*v 0008
*n code=0000 name="Slate"
*n code=0001 name="Supervisor"
*n code=0002 name="Module Loader"
*n code=0003 name="ComponentRegistry"
*n code=0004 name="controlThread"
*n code=0005 name="SyncHandler"
*n code=0006 name="controlThread ThreadHandler"
*n code=0007 name="CycleStarter"
*n code=0008 name="CommandLine"
*n code=0009 name="CommandLine ThreadHandler"
*n code=000A name="logger"
*n code=000B name="logger ThreadHandler"
*n code=000C name="LogSplitter"
*n code=000D name="Config/vehicle"
*n code=000E name="Config/Sample"
*n code=000F name="Config/Control"
*n code=0010 name="Config/Estimation"
*n code=0011 name="Config/BIT"
*n code=0012 name="Config/Simulator"
*n code=0013 name="Config/Navigation"
*n code=0014 name="Config/Derivation"
*n code=0015 name="Config/logger"
*n code=0016 name="Config/secure"
*n code=0017 name="Config/Dock"
*n code=0018 name="Config/Servo"
*n code=0019 name="Config/Guidance"
*n code=001A name="Config/workSite"
*n code=001B name="Config/Sensor"
*n code=001C name="Config/Science"
*n code=001D name="Config/Battery"
*n code=001E name="AHRS_M2"
*n code=001F name="BackseatComponent"
*n code=0020 name="BackseatComponent ThreadHandler"
*n code=0021 name="LcmUniversalReporter"
*n code=0022 name="BPC1"
*n code=0023 name="DataOverHttps"
*n code=0024 name="DataOverHttps ThreadHandler"
*n code=0025 name="DDM"
*n code=0026 name="Depth_Keller"
*n code=0027 name="DropWeight"
*n code=0028 name="DUSBL_Hydroid"
*n code=0029 name="Micromodem"
*n code=002A name="NAL9602"
*n code=002B name="Onboard"
*n code=002C name="Onboard ThreadHandler"
*n code=002D name="PowerOnly"
*n code=002E name="Power24vConverter"
*n code=002F name="Radio_Surface"
*n code=0030 name="Radio_Surface ThreadHandler"
*n code=0031 name="RDI_Pathfinder"
*n code=0032 name="RDI_PathfinderUp"
*n code=0033 name="DeadReckonUsingMultipleVelocitySources"
*n code=0034 name="NavChart"
*n code=0035 name="UniversalFixResidualReporter"
*n code=0036 name="WorkSite"
*n code=0037 name="BuoyancyServo"
*n code=0038 name="ElevatorServo"
*n code=0039 name="MassServo"
*n code=003A name="RudderServo"
*n code=003B name="ThrusterServo"
*n code=003C name="CTD_Seabird"
*n code=003D name="CTD_Seabird ThreadHandler"
*n code=003E name="WetLabsSeaOWL_UV_A"
*n code=003F name="WetLabsSeaOWL_UV_A ThreadHandler"
*n code=0040 name="DepthRateCalculator"
*n code=0041 name="PitchRateCalculator"
*n code=0042 name="SpeedCalculator"
*n code=0043 name="TempGradientCalculator"
*n code=0044 name="YawRateCalculator"
*n code=0045 name="ElevatorOffsetCalculator"
*n code=0046 name="SBIT"
*n code=0047 name="IBIT"
*n code=0048 name="CBIT"
*n code=0049 name="VerticalControl"
*n code=004A name="HorizontalControl"
*n code=004B name="SpeedControl"
*n code=004C name="LoopControl"
*n code=004D name="MissionManager"
*n code=004E name="Reporter"
*n code=004F name="NavChartDb"
*n code=0050 name="NavChartDb ThreadHandler"
*n code=0051 name="Startup"
*n code=0052 name="Startup:A.GoToSurface"
*n code=0053 name="Startup:StartupSatComms"
*n code=0054 name="Startup:StartupSatComms:A"
*n code=0055 name="Startup:StartupSatComms:B"
*n code=0056 name="DefaultWithUndock"
*n code=0057 name="DefaultWithUndock:A.Wait"
*n code=0058 name="DefaultWithUndock:LeaveDock"
*n code=0059 name="DefaultWithUndock:LeaveDock:A_Timeout"
*n code=005A name="DefaultWithUndock:LeaveDock:A_Timeout:A"
*n code=005B name="DefaultWithUndock:LeaveDock:A."
*n code=005C name="DefaultWithUndock:LeaveDock:B.Undock"
*n code=005D name="DefaultWithUndock:SurfaceDefault"
*n code=005E name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen"
*n code=005F name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A"
*n code=0060 name="DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B"
*n code=0061 name="DefaultWithUndock:SurfaceDefault:B.GoToSurface"
*n code=0062 name="DefaultWithUndock:SurfaceDefault:CheckIn"
*n code=0063 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS"
*n code=0064 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium"
*n code=0065 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout"
*n code=0066 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute"
*n code=0067 name="DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:B"
*n code=0068 name="DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait"
*n code=0069 name="DefaultWithUndock:SurfaceDefault:CheckIn:D"
*n code=006A name="DefaultWithUndock:SurfaceDefault:CheckIn:E"
*n code=006B name="DefaultWithUndock:D"
*n code=006C name="DefaultWithUndock:E.Execute"
*n code=006D name="lineCaptureDepth"
*n code=006E name="lineCaptureDepth:Science"
*n code=006F name="lineCaptureDepth:Science:A"
*n code=0070 name="lineCaptureDepth:Science:B"
*n code=0071 name="lineCaptureDepth:Science:C"
*n code=0072 name="lineCaptureDepth:Science:D"
*n code=0073 name="lineCaptureDepth:Science:E"
*n code=0074 name="lineCaptureDepth:Science:F"
*n code=0075 name="lineCaptureDepth:Science:Read_Oil"
*n code=0076 name="lineCaptureDepth:Science:OceanCurrent"
*n code=0077 name="lineCaptureDepth:Science:OceanCurrent:A."
*n code=0078 name="lineCaptureDepth:Science:PeakDetectChl"
*n code=0079 name="lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth"
*n code=007A name="lineCaptureDepth:Science:PeakDetectChl:B"
*n code=007B name="lineCaptureDepth:Science:HighestChlPeakReport"
*n code=007C name="lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal"
*n code=007D name="lineCaptureDepth:Science:PeakDetectNO3"
*n code=007E name="lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth"
*n code=007F name="lineCaptureDepth:Science:PeakDetectNO3:B"
*n code=0080 name="lineCaptureDepth:Science:PeakDetectOil"
*n code=0081 name="lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth"
*n code=0082 name="lineCaptureDepth:Science:PeakDetectOil:B"
*n code=0083 name="lineCaptureDepth:Science:HighestOilPeakReport"
*n code=0084 name="lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal"
*n code=0085 name="lineCaptureDepth:Science:PeakDetectFDOM"
*n code=0086 name="lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth"
*n code=0087 name="lineCaptureDepth:Science:PeakDetectFDOM:B"
*n code=0088 name="lineCaptureDepth:Science:PeakDetectSalinity"
*n code=0089 name="lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth"
*n code=008A name="lineCaptureDepth:Science:PeakDetectSalinity:B"
*n code=008B name="lineCaptureDepth:Science:HighestSaltPeakReport"
*n code=008C name="lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal"
*n code=008D name="lineCaptureDepth:StandardEnvelopes"
*n code=008E name="lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope"
*n code=008F name="lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope"
*n code=0090 name="lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope"
*n code=0091 name="lineCaptureDepth:C"
*n code=0092 name="lineCaptureDepth:D"
*n code=0093 name="lineCaptureDepth:E"
*n code=0094 name="lineCaptureDepth:NeedComms"
*n code=0095 name="lineCaptureDepth:NeedComms:A"
*n code=0096 name="lineCaptureDepth:NeedComms:B.GoToSurface"
*n code=0097 name="lineCaptureDepth:NeedComms:C"
*n code=0098 name="lineCaptureDepth:NeedComms:C:A_Timeout"
*n code=0099 name="lineCaptureDepth:NeedComms:C:A_Timeout:A"
*n code=009A name="lineCaptureDepth:NeedComms:D"
*n code=009B name="lineCaptureDepth:NeedComms:E"
*n code=009C name="lineCaptureDepth:NeedComms:E:A_Timeout"
*n code=009D name="lineCaptureDepth:NeedComms:E:A_Timeout:A"
*n code=009E name="lineCaptureDepth:G"
*n code=009F name="lineCaptureDepth:H"
*n code=00A0 name="lineCaptureDepth:MicromodemComms"
*n code=00A1 name="lineCaptureDepth:MicromodemComms:CheckIn"
*n code=00A2 name="lineCaptureDepth:MicromodemComms:CheckIn:A"
*n code=00A3 name="lineCaptureDepth:MicromodemComms.Redefine.CommsInterval"
*n code=00A4 name="lineCaptureDepth:J"
*n code=00A5 name="lineCaptureDepth:TrackAC."
*n code=00A6 name="lineCaptureDepth:LineCapture"
*n code=00A7 name="lineCaptureDepth:LineCapture:A"
*n code=00A8 name="lineCaptureDepth:LineCapture:B"
*n code=00A9 name="lineCaptureDepth:LineCapture:StandardEnvelopes"
*n code=00AA name="lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope"
*n code=00AB name="lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope"
*n code=00AC name="lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope"
*n code=00AD name="lineCaptureDepth:LineCapture:D"
*n code=00AE name="lineCaptureDepth:LineCapture:E"
*n code=00AF name="lineCaptureDepth:LineCapture:F"
*n code=00B0 name="lineCaptureDepth:LineCapture:G"
*n code=00B1 name="lineCaptureDepth:LineCapture:H"
*n code=00B2 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy"
*n code=00B3 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A"
*n code=00B4 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass"
*n code=00B5 name="lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy"
*n code=00B6 name="lineCaptureDepth:LineCapture:HomingSequence"
*n code=00B7 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock"
*n code=00B8 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide"
*n code=00B9 name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock"
*n code=00BA name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout"
*n code=00BB name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock:A_Timeout:A"
*n code=00BC name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B"
*n code=00BD name="lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C"
*n code=00BE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance"
*n code=00BF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide"
*n code=00C0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A"
*n code=00C1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange"
*n code=00C2 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A"
*n code=00C3 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B"
*n code=00C4 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed"
*n code=00C5 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch"
*n code=00C6 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint"
*n code=00C7 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout"
*n code=00C8 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:A"
*n code=00C9 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint:A_Timeout:B"
*n code=00CA name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:F"
*n code=00CB name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern"
*n code=00CC name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout"
*n code=00CD name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A_Timeout:A"
*n code=00CE name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle"
*n code=00CF name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait"
*n code=00D0 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:H"
*n code=00D1 name="lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:I"
*n code=00D2 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance"
*n code=00D3 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide"
*n code=00D4 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A"
*n code=00D5 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout"
*n code=00D6 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A"
*n code=00D7 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B"
*n code=00D8 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch"
*n code=00D9 name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D"
*n code=00DA name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E"
*n code=00DB name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture"
*n code=00DC name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G"
*n code=00DD name="lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H"
*n code=00DE name="lineCaptureDepth:LineCapture:K.Wait"
*n code=00DF name="lineCaptureDepth:LineCapture:L"
*n code=00E0 name="lineCaptureDepth:M"
*n code=00E1 name="lineCaptureDepth:N"
*n code=00E2 name="lineCaptureDepth:O"
*n code=00E3 name="lineCaptureDepth:SetNavAcoustic"
*n code=00E4 name="lineCaptureDepth:SetNavAcoustic:UpdateNav"
*n code=00E5 name="lineCaptureDepth:SetNavAcoustic:UpdateNav:A"
*n code=00E6 name="lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav"
*n code=00E7 name="lineCaptureDepth:UpdateNumPings_NotTerminal"
*n code=00E8 name="lineCaptureDepth:UpdateNumPings_NotTerminal:A"
*n code=00E9 name="lineCaptureDepth:UpdateNumPings_NotTerminal:B"
*n code=00EA name="lineCaptureDepth:UpdateNumPings_Terminal"
*n code=00EB name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL"
*n code=00EC name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A"
*n code=00ED name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B"
*n code=00EE name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR"
*n code=00EF name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A"
*n code=00F0 name="lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B"
*n code=00F1 name="lineCaptureDepth:Lap"
*n code=00F2 name="lineCaptureDepth:Lap:A"
*n code=00F3 name="lineCaptureDepth:Lap:B"
*n code=00F4 name="lineCaptureDepth:Lap:C"
*n code=00F5 name="lineCaptureDepth:Lap:D"
*n code=00F6 name="lineCaptureDepth:Lap:Docked"
*n code=00F7 name="lineCaptureDepth:Lap:Docked:A"
*n code=00F8 name="lineCaptureDepth:Lap:Docked:Docked.Docked"
*n code=00F9 name="lineCaptureDepth:Lap:Docked:Detach"
*n code=00FA name="lineCaptureDepth:Lap:Docked:Detach:A"
*n code=00FB name="lineCaptureDepth:Lap:Docked:Detach:Undock.Undock"
*n code=00FC name="profile_station"
*n code=00FD name="profile_station:Science"
*n code=00FE name="profile_station:Science:A"
*n code=00FF name="profile_station:Science:B"
*n code=0100 name="profile_station:Science:C"
*n code=0101 name="profile_station:Science:D"
*n code=0102 name="profile_station:Science:E"
*n code=0103 name="profile_station:Science:F"
*n code=0104 name="profile_station:Science:Read_Oil"
*n code=0105 name="profile_station:Science:OceanCurrent"
*n code=0106 name="profile_station:Science:OceanCurrent:A."
