8ٮii QtI i UC9im< m<)mΊ8 9)I tIi E S:):I_9I9*G!2G!F)F)rFqbFqEqEq);I9 iI%P-=i 2@<:@w:D#> 7* Jߨ(AYt*YL@t*d`[@yt*tt*"h>t*H@$? ҿ?P??,?)u*YL@ u*$p;Iu*CxN}v>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@%Y-:5>99Q=;E9E;E>IQ I8ٮQQ QtI Q UC9QUu ; U ;)U8i 9)I tIi E ;)^;Ig9!I!9!ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E );I%9 !!i!I!)-q-=i)) 12@5<:@=w:A A)AIA 7* %ߨ(AYt*L@t*(z[@yt*t*>t*H ഻?T X)ҿɷd?'Ё?`΍??)u*L@ u*o;Iu*Cx2c>x2 E){6jw,I{4i{6={4{4{6PA{4|6zB9|6g ?=tſiTIT)Ga 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQm;Equ;u>Iy I8ٮyy QtI y UC9y}:: }>:)}8 9)I tIi E B:):IHo9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.486183 arcdeg .q''*G2GFFrFbFEE2EzEzBEҞA@8Eg ?=tſEjw,EEGX!AˣFuPԌm EyC.1ÿTeĠE0Q@=DHdg To Contact =187.131665 degreesZEkbEI:EJo$?BEVo$?JE RE jEhrE)%;I%9 ))i)I)15E.=i11 92@=<:@=w: q$Dacoustic_contact_range 36.119999 m$hTrackAcousticContact.heading_to_contact 3.266064 rad$JDUSBL_Hydroid.xAngle -9.650000 arcdeg()7* ߨ(A Yt.JL@t.Up[@yt.4t.~>t.H@ ʻ?yҿ?@?׈??)u.JL@ u.o;Iu.CxBe>xBP EG@H@)GiF@=YE E>AIQM;EIMĺM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa e:)eZ:Iew9yI9=O@Contact HDG: 187.131665 arcdeg .''O4Initialize Wait Component.*G2GFF rF bF EE)%;I-9 ))i)I)1ڹ.=i 2@<:@w: 8* I (AYt*4L@t*?z[@yt*H)t*+|m>t*HǮ`n?u[)ҿ@_ p?(? -k?@@$?)u*4L@ u*to;Iu(xNp>xREi`I`)%Ga 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ:>ʉʉQ;Eʉ͕&:>I I8ٮ QtI  UC9鰝: :)쥞8 9)I tIi E  :)$:Ic9I9*G2GFFrFbFEE);I9 iI6/=i   2@<:@w: !R>i>); 8* з&(AYt*L@t*[@yt* t*$C`>t*H`.?`:ҿ@{?[?? xB E)zGF@=YE;E>AAQM;EIM4;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U5:)U8 m9)aIa mtIia mEa e:)e :Ie9yIy9*G2GFFrFbFEE);I9 iI/=i 2@<:@w: "8* @(A)4t*H ?:5]ҿG7??f?k)?)u*LM@ u*plo;Iu*Cx^U_>x^S EHbp=H`ilIp)=dGE=E=F@MYUU>QYQ];EYeH;e>Ia Im8ٮaa QmtI a UuC9ae: eS:)e8 }9)yIy }tIiy Ey }_:)}؛:I}D9I9*G2GFFrFbFEE);I9 iI30=i 2@<:@w: 2M8* ;nZ(AYt*)M@t*[@yt*5Z%t*Gq>t*H@;$?@ҿ@ ?/?N?`=?)u*)M@ u*&o;Iu(xBu>xBE)Ga 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ%8>ʙʙQ;Eʙͥ;>I I8ٮ QtI  UC9鰭: -:)8 9)I tIi E S:):I9I9*G2GFFrFbFEE) ;I 9  i I Ķ0=i 2@%<:@%w: 1iw8* Ht(AYt*OM@t*Z[@yt*;t*ut>t*H;@S?j`Yoҿ ޿Ee?@x?D?$?)u*OM@ u*wNp;Iu(xBm>xB'EiLIP)~GF@Yʅ=_>ʉʉQ;Eʉ͕@>I I8ٮ QtI  UC9鰝: J:)~8 9)I tIi E  :):Im9I9*G2GFFrFbFEE);I9 iI[61=i 2@ <:@w: !^#8* F#(A Yt.Z$M@t.e[@yt.w&t.f>t.H@Q`)?z/|ҿ- W?΄?L?0?)u.Z$M@ u.yp;Iu.CxBb>xBQ EGB@AH@)vGi xA a 1Ma 1M a 5Ma 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYulT;u>qqQu;Eq} ;}>I I8ٮ QtI  UC9鰅h: :)WȞ8 9)I tIi E <)qt*HǙ]?묿 ҿ?0?`8~?2?)u*_M@ u*wp;Iu*CxR"h>xREi`I`)dGF@-Y52;5>11Q=;E9=<E>IA IM8ٮAA QMtI A UUC9AE:: E:)EϞ8 ]9)QIQ ]tIiQ eEQ Ut:)U:IU89iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 196.998461 arcdeg .q'U'U*GY2G]0Q@FYFYrFabFaEaEi);I9 iIcHi0Q@ 2@<:@w: ]>e>$%RHorizontalControl.headingCmd 3.266064 radp08* w(AYt*NM@t*[@yt* t*%y>t*H5J=?vbdҿ@? ?@}? ?)u*NM@ u*:'q;Iu*CxRn>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qF@Yʽ>Q;E>I I8ٮ QtI  UC9; >;)V֞8 9)I tIi  E :):I.9!I!9!=O@Contact HDG: 187.131665 arcdeg .''O4Initialize Wait Component.*G2GIFQFQrFQbFYEYEY);I9 iI Di O>  2@<:@w: ߩ68* _(A)p;I Yt*drM@t*o\@yt*t*n>t*H@2M?ҿ@ ??`z^?`'?)u*drM@ u*`r;Iu*CxB'n>xBpEH@HFp=i\I\)%%=%%=a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQ;Eʉ͍P;>I I8ٮ QtI  UC9鰕>: c:)ݞ8 9)I tIi E :):Iu9I9*G2GFFrFbFEE);I9 iI"AiY|= 2@ <:@ w: !%<8* ɏ(AYt*@PM@t*K[@yt*xt*Qf>t*H .?ʰ@ҿ@5-h??>?_?)u*@PM@ u*(r;Iu*CxBHf>xB E)|F@=YE.:E>AAQM;EIMqM>IQ I]8ٮQQ Q]tI Q UeC9QU: U :)U8 m9)aIa mtIia mEa e:)ec:Ie9yIy9*G2GFFrFbFEE);I9 iIC*?ioI= 2@<:@w: iC8* j(AYt*M@t*/\@yt*it*w>t*H%m?@ҿ?@͂?=? ?)u*M@ u*ýs;Iu*Cx^n>xbEipIrC)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ蔹>ʩʩQ;Eʩ͵@;>I I8ٮ QtI  UC9鰽: :)8 9)I tIi E :)˵:I9I9*G2GFFrFbFEE);I9 iI!%t=i!) )2@-<:@5w:MR5#> QFI8* F)(A@ Yt.M@t.C\@yt.`t.|>t.H‘`w?ISҿ[?l?0? ?)u.M@ u.s;Iu.CxB'n>xBpEG@HFAA)SGi!%xAF@=YEB;E>AIQM;EIM;N;U>IQ I}8ٮQQ Q}tI Q UC9QU; U;)U8 9)I tIi E Y:)*:I9I9*G2GFFrF bF E E )e;Ie9 aaiaIam=m1=iii q2@}<:@}w:UI> YP8* #C(AYt*M@t*?\@yt*Ht**;>t*H@F`>b?@[oҿ`Uy>?w؂??c?)u*M@ u*CPu;Iu*CxNm>xN'Ei\I^“C)]GF@mYmK=m>qqQu;Eq}}>I I8ٮ QtI  UC9鰅q: 1:)8 9)I tIi E :):It9I9*G2GFFrFbFEE);I9 iIZ?i= 2@<:@w:T= R>]>iV8* r\(AYt*+M@t*67\@yt*16t*.>t*H`aek? 0ҿ n?Ɔ?N??)u*+M@ u*v;Iu*CxBe>xBP E)~SGa 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]^e>aaQe;Eam婺m>Iq Iu8ٮqq QtI q UC9qul< u<)ut8 9)I tIi  E t:)$:IB9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F9rF9bFAEAEA)];I]9 aaiaIaeAim=i i2@<:@w: )I AT]8* v(A);IYt.}M@t.O\@yt.K7t.l}>t.H`Ǐ͌?ׯkҿ74\?i?Z??)u.}M@ u.v;Iu.Cx6[>x6 EH:R=H:a=iDID)vGxxF@~Yxl>Q ;E  .x; >I I8ٮ M8 QtI  U%C90: V:)$8 -9)!I! -tIi! -E! %[:)%:I%.99I99A&MMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 197.232367 arcdeg .q''*GQ2GQFQFYrFYbFYEaEa)u;I}9 yyiyIyeA=B2=i 2@<:@w: (c8* (AYt*M@t*X\@yt*t*cփ>t*H;?IEWҿVs? ?+L??)u*M@ u* w;Iu*CxRl>xRE)-SGF@=Y=;E>AAQE;EAM:M>IQ IU8ٮQQ Q]tI Q UeC9QU; U";)U, 8 9)qIq tIiq Eq u;)u;Iu9I9i=OE@Contact HDG: 187.131665 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFIFIrFqbFqEqEq);I9 iIA2=i 2@<:@w: 1W%j8* (AYt*M@t*l\@yt*Lt*Yφ>t*H`6?Lӿ`x-?? ?U?)u*M@ u*(w;Iu*CxNt>xRlEi\I^C)dGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅJ>ʁʁQ;Eʁ͍C;>I I8ٮ QtI  UC9鰕: I:)58 9) 9I tIi E N:):I9I9*G2GFFrFbFEE);I9 iIAp2=i 2@ <:@ w: ! q8* h(A@ Yt*)M@t*4C\@yt*t*L>t*H6o?@ҿe@xREGPHR@A {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGiF@Y>Q;EȻ>I I8ٮ QtI  UC9~(; 6;)O8 9) I  tIi  E  ;) c;I X99I999*GY2GYFYFarFibFiEiEq);I9 iIA#3=i 2@<:@w:= =w8* ^(AYt*M@t*\@yt* -'t*f&>t*H6?,ӿf~??'??)u*M@ u*7v;Iu*CxRo>xRJE){ZCI{Xi{Z4={Z>{X{Z@{X|ZB9|ZF8?KiIII)Ga 1 a 1  a 5 a 5  a 9 a 9  a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y-ܺ5>11Q5;E1=?)<=>IA IM8ٮAA QMtI A UMC9AE: El:)Eg"8 U9)QIQ ]tIiQ ]EQ U::)U :IU9iIi9i*Gy2GyFFrFbFEE2EzEBEjd'3@OAEF8?KECEES<r\θ9@U_/z EԬV(*hx:?m6F:ʿEf@=DHdg To Contact =138.226800 degreesZEAbE]:E\o$?BEJo$?JEt RE jErEh);I9 iIAp3=i 2@<:@w:>>e= $Dacoustic_contact_range 39.480003 m$ hTrackAcousticContact.heading_to_contact 2.412513 rad$LDUSBL_Hydroid.xAngle -60.100002 arcdega}8*  (AYt2M@t2#I\@yt2r4t2(>t2H;? pQҿ@A'?@p??;?)u2M@ u2Hu;Iu2CxRsj>xR(E)%vGF@=YEE>AIQM;EIM.-M>IQ I]8ٮQQ Q]tI Q U]C9QU : U/:)U(8 m9)aIa mtIia mEa eh:)eZ:Ie!9yI9*G2GFFrFbFEE);I9 iIA 3=i 2@<:@w:=  J8* (A) IYt*M@t*n\@yt* .t*U>t*H-@#?`Uӿr 8?`???)u*M@ u*t;Iu*CxBu>xBEHBp=HDitIv“C)MGU4=QF@}Y}:>ʁʁQI I8ٮ QtI  UC9鰕: :)/8 9)I tIi E ::),:I*9I9*G2GFFrFbFEE);I9 iIA4=i 2@ <:@ w: )I ߩWs8* 0+(AYt*SM@t*^=\@yt*t*>t*H^]?`߱)ҿ4tf????)u*SM@ u*Lt;Iu*Cx6o>x6JE)rGa 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅY[;>ʉʉQI I8ٮ QtI  UC9鰝: >:)68 9)I tIi E Ր:)N:I39I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI A L4=i   2@<:@w: )i=[8* lE(AYt*t|M@t*)\@yt*6t*#>t*H[?*ҿ@T?sU??p?)u*t|M@ u*us;Iu*CxBq>xBEiPIP)~GF@ Y9>QI! I-8ٮ!! Q-tI ! U5C9!%: %):)%U=8 =9)1I1 EtIi1 EE1 5|:)5:I5P;9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 197.099356 arcdeg .q'M'M*GQ2GUf@FQFQrFYbFYEYEY)u;Iu9 qqiqIy}Bi}D >f@ 2@<:@w: $RHorizontalControl.headingCmd 2.412513 rad_8* _(A Yt*fM@t*qH\@yt*-t*0{>t*H @Y?ҿ`$ $?|? ? ?)u*fM@ u*/r;Iu*CxNb>xR EGRAAHP)ׄGi!%wAa 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ6>ʉʉQI I8ٮ Q%tI  U%C9: :)D8 -9))I) -tIi) 5E) - :)-:I-zD9aIa9a=O]@Contact HDG: 138.226800 arcdeg .']'eOe4Initialize Wait Component.*Ga2GaFaFarFbFEE);I9 iIEiT> 2@<:@w: ߑ~8* fy(AYt*vjM@t*\@yt*L1t*΅>t*HH?Ѱҿ@ڇ?)? ?^?)u*vjM@ u*Hr;Iu*CxNi>xRNEi\I\)GF@-Y-G 5>11Q5IA IM8ٮAA QMtI A UMC9AE: E:)E0K8 ]9)QIQ ]tIiQ ]EQ Uͭ:)UE:IUjL9iIi9i*G2GFFrFbFEE);I9 iIH@i@/> 2@<:@w: >>8* B(AYt.T1M@t._[@yt.L4t.@!>t.H^? q@=ҿu?k?@L??)u.T1M@ u._r;Iu.CxN=Z>xR1E)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5u@a u a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ>ʑʑQI I8ٮ QtI  UC9鰥: :)KR8 9)I tIi E ٓ:):I0U9I9*G2GFFrFbFEE);I9 i I  _C@i #T> 2@<:@w:-p= 1r8* (A) I4t*Hତ|?nemҿ`Μl?{?I?`?)u*/M@ u*q;Iu*CxNsj>xR(EHRa=HRp=i`I`)dG!%4=F@-Y5G;5>99Q=II IM8ٮII QUtI I UUC9IM\: Mٮ:)MX8 ]9)YIY etIiY eEY ]:)YI]t]9qIq9q*G2GFFrFbFEE);I9 iI>@i>u> 2@<:@w:G> 9i8* M(AYt:L@t:ݐ[@yt:=t:-{>t:H`? >C?ҿ?`??y ?)u:L@ u:q;Iu:Cxbxp>xbE {hY|hr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GUNonly read 0 of 1 data item for altitude]Failed to parse: :BD, + +0.00, +0.00, 0.00,220.00 F@mYuY;u>yyQI I8ٮ QtI  UC9鰕D; ;)`8 9)I tIi E :):If9I9i@A*G2GFFrFbFEE);I9 iIk7@i > 2@<:@w:%wA %wA>> ӷ8* (AYt*L@t*[@yt*G't*>t*H`P`?i :ҿ@?Q? >??)u*L@ u*q;Iu(x^{]>xb/EixIz̓C)U+GF@eYe}e>iiQmIy I8ٮyy QtI y UC9y}ͭ: }:)}f8 9)I tIi E O:):In9I9*G2GFFrFbFEE);I9 iI33@i 2@<:@w:̘S> 8* K(A Yt*0L@t*;F[@yt*%t*H?@3gѿ#u_???@g?)u*0L@ u*vq;Iu*CxN?s>xREGR@AHP)mSGF@YʝZH>ʡʡQI I8ٮ QtI  UC9鰵: :)m8 9)I tIi E :)A:IEw9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%-@i!! )2@-<:@5w:M9T> Q8* (AYt*4L@t*Z@yt*?*t*ax>t*H#?KĖѿ8lb?B?I?J?)u*4L@ u*q;Iu*CxNMl>xRLEi`I`)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y/;>QI I8ٮ QtI  UC9: :)t8 9)I tIi E h:)|:I9 I 9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 195.952595 arcdeg .q''*G2GFFrFbFEE);I9 iIB'@i 2@<>p>:@w:)=I=>d> 8* e.(AYt*0L@t*(Z@yt*0Lt*R|>t*H9/?wɭ@ѿ`j?@r?J? ?)u*0L@ u*r;Iu*CxBm>xB'E)zSGF@=YE;E>AAQMIQ I]8ٮQQ Q]tI Q U]C9QU: U:)U{{8 m9)aIa mtIia mEa e:)eN:Ie 9I9=O@Contact HDG: 138.226800 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;IM9 QQiQIQ]bP"@iYY Y2@e<:@ew:e;> q8* EIH(A)(I*;Ytv;K@tvFZ@ytv{tvzx>tvH`w ? bNѿ@?no?@2?@?)uv;K@ uvXr;IuvCxu>xEH-p=H)iIIQ)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmd:m>qqQuI I8ٮ QtI  UC9鰅W: |:) 8 9)I tIi E :):Ia9I9*G2GFFrFbFEE);I9 iI<[@i 2@<:@w:> !8* b(AYt*K@t*(XZ@yt*)t*">t*H ?h,`~ѿ?`;?@At?-?)u*K@ u*yr;Iu(xB0a>xBw E)~vGF@ Y {y>QI! I-8ٮ!! Q-tI ! U-C9!%: %:)%)8 59)1I1 =tIi1 =E1 5x:)5ϸ:I59III9I*Ga2GaFaFarFibFiEiEi);I9 iI@i 2@<:@w: )Ii?A IK8* {(AYt*WiK@t*bZ@yt*T$*t*܉>t*H@i@c?ܮ@п@A?qD?`7? f?)u*WiK@ u*>r;Iu*Cx6o>x6Ei@I@)rGF@Y%1-%>!)Q-I1 I=8ٮ11 Q=tI 1 UEC915: 5:)58 M9)AIA MtIiA MEA E:)E:IE}9YIa9a*Gq2GqFqFqrFybFyEE);I9 iII@i 2@<:@w: 38* 1ѕ(A Yt*[K@t*fY@yt*v#t*р>t*H ?@mп?n?U??)u*[K@ u*r;Iu*CxRm>xR'EGPHP)%Gi))a 1ua 1u a 5ua 5u a 9ua 9u a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʙʙQI I8ٮ QtI  UC9鰭: :)?8 9)I tIi E :):IR9I9*G2GFFrFbFEE) ;I 9  i I 2@i 2@%<:@%w: 1^8* ޭ(AYt*< K@t*GY@yt*pt*Mr>t*H`$?dIwп cK?[?&?b?)u*< K@ u*Cq;Iu(x^"h>x^EilIn“C)=vGF@MYM:M>QQQUIa Im8ٮaa QmtI a UmC9ae:: e:)e8 u9)qIq }tIiq }Eq ux:)u:Iu9I9*G2GFFrFbFEE);I9 iIf@i 2@<:@w: R>>E8* (AYt*^J@t*iSY@yt*rc t*>t*H@s?@Oп`m?@Y ?}? ?)u*^J@ u*rq;Iu*CxBl>xBE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y-->99QEIa I8ٮaa QtI a UC9aeG < e*<)eq8 9)I tIi E :)':I19AIA9AOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iI!i!! )2@5<:@5w: qp8* c(A) IYt.mJ@t.Y@yt.m%t.e>t.H`v?@b wϿ0@?V??@$?)u.mJ@ u. r;Iu,xBi>xBNEHDHDi\I\)ׄG%=%%=a 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YW>QI  I8ٮ   QtI  UC9  : c:) %8 %9)!I! -tIi! -E! % :)%A:I% 9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 194.361748 arcdeg .q''*G2GFFrF!bF!E!E!)];I]9 YYiYIYaaiaa i2@<:@w: ߡՙ8* =(AYt*8J@t*X@yt*'t*ʁ>t*H,@?@`֪XϿ 6j?ޤ?@ ??)u*8J@ u* r;Iu*CxB]>xBE)҄GF@=YE9:E>AAQMIQ I]8ٮQQ Q]tI Q UeC9QU: U>:)U8 m9)aIa mtIia mEa e:)e,:Ie!9yIy9=O @Contact HDG: 138.226800 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w:i 9* (AYt*3I@t*>X@yt*.#t* u>t*H`g$?@NNոοB)@ٿ?s?`3V?,?)u*3I@ u*/r;Iu(xNh>xREi`I`)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥx>ʡʡQI I8ٮ QtI  UC9鰵: :)8 9)I tIi E Ր:)I9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9ի 9* 0(A@ Yt*I@t*"X@yt*t*|>t*H ? .@οѡ?ނ?`oE?h?)u*I@ u*zr;Iu*CxB?s>xBEGF?AHD)~ƄGiwAF@ Y';>QI) I-8ٮ)) Q5tI ) U5C9)-:: -:)-R8 =9)9I9 EtIi9 EE9 =:)=s:I=9QIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIi 2@<:@w: ߱ݔ9* J(AYt*-~I@t*8+X@yt*gb"t*)>t*Hr;?7Ϳ >? 7L?D??)u*-~I@ u*zr;Iu*CxBRr>xBEiLIL)~AAQEIQ I]8ٮQQ Q]tI Q U]C9QU: U :)UPǟ8 e9)aIa mtIia mEa ep:)e :Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: >p>9* d(AYt*vI@t*#X@yt*Z*t*‚>t*H`GxR'E)SGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y,>QI I8ٮ QtI  UC9鰥: :)Ο8 9)I tIi E :)$:I9I9*G2G F F rFbFEE)5;I=9 AAiaIiiiiqq q2@}<:@}w: ߩ9* U~(A) IYt*!I@t*W@yt*e*t*:x>t*H'o?G 2;Ϳ 9s5?L?Y?@ ?)u*!I@ u*s;Iu*CxRt>xRlEHPHVa=i`I`)uGu4=qF@Yʅ>>ʉʉQI I8ٮ QtI  UC9鰝h: )B՟8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iIi   2@<:@w: !%9* _(AYt.S&I@t.^W@yt.Dt.=x>t.H&``?9˧CͿ 9 .6? h?@*?o?)u.S&I@ u.Vct;Iu.CxBu>xBE)GF@}Y}e;>ʁʁQI I8ٮ QtI  UC9鰕: :)!ܟ8 9)I tIi E :)Ԙ:I\9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !if+9* h=(AYt*QH@t*\W@yt*R&t*`>t*H@0? _`̿V"@?ӄ?`\?L?)u*QH@ u*t;Iu*CxBR>xBEiLIP)~dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeOAe>aaQmIq I}8ٮqq Q}tI q UC9qu : u:)u8 9) 9I tIi E :):I9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 192.923392 arcdeg .q''*G2GFFrFbFEE)%;I%9 !!i)I)IQiQQ Q2@]<:@]w: q!29* S (A@ Yt.5H@t.@rW@yt.Żt.%>t.H1?@̿,e?e?@?e?)u.5H@ u.gu;Iu.Cx>o>x>EGB@AH@ {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )QimxAia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a u ɄiMb@Mb@Mb@IIiɅ )F@-Y5p:5>19Q=IA I8ٮAA QtI A UC9AE< E8<)E8 9) I  tIi  E  :) j:I 9III9I=O@Contact HDG: 138.226800 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 !!i!I!))i11 Q2@]<:@]w: q 99* (AYt*H@t*JW@yt*7#t*fw>t*H5?`<*9̿@I` %?z?? ?)u*H@ u*u;Iu*CxRl>xREihIl)5GF@EYMM?IIQUe>l6?9* d(AYt*vH@t*#W@yt* 6t*%5w>t*H: s?Q˿`Nm*?Ć???)u*vH@ u*;(v;Iu*CxBb>xBQ E)))Q-I9 I=8ٮ99 QEtI 9 UEC99=: =:)=8 M9)III UtIiI UEI MՐ:)M:IM*!9aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: F9* T(A) IYt64H@t6?0W@yt6yt6~>t6H 8ho?`,^̿@6?zӃ???)u64H@ u6v;Iu6CxBHf>xB EHFa=HFp=iTIT) G%=a 1Ma 1M a 5Ma 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuc;u>qqQuI I8ٮ QtI  UC9鰅: :)8 9)I tIi E ͭ:)$:I)9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: GL9* ,3(AYt*T)H@t*_V@yt*;t*\\>t*H BU?@LgV˿8?Vւ?g=?@?)u*T)H@ u*Cu;Iu*CxBb>xB E)GF@=YE:E>AIQMIQ I}8ٮQ M}8Q Q}tI Q UC9QUض; U;)U\8 9)I tIi E :),:IY29I9*G2GFFrFbFEE);I59 19i9I99AiAA A2@M<:@Mw: ai0S9* ^M(AYt*l&H@t*wV@yt*(t*ڄz>t*HB?x`P˿P`ُ??t? ?)u*l&H@ u*lu;Iu*CxNm>xR'Ei\I\)]+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Ye*>QI I8ٮ QtI  UC9: :) 8 9)I tIi E Ր:) :I;9I9*G 2GFFrFbFEE!)5;I59 11i9I999iAA A2@M<:@Mw: YYY9* C8g(A@ Yt*H@t*V@yt*<1t*r>t*H`D1?ZK F0˿`Ѭ?z'? ?@0?)u*H@ u*tPu;Iu*CxB{]>xB/EGDHFAA)~XGiwAF@=YE7E>AIQMIQ I8ٮQQ QtI Q UC9QU< Uя<)U%8 9)I tIi E :)Z:IC9I9O Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Uw: aA`9* (AYt*G@t*ݨV@yt*W1t* {>t*HTGH?;ZʿS1?*?? ?)u*G@ u*t;Iu*CxBi>xBEiPIP)~+GF@ Yb>QI! I-8ٮ!! Q-tI ! U5C9!%}: %>:)%8 =9)1I1 =tIi1 EE1 5:)5:I5K9IIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN%@Vehicle HDG: 192.173287 arcdeg .q'%'%*G!2G!F)F)rF)bF1E9E9)M;IM9 IQiQIQYYiYY Y2@e<:@ew: yR>p>tlf9* V(AYt.RG@t.]eV@yt.Bt.ބ>t.HwN?xjyʿ`A>1?@/?l?T?)u.RG@ u.;Mt;Iu,xBm>xB'E)SGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm$.;m>iiQuIy I8ٮyy QtI y UC9y}ի: }S:)}!8 9)I tIi E x:):IkT9I9=O-@Contact HDG: 138.226800 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1FrFbFEE);I9 iIi 2@ <:@ w: l9* ɴ(A)4t*H`N@?;xʿQ A=??7??)u*G@ u*t;Iu(xBmd>xBu EHF=HDiPIRC)G F@=YE9E>AIQMIQ I]8ٮQQ Q]tI Q UeC9QU: U:)U'8 m9)aIa mtIia mEa e%:)e9:Ie\9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: }s9* Ƥ(AYt*DG@t*OMV@yt*z1t*t>t*HP?CJʿh;?r6?`UP? u?)u*DG@ u*ss;Iu*CxB:m>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y?>QIA I]8ٮAA Q]tI A UeC9AE|; E}f;)Et*H@lS?,ǣʿXi6?`.Q?u?@@?)u*G@ u*s;Iu*Cx>a>x> EiXIZ“C)GF@]Y],:]>aaQeIq Iu8ٮqq Q}tI q U}C9qu: uW:)u58 9)I tIi E p:):Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: )9* \(A Yt*qG@t*V@yt*/>t*}>t*HUk?Pɿ3]?@?g?K?)u*qG@ u*us;Iu*CxZs>xZEG\H^@A)5ׄGi99F@}YʅZ;>ʁʁQI I8ٮ QtI  UC9鰕: :)<8 9)I tIi E :)c:Iv9I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: AG9* 7(AYt*DG@t*U@yt*2t*Ds>t*H Z h1?`(Ң-ɿs?Y?.?z?)u*DG@ u*Bs;Iu*CxBV>xBEiTIT)EʩʩQ=Eʱ͵ۻ>I I8ٮ QtI  UC9鰽_; ;)C8 9)I tIi E N:):I>9 I 9 *G2G!F!F!rF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: i>>a9* 6(AYt*aG@t*V@yt*dc(t*f u>t*HAW@)b?y ɿn?@T ?`X??)u*aG@ u*Ғs;Iu*CxB^>xB E)~GF@}Y}:>ʁʁQ=Eʁ͍;>I I8ٮ QtI  UC9鰕PB; [;)nJ8 9)I tIi E :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! )2@-<:@5w: A ̓9* O(A);I;Yt*#7G@t*.U@yt*o2t*}>t*H`[?@JUr|ɿc3? :? c?@?)u*#7G@ u*s;Iu(xBj>xBqEHFa=HFa=iPIP)G  a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeG:m>iiQm=EiuԻu>I I8ٮ QtI  UC9鰅< <)LQ8 %9)!I! -tIi! -E! %S:)%:I%c9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN @Vehicle HDG: 191.485474 arcdeg .q''*G2GFFrFbFE!E!)U;IU9 QYiYIYYaiaa a2@m<:@w: ߡ9* i(AYt*yAG@t*U@yt*9,t* w>t*H {Z`@$?Mɿ@Rnw:?͒?ؔ?`J?)u*yAG@ u*s;Iu*CxBo>xBJE)GF@ Y>Q=E%:%>I) I-8ٮ)) Q5tI ) U5C9)-: -:)-W8 =9)9I9 EtIi9 EE9 =ٮ:)=:I=E9QIQ9Q=O @Contact HDG: 138.226800 arcdeg .' ' O 4Initialize Wait Component.*G 2G F FrFbFEE);I9 iIi 2@<:@w: i9ޠ9* (AYt*;G@t*U@yt*3t*$|>t*H [F?ɿe??2?`m?)u*;G@ u*s;Iu*CxR`k>xREi`I`)%SGF@-Y=ېE>IQQU=EYefe>Ii Iu8ٮii QutI i UuC9imh: m):)m_8 9)yIy tIiy Ey }:)}:I}9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9* A~(A Yt.G@t.dzU@yt.+t.x}>t.H p`/?@Ldɿ|h?iŁ?@:\??)u.G@ u.s;Iu,xB5g>xB*EGDHD)Gi))a 1ua 1u a 5ua 5u a 9ua 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕȵ;>ʙʙQ=Eʡͥ >I I8ٮ QtI  UC9鰭: :)f8 9)I tIi E %:):I9I9*G2GFFrFbFEE) ;I 9  i Ii 2@%<:@%w: 149* `(AYt*0G@t*U@yt*5 t*O$w>t*H`O\`S?oɿp E2?`?`?@E?)u*0G@ u*~s;Iu*Cx>sj>xB(EiLIL)GF@]Y]9e>aaQe=Eam;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)ul8 9)I tIi E :)ݖ:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >>9* 7(AYt* G@t*U@yt**qFt*.z>t*H s_ ?d+ɿ@Rk`?͈?@ ?` ?)u* G@ u*s;Iu*CxN5g>xR*E {PY|TV8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGF@Yʵ >Q=E>I I8ٮ QtI  U C94: ;)t8 =9)I =tIi =E ;)m:I9qIq9y*G2GFFrFbFEE);I9  i I 11i11 92@=<:@=w: qD9* (A) I4xnEHrp=HpiI)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%=E!-->I) IU8ٮ)) QUtI ) U]C9)-; -|;)- {8 e9)YIY etIiY eEY ]-:)]:I]9I9*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 9+9* (AYt*G@t*U@yt*t*ly>t*H ``?ɿo??`Y?`; ?)u*G@ u*2s;Iu*CxB5g>xF*E)}GF@Yʥ;>ʡʡQ=Eʩͭ>I I8ٮ QtI  UC9鰵{: ]:)8 9)I tIi E p:)ݖ:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rF9bFAEAEA)u;I}9 yyiyIyi 2@<:@w: iW9* T(AYt%G@t%U@yt%t%+z>t%H_¹?n 9ɿ l`C?5??e ?)u%G@ u%{s;Iu%Cx?s>xEiI)=jGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y;>Q=E ,; >I I8ٮ QtI  U%C9ٮ: x:)T8 -9)!I! MtIi! ME! %̯;)%̱;I%/9YIY9a&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 191.366314 arcdeg .q']']*GY2GYFYFYrFbFEE);I9 iIi 2@<:@w: Ȁ9* ˢ8(A Yt>>G@t>IU@yt>T2't>z>t>H `?@Lɿ@n`?2?X?x ?)u>>G@ u>s;Iu>CxNY>xREGPHP)+Gi!!F@=YEE>AAQM=EIMIQ I}8ٮQQ QtI Q UC9QU; U;)U=8 9)I tIi E :):I9I9=O@Contact HDG: 138.226800 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)};I}9 yyiyIi 2@<:@w: ߡh9* R~R(AYt><G@t>GU@yt>-t>{>t>H@t_p?R]@).ɿ`i??*??)u><G@ u>s;IuxRsEi\I^̓C)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅg~>ʁʉQ=Eʉ͍:>I I8ٮ QtI  UC9鰕: :)F8 9)I tIi E :)o:IA9I9*G2GFFrFbFEE>>);I9 iIi !2@%<:@%w: y9* ol(AYt2 G@t2U@yt2+t26x>t2H`G?I#ɿq a?@s?ٸ??)u2 G@ u24[s;Iu0x:o>x:JE)zGF@Yƭ9>Q=E%b%>I) I58ٮ)) Q5tI ) U5C9)-@: -#:)-8 E9)9I9 EtIi9 EE9 =h:)=:I=l9QIQ9Y*Ga2GiFiFirFqbFqEqEy);I9 iIi 2@<:@w: 5z9* Q2(A) I;Yt*o G@t*zU@yt*Ot*Y>t*H`?4H&ɿ `J?i?V?G?)u*o G@ u*|Ls;Iu(xBp>xBEHBR=HDiPIR“C) G4=F@EYU;U>aaQm=Ei}`9>I I8ٮ QtI  UC9鰕< P<) 8 9)I =tIi EE X<) t*Hm[ *F?E@t~ɿL.??h?`7i?)u*/8G@ u*Ms;Iu*Cx>Ze>x> E)~ʁʁQ=Eʁ͍I;>I I8ٮ QtI  UC9鰕; x;)8 9)I tIi E :):I9I9*G 2GF1F1rF9bF9E9E9)u;Iu9 qqiqIyyyi 2@<:@w: ߹iL9* (AYt*=G@t*U@yt*Ut*7>t*HZk?R`Zɿ? 今??@|?)u*=G@ u*Kls;Iu*CxNo>xREi\I\)GF@=YEE>AAQM=EIMd:M>IQ I]8ٮQQ Q]tI Q U]C9QU߼: U:)U8 m9)a m9Ia mtIia mEa e9:)e+:Ie 9yI9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: A9* (A Yt*bG@t*"V@yt* gbt*8+>t*HVO?@ǔ Hɿv@B?@L?X?@}?)u*bG@ u*'_s;Iu*Cx>eq>xBnEGBAAH@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )҄Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@}YʅѺ>ʁʉQ=Eʉ ; >I I%8ٮ Q%tI  U%C9< e<)&8 9)I tIi E :):I9)I191ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)E;IE9 AAiAIAIIiII Q2@U<:@Uw: ߩ9* @(AYt*G@t*;V@yt*.kt*`;>t*H@ER ?ꗿ (ʿ+?`o?J?@fv?)u*G@ u*s;Iu*CxRZe>xR E){RK=I{Pi{Ri={R1>{P{RA{P|R B9|RoW??ipIp)EƄGF@}Yʅ*׺?ʁʁQ=Eʁ͍e < ?I I8ٮ QtI  UC9鰕: :)8 9)I tIi E :)c:I;99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'UN@Vehicle HDG: 191.792572 arcdeg .q''*G2GFFrF>>bF EE2EzE BEA^A@K4 @EoW??EK=EEQ-@G*S$Xd'?En!R]ҿ8?E[@=%DHdg To Contact =196.809538 degreesZE"bE:EPo$?BE\o$?JE REt jE8?rE)];I]9 aaiaIaiiii 2@<:@w: ߩ$Dacoustic_contact_range 35.159996 m$ hTrackAcousticContact.heading_to_contact 3.434974 rad$HDUSBL_Hydroid.xAngle 5.100000 arcdeg:* (AYt*~G@t*+V@yt*St*-l?>t*H(T b?@!ʿ?C`?@g? p?)u*~G@ u*)s;Iu*CxBn>xBE)uGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@]Y]fb;]>aaQe=EamAm>I I8ٮ QtI  UC9鰕:  :)Ǡ8 9)I tIi E O:) :In!9I9=O}@Contact HDG: 196.809538 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GFFrFbFEE);I9 iIi 2@<:@w: )~:* GU!(A) I Yt*aG@t*l>V@yt*9**t*kD>t*HkR?;ɝ(-ʿܻ|3? .E?!s?h?)u*aG@ u*:s;Iu*CxBi>xBEHBa=HDiTIT)G  %=F@=YEY;E>AIQM=EIMcR;M>IQ I]8ٮQQ Q]tI Q UeC9QU2: UW:)UH͠8 m9)aIa mtIia mEa ed:)ex:Ie)9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: :* 0;(AYt*yG@t*6V@yt*tc't*9>t*H@=S j?ʿ ?V??`y?)u*yG@ u*v]s;Iu*CxBi>x@)~GF@=YE9E>AIQM=EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU>: Uc:)U-Ԡ8 m9)aIa mtIia mEa e:)e:Ie19yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: i:*  U(AYt*/G@t*:EV@yt*7/t*J0>t*H Q@U?Bcu:ʿ'??`6?o?)u*/G@ u*s;Iu(xBsj>xB(EiLIP)|a 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQm=Eim6;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u$۠8 9)I tIi E p:):I1:9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: .:* n(A Yt6G@t6V@yt6Rt6:>t6H J`?`;ʿ` ?@??@7?rw?)u6G@ u6<$s;Iu6CxBj>xBqEG@HD)~SGixAxAF@=YEE>AAQM=EIM2<M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa e}:)e,:IeB9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: ":* yˈ(AYt2EG@t2PPV@yt2Nt208>t2H`P,?.FPʿ mf?@R݉??z?)u2EG@ u2s;Iu2Cx>5g>xB*EiI)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʕ-9>ʙʙQ=Eʙͥ>I I8ٮ QtI  UC9鰭ش; ;)8 9)I tIi E :):I#L9R>p>I9*G!2G!FIFIrFQbFQEQEQ);I9 iIi 2@<:@w: ,A(:* I(AYt2G@t2#|V@yt2""t2[Y5>t2HLs?ƛʿ-Q?`nR??x?)u2G@ u2 s;Iu2CxN5g>xP)UGF@YʥE;>ʡʡQ=Eʡͭ~;>I I8ٮ QtI  UC9鰵: ):)8 9)I tIi E :),:IS9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! )2@-<:@-w: AMk.:* pz(A)IYt.G@t.V@yt.t.;>t.H@JY|?`ʿ3`# ?rЀ?X?`Nv?)u.G@ u.s;Iu.CxBo>xBJEH@HBp=iPIP)ׄGF@Yʝ;>ʡʡQ=Eʡͭ:>I I8ٮ QtI  UC9鰵: B:)8 9)I tIi E Ր:):Ig\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.061450 arcdeg .q'm'm*Gi2Gm[@FqFqrFybFyEyE);I9 iI@i[@ 2@<:@w: $RHorizontalControl.headingCmd 3.434974 radR5:* .S(AYt*PG@t*[oV@yt*"t*{:>t*H jMV?Zʿ ;?_?@*.?"x?)u*PG@ u*s;Iu(xBp>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MQ=Ei͵X>I I8ٮ QtI  UC9鰽q: ͭ:)8 9)I tIi E (:)<:Igf9I9=Ou@Contact HDG: 196.809538 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GyFyFyrFbFEE);I9 !i!I)5@i5ie>1 92@=<:@ew: ߉#};:* 0(AYt*t*H H@?#mʿ r?@?')?,x?)u*xB EiXIX)SGF@]Yee>aaQm=Eim<m?Iq I}8ٮq M}8q Q}tI q UC9qu: u:)u8 9)I tIi E :)x:IBm9I9*G2GFFrFbFEE);I9 iI"@i.l> 2@<:@w: eB:*  (A Yt*:G@t*EV@yt*z-t*:>t*H`I??{`>ʿ>]?ഢ?4?w?)u*:G@ u*{s;Iu*Cx>Wx>x>EG@H@) Gi wAF@Y%s;%>!!Q-=E)-!->I1 I=8ٮ11 Q=tI 1 UEC915: 5:)5C 8 M9)AIA MtIiA UEA E:)E:IEu9YIa9a*Gq2GqFqFrFbFEE);I9 iI'@igE> 2@<:@w: ! H:* #(AYt2G@t2V@yt21t2\>>t2HPG`?\ʿ`~z?2?`?q?)u2G@ u2KMs;Iu0xBm>xB'EiPIP)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmC.m>iiQu=Eque;u>Iy I8ٮyy QtI y UC9y}: }l:)}Q8 9)I tIi E į:):IM~9I9*G2GFFrFbFEE);I9 iIi-@i$> 2@<:@w:>l>i q-N:* C=(AYt*H@t* V@yt*t*x?>t*H D`x? ,˿`@?@??p?)u*H@ u*>s;Iu(x>l>xBE) GF@Y%Y;%>!!Q%=E)-s;->I1 I=8ٮ11 Q=tI 1 U=C915: 5 :)5 8 M9)AIA MtIiA MEA E}:)E:IE9YIY9a*Gq2GqFqFqrFbFEE);I9 iI2@i=> 2@<:@w:E}> U:* W(A) IYt68H@t6CV@yt6Yjt67>t6HF`?MZ ˿@`|?9??,}?)u68H@ u6ms;Iu6Cx>n>xBEHBp=HBa=i\I^C)-G)-=F@=Y=6:E>AAQE=EAMt.M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U 8 e9)aIa mtIia mEa e:)eN:Ie69yIy9y*G2GFFrFbFEE);I9 iIʶ8@i.= 2@<:@w: L> ![:* zq(AYt*^&H@t*iV@yt*M t*:>t*HB`?ݝ P˿i? ?!? x?)u*^&H@ u*s;Iu*Cx^}v>xbE)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>Q=E?;>I I8ٮ QtI  UC9h: l:)7'8 9)I tIi E ó;);I9)I)9)O]Done Waiting.']O]8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarFibFiEiE);I9 iI6>@ia'l= 2@<:@w:)=Ia=-_'> 1rb:* "T(AYt*]"H@t*hV@yt*'t*:A>t*HKCV ?ힿH˿K@g? ?f?)n?)u*]"H@ u*Xs;Iu*CxBj>xBqEiLIP)=ʁʁQ=Eʁ͍">I I8ٮ QtI  UC9鰕: :)-8 9)I tIi E :),:Ih9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.308074 arcdeg .q'M'U*GQ2GQFQFYrFYbFYEaEa)u;Iu9 yyiyIytVC@iV< 2@<:@w:B+#> ߱h:* Q-(A Yt2#H@t2V@yt2$t2<>t2H %C?$K˿ ,?>?`q? u?)u2#H@ u2Es;Iu2CxBPY>xBEGDHD) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y9>Q=EYm9>I I8ٮ QtI  UC9: ) 58 9)I  tIi  E :)I,99I999=O@Contact HDG: 196.809538 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=0 Ii=A9 A2@E<:@Mw:-> 1o:*  (AYt*BEH@t*MV@yt*,*t* 7>t*H?W?@˿@?E?@?` }?)u*BEH@ u*s;Iu(xno}>xnEi|I~“C)eƄGF@}Yʅw>ʁʁQ=Eʁ͍(;>I I8ٮ QtI  UC9鰕; ;);8 9)I tIi E t:):I9I9*G2GFFrFbFEE)M;IU9 QQiQIQ]=Ci]8Y Y2@e<:@ew:uwA uwAM= Qu:* (AYt*OH@t*V@yt*=Zt*7>t*H>c?4M˿ ?7K??2|?)u*OH@ u*[!s;Iu*CxBHf>xB E {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]!)Q-=E)5:5>IA IM8ٮAA QMtI A UUC9AE3"; E#;)EC8 e9)YIY etIiY mEY ]a:)]v:I]o9I9*G!2GAFIFIrFQbFQEYEY);I9 iI>=i`Z 2@<:@w:== ߙ|:* i(A)4t.H =Gf?x˿R?@- ?Q?@tj?)u.qVH@ u.""s;Iu,x>t>x>lEH@HBp=iXIX)%GF@=YEpE>AAQM=EIM:M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UbI8 m9)aIa mtIia mEa e:)e9:IeJ9yI9*G2GFFrFbFEE);I9 iI0:i>Ͻ 2@ <:@ w: A< B:*  (AYt*PWH@t*[W@yt*Lt*>>t*H=k?<˿4^?Q? :?4r?)u*PWH@ u*/s;Iu(x>r>x>IE)~SGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@YY:>Q=ER9>I  IU8ٮ   QUtI  U]C9  I< <) P8 e9)YIY etIiY eEY ]:)]:I]y9I9*G2GF FrFbFEE)m;Iu9 qqiqIq}g 7i}y y2@<:@w:i)=I=7< ,:* z&(AYt*xH@t*%W@yt*k&t*2>t*H9`?@˿`?ׄ?{%??)u*xH@ u*or;Iu*Cx>n>x>EiPIP)UGF@}Y}.P}>ʁʁQ>Eʁ͍;>I I8ٮ QtI  UC9鰕E: :)MW8 9)I tIi E :)N:Iz9I9*G2GFFrFbFEE!)U;IU9 QYiYIY]5iaa a2@m<:@mw:mJM< y:* Q@(A Yt.nH@t.W@yt.'t.<>t.H@;`?EО ˿ .?? v?t?)u.nH@ u.r;Iu,xBo>xBEG@H@)~ʑʑQ>Eʑ͝>I I8ٮ QtI  UC9鰥: :)9^8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iI f5 i   2@<:@w:z L=:* +Z(AYtz`H@tzk9W@ytzStzxA>tzH7`?̿h?`O? ?m?)uz`H@ uzr;IuzCx]s>x]EiyI}C)%SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>;>Q>E;>I I8ٮ QtI  U C9: ):)e8 59)1I1 =tIi1 =E1 5:)5:I59III9IODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF>>rFbFEE);I9 i I I6i 2@<:@w:I Ie+۫ iYg:* `t(AYt*szH@t*~'W@yt*| t*Z>>t*H9!?@˿ʬ Pd? O?W?q?)u*szH@ u*Bs;Iu*CxV{>xVE)%GF@]Ye:e>aaQm>EimJm>Iq I}8ٮqq Q}tI q U}C9qu>: u:)uk8 9)I tIi E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.616116 arcdeg .q''*G2GFFrFbFEE);I9 iI%I6!i!! !2@-<:@Mw:5 AAO:* (A);IYt*5~H@t*@+W@yt*t*?8>t*Hr9$?Uꞿ "˿U4? 2??z?)u*5~H@ u*6r;Iu*CxNj>xRqEHTHTi`Ib“C)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQ>Eʉ͕:>I I8ٮ QtI  UC9鰝h: :)r8 9)I tIi E :):I9I9=O @Contact HDG: 196.809538 arcdeg .''O4Initialize Wait Component.*G2GFFrFbF!E!E!)U;I]9 YYiYIYeI6aiaa i2@m<:@uw:eQ i~y:* @(AYt.H@t.QW@yt.Jt..5>t.H85` ?j`F̿͵`G=?U?^? ?)u.H@ u.r;Iu.CxNeq>xRnE)!F@]Yee>aaQm>Eimֿ;m>Iq I}8ٮqq Q}tI q UC9qu: u`:)uy8 9)I tIi E  :)ݖ:I9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: )Ii ߉`:* (AYt.H@t.=W@yt. t.B>t.H@7 ]?` ̿෤? ?P4?k?)u.H@ u.r;Iu.Cx6c>x6 EiDID)pF@Y%;%>))Q->E)-O5>I1 I=8ٮ11 QEtI 1 UEC915: 5:)5u8 M9)I M9II MtIiI UEI Mc:)Mw:IMI9aIa9a*Gq2GqFqFqrFybFEE);I9 iII6i 2@<:@w: <:* z(A Yt*H@t*;W@yt*J&t*A>t*H7 ?`.@̿¥ ?BɄ??4m?)u*H@ u*r;Iu(xBv>xBEGB@AHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]GiuwA}xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%g%>!)Q->E)57T5>IA IM8ٮAA QMtI A UUC9AE; EM;)E8 e9)YIY etIiY eEY ]k:)]:I]9yI9*G2GFFrFbFEE);I9 iII6i 2@<:@w: 䵼:* O(AYt2H@t2HW@yt2t2>n:>t2H86 >?`S5̿`ip?@ r? ,?>x?)u2H@ u2r;Iu2CxR`k>xREilIl)5GF@}Y}:>ʁʁQ>Eʁ͍;>I I8ٮ QtI  UC9鰕: x:)s8 9)I tIi E :)N:I9I9*G2GFFrFbFEE);I9 iII6i 2@ <:@ w: !e>>l:* )(AYt*ՍH@t*:W@yt*t*f*;>t*H 7?@̿l{??C?Lw?)u*ՍH@ u*r;Iu*CxBx>xBE)5dGa 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝi;>ʙʡQ>Eʡͥl>I I8ٮ QtI  UC9鰭: :)g8 9)I tIi E }:):I% 9I9*G2GFFrFbFEE) ;I9 iII6i !2@%<:@-w: 9:* )(A) IYt*kH@t*vYW@yt*t* V7>t*H a4?@eMV̿ {?`?:?`|?)u*kH@ u*r;Iu*CxBxp>xBEHBa=HFa=iTIT)=GAE%=F@}Yʅb>ʁʁQ>Eʁ͍;>I I8ٮ QtI  UC9鰕< <)=8 9)I tIi E :):I(9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFF1rF9bF9E9E9)U;Iu9 qqiqIy}I6yiy 2@<:@w: ߙ:* HB(AYt*H@t*DW@yt*Q$t*j@>t*H6`F?J*@.̿j@Τ?`? ?n?)u*H@ u*r;Iu*Cx>i>xBE)zvGF@=YEdE>AAQE>EIMOM>IQ I8ٮQQ QtI Q UC9QU~< U<)U8 9)I tIi E :)÷:I919I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.719170 arcdeg .q''*G2GFFrFbFEE);I9 iII6i 2@<:@w: i:* 0\(AYt*vH@t*FW@yt* t*63Y>t*H l6 ?@G1̿` ?`??@H?)u*vH@ u*>s;Iu*CxBo>xBEiLIL)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye :e>iiQm>Eimq9u>Iq I}8ٮqq QtI q UC9qu: u:)u8 9)I tIi E ɏ:):I99I9=O}@Contact HDG: 196.809538 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFyFrFbFEE);I9 iII6i 2@<:@w: :* ͕v(A Yt*vH@t*#W@yt*t*]x>t*HX:X?` ˿@>Mi6?)?Ͻ??)u*vH@ u*8t;Iu*CxBu>xBEG@HD)~GivAwAF@=YE~;E>AAQM>EIMM>IQ I]8ٮQQ QetI Q UeC9QUQ; U;)Uɰ8 m9)iIi utIii uEi mF:)mԘ:ImA9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: 7:* o(AYt*DH@t*V@yt*[廙t*Xu>t*H@??˿`X?k|?`?`?)u*DH@ u*t;Iu(xRh>xREi`I`)-vGF@=YE:E>IIQM>EIMU>IQ I]8ٮQQ QetI Q UeC9QU: U):)U8 m9)iIi utIii uEi m[:)m,:ImxJ9I9*G2GFFrFbF EE);I9 iII6i 2@ <:@ w: 9>>:* +L(AYt.?H@t.V@yt.uŻt.dg>t.H`o@?˿@5r@5?x?(?.?)u.?H@ u.k"t;Iu.CxRo>xRJE)%dGa 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ;>ʉʉQ>Eʉ͕*>I I8ٮ QtI  UC9鰝%: l:)8 9)I tIi E l:):I*S9I9*G2GFFrFbFEE);I9 iI I6 i   2@<:@w: )X:* &(A) I Yt*=H@t*V@yt*ët*_>t*H`@ ?3 ~˿́&?@]xu?֧? d>?)u*=H@ u*y s;Iu*CxB'n>xBpEHBp=H@iPIP)~G4=F@=YE;E>IIQM>EIMܕU>IQ I]8ٮQQ QetI Q UeC9QU: U:)Uxš8 m9)aIa mtIia uEa e-:)e:Ie|[9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: :):*  (AYt>BH@t>V@yt>'ۻt>1s>t>H`@m?]˿\ {?d{?D*?@?)u>BH@ u> s;Iu>Cx^ c>xb E {hY|| 8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )%ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YnM> Q->E)5-:5>IA IM8iٮAA QtI A UC9AEE== E<=)Eq͡8 9)I tIi E >:):IEf9I9*GA2GAFAFIrFIbFIEQEQ);I9 iII6i 2@]<:@]w: ߹R:* (AYt*H@t*V@yt*t*U|>t*H:E !?&˿O ?@p?8?6?)u*H@ u*r;Iu*CxBs>xBEitIx)MʡʡQ>Eʡͭ >I I8ٮ QtI  UC9鰵: B:)uӡ8 9)I tIi E :)Ԙ:Il9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI%I6!i!! )2@-<:@5w: AW9;* x(A Yt. H@t.V@yt.+t.in>t.HE?f@j˿i@t#?a?? "?)u. H@ u.Rr;Iu.CxB?s>xBEG@HD)~Gi=xAAF@uY}^}>yyQ>Eʁͅ,T>I I8ٮ QtI  UC9鰍: :)Eڡ8 9)I tIi E F:)Z:I*u9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 192.228803 arcdeg .q'E'E*GI2GIFIFIrFQbFQEYEY)m;Im9 iiiqIq}I6yiyy y2@<:@w: ߙrc ;* +(AYt*G@t*V@yt*?t*Gh>t*H H(j? Ҟ@ʿy V?~?0?-?)u*G@ u*pr;Iu(xBj>xBqEiPIVC)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y;>Q>E څ >I I8ٮ QtI  UC9: :)s8 %9)!I! -tIi! -E! %:)%:I%~9YIY9Y=O@Contact HDG: 196.809538 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 ))i1I1UI6QiQQ Y2@]<:@ew: qa>e>K;* nE(AYt*H@t*V@yt*໙t*Be>t*HE H?դ ,˿z?R|?x?2?)u*H@ u*sr;Iu*CxBp>xB%E)|F@=YEW:E>AAQM>EIM,;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 u9)iIi tIii Ei m@;)mv;Im 9III9Q*G2GFFrF bFE!E!)};I}9 iII6i 2@<:@w: u;* I_(A)4t*H5I7d?Ŗ`ʿ@Ou ??6?)?)u*G@ u*]r;Iu*CxB"h>xBEHF4=HDiPIR“C)4==a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYezm>iiQm>Eiu»u>Iy I8ٮyy QtI y UC9y}F: }į:)}8 9)I tIi E :) :I9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: ߁;* #y(AYt*G@t*|V@yt*t*q>t*H LT.?y ʿ@jZ????)u*G@ u*Tur;Iu(xBg>xBsE)~XGF@=YEOE>AIQM>EIMM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa e:)e,:Ie9yI9*G2GFFrFbFEE);I9 iII6i 2@<:@w: i$;* G(AYt*G@t* V@yt*ֵ!t*5p>t*HnJ`nR?%@ʿ@Yj`l?@6?m??)u*G@ u*q9r;Iu(xBmd>xBu EiPIRC)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQm>Eim;m>Iq I}8ٮqq Q}tI q UC9qu: u:)u8 9)I tIi E )c:I9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: *;* Iڬ(A@ Yt*SG@t*^UV@yt*t*!z>t*H@*P?|'Zʿ`^ࡆ??? | ?)u*SG@ u*r;Iu(xRe>xRP EGRAAHT)%ƄGi))F@]YeG:e>aiQm>Eiu;u>Iy I8ٮy M8y QtI y UC9y}(: } :)}8 9)I tIi E :):I/9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: Ǚ1;* (AYtBG@tB'[V@ytB~tB{>tBH@O` ?eʿ5@x?>~?@? ?)uBG@ uBjr;IuBCxR8T>xR}Ei`Ib“C)EGF@mYu";}>ʁʉQ>Eʉ͝a:>I I8ٮ QtI  UC9鰵; ;) 8 9)I tIi  E Y;)$;I9!I!9)O=Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFIEIEI)e;Ie9 aaiaIamI6iiii q2@}<:@}w: ߉>p>07;* (AYt*8G@t*C:V@yt*z给t*>t*H@S? 5%ʿ7SJi?`|?s?=?)u*8G@ u*qr;Iu*CxBl>xBE {DY|DJ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yi:>Q>Er>I  I8ٮ   QtI  UC9  4< e<) A8 9)I tIi E _:)˚:I˺9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 191.786507 arcdeg .q'-'-*G)2G)F1F1rF9bF9EaEa);I9 iII6i 2@<:@w: A=;* m(A);IYt*G@t*@V@yt*r򷻙t*>t*H }R`?L駿1ʿH?`Fv?xBQ EHFp=HDi\I\)G4=F@Yʽ:;>Q>Eݍ:>I I8ٮ QtI  UC9S: x:)w8 9)I tIi E %:)|:I9I9=O@Contact HDG: 196.809538 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I59 AAiAIAMI6IiII Q2@]<:@ew: ߁uD;* EF(AYt*9G@t*DV@yt*t*Xy>t*H#K@?zʿ\)[?07r?@=?D ?)u*9G@ u*E/r;Iu(xBsj>xB(E)Q>Eͽv$<>I I8ٮ QtI  UC91: :)8 9)I tIi E ;);I,9I9i*G2GFFrFbFEE)5;I59 11i1I1=I69iAA A2@}<:@w: J;* ".(AYt*+G@t*6V@yt*Mt*#|>t*HJ .?`ʿ 8Vs?~?2??)u*+G@ u*>r;Iu*CxBsj>x@iaIi)SGF@Y>Q>EX9>I I8ٮ QtI  UC9F: :)Y&8 9) I  tIi  E  _;) c;I 9iIi9i*Gy2GFFrFbFEE);I9 iII6i 2@<:@w: ߁Q;* G(A@ YtnG@tnV@ytnnbWtn^t>tnHI`y?`Hʿqa`M??#A?`&?)unG@ un/r;IunCx f>x  EG@AH)GiyAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%{f%>!!Q%>E!-:->I1 I=8ٮ11 Q=tI 1 U=C915: 5:)5\-8 M9)AIA MtIiA MEA E:)EN:IE9YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iII6i !2@%<:@-w: 9X;* fa(AYt*H@t*V@yt*'it*u>t*HC)?q䢿9˿ZP? $?T??)u*H@ u*:r;Iu*Cx>i>xBNEiLIL)~SGF@=YE3=E>AAQE>EAM<M>IQ I]8ٮQQ Q]tI Q U]C9QUJ: UN:)U38 m9)aIa mtIia mEa e:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iII6i 2@<:@w: >i>E<^;* -{(AYt*1H@t*V@yt*"t*>t*HAz?@#g˿@,3R?V??%?)u*1H@ u*Br;Iu(xNmd>xRu E)%GF@]Ye,<e>aaQe>Eime;m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u:8 9)I tIi E :),:IA9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: #e;* ֍(A)4t*HeA?@+q˿*\?Jv?S??)u*6H@ u*Hr;Iu*Cx^n>x^EHhHjp=iI C)eׄGim%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y <>Q>ER:>I I8ٮ QtI  U C9 : :)C8 9) I  tIi  E  }:) N:I 39!I!9)O5Done Waiting.'=O=8Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9FArFAbFIEIEI)];Ie9 aaiaIamI6iiii q2@u<:@}w: ߉Mk;* i(AYt*@H@t*V@yt*)ίt*nv>t*HU@ ?`˿UX?@u?Bv??)u*@H@ u*7r;Iu*CxB}v>xBE)Eʁ͍;?I I8ٮ QtI  UC9鰕: :)H8 9)I tIi E p:) :I[9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.414611 arcdeg .q'M'M*GI2GIFIFQrFQbFYEYEY)m;Iu9 qqiqIq}I6yiyy 2@<:@w: ߙi 6r;* 0F(AYt*5eH@t*@W@yt*R"t*hei>t*H <8[? LL˿i +?.J?@?`+?)u*5eH@ u*1=r;Iu*CxBj>xBqEiLIP)~GF@EYMb;M>IIQU>EQU3;U>IY Ie8ٮYY QetI Y UmC9Y]: ]į:)]^O8 u9)i u9Ii utIii uEi m:)m:Im9I9=O%@Contact HDG: 196.809538 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rFQbFQEQEQ);I9 iII6i 2@<:@w: _x;* (A @Yt*H@t*.W@yt*HTt*x>t*H8ݔ?Q̿JN???8?)u*H@ u*.r;Iu*CxB\>xBEG@HD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )aiuwAya 1a 1 a 5a 5 a 9a 9 a -a -u a 1u@a u a 5u@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yֻ>Q>E%t;%>I) I8ٮ)) QtI ) UC9)-< -&<)-DW8 9)I tIi E }:)o:I9I9!*GY2GYFYFarFbFEE);I9 iII6i 2@<:@w: )~;* &(AYt*؍H@t*:W@yt*Z9t*>t*H`7@^r?eب`̿` t?0+?=??)u*؍H@ u*7r;Iu*CxReq>xRnEihIh)5GF@EYM;M?IIQM>EIU;U?IY Ie8ٮYY QetI Y UeC9Y]ͭ: ]):)]&]8 u9)iIi utIii uEi mގ:)mЕ:Im9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: ]>+r;* (AYt*H@t*-W@yt*]} t*jt>t*H49@O?(w̿`^r????)u*H@ u*r;Iu*CxBi>xBEiDD){Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQm?Eiuu>Iy I}8ٮyy QtI y UC9yy }į:)}d8 9)I tIi E :)N:IT9I9*G2GFFrFbFEE);I9 iII6i 2@<:@w: 7;* _0(A);IYt*iH@t*tBW@yt*㻙t*zi>t*H`7,?@ )̿`ej?b|?,?`+?)u*iH@ u*\r;Iu*CxBn>xBEH@H@iV=IT)G  F@=YE;E>AAQM?EIM3M;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U>:)Uj8 m9)aIa mtIia mEa e[:)aIe'9yIy9*G2GFFrFbFEE);I9 iII6i 2@<:@w: ك;* ~J(AYt*H@t*XW@yt*%t*c>t*H 4v?o㤿T̿`mu??@^%?57?)u*H@ u*s;Iu(xZB`>xZ E)-+GF@=Y=ZE>AAQE?EAMZ;M>IQ IU8ٮQQ Q]tI Q U]C9QU5: U[:)Uq8 e9)aIa mtIia mEa e:)e:Ie@09yIy9y*G2GFFrFbFEE);I9 iII6i 2@<:@w: iK;* hd(AYt*JH@t*UW@yt*Z/t*l>t*H`-`=7?`Q@̿ `?O?`=^??)u*JH@ u*xREizf=Ix)USGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>ʹʹQ?E<>I I8ٮ QtI  UC9: :)x8 9)I tIi E F:)Ԙ:I99I9*G 2G F F rFbFEE)-;I-9 )1i1I1=I69i99 92@E<:@Ew: Y؞;* B~(A @Yt*H@t*ZW@yt*l=t*})>t*H4 c?@:W̿ `C??৊?@?)u*H@ u*ys;Iu(xB:m>xBEG@HD)~GixAwAF@Yʕ >ʙʙQ?Eʡͥ >I I8ٮ QtI  UC9鰭: :)8 9)I tIi E :)Z:IA9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I9 iII6i !2@%<:@-w: 9;* (AYt*H@t*nW@yt*,t*2y>t*H 1?`s[c~̿xB`I\?ȗ?W?@.?)u*H@ u*_ys;Iu*CxB:m>x@iPIP)~+GF@=YEk/;E>AIQM?EIMK;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U :)U8 m9)aIa mtIia mEa e:)eȗ:IeI9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.862931 arcdeg .q''*G2GFFrFbFEE);I9 iII6i 2@ <:@ w: AR>a>;* P(AYt.H@t.}W@yt. t.Ά^>t.H\0,?~|o̿@wq#??ଘ???)u.H@ u./~s;Iu.CxBsj>xB(E)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYex;e>iiQm?Eiu$;u>Iy I8ٮyy QtI y UC9y}ͭ: }:)}z8 9)I tIi E ɏ:)A:IgR9I9=O@Contact HDG: 196.809538 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iII6i 2@<:@w: !Bղ;* (A)4t6H)@Zy? ͿHC $?@Hހ?T?p?)u6 I@ u6 ss;Iu6Cx^f>x^ EH\H`ilIl)=vG99a 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝi:>ʡʡQ?Eʡͭ <>I I8ٮ QtI  UC9鰵: :)8 9)I tIi E :):I[9I9*G2GFFrFbF EE);I9 iII6i 2@<:@w:  ;*  (AYt*H@t*W@yt*zt*T>t*H C,?ت̿ ?ZՃ?@&q?@?)u*H@ u*s;Iu*CxRi>xRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}dGF@Yre>  Q ?E V>I! I-8ٮ!! Q-tI ! U5C9!%@: %;)%8 E9)9I9 EtIi9 ME9 =:)=:I=c9YIa9a*G 2GiFqFqrFybFyEyEyi)M;IM9 QQiQIQ]I6YiYY Y2@e<:@ew: {&;* (AYt*YH@t*duW@yt*8t*A>t*H@1?S̿@f# ?`?Y? ?)u*YH@ u*Js;Iu*CxBh>xBEiXI^“C)F@%Y-.->))Q5?E155>IA IE8ٮAA QMtI A UMC9AE): EȲ:)E8 U9)QIQ ]tIiQ ]EQ UȲ:)U:IUk9iIi9i*Gy2GyFFrFbFEE);I9 iII6i 2@<:@w: ;* e(A@ Yt*NI@t*YW@yt*-t*se>t*H`*ȏ?@ܚ̿ ?_?`?p?2?)u*NI@ u*s;Iu*CxBg>xBsEGB?AHD)~GiwAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeT:e>aaQe?Eim <m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u8 9)I tIi E }:)o:Int9I9*G2GFFrFbFEE);I9 iII6i 2@ <:@w: !|8;* A3(AYt2H@t2W@yt2ht2q>t2H.@#3?on L̿/Mlu?? ??)u2H@ u2ess;Iu0xR`k>xREi`I`)%+GF@]Ye_c;e>aaQe?Eim9m>I I8ٮ QtI  UC9鰍<; +;)8 9)I tIi E :):I }9I9*G2GFFrFbFEE);I9 iII6i 2@ <:@w: !e>l ;* 6M(AYt*I@t*W@yt*t* $>t*H' 9v?aH /Ϳ^ ??+??)u*I@ u*Xs;Iu(xB'n>xBpE)-Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>9>ʹʹQ?EE<>I I8ٮ QtI  UC9: :)8 9)I tIi E :):I9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I1=I69i99 A2@E<:@Mw: YJ;* ff(A);I;Yt*H@t*W@yt*y+t*N…>t*H .?)Բ̿A?b???)u*H@ u*+gs;Iu(xBt>xBlEHBa=HBa=iPIP)~yyQ?Eʁͅ ">I I8ٮ QtI  UC9鰍E; ;)Ž8 9)I tIi E _:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.956997 arcdeg .q''*G2GFFrFbFEE);I9 iII6i!! !2@-<:@-w: 9/2;* |Ҁ(AYt*H@t*W@yt*l}'t*{l>t*HS. E?e ̿U@??>X?``%?)u*H@ u*Ts;Iu*CxRu>xRE)%GF@Yʥ :>ʡʡQ?Eʡͭl:>I I8ٮ QtI  UC9鰵: :)Ģ8 9)I tIi E ::):I9I9=Om@Contact HDG: 196.809538 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEyEy);I9 iII6i 2@<:@w: ߹i\;* l(Axn`k>xnEi!I!)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y%%>))Q-?E)5U>IY I]8ٮYY QetI Y UeC9Y]h: ]:)]̢8 m9)iIi mtIii Ei m;)m;Im9I9*G2GFFrFbFEE);I9 iI%I6!i!! !2@-<:@Mw: a2;* ‡(A@ Yt*7H@t*BW@yt*kt*~>t*H`d/?`C̿`d?l?`?@/?)u*7H@ u*:s;Iu*CxB?s>xBEG@HD)GixAF@=YE@;E>AIQM?EIM麺U>IQ I]8ٮQQ QetI Q UeC9QUu: U:)UUҢ8 m9)iIi mtIii uEi m::)mN:Imj9I9*G2GFFQrFYbFYEYEa);I9 iII6i 2@<:@w: n;* b(Axreq>xrnEiIC)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>Q?E>I I8ٮ Q%tI  U%C9: :)٢8 -9))I) -tIi) 5E) -p:)-ȗ:I-r9I191*GA2GAFAFArFIbFIEQEQ)e;Ie9 iiiiIii>I6i 2@<:@w: 1-;* $B(AYt*H@t*NW@yt* 5t*Fq>t*Hn59?@@̿Tj?@?@-?@?)u*H@ u*-s;Iu*CxBRr>xFE {PY|PR8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eʱʱQ?Eʹͽ >I I8ٮ QtI  UC9P: :)]8 %9)I %tIi %E :)7:I9I9*G2GFFirFqbFqEqEy);I9 iIeI6aiai i2@u<:@}w:  <*  (A) I YtBH@tB iW@ytB'tBL>tBH`2?<@t̿b# Y"? ?,g? ?)uBH@ uB}>s;IuBCxRmd>xRu EHR4=HP){V5=I{Ti{V={V+>{T{V@{T|V KB9|VnQx?Xޡ?i|I~“C)eGe4=aF@}YʅC;>ʁʁQ?Eʉ͍;>I I8ٮ QtI  UC9鰕; |;)&8 9)I tIi E :):I39I9*G2GFF1rF9bF9E9EA2EIzEM KBEMTѣR]I@>CX?EMnQx?Xޡ?EM5=EIEM4+Hgs)&'?EM{FBKRпC?EMY@=uDHdg To Contact =194.779155 degreesZEM#ObEMID:EM'o$?BEMPo$?JEM REM jEM8y?rEM8?);I9 iII6i 2@<:@w: q$Dacoustic_contact_range 50.760002 m$=hTrackAcousticContact.heading_to_contact 3.399538 rad$HDUSBL_Hydroid.xAngle 2.000000 arcdegߪ<* #(AYt>H@t>HW@yt>^Y*t>Ʌ>t>H`36l?@!M4̿"D?K? u?@{?)u>H@ u>79s;IuxRE)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥȹ>ʡʡQ?Eʩͭ桻>I I8ٮ QtI  UC9鰵:  :)8  9)I  tIi  E :)ݖ:I9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iII6!i!! !2@-<:@mw: yiG <* t5(AYt:H@t:VW@yt:,t: w>t:H4 "?O̿IY?ł?m?n?)u:H@ u:#:s;Iu:Cx^{>x^EipIp)GF@YʽE;>Q?E ;>I I8ٮ QtI  UC9: E:)8 9)I tIi E O:)A:IO9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 192.779111 arcdeg .q''*G2GY@FFrFbFEE);I9 iI7iս Y@ 2@<:@w: !$eRHorizontalControl.headingCmd 3.399538 rad<* |O(A Yt2H@t2(EW@yt2Mt2yp>t2H6L?`ĥ.̿WN?@xт?[??)u2H@ u2-s;Iu2Cx>`k>x>EGB@AH@)~ƄGi||a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Ye>!Q%?E!%"->Ii Iu8ٮii QutI i U}C9im: mB:)mR8 9)yIy tIiy Ey }:)}ݖ:I}@9I9=O@Contact HDG: 194.779155 arcdeg .''%O%4Initialize Wait Component.*G!2G!F!FirFibFiEqEq);I9 iI8i 2@<:@w: in<* +i(AYt*kH@t*vBW@yt*)t*|>t*H`6? <@Z)̿"@@?`:?uK??)u*kH@ u*Gs;Iu*CxBk>xBEiPIRC)GF@}YʅI>ʁʁQ?Eʉ͍>I I8ٮ M8 QtI  UC9鰕; Ǹ;)8 9)I tIi E }:)o:I?9I9*G2GFFrFbFEE) ;IU9 QQiQIQ]8YiYY a2@e<:@ew:V>a> ߹- <* d(AYt*?H@t*J6W@yt*t*B>t*H78@)p? -@̿%( -*?` ?n??)u*?H@ u*Zs;Iu*CxBi>xBE)~GF@Y%:%>!!Q-?E)-^->I1 I=8ٮ11 Q=tI 1 U=C915U: 58:)5j 8 M9)AIA MtIiA MEA A)E,:IEk9YIa9a*Gq2GqFqFqrFbFEE);I9 iI8i 2@<:@w: &<* >(A) IYt*WH@t*W@yt*iJ!t*}>t*H =$?e˿qE?7)?e?`\?)u*WH@ u*Ls;Iu(x>x>xBEHBp=H@iPIR“C)G 4=a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʍ>ʉʉQ?Eʑ͕>I I8ٮ QtI  UC9鰽: :)8 9)I tIi E _;);IJ9I9*G92G9F9F9rFAbFAEAEA)};I}9 yyiyIy8i 2@<:@mw:Mewֽ QX#-<* (AYt.zH@t.'W@yt.%$t.r>t.H@9x?@DaO˿Vݕ??`x ??)u.zH@ u.wXs;Iu.CxBm>xB'E) GF@=YEE>AAQE?EIM;M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)UE8 m9)aIa mtIia mEa e:)eݖ:Ie9yIy9y*G2GFFrFbFEE);I9 iI8i 2@<:@w: )Ii iW 4<* (AYt*>H@t*V@yt*>+t*y>t*H@@?˿[O ?y?g?>? ?)u*>H@ u*Cs;Iu*Cx>:m>xBEiLINC)~vGF@=Y=E>AAQE?EAMM>IQ I]8ٮQQ Q]tI Q U]C9QUJ: Up:)U*8 e9)a m9Ia mtIia mEa e:)e:Ie 9yIy9y*G2GFFrFbFEE);I9 iI8i 2@<:@w: 4:<* (A Yt*RQH@t*]V@yt*x t*>t*H a> ?`4@˿4BE'? ??@?)u*RQH@ u*Qs;Iu*Cx^u>x^EGb?AH` {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiyAa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 55@a 5 a 95@a 5 a -=@a = ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@]Ye;e>aiQm?Eium);u>I I8ٮ QtI  UC9鰅; ;)%8 9)I tIi E :):I`9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!%8!i)) )2@5<:@5w: AA<* ҫ(AYt*(H@t*V@yt*t*܀>t*H@B?{ۦ$U˿BWa?z???)u*(H@ u*ds;Iu*CxBo>xBJEiZ=IX)-GF@Yʍx>ʉʉQ?Eʉ͕ػ>I I8ٮ QtI  UC9鰝%: :),8 9)I tIi E :):I?9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.330149 arcdeg .q'M'M*GI2GIFIFQrFYbFYEaEa)u;Iu9 yyiyIy8i 2@<:@w: ߡ>l>bGG<* (AYt>pH@t>{V@yt>!#t>4cu>t>HD԰?+˿n\|?'d?@a??)u>pH@ u>sRs;Iu>Cxr'n>xrpE)a 15a 15 a 55a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]]>YYQ]?EYeCEe>Ii Iu8ٮii Q}tI i U}C9im ; m;)mu38 9)I tIi E :):IU9I9=O%@Contact HDG: 194.779155 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rF1bF1E1E1)M;IM9 IQiQIQU8YiYY Y2@e<:@ew: qqM<* `8(A) IYt*O#H@t*ZV@yt*2.t*Rv>t*H(C?פJ˿`X`?6ƅ? ~??)u*O#H@ u*Q6s;Iu*CxB'n>x@H@HDiTIT) %= %=F@=YEcE>AAQM?EIMh,;M>IQ I]8ٮQQ Q]tI Q UeC9QU: Uc:)U98 m9)aIa mtIia mEa e%:)e|:Ie'9yIy9*G2GFFrFbFEE);I9 iI8i 2@<:@w: XT<* ;R(AYt*G@t*V@yt*.t*{>t*H@IL?s (ʿT?౳? ,??)u*G@ u* s;Iu*CxBp>xB%E)~SGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ ;>ʁʁQ?Eʁ͍>I I8ٮ QtI  UC9鰕: :)@8 9)I tIi E [:):I/9I9*G2GFFrFbFEE);I9 iI8i 2@ <:@ w: iZ<* @l(AYt*jG@t*uV@yt* t*s8}>t*HG >m?Oʿ`P`/?%[?oT??)u*jG@ u*]#s;Iu*CxBj>xBqEiNf=IP)~GF@=YE=;E>AAQM?EIMe;M>IQ I]8ٮQQ Q]tI Q UeC9QU>: U:)UG8 m9)aIa mtIia mEa e:)e9:Ie89yIy9*G2GFFrFbFEE);I9 iI8i 2@<:@w: ka<* (A Yt*8G@t*CV@yt*&t*j{>t*HK'?`nʿ@X/?`ւ?`?` ?)u*8G@ u*r;Iu*Cxzl>xzEGz@AH|)GiwAF@Y޺>Q?E5>Ia I8ٮaa QtI a UC9ae#< e"<)eO8 9)I tIi E :):IA9I9*G2GFFrFbF EE)%;I%9 ))i)I)581i11 92@=<:@=w: ߑg<* ̟(AYt*G@t*qV@yt*^*t*t>t*H`"M ? ʿe`?K?J? ?)u*G@ u*s;Iu(xRf>xR Ei\I^“C)]vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y*E>Q?E& >I I8ٮ QtI  UC9: :)U8 9)I tIi E :)N:IwI9I9*G2GFFrFbFE!E!)5;I=9 99i9I9E8AiAA A2@M<:@Mw: aV>p>+m<* v(AYt*G@t*RV@yt*Vt*Cy>t*H^P`?@M`rUʿ`x`>p?Ѓ?@??)u*G@ u*r;Iu*CxBZ>xBzE)GF@}Yʅ~:>ʁʁQ?Eʉ͍=>I I8ٮ QtI  UC9鰕: :)Y\8 9)I tIi E p:) :IQ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI8i 2@ <:@w: !t<* ܃(A) IYt*\G@t*gaV@yt*t*wz>t*HN@? qʿ\? m?o?@ ?)u*\G@ u*r;Iu*CxBq>xBEHBa=H@iPIRC)G4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe!a;e>iiQm?Eiu;u>Iy I}8ٮyy QtI y UC9y}%: }:)}/c8 9)I tIi E -:)c:I=Z9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.923384 arcdeg .q''*G2GFFrFbFEE);I9 )i)I1581i99 92@E<:@Ew: Yz<* d](AYt* G@t*t*H`R׳?` @(ʿ`h?+?`r?r?)u* G@ u*r;Iu*CxBi>xBNE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UʱʱQ?Eʱͽ>I I8ٮ QtI  UC9{; /;)=j8 9)I tIi E :):Ic9yIy9y=O@Contact HDG: 194.779155 arcdeg .''O4Initialize Wait Component.*G2GF!F!rFIbFIEIEI)e;Ie9 yyiyIyi8i 2@<:@w: 躁<* A(AYt2BG@t2M2V@yt2sD-t2Kw>t2HS#?Σ jʿgxNIEi)I1)G Nonly read 0 of 1 data item for altitude Failed to parse: :BD, +0.00, +0.0 +0.00, 0.00,281.00 F@YѺ>!!Q%?E!-8->I1 I=8ٮ11 Q=tI 1 U=C915ի: 5t:)5q8 E9)AIA MtIiA MEA E:)Eϸ:IEwl9q UUSoftware FaultaIa9a*Gq2GqFqFyrFybFyEE);I9 iI8i 2@<:@w: !xSoftware Fault in component: DeadReckonWithRespectToSeafloor<* M!(A Yt**rG@t*5V@yt*Gt*,y>t*H`USq?@"ɿ'f@el? (??Z?)u**rG@ u*@r;Iu*CxB'n>xBpEGBAAHFAA)SGivA xAF@=YEj;E?AIQM@EIM_M?IQ I]8ٮQQ Q]tI Q UeC9QU%: U:)Uw8 m9)aIa mtIia mEa e:)e :Ies9yIy9y*G2GFFrFbFEE);I9 iI8i 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq  <* :(AYt*cG@t*V@yt*qt*sx>t*H WX?@k [ɿhe? }?@O??)u*cG@ u*7r;Iu(xBf>xB EiPIT)dGF@=YEQ*E>AIQM@EIMX M>IQ I]8ٮQQ QetI Q UeC9QUP: U:)U~8 m9)iIi mtIii uEi m:)m:Im1|9yIy9y*G2GFFrFbFEE);I9 iI8i 2@<:@w: R>i><* T(AYt*bG@t*%V@yt*st*v>t*HNW4Y?`ɿl?\?@n?g?)u*bG@ u*4r;Iu*CxNv>xNGE)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ>ʡʡQ@Eʡͭ#>I I8ٮ QtI  UC9鰭: :)Dž8 9)I tIi E :)A:I9I9*G2GFFrFbFEE) ;I 9 iI8i !2@%<:@%w: 9<* t*H Z/?vŽɿ w? ?:?c?)u*x@G@ u*ʈr;Iu(xB5g>xB*EHB=HDi^=I\)SG!%=F@=YEp8E>IIQM@EIU}U>IQ I]8ٮQQ QetI Q UeC9QU: Ux:)Uy8 m9)iIi mtIii uEi m:)m:Im79I9*G2GFFrFbFEE);I9 iI8i 2@ <:@ w: A<* E(AYt:rKG@t:}U@yt:a't:#;v>t:HY`5? :s4ɿo ?@$?E{??)u:rKG@ u:r;Iu:Cxba>xb E) Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>ʁʁQ@Eʁ͍:>I I8ٮ QtI  UC9鰍: :) 8 9)I tIi E p:)A:I9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w: iC1<* \(AYt*G@t*U@yt*=f#t*y>t*H^`d?``>ɿ m`?`l?p? ?)u*G@ u*gr;Iu*CxBl>xBEiNf=IP)~GF@Yʅ +:>ʉʉQ@Eʉ͕ >I I8ٮ QtI  UC9鰝1: :)i8 9)I tIi E ) :Ik9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI 8 i   2@<:@w: )[<* Y6(A Yt.8G@t.U@yt.Pt. l>t.H@[!?*NIɿǂr?|?Y?`p%?)u.8G@ u.kr;Iu.CxBi>xBEGF?AHF@A) ƄGiwAwAF@=YEՅ;E>AIQM@EIM~;M>IQ I]8ٮQQ Q]tI Q UeC9QU>: UB:)U&8 m9)aIa mtIia mEa ed:)e5:Ie9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 191.490405 arcdeg .q'E'E*GA2GIFIFIrFQbFqEqEy);I9 iI8i 2@<:@w: B<* (AYt*F@t*U@yt*t*o>t*Hwa@?բɿriC?0?.?X!?)u*F@ u*[r;Iu(xR'n>xRpEi\I`)ׄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ梁>ʁʉQ@Eʉ͍>I I8ٮ QtI  UC9鰕: I:)/8 9)I tIi E -:):In9I9=O@Contact HDG: 194.779155 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI8!i!! !2@-<:@-w: aY>\m<* (AYt*-;G@t*8U@yt*t*j>t*H.[  ?`}\ɿ?@?`?`O)?)u*-;G@ u* r;Iu*CxBl>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UʱʹQ@Eʹͽ<>I I8ٮ QtI  UC9: c:)/8 9)I tIi E :):I9I9*G2G!F!F!rF)bF)E1E1)U;I}9 yyiyIy8i 2@<:@w: ߡT<* z (A);I Yt*G@t*U@yt*oi't*m>t*H^Q?`$7@9ɿ?`?? o?#?)u*G@ u*mr;Iu(xR=Z>xR1EHRa=HTin=Il)=G=%==%=F@}Yʅ>ʁʁQ@Eʉ͍Ͽ>I I8ٮ QtI  UC9鰕: :)8 9)I tIi E [:):Ir9I9*G2GFFrFbFEE);I9 iI8i 2@ <:@ w: <* #(AYt*G@t* U@yt*&t*ol>t*H"^?,+Iɿ `E?`ڄ?J?@0&?)u*G@ u*Bzr;Iu*CxBHf>xB E)iiQm@Eiu:u>Iy I}8ٮyy QtI y UC9y}1: }:)}μ8 9)I tIi E :),:I9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w: i@A<* k=(AYt*%.G@t*0U@yt*t*;j>t*H`\? 37`jɿ ш@?@?? ^*?)u*%.G@ u*Tr;Iu(xV\>xZEijf=In“C)=GF@UYU;]>YYQe@Eaee*;e>Ii Iu8ٮii QutI i UuC9im: m5:)mã8 9)yIy tIiy Ey }:)}:I}]9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w:  <* YW(A Yt*z;G@t*U@yt*t*|q>t*H*[??Iɿ y`C?MS??`,?)u*z;G@ u*r;Iu*CxBV>xB3EGFAAHD)5SGi11F@}Yʅ}>ʁʁQ@Eʉ͍d;>I I8ٮ QtI  UC9鰕: :)ʣ8 9)I tIi E d:)V:I9I9*G2GFFrFbFEE);I9 iI8i 2@ <:@ w: !<* 5q(AYt*BG@t*U@yt*t*Fn>t*HgZ*?ࢿɿ c~`]0?݃??o"?)u*BG@ u*r;Iu*CxBmd>xBu EiPIRC)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ)>ʩʩQ@Eʩ͵:>I I8ٮ QtI  UC9鰽: S:)ѣ8 9)I tIi E F:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E )%;I%9 !!i!I!-8)i)) 12@5<:@=w: Ii>a><* (AYt*SQG@t*^U@yt*^t*u>t*HY?7?@ϯɿ)p /?@\?g?1?)u*SQG@ u*r;Iu*CxB`k>xBE)~SGF@=YE;E>AAQE@EAM';M>IQ I]8ٮQQ Q]tI Q U]C9QU`: U:)UMأ8 m9)aIa mtIia mEa e[:)e:Ie9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 191.577053 arcdeg .q'}'}*G2GFFrFbFEE);I9 iI8i 2@<:@w: )'<* h(A)4t*HV )k?@`aɿrۿ?`xĄ? ?`?)u*eG@ u*qr;Iu*CxNi>xREHRp=HRp=i`Ib“C)G%4=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ\N>ʉʉQ@Eʉ͕2G;>I I8ٮ QtI  UC9鰝: :)Xߣ8 9)I tIi E :)I9I9=O@Contact HDG: 194.779155 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI8i 2@<:@w: QJ<* ž(AYt.4dG@t.?V@yt.Ĺ t.y>t.H#W@vT?ɿf{?*? ?b ?)u.4dG@ u. s;Iu.CxRo>xRE)%SGF@5Y5w;=>99Q=@EAEhE>II IU8ٮII QUtI I UUC9IM: M:)M8 e9)YIY etIiY eEY ]S:)]˚:I]9qIq9q*G2GFFrFbFEE);I9 iI8i 2@<:@w: i?Ax<* (AYt*gG@t*#V@yt*yt*w>t*HV c??hɿniqJ?@%?8?@?)u*gG@ u* s;Iu*CxBh>xBEiPIP)~dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQm@Eim9u>Iq I}8ٮqq QtI q UC9qu : ul:)u8 9) 9I tIi E :)۞:Iu9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w:  <* }(A Yt*ڇG@t*4V@yt*t*Цu>t*H SN?@j ʿj?}?`Zi? ?)u*ڇG@ u*_r;Iu(xB`k>xBEGB?AH@ {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiF@Y:>Q@E;>I I8ٮ QtI  UC9; ;)08 %9)I %tIi -E :)":I^ 9aIa9a*G2GFFrFbFEE);I9 iI-8)i)) 12@5<:@=w: r=* .X (AYt2VuG@t2a"V@yt2x*t2w>t2HEU`?ӣ?ɿg|N?Q?@*??)u2VuG@ u2Rr;Iu2CxBj>xBqEiXI^C)vGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}@e}>ʁʁQ@Eʁ͍<>I I8ٮ QtI  UC9鰍: :)8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w: R> =* D4&(AYt*G@t*@V@yt**8t*w>t*H`LRԴ?@1ʿf|,??`?G?)u*G@ u*r;Iu*CxBi>xBE)=dGF@UY]N;]>YaQe@Eam;m>I) I58ٮ) M58) Q5tI ) U=C9)-E: -I:)-I8 M9)AIA MtIiA UEA E:)E1:IE09YIa9a*Gq2GqFqFyrFybFyEE);I9 iI8i 2@<:@w: K=*  @(A) IYt*ۅG@t*2V@yt*Xt*x>t*H S?3Ĥʿ^eX?+???)u*ۅG@ u*kr;Iu*CxNb>xR EHRa=HRa=idId)qyyF@Yʽ59>Q@E>I I8ٮ QtI  UC9: :)8 9)I tIi E :):I&9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)5;I59 99i9I9E8AiAA A2@M<:@Mw: a-=* Y(AYt*G@t*0V@yt*p"t*Lv>t*HS@I?u ʿ`ph+? M?ێ?`?)u*G@ u*br;Iu*CxBo>xBE)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y%)>Q@E>I I8ٮ QtI  UC9ش; :)8  9)I  tIi  E ɏ:):IY/99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'UN@Vehicle HDG: 191.750703 arcdeg .q''*G2GFFrFbFEE) ;I-9 11i1I1=89i99 92@E<:@Ew: yiW=* s(AYt*fG@t*qBV@yt*\ t*܈w>t*H`'R&?@&5ʿe5?@sK?`??)u*fG@ u*Ϸr;Iu*CxRv>xREi`I`)GF@-Y5y;5>11Q=@E9=>;E>IA IM8ٮAA QMtI A UUC9AE: ES:)EQ8 ]9)QIQ ]tIiQ eEQ U:)U:IUd79iIq9q=Ou@Contact HDG: 194.779155 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GyFyFyrFbFEE);I9 iI8i 2@<:@w: G?#=* (A@ Yt*EG@t*P-V@yt* t*Mv>t*H@AT@?@T ʿ jP?`*?`}??)u*EG@ u*r;Iu(xNZe>xR EGR@AHP)%SGi!%xAa 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQ@Eʉ͕K>I I8ٮ QtI  UC9鰝\: :)e8 9)I tIi E :):I!@9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w: ri)=* y(AYt*G@t*7V@yt*Et* 0v>t*H,S?5.ʿ i?@ȃ?y??)u*G@ u*r;Iu(xRt>xRlEi\I\)%GF@-Y55>99Q=@E9E1:E>II IM8ٮII QUtI I UUC9IM: Mt:)M$8 ]9)YIY etIiY eEY ]:)]:I]jH9qIq9q*G2GFFrFbFEE);I9 iI8i 2@<:@w: >Y>Q0=* .V(AYt*lG@t*w.V@yt*dvt*.w>t*HT??D ʿ!h3?? ??)u*lG@ u*Kpr;Iu*CxN'n>xRpE)GF@]Ye9e>aaQe@Eimm>Iq I}8ٮqq Q}tI q U}C9qu`: u:)u+8 9)I tIi E ɏ:):I Q9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w: %|6=* '3(A) IYt.rpG@t.}V@yt.Z t.+hu>t.H@U`y?ףɿ`m@?@?a?`}?)u.rpG@ u.4r;Iu.Cx> c>xB EHB=H@iR=IP)~G<=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe e>iiQm@Eiu'u>Iy I8ٮyy QtI y UC9y}F: }:)}28 9)I tIi E :):IY9I9*G2GFFrFbFEE);I9 iI8i 2@<:@w: <=*  (AYt2dG@t2o6V@yt2t2-q>t2HKS@?Ƭʿr@Z|? ƒ? ?w?)u2dG@ u2Hr;Iu0xNb>xRQ E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@Y9>Q@En;>I I8ٮ QtI  UC9; ;)&98  9)I tIi E  ;);Ilb9)I)91*GI2GIFIFQrFYbFYEaEa);I9 iI8i 2@<:@w: i C=* (AYt*xG@t*&V@yt* #t*.r>t*HT[?fɿpK?a?@?`?)u*xG@ u*r;Iu*CxBU_>xBS E){BK`I{@i{B'>{B7>{@{B@A{@|B=jB9|Btda{?ԜJǕi%f=I!)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y$C>Q@Ej!>I I8ٮ QtI  U C9: :)@8 9) I  tIi  E  :) :I j9!I)9)O=Done Waiting.'=O=8Uninitialize Wait Component.*G92GAME|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFAFArFIbFIEIEI2EYzE]=jBE]+kB@^R7~FE]tda{?ԜJǕE]K`EYE] AFA@=5n[g$E]<TF:?B{XLƿE]@=eDHdg To Contact =142.396426 degreesZE] BbE]6:E]0o$?BE]'o$?JE]l RE] jE]:#rE]8y?)};I}9 yiI8i 2@<:@w: ߡ$Dacoustic_contact_range 58.559998 m$hTrackAcousticContact.heading_to_contact 2.485286 rad$LDUSBL_Hydroid.xAngle -50.199998 arcdegI=* ((A Yt.ÐG@t.=V@yt.>"t.Al>t.H Rg?+ʿ@z?@G?D? &?)u.ÐG@ u.q;Iu.CxBZ>xBzEGBAAH@)iwAF@uYu:9}>yʁQ@EʁͅWt;>I I8ٮ QtI  UC9鰍: R:)F8 9)I tIi E :):I*s9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 191.798897 arcdeg .q'-'-*G)2G-@F1F1rF9bF9E9E9)U;IU9 QQiYIY]9iYe@ a2@m<:@mw: y$RHorizontalControl.headingCmd 2.485286 radP=* B(AYt*@G@t*KMV@yt*y%t*q>t*HP?O@IJʿFo҉?8?@??)u*@G@ u*r;Iu*Cx>s>x>EiPIP)GF@=YE E>AIQM@EIM;U>IQ I]8ٮQQ Q]tI Q UeC9QU: UJ:)UM8 m9)aIa mtIia mEa e-:)e:Ie{9I9=Oe@Contact HDG: 142.396426 arcdeg .'e'eOm4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iIe>V=* y\(AYt*~G@t*GV@yt*At**Ol>t*H Q?p`?ʿ@y ?6Ԃ?F? &?)u*~G@ u*r;Iu*CxNw>xRjE)҄Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ;>ʡʡQ@Eʡͭ]>I I8ٮ QtI  UC9鰵:: :)T8 9)I tIi E Ր:),:IH9I9*G2GFFrFbFEE) ;I-9 11i1I1=SAi=>9 92@E<:@Ew: ߑ\=* LSv(A);IYt*SG@t*^V@yt*E0t*I n>t*H(K@*N?Z`ʿ@o??|?+#?)u*SG@ u* 'r;Iu*CxNMl>xRLEHRp=HRp=i`I`)vG%4=%4=F@-Y5ˆ5>99Q=@E9E<E>II IM8ٮII QUtI I UUC9IM: Mt:)MB[8 ]9)YIY etIiY eEY ]:)]:I]9qIq9q*G2GFFrFbFEE);I9 iI|EiQ 2@<:@w: c=* 8.(AYt*G@t*V@yt*Z0t*+o>t*H KC?p ۬ʿKn`EA? o?`?!?)u*G@ u*g!r;Iu*CxBf>xB E)dGF@EYEA6M>IIQM@EIU8U>IY Ie8ٮYY QetI Y UeC9Y]ͭ: ]а:)]1b8 m9)iIi utIii uEi m:)m :Im9I9*G2GFFrFbFEE);I9  i I [F@i%zt*HD? 1˿ f P?k??`Z?)u*8H@ u*Pr;Iu*CxBh^>xBEiLIR“C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yem;e>aaQm@Eim%<m>Iq I}8ٮqq Q}tI q UC9qu: u:)u$i8 9)I tIi E :):I9I9*G2GFFrFbFEE);I9 iIoA@iL~i= 2@<:@w: Ap=* O(A@ Yt.p H@t.{V@yt.*t.s>t.H E?o˿Ka?Y? ??)u.p H@ u._r;Iu.CxRU_>xRS EGTHVAA)ESGiAExAF@]Ye3e>aaQe@Eimm>Iq I}8ٮqq Q}tI q U}C9qu: u:)u p8 9)I tIi E :)Z:I)9I9*G2GFFrFbFEE);I9 iIp;@iƹ=! !2@-<:@-w:=  w=* (AYt:HH@t:V@yt:r,,t:~p>t:H`)?`l ?˿ _@Z^?@t???)u:HH@ u:yr;Iu:Cxb,t>xb#EiIC) Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅF>ʁʉQ@Eʉ͍<>I I8ٮ QtI  UC9鰝S: :)w8 9)I tIi E :):It9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI 6@i !>  2@<:@w:)%=I%=2; >B}=* (AYt*nH@t* W@yt*]!t*Pu>t*H;]?ཫi˿`R?`+?^??)u*nH@ u*r;Iu*CxBMl>xBLE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y%:%>))Q-@E)U;]>Ia Im8ٮaa QmtI a UmC9ae = e =)eY~8 }9)qIq }tIiq }Eq u:)u:Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.576063 arcdeg .q''*G2GFFrFbFEE)M;IM9 IIiQIQ0@ie+> 2@<:@w:~M< *=* hw(A)4t.H`7?:̿4E` ?`A?? M ?)u.H@ u.Jr;Iu.Cx6,t>x6#EH8H8iPIR“C)AAQMAEIMF;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa eO:)e :Ie9yIy9=O@Contact HDG: 142.396426 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI TO+@iJ> 2@<:@w:xr= T=* ?R+(AYt*7H@t*BkW@yt*~%t*y>t*HT2k?@Zx̿@'CV? ï?o?@f?)u*7H@ u*m:r;Iu*CxNMl>xRLE)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅr:>ʉʉQAEʉ͍;>I I8ٮ QtI  UC9鰕: а:)8 9)I tIi E :):IL9I9*G2GFFrFbFEE)u;Iu9 qyiyIy}&@itvm> 2@<:@w:xA wAmd= yi;=* ^-E(AYt*H@t*W@yt*f(t*nr>t*H.@9? ꥿̿L ~?` ?^?@?)u*H@ u*C r;Iu*CxB*[>xBEiPIRC)GF@=YE!E>AAQMAEIM;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U$:)Up8 m9)aIa mtIia mEa e:)eԘ:Ie9I9*G2GFFrFbFEE);I9 iI-"@i$N> 2@<:@w:%> 1f=* h_(Axnp>xnEGr@AHr@A)]GiYaF@mYmu>qqQuAEq}}>I I8ٮ QtI  UC9鰅ɪ: :)o8 9)I tIi E :)g:IC9I9*G2GFFrFbFEE);I9 iIk@i > 2@<:@w:5ԅ#> 9P=* x(AYt*HI@t*W@yt*.t*Ox>t*H " ?;@SͿ4>?х??`a?)u*HI@ u*q;Iu*CxB]>xBxEiLIP)~+GF@=YE~wE>AAQMAEIM<M>IQ I]8ٮQQ Q]tI Q UeC9QU`: U:)U:8 m9)aIa mtIia mEa e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iI @i 2@<:@w:)>I=zl+> x=* ](AYt2@SI@t2KX@yt2J't2y>t2Hj! % ?y 6Ϳ@k1d[?@1?G?G ?)u2@SI@ u2!q;Iu2CxNn>xRE)SG-Ponly read 0 of 1 data item for BIT error-,Failed to parse: :TS0 F@]Yep:e>aaQeAEam4:m>Iq I}8ٮqq Q}tI q U}C9qu: u:)u08 9)I tIi E [:):I@9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w:z:> P=* 5(AYt*$I@t*/MX@yt*-t*g>y>t*Hg?20ο@) J?ջ???)u*$I@ u*{q;Iu(xB"h>xBEH@HDi\I\)GF@=YEzE>AIQMAEIM+@<M>IQ I}8ٮQQ Q}tI Q UC9QU; UA;)U8 9)I tIi E :)Ԙ:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9E@iAA I2@M<:@Mw:eGj> ߉)=* :u(AYt*_I@t*j~X@yt*4t*Ds>t*H`8?Yy`Nο.@S?ޖ?N'??)u*_I@ u*׉q;Iu*CxNr>xRIE)vGF@Y>QAE-;->I9 IE8ٮ99 QEtI 9 UEC99=: =:)=i8 M9)III UtIiI uEI M;)M;IM9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 193.815333 arcdeg .q'u'u*Gy2GyFyFyrFbFEE);I9 iI~!i 2@<:@w:wA i#> R=* P(AYt*EI@t*PX@yt*i*1t*r>t*H@H*?`ο`-W|?0%? ? ?)u*EI@ u* ^q;Iu*CxNo>xREi\I^“C)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YA:>QAE@;>I I8ٮ QtI  UC91: :)8 9) 9I tIi E E:)ʽ:I9I9=Om@Contact HDG: 142.396426 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GqFqFqrFybFyEE);I9 iIi 2@<:@w: )I a_޽=* V+(A Yt."=J@t.-X@yt."t.NF{>t.H@@ҽ?m aϿ`7r?S?? 5 ?)u."=J@ u.>q;Iu.CxNi>xRNEGPHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@%Y- ;->)1Q5AEQ]R<e>Ii Iu8ٮii QtI i UC9imkl< m9j<)mLä8 9)I tIi E ;)^;I; 9)I)9)*G2GFFrFbFE E );I9 !!i!I!IIiII Q2@U<:@]w: ߙ9=* `(AYt*@J@t*X@yt*|!t*>t*H&F?󳪿]hϿ@Y?n/?? ?)u*@J@ u*q;Iu*CxNsj>xR(E){RdI{Pi{R)>{R>{P{RA{P|RfB9|RRr# ?A )VipIp)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ79>ʩʩQAEʩ͵ :>I I8ٮ QtI  UC9鰽ͭ: :)ɤ8 9)I tIi E  :)A:I9aIa9a*G2GFFrFbFEE2EzEfBE5)K@ .dPERr# ?A )VEdEE&8Q?3I@{A_0E>'kx x?$њ+ȿE @=DHdg To Contact =143.997122 degreesZE0HBbE:En$?BE0o$?JE` REl jErE:#);I9 iI!!i!! )2@5<:@5w: A$}Dacoustic_contact_range 86.700005 m$hTrackAcousticContact.heading_to_contact 2.513224 rad$LDUSBL_Hydroid.xAngle -51.200000 arcdegR>V>_=* -(AYt*фJ@t*1Y@yt*o?t*Q\t>t*H ]?}AϿ ? ?@A? O?)u*фJ@ u*xBqE)AIQMAEIM'.<U>IQ I]8ٮQQ Q]tI Q UeC9QU`: U :)U|Ф8 m9)aIa mtIia mEa eO:)eȗ:Ie<9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: S=* G(A) IYtNîJ@tN[Y@ytNЙ%tN:q>tNHr`ݤ?@P;`п@:?"??V?)uNîJ@ uNWq;IuLxjf>xj EHpHva=iAIA)SG4=%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%r;%>!!Q%AE)-;->I1 I=8ٮ11 Q=tI 1 U=C915: 5:)5פ8 M9)AIA MtIiA MEA E:)AIEX&9YIY9a*Gi2GqFFrFbFEE)5;I59 11i1I199i99 A2@E<:@Mw: Y=*  a(AYt*LJ@t*WY@yt*!t*ļy>t*Hf O?YܪC\пl`1?;?8?`0 ?)u*LJ@ u*Rq;Iu*CxB0a>xBw E)~dGF@=YE:E>AAQMAEIM;)<M>IQ I]8ٮQQ Q]tI Q U]C9QU`: U:)UEޤ8 m9)aIa mtIia mEa eF:)e:IeA.9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i,=* \s{(AYt*{ K@t*Y@yt*,0Et*)p>t*Hx ?^xп@0?ޥ?@???)u*{ K@ u*=q;Iu(xBm>xB'EiLIP)|F@=YEҮE>AAQMAEIMx;M>IQ I]8ٮQQ Q]tI Q UeC9QUu: UW:)U*8 m9)aIa mtIia mEa eՐ:)e :Ie69yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: =* L(A Yt*:K@t*Y@yt*F t*/z>t*H M?ᔫPп@G?S?`?`; ?)u*:K@ u*Z q;Iu*CxZi>xZEG^AAH\)5Gi9=wAa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ|;>ʡʡQAEʡͥ;>I I8ٮ QtI  UC9鰭: :)A8 9)I tIi E h:)Z:I?9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI)1i99 A2@M<:@Uw: a>=* g)(AYt*K@t*'6Z@yt*N t*Mq>t*HD`I?@e謹 пYM$???6?)u*K@ u*P4q;Iu*CxBk>xBEiPIP)vGF@]Ye:6e>aaQmAEimE<m>Iq I8ٮqq QtI q UC9qu; u˵;)u8 9)I tIi E F:):IG9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 195.353123 arcdeg .q']']*GY2G] @FaFarFabFiEiEi);I9 iI @i @ 2@<:@w: $RHorizontalControl.headingCmd 2.513224 radV>i>g&=* (AYt*^K@t*i]Z@yt*NCt*l&y>t*H??L< {ѿ`?@i? ?@%?)u*^K@ u*q;Iu*CxBi>xBE) GF@}Y}>ʁʁQAEʁ͍;>I I8ٮ QtI  UC9鰕: :)8 9)I tIi E :):IwP9I9=O@Contact HDG: 143.997122 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9I9Es @AiAA I2@M<:@Uw: a?P=* (A);I Yt*K@t*nZ@yt*.t*>t*H?q'ѿ@w@;?`݅?n)??)u*K@ u*jp;Iu*CxRf>xR EHPHVp=i`IbC)%G!%4=a 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YVC;>QAE;>I I%8ٮ M%8 Q%tI  U%C9: :)-8 59))I) UtIi) UE) -d;)-9;I-XY9aIa9a*G2GFFrFbFEE);I9 iI @i 2@<:@w: z=* (AYt*K@t*Z@yt*t*X>t*H6@?ʭ@^ѿ????)u*K@ u*Uq;Iu*CxBt>xBlE {DY|DJ8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@YS+;>QAEu;u>Iy I}8ٮyy QtI y UC9y}: }:)}8 9)I tIi E <) * t(Ax~i>x~Ei1I1)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y  >QAE>I! I%8ٮ!! Q-tI ! U-C9!%: %ٮ:)%8 59)1I1 =tIi1 =E1 5::)5Գ:I5`j9AII9I*G2GFFrFbFEE);I9 iI!!!i!) )2@U<:@Uw: a >* 2q0(A x~j>x~qEG@AH)dGixAxAF@Yʩ>ʩʩQAEʱͱ>I I8ٮ QtI  UC9鰽: )8 9)I tIi E :)4:Ir9I9*G2GFFrFbFEE );I9 !i!I!!)i)) )2@5<:@5w: Ift>* KJ(Ax~k>x~Ei1I9)F@Yʩ>ʱʱQAEʱ͹>I I8ٮ QtI  UC9 : :)8 9)I tIi E h:)E:I${9I9*G2GFFrFbF E E );I%9 !!i!I!))i)) 12@5<:@=w: I>e>>* N)d(Axvh^>xvE)mjGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y  >Q5AE19=>IA IE8ٮAA QMtI A UMC9AE: E:)E#8 u9)qIq }tIiq }Eq u:)u:Iu9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI))i11 12@=<:@=w: ia>* ~(A)p;Ixrl>xrEH|Ha=iAIE“C)vG%=F@Yʹ>QAE>I I8ٮ QtI  UC9: 5:)a*8 9)I tIi E ގ:)x:I69I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 195.746296 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@ w: ʱ%>* i(AYt*L@t*[@yt*h4t*t>t*H ?k? {L:ҿ `u??S?E?)u*L@ u*q;Iu*Cx>Hf>x> E) GF@Y]>QAEp =>I I8ٮ QtI  UC9,; Ե;)W18 %9)I %tIi %E :):I9QIQ9Y=O@Contact HDG: 143.997122 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)=;I=9 AAiAIAIIiii i2@}<:@w: iD+>* Ժ(Axnn>xnEi|I~C)]YYQeAEaee>Ii I8ٮii QtI i UC9imM< m<)m88 9)I tIi E ):Iӝ9I9*G!2G!F)F)rFqbFqEqEq);I9 iIi 2@<:@w: )2>* (A*@ (Yt^wBM@t^[@yt^c&t^qK>t^H ,?ҿ f?ڄ?ȼ?@?)u^wBM@ u^Aq;Iu^CxUj>x]qEG]AAHY)GiwAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5%@a % a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@MYU:U>QYQ]AEY]d<]>Ia I8ٮaa QtI a UC9aeZ< e<)e?8 9)I tIi E [:),:I9 I 9 *G2G!F!F!rFibFiEiEi);I9 iIi 2@<:@w: )O8>* Gq(AYtB&zM@tB1'\@ytB 'tBlu>tBHЕk?뮿ҿ@`jt?@|?@l??)uB&zM@ uBp;Iu@xNf>xR Ei\I\)SGF@=YEf!E?AAQMAEIM%<M?IQ I}8ٮQQ Q}tI Q U}C9QU$; UԵ;)UE8 9)I tIi E :):I9I9*G2GFFrFbFEE);I59 11i1I199i9A A2@M<:@Mw: V>x>_?>* 'L(AYt>M@t>H\@yt>;"t>-~>t>H?`?ҿg?`_?r?`?)u>M@ u> q;Iu>CxNt>xRlE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y:%>!)Q-AE)5;U>IY Ie8ٮYY QmtI Y UmC9Y]; ]:)](M8 9)I tIi E :)L:IA9I9*Gi2GqFqFyrFbFEE!);I9 iIi 2@ <:@w: iF>* 5(A)&;I$YtBM@tB*Y\@ytB6tBƄ>tBHZ?ذҿ N@?\ۆ?@i??)uBM@ uBgp;IuBCxNMl>xNLEHRa=HRp=ihIh)5+G=%=9a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YH>QAE&;>I I 8ٮ QtI  UC9V; ;)S8 9)I %tIi %E }:)N:Ir9QIQ9Q*Ga2GaFaFirFbFEE);I9 iIi 2@<:@w: 1G.L>* 3(AYt.ϠM@t.M\@yt.7t.펄>t.H  K?@°@ҿDŽ ?`A?@_b?y?)u.ϠM@ u.p;Iu.CxR^>xR E)MGF@uYu}>yyQ}AEyͅ>I I8ٮ QtI  UC9鰍; E;)Z8 9)I tIi E  :):I9I9*G2GF F)rF1bF1E1E1)m;Im9 iiiiIiqqiqq y2@}<:@w: ߱iyyS>* L(AYt*M@t*r\@yt*-t*~>t*H0?@F@Jӿ`J`Ds?Ǿ?G}??)u*M@ u*p;Iu*Cx>:m>xBEiPIP)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yp:>QAE$;>I I8ٮ QtI  UC9S: :)a8  9) I   tIi  E  <) * f(A@ Yt*M@t*\@yt*}!t*{z>t*H@!-?D3ӿ@?@/? c?` ?)u*M@ u*ep;Iu*CxBvW>xB|EG@HD)GivA F@uYu;}>yyQ}AEʁͅ;>I I8ٮ QtI  UC9鰍: ù;)Eh8 9)I tIi E :):I9I9&M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' Ne@Vehicle HDG: 197.461343 arcdeg .q'e'e*Ga2GiFiFirFqbFEE);I9 iIi 2@<:@w: 1"`>* (AYt*M@t*ԋ\@yt*U t*>t*H ?. /ӿр b? ?@A??)u*M@ u*p;Iu*CxRj>xRqEi\I\)%SGF@]Ye_89e>aaQeAEimNm>Iq I8ٮqq QtI q UC9quD< u<)uo8 9)I tIi E S:)g:Ic9I9=O}@Contact HDG: 143.997122 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GFFrFbFEE);I9 iIi 2@<:@w: N>e>Lf>* Hm(AYt**M@t*5\@yt*-t*>t*H`{? e 6ӿt@$?$? 2?(?)u**M@ u*p;Iu*CxB`k>xBE)zdGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yete>iiQmAEim:u>Iq I}8ٮqq QtI q UC9qu: u:)uv8 9)I tIi E ::):I9I9*G2GFFrFbFEE)U;IU9 QYiYIYYaiaa a2@m<:@mw: ߡvl>* G(A) I Yt*M@t*\@yt*ʏ!t*^>t*H ?@l5Dӿ `G?1?@J? ?)u*M@ u*wp;Iu*CxBu>xBEHB=HDiPIP)4=F@=YE:E>AIQMAEIMO;M>IQ I]8ٮQQ QetI Q UeC9QU@; U;)U|8 m9)iIi utIii uEi m:)mԘ:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ^s>* !(AYt.M@t.˜\@yt.++@t.ֵ{>t.H3?`n꯿?ӿے $?@A?O%?`4 ?)u.M@ u.p;Iu.CxB'n>xBpE)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>qqQuAEqu{L}>I I8ٮ QtI  UC9鰅: _:)ԃ8 9)I tIi E J:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i y>* r(AYt*#M@t*.\@yt*R)t*>t*H?@@&Hӿ?8*?@?>?)u*#M@ u*'p;Iu(xBc>xB, EiN=IP)~GF@=YE0e;E>AAQMAEIMU:M>IQ I]8ٮQQ Q]tI Q UeC9QUS: U:)U8 m9)a m9Ia mtIia mEa eN:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: p>* (A Yt*dN@t*o\@yt*-rt*>t*H`߀[?nUӿ`vw|?@6?\a??)u*dN@ u*Zp;Iu*CxZi>xZEG^?AH\ {\Y|\b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGixAF@YUj;>QAEC;>I I8ٮ QtI  U C9; :)8 9)I %tIi %E  ;);I 99I999*GY2GYFYFarFabFiEiEi);I9 iIi 2@<:@w: k>* R(AYt*M@t*\@yt*`(t*>t*Hm?аv+ӿ+` ???4?)u*M@ u*lq;Iu*CxNu>xREi f=I )mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Yr>QBEHܻ>I I8ٮ QtI  UC9 : `:)8 9)I tIi E ̒:)$:Iu9I9O%Done Waiting.'%O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F)rF1bF9E9E9)M;IM9 QQiQIQYYiYY a2@e<:@ew: y]>{>?Ō>* 65(AYt*5N@t*@\@yt*3=t*H`V?`t3@Uӿ`G??VO??)u*5N@ u*p;Iu*CxBu>x@)~GF@}Y}0E}>ʁʁQBEʁ͍;>I I8ٮ QtI  UC9鰕u: :)o8 9)I tIi E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 197.584587 arcdeg .q'-'-*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQYYiYY a2@e<:@mw: y>* jO(A) I Yt*M@t*~\@yt*.t*6>t*H ҈? ]g"ӿ#?…???)u*M@ u*+q;Iu*CxBc>xB, EHBp=H@iTIV“C)G %= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm ;m>qqQuBEqu}>I I8ٮ QtI  UC9鰅\: :)K8 9)I tIi E f<)o* Di(AYt*_M@t*j\@yt*Z t* >t*Hۭ?f +ӿZ;?`r? 3??)u*_M@ u*?p;Iu*CxBf>xB E)~vGF@=YE1;E>AIQMBEIMp:M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa eՐ:)eȗ:Ie-9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: yi>*  (AYt*7M@t*B\@yt*'t*t~>t*H?`e:ӿ`l?[???)u*7M@ u*Jp;Iu*CxNRr>xREi\I^C)GF@-Y- ->11Q5BE1=;=>IA IM8ٮAA QMtI A UMC9AEF: E:)E8 U9)QIQ ]tIiQ ]EQ U:)Uk:IU 69iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: >* (A Yt*M@t*[\@yt*H;t*~>t*H@ ? ӿ ?@y?,??)u*M@ u*)q;Iu*CxBj>xBqEGB@AHD)~SGixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeIe>aiQmBEimm>Iq I}8ٮqq QtI q UC9qu~: u>:)u8 9)I tIi E :)ȗ:I>9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >* $ֶ(AYt* M@t*\@yt*S77t*g}>t*H@`?$M-ӿ` T? ?Y??)u* M@ u*q;Iu(xB |>xBEiPIP)~dGF@=YE7:E>AIQMBEIM*;M>IQ I]8ٮQQ QetI Q UeC9QU\: U:)U8 m9)iIi mtIii uEi mh:)m:ImG9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: V>Y>)>* (AYt.M@t.#Y\@yt.m.t.>t.Hg`*? Bҿ?υ?ƣ?N?)u.M@ u.Cq;Iu.Cxbxp>xbE)AF@}YʅG:>ʁʁQBEʁ͍>I I8ٮ QtI  UC9鰕: :)ȥ8 9)I tIi E -:)A:IO9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: %>* (A) I Yt*M@t*p\@yt*%t*>t*H`@;?1ӿ ?@ไ?y?]?)u*M@ u*sCq;Iu*CxBeq>xBnEHBa=HDiPIR“C)154==4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>QBE|c;>I I8ٮ QtI  UC9 : :)ϥ8 9)I tIi E :),:I|X9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Uw: a >* g(AYt*M@t*_\@yt*u-t*e>t*Hr[?@8Dӿ`}?Ӹ?ŗ??)u*M@ u*8q;Iu*CxB_>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y>  Q BE 5"=>I I8ٮ QtI  UC9鰕; I;)&ץ8 9)I tIi E *<)6+* YM(AYt*+M@t*6C\@yt*o9t*@{>t*H `݃?@e@ҿ@.? ?!?" ?)u*+M@ u*Uq;Iu(x>Z>xBzEiI)yyQ}BEyͅ>I I8ٮ QtI  UC9鰅2: :)ޥ8 9)I tIi E :) :Ij9I9=O@Contact HDG: 143.997122 arcdeg .''O4Initialize Wait Component.*G!2G!F!F!rF)bF)E1E1)E;IE9 AIiIIIQQiQQ Q2@]<:@]w: qia>* 68(A Yt*nM@t*yL\@yt*1t*m{>t*HC?į@ҿݞ R*?@0?)? ?)u*nM@ u**r;Iu(xBk>xBEG@H@)GiwAwAF@=YE[:E>AAQMBEIMq:M>IQ I]8ٮQQ Q]tI Q UeC9QU: U-:)U>8 m9)aIa mtIia mEa e:)eԘ:Ieq9yIy9*G2GFFrFbFEE);I9 11i1I199i9A A2@E<:@Mw: yI>* 'Q(AYt*VM@t*a?\@yt*at*s~>t*H[@s?@怰ҿ`2f?# ?z?`?)u*VM@ u*q;Iu*CxR c>xR Ei`Id)%SGa 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ;>ʉʉQBEʉ͕>I I8ٮ QtI  UC9鰝: į:)K8 9)I tIi E p:)|:I_z9I9*G2GFFrFbFEE);I9 iIi   2@<:@w: ߡN>p>as>* Zk(AYt*5mM@t*@\@yt*Dt* F}>t*H ^? uҿe? ?`U??)u*5mM@ u*q;Iu(xBd>xB E)~dGF@=YEE>AAQMBEIMM>IQ I]8ٮQQ Q]tI Q UeC9QU): U:)U8 m9)aIa mtIia mEa e%:)e|:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Z>* :(A) I Yt*ixM@t*t%\@yt*Gt*y>t*H Um?{(ҿ@??@P?`G ?)u*ixM@ u*aur;Iu*CxBsj>xB(EHFp=HFa=iPIRC)GF@]Yee>aiQmBEiu1:}>I I8ٮ QtI  UC9鰍; ;) 8 9)I tIi E l;)w;Ix9 I9*GQ2GQFYFarFqbFyEE);I9 iIi 2@m<:@uw: ߁>* y(AYt*=M@t*[@yt*e^"t*u>t*Hઞ@02?ޕ!