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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 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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 *a code=0C99 owner=0133 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *a code=0C9A owner=0133 element=060C universal=3FFF unitName="enum" type=02 size=0001 fl=05 *a code=0C9B owner=0133 element=06AB universal=3FFF unitName="radian" type=2F size=0004 fl=05 *a code=0C9C owner=0133 element=06A3 universal=3FFF unitName="meter" type=0B size=0003 fl=05 *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 *a code=0CB3 owner=0135 element=0007 universal=FFFF unitName="none" type=FF size=0000 fl=04 *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 Xq�Wy:Wy2Wy*W��V�bU�BU�*U�U�U����@S�@Beڨ �Ba Ba�Aa*Ba�Am�� ��Ai�Ai�Am9?�<"C�]�1@*C��\�=RC��ȥ<C�]�1@�C������������������}�� �]-:Y��Y1y��:��k�5�9%@�֥ �<��Y I�i G� �>�]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 XI�WI:WI2WI*WI�VQbUqBUq*UqUyU}���`a�@�P�*Q�z�B�Z�����#�S@x��}�#@���������Z�� �:X���?{���S��?��������2Q�ԇ=:Q��Z���`z��R���%�hn=@��݈*�?�Z��_�C�q���J�v.��?���Ԛ�?BQ���0@ Q�s�AQ�-���P�զ9?�P��9?�P����Q�����Q�V�@"Q���@B���*�B� 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: $SNTTA,0.060435,,,,163935.33*4F ��u�U=MuA=Y�}+�:QU}�>��y��y�a��G���=G��y����}��>Iȱ�ŵ���4�?�ŵda־� Ƶ�������?9Ƶ��B�ǵD�: ȵ:)ȱ�m uAdded new target pos. range: 79.740005 m, bearing: 158.334918 deg, deltaT: 4.402713 s, approachRate: 0.776795 m/s, LOS rate: -0.169104 deg/s, posRepo size: 4�m=� ProNav: pos range: 79.740005 m, bearing: 158.334918 deg, approachRate: 0.776795 m/s, LOS rate: -0.169104 deg/s, cmd update: -0.507313 deg/s, cmd heading: 159.298035 deg, new cmd heading: 159.388530 deg. �W=��1@�W9XA XA�WA:WA2WA*WI�VIbUiBUi*UqUu���@\�S@Uu�������?B���B� B��A�c��*B��A�A{(��A��A��A�.��<"C���1@*C��!�=RC�&W�<C���1@�C��� �<���I� G-p>��� ���������������� ��B:Y�0Y1y���:��O6�zo�j,G��E�AY}2KA<@�}2�\,@y}2ѕ���}2a�O��}2H���� ���������ۿ����`0G�����`��?���`K�������������&2�?���������@0��?)~2KA<@ ~2�Z;I~2��Cɫ9�9)�9 �=����I�9Y�]�@y�]|]GI��)���A���mA�����=��=��=�O>��=�~>i�=��@��9 �=��@)�=��@I�=��@i�=��@��}r[�M}J=Y��_;QU��>�����a��G����y���}��>Iș����:�ŝ���4�?����:�ŝ�Z־� Ɲ�������?9Ɲ��B�ǝ��: ȝ�:)ȝ��:�W��t1@�W�X� X��W�:W�2W�*W��V�bU BU*UUU%������?B% n�B! B!�A%��*B!�A-��-��A)�A)�A-m�<"C5�t1@*C5��=RC5aҫ<C5�t1@�C9��%nA��%nA�)9�)I�-�XGi�-6�@��-=��-SD��)��-� ; �-�E)ݹ�Iݹ�iݹ��ݽ�=�ݽ�=�ݽ���5��U��<��I�G=�>�_��j,r�0�E�AY}6�.<@�}6.J,@y}6�����}6�_U��}6H�����8������T�ۿ�����g�����T��?��� �������"謿����=��?��� :����������?)~6�.<@ ~61�Z;I~6��Cɫ9�9)�9 �=����I�9Y�]L�@y�]�]G����/�$��?�z�G��?y�&1��?���,?��� �> ��`e<)��I��y���㥛� ��?��~j�t�?�v��/�?����5?����=���xi= �A)- AIi�A������fA�����<M�E=Y���y;QU��>�������a��G����=G���y��a1�}�>I� �� ���4�?�� -T־� � �����5�?9� )�B�� ��; � U�;)� �W}j:1@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��?B=�Z�Ba Bi�Am��*Bi�Am�52��Aq�Aq�Aup�<"C}j:1@*C��ݬ=RC��z�<C�j:1@�C��֝oE�<I)�בI��G��>��=�����=�����=�����=��� �=4-:Y�=�X1y�=/�:��=i�5����j,��J�E�AY}R�9<@�}R�T,@y}R�Ц��}R�~Z��}RH������������C�ۿ�����s����`���?����������@��������ٔ?����K��������?)~R�9<@ ~RZ([;I~Pɫq�q)�q �u����I�qY��=�@y���]G��E��<��E�q=��E���i�E��@��A �Eۙ@)�E��@I�E��@i�E��@��uT��MuO=Y�}��;QU}�>��y��y�a}�G����y���:}��>Iȱ����:�ŵ��4�?����:�ŵ.N־� Ƶ0o�����?9Ƶ��B�ǵ��: ȵo�:)ȵ��:�W�1@�WX X!�W!:W!2W)*W)�V)bU)BU)*U1U1U5���@�9�?B};��B� B��A���*B��A�1�6��A��A��A���<"C��1@*C����=RC����<C��1@�C�����]�<�ױI��G�e>���>9�l�CI�i���=������<; �X�E�y��j,%]d�E�AY}2�M<@�}2[i,@y}2ϐ���}2��[��}2H���� h�����`��ۿ�����5x����৲�?���@z����� ������@ʱ�?�����v�����@���?)~2�M<@ ~2��[;I~0ɫ9�9)�9 �=����I�9Y�]��@y�]j]G)���= ��>������M�U=Y��9A;QU��>�������a��G������y��^W;}��>I�������4�?���nH־� ���T����?9��B�B���#�: ����:)���WE��0@�WAXA XI�WI:WI2WI*WI�VIbUqBUq*UqUyU}�����$�@B� ��B� B��A�l��*B��A��7;��A��A��A�i'�="C���0@*C�w��=RC� ��<C���0@�C���%���<���I��GK>��=�����=�����=�����=��� �=5�:Y�=�[1y�=H�:��=Y6)�=��;�9E��G՞j,�6~�E�AY}2a<@�}2||,@y}2�ᓼ�}2��]��}2H������������ʦۿ�����}��������?���������� ���������{�?��� y����������?)~2a<@ ~2�\;I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�]s]G����;M�J=Y���?;QU��>�������a��G����=G���y��i=;}��>I������~�4�?���RB־� ���8����?9����B����: ���:)���WEd�0@�WAXA XI�WI:WI2WI*WI�VIbUqBUq*UqUyU}����`@B�E4�B� B��A����*B��A��@��A��A��A�&h�="C�d�0@*C�{��=RC�ִ =C�d�0@�C���%G��<��=�?i�=�?��!I�QGuW>�4��j,I��E�Aɫy�y)�y �}����I�yY��W�@y���]G������@A�������\�����:i��f�@��� ����@)����@I����@i��h�@��](�<Me4=Y����QU��>�����a��G������y� ���}�>I�Q��]�:��U�c�4�?��]�:��U ;־� �UE���]�?9�U��B��U(�: �U��:)�U��:�W��J0@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� :@�R�B*** querying acoustic contact ***�P�PBEX� �BA BA�AMg��*BI�AM<�E��AI�AI�AMI��="CU�J0@*CUnl�=RC]~�=C]�J0@�CY����<����<��9��I��i�����=��������D����; ����E���Nw=��=�����=�����=�����=��� �=!+:Y�=�W1y�=č:��=��5)�=�;�ױI��G��>���j,N��E�AY}Vf<@i�d�}Vr�,@y}V`׀�I�pi�x�}V�qT���%�οٺ!��%�A�}VH����`�����`ɠۿ���@'̀�����^��?����(����� Ej��������?����W����������?)~Vf<@ ~V9];I~V��Cɫ���)�� ������I��Y���@y�%^GZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******����V-���?#��~j��?��~j�t�?����<?����%> ���=)��I��y������Q��?��~j�t�?�~j�t��?����5?��������< ��dA)��\AI��i��3A�������A��)��)��5g�<M===Y�=ð;QU=�>��A��A�aE�G��E�=G��iy�mm<:}m�>I�q��u]M�4�?��u�4־� �ug �����?9�u�B��u&�: �u/�:)�q�W��0@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����L~ @BeI=�Ba Ba�Aeﱾ*Bi�Am�JJ��Ai�Ai�Am'��="Cu�0@*Cu�T�=RCu��$=C}�0@�Cy�֕��=��QI�YGu�>�ϲj,.���E�AY}6cf<@�}6Ё,@y}6��l��}6��W��}6H����@I������[�ۿ��� i҃�����,��?���`%����� 5z�����@<��?����N쪿���`���?)~6cf<@ ~6��\;I~4ɫ9�9)�9 �9I�9Y�]��@y�]I^GexDUSBL response received:!U1,P FB4,000,007A2,184,80,80,B1,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 ��u�=��u�p���uC��i�u��@��q �u��@)�u��@I�u��@i�u��@���<M�S=Y���W;QU��>�������a��G�����)y�-um8}5�>I�A����:��EW7�4�?����:��E�.־� �E�������?9�E��B��E��: �E��:)�E��:�W�a�/@�W�X� X��W�:W�2W�*W��V�bUBU*UU U ����V� @BUÎ�BQ BQ�A]��*BY�A]��N��AY�AY�A}[=="C�a�/@*C��>�=RC�l.0=C�a�/@�C��֕��&=Iס)ס��E�����A��A��E��� �E�,:Y�Ay�A��EW�5�9U@��iI�yG��>����>9��I��hXGi���@�������������; ����E�8��j,<���E�AY}6�p<@�}6�,@y}6��T��}6a�V��}6H����`��������ۿ�����N��������?�����������������@��?����p٪����@ ��?)~6�p<@ ~66�\;I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]^G�aɮep=�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���$��M�l=Y����;QU?�����a�G�� �� y� �:}?I�9��=�$�4�?��=�)־� �= ���E�?9�=#�B��=��: �=�:)�9�W�ä/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����N/@Bp<#�B��= B�A ܲ�*B �A [�R��A �A)�A-L�="C5ä/@*C5�-�=RC=r<=C=ä/@�C9��E·3=��I� G%M>I�1)�5@A�r#�j,�~��E�AY}6�v<@�}6�,@y}6l)=��}6��]��}6H����@�����` �ۿ���@�p������Î�?������������������ ��?����,������`p��?)~6�v<@ ~6}�\;I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]!]GexDUSBL response received:!U1,R,FB6,000,007D9,184,80,80,BB,FF eFpublishing direction and range info��eA�=��aɰe�$>�a �a)�e�;CI�ay�e�B��e�4Y�����?�P�0��?��������ٱa�� x�M�O=Y��o;QU��>�������a��G����=G���y��.u:}��>I������:�����4�?���:����#־� ���ʽ���?9����B�����: ����:)����:�WEPk/@�WIXI XI�WI:WI2WI*Wq�VqbUqBUq*UyUyU}���`��@�P�*Q��B�Z���!�{�T@y]�_o@���������Z��4Y�����?�P�0��?��������2Q�A�=:Q��Z���e ��ES��D��>@l���T�?�Z��HYVE���q_~��?dFiw�p�?BQ���0@ Q���AQ�/���P�Ŧ9?�P�զ9?�P�{���Q����Q��@"Q�V�@B��t �B B�A ��*B�AڏW��A �A �A ��="CPk/@*CF�=RC[H=CPk/@�C��%��==��I�GEQ>��=l����=�����=�����=��� �=(:Y�=0Y1y�=��:��=E�5�W�j,�j�E�Aɫq�y)�y �}����I�yY����@y�� ]G�mDNmea in: $SNTTA,,,,,163939.75*5B ����u�V�?�rh��|�?�&1������rH?�����= ���P�)��I��y���NbX9��?:��v���?�� �rh�?����E?����T=���C= ��5A)��!AI��^Ai���A�������A��i��mmA܍��>9܉I܍XGi܍��@�܉�܉�܉�܍�; ݍ��E���+>����N����j��i��\�@��� ��)����@I��i�����ᇻM=Y����QU�>�� �� �a �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. �W��[/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U������T@U���`F��?Bm���Bi Bq�AuH��*Bq�Au�G^��Aq�Aq�A}U="C}�[/@*C�'�=RC�G�I=C��[/@�C� Օ�=�ԕ�=��} <�H=�ׅ �?iׅ �?��9 I�I Ge �>��5�j,i53�E�AY}2�%<@�}2bA,@y}2����}2��|��}2H��������������ۿ����/H��������?���@ ������c�����@$1�?��������������?)~2�%<@ ~2�\;I~2��Cɫ9�9)�9 �=����I�9Y�]n�@y�]�\G����ݼM��=Y��^#<QU�'?�������a��G����=G���y��V��}�'?I������:������4�?���:����־� ��������?9����B�����: ���:)����:�Wu8T/@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U����@ �?B=`W?�BA BA�AE�þ*BA�AM2�a��Ai�Ai�Am�="Cu8T/@*Cu���=RC}�7=C}8T/@�Cy�хG��<��]�SE=��1I�9��e ����e�����e�����e��� �e�5:Y�e�[1y�eH�:��e��5Gm�>�X�j,MM�E�AY}2)�;@�}2��+@y}2�� ��}2����}2H�������������ܿ���@n������`��?����S������������`�?�?��� G������@+��?)~2)�;@ ~2��\;I~2��Cɫ9�9)�9 �=����I�9Y�]ó@y�]*]G ������5�'=��5�̽��5C�i�1��1 �5��@)�5��@I�1i�1��E��<MED=Y�Mx�:QUM�>��I��I�aU�G��Q��yy�}�"�}}�>Iȁ�ŅH��4�?�Ņ�־� ƅgS�����?9ƅ��B�Dž�); ȅ�*;)ȁ�W��H/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@���?B=2#�B9 BA�AE���*BA�AEߗf��AA�AA�AE�="Cm�H/@*Cu�ޫ=RCuJJ-=Cu�H/@�Cq��e�=��-�8=��I�)GEQ>�e��>9�aI�ai�a��e=��a��a��e�; �e��E)���l�CI���l�Ci�������=����=���� z5��G�j,��f�E�AY}6ǣ;@�}64�+@y}6WR��}6�H���}6H���� O�������Dܿ�������`�L�?���`�����`�J����� ?��?�����%������U��?)~6ǣ;@ ~6�\;I~6��Cɫ9�9)�9 �=����I�AY�]��@y�]!]G�����M�Q=Y���h:QU��>�������a��G������y��.�}��>I��������4�?���c ־� ��r����?9��3�B���: ��Q�:)���WEy=/@�WAXA XI�WI:WI2WI*WI�VQbUqBUq*UqUyU}���`*��?B�(h'�B� B��A� ��*B��A�+Yk��A��A��A��="C�y=/@*C�{ȫ=RC��#=C�y=/@�C�����)� � �ԡ�ԡ��e ����e�����e�����e��� �e4:Y�e0Y1y�e��:��eD�5)�eː;�9u��֕�;6=Iי)י��i I�q G� �>�Y/�j,�ƀ�E�AY}2 n;@�}2v�+@y}2rT��}2�F���}2H����@b����� �tܿ�����ܖ������|�?����k�������*�����@���?����t���������?)~2 n;@ ~2c�\;I~0ɫ9�9)�9 �=����I�9Y�]I�@y�]�\G����M�J=Y����QU��>�������a��G����=G���y���}��>I������:������4�?���:����־� ��F�����?9����B���j�: �� �:)����:�WE2/@�WIXI XI�WI:WI2WI*Wq�VqbUqBUq*UyUyU}���@�$�@B���*�B� B��A�Lƾ*B��A�C{p��A��A��A���="C�2/@*C�L��=RC���=C�2/@�C����[Z&=���I�G-->�1Y�j,����E�Aɫ�髁)�� ��I��Y����@y���[G)Õ�= Õ�=��U�����U�o���U&�>i�Uf�@��Q �U��@)�Uh�@I�Uh�@i�Uh�@��e��Mm4=Y�m���QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ�Ņ<y�4�?�Ņ�վ� ƅM������?9ƅ��B�Dž��: ȅr�:)ȁ�W�7%/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����ѷ@B���+�B� B��A��ξ*B��A��Uv��A��A��A��n="C7%/@*C X��=RC ��=C 7%/@�C � ��>9� m�CI� <WGi� �@�� =�� �� �� �; � ��E��=�"=���I� G-p>��e�����e�����e�����e��� �eC3:Y�e�V1y�e�:��eW�5)�e�;���j,�z��E�AY}>�\;@�}>Fx+@y}>9���}>�Q���}>H�������������ܿ�����}�����`O��?���������`h�������~?����aE���������?)~>�\;@ ~>ve_;I~>��CɫY�Y)�Y �YI�YY���@y��Y\G������AA����u�V�?k�t���i��|?5�?������ �� ���q=)��I��y���L7�A`��?y�&1��?�&1��?���+G?���`e=����P= ��dA)���!AI��i���A�������A�� ��<M P=Y�3�:QU�>�����a�G���=G��y�%I/�}%�>I�)��5�:��-[a�4�?��5�:��-��վ� �-�p<��=�?9�-$�B��- �: �-�:)�-��:�W��/@�W�X� X��W�:W�2W�*W��V�bU�BU *U U U ��� �@�RB*** querying acoustic contact ***�P�PB��-�B� B��A�Oɾ*B��A���{��A��A��A���="C��/@*C��|�=RC���=C��/@�C����=���?i��?���I��G�>��j�j,�U��E�AY}2�|;@�}28�+@y}2�����}2� ���}2H���� �������aܿ���`�ĝ������o�?����D����� T,�������}?�����{����� ���?)~2�|;@ ~2�Z_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�[G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���+>����������i��Q�@��� ��)����@I����@i����@�����MK=Y��::QU�>�� �� �a �G�� ��y���;}�>I�!��%�H�4�?��%�վ� �%�=��-�?9�%��B��%p�: �%��:)�!�WU�/@�WQXQ XQ�WQ:WY2WY*WY�VYbUaBUa*UaUaUe����2 @B�T�8�B� B��A�{о*B��A�s`���A��A��A�A`="C��/@*C�h�=RC���&=C��/@�C��֝�;=��yI��G�`>��� �������������������� ���5:Y���X1y��/�:����6�9�@� 9� I� i� �� �� �� �� h; � r�E� ��j,�0��E�AY}2 �;@�}2��+@y}2�w仙}2����}2H���� �������wEܿ����|:�������S�?����)����� �Ҳ����@��|?��������� z��?)~2 �;@ ~2ש^;I~0ɫ1�1)�1 �5����I�1Y�Mg�@y�U~[G]xDUSBL response received:!U1,P FB6,000,007D9,184,80,80,BB,FF ]Command Ack]BRequesting micromodem ping code 2i�Y��YI�a)�a�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �nA�©���$��M�>=Y��J-:QU��>������a �G���=G��!y��6�;}��>��9��9i��HmGI��i� ��eDпٺa��e��AI�����:��l,�4�?����:��h�վ� ��t=����?9��B��= ���<)���:�W���.@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U1U=��� P@B��F(�B� B��A�kԾ*B��A�����A�A�A,�="C=��.@*C=GJ�=RCE��/=CE��.@�Cq�օ �#'=��YI�iG��>��|�j,=�E�AY}6��;@�}6��+@y}6��ڻ�}6~���}6H�������������5ܿ��� B�����@ D�?����������@������� S{?����}곿���@���?)~6��;@ ~6�^;I~6��C �<)�>CqAɇ>�����`�`��`Ɉf�pAi�dI�d��dI�f��Ci�h �h�h)�h�h �h��l��lɉl��l��pI�r���)�pi�p)�pI�t�tɊt �tɋt�t��xi�x��xi�x��x)�x �|I�|ɫ�髹)�� ������I��Y����@y���ZG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����M�N=Y��/G:QU��>�������a �G�� ��y�%8;}}�>Iȁ�Ņ��4�?�Ņ�վ� ƅ{�=����?9ƅ�B�Dž�; ȅa�:)ȁ�W�Z�.@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@<w@B ^9M�B B�A�ھ*B�A�C���A�A�An="CZ�.@*C%�:�=RC%��4=C%Z�.@�C)��·3=���I� G5�>������������������ ���.:Y��y�����E�5���j,��E�Aɫ�髱)�� ��I��Y��M�@y��^[G�xDUSBL response received:!U1,R,F9C,000,00813,187,80,80,51,FF �Fpublishing direction and range info���¸�=���ɰ�T)>��1�> ��)����BI��y�� �B����o~6����?����O�?��������ٱ������~j�t��?sh��|?�?�z�G�?����d?�����= �� �=)��I��y���V-��?�� �rh���~j�t��?����M?���C������D< ¥9A)¥V$AI¥Ai¥�A������Aܵ��>9ܱIܵsVGiܵN�@�ܵ=�ܱ�ܱ�ܵ9; ݵY�E���� ����bо�����<i��f�@��� ����@)����@I����@i��h�@�����<M�6=Y�����QU��>�������a��G�����y� ���} �>I����:��]��4�?���:��N�վ� ���=���?9���B���: ��;)���:�W�=�.@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�,@�P�*Q� �B�Z��7#��5�U@=z2�)@���������Z��o~6����?����O�?��������2Q�¸�=:Q��Z���m�"�)T����R?@�X��a凿�Z�����J����8��+�?�f���!�BQ�hZ1@ Q���AQ�M���P���9?�P�Ŧ9?�P�x���Q�{���Q���@"Q��@B)7�B9 B9�A= ־*BA�AE�D���AA�AA�AE��="CM=�.@*CM�#�=RCM�^6=CU=�.@�CQI�Q)�UAA��i��I I�Q Gm �>��j,��5�E�A�|i|Y}6�;@�}6��+@y}6Ukֻ�}6�!���}6H���� �������Hܿ��� ފ������dV�?���� �����@�8����� ^�z?����L��������?)~6�;@ ~6�6];I~6��Cɫ�髡)�� ��I��Y����@y���ZG�mTNmea in: $SNTTA,0.310240,,,,163944.26*4D ��e�Q�Meh=Y�m^�9QUm�>��i��q�au�G��u�=G��qy�}�g�}}�>Iȁ�Ņ*��4�?�Ņ��վ� ƅ��=����?9ƅX�B�DžP; ȅ* ;)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. �W�m/@�W�X� X��W�:W�2W�*W��V�bUBU *U U����G�U@U���@�D�?B=8�L�B9 B9�A=K߾*BA�AE�����AA�AA�AU�v="C]m/@*C]�=RC]G(=C]m/@�Ca խ�=�ԭ�=�֕ d6=��?i�?��qI��G��>��u ����u �����u �����u ��� �u V5:Y�u �]1y�u ��:��u k�6��j,�O�E�AY}2q;@�}2��+@y}2����}2����}2H������������mܿ��� yܛ�����1z�?����G������j+�����`ţ}?�����^������L��?)~2q;@ ~2"R\;I~2��Cɫ9�9)�9 �=����I�9Y�u��@y�uvZG��MO >��Mף���M�m�i�M(�@��I �MQ�@)�MQ�@I�MQ�@i�M3�@��]�[�M]]=Y�e��QUe�>��a��a�ae�G��i��iy�u�}u�>I�y��}���4�?��}3�վ� �}u�=����?9�}��B��}Ǻ: �}��:)�y�W�^9/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����]��?B��?L�B� B��A���*B��A�T���A��A��A�'�="C�^9/@*C�l��=RC�3=C^9/@�C���#'=���I�G%M>ܥ ��>9ܡ Iܥ VGiܥ ��@�ܥ =�ܡ �ܡ �ܥ -; ݥ S�E�D�j,�xi�E�AY}:�?;@�}:l[+@y}:i� ��}:t����}:H����������@E�ܿ�����`��������?��� ������@.v������4�?