*n code=0107 name="profile_station:Science:PeakDetectChl"
*n code=0108 name="profile_station:Science:PeakDetectChl:A.PeakDetectVsDepth"
*n code=0109 name="profile_station:Science:PeakDetectChl:B"
*n code=010A name="profile_station:Science:HighestChlPeakReport"
*n code=010B name="profile_station:Science:HighestChlPeakReport:A.PeakDetectHorizontal"
*n code=010C name="profile_station:Science:PeakDetectNO3"
*n code=010D name="profile_station:Science:PeakDetectNO3:A.PeakDetectVsDepth"
*n code=010E name="profile_station:Science:PeakDetectNO3:B"
*n code=010F name="profile_station:Science:PeakDetectOil"
*n code=0110 name="profile_station:Science:PeakDetectOil:A.PeakDetectVsDepth"
*n code=0111 name="profile_station:Science:PeakDetectOil:B"
*n code=0112 name="profile_station:Science:HighestOilPeakReport"
*n code=0113 name="profile_station:Science:HighestOilPeakReport:A.PeakDetectHorizontal"
*n code=0114 name="profile_station:Science:PeakDetectFDOM"
*n code=0115 name="profile_station:Science:PeakDetectFDOM:A.PeakDetectVsDepth"
*n code=0116 name="profile_station:Science:PeakDetectFDOM:B"
*n code=0117 name="profile_station:Science:PeakDetectSalinity"
*n code=0118 name="profile_station:Science:PeakDetectSalinity:A.PeakDetectVsDepth"
*n code=0119 name="profile_station:Science:PeakDetectSalinity:B"
*n code=011A name="profile_station:Science:HighestSaltPeakReport"
*n code=011B name="profile_station:Science:HighestSaltPeakReport:A.PeakDetectHorizontal"
*n code=011C name="profile_station:Science.Redefine.PeakDetectChlActive"
*n code=011D name="profile_station:NeedComms"
*n code=011E name="profile_station:NeedComms:A"
*n code=011F name="profile_station:NeedComms:B.GoToSurface"
*n code=0120 name="profile_station:NeedComms:C"
*n code=0121 name="profile_station:NeedComms:C:A_Timeout"
*n code=0122 name="profile_station:NeedComms:C:A_Timeout:A"
*n code=0123 name="profile_station:NeedComms:D"
*n code=0124 name="profile_station:NeedComms:E"
*n code=0125 name="profile_station:NeedComms:E:A_Timeout"
*n code=0126 name="profile_station:NeedComms:E:A_Timeout:A"
*n code=0127 name="profile_station:C"
*n code=0128 name="profile_station:StandardEnvelopes"
*n code=0129 name="profile_station:StandardEnvelopes:A.AltitudeEnvelope"
*n code=012A name="profile_station:StandardEnvelopes:B.DepthEnvelope"
*n code=012B name="profile_station:StandardEnvelopes:C.OffshoreEnvelope"
*n code=012C name="profile_station:E"
*n code=012D name="profile_station:F"
*n code=012E name="profile_station:G"
*n code=012F name="profile_station:StartingMission"
*n code=0130 name="profile_station:I.Pitch"
*n code=0131 name="profile_station:J.Buoyancy"
*n code=0132 name="profile_station:K.SetSpeed"
*n code=0133 name="profile_station:L.DepthEnvelope"
*n code=0134 name="profile_station:M.AltitudeEnvelope"
*n code=0135 name="profile_station:N.YoYo"
*n code=0136 name="profile_station:CircleWrapper"
*n code=0137 name="profile_station:CircleWrapper:A"
*n code=0138 name="profile_station:CircleWrapper:B.Circle"
*e code=0000 elementURI="acoustic_receive_time" type=04
*e code=0001 elementURI="acoustic_transmit_time" type=04
*e code=0002 elementURI="acoustic_contact_direction_vehicle_frame" type=14 blobType=11 fixedSize=0003
*e code=0003 elementURI="acoustic_contact_address" type=04
*e code=0004 elementURI="acoustic_contact_range" type=04
*e code=0005 elementURI="concentration_of_colored_dissolved_organic_matter_in_sea_water" type=04
*e code=0006 elementURI="depth" type=04
*e code=0007 elementURI="depth_rate" type=04
*e code=0008 elementURI="direction_of_sea_water_velocity" type=04
*e code=0009 elementURI="distance_from_shore" type=04
*e code=000A elementURI="downwelling_photosynthetic_photon_flux_in_sea_water" type=04
*e code=000B elementURI="downward_sea_water_velocity" type=04
*e code=000C elementURI="eastward_sea_water_velocity" type=04
*e code=000D elementURI="fix_distance_made_good" type=04
*e code=000E elementURI="fix_horizontal_path_length_since_last_fix" type=04
*e code=000F elementURI="fix_residual_distance" type=04
*e code=0010 elementURI="fix_residual_bearing" type=04
*e code=0011 elementURI="fix_residual_percent_distance_traveled" type=04
*e code=0012 elementURI="grid_latitude" type=04
*e code=0013 elementURI="grid_longitude" type=04
*e code=0014 elementURI="height_above_sea_floor" type=04
*e code=0015 elementURI="horizontal_path_length_since_last_fix" type=04
*e code=0016 elementURI="northward_sea_water_velocity" type=04
*e code=0017 elementURI="latitude" type=04
*e code=0018 elementURI="latitude_fix" type=04
*e code=0019 elementURI="location_fix" type=14 blobType=11 fixedSize=0002
*e code=001A elementURI="longitude" type=04
*e code=001B elementURI="longitude_fix" type=04
*e code=001C elementURI="mission_started" type=04
*e code=001D elementURI="mass_concentration_of_chlorophyll_in_sea_water" type=04
*e code=001E elementURI="mass_concentration_of_oxygen_in_sea_water" type=04
*e code=001F elementURI="mass_concentration_of_petroleum_hydrocarbons_in_sea_water" type=04
*e code=0020 elementURI="mole_concentration_of_nitrate_in_sea_water" type=04
*e code=0021 elementURI="platform_average_current" type=04
*e code=0022 elementURI="platform_average_power" type=04
*e code=0023 elementURI="platform_battery_charge" type=04
*e code=0024 elementURI="platform_battery_charge_usage" type=04
*e code=0025 elementURI="platform_battery_energy_usage" type=04
*e code=0026 elementURI="platform_battery_voltage" type=04
*e code=0027 elementURI="platform_battery_fully_charged" type=04
*e code=0028 elementURI="platform_battery_discharging" type=04
*e code=0029 elementURI="platform_buoyancy_position" type=04
*e code=002A elementURI="platform_communications" type=04
*e code=002B elementURI="platform_conversation" type=04
*e code=002C elementURI="platform_course" type=04
*e code=002D elementURI="platform_distance_wrt_ground" type=04
*e code=002E elementURI="platform_distance_wrt_sea_water" type=04
*e code=002F elementURI="platform_elevator_angle" type=04
*e code=0030 elementURI="platform_fault" type=04
*e code=0031 elementURI="platform_fault_leak" type=04
*e code=0032 elementURI="platform_magnetic_orientation" type=04
*e code=0033 elementURI="platform_mass_position" type=04
*e code=0034 elementURI="platform_orientation" type=04
*e code=0035 elementURI="platform_orientation_matrix" type=14 blobType=11 fixedSize=0003,0003
*e code=0036 elementURI="platform_pitch_angle" type=04
*e code=0037 elementURI="platform_pitch_rate" type=04
*e code=0038 elementURI="platform_pressure" type=04
*e code=0039 elementURI="platform_propeller_rotation_rate" type=04
*e code=003A elementURI="platform_relative_humidity" type=04
*e code=003B elementURI="platform_roll_angle" type=04
*e code=003C elementURI="platform_roll_rate" type=04
*e code=003D elementURI="platform_rudder_angle" type=04
*e code=003E elementURI="platform_speed_wrt_ground" type=04
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*a code=0C7B owner=012B element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0C7C owner=012C element=07DF universal=3FFF unitName="meter" type=1F size=0008 fl=05
*a code=0C7D owner=012D element=07E0 universal=3FFF unitName="meter" type=1F size=0008 fl=05
*a code=0C7E owner=012E element=07E1 universal=3FFF unitName="meter" type=1F size=0008 fl=05
*a code=0C7F owner=0130 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=0C81 owner=0130 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0C82 owner=0130 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05
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*a code=0C85 owner=0130 element=06C5 universal=3FFF unitName="radian_per_second" type=0B size=0003 fl=05
*a code=0C86 owner=0130 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05
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*a code=0C8B owner=0131 element=0113 universal=3FFF unitName="cubic_centimeter" type=0B size=0003 fl=04
*a code=0C8C owner=0132 element=003F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0C8D owner=0132 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0C8E owner=0132 element=06C7 universal=3FFF unitName="second" type=0B size=0003 fl=05
*a code=0C8F owner=0133 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0C90 owner=0133 element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0C91 owner=0133 element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0C92 owner=0133 element=011C universal=3FFF unitName="second" type=0B size=0003 fl=04
*a code=0C93 owner=0133 element=0136 universal=3FFF unitName="second" type=0B size=0003 fl=04
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*a code=0C97 owner=0133 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0C98 owner=0133 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=0C9D owner=0133 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0C9E owner=0133 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0C9F owner=0134 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0CA0 owner=0134 element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CA1 owner=0134 element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CA2 owner=0134 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0CA3 owner=0134 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CA4 owner=0134 element=0014 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CA5 owner=0134 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CA6 owner=0134 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0CA7 owner=0134 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0CA8 owner=0134 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05
*a code=0CA9 owner=0134 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0CAA owner=0134 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0CAB owner=0135 element=0142 universal=3FFF unitName="angular_degree" type=2F size=0004 fl=04
*a code=0CAC owner=0135 element=013C universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CAD owner=0135 element=0138 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CAE owner=0135 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=04
*a code=0CAF owner=0135 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CB0 owner=0135 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=04
*a code=0CB1 owner=0135 element=06A1 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=04
*a code=0CB2 owner=0135 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
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*a code=0CB4 owner=0135 element=0036 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CB5 owner=0135 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0CB6 owner=0135 element=06C4 universal=3FFF unitName="meter_per_second" type=0B size=0003 fl=05
*a code=0CB7 owner=0135 element=06A2 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0CB8 owner=0137 element=0104 universal=3FFF unitName="radian_per_meter" type=0B size=0003 fl=05
*a code=0CB9 owner=0138 element=0017 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CBA owner=0138 element=001A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CBB owner=0138 element=06D6 universal=3FFF unitName="radian" type=2F size=0004 fl=05
*a code=0CBC owner=0138 element=06AC universal=3FFF unitName="enum" type=02 size=0001 fl=05
*a code=0CBD owner=0138 element=06D2 universal=3FFF unitName="degree" type=37 size=0006 fl=05
*a code=0CBE owner=0138 element=06D3 universal=3FFF unitName="degree" type=37 size=0006 fl=05
*a code=0CBF owner=0108 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC0 owner=0108 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC1 owner=010D element=0020 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC2 owner=010D element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC3 owner=0110 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC4 owner=0110 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC5 owner=0115 element=0005 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC6 owner=0115 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC7 owner=0118 element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC8 owner=0118 element=0006 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CC9 owner=0104 element=001F universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CCA owner=0102 element=001D universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CCB owner=0100 element=0676 universal=3FFF unitName="celsius" type=0B size=0003 fl=04
*a code=0CCC owner=0100 element=0679 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=04
*a code=0CCD owner=00FF element=0060 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CCE owner=00FF element=005C universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CCF owner=0120 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CD0 owner=0123 element=002A universal=FFFF unitName="none" type=FF size=0000 fl=04
*a code=0CD1 owner=0124 element=0065 universal=FFFF unitName="none" type=FF size=0000 fl=04
	�����I�Y�qy�q���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
)�=�=	�=�=���^:>���������t�<i��f�@���	����@)����@I����@i����@Y��V�;QU�?��!��!�a%�G��)��)y�5�;}5�?I�9��=�4�?��=:n־�	�=�������?9�=��B��=�]<	�=;^<)�9�W-]�1@�W)X1
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�>�]xj,��E�A���>9�I�i���!=�������	;	�6�DY}B�<@�}B]�,@y}B�Ӽ�}B�`��}BH����`������`��ۿ����xX6�������?����R������l�������a�?����e���������?)~B�<@	~B�DY;I~B��CɫY�Y)�Y	�YI�YY�}�@y�}x]G�xDUSBL response received:!U1,R,FB4,000,007A2,184,80,80,B1,FF
�Fpublishing direction and range info���ԇ=���ɰ� >鰅��>	��)���1CI��y��z�B����
�:X���?{���S��?��������ٱ�����M��<Y��[�:QU�?�������a��G������y����}�?I������:���,�4�?���:����h־�	��@�����?9��V�B�����:	���:)����:�WE�1@�WAXA
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�:X���?{���S��?��������2Q�ԇ=:Q��Z���`z��R���%�hn=@��݈*�?�Z��_�C�q���J�v.��?���Ԛ�?BQ���0@
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B�A���*B�A#�#��A�A�A���<"C-�1@*C5�F�=RC5S7�<C5�1@�C1��Eԅ�<��M�?i�Mv?��I�	G%M>�H�~j,����E�AY}^�b<@�}^�},@y}^l�̼�}^�W��}^H�������������ۿ�����<)�����.��?����T������ӭ�������?�����謹������?)~^�b<@	~^ݫY;I~^��Cɫ�髹)��	������I��Y����@y��W^G�=TNmea in: $SNTTA,0.060435,,,,163935.33*4F
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uAdded new target pos. range: 79.740005 m, bearing: 158.334918 deg, deltaT: 4.402713 s, approachRate: 0.776795 m/s, LOS rate: -0.169104 deg/s, posRepo size: 4�m=�
   ProNav: 
      pos range: 79.740005 m,
      bearing: 158.334918 deg,
      approachRate: 0.776795 m/s,
      LOS rate: -0.169104 deg/s,
      cmd update: -0.507313 deg/s,
      cmd heading: 159.298035 deg,
      new cmd heading: 159.388530 deg.