ҿ>Iq?K?d?@N?)u*=M@ u*]#r;Iu(xN"h>xNE)Ga 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ;>ʡʡQBEʡͭ>I I8ٮ M8 QtI  UC9鰵: 4:)8 9)I tIi E :):I9I9*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9iد>* 0h(AYt*RM@t*)[@yt*g't*fz>t*HA?@Iনҿ` J??@?@ ?)u*RM@ u*q;Iu*CxVMl>xVLEidIf“C)-GF@=Y=ME>AAQEBEAMP;M>IQ IU8ٮQQ Q]tI Q U]C9QU: Ug:)U8 e9)aIa mtIia mEa e[:)e,:Ie99yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w:  >* @(A Yt. M@t.[@yt.@t.*>t.H?N`jyҿ``???`#?)u. M@ u.q;Iu.CxB'n>xBpEGDHD)=GiExAExAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yq>QBE]>I I8ٮ QtI  UC9=; ;) 8  9)I  tIi  E :):I*99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NUInitialize.q'UN@Vehicle HDG: 196.778979 arcdeg .q''*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: Y@>* (AYt*M@t*ح[@yt*7t*y>t*H@Xd?q#`Zҿl?q?7?@ ?)u*M@ u*q;Iu*CxB{>xBiEiPIP)~GF@eYe7:m>iiQmBEiu9u>Iy I8ٮyy QtI y UC9y}t: }:)}8 9)I tIi E )Z:IZ9I9=O @Contact HDG: 143.997122 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE!)5;I59 19i9I99AiAA A2@M<:@Mw: YV>]>?* (AYt:L@t:[@yt:h't:p>t:H0?9@THҿ`?@???)u:L@ u:Qq;Iu:CxRcX>xVE {\Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@EYE ;M>QBEH >I  I8ٮ   QtI  UC9  h: ):) 8 %9)I %tIi ME ;);I9YIY9Y*G2GFFrFbFEE);I9 iI i 2@<:@Mw: ߁?*  (A)4t.H@[? ܭ@YҿӾ`r? Z? ?o?)u.L@ u.p;Iu.CxBX>xBVEHDHFp=i^=I^C)G!%%=F@=YEbE?AAQMBEIM'\;M ?IQ I}8ٮQQ Q}tI Q U}C9QU; U;)UJ"8 9)I tIi E [:)o:I\9I9*G2GFFrFqbFyEyEy);I9 iIi 2@<:@w:  ?* >:(AYt*L@t*^[@yt*S:t*t>t*H` ?`@ҿ`" S?YJ??`?)u*L@ u*xp;Iu*CxBg>xBsE)~ׄGF@=YEHE>AAQMBEIM?M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U.)8 m9)aIa mtIia mEa a)aIe9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i?* T(AYt*L@t*1[@yt*;)t* |>t*H ?ѿM?9?/? ?)u*L@ u*p;Iu*CxN:m>xREibf=I`)ʡʡQBEʡͭj׻>I I8ٮ QtI  UC9鰵: :)H08 9)I tIi E O:)A:I9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9C?* ,cn(A Yt*L@t* 4[@yt*b,-t*fm>t*Hॸ`ܑ?Hثѿ˚?q?h?b$?)u*L@ u*X~p;Iu(xB5g>xB*EGB?AHD)~GiwAwAF@=YEM E>AIQMBEIM޺9M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U68 m9)aIa mtIia mEa e:)eȗ:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: 5!?* >(AYt:)nL@t:4[@yt:N3t:zt>t:H`u?6rѿqvt?@,w? D?@&?)u:)nL@ u:Ip;Iu:Cx^eq>xbnEi I “C)Ga 1a 1 a 5a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=YEIpE>AAQEBEAMcM>IQ I]8ٮQQ Q]tI Q U]C9QU: Uį:)Uk>8 m9)aIa mtIia mEa e!:)e5:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: N>a>!(?* L(AYt*)L@t*Z@yt*t*Hx,?n eѿ`R?@???)u*)L@ u*j]p;Iu*CxB:m>xBE)5GF@]Ye`e>aaQmBEim5m>Iq I}8ٮqq Q}tI q U}C9quG: ul:)uD8 9)I tIi E }:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: K.?* (A);IYt*3L@t*>Z@yt*,t*{>t*H ` ?c٬ Yfѿ oX?z?)?  ?)u*3L@ u*qYp;Iu*CxB^>xB EHBa=HFa=iPIP)SG%=F@Yʝ;>ʡʡQBEʡͭK>I I8ٮ QtI  UC9鰵: :)K8 9)I tIi E %:)Z:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 195.776581 arcdeg .q'M'M*GI2GIFQFQrFYbFYEYEa)u;Iu9 qqiyIyyyi 2@<:@w: ߙ35?* (AYt*K@t*Z@yt*+$t*o>t*Hf 7?f`u\ѿ@??|? 9 ?)u*K@ u*0p;Iu*CxBy>xBE)dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iqQuBEqurϺu>Iy I8ٮyy QtI y UC9y}: }:)}R8 9)I tIi E Í<)At*HT? r*ѿ@ uH? a?:?`?)u*K@ u*(9p;Iu*CxN`k>xREi\I^C)GF@-Y-->11Q5BE1==>IA IM8ٮAA QMtI A UMC9AE:: E:)EgY8 U9)Q ]9IQ ]tIiQ ]EQ U:)U3:IUO9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: EB?* U (A Yt.AK@t.LcZ@yt.0t.z>t.H.@?﫿`5ѿ@.? ??o ?)u.AK@ u.fp;Iu.CxN:m>xREGR@AHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGiyF@Y#9>QBE>I I8ٮ QtI  UC9o;  :)`8 9) I  tIi  E  D;) ;I T 91I9*G)2G1F1F1rF9bF9E9E9)u;Iu9 qqiqIyyyi 2@<:@w: ߙoH?* b#(AYt*oK@t*Z@yt*<4t*͝~>t*Hz?䫿п ? ?`? ?)u*oK@ u*Hp;Iu*CxB^>xB Ei\I^“C)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e a )ea )e YYɄYi]Mb@Mb@Mb@Y]BIYiY]B]BɅ]1B]BBY Y)YF@Yʝ>ʡʡQBEʡͭ2>I I8ٮ QtI  UC9鰵u: W:)ng8 9)I tIi E :)c:I9I9*G2GFFFFBrFbFEE"); j 8j I9 iI%_!!i)) )2@5<:@5w: AR>x>)N?* >=(AYt*XPK@t*cY@yt*Ot* Uv>t*H`d?EпY?v?v~?@?)u*XPK@ u*Hp;Iu*CxBo>xBE)dGF@=YE'k;E>AAQMBEIM랻M>IQ I]8ٮQQ Q]tI Q UeC9QU: U):)Un8 m9)aIa mtIia mEa eO:)e:Ie9yIy9*G2GFFFFrFbFEE_); s8sI9 3iIdi 2@<:@w: U?* S W(A) IYt*;K@t*Y@yt*ӧ)t*2eq>t*HZW?#=п }3?4?@?`?)u*;K@ u*-p;Iu(x>md>xBu EHHHJp=i\I^C)9M4=M=F@Yʭ|>ʹʹQBE@B>I I8ٮ QtI  U C9b; ;)Wu8 -9)I =tIi =E ;;);I$9QIQ9Q*Ga2GaFiFiFqFqrFqbFqEqEyMR); v9vI9 iII͸i 2@<:@w: ߹ګ[?* p(AYt*K@t*Y@yt* )t*wv>t*H@`4?@mп ? ??@n?)u*K@ u*9p;Iu*CxVg>xZsE)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -u a 1u@a u a 5u@a u a 9u@a u a -u@a u a )u@a u qqɄqiuMb@Mb@Mb@IuIqiquuɅuuq q)qF@Yʍ8>ʑʑQBEʑ͝>I I8ٮ QtI  UC9鰥h: J:)|8 9)I tIi E :):I -9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I 9  i I i 2@<:@%w: 1ib?* Њ(AYt*J@t*Y@yt*0t*{>t*H`j ?5 _п@Wr??`#?c ?)u*J@ u*top;Iu*CxB}v>xBEiLIP)=GF@]Yee>aaQeBEimoλm>Iq I}8ٮqq Q}tI q U}C9quu: u5:)u߂8 9)I tIi E :):I59I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.824371 arcdeg .q' ' *G 2G FFrFbFEE)5;I59 11i1I999iAA A2@M<:@Mw: Yh?* i(A Yt*ֵJ@t*bY@yt*$t*1y>t*H?J`%пb(?`^?`V?@9?)u*ֵJ@ u*Pp;Iu*CxRd>xR EGPHT)Gi%vA!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʉʉQBEʉ͍>I I8ٮ QtI  UC9鰝F: :)؉8 9)I tIi E  :)A:I>9I9=O-@Contact HDG: 143.997122 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiYIYYYiaa a2@m<:@mw: yBn?* (AYt*J@t*zY@yt*J%t*w s>t*H` ?`Y`<п"n?`,?`X?`?)u*J@ u*p;Iu*CxBeq>xBnEiPIR“C)GF@=YEE>AAQMBEIMr;M>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa a)e5:IetF9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: a>u?* `(AYt*rJ@t*}CY@yt*'t*&w>t*H}nm?@ѩCп D??`?`?)u*rJ@ u*Lp;Iu(xZj>xZqE)-SGF@]Ye\e>aaQeBEimm>Iq I}8ٮqq Q}tI q UC9quD: u':)u8 9)I tIi E :) :I O9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: {?* :(A) I Yt*xJ@t*%Y@yt*/t*uv>t*H@!;?7@ZϿP?`?`B? ?)u*xJ@ u*Xq;Iu*CxRj>xPHVp=HVa=i|I|)mGu=u=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@YK>QBE>I I8ٮ QtI  UC9: |:)8 9)I tIi E %:):IW9I9*G!2G)F)F)rF1bF1E1E9)M;IM9 IIiIIIQQiYY Y2@e<:@ew: q?*  (AYt*sJ@t*!Y@yt*Ŧt*TSw>t*H`)? ںϿ@!??Q? ?)u*sJ@ u*|'q;Iu*CxBsj>xB(E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@Y%\;%>))Q-BE)5@}>I I8ٮ QtI  UC9鰵; ;) 8 9)I tIi E f;)f;I`9 I 9 *G2GF!F!rF!bF)E)E));I9 iIi 2@<:@w: i ?* %(AYt*:VJ@t*EY@yt*'t*Ϊy>t*Hx?`Ͽ`KB? G??K ?)u*:VJ@ u*!&q;Iu*CxB:m>xBE){FrSI{Di{F[={F7>{D{FPA{D|Fp;B9|F_?_+ji`I`)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>!!Q%CE!-->I) IU8ٮ)) Q]tI ) U]C9)-; -I;)-8 e9)aIa etIia mEa e::)eo:Ie+i9I9*G2GFFrFbFEE2EzEp;BE͞?@сn4AE_?_+jErSEEjSC-{~8@)c_pEq꿋?!~cſEF%@=DHdg To Contact =147.963139 degreesZEAbE:EAo$?BEn$?JEu RE` jEcrE);I9 iI!!i!! )2@M<:@Uw: a$Dacoustic_contact_range 46.860001 m$hTrackAcousticContact.heading_to_contact 2.582444 rad$LDUSBL_Hydroid.xAngle -47.249999 arcdeg5?* ?(A@ Yt*kDJ@t*vX@yt*C0t*|v>t*H? ȨoϿ?` ? +?Z?)u*kDJ@ u*q;Iu*CxB5g>xB*EGFAAHD)Gi wA xAF@=YEE>AIQMCEIMv=M>IQ I]8ٮQQ Q]tI Q UeC9QUu: Ux:)U8 m9)aIa mtIia mEa e:)e:Ieq9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9EAEA)u;Iu9 yyiyIyi 2@<:@w: ߡ?* Y(AYt*}QJ@t*X@yt*y't*Ow>t*H @2?@HϿ@$?$??;?)u*}QJ@ u*yq;Iu*CxRi>xRNEi`I`)%SGF@]Ye:e>aaQmCEim";m>Iq I}8ٮqq Q}tI q UC9qu: u:)u8 9)I tIi E -:):Iy9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.263366 arcdeg .q''*G2GF%@FFrFbFEE)u;I}9 yiI-~"@iI>F%@ 2@<:@w: $URHorizontalControl.headingCmd 2.582444 radV>V>#H?* ws(AYt*LJ@t*WX@yt*(t*v>t*H`P ҍ? Ĩ %Ͽ"?@?t??)u*LJ@ u* q;Iu*CxNp>xRE)dGa 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝg>ʡʡQCEʡͭ>I I8ٮ QtI  UC9鰵2: x:)8 9)I tIi E Ր:)ȗ:IH9I9=O@Contact HDG: 147.963139 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF)E1E1)E;IE9 AIiIIIU;%@iUj>Q Q2@]<:@]w: ߑ/?* h](A) I Yt*BJ@t* X@yt*/O&t*$v>t*H?`jϿ1?Ʉ?@{x??)u*BJ@ u*¿q;Iu*CxBi>xBNEHFa=HFp=iPIP)G4= )>F@=YE9E>AIQMCEIM5;M>IQ I]8ٮQQ QetI Q UeC9QU3; U;)UǦ8 m9)iIi utIii uEi m:)m :Im9I9*G2GFFrFbFEE);I9 iI٧&@i 2@<:@w: Y?* C8(AYt*}(J@t*X@yt*''t*x>t*H?#r9Ͽ`6,? ???)u*}(J@ u*3q;Iu*CxBh>xBE)~+Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye>e>aaQmCEim6zm>Iq I}8ٮqq QtI q UC9quf; u;)uΦ8 9)I tIi E Ր:)I$9I9*G2GFFrFbFEE);I9 iIV&@Ki > 2@<:@w:-> 1i\B?* U(AYt*J@t**X@yt*Z(t*qz>t*H@ @1?@G-Ͽ@&`?r?$? ?)u*J@ u*%r;Iu(xRmd>xRu Ei\I`)-SGF@]Ye\e>aaQeCEimRm>Iq I}8ٮqq Q}tI q UC9quu: uy:)uզ8 9)I tIi E :)ݖ:I9I9*G2GFFrFbFEE);I9 iI%@i 2@<:@w: )I ߉ l?* (A@ Yt.%J@t.X@yt.!}(t.7u>t.HdΝ?_4Ͽ` ??f?`'?)u.%J@ u.r;Iu.CxR:m>xRE)]dGiexAewAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y8>QCEZ:>I I8ٮ QtI  UC9: >:)ܦ8 9)I tIi E :):In9I9*G2GFFrF!bF!E!E!)=;I=9 99i9I9EF%@iAA I2@M<:@Uw: a?* (AYt*EJ@t*PX@yt*!t*t>t*H c? 3ο %`=? 4?R?`f?)u*EJ@ u*yr;Iu*CxBn>xBEiPIP)F@Yʅ:>ʉʉQCEʉ͕>I I8ٮ QtI  UC9鰝: ݱ:)y8 9)I tIi E Ր:) :IŬ9I9*G2GFFrFbFEE);I9 iI  csi   2@<:@w: )N>a>~?* (AYt*m9J@t*xX@yt*u"t*~@v>t*H`¾?@QZϿ!?@N?{??)u*m9J@ u*s;Iu*CxNRr>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQCEʙͥ;>I I8ٮ QtI  UC9鰥N: R:)8 9)I tIi E :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I-9 11i1I19=Bzi99 92@E<:@Ew: Y?* ((A)IYt.#J@t.X@yt."4t.!{>t.H? -0Ͽ`:y?4?e?e ?)u.#J@ u.Xr;Iu.CxBc>xB E){BCI{@i{B={@{@{BpA{@|BLB9|BF8?Ki`I`)%G%=-=F@]Ye Ue?aaQeCEamm?Iq I}8ٮqq Q}tI q U}C9qu: uW:)u,8 9)I tIi E p:)ȗ:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.103389 arcdeg .q''*G2GFFrFbFEE2EzELBEAAl9@@FEF8?KECEE4A0imA@"#$EFQ[J$E1?B<ʿE@=DHdg To Contact =134.876265 degreesZE} BbE :EKo$?BEAo$?JEl REu jED'rEc);I9 i I )5YAvi11 12@=<:@=w: Q$Dacoustic_contact_range 51.000004 m$hTrackAcousticContact.heading_to_contact 2.354035 rad$LDUSBL_Hydroid.xAngle -60.100002 arcdeg?* p\B(AYt.y'J@t.X@yt.=1t.2y>t.H'?^m7Ͽ@%I?`??c ?)u.y'J@ u.Hs;Iu.CxBMl>xBLE)GF@=YE9E>AAQMCEIM8:M>IQ I]8ٮQQ Q]tI Q UeC9QQ Q)U8 m9)aIa mtIia mEa e:)eo:Ie9yIy9=O@Contact HDG: 134.876265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIȏwi !2@%<:@-w: i;?* 7\(AYt*OJ@t*X@yt*o3#t*-Rs>t*HH?ਿϿ@?Wf? ?k?)u*OJ@ u*ޑs;Iu*CxBsj>xB(EiPIVC)Ga 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe ;m>iiQmCEiuN;u>Iy I8ٮyy QtI y UC9y}: }:)}8 9)I tIi E ɏ:) :I9I9*G2GFFrFbFEE);I9 iI |i 2@<:@w: Z?* v(A@ Yt*+9J@t*6X@yt*$t*v>t*H@?@YϿ@? ?@1?<?)u*+9J@ u*V)s;Iu*CxB=Z>xB1EGB@AH@)~GiwAF@=YE2 E>AAQMCEIMbM>IQ I]8ٮQ M]8Q Q]tI Q UeC9QU: U:)U8 m9)aIa mtIia mEa e::)eo:Ie#9yIy9*G2GFFrFbFEE);I9 iIxi 2@<:@w: ?* (AYt*_J@t*) Y@yt*b4t* ={>t*H`N?@6q IϿv?7? ?/ ?)u*_J@ u*DWs;Iu*CxZh^>xZEihIj“C)5dGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1}@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕg>ʙʙQCEʙͥ;>I I8ٮ QtI  UC9鰭: :) 8 9)I tIi E :)$:I9I9*G2GFFrFbFEE) ;I 9  i I !'~i 2@%<:@%w: 1x>]>t?* `ɩ(AYt*cbJ@t*nY@yt*0t*y>t*H@3 ?8_ࣩϿ`vC?}? ?^ ?)u*cbJ@ u*s;Iu(xBn>xBE)F@=YEF:E>AAQMCEIM :M>IQ I}8ٮQQ Q}tI Q UC9QU5; U;)U8 9)I tIi E h:):I?9I9*G2GFFrFbFEE);I9 iI!9=p}i99 92@E<:@Ew: y?* (A) IYt*#dJ@t*.Y@yt*&,t*"w>t*H ?3` Ͽ6?*?T?"?)u*#dJ@ u*x s;Iu*CxN,t>xR#EHPHRa=i`I`)%4=%=F@-Y5:5>9ʹQCEʹY9>I I8ٮ QtI  UC9$: :)8 9)I tIi E :):I9I9*Gi2GiFFrFbFEE)u;Iu9 qqiqIqy}F}iy 2@<:@w: ߹?* ~(AYt.J@t. CY@yt.%2t.v>t.H} gs?[`п ?@D?༉?`?)u.J@ u.)r;Iu.CxBo>xBE)Ga 1Ma 1M a 5Ma 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuMu>qqQuCEq;>I! I%8ٮ!! Q-tI ! U-C9!%: %:)%!8 U9)1I1 ]tIi1 ]E1 5;)5;I59iIi9iODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi !2@%<:@-w: Yi|2?* dZ(AYt*)J@t*45Y@yt* "t*G|>t*H LH?kϿ>?[?7???)u*)J@ u* -r;Iu*CxNo>xRJEi\I^C)vGF@-Y-a;5>11Q5CE1=Z=>IA IM8ٮAA QMtI A UMC9AE: E:)E8(8 U9)Q ]9IQ ]tIiQ ]EQ U:)U]:IU9iIi9i&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 194.454557 arcdeg .q'u'u*Gq2G}@FyFyrFbFEE);I9 iI#@i@ 2@<:@w: 1$uRHorizontalControl.headingCmd 2.354035 rad @* /4(A@ Yt*rJ@t*}AY@yt*c9t*Ky>t*Ho?uoFп` 9???L?@ ?)u*rJ@ u*r;Iu*CxB`k>xBEGBAAHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGiqya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YʭYL>QCEy: >I  I8ٮ   QtI  UC9  _: :) 08 %9)I %tIi %E O:) :Id 9qIy9y=O%@Contact HDG: 134.876265 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEaEa);I9 iI& @i 2@<:@w: D @* b+(AYt*mJ@t*xyY@yt*r!t*r>t*H?ʩ`;пKi?y#???)u*mJ@ u*8q;Iu*CxNf>xR EihIj“C)5GF@]Yen;e>aaQeCEim)<m>Iq I8ٮqq QtI q UC9quԳ; u;)u68 9)I tIi E ::)N:I9I9*G2GFFrFbFEE)5;I59 iI'@i 2@<:@w: R>a>,@* D(AYt*eJ@t*pVY@yt*j6t*y>t*H ? п`w{A?@҆?D?2 ?)u*eJ@ u*\q;Iu*CxB5g>xB*E)~SGF@=YEVE>AAQMCEIM0M>IQ I]8ٮQQ Q]tI Q U]C9QU: U:)U<8 m9)aIa mtIia mEa eh:)eZ:Ie:9yIy9*G2GFFrFbFEE);I9 iIO@i 2@<:@w: V@* i^(A) IYt.J@t.&}Y@yt.,6t.#0>t.H$`??п@#@?f؆?@?p?)u.J@ u.\q;Iu.CxBHf>xB EH@HBp=iTIT)G %= %=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm߷m>iqQuCEqu%;}>I I8ٮ QtI  UC9鰅F: :)C8 9)I tIi E :):I#9I9*G2GFFrFbFEE);I9 iIS@i 2@<:@w: @* wx(AYt*̾J@t*kY@yt*?t*v>t*Hs@?0U.п`n j? ?@?@Z?)u*̾J@ u*q;Iu*CxR"h>xRE)GF@=YEk;E>AAQMCEIM-M>IQ I}8ٮQQ Q}tI Q U}C9QU; UN;)UJ8 9)I tIi E :)Ԙ:IU,9I9*G2GFFrFbFEE)=;I=9 AAiAIAMع@iII I2@u<:@uw: ߉ij$@* (AYt6J@t6Y@yt640t6o>t6H `!?$Baп `?z??D!?)u6J@ u64p;Iu4xNHf>xR EitIt)SGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1U@a U a 5U@a U a 9U@a U a -U@a U ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@eYm8>ʑʑQCEʑ͝;>I I8ٮ QtI  UC9鰥; ;)[R8 9)I tIi E 1:):I59I9*G2GFFrF!bF!E!E))];I]9 YYiaIaex@i 2@<:@w: P*@* W(A Yt*J@t*Y@yt*=;t*]}>t*H? #gп`P`4?`g?X??)u*J@ u*q;Iu*CxN"h>xREGR@AHRAA)dGi%xA%xAF@-Y595>11Q5CE9=F:E>IA IM8ٮAA QMtI A UMC9AE:: E:)E{X8 9)QIQ tIiQ EQ U<)U7t.H Z`3?w"@ Eп` ,?`??~?)u.kJ@ u.p;Iu.CxRi>xREi\I^C)F@-Y-d:5>11Q5CE1=U=>IA IM8ٮAA QMtI A UMC9AA Eٮ:)E__8 U9)QIQ ]tIiQ ]EQ Uc:)Ub:IUE9iIi9i&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 194.728229 arcdeg .q'e'e*Ga2GiFiFirFqbFqEqEy);I9 iIw@i 2@<:@w: p>7@* 7(AYtrK@trY@ytr&tr\u>trH`q?@rп?`؃?"m??)urK@ ur q;IurCxzk>xzE)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y7H;>QCE;>I  I8ٮ   QtI  UC9  .< d<) f8 9)I tIi E :):I!O9I9=Ou@Contact HDG: 134.876265 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iI\@i 2@<:@w: !q=@* (A) I4t*H `? gпD &Z?`5?`& ??)u*J@ u*Lq;Iu*CxNh^>xREHRp=HPi`I`)vG%=!F@-Y5p5>99Q=CE9EE>II IM8ٮII QUtI I UUC9IM: M:)M,m8 ]9)YIY mtIiY uEY ]Sd;)];I]V9I9*G2GFFrFbFEE);I9 iIހ@i 2@<:@w: ĶD@* (AYt.oK@t.zY@yt.}1t.zw>t.H *?@0[`?|п? 5?@?u?)u.oK@ u. \q;Iu.CxB%U>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )edGF@Y>QCE=I;>I I 8ٮ Q tI  UC9(: ;)xt8 %9)I %tIi -E :)j:I_99IA9A*GY2GYFaFarFibFiEqEq);I9 iI @i 2@<:@w: iPJ@* s-(Axni>xnEiI)ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QCE>I I8ٮ QtI  U%C9_: :)i{8 -9)!I! -tIi! -E! %B:)%ݖ:I%Xh9yIy9y*G2GFFrFbFEE);I9 iI@@i 2@<:@ w: 1Q@* hyG(A xv>x GEG%AAH%@A) Gi%yA%wAa 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a u a 5u@a u a 9u@a u a -u@a  a )a ) iiɄiimMb@Mb@Mb@YmCIiiiiiɅiii i)iF@Yʩ>ʱʱQCEʱ͹>I I8ٮ QtI  UC9: :)8 9)I tIi E :):Ihq9 I 9 *G92G9FAFAFAFEWCrFIbFIEIEZ); *M8*MI9 i IM M@QiQQ Q2@]<:@]w: qDW@* Xa(AYt.<K@t.GY@yt.#t.q>t.HK Z+?` {пU p=?`u???)u.<K@ u.q;Iu.Cxr*[>xrEiI)MXGF@YʝT ;>ʡʡQCEʡͭ>>I I8ٮ QtI  UC9: :)8 9)I tIi  E ;);Iy9I9*GQ2GQFQFQFYFYrFYbFYEaEa); 9I9  ڳiI鑸iaa i2@m<:@uw:a> j^@* 3{(AYt*J@t*Y@yt*nt*=u>t*H@c,?@=Ϫ`kп5?్?\??)u*J@ u* r;Iu*CxBh>xBE)MvGF@]Ye';e>aaQeCEim*-m>Iq I}8ٮqq Q}tI q U}C9qu: u):)u8 9)I tIi E :)Ԙ:Ir9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEE==)=; 9=Dw9=DwI=9 EAiAIEǸIIiII I2@u<:@uw: ߉;e@* (A)I;Yt*K@t*Y@yt*i5t**m|>t*H "?,Ϫ@tп??@;?@?)u*K@ u*Kq;Iu*Cx>e>x>P EH@HBa=i^=I\)dG!!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@Yќ>QCE:>I I8ٮ QtI  UC9: B:)8 -9)!I! -tIi! -E! %:)%A:I%d9YIY9Y&mMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.898219 arcdeg .q' ' *G2GFFrFbFEE)U;IU9 UUiQI]YYiaa a2@m<:@w: ߙ)/k@* (AYt*J@t*Y@yt*I-t*Z~>t*H`|?x Pп C?n?lw?#?)u*J@ u*Չq;Iu(xBh>xFE) GF@Y%:%>!)Q-CE)-Ļ->I1 I=8ٮ11 Q=tI 1 UEC915: 5r:)5c8 M9)AIA MtIiA MEA EF:)E:IEM9YIa9a=O}@Contact HDG: 134.876265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE))E;IE9 AAiAIAi 2@<:@w: ߩir@* (AYt5VJ@t5aY@yt5]t5^v>t5H X?ӪLпA ?@\?@??)u5VJ@ u5Xtq;Iu5Cxeeq>xenEif=I)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Ys;>QCE>I) I58ٮ)) Q5tI ) U5C9)-: -ݱ:)-d8 =9)9I9 EtIi9 EE9 = :)=;I=-9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: {@x@* c(A YtBJ@tBY@ytB.(tB5^w>tBH S ?@`^пV?@?@??)uBJ@ uB#q;Iu@xR`>xR. EGPHT))i-wA)F@=YE>E?AIQMCEIMU;U?IQ I}8ٮQQ Q}tI Q UC9QU; Ub;)U?8 9)I tIi E [:),:I~9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: n~@* +(AYt6J@t6WY@yt6&t6~>t6H `?`п`L?`؃?no??)u6J@ u6q;Iu6CxNk>xNEi\I\))F@=Y=:=>AAQECEAM.M>IQ Iu8ٮQQ Q}tI Q U}C9QU; U:)U$8 9)I tIi E ::)I9I9*G2GFFrFbFEE)-;I59 11i1I199i99 A2@E<:@Ew: yV>V>!U@* ](AYt*J@t*qY@yt*"t*;|>t*H '?@RӪ`4п`}?T? 1??)u*J@ u*bp;Iu*Cx>"h>x>E {@Y|@B8****** ping requested ******FNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-YU U>YYQ]DEYen;m>I I8ٮ QtI  UC9鰕; ;)8 9)I tIi E :):Ig9I9*G2GFFrFbFE!E!)u;Iu9 yyiyIyi 2@<:@w: 1S}@* 00(A) IYt6J@t6AY@yt6E t6S|>t6H (^?п`` ?S?C>??)u6J@ u6=p;Iu6Cx>"h>x@HBa=HBp=iZ=IX)SG4=F@=YE9E>AAQMDEIMM>IQ I]8ٮQQ Q]tI Q U]C9QU+: U:)U8 m9)aIa mtIia mEa et:)e˚:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !}k@* R&J(AYtFJ@tF;Y@ytFi$tF\?v>tFH`^?륩@"Ͽ`J?$?`{?@?)uFJ@ uFp;IuFCxji>xjNE)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ>ʹʹQDEʹg>I I8ٮ QtI  UC9į: :)ǧ8 9)I tIi E ɏ:):I9I9*G2GF F rF bFEE)-;I-9 ))i)I)11i11 92@=<:@=w: Qiyy#@* Kc(AYt*NJ@t*Y9Y@yt*e$t*7w>t*HlY?P̩`Ͽ@`"??Τ?Y?)u*NJ@ u*qq;Iu(xBU_>xBS EiVf=IV“C)=SGF@uYu/6u>yyQ}DEyͅS>I I8ٮ QtI  UC9鰍ɪ: :)ͧ8 9)I tIi E h:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: @* }(A Yt*3eJ@t*>Y@yt*<t* >t*H?@5Ͽ@?`U?@??)u*3eJ@ u*Cq;Iu*CxBMl>xBLEGB?AH@)~GixAxAF@=YE}:E>AIQMDEIMĻU>IQ I8ٮQQ QtI Q UC9QUҌ< U<)Uԧ8 9)I tIi E :)c:I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' Ne@Vehicle HDG: 194.332296 arcdeg .q'e'e*Gi2GiFiFirFqbFqEyEy);I9 iIi 2@<:@w: ߹@* =(AYt*bJ@t*Y@yt*1t*>t*H ? sϿ?@=??@?)u*bJ@ u*Er;Iu*CxR}v>xREi`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅs>ʉʉQDEʉ͕|>I I8ٮ QtI  UC9鰝S: :)ۧ8 9)I tIi E :)5:I)99I99A=O@Contact HDG: 134.876265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 9>l>/˫@* `w(AYt*X*J@t*cX@yt*.%t*x>t*HX?@' =Ͽ]$??@?q?)u*X*J@ u*-s;Iu*CxBMl>xBLE)~dGF@=YE:E>AAQMDEIMM>IQ I]8ٮQQ Q]tI Q UeC9QU>: U:)Ue8 m9)aIa mtIia mEa e:)e:Ie~9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: @* Q(A)I4t:Hh?(mZϿa9?@b?]?`?)u:9J@ u:Mt;Iu:CxbHf>xb EHhHliI )G%==F@Y2;>QDE;>I I8ٮ QtI  U C9S: x:)8 9) I  tIi  E  :) ϸ:I t9!I)9)*G92G9F9F9rFAbFAEIEI);I9 iI!!i!! )2@-<:@5w: Aܸ@* o,(AYt.'J@t.X@yt.) t.D>t.H7໌?/@7Ͽ 7? p?ѫ?@?)u.'J@ u. u;Iu.CxRHf>xP)%SGM6only read 3 of 5 data itemsUVFailed to parse: :BI,-32768,-32768,-3768,V F@]Ye e>aaQmDEim9m>Iq I}8ٮqq Q}tI q U}C9quu: u:)u@8 9)I tIi E -:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i[@* (AYt*I@t*X@yt*/t*;M>t*H`?˩ &ο ??`??)u*I@ u*"rv;Iu*CxBo>xBEiLIP)~GF@EYEE>IIQMDEIUU>IQ I]8ٮQQ QetI Q UeC9QUF: U>:)U8 m9)i m9Ii utIii uEi m:)m:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: @* (A Yt*fI@t*qX@yt*)t* z>t*H9+?@ۨοDq?`>?$ ? ?)u*fI@ u*Sx;Iu*CxZ'n>xZpEG\H\ {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGiwAwAa 15a 15 a 55a 55 a 95a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]YeQ:e>iiQmDEq}E:}>I I8ٮ QtI  UC9鰅"; ;)8 9)I tIi E :)z:Ia 9I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@5w: A@* 2(AYt*:I@t*EqX@yt*9t*Bt>t*H8??f?vοj.`?`$g?`F? ,?)u*:I@ u*y;Iu*CxBl>xBEiXIX)-GF@Yʍ;>ʉʉQDEʑ͕ۻ>I I8ٮ M8 QtI  UC9鰝ݱ: :)8 9)I tIi E :):I?9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )R>]>~@* |L(AYt*xI@t*wX@yt*1t*{>t*H]`r?z`ο@K ؕ?>;?@)? ?)u*xI@ u*=.z;Iu(xBl>x@)SGF@}Y}`>ʁʁQDEʁ͍x:>I I8ٮ QtI  UC9鰕I; ;) 8 9)I tIi E h:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 193.791195 arcdeg .q'-'-*G)2G)F1F1rF9bF9E9EA)U;IU9 QYiYIYYaiaa a2@m<:@mw: y*@* sf(A) I;Yt*׍I@t*:X@yt*)t*>t*H`Rc?;% ο`?`=?@R??)u*׍I@ u*z;Iu*CxBl>x@HBp=HFa=iTIVC)dG 4= 4=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm,:m>qqQuDEq}}>I I8ٮ QtI  UC9鰅:: :)8 9)I tIi E # <)!t*H``"?@@#Ϳ %? J?)??)u*cI@ u*{;Iu*CxBj>xBqE)~GF@=YEE>IIQMDEIMӻU>IQ I]8ٮQQ QetI Q UeC9QUS: U:)U8 m9)iIi mtIii uEi m:)m:Im+9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Yi5=@* ,+(AYt*MI@t*W@yt*VO't*u>t*H"Z?)kͿ9??`j??)u*MI@ u* |;Iu*CxNmd>xRu Ei\I\)GF@-Y-I95>11Q5DE1=Z=>IA IM8ٮAA QMtI A UMC9AE:: E:)Eg 8 U9)QIQ ]tIiQ ]EQ U:)U:IU 49iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: [g@* h(A Yt*)I@t*W@yt*"e't*D|>t*H 1&?@-cJͿw1?`?@1??)u*)I@ u*r|;Iu*CxBp>xB%EGB@AH@)~GixAxAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye[Te>aiQmDEimbm>Iq I}8ٮqq Q}tI q UC9qu: u:)uh'8 9)I tIi E }:):I<9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ;O@* (AYt*I@t*W@yt*,/t*)>t*HV* Tj?ͿX%@g? }?G?=?)u*I@ u*C(|;Iu*CxBq>xBEiLIP)~aiQmDEimֵu>Iq I}8ٮqq Q}tI q UC9qu: u:)uM.8 9)I tIi E Ր:):I4E9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9>e>ly@* (AYt*H@t*jW@yt*f>t*0>t*H@;2 o?`=x̿38S?̇??`?)u*H@ u*@{;Iu*CxRi>xRE)GF@=YESE>AIQMDEIM1M>IQ I}8ٮQQ Q}tI Q UC9QUд; Ux;)U 58 9)I tIi E :):IM9I9*G2GFFrFbFEE);I59 19i9I99AiAA A2@M<:@Mw: y`A* (A)4t*H7?@%̿XHQ?Z? ?`?)u*H@ u* |;Iu*CxRc>xR, EHPHTi`I`)u{Gu%=u%=F@Yʅ=;>ʉʉQDEʉ͕̻>I I8ٮ QtI  UC9鰝: į:)+<8 9)I tIi E  :) :IRV9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )rA* Ts(AYt*xH@t*%W@yt*$t*1}>t*H9g?@q|˿@B8? d? S?s?)u*xH@ u*{;Iu*CxBj>xBqE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʕWN:>ʙʙQDEʙͥc>I I8ٮ QtI  UC9鰭R; ;)6D8 9)I tIi E :):IV`9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%iN@Vehicle HDG: 192.610337 arcdeg .q''*G2GFFrFbFEE)=;I=9 99i9Iaiiiii q2@}<:@w: ֵ A* O5(AYt*%H@t**V@yt*4t*V>t*H B?N˿?? B?@g ??)u*%H@ u*z;Iu*CxBj>x@){BvapI{@i{B>{@{@{B@A{@|B(fB9|B{H#=?f1ni`I`)%dGF@=YE&CE?AAQMDEIM2M?IQ I]8ٮQQ Q]tI Q UeC9QUG: U:)UI8 m9)aIa mtIia mEa e::)eN:Ie)g9I9=O@Contact HDG: 134.876265 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzE(fBE,@@Y&\7GE{H#=?f1nEvapEEUtEװQB@ kH7~&EDG~_ G`?@ ɿE@=DHdg To Contact =139.510179 degreesZEBbE+:E7o$?BEKo$?JEk REl jE34rED')u;I}9 yyiyIyi 2@M<:@Mw: Y$Dacoustic_contact_range 57.540001 m$hTrackAcousticContact.heading_to_contact 2.434912 rad$LDUSBL_Hydroid.xAngle -53.800000 arcdegNA* )O(A Yt*RH@t*]V@yt*0t*:}>t*H*E@?@]`n%˿@M ?`?T?S?)u*RH@ u*Doz;Iu*CxBp>xBEGFAAHD)iwA wAa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe5:m>iiQmDEiuKu>Iy I8ٮyy QtI y UC9y}: }:)}P8 9)I tIi E ɏ:):Io9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: &A* i(AYt*GG@t*R_V@yt*5t* {>t*HN`?#D~mʿ<[ମ?`ع?`? ?)u*GG@ u*y;Iu*CxBd>xB EiTIT)F@=YE!dE>AIQMDEIMkM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)UW8 m9)aIa mtIia mEa e}:)eo:Ie.x9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: R>a>v A* ߂(AYt*yG@t*GV@yt*%t*>t*HQ+?@o >ʿ@T@8?˿?`W?q?)u*yG@ u* y;Iu*CxBo>xBJE)~GF@ Y 4; >QDEo>I! I-8ٮ!! Q-tI ! U-C9!%: %>:)%`^8 59)1I1 =tIi1 =E1 5J:)5:I59III9I*GY2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩ<&A* (A);I Yt*TG@t*V@yt*M t*|w>t*H@X 8?tɿ`\`3??`??)u*TG@ u*Wxx;Iu*CxZe>xZP EH^a=H\ilIn“C)5SG99a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʝJ:>ʡʡQDEʡͭ$>I I8ٮ QtI  UC9鰵x: :)e8 9)I tIi E :)ȗ:Is9I9*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9]-A* (AYt*G@t* U@yt*^0t*x>t*H]@?W@Mɿ n@Mp? ??@"?)u*G@ u*zx;Iu*CxBb>xBQ E)GF@=YEH E>AIQMDEIMS U>IQ I}8ٮQQ Q}tI Q UC9QU=; U;)UFl8 9)I tIi E %:)Z:I͑9I9*G2GFFrFbFEE);I9 !i!I!99i99 92@E<:@Ew: yi3A* 2q(AYt*F@t*U@yt*u/t* %|>t*H a? *( ȿ`k? ?@2?s?)u*F@ u*4x;Iu*Cx6g>x6sEi@IBC)nGa 1a 1 a 5a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Yʽ 9>QDE3>I I8ٮ QtI  UC9: x:)qs8 9)I tIi E :)I9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1MU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFYEaEa);I9 iIi 2@<:@w: T:A* J(A Yt.F@t.FU@yt.&&t.d>t.Hj?@@EGȿ`nB?@҄??`?)u.F@ u.w;Iu.CxB`k>xBEGDHFAA) dGixAF@=YE :E>AIQMDEIM qM>IQ I]8ٮQQ Q]tI Q UeC9QU: U:)Uz8 m9)aIa mtIia mEa eO:)eA:Ie9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'Nm@Vehicle HDG: 190.934387 arcdeg .q'm'm*Gi2Gu@FFrFbFEE);I9 iI @i@ 2@<:@w: $]RHorizontalControl.headingCmd 2.434912 rad.@A* %(AYt*؄F@t*1U@yt*qYt*g>t*H`l*?6ȿ oY?@? 2?`?)u*؄F@ u*w;Iu*CxRm>xR'Ei\Ib“C)F@-Y5:5>11Q5DE1=N=>IA IM8ٮAA QMtI A UMC9AE: E:)E뀨8 ]9)QIQ ]tIiQ ]EQ Ut:)U:IU29iIi9i=O@Contact HDG: 139.510179 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GYFYFYrFabFaEaEa);I9 iIT@i 2@<:@Uw: l>'GA* (AYt*FF@t*T@yt*E)t*+w>t*Hr@iD?@?ǿ`5`Y?/4??d?)u*FF@ u*w;Iu(xBh>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y>QDE>>I I8ٮ QtI  UC9\: :)Lj8 ]9) I  ]tIi  ]E  0:) +:I 9iIi9q*G2GFFrFbFEE);I9 iI ".@i 2@<:@w: QtQMA* H7(A) I Yt*H F@t*ST@yt*/t*}y>t*H.x?(`+ǿ `?`?@? ?)u*H F@ u*%x;Iu*CxBe>xBP EHBp=HDi\I^C)<F@]YeBe>aaQmDEimI-m>Iq I}8ٮqq Q}tI q UC9quu: u5:)uЎ8 9)I tIi E :):IZ9I9*G2GFFrFbFEE);I9 iIF@i 2@<:@w: 9TA* Q(AYt:E@t:T@yt: t:~y>t:H8z|?}"ǿ@ޡ?Oڃ?`?@ ?)u:E@ u:Cx;Iu:CxFZe>xF E)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽ";>QDEkP>I I8ٮ QtI  UD9: c:)镨8 9)I tIi E [:)o:I9I9*G 2G FFrFbFEE)5;I59 11i1I1=@9i99 A2@E<:@Mw: Yi"dZA* hk(AYt*E@t*cT@yt*Ot*t>t*H-?@ཉƿf@} ?I?@O??)u*E@ u*@w;Iu(xBxp>xBEiPIP)GF@=YE::E>AAQMDEIM`M>IQ I]8ٮQQ Q]tI Q U]D9QUh: U:)U8 m9)aIa mtIia mEa e :)e:IeJ9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: [KaA* m(A Yt* E@t*VT@yt*4't* s>t*H`ˀj?@Xnƿ`N?`N?@??)u* E@ u*w;Iu*CxZt>xZlEG^@AH\)5+Gi19F@EYMM>IIQMDEIUF U>IY Ie8ٮYY QetI Y UeD9Y]: ]:)]q8 u9)iIi utIii uEi mO:)m:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: uugA* H(AYt*E@t*TT@yt*=O t*om>t*H 0?GPjƿ7? ?u?#?)u*E@ u*(w;Iu*CxR`k>xREi\I`)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>QDEA>I I8ٮ QtI  UD9: J:)8 9)I tIi E p:):I9I9*G2GFFrFbFE!E!)5;I59 99i9I9AAiAA A2@M<:@Mw: a]>mA* B%(AYt*2cE@t*=T@yt*Fe-t*o>t*HІa?tAſ``|?@???)u*2cE@ u*v;Iu*CxBe>xBP E)|F@}Y}j>ʁʁQDEʁ͍w+>I I8ٮ QtI  UD9鰕: :)X8 9)I tIi E :)A:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !wtA* &(A)4t*Hঃ y?K[.ƿ ??ރ?L{?Y#?)u*E@ u*v;Iu(xB:m>xBEHFa=HDiPIR“C)%= =F@=YE;E>AIQMDEIM;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia mEa e::)eȗ:IeV9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 189.980387 arcdeg .q'e'e*Ga2GaFaFarFibFiEqEq);I9 iIi 2@<:@w: zA* '(AYt. E@t.6T@yt.~c t.o>t.H@E?[h/ƿ n?`a?DZ?2 ?)u. E@ u.n v;Iu,xBsj>xB(E)SGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm+;m>iqQuDEquk28u>Iy I8ٮyy QtI y UD9y}: }J:)}8 9)I tIi E ):):I9I9=Om@Contact HDG: 139.510179 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GqFqFqrFybFyEyE);I9 iIi 2@<:@w: iA* (AYt*rE@t*T@yt*%t*[s>t*H 1?@@|ƿ ? Y?@!?V?)u*rE@ u*u;Iu*CxBc>xB, EiPIP)~GF@=YE4sE>AAQMDEIM9_M>IQ I]8ٮQQ Q]tI Q UeD9QU: U):)UŨ8 m9)a m9Ia mtIia mEa e:)e:Ie[9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: fŇA* $ (A( ,YtZ+E@tZ6^T@ytZl-tZ¢r>tZH` -?@ ݟT~ƿ y?R?@v ??)uZ+E@ uZYu;IuXxb:m>xbEGf?AHf@A {dY|dj8****** ping requested ******~Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAa 1-a 1- a 5-a 5- a 9-a 9- a --a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@UY]}]>aaQeEEiuA <u>Iy I8ٮyy QtI y UD9y}4: };)}qͨ8 9)I tIi E :):I 91I191*GA2GIFFrFbFEE)M;IM9 IIiIIIQQiQQ Y2@]<:@ew: ߙA* l:(AYt*ȒE@t*?T@yt*ٴt* @y>t*Hӂ? P Bƿ8 ??@&?/?)u*ȒE@ u*t;Iu*CxBo>xBEi\I\)GF@]Yen;e>aaQmEEimm>Iq I}8ٮqq Q}tI q U}D9qu: uW:)uӨ8 9)I tIi E Ր:) :Iv9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: e>֔A* HT(AYt*E@t*bT@yt*t*y>t*H `%?:)ƿ`?`-?@??)u*E@ u*et;Iu(xZl>xZE)5vGa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʙʙQEEʙͥa;>I I8ٮ QtI  UD9鰭: :)ڨ8 9)I tIi E S:):I9I9*G2GFFrFbFEE);I 9  i I i 2@<:@%w: 1A* "n(A);I Yt*E@t*ԖT@yt*(t*n}>t*H {v? 8`ƿod?`Ń?`Z?@?)u*E@ u*L!t;Iu*CxBj>xBqEHF4=HDiTIZC)=GAE%=F@]Yexe>aaQmEEimm<m>Iq I}8ٮqq Q}tI q UD9qu: u:)u8 9)I tIi E }:):I}"9I9*G2GFFrFbFEE);I59 19i9I99AiAA A2@M<:@Mw: aA* T(AYt6E@t6}T@yt6 t6~>t6H@`}K?hƿky?]?@? ?)u6E@ u6cs;Iu6CxVi>xVE)ƄGa 1-a 15 a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -=@a = 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU:U>YYQ]EEY]de>Ia Im8ٮaa QmtI a UuD9ae: ep:)e8 }9)yIy }tIiy Ey }[:)}N:I}+9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: iGA* ڡ(AYt*F@t*T@yt*h(t*~>t*H`xb?ۺO!ǿ } 4?t?@)}?@?)u*F@ u*s;Iu(xNg>xRsEi`Ib“C)GF@-Y5o5>11Q=EE9= <E>IA IM8ٮAA QMtI A UUD9AEF: El:)E;8 ]9)QIQ ]tIiQ eEQ U:)U7:IUb39iIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 190.411331 arcdeg .q']']*GY2GYFYFYrFabFaEiEi);I9 iIi 2@<:@w: ;A* J(A Yt*F@t*T@yt*Et*[>t*Hgv@j? ?Tǿz=??`?@?)u*F@ u*s;Iu*CxB%U>xBEGFAAHD)Gi  xAF@Y:>!Q%EE!%;%>I) I58ٮ)) Q5tI ) U5D9)-.: -:)-8 E9)9I9 EtIi9 EE9 =:)=:I=;9QIQ9Y=O@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)e;Ie9 aaiaIaiiiii q2@<:@w: ߩ#A* m(AYt*!F@t*T@yt*t*s,>t*H@v@=?[ǿp? ??@T?)u*!F@ u*vs;Iu*CxR]>xREi\IbC)%ʉʉQEEʉ͕[:>I I8ٮ QtI  UD9鰝\: :)38 9)I tIi E :)l:ID9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !Y>%NA* j(AYt*t*Hs@ ?`%ǿ@uE_?Cq?#?`}?)u*xRw E)%GF@]Ye[e>aaQeEEime;m>Iq I}8ٮq M}8q Q}tI q U}D9qu: u:)u8 9)I tIi E :):I M9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 8A* Q (A)(I(YtnUF@tnU@ytntn}>tnHFqqU?ే@ǿx9 ?? ]??)unUF@ uns;Iulxvh>xvEHza=Hxi I )m+Gqqa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y#>QEEWl;>I I8ٮ QtI  UD9u: :), 8 9)I tIi E Ր:):IU9I9*G!2G!F)F)rF1bF1E1E1)M;IM9 IIiIIIQQiQQ Y2@]<:@ew: q `A*  #(AYt2sF@t2 U@yt2t2{>t2Hun?`tIǿy}?`?a!?` ?)u2sF@ u2ܱs;Iu0xR:m>xRE {TY|TZ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MSGF@uY}19>ʁʁQEEʉ͕;>I I8ٮ QtI  UD9; D;)8 9)I tIi E c:):I_9I9*G!2G!F)F)rFQbFQEQEQ)m;Im9i iI  i   2@e<:@mw: ^A* =(AYt*LF@t*W7U@yt*1t*jP>t*H>lз?y>`E)ȿSa?4?@;?`?)u*LF@ u*Լs;Iu(xVt>xVlEipIp)MGF@Yʥ^>ʡʡQEEʡͭAo;>I I8ٮ QtI  UD9鰵t: l:)8 9)I tIi E :)Z:If9I9*G2GF1F1rF9bF9EAEA)u;Iu9 yyiyIyi 2@<:@w: +sA* V(A Yt.F@t.9U@yt.3qt.Ђ>t.H"lm?t.ȿc`?΂?n,?`?)u.F@ u.=s;Iu.Cx>q>x>EGB@AH@)]GiYaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>QEE!%N9%>I) I58ٮ)) QutI ) UuD9)-w< -<)-8 9)yIy tIiy Ey }_:)}:I}o9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 9PA* p(AYt*F@t*yU@yt*+t*z>t*H`"fo3?h`qȿs??`? ?)u*F@ u*s;Iu*Cx>o>x>Ei\I\)%GF@Yʅ5f:>ʉʉQEEʉ͕#<>I I8ٮ QtI  UD9鰝: :)&8 9)I tIi E h:)ض:Iw9I9& MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.110920 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@-<:@-w: A%>%p>PA* j(AYtrF@trnU@ytr&tr^y>trHg+?迢@hȿYv@@?ۄ?@? ?)urF@ urs;Iupx5q>x5E)҄Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʝUG>ʡʡQEEʡͭr>I I8ٮ QtI  UD9鰵\: :).8 9)I tIi E ;)$;I9I9=O@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@%<:@%w: 9ƯA* /o(A)IYt*&F@t*1U@yt*'t*=#>t*Ha? @ɿ 7_?@? ?d?)u*&F@ u*~t;Iu(x>q>x<H@H@iLIP)~{G4=F@=Y=E>AAQEEEAM6+<M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U348 e9)aIa mtIia mEa ed:)ex:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: YA* E(AYt*0F@t*;U@yt*t*>t*H a t?@@ȿP=?r?cr??)u*0F@ u*7ht;Iu(xB0a>xBw E)~vGF@}Yʅ);>ʁʁQEEʁ͍>I I8ٮ QtI  UD9鰕: :);;8 9)I tIi E [:)o:I79I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: iqyA*  (AYt.iG@t.tU@yt.Rk+t.|{>t.HY_ ? mgy0ɿj~?Pm?@k? ?)u.iG@ u.et;Iu,xBl>xBEiLIL)~dGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye!Ve>aaQeEEamZ|;m>Iq I}8ٮqq Q}tI q U}D9qu: u:)uB8 9)I tIi E :):I9I9*G2GFFrF bF E E )E;IE9 AIiIIIIQiQq y2@}<:@}w: IA* (A Yt.OG@t.U@yt.1t.u>t.H YB? +ɿ@Go? 3?m>xB'EG@H@)Gi%xA%wAF@=YEwE>AAQEEEAM<M>IQ I]8ٮQQ Q]tI Q U]D9QU : U:)UH8 m9)aIa mtIia mEa e:)e|:Ie9I9*G2GFFrFbFEE);I9 iIi 2@ <:@5w: A\B*  (AYt2]PG@t2hU@yt2[t2H>t2HY*?ɿ@[IR?y?/??)u2]PG@ u2t;Iu2CxRf>xR Ei`I`)=GF@}Yʅ'|;>ʁʁQEEʉ͍79>I I8ٮ QtI  UD9鰕o; ;)O8 9)I tIi E }:),:Iת9I9*G2GF1F9rF9bFAEAEA)};I}9 yyiyIyi 2@<:@w: %>%x>B* (%(AYt.uG@t."V@yt.XM t.݃>t.HYUj? ɿI`? ?M?k?)u.uG@ u.}t;Iu.Cx>'n>x>pE {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QEE;>I IM8ٮ QUtI  UUD9; :)-X8 e9)YIY tIiY EY ]~`<)]ct*HFU~?M|ɿZ?@?n~??)u*tG@ u*t;Iu*CxBp>xB%EHB4=HDi\I\)mvGqqF@YʽH?QEEɖ?I I8ٮ QtI  UD9̳; ;)]8 9)I  tIi  E }:)Ԙ:I99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'MN@Vehicle HDG: 191.701676 arcdeg .q''*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: aB* jiY(AYt*t*HO`?{:zmʿ d?vDŽ?w??)u*i>xBE) GF@Y%:%>!!Q-EE)-<->I1 I=8ٮ11 Q=tI 1 U=D9154: 5:)5dd8 M9)AIA MtIiA MEA E:)E:IE9YIa9a=Om@Contact HDG: 139.510179 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEyE);I9 iIi 2@<:@w: i!)8B* Cs(AYt*G@t*xV@yt*#t*-y>t*HpL #?ZΤ`>ʿ \l?r?@?B?)u*G@ u*t;Iu*CxBp>xB%EiR=IP)SGa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmw9m>iiQmEEiu^v;u>I I8ٮ QtI  UD9鰕: :)|k8 9)I tIi E h:)|:I9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ߙ#B* 3(A Yt*G@t*V@yt*4t*?>t*HI`N?uʿ@G ? ??@?)u*G@ u*t;Iu*CxBsj>xB(EG@HD)~GiwAF@Y> Q EE Yk;>I! I58ٮ!! Q5tI ! U=D9!%r; %t;)%r8 U9)III ]tIiI eEI Me;)MVk;IM9yI9*G2GaFiFirFqbFqEqEq)-;I-9 11i1I199i99 A2@M<:@Mw: aI)B* (AYt*G@t* V@yt*3't*8>t*H4Hb?5)@ ʿB.? b?? ?)u*G@ u*t;Iu(xBY>xBEiRf=IP)Ga 1ua 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@=Y=:E>AAQEEEIM;M>I I8ٮ QtI  UD9鰕F: į:)y8 9)I tIi E 9=),:=I9I9*Gq2GqFqFqrFybFyEyE);I9 iI%>e>iiii i2@u<:@uw: ߉20B* (AYt*~H@t*V@yt*۵t*z>t*H@F@%?R4˿S@?փ?T? ?)u*~H@ u*9%u;Iu*CxBa>xB E)z҄GF@}Y}:>ʁʁQEEʁ͍X;>I I8ٮ QtI  UD9鰕S: :)+8 9)I tIi E :)o:IS9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: \6B* (A)4t*H>?`ߤҖ˿ x[?/@? ?`?)u*YJH@ u*t;Iu*CxBk>xBEHBa=H@iPIR“C)~vG%=4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y1պ>!!Q%EE!-R<->I) IU8ٮ)) Q]tI ) U]D9)-5; -;)-g8 e9)aIa etIia mEa e}:)aIeW9I9*G2GFFrFbFEE)%;I%9 !!i!I!))i)1 Q2@U<:@Uw: imt2H >{?>꥿@#˿@d@I?l"?h??)u2MH@ u2*u;Iu2CxRj>xRqE)%GF@-Y5"!5>99Q=EE9E :E>II IM8ٮII QUtI I UUD9IM: M:)Mˍ8 ]9)YIY etIiY eEY ](:)]:I]#9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI1i11 92@=<:@Ew: qi%@A)nCB* e (AYt*/[H@t*:W@yt*2t*>t*H@!=a'?樂˿Z1 ?@_?UI??)u*/[H@ u** u;Iu*CxBV>xBEiLINC)~vGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yem:e>aaQeEEam;m>Iq I}8ٮqq Q}tI q U}D9quu: u:)uȔ8 9)I tIi E :) :I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.506778 arcdeg .q' ' *G 2G FFrFbFEE);I9 iIi 2@<:@w: IB* ?( (A Yt*zH@t*'W@yt*$#t*{>t*H`9k?c@A˿EV? d?`]%?] ?)u*zH@ u*u;Iu*CxBt>xBlEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ujGiyAF@Yʵ;>ʹʹQEEʹ;>I I8ٮ QtI  UD9>; ;)ᛩ8 9) 9I tIi E ;) ;I9 I9=O}@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrF)bF)E)E1)E;IE9 AiiiIiqqiyy y2@<:@w: ߹ PB* eB (AYt*H@t*(RW@yt*[ t*&r>t*H#5@m?Υ@H̿ JR@??? ?)u*H@ u*t;Iu*CxBT>xBEi\I\)ƄGF@%Y-A:->)1Q5EE15;5>I9 IE8ٮ99 QEtI 9 UMD99=: =l:)=t8 U9)III UtIiI UEI M:)M˵:IM9aIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: %V>%l>VB* <[ (AYt*(H@t*3eW@yt*5t*1y>t*H2@? m̿ A@u??? ?)u*(H@ u*t;Iu*CxNl>xRE)5ʡʡQEEʡͥ5;>I I8ٮ QtI  UD9鰭: :)8 9)I tIi E S:):Iw9I9*G2GFFrFbFEE)%;I-9 11i1I999iAA A2@M<:@Mw: Y\B* Bu (A);IYt*jH@t*ujW@yt*1t*>t*H@[2`Q?tRw̿#@=#? ;?e?` ?)u*jH@ u*t;Iu*CxBk>xBEH@H@iTIT)MSGU4=U%=F@Yʝ[:>ʡʡQEEʡͭP:>I I8ٮ QtI  UD9鰵u: W:)~8 9)I tIi E :):I!9I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Mw: aGcB* 몏 (AYt*6H@t*AcW@yt*o (t*W>t*H 53G?``Ri̿7 ?5???)u*6H@ u*pt;Iu*CxRc>xR, E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y:>QEE>I I 8ٮ Q tI  U D9q: :)8 9)I tIi E :)Ԙ:I*9)I)9)*GA2GAFAFArFIbFIEIEI)e;Ie9 aaiaIiiiiiq q2@}<:@}w: ߉i-?A)iB* M (AYt*~H@t*W@yt*t*2r>t*H@f,@d[? e̿`gJ}? .??@?)u*~H@ u*JAt;Iu*CxBi>xBEiLIR“C)~+GF@Y%:%>))Q-EE)5="<5>I1 I=8ٮ11 QEtI 1 UED9152: 5:)58 M9)III MtIiI UEI M:)M:IM29aIa9a*Gq2GqFqFyrFybFEE);I9 iI!i!! !2@-<:@-w: ApB* _ (A Yt* H@t*W@yt*|6t*x>t*H -*F?`Lp̿>P?0׆? +?@?)u* H@ u*# t;Iu*CxZe>x EG!H!)SGiwAF@Y5h>QEEg>Iy I8ٮyy QtI y UD9y}X < }`<)}ũ8 9)I  tIi 5E <)x~EiI)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QEE>I  I 8ٮ   QtI  UD9  : -:) C̩8 9)I %tIi %E O:):IDD91I191&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 192.995874 arcdeg .q''*G2GF!F!rF!bF)E)E))];Ie9 aaiaIaiiiiq 2@<:@w: ߩ%R>%a>d#}B*  (Axn'n>xnpE)uSGF@Yʹ>QEE>I I8ٮ QtI  UD9; ;)ө8 9)I tIi  E Ր:)o:IL91I999=OM@Contact HDG: 139.510179 arcdeg .'M'MOM4Initialize Wait Component.*Gi2GiFqFqrFqbFyEyEy);I9 iIi 2@<:@w: J B*  (A) I xnj>xrqEHpHrp=iI)uG}R=ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>!!Q%FE!)->I1 IU8ٮ11 Q]tI 1 U]D915; 5;)5!ک8 e9)aIa etIia mEa e-:)ec:IeyU9yIy9y*G2GFFrFbFEE);I9 iiiIqqqiyy y2@<:@w: 5B* * (Axnp>xn%E {pY|pv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y%>!!Q-FE)1U>IY Ie8ٮYY QmtI Y UmD9Y]: ];)]!8 9)I tIi E :):I!^9I9*G2GFFrF!bF!E)E))];I]9 YYiYIYai 2@<:@w:i)) ߁B* 9D (AYt*I@t*%W@yt*#t*~>t*H(?䧿@ *ͿY./?z?@?h?)u*I@ u*r;Iu*Cx^k>x^EiQIQ)GF@Y>;>QFEy;>I I8ٮ QtI  UD9 ; õ;)8 %9)I %tIi %E :),:ITf9QIQ9Y*Gi2GiFiFirFbFEE);I9 iIi 2@<:@w: |FB* Ӄ^ (A Yt.H@t.W@yt. t.π>t.H .`?jا@̿}/OS???@?)u.H@ u.r;Iu.CxBh>xBEGF?AHD)UGiUxAYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y\9>QFE!%)%>I) I58ٮ)) QUtI ) UUD9)-; -;)-8 e9)YIY etIiY eEY ]_:)]:I]n9I9*G2GFFrFbFEE);I9 iIi 2@%<:@%w: QpB* $_x (Axn'n>xrpEiI)SGF@Yʥ>ʡʡQFEʩͭ>I I8ٮ QtI  UD9鰵: f:)o8 9)I tIi E :)9:Iw9I9*G2GFFrFbFEE)5;I59 QQiQIQYYiYa a2@m<:@mw: ߙ%V>%e>xYB* :> (AYtbH@tb$yW@ytb|'tb>tbH0?`>̿`E6`y????)ubH@ ubQ=r;IubCx=k>x=E)ejGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y a >)1Q5FE15=>I9 IE8ٮ99 QEtI 9 UMD99=:: =:)=28 u9)iIi utIii }Ei m(:)m:ImÀ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: IB* H (A)p;I Yt>H@t>sW@yt>n +t>>t>H`\1 d?(T i̿`f23N?@ta?@?p?)u>H@ u>>r;Iu>CxRi>xREHTHVa=i`I`)5ƄG54=1F@}Yʅ2>ʁʁQFEʉ͍jx>I I8ٮ M8 QtI  UD9鰕; ;)'8 9)I tIi E :):I9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 192.882684 arcdeg .q'%'-*G)2G)F)FirFqbFqEyEy);I9 iIi 2@<:@w: QojB* ( (AYt>dH@t>oEW@yt>)t>Ix>t>H~6? &/̿H`C?@=?)? ?)u>dH@ u>r;Iu>CxFh>xFE) ҄GF@Y%D79%>))Q-FE)55>I1 I]8ٮ11 Q]tI 1 UeD915; 5Ե;)5 8 m9)aIa mtIia uEa e}:)e:Iea9I9=O @Contact HDG: 139.510179 arcdeg .' ' O 4Initialize Wait Component.*G 2G F FrF1bF9E9E9)M;IM9 QQiQIi 2@<:@w: 9i))䚷B*  (AYt H@t]W@ytz?t3v>tH3 ]? d`Z]̿ hJ ?ۇ?lz?`?)u H@ uZAr;IuCx-\>xMUEiiImC)+Ga 1-a 1- a 55a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU[:U>QQQ]FEY] U;]>Ia I8ٮaa QtI a UD9ae; e:)el8 9)I tIi E O:):I9iIi9i*Gy2GyFFrFbFEE);I9 !!i!I!))i)) )2@5<:@5w: ߉t.H@_8+?k ̿<M?M??`?)u.H@ u.`1r;Iu,x>xp>xBEGBAAHFAA) GixAF@]Ye{ne>aaQeFEimoݻm>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi E :):I{9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: B*  (AYt*NH@t*V@yt*80$t*ց>t*H> ? %ߦM˿@: ן??F?@?)u*NH@ u*Azr;Iu*CxHf>x EiI)F@UY]|;]>aaQeFEaem>Ii Iu8ٮii Q}tI i U}D9im: m :)m58 9)I tIi E F:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>%i>B* `- (AYt*]H@t*$ W@yt*ft*7v>t*H=5?˿kS?`? z? ?)u*]H@ u*dr;Iu*CxNi>xNE {PY|PV8****** ping requested ******eNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y%:>QFE ;>I I8ٮ QtI  UD9; B;)[&8 9)I tIi  E :):I9I!9!*G92G9FAFArFIbFQEQEQ)u;Iu9 yyiyIyi 2@<:@w: ߡB*  :G (A)4t.H hBx?@CM`W˿_ ܔ?f?&? ?)u.*H@ u.r;Iu.CxBHf>xF EHLHNp=ilIl)}G%=F@Y>QFE=>II Iu8ٮII Q}tI I U}D9IM; M4;)M,8 9)I tIi E :):I9I9*G2GFFrFbFEE)-;I59 11i1I199i99 A2@E<:@Ew: yB* a (AYt.T)H@t._V@yt.$t.<>t.H B?ҤYV˿=?`[??`?)u.T)H@ u.Os;Iu.CxRMl>xRLE)dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YC ;>Q FE    >I I8ٮ QtI  U%D9: :)38 -9)!I! -tIi! -E! %:)%N:I%9YIY9a*Gq2GqFFrFbFEE);I9 iIi 2@<:@w: i!)B B* z (AYt*G@t*V@yt*Vt*zM>t*H lI>?@ʿ7:?@x4?`xy? ?)u*G@ u*us;Iu*CxNWx>xREi`I`)%GF@5Y5E:=>99Q=FEAE)E>II IU8ٮII QUtI I UUD9IM: M>:)M&:8 e9)YIY etIiY eEY ]:)]Z:I]9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: YB* ɔ (A Yt*G@t*xV@yt*L(t*Sv>t*HiL)?`Pʿ`a@? ? H~??)u*G@ u*-t;Iu*CxBu>xBEGDHF@A)~GiwAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYee>iiQmFEiuu>Iy I}8ٮyy QtI y UD9y}: }į:)}$A8 9)I tIi E :)Ԙ:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.005046 arcdeg .q' ' *G 2GFFrFbFEE!)5;I9 iIi 2@<:@w: B* Ƥ (AYt*G@t*"}V@yt*!t*Ur>t*H K4?@)ʿ@i}?:? ?@?)u*G@ u*?u;Iu*CxBi>xBEiPIP)ƄGF@=YE\:E>AIQMFEIM[/:M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UG8 m9)aIa mtIia mEa e:)e :Ie9yI9=O@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9%Y>%{>* B*  (AYt΋G@t8V@yt=c0tx|>tHR?%H8"ʿ@\?K ?`x5%E)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y>QFEa>I! I-8ٮ!! Q-tI ! U-D9!%: %:)%PO8 =9)1I1 =tIi1 =E1 5:)5Ԙ:I59III9Q*Ga2GaFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱1B* [ (A);I Yt*ӖG@t*CV@yt*%t*>t*HQ?ޥ7ʿD`}?ݢ?3S??)u*ӖG@ u*Ψv;Iu(xZ5g>xZ*EH\H\ihIl)5ƄG=4=9F@}Yʅ:>ʁʁQFEʉ͍:>I I8ٮ QtI  UD9鰕:  :)U8 9)I tIi E p:)A:I+9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: "[B* 6 (AYt*FLG@t*QU@yt*=.t*b>t*H@dYz*?̥ɿUF?Dž?P?`?)u*FLG@ u*_v;Iu*CxRo>xRE)eGF@uY}p}>ʁʁQFEʁ͍8>I I8ٮ QtI  UD9鰕F: :)\8 9)I tIi E %:):I9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !i!)PCC*   (AYt*TG@t*V@yt*}+t*Mr>t*H`X CM? 4`0ɿ `t?o?}? N?)u*TG@ u*=pw;Iu*CxRsj>xR(Ei^=I`)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y9>QFE:>I I8ٮ QtI  UD9%: :)c8 9)I tIi E :)^:Ib9I9 *G2GFFrF!bF!E!E))=;I=9 9AiAIAAIiII I2@U<:@Uw: am C* / (A Yt*5G@t*U@yt*-t*'t>t*H[ ?zɿ t?a?@O??)u*5G@ u*w;Iu*CxRsj>xPGR@AHT {TY|TZ8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGixAF@Y ^; >QFE1=>E>II IU8ٮII Q]tI I U]D9IMb6; MA;)Mj8 }9)q }9Iq tIiq Eq u:)u :IuD9I9*G12G1F9F9rF9bFAEAEA)];I]9 YYiYIYaaiaa i2@<:@w: ߡCYC* I (AYtRG@tRU@ytR3w)tRi>tRH^? D@9ɿ@[ ?.?b?U?)uRG@ uRv;IuRCxjRr>xjEi5f=I5“C)a 1a 1 a 5a 5 a 9a 9 a -a - a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=Y= =>AAQEFEAm͢m>Iq Iu8ٮqq Q}tI q U}D9qu%: u:)uq8 9)I tIi E ĭ;);I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I999iAA A2@m<:@mw: yR>]>C* ac (AYt*F@t*U@yt*[+t* >t*Hc Z?@f, ȿXI? Yk? E?`i?)u*F@ u*jv;Iu*CxBe>xBP E)F@=YEYE>AAQMFEIM} M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U7x8 m9)aIa mtIia mEa e%:)e:Ie9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.187172 arcdeg .q''*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: C* c} (A) IYt*.F@t*9U@yt*ԁ*t*y>t*H`!e R?}¢Lȿt?@!P?@p?_?)u*.F@ u*av;Iu*CxB"h>xBEHFp=HFa=iTIT) SG <F@=YE9E>AAQMFEIMM>IQ I]8ٮQQ Q]tI Q UeD9QUh: U:)U8 m9)aIa mtIia mEa e:)eԘ:Ie!9yIy9=O@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9%C* 6Y (AYt*-F@t*8RU@yt*z&t*s>t*H@i?@^ȿƃ@?`Bτ?J,??)u*-F@ u*u'v;Iu*CxBi>xBE)~dGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aaQeFEamnm>Iq I}8ٮqq Q}tI q U}D9qu%: ul:)u8 9)I tIi E :) :I)9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!)+C* 5 (AYt*0F@t*;JU@yt* t*9{>t*Hj@?颿qNȿpv@xREi`IbC)5GF@]Ye:e>aiQmFEimm>Iq I}8ٮqq Q}tI q UD9qu: u:)u8 9)I tIi E )c:I-29I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 62C*   (A@ Yt:F@t:)3U@yt:%D(t:uz>t:Hl?]!ȿyM?`l?? ?)u:F@ u:>u;Iu:CxR"h>xPGPHT)GiwAF@Yú>Q FE  YY>I9 I=8ٮ99 QEtI 9 UED99=>: =ݱ:)=I8 M9)III MtIiI UEI M:)M:IM5;9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: A@8C*  (AYt*?F@t*T@yt*o=t*-q>t*HRs.7?@eಖǿ@d?@G?`??)u*?F@ u*?t;Iu(xBsj>xB(EiPIP)~vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ ;>ʩʩQFEʩ͵3>I I8ٮ QtI  UD9鰽: :)險8 9)I tIi E :)k:IbC9I9*G2GFFrFbFEE );I9 i!I!!!i)) )2@5<:@5w: A!!>C*  (AYt*qF@t*U@yt*U t*|o>t*Hnl?@qFǿ@!`c?? ?D ?)u*qF@ u*4t;Iu*CxBg>xBsE)GF@=YEE>AAQMFEIMW<M>IQ I]8ٮQQ Q]tI Q UeD9QU: UB:)U8 m9)aIa mtIia mEa e::)eN:IeK9yIy9*G2GFFrF9bF9E9E9)U;IU9 QQiQIQYYiYY a2@e<:@mw: yDEC* ' (A)4t*Ht!?}tǿ@%A?b?T?"?)u*V.F@ u*s;Iu(xB5g>xB*EH@HDiPIR“C)~SG4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeMߺe>iiQmFEiu>%u>Iq I}8ٮqq QtI q UD9qu: u:)u8 9)I tIi E :)9:I9T9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ߡ LC* }2 (AYt*JF@t*T@yt*3*t*lTe>t*H4r@`?~ߟ@֬ǿ ,-? eF?l?2?)u*JF@ u*Zs;Iu*CxB"h>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )edGF@Yʭ9>ʩʩQFEʱ͵;>I I8ٮ QtI  UD9: ;)8 9)I tIi E :):I\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'%Nu@Vehicle HDG: 190.659499 arcdeg .q'u'u*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: i))RC* YL (AYt*)NF@t*4T@yt*ht*l>t*HqZ?[2ǿ4? ̃?9??&?)u*)NF@ u*s;Iu(xB`k>xBEiZ=I^C)GF@%Y-h:->))Q-FE15:5>I9 IE8ٮ99 QEtI 9 UED99=: =x:)=68 U9)III UtIiI UEI M:)Mg:IMe9aIa9i=O@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@ <:@ w: YC* 3f (A@ Yt*~`F@t* U@yt*t*d>t*HEp?y;ǿ5?!{?`^?3?)u*~`F@ u*Xts;Iu*CxBsj>xB(EGBAAH@)Gia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YʝU9>ʡʡQFEʡͭ.;>I I8ٮ QtI  UD9鰵: :)\8 9)I tIi E }:):Im9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9`C*  (AYt2pF@t2{>U@yt23wt2hl>t2Hk@?[v@_7ȿ5?Ү? I?@H&?)u2pF@ u2bs;Iu2Cx>Rr>x>EiRf=IR“C)AAQEFEAM;M>IQ I]8ٮQQ Q]tI Q U]D9QU>: U:)U Ī8 e9)aIa mtIia mEa e:)eE:Ie-v9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: !%e>-fC*  (AYt*KF@t*V7U@yt*/(t*1l>t*H`Kl S?Q@M)ȿ? ?B?&?)u*KF@ u* s;Iu*Cxfu>xfE)EGF@UY]Һ]>YaQeFEae_e>Ii Iu8ٮii QutI i UuD9imS: m:)mʪ8 9)yIy tIiy Ey }:)}o:I}~9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: uWlC* ó (A) I Yt*F@t*ԈU@yt*:9t*aj>t*Hid`v?N2ȿ?@?9'?@l ? )?)u*F@ u*s;Iu*CxB\>xBUEHF=HFp=iPIRC)=GE%=Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y#>QFEB<>I I8ٮ QtI  UD9F: ):)"Ҫ8 9)I tIi E _:):I9I9*G2GFFrF!bF!E!E))=;I=9 99iAIAAAiII I2@U<:@Uw: a?sC* 8 (AYt*FF@t*QU@yt*+t*˞{>t*H@pd`]?6ȿ lo?@t?"?} ?)u*FF@ u*&t;Iu*CxBp>xBE)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y] ;e>aaQeFEam8m>Iq I}8ٮqq Q}tI q U}D9qu>: u :)uت8 9)I tIi E p:)c:Iʏ9I9*G)2G)F)F1rFQbFYEYEY)m;Im9 qiIi 2@<:@w: ߹i!)iyC* z (AYt* G@t*иU@yt*t*am>t*H_1?@z@s'ɿ`@? >? g?`$?)u* G@ u*qt;Iu*CxNc>xR, Ei\I^“C)+GF@-Y-G@;->11Q5FE1=;=>IA IM8ٮAA QMtI A UMD9AE: E>:)Eߪ8 U9)QIQ ]tIiQ ]EQ U:)Uw:IU+9iIi9iO}Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: yt2HKWc?iHɿ@av?@4??`v?)u2aG@ u2&Zu;Iu0xBf>xB EGF@AHD) Gi F@=YE5E>AIQMFEIMS<M>IQ I]8ٮQQ Q]tI Q UeD9QU: U :)U8 m9)aIa mtIia mEa ep:)e:Ie9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.634522 arcdeg .q''*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: A{C* Y1(AYt*$\G@t*/ V@yt*1t*끂>t*HW G?'ɿwP`q?;?@"??)u*$\G@ u*Fv;Iu*CxB:m>xBEiPIRC)|a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmGEim5\m>Iq I}8ٮqq Q}tI q UD9qu-: u:)u{8 9)I tIi E }:):IT9I9=O@Contact HDG: 139.510179 arcdeg .'' O 4Initialize Wait Component.*G 2G F F rFbFEE)-;I-9 11i1I199i99 A2@E<:@Ew: Y!-Y>BC* =5(AYt*G@t*6V@yt*%t*U>t*H`=S? ʿT@,V?@?`M??)u*G@ u*v;Iu(xBMl>xBLE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]XGF@YʭJ:>ʱʱQGEʱͽr;>I I8ٮ QtI  UD9: :)8 9)I tIi  E :):I9I9*G2GF!F!rF)bF)E1E1)U;IU9 QYiYIYaaiaa i2@u<:@uw: ߑC* N(A) IYt66G@t6AaV@yt6#t6$p>t6HN@? [qʿ o@[? #|?@?\?)u66G@ u6v;Iu6CxBa>xB EHFa=HFa=i\I\)vGʁʁQGEʁ͍k;>I I8ٮ QtI  UD9鰕: W:)V8 9)I tIi  E :)E:In9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: ׷C* h(AYt*G@t*V@yt*.t*m>t*H&Ir?{`ʿ&n?څ?x?i#?)u*G@ u**iv;Iu(xBm>xB'E)5GF@]Yeۺe>aaQmGEim<m>Iq I}8ٮq M}8q Q}tI q UD9qu: u=:)u*8 9)I tIi  E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!!C* (AYt*|H@t*V@yt*FNt*}>t*HC?`f`$C˿EP?Ƀ??`?)u*|H@ u*v;Iu*CxBv>xBGEiPIV“C)=GF@mYm";u>qqQuGEq}8<}>I I8ٮ QtI  UD9鰅ͭ: :) 8 9)I tIi  E :):Ii9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ɦC* w(A Yt*H@t*ԻV@yt*%t* >t*HbE ;?֙z"˿@<`?⢄?@z3??)u*H@ u*w;Iu(xB?s>xBEGF?AHD)|iyAxAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y>QGE4!>I I8ٮ QtI  UD9: :))8  9)I  tIi   E ::)o:I:99I99A*GQ2GQFqFqrFybFyEyE);I9 iIi 2@<:@w: C* TS(AYt*fSH@t*qW@yt*&$t*u>t*H@ >+?Z˿dV ??xREi\I^C)F@-Y-95>11Q5GE1= 2<=>IA IM8ٮAA QMtI A UMD9AE: E:)E8 U9)QIQ ]tIiQ ] EQ U):)U:IUB9iIi9i*G2GFFrFbFEE);I9 iIi 2@5<:@=w: I!-V>]۳C* M-(AYt.yH@t.&W@yt.FL!t.Um>t.H9@z?˿_?`s)? u? #?)u.yH@ u.Elv;Iu.CxR`k>xP)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʥ9>ʡʡQGEʩͭ ;>I I8ٮ QtI  UD9鰵: :)8 9)I tIi  E ̒:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: C* h (A);I Yt*H@t*MW@yt*)t*lw>t*H5@C?@)@?̿fI@(?c3?W?`?)u*H@ u*tu;Iu*CxBZe>xB EHDHDiPIT)G %= F@=YEE>AIQMGEIMb;M>IQ I]8ٮQQ Q]tI Q UeD9QU2: U:)U$8 m9)aIa mtIia m Ea e :)e:IeT9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.750670 arcdeg .q''*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: AC* X(AYt*t*H`.`?@ P̿U$G?fЅ? A??)u*xBEE)dGF@=YEUBE>AIQMGEIM<M>IQ I]8ٮQQ Q]tI Q UeD9QU: Uc:)Uu+8 m9)aIa mtIia m Ea eO:)e :Ie9yI9=O@Contact HDG: 139.510179 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIi !2@%<:@%w: Ii!!C* (AYt*LH@t*WyW@yt*"L't*X|>t*H0e?b̿@0:?`l?`KL??)u*LH@ u*xpu;Iu(x>f>x> EiLIL)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeV:e>aaQmGEim/m>Iq I}8ٮqq Q}tI q UD9qu: u:)uo28 9)I tIi  E p:):Is9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: /BC* =7(A Yt*Q(I@t*\W@yt*+t*l>t*HU&`?`ǥGͿMd?q?Y?B%?)u*Q(I@ u*t;Iu*CxZmd>xZu EG^@AH\ {`Y|`f8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAwAF@Y%%>!)Q-GE)5V<5>I9 IE8ٮ99 QMtI 9 UMD99=k: =;)=98 ]9)Y e9IY etIiY e EY ]U:)]1:I]9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Z*C* xQ(AYt*8I@t*W@yt*;(t*ot>t*H@y$?ڦ`gͿ>?[?F? ?)u*8I@ u*&t;Iu*CxBZe>xB E){FsI{Di{F>{D{D{FA{D|F B9|F2P?ć%i`I`)evGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y : > QGE=!;=>I9 IE8ٮ99 QEtI 9 UMD99=: =:)=@8 u9)III utIiI } EI M%;)M;IM9I9*G2GFFrFbFEE2EzE BErE@c@`KNE2P?ć%EsEEtZK.^DG@H+EyfŞ0O?'CǿE+@=DHdg To Contact =139.756968 degreesZE2=BbE_:Eo$?BE7o$?JEb REk jE/^rE34)5;I59 99i9I9AAiAA A2@M<:@mw: ߁$Dacoustic_contact_range 74.520004 m$hTrackAcousticContact.heading_to_contact 2.439219 rad$LDUSBL_Hydroid.xAngle -54.400001 arcdeg!)7TC* Rk(AYt* YI@t*X@yt*1(t*>t*H ?ۨzͿ (?`?&??)u* YI@ u*t;Iu*CxNi>xRE)]dGF@mYm6m>qqQuGEq}g;}>I I8ٮ QtI  UD9鰅\: :)"G8 9)I tIi  E :)0:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ;C* ,(A)4>t*H)T&?n`Ϳ$p?|?`?i?)u*fI@ u*xs;Iu*CxB%U>xBEHFp=HFp=iTIV“C) ?=F@]Ye6 9e>iiQmGEiu;u>Iq I8ٮqq QtI q UD9qux: u :)uN8  9)I  tIi   E -:):I 99I99A*GQ2GQFqFqrFybFyEyE);I9 iIi 2@<:@w: eC* J(AYt*ۙI@t*FX@yt*I1t*q>t*Hҟ? v$ο 8@f?7???)u*ۙI@ u*Us;Iu(xR`k>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYʅ̺>ʁʁQGEʁ͍;>I I8ٮ QtI  UD9鰕: :)T8 9)I tIi  E :)ȗ:I)9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFQrFYbFYEYEa);I9 iIi 2@<:@w: i!!RC* (AYt*I@t*jX@yt*.*t*Nv>t*H``?"jο*`F?E?,?$?)u*I@ u*s;Iu*CxNMl>xRLEi\I\)GF@-Y-:->11Q5GE1=;=>IA IM8ٮAA QMtI A UMD9AE: E:)E[8 U9)QIQ ]tIiQ ] EQ U:)U4:IU^19iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.746512 arcdeg .q''*G2G+@FFrFbFEE);I9  i I  +@i+@ 2@<:@w: )$RHorizontalControl.headingCmd 2.439219 radwC* (A Yt*I@t* X@yt*'t*}>t*H|W?`18ο&?`C?@h?`?)u*I@ u*5r;Iu*CxBb>xBQ EGFAAHD)~SGiF@=YEJ9E>AIQMGEIM;M>IQ I]8ٮQQ Q]tI Q UeD9QU`: U:)Ub8 m9)aIa mtIia m Ea e:)e:Ie99yI9=O@Contact HDG: 139.756968 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9C* (AYt*}I@t*X@yt*'t*}>t*H N@?`~ο&`1??O??)u*}I@ u*mir;Iu*CxBb>x@iPIRC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>iiQmGEimh9u>Iq I}8ٮqq QtI q UD9qu: u$:)ui8 9)I tIi  E -:):IB9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !-Y>D* v(AYt*J@t*!X@yt*'+t*u>t*H` ({? Ͽ3"?`a?o??)u*J@ u*r;Iu*CxR?s>xRE)5SGF@eYm m>iqQuGEqu;}>Iy I8ٮyy QtI y UD9y}1: }W:)}~p8 9)I tIi  E :)ϸ:IK9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: [D*  Y (A)*;I,YtfA5J@tfLX@ytfc6tfu>tfH`q?p RϿ`T?]̆?)s?M?)ufA5J@ ufq;IufCx5b>x= EH9H=a=iYIY)dG4==a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%Ӻ%>!!Q%GE)-;->I1 I=8ٮ11 Q=tI 1 U=D911 5:)5w8 M9)AIA MtIiA M EA Eٮ:)E:IET9YIY9a*Gq2GqFqFqrFybFyEyE);I9 iIi 2@<:@w:  D* E*:(AYt*2J@t*X@yt*ʯ4t*K}>t*H ?Y`MϿ ?@ە?V?+?)u*2J@ u*q;Iu*CxB|>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y9>QGEʿ>I I 8ٮ Q tI  UD9: -;)~8 %9)I %tIi - E :):Iw\9YIa9a*G2GFFrFbFEE);I9 iIi 2@<:@w: i!)D* T(AYt*PJ@t*X@yt*!%t*~>t*H 'Y?!Ͽ`d ?@m?Ho??)u*PJ@ u*Jq;Iu*CxBv>xBGEiXIZ“C)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@]Y];]>aaQeGEam;m>Iq I8ٮqq QtI q UD9qu5: uc:)u8 9)I tIi  E :) :Ike9I9*G)2G)FiFirFqbFqEyEy);I9 iIi 2@<:@w: 1[D* m(A Yt.aJ@t.Y@yt.St.}z>t.H`?9`gϿo2U?`ֻ?? ?)u.aJ@ u.q;Iu.CxBY>xBEGB@AH@)SGi  xAF@=YEΜ:E>AAQMGEIM8;M>IQ I]8ٮQQ Q]tI Q UeD9QUu: U:)U8 m9)aIa mtIia m Ea eՐ:)eȗ:Iel9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: a!D* ȇ(AYt*uxJ@t*%Y@yt*2t*,{>t*H ,@ 4?Z@cϿp ?`^?)?@?)u*uxJ@ u*lq;Iu*CxNd>xR EiI )dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y C>QGE3S;>I! I%8ٮ!! Q-tI ! U-D9!%ի: %Nl<)%T8 9)I tIi  E r;)u;IYv9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 194.399642 arcdeg .q'u'u*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: !!%R>a(D* ꗡ(AYt*pJ@t*Y@yt*$.t*5t|>t*H &n"?穿Ͽ`` {?ą?|xBE)|F@Y%N:%>))Q-GE)-$5>I1 I=8ٮ11 QEtI 1 UED915: 5:)58 M9)III MtIiI U EI MՐ:)M,:IM}9aIa9a=O@Contact HDG: 139.756968 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: ',.D* q(A) I Yt*}J@t**Y@yt* t*b{>t*H@@w5?oHXϿJ 9n??S?  ?)u*}J@ u*q;Iu*CxBHf>xB EHBa=HDiPIP)|==F@=YE ;E>IIQMGEIM:U>IQ I]8ٮQQ QetI Q UeD9QU: U:)U8 m9)aIa mtIia u Ea e:)e:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w:  5D* M(AYt*J@t*4Y@yt*4t*->t*H=eL?:8AϿ ??@?`x?)u*J@ u*q;Iu*CxZ{]>xZ/E))a 1ma 1m a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʕF>ʑʑQGEʙ͝:>I I8ٮ QtI  UD9鰥O: ͭ:)8 9)I tIi  E ի:):I@9I9*G2GFFrFbFEE);I9 i I   i 2@<:@w: )i!!>;D* )(AYt*zJ@t*8Y@yt*j94t*}>t*H T?7Ͽ??k??)u*zJ@ u*xB|EiPIRC)GF@=YE98E>AIQMGEIM:M>IQ I8ٮQQ QtI Q UD9QU<< U<)Ur8 9)I tIi  E :)Ԙ:I9I9*G2GFFrFbFEE);I59 11i9I99AiAA A2@M<:@Mw: a)BD*  (A*@ (YtvJ@tvLY@ytv+.tv ~>tvH`_v? qп 7?`х?mp?@?)uvJ@ uvr;IuvCx~u>x~EGH)GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%Q:%>!)Q-GE)-4;5>I1 I=8ٮ11 Q=tI 1 UED915: 5_:)5ص8 M9)AIA MtIiA U EA Ex:)E:IE9YIa9a*Gq2GqFqFyrFybFyEE);I9 iIi 2@<:@w: uPHD* e"(AYt*J@t*(>Y@yt*T4t*L>t*H@[]?6Pп ? r?`?<?)u*J@ u*'s;Iu(xBb>xB EiPIR“C)~GF@=YESvE>AAQMGEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU2: UW:)U;8 m9)aIa mtIia m Ea e[:)e:Ie9yIy9*G2GFFrFbFEE)5;I59 11i1I199i9A A2@E<:@Mw: Y!-Y>zND* <(AYt*:J@t*EPY@yt*"$t*>t*H `Hs?@<п` .?`,?@?F?)u*:J@ u*Ps;Iu(xBo>xBJE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGF@YʭP;>ʱʹQGEʹͽ-;>I I8ٮ QtI  UD9; ;)`ë8 9)I tIi  E :)k:Ik9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE!)=;I=9 99i9I9Aiiii q2@u<:@}w: ߑbUD* ՕV(A) IYt*J@t*6Y@yt*N+t*>t*H  F? PժϿ6?r??@?)u*J@ u*zs;Iu*CxBh>xBEHDHD){F_rI{Di{F7={F>{D{F0A{D|F+B9|Fڠ^?\i`I`)G%%=%=a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ>ʡʡQGEʡͭ~>I I8ٮ QtI  UD9鰵S: :)9ʫ8 9)I tIi  E ::) :Iٹ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.460035 arcdeg .q''*G2GFFrFbFEE2EzE+BE8@J^AEڠ^?\E_rEEFT@R:@sHn E&= Dnl=?A/ ɿE@= DHdg To Contact =141.132800 degreesZEAbE:ERo$?BEo$?JEs REb jEVrE/^)u;Iu9 qqiqIqyyiyy 2@<:@w: ߹$Dacoustic_contact_range 42.780003 m$hTrackAcousticContact.heading_to_contact 2.463232 rad$LDUSBL_Hydroid.xAngle -54.300000 arcdeg[D* pp(AYt*J@t*JY@yt**t*Ҁ>t*H Yl?l@,п`!,?^?`??)u*J@ u*kt;Iu*CxBa>xB E)~AAQMGEIMJ;M>IQ I]8ٮQQ Q]tI Q UeD9QUu: Ux:)UЫ8 m9)aIa mtIia m Ea e!:)e5:Ie9yIy9=O@Contact HDG: 141.132800 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iIi !2@%<:@%w: 9i!!wbD* )Z(AYt~$J@t~/1Y@yt~1t~܀>t~H`??@H Ͽx4?%8? ?p?)u~$J@ u~t;Iu~Cx p>x Ei)I1)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y~>QGEDn>I I 8ٮ Q tI  U D95: |:)4ث8 9)I tIi  E :)N:I9)I)91*GA2GAFAFArFIbFIEQEQ)e;Ie9 aaiiIiqqiqq q2@}<:@}w: ߑihD* [&(A@ Yt.C|J@t.N)Y@yt.e*t.k>t.H3(?@p Ͽ@} ?@\?"??)u.C|J@ u.`7u;Iu,xBmd>xBu EGBAAHD)҄Gi!!F@=YE}:E>AIQMGEIMU>IQ I]8ٮQQ Q]tI Q UeD9QU : UD:)Uޫ8 m9)aIa mtIia u Ea eF:)e|:Ie"9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !nD* (AYt*J@t*1Y@yt*W7$t*H>t*H4?`T Ͽ@?`Ԇ???)u*J@ u*yu;Iu*CxRb>xRQ Ei\I\)]vGF@mYu:u>qqQuGEq}:}>I I8ٮ QtI  UD9鰅q: :)8 9)I tIi  E :)=:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %V>-R>uD* (AYt*oJ@t*Y@yt*?E.t*}>t*HM?+'Ͽ@`?ȅ?dA?`?)u*oJ@ u*mu;Iu*Cx2n>x2E)rdGa 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a - a 9-@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Yh>QGEeC>I I8ٮ QtI  UD9; ܵ;)8 %9)!I! -tIi! - E! %}:)%o:I%9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIi 2@<:@%w: 1o{D* V(A) IYt*0^J@t*; Y@yt*/t*ځ>t*H r@O?șϿ r?"? ?`|?)u*0^J@ u*P v;Iu(xN\>xRUEHRp=HPi`I`)!%4=F@-Y5^5>99Q=GE9E5E>II IM8ٮII QUtI I UUD9IM : M:)M[8 ]9)YIY etIiY e EY ]F:)]9:I]9qIq9q*G2GFFrFbFEE)%;I%9 !)i)I))1i11 12@=<:@=w: QN‚D* u (AYt.WJ@t.Y@yt.-t.)>t.H V?@6쪿`ϿF`%?@??7?6?)u.WJ@ u.-v;Iu.CxRsj>xR(E)F@]Ye$9e>aaQmGEim.m>Iq I}8ٮqq Q}tI q UD9qu: u:)uX8 9)I tIi  E :)ȗ:IB9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ߁i!!D* o%(AYt*EJ@t*X@yt*,'t*>t*H!? R4rϿ ?k?c?a?)u*EJ@ u*4xv;Iu*CxB0a>xBw EiPIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye{:e>aaQmHEim@+m>Iq I}8ٮq M}8q Q}tI q UD9qu: u:)u>8 9)I tIi  E -:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.222344 arcdeg .q' ' *G 2G @F FrFbFEE);I9 iI@i@ 2@<:@w: $ERHorizontalControl.headingCmd 2.463232 radD* I?(A Yt*3J@t*X@yt*,t*˜>t*H'?努OϿ Y?? %??)u*3J@ u*Jv;Iu(xBv>xBEGB@AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )e+Gi}xAxAF@YʵQ>ʹʹQHEʹ+>I I8ٮ QtI  UD9_; ;)T8 9) 9I tIi !E ;)T ;I9!I)9)=O @Contact HDG: 141.132800 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFE!E!)=;I=9 99i9I9AAiAA I2@u<:@uw: ߁D* W%Y(AYt*kJ@t*vX@yt*ZG't*7>t*Hf `?ƪtϿQZ??N?`,?)u*kJ@ u*]v;Iu*CxBv>x@){BJyI{@i{B={B7>{@{BA{@|BpMB9|BV84?Gu{i`IbC)%GF@]YeW:e>aaQeHEimDm>Iq I}8ٮqq Q}tI q U}D9qu: uB:)u8 9)I tIi !E :):I9I9*G2GFFrFbFEE2EzEpMBErK<@I6@EEV84?Gu{EJyEEPϤC5|k@@DC`?%EN4ʵ翮Aa|v?AʿE ~@=DHdg To Contact =139.203968 degreesZE_BbE8:EDo$?BERo$?JEn REs jE(rEV) ;I9 iIi !2@%<:@-w: 9$uDacoustic_contact_range 51.360001 m$}hTrackAcousticContact.heading_to_contact 2.429568 rad$LDUSBL_Hydroid.xAngle -55.849999 arcdeg-R>-Y>!)D* is(AYt2 J@t2·X@yt2P&t2V >t2H K?Wª`ο ?ք? U?`T?)u2 J@ u2Jv;Iu2CxR,t>xR#E)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ8>ʁʉQHEʉ͍Ѻ>I I8ٮ QtI  UD9鰕: :)8 9)I tIi !E Ր:)Ie9I9*G2GFFrFbFEE);I9 iI!!i!) )2@-<:@5w: AD* ܌(A) I4t*H {+?y@^ο `?`7o?5?t?)u*I@ u*$v;Iu*Cx^l>xbEH`Hbp=i=I)uGy}%=F@Yʍ9>ʉʉQHEʑͥW3>I I8ٮ QtI  UD9S: :)8 9)I tIi !E :)b:I 9I9*G2GFFrFbF E E )%;I%9 !!i!I!))i)) 12@5<:@=w: I:D* Ե(AYt.I@t.sX@yt.*t.>t.HC?`@@{ο`0@?T?g??)u.I@ u.Su;Iu.CxBsj>xB(E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QHE>I I8ٮ QtI  UD9: g:)#8 9)I tIi !E O:):I(9I9*G 2GFFrFbFEE!)5;I59 19i9I99AiAA A2@M<:@Mw: Yi!!'#D* q(AYt*I@t*)X@yt*D2t*R>t*H~?۩Mο]?@?xR. Ei\I\)GF@=YELE>AAQMHEIUG;>I I8ٮ QtI  UD9t: :)*8 9)I tIi !E 5;)$;I19!I!9!*GY2GYFYFYrFabFaEaEa);I9 iIi 2@<:@w: dLD* j(A Yt*!I@t*,3X@yt*,t*>t*Hw$[?,`$Ϳ `@G?7?@#??)u*!I@ u*t;Iu*CxBr>xBIEGB?AHD)dGiwAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@=YE{<:E>IIQMHEIUy@U>IY I]8ٮYY QetI Y UeD9Y]: ]):)]18 m9)iIi utIii u!Ei mc<)mt*H @Q]?Q ο`?@?-??)u*pI@ u*'qt;Iu*CxBj>xBqEiRf=IR“C)%GF@]Ye ;e>aiQmHEimwb:m>Iq I8ٮqq QtI q UD9qu ; u˵;)ud88 9)I tIi !E :):IA9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 193.570771 arcdeg .q'e'e*Gi2Gm ~@FiFrFbFEE)M;IM9 IIiIIIU@iQU ~@ Y2@]<:@ew: ߱$RHorizontalControl.headingCmd 2.429568 rad->-i>a_D* F%(AYt2I@t2-X@yt2?'t2VE>t2H9L?5xͿ6? ?:??)u2I@ u2t;Iu2CxBq>xBE)Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu\u>ʙʙQHEʙ̺ͥ>I I8ٮ QtI  UD9鰭q: <;)g?8 9)I tIi !E :):IJ9I9=O=@Contact HDG: 139.203968 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFIbFIEE);I9 iI$@i 2@<:@w: ID* @'(A) I;xrv>xvEHxHza=i I )mGu=uC=F@Yʥ>ʡʡQHEʩͭ>I I8ٮ QtI  UD9鰵: ^:)QF8 9)I tIi !E [:):I S9I9*G 2G FFrF9bF9E9E9)U;IU9 qqiqIq} ~@iyy 2@<:@w: ߙqD* t*H" ?CͿ@# L?ƅ?? ?)u*HI@ u*`s;Iu*CxBo>xBJE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGF@Yʝ剺>ʡʡQHEʡͭ >I I8ٮ QtI  UD9鰽: ;):M8 9)I tIi !E 8:);I[9I9*GQ2GQFYFYrFabFaEiEi);I9 iIi 2@<:@w: i))D* 9[(AYt2I@t2W@yt2mt23 >t2H(?y`Ϳ(@Z?m??`?)u2I@ u2[s;Iu0xBRr>xFEihIjC)5Ga 1ua 1u a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ|8;>ʹʹQHEʹ4>I I8ٮ QtI  UD9õ; ;))T8 9)I tIi !E :):I9d91I191*GA2GAFIFIrFIbFqEqEq);I9 iIi 2@<:@w: _D* u(A YtBH@tBW@ytBխ)tBK>tBH/@?`̿`-`kt?5?@??)uBH@ uB(#s;IuBCxjmd>xju EGn@AHl)Yi]xAexAF@}Yʅ>ʁʁQHEʁ͍>I I8ٮ QtI  UD9鰕: :)Z8 9)I tIi !E :)E:Il9I9*G2GFFrFbFEE);I59 11i9I999iAA A2@M<:@Mw: Yt:H34 ?X̿DZ?`???)u:H@ u:Us;Iu:Cx^t>x^lEir=Ip)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y:>QHE%ֻ%>I) I-8ٮ)) QUtI ) UUD9)-I; -4;)-(b8 ]9)YIY etIiY e!EY ]S:)YI]u9I9*G2GFFrFbFEE);I9  i I i 2@<:@%w: Q%R>%Y>D* VH(AYt>H@t>9W@yt>E4t>>h~>t>H78?L̿=`?j? y??)u>H@ u>5s;IuxRE)EGF@YʝV>ʡʡQHEʡͭ9>I I8ٮ QtI  UD9鰵; Z;)h8 9)I tIi !E t:)$:I}9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa);I9 iIi 2@<:@w: qD* /(A)IYt2iH@t2t0W@yt2&t2p>t2H8s?6#;̿6? „??0?)u2iH@ u2s;Iu2Cx>m>x>'EH<H@iNf=IL)~!!Q%HE!-->I) I58ٮ)) Q=tI ) U=D9)-2: -:)-ho8 E9)AIA EtIiA M!EA E:)E:IEDž9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.647453 arcdeg .q''*G2GFFrFbFEE)E;IM9 IIiIIIQQiQQ Q2@]<:@]w: ߱KD* (AYt*!9H@t*,V@yt*'t*~>t*H @`2?@}Bu˿F` ?D??M?)u*!9H@ u*ms;Iu*CxBi>xBE)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ":>ʁʁQHEʁ͍2>I I8ٮ QtI  UD9鰕`: :)v8 9)I tIi !E )ȗ:I9I9=O@Contact HDG: 139.203968 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I 9  i I 11i11 92@=<:@=w: qi!!UD* (AYt*-H@t*V@yt**t*v>t*H`B_?@^˿0W?`eU?]? !?)u*-H@ u*js;Iu*CxRp>xREi`Ib“C)11Q5HE9=E>IA IM8ٮAA QMtI A UMD9AEի: ES:)E;}8 ]9)QIQ ]tIiQ ]!EQ U:)U:IUז9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: E* S(A Yt*%H@t*V@yt*T#'t*gx>t*H@B~?IfO˿T;O?R?۾??)u*%H@ u*s;Iu*CxB`k>xBEG@HD)Gi  a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm :m>iiQuHEquu>Iy I8ٮyy QtI y UD9y}ͭ: }а:)}?8 9)I tIi !E ::)E:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: }& E* ڒ*(AYt*G@t*V@yt*5t*o>t*H K"? 륿ʬʿNO;?T?Ư??)u*G@ u*s;Iu(x>l>x>EiLINC)~SGF@=Y=;E>AAQEHEAMPM>IQ I]8ٮQQ Q]tI Q U]D9QU`: U:)U 8 e9)aIa mtIia m!Ea e:)e9:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: %>%i>? E* MiD(AYt*cG@t*nV@yt*Xt*.{>t*HJ j:?/Mʿ V?6׃? 1 ? ?)u*cG@ u*os;Iu*CxV^>xV E {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Yp>QHEē:>I I8ٮ QtI  UD9: T ;)F8  9)I  tIi  !E (:)I:Iװ9)I)9)*GA2GAFIFIrFQbFYEYEY)};I}9 yiIi 2@<:@w: ߹8E* G^(A)IYt.G@t.dV@yt.I#t.as>t.HN ?@xʿ@i۽? `?`"?N?)u.G@ u.&t;Iu.Cx>'n>xBpEH@H@){BkI{@i{B>{@{@{B`A{@|BxB9|Bwpo?8ki~=I|)q}4=ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5YUh#]>YYQ]HEYeze>Ii Im8ٮii QtI i UD9im; mԵ;)mr8 9)I tIi !E :)|:IĹ9I9*G2GFFrFbFEE2EzExBE7B@ݔHEwpo?8kEkEEp0ػ|G=C@r'&E5fm.T29$?ju*ǿE@=DHdg To Contact =140.209768 degreesZEBbE;:E,o$?BEDo$?JEi REn jE4rE()=;IE9 AAiAIAIiiii q2@u<:@}w: ߩ$Dacoustic_contact_range 62.160004 m$mhTrackAcousticContact.heading_to_contact 2.447122 rad$uLDUSBL_Hydroid.xAngle -52.600001 arcdegwaE* qx(AYt*G@t* ;V@yt*Gt*s>t*H`RV?`&ʿl.?`? 5?,?)u*G@ u*t;Iu(xBs>xBE)F@]Ye :e>aaQeHEim߻m>Iq I}8ٮqq Q}tI q U}D9qu): up:)u͟8 9)I tIi !E }:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i-@A)-J$E* (AYt:G@t:TV@yt:<t:Xw>t:H .P?@ˁ Xʿ`ucS=?k? U?`X?)u:G@ u:1:t;Iu:Cx^h>xbEi-f=I))5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ6>ʩʩQHEʩ͵f;>I I8ٮ QtI  UD9鰽: :)j8 9)I tIi !E :)˵:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 191.879179 arcdeg .q'U'U*GY2G]@FYFYrFabFaEaEi)};I}9 yyiI@i@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.447122 radts*E* ի(A Yt*hG@t*V@yt*D*t*k>t*HV@y?@Iɿ F` ?hH?7?B'?)u*hG@ u*|t;Iu*CxNf>xR EGPHP)Gi%vA%wAF@]Yee>aaQeHEim/m>Iq I}8ٮqq QtI q UD9quw; u;)u8 9)I tIi !E :):I9I9=Oe@Contact HDG: 140.209768 arcdeg .'e'eOe4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iIi 2@<:@w: Z1E* >(AYt*G@t*2V@yt*dt*yl>t*HSϧ?sʿ{??@K?`4&?)u*G@ u*+gt;Iu*CxR{]>xR/Ei\Ib“C)dGF@-Y5~W;5>11Q5HE9=.;E>IA IM8ٮAA QMtI A UMD9AE:: Eٮ:)Ea8 ]9)QIQ ]tIiQ ]!EQ U:)U=:IU9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>%a>!7E* )(AYt#yG@t.&V@ytrtf>tHTu?@ɿs6?@}??0?)u#yG@ u`t;IuCx0a>xw E)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yiȸ>QHE%!%>I) I58ٮ)) Q5tI ) U5D9)-: -:)-ɻ8 =9)9I9 EtIi9 E!E9 =}:)=:I=9QIQ9Q*Ga2GaFiFirFqbFqEqEq);I9  i I i 2@<:@w: Q<=E* e(A) I4t*H@~S?G@ʿ*?ӄ? {?`1?)u*G@ u*[t;Iu*CxB8T>xB}EHBa=HDiPIRC)= F@=YE5E>AIQMHEIM;M>IQ I]8ٮQQ QetI Q UeD9QU: U:)U3¬8 m9)iIi mtIii u!Ei mɏ:)mݖ:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: *DE* @(AYt.IG@t.TfV@yt.c "t.tg>t.HZN? K{ʿ~Z?VA? /?`.?)u.IG@ u.'Bt;Iu.CxZn>xZE)=GF@MYUu4:U>QQQUHEQ];]>Ia Im8ٮaa QmtI a UmD9ae%: eį:)e!ɬ8 }9)qIq }tIiq !Eq u:)u:Iu9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i5?A1JE* 6-(AYt*hG@t*sKV@yt*%t*ud>t*H`Q? [Fʿc@y?߯?]?@3?)u*hG@ u*rt;Iu*CxN`k>xREi\I\)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QHEi>I I8ٮ QtI  UD9h: :)GЬ8 9)I tIi !E  :):I^9I9*G2GFFrF!bF!E!E!)=;I=9 99i9IAAAiAI I2@M<:@Uw: a\QE* F(A@ Yt*~G@t*V@yt*D t*Lk>t*HxBGEGBAAH@ {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGixAF@uY}]J:>ʁʉQHEʉ͕]1<>I I8ٮ QtI  UD9鰝: 9;)׬8 9) 9I tIi !E :)g:I9QIQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9 iIi 2@%<:@%w: YWE* c`(AYt* G@t*+V@yt*AY t*l>t*HH@ {?͕Uʿ`p?K? R?%?)u* G@ u*jt;Iu*CxBp>xB%EiXI^“C)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}Nj;}>ʁʁQHEʁ͍;>I I8ٮ QtI  UD9鰕: :)ݬ8 9)I tIi !E }:)N:I39I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.156867 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: !%Y>!]E* Xz(AYt*Z H@t*eV@yt*#t*s>t*H`Ẹ? $˿ `?@?@@3?L?)u*Z H@ u*It;Iu*CxBi>xBE)~SGF@=YEgE>AAQMHEIML;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U\:)U8 m9)aIa mtIia m!Ea e::)e :Ie9I9=O@Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iIi !2@%<:@%w: 9udE* a(A)4t*H>`%?3˿ X@?*?3?=?)u*MH@ u*+t;Iu*CxBr>xBIEHBp=H@iTIT)dG  a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>qqQuHEq}"<}>I I8ٮ QtI  UD9鰅F: l:)8 9)I tIi !E :)*:I-9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: kE* j(AYt*0H@t*V@yt*u't*By>t*H@A?`D Ee˿`P|?6?@?` ?)u*0H@ u*3t;Iu*Cx>j>x>qE)zGF@=Y=0:E>AAQEHEAMM>IQ I]8ٮQQ Q]tI Q U]D9QUu: U5:)Uu8 e9)aIa mtIia m!Ea e:)eԘ:Ie'9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: i!!aqE* C(AYt-wH@t-$W@yt-St-5ju>t-H:m? ͥ˿`Qk??`a?z?)u-wH@ u-s;Iu-CxUs>xUEiqIq)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5a:5>99Q=HE9E"<E>II IM8ٮII QUtI I UUD9IM: M|:)M8 ]9)YIY etIiY e!EY ]:)]:I]09qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: ^!xE* (A@ Yt*yH@t*&W@yt*t*oq>t*H 9r?@˿AYm?`ÿ?C??)u*yH@ u*s;Iu(xBi>xBEGB@AHD)GivAF@]YeX:e>aaQmHEim39m>Iq I8ٮq M8q QtI q UD9qu; uo;)uQ8 9)I tIi !E }:):I89I9*G2GFFrFbFEE!)5;I59 99i9I9YYiYY Y2@e<:@ew: ߙ|K~E* (AYt*H@t* 6W@yt* t*fu>t*H@C8`}?F-̿`1P? A?ua?@?)u*H@ u*h%s;Iu*CxRZe>xR Ei\I^C)GF@-Y5"5>11Q5HE1͝;>I I8ٮ QtI  UD9鰥: l:)R8 9)I tIi !E F:)|:ISA9I9*G2GFFrFbFEE);I9  i I i 2@<:@w: 1%V>%e>3E* -(AYt.IH@t.TZW@yt.c(t.Ox>t.H14@`?R4W̿F`.8??c?}?)u.IH@ u.ޓr;Iu,xRn>xRE)%+Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ( >ʉʉQIEʑ͕=;>I I%8ٮ Q%tI  U%D9: а:)w8 -9))I) 5tIi) 5!E) -ٮ;)-ٰ;I-%J9aIa9aODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: !m]E* /(A);I Yt*}H@t*4W@yt*5 *t*x>t*HY8?q`,̿I`N?C?`?I?)u*}H@ u*Ar;Iu*CxB"h>xBEHB=HFp=iPIR“C)SG< F@=YExE>AIQMIEIMnM>IQ I]8ٮQQ Q]tI Q UeD9QUu: UW:)U8 m9)aIa mtIia m"Ea eO:)e:Ie R9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.661714 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w:  HE* I(AYtZH@tZpW@ytZɭ!tZs>tZH15? ̿rL|?5?`b2?@]?)uZH@ uZq;IuZCxbDy>xfEE {dY|hn8****** ping requested ******~Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )jGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Yʵ:>ʱʱQIEʹͽi;>I I8ٮ QtI  UD9Ȳ: 9:)28 9)I tIi "E :):Ia\9I9=O@Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI i i!!2@-<:@5w: ioE* bc(AYt*H@t*FW@yt*it*Bu>t*Hm6?)@1̿N@? a?/]??)u*H@ u*mq;Iu*CxBv>xBGEiXI^C)+GF@]Ye:e?aaQmIEim$m?Iq I}8ٮqq Q}tI q U}D9qu: u:)u"8 9)I tIi "E :)ȗ:It*H2?@Xj ~u̿wH`~?E?༂?x?)u*oH@ u*q;Iu(xBi>xBEGFAAHD)GiyA xAF@=YE4E>AIQMIEIM׭;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U)8 m9)aIa mtIia m"Ea e::)eN:Iek9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: |E* (AYt*ܔH@t*AW@yt*W5t*Uw>t*H6ګ?d4(̿@J@Y4?@ ?n?(?)u*ܔH@ u*;p;Iu(x^o>xbEipIp)=SGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥU>ʡʡQIEʩͭ>>I I8ٮ QtI  UD9鰵: :)08 9)I tIi "E }:)Imt9I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: 9!%]>/E* Z(AYt*5H@t*@VW@yt*$i"t*H+v>t*H4`R?h(O̿ KE?M?^y? ?)u*5H@ u*dp;Iu*CxB0a>xBw E)-GF@]YeD;e>aaQeIEamM;m>Iq I}8ٮqq Q}tI q U}D9qu: ul:)uw78 9)I tIi "E p:)c:I|9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: E* (A)4t2H$5)?{7G̿@J ?'?`-? ?)u2H@ u2op;Iu0xF:m>xFEHFp=HHiTIT)]SGm4=iF@Y09>Q IE %>I) I58ٮ)) QUtI ) UUD9)-; -;)->8 e9)YIY etIiY e"EY ]:)]:I]܅9I9*G2GFFrFbFEE);I9 iIi 2@<:@%w: QE* (AYt*H@t*5W@yt*W] t*9uw>t*HF8?@S@m̿3LC'? ?m?`?)u*H@ u*Pp;Iu(xRp>xRE)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY5g 95>19Q=IE9=&=>IA IM8ٮAA QMtI A UMD9AE%: E:)EE8 ]9)QIQ ]tIiQ ]"EQ U:)U˚:IUZ9iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i!!E* I(AYt*H@t*BW@yt**Tt*,y>t*H 6? k`(̿GW?p??@m?)u*H@ u*Sq;Iu*CxNMl>xRLEi\I\)11Q5IE1=K;=>IA IM8ٮAA QMtI A UMD9AE: E>:)E L8 U9)QIQ ]tIiQ ]"EQ Uݱ:)Uw:IU)9iIi9i&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 192.709225 arcdeg .q'U'U*GQ2GYFYFYrFabFaEaEa)};I}9 yiIi 2@<:@w: E* _(A@ Yt*xiH@t*W@yt*t*t>t*H`;@R?`˿?T`? ݃?T?`T?)u*xiH@ u*q;Iu*CxBp>xB%EGF@AHD)Gi wA wAa 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm,8u>qqQuIEq}ӻ}>I I8ٮ QtI  UD9鰅\: :)S8 9)I tIi "E :):Iٞ9I9=O@Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E)E));I9 iIi 2@<:@w: E* q:2(AYt*zzH@t*'W@yt*&t*t>t*H@9 v?8˿ R@.??@J? ?)u*zzH@ u*q;Iu*CxBl>xBEiPIP)~SGF@=YEzE>AIQMIEIM*;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UY8 m9)aIa mtIia m"Ea e:)e,:Ie<9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>-i>E* L(AYt*R>H@t*]V@yt*"t*iz>t*H`S@?