���`\����������?)~:�?;@ ~:��[;I~:��Cɫ9�9)�9 �=����I�AY�]��@y�e�ZG��=J=MEL=Y�E�>�QUE�>��I��I�aM�G��I��Iy�U���}U�>I�Y��e�:��]���4�?��e�:��]ʿվ� �]��=��m�?9�]��B��]��: �]8�:)�]��:�W��e/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?B�2NC�B� B��A�!۾*B��A��!���A��A��A��{="C��e/@*C���=RC���=C��e/@�C���%��=���I��GI>��]�=i�]�=��- a����- �����- �����- ��� �- $':Y�- xZ1y�- q�:��- !�5)�- ��;�95 ��� j,�S��E�A�|�|p;Y}2!;@�}2x<+@y}2�v��}2� ��}2H����������`ݵܿ����������� ���?���@9}��������������?���������� n��?)~2!;@ ~2�[;I~2��CɫY�Y)�Y �YI�YY��r�@y��QZG��}�&�M}G=Y�}���QU}�>�����a��G���=G��y����}��>Iș�ŝO��4�?�ŝ�վ� ƝL�=����?9Ɲ?�B�ǝ3�; ȝ��;)ș�WM�/@�WQXQ XY�WY:Wa2Wi*Wq�VqbU�BU�*U�U�U�������?B��@�B� B��A���*B��A������A��A��A� ="C��/@*C����=RC����<C��/@�C�������nA�ֽ2g=I��)��lA�בI��G��>��&j,�>��E�A��Y��]�<�e��>9�aI�e�UGi�e��@��e=��a��a��e&; �eP�E)�݃m�CI�݃m�Ci�ك��݃=��݃=��݃�5ɫ�髁)�� ������I��Y��4�@y��ZG����i��|?5�?q= ףp�?�~j�t�h?����?����k> ���D;)��I��y���j�t��?Zd;�O��?�~j�t��?����@?���j<=��� µdA)µQ$AIµ3Aiµ�A������zA�í��=�í�H=�íQ8�ií�@�é ĭh�@)ĭ��@Iĭh�@iĭ��@���Ve�M�=Y�����QU��>�������a��G������y�����}��>I�����:���G�4�?���:����վ� ��8>�� �?9���B���<�: ����:)����:�W-��/@�W)X1 X1�W1:W12W9*W9�VAbUABUI*UQUQUU���ී�@B���>�B� B��A���*B��A��K���A��A��A��� ="C���/@*Cz��=RCi��<C��/@�C ��e ����e �����e �����e ��� �e �:Y�e 0Y1y�e ��:��e 6)�e u~;��= ��<��I�!G=�>�f-j,W ��E�AY}6�;@�}67'+@y}6��(��}6�����}6H�����=�����@��ܿ��������������?�����z����`������@��?��� ����@!��?)~6�;@ ~6��[;I~6��Ci�D��FqA)�D �J�WFI�H �H)�LɛNף���L�L��PɜRqAi�RC�I�VdjF��TI�Ti�Z�pA �Z��X)�X�\ �\��`��`ɝ`��d��f�pAI�f1�)�f�\Fi�d)�hI�j�qA�hɞl �lɟp�r��A��pi�p��pɫ���)�� ������I��Y�5��@y�5�YG��M��=Y�d��QU�'?�����a��G����=G���y�����}�'?I������o�4�?���w�վ� ���>����?9��y�B���&�: ��v�:)���W%��/@�W!X! X!�W!:W!2W)*W)�V)bUQBUY*UYUaUe������@B���n�B� B��A�T�*B��A��L���A��A��A�� ="C���/@*C����=RC�=�<C���/@�C�����}�<�סI��G�A>I�UAA)�U?A�4j,����E�A�|i|Y}>?;@�}>�+@y}>B��}>K���}>H����`��������ܿ����M3��������?�����w�����>d������-��?����0^������$��?)~>?;@ ~>X�[;I~>��Cɫ�髹)�� ������I��Y��@y��YG��u�����u����u>i�u��@��q �u3�@)�u��@I�u�@i�u3�@���M�M=Y�5�:QU��>�����a��G����y��Ӻ}��>Iȡ����:�ťwX�4�?����:�ťˢվ� ƥ>����?9ƥ�B�ǥ(; ȥ;)ȥ��:�W��0@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����8�@�R�B*** querying acoustic contact ***�P��P�BE�T�BA BA�AE��*BA�AMp8���AI�AI�AM6� ="CU�0@*CU�d�=RCUuZ�<CU�0@�CY����I��G�f>��� (����� ������ ������ H�� � �":Y� �W1y� č:�� �5�9� @�I 9�I I�M �TGi�M �@��I ��I ��I ��M 6; �M Y�E�<1:j,���E�AY}2��:@�}2+@y}2�9 ��}2�����}2H�����������S�ܿ����Z~�����`L��?����2w�����QQ����� -'�?����T���������?)~2��:@ ~2�R[;I~0ɫ�髙)�� ������I��Y��Ӱ@y���YG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����M�J=Y�QF;QU��>�����a��G���=G��y���}��>I������@�4�?����վ� ��X>���?9����B���O+< ���+<)���W]H0@�WYXY Xa�Wa:Wa2Wa*Wa�VabUiBUi*U�U�U������F @B��Q�B� B��A����*B��A��w���A��A��A�=="C�H0@*C��@�=RC����<C�H0@�C����R5�<�I��G�h>�Aj,��E�AY}2��:@�}2h+@y}2��黙}2�Ӌ��}2H�����+�����`��ܿ���`����������?�����x�����Rf������ }?���@�v����� ���?)~2��:@ ~2/�[;I~2��Cɫ9�9)�9 �9I�9Y��z�@y�� YG�xDUSBL response received:!U1,P F9C,000,00813,187,80,80,51,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 �� (�MS=Y�%eT;QU-�>��9��A�aM�G��I��Yy�mv�}}�>I���5�:��o(�4�?��=�:����վ� �\>��E�?9�Q�B���; ���;)���:�W�w0@�WX X�Wi:Wq2Wq*Wy�VybU�BU�*U�U�U���� ��@B�^KR�B� B��A�3�*B��A������A��A��A�=�="C�w0@*C���=RC��u<C�w0@�C��ֽ �<��Qi�U=�בI��G��>��� ����� ������ ������ ��� �� ^:Y�� 0Y1y�� ��:��� "6��FGj,���E�A�|T�|V�;ɫi�i)�i �m����I�qY����@y��;YG��a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��9��I��TGi��f�@���=���������"; ��O�E��m�<�O��n�?!�rh���?y�&1��?��mt3?��ml�= �m`e=)�iI�iy�m�V-���?�� �rh�?�I+��?��m�<?��mC=��m94= �m A)�iI�m�Ai�mXA��i��mA����ҽ���7 �����r>i�� �@��� ����@)����@I����@i����@�����;M�%=Y�����QU��>�������a��G������y�����}��>I������ �4�?����վ� ���.>����?9���B�����: ����<)���W��0@�W�X� X��W�:W�2W�*W��V�bU�BU*UUU����2@B5�U�B1 B1�A5��*B9�A=CW���A9�A9�A=��="CE�0@*CE��=RCEZ�I<CM�0@�CI��Y��]mA��m��u<��A I�I Gm �>i�E nGI�Y i�q ��� vȿٺ� ��� ?�A�nMj,aT8�E�Aɫ�髹)�� ������I��Y��ۯ@y��\XG��A��M�=Y�!QU%?��!��!�a%�G��-�=G��)y�)}5?Iȩ�ŭB��4�?�ŭ��վ� ƭu>>����?9ƭ}�B�ǭ�; ȭ��:)ȩ�W���0@�W�X� X��W�:W�2W�*W��V�bU�BU*UUU��� �j@BE��v�BE��C= BA�AE&��*BI�AM~ҩ��AI�AQ�AU ="C]��0@*C]�ө=RC]U�.<C]��0@�Ca��}0:D<��YI�aG�Y>��� + ����� ������ ������ ��� �� �K:Y�� �X1y�� /�:��� |�5�XTj,i8R�E�AY}nG9;@�}n�T+@y}n�H���}n����}nH������������V�ܿ����b������=��?�������������������t?����o1�����@}��?)~nG9;@ ~nl \;I~n��CɫI�Q)�Q �U����I�QY����@y��.YG�xDUSBL response received:!U1,R,FF8,000,01039,183,80,80,45,FF �Fpublishing direction and range info������;���ɰ��>鰭$�> ��)����BI��y���SC����Z������?���a�|?��������ٱ���TNmea in: $SNTTA,0.059282,,,,163948.65*46 ��-,=��-���-`�<i�-��@��) �-Q�@)�-X�@I�-�@i�-3�@��=A=M=9=Y�=A�;QU=�>��A��A�aE�G��A��Iy�M&<}U�>I�Q��]�:��U���4�?��e�:��U_�վ� �UTR>��e�?9�U�C��U��: �Us�:)�U��:�W���0@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Z@�P�*Q��SC�Z������uj@�H ��?���������Z��Z������?���a�|?��������2Q����;:Q��Z��l�;Uּg������`W@ػW��a�?�Z��B��U)��҆u2F�?�m��r?BQ���+@ Q��BQ��=��P���9?�P���9?�P����Q�x���Q���@"Q���@B��>Z�B� B��A���*B��A�����A��A��A�)� ="C���0@*C�X��=RC���J<C���0@�C���� &<���I��G�i>I�M@A)�I�� ��>9�� I�� i�� ��� ��� ��� ��� � ; �� (�E�[Zj,�l�E�A�|i|Y}63d;@�}6�+@y}6ޢû�}6��|��}6H����@N������p}ܿ���`��������΅�?����!�����@�������@Rtx?��� ��������B��?)~63d;@ ~6�4\;I~6��Cɫ9�9)�9 �=����I�9Y����@y��XG��eH��MmZ=Y�m��QUm�>��q��q�au�G��u�=G��yy�}��;}��>Iȁ�Ņ}��4�?�Ņzվ� ƅ(d>����?9ƅV�C�Dž��: ȅm�:)ȁ�m�}Added new target pos. range: 211.679977 m, bearing: 153.782583 deg, deltaT: 4.779800 s, approachRate: 26.185190 m/s, LOS rate: -1.044440 deg/s, posRepo size: 4�m�� ProNav: pos range: 211.679977 m, bearing: 153.782583 deg, approachRate: 26.185190 m/s, LOS rate: -1.044440 deg/s, cmd update: -3.133319 deg/s, cmd heading: 158.443212 deg, new cmd heading: 158.588882 deg. �W�J�/@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����`�uj@U�����9�?B]��l�BY Ba�Ae���*Ba�Ae�;���A��A��A�a="C�J�/@RC�Uf =C�J�/@�C� ���=����=�ֽL�M<����?i���?�בI��G��>��% Z����% �����% �����% �� �% �&:Y�% �U1y�% ��:��% H�5)�% '�;�9- ��1gaj,���E�AY}:ݕ;@�}:J�+@y}:��ٻ�}:,�n��}:H�����N����� �Rܿ���`WS������HY�?������������=������#;{?�����ѭ��������?)~:ݕ;@ ~:�*\;I~:��Cɫ9�9)�9 �9I�9Y�}ů@y��AXG����=���o>����=i�=�@�� ��@)��@I�3�@i��@��5_<M===Y�=uκQU=�>��A��A�aE�G��A��Ay�M��;}M�>I�q��}�:��u���4�?��}�:��u�rվ� �u�x>����?9�u��C��uo�: �u��:)�u��:�W�%.@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B%jb�B! B!�AU���*BQ�A]γ��AY�AY�A]�="Ce%.@RCe~pc=Ce%.@�C���}�"=��U��<��1I�IGe�>� �gj,O͟�E�AY}f�;@�}f|�+@y}fƼ���}f��a��}fH�����u�������"ܿ�����.�������'�?��� ����������������}?�����;������Q��?)~f�;@ ~fA�[;I~dɫ�髱)�� ������I��Y����@y���WG�� �㥛� ��?�z�G�?/�$��?�� �5?�� �= � �<)� I� y� ��$��C�?��~j�t�?�~j�t�h��� :?�� �=�� �D� � �A)� V$AI� �Ai� - A�� �� =A��%���M%K=Y�-{źQU-�>��)��1�a5�G��1��1y�= <}=�>I�A��E3��4�?��E}lվ� �Ey>��M�?9�E��C��E��: �E��:)�A�Wu�,@�WqXq Xq�Wq:Wy2Wy*Wy�VybUyBU��ى�ٍ�<ܕ��>9ܑIܕTSGiܕī@�ܕ=�ܑ�ܑ�ܕ� ; ݕ��D*U�U�U���� c�?B] �i�By B��A��*B��A�5���A��A��A��="C��,@RC��h�=C��,@�C���]-�B=��-I� =�� I�G]�>��% W����% �����% �����% k�� �% j�:Y�% �[1y�% H�:��% ��5)�% ��;�V�mj,c���E�A�| �|"4<Y}B��;@�}B�+@y}B'����}B��Q��}BH����@d����� �ܿ����i������|�?��� ������ �5��������~?�����-������ ��?)~B��;@ ~B�\;I~@ɫ�髙)�� ������I��Y����@y���WG��Sd�M�R=Y� )�QU��>�������a��G����=G���y���g;}��>I������:���<��4�?����:���?fվ� ��Gy>����?9��;C�����: ��8�:)����:�W�c+@�WX X�W :W 2W *W�VbUBU*UUU����%��?BE�Pt�BA BI�AMZ�*BI�AM�?���AI�AI�AU�`="CU�c+@RC]Փ�=C]�c+@�CY��a��a)�a �a������nA�ֽ�T�=I��)�����I��G �>�Z�tj,t��E�AY}6T�;@�}6��+@y}6,j��}6o�F��}6H�����ϻ������'ܿ�����댿����"*�?������������$������9��?�����ܨ�������?)~6T�;@ ~6~ \;I~6��Cɫ9�9)�9 �=����I�9Y����@y��KWG��u��<��u ����u�P=i�q��q �q)�qI�u�@i�q���'�M�N=Y�&��QU��>�����a��G����y�M~�}��>Iș�ŝ�q�4�?�ŝ�_վ� Ɲ�y>����?9Ɲ�C�ǝM�: ȝD�:)ș�W���)@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@���?B��r�B� B��A���*B��A�ǽ��A��A��A�m="C���)@RC�O7�=C���)@�C�������=�סI��G�A>ܕ ��>9ܑ Iܕ �RGiܕ !�@�ܑ �ܑ �ܑ �ܕ A ; ݕ ��D)�!�I�!�i�!���%�=��%�=��%��V5��� a����� ������ ������ $�� � $':Y� [1y� ݏ:�� Z�5)� ��;�~�zj,QO��E�AY}:O�;@�}:��+@y}:"��}:�F��}:H����������@5Tܿ���`�z�����@V�?��������� �6������1D�?����?���������?)~:O�;@ ~:R?\;I~8ɫ9�9)�9 �9I�9Y�}a�@y�}�VG��=�D�M=O=Y�=� �QU=�>��A��A�aE�G��E�=G��Iy�M}��}M�>I�Q��]�:��U�[�4�?��e�:��UsYվ� �U]z>��e�?9�U�C��UA�: �U��:)�U��:�W���(@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Z@B����B� B��A�a �*B��A�&"���A��A��A���="C���(@RC�X��=C���(@�C�����l�=�I��G�G>I�UAA)�UAA�]��j,o*�E�A�|i|Y}FX;@�}Fxs+@y}F��"��}FVV��}FH���� ]������j�ܿ������������u��?���`Ɩ������?�����@_X�?��� q̪�����]��?)~FX;@ ~F{(\;I~F��Cɫ���)�� ������I��Y�Mi�@y�M�VG��Y��]@A�õ�=�õ����õ33�iõ��@�ñ ĵ��@)ĵ��@Iĵ��@iĵ��@���l;M�B=Y����QU��>�������a��G������y����}��>I������C�4�?����Rվ� ��U{>����?9��C�����: ����:)���W�#'@�WX X�W:W2W*W�V!bU!BU!*U!U)U-����{@�R5B*** querying acoustic contact ***�P1�P1B]�x�BY BY�A]% �*BY�Ae��ļ�Aa�Aa�Ae�o="Cm�#'@RCmHX>Cu�#'@�Cq Յ�=�ԅ�=��UrŹ=��]�?i�]�?��!I�1GM1>���j,�!�E�Aɫy�y)�y �}����I�yY���@y��,VG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5mA��1�=��>9�=n�CI�=�QGi�=�@��9��9��=��D��=) ; �=��D����P��n��?y�&1�|�ˡE����?���D?���`� ���'=)��I��y���R���Q�?�I+��?Zd;�O��?����B?���9�<���j<= µ�A)µ+%AIµ�Aiµ!A������\A���L¼M�:=Y�����QU��>�������a��G������y�����}��>I�����W*�4�?����Jվ� ��i�>����?9��sC���3�: ��/�:)���W�%@�W!X! X!�W!:W!2W�*W��V�bU�BU�*U�U�U���� @B�f�x�B� B��A���*B!�A%��ȼ�A!�A!�A% 1="C5�%@RC5vN">C5�%@�C9��8��=���I�Gn>��]0 ����]�����]�����]g�� �]L:Y�]�Y1y�]�:��]��5)�]��;�� �j,;�:�E�AY}6o�:@�}6�+@y}6_�T��}6�����}6H������������u�ܿ���`]��������?�����v������e������Z��?����G���� ���?)~6o�:@ ~6L^;I~6��CɫA�I)�I �M����I�QY�}ͭ@y�}�UG�xDUSBL response received:!U1,P FF8,000,01039,183,80,80,45,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��}UüM�c=Y�A�QU��>�������a��G����=G���y�� u�}��>I���=�:����4�?��=�:���Cվ� �Ó>��E�?9��C��O < �O<)���:�W=�-$@�WAXA X��W�:W�2W�*W��V�bU�BU�*U�U�U������Z @Be��Ba Ba�Ae�*Ba�Amּ̼�Ai�Ai�Am��="Cu�-$@RCu�Y/>Cu�-$@�Cy�֝���=��Qi�U�=��iI�yG��>���j,4�T�E�A�|4<�|Y}Bb�:@�}B��*@y}B�Jy��}B�D���}BH������z���� >$ݿ��� �*�����@�*�?����U]�����bʹ�����)�?�����a�����@m��?)~Bb�:@ ~B�{^;I~@ɫY�Y)�Y �]����I�YY��W�@y��CUG鮥p=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���Ga=����������q=i��z�@��� ��Q�@)����@I��3�@i��3�@���� �M�D=Y����QU��>�������a��G������y��7K�}��>I���A��4�?���<վ� �?�>�� �?9� C��f�: ���:)��W5b�"@�W1X1 X1�W1:W92W9*W9�V9bU9BUA*UAUAUE�����@Bu���Bq Bq�Au��*Bq�A}`м�Ay�Ay�A}F{="C�b�"@RC�+7<>C�b�"@�C���1��5mA���>I� )� ���I��GI>��ew����e�����e�����e?�� �e�z:Y�e�W1y�eč:��e#�5�9m@�5 ��>9�1 I�5 `QGi�5 -�@��5 =��1 ��1 ��5 ; �5 w�D�D�j,��n�E�AY}2�-:@�}2 I*@y}2�����}2�lŽ�}2H���� �]����@2�ݿ���������@Y��?����z6����� �������ے?���`�������`���?)~2�-:@ ~2�];I~2��Cɫy�y)�y �}����I�yY����@y��UG�xDUSBL response received:!U1,R,039,000,00917,185,80,80,A2,FF �Fpublishing direction and range info���%�K����ɰ��>>鰽+�> ��)���"CI��y��=�B����ϓ0���?�)nu����������ٱ����F�<M�[=Y����QU��>�������a��G����=G���y�k��}�>I� ���:�� ���4�?���:�� �5վ� � ?�>���?9� RC�� ��: � ]�:)� ��:�W=d�!@�W9X9 XA�WA:WA2WA*WA�VIbUIBUI*UIUI������i�VnGI�i�1��]DѿٺY��e��AU�����j�@�P�*Q�=�B�Z���D���Y@R�?jhO����������Z��ϓ0���?�)nu����������2Q�%�K�:Q��Z����+V�)�Io��I@�-8̣�@�Z���9↘뿐���/�?25*��?BQ��'@ Q��NBQ�!���P���9?�P���9?�P�O���Q����Q�F�@"Q���@B �N��B B�A4�*B�AH�Ӽ�A�A�A="Cd�!@RC%ʮE>C%d�!@�CQ��E0+>��I�)GEQ>���j,�~��E�Aɫ�髉)�� ��I��Y���@y���TG�5DNmea in: $SNTTA,,,,,163953.49*58 �Í�2?�Í^���Íxi=iÍQ�@�É č��@)č��@Ič�@ič��@��%�M�2=Y����QU��>�����a��G����y����}��>Iȹ�Ž/��4�?�ŽE-վ� ƽӷ>����?9ƽ�C�ǽ+�: Ƚ/�:)ȹ�m��Added new target pos. range: 102.120003 m, bearing: 149.609857 deg, deltaT: 4.441087 s, approachRate: -24.669630 m/s, LOS rate: -0.939573 deg/s, posRepo size: 4�m � ProNav: 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. �W �! @�W X X �W:W2W*W�VbUBU*UU��� ��Y@U������?BG��B B�A��*B�A ^��A �A �A 8�="C�! @RC/EY>C�! @�C��Md/>I�Q)�U@A��]e����]�����]�����]��� �]v':Y�]d\1y�]��:��]��5��ii�m�?��A I�Q Gm �>��-�j,�M��E�A�|i|ɫ�髉)�� ������I��Y����@y��;TG������x�&1�?{�G�z���������?����!?����#� ����<)��I��y�����ʡE�?���S㥛?X9��v��?���-2?���/�<�����< µ9A)µ�*AIµAiµ�"A������� A����>9��I���PGi��ܩ@������������� ; ��]�D���z�M�Y=Y��QU��>�������a��G�����y�}�>I� ����:�� ���4�?����:�� �&վ� � տ>����?9� �C�� ��< � ��:)� ��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU���@,F�?B-1B) B)�A5l�*B1�A5w�ۼ�A1�A1�A5o="C=��@RC=�j>CE��@�CA �U�=��U�=��E>e8>��I� G%N>��W�j,�(��E�Aɫ�髙)�� ������I��Y��L�@y���SG�����M�N=Y�QU��>�����a��G���=G��y�}��>Iȱ�ŵ��4�?�ŵj վ� Ƶ�>����?9Ƶ6C�ǵ�: ȵ��:)ȱ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B%,%��B! B!�A%�*B)�A-}��A)�A)�A-q="C5��@RC5�zx>C=��@�C9�� ��T>���I��G�%>��]y����]�����]�����]��� �]):Y�]�V1y�]�:��]j�5��?�j,��E�AY}N Y6@�}Nzt&@y}Nތ��}Ns.��}NH�����k������d�������������xv�?����������@��Ŀ���๐�?����Ƣſ���@;��?)~N Y6@ ~N4�];I~N��Cɫy�y)�y �}����I�yY��:�@y���SG�Õ��>�Õ�߾�Õ��=iÕ��@�Ñ ĕ��@)ĕ�@Iĕ�@iĕ�@��o��M�I=Y�] �QU��>�����a��G����y���}��>I�����)��4�?����վ� ��t�>����?9��~C�����: ����:)���W�k@�W�X� X��W�:W�2W�*W��V�bUBU*UUU ��� ���?B5�b��B1 B1�A=��*B9�A=����A9�A9�A=�="CEk@RCE�IP>CMk@�CI��E��Y>I�I)�I��I�)GMR>��Qi�U�=��9��I���PGi����@���=���RD������� ; ��(�D��i�j,����E�A�|�;�|Y}F�a5@�}F,}%@y}Fa��}F�)<��}FH����`�)����@�������������� _��?�������`�bƿ�����j�?����_ǿ����Jp�?)~F�a5@ ~Fx�];I~F��Cɫ�髙)�� ������I��Y����@y���SG��Uɟ�M]O=Y�]��QU]�>��a��a�ae�G��e�=G��ay�m�}m�>I�q��}�:��u{�4�?����:��uWվ� �u��>����?9�u�C��u��: �uf�:)�u��:�W%� @�W!X! X!�W!:W)2W)*WI�VIbUQBUQ*UQUQU]����3�@B�.A��B� B��A���*B��A�h���A��A��A��="C�� @RC���Y>C�� @�C�����������sP>�סI��G�C>��]�����]�����]�����] �� �]_:Y�]�[1y�]H�:��]�5)�]|;�9e���U�j,�� �E�AY}vC4@�}v�^$@y}v�Z-��}v��F��}vH����`�������.@����@�౿�����W�?����a<�����'�ǿ�������?�����ȿ���`�^�?)~vC4@ ~v��];I~tɫ�髱)�� ��I��Y����@y��.SG�Å\=�Å�$��Å�v�iÅ=�@�Á ą�@)āIāiā�� μM�F=Y��-�QU��>�����a��G����y�C-�}��>Iȱ�ŵf�4�?�ŵ7 վ� Ƶ|�>����?9ƵC�ǵ{�: ȵQ�:)ȱ�W���@�W�Xa Xa�Wa:Wi2Wi*Wi�VibUqBUq*UqUqUu�����\@B�>���B� B��A�@ �*B��A�����A��A��A�Ye="C���@RC�>j[>C���@�C����}P>���I��Gm>����j,7�#�E�AY}:d3@�}:�4#@y}:�@��}:PKO��}:H����`��������������貿�������?����1�����@��ȿ����\�?�����ɿ���`�O�?)~:d3@ ~:��_;I~:��CɫQ�Q)�Q �U����I�QY��j�@y���RG�������u��>9�uo�CI�qi�q��u=��q��q��u� ; �u�D)� �n�CI� �n�Ci� ��� �=�� �=�� ��5����V-��?D�l�����T㥛� �?����-?���O � ���=)��I��y����E�����?)\���(�?������������F?���Ga=������ �A)l7AI�Ai�'A�������#A������M�G=Y���<�QU��>�������a��G������y���5�}��>I������:����N�4�?����:���C�վ� ����>����?9��_C�����: ����:)����:�W��@�WX X�W:W2W*W!�V!bU!BU!