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:@�R�B*** querying acoustic contact ***�P�PBEX�
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BA�AMg��*BI�AM<�E��AI�AI�AMI��="CU�J0@*CUnl�=RC]~�=C]�J0@�CY����<����<��9��I��i�����=��������D����;	����E���Nw=��=�����=�����=�����=���	�=!+:Y�=�W1y�=č:��=��5)�=�;�ױI��G��>���j,N��E�AY}Vf<@i�d�}Vr�,@y}V`׀�I�pi�x�}V�qT���%�οٺ!��%�A�}VH����`�����`ɠۿ���@'̀�����^��?����(����� Ej��������?����W����������?)~Vf<@	~V9];I~V��Cɫ���)��	������I��Y���@y�%^GZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******����V-���?#��~j��?��~j�t�?����<?����%>	���=)��I��y������Q��?��~j�t�?�~j�t��?����5?��������<	��dA)��\AI��i��3A�������A��)��)��5g�<M===Y�=ð;QU=�>��A��A�aE�G��E�=G��iy�mm<:}m�>I�q��u]M�4�?��u�4־�	�ug	�����?9�u�B��u&�:	�u/�:)�q�W��0@�W�X�
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FB4,000,007A2,184,80,80,B1,FF
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��="CPk/@*CF�=RC[H=CPk/@�C��%��==��I�GEQ>��=l����=�����=�����=���	�=(:Y�=0Y1y�=��:��=E�5�W�j,�j�E�Aɫq�y)�y	�}����I�yY����@y��
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�G��	��y����}�>I������4�?���־�	�@����-�?9���B��C�:	�?�:)��m�uAdded new target pos. range: 83.040009 m, bearing: 158.187946 deg, deltaT: 4.444252 s, approachRate: 0.742533 m/s, LOS rate: -0.033070 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 83.040009 m,
      bearing: 158.187946 deg,
      approachRate: 0.742533 m/s,
      LOS rate: -0.033070 deg/s,
      cmd update: -0.099210 deg/s,
      cmd heading: 157.043428 deg,
      new cmd heading: 156.766947 deg.
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]Command Ack]BRequesting micromodem ping code 2i�Y��YI�a)�a�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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;)ȁ�m�qAdded new target pos. range: 86.520004 m, bearing: 158.774796 deg, deltaT: 4.549797 s, approachRate: 0.764868 m/s, LOS rate: 0.128984 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 86.520004 m,
      bearing: 158.774796 deg,
      approachRate: 0.764868 m/s,
      LOS rate: 0.128984 deg/s,
      cmd update: 0.386951 deg/s,
      cmd heading: 156.592041 deg,
      new cmd heading: 156.557801 deg.
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      pos range: 211.679977 m,
      bearing: 153.782583 deg,
      approachRate: 26.185190 m/s,
      LOS rate: -1.044440 deg/s,
      cmd update: -3.133319 deg/s,
      cmd heading: 158.443212 deg,
      new cmd heading: 158.588882 deg.
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      pos range: 102.120003 m,
      bearing: 149.609857 deg,
      approachRate: -24.669630 m/s,
      LOS rate: -0.939573 deg/s,
      cmd update: -2.818720 deg/s,
      cmd heading: 144.653629 deg,
      new cmd heading: 143.213010 deg.
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   ProNav: 
      pos range: 96.420006 m,
      bearing: 105.398268 deg,
      approachRate: -1.268964 m/s,
      LOS rate: -9.842619 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 131.953000 deg,
      new cmd heading: 130.699425 deg.
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C��M��:	�M8�:)�I�m�qAdded new target pos. range: 99.480003 m, bearing: 70.652037 deg, deltaT: 4.466271 s, approachRate: 0.685135 m/s, LOS rate: -7.779696 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 99.480003 m,
      bearing: 70.652037 deg,
      approachRate: 0.685135 m/s,
      LOS rate: -7.779696 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.143522 deg,
      new cmd heading: 73.930010 deg.
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C��%��;	�%E�;)�!�m�qAdded new target pos. range: 102.420006 m, bearing: 73.610322 deg, deltaT: 4.742760 s, approachRate: 0.619893 m/s, LOS rate: 0.623747 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 102.420006 m,
      bearing: 73.610322 deg,
      approachRate: 0.619893 m/s,
      LOS rate: 0.623747 deg/s,
      cmd update: 1.871243 deg/s,
      cmd heading: 21.131149 deg,
      new cmd heading: 16.527672 deg.
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      cmd update: -4.039793 deg/s,
      cmd heading: 29.365093 deg,
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      bearing: 53.290055 deg,
      approachRate: 0.327093 m/s,
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      cmd update: -9.784258 deg/s,
      cmd heading: 11.469979 deg,
      new cmd heading: 9.600868 deg.
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����=i��a=��%���%��<��%�H�i�%f�@��!	�%­@)�%­@I�%�@i�!��5�E<M=(=Y�=�C;QU=�>��A��A�aE�G��A��Iy�M�c�}U�>I�Q��U��4�?��U�@Ѿ�	�UA�?��e�?9�U�C��U8�:	�Ur�:)�Q�m�yAdded new target pos. range: 106.860001 m, bearing: 344.221699 deg, deltaT: 9.697778 s, approachRate: 0.080431 m/s, LOS rate: -7.122082 deg/s, posRepo size: 4�m��
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      pos range: 106.860001 m,
      bearing: 344.221699 deg,
      approachRate: 0.080431 m/s,
      LOS rate: -7.122082 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.630345 deg,
      new cmd heading: 271.982050 deg.
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      pos range: 105.840004 m,
      bearing: 327.832606 deg,
      approachRate: -0.225658 m/s,
      LOS rate: -3.625829 deg/s,
      cmd update: -10.877488 deg/s,
      cmd heading: 222.332684 deg,
      new cmd heading: 218.288275 deg.
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   ProNav: 
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      bearing: 332.977733 deg,
      approachRate: -0.343154 m/s,
      LOS rate: 1.177041 deg/s,
      cmd update: 3.531122 deg/s,
      cmd heading: 174.784585 deg,
      new cmd heading: 169.998360 deg.
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E�m}}Added new target pos. range: 102.300003 m, bearing: 322.823427 deg, deltaT: 4.461727 s, approachRate: -0.457221 m/s, LOS rate: -2.275869 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 102.300003 m,
      bearing: 322.823427 deg,
      approachRate: -0.457221 m/s,
      LOS rate: -2.275869 deg/s,
      cmd update: -6.827607 deg/s,
      cmd heading: 190.538675 deg,
      new cmd heading: 192.000266 deg.
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HmGI�9i�I���Dпٺ������A��-ތ�M57=Y�5(�QU5�>��9��9�aE�G��E�=G-ufFailed to parse device response: 3,4.74219,2277.23
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#�E�AY}%�4W?�}%�?y}%�=�}%�#>�}%H����@���?����)���������?��� ��?���`�L�?�����S������s������le�?������?)~%�4W?	~%��b;I~%��Cɫ	�	)�	�I�Y�M�@y�M��G��TNmea in: $SNTTA,,0.066867,,,164043.53*4B
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�@i�=j�@��M�S�MMY=Y�M��QUM�>��Q��Q�aU�G��Q��Yy�]��=}]�>I�a��m�:��ec��4�?��u�:��eCо�	�e��?��u�?9�eL$C��e=�:	�e��:)�e��:�m�yAdded new target pos. range: 101.099998 m, bearing: 327.724306 deg, deltaT: 4.510889 s, approachRate: -0.266024 m/s, LOS rate: 1.086455 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 101.099998 m,
      bearing: 327.724306 deg,
      approachRate: -0.266024 m/s,
      LOS rate: 1.086455 deg/s,
      cmd update: 3.259366 deg/s,
      cmd heading: 159.793988 deg,
      new cmd heading: 157.331509 deg.
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��emA��a��żM�O=Y�u�QU��>�������a��G������y���#>}��>I���5�:����4�?��=�:���SϾ�	��	@��E�?9��)C����;	���;)���:�m=uAdded new target pos. range: 100.860001 m, bearing: 48.518150 deg, deltaT: 4.487788 s, approachRate: 0.093587 m/s, LOS rate: -9.208489 deg/s, posRepo size: 4�mM�
   ProNav: 
      pos range: 100.860001 m,
      bearing: 48.518150 deg,
      approachRate: 0.093587 m/s,
      LOS rate: -9.208489 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 89.843899 deg,
      new cmd heading: 89.843899 deg.
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%Fpublishing direction and range info����;�����ɰ�L>>����>	��)���CI��y����B����Y��є�?�KTa��޿��������ٱ���M��=��M���M�H�i�M��@��I	�M9�@)�MK�@I�M9�@i�I��m<MmK=Y�u��;QUu�>��q��y�a}�G��y��yy���=}��>Iȉ�ō���4�?�ō��ξ�	ƍ�@����?9ƍ�+C�Ǎ��:	ȍ�:)ȉ�W�+�!?�W�X�
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   ProNav: 
      pos range: 101.879997 m,
      bearing: 63.868505 deg,
      approachRate: 0.229265 m/s,
      LOS rate: 3.450303 deg/s,
      cmd update: 10.350910 deg/s,
      cmd heading: 36.214793 deg,
      new cmd heading: 31.511141 deg.
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      pos range: 104.460007 m,
      bearing: 57.791986 deg,
      approachRate: 0.581552 m/s,
      LOS rate: -1.369690 deg/s,
      cmd update: -4.109069 deg/s,
      cmd heading: 82.094032 deg,
      new cmd heading: 86.068523 deg.
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   ProNav: 
      pos range: 106.080002 m,
      bearing: 54.867002 deg,
      approachRate: 0.366549 m/s,
      LOS rate: -0.661823 deg/s,
      cmd update: -1.985468 deg/s,
      cmd heading: 63.917873 deg,
      new cmd heading: 62.016114 deg.
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      bearing: 50.523872 deg,
      approachRate: 0.382537 m/s,
      LOS rate: -0.954833 deg/s,
      cmd update: -2.864499 deg/s,
      cmd heading: 54.894430 deg,
      new cmd heading: 54.227570 deg.
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      pos range: 108.959999 m,
      bearing: 328.454727 deg,
      approachRate: -0.081788 m/s,
      LOS rate: -3.574718 deg/s,
      cmd update: -10.724155 deg/s,
      cmd heading: 317.633239 deg,
      new cmd heading: 313.650142 deg.
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   ProNav: 
      pos range: 107.940002 m,
      bearing: 310.143727 deg,
      approachRate: -0.225922 m/s,
      LOS rate: -4.055751 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 269.216767 deg,
      new cmd heading: 265.194952 deg.
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yAdded new target pos. range: 106.080002 m, bearing: 311.693634 deg, deltaT: 4.412619 s, approachRate: -0.421519 m/s, LOS rate: 0.351244 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 106.080002 m,
      bearing: 311.693634 deg,
      approachRate: -0.421519 m/s,
      LOS rate: 0.351244 deg/s,
      cmd update: 1.053732 deg/s,
      cmd heading: 216.458634 deg,
      new cmd heading: 211.470726 deg.
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      pos range: 100.680000 m,
      bearing: 303.627918 deg,
      approachRate: -0.533184 m/s,
      LOS rate: -0.796391 deg/s,
      cmd update: -2.389172 deg/s,
      cmd heading: 227.136409 deg,
      new cmd heading: 227.539746 deg.