`ݥ]˿M5?Q? ? ?)u*R>H@ u*Ur;Iu*CxBp>xB%E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]GF@Yʭ:>ʱʱQIEʱͽ>I I8ٮ QtI  UD9: :)a8 9)I tIi "E :):I9I9*G2GFF!rF)bF)E)E1)M;IU9 QQiQIYaaiaa i2@u<:@uw: ߑ E* e(A);IYt6CH@t6V@yt6)%t6x>t6H??˿@cQ@P?"??`z?)u6CH@ u6 r;Iu6CxBj>xBqEHFa=HFa=i\I\)G!a 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅJѹ>ʁʁQIEʉ͍T:>I I8ٮ QtI  UD9鰕: c:)g8 9)I tIi "E :):In9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: 16E* l(AYt*G!H@t*RV@yt*F#t*÷v>t*HnCe?1F˿|X@?h?k? ?)u*G!H@ u*%s;Iu*CxBk>xBE)XGF@=YEn9E>AIQMIEIMPM>IQ I}8ٮQQ Q}tI Q UD9QUE; U;)Un8 9)I tIi "E :)c:I9I9*G2GFFrFbFEE);I9 iI99i99 92@E<:@Ew: yi!!E* "(AYt*H@t*V@yt*]t*t>t*HD0?-<˿8]??`G??)u*H@ u*s;Iu*CxNh>xREi`I`)eGF@YʝʡʡQIEʡͭ+N>I I8ٮ QtI  UD9鰵: :)u8 9)I tIi "E p:),:I9I9*G2GFFrFbFEE)-;I59 11i1I999iAA A2@M<:@Mw: YGE* 䁳(A Yt*G@t*V@yt*#t*_{>t*H JL?@2Bʿ Vo?$z?@? ?)u*G@ u*-t;Iu*CxB:m>xBEGDHD)~vGia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y>QIE# >I I8ٮ QtI  UD9ٮ: :)|8  9)I  tIi  "E :)A:I999I99AOUDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFybFEE);I9 iIi 2@<:@w: /E* ](AYt*G@t*V@yt*;z&t*Vx>t*HHt? -ʿ`Y@V?/τ???)u*G@ u*3t;Iu*CxRU_>xRS Ei^=I\)dGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅֹ>ʁʁQIEʉ͍9;>I I8ٮ QtI  UD9鰕K< w<)^8 %9)!I! -tIi! -"E! !)%ݖ:I%99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NMInitialize.q'UN@Vehicle HDG: 192.149627 arcdeg .q''*G2GFFrFbFEE)5;I59 11i1I199i99 A2@E<:@Ew: y%>-a>ZE* 9(AYt*G@t*݇V@yt*W't*x>t*H J@B?`OĤ ߼ʿ[@d??F?@?)u*G@ u*;:u;Iu(xNg>xRsE)GF@]YeKe>aaQeIEim0m>Iq I}8ٮqq Q}tI q U}D9quh: u:)u18 9)I tIi "E :) :I9I9=O@Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 i I IQiQQ Q2@]<:@]w: qAF* (A)p;IYt* G@t*hV@yt*;+t*Yx>t*HN^ ?;Y~ʿ_X?? ??)u* G@ u*du;Iu(xNt>xRlEHPHRp=ibf=I`)SG!!F@-Y5*5>99Q=IE9EE>II IM8ٮII QUtI I UUD9IM.: MF:)M8 ]9)YIY etIiY e"EY ]:)]:I]I9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: kF* t(AYt.G@t.gV@yt.v#t.:=x>t.H7N ?@L}ʿ4`@oQ?@n?@? ?)u.G@ u.7v;Iu.CxB|>xBE)dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iqQuIEquu>Iy I8ٮyy QtI y UD9y}: }>:)}8 9)I tIi "E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!!Y F* 4(AYt*G@t*IV@yt*~t*_|>t*H`^Q?=`TCʿ[`*?@~? :?#?)u*G@ u*u;Iu*CxB5g>xB*EiPIP)|F@=YEq;E>AAQMIEIMוM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UϞ8 m9)aIa mtIia m"Ea e:)e:IeY9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: hF* N(A Yt* G@t*=V@yt*p)t* {>t*HR@*?_*ʿ^?@1?? ?)u* G@ u* [v;Iu*CxZh>xZEG\H\ {\Y|\b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ixAa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@MYUyD]>YaQeIEamm>Iq I}8ٮqq QtI q UD9quk: u;)uW8 9) 9I tIi "E j:)~:I9I9*G2GFFrFbFEE);I9  i I i 2@%<:@%w: 1F* 'h(AYt.4G@t.?KV@yt._4t.I%z>t.H Qe? 7Fʿ_n?୑?? N ?)u.4G@ u.v;Iu.CxNj>xRqEiI“C)qF@Yʝ=>ʡʡQIEʡͭ;;>I I8ٮ QtI  UD9鰵; ;)ͬ8 9)I tIi "E :):I 9I9*G)2G)F)F1rFQbFYEYEY)m;Im9 iIi 2@<:@w: ߹%e>!r F* ](AYt*gG@t*V@yt*:\(t*2z>t*H`Vf?Fɿd{?o ??@D ?)u*gG@ u*v;Iu(xBf>xB E)~GF@=YE:E>AAQMIEIMm M>IQ I8ٮQQ QtI Q UD9QUo< UIp<)U}8 9)I tIi "E :)ض:I(9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I%9 !!i!I!))i)) )2@5<:@5w: aI&F* 7(A);IYt*SG@t*^AV@yt*3t*)y>t*H`/R?R 2ʿ@a`q|?\??c ?)u*SG@ u*v;Iu*CxBo>xBJEHDHFa=iTIX) +G=a 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu8:u>qqQ}IEy}2;>I I8ٮ QtI  UD9鰅: _:)~8 9)I tIi "E c:)|:I9I9&=M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'= N=Initialize.q'EN@Vehicle HDG: 191.811356 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: e,F* (AYt*kG@t*V@yt*&t* >t*HFVwf?IIɿY;;?„? ??)u*kG@ u* Iv;Iu*CxBi>xBE)~GF@=YEƺE>AAQMIEIM̻M>IQ I]8ٮQQ Q]tI Q UeD9QUS: Ux:)UG8 m9)aIa mtIia m"Ea e:)ec:Ie&9yIy9=O@Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEqEq);I9 iIi 2@<:@w: i!!<3F* (AYt*7G@t*B/V@yt*41+t*z>t*HS D?, wʿ@8aY? f? ?@ ?)u*7G@ u*ZZv;Iu*CxNo>xREi`I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅE>ʉʉQIEʉ͍Z;>I I8ٮ QtI  UD9鰕S: l:)Pȭ8 9)I tIi "E Ր:)o:I/9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ! 9F* (A Yt*lG@t*V@yt*% t*>t*H7Vf?ɤɿ`Z&?@???)u*lG@ u**u;Iu(xBo>x@GB?AHD)~vGiwAF@=YE`:E>AIQMIEIMi[M>IQ I]8ٮQQ Q]tI Q UeD9QUS: U:)Uϭ8 m9)aIa mtIia m"Ea e[:)e:Ie79yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: H@F* Q(AYt*G@t*,V@yt*!t* {>t*H>T?P` ʿ|_? ?x&? N ?)u*G@ u*u;Iu*CxBo>xBJEiPIP)dGF@=YE E>AAQMIEIMU@;M>IQ I]8ٮQQ Q]tI Q UeD9QUh: U:)Uխ8 m9)aIa mtIia m"Ea e:)e:Ieo@9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>-]>GF* ؀(AYt2B|G@t2M)V@yt2)"t2Ό|>t2HTs?ʿ@^ ?@X?`???)u2B|G@ u2u;Iu2CxNm>xR'E)-Ga 1ma 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ놹>ʑʙQIEʙ͝2>I I8ٮ QtI  UD9鰥S: x:)ݭ8 9)I tIi "E ̒:)g:I+I9I9*G2GFFrFbFEE);I9  i I  i 2@<:@w: )M2MF* Y7(A) I Yt*zG@t*'V@yt*Pt*&}>t*H`T@X?ܤ`8ʿ`l]]? 7]? 7R?`?)u*zG@ u*Cu;Iu(xBc>xB, EHB=HBp=iPIP)G%==F@EYEs:E>IIQMIEIU[U>IY I]8ٮYY QetI Y UeD9Y]1: ]:)]8 m9)iIi utIii u"Ei m:)m:ImxQ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: TF* 7Q(AYt*G@t*?V@yt*E;t*)>t*H2R ?W/ʿTH?}?@T?`?)u*G@ u*u;Iu(xB"h>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yv>QIE !N; >I I8ٮ QtI  UD9鰭:  :)8 9)I tIi "E :)-;I[9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9EAEA);I9 iIi 2@<:@w: i!!DZF* k(AYt*G@t*,V@yt*2$t*hy>t*H??@?)u*G@ u*(u;Iu(xBg>xBsEiZ=I^C)GF@Yʍ';>ʉʉQIEʑ͕R>I I8ٮ QtI  UD9鰝: J:)8 9)I tIi "E а:)I:Ib9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 191.739693 arcdeg .q'5'5*G92G9F9F9rFAbFAEAEI)];I]9 YYiaIaaaiii i2@u<:@uw: ߁,aF* (A Yt*G@t*;V@yt*t*u!>t*HR`ƞ?@\(ʿUA?=???)u*G@ u*u;Iu*CxB^>xB EGF@AHFAA)vGi F@=YE 9;E>AAQMIEIMt;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Un8 m9)aIa mtIia m"Ea e%:)e:Iej9I9=Oe@Contact HDG: 140.209768 arcdeg .'e'eOm4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iIi 2@<:@w: /VgF* Ş(AYt*ɴG@t*aV@yt*%t*I|>t*HN ? yrʿW ?{?` L??)u*ɴG@ u*,u;Iu*CxRp>xREibf=Id)%dGa 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅA>ʉʉQIEʉ͕;>I I8ٮ QtI  UD9鰝: J:)z8 9)I tIi "E p:):Is9I9*GQ2GQFYFYrFYbFaEaEa);I9 iIi 2@<:@w: %>-t>mF* n(AYt*G@t*LV@yt*^6t*>t*HP?`Hʿ`)S oL? ?l?`u?)u*G@ u*u;Iu(xBeq>xBnE)tF@Y%g$%>!!Q-IE)-Y->I1 I=8ٮ1 M=81 Q=tI 1 UED915: 5D:)5&8 M9)AIA MtIiA M"EA E:)Eȗ:IE{9YIa9a*Gq2GqFqFqrFybFyEE);I9 iIi 2@<:@w: 9htF* |(A)4t*H@L ? `ʿC ?;?2?`?)u*G@ u*u;Iu(xBeq>x@HFa=HFa=iPIP)  %=F@=YEY%;E>AIQMIEIM@;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U 8 m9)aIa mtIia m"Ea e :)eA:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: PzF* W(AYt*G@t*dV@yt*+t*x5>t*H@N?`6¥vʿDt?gr?`8? ?)u*G@ u*6u;Iu*CxB,t>xB#E)|a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye|e>aaQmIEim-m>Iq I}8ٮqq Q}tI q UD9qu: u-:)u8 9)I tIi "E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!!zF* 4(AYt*XG@t*cV@yt*Z#t*8>t*H K@&?ϥDʿ I?p?P??)u*XG@ u*6ju;Iu*CxRp>xR%Ei^=I`)1F@]Ye::e>aiQmIEim;m>Iq I}8ٮqq Q}tI q UD9quu: ux:)u8 9)I tIi "E )A:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: _F* 3 (A( (Ytz#G@tz.V@ytzDtz^>tzH@IF?ʿ IM2?Ȃ???)uz#G@ uzct;IuzCx5]>x5xEG9H=@A)ixAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>Q%JE!%/;%>I) I58ٮ)) Q5tI ) U=D9)-: -:)-G"8 E9)9I9 EtIi9 E"E9 =-:)=:I=9QIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEE);I9 iIi 2@<:@w: ύF* J9(AYt*G@t*V@yt*w+t*%>t*HI xB EiRf=IP)|F@Yʅ^>ʉʉQJEʉ͕,ع>I I8ٮ QtI  UD9鰝}: )(8 9)I tIi #E :):I¦9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 192.088374 arcdeg .q'5'5*G92G9F9F9rFAbFAEAEI)];I]9 YYiaIaaaiii i2@u<:@uw: ߁%R>-Y>趔F* "S(AYt*t*HGi?Jʿ 4`=I?Z???)u*xB*E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]Ga 1a 1 a 5a 5 a 9a 9 a -%a -% a 1%@a % a 5%@a - a 9-@a - a -M@a M !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@eYmum>ʁʁQJEʁ͍O9;>I I8ٮ QtI  UD9鰕: W:)08 9)I tIi #E :):I9I9=O @Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE!E!)E;IE9 IIiIIIQQiQQ Y2@e<:@ew: ߁F* m(A);IYt**G@t*5V@yt*aM"t*|>t*H@ Ko'?sʿa<@$?`I?@(`?`?)u**G@ u*et;Iu(x>n>xBEH@H@i\I\)SG=F@]YeD;e?aaQeJEamm?Iq I}8ٮqq Q}tI q U}D9qu2: u5:)u68 9)I tIi #E ::)o:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: y*ˡF* (AYt6H@t6V@yt6?Pt6*>t6HDx^ E)Ga 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-^:->11Q5JE1= <=>I9 IE8ٮ99 QEtI 9 UMD99=F: =):)==8 9)I  tIi  #E ;);I9I9*GQ2GQFQFQrFYbFYEYEY);I9 iIi 2@<:@w: iF* ?V(AYt*G@t*V@yt*-t*>t*HGH`rd?@ʿJCશ?`a???)u*G@ u*t;Iu*CxN"h>xREi`I`)%GF@]Ye1e>aaQeJEim߳m>Iq I}8ٮqq Q}tI q U}D9qu2: u:)uUD8 9)I tIi #E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: F* f0(A Yt*H@t*V@yt*1(t*C>t*H XE ?S`"˿ ,n?@%? 3??)u*H@ u*s;Iu*CxBRr>xBEGDHD)~ׄGivAwAF@=YELC:E>AIQMJEIM4;M>IQ I]8ٮQQ Q]tI Q UeD9QU: Ux:)U(K8 m9)aIa mtIia m#Ea eՐ:)e :Ie 9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: F*  (AYt*^G@t*iV@yt*-%t*aׄ>t*H@TG`j?Φyʿ;7 .?`N?,k? h?)u*^G@ u*ds;Iu*Cx^l>xbEilIl)=Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥM9>ʡʡQJEʡͭs3>I I8ٮ QtI  UD9鰵: :)AR8 9)I tIi #E [:)N:I9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9%>-l>.F* (AYt*H@t*V@yt*2%t*>t*H@FL?% i ˿GW? O? ??)u*H@ u*3s;Iu*CxN}v>xRE)UGF@eYeq7m>iiQmJEiua:u>Iy I8ٮyy QtI y UD9y}%: }:)}Y8 9)I tIi #E :)ȗ:I?9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: F* h(A)(I(Yt~ H@t~V@yt~8t~n>t~H@E@? g@˿C1? ??A?)u~ H@ u~s;Iu~Cx }v>xHQHQiqIq)G%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@UYUDo:]>YYQ]JEYeq:e>Ii Iu8ٮii QutI i UuD9im: m0:)mt`8 }9)yIy tIiy #Ey }O:)yI}k9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.222437 arcdeg .q''*G2GFF rFbFEE)-;I-9 ))i)I)11i11 92@=<:@Ew: Q@F* "(AYt*; H@t*FV@yt*&t*Ӄ>t*H E@G?˿9?ڄ?K?`?)u*; H@ u*Bs;Iu(xBs>xBE)|F@=YEE>AAQMJEIMYw8M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)Uf8 m9)aIa mtIia m#Ea e::)eo:Ie+9 I 91=O@Contact HDG: 140.209768 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: )i!!jF*  y<(AYt*G@t*(V@yt*1t*m݅>t*HJ FxR Ei\I^C)GF@-Y-ۺ5>11Q5JE1=ǻ=>IA IM8ٮAA QMtI A UMD9AE:: E:)Em8 U9)QIQ ]tIiQ ]#EQ U:)U@:IU9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@uw: ߉RF* RV(A Yt*G@t*V@yt*{&t* ߀>t*HH \?٥4ʿjHn?ބ?`?u?)u*G@ u*s;Iu*CxBn>xBEGDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )e҄GiuxA}xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QJE:>I I8ٮ QtI  UD9: # <)cu8 =9)1 =9I1 =tIi1 =#E1 5w:)5i:I5o9II9*G)2G)F)F)rF1bF1E9E9)u;Iu9 qqiqIyi 2@<:@w: |F* I.p(AYt*G@t* V@yt*<$t*%>t*HHk? ʥʿ@K1???@Y?)u*G@ u*s;Iu*CxBu>xBE){FbI{Di{F<={D{D{FPA{D|F(TB9|FID?]RLi`IbC)%vGF@]Ye:e>aaQmJEimԝ:m>Iq I}8ٮqq Q}tI q UD9qu: u:)u{{8 9)I tIi #E ];);y;I 9I9*G2GFFrFbFEE2EzE(TBEpnR@@DEID?]RLEbEEҥDXz51?@9w#E͒yQ-?tJǿE@=DHdg To Contact =142.424839 degreesZEIAbE?%:E;o$?BE,o$?JEo REi jErE4);I9 iIi !2@%<:@-w: 9$]Dacoustic_contact_range 53.040001 m$ehTrackAcousticContact.heading_to_contact 2.485782 rad$eLDUSBL_Hydroid.xAngle -50.699999 arcdeg->-a>hF* (AYtG@tvV@ytzM-tU>tHL?D᥿ʿ HB??@x-*E)dGa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yʕ>ʑʙQJEʙ͝ƻ>I Im8ٮ QmtI  UmD9鰥I< x<)8 }9)qIq }tIiq }#Eq u:)uA:Iu9I9*G2GFFrF bF E E )e;I9 iIi 2@<:@w: ;F* (A)4t.HLI H?ՋPʿ>`p ?@,?@6F?O?)u.G@ u.s;Iu.Cx>k>xBEH@HBp=iPIT)G  4=F@Y%;%>!)Q-JE)-;->I1 I=8ٮ11 Q=tI 1 UED915b: 5f:)5#8 e9)QIQ mtIiQ u#EQ U;)UK};IU9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: AF* (AYt2G@t2 XV@yt2g6&t2>t2HO@? !GR_ʿP!^?Ƅ???)u2G@ u2ys;Iu2CxRvW>xR|E)SGF@EYU;U>QQQ]JEy}>I I8ٮ QtI  UD9鰅: J:)48 9)I tIi #E :)j:I]&9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rF bFEE)E;IM9 IIiIIIQqiqq y2@}<:@w: ߱i!!F* 8(AYt*|G@t*V@yt*&6t*R{>t*HK6?ʿ`V?Ć?@ ? ?)u*|G@ u*s;Iu*CxBj>xBqEihIh)EdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>QJE;>I I8ٮ Q%tI  U%D9: W:)l8 -9))I) 5tIi) U#E) -ٮ;)-;I-G/9aIa9a&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 192.028733 arcdeg .q'E'E*GA2GM@FIFirFqbFqEqEy);I9 iI{O@i@ 2@<:@w: $MRHorizontalControl.headingCmd 2.485782 radFF* w(A xrPY>xvEG!H!)GiwAwAF@Yʽ>QJE>I I8ٮ QtI  UD9: D:))8 9)I tIi #E ::)o:I79I9=Oe@Contact HDG: 142.424839 arcdeg .'e'eOe4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iIY@i 2@<:@w: G* T (AYt*G@t*)BV@yt*'t*Q>t*H R?LM@}4ʿNz?@?R??)u*G@ u*,t;Iu*Cx>j>xBqEiLIL)SGF@=YE;E>AAQEJEIM+M>IQ I8ٮQQ QtI Q UD9QU'< UX<)UǤ8 9)I tIi #E :):I@9 I 9 *G92G9FAFArFIbFIEIEI);I9 iI@i 2@<:@w: -R>-l>G* /%(AYt*4G@t*?SV@yt*$t*}>t*HOP@t? Uʿ W?@?e?M?)u*4G@ u*s;Iu(xBi>xBNE)Ga 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm9m>iiQmJEqu ';u>I I8ٮ QtI  UD9鰝S: а:)ի8 9)I tIi u#E <)ExnEHrp=Hra=iI)evGae%=F@}Yʅ>ʁʁQJEʉ͍>I I8ٮ QtI  UD9鰕ܹ: ߼:)8 9)I tIi #E F:)|:IP9I9*G2GFFrFqbFyEyEy);I9 iI تi 2@<:@w: G* *X(AYtBG@tBXV@ytBtd'tB|>tBH`O`)?ΤJ`ʿ4Y?v?@B?`?)uBG@ uBTJt;IuBCxJZe>xJ E {LY|Ln8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Y>  Q JE  I:5>IA IM8ٮAA QMtI A UUD9AEw: E/=)E8  9)I tIi #E <)t:H@V`X?@taɿ@?X@\? ?@?^?)u:eG@ u:mt;Iu:CxNsj>xR(E){RivI{Pi{R={P{P{R`A{P|RVB9|Rl'I?Z:`BipIr“C)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y]W9>Q JE  . >I1 I=8ٮ11 Q=tI 1 UED915: 5c:)58 M9)AIA MtIiA M#EA E:)EԘ:IEkb9yIy9*G2GFFrFbFEE2EzEVBE@FEl'I?Z:`BEivEEG+@$^CCCA@?1i9%E Ֆ6?$RɿEĈ@=DHdg To Contact =137.451000 degreesZE8BbE:EBo$?BE;o$?JEl REo jE)rE);I9 iI~i 2@<:@w: Q$Dacoustic_contact_range 53.639999 m$hTrackAcousticContact.heading_to_contact 2.398973 rad$LDUSBL_Hydroid.xAngle -55.150000 arcdegm#G* (A Yt6G@t6t6HR!? JQ)ʿ s`???` ?)u6G@ u6v@t;Iu4xJj>xJqEGJ?AHL)GiF@-Y55>99Q=JE9=;E>IA IM8ٮAA QMtI A UUD9AEܹ: E:)E@Ǯ8 ]9)YIY ]tIiY e#EY ]:)]:I]Sj9qIq9q*G2GFFrFbFEE);I9  i I  li 2@<:@w: 10)G* (AYt2ъG@t27V@yt2t2{>t2H +S`á? ̤` ʿ`B?=6?v?@ ?)u2ъG@ u2jt;Iu2Cx:Ze>x: EiLIL)~aaQeJEaml?m>Iq Iu8ٮqq Q}tI q U}D9quͭ: u:)u;ή8 9)I tIi #E  :):Ir9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIpfi 2@<:@w: V>]>0G* S(AYt*,vG@t*7#V@yt*!,t*ix>t*H -U Æ?@ӣɿf_?*?? ?)u*,vG@ u*mt;Iu(x>c>xB E)-GF@=YE<E>AIQMJEIMNU>IQ I]8ٮQQ Q]tI Q UeD9QUN: U:)U ծ8 m9)aIa mtIia m#Ea eɏ:)e:IeZ{9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.705911 arcdeg .q''*G2GĈ@FFrFbFEE);I9 iIA@iĈ@ !2@%<:@-w: 9$]RHorizontalControl.headingCmd 2.398973 radQ=6G* +(A)4t*HQ`?:Fʿ`Q`S? 8?`?~ ?)u*zG@ u*3t;Iu*Cx>Wx>xBEHBa=H@iPIRC)~GR=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yx>QJEο;>I I8ٮ QtI  UD9ٮ: :)Zܮ8 -9)!I! -tIi! -#E! %:)%:I%`9YIY9a=O@Contact HDG: 137.451000 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)M;IU9 QQiQIQ]~@iYY Y2@e<:@ew: ߙ gt*HVi?`Τɿ@#XoO?`??'?)u*YnG@ u*Bt;Iu*CxRi>xRE)GF@]Ye`:e>aaQmJEimm>Iq I8ٮqq QtI q UD9qup< up<)u8 9)I tIi #E >:)=:I9I9*G2GFF!rF!bF!E)E))=;I=9 AAiAIAMh@iII I2@U<:@Uw: ii!!EOCG*  (AYt**G@t*50V@yt*(t*{>t*HS?@]`Uʿ^L??E'?6 ?)u**G@ u*#t;Iu*CxNe>xRP Ei\I\)Ga 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ8>ʁʁQJEʁ͍L;>I I8ٮ QtI  UD9鰕: :)8 9)I tIi #E -:) :I 9I9*G2GFFrFQbFYEYEY)m;Iu9 qqiqIq}@}iyy 2@<:@w: ߙyIG* '(A Yt*&G@t*1MV@yt*8t* y>t*HQ?ߤ &Jʿa/i? ǂ?`C?l?)u*&G@ u*s;Iu(xBo>xBEGBAAHD)~jGixAxAF@=YE=;E>AIQMJEIM_;M>IQ I]8ٮQQ Q]tI Q UeD9QQ Q)U8 m9)aIa mtIia m#Ea eO:)ec:Ied9yI9*G2GFFrFbFEE);I9 iIĈ@i 2@<:@w: `PG* ՖA(AYt*G@t*DV@yt*+t*:Ax>t*HQ ? 9ʿcW?a?"??)u*G@ u*s;Iu(xBi>xBNEiPIP)vGF@=YETNE>AIQMJEIM了M>IQ I]8ٮQQ Q]tI Q UeD9QUl: U:)U8 m9)aIa mtIia m#Ea eF:)eZ:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>->VG* Ot[(AYt*LG@t*WRV@yt*63t*!H|>t*HTP?^Tʿ=Z0?f?7?)?)u*LG@ u*g^s;Iu*CxBj>xBqE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )udGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%JE)-:5>I9 IE8ٮ99 QMtI 9 UMD99=; =:)=8 ]9)QIQ ]tIiQ e#EQ U:)U:IU9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: 1\G* CTu(A);I;Yt*3G@t*>iV@yt*(t*>t*HN?~`ʿSQq9?@P?`??)u*3G@ u*Fs;Iu*Cx>xp>x>EH@HBp=){B%I{@i{BT>{@{@{BA{@|BzvB9|B9m1?F<i`I`)%G%4=-%=F@]Y]N;]>aaQeJEamq;m>Iq Iu8ٮq M}8q Q}tI q U}D9qus: u:)u\8 9)I tIi #E :) :I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzEzvBEZi.?@rGJE9m1?F<E%EEDŽ\DVxE@#)EmWq忱;?ԬʿE:@=DHdg To Contact =133.249150 degreesZE/BbE,%:E;o$?BEBo$?JEe REl jEwMrE));I9 iIi 2@<:@ w: $5Dacoustic_contact_range 61.619995 m$=hTrackAcousticContact.heading_to_contact 2.325636 rad$ELDUSBL_Hydroid.xAngle -59.599998 arcdegqcG* )(AYt*gG@t*r^V@yt*nT"t*zx>t*H*O? kʿ_@f?xJ?@2??)u*gG@ u*s;Iu*Cxfc>xf E)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʽBϹ>QJEϺ>I I8ٮ QtI  UD9: :)t 8 9)I tIi #E :)g:IĿ9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' Ne@Vehicle HDG: 191.913043 arcdeg .q'm'm*Gi2Gm:@FiFirFqbFyEyEy);I9 iIC@i:@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.325636 radi!!iG* (AYt*t*H@Hn?h`ʿ\]`%? &?@?`?)u*xBLEiPIP)GF@]Yeze>aaQmJEim<m>Iq I8ٮqq QtI q UD9qu; u;)u'8 9)I tIi #E :),:I9I9=OE@Contact HDG: 133.249150 arcdeg .'E'EOE4Initialize Wait Component.*GI2GIFIFIrFqbFqEqEy);I9 iI0@i 2@<:@w: ^pG* (A Yt*G@t*V@yt*<'t*>t*HJ >?0lpʿO?`~???)u*G@ u*r;Iu*CxB:m>xBEGB@AH@)~+GiwAwAF@ YN:>QJE2%>I! I-8ٮ!! Q-tI ! U5D9!%\: %:)%8 =9)1I1 EtIi1 E#E1 5:)5:I5T9QIQ9Q*Ga2GaFiFirFqbFqEqEq);I9 iIl@i 2@<:@w: ߱vG* (AYt*=G@t*HV@yt*< t*1>t*HQHxB EiPIP)~SGa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYm:m>iiQmJEiuY;u>Iy I8ٮyy QtI y UD9y}t: }W:)} 8 9)I tIi #E ͭ:)˵:I9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: !-a>}G* 5(AYt*S H@t*^V@yt*st*}{>t*HEғ?`˿R???@ ?)u*S H@ u*r;Iu*CxBn>xBE)zdGF@=YE*8E>AAQMJEIM]];M>IQ I]8ٮQQ Q]tI Q UeD9QUP: U:)U'8 m9)aIa mtIia m#Ea e:)eZ:Ie{9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: G* Pq(A) IYt*H@t*ٽV@yt*s/t*x>t*HE?`wa&˿`U`Da?a???)u*H@ u*Tr;Iu*CxBi>xBEH@H@iR=IP)%= a 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQmKEiuR:u>Iy I8ٮyy QtI y UD9y}%: }į:)}.8 9)I tIi #E :):I9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: $G* zR*(AYt2 )H@t2+V@yt2;t2z>t2HvB?@U˿O???T ?)u2 )H@ u2r;Iu2Cx>eq>x>nE)GF@=YEpE>AAQEKEAMs;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U58 m9)aIa mtIia m$Ea e:)eV:Ie9yIy9y*G2GFFrFbFEE);I9 iI:@i 2@<:@w: i!!G* F'D(AYt*BH@t*V@yt*8,t*i>t*H??@B˿@T?@?O? ?)u*BH@ u*er;Iu*CxZj>xZqEiff=Ih)-GF@]Ye;e>aaQeKEimy;m>Iq I}8ٮqq Q}tI q U}D9quu: u5:)u<8 9)I tIi $E  :) :I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 'G* ^(A@ Yt*|H@t*V@yt*e?#t*X>t*H 'D 4?dY9˿@!BJ?g? ? ?)u*|H@ u*r;Iu(xB,t>xB#EGB?AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@}Yʅ:>ʉʉQKEʱͽ>I I8ٮ Q5tI  U5D9d< Ge<)&D8 =9)9 =9I9 EtIi9 E$E9 =؛:)=e:I=9qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.280521 arcdeg .q''*G2GFFarFqbFqEqEy);I9 iIi 2@<:@w: )QG* w(AYt*2wH@t*=$W@yt*w,t*fw>t*H`: o?,]˿@M),?ᎅ?? ?)u*2wH@ u*ur;Iu*CxB\>xBEiXIX)GF@Yʥĺ>ʩʩQKEʩ͵z<>I I8ٮ QtI  UD9鰽: :)tJ8 9)I tIi $E p:):IM 9I9=OU@Contact HDG: 133.249150 arcdeg .'U'UO]4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi)};I}9 yiIi 2@<:@w: ߡ%V>!9G* (AYt:AH@t:V@yt:#1t:x>t:H@? ?@7˿`P \?9?`?`?)u:AH@ u:r;Iu:Cx^{]>xb/E)GF@YE{HE>IIQMKEIUEU>IY I]8ٮYY QetI Y UeD9Y]: ]):)]Q8 m9)iIi utIii u$Ei mа:)m:Im>9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: cG* (A) IYt*{H@t*(W@yt*30t*>t*H 9`n?nh`˿ = :%?@?@u??)u*{H@ u*r;Iu*CxBb>xB EHB4=HBa=iTIT)G 4= 4=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm/9m>qqQuKEq}G<}>I I8ٮ QtI  UD9鰅: J:)X8 9)I tIi $E J:)I:I-9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: GKG* zm(AYt*^H@t* W@yt*x+t* Ё>t*H</?IĦ@S˿@8@?@uv?j ??)u*^H@ u*yr;Iu(xBsj>xB(E)~SGF@=YEJ:E>AIQMKEIMcM>IQ I]8ٮQQ Q]tI Q UeD9QUQ: Uv:)U^8 m9)aIa mtIia u$Ea e::)eo:Ie%9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!)WxG* T(AYt &GH@t 1V@yt $t s|>t H]?# ?`* ˿@I?a?@~x-EiIII)dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y?:>QKE^Y>I! I-8ٮ!! Q-tI ! U-D9!%W: %$:)%Ff8 =9)1I1 =tIi1 =$E1 5%:)5|:I5.9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߱G* (*(A@ Yt*xH@t*%W@yt*wp,t*u>t*H:s?Wo˿=Q4??Of?@%?)u*xH@ u*r;Iu(x>:m>xBEG@H@)~GiF@=Y=E>AAQEKEAM<M>IQ I]8ٮQQ Q]tI Q U]D9QU: Ux:)Ul8 e9)aIa mtIia m$Ea e:)e9:Ie69yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: G* P(AYt* t*H@?@쪥z˿@xJ`?nʅ?@xREi`I`)5sGF@]Ye&e>iiQmKEimu>Iq I}8ٮqq QtI q UD9quu: u5:)us8 9)I tIi $E Ր:)ȗ:I0?9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>!G* ,(AYt.8ZH@t.CW@yt.Ot.H.=52?`W ˿<n?ډ??P?)u.8ZH@ u.r;Iu.CxBB`>xB E)E+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ>ʩʩQKEʩ͵S;>I I8ٮ QtI  UD9鰽%: J:)z8 9)I tIi $E :):IG9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I9 !!i!I!))i)) )2@5<:@5w: IՙG* F(A) IYt*2H@t*'V@yt*D%t*>t*HAT?g˿>@?`Q?`b?{?)u*2H@ u*r;Iu*CxB}>xBEHBR=HBp=iPIP) SG%=%=F@Yʭ^;>QKE[»>I) Ie8ٮ)) QmtI ) UD9)- < -<)-݁8 9)I tIi $E :):IP9q Software FaultI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 192.363139 arcdeg .q'E'E*GI2GIFiFirFqbFqEqEy);I9 iIi 2@<:@w: !-xSoftware Fault in component: DeadReckonWithRespectToSeafloorG* d`(AYt*M#H@t*XV@yt*'t*$+x>t*H0Cw?@=9J˿kU H?E?w?`.?)u*M#H@ u*@r;Iu*CxBMl>xBLE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y ә >  QKEʩ͵u>I I8ٮ QtI  UD9鰽: :)8 9)I tIi $E Ԙ:):I_Z9I9=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi!!11i19 92@e<:@mw: ߉!Clearing failed state for component DeadReckonWithRespectToSeafloorq GG*  nz(AYt*M/H@t*XV@yt*{)t*t*H@A? a˿`V`*?6#???)u*M/H@ u*r;Iu*CxBc>xB, EiXI\)GF@%Y-5c-?))Q5KE15;5 ?I9 IE8ٮ99 QEtI 9 UMD99=h: =:)= 8 U9)III UtIiI U$EI M:)M:IMa9aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: G* |F(A Yt*H@t*V@yt*%t*z>t*HjF@$?@_˿`GT??=?@?)u*H@ u*r;Iu*CxBeq>xBnEGDHD)Gi  wAa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQmKEiu^ͻu>Iy I8ٮyy QtI y UD9y}F: }):)}'8 9)I tIi $E O:)A:Ii9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: G* !(AYt*G@t*V@yt*0-t*iz>t*HI gK?t`ʿJ mZ??@ ??)u*G@ u*r;Iu(xBv>xBGEiTIV“C)GF@=YEԗE>AIQMKEIMקM>IQ I]8ٮQQ Q]tI Q UeD9QU: Ux:)U8 m9)aIa mtIia m$Ea e:)e:Ie*r9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: !-]>G* (AYtfoG@tfzV@ytfnW$tfy>tfH`J@C?` ʿeY@"? ׊??` ?)ufoG@ uf3r;IufCx~u>x~E)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y: >  Q KE ԃ>I I%8ٮ Q%tI  U%D9%: į:)J8 -9))I) 5tIi) 5$E) -J:)-:I-6{9AIA9A*GY2GYFYFYrFabFaEaEa)};I}9 yyiyIi 2@<:@w: ߡG* k(A) I Yt*G@t*^V@yt*,t*t>t*HO ?`Nߣ@lʿg ?`?@E??)u*G@ u*Qr;Iu*CxZ,t>xZ#EH^a=H\ihInC)5G==9F@}Yʅt>ʁʁQKEʉ͍ܻ>I I8ٮ QtI  UD9鰕: :)⪯8 9)I tIi $E  :):I[9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ;G* _(AYt*G@t*iV@yt*w4t*>|>t*HM` ?Nʿ@W?Ҏ?5?9?)u*G@ u*r;Iu*CxBHf>xB E)5dGF@}Yʅ3>ʁʁQKEʉ͍:>I I8ٮ QtI  UD9鰕l: :)DZ8 9)I tIi $E :),:Iދ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !i)) $H* ڏ (AYt*DpG@t*OV@yt*mt*&>t*HU`sa?V`dɿOO? ?#?@?)u*DpG@ u*Cr;Iu*CxBU_>xBS EiPIP)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ$;>ʩʩQKEʩ͵r;>I I8ٮ QtI  UD9鰽: :)ø8 9)I tIi $E t:)I:I{9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 191.685257 arcdeg .q'M'U*GQ2GQFQFYrFYbFYEaEa)u;I}9 yyiyIyi 2@<:@w: ߡN H* j/ (A@ Yt.LG@t.U@yt.-)t.iz>t.HcY3?@AͣOɿf?,5?`?` ?)u.LG@ u.s;Iu.CxBn>xBEG@HD)SGi  xAF@=YEI0E>AAQMKEIMŶM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)Un8 m9)aIa mtIia m$Ea e:)eA:Ie9yIy9=O}@Contact HDG: 133.249150 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: q7H* ^MI (AYtfRG@tf$U@ytf+'tf'r>tfHXiG?` =ɿ u?m???)ufRG@ ufs;IufCxng>xrsEi|I|)]dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yo9>QKET:>I I8ٮ QtI  UD9S: :)Ư8 9)I tIi $E :)I9I9*G2GFFrFbFEE) ;I9 iIi 2@%<:@%w: Y!%Y>`H* !c (AYt*G@t*U@yt*-t*Qw>t*H ^9?`g;ɿBqR?5?ީ?`?)u*G@ u*Ds;Iu*CxNc>xR, E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@YIs>QKEc>I I8ٮ QtI  UD9ի: :)ͯ8 9)I tIi $E ;) ;I9I9*G12G1F9F9rFAbFAEIEI);I9 iIi 2@<:@w: 1H* | (A) IYt*G@t*U@yt*7t**>t*HU`q?D@qɿ`^9?c?`?@1?)u*G@ u*Ls;Iu*CxB?s>xBEHF=HDi\I\)G4=!F@-Y-ֺ5>11Q5KE1=)=>IA IM8ٮAA QMtI A UMD9AE: E:)Eԯ8 U9)QIQ ]tIiQ ]$EQ Ux:)Uϸ:IU49iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: 9r%H* ז (AYt*F@t* tU@yt* t*]v>t*Hf`W6? H@ȿ {*??{?@?)u*F@ u*]Hs;Iu*CxB"h>xBE)a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYec;e>iiQmKEiuu>I I8ٮ QtI  UD9鰝: :)(ۯ8 9)I tIi $E  :):I9I9*G2GF1F1rF9bF9EAEA)u;Iu9 qyiyIyyi 2@<:@w: ߡi%@A!+H*  (AYt2F@t2yU@yt2#t2m>t2HetL?ҡȿ #?t?9s?#?)u2F@ u2 s;Iu2CxB0a>xBw EiPIP)~SGF@=YEE>AAQMKEIMd:M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U8 m9)aIa mtIia m$Ea a)e:IeG9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Ƀ2H* ; (A@ Yt*F@t*LU@yt*$t*< q>t*H IjB?>ɡWSȿ@??̐?`??)u*F@ u*s;Iu*CxFRr>xFEGLHl)GiF@Y>QKEԻ>I I8ٮ Q%tI  U-D9Ӟ; ;)/8 M9)AIA MtIiA M$EA E=:)E:IE`9YIY9aOmDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFybFEE);I9 iIi 2@<:@w: @8H* h (AYt*F@t*GU@yt*(t* e>t*Hjy?~pIȿ@< %?@~?@Hd?@}3?)u*F@ u*mt;Iu*CxBe>xBP EiPIP)ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭf2>ʩʩQKEʩ͵#K>I I8ٮ QtI  UD9鰽: :)8 9)I tIi $E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 190.938266 arcdeg .q'U'U*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡ%V>%a>>H* $E (AYt* |F@t*)U@yt*)t*0f>t*Hm?}e`R ȿo@%O?`xBsE)~҄GF@=YEPE>AAQMKEIMM>IQ I8ٮQQ QtI Q UD9QUp< Up<)U8 9)I tIi $E :):I9I9=OU@Contact HDG: 133.249150 arcdeg .'U'UOU4Initialize Wait Component.*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡEH* !(A) I Yt*GF@t*RIU@yt*73*t*tBc>t*Hj?IM@Lȿ1 ?MF?],?`6?)u*GF@ u*_t;Iu(xBP>xBEHFp=HFa=iPIRC)ƄG=a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeGm>iiQmKEiu;u>Iy I8ٮyy QtI y UD9y}: }а:)}8 9)I tIi $E ::),:Ik9I9*G2G1F9F9rF9bFAEAEA)u;I}9 yyiyIyi 2@<:@w: KH* 1!(AYt.jF@t.u3U@yt.5-t.4zb>t.H`l'?`!ȿ`#?`??`8?)u.jF@ u.s;Iu.CxRj>xRqE)%AAQEKEAEu[M>II IU8ٮI MU8I QUtI I U]D9IM: M:)M[8 e9)aIa etIia m$Ea e:)eԘ:Ie9qIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: i%?A)5RH* (K!(AYt*zF@t*YU@yt*`&t*e>t*H@i`w?<nlȿ`@ ?˄? Kc? 3?)u*zF@ u*ʓs;Iu*CxNPY>xREi\I^C)GF@-Y-Ç:->11Q5KE1=";=>IA IM8ٮAA QMtI A UMD9AE}: E>:)E: 8 U9)QIQ ]tIiQ ]$EQ U:)U:IUJ9iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: XH* ͮe!(A Yt*)F@t*4yU@yt*Ƅ)t*f>t*Hf`U?ȿΗK?0? ؔ?0?)u*)F@ u*'/s;Iu*CxBp>xB%EGFAAHFAA {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGixAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%->))Q5KE1=";=>IA IM8ٮAA QUtI A UUD9AE; E;)E8 e9)Y e9IY mtIiY m$EY ]:)]e:I]9I9*G2GFFrFbFEE) ;I9 iIi !2@%<:@%w: a&_H* !(AYt.IF@t.TlU@yt.8/t.tj>t.H7g xBEiXI\)ׄGF@]Yepe>aaQeKEimWm>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi $E :):Is 9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %]>%Y>[fH* f!(AYt* G@t*U@yt*j$t* (m>t*H_z?@ 0 &ɿ& ?F?@`?$?)u* G@ u*lr;Iu(x^0a>xbw E)=GF@MYM:U>QQQUKEQ]<<]>Ia Im8ٮaa QmtI a UmD9ae\: et:)e8 }9)qIq }tIiq }$Eq u:)u:Iu9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 8lH* -B!(A)p;IYt.&F@t.1U@yt.7t.Qdp>t.H?b@?@\`ȿ2{y???@?)u.&F@ u.r;Iu.CxB5g>xB*EH@H@iTIT)G%%=!a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y94>!!Q%KE!-g->I) IU8ٮ)) Q]tI ) U]D9)-; -s;)-Q'8 e9)aIa etIia m$Ea e:)e|:Ie9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 191.244218 arcdeg .q'E'M*GI2GIFiFirFqbFqEyEy);I9 iIi 2@<:@w: P sH* !(AYt*G@t*U@yt*~7t*Uw>t*H0^ ?ǹxB E)~Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʽuH8>QKE;>I I8ٮ QtI  UD9̳; ;).8 9)I  tIi  $E :)c:IR%9!I!9)=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i-@A)JyH* M!(AYt**G@t*U@yt* 2t* v>t*H\?]wdɿr@?-ƃ?u? I?)u**G@ u*r;Iu(xB`k>xBEiPIP)SGF@=YEk;E>AAQMKEIM;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U :)U48 m9)aIa mtIia m$Ea e}:)e:Iei-9I9*G)2G)F)F1rFQbFYEYEY)m;Iu9 iIi 2@<:@w: ߹2H* "(A Yt.(G@t.U@yt. /t.u>t.H\X?袿@t`ɿ@Qsv?@?@i?`?)u.(G@ u.r;Iu.CxN5g>xR*EGPHR@A)%dGi%wA!F@-Y5b(5>99Q=KE9EE>II IM8ٮII QUtI I UUD9IM: Mt:)M;8 ]9)YIY etIiY e$EY ]:)]9:I]59qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: :\H* G"(AYt*M^G@t*X V@yt*8,t*ݱ~>t*H`WdQ?YH ɿ \`R ???x?)u*M^G@ u*r;Iu*CxR`k>xREi\I\)!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅl9>ʉʉQLEʉ͕<>I I8ٮ QtI  UD9鰝S: :)B8 9)I tIi $E ::):I>9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !%R>%]>H* 4"(AYt.y"G@t.U@yt.%,t.ͭ}>t.H] ?6Sɿ`d?ऄ?b?@w?)u.y"G@ u.3r;Iu.CxNi>xRE)!F@5Y=?7=>9AQELEAEM>II IU8ٮII QUtI I UUD9IM: M:)MKI8 e9)YIY etIiY e%EY ]̒:)]$:I]F9qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: +nH* NcN"(A);I Yt*ZUG@t*eV@yt*W0t*r>t*HwXQ? 梿 ɿ Kt??@?`d?)u*ZUG@ u*r;Iu*CxB:m>xBEHFa=HDiPIP)4= =a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm"3m>qqQuLEqu;}>I I8ٮ QtI  UD9鰅:: :)LP8 9)I tIi %E :):IO9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: H* ?h"(AYt*HIG@t*SU@yt*"t*ax>t*HY`|,? Уɿ jf? V??@B?)u*HIG@ u*r;Iu*CxRh>xRE {TY|TZ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Y%w;%>))Q-LE)5D=>IA IM8ٮAA QMtI A UUD9AE_l< Em<)EW8 9)I tIi %E :):IX9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi   2@<:@w: Qi-?A)݀H* ~"(AYt*"2G@t*-U@yt*@-t*}>t*H \W?`:ѣrɿ`b`K?`?he?@F?)u*"2G@ u*+r;Iu*CxBd>xB EiXI\)EGF@uYu}>yyQ}LEyͅs>I I8ٮ QtI  UD9鰍:  :)^8 9)I tIi %E h:):I`9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 191.467975 arcdeg .q''%*G!2G!F!F!rF)bF)E)E1)E;IE9 AIiIIIIQiQQ Y2@m<:@uw: ߉H* E"(A Yt*FG@t*U@yt*$2t*.}>t*HYT(?գɿ` ?{D?d?@G?)u*FG@ u*r;Iu(xBi>xBEG@HD)GiuA a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YT1>QLEXE;>I I8ٮ QtI  UD9t: а:)>e8  9) I   tIi  %E  ɏ:) :I mi9AIA9A=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I=9 99i9I9QQiQY Y2@e<:@uw: ߉-լH* ӵ"(AYt*MG@t*XU@yt*@*t*}x>t*H`_`x?^.&6ɿo l?G??`W?)u*MG@ u*r;Iu(xBxp>xBEiPIT)GF@=YE:E>AAQELEIMTM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Uk8 m9)aIa mtIia m%Ea e:)eA:Ieq9yIy9y*G2GFFrFbFEE)5;I59 19i9I99AiAA A2@M<:@Mw: ߁%V>%Y>H* K"(AYt*'G@t*$U@yt*j6t*`u>t*H ]l?`j \ɿ>s`?@ֆ?:j?@?)u*'G@ u*rr;Iu(xNm>xR'E)ׄGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}^}>yʁQLEʁͅ@;>I I8ٮ QtI  UD9鰍: :)r8 9)I tIi %E t:):I*z9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: ߙ{H* b"(A) I Yt* G@t*U@yt*t*Yz>t*H` ?_ɿ@n? ̻?C? ?)u* G@ u*r;Iu*CxBi>xBEHDHFp=iPIR“C)AIQMLEIMźM>IQ I]8ٮQQ Q]tI Q UeD9QU2: U5:)Uy8 m9)aIa mtIia m%Ea e:)e:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: MH* Ja#(AYt*5G@t*@U@yt*,)t*Ƣs>t*H`a?`ř ɿ`{`?@k%? *??)u*5G@ u*r;Iu*CxBsj>xB(E)~GF@=YEߺE>AIQMLEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: Ul:)Uv8 m9)aIa mtIia m%Ea e:)eZ:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!)H* E#(AYt*F@t*ӘU@yt*: 4t*&q>t*Hb?`@ȿզ?I?@??)u*F@ u*r;Iu*Cx>s>x>EiLINC)~҄Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]պe>aaQeLEamQm>Iq I}8ٮqq Q}tI q U}D9quc: u$:)um8 9)I tIi %E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: "H* &7#(A Yt.cF@t.nU@yt.+t.r>t.H cb?PȿN~ں? y? ?`?)u.cF@ u.r;Iu,x^Rr>x^EGb@AH`)EvGiMwAIF@}Yʅ:>ʁʁQLEʁ͍[:>I I8ٮ QtI  UD9鰕h: J:)c8 9)I tIi %E ̒:)E:I99I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: ! H* P#(AYt*LF@t*WU@yt*$t*k>t*HWe [?瑱࠸ȿ@!?e?;?`'?)u*LF@ u*r;Iu*CxB?s>xBEiPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ:>ʩʩQLEʩ͵!>I I8ٮ QtI  UD9鰽: :)^8 9)I tIi %E :):Iפ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 191.136328 arcdeg .q'U'U*GQ2GYFYFYrFabFaEaEa)};I}9 yyiyIi 2@<:@w: ߡ%R>!:5H* j#(AYt*$F@t*/U@yt*.t*}n>t*H@eb?@ӡ`#ȿ@MxBP E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y>QLEÐ;>I! I-8ٮ!! Q-tI ! U-D9!%4: %J;)%|8 e9)YIY etIiY m%EY ]:)]:I]9qIq9q=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I59 11i1I199i99 A2@E<:@Mw: ߁H* 몄#(A)4t*Hra?, ɿ`'@c?l? 4?{'?)u*F@ u*r;Iu*CxRm>xR'EHRp=HRa=in=Il)1=4==4=F@}Yʅ:>ʁʁQLEʁ͍:>I I8ٮ QtI  UD9鰕l< <)8 %9)!I! -tIi! -%E! %F:)%|:I%9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIi  2@<:@w: )FH* '#(AYt*AF@t*LU@yt*c*t*Gm>t*HHc@?áȿ@$%? U?d?$?)u*AF@ u*r;Iu(xB8T>xB}E)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe8m>iiQmLEiuy;u>Iy I8ٮyy QtI y UD9y}%: }į:)}詰8 9)I tIi %E :):I29I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i))pH* t`#(AYt*s)G@t*~U@yt*4t*=3n>t*H\I? aɿ@`V1? ւ?@d?"?)u*s)G@ u*mr;Iu*CxNMl>xRLEibf=Ib“C)GF@]Yee>aaQmLEim!<m>Iq I}8ٮqq Q}tI q UD9qu: u:)uɰ8 9)I tIi %E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: XH* ~:#(A Yt* G@t*ҶU@yt*0t*u~p>t*H_?"r#ɿ`Cx?z??`?)u* G@ u*lr;Iu*CxB]>xBxEGDHD)~vGivAxAF@=YE:E>AIQMLEIM\M>IQ I]8ٮQQ Q]tI Q UeD9QU: UB:)U8 m9)aIa mtIia m%Ea e:)eȗ:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: H* #(AYt*JG@t*U@yt*0t*9o>t*HY A?@nx@ɿ{L?@?`Q?@!?)u*JG@ u*r;Iu*CxBa>xB EiPIRC)~dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yere>aiQmLEim<m>Iq I}8ٮqq Q}tI q UD9qup: uR:)u8 9)I tIi %E p:)ݖ:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !%a>jI* 4$(AYt*p^G@t*{ V@yt*5C6t*#=x>t*H@Wn^?X`Yɿ h`?GȆ? ??)u*p^G@ u*cr;Iu*Cxnk>xnE)eGF@uYʅQ>ʁʁQLEʉ͍A;>I I8ٮ QtI  UD9鰵:  :)*ư8 9)I tIi %E ::)Ԙ:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E)E))E;IE9 AAiAIAIIiQQ Q2@]<:@]w: imI* R$(A)*;I,YtnG@tV@yt*t>t>tHU`O}? iɿ`&o?`W?r=?@?)unG@ u\r;IuCxp>x%EHa=Hi1I1)+G=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>!!Q%LE!-;->I1 I58ٮ11 Q=tI 1 U=D915h: 5:)5̰8 E9)AIA MtIiA M%EA Eɏ:)Eݖ:IEB9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'uN@Vehicle HDG: 191.680680 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: g I* q9$(AYt2G@t2>V@yt2 4t2Po>t2HXR?@-ʿ@s]?B?@L??)u2G@ u2Y$s;Iu0xRi>xRE)%GF@}Y}º>ʁʁQLEʁ͍;>I I8ٮ QtI  UD9鰕u: :)RӰ8 9)I tIi %E ;);IT9I9=OM@Contact HDG: 133.249150 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqyyiy 2@<:@w: ߙi!)I* S$(AYt*sG@t*~^V@yt*ٴ(t*/}>t*H!O]?kʿ`V??Jk??)u*sG@ u*gs;Iu*CxN"h>xNEi\I\)҄Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y:>!!Q%LE!-3;->I1 Iu8ٮ11 Q}tI 1 U}D915A< 5<)5ڰ8 9)I tIi %E ::)ȗ:Ip9I9*G2GFF)rF1bF1E1E9);I9 iIi 2@<:@w: ߹I* \m$(A@ Yt*G@t*~V@yt*E2t*|>t*HKW1?Ȥ౪ʿT ?H?F?-?)u*G@ u*s;Iu(xBe>xBP EGBAAHD {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uvGiyAwAF@Yº>QLE;>I I8ٮ QtI  UD9: <)8 9) 9I tIi %E j:)]:I9I9*G2GFFrFbF E)E))U;IU9 YYiYIYaai 2@<:@w: !I* 7$(Axsj>x(EiI)MdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QLE%%>I) I-8ٮ)) QUtI ) UUD9)-; -;)-8 ]9)YIY ]tIiY e%EY ]1:)]:I] 9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: 1%>-t>'I* $(AYt*&#H@t*1V@yt*M(t*{gu>t*H 4C ?餿BJ˿Z?@Q?a?t?)u*&#H@ u*'s;Iu*CxBMl>xBLE)|F@%Y=:=?IIQMLEIMl<U?IQ I]8ٮQQ QetI Q UeD9QU: U:)U8 m9)iIi mtIii u%Ei mF:)mZ:Im89I9*G2GFFrFbFEE)U;IU9 QYiYIYYaiaa a2@m<:@mw: ߁v .I* $(A)4t.H`D$? ⥿+˿K@?f{?!|??)u.H@ u.t;Iu.Cx>u>xBEHBR=H@iPIT)!-%=)F@=YE8:E>AAQMLEIMM>IQ I]8ٮQQ Q]tI Q U]D9QU : U :)U8 m9)aIa mtIia m%Ea e:)e:Ie9yI9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !4I* d$(AYt2QH@t2V@yt2^o6t2n4z>t2H>)?@DZY˿ELv?͆??@. ?)u2QH@ u2,s;Iu0xRo>xRE)5Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y/>QLE<>I  I 8ٮ   QtI  UD9  ; ;) 8 =9)9I9 EtIi9 E%E9 =:)=:I=$9QIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i));I* a$(AxnMl>xnLEi|I|)]vGF@}Yʅ>ʁʁQLEʁ͍>I I8ٮ M8 QtI  UD9鰕: m:)8 9)I tIi %E :),:I,9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 192.474020 arcdeg .q'M'M*GI2GIFIFQrFqbFyEyEy);I9 iIi 2@5<:@5w: A BI* ɐ%(A, ,Yt5'H@t52ZW@yt5:t5=|>t5H4?! W̿s>?R?5?3?)u5'H@ u5 s;Iu5Cx:m>xEGH)mGiuxAqa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@mYu u>qyQ}LEy}B<}>I I8ٮ QtI  UD9: c:) 8 9)I tIi %E [:)xnP EiI)SGF@5Y==>99QELEAEE>II Iu8ٮII QutI I UuD9IM; M;)M8 9)yIy tIiy %Ey }:)}:I}>9I9*G2GFFrF1bF1E1E9);I9 iIi 2@<:@w: ߱%R>%a>}NI* <%(AYtb=H@tbHW@ytbX%tbu>tbH.5? Ni`C̿F ??g??)ub=H@ ubʘs;IubCx~^>x~ E)5GF@UYUGL;U>YYQ]LEYe;e>Ii I8ٮii QtI i UD9im ; mԵ;)m8 9)I tIi %E :)ȗ:IJG9I9*G!2G!F!FIrFIbFQEQEQ);I9 iIi 2@<:@w: rUI* 8V%(A);IYt*B I@t*MW@yt*6t*q>t*H)@q?@  Ϳ@iIKd?`@Ԇ??@?)u*B I@ u*s;Iu*Cx~Hf>x~ EHp=Hp=i!I!)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y +%>QLEO;>I! I-8ٮ!! Q-tI ! UMD9!%; %׺;)%= 8 ]9)QIQ ]tIiQ ]%EQ U>:)U:IU`P9I9*G2GFFrF bF E E )%;I%9 !!i!I!i 2@<:@w: ի[I* p%(AYt*'I@t*W@yt*dQ:t*?z>t*HL&@V?G֦`FͿ4x? J??@ ?)u*'I@ u*)s;Iu*Cx~i>x~NE {Y| 8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGF@Y>QLE_;>I I8ٮ QtI  UD9,< b<)'8 9)I EtIi E%E &<)I@tqW@yt-t>tH#?@ rͿ`'`4?ⲅ??@A?)uf>I@ us;Iuxb>xQ EiI)Ga 1%a 1% a 5%a 5% a 9%a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Yʍ:>ʉʉQLEʉ͕4C;>I I8ٮ QtI  UD9: p:)/8 9)I tIi %E p:)t.H`U/?|ͿT-`q{?䜆??@p ?)u.dI@ u.Os;Iu.Cx>p>x>EGB@AH@)MGF@}Y}׺}$?ʁʁQLEʁ͍ <$?I I8ٮ QtI  UD9鰕; õ;)/48 9)I tIi %E t:)E:Ih9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)Mu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEE);I9 iIi 2@<:@w: nI* ˾%(AYt*I@t*5X@yt*~56t*Or>t*HW?`Ϧ@ο7 ?Ɔ?@ ?@v?)u*I@ u*+s;Iu*Cx>`k>xBEiPIP) GF@]YePe>iiQmLEiuC;u>Iy I}8ٮyy QtI y UD9y}}: }>:)};8 9)I tIi %E ɏ:):IZq9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.561974 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: tuI* "%(AYt*I@t*aX@yt**t*t>t*H` ?NXο.v?X?@T?9?)u*I@ u*r;Iu*Cx>i>xBE)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@5Y=:=>AAQELEAM;M>II I8ٮII QtI I UD9IMp: MȲ:)McB8 9)I tIi %E :) :Iz99I999=O]@Contact HDG: 133.249150 arcdeg .']']O]4Initialize Wait Component.*GY2GaFaFrFbFEE);I9 iIi 2@<:@w: 1 |I* %(A)IYt.t.H@?7@ο?W߄?z??)u.md>xBu EHBa=H@iLIP) GF@Y%$:%>!)Q-LE)-;->I1 I=8ٮ11 Q=tI 1 UED915 : 5i:)5H8 M9)AIA MtIiA M%EA E:)E,:IE19YIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@ <:@ w: I* Y &(AYt*I@t*X@yt*>t*Ѡ>t*H@3xBpE)~GF@=YEKgE>AAQMLEIM ;M>IQ I]8ٮQQ Q]tI Q U]D9QU`: U:)UO8 m9)aIa mtIia m%Ea e-:)e :IeɊ9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: iI* 4&&(AYt*J@t*X@yt*L2t*y>t*H@ z?`hĨ_Ͽ`Y@T?W?%? ?)u*J@ u*Dr;Iu*CxBo>xBEiLIL)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aaQeMEamd;m>Iq I}8ٮqq Q}tI q U}D9qu: u:)uV8 9)I tIi %E >:)s:Ia9I9*G2GFFrFbFEE);I%9 !!i!I!))i)) 12@5<:@=w: II* @&(A Yt.^NJ@t.iX@yt."t.r>t.H`v?Ψ`Ͽ?!@m?P? ? ?)u.^NJ@ u.Cr;Iu.Cx>l>xBEG@HD)+Gi%wA)F@=YE";E>AIQMMEIM6<M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Ui]8 m9)aIa mtIia m&Ea e[:)e:Ieϛ9yI9*G2GFFrFbFEE);I9 iIi 2@ <:@w: a-I* OY&(AYt2{J@t2(Y@yt2sO(t2Qy>t2H7?.ũ@jϿ@Cn4? ?3? ?)u2{J@ u2'r;Iu2CxRv>xREi`I`)=GF@}Yʅn`>ʁʁQMEʉ͍;>I I8ٮ QtI  UD9鰕0; Ǻ;)qd8 9)I tIi &E p:)c:I9I91*GA2GAFIFIrFIbFQEyEy);I 9 19i9I9i 2@<:@w: i>{>!YI* s&(AYt*J@t*HY@yt*li7t*Y>t*Hj?調T п ? ? ?@a?)u*J@ u* r;Iu*Cx> c>x> E {@Y|@F8****** ping requested ******]Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@Yʕ>ʑʑQMEʙ͝;>I I8ٮ QtI  UD9鰥?,= ,=)l8 9)I %tIi %&E ;);IJ91I191ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)M;IM9 IIiQIQi 2@<:@w: ?I* j&(A)IYt.FJ@t.QWY@yt.2t.~>t.H@`?;tlп%`4?`\?}??)u.FJ@ u.q;Iu.Cx>:m>xBEH@H@i\I\)eGm4=m%=F@YʝS:?ʡʡQMEʡͭ9+;?I I8ٮ QtI  UD9鰵: :)Lr8 9)I tIi &E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 194.573853 arcdeg .q'M'M*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqyyiyy 2@<:@w: ߙmiI* y&(AYt*J@t*Y@yt*.-t*\u>t*H ?@⩿4Rп@ `?k?;`?@?)u*J@ u*q;Iu*CxBHf>xB E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥI:>ʡʡQMEʩͭ<>I I8ٮ QtI  UD9鰵 : E:)1y8 9)I tIi &E }:):I9I9=OE@Contact HDG: 133.249150 arcdeg .'E'EOM4Initialize Wait Component.*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIqyyiyy 2@<:@w: ߙiQI* W&(AYt*K@t* Y@yt*0t*Y y>t*H`[.?pпb ??`?o?)u*K@ u*>q;Iu*CxBv>xBEiPIT)SGF@=YEE>AAQMMEIM;M>IQ Iu8ٮQQ QutI Q UuD9QU; U;)U8 9)yIy tIiy &Ey }:)}:I}l9I9*G!2G!F)F)rF)bF1E1EQ)e;Im9 iiiiIii 2@<:@w: ߱a{I* /&(A@ Yt*,K@t*Y@yt*(t*?7>t*H`X=?ѫ@xп@? :?@0?u?)u*,K@ u* r;Iu*CxNv>xPGPHP)jGi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQMEʉ͍7e;>I I8ٮ QtI  UD9鰕: g:)醱8 9)I tIi &E Ր:):I 9I9*G2GFFrFbFEE)u;Iu9 qqiyIyyi 2@<:@w: ߹I* p &(AYt*BK@t*Y@yt*35t*>t*H bAS?﫿п@$???;?)u*BK@ u*xBEiPIP)~+GF@=YEE>AIQMMEIMa;M>IQ I]8ٮQQ Q]tI Q UeD9QU`: U :)U8 m9)aIa mtIia m&Ea e:)e:Ieb9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: >>I* '(AYt.UK@t.Z@yt.7t.y}>t.Hi?@6w`"п ء?? \? ?)u.UK@ u.q;Iu.CxRm>xR'E)SGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}闹>ʁʁQMEʁ͍17;>I I8ٮ QtI  UD9鰕: :)8 9)I tIi &E ),:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: I* ('(A) I Yt*kK@t*Z@yt*SV"t*".x>t*H8|?`ѐп}H?J?۷?/?)u*kK@ u*eq;Iu*CxBn>xBEH@HDiPIP)~G=F@=YEV;E>AIQMMEIMIQ I]8ٮQQ QetI Q UeD9QU: U2:)Ut8 m9)iIi mtIii u&Ei m:)mZ:Imi9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: I* B'(AYt.^K@t.iNZ@yt.'t.+}>t.H@ ?  ѿzߝ?j?h? ?)u.^K@ u.Jq;Iu.CxZp>xZE)=GF@}Yʅ T>ʁʉQMEʉ͍<>I I8ٮ QtI  UD9鰕B: $:)}8 9)I tIi &E :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@w: )iI* dy\'(AYt*fK@t*qEZ@yt*;8t*ie>t*Hբ?:iѿ 9? C?z?E?)u*fK@ u*zq;Iu*CxBp>x@iLIR“C)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ >ʩʩQMEʱ͵g>I I8ٮ QtI  UD9鰽}: _:)y8 9)I tIi &E h:)g:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 195.406590 arcdeg .q'U'U*GQ2GQFYFYrFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡI* \Tv'(A Yt*K@t*HZ@yt*&,t*>t*H? h ѿO f?j??/?)u*K@ u*̘q;Iu*CxBeq>xBnEG@HBAA {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGiF@Y :>  Q ME 59=>IA IM8ٮAA QMtI A UUD9AE: E8;)E8 }9)q }9Iq tIiq &Eq u:)u:Iu9I9=O5@Contact HDG: 133.249150 arcdeg .'='=O=4Initialize Wait Component.*G92G9F9F9rFAbFAEIEI);I9 iIi 2@<:@w: II* Z.'(AYt*K@t*eZ@yt*jL*t*{>t*H`? f@ѿ`c? tI?-?`?)u*K@ u*cq;Iu(xBr>xBIEiXI^C)%҄Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅՒ9>ʉʉQMEʉ͕W;>I I8ٮ QtI  UD9: x:)c8  9) I   tIi  &E  :)  :I  99IA9A*GQ2GQFqFqrFybFyEE);I9 iIi 2@<:@w: {>p>I*  '(AYt*K@t*yZ@yt*02t*~>t*H.?@f@2ѿ ? E?`??)u*K@ u*aq;Iu(xNj>xRqE)%vGF@5Y5R5>99Q=ME9EBG;E>II IM8ٮII QUtI I UUD9IM: MS:)M罱8 ]9)YIY etIiY e&EY ]:)]R:I]9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: I* '(A) I Yt*K@t*nZ@yt*%t*w>t*H@`?Wv(ѿ`@/?ܵ???)u*K@ u*lq;Iu*CxBl>xBEHBp=HDiTIT) G < =F@EYEb:E>IIQMMEIUEҺU>IY I]8ٮYY QetI Y UeD9Y]į: ]5:)]ı8 m9)iIi utIii u&Ei ms:)m;Im{9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: I* '(AYt*K@t*jZ@yt*$t*U>t*H8?`5$ѿ@~V?`?@W??)u*K@ u*EZq;Iu(xBl>x@)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye8e>iiQmMEiu}u>Iq I}8ٮqq QtI q UD9qu|: ux:)u˱8 9)I tIi &E p:):I$9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: iBI* '(AYt*lK@t*wZ@yt*4t*:0~>t*H@@?L9ѿ@???Cr?l?)u*lK@ u*8q;Iu*CxBm>xB'EiLIP)~AAQEMEIMW;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Uұ8 m9)aIa mtIia m&Ea e:)eo:Ie~,9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: )J*  v((A Yt.zK@t.kZ@yt.#t. >t.H@%?*+%ѿ ?y?`? ?)u.zK@ u.8q;Iu.Cxbu>xbEGbAAHb@A)=GiExAExAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;>ʩʩQMEʩ͵I>I I8ٮ QtI  UD9鰽: į:)ٱ8 9)I tIi &E B:)x:IF59I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbF E E );I%9 !!i!I!))i)) 12@5<:@=w: I/T J* R+((AYt*K@t*aZ@yt*Z't*>t*H@tݹ?@9 ѿ`J`?:??@.?)u*K@ u*fq;Iu*CxBZe>xB EiPIP)aaQeMEimȺm>Iq I8ٮqq QtI q UD9quǴ; ug;)uw8 9)I tIi &E %:)|:I=9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 195.505095 arcdeg .q'm'm*Gi2GiFFrFbFEE);I9 iIi 2@<:@w: R>]><J* -E((AYt.8K@t.CYZ@yt.Ít.>t.H ެ?@ܭ ѿ@H{??`M*? ?)u.8K@ u.Bq;Iu.CxRb>xRQ E)]GF@mYu:u>qyQ}MEyͅL>I I8ٮ QtI  UD9鰅\: >:)f8 9)I tIi &E ٓ:)0:I*F9I9=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GF!F!rF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: ieJ* __((A) I Yt*K@t* :Z@yt*G"t*>t*H?d~п'`Z?Z???)u*K@ u*?q;Iu*CxReq>xRnEHRa=HVa=i`I`)!%%=-%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yv>QME4>I I8ٮ QtI  UD9h: :)8 9) I  tIi  &E  :) :I N9!I!9)*G92G9F9F9rFAbFAEAEI)];I]9 YaiaIaaiiii i2@u<:@uw: ߁J* Hx((AYt*-K@t*8>Z@yt*t*[~>t*H9@?*ެ п?"X?w?6?)u*-K@ u*sq;Iu*CxBm>xB'E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )QF@Y:>QME:>I I8ٮ QtI  UD9: W:)8  9)I  tIi 5&E ̳;);I,X9AIA9A*Ga2GaFaFarFibFiEqEq);I9 iIi 2@<:@w: ߱i@Amx$J* ((AYt6v}K@t6*Z@yt62Z(t6J>t6Hۇ?6@|п?. ? ? ?)u6v}K@ u6+q;Iu6Cxbj>xbqEiQIQ)Ga 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@Yʵ>>ʹʹQMEʹE>I I8ٮ QtI  UD9: N:)8 9)I tIi &E :)ȗ:I`9I9*G2GF F rFbFEE)-;I-9 ))i)I)11i11 92@=<:@Ew: Q*J* ((A Yt*TK@t*Z@yt*&t*!>t*H R^?@4Ѭ Xп@d?@܄?V?h?)u*TK@ u*Zq;Iu*CxBf>xB EG@HD)U+GiUwA]wAF@Yy9>QMEٻ>I I8ٮ M8 QtI  UD9: :)$8 9)I tIi &E [:)N:Ijh9I!9!*G12G1FYFYrFabFaEaEa)5;I59 99i9I9QQiQQ Y2@]<:@ew: ߑF1J* u((AYt*;K@t*Y@yt*1t*t>t*H`p0F?4@п@#;?Q?`R? +?)u*;K@ u*q;Iu*CxB0a>xBw EiPIR“C)SGF@Y%:%>!)Q-ME)-5>I1 I=8ٮ11 Q=tI 1 UED915b: 5߼:)5 8 M9)AIA MtIiA M&EA E:)E:IEp9aIa9a*Gq2GqFqFrFbFEE);I9 iIi 2@<:@w: !V>e>7J* o((AYt^'-K@t^2Y@yt^#t^N>t^HS`8?2п>3?@bă?`??)u^'-K@ u^Gq;Iu\xf"h>xfE)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭY9>ʩʱQMEʱ͵>I I8ٮ QtI  UD9鰽: :)8 9)I tIi &E )9:Ijy9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E )%;I%9 !!i!I!))i)) 12@5<:@=w: Im=J* +((A) IYt.J@t.Y@yt.^t.f>t.H` ?4gп N{?K?B??)u.J@ u.q;Iu.CxZ"h>xXH^p=H^p=ihIjC)5XG==9F@}Yʅ$:>ʁʁQMEʁ͍>I I8ٮ QtI  UD9鰕: :)8 9)I tIi &E :)|:Iǁ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 194.851254 arcdeg .q'-'-*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiYIYYYiaa a2@m<:@mw: yDJ* )(AYt*M K@t*XY@yt*'t*- >t*H`Y?AHxпy`????)u*M K@ u*r;Iu*CxBV>xB3E)5+GF@mYmYm>qqQuMEq}H0;}>I I8ٮ QtI  UD9鰅: :)8 9)I tIi &E :)b:I;9I9=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))=;I=9 9AiAIAAIiII I2@U<:@Uw: ai?AJJ* a-)(AYt*tJ@t*iY@yt*:&t*t>t*H j?@߼@ ,п ?ф? `!??)u*tJ@ u*gr;Iu(xBi>xBNEiLIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ99>ʱʹQMEʹͽ>>I I8ٮ QtI  UD9: ٮ:)%8 9)I tIi &E 1:)g:I9I9*G2GFFrF bF EE)%;I%9 ))i)I)11i11 92@=<:@=w: QQJ* ˾G)(A YtBJ@tBwY@ytBs`+tB>tBHྼ?ퟫ 9п`L |u?k??`k?)uBJ@ uBr;Iu@xNo>xNJEGPHP)]ƄGiiiF@Y@>11Q=ME9=y;=>IA IM8ٮAA QMtI A UMD9AE: E:)E,8 }9)qIq }tIiq }&Eq u>:)u؛:Iuߛ9I9*G2GFFrFbFEE);I9 iI))i11 12@=<:@=w: q/XJ* a)(AYt*J@t*>Y@yt*t*mR>t*H)K?e@п C?;?@??)u*J@ u*r;Iu*CxRz>xR Ei\I^C)҄Ga 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅo.;>ʁʁQMEʉ͍>I I8ٮ QtI  UD9鰕: :)B38 9)I tIi &E Ր:):Iѣ9I9*G2GFFrFbFEE);I9 yyiyIyi 2@<:@w: >>,^J* s{)(AYt*J@t*>Y@yt*Ft*z}>t*HA` R?@п3`?`؂? m\??)u*J@ u*r;Iu*CxNm>xR'E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mvGF@Y49>QMEq>I I8ٮ Q tI  U D9; ^;)d:8 9)I %tIi %&E A:):I99IA9A*G2GFFrFbF E E );I%9 !!i!I!))i)) 12@5<:@=w: QeJ* L)(A) I Yt*}J@t**Y@yt** t*>t*H",?LϿz? ?/?i?)u*}J@ u*{s;Iu*CxBi>xBNEHDHFa=i\I^C)dG!a 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥƺ>ʡʡQMEʡͭC>I I8ٮ QtI  UD9鰵: :)A8 9)I tIi &E :)A:I9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9x>kJ* ,))(AYt*>J@t*X@yt*-t*?>t*HL@?0ܪ eϿ@Y`,?? E? V?)u*>J@ u*Ss;Iu*CxBj>xBqE)~GF@=YE`E>AAQMMEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U :)UG8 m9)aIa mtIia m&Ea eh:)e:Ie/9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i*rJ* )(AYt~OJ@t~X@yt~i|+t~A>t~HT`?"f=Ͽ??so?L? ?)u~OJ@ u~bs;Iu~Cx a>x  Ei)I5C)ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YLo9>QMEk;>I I 8ٮ QtI  UD9: ):)O8 9)I tIi %&E ::)Ԙ:I29)I191&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 194.254924 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@<:@w: PxJ*  )(A Yt*J@t*X@yt*D!t*~>t*H` e?@0ԩ@ ϿO?s5?? x?)u*J@ u*s;Iu(xBHf>xB EGB?AH@)GiF@=YE~:E>AAQMMEIM!M>IQ I}8ٮQQ Q}tI Q UD9QUo; U9;)UU8 9)I tIi &E :)N:IJ9I9=OM@Contact HDG: 133.249150 arcdeg .'M'MOM4Initialize Wait Component.*GI2GQFqFqrFybFyEyEy);I9 iIi 2@<:@w: z~J* )(AYt*J@t*X@yt*j&t*S~>t*H, ? (Ͽ`E?>̈́?`v? 9?)u*J@ u*,s;Iu*CxBf>xB EiN=IRC)=dGF@}Yʅ>8>ʁʁQMEʁ͍;>I I8ٮ QtI  UD9鰕: >:)\8 9)I tIi &E ::):I9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: >bJ* ݕ*(AYt*I@t*X@yt*,J,t*>t*H@m"?@οw#?+?@/?:?)u*I@ u*2t;Iu*CxNHf>xR E)a 1Ua 1] a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Ya>QNE߻>I I8ٮ QtI  UD9: W:)c8 9)I  tIi  &E p:)c:I9I9*G)2G)F)F1rF9bF9E9E9)M;IU9 QQiQIQYYiYY a2@e<:@mw: yJ* p0*(A) I Yt*pI@t*{X@yt*Rt*c>t*H o?N Fο4 @?`BJ?P?o?)u*pI@ u* Dt;Iu*CxNi>xREHPHPibf=I`)G%4=!F@-Y5<;5>19Q=NE9E E>II IM8ٮII QUtI I UUD9IMF: M:)M?j8 ]9)YIY etIiY e'EY ]̒:)]:I]9qIq9q*G2GFFrFbFEE);I9 iIi 12@=<:@=w: IwJ* VJ*(AYt>LI@t>WX@yt>-t>}>t>H@Bd?@ο6@??@k??)u>LI@ u>t;Iu>CxF]>xJE)SGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}-5}>yʁQNEʁͅb:>I I8ٮ QtI  UD9鰍h: ):)Mq8 9)I tIi 'E h:)|:Ij9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ߑiJ* -'d*(AYt*rI@t*}HX@yt*$A(t*>t*H҈?:樿'οl?@ ?p??)u*rI@ u*ljt;Iu(xBr>xBIEiPIP)~GF@ YE:>QNEF&%>I! I-8ٮ!! Q-tI ! U-D9!%ͭ: %:)%w8 =9)1I1 =tIi1 ='E1 5:)5R:I59III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩcȞJ* ~*(A Yt*I@t*kX@yt*J(t*`>t*H@@? jο@.??;?#?)u*I@ u*t;Iu(xB?s>xBEGF@AHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GiF@Yh}>QNE;>I I 8ٮ Q tI  U D9; I;)U8 %9) %9I %tIi %'E :)<:I99IA9AO]Done Waiting.']O]8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFqbFqEyEy);I9 iIi 2@<:@w: )=J* K*(AYt*.}I@t*9*X@yt*p"t*I>t*H C?@`Ϳ`@? T?=2??)u*.}I@ u*Zt;Iu*CxNn>xNEihIh)5ʙʙQNEʙͥ$>I I8ٮ QtI  UD9鰭: $:) 8 9)I tIi 'E :)g:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 193.520911 arcdeg .q'm'm*Gi2GqFqFqrFybFyEyEy);I9 iIi 2@<:@w: ߹>t>۫J* *(AYt*oI@t*X@yt**t*#>t*H4?㿨 Ϳw ]? W? (? ^?)u*oI@ u*t;Iu(xZWx>xZE)5GF@EYE@E>IIQMNEIUgU>IY Ie8ٮYY QetI Y UeD9Y]: ]x:)]Œ8 m9)iIi utIii u'Ei m:)m:ImN9I9=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9IAAAiAI I2@M<:@Uw: aVŲJ* ,*(A)IYt6nI@t6X@yt6*Y%t6}>t6H@;6?@feͿ ;&B?@?jj?`?)u6nI@ u6bvt;Iu4xNl>xREHZa=HZp=i}=I)G%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥg?:>ʩʩQNE|B>I I8ٮ QtI  UD9: :)8  9) I  tIi  'E  5:) ':I 9!I!9!*G12G1F9F9rF9bFAEAEA)};I}9 yyiyIyi 2@<:@w: mJ* m*(AYt*0I@t*W@yt*1W(t*&~>t*Hb%@?=ߧXͿ`, ? ?5q? ?)u*0I@ u*&t;Iu(x25g>x6*E)rvGF@vYz z?||Q~NE|3?I  I 8ٮ   QtI  UD9  F: :) ]8 9)I %tIi %'E :):I#91I191*G2GFFrFbFEE);I9 iIi 2@<:@w: 1iJ* I*(AYt*jKI@t*uW@yt*,t*>t*H L"?`ͿS4?؀? Y ??)u*jKI@ u*gt;Iu*CxNZe>xR Ei^f=I\)GF@-Y-h->11Q5NE1=;=>IA IM8ٮAA QMtI A UMD9AE: ES:)Ec8 U9)QIQ ]tIiQ ]'EQ U:)UU:IU+9iIi9i*Gy2GFFrFbFEE)=;I=9 AAiAIAIIiII I2@u<:@uw: ߉gJ* #+(A@ Yt*I@t*W@yt*Z#t*S>t*H-(@?ݨ`(Ϳ ?@`?QF? J?)u*I@ u*t;Iu*CxNj>xRqEGPHP)Gi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQNEʉ͍>I I8ٮ QtI  UD9鰕: :)u8 9)I tIi 'E [:):I49I9*G2GFFrFbFEE);I9 qqiqIqyyiy 2@<:@w: ߙ(J* 2+(AYt*'I@t*2W@yt*ܷ&t*Z~>t*H *j?`ĩ`H̿W0@N?ք?@??)u*'I@ u*Ct;Iu*CxRB`>xR Ei^=I\)GF@-Y55>11Q5NE1=X=>IA IM8ٮAA QMtI A UMD9AEh: El:)E-8 ]9)QIQ ]tIiQ ]'EQ U5:)U4:IU<9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: R>x>J* L+(AYt.I@t.W@yt.+t.m{>t.H>*!x?FͿ@T7w?bw??@ ?)u.I@ u.t;Iu.CxNsj>xR(E)%19Q=NE9E9E>II IM8ٮII QUtI I UUD9IM\: M:)M8 ]9)YIY etIiY e'EY ]1:)]Z:I]RE9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: :J* cf+(A) I Yt*H@t* |W@yt*M#t* >t*Hw0@?Χ̿ -`?@3?`??)u*H@ u*ft;Iu(xBeq>xBnEHDHDiPIP)G= =a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe":m>iiQmNEiuu>Iy I8ٮyy QtI y UD9y}S: }:)}8 9)I tIi 'E -:) :IM9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: "J* ڑ+(AYt2lH@t2w~W@yt2%t2>t2H/0 1?@8a̿f%@?`?F?L?)u2lH@ u2ut;Iu2CxNi>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iF@Yd>QNE9>I I8ٮ QtI  UD9: w;)8IJ8 9)I  tIi  'E ~:):IV9!I!9!&=MEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'EN@Vehicle HDG: 192.920264 arcdeg .q''*G2GFFrFbFE!E!)5;I=9 99iAIAYaiaa i2@u<:@}w: ߑi8MJ* Tn+(AYt*٢H@t*OW@yt* &t*9>t*H@\5`x? C̿77?`\?@?@?)u*٢H@ u*t;Iu*CxNd>xR Eivf=It)IF@}Y}>ʁʁQNEʁ͍>I I8ٮ QtI  UD9鰕: :)ʲ8 9)I tIi 'E &;);I_9I9=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GFF rF!bF)E9EA)};I}9 yyiIi 2@<:@w: ߡvJ* F+(A@ Yt*H@t* 5W@yt*(-t*%}>t*HG8`?Rg$̿@'?j?a? ?)u*H@ u* t;Iu*CxB"h>xBEGDHD)9iEyAExAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QNEN>I I8ٮ QtI  UD9p: 0:)Ѳ8 9)I tIi 'E O:)A:Ig9I9*G2GFFrFbFE!E!)5;I59 19i9I99AiAA A2@M<:@Mw: a^J* "+(AYt*=H@t*H3W@yt*X#t*U>t*H 8@|? ۦ ̿ O=?j? ҕ?A?)u*=H@ u* t;Iu*CxBw>xBjEiTIVC)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ:>ʱʱQNEʱͽ>I I8ٮ QtI  UD9: S:)ز8 9)I tIi 'E ͭ:):I4p9I9*G2GFFrF bF E E )%;I%9 !!i!I!))i)) 12@=<:@=w: I>t>ΈJ* z+(AYt*HH@t* V@yt*V#t*+>t*HG?(?`F˿ 6@?o?`z7?xRsE)GF@]Yeķe>aaQmNEimm>Iq I}8ٮqq Q}tI q UD9quS: u:)u߲8 9)I tIi 'E [:):Ix9I9*G)2G)F1F1rFYbFYEYEY)m;Iu9 iIi 2@<:@w: pK* M,(A) IYt*5H@t* V@yt*"t*Z>t*HSA`?Ʀ`+m˿<@?@A? A??)u*5H@ u*Ct;Iu*CxBsj>xB(EHDHDiPIRC)G  %=F@=YEsf9E>AIQMNEIM>M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U]8 m9)aIa mtIia m'Ea eՐ:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: K* ,(AYt*H@t*$V@yt*0t* >t*H`E@?6@&˿I ????)u*H@ u*Ҕt;Iu*CxBo>xBJE)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeke>aiQmNEim믻m>Iq I}8ٮqq Q}tI q UD9qu: u:)uT8 9)I tIi 'E :)A:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: if K* ڐ5,(AYt*G@t*V@yt*!t*r>t*H@HCj?9ҥ@cʿXL`&?{6? u??)u*G@ u*t;Iu*CxBq>xBEiLIRC)F@=YE;E>AAQMNEIM=M>IQ I]8ٮQQ Q]tI Q U]D9QUS: U:)U'8 m9)aIa mtIia m'Ea e:)e:Ie9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ìK* iO,(A Yt*G@t*~V@yt*#t*⻁>t*H@K "?楿vʿH@$?v? ??)u*G@ u*u;Iu*CxRMl>xRLEGRAAHT)%+Gi%wA%wAa 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ癹>ʉʉQNEʉ͕>>I I8ٮ QtI  UD9鰝ͭ: а:)38 9)I tIi 'E O:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 192.026725 arcdeg .q'}'}*G2GFFrFbFEE);I9 iIi 2@<:@w: -K* 0Fi,(AYt2aG@t2lQV@yt2#t2Â>t2H`P$?}`RʿH@?`i{?*??)u2aG@ u2Xu;Iu2CxRt>xRlEi\IbC)%SGF@-Y5۷5>99Q=NE9E7E>II IM8ٮI MU8I QUtI I UUD9IM: M:)M8 ]9)YIY etIiY e'EY ]̒:)]:I]9qIq9q=O@Contact HDG: 133.249150 arcdeg .''O4Initialize Wait Component.*G2GF FrF)bF)E)E))E;IE9 AAiAIAIIiII Q2@]<:@]w: iV>p> K* !,(AYt*G@t*JV@yt*Pt*iJ>t*H@Q!?@EʿsK??D??)u*G@ u*au;Iu*CxB'n>xBpE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y :>QNE׀>I I%8ٮ Q%tI  U%D9: #;)C 8 ]9)1I1 ]tIi1 ]'E1 5;)5;I5 9I9*GQ2GQFYFarFbFEE);I9 iIi 2@<:@w: @&K* ,(A) IYt*GG@t* U@yt*&t*>t*H@Y@?ʤ`ɿ`T?Մ?`??)u*GG@ u*u;Iu*CxBx>xBEH@HBa=){FVlxI{Di{F"&>{F>{D{FpA{D|F\B9|Fu5?5oTgi`I`)=҄GAE=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UY]f]>YaQeNEaeLm>Ii I8ٮii QtI i UD9im; m;)mX8 9)I tIi 'E F:)Z:Iٴ9I9*G2GFFrFbFEE2E!zE%\BE%xtG@81P]QE%u5?5oTgE%VlxE!E%YeŏN}S#)L@wڿ0E% Jw4Yh?BڙQɿE%@=-DHdg To Contact =136.915814 degreesZE%IaBbE%p:E% o$?BE%;o$?JE%[ RE%e jE%rE%wM)e;Ie9 aaiiIiqqiqq q2@}<:@}w: ߱$Dacoustic_contact_range 84.180000 m$hTrackAcousticContact.heading_to_contact 2.389632 rad$LDUSBL_Hydroid.xAngle -55.600001 arcdeg-K* ֶ,(AYt* XG@t*V@yt*t*1>t*HPX@7?(ɿ`W@?n???)u* XG@ u*u;Iu*CxBi>xBE)+GF@}Yʅ;>ʁʉQNEʉ͍5;>I I8ٮ QtI  UD9鰥T; `F;)8 9)I tIi 'E :)Ԙ:Iȼ9I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: Ai3K* ,(AYt*%G@t*U@yt*t*>t*H_])?': ZɿU #?`?*??)u*%G@ u*v;Iu*CxBn>xBEiPIT)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Y,:>QNE>I I 8ٮ QMtI  UUD991< <)q8 ]9)YIY ]tIiY e'EY ]̒:)]:I]^9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@ w: !$:K* ,(A@ Yt.F@t.U@yt.44/t.>t.H b@?Tȿ_X? k?4??)u.F@ u.Ev;Iu.CxB,t>xB#EGF?AHD)GiF@%Y%8-?)1Q5NE1ey e>I I8ٮ QtI  UD9鰥: :)$8 9)I tIi 'E ?<)t*Ha`{?#ȿU`?`?I??)u*F@ u*v;Iu*CxBf>xB EiPIP)~GF@ Y;>QNEӢ9%>I) IE8ٮ)) QUtI ) UUD9)-; -‡;)-9+8 ]9)YIY etIiY e'EY ]_:)]0:I]9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: R>>[8GK* H-(AYt*ƯF@t*\U@yt*/t*>t*Hh?@;@rȿ _@??1??)u*ƯF@ u*ɗv;Iu*Cx>"h>xBE)~ʡʡQNEʩͭ'>I I8ٮ QtI  UD9: x:)i28 9)I tIi 'E :)F;I9!I!9!OUDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GQM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEaEa);I9 iIi 2@M<:@Mw: aaMK* ` 8-(A)4t2Hi`?84cȿ^e۹?q?@ ??)u2F@ u2w;Iu2Cx>g>xBsEHB=HBp=iLIP)SG%=%=F@=YEJ:E>AAQMNEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: UW:)U98 m9)aIa mtIia m'Ea eɏ:)eݖ:Ie9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 190.984588 arcdeg .q'u'}*Gy2G}@FyFyrFbFEE);I9 iI<@i@ 2@<:@w: $%RHorizontalControl.headingCmd 2.389632 radITK* jQ-(Axrc>xr E)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QNE>I I8ٮ QtI  UD9S: :)Y@8  9) I   tIi  'E  :) Е:I 99IA9A=Om@Contact HDG: 136.915814 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GqFqFqrFybFyEyE)5;I59 11i1I1=@i99 A2@E<:@w: ߙisZK* k-(AYt*LF@t*T@yt*!t*>t*Hr-7? {ǿ@`@B?`8? m??)u*LF@ u*/w;Iu(xBWx>xBEiTIX)]GF@}Y}6>ʁʁQNEʁ͍f>I I8ٮ QtI  UD9鰕@: :)G8 9)I tIi 'E :):IC9I9*G2GFFrFbFEE);I59 99i9I9AAiAA A2@M<:@Mw: ߁ZaK* ꮅ-(A@ xnxp>xnEGrAAHp {pY|tv8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GiF@Y>QNE>I  I8ٮ   QtI  UD9  h: l:) JO8 9) 9I %tIi %'E :)<:Ix91I191*GA2GAFFrFbFEE) ;I 9  iIi a2@m<:@mw: gK* Ō-(AYtBF@tBT@ytBNtBk΄>tBHRx R?`7 $+ǿ`g??)?`j??)uBF@ uB8w;IuBCxR^>xR E){R)iI{Pi{R={R7>{P{RA{P|RJB9|R2Ҕ?tڐDipIp)ESGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YpBIiRqBvoBɅRqBepB )F@Y5 :=>99Q=NE9ECE?II IM8ٮII QutI I U}D9IM; M;)M4U8 9)yIy tIiy 'Ey }̒:)}E:I} 9I9*G2GFFFFTBrFbFEE2EzEJBE.E?@eQDE2Ҕ?tڐDE)iEE`.B4@@Ы #EԉQ翾j@t?G0ɿE@=-DHdg To Contact =139.312145 degreesZEBbE:EEo$?BE o$?JEn RE[ jErEM)M; im8mIm9 uuiqIu޷yyiyy y2@<:@w: ߹$Dacoustic_contact_range 50.699997 m$hTrackAcousticContact.heading_to_contact 2.431456 rad$LDUSBL_Hydroid.xAngle -52.150000 arcdeg>> mK* i-(AYt:E@t:~T@yt:t:&>t:HD}=F?:@ƿfj?p"?ຓ?`?)u:E@ u:v;Iu:CxNm>xR'E)dGF@=YE8E>AAQMNEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U[8 m9)aIa mtIia m'Ea e:)eA:Ie9I9*G2GFFQFYFYrFYbFYEYEYc); 8ҸI9 ksiIkei 2@<:@w: !tK* B@-(A) I"4t:H~+? հ@mƿSl*M?@TG?t?@)?)u:tE@ u:!w;Iu:CxR'n>xRpEHRR=HRa=ipIp)EGM4=U4=F@}Yʍh2>QNE >I  I8ٮ   QtI  UD9  < <) b8 9)I tIi 'E }:):I99I999*GI2GIFFFFrFbFEE); Hr9HrI9 ݖiIfǸi 2@M<:@Mw: azK* +-(AYt.E@t.t.H ?`<@n<ƿ_z@?lЁ?,??)u.E@ u.w;Iu.Cx>Rr>x>E) Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5u@a  a 9@a  a -@a  a )@a  iiɄiimMb@Mb@Mb@ImIiiimmɅmmi i)iF@Yʭ":>QNEX>I I8ٮ QtI  UD9; ;)i8 9)I tIi 'E :):I"#9)I)9IO]Done Waiting.']Oe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFarF)bF)E)E))E;IE9 EiIi 2@<:@w: iK*  .(AYt*`E@t*k@T@yt*bt*#ڂ>t*HĂ? Cƿy?2̂?-?`?)u*`E@ u*w;Iu(x>,t>xB#EiLIL)~ GF@Y%T%>!!Q-NE)-r:->I1 I=8ٮ11 Q=tI 1 U=D915@: 5߼:)5-p8 M9)AIA MtIiA M'EA E:)E:IE+9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 190.017543 arcdeg .q''5*G12G5@F9F9rF9bFAEAEA)};I}9 yyiyIy@i@ 2@<:@w: A$RHorizontalControl.headingCmd 2.431456 radӇK*  .(A Yt*QE@t*S@yt*[!t*>t*H`X S?H`ſ 3k0?^+???)u*QE@ u*߹v;Iu*CxBh>xBEGB@AHFAA)~Gia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}YʅҺ>ʉʉQOEʉ͕->I I8ٮ QtI  UD9鰝: W:)Iw8 9)I tIi 'E [:)N:I39I9=OU@Contact HDG: 139.312145 arcdeg .'U'UOU4Initialize Wait Component.*Gq2GqFyFyrFybFEE);I9 iI@i 2@<:@w: ߙK* %:.(AYt2P@E@t2[S@yt2Igt2X>t2Hw-?s!`ſ`nn`Փ?̂?સ??)u2P@E@ u2v;Iu0xBeq>xBnEiLIP)~GF@ Y:>QOE4%>I! I-8ٮ!! Q-tI ! U-D9!%: %:)%}8 =9)1I1 =tIi1 =(E1 5:)5=:I5 <9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩ>>6K* T.(AYt.E@t.S@yt.art.i>t.H ?[@Jſ@V~@9???`^? K?)u.E@ u._iv;Iu,xZ |>xZE)5SGF@}Y} ;>ʁʁQOEʁ͍ϻ>I I8ٮ QtI  UD9鰕2: 5:)8 9)I tIi (E :)c:ID9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !K* ^dn.(A);I;Yt*\D@t*gS@yt*s t* >t*Hl?dſ ??f*? ?)u*\D@ u*Hv;Iu*CxBsj>xB(EHBp=HBp=iPIP)G=%=a 1ua 1u a 5ua 5u a 9ua 9u a -ua - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yi>!!Q%OE!-->I) IU8ٮ)) Q]tI ) UuD9)-< -%<)-L8 }9)yIy tIiy (Ey }F:)}:I}M9I9*G2GFFrFbFEE);I9 iI11i11 92@=<:@=w: qdK* `?.(AYt*FD@t*QS@yt*&t*~>t*H{?`Ǡ@ ſ`zf?Kׄ??@?)u*FD@ u*{gv;Iu*Cx6z>x6 E {8Y|8>8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}SGF@Yv>QOE:>I I8ٮ QtI  UD9f; N;)8 %9)I -tIi -(E :)?:I6V9AIA9A*G2GFFrFbFEE) ;I 9  i Ii 2@<:@w: i!K* .(AYt*ϧD@t*TS@yt*P"t*{>t*H]`?|4sĿu? tP??E?)u*ϧD@ u*Y v;Iu*CxBv>xBGEiXIX)Ga 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}*:}>yʁQOEʁͅjG>I I8ٮ QtI  UD9鰍< <)8 %9)I %tIi %(E >:)R:I^9QIQ9Q*Ga2GiFiFirFqbFEE);I9 iI[ȯi 2@<:@w: KK* 8.(A@ Yt*D@t*US@yt*4t* '>t*Hm ?usĿ ҃nU?>?t?7?)u*D@ u*m v;Iu*CxNxp>xREGRAAHR@A)%ƄGi%xA)F@]Ye)%;e>aiQmOEim7u>Iq I}8ٮqq Q}tI q UD9qu: u:)u8 9)I tIi (E -:):If9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIp i 2@<:@w: ߡh3K* S.(AYt*xD@t*%S@yt**t* >t*H5`K?Ŀq*2?Ԗ? $O?2?)u*xD@ u*u;Iu*CxRg>xRsEi`Ib“C)%ׄGF@=YE۹E>IIQMOEIMU>IQ I]8ٮQQ Q]tI Q UeD9QUӻ: U׾:)Uf8 m9)iIi mtIii u(Ei m>:)mR:Im@o9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 189.026797 arcdeg .q'-'-*G12G1F1F9rF9bF9EAEA);I9 iI%䭽i)) Q2@e<:@mw: ߱p>]K* O.(AYt*rD@t* S@yt*t*,>t*H?. Ŀ`ɇxB%E)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ+>ʁʁQOEʁ͍8F>I I8ٮ QtI  UD9鰕: :)m8 9)I tIi (E :):Iw9I9=OM@Contact HDG: 139.312145 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqy}2Oiy 2@<:@w: 9dEK*  /(A) I Yt*:D@t*R@yt*et*(>t*H '9?%`ڛÿԁ?l?Z?`?)u*:D@ u*u;Iu*CxBw>xBjEHB4=HFa=iPIRC)G4=F@=YE*]9E>IIQMOEIM U>IQ I]8ٮQQ QetI Q UeD9QU: U:)U08 m9)iIi mtIii u(Ei mO:)m:ImE9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: oK* a#/(AYt*QD@t*\R@yt* t*>t*H``n ? Şcÿ zT?O?n??)u*QD@ u*u;Iu*CxVb>xZQ E)-SGa 1ma 1m a 5ma 5m a 9ma 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ'>ʑʑQOEʑ͝n>I I8ٮ QtI  UD9鰥: :)@8 9)I tIi (E ::):I9I9*G2GFFrFbFEE);I9 iI   i  2@<:@w: )iK* >=/(AYt*j#D@t*uR@yt*/t*>t*H?`Omÿ+?Ń?`D??)u*j#D@ u*Ou;Iu(xBeq>xBnEiLIN“C)GF@]Yee>aaQeOEimL:m>Iq I8ٮqq QtI q UD9qu; u;)u ó8 9)I tIi (E [:):Iv9I9*G2GFFrFbFEE)5;IU9 QQiQIQY]C}iYa a2@e<:@mw: ߙK* W/(A@ Yt*jC@t*uR@yt*~ t*>t*H .?']/¿?:?<?\?)u*jC@ u*t;Iu(xNt>xRlEGR@AHP)ׄGi!%xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yɺ>QOE>I I8ٮ QtI  UD9J: [:)2ʳ8 9)I tIi (E :) :I69I9*G)2G)F)F)rF1bF1E9E9)M;IM9 IIiQIQY]iYY Y2@e<:@ew: yK* 0p/(AYt*C@t* R@yt*\t**C>t*H`?ÿ`d?@o˂?@?`t?)u*C@ u*t;Iu*CxBj>xBqEiLIP)~҄GF@=YE:E>AAQMOEIMq;M>IQ I]8ٮQQ Q]tI Q UeD9QU: Ul:)Uг8 m9)aIa mtIia m(Ea e:)eȗ:IeP9yIy9*G2GFFrFbFEE)5;I59 QQiQIQY]⨽iYY a2@e<:@mw: yl>ĖK* ۊ/(AYt:CC@t:NR@yt:t:_D~>t:HϤ{?@hÿyF?~? t?l?)u:CC@ u:Bt;Iu:CxBh>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%n9%>iiQmOEiuu>Iy I}8ٮyy QtI y UD9y}4< }<)}س8 9)I tIi (E :):I~9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFAEAEA)];I]9 YYiYIYamiii q2@u<:@}w: K* q/(A) I Yt*C@t*R@yt*{ t*ؑ{>t*H$Q?,¿b??!? ?)u*C@ u*t;Iu*CxRc>xR EHRa=HVp=){VʁʁQOEʉ͍u[?I I8ٮ QtI  UD9鰕B: :)޳8 9)I tIi (E B:)x:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 188.475969 arcdeg .q'M'M*GI2GIFQFQrFbFEE2EzE($BE4@Y/AE ^V??E@YH EQ'瀢?!ʿEC@=DHdg To Contact =130.048427 degreesZE AbE:Edo$?BEEo$?JEp REn jErE)%;I%9 ))i)I)QUcliQQ Q2@]<:@]w: q$Dacoustic_contact_range 41.039997 m$hTrackAcousticContact.heading_to_contact 2.269773 rad$LDUSBL_Hydroid.xAngle -59.300003 arcdeg K* /(AYt*[C@t*fR@yt*#t*>x>t*Hͤ ?+@ÿ e`N?}?ֹ? ?)u*[C@ u*t;Iu*CxBWx>xBE)GF@=YEEE>AAQMOEIM3;M>IQ I]8ٮQQ Q]tI Q UeD9QU`: Uc:)Uq8 m9)aIa mtIia m(Ea eh:)e9:Ieػ9yIy9=O@Contact HDG: 130.048427 arcdeg .'' O 4Initialize Wait Component.*G 2G F F rFbFEE)-;I-9 11i1I19=什i99 A2@E<:@Ew: Yi K* Ra/(AYt*D@t*پR@yt*at*x>t*H?@Jÿ-?`??p?)u*D@ u*t;Iu*CxBm>xB'EiPIT)Ga 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:m>iiQmOEiu:;u>Iy I8ٮyy QtI y UD9y}: }į:)}l8 9)I tIi (E :)c:Iu9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: K* :/(A Yt*)D@t*4R@yt**It*Gly>t*H 3=?mp+ÿ `??x? ?)u*)D@ u*-Ku;Iu*CxZeq>xZnEG\H\)5SGi=wA=wAF@}Yʅy>ʁʁQOEʉ͍>I I8ٮ QtI  UD9鰕: c:)]8 9)I tIi (E p:):I 9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: L*  0(AYt*(D@t*R@yt*z9 t*s.x>t*Hf'?@=wÿ``?!G??`J?)u*(D@ u*Xu;Iu*CxRc>xR Ei\I`)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y-L;>QOE;>I I8ٮ QtI  UD9: W:)i8 9)I tIi (E :)A:I9I9*G2GFFrFbF!E!E!)5;I=9 99i9I9AE>iAA I2@M<:@Mw: aa>e>/ L* %0(AYt*aMD@t*lR@yt*O t*y>t*H n?ŝÿ ?`?`? ?)u*aMD@ u*v;Iu*CxBe>xBP E)~GF@}Y}>ʁʁQOEʁ͍;>I I8ٮ M8 QtI  UD9鰕E: :)'8 9)I tIi (E }:)o:I9I9*G2GFFrFbFEE);I9 iI,i 2@<:@ w: 5L* W?0(A) I Yt*\aD@t*gS@yt*`2t*Nz>t*H ֛?웿@ÿ ?K?~?& ?)u*\aD@ u*v;Iu(xBxp>xBEHFp=HFa=iPIP)AIQMOEIMI;M>IQ I]8ٮQQ Q]tI Q UeD9QU%: UJ:)U8 m9)aIa mtIia m(Ea e:)eE:Ieg9yI9*G2GFFrFbFEE)5;I59 QQiQIQY]^ҭiYY a2@e<:@mw: yL* HY0(AYt.VD@t.a/S@yt.$t.HE>t.HS ?4)Ŀxa?@'?? _?)u.VD@ u.oew;Iu.CxRb>xR E)%Ga 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ;>ʉʉQOEʉ͕;>I I8ٮ QtI  UD9鰝: :)8 9)I tIi (E [:)0:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)};I}9 yiIi 2@<:@w: ߩiFHL*  s0(AYt*D@t*JS@yt*t*m>t*H@EQ?_Ŀ@ d?+݁?i??)u*D@ u*tw;Iu*CxNMl>xRLEi\I\)F@-Y-V\;->11Q5OE1=;=>IA IM8ٮAA QMtI A UMD9AE: E:)E8 U9)QIQ ]tIiQ ](EQ Ul:)UI:IU_9iIi9i&}MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 189.158005 arcdeg .q''*G2GC@FFrF bF E E )%;I%9 !!i)I)-0R@i)5C@ 12@=<:@=w: I$RHorizontalControl.headingCmd 2.269773 rad/#L* ]0(A@ Yt*#D@t*.xS@yt*2t*>t*HsZ? <ĿV@G?JF?@??)u*#D@ u*x;Iu*CxBp>xBEGFAAHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mSGia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%%>!)Q-OE)5J;5>IA IM8ٮAA QMtI A UUD9AE; E;)E8 e9)Y e9IY etIiY m(EY ]:)]:I]9yI9=O-@Contact HDG: 130.048427 arcdeg .'-'5O54Initialize Wait Component.*G12G1F1F1rF9bF9EAEA)u;Iu9 yyiyIy@i 2@<:@w: ߩ8Z)L* :0(AYt*SD@t*^S@yt*uF+t*-j>t*H@E?Oſ? h? ? @?)u*SD@ u*7y;Iu*CxB^>xB Ei\I\)GF@]Yee>aaQeOEim;m>Iq I}8ٮqq Q}tI q U}D9qu: u-:)u#8 9)I tIi (E :):I9I9*G2GFFrFbFEE);I9 iIˣ@i 2@<:@w: >l>A0L* M0(AYt6vD@t6S@yt63't6_>t6H@?Rſ@@?`?@?s?)u6vD@ u6z;Iu6CxRZe>xR E)SGF@-Y5k :5>11Q5OE1=:=>IA IM8ٮAA QMtI A UMD9AE: E:)EY*8 ]9)QIQ ]tIiQ ](EQ U:)U$:IU9iIi9i*G2GFFrFbFEE);I9 iI{@i 2@<:@w: k6L* 50(A) I Yt*/E@t*S@yt*t*>t*H C ?7ڠ`ſ@,? ?`$?C?)u*/E@ u*Az;Iu*CxB:m>xBEHFa=HDixIzC)UjGQ]%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ;>ʹʹQOED<>I I8ٮ QtI  UD9: :)18 9)I tIi (E h:)|:I9I9*G 2G F F rFbFEE)-;I-9 ))i1I1=@i99 92@E<:@Ew: Yt*H6@??[@sſRI ?a? ,?`?)u*0E@ u*&z;Iu*CxBsj>xB(E)+GF@]YeuJ:e>iiQmOEim(9u>Iq I}8ٮqq QtI q UD9quS: u:)u>88 9)I tIi (E :)ȗ:I"9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: iF~CL* ۦ1(AYt*[E@t*T@yt*Lt*g>t*Hs?@ dſ?@i??`?)u*[E@ u*{;Iu*CxNmd>xRu Ei`Ib“C)GF@-Y5⥺5>11Q=OE9=;E>IA IM8ٮAA QMtI A UUD9AEO: E:)E?8 9)QIQ tIiQ (EQ U<)Ut.H=? EpſĄ j?@??`+ ? ?)u.{=E@ u.%{;Iu.Cx>a>xB EGB@AH@)~+GixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYee>iiQmOEiu u>Iy I}8ٮyy QtI y UD9y}: }J:)} F8 9)I tIi (E :),:I399I99AOUDone Waiting.'UOU8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !=PL* \B1(AYt.GwE@t.R$T@yt.5t.x~>t.H+? a ƿ@ID?দ?? )?)u.GwE@ u.sz;Iu.CxBp>xBEiPIRC)GF@=YE:E>AAQMOEIM<M>IQ I]8ٮQQ Q]tI Q U]D9QU: UW:)UL8 m9)aIa mtIia m(Ea e:)aIe;9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 189.919284 arcdeg .q' ' *G 2G FFrFbFEE);I9 iIi 2@<:@w: >a>ֺVL* :\1(AYt.vE@t.#T@yt.t.s>t.HM`?5C ƿS?cނ?@??)u.vE@ u.wz;Iu.CxNi>xNE)5XGF@EYEPw:M>QYQeOEauy?u>I I8ٮ QtI  UD9鰍I; ;)S8 9)I tIi (E ;)c;IHD9I9=O]@Contact HDG: 130.048427 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFabFiEE);I9 iIi 2@<:@w: "\L* v1(A)4t*Hx?ٜ%ƿ?:?R?z?)u*(E@ u*z;Iu*CxNm>xR'EHRp=HPi`I`)vG!!a 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍG7>ʉʉQOEʑ͕ ;>I I8ٮ QtI  UD9鰝: :)Z8 9)I tIi (E ):):IL9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )cL* 1(AYt*E@t*LT@yt*L,t*y>t*H`k?u[ƿ?w?? ?)u*E@ u*`y;Iu(xBg>xBsE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y>QOE;>I I8ٮ Q tI  U D9o; ;)a8 9)I %tIi %(E a:):IU99I999*GY2GYFYFarFabFiEiEi);I9 iIi 2@<:@w: iiL* ˩1(AYt*_E@t*j:T@yt*vt*y>t*H`Go?蠿7ƿ@JH?#? ?` ?)u*_E@ u*y;Iu(xRm>xR'EilIl)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ@;>ʹʹQOE6>I I8ٮ QtI  UD9: :)h8 9)I tIi (E F:)|:I]9I9*G2G F F rFbFEE)-;I-9 ))i)I)19i99 92@E<:@Ew: Q pL* H1(A Yt*E@t*oT@yt*kt*u>t*H ~B?5ƿ@?Ղ?`U? D?)u*E@ u*y;Iu*CxBq>xBEG@H@)dGiF@]Ye]9e>aaQmOEim+<m>Iq I8ٮqq QtI q U D9quG; u;)udo8 9)I tIi (E :):I?f9IIY9Y*G2GFFrFbFEE) ;I 9 iI!99iAA I2@}<:@w:  wL* F~1(AYt*E@t*fT@yt*kt*0w>t*H`t@/?@J蠿`ƿ O?@Zq??n?)u*E@ u*y;Iu*CxR_>xR Ei`I`)!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YE:>QOEż>I I8ٮ QtI  U D9: S:)v8 9)I tIi (E :):In9 I 9 *G!2G!F!F!rF)bF)E)E))E;IE9 AAiIIIIIiQQ Q2@]<:@]w: iR>Y>2}L* F[1(AYt*E@t*ȘT@yt*2t*Fo>t*Hz`?ƿ @^?~]?? b!?)u*E@ u*dy;Iu*CxN:m>xRE)GF@]Yeoe>aaQeOEimI<m>Iq I}8ٮqq Q}tI q U} D9qu): u:)u-}8 9)I tIi (E O:) :I,w9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G)2G)M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa);I9 iIi 2@<:@w: L* 72(A) IYt.E@t.T@yt.+t.v>t.Hz,?@tɠ ƿx@M??{?@??)u.E@ u. z;Iu.CxBeq>xBnEHBa=HDiPIP)G=a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQmPEiuH 8u>Iy I8ٮyy QtI y U D9y}: }>:)}8 9)I tIi (E v:)$:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.327319 arcdeg .q''*G2GFFrFbFEE) ;I9 iIi !2@%<:@%w: YJDL* +2(AYt*E@t*ǨT@yt*t*n>t*H`}y@?Ў ǿK?@*ۃ?@ێ?@1"?)u*E@ u*y;Iu*CxBd>xB E)~dGF@ Y ;>QPE ;>I! I-8ٮ!! Q-tI ! U- D9!%ͭ: %а:)%ʊ8 59)1I1 =tIi1 =)E1 5?:)5:I59III9Q=O@Contact HDG: 130.048427 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !i,L* D2(AYt* ;F@t*T@yt*(t*u>t*Hs'?{桿੍ǿ`"?@ ? q??)u* ;F@ u*Ey;Iu*CxBr>xBIEiPIP)|F@ Y:%>)1Q5PE1=<=>IA IM8ٮAA QMtI A UM D9AE%: E:)E8 U9)QIQ ]tIiQ ])EQ U׾:)U:IU9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: YVL* ^2(A Yt*r=F@t*}T@yt*)t*+r>t*H ss@8?x Mǿn?`>;? ??)u*r=F@ u*Ey;Iu(xN5g>xN*EGPHP)Gi!a 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ`3>ʁʁQPEʁ͍9>I I8ٮ QtI  U D9鰕%: J:)Ҙ8 9)I tIi )E Ր:):IN9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: rL* bx2(AYt*fF@t*U@yt*Xt*H o@8?Y7ǿ Ȃ@wO?@???<?)u*fF@ u*y;Iu*CxBi>xBEiPIP)5҄GF@mYm*8u>qqQuPEq};}>I I8ٮ QtI  U D9鰅h: :)8 9)I tIi )E :)q:Iġ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >e>hL* =~2(AYt*wF@t*1U@yt*)t*.u>t*Hl4?ϡȿ@"?`a>? Z?@?)u*wF@ u*Wy;Iu*CxN"h>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+Ga 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y%;%>))Q-PE)5;5>I9 I=8ٮ99 QEtI 9 UE D99=\: =ٮ:)=8  9)III  tIiI  )EI M<)Mxt*Hj ?ޢIȿu@? ?@6$?