*U)U)U-���`�@�R5B*** querying acoustic contact ***�P1�P1B]�ӗ�BY BY�A]"�*BY�A����A��A��A�.�="C���@RC��]>C���@�C�����AY>����?i��s?�ױI��G�D>I�I)�MAA��U7 ����U�����U�����U��� �U�L:Y�U�X1y�U/�:��U��5)�U�;�~��j,�r=�E�A�|i|�@Y}6��1@�}6N�!@y}6�CS��}6�uV��}6H������*���� @�����������@�X�?�����n���� �~ɿ����re�?������ʿ����VB�?)~6��1@ ~6�`;I~6��Cɫ9�9)�9 �=����I�9Y�E˫@y�E\SGMZ****** received transponder code query ******MF****** received ping request ******U<Arming DUSBL. detectThresh: 75]8****** ping requested ******���=M�^=Y�^I�QU��>�������a��G����=G���y���]�}��>I����� :�4�?�����Ծ� ��>�>����?9���C����: ����:)���W�j@�WX! X!�W!:W!2W!*W!�V)bU)BU)*U)U)U5���@Y| @B]�w��Ba Ba�Ae�*Ba�Ae����Ai�Ai�Am�="CM�j@RCM?<[>CU�j@�CQ �e�=��e�=��e9[>��aI��G�`>�w��j,@NW�E�AY}2��0@�}2� @y}2c��}29�\��}2H����@������?������$������Z��?�����������+ʿ�����_�?�����Q˿����X6�?)~2��0@ ~2n�`;I~2��Cɫ)�))�1 �5����I�1Y�m}�@y�m�RGuxDUSBL response received:!U1,P 039,000,00917,185,80,80,A2,FF uCommand Ack}BRequesting micromodem ping code 2i�y��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �Ý"۽�Ý�Q��Ý>iÝ��@�Ù ĝQ�@)ĝߏ@Iĝߏ@iĝߏ@��%Í�M-=Y�5��QU5�>�����a��G����y���}��>Iȩ����:�ŭ��4�?����:�ŭ��Ծ� ƭ:�>����?9ƭC�ǭ�; ȭ��;)ȭ��:�W=\�@�WAXA XA�WA:WA2WA*WI�VIbUIBUI*UQUQUu���@�@B�-ԉ�B� B��A��!�*B��A������A��A��A�@="C�\�@RC�\b>C�\�@�C���%����%��܅��>9܁I܅4PGi܅:�@�܅=�܁�܁�܅� ; ݅�D���� �����������������^�� ���A:Y���U1y����:�����5)��Ȝ; �-����-��I�y)�y��I I�Y Gu �>�-J�j,�s�E�AY}2�</@�}2X@y}2��o��}2ʶ_��}2H����@9e���� F������ ������/a�?��� �������}ʿ������?���`�˿���`�/�?)~2�</@ ~2�`;I~0 �<)�>;qAɇ>�����>�hF�<��@ɈB�pAi�@I�@��@I�Di�D �D�D)�D�D �H��H��HɉH��L��N;qAI�N��)�N�WFi�L)�LI�RrA�PɊP �PɋP�P��Ti�T��Ti�T��T)�T �XI�Xɫi�q)�q �u����I�qY���@y��wSG��ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=M�z=Y�k�QU�?�����a��G���=G���y����}�?I�����w �4�?����Ծ� ����?��-�?9��XC�����; ��o�;)���W��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �T@Bد��B B�Af�*B�A� ���A�A�A�w="CE�@RCE��]>CE�@�CI��1I�AGe3>��)i�-p=�3/�j,1[��E�A�|�|ɫ���)�� ������I��Y�5�@y�5�SG=xDUSBL response received:!U1,R,2F0,000,008B8,189,80,80,7E,FF =Fpublishing direction and range info��5��'���1ɰ5�6>�57�> �1)�5��BI�1y�5��B��5����oZ�?�X�'O����������ٱ1�å1>�å�O��å�>iåד@�á ĥ3�@)ĥ3�@Iĥ3�@iĥh�@���[;M�J=Y����QU��>�����a��G������y�����}��>I������:������4�?����:�����Ծ� ��E?����?9���C��� �: ��D�:)����:�W�d@�WX X�W:W 2W *W �V bUBU*UUU������@�P�*Q���B�Z������S@���DjM����������Z�����oZ�?�X�'O����������2Q���'�:Q��Z��H�S�19���<���V@ �R��21@�Z��':9��п��y�K[�?��Y�r��?BQ�Ev�? Q��BQ�����P�-�9?�P���9?�P����Q�O���Q���A"Q�F�@Bm䴗�Bi Bi�Am �*Bq�AuZ����Aq�Aq�AuA�="C}�d@RC},p>C}�d@�C��יI��G�@>��=9����=�����=�����=�� �=�#:Y�=�X1y�=/�:��=��5�9U@��V�j,�+��E�AY}2��,@�}2S@y}2H���}2�l��}2H������������� ���� &฿����~C�?����>������´˿�����^�?�����>Ϳ��� �?)~2��,@ ~2��`;I~0����� 9� I� �PGi� ܩ@�� �� �� �� � ; � ;�Dɫ�髙)�� ������I��Y����@y��SG�EdNmea in: $SNTTA,0.440172,0.440547,,,163958.00*5C ��]������M�?�� �rh�?:��v������]n2?��]C�= �]�T�)�YI�Yy�]�5^�I�?�~j�t��?���Mb�?��]8?��]�D=��]�@= �]jA)�];=AI�]�Ai�]�*A��Y��]�%A��}��M}?=Y��P�QU��>�����a��G���=G��y����}��>Iș�ŝ`��4�?�ŝ��Ծ� Ɲ ?����?9Ɲ�C�ǝ��: ȝr�:)ș�muyAdded new target pos. range: 96.420006 m, bearing: 105.398268 deg, deltaT: 4.491852 s, approachRate: -1.268964 m/s, LOS rate: -9.842619 deg/s, posRepo size: 4�m�� 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. �W��n @�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����`�X@U������q�?BE!���BI BI�AM!�*BI�AM����AI�AI�AU�="CU'�@RC]��u>C]�n @�CYi��I��i���������ȿٺ����o�AI�G%n>�f>�j,���E�AY}2'�+@�}2�@y}2����}2|�q��}2H������Y�����<������M �����@Ӧ�?����h����@.̿������?��� �Ϳ����j�?)~2'�+@ ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y��٫@y��nSG��u��<Mu]=Y�} �QU}�>��y���a��G����y��0�}��>Iȑ�ŕ0��4�?�ŕ��Ծ� ƕ�?����?9ƕ:C�Ǖ �: ȕ�:)ȑ�W�d�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����+��?B�ᢽB B�A��*B �A ���A �A �A _�="C��9 @RC�� �>C�d�@�C��]��Z>��1I�=@A)�=?A��M� ����M�����M�����M��� �M��:Y�M�[1y�MH�:��M|�5I�YG}z>��h�j,����E�A�|i|�@Y}B��*@�}B@y}B�Q���}B�dq��}BH�����������g����� �D��������?��� ������;̿����x�?������Ϳ����� �?)~B��*@ ~B��`;I~B��CɫY�Y)�Y �]����I�YY��T�@y��TG)�5�= �5>��}Y���}�#<��}��i�}3�@��y �y)�yI�yi�}3�@��R=M�I=Y�7�QU��>�����a��G����y���}��>Iȡ����:�ťu��4�?����:�ť�Ծ� ƥ�?����?9ƥ�C�ǥ7�: ȥ��:)ȥ��:�W��9@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?BN=��B�Y= B�A��*B�A%���A!�A!�A%�="C-�N@RC)C-�9@�C1��-?e>���I��G )>�9�I��QGi��@��������} ; ���D����j,���E�AY}2�)@�}2t@y}2����}2*Kn��}2H����@ӫ���� �H���� S�������g�?����˻���� %�˿���@b��?�����pͿ����� �?)~2�)@ ~2XQ`;I~2��CɫY�Y)�Y �]����I�YY���@y���SG��=AżM=O=Y�E���QUE�>��I��I�aM�G��U�=G��y��%�}��>Iȹ�Ž���4�?�Ž�Ծ� ƽ�&?����?9ƽ�C�ǽ��: Ƚ:)ȹ�W�M��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���@Y�?B-G���B) B)�A5=�*B1�A5i���A1�A1�A5 ="C=W�@RC9CEM��?�CA��]mA��]mA��MGT�>I�Y)�Y��!I�1GM1>��Ex����E�����E�����ED�� �E�:Y�ExZ1y�Eq�:��E5�5��zj,��E�AY}2��(@�}2�@y}2ې���}2��n��}2H���� {E������������������ ��?��� R�����̿���`:��?��� ��Ϳ����� �?)~2��(@ ~2Bo`;I~0ɫ)�1)�1 �5����I�1Y�Un�@y�U$TG��9����Q�����u�i�(�@�� �Q�@)�Q�@I�Q�@i�Q�@��-�<M0=Y���QU�>����!�a%�G��!��!y�-%�}-�>I�1��=�:��5���4�?��=�:��5��Ծ� �5)1?��E�?9�5"C��5��: �5��:)�5��:�W���?�WX X�W:W 2W *W �V bU BU*UUU���`�s�@B]g~��Ba Bi�Am��*Bi�AmM� ��Ai�Ai�AmN="C�T��?RC�C����?�C���E�=i�E�=�ֵ��>�סI��G��>��� j,�r(�E�A�|�|Y}6yc'@�}6�~@y}6�͢��}6�s��}6H�����������-��������������N�?����z������[k̿���`5T�?����|�Ϳ���@=�?)~6yc'@ ~6�s`;I~6��Ci�<��>qA)�Bl� �@I�@ �@)�BqAɛF����D�D��DɜDi�F���I�H��HI�Hi�J�pA �J����J�gF)�L��P��RlA�V��>9�TI�V�RGi�V!�@��T��T��T��V� ; �V<�E�L �^VrA��\��`ɝ`��`��b�pAI�b$�)�di�d)�dI�f�qA�dɞh �hɟh�h��hi�h��lɫ�髹)�� ������I��Y���@y�_TG��e�<�O��n�?㥛� ��?<�O��n����et3?��e�> �et�)�aI�ay�e��G�z��?�l����?�~j�t�x���ep=?��e�=��e�Ļ �e�A)�e�@AI�e3Ai�eI.A��a��ef&A���y<M�T=Y�p�QU��>�����a��G���=G��y��_�}��>Iȡ�ť�}�4�?�ť�Ծ� ƥ�5?����?9ƥkC�ǥX�: ȥm�:)ȡ�W�)�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������_@B�0��B B�A�*B�A����A�A�Ap�="C%�l�?RC!C-)�?�C)�����G=��e�����e�����e�����e��� �e:Y�e[1y�eݏ:��e�5)�ex;�9m�����שI��G��̍j,�RB�E�AY}:��%@�}:j @y}:���}:�y��}:H������G������������ν���� ��?�����>����@��̿���`��?����X�ο������?)~:��%@ ~:��`;I~:��Cɫ�髙)�� ������I��Y��*�@y�� UG������?A��M:A=MM`=Y�U��QUU�>��Q��Y�a]�G��Y��Yy�e7��}e�>I�i��u�:��mm�4�?��u�:��m��Ծ� �m�9?��u�?9�m�C��m��: �m��:)�m��:�W��7�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������S@�R�B*** querying acoustic contact ***�P��P�B&���B B�A�*B�A �o��A �A �A�="C-z�?RC1C5�7�?�CA��ȿ= �5�=��5�=����%�?i�%p?���I�Gn>���j,�(\�E�AY}2�i$@�}2�@y}2�)���}2�}��}2H���� ��������(����@��������U�?����{�����@�*Ϳ���@j?���`�LϿ����k��?)~2�i$@ ~2��`;I~2��Cɫ���)�� ������I��Y�O�@y�:UGZ****** received transponder code query ******F****** received ping request ******%<Arming DUSBL. detectThresh: 75%8****** ping requested ******�Õ�y=�Õ=���Õ�D�iÑ�Ñ đ)đIđiđ��z%<M�7=Y�PۻQU��>�����a��G����y��X�}��>I�����)Y�4�?�����Ծ� ��c??����?9�� C�����: ����:)���W��S�?�W�X� X��W�:W�2W�*W��VbUBU*UUaUm��� �� @B��p��B� B��A���*B��A�����A��A��A��="C��S�?RC�C��S�?�C�������)�� ��ܥ��>9ܡIܥTSGiܥī@�ܡ�ܡ�ܡ�ܥ� ; ݥ�E)�e�o�CI�e�o�Ci�a���e�=��e�=��e�nu3I�Y)�]@A��e� ����e�����e�����e��� �e�R:Y�eDW1y�eY�:��e!�5)�e.�;�ց ��YI�iG��>���j,�v�E�A�|i|Y}6��"@�}6I@y}6����}6�ف��}6H����@5,����@&����� �����������?����������~Ϳ�������?���`��Ͽ������?)~6��"@ ~6kba;I~6��Cɫ9�9)�A �E����I�AY����@y���UG�xDUSBL response received:!U1,P 2F0,000,008B8,189,80,80,7E,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )�E�= �E�=��m%�<Mua=Y�W�QU��>�����a��G���=G��y��K��}��>I�Q��e�:��U7H�4�?��e�:��UzԾ� �UdD?��m�?9�UO C��U�*; �U�;)�U��:�W�L��?�W�X� X �W :W2W*W�VbUBU*UAUAUE����!n @B�d���B� B��A���*B��A�����A��A��A���="C�O��?RC�C�L��?�C�����x�>�שI��G��>���#j,�ޏ�E�AY}2Fe!@�}2��@y}2_0���}2_˃��}2H������������#��������������Q�?��� p����@ΖͿ���`��?�����9п��� ���?)~2Fe!@ ~2��a;I~2��CɫY�Y)�Y �]����I�YY��5�@y��UVG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����A�����پ����>i��p�@��� ��h�@)��h�@I��h�@i��h�@����B=M�C=Y����QU��>�������a��G������y��&n�}��>I������7�4�?���nԾ� ���I?���?9��� C����: ����:)���W-_�?�W)X) X)�W):W12W1*W1�V9bU9BU9*U9U9UE�����@Bma���Bi Bq�Au��*Bq�Au���Aq�Aq�Au0e="C}~��?RC�C�_�?�C��օ��>��aI��G�b>���6 ������������������� �!8:Y�0Y1y���:���6�9�@�-�)j,����E�A��"�<�� �(9�(I�*�TGi�* �@��(��(��(��*� ; �*�Dɫ���)�� ������I��Y�Ů@y�WGxDUSBL response received:!U1,R,4A3,000,008EB,189,80,80,96,FF %Fpublishing direction and range info��Ԗ����ɰ;>� �)��CI�y���B���_\�8P�?�v������������ٱ�=dNmea in: $SNTTA,0.093374,0.223717,,,164002.43*50 ��u�T㥛� �?���S㥻?y�&1�|���u!?��u/�= �u`�)�qI�qy�u�X9��v��?��(\�µ?����MbP?��u�=?��u�=��u�: �u A)�u`AAI�u�Ai�u�/A��q��u�%A���(=M�?=Y����QU��>�����a��G���=G��y����}��>I������:����#�4�?����:����aԾ� ���N?����?9��� C�����: ����:)����:�WE��?�WAXA XA�WA:Wi2Wi*Wi�VibUiBUq*UqUqUu����7�@�P�*Q���B�Z��|g"i[I@#y��EeU����������Z��_\�8P�?�v������������2Q�Ԗ��:Q��Z��L�����?@�,�ȡV@�'c�$G:@�Z��h4 1Js�?\�t���?Z�N���?BQ��֝? Q��BQ�L�A�P���9?�P�-�9?�P����Q����Q���A"Q���AB%둽B) B)�A-A�*B)�A-���A)�A1�A5�="C=�0�?RC9C=��?�C9��UՌ�>��e�=i�ep=��)I�9GU�>�4�0j,����E�A�|�|�;Y}6W@�}6sr@y}6�"���}6 냾�}6H������g����@�����`��¿����aD�?���� >�����Ϳ����Q��?����x<п�������?)~6W@ ~6:Lb;I~6��Cɫ9�9)�9 �9I�9Y�us�@y�}�WG��!��!��-�r=M-d=Y�5��QU5�>��9��9�a=�G��9��Ay�EH�}E�>I�I��Mh�4�?��M�VԾ� �M'S?��U�?9�M/ 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. �WF)�?�WX! X!�W!:W�2W�*W��V�bU�BU�*U�U����`��X@U���� ��?B ����B B�A��*B�Ai���A�A�A��="CTQ�?RC!C%F)�?�C!����>���I��G�j>��e�����e�����e�����e�� �e�:Y�eDW1y�eY�:��e��5��7j,�p��E�AY}2��@�}2 �@y}2��ý�}2�6���}2H�����������@nl����`�cÿ����U��?���@ ��������̿���� s�?�����Dп����,��?)~2��@ ~2n-b;I~2��Cɫ9�9)�9 �=����I�9Y���@y���XG��u�Ľ��uC�=��u�Ƚi�u��@��q �u��@)�u��@I�u��@i�u��@��B.=M�E=Y�4��QU��>�����a��G����y�sb�}��>Iș�ŝ��4�?�ŝ'JԾ� Ɲ{X?����?9Ɲ~ C�ǝ��: ȝY�:)ș�W�0�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��?B x��B� B��A����*B��A�e��A��A��A���="C���?RC�C�0�?�C��ֽ��>����?i��m?�e��>9�aI�eVGi�e��@��e=��a��a��e�; �e�D�יI��G�b>��� ��� i�yI��i�����!οٺ������A��.=j,�K��E�AY}N�^@�}Ndz@y}Nm*ǽ�}N�����}NH����� 5������������!�ÿ��� �!�?��� � ����`qa̿��� C۸?����п���@���?)~N�^@ ~N�a;I~N��Cɫ�髙)�� ������I��Y���@y�2YG��^"=M�G=Y��QU��>�����a��G����=G���y��mj�}��>I������:������4�?����:���4=Ծ� ���]?����?9��� C����: ��b�:)����:�W�-�?�WX X�W:W 2W *W �V bUBU*UUU���@T��?BE�L��BA BA�AEF�*BA�AM���AI�AI�AM<:="CU�\�?RCQCU�-�?�CY���6Ʌ>�I��G�f>��e�����e�����e�����e��� �e3:Y�e0Y1y�e��:��e��5��Dj,�&�E�AY}2&�@�}2� @y}2��Ƚ�}2�L���}2H������������4������Ŀ��� A��?���� v���� �2̿����2�?�����Fп���`���?)~2&�@ ~2W{a;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�YG)���= ���=��59�<��5�L���5��>i�5Q�@��1 �5��@)�1I�5��@i�5��@��u=MuN=Y�}c�QU}�>��y��y�a��G����y�b�}��>Iȑ�ŕ���4�?�ŕ|0Ծ� ƕ+c?����?9ƕC�Ǖ��: ȕ¿:)ȑ�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?BS?��B B�A�*B �A E/��A �A �A s�="Cx��?RCC���?�C��%��>���I� GMR>��9��=mA�A9�AI�EXGi�E��@��E=��A��A��E�; �E1�D��@Jj,�+�E�AY}6a�@�}6��@y}6�vɽ�}6A2���}6H�����9����@ӈ������ſ����=��?������߿��� ��˿���@p$�?����6Cп���`)��?)~6a�@ ~6��c;I~6��Cɫ9�9)�9 �=����I�AY����@y��ZG����m������?�rh��|�?y�&1�������.?�����= ��`e�)��I��y�����/�$�?:��v���?<�O��n�?���&1?�����=���t< )>AI�Ai�0A������%A��!<=M�F=Y���D�QU��>�������a��G����=G���y���F�}��>I������:������4�?����:���5$Ծ� ��|h?����?9��bC�����: ��A�:)����:�W%��r?�W!X! X)�W):W)2W)*W1�V1bU1BU1*U1U9U=����f��?Be!���Be@��< Bi�Ama�*Bi�Am̯��Aq�Aq�Au�v="C}���?RCyC}��r?�Cy�����>�יI��G�d>��e�����e�����e�����e��� �eJ:Y�e�Y1y�e�:��e��5)�e�{;�9m���(Qj,��D�E�Aɫ�髉)�� ��I��Y��y��Y����QU��>�����a��G�����y�����}��>I�����/��4�?���Ծ� ���m?��u�?9���C���l< ���f<)���W��]\?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�!@B�U��B� B��A�*B��A��1��A��A��A��="C���x?RC�C��]\?�C�����>���I�Gn>��Qi�Q�`SWj,�^�E�A�|�|4<Y}>�@�}>>*@y}>!�Ƚ�}>�ր��}>H�������߿���@�3�����;zſ����u��?��� Ѿݿ���@�~ʿ����s�?������Ͽ�������?)~>�@ ~>�c;I~>��CɫY�Y)�Y �]����I�YY��B�@y��P[G������@A�µmA�±��U�n>��U�����UO �i�U�@��Q �U�@)�U�@I�U�@i�U�@��e��<Mm�<Y�m�!:QUm�>��q��q�au�G��q��yy�}�ֽ}}�>Iȁ����:�Ņ��4�?����:�Ņ%Ծ� ƅ�r?����?9ƅ�C�Džs�: ȅj�:)ȅ��:�W��7H?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����l#@�R�B*** querying acoustic contact ***�P��P�B��;��B� B��A��־*B�A�| ��A�A�AJ�="C ��d?RC C�7H?�C��V݅>���I������>9��I���YGi��ذ@������������C; ����DGeV>��ee����e�����e�����e6�� �ev':Y�eDW1y�eY�:��e5�5)�e�;�s~]j,�x�E�AY}J��@�}J��@y}J˽�}Jbā��}JH�����;����`m������(ƿ�������?������ܿ�����Bʿ�����X�?�����Ͽ����R��?)~J��@ ~J�b;I~Hɫq�y)�y �}����I�yY��˲@y���[G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���I=M�6=Y��?�QU��>�������a��G����=G���y���<�}��>I� �� ���4�?�� ��Ӿ� � �x?���?9� AC�� ��: � f�:)� �W]��/?�WYXY XY�WY:WY2WY*Wa�V�bU�BU�*U�U�U����`3� @B�����B� B��A�+ξ*B��A��"��A�A�A�2="C �eK?RC C ��/?�C���t'= ���=����=�� ��>�� �?i� ��� I�� G �>��fdj,�u��E�AɫI�Q)�Q �]����I�YY��j�@y���\G�xDUSBL response received:!U1,P 4A3,000,008EB,189,80,80,96,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��� �������������������� ��5:Y��X1y�/�:����5�9�@����>9��I���[Gi��o�@���=����������; ��0�D)�y�I�y�i�y���}�=��}�=��}��%5��-�> ףp=�?�n����?���S㥛���-�?��-V> �-/ݼ)�)I�)y�-��A`��"�?�p= ף�?��~j�t����-9?��-�=��-��� �))�)I�-dAi�-I.A��)��-�#A)�E�= �E�=�Í+��Í��=�Í�;iÍ=�@�É ĉ)čۙ@Ičۙ@ičۙ@��Y�<M��<Y����QU�a>�����a��G���=G��y����}�a>Iȱ����:�ŵ'��4�?����:�ŵ2�Ӿ� Ƶ�?����?9Ƶ�C�ǵ�: ȵo�:)ȵ��:�W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`\@B-xcs�B) B)�A-7ľ*B1�A5�t$��A1�A1�A50="C��"?RC�C��?�C�����e�<�ֽFӅ>�יI��G�6?��pj,r��E�AY}:"M@�}:�h�@y}:1WԽ�}:�T���}:H���� ��ڿ���`�p�����1�ǿ����,��?���@|�ؿ����� ɿ���@�~�?����v�Ͽ���`p��?)~:"M@ ~:��_;I~:��Cɫq�y)�y �}����I�yY���@y���^G��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��E9/>MM�=Y�MFo�QUM?��Q��Q�aU�G��Q��Qy�]�e�}]?I�a��e��4�?��e8�Ӿ� �e��?��u�?9�e C��e�: �ef�:)�a�W��K�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �H@B��7��B� B��A�#��*B��A�LM%��A��A��A���="C� U?RC�C��K�>�C�����)�) �)��M v����M �����M �����M F�� �M �(:Y�M xZ1y�M q�:��M ��5��� 6Ʌ>���I��G�>�*vj,���E�Aɫy�y)�y �yI�yY����@y���_G�xDUSBL response received:!U1,R,33D,000,0091C,189,80,80,A7,FF �Fpublishing direction and range info���L39����ɰ� ?>�� ��)���'CI��y����B������ .��?s>���.���������ٱ��õ���õ+Ǿ�õ��<iõ�@�ñ ĵ�@)ıIĵ�@iĵ�@���р=M�A=Y�����QU��>�������a��G������y����}�>I� ���:�� s�4�?���:�� +�Ӿ� � �?���?9� [ C�� ��: � ��:)� ��:�W=kԼ>�W9X9 X9�W9:W92WA*WA�VAbUIBUI*UIUIUM���`��@�PY*Q]��B�Z]���K�1S@����P����������Z]��� .��?s>���.���������2Q]L39�:QY�Z]�ϲ�0 <@$�Nh�W@G��{i�8@�Z]�=�=~��?&���D��?�]w ���?BQ]qr�? Q]��BQ]Q�A�P]��9?�P]��9?�P]����Q]���Q]��A"Q]��AB-"y�B1 B1�A5{��*B1�A5|g&��A9�A9�A=I/="Ce��>RCaCekԼ>�Ci��q��unA�֝��>Iש)ש��iI�yܙ9ܙIܝ|]Giܝ�@�ܙ�ܙ�ܙ�ܝ�; ݝ�DG��>��U|j,���E�AY}2�1 @�}2���?y}27�ѽ�}2�.���}2H������ؿ�����������C�ȿ����+z�?