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      cmd update: -0.893226 deg/s,
      cmd heading: 216.471559 deg,
      new cmd heading: 215.561440 deg.
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}Fpublishing direction and range info��u�O�?��qɰu 0>�q	�q)�u�?CI�qy�u��B��u�K��c���?�wnL��?��������ٱq��dNmea in: $SNTTA,0.077650,0.248763,,,164200.30*53
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      pos range: 91.500008 m,
      bearing: 310.569767 deg,
      approachRate: -0.362287 m/s,
      LOS rate: 0.382734 deg/s,
      cmd update: 1.148202 deg/s,
      cmd heading: 308.858340 deg,
      new cmd heading: 308.858340 deg.
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      bearing: 301.676642 deg,
      approachRate: -0.386350 m/s,
      LOS rate: -1.974626 deg/s,
      cmd update: -5.923878 deg/s,
      cmd heading: 314.039721 deg,
      new cmd heading: 314.431762 deg.
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   ProNav: 
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      bearing: 253.275627 deg,
      approachRate: -0.560960 m/s,
      LOS rate: -11.037012 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 288.054321 deg,
      new cmd heading: 285.507919 deg.
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   ProNav: 
      pos range: 78.360001 m,
      bearing: 296.579135 deg,
      approachRate: -0.409969 m/s,
      LOS rate: 4.029855 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 257.653696 deg,
      new cmd heading: 257.653696 deg.
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   ProNav: 
      pos range: 76.080002 m,
      bearing: 313.928089 deg,
      approachRate: -0.511491 m/s,
      LOS rate: 3.892038 deg/s,
      cmd update: 11.676113 deg/s,
      cmd heading: 310.950101 deg,
      new cmd heading: 315.691145 deg.
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      pos range: 69.180008 m,
      bearing: 321.681419 deg,
      approachRate: -0.611615 m/s,
      LOS rate: 0.526303 deg/s,
      cmd update: 1.578909 deg/s,
      cmd heading: 319.358035 deg,
      new cmd heading: 319.358035 deg.
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�����ʡE���?<�O��n��L7�A`�?����/?���t��	��+=)��I��y����������?��~j�t��/�$��?���� ?���������<	½A)½3AI¹i½- A�������A���nA���nA���M�<M�?=Y�����QU��>�������a��G���g>G��iy�u���}u�>I�y����:��}M��4�?����:��}�tվ�	�}�@����?9�}�uC��}��:	�}��:)�}f�:�m�uAdded new target pos. range: 66.540009 m, bearing: 324.476797 deg, deltaT: 4.455998 s, approachRate: -0.592460 m/s, LOS rate: 0.627329 deg/s, posRepo size: 4�m�
   ProNav: 
      pos range: 66.540009 m,
      bearing: 324.476797 deg,
      approachRate: -0.592460 m/s,
      LOS rate: 0.627329 deg/s,
      cmd update: 1.881988 deg/s,
      cmd heading: 326.380875 deg,
      new cmd heading: 327.086423 deg.
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   ProNav: 
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      bearing: 325.219184 deg,
      approachRate: -0.596291 m/s,
      LOS rate: 0.179951 deg/s,
      cmd update: 0.539853 deg/s,
      cmd heading: 334.190356 deg,
      new cmd heading: 334.889468 deg.
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   ProNav: 
      pos range: 61.080002 m,
      bearing: 323.534668 deg,
      approachRate: -0.681841 m/s,
      LOS rate: -0.382856 deg/s,
      cmd update: -1.148569 deg/s,
      cmd heading: 336.565592 deg,
      new cmd heading: 336.764120 deg.
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   ProNav: 
      pos range: 58.080006 m,
      bearing: 323.264712 deg,
      approachRate: -0.682151 m/s,
      LOS rate: -0.061384 deg/s,
      cmd update: -0.184151 deg/s,
      cmd heading: 331.514614 deg,
      new cmd heading: 331.039176 deg.
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X��W�:W�2W�*W��V�bU�BU�*U�U�U������Q@�R�B*** querying acoustic contact ***�P��P�B	B	
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="Cu��*C���=RC%d)5=C%,ڸ@�C!��1��1�����c=I��)����-4	����-�����-�����-���	�-�7:Y�-xZ1y�-q�:��-�6�95@�ױI��G��>���j,��F�E�A�N��>9�LI�Li�L��L��L��L��N��;	�N�E�|i|Y}
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�^;I~		�)�!Ɍ%GὩ�%.kF�!��!ɍ)i�-��I�)��)I�1i�1	�5�#��1)�1�1	�=
qA��=���=aFɎ9��9��9I�A)�Ai�A)�AI�EqA�M���ɏM�`F	�IɐI�U�pA��U���i�Q��Qi�Q��Q)�Y	�YI�Yɫ)�))�)	�)I�)Y�E�@y�MlGMZ****** received transponder code query ******MF****** received ping request ******U<Arming DUSBL. detectThresh: 75]8****** ping requested ******���y�&1��?��ʡE���S㥛��?��`E?��-��	�$>)�I�y��@5^�I�?L7�A`尿<�O��n�?��b0?��+����t<	��
A)�AI��Ai�
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BA�AA*BA�AA�AI�AI�AM�E="Cu���*Cu�ݮ=RCu��=Cu�ϸ@�Cy��5�3=��	I�G5�>���j,yɶF�E�AY}2��@�}2���@y}2캩��}2�����}2H��������?���`�^�?����v�?���`_c���� ���?���@�m�?�����6�?�����K������>��?)~2��@	~2��^;I~2��Cɫ)�))�)	�-����I�)Y�e%�@y�m,kGuxDUSBL response received:!U1,P
094,000,00639,186,80,80,9A,FF
uCommand AckuBRequesting micromodem ping code 2i�q��q�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
����z�M�Q=Y����:QU��>��	��	�a�G��w>G��)y�=��}��>I����:�����4�?��}�:��u�־�	�X�@����?9�#�C��߇<	�t�<)�x�:�W�8ø@�W�X�
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By�A}O��*By�A}�q��A��A��A��="C�e�*C���=RC�D=C�8ø@�C���]�7=��e�?i�e�?��)I�9G]�>����j,y��F�E�AY}2�k�@�}2�y�@y}2�g���}2*D���}2H�����4��?������?����s�?����H���������?�����'�?��� �,�?���@w���������?)~2�k�@	~2��^;I~2��Ci�l��l)�l	�lI�l	�p)�pɠr`廩�p�p��tɡv�pAi�v���I�t��tI�z�Ci�z�qA	�x�x)�x�|	�~qA��|��|ɢ|����I�)�i�)�	I�	�	ɣ		�	ɤ
̔C���A��i���ɫ1�1)�1	�1I�1Y�U��@y�U�kG��Y��]@A�u�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
��M�u���M`�=��M�ļi�M��@��I	�M�@)�M��@I�M��@i�I��]�&=M]f=Y�eu<;QUe�>��a��a�am�G��i��iy�u���}u�?I�y��}x��4�?��}g�־�	�}��@����?9�}@�C��}w�:	�}��:)�y�W���@�W�X�
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B��A�{�*B��A�+s��A��A��A��="C�L��*C�3��=RC�3��<C��@�C	��=���=��=�#'=���I�	G-N>܁9܁I܅@gGi܅��@�܁�܁�܅��D�܅��;	݅ݎE��!�j,~�F�E�AY}N�R�@�}N�`�@y}N#����}N�ף��}NH��������?����ޟ�?�����?���@A������"��?���@��?���@�;�?����st������[��?)~N�R�@	~N�'_;I~Lɫ���)��	������I��Y�Mӿ@y�UlGmxDUSBL response received:!U1,R,02F,000,0060B,184,80,80,A0,FF
mFpublishing direction and range info��e��'���aɰeu�=�e��>	�a)�e� CI�ay�eG]B��e��7�G��?��+q�����������ٱa����<M�V=Y��;QU��>�������a��G������y����}��>I��������4�?�����־�	����@����?9��b�C���^;	��sQ;)���W5ܱ�@�W1X1
X1�W9:W92W9*W9�V9bUABUI*UIUQUU������@�Pi*QmG]B�Zm��R%\�K@����%����������Zm��7�G��?��+q�����������2Qm��'�:Qi�Zm�����mF@��q��,@�6o@��?�Zm�^�_���?���Ո��"�eq��?BQm��@
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����%�����%�����%���	�%��:Y�%�[1y�%H�:��%26��	�j,)[G�E�AY}6�D�@�}6�R�@y}6C+���}64˙��}6H�������?������?�����a�?�������������?�������?��� *%�?��� 4�����@���?)~6�D�@	~6
-_;I~6��Cɫ���)��	������I��Y����@y���kG��� 0=���`%?����Ļi��ף@���	��ƣ@)��ƣ@I��ƣ@i��ƣ@��% �M-5=Y�5�;QU5�>��9��9�a=�G��=x>G��Ay�E�y�}E�>I�I��U�:��MS��4�?��]�:��M�׾�	�MZ�@��]�?9�M��C��M��:	�MM�:)�My�:�m�uAdded new target pos. range: 55.320004 m, bearing: 324.202360 deg, deltaT: 4.451344 s, approachRate: -0.620038 m/s, LOS rate: 0.210644 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 55.320004 m,
      bearing: 324.202360 deg,
      approachRate: -0.620038 m/s,
      LOS rate: 0.210644 deg/s,
      cmd update: 0.631932 deg/s,
      cmd heading: 330.694695 deg,
      new cmd heading: 330.612412 deg.
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B��A�^Ҽ*B��A�\���A��A��A���	="C��!��*C�I��=RC�Q�a�C���@�C����2;���I��G�G>��%�����%�����%�����%���	�%3:Y�%0Y1y�%��:��%�6�9-@�|��j�a�9�a�I�e�xfGi�e�S�@��a�,߇�G�E�A��a���a���e���;	�e��EY}��@�}a��@y}~>n��}��C��}H�����k{�?����"��?����zN�?����1������1q�?����Ml�?�����Ǎ?�����v���������?)~��@	~��];I~ɫ���)��	��I��Y�E��@y�E�jG�Ma=ɮMp=�����������?J+���)\���(�?���fF?����Ƚ	��)��I��y����I+��?���S㥫�y�&1��?���94?���/]����`e<	��fA)��3AI��;Ai���A������A��E�D;��E�L>��E�½i�EG�@��A	�Eƣ@)�Ez�@I�Ai�A��U��MU==Y�]b5:QU]�>��Y��a�ae�G��a���y�����}��>I������:����Q�4�?����:����1׾�	��5�@����?9��B�C����:	����:)��|�:�W]ﴹ@�WaXa
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^;I~@ɫY�Y)�Y	�YI�YY���@y��kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��=	��=��
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����E�����E�����E���	�E�:Y�E�[1y�EH�:��E'.6����j,�1�G�E�AY}B�ؽ@�}B��@y}B.�k��}BD���}BH�����n�?���`�	�?���@*��?����������fg�?�����6�?�����_�?����qv�����`<��?)~B�ؽ@	~B%^;I~B��Cɫa�a)�a	�aI�aY�m۾@y�m�jGuxDUSBL response received:!U1,P
02F,000,0060B,184,80,80,A0,FF
uCommand AckuBRequesting micromodem ping code 2i�y��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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   ProNav: 
      pos range: 52.260002 m,
      bearing: 324.526576 deg,
      approachRate: -0.687037 m/s,
      LOS rate: 0.072793 deg/s,
      cmd update: 0.218380 deg/s,
      cmd heading: 333.511179 deg,
      new cmd heading: 333.793326 deg.
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   ProNav: 
      pos range: 49.439995 m,
      bearing: 323.524505 deg,
      approachRate: -0.632132 m/s,
      LOS rate: -0.224624 deg/s,
      cmd update: -0.673872 deg/s,
      cmd heading: 334.481212 deg,
      new cmd heading: 334.570140 deg.
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      pos range: 46.560001 m,
      bearing: 323.540242 deg,
      approachRate: -0.649257 m/s,
      LOS rate: 0.003548 deg/s,
      cmd update: 0.010643 deg/s,
      cmd heading: 331.481992 deg,
      new cmd heading: 331.154057 deg.
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��M��<MMH=Y�U�e�QUU�>��Q��Q�aU�G��]�>G��Yy�]�}e�>I�i��m��4�?��m�ؾ�	�mC�@��u�?9�mT�C��m�:	�m@�:)�i�m�uAdded new target pos. range: 43.619995 m, bearing: 324.865927 deg, deltaT: 4.484008 s, approachRate: -0.655665 m/s, LOS rate: 0.295647 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 43.619995 m,
      bearing: 324.865927 deg,
      approachRate: -0.655665 m/s,
      LOS rate: 0.295647 deg/s,
      cmd update: 0.886942 deg/s,
      cmd heading: 331.529718 deg,
      new cmd heading: 331.533979 deg.
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      pos range: 40.859997 m,
      bearing: 325.209868 deg,
      approachRate: -0.629666 m/s,
      LOS rate: 0.078467 deg/s,
      cmd update: 0.235400 deg/s,
      cmd heading: 335.421023 deg,
      new cmd heading: 335.843220 deg.