`s ?)u*ʚF@ u*Iy;Iu*CxB'n>xBpEH@HD){FnF>I{Di{F>{F1>{D{D{D|F3wB9|F?8C ?i`I`)SG%%=!F@YʽL:>QPEzy;>I I8ٮ QtI  U D9ܵ; ;)8 9)I  tIi  )E Ր:)c:I99I999*GI2GIFQFQrFybFyEyEy2EzE3wBE[HN@ҟ"@E?8C ?EnF>EE"PMDC{4e:-@Efnr"Ӏ%)Rտp%~6?E^@=DHdg To Contact =199.481740 degreesZEbEh:Eo$?BEdo$?JE REp jEo9@rE);I9 iIi 2@<:@w: $UDacoustic_contact_range 61.800007 m$]hTrackAcousticContact.heading_to_contact 3.481613 rad$eHDUSBL_Hydroid.xAngle 8.800000 arcdegEzL* 22(AYt2F@t2fU@yt2نt2Ty>t2H@g`? ȿSvƕ?@ǰ?? ?)u2F@ u2y;Iu0x^m>xb'E)}dGF@Yʵ49>QPE];]>IY Ie8ٮYY QetI Y Um D9Y]: ]:)]״8 9)iIi tIii )Ei m;)mկ;Im9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)%;I%9 !)i)I)IQiQQ Q2@]<:@]w: iĤL* E2(AYt*F@t*хU@yt*w5't*w{>t*HdAU?`]ȿ&p? ?? ?)u*F@ u*Zy;Iu*CxB0a>xBw EiPIT)a 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeĺm>iiQmPEiu֦;u>Iy I8ٮyy QtI y U D9y}h: }):)}=8 9)I tIi )E }:)N:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 191.155480 arcdeg .q'-'-*G)2G-^@F1FrFbFEE);I9 iI8@i^@ 2@%<:@%w: 9$]RHorizontalControl.headingCmd 3.481613 radνL* 12(A Yt*F@t*U@yt*$~>t*H`b}?㢿`Xȿh!?y?s?E?)u*F@ u*Qy;Iu*CxR?s>xREGPHP)Gi%wA!F@]YeOe>aaQePEimP1;m>Iq I}8ٮqq Q}tI q U} D9qu: u:)u´8 9)I tIi )E :) :II9I9=O%@Contact HDG: 199.481740 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F!F)rF)bF)E1E1)E;IM9 IIiIIIUU@iQQ Y2@]<:@ew: qhL*  3(AYt*F@t*U@yt*,t*>t*Hcs?B|Hȿ eK?@7?`Ȥ?@?)u*F@ u*x;Iu*CxBn>xBEiPIR“C)~ׄGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>iiQmPEimʵu>Iq I}8ٮqq QtI q U D9quc: u:)uɴ8 9)I tIi )E d:)V:I9I9*G2GFFrFbFEE);I9 iIq@i 2@<:@w: R>a>HL* Q-3(AYt*F@t*U@yt*){t*y>t*Ha`g?me ȿ p]?P??9 ?)u*F@ u*!w;Iu*CxRy>xRE)-GF@=YEj;E>AAQMPEIMl:M>IQ I]8ٮQQ Q]tI Q Ue D9QUE: U(:)Uϴ8 m9)aIa mtIia m)Ea e:)e:Ie:9yI9*G2GFFrFbFEE);I9 iIW)@iF> 2@<:@w: cL* :zG3(A) I;Yt*2,G@t*=U@yt*-'t*v>t*H`\@?"Hfɿq`u1?-?5??)u*2,G@ u*n^w;Iu(xB_>xB EHFR=HDiPIRC)dG!!F@]Ye{e>aaQmPEiml<m>Iq I8ٮqq QtI q U D9qu; uܵ;)uִ8 9)I tIi )E ::)Ԙ:I9I9*G2GFF!rF!bF!E)E))=;IE9 AAiAIAM #@iMܔ\>I I2@u<:@}w: L* XUa3(AYt.G@t.U@yt.25t.r>t.H^?د9=ɿM_9l?6?;?@?)u.G@ u.w;Iu.CxRr>xRIE)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y=>QPEL>I I8ٮ QtI  U D9%: :)ݴ8 9)I tIi )E %:):I9I9*G2GFFrF!bF!E!E!)=;I=9 99i9IAE7)@iE 8>A I2@M<:@Uw: ai L* 82{3(AYt*G@t*U@yt*K7t*~>t*H@]-?o/Jɿ`cZ'??i??)u*G@ u*fv;Iu*CxNeq>xRnEi^=I\)SGF@-Y-6ܹ5>11Q5PE1=:=>IA IM8ٮAA QMtI A UM D9AE: El:)E{8 U9)QIQ ]tIiQ ])EQ U:)U:IU9iIi9i*G2GFFrFbF E E )=;IE9 AAiAIAMZ.@iM>I I2@u<:@uw:> ߱L* 3(A$ $YtR*G@tRU@ytRU$tRC5z>tRH`\?ndɿj ???C ?)uR*G@ uRu;IuRCxVi>xZEGXHX {\Y|\b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>QPE!E:E>IY I8ٮYY QtI Y U D9Y]; ];)]8 9) 9I tIi )E ҿ;);I{9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFAbFAEIEI);I9 iIT5@i_= 2@<:@w:xq>  /L* 3(AYt*(G@t*U@yt*-t*Qx>t*H\?{D<`ɿ m?v??{??)u*(G@ u*u;Iu*Cx20a>x6w EiNf=IL)~GF@ Y ?QPE:?I! I-8ٮ!! Q-tI ! U- D9!%: %:)%38 =9)1I1 =tIi1 =)E1 5_:)5:I59III9I&]MeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 191.435258 arcdeg .q''*G2GFFrFbFEE);I9 iIZ9@iVX= 2@ <:@w:uO> y>l>L* 3(AYt*QG@t*\U@yt*$t*X}>t*H]`?@D䣿`Mɿe w? `?@=X?@'?)u*QG@ u*t;Iu*CxN}v>xRE)ƄGF@-Y-:5>11Q5PE1=u=>IA IM8ٮAA QMtI A UM D9AE:: E:)E*8 ]9)QIQ ]tIiQ ])EQ U:)Ug:IU>9iIi9i=O@Contact HDG: 199.481740 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI% >@i%;=! !2@-<:@-w:=xA =xA- #> 9cAL* 03(A) IYt.8G@t.U@yt.M%t.}>t.H_[?@?`ɿb ??b?{?)u.8G@ u.t;Iu.CxB[>xB EHBp=HBp=iTIT)G 4= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmsm>iqQuPEq}jx;}>I I8ٮ M8 QtI  U D9鰅: g:)18 9)I tIi )E :)U:I9I9*G2GFFrFbFEE);I9 iI#D@iv4\< 2@<:@w: > lL* 3(AYt*] G@t*hU@yt*HAt*y>t*H_`?;x"ɿoox?(??@F?)u*] G@ u*d^t;Iu*Cx>m>x>'E)zdGF@=Y==>AAQEPEAMYM>IQ IU8ٮQQ Q]tI Q U] D9QU: U :)U8 e9)aIa mtIia m)Ea e}:)eԘ:IeO!9yIy9y*G2GFFrFbFEE);I9 iIHiib 2@<:@w:> ߙi SM* U4(AYt*/G@t*U@yt*.t*x>t*H?\? LmɿTl w?Cׅ?@4??)u*/G@ u*s;Iu*CxRk>xREi\I`)5GF@]Ye5;e>aaQePEim;m>Iq I}8ٮqq Q}tI q U D9qu: u:)u 8 9)I tIi )E ::)o:I)9I9*G2GFFrFbFEE);I9 iI+CiLP^ 2@<:@w:)=I== } M* 104(A Yt. G@t.&U@yt.R$t.5>t.H`֫?#$ɿ a\X??c?@?)u. G@ u.t;Iu.CxBo>xBJEG@HD)SGi%yA%wAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ :>ʹʹQPE>I I8ٮ QtI  U D9l: -:) 8 9)I tIi )E :):I29I9*G2G F F rFbFEE)-;I-9 ))i)I15=i=b9 92@E<:@Ew: Vw$= 9hM* J4(AYtvG@tvU@ytv<.tvv|>tvHC` ?@]ɿ.ie? gDž? FD?\?)uvG@ uvs;IuvCx~g>x~sEiI)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%PE!%->I1 I58ٮ11 Q=tI 1 U= D915>: 5:)5*8 E9)AIA EtIiA M)EA E:)E,:IEs;9YIY9Y*Gi2GiFqFqrFqbFyEyEy);I9 iIx9i^轉 2@<:@w:hW< ߑR>Y>M* c4(AYt*G@t*U@yt*&t*w>t*H5`? ɿ`s=?@݄?@???)u*G@ u*Us;Iu(xBh>xBE)SGF@=YE':E>AAQEPEIM!9M>IQ I]8ٮQQ Q]tI Q U] D9QU: U:)U"8 m9)aIa mtIia m)Ea e%:)e9:Ie[C9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE!)U;IU9 QYiYIY]N=4iet*H!a?袿@ ɿs`P?Ub?B? *?)u*HF@ u*os;Iu(x6j>x6qEH6a=H6a=iDIFC)rdGttF@Y%&%>!)Q-PE)-i->I1 I=8ٮ11 Q=tI 1 UE D915: 5:)5d)8 M9)AIA MtIiA M)EA E:)E,:IEK9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 191.286647 arcdeg .q''*G2GFFrFqbFyEyEy);I9 iI00i/ 2@<:@w: ߹)%M* 4(AYt*F@t*U@yt*4t*h]~>t*H@>ac?A` ɿ@f!? ?@w??)u*F@ u* s;Iu*CxNg>xRsE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )qa 1 a 1  a 5 a 5  a 9 a 9  a - a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE뭺E>IIQMPEI sU >I I8ٮ QtI  U D9: :)18 %9)!I! MtIi! M)E! %Ȯ;)%;I%DV9YIY9Y=O=@Contact HDG: 199.481740 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GiFiFirFqbFyEyEi);I9 iIg-i"> 2@%<:@%w:)==I]==es AG+M* w4(AYt*F@t*#tU@yt*Zz1t*1{>t*Hsf/?>a@ȿb ?./?"??)u*F@ u*/s;Iu*CxN,t>xR#EihIjC)5GF@EYE:M>IIQMPEIU*U ?IY Ie8ٮYY QetI Y Ue D9Y]ͭ: ]):)]B78 m9)iIi utIii u)Ei m[:)m:Im\9I9*G2GFFrFbFEE);I9 iI,i 2@<:@w:/[ 992M* 3S4(AYt*(F@t*3xU@yt*$t*]w>t*H-f:?@ȿ`yE?mD?࢞??)u*(F@ u*s;Iu*CxN'n>xRpEGPHP)%Gi%wA!a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅvb;>ʉʉQPEʉ͕:>I I8ٮ QtI  U D9鰝: S:)K>8 9)I tIi )E -:)A:Ie9I9*G2GFFrFbFEE);I9 iI,i 2@ <:@w: G8M*  .4(AYt*QF@t*\kU@yt*c/t*v>t*HNg ,?C=`iȿ{ iA?@b???)u*QF@ u*Ȕs;Iu*Cx^]>x^Eir=IrC)EGF@}YʅR>ʁʁQPEʁ͍>I I8ٮ QtI  U D9鰕: :)+E8 9)I tIi )E ):In9I9*G2GFFrFbFEE);I9 iI6.i/4 2@<:@ w:wA  D >l>s?M* _ 4(AYt*2F@t*=LU@yt*t*H`5j?`OCRȿo@%??yr?@]?)u*2F@ u*s;Iu*CxN:m>xRE)uSGF@Yʽ>ʹQPEE>I I8ٮ QtI  U D9&: ;)1L8 9)I tIi )E :):Iv9I9*G 2G F FrFbFEE)-;I59 11i1I1=]0i=9 A2@E<:@Ew:pG( EM* 5(A) IYt.F@t.=U@yt.r "t..>t.H kS?ƀ 5ȿ`f\?A??.?)u.F@ u.*s;Iu.CxBeq>xBnEHBp=H@iRf=IP)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ;>QPE>I I8ٮ QtI  U D9: :)S8 9)I tIi )E ::):IC9I9*G 2G F F rFbFEE)-;I-9 11i1I1E$v2iAI Q2@e<:@mw:4 ߑLM* 725(AYt*8lF@t*CU@yt*%t*C{>t*H!o@1?@sd<ǿSy ?=?;.??)u*8lF@ u*s;Iu*CxBp>xB%E)~{GF@Y%%>!!Q-PE)-0->I1 I=8ٮ11 Q=tI 1 UE D915: 5:)5Y8 M9)AIA MtIiA M)EA E:)E,:IE\9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFQrFYbFYEYEa);I9 iIL3iL 2@<:@w:)=I=f$ ߹iSM* ܛL5(AYt*nhF@t*yU@yt*3t*Su>t*Hio}?aǿy)?u?p?t?)u*nhF@ u* t;Iu*CxBeq>xBnEiLINC)~+Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye e>aaQePEam1m>Iq I}8ٮqq Q}tI q U} D9qu>: ux:)u`8 9)I tIi )E :):I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 190.762607 arcdeg .q''*G2GFFrFbFEE);I9  i I L3i 2@<:@w:g +YM* \wf5(A Yt._EF@t.jT@yt.<t.~>t.H r 3?ʦ ǿ3x@*?TV?`|??)u._EF@ u.t;Iu.CxBn>xBEGFAAHD) GF@=YEy;E>AAQEPEIMEM>IQ I]8ٮQQ Q]tI Q U] D9QU: U:)Ug8 m9)aIa mtIia m)Ea e:)e9:Iew9yIy9=O@Contact HDG: 199.481740 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIL3 i 2@<:@w: - `M* N5(AYt.#F@t.T@yt.@%t.h}>t.H`u?8_ǿf| 9?`? }f? @?)u.#F@ u. [t;Iu.Cx6d>x6 EiDID)rGF@zY~պ~>QPEA >I  I8ٮ   QtI  U D9  ի: :) >n8 %9)!I! %tIi! -)E! %O:)% :I%ɠ91I199*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIq}L3yiyy 2@<:@w: )I )t.Hwe?@ 7ǿઉf?`m?`??)u.JF@ u.kt;Iu.Cx6j>x6qE {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )=ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>!!Q%PE!-a9->I9 IE8ٮ99 QEtI 9 UM D99=b; =:)=u8 ]9)QIQ ]tIiQ ])EQ Us;)U;IU9qIy9y*G2GFFrFbFEE);I9 iIL3i )2@-<:@5w: IglM*  5(A) IYt*JE@t*UT@yt*o(t*s|>t*Hz?@qi`ƿ`^/? ?A?@?)u*JE@ u*t;Iu*CxN'n>xRpEHRa=HPilIl)5G99F@Yʕ1I:>ʙʙQPEʙͥ骻>I I8ٮ QtI  U D9鰥: 1:)^|8 9)I tIi )E :)$:I89I9*G2GFFrFbFEE);I9  i I L3i 2@<:@w: 1QsM* 5(AYtrE@tr̄T@ytrc6,trx>trH|p?@#Π`Iƿ^B?`?`X??)urE@ ur1t;IurCxzi>xzE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yp>QPEX>I I8ٮ QtI  U D9 :)t8 9) I  tIi  )E  t:) :I 9!I!9!*G92G9F9F9rFAbFAEAEA)];I]9 YYiYIYeL3aiai i2@u<:@uw: ߁ zyM* 5(Ax*[>x%EiyIy)F@Y>QPE  >I  I58ٮ   Q5tI  U= D9  ; ;) b8 E9)9I9 EtIi9 E)E9 =:)=:I=9qIy9y*G2GFFrFbFEE);I9 iIL3i 2@<:@w: 9aM* 6(A Yt.E@t.IT@yt.Ot.>t.H`?@+桿*Vƿ6`? ?c?@?)u.E@ u.eu;Iu.CxBMl>xBLEGB@AH@)GiF@Yʕڎ;>ʙʙQPEʙͥ>I I8ٮ QtI  U D9鰭: :)8 9)I tIi )E :)N:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rF1bF1E1E9)M;IM9 IIiIIQuL3yiyy y2@<:@w: ߙ䋆M* 2u6(AYt* E@t*8T@yt*J0!t*,x>t*H q`?:L3ƿ`'w?%??3?)u* E@ u*bu;Iu(xBjw>xB"EiLIP)vGa 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@MYUl]>YYQ]QEYe$e>Ii Im8ٮii QtI i U D9im; m;)m^8 9)I tIi )E t:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 189.988405 arcdeg .q'e'e*Gi2GiFFrFbFEE);I9 iIL3i 2@<:@w: e>t>M*  P56(Axn`k>xrE)edGF@}Yʅ>ʁʁQQEʁ͍>I I8ٮ QtI  U D9鰕U: Y:)˞8 9)I tIi *E [:)Ԙ:I9I9=O@Contact HDG: 199.481740 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I=9 99i9I9EL3AiAA I2@M<:@Uw: aM* +O6(A)4t*H T?@!ſ? *J???)u*HE@ u*_v;Iu*Cxnc>xn, EHrp=Hpi|I)eGm%=m=F@}Y}ִ>ʁʁQQEʁ͍#>I I8ٮ QtI  U D9鰕: :)8 9)I tIi *E %:):I<9I9*G2GFFrFbFEE)5;I9 iIL3ic 2@<:@w: 9șM* i6(AYt*IE@t*S@yt*t*}x>t*H)@1U?CfEſౚft?Cy?@-? l?)u*IE@ u*ov;Iu*CxBZe>xF E) SGa 1Ma 1M a 5Ma 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu_;u>ʹʹQQEʹK6>I I8ٮ QtI  U D9}: :)8 9)I tIi *E :):I9 I9*GA2GAFAFArFIbFIEIEq);I9 iIL3)i)1 12@=<:@=w: yi믠M* 6(AYtBLE@tBWS@ytBtBq>tBH! ?@^ %Sſ?X[?~?@R??)uBLE@ uBC]v;IuBCxNk>xREi\I\)GF@=YEE>AAQMQEIM:M>IQ I]8ٮQQ Q]tI Q U] D9QUh: Ul:)UV8 m9)aIa mtIia m*Ea e::)e,:Ie9I9*G2GFFrFbFEE);I9 iIL3!i!! !2@-<:@-w: AڦM* ܼ6(A$ (YtND@tNS@ytN),tN4Ox>tNHE?dꝿ Ŀ?ʚ?ѻ??)uND@ uN=?v;IuNCx^,t>x^#EGbAAH` {`Y|df8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiF@=YMu>yyQ}QEyֻͅ>I I8ٮ QtI  U D9鰵;  ;)8 9)I tIi *E j:):I9I9*G2GFFrFbFEE);I9 i!I)5L31i11 92@E<:@Mw:u ߁M* ϣ6(AYt6=D@t6HS@yt6(t6>}>t6H/ ?OĿU`?"?` U?U?)u6=D@ u6;v;Iu4xj:m>xnE){n I{li{nz>{n7>{l{nA{l|nyB9|nF?B*zi9I9)Ga 1a 1  a 5 a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-YU:U>QQQUQEQ]]>Ia Im8ٮaa QtI a U D9ae#; e;)e8 9) 9I tIi *E |:):I9I9*G2GFFrF bF E E 2EzEyBEn%:?@. KEF?B*zE EEt,tCGQG@(o)E(;ֹ?=yʿE~@=%DHdg To Contact =130.254590 degreesZE:BbE:E@o$?BEo$?JEc RE jENrEo9@)];I]9 YYiYIaL3i 2@<:@w:ET7 i$Dacoustic_contact_range 62.459999 m$hTrackAcousticContact.heading_to_contact 2.273371 rad$LDUSBL_Hydroid.xAngle -60.000002 arcdegV>a>M* 6(AYt*D@t*xS@yt*e%t*pWu>t*Hq@p?@m xĿ`©@-?U?_??)u*D@ u*v;Iu*Cx>5g>x>*E)~SGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʡʡQQEʡͭ >I I8ٮ QtI  U D9鰵1: :)=ȵ8 9)I tIi *E p:)ȗ:I9I9O Done Waiting.'-O-8Uninitialize Wait Component.*G)2G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF9bF9E9E9)u;Iu9 qqiyIy}L3i 2@<:@w:g ߩcM* QO6(A);IYt*[D@t*f]S@yt*ot*Vu>t*H@ŕ`X1?_"Ŀ`b '???`_??)u*[D@ u*Խu;Iu(x>k>xBEiPIT)G = =F@Y%h;%>!!Q-QE)-D->I1 I=8ٮ11 Q=tI 1 U= D915b: 5#:)5ε8 M9)AIA MtIiA M*EA E:)E:IE 9YIY9a&mMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 189.223643 arcdeg .q''*G2G~@FFrFbFEE);I9 iI M4iQU~@ Q2@]<:@]w:a a)aIa $%RHorizontalControl.headingCmd 2.273371 rad&M* %7(AYt*D@t*ZS@yt*?t*~q>t*H 4?/TĿ`?? ??)u*D@ u*{u;Iu*CxBj>xBqE)SGF@%Y%%>))Q-QE)55>I9 I]8ٮ99 QetI 9 Ue D99=ش; =:)=յ8 m9)iIi utIii u*Ei m:)m:Im 9I9y=O=@Contact HDG: 130.254590 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFrFbFEE)%;I%9 ))i)I)5W8i5,1 12@=<:@=w: Qi'M* 7(AYt*AD@t*LES@yt*#t*o>t*H@?뛿 ~TĿ?c??f ?)u*AD@ u*ju;Iu(xB,t>xB#EiLIP)~dGa 1=a 1= a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye"Ӻe>aaQeQEamRm>Iq I}8ٮqq Q}tI q U} D9qu: u:)uܵ8 9)I tIi *E :) :I=)9I9*G2GFFrFbFEE);I9 iI_I;iн 2@<:@w: QM* 77(A Yt*D@t*NS@yt*@t!t*m>t*H@#?ޛ@eĿ'H?r.?v?`#?)u*D@ u*{'u;Iu(xBf>xB E)|i|F@=YE9E>AIQMQEIMu:M>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)U8 m9)aIa mtIia m*Ea eՐ:)aIe19yIy9*G2GFFrFbFEE);I9 iI@i@ 2@<:@w: G9M* 5Q7(AYt*D@t*VS@yt*"t*m>t*H64?֛@wĿ`Z0?_@?J^? %?)u*D@ u*t;Iu(xBn>xBEiPIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmQEimë:m>Iq I}8ٮqq Q}tI q U D9qu: ug:)u8 9)I tIi *E [:),:IC:9I9*G2GFFrFbFEE);I9 iIFi 2@<:@w:4# >p>eM* k7(AYt*?D@t*JnS@yt*mv't*k>t*HL@te?ƫfĿ@??`;?` '?)u*?D@ u*t;Iu(x>Ml>x>LE)SGF@=Y=Y=>AAQEQEAMk;M>IQ IU8ٮQQ Q]tI Q U] D9QU: U:)Ub8 e9)aIa mtIia m*Ea e:)e:IeB9yIy9y*G2GFFrFbFEE);I9 iI!F@i|6K; 2@<:@w:W ߙKM* o7(A) IYt* D@t*oS@yt*;&t*l>t*H`=e?ٛ`ĿҺx ?@IDŽ? -N?%?)u* D@ u*`t;Iu*CxZ_>x^ EHfR=Hdi9I9)G4=%=11Q5QE1=8=>I9 IE8ٮ99 QMtI 9 UM D99=: =ٮ:)=w8 U9)QIQ UtIiQ ]*EQ U:)U:IUM9iIi9i*Gy2GyFyFrFbFEE);I9 iI?@iB= 2@<:@w:wA xA? ߡ!bCommunications Fault in component: RDI_PathfinderuM* VJ7(AYt*D@t*S@yt*ު&t*k>t*HKȔ? OĿ& ?@DՄ?8?@<'?)u*D@ u*t;Iu*CxBv>xBGE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GPowering downiF@MYUU>YYQ]QEYe~;m>I I8ٮ M8 QtI  U D9鰍: :)8 9)I tIi *E :)$:IU9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9  i I c:@i= 2@%<:@-w:i#' M* N%7(AYt*D@t*S@yt*Tt*rn>t*Hѐ?`Ŀ@[?n ?@?@"?)u*D@ u*Ou;Iu(xB:m>xBEiXIX)vGF@Yʅ7;?ʉʉQQEʉ͕r;?I I8ٮ QtI  U D9鰝: а:)88 9)I tIi *E !:):Ih\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 189.435474 arcdeg .q'5'5*G12G1F1F9rF9bF9EAEA)U;I]9 YYiYIYe&6@ie =a a2@m<:@mw:mɯ ߱hM* 7(A Yt*E@t*S@yt*&t*ڶl>t*H` |?Eſ!?@؄?/S?%?)u*E@ u*2fu;Iu*Cx>"h>xBEGB?AH@)zGF@=YE<E>AAQEQEAM!;M>IQ I]8ٮQQ Q]tI Q U] D9QU: UW:)U 8 m9)aIa mtIia m*Ea e:)e,:Ied9yIy9=Om@Contact HDG: 130.254590 arcdeg .'m'uO4Initialize Wait Component.*G2GFFrFbFEE);I9 iI0@i!> 2@<:@w:)=I=t ! dClearing failed state for component RDI_Pathfinderq M* 7(AYt*1E@t*S@yt*F0t*r>t*H;?Qߝ)ſ@`Z?@??Q?)u*1E@ u*h[v;Iu*CxB`k>xBEiPIP) GF@Y%ٽ%>))Q-QE)-כ;5>I1 I=8ٮ11 QEtI 1 UE D915: 5:)58 M9)III MtIiI U*EI M::)Mo:IM)m9aIa9a*Gy2GyFyFyrFbFEE);I9 iI+@i3> 2@<:@w:NJ< ߹t>{>N* 8(AYt*3JE@t*>S@yt*"^'t*en>t*H i?0ſL`b?`?Ҙ?!?)u*3JE@ u*v;Iu(xBeq>xBnE)zAIQMQEIM\p;U>IQ I]8ٮQQ Q]tI Q Ue D9QU.: U:)U8 m9)aIa mtIia m*Ea e:)e:Ieu9yI9*G2GFFrFbFEE);I9 iI.&@iV> 2@<:@w: K= N*  8(A) IYt*dE@t*T@yt*Vzt*Lt>t*Hdž? ſh`?8O?F???)u*dE@ u*Ww;Iu*CxBv>xBGEHBa=HDiPIRC)SGF@Y%;%>))Q-QE)-_;5>I1 I=8ٮ11 QEtI 1 UE D915u: 5x:)5!8 M9)III MtIiI U*EI M :)Mݖ:IM/~9aIa9a*Gq2GqFqFqrFybFEE);I9 iI @iNy> 2@<:@w: wAuI= ߁ N* &m:8(AYt* E@t*7T@yt*Wt*Gr>t*H ?Q1ƿ` e? 6?z?`d?)u* E@ u*3x;Iu*CxB`k>xBE)~GF@=YERE>AAQMQEIM7;M>IQ I]8ٮQQ Q]tI Q Ue D9QU: UW:)U(8 m9)aIa mtIia m*Ea eɏ:)eA:IeƆ9yIy9*G2GFFrFbFEE);I9 iIZ@i > 2@<:@w:O)= iN* gHT8(AYt*GE@t*R_T@yt*!t*Ru>t*H`'?ƿ ?A3?_??)u*GE@ u*y;Iu*CxVDy>xZEEidId)-҄GF@]Ye_e>aaQeQEimD;m>Iq I}8ٮqq Q}tI q U} D9qu: u:)u/8 9)I tIi *E :):I_9I9*G2GFFrFbFEE);I9 iIG@i 2@<:@w:= N* B#n8(A@ Yt2E@t2sT@yt2-#t2u>t2H/~@rO? #ƿ0?`p?s? j?)u2E@ u2Pz;Iu0xBw>xBjEGFAAHD)-+GF@=YE-E>AIQMQEIMN;M>IQ I}8ٮQQ Q}tI Q U D9QU$; Uõ;)US68 9)I tIi *E :)N:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I=9 99i9I9E@iAA A2@M<:@Mw:)}=I}=UoE-> Y!N* 8(AYt* E@t*T@yt*E#t*gu>t*H`@z?ƿƏ-? h?ns?d?)u* E@ u*{;Iu(xR"h>xREi\IbC)]GF@mYuM"8u>qqQuQEq}P;}>I I8ٮ QtI  U D9鰅: l:)R=8 9)I tIi *E :)=:Io9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 190.352072 arcdeg .q'='=*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIam~@iii q2@u<:@}w:MiX]> Y>>(N* ١8(AYt*E@t*T@yt*%t*x>t*H@*{Q?`ƿ?8? N?U?)u*E@ u*Y|;Iu*CxB}v>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )IF@Y%}%>))Q-QE)]L]>Ia Im8ٮaa QtI a U D9ae5< ep<)eD8 M9)AIA tIiA *EA Ev<)Ew ;.N* -8(A) IYt*91F@t*DT@yt*!t*Ps>t*Ht?~YNzǿ`-T?+"?2?Y?)u*91F@ u**|;Iu*CxRi>xREHPHTilIl)5GF@}YʅG:>ʁʁQQEʉ͍?<>I I8ٮ QtI  U D9鰕@< u<)$K8 %9)!I! -tIi! -*E! %Ր:)% :I%ֱ99I999*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqy}iyy 2@<:@w:vA m> q#5N* \8(AYt*b/F@t*mT@yt*s (t*ly>t*H`t?@`vǿ$ C?@6?&?) ?)u*b/F@ u*֣};Iu*CxRs>xRE)%+GF@-Y55>11Q5QE9=jE>IA IM8ٮAA QMtI A UM D9AE: E):)EQ8 ]9)QIQ ]tIiQ ]*EQ Uٮ:)UR:IU˹9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: )I IiM;N* {i8(AYt*RF@t*T@yt*$t*hLs>t*HqZ? }ǿ P ??`$ ?{?)u*RF@ u*};Iu*CxRh>xREi`I`)%SGF@-Y5:5>99Q=QE9E٭;E>IA IM8ٮAA QMtI A UU D9AEd: Eh:)EX8 ]9)QIQ ]tIiQ ]*EQ U:)UP:IUO9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: 5BN* VD 9(A@ Yt*qF@t*U@yt*n!t*u>t*H@n?4ǿ ?@3?`o??)u*qF@ u*,~;Iu*CxRMl>xRLEGR@AHT)dGF@-Y-QĹ5>11Q5QE1=;=>IA IM8ٮAA QMtI A UM D9AE: E:)E_8 U9)QIQ ]tIiQ ]*EQ U :)UǺ:IU9iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: %`HN* 2!#9(AYt*RF@t*].U@yt*4 t*~_q>t*H-m?ȿ`u?@?@>??)u*RF@ u**;Iu(xB:m>xBEiPIP)~GF@=YE`^9E>AAQMQEIM;M>IQ I]8ٮQQ Q]tI Q Ue D9QU: Ul:)Uf8 m9)aIa mtIia m*Ea e[:)eԘ:Ie`9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: >a>8NN* <9(AYt*F@t*aU@yt*Ut*DBp>t*HQh@-?|ȿވ p??@? -?)u*F@ u*;Iu(x^"h>x^E)5GF@EYED9E>IIQMQEIU;U>IY Ie8ٮYY QetI Y Ue D9Y]ͭ: ]į:)]}m8 m9)iIi utIii u*Ei mՐ:)m,:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: qUN* 9V9(A)4t.H`Ph(?桿{ȿ@׆K?`΄?;?<?)u.GF@ u.i;Iu.CxBf>xB EHB=HFp=iPIRC)UʡʡQQEʡͭk>I I8ٮ QtI  U D9鰵; k;)t8 9)I tIi *E F:)Z:I9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G12G1MU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFQFYrFYbFYEaEa);I9 iIi 2@<:@w: F[N* p9(AYt.F@t.U@yt.9t.l>t.Hde? ȿ`?&?`pT?@%?)u.F@ u.;Iu.CxBk>xBE)~SGF@]Y]:e>aaQeQEam[;m>Iq Iu8ٮqq Q}tI q U} D9qu`: u:)uS{8 9)I tIi *E ̒:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 191.163048 arcdeg .q'%'%*G!2G!F)F)rF)bF1E1EA)];I]9 YYiYIYaaiaa i2@m<:@uw: ߁iԃbN* i9(AYt*F@t**U@yt*N#t*:o>t*H.a ?Y ɿׂZ?`s?? B ?)u*F@ u*;Iu*CxBmd>xBu EiLINC)~dGF@=YE$E>AAQMQEIMܯ;M>IQ I]8ٮQQ Q]tI Q U] D9QUR: Uw:)U'8 m9)aIa mtIia m*Ea e}:)e:Iej91I999=O@Contact HDG: 130.254590 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: hN* sg9(A Yt*G@t*˽U@yt*y't*Gl>t*H`V_?C (1ɿ ??E?x&?)u*G@ u*v;Iu*CxNi>xREGRAAHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Y>QQE#;>I I8ٮ QtI  U D9ٮ: 5:)8  9) I  tIi  *E  <) Ht*H@$Z h,?@v0ɿw??J?@/?)u*|EG@ u*;Iu*CxRg>xRsEihIh)5jGF@EYE:M>IIQMQEIU<U>IY Ie8ٮYY QetI Y Ue D9Y]: ]_:)]8 m9)i u9Ii utIii u*Ei m:)m@:Imt9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: R>V>uN* 9(AYt* _G@t* V@yt*8_t*n>t*HW+`?Hɿ{!0?˃? ܌?@P"?)u* _G@ u*g;Iu(xB,t>xB#E)~ƄGF@=YE9E>AAQMQEIMh};M>IQ I]8ٮQQ Q]tI Q U] D9QU0: U:)U֖8 m9)aIa mtIia m*Ea e:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: {N* 9(A);IYt*G@t*.V@yt*#t*r>t*HT ? ʿ/p ? p?`?@`?)u*G@ u*ǂ;Iu*CxRZe>xR EHR=HRa=idIfC)%GF@]YeJe>aaQmQEimQ;m>Iq I}8ٮqq Q}tI q U D9qu: ux:)u̝8 9)I tIi *E :)c:I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: CӂN*  :(AYt*G@t*WV@yt**t*r>t*H@OG?N@4_ʿk@ү?^??e?)u*G@ u*R;Iu*CxBZ>xBzE)~dGF@Y = > QQE|;>I I%8ٮ Q%tI  U- D9%: :)8 59))I) 5tIi) =*E) -W:)-:I-9III9I*GY2GYFYFarFabFaEiEi)};I9 iIi 2@<:@w: ߩi@AN* >%:(AYt*G@t*sV@yt*'t*At>t*HL "?@$Xʿ`[f 3?D?=??)u*G@ u*z;Iu(xBp>xB%EidIjC))F@]YeS9e>aaQeREimn;m>Iq I}8ٮqq Q}tI q U} D9qu: u :)u8 9)I tIi *E :):I(9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: G&N* ?:(A Yt*G@t* V@yt*'t*wv>t*HH@ow?S ʿ@\ #?@?`? ?)u*G@ u*n;Iu*CxBsj>xB(EG@HD)AF@}Yʅ>ʁʁQREʉ͍I;>I I8ٮ QtI  U D9鰕: :)8 9)I tIi +E :):I*19I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !N* iY:(AYt* H@t*V@yt*=t*mxt>t*H E?a7@-˿__@??D? Q?)u* H@ u*̃;Iu*CxBe>xBP EiPIP)GF@ Y_A;>QREa;%>I! I-8ٮ!! Q-tI ! U5 D9!%.: %:)%58 9)1I1 tIi1 +E1 5HZ<)5@[a>8N*  Bs:(AYt.e7H@t.pV@yt.?|(t.t>t.H@ A@}?@q˿Ys?o?4J??)u.e7H@ u.ƃ;Iu.CxBi>xBE)ƄGF@=YE=E>AAQEREIM;M>IQ I]8ٮQQ Q]tI Q U] D9QU÷: U:)U38 m9)aIa mtIia m+Ea e:)e:IeB9yIy9y=O@Contact HDG: 130.254590 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: [ N* :(A) IYt.YRH@t.dV@yt.m&t.x>t.H &>X%?u˿`O@R? Є? v?B?)u.YRH@ u.L;Iu.CxBk>xBEHBa=H@iPIP)~AAQMREIMc;M>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)UǶ8 m9)aIa mtIia m+Ea e:)e:IeJ9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: #JN* :(AYt*UH@t*W@yt*|&t*v>t*H=.?|Ƭ˿@R?x҄?Z?@?)u*UH@ u*7>;Iu*CxRj>xRqE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGF@YP>QRE9>I I8ٮ QtI  U D9T:  ;)Pζ8 9)I  tIi  +E :):ItS9!I!9!*GA2GAFAFIrFQbFQEE);I9 iI  i 2@<:@w: )i?A2N* :(AYt*H@t*RW@yt*#.t*vq>t*H5E?EH̿S@t?Uą???)u*H@ u*b;Iu*CxBa>xB Ei\I\)GF@%Y-;->))Q-RE15Q<5>I9 IE8ٮ99 QEtI 9 UE D99=: =:)=Զ8 M9)III UtIiI U+EI M:)MA:IMz[9aIa9a*Gq2GqFyFyrFybFEE);I9 iIi 2@<:@w: A\N* d:(A@ Yt*H@t* EW@yt*%t*Gw>t*H6?`f.̿K#? ?? 2?)u*H@ u* ;Iu(xR"h>xREGV@AHT)%GF@5Y=:=>9AQEREAEM>II IU8ٮII QUtI I UU D9IM3: MJ:)M۶8 e9)YIY etIiY e+EY ]:)]Ԙ:I] d9qIq9y*G2GFFrFbFEE);I9 iIi 2@<:@w: cN* :(AYt*H@t*uW@yt*t*Iw>t*H@21o?0ʦ`̿@D6(?W?? ?)u*H@ u*M;Iu*Cxb`k>xbEitIt)M+GF@UY]:]>aaQeREamM;m>Iq Iu8ٮqq Q}tI q U} D9qu: u:)u8 9)I tIi +E :)ȗ:Il9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: >i>~nN* d;(AYt*H@t*W@yt*Yx+t*v>t*H-`F?m]̿ B k?n?`?@?)u*H@ u*;Iu*CxBt>xBlE)5GF@}Yʅ#>ʁʁQREʉ͍;>I I8ٮ QtI  U D9鰕}: :)8 9)I tIi +E :):IAu9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@w: !ӛN* @M(;(A)(I(YtrI@trW@ytrv,trr>trH*!~?f P̿tG?@? ??)urI@ ur;IurCx~V>x~3EHp=HiaIa)G6Failed to parse:Pathfinder F@Y>QRE%v;%>I) I58ٮ)) Q5tI ) U5 D9)-: -:)-8 =9)9I9 EtIi9 E+E9 =::)=:I=/~9QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 193.092480 arcdeg .q''*G2GFFrFbFEE);I9 iI  i   2@<:@w: )N* B;(AYt*;I@t*W@yt*Q#t* q>t*H@%$?׹`mͿB@5o? T`? ^?*?)u*;I@ u*S};Iu*CxB0a>xBw E)~))Q-RE)59<5>I9 IE8ٮ99 QEtI 9 UE D99=: =:)=L8 M9)III UtIiI U+EI M}:)M :IM 9aIa9a=O%@Contact HDG: 130.254590 arcdeg .'%'%O%4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)M;IM9 IQiQIQqyiyy y2@<:@w: iYN* [;(AYt*]I@t* X@yt*H0t*ґv>t*H`' &?`Ϳ 5?M??@2?)u*]I@ u*$|;Iu*CxBy>xBEiLIP)~SGF@EYEHM>IIQMREIU;U>IY Ie8ٮYY QetI Y Ue D9Y]t: ]а:)]B8 m9)iIi utIii u+Ei m :)m :Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: aN* =u;(A@ Yt."I@t.-2X@yt.TM-t.~z>t.H@ i?3Ϳ`)u??? m ?)u."I@ u.Ψz;Iu.CxNRr>xREGRAAHP)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ^:>ʉʉQREʉ͍J;>I I8ٮ M8 QtI  U D9鰕: =:)I8 9)I tIi +E ):IO9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !WN* .;(AYt*I@t*8X@yt*ot*Gs>t*Hav?`ϧ ο6ࣚ??M,? ?)u*I@ u*Jy;Iu*CxRxp>xREi\I\)%҄G%4=%=F@5Y5pP;5>99Q=RE9Eˁ:E>II IM8ٮII QUtI I UU D9IM\: Mٮ:)M 8 ]9)YIY etIiY e+EY ]F:)]:I]9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: e>N* ;(AYt*I@t*X@yt*K)t*n>t*H`%5?rο@3@ ?d)?@?`x!?)u*I@ u*W?x;Iu(xB"h>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )E+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y>QRE%W<->I1 I=8ٮ11 Q=tI 1 UE D915I; 5;)5i8 U9)III UtIiI ]+EI M:)M/;IMĨ9iIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: 9N* Yi;(A)4t*H>?@iMο#`"?^΅?I?8?)u*I@ u*Tow;Iu*Cx>Ml>x>LEH@H@){BSsI{@i{B3>{@{@{BB{@|B=pB9|BL?Tmbi`I`)GF@]Y]?X]>aaQeREamĺm>Iq Iu8ٮqq Q}tI q U} D9qu>: u:)u8 9)I tIi +E p:)ȗ:I9I9*G2GFFrFbFEE2EzE=pBE;{CjA@/savHEL?TmbESsEEr R FJp 1B@Ƙ&Etw%t?o:ȿE@=DHdg To Contact =140.217869 degreesZEBbEH5:E1o$?BE@o$?JEj REc jE5rEN);I9 iIi 2@<:@w: $5Dacoustic_contact_range 60.060001 m$=hTrackAcousticContact.heading_to_contact 2.447263 rad$ELDUSBL_Hydroid.xAngle -54.549999 arcdegN* =;(AYt*K$J@t*VX@yt*;Q0t*Px>t*H?ԨC1Ͽ 0? ???)u*K$J@ u*au;Iu*CxV]>xZE)-Gi11F@=YEE>IIQMREIU+<U>IQ I]8ٮQQ QetI Q Ue D9QUt: U:)U 8 m9)iIi utIii u+Ei m-:)m:Im.9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i"N* ;(AYt*LJ@t*X@yt*42t*Jt*H? tϿ > ?R? F\?`?)u*LJ@ u*Z8u;Iu*CxB_>xB EiPIP)=Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥA>ʡʩQREʩͭ;>I I8ٮ QtI  U D9鰵į: :)'8 9)I tIi +E :) :I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 194.246359 arcdeg .q'm'm*Gi2Gm@FiFqrFqbFyEyEy);I9 iI @i@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.447263 rad O* s<(A Yt.wJ@t.$Y@yt.0t.q>t.H@K}A?8Ͽ`P?f???)u.wJ@ u.t9t;Iu.CxB5g>xB*EGDHD)~GF@YʍP9>ʑʑQREʑ͝;>I I8ٮ QtI  U D9鰥: :).8 9)I tIi +E :):Ig9I9=OU@Contact HDG: 140.217869 arcdeg .'U'UOU4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi)};I}9 yyiI&@i 2@<:@w: ߡ4 O* -*<(AYt*?J@t*JTY@yt* *t*Hu>t*H]A?{пxBsEiPIP)~G%=%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeq:e>iiQmREiuD;u>Iq I}8ٮqq QtI q U D9qu1: u:)uy58 9)I tIi +E :)c:I9I9*G2GF9F9rFAbFAEAEA)};I}9 yyiyIy@i 2@<:@w: ]>l>O* 7D<(AYt*J@t*~Y@yt* T(t*`Xy>t*H ?i`@пa,?h ?`? ?)u*J@ u*Zxs;Iu(xNi>xRE)vGF@%Y-9->))Q-RE15;5>I9 IE8ٮ99 QEtI 9 UE D99=: =ٮ:)=><8 U9)III UtIiI U+EI Md:)Mݖ:IM'9aIa9i*Gy2GyFyFyrFbFEE);I9 iI@i 2@<:@w: FO* #^<(A);IYt*J@t*Y@yt*V(t*w>t*H? | *iпp@? ?`?#?)u*J@ u*r;Iu(xNd>xR EHPHRp=i`I`)%GF@-Y5[ϵ5>19Q=RE9E;E>IA IM8ٮAA QMtI A UU D9AE: E_:)E(C8 ]9)QIQ ]tIiQ e+EQ U:)U|:IU9iIq9q*G2GFFrFbFEE);I9 iIF@i 2@<:@w: pO* 1_x<(AYt.K@t.Y@yt.4t.p>t.H5@?҈ ދп m$?@Ă?? c?)u.K@ u.wr;Iu.CxBj>xBqE)SGi  xAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>qqQuREq};}>I I8ٮ QtI  U D9鰅: :)-J8 9)I tIi +E а:)k:IZ9I9*G2GFFrFbFEE);I9 iI#m@i 2@<:@w: iX$O* q:<(AYt*YK@t*Z@yt*K/t*ut>t*Hp`q?`п J? ?`LT?;?)u*YK@ u*r;Iu(x'n>xpEiAIA)GF@YʵD:>ʹʹQREʹ| <>I I8ٮ QtI  U D9: ͭ:):Q8 9)I tIi +E :)E:I9I9*G2GF F rF bFEE)-;I-9 ))i)I)5c%@i11 92@=<:@Ew: Q҅*O* "<(A$ $YtNuK@tN"Z@ytNo+tN#z>tNHN?@"п`L?m? ?` ?)uNuK@ uN4Zr;IuNCxVj>xVqEGZ@AHX {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uƄGa 1 a 1  a 5 a 5  a 9 a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=:=>AAQEREAUx;U>IY Ie8ٮYY QetI Y Um D9Y]: ; ];)]tX8 }9)qIq }tIiq +Eq u:)u:Iu9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI^@ i   2@<:@w: )+k1O* =<(AYt*rK@t*}7Z@yt*'t*Tz>t*H `+?  пc=??@7? ?)u*rK@ u*Q2r;Iu(xB,t>xB#EiXIX)5҄G11F@Yʍz:>ʉʑQREʑ͝kZ;>I I8ٮ QtI  U D9鰝%: :)^8 9) 9I tIi +E 4:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 195.357795 arcdeg .q'M'U*GQ2GQFQFYrFYbFYEaEa)u;Iu9 yyiyIy@i 2@<:@w: ߡY>a>A7O* 6<(AYt*K@t*gZ@yt* ot*/ t>t*H@@?"n!ѿ` o?̓?p7??)u*K@ u*or;Iu*CxBs>xBE)+GF@}Y}d:}>ʁʁQREʁ͍D;>I I8ٮ QtI  U D9鰕: :)e8 9)I tIi +E ::)o:Ir9I9=O=@Contact HDG: 140.217869 arcdeg .'='=OE4Initialize Wait Component.*GA2GAFAFArFIbFIEIEQ)e;Ie9 aiiiIiiqiqq q2@}<:@}w: ߉Ӿ=O* <(A) I Yt*K@t*oZ@yt*.t*ds>t*H?@N5(ѿ d?م?#?9?)u*K@ u*H[r;Iu*CxB[>xB EHBR=HFa=iTIT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm#m>iqQuREqu):}>Iy I8ٮyy QtI y U D9y}O: }:)}l8 9)I tIi 5+E <)t*H@~3? ^`W[ѿ@? ?@? ?)u*K@ u*ZQr;Iu*CxB,t>xB#E)|iwAF@ Y>QRE4<%>I! I-8ٮ!! Q-tI ! U- D9!%.: !)%Ws8 =9)1I1 =tIi1 =+E1 5):)5':I5,9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩiJO* \-=(AYt*K@t*ʝZ@yt*&t*<|>t*H ]?XUѿA`b?CÄ?5?@R?)u*K@ u*er;Iu*CxBi>xBEiLIP)~GF@=YE:E>AIQMREIM&kM>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)UVz8 m9)aIa mtIia m+Ea e:)e9:Ie'9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: QO* 9G=(A Yt* L@t*Z@yt*kB5t*;v>t*H~?﫿cpѿP[? /?`D{?@?)u* L@ u*iFr;Iu*CxBo>xBEGFAAHD)~aaQmREim҈;m>Iq I}8ٮqq Q}tI q U D9qu : ug:)uM8 9)I tIi +E :):Ij09I9*G2GFFrFbFEE);I9 iIi 2@<:@w: WO* {a=(AYt2 L@t2Z@yt2P/t2t>t2H ?,?@[ ѿ`l?n?M??)u2 L@ u2;r;Iu0xB`k>xBEiLIP)~XG4==F@Y%f:%>!)Q-RE)-uH;->I1 I=8ٮ11 Q=tI 1 UE D915b: 5#:)58 M9)AIA MtIiA M+EA E%:)E:IE89YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: R>]> ^O* sz=(AYt:$L@t:Z@yt:."t:vz>t:H K(?@;@ѿ@%?`E?? ?)u:$L@ u:c.r;Iu8xu>xE)+Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye^:e>aaQmREimI:m>Iq I}8ٮqq Q}tI q U D9quį: u:)u8 9)I tIi +E ɏ:)$:I!B9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: !ddO* 6̔=(A)IYt.$L@t.Z@yt.wT"t.{>t.HT@t&?nfѿS? yJ? M.??)u.$L@ u.rr;Iu.CxBi>xBEHDHDiPIRC)GF@}Y}ȷ>ʁʁQREʁ͍7>I I8ٮ QtI  U D9鰕: x:) 8 9)I tIi +E :)9:IJ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NE@Vehicle HDG: 195.896628 arcdeg .q'E'E*GA2GAFIFIrFIbFQEQEQ)m;Im9 iiiiIiqqiqy y2@}<:@w: ߑkO* =(AYt*!1L@t*,Z@yt*d(t*v>t*H `8?2@ѿ@J q?t?n?Q?)u*!1L@ u*5q;Iu*CxB:m>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGia 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yc>  Q RE  :>I I8ٮ Q%tI  U% D9ͭ: :)̝8 9))I) tIi) +E) -6<)-$t*H0`!?o* yѿ `2?6?҂?_?)u*jL@ u*q;Iu*CxBm>xB'EiXIZC)GF@]Yee>aaQmREimm>Iq I}8ٮqq Q}tI q U} D9qu%: u):)uţ8 9)I tIi +E ̒:)$:IZ9I9*G2GFFrF9bF9E9E9)U;IU9 qqiqIqi 2@<:@w: 01xO* >\=(A Yt.+L@t.Z@yt.!t.`y>t.H@X@.?`C;`Uѿ[?8?? ?)u.+L@ u.:q;Iu.CxNu>xREGR@AHP)%+GF@]Ye;e>aaQmREimS;m>Iq I}8ٮqq Q}tI q U} D9qu: uN:)u8 9)I tIi +E -:)c:Izc9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9Q[~O* e7=(AYt*K@t*Z@yt*(#t*|>t*Hu?@> /cѿD@r?e? }I??)u*K@ u*q;Iu*CxNf>xR Ei`IbC)%G-%=-4=a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ!\>ʉʉQREʉ͕[ۻ>I I8ٮ QtI  U D9鰝%: į:)8 9)I tIi +E  :):Il9I9*G2GFFrFbFEE);I9 iIi   2@<:@w: !V>e>8CO* >(AYt*K@t*$Z@yt*3t*|x>t*H @h?aѿT?bƂ?I?g?)u*K@ u*Pq;Iu*CxBk>xBE)~QSE>I! I%8ٮ!! Q-tI ! U- D9!%S: %:)%F8 59)1I1 =tIi1 =+E1 5):)5÷:I5Ft9III9I*GY2GYFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩnnO* V/>(A)4t*H}B?@ -Tѿ??V?%?)u*K@ u*)5q;Iu*Cx> c>xB EHBp=H@iPIRC)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye&Ǻe>aaQmSEimNm>Iq I}8ٮqq Q}tI q U D9qup: u:)uZ8 9)I tIi ,E [:):I}9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !?UO* I>(AYt*K@t*Z@yt*ʋ$t*w>t*HDS?=9ѿ %?b?? ?)u*K@ u*Np;Iu(xRmd>xRu E)GiyAF@]Yee>aaQeSEim[m>Iq I}8ٮqq Q}tI q U} D9qu: uN:)u=Ʒ8 9)I tIi ,E Ր:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi   2@<:@w: !i O* Ӣc>(AYt*NK@t*YxZ@yt*n%t*{>t*H j`Y?`џ1ѿH@U??$?m ?)u*NK@ u*~p;Iu(xB:m>xBEiPIP)҄GF@YQK>QSEI>I I-8ٮ Q5tI  U5 D9R; V;)}ͷ8 ]9)YIY etIiY e,EY ]:)]:I]9qIq9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.584612 arcdeg .q''*G2GFFrF bF E E )E;IM9 QQiQIQYYiYY Y2@e<:@ew: y{O* =}>(A Yt*K@t*NZ@yt*t*W%{>t*H@# ?| ѿAC??? ?)u*K@ u*Pep;Iu*CxRb>xR EGRAAHT)evGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>QSEѻ>I I8ٮ Q tI  U  D9: :)UԷ8 9)I tIi ,E >:):I9)I)9)=O@Contact HDG: 140.217869 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: O* [>(AYt*LK@t*W3Z@yt*#t*mv>t*H? п@?;~?Ջ??)u*LK@ u*p;Iu*CxB?s>xBEiPIP)~G4=%=F@=YEE>AAQMSEIMM>IQ I8ٮQQ QtI Q U D9QU< Uɏ<)Uڷ8 9)I tIi ,E ̒:)$:IO9I9*G)2G)F1F1rFQbFYEYEY)m;Iu9 iIi 2@<:@w: R>O* 5>(AYt.rK@t.Z@yt.pt.t>t.H E?k п`@O?N? P??)u.rK@ u.W!p;Iu,xBxp>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGa 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a ] a -]@a ] IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYuğ:u>yyQ}SEyͅ%>I I8ٮ QtI  U D9鰅: :)8 9)I tIi ,E [:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ӣO* >(A);IxnvW>xn|EHpHrp=){rPwVI{pi{rJ={p{p{rA{p|r3AB9|r󔍄i?:i9IA)dGF@Yʽ?QSE?I I8ٮ QtI  U D9; ;)8 9)I  tIi  ,E O:):Ik9I9*G2GFFrFbFEE2EzE3ABEmM(@@U@kAE󔍄i?:EPwVEE&*kX8Dl}#9@)-.d E̼>%9%?'ſE %@=-DHdg To Contact =148.167239 degreesZEAbE!:E>o$?BE1o$?JEt REj jE!rE5);I9 iIi 2@<:@w: $eDacoustic_contact_range 48.300003 m$uhTrackAcousticContact.heading_to_contact 2.586006 rad$uLDUSBL_Hydroid.xAngle -48.000001 arcdeg͸O* >(Axn`k>xrE)jGiwAF@=YIM>IIQUSEQͱ>I I8ٮ QtI  U D9鰽O: :)R8 9)I tIi ,E ;)а;Ix9I9*G12G9F9F9rFAbFAEAEA)};I}9 yyiyIi 2@<:@w: iO* >(Axrxp>xrEiI)}vGPonly read 0 of 1 data item for BIT errorrFailed to parse: :TS,1904011656224-0.1, 0.0,1448.9, 0 F@Yʹ>QSE>I I8ٮ QtI  U D9: =:)8 9)I tIi ,E -:)A:I[9I9*G)2G)F1F1rFYbFYEYEY)u;I9 iIi 2@<:@w: vO* +?(A@ Yt.J@t.Y@yt.t.p>t.H$?BWп $? ߯??`?)u.J@ u.ѓq;Iu,x>s>xBEGB@AH@)dGF@=YEK:E>AAQESEAMbM>IQ I}8ٮQQ Q}tI Q U} D9QU$; U;)US8 9)I tIi ,E :),:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 99i9I99AiAA A2@M<:@Mw: ߁ O*  2?(Axnp>xnEi|I|)Yae4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>Q%SE!%%>I) IU8ٮ) MU8) QUtI ) U] D9)-; -;)-8 e9)YIY etIiY e,EY ]:)]:I]9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 194.792979 arcdeg .q''*G2G %@FFrF)bF)E1E1)E;IE9 AIiIIIc@i %@ 2@<:@w: I$RHorizontalControl.headingCmd 2.586006 radN>p>O* ZL?(AYt*t*H`v? <п `?Jσ? ? ;?)u*xJE)AF@]Yee>aaQeSEam2m>Iq I}8ٮqq Q}tI q U} D9quU: u8:)u. 8 9)I tIi ,E ̒:)I9I9=O@Contact HDG: 148.167239 arcdeg .''O4Initialize Wait Component.*G 2G F F rF1bF1E1E9)M;IM9 IIiIIQu @iyy y2@<:@w: JO* T6f?(A) IYtBUJ@tBY@ytB TtBv>tBH`U?DȐϿ`@?n*?%??)uBUJ@ uB. t;IuBCxRm>xR'EHRa=HVa=i`IbC)!F@=YEN:E>AAQESEIMTGM>IQ I8ٮQQ QtI Q U D9QUl< U<)U8 9)I tIi ,E F:):Ig9I9*G 2G FF1rF9bF9E9E9)u;Iu9 qqiqIq}$@i}j>y 2@<:@w: ߙO* ?(AYt>PBJ@t>[X@yt>t>p>t>H??kϿ@&&U6?/? ??)u>PBJ@ u>ǥt;IuxR E)-Gi11a 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ>ʑʑQ5SE1=0=>IA IE8ٮAA QMtI A UM D9AE}: E:)Ek8 9)QIQ tIiQ ,EQ U:)U+:IU59I9*G2GFFrFbFEE);I9 !!i!I!-'@i-,[>) i2@<:@w: i0O* '?(AYt2yJ@t2X@yt2"t2:w>t2H3 ?@'Ͽ(@?`Z?`??)u2yJ@ u2t u;Iu2Cx>n>x>EiLINC)~GF@Yx>!!Q%SE!-v->I1 I58ٮ11 Q=tI 1 U= D915: 5):)58 E9)AIA MtIiA M,EA E :)Ec:IE9yIy9y*G2GFFrFbFEE);Im9 iiiqIqu+)@iyy y2@<:@w: XO* ȳ?(A@ Yt*I@t*X@yt*})t*Gt>t*H@3? ο@@r&?/???)u*I@ u*Hpu;Iu*Cx>?s>xBEGBAAH@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eƄGF@YʝY~>ʡʡQSEʡͭ0»>I I8ٮ QtI  U D9鰽 ;  ;)&8 9)I tIi ,E :):I9I9*G92G9FAFArFIbF)E)E1)E;IE9 AAiIIIU4 )@U"iU >Q Q2@]<:@]w:> ߑ@O* ?(AYt*I@t*lX@yt*"t*B{>t*H@?oǨ@mο "~?U?@?; ?)u*I@ u*[u;Iu*Cx>l>x>EiXIX) yʁQSEʁͅ >I I8ٮ QtI  U D9鰍: $:)-8 9) 9I tIi ,E o:):ID9I9*G2GFFrFbFEE);I9 iI'@i 2@<:@w:  )I ߩ>t>iO* {?(AYt*I@t*tX@yt*!t*r>t*H`?ا}ο}1v?@9? ??)u*I@ u*Ou;Iu*Cx2sj>x6(E)~SGF@EYE 9E>IIQMSEIU:U>IY I]8ٮYY QetI Y Ue D9Y]S: ]):)]{48 m9)iIi utIii u,Ei mՐ:)m:Im 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI %@i 2@<:@w: QP* V@(A) IYt*I@t*?X@yt*Rt*Шx>t*H`R~?J`Gο d,F2?`? ?I?)u*I@ u*Wt;Iu*CxRa>xR EHPHRp=i|I|)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YP:>QSE>I I8ٮ QtI  U D9t: W:);8 9)I tIi ,E O:)ȗ:I{9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 193.595497 arcdeg .q'u'u*Gq2GqFyFyrFbFEE);I9 iI8 ai 2@<:@w: {P* 1@(AYt*YI@t*X@yt*1*t*xy>t*H` ?@ Ϳ@1M?@4?? ?)u*YI@ u*Kt;Iu(xBf>xB E)-Gi5xA1F@Yʍ[:>ʑʑQSEʑ͝>I I8ٮ QtI  U D9鰥:: :)mB8 9)I tIi ,E  :)Ǻ:I9I9=O-@Contact HDG: 148.167239 arcdeg .'5'5O54Initialize Wait Component.*G12G1F9F9rFAbFAEAEA)];I]9 YYiYIYae8[iaa i2@m<:@uw: ߁i P*  5@(AYt*AfI@t*LX@yt*ct*w>t*H@A,?@֧9Ϳ@3 ? ҃?๫?@?)u*AfI@ u* t;Iu*Cx>xp>xBEiLIL)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʽrz>QSE:>I I8ٮ QtI  U D9`: :)mI8 9)I tIi ,E }:),:I{'9I9*G)2G)F1F1rFYbFYEYEY)m;Iu9 iI^i 2@<:@w: ߹ύP* N@(A@ Yt*"!I@t*-W@yt*-t*'x>t*H@$'?9Ϳ@D8`L?`??@?)u*"!I@ u*6Fs;Iu*CxNm>xR'EGR@AHP)%vGF@-Y55>19Q=SE9E2E>II IM8ٮII QUtI I UU D9IM: M:)MP8 ]9)YIY etIiY e,EY ]>:)]0:I]/9qIq9q*G2GFFrFbFEE);I9 iI#Ui 12@=<:@=w: IP* h@(AYt*zI@t*W@yt*5&t*w>t*H) B?Ԧ@ Ϳ`>? Ԅ?r?I?)u*zI@ u*Ys;Iu*CxRh^>xREi\I^C)%dG%=%%=a 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ0:>ʉʉQSEʉ͕n>I I8ٮ QtI  U D9鰝: :)W8 9)I tIi ,E -:) :I[89I9*G2GFFrFbFEE);I9 iI  U*Ti   2@<:@w: e>x> P* @(AYt.I@t.W@yt.N t.;t>t.H~*`q? BEͿdD`?@{?I?@ ?)u.I@ u.r;Iu.CxBn>xBE)GF@=YE|;E>AIQMSEIM M>IQ I]8ٮQQ Q]tI Q Ue D9QUu: UW:)U]8 m9)aIa mtIia m,Ea e[:)eo:Ie@9yI9*G2GFFrFbFEE);I9 iIrTi 2@<:@w: &P* x@(A)4t*H`51 ?c`̿ aK%?@?|:??)u*WH@ u*gur;Iu*CxBk>xBEHBp=HDiPIRC)~GF@=YE1`E>AIQMSEIMM>IQ I]8ٮQQ Q]tI Q Ue D9QU: Q)Ud8 m9)aIa mtIia m,Ea e:)e:Ie1I9yI9*G2GFFrFbFEE);I9 iILi 2@<:@w:  ,P* Y@(AYt*DH@t*OW@yt*"t*Vw>t*H/@? ޠ`̿@mCi+?[?B??)u*DH@ u*!r;Iu*Cx>g>xBsE {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )u+GiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%IZ9%>))Q-SE)=:=>IA IM8ٮAA QUtI A U] D9AE; E;)E(l8 e9)aIa mtIia m,Ea e:)ee;IebR9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIOi 2@<:@w: i3P* /@(AYt2H@t2?W@yt2@o)t2Nz>t2H@$7 C?4#̿E y?@-??} ?)u2H@ u2q;Iu0xB8T>xB}EiXIX)SGF@]Yeqe>aiQmSEim{+m>Iq I}8ٮqq Q}tI q U D9qu: u:)ur8 9)I tIi ,E ::)N:IMZ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.700318 arcdeg .q' ' *G2GFFrFbFE!E!)5;I59 99i9I9AEFiAA A2@M<:@Mw: a:P*  @(A@ Yt*܊H@t*7W@yt*J%'t*ls>t*H7×?̿TS??$?@5?)u*܊H@ u*cq;Iu*CxBjw>xB"EGBAAHD)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ9>ʩʩQSEʩ͵>I I8ٮ QtI  U D9S: а:)y8 9)I tIi ,E -:):Ic9I!9!=O@Contact HDG: 148.167239 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIsHi !2@%<:@-w: 9@P* A(AYt*~H@t*+W@yt*b t*wp>t*Ht9x?uۥ@˿Z@L?@D?.? ?)u*~H@ u*q;Iu*CxBn>xBEiPIP)MGM%=IF@}Yʅ;>ʁʁQSEʁ͍>I I8ٮ QtI  U D9鰕: :)r8 9)I tIi ,E :),:Ihk9I9*G2GFFrFbFEE);I9 iIFi 2@ <:@ w: V>a>GP* A(AYt*BpH@t*MW@yt*՚-t*Gr>t*H:h?[@˿`V`?@??%?)u*BpH@ u*ݘq;Iu*CxNj>xRqE)GF@-Y-5>11Q5SE1͕ >I I8ٮ QtI  U D9鰝F: :)\8 9)I tIi ,E :):Is9I9*G2GFFrFbFEE);I9 iI l>Ei   2@<:@w: !AMP* 7A(A);I Yt* eH@t*W@yt*A,t*m>t*H<Y?y˿a@ ?%?u?@#?)u* eH@ u*q;Iu(xBxp>xBEH@HFa=iPIRC)dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmQ9m>iiQuSEqupu>Iy I8ٮyy QtI y U D9y}: }:)}08 9)I tIi ,E Y<) [t*H@> )%?`f˿@'h?x?`8?H'?)u*KH@ u*@q;Iu(xBp>xBE)Gi F@Y';>QSE%~%>I) I58ٮ)) Q5tI ) U5 D9)-: -:)-攸8 E9)9I9 EtIi9 E,E9 =:)=˚:I=9QIQ9Q*Ga2GiFiFirFqbFqEqEq);I9 iI|BAi 2@<:@w: ߱iSZP* PkA(AYt*pH@t*W@yt*z&t*Mh>t*H:{t?&@˿Rj_?wÄ?? -?)u*pH@ u*Cr;Iu*CxB O>xBDiLIP)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥú>ʩʩQSEʩ͵;>I I8ٮ QtI  U D9: ݱ:)+8 9)I tIi ,E p:)c:I9I9*G2GF1F9rF9bF9EAEA);I9 iI%YFi!! !2@-<:@-w: AHt.H|9}?˿f7??u?*?)u.}H@ u.r;Iu.CxB^R>xBZEGF@AHD)~GF@=YE8:E>AAQMSEIMo;M>IQ I]8ٮQQ Q]tI Q U] D9QUJ: U :)UǢ8 m9)aIa mtIia m,Ea e[:)eN:Ie˕9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIkGi 2@<:@w:  fgP* A(AYt*}H@t**W@yt*P#t*j>t*H`s9@? X-˿d?i?J?R)?)u*}H@ u*.r;Iu(xB0a>xBw EiPIRC)G  F@=YEuE>AAQMSEIM7M>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)U8 m9)aIa mtIia m,Ea e:)e:IeN9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.627618 arcdeg .q''*G2GFFrFbFEE);I9 iI!%t Gi!! !2@-<:@-w: Ax>i>mP* A(AYt*H@t* [W@yt*+Y-t*(j>t*H4i?LY̿;`F? ??`M*?)u*H@ u*Zs;Iu(xRi>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGa 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a  a -@a  iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yp>QSE;>I  I8ٮ   QtI  U D9  $< W<) 8 9)I tIi ,E :)9:Im9I9=OE@Contact HDG: 148.167239 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFiFirFqbFqEyEy);I9 iIh,Mi 2@ <:@ w: 1#xtP* ۾A(A) IYt*vH@t*rW@yt*"t*8o>t*H1 ?̿`S%8?V?i?- ?)u*vH@ u*5t;Iu*CxBi>x@HBa=HD){FQ oI{Di{F7={D{D{FA{D|FUB9|F1? 2ihIh)5GF@}Yʅ :>ʁʁQSEʁ͍σ;>I I8ٮ QtI  U D9鰕; I;)8 9)I tIi ,E ::)o:I9I9*G 2G FFrF9bF9E9E92EAzEEUBEE#w?@vEEE1? 2EEQ oEAEEF{.D-QB@@&r9H#EEҷw0述H47#?t.ǿEE@=UDHdg To Contact =140.223497 degreesZEEjBbEEv!:EABEE>o$?JEEm REEt jEEArEE!);I9 iIOi 2@<:@w: $5Dacoustic_contact_range 53.399998 m$=hTrackAcousticContact.heading_to_contact 2.447362 rad$=LDUSBL_Hydroid.xAngle -53.500001 arcdegzP* A(AYt*H@t*W@yt*Ult*Er>t*H#- N?@^`̿`K@.?v?=?@k?)u*H@ u*%u;Iu*CxB]>xBE)%Gi-xA-xAF@eYm!S:m>iiQuSEqu;u>I I8ٮ QtI  U D9鰍Xc; ZS;)x8 9)I tIi ,E :):I9I9*G2GFFrFbFEE);I9 iIrcSi! )2@5<:@=w: yi׉P* sB(AYt*cI@t*nW@yt*G$t* u>t*H@(s?@Ħ"Ϳ`.A`?܈?{V?'?)u*cI@ u*R v;Iu(xRsj>xR(Ei`I`))a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Yl>QSEW;>I I%8ٮ Q%tI  U- D9: :)Ÿ8 59))I) UtIi) ],E) -;)-;I-9aIi9i*G2GFFrFbFEE);I9 iIcWi 2@<:@w: )>P* /P B(A Yt.a3I@t.lW@yt.&&t.ls>t.H%`?谦0]ͿdAఖ? -ڄ? m??)u.a3I@ u.v;Iu,xRp>xR%EGPHT)!F@-Y5չ5>99Q=TE9E8;E>II IM8ٮII QUtI I UU D9IM}: M>:)M̸8 ]9)YIY etIiY e,EY ]t:)]g:I]9qIq9q*G2GFFrFbFEE);I9 iI1Zi1 Q2@]<:@]w: qSލP* $+:B(AYt*8oI@t*CX@yt* 't**q>t*H+J? -Ϳ<Nm?@?6??)u*8oI@ u*sw;Iu(xBeq>xBnEi\Ib“C)-SG=4===F@}Yʍ'=>ʙʡQTEʡ͵ <>I I8ٮ QtI  U D9l; !;)KӸ8  9)I tIi -E E<);e>3ƔP* FTB(AYt*sI@t*~AX@yt*t*Gr>t*H@^?r ο6`?@? ? B?)u*sI@ u*w;Iu*CxBU_>xBS E)~Ga 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]R:e>aaQeTEam;m>Iq I}8ٮqq Q}tI q U} D9qu: uB:)uٸ8 9)I tIi -E Ր:)o:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIdi 2@<:@w: fP* mB(A) IYt.KI@t.V}X@yt.t.0s>t.H``?wFWο.@?`^:?+??)u.KI@ u.dx;Iu.CxBZe>xB EH@H@iPIP)GF@=YE:E>AAQMTEIM<M>IQ I]8ٮQQ Q]tI Q Ue D9QUS: U:)U8 m9)aIa mtIia m-Ea e[:)eN:Ied9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.811563 arcdeg .q''*G2G@FFrFbFEE);I9 iI%y$@i!%@ !2@-<:@-w: 9$]RHorizontalControl.headingCmd 2.447362 rad١P* ‡B(AYt.I@t.ϡX@yt.+t.Vt>t.HSE?@@ο) ͤ?y?7?@?)u.I@ u."x;Iu.Cx>r>x>IE) i wAwAa 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmH/u>qqQ}TEy};}>I I8ٮ QtI  U D9鰅: t:)8 9)I tIi -E :):I 9I9=O@Contact HDG: 140.223497 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9IAEEE!@iAA I2@M<:@Uw: aidP* B(AYt*BJ@t*X@yt*T#t*s>t*H@?` Ө+lϿ ?@Ts?.??)u*BJ@ u*Vx;Iu*CxN5g>xR*Ei\I\)SGF@]Ye":e>aaQeTEimA<m>Iq I}8ٮqq Q}tI q U} D9qu>: uB:)u8 9)I tIi -E F:)I9I9*G2GFFrFbFEE);I9 iImN@i 2@<:@w: },P* rB(A@ Yt*mJ@t*Y@yt*,t*p>t*H.?˿Ͽ@W &;??v??)u*mJ@ u*w;Iu*CxNh>xREGPHP {TY|TZ8****** ping requested ******ENmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 15a 15 a 55a 55 a 95a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Y}}>ʁʁQTEʁ͍q;>I I8ٮ QtI  U D9鰵: :)8 9)I tIi -E Ō;)͎;I9qIq9q*G2GFFrFbFEE);I9 iIP@i !2@-<:@-w: IXP*  NB(AYt*J@t*pY@yt*W*t*+t>t*H\?;3п@"?O?@6?` ?)u*J@ u*v;Iu*Cx2j>x6qEiLINC)G %=F@YE9 ?qqQ}TEy}g<?I I8ٮ QtI  U D9鰅: 1:)8 9) 9I tIi -E N:):I9I9*G2GFFrFbFEE);I9 iI\K@i 2@<:@w: p>>P* )B(AYt*J@t*Y@yt* t*xw>t*HT ?褪aп@ ??ס?@?)u*J@ u*Wv;Iu*CxNY>xRE)%Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Y:>QTE(;>I I8ٮ M8 Q%tI  U% D9g: :)H8 -9))I) utIi) u-E) -<)-t.H`'8;?@LBп@Tu?F9? ??)u.&K@ u.^Iv;Iu.CxBn>xBEHB=H@iTIV“C) GF@=YE:E>AAQETEIM<M>IQ I]8ٮQQ Q]tI Q U] D9QU: U:)U0 8 m9)aIa mtIia m-Ea eh:)e:Ieu9yIy9y*G2GFFrFbFEE);I9 iIv@i 2@<:@w: PP* "C(AYt* K@t*;Z@yt*'t*o>t*H ӥ?@D {п|@? ?@߮?`> ?)u* K@ u*u;Iu(xBU>xBXE)%Gi!)F@=YE2 E>AAQMTEIM3<M>IY Im8ٮYY QutI Y U} D9Y]; ](;)]8 9)I tIi -E ;)$;I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI@i 2@<:@w: i{P* ߿t*H?{Ӫ@Sѿ@ ?@??s?)u*K@ u*tLu;Iu(x>5g>x>*EiIC)MvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y~>QTE!%ڀ;%>I) I58ٮ)) Q5tI ) U5 D9)-: -:)-8 E9)9I9 EtIi9 E-E9 =O:)=:I='9qIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 195.475055 arcdeg .q'-'-*G)2G)F)F)rF1bF1E1E9)m;Im9 qqiqIqyyiyy y2@<:@w: ߹~cP* VC(A@ Yt.L@t.)Z@yt.r(t.p|>t.H`t?n)sѿ@f?`C?a>xB EGB?AH@) dGF@Y%9%?!!Q-TE)-{<-?I1 I=8ٮ11 Q=tI 1 U= D915n: 5r:)58 M9)AIA MtIiA M-EA E̒:)E$:IE.9YIY9a=O@Contact HDG: 140.223497 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 1i1I199i99 A2@E<:@Mw: yP* erpC(AYt.9L@t.Z@yt.[ t.}>t.H 18?ǭ'ѿ@Rpn?`f ? M??)u.9L@ u.`Lt;Iu.CxN?s>xREi\I\)%G!%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅW:>ʉʉQTEʉ͕;>I I8ٮ QtI  U D9鰝: J:)%8 9)I tIi -E :)9:I79I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !>nvP* 7TC(AYt2͈L@t25[@yt2}t2p>t2Hy?ͬѿ@-@?\???)u2͈L@ u2Bs;Iu2Cxv`k>xvE)SGF@Yʝ:>ʙʡQTEʡͥC<>I I8ٮ QtI  U D9鰭: :),8 9)I tIi -E :)Z:ID@9I9*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: 9P*  -C(A)IYt:rL@t:}[@yt:&t:m>t:HŪ?@¬pDҿ@? ل?r?`#?)u:rL@ u:s;Iu:Cx^i>xbEHja=Hrp=iAIA)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ>ʩʩQTEʩ͵\<>I I8ٮ QtI  U D9鰽:: >:)V48 9)I tIi -E s;)Y;I~I9I9*G2GFFrF!bF!E!E))];I]9 YaiaIaaii 2@<:@w: aP* OC(AYt*M@t*[@yt*.t*y>t*H[?tҿ5?@…?]?`M ?)u*M@ u*r;Iu*CxB_>xB E {DY|DJ8****** ping requested ******UNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiF@Yƍ>QTE%;>I I8ٮ Q tI  U  D9; e ;)`;8 9)I %tIi %-E j:):I4R99I999*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w: iɰP* 3C(AYt*YM@t*'\@yt*?,t*j>t*HC?a@Sҿ @? ݇???)u*YM@ u* |>xBE){BO~I{@i{B={B>{@{B A{@|Bf`B9|BD,^?U$p}i`Ib“C)F@Yʽ9>QTE'<>I I8ٮ QtI  U D9: :)A8 9)I tIi -E :):IY9I9*G)2G1F1FQrFYbFYEYEa2EizEmf`BEm >;@Yt$sHEmD,^?U$p}EmO~EiEm,j D5tB@MOE'EmQR*??yʿEmE@=DHdg To Contact =137.216369 degreesZEmBbEm!:EiBEiJEmj REmm jEm<rEmA);I9 iIi 2@<:@w: $UDacoustic_contact_range 56.099998 m$ehTrackAcousticContact.heading_to_contact 2.394877 rad$eLDUSBL_Hydroid.xAngle -60.649997 arcdegP* 4C(A Yt.M@t.a\@yt.~%t._w>t.HD?ӛ8ӿ?x?ў??)u.M@ u.xq;Iu,x>"h>x>EGBAAH@)a 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY|x:>QTE%Z<%>I) I-8ٮ)) QutI ) Uu D9)-< -{<)-H8 }9)yIy tIiy -Ey }J:)}<:I}b9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)m;Im9 qqiqIqyyiyy y2@<:@w: 2Q*  D(AYt.M@t.Ӊ\@yt.U"t.Ap>t.H@3? -ӿ ǫ?Z?? (?)u.M@ u.Dq;Iu,x>Ml>x>LEiPIRC)SG = %=F@5Y=9=>AAQETEAMx;M>II IU8ٮII Q]tI I U] D9IM: M:)M O8 e9)aIa etIia m-Ea e[:)eN:Iej9yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 197.436221 arcdeg .q'}'}*Gy2GE@FFrFbFEE);I9 iI a@iE@ 2@<:@w: )$mRHorizontalControl.headingCmd 2.394877 rad>Q* o%D(AYt.CN@t.\@yt.S)t.v>t.Hw %?6^ӿQy?`=?@/??)u.CN@ u.q;Iu,xNc>xR E)GF@]Yee>aaQeTEim|<m>Iq I}8ٮqq Q}tI q U} D9qu: uW:)uV8 9)I tIi -E :)Ԙ:I*s9I9=O-@Contact HDG: 137.216369 arcdeg .'5'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIE@i 2@<:@Mw: YSQ* K?D(A)4t:HBs 4?">ӿ~y Ϝ?%?9?`X?)u:`N@ u:p;Iu:Cx^w>x^jEHbR=Hba=ipIp)EXGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ&:>ʩʩQTEʩ͵;>I I8ٮ QtI  U D9鰽F: :)%]8 9)I tIi -E :):I{9I9*G2GFFrFbFEE);I9 iI!!!i)) )2@5<:@5w: AQ* %YD(AYt*ZN@t*eR]@yt*n-t*/{>t*Hh{?@j簿`ӿ%x??)?@ ?)u*ZN@ u*3p;Iu*CxBl>xBE)=+GiExAAF@]Yee>aiQmTEimE/<m>Iq I}8ٮqq Q}tI q U D9qu: u:)uc8 9)I tIi -E -:)A:I19I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i*Q* sD(AYt> N@t>+]@yt>'t>aq>t>H[@?ف8Կv~6?`?@?@O?)u> N@ u>q.p;Iu>Cx^^>x^ EilIrC)}SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yy`:>QTE@<>I I8ٮ QtI  U D9: J:)k8 9)I  tIi  -E Ր:)N:I 9I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiYIYYYiaa a2@m<:@mw: y#Q* یD(A@ Yt*O@t*]@yt*'t*#w>t*H`mV?hYԿn@nu?D??R?)u*O@ u*Do;Iu*CxBV>xBEGB@AHD) GF@=YE8E>IIQMTEIUI;U>I I8ٮ QtI  U D9: :)q8 9)I tIi -E ):Iw9I9*G 2G FFrFbFEE)5;I59 11i9I99AiAA A2@M<:@Mw: Y:)Q* ضD(AYt*iO@t**^@yt*U,t*~>t*HI+? ۱ ԿTxBEiPIRC)G R= 4=F@=YE7OE>AAQMTEIMG<M>IQ I]8ٮQQ Q]tI Q Ue D9QUl: U:)U~x8 m9)aIa mtIia m-Ea eO:)eA:Ie9yIy9*G2GFFrFbFEE);I9 QQiQIQYYiYY a2@e<:@mw: yR>>"0Q* ڑD(AYt*O@t*0^@yt*\t*~>t*H@>E@??`6 %Կ`PQ4? k?-?J?)u*O@ u*xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )a 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ ;>ʡʡQTEʡͭ^;>I I8ٮ QtI  U D9鰵: t:)8 9)I tIi -E :)ض:Iǧ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A/M6Q* /nD(A);IYt.O@t.a^@yt.;{0t.w>t.H1=4y?<Կ@T4r?`K??}?)u.O@ u.o;Iu.CxBxp>xBEHBa=H@i\I\)SGF@=YE(E?IIQMTEIUK<U?IQ I]8ٮQQ QetI Q Ue D9QU: Ux:)UI8 m9)iIi mtIii u-Ei mS:)m:Im9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.086709 arcdeg .q''*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: 9vt*H 3?kz#տU`?`6 ?`? ?)u*'O@ u*%o;Iu*CxBi>xBNE)dGi wA F@=YE:E>AIQMTEIM=<M>IQ Ie8ٮQQ QetI Q Ue D9QU<; U;)U,8 m9)iIi utIii u-Ei m:)mԘ:Im.9I9=O@Contact HDG: 137.216369 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: AiU`CQ* E)E(AYt* P@t*^@yt*Cn&t*f}>t*H/K?o;>տ`Y=Y?̈́?`Y? ?)u* P@ u*:n;Iu*Cx>[>x> EiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe^9m>iiQmTEiu;u>Iy I8ٮyy QtI y U D9y}: }:)}*8 9)I tIi -E :):I̿9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ^IQ* k (E(A.@ ,YtrP@tr^@ytr43tr;>trH,?ywLտ2`v?~?`?F?)urP@ ur&o;IurCxzHf>xz EG~AAH|)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@YD>QTE;>I I8ٮ QtI  U D9h: l:)M8 9)I tIi -E h:):I9I9*G!2G!F)F)rF1bF1E1E1)M;IM9 IIiQIQQQiYY Y2@e<:@ew: q9qPQ* AE(AYt*+P@t*^@yt* t*z>t*H@) ?h]տt=t? *?`p? ?)u*+P@ u*:n;Iu(xBf>xB EiPIP)ƄG%%=%=F@]YeF;e>aaQmTEim<;m>Iq I8ٮqq QtI q U D9qu,; u;)u8 9)I tIi -E :):I9I9*G2GFFrFbFEE!)U;IU9 QQiQIYYYiaa a2@m<:@mw: ߙ]>ĚVQ* [E(AYt*2P@t*^@yt*|2t*Gv>t*HQ( &?ӱTdտpCF0?W?|??)u*2P@ u*{o;Iu*CxNs>xRE)GF@-Y-5->11Q5TE1͕ӌ:>I I8ٮ QtI  U D9鰝t: :)訹8 9)I tIi -E :):Ih9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )v\Q* uE(A)p;IYt.fP@t._@yt.t.\+{>t.H?@(տ2@ ?@?`?o ?)u.fP@ u.{n;Iu.Cx>xp>xBEHBp=H@iPIP)Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmyM;m>iqQuTEqu;5>I9 IE8ٮ99 QEtI 9 UE D99=: =:)=&8 M9)III utIiI u-EI MB;)MS;IMX9I9*G2GFFrFbFEE)5;I=9 99i9I9AAiAA I2@<:@w: ߡcQ* iE(AYt*BHP@t*M^@yt*^t*g7>t*H$R?zxտF0!$? ?C??)u*BHP@ u* o;Iu*CxBq>xBE)~XGixAF@EYE9M>IIQMTEIUU>IY Ie8ٮYY QetI Y Ue D9Y]ͭ: ]:)]8 m9)iIi utIii u-Ei m::)mN:Im?9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@uw: ߁iiQ* DE(AYt*DP@t*^@yt*j5t*ܜz>t*H q%? b4 qtտ8P?9?@M?e ?)u*DP@ u*in;Iu*CxB:m>xBEiLIL)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYeqe>iiQmTEiu$u>Iy I}8ٮyy QtI y U D9y}t: }а:)}8 9)I tIi -E p:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 199.587895 arcdeg .q' ' *G 2G FFrFbFEE!)5;I9 iIi 2@<:@w: OpQ* h"E(A Yt.WP@t._@yt.1B*t.ew>t.H`'" ?+=տ ;@F?-H??`?)u.WP@ u.7n;Iu.CxBi>xBNEGB@AH@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}+GF@Yʵ:>ʹʹQTEʹC@;>I I8ٮ QtI  U D9l; R;)Ĺ8 9)I tIi -E :):I9I9 =O@Contact HDG: 137.216369 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF E)E1)E;IE9 AAiIIIi 2@<:@w: ߹$vQ* PE(AYt*TKP@t*_^@yt*#t*{>t*H`O$"?Y{տl6?@?@? ?)u*TKP@ u*ַn;Iu*CxBi>xBE){B3{I{@i{B={B7>{@{BA{@|BQB9|BV?p[Ui`I`)-G)-%=F@]Ye:e>aaQeTEimm>Iq I}8ٮqq Q}tI q U} D9quS: u:)uI˹8 9) 9I tIi -E :):I9I9*G2GFFrFbFEE2EzEQBEL `5@@E@EV?p[UE3{EEq>L|v$6@c`EHIoQ#]?T2ɿE !@=DHdg To Contact =144.169502 degreesZE#AbEU:EWo$?BEJEw REj jErE<);I9 iIi 2@<:@w: $5Dacoustic_contact_range 38.579998 m$=hTrackAcousticContact.heading_to_contact 2.516232 rad$ELDUSBL_Hydroid.xAngle -56.350000 arcdegi>}Q* E(AYt29P@t2^@yt2!t2yl>t2H='`? ٲ jտ 2/?F"?@??)u29P@ u24n;Iu2CxN?s>xRE)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʉʉQTEʉ͕F*>I I8ٮ QtI  U D9鰝: :)Cҹ8 9)I tIi -E ɏ:):Iv 9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !xQ* F(A)4t*H-`#?`懲Fտ{> ? t?`6? N?)u*HP@ u*(n;Iu*Cxbf>xb EHdHdi|I|)]dGF@}YʅW:>ʁʁQUEʁ͍>I I8ٮ QtI  U D9鰕 ; ;)%ٹ8 9)I tIi -E Ր:):I 9I9*G 2G FFrF!bF!E!E))=;I=9 AAiAIAIIiII I2@U<:@Uw: i%Q* *F(AYt*P@t*^@yt*,t*>v>t*Hb/`!?7ñ`<տ`J1?ۏ?{??)u*P@ u*٫n;Iu*CxR c>xR E)]GiYaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ#>QUEoͺ>I I8ٮ QtI  U D9S: :),8 9)I tIi .E ::)N:I9I9*G 2G FFrFbFEE)5;I59 11i1I999iAA A2@M<:@Mw: Yi Q* gDF(AYt*#O@t*.^@yt*1t*z>t*H1`?g-տ`vD`? >? ? ?)u*#O@ u*Ln;Iu(xRn>xREi\I\)SGF@YʥqY>ʩʩQUEʩ͵_>I I8ٮ QtI  U D9鰽F: :)8 9)I tIi .E :):I&9I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@5w: A7Q* (E^F(A Yt. O@t.^@yt.u't.n>t.H 7?i տzA%I??`??)u. O@ u.n;Iu.CxBw>xBjEGDHD)GF@=YEg:E>AAQMUEIM^M>IQ I]8ٮQQ Q]tI Q U] D9QU: U:)U8 m9)aIa mtIia m.Ea e:)e:IeS.9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;IU9 QQiQIYYYiaa a2@m<:@mw: y[aQ* xF(AYt*"O@t*-^^@yt*:It*{>t*H@=@km?`LԿN? Ƀ?;*?  ?)u*"O@ u*n;Iu*CxBk>xBEiPIP)~G==a 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅ!:>ʁʁQUEʁ͍5>I I8ٮ QtI  U D9鰕:  :)8 9)I tIi .E :)Ԙ:I79I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.074073 arcdeg .q''*G2G !@FFrFbFEE)%;I%9 !!i!I!-@iIM !@ Q2@U<:@]w: i$RHorizontalControl.headingCmd 2.516232 rada>a>JQ* F(AYt.DO@t.OD^@yt.@1t.0y>t.H A]?^ԿeW@? '??N?)u.DO@ u.ެn;Iu,xB"h>xBE) F@YA%>!!Q%UE!-->I1 I=8ٮ11 Q=tI 1 U= D915: 1)5h8 E9)AIA MtIiA M.EA E:)EZ:IEC?9YIY9Y=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI$B@i 2@<:@w: vQ* ~F(A)*;I,YtNZO@tN^@ytNw%tNx>tNHK w#?lԿub`?`ᮄ??n?)uNZO@ uNn;IuNCxn}v>xnEHra=Hrp=i|I|)]XGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ :>QUE>I I8ٮ M8 QtI  U D9: ':)8 9)I tIi .E p:):I5H9I9*G 2G FFrFbFEE)5;I59 11i1I1= !@i99 A2@E<:@Mw: YZQ* SF(AYt*s.O@t*~]@yt* t*|>t*HS?@᱿@?nԿ@b?fA?`I?&?)u*s.O@ u*n;Iu*CxBZe>xB E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}vGixAwAF@YʵVA;>ʹʹQUEʹܻ>I I8ٮ QtI  U D9; ;) 8 9)I tIi .E ;);IP9 I 9 *G)2G)F)F1rF9bF9EAEA)};I9 iIi 2@<:@w: i@AeQ* F(AYt2O@t2]@yt2+8t2ݨ|>t2H`"V? =`ZԿ AdX?Y?B?e?)u2O@ u2(o;Iu0xBP>xBEiXIZ“C)GF@]Yee>aaQeUEimQm>Iq I}8ٮqq Q}tI q U} D9quS: u:)u:8 9)I tIi .E [:)N:IX9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Q* fF(A Yt*N@t*f]@yt*,t*iSz>t*H@Pe:?ⰿӿw ??`q?@ ?)u*N@ u*so;Iu*CxBp>xB%EGDHD)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y.:>QUEe>I I8ٮ QtI  U D9%: :)_8 9)I tIi .E :)g:Ia91I191*GA2GAFIFIrFQbFQEQEY)m;Im9 iiiiIiqqiyy y2@<:@w: ߑQ* O@G(AYt*.N@t*9]]@yt*y+t*bu>t*Hf?@A[ӿN?o?`k??)u*.N@ u*o;Iu*CxBq>xBEiTIVC)UGY]%=F@mYu8u>qyQ}UEy͕bƺ>I I8ٮ QtI  U D9鰭O; ;)#8 9)1I1 tIi1 .E1 5<)5x>Q* &-G(AYt*nN@t*]@yt*#t*Pz>t*H@qG?`bIӿ?u?@?` ?)u*nN@ u* o;Iu*CxBu>xBE)+GF@Yʥ:>ʡʩQUEʩ͵>I I8ٮ QtI  U D9): Ȳ:)%8  9)I  tIi  .E ;);Is9QIY9YOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 QQiYIYY1i99 92@E<:@Mw: ߹xQ* FG(A) IYt.IN@t.\@yt.zvt.@>t.Hv?%ӿ`}`k?`?E??)u.IN@ u.=p;Iu.CxB`k>xBEH@HBa=iPIP)~SGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅx:>ʁʁQUEʁ͍>I I8ٮ QtI  U D9鰕< ŏ<)+8 %9)!I! -tIi! -.E! %:)%:I%n{9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 197.817127 arcdeg .q''*G2GFFrFbFEE)-;I-9 IQiQIQQYiYY Y2@e<:@ew: ߙ9Q*  `G(AYt*N@t*̽\@yt*v1t*$z>t*H`M?@,^ӿw@?.??S ?)u*N@ u*q;Iu(xR'n>xRpE)dGi%vA%xAF@]YeGe>aaQmUEim^m>Iq I8ٮqq QtI q U D9qu2; u;)u28 9)I tIi .E :)Z:I9I9=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)%;I%9 !!i!I)i 2@<:@w: i?APQ* zG(AYt:M@t:\@yt:%t:#w>t:H`υxbEi9IE“C)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ.:>ʹʹQUEʹ(>I I8ٮ QtI  U D9-: R:)U:8 9)I tIi .E :)E:I9I9*G2GF F rFbFEE)-;I-9 ))i)I)11i11 92@=<:@Ew: QQ* G(A Yt.M@t.\@yt.-/t.K>x>t.H `?~ǯ/ӿ WS??? ?)u.M@ u.q;Iu.CxNj>xRqEGRAAHT)=vGF@uY}˺}>yʁQUEʁͅ>I I8ٮ QtI  U D9鰍< ӏ<)A8 %9)I %tIi %.E }:):I9QIQ9Q*Ga2GaFiFirFbFEE);I9 iIi 2@<:@w: !Q* fG(AYt*M@t*7\@yt* %t*R}>t*H {`q? O&ҿQ??`mW?4?)u*M@ u*q;Iu*CxBm>xB'EiLIRC)~GR=4=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥ^:>ʩʩQUEʩ͵b>I I8ٮ QtI  U D9: x:)G8 9)I tIi .E :)į;IS9!I!9!*GQ2GQFYFYrFYbFaEaEa);I9 iIi 2@<:@w: >e>Q* BG(AYt2/M@t2:C\@yt2`h.t2z>t2H?@@ҿ?̅?@5? ?)u2/M@ u2r;Iu0xBWx>xBE {@Y|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )%ʹʹQUE!:>I I8ٮ QtI  U D9; q:)|N8 9) I  5tIi  =.E  ;) ;I 9IIq9q*G2GFFrFbFEE);I9 iI i   )2@5<:@5w: I"Q* qG(A)4xr EHzp=Hzp=i!I))SGF@Y>Q%UE!UU>Ii I8ٮii QtI i U D9im3Y< m\<)mU8 9)I tIi .E ;);I9III9I*GY2GaFaFarFibFEE);I9 iIi 2@<:@w:  LQ* UG(AYt*3?M@t*>[@yt*<$t*Cy>t*H p/?@%ҿذ#??&? ?)u*3?M@ u*0s;Iu*CxBj>xBqE)MdGiUyAQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ|:>ʱQUE@]>I I8ٮ QtI  U D9: :)O\8 9)I tIi .E 5:):I9)I)9)*Ga2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: i63R* H(AxnB`>xn EiI)}GF@Yʥ>ʡʡQUEʩͭ>I I8ٮ QtI  U D9鰵w: :)c8 9)I tIi .E :)o:ID9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE!E!)U;IU9 YYiYIYaaiaa a2@m<:@mw: ߁S^ R* ɮ/H(A Yt*M@t*[@yt*DN$t*z>t*Hڤ ?`:lҿ$?? *?`O ?)u*M@ u*'s;Iu*CxNT>xNEGR@AHP)XGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ8>ʁʁQUEʁ͍ݻ>I IU8ٮ Q]tI  U] D9鰕$< T<)i8 e9)aIa etIia m.Ea e:)e:Ie39I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.730048 arcdeg .q''*G2GFFrFbFE!E))=;I=9 99iAIAi 2@<:@w: 3FR* IH(AYtB%M@tB[@ytBu3tB# >tBH@ ?j~ҿ#f?n?b??)uB%M@ uB}s;IuBCxNi>xREi\I\)vG%4=%%=F@=YEE>AAQMUEIMq=;M>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)Up8 m9)aIa mtIia m.Ea e:)aIe 9I9=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFF rFbFEE)M;IM9 QQiQIQQYiYY Y2@e<:@ew: ߙY>{>pR* fcH(AYt:DM@t:O[@yt:*t:>t:H V?rhҿ ?]P? ??)u:DM@ u:vs;Iu8xRxp>xRE)=GF@}Yʍ:>ʙʙQUEʡ͵bV>I I8ٮ Q%tI  U- D96< <)w8 9)I tIi .E :):I9I9*G)2G)FIFIrFQbFQEQEY);I9 iIi 2@<:@w: ПR* V}H(A)IYt2\2M@t2g[@yt2p.t2nx>t2H @`'?{>ҿ@?ׅ?ਿ?@?)u2\2M@ u2s;Iu0x:l>x:EH<H>a=iHIH)zGa 15a 15 a 55a 55 a 95a 95 a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYU *]>YYQ]UEYe;e>Ii I8ٮii QtI i U D9im,; m:)m~8 9)I tIi .E O:)ݖ:I;9I9*G2GFF rFbFEE)M;IM9 IIiIIIQQiQQ Y2@]<:@]w: ߑ%R* H(AYt2M@t2[@yt2A0t2vy>t2H@?`xҿR@`? L?@?@V ?)u2M@ u2s;Iu2CxBp>xB%E)i wA wAF@Y%i%>!)Q-UE)-:5>I1 I=8ٮ11 Q=tI 1 UE D915+: 5:)5J8 M9)AIA MtIiA M.EA E:)E:IE|9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: !i+R* eH(AYt*t*HÞ`,1?yҿ@0?;?? ?)u*xNEi\I\)Ga 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>yyQUEʁͅ;>I I8ٮ QtI  U D9鰍l: :)a8 9)I tIi .E O:):I=9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ٓ2R* H(A@ Yt*>M@t*[@yt*}8t*>t*Hm,?Ƿҿ@ݠ ?@??@?)u*>M@ u*mr;Iu*CxBV>xB3EGDHD {DY|DJ8****** ping requested ******~Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Ya.:>QUE   9>I I%8ٮ Q-tI  U- D9s; ;)8 =9)9I9 EtIi9 E.E9 =8:)=:I=(9yIy9*G2GFFrF!bF!E!E));I9 iIi 2@<:@w: 18R* H(AYt*9M@t*[@yt*6t*ҥ{>t*H =`,?֮`ҿ 3? #҆? l#? a ?)u*9M@ u*=q;Iu*CxVt>xZlEitIx)G=F@Y-9U>aaQeUEam'Tm>Iq I}8ٮqq Q}tI q U} D9quS: u:)u8 9) 9I tIi .E ,:)b:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! !2@-<:@5w: AR>e>>R* τH(AYt*nM@t*\@yt*W*t*nw>t*H@C_?`ҿ`?qQ? ??)u*nM@ u*6q;Iu*CxB c>xB E)~vGa 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ+:>ʡʡQUEʡͭ <>I I8ٮ QtI  U D9鰵: :)#8 9)I tIi .E :)A:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 197.050739 arcdeg .q'U'U*GQ2GQFYFYrFYbFaEaEa)u;I}9 yyiyIyi 2@<:@w: ߡER* aI(A);IYt*LM@t*[@yt*@}7t*N~>t*HbxB EHBa=HBp=iTIT) GF@=YE E>AAQMUEIM쬻M>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)Uӧ8 m9)aIa mtIia m.Ea e:)e:Ie9yIy9=O}@Contact HDG: 144.169502 arcdeg .'}'O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: qKR* :2I(AYt*4M@t*?=\@yt*^5t*r~>t*H ~z?@ҿ_ $?@M?6?F?)u*4M@ u*˜p;Iu*CxRb>xR E)SGi!%xAa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʥ9>ʡʡQUEʡͭ`"<>I I8ٮ QtI  U D9鰵: :)쮺8 9)I tIi .E -:):I9I9*G2GFFqrFybFyEyEy);I9 iIi 2@<:@w: iRR* {LI(AYt*gvM@t*r#\@yt*7/t*m~>t*H Sa?@J篿Rҿz?? y??)u*gvM@ u*kp;Iu*CxB{]>xB/EiLIL)~GF@%Y-t:->))Q-UE)5ʄ5>I9 IE8ٮ99 QEtI 9 UE D99=: =l:)=8 U9)III UtIiI U.EI M}:)M:IM%9aIa9a*Gq2GqFyFyrFbFEE);I9 iIi 2@<:@w:  YR* eI(A@ Yt*֝M@t*J\@yt*@ ;t*x>t*H sҍ?`X ҿs?a?`4?`?)u*֝M@ u*Op;Iu*CxBk>xBEGBAAHD)~SGF@EYEE>IIQMUEIUQ;U>IY Ie8ٮYY QetI Y Ue D9YY ]:)]8 m9)iIi utIii u.Ei m::)m:Im-9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 6_R* 5I(AYt2M@t2e\@yt2*t2.~>t2H@?@6A ӿ h? C?@r?}?)u2M@ u2+p;Iu2Cx>Ml>xBLEiLIL)~dGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ";>ʡʡQUEʡͭE;>I I8ٮ QtI  U D9鰵J; ;)ú8 9)I tIi .E :):I69I9*G)2G)F)F)rFQbFQEYEY)m;Im9 qiIi 2@<:@w: V>t>WfR* I(AYt*ǦM@t*S\@yt*c0t*Ȼ~>t*H.்? $ҿ`~??1?`_?)u*ǦM@ u*(q;Iu*CxBV>xBE)AF@}Yʅ]n>ʉʉQUEʉ͍4>I I8ٮ QtI  U D9鰝: :)rʺ8 9)I tIi .E O:):I>9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !9HlR* ӃI(A) I4t*H@?:)`''ӿ@No;? ? TC?h?)u*M@ u*Kq;Iu*CxBp>xB%EH@H@iPIP)GF@}Yʅ,>ʁʉQUEʉ͍;>I I8ٮ QtI  U D9鰕g; :)TѺ8 9)I tIi .E S:):IaG9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  i   2@<:@w: )/sR* ^I(AYt*M@t*\@yt*8-t*/x>t*H?篿<ӿ"?@ ???)u*M@ u*r;Iu*CxBS>xB5E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGiwAa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y9>QUEZG;>I  I58ٮ   Q5tI  U5 D9  s; U;)  ٺ8 =9)9I9 EtIi9 E.E9 =>:)=:I=P9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 197.493199 arcdeg .q'E'E*GA2GAFAFirFqbFqEqEy);I9 iIi 2@<:@w: iZyR* 9I(AYt*~M@t*\@yt*!?t*{>t*H ?毿L6ӿ )?@ ?`)??)u*~M@ u*Kr;Iu*CxBh^>xBEiXIX)SGF@]YeCe>aaQeUEimm>Iq I}8ٮqq Q}tI q U} D9qu2: u:)u ߺ8 9)I tIi .E [:),:IKX9I9=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI i 2@<:@w: ߉AR* J(A Yt.N@t.ļ\@yt.-V/t.l~>t.H x``? ]ӿ ݈@r?@??1?)u.N@ u.цr;Iu.Cx6i>x6EG6?AH8)vdGa 1-a 1- a 5-a 55 a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYU:;U>QQQUUEQ];]>Ia Im8ٮaa QmtI a Um D9ae: e:)e8 }9)qIq }tIiq }.Eq u:)u:Iu`9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: kR* J(AYt*N@t*\@yt*%t*BB}>t*H`_}?N@-kӿ K=?@^?U?R?)u*N@ u*4s;Iu*CxBb>xB EiTIT)G 4= 4=F@=YE:E>AIQMVEIM ;M>IQ I]8ٮQQ Q]tI Q Ue D9QU: U:)U8 m9)aIa mtIia m.Ea e}:)e:Ie;i9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: R> V>t*Hm}?@iO jӿ `?@?*?@ ?)u*{N@ u*١s;Iu*CxBb>xBQ E)zGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]TG]>aaQeVEamwm>Ii Iu8ٮii QutI i U} D9im: m=:)m8 9)I tIi /E :):Iq9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: IR* NJ(A) I;Yt*VN@t*]@yt*3t*v>t*Ht@9?`"ӿ@u`j? {?(w??)u*VN@ u*t;Iu*Cx>i>x>NEHBp=HBa=iLIP)|F@=Y=E>AAQEVEAM<M>IQ I]8ٮQQ Q]tI Q U] D9QU: UW:)U8 e9)aIa mtIia m/Ea a)eȗ:IeAz9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: QR* ;hJ(AYt6IN@t6!\@yt6!(t6QC>t6H`v#!?`氿 Sӿ#t? ?@?^?)u6IN@ u6wt;Iu6Cx> c>x> E)xi||a 15a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]:]>YYQeVEaebe>Ii Iu8ٮi Mu8i QutI i U} D9im: m:)m8 9)yIy tIiy /Ey }:)}:I}ق9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i@AҏR* :[J(AYt*lpN@t*w]@yt*oj)t*Z~>t*HpE?Eӿ]zIg? 5-?Ί??)u*lpN@ u*wt;Iu*CxB`k>xBEiLIL)5GF@}YʅMI>ʁʁQVEʉ͍;>I I8ٮ QtI  UD9鰕: x:)z8 9)I tIi /E ::):Ir9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !:R* 7J(A Yt2}N@t2*]@yt2Q3t2fv>t2HnS]? B*ӿ n?s??`?)u2}N@ u2!t;Iu0xBi>xBNEGFAAHD) +GF@mYmC˺u>qqQuVEq}/;}>I I8ٮ QtI  UD9鰅: :)W8 9)I tIi /E t:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.998291 arcdeg .q''*G2GFF!rF!bF!E)E))=;IE9 AAiAIAIIiII I2@U<:@Uw: iR* J(AYt*N@t*&G]@yt* "t*Su>t*HPju?@̅iӿ`N`A?@W?@_??)u*N@ u*=t;Iu(xBf>xB EiPIR“C)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye';e>aiQmVEim2;u>Iq I8ٮqq QtI q UD9quS< u :)u38  9)I  tIi  /E F:)9:I99I999=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I199i99 A2@E<:@Mw: ye>.̳R* J(AYt*N@t*p]@yt*4t**z>t*HcB?ǰԿ`^vl??@s?`C ?)u*N@ u*s;Iu(xRc>xR E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mׄGF@Y>QVEh;>I! I-8ٮ!! QEtI ! UMD9!%W; %l;)% 8 U9)QIQ UtIiQ ]/EQ UA:)Uϝ:IU!9aIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: gR* *J(A)4t*H@Ccߑ?@ߙ& Կ@f?4???)u*N@ u*s;Iu(xNg>xRsEHRa=HRp=ilIl)5Ga 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ:>QVEz:>I I8ٮ QtI  UD9:  :)0$8 9)I tIi /E :)ȗ:I9I9*G 2G FFrFbFEE);I9 iIi 2@<:@w: R* K(AYt*lN@t*w]@yt**t*z>t*Hr_`ư?:9#ԿFq@s?C? ?` ?)u*lN@ u*BKr;Iu*CxR:m>xRE)jGi!!F@-Y55>19Q=VE9E{;E>II IM8ٮII QUtI I UUD9IM: MS:)M*8 ]9)YIY etIiY e/EY ]:)]:I]˵9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: i R* }K(AYt*O@t*]@yt* t*6Uo>t*H(Y?@_y@JIԿ`??? ?)u*O@ u*b(r;Iu*CxBq>xBEiPIP)vGF@=YEӴ:E>AIQMVEIM;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U18 m9)aIa mtIia m/Ea e:)eݖ:IeX9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: G4R* a7K(A@ Yt*2O@t*]@yt*_'t*Sy>t*H:R?N_rԿ4gܥ?s?q? ?)u*2O@ u*q;Iu(x>j>x>qEGB@AH@)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]w]>aaQeVEam;m>Iq Iu8ٮqq Q}tI q U}D9qu: uc:)u88 9)I tIi /E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: R* 6QK(AYt*KO@t*]@yt*n5t*!݂>t*H.N ?},܉Կ@>K?`?-?@b?)u*KO@ u*p;Iu*CxRh>xREi`IbC)%SG!!F@=YERE>AAQMVEIMmx;M>IQ I}8ٮQQ Q}tI Q U}D9QUǴ; Ug;)U~?8 9)I tIi /E }:):Is9I9*G2GFFrFbFEE);I9 iI  i   2@5<:@=w: IY>DR* kK(AYt*SO@t*^@yt*t*q|>t*H M8?@1ܱuԿ\?`S?@FxRE)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@YʵI;>ʱʹQVEʹͽ:>I I8ٮ QtI  UD9q: :)F8 9)I tIi /E ̒:)Z:I.9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)-;I-9 ))i)I)11i99 92@E<:@Ew: QR-R* K(A);IYt*BO@t*M=^@yt*l%t*n>t*H1C+_?ְԿ@k`b?`V?@\?!?)u*BO@ u*p;Iu(xNo>xNEHRp=HRa=i`I`)+GF@Yʕjݺ>ʙʙQVEʙͥL<>I I8ٮ QtI  UD9鰭: :)xM8 9)I tIi /E %:)|:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 198.959108 arcdeg .q'='=*GA2GAFAFArFIbFIEIEI)e;Ie9 aaiiIiiiiqq q2@}<:@}w: ߉vVR* ƞK(AYt.O@t.Q^@yt.8)t.u>t.H?&k?ViԿ[p0? n5?Rn??)u.O@ u.Jo;Iu.CxBsj>xB(E)SGi  F@=YE!E>AAQMVEIM'N;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U,T8 m9)aIa mtIia m/Ea a)e:Ie9yIy9=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i Ii 2@%<:@%w: 1i?A PR* ӠK(AYt*O@t*v^@yt*W,t*$>t*H9"?`i@տ@ x?׊???)u*O@ u*rVo;Iu*CxBi>xBEiLIN“C)5Ga 1ua 1u a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ͹>ʙʡQVEʡͥ ;>I I8ٮ QtI  UD9鰭: :)B[8 9)I tIi /E :)o:I9I9*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: 9khR* |K(A@ Yt* O@t*i^@yt*p+t*M>t*H@<`t?`a&Կ{B }?@4v? O?i?)u* O@ u*o;Iu*CxBu>xBEGFAAHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@Y8>  Q VE 5|=>IA IM8ٮAA QMtI A UUD9AEI: EJ;)E{b8 9)yIy tIiy /Ey }:)}:I}9Ii9q*G2GFFrFbFEE);I9 iIi 2@ <:@w: !R* \XK(AYt*O@t*ƥ^@yt*&t*Mr>t*H2@?@xw-տT`?ӄ? %? Q?)u*O@ u*o;Iu(xNY>xREihIh)uG}%=}%=F@YʍP:>ʉʑQVEʑ͝p<>I I8ٮ QtI  UD9鰵h-; 7 ;)i8 9) 9I tIi /E :):I9I9*G2GFFrFbFE E );I9 !!i)I)9AiAA I2@]<:@ew: ߙl>nzS* @3L(AYt*P@t*^@yt*-t*%s>t*H@+?`񒱿2Qտ@L?@㯅?@`?@?)u*P@ u*Co;Iu(xN]>xRE)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@MYU"U>YYQ]VEYei;e>Ia Im8ٮaa QmtI a UuD9aeS: eB:)eYp8 }9)yIy }tIiy /Ey }:)}Z:I} 9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: S*  L(A)4t*H + ?ŲhUտ5{/? ^? ? A?)u*#P@ u*[n;Iu(xBm>xB'EHDHDiTIT) GF@=YE;E>AAQMVEIM?:M>IQ I]8ٮQQ Q]tI Q UeD9QU: U :)Uv8 m9)aIa mtIia m/Ea e :)e:Iet9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: Yc S* K9L(AYt*L5P@t*W^@yt*&t*~>t*H'?*fտ@3@."?ڄ? ??:?)u*L5P@ u*n;Iu*CxRm>xP)-SGi=xA=xAF@]Ymu>yyQVEʁ͕0;>I I8ٮ QtI  UD9鰭p; ͫ;)}8 9)I tIi /E ;);IL91I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9 iI11i11 92@=<:@Ew: qiES* vSL(AYt*yt*H&`e?F@PmտR?W????)u*yxBnEiLIRC)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeƥe>aaQeVEam:m>Iq Iu8ٮqq Q}tI q U}D9qux: u|:)u8 9)I tIi /E }:)Ԙ:I$9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 199.561353 arcdeg .q' ' *G 2G FFrFbFEE)5;I59 11i1I999i9A A2@E<:@Mw: YS* EmL(A Yt.OhP@t.Z_@yt.q+t.s>t.H@e"?ױտ@?@?$??)u.OhP@ u.o;Iu.CxBZ>xBzEGF@AHD)~ׄGF@=YE9E>AAQMVEIM;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)US8 m9)aIa mtIia m/Ea eՐ:)e:Ie,9yIy9=O@Contact HDG: 144.169502 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iIi !2@%<:@%w: 9Q!S* yL(AYt*4P@t*?H_@yt*y\t*'y>t*H =F?`꽲`տ -gg?@{?(?U?)u*4P@ u*)fo;Iu*CxZv>xZGEidIjC)-ʑʑQVEʙ͝;>I I8ٮ QtI  UD9鰥O: :)e8 9)I tIi /E :):I59q Software FaultI9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 1!MxSoftware Fault in component: DeadReckonWithRespectToSeafloor]>'S* \VL(AYt*uP@t*"_@yt*vM,t*!2~>t*H!? ϲgտ * ??@r? s?)u*uP@ u*^Uo;Iu*CxB:m>xBE)-SGF@=YEE>IIQMVEIM_U>IQ I]8ٮQQ QetI Q UeD9QUx: U[:)U8 m9)iIi mtIii u/Ei m:)ml:Im>9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: !Clearing failed state for component DeadReckonWithRespectToSeafloorq .S* 1L(A);IYt*P@t*:_@yt*s(t*ߔ{>t*H68?ػտE+?[?p!? ?)u*P@ u*fo;Iu*CxBe>xBP EHDHFp=iPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ:>QVE[;>I I8ٮ QtI  UD9: E:)F8 9)I tIi /E :)o:IF9I9*G2G F F rFbFEE)-;I-9 ))i)I)19i99 92@E<:@Ew: Q5S*  L(AYt*ʋP@t*8_@yt*7t*~nu>t*H v`xBw E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGiq}wAF@YO:>  Q VE}k0}>I I8ٮ QtI  UD9鰅w:< :<)8 9)I tIi /E l:):IP9I9*Gi2GqFqFqrFybFyEyEy);I9 iIi 2@<:@w: i-/;S* L(AYt*P@t*a_@yt*u)t*ys>t*Hhf?@C7տ2?V#?o.??)u*P@ u*yro;Iu(xBHf>xB E){BmI{@i{B={@{@{BpA{@|BB9|B|[ʁʁQVEʉ͍;>I I8ٮ QtI  UD9鰕c: :)ﭻ8 9)I tIi /E :)o:IW9I9*G2GFFQrFYbFYEYEY2EazEeBEeMeS):7@ʋ*>Ee|[t.H ug?J% bտZ?`|?[??)u.~P@ u.o;Iu.CxBu>xBEGDHD) GF@Y@:>!!Q%VE!-N;->I1 I58ٮ11 Q=tI 1 U=D915: 5[:)58 E9)AIA MtIiA M/EA Eh:)E9:IE_9YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEE);I9 iIi 2@<:@w: @HS* "M(AYt*IP@t*T[_@yt*)t*N}>t*H T?) pտF!@Z? 2?j? ?)u*IP@ u*Cn;Iu*CxBMl>xBLEiTIT)vG%4=%%=F@]YeHe>aaQmVEimMm>Iy I8ٮyy QtI y UD9y}; };)}8 9)I tIi /E ;);Ih9I9 &EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NMInitialize.q'MN5@Vehicle HDG: 199.959361 arcdeg .q'5'5*G12G=@%@F9F9rFAbFAEAEA);I9 iI"@i@%@ 2@<:@w: $5RHorizontalControl.headingCmd 2.579788 radl>ukNS* {w>t*Hs@Kf?@Ο`տ+O.?iJ???)u*P@ u*rn;Iu*CxBjw>xB"E)~dGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]:]>aaQeVEam:m>Iq Iu8ٮqq Q}tI q U}D9qu: u:)u»8 9)I tIi /E %:):I'q9I9=O @Contact HDG: 147.810976 arcdeg .' ' O 4Initialize Wait Component.*G2GFFrFbFE!E!)5;I59 99i9I9E@%@iAA A2@M<:@Mw: aRUS* \TVM(A) IYt.xP@t.z_@yt.M t.Nu>t.H>&y?`ڏ տ`\,@?4?^? ?)u.xP@ u.Xn;Iu.CxZ{]>xZ/EH^a=H^a=ihIl)9F@}Yʅ9>ʁʁQVEʁ͍8;>I I8ٮ QtI  UD9鰕: :)ɻ8 9)I tIi /E F:):Iy9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: |[S* E.pM(AYt*P@t*_@yt*+,(t*x>t*H X?@Ʋ`kֿ #_W? m?V?2?)u*P@ u*n;Iu*CxRU_>xRS E)UGi]yA]xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y>QVE;>I I8ٮ QtI  UD9: :)л8 9)I  tIi  /E :)ȗ:I9I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIQYYiYY a2@e<:@mw: yi^dbS* tM(AYt**P@t*5_@yt*//t*N}>t*H y?տW ??`u]??)u**P@ u*om;Iu*CxB'n>xBpEiPIP)~҄GF@%Y%o->))Q-VE)5t5>I I8ٮ QtI  UD9鰭l: :)W׻8 9)I tIi /E Ĕ:):IՊ9I9*G2GFF rF bF EE)E;IE9 IIiIIIQQiQq q2@}<:@}w: ߑDhS* M(A@ Yt:dP@t:o|_@yt:OYt:{>t:H ws?տ!@ݘ?? ? ?)u:dP@ u:am;Iu:CxRp>xREGR?AHP)EƄGF@mYʅ+;>ʑʑQVE= S=>IA IE8ٮAA QMtI A UMD9AE: E:)E޻8 U9)QIQ ]tIiQ ]/EQ U1:)U:IU9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: )nS* M(AYt*aP@t*l_@yt*}&t*>r>t*HR? [ֿ*?τ?@[?m?)u*aP@ u*.m;Iu*CxR`k>xREi\I`)G%=%=a 1ea 1e a 5ea 5e a 9ea 9e a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ>ʉʉQVEʉ͕;>I I8ٮ QtI  UD9鰝: :)8 9)I tIi /E O:)A:Iћ9I9*G2GFFrFbFEE)u;I}9 yyiyIyi 2@<:@w: ߡe>Y> uS* (M(AYt* Q@t*_@yt*)t*V;x>t*HNs?`D䲿@1ֿ 2D? >=?l? ?)u* Q@ u*Xm;Iu(xNu>xRE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Y>QVETM;>I I8ٮ QtI  UD9; 8;)*8 9)I  tIi  /E 4:)4:I9!I!9)OEDone Waiting.'EOE8Uninitialize Wait Component.*GA2GIMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFQrFbFEE);I9 iIi 2@<:@w: m{S* dxM(A) IYt.P@t.#_@yt.\!t.X>t.H @?@n1ֿ ?`+???)u.P@ u.m;Iu.CxNMl>xRLEHRp=HRp=){R>bI{Pi{R={P{P{RA{P|RB9|R5=QO?];ipIp)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭU:>ʩʩQVEʱ͵ڻ>I I8ٮ QtI  UD9鰽: :)8 9)I tIi /E 5:)k:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 200.137042 arcdeg .q'U'U*GY2GYFYFYrFabFaEaEi2EizEmBEmPf8@)=Em5=QO?];Em>bEiEm6^T@̎e2@JEm@`뿠9!?~ǿEm(@=}DHdg To Contact =150.502604 degreesZEmՕAbEmm:EmQo$?BEmSo$?JEmy REmx jEm'rEmS);I9 iIi 2@<:@w: $Dacoustic_contact_range 38.699997 m$hTrackAcousticContact.heading_to_contact 2.626766 rad$LDUSBL_Hydroid.xAngle -50.600002 arcdeg~S* X N(AYt*Q@t*_@yt*Mt*Dpx>t*H`)?_7ֿ]A?`Ƀ???)u*Q@ u*Cm;Iu*Cx>^R>x>ZE)~GiwAwAF@=YE9E>AAQEVEAM)<M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U8 e9)aIa mtIia m/Ea ep:)e:Ie*9yIy9y=O@Contact HDG: 150.502604 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIi !2@%<:@-w: 9iy݈S* .