���`��տ���@D�ǿ�����3�?��� ��Ͽ�������?)~2�1 @ ~2D�c;I~0ɫ9�9)�9 �=����I�9Y�}G�@y�}C`G�%TNmea in: $SNTTA,0.074616,,,,164006.99*47 ��I��MmA��}��<M}e=Y��R;QU��>�����a��G����=G���y��}�>I�!��%�h�4�?��%��Ӿ� �%Ʌ?��U�?9�%� C��%��; �%E�;)�!�m�qAdded new target pos. range: 102.420006 m, bearing: 73.610322 deg, deltaT: 4.742760 s, approachRate: 0.619893 m/s, LOS rate: 0.623747 deg/s, posRepo size: 4�m�� ProNav: pos range: 102.420006 m, bearing: 73.610322 deg, approachRate: 0.619893 m/s, LOS rate: 0.623747 deg/s, cmd update: 1.871243 deg/s, cmd heading: 21.131149 deg, new cmd heading: 16.527672 deg. �W��>�>�W�X� X��W�:W�2W�*W��V�bU�BU *U U���`�Y@U����ZB�?B]n~�Ba Ba�Aed��*B�AP'��A�A�A��="C ��>RCC�>�>�C�����I��G�>��} F����} �����} �����} ��� �} �$:Y�} DW1y�} Y�:��} 3�5�<�j,K� �E�AY}2:�@�}2J��?y}2�^ͽ�}2�<���}2H�������ֿ����XC�������?ɿ���@���?���`_�Կ������ƿ����Ҡ�?����ԐϿ�������?)~2:�@ ~2�,d;I~2��CɫY�Y)�Y �]����I�YY����@y���`GI��)����]��<��]S���]��i�]\�@��Y �]z�@)�]\�@I�]E�@i�]\�@��m�=MmL=Y�u,�;QU��>�������a��G������y���w�}��>I������:���^^�4�?����:����Ӿ� ����?����?9��� C�����: ���:)����:�W��>�WX X�W:W2W*W!�V!bU!BU!*U!U)U-��� ���?BU�r{�BY BY�A]���*BY�A]�((��AY�AY�Ae^6="Ce� �>RCiCm��>�Ci��a��9I�IGeU>�%f�j,l'�E�AY}6�# @�}6F~�?y}6>8Ƚ�}6.��}6H�����3տ���@������`��ɿ�����?����1ӿ������ſ���@���?����ehϿ����3��?)~6�# @ ~6^db;I~6��CɫY�Y)�Y �YI�YY��p�@y���aG��A��EnA�M��>9�II�Mo_Gi�M��@��I��I��I��MI; �M��D��}��������?��Q��?L7�A`堿��}��?��}�(> �}+�)�yI�yy�}��(\����?�MbX9�?�~j�t�x?��}�'?��}ʡ=��}��; �}� A)�}`AAI�}�Ai�}�+A��y��}�"A���H=M�9=Y��;QU��>�����a��G���=G��y�Ea�}��>Iȹ�Ž�S�4�?�Ž��Ӿ� ƽ~�?����?9ƽ3C�ǽa�: Ƚ��:)ȹ�W����>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����O2�?B-�1p�B) B)�A-���*B1�A5)��A1�A1�A5ר="C=�߲>RC9C=���>�CA��]N>��e�?i�ei?i��I��i����%"пٺ!��%s�A��1I�AG]v>I�A )�A ��U ! ����U �����U �����U }�� �U t6:Y�U �X1y�U /�:��U k�5)�U ݒ;�9] ��xO�j,QMA�E�AY}2:�@�}2J��?y}21�ý�}2�{��}2H�������ӿ��� ����������ɿ�����F�?������ѿ������Ŀ���@�i�?������ο�������?)~2:�@ ~2�-b;I~2��Cɫ9�9)�9 �=����I�9Y�u0�@y�}�bG��Ĉ=Mh=Y��;QU�>�� �� �a �G�� ��y�s��}�>I�!��%�K�4�?��%ŒӾ� �%��?��-�?9�%nC��%�: �%b�:)�!�WM7��>�WQXQ XQ�WQ:WY2WY*WY�VYbUaBUa*UaUaUe�������?B��Fq�B� B��A��o�*B��A�T�)��A��A��A��<="C�G=�>*C��=RC�C�7��>�C�����סI��G�A>�1x�j,�"[�E�AY}: D@�}:��?y}:����}:�{��}:H�����V}ҿ������������5vʿ����}�?����g�п����F,Ŀ�������?����4 Ͽ����]��?)~: D@ ~:�mc;I~8ɫ9�9)�9 �=����I�9Y�}��@y�}<cGI��)���A���a=i��=�����>��� �����O�=i��f�@��� ��E�@)��E�@I��i���� =M ;=Y���;QU�>����!�a%�G��!��)y�-�I�}-�>I�9��M�:��=�A�4�?��M�:��=܃Ӿ� �=g�?��U�?9�=�C��= Q; �=�=;)�=��:�W�T:�>�W�X) X)�W):W)2W)*W1�V1bU1BU1*U9U9U=������@Bey�d�Bi Bi�Am{_�*Bi�Am��*��Aq�Aq�Au�="C}�>RCyC}T:�>�Cy��}?΅>��QI�aG}z>�99�9I�=daGi�=2�@��==��9��=��D��=; �=|�D��U ����U �����U �����U ��� �U �5:Y�U �Y1y�U �:��U W�5)�U >�;�T��j,��t�E�AY}2��@�}2.��?y}2;۽��}2�[}��}2H�����*ѿ��� �����L˿����_��?����áο���`ÿ�������?�����6Ͽ���`m��?)~2��@ ~2ݑb;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}�cG��5J�<M=Y=Y�=�<;QUE�>��A��I�aM�G��M�=G��Qy�e�}��>Iȹ�Ž�9�4�?�Ž�vӾ� ƽ��?����?9ƽ�C�ǽ��: ȽY�:)ȹ�W����>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� @B%�j�B) B)�A-�X�*B)�A5�3+��A1�A1�A5L=="C=.��>RC9C=���>�CA��UnA��UmA��aI�i)�i��9I�IGeU>�+��j,�؎�E�AY}2�j@�}2 �?y}2g绽�}2�\|��}2H����`'�Ͽ����?������q˿���@.��?������˿������¿��� ~t�?��� ~Ͽ���`��?)~2�j@ ~2��a;I~2��CɫI�I)�I �II�IY�}c�@y�}QeG������AA ��鿑���`�<���Q8����`e�i����@��� ����@)��z�@I��z�@i��z�@�� ��=MM=Y��;QU�>�����a%�G��!��)y�5&q�}5�>I�9��M�:��=�1�4�?��U�:��=(iӾ� �=�?��]�?9�=;C��=R; �=IS;)�=��:�W��7�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�-@�R}B*** querying acoustic contact ***�Py�PyB�Z�B� B��A�S)�*B��A�x�+��A��A��A�m�="C��7�>RC C �7�>�C��%6Ʌ>���I�!Gew>��U � ����U �����U �����U !�� �U �R:Y�U 0Y1y�U ��:��U F6�9] @�^��j,1���E�AY}2,�@�}2. �?y}20����}2 �}��}2H�������̿���`bd����`�̿����A�?�����ɿ����\��������+�?����*=Ͽ�������?)~2,�@ ~2�Ta;I~0ɫ9�9)�9 �9I�9Y����@y���eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����<����<���>9�I�XcGi�ȸ@���������; �N�DI�A)�E�A������S㥛�?�I+��?�l��������$?���94= ����)��I��y���ˡE����?�Q���?{�G�zt?����'?���\�=���ף; ��)��>AI��5Ai��K)A�������!A��<�<M<=Y��';QU �>�� ���a��G���=G��y�-T�}��>I������)�4�?���GYӾ� ��̖?����?9���C�����; ����;)���W5���>�W1X1 X1�W1:W12W9*W9�V9bU9BU9*UAUAUE����:� @B��"W�B� B��A�$�*B��A��R,��A��A��A��*="C��Y�>RC�C����>�C����?΅>�ױI��G�>�*��j,����E�AY}:?Z@�}:T��?y}:� ���}:0�~��}:H�������ɿ���ࡆ�����D�̿����9�?����Y'ƿ��������������?����^Ͽ�������?)~:?Z@ ~:�a;I~8ɫ�髹)�� ��I��Y� ��@y��fG-xDUSBL response received:!U1,P 33D,000,0091C,189,80,80,A7,FF 5Command Ack=BRequesting micromodem ping code 2i�9��A�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��E�'>��E�����E7�=i�E��@��A �A)�E��@I�E��@i�E��@��m�L=Mm=Y�u^;QU��>�������a��G������SA���y���C�}��>I���]�:�� !�4�?��]�:��9GӾ� �͙?��e�?9��C��U=< �=<)���:�W�?��>�W�X� X��W�:W�2W�*W��V�bU1BU1*U1U9U=����T@B�MM�B� B��A���*B��A���,��A��A��A�}="C�J��>*C����=RC�C�?��>�C�I�A )�A ��U � ����U �����U �����U 1�� �U �F:Y�U �U1y�U ��:��U �6��9��E�?i�A���I� G%�>� ƶj,i��E�AY}2��?�}2���?y}2�ѱ��}2�~��}2H�����c�ƿ����������ZͿ����~`�?����*Cÿ���@�%������3�?����OϿ��� U��?)~2��? ~2��`;I~2��C �<)�>7qAɇ>�<�<��@Ɉ@i�@I�@��DI�Di�D �D�D)�D�H �H��H��HɉH��L��N7qAI�L)�\i�\)�`I�brA�`Ɋ` �`ɋd�d��di�d��di�h��h)�h �hI�hɫ�髙)�� ��I��Y��u�@y���gG��ɮ�a=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=M��=Y�'�;QU� ?�����a��G����y��纽}�(?I�������4�?����=Ӿ� ��T�?����?9��C���Ǻ: ����:)���W�� �?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����{@BEj�P�BA BA�AEDν*BA�AM�-��AI�AI�AM~-="Cm%T�>RCiCm� �?�Cq��y��QI�aG�}>��9��I���dGi�� �@���=���������� ; ����D)�q�I�q�i�q���q���q���u�@/5�g�j,9E��E�AY}2�{�?�}2���?y}2@���}2�z��}2H�����S}ÿ���`��������Ϳ���`��?�����b�����@z3��������?������ο�������?)~2�{�? ~2,a`;I~2��Cɫ�髹)�� ������I��Y����@y���gGxDUSBL response received:!U1,R,276,000,00941,189,80,80,A7,FF Fpublishing direction and range info��L����ɰB>� �)�I�y�G�B���q�� �H�?5�Q�N����������ٱI�)���!i�%R=��]<`;MeN=Y�m?�;QUm�>��q��q�au�G��}�=G��yy�{�}��>Iȑ����:�ŕN�4�?����:�ŕ�/Ӿ� ƕ��?����?9ƕMC�Ǖ_3; ȕ�3;)ȕ��:�W�Z4?�W�X� X��W�:W�2W�*W��V�bU�BU*UUU������@�P�*Q�G�B�Z����V�NV@5�F�MVK����������Z��q�� �H�?5�Q�N����������2Q�L��:Q��Z��F�c��C@f&?gֶW@����4@�Z����C��?(z��?�!)w�`�?BQ�� �? Q���BQ�B�P�ǧ9?�P���9?�P�����Q�����Q��A"Q���ABe�I�Ba B��A�}˽*B��A��p-��A��A��A���="C�Z4?RC�C�Z4?�C��֝��>��qI��G�~>��U ����U �����U �����U �� �U 1�:Y�U d\1y�U ��:��U ar6�;��j,) �E�AY}:�:�?�}:�q�?y}:U���}:<�w��}:H���� JH�����@(������6Ϳ��� ���?������������`�����@��?����J�ο�������?)~:�:�? ~:�`;I~:��Cɫ�髙)�� ��I��Y����@y��|hG�õj�<�õ�D��õ"[�iõ��@�ñ ĵ��@)ĵ��@Iĵ��@iĵ��@����=M�B=Y����;QU��>�������a��G�����y��v�}%�>I�9��=��4�?��=: Ӿ� �=̟?��U�?9�=�C��=�j; �=�a;)�9�m%uAdded new target pos. range: 104.640007 m, bearing: 67.648120 deg, deltaT: 4.427605 s, approachRate: 0.501400 m/s, LOS rate: -1.346598 deg/s, posRepo size: 4�m5� ProNav: pos range: 104.640007 m, bearing: 67.648120 deg, approachRate: 0.501400 m/s, LOS rate: -1.346598 deg/s, cmd update: -4.039793 deg/s, cmd heading: 29.365093 deg, new cmd heading: 30.194922 deg. �W=df�>�W9X9 X9�W9:W92WA*WA�VAbUABUa*UiUm�����(Z@Um��� �?B���E�B� B��A�ݭ�*B��A���-��A��A��A��>="C �u?*C ����RC C df�>�C����>�� I�G5�>��A i�E a=�Z�j,H�)�E�AY}2���?�}2~1�?y}2A����}2Y�w��}2H�����"����� ������@ Ϳ������?����i�������v����� Tq�?���@l�ο��� ���?)~2���? ~2�3`;I~2��CɫY�Y)�Y �]����I�Y��y��y܅��>9܅p�CI܅�fGi܅��@�܅=�܁�܁�܅[; ݅��EY����@y���iG��DNmea in: $SNTTA,,,,,164011.70*5A ����gfffff�? ףp= �������������3?���Q�� �����)��I��y������Mb�?�A`��"�?������������ ?����=������ A)�6AI�Ai�&A������=A�����=M�<=Y����;QU��>�������a��G����=G���y���p�}��>I�������4�?���hӾ� ��(�?��M�?9���C����.< ��O.<)���W��4�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����3��?B�<�B B�AFX�*B!�AE��-��AA�AA�AE0� ="CMj�>RCICU�4�>�CQ��U��>��1I�9GU�>��U M ����U �����U �����U ��� �U `N:Y�U �X1y�U /�:��U N6)�U ��;�9] ��T��j,��C�E�A�|4<�|p<Y}6���?�}6}��?y}6[���}6�ew��}6H���� ������������@��Ϳ�������?���`Z謿�����������`mݳ?��� I�ο������?)~6���? ~6�[`;I~6��CɫY�Y)�Y �]����I�YY��p�@y��LjGI�)���}�=M�b=Y��;QU��>�����a��G����y��,��}��>I�a����:��e��4�?����:��eӾ� �eN�?����?9�eC��eW< �e Q<)�e��:�W$B�>�WX X�W:W2W*W�VbU!BU!*U!U!UE����W��?B��h9�B� B��A���*B��A��.��A��A��A�N` ="C� ��>RC�C�$B�>�C����� �>�ױI��G��>���j,J�]�E�AY}2K��?�}2 ��?y}2�5���}2U�v��}2H������������������`pο���`���?����9������`�ܵ����@B�?��� �|ο����V��?)~2K��? ~2��`;I~2��Cɫ)�1)�1 �5����I�1Y�m��@y�mzjG��u 0=��u|?���u��=i�u(�@��q �u�@)�uΣ@I�uΣ@i�uΣ@��<M�-=Y���;QU��>�����a��G����y��\�}��>Iȱ�ŵ��4�?�ŵl�Ҿ� Ƶ��?����?9ƵbC�ǵ��: ȵ��:)ȱ�W]j#�>�WiXi Xi�Wq:Wq2Wq*Wq�VqbUyBUy*UyU�U�������?B�y7�B� B��A�\�*B��A��'.��A��A��A�}�="C��d�>RC�C�j#�>�C����������� ����������}��>9�yI�}lhGi�}�@��}=��y��y��}K; �}�E��M �?i�M �?��! I�) ��U � ����U �����U �����U ��� �U �X:Y�U �U1y�U ��:��U �6)�U ��;Ge �>�� ��>�� i��I��i�����ſٺ��A��>�j,ڌw�E�AY}R�A�?�}R�x�?y}RѰ���}R�.w��}RH�����d2������y������Xο����:��?���@�7�������Ƴ�����ֱ�?���`X�ο����?��?)~R�A�? ~R��`;I~R��Ci�`��`)�fx� �f�WFI�d �h)�jqAɛh��h�h��lɜli�r�I�rVjF��pI�ti�t �t�t)�t�x �zZrA��x��xɝx��|���pAI����)��\Fi�)� I� �qA� ɞ � ɟ���i���ɫ���)�� ������I��Y�58�@y�uBkG����g=M�h=Y����;QU��>�������a��G���=G��y�A��} �>I����:��N��4�?���:���Ҿ� �{�?���?9��C��o�: �f�:)���:�WE�>�WAXA XA�WA:WA2WI*WI�VibUqBUq*UqUqUu���`� �@B���2�B� B��A��k�*B��A�2.��A��A��A�B�="C �>RCC�>�C���I��G )>�Y&�j,�g��E�Aɫ���)�� ������I��Y�5��@y�5"lG���=i���=���T=�������ҽi�z�@�� ��@)�I�i��@��-�\=M-G=Y�5���QU5�>��9��9�aE�G��A��Ay�M���}M�>I�Y��]#��4�?��]��Ҿ� �]��?��m�?9�]�C��]; �]y;)�Y�W���>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �]@B�2.�B� B��A����*B��A��A��A��A�E,="C�� �>RC�C���>�C���I�!G�Z>��U ����U �����U �����U ��� �U �H:Y�U [1y�U ݏ:��U r6�9] @��Q�j,RG��E�AY}6���?�}6���?y}6!荽�}6?x��}6H�����kj�?���@7�������ο������?�����a�?��� �w����� b��?���`��ο��� ���?)~6���? ~6�Aa;I~4��A��Ep<�M��>9�II�M�iGi�Mݽ@��M=��I��I��M�; �M�Eɫ�髙)�� ������I��Y��%�@y��flG������@A������(\���?��~j�t�?���Q��?����>�����= ���u=)��I��y���}?5^�I�?��~j�t�?����Mb�?���M"?�����=���< �A)IfAi|#A�������A��-�<M�S=Y��i<QU��>�������a��G����=G���y���}�>I� ���:�� !��4�?���:�� ��Ҿ� � A�?���?9� C�� ��: � ��:)� ��:�W=h�>�W9X9 X9�W9:WA2WA*WA�VAbUABUI*UiU�U����` �@�R�B*** querying acoustic contact ***�P��P�B�B� B��A�*B��A��A��A��A�B�="C����>RC�C�h�>�C�I�)�mA���I��G (>�j8�j,\��E�AY}2H�?�}2��?y}2�K���}2b�w��}2H�����U�?���@*������ Ͽ����E��?���@xu�?����#k������F�?�����ο���@d��?)~2H�? ~2Msa;I~2��Cɫ9�9)�9 �=����I�9Y����@y��NmG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5nA��1��U�p=M]P=Y�e��;QUm�>��y���a��G����y�v��}��>Iȹ�Ž���4�?�Žb�Ҿ� ƽ�?����?9ƽ_C�ǽ��; ȽÚ;)ȹ�WGT�>�WX X�W:W2W!*W!�V!bUIBUI*UQUQUU������ @B��J)�B� B��A�7�<*B��A�".��A��A��A��w="C GT�>RC C GT�>�C ���I� G%M>��U k ����U �����U �����U ��� �U �P:Y�U �W1y�U č:��U 6��b�j,���E�AY}:WG�?�}:+~�?y}:;S���}:�w��}:H����� �?�����������AϿ����J��?���@'��?������������@�?���`�ο����P�?)~:WG�? ~:�a;I~8ɫ9�9)�9 �=����I�9Y�}��@y�}emG�xDUSBL response received:!U1,P 276,000,00941,189,80,80,A7,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��E94���E`���E�u<i�Ep�@��A �E�@)�E�@I�E�@i�E�@��k�;M�+=Y��G;QU��>�����a��G������y��W�}��>I������:������4�?����:���L�Ҿ� ��Ϊ?����?9���C�����: ��"<)����:�W�f�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@C� @B B�(�B B�A��<*B�A=�.��AA�AA�AE="CUf�>RCQCef�>�Cy�U��>9�QI�U(kGi�U"�@��Q��Q��Q��Ux; �UE�ׁI��G��>���j,����E�AY}F$ �?�}F�V�?y}F�����}F�<t��}FH�����2Y�?��� F��������ο���`4��?������?���@�J����� i��?����2-ο����!�?)~F$ �? ~FW�a;I~F��CɫY�Y)�Y �]����I�YY����@y��InG鮝a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��U]�=MUv=Y�]�;QU]?��Y��Y�ae�G��e�=G��ay�m���}m ?I�q��u1��4�?��u��Ҿ� �u�?��}�?9�u�C��u4�: �u��:)�q�W}d�g>�WyXy X��W�:W�2W�*W��V�bU�BU�*U�U�U�����%@B5=� �B9 B9�AE�-=*Ba�Amf�-��Ai�Ai�Am�� ="Cud�g>RCyC}d�g>�Cy�ם�?iם�?��yI��G�=>I�A )�E ?A��U � ����U �����U �����U z�� �U �G:Y�U 0Y1y�U ��:��U �6�Evj,��E�AY}6���?�}6��?y}6����}6�ws��}6H������ȿ?��� F�����`.�ο�������?�����e�?����������@~o�?�����ο���` �?)~6���? ~6_�b;I~6��Cɫ9�9)�9 �=����I�9Y�� �@y���nG�xDUSBL response received:!U1,R,258,000,00959,188,80,80,A7,FF �Fpublishing direction and range info���� ����ɰ�D>鰝��> ��)��I��y��(�B����\o�z��?-B������������ٱ�����=��94����T�i���@�� ��@)��@I�9�@i���%L=M%M=Y�%+;QU-�>��)��)�a-�G��)��1y�=d��}=�>I�A��EP��4�?��Ep�Ҿ� �E��?��M�?9�E"C��E�: �Ew�:)�A�WuR�L>�WqXq Xq�Wq:Wq2Wy*Wy�VybUyBUy*U�U�U�����ٙ@�P�*Q�(�B�Z�� ����V@��:��J����������Z��\o�z��?-B������������2Q�� �:Q��Z����(0:O@#�Sw�T@�%��Z]2@�Z���ۨ����?*&�K"D�?:ݖG�(�?BQ�-n? Q���BQ��yB�P��9?�P�ǧ9?�P����Q�����Q�r�A"Q��AB�t��B� B��A�Vg=*B��A��-��A��A��A�� ="C�R�L>RC�C�R�L>�C���II�YGu>�0� j,�,�E�A�|i|Y}>#��?�}>���?y}>�偽�}>��s��}>H��������?����߭�����WϿ���@���?�����c�?���@�n�������9�?�����%ο������?)~>#��? ~>�kc;I~>��C�r��>9�pI�rTlGi�r�@��r=��p��p��r�; �rKE)�]�p�CI�]�p�Ci�Y���]�=��]�=��]�-F5ɫY�Y)�Y �]����I�YY����@y���nG�}dNmea in: $SNTTA,0.409550,0.409925,,,164016.06*52 ��yi�}�=�����~j�t��?q= ףp������Mb`?����?����� ��;)��I��y���u�V�?��~j�t�?����Mb�?���r(?����=����< rA) ���Ii�������A�����M�3=Y����:QU��>�������a��G����=G���y��[�}��>I������:������4�?���:����Ҿ� ��}�?�� �?9��pC����H; ��%H;)����:�mUuAdded new target pos. range: 106.080002 m, bearing: 53.290055 deg, deltaT: 4.402398 s, approachRate: 0.327093 m/s, LOS rate: -3.261419 deg/s, posRepo size: 4�mm� ProNav: pos range: 106.080002 m, bearing: 53.290055 deg, approachRate: 0.327093 m/s, LOS rate: -3.261419 deg/s, cmd update: -9.784258 deg/s, cmd heading: 11.469979 deg, new cmd heading: 9.600868 deg. �Wm�,�=�WiXq Xq�Wq:Wy2Wy*Wy�VybU�BU�*U�U������Z@U����� ��?B�s��B� B��A��V=*B��A���-��A��A��A�� ="C���>RC�C��,�=�C���I�G5O>��U � ����U �����U �����U ��� �U U:Y�U xZ1y�U q�:��U �6)�U Q�;�9] ��ʆj,gF�E�AY}2��?�}2��?y}2�G���}2��u��}2H�������?��� Ɉ����@YTϿ��� �u�?����O�?���@�W������L�?���`Lbο����Q�?)~2��? 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~N&db;I~Lɫ�髡)�� ������I��Y���@y��pG��!��%?A��-p=i�-�=�Å�ļ�ÅC���Å��=iÅ �@�Á ą"�@)ą"�@Ią"�@ią"�@����M�P=Y�Z��QU��>�����a��G����y��x�}��>Iȱ�ŵG�4�?�ŵ�(Ҿ� Ƶ�?����?9ƵC�ǵ��: ȵ��:)ȱ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`Ѹ@�RB*** querying acoustic contact ***�P�PB%�� �B) B)�A-��=*B)�A5��+��A1�A1�A5L="C=n��RC9C=��@�CA��II�YG}>��U U ����U �����U �����U ��� �U �::Y�U �Y1y�U �:��U D6���7j,"���E�AY}6 ,�?�}6�b�?y}6(���}6Ɩv��}6H�����W��?����]]�������Ͽ����,U�?���@b^�?����+�?����Ծ�?��� vο���`��?)~6 ,�? ~6�~b;I~6��Cɫ9�9)�9 �=����I�9Y�}D�@y�}yqG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=M�V=Y�����QU��>�������a��G������y�ꆽ}�>I� ���:�� ��4�?���:�� #Ҿ� � ɻ?���?9� LC�� �; � 5;)� ��:�WE�ֽ@�WAXA XI�WI:WI2WI*WI�V bUBU*UUU���� � @BE�5�BA BA�AE��=*BI�Am�=+��Ai�Ai�Am�="Cu����RCqC}�ֽ@�CyIש)ש�ׁI��G�>܅��>9܁I܅oGi܅O�@�܅=�܁�܁�܅{; ݅,E��A i�E �=��(>j,Rd��E�AY}2�ټ?