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   ProNav: 
      pos range: 38.159996 m,
      bearing: 323.237446 deg,
      approachRate: -0.659457 m/s,
      LOS rate: -0.481751 deg/s,
      cmd update: -1.445253 deg/s,
      cmd heading: 336.382885 deg,
      new cmd heading: 336.489907 deg.
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BY�A]�!�*BY�A]�(��AY�AY�Ae(�="C�B���RC��؎=C���@�C��֝yb]=��yI��G��>���#��������������������	���s:Y���V1y���:����6�y��j,��LN�E�Aɫy�y)�y	�yI�yY���@y��#kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i���	��}��=��},���}��i�}Q�@��y	�}E�@)�}��@I�}��@i�}z�@��U��M�J=Y�QU��>�����a��G����y�}��>Iȩ����:�ŭF��4�?����:�ŭ��پ�	ƭ�@����?9ƭ�C�ǭ=�:	ȭV�:)ȭ��:�W��F�@�W�X�
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   ProNav: 
      pos range: 35.220001 m,
      bearing: 327.309249 deg,
      approachRate: -0.641117 m/s,
      LOS rate: 0.887928 deg/s,
      cmd update: 2.663783 deg/s,
      cmd heading: 329.759066 deg,
      new cmd heading: 329.284922 deg.
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      pos range: 32.399998 m,
      bearing: 328.511690 deg,
      approachRate: -0.652703 m/s,
      LOS rate: 0.278311 deg/s,
      cmd update: 0.834932 deg/s,
      cmd heading: 341.284787 deg,
      new cmd heading: 342.407436 deg.
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   ProNav: 
      pos range: 29.819998 m,
      bearing: 321.100471 deg,
      approachRate: -0.584479 m/s,
      LOS rate: -1.678954 deg/s,
      cmd update: -5.036862 deg/s,
      cmd heading: 344.973511 deg,
      new cmd heading: 345.349617 deg.
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   ProNav: 
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      bearing: 321.667650 deg,
      approachRate: -0.589575 m/s,
      LOS rate: 0.126665 deg/s,
      cmd update: 0.379994 deg/s,
      cmd heading: 322.434538 deg,
      new cmd heading: 320.217064 deg.
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152,000,00436,185,80,80,66,FF

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i���������9��v���?L7�A`�п����Mb�?����4?���+��	��=)��I��y����������?�~j�t���y�&1��?���� ?����D����`e=	…�A)…�*AI…AAi…�A������=A���#�M�5=Y��:QU��>�����a��G����y��/�}��>I������:���*5�?����:�����ھ�	��*A����?9��ԏC���s�:	����:)����:�m�uAdded new target pos. range: 24.600000 m, bearing: 327.111338 deg, deltaT: 4.415150 s, approachRate: -0.584352 m/s, LOS rate: 1.232957 deg/s, posRepo size: 4�mrPowering the camera and arming the DDM at range: 24.60 m.�mlFinal approach. Armed for intercept at range: 24.60 m.�m
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      pos range: 24.600000 m,
      bearing: 327.111338 deg,
      approachRate: -0.584352 m/s,
      LOS rate: 1.232957 deg/s,
      cmd update: 3.698869 deg/s,
      cmd heading: 324.113509 deg,
      new cmd heading: 324.285379 deg.
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i�A��I��5���5���5���5ʡ=��5/�<��5,=i�5��@��5���	�5O�@)�59�@I�1i�59�@��E�)=ME<=Y�MO<QUM�>��I��Q�aU�G��Q��Qy�]��<}]�>I�a��m�:��e��5�?��m�:��eG\۾�	�e.A��m�?9�e,�C��e�:	�e��:)�e��:�m�uAdded new target pos. range: 21.900000 m, bearing: 329.862483 deg, deltaT: 4.493078 s, approachRate: -0.600925 m/s, LOS rate: 0.612308 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 21.900000 m,
      bearing: 329.862483 deg,
      approachRate: -0.600925 m/s,
      LOS rate: 0.612308 deg/s,
      cmd update: 1.836923 deg/s,
      cmd heading: 340.731752 deg,
      new cmd heading: 342.300679 deg.
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      pos range: 122.400002 m,
      bearing: 323.721050 deg,
      approachRate: 22.624821 m/s,
      LOS rate: -1.382575 deg/s,
      cmd update: -4.147726 deg/s,
      cmd heading: 348.891331 deg,
      new cmd heading: 349.616342 deg.
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B!�A%�b>*B)�A-ѵ��A)�A)�A-�$="C5����RC1C5���@�C9��=�J����I�G5O>��L�j,��bV�E�AY}:Co�<�}:��@y}:�?��}:���=�}:H�����o�?����t�?����sy�������(Ϳ���@��?����$�������_�?����;�?��� ��?)~:Co�<	~:M�h;I~:��CɫA�A)�A	�M����I�IY�}��@y�}�tG�xDUSBL response received:!U1,R,215,000,00386,187,80,80,9A,FF
�Fpublishing direction and range info����%��ɰ�ȓ=鰍1�>	��)���CI��y����A�����p0���?�|�ݴܿ��������ٱ�i���������H�M�X=Y�����QU��>�������a��G������y��+=}��>I�����*5�?�����۾�	���A����@9��ѓC����:	����:)���WE(��@�WAXA
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F=Y��b�QU�>�����a�G���>G��y�%G�<}%�>I�)��5�:��-d=5�?��5�:��-��۾�	�-A��5�@9�-�C��-��:	�-V�:)�-��:�mm}Added new target pos. range: 16.619999 m, bearing: 320.314480 deg, deltaT: 4.421954 s, approachRate: -23.921551 m/s, LOS rate: -0.770377 deg/s, posRepo size: 4�m}�
   ProNav: 
      pos range: 16.619999 m,
      bearing: 320.314480 deg,
      approachRate: -23.921551 m/s,
      LOS rate: -0.770377 deg/s,
      cmd update: -2.311130 deg/s,
      cmd heading: 330.563887 deg,
      new cmd heading: 328.871494 deg.
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Xy�W�:W�2W�*W��V�bU�BU�*U�U�U���� ��@�R�B*** querying acoustic contact ***�P��P����B�`���B
B!�A%Di>*B!�A%o���A)�A)�A-2�="C5\$!�RC1C5O�@�C9��a��a��U��>I�Y)�Y��aI��G��>�a9�aI�eqGi�e��@��e=��a��a��e��;	�e�E�?��j,��1W�E�AY}N�N<�}N:_�@y}Nm�?��}N�M���}NH�������?��� w��?����$������`nο���`d��?���@q��?�������?�����>������S��?)~N�N<	~N�;I~N��Cɫy�y)�y	�}����I��Y��0�@y��uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����I���=)��C=��]�����S�?��ʡE���Zd;�O��?��]�:?��]���	�]j�<)�YI�Yy�]���n���?<�O��n���� �rh�?��]?��]t���]C�<	�]�A)�]fAI�]lAi�]�A��Y��]GA��}^�M}0=Y�}�h:QU��>�����a��G���>G��y���}��>Iș����:�ŝ��5�?����:�ŝvܾ�	Ɲ�A����@9ƝŔC�ǝ��:	ȝ��:)ȝ��:�W�sb�@�W�X�
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215,000,00386,187,80,80,9A,FF
�Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
i�������mף<��mY?��mff�i�m­@��i	�m��@)�m���I�ii�mO�@���{=M�D=Y���2�QU��>�������a��G������y���.�}��>I�!��%`�5�?��%� ܾ�	�%�A��-�@9�%�C��%��:	�%�:)�!�Wu�ճ@�WqXq
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@d���� �yѿ�����W�?���@_��?�����=�?������ÿ���`;��?)~6�%�@	~6��;I~6��Cɫ9�9)�9	�=����I�9Y�],�@y�]uG�aɮe=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B
i�����U�U�MU=Y�]S:�QU]?��a��a�am�G��i��y�$k�}�?Iȡ�ťi�5�?�ťA$ܾ�	ƥ A����@9ƥ��C�ǥ�;<	ȥN6<)ȡ�Wu�e�@�WyXy
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B�Aa[>*B!�A-թ��A)�A)�A-,�="C5�P-�RC1C5�e�@�C9�9�I�hqGi�6�@��������N�;	�Z�EI�AA)�BA��5�����5�����5�����=�x�>��Ai�E�?��5���	�5�}:Y�5xZ1y�5q�:��5�66)�5��;��I�!GEs>���j,�=W�E�AY}:l��@�}:#��@y}:�D��}:w0=��}:H����`g��?���@���?������?���@��ҿ�������?�����@�?��� ���?���`�|ǿ����Lk�?)~:l��@	~:�ƌ;I~:��C��x��xɫA�A)�A	�E����I�Ai�aY�]w�@y�mguGI�yi����A�xDUSBL response received:!U1,R,17E,000,0036D,186,80,80,9B,FF
����f�ٺ����zWB�Fpublishing direction and range info���㭪����ɰ���=鰝��>	��)���CI��y���qA������}=�?��#e#�Կ��������ٱ�i����������<M�Q=Y�jкQU��>�����a��G���>G��y��J�}��>Iȱ����:�ŵ)�5�?����:�ŵ�(ܾ�	ƵuA����@9Ƶ�C�ǵ��:	ȵ��:)ȵ��:�WK�@�WX
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B��A��d>*B��A�����A��A��A�"T="C��T1�RC�C�K�@�C������>�׹I��G�f>����j,[%�W�E�AY}n!��@�}n��@y}n��F��}n�N��}nH������[�?�����3�?������?���@��ӿ��� >��?�����D�?���`�ר?���`��ɿ����cP�?)~n!��@	~n��;I~lɫ�)�	�!I�!Y�uU�@y�u>uG��DNmea in: $SNTTA,,,,,164413.75*59
i����������������?D�l��������Q��?����?���O��	����<)��I��y���`��"���?:��v��������Mb�?����?����Լ���<	•�A)•�$AI‘i•�A�������A����#����-2>����D�i��3�@���	����@)����@I��i����@��
u�M!=Y����QU�>�����a�G����!y�%2�}%�>I�)��-�5�?��-�.ܾ�	�-�A��=�@9�-@�C��-��:	�-��:)�)�mmuAdded new target pos. range: 15.120001 m, bearing: 324.113568 deg, deltaT: 4.434320 s, approachRate: -0.338270 m/s, LOS rate: 0.856746 deg/s, posRepo size: 4�m}�
   ProNav: 
      pos range: 15.120001 m,
      bearing: 324.113568 deg,
      approachRate: -0.338270 m/s,
      LOS rate: 0.856746 deg/s,
      cmd update: 2.570239 deg/s,
      cmd heading: 320.311475 deg,
      new cmd heading: 319.197142 deg.
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   ProNav: 
      pos range: 9.479997 m,
      bearing: 324.131763 deg,
      approachRate: -0.546870 m/s,
      LOS rate: -0.717910 deg/s,
      cmd update: -2.153730 deg/s,
      cmd heading: 341.172946 deg,
      new cmd heading: 341.958396 deg.
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058,000,0030F,184,80,80,A9,FF
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�Fpublishing direction and range info����������ɰ�t=鰥+�>	��)���BCI��y��f�@����l��z�?�N?��ӿ��������ٱ�I��)���Ai���������<���;�=�����=i��׫@���	����@)����@I��i�����뱻M�D=Y��5�;QU��>������a�G����y�
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<}M�>I�Q���:��U�Z5�?���:��UNݾ�	�U!A��%@9�UW�C��U��<	�U��<)�U��:�mUuAdded new target pos. range: 7.199999 m, bearing: 321.406190 deg, deltaT: 4.437313 s, approachRate: -0.513824 m/s, LOS rate: -0.614240 deg/s, posRepo size: 4�me�
   ProNav: 
      pos range: 7.199999 m,
      bearing: 321.406190 deg,
      approachRate: -0.513824 m/s,
      LOS rate: -0.614240 deg/s,
      cmd update: -1.842719 deg/s,
      cmd heading: 331.651181 deg,
      new cmd heading: 330.578979 deg.
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      pos range: 5.279998 m,
      bearing: 325.425702 deg,
      approachRate: -0.434428 m/s,
      LOS rate: 0.909473 deg/s,
      cmd update: 2.728419 deg/s,
      cmd heading: 323.492840 deg,
      new cmd heading: 322.704864 deg.
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�Fpublishing direction and range info����@�����ɰ�`e=鰅+�>	��)���CI��y����@����G@_V���?ۻ5~8�ҿ��������ٱ�i�q��q��}kA��}lA�����<���ף����h�=i����@���	����@)�����I���@i���@���
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s%6Initialize SetNavComponent.�m=uAdded new target pos. range: 4.500001 m, bearing: 297.508724 deg, deltaT: 4.476394 s, approachRate: -0.174247 m/s, LOS rate: -6.236488 deg/s, posRepo size: 4�mM�
   ProNav: 
      pos range: 4.500001 m,
      bearing: 297.508724 deg,
      approachRate: -0.174247 m/s,
      LOS rate: -6.236488 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 335.727752 deg,
      new cmd heading: 336.841943 deg.