%N(AYt*Q@t*_@yt*ĺ2t*7w>t*H?m9ֿ~9?;W??`?)u*Q@ u*}m;Iu*Cx>p>xB%EilInC)=GF@]Ye>He>aaQmWEim29m>Iq I}8ٮq M}8q Q}tI q UD9qug: u:)u8 9)I tIi /E :) :Iý9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !XS* ?N(A@ Yt*xQ@t*_@yt*9t*Fw>t*H@`??F@'-ֿ`:!?Ѓ?? ?)u*xQ@ u*Onm;Iu(xBh>xBEGB@AHD)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭC;>ʩʩQWEʱ͵>I I8ٮ QtI  UD9鰽h: į:)8 9)I tIi 0E į:):Ix9I9*G2GFFrF bF E E )%;I%9 !!i!I!))i)) 12@=<:@=w: I6S* XN(AYt*1Q@t*_@yt*$t*/v>t*HW? Sֿ{?@ɐ?@y? ?)u*1Q@ u*itm;Iu(xBZe>xB EiLIRC)~G4=%=F@Yʍp>ʑʑQWEʑ͝u;>I I8ٮ QtI  UD9鰥\: :)|8 9)I tIi 0E :):I9I9*G2GFFrFbFEE);I9 iI   i  2@<:@w: 1V>S* ?rN(AYtFQ@tF _@ytF3tF:Y{>tFH`x^E)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@MYU U>YYQ]WEY]e>Ia Im8ٮaa QutI a UuD9ae: e:)e8 }9)yIy }tIiy 0Ey }Ր:)}N:I}9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: :S* _N(A) IYt*VKQ@t*a_@yt*0)t*y>t*H@aA?@Z3 kֿS?%?? `?)u*VKQ@ u*n;Iu*CxNsj>xR(EHRa=HRa=i`I`)+GF@-Y5=:5>11Q=WE9=L'<E>IA IM8ٮAA QMtI A UUD9AE}: E>:)E8 ]9)QIQ ]tIiQ e0EQ U:)U:IU9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w:  +S* 2tN(AYt.L#Q@t.W_@yt./B!t.y>t.H`hp?E7 MFֿ d?0(? W? _ ?)u.L#Q@ u.m;Iu.CxRU_>xRS E)%Gi)-xAF@]Ye:e>aaQmWEimeûm>Iq I}8ٮqq Q}tI q UD9qu: uW:)u#8 9)I tIi 0E :):IP9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i@A7S* PN(AYt*CHQ@t*N_@yt*d"t*u>t*H`?@hֿ@g?U?pp??)u*CHQ@ u*m;Iu*CxBd>xB EiLIL)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]6b]>aaQeWEam*;m>Iq Iu8ٮqq Q}tI q U}D9qu: u:)u)8 9)I tIi 0E  :)ݖ:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.497826 arcdeg .q''*G2G (@F F rFbFEE)-;I-9 )1i1I1=&@i9=(@ 92@E<:@Ew: Y$uRHorizontalControl.headingCmd 2.626766 rad=S* -N(A@ Yt.&XQ@t.1`@yt.Տ.t.jv>t.H`?`wֿI9?х??@?)u.&XQ@ u.n;Iu.CxBk>xBEGBAAHBAA {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGF@Yʽ,>QWE;>I I8ٮ QtI  UD9{; :)18 9)I tIi 0E ;);I9I9=O@Contact HDG: 150.502604 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI (@i   2@<:@w: tgS* N(AYt*7Q@t*_@yt*Kt*z>t*H9?l`Yֿ0@ك?^?` ? ?)u*7Q@ u*n;Iu*CxRi>xREitIt)MdGQQF@}Yʅ8;>ʁʁQWEʁ͍Ϣ>I I8ٮ QtI  UD9鰕: :)78 9) 9I tIi 0E N:):I9I9*G2GFFrFbFEE);I9 iISi 2@ <:@ w: {>e>OS*  O(AYt*kQ@t*`@yt*>-t*cv>t*H ? @ֿ` Y???g?)u*kQ@ u*Tn;Iu*Cx>i>xBE)5Ga 1ua 1u a 5ua 5u a 9ua 9u a -ua -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʕ, >ʙʙQWEʙͥ^;>I I8ٮ QtI  UD9鰭 : :)>8 9)I tIi 0E ::),:I 9I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 1{S* 'O(A)(I(Ytn$QQ@tn/_@ytn/tnLx>tnHUW?@P`4qֿA@J???@%?)un$QQ@ unXm;Iulxi>xNEHR=Hp=iI)ׄGa 1%a 1% a 5%a 5% a 9%a 9% a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEM>IIQMWEIUvxU>IY Ie8ٮYY QetI Y UeD9Y]: ]_:)] F8 u9)iIi utIii u0Ei mX:)mϝ:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: `S* AO(AYt*9^Q@t*D `@yt*r&.t*(w>t*H ?t}ֿ0?`ą?V? ?)u*9^Q@ u* n;Iu(xBg>xBsE)~AIQMWEIM ;M>IQ I]8ٮQQ Q]tI Q UeD9QU): U :)U[L8 m9)aIa mtIia m0Ea e:)e:IeL9yI9*G2GFFrFbFEE)5;I59 QQiQIYY]iaa a2@m<:@mw: ߙi?AS* q[O(AYt*L[Q@t*W`@yt*ct*t*H@`>?Ph`zֿBM-?f,???)u*L[Q@ u*m;Iu(xNn>xREi\I\)SGF@%Y-N;->11Q5WE1=]=>IA IE8ٮAA QMtI A UMD9AE: E:)E5S8 U9)QIQ UtIiQ ]0EQ Ux:)U:IU#9iIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: {S* NuO(A@ Yt*bQ@t*`@yt*7&t*_Rv>t*HF<?@v`Ɓֿ W? Ƅ? ~??)u*bQ@ u*Jm;Iu*CxBi>xBEGB?AHF@A)~Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQeWEam<:m>Iq I}8ٮqq Q}tI q U}D9quh: u:)u6Z8 9)I tIi 0E O:)ȗ:Ig,9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: S* *O(AYt*|Q@t*)`@yt*?t*]u>t*H@?@Ӽ@ֿ  ???`?h?)u*|Q@ u*m;Iu*CxNl>xREi\I\)SG%%=!F@]Yeze>aiQmWEim;u>Iq I}8ٮqq Q}tI q UD9qu: u:)ua8 9)I tIi 0E :)N:I49I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 200.681941 arcdeg .q' '*G2GFFrFbFE!E!)5;I59 99i9I9AAiAA A2@M<:@Mw: a>a>S* O(AYt.r_Q@t.} `@yt. t.|>t.H?~ֿ )?`]?I?`?)u.r_Q@ u.m;Iu,xBsj>xB(E)Ga 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe;m>iiQmWEiuu>Iy I8ٮyy QtI y UD9y}: }J:)}h8 9)I tIi 0E  :):Iq=9I9=O @Contact HDG: 150.502604 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE!)5;I59 19i9I99AiAA I2@e<:@mw: ߁uS* O(A)4t6H G? Qvֿ J?[?H? ?)u6uQ@ u6mm;Iu6CxBPY>xBEHBa=HFa=iPIP)ƄGF@=YE ٺE>AAQMWEIM._;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)Un8 m9)aIa mtIia m0Ea e[:)e,:IeE9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: =S* O(AYt*oQ@t*`@yt*tkt*u>t*H  % ?`A0ֿ` ?Z?d? R?)u*oQ@ u*2@m;Iu*CxBw>xBjE {DY|DJ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ׄGiwAF@Y:>QWE[>I) I58ٮ)) Q]tI ) U]D9)-p; -g;)-/v8 m9)aIa mtIia u0Ea eld<)eft*H ?`opֿ &?߂??@'?)u*ʀQ@ u*Cm;Iu*CxB5g>xB*EiXIX)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ]:>ʹʹQWE);>I I8ٮ QtI  UD9; 1;)|8 9)I tIi  0E @>;)]$;I>W9I9*G)2G)F)F1rF1bF9E9E9)M;IU9 QQiQIQYYiYY a2@e<:@mw: yT* "qP(A Yt*oQ@t*`@yt*Y9t*x>t*H@,?ֿٍ @oxB%EG@HD) GF@EYMU>QQQUWEQu(>I I8ٮ QtI  UD9: :)ރ8  9) I  tIi  0E  -:) :I _9!I!9!*G92G9F9F9rFAbFAEAEI)];I]9 YYiaIaaiiii i2@u<:@uw: ߁ T* 8L*P(AYt*Q@t*!@`@yt*>3t*fw>t*H j.?/@ֿ$?g?U?@-?)u*Q@ u*Ym;Iu*CxBv>xBGEiPIP)G R= a 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmo:m>iiQmWEiu6;}>I I8ٮ QtI  UD9鰅: ):)8 9)I tIi 50E <)i>wT* 'DP(AYt* Q@t*H`@yt*by3t*lu>t*HFN8?R`VֿA ?o?.b?[?)u* Q@ u*Y$m;Iu(xN'n>xRpE)dGF@]Yee>aiQmWEiu:}>I I8ٮ QtI  UD9鰕{: W:)n8 9)I tIi 0E :) :Ip9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI i   2@<:@w: ߡ(T* y^P(A)IYt*?Q@t*JG`@yt*֫(t*W`w>t*Hx2?'W@ֿPT?`b?ڞ? ?)u*?Q@ u*4m;Iu*Cx>t>xBlEHBR=H@iPIP)F@Y%K:%>!!Q-WE)-->I1 I=8ٮ11 QEtI 1 UED915: 5q:)58 ]9)III etIiI m0EI M;)MΥ;IMx9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 200.784530 arcdeg .q'-'-*G12G1FQFQrFYbFYEYEa);I9 iIi !2@%<:@-w: yLQT* wP(AYt*߾Q@t*k`@yt*E&t*IZ{>t*HN? "سֿ?ׄ?X? ?)u*߾Q@ u* l;Iu(xBe>xBP E)~GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y9>QWE^;>I I8ٮ QtI  UD9l: p:)r8  9) I  tIi  0E  [;) ;I ߁9AIA9A=O@Contact HDG: 150.502604 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)M;IM9 IIiIIIQQiQQ Y2@]<:@ew: i-9$T* ȶP(AYt*Q@t*g`@yt*,t*^w>t*HP?`oֿ`j!?:???)u*Q@ u*sm;Iu*CxBo>xBEiLIP)~SGF@]Ye~e>aaQmWEim"m>Iq I8ٮqq QtI q UD9qu; u(;)u 8 9)I tIi 0E :):I9I9*G2GFFrFbFEE!)5;I59 QQiQIYYYiaa a2@m<:@mw: ߙGg*T* P(A< t^H `?uֿ|???a?)u^jQ@ u^Sl;Iu^Cxnj>xrqEG~@AH)}dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y_8%>!!Q%WE!-q:M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Uq8 e9)aIa mtIia 0Ea eW;)eg;Ie'9I9*G2GFFrFbFEE);I9 iIi !2@<:@w: (L1T* *qP(AYt*$Q@t*/`@yt*l9t*u>t*H @,? 4׿`>?y-?`2W??)u*$Q@ u*l;Iu*CxNc>xR, Ei`I`)1==9F@]Ye e>aaQeWEam;m>Iq I}8ٮqq Q}tI q U}D9qu: u:)uֳ8 9)I tIi 0E ::):I 9I9*G2GFFrFbFEE);I59 11i1I999i9A A2@M<:@Mw: yV>l>u7T* KP(AYt*fQ@t*q`@yt*::8t*Jz>t*H@R|?`@L׿ H|?'?? ?)u*fQ@ u*m;Iu*Cx>i>xBE {@Y|@F8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@=YE09E>IIQMWEIU4 U>IY Ie8ٮYY QetI Y UeD9Y]1: ]l:)]<8 9)iIi tIii 0Ei m;)m;Im/9I9*G 2GFFrFbF!E!E!)e;Ie9 aaiiIii 2@<:@w: V=T* $'P(A)IYt.NR@t.Y`@yt.%t.*~>t.H;?Y׿'?@? q?`?)u.NR@ u.l;Iu.CxRs>xREHVa=HTilIl)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@Y=BIiSBBBɅBB1B )F@-YU>;U>QYQ]WEY]4D;e>Ia Im8ٮaa QmtI a UuD9aeo; e;)e'¼8 9)I tIi 0E >:):IϬ9I9*G2GFFFFzArFbFEE%R9)-; )-%8U%IU9 eeiaIeqqiqq y2@}<:@w: ߱DT* "Q(AYtBCR@tB`@ytB<0tBq>tBH?`#PS׿W?? ,?`?)uBCR@ uBTl;Iu@xn5g>xr*E)eSGieyAexAF@Y>QWE.<>I I8ٮ QtI  UD9: :)ȼ8 9)I tIi 0E :)o:Iٴ9I9ODone Waiting.'O58Uninitialize Wait Component.*G12G1M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9FAFArFAbFAEAEI}& ); 8I9 iIi 2@<:@w: i1JT* d,Q(AYtZR@t)a@ytV6t{>tH`?(`h׿@#@l?ʆ?]?s ?)uZR@ um;IuCxj>xqEiI)UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ酝鄙 )F@Yʵ_>ʹʹQWEʹmN;>I I8ٮ QtI  UD91: :)?м8 9)I tIi 0E ɏ:):I91I191&EMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NmInitialize.q'mN@Vehicle HDG: 201.455514 arcdeg .q''*G2GFFrFbFEE)%;I%9 %-i)I-)1i11 12@=<:@=w: qpR@t>a@yt>2t>s{>t>H`@?3Uh}׿p?_@?I?@ ?)u>pR@ u> m;Iu>CxNn>xREGR?AHP)vGF@=YEB:E>AAQMWEIM)|;M>IQ I]8ٮQQ Q]tI Q U]D9QU: Uf:)U=ּ8 m9)aIa mtIia m0Ea e}:)e,:Ie9yIy9=O@Contact HDG: 150.502604 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 11i1Ii 2@<:@w: WT* `Q(AYt.6R@t.A/a@yt.÷(t.x>t.H?@aE׿ !??@?Z?)u.6R@ u.)m;Iu,x:r>x:IEiHIH)zdGz4=|F@Y:>QWE%0;%>I) I-8ٮ)) Q5tI ) U5D9)- : ))-ݼ8 =9)9I9 EtIi9 E0E9 =:)=$:I=9QIQ9Q*Ga2GaFiFrFbFEE);I9 iIi 2@<:@w: ]>a>]T* ozQ(AYt*R@t*^a@yt*^st*H@̷>?77Y׿W\?I??"?)u*R@ u*[%m;Iu*Cx>5g>xB*E)xa 15a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]?]>YaQeWEae;m>Ii Iu8ٮii QutI i U}D9im: m|:)m8 9)yIy tIiy 0Ey }%:)}:I}9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ndT* ZJQ(A) IYt6rR@t6}Ma@yt6\,t65 {>t6H ? 0׿@Y?@z?? ?)u6rR@ u62m;Iu6Cx>Ml>xBLEH@HBp=iLIL)~GF@Y%8";%>!!Q-WE)-'->I1 I=8ٮ11 Q=tI 1 U=D915: 5߼:)58 M9)AIA MtIiA M0EA E̒:)E$:IE9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: !kT* #Q(AYt:R@t:}a@yt:Y"t:>t:H@`{7?ɵ@׿`״m?UB?%??)u:R@ u: vm;Iu8xr"h>xrE)GiwAwAa 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@eYm:m>iiQmWEiu;u>Iy I8ٮyy QtI y UD9y}\: }ٮ:)}u8 9)I tIi 0E ;);I[9I9*G2GFFrFbFEE )=;I=9 99iAIAAAiII i2@u<:@uw: ߁iVqT* ;Q(AYt**R@t*5ra@yt*Z:t*>t*H5 4?9!׿ `?6???)u**R@ u*m;Iu*CxN^>xN Ei\I\)U+GF@eYeo9m>iiQmWEiuu>Iy I8ٮyy QtI y UD9y}: }):)}8 9)I tIi 0E ɏ:):I-9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: xT* Q(A@ Yt*2R@t*=a@yt*-t*6r>t*H`Y?@ @׿R?C?\?r?)u*2R@ u*m;Iu*CxNk>xREGR@AHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )XGF@Y%6%>!)Q-WE)U1;]>Ia Im8ٮa Mm8a QmtI a UuD9aeM; e=;)e08 9)I tIi 0E :):Ik9I9O-Done Waiting.'-O-8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i Ii 2@%<:@%w: 1<~T* cQ(AYt*/R@t*:a@yt*>t*s>t*H`8 ~?@ؿ@ R?OӇ?//?f?)u*/R@ u*>n;Iu*CxBo>xBE){FX}I{Di{F={F>{D{FPA{D|FG3B9|F܄??i`I`)%+G%R=)a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m a )ma )m iiɄiimMb@Mb@Mb@Ym=BIiiim8?Bm|=BɅmʉʉQWEʉ͕';>I I8ٮ QtI  UD9鰝h: ):)8 9) 9I tIi 50E G<)ŎBE%܄??E%X}E!E%x/eVJB~q8@p6!E%1r꿨?;s?$*eȿE%\#@=MDHdg To Contact =146.248721 degreesZE%AbE%T:E%Ho$?BE%Qo$?JE%u RE%y jE%rE%'el2)m; im8I9 iIYi 2@<:@w: $5Dacoustic_contact_range 44.820000 m$=hTrackAcousticContact.heading_to_contact 2.552522 rad$=LDUSBL_Hydroid.xAngle -56.649999 arcdeg>p>k$T* uR(AYt*R@t*ߥa@yt*6;t*>t*Hnf?@^6׿y?f? s??)u*R@ u*jn;Iu(xB[>xB E)SGF@=YE :E>AAQEXEIMM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Uc 8 m9)aIa mtIia m0Ea e::)e,:Ie 9yIy9=O@Contact HDG: 146.248721 arcdeg .''O4Initialize Wait Component.*G2GFFFFrFbFEE); 8۸I9 4iIvi 2@<:@w: \NT* k/R(A);IYtJ5S@tJa@ytJ-tJՃ>tJH ?@f< 54ؿ`* /??@K?`}?)uJ5S@ uJ٩n;IuJCxl>xEHR=HiiIi)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=r;=>99QEXEAE7 <E>II IU8ٮII QUtI I U]D9IM: M:)M8 e9)YIY etIiY e1EY ]:)]:I]9I9*G!2G!F)F)rFIbFQEQEQ)e;Im9 miIi 2@<:@w: 5T* DIR(AYt*S@t* a@yt*[(t*Z{>t*H? nؿ`+L?X ?`g? ?)u*S@ u*un;Iu*CxRo>xRJE)aaQmXEim»m>Iq I}8ٮqq Q}tI q UD9qu2: u5:)u>8 9)I tIi 1E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ibT* c)cR(AYt*okS@t*zb@yt*go!t*,q>t*H?%fؿ@?-? ?t?)u*okS@ u*"n;Iu*Cx>u>x>EiLIL)~SGF@ Y :>QXEge<>I! I-8ٮ!! Q-tI ! U-D9!%: %:)%!8 =9)1I1 =tIi1 =1E1 51:)5˵:I5#9III9I*GY2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩT* |R(A@ Yt.uS@t."b@yt.^m-t.:>t.Hܒ@D?oؿП`?@???)u.uS@ u.n;Iu.CxReq>xRnEGPHT)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ3>ʉʉQXEʉ͍4:>I I8ٮ QtI  UD9鰕: :))8 9)I tIi 1E [:) :I+9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !2rT* זR(AYt*xS@t*%b@yt*>.t*}>t*H UV?e5rؿ>?lڅ?cA??)u*xS@ u*n;Iu(xBxp>xBEiPIP)G%%=%=F@EYEbE>IIQMXEIU9U>IY I]8ٮYY QetI Y UeD9Y]h: ]:)]/8 m9)iIi utIii u1Ei m :)m:Im,49I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: AR>Y>MT* R(AYt*S@t* Kb@yt*0t*7~>t*H%`?Δؿ`U ?? U?K?)u*S@ u*sm;Iu*CxNl>xRE)GF@Ym&}>ʁʉQXEʑͥϧ;>I I8ٮ QtI  UD9鰽; R;)78 9)I tIi 1E :)ʽ:I=9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)=;I=9 99i9I9AAiAA I2@U<:@Uw: a}T* .R(A) IYt.S@t.yb@yt.6<-t.w>t.H%@.?@K`ؿ?@l???)u.S@ u. m;Iu.CxBj>xBqEHBa=H@iPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y7:>!!Q%XE!%;->I) I58ٮ)) Q=tI ) U=D9)-: -:)->8 E9)AIA EtIiA M1EA E:)E,:IEE9qIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 202.751830 arcdeg .q' ' *G 2G \#@F)F1rF1bF1E9E9)m;Im9 qqiqIq}&@iy}\#@ y2@<:@w: ߹$RHorizontalControl.headingCmd 2.552522 radT* gR(AYt*S@t*b@yt**t*́{>t*Hb|!C?`Uʵ`yؿ,.?]?? ?)u*S@ u*m;Iu(xR*[>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )jGiyAF@Y 9 >  Q-XE)5;5>I9 IE8ٮ99 QEtI 9 UED99=: =:)=E8 U9)III UtIiI U1EI M:)M:IMO9aIa9a=O@Contact HDG: 146.248721 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIQ#@i   2@<:@w: !ibؾT* CR(AYt*1T@t*t*Hw@I?ʶHؿ{ B? wq?Y'?L?)u*1T@ u*0m;Iu*CxBi>xBNE){B*rI{@i{B@={B7>{@{BpA{@|B=(B9|B*?΄y<i`I`)+Ga 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ޸>ʁʁQXEʉ͍;>I I8ٮ QtI  UD9鰕?: :)K8 9)I tIi 1E :)ȗ:IaV9I9*G2GFFrFbFEE2EzE=(BE|_;s8@˕AE*?΄y<E*rEEj6A=pH 4@hL EBj뿜Pz?|^kɿE@'@=DHdg To Contact =149.733306 degreesZE7AbEi:EJo$?BEHo$?JEx REu jErE);I9 iIT"@i 2@<:@w: ߹$Dacoustic_contact_range 42.060001 m$hTrackAcousticContact.heading_to_contact 2.613339 rad$LDUSBL_Hydroid.xAngle -54.200000 arcdegT* . S(A Yt./T@t.b@yt.!%t.C9>t.Hn`u?ƶ<ٿ@qx`?m?_? ?)u./T@ u.Um;Iu.CxBsj>xB(EGB?AH@)GF@=YEr:E>AAQMXEIM;M>IQ I]8ٮQQ Q]tI Q UeD9QUk: U:)USR8 m9)aIa mtIia m1Ea e:)aIe^9yIy9*G2GFFrFbFEE);I9 iI "@i 2@<:@w: eT* H1S(AYt*>T@t*b@yt*-t*xz>t*Hk?`赿(ٿ@ ??`? ?)u*>T@ u*Un;Iu*CxBl>xBEi\I\)-vG=4=E%=F@eYmu>ʁʁQXEʉ͝l;>I I8ٮ QtI  UD9鰵3; 6;)lY8 9)I  tIi  1E i;);Ig99I99A*GQ2GYFYFYrFabFaEaEa)};I}9 yyiyIy4#@i 2@<:@w: ߡ>l>T* 'KS(AYt*PuT@t*["c@yt*/t*?&x>t*H'a`{?䵿` [ٿ`s} ?`?ն?`-?)u*PuT@ u*Xn;Iu(x>f>x> E)zGa 15a 15 a 55a 55 a 95a 95 a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]Y]>e>aaQeXEam* <m>Iq I}8ٮqq Q}tI q U}D9qu: uu:)u0`8 9)I tIi 1E :)ݖ:Io9I9*G2GFFrFbFEE);I9 iI #@i 2@<:@w: T* :eS(A) I Yt*sT@t* c@yt*7t*(r>t*Hca ?`1Yٿ ?`? ??)u*sT@ u*!Go;Iu*CxBk>xBEH@HDi\I\)GF@=YE(E>IIQMXEIU_U>IQ I]8ٮQQ QetI Q UeD9QU: UJ:)Ug8 m9)iIi mtIii u1Ei m:)m:ImAx9I9*G2GFFrFbFEE);I9 iI\#@i 2@ <:@w: aC&T* S(AYt6AQT@t6Lb@yt6a)t6{>t6H Nh ?U3`9ٿ~%? ?? d)?@ ?)u6AQT@ u6n;Iu6CxR*[>xRE)USGiUwAQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵr;>ʹʹQXEʹ>I I8ٮ QtI  UD9: :)(n8 9)I tIi 1E :)R:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF FrFbFEE)5;I59 11i1I199i99 A2@E<:@Mw: ai`T* fS(AYt*b,T@t*mb@yt*H"t*q>t*Ho@s?ٿpz?I??U?)u*b,T@ u*m;Iu*CxBn>xBEiLIL)~GF@Yʅ:>ʉʉQXEʉ͕a>I I8ٮ QtI  UD9鰝h: :)t8 9)I tIi 1E :):Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 203.086072 arcdeg .q'-'5*G12G5@'@F1F9rF9bFAEAEA)U;I]9 YYiYIYe$@iae@'@ a2@m<:@mw: ߁$RHorizontalControl.headingCmd 2.613339 rad8T* CS(A@ Yt.S@t.b@yt.)t.|>t.H y`L? ؿӍ@I?@x#?Z@??)u.S@ u.}m;Iu,xBB`>xB EGBAAHD)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeˆe>aaQmXEim m>Iq I}8ٮqq Q}tI q UD9qup: u:)u{8 9)I tIi 1E ::):Iߑ9I9=O@Contact HDG: 149.733306 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI@'@i 2@<:@w: ] T* S(AYt*S@t*b@yt*S#t*H{>t*Hz:L?!ؿ`B#'?|?? ?)u*S@ u*&m;Iu(xBk>xBEiPIP)|%=F@=YEP:E>AAQMXEIM1M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m1Ea e:)e:IeK9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: R>e>LT* S(AYtjHS@tjSfb@ytjn3tj5J|>tjH ?@^ؿS?@Pq?^7?%?)ujHS@ ujL1m;IujCxu>xE {Y|%8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QXE%V%>I) I58ٮ)) Q5tI ) U5D9)-: -:)-8 =9)9I9 EtIi9 E1E9 =:)=:I=Ƥ9QIQ9Q*Gi2GiFiFirFqbFqEqEq);I9 iIi 2@<:@w: ߱2U* ZT(A) IYt.'S@t.2pb@yt.1t.T}>t.H ?`Yؿn? 5=?W?`?)u.'S@ u.0m;Iu.CxBk>xBEHBp=HBa=){FxI{Di{Fk={F>{D{F A{D|FB9|FNHg?RYeoi`I`)%ƄGF@]Ye9e ?aaQeXEim:m ?Iq I}8ٮqq Q}tI q U}D9quB: uE:)uq8 9)I tIi 1E :):Ig9I9*G2GFFrFbFEE2EzEBE'hbW5@3 ?ENHg?RYeoExEElo ?v-'!4@ip-EOh0x?xRɿE6C%@=DHdg To Contact =147.950722 degreesZEAbE:ETo$?BEJo$?JEREx jEkrE);I9 iIi 2@<:@w: $5Dacoustic_contact_range 38.459995 m$=hTrackAcousticContact.heading_to_contact 2.582227 rad$ELDUSBL_Hydroid.xAngle -55.700001 arcdeg\U* T(AYt*t*H` ?`Tؿ?Bԅ?r?`i?)u*x@)AAQMXEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UD8 m9)aIa mtIia m1Ea eɏ:)ex:IeԳ9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i S U* L4T(AYt*+S@t*6=b@yt*%t*Uy>t*Hۍ@R?Tcؿc ?&?? ?)u*+S@ u*m;Iu*CxR0a>xRw Ei`Ib“C)%Ga 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʥ>:>ʩʩQXEʩ͵>9>I I8ٮ QtI  UD9S: :)s8 9)I tIi 1E  :) :I9!I!9!*GQ2GQFYFYrFYbFaEaEa);I9 iIi 2@<:@w: snU* |dNT(A@ Yt*.S@t*96b@yt*#t*={>t*H@4?`ؿ`V$2?{q?@? D ?)u*.S@ u*zm;Iu*CxN"h>xREGPHP)eSGF@uY}9}>yyQXEʁͅZ>I I8ٮ QtI  UD9鰍: :)-8 9)I tIi 1E :)N:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@ w: eU* >hT(AYt*mS@t*b@yt*6%t*h}>t*Hdm?@yhؿ`??`f?`;?)u*mS@ u*l;Iu*CxR]>xREi\I^C)]dGe=e4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QXE>I I8ٮ QtI  UD9: :):8 9)I tIi 1E -:)c:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 202.420183 arcdeg .q'm'm*Gi2Gm6C%@FqFqrFybFyEyE);I9 iIǽ%@i6C%@ 2@<:@w: ߹$RHorizontalControl.headingCmd 2.582227 rad>ŀ U* T(AYt*_xS@t*j%b@yt*VO t*%y>t*Hn?@Orؿn? ?? V?)u*_xS@ u*l;Iu*CxBd>xB E)zGF@=YEc:E>AAQMXEIM:M>IQ I]8ٮQQ Q]tI Q U]D9QU: U :)Uײ8 m9)aIa mtIia m1Ea eՐ:)e :Ie9I9=Oe@Contact HDG: 147.950722 arcdeg .'e'eOe4Initialize Wait Component.*Gi2GiFiFirFbFEE);I9 iI%@i 2@<:@w: M&U* T(A)p;IYt*JS@t*a@yt*b2t*hy>t*H `? Hؿ@ ?AL?? ?)u*JS@ u*)m;Iu(xNi>xRNEHRa=HRp=i`I`)%11Q=XE9EE>IA IM8ٮAA QMtI A UUD9AE: E:)E8 ]9)QIQ ]tIiQ e1EQ U:)UR:IUW9iIq9q*G2GFFrFbFEE);I9 iI6C%@i 2@<:@w: [,U* ϵT(AYt*!OS@t*,a@yt*:F4t*u>t*H0`?Kؿ` ^??e?@%?)u*!OS@ u*m;Iu*Cx2PY>x6E)rGirwArxAa 1%a 1% a 5%a 5% a 9%a 9% a -%a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEE>IIQMXEIU#:U>IY Ie8ٮYY QetI Y UeD9Y]: ]5:)]8 m9)iIi utIii u1Ei m:)mE:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: iD3U* ުT(AYt* S@t*+a@yt*w)t*$w>t*H&?Nؿqz?@V"?`??)u* S@ u*z m;Iu*CxBKS>xBEiLIL)~GF@=YE:E>AIQMXEIM"M>IQ I]8ٮQQ Q]tI Q UeD9QUS: Ux:)Uǽ8 m9)aIa mtIia m1Ea e-:)ec:Ieg9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9U* lT(A@ Yt.9S@t.Da@yt. t.{>t.H@E{? )ؿ@M?@?b!? ?)u.9S@ u.l;Iu.CxNHf>xN EGPHP {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}ƄGa 1a 1 a 5a 5 a 9a 9 a -a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y5o:=>99QEXEAMgM>IQ I]8ٮQQ QetI Q UeD9QU; UI;)Uν8 u9)iIi utIii }1Ei m::)ma:Im9I9*G2GFFrFbFEE);I9 iI!))i)) )2@5<:@5w: In@U* aU(AYt*R@t*ˇa@yt*j$t*I{>t*H*bN?䴿%׿`cQ?C?`?+ ?)u*R@ u*l;Iu*CxZ |>xZE){Z}I{Xi{Z={Z7>{X{ZA{X|ZB9|ZYiA?Z-ixIx)UiiQmXEiuu>Iy I8ٮyy QtI y UD9y}: }:)}fս8 9) 9I tIi 1E x:):I9I9*G2GFFrFbFEE2EzEBE-8o 85@ s.@EYiA?Z-E}EExKx? O.5@*ERS꿂? ¸LɿE%#@=DHdg To Contact =146.056642 degreesZEvAbE:EUo$?BETo$?JEw REjErEk);I9 iIi 2@ <:@ w: !$=Dacoustic_contact_range 38.699997 m$EhTrackAcousticContact.heading_to_contact 2.549169 rad$MLDUSBL_Hydroid.xAngle -56.750000 arcdegV>]>FU* >U(AYt*(R@t*3xa@yt*#t*Gw>t*H@@D?׿?u?1?`?)u*(R@ u*gl;Iu(xBMl>xBLE)5GF@}Yʅ^8>ʁʁQXEʁ͍4>I I8ٮ QtI  UD9鰕: B:)Wܽ8 9)I tIi 1E F:):I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@ w: !"MU* 7U(A);IYt*ǯR@t*\a@yt*(t* v>t*H#@׿? <?@u? ;?)u*ǯR@ u*Xl;Iu*CxB?s>xBEHBp=HFa=iTIT) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y%>QXE>I I8ٮ QtI  U D9: t:)y8 9) I  5tIi  =1E  Ѯ;) Ȱ;I 9AII9I&}M}Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'} N}Initialize.q'}N@Vehicle HDG: 201.755073 arcdeg .q''*G2G%#@FFrFbFE!E!)5;I=9 99i9I9E#@iAE%#@ A2@M<:@mw: ߁$RHorizontalControl.headingCmd 2.549169 rado TU* PU(AYt*ҝR@t*Ja@yt*3)t*,y>t*Ht?cw`׿@2? b&?`? ?)u*ҝR@ u*l;Iu*CxBU_>xBS E)~GiF@=YEGE>AIQMXEIM;M>IQ I8ٮQQ QtI Q UD9QU|< UT}<)U8 9)I tIi 1E :):IA9I9=OU@Contact HDG: 146.056642 arcdeg .'U'UO]4Initialize Wait Component.*GY2GYFYFYrFabFaEaEi)};I}9 yiIe#@i 2@<:@w: ߩi4ZU* jU(AYt*yR@t*-a@yt*t* z>t*H {? Q׿7$8?@Jރ?@? ?)u*yR@ u*l;Iu*CxB"h>xBEiLIL)|F@=YE:E>AIQMXEIMIM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m1Ea e:)e:Iex"9yI9*G2GFFrFbFEE);I9 11i1I9=%#@9iAA A2@M<:@Mw: ߁caU* U(A Yt*|tR@t*!a@yt*@$t*@w>t*H`@?"(%׿3 `?@?`??)u*|tR@ u*l;Iu*CxB:m>xBEG@HD)~+Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yefe>aaQeXEam m>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi 1E ɏ:):I+9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 9GgU* 솞U(AYt*bqR@t*ma@yt*<)t*v>t*H??~׿ ?'?.?y?)u*bqR@ u*+l;Iu*CxB:m>x@iLIP)~SG ?=F@Y%2%>!)Q-XE)-->I1 I=8ٮ11 Q=tI 1 UED915: 5߼:)58 M9)AIA MtIiA M1EA E%:)EԘ:IEi39YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: x>e>EqmU* aU(AYt*CR@t*`@yt*T%t*w>t*H@`U?@S׿cb???@k?)u*CR@ u*l;Iu*CxB"h>xBE)~GF@Y : >QXEu>I! I%8ٮ! M%8! Q-tI ! U-D9!%,: %:)%u8 59)1I1 5tIi1 =1E1 5_:)5:I5;9III9I*Ga2GaFiFqrFbFEE);I9 iIi 2@<:@w: GZtU* AU(A)IYt.XR@t.a@yt.#t.v>t.H&?{}g׿ @N?&v?g?`?)u.XR@ u.l;Iu.Cx>Rr>x>EHB=HBp=iLIL)~SGa 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]v|9e>aaQeXEamK;m>Iq I}8ٮqq Q}tI q U}D9quE: u:)u 8 9)I tIi 1E :):ID9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: @zU* U(AYt*-R@t*`@yt*zz(t*v>t*H ?5`f?׿ -?6?w??)u*-R@ u*l;Iu*CxNu>xRE {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAF@Y96>QXE̻>I I%8ٮ Q%tI  U-D9 ; :)8 9)1I1 tIi1 1E1 5:)5z:I5M9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ijU* V(AYt*"R@t*`@yt*!t*v>t*H@ ?ڳ`4׿@`9?6? ?4?)u*"R@ u*Hl;Iu*CxBc>xB, E){BCoI{@i{B={@{@{BA{@|BB9|B" ?]B>ri`I`)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QXE޺>I I8ٮ QtI  UD9F: :)8  9) I  tIi  1E  ٮ:) ض:I U9!I!9!&5M=Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'= N=Initialize.q'=N@Vehicle HDG: 201.261359 arcdeg .q''*G2GFFrFbFEE2EzEBE6@}&~ >E" ?]B>rECoEEm3'@|~ت3@e ڛE[bIa?@ޯǿE%@=DHdg To Contact =148.603060 degreesZEAbE9:ESo$?BEUo$?JEy REw jE<rE);I9 iIi 2@<:@w: $Dacoustic_contact_range 38.520000 m$%hTrackAcousticContact.heading_to_contact 2.593613 rad$%LDUSBL_Hydroid.xAngle -53.550001 arcdegZU* V(A Yt.R@t.`@yt.V#t.w>t.H}?᳿r-׿ `?`T{??`N?)u.R@ u.l;Iu,xB:m>xBEGB@AH@)SGF@Yʍ,>ʑʑQYEʑ͝9>I I8ٮ QtI  UD9鰥%: :)Q!8 9)I tIi 1E ի:)p:IA^9I9=O5@Contact HDG: 148.603060 arcdeg .'5'5O54Initialize Wait Component.*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIaaaiii i2@u<:@uw: ߁$U* X9V(AYt*Q@t*`@yt*v$t*0x>t*H`y?`9س`׿`X/2??@&??)u*Q@ u*8l;Iu(xBRr>xBEiPIT)G 4= =a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmm>iiQmYEqu˻u>Iy I8ٮyy QtI y UD9y}: } :)}!(8 9)I tIi 2E E<)]>U* SV(AYt*Q@t**`@yt*kt*hw>t*Ho?޳ֿ ?_???)u*Q@ u*el;Iu*CxNi>xRNE)҄GF@]Yep;e>aaQeYEimm>Iq I}8ٮqq Q}tI q U}D9quS: u:)u/8 9)I tIi 2E [:)N:I'o9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: y;њU* ^mV(A)p;IYt*Q@t*։`@yt*Vq%t*O,r>t*Ht?`*ֿ2 r??? ?)u*Q@ u*ʋl;Iu*CxBi>xBEHBa=HBa=iPIP)vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aiQmYEimRm>Iq I}8ٮqq Q}tI q UD9qu: u:)u58 9)I tIi 2E :)c:Iw9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: zU* ?V(AYt*Q@t*p`@yt*3t*w>t*H Z?aDֿ(?{?`?s?)u*Q@ u*9>l;Iu*Cx>h>x>E)zdGi~xA~xAF@=Y=bE>AAQEYEAM{M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U<8 e9)aIa mtIia m2Ea e%:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: iDU* V(AYt*#Q@t*.^`@yt*#t*{>t*Hm`@?R᳿@ ֿ?@}c?q&?K ?)u*#Q@ u*Nl;Iu*CxBl>xBEiLIN“C)|F@=Y=%;E>AAQEYEAM27M>IQ I]8ٮQQ Q]tI Q U]D9QU: Ul:)UC8 e9)aIa mtIia m2Ea e:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: S U* EV(A Yt*܏Q@t*<`@yt*t*%w>t*H \&?~w`ֿ$`[?Ѓ?̥?R?)u*܏Q@ u*Fl;Iu*CxRd>xR EGTHT)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ~0:>ʡʡQYEʩͭ㟻>I I8ٮ QtI  UD9鰱 ˵:)J8 9)I tIi 2E %:)|:I_9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! )2@-<:@5w: AU* V(AYt*đQ@t*>`@yt*>3t*u>t*H +?uL༭ֿ `?Sƃ?ee?`F?)u*đQ@ u*_l;Iu*CxBl>xBEiLIRC)E+GE%=E%=F@}Y}L8>ʁʁQYEʁ͍9>I I8ٮ QtI  UD9鰕: 5:)Q8 9)I tIi 2E :)Z:I˙9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 200.754874 arcdeg .q'-'-*G)2G5%@F1F1rF9bF9E9EA)U;IU9 QYiYIY]$@iae%@ a2@m<:@mw: y$RHorizontalControl.headingCmd 2.593613 rad>l>U* V(AYt*6jQ@t*A`@yt*#$"t*m/w>t*H@??ֿ<`?nD???)u*6jQ@ u*M:l;Iu(xB]>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 15a 15 a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]Yeum>iiQYEʑ͝V>I I8ٮ QtI  UD9鰥)d< d<) Y8 9)I %tIi %2E :)s:IP9QIQ9Q=O@Contact HDG: 148.603060 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFE9EA);I9 iI%@i 2@<:@w: xU* ςW(A)4t.H ? F@sֿ*?`܃?@а?`?)u.DSQ@ u.gl;Iu.CxB{>xBiEHBp=HBp=){FSQI{Di{F>{D{D{FA{D|F {B9|Fd?s!4Xi`I`)!F@]Ye :e>aaQeYEam={m>Iq I8ٮqq QtI q UD9qu< u׏<)uB_8 9)I  tIi  2E F:)|:I99I999*GI2GIFIFQrFqbFyEyEy2EzE {BEZ vE@uNFEd?s!4XESQEErpjKބv:@%E#~@Ҫ?VָſEw,@=DHdg To Contact =154.603012 degreesZECAbE_:Eo$?BESo$?JEs REy jE(rE<);I9 iIi 2@<:@w: $-Dacoustic_contact_range 62.760002 m$5hTrackAcousticContact.heading_to_contact 2.698332 rad$=LDUSBL_Hydroid.xAngle -46.849999 arcdegA1U* \"W(AYt*!QQ@t*,_@yt*(t*?w>t*H]@?7qֿ)??@Қ??)u*!QQ@ u*-wl;Iu*CxBWx>xBE)GiwAwAF@-Y-ú->11Q5YE1=諹=>IA IM8ٮAA QMtI A UMD9AE1: Eа:)E f8 U9)QIQ ]tIiQ ]2EQ U:)U:IU9iIi9i*G2GFFrFbFEE);I%9 !)i)I)AAiII Y2@e<:@mw: ߩi\U* <t*H`?#CֿX^??? ?)u*i Q@ u*.l;Iu*CxNq>xNEi`I`)vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ):>ʉʉQYEʉ͕>I I8ٮ QtI  UD9鰝}: :)#m8 9)I tIi 2E b:):Iݻ9I9*G2GFFrFbFEE);I9 iIi   2@<:@w: !CU* #VW(A Yt.Q@t._@yt.t.x>t.H?B8ֿGG?E??@?)u.Q@ u.rm;Iu.CxN_>xR EGRAAHP)GF@=YER;E>AAQMYEIMM>IQ I}8ٮQQ Q}tI Q UD9QU; Uж;)Us8 9)I tIi 2E ::),:IE9I9*G2GFFrFbFEE);I9 !!i!I!99i99 92@E<:@Ew: ymU* oW(AYt* Q@t*_@yt*dt*cx>t*H )?@,`H.ֿxRlEi^=I`)]҄GeQYEֺ>I I8ٮ QtI  UD9>: :){8 9)I tIi 2E :)w:I 9I9*G2GFFrF!bF!E)E))=;I=9 AAiAIAAIiII I2@U<:@Uw: iR>]>GUU* *ɉW(AYt*/P@t*:_@yt*n!t*_x>t*H J? ٲ`ֿ@$I? -???)u*/P@ u*En;Iu*CxBj>xBqE)zƄGF@}Y}ߺ}>ʁʁQYEʁ͍Y>I I8ٮ QtI  UD9鰕a; ;)ˁ8 9)I tIi 2E }:):I`9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi  2@ <:@w: !U* W(A);I Yt*P@t*_@yt*%+&t*Qw>t*H` ?簲@տ&U5?@Mń?෣?h?)u*P@ u*n;Iu(xB,t>xB#EHBa=HDiRf=IP)GF@=YE4?E>AIQMYEIMzM>IQ I]8ٮQQ Q]tI Q UeD9QU>: U :)U8 m9)aIa mtIia m2Ea e:)e:Ie9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 200.098151 arcdeg .q'e'e*Ga2Gew,@FaFarFibFiEqE);I9 iI'@iw,@ 2@<:@w: Y$RHorizontalControl.headingCmd 2.698332 rad6U* ~W(AYt*hP@t*sV_@yt*$t*[{>t*HcIR?@޲`տ'y?@xBNE)~GixAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeX9e>aaQmYEimtڻm>Iq I}8ٮqq Q}tI q UD9qu: u :)u8 9)I tIi 2E )ȗ:IO9I9=O @Contact HDG: 154.603012 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE);I9 iI[U*@is> 2@<:@w: iU* [W(Axnh^>xnEi|I|)UvGF@eYmm>qqQuYEq}}>I I8ٮ QtI  UD9鰅: S:)p8 9)I tIi 2E q:)|:I9I9*G2GFFrFbFEE);I9 iI+@i 2@<:@w: >U* AW(A $YtnP@tn,_@ytns!tnwy>tnH` -?տ1`y?0?`>? ?)unP@ uno;Iulxi>x NEGH {Y|8****** ping requested ******MNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )-Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@=YU9U>YYQ]YEYem>Iq Iu8ٮqq Q}tI q U}D9qu: uB:)un8 9)I tIi 2E I<)E 2@<:@w: V*  X(AYt*tP@t*!_@yt*5t*{{>t*HhQ?`*@^տ`L0?? |?@ ?)u*tP@ u* p;Iu*CxB5g>xB*E){BDI{@i{B={B>{@{BA{@|BpMB9|BR?Ai`I`)%G%4=!F@]Ye;e?aiQmYEimu?Iq I}8ٮqq Q}tI q UD9qu: u:)u48 9)I tIi 2E :):I9I9*G2GFFrFbFEE2EzEpMBE 2@<:@w: > $5Dacoustic_contact_range 51.360001 m$=hTrackAcousticContact.heading_to_contact 2.433841 rad$=LDUSBL_Hydroid.xAngle -61.150001 arcdegV>a>LV* g$X(AYt*^P@t* _@yt*t*dx>t*H@!s?{տU9 X?x?@??)u*^P@ u*4o;Iu(x>:m>x>E)~GF@=Y=[E>AAQEYEAMg]M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U8 e9)a m9Ia mtIia m2Ea eݖ:)e:IeF9yIy9*G2GFFrFbFEE);I9 iIWi 2@<:@w: )I ioV* >X(A)IYt>OP@t>^@yt>-t>x>t>H`#?~տ`B;b?%?`?0?)u>OP@ u>o;Iu>Cx^o>x^EH^4=Hba=ipIp)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ9>ʩʩQYEʩ͵ >I I8ٮ QtI  UD9鰽: S:))8 9)I tIi 2E :):I9I9*G2GFFrFbFEE );I9 i!I!!%Vi)) )2@5<:@5w: A:V* XX(AYt*XOP@t*c^@yt*C)t*{>t*H`# ?tտ{6?"?@? ?)u*XOP@ u*o;Iu*CxBt>xBlE)Gi!%wAF@=YE&#E>AIQMYEIMU>IQ I}8ٮQQ Q}tI Q UD9QU5; U;)Uи8 9)I tIi 2E :):Ia9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)=;I=9 99i9I9AE=%WiAA I2@M<:@Uw: ߉i` V* 9|rX(AYt*P@t*^@yt*ا't*De|>t*H`-n? 6^,Fտ =??`:??)u*P@ u*p;Iu*CxBq>xBEiLIL)9F@}Yʅ_9>ʁʁQYEʉ͍>I I8ٮ QtI  UD9鰕: :)ؿ8 9)I tIi 2E %:):I!9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 199.416061 arcdeg .q'-'-*G)2G-@F1F1rF9bF9E9E9)U;IU9 QQiQIYeM+@iam@ q2@<:@w: ߡ$RHorizontalControl.headingCmd 2.433841 rad"V* YX(A Yt. P@t.Ÿ^@yt.[t.Ny>t.H . ?aDm?տ 5EE?ak?`? ?)u. P@ u.U p;Iu.CxBf>xB EGB@AH@)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʽ:>QYE>I I8ٮ QtI  UD9b; ;)ƾ8 9)I  tIi  2E :) :I*9AII9I=O@Contact HDG: 139.448844 arcdeg .''O4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 11i1I1=B(@i99 A2@E<:@Mw: y)V* 3X(AYtJN P@tJY^@ytJtJx>tJH@տ@Fm?u?A??)uJN P@ uJ[o;IuJCxf`k>xfEi I)G=C=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʽ:>ʹʹQYEP>I I8ٮ QtI  UD9i; ;)Pξ8 9)I tIi  2E :):I39I9*G)2G)FIFQrFQbFQEYEY);I9 iIj#@i 2@<:@w: R>Y>:0V*  X(AYt*O@t*^@yt*,A#t*a8z>t*H75? տ` Lڦ?`h?`5?? ?)u*O@ u*o;Iu*CxBxp>xBE)~GF@=YE /E>AIQMYEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UcԾ8 m9)aIa mtIia m2Ea e}:)e:IeV;9yI9*G2GFFrFbFEE);I9 iIH@i 2@<:@w: R-6V* X(A) I Yt*PO@t*[^@yt*c*t*y>t*H7ٕ?౿ տL?^?[?q ?)u*PO@ u*XGp;Iu*CxBp>xBEHFa=HDiPIP)GF@=YEE>AIQMYEIM}9M>IQ I]8ٮQQ Q]tI Q UeD9QU: Q)UH۾8 m9)aIa mtIia m2Ea e:)e:IeC9yI9*G2GFFrFbFEE);I9 iI=@i 2@<:@w: kWt*H?#h?@˱DԿ`T?`Q?`?S ?)u*O@ u*p;Iu*CxB:m>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@=YEX:M>IIQUYEQ]ܻ]>Ia Im8ٮaa QutI a U}D9aeX%; eU;)e8 9)I tIi 2E :)w:IM9I9*G2GFFrFbFE!E!)];I]9 aaiaIaU@i 2@<:@w: i~?CV*  Y(AYt*O@t*7^@yt*<t*{>t*H`@DI?`n`ԿwU ?`?8%?f ?)u*O@ u*p;Iu*CxB,t>xB#E]F^unknown deviceResponse_: 00000,18A,80,81,0B,FF iI )eGF@Yʽl:>ʹʹQYE>I I8ٮ QtI  UD9: :)U8 9)I tIi 2E [:)o:I1U9I9*G 2G F F rFbFEE)-;I59 11i1I1=GP@i99 A2@E<:@Ew: YmIV* H'Y(A( (YtVN|O@tVY)^@ytVM$tVP{>tVH oF ??`{ƱԿX C?R? 4?  ?)uVN|O@ uVo;IuVCxnf>xn EGpHp)҄Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QYE5>I  I8ٮ   QtI  UD9  h: :) c8 %9)I %tIi %2E ::):I]91I199*GI2GIFiFirFqbFqEqEy);I9 iI|@i 2@<:@w: RPV* *XAY(Axvr>xvIEiI)ƄG4=%=F@Yʽ>QYE>I I8ٮ QtI  UD9; R;)"8 9)I  tIi  2E Ր:)N:IPf99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy);I9 iI@i 2@<:@w: >e>;|VV* 3[Y(AYt*BO@t*]@yt*t*jw>t*HOE ?` U`TԿhf??`/? ?)u*BO@ u*o;Iu*CxBc>xB E)~GF@Yʝ I:>ʡʡQYEʡͭ0>I I8ٮ QtI  UD9鰵; ;)8 9)I tIi 2E :)ȗ:In9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 198.687648 arcdeg .q''*G2GFFrFbFEE);I9 iI@i 2@%<:@%w: 9x\V*  uY(A) I Yt.O@t.]@yt.!t. @z>t.H'Y `?INEIԿ`vl`I???$?`2 ?)u.O@ u.zo;Iu.CxB:m>xBEHBp=HFp=iPIP)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QYE  >I I=8ٮ M=8 Q=tI  U=D9; :)8 E9)AIA MtIiA M2EA E::)E :IEw9yIy9y=O @Contact HDG: 139.448844 arcdeg .' ' O 4Initialize Wait Component.*G 2G F1F1rF9bF9E9E9)u;Iu9 qqiqIqyyiyy 2@<:@w: ߹JcV* Y(Axrd>xv E)uGiyF@Y>QYE>I I8ٮ QtI  UD91: :) 8  9)I  tIi  2E  :):I99I99A*GQ2GQFqFqrFybFyEyE);I9 iIi 2@<:@w: i@A iV* èY(AYt*N@t*v]@yt*zt*Yz>t*Hb ?i'`Կ)u ? H??L ?)u*N@ u*;o;Iu*Cx>g>xBsEiLIL) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuv9u>yyQ}YEyͅ>I I8ٮ QtI  UD9鰍: ٮ:)8 9)I tIi 2E ,:):I?9I9*G2GFF rF bF EE);I9 iI iiii q2@u<:@}w: ӠpV* Y(A xnb>xnQ EGr?AHp)]+GF@}Y}>ʁʁQYEʁ͍>I I8ٮ QtI  UD9鰕: ׾:)w8 9)I tIi 2E }:)Ԙ:I9I9*G2GFFrFbFEE) ;I9 11i1I199i99 A2@E<:@Mw: )vV* _zY(AYt*3N@t*>I]@yt*t*8x>t*H j@Dq?`밿@nӿs???@?)u*3N@ u*>2o;Iu*CxB5g>xF*EiXIX)SG=F@=YEG:E>AAQMYEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U9 8 m9)aIa mtIia m2Ea e:)ex:Ie9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: YR> E|V* qUY(AYtFqN@tF]@ytF(tF}y>tFHpL?@@ӿ{?@c? ?@ ?)uFqN@ uFn;IuFCxNq>xRE {PY|PV8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE E>IIQMYEQ}Z}>I I8ٮ QtI  UD9鰅V;  ;)'8 9)I tIi 2E :):Ie9I9*G 2GFFrFbFEE)m;Im9 qqiqIqyyiyy 2@<:@w: ߙa܃V* 1Z(A)IYt>rN@t>]@yt>.t>?t>t>H`vpkP?_ ջӿɎ? R?m8??)u>rN@ u>n;IuxrIEHra=Hp){vfI{ti{v={v7>{t{vA{t|v@B9|vȳۣ?iŪ: i9I9)GF@YʽI:>QZE9>I I8ٮ QtI  UD9 ; ;)I.8 9)I  tIi  2E Ր:),:Ig99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy2EzE@BEOA%=@]q`BEȳۣ?iŪ: EfEEjZCX39@T;!EAw=h?ƿE$@=DHdg To Contact =147.341442 degreesZEAbE:E?o$?BEDo$?JEt REn jE rEf+);I9 iIi 2@<:@w: 9$uDacoustic_contact_range 48.179996 m$}hTrackAcousticContact.heading_to_contact 2.571593 rad$LDUSBL_Hydroid.xAngle -51.499999 arcdegl V* *Z(AYtMpN@tM]@ytM/tMBv>tMHpP?Dӿf\i?@?#|?`?)uMpN@ uMn;IuMCx}i>x}E)-Gi5yA5xAa 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ)>ʙʙQZEʙͥ>I I8ٮ QtI  UD9鰥; ;)58 9)I tIi 3E :)ȗ:I9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 197.953745 arcdeg .q''*G2G$@FFrFbFEE);I9 iI @i  $@ 2@<:@w: ߁$RHorizontalControl.headingCmd 2.571593 radi?AV* VCZ(AYt*kN@t*]@yt*%t* ~>t*HzqA?@Hӿ`|[J?? n?`?)u*kN@ u*n;Iu*Cx>[>x> EiLIR“C)|F@]Ye:e>aaQeZEam^m>Iq I}8ٮqq Q}tI q U}D9qu%: u:)u;8 9)I tIi 3E )I9I9=Oe@Contact HDG: 147.341442 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFiFrFbFEE);I9 iI@i 2@<:@w: V* ~]Z(A Yt.IN@t.\@yt.'t.'z>t.Hv$? ӿى 5?@ћ?@? ?)u.IN@ u._o;Iu.CxBcX>xBEGBAAH@)~GF@=YEf:E>AAQEZEAMM>IQ I]8ٮQQ Q]tI Q U]D9QU>: UB:)UB8 m9)aIa mtIia m3Ea e:)eԘ:Ie9I9*G 2G F FrF1bF9E9E9)M;IU9 qqiqIq}#@iyy 2@<:@w: ߙ4BV* RwZ(AYt*hN@t*]@yt*J$t*s>t*H qaI?r3 cӿQ?r? y/?`?)u*hN@ u*n;Iu*CxB?s>xBEiLIRC)~G%=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeXe>aiQmZEim;m>Iq I}8ٮqq Q}tI q UD9quN: u:)uI8 9)I tIi 3E )o:I9I9*G2GFFrFbFEE);Iu9 qqiqIq}^z&@i} >y 2@<:@w: ߹Y>p>J*V* WxZ(AYt.[N@t. ]@yt.D!t.Dx>t.H s7?SPӿ >@|?}(???)u.[N@ u.I o;Iu.CxBk>xBE)zGF@=YED :E>AAQMZEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U{P8 m9)aIa mtIia m3Ea e:)e :Ie9yIy9*G2GFFrFbFEE);I9 iI'@i 2@<:@w: $TV* TRZ(A) IYt*ZN@t*]@yt*Wg0t*-C|>t*H`s6?`񞰿Qӿv.? ?6?7?)u*ZN@ u*;o;Iu(xBe>xBP EH@HBa=iPIP)AAQMZEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU2: Ux:)U`W8 m9)aIa mtIia m3Ea e :)e:Ie 9yIy9*G2GFFrFbFEE);I9 iI#'@ڐi > 2@<:@w: ;V* +Z(AYt*sN@t* ]@yt*4(t*$x>t*H TpbO?1Fӿ`цƜ? ?௶?9?)u*sN@ u*#.o;Iu(xBk>xBE)~GiwAwAa 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye:e>aaQmZEimUl;m>Iq I}8ٮqq Q}tI q U}D9qu: u:)uV^8 9)I tIi 3E h:):I9I9*G2GFFrFbFEE);I9 iIs&@i 2@<:@w:-> 1ikfV*  Z(AYt2wN@t2,]@yt2C*t2w>t2Hgn`[?ӿ)?]???)u2wN@ u2 o;Iu0xBi>xBEiLIL)|F@=YEE>AAQMZEIM:M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U)e8 m9)aIa mtIia m3Ea e:)e:Ie9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI$@i 2@<:@w: )I i;V* Z(A Yt.N@t.<]@yt.}*t.cy>t.Hk"i?`ˮӿ@?O?^? ?)u.N@ u.o;Iu,x6o>x6JEG6@AH:AA {8Y|8>8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )F@Y 8>9AQEZEAUl;}>I I8ٮ QtI  UD9鰍< (<)l8 %9)!I! %tIi! -3E! %:)%o:I%9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q' Nu@Vehicle HDG: 198.062618 arcdeg .q'}'}*Gy2GyFyFyrFbFEE);I9 iIi 2@<:@w: axV* ˾[(AYt* N@t*I]@yt*([!t*b~>t*H@jCl?H`Bӿ@t@\?O+? ??)u* N@ u*56o;Iu*CxNc>xR, E){Rjw,>I{Pi{R={R>{P{RPA{P|RQB9|Rg ?=t?iAIA)=4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YQ:>  Q ZE m:>I I8ٮ Q%tI  U%D9h: :)as8 -9))I) 5tIi) 53E) -:)-:I-9AIA9A=O@Contact HDG: 147.341442 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE2EzEQBE]A]C@~%W@Eg ?=t?Ejw,>EEͷlA#pz1N ~?E\ [BS{ݿb ?E/g@=DHdg To Contact =207.467037 degreesZE+bE:ENo$?BE?o$?JE REt jE?rE );I9 iIi 2@<:@w: $-Dacoustic_contact_range 38.579998 m$=hTrackAcousticContact.heading_to_contact 3.620983 rad$=HDUSBL_Hydroid.xAngle 9.650000 arcdegV>>V* A,[(AYt*NN@t*YT]@yt* %t*w>t*H?h@R?uӿ`@o?@ʽ?,??)u*NN@ u*>o;Iu*CxBh>xBE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;>ʡʩQZEʩͭ:>I I8ٮ QtI  UD9鰵}: :)z8 9) 9I tIi 3E :)U:I9I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A?V* uF[(A) IYt*eN@t*p]@yt*K/t*}s>t*H`?`q`Կn?b?@1?S?)u*eN@ u*.o;Iu*CxBsj>xB(EHBp=HFp=iTIT) vGF@=YE=E>AIQMZEIMY;U>IQ I8ٮQQ QtI Q UD9QU< U<)U8 9)I tIi 3E }:):Ir9I9*G 2G F FrFbFEE)-;I59 11i1I199i99 A2@E<:@Ew: YV* S`[(AYt.uN@t.]@yt.%3t.a{>t.H_?S`a Կo#?G`?`%'?* ?)u.uN@ u.-o;Iu,xNj>xNqE)GiF@]Yee>aaQeZEam:m>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi 3E h:):I9I9*G2GFFrFAbFAEIEI)};I}9 iIi 2@<:@w: AiV* 8-z[(AYt.N@t.ԧ]@yt.)t.z>t.H![? 40=Կl?\6?@&? ?)u.N@ u.vo;Iu.CxNcX>xNEi\I\)Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQZEʁ͍;>I I8ٮ QtI  UD9鰕: :)8 9)I tIi 3E :),:IN!9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: ߹5V* O[(A Yt*O@t*]@yt*%t*n |>t*HU?wI\Կe?? /??)u*O@ u* vo;Iu*CxR}v>xREGPHR@A)GF@-Y5)(:5>11Q5ZE1=p;=>IA IM8ٮAA QMtI A UMD9AE: E):)Ec8 ]9)QIQ ]tIiQ ]3EQ U\:)U9:IU)9iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: iV* [(AYt*%O@t*]@yt*q"t*y>t*H@VT@?O@eԿi"? X\?? w?)u*%O@ u*o;Iu*CxBr>xBIEiPIP)vG %= %=a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeX9m>iiQmZEiu7:u>Iy I8ٮyy QtI y UD9y}}: }:)}f8 9)I tIi 3E O:):IB29I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i>e>V* ӽ[(AYt*_ZO@t*j^@yt*^?%t*x>t*H K`"?pʗԿ 6br?ԧ?? ?)u*_ZO@ u*o;Iu(xR\>xRE)-dGF@]Ye=e>aaQeZEimi<m>Iq I}8ٮqq Q}tI q U}D9qu: u:)uF8 9)I tIi 3E :)Ԙ:I:9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 198.770663 arcdeg .q' ' *G 2G /g@F FrFbFEE)5;I59 11i1I1=&@i9=/g@ A2@E<:@Mw: Y$}RHorizontalControl.headingCmd 3.620983 radsV* 5[(A) IYt*oO@t*^@yt*>/t*$}>t*H eHB4?ྵԿ PV@? ?O??)u*oO@ u*~o;Iu(xRB`>xR EHRR=HRa=ilIl)QF@}Yʅκ>ʁʁQZEʉ͍WR;>I I8ٮ QtI  UD9鰕^; ;)>8 9)I tIi 3E )ȗ:IpC9 I91=O@Contact HDG: 207.467037 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI n)@i r>  2@<:@w: )/,V* q[(AYt* O@t*+B^@yt*/t*Y|>t*H`ZB`8W?`Nʱ@YԿ Q`?@7?@@9?@ ?)u* O@ u*uo;Iu*CxR:m>xRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gi!!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʵǀ7>ʹʹQZEʹ;>I I8ٮ QtI  UD9ܷ; :)]8 9)I tIi 3E [:)o:IxM91I191*GA2GAFiFirFqbFqEyEy);I9 iI.@igR> 2@<:@w: iW*  P\(AYt*ТO@t*O^@yt*R7t*Ey>t*H@@h?l}`CԿ` U@? ߆?? ?)u*ТO@ u*Vo;Iu*CxN\>xRUEihIh)5GF@EYMM ?IIQUZEQU(;U ?IY Ie8ٮYY QetI Y UmD9Y]1: ]:)]鷿8 u9)iIi utIii u3Ei m]Z<)mj[a i2@m<:@uw: ߁}> W* A)/\(A Yt.$O@t./^@yt.)0t.@|>t.H`97 Е?տ G7? ?'6?<?)u.$O@ u.o;Iu.CxBt>xBlEGDHD)+Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Yʝx:>ʡʡQZEʡͭ<>I I8ٮ QtI  UD9鰵: :)8 9)I tIi 3E }:),:I\9YIY9Y*Gi2GiFiFqrFbFEE);I9 iI%8@iK> 2@<:@w: &W* :I\(AYt*fO@t*q^@yt*L(t* }>t*Ho2@?']B+տ ??? hg?,?)u*fO@ u*uvo;Iu*Cx6r>x6IEiDIH)vGz4=xF@~Y:>  Q ZE  f;>I I8ٮ Q%tI  U%D9: l:)ſ8 -9)!I! -tIi! 53E! %:)%A:I%e9AIA9A*GQ2GQFYFYrFabFaEaEa)};I}9 yyiyI <@i= 2@<:@w:p> ߡV>]>PW* b\(AYt*P@t*^@yt*&t*F>t*H.?IDտ 84?߄??`Y?)u*P@ u*lo;Iu*CxN`k>xRE)҄GF@]Ymo9u>yʁQZEʁ͍y;>I I8ٮ QtI  UD9鰝h: l:)̿8 9)I tIi 3E O:):Im9I9*G2GFFrFbFEE) ;I9 iI-B@i5+=1 92@M<:@Uw:5wQ> AzW* Ϻ|\(A) IYt*KP@t*^@yt*v#(t*9{>t*H0$? y{տ6t?V?e?F ?)u*KP@ u*Yo;Iu*CxNi>xREHRa=HRp=i`I`)ƄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ3>ʉʉQZEʉ͕<>I I8ٮ QtI  UD9鰝ͭ: :)ӿ8 9)I tIi 3E :)Iov9I9*G2GFFrFbFEE);I9 iIG@iT7>= 2@ <:@w:)=Ip=$> qb%W* W\(AYt*KP@t*^@yt*J0t*{>t*H`,$` ?@ g{տ#5? ?v*??)u*KP@ u*o;Iu*Cx^5g>x^*E)5Gi99F@}Y}>ʁʁQZEʁ͍i>I I8ٮ QtI  UD9鰕; ;)ڿ8 9)I tIi 3E :):I~9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI:Di 4^F<  2@<:@w:  > i+W* q\(AYt*oP@t*z,_@yt*(4t*b~>t*H@rb,?HWտ`( ??n? ?)u*oP@ u*o;Iu*CxBj>xBqEiPIP)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ>ʡʡQZEʡͭQ;>I I8ٮ QtI  UD9鰵I; ;)u8 9)I tIi 3E [:)N:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 199.795519 arcdeg .q'M'M*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIq}?i}vˮy 2@<:@w:U4> Yt2W* @M\(A@ Yt2P@t26_@yt2<)t2>t2H` 0?`տ =#=?}'???)u2P@ u2 q;Iu0xBi>xBEGDHD) +GF@Yʍr:>ʑʑQZEʑ͝:>I I8ٮ QtI  UD9鰥: :)Q8 9)I tIi 3E ):)k:I9I9=O=@Contact HDG: 207.467037 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFIbFIEIEI)e;Ie9 aaiaIams9imai q2@u<:@}w:wA wAMا= Y8W* '\(AYt*qP@t*_@yt*.-t*L>t*H@c?``տ&&P?`? ??)u*qP@ u*ͽq;Iu*CxBh>xBEiPIP)~SGF@=YE E>AAQMZEIMqM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U 8 m9)aIa mtIia m3Ea ep:)e,:IeJ9yIy9*G2GFFrFYbFYEYEY)m;Iu9 iI:4iظ 2@<:@w:Nw = ߙR>a>>W* *\(AYt*P@t*5_@yt*Jc"t*}>t*H0? տ0(?SL?@9e?`X?)u*P@ u*Bq;Iu*Cx2j>x6qE {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )-dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@uYu:u>yyQ}ZEyͅT>;>I I8ٮ QtI  UD9鰍Է; :)+8 9)I tIi 3E :):Ii9I9*G2GF)F)rF)bF1E1E1)m;Iu9 qqiqIq}/i}9q齉 2@<:@w:0:D< EW* f](A) IYt.P@t.F_@yt.n$t.{>t.H,C? ɲ տw*ޢ?@?? ?)u.P@ u.p;Iu.CxNc>xR EHPHRa=ilIl)5GF@}Yʅ?ʁʁQZEʁ͍B;?I I8ٮ QtI  UD9鰕: :)8 9)I tIi 3E }:)N:I{9I9*G2GFFrFbFEE);I9 iI+i. 2@ <:@ w:)>I=  KW* 1](AYt*P@t*Z_@yt*F,t*>t*HR? t@<տ:`??6??)u*P@ u*_p;Iu*Cx6n>x6E)rXGittF@zY~ ~>QZE N; >I I8ٮ M8 QtI  UD9I: M:)8 %9)!I! -tIi! -3E! !)!I%99I999*GI2GIFQFQrFQbFYEYEY)u;Iu9 qqiqIq}f(i}9"y 2@<:@w:UNJκ aiRW* K](AYt*$P@t*/?_@yt*&2t*x>t*HHF7?@7տ ?GR???)u*$P@ u*&r;Iu*CxN[>xR Ei`Ib“C)%vGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʽk>QZEz>I I8ٮ QtI  UD9: :) 8 9)I tIi 3E O:)ݖ:I9I9*G 2G FFrFbFEE)5;I59 11i1I1=&i=h/9 A2@E<:@Mw:um C yXW* vpe](A@ Yt.@yP@t.K&_@yt.-t.8>t.H?=@տ{%?? ??)u.@yP@ u.Sr;Iu.Cxn]>xnEGpHp)]GF@eYmMJ:m>qqQuZEq}|}>I I8ٮ QtI  UD9鰅: į:)8 9)I tIi 3E 5:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iITI%i 2@<:@w: D翽 _W* IJ](AYt6!yP@t6,&_@yt6q(t6}>t6H`:$?` ٲ@sտ2*??i? ?)u6!yP@ u6r;Iu4xFp>xF%EiXIZC)UvGY]4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽz6:>QZEŕ>I I8ٮ QtI  UD9N: 0:)8 9)I tIi 3E :)N:I9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' Nm@Vehicle HDG: 199.773471 arcdeg .q'm'm*Gi2GiFqFqrFybFyEyEy);I9 iIt%i 2@<:@w:m yi>]> eW* x&](AYt*ɟP@t*L_@yt*$t*x>t*H@L?`տ-c]?˘??@=?)u*ɟP@ u*p;Iu*CxBv>xBE)~GF@]Y]4':e>aaQeZEam;m>Iq I}8ٮqq Q}tI q U}D9quS: uW:)u]8 9)I tIi 3E [:),:I9I9=O@Contact HDG: 207.467037 arcdeg .''O4Initialize Wait Component.*G2GF F rF bFEE)-;I-9 ))i)I)5'i51 92@=<:@Ew:-,a 1G)lW* ](A)4t*Hn`,? 'տ o!_d?%΅??:?)u*P@ u*_p;Iu*CxBZe>xB EHB=HFp=iPIP)SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye%e>iiQmZEiuzu>I1 I=8ٮ11 Q=tI 1 U=D915į: 5:)5&8 E9)AIA MtIiA M3EA E:)EZ:IE9YIY9Y*Gi2GiFFrFbFEE);I9 iIa*i%{ ! !2@-<:@-w:)==I== ; sW* w](AYt2vP@t2#_@yt2p:t2Zg>t2H` ?@L*`Rտ@;?@-@??7?)u2vP@ u2hp;Iu2CxBb>xBQ E)dGi  F@=YEE>AAQMZEIMM>IQ I]8ٮQQ Q]tI Q U]D9QUu: U:)U-8 m9)aIa mtIia m3Ea e[:)e:Ie9yIy9*G2GFFrFbFEE);I9 11i1I1=)p+i99 A2@E<:@Mw:EOT Qi=yW* ](AYtnKSP@tnV_@ytn*tn>tnH@"?|޲@ӂտ,@H?@\??|?)unKSP@ unep;Iulxveq>xvnEi I )mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y;>QZE>I I8ٮ QtI  UD9: F:)M48 9)I tIi 3E :):I9 I 9 *G2GFFrFbFEE);I9 iI+i!! !2@M<:@Uw:E#< I"W* }^(A@ Yt.eP@t._@yt.Dt.- {>t.H@ }? [տ 2R?ȃ?`W?` ?)u.eP@ u. p;Iu.Cx6Hf>x6 EG8H8 {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )MGF@Yʭ:>ʩʩQZEʱ͵}:;>I I8ٮ QtI  UD9鰽:  ;);8 9)I tIi 3E ]:):I59I9*G2GF!F!rF)bF1E1E9)U;I]9 YYiYIYea*iii i2@<:@w: D 'MW*  n^(AYt*5dP@t*@_@yt*&t*Q>t*H m?@Ēտ:* 6?zӄ? ?]?)u*5dP@ u*zo;Iu*CxBPY>xBEiXI\)ƄG%=F@%Y- ->11Q5[E15=>IA IE8ٮAA QMtI A UMD9AE: Eа:)EA8 U9)QIQ UtIiQ ]3EQ U :)Uw:IU]9iIi9i*Gy2GyFFrFbFEE);I9 iIa*i 2@<:@w: )I IR> i>wW* ^H4^(AYt* 'P@t*^@yt*(t*{>t*H\*b?Y#Yտ,`???e?)u* 'P@ u*pp;Iu*Cx6Ze>x6 Ei88)vQQQU[EQ]]>Ia Im8ٮaa QmtI a UmD9ae%: e:)eH8 u9)q }9Iq }tIiq }4Eq u':)uH:Iu9I9*G2GFFrFbFEE);I9 iIa*i 2@<:@w: _W*  'N^(A);IYt.3P@t.^@yt.A#t.b|>t.H?(?`1eտ8`?v?h:? ?)u.3P@ u.hp;Iu,x^o>x^EHba=H`ipIr“C)EGF@}Y}<:>ʁʁQ[Eʁ͍:>I I8ٮ QtI  UD9鰕: :)O8 9)I tIi 4E :),:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIa*i 2@ <:@ w: !W*  h^(AYt.#P@t.^@yt.)t.{>t.H*`? IUտ=ŷ?`=?j? ?)u.#P@ u. p;Iu,x>`>x>. E)-+Gi)1a 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@YʍJt>ʑʑQ[Eʙ͝>I I8ٮ QtI  UD9鰥: :)V8 9)I tIi 4E :):I09I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 199.474555 arcdeg .q'='=*G92G9F9FArFAbFAEIEI)];Ie9 aaiaIama*iiii q2@u<:@}w: ߉i+qW* ځ^(AYt*'P@t*^@yt*5%t* >t*HE* |?`DzYտ3 gH??֭? ?)u*'P@ u*)o;Iu*CxB]>xBxEiLIRC)~XGF@Yʅ;:>ʉʉQ[Eʉ͕E:>I I8ٮ QtI  UD9鰝F: J:)]8 9)I tIi 4E :),:I 9I9=O-@Contact HDG: 207.467037 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiQIY]a*Yiaa a2@m<:@mw: yBW* ^(A Yt.|O@t.^@yt.҈(t.€>t.H6 ?տ`<~????)u.|O@ u.Ho;Iu,xBh>xBEG@HD)~+GF@=YEE>AAQM[EIM1>M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U=d8 m9)aIa mtIia m4Ea e[:)e:Ie(9yIy9*G2GFFrFbFEE)5;I59 QQiQIQ]a*Yi](Y a2@e<:@mw: ߙŬW* ^(AYt."O@t.-^@yt.Bt.,|>t.H` 6?@~@տEr?N?F?W?)u."O@ u.n;Iu.CxNw>xRjEi\I\)G!%4=a 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅD;>ʁʁQ[Eʉ͍x4:>I I8ٮ QtI  UD9鰕: :)Ek8 9)I tIi 4E  :)ݖ:I19I9*G2GFFrFbFEE);Iu9 qqiqIq}a*yiyy 2@<:@w:  ]>W* j^(AYt*O@t*^@yt*^t* y>t*H96/?1տ@K??l?9 ?)u*O@ u*]n;Iu*CxNU_>xRS E)GF@]YeJe>aaQm[EimAm>Iq I}8ٮqq Q}tI q U}D9qu: u:)ur8 9)I tIi 4E ::)ȗ:I:9I9*G2GFFrFbFEE);I9 iIa*i 2@<:@w: XڹW* zS^(A)4t6H?%k?Lȱ`ԿN?`?/6? 6?)u6tO@ u6]n;Iu6Cx^k>x^EH\H^a=ilIl)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ猻>ʙʡQ[Eʡͥ#>I I8ٮ QtI  UD9鰭 : :)!y8 9)I tIi 4E :):IB9I9*G2GFFrFbFEE) ;I9 iIa*i 2@%<:@%w:% )SW* y"_(AYt*[O@t*f[^@yt*$t*~>t*HK>,i?g9<ԿI@.??@T??)u*[O@ u*m;Iu*CxNRr>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGivAF@Y;>  Q [E ;:>I! I-8ٮ!! Q-tI ! U5D9!%; %$;)%C8 E9)9I9 MtIi9 M4E9 =X:)=:I=K9aIa9i*G2GFFrFbFEE);I9 iIa*i 2@<:@w:*_ )i@AW* ;_(AYt*zO@t*'^@yt*#t*}>t*H@F9?µԿ So? c?[h?$?)u*zO@ u*m;Iu*CxZ]>xZxE){ZfI{Xi{Z={Z7>{X{Z\B{X|Zz@B9|Zȳۣ?iŪ: ixIzC)UGF@eYe0n9e>iiQm[Eiuu>Iy I}8ٮyy QtI y UD9y}: }:)}ʆ8 9)I tIi 4E :):IS9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzEz@BEa(ӌ=@<}.]BEȳۣ?iŪ: EfEEyɄ(DE8@?p!EH/P꿼Xf?{\ǿEU%@=DHdg To Contact =148.335822 degreesZEAbE :E>o$?BENo$?JEt RE jErE?);I9 iIa*i 2@ <:@ w: )I $Dacoustic_contact_range 48.120003 m$hTrackAcousticContact.heading_to_contact 2.588948 rad$LDUSBL_Hydroid.xAngle -51.499999 arcdegW* 6_(A Yt.^O@t. ^@yt.tt.z>t.H7K"?oı-Կ>^!?@~N?l?W ?)u.^O@ u.m;Iu,xBp>xBEGF?AHD)MSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭɧ:>ʱʱQ[Eʱͽق>I I8ٮ QtI  UD9\: :)؍8 9)I tIi 4E J:)':IV\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 198.786741 arcdeg .q']']*GY2G]U%@FYFYrFabFaEiEi)};I}9 iIh+iE U%@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.588948 radgW* P_(AYt*:O@t*]@yt* $t*/z>t*HP?HsyԿ`dE? ?? y ?)u*:O@ u*n;Iu*CxBU_>xBS EiTIT) jG %= %=F@Yʍ>ʑʑQ[Eʑ͝o>I I8ٮ QtI  UD9鰥: J:)8 9)I tIi 4E F:):Id9I9=O5@Contact HDG: 148.335822 arcdeg .'5'5O54Initialize Wait Component.*G92G9F9F9rFAbFAEAEA)];I]9 YYiaIae-.ieｉi i2@u<:@uw: ߉e>E%W* j_(AYt* O@t*]@yt*DEt*|}>t*H:X;?緱OԿe??`\??)u* O@ u*^n;Iu*CxBl>xBE)~vGF@ Y :>Q[E>I! I-8ٮ!! Q-tI ! U-D9!%%: %l:)%H8 59)1I1 =tIi1 =4E1 55:)5:I5l9III9I*Ga2GaFaFarFibFiEiEi);I9 iI d2i  2@<:@w: ) W* vk_(A);IYt*|N@t*]@yt*d&t*z>t*H@]?`1,Կol?@„?? ?)u*|N@ u*Cn;Iu*CxNf>xN EHPHRp=i\IbC)dGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQ[Eʉ͍>I I8ٮ QtI  UD9鰕B: :)m8 9)I tIi 4E ::):Iu9I9*G2GFFrFbFEE);Iu9 qqiqIq}78i}n`]y 2@<:@w:8' ߑ6W* B_(AYt*N@t*]@yt*T-t*|>t*Ha˦?``Կbp?ｅ?0??)u*N@ u*sn;Iu(x6%U>x6E)pirwAtF@zYzȢ~>||Q~[EtS>I  I8ٮ   QtI  UD9  \: >:) 8 %9)I %tIi %4E :)$:I}91I191*GA2GIFIFIrFQbFQEQEQ)m;Im9 iiiiIiu-=iu(q y2@<:@w:U4 i?AiaW* 6_(AYt*N@t*D]@yt*C t*y>t*H@jm?䰿_ӿD~`%?`S?`m?` ?)u*N@ u*n;Iu*CxBMl>xBLEiPIRC)~GF@=YE;E>AAQM[EIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m4Ea e::)e:Ie9I9*G2GFFrFbFEE);I9 iIpBi< 2@<:@w:õ IfIW* _(A Yt*N@t*9]@yt*#t*wv>t*Hdlg?ӿ 5/e?`|?ࠂ?t?)u*N@ u*n;Iu*CxBe>xBP EGDHD)~aaQe[Eimܺm>Iq I}8ٮqq Q}tI q U}D9qu: ul:)u 8 9)I tIi 4E O:):I29I9*G2GFFrFbFEE);I9 iI1Hi3= 2@<:@w:wA wA0f ߹sW* _(AYt2_N@t2 ]@yt2t2B|>t2H `s3? 8@ӿ ?bZ?@aL?@?)u2_N@ u2n;Iu0xNp>xR%Ei\I^C)G%=!F@-Y5q+;5>11Q5[E1==>IA IM8ٮAA QMtI A UMD9AE}: E>:)EԽ8 ]9)QIQ ]tIiQ ]4EQ Ul:)U:IU9iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIPD@i= 2@<:@w:^ i>[X* `(AYt*'N@t*"\@yt*B't*K~>t*H`{?sӿ [?`??u? G?)u*'N@ u*P>o;Iu*CxBxp>xBE {@Y|DF8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1Ma 1U a 5Ua 5U a 9Ua 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YʝM)>ʙʙQ[Eʙͥ>I I8ٮ QtI  UD9: :)"8 9)I tIi 4E :):Iա9I9&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 197.696083 arcdeg .q''*G2GFFrFbFEE);I9 iI=@i= 2@<:@-w:% 1ׅX* `(A) IYt*N@t*\@yt*t*cv>t*HE}|?VC@'lӿ`!l?u?*??)u*N@ u*@o;Iu*CxNMl>xNLEHRp=HP){RdI{Pi{P{P{P{RB{P|P9|RRr# ?A )ViQIQ)+GF@Yw;?Q[E?I I8ٮ QtI  UD9S: :)8 9)I tIi 4E :):I9I9=Om@Contact HDG: 148.335822 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEyEy2EzEE3&>@z,9BERr# ?A )VEdEE|CK9@ L!E+8Y꿛1?DǿE$@=DHdg To Contact =147.365566 degreesZE7AbEs:E?o$?BE>o$?JEREt jEd rE);I9 iIRO9@ig> 2@<:@w:@ < ߩ$Dacoustic_contact_range 48.120003 m$}hTrackAcousticContact.heading_to_contact 2.572014 rad$LDUSBL_Hydroid.xAngle -51.200000 arcdegy X* o9`(AYt*M@t*\@yt*l1t*Hs>t*H@ K? /ӿW5?c-?h1?W?)u*M@ u*Xo;Iu*Cx>xp>x>E)zSGi||a 1}a 1} a 5}a 5} a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʝY>ʡʡQ[Eʡͭ>I I8ٮ QtI  UD9鰵: :)8 9)I tIi 4E ɏ:) :Ik9I9*G2GFFrFbFEE);I9 iI'4@ia3>! !2@%<:@-w: 5[= iX* 1CS`(AYt*M@t*\@yt*7#t*cyz>t*H ?@v3(ӿ E?a?? ?)u*M@ u*o;Iu(xN?s>xREi`I`)%dGF@]YeC;e>aaQe[Eamm>Iq I}8ٮqq Q}tI q U}D9qu: uc:)u8 9)I tIi 4E ::)N:I9I9*G)2G)F)F1rFQbFYEYEY)m;Im9 iI.@iW> 2@<:@w:= ߙzX* m`(A@ Yt.M@t.A\@yt.Xt.>t.Hw?Gd[ҿE?˃???)u.M@ u.o;Iu,x6'n>x6pEG:AAH8)vGa 1-a 1- a 5-a 5- a 95a 95 a -5a -5 a 15@a 5 a 55@a 5 a 95@a 5 a -5@a 5 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@MYM;:U>QQQU[EQ]g']>Ia Im8ٮaa QmtI a UmD9ae: eS:)e]8 }9)qIq }tIiq }4Eq uh:)u:Iu79I9*G2GFFrFbFEE);I9 iIe*@i%k> 2@<:@w:D= b!X* /`(AYt*dM@t*\@yt*k+t*@v>t*HW??ҿ`/?_m?{?@?)u*dM@ u*-p;Iu*CxR{]>xR/Ei`I`)%G%4=!F@5Y55>99Q=[E9EE>II IM8ٮII QUtI I UUD9IMի: Mٮ:)M38 ]9)YIY etIiY e4EY ]:)]$:I]9qIq9q*G2GFFrFbFEE);I9 iI}'@iy> 2@<:@w: = >l>y'X* ,Ӡ`(AYt*`M@t* \@yt*6,t*~/p>t*H U?@wfҿ S`? u?T? X?)u*`M@ u*p;Iu*CxNsj>xR(E)dGF@]YeE;e>aaQe[Eimm>Iq I}8ٮqq Q}tI q U}D9qu: uB:)u/8 9)I tIi 4E :):IH9I9*G2GFFrFbFEE);I9 iI~&@i 2@<:@ w:5g > a-X* `(A)4t*HΠz#?` ҿʴ? ?? ?)u*.M@ u*Cp;Iu*CxNmd>xRu EHRa=HPi`I`)!a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʅDZ>ʉʉQ[Eʉ͕h>I I8ٮ QtI  UD9鰝h: :)+8 9)I tIi 4E :)R:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI U%@i   2@<:@w:z:> 4X* `(AYt*dL@t*o[@yt*i2t*}>t*H5?Ӯ@Vҿ/~{?M?i? ?)u*dL@ u*p;Iu*Cx^b>x^ E)=GiAAF@MYMFU>QQQU[EQ]]>Ia Im8ٮaa QmtI a UmD9ae: e:)e8 }9)qIq }tIiq }4Eq uh:)u:IuC9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.651514 arcdeg .q''*G2G$@FFrFbFE E );I%9 !!i!I!-$@i-Z>-$@ )2@5<:@5w: d> 9$]RHorizontalControl.headingCmd 2.572014 radi;X* d`(AYt*t*H e`n?@Sx@j@ҿǾ?K??@)?)u*xB1EiPIRC)5SGa 1ua 1u a 5ua 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ;>ʹʹQ[EʹU^>I I8ٮ M8 QtI  UD9: s:) 8 9)I tIi 4E %:):I 9I9=O]@Contact HDG: 147.365566 arcdeg .']']O]4Initialize Wait Component.*GY2GYFaFarFibFiEiEi);I9 iI.i 2@<:@w: l> ߱AX* [Da(A@ Yt.L@t.^[@yt.c(t.q>t.H2?۬9ҿ ??`.??)u.L@ u."h>xBEGB@AH@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )=GF@mYuYXu>qyQ}[Ey}N޻>I I8ٮ QtI  UD9鰅; ;) 8 9)I tIi 4E F:):I9I9*G2GFFrFbFEE) ;I 9  iI51i 2@%<:@%w:-i> 1"HX* h"a(AYt*L@t*\[@yt*t*r>t*H߯?0{ ҿ`@?^݃?`??)u*L@ u*ܙp;Iu*Cx>md>xBu E){BdI{@i{B={@{@{B4B{@|B=@B9|BT?N&Mi`IbC)-XG5=5=F@}Y}=:}?ʁʁQ[Eʁ͍?I I8ٮ QtI  UD9鰵07< 1<)]8 9)I tIi %4E ̒:)$:I91I191*GA2GAFAFIrFbFEE2EzE=@BE7G>@oBET?N&MEdEEEoޛC"s:@8_K EX'՜?m5}ƿE#@=DHdg To Contact =146.000703 degreesZEAbE:EAo$?BE?o$?JEs REjErEd );I9 iInui 2@<:@w:%R>-e>3> ߹$Dacoustic_contact_range 48.060001 m$hTrackAcousticContact.heading_to_contact 2.548193 rad$LDUSBL_Hydroid.xAngle -51.250000 arcdegLNX* ;a(AYt*~L@t*+[@yt*ˊ2t*{>t*H`}?m`XѿM?`m>xB'E)%vGa 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YʍA>ʉʉQ[Eʑ͕>I I8ٮ QtI  UD9鰝: ٮ:)8 9) 9I tIi 4E :);Iw9I9*G!2G!F!F!rF)bF)E)E1)E;IE9 IIiIIII e᯽i  2@<:@w:% %)!I! ߩc4UX* oUa(AYt*QL@t*Z@yt*8(t*y>t*H T?BPѿP??p? ?)u*QL@ u*'p;Iu*Cx2o}>x6EH6=H4iN=IP) GF@Y:>!!Q%[E!->->I1 I58ٮ11 Q=tI 1 U=D915c: 5$:)5M8 E9)AIA MtIiA M4EA E:)E:IE9YIY9Y*Gi2GiFqFqrFbFEE);I9 iI3i 2@<:@w: _[X* oa(AYt*/9L@t*:Z@yt*(t*"s>t*H`v`B?@G>ѿYF^?!?-??)u*/9L@ u*p;Iu*CxNs>xNE)%Gi))a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y.ٸ>Q[E9e>I I 8ٮ Q tI  U D9}: :)%8 u9)AIA utIiA u4EA EF;)E;IE9I9*G2GFFrFbFEE);I9 iI  )oi  2@<:@w: !FbX* Pa(AYt2L@t2Z@yt2R/t2Uu>t2H@&?`ɂѿ Y?֥?h??)u2L@ u28o;Iu0xNp>xN%Ei^f=I\)%ׄGF@=YE:E>AAQE[EIMM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U*,8 m9)aIa mtIia m4Ea e:)eo:Ie9I9*G2GFFrFbFEE)-;IU9 QQiQIQY]ŭiYa a2@e<:@mw: y*qhX* ha(AYt*-K@t*8Z@yt*"t*w>t*H<?`]ѿ?FY?H??)u*-K@ u*o;Iu*CxV~>xVEGXHX)5ʁʁQ[Eʁ͍ >I I8ٮ QtI  UD9鰕w; 0;)238 9)I tIi 4E [:),:I(99I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEE);I9 iI i  2@<:@w: ߡXnX* ?a(AYt*WK@t*bZ@yt*.t*qr>t*H{@?{>?ѿ S /E?W߅?@i??)u*WK@ u*ȉo;Iu*CxBi>xBEiLIP)EGE%=E%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yʽۺ>ʹʹQ[En>I I8ٮ QtI  UD9< <):8 %9)I %tIi %4E :)N:I29qIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.633693 arcdeg .q''*G2G#@FFrFbFEE);I9 iIm#@iu >u#@ q2@5<:@=w: I$RHorizontalControl.headingCmd 2.548193 radpuX* a(AYt*K@t*!~Z@yt*c0t*r>t*H ?jܫ7ѿ@1xNE)]GF@}Y}z;}>ʁʁQ[Eʁ͍i>I I8ٮ QtI  UD9鰕< <)@8 9)I tIi 4E :)+:I99 I 9=O@Contact HDG: 146.000703 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI)-i)1 12@=<:@=w: y3{X* c a(A)*;I(YtrK@trRZ@ytrtrHLy?yDf ѿ`Z@;?{??]?)urK@ uro;IurCx `>xU. EHQHQiqIq)MׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@-Y55>99Q=[E9=lE>I I8ٮ QtI  UD9鰥_: :)I8 9)I tIi 4E g<)wt*H@J?@΂Kп\?x?)?  ?)u*K@ u*Mo;Iu*Cx>Rr>x>E {@Y|@F8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ʱʱQ\EʹͽH>I I8ٮ QtI  UD9N; ;)P8 9)I tIi 4E :)c:I L91I191*G2GFFrFbFEE);I9 iIꪽii Y2@]<:@ew:ME> Y8X* $b(AYt*#K@t*.2Z@yt*[t*pr>t*HP?zп`>N??fK??@'?)u*#K@ u*wo;Iu*Cx>b>x> E){BehI{@i{B={@{@{BA{@|B@B9|Bsb!?Q2i\I\)%GF@EYU:]?aaQe\Eimm?Iq I}8ٮqq Q}tI q U}D9qu: u:)uU8 9)I tIi 4E ̒:):IR9I9*G2GF1F1rF9bF9E9EA2EIzEM@BEM <Ү=@v{`BEMsb!?Q2EMehEIEMж% $Dacoustic_contact_range 48.179996 m$hTrackAcousticContact.heading_to_contact 2.517678 rad$LDUSBL_Hydroid.xAngle -51.949999 arcdegX* '>b(A Yt:K@t:-Z@yt:Z$t:im>t:H`?`"N ~п`G?`?,v?#?)u:K@ u:o;Iu8xJe>xJP EGHHL)m{Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@eYm(m>qqQu\Eq}&}>Iy I8ٮyy QtI y UD9y} g< }[g<)}]8 9)I tIi 5E ::):I|\9I9*G2GFFrF!bF!E!E));I9 iIi 2@<:@w: )!I! ЕX* kdXb(AYt*K@t*&8Z@yt*6 "t*t>t*H@?`Xп`? A?@I??)u*K@ u*o;Iu*Cx>j>xBqEiPIP)mGqu4=F@Yʝ9>ʡʡQ\Eʡͭ4:>I I8ٮ QtI  UD9鰵: D:)c8 9)I tIi 5E :):I$d99I999*GI2GIFQFrFbFEE);I9 iIۼi 2@ <:@ w: !>X* ?rb(AYt*]K@t* Z@yt* 0t*s}>t*Hm?̫)п ? \?Qj?`?)u*]K@ u*o;Iu*Cx>'n>xBpE)+GF@Y>Q\E߻>I I=8ٮ Q=tI  U=D9: w:)j8 M9)AIA MtIiA M5EA E:)Eiaa a2@u<:@uw: ߁SX* b(A)p;IxnRr>xnEHra=Hra=i|IC)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@YUU>QQQ]\EY]]>Ia Im8ٮaa QtI a UD9ae; e;)eBr8 9)I tIi 5E :)Ԙ:Inv9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF F rFbFEE)M;IM9 IIiIIIQUBiQQ Y2@]<:@ew: ߑ X* 0b(AYt.zK@t.'Z@yt.!t.Ům>t.H`-`ē?`\п 4? ?^q?#?)u.zK@ u.o;Iu.CxRe>xVP E)qia 1a 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ;>ʙʙQ\Eʙͥ;>I I8ٮ QtI  UD9鰭; ;)x8 9)I tIi 5E :)s:Im~9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N@Vehicle HDG: 195.302538 arcdeg .q''*G2G!!@FFrFbFEE);I9 iIw!@i!!@ 2@<:@w: i$mRHorizontalControl.headingCmd 2.517678 rad6X* hϿb(AYt.nK@t.Z@yt.B+t.s>t.H ? 3@+п.zr?.z?x*??)u.nK@ u.o;Iu.CxF>xF@EiTIZC) SGF@MYUU>YYQ]\EYebe>Ii Im8ٮii QutI i UuD9im\: m:)m~8 }9)yIy tIiy 5Ey }%:)}|:I}9I9=Ou@Contact HDG: 144.252352 arcdeg .'u'uO}4Initialize Wait Component.*Gy2GyFyFyrFbFEE)u;I}9 yyiyIy_!@i 2@<:@w: ߡX* Ϊb(A YtBK@tB8Z@ytBy)*tBA?y>tBH?@п ? E??@?)uBK@ uB|&p;IuBCxNb>xR EGPHP)GF@=YE09E>AAQM\EIM5;M>IQ I]8ٮQQ Q]tI Q UeD9QU: UM:)UɅ8 m9)aIa mtIia m5Ea e:)e:Ier9I9*G2GFFrFbFEE);I9 iI!!@!i!! !2@-<:@-w: yHX* Ib(AYtBK@tBeZ@ytBm&tB?s>tBH?\ ѿ q\?@̈́? ?`?)uBK@ uB p;IuBCxNj>xRqEi\IbC)G!%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Y :>Q\E;>I I8ٮ QtI  UD9; ;)8 %9)!I! %tIi! -5E! %:)%|:I%v9YIY9Y*Gi2GiFiFqrFbFEE);I9 iIi 2@<:@w: >>Y5X* t c(AYt6K@t6Z@yt6f(t6q>t6H``f?4Y<ѿ3?`4?`v?@?)u6K@ u6p;Iu6Cxbmd>xbu E {dY|df8****** ping requested ******zNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@ Y>!Q%\E!5N;5>I9 IE8ٮ99 QEtI 9 UmD99=; = ;)=8 }9)qIq }tIiq 5Eq uV:)u:Iu99I9*G2GFFrF!bF!E)E))=;I=9 AAiaIaiiiii i2@u<:@uw: ߉^X* L'c(A)*4tVH?*Lѿ%g?`Д?Ľ?@?)uVK@ uVp;IuVCx p>x EHHp=){^I{i{={{{A{|z@B9|w,?5nYYQ]\EYe;e>I I8ٮ QtI  UD9鰍J: B:)*8 9)I tIi 5E :):Iը9I9*G2GF F rFbFEE2EzEz@BE x>@Τ/mgBEw,?5nt*H?KD}ѿ 5xBE)GiF@%Y-\->11Q5\E15 <=>IA IE8ٮAA QMtI A UMD9AE: E:)EP8 U9)QIQ UtIiQ ]5EQ Uc<)Ut*H.?vѿ`՛?@ ? *p? ?)u*'L@ u*Gp;Iu(xBi>xBNEiPIT)GF@Y%8%>))Q-\E)-;5>I1 I=8ٮ11 Q=tI 1 UED915U: 58:)508 M9)III MtIiI U5EI M[:)M:IM9aIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM}|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;I]9 YYiYIYaaiaa i2@m<:@mw: X* Ktc(A Yt.\L@t. [@yt.V$t.atr>t.H&d?B} ѿ`1? ?? ?)u.\L@ u.ko;Iu.CxBPY>xBEG@H@)~vGa 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeB e>aaQe\Eam<m>Iq I}8ٮqq Q}tI q U}D9quG: u):)u78 9)I tIi 5E ::) :I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 196.093652 arcdeg .q' '*G2G#@FFrFbFEE);I9 iIЛ"@i#@ 2@<:@w: $=RHorizontalControl.headingCmd 2.560361 rady~X* c(AYt*5L@t*@E[@yt*$t*,{>t*HG ?@ѿ@/? H?@?c ?)u*5L@ u*p;Iu(xNm>xR'Ei\I\)G%4=!F@]Yee>aaQe\Eam<m>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi 5E :)N:I9I9=O @Contact HDG: 146.697901 arcdeg .' ' O 4Initialize Wait Component.*G2GFFrFbFE!E!)5;I59 99i9I9E#@iAA A2@M<:@Mw: V>e>KX* c(AYt*VL@t*aI[@yt*Ht*t|>t*H@ܔ?fxѿQ?? xRLE)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}U:}>ʁʁQ\Eʁͅ#":>I I8ٮ QtI  UD9鰍: -:)8 9)I tIi 5E [:):I9I9*G2GFFrFbFEE);I9 iIQi 2@<:@w: X* y[c(A);I Yt*KL@t*V[@yt*^t*[w>t*H@?`@Iҿ ?`Wك? [??)u*KL@ u*{o;Iu(xBMl>x@HB=HDiPIRC)~GF@=YE8E>AIQM\EIMN<M>IQ I]8ٮQQ QetI Q UeD9QU: U:)U8 m9)iIi mtIii u5Ei m:)m:Im 9I9*G2GFFrFbFEE);I9 iI,i 2@<:@w: X* T6c(AYt*\M@t*g[@yt*-t*tu>t*H`? `[qҿ`[ʈ? ?q?p?)u*\M@ u*oo;Iu(xZZ>xZzE)-ƄGi)-xAF@=YEJE>AAQM\EIMQ;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m5Ea e}:)eԘ:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: i!!X* Mc(AYt*FM@t*[@yt* L"t*fx>t*H T7?%@ҿ _?kI?@??)u*FM@ u*o;Iu*CxBi>xBNEiLINC)=ׄGa 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝz:>ʡʡQ\Eʡͭ;>I I8ٮ QtI  UD9鰵: :)8 9)I tIi 5E :)9:IP9I9*G2GFFrFbFEE);I9 iIi! !2@%<:@-w: 9Y*  d(A Yt."M@t.-5\@yt.M(t.~~>t.H@ o?ZJҿ@@kv? ?{??)u."M@ u.o;Iu.CxBn>xBEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]ʁʁQ\Eʉ͵w<>I I8ٮ QtI  UD9鰽: l:)N8 9)I tIi 5E :)4:I9I9 *G2GFFrFbFEE)=;IE9 AAiiIiiqiqq q2@}<:@}w: ߑe Y* !)d(AYtvBM@tvMZ\@ytv=&tv\u>tvH@E@!?Gwҿ2?DŽ?@??)uvBM@ uvo;IuvCxj>xqE){->kI{)i{-={){){-0A{)|-B9|-i?h)/piI)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y9>Q\E;>I I8ٮ QtI  UD9F: :)B8 9)I tIi 5E ͭ:)g:I"9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E)E)2E1zE5BE5,[4q7@*$[v>E5i?h)/pE5>kE1E5QTJ?Zrn5@[N E51H O'?)nyȿE5"@==DHdg To Contact =145.592968 degreesZE5sAbE5U:E5Vo$?BE5@o$?JE5w RE5t jE5irE5)U;I]9 YYiYIYaaiaa i2@m<:@uw: ߁$Dacoustic_contact_range 38.639999 m$hTrackAcousticContact.heading_to_contact 2.541077 rad$LDUSBL_Hydroid.xAngle -52.650001 arcdegR>x>Y* zCd(AYt*M@t*\@yt*mlt*_~>t*Hu!?˰@8EӿF~l?{ ?`?@?)u*M@ u*p;Iu*CxBMl>xBLE)SGF@=YE;E>AAQE\EIMwM<M>IQ I]8ٮQQ Q]tI Q UeD9QU: UG:)UL8 m9)a m9Ia mtIia m5Ea eȗ:)e:Ie9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.524454 arcdeg .q''*G2G"@FFrFbFEE);I9 iI "@i"@ !2@%<:@-w: 9$RHorizontalControl.headingCmd 2.541077 radmY* ]d(A) IYt*=!N@t*H\@yt*u)t*|>t*H |3?^nӿ`5C3? .?`.I? ?)u*=!N@ u*rxBEHBp=HBa=iTIT) dGF@=YE(E>AIQM\EIM;U>IQ I]8ٮQQ Q]tI Q UeD9QUG: U):)U28 m9)aIa mtIia m5Ea e:)e:Ie9yI9=O@Contact HDG: 145.592968 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iI"@i !2@%<:@%w: 952Y* :Ywd(AYt*\N@t* ]@yt*"t*݃>t*Hs!1?lӿ|u? Z???)u*\N@ u*Yr;Iu(xBRr>xBE)~Gia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeL:e>aaQm\EimB<m>Iq I}8ٮqq Q}tI q UD9qu[: u^:)u(8 9)I tIi 5E :)Ԙ:I9I9*G2GFFrFbFEE);I9 iI"@i 2@<:@w: i!$Y* Y4d(AYt*چN@t*3]@yt*.t* >t*H=mX?>@ӿ@p?7߅???)u*چN@ u*r;Iu*Cxbp>xbEilIrC)=aiQm\Eim;m>Iq I8ٮqq QtI q UD9qu; uo;)u 8 9)I tIi 5E :):IM9I9*G2GFFrFbFEE)5;I59 QQiQIYYYiaa a2@m<:@mw: yE*Y* d(A Yt.²N@t._]@yt.&*t.%>t.H`pf}?@ӿf o?`k^?@?`?)u.²N@ u.Ss;Iu.CxNg>xNsEGR?AHP)eGF@uY}:}>yʁQ\Eʁͅ;>I I8ٮ M8 QtI  UD9鰍:  :)8 9)I tIi 5E :):I'9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: -1Y* d(AYt*N@t* ]@yt*B(t*<>t*H ]д?@(ݱ2Կ]?;?y?J?)u*N@ u*6s;Iu*CxN:m>xNEi\I\)SG%%=!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y~9>Q\E<>I I8ٮ QtI  UD92: -:) 8 9)I tIi 5E :)g:I09I9*G!2G!F!F)rF)bF1E1E1)E;IM9 IIiIIIQQiQQ Y2@]<:@ew: qV>e>V7Y* ?d(AYt*.O@t*9]@yt*z#t*>t*H@Ve?䱿>VԿ \b?Bo? ??)u*.O@ u*T t;Iu(xBf>xB E)~dGF@=YEF:E>AAQM\EIMf;M>IQ I]8ٮQQ Q]tI Q UeD9QUJ: UN:)U8 m9)aIa mtIia m5Ea e}:)eo:Ie89yIy9*G2GFFrFbFEE);I9 11i1I199i99 A2@E<:@Mw: YR=Y* ܠd(A)4t*H` O?y?.Կ@N @? ?`U??)u*FO@ u*Qt;Iu*CxBj>xBqEHDHDiTIVC)GF@EYU@NU>aaQe\EaeY;m>Ii Iu8ٮii QutI i U}D9ims: m:)m8 9)I tIi 5E :):I>A9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9 iIi 2@<:@w: !@hDY* 9|e(AYt*_O@t* ^@yt*;t*h>t*HJO?rԿ`@I?2z?f?`?)u*_O@ u*s;Iu*CxB'n>xBpE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGiiuwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%x1%>))Q-\E)5g;=>IA IM8ٮAA QMtI A UMD9AE; E;)E8 ]9)YIY etIiY e5EY ]::)]:I]WJ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 198.788845 arcdeg .q''*G2GFFrFbFEE);I9 iIi 2@ <:@w: Qi!!JY* hX,e(AYt*ÂO@t*/^@yt*!t*ޅ>t*HfEg1? "Կ7 ?>?@? /?)u*ÂO@ u*s;Iu*CxRi>xRE){RbI{Pi{R={P{P{RA{P|R@B9|RID?]RLipIp)=dGa 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ;>ʡʡQ\Eʡͭ ;>I I8ٮ QtI  UD9鰵: :)$8 9)I tIi 5E }:)Ԙ:IrR9I9=OE@Contact HDG: 145.592968 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFIrFIbFIEQEQ2EYzE]@BE]+>@/ɘMBE]ID?]RLE]bEYE]83PD &8@)Ы"E]rXx꿠Ƒ` ?"GȿE]H&@=eDHdg To Contact =149.272855 degreesZE]5AbE]":E]=o$?BE]Vo$?JE]u RE]w jE]^rE]i);I9 iIi 2@<:@w: ߩ$Dacoustic_contact_range 48.179996 m$hTrackAcousticContact.heading_to_contact 2.605303 rad$ULDUSBL_Hydroid.xAngle -50.699999 arcdegzQY* 35Fe(A Yt.]O@t.h?^@yt.x6t.2>t.HBX@?$Կ 7?ƃ?8v? ?)u.]O@ u.s;Iu.CxB?s>xBEGBAAH@)GF@=YE:E>AAQE\EIM#;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U=+8 m9)aIa mtIia m5Ea e:)e:IeZ9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: WY* `e(AYt*O@t*t^@yt*ݳ"t*>t*H G:v? Կ 7!?eV? /2?`?)u*O@ u*s;Iu*CxZn>xZEilIl)=GAAF@}Yʅ].>ʁʁQ\Eʁ͍X;>I I8ٮ QtI  UD9鰕: :)E28 9)I tIi 5E :):Icc9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: R>l>]Y* ye(AYt*qO@t*|~^@yt*/#t* >t*H8@|?` 5cտ-0u[?Os?b?`?)u*qO@ u*&r;Iu*CxB'n>xBpE)1a 1ua 1u a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ>ʙʙQ\Eʡͥ:>I I8ٮ QtI  UD9鰭-: :)898 9)I tIi 5E :):Ik9I9*G2GFFrFbFEE) ;I 9  iIi 2@%<:@%w: 9dY* œe(A) IYt*qO@t*||^@yt*Z,t*ߦ>t*H8@x?h@xտ'S? Q??`?)u*qO@ u*8s;Iu(xBk>xBEHBa=HDiPIP)SGF@Yʝ۰>ʡʡQ\EʡͥM>I I8ٮ QtI  UD9鰭B: :)@8 9)I tIi 5E :):I|t9I9*G2GFFrFbFEE) ;I 9 iIi !2@%<:@%w: 9ljY* e(AYt*]O@t*hz^@yt**t*;f>t*H09s?``տK%?`S?8??)u*]O@ u*(s;Iu*CxReq>xRnE)GixAa 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1e@a e a 5e@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYʅ"9>ʁʁQ\Eʉ͍>I I8ٮ QtI  UD9鰕W< <)F8 %9)!I! -tIi! -5E! %::)!I%B}9YIY9Y*Gi2GiFqFqrFbFEE);I9 iIi 2@<:@w: i_qY* )ze(AYt*rO@t*}b^@yt*j#t*߆>t*H$=`]?x Կ+|?:m?`??)u*rO@ u*!hs;Iu*CxNHf>xR Ei\I\)SGF@-Y-:->11Q5\E1=[s=>IA IE8ٮAA QMtI A UMD9AE: E:)EM8 U9)QIQ ]tIiQ ]5EQ UJ:)U:IU59iIi9iO}Done Waiting.'}O}8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: wY* We(A Yt2O@t2o^@yt2@!t2҃>t2H ;fp?` `Կ 50?'?K? ?)u2O@ u2Wr;Iu2CxBsj>xB(EGB@AH@) dGF@Y%9%>!)Q-\E)-;->I1 I=8ٮ11 Q=tI 1 UED915b: 5:)5T8 M9)AIA MtIiA M5EA E̒:)E:IE9YIa9a&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 199.135149 arcdeg .q'u'u*Gq2GuH&@FqFyrFybFyEE);I9 iI$@iH&@ 2@-<:@-w: 9$RHorizontalControl.headingCmd 2.605303 rad$~Y* 2e(AYt*O@t*^@yt*b't*>t*H 7Y?@N`տ`0;?@?8Q??)u*O@ u*pq;Iu(xB5g>xB*EiLIP)~G4=a 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yewe>aiQm\EimSh;u>Iq I}8ٮqq Q}tI q UD9qu: u:)u[8 9)I tIi 5E }:)Ԙ:I`9I9=O@Contact HDG: 149.272855 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))=;I=9 99iAIAEH&@iII I2@U<:@Uw: a]>V> Y*  f(AYt*AO@t*Lk^@yt*t*H;`\i?N -Կ$`.?-?`]??)u*AO@ u*!q;Iu*CxNf>xR E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@YI>Q]Eч>I I8ٮ QtI  UD9: Y;)b8 9)I tIi 5E #=;)*:I-9I!9!*G92G9FAFArFIbFIEQEQ)u;Iu9 qyiyIyxi 2@<:@w: ߱.Y* .f(A);IYt6O@t6$P^@yt6%t6>t6H @@&I?ߤԿM'j(?˶???)u6O@ u6Tr;Iu6CxB>xB EHDHFp=i\I\)SGa 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}g;>ʁʁQ]Eʁ͍v>I I8ٮ QtI  UD9鰕: -:)ki8 9)I tIi 6E [:)o:Iy9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !Y* Hf(AYt*۟O@t*L^@yt*x!t*=>t*H@R? ˲Կm>?.?0??)u*۟O@ u*{kr;Iu*CxBMl>xBLE)5Gi5wA1F@EYE0+:M>IIQM]EIUU>IY Ie8ٮYY QetI Y UeD9Y]%: ]:)]1p8 m9)iIi utIii u6Ei m:)mݖ:Imկ9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i@Y* bf(AYt*@O@t*KW^@yt*nO)t*>t*H>c?PXWԿE &}? )? ??)u*@O@ u*b2r;Iu(xBl>xBEiPIP)SGF@]Yeڙe>iiQm]Eim:u>Iq I}8ٮqq QtI q UD9quu ; u;)u%w8 9)I tIi 6E -;)*;Iv9I9*G2GFFrFbFEE);I9 iI౯i 2@<:@w: ajY*  y|f(A Yt*O@t*C^@yt*J&t*>t*H%BD? Կ@4?HɄ??@?)u*O@ u*Xr;Iu(x6U_>x6S EG8H8)rdGa 1%a 1% a 5%a 5% a 9%a 9% a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@Y9>Q]Ey:>I I8ٮ QtI  UD9; ;)O~8 %9)!I! -tIi! -6E! %%:)%Z:I%Y9YIY9Y*Gi2GiFiFqrFbFEE);I9 iICi 2@<:@w: RY* PTf(AYt._zO@t.j'^@yt.U0t.]x>t.H F +??@ Կ5???@?)u._zO@ u.r;Iu,xN\>xREi\I\)G!%4=F@-Y5&׺5>11Q5]E9=8=>IA IM8ٮAA QMtI A UMD9AE: E:)EԄ8 ]9)QIQ ]tIiQ ]6EQ U:)U:IUN9iIi9q*G2GFFrFbFEE);I9 iIi 2@=<:@=w: IN>]>B}Y* 0f(AYt*gO@t*^@yt*݉,t*>t*HI@#?k_ Կ` H ?!?&? W?)u*gO@ u*$s;Iu(xBHf>xB E)~aaQe]Eam3m>Iq Iu8ٮqq Q}tI q U}D9qu5: u|:)uы8 9)I tIi 6E h:):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIXi 2@<:@w: ,eY*  f(A)4t*H:KP!?`رԿ@EUIN??'??)u*V^O@ u*s;Iu(xN]>xRxEHPHPi`I`)GF@]Yeʸe>aaQe]Eamm>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi 6E Ր:):Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 198.784528 arcdeg .q' ' *G 2G F FrFbFEE)-;I59 11i1I19=]i99 A2@E<:@Mw: YY* ?f(AYt.3TO@t.>^@yt.gn$t.e>t.H@L ? `ԿT`uz?@?&? [?)u.3TO@ u.t;Iu,xBs>xBE) i F@Y%:%>!!Q%]E)-̺->I1 I=8ٮ11 Q=tI 1 U=D915: 5:)5x8 M9)AIA MtIiA M6EA E:)EԘ:IE9YIY9Y=O@Contact HDG: 149.272855 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i!!YY* f(AYt*,O@t*]@yt*#t*Z\>t*H8S`?;@lԿ R?x?i?`?)u*,O@ u*t;Iu*Cx>Ze>x> EiLIL)zSGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]8]>YaQe]Eae~m>Ii Iu8ٮii Q}tI i U}D9im5: m|:)m8 9)yIy tIiy 6Ey }:)}c:I}x9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: NY* Eg(A@ Yt.QO@t.\]@yt.T&t.>t.HU`?\Կ@V {?Є???)u.QO@ u.E u;Iu,xZ`k>xZEG^AAH\ {\Y|`b8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y)ѹ>Q]E@>I I8ٮ QtI  UD9; ;)8 9) I  tIi  6E  ;)  ;I ]91I199*GQ2GQFYFYrFabFaEiEi);I9 iI1i 2@<:@w: lY* `x1g(AYt*(N@t*3]@yt*~(t*}>t*H@<^o?[*Կj`0?`W?`b?y?)u*(N@ u*u;Iu*CxBw>xBjEiXIZC)USG]%=]=F@eYmm>iqQu]Equ}>Iy I8ٮyy QtI y UD9y}: }:)}R8 9)I tIi 6E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: %R>%Y>Y* RKg(AYt*N@t*]@yt*ak-t*z>t*H@%]6? 90Կo ?Q?`? ?)u*N@ u*u;Iu*CxBsj>xB(E)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ?>ʡʡQ]Eʩͭ:>I I8ٮ QtI  UD9鰵 : :)T8 9) 9I tIi 6E x:)j:I09I9*G2GFFrFbFEE);I9 iI!%8i!! !2@-<:@-w: AlY* .eg(A);IYt*ּN@t*i]@yt*F$t*mH~>t*Hd ?@,OgԿJp@zE??@Gu?Q?)u*ּN@ u*nu;Iu(x>Dy>xBEEHBp=HBa=iTIVC)GF@=YEĺ:E>AAQM]EIMM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U8 m9)aIa mtIia m6Ea eՐ:)eȗ:Iep 9I9*G 2G FFrF1bF9E9E9)M;IU9 qqiqIqy}ᢽiyy 2@<:@w: Y* g(AYt.wN@t.W]@yt.t.M~>t.H g@y?`\ӿxRE)Gi!a 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʥRQ:>ʡʡQ]Eʡͭ0>I I8ٮ QtI  UD9鰵: :)8 9)I tIi 6E :) :I49YIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI\xi 2@<:@ w: i!)Y* ]g(AYt*dN@t*o.]@yt*(t*z>t*HnY?İ ӿ@`/? ?  ? ?)u*dN@ u*}t;Iu(xBo>xBEiLIRC)~GF@=YE?ʺE>AIQM]EIMѻM>IQ I]8ٮQQ Q]tI Q UeD9QUS: U:)U8 m9)aIa mtIia m6Ea ep:)ec:Iev9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.011870 arcdeg .q''*G2GFFrFbFEE);I9 iI i!! !2@-<:@-w: :Y* g(A@ Yt*tN@t*!]@yt*"-t*dw>t*H@p@ZR?@i`ӿl d?@6?? =?)u*tN@ u*rs;Iu*CxNxp>xREGR?AHP)SGa 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}*>ʁʁQ]Eʁ͍>I I8ٮ QtI  UD9鰕>: )8 9)I tIi 6E :)Z:I#'9I9=O%@Contact HDG: 149.272855 arcdeg .'%'%O%4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)M;IM9 IQiQIQY]ڟiYY Y2@e<:@ew: yY* Șg(AYt*b^N@t*m ]@yt*t*{>t*Hsr5?@氿ӿʃ?`&]?@%?@e ?)u*b^N@ u*r;Iu*CxBU>xBXEiPIRC)~dG4=p=F@ Y:;>Q]E%c%>I) I-8ٮ)) Q5tI ) U5D9)-: -:)-~8 =9)9I9 EtIi9 E6E9 =t:)=R:I=\/9QIQ9Q*Ga2GaFiFirFibFqEqEq);I9 iI^i 2@<:@w: ߱0.Y* gg(AYt *N@t \@yt %(t z>t H`{ ?s wӿŌ` ?? ?@/ ?)u *N@ u +r;Iu Cxi>xE)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q]E>I  I8ٮ   QtI  UD9  9: x:) 8 %9)I %tIi %6E :):I891I199*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIqy}5iyy y2@<:@w: ߙ#Z* DPh(A) IYt*:N@t*\@yt*Eu-t*w>t*Hx`@?1`Іӿ!? ? Ϥ?M?)u*:N@ u*p;Iu*CxBp>xB%EHFa=HDiPIRC)+GF@]Yey]e>aaQm]Eimj&;m>Iq I8ٮqq QtI q UD9qu; u˵;)ur8 9)I tIi 6E }:):I@9I9*G2GFFrFbFEE);I%9 !!i!I!)-mi)) )2@5<:@=w: I<Z* *h(AYt*5 N@t*@\@yt*@;$t*Jx>t*H` x?3@|Wӿ`,?Q? Y??)u*5 N@ u*6p;Iu(xRZe>xR E {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAxAF@Y:>Q]E>I I8ٮ QtI  U D9: ;)8 =9)I =tIi E6E [;)S;IzI9qIy9y*G2GFFrFbFEE!);I9 iIi 2@<:@w: i!)g Z* 24h(AYt*ZM@t*e\@yt*G*8t*v>t*H?iu@ZGӿ c>? )???)u*ZM@ u*ضo;Iu*CxBV>xBEiXIZC)a 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uYu(Lu>yyQ}]Eyͅ,>I I8ٮ QtI  UD9鰍: į:)H8 9)I %tIi %6E :):IR91I191*Ga2GaFaFirFibFiEqE);I9 iI i 2@<:@w: 1OZ* aMh(A Yt.M@t.\@yt.Pt.w>t.HL`q? <vLӿ?j??