�}2g�?y}2�؉��}2�z��}2H��������?����)��������Ͽ���@T�?�������?�������?�����7�?����E�ο������?)~2�ټ? ~2t�b;I~2��Cɫ9�9)�9 �=����I�AY�}�@y�}arG�xDUSBL response received:!U1,P 258,000,00959,188,80,80,A7,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 ���������@h=MI=Y�M��QU�>��)��)�a=�G��=�=G��Iy�]��}e�>Iȁ�Ņr�4�?�Ņ5 Ҿ� ƅ��?����?9ƅ�C�Dž= ȅ�=)ȁ�W�9�@�W�X� X��W�:W�2W�*W��V�bUBU *U U U��� � @B���B� B��A��>*B��A�[�*��A��A��A��="C��оRCC 9�@�C9��AI�iG��>��U �����U �����U �����U �� �U z�:Y�U 0Y1y�U ��:��U M!6��Ej,`?�E�AY}:�y�?�}:[��?y}:�}:�x��}:H������?����h�����@��Ͽ�������?��� �v�?����N��?��� ���?���@��ο������?)~:�y�? ~:`�b;I~:��Cɫ9�9)�9 �=����I�9Y�]��@y�]�qG�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�Q)�Q�íGa��í����í��iíQ�@�é ĭ9�@)ĭ9�@Iĭ9�@iĭ9�@��ؼM�?=Y�䙻QU��>�������a��G������y���}��>I������:�����4�?����:�����Ѿ� ��m�?����?9���C�����: ����:)����:�W-�C�@�W)X) X)�W1:W12W1*W1�V1bU9BU9*U9U9UE�����>@Bm�.��B� B��A�` >*B��AkL*��A�A�A-��="C=��RCiCm�C�@�Cy���I��G J>��:Kj,]/�E�A�������>9�I��oGi���@���������; ��EY}BY��?�}B+2�?y}B.4���}B��v��}BH����`��?����r�����юϿ���`�n�?���� �?���� ��?���`�"�?���@�sο��� ���?)~BY��? ~B��c;I~@ɫY�Y)�Y �]����I�YY�}{�@y�}�rG���B`��"��?#��~j��� ףp= �?���?��㥽 �Q8=)�I�y����/�$�?��(\�µ?<�O��n����&?���=��t� ��A)�C3AI�fAi�XA�����A��-�=M�L=Y�)��QU��>�����a��G���=G��y�}��}��>Iȹ�Ž�!�4�?�Ž�Ѿ� ƽ�?����?9ƽC�ǽ�: Ƚ+�:)ȹ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU����R�@B-R���B) B1�A59%>*B1�A5e�)��A1�A1�A=%="C=wo�RCACE��@�CA��U�?i�Q�� I�GE>I�E AA)�E BA��U � ����U �����U �����U ��� �U T:Y�U �[1y�U H�:��U �6)�U ~�;�9] ��*'Rj,�I�E�AY}M�n�?�}M���?y}MxI���}M��r��}MH����@�S�?��� +������Ͽ������?����@��?�����D�?���@4E�?��� #ο����C�?)~M�n�? ~M��d;I~M��Cɫ � )� �����I�Y�M��@y�M)sG�]DNmea in: $SNTTA,,,,,164020.50*5A )�u�= �u�=��E��<��Eף<��Et�<i�E�@��A �En�@)�EX�@I�EX�@i�En�@��U ><MU?=Y�]���QU]�>��Y��Y�ae�G��a��ay�m���}m�>I�q��}�:��uV'�4�?��}�:��u��Ѿ� �u��?��}�?9�uZC��u=�: �u�:)�u��:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����2�@B��<��B� B��A�P*>*B��A��0)��A��A��A�k�="C�[y�RC�C����@�C����I�G%,>��LXj,��b�E�Aɫy�y)�y �yI�yY��h�@y��tG������@A���R=i���=�����=M�e=Y�����QU��>�������a��G������y�����}�>I���*,�4�?����Ѿ� �0�?���?9��C����: ���:)��W5�ϲ@�W9X9 X9�W9:W92W9*WA�VAbUABUA*UIUIUM������@Bub�ݼBy By�A}�B>*By�A}Ӣ(��Ay�A��A��="C���'�RC�C��ϲ@�C���QI�YG}�=�19�5r�CI�5qGi�5��@��5 =��1��1��5�; �5kE)�݅q�CI�݅q�Ci�م��݅=��݅=��݅K�5��U ����U �����U �����U q�� �U OJ:Y�U �Y1y�U �:��U �6)�U �;�vw^j,q�|�E�AY}2��?�}2﹋?y}2^~���}2FOm��}2H���� [n�?�����d����`�8ο���@�R�?����E��?����df�?�����k�?�����RͿ����T�?)~2��? ~2rGd;I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�];tG��G<M�M=Y�ºQU��>�������a��G����=G���y��;�}��>I������:����2�4�?����:�����Ѿ� ��տ?����?9���C���~�: ���:)����:�W ���@�W X X �W :W 2W*W��V�bU�BU�*U�U�U�����P�@�R�B*** querying acoustic contact ***�P��P�B ��B B �AF>*B�A:�'��A�A�Ai="CU��=�RCQCU���@�CYI�i)�mlA��II�QGm>��`ej,����E�Aɫq�y)�y �}����I�yY���@y���tG�µmA�±���/ݼ����<����Լi��@��� ����@)��n�@I����@i����@�� %=M E=Y����QU�>�����a�G����y�%���}%�>I�)��-09�4�?��-��Ѿ� �-��?��5�?9�-C��-w�: �-��:)�)�Wmo[�@�W�X� X��W�:W�2W*W)�V1bU9BU9*UAUYUe��� qX@B��WݼB� B��A�6W>*B��A��.'��A��A��A�l�="C ߅N�RC C o[�@�C��9I�IGmW>��M � ����M �����M �����M 2�� �M {S:Y�M [1y�M ݏ:��M �$6�9U @�����<�%��>9�!I�%0rGi�%��@��%=��!��!��%>; �%#E�Z�kj,Ac��E�AY}6H��?�}6��?y}6�j���}60q��}6H����`�0�?���๋������@ο���`��?����<>�?������?��� YI�?����\�Ϳ����v �?)~6H��? ~6G�e;I~6��Cɫ9�9)�9 �=����I�9Y����@y���tG��ɮ�I��)����}������M�?����Mb����~j�t����}n?��}� �}���)�yI�yy�}�333333�?�~j�t��?����MbP?��}�?��}��=��}�: �}A)�}/AI�}�Ai�}�A��y��}�A���һM�B=Y���:QU��>�����a��G���=G��y�\��}��>Iȱ�ŵ!A�4�?�ŵ��Ѿ� Ƶ��?����?9ƵGC�ǵ: ȵ��:)ȱ�W�(�@�W�X� X��W�:W�2W�*WI�VIbUQBUQ*UQUQUU����!�@B�*�ѼB��< B��A�oT>*B��A�S�&��A��A��A��-="C��D`�RC C (�@�C��)I�9G]3>��trj,^L��E�AY}j��?�}j�Á?y}jZ[���}jt`r��}jH��������?���`�������$ο����2�?�������?������?�����'�?����}�Ϳ������?)~j��? 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~2��e;I~2��CɫY�Y)�Y �YI�YY���@y��awG���������=i���=�����=M�H=Y���;QU��>�������a��G����=G���y��r�}��>I��� �:��RZ�4�?���:����Ѿ� ���?���?9��C����: ���;)���:�W=3��@�W9X9 X9�W9:W92WA*WA�VAbUABUI*UIUIUM��� X�@B}�$��By By�A}�>*B��A�)$��A��A��A�0Z="C��놿RC�C�3��@�C��х9�=��iI��G�C>��U �����U �����U �����U ��� �U �h:Y�U �^1y�U a�:��U �-6�E��j,���E�AY}2�?�?�}2��p?y}2K鋽�}2h s��}2H��������?�����������~SͿ��� t��?����/��?����B��?�����y�?�����ο������?)~2�?�? ~2g;I~0ɫ)�1)�1 �5����I�9Y��:�@y���wG��e���ʡE�?����������~j�t�?��e-�>��e��� �e��<)�aI�ay�e�V-����?�V-�?����Mbp���e|?��eh�=��e�� �eMA)�e�/AI�ai�e�A��a��a��y��y�����<���n>����<i��\�@��� ���@)���@I���@i���@����<M�=Y��� ;QU��>�������a��G������y��:�}��>I�����Uh�4�?���AzѾ� ��J�?���?9��UC�����: ��Y�:)���W%���@�W!X! X)�W):W)2W)*W)�V)bU1BU1*U1U9U=����(f @�REB*** querying acoustic contact ***�PA�PAB�-���B� B��A���>*B��A�*�"��A��A��A���="Ch���RCC���@�C��E ��<I�Q )�Q ��! I�) GM �>�ٹ�ٽmA��9��I���tGi���@������������r; ���E�Lj,.�1�E�AY}R_7�?�}R^�j?y}R%����}R�q��}RH�����gh�?���@�f���� N�̿����Z�?�����O�?���� �?���@�0�?������Ϳ���@=�?)~R_7�? ~R�4e;I~R��C �X)�Z;qAɇZ;߽��Z�hF�X��\Ɉ^�pAi�\I�\��`I�`i�bvrA �`�`)�`�d �d��d��dɉd��h��hI�j`�)�j�WFi�h)�lI�l�lɊl �lɋp�r�rA��pi�p��pi�t��v��A)�t �tI�tɫ�髹)�� ������I��Y�u\�@y�u�wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��uM<Mu{=Y�}�`;QU} ?�����a��G���=G��y����}�?I������:���fq�4�?����:���ApѾ� ��2�?����?9���C�����; ����;)����:�WE�Ƞ@�WAXA XA�WA:W�2W�*W��V�bU�BU�*U�U�U����`Y!@B%dB) B)�A-��>*B1�A= "��A9�A9�A=z��<"Ce.���RCiCm�Ƞ@�Cq�ϡ�ϡ)С С��! I�1 ��U � ����U �����U �����U &�� �U ��:Y�U d\1y�U ��:��U �>6)�U ��;�9] �Gm �>�6j,�K�E�A�|�|ɫ���)�� ������I��Y�-��@y�5NxG�5p=ɮ1=xDUSBL response received:!U1,P 80,80,63,E4 9,188,80,80,A7,FF =Command Ack=BRequesting micromodem ping code 2i�9��9�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �Õµ��Õ94��Õ��iÕf�@�Ñ ĕ��@)ĕ��@Iĕd�@iđ��E:=ME4=Y�M���QUU�>��Q��Q�aU�G��Q��Yy�e���}e�>I�i��m�}�4�?��mfbѾ� �mt�?��u�?9�m�C��m��: �mܹ:)�i�W�I�@�WX X�W:W2W*W!�V!bU!BU!*U!U)U-���`�"@B�7���B� B��A��>*B��A�!��A��A��A���<"C�"���RC�C��I�@�C����I��G-�>�2�j,`e�E�AY}2�8�?�}2��^?y}2� ���}2*u��}2H��������?�����t����@�g̿����Sk�?�����h�?���@8º?���@7��?����zGο���`��?)~2�8�? ~2U�a;I~2��Cɫ�髹)�� ������I��Y��q�@y��yG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )��> ���=���bl=M�s=Y����;QU�?�������a��G�����y� �} ?I����:�����4�?���:���XѾ� �G�?���?9�C���: ���:)���:�WE;��@�WAXA XA�WA:WA2WI*WI�VIbUQBUQ*UQUQUU���@��"@B��cb�B� B��A���>*B��A��8 ��A��A��A���<"C�@��RC�C�;��@�C���?i|?��iI�qG�>�}��>9�yI�}|vGi�}W�@��}=��y��y��}�; �}�E��U �����U �����U �����U 2�� �U �}:Y�U �Y1y�U �:��U �?6)�U ?�;���j,�A�E�AY}>���?�}>zYX?y}>(S���}>!u��}>H������1�?����"������5�˿�������?���@Z��?�������?�����'�?����Fο������?)~>���? ~>�ha;I~<ɫY�Y)�Y �]����I�YY�u��@y�}�yG�xDUSBL response received:!U1,R,502,000,00966,189,80,80,82,FF �Fpublishing direction and range info��}f3����yɰ}E>�}7�> �y)�}�CI�yy�}��B��}����w���?a�mf-����������ٱy���=M�a=Y�٣;QU��>�������a��G����=G���y��?��}��>I�����Œ�4�?���INѾ� ��'�?���?9��CC���s�; ����;)���W]��@�WYXY XY�WY:Wa2Wa*Wa�VabUaBUi*UiUiU�����!d#@�P�*Q���B�Z���<+�VG@�WK�X����������Z�����w���?a�mf-����������2Q�f3��:Q��Z��d3gy�X@8�n�4<�Z+��H�9@�Z��W�L��?`Y ��пOF�6���?BQ��?�@ Q����Q���B�P�k�9?�P��9?�P�����Q����Q��B"Q�r�AB��~�B B�Ay�>*B�A�*��A!�A!�A%�S�<"C-�3��RCICM��@�CQ��II�YGu>����j,���E�AY}2��?�}2�yQ?y}2��|��}2�t��}2H�����~��?����Za�����L˿����uP�?���`��?������?����А�?����i(ο����X �?)~2��? ~2�ma;I~0ɫy�y)�� ������I��Y�� �@y���yG��DNmea in: $SNTTA,,,,,164025.77*5A ����=i��a=��%���%��<��%�H�i�%f�@��! �%@)�%@I�%�@i�!��5�E<M=(=Y�=�C;QU=�>��A��A�aE�G��A��Iy�M�c�}U�>I�Q��U��4�?��U�@Ѿ� �UA�?��e�?9�U�C��U8�: �Ur�:)�Q�m�yAdded new target pos. range: 106.860001 m, bearing: 344.221699 deg, deltaT: 9.697778 s, approachRate: 0.080431 m/s, LOS rate: -7.122082 deg/s, posRepo size: 4�m�� ProNav: pos range: 106.860001 m, bearing: 344.221699 deg, approachRate: 0.080431 m/s, LOS rate: -7.122082 deg/s, cmd update: -12.000000 deg/s, cmd heading: 276.630345 deg, new cmd heading: 271.982050 deg. �W��P�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����@ �Z@U�����y:�?B�0F��B� B��A�|�>*B��A�����A��A��A����<"C�Bڿ�RC�C��P�@�C����I� G-O>��U y����U �����U �����U ��� �U ő:Y�U d\1y�U ��:��U B76�9] @��Y��]=�m��>9�mq�CI�mDwGi�m��@��m=��i��i��m�; �m�E)���r�CI���r�Ci�������=����=����*�4�5�j,�3��E�AY}2~�?�}2�0J?y}2Ou��}2~r��}2H������|�?�����������̐ʿ���૯�?��� �7�?����̵�?�������?������Ϳ���� �?)~2~�? ~2�b;I~2��Cɫ�髙)�� ������I��Y����@y���zG�� ��|?5^��?��ʡE��V-��?�� ��>�� -�� � ��<)� I� y� �/�$���?/�$��?�~j�t�x?�� �?�� ,=�� ��; � ��A)� t-AI� EAi� 3A�� �� pA��nA����-�x=M-:=Y�-3�;QU-�>��1��1�a5�G��5�=G��9y�=섽}=�>I�A��M�:��E��4�?��U�:��E15Ѿ� �E�?��U�?9�E�C��E��: �EM�:)�E��:�Wu>`�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U�������?B�(�d�B� B��A�#�>*B��A����A��A��A�O��<"C���˿RC�C�>`�@�C�I��)��mA�I��G�f>�* �j,q���E�AY}2�"�?�}2B?y}2ok��}2f�n��}2H�����%�?���`M'���� "�ɿ���@��?�������?�������?����L^�?������Ϳ�����?)~2�"�? ~2��b;I~2��Ci�8��<)�>"۽ �<I�< �^�C)�`ɛ`��`�`��b�Cɜf qAi�f���I�d��dI�di�f�pA �j����h)�h�h �h��h��lɝl��|���pAI��)�i�)�I� �qA� ɞ � ɟ � ��i���ɫ���)�� ��I��Y�-�@y�-{G����T����������rh>i����� ���@)����@I��@i��@�����<Mx=Y���;QU?�� �� �a �G�� ��y����}?I���[��4�?���,Ѿ� �g�?��-�?9� C��R�: ��:)��WM,�@�WIXQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UYUaUe����2��?B���BI BI�AMa�>*BI�AMc���AI�AQ�AU���<"C]5�ҿRCYC],�@�CY�ׁI��G�>>��U ����U �����U �����U [�� �U �^:Y�U �Y1y�U �:��U �(6�A7�j,n���E�AY}2�{?�}2�t;?y}2m`��}2WTo��}2H����@��?���ࣂ�������ȿ�����\�?�����k�?����a~�?����y��?��� ��Ϳ��� Y�?)~2�{? ~2$e;I~0ɫ�髹)�� ������I��Y��&�@y��,{GI�Y)�Y��1�;M�Q=Y�*�;QU��>�����a��G����y�㓽}��>Iȹ����:�Žo��4�?����:�Ž#Ѿ� ƽ��?����?9ƽGC�ǽ�: Ƚ��:)Ƚ��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU������?B5�=�B1 B1�A5N�>*B9�A=n��A9�A9�A=���<"CES�ܿRCACE��@�CI�I��G�>� ��>9� I� pxGi� ��@�� =�� �� �� �; � �E��j,f���E�AY}2��s?�}2dD4?y}2b_U��}2��q��}2H����`[�?���������`7Vȿ���@O��?�������?����@��?����ը�?��� 6�Ϳ���@��?)~2��s? ~2ee;I~2��Cɫ�髹)�� ������I��Y����@y���{G)�e�= �e�=��d�<M�K=Y��;QU��>�����a��G���=G��y��}��>Iȱ�ŵO��4�?�ŵiѾ� ƵR�?����?9Ƶ�C�ǵ'�: ȵ�:)ȱ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@@s�@B�h�<�B� B��A���>*B��A�6��A��A��A�Ha�<"C�*�RC C��@�C��]�?i�]�?�ׁI��G�=>��U ����U �����U �����U ,�� �U ��:Y�U �X1y�U /�:��U �#6��J�j,0d�E�AY}2��l?�}2$e-?y}2jIL��}2��q��}2H����@���?����'5����� �ǿ������?���`kz�?����2q�?����w��?��� ��Ϳ������?)~2��l? ~2��e;I~2��Cɫ9�A)�A �E����I�IY��C�@y���|G�Å�t��Åf�>�Åxi>iÅ̴@�Á ą-�@)ą-�@Ią�@ią^�@���S=M�;=Y�G�;QU��>�����a��G����y�f{�}��>Iȱ����:�ŵ���4�?����:�ŵ+Ѿ� Ƶ��?����?9Ƶ�C�ǵ��: ȵ��:)ȵ��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`7�@B%�t�B) B)�A- �>*B)�A- ���A)�A1�A5�G�<"C5v�RC9C=��@�C9��AI�IGe4>��� ��� � ��>9� I� 8yGi� ��@�� =�� �� �� ; � E�Zs�j,�84�E�A�|i|�@Y}6��f?�}6I'?y}6 �E��}6e�s��}6H�����0f�?����������@sǿ����Ig�?�������?�����Z�?�����?��� �*ο����i�?)~6��f? ~6�e;I~4i��mGI�)i�AɫA�I)�I �II�I���vĿٺ����}�AY���@y��K|G�����������t�V�?�������?#��~j��������>����L= ��㥽)��I��y���%��C��?Zd;�O��?�Q���?���Z$?���j<=���\= ��xA)���,AI��lAi��������A������MU=Y�4�;QU�>��)��)�a-�G��5�=G��1y�5t��}=�>I�A��E���4�?��E�Ѿ� �E��?��M�?9�E C��E��: �E��:)�A�Wu�N�@�WqXq Xq�Wy:Wy2Wy*Wy�VybU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�BU�1�BQ BQ�AU��>*BY�A]"d��AY�AY�A];�<"Ce���RC�C��N�@�C��ׁI��G�=>��u r����u �����u �����u ��� �u (z:Y�u �[1y�u H�:��u V6)�u Z�;�9� ��J[�j,N�E�AY}6u`?�}6�� ?y}6� B��}6}�w��}6H�����Z��?�������������ƿ�������?�����X�?�����U�?����?�?���@�ο������?)~6u`? ~6��e;I~6��CɫY�Y)�Y �]����I�YY��l�@y���|G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���mA�����U+����U�#<��Ul�=i�U��@��Q �U��@)�U��@I�U���i�U��@��e��<MeU=Y�m|;QUm�>��i��i�au�G��i��qy�u�m�}u�>I�y����:��}f �4�?����:��}�о� �}P�?����?9�}NC��}< ; �}Y!;)�}��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������/ @B5�4��B1 B1�A=��>*B9�A=6��A9�A9�A=�2�<"CE!��RCiCm��@�Ci��aI�iG�9>�Y��j,��g�E�AY}6IxZ?�}6��?y}6��@��}6�h{��}6H�����'J�?���@[������ƿ���@�.�?����Ҽ�?����AD�?�����?�����Ͽ��� ��?)~6IxZ? ~6Gf;I~6��Cɫ9�9)�9 �9I�AY��h�@y���|G�xDUSBL response received:!U1,P 502,000,00966,189,80,80,82,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 ��%㕺M%O=Y�5�X:QU=�>��I��Q�a]�G��Y��iy�}���}��>Iȡ�ť!�4�?�ťa�о� ƥ��?����?9ƥ�C�ǥ��< ȥ��<)ȡ�WEy��@�WiXi Xi�Wq:Wq2Wy*Wy�Vyܹ9ܽp�CIܽdzGiܽ��@�ܽ=�ܹ�ܽ��D�ܽ�; ݽEbU�BU�*U�U�U����`�� @BU���BQ BQ�A]p�>*BY�A]T���AY�AY�A]��<"C����RC�C�y��@�C��ׁI��G�c>��U `����U �����U �����U �� �U Nd:Y�U �Y1y�U �:��U !6)�U z�;�Gm�j,Xʁ�E�A�|�|4<Y}6�AT?�}6K�?y}6 �A��}6�{��}6H�������?��� ��������ſ����܉�?�����&�?���`���?��� �6�?���`Ͽ�������?)~6�AT? ~6�f;I~4ɫ9�9)�9 �=����I�9Y�}?�@y�}�}G鮁ɮ�4=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}&�=M}E=Y�}�'�QU��>�����a��G���=G��y��t�}��>Iȩ�ŭd+�4�?�ŭ\�о� ƭ��?����?9ƭ�C�ǭV; ȭ2*;)ȩ�W���~@�W�X� X��W:W2W *W�VbUBU*UUU%��� �8@BM�'�BI BI�AU��>*BQ�AU�^��AQ�AQ�AU��<"C]�c�RCYCe��~@�Ca��iI��G�>�Ě�j,����E�AY}F^�M?�}F�&?y}FV�A��}F�{z��}FH�����_)�?��� c���� bUſ�������?��� j��?�����>�?���`�7�?������ο���`>�?)~F^�M? ~Fve;I~F��Cɫ�髹)�� ������I��Y���@y���}GxDUSBL response received:!U1,R,502,000,00955,189,80,80,8F,FF %Fpublishing direction and range info����ɰ�C>� �)��CI�y���B������w���?a�mf-����������ٱ��dNmea in: $SNTTA,0.298444,0.297782,,,164030.20*5A ���`��"���?V-���y�&1������?��|�� �`e�)�I�y��V-���?�~j�t��?�~j�t������?���D=���D� ���@)�/AI�i��A�����A)�%�= �%�=��m�>��m����m 0=i�m��@��i �i)�m�@I�m��@i�i��}� �M�-=Y��w�QU��>�����a��G����y��]�}��>Iș����:�ŝ?�4�?����:�ŝ��о� Ɲ��?����?9ƝC�ǝ�: ȝ��:)ȝ��:�W�Yx@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����@�P�*Q���B�Z����ZĔG@ժȄc�W����������Z�����w���?a�mf-����������2Q�:Q��Z���P����U@���%�\K�����79@�Z�������N�?L��5ċ�y��%��?BQ���@ Q��Z�Q��B�P�O�9?�P�k�9?�P�����Q�����Q�F�A"Q��BB%�T�B) B)�A-��>*B)�A-'���A1�A1�A5?��<"C=���RC9C=Yx@�CA��I�!G=Q>I�= @A)�9 ��M w ����M �����M �����M /�� �M �Q:Y�M d\1y�M ��:��M 1$6�9U @�ٙ �ٝ �<ܥ ��>9ܡ Iܥ �zGiܥ ��@�ܡ �ܡ �ܡ �ܥ �; ݥ �E����j,4���E�AY}2_�F?�}2�O?y}2E�B��}2R�z��}2H�������?��������� �Ŀ������?���@���?�������?���@�V�?���@��ο������?)~2_�F? ~2x:d;I~2��CɫY�Y)�Y �e����I�aY��z�@y�� ~G��}- =M}r=Y��9�QU�?�����a��G���=G��y���}�?Iș�ŝ�M�4�?�ŝA�о� Ɲ6�?����?9ƝMC�ǝض: ȝ�:)ș�m5}Added new target pos. range: 105.840004 m, bearing: 327.832606 deg, deltaT: 4.520095 s, approachRate: -0.225658 m/s, LOS rate: -3.625829 deg/s, posRepo size: 4�mE� ProNav: 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. �WE�@t@�WAXA XA�WI:WI2WI*WQ�VQbUQBUQ*UQU]�����uZ@U]�����u�?B�`���B� B��A���>*B��A��t��A��A��A�U��<"C�\R�RC�C��@t@�C���I�G=/>���j, b��E�A�|i|ɫq�y)�y �}����I�yY��y���å�#<�å��;�å�y>iå��@�á ġ)ĥ��@IġiġY����QU��>������a��G������y�����}��>I������:���_�4�?