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s�:Uninitialize SetNavComponent.r�fCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19����
r��Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav�q�RCompleted lineCaptureDepth:SetNavAcoustic�8�����q�nAggregate::uninitialize lineCaptureDepth:SetNavAcoustic�W�{j�@�W�X�
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�>C�=��@�C	�>��>���jI����?i��?��5����1��1��5S��	�59q:Y�1y�1��5(6)�5��;�9=����I��G�i>��vj,/m�]�E�AY}2_v�@�}2��@y}2��[<�}2<��=�}2H�����#6�?�����L�?�����ڦ����`�Y������?���@�G�������w������z͸?�������?)~2_v�@	~2�;I~2��Cɫ9�9)�9	�=����I�9Y��	�@y��0qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��i����Åj<=�Å.>�Å9�=iÅf�@�Á	ą�@)ąO�@Iāią�@��Q�:M�G=Y���;QU��>�����a��G����y��=}��>Iȱ����:�ŵ��
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157,000,002BC,185,80,80,8B,FF
Command AckBRequesting micromodem ping code 2i����%�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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�Fpublishing direction and range info�����d=���ɰ��h=鰑	��)���5CI��y��3�@����OF�:��?��ᢔ�?��������ٱ�i���������5^�I�?L7�A`尿�~j�t�h?����>���+��	���D;)��I��y����n����?�I+���V-��?���V?���9�������<	��A)��
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i�����������jA��U94=��U94=��U���i�U��@��Q	�U��@)�U��@I�U��@i�U��@��eg�MmT=Y�m��<QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ����:�Ņ�5�?����:�Ņ��ݾ�	ƅ�<����?9ƅ�	@�Dž=�:	ȅ=�:)ȅs�:�m�mAdded new target pos. range: 5.100000 m, bearing: 331.057985 deg, deltaT: 4.497573 s, approachRate: 0.133405 m/s, LOS rate: 7.459414 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 5.100000 m,
      bearing: 331.057985 deg,
      approachRate: 0.133405 m/s,
      LOS rate: 7.459414 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.940642 deg,
      new cmd heading: 277.320186 deg.
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   ProNav: 
      pos range: 5.339999 m,
      bearing: 323.443499 deg,
      approachRate: 0.054014 m/s,
      LOS rate: -1.713696 deg/s,
      cmd update: -5.141089 deg/s,
      cmd heading: 335.382535 deg,
      new cmd heading: 339.933835 deg.
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   ProNav: 
      pos range: 8.460000 m,
      bearing: 312.613633 deg,
      approachRate: 0.691502 m/s,
      LOS rate: -2.400278 deg/s,
      cmd update: -7.200833 deg/s,
      cmd heading: 312.207512 deg,
      new cmd heading: 310.076674 deg.
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   ProNav: 
      pos range: 10.319998 m,
      bearing: 311.082632 deg,
      approachRate: 0.419398 m/s,
      LOS rate: -0.345215 deg/s,
      cmd update: -1.035644 deg/s,
      cmd heading: 280.317133 deg,
      new cmd heading: 277.157192 deg.
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   ProNav: 
      pos range: 12.960001 m,
      bearing: 305.081136 deg,
      approachRate: 0.592599 m/s,
      LOS rate: -1.347150 deg/s,
      cmd update: -4.041449 deg/s,
      cmd heading: 275.690732 deg,
      new cmd heading: 275.231417 deg.
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8****** ping requested ******i�����)���=	������;����>9��I��3iGi����@��������������;	����EM�D=Y��h�QU��>�������a��G����>G��y����}�>I�	��
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i�������M��t�V�?��(\�µ��&1��?��M�2?��M��	�M�P=)�II�Iy�M��MbX9�?<�O��n��L7�A`�?��M�!?��Mt����M+=	�M�A)�MI.AI�MfAi�M!A��I��MGA��m=Mmo=Y�m���QUu?��q��q�au�G��q��yy�}���}�?Iȁ�Ņ�5�?�Ņ��߾�	ƅ�]?����?9ƅ�RA�DžX�:	ȅ��:)ȁ�WU���@�WQXQ
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uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D�POutgoing frame #2, 6 bytes: 55B944648000�DNmea out: $CCCYC,0,1,10,1,0,2*6A
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qAdded new target pos. range: 45.540001 m, bearing: 262.539686 deg, deltaT: 4.174182 s, approachRate: 0.043122 m/s, LOS rate: 0.235744 deg/s, posRepo size: 4�W�WX
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qAdded new target pos. range: 45.959999 m, bearing: 262.869174 deg, deltaT: 4.535619 s, approachRate: 0.092600 m/s, LOS rate: 0.072645 deg/s, posRepo size: 4�W
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�I�9GU�>���	O	�����	������	������	���	��	::Y��	[1y��	ݏ:���	=6)��	�;�9�	���\+j,#��E�AY}:Nd�@�}:r�@y}:����}:%���}:H�����tTԿ���`�M�?����4X�?����<R�����iԿ������?����=7�?���࿏�����@���?)~:Nd�@	~:N~];I~:��Cɫ9�9)�9	�=����I�AY�]��@y�]|�GeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******��e�J+��?Zd;�O���y�&1�|���e�H=��ej��	�e`�)�aI�ay�e�ˡE����?{�G�z���~j�t�h?��e�'=��e�#���e�D;	�a)�eKAI�eXAi�e�A��a��ep	A���o<M�L=Y��ĺQU��>������a��G������y����;}��>I������:�����5�?����:������	���;@����?9��r]B����;	���;)����:�W1�W1X1
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F27,000,00581,186,80,80,A1,FF
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Ba�Aa*Be!�9�Aa�AeW�7�Am���Ai"Cu3��*Cu�u[=RCuۓ��Cq�Cy��	�	����	�����	�����	��	�	�D:Y�	[1y�	ݏ:��	=6�9�	@Y�E
�p9ܑ9ܑIܕ�Giܕ��@�ܕ=�ܑ�ܑ�ܕ �;	ݕemE��AI�yG��>���"+j,����E�AY}zN]�@�}zk�@y}z^%��}z����}zH������aԿ����4L�?��� ���?�����O����@vԿ��� �і?�����c�?���`�ע���� )��?)~zN]�@	~zi�];I~z��Cɫ�髹)��	��I��Y����@y��тG�mTNmea in: $SNTTA,0.097693,,,,164953.53*48
���+�=����H=����#=i��3�@���	��K�@)��-�@I��K�@i��b�@������M��<Y��^�:QU�&?�������a��G������y��:-�}�&?I������:����z5�?����:���m���	��|<@����?9���]B���I�:	��4�:)����:�m-qAdded new target pos. range: 47.339996 m, bearing: 264.903505 deg, deltaT: 4.571760 s, approachRate: 0.065619 m/s, LOS rate: 0.631691 deg/s, posRepo size: 4�W1�W1X1
X1�W1:W12W9*W9�V9U=������G@UE�����%�?��Y��ai��HmGI��i����%�u�ٺ!��%�fAzL��L��L��L�+Sg@�A��P��B�
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B��A��?*B���9�A��A�A�7�A�6��A�"C�4��*C��Y=RC�YZؼC��C�Y���w9��!i�%�=�����I��G��>��(Q+j,/�D��E�AY}Fޔ@�}F��@y}Fe��}FŹ%��}FH����`�lӿ��� �r�?������?��� }w����@�ӿ������?�����@�?���@����������?)~Fޔ@	~FI^;I~F��Cɫ���)��	������I��Y��y��Z****** received transponder code query ******F****** received ping request ******
<Arming DUSBL. detectThresh: 758****** ping requested ******��9��I����Gi����@���=��������� �;	���aE��>����=�����i�z�@��	�b�@)�b�@I�b�@i�b�@Y�5�:QU5�>��1��1�a=�G��9��9y�E�<}E�>I�i��u�:��m�e5�?��u�:��m���	�m�A@��u�?9�m_B��m��:	�m��:)�m��:�W��W�X�
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EF3,000,00586,187,80,80,98,FF
eCommand AckeBRequesting micromodem ping code 2i�a��a�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
��]�S�Me�<Y�mO@:QU�?�����a��G��	��y��a;}%�>I�1��5Hd5�?��5���	�5�B@��m�?9�5#_B��5��;	�5��;)�1�Wi�WiXi
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��-E	�M5==Y�5���QU5�>��9��9�a=�G��9��9y�E���}E�>I�I��U�:��M�b5�?��U�:��M:���	�MD@��U�?9�M=_B��M�:	�M��:)�M��:�Wy�WyXy
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�Fpublishing direction and range info����ً>���ɰ�S�=����>	��)���CI��y��Q>B����;�\`M��?��x�C�?��������ٱ���5b>��5�D;��5ף�i�5=�@��1	�5-�@)�5-�@I�5-�@i�5-�@��E���ME[=Y�M6p;QUM�>��I��Q�aU�G��Q��Yy�]ƻ}]�>I�a��e�a5�?��eD���	�e8E@��m�?9�eV_B��eض:	�ek�:)�a�W��W�X�
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�<)�e��:�m]qAdded new target pos. range: 47.579998 m, bearing: 267.904608 deg, deltaT: 4.350065 s, approachRate: 0.055172 m/s, LOS rate: 0.689898 deg/s, posRepo size: 4�WY�WYXa
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eCommand AckmBRequesting micromodem ping code 2i�i��i�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76
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I�a)�a����L7�A`��?����Mb���������?���+>����	����<)��I��y���/�$��?k�t���V-��������� ��������	��)���AI���Ai��^A�������A��]�����]�u<��]E�=i�]��@��Y	�]ҙ@)�]ҙ@I�]ҙ@i�]��@��m�ƼMm"=Y�mZ;QUm�>��q��q�au�G��y��yy�}�˺}��>Iȁ����:�ŅlP5�?����:�Ņ��޾�	ƅ��>����?9ƅ:7A�Dž�<	ȅ�<)ȅ��:�WQ�WQXQ
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��5�{>��5��>��5�Ļi�5�@��1	�1)�1I�1i�5ҙ@��e�d�Mm4=Y�mb�:QUm�>��q��q�au�G��q��qy�}$�}}�>Iȁ�Ņ�J5�?�Ņˠ޾�	ƅ��>����?9ƅ_8A�Džw�:	ȅ��:)ȁ�m�uAdded new target pos. range: 58.680004 m, bearing: 260.823396 deg, deltaT: 4.058714 s, approachRate: 0.000000 m/s, LOS rate: -1.743300 deg/s, posRepo size: 4�W��WYXY
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�Fpublishing direction and range info����|o=���ɰ��>鰝+�>	��)����BI��y��flB����(�Sd���?��o�8�?��������ٱ�I��)���A)�����B>����<���E�i���@��	��@)��@I��@i�ҙ@��U~�MUH=Y�U�M�QUU�>��Y��Y�a]�G��Y��ay�e&t;}e�>I�i��u�:��mx*5�?��u�:��m;�޾�	�m�>��}�?9�m�>A��mk�:	�m��:)�m��:�W��W�X�
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ܡ9ܡIܡiܡ�ܡ�ܡ�ܡ�ܥ�D;	ݥuE��EM�M�=Y���QU��>�����a��G����y��;}��>Iȡ�ť�&5�?�ť��޾�	ƥ�>����?9ƥ�?A�ǥ�:	ȥY�:)ȡ�m�qAdded new target pos. range: 59.100006 m, bearing: 262.844257 deg, deltaT: 4.537507 s, approachRate: 0.092562 m/s, LOS rate: 0.445368 deg/s, posRepo size: 4�W��W�X�
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FB4,000,0065C,184,80,80,79,FF
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��UGa���U�=��U�#=i�U�@��Q	�U��@)�U��@I�Qi�U��@��u׆<Mu:=Y�ueT:QUu�>��y���a��G����y���;}��>Iș�ŝ<`5�?�ŝe�޾�	Ɲ��>����?9ƝkA�ǝQ>;	ȝ�?)ș�W��W�X�
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      pos range: 90.540001 m,
      bearing: 42.722024 deg,
      approachRate: 0.053701 m/s,
      LOS rate: -0.602228 deg/s,
      cmd update: -1.806684 deg/s,
      cmd heading: 45.413549 deg,
      new cmd heading: 45.413549 deg.
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      pos range: 90.540001 m,
      bearing: 4.418306 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.637447 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 37.394404 deg,
      new cmd heading: 36.567184 deg.
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   ProNav: 
      pos range: 90.480011 m,
      bearing: 11.088395 deg,
      approachRate: -0.013488 m/s,
      LOS rate: 1.499722 deg/s,
      cmd update: 4.499167 deg/s,
      cmd heading: 344.071526 deg,
      new cmd heading: 338.814386 deg.
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   ProNav: 
      pos range: 89.820007 m,
      bearing: 58.867966 deg,
      approachRate: -0.148027 m/s,
      LOS rate: 10.716080 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.147969 deg,
      new cmd heading: 6.049209 deg.