`b?)u.M@ u.\o;Iu.CxNq>xREGR@AHP)%GF@-Y5ݑ;5>99Q=]E9ET:E>II IM8ٮII QUtI I UUD9IM: M:)M8 ]9)YIY etIiY e6EY ]t:)]˚:I]Z9qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI/i 2@<:@w: {Z* gh(AYt:M@t:\@yt:'t:"(w>t:H!?@#ӿ { `?? ??)u:M@ u:^o;Iu:Cx^o>x^EipIp)5vG=%==R=a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ>ʹQ]Eʻ>I I8ٮ M8 QtI  UD9: :)98 9)I tIi 6E :):Ib9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q' NU@Vehicle HDG: 197.401565 arcdeg .q'U']*GY2GYFYFYrFabFaEE);I9 iI/Ui 2@<:@w: R>1a Z* h(AYt*:M@t*E\@yt*13t*u>t*H t?+-ӿc [?q?`W? ?)u*:M@ u*n;Iu(xNT>xRE)GF@]Yeje>aaQm]EimY:m>Iq I}8ٮqq Q}tI q U}D9qu: uE:)u8 9)I tIi 6E }:):I%k9I9=O @Contact HDG: 149.272855 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE!)5;I59 19i9I99E=iAA A2@M<:@Mw: Y&Z* qh(A) I Yt*M@t*z\@yt*}/t* v>t*Hc [?wsӿ`X`D??n? |?)u*M@ u*n;Iu(xBHf>xB EHDHDiPIP)SGF@=YE!:E>AIQM]EIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m6Ea e:)eȗ:Ies9yI9*G2GFFrFbFEE);I9 iIwi 2@<:@w: ,Z* 8Nh(AYt2M@t2c\@yt2:&t2Ķx>t2H`?!ϯӿȡ`-?FDŽ?k?$?)u2M@ u2n;Iu2CxBmd>xBu E)~GiwAwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye{:e>aiQm]Eimrcu>Iq I}8ٮqq QtI q UD9qu: u:)u8 9)I tIi 6E F:):I,|9I9*G2GFFrFbFEE);I9 iI1i 2@<:@w: iS3Z* )h(AYt*&M@t*1z\@yt*=-t*ys>t*H|`%?﮿@-ӿ a?? ??)u*&M@ u*In;Iu(xBZe>xB EiLIL)5GF@}YʅD>ʁʁQ]Eʁ͍^;>I I8ٮ QtI  UD9鰕`: :)8 9)I tIi 6E :):IÄ9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: 9Z* ,h(A$ $YtFM@tFY\@ytF6*tF:v>tFH@q?{Aҿȧ ~?`F?!{??)uFM@ uFln;IuDxNk>xNEGRAAHP)ia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y9>Q]E>I I8ٮ QtI  UD9: 9:)#8 9)I tIi 6E :),:I9I9*G!2G!F!F!rF)bF1E1E1)E;IE9 IIiIIIQUÅiQQ Y2@]<:@]w: q\@Z* i(AYt*ͭM@t*Z\@yt*h>7t*׃w>t*H?"8ӿ???Z?)u*ͭM@ u* o;Iu(xBe>xBP EiPIRC)~G%=F@=YEE>AAQM]EIM#9M>IQ I8ٮQQ QtI Q UD9QU< U߉<)UQ*8 9)I tIi 6E F:):I9I9*G 2G F F rFbFEE)-;I-9 ))i)I11=$i99 92@E<:@Ew: Q]>FZ* ˺i(AYt*:M@t*E`\@yt*-t*x>t*HY3?``|oӿM?`ޢ? ?`o?)u*:M@ u*Ho;Iu*CxNp>xR%E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ʁʁQ]Eʉ͕B:>I I8ٮ QtI  UD9: :)028 -9)!I! -tIi! m6E! %<)%t.H(? mӿ@ T?Z?M?@?)u.pM@ u.lo;Iu,xN`>xR. EHRp=HPilIl)5Ga 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝb>ʙʙQ]Eʡͥ9O9>I I8ٮ QtI  UD9鰭: :)K88 9)I tIi 6E :):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.295137 arcdeg .q''*G2GFFrFbFEE)-;I-9 IQiQIQQ]wiYY Y2@e<:@ew: ߙ!SZ* moPi(AYt*M@t*e\@yt*5h4t*LAs>t*H ?@ ӿ@U*?茆?`?@u?)u*M@ u*Oo;Iu*CxBi>xBE)Q%]E!%:%>I) I58ٮ)) Q5tI ) U5D9)-%: -J:)->8 E9)9I9 EtIi9 E6E9 =:)=0:I= 9QIQ9Q=O@Contact HDG: 149.272855 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i!IZZ* Jji(AYt*M@t*p\@yt*2t*mv>t*H `P? Dӿ@?<\?`Ï??)u*M@ u*lo;Iu*CxBj>xBqEiPIRC)GF@=YEm9E>AIQM]EIM:M>IQ I]8ٮQQ Q]tI Q UeD9QU: UB:)UE8 m9)aIa mtIia m6Ea e:)ec:Ie9yI9*G2GFFrFbFEE);I9 iIXi 2@<:@w: `Z* )i(A Yt.|M@t.e\@yt.)t.my>t.Hd?@寿w ӿa?"? ? ?)u.|M@ u.Qo;Iu.CxB^>xB EGB@AHD)~+Ga 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye.:e>aaQe]EamϺm>Iq I}8ٮqq Q}tI q U}D9quh: u:)uL8 9)I tIi 6E -:):IA9I9*G2GFFrFbFEE);I9 iI |i 2@<:@w: *gZ*  i(AYt2M@t2r\@yt2 :t2:u>t2H`?ᮿ`ӿo?@?e?@?)u2M@ u2Qo;Iu2Cx>d>x> EiLIL)~SG|F@=Y=V)=>AAQE]EAM;M>IQ IU8ٮQQ Q]tI Q U]D9QU: Ul:)US8 e9)aIa mtIia m6Ea e:)eN:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: V>R>QmZ* ݷi(AYt*M@t*r\@yt*:4t*5u>t*H ?f ӿ a@}u?=?Qo??)u*M@ u*i"o;Iu*Cxf5g>xf*E)EGF@UYUc:U>YYQ]]EYeu7e>Ii Im8ٮii QutI i UuD9im\: m:)mZ8 9)yIy tIiy 6Ey }::)yI}A9I9*G2GFFrFbFEE);I9 iINi 2@<:@w: 9tZ* i(A) IYt*M@t*u\@yt*/t*|u>t*H)?>ӿ0_q?U?@)n??)u*M@ u**o;Iu*CxB'n>xBpEHDHDiPIP)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ[/:>ʹʹQ]Eʹ 9>I I8ٮ QtI  UD9 :)a8 9)I tIi 6E :)|:I9I9*G2GFF rF bFEE)%;I-9 ))i)I)15F~i11 92@=<:@Ew: Q=czZ* i(AYt*M@t*\@yt*3t*;v>t*H`@?@CM)ӿ L~?Ww?`F{?`?)u*M@ u*P o;Iu*CxBh>xBE) dGiwAF@Yʥ!>ʩʩQ]Eʩ͵*;>I I8ٮ QtI  UD9t: :)h8 9)I tIi 6E :):I9!I!9!OUDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GYM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFabFaEaEi);I9 iIi 2@<:@w: i@A!KZ* nj(AYt*lM@t*w|\@yt*;#t*F/z>t*H@2?^$` ӿ ? o?`? Q ?)u*lM@ u*o;Iu*CxNc>xR Ei`I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ";>ʁʁQ]Eʉ͍>I I8ٮ QtI  UD9鰕: :)eo8 9)I tIi 6E -:):I99I999&MMMAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'M NUInitialize.q'UN@Vehicle HDG: 197.389503 arcdeg .q''*G2GFFrFbFEE)5;I59 11i1I99=iAA A2@M<:@Mw: YuZ* Jj(A Yt*M@t*\@yt*'-t*Tv>t*H ?`x e$ӿ}?Ť?]~? ?)u*M@ u*To;Iu*CxB{]>xB/EGDHD {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]GF@Yj>Q^E$:>I I8ٮ QtI  UD9: ;)qv8 9)I tIi 6E <).t*H@A? w@.ӿ@e?܆?g??)u*CM@ u*H@o;Iu*CxBB`>xB E){FI{Di{F&>{F>{D{FA{D|FxB9|F C?t:5#i`I`)%G-4=-=a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ9>ʉʑQ^Eʑ͕:>I I8ٮ QtI  UD9鰝1: 5:)5}8 9)I tIi 7E :)':I9I9*G2GFFrFbFEE2EzExBE\|@@SaJE C?t:5#EEExG}C@ޞq_(EA$迣}A ?ɿEl@=DHdg To Contact =140.296402 degreesZEBbE;:E-o$?BE=o$?JEi REu jEBrE^);I9 iI!%ﳘi!! )2@-<:@5w: $Dacoustic_contact_range 62.220009 m$hTrackAcousticContact.heading_to_contact 2.448634 rad$ LDUSBL_Hydroid.xAngle -57.999999 arcdegR>Y>ŇZ* mSj(AYt*M@t*Á\@yt*+t*u>t*H^`?@oh%ӿg?xB'E)~҄GF@%Y%2;9->))Q-^E)5ú5>I9 IE8ٮ99 QEtI 9 UED99=ͭ: =:)=8 M9)I U9II UtIiI U7EI M:)M:IM09aIa9a*Gq2GqFyFyrFbFEE);I9 iI藽i 2@<:@w: Z* wlj(A) I Yt*M@t*q\@yt*'.t*7zy>t*H໊;?˯-ӿ?…??` ?)u*M@ u*U+o;Iu*CxBr>xBIEHDHFp=iTIT) +Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu+u>qyQ}^Eyͅ&>I I8ٮ QtI  UD9鰅h: )8 9)I tIi 7E >:)s:I 9I9*G2GFFrFbFEE);I9 iICi 2@<:@w: 1|Z* j(AYt*M@t**\@yt*H't*Py>t*H- ? Q &ӿ`?@?`? ?)u*M@ u*NIo;Iu*CxZh>xZE)-Gi11F@=YEӈ:E>AAQE^EIM.;M>IQ I]8ٮQQ QetI Q UeD9QU; U ;)U8 m9)iIi utIii u7Ei m:)m|:ImJ9I9*G2GFFrFbFEE);I9 iIfi 2@<:@w: i?AçZ* j(AYt*M@t*x\@yt*5t*Wu>t*H``?@ӿep?`?i??)u*M@ u*)o;Iu*CxBjw>xB"EiLIP)=GF@}Yʅ >ʉʉQ^Eʉ͕ź>I I8ٮ QtI  UD9鰝: :)Ř8 9)I tIi 7E :) :I9I9*G 2G F F rFbFEE)-;I-9 11i1I19=vi99 A2@E<:@Ew: YZ*  oj(A Yt*M@t*"r\@yt*j$)t*qw>t*H xBEG@H@)~Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y:>Q^EȂ>I I8ٮ QtI  U D9: :)8 59) I  5tIi  =7E  l;) l;I &9AII9IO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GyM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI,i 2@<:@w: `ִZ* Jj(AYt*|M@t*}\@yt*K*t*y>t*H`?@_!ӿ @@?`B?.?u ?)u*|M@ u*Eo;Iu(xBp>xB%EiLIRC)~҄G%=F@Y%%!%>!)Q-^E)-:->I1 I=8ٮ11 Q=tI 1 UED915: 5:)5W8 M9)AIA MtIiA M7EA E:)E9:IE.9YIa9a&uMuAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'u NuInitialize.q'uN@Vehicle HDG: 197.393218 arcdeg .q''*G2Gl@FFrFbFEE);I9 iIfM%@il@ !2@%<:@%w: 9$RHorizontalControl.headingCmd 2.448634 rad>e>Z* >%j(AYt*)M@t*4[\@yt*a+t* z>t*H }?X⯿`ӿ &`Q?$l?@Q?`S ?)u*)M@ u*%o;Iu*CxBMl>xBLE)~+Ga 1=a 1= a 5=a 5= a 9=a 9= a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝ;D>ʡʡQ^Eʡͭv>I I8ٮ QtI  UD9鰵; ;)8 9)I tIi 7E [:),:I79I9=O=@Contact HDG: 140.296402 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFAbFIEIE);I9 iI L"@i   2@<:@w: ߡZ* k(A) IYt* M@t*m\@yt*,t*x>t*Hq ?`Vӿҟ/????)u* M@ u*Ro;Iu*Cx>v>x>EHB=H@iPIRC)GF@Y%a%>!!Q%^E)-Y8;5>II I]8ٮII QetI I UeD9IM ; MB;)M.8 m9)iIi utIii u7Ei mF:)m9:Im?9I9*G2GFFrFbFEE);I9 iIC@i  2@<:@w: !JZ* !k(AYt*M@t* W\@yt*47t*E x>t*H`?@ҿ :??e? X?)u*M@ u*Kn;Iu*CxB"h>xBE {@Y|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGiiqF@YʵӺ>Q^E-VJ->IA Iu8ٮAA Q}tI A UD9AE < E <)E8  9) I  tIi  7E  |:) M:I -J9!I!9!*G12G1F9F9rFAbFAEAE);I9 iI@i 2@<:@w: Qi!!]xnEE){r3{I{pi{rZ>{r7>{p{r A{p|rdB9|rV?p[UiAIEC)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>  Q ^E >I Im8ٮ QutI  UD9< <)8 9)I ]tIi e7E <)t.Hn?4@wҿ#X?@, ?p? 9 ?)u.TM@ u.n;Iu.Cx t>x lEGAAH)vGF@UY]E:]>aaQe^Eam}m>I1 I=8ٮ11 Q=tI 1 UED915=: 5:)58  9)III  tIiI  7EI ML<)Mt*Hqf?`|㯿@ҿ`@(?؃?P? d ?)u*|M@ u*n;Iu*Cx>l>xBEiXIX)%dG-R=)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@%Y-{7;->11Q^Eݜ>I I%8ٮ Q%tI  U-D9ͭ: l:)8 9)I tIi 7E :):Ivc9I!9)*G92G9F9F9rFAbFEE);I9 iIael@iii i2@u<:@}w:R>p> I6Z* Fk(AYt*M@t*"6\@yt*\4t*y>t*H`Px? 1`*ҿ@y?@d?`'?g ?)u*M@ u*n;Iu*CxB`k>xFE)!F@YY>Q^E; >I  I8ٮ   Q5tI  U=D9  g; 0;) 8 E9)9I9 EtIi9 E7E9 =:)=$:I=j9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi !2@%<:@%w: y`Z* %#k(A)IYt.jM@t.\@yt.7 t.X{>t.H@$ ]U?֯@ҿ @?? ? ?)u.jM@ u.o;Iu,xNj>xRqEHPHPi`IbC)%GF@=YES;E>AAQM^EIMɠM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m7Ea e::)e:Ier9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 197.036614 arcdeg .q'-'-*G)2G- e@F1F1rFYbFYEYEY)m;I 9 iI4@i e@ 2@%<:@%w: $RHorizontalControl.headingCmd 2.474917 radljZ* Dk(AYtBSM@tB\@ytB%+tBNz>tBH pC?r4ҿ|`?`d?? ?)uBSM@ uBbo;IuBCxJ"h>xJE)Gi!!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yк>Q^E(Z>I I8ٮ QtI  UD9; :)8  9)I  tIi  7E :)A:I{99I999=O@Contact HDG: 141.802322 arcdeg .''O4Initialize Wait Component.*G2GFiFqrFqbFqEyEy);I9 iI@i 2@<:@w: i!!RsZ* fk(AYt:M@t:[@yt:&t:q{>t:H `?@}wҿxN%Ei|I|)UGF@}Y}N1:>ʁʁQ^Eʁ͍>I I8ٮ QtI  UD9鰕: :)|8 9)I tIi 7E :) :I9I9*G2GFFrFbFEE)-;IU9 QQiQIQ] e@iYY a2@e<:@ew: yѢZ* k(AB@ DYtEd(M@tEo[@ytE %tEmy>tEHp?⮿ҿܴ ?i??` ?)uEd(M@ uEo;IuAx%]>x-xEG-@AH))Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y 8 > Q^Et:>I IE8ٮ QEtI  UMD9o; Z:)E8 U9)III UtIiI U7EI M:)Mȗ:IMˍ9!I!9!*G12G1F9FYrFabFaEaEa);I9 iIi 2@<:@w: ![*  l(AYt*#L@t*.[@yt* "t*#f{>t*H?访@|Sҿ@)?@kV?? ?)u*#L@ u*`o;Iu*CxBl>xBEiLIRC)=GE4=E4=F@}Y}:>ʁʁQ^Eʁ͍T>I I8ٮ QtI  UD9鰕: :)E8 9)I tIi 7E :)I9I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: N>e>:[* h$l(AYt*\L@t*g[@yt* +t*g{>t*Hy?@N`8ҿʺ@ZxR E {PY|PZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@=YE@E>IIQM^EIueu>I I8ٮ M8 QtI  UD9鰅Am< 9n<)8 9)I tIi 7E :)M:I9I9*G2GFFrFbFEE);I9 )i)I)11i11 12@=<:@=w: ߙ[* N>l(A)*4tFH G ?@̚`ҿ@M?K? :??)uFλL@ uFvp;IuFCxN^R>xRZEHPHPiI)5dGa 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʙʙQ^Eʙͥ>I I8ٮ QtI  UD9鰭_: :)8 9)I tIi 7E O:)ȗ:I9I9*G2GFFrFbFEE) ;I 9  iIi 2@%<:@%w: 1B[* Xl(AYt*L@t*&3[@yt*!t* z>t*HԸ?譿 *ѿ\?6?? ?)u*L@ u*p;Iu*CxBl>xBE)~Gi~xAF@=YE48E>AAQM^EIMZM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U 8 m9)aIa mtIia m7Ea e:)e:Ie{9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i[* ql(AYt*L@t*6[@yt*~#t*v>t*H V։?`h~ѿHO?@o?@M?+?)u*L@ u*?q;Iu*CxBn>xBEiPIRC)SGF@=YEvE>AIQM^EIM :M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m7Ea e:)e,:Ie9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.250009 arcdeg .q''*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A4"[* $Ջl(A@ Yt*:L@t*"Z@yt*%t*|>t*H[;?ȇ ѿ`sV??H2??)u*:L@ u*"q;Iu*CxNv>xREGPHP)Ga 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y} n>ʁʁQ^Eʁ͍A>I I8ٮ QtI  UD9鰕2: 5:)8 9)I tIi 7E -:):I9I9=O%@Contact HDG: 141.802322 arcdeg .'%'%O%4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)M;IM9 IQiQIQYYiYY Y2@e<:@ew: yQ([* ϼl(AYt.L=L@t.WZ@yt.q &t.}>t.H i=? 4ѿe s?Ä?TP?@?)u.L=L@ u./r;Iu.CxBq>xBEi`I`)EGQU%=F@Yʭ+>ʹʹQ^Eʹͽd9>I I8ٮ QtI  UD9: :)"8 9)I tIi 7E :)˚:IW9I9*G2GFF rF bFEE)%;I%9 ))i)I)11i11 92@=<:@=w: QR>p>~&/[* l(AYt*8K@t*CZ@yt*Yt*sl{>t*Hp"?`5cѿ`%D? ?? ?)u*8K@ u*7.r;Iu*CxVh^>xVE)%ƄGa 1ea 1e a 5ea 5e a 9ea 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ,:>ʉʉQ^Eʉ͕1>I I8ٮ QtI  UD9鰝ի: :))8 9)I tIi 7E :):I9I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !6[* el(A) I Yt*K@t*&vZ@yt*.t*z\z>t*H@ a?%2`/ѿ@_3?}Å?@? ?)u*K@ u*OFr;Iu*CxBm>xB'EHFa=HFa=iPIP)GF@]Ye#e>aaQm^Eimm>Iq I8ٮqq QtI q UD9qu|; u,;)u[08 9)I tIi 7E :):I59I9*G2GFFrFbFEE)5;I59 99i9I9YYiYY Y2@e<:@ew: ߙ>8<[* @l(AYt*xK@t*eZ@yt*<%t*>y>t*H@3?hѿ??@? ?)u*xK@ u*wr;Iu*CxRZe>xR E)dGiyAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y?O;>Q^E  >I I8ٮ QtI  UD9: :)78 %9)!I! -tIi! -7E! %:)%9:I%99I999*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIqyyiyy 2@<:@w: ߙi C[*  m(AYt*{K@t*(Z@yt* t*`z>t*H ?[`п oA?`@?`p?`/ ?)u*{K@ u*qqr;Iu(xBl>xBEiPIP)~jGF@ Yo>Q^ED">I! I-8ٮ!! Q-tI ! U-D9!%: %:)%=8 =9)1I1 =tIi1 =7E1 5:)5:I59III9I*Ga2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: )MI[* :'m(A2@ 4YtbeLK@tbpY@ytbHE+tbs}>tbH2h]?`«"п `?h?A]?`?)ubeLK@ ubr;Iu`xjk>xjEGhHl {lY|lr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y>Q^E>I I 8ٮ Q tI  U D9: :)hF8 9)I tIi 7E p:) :Io9III9IO]Done Waiting.']O]8Uninitialize Wait Component.*GY2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: 2P[* @m(AYt*K@t*Y@yt*-t*ry>t*H#6?Ӫ܊п:*?@໅?)?` ?)u*K@ u*3s;Iu*CxBh>xBE){F;d]I{Di{F>{D{D{FB{D|F=B9|F&)Q ?Yi`I`)%: uB:)uK8 9)I tIi 7E :):I*9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 194.980481 arcdeg .q' ' *G 2G FFrFbFEE2E!zE%=BE%Mh\)eG@;pKE%&)Q ?YE%;d]E!E%c'%MǤ*C@hoLz)E%7(9aXr?8FzƿE%e}#@=5DHdg To Contact =146.363700 degreesZE%HBbE%gl:E% o$?BE%4o$?JE%i RE%l jE%KrE%(1);I9 iIi 2@<:@w: 1$mDacoustic_contact_range 72.120010 m$uhTrackAcousticContact.heading_to_contact 2.554528 rad$}LDUSBL_Hydroid.xAngle -49.550000 arcdeg%Y>\V[* hZm(AYt*J@t*řY@yt*(t*z>t*Hk?̪`ZпDZ? ?,?` ?)u*J@ u*"s;Iu*CxRh>xP)%GF@5Y5M:5>99Q=^E9EE>II IM8ٮII QUtI I UUD9IM: M:)MR8 ]9)Y e9IY etIiY e7EY ]˚:)]:I]9qIq9q=O@Contact HDG: 146.363700 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  i   2@<:@w: )[\[* ntm(A) I Yt*J@t*tY@yt* t*{y>t*H`S@W?@6п @,?B?D? ?)u*J@ u*D4s;Iu(xRo>xREHPHTidIh))a 1ma 1m a 5ma 5m a 9ma 9m a -ma -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ:>ʑʑQ^Eʑ͝D>I I8ٮ QtI  UD9鰥}: :)Y8 9)I tIi 7E :)$:IO 9I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )8nc[* cm(AYt*J@t*KY@yt*0t*z>t*H}r?@"п@*Q?F?? ?)u*J@ u*y&s;Iu*CxZMl>xZLE)1i11F@EYED:E>IIQM^EIUλU>IY I]8ٮYY QetI Y UeD9Y]t: ]:)]`8 m9)iIi utIii u7Ei mp:)mȗ:Im9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: isi[* ?m(AYt*iJ@t*Y@yt*9%t* |>t*Hb?%ȷϿ `??I?`?)u*iJ@ u*Ss;Iu*CxB`>xB. EiLIL)=Ga 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝߺ>ʡʡQ^Eʡͭ2>I I8ٮ QtI  UD9鰵S: W:)g8 9)I tIi 7E :)Z:I`9I9*G2GFFrFbFEE);I9 iIi! !2@%<:@-w: 9p[* m(A Yt*IJ@t*X@yt*H/t*px>t*H? Y@yϿJ"????)u*IJ@ u*s;Iu*CxNsj>xR(EGRAAHP)vGF@-Y-hº->11Q5^E1͝j>I I8ٮ QtI  UD9鰥%: į:)n8 9)I tIi 7E :):I%9I9*G2GFFrFbFE E )=;I=9 AAiAIAIIiII I2@u<:@uw: ߉v[* m(AYt*J@t*X@yt*_ t*Ay>t*H@F `Eh?2`Ͽ @9? ?U?@?)u*J@ u*xRqEi\I\)G%4=!F@-Y5;5>11Q5^E1==>IA IM8ٮAA QMtI A UMD9AE\: E:)E2u8 ]9)QIQ ]tIiQ ]7EQ U:)UԳ:IU.9iIi9i*G2GFFrFbFEE)%;I%9 !)i)I))1i1Q Q2@]<:@]w: q!%a>|[* m(AYt.J@t.X@yt. t.ǘ>t.H@A L?οq?.T??@?)u.J@ u./Nt;Iu.Cx6o>x6E)n҄Ga 1%a 1% a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a - a --@a - !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=YEb:E>AIQM^EIM)U>IQ I]8ٮQQ QetI Q UeD9QU: U:)U|8 m9)aIa mtIia u7Ea e:)e :Ie69I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ![* Ln(A);I Yt*I@t*qX@yt*t*O~>t*H)?`jwο@?ᘃ?@+? ?)u*I@ u*zt;Iu(xBz>xB EHFp=HDiPIP)vGF@%Y%->))Q-_E)5$5>I9 IE8ٮ99 QEtI 9 UED99=5: =N:)=8 M9)III UtIiI U7EI MF:)M9:IM?9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 193.770868 arcdeg .q'5'5*G92G=e}#@F9F9rFAbFAEAEA);I9 iI%V @i!%e}#@ )2@-<:@mw: ߁$RHorizontalControl.headingCmd 2.554528 rad[* )n(AYt^¥I@t^RX@yt^t^x>t^H@?`;ο )d5????)u^¥I@ u^u;Iu^Cxvh>xvE {Y| 8****** ping requested ******5Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gi xA a 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʭ>ʱʱQ_Eʱͽ燻>I I8ٮ QtI  UD9/= g/=)8 %9)I %tIi %8E h;)N;II9QIQ9Y=O@Contact HDG: 146.363700 arcdeg .''O4Initialize Wait Component.*G2GF F rFbFEE)M;IM9 IIiQIQ]e}#@i]r>Y 2@<:@w: i!!Vΐ[* paCn(AYt*I@t*7X@yt*ekt*2y>t*H` m?TοQ,B? Y??A?)u*I@ u*"^u;Iu(xBv>xBGE){BvapI{@i{B >{B>{@{B A{@|B3B9|B{H#=?f1ni`I`)SGF@]Ye:e>aaQm_Eimm>Iq I}8ٮqq Q}tI q UD9qu: u:)uߐ8 9)I tIi 8E :):IGP9I9*G2GFFrFbFEE2EzE3BE=f9C@P=DJE{H#=?f1nEvapEE"A޹HOTAD@br(ENb>?kV-*ȿE/"@=DHdg To Contact =140.673251 degreesZE"BbEE:E&o$?BE o$?JEh REi jEDrEK);I9 iITFi > 2@ <:@ w: !$=Dacoustic_contact_range 65.100006 m$MhTrackAcousticContact.heading_to_contact 2.455211 rad$MLDUSBL_Hydroid.xAngle -53.800000 arcdeg [* >]n(A Yt6UI@t6X@yt6n(t6l|>t6H! ?4`yͿ+ y?` ?;??)u6UI@ u6-u;Iu6CxRa>xR EGPHP)%dGF@]Yee>aaQe_Eim6m>Iq I}8ٮqq Q}tI q U}D9qu: uo:)u×8 9)I tIi 8E :) :IX9I9*G2GFFrFbFEE);I9 iI!Mi 2@<:@w: (#[* wn(AYt*o_I@t*z X@yt*t*G>t*H 4?٨ Ϳ# Q?`W???)u*o_I@ u*u;Iu*CxB5g>xB*EilIn“C)=GE%=E4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ;>ʩʩQ_Eʩͭ:>I I8ٮ QtI  UD9鰽: J:)Ϟ8 9)I tIi 8E h:)$:I{a9I9*G2GFFrFbFEE);I9 iI!%i!! )2@-<:@-w:e8j> qa>%]> [* jn(AYt*I@t*W@yt*Tt*}>t*H(?ۧ@"ͿF1??^??)u*I@ u*Yu;Iu*CxFWx>xJE)MvGF@Yʝ6>ʙʙQ_Eʙͥ8>I I8ٮ QtI  UD9鰭:  :)8 9)I tIi 8E %:):Ii9I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w:) )))I) ߩ4[* 5Ϫn(A) IYt.4"I@t.?W@yt.f7$t.?x>t.H@' ?9;Ϳ9L3?@ֆ? ? ?)u.4"I@ u.qou;Iu.Cx6xp>x6EH:R=H8iDIFC)vGF@zY~RK>Q_E  ; >I I8ٮ QtI  UD9): N:);8 %9)!I! -tIi! -8E! %:)%:I%r99I999*GI2GIFQFQrFbFEE);I9 iI#i !2@%<:@%w: 9s[* n(AYt*3H@t*>W@yt*t*${>t*H+X?y̿8@?dƒ?`~"? ?)u*3H@ u* u;Iu*CxRb>xRQ E)GiwAxAa 1]a 1] a 5]a 5] a 9]a 9] a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʥTg:>ʡʡQ_Eʡͭ%>I I58ٮ Q=tI  U=D9鰵u< <)z8 E9)AIA MtIiA M8EA Eh:)E9:IEV{9yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI߂i 2@ <:@ w: iF[* En(AYt*H@t*W@yt* )t*g>t*H@0$?i`̿1??@6?@?L?)u*H@ u*#t;Iu*CxBa>xB EiLIP)~GF@=YEmE>AIQM_EIM5ĻM>IQ I]8ٮQQ Q]tI Q UeD9QUG: U:)U*8 m9)aIa mtIia m8Ea eF:)e|:IeB9yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.924881 arcdeg .q''*G2G/"@FFrFbFEE);I9 iI4"@i/"@ 2@<:@w: $RHorizontalControl.headingCmd 2.455211 radLq[* an(A Yt.MH@t.XrW@yt.nt.9}>t.H1y? І̿ 9 h?[?i?@?)u.MH@ u. t;Iu.CxB'n>xBpEGF@AHD)dGF@=YE/;E>AIQM_EIU]>Ii I}8ٮii QtI i UD9iml; m;)m8 9)I tIi 8E Ր:) :Iދ9I9=Oe@Contact HDG: 140.673251 arcdeg .'e'eOe4Initialize Wait Component.*Gi2GiF!F!rF)bF1E1E1)E;IM9 IIiIIiu:@iqq q2@}<:@}w: ߑX[* ;o(AYt*H@t*(YW@yt*#t*Aw>t*H Y4 !?`Q@U̿G^0?@u?u??)u*H@ u*)t;Iu*CxNRr>xREi`I`)G!%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʉQ_Eʉ͍t>I I8ٮ QtI  UD9鰕p: а:)8 9)I tIi 8E [:):Iu9I9*G2GFFrFbFEE);I9 iI@i 2@ <:@ w: !V>a>ׄ[* ,o(AYt*H@t*EW@yt*ut*e~>t*H 60??I 80̿<?\?`? 9?)u*H@ u*os;Iu*Cx>`>x>. E {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>!!Q%_E!-4->I9 IE8ٮ99 QEtI 9 UMD99=; =:)=[8 ]9)QIQ ]tIiQ ]8EQ U:)UH:IUp9qIy9y*G2GFFrFbFEE);I9 iIn@i 2@<:@w: *k[* 8Eo(A) IYt.H@t.-W@yt.RWt.'>t.H 9`n?>c̿<3?ʃ?;?W?)u.H@ u.ys;Iu.CxBa>xB EHF=HFp=i\I\)iF@Yʝ->ʡʡQ_Eʡͭw>I I8ٮ QtI  UD9鰵b: :)8 9)I tIi 8E :)ȗ:I9I9*G2GFFrFbFEE);I9 iI/"@i!! !2@-<:@-w: 9[* _o(AYt*RH@t*V@yt*t*_%>t*H`6>?Ԧ˿RA 2??`?k?)u*RH@ u*4s;Iu(xRl>xRE)QiYYF@mYmѮ:m>qqQu_Eq}v}>I I8ٮ QtI  UD9鰅: :)8 9)I tIi 8E x:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: iо[* yo(AYt*qH@t*W@yt*Tt*0&w>t*H :\?5`˿kO*?>?ݗ?@3?)u*qH@ u*s;Iu(xBi>xBEiPIT)SGa 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe*m>iiQm_Eiuc;u>I I8ٮ QtI  UD9鰽ͭ: ):)8 9)I tIi 8E O:):I9I9*G12G1F9F9rFAbFAEAEA)};I}9 yyiyIyi 2@<:@w:  [* o(A Yt*TH@t*W@yt*#t*9{>t*H=#?Q`©˿Jw?`?~?n?K ?)u*TH@ u*:r;Iu(xNRr>xREGR?AHP)dGF@-Y-ɺ->11Q5_E1==>IA IM8ٮAA QMtI A UMD9AE: E:)Ec8 U9)QIQ ]tIiQ ]8EQ Uį:)U÷:IUɾ9iIi9iO}Done Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: [* 1]o(AYt*:H@t*V@yt*jt*>t*H@`f?Sx˿B<?L-?_??)u*:H@ u*r;Iu(xRl>xREi\I\)%ʁʁQ_Eʉ͍s>I I8ٮ QtI  UD9鰕c: E:)t8 9)I tIi 8E p:)c:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 192.393506 arcdeg .q'-'-*G)2G)F1F1rFbFEE);I9 iIi 2@<:@w: R>V>[* 9o(AYt*93H@t*DV@yt*it* }>t*HA?@@i˿J? M?`#N??)u*93H@ u*Zr;Iu(xB c>xB E)zGF@=YEE>AAQM_EIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U68 m9)aIa mtIia m8Ea e:)e:Ie9yIy9=O@Contact HDG: 140.673251 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 1[* o(A) I4t*HSC6?@,4J˿&U'M?`?_? `?)u*#H@ u*1Zr;Iu*CxBi>xBNEHFp=HFa=iPIP)҄GF@=YE:E>AIQM_EIMM>IQ I]8ٮQQ Q]tI Q UeD9QU`: Uc:)U8 m9)aIa mtIia m8Ea e::)aIe^9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: < [* o(AYt6,H@t6V@yt6o$t6=Cx>t6H 5B@]?Tj \˿ZT@ I?`ׂ?@i??)u6,H@ u6h?r;Iu6CxBh^>xBE) vGi vA wAa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmiCm>qqQu_Eq}˻:}>I I8ٮ M8 QtI  UD9鰅Z: :)8 9)I tIi 8E :):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i"\* !p(AYt*H@t*¼V@yt* t* }>t*H\E`Θ?3%\$˿N?B?@>O??)u*H@ u*Tr;Iu*CxB`k>xBEiLIL)~GF@Y%;%>!)Q-_E)-5>I1 I]8ٮ11 Q]tI 1 UeD915; 5˵;)5 8 m9)aIa mtIia m8Ea ep:)eݖ:Ied9I9*G2GFFrFbFEE);I9 iIi !2@%<:@%w: Y7 \* .p(A Yt.H@t.V@yt.t.>t.H@D ?jr;˿Gh,?F??=?)u.H@ u.Hr;Iu.CxR5g>xR*EGR@AHP {TY|TZ8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʥ>ʩʩQ_Eʩ͵V:>I I8ٮ QtI  UD9鰽: 1:)!8 9)I tIi 8E :)g:I9I9*G2GFFrFbFEE);I9 iI!!i! 2@<:@w: \* VHp(AYt*fH@t*qV@yt*nt*, {>t*HQF@?` ˿BSR?r? ? ?)u*fH@ u*9Cr;Iu*CxNHf>xR EihIh)571\* [\bp(AYt.!H@t.,V@yt.t.s>t.HD?@2`2˿_`ʶ??(? ?)u.!H@ u.xr;Iu.CxBh>xBE)~GF@=YEj:E>AAQM_EIM &;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U!8 m9)a m9Ia mtIia m8Ea e :)ew:Ie9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE1);I9 iI i 1 92@M<:@uw: ߁[\* L6|p(A)4t*H D`z?`<˿`9X(?`܂?e??)u*H@ u*8jr;Iu*CxBm>xB'EHFa=HDiTIT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a U a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYmAm>qqQu_Eq}7:}>I I8ٮ QtI  UD9鰅: S:)(8 9)I tIi 8E :)=:I 9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.285234 arcdeg .q'm'm*Gi2GiFqFqrFybFyEyEy);I9 iIi 2@<:@w: kC%\* {p(AYt* $H@t*+V@yt*Dt*-|>t*H/CC?+=L˿$N@ú?@Ȃ?4? ?)u* $H@ u*Kr;Iu*CxBRr>xBE)~vGiwAF@=YEy8E>AAQM_EIM:M>IQ I]8ٮQQ Q]tI Q U]D9QUh: U:)U]/8 m9)aIa mtIia m8Ea e:)e :Ie9yIy9=O@Contact HDG: 140.673251 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: 9il+\* >p(AYt*2H@t*=V@yt*#"t*B>t*H E`?@@')˿I?`\?@?f?)u*2H@ u*Hr;Iu*CxBp>xB%EiLIL)~dGa 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY]e>aaQe_Eam/m>Iq Iu8ٮqq Q}tI q U}D9quJ: up:)uQ68 9)I tIi 8E Ր:):I9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: UU2\* dp(A Yt*+AH@t*6V@yt*+N"t*v>t*H`@6?x˿TQ?I?!?@?)u*+AH@ u*r;Iu*CxB`k>xBEGF?AHD)|F@ YQ8>Q_E.;%>I! I-8ٮ!! Q-tI ! U-D9!%: %):)% =8 =9)1I1 =tIi1 =8E1 5%:)5:I5$9III9Q*Ga2GaFaFarFibFiEiEq);I9 iIi 2@<:@w: ߩg8\* Lp(AYt*C5H@t*NV@yt*>t*w>t*HQA? m˿`TN6?sу?@Y? ?)u*C5H@ u*gr;Iu*Cx^Ze>xb EilInC)=GE4=E%=F@MYM:U>QQQU_EQ]*]>Ia Im8ٮaa QmtI a UmD9ae%: e:)eD8 }9)qIq }tIiq }8Eq u>:)u:Iu-9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: V>}>\* Ep(AYt.eH@t.W@yt.t.az>t.H#<=?@m˿J |?@2?N?` ?)u.eH@ u.r;Iu.CxNU_>xRS E)]vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>Q_EP;>I I8ٮ QtI  UD9p: 0:)7K8 9)I tIi 8E :)Z:IU69I9*G 2GFFrFbFEE!)5;I59 11i9I999iAA A2@M<:@Mw: YqE\* Zq(A) IYt*3|H@t*>)W@yt*t*)~>t*H`9De? 8˿ ?f??`y?8?)u*3|H@ u*}r;Iu*CxBMl>xBLEHBp=HBp=iPIR“C)~dGF@Yʕ>ʙʙQ_EʙͥL`;>I I8ٮ QtI  UD9鰭: :)R8 9)I tIi 8E :)|:I>9I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: 1>K\* 41q(AYt*H@t*/W@yt*! t*V{>t*H 8Yz?@v ̿Fz?`"??@ ?)u*H@ u*r;Iu*CxBh>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GiF@%Y-]->11Q5_E1=:_:=>IA IE8ٮAA QMtI A UMD9AE: E-:)EY8 ]9)QIQ ]tIiQ ]8EQ Q)U9:IUXH9iIi9iO}Done Waiting.'}O}8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i!)R\* Kq(AYt**H@t*5eW@yt*m t*u>t*H 3V?G*m̿`OJ?` ? k??)u**H@ u*r;Iu(x>"h>x>EiXIZC) SGa 1Ma 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuZu?qyQ}_Ey}3<?I I8ٮ QtI  UD9鰅O: 1:)_8 9)I tIi 8E ٓ:):IO9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 192.831936 arcdeg .q'm'm*Gi2GiFFrFbFEE);I9 iIi 2@<:@w: X\* dq(A Yt.H@t.W@yt.kt.Sy>t.H/Z?@즿̿`7@X?@b?? ?)u.H@ u.r;Iu,xNg>xRsEGR@AHP)%dGF@-Y5#95>19Q=_E9Eә;E>II IM8ٮII QUtI I UUD9IM.: Mͭ:)M}f8 ]9)YIY ]tIiY e8EY ]h:)]|:I]W9iIq9q=O@Contact HDG: 140.673251 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  i   2@<:@w: )^\* ~q(AYt2H@t2W@yt22t2Uh{>t2H`,XR?QȦ̿8?BQ?@?` ?)u2H@ u2r;Iu2CxNmd>xRu Ei`I`)%G))a 1ea 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ!8>ʉʉQ_Eʑ͕iy;>I I8ٮ QtI  UD9鰝: :)m8 9)I tIi 8E _:):I`9I9*G2GFFrFbFEE);I9 iI i   2@<:@w: !a>Y>e\* q(AYt*$I@t*W@yt*G t*o|>t*H&J? +ԧ4AͿ1`¯?`?;??)u*$I@ u*:r;Iu*Cx>m>xB'E)~AAQM_EIM'<M>IQ I]8ٮQQ Q]tI Q U]D9QUS: U:)UMt8 m9)aIa mtIia m8Ea e:)e :Iei9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: U l\*  |q(A);I Yt*KI@t*!W@yt*&t*CUz>t*H\"G?氧TͿ1o?ф?? ?)u*KI@ u*r;Iu(xZZe>xZ EH\H^a=ihIl)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝq>ʡʡQ_EʡͭF;>I I8ٮ QtI  UD9鰵c: E:)e{8 9)I tIi 8E F:)|:Iq9I9*G2GFFrFbFEE);I9 iIi !2@%<:@-w: 9;r\* GWq(AYt*hI@t*X@yt*]*t*@{>t*HN1?@dfͿ`* ?`T? (? ?)u*hI@ u*ւr;Iu*CxBp>xBE)%҄Gi%xA!F@=YE&E>AIQM_EIM6;U>IQ I}8ٮQQ Q}tI Q UD9QU; UA;)U8 9)I tIi 8E :):I*z9I9*G2GFFrFbFEE);I9 i!I!99i99 92@E<:@Ew: yiy\* ?q(AYt~0I@t~;VX@yt~M#t~xy>t~H`b@Ҫ?@] TBο(K?@?? ?)u~0I@ u~gfr;Iu~Cx%5g>x%*EiqIu“C)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y5u:5>99Q=_E9Ek<E>IA IM8ٮAA QUtI A UUD9AE: Ec:)E8 ]9)YIY etIiY e8EY ]:)]:I]C9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: \* r(A Yt2WI@t2blX@yt2(t2/>t2H?@r @Xmοf??A??)u2WI@ u2Or;Iu2CxBb>xB EGDHD) dGF@EYEPE>IIQM_EIUm;U>IY I]8ٮYY QetI Y UeD9Y]F: ]>:)]8 m9)iIi mtIii u8Ei m:)m :Im9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E!)];I]9 YYiYIYaaiaa i2@m<:@uw: ߁.\* dr(AYt*I@t*%X@yt*b.t* |>t*H 9@? `οvƘ? @̅?\2?}?)u*I@ u*r;Iu*CxNi>xREi\I^C)G!!F@=YE\E>AAQM`EIM <M>IQ Ie8ٮQQ QetI Q UeD9QUv; U;)UƖ8 m9)iIi utIii u8Ei m[:)m:Im9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.950776 arcdeg .q''*G2GFFrFbFEE)-;Im9 iiiqIqqqiyy y2@<:@w: %R>!X\* e3r(AYt**J@t*5X@yt*#(t*|>t*H @l?dp#Ͽ{?H?`jM??)u**J@ u*;q;Iu*CxB`>xB. E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Yg:>!Q%`E!--q;->I1 I=8ٮ11 QEtI 1 UED915]: 5:)5*8 9)III tIiI 9EI M~==)M==IM9I9=O@Contact HDG: 140.673251 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI))i)) 12@=<:@=w: y?\* ܟMr(A)4t*H?@֩`Ͽ =?`}܄?U,? ?)u*SJ@ u*$q;Iu*CxBRr>xBEHDHDi\I\)11Q5`E1=d0<=>IA IE8ٮAA QMtI A UMD9AE%: E):)E8 U9)QIQ ]tIiQ ]9EQ U>:)Us:IU9iIi9i*Gy2GFFrFbFEE);I9 iIi 2@<:@w: k\* 4gr(AYtBiJ@tBY@ytB:tBoh>tBH@ /?FܩϿ.`?@B? ? ?)uBiJ@ uB2q;Iu@x^5g>x^*E)=XGi=wAExAa 1}a 1} a 5}a 5} a 9}a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʝM7>ʡʡQ`EʡͭpP;>I I8ٮ QtI  UD9鰵t: )8 9)I tIi 9E p:)ȗ:Ij9I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: AiQ\* iVr(AYt2J@t2GY@yt2#%t2>t2H3h?۪ п`I? ͻ?`??)u2J@ u2qq;Iu2CxBn>xBEiPIV“C)vGF@=YEN;E>AAQM`EIM;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UY8 m9)aIa mtIia m9Ea e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: {\* 1r(A@ Yt*YJ@t*dsY@yt* 6t*$:~>t*Ha@? 5п`9?\?ts?`V?)u*YJ@ u*q;Iu(xB`k>xBEGFAAHFAA)EGF@UYU]>YYQ]`Eaeo;e>Ii Iu8ٮii QutI i UuD9im: m5:)mK8 9)yIy tIiy 9Ey }:)}:I};9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: \*  r(AYt*gJ@t*rY@yt*-t*[>t*HYf?"Tп@c??qE?X?)u*gJ@ u*bq;Iu*CxBo>xBJEiPIP)=ʹʹQ`Eʹ6;>I I8ٮ QtI  UD9:: :)c8 9)I tIi 9E :)˚:I9I9*G2GFF rF bF EE)-;I-9 ))i)I)11i99 92@E<:@Ew: Q4\* r(AYt*J@t*Y@yt*$t*#>t*H4?b45eп@@^? ?#??)u*J@ u*r;Iu(xBf>xB E)zGF@=YE{:E>AAQE`EIME0;M>IQ I8ٮQQ QtI Q UD9QU(p< U{p<)U8 9)I tIi 9E :)k:Iw9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE E );I%9 !!i!I!))i)) )2@=<:@=w: Iƺ\* r(A)*;I(YtNJ@tN̚Y@ytN~P tNn>tNH`ӈ? V@[пj֠?@J?@!??)uNJ@ uNs;IuNCxRo>xVJEHVa=HTidId)%Ga 1ea 1e a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ~;>ʉʉQ`Eʉ͕t>I I8ٮ QtI  UD9鰝\: _:)8 -9)I 5tIi 59E <)t.H ?yп ;?0|? Hh??)u.94K@ u.;s;Iu.CxBo>x@) +GiwAF@=YEs;E>AAQM`EIM2<M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m9Ea e:)eȗ:Ie69yIy9=O@Contact HDG: 140.673251 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIi 2@<:@w: i\* ws(AYt*K@t*Y@yt*ٻt*J>t*HH?%@пV?0{? l? ?)u*K@ u*ar;Iu(xBb>xB EiLINC)~SGF@ Y a_:>Q`EP>I! I-8ٮ!! Q-tI ! U-D9!%: %:)%8 59)1I1 =tIi1 =9E1 5:)5I:I59III9I*Ga2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩ\* 3T6s(A@ Yt*FdK@t*QZ@yt*~b't*S>t*H ]?`(0п 4 u?7?x3?`R?)u*FdK@ u*tr;Iu*CxN5g>xR*EGPHR@A {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}Ga 1a 1 a 5a 5 a 9a 9 a -a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@EYUU>YYQ]`EYe<e>Ii I}8ٮii Q}tI i UD9im; m:)m98 9)I tIi 9E Q;)P;I9I9*G 2G F FrFbFEE)M;IM9 QQiQIQYYiYY Y2@e<:@ew: ߡL\* 81Ps(AYt*K@t*VZ@yt*Gt*Hj?M`ѿN8??g?`g ?`?)u*K@ u*s;Iu(xBy>xBEiXIX)SG=%=F@%Y-N->11Q5`E15><=>IA IE8ٮAA QMtI A UMD9AE: E):)Eu8 U9)QIQ UtIiQ ]9EQ UȲ:)UǺ:IU9iIi9i*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: R>\*  js(AYt*K@t*uZ@yt*ˆt*z8d>t*H ?y@.ѿ `?.ِ?I?M4?)u*K@ u*-t;Iu*CxZU_>xZS E)5GF@EYE\M>IIQM`EIUZ;U>IY Ie8ٮYY QetI Y UeD9Y]ͭ: ]:)]i8 u9)i u9Ii }tIii }9Ei md:)m:ImG9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: u\* )s(A)IYt.K@t.ΛZ@yt.ft.T>t.H@A@Y?`MrSѿ@ =?ٌ?@@? ?)u.K@ u.p(t;Iu.CxBf>xB EH@HBp=iTIT)]+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y!;>Q`E%;%>I) I-8ٮ)) Q5tI ) UUD9)-V; -Z;)-8 ]9)YIY etIiY e9EY ]:)]:I]m 9qI9*G2GFFrFbFEE);I9 iIi 2@<:@%w: Q\* s(AYt*K@t*oZ@yt*(t*S>t*H "?h )ѿ?@]?e?]?)u*K@ u*_s;Iu*CxBI>xBE)~GiF@Yy<>Q`E}߻>I I8ٮ QtI  UD9; |;)8 %9)I %tIi %9E :)R:I91IQ9QOeDone Waiting.'eOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFbFEE);I9 iIi 2@<:@w: i!A\* s(AYt*K@t* Z@yt*}(t*3#]>t*H`r? ˨[ѿ׿? w?&m? KA?)u*K@ u*,r;Iu*CxB_>xB EiLIL)MSGF@]Ye+e>aiQm`Eiu<u>I I8ٮ M8 QtI  UD9R: :)q8 9) I  tIi  ]9E  .*<) K.ys(A Yt.+L@t.Z@yt.!Ft.% S>t.H@,fV?@O䦿 ѿ v ? \ۈ?1? R?)u.+L@ u.Oq;Iu.CxBr>xBIEG@H@)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʥ鐻>ʩʩQ`Eʩ͵;>IQ I]8ٮQQ Q]tI Q UeD9QUJ: U,:)U 8 m9)aIa mtIia m9Ea ep:)e;Ie$9I9=Oe@Contact HDG: 140.673251 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFiFrFbFEE) ;I 9  i I i 2@<:@%w: ߑT\* PTs(AYt*JL@t*Z@yt*YUt*u}l>t*H c?@Ϋѿ@?`?K?%?)u*JL@ u*,q;Iu*CxB,t>xB#EiLIL)~G4=F@Y%%>)1Q5`E1M;U>IY Ie8ٮYY QetI Y UeD9Y]ٮ: ]:)]8 m9)iIi utIii u9Ei i)mA:Im,9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: i><]* '1t(AYt*l;L@t*wZ@yt*{:Lt*ɟ>t*H@??[@Iѿ`{j??$?|?>?)u*l;L@ u*p;Iu(x>`k>x>E)zvGa 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʽ]:>ʹʹQ`EE>I I8ٮ QtI  UD9; ;)8 9)I tIi 9E :):I591I191*GA2GIFIFIrF bFEE)%;I-9 ))iiIiqqiqq y2@}<:@}w: if]*  t(A) IYt*EL@t*Z@yt*^:t*";r>t*HS? 5`rѿ 9?j^?@?X?)u*EL@ u*tp;Iu(x>,t>xB#EHBp=H@iLIP) GF@Y%3;%>!)Q-`E)-:->I1 I=8ٮ11 Q=tI 1 UED915: 5:)5 8 M9)AIA MtIiA M9EA E:)E:IE=9yIy9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: Aҏ ]* 8t(AxrDy>xvEE {xY|xz8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y%%>iiQm`Eiuu>Iy I}8ٮyy QtI y UD9y}O: }:)}M)8 9)I tIi 9E :):IH91I191*G2GFFrFbFEEi!!)E;IM9 IIiIIIQQiY 2@<:@w: ߱w]* Rt(AYt2L@t2;[@yt25t2yV>t2H`@7?``;ѿ@;?:? ? K?)u2L@ u2p;Iu2CxBm>xB'E){B aI{@i{B6>{B7>{@{BA{@|BQB9|Bt*H}@?M@0ѿ :%? ??@?)u*L@ u*p;Iu*Cxneq>xnnEGpHp)edGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y"ƺ>Q`E>I I8ٮ QtI  UD9S: :)58  9)I  tIi 9E :):IW99IA9AOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIi 2@<:@w: !]* >wt(AYtBYpL@tBd[@ytB/}tB>tBH@ h?`LIѿ@?o?फ़??)uBYpL@ uBp;IuBCxN:m>xREi|I~“C)]Ge%=e4=F@}Yʅ;>ʁʁQ`Eʁ͍Ә>I I8ٮ QtI  UD9鰕: :)]<8 9)I tIi 9E :)ȗ:I `9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 196.161776 arcdeg .q'm'm*Gi2Gmj#@FiFirFbFEE);I9 iI @ij#@ 2@<:@w: 9$uRHorizontalControl.headingCmd 2.555506 rad>e>ش']* Rt(AYt>L@t>%/[@yt>ct>gd>t>Hq@?@MYѿ @?m̂?s]?`3?)u>L@ u>7p;Iu>CxFi>xFE)GF@]Y]L:]>aaQe`Eam1;m>Iq Iu8ٮqq Q}tI q U}D9quӻ: u׾:)u/C8 9)I tIi 9E :)Ԙ:Ixh9I9=O%@Contact HDG: 146.419721 arcdeg .'%'%O%4Initialize Wait Component.*G!2G)F)F)rF1bF1E1E9)M;IM9 IIiIIQ]!@iYY Y2@e<:@ew: yU-]* ,+t(A) I Yt:mL@t:x[[@yt:t:Nq>t:H2?@ ҿ`*?+r?`)?'?)u:mL@ u:p;Iu:CxNZe>xR EHRa=HRa=i`IbC)a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YE>Q`E;>I I8ٮ QtI  UD95; :)\J8 -9)!I! -tIi! -9E! %::)%o:I%iq9YIY9Y*Gi2GiFFrFbFEE);I9 iI j"@i 2@<:@w: e4]* t(AYt.L@t.,[@yt.4t.6Q>t.Hos?yPѿxv?D?Z?{?)u.L@ u.p;Iu.CxJsj>xN(E) SGiF@UY]}]>YYQ]`Eaede>Ii Iu8ٮii QutI i UuD9im: m:)mP8 9)yIy tIiy 9Ey }:)}ȗ:I}~y9I9*G2GFFrFbFEE);I9 IIiIIIUj#@iQQ Y2@]<:@]w: ߑiJ:]* Ct(AYt2L@t2A[@yt24/Jt2T%>t2H` Ո?V` ѿz`& ?E? f?@?)u2L@ u2dp;Iu2CxBRr>xBEiLIL)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]Ze>aaQe`EamP;m>Iq Iu8ٮqq Q}tI q U}D9qu: u:)uW8 9)I tIi 9E h:):I9I9*G2GFFrFbFEE);I9 iIU-i 2@<:@w: jA]* su(A Yt*oL@t*[@yt*Ft*>t*H @o?ѿ`wZ ?ш? 1?;?)u*oL@ u*p;Iu*CxBMl>xBLEG@HD)~GF@=YE:E>AAQM`EIMM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U^8 m9)aIa mtIia m9Ea ep:)ec:Ieo9yIy9*G2GFFrFbFEE);I9 iICmi 2@<:@w: $H]* !u(AYt*L@t*5[@yt*t*>t*Hw?@ﴯѿ &?E>??~?)u*L@ u*pp;Iu*CxBq>xBEiPIR“C)~+G%=F@=YM<M>QYQe`EamWm;m>Iq I}8ٮqq Q}tI q UD9qu$: u:)ue8 9)I tIi 9E :)N:I9I9*G2GFFrFbFEE);I9 iI %ĕi!) 12@E<:@Mw: y%>%{>,N]* s;u(AYt*uL@t*"[@yt*Ot*Df>t*HA@O?D`ѿ6͊?~? ?N?)u*uL@ u*)q;Iu*CxV'n>xVpE {XY|X^8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@=YEP;M>IIQU`EQ]_&]>Ia Im8ٮaa QutI a U}D9ae; e{;)em8 9)I tIi 9E :):I79I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI   i   2@<:@w: )U]* 3PUu(A)4t.H@"xA?ް1ѿ ? Z???)u.`L@ u.Yp;Iu,xBf>xB EHBp=HBp=){F}I{Di{F={D{D{FA{D|F(ʁʁQ`Eʉ͍[a>I I8ٮ QtI  UD9鰕(: J:)s8 9)I tIi 9E :)o:I$9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.106711 arcdeg .q''*G2GFFrFbFEE2EzE(=@0$E^%١F-?<#˿E@=DHdg To Contact =140.427446 degreesZEAbE :EKo$?BEo$?JEq REk jEI$rE$);I9 iI䭽i 2@ <:@w: !$]Dacoustic_contact_range 47.040001 m$ehTrackAcousticContact.heading_to_contact 2.450921 rad$LDUSBL_Hydroid.xAngle -56.750000 arcdeg>[]* )ou(AYt*RIL@t*]Z@yt*0t*H" ,G? ѿW?C? v??)u*RIL@ u*1q;Iu*CxB"h>xBE)SGiyAxAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yֻ>Q`E ] >I I58ٮ Q=tI  U=D9g; ;)z8 E9)AIA MtIiA M9EA E:)AIE9yIy9y=O@Contact HDG: 140.427446 arcdeg .''O4Initialize Wait Component.*G2GFFrF bFEE)%;I-9 ))i)I)QUWiQQ Y2@]<:@ew: ߑi&&b]* }u(AYt*1GL@t*t*HmZI?@ t२ѿ H??[??)u*1GL@ u*l!q;Iu(xB:m>xBEiPIP)GF@=YEE>AAQM`EIMMM>IQ I]8ٮQQ QetI Q UeD9QUP: US:)U*8 m9)iIi mtIii u9Ei m:)m:Im9I9*G)2G)F1FQrFYbFYEYEY)u;I9 iIi 2@<:@w: Ph]* eu(A Yt.k9L@t.vZ@yt.,*t.6>t.Hk -?]vѿ`b ? ]??`y?)u.k9L@ u.ap;Iu.CxNHf>xR EGR@AHP)҄GF@-Y-6;->11Q5`E1= =>IA IM8ٮAA QMtI A UMD9AE: E:)E8 ]9)QIQ ]tIiQ ]9EQ Uͭ:)U:IUt9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: izn]* йu(AYt*L@t*Z@yt*1't*>t*He?⮿jѿ`? ?@l?1?)u*L@ u*8p;Iu*CxRMl>xRLEi\I\)+G!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʉʉQ`Eʉ͍u>I I8ٮ QtI  UD9鰕: а:)8 9)I tIi 9E -:):I09I9*G2GFFrFbFEE);I9 iI&i 2@ <:@ w: !l>Qbu]* u(AYt*K@t*Z@yt*M't*A>t*H?`vխ_ѿ??_??)u*K@ u*hp;Iu*CxBHf>xB Eiy@)~GF@=YE7E>AAQM`EIMM>IQ I]8ٮQQ Q]tI Q UeD9QUl: U:)Uٕ8 m9)aIa mtIia m9Ea eF:)e9:Ie9yIy9*G2GFFrFbFEE);I9 iIei 2@<:@w: n{]* *pu(A);IYtfK@tfقZ@ytfa1tf>tfH`?;ѿ`?,??J?)ufK@ ufKp;IufCxZe>x% EH1H1iiIi)Ga 1 a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9@a  a -@a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-->11Q5`E1=@=>IA IE8ٮAA QMtI A UMD9AE: E:)EB8 U9)QIQ ]tIiQ ]9EQ U:)U^:IU9iIi9i*Gy2GyFFrFbFEE);I9 iIǦi 2@<:@w: Jt]* t2H?as.ѿP?@?@??)u2K@ u2p;Iu2CxB'n>xBpE)vGi xA F@=YEb:E>AAQM`EIM M>IQ I]8ٮQQ Q]tI Q UeD9QU: Ux:)U8 m9)aIa mtIia m9Ea eO:)e:Ie9yIy9*G2GFFrFbFEE);I9 iIjli 2@<:@w: i!!]* &$v(AYt*ׂK@t*/Z@yt*mt*6>t*H(|?`Kή@п?$?[?ક?`?)u*ׂK@ u* p;Iu(xB`k>xBEihIh)5GF@]Ye6;e>aaQmaEim*m>Iq I}8ٮqq Q}tI q UD9qu: u:)u8 9)I tIi 9E [:),:I$9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 99i9I9AE!iAA A2@M<:@Mw: aˎ]* g>v(A( ,YtRK@tR=Z@ytRq3tR>tRH0xnLEGlHl {pY|pv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y >QaE%`:%>I1 I=8ٮ11 Q=tI 1 UED915; 5 :)5z8 U9)III UtIiI U:EI Mb:)M?:IM9iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 195.379023 arcdeg .q''*G2G@FF rF bFEE);I9 iIG!@i@ 2@<:@w: $URHorizontalControl.headingCmd 2.450921 rad]* Wv(AYt*!\K@t*, Z@yt*P}/t*hK>t*H@`h?@:h`Oп@6????)u*!\K@ u*p;Iu(xBc>xB EiXI\)=!F@YʍA:>ʑʑQaEʑ͝g>I I8ٮ QtI  UD9鰥: h:)}8 9)I tIi :E ͭ:):IH9I9=O5@Contact HDG: 140.427446 arcdeg .'5'5O54Initialize Wait Component.*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIYeV@iaa i2@m<:@uw: ߁R>e>?ۛ]* qv(AYt*DK@t*Y@yt*4t*M>t*H=N? `п`@?xBE)GF@=YE[E>AAQEaEIMtM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U68 m9)a m9Ia mtIia m:Ea e|:)e:Ie9yIy9*G2GFFrF9bF9E9E9)M;IU9 qqiqIq}@iyy 2@<:@w: ߹f¢]* ڒv(A)p;IYt*K@t*Y@yt*Ӄ#t*,~>t*H?ڋZп ~ 7? dp?`xRnEHRa=HRa=idId)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9u@a u a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ(;>ʑʑQaEʑ͝ջ>I I8ٮ QtI  UD9鰥: :)E8 9)I tIi :E ):):IL 9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: ]* ov(AYt:J@t:Y@yt:tO0t:e>t:H\D?ګkп@Vn? ???)u:J@ u:yq;Iu:CxbHf>xb E)+GiwAwAa 1a 1  a 5 a 5  a 9 a 9  a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@%Y-D->))Q5aE15v=>I9 IE8ٮ99 QEtI 9 UMD99=:: =ٮ:)=8 U9)III tIiI :EI M<)Mt*H`0`? %]п?y? a?@?)u*BJ@ u*q;Iu(xNl>xREi\I\)GF@%Y-->11Q5aE1=A=>IA IM8ٮAA QMtI A UMD9AE: Eа:)E8 ]9)QIQ ]tIiQ ]:EQ Uٮ:)Us:IU9iIi9i*G2GFFrFbFEE);I9 iIi 2@<:@w: ]* &v(A Yt*lJ@t*wY@yt*2t*>t*H \?`"Eп?Z? `c?^?)u*lJ@ u*r;Iu(xBt>xBlEGFAAHD)~AAQMaEIM3tM>IQ I]8ٮQQ QetI Q UeD9QU; UH;)U8 m9)iIi utIii u:Ei m:)m:Im#9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: )]* v(AYt*ɭJ@t*ZY@yt*i,t*?>t*H`lq?ିп3 s??z? 5?)u*ɭJ@ u*r;Iu(xRu>xREi`I`)5SG11a 1ua 1u a 5ua 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝaw:>ʡʡQaEʡͭû>I I8ٮ QtI  UD9鰭: [:)8 9)I tIi :E >:):Ic,9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! !2@-<:@-w: A>A]*  w(AYt*J@t*7Y@yt*+t**>t*H` A?@.a`~Ͽ@?r?Y7?@5?)u*J@ u*RVs;Iu(xBxp>xBE)5GF@}Y}9>ʁʁQaEʁ͍>I I8ٮ QtI  UD9鰕; @;)8 9)I tIi :E :)Ԙ:I49I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 194.462958 arcdeg .q'-'-*G)2G1F1F1rF9bF9E9EA)U;IU9 QYiYIYYaiaa a2@m<:@mw: ߁:=]* {&w(A)*;I(YtfCJ@tfN4Y@ytf+5tf~>tfH`P_L?" Ͽ`P??`;? 6?)ufCJ@ ufs;IudxnMl>xrLEHpHpiI)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y>QaE%^%>I! I-8ٮ!! Q5tI ! U5D9!%: %0:)%8 =9)9I9 =tIi9 E:E9 =:)=:I==9QIQ9Q=O@Contact HDG: 140.427446 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: "]* )@w(AYt*deJ@t*oY@yt*-0t*>t*H`?`$vϿb@:??`*O? ?)u*deJ@ u*s;Iu*CxRk>xRE {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )%Gi-xA)F@=YE*Y:E>IIQMaEQ]餻]>Ia Im8ٮaa QutI a UD9ae$; e;)e8 9)I tIi :E :):IF9I9*G2GFFrFbFEE);I9 iIi 2@-<:@-w: 9i!! M]* mZw(AYt*[J@t*Y@yt*@(t*}>t*H?f5ϿL@~???5?)u*[J@ u*&t;Iu*CxN_>xR E){RQI{Pi{R={P{P{RpA{P|RJB9|R6^?SilIp)=GF@}Yʅg:>ʁʁQaEʁ͍Ǻ>I I8ٮ QtI  UD9鰕u: :)e8 9)I tIi :E Ր:),:I[N9I9*G2GFFrFbFEE2EzEJBEoZA@قzBE6^?SEQEEI+DErSS9@#cF"ES꿚t.H@Lԃ?@ޫEϿk?0?@?/?)u..J@ u.y_t;Iu.CxB?s>xBEG@HD)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye7e>iiQmaEiuu>Iy I}8ٮy M8y QtI y UD9y}: }^:)}<8 9)I tIi :E :)Ԙ:IV9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: _]* $w(AYt*J@t*X@yt*es+t*%>t*H v?Ͽ` E?Sn???)u*J@ u*t;Iu*CxBMl>xBLEiTIT)G 4= F@=YEYE>AAQMaEIMHM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U 8 m9)aIa mtIia m:Ea eh:)e:Ie6_9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: %N>%Y>]* w(AYt2t2H ? `Ͽ?Ѕ?[??)u2xRE)SGa 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}}>yyQaEʁͅ;>I I8ٮ QtI  UD9鰍>:  :)8 9)I tIi :E ̒:)Ig9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: p]* w(A) I Yt*J@t*X@yt*g+t*T>t*H@= `D7? ο 1?l?? ?)u*J@ u*t;Iu*Cxju>xnEHlHli|I|)UdGF@Yʥ9>ʡʡQaEʡͭ{>I I8ٮ QtI  UD9鰵: :) 8 9)I tIi :E %:):I|p9I9*G2GFFrFbFEE);I9 iIi!! !2@-<:@-w: 9Ú]* w(AYt*(J@t*3X@yt*:;9t*>t*H7 `?@Ͽ#IZ?F'?s?K?)u*(J@ u*u;Iu*CxRMl>xRLE)UGi]wA]xAF@eYm? m>iqQuaEqu!;u>Iy I8ٮyy QtI y UD9y}: }>:)}8 9)I tIi :E :):Ix9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i!)>]* 2w(AYt*\I@t*gX@yt*`2t*L>t*H` \8?/ο? K?E?J?)u*\I@ u*t;Iu*CxRh^>xREi\I\)vGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y:>QaE  t >I I8ٮ QtI  UD9: :)'8 %9)!I! -tIi! -:E! %p:)%A:I%9YIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN@Vehicle HDG: 193.965665 arcdeg .q''*G 2G%@FFrFbFEE)U;IU9 QQiQIQ]|@iY]%@ a2@e<:@mw: ߙ$RHorizontalControl.headingCmd 2.593734 rad2^* kx(A Yt.AI@t.LX@yt.*t.`>t.He"? οO\ ?B?\?G?)u.AI@ u.2t;Iu,xBg>xBsEGF@AHD) GF@=YE8:E>IIQMaEIMU>IQ I]8ٮQQ QetI Q UeD9QU>: UB:)U-8 m9)aIa mtIia u:Ea e}:)e:Ieʼn9I9=O=@Contact HDG: 148.609999 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFIrFIbFIEQEq);I9 iIQ0!@i 2@<:@w:  ^* G)x(AYt:I@t:X@yt:Et:-O>t:H @?,οf? h?8??)u:I@ u:t;Iu8xVp>xV%EitIx)ׄGR=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y ;>QaEQ4:>I  I 8ٮ   QtI  UD9  /< j<) 48 9)I tIi :E _:)0:I09I9*G2GFFrFbFEE);I9  i I +%@ie> 2@<:@%w: 1>(^* !Cx(AYt*bI@t*mX@yt*4 t*3>t*H@@?`Cx &ο` f???P?)u*bI@ u*tt;Iu*CxN5g>xR*E {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y4F>QaEX1>I I8ٮ QtI  UD91; ;);8 9)I  tIi  :E :):I49!I!9!*GA2GAFAFIrFQbFQEYEY)U;IU9 QQiQIQ]~(@i]T>Y a2@e<:@mw: 1F^* \x(A) IYt*t*HnU?`ο N?t?`+?#?)u*xRJEHRR=HPihIn“C)5dGF@}Yʅ1E>ʁʁQaEʁ͍t:>I I8ٮ QtI  UD9鰕u: :)UB8 9)I tIi :E :):Iw9I9*G2GFFrFbFEE);I9 iI)@i 2@<:@ w: u^* rvx(AYt*-I@t*8X@yt*~#7t**>t*H`%%? s8ο `]?P?$??)u*-I@ u*s;Iu*CxN?s>xNE)Gi!%wAa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ >ʁʁQaEʉ͍9>I I8ٮ QtI  UD9鰕: :)>I8 9)I tIi :E :):I9I9*G2GFFrFbFEE);I9 iI`.*@ti > 2@ <:@ w:E> Qi#^*  x(AYt*EI@t*PX@yt*+t*h>t*H@n ?oο? vs? ?E?)u*EI@ u*ms;Iu*CxZb>xZ EihInC)5҄GF@}Yʅ:>ʁʁQaEʁ͍1غ>I I8ٮ QtI  UD9鰕%: :) P8 9)I tIi :E ɏ:):I~9I9*G2GFFrFbFEE);I9 iI)@i 2@<:@ w:  ) I ߡk%*^* \x(A Yt.I@t.dX@yt.vjt.>t.H?`Lv3^ο@??:̓?`=?q?)u.I@ u. $s;Iu.Cx6p>x6%EG:AAH8)ƄGF@UYUe;]>YYQeaEaeYۻe>Ii Iu8ٮii QutI i UuD9im: mp:)mV8 9)yIy tIiy :Ey }::)} :I}9I9*G2GFFrFbFEE);I9 iI&@i 2@<:@w: S 1^* ix(AYt*!I@t*,rX@yt*,$t*?>t*H@? xο`iX?n??@?)u*!I@ u*r;Iu*CxN`k>xREi\I\)QaE;>I I8ٮ QtI  UD9\: :)^8 9)I tIi :E :)|:I9 I 9 ODone Waiting.'%O%8Uninitialize Wait Component.*G!2G!M%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F)rF)bF)E1E1)E;IE9 IIiIIIU%@iQQ Y2@]<:@]w: qV>%V>k77^* Dx(AYt*I@t*X@yt*1t*}>t*H&?)ο)/?6??`?)u*I@ u*r;Iu*CxBxp>xBE)~GF@=YE8E>AAQMaEIM ;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U):)Ud8 m9)aIa mtIia m:Ea e:)eԘ:Ie9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 193.826767 arcdeg .q'U'U*GY2GYFYFYrFabFaEaEa)};I}9 yyiyI%@;]i 2@<:@w: ߡa=^*  x(A) IYt.´I@t.aX@yt.]2t.X>t.H`*?]B Xο@@I?K?৙?!?)u.´I@ u.5r;Iu.CxB`k>xBEHBa=H@iPIP)~vGF@=YE͸E>AAQEaEIM՝M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Uk8 m9)aIa utIia }:Ea eb:;)eP;Ie]9I9=O@Contact HDG: 148.609999 arcdeg .''O4Initialize Wait Component.*G2GF)F1rFAbFAEAEA)};I}9 yyiI%@Wi 2@<:@w: LD^*  y(AYt:I@t:cX@yt:0t:в>t:H`|?ߪ\ο@?@?P?K?)u:I@ u:]r;Iu:CxNo>xNJE)Gi!!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ9>ʉʉQaEʉ͕i9>I I8ٮ QtI  UD9鰝ի: t:)r8 9)I tIi :E :)k:I9I9*G2GFFrFbFEE);I9 iIYi 2@ <:@w: !isJ^* k+y(AYt*I@t* AX@yt*]*t* K>t*Hq?8 "ο?`S?B;??)u*I@ u*r;Iu*CxBxp>xBEiLIP)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye0n:e>aaQmaEim6m>Iq I}8ٮqq Q}tI q UD9qu-: uR:)uky8 9)I tIi :E :):Iy9I9*G2GFFrFbFEE);I9 iI1Ui 2@<:@w: [Q^* yEy(A Yt.I@t.RX@yt.~G)t.m>t.H`? ߨ`;ο? (?˘?@ ?)u.I@ u.r;Iu.CxBn>xBEGB@AHD {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eQaE);>I I8ٮ QtI  UD9o; ;)8 9)I tIi :E :):IG9I9*G12G9F9F9rFAbFIEIEI)m;Im9 iqiqIqy})Xi 2@<:@w: ߩW^* v_y(AYt2lI@t2wEX@yt2$t2>t2H[s?`!ο ` ?=? b??)u2lI@ u2ir;Iu0xBp>xB%Ei\I\)G%%=F@-Y-8:5>11Q5aE1= =>IA IM8ٮAA QMtI A UMD9AE: E:)E8 U9)QIQ ]tIiQ ]:EQ Uį:)U^:IU\9iIi9i*G2GFFrFbFEE);I9 iIS6Vi 2@<:@w: >> ]^* iyy(AYt*ՍI@t*:X@yt*(t*>t*H@R?`Ѫ@# ο?g?? ~?)u*ՍI@ u*cr;Iu*CxBsj>xB(E)Ga 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ8>ʙʙQaEʡͥʺ>I I8ٮ QtI  UD9鰭W: :)98 9) 9I tIi :E o:):I)9I9*G2GFFrFbFEE) ;I 9  iIGDUi 2@%<:@%w: 9ؗd^* Cy(A) IYt.mI@t.X@yt.6t.a8>t.H`= j0?f٨Ϳx?݆?8??)u.mI@ u.PJr;Iu,xBU>xBXEH@HDiTIT)]GF@YʍN>ʉʉQaEʉ͕➻>I I8ٮ QtI  UD9鰝: ݱ:)8 9)I tIi :E :)ض:I 9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI  8fQi   2@<:@w: )Dj^* y(AYt*I@t* 7X@yt*pZ4t*~>t*Ho?XD@ο ? 0??2?)u*I@ u*=r;Iu*CxB?s>xBE)~vGia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʥ9>ʡʡQaEʡͭ;>I I8ٮ QtI  UD9鰵; ˵;)8 9)I tIi :E :)Ԙ:IH9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'5N@Vehicle HDG: 193.565772 arcdeg .q''*G2GFFrFbFEE);I9 iImVi 2@<:@w: 9i q^* y(AYt*tmI@t*X@yt* 3t*>t*HP-?憎 Ϳ@t?`a?5?`?)u*tmI@ u*Ir;Iu*CxBk>xBEiLIN“C)~GF@=YE!W9E>AIQMaEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: Uc:)U8 m9)aIa mtIia m:Ea ep:)ec:Iet9q }}Software FaultI9=O]@Contact HDG: 148.609999 arcdeg .']']O]4Initialize Wait Component.*GY2GYFYFarFabFaEiEi);I9 iIloQi 2@<:@w: !}xSoftware Fault in component: DeadReckonWithRespectToSeafloorw^* y(A@ Yt*jI@t*X@yt*h(t*qU>t*H@ R?-0@.ͿDh? ?3??)u*jI@ u*U"r;Iu*CxNh^>xREGPHRAA)GF@-Y-:->11Q5aE1=̹=>IA IE8ٮAA QMtI A UMD9AE: E:)E8 U9)QIQ ]tIiQ ]:EQ U:)U:IU"9aIa9i*Gy2GyFyFyrFbFEE);I9 iIERi 2@<:@w: ߩ!Clearing failed state for component DeadReckonWithRespectToSeafloorq p}^* y(AYt*JI@t*W@yt*81,t*>t*Hf" ?r)Ϳ@K\? ?}Q? ?)u*JI@ u*.r;Iu*CxR c>xR Ei\I^C)G!%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQaEʉ͍?>I I8ٮ QtI  UD9鰕: :)8 9)I tIi :E ::):I+9I9*G2GFFrFbFEE);I9 iIMi 2@<:@ w: R>e>^* az(AYt*oI@t*X@yt*:t*7>t*H>?"Ϳf>@?\?d? ?)u*oI@ u* r;Iu*CxBl>xBE)zGF@=YEE>AAQMbEIM*;M>IQ I]8ٮQQ Q]tI Q UeD9QU2: U5:)Ue8 m9)aIa mtIia m:Ea eO:)aIe39yIy9*G2GFFrFbFEE);I9 iISi 2@<:@w: 1^* g.z(A) IYt*.CI@t*9W@yt*fCt*jl>t*H#?A/{Ϳ`?x?`9?? ?)u*.CI@ u*& r;Iu(x>c>xB, EHBp=HBp=iPIRC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a M a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Yʝͪ>ʡʡQbEʡͭ\ֻ>I I8ٮ QtI  UD9鰵(; ش;)~8 9)I tIi ;E :)9:I<9I9*G)2G)F)F1rFQbFQEYEY)m;Im9 iI]Li 2@<:@w: ^* :@Hz(AYt2FI@t2W@yt2!t2>t2H "? Ϸ`Ϳ{ >6?1?? ?)u2FI@ u2q;Iu2CxB{>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )USGimxAuxAF@Yʥ;>ʩʩQbEʩ͵:>I I8ٮ QtI  UD9鰽s; ;)j8 9)I tIi ;E :):IPE9I9*G2GFF!rF!bF)E)E))M;IM9 QQiQIQYe#Niaa a2@m<:@uw: ߉i!!!^* 7bz(AYt*0I@t*W@yt*,t*܂>t*H@[%? XͿ@W?Ƙ? -?n?)u*0I@ u* r;Iu(xB c>xB E){BwI{@i{BV={B>{@{BPA{@|BKB9|B+~?([XAi I C)mGF@}YʅJ>ʁʁQbEʉ͍Z>I I8ٮ QtI  UD9鰕: :)78 9)I tIi ;E ::):IM9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF!bF)E)E)2EQzEUKBEU:@yEEU+~?([XAEUwEQEU9BA>fiVA@뼙DY%EUиoi?Q ʿEU@=DHdg To Contact =135.815293 degreesZEU BbEU:EUJo$?BEU8o$?JEUl REUt jEU*rEU)e;Im9 iIKi 2@<:@w: ߹$Dacoustic_contact_range 50.879997 m$hTrackAcousticContact.heading_to_contact 2.370424 rad$LDUSBL_Hydroid.xAngle -58.400003 arcdegDL^* D{z(A@ Yt.&>I@t.1W@yt.5t.o,>t.H#@?#էrͿ&,?`?`2?'?)u.&>I@ u.q;Iu.CxBc>xB EGBAAH@)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ{>ʱʱQbEʱͽm;>I I8ٮ QtI  UD9ի: S:)58 9)I tIi ;E į:):IQV9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 193.300487 arcdeg .q'U'U*GQ2G]@FYFYrFabFaEaEa)};I}9 yyiyIyu$@i@ 2@<:@w: ߡ$RHorizontalControl.headingCmd 2.370424 rad4^* 1ӕz(AYt*4$I@t*?W@yt*,Ct*^>t*H&@?X?Ϳ@|@?]e?bE?;?)u*4$I@ u*q;Iu*CxBo>xBJEiPIP)ƄG 4= %=F@Yʍ>ʑʑQbEʑ͝>I I8ٮ QtI  UD9鰥: 1:) 8 9)I tIi ;E :):I^9I9=O5@Contact HDG: 135.815293 arcdeg .'5'5O54Initialize Wait Component.*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIaeG"@iaa i2@m<:@uw: ߁l>]^* 6z(AYt*/I@t*W@yt*@3t*˄>t*H`l%_?Ψ`NVͿ@@!?`|?@i??)u*/I@ u*q;Iu*CxNj>xRqE)Ga 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY};}>yyQbEʁͅ:>I I8ٮ QtI  UD9鰍}< <)8 9)I %tIi %;E _:):Ig91I999*Ga2GaFaFarFibFiEiEq);I9 iI/@i 2@<:@w: |E^* z(A) IYt*B&I@t*MW@yt*)4t*>t*H&?nCͿ?眆?C??)u*B&I@ u*q;Iu*CxN"h>xREHRa=HRa=i`I`)GF@-Y5"5>11Q=bE9EºE>IA IM8ٮAA QMtI A UUD9AE%: E:)E8 ]9)QIQ ]tIiQ e;EQ UF:)U:IUo9iIq9q*G2GFFrFbFEE);I9 iIHZ@i 2@<:@w: o^* az(AYt*DI@t*OW@yt* t*H (`H? Ϳc `F?@4?/??)u*DI@ u*u!r;Iu*CxBq>xBE)~GiwAF@ Y>QbE%=%>I! I-8ٮ!! Q-tI ! U5D9!%: %h:)%r8 =9)1I1 =tIi1 E;E1 5ٮ:)5˵:I5w9IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iI|@i 2@<:@w: ߱i^* t*H'ʟ?E!:Ϳ ?@S? *??)u*f!I@ u*r;Iu*CxBq>x@iPIP)~vGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]YeX:e>aiQmbEim;m>Iq I}8ٮqq Q}tI q UD9qu9: u:)u8 9)I tIi ;E Ր:):I9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: ^* {(A Yt.I@t.W@yt.E.t.YՃ>t.H`a'ԕ?`s5Ϳ ?ȅ?K?`|?)u.I@ u.,r;Iu,xBc>xB EG@HF@A)GF@=YE%-:E>AAQEbEAM\M>IQ I]8ٮQQ Q]tI Q U]D9QU: U :)UU8 m9)aIa mtIia m;Ea a)e,:Ie9yIy9y*G2GFFrFbFEE);I9 iIB@i 2@<:@w: ^* 0{(AYt* I@t*W@yt*W0t*f>t*H`)En?è ~Ϳ5? ?``|??)u* I@ u*)r;Iu*CxR\>xRUEi`Ij“C)=SG9=a=F@MYMNM>QQQUbEQ]V;]>Ia Im8ٮa Mm8a QmtI a UmD9ae: e:)eC8 u9)qIq }tIiq };Eq u:)u0:Iu9I9*G2GFFrFbFEE);I9 iI@i 2@<:@w: %V>%i>^* J{(AYt*vI@t*W@yt*r +t*q>t*H|(Y?@yȨ"Ϳ`?a?^??)u*vI@ u**Xr;Iu*CxB?s>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1-a 1- a 5-a 5- a 9-a 95 a -5a -5 a 15@a U a 5U@a U a 9]@a ] a -]@a ] 11Ʉ1i5Mb@Mb@Mb@I1I1i111Ʌ111 1)1F@Yʥ=:>ʡʩQbEʩ͵:>I I8ٮ QtI  UD9鰽Q: "<) 8 9)I tIi ;E :)U:IG9)I)9QO Done Waiting.' O 8Uninitialize Wait Component.*G 2G M |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I1=a<@iAA a2@m<:@uw: ߡ]^* `d{(A) IYt.4H@t.?W@yt.f!%t.37>t.H,[F?p`̿#??@8? ?)u.4H@ u.WEr;Iu,xBvW>xB|EH@H@){F1wI{Di{D{F7>{D{FA{D|D9|F$ 27?0` Oi`I`)vGF@Y0y:>QbES>I I8ٮ QtI  UD9S: :)[8 9)I  tIi  ;E :):I 9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 193.048890 arcdeg .q''*G2GFFrFbFEE2EzEE:pD<@1SDE$ 27?0` OE1wEE8 YBm@@y:5$E@$b?7&[ɿE6@=DHdg To Contact =138.742971 degreesZElBbE:EFo$?BEJo$?JEn REl jE$rE*);I9 iI@i 2@<:@w: $ Dacoustic_contact_range 50.879997 m$5hTrackAcousticContact.heading_to_contact 2.421522 rad$=LDUSBL_Hydroid.xAngle -55.300002 arcdeg,^* Œ~{(AYt:"H@t:-W@yt:aD&t:#ǂ>t:H@f, wB??I̿`$%8?tȄ?`R+?@?)u:"H@ u:;r;Iu:CxNc>xN E)Gi!!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y0>QbE%z%>I) I58ٮ)) Q5tI ) U5D9)-: -9:)-c8 =9)9I9 EtIi9 E;E9 =:)=9:I=9qIq9q=O@Contact HDG: 138.742971 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)M;IM9 QQiQIQ]@iYY Y2@e<:@ew: ߙi^* a{(AYt*H@t* W@yt*yF-t*PN>t*H`+@H?r ̿g??Z??)u*H@ u*or;Iu(xBj>xBqEiPIP)vGF@=YEE>AAQMbEIM$:M>IQ I]8ٮQQ QetI Q UeD9QU@; Un;)U8 m9)iIi utIii u;Ei mp:)mݖ:Im9I9*G2GFFrFbFE!E!)U;IU9 QYiYIY]@aiaa a2@m<:@mw: ߡ&^* \<{(A Yt.H@t.|W@yt.h1t.)>t.HV0?@̿@5#?!?*V? ?)u.H@ u.Wr;Iu.CxBc>xB, EGDHD)~Ga 1=a 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeie>aaQmbEim^m>Iq I}8ٮqq QtI q UD9qu; u/;)u%8 9)I tIi ;E -:) :IB9I9*G2GFFrFbFEE);I9 iI!@i 2@<:@w: ߙ^* {(AYt*:H@t*EW@yt*on;t*.Ё>t*H0./?Q̿:*`՚?`m?d ??)u*:H@ u*Sr;Iu*CxBmd>xBu EiPIRC)~G%==F@ YҺ>QbE%r=;%>I) I-8ٮ)) Q5tI ) U5D9)-: -:)-,8 =9)9I9 EtIi9 E;E9 =>:)=:I=9QIQ9Q*Ga2GaFiFirFibFqEqEq);I9 iI@i 2@<:@w: ߱>t> ^* {(AYtzH@tz W@ytzm?,tz>tzH`/?&̿$L?Ӈ?C? ?)uzH@ uz+?r;IuzCx%h>x-E)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y  ;>QbEv>I! I-8ٮ!! Q-tI ! U-D9!%G: % :)%38 =9)1I1 =tIi1 =;E1 5F:)5|:I59III9Q*Gy2GFFrFbFEE);I9 iIIIQQiQQ Q2@]<:@]w: qM6^* {(A)4t*H2?\`q̿` xd??൪??)u*H@ u*|r;Iu(xRxp>xREHRp=HTi`I`)%GF@-Y5:5>99Q=bE9EE>II IM8ٮII QUtI I UUD9IMO: M1:)M[:8 ]9)YIY etIiY e;EY ]:)]$:I]9qIq9q*G2GFFrFbFEE);I9 iIi 2@<:@w: _* T|(AYt.%H@t.0]W@yt. t.h>t.H3?@`]̿*8??>?F?)u.%H@ u.5^r;Iu.CxZMl>xZLE)5ƄGi=xA9F@}Y}:>ʁʁQbEʁ͍ɺ>I I8ٮ QtI  UD9鰕u: :)iA8 9)I tIi ;E [:)N:I`9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@ <:@w: Ii!!kH _* 3|(AYt*H@t*WW@yt*t*ǹ>t*H4`?@憧@R̿@h5}Q?ऺ? ??)u*H@ u*+Pr;Iu*Cx>_>xB EiLIN“C)5Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ9>ʡʡQbEʡͭQZ>I I8ٮ QtI  UD9鰵: :)_H8 9)I tIi ;E p:):I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N}@Vehicle HDG: 192.784425 arcdeg .q'}'}*Gy2G}6@FFrFbFEE);I9 iI9@i6@ 2@<:@w: $RHorizontalControl.headingCmd 2.421522 rad0_* gaM|(A YtJFH@tJQQW@ytJ3tJb>tJH"5@?{hHF̿*@?v?>?J?)uJFH@ uJ4r;IuJCx~t>x~lEGH {Y| 8****** ping requested ******-Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGF@YʝxH>ʡʡQbEʩ͵zf>I I8ٮ QtI  UD9鰽: )<)O8 9)I tIi %;E :):Ie9qIq9y=OE@Contact HDG: 138.742971 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEEI);I9 iI6@i 2@<:@ w: i]_* fIg|(Axo>xJEiIIMC)yyQ}bEyͅ>I I8ٮ QtI  UD9鰍: :)V8 9)I tIi ;E B:)V:I9I9*G2GFF)rF)bF)E1E1)e;Ie9 iiiiIiqqiqq q2@}<:@}w: ߱>e>B _* <|(AYt*bH@t*m9W@yt*$(t*5ށ>t*H7@?7̿3??#?`v?)u*bH@ u*r;Iu*Cx~i>x~E)}GF@Yʵr:>ʹʹQbEʹL|>I I8ٮ QtI  UuD9k< <)]8 9)y 9Iy tIiy ;Ey }Ü:)}:I}9I9*G2GFFrFbFEE) ;I 9 ))i)I111i19 92@E<:@Ew: ql&_* |(A);IYt.WH@t.b5W@yt.P2*t.)>t.HA8?R̿`7!t?0F?k? J?)u.WH@ u.eq;Iu.Cx>h>xBEH@HBp=iTIT) F@Y%k%>!)Q-bE)-(->I1 I=8ٮ11 Q=tI 1 UED915: 5{:)5c8 M9)AIA MtIiA M;EA Eh:)E:IE9YIa9a*G2GFFrFbFEE);I9 iIi 2@<:@w: )Е,_* Cɴ|(AYt*guH@t*r"W@yt*+&%t*Ʌ>t*H Z:@K?˿`&vE??`\??)u*guH@ u*}r;Iu*CxB c>xB E)~GiwAwAa 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a ] a 9}@a } a -}@a } QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@YʕA:>ʹʹQbEʹ:3>I I8ٮ QtI  UD9:: :)j8 9)I tIi ;E J:)<:I9I9*G!2G!F)F)rF)bF1E1E1)e;Im9 iiiiIiqi 2@<:@w: ii!Y~3_* *|(AYt*>iH@t*IW@yt*O%t*>t*H`;n7?)˿*0?Ҵ?q??)u*>iH@ u*r;Iu*Cx>Ml>xBLEiLIL)zIIQMbEIUiU>IY Ie8ٮYY QetI Y UeD9Y]: ]J:)]q8 u9)iIi utIii u;Ei mՐ:)mK;Im9I9*G2GFFrFbFEE);I9 iI!!i!) )2@-<:@5w: a9_* [|(A8 8YtV_H@tV W@ytV޵$tV>tVH <@3?` ˿@@/??'??)uV_H@ uVr;IuVCxju>xjEGn@AHl)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YM9M>IIQUbEQUU>IY Ie8ٮYY QetI Y UD9Y]N; ]I;)]y8 9)I tIi ;E :):I#9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF bF E E )%;I%9 AAiAIAIIiII Q2@U<:@]w: aǐ@_* =_}(Axrj>xrqEiI)4=F@Y>QbE>I I8ٮ QtI  UD95; ;)8 %9)!I! %tIi! -;E! %p:)%:I%P+9qIq9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 192.523266 arcdeg .q' ' *G 2G F)F1rF1bF9E9E9)m;Iu9 qqiqIqyyiyy y2@<:@w: ߹V>F_* 6}(AYt*ZH@t*W@yt*At*hb>t*H=)?צ@˿@_*@?@:?`{?@?)u*ZH@ u*,r;Iu*CxBV>xB3E)MSGF@]Ye%e>aiQmbEimOm>Iq I}8ٮqq Q}tI q UD9qu: ux:)uH8 9)I tIi ;E }:)N:Ig39I9=O-@Contact HDG: 138.742971 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F1rFQbFYEYEY)m;Iu9 qiIi 2@<:@w: L_* 36}(A) IYt*GH@t*V@yt**2t*Ԇ>t*H>?`'? uy˿& i?`#E?@??)u*GH@ u*;r;Iu*Cx>r>xBIEH@H@iTIT)dGa 1Ua 1U a 5Ua 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y;>QbE%4%>I) I-8ٮ)) Q5tI ) UUD9)-Ե; -Ƕ;)-8 ]9)YIY etIiY e;EY ]S:)]:I]}<9I9*G2GFFrFbFEE);I9 iIi 2@<:@%w: 1S_* %O}(AxnR>xrE {pY|tv8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )iF@MYUU>QYQ]bEY]]>Ia Im8ٮaa QtI a UD9aeg; e{;)e'8 9)I tIi ;E :)؛:IE9I9*G2GFFrF bF E E)%;I%9 !!i!IIIIiQQ Q2@]<:@]w: ߉i!!jY_* 6i}(AYtB?H@tB V@ytB@=tB>tBH@U?˿`F;`??;?`?)uB?H@ uBtr;Iu@xNY>xRE){R%3xI{Pi{R={P{P{RA{P|RKB9|R}E?;IciI)GF@Yʍ >ʑʑQbEʙ͝>I I8ٮ QtI  UD9鰥L:  :)8 9)I tIi ;E :):IM9I9*G2GFFrF bF E E2EzEKBEd; <@WQEE}E?;IcE%3xEECBSq"@@8l$Eh_ =>E ?3 ɿE@=%DHdg To Contact =137.845635 degreesZEBbE:EGo$?BEFo$?JEm REn jEg#rE$)=;I=9 9AiAIAAIiIQ Y2@m<:@uw: ߹$Dacoustic_contact_range 50.939999 m$hTrackAcousticContact.heading_to_contact 2.405860 rad$%LDUSBL_Hydroid.xAngle -55.550000 arcdegS`_* }(A Yt>("H@t>3V@yt>@t>:>t>H.C!?Li5H˿1>? |? w??)u>("H@ u>>r;Iu>Cx^=Z>xb1EGb?AH`)EʩʩQbEʩ͵H>I I8ٮ QtI  UD9鰽: :)8 9)I tIi ;E >:):IU9I9*G2GFFrFbFEE );I9 !i!I!!)i)) )2@5<:@5w: A g_* }(AYt: H@t:V@yt:[>t:Ũ>t:H}E`?`˿ =?Lˇ?@'?)?)u: H@ u: r;Iu:Cx^xp>x^EilIl)=GAAF@uY}֌9}>yyQbEʁͅX>I I8ٮ QtI  UD9鰍: :)Ҩ8 9)I tIi ;E ::),:I ^9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: l>]>8m_* q}(AYt*H@t*)V@yt*Y+t*Ř>t*H6EΞ?`-西 %˿`E;]?`qw? |??)u*H@ u*@r;Iu*CxJWx>xJE) GF@UYU8:;U>YYQ]bEYe:e>Ii Im8ٮii QutI i UuD9im5: m9:)m8 }9)yIy tIiy ;Ey }Ր:)}c:I}xf9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: t_* 6}(A)4t*HF}?@# ˿ D@?5˄???)u*H@ u*vAr;Iu(xNk>xREHRa=HPilInC)=Ga 1}a 1} a 5}a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥP:>ʡʡQbEʩͭn>I I8ٮ QtI  UD9鰵Ǵ; g;)8 9)I tIi ;E  :)ݖ:It*HHwc?ʿ7E?yq?`?`?)u*#G@ u*Pr;Iu*CxBi>xBE)5SGi=xA9F@}Yʅ>ʁʁQbEʉ͍(>I I8ٮ QtI  UD9鰕: :)8 9)I tIi ;E :)Z:Iw9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 192.132429 arcdeg .q'-'5*G12G5@F1F9rF9bF9EAEA)U;I]9 YYiYIYe@iae@ a2@m<:@mw: ߁$RHorizontalControl.headingCmd 2.405860 radi!!,_* ~(AYt*G@t*V@yt*>t*>t*H0Hso?: ʿkF`?@?ه??[?)u*G@ u*;r;Iu*CxB]>xBEiLINC)~dGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y(ֺ>QbE |9 >I I58ٮ Q=tI  U=D9; ;)8 E9)AIA MtIiA M;EA E[:)E:IE9yIy9y=O@Contact HDG: 137.845635 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 IIiQIQQYiYY Y2@e<:@ew: ߑV_*  ~(A Yt.BG@t.M{V@yt.LBt.A>t.H@L@(?  -ʿ@E?P?? ?)u.BG@ u.$r;Iu,xNh^>xREGR@AHP)GF@-Y-y5>11Q5cE1=&»=>IA IM8ٮAA QMtI A UMD9AE}: E:)E8 U9)QIQ ]tIiQ ];EQ Uc:)U:IU`9iIi9i*G2GFFrFbF E E )=;IE9 AAiAIAIIiII Q2@u<:@}w: ߉_* 8~(AYt*G@t*{V@yt*/t* >t*H L ?͵ʿ_D@? ? '?8?)u*G@ u*'gr;Iu*CxBp>xBEiLIL)~ʁʁQcEʁ͍8>I I8ٮ QtI  UD9鰕N; ;)/8 9)I tIi {>h_* }R~(AYt*G@t*TV@yt*Yt*%ր>t*H@MP@3?ХWʿWP@k?)?t??)u*G@ u*Hr;Iu*CxBi>xBNE {HY|HN8****** ping requested ******bNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y;>QcE>I I8ٮ QtI  UD9_: ;)<8 9)I tIi $t*K}>t*HN ? qrʿ`W?? V?@?)u*δG@ u*r;Iu*CxN*[>xREHRp=HRa=){RmI{Pi{P{R>{P{RPA{P|P9|R|[QcE ;>I I8ٮ QtI  UD9J: N:)8 9)I tIi @q+ZDE%|[t*H P`?`Xʿ R C?^E?å?`?)u*G@ u*Śr;Iu*CxBp>xB%E)+GiyAF@=YE \E>IIQMcEIMU>IQ I]8ٮQQ QetI Q UeD9QU2: U5:)U8 m9)aIa mtIia mt*HS5?`NRʿL`s?? ?~?)u*G@ u*vr;Iu*Cx>l>x>EiPIP)GF@Y%%>!!Q-cE)-u->I1 I=8ٮ11 Q=tI 1 UED915: 5:)58 M9)AIA MtIiA Mt.HS?? 溤ʿX`;?? ?]?)u.G@ u.r;Iu.CxNa>xR EGPHP)%+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥO;>ʩʩQcEʩͭa8>I I8ٮ QtI  UD9鰽ͭ: :)8 9)I tIi t*HT೉?2Ciʿ@wTh??@2?@xB EiLIP)G!%%=F@=YEX:E>AAQMcEIMM>IQ I}8ٮQQ Q}tI Q U}D9QU; U;)Ui8 9)I tIi i>_* <~(AYt*iG@t*V@yt*tt*>t*H`VCU?`CzɿN?=?(? /?)u*iG@ u*s;Iu*CxBt>xBlE)~ʡʡQcEʡͭf>I I8ٮ M8 QtI  UD9鰵: :)8 9)I tIi t.HU?#>ɿ]?…?`J?`?)u.wG@ u.r;Iu,xBb>xBQ EHBa=H@iPIP)GF@=YE{ME>AAQMcEIM;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U3 8 m9)aIa mtIia mt*HVi?cӣ[ɿ`MY J?`.?k??)u* fG@ u*or;Iu(x>Hf>x> E)%Gi-wA)F@=YE?E>AAQEcEAM-M>IQ Ie8ٮQQ QmtI Q UuD9QU; Un;)U8 9)I tIi t*H`4WS?ɿI-?@?O??)u*1aG@ u*Ծr;Iu(x>Q>x>Ei\I\)%Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ:>ʉʑQcEʑ͝>>I I8ٮ QtI  UD9鰝: :)(8 m9)I mtIi mt.HmX6?g ɿaZFR?`f?@??)u.WG@ u.r;Iu.Cx>m>xB'EGBAAHBAA {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y;%>!!Q-cE)505>I9 IE8ٮ99 QMtI 9 UMD99=; =;)=e8 ]9)YIY etIiY et.H`W6R? ɿ_?@́?#T? ?)u.EeG@ u.r;Iu.CxNm>xL){Rr=I{Pi{Ra={R>{P{RA{P|R\+B9|R%^K?7}ݿ?ipIp)MGUR=U4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y:>QcE/;>I  I 8ٮ   Q5tI  U5D9  j; ^;) ,%8 =9)9I9 EtIi9 E>_* ;Ĉ(AYtN8sG@tNC V@ytN&tNuՃ>tNH`Uj?~`ɿ'IM? ۄ?L??)uN8sG@ uNr;IuLx~{>x~iE)GF@Yp>QcE3 ;>I I8ٮ QtI  UD9ù; :),8 -9)! -9I! -tIi! -t.HWF?@gɿEA?@4?0q?s?)u.ZG@ u.*r;Iu.Cx^Y>x^EHbp=H`ipIp)EGF@}YʅՈ>ʁʁQcEʁ͍x>I I8ٮ QtI  UD9鰕`: :)28 9)I tIi Y a2@e<:@ew: y;l_* V~(AYt*TtG@t*_!V@yt*M?t*5>t*HCUb|?@.ɿMJ??(#??)u*TtG@ u*fr;Iu*CxR]>xRxE)eGiaia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y+9>QcEFs;>I I8ٮ QtI  UD9: J:)98 9) I  5tIi  5 2@<:@w: iT_* SY(AYt*nG@t*V@yt*?*t*>t*HU g?ɿJNR?_?'?@W?)u*nG@ u*r;Iu*Cx>p>x>EiLIL) GF@]Ye R;e>iiQmcEiuou>Iy I}8ٮyy QtI y UD9y}: }B:)}p@8 9)I tIi ! )2@-<:@5w: A4~_* 4(A YtN[G@tNf0V@ytNtN>tNHS 2?ʿH& ?ij? E?@k?)uN[G@ uNr;IuNCx,t>x%#EG-@AH5@A)]ׄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:;> Q cE 6;>I I8ٮ Q%tI  U%D9: :)  2@<:@w:9 Ie`*  (AYt*CuG@t*N"V@yt*֥$t*^>t*H OUn?@W{ ɿJ ??=?@j?)u*CuG@ u*r;Iu*Cx>Ml>xBLEiPIP)G %= %=F@=YE-E?AAQEcEAM"M?IQ I]8ٮQQ Q]tI Q U]D9QU: Ux:)U#N8 m9)aIa mtIia m >>`* K#(AYtxG@t;V@yt`+tʂ>tHRP?2]t'ʿ ~J? k?+??)uxG@ ur;IuCx^>x E)dGF@Y}>QcEm;>I I8ٮ QtI  UD94; ;)`U8 %9)!I! -tIi! - `*  =(A)$I$YtVG@tVKV@ytVK$CtV(σ>tVH Pw?e@vGʿ&DT?cd?)K?`x?)uVG@ uVr;IuTxzi>xzNEH~a=H|iIC)ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yj>QcE";>I I8ٮ QtI  UD9: :)J\8 9)I  tIi   qJ`* 4W(AYt*KG@t*VBV@yt*T2t*w>t*HQ }?4ʿ >H?fJ?`~?`?)u*KG@ u*.r;Iu*CxBi>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGiF@Y&;>QcEI>I I 8ٮ QtI  UD9$; ;)5c8 %9)!I! -tIi! - 1iII0`* dwq(AYt*G@t*ZV@yt*#t*@>t*HO` ?=@YdʿE`? r? :??)u*G@ u*ڬr;Iu*CxZm>xZ'EipIrC)EGF@}Yʅ;>ʉʉQcEʉ͍x;>I I8ٮ QtI  UD9鰕1: J:)i8 9)I tIi  Y"`* aR(A Yt*G@t*[V@yt*',t*PO>t*HxOW?J 1eʿ.Mؐ??@??)u*G@ u*+r;Iu*CxBb>xB EGF?AHD)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ>ʱʱQcEʱͽm8>I I8ٮ QtI  UD9:: :)p8 9)I tIi t:HnK`t)? ۥ (ʿ =@#??@Z?`?)u:[G@ u:r;Iu:Cxbi>xbEiyI}“C)-G54=1a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YʭLѺ>ʩʩQcEʱ͵;>I I8ٮ QtI  UD9鰽%: :)Kx8 9)I tIi =>M/`* (AYt*FG@t*QdV@yt*Q5t*>t*HvNP?@)o@Fwʿ1??g?d?)u*FG@ u*Cr;Iu*CxBo>xBJE)~AAQMcEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU>: U:)Ue~8 m9)aIa mtIia mt*H`K "?kʿ 9x6 EH8H:p=iDIFC)vGF@zY~+a~>QcE q; >I I8ٮ QtI  UD95: |:)$8 %9)!I! -tIi! -t*HI@7D?Q* ʿ`A??`,?`?)u*G@ u*r;Iu(x6`k>x6E)rSGirxAta 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYEc ;M>IIQMcEIU#0;U>IY Ie8ٮYY QetI Y UeD9Y]: ]):)]38 m9)iIi utIii ut*H Jf4?nʿ @ 6?@ -?8?@?)u*FG@ u*r;Iu(xNl>xREi\I^C)GF@-Y-ʳ->11Q5cE1==>IA IM8ٮAA QMtI A UMD9AE}: E>:)E 8 U9)QIQ ]tIiQ ]trH]Gj?8ʿ j41D?`?@? ?)urG@ urr;IurCxzk>xzEG|H|)uSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QcEl;>I I8ٮ QtI  UD92: W:)P8 9)I tIi t*H-J7?@ʿw/~?`A?`? ?)u*`G@ u*r;Iu(xRh>xREi`IbC)-G5%=1F@]YeGغe>aaQecEimɌm>Iq I}8ٮqq QtI q UD9qu: uX:)u8 9)I tIi =Y>=V`* ,Z(AYt*AG@t*LV@yt*7t*w>t*H@Gl?0`[ʿ8@'??_?`?)u*AG@ u*r;Iu*CxB`>xB. E {@Y|DF8****** ping requested ******iPP}Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )5ׄGF@UY] 7]>aaQecEauFK;u>Iy I8ٮyy QtI y UD9y}8; },;)}8 9)I tIi t*HG+h?髦@ʿk=?`X? b>?Y?)u*rG@ u*r;Iu(x6k>x6EH6p=H:a=iPIRC)҄Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@5Y=/};=>9AQEcEAE9M>II Iu8ٮII QutI I U}D9IM; Mõ;)M38 9)yIy tIiy Oc`* ፁ(AYt*iG@t*tV@yt*g,t*o>t*H GSh?@ʿ 6&3??.n?@?)u*iG@ u*r;Iu*CxNxp>xRE)Gi%wA%xAF@-Y5U 5>99Q=cE9E2E>II IM8ٮII QUtI I UUD9IM: M1:)M8 ]9)YIY etIiY et2HFx?s~˿4>??x??)u2H@ u2@r;Iu2CxNp>xN%Ei`IbC)+Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQcEʉ͍:>I I8ٮ QtI  UD9鰕: :)8 9)I tIi t*H`H`-X? W'ʿ`8S.?`?f?@?)u*G@ u*s;Iu(xNi>xREGRAAHP)GF@-Y-5¹->11Q5cE1=?=>IA IM8ٮAA QMtI A UMD9AE: E:)EL8 U9)QIQ ]tIiQ ]t*H7I P?*"`^ʿ7;?/? s?@-?)u*oG@ u*s;Iu(xNd>xR Ei\I\)SG%4=!F@-Y5¹5>11Q5cE1=+=>IA IM8ٮAA QMtI A UMD9AE: Ex:)E28 ]9)QIQ ]tIiQ eP|`* bM(AYt2cH@t2nV@yt2C)t2>t2HF`p?` Q˿`2Q?/0???)u2cH@ u2(s;Iu0xRp>xRE)dGa 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@}Yʅ<;>ʁʁQcEʉ͍];>I I8ٮ QtI  UD9鰕S: x:)C8 9)I tIi t.HL@o ? Oʿi:@?n?2z? `?)u.zG@ u.Qs;Iu.CxBh>xBEHFa=HFp=i\I\))F@}Yʅɹ>ʁʁQdEʉ͍b >I I8ٮ QtI  UD9鰕: r:)(8 9)I tIi t*H 3J8@?@꥿{ʿC?n??i?)u*G@ u*'s;Iu*CxBp>xBE)]GimvAuwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y=f8=>9AQEdEAEb;M>II IU8ٮII QUtI I U]D9IMS: Mа:)Mx8 e9)YIY etIiY e=EY ]:)]c:I]9qIy9y=O@Contact HDG: 198.583556 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i IM4i 2@%<:@%w: 1i99[`* B(AYt*׼G@t*iV@yt*0t*:>t*H@M'?`/ʿ;`N?? ?w? ?)u*׼G@ u*@s;Iu*CxR}>xREi\I\)GF@Yʥ,a>ʩʩQdEʩ͵>I I8ٮ QtI  UD9鰹 :)8 9)I tIi =E :):I9I9*G2GFFrFbFEE);I9 iI%M4!i!) )2@-<:@5w: Aٖ`* E\(A Yt*:G@t*E_V@yt*7t*NM>t*HN`? cmʿ@`8a??G? I?)u*:G@ u*7s;Iu*CxNm>xR'EGR@AHP {TY|TV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )yF@Y{>QdE$>Iq Iu8ٮqq Q}tI q U}D9quį: uݱ:)u8 9)I tIi =E 4<)' t*HP?ӊ XʿA@"?Ĵ?@W??)u*NG@ u*Js;Iu*CxBv>xBEiXIX)SG<a 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}79}>yʁQdEʁͅ>I I8ٮ QtI  UD9鰍: :)8 9)I tIi =E :):I9I9*G2GFFrFbFEE);I9 iIM4i/e  2@<:@w: =Y>=a>z`* p(AYt*G@t*MV@yt*W1t*u>t*H@P?MJʿL@ ?*? ?"?)u*G@ u*!s;Iu*CxB`k>xBE)GF@-Y-/:->11Q5dE1=2=>IA IE8ٮAA QMtI A UMD9AE.: Et:)Er8 U9)QIQ ]tIiQ ]=EQ U:)U:IU9iIi9i*Gy2GyFFrFbFEE);I9 iIM4i 2@<:@w: Y`* J(A)4t*HS)?77@&ʿE`r??R??)u*AG@ u*Gs;Iu*CxBV>xBEHDHFa=iTIT) GF@=YEE>AIQMdEIM[M>IQ I]8ٮQ M]8Q Q]tI Q UeD9QU: U:)Ub8 m9)a m9Ia mtIia u=Ea e:)eb:Iem9I9*G2GFFrFbFEE);I9 iIM4i 2@<:@w: `* B'Ă(AYt*WG@t*V@yt*b/t*{R>t*H=X1?@ ɿ`o=࿂?0?ӷ??)u*WG@ u*]s;Iu*CxBh>xBE)5Gi5wA9a 1ua 1u a 5ua 5u a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ:>ʙʙQdEʡͥ>I I8ٮ QtI  UD9鰭: N:)w8 9)I tIi =E t:)E:I,9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I9 iIM4i !2@%<:@-w:) 1i99'`* uނ(AYt*Y^G@t*d V@yt*-!t*K>t*H`W`9>?@禥@Cɿ/H-?`%?hd?S?)u*Y^G@ u*Gs;Iu*CxB5g>xB*EiLIL)~SGF@]Ye;e>aiQmdEim:u>Iq I}8ٮqq Q}tI q UD9qu: u:)u>8 9)I tIi =E O:) :I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 191.622596 arcdeg .q' ' *G 2G FFrFbFEE)5;I59 11i1I9=M49i9A A2@M<:@Mw: R`* (A Yt.'G@t.U@yt.&,t.*>t.H]?3|^ɿ@ [`8?J??`B?)u.'G@ u.Bcs;Iu.CxB5g>x@GFAAHD)~GF@=YEE>AAQMdEIM=M>IQ I8ٮQQ QtI Q UD9QU< U'<)U8 9)I tIi =E :):IL!9I9=O5@Contact HDG: 198.583556 arcdeg .'5'5O=4Initialize Wait Component.*G92G9FAFIrFabFaEaEa);I9 iIM4i 2@<:@w: )I ߁9`* (AYt.G@t.U@yt.d7t.P>t.H ^`2?7 +IɿDS`W ??;??)u.G@ u.U9s;Iu.Cx6e>x6P EiDID)rGv4=ta 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYMMպM>IIQUdEQU^ֺU>IY Ie8ٮYY QetI Y UmD9Y]t: ]:)]8 u9)iIi utIii u=Ei m:)mw:Im~)9I9*G2GFFrF!bF!E!E!)];I]9 YYiYIYeM4aiai i2@u<:@w: ߡ=>=p>c`* Փ+(AYt.F@t.U@yt.3t.t҄>t.H8a .?@Pd@< ɿeP`n;?`t`?j?k?)u.F@ u.FQs;Iu.CxN5g>xR*E)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ6:>ʉʉQdEʉ͕>I I8ٮ QtI  UD9鰝: :)$8 9)I tIi =E :)A:I*29I9*G2GFFrFbFEE)u;I}9 yyiyIyM4i 2@<:@w: K`* &pE(A);IYt.F@t.kU@yt.M-t.;>t.H`Yg?U&ȿiU?ﰅ?B??)u.F@ u.$)s;Iu.CxBc>xB EH@HBp=iPIP)~GF@=YE ^:E>AAQMdEIMEM>IQ I]8ٮQQ Q]tI Q U]D9QUG: UJ:)U*8 m9)aIa mtIia m=Ea e}:)eN:Ie~:9yIy9*G2GFFrFbFEE);I9 iIM4i 2@<:@w: u`* I_(AYt*F@t*}U@yt*hz%t*Ҁ>t*He=?¯۳ȿdH?6?@a??)u*F@ u*$s;Iu*CxNx>xRE {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )+GiF@Yb:>  Q dE 0;>I! I%8ٮ!! Q-tI ! U-D9!%: %o;)%28 =9)9I9 EtIi9 E=E9 =V:)=:I=C9YIY9a*Gy2GyFFrFbFEE);I-9 11i9I9-M4)i)) 12@=<:@=w: YiAA`* J%y(AYt*lF@t*wXU@yt*.t*\{>t*Hi`c?3@Sjȿ s@f?`݅?$?Y ?)u*lF@ u*r;Iu(xB^>xB EiXI\)SGa 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}ú}>yyQdEʁͅ»>I I8ٮ QtI  UD9鰍): :)88 9)I tIi =E :)$:IK9I9*G2GFFrFbFEE);I9 iIM4i 2@<:@w: `* (A Yt6F@t67U@yt6"1t6|>t6H 7l?W)ȿt ?A$?D?T?)u6F@ u6s;Iu6CxBn>xBEG@HD)dGF@=YE㱹E>AAQMdEIM9M>IQ I]8ٮQQ Q]tI Q U]D9QU: Up:)Um?8 m9)aIa mtIia m=Ea ep:)e:IeT9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIM4i 2@<:@w: ,`* ܬ(AYt*F@t*$VU@yt*n!t*J+w>t*Hhi?@eȿ|D? -?s? ?)u*F@ u*Rr;Iu*CxBZe>xB EiPIT)111a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ?;>ʱʱQdEʹͽ;>I I8ٮ QtI  UD9.: :)F8 9)I tIi =E c:)9:I\9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 190.988755 arcdeg .q']']*Ga2GaFaFarFibFiEiEq);I9 iIM4i 2@<:@w: ߱=R>=]> `* ܷƃ(AYt*F@t*,U@yt*(t* x>t*H`GmK?`ȿ` e? <??j?)u*F@ u*r;Iu*CxBb>xB E)~GF@EYMM>IQQUdEQUӻU>IY Ie8ٮYY QetI Y UmD9Y]F: ]į:)]=M8 u9)iIi utIii }=Ei m:)m:Ime9I9=O@Contact HDG: 198.583556 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%M4!i!! !2@-<:@-w: A`* (A)4t*H`j`)?&Iȿ`}P?@]???)u*F@ u*)s;Iu*CxBRr>xBEHDHFa=iPIP)+GF@=YEE>AAQMdEIMB;M>IQ I8ٮQQ QtI Q UD9QU< Uɞ<)UT8 9)I tIi =E ض:) :Im9 I 9 *G92G9FAFArFIbFQEE)5;I=9 AAiAII}M4i 2@<:@w: `* ak(AYt*F@t*@U@yt*-$t*&av>t*H |k`?3:ȿ@y{/??? ?)u*F@ u*s;Iu*CxR]>xRE)Gia 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a e a 9e@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@UY]u:]>YYQedEae(e>Ii Iu8ٮii QutI i U}D9im: mc:)m[8 9)yIy tIiy =Ey }::)}o:I}v9I9*G2GFFrFbFEE);I9 iIM4i 2@<:@w: i99a* F(AYt*זF@t*CU@yt*G%t*&z>t*Hk?@@Aȿy`?1??@ ?)u*זF@ u*%6s;Iu*CxBt>xBlEiLIP)~SGF@=YEE>AIQMdEIM#:M>IQ I]8ٮQQ Q]tI Q UeD9QU: UB:)Ua8 m9)aIa mtIia m=Ea e-:)e:Ie~9yI9*G2GFFrFbFEE);I9 iIM4i 2@<:@w:  a* >#.(A Yt.hF@t.sSU@yt./t.=z>t.Hi G?`!h@z`ȿ`v=??`Y? ?)u.hF@ u.s;Iu.CxN8T>xR}EGR@AHP)dGa 1]a 1] a 5]a 5] a 9]a 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}}>ʁʁQdEʁ͍/;>I I8ٮ QtI  UD9鰕S: W:)h8 9)I tIi =E O:)A:IB9I9*G2GFFrFbFEE);I9 iIM4i 2@<:@ w: a* ~G(AYt* F@t*CU@yt*-,t*m|>t*H(k ?@_@ȿst ?`˖?;??)u* F@ u* s;Iu(xBo>xBEiLIP)~G%=F@=YE9E>AAQMdEIM&%M>IQ I]8ٮQQ Q]tI Q UeD9QU2: Q)Uo8 m9)aIa mtIia m=Ea e::)e:Ie9yIy9*G2GFFrFbFEE);I9 iIM4i 2@<:@w: =V>=p>a* a(AYt./F@t.:^U@yt.|#t.>t.Hh?@x`uȿh@9z?o?@u?P?)u./F@ u.r;Iu.CxNo>xRJE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGF@Yʵ:>QdE;>I I8ٮ QtI  UD9; ;)v8 9) I  tIi  =E  /;) ;I 9)I191OMDone Waiting.'MOM8Uninitialize Wait Component.*GQ2GQMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFibFiEyEy);I9 iIM4i 2@<:@w: =a* {(A);IYt:F@t:bU@yt:*t:1>t:H9h ?2 }ȿi`J`?@V??!?)u:F@ u:r;Iu:CxNv>xREHPHRp=){R:I{Pi{R={R$>{P{RPA{P|R4B9|R9L?n p\?ipIp)EjGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y>QdE!:>I I8ٮ QtI  UD9S: W:)}8 9)I tIi  =E :)E:I 9I9&-M-Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- N-Initialize.q'-N@Vehicle HDG: 191.030310 arcdeg .q''*G2GFFrFbFEE2EzE4BEF@e/?E9L?n p\?E:EEL)F50o!Q`?Eeſsȿd딎p9?E}U@=DHdg To Contact =191.127203 degreesZE bEO1:E3o$?BE=o$?JE RE jE>rEY?);I9 iIM4i 2@<:@w: $5Dacoustic_contact_range 45.179996 m$=hTrackAcousticContact.heading_to_contact 3.335799 rad$=HDUSBL_Hydroid.xAngle 0.100000 arcdeg$%a* (AYt*ѧF@t*TU@yt*v*t*u>t*H{i@?!Ccȿa?N?)? ?)u*ѧF@ u*r;Iu*CxRMl>xRLE)UGiQUxAF@eYe$8m>iiQmdEiuvu>Iy I8ٮyy QtI y UD9y}1: }:)}s8 9)I tIi =E :):I<9I9=O @Contact HDG: 191.127203 arcdeg .' ' O4Initialize Wait Component.*G2GFFrFbFE!E!)5;I=9 99i9I9EM4AiAA A2@M<:@Mw: ai=@A9M+a* j(AYt*F@t*lU@yt**2t*h>t*H )g5"?F ȿc9?@hR? ?A?)u*F@ u*r;Iu*CxBn>xBEiPIT)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y>QdE+e;>I I8ٮ QtI  UD9: :)8 9)I tIi =E ;);I9!I!9!*GQ2GQFYFYrFabFaEaEa);I9 iIM4i 2@<:@w: 62a* FɄ(A Yt*F@t*aU@yt* t*݃>t*HSh?HJs|ȿ[??L?r?)u*F@ u*r;Iu*CxNf>xR EGPHP)%GF@-Y5_;5>19Q=dE9E>E>IA IM8ٮAA QMtI A UUD9AA E):)E 8 ]9)QIQ ]tIiQ e=EQ Uȗ:)U:IU9iIq9q*G2GFFrFbFEE)%;I%9 !!i!I)-M4)i11 12@=<:@=w: I_8a* K ㄩ(AYt*F@t*dU@yt*Ft*\2>t*H h` ?`ȿ@b`4?ȃ?X? 1?)u*F@ u*r;Iu*CxR'n>xRpEi\I\)%G%=!F@5Y5A5>99Q=dE9E9E>II IM8ٮII QUtI I UUD9IM: M:)M8 ]9)YIY etIiY e=EY ]:)]:I]9qIq9q*G2GFFrFbFEE);I9 iIM4i 2@<:@w: =>=V>D>a* V~(AYt*DF@t*OsU@yt*/6-t*́>t*Hf)+?@nȿa?? ??)u*DF@ u*3r;Iu*CxB0a>xBw E)~Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yee>aaQedEam: ;m>Iq Iu8ٮqq Q}tI q U}D9qu2: u:)u%8 9)I tIi =E _:)s:Io9I9*G2GFFrFbFEE);I9 iI M4 i   2@<:@w: ߩEa* `Y(A) I Yt*KF@t*VWU@yt*7t*>t*H-i?