����:���6�о� ����?����?9���C�����: ����:)����:�W'@o@�WX X�W:W 2W *W �VbUBU*UUU�������?B��S��B� B��A�*B��A�n� ��A��A��A�N��<"C�!��RC�C�'@o@�C����I��G (>��M �����M �����M �����M ��� �M }i:Y�M 0Y1y�M ��:��M �6����j,�6��E�AY}:��8?�}::��>y}:jQD��}:\�v��}:H������p�?������ۿ�����:ÿ��� 7,�?�������?���`|q�?����Ň�?���@j}ο����� �?)~:��8? ~:Dmd;I~:��Cɫ9�9)�9 �=����I�9Y�]��@y�e�~G���nA�����m�<Mm�<Y�mXx�QUm�>��q��q�au�G��q��yy�}�}}�>Iȁ�Ņ�p�4�?�Ņ%�о� ƅ��?����?9ƅ�C�Dž��: ȅj�:)ȁ�W� wj@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����M?�?B�����B� B��A���>*B��A�����A��A��A��<"C��!�RC C wj@�C I�)�lA���I��G>�U��>9�QI�U�{Gi�U��@��U =��Q��Q��U; �UE)��p�CI��p�Ci���=���=���j�5��A i�E p=�e��j,� �E�AY}2ǎ1?�}2���>y}2d\C��}2�/v��}2H��������?���@�ڿ�����y¿����g��?�����4�?���� ��?����-i�?����hqο����W�?)~2ǎ1? ~2�d;I~2��CɫY�Y)�Y �]����I�YY����@y��M~G����M�H=Y��:QU��>�����a��G���=G��y�M��}��>Iȩ����:�ŭ���4�?����:�ŭ&�о� ƭ)�?����?9ƭ C�ǭX�: ȭ��:)ȭ��:�W�oe@�W X X�W:W2W!*W)�V)bU9BU9*UAUIUU���`��?B�p�m�B� B��A� �>*B��A�c� ��A��A��A�3B�<"C���'�RC�C��oe@�C���aI�qG�;>��U �����U �����U �����U C�� �U /�:Y�U �X1y�U /�:��U U&6���j, � �E�A�|<�|>�;Y}}*?�}}x��>y}}�%A��}}~5t��}}H�����O=�?����/yؿ���@^���������?���@g��?�����J�?��� l"�?��� 74ο����K�?)~}*? ~}�e;I~}��Cɫ�髉)�� ������I��Y��z�@y��CG�����G�z�?)\���(�����S㥫?�����>���G� ��/]=)��I��y����V-�?����Mbp?�� �rh�?���h?����;���C�< ����@)���,AI��i���A�������A��=�}=��=��=��=9�=i�=��@��9 �=�@)�=�@I�=�@i�=�@���R=M�,=Y�y�:QU��>�����a��G����y���}�}��>I��������4�?���ؽо� ����?����?9��QC����: ��G�:)���W�8�_@�W�X� X��W:W2W*W�VbU BU *U U U�����0�@B=0��B9 B9�AE��>*BA�AE�3 ��AA�AA�AE���<"CMx4,�RCICM8�_@�CQ��I�!G]U>�I 9�I I�M X|Gi�M �@��M =��I ��I ��M K; �M .E�� j,i�6 �E�Aɫ�髉)�� ������I��Y��o�@y��6G)�M�= �M>��uw��Muw=Y�}���QU}?��y���a��G���=G��y����}�?Iȑ�ŕ���4�?�ŕs�о� ƕ��?����?9ƕ�C�Ǖz�: ȕO�:)ȑ�W�P�[@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B �Q;B B�A��>*B �A ����A �A �A ���<"C���0�RC�� ��C�P�[@�C��שI��G�!>I�E AA)�E AA��U �����U �����U �����U ��� �U zm:Y�U d\1y�U ��:��U 16)�U f�;�9] ���j,M�P �E�AY}:R�?�}:ܳ�>y}:��6��}:g�r��}:H����`P��?�����տ����#c�������U�?����dC�?�����7�?����%Ӧ?���`�ο���`)�?)~:R�? ~:�e;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y���G������?A��U�����U�>��U��=i�U3�@��Q �UK�@)�UK�@I�UK�@i�UK�@��e&=MeL=Y�e�;QUm�>��i��i�am�G��i��qy�}��}}�>Iȁ����:�Ņͷ�4�?����:�Ņϴо� ƅ��?����?9ƅ�C�Džk�: ȅ��:)ȅ��:�W�-�V@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����@�R�B*** querying acoustic contact ***�P��P�B� ��:B� B��A�,�>*B��A(P��A�A�Aʠ�<"C ��5�RC C -�V@�C���I��G >��!j,�~j �E�A�|i|Y}6��?�}6��>y}6��/��}6j�t��}6H������?�?��� B�ӿ��� �������`���?����^��?�������?�������?�����Kο����v�?)~6��? ~6t�e;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y��H�G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����==M�Q=Y���;QU��>�����a �G�� �� y�؎�}�>I���h��4�?����о� ���?��-�?9��C����: ���:)��W-�Q@�W)X1 X1�W1:W12W1*W9�V9bU9BU9*U9UAUE�����g @B��,;B� B��A��?*B��A�����A��A��A��`�<"C�!�9�RC�C��Q@�C�����>9��o�CI�� }Gi����@���=����������; ��\E��I�G-->������ڕCi��VnGI��i� ��=e¿ٺ9��=��A����?9����A��U p����U �����U �����U ��� �U �y:Y�U ]1y�U �:��U 9/6)�U 7�;�� !j,�Y� �E�AY}6ES ?�}6�>y}6�'��}6�u��}6H���� ��?��� ��ҿ�����ݻ����`��?��� ���?����p�?����C��?�����Rο���@��?)~6ES ? ~6�f;I~6��CɫA�I)�I �QI�QY��B�@y���G�xDUSBL response received:!U1,P 502,000,00955,189,80,80,8F,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 ���mA�����%ի�M-H=Y�=�;QUE�>��Q��Y�ae�G��e�=G��yy��|�}�>I�I����:��M���4�?����:��M/�о� �M��?����?9�M5C��M�< �M�<)�M��:�W��7L@�W�X� X��W�:W 2W *W �V bU BU*UUU����� @B����9B� B��A��>*B��A�ߥ��A��A��A���<"C�AD@�RC�C��7L@�C��ֵ��>�I��G��>��E =i�A ��6'j,�B� �E�Aɫi�i)�i �qI�qY���@y����G鮵a=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����O��n�?<�O��n����~j�t�?���?��t�� ��=)�I�y���t�V�?��~j�t�?��~j�t�?���?���=����< �)��+AI�i�5A���� A��e��<��e�w���et��i�e�@��a �a)�aI�e-�@i�e-�@��u{_=Mu*=Y�u���QU}�>��y��y�a��G����y����}��>Iȑ�ŕ���4�?�ŕ�о� ƕ��?����?9ƕvC�Ǖ �< ȕ1�<)ȑ�We�G@�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUi*UqUqUu�����9@B��Ϙ;B� B��A�:?*B��A������A��A��A����<"C���E�RC�C��G@�C����{z>�שI��G��>�� ��>9�� I�� �}Gi�� _�@��� ��� ��� ��� '; �� �E��M �����M �����M �����M ��� �M �}:Y�M [1y�M ݏ:��M '.6)�M ��;�^-j,0� �E�A�|�|ɫ���)�� ��I��Y���@y���GxDUSBL response received:!U1,R,383,000,0093C,189,80,80,84,FF %Fpublishing direction and range info����H���ɰ�A>� �)��CI�y���B���~�嫥�?7GƏ����������ٱI�1)�1��MMH�MMv=Y�QQUU?��Q��Y�a]�G��]�=G��Yy�a}e?I�i��u�:��m���4�?��u�:��m�о� �m�?��u�?9�m�C��m��: �mw�:)�m��:�W�{<C@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����*z@�P�*Q���B�Z���oY vR@���P�mR����������Z��~�嫥�?7GƏ����������2Q���H�:Q��Z�������V@J���=G��5�m@|4@�Z���f�ޥ��?u��ܿE��sn!�?BQ�H��@ Q��9�Q�G�B�P�`�9?�P�O�9?�P�����Q�����Q��A"Q�F�AB�b�%<B� B��A�0?*B��A�K���A��A��A���<"C��H@RC C {<C@�C ��-�X>���I��G (>�J4j,��� �E�AY}-l<�>�}-E/T>y}-����}-�x��}-H�����BK�?�����sȿ����]��������P�?�����u�?���@��?���`���?������ο���@p�?)~-l<�> ~-��c;I~-��Cɫ)�1)�1 �5����I�1Y�� �@y����G��DNmea in: $SNTTA,,,,,164034.65*59 ��M�=��M�>��M��i�M��@��I �I)�II�MK�@i�Mj�@��]B�;M]:=Y�e"<QUe�>��i��i�am�G��i��qy�u�`�}u�>I�y��}��4�?��}�о� �}��?����?9�}�C��}��: �}��:)�y�m�yAdded new target pos. range: 104.339996 m, bearing: 332.977733 deg, deltaT: 4.371240 s, approachRate: -0.343154 m/s, LOS rate: 1.177041 deg/s, posRepo size: 4�m�� ProNav: pos range: 104.339996 m, bearing: 332.977733 deg, approachRate: -0.343154 m/s, LOS rate: 1.177041 deg/s, cmd update: 3.531122 deg/s, cmd heading: 174.784585 deg, new cmd heading: 169.998360 deg. �W���D@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U������Z@U}���`[��?B���_;B� B��A��?*B��A�.%���A��A��A���<"C��E@RC�C���D@�C����mA���mA���8e>����?i���?�ױI��G�e>��M (����M �����M �����M �� �M At:Y�M 0Y1y�M ��:��M �<6�9U @��o:j,m�� �E�Aɫ�髙)�� ������I��Y���@y����G��U��;M]]=Y�]���QU]�>��a��a�ae�G��e�=G��ay�m���}m�>I�q��}�:��u#&�4�?��}�:��u��о� �uD�?����?9�uC��u=�: �u4�:)�u��:�W�imF@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@,��?B�·<B� B��A�X?*B��A��-���A��A��A���<"C�`D@RC�C�imF@�C�������=��9��I��L~Gi����@���=���SD�������; ��E���I��G�$>��WAj,M�!�E�A�|i|Y}6�m�>�}6 �<>y}6+o��}6��t��}6H���� Fp�?����˲ſ����`糿����Rl�?���� ��?����u��?�����l�?����vMο������?)~6�m�> ~6�uc;I~6��CɫY�Y)�Y �]����I�YY��y�@y��܀G��R=i��=�����<M�@=Y��!;QU�>�����a�G���� y�6^�}�>I���:�4�?��A�о� ���?��%�?9�\C��/�: �&�:)��WE_H@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUY*UYUYU]����9��?B�� �;B� B��A�< ?*B��A�r���A��A��A��a�<"C�`(D@*C�RC�C�_H@�C��֍��=��AI�QGm5>��U �����U �����U �����U /�� �U z�:Y�U �]1y�U ��:��U �?6�ׅGj,��!�E�Aɫ � )� �����I�Y�M��@y�M)�G��e��l�����?T㥛� ��L7�A`�?��e�?��e�� �e+=)�aI�ay�e��G�z�?y�&1��?:��v������e�?��e`e<��e�T� �eh�@)�e�(AI�e�Ai�e�A��a��efA����<�����=�����<i����@��� ��-�@)���@I����@i����@���t=M�==Y�����QU��>�������a��G������y�����}��>I�����5N�4�?���{�о� ��%�?����?9���C�����: ��^�:)���W%��I@�W!X! X!�W!:W)2W)*W)�V)bU)BU1*U1U1U5���`��?B����;B B�A, ?*B�AMd��A�A �A -�<"C `�E@RCC��I@�C �%�=��%�=���|�^<I��)���ױI��G�f>�� ��>9�� n�CI�� Gi�� S�@��� =��� ��� ��D��� ; �� �E)�%�o�CI�%�o�Ci�!���%�=��%�=��%��~5�`�Mj,�]9!�E�AY}J�E�>�}JB>y}J. ͼ�}J�aQ��}JH����� ��?�������������:������ ��?��� ��?����EX�?���`v��?������ɿ�����R�?)~J�E�> ~Jb;I~J��Cɫ�髡)�� ������I��Y����@y����G��u��=Mud=Y�u��<QU}�>��y��y�a}�G��}�=G��y�*�}��>Iȑ����:�ŕ_�4�?����:�ŕ��о� ƕ�?����?9ƕ�C�Ǖ�: ȕ��:)ȕ��:�W�09K@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����=/�@B�n�o<B B�Ak?*B�A�)���A �A �A 9�<"C���G@RC�C�09K@�C��օtۼ��YI�iG�9>��M ����M �����M �����M Z�� �M ��:Y�M P^1y�M ��:��M 7D6���Tj,�2S!�E�A�|.4<�|.4<Y}N�e�>�}N��>y}N(̜��}NV<��}NH����@��?���������� u������!D�?����(8�?���@���?����6��?���@�gǿ����[t�?)~N�e�> ~N�k`;I~N��Cɫi�q)�q �u����I�qY����@y����GI� )� ��e�����e/]>��e�>i�e̴@��a �ej�@)�ej�@I�e��@i�ej�@��u�ܻMu.=Y�}�M<QU}�>��y��y�a��G����y��C�}��>Iȑ�ŕ0u�4�?�ŕ��о� ƕ��?����?9ƕ C�Ǖ��: ȕ^�:)ȑ�W��M@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`D�@B��<B� B��A��?*B��A�����A��A��A�_�<"C�D~E�RC�C��M@�C��֝�����YI�aG}{>�]�Zj,� m!�E�A �l)�n3qAɇnx齩�l�l��pɈpi�pI�p��pI�ti�vzrA �t�t)�t�x �x��x��xɉx��|��~3qAI�~��)�|i�|)�|I�rA�Ɋ �ɋ� �rA�� i� �� i� �� ��A)� �I�ɫ���)�� ������I��Y� Z�@y� �G����AA)���= ���=�����=M�h=Y�����QU��>�������a��G����=G���y� ���} �>I����:����4�?���:���о� ���?���?9�F C����: ���:)���:܍��>9܉I܍xGi܍��@�܉�܉�܉�܍`; ݍ� E�We�~N@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� �@�RB*** querying acoustic contact ***�P�PBE�vt<BI BI�AMH?*BI�AM���AI�AI�AU���<"CU��B�RCYC]�~N@�CY��i��i��=p�����E�?i�E�?��I�!GER>��M 3����M �����M �����M ��� �M "u:Y�M �]1y�M ��:��M �06)�M �;�9U ����aj,���!�E�AY}6D�>�}6�>>y}6��ɻ�}6����}6H�����"��?����M=������f������`�y�?�����s�?���`��?����29y?��� K��������?)~6D�> ~6Lt^;I~4ɫ���)�� ��I��Y��*�@y���GZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******��5,=��594=��5Y�i�5��@��1 �5��@)�5K�@I�5K�@i�5K�@��E�f�MED=Y�M��<QUm�>��i��q�au�G��q��qy�}p�<}}�>Iȁ�Ņ���4�?�Ņȍо� ƅ�?����?9ƅ� C�Dž��; ȅ/�;)ȁ�W�,P@�WX X�W:W2W*W�VbUBU!*U!UAUE����OB @B�`�S<B� B��A��?*B��A����A��A��A�=�<"C��aA�RC�C��,P@�C��ֽ��3��בI��G�a>���gj,VԠ!�E�Aɫ���)�� ������I��Y�-|�@y�-�G5xDUSBL response received:!U1,P 383,000,0093C,189,80,80,84,FF =Command Ack=BRequesting micromodem ping code 2i�9��9��Ea=i�Ea=�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��������Mb�?��K7�AпZd;�O��?���#?����� ��j�<)��I��y���1�Zd�?�~j�t��?�������?���"?����D=�����< ��A) "AIi A������3A����<M�(=Y�����QU��>�������a��G������y�����}��>I�����:�����4�?���:���%�о� ��g�?�� �?9��� C�����: ���:)����:�W-� R@�W)X1 X1�WQ:WQ2WQ*WY�VYbUYBUY*UaUaUe�����@B�$�=<B� B��A�R?*B��A�Xhܼ�A��A��A��t�<"C��@�RC�� �>C� R@�C ��M4�l���! I�1 GU �>ܕ ��>9ܑ Iܑ iܑ �ܕ =�ܑ �ܑ �ܕ �!; ݕ +E��M /����M �����M �����M ^�� �M f`:Y�M xZ1y�M q�:��M :)6)�M �;i�� mGI�� i�� ���ÿٺ�� ��A��mj,���!�E�AY}:���>�}:9:3>y}:���;�}:�?��}:H���� ���?���@UNƿ������T������I�?�����y�?�����3�?����P�|����@����� ���?)~:���> ~:��^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}a�G�yɮ}p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��yE=M��=Y�c3=QU�?�����a��G���=G��y��>}�?Iȱ�ŵ���4�?�ŵ��о� Ƶ�?����?9Ƶ� C�ǵ�: ȵ��:)ȱ�W�h5S@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������0@B%���<B! B)�A-?*B)�A-ׅټ�A)�A1�A5a"�<"C=N�>�RC=� ��C=h5S@�C9 �M>��M>��Ed&��I�I)�I��I�G=.>�8�tj,�{�!�E�AY}>�x�>�}>m�P>y}>u�E<�}>��غ�}>H����@�U�?����s�ɿ��� �?���`V��?����zV�?���@��p?���@G�������u[����`d��?)~>�x�> ~>e�^;I~>��CɫY�Y)�Y �]����I�YY����@y��]�G�xDUSBL response received:!U1,R,3D1,000,0091A,189,80,80,8D,FF �Fpublishing direction and range info����CZ����ɰ��>>鰡 ��)��� CI��y����B�����9�Z��?k�U}���������ٱ��� �<�� �=�� ���i� �@�� � K�@)� j�@I� -�@i� -�@����MS=Y�%�V<QU%�>��!��!�a-�G��)��)y�5��=}5�>I�9��=���4�?��=��о� �=��?��E�?9�=9!C��=÷: �=�:)�9�W%p�T@�W!X! X)�W):W)2W)*W1�V1bU1BU1*U9U9U=������@�PI*QM��B�ZM��vaeE�P@�m%�AS����������ZM��9�Z��?k�U}���������2QM�CZ�:QI�ZM�.��~�`T@u4�k�N�[q�I����ZM������?6.�V�7i|�m{�BQMrL�@ QMCw�QM�B�PMM�9?�PM`�9?�PM����QM����QM��@"QM�AB�� �<B� B��A��?*B��A��Eռ�A��A��A� �<"C�EJ=�RC�C�p�T@�C����?΅����I��Gj>��� z����� ������ ������ ��� �� �:Y�� �Y1y�� �:��� @I6�9� @��{j,XY�!�E�AY}2m��>�}2E�r>y}2߰�<�}2�'5=�}2H������?������Ϳ���@�w�?������?���@��?����T��������U������>��?�������?)~2m��> ~2\�`;I~0ɫY�a)�a �e����I�aY�}��@y��V�G� DNmea in: $SNTTA,,,,,164039.11*57 I� )� ���T�M�D=Y��><QU��>�����a��G���=G��y�`�=}��>Iȡ����:�ť���4�?����:�ťuо� ƥ��?����?9ƥz!C�ǥn!< ȥ�!<)ȥ��:�=��>9�=m�CI�9i�9��==��9��9��=A%; �=� E�m}}Added new target pos. range: 102.300003 m, bearing: 322.823427 deg, deltaT: 4.461727 s, approachRate: -0.457221 m/s, LOS rate: -2.275869 deg/s, posRepo size: 4�m�� ProNav: pos range: 102.300003 m, bearing: 322.823427 deg, approachRate: -0.457221 m/s, LOS rate: -2.275869 deg/s, cmd update: -6.827607 deg/s, cmd heading: 190.538675 deg, new cmd heading: 192.000266 deg. �W�P�Q@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����@3�Y@U���� ���?BM*0�<BQ BQ�AUr?*BQ�AU�Ѽ�AY�AY�A] �<"Ce�*=�*CaRC�C�P�Q@�C��ֵƂ���בI��G��>���j,>"�E�AY}>�$?�}>�$�>y}>m��<�}>km�=�}>H��������?����ѿ���@���?�����,�?�������?�����β����@������� e�?����z��?)~>�$? ~>HRb;I~>��Cɫ!�!)�! �!I�!Y�e�@y�et�G���'=���u<���<i���@�� ��@)��@I��@i��@��-�C<M5&=Y�5� <QU5�>��9��9�a=�G��9��Ay�EV�=}E�>I�I��M���4�?��M�yо� �M��?��]�?9�M�!C��M4�: �M��:)�I�W}HN@�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����C�?B]Sp<BY BY�A]�?*Ba�Ae�P̼�Aa�Aa�Ae@�<"Cm��>�RCiCmHN@�C��ԡ�ԡ�օFӅ���a I�i G� �>��� ������ ������ ������ s�� �� �i:Y�� �W1y�� č:��� y+6�/�j,�""�E�AY}2� ?�}2�ڛ>y}2��<�}2��=�}2H���� ���?���`T�ҿ���@T�?����/-�?�����]�?����e@�������R�������o�?�������?)~2� ? ~2-Jc;I~2��Ci�<��>qA)�>x� �>�WFI�< �B�C)�@ɛ@��@�@��F�CɜFqAi�F�I�FHjF��DI�Hi�J�pA �J��J�gF)�H�H �L��L��LɝL��P��R�pAI�R7 �)�R�\Fi�P)�PI�V�qA�TɞT �TɟT�Z��A��Xi�X��Xɫ�髙)�� ������I��Y����@y���G�� �y�&1��?���Q���<�O��n�?�� `�>�� ��� � t=)� I� y� ��������?����MbP�����Mb`?�� f&?�� ���� ; � A)� lAI� � Ai� Q A�� �� \A��-�P�M-r=Y�5�+<QU5?��1��9�a=�G��9��9y�E<�=}E?I�I��U�:��MW�4�?��U�:��Mvо� �MF�?��U�?9�M�!C��M��: �M��:)�M��:�W}��K@�WyXy Xy�Wy:W�2W�*W��V�bU�BU�*U�U�U���� ވ�?B�m��<B� B��A��?*B��A�C(ɼ�A��A��A�HM�<"C�&�@�RC�C���K@�C������I��Gj>��) ��) �5 ��>9�5 l�CI�5 L~Gi�5 ��@��5 =��1 ��5 ��D��5 d%; �5 � E�7H�j,G�;"�E�A�|i|�@Y}:�E?�}:4g�>y}:ԕ�<�}:��>�}:H�����W6�?����5�Կ����>��?���`�?���`��?��� �k����� ���������?���@H��?)~:�E? ~:�c;I~:��Cɫ�髙)�� ������I��Y��9�@y���G��ei=M�R=Y��;QU��>�����a��G����=G���y���=}��>I�����v%�4�?���gqо� ��|�?����?9��?"C����: ��w�:)���W6�H@�WX X�W:W2W *W �V bUBU*UUU����ѿ�?BEM��<BA BA�AE9?*BA�AM 3ż�AI�AI�AM|�<"C���D�RC�C�6�H@�C�����I��G%o>��-a����-�����-�����-`�� �-cd:Y�-�X1y�-/�:��-p)6�z0�j, �U"�E�AY}6��?�}6Jf�>y}6�<�}6�>�}6H��������?��� "Nֿ���@���?����S��?�������?����R�����@<_�����@/�?����F��?)~6��? ~6��c;I~6��Cɫ�髙)�� ��I��Y����@y��-�G�Õ��Õ\=�ÕS�=iÑ�Ñ đ)đIđiđ���A�M�K=Y�e�;QU��>�����a��G����y��=}��>I������:���:�4�?����:���1lо� ����?����?9���"C�����: ��3�:)����:�W��yE@�W�X� X��W�:W�2W�*W��V�bUBU*UUU ����r�@B5)��<B5M�< B9�A=]?*B9�A=a9���A9�A9�A=y��<"CE�NH@RCICM�yE@�CI �]�=��]�=��AI�A)�A��I� G%M>��E �=i�E �=�%Z�j,A�o"�E�AY}2��#?�}2`��>y}2f�=�}2� >�}2H����`+��?���@#��������?�����m�?�����N�?���`�㿿�����v���������?��� ���?)~2��#? ~2p�c;I~0ɫY�Y)�Y �]����I�YY����@y����G���j�MT=Y���;QU�>��!��!�a%�G��%�=G��)y�-x�=}-�>I�1��5�M�4�?��5�fо� �5��?��E�?9�5�"C��5b�: �5ӻ:)�1�We��B@�WaXi Xi�Wi:Wi2Wi*Wi����>9��k�CI�� }Gi����@���=����������$; ��� E)�m�m�CI�m�m�Ci�m���C��m�=��i���m���5�VqbU1BU1*U1U1U5���`�^@Be�Nj<Ba Ba�Ae�?*Ba�Am?S���Ai�Ai�AmC/�<"Cu�iD@RCqCu��B@�Cy�ց��YI�iG�Y>��%N����%�����%�����%�� �%�b:Y�%[1y�%ݏ:��%�,6)�%<�;�9-��+E�j,���"�E�A�|<�|<Y}�8+?�}nL�>y}@=�}$�>�}H������1�?