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��E��<MEL=Y�E���QUE�>��Q��Q�aU�G��U?G��Qy�]!>}]�>I�a��e�$�5�?��eԊ����mtI	�e(Y@��u�?9�e�cB��e��:	�e��:)�a�m�uAdded new target pos. range: 88.620010 m, bearing: 51.788851 deg, deltaT: 4.456794 s, approachRate: -0.269251 m/s, LOS rate: -1.588387 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 88.620010 m,
      bearing: 51.788851 deg,
      approachRate: -0.269251 m/s,
      LOS rate: -1.588387 deg/s,
      cmd update: -4.765162 deg/s,
      cmd heading: 57.633231 deg,
      new cmd heading: 62.447115 deg.
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CB3,000,00836,189,80,80,C5,FF
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   ProNav: 
      pos range: 86.639999 m,
      bearing: 12.547341 deg,
      approachRate: -0.446381 m/s,
      LOS rate: -8.846760 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 36.587396 deg,
      new cmd heading: 34.559629 deg.
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      LOS rate: -0.201203 deg/s,
      cmd update: -0.603609 deg/s,
      cmd heading: 64.252703 deg,
      new cmd heading: 64.252703 deg.
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      pos range: 77.460007 m,
      bearing: 11.500340 deg,
      approachRate: -0.464961 m/s,
      LOS rate: 0.072161 deg/s,
      cmd update: 0.216483 deg/s,
      cmd heading: 11.183736 deg,
      new cmd heading: 11.183736 deg.
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      bearing: 73.371675 deg,
      approachRate: -0.530631 m/s,
      LOS rate: 1.187416 deg/s,
      cmd update: 3.562249 deg/s,
      cmd heading: 68.135344 deg,
      new cmd heading: 68.135344 deg.
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      pos range: 65.940010 m,
      bearing: 66.709816 deg,
      approachRate: -0.509829 m/s,
      LOS rate: -0.628389 deg/s,
      cmd update: -1.885167 deg/s,
      cmd heading: 69.520008 deg,
      new cmd heading: 69.520008 deg.
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   ProNav: 
      pos range: 63.240005 m,
      bearing: 67.315974 deg,
      approachRate: -0.610345 m/s,
      LOS rate: 0.137024 deg/s,
      cmd update: 0.411072 deg/s,
      cmd heading: 61.180663 deg,
      new cmd heading: 60.443074 deg.
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   ProNav: 
      pos range: 60.599998 m,
      bearing: 66.163237 deg,
      approachRate: -0.600742 m/s,
      LOS rate: -0.262309 deg/s,
      cmd update: -0.786927 deg/s,
      cmd heading: 62.988779 deg,
      new cmd heading: 63.197550 deg.
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      pos range: 58.260006 m,
      bearing: 66.083597 deg,
      approachRate: -0.569785 m/s,
      LOS rate: -0.019392 deg/s,
      cmd update: -0.058177 deg/s,
      cmd heading: 59.778042 deg,
      new cmd heading: 59.414454 deg.
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5��}Jg���}JH��������?���@k������������`���?����)��?�����b�����@ԟ�?�����8�����@���?)~JS��?	~J�[;I~Hɫ�髹)��	������I��Y��V�@y��OG���jB�M��=Y���C�QU�?�������a��G���C?G���y��X(�}�?I������:�����5�?����:�����ݾ�	���@����?9��ߺB�����:	����:)��+�:�m5uAdded new target pos. range: 55.500000 m, bearing: 65.672194 deg, deltaT: 4.525725 s, approachRate: -0.609848 m/s, LOS rate: -0.090903 deg/s, posRepo size: 4�mE�
   ProNav: 
      pos range: 55.500000 m,
      bearing: 65.672194 deg,
      approachRate: -0.609848 m/s,
      LOS rate: -0.090903 deg/s,
      cmd update: -0.272710 deg/s,
      cmd heading: 59.513424 deg,
      new cmd heading: 59.496391 deg.
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   ProNav: 
      pos range: 52.799999 m,
      bearing: 65.807985 deg,
      approachRate: -0.627758 m/s,
      LOS rate: 0.031572 deg/s,
      cmd update: 0.094715 deg/s,
      cmd heading: 58.339397 deg,
      new cmd heading: 58.222752 deg.
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��<��YI�iG�8>��[�����������	��&:Y�y�����5��5rWj,oE�]�E�A�|Ti|V�@�x9�zk�CI�xi�x��z=��x��z��D��zcW;	�z(EY}U붳?�}U��?y}U�:���}UꚈ��}UH��������?��� u2�������������:F�?���@(��?�����Yv?���`��?����������`���?)~U붳?	~U�[;I~Qɫ1�1)�1	�5����I�1Y�}ש@y�}�PG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=O�=��=�@���=�t>i�=
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��-��M-@=Y�5�P�QU5�>��1��1�a5�G��=L?G��9y�=:�;}E�>I�I��M�p5�?��M��ܾ�	�M�@��U�?9�M��B��Mӻ:	�MD�:)�I�m�qAdded new target pos. range: 50.459995 m, bearing: 66.367596 deg, deltaT: 4.461233 s, approachRate: -0.524520 m/s, LOS rate: 0.125439 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 50.459995 m,
      bearing: 66.367596 deg,
      approachRate: -0.524520 m/s,
      LOS rate: 0.125439 deg/s,
      cmd update: 0.376316 deg/s,
      cmd heading: 58.761946 deg,
      new cmd heading: 58.802409 deg.
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�Fpublishing direction and range info�����伩��ɰ�)�=鰥+�>	��)����BI��y��>B������Z���?�|�p}�����������ٱ����=i���=������M�d=Y��@#�QU��>�������a��G���P?G���y��I�<}��>I������:����5�?����:����Jܾ�	��#�@����?9��G�B���/;	��;)��9�:�W%��?�W!X!
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��������uxi���u�u<��u㥽i�q��q	�q)�qI�qi�q���.<M�/=Y�V�QU��>�����a��G����y��S<}��>Iȩ�ŭ��5�?�ŭ=ܾ�	ƭp�@����?9ƭ��B�ǭ�:	ȭ]�:)ȩ�m�uAdded new target pos. range: 47.520004 m, bearing: 64.733227 deg, deltaT: 4.422876 s, approachRate: -0.664724 m/s, LOS rate: -0.369526 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 47.520004 m,
      bearing: 64.733227 deg,
      approachRate: -0.664724 m/s,
      LOS rate: -0.369526 deg/s,
      cmd update: -1.108579 deg/s,
      cmd heading: 60.425844 deg,
      new cmd heading: 60.600807 deg.
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   ProNav: 
      pos range: 45.119999 m,
      bearing: 65.026768 deg,
      approachRate: -0.535596 m/s,
      LOS rate: 0.065508 deg/s,
      cmd update: 0.196524 deg/s,
      cmd heading: 55.457697 deg,
      new cmd heading: 54.988712 deg.
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�@y���]G��M�#���MQ8=��M�M>i�M=�@��I	�ME�@)�II�Ii�M��@��]61=M]I=Y�]���QU]�>��a��a�ae�G��a��mSA��iy�u���}u�>I�y����:��}�R	5�?����:��})۾�	�}�@����?9�}��B��}��:	�}A�:)�}C�:�m�qAdded new target pos. range: 42.360001 m, bearing: 65.307496 deg, deltaT: 4.469295 s, approachRate: -0.617547 m/s, LOS rate: 0.062813 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 42.360001 m,
      bearing: 65.307496 deg,
      approachRate: -0.617547 m/s,
      LOS rate: 0.062813 deg/s,
      cmd update: 0.188438 deg/s,
      cmd heading: 56.335380 deg,
      new cmd heading: 56.412862 deg.
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   ProNav: 
      pos range: 39.959999 m,
      bearing: 64.426893 deg,
      approachRate: -0.537993 m/s,
      LOS rate: -0.197399 deg/s,
      cmd update: -0.592198 deg/s,
      cmd heading: 57.176002 deg,
      new cmd heading: 57.245339 deg.
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   ProNav: 
      pos range: 37.139999 m,
      bearing: 64.513281 deg,
      approachRate: -0.641626 m/s,
      LOS rate: 0.019656 deg/s,
      cmd update: 0.058967 deg/s,
      cmd heading: 54.573528 deg,
      new cmd heading: 54.319331 deg.
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   ProNav: 
      pos range: 34.500000 m,
      bearing: 63.647104 deg,
      approachRate: -0.597555 m/s,
      LOS rate: -0.196056 deg/s,
      cmd update: -0.588169 deg/s,
      cmd heading: 54.834271 deg,
      new cmd heading: 54.863633 deg.
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      bearing: 62.125160 deg,
      approachRate: -0.519968 m/s,
      LOS rate: -0.376839 deg/s,
      cmd update: -1.130517 deg/s,
      cmd heading: 52.460711 deg,
      new cmd heading: 52.159195 deg.
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   ProNav: 
      pos range: 29.760000 m,
      bearing: 60.470199 deg,
      approachRate: -0.584728 m/s,
      LOS rate: -0.366554 deg/s,
      cmd update: -1.099662 deg/s,
      cmd heading: 47.366222 deg,
      new cmd heading: 46.897996 deg.
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�>I����f5�?��(�׾�	���@���?9���B��w�:	�n�:)��mUqAdded new target pos. range: 27.359999 m, bearing: 61.962827 deg, deltaT: 4.399883 s, approachRate: -0.545469 m/s, LOS rate: 0.339243 deg/s, posRepo size: 4�mUrPowering the camera and arming the DDM at range: 27.36 m.�m]lFinal approach. Armed for intercept at range: 27.36 m.�m]\Transitioning guidance mode to: FINAL_APPROACH"X]�mm�
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      pos range: 27.359999 m,
      bearing: 61.962827 deg,
      approachRate: -0.545469 m/s,
      LOS rate: 0.339243 deg/s,
      cmd update: 1.017728 deg/s,
      cmd heading: 42.514508 deg,
      new cmd heading: 42.058811 deg.
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   ProNav: 
      pos range: 24.779999 m,
      bearing: 66.374481 deg,
      approachRate: -0.582274 m/s,
      LOS rate: 0.995655 deg/s,
      cmd update: 2.986965 deg/s,
      cmd heading: 47.023740 deg,
      new cmd heading: 47.491014 deg.
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�i�}��@��y	�}O�@)�}�@I�yi�}��@����<M�0=Y����:QU��>�������a��G������y��Wq=}��>����>9��I���rGi��*�@���$=���UD�����D���Ս;	��yKEI����k5�?��(׾�	�y�@���?9�q�B���:	���:)��mUuAdded new target pos. range: 22.379997 m, bearing: 60.715539 deg, deltaT: 4.459954 s, approachRate: -0.538122 m/s, LOS rate: -1.268834 deg/s, posRepo size: 4�me�
   ProNav: 
      pos range: 22.379997 m,
      bearing: 60.715539 deg,
      approachRate: -0.538122 m/s,
      LOS rate: -1.268834 deg/s,
      cmd update: -3.806502 deg/s,
      cmd heading: 60.279244 deg,
      new cmd heading: 61.672236 deg.
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      pos range: 19.860001 m,
      bearing: 61.929831 deg,
      approachRate: -0.568013 m/s,
      LOS rate: 0.273704 deg/s,
      cmd update: 0.821113 deg/s,
      cmd heading: 43.308848 deg,
      new cmd heading: 41.527454 deg.
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      pos range: 17.939997 m,
      bearing: 61.651869 deg,
      approachRate: -0.430511 m/s,
      LOS rate: -0.062326 deg/s,
      cmd update: -0.186977 deg/s,
      cmd heading: 46.971046 deg,
      new cmd heading: 47.314204 deg.
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��6Nmea out: $CCCFG,ALL,0*33
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6B=V0�BA
BA�AEGX�*BA�AE�P!��AI�AI�AM��="CU#�(?*CU<'=RCUIT�<CU#�(?�CY����U�<���I��G��>�6�7^j,b��x�E�AY}6$�d?�}6�%?y}6
�e��}6��Q��}6H��������?���`]"������S�������3�?����Ԙ�?������}?���ৱ�?�����*����� g��?)~6$�d?	~6��];I~4ɫY�Y)�Y	�YI�YY��9�@y���hG�xDUSBL response received:!U1,R,FE9,000,00379,183,80,80,4D,FF
�Fpublishing direction and range info����l�<���ɰ���=鰥$�>	��)����BI��y��p}A�������Y��?P')�6��?��������ٱ���4Nmea in: $CACFG,ALL,0*31
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B��A�4��*B��A-щ!��A)�A)�A-b="C5KM(?*C=q-'=RCEs�<C�KM(?�C���-�=i�-�=��}&t�<��YI�aG�|>���=^j,-y�x�E�AY}r��d?�}r%?y}r#j��}r�vI��}rH�����χ�?����M$���� s=�������4�?����k��?���� mt?���@N@�?���@�!���������?)~r��d?	~r^;I~r��Cɫ���)��	��I��Y�
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�hG�m4Nmea in: $CACFG,SRC,1*33
�uVNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64
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;=Y��$�QU�>��9��9�a=�G��=�?G��Ay�E�9}M�>I�I��M�}5�?��MFҾ�	�M-!A��]�?9�M<C��M��:	�MXjA)�I�m�yAdded new target pos. range: 15.840000 m, bearing: 38.093621 deg, deltaT: 49.755187 s, approachRate: -0.042207 m/s, LOS rate: -0.473483 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 15.840000 m,
      bearing: 38.093621 deg,
      approachRate: -0.042207 m/s,
      LOS rate: -0.473483 deg/s,
      cmd update: -1.420450 deg/s,
      cmd heading: 37.667931 deg,
      new cmd heading: 37.579329 deg.