@梿hȿ&g? ???)u*KF@ u*_r;Iu*CxB`k>xBEHB=HFa=iPIRC) SGF@Y%Ϻ%>))Q-dE)-*5>I1 I=8ٮ11 QEtI 1 UED915: 5):)58 M9)III MtIiI U=EI M:)M :IM9I9*G2GFFrFbFEE) ;I 9 iI=M49i99 A2@E<:@Mw: 8Ka* j41(AYt.zF@t.WU@yt.S(t.2>t.H=i@'?y~hȿdh?[ ?` ??)u.zF@ u.#r;Iu.CxBg>xBsE)dGiF@]YeN;e>aaQmdEim07m>Iq I8ٮqq QtI q UD9quNN< uN<)u8 9)I tIi =E :):I9I9O%Done Waiting.'%O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF)F1rFQbFQEYEY)m;Im9 qqiIM4i 2@<:@w: Qi ?A Ra* K(AYt*F@t*LU@yt*:t*t~>t*H[jB?%o>Sȿ!p?B?z?` ?)u*F@ u*r;Iu*Cx>Rr>x>EiLINC)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye);m>ʑʑQdEʙ͝}Ӻ>I I8ٮ QtI  UD9鰥: _:)8 9)I tIi =E :):I19I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 190.955615 arcdeg .q'e'e*Ga2Ge}U@FiFirFbFEE);I9 iI5i}U@ 2@<:@w: $RHorizontalControl.headingCmd 3.335799 radXa* Jd(A@ Yt.F@t.gU@yt.c[%t.|>t.Hg?mȿop+?`U? G?`0?)u.F@ u.Hr;Iu,x^o>x^JEG`H` {`Y|df8****** ping requested ******vNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Y;>  Q dE g;>I! I-8ٮ!! Q-tI ! U5D9!%%; %;)%8 e9)YIY etIiY e=EY ]:)]<:I]9I9=OE@Contact HDG: 191.127203 arcdeg .'M'MOM4Initialize Wait Component.*GI2GiFiFqrFqbFqEyEy);I9 iI&'9i(0Խ 2@<:@w: !^a* ~(AYt.F@t.CU@yt.3t.TH}>t.H !k?kg3@ȿ`r\?Dw?*V? 4?)u.F@ u.r;Iu.Cx:'n>x>pEiTIVC)uSGyya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QdE>I I8ٮ QtI  UD9J: :)8 %9)!I! %tIi! M=E! %;)% ;I%o9YIY9Y*G2GFFrFbFEE);I9 iI> ea* n(AYt*F@t*YU@yt*<(t*bw>t*HiX?flȿ`'{`\? /?&??)u*F@ u*r;Iu*Cx>m>xB'E)~dGF@=YE:E>AAQEdEIMm;M>IQ I8ٮQQ QtI Q UD9QUy< U z<)Uq8 9)I tIi =E :)5:I9I9*G2GF!F!rF!bF)E)E))e;Ie9 aaiaIamM?imi q2@<:@w: ߩ< la* {(A) I Yt*hF@t*sPU@yt*I(t*sz>t*Hi?Zȿw`^?0?u?` ?)u*hF@ u*r;Iu*CxBr>xBIEHBa=HDiTIVC)Ga 1}a 1} a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥf7>ʩʩQdEʩ͵>Iq I}8ٮqq Q}tI q U}D9quа: uȲ:)u8 9) 9I tIi =E :):I9I9*G2G)F1F1rF9bF9E9E9);I9 iI³@i 2@<:@w:Ƣ ߩra* V̅(Axrj>xrqE)]SGiexAaF@}Yʅ>ʁʁQdEʉ͍>I I8ٮ QtI  UD9鰕:  :)^8 9)I tIi =E O:)c:I9I9*G2GFqFqrFybFyEE);I9 iI@i 2@<:@w: + iya* D慩(AYt=QF@t=\^U@yt=n6t=w>t=Hh?uȿz`\?͆?`J??)u=QF@ u=s;Iu=CxMi>xMEiI)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y->QdE-:->I1 I58ٮ11 Q=tI 1 U=D915: 5:)5.8 e9)AIA mtIiA m=EA Ed;)Et;IE@9yIy9y*G2GFFrFbFEE);I9 iI ?i 2@<:@w: a* (A@ xn`k>xnEGrAAHp)]GF@}Yʅ>ʁʁQdEʁ͍>I I8ٮ QtI  UD9鰕: :)(8 9)I tIi =E F:):I 9I9*G2GFFrFbFEE)5;I59 99i9I9= -tBw>tBHcp?ȿ@u@]?§? Z??)uBF@ uBas;IuBCxNRr>xREi\I\)+G!%=F@=YE:E>AIQMeEIM;U>IQ I]8ٮQQ Q]tI Q UeD9QU: U):)U8 m9)aIa mtIia m=Ea e:)e:Ie(9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 i!I!%s;i)) )2@5<:@5w:M QR> ]>fXa* 3(AYtJF@tJU@ytJatJ'|>tJH`b?@}ȿ ]l?'̃? 83??)uJF@ uJ t;IuJCxng>xrsE)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YC ;>QeE#;>I I8ٮ QtI  UD9: :)8 9)I tIi >E W:)U:I19I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 191.253684 arcdeg .q'u'u*Gq2GyFyFyrFbFEE);I9 iI;گi 2@<:@w:7 ߑuDa* [M(A)4t:H ^@W? NJ8ɿn@{? $??P?)u:G@ u:mt;Iu:CxJk>xJEHLHLiXI\)5SGF@UY]Ѻ]>YYQ]eEYeޡ;e>Ii I8ٮii QtI i UD9imo; mA;)m8 9)I tIi >E }:),:I*:9I9=O=@Contact HDG: 191.127203 arcdeg .'='=O=4Initialize Wait Component.*G92G9FAFArFAbFiEiEi);I9 iIbG@t>mU@yt>*T#t>G}>t>H^@? 磿 B:ɿe@]? oj?=f?F?)u>bG@ u>qt;Iu>CxJi>xJNE {LY|LR8****** ping requested ******nNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GiwAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y.:>QeE8>I I8ٮ M8 Q%tI  U%D9ܵ; ;)8 -9))I) -tIi) 5>E) -:)-:I-pD9I9*G2GFFrFbFEE)%;I%9 ))i)I)}<}Ʈiyy 2@<:@w:iC &Ra* X(AYt*?G@t*U@yt*p*t*O}>t*HZ?iɿ`a`@?4R? e?@G?)u*?G@ u*89u;Iu*CxBi>xBEiXIZ“C)GF@Yʥ?ʩʩQeEʩ͵<?I I8ٮ QtI  UD9鰽: >:)8 9)I tIi >E :):IIK9I9*G2GFFrFbFEE);I9 iI%<%i!! )2@-<:@5w:= =)=I= ){a* 1(A Yt.LG@t.U@yt.0t.8>t.H@UY 0?N/ ɿ [X??0??)u.LG@ u.qu;Iu.Cx6sj>x6(EG4H:AA)vdGF@~Y>QeE ; >I I8ٮ QtI  UD95: [:)=8 -9)!I! -tIi! ->E! %:)%ȗ:I%YS99I999*GI2GQFQFQrFYbFYEYEa)u;Iu9 qqiqIq}<.i 2@<:@w: ߙ⥬a*  (AYt*=OG@t*HU@yt*6#t*b>t*H&Yf)?@ɿS?`f?@??)u*=OG@ u*u;Iu*CxR8T>xR}Ei`IfC)!))a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ;>ʉʉQeEʉ͕9>I I8ٮ QtI  UD9鰝F: ):)o8 9)I tIi >E :):I:\9I9*G2GFFrFbFEE);I9 iI< yi   2@<:@w: ߡx>>a* Ά(AYt*tG@t*!V@yt*!t*G+>t*H]Uu?뤿`Fɿ`W ^L?>??F?)u*tG@ u*,v;Iu*CxR_>xR EiVAT)F@EYMJ9M>QYQ]eEY=װ;=>IA IE8ٮAA QMtI A UMD9AEt: EW:)E8 ]9)QIQ ]tIiQ ]>EQ U:)U:IU0e9iIi9q*GY2GYFaFarFabFiEiE);I9 iI<i 2@<:@w: )Ha* 膩(A)(I,YtJ~G@tJ+V@ytJ)tJJp>tJHST?7ʿM`F? 9? ?`)?)uJ~G@ uJv;IuHxr0a>xvw EH~p=Hp=iI )mGa 1Ma 1] a 5]a 5] a 9]a 9] a -]a -e a 1m@a u a 5u@a u a 9u@a u a -u@a } iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@UY]rx]>YaQeeEar:>I I8ٮ QtI  UD9: :)%8 9)I tIi >E :)I{o9I99AOUDone Waiting.'UOU8Uninitialize Wait Component.*GQ2GQM]|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFYFYrFbFEE);I9 iI<li 2@<:@w: a* (AYt2RG@t2]6V@yt2!a(t2>t2H @S@Ƙ?l\cʿL`? ?`#??)u2RG@ u2Nv;Iu2CxNk>xRE)GiF@]Ye9e?aaQeeEam;m?Iq I}8ٮqq Q}tI q U}D9quS: u5:)u*8 9)I tIi >E :):Iu9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 191.772874 arcdeg .q' ' *G 2G F FrFbFEE)-;I59 11i1I1=<=i99 A2@E<:@Mw: Yia* x(AYt*G@t*JV@yt*W$t*́>t*HAQ ?l| Cʿ(M@? ⊄? ??)u*G@ u*v;Iu*CxBq>xBEihIh)5ׄGF@}YʅM:>ʁʁQeEʉ͍A;>I I8ٮ QtI  UD9鰑 :)08 9)I tIi >E :):I@~9I9=O%@Contact HDG: 191.127203 arcdeg .'%'%O-4Initialize Wait Component.*G)2G)F)F)rF1bF1E9E9)M;IM9 QQiQIQ]<]iYY Y2@e<:@ew: y?a* XU6(A Yt.ٝG@t.JV@yt.7#t.t>t.H`,Q 1?@qEʿ@tN?s?`b?#?)u.ٝG@ u.v;Iu.CxBp>xBEGF@AHF@A)9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽf8>QeE9>I I8ٮ QtI  UD9: l:)88 9)I tIi >E :):I9I9*G 2G FFrFbFEE)5;I59 11i1I1=<=qi99 A2@E<:@Mw: Y)a* 0P(AYt*8G@t*CfV@yt*Nv't*>t*HUN^?n ${ʿ M@u???J?)u*8G@ u*&gv;Iu(xBm>xB'EiLIL)~G%=F@=YEE>AAQMeEIM;M>IQ I8ٮQQ QtI Q UD9QUZ< U<)U>8 9)I tIi >E %:)Z:Im9I9*G2G F F rFbFEE)-;I-9 ))i)I)5<=qi99 92@E<:@Ew: QR>a>a*  j(AYt*KG@t*VcV@yt*(t*z>t*H@N?iuʿ`F`??c*??)u*KG@ u*2v;Iu*Cx2`k>x2E {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eGF@Y@>QeE(͹>I I8ٮ QtI  UD9: p:)mF8 %9)!I! UtIi! ]>E! %<)% t.H@O?V@BlʿK`?? ??)u.G@ u.u;Iu.CxBHf>xB EH@HBa=i\I\)Ga 1Ua 1U a 5Ua 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}|8}>yyQeEʁͅP>I I8ٮ QtI  UD9鰍J: :)L8 9)I tIi >E :)Ԙ:IG9I9*G2GFFrFbFEE);I9 iI<i 2@<:@w: ߱Ea* (AYt.G@t.V@yt.&#t.MO>t.H@MK.?ͩʿ6M9M?Nc?༽??)u.G@ u."u;Iu,xN_>xR E)dGi!!F@]Ye:e>aaQeeEim;m>Iq I}8ٮqq Q}tI q U}D9qu`: u :)udS8 9)I tIi >E ɏ:):I9I9*G2GFFrFbFEE);I9 iI<Ai 2@<:@w: iAa* (AYt*SG@t*^{V@yt*t*)>t*H@2L?`%yʿ>G˶?ϙ?@??)u*SG@ u*ku;Iu*CxB5g>xB*EiPIT)GF@=YE{:E>AIQMeEIMM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U7Z8 m9)aIa mtIia m>Ea e:)e,:Ie&9yI9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI<i 2@<:@w: +a* ~ч(A Yt*G@t*V@yt**t*r>t*H`I3O?̥ʿ@F`?:[?@$? "?)u*G@ u*Bt;Iu*Cx>"h>x>EGBAAH@)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@]Y] ]>aaQeeEamv;m>Iq Iu8ٮqq Q}tI q U}D9qu: u:)u-a8 9)I tIi >E Ր:)I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.102240 arcdeg .q'' *G 2G F F rFbFEE)-;I-9 11i1I1=<=Ci99 A2@E<:@Ew: YgTa* mS뇩(AYt*0G@t*;V@yt*:&t*>t*HHY?C@ʿ@@??DŽ?)? ?)u*0G@ u*s;Iu*CxRj>xRqEi`IbC)%SG%%=!F@=YE8:E>AAQMeEIM:M>IQ I}8ٮQQ Q}tI Q U}D9QU; UV;)Uh8 9)I tIi >E t:)$:IA9I9=O%@Contact HDG: 191.127203 arcdeg .'%'%O%4Initialize Wait Component.*G)2G)F)F)rFQbFQEQEY)m;Im9 iiiqIq<pi 2@<:@w: e>;b* b-(AYt*G@t*V@yt*&t*>t*HH_?@⥿ʿ@Gr?ׄ?@?*?)u*G@ u*|s;Iu*CxB`>xB. E)-Ga 1ma 1m a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕٟ>ʑʑQeEʙ͝8>I I8ٮ QtI  UD9鰥q: S:)o8 9)I tIi >E :):I9I9*G2GFFrFbFEE);I9 i I  <i 2@<:@w: )eb* 5(A)4t*HBD ?G?7˿Car?xBEH@HDiPIRC)~ʡʡQeEʡͭ;>I I8ٮ QtI  UD9鰭: :)u8 9)I tIi >E :):Ip9I9*G2GFFrFbFEE) ;I9 iI<i !2@%<:@-w: 9 b* m8(AYt*KH@t*VV@yt*!t*S>t*HD`Μ?@bvM+˿`ZAL? :?L ? ?)u*KH@ u*e}r;Iu*CxB{]>xB/E)~SGia 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye9e>aaQmeEimvm>Iq I}8ٮqq Q}tI q UD9qu: u:)u|8 9)I tIi >E :)o:I9I9*G)2G)F1F1rF9bF9E9E9)U;IU9 qqiqIq}<}P{iyy 2@<:@w: ߙiwb* R(AYt*`1H@t*kV@yt*1d5t*>t*H A]?e˿@`bu?g??`?)u*`1H@ u*Pq;Iu*CxB^>xB EiLIL)~GF@=YECE>AIQMeEIMe;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m>Ea e:)e:Ie79yI9*G2GFFrFbFEE);I9 iI<wi 2@<:@w: 4b* l(A Yt.JH@t.!V@yt.,t.SɁ>t.H`? ?OL˿ &;?|? ? ?)u.JH@ u. q;Iu.CxN\>xRUEGR@AHP {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1 a 1  a 5 a 5  a 9 a 9  a - a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=,:=>AAQEeEIM8b;U>I1 I=8ٮ11 Q=tI 1 U=D915а: 5:)58 M9)AIA MtIiA >EA Eh<)Et*H< )? w` ˿ ?5}? ~?J+??)u*\H@ u*jq;Iu*CxNPY>xRE){Rk=I{Pi{R={R+>{P{R A{P|RzLB9|RWj?`8.y?ipIp)EXGE4=AF@UYU+ 9U>YYQ]eEYenI;e>Ii Im8ٮii QutI i UuD9im\: m:)mj8 }9)yIy tIiy >Ey }:)}˚:I}K9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzEzLBE~I@Im@EWj?`8.y?Ek=EEr:H=+3Pw?E6^T"7QѿH4U$?E=Z@=DHdg To Contact =195.706626 degreesZEY]bED:E'o$?BE3o$?JE RE jE?rE>);I9 iI<li 2@<:@w: $-Dacoustic_contact_range 51.119999 m$=hTrackAcousticContact.heading_to_contact 3.415725 rad$=HDUSBL_Hydroid.xAngle 3.300000 arcdeg]>A'b* t*Hv< ,?@mpi˿`2`?@9?;?`?)u*0bH@ u*pq;Iu*CxBi>xBE)~+GF@=YE>:E>AAQMeEIMR:M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UC8 m9)aIa mtIia m>Ea e::)eN:Ie9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 192.531271 arcdeg .q''*G2G=Z@FFrFbFEE!)5;I59 99i9I9Ex2;iAE=Z@ A2@M<:@Mw: Y$RHorizontalControl.headingCmd 3.415725 rad-b* D1(A);IYt. H@t.NW@yt.h0t.>t.H5 >?jܦ?̿6"h>x>EH@HBp=iPIT)SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe&m>iiQmeEiu<u>Iy I8ٮyy QtI y UD9y}S: }5:)}?8 9) 9I tIi >E :)ʽ:I^9I9=O @Contact HDG: 195.706626 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 11i1I9={m8i= ۽A A2@E<:@Mw: Y4b*  Ԉ(AYt*H@t*MW@yt*5t*:>t*H 5@ ?n>̿T1?`?@?@U?)u*H@ u*0hq;Iu(xNb>xNQ E)Gi%xA%xAF@=YEKE>AAQEeEIM`M>IQ I]8ٮQQ Q]tI Q U]D9QU: UM:)U 8 m9)aIa mtIia m>Ea e:)e:Ie9yIy9*G2GFFrFbFEE);I9 iI 7i 2@ <:@ w: yi':b* 툩(AYt*H@t*rW@yt*04t*'g>t*H`e1I?`J̿7'@/? ? >?4?)u*H@ u*Sq;Iu(xB c>xB EiLIL)=SGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝa9>ʡʡQeEʡͭ5;>I I8ٮ QtI  UD9鰵: :)$8 9)I tIi >E :),:I9I9*G2GFFrFbFEE) ;I9 iI 6Wyi !2@%<:@-w: 9KAb* (A@ Yt*H@t*W@yt*+t*q>t*H-q-?@U.@̿#?!x????)u*H@ u*hrq;Iu(xBsj>xB(EGBAAHD)~GF@Yʍ§:>ʑʙQeEʙͥ&;>I I8ٮ QtI  UD9鰥F: J:)8 9)I tIi >E ٓ:):I 9I9*G2GFFrFbFEE);I9  i I x7i 2@<:@w: 짽 vHb* B!(AYt*I@t*گW@yt*/t*>t*H* 8g?E@̿&ഗ???O?)u*I@ u*q;Iu(xN0a>xRw Ei\I\)G%%=!F@-Y5f5>9AQEeEAU3;U>Ia Im8ٮaa QmtI a UmD9ae: e5:)eĺ8 u9)qIq }tIiq }>Eq uN:)u :IuW(9I9*G)2G)F1F9rFIbFYEaEa);I9 iIw7i 2@<:@w:Aɽ V>},Nb* r;(AYt.Q'I@t.\W@yt.(-t.X7>t.H@p&ʦ?EͿ f?`?`8? ?)u.Q'I@ u.Psq;Iu.CxNi>xRNE)%ʉʑQeEʑ͝;>I I8ٮ QtI  UD9鰥: l:)8 9)I tIi >E :)k:I19I9*G2GFFrFbFEE);I9 iIx7i 2@<:@w:۽ ^Ub* #NU(A) IYt*5I@t*W@yt*%t*oA>t*H@$=?+]aͿ@"?럄?Y? ?)u*5I@ u*Yq;Iu*Cx6V>x6EH4H:a=iDID)rGF@Y%:%>!)Q-eE)-o;->I1 I=8ٮ11 Q=tI 1 UED915: 5:)5s8 M9)AIA MtIiA M>EA E%:)E9:IE=99YIa9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFyFyrFbFEE);I9 iIy7픲i 2@<:@w: )I i>[b* )o(AYt*ZI@t* X@yt*/t*F>t*H@ ?ШPͿo??@)??)u*ZI@ u*zq;Iu*Cx2i>x6NE {4Y|8:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )]҄GiuwAuwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y >  QeE;>I! I-8ٮ!! Q5tI ! U5D9!%4; %;)%8 E9)AIA MtIiA M>EA E:)E:IElB9aIa9i&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 193.397899 arcdeg .q''*G2GFFrFbFEE);I9 iIx7i!! I2@U<:@Uw: qi@AE(bb* c (AYt*nI@t*X@yt*:/t*l>t*H, 1? M㨿Ϳf ?K?F ?3?)u*nI@ u*nq;Iu*Cx>i>x>EiXIX){GF@]Y]׸]>aaQeeEam[Z;m>Iq Iu8ٮqq Q}tI q U}D9quS: u:)u`8 9)I tIi >E ::):InJ9I9=O@Contact HDG: 195.706626 arcdeg .''O4Initialize Wait Component.*G2GFFrF bF EE)%;I%9 ))i)I)5y75(i11 92@=<:@Ew: QPhb* ߢ(A@ Yt*I@t*LX@yt*2t*/>t*HpY? D/ο`z?O? ?@?)u*I@ u*q;Iu*CxR0a>xRw EGPHP)5+GF@uY}?޹}>ʁʁQeEʁͅy;>I I8ٮ QtI  UD9鰍B: g:)T8 9)I tIi >E Ր:)ȗ:IS9I9*G2GFFrFbFEE);I9 iIx7i 2@<:@w: znb* 亼(AYt*I@t*UX@yt*8t*Y>t*H\t?@`@οTN"??`:o??)u*I@ u*q;Iu*CxBsj>xB(EiTIT)%SG-=)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@YU>QeE:>I I8ٮ Q tI  U D9: t:)x8 59)I UtIi U>E $<),bub* ։(AYt*I@t* nX@yt*)!*t*B>t*H ?@ pο  q? D?@/Y??)u*I@ u*Zq;Iu*CxRY>xRE)UdGF@eYm ;m>iiQueEqu0};u>Iy I8ٮyy QtI y UD9y}: }:)}8 9)I tIi >E :)0:Ic9I9*G2GFFrFbFEE);I9 iIx7i 2@<:@w: {b* \q(A)IYtvI@tv$X@ytvNtvw)>tvH+?H|ο C?Ƀ? E?T?)uvI@ uvr;IuvCxq>xEH)H)iI) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm3:u>qqQueEq}1;}>I I8ٮ QtI  UD9鰅: :)8 9)I tIi >E :)˚:I5m9I9*G2GFFrFbFEE);I9 iIy7i 2@<:@w: tb* nL (AYt* I@t*+X@yt*1t*:>t*H `w7?`bο}`?@1?`_4??)u* I@ u*;`r;Iu(xBj>xBqE)~҄GivAxAF@=YERE>AAQMeEIMpE;M>IQ I]8ٮQQ Q]tI Q UeD9QU: UB:)U8 m9)aIa mtIia m>Ea e}:)eo:Iet9yIy9*G2GFFrFbFEE);I59 11i9I9=x79iAA A2@M<:@Mw: Yi?Ab* '$(AYt*E&J@t*PX@yt*z2t*>t*H@Kσ?9`5ϿI? &O?`Nc?a?)u*E&J@ u*fr;Iu(xBa>xB EiLIL)~+GF@ Y>QfE;%>I! I-8ٮ!! Q-tI ! U-D9!%F: %į:)%8 =9)1I1 =tIi1 =>E1 5:)5˵:I5H}9III9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFiFirFibFqEqEq);I9 iIy7iȽ 2@<:@w: ߹ˎb* >(A*@ (YtR!J@tRX@ytR-+tR鄄>tRHw?檿<,Ͽ`V`t ?e? 2a?`?)uR!J@ uRԡr;IuPxnd>xn EGlHl)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ:>QfE+>I I8ٮ M8 QtI  UD9: :)8 9)I tIi ?E :)ȗ:IG9I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  NInitialize.q'Nm@Vehicle HDG: 194.096204 arcdeg .q'm'm*Gi2GFFrFbFEE)-;I-9 )1i1I15x79i99 92@E<:@Ew: ߱강b* W(AYt*TJ@t*Y@yt*d*t*Ȃ>t*H`"?y䪿 3Ͽ%Z? sZ?+??)u*TJ@ u*r;Iu(xB:m>xBEiPIP)~dG%=F@EYEf8E>IIQMfEIU<U>IY I]8ٮYY QetI Y UeD9Y]1: ]а:)]y 8 m9)iIi utIii u?Ei mO:)m:Imr9I9=O@Contact HDG: 195.706626 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI%y7!i!! !2@-<:@-w: AY>a>%ۛb* Rq(AYt2܃J@t20Y@yt2:*t2>t2H``;6?@?3ϿH@?^?`$??)u2܃J@ u2Fs;Iu2CxB"h>xBE {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UjGF@Yʥ>ʩʩQfEʩͽ;>I I8ٮ QtI  UD9; k;)8 9)I  tIi  ?E :)@:I]9AIA9I*G2GFFrFbFEE);I9 iIx7i 2@<:@w:eO)ڽ ߉¢b* !(A)4t.H@ ?QϿq@?? R?@?)u.yJ@ u.0s;Iu.CxNo>xREHPHRp=ilIl)=vGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ\>ʡʡQfEʩͭ1ʺ>I I8ٮ QtI  UD9鰵: :)u8 9)I tIi ?E ::):I9I9*G2GFFrFbFEE);I9 iIy7!i!! !2@-<:@-w:]Ƚ b* w(AYt6J@t6hY@yt6v+t6k>t6H?᫿8+п#?n?@NF???)u6J@ u6=s;Iu6Cx=Wx>xEE) dGiwAwAa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu4<:u>qyQ}fEy}<>I I8ٮ QtI  UD9鰅 : $:)"8 9)I tIi ?E }:)Ԙ:Iͨ9I9*G2GFFrFbFEE);I9 iIx7i 2@<:@w: ) I i b* I(AYt*J@t*kY@yt*J)t*[>t*H i`d?$%`@.пs?:)?@5\?^?)u*J@ u*Kgt;Iu(x2m>x2'EiDID)vGF@~Y9>Q fE   : >I I]8ٮ Q]tI  U]D9< #<)(8 }9)yIy tIiy ?Ey }{;)}@;I}9I9*G2GFFrFbFEE);I9 iI y7 i  2@=<:@=w: Ib* %ي(A@ Yt.vJ@t.Y@yt./t.F>t.H?V竿Nп`&??x5?@n?)u.vJ@ u.]t;Iu,xNc>xR, EGPHP)SGF@-Y-5>11Q5fE1=w;=>IA IM8ٮAA QMtI A UMD9AE:: E:)E/8 ]9)QIQ ]tIiQ ]?EQ Uа:)U:IU9iIi9i*G2GF!F!rF!bF)E)E))E;IE9 AAiAIAMx7IiII Q2@U<:@]w: i(b* (AYt*oK@t*zY@yt*H41t*M>t*H G?Eѫ`nп,`e?l&??J?)u*oK@ u*nzt;Iu*CxRm>xR'Ei\I`)dG%4=!a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅI>ʁʉQfEʉ͍#;>I I8ٮ QtI  UD9鰕a: а:)68 9)I tIi ?E :):I9I9*G2GFqFqrFybFyEyEy);I9 iIy7i 2@<:@w: V>b* { (AYt*IK@t*TY@yt*(t*'>t*H`i#?`όۃп` K?@?@6?G?)u*IK@ u*8t;Iu*CxR?s>xRE)F@%Y-:->)1Q5fE15^;=>IA IE8ٮAA QMtI A UMD9AE: E:)E=8 U9)III UtIiI ]?EI M:)M:IM9iIi9iO}Done Waiting.'}O}8Uninitialize Wait Component.*Gy2GyM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIx7i 2@<:@w: tfH@>?^qпF@?1?+~??)uf9K@ uft;IufCxh>xEHH%a=i9I9)a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QfE }; >I  I8ٮ   QtI  UD9  p: >:) E8 %9)!I! %tIi! -?E! %:)%o:I% 99I999&MMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN=@Vehicle HDG: 195.073071 arcdeg .q'='=*G92G9FAFArFAbFiEiEi);I9 iIy7i 2@<:@w: "b* @(AYt.WK@t.&Z@yt.Z(t.L >t.H@I]?`G@{п &?C ?bR??)u.WK@ u.t;Iu.CxBp>xBE)|ixAF@=YEF9E>AAQMfEIMu;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)UK8 m9)aIa mtIia m?Ea e:)e9:Ie 9yIy9=O@Contact HDG: 195.706626 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I9 iIx7i !2@%<:@-w: 9iLb* mZ(AYt2|K@t2)Z@yt2s%t22ƀ>t2H?XϬп@<:?@???)u2|K@ u2rt;Iu2CxNHf>xR Ei\I\)GF@%Y-z9->11Q5fE1=;=>IA IE8ٮAA QMtI A UMD9AEͭ: E:)E[R8 U9)QIQ ]tIiQ ]?EQ UW:)U:IU}9iIi9i*Gy2GyFFrFbFEE);I9 iIy7i 2@<:@w: vb* Gt(A Yt*~K@t*NZ@yt*5t*C>t*H:?@m`0 ѿ ?`??@?)u*~K@ u*t;Iu*CxB:m>xBEG@HD {DY|DJ8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y >QfEß;>I I8ٮ QtI  UD9: :)EZ8 %9)!I! -tIi! -?E! %Ш<)%t*H?@~$`ѿ`&?@?ݑ?@)?)u*K@ u*tt;Iu(xBl>xBEiXIX)UG]%=YF@eYmKm>iqQufEqu 6;}>Iy I8ٮyy QtI y UD9y}h: }:)}H`8 9)I tIi ?E ٮ:)s:I9I9*G2GFFrFbFEE);I9 iIy7i 2@<:@w: R>l>b* m(AYt*K@t*wZ@yt*K)t*t>t*H@@d?>0ѿ -?`Y)?3~?@?)u*K@ u*t;Iu*CxBi>xBE)~SGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ:>ʡʡQfEʩͭq;>I I8ٮ QtI  UD9鰵: :)Jg8 9)I tIi ?E Ր:) :IW9I9*G2GFFrFbFEE);I9 iIx7!i!! !2@-<:@-w: Apb* ^(A) I Yt*L@t*Z@yt*',$t*]<>t*H` ?@gѿ@?`n?Ԓ?@q?)u*L@ u*s;Iu*CxBHf>xB EHDHDiTIT) GF@=YEFQ:E>AIQMfEIMf<M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)Um8 m9)a m9Ia mtIia m?Ea e:)e:Ie9yI9*G2GFFrFbFEE)5;I59 QQiQIQ]y7]riYa a2@m<:@mw:exȽ qb* >ۋ(AYt*'L@t*Z@yt*Y:t*LB>t*H #,?1 pѿ w\?K?n? H?)u*'L@ u*w^s;Iu*CxR'n>xRpE)GiwAxAF@]YeqYe>aaQmfEim;m>Iq I}8ٮqq Q}tI q UD9qu: u:)ut8 9)I tIi ?E d:)5:I/9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIx7i 2@<:@w:UD Yib* (AYt*oKL@t*zZ@yt*K\>t*>t*H@?@@ฬѿ1?@fˇ?`??)u*oKL@ u*ur;Iu(xN]>xRxEi\I\)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Y}E>ʁʁQfEʁ͍;>I I8ٮ QtI  UD9鰕: :){8 9)I tIi ?E :)ȗ:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 196.032686 arcdeg .q'-'-*G12G1F1F1rF9bF9EAEA);I9 iIy7ni 2@<:@w: )I c* j(A@ Yt.gL@t.[@yt.(t.N>t.H` 6P?iѿrw?%???)u.gL@ u."!r;Iu,x6^>x6 EG8H8)rdGF@Y%c;%>!)Q-fE)-;->I1 I=8ٮ11 QEtI 1 UED915: 5:)58 M9)III MtIiI U?EI MO:)M:IM 9aIa9a=O@Contact HDG: 195.706626 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIx7i 2@ <:@ w: ! c* G)(AYtFDL@tFO2[@ytF>!tF+>tFHkt?گ[ѿ ?@3? mV?,?)uFDL@ uFT6r;IuFCxb`k>xbEi I )G4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Yo:>QfE ; >I I8ٮ QtI  UD9|: J:)8 %9)!I! -tIi! -?E! !)%ݖ:I%&(99I999*GI2GIFQFQrFYbFYEYEY)u;Iu9 qqiqIq}y7}𲲽iy 2@<:@w: ߙ]>]>Oc* h"C(AYt2ϰL@t2][@yt2-t2`>t2H`Ʋ@E?YҿM?W??c?)u2ϰL@ u2q;Iu2CxN:m>xRE)GF@]Yee>aaQefEam;m>Iq I}8ٮqq Q}tI q U}D9qu: u-:)u8 9)I tIi ?E :):I;09I9*G2GFFrFbFEE);I9 iIx7i 2@<:@w: 'c* ]\(A) IYt*L@t*l[@yt**o#t*{>t*H཰@@?G@Jҿɛ*?m? '? ?)u*L@ u*q;Iu*Cxjn>xjEHna=Hnp=ixIzC)QF@eYm:m>iiQmfEiu;u>Iy I8ٮyy QtI y UD9y}h: }į:)}m8 9)I tIi ?E -:)˵:I89I9*G2GFFrFbFEE);I9 iIy7խi 2@<:@w: :c* Iv(AYt*L@t*[@yt*&-t*<>t*H9?簿`Eҿx?@?A? ?)u*L@ u*1p;Iu*CxNe>xRP E {PY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGiuAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@ Yuu>yyQ}fEy}ҷ;>I I8ٮ QtI  UD9鰅fr< r<)u8 9)I tIi  ?E :)׾:IB9I9*GQ2GQFQFQrFYbFYEaEa);I9 iIx7֩i 2@<:@w: i#c* J(AYt*SM@t*^[@yt*}@t*>t*H7?`Oaҿt?@K?y?@?)u*SM@ u*Dp;Iu*CxBi>xBE){B>I{@i{Bj={B1>{@{BA{@|Bz(B9|BJFTg? nk ?i`IbC)%GF@Y0^>QfE;>I I8ٮ QtI  UD9:: :)n8 9)I tIi ?E :)÷:I J9I 9 *G2GFF!rF!bF!E)E)2E1zE5z(BE5?7D@”@E5JFTg? nk ?E5>E1E5?FFCC\W0('U?E5NyIbٿQ1O~?E5sc@==DHdg To Contact =203.625534 degreesZE5bE52:E5Co$?BE5'o$?JE5 RE5 jE5b?rE5?)];I]9 YYiYIYey7eܦiea i2@m<:@uw: ߁$Dacoustic_contact_range 42.119999 m$hTrackAcousticContact.heading_to_contact 3.553936 rad$HDUSBL_Hydroid.xAngle 7.200000 arcdeg%*c* (A@ Yt.M@t.[@yt.t.>t.H'@? \$Ajҿj.?@?l??)u.M@ u./Kp;Iu,xNe>xRP EGR@AHP)%GF@]Ye;e>aaQefEamƯ:m>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 9)I tIi ?E :)Ԙ:IFR9I9*G2GFFrF1bF9E9E9)M;IU9 qqiqIq}x7}iyy 2@<:@w:  1c* hČ(AYt*)M@t*[@yt*KM t*0>t*H@` ?@v߱@ҿ|=?i?D/?`?)u*)M@ u*y7p;Iu*CxN:m>xREi`I`)%+G-R=-=a 1ea 1e a 5ea 5e a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʅ[J;>ʉʉQfEʉ͕r;>I I8ٮ QtI  UD9鰝: :)8 9)I tIi ?E :)s:IZ9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI y7 $i   2@<:@w: ߡi>p>77c* Eތ(AYt*ZM@t*\@yt*ot*k>t*H@8?̰`ҿuI.?@?"??)u*ZM@ u*3o;Iu*CxB5g>xB*E)~GF@=YEE>AAQMfEIM;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)UϹ8 m9)aIa mtIia m?Ea e:)e :Ie6c9yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.981180 arcdeg .q''*G2Gsc@FFrFbFEE);I9 iI% 6i%ܶ%sc@ !2@-<:@-w:  $5RHorizontalControl.headingCmd 3.553936 rada=c* O (A) IYt.4xM@t.?%\@yt.?t.|y>t.H 6k?ҿz ?y?`J?` ?)u.4xM@ u.o;Iu.CxBo>xBEHFp=HDiPIP)GF@=YEGE>AAQMfEIMA;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U-:)U8 m9)aIa utIia }?Ea et*Hi?jPҿ/?Oތ?M?*?)u*[zM@ u* p;Iu(x6k>x6E)rGirwAta 1%a 1% a 5%a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a - a 9-@a - a --@a - ))Ʉ)i-Mb@Mb@Mb@I)I)i)))Ʌ))) )))F@EYM ŻM>IIQMfEIU9U>IY Ie8ٮYY QetI Y UeD9Y]: ]t:)]8 u9)iIi utIii u?Ei mW:)m4:ImCt9I9*G2GFFrFbFEE);I9 iIDj/iP  2@<:@w: ͽ ߹isJc* |+(AYt*M@t*`\@yt*hvt*j>t*H׌ )?7l@ӿ˸S?̎?` ?(?)u*M@ u*p;Iu*CxV'n>xZpEidId)-Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ>ʑʑQfEʑ͝ <>I I8ٮ QtI  UD9鰥1: :)8 9)I tIi ?E h:):I|9I9*G2GFFrFbFEE);I9 iI  ,i 4  2@<:@w:%wA %wA- 14[Qc* GE(A Yt*M@t*h\@yt*R_t*ݥl>t*Hŋ`$?Bn` ӿ~?!?P?x%?)u*M@ u*ao;Iu*CxBMl>xBLEGFAAHD)EGF@]Yeg;e>aaQmfEim2:m>Iq I}8ٮqq Q}tI q UD9qu: u):)ut8 9)I tIi ?E O:):IW9I9*G2GFFrFbFEE);I9 iI^+i 2@<:@w: SWc* e_(AYt*)M@t*4b\@yt*8t*q>t*Hϩ?y:@>ӿ X??@?~?)u*)M@ u*o;Iu*CxBs>xBEiLIP)~vG4==F@Yʕ;>ʑʑQfEʙ͝>I I8ٮ QtI  UD9鰥\: :)t8 9)I tIi ?E :):I9I9*G2GFFrFbFEE);I9 i I  l+ i 2@<:@w:B V>e>|]c* fy(AYt*M@t*ؓ\@yt*G),t*vp>t*H "?VƮ6ӿ ??? ?)u*M@ u*po;Iu(x2h^>x2E {4Y|4:8****** ping requested ******NNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UGa 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}:}>yʁQfEʁͅ;>I I8ٮ QtI  UD9鰭>: :)|8 9)I tIi ?E :);I9I9*G)2G)F)F)rF1bF1E1E9)u;Iu9 qyiyIyt-i r  2@<:@w: )I YTdc* A(A) IYt.tM@t.z\@yt.+?t.%m>t.HX@? hӿ`@y??y`?@$?)u.tM@ u.o;Iu,x6n>x6EH8H:a=){:qfI{8i{:={:7>{8{:A{8|:@B9|:ê:?qViXIX) GF@=YEmE?AAQMfEIMM?IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m?Ea eՐ:)e:Ieʞ9yIy9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE2EzE@BEPg=@o6BEê:?qVEqfEE*Cz q+:@M EJqӛa?/j ƿE#@=DHdg To Contact =146.532351 degreesZE[AbEX:E@o$?BECo$?JEs RE jE?rEb?);I9 iQIYe.iaa i2@m<:@uw: ߡ$Dacoustic_contact_range 48.179996 m$hTrackAcousticContact.heading_to_contact 2.557472 rad$LDUSBL_Hydroid.xAngle -51.700000 arcdegjc* .(AYt.>M@t.I\@yt.JXt.j>t.Hୃ?`鷬 hAӿ}@=?`5?@? (?)u.>M@ u.o;Iu.CxBg>xBsE)~ׄGi||a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@}Yʅs>ʁʁQfEʁ͍;>I I8ٮ QtI  UD9鰕):  :)8 9)I tIi ?E ɏ:)ݖ:Ix9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 197.511271 arcdeg .q'U'*G2G#@FFrFbFEE);I9 iI1i%ֽ%#@ !2@-<:@-w: q$RHorizontalControl.headingCmd 2.557472 radiqc* ƍ(AYt*M@t*â\@yt*9Pt*o>t*H5?`Dӿ@_`K??? ?)u*M@ u*o;Iu*CxB`k>xBEiPIV“C) AIQMfEIMo :M>IQ I]8ٮQQ Q]tI Q UeD9QUh: Ul:)U8 m9)aIa mtIia m?Ea e[:)eo:IeЯ9yIy9=O@Contact HDG: 146.532351 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)5;I59 11i1I1=`5i=9 A2@E<:@Mw: Ywc* s(A Yt*M@t*\@yt*V;t*\s>t*Hs`?`Ӯ Z7ӿƢ;?z?@1?D?)u*M@ u*o;Iu*CxBf>xB EGB@AH@)~SGF@Y%K;%>!)Q-fE)-P ->I1 I=8ٮ11 Q=tI 1 UED915: 5ʽ:)58 M9)AIA MtIiA U?EA Eٓ:)E:IE>9aIa9a*Gq2GqFqFrFbFEE)%;I%9 !!i)I)=o ;iE-A I2@}<:@w:2 ߱u}c* (AYt*N@t*\@yt*Ct*o>t*H@ @?)@Rӿz?`z?`v?@I ?)u*N@ u*Smo;Iu*Cx>g>x>sEiLIL)~dG~%=~4=a 1=a 1= a 5=a 5= a 9=a 9= a -=a -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Y]Ee>aaQefEam;m>Iq I8ٮq M8q QtI q UD9quض; u;)u8 9)I tIi ?E =;):I9I9*G2GFF!rF!bF!E)E))];I]9 aaiaIam@imV滉i 2@<:@w: ߑ>i>c* (AYt*M@t*\@yt*.t*k>t*HL c?)8ӿ@DZ@R??_م?`1?'?)u*M@ u*Io;Iu*CxN:m>xREiVAT)jGF@=YER;E>AAQMgEIMoM>IQ I]8ٮQQ Q]tI Q U]D9QU+: Uʽ:)U 8 m9)aIa mtIia m?Ea e:)e9:IeY9yI9*G2GFFrFbFEE);I9 iI%Ei%,Ct.H ?7BSӿ@F?"? ? )?)u.N@ u.-no;Iu.CxBc>xB, EHBa=H@iPIRC)UvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y>QgE;>I I8ٮ QtI  UD9,; ;)8 %9)!I! %tIi! -@E! %:)%:I%\9QIY9Y*Gi2GiFiFirFbFEE);I9 iI{F@i4}= 2@<:@w:xA wAG c* 1BH(AYt*VM@t*a\@yt*At*rp>t*H@܄ ?2:ӿ`<@_?#?`O??)u*VM@ u*4ao;Iu*CxBQ>xBE)~GiF@Yʍ:#>ʉʉQgEʉ͕>I I8ٮ QtI  UD9鰝%: į:)|8 9)I tIi @E :)w:I9I9*G2GFFrFbFEE )=;I=9 99iAIAE%bA@iM=I I2@U<:@uw:%) ߑi!#c* G!b(AYt*M@t* \@yt*+Bt*s>t*H ? ;ӿˡ??NE? Z3??)u*M@ u*vo;Iu*Cx>y>x>EiLIL) SGF@EYEf*E>IIQMgEIU8U>IY Ie8ٮYY QetI Y UeD9Y]: Y)]=!8 m9)iIi utIii u@Ei m<)m 2@<:@w:M QULc* {(A Yt.M@t.\@yt.:t.:q>t.H?.?dh,ӿa@(??? ?:?)u.M@ u.Do;Iu.Cx>'n>xBpEG@H@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QgEM-M>IQ I]8ٮQQ QetI Q UD9QU$k< Ul<)U)8 9)I tIi @E :):I9QIY9Y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 197.432410 arcdeg .q''*G2GFFrFbFEE)-;I-9 ))i)I)b4@i42> 2@<:@w:)=I== .4c* ӕ(AYt*M@t*x\@yt*)t*i>t*H ?` ӿH' ?@<:??*?)u*M@ u*Lo;Iu*CxBMl>xBLE){BHtI{@i{BJ={@{@{BB{@|B3AB9|B?'"r?3! &i`I`)=GE4=E%=F@]YeH;e ?aaQegEimOm?Iq I8ٮqq QtI q UD9quE< u<)u/8 9)I tIi @E :):I(9I9=O%@Contact HDG: 146.532351 arcdeg .'%'%O%4Initialize Wait Component.*G!2G!F)F)rFqbFqEqEq2EyzE}3ABE}Wvx;@/CE}?'"r?3! &E}HtEyE}(>$CeX<@,σvL!E}4DVc+л?.|7ƿE}' @=DHdg To Contact =143.378634 degreesZE}AbE}:E}Do$?BE}@o$?JE}r RE}s jE}c rE}?);I9 iIDp0@iVK> 2@%<:@-w:Ď= $-Dacoustic_contact_range 48.300003 m$5hTrackAcousticContact.heading_to_contact 2.502429 rad$=LDUSBL_Hydroid.xAngle -54.800001 arcdegR>Y>B^c* (AxnHf>xn E)edGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y>QgE>I I8ٮ QtI  UD9: l:)C68  9) I  tIi  @E  t;) ;I 9AIA9A*Gq2GqFyFyrFybFEE)U;IU9 QYiYIY]=+@ie-ol>a a2@m<:@w:m}= q2Fc* Ɏ(A);IYt*M@t*L\@yt*۲)t*Tt>t*H`] L? 箿@%ҿ)`G?B6? 0@?{?)u*M@ u*po;Iu*CxRn>xREHZp=HZp=ilIl)=GF@]Ye7e>aaQegEamm>Iq I8ٮqq QtI q UD9qug; u;)u<8 9) 9I tIi @E :):I9I9*G2GFFrFbFEE)5;IU9 QQiQIQ]k'@i]1v>Y a2@e<:@mw:wA 䪿= ߑSpc* e㎩(AYt*ߞM@t*K\@yt*#t*p>t*Hj y?`ҿRJ?t?`~??)u*ߞM@ u*qo;Iu(xBmd>xFu E) vGi  F@Y% t:%>!!Q-gE)-ں->I1 I=8ٮ11 Q=tI 1 U=D915: 5:)5C8 }9)yIy tIiy @Ey }x:)}:I}} 9I9*G2GFFrFbFEE);I9 iI5$@i5 >1 92@=<:@Ew:MO)= Yiwc* B@(AYtByM@tB&\@ytBF-tBin>tBH@ە s?@­pҿ&? ?`?"?)uByM@ uBo;IuBCxNo>xRJEi\I\)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Y2>QgE] >I  I58ٮ   Q5tI  U=D9  ; ;) J8 E9)9I9 EtIi9 E@E9 =F:)=:I=9qIq9y*G2GFFrFbFEE);I9 iIZ5#@i 2@<:@w:> #c* (A Yt>UM@t>\@yt>'t>~t>t>H J?@Wt5ҿ`u`S? ? ME?.?)u>UM@ u>˸o;Iu>Cx^f>x^ EG`H`)+GF@YʝN[:>ʙʙQgEʡͥ>I I8ٮ QtI  UD9鰭: :)Q8 9)I tIi @E :)Z:I9I9*G2GFFrFbFEE) ;I9 iI #@ i !2@%<:@-w:)5=I5=J>  c* 1(AYt6l-M@t6w[@yt6^t6r>t6H`$?5ҿ! ?W?0??)u6l-M@ u6o;Iu4xZ'n>xZpEihIh)5SG=R=9F@EYM[;M>IIQMgEQU̻]>IY Ie8ٮYY QetI Y UmD9Y]1: ]а:)]hX8 u9)iIi utIii }@Ei m:)m^:Im'9I9O5Done Waiting.'5O58Uninitialize Wait Component.*G92G9M=|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9rFAbFAEIEI)};I}9 yiI#@i 2@<:@w:w> ߱>e>c* =J(AYt*M@t*[@yt*pt*l>t*H _?i`rҿe? ΂?`N?&?)u*M@ u*o;Iu*CxNMl>xNLE)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ&:>ʡʡQgEʡͭ?>I I8ٮ QtI  UD9鰵: c:)w_8 9)I tIi @E :)ȗ:I/9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.753872 arcdeg .q''*G2G' @FFrFbFEE )%;I%9 !!i!I!-t"@iIM' @ Q2@U<:@]w:e(> i$RHorizontalControl.headingCmd 2.502429 radнc* d(A)IYt.PM@t.[[@yt.#t.j>t.H@?@pkҿ`u8?s??@0)?)u.PM@ u.p;Iu.CxRv>xREHRR=HPi`I`)GF@-Y55>11Q=gE9=E>IA IM8ٮAA QMtI A UUD9AEO: E:)E f8 ]9)QIQ ]tIiQ e@EQ UQ:)U:IU79iIq9q=O@Contact HDG: 143.378634 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI  @i   2@<:@w:! !> c* ~(AYtFL@tF[@ytF1)tFBpp>tFH(?@`;ҿz? -??@??)uFL@ uFqp;IuFCxo>xE {!Y|!-8****** ping requested ******uNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )9iQQa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@YʽD>QgE>I I8ٮ QtI  UD9"; ;)o8 -9)!I! 5tIi! 5@E! %:)%:I%C9III9I*GY2GaFaFarFibFiEiEi);I9 iI)H @< i 2@<:@w:i > c* `(AYt*L@t*[@yt*{8&t*s>t*H`~?惭8ҿ4zG?Ƅ?@*??)u*L@ u*W p;Iu*Cx2=Z>x21E){6>kI{4i{6 ={4{4{6A{4|6@B9|6i?h)/piTIT)F@=YEO:E?AAQMgEIM*M?IQ I]8ٮQQ Q]tI Q UeD9QUS: U:)Us8 m9)aIa mtIia m@Ea e:)e,:IeI9yIy9*G2GFFrFbFEE2EzE@BE/D=@_4,CEi?h)/pE>kEE0`C1 Ř?^;@ DuU{!EvfL2'?;Il1ǿE8!@=DHdg To Contact =144.768428 degreesZEAbE:EBo$?BEDo$?JEREr jE rEc );I9 iI' @i 2@<:@w: )I i$Dacoustic_contact_range 48.239998 m$hTrackAcousticContact.heading_to_contact 2.526686 rad$LDUSBL_Hydroid.xAngle -52.650001 arcdeg3c* <(A@ Yt*L@t*U[@yt*6t*tq>t*HШ?Hqҿ@?@??`?)u*L@ u*o;Iu*Cx^v>x^EGbAAH`)=SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@YʥR;>ʡʩQgEʩͭ>I I8ٮ QtI  UD9鰵: :) {8 9)I tIi @E ):IQ9I9*G2GFFrFbFEE);I9 iI!!i!! )2@-<:@-w: Ac* ̏(AYt*L@t*N[@yt*%%t*l>t*H?mq ѿ @Kv?d? O?@%?)u*L@ u*o;Iu*CxBh>xBEiPIT)EGE=MR=F@}Yʅ[">ʁʁQgEʁ͍>I I8ٮ QtI  UD9鰕: :)ށ8 9)I tIi @E :):I3Z9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: R>x>c* 叩(AYtuL@tuJ[@ytu'Itul>tuH J?ѿ`u? ?P?%?)uuL@ uuo;Iuqxi>xE)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y9>QgE j >I I8ٮ QtI  UD9\: ٮ:)8 M9)!I! MtIi! M@E! %y;)%;I%c9YIY9Y*G2GFFrFbFEE);I9 iIi 2@<:@w: (6c* F(A) IYt*gL@t*[@yt*t*r>t*Hk?@嬿`+ѿ/? nB? ?`?)u*gL@ u*7o;Iu(xBp>xBEHB=HFa=iPIP): U:)U8 m9)aIa mtIia m@Ea eՐ:)e,:Iek9I9*G 2G FFrFbFEE!)U;IU9 QQiYIYYaiaa a2@m<:@mw: ߁d* (AYt*L@t*8[@yt*!t*q>t*H"? @ѿ@J?@fxR'E)SGixAF@]Ye,e>aaQmgEimh;m>Iq I}8ٮqq Q}tI q U}D9qu: u:)u{8 9)I tIi @E ):Is9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)u;Iu9 qyiyIyyi 2@<:@w: ߹iG d* M3(AYt*oFL@t*zZ@yt*u t*p>t*HO?,< ѿ??`?`?)u*oFL@ u*yzo;Iu*CxNi>xRNEi\I\)dGa 1]a 1] a 5]a 5] a 9]a 9] a -]a -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@uY}K9>ʁʁQgEʁ͍X(>I I8ٮ QtI  UD9鰕: :)p8 9)I tIi @E %:):I=|9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 196.015200 arcdeg .q'-'-*G)2G58!@F1FrFbFEE) ;I9 iI!@i8!@ !2@%<:@%w: Y$RHorizontalControl.headingCmd 2.526686 rad0d* ^M(A@ Yt*cL@t*[@yt*U7t*|m>t*H`m?@Bѿ=? ? Gk?L$?)u*cL@ u*bo;Iu*CxBo>xBJEG@HD)~GF@=YE^9E>AAQMgEIM;M>IQ I]8ٮQQ Q]tI Q UeD9QU: Uc:)U48 m9)aIa mtIia m@Ea a)e:Ie9yIy9=O@Contact HDG: 144.768428 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9 iI!@i !2@%<:@%w: 9[d* ?g(AYtJSL@tJ[@ytJ'tJzp>tJH`ۿ8Z?@ѿ`??`Sق??=?)uJSL@ uJo;IuHxRh>xREi`I`)%{G%4=%%=a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʅ:>ʉʉQgEʉ͕4>I I8ٮ QtI  UD9鰝h: :)B8 9)I tIi @E :):IK9I9*G2GFFrFbFEE);I9 iI8!@i  2@ <:@w: !>p>A d* (AYt* ;L@t*Z@yt*Ft*5r>t*HI*B?`ѿ`$?V?@U??)u* ;L@ u*o;Iu*CxZ`k>xZE {XY|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )vGF@Y >QgE'p>I I8ٮ QtI  UD9; ';)V8 9) I  tIi  @E  @:) ;I 91I191*GI2GQFQFYrFabFaEaEa);I9 iIi 2@<:@w: 0l&d* 9𚐩(A)4t*H3h?7᫿@ѿ; \? !Մ?_?"?)u*\L@ u*Sp;Iu*CxB\>xBUEHBa=HD){FqI{Di{F={F>{D{FA{D|F=@B9|FT Ž?7 i|I|)]GF@}Yʅ>ʁʁQgEʉ͍;>I I8ٮ QtI  UD9鰕2: :)8 9)I tIi @E :) :IJ9I9*G2GFFrFbFEE2E!zE%=@BE%5%<@TCzCE%T Ž?7 E%qE!E%ӰLTBؽRH<@q`6g!E%ҸnJ! n ?w,ǿE%.|@=5DHdg To Contact =142.778466 degreesZE%AbE%:E%Eo$?BE%Bo$?JE%q RE!jE%9 rE% )m;Im9 iiiiIii 2@<:@w: $Dacoustic_contact_range 48.060001 m$hTrackAcousticContact.heading_to_contact 2.491954 rad$%LDUSBL_Hydroid.xAngle -54.149999 arcdeg,d* ʴ(AYt*WL@t*[@yt*%t*n>t*H <b? Ըѿ?`?ז?!?)u*WL@ u*7p;Iu*CxBm>xB'E)=GiEwAAa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥr9>ʡʡQgEʩͭA>I I8ٮ QtI  UD9鰵: :)8 9)I tIi @E p:):I9I9*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: Ai ~3d* ;ΐ(AYt*XaL@t*c[@yt*Y+t*T?r>t*H @ j?@jK ѿ@.?`"k?@d?e?)u*XaL@ u*qnp;Iu*CxBn>xBEiPIP)GF@=YEf~E>AAQMgEIM:M>IQ I8ٮQQ QtI Q UD9QU< U<)U8 9)I tIi @E ::):Ip9I9*G2GFFrF bF E E )%;I%9 !!i!I)))i)1 12@=<:@=w: I̪9d*  萩(A*@ ,YtRiL@tR[@ytR:tR>q>tRHּn?ѿ%? Dg?K?Y?)uRiL@ uR|p;IuRCxZRr>x^EG^@AH\)5vGa 1ua 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a } yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ;>ʙʙQgEʡͥS:>I I-8ٮ Q5tI  U5D9鰭< M<)8 =9)9I9 EtIi9 E@E9 =:)=|:I==9QIQ9QOeDone Waiting.'eOe8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFqbFyEyEy);I9 iIi 2@<:@w: 9@d* \(AYt*SrL@t*^[@yt*t*u o>t*H`@ y?v`0ѿ`?`X?@?@u!?)u*SrL@ u*ep;Iu*CxNp>xR%Ei\I`)G%=%=F@-Y585>11Q=gE9EN:E>IA IM8ٮAA QMtI A UUD9AE: Et:)En8 ]9)QIQ ]tIiQ e@EQ Uh:)U+:IU 9iIq9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.168688 arcdeg .q''*G2G.|@FFrFbFEE);I9 iI } @i  .|@ 2@<:@w: ߩ$RHorizontalControl.headingCmd 2.491954 radV>Y>Fd* 6(AYt*\|L@t*g)[@yt*c:t*{rp>t*H@5`?@ ѿ ?@8ǃ?`q? ?)u*\|L@ u*@2p;Iu*CxBl>xBE)zvGF@=YEE>AIQMgEIM:M>IQ I]8ٮQQ Q]tI Q UeD9QU: UJ:)UZ8 m9)aIa mtIia m@Ea e}:)eo:Ie9yIy9=O@Contact HDG: 142.778466 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE) ;I 9  i I.|@i 2@%<:@%w: 1+Ld* 6(A);I Yt.L@t.:[@yt.xzt.2'o>t.HŷӒ?lѿ ?;o?@-?`=!?)u.L@ u.Y'p;Iu.CxRl>xPHPHTi`I`)%Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}YʅQ9>ʉʉQgEʉ͕ *;>I I8ٮ QtI  UD9鰝: :)d8 9)I tIi @E p:)ȗ:I^9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !|Sd* O(AYt*L@t*N[@yt*N$t*wq>t*H@?_׬ѿh ? ?`??)u*L@ u*Ro;Iu*CxB5g>xB*E)~SGi~xA|F@=Y=(E>AAQEgEAMF;M>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)U$8 e9)aIa mtIia m@Ea e:)e:Ie9yIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: iYd* i(AYt*L@t*M[@yt*U+t*xr>t*H@% %?Sͬ@ ѿ +4? j? ??)u*L@ u*Fo;Iu*CxVxp>xVEidIf“C)%GF@]Yeae>aaQmgEimjm>Iq I}8ٮqq Q}tI q UD9qu: u:)u8 9)I tIi @E [:)N:IK9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: `d* (A@ Yt.L@t.f[@yt.% t.bq>t.H ?\!ҿ^ ?`?`??)u.L@ u.o;Iu.CxBo>xBEG@H@ {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Y:>Q gE ͭ_;>I I8ٮ QtI  UD9鰵F: :)B8 9)I tIi @E ;);I[9I9*G12G1F1F1rF9bF9E9EA)};I}9 yyiIi 2@<:@w: rgd* (AYt*{L@t*T[@yt*t*q>t*H+@{?~,5ҿ0?@?`U? ?)u*{L@ u*o;Iu*CxNu>xRE){RnI{Pi{P{R7>{P{RA{P|P9|R[?z/F?@۾FipIrC)ʱʱQgEʱF>I I8ٮ QtI  UD9: J:)"8 9)I tIi @E S;)B;I9)I)9)*GY2GYFaFarFabFiEiEi2EzEE5ȑ<@$%JCE[?z/F?@۾FEnEE5pCj;@80!E띍d鿗yߓ?%٦RǿEʣ @=DHdg To Contact =143.812228 degreesZE5AbE:EDo$?BEEo$?JEr REq jE rE9 );I9 iIi 2@<:@w: !$]Dacoustic_contact_range 48.060001 m$ehTrackAcousticContact.heading_to_contact 2.509997 rad$mLDUSBL_Hydroid.xAngle -53.400000 arcdegR>a>2md* Z(AYt*zL@t*~[@yt*t*Gwl>t*HB7?䬿-ҿ34j?n҂? K?5&?)u*zL@ u*o;Iu*CxNeq>xRnE)SGF@-Y5:5>11Q5gE1=;=>IA IM8ٮA MM8A QMtI A UMD9AE: E:)E8 ]9)QIQ ]tIiQ ]@EQ U:)U:IU9iIi9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)%;I%9 ))i)I)11i1Q Y2@m<:@uw: %td* 4ё(A) I Yt*L@t*[@yt*͈t*мm>t*H ?@YLҿ`-?`у? s?#?)u*L@ u*so;Iu*CxBRr>xBEHDHDiTIT) Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmm>qqQugEq}X;}>I I8ٮ QtI  UD9鰅}: :) 8 9) 9I tIi @E :);:I_9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 196.614044 arcdeg .q''*G2Gʣ @FFrFbFEE);I9 iI%ʣ @i!%ʣ @ )2@-<:@mw: ߁$RHorizontalControl.headingCmd 2.509997 rad:Dzd* 둩(AYt*L@t*[@yt*X7t* v>t*Hao?`S E2ҿ@r??w? ?)u*L@ u*}o;Iu*CxBb>xBQ E)~GiwAF@=YEvE>AIQMgEIMPM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U8 m9)aIa mtIia m@Ea ep:)e :Ie 9yIy9=O@Contact HDG: 143.812228 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iIi 2@<:@w: i@A",d* (AYt*!L@t*,[@yt*t*bEv>t*H?@gM}Sҿ o? ۃ?@|??)u*!L@ u*o;Iu(xB:m>xBEiLIP)~SGa 1=a 1= a 5=a 5= a 9=a 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yem;e>aaQegEam;m>Iq Iu8ٮqq Q}tI q U}D9qu: u:)uw8 9)I tIi @E )ݖ:I[9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Vd* P(A Yt*oL@t*z[@yt*Xt*p>t*H+??HIҿ`d?ˁ? ??)u*oL@ u*)p;Iu(xBt>xBlEGFAAHFAA)~GF@=YE%;E>AAQMhEIMպM>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UK 8 m9)aIa mtIia m@Ea e:)eԘ:Ie9yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: d*  8(AYt*M@t*[@yt*t*>k>t*H_`?@X?bҿ@c>x> EiLIL)~G%=a 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Yeve>aaQehEamb;m>Iq I}8ٮqq Q}tI q U}D9qu9: uݱ:)uC'8 9)I tIi AE :):Id&9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ]>hd* ~R(AYt*KM@t*V[@yt*t*n>t*H h?ljҿ `? N?c?!?)u*KM@ u*]_p;Iu*CxVt>xVlE)%GF@]Yee>aaQehEimL:m>Iq I}8ٮqq Q}tI q U}D9quh: ul:)u&.8 9)I tIi AE :)N:I.9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: \d* KWl(A) I Yt*4M@t*?[@yt*(t*gt>t*H8@?⭿@'\ҿ `i?<?hQ?p?)u*4M@ u*Kp;Iu*CxBe>xBP EHFp=HFp=iPIR“C)5SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>ʹQhEL>I I8ٮ QtI  UD9x: [:)=58 9)I tIi AE :)$:I79I9*G 2G F F rFbFEE)-;I-9 11i1I199i99 92@E<:@Ew: Y7zd* Y2(AYt*p M@t*{[@yt*X$t*@t>t*H@?d@fҿK` S?@?=?@?)u*p M@ u*ufp;Iu(xBj>xBqE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGiF@Y%@):%>))Q-hE)͵ :>I I8ٮ QtI  UD9< 6<)<8 u9)iIi utIii }AEi m9:)mƟ:Imt*H`6e?@@cҿ,@ ?? ??)u* M@ u*}p;Iu*Cx>`k>xBE){BTFGI{@i{B={@{@{B@A{@|B 3B9|B?y xi\IbC)GF@]Y] ;e>aaQehEamm>Iq I8ٮqq QtI q UD9qu< u<)uB8 9)I  tIi AE S;)p;IH9QIY9Y&mMmAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'm NmInitialize.q'mN]@Vehicle HDG: 196.698561 arcdeg .q']']*Ga2GaFFrFbFEE2EzE 3BE?@1\䬩m?E?y xETFGEEq.6CX$@4@IGE]PO%!Xd?]7ĿEQ*@=DHdg To Contact =152.965870 degreesZEAbEy:E@o$?BEDo$?JEx REr jE<rE )M;IM9 IIiIIIQQiQQ Y2@]<:@ew: ߑ$Dacoustic_contact_range 44.759998 m$hTrackAcousticContact.heading_to_contact 2.669758 rad$LDUSBL_Hydroid.xAngle -44.600001 arcdegέd* 깒(A@ Yt.M@t.[@yt.t.vq>t.HA@c?J pҿ@/??#??)u.M@ u.|p;Iu.Cx^j>x^qEGb?AHb@A)}+Ga 15a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@Yʝi:>ʙʙQhEʙͥS:>I I8ٮ QtI  UD9鰭9; ;)hJ8 9)I tIi AE :)$:IQ9I9=O]@Contact HDG: 152.965870 arcdeg .']']Oe4Initialize Wait Component.*Ga2GaFaFarFbFEE);I9 iIi 2@<:@w:  d* Ӓ(AYt.#M@t.[@yt.8t.tq>t.Hx`?`9l|ҿc?@v???)u.#M@ u.Ghp;Iu.CxB"h>xBEiPIVC)G = F@Y%Bg%>!)Q-hE)-? ;->I1 I=8ٮ11 Q=tI 1 U=D915ܹ: 5߼:)5|P8 M9)AIA MtIiA MAEA E̒:)E:IEHY9YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: a>d* 8풩(AYt*yM@t*[@yt*"t*Hs>t*HĤ@ ?lҿ> OE?^?0? q?)u*yM@ u*"p;Iu*CxNc>xR E)Ga 1Ua 1U a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}| }>yyQhEʁͅ>I I8ٮ QtI  UD9鰍: :)W8 9)I tIi AE :):Ib9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: `d* -z(A)4t*H ?=yҿ 1?@m?!?@b?)u*h M@ u*p;Iu*CxBr>xBIEHFa=HFa=iPIVC)~dGF@=YE8:E>AIQMhEIMb;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UW^8 m9)aIa mtIia mAEa ep:)e:Iecj9yI9*G2GFFrFbFEE);I9 iIi 2@<:@w: d* [!(AYt*r(M@t*}[@yt*/t* s>t*H š?@[?΀ҿ`Z*?ߥ?@??)u*r(M@ u*Wp;Iu*CxBt>xBlE)~GiF@ YD>QhE%f:%>I! I-8ٮ!! Q-tI ! U5D9!%%: %:)%#e8 =9)9I9 =tIi9 EAE9 =:)=:I=r9IIQ9Q*G2GFFrFbFEE);I9 iIi 2@<:@w: id* 0;(AYt*M@t*[@yt*C(t*7u>t*H`?/qҿ ѽx?K? Xl?`?)u*M@ u*p;Iu*CxVHf>xV EihIjC)-Ga 1ma 1m a 5ma 5m a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʍ"Ӻ>ʑʑQhEʑ͝>I I8ٮ QtI  UD9鰥F: ):)Ml8 9)I tIi AE ٮ:)0:I{9I9*G2GFFrFbFEE);I9 iI   i 2@<:@w: )d*  U(A@ Yt.T3M@t._[@yt.t.^su>t.H@$?Aҿjg??c?z?)u.T3M@ u.o;Iu.CxBl>xBEGFAAHD)-SGF@=YEo;E>AIQMhEIM ;M>IQ I}8ٮQQ Q}tI Q UD9QU; UZ;)Us8 9)I tIi AE :)o:I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I=9 99i9I9AAiAA I2@M<:@Mw: ߁/d* n(AYt* M@t*[@yt*Nt*t>t*Hv?eyҿO?`)?G? #?)u* M@ u*Ko;Iu*CxNo>xRJEi\I\)%G%%=!a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@YǸ>QhE+.>I I8ٮ QtI  UD9O: ͭ:)=z8 9)I tIi AE 1:):IԌ9I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'% N%Initialize.q'%N}@Vehicle HDG: 196.779253 arcdeg .q'}'}*G2GQ*@FFrFbFEE);I9 iIe"@iQ*@ 2@<:@w: $RHorizontalControl.headingCmd 2.669758 radV>Kd* .ň(AYt*-M@t* [@yt*ft*Wt>t*H` $??bҿ௽@OO?? @??)u*-M@ u*:o;Iu*CxB{]>xB/E {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )XGF@Y>QhE:>I I8ٮ QtI  UD9%: :)8 9)I  tIi  AE :)0;I99I999=O@Contact HDG: 152.965870 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 ))i)I)5i%@i5PT}>1 12@=<:@=w: yAd* (A) IYt*8M@t*[@yt*t*v>t*H``H*?M宿ҿc|?`?`=u?T?)u*8M@ u*o;Iu*CxNHf>xR EHRp=HPihIl)5vGF@}Yʅ:>ʁʁQhEʁ͍:>I I8ٮ QtI  UD9鰕`: B:)ׇ8 9)I tIi AE Ր:) :I9I9*G2GFFrFQbFYEYEY)m;Iu9 iI()@ia d> 2@<:@w: jd* x(AYt:+M@t:[@yt:3t:éx>t:HE`(? @%ҿ!? 3|??I?)u:+M@ u:]o;Iu:Cx~o>x~E)Gia 1a 1 a 5a 5 a 9a 9 a - a -  a 1 @a  a 5 @a  a 9 @a  a - @a   Ʉ i Mb@Mb@Mb@I I i   Ʌ    ) F@-Y5߹>ʱʱQhEʹͽں>I I8ٮ QtI  UD9; ;)f8 9)I tIi AE (:)؛:I 9 I 9)*G92GAFAFArFIbFIEiE);I9 iI+@i!T> 2@<:@w: i@A Rd* R֓(AYt*HM@t*[@yt*t*v>t*H `9? ȟҿ@Ò?x?@??)u*HM@ u*o;Iu*CxRi>xREi`I`)%ƄGF@5Y575>99Q=hE9Er;E>II IM8ٮII QUtI I UUD9IM: M:)Mw8 ]9)YIY etIiY eAEY ]l:)]Ü:I]r9qIq9q*G2GFFrFbFEE);I9 iI+-@i 2@<:@w: |d* /(A Ytj3M@tj[@ytjtj s>tjH&r(?Ëҿ x#?Ҳ???)uj3M@ ujo;IujCxB`>x EG?AH)QhEA%>I! I-8ٮ!! Q-tI ! U5D9!%:: %:)%؜8 =9)9I9 =tIi9 EAE9 =:)=0:I=9IIQ9Q*Ga2GaFaFaFiFmWCrFibFqEqEqR); C8CI9 iIS*6-@ i > 2@<:@w:u,z> yqee*  (AYt*/dM@t*:\@yt*Ezt*Gu>t*H `R?HC@ҿ]?@8o?]?`?)u*/dM@ u*o;Iu*CxBp>xB%EiLIL)-G54=1F@uYu9}>yyQ}hEyͅ;>I I8ٮ QtI  UD9鰍: ):)f8 9)I tIi AE F:):I9I9*G2GFFFFrFbFEE ); >9>I9 ƳγiIVWxo,@i 2@ <:@ w:KY> >l>e* `#(AYtJ\IM@tJg[@ytJ#tJ[z>tJHN8?y^Hҿ ԭ ?{?? G ?)uJ\IM@ uJ+p;IuJCx^ |>xbE)u+GF@YʥD >ʡʡQhEʡͭ#>I I8ٮ QtI  UD9鰵; L;)a8 9)I tIi AE :):I[9I9ODone Waiting.'O8Uninitialize Wait Component.*G12G1M5|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF9F9FAFArFAbFAEAEA})}; y+9+I9 LiIl¸Q*@i 2@<:@w:ܢS> (e* =(A) I$Yt^2\M@t^= \@yt^'t^x>t^HGH?1VҿV?3Ԃ??1?)u^2\M@ u^"p;Iu^Cxf:m>xfEHhHjp=ixIx)MSGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ )F@ Y:>QhE3;>I! I-8ٮ!! Q-tI ! U-D9!%S: %:)%8 =9)1I1 =tIi1 =AE1 5F:)5:I59III9I&]M]Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 196.986549 arcdeg .q''*G2GFFrFbFEE);I9 iIm `e* W(AYt*wM@t*$\@yt*'ut*8$t>t*H`Bg?`ҿ@ͳYxBE)~GivAF@=YEE>AAQMhEIM[;M>IQ I]8ٮQQ Q]tI Q UeD9QQ U:)U8 m9)aIa mtIia mAEa eՐ:)eȗ:Ie9yIy9=Oe@Contact HDG: 152.965870 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFirFibFiEE);I9 iIi 2@<:@w:> ߹i?A-e* Wwq(AYt*SzM@t*^'\@yt*t**xr>t*Hؕk?ͮ!ҿ`_ ?Y?`??)u*SzM@ u*%p;Iu*CxNc>xR, Ei\I^C)҄GF@-Y-N5>11Q5hE1=9=>IA IM8ٮAA QMtI A UMD9AE: E:)EѾ8 U9)QIQ ]tIiQ ]AEQ U:)Uu:IU}9iIi9i*G2GFFrFbFEE);I9 iIfi 2@<:@w:> ߹"e* aR(A Yt*M@t*F\@yt*at*3v>t*H`Bq?`ҿVq?`?@9w?7?)u*M@ u*p;Iu*CxNB`>xR EGRAAHRAA {TY|TZ8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uvGa 1 a 1  a 5 a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@=YE\9E>IIQMhEQ];]>Ia Im8ٮaa QutI a U}D9ae ; e";)eX8 9)I tIi AE :)l<=I9I9*G)2G)F)F1rF1bF1E9E9)m;Im9 qqiqIqy}A{Ai 2@<:@w: )I y5(e* -(AYt:M@t:C\@yt:!@t:†{>t:H ~?  jҿ e?ǃ?`? ?)u:M@ u:Xp;Iu:CxBe>xBP E){FcI{Di{F={D{D{F0A{D|F KB9|Fyd#? t=aixI~C)GR=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y==~=>9AQEhEAEӹM>II IU8ٮII QUtI I U]D9IMu: MW:)M08 e9)YIY etIiY eAEY ]}:)]:I]<9qIy9y*G2GFFrFbFEE2EzE KBEIe޽?@\bUCEyd#? t=aEcEEDQ;@("EZ$bXl`U>?͘&hǿE'X$@=DHdg To Contact =147.128709 degreesZEAbE':E:o$?BE@o$?JEs REx jErE<);I9 iI?@i 2@<:@w: $ Dacoustic_contact_range 50.760002 m$hTrackAcousticContact.heading_to_contact 2.567880 rad$LDUSBL_Hydroid.xAngle -51.000001 arcdegR>a>U/e* (AYt*M@t*W\@yt*:t*v>t*H^? ̯ҿ@`>?4:? w??)u*M@ u**_p;Iu*CxBj>xBqE)SGF@=YEv>:E>AAQMhEIMyW;M>IQ I]8ٮQQ Q]tI Q UeD9QQ U5:)U8 m9)aIa mtIia mAEa a)e:Ie9yIy9*G2GFFrFbFEE);I9 iI9Ci 2@<:@w: ,5e* ؔ(A);IYt*'M@t*2h\@yt*#t*q>t*H`=j? @ ӿ ?_?E?1?)u*'M@ u*ap;Iu*Cx^p>xb%EHba=Hba=itIt)EGF@}YʅN>ʁʁQhEʁ͍;>I I8ٮ QtI  UD9鰕: :)8 9) 9I tIi AE :)w:I9I9*G2GFFrFbFEE);I9 iI(sDi 2@ <:@ w: !Jt*H G ?W`&ӿ?o?`G??@?)u*M@ u*Pp;Iu(xN`k>xRE)U҄GiUxAQa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@YʵZ>:>ʹʹQhEʹ܁;>I I8ٮ QtI  UD97: :)8 9)I tIi AE x:)j:Il 9I9O Done Waiting.' O 8Uninitialize Wait Component.*G 2G M|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE!)5;I59 11i9I99=OpGiAA A2@M<:@Mw: Yi@ACe*  (AYt*M@t*\@yt*t*+u>t*H`?;ӿ@ Z?,?@f?`<?)u*M@ u*tp;Iu*CxBxp>xBEiLIN“C)~+GF@eYe m>iiQmhEiuo`;u>Iy I8ٮyy QtI y UD9y}h: }:)}N8 9)I tIi AE p:)c:I9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 197.489223 arcdeg .q' '*G2G'X$@FFrFbF!E!E!)=;I=9 99i9I9EL~)@iAE'X$@ A2@M<:@Mw: a$RHorizontalControl.headingCmd 2.567880 rad.Ie* ^&(A( ,Ytr/M@tr:\@ytr(trx>trH ܄?;ӿ#?@??`J?)ur/M@ urLrp;IurCxzr>xzIEG|H~@A)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YҺ%>!!Q%hE!-8->I1 I=8ٮ11 Q=tI 1 U=D915: 5į:)58 M9)AIA MtIiA MAEA E):)E÷:IE9YIY9a=O@Contact HDG: 147.128709 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI&@i 2@<:@ w: ~Pe* Q@(AYt*N@t*\@yt*9t*u>t*H@~ ?'gbӿX??i??)u*N@ u*Gp;Iu*CxBMl>xBLEiPIRC)|%=F@=YE:E>AAQEhEIM;M>IQ I]8ٮQQ Q]tI Q U]D9QUS: U:)U8 m9)aIa mtIia mAEa e-:)e:Ie%9yIy9y*G2GFFrFbFEE);I9 iI%@i 2@<:@w: Yi>P=Ve* +Z(AYt*,N@t*7\@yt*Ӆt*r>t*H`}c?ޯ`hӿu??J?@?)u*,N@ u*p;Iu*CxNa>xR E)%SGF@]Yee>aaQehEim:m>Iq I}8ٮqq Q}tI q U}D9qu: ux:)u8 9)I tIi AE :):I9.9I9*G2GFFrFbFEE);I9 iI$@i 2@<:@w: og\e* t(A) IYt*~:N@t*\@yt*/ t*r>t*H y?vsӿ4C???`:?)u*~:N@ u*|p;Iu*CxNU_>xRS EHRp=HPi`I`)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ8>ʁʉQhEʉ͍i;>I I8ٮ M8 QtI  UD9鰕: k:)8 9)I tIi AE ):I69I9*G2GFFrFbFEE);I9 iI'X$@i 2@ <:@ w: !BOce* ፕ(AYt*]N@t* ]@yt*t*'s>t*Hs@=? ;`٧ӿ࣓ ?I? ? ?)u*]N@ u*rp;Iu*CxBMl>xBLE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )UvGiiqF@YʭB#:>ʩʩQhEʱ͵;>I I8ٮ QtI  UD9鰽: :) 8 9)I tIi AE ;) ;Iq?9I9*G2GFFrF!bF!E)E))M;IM9 IIiIIQYYiYY a2@m<:@mw: ߉i?A|ie* u˧(AYt2gN@t2]@yt2Jb$t2r>t2H r JI?Nӿ x?2?#? |?)u2gN@ u2p;Iu0xRsj>xR(EilIl)5dGa 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a } a 5}@a } a 9}@a } a -}@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yʝ>ʙʡQhEʡͥ:>I I8ٮ QtI  UD9鰭: :)8 9)I tIi AE :)A:IG9I9*G2GFFrFbFEE) ;I 9 iIi 2@%<:@%w: 9ape* (A Yt*cN@t*n>]@yt*?1t*ur>t*Hks?``ӿOE?'?? ?)u*cN@ u*pp;Iu(x>eq>xBnEG@H@)=GF@]Yee>aaQehEam{;m>Iq I}8ٮqq Q}tI q U}D9qu: u+:)u8 9)I tIi AE :)9:IEP9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI!!i!! !2@-<:@-w: ave* sە(AYt*"N@t*-T]@yt*rt*1w>t*H@NhS~?@X°ӿt?I?A??)u*"N@ u*Gp;Iu*CxNeq>xPi`I`)%G%4=)F@Yʕ-;>ʑʙQhEʙͥS;>I I8ٮ QtI  UD9鰥}: >:)8 9)I tIi AE :):IX9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 198.143856 arcdeg .q'='=*GA2GAFAFArFIbFIEIEI)e;Ie9 aaiiIiiiiqq q2@}<:@}w: ߉ >a>|e* /P(AYt*N@t*z]@yt*"t*#>t*HTb E?,aԿ^ $&?r݂?6?k?)u*N@ u*&q;Iu*CxB:m>xBE)zGa 15a 15 a 55a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]:]>YYQehEae ;e>Ii Iu8ٮii QutI i U}D9im: mN:)mR&8 9)yIy tIiy AEy }:)}:I}Fa9I9=O}@Contact HDG: 147.128709 arcdeg .'}'}O}4Initialize Wait Component.*Gy2GyFFrFbFEE);I9 iIi 2@ <:@ w: !"e* J((A) I Yt*N@t*]@yt*$t* >t*H@j^` ?β*Կ;M?@?`3??)u*N@ u*sq;Iu*CxBp>xBEHBR=HFp=iPIP)~+GF@=YE E>AIQMiEIMx;M>IQ I]8ٮQQ QetI Q UeD9QU: U:)U(-8 m9)iIi mtIii uAEi m}:)mN:Imi9I9*G2GFFrFbFEE);I9 iIi 2@<:@w: alje* )(AYt*N@t*]@yt*t*2>t*H]Þ?`.K2Կ)G?@ɼ? ?m?)u*N@ u*>r;Iu*CxRj>xRqE)SGia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YCIiɅ )F@Y ;> Q iE  n: >I I8ٮ QtI  U%D9: :)z48 -9)!I! -tIi! -BE! %p:)%:I%r9I9*G2GFFF F rF bF E)E1EeX)E; AMK9MKIM9 mmiiIuqqiyy y2@<:@w: ߱ie* QB(AYt*k O@t*v]@yt*t*N&>t*H`X@?LԿY@?ր?a???)u*k O@ u*[\t;Iu*CxBo>xBEiLIL)~GF@ Y   >QiE;>I! I-8ٮ!! Q-tI ! U-D9!%ͭ: %:)%:8 59)1I1 =tIi1 =BE1 5į:)5:I5z9III9I*GY2GaFaFaFiFirFibFiEiEq); 9ĹI9 iI޺[i 2@<:@w: ٖ߱e* ˺\(A@ Yt.O@t.]@yt.Pt.L>t.H@U>?`^ԿIrS?`?)?ׇ?)u.O@ u. Dt;Iu.CxBg>xBsEGDHD) SGF@=YE[Y9E>AAQMiEIM<;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)UA8 m9)aIa mtIia mBEa e::)eN:Ie@9yIy9*G2GFFFFrFbFEE֘); :I9 3iIi 2@<:@w: re* v(AYt*aO@t*l]@yt*kt*>t*H*Y?Mʵ5JԿ@v? q???)u*aO@ u*s;Iu*CxZ`k>xZEihIh)-dG11a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a } a 9}@a } a -}@a } a )}@a } qqɄqiuMb@Mb@Mb@IuIqiqqqɅqqq q)qF@Yʕe:>ʙʙQiEʙͥN>I I8ٮ QtI  UD9鰭:: ٮ:)H8 9)I tIi BE %:):I9I9*G2GFFrFbFEE) ;I 9  i I i 2@%<:@%w: Y%>%i>e* {(AYt* +O@t*+]@yt*kt*g>t*H`S??@S&kԿ@V,@?]m?T??)u* +O@ u*4Cs;Iu(x>o>x>JE {@Y|@F8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )mGF@Yʍ7>ʑʑQiEʑ͝;>I I8ٮ QtI  UD9鰥+: :)P8 9)I tIi BE ):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)-;I-9 ))i1I199i99 a2@m<:@mw: !*e* bN(A)4t.H CG5 ? )Կ Q ?I?:?Z?)u.wO@ u.(js;Iu,xBq>xBEHBp=H@iXI\)GF@=YEE?AAQMiEIM=i<M?IQ I}8ٮQQ Q}tI Q U}D9QUд; U;)UV8 9)I tIi BE :)o:Iߜ9I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.872951 arcdeg .q''*G2GFFrFbFEE)];I]9 aaiaIaiii 2@<:@w:  e* )Ė(AYt.\O@t. ^@yt.e;t.>t.HqKI?H@ʙԿH? l?@?O?)u.\O@ u.,s;Iu,xBRr>xBE) +GiwAa 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuu>yyQ}iEyͅǃ>I I8ٮ QtI  UD9鰍O: 1:)]8 9)I tIi BE ;)L;I9I9=OE@Contact HDG: 147.128709 arcdeg .'E'EOE4Initialize Wait Component.*GA2GIFIFrFbFEE);I9 iIi 2@<:@w: i:(e* ޖ(AYt6O@t6<^@yt6%!-t6>t6H=Cz$?`zŴ`DԿ`~?@ ??`?)u6O@ u6t;Iu4xBZe>xB EiPIP) SGF@Y%;%>!!Q-iE)-<->I1 I=8ٮ11 Q=tI 1 U=D915: 5/:)5>d8 M9)AIA MtIiA MBEA E:)E:IE9YIa9a*Gq2GqFqFrFbFEE);I9 iI!!i!! !2@-<:@-w: ߁HRe* (A@ Yt.O@t.)Y^@yt.4t.։>t.H>`F?.R(Կx?@t#?9?L?)u.O@ u.w;Iu.Cxn8T>xn}EGr@AHp)}GF@Y%;;>QiE;>I I=8ٮ QEtI  UMD9D< G<)k8 9)I tIi BE E<)WKt2H]7Y?`۵@*տ@#? ???)u2O@ u2y;Iu2CxB c>xB EiXIX)USGaaa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@5Y=o;=>99QEiEAE;E>II Iu8ٮII QutI I UuD9IM; MԵ;)Mr8 9)yIy tIiy BEy }:)}|:I}9I9*G2GFFrFbFEE);I9  i Ii 2@%<:@%w: Q>>Rde* 1+(AYt*wO@t*^@yt*3!t*>t*H:8`W?@N տ c?p6?3?H?)u*wO@ u*Qy;Iu(x>u>xBE)zGa 1Ua 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QiEx>I I8ٮ QtI  UD9:  :)Yy8  9)I  tIi  BE :):I99I99A*GQ2GqFqFqrFybFyEyE);I9 iIi 2@<:@w: ;Ke* HmE(A);I Yt**O@t*5^@yt*Q:t*Ϡ>t*H 3`? cw3'տ`8C?@J? xBEHBR=HFa=iPIP)GF@=YE[E>IIQMiEIM;U>IQ I]8ٮQQ QetI Q UeD9QU: U-:)U8 m9)iIi mtIii uBEi mF:)m9:Im9I9*G2GFqFqrFybFyEyE);I9 iIi 2@<:@w: 9sue* H_(AYt.MP@t.X^@yt./t.{>t.H+? Oտ`+`:??? a?)u.MP@ u.+y;Iu.CxB^>xB E)5Gi=xA=xAF@}Yʅ:>ʁʉQiEʉ͍a;>I I8ٮ QtI  UD9鰕; ;)8 9)I tIi BE :):I9I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)E;IE9 IiIi 2@ <:@Uw: ߱iye* #y(AYt*f5P@t*q^@yt*k$t*Ӗ>t*H@'ళ?ڵ`fտVb=? Z??"?)u*f5P@ u*y;Iu*CxBg>xBsEiLIL)Ga 1}a 1} a 5}a 5} a 9}a 9} a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʝ:>ʡʡQiEʡͭtl;>I I8ٮ QtI  UD9鰵Z; ,;)8 9)I tIi BE [:),:I59I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'  N Initialize.q'N]@Vehicle HDG: 199.536614 arcdeg .q'e'e*Ga2GaFaFarFibFEE);I9 iIIIiII Q2@U<:@]w: ߩHe* (A@ Yt*sDP@t*~^@yt*4t*Ɛ>t*H%7?ֵ tտa??!?Z?)u*sDP@ u* $y;Iu*CxB:m>xBEG@H@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )}GF@Yʝ;>ʡʡQiEʡͭ;>I I8ٮ QtI  UD9鰵j; ';)Ȕ8 9)I tIi BE <;)L ;I9I9=O@Contact HDG: 147.128709 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!!i!! 2@<:@w: ߡne* ݬ(AYt*FjP@t*Q_@yt*-t*>t*H @3?S㴿sտ `Ҁ?৶?K?`?)u*FjP@ u*gy;Iu*CxBr>xFIEihIj“C)1=%=9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yo>QiE';>I I8ٮ QtI  UD9: :)8 -9)!I! -tIi! -BE! %:)%ȗ:I%j9YIY9Y*Gi2GFFrFbFEE);I9 iIi 2@<:@w: ߹>>re* Ɨ(AYtFP@tFN_@ytF9tFu,>tFH@ 9?`0տi/?!=???)uFP@ uF{u;IuFCxNp>xN%E)%GF@=YEE>AAQEiEIM<M>IQ I]8ٮQQ Q]tI Q U]D9QU4: Uӻ:)U[8 m9)aIa mtIia mBEa eh:)e9:Ieh9I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: Ame* (A) IYt>P@t>U_@yt>8c1t>>t>H h`#?䵿 dտ`v ?J,?? E?)u>P@ u>Is;Iu>Cxjd>xj EHlHli|IC)]ƄGF@Yʥգ:>ʡʡQiEʩͭb:>I I8ٮ QtI  UD9鰵6; ;)v8 :) :I tIi BE Z:)Ӡ:I:I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AIiQQ a2@m<:@uw: ߱e* zl(AYtZP@tZ_@ytZ:2tZ܋>tZH` `?~<ֿ@lq?@Q?@C??)uZP@ uZq;IuZCx=o>x=JE)aaQeiEam;m>Iq I}8ٮqq Q}tI q U}D9qu>: uB:)uŰ8 :)I tIi BE [:):I:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: if* X(AYt2P@t2_@yt2 J/t2.>t2H  k? յ ֿ u?&?@ ??)u2P@ u25o;Iu2Cx>h>x>EiHIH)zGF@5Y=2:=>99QEiEAEac;E>II I8ٮII QtI I UD9IM< M2<)M 8 :)I tIi BE :)؛:I :I9*G2GFFrFbFE E );I%9 !!i!I!))i)) 12@5<:@=w: I f* l#.(A@ Yt.Q@t._@yt.d7t.BǏ>t.H%?3ֿm`?-?c?`?)u.Q@ u.sn;Iu,xR}v>xREGRAAHT)Ga 1]a 1] a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ@>ʁʁQiEʁ͍p;>I I8ٮ QtI  UD9鰕: x:)8 :)I tIi BE :)$:IO:9I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyE);I9 iIi 2@<:@w: f* G(AYt*s Q@t*~_@yt*>t*ҏ>t*HO?鵿 .ֿ` ? 0܇?@ý?`?)u*s Q@ u*>m;Iu*CxR'n>xRpEi\I`)+G!!F@-Y55>11Q=iE9=rNE>IA IM8ٮAA QMtI A UUD9AE: Eh:)E8 ]:)QIQ ]tIiQ eBEQ U:)U:IUu:iIi9q&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.281664 arcdeg .q''*G2GF F rF bFEE);I9 iIi 2@<:@w: >>f* 4a(AYtBQ@tB_@ytB:tBv>tBH`>`Y?7ҵAֿf۹?`xX? ?f?)uBQ@ uBl;IuBCxn?s>xnE)]SGF@Yʝ:>ʡʡQiEʡͭ8;>I I8ٮ QtI  UD9鰵j< 1M<)8 :)I %tIi %BE l:):I:1I19Q=O-@Contact HDG: 147.128709 arcdeg .'5'5O54Initialize Wait Component.*G12G1F1F9rF9bF9EAEA);I9 iIi 2@<:@w: *<f* {(A) I Yt*2Q@t*_@yt*i+At*>t*H7? ~Tֿ]?H%?w?Y?)u*2Q@ u*l;Iu*CxBd>xB EHFp=HDiPIP)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye!e>iiQmiEiuR;u>Iy I}8ٮyy QtI y UD9y}h: }į:)}8 :)I tIi BE p:)ȗ:I :I9*G2GFFrFbFEE);I9 iIi 2@<:@w: $%f* ɏ(AYt*.BQ@t*9_@yt*M5t*Y>t*Hڭ? Ɇ`*cֿL&?뾆???)u*.BQ@ u*Um;Iu*CxRHf>xR E {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ){GiF@Y%I:%>))Q-iE)ͽ ;>I I8ٮ QmtI  UuD9ʳ< <)P8 }:)qIq }tIiq BEq ut:)u:Iu:I9*G2GFFrFbFEE);I9 ))i)I)11i11 92@=<:@=w: QiM+f* i(AYt*RQ@t*_@yt*Ct*T>t*H ,?fsrֿ ?`Op? ?`?)u*RQ@ u*tKn;Iu*CxBMl>xBLEiXIX)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ >ʹʹQiEʹ0;>I I8ٮ QtI  UD9: h:)8 :)I tIi BE 1:):I#:I9*G2GFF rF bF EE)%;I-9 ))i)I)11i11 92@=<:@=w: Q62f* Fɘ(A Yt*MQ@t*_@yt*E@t*^4>t*H?嵿@nֿ ????)u*MQ@ u*Io;Iu*CxBc>xB EGDHD)ƄGF@Yʍ:>ʑʑQiEʙ͝=>I I8ٮ QtI  UD9鰥: )x8 :)I tIi BE :):I':I9*G2GFFrFbFEE);I9 iI   i 2@<:@w: )?`8f* !㘩(AYt*ΊQ@t*7`@yt*VFt* T>t*H` ?@m@ֿહ`8? ʈ???)u*ΊQ@ u*o;Iu*CxNV>xREi`I`)҄G%=!F@]Ye ze>aaQeiEimO<m>Iq I}8ٮqq Q}tI q UD9qur: u3:)uB8 :)I tIi BE :)o:I,:I9*G)2G)F1F1rFYbFYEYEY)u;I9 iIi 2@<:@w: ]>>R>f* (AYt*jQ@t*u,`@yt*Ct*^>t*H@?Ӷ nֿ,/?X??7?)u*jQ@ u*2rp;Iu(xNMl>xRLE)vGa 1Ua 1U a 5Ua 5U a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@YʥԶ9>ʡʡQiEʡͭݺ>I I8ٮ QtI  UD9鰵: :)J8 :)I tIi BE p:):If0:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyE);I9 iIi 2@<:@w: qEf* Z(A)4t*H?@Ǭxֿ@`?9?? ?)u*Q@ u*Sp;Iu*CxBB`>xB EHDHDiPIP)GF@=YE9E>AIQMiEIM<M>IQ I]8ٮQQ Q]tI Q UeD9QU+: U:)U8 m:)aIa mtIia mBEa eO:)eA:Ie4:yI9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 200.877844 arcdeg .q''*G2GFFrF!bF!E!E!)=;I=9 99i9I9AAiAA I2@M<:@Uw: Kf* y0(AYt*CQ@t*N^`@yt*Mt*>t*H.^?^`ֿ ??@?׾?)u*CQ@ u*5p;Iu*CxBmd>xBu E)~GiF@=YE5E>AIQMiEIMCM>IQ I]8ٮQ M]8Q Q]tI Q UeD9QU=: UA:)U8 m:)aIa mtIia mBEa e}:)e:Ie8:yI9=O@Contact HDG: 147.128709 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9IAAAiAI I2@M<:@Uw: ai ݃Rf* J(AYt*Q@t*`@yt*?t*l>t*H>?Ƕֿ?`???)u*Q@ u*]p;Iu*CxB c>xB EiLIL)zGa 15a 1= a 5=a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -E@a E 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@}Yʅ ;>ʁʁQiEʉ͍;>I I8ٮ QtI  UD9鰕2: :) 8 :)I tIi BE :):I=:I9*G2GFFrFbFEE);I9 iIi 2@ <:@ w: !PXf* id(A@ Yt./Q@t.:`@yt.{Rt.ˑ>t.H n qM?趿@׿?\?E?@u?)u./Q@ u.~Pp;Iu.Cx^5g>xb*EG`HfAA)EGF@UY]:B]>YaQeiEae/;e>Ii Iu8ٮii QutI i UuD9imJ: m:)m8 :)yIy tIiy BEy }:)}$:I}SA:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ^f* TR~(AYtB R@tB`@ytBnMPtBZ>tBH$Uh?``׿sr? ??r?)uB R@ uBp;IuBCx^V>x^3EiI)}vG4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YM9>QiEN;>I I8ٮ QtI  UD9%: _:)8  :)I tIi BE :):IE:!I!9!*G12G1F9F9rF9bFAEAEA)];I]9 YYiYIYaaiaa i2@m<:@uw: ߁a>l>Pef* T(AYt*R@t*`@yt*<_t*W>t*H`?7@a/׿@ ?@^?@ǵ?Q?)u*R@ u*.p;Iu*CxBk>xBE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )dGF@Y%@%>))Q-iE)51;=>IA IM8ٮAA QMtI A UUD9AEk< EG<)E8 :)I tIi BE V:):IMJ:YIY9Y*G2GFFrFbFEE);I9 iI!!i!! I2@U<:@Uw: ߑpkf* v(A) I4t.H@x?@q]5׿?d? * ?:?)u.6#R@ u.eo;Iu.CxRi>xREHRa=HTilIl)=Ga 1}a 1} a 5}a 5} a 9}a 9} a -}a -} a 1}@a  a 5@a  a 9@a  a -@a  yyɄyi}Mb@Mb@Mb@IyIyiyyyɅyyy y)yF@Yn;>!Q%iE!%z:%>I) I58ٮ)) QUtI ) U]D9)-; -Ե;)-%8 e:)YIY etIiY eBEY ]:)]:I]dN:qIy9y*G2GFFrFbFEE);I9 iIi 2@<:@w: rf* =˙(AYt*JR@t*"`@yt*Ft*y>t*H Ɯ?M~Y׿H?ӈ??ݴ?)u*JR@ u*n;Iu*CxRi>xRNE)%Gi!%xAF@5Y55>99Q=iE9Em;E>II IM8ٮII QUtI I UUD9IM: M:)M6,8 ]:)YIY etIiY eBEY ]:)]:I]LR:qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: i@Axf* ˹噩(AYtqtH)t?@SL׿@X@?ֈ?`? ?)uqxU EiyIy)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9%@a % a -%@a % ɄiMb@Mb@Mb@IIiɅ )F@5Y==>AAQEiEAEMM>I I8ٮ QtI  UD9_: :)48 :)I tIi BE :):IW:I9&%M%Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'- NMInitialize.q'MN%@Vehicle HDG: 201.351736 arcdeg .q'%'%*G)2G)F)F)rF1bF1E1E1)m;Im9 iiiiIqqqiqy y2@<:@w: ߱&f* ҋ(A@ Yt.y\R@t. a@yt./Nt.>t.HF?@⶿`j׿ q{?`y?@.?e?)u.y\R@ u.m;Iu.CxRR>xREGPHV@A)GF@-Y-h5>11Q5iE1=;=>IA IM8ٮAA QMtI A UMD9AE: E:)E98 U:)QIQ ]tIiQ ]BEQ U:)U:IUZ:iIi9i=O@Contact HDG: 147.128709 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!i!! !2@-<:@-w: 9f* h(AYt*J[R@t*Ua@yt*LjPt*+]>t*H@zP?r%`i׿`k@??N?߻?)u*J[R@ u*pm;Iu*CxBj>xBqEiPIP)~ƄG%=4=F@=YEŹE>AAQMjEIMy:M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U@8 m:)aIa mtIia mBEa eO:)eA:Ie_:yIy9*G2GFFrFbFEE);I9 iIi 2@<:@w: >8f* 9B3(AYt*ZR@t*a@yt*hoDt*h>t*H ѩ?3i׿p?ƍ?$ ?Ȳ?)u*ZR@ u*m;Iu*CxRRr>xRE)ׄGa 1ma 1m a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ:>ʑʑQjEʙ͝z>I I8ٮ QtI  UD9鰥q: 1:)G8 :)I tIi CE :):Iqc:I9*G2GFFrFbFEE);I9  i I  i 2@<:@w: ) f* ~M(A);I;Yt.bZR@t.ma@yt.YIt.u>t.H`@^?Bh׿8? +? F?}?)u.bZR@ u. m;Iu.CxBMl>xBLEHFp=HDiPIP)҄GF@]Y}C}>ʁʁQjEʁ͍v>I I8ٮ QtI  UD9鰕5: 9:)N8 :)I tIi CE :):Ig:I9*G2GFFrFbFEE);I9 iIi 2@<:@ w: Lf* g(AYtVqRR@tV|`@ytV>tV*#>tVH1J?@P`^a׿0ޖ?-܇???)uVqRR@ uVxn;IuTx~"h>x~E)+Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y : >QjE6>I! I%8ٮ!! Q-tI ! U-D9!%: %:)%V8 5:)1I1 =tIi1 =CE1 5:)5:I5!l:III9I*GY2GYFaFarFabFiEiEi)};I9 iIi 2@<:@w: ߩi?A2f* Ҁ(AYt*cR@t*a@yt*Ut*">t*H?@0q׿ m?L?C?@ܼ?)u*cR@ u*n;Iu*CxBf>xB EiLIL)~GF@=YEepE>AIQMjEIM_5;M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)U~\8 m:)aIa mtIia mCEa e::)e,:Iep:yI9*G2GFFrF bFE!E!)U;IU9 YYiYI!!i!! )2@-<:@Uw: a\f* (A@ Yt.[7R@t.f`@yt.@St./>t.H@ё?H׿`?@g???)u.[7R@ u.n;Iu,x6h>x6EG8H8 {8Y|8>8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )9F@YʭO9>ʩʩQjEʱ͵ӻ>I I8ٮ QtI  UD9b; ;)c8 :)I tIi CE :)(:It:qIq9qODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi !2@%<:@Mw: ߉Yf* f(AYt*w/R@t*`@yt*G2Tt*"Ə>t*Hqώ? ϶ @׿w`G?@?(? y?)u*w/R@ u*pn;Iu*CxBl>xBE){FJyI{Di{F={F>{D{FpA{D|FB9|FV84?Gu{i`I`)!-4=-%=a 1ea 1e a 5ea 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ>ʉʉQjEʉ͕흺>I I8ٮ QtI  UD9鰝1: :)oj8 :)I tIi CE  :)p:Ix:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NU@Vehicle HDG: 201.306357 arcdeg .q'U'U*GQ2GYFYFYrFabFaEaEa2EizEmBEmzC6@hz%i@EmV84?Gu{EmJyEiEmo'@\|b?5@_!EmfCڇ꿓3{ %?(_l̿Em`#@=}DHdg To Contact =146.667876 degreesZEmAbEm<:EmSo$?BEm:o$?JEmw REms jEm rEm);I9 iIi 2@<:@w: ߹$Dacoustic_contact_range 39.660000 m$hTrackAcousticContact.heading_to_contact 2.559837 rad$LDUSBL_Hydroid.xAngle -55.849999 arcdeg>i>nf* MfΚ(AYt2R@t2°`@yt23t28U>t2H```?u׿`V?@}?@?`?)u2R@ u2n;Iu2CxBmd>xBu E)|F@=YEZ;E>AAQEjEIMuݻM>IQ I]8ٮQQ Q]tI Q U]D9QU: Ux:)U,q8 m:)aIa mtIia mCEa e[:)e:Ie|:yIy9=O @Contact HDG: 146.667876 arcdeg .' ' O 4Initialize Wait Component.*G 2G FFrFbFEE)5;I59 11i1I199i99 A2@E<:@Mw: Y{f* G蚩(A)(I,YtZQ@tZ`@ytZj1DtZZ>tZH4`? P׿F???@X?)uZQ@ uZ&n;IuZCxs>xEHHp=iAIA)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q jE   >I I8ٮ QtI  U%D9%: į:)x8 -:)!I! -tIi! -CE! %1:)%s:I%c:9I99A*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIyi 2@<:@w: ߡYf* T(AYt*Q@t*`@yt*eLt*ǐ>t*H `A?0ö@GֿǤ?`??` ?)u*Q@ u*n;Iu*CxB:m>xBE)~҄GiwAF@YʅQ>ʉʉQjEʉ͕Κ>I I8ٮ QtI  UD9鰝\: :)8 :)I tIi CE :):Iy:I9*G2GFFrFbFEE);I9 iIi 2@ <:@w: !ibf* (AYt*}Q@t*l`@yt*Rt*ސ>t*H '?яBֿw?U??`?)u*}Q@ u*~m;Iu(xRe>xRP Ei`I`)GF@-Y5~5>11Q=jE9EѝE>IA IM8ٮAA QMtI A UUD9AE: Eį:)EӅ8 ]:)QIQ ]tIiQ eCEQ U:)U:IU:iIq9q*G2GFFrFbFEE)%;I%9 !!i!I)))i11 Q2@]<:@]w: if* 5(A YtJQ@tJU`@ytJmAtJx>tJH` ?!wֿ,@"?h2???)uJQ@ uJPm;IuJCx~k>x~EG?AH){Ga 1Ma 1U a 5Ua 5U a 9Ua 9U a -ua -u a 1u@a u a 5u@a u a 9u@a u a -u@a u qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕ7;>ʱʱQjEʹͽmJ>I I8ٮ QtI  UD9; ;)8 :)I tIi CE ٓ:)˚:In: I 9)*G92GAFAFArFIbFIEiEi);I9 iIi 2@<:@w: f* :O(AYt*jQ@t*u;`@yt*Bt*{>t*Hn?+vֿ`y?`Q_??F?)u*jQ@ u*A+m;Iu*CxB'n>xBpEiPIP)G  =F@Y%u{%>!!Q-jE)-0->I1 I=8ٮ11 Q=tI 1 UED915: 5#:)58 M:)AIA MtIiA MCEA E:)E$:IE:YIa9a*Gq2GqFqFqrFbFEE);I9 iIi 2@<:@w: ]>x>f* i(AYt*Q@t*7`@yt*Ft*X >t*H.`(? aaֿ@l`H?҈?@ ??)u*Q@ u*=l;Iu*CxBe>xBP E)z+GF@ Y >QjEX->I! I-8ٮ!! Q-tI ! U-D9!%ͭ: %:)%n8 5:)1I1 =tIi1 =CE1 5:)5ܹ:I5V:III9I*Ga2GaFaFarFibFiEiEi);I9 iIi 2@<:@w: ߩf* b(A) IYt*XQ@t*`@yt*/It*P>t*H@`Z?)Txֿ ܽ-?\???@ ?)u*XQ@ u*l;Iu*CxBi>xBEHBR=HBa=iPIP)~SGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYee>iiQmjEiu+u>Iy I}8ٮyy QtI y UD9y}: }:)}8 :)I tIi CE O:)c:I:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: f* l>(AYt*AZQ@t*L`@yt*Mt*{>t*H`?I%yֿ@!?`??[?)u*AZQ@ u*m;Iu*CxRg>xRsE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GixAF@Y >QjER9>I! I-8ٮ!! Q-tI ! U5D9!%V: %;<)%ƨ8 :)I tIi CE :):I_:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 200.560746 arcdeg .q'5'5*G12G5`#@F1F9rF9bFAEAEA)};I9 iI`#@i`#@ 2@<:@w: $=RHorizontalControl.headingCmd 2.559837 radi"f* (AYt*6Q@t*_@yt*X5t*>t*H``?` _Xֿ ? ??ִ?)u*6Q@ u*rm;Iu*Cx^:m>xbE){b;=I{`i{b={b1>{`{b0A{`|b_B9|bMٸir?Y?iAIA)ʹʹQjEʹ%>I I8ٮ QtI  UD91: 5:)y8 :)I tIi CE ;)0:;IS:I9=O%@Contact HDG: 146.667876 arcdeg .'%'-O-4Initialize Wait Component.*G12G1F9FArFQbFYEaEa2EyzE}_BE}CZK@L@E}Mٸir?Y?E};=EyE}P5cII7{8ۿK?E}2e@=DHdg To Contact =205.188950 degreesZE}GbE}HJ:E}#o$?BE}So$?JE} RE}w jE}?rE} )M;IM9 IIiIIIQQiQQ Y2@]<:@ew: q$Dacoustic_contact_range 55.920002 m$hTrackAcousticContact.heading_to_contact 3.581223 rad$HDUSBL_Hydroid.xAngle 4.950000 arcdeg f* Л(A Yt.<0Q@t.G_@yt.uBt.OT>t.H?LRֿD ?i[? ?`?)u.<0Q@ u.m;Iu,xBZ>xBzEGFAAHD)SGa 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@Y>QjEz>I I8ٮ Q%tI  U%D9: ݱ:)8 -:))I) -tIi) 5CE) -:)-x;I-:aIa9a*G2GFFrFbFEE);I9 iIi 2@<:@ w: !4f* hꛩ(AYt*Q@t*_@yt*Ht*>>t*Hc5?ʎ`Z:ֿ ͸??)?I?)u*Q@ u*^n;Iu(xNMl>xRLEi`I`)%jG-C=-%=F@]Yeue>aaQejEimۃm>Iq I}8ٮqq Q}tI q U}D9qu: u:)u8 :)I tIi CE :)ȗ:I:I9*G2GFFrFqbFyEyEy);I9 iIi 2@<:@w: V>a>g* (AYt*q"Q@t*|_@yt*[t*&i>t*H<"?޵CEֿ V?}?m? ?)u*q"Q@ u*܀o;Iu(xNi>xRE)Ga 1Ua 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a ] a -]@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@Yʝ9>ʡʡQjEʡͭ:>I I8ٮ QtI  UD9鰵h: :)8 :)I tIi CE Ր:),:I:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Gg* D(A)4t*H`@e?@S nֿ0`q?@U?@O??)u*P@ u*gp;Iu*CxNh^>xREHRp=HRp=i`I`)ƄGF@-Y5PP;5>11Q=jE9=߻E>IA IM8ٮAA QMtI A UUD9AE: Eh:)E8 ]:)QIQ ]tIiQ eCEQ Uٮ:)U:IU+:iIi9q*G2GFFrFbFEE);I9 iIi 2@<:@w: p g*  _8(AYt:Q@t:_@yt:`Et:\>t:H@k|?<⵿ (ֿJJ? ? M??)u:Q@ u:4q;Iu:Cx~g>x~sE)))Q5jE1=:=>I9 IE8ٮ99 QEtI 9 UMD99=: =:)=38 U:)III UtIiI ]CEI M:)M˵:IM¸:aIi9i*Gy2GyFyFrFbFEE);I9 iIi 2@<:@w: iXg* :R(AYt*P@t*ģ_@yt*Z>t*Є>t*H`>q?@ɵ cֿ] ?ˇ?c??)u*P@ u*yGq;Iu*CxV5g>xV*EidId)-GF@]Ye:e>aaQmjEimm>Iq I}8ٮqq Q}tI q UD9qu: u:)u8 :)I tIi CE  :)ݖ:I:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 4g* l(A Yt*Q@t*_@yt*oTt*>t*H``~? Qȵ(ֿ ?@ʍ? G??)u*Q@ u*q;Iu(xNe>xRP EGR@AHRAA)aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@YS>QjE:>I I8ٮ QtI  UD9}: >:)8 :)I tIi CE x:):I$:I 9 ODone Waiting.'O8Uninitialize Wait Component.*G2GM%|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF!F!rF)bF)E)E))E;IE9 AAiAIAIIiIQ Q2@]<:@]w: ick!g* (􅜩(AYt*P@t*ɛ_@yt*y>Ut*>t*H <@a?Lֿdy??S?`O?)u*P@ u*r;Iu(xBi>xBNEiLIP)~SG4=F@Yʍ_>ʑʑQjEʑ͝KV>I I8ٮ QtI  UD9鰥:: ٮ:)8 :)I tIi CE :):IQ:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Ne@Vehicle HDG: 200.184771 arcdeg .q'e'e*Ga2Ge2e@FiFirFqbFqEqEq);I9 iIB%@i2e@ 2@<:@w: ߱$RHorizontalControl.headingCmd 3.581223 radR>{>'g* ̟(AYt*P@t*_@yt*?Lt*B>t*H$f?@$ȵ ֿ ?ԇ?V?I?)u*P@ u*q;Iu*CxBn>xBE {DY|DF8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )GF@Yx:>QjE>I I 8ٮ Q tI  UD9; I;)8 M:)AIA utIiA }CEA E;)E;IE:I9=O@Contact HDG: 205.188950 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)];I9 iI2)@i |> 2@<:@%w: (-g* i(A);I4t*H@{?嵿'ֿs?5ֈ?@??)u*Q@ u*ɣp;Iu*CxN P>xRDHPHRa=){R'=I{Pi{R={R+>{P{RA{P|R\B9|R7G?+q?ipIp)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YW:>!Q%jE!%k;->I) I58ٮ)) Q5tI ) U=D9)-: - :)-8 E:)9I9 EtIi9 ECE9 =:)=,:I=:QIY9Y*Gi2GiFiFirFqbFqEyEy2EzE\BE]n@@lQx3?E7G?+q?E'=EEV&{@?M")~~?Es@ؿAO=?E~5b@=DHdg To Contact =202.512787 degreesZEAObE:EVo$?BE#o$?JE RE jEK?rE?);I9 iIL,@i!g> 2@<:@w: $Dacoustic_contact_range 33.839996 m$hTrackAcousticContact.heading_to_contact 3.534515 rad$HDUSBL_Hydroid.xAngle 2.350000 arcdeg4g* {Ӝ(AYt*P@t*œ_@yt*yAt*0>t*H pY? L ] ֿ<@H? ?+%?@C?)u*P@ u*o;Iu(xB_>xB E)GixAF@=YEp:E>AIQMjEIMU>IQ I8ٮQQ QtI Q UD9QUMr< Ur<)U8 :)I tIi CE ,:):I:I9*G2GFFrFbFE E );I9 !!i!I!-z1@i-B>) )2@5<:@5w: Ii@A:g* ]휩(AYt*MQ@t*X_@yt* JLt*oɓ>t*H7@%w?@D_*ֿҼ`Z??k7?|?)u*MQ@ u*Lo;Iu(xBm>xB'EiPIT)SGa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmIܺm>iiQmjEqu{;u>Iy I8ٮy M8y QtI y UD9y}Z: }:)} 8 :)I tIi CE !:)ض:IJ:I9*G12G9F9F9rFAbFAEAEA)};I}9 yyiyIy 7@iQ > 2@<:@w: ߱Ag* 9(A Yt.OP@t.Z_@yt.fMt.r!>t.H 8 a?@@ֿ .? ???)u.OP@ u.n;Iu.Cx6eq>x6nEG8H:@A)rGF@zY~6~>QjE >I  I8ٮ   QtI  UD9  : :) 8 %:)!I! %tIi! -CE! %F:)%:I%e:1I199*GI2GIFIFIrFQbFQEYEY)m;Im9 qqiqIq}<@i}=y 2@<:@w:u& > ߁8Gg* 8!(AYt* Q@t*ڸ_@yt*]t* >t*H'? 0ֿ ,?`赋?? ?)u* Q@ u*n;Iu*Cx o>x EiYI]“C)GF@Y  >QjE-\;5>Ia I8ٮaa Q%tI a U%D9ae{< e)<)eU8 u:)qIq }tIiq }CEq uA:)u۞:Iut:I9*G2GFFrFbF)E)E))E;IE9 AAiAIA~B@i֪= 2@<:@w:xA xAG> V>p>Ng* :(AYt*P@t*_@yt*EIt*@[>t*H Do?@ ֿ@1?(?@ ? ?)u*P@ u*w2n;Iu*Cx>Rr>x>E)Ga 1Ea 1E a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@YʍoR;>ʉʉQjEʑ͕3>I I8ٮ QtI  UD9鰝q: 1:)8 :)I 5tIi 5CE Z<)ޏ pTg* T(A)4t.H˃? '3ֿ ]3?ʉ?_ ??)u.Q@ u.'n;Iu.Cx>md>x>u EHBa=HBp=i\I^C)%dGF@=YELE>AAQEjEAMT;M>IQ I]8ٮQQ Q]tI Q U]D9QUV: U:)U8 m:)aIa mtIia mCEa e:)eȗ:IeB:yIy9y&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 200.299464 arcdeg .q'M'M*GI2GU~5b@FQFQrFYbFYEYEa);I9 iINEi\<~5b@ 2@<:@w: *> $mRHorizontalControl.headingCmd 3.534515 radZ [g* ڪn(AYt*zQ@t*_@yt*t*H`E t?)%ֿ%? x???)u*zQ@ u*;n;Iu(xNm>xN'E)qa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Yκ:>Q%jE!% %>I) I58ٮ)) Q5tI ) U=D9)-: -:)-$8 E:)9I9 EtIi9 ECE9 =:)=:I=:QIY9Y=O@Contact HDG: 202.512787 arcdeg .''O4Initialize Wait Component.*G2GF!F!rF)bF)E)E))E;IE9 AAiAIA7?i?{ 2@<:@w:)=I= > bg* D(AYt*-Q@t*8_@yt*tRt*v>t*H`?@7`=ֿ?`RN??`ۿ?)u*-Q@ u*jn;Iu*Cx>_>xB EiLIP)UGF@}Y}>ʁʁQjEʁ͍̅;>I I8ٮ QtI  UD9鰕E: (:)s+8 :)I tIi CE :),:I:I9*G2GFFrFbFEE!)U;IU9 YYiYIYet:ie*4;a a2@m<:@mw:m(S= y:2hg* `(A Yt.@Q@t.K_@yt.uCt.ѫ>t.H` ?9=ֿ_?n???)u.@Q@ u.o;Iu.Cx>u>xBEGBAAH@ {DY|DF8****** ping requested ******JNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uSGF@Yʥ<:>ʱʱQjEʱi7>I I 8ٮ QtI  UD9P <  <)38 ]:)QIQ tIiQ eCEQ U=)U=IU :I9*G!2G!F!F!rF)bF)E)E1);I9 iIc3iʺ 2@<:@w:wA wAu= ߁ \ng* u:(AYt**Q@t* _@yt*Xt*O>t*H?`嵿\Lֿ?@ ? ??)u**Q@ u*Uo;Iu*Cx>i>xBE){B聿I{@i{B={B7>{@{BpA{@|B=@B9|Bcw?x .i`I`)dGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽlw?QjE9;?I IU8ٮ QUtI  U]D9< !<)_98 e:)YIY etIiY eCEY ]:)]|:I]:I9*G2GFFrFbFEE2EzE=@BEzt*H` ˜?xFֿ@ ?6???)u*"$Q@ u*p;Iu*CxBi>xBNE)GF@=YE;E>AIQMjEIMqM>IQ I]8ٮQQ Q]tI Q UeD9QU: U-:)U?8 m:)aIa mtIia mCEa ep:)e :Ie:yI9*G2GFFrFbFEE);I9 iIU-i+, 2@<:@w:፨< ߹n{g* R(A);IYt63Q@t6_@yt6OJt6C>t6H@M? fUֿ@??U?̍? /?)u63Q@ u6 p;Iu6CxRd>xR EHXHZa=iI)Ga 1=a 1= a 5=a 5= a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@Y>QjE ; >I I8ٮ QtI  UD9h: :)G8 %:)! %:I! -tIi! -CE! %<)%t*H/@? s /qֿ`??f??)u*:QQ@ u*Kq;Iu(xBh>xBE)SGF@Y%"9%?!!Q%jE)- ;-?I1 I=8ٮ11 Q=tI 1 U=D915ܹ: 5D:)5M8 M:)AIA MtIiA MCEA E:)E:IE:YIY9aOuDone Waiting.'uOu8Uninitialize Wait Component.*Gq2GqM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI]+i 2@<:@w:-I 9g* #(AYt*n`Q@t*y `@yt*pIt*p>t*H :?O`iֿ˹P?@4??`1?)u*n`Q@ u*!Tq;Iu*Cx>?s>xBEiLIL)~GF@Y%c%>!!Q%kE)-;->I1 I=8ٮ11 Q=tI 1 U=D915: 5:)5T8 }:)yIy }tIiy CEy }:)}:I}T :I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 200.582343 arcdeg .q'-'-*G)2G- < @F)F)rF1bF1E9E9)M;IM9 qqiqIq}l,iy} < @ 2@<:@w:G ߱$RHorizontalControl.headingCmd 2.503670 radZg* =(A$ $Yt^zQ@t^'`@yt^Ut^#>t^H@`+?`ﵿֿ`r h?`??E?)u^zQ@ u^Nq;Iu^Cx-j>x-qEG5@AH1)Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@]Y]ٺe>aaQekEaml;m>Iq I}8ٮqq Q}tI q U}D9qu: u_:)u8\8 :)I tIi DE ;);I :I9=Om@Contact HDG: 143.449709 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GqFqFqrFybFyEyE);I9 iI .iϽ 2@<:@w: }ط ߁Ƒg* !\W(AYt.Q@t.I`@yt.߬Ft.>t.H` ?9 ҷֿ`Gझ?tՈ?}??)u.Q@ u.q;Iu.CxBc>xB, EiR=IR“C)|F@Yʅ !;>ʉʉQkEʉ͕;>I I8ٮ QtI  UD9鰝}: >:)b8 :)I tIi DE :):I:I9*G2GFFrFbFEE);I9 iIW1i 2@ <:@w:  >>9g* 8q(AYt*Q@t*]`@yt*3It*>t*H@n`?[ֿ` ?8&?{? ?)u*Q@ u*q;Iu*CxBmd>xBu E)GF@Y%uι%>!!Q-kE)-HE;->I1 I=8ٮ11 Q=tI 1 UED9152: 5x:)5Ji8 M:)AIA MtIiA MDEA E:)E$:IE:yI9*G2GFF1rF9bF9E9EA);I9 iIK7i>. 2@<:@w:z޽ g* (A)IYt.kQ@t.vf`@yt.RzUt.$>t.H`4?@U ֿKa9???`?)u.kQ@ u.h^p;Iu.Cx>U_>x>S EHBp=H@iRf=IRC)~ʑʑQkEʙ͝:>I I8ٮ QtI  UD9鰥: :)np8 :)I tIi DE :):Io:I9*G2GFFrFbFEE);I9 iIޭt:H@?A@+ֿ`E?`s???)u:VQ@ u:-n;Iu:CxBp>xB%E {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )uGiwAF@Y>QkEŻ>I  I8ٮ   QtI  U%D9  ; ;) w8 5:))I) =tIi) =DE) -] ;)- ;I-:III9Q*Ga2GaFaFarF!bF)E)E))=;IE9 AAiAIAmiBiut.H`? cYֿ@? ݉?@?`'?)u. rQ@ u.Em;Iu.Cx6c>x6, E){:ԇ=I{8i{:={:+>{8{:A{8|:G'B9|: :X?{S?iTIT) G=6only read 3 of 5 data items=VFailed to parse: :BI,-32768,-3278,-32768,V F@}Yʅj:>ʁʁQkEʁ͍>I I8ٮ QtI  UD9鰕: :)-~8 :)I tIi DE %:):I":I9*G2GFFrFbFEE2EzEG'BE0D@x0G/,@E :X?{S?Eԇ=EEHU C71o21hDG-?Eos]&8YQڿ/s?E2d@=DHdg To Contact =204.293731 degreesZEbEd:EDo$?BEEo$?JE REr jE?rEC1) ;I 9  iIMGie= 2@%<:@%w:> )$MDacoustic_contact_range 41.820000 m$UhTrackAcousticContact.heading_to_contact 3.565598 rad$]HDUSBL_Hydroid.xAngle 3.800000 arcdegߵg* £؞(A Yt.,Q@t.71`@yt.9!Nt.>t.H .e? ֿ֠@Ս?É?,g? ?)u.,Q@ u.^m;Iu.CxB^>xB EGFAAHD)AAQEkEIM7;M>IQ I]8ٮQQ Q]tI Q U]D9QUS: U5:)U8 m:)aIa mtIia mDEa e::)eN:Ie':yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIE@i= 2@<:@w:xA  ߹ g* (AYt*'nQ@t*2`@yt*̨It*J>t*H? ȵ`Aֿ ?4?w?P?)u*'nQ@ u*Yim;Iu*CxB8T>xB}EiTIT) G  a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5U@a U a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@mYmu.:m>qqQukEq}V}>I I8ٮ QtI  UD9鰅O: S:)8 :)I tIi DE %:)|:Ii+:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 200.630332 arcdeg .q'='=*G92G=2d@F9FArFAbFAEIEI)];Ie9 aaiaIam[A@imC=m2d@ q2@u<:@uw:}U< ߑ$RHorizontalControl.headingCmd 3.565598 rad>>g* Y (AYt*րQ@t*-`@yt* Jt*C>t*H?/ ֿ8?VX?