������ٿ������?����d�?����C��?�����㿿������������c�?���`���?)~�8+? ~�c;I~��Cɫ���)�� ������I��Y�5A�@y�5�G��1��1)�M> �M�=�Ý;߽�ÝA`>�Ý�iÝ��@�Ù ĝ���)ĝ��@Ięię���<M�A=Y���;QU��>�����a��G����y���=}��>I����M�:����b�4�?��M�:����`о� ����?��U�?9�� #C���đ< ��ۑ<)����:�W��&?@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Y�@�R�B*** querying acoustic contact ***�P��P�BFЎ<B B�Ax?*B�A�,���A�A!�AE���<"CM��A@RCICM�&?@�CQ��9��I�G=q>�%l�j,�S�"�E�AY}:ID3?�}:�c�>y}:q�=�}:�O>�}:H��������?����jNۿ�����5�?����q��?��� B��?���`�N������q:�����`��?����c��?)~:ID3? ~:#�c;I~8ɫ9�9)�9 �9I�9Y�}��@y�}��G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��U�{�G�z�?{�G�z�?{�G�z����U�?��U�#= �U�#�)�QI�Qy�U��G�z��?:��v�����Q���?��Up?��U�T���U\= �UA)�UAI�U�Ai�U�A��Q��U�A����M�9=Y��1S;QU��>�������a��G������y����=}��>I�����Ox�4�?���[о� ����?���?9��O#C��� �: ���:)���W%��;@�W!X! X)�W):W)2W)*W1�V1bU1BU1*U1U9U=����� @Be�o�<Bi Bi�Am�?*Bi�Am�D���Ai�Ai�Au-$�<"Cu�>@RCyC}��;@�Cy��}���<��q����������>9��I���{Gi��x�@���=���TD�����D����#; ���E��i I�q G� �>I�M @A)�I ��}C����}�����}�����}O�� �}hv:Y�}]1y�}�:��}�'6)�}�;�C��j,�.�"�E�AY}2}�;?�}2*�>y}2_?=�}2=s>�}2H����`L�?����^$ݿ���@�z�?��� j��?�����?���`��������↢����`��?����Ҙ�?)~2}�;? ~2S�c;I~2��Cɫ9�9)�9 �=����I�9Y�}q�@y�}t�G�xDUSBL response received:!U1,P 3D1,000,0091A,189,80,80,8D,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 ���T�M�p=Y���:QU ?����!�a%�G��-�=G��y��O�=}��>I���_��4�?��Vо� ��?����?9��#C����< �l�<)��W���8@�W�X� X��W�:W�2W�*W��V�bU�BU�*U)U1U=��� �� @B����<B� B��A��?*B��A�,���A��A��A���<"Cu��8@RC�C���8@�C����:W�<��� �I��G��>����j,�5�"�E�A�|i|Y}6��D?�}6-�?y}6b6=�}6r�>�}6H����`���?���@�߿���`s��?�������?����ވ�?���`�н����@Å���������?���@6��?)~6��D? ~6͞c;I~6��CɫA�A)�A �M����I�IY����@y��)�G��p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �õG�=�õ��<�õ�t>iõp�@�ñ ĵ��@)ĵ-�@Iĵ��@iı���y�M�<=Y��4��QU��>�������a��G������y��E�=}��>I������:���]��4�?����:���VPо� ��;�?����?9���#C���=�: ��k�:)����:�Wp6@�WX� X��W�:W�2W�*W��V�bU�BU�*U�U�U������;@B�-�<B B�A, ?*B�A�����A�A�A��<"C%��5@RC!C%p6@�C)��Q��Q)�Q �Q��� ��� I�� G�>���� �����������������)�� ��:Y�DW1y�Y�:���#6�9�@�_��j,\��"�E�AY}J`�M?�}J�(?y}J��=�}J�4 >�}JH�����,�?�������������?���@:��?�������?�����5�������������`���?���`��?)~J`�M? ~J�b;I~J��CɫY�Y)�Y �]����I�YY����@y���G�xDUSBL response received:!U1,R,502,000,00906,189,80,80,A9,FF �Fpublishing direction and range info���f3�����ɰ�<=>鰡 ��)���)CI��y��3�B�������w���?a�mf-����������ٱ�������i� HmGI�9i�I���Dпٺ������A��-ތ�M57=Y�5(�QU5�>��9��9�aE�G��E�=G-ufFailed to parse device response: 3,4.74219,2277.23 ��qy�}�=}}�>Iȁ�Ņ���4�?�ŅFIо� ƅ��?����?9ƅ$C�Dž0�; ȅ+�:)ȁ�W��}2@�W�X� X��W�:W�2W�*W��V�bU�BU*UAUAUE����- @�PQ*QU3�B�ZU�L�~�F@����V����������ZU����w���?a�mf-����������2QUf3��:QQ�ZU��5�*U@��&�R�J�F|�m/��ZU�!ljZ��?�@�P�࿊Y�k�ÿBQU) �@ QURU�QU�B�PU\�9?�PUM�9?�PU����QU����QU��"QU��@B��Os<B� B��A�4?*B��A�h䩼�A��A��A�t��<"C�ҵ3@RC�C��}2@�C�����I��G �>��I i�M �=�^��j,�� #�E�AY}%�4W?�}%�?y}%�=�}%�#>�}%H����@���?����)���������?��� ��?���`�L�?�����S������s������le�?������?)~%�4W? ~%��b;I~%��Cɫ � )� �I�Y�M�@y�M��G��TNmea in: $SNTTA,,0.066867,,,164043.53*4B ��= ��=;��=�J�i�=�@��9 �=@)�=@I�= �@i�=j�@��M�S�MMY=Y�M��QUM�>��Q��Q�aU�G��Q��Yy�]��=}]�>I�a��m�:��ec��4�?��u�:��eCо� �e��?��u�?9�eL$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. �W���3@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����`fFY@U����`���?B��̚<B� B��A�:?*B��A��㦼�A��A�A�<"C 3@RC C ��3@�C �֑��QI�YGuz>���^�����������������&�� ��%d:Y���[1y��H�:���:#6�[��j,��$#�E�A�| �|"�;Y}>��_?�}>CU ?y}>�A�<�}>3%>�}>H�����h��?�����d�������?���@¿�?���@P��?���`������`+�������:��?���`c��?)~>��_? ~>.vc;I~>��Cɫy�y)�y �yI�yY����@y��J�G����#��~j��?�� �rh����~j�t�?����E?���C�� ����<)��I��y����rh��|�?���Q��?����Mbp�����?����u<����� ��=A)���AI���Ai��� A������zA���1�MO=Y�_�QU�>�����a�G����!y�%�=}%�>I�)��-���4�?��-�:о� �-��?��=�?9�-�$C��-: �-Y�:)�)�W��M5@�W�X� X��W�:W�2W�*W��V�bU�BU*UUU��� {�?B���q<B� B��A��?*B��A��i���A��A��A��f�<"C���3@RC�C��M5@�C��֙��qI��G�~>�_��j,>v>#�E�AY}6^%h?�}6��(?y}6]�<�}6x&>�}6H���� M�?�����7���� 3z�?��� >��?��� ��?���@�μ���� A�����`ӵ�?����T��?)~6^%h? ~6��c;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�G��=8�M=Y=Y�=*�QUE�>��A��A�aE�G��E�=G��Iy�M�=}M�>I�Y��]�:��]���4�?��e�:��]�2о� �]�?��e�?9�]�$C��]s�: �]��:)�]��:�W���6@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ���?B��<B� B��A�A�>*B��A�X����A��A��A���<"C��Z5@RC�C���6@�C�����סI��G I>I�A )�A ������������������������ ��Z{:Y���Y1y���:����6�U��j,�QX#�E�AY}27�o?�}2�S0?y}2�K�<�}2�H(>�}2H�����ϲ�?���`]������}�?����yU�?����\r�?���@������@����������?�������?)~27�o? ~2�e;I~2��Cɫy�y)�y �}����I�yY����@y���G��M`e<��M��<��Mף�i�M��@��I �M-�@)�M-�@I�M-�@i�M@��]��MeH=Y�e��QUe�>��i��i�am�G��i��iy����=}��>I��������4�?���?)о� ��4�?����?9��%C���V�: ����:)���W�'8@�WX X�W:W2W!*W!�V!bU!BU)*U)U)U5����D��?B]��f<BY Ba�Aeg�>*Ba�Ae23���Aa�Aa�Ae���<"Cm�'8@RCqCu�'8@�Cq��e?΅���9I�IGeU>�`��j,�,r#�E�A�|i|�@Y}6�sw?�}6h�7?y}6r�<�}6�%'>�}6H�������?����γ�����3�?���@�?����:��?����S����� � ���������?�������?)~6�sw? ~68[b;I~6��Cɫ9�9)�9 �=����I�AY��v�@y��?G�%��>9�%j�CI�%pxGi�%��@��%=��!��!��%**; �%nE��uB�MuI=Y�}r�QU}�>�����a��G���=G��y�Ù=}��>Iȑ����:�ŕ��4�?����:�ŕ о� ƕ��?����?9ƕC%C�Ǖ��: ȕ��:)ȕ��:�WUq�9@�WYXY XY�WY:Wa2Wa*Wa�VibU�BU�*U�U�U������g�?B &V\<B B�AN�>*B�A�왼�A�A�A��<"Cwt9@RC!C%q�9@�C!��=FӅ���I�!G=r>��%� ����!��!��%1�� �%\:Y�!y�!��%h$6)�%a�;�95�����j,�H�#�E�AY}>��~?�}>|W??y}>�v�<�}> v%>�}>H�����yw�?����g������ �?��� ¿�?����59�?�����M�������N�����@���?����"��?)~>��~? ~>�<a;I~>��CɫY�Y)�Y �]����I�YY����@y���~G��m� ���m\����m�L=i�m��@��i �m@)�m�@I�m �@i�m�@���"�M�H=Y��ֻQU��>�����a��G����y���=}��>Iș�ŝ��4�?�ŝRо� Ɲ��?����?9Ɲ�%C�ǝ@�: ȝ��:)ș�W�H;@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B �l<B� B��A���>*B��A�����A��A��A���<"C�H;@RC�C�H;@�C��ֽ?΅��יI��G�b>��! i�% p=�c�j,��#�E�AY}>!M�?�}>�G?y}>�Cl<�}>S�>�}>H��������?����� ����@�S�?���@�q�?��� -��?���������-���������?���`��?)~>!M�? ~>#za;I~>��CɫY�Y)�Y �]����I�YY����@y��2~G������@A����F����x�?������̿+�����?����+?���ff� ���=)��I��y���/�$���?����Mbp��l����?����?���������= �A)�AI�Ai�A������A��ҼM�J=Y��ȻQU��>�����a��G����y����=}��>I�������4�?����о� ��Q�?����?9���%C���r�: ����:)���W�f�<@�W�X� X��W�:W�2W*W�VbUBU *U U U ���@M@�RB*** querying acoustic contact ***�P�PB=�T<B9 B9�AE��>*BA�AE���AA�AA�AE��<"CMf�<@RCQCUf�<@�CQ��A��I� G%N>��!��%�<�-��>9�)I�-DwGi�-��@��-=��-SD��)��-&0; �-�E��� ����������� �U\:Y�y����6)���;��2�j,۾�#�E�A�|�;�|4<Y}6�A�?�}6t�N?y}6Pd><�}6��>�}6H����`��?����N������k6�?�����#�?�������?�����Է�����ḟ���� ���?�������?)~6�A�? ~6��a;I~6��CɫY�Y)�Y �]����I�YY����@y��}G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��= ��� l��MU=Y���QU�>�����a%�G��%�=G��!y�-{�=}-�>I�1��E�:��5�-�4�?��E�:��54о� �5��?��E�?9�5�%C��5+; �5�;)�5��:�Wu��=@�WIXI XI�WQ:WQ2WQ*WQ�VQbUYBUY*UYUYUe���`�W @B�.3<B� B��A�M�>*B��A��>���A��A��A���<"C���=@RC�C���=@�C������I�Gn>�b�j,��#�E�AY}6Љ�?�}64�W?y}6il<�}6�h>�}6H������P�?���@S��������?��� ���?�����?����x����� ~큿���@D��?����M��?)~6Љ�? ~6wTb;I~6��Cɫ9�9)�9 �=����I�9Y��h�@y���|G�xDUSBL response received:!U1,P 502,000,00906,189,80,80,A9,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 ��=ؾ��=I>��=��=i�=̴@��9 �=��@)�=-�@I�=�@i�9�����M�)=Y����QU��>�������a��G������y���=}��>I�!��%3?�4�?��%��Ͼ���-tI �%��?��-�?9�%M&C��%`�: �%l�:)�!�Wu��?@�WqXq Xq�Wq:Wq2Wy*Wy�VybUyBU�*U�U�U������+ @B�L�<B� B��A�p�>*B��A�A ���A��A��A� �<"CE��?@RCICM��?@�CQ�֍FӅ���i I�q G� �>I�M AA)�M @A��]u ����]�����]�����]��� �]�Q:Y�]�X1y�]/�:��]r6�9e@��J�j,2��#�E�AY}2F�?�}2 �`?y}2v��;�}2��>�}2H�����Vt�?�����W����@��?����ě�?�����D�?����������@�:y������)�?������?)~2F�? ~2�c;I~2��Cɫi�i)�i �u����I�qܵ��>9ܵi�CIܵvGiܵ�@�ܵ=�ܵTD�ܵ��D�ܵOI; ݵ� EY����@y��+|G��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����"�M�h=Y��~��QU�?�������a��G����=G��!y�-��=}-�?I�1��=�:��5�J�4�?��=�:��5��Ͼ� �5�?��e�?9�5�&C��5�; �5��;)�5��:�W�H A@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ~�@B%p�Q<B) B)�A-D�>*B)�A-Cҋ��A)�A1�A5���<"C=H A@RCYC}H A@�Cy��m?΅���II�QGmy>��- j,&U $�E�A�|i|�@Y}6�r�?�}6�Ri?y}6��;�}6h~>�}6H��������?���� ����@�n�?�����J�?����?l�?�����G�����@_c���� ��?���`ʰ�?)~6�r�? ~6 �d;I~4ɫY�Y)�Y �]����I�YY��*�@y��j|G�xDUSBL response received:!U1,R,D0A,000,008FB,189,80,80,B6,FF �Fpublishing direction and range info����V)?���ɰ�U<>鰩 ��)���6CI��y����B������VI-@�?r2i9��?��������ٱ���������(\���Mb>���̼i���@�� �@)�@I���@i���@��-�<M-X=Y�-�$�QU-�>��1��1�a5�G��1��9y�=��=}=�>I�A��E�V�4�?��E��Ͼ� �E��?��U�?9�E�&C��E��: �E��:)�A�Wuj`B@�WyXy Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U���� Ni@�P�*Q���B�Z��5�%�[�S@x��wr�N@���������Z����VI-@�?r2i9��?��������2Q��V)?:Q��Z���m�T�s�?L�_Y�Y@= lɴ� @�Z���P`e�=f?F%��x��?ţ'%�U�?BQ����? Q�.�BQ���>�P���9?�P�\�9?�P�����Q�����Q��lA"Q���B5�"P<B1 B1�A5��>*B1�A=�n���A9�A9�A=��<"CEj`B@RCACEj`B@�CI��Y��9I�AGeU>��] j,gH'$�E�AY}n$��?�}n��q?y}n���}n�S >�}nH����@k��?���` �����@=��?������?����m��?���`���������V?����=�?����\��?)~n$��? ~n�&e;I~n��Cɫ���)�� ��I��Y� ��@y� �{G�mDNmea in: $SNTTA,,,,,164047.98*5F �� ������M�?@5^�I¿�~j�t����� n?�� b� � �D�)� I� y� ���v���?����MbP?L7�A`�?�� �?�� �:�� += � �A)� �AI� �Ai� A�� �� �A�����M�2=Y��i�QU��>�������a��G����=G���y��q�=}��>I������:���wd�4�?����:����Ͼ� ����?����?9��'C�����: ����:)����:�m%yAdded new target pos. range: 100.440002 m, bearing: 89.843899 deg, deltaT: 4.355186 s, approachRate: -0.151543 m/s, LOS rate: 28.040040 deg/s, posRepo size: 4�m-ProNav REINIT: LOS rate is 28.040040 deg/s. Setting heading cmd to target bearing of 89.843899deg and heading rate command to 0 deg/s.�W-���?�W1X1 X1�W1:W12W1*W9�V9bUABUA*UAUE����)Y@UM�����r�?B}� <By By�A}z�>*By�A�ϊ���A��A��A��j�<"C��KB@*C�RC�C����?�C��։��q�٩�٩ܵ��>9ܱIܵPuGiܵc�@�ܵ=�ܱ�ܱ�ܵI[; ݵ�)E)�+��j�CI�+��j�Ci�+����C��+��=��+��=��+����5I��i�EgmGI�Yi������Ͽٺ������AG��>��5 �=i�5 �=��E �����E �����E �����E z�� �E ql:Y�E ]1y�E �:��E 9,6)�E ��;�9M ��g> j,�A$�E�AY}:�͜?�}:�z?y}:<ꑻ�}:�r>�}:H��������?�����L������#�?���@C��?����$��?����z�������C=r?���@���?��� i��?)~:�͜? ~:��d;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�zG��=2b�M=h=Y�E[�QUE�>��A��A�aM�G��I��Iy�U�=}U�>I�Y��]pn�4�?��][�Ͼ� �]W�?��e�?9�]9'C��]��: �]ӻ:)�Y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@���?B�B�7<B� B��A���>*B��A��x���A��A��A�[�<"C��9A@RC�C��C���A��I� G%N>��j j,�Z$�E�A�| �| Y}B\֠?�}B& �?y}B:}⻙}Bؕ�>�}BH�����H�?�����������(/�?����I�?���@���?�������������O|?������?����M��?)~B\֠? ~B�d;I~B��CɫQ�Q)�Y �]����I�YY��@�@y��K{G)��= ���M��<��Mj����M�ҽi�M��@��I �M9�@)�MX�@I�MX�@i�MX�@��ϩ<M�E=Y�b»QU��>�����a��G����y���=}��>Iȡ����:�ť�y�4�?����:�ť��Ͼ� ƥN�?����?9ƥx'C�ǥ��: ȥ/�:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?B <B B�A�>*B�A��A!�A!�A%@��<"C-x�>@RC)C)�C1��}FӅ���9I�AGeU>��U v ����U �����U �����U ��� �U �Q:Y�U �^1y�U a�:��U 6�9U @��� j,��t$�E�A�e��>9�eh�CI�e�tGi�e��@��e=��a��a��eR]; �e+Eɫ�髙)�� ������I��Y����@y���zG�����M�J=Y����QU��>�����a��G���=G��y����}��>I�)��-��4�?��-��Ͼ� �-K�?��5�?9�-�'C��-��: �-�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VabUaBUi*UiUiUu����H�?B���<B� B��A���>*B��A�Z�~��A��A��A��(�<"C��E:@RC�C��C��ֽ?΅��יI��G�b>I�M @A)�M AA��z# j,Ԙ�$�E�AY}F%��?�}F��?y}F����}F���=�}FH���� ��?����������@�^�?���`�?�����s�?���`�<������c��?��� gh�?�������?)~F%��? ~F�zc;I~F��CɫY�Y)�Y �]����I�YY��P�@y��#zG��mC���mGa=��m94<i�m@��i �m@)�m@I�m@i�m@��}sT�M}L=Y�qQU��>�����a��G����y��>}��>Iș�ŝl��4�?�ŝa�Ͼ� Ɲ�@����?9Ɲ�'C�ǝ��: ȝ@�:)ș�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����:�@B ��<B� B��A��>*B��A���z��A��A��A���<"C�G�4@RC�C��C��ֹ�יI��G�g>��U < ����U �����U �����U j�� �U M:Y�U �X1y�U /�:��U 6���) j,"r�$�E�AY}:bŬ?�}:+��?y}:��&��}:�>>�}:H����@8��?���`�T�����g��?�������?��� ��?��� o᰿�����ք?��� ��?��� j��?)~:bŬ? ~:;5c;I~:��Cɫ9�9)�9 �9I�9Y�}x�@y�}UzG����}?5^�I�?ˡE�����y�&1�|����M?���什 ��`�)��I��y����t�V�?�I+����������?����?���94�����L= µA)µrAIµ1Aiµ�A������A���nA���nA���fD<M�E=Y����QU��>�������a��G������y��l�=}��>I������:�����4�?����:�����Ͼ� ���@����?9��0(C����: ����:)����:�W!�W!X! X!�W!:W!2W)*W)�V)bU1BU1*U1U1U5����ڋ@Be��<Ba Ba�Aem�>*Ba�Am{�u��Ai�Ai�A��)�<"C�qR/@RC�C��C����FӅ��I��G�f>ܭ��>9ܭg�CIܭ�sGiܭ�@�ܭ=�ܩ�ܭ��D�ܭ�O; ݭ$E�ʌ0 j,�N�$�E�AY}J��?�}J�I�?y}J��3��}J�� >�}JH���� ��?����c����� 9�?���`�?�������?��� {$�������z�?�����P�?���`1��?)~J��? ~J�b;I~J��Cɫ�髑)�� ������I��Y���@y�%lzG��9��9�ý��<�ý>�ýE�=iý3�@�ù Ľn�@)Ľ��@IĽ��@iĽ��@�����;M�.=Y���QU��>�������a��G����=G���y���=}��>I�����/��4�?���#�Ͼ� ��*@����?9��u(C���@�: ����:)���W�WX X�W!:W!2W!*W!�V)bU)BU)*U)U1U5����%L@�R=B*** querying acoustic contact ***�P9�P9B]��<B B�A%��>*B!�A%�bp��A!�A!�A%g��<"C-`�(@RC)C1�C1��M?΅���) I�1 GU �>��E =i�E �=��U g ����Q ��Q ��U ��� �U sP:Y�Q y�Q ��U �6���6 j,�(�$�E�AY}6ڈ�?�}6���?y}6q?��}6�=>�}6H�����(��?�����5�������˾?��� �u�?�������?��� [E����� �?�����Y�?���@Գ�?)~6ڈ�? ~6��b;I~4 �<)�>+qAɇ>�����B�hF�@��@ɈB�pAi�@I�@��DI�Di�D �D�FTeF)�H�H �H��H��HɉH��L��N+qAI�N���)�Li�L)�PI�RrA�PɊP �PɋT�T��Ti�T��Ti�X��X)�X �XI�Xɫ�髙)�� ������I��Y����@y���yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E�[�ME=Y�E��QUE?��I��I�aU�G��Q��y���=}�?Iȡ����:�ťԨ�4�?����:�ť��Ͼ� ƥQ@����?9ƥ�(C�ǥ��: ȥ}�;)ȥ��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����a @B 2�(<B B �A ʪ>*B�A�}l��A�A�A��<"Ccj$@RCC�C!��9��I�!GEr>�'�< j,��$�E�A�|�|�;Y}J��?�}J�#�?y}J��W��}JO�>�}JH��������?���@Ǣ������#"�?��� ��?����_��?����[J�����`���?���`D��?�������?)~J��? ~J�1b;I~Hɫ �)� �����I����>9�I�\sGi���@��=������&L; �"EY�M.�@y�M�yGUxDUSBL response received:!U1,P D0A,000,008FB,189,80,80,B6,FF ]Command Ack]BRequesting micromodem ping code 2i�Y��Y�e�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )í�= í�=����c<M�A=Y���b�QUm�>�����a��G���=G���y��1�=}��>I�������4�?���MzϾ� ���@�� �?9���(C�����; ���<)���W��W�X� X��W�:W�2W�*WY�VYbUaBUi*UiUqUu���`�� @B%���;B) B1�A=̭>*B��A��+g��A��A��A�Dj�<"C���@RC�C��C��� FӅ���� I� ��U �����U �����U �����U 2�� �U 3�:Y�U �Y1y�U �:��U �$6)�U �<�9] �G� �>���C j,��%�E�AY}6R)�?�}6`�?y}6��t��}6�s>�}6H��������?�����������A�?�����;�?���@8��?����L������%��?�����"�?�������?)~6R)�? ~6m>b;I~4ɫ���)�� ������I��Y���@y�vyG�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��R=)��4=��U�̽��U�=��U�ʽi�UG�@��Q �U9�@)�Un�@I�UX�@i�UX�@��ea��MeB=Y�m���QUm�>��i��q�au�G��q��qy�}��=}}�>Iȁ����:�Ņڷ�4�?����:�ŅxnϾ� ƅS@����?9ƅ )C�Dž��: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�O@B�k�7<B�h��< B��A��>*B��A���c��A��A��A���<"C��@RCC�C ������I�GMt>I�A )�E @A��I j,�)%�E�Aɫ���)�� ������I��Y���@y�dyGxDUSBL response received:!U1,R,1C3,000,00902,186,80,80,49,FF %Fpublishing direction and range info��<�ɾ��ɰ�<>���> �)���BI�y���B����du����?����ؿ��������ٱ����-�����?:��v����V-��?���5�>����Խ ����<)��I��y����x�&1�?Zd;�O��?X9��v��?���A ?���j�<�����< ��=A)���AI��� Ai���A�������A���Ƙ�M�S=Y�����QU��>�������a��G����=G���y�����}��>I������4�?