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B9�A=�*B9�A=^�!��A9�A9�A=o/="CEdK%?RCE��(=CMdK%?�Cq�֥c��<��y	I��	G�	�>�5�D^j,�8y�E�A�|�@i|Y}6��d?�}6<R%?y}6��n��}6�?I��}6H�����<��?����})������v�����@�9�?�������?�����4q?�����ԭ?����i������6��?)~6��d?	~6t^;I~6��Cɫy�y)�y	�yI�yY���@y���iG�ETNmea in: $SNTTA,0.012069,,,,170331.27*4E
�M�CFG response from modem unexpected: $SNTTA,0.012069,,,,170331.27*4E
i�Q��Q�å��<�å94=�å�H=iå�@�á	ĥ��@)ĥ��@Iĥ��@iĥ��@���O=M�Q=Y�.>�QU��>������a��G������y��7;}��>I�������5�?����Ҿ�	��~!A����?9��hC�����:	���pA)���W�#?�WX
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BA�AElV�*BA�AM��!��AI�AI�AM�="CU�#?RC]��X=C]�#?�CY�֭�	=Iש)׭iA��aI�qG�9>�5	��>9�1	I�5	�eGi�5	��@��5	.=��1	��1	��5	�8;	�5		E�_�J^j,�.y�E�AY}2�e?�}2�~%?y}2*�s��}2�RG��}2H�����h�?���`�-�����ˣ�������=�?�������?�����h?����Ks�?�����ܨ��������?)~2�e?	~2��^;I~2��CɫY�Y)�Y	�YI�YY���@y���iGi�	��	��=��;M=R=Y�EzL�QUE�>��A��A�aE�G��M�?G��Iy�My�:}U�>I�Y��]��5�?��]�Ҿ�	�]�!A��e�?9�]�C��]>�:	�]6vA)�Y�WĂ ?�WX
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B��A��T�*B��A�iL"��A��A��A���="C���?RC�D��=C���?�C����&�V=�יI��G�A>��X^j,��ay�E�A�|�|ɫ5����1)�1	�1I�5Y�U��@y�UujG��TNmea in: $CACFG,nav.dt.txtrig_gpio4,1*66
��LNmea out: $CCCFG,pwramp.txlevel,0*2F
���>9�I�xfGi�S�@��,=������D���7;	��E)��i������=M�/=Y����QU��>�������a��G������y�����}��>I�����&�5�?���KҾ�	���"A9�� C���E�:	��9�A)���W��?�WX
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�������3B�?���@O��?�����yY?�����̮?���`S4���������?)~:�>e?	~:ςa;I~:��Cɫ9�9)�9	�9I�9Y�}��@y�}�jG��JNmea in: $CACFG,pwramp.txlevel,0*2D
��8Nmea out: $CCCFG,DTO,30*1E
��-�=i�-=i�		��	I�	R=)�	�=�Í	�=�Í	9�=�Í	��=iÍ	��@�É		č	��@)č	���Ič	��@ič	��@��	M<M�	=Y�	�q�QU�	�>��	��	�a�	�G��	�?G��	y�	�u�}�	�>Iȹ	�Ž	��5�?�Ž	��Ѿ�	ƽ	+#A���	�?9ƽ	J C�ǽ	��:	Ƚ	��A)ȹ	�Wm
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>Nmea out: $CCCFG,FC0,14500*47
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FE9,000,00379,183,80,80,4D,FF
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B��A�cg�*B��A�k�"��A��A��A�%�="C��|?RC���=C��|?�C��֥���=��yI����������CG�c>i�5�mGI�]"oAi�}��A���rx�ٺ�"oA���hB�l@9�\B�ڒr^j,l��y�E�AY}Ns�c?�}N�.$?y}N $n��}N�b}��}NH�������?����������]����� ��?����B��?�����d�?��� 9��?���`u����������?)~Ns�c?	~N�Q�;I~N��Cɫ�髱)��	��I��Y��8�@y��BkG�:Nmea in: $CACFG,BW0,4000*61
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�%��>9�!I�%�gGi�%F�@��%-=��!��!��%H6;	�%�E)�m�d�CI�m�d�Ci�i���m�-=��m�-=��m��5)��i���!ai5�ai5 am5�am5 aq5�aq5 ae5�ae5 aI5�aI5 ��5�T㥛� �?������������������5�>��5�L�	�5���)�1I�1y�5��G�z�?��~j�t���� �rh�?��5�?��5�����5C=	�5�A)�5�AI�5lAi�53A��1��1��U��<MUE=Y�U�r;QU]�>��Y��Y�a]�G��Y��ay�mJ"�}m�>I�q��}�:��u	�5�?��}�:��u�Ѿ�	�u�$A����?9�u!C��u��:	�u��:)�u��:�W��?�W�X�
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B��A�cg�*B��A���"��A��A��A��="C��?RC���>C��?�C����0�=�׹I��G�f>�_�~^j,>v�y�E�A�|�|p;Y}2܇c?�}2@�#?y}2�c��}2e(���}2H�����`��?���`8����� շ����`��?����Ψ�?���࿉�?����#n�?���`�ִ�����!��?)~2܇c?	~20��;I~2��CɫY�Y)�Y	�]���I�YY�}(�@y�}klG��LNmea in: $CACLK,2021,8,13,17,3,36*4D
��}-	����}�����}�����}1��	�}i7:Y�}�X1y�}/�:��}�6�mUOutgoing frame #1, 60 bytes: 188916611E0000005D00000400260000000000000000151D80030C5669C08C79986EC92656A4BF84E97BE1752B70ABD534637561E856FC3929350700�uDNmea out: $CCCYC,0,1,10,1,0,1*69
���>9�I��hGi�:�@��.=������q5;	�@EI��?)��?i���I�%�=)�%R=��%jA��!��m`廩�m\���m-��i�m�@��i	�m��@)�m��@I�m��@i�m��@��}�<M��<Y���:QU�->�����a��G���?G��y�{�}�->Iș����:�ŝ"5�?����:�ŝY�Ѿ�	Ɲ�%A����?9Ɲ�!C�ǝ(�:	ȝ4�:)ȝ��:�W���?�W�X�
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�-NNmea in: $CADRQ,170336,1,10,0,64,1*76
��UNmea out: $CCTXD,1,10,1,188916611E0000005D00000400260000000000000000151D80030C5669C08C79986EC92656A4BF84E97BE1752B70ABD534637561E856FC3929350700*33
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BA�AE]�;*BI�AM��"��AI�AI�AMbn="CU!�?RC]��/>C]!�?�CY��M�>��	I�G=�>��^j,�'Qz�E�AY}23�^?�}2�c?y}2[��}2����}2H�����O��?�����Y�����PY������i��?�������?�������?����k`�?�����[����� ���?)~23�^?	~28�m;I~2��CɫY�Y)�Y	�YI�YY����@y��mG��VNmea in: $CATMS,0,2021-08-13T17:03:37Z*7C
���TXD response from modem unexpected: $CATMS,0,2021-08-13T17:03:37Z*7C
��zNmea in: $CATMG,2021-08-13T17:03:37.026107Z,USER_CMD,RTC*19
���TXD response from modem unexpected: $CATMG,2021-08-13T17:03:37.026107Z,USER_CMD,RTC*19
��@��@��@��©�����i�̤@������	����)����I����i��@��-<�<M5�=Y�5�R9QU5?��9��9�a=�G��9��Ay�EY�}E?I�I��MH95�?��M��Ѿ�	�MK&A��]�?9�M�!C��M{�:	�M��:)�I�W]f�?�WYXY
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      bearing: 24.816002 deg,
      approachRate: 0.535711 m/s,
      LOS rate: -1.049110 deg/s,
      cmd update: -3.147329 deg/s,
      cmd heading: 19.690638 deg,
      new cmd heading: 19.127337 deg.
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      bearing: 355.264585 deg,
      approachRate: 1.730208 m/s,
      LOS rate: -6.657559 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.808396 deg,
      new cmd heading: 4.384903 deg.
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   ProNav: 
      pos range: 27.900000 m,
      bearing: 6.150418 deg,
      approachRate: -0.544700 m/s,
      LOS rate: 2.470630 deg/s,
      cmd update: 7.411889 deg/s,
      cmd heading: 312.597479 deg,
      new cmd heading: 306.523427 deg.
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   ProNav: 
      pos range: 28.740002 m,
      bearing: 320.212082 deg,
      approachRate: 0.206397 m/s,
      LOS rate: -11.287530 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.551302 deg,
      new cmd heading: 346.352645 deg.
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   ProNav: 
      pos range: 30.600000 m,
      bearing: 288.144999 deg,
      approachRate: 0.419025 m/s,
      LOS rate: -7.224156 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 288.942740 deg,
      new cmd heading: 283.520216 deg.
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338,000,0046F,189,80,80,BE,FF
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��mt���m/�=��m�=i�m��@��i	�m-�@)�mO�@I�mO�@i�mO�@��}g3�M}4=Y�A4�QU��>�����a��G����y�:X�}��>Iș�ŝ�l5�?�ŝ�Ѿ�	Ɲ}CA����?9Ɲw3C�ǝD�:	ȝ'�:)ș�m�qAdded new target pos. range: 32.639999 m, bearing: 296.316556 deg, deltaT: 4.429139 s, approachRate: 0.460586 m/s, LOS rate: 1.844954 deg/s, posRepo size: 4�m��
   ProNav: 
      pos range: 32.639999 m,
      bearing: 296.316556 deg,
      approachRate: 0.460586 m/s,
      LOS rate: 1.844954 deg/s,
      cmd update: 5.534861 deg/s,
      cmd heading: 235.793610 deg,
      new cmd heading: 230.384586 deg.
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30A,000,004AD,189,80,80,B6,FF
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�Fpublishing direction and range info����|0����ɰ���=��7�>	��)����BI��y��3B�����y��%��?^I��Z���������ٱ�I��=)���MS�=��M۹>��M���i�Mf�@��I	�M��@)�M�@I�Ii�M�@��.;MX=Y����QU�>�����a�G����!y�%���}%�>I�)��-�t5�?��-�Vپ�	�-��A��=�?9�-_^C��-ܹ:	�-M�:)�)�WY�WYXY
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316,000,004CE,189,80,80,5B,FF
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��M�N>��M.>��M�m�i�M(�@��I	�I)�M�@I�M&�@i�M�@��]���M]P=Y�ek�QUe�>��a��a�am�G��i��iy�u)?;}u�>I�y����:��}�O5�?����:��}�nپ�	�}��A����?9�}�^C��}=�:	�}�:)�}��:�Wi�WyXy
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(>�/�Pnj,�\C��E�AY}rS?�@�}rM�@y}r��;<�}r�?��}rH�����u����@��?������?���@��������ӳ�����@!������N{����� �f�����@+��?)~rS?�@	~r��[;I~r��Cɫ���)��	�����I��Y�m0�@y�m�cG��TNmea in: $SNTTA,0.065830,,,,170748.42*43
I�54=)�5�=��] 
=Me9=Y�m�`�QUu�>��y���a��G����y��$;}E�>I�I��U�:��M�G5�?��U�:��M�sپ�	�MŀA��U�?9�M_C��M��:	�M��:)�M��:�m�qAdded new target pos. range: 36.419998 m, bearing: 255.622835 deg, deltaT: 4.415984 s, approachRate: 0.027175 m/s, LOS rate: 6.668173 deg/s, posRepo size: 4�W��W�X�
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392,000,00525,189,80,80,5E,FF
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�:�m-qAdded new target pos. range: 41.579998 m, bearing: 239.598829 deg, deltaT: 4.463900 s, approachRate: 0.013441 m/s, LOS rate: 3.448579 deg/s, posRepo size: 4�W)�W)X)
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>��F�����������������	��$:Y��[1y�H�:��i�5�A9�AI�E,bGi�EԷ@��E=��A��A��EP�;	�E��E��1z}j,�����E�A�|�|ɫy�y)�y	�}���I�yY���@y���iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����#��~j���sh��|?�?�l����¿���㥽�����>	����)��I��y����I+��?1�Zd��<�O��n�����9�=���"۽���t��	­;A)­^AI­�Ai©������pA���	�<M�?=Y�����QU��>�����a��G����y����}��>Iȡ�ť�5�?�ťT޾�	ƥ��A����?9ƥyC�ǥù;	ȥظ;)ȡ�W�WX
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EDF,000,0066F,186,80,80,81,FF
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E99,000,00670,186,80,80,9E,FF
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