\??)u*րQ@ u*m;Iu*CxRc>xR, E)%GF@=YE1E>AAQMkEIM;;M>IQ I}8ٮQQ Q}tI Q U}D9QU; U;)U8 :)I tIi DE ::):I/:I9=OM@Contact HDG: 204.293731 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFqFqrFybFyEyEy);I9 iI>@i{ > 2@<:@w:8< g* C=&(A)$I$Yt~wQ@t~$`@yt~BAt~>t~H r?Ɇ`Gֿ`9@t?6(?`#?=?)u~wQ@ u~m;Iu~Cx a>x EHHi1I1)ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y:>QkE%#%>I) I58ٮ)) Q5tI ) U5D9)-u: -5:)-8 E:)9I9 EtIi9 EDE9 =p:)=:I='4:QIQ9Q*Gy2GFFrFbFEE);I9 iI=@i 2@<:@w:)=I=·3= ߱g* A@(AYt*~Q@t*+`@yt*Yt*>t*H#?jֿ2 A?>5?Mi?@D?)u*~Q@ u*m;Iu*CxBHf>xB E)~GiF@]Yeze>aaQekEam*:m>Iq I8ٮqq QtI q UD9qu5; u;)u8 :)I tIi DE Ր:):I28:I9*G2GFFrFbFEE)5;I59 YYiaIa=@Hi 2@<:@w:m= yi-g*  Y(AYt*Q@t*1`@yt*Tt*ﳌ>t*H ,`?੠ֿ?`? ]??)u*Q@ u*Om;Iu(xNp>xREi\I\)19Q=kE9EQY:E>IA IM8ٮAA QMtI A UUD9AEի: Et:)E`8 ]:)QIQ ]tIiQ eDEQ U:)U:IUY<:iIq9q*G2GFFrF bF E E )u;I}9 yyiyIyM'?@i= 2@<:@w:r= ߙLXg* ?s(A Yt2)Q@t24O`@yt23\Qt2:O>t2H ?0`ֿܼ@0h?W+?@??)u2)Q@ u2m;Iu0x>v>xBGEG@H@) Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a u a -}@a } QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@Yʕi9>qqQukEq};}>I I8ٮ QtI  UD9鰅: 1:)8 :)I tIi DE :):I(A:I 9 *G2GFF!rF!bF!E)E));I9 iInB@i=  2@<:@w:wA v> 6@g* (AYt.Q@t.9`@yt.Dt.K>t.H?ֿ@ ??`r?z?)u.Q@ u.m;Iu.Cx>c>xB, EiLIL)|=F@Y%k;%>!!Q-kE)-m->I1 I=8ٮ11 Q=tI 1 U=D915: 5r:)58 M:)AIA MtIiA MDEA E:)EE:IED:aIa9a*Gq2GqFFrFbFEE);I9 iInF@i= 2@<:@w:~= >p>Aog* O(AYt6Q@t6d`@yt6*Xt6>t6H .*?絿@ֿ:?1?}?@]?)u6Q@ u6m;Iu6CxJc>xJ E {LY|LN8****** ping requested ******RNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )eSGa 1Ma 1M a 5Ma 5M a 9Ma 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@}Yʅ>ʁʉQkEʉ͍ڥ;>I I8ٮ QtI  UD9鰕-< .<)8 :)I =tIi =DE ;%<)%)t.H@{`]?@:k ֿ???@޿?)u.]Q@ u.hm;Iu.Cx>g>xBsEH@H@iZ=I^“C)GF@=YEkW;E?AAQEkEIMM?IQ I]8ٮQQ Q]tI Q U]D9QU: U/:)U8 m:)aIa mtIia mDEa e̒:)e$:IedM:yIy9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 200.879361 arcdeg .q'='=*G92G9F9FArFAbFAEIEI)};I}9 iIrAiLU  2@<:@w:mܶ= yY|g* 4۟(AYt2Q@t2~`@yt2St26H>t2H_`>?B, +ֿ)? u?F??)u2Q@ u2Xm;Iu2CxBcX>xBE)vGiyA xAF@Y%ܺ%>!!Q-kE)-0;->I1 I=8ٮ11 Q=tI 1 U=D915I: 5n:)58 M:)AIA MtIiA MDEA EF:)E:IEQ:YIa9a=O@Contact HDG: 204.293731 arcdeg .''O4Initialize Wait Component.*G2GFF!rF!bF!E)E))];I]9 aaiaIam;im:Hi i2@<:@w:V= ߙi%@A!og* (AYt* Q@t*`@yt*UGt* >t*HI=?<ֿ`i?? ??)u* Q@ u*;m;Iu*CxNMl>xRLEibf=I`)%dGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Y:>QkEq:>I I8ٮ QtI  UD9: l:)8 :)I tIi DE :):IV:)I)9)*G92GAFAFArFIbFIEIEI);I9 iIO*6i? 2@<:@w: < Ih* (A Yt.Q@t.ȏ`@yt. Tt.x>t.HLN?4)ֿ?n?ৈ?@?)u.Q@ u.+l;Iu,xBu>xBEGB@AH@)]GF@}Yʅ>ʉʉQkEʉ͍ :>I I8ٮ QtI  UD9鰝1: :)8 :)I tIi DE :),:I?Z:I9*G2GFFrFbFEE);I9 iIB62i%! !2@-<:@-w:-R5< 1 h* ((Axnh>xnEiiImC)vG=a 15a 15 a 55a 5= a 9=a 9= a -=a -= a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UY]]>YYQ]kEaee>Ii Iu8ٮii QutI i UuD9im%: m:)m.8 :)yIy tIiy DEy }d:)}ݖ:I}^:I9*G2GFFrFbFEE)-;I-9 ))i)I)5w_/i5Yؽ1 92@=<:@Ew:] ; R>i>Jh* MB(AYt* Q@t*`@yt*PRt*#>t*H@zia?Q ׿ϥ?zR???)u* Q@ u*Nl;Iu*CxBs>xBE)GF@Y%*9%>!!Q-kE)-pj;->I1 I=8ٮ11 Q=tI 1 UED915: 5:)5a8 M:)AIA MtIiA MDEA E:)E9:IEb:I9*G 2G FFrFYbFYEYEY)m;I9 iI!.i 2@<:@w:Vw$ ߙxh* {\(A);IxrMl>xrLEHtHxi I “C)eGF@}Yʅ>ʁʁQkEʁ͍>I I8ٮ QtI  UD9鰕$; ;){8 :)I tIi DE  :)ݖ:I g:qIy9y*G2GFFrFbFEE);I9 iI56C.5Si11 92@=<:@=w: *: h* Vv(AYt*Q@t*ӏ`@yt*Kt*Zя>t*H@WG?`8=ֿ"f?@w?`?T?)u*Q@ u*l;Iu(x>o>xBE) XGiwAwAa 1Ma 1M a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuv:u>qʱQkEʹͽOO>I I8ٮ QtI  UD9%: :){8 :)I tIi DE :):Ijk:)I)9)ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEEI)e;Ie9 aaiaIa-__i 2@<:@w:˺ i?A#h* 7(Axno>xli~=I|)]+GF@Yʝ>ʡʡQkEʡͥ>I I8ٮ QtI  UD9鰭 : :)U8 :)I tIi DE :) :Io:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nm@Vehicle HDG: 201.038190 arcdeg .q'm'm*Gq2GqFqFqrFybFyEyEy);I9 iI-ji 2@<:@w:rAн ߱m*h* _ (A YtNQ@tNl`@ytNyCtNj>tNH@.$?`0 rֿ?o?@?@!?)uNQ@ uN9l;IuNCxnd>xn EGpHrAA {pY|pv8****** ping requested ******Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 )SGF@Y%:%>))Q-kE)-5>I9 IE8ٮ9 ME89 QMtI 9 UMD99= ; =: ;)=8 ]:)YIY etIiY eDEY ]:)]:I]t:I9=O]@Contact HDG: 204.293731 arcdeg .'e'eOe4Initialize Wait Component.*Ga2GaFaFirFybFyEyEy);I9 iI- xi 2@<:@w:ٽ ߱u0h* )à(AYt>Q@t>=`@yt>-Ft>>t>H#=?zֿ?ň?2?;?)u>Q@ u>$l;Iu>CxF[>xF E){J-I{Hi{Jc={J7>{H{JPA{H|JB9|Jz+?w%Uiff=Id)dG%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y ڹ>QkE>I I8ٮ Q tI  U D9: >:)L8 :)I tIi DE :)9:I.x:)I)9)*G92G9FAFArFIbFIEIEI2EQzEUBEU$+g62@HXAEUz+?w%UEU-EQEU0E<8@O4l"EUly翑k$?\c6οEU@=eDHdg To Contact =139.564315 degreesZEUMAbEU:EU\o$?BEUDo$?JEUu REU jEUrEU?)};I}9 yyiyIy-i 2@<:@w: )I )=>=t>$MDacoustic_contact_range 39.180000 m$UhTrackAcousticContact.heading_to_contact 2.435857 rad$]LDUSBL_Hydroid.xAngle -62.300000 arcdeg7h* 'ݠ(AYt>-Q@t>8U`@yt>3It>>t>H h?o ֿ&?>? ??)u>-Q@ u>m;Iu>Cx~u>x~E)F@Y{>QkE n; >I I58ٮ Q=tI  U=D9Z; 5;)98 E:)AIA MtIiA MDEA E:)E,:IE|:yIy9y*G2GFFrFbFEE);I9 iI-4i 2@<:@w: E=h* ?(A)IYt2fqQ@t2q`@yt2TTt2'>t2Ht@Q?`'뵿>ֿ`@B?y?`#?@5?)u2fqQ@ u2J m;Iu0x:f>x: EH>a=HQkEG>I! I%8ٮ!! Q-tI ! U-D9!%: %į:)%8 5:)1I1 =tIi1 =DE1 5F:)5Z:I5f:III9I*GY2GYFaFarFibFiEiEi);I9 iI-Ki 2@<:@w: N*Dh* hx(AYt.Q@t.<`@yt.!Dt.Cj>t.H8?z{ֿ[k????)u.Q@ u.(m;Iu,xBk>xBE)~҄Gia 1=a 1= a 5=a 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye;e>aaQekEam;m>Iq I}8ٮqq Q}tI q U}D9qu: ux:)u8 :)I tIi DE Ր:),:I:I9*G2GFFrFbFEE);I9 iI-i 2@<:@w: i999TJh* R+(AYt*$`Q@t*/ `@yt*@t*$m>t*H?Yڶ-ֿȯD?`?`f,?1?)u*$`Q@ u*m;Iu(xRjw>xR"Ei\I^C)vGa 1]a 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ:>ʁʁQkEʉ͍P>I I8ٮ QtI  UD9鰕: :)#8 :)I tIi DE :):I :I9*G2GFFrFbFEE);I9 iI-i 2@ <:@ w: !t*H`?@|ֿ`+ g? '???)u*1iQ@ u*=m;Iu(xB,t>xB#EG@HF@A)~dGF@=YEE>AAQMkEIM:M>IQ I]8ٮQQ Q]tI Q UeD9QU: U:)Uc*8 m:)aIa mtIia mDEa e:)e :Ie9:yI9*G2GFFrFbFEE);I9 iI-i 2@<:@w: gWh* _(AYt*t*H)?^]ֿDd?@?? ?)u*v>x>EiLIL)|==F@=Y=eE>AAQEkEAMg߻M>IQ I]8ٮQQ Q]tI Q U]D9QU>: U:)UH18 e:)aIa mtIia mDEa e :)e :Iez:yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI-i 2@<:@w: =V>=>]h* Xx(AYt*bQ@t*`@yt*Ht*>t*H ?sֿ`?v??@?)u*bQ@ u*0m;Iu(xVu>xVE)%Ga 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Yʍ>ʉʑQkEʑ͝M;>I I8ٮ QtI  UD9鰥: :)W88 :)I tIi DE B:)ܹ:I֕:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N]@Vehicle HDG: 200.589952 arcdeg .q']'e*Ga2Ge@FaFarFibFiEiEq);I9 iIy/i@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.435857 radxdh* ](A) I4t.Hw C?@`$Jֿ`b@]?U ?@>?`j?)u.'Q@ u.hm;Iu,x>p>xB%EH@HBp=iPIP)aaQekEamAm>Iq I8ٮqq QtI q UD9qu; uZ;)u#?8 :)I tIi DE ::) :I:I9=Om@Contact HDG: 139.564315 arcdeg .'m'mOm4Initialize Wait Component.*Gq2GFFrFbFEE);I9 iIdg2i1립 2@<:@w: jh* Ș(AYt*-Q@t* _@yt*Qt*E>t*H r?2 HOֿg ?@9?@)?@?)u*-Q@ u*)n;Iu*CxRi>xRE {TY|TV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ) Gia 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Y>QkE6:>I I 8ٮ QtI  UD9; :)gG8 :)I tIi %DE )I-:QIQ9Q*G2GFFrFbFEE);I9 iI7i S:  2@<:@w: ߙiAA؉qh* sơ(AYt*& Q@t*1_@yt*=Ft*>t*HF?@&5Cֿ-]?@Lj?? ?)u*& Q@ u*mn;Iu*CxBu>xBE){BnI{@i{B={B>{@{B A{@|B3)B9|B[?z/F?@۾Fi`I`)!F@=YE;E ?IIQMkEIU!U ?IQ I8ٮQQ QtI Q UD9QU< Ub<)UL8 :)I tIi DE :)c:I:I9*G2GFFrFbFE!E!2E)zE-3)BE-FIXf89@Ξ]@E-[?z/F?@۾FE-nE)E-&ӍA*M5@US "E-+޷j}?TP˿E-%@=UDHdg To Contact =148.161952 degreesZE-fAbE-n :E-Lo$?BE-\o$?JE-w RE-u jE-jrE-)m;Im9 iiiqIq;iXq 2@<:@w: $Dacoustic_contact_range 42.299999 m$hTrackAcousticContact.heading_to_contact 2.585914 rad$%LDUSBL_Hydroid.xAngle -53.400000 arcdegFwh* PPࡩ(A@ Yt*jQ@t*u_@yt*Ot*n>t*H`8?`ϵ@J6ֿ ?*?`k??)u*jQ@ u*n;Iu*CxB:m>xBEGBAAHD)F@Y%%>))Q-kE)5Y 5>I1 I=8ٮ11 Q=tI 1 UED915: 5:)5S8 M:)III MtIiI UDEI M:)Mo:IM:aIa9a*Gq2GqFqFyrFybFEE);I9 iI%M2Ai%ڀt*H]Q?a4ֿ@U? o?2?1?)u*Q@ u*0o;Iu*CxBh>xBEiV=IV“C)G 4= 4=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm9m>iqQukEqu;au>Iy I8ٮyy QtI y UD9y}: }:)}Z8 :)I tIi DE ¿:):I:I9*G2GFFrFbFEE);I9 iIXFiH= 2@<:@uw:UG Y=>=t>LƄh* (AYt*P@t*_@yt*Kt*)>t*Hr?!ֿ`,? q??س?)u*P@ u*{>o;Iu*CxBv>xBGE)~҄GF@=YEY9E>AAQMlEIM&MM>IQ I]8ٮQQ Q]tI Q U]D9QU: U:)Ua8 m:)aIa mtIia mDEa e:)eN:IeD:yIy9*G2GFFrFbFEE);I9 iI CF@i= 2@<:@w:&t@ rh* -(A) I;Yt*P@t**_@yt*Lt**>t*Hz? ⌵d!ֿ C@? 쒉? ?4?)u*P@ u*rbo;Iu(xBf>xB EHBR=HDiRf=IRC)Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5M@a M a 9M@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@eYe%e>iiQmlEiuou>Iy I}8ٮyy QtI y UD9y}: }а:)}h8 :)I tIi EE :):I:I9*G2GFFrFbFEE);I9 iI@@i= 2@<:@w:wA xA5 9ؑh* G(AYt*xP@t*_@yt*4Ct*;>t*Hl je?ֿ!6? of?/?L?)u*xP@ u*Ko;Iu*CxBmd>xBu E)|iF@EYʍͷ:>ʡʡQlEʩ>>I I8ٮ Q tI  U D9h: l:)o8 U:)I UtIi ]EE Z<)Ni q2@u<:@}w:ƒ< ߙrh* (A Yt6P@t6_@yt69Tt6MI>t6H S?`տq????)u6P@ u6>o;Iu6CxjV>xj3EGlHli|I|)]ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y+.>  Q lE />I I8ٮ Q%tI  U%D9: :)8 -:))I) -tIi) 5EE) -:)-:I-:AIA9A&UMUAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'U NUInitialize.q'UN@Vehicle HDG: 200.094804 arcdeg .q''*G2G%@FFrFbFEE);I9 iI-@isn> %@ 2@ <:@w:e< ߑ$RHorizontalControl.headingCmd 2.585914 radh* ̟(AYt*qP@t*|_@yt*kSt*T>t*H` d?#$ ֿ?Lm?J??)u*qP@ u*E=o;Iu*CxBsj>xB(E)~G=>=x>F@EYM9M?IIQMlEIU2;U?IY Ie8ٮYY QetI Y UeD9Y]t: ]l:)]ӆ8 u:)iIi utIii uEEi m :)m:ImH:I9=O@Contact HDG: 148.161952 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E!)=;I=9 99i9I9E[)@iE >A I2@M<:@Mw:)=I=l;= #h* T(AYt*AP@t*Ll_@yt*.It*/>t*H`w =?`Bտ #?%??@>?)u*AP@ u*Do;Iu(xBRr>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIt)G%=%=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5 @a  a 9 @a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@-Y5:=>99QElEAM˪M>IY Ie8ٮYY QetI Y UeD9Y]; ] ;)]D8 }:)qIq }tIiq EEq u:)uG:Iu:I9*G2GFFrFbF)E)E))E;IE9 AAiAIAu5$@iqq y2@<:@w:+= ߑRh* „Ӣ(A)IYt.P@t.r_@yt.ה@t.">t.HfD?@8 hտk?v? U?`?)u.P@ u.An;Iu.CxBg>xBsE){FpI{Di{F3>{F7>{D{FA{D|F=pB9|FeL?p )%GF@=YE_:E>IIQMlEIUċ:U>IQ I]8ٮQQ QetI Q UeD9QU: U:)U8 m:)iIi mtIii uEEi m}:)m:Im:I9*G2GFFrFbFEE2EzE=pBE"A@^_CHEeL?p EpEEZ~H2?@a!*E$żvM꿴dg?ki˿E$@=DHdg To Contact =147.364801 degreesZEAbEwE:E&o$?BELo$?JEo REw jEQrEj);I9 iI|"@i 2@<:@w:6 > ߹$Dacoustic_contact_range 60.060001 m$hTrackAcousticContact.heading_to_contact 2.572001 rad$LDUSBL_Hydroid.xAngle -53.900001 arcdegкh* ](AYt*P@t*g_@yt* Pt*ɤ>t*H;`xbEi=I“CiE?AA)u+GF@Y>QlE 5fѺ=>II I}8ٮII QtI I UD9IM3< M<)M8 :)I tIi EE ;);I:I9*G12G1F1F9rF9bF9EAEA)u;Iu9 yyiyIy'!@i 2@<:@w: wAmC> y h* 9(AYt*P@t*W_@yt*B\t*Ӧ>t*H @.?g տ`*?` ??@ ?)u*P@ u*Qn;Iu*Cx2i>x2E)SGi!%xAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʽ>QlE >I I8ٮ QtI  UD9u: :)8 :)I tIi EE }:):Iw:I9*G 2G FFrFbFEE)5;I59 11i1I9=3!@=i9A A2@M<:@Mw:^> oh* !(A Yt.P@t.O_@yt.?Bt.Ґ>t.Ha#?@sտ ? G?u??)u.P@ u.;n;Iu.CxB=Z>xB1EiPIP)GF@Yʕ;>ʙʙQlEʙͥ>I I8ٮ QtI  UD9鰭: :)v8 :)I tIi EE :)Z:I:I9*G2GFFrFbFEE);I 9  i I z"@i 2@<:@%w: ca> @ h* :(AYt:eP@t:p5_@yt:s6t:զ>t:H? ?@xôտ 2?†? ?0?)u:eP@ u:m;Iu:Cxbk>xfEEY>E>)Ga 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1]@a ] a 5]@a ] a 9]@a ] a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu:u>yyQ}lEyͅ6s>I I8ٮ QtI  UD9鰍: :)ذ8 :)I tIi EE :)ȗ:I8:I9*G2GFFrFbFEE);I9 iI%@i 2@<:@w:) >I =Sq> %h* .T(AYt*P@t*&B_@yt*Gt*B%>t*H@?`i1տ;?`? ?@T?)u*P@ u*Im;Iu(xB*[>xBEiPIP)vGF@EYE@E>IIQMlEIUB ;U>IY I]8ٮYY QetI Y Ue D9Y]h: ]:)]8 m:)iIi utIii uEEi mՐ:)iIm:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIRi 2@<:@w:·> Hh* ]n(A) IYt*OhP@t*Z_@yt*qUt*a>t*H`*`:?Wqտ@B?? J ?@̲?)u*OhP@ u*2n;Iu*CxBv>xBGE)~jGF@EYEE>IIQMlEIUݻU>IY I]8ٮYY QetI Y Ue D9Y]: ]į:)]8 m:)iIi utIii uEEi mO:)m :ImR:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.714649 arcdeg .q''*G2G$@FF!rF!bF!E)E))=;I=9 AAiAIAM$@iIM$@ I2@<:@w:> $RHorizontalControl.headingCmd 2.572001 radh* (AYt*@dP@t*K_@yt*HeTt*>t*H@?bտZ?@x???)u*@dP@ u* n;Iu*CxB_>xB EiPIP)+Gi99a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9U@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm+$9m>qqQulEqu}>I I8ٮ QtI  U D9鰅: ٮ:)8 :)I tIi EE а:)I:I:I9=O=@Contact HDG: 147.364801 arcdeg .'E'EOE4Initialize Wait Component.*GA2GAFAFArFIbFIEQEQ)e;Ie9 iiiiIiquiqq y2@}<:@}w: )I 1h* ](AYt*TTP@t*__@yt*Bt*&>t*H"`4?(տP?Y???)u*TTP@ u*Mn;Iu*CxBv>xBGE)Gi!%wAF@]Ye.;e>aaQelEam"m>I I8ٮ QtI  U D9鰝: :)8 :)I tIi EE ;);I:I9*G12GQFYFarFbFEE)-;IM9 IQiQIQQYiYY Y2@e<:@ew: y[h* 8(A Yt.%ZP@t.0_@yt.Bt.>t.H ! ?z0տ|2?@[???)u.%ZP@ u.(n;Iu,xBT>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>QlER?:>I I8ٮ QtI  U D9: :)8  :) I   tIi  EE  ٓ:) :I :I!9!*G12G1F1F9rFAbFAEE);I9 iIi 2@<:@w: 2Ch* ֣(AYt.B-P@t.M^@yt.:t.#>t.H`;)?7`^տ`B T?@C?#?@?)u.B-P@ u.cmn;Iu.CxBl>xBE){FoI{Di{FN={F>{D{F`A{D|F?B9|F?)%G=>=t>F@EYMq:M ?IIQMlEIU U ?IY Ie8ٮYY QetI Y Ue D9Y]: ]:)]8 u:)iIi utIii uEEi m:)m:ImY:I9*G12G1F9F9rF9bFAEAEA2EIzEM?BEMLq1j<@)'CNCEM?EMoEIEM!ҡCpBb_9@ex=%EMk{57DǬ?d5WU[̿EM[X$@=}DHdg To Contact =147.129419 degreesZEMAbEM:EMAo$?BEM&o$?JEMt REMo jEM)rEMQ);I9 iIi 2@<:@w: $Dacoustic_contact_range 47.940006 m$%hTrackAcousticContact.heading_to_contact 2.567893 rad$%LDUSBL_Hydroid.xAngle -53.649999 arcdeggmh* (AYt*-P@t*^@yt*Pt*Ŏ>t*H@)N?@ _տ? ?[?`?)u*-P@ u*{n;Iu*CxB0a>xBw EiVf=IT)+G 4= a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu[u>qqQulEq}98}>I I8ٮ QtI  U D9鰅: t:)8 :)I tIi EE ͭ:)E:I:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: @Ui*  (A) IYt* P@t*^@yt*'Pt*>t*H^.? δAտb!??`?@?)u* P@ u*,n;Iu*CxB,t>xB#E)SGF@Y>!Q%lE!%%>I) I58ٮ)) Q5tI ) U5 D9)-: -;)-<8 E:)A M:IA MtIiA MEEA E:)E:IE:YIY9Y*Gi2GiFqFqrFybFyEyEy);I9 iIi 2@<:@w: ߹i* #(AYt2O@t2^@yt2 Mt27>t2H1֊?`q#*2տ ga?@?%??)u2O@ u2?n;Iu2Cx^xp>xbEir=ItiAA)jGF@Y9>QlE  >I! I-8ٮ!! Q-tI ! U- D9!%L: %c:)%8 =:)1I1 =tIi1 =EE1 5:)5:I5b:III9IOeDone Waiting.'eOe8Uninitialize Wait Component.*Ga2GaMe|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFaFirFibFqEqEy);I9 iIi 2@<:@%w: 1i* =(AYt*O@t*^@yt*ZCt*>t*H82`? +տn;?`6k?`? ?)u*O@ u*n;Iu*CxBi>xBNE)~GixAa 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmG:m>iiQmlEiuu>Iy I8ٮyy QtI y U D9y}\: }>:)}38 :)I tIi EE -:)|:Ij :I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N-@Vehicle HDG: 199.317884 arcdeg .q'5'5*G12G5[X$@F1F9rF9bFAEAEA)U;I]9 YYiYIYe[X$@aiae[X$@ i2@u<:@uw: ߁$RHorizontalControl.headingCmd 2.567893 radi* [W(A Yt.O@t.š^@yt.zJt.L.>t.H3 Dž?Cy"տ?@EB? ?(?)u.O@ u.pn;Iu.Cx^{]>x^/EilIl)5{GF@MYM)U>QQQUlEQ]B]>Ia Im8ٮaa QmtI a Um D9ae: e:)e 8 }:)qIq }tIiq }EEq uS:)uR:Iu:I9=O@Contact HDG: 147.129419 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))=;I=9 9AiAIAAIiII I2@U<:@Uw: ai* ?6q(AYt*!O@t*,^@yt*Qt*pq>t*H5w?ٴտTN?;?*??)u*!O@ u*n;Iu*CxRb>xR EAE>)]ƄGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QlE3>I I8ٮ M8 QtI  U D9: :)-8 :)I tIi EE O:) :I :I9*G2GFFrFbFE!E!)5;I59 99i9I99AiAA A2@M<:@Mw: iZ"i* (AYt*O@t*f^@yt*MIt*Ŕ>t*HF<@G?c%Կ@ ?>?U??)u*O@ u*n;Iu*CxBf>xB EiRf=IRC)҄G%= 4=F@YʕI:>ʙʙQlEʙͥۻ>I I8ٮ QtI  U D9鰥q: ͭ:) 8 :)I tIi EE :):I=:I9*G2GFFrFbFEE);I9  i I i 2@<:@w: 1(i* F(A)IYtnO@tni^@ytnAtnّ>tnH`; ,P?дԿ`Q;?Z3?@?P?)unO@ unn;IunCxp>x%E)ƄGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅԙ:>ʉʉQlEʉ͕K9>I I8ٮ QtI  U D9鰝%: į:)e8 :)I tIi EE ):)I:I:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: !P.i* ž(AYt*ԶO@t*c^@yt*It*tď>t*H<vR? WԿ?@n:?`??)u*ԶO@ u*wn;Iu*CxBY>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i=I“CiAI)GF@Yʵ>ʹʹQlEʹͽP>I I8ٮ QtI  U D9: c:)8 :)I tIi EE :),:I{ :I9*G2GFFrF bF EE)%;I%9 ))i)I)11i11 12@=<:@=w: Q}5i* ؤ(AYt*O@t*V^@yt*pPt* >t*H>??@@Կc? ?i ?ޯ?)u*O@ u*Kn;Iu*CxB}v>xBE){Fl(1I{Di{F!={F7>{D{D{D|F\B9|F(:|?8Hk)%Gi%wA!F@EYEڢM ?IIQMlEIUk!U ?IY Ie8ٮYY QetI Y Ue D9Y]: ]):)]}8 m:)iIi utIii uEEi mp:)m:Im#:I9*G2GFFrFbFEE2EzE\BEë4@E@<'&AE(:|?8HkEl(1EEoz)lIiC+2@x#"ED/RY[b?bЙRſEs3@=DHdg To Contact =160.651363 degreesZE'AbECM:E!o$?BEAo$?JEz REt jErE));I9 iIi 2@ <:@w: !$=Dacoustic_contact_range 55.199997 m$EhTrackAcousticContact.heading_to_contact 2.803895 rad$MLDUSBL_Hydroid.xAngle -39.649999 arcdeg t.H`>;? e*WԿ@2`??@n?xBjEiTIT)+Ga 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm9m>qqQulEq}9}>I I8ٮ QtI  U D9鰅\: _:)x%8 :)I tIi EE l:)I:I5(:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE) ;I 9  i I i 2@%<:@%w: 1Bi* X (AYt*K~O@t*V+^@yt*Dt*>t*H E@?`Hz@Կ``*;?U??`>?)u*K~O@ u*=n;Iu*CxBk>xBE) G99F@EYE:M>IIQMlEIUU>IY Ie8ٮYY QetI Y Ue D9Y]}: ]ٮ:)]G,8 m:)iIi utIii uEEi m:)m :Imj,:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 198.896283 arcdeg .q'='=*G92G=s3@FAFArFIbFIEIEI)e;Ie9 aaiaIam"%@iims3@ q2@u<:@}w: ߉$RHorizontalControl.headingCmd 2.803895 radIi* 4&(AYt2O@t2S^@yt2Dt2.>t2Hz?@?h`KԿ ?ӛ??@?)u2O@ u2lcn;Iu2CxBo>xBJEiPIRC)~SG4=F@MYUNU>YYQ]lEYe;e>Iy I8ٮyy QtI y U D9y}m^; }L;)}>38 :)I tIi EE }:)o:I0:I9=O@Contact HDG: 160.651363 arcdeg .''O4Initialize Wait Component.*G2GFFrF bFEE)%;I-9 ))i)I)5T(@i5Gw>1 92@=<:@=w: QwPi* @(A) IYt*aO@t*l7^@yt* Ft*>t*H@Cr? `ԿP?@\? ]S?`]?)u*aO@ u*n;Iu*CxBr>xBIE)EdGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y?3>QlEY>I I8ٮ QtI  U D9>: ݱ:)Y:8 :)I tIi EE :)k:I5:I9 *G2GFFrF!bF!E)E))=;I=9 AAiAIAE?,@iM[>I I2@U<:@Uw: ig-Vi* Y(AYt*E{O@t*P(^@yt*}Ft*u>t*HlF?`δ϶Կ<ऀ?`zψ?'>?@?)u*E{O@ u* Xn;Iu*CxBf>xB EiPIPiAI)MGF@Yʍ>ʑʑQlEʑ͕>I I8ٮ QtI  U D9鰥: :)A8 :)I tIi EE :):IE9:I9*G2GFFrFbFEE);I9 iI 1@i .6>  2@<:@w: )W\i* s(AYt*AO@t*L4^@yt*Jt*9>t*HtD`r&?3 Կ@} @a?_? ? ?)u*AO@ u*wn;Iu*CxBk>xBE)GixAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酱鄱 )F@Y->QlE%:>I I8ٮ QtI  U D9: :)'H8 :)I tIi EE :)^:I=: I 9 *G!2G!F!F!rF)bF)E)E))E;IE9 AAiIIIM`6@iM>Q Q2@]<:@]w:M> Q?ci* 񟍥(A Yt* {O@t*(^@yt* Dt*喑>t*H`yF?QvԿ@9?຃??`x?)u* {O@ u*hn;Iu*CxBh>xBEiRf=IP)GF@%Y->:->))Q5lE15U5>IA IE8ٮAA QMtI A UM D9AE: E:)EN8 U:)QIQ ]tIiQ ]EEQ U :)U:IUA:iIi9i*Gy2GyFFrFbFEE);I9 iIA8@i?> 2@<:@Uw:5|> 9iii* {(Ax~i>x~E=a>=l>)}ʑʙQlEʙͥ>I I8ٮ QtI  U D9鰥: :)U8 :)I tIi EE :):I F:I9*G2GFFrFbFEE);I9  i I  m9@i 2@<:@w:M> ߙQpi* GV(AYt*tO@t*!^@yt*;t*]>t*H`G ?PԿN?b? ?@?)u*tO@ u*n;Iu*Cx6g>x6sE {4Y|8:8****** ping requested ******VNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 in=In“C)]Gu%=}=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%Ϊ:%>))Q-lE1=r=>IA IM8ٮAA QUtI A U] D9AEd.; E;;)E ]8 m:)aIa mtIia uEEa eK<=)e<=IeJ:I9ODone Waiting.'-O-8Uninitialize Wait Component.*G)2G)M-|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingF1F1rF1bF9E9E9)U;IU9 QQiQIQ]9@]k)iYY a2@<:@w:)=Ia=P"> ߑ |vi* 2ۥ(A) IYt.yO@t.&^@yt.@t.l>t.HF`?`=Կ@u?p?ܿ?@?)u.yO@ u.on;Iu.CxF"h>xJE){N'|I{Li{NV={L{L{NA{L|NKB9|NՉ?&j)5GF@EYMrM>IIQUlEQUNc:U>IY Ie8ٮYY QetI Y Um D9Y]%: ]:)]pc8 u:)iIi utIii uEEi mt:)m:ImvN:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N @Vehicle HDG: 198.881052 arcdeg .q' ' *G 2G FFrFbFEE2E!zE%KBE%j*<@Ax-=EE%Չ?&jE%'|E!E%J*C=@ӈ0&E%6  鿨@Ǝ?:I̿E%B @=5DHdg To Contact =143.473273 degreesZE% AbE%Y:E%?o$?BE%!o$?JE%q RE%z jE%67rE%)M;IM9 IIiQIQ]h8@i]j>Y Y2@e<:@ew:mF> q$Dacoustic_contact_range 50.879997 m$hTrackAcousticContact.heading_to_contact 2.504081 rad$LDUSBL_Hydroid.xAngle -56.599998 arcdeg|i*  (AYtJtJH`G ?*Կ[K?'T??@?)uJxnNEiICiM@AI)eGF@Yʥ>ʡʡQlEʡͭ[>I I8ٮ QtI  U D9鰵J:  :)j8 :)I tIi EE :)Ԙ:IR:I9=Om@Contact HDG: 143.473273 arcdeg .'m'mOm4Initialize Wait Component.*Gi2GiFqFqrFybFyEyEy);I9 iIx}5@i0> 2@<:@w:+> i* (AYt>)tO@t>4!^@yt>Gt>8u>t>HG`>?p Կ`??{??)u>)tO@ u>n;Iu>Cx^o>x^JE)dGiwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@YM>QmE7>I I8ٮ QtI  U D9: :)q8  :) I  tIi  EE  а:) :I /W:!I!9!*G12G9F9F9rFAbFAEAEA)];I]9 YYiYIYe4@iaa i2@m<:@uw:}wA }wAM(> Yﻉi* ((A Yt>O@t>&;^@yt>gBt>k>t>HdC)?`g@ԿT@"?`L?? ?)u>O@ u>:n;Iu>CxFT>xFEiVf=IT) Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Yʽ]:>QmE;>I I8ٮ QtI  U D9: ݱ:)dx8 :)I tIi FE į:):Ie[:I9*G2GFFrFbFEE)5;I59 11i1I1=3@=i9A A2@M<:@Mw:Ei1> Ii* B(AYt.iO@t.^@yt..Ct.2i>t.H >I8?4lԿ `R?e?: ?`Dz?)u.iO@ u. n;Iu.Cx>:m>x>E)zׄG5R>5a>F@=Y=E>AAQEmEAMM>IQ I]8ٮQQ Q]tI Q U] D9QU:: US:)U8 e:)aIa mtIia mFEa e:)ex:Ie{_:yIy9y*G2G F FrFbFEE)M;IU9 QQiQIQ]s3@])iYY a2@e<:@ew:u u)uIu !2ʖi* z\(AYt*DO@t*OI^@yt*Ft*׎>t*H`A;?5"Կ@> `5?Jш???)u*DO@ u*n;Iu(x6p>x6%EiDID)rQmE ; >I I8ٮ QtI  U D9J: :)8 %:)!I! -tIi! -FE! %[:)% :I%c:AIA9A*GQ2GQFQFYrFYbFaEaEa)};I}9 yyiyIybiH:> 2@<:@w: ߡi* Sv(AYt.{O@t.(^@yt.A Mt.U>t.HTF? Կ ?@|?@?t?)u.{O@ u.n;Iu.CxBP>xB6E)~XGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeye>iiQmmEiuu>Iy I8ٮyy QtI y U D9y}1: }:)}܌8 :)I tIi FE p:) :Ih:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ۣi* 0.(AYt*O@t*L^@yt*Dt*>t*H@w;? Z[/Կ``/ ??_?@?)u*O@ u* n;Iu*CxBsj>xF(EiR=IT) ƄGi=?A9F@=Y=ə:=>AAQEmEAMܦ;M>II IU8ٮII Q]tI I U] D9IM: M:)M88 e:)aIa mtIia mFEa eՐ:)ec:Iel:yIy9yODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)5;I59 11i1I19=]i99 A2@E<:@Mw: ߑi*  (AYt*O@t*K^@yt*eAt*7d>t*H@@8? v@@Կ``?,?4?@׻?)u*O@ u* n;Iu*CxBsj>x@)~iqQumEqu)}>Iy I8ٮyy QtI y U D9y}: }:)}8 :)I tIi FE ݱ:):Ip:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 199.009296 arcdeg .q'='=*G92G=B @FAFArFAbFIEIEI)e;Ie9 aaiaIamA2@im2D>mB @ i2@u<:@}w:k1> ߑ$RHorizontalControl.headingCmd 2.504081 radi* `æ(AYt*–O@t*C^@yt*85Jt*Ɏ>t*H`A7? Կ-`5?}F?? ?)u*–O@ u*cn;Iu*Cxji>xjNEGhHh {lY|lr8****** ping requested ****** Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iQI]“C)GF@Y9>!!Q%mE!-䒺5>I9 IE8ٮ99 QMtI 9 UM D99=; =;)=8 e:)YIY mtIiY mFEY ]%:)]:I]u:I9=O]@Contact HDG: 143.473273 arcdeg .']']O]4Initialize Wait Component.*GY2GaFaFarFibFiEqEq);I9 iI9/@iZ> 2@<:@w:m@> y[i* Yݦ(AYt*{O@t*o^@yt*P=t*3>t*H:p`? '*Կ@uԲ? ?m? ?)u*{O@ u*>[n;Iu(xBd>xB E){FMI{Di{FN={D{D{FA{D|F?B9|FWB Y0?Ϸ03=>=i>)eGF@}Yʅ:>ʁʁQmEʁ͍);>I I8ٮ QtI  U D9鰕$; ܵ;)~8 :)I tIi FE Ր:):I"y:I9*G 2G FFrFbFEE!2E)zE-?BE-â@@ bEAE-WB Y0?Ϸ03E-ME)E-XrdV3EU]x4@_ "E-M쿌9S?RȿE-F,@=uDHdg To Contact =154.229920 degreesZE-£AbE-):E-8o$?BE-?o$?JE-x RE-q jE-RrE-67);I9 iIu+@iyv> 2@<:@w:D> $Dacoustic_contact_range 47.940006 m$ hTrackAcousticContact.heading_to_contact 2.691820 rad$ LDUSBL_Hydroid.xAngle -46.100000 arcdeg9Bi* g(AYt*ϷO@t*d^@yt*$Pt*DÏ>t*H<`U?A@Կ ?f?`Ի? ?)u*ϷO@ u*3n;Iu(xBg>xBsEiRf=IRC)G  %=a 1Ma 1M a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu;5u>qqQmE'̺>I I 8ٮ Q tI  U  D9}: ٮ:)8 5:)I =tIi =FE ȗ:)ϝ:I~}:III9I*Gy2GyFFrFbFEE);I9 iI&@i > 2@<:@w:wA wAS> )i* w(AYt..O@t.9^@yt.$Dt.s>t.HC8g? տ`a?[? :??)u..O@ u.m;Iu.CxBu>xBEHFp=HFa=)vGF@Y:%>!!Q%mE!-Ë;->I1 I=8ٮ11 QEtI 1 UE D915r; 5 ;)58 M:)III MtIiI UFEI M:)M:IMz:q ]]Software FaultaIa9a*Gq2GyFyFyrFbFEE);I9 iI9"@i 2@<:@w:3q> ߹!xSoftware Fault in component: DeadReckonWithRespectToSeafloorTi* /R+(AYt*.O@t*9^@yt*b=Jt*iT>t*H8rr? տ @? G? p?G?)u*.O@ u*Om;Iu*CxBxp>xBEiR=IR“C)dGi99a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmku>qqQumEq}x9}>I I8ٮ QtI  U D9鰅q: :)#8 :)I tIi FE  :):IՅ:I9*G2GFFrFbFEE);I9 iIb@i 2@<:@w: Bv> !-Clearing failed state for component DeadReckonWithRespectToSeafloorq -Rt*H@s5? տ C??`O??)u*xBE)~GiyAxAF@EYEF:E>IIQMmEIU"!;U>IY Ie8ٮYY QetI Y Ue D9Y]t: ]:)]8 u:)iIi utIii uFEi m:)m:Im :I9*G2GFFrFbFEE);I9 iI@i 2@<:@w:)=I=D> "fi* _(AYt*H P@t*S^@yt*Ot*ߍ>t*H@.?iL=տT_? ? ??)u*H P@ u*0m;Iu*CxBDy>xBEEGF@AHFAAiPIP)+GF@EYEjҺE>IIQMmEIUS;U>IY I]8ٮYY QetI Y Ue D9Y]: ]į:)]8 m:)iIi utIii uFEi m:)m:ImI:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI@i 2@<:@w:-> INi* x(AYt*O@t*^@yt*] It*a>t*H@ 3@`?u۴`&տ@`+?@!?@?`?)u*O@ u*nm;Iu*CxVV>xZ3E)-SG=>=>a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a } a 5}@a } a 9}@a } a -}@a } qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʕt:>ʙʙQmEʡͥm>I I8ٮ QtI  U D9鰭: :)8 :)I tIi FE :):I:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'Nu@Vehicle HDG: 199.299647 arcdeg .q'u'u*Gq2GuF,@FyFyrFybFEE);I9 iI k@iF,@ 2@<:@w: )I I$eRHorizontalControl.headingCmd 2.691820 rad*xi* (AYt*AP@t*L^@yt*Qt*>t*H/?,8տv?@=?i?@??)u*AP@ u*m;Iu*Cx6n>x6EiDID)EGM4=IF@UYU]>YYQemEae+<;e>Ii Iu8ٮii QutI i Uu D9im: mc:)m8 :)yIy tIiy FEy }̒:)}:I}Ӗ:I9=O-@Contact HDG: 154.229920 arcdeg .'-'-O-4Initialize Wait Component.*G12G1F1F1rF9bF9EAEA)U;IU9 YYiYIYe"@iaa a2@m<:@mw: ߁i* $(A) IYt*#P@t*.^@yt*f Bt*R>t*H^.?@iAտ `w?A?:3??)u*#P@ u*m;Iu*CxB"h>xBEHFa=HFp=)~SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʵ;>ʹʹQmEʹ:>I I8ٮ QtI  U D9: ;)8 :)I tIi FE :):I6:I9*G 2G F F rFbFEE)-;I-9 ))i1I1=%&@i99 92@E<:@Ew: Q i* uƧ(AYt*,P@t*^@yt*QGt*;>t*H5)?-@^տ=?a? K? ?)u*,P@ u*m;Iu*CxBp>xB%E {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ipIpiAI)uGF@EYU.MU>QQQUmEQ];]>Ia Im8ٮaa QtI a U D9ae^; e(;)e8 :)I tIi FE ٓ:):I:I9*G2GFFrF bF E E )%;I%9 !!i!I!MF,@iU=b>Q Q2@]<:@ew: ߙEi* LP৩(AYt*P@t*^@yt*Wt*H>t*H-J?ٚ`Dտ ?D??/?)u*P@ u*Mfm;Iu*CxBMl>xBLE)GiuAwAF@%Y-1@-?))Q5mE15e5?IA IM8ٮAA QMtI A UM D9AE>: Eݱ:)EA8 U:)QIQ ]tIiQ ]FEQ UW:)Uϸ:IU:iIi9i*Gy2GFFrFbFEE);I9 iIҪZi > 2@<:@w: Zi* A+(A Yt*4P@t*^@yt*k"Pt*F>t*H '`b?^@eտ෱??`No?`{?)u*4P@ u*zCm;Iu(xBHf>xB EiPIP)a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm:m>iiQumEqu\;u>Iy I8ٮyy QtI y U D9y}S: }x:)}G8 :)I tIi FE l:)Iߧ:I9*G2GFFrFbFEE);I9 iIQ4`i 2@<:@w: j* 2(AYt*P@t*^@yt*Dt*>t*Ha,`?0:`Lտ@ ??#H??)u*P@ u*Xm;Iu*CxBj>xBqE)GF@Y9:>!Q%mE!%%>I) I58ٮ)) Q5tI ) U5 D9)-%:=>={> -;)-8 M:)AIA MtIiA MFEA EĔ:)E:IE:YIY9a*Gi2GqFqFqrFybFyEyE);I9 iI)[i 2@<:@w:> ߹h j* -(AYt*9P@t*^@yt*Ft*^>t*H`'`y?@`jտ`? ш?{??)u*9P@ u*)m;Iu*CxBh>xBEiPIRC)~QmE%;%>I) I-8ٮ) M-8) Q5tI ) U5 D9)- : -:)-8 E:)9I9 EtIi9 EFE9 =:)9I=D:QIQ9Q*Gi2GiFiFirFqbFqEqEy);I9 iIn`i 2@<:@w: )I )j* G(A)4t2H)?Դ`_տ@ ?- ?Ķ?S?)u2-P@ u2=m;Iu0xN:m>xRE)Ga 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʽ;>QmE>I I8ٮ QtI  U!D9V; ;)$ 8 :)I  tIi  FE :):I˴:9I999OMDone Waiting.'MOM8Uninitialize Wait Component.*GI2GIMU|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy);I9 iI4^i 2@<:@w: j* Wa(AYt*B)P@t*M^@yt*sSt*uی>t*H)@-?4[տd?}?jb?G?)u*B)P@ u*&m;Iu(xZB`>xZ Ei~f=I|iAA)evGF@}Yʅ>ʁʁQmEʉ͍+>I I8ٮ QtI  U!D9鰕,; ܵ;)8 :)I tIi FE d:):I:I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.494157 arcdeg .q''*G2GFFrFbFEE);I9 iI!%Z]i!! )2@5<:@5w: A-j* yx{(AYt6\7P@t6g^@yt6WNt6>t6Hn' ?@uN_hտ4ٞ?ʉ? \?@4?)u6\7P@ u6@m;Iu4xb:m>xbE)GixAa 1]a 1] a 5]a 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@Yʝ/J:>ʡʡQmEʡͭ:>I I8ٮ QtI  U!D9S: а:)8 :)I  tIi FE ;);I:!I!9!=O@Contact HDG: 154.229920 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI!%_i!! 2@<:@w: %j* P(A@ Yt2Y)P@t2d^@yt2jAt2>t2H@)?TĴ8[տ r ?6-?`?D?)u2Y)P@ u29m;Iu0xN0a>xNw Ei`I`)%GF@=YE;E>IIQMmEIUU>I I8ٮ QtI  U!D9|; M;)8 :)I tIi FE :):I:1I191*GA2GIFIFIrFQbFqEqEq);I9 iI0]i 2@<:@w: >+j* '(AYt*%P@t*^@yt*}Kt*B>t*H_*a?Wտ@s?u? ? 3?)u*%P@ u*Zm;Iu(xBHf>xB E)=>=>a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9}@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵĺ>ʱʱQmEʱͽ.>I I8ٮ QtI  U!D9h: ):)>%8 :)I tIi FE  :)4:I#: I 9 *G!2G!F!F!rF)bF)EQEQ)e;Ie9 aiiiIiӔ]i 2@<:@w: &2j*  ɨ(AYt*1P@t*^@yt*&Mt*(ٍ>t*H j({?| bտ 4?x???)u*1P@ u*am;Iu(xNh>xNE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i=I “C)+G%=F@Y1> Q mE :>I I8ٮ QtI  U!D9F: _:),8 :)I  tIi  FE @;)Q;I:1I191*GA2GiFiFqrFybFyEyE);I9 iIAIM :_iII Q2@]<:@]w: ߹zQ8j* ⨩(A)I4t*H) ?@^i y[տT?@=?v?@z?)u*)P@ u*Rm;Iu*CxNi>xNNE)EXGF@]Ym}8m>ʙʙQmEʡ흺>I I%8ٮ Q-tI  U5!D9w< G<)28 :)I tIi FE x:)':I:)I)9)*G92GAFAFArFIbFEE);I9 iI]i 2@<:@w: I2z>j* (AYt*C'P@t*N^@yt**Et*>t*H ,*.?Ǿ=Yտ?@?@? -?)u*C'P@ u*m;Iu(xB"h>xBEi\I\)vGi99a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -m@a m iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@Y4:>QmE>I I8ٮ QtI  U!D9: >:)~98 :) I  tIi  5FE  5;) F;I :AIA9I*Gy2GyFyFyrFbFEE)=;I=9 99i9I9AEw]iAA I2@<:@w: ߡcEj* g(AYt*E(P@t*P^@yt*Et*>t*H)?Ŗ0ZտM-??|?B?)u*E(P@ u*m;Iu*CxBHf>xB E)dGiwA F@Y%#%>!!Q-mE)-v(9->I1 IE8ٮ11 QEtI 1 UE!D915C ; 5 ;)5?8 M:)III UtIiI UFEI M:)M :IM:aIa9a*Gq2GFFrFbFEE);I9 iI]i 2@<:@w: !Kj*  s0(A@ Yt6(P@t63^@yt6>t6m>t6H-? e]Eտ`}?s҇? {??)u6(P@ u6xBP EiRf=IRC)~jGa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeI:m>iiQmmEiuKVu>I I8ٮ QtI  U!D9鰝ٮ: x:)G8 :)I tIi FE [:);I:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrF!bF!E!E))];I]9 YaiaIaam [iii i2@u<:@uw: ߉4tRj* JJ(AYt*#P@t*^@yt*H>St*>t*H`*?nz Uտ@E?g???)u*#P@ u*,m;Iu*CxZWx>xZE=>={>)evGF@}YʅJ>ʁʁQmEʉ͍ .;>I I8ٮ QtI  U!D9鰕; R;)M8 :)I tIi FE :):ID:I9& M Aggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N%@Vehicle HDG: 199.475333 arcdeg .q'%'%*G!2G!F!F)rF)bF1E1Eq);I9 iI^i 2@<:@w: gXj* 7d(AYt6 P@t6^@yt6x=t6$>t6Ho. :?I﴿WAտ?@l???)u6 P@ u6m;Iu6CxNZe>xR EipIr“C)G4=a 15a 15 a 55a 55 a 95a 95 a -5a -5 a 1=@a = a 5=@a = a 9=@a = a -=@a = 99Ʉ9i=Mb@Mb@Mb@I9I9i999Ʌ999 9)9F@UYU'F;U>YYQ]mEYezKe>Ii I8ٮii QtI i U!D9im: m:)mRU8 :)I tIi FE ::):I:I9=O@Contact HDG: 154.229920 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI(Zi 2@<:@w: ^j* ~(A);I;Yt*IP@t*T^@yt*Mt*͋>t*H,`?/Mտ:͝?`*?X??)u*IP@ u*n;Iu*CxBk>xBE)~҄GF@EYE,E>IIQMmEIU;U>IQ I8ٮQQ QtI Q U!D9QU: U:)U[8 :)I tIi FE X:)x:I:I9*G2GFFrF bF E E )%;I%9 !!i!I!)-k]i)) 12@=<:@=w: Iaej* ܗ(AYt*wP@t*^@yt*urSt*>t*H, m?@XIտ@k?n?]? ?)u*wP@ u*%n;Iu*CxBp>xB%EiR=IP)+GF@Ye>QmE%A%>I) I-8ٮ)) Q5tI ) U5!D9)-: -:)-eb8i99 E:)AIA MtIiA MFEA E:)E؛:IE:YIY9Y*Gi2GiFqFqrFqbFyEyEy);I9 iI[i 2@<:@w: 9kj* (AYt*9P@t*D^@yt*$Lt*au>t*H`-@D?˴ }Cտ ?W?:?z?)u*9P@ u*3n;Iu*CxBc>xB E)~Gia 1Ea 1E a 5Ea 5E a 9Ea 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYe:m>iiQmmEiu%qu>Iy I8ٮyy QtI y U!D9y}ͭ: }:)}xi8 :)I tIi FE :):I5:I9*G2GFFrFbFEE);I9 iIT[i 2@<:@w: rj* ɓ˩(A Yt*P@t*^@yt*Dt*Ð>t*H/?@洿8տ??`?)?)u*P@ u*Ln;Iu*CxBo>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)GF@Yʽ:>ʹʹQmE>I I8ٮ QtI  U!D9; ;)p8 :)I tIi FE <:)D;I: I 9 *G!2G)F)F)rF9bF9E9EA)];I]9 aaiaIaimZiiq 2@<:@w: hxj* m婩(AYt: P@t:Ķ^@yt:TIt:>t:H/ j?1^=տ` ? o*?[?A?)u: P@ u:AXn;Iu:Cxb'n>xbpE){jMI{hi{j={j>{h{jpA{h|j B9|jpvN.5?ڜ ER>E>) ƄGa 1Ma 1M a 5Ma 5M a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYm4u>qqQ}mEy}i?:}>I I8ٮ QtI  U!D9鰅: :)w8 :)I tIi FE ̒:):I:I9*G2GFFrFbFEE2EQzEU BEU8k;@9' <EUpvN.5?ڜ EUMEQEU3A`~ 0@UUEUt*HH.?& uAտ$@b?O?X??)u*P@ u*n;Iu(xRc>xR, EilIl)EaiQmmEim=:m>Iq I}8ٮqq QtI q U!D9qu: u:)u#~8 :)I tIi FE :) :I:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI?t[i 2@<:@w: j* %(A)4t*H@-`|?XEտ ??2??۳?)u*P@ u*+n;Iu*CxBm>xB'E)-SGF@uYu:u>yyQ}nEyͅ::>I I8ٮ QtI  U!D9鰍6: :)8 :) :I tIi FE :):IA:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'NM@Vehicle HDG: 199.415719 arcdeg .q'M'M*GI2GM3,@FQFQrFYbFYEYEY)u;Iu9 qqiqIq}3,@}Piy3,@ 2@<:@w: ߙ$RHorizontalControl.headingCmd 2.696973 rad(j* 2(AYt*tP@t*^@yt*Gt*Z>t*H/`?`hִg8տ@`??{??)u*tP@ u*Pn;Iu*CxBe>xBP EiPIP)Gi99a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Y9>QnE  >I I58ٮ Q=tI  U=!D9; R;)C8 E:)AIA MtIiA MGEA E%:)E:IE:yIy9y=O@Contact HDG: 154.525148 arcdeg .' ' O 4Initialize Wait Component.*G 2G F F1rF1bF1E9E9)m;Im9 qqiqIqy}xQiyy y2@<:@w: ߹j* UL(AYt*qP@t*|^@yt*%It*6>t*H`,@ѵ?]Iտ if?@ ?B?@?)u*qP@ u*n;Iu(xBb>xBQ E)~ƄGiF@EYEHE>IIQMnEIU=;U>IY Ie8ٮYY QetI Y Ue!D9Y]1: ]:)]Ò8 m:)iIi utIii uGEi mp:)m:Im :I9*G2GFFrFbF!E!E!)=;I=9 99i9I9AEJTiAA I2@M<:@Mw: ߁:j* pf(A@ Yt.%P@t.(^@yt.Zt.G>t.Hf*`?`Wտ&? Q?@I?@?)u.%P@ u.@m;Iu.CxBd>xB EiPIP)~GF@ Y0>QnE;%>I! I-8ٮ!! Q-tI ! U-!D9!%:: %:)%8 E:)1I1 EtIi1 EGE1 53;)5;I5 :QIQ9Q*Ga2GiFiFirFqbFqEqEq);I9 iIzUi 2@<:@w: ߱c"j* :(AYt*P@t*^@yt* JFt*>t*H,1?@NxIտ@r?Ɉ?V=??)u*P@ u*n;Iu*CxBd>x@)~vG=>=>a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm>C;m>iiQunEqu u>Iy I8ٮyy QtI y U!D9y}: }_:)}8 :)I tIi GE t:):IB:I9*G2GFFrFbFEE);I9 iIGSi 2@<:@w: Lj* l(AYt*P@t*^@yt* At*>t*H|+Y?{?`Qտs4?`!?? ?)u*P@ u* n;Iu(xBe>xBP EiRf=IR̓C)dG4=4=F@EYEQ:E>IIQMnEIU :U>IY I]8ٮYY QetI Y Ue!D9Y]: ]:)]q8 m:)iIi utIii uGEi m}:)m:Imw:I9*G2GFFrFbFEE);I9 iITi 2@<:@w: wj* RH(A);IYt*$P@t*^@yt*UDt*< >t*H*`*?`s Vտc Q?D? ? r?)u*$P@ u*m;Iu*CxBf>xB E)~GF@EYE E>IIQMnEIUL:U>IY I]8ٮYY QetI Y Ue!D9Y]t: ]l:)]U8 m:)iIi utIii uGEi mՐ:)m,:Im:I9*G2GFFrFbFEE);I9 iIGUi 2@<:@w: ^j* "Ϊ(AYt2DP@t2^@yt2EUt2֊>t2H+%`?tտ@2k?? >$?`?)u2DP@ u2n;Iu2CxB]>xBxE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iz=Iz“CiII)}Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y%4 ->)1Q5nE1=;=>IA IM8ٮAA QUtI A UU!D9AE; E;)E8 e:)YIY mtIiY mGEY ]k:)]':I]N:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI<;Yi 2@<:@w: Uj* 窩(AYt*DKP@t*O^@yt*LSMt*>t*H$?@!{տ@@Ip?=?xBE){FڄuI{Di{F={F7>{D{FB{D|F=@B9|F~w`?3c2)-Gi11F@]Ye:e>aaQenEim:m>Iq I}8ٮqq QtI q U!D9quP; u ;)u.8 :)I tIi GE J:)؛:IL#:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.613084 arcdeg .q''*G2GFFrFbFEE2EzE=@BEAHȵ;@?nCE~w`?3c2EڄuEEdC/6:@mk3%ELĿ>t?*W̿E#@=DHdg To Contact =145.948493 degreesZEAbE':EBo$?BEJo$?JEs RE{ jE-rE) ;I 9 ))i1I11=3Yi99 92@E<:@Ew: ߑ$Dacoustic_contact_range 48.060001 m$hTrackAcousticContact.heading_to_contact 2.547282 rad$LDUSBL_Hydroid.xAngle -54.949999 arcdegqj* (A@ Yt.(P@t.^@yt.Mt.,>t.H )?@O@Zտ`\?`?$?B?)u.(P@ u.I1n;Iu.CxBh^>xBEiPIP)MjGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʵ͸>ʱʹQnEʹͽȥ>I I8ٮ QtI  U!D9: _:)B8 :)I tIi GE :)E:I':I9=Ou@Contact HDG: 145.948493 arcdeg .'u'uOu4Initialize Wait Component.*Gq2GqFyFyrFbFEE);I9 iITi 2@<:@w: j* 8(AYt*AZP@t*L_@yt*f ;t*!>t*H!y?7@Rտ`4 '?a?@DG?A?)u*AZP@ u*V#n;Iu*CxBd>xB E)+G5>=x>F@Yʍ=;>ʉʉQnEʑ͕W;>I I8ٮ QtI  U!D9鰝F: :)8 :)I tIi GE :)ض:I+:I9*G2GFFrFbFEE);I9 iI \i   2@<:@w: )j* `5(AYt*MP@t*^@yt*D9t* D>t*H@#?ȴ|տ N?xBEiRf=IP)GR=%=a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmP99m>iiQmnEquu>Iy I8ٮyy QtI y U!D9y}h: }):)}8 :)I tIi GE <)6t.H!?%`տ@%?@_? ?i?)u.XP@ u.orn;Iu.CxBq>xBE)~+GF@ Y >QnEq:>I! I-8ٮ!! Q-tI ! U-!D9!%:: %ٮ:)%8 5:)1I1 EtIi1 MGE1 5;)5;I5.4:yIy9y*G2GFFrFbFEE);I9 iIOZi 2@<:@w: j* Di(AYt*jP@t*'_@yt*Yt*>t*H@?8տ 8?@=?? ?)u*jP@ u*&n;Iu*Cx6g>x6sEiF=ID)vGa 1-a 1- a 5-a 5- a 9-a 9- a --a -- a 1-@a - a 5-@a 5 a 95@a 5 a -5@a 5 ))Ʉ)i-Mb@Mb@Mb@I)I)i))i99)Ʌ))) )))F@MYUdžU>YYQ]nEYe);e>Ii Im8ٮii QutI i Uu!D9ii m:)m8 }:)yIy tIiy GEy }̒:)}:I}8:I9*G2GFFrFbFEE);I9 iI\i 2@<:@w: j* !(AYt*_P@t* _@yt*4o]t*5ގ>t*H ?d-տ ?@?D?@k?)u*_P@ u*n;Iu*CxFo>xFE)ixAF@Yu >QnE%Ժ%>I) I58ٮ)) Q5tI ) U5!D9)-F: -:)-b8 E:)AIA EtIiA MGEA E:)E:IE<:QIY9Y*Gi2GiFiFqrFqbFqEyEy);I9 iIZi 2@<:@w: ߹9j* (A@ Yt*P@t*,_@yt* Et*>t*H`G ?տ+??]?G?)u*P@ u*n;Iu*CxBb>xBQ EiPIP)SGF@Yk;>QnE%ޟ;%>I) I58ٮ)) Q5tI ) U5!D9)-O: -:)-G8 E:)9I9 EtIi9 MGE9 =ٓ:)=:I=@:QIQ9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMm|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyEy);I9 iIR=_i 2@<:@w: ߹mj* ض(AYt*tP@t*!!_@yt*20t*<>t*Ha@l? տ`%H? ??,?)u*tP@ u*%o;Iu(xRm>xR'E)G=>=>a 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a m a 5m@a m a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʽB;>QnEۺ>I I8ٮ QtI  U!D9.: :)8 :)I tIi GE 1:)$:IxE:I91&EMEAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'E NEInitialize.q'MN@Vehicle HDG: 199.755835 arcdeg .q''*G2G#@FFrFbFEE)5;I59 11i1I1=P*@i9=#@ A2@E<:@Ew: Y$RHorizontalControl.headingCmd 2.547282 radnj* ̳Ы(AYt*P@t*1_@yt*(Ht*!>t*H`x?`տ-5?[?@?`?)u*P@ u*o;Iu*CxBU>xBXE {DY|DJ8****** ping requested ******ZNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iYIY)G4=F@Y%c%>!)Q-nE)U;u>Iy I8ٮyy QtI y U!D9y}i: }a:)}8 :)I tIi GE :)':II:I9=Oe@Contact HDG: 145.948493 arcdeg .'e'eOe4Initialize Wait Component.*G2GFFrFbFEE);I9 iI I'@i   2@<:@w: Y%j* ꫩ(A) IYt.wP@t.$_@yt.Tt.#>t.HU?@ڴHտ @(?? ? ?)u.wP@ u.(o;Iu,xBm>xB'E){FymI{Di{FJ={D{D{FB{D|F3AB9|F&p0?݂N)%Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y'>QnE>I  I8ٮ  M8  QtI  U!D9  : +:) s8 %:)I %tIi %GE :):IN:1I191*GA2GIFIFIrFQbFQEQEY2EYzE]3ABE]zIq<@2 T5SCE]&p0?݂NE]ymEYE]E88Cڢ59@.̖_$E])xxLפ?&ju;˿E]#%@=mDHdg To Contact =147.838379 degreesZE]AbE]:E]?o$?BE]Bo$?JE]t RE]s jE]j$rE]-);I9 iI#@i 2@<:@w: ߩ$Dacoustic_contact_range 48.300003 m$hTrackAcousticContact.heading_to_contact 2.580266 rad$LDUSBL_Hydroid.xAngle -53.150002 arcdeg k* h(AYt*P@t*$>_@yt*ZRt*~>t*HG?vռտf ;?[Q? ?෿?)u*P@ u*n;Iu*CxBi>xBEiTIT) SGF@Y9%>!!Q%nE!-;->I1 I58ٮ1i991 QEtI 1 UE!D915; 5<;)58 M:)III UtIiI UGEI Mt:)Mg:IMR:aIa9a*Gq2GqFyFyrFbFEE);I9 iI+!@i 2@<:@w: !B7k* C(AYt*P@t*:_@yt*Vs=t*>t*H?M տ Z? H?1??)u*P@ u*o;Iu*CxBt>xBlE)Gi wA xAF@YQ;>!!Q%nE!-!->I) I58ٮ)) Q5tI ) UE!D9)-;(; -);)-8 M:)III MtIiI UGEI MF:)M|:IMAV:aIa9a*Gq2GqFqFyrFybFEE);I9 iI @i 2@<:@w: ]a k* 8(A@ Yt*P@t*?_@yt*@;t*<>t*H A Y ?Ͻտ$G?g?? g?)u*P@ u*bn;Iu*CxBb>xBQ EiPIP)~Ga 1Ea 1E a 5Ea 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm֩9m>qqQunEquA:}>I I8ٮ QtI  U!D9鰅:: :)8 :)I tIi GE ):):IZ:I9*G2GFFrFbFEE);I9 iI s@i 2@<:@w: LIk* fQ(AYt*ْP@t*?_@yt*It*ݎ>t*H@ ?տ. ?4?F??)u*ْP@ u*ܱn;Iu*CxBp>xBE)~F@EYEM>IIQMnEIU9U>IY Ie8ٮYY QetI Y Ue!D9Y]: ]:)]8 m:)iIi utIii uGEi md:)m:Im^:I9*G2GFFrFbFEE);I9 iI, @i 2@<:@w: }sk* k(AYt*P@t*P_@yt*Nt*L>t*HCH%?@‵տ ?܉???)u*P@ u*'Xn;Iu(xBHf>xB EiPIP)G%=a 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a U a -U@a U IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmNm>iqQunEqu;}>I I8ٮ QtI  U!D9鰅: :)#8 :)I tIi GE A:)3:Ic:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iI#@i 2@<:@w: [!k* (A)IYt6P@t6P_@yt6K@t6H>t6H<@?kjJտ@?$?o?%?)u6P@ u6d?n;Iu4xBb>xBQ E)~SGF@ Y w; >QnE 8>I! I%8ٮ!! Q-tI ! U-!D9!%: %:)%N*8 5:)1I1 =tIi1 EGE1 53:)5i:I5?g:IIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 199.921946 arcdeg .q''*G2G#%@FFrFbFEE);I9  i I  #%@i#%@ 2@<:@w: )$MRHorizontalControl.headingCmd 2.580266 radd'k* (AYt*yP@t*?_@yt*Y;t*k$>t*H-?4@9տE ?k?K? ?)u*yP@ u*bn;Iu*CxB\>xBUEi\I^C)5Gi99F@uYuzV:}>yyQ}nEʁͅ#>I I8ٮ QtI  U!D9鰍: N:)n18 :)I tIi GE S:):Ik:I9=OM@Contact HDG: 147.838379 arcdeg .'M'MOM4Initialize Wait Component.*GQ2GQFQFQrFYbFYEaEa)u;Iu9 yyiyIyi 2@<:@w: ߡί-k* h(AYt*+P@t*6o_@yt*9Pt*>t*H  uN? Ѵտ`"? ?W??)u*+P@ u*m;Iu(xBZe>xB E)~SGivAwAa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@Yʭ5K>ʱʱQnEʱͽ";>I I8ٮ QtI  U!D9.: :)q88 :)I tIi GE h:):Io:I9*G2GFFrF bF E E)%;I%9 !!i)I)))i11 12@=<:@=w: I4k* gCӬ(A Yt."P@t.-Y_@yt.sOGt.=>t.HA&? @MտpXQ? ?&?@?)u."P@ u.n;Iu.CxBi>xBE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)uGF@5Y=:=>AAQEnEAMAM>IQ IU8ٮQQ Q]tI Q U]!D9QU:: U:)U6@8 e:)aIa mtIia mGEa em;)e;Iet:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: +:k* (AYt*ͲP@t*__@yt*=t*P(>t*H@!?տ ?4?#? ?)u*ͲP@ u*m;Iu*CxB:m>xBE){F"lI{Di{F={D{D{F8B{D|F=@B9|F.? .S?Js#~)-GE>El>F@}Yʅ&:?ʁʁQnEʉ͍:?I I8ٮ QtI  U!D9鰕h: :) F8 :)I tIi GE y~;)f;Inx:I9*G12G1F9F9rF9bFAEAEA2EIzEM=@BEMVC =@ͷ='CEM.? .S?Js#~EM"lEIEM\M2Cd7Ł8@&Թy%EM#UKQ?{̿EM%@=uDHdg To Contact =148.456388 degreesZEMAbEM:EIBEM?o$?JEMu REMt jEM+rEMj$);I9 iIi 2@<:@w: $5Dacoustic_contact_range 48.060001 m$=hTrackAcousticContact.heading_to_contact 2.591053 rad$ELDUSBL_Hydroid.xAngle -52.849999 arcdeg\Ak* (AYt*P@t*R_@yt*>t*>t*H` i)?maLտ@?Ӈ?p?`?)u*P@ u* n;Iu*CxB"h>xBEiTIT) G 4= =a 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -]@a ] QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYuE,u>qyQ}nEyͅ>I I8ٮ QtI  U!D9鰅: 1:)L8 :)I tIi GE :)g:I|:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Gk* x (A)IYt.P@t.n_@yt.mEt.>t.H@WK?xտ6 ?y?EY??)u.P@ u.V/n;Iu.CxB"h>x@)҄GF@=YEE>IIQMnEIU;U>IQ I]8ٮQQ QetI Q Ue!D9QU1: U:)US8 m:)iIi mtIii uGEi m:)mȗ:Imڀ:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: Mk* C:(AYt:P@t:i_@yt:Gt:>4>t:H 2?1տwk??;D??)u:P@ u:)n;Iu:Cxb`k>xbEi I “CiII)+Ga 1a 1 a 5%a 5% a 9%a 9% a -%a -% a 1%@a % a 5%@a % a 9%@a % a -%@a % !!Ʉ!i%Mb@Mb@Mb@I!I!i!!!Ʌ!!! !)!F@=YEE>AAQEnEAMM7M>IQ I]8ٮQQ Q]tI Q U]"D9QUh: Ul:)U;[8 m:)aIa mtIia mGEa e:)ec:Ier:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ߩTk* T(AYt*P@t*L_@yt*'Ct*_>t*H?E/տw?w?O??)u*P@ u*m;Iu*CxRy>xRE)SGi%wA!F@EYEU*:M>IIQMnEIUU>IY Ie8ٮYY QetI Y Ue"D9Y]:: ]:)]a8 m:)iIi utIii uGEi mp:)m:Im]:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.905990 arcdeg .q''*G2G%@FFrFbFEE);I9 iI%@i%@ 2@<:@w: 9$uRHorizontalControl.headingCmd 2.591053 rad[k* dn(A Yt*=P@t*Hv_@yt*:Mt*>t*HV?@( տs?z?;??)u*=P@ u*-n;Iu(xBsj>xB(Ei\I\)MdGF@UY]mź]>aaQenEamw;m>Iq Iu8ٮqq Q}tI q U}"D9qu: u:)uh8 :)I tIi GE :)|:I:I9=O-@Contact HDG: 148.456388 arcdeg .'-'-O-4Initialize Wait Component.*G)2G1F9FArFYbFaEaEa)};I}9 yyiyIyi 2@<:@w: ߡAak* >(AYt*/P@t*:c_@yt*mHt*4>t*H ??տ`R@ע?D? /m??)u*/P@ u*pn;Iu*CxBp>xBE)5G9=>a 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ@:>ʡʡQnEʩͭ8>I I8ٮ QtI  U"D9鰵 : 0:)o8 :)I tIi GE :)Ԙ:I:I9*G2GFFrFbFEE)%;I-9 11i9I9AAiAA I2@M<:@Mw: a!hk* &(AYt*0P@t*;g_@yt*epDt*>t*H@\@+?s@տ@&? 捈?`m?j?)u*0P@ u*mn;Iu*CxBZe>xB EiPIRC)~+GR=%=F@ Y4:>QnE%%:%>I) I-8ٮ)) Q5tI ) U5"D9)-}: -:)-'v8 E:)9I9 EtIi9 EGE9 =(:)=':I=:QIQ9*G2GFFrFbFEE);I9 iIi 2@ <:@5w: aKnk* 0(A) IYt.P@t.?_@yt.k5t.%>t.H`,^ ?@"sտ`gE?Z??f?)u.P@ u.:n;Iu.CxBmd>xBu E)~Ga 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ea -E a 1E@a E a 5E@a E a 9E@a M a -M@a M AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@]Ye ;e>aiQmnEim޾u>Iq I}8ٮqq QtI q U"D9qu: u:)u7}8 :)I tIi GE :)ȗ:Im:I9*G2GFF1rF9bF9E9EA)u;Iu9 qqiqIyyyi 2@<:@w: ߹S3uk* խ(AYt*VP@t*a__@yt*@t*E>t*H`hB?(տ@`F? ? ?@?)u*VP@ u* n;Iu*CxBU_>xBS E {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 itIxiAI)}҄GF@YӺ>QnEK;>I I 8ٮ Q tI  U"D9: Q/=)j8 ]:)QIQ ]tIiQ eGEQ Uݖ:)U:IUN:I9*G2GFFrF bF E E)%;I%9 !!iIIIQQiQQ Y2@e<:@ew: ߁.^{k* .ﭩ(AYt*P@t*%K_@yt*t*H`,?տBK?`llj?\?@?)u*P@ u*9o;Iu*Cx2S>x25E){6KuI{4i{6={4{4{6A{4|6B9|6uqf?THH.)+Gi yA a 1Ua 1U a 5Ua 5U a 9Ua 9U a -Ua -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYu u>qyQ}nEyͅO>I I8ٮ QtI  U"D9鰥; * ;)8 :)I tIi GE :)o:I:I9*G2GFFrFbFEE2EzEBE 22&6@#[߃?Euqf?THH.EKuEE^R~@?]uW4@ӣ NJ EMOtY]f?X={˿EE#@= DHdg To Contact =146.169955 degreesZEAbE:EVo$?BEJEx REu jEVrE+)%;I%9 !!i!I!))i)1 12@=<:@=w: I$Dacoustic_contact_range 38.520000 m$hTrackAcousticContact.heading_to_contact 2.551147 rad$LDUSBL_Hydroid.xAngle -54.899998 arcdegEk*  (A Yt.ƣP@t.P_@yt.U4It.>t.H( ?`ε`oտ S@_A?@a&?C??)u.ƣP@ u.n;Iu.CxBs>xBEiVf=IV“C)GF@=YE8J:E>IIQMnEIUd:U>IQ Ie8ٮQQ QutI Q U}"D9QU; U;)UՑ8 :)I tIi GE g:):I3:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIi 2@<:@w: ok* a#(AYt*r~P@t*}+_@yt*H,Dt*>t*HC?[eYտ; ?b?`4??)u*r~P@ u*n;Iu*CxJr>xJIEE>M{>)USGF@YʝB:>ʡʩQoEʩ>I I8ٮ QtI  U"D9Ü; ʤ;)8 :)I -tIi -GE ׄ;);I:III9I&]MeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NeInitialize.q'eN@Vehicle HDG: 199.792063 arcdeg .q''*G2GE#@FFrFbFEE) ;I 9  i I $@iE#@ 2@<:@w: ߱$RHorizontalControl.headingCmd 2.551147 radؙk* ==(AYt*P@t*0_@yt*4Dt*ӊ>t*H` ^?r@7տ`?_?#? ?)u*P@ u*n;Iu(xbd>xb Ein=Il)UdG]4=Ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酙鄙 )F@Yʽ>QoEBL:>I I8ٮ QtI  U"D9: :)8 :)I tIi HE :):Iӯ:I9=O@Contact HDG: 146.169955 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE);I9 iI#@i 2@<:@w:  k* .W(A)4x%E)GF@Y>QoE>I I8ٮ QtI  U"D9F: :)˦8 :)I tIi HE  :):I:I9*G2GFFrFbFE!E!)5;I59 99i9I9EE#@iAA A2@M<:@Mw: ak* p(AYt*>mP@t*I_@yt*ZBt*>t*Hq??*տ ?P? 9?`l?)u*>mP@ u*Dm;Iu*CxB:m>xBEiPIP) Gi99a 1Ua 1U a 5Ua 5] a 9]a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y9>QoEZ>I  I8ٮ   QtI  U"D9  o: :) ̭8 =:)1I1 =tIi1 =HE1 55:)5:I5s:III9Q*G2GFFrFbFEE);I9 iIi 2@<:@w: k* ϊ(Ax~k>x~E)}҄Gi}wAF@Y>QoE>I I8ٮ QtI  U"D9: :)8  :)I  tIi  HE :)o:I:I9*G)2G)F1F1rF9bF9E9E9)U;IU9 QQiYIYYYiaa a2@m<:@mw: yk* (A Ytf?P@tf^@ytfAtfH&&G? ^pxEiIII)+Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a - @a  ɄiMb@Mb@Mb@IIiɅ )F@Yʥp:>ʡʡQoEʡͭԻ>I I8ٮ QtI  U"D9%: :)8 :)I tIi HE }:);I2:I9*GI2GQFQFQrFYbFYEYEY);I9 iIi 2@<:@w: k* (Axrs>xrEEV>E>)eGF@uYuu>yyQ}oEyͅ>I I8ٮ QtI  U"D9鰍: :)38 :)I tIi HE %:):I:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: ϵk* `خ(AYtB=1P@tBH^@ytBN9tB~>tBH`(`&?`bտ@ xJlE {LY|PR8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)GF@Y9>QoE >I I8ٮ QtI  U"D9; _;)K8 :)I  tIi  HE  :):If:!I!9!OEDone Waiting.'EOE8Uninitialize Wait Component.*GA2GAMM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFIFIrFYbFYEYEa)};I9 iIi 2@<:@w: nk* =(A)I;Yt:"P@t: ^@yt:[t:>t:H*?^ȳUտSw? v?I,??)u:"P@ u:l;Iu:Cx^i>x^NE){biXI{`i{b={`{`{bA{`|bQB9|bS}.? .)]Ga 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y>QoE >I I8ٮ QtI  U"D9į: :)&8 :)I tIi HE O:)c:I:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 199.472246 arcdeg .q''*G2GFFrFbFEE2EzEQBE^T9@<ES}.? .EiXEE`(bں@p?1@PpǪEB`ɴ{c?.CEtȿE)@=DHdg To Contact =152.100308 degreesZEAbE:EPo$?BEVo$?JEz REx jEVrEV);I9 iIi 2@<:@w: $Dacoustic_contact_range 38.579998 m$hTrackAcousticContact.heading_to_contact 2.654651 rad$LDUSBL_Hydroid.xAngle -48.549999 arcdeg}k* 9* (AYt:P@t:^@yt:HQt:㙑>t:H0.A?崿Bտ@e2?(?P?W?)u:P@ u:l;Iu:CxNMl>xNLEi\I`)Gi11F@=YE:E>AAQEoEAMQM>IQ I]8ٮQQ Q]tI Q U]"D9QU: U:)U8 m:)aIa mtIia mHEa e:)e:Ie:yIy9y=O @Contact HDG: 152.100308 arcdeg .' ' O4Initialize Wait Component.*G2GFFrFbFEE!)5;I59 19i9I99AiAA A2@M<:@Mw: Y k* /%(AYt*O@t*^@yt*93t*|>t*Hw2`?`;*տ ?z?3?|?)u*O@ u*l;Iu*CxZi>xZE)5SGi9=xAF@uY}P;}>ʁʁQoEʁ͍tq>I I8ٮ QtI  U"D9鰍2: :)8 :)I tIi HE p:)ȗ:I :I9*G2GFFrFbFEE )U;IU9 YYiaIaqyiyy 2@<:@w: 66k* ?(A Yt*^P@t*i^@yt* :t*Q>t*H 0?`8տ`@L?A?`x?"?)u*^P@ u*l;Iu*CxB5g>xB*EiPIP)MGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酑鄑 )F@Yʭ&r>ʱʱQoEʹͽ< ;>I I8ٮ QtI  U"D9: :)8 :)I tIi HE :):I]:I9*G2GFFrF bF E E )%;I%9 !!i!I)))i)1 12@=<:@=w: Ik* &Y(AYt*6O@t*A^@yt*5t*H4a?`A`տ ^ @&? ?3^?@?)u*6O@ u*l;Iu*CxBPY>xBE)G=>=>F@Yʍ譹>ʑʑQoEʑ͝>I I8ٮ QtI  U"D9鰥: :)8 :)I tIi HE :):I:I9*G2GFFrFbFEE);I9 iI  i   2@<:@w: )&Hk* s(AYt*O@t*^@yt*Nt*V>t*H5Xw?տbo?F׉???)u*O@ u*l;Iu*CxBr>xBIEiPIP)|a 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYmn9m>iiQuoEqu+u>Iy I8ٮyy QtI y U"D9y}: y)}n8 :)I tIi HE <)Kt.H:^?`@`Կ`f k?\y?`А?@?)u. O@ u.l;Iu.CxBMl>xBLE)~GF@ Y : >QoE>I! I-8ٮ!! Q-tI ! U-"D9!%%: %į:)% 8 5:)1I1 =tIi1 EHE1 5:)5P:I5:IIQ9Q*Ga2GaFaFirFibFiEqEq);I9 iIi 2@<:@w: ߱Yk* L8(AYt*O@t*^@yt*QGt*5>t*H6?dտXT????)u*O@ u*(l;Iu*CxBi>xBEiPIP)vGF@ YE >QoE%4;%>I) I-8ٮ) M58) Q5tI ) U5"D9)-: -g:)-8i=@A9 E:)9I9 EtIi9 MHE9 =:)=:I=,:QIY9YOmDone Waiting.'mOm8Uninitialize Wait Component.*Gi2GiMu|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFqFqrFybFyEyE);I9 iIi 2@<:@w: ߹OBk* (AYt* O@t*b^@yt*Et*R>t*H=U?@xrԿ@?V?p?U?)u* O@ u*l;Iu*CxBd>xB E)~GiwAa 1Ea 1E a 5Ea 5E a 9Ea 9E a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYeo9m>iiQmoEiu뾻u>Iy I8ٮyy QtI y U"D9y}: }а:)}8 :)I tIi HE d:):I:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N5@Vehicle HDG: 199.087775 arcdeg .q'5'5*G12G=)@F9F9rFAbFAEAEA)];I]9 YYiYIae$@iae)@ i2@m<:@uw: ߁$RHorizontalControl.headingCmd 2.654651 radlk* گ(A Yt.O@t.k^@yt.F@t.>t.H`~;@R?/ȴ{Կ1?@? K?@?)u.O@ u.gm;Iu.CxBj>xBqE {DY|DJ8****** ping requested ******^Nmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 ixIx)GF@Y8:>QoE:>I I8ٮ QtI  U"D9 ; ;)<8 :)I  tIi  HE :):I:!I!9!=O@Contact HDG: 152.100308 arcdeg .''O4Initialize Wait Component.*G2GFFrF bFEE);I9 iI.(@i{> 2@<:@w: 2k* (AYt2XO@t2cF^@yt2U=t2>t2H`A 8?H!IԿa ?@?@Ƈ?` ?)u2XO@ u2km;Iu2CxBe>xBP E){F1wI{Di{Fx={D{D{FA{D|F?B9|F$ 27?0` O)%SG9=i>F@EYM:M>IIQMoEIUU>IY Ie8ٮYY QetI Y Ue"D9Y]: ]):)]8 u:)iIi utIii uHEi m:)m :Im:I9*G2GFFrFbFEE2EzE?BEQNS;@!@CE$ 27?0` OE1wEE~]'CҺ:@#5¸$E:-lTWd?A(˿E!@=DHdg To Contact =144.865922 degreesZEAbE8:ECo$?BEPo$?JEs REz jE'rEV);I9 iI)@i 2@<:@w: $%Dacoustic_contact_range 47.999996 m$-hTrackAcousticContact.heading_to_contact 2.528387 rad$5LDUSBL_Hydroid.xAngle -55.300002 arcdegl* .(AYt*O@t*X^@yt*]!Ot*)>t*H>zW?TmԿ@a?`?c? ?)u*O@ u*um;Iu*CxNm>xN'Ei`I`)%G%=!a 1ma 1m a 5ma 5m a 9ma 9m a -ma -m a 1m@a m a 5m@a m a 9m@a m a -u@a u iiɄiimMb@Mb@Mb@IiIiiiiiɅiii i)iF@YJ>!!Q%oE!-;->IQ IU8ٮQQ Q]tI Q U]"D9QUS: U:)U8 e:)aIa mtIia HEa eO;)e=;Ie:I9*G2GFFrFbFEE);I9 iI*@ᄽi > 2@%<:@-w: 9D l* ҉((A)&4tFH`?J?, Կ `d?*?֙?f?)uFO@ uF2m;IuFCxJV>xNE)]SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酡鄡 )F@Y7}>QoE'>I I8ٮ QtI  U"D9: :)"8 :) :I tIi HE :):I:I9*G2GFFrFbFE!E!)5;I59 99i9I9E)@E]}iAA A2@M<:@Mw:e> ql* \B(AYt*O@t*0^@yt*"8t*籑>t*HAE?%Կ`8?@0?H?@?)u*O@ u*m;Iu*CxBf>xB EiPIP)GF@ Y;>QoE%»%>I) I-8ٮ)) Q5tI ) U5"D9)-: -l:)-e)8i99 :)9I9 tIi9 HE9 =Ԙ:)=:I=:I9*G2GFFrFbFEE)%;I%9 ))i)I))5i11 Q2@]<:@]w:a a)iIi Ql* 7\(AYt*OO@t*Z?^@yt* Lt*@>t*HB=?rԿ=?惉?@0?E?)u*OO@ u*m;Iu*Cx2f>x0)rׄGittF@zY~G~>QoE ; >I  I8ٮ   QtI  U"D9  : |:) <08 %:)!I! %tIi! -HE! %%:)%:I%:1I99A*GQ2GQFQFQrFYbFYEYEa)u;Iu9 qqiyIyy&i 2@<:@w: ml* v(A Yt.oO@t.z:^@yt.Jt.‹>t.H tC&7?˅ԿJ?@_?@??)u.oO@ u.m;Iu.CxBl>xBEiPIP)Ga 1Ea 1M a 5Ma 5M a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm-9m>iiQuoEqu:u>Iy I8ٮyy QtI y U"D9y}: }:)}_78 :)I tIi HE :)E:IU :I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE);I9 iIvi 2@u<:@uw: ߉#l* 쏰(AYt*~O@t*+^@yt* gGt*>>t*HE3?QU iԿ)??o?@(?)u*~O@ u*m;Iu*CxBi>xBNE)G=]>=t>F@EYM:M>IIQMoEIU=U>IY Ie8ٮYY QetI Y Ue"D9Y]ͭ: ]l:)]0>8 u:)iIi utIii uHEi m:)m:Im:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.895341 arcdeg .q''*G2G!@FFrF!bF!E!E))=;I=9 9AiAIAEAs(@iIM!@ I2@U<:@w: $RHorizontalControl.headingCmd 2.528387 radh)l* .ɩ(AYt.B|O@t.M)^@yt.CDt.>t.HEF ? n࿷Կ ??x??)u.B|O@ u.!zm;Iu.CxBv>xBGEiPIT) G4=a 1]a 1] a 5]a 5] a 9]a 9] a -]a -] a 1]@a ] a 5]@a ] a 9]@a e a -e@a e YYɄYi]Mb@Mb@Mb@IYIYiYYYɅYYY Y)YF@uY}9}>ʁʁQoEʁͅ>I I8ٮ QtI  U"D9鰍W: :)1E8 :)I tIi HE 1:)g:I:I9=OE@Contact HDG: 144.865922 arcdeg .'M'MOM4Initialize Wait Component.*GI2GIFIFQrFQbFYEYEY)m;Iu9 qqiqIq}ښ%@iyy 2@<:@w: ߙ]0l* ð(A);IYt*O@t*5^@yt*It*}>t*H@UD|4?vZԿz!r?:? ??)u*O@ u*dm;Iu(xBxp>xBE)~SGF@EYEFE>IIQMoEIU:U>IQ I]8ٮQQ QetI Q Ue"D9QUį: U:)UK8 m:)iIi mtIii uHEi mO:)m:Im :I9*G2GFFrFbFEE);I9 iI!@i 2@<:@w: t7l* ݰ(AYt*_oO@t*j^@yt*+sRt*>t*HFH?@}ԿxA?6N? Lg?`?)u*_oO@ u*M?m;Iu*CxZi>xZNE {\Y|\b8****** ping requested ******rNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i IiM?AI)GF@Y > Q oE :f>I I%8ٮ Q-tI  U-"D9/: ;)MS8 E:)9I9 EtIi9 MHE9 =:)=:I=:YIa9a*Gy2GyFFrFbFEE);I9 iIi 2@<:@w: 2=l* l\(AYt*jO@t*"^@yt*:Qt*5>t*H"I ?`@Կ?$'?`~? ?)u*jO@ u* Ym;Iu*CxB"h>xBE)-QoE V>I I8ٮ QtI  U"D9E: :)Z8 :)I tIi HE O:):I":I9*G 2G FFrFbFEE)5;I59 11i9I999iAA A2@M<:@Mw: YDl* 7(A Yt.iO@t.^@yt.Bt.Hj>t.HGI?[鳿 8Կ ,?{X?m??)u.iO@ u.Gm;Iu,xN'n>xRpEi`I`)uGF@Yʝ;>ʡʡQoEʡͭj>I I8ٮ QtI  U"D9鰵$; ܵ;)`8 :)I tIi HE [:):I&:I9*G)2G)F1FQrFYbFYEYEY)u;I9 iIi 2@<:@w: DJl* +(AYt*WO@t*^@yt*zOt*c>t*HLE ?߲\Կ@?.nQ???`1?)u*WO@ u*-m;Iu*CxBc>xB E=>=>)Aa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y%%>))Q-oE)-(5>IY I]8ٮYY QetI Y Ue"D9Y]į: ]:)]h8 m:)iIi mtIii uHEi m:)m[;Imj+:I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: a,Ql* D(AYt*bO@t*^@yt*\t*]{>t*H`^JG?7֞Կ_൮?䁋?V?`?)u*bO@ u*Cm;Iu*CxN[>xR Ei\I\)G%=%=F@EYEE>IIQMoEIUP:U>IY I]8ٮYY QetI Y Ue"D9Y]_: ] :)]rn8 m:)iIi utIii uHEi m::)mN:ImU/:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)];I]9 YYiYIYaaiaa i2@m<:@w: WWl* %^(A)IYt*IO@t*]@yt*vFt*>t*HdN@"?FԿ H?Έ? ?@?)u*IO@ u*4m;Iu*CxNp>xRE)+GF@%Y-W;->)1Q5oE15q]>IY Ie8ٮYY QetI Y Um"D9Y]S: ]:)]Zu8 u:)iIi utIii HEi mJ;)mb;Im3:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.712729 arcdeg .q''*G2GFFrFbFEE)m;Iu9 qqiyIyi 2@<:@mw: (]l* ,x(AYt*N2O@t*Y]@yt*D%Ht*>t*H@%R?yqԿ`??/?@?)u*N2O@ u*Rgm;Iu*CxBc>xB, EiPIP)Gi99a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9}@a  a -@a  qqɄqiuMb@Mb@Mb@IqIqiqqqɅqqq q)qF@Yʵ\>QoE\>I I8ٮ QtI  U"D9O: ~;)|8 %:)I %tIi %HE :)R:I8:QIQ9Y=O@Contact HDG: 144.865922 arcdeg .''O4Initialize Wait Component.*G2GFFrFbFEE)-;I-9 ))i1I111i99 92@E<:@Ew: Qkdl* Ƈ(AYt*0;O@t*;]@yt*\Ht*>t*HP ?ﲿ!zԿ`0 a?@??`?)u*0;O@ u*5hm;Iu*Cx>h>x>E)9i9AF@uY}0׸}>ʁʁQoEʁ͍:>I I8ٮ QtI  U"D9鰍; ;)A8 :)I tIi HE :) :I8<:I9*G 2G F F1rF9bF9E9E9)u;Iu9 qqiqIqyyiyy 2@<:@w: ߹ajl* 'h(A@ Yt6E2O@t6P]@yt6BRt6>t6HR(?J+ qԿ@#' ? C?W?`?)u6E2O@ u6m;Iu4xNR>xNEiXI\)Ga 1]a 1] a 5]a 5] a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9e@a e a -e@a e aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@}Yʅ>ʁʁQoEʁ͍@>I I8ٮ QtI  U"D9鰕ٮ: x:)*8 :)I tIi HE ;)[;Iq@:I9*G2GFFrFbFEE!)U;I]9 YYiYIYaaiaa a2@<:@w: ߡzql* 1Ʊ(AYt*O@t*]@yt*[t*\>t*HoU ? Ac]Կ{&@X?Hq?`q? ?)u*O@ u*Qjm;Iu*CxB:m>xBEE>Ex>)U+GF@Yʥ>ʡʡQoEʡͭQ>I I8ٮ QtI  U"D9鰵g; 9;)8 :)I tIi HE :)o:ID:I9*G)2G)F1F1rFYbFYEYEY)u;Iu9 iIi 2@<:@w: )wl* ౩(AYt*y-O@t*]@yt*?Xt*Y>t*H R?4`@mԿ2??|??)u*y-O@ u*mm;Iu*CxNy>xRE {PY|PV8****** ping requested ******fNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI ) G>=F@uY}:>ʁʁQoEʉ;>I I8ٮ QtI  U"D9< ޵<)8 :)I tIi HE A:)ϝ:II:IA9I*GY2GYFYFYrFbFEE);I9 iI))i)) 12@=<:@=w: Y;}l* (A)4t.HW8?KPԿu"f?S?`m?`?)u.nO@ u.v[m;Iu.CxNc>xR, E){RsI{Pi{R"={R>{P{R`A{P|RQ2B9|R2P?ć%)EvGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a - @a  a ) a )  ɄiMb@Mb@Mb@YQAIiAAɅAA )F@EYE;X;E>IIQMoEIuOu>Iy I}8ٮyy QtI y U"D9y}%: }į:)}U8 :)I tIi HE ];);;IM:I9*G2GFFFFQArFbFE E 2E1zE5Q2BE502\w9@7yBE52P?ć%E5sE1E5XWA8@.`m`#E5/U鿋!?\_t*H\`?3ԿT3?` ҈?K? ?)u*N@ u*)tm;Iu(xB'n>xBpEi\I\)%Gi99F@EYMg*M>IIQMpEQU+U>Iy I8ٮyy QtI y U"D9y}): }:)}8 :)I tIi HE :)W;IkQ:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFFFrFbFEEc); X8XݸI9 iIH  iAA Q2@U<:@]w: il* %-(AYtZO@tZ]@ytZJtZ>tZHW@?6@*QԿ`* h?A?e??)uZO@ uZcm;IuZCxb^>xb E)MSGiMyAIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )@a  ɄiMb@Mb@Mb@IIiɅ酕鄑 )F@Yʵ>ʱʱQpEʹͽ;>I I8ٮ QtI  U#D9: 9:)8 :)I tIi IE :)Ԙ:IU:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N=@Vehicle HDG: 198.510473 arcdeg .q'='=*G92G=P"@FAFArFibFiEiEi);I9 iIP"@iP"@ 2@<:@w: $MRHorizontalControl.headingCmd 2.536163 radȑl* {G(A@ Yt*N@t*]@yt*Kt*T>t*H._?_]@#ԿB(@A?@b?}?@?)u*N@ u*lm;Iu*CxBj>xBqEiPIP)~GF@EYE$E>IIQMpEIUU>IY I]8ٮYY QetI Y Ue#D9Y]: ]:)]a8 m:)iIi utIii uIEi m:)mN:ImY:I9=O@Contact HDG: 145.311455 arcdeg .''O4Initialize Wait Component.*G2GFFrF!bF!E!E))=;I=9 9AiAIAAIiII I2@U<:@Uw: aml* Ua(AYt*N@t*]@yt*Zt*,׌>t*Hy[O?ݲO9Կ`.??C?a?P?)u*N@ u*m;Iu*CxB*[>xBE)G99F@EYMM>IIQMpEIUb;U>IY Ie8ٮYY QetI Y Ue#D9Y]: ]:)]H8 u:)iIi utIii uIEi m:)mȗ:Im$^:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: =u2SBD MTMSN=20190401T235526l* :{(AYt*N@t*]@yt*xFt*ߍ>t*H] :?`hC~0Կ,X?Έ? ??)u*N@ u*5vm;Iu*CxB]>xBEiLIP)~dG%==a 1Ea 1E a 5Ea 5E a 9Ma 9M a -Ma -M a 1M@a M a 5M@a M a 9M@a M a -M@a M IIɄIiMMb@Mb@Mb@IIIIiIIIɅIII I)IF@eYm7@;m>iiQmpEiuu>Iy I8ٮyy QtI y U#D9y}1: }:)}A8 :)I tIi IE į:)=:Isb:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: l*  (A) IYt*4N@t*?]@yt*At*>t*H`2?EcԿ`@/???q?@?)u*4N@ u*Zm;Iu*CxRm>xR'E)=GF@MYU3:U>QQQUpEQ]h]>Ia Im8ٮaa QmtI a Um#D9ae: e>:)e8 }:)qIq }tIiq }IEq uٮ:)u0:Iuf:I9*G2GFFrFbFEE);I9 iIi 2@<:@w: 2l* <(AYt%N@t%]@yt%**Et%>t%H\?@@2Կ S-@O?@?y??)u%N@ u%ȥm;Iu%Ci11x=h>x=EiYIY)SGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y>Q%pE!%n;%>I) I58ٮ)) Q5tI ) U=#D9)-: -:)-o8 E:)9I9 EtIi9 EIE9 =p:)=A:I=4k:QIQ9Y*Gi2GiFiFirFqbFqEyEy);I9 iIi 2@<:@w: ߹Fl* Ȳ(AYt*N@t*x]@yt*Mt*>t*H Wb?@1iԿ@},@?`3?`L?`?)u*N@ u*V n;Iu*CxRsj>xR(E)dGi%wA!F@Yʍ>ʉʉQpEʉ͕λ>I I8ٮ QtI  U#D9鰝: :)8 :)I tIi IE ;);IAo:I9*G2GFFrF!bF!E!E!)];I]9 YYiYIYaaiai i2@u<:@w: ߡ]Al* ⲩ(A Yt*bN@t*m]@yt*Ht*B>t*H_?.!Կ/? 3?y??)u*bN@ u*_n;Iu*CxN^R>xRZE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 iI)YF@}Yʅ,:>ʁʁQpEʉ͕w;>I I8ٮ QtI  U#D9鰕F: J:)8 :)I tIi IE n;);;I1t:I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM|Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFE)E))=;I=9 AAiAIAiiiii q2@}<:@}w: ߱jl* w(AYt*xN@t*]@yt*Gt*EX>t*Ho_!?6"Կ1?p? xq?:?)u*xN@ u*n;Iu*CxB[>xB E){FˁI{Di{F >{F7>{D{FA{D|F(~B9|F뛁?*=>=>)Ya 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  a )a ) ɄiMb@Mb@Mb@YcBIicBcBɅcBcB )F@Yʽ<-9>ʹʹQpE79>I I8ٮ QtI  U#D9; k;)r8 :)I tIi IE [:):I7x:QIQ9Q&eMeAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1'e NmInitialize.q'mN}@Vehicle HDG: 198.337369 arcdeg .q'}'}*Gy2GyFFFFGBrFbFEE2EzE(~BE"9@@ѬJE뛁?*EˁEE渘+/H߆iRC@M>,Ev[q")}v?mÛ̿E@=DHdg To Contact =141.375285 degreesZEBbEyA:E)o$?BEJo$?JEi REu jEdrE]/NA)]; ae;.8e;.Ie9 eeiaIf&i 2@<:@w: $eDacoustic_contact_range 63.540001 m$mhTrackAcousticContact.heading_to_contact 2.467464 rad$uLDUSBL_Hydroid.xAngle -58.100000 arcdeg_Sl* eV(AYt*N@t*]@yt*x Ct*]>t*H``I?@Կ'+?@Ia?@?`E?)u*N@ u* o;Iu*CxNk>xREi`I`)%G-4=-C=F@EYEX:E>IIQMpEIUźU>IY Ie8ٮYY QetI Y Ue#D9Y]: ] :)]8 m:)iIi utIii uIEi mO:)mȗ:Im{:I9=O-@Contact HDG: 141.375285 arcdeg .'-'-O-4Initialize Wait Component.*G)2G)F)F1FFrFbFEEM& )U; QU8UI]9 ]XYiYI]aaiaa i2@<:@w: y}l* n10(A)IYt*%N@t*0]@yt*{It*>t*HC` ?@&@'Կ 0 ?4?@uz?`?)u*%N@ u*qIo;Iu(xRi>xRE)MSGF@Yʍ>ʹQpE:>I  I=8ٮ   QMtI  UM#D9  w< <) 8 u:)qIq }tIiq }IEq ux:)u:Iu:I9*GY2GYFYFYFaFarFabFaEiEi%);  z9 zI9 6DiI>y  i  2@<:@w: 1qdl* J(AYt*N@t*]@yt*+bOt*:>t*H@_?  Կ,-`???P?)u*N@ u*go;Iu*CxB:m>xBEiPIP)dGi99a 1ua 1u a 5ua 5u a 9ua 9u a -ua -u a 1u@a u a 5u@a u a 9u@a } a -@a  a )@a  qqɄqiuMb@Mb@Mb@IuIqiquuɅuuq q)qF@Yʵ`>ʹʹQpEʹ:>I I8ٮ QtI  U#D9:: :)8 :)I tIi IE :):I:I9*GA2GAFAFIrFIbFIEQEq);I9 iIi 2@<:@w: ߉l* pc(AYt*N@t*]@yt*Ot*o>t*H`?`K Կ`(?`?I?`4?)u*N@ u*.o;Iu*CxNg>xNsE)GiF@uY}y}>ʁʁQpEʁ͍c>I I8ٮ QtI  U#D9鰍; R;)W8 :)I tIi IE :)A:Iш:I9*G 2G F F rF1bF1E9E9)M;IM9 qqiqIqyyiyy y2@<:@w: ߙ#l* }(A Yt.N@t. ]@yt.^OJt.#>t.H9a@X?@OԿ$@d-?I? ?਺?)u.N@ u.o;Iu.CxNc>xN Ei\I\)SGa 1ea 1e a 5ea 5e a 9ea 9e a -ea -e a 1e@a e a 5e@a e a 9m@a m a -m@a m aaɄaieMb@Mb@Mb@IaIaiaaaɅaaa a)aF@YʝW:>ʡʡQpEʡͭn>I I8ٮ M8 QtI  U#D9鰵ض; ;)N8 :)I tIi IE :)o:I:I9*G)2G)F)F1rFQbFYEYEY)m;I9 iIi 2@<:@w: ߹:l* 񜗳(AYt*N@t* ]@yt*{<t*H_@?$Կ)?m?@C?}?)u*N@ u*_o;Iu*CxBp>xB%E)5dG=V>=x>F@]Ye&;e>aaQmpEim ;m>Iq I}8ٮqq Q}tI q U}#D9quϸ: u+:)u 8 :)I tIi IE h:)Z:I>:I9*G2GFFrFbFEE);I9 iI!!i!! !2@-<:@-w: al* ty(AYt*N@t*v]@yt*KXt*0>t*Hbօ? vԿ 6(??^??)u*N@ u*&o;Iu*CxNc>xN Ei\I\)aimR=F@}Yʅ>ʁʁQpEʁ͍6d>I I8ٮ QtI  U#D9鰕: l:)8 :)I tIi IE ::):I:I9*G!2G!F!F!rF)bF)E)E1)e;Ie9 iiiIi 2@<:@w: il* T˳(A);IYt.N@t.]@yt.Rt.>t.H_ y?$@ Կ%+?`U?b?U?)u.N@ u.6|o;Iu.CxNj>xNqE)mGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@UY]H:]>YYQepEae2;e>Ii I8ٮii QtI i U#D9im; m;)me8 :)I tIi IE ):I":I9ODone Waiting.'O8Uninitialize Wait Component.*G2GM |Completed lineCaptureHoming:Lap:TerminalGuidance:UpdateHeadingFFrFbFEE)U;IU9 QQiQIQYYiYY a2@e<:@mw: yl* Y0峩(AYt*N@t*p]@yt*Qt*#ȓ>t*Hc pm?[ֳԿ?`f#?@?7?`{?)u*N@ u*/o;Iu*CxNX>xNVE {PY|PV8****** ping requested ******jNmea out: $CCPGT,14500,28,4A1C0370,1000,24000,0,0,0,0,2000,0*53 i|ICiAA)GF@Y=_{9=>AAQEpEAM ~M>IY Ie8ٮYY QetI Y Um#D9Y] ; ]:)]@"8 :)I tIi IE :):I:I9&MAggregate::initialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1' NInitialize.q'N@Vehicle HDG: 198.243399 arcdeg .q''*G2G@FFrFbFEE);I9 iI%Z @i!%@E*Received command:Stop !2@m<:@mw: $RHorizontalControl.headingCmd 2.467464 rad= got command stop=(Scheduling is pausedN^Stop Mission called by CommandLine::commandStopl* W (AYt*N@t*Y]@yt*aCt*>t*H6g[?H3ӿ (5xR E){RCoI{Pi{R={P{P{RA{P|R=@B9|R" ?]B>r)AiExAIa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酩鄩 )F@Y ;>QpEg>I I8ٮ Q%tI  U%#D9%: :))8 -:))I) -tIi) 5IE) -w<)- rECoEE8l2iCwR/FS:@l~G$E vS%侁=? ˿E"@=MDHdg To Contact =145.858621 degreesZEAbEI:EBo$?BE)o$?JEs REi jE'rEd$]8MissionManager is completed.$]PUninitializing Mission lineCaptureHoming] 1]RAggregate::uninitialize lineCaptureHoming]1evAggregate::uninitialize lineCaptureHoming:StandardEnvelopes1e 2eNUninitialize AltitudeEnvelopeComponent.qe2eUninitialize.e 3eNUninitialize OffshoreEnvelopeComponent.e1 >Uninitialize.q>@Uninitialize Buoyancy Component.1  @bAggregate::uninitialize lineCaptureHoming:DiveCmdq @zAggregate::uninitialize lineCaptureHoming:DiveCmd:InitialDive1" D~Aggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServoq"DAggregate::uninitialize lineCaptureHoming:DiveCmd:AltitudeServo:dive""EUninitialize.1# FUninitialize.q#FjAggregate::uninitialize lineCaptureHoming:RequestPing##1$$ IZAggregate::uninitialize lineCaptureHoming:Lap$IdAggregate::uninitialize lineCaptureHoming:Lap:Dive1% JhAggregate::uninitialize lineCaptureHoming:Lap:Dive:Aq%JzAggregate::uninitialize lineCaptureHoming:Lap:PingTransponder% K~Aggregate::uninitialize lineCaptureHoming:Lap:PingTransponder:A& M|Aggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance&MAggregate::uninitialize lineCaptureHoming:Lap:TerminalGuidance:UpdateHeading1''O8Uninitialize Wait Component.)M)I)E!'ama&Ya&Ua&e!!%!! -a)A = 9 5 1 - ) % !        EEEMMMM]U}yuqmiea])};I}Xz: yyiyIy 2@<:@w: $-Dacoustic_contact_range 48.060001 m$EJHorizontalControl.headingCmd no_value$M`TrackAcousticContact.heading_to_contact no_value$LDUSBL_Hydroid.xAngle -53.550001 arcdegm* (A Yt.N@t.p]@yt.26Bt.5Ӌ>t.Hc|?ײ@Կ@;k?F?B??)u.N@ u.An;Iu.CxBq>xBEiPIR“C)SGF@Y%Y9%>!!Q-pE)-In;->I1 IE8ٮ11 QEtI 1 UE#D915&; 5;)5e/8 M:)III UtIiI UIEI M:)Mc:IMq:aIa9a=$m.Started mission Defaultiqm(m:Aggregate::initialize Defaultm)m@Initialize GoToSurfaceComponent.)uNo depth rate setting specified. Using default value of nan m/s.)u~No pitch setting specified. Using default value of nan degrees.)uNo speed setting specified. Using default value of 1.000000 m/s.)}No surface timeout specified. 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UlA! %/;)%;I%16aIa9aIiIXz:);  iIi 2@ <:@ w: !n* D(AYt*L@t*b[@yt* tGt*>t*H ?篿`ҿ5?X? ɬ?n?)u*L@ u* r;Iu*Cx:m>xEbSBD MO Status=1, MOMSN=2555, MT Status=0, MTMSN=0.No messages in MT queueiyIy)GF@Y;>QrE:>I  I5(5ٮ  M5(5  Q5tI  U5x@9  ; ;)  (5 E!6)9 E!6I9 EtIi9 EsA9 =:)=M:I=z!6QIQ9YIYiYaaIXz:);  iIi 2@<:@w: mn*  (A)IYt.L@t.f[@yt.*Dt.{>t.H? `ҿ@/R?8?^+??)u.L@ u.6s;Iu.Cx^`k>x^E)EvGF@]YeY:e>aaQerEam:m>Iq I}+5ٮq M}+5q Q}tI q U}|@9qu: u:)u +5 %6) %6I tIi yA :):I$%6I9IiIXz:);  iIi 2@<:@w: Vn* /ƻ(AYt.7L@t.A[@yt.bt.|_>t.HQ@y?g7ҿ@֛o ?C?m{??)u.7L@ u.as;Iu,x>\>xBEiLIPipp) dGa 1Ma 1M a 5Ma 5M a 9Ma 9M a -Ma -U a 1U@a U a 5U@a U a 9U@a U a -U@a U QQɄQiUMb@Mb@Mb@IQIQiQQQɅQQQ Q)QF@mYmu>qqQurEʱͽ1;>I I.5ٮ M.5 QtI  U@9,: E:)ԩ.5 )6) )6I tIi A ):I)6I9I1i999IEXz:)E; A IIiIIIiI )2@5<:@5w: IPn* ໩(AYt.L@t.J[@yt.2ot.(>t.H{?9gѿa??[a??)u.L@ u.t;Iu,x>KS>xBE)iF@Y%%>!!Q-rE)-t"->I1 I=15ٮ1 M=151 Q=tI 1 U=@915: 5X:)5615 M-6)A M-6IA MtIiA MAA E:)E":IE-6YIa9aIiiiiiIXz:);  iIi 2@<:@w: ?n* (A YtL@tU[@yt}>Ft[>tH@Fn? ҿ@I@aq?Lj???)uL@ uLt;IuCxU{]>xU/EiI)eGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@%Y%L;%>))Q-rE M:M>IQ I]65ٮQ M]65Q Q]tI Q U]@9QU: U0:)UE65 26)a 26Ia tIia Aa eI:)eף:Ieq26I9IiIXz:);  iIi 2@<:@ w: &o* H(AYtfL@tfg[@ytf)tf{>tfH ~?̱ҿ K?%e?X?2?)ufL@ ufR9s;IufCnR>ni>x=g>x=sE)+GF@Y|F<>QrE VZ; ?I  IU95ٮ  MU95  Q]tI  U]@9  < <) ?95 e66)a e66Ia mtIia mAa eN:)e:Ie*v66I9IiIXz:);  iIi !2@%<:@%w: 9 o* j.(AYt.OL@t.Y[@yt.t. {>t.H@` ?3=ҿL(?&u?`Q!?` ?)u.OL@ u.p;Iu,x>n>x>EiLINC)G %= 4=a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ )F@Y5V=>99Q=rE9E;E>II IM<5ٮI M<5I QtI I U@9IM< M <)Mg<5 :6) :6I tIi A E:)7:Is:6I9IiIMXz:)U; Q QQiQIQiY Y2@e<:@ew: ߹Ro* FCH(A)IYt.> M@t.H[@yt.Sgt.y>t.HJ?άdҿ T?*??@ ?)u.> M@ u. p;Iu.Cx>g>x>sE)~GF@Y%d%>!!Q-rE)-E;->I1 I=?5ٮ1 M=?51 Q=tI 1 U=@915¿: 5a:)5?5 M>6)A M>6IA MtIiA MAA E$:)EӠ:IE>6YIa9aIiiiiiIXz:);  iIi 2@<:@w: ߙ!o* b(AYt*M@t*[@yt*R't*W>t*HY?T3gҿ h ??@??ҿ?)u*M@ u*Bo;Iu(xBmd>xBu EiLIN“Cipp) GF@Y%i %>)1Q5rE1E:M>IQ IC5ٮQ MC5Q QtI Q U@9QU< Un:)U9C5 B6) B6I tIi A ><)Et.H \?kҿc3U?k?$??)u.M@ u.do;Iu.Cx `k>x E)UGiYYa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@Y;>QrE:>II IMG5ٮI MUG5I QUtI I UU@9IM: Mܹ:)MQG5 ]H6)Y eH6IY etIiY eAY ]3[<)]]t6H ?`Oҿb;?@?4?κ?)u6;M@ u6gp;Iu6Cx>t>xBlEiLIRC)+GF@Y%<% ?!)Q-rE)-}<5 ?I1 I=J5ٮ1 M=J51 QEtI 1 UE@915=: 5:)51J5 MK6)I MK6II MtIiI UAI MU:)MT:IM[K6aIa9aIiiiiiIXz:);  iIi 2@<:@w: -^+o* )(AYt.OM@t.&[@yt.It.>t.HLH*?ҿh ?@~?<??)u.OM@ u.rzp;Iu.CxB_>xB Er>r>)EGa 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酉鄉 )F@5Y=^8;=>AAQErEAM 0;M>II IM5ٮI MM5I QtI I U@9IM^< M<)MfM5 P6) P6I tIi A Z:)M:IRP6I9IiIUXz:)U; Q QQiQIQiY Y2@e<:@ew: yF2o* ɼ(AYt*2M@t*t*H@&?`: ҿ@x_7?? +? ?)u*2M@ u*gq;Iu*Cx^p>x^%EilIr“C)SG%=F@Y5>>QrEV<>I I5Q5ٮ M5Q5 Q=tI  U=@9 < H!<)V.Q5 ET6)A ET6IA MtIiA MAA E:)EƟ:IEu5T6I9IiIXz:);  iIi 2@<:@w: YUo8o* `㼩(A)4t*H഍֑?@sWҿ/a?@O?@G? ?)u*?M@ u*hs;Iu*CxNs>xRE)=dGa 1}a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酁鄁 )F@Yʥ9>ʡʡQrEʩͭר:>I IT5ٮ MT5 QtI  U@9: I:)FT5 X6) X6I tIi A _;);IX6I9!I!i)))IUXz:)U; Y YYiYIYia a2@m<:@mw: yٙ>o* =(AYt*M@t*c\@yt*F셼t*9>t*H@@Py? Ʋ 2ӿS!m?W?C??)u*M@ u* t;Iu(xBn>xBEiLIPipp)GF@=YEn:E>AIQMrEIM:U>IQ I]W5ٮQ M]W5Q Q]tI Q Ue@9QU: U:)UW5 m\6)a m\6Ia mtIia uAa e :)e:Ie>l\6I9IiIXz:);  iIi 2@<:@w: Y-8Received command:Restart app= >got command restart application1Eo* (AYt*M@t*{\@yt*Ht*->t*H`T}?`Jӿ> ? ɂ?.@?`}?)u*M@ u*:s;Iu*CxBf>xB E)~vGiF@=YE<E>AAQErEIMq;M>IQ I][5ٮQ M][5Q Q]tI Q Ue@9QU: U:)UY[5 m`6)a m`6Ia mtIia mAa eԘ:)e :Ie`6yI9IiIXz:);  iIi 2@<:@w: Ko* 40(A@ Yt*M@t*\@yt* ﻙt*qR>t*H ?@+\,ӿw'?^}?@?}?)u*M@ u* s;Iu(xB:m>xBEiLIL)~Ga 1=a 1= a 5=a 5= a 9=a 9= a -=a -= a 1E@a E a 5E@a E a 9E@a E a -E@a E AAɄAiEMb@Mb@Mb@IAIAiAAAɅAAA A)AF@UY];]>aaQerEam:m>Iq Iu^5ٮq M}^5q Q}tI q U}@9qu: u:)u:^5 d6) d6I tIi A :)w:Id6I9IiIXz:);  iIi 2@<:@w:  NUninitializing protected caller thread. "Thread cancelled.Ro* pJ(AYt*4N@t*\@yt*k2t*|u>t*Hy@v? V ӿ9 c?`M?`Sl??)u*4N@ u*t;Iu(xBf>xB Er>r>)~GF@=YEE>AAQMrEIM]<M>IQ I]b5ٮQ M]b5Q Q]tI Q Ue@9QUs: U4:)U>b5 mi6)a mi6Ia mtIia mAa e:)e:Ie40i6yI9IiIXz:FjUninitializing supervisor and starting cleanup. Bye!"Thread cancelled.JJoin timeout helper Thread ID is 1969);  iIi 2@<:@w: LShutting down NavChartDb ThreadHandler%"Thread cancelled.%JJoin timeout helper Thread ID is 1970% NUninitializing protected caller thread.% "Thread cancelled. \Shutting down WetLabsSeaOWL_UV_A ThreadHandler "Thread cancelled.% JJoin timeout helper Thread ID is 1971Xo* d(ANUninitializing protected caller thread."Powering down ) I i ""Thread cancelled.bRShutting down CTD_NeilBrown ThreadHandlerb"Thread cancelled.bJJoin timeout helper Thread ID is 1972Ytf/N@tf \@ytf2tfos>tfHzJ,?ܬ@{ӿ`V??@#??)uf/N@ ufOu;IufCx=Ze>xE EiI)5G=<9a 1a 1 a 5a 5 a 9a 9 a -a - a 1@a  a 5@a  a 9@a  a -@a  ɄiMb@Mb@Mb@IIiɅ酹鄹 )F@YG>QrE#D>I) I5f5ٮ) M5f5) Q5tI ) U=@9)-^: -U:)->f5 En6)9 En6I9 EtIi9 EA9 =ȗ:)=:I=n6qIq9yIyiIXz:);  iIi 2@<:@w: INUninitializing protected caller thread.Powering down"Thread cancelled.ΕRShutting down Radio_Surface ThreadHandler"Thread cancelled.JJoin timeout helper Thread ID is 1973c^o* ~(A);I;Yt*BN@t*\@yt*펼t*se>t*Hv6?r`@ލӿ|?hݑ??P?)u*BN@ u*=ft;Iu*CxZ_>xZ E^Powering downibbbbbbNUninitializing protected caller thread.f"Thread cancelled.ERShutting down DataOverHttps ThreadHandlerE"Thread cancelled.MJJoin timeout helper Thread ID is 1974)MaiQmrEima;m>Iq I}i5ٮq M}i5q Q}tI q U@9qu: u^:)u@5i5 q6) q6I tIi A 5:)':Iq6I9IiIXz:);  iIi 2@<:@w: NUninitializing protected caller thread. "Thread cancelled.5DShutting down logger ThreadHandler5"Thread cancelled.5JJoin timeout helper Thread ID is 1975eNUninitializing protected caller thread.e"Thread cancelled.NShutting down CommandLine ThreadHandler"Thread cancelled.RShutting down controlThread ThreadHandler"Thread cancelled. JJoin timeout helper Thread ID is 1976] NUninitializing protected caller thread. ] 8Uninitializing ControlThread] Powering down] e )e Ie Powering downGHHHPowering downiiPowering down)IPowering downiFUninitializing DepthRateCalculator. PUninitializing ElevatorOffsetCalculator. BUninitialize NavChart Navigation.$Aggregate::uninitialize Default)DUninitialize GoToSurfaceComponent.1 *NAggregate::uninitialize Default:CheckIn ! a  "LUninitialize VerticalControlComponent."PUninitialize HorizontalControlComponent. #FUninitialize SpeedControlComponent.#DUninitialize LoopControlComponent. 8Uninitialize Buoyancy Servo.Powering down !)!I!}8Uninitialize Elevator Servo.}Powering downy y)yIy 0Uninitialize Mass Servo.Powering downi 4Uninitialize Rudder Servo.Powering down )I 8Uninitialize Thruster Servo.Powering downi 8Uninitialize SBIT Component. !8Uninitialize IBIT Component.!8Uninitialize CBIT Component.!&Powering off loads.!Disabling WDT.!UDOpening all GF detection circuits.]"Thread cancelled. E A = 9 5 1 - ) % !                                         } y u q m i e a ] Y U Q M I  E  A  =  9  5  1  - ) % !            % % % % % % % % - - - - - - - 5 5 5 5 5 5 5 5 = = = = = = }= y= uE qE mE iE eE aE ]E YE UM QM MM IM EM AM =M 9M 5M 1U -U )U %U !U U U U ] ] ] ] ] ] ] ] ] e e e e e e e e e e m m m m m m m m u u u u u u u u u u }} y} u} q} m} i} e} a} ]} Y} U Q M I E A = 9 5 1 - ) % !                                         } y u q m i e a ] Y U Q M I E A = 9 5 1 - ) % !                                         } y u q m i e aa a a a a ]a Ya Ua Qa Ma Ia Ea Aa =a 9a 5a 1a -a )"Thread cancelled.     ] m i e a !a a a ! I! E! 9! 5! !  ! !  ! !  ! !  ! !  ! ! ! !  !  !  !  !  !  !  !  !  !  !  !  !  !  YUQM]YUQ%%%%%}%y%u%q%m%ai%!e-!- -"Thread cancelled.YUa ]a]a]a]aU]aQ]aM]aIeaEeaAea=ea9ea5ea1ea-ea)ea%ea!eaeae amam amam amam a mam       a a a a a a a a a a a a  !  !  !  !  !  !  !  ! ! ! ! !  } y u q i e a ] Y U  Q M  I% % ! =! =! =! =! =! = E E E E E E AM =M 1M -M M M a )Ma %Ma !Ua Ua Ua U ! U! U! U! ]! ]! ] u"Thread cancelled.a}a}a}a}ayauaqamaiaeaaa]aY"Thread cancelled.a a a a a Ua Qa Ma Ia Ea Aa =a 9a 5a 1a -a )a %a !a a !!!!!! a%a% a%a% am%a% !%!% }%% ]]ee e eeeeeeeeeemmauauauaua%uaua aa}ayauaqamai!!!Q!M!I!E!A!=!9!5!1aa-a- !-5%5"Thread cancelled.!! !!!!!!!!!!!!!!!!!!!!!!!!!! ! ! ! ! ! !!!!}!y!u!q!m!i!e!a!]!Y!U!Q!M!I!E!A!=%!9%!5%!1%!-%!)%!%%!!%!%!%!%!-a }a }a }a }a }a }a }A=951-)%!  }yuqmiea]YUQMIEA=951-)%!  }yuqmiea]YUQMIEA=!UU"Thread cancelled.