��naϾ� �e@���?9�^)C����: ��:)��W1�W1X1 X1�W9:W92W9*W9�V9bUABUA*UAUAUM������@�P�*Q���B�Z��K(^}�IW@w�e\�VC����������Z���du����?����ؿ��������2Q�<�ɾ:Q��Z��V�P^'�P@N�x�R@� ����Z�������.�?�i���?���9U���BQ���X? Q��BQ���B�P�6�9?�P���9?�P�����Q�����Q�Y6@"Q��lAB-��<B) B)�A-)�>*B1�A5C_��A1�A1�A5�5�<"C=.@RC9C9�CA�֝?΅���qI��G��>�%��>9�!I�%�rGi�%{�@��%=��!��!��%FE; �%�E��U � ����U �����U �����U ��� �U �V:Y�U �[1y�U H�:��U 6)�U �;���P j,�C%�E�A�|i|�@Y}6�j�?�}6���?y}6U����}63��=�}6H�����x�?���`����������?���@��?����}��?����Dܨ��������?��� ��?������?)~6�j�? ~6[�a;I~6��Cɫ9�A)�A �E����I�IY�}f�@y�}yG�MTNmea in: $SNTTA,0.066710,,,,164052.44*42 ��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. �WUf�?�WQXQ XQ�WQ:WQ2WY*WY�VYbUYBUa*UaUe���@ 7Y@U�������?B�SE<B� B��A�M�>*B��A�}�Z��A��A��A��{�<"C��j@RCCf�?�C ��1��I�GE�>�bW j,�v]%�E�AY}J�Y�?�}JU��?y}J3暼�}J���=�}JH�����y4�?������������u�?��� $�?����d��?���`$<������z\�?��� �k�?���`?��?)~J�Y�? ~Jq�a;I~J��Cɫq�y)�y �}����I�yY����@y��$yG �!�!�ÝC���Ý7���Ýt�iÝ(�@�Ù ĝ��@)ĝ��@Iĝ��@iĝ��@����;M�I=Y���QU��>�����a��G�����y����=}��>I�����O��4�?����EϾ� ��� @����?9���)C�����: ����:)���W�9�?�WX X�W:W2W*W �V bU BU*UUU��� C��?B= �*<BA BA�AE�>*BA�AE�0W��AA�AI�AM���<"CU�� @RCQCU9�?�CY�ѝ���<�֕FӅ���iI�yG��>��E �=i�E =��U J ����U �����U �����U ��� �U #N:Y�U xZ1y�U q�:��U �6�9U @��!��%�C��1] j,.Ww%�E�Ai�"nGI�0i�@��f�οٺd��f2�A�u��>9�uf�CI�u�rGi�u*�@��u"=��uUD��q��us<; �u�E)�=�g�CI�=�g�Ci�9���=�=��=�=��=�m�5ɫ���)�� ������I��Y��6�@y��xG����M�#=Y����QU��>�����a��G���=G��y����}��>Iȹ����:�Ž���4�?����:�Ž�4Ͼ� ƽ'@����?9ƽ/*C�ǽ��: Ƚ�:)Ƚ��:�W��ͥ?�W�X� X��W�:W�2Wq*Wy�VybUyBUy*UyU�U����`)��?BT��;B B �A J�>*B �A <�Q��A �A1�A5��<"C5nj@RC9C=�ͥ?�C9��e ȿ�<��q��aI�qG��>��<d j,�ő%�E�A�|�|Y}N:K�?�}N���?y}N����}N�]�=�}NH������n�?����O�����c�?���`��?����(�?����b6�������_�?�����9�?�������?)~N:K�? ~N��a;I~Li�\��^qA)�^��� �`I�` �`)�dɛfף���d�d��hɜj�pAi�n�I�l��lI�pi�p �r��p)�p�p �t��t��tɝx��|��|I�~���)�|i�|)�I��qA�ɞ �ɟ���ף�i���ɫ � )� � ����I� Y�-��@y�-WxG����̽����������=i����@��� ���@)��9�@I��9�@i��X�@�� �M y=Y� �E�QU ?�����a�G����y��A>}?I�!��%>��4�?��%9)Ͼ� �% @��5�?9�%c*C��%��: �%��:)�!�WUJ�?�WQXQ XY�WY:WY2WY*Wy�V�bU�BU�*U�U�U��������?B��X6<B� B��A���>*B��A�&�N��A��A�A�N�<"C%E��?RC!C%J�?�C)��1��1)�1 �1�ֽ ?΅��� � ���� ����� ����� ��� � S:Y� [1y� ݏ:�� �-6�ב I�� G� �>�8`j j,���%�E�Aɫ���)�� ������I��Y�6�@y��xGI���=)���=�� �NbX9��?�~j�t��?���S㥫?�� �?�� �D= � /]=)� I� y� �J+��?����Mbp?<�O��n�?�� �?�� �;�� t< � xA)� �AI� 1Ai� �A�� �� pA��-��<M-I=Y�5���QU5�>��1��9�a=�G��=�=G��9y�E���}E�>I�I��MZ��4�?��M,Ͼ� �M� @����?9�M�*C��Ml�< �M]�:)�I�Wё�?�WX X�W:W2W*W!�V!bU!BU!*UIUIUM�����O�@B�C�<B� B��A�J�>*B��A�w�J��A��A��A�z��<"C�@��?RC�C�ё�?�C���e�<��a���FӅ����?i�x?�5��>9�1I�1i�1��5 =��5TD��5��D��5�3; �5uE���I��G�>I� )� ?A��Hq j,�b�%�E�AY}V{,�?�}VCc�?y}V%螼�}V�E�=�}VH�����TG�?�����������k��?�������?�������?�����_�������ܓ?���`̷�?�������?)~V{,�? ~V'b;I~V��Cɫ���)�� ������I��Y����@y��`xG��mv����m�#<��m什i�m�@��i �m��@)�m��@I�mn�@i�mn�@��}�ͼM}E=Y�}��:QU��>�����a��G����y�6>}��>Iș����:�ŝa��4�?����:�ŝ�Ͼ� Ɲ*@����?9Ɲ�*C�ǝ��: ȝ�:)ȝ��:�W%[ʆ?�W)X) X)�W):W)2W)*W1�V1bU1BU1*U9U9U=�����@B��3<B� B��A���>*B��A�̑F��A��A��A����<"C�B��?RC�C�[ʆ?�C����?΅����I��G�� ����� ����� ����� l�� � �}:Y� �Y1y� �:�� �*6�<rw j,T;�%�E�AY}2��?�}2�F�?y}2�u���}2��=�}2H���� ���?�����������|q�?�������?������?���`��������|N�?������?���`���?)~2��? ~2b;I~2��CɫY�Y)�Y �]����I�YY��T�@y���xG��}%=M�l=Y����;QU��?�������a��G������y����=}��?I��������4�?���hϾ� ���@����?9��+C���b�: ���:)���W �i{?�W X X �W :W2W*W�VbUBU*UUU%�����4@�R-B*** querying acoustic contact ***�P)�P)BM��F<BQ BQ�AU$�>*BQ�AUv,C��AY�AY�A]��<"CeR��?RCaCe�i{?�Ca���FӅ��I��G�E>��} j,�6�%�E�A�<9�>e�CI�>0rGi�>��@��>#=��>UD��<��>�.; �>�EY}j��?�}j�/�?y}j܁��}j���=�}jH������{�?���`��������n�?����(��?���`�r�?����*������U;�?��� ���?�������?)~j��? ~jb;I~j��Cɫ� )� � ����I� Y�E�@y�E�xGMZ****** received transponder code query ******MF****** received ping request ******U<Arming DUSBL. detectThresh: 75U8****** ping requested ****** ��鿙�����M�:=Y���;QUE�>��A��A�aM�G��M�=G��Iy�U��=}U�>I�Y����:��]���4�?����:��]��ξ� �]@����?9�]A+C��]��; �]H�;)�]��:�W�͒b?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @BM�<BI BI�AM5�>*BI�AU�w>��AQ�AQ�AU�`�<"C]7�?RC]Ya+�C]͒b?�Ca �u�=��u�=��m?΅�I�q)�umA��AI�QGmx>�� o ���� ����� ����� ��� � Q:Y� [1y� ݏ:�� �6)� ߩ;�9 ��+�� j,R�&�E�AY}:K��?�}:+�?y}:@ b��}:���=�}:H�����+%�?�����������V�?���� ��?����C��?����Ѕ�����@mA�?���`Rl�?������?)~:K��? ~:Pb;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}@xG�xDUSBL response received:!U1,P 1C3,000,00902,186,80,80,49,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 ���������u�����ļi��(�@��� ��n�@)���@I��i����=���M=)=Y�f�;QU��>������a �G�� ��y�M=}U�>I�q��u���4�?��u��ξ� �u�@���?9�u�+C��u��< �uՂ<)�q�W�-F?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU���``6@B]la�;BY BY�AeY�>*Ba�AeLG9��Aa�Aa�Aeک�<"C����?RC��Y�C�-F?�C���m q���A I�I Gm �>���� j,p�,&�E�AY}Nc�?�}N*L�?y}NT�C��}Nb��=�}NH���� �ă���� r����� ���?���@��?�����M�������6�����@��?��� 䰻?���`X��?)~Nc�? ~NF�a;I~N��Cɫ�髹)�� ��I��Y����@y��NxG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e�+�����?sh��|?����~j�t�?��e��>��e��� �e�=)�aI�ay�e��K7�A`�?�~j�t��?L7�A`�?��e+?��e��<��e+= �e�A)�e� AI�e Ai�a��a��a��}�;M}k=Y��;QU�?�����a��G���=G��y���=}� ?Iș����:�ŝF��4�?����:�ŝ��ξ� Ɲ�@����?9Ɲ�+C�ǝ��: ȝ��:)ȝ��:�W��S7?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������.@B C~m<B B�A�>*B�A��6��A�A�A85�<"Cbϻ?RC%���<C%�S7?�C!�֍�;O������y9�yI�yi�y��}%=��y��y��}�*; �}�E�I��G�a>�� H���� ����� ����� t�� � db:Y� xZ1y� q�:�� �+6)� Ҹ;�2�� j,��F&�E�AY}2O7�?�}2n�?y}2� %��}21��=�}2H����� w������������`+��?����a��?�����西������u�������?��� ���?���@��?)~2O7�? ~2��b;I~2��CɫA�A)�I �M����I�IY����@y��nxGxDUSBL response received:!U1,R,23E,000,00913,188,80,80,98,FF %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� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�P�*Q���B�Z���W�FWV@w��kvH����������Z��Y��є�?�KTa����������2Q��;��:Q��Z��WQ?��iF@�7��V@��Q~O��Z��;�z�(�?E��;��?�X�����BQ���? Q���BQ�M3B�P���9?�P�6�9?�P�����Q�����Q���?"Q�Y6@B�y#<B B�A��>*B�A��2��A�A�A��<"C%C��?RC%�%�=C-+�!?�C)��9��9��%oE-���-�?i�-�?���I��GI>��× j,u�`&�E�AY}���?�}n*�?y}����}�)�=�}H�����1�����@������@ު�?�������?���@-V��������G����@Ez�?�������?���`���?)~���? ~.�b;I~ɫ�)� �����I�Y�1y�9��DNmea in: $SNTTA,,,,,164056.87*51 ���nA���mAY� �0;QU �>�����a�G����y���=}�>I�!��%k��4�?��%5�ξ� �%�@��5�?9�%C,C��%ӻ: �%ӻ:)�!�meqAdded new target pos. range: 101.879997 m, bearing: 63.868505 deg, deltaT: 4.448987 s, approachRate: 0.229265 m/s, LOS rate: 3.450303 deg/s, posRepo size: 4�m� 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. �W��3?�WX X�W:W2W*W�VbUBUA*UAUE����QxY@UM�������?B�v� <B� B��A�*B��A���.��A��A��A��'�<"C}��?RC���V>C���3?�C��֍jb+���iI�qG��>�� � ���� ����� ����� �� � GT:Y� �X1y� /�:�� � 6�9 @��� j,_z&�E�A���>9�I��qGi���@��������W%; �� Eɫ�髹)�� ��I��Y����@y��IxG��ݗ�M��<Y����QU��>�����a��G���=G��y����}��>I��� �:��'��4�?�� �:��K�ξ� ��@�� �?9��,C��f�: ��:)���:�W5�`F?�W1X1 X1�W1:W92W9*W9�V9bU9BUA*UAUAUE���@M;�?Bu�f8<Bq Bq�Auϗ>*Bq�A}� +��Ay�Ay�A}a��<"C�ۛ?RC�� �>C��`F?�C��֥�b"���aI�qG�9>�JҤ j,�8�&�E�AY}N�~�?�}N���?y}Nd��}N#��=�}NH����`�7�����༕��������?�������?�����B�������s?����!c�?��� ޮ�?������?)~N�~�? ~N^ca;I~N��Cɫ���)�� ������I��Y��v�@y���wG����Լ��������C��i���@��� ��n�@)����@I��n�@i����@���6M�F=Y���!;QU��>�������a��G������y��p�=}��>I��������4�?���Q�ξ� ���@���?9���,C���n�: ����:)���W��Y?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������f�?B*<BA BI�AMA�>*BQ�AUu�&��AY�AY�A��-�<"C��9�?RC�C��Y?�C� ��=���=�����۽I��)��lA���I��G�>�� b ���� ����� ����� @�� � P:Y� �Y1y� �:�� &6�`�� j,��&�E�Aɫ�髙)�� ��I��Y���@y���xG����^�I+�?{�G�zt����Q������X�>���ף� �����)��I��y�������S�?V-��?����Mb�?����?�����<����< ��xA)��7 AI���Ai���A�������A)��= ��=�� �/=MG=Y����QU�>�����a�G���=G��!y�%���}%�>I�)��5�:��-8��4�?��5�:��-��ξ� �-^@��=�?9�--C��-��: �-f�:)�-��:�W]��k?�WYXa Xa�Wa:Wa2Wa*Wa�VibUiBU�*U�U�U�����<��?B=%�?<B9 B9�A=H�>*B9�AE/#��AA�AA�AE~��<"Ce�|�?RC�i��mGC���k?I��i���5�Կٺ9��=��A�CA�9�I�hqGi�6�@���������; �P E)� �e�CI� �e�Ci� ��� �%=�� �#=�� �s�5��5�>�����I�Gn>��� j,*��&�E�AY}n`��?�}n%��?y}nj�}nY�=�}nH�����a�Ŀ��� �s����@��?��� ���?������Ŀ���� ?������z?��� �?���`G��?)~n`��? ~n�Z`;I~n��Cɫi�i)�i �u����I�qY��>�@y���wG��}��=��}�o���}-�=i�}3�@��y �}9�@)�}j�@I�}9�@i�}9�@��#m�M�B=Y�r_;QU��>�����a��G����y���=}��>Iȩ�ŭ���4�?�ŭ��ξ� ƭ�@����?9ƭL-C�ǭI�: ȭ��:)ȩ�W��z?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������/�@B� <B B�A%Ɏ>*B!�A%�Y��A)�A)�A-�@�<"C5��z?RC1C5�z?�C1�ֽ����בI��G�a>�� ���� ����� ����� ��� � �J:Y� d\1y� ��:�� �6�j� j,d��&�E�AY}2+��?�}2���?y}2�����}2/�=�}2H�����R�ƿ����&f��������?���@�~�?������ƿ���@ߍ�?�����4u?�������?����w��?)~2+��? ~2R�`;I~2��Cɫ9�9)�9 �=����I�9Y��y��Y�}x;QU}�>��y��y�a}�G����y��!=}��>Iȑ����:�ŕ���4�?����:�ŕXzξ� ƕy@����?9ƕ�-C�ǕA�: ȕ�:)ȕ��:�W��8�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@9@Bn�1<B B�A*B�A ����A �A �A ���<"C�"Xp?RC�C��8�?�C�������nA�ֵF��<����?i���?�ׁI��G�=>ܩ9ܩIܭqGiܭ��@�ܭ&=�ܩ�ܩ�ܭ}; ݭ�E��8� j,ߥ�&�E�AY}^���@�}^�Q�?y}^"�i��}^�b�=�}^H������ȿ��� dX������ �?����Fm�?����\ȿ�����d�?��� �<m?��� VH�?������?)~^���@ ~^V#^;I~^��Cɫ�髡)�� ��I��Y����@y���vG������AA��q��unA��}��M��<Y���;QU��>�����a��G���=G��y�k�<}��>Iș�ŝλ�4�?�ŝ�lξ� Ɲ�@����?9Ɲ�-C�ǝ#�: ȝ��:)ș�W�I��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Z]@�R�B*** querying acoustic contact ***�P��P�B��<B B�A�>*B�A�~��A�A�A>��<"C%��j?RC!C%I��?�C)�� �y=���I��G�$>�� ^ ���� ����� ����� ��� � �O:Y� [1y� ݏ:�� �6)� ��;�9 ��m � j,��'�E�Aɫy�y)�y �}����I�yY���@y��awG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M绾��M���M��=i�I��I �Mn�@)�M@I�Mn�@i�Mn�@��e̻<Mu<=Y�}���QU}�>�����a��G����y����}��>I���U�:��n��4�?��]�:���]ξ� ��@��u�?9� .C��(S< ��N<)���:�Wu��?�WqXq Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U����`�M @BP�<B B!�A%�>*B!�A%���A!�A!�A-x&�<"C-4 l?*C5����RC1C5��?�C1��5�q >I�9)�9��I�G=�>�tJ� j,p[/'�E�Aɫ�髙)�� ������I��Y��g�@y���vG�xDUSBL response received:!U1,P 23E,000,00913,188,80,80,98,FF �Command Ack�BRequesting micromodem ping code 2i������ �Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �I9�II�M�pGi�M��@��I��I��I��MW; �MsE��������Mb�?i��|?5�?�~j�t�x?���?����q= ����;)��I��y����l�����?/�$��?����Mb�?����?���,=��� �A)�AI�Ai©�������A)���= ������0�M�)=Y��QU��>�������a��G����=G���y�}�>I� �� s��4�?�� �Nξ� � 6@���?9� Q.C�� ��: � ��:)� �W=�?�WYXY XY�WY:Wa2Wa*Wa�VibUiBUq*UqU�U����` � @B]��<Ba Ba�Am\�>*Bi�Au�W��A��A��A�}��<"C�V%t?RC�C��?�C������<>�ש I�� G� �>�� � ���� ����� ����� ��� � �E:Y� �X1y� /�:�� �6)� �;� 6� j,�FI'�E�AY}5/@�}5!;�?y}5��3��}5��=�}5H����`�ɿ����/R�����]��?����b�?������ȿ���`�z�?��� Vf?��� ���?���@���?)~5/@ ~5��Z;I~1ɫ �)� �I�Y�e��@y�m�vG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=�@���=�|���=�P=i�= �@��9 �=X�@)�= �@I�=��@i�=9�@��M} =MM}=Y�U�&;QUU ?��Q��Y�a]�G��Y��Yy�eڶ<}e?I�i��mC��4�?��m�Dξ� �m�@��u�?9�m�.C��mw�: �mM�:)�i�W��A�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�#@B���D<B� B��A��>*B��A�^� ��A��A��A�s��<"C�Q�|?RC�C��A�?�C���}KHS>��1I�AGeV>��]� j,/c'�E�AY}>q�@�}>��?y}>�>��}>��:=�}>H�������ǿ����pg�����O1�?���@�o�?������ǿ��� Y-w?������g?���`^S�?����u��?)~>q�@ ~>�[;I~<ɫ�髙)�� ������I��Y��B�@y��bvG�xDUSBL response received:!U1,R,35C,000,0093E,188,80,80,6E,FF �Fpublishing direction and range info���7 @����ɰ��A>�� ��)����BI��y����B�����z��?g�?ʩ%2�����������ٱ���-�+�M-_=Y�5/ܹQU5�>��9��9�aE�G��A��Iy�M-ż}U�>I�Y��e�:��]���4�?��m�:��]�8ξ� �]@��u�?9�]�.C��]�O; �]g;)�]��:�W][f�?�WYXY Xa�Wa:Wa2Wa*Wa�VibU�BU�*U�U�U���� �@�P�*Q���B�Z�����kS@�Pϕu�Q����������Z���z��?g�?ʩ%2�����������2Q�7 @�:Q��Z��]Hڞ�K@!��MV@�u�E1��Z���.;v�?��N��?�R�줝�BQ���? Q���BQ��^B�P��9?�P���9?�P�Q�����Q��N@"Q���?B%�N<BA BA�AM~>*BI�AMxl ��AI�AI�AM�2�<"CU�t�?RCQC][f�?�CY��]ųV>��e�?i�a��1I�AGuy>�� � ���� ����� ����� &�� � G:Y� 0Y1y� ��:�� �6�9% @�E��>9�AI�E<pGi�EB�@��E'=��A��A��E; �E��E���� j,��|'�E�AY}V��?�}VrI�?y}V�!_��}VUdo<�}VH����`ƿ��� ����� q��?����Ƅ�?����ƿ�����)K����`3�k?����9�?������?)~V��? ~V�[;I~V��Cɫ�髙)�� ������I��Y���@y��4vG�DNmea in: $SNTTA,,,,,164101.33*5D ��u?3�MuF=Y�}��QU}�>��y���a��G���=G��y���}��>Iȑ�ŕ���4�?�ŕQ+ξ� ƕ�@����?9ƕ�.C�Ǖ��: ȕ��:)ȑ�m�uAdded new target pos. range: 104.460007 m, bearing: 57.791986 deg, deltaT: 4.436420 s, approachRate: 0.581552 m/s, LOS rate: -1.369690 deg/s, posRepo size: 4�m�� ProNav: pos range: 104.460007 m, bearing: 57.791986 deg, approachRate: 0.581552 m/s, LOS rate: -1.369690 deg/s, cmd update: -4.109069 deg/s, cmd heading: 82.094032 deg, new cmd heading: 86.068523 deg. �W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U ����pZ@U ���`��?B]â<BY BY�A]wy>*BY�Aeg%��Aa�Aa�Ae&��<"C��v�?RC�C��?�C��օ?e>��AI�iG�f>�Uo� j,�˖'�E�AY}6���?�}6X��?y}6<v5��}6ι��}6H����@�ÿ���@v��������������n��?��� ��ÿ�����y�����Ůf?����89���������?)~6���? ~6o�Z;I~6��Cɫ9�9)�9 �9I�AY�}��@y�}�uG��i���5-���5����5��=i�5 �@��1 �5"�@)�5"�@I�5"�@i�5"�@��mk�Mu<=Y�}��:QU��>�����a��G����y��e)�}M�>I�a����:��eg��4�?����:��e=ξ� �e@����?9�e>/C��e�!< �e�<)�e��:�W�W��?�W�X� X��W�:W�2W�*W!�V!bU!BU!*U)U)U-���@�x�?BuX�;By By�A}Wh>*By�A�{���A��A��A�N��<"C��G�?RC�C�W��?�C��֝3��>��qI�yG�~>�� � ���� ����� ����� d�� � �E:Y� �V1y� �:�� s6���� j,��'�E�Aɫy�y)�y �}����I�yY��o�@y��^uG�����(\����?�S㥛��?���Q�������?���$> �����)��I��y����x�&1�?<�O��n�?�l����?���A ?���t=����= �A)�AIiA������zA����@�M�U=Y�����QU��>�������a��G����=G���y�����}��>I�����g��4�?����ξ� ���@����?9��w/C���v�: ���:)���W�Y�?�WX! X!�W!:W!2W!*W)�V)bU)BU)*U1U1U5��� �)�?B]�<Ba Ba�Ae�c>*Ba�Am�l��Ai�Ai�Am�T�<"C�.W�?RC�6��>C��Y�?�C�����<�������>9��d�CI���oGi����@���,=����������; ����D�����>��yI��G�^>�x�� j,��'�E�AY}Zt��?�}Z8(�?y}Z��/��}ZDVڽ�}ZH�����&"������7�����`������@a��?������������CN�������E?�����=������}��?)~Zt��? ~Z�[;I~Z��Cɫ�髙)�� ������I��Y����@y���uG��������`�����P�i���@��� ��n�@)��X�@I��n�@i��X�@��]�c<MmA=Y�u��;QUu�>��y��y�a}�G��y��y�&ٽ}��>Iȉ����:�ō���4�?����:�ō#ξ� ƍ�@����?9ƍ�/C�Ǎ��: ȍ��:)ȍ��:�W�qq�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@G��?B�� �;B B�A�i>*B�A B|���A �A �A '�<"C)V�?RC�F;>Cqq�?�C��3��>���I��G�j>�� l ���� ����� ����� #�� � �P:Y� DW1y� Y�:�� }6���� j,�Y�'�E�AY}:���?�}:h�?y}:�&,:�}:d���}:H�����'������`ӌ����@QX¿���@���?���@�ɵ���� I������@ۄE���� �g¿����ܪ�?)~:���? ~:��\;I~:��Cɫ9�9)�9 �=����I�9Y�}J�@y�}1uGI�)���u��Mu[=Y�}Uj;QU}�>��y���a��G����y�/��}��>Iȑ�ŕ���4�?�ŕ0�;� ƕ�@����?9ƕ�/C�Ǖ�: ȕ�:)ȑ�W�i �?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� =��?B��<B B �A _>*B �A S0���A�A�A���<"C�E�?RClT>Ci �?�C�� S%}>���I��G�%>�� �� i�} `mGI�� i�� �� wϿٺ �� ��A�� ��>9�� e�CI�� i�� ��� ��� ��� ��� �; �� ��D)݁�I݁�i݁��݅�'=�݅�)=�݅�q6���� j,5�'�E�Aɫy�y)�� ��I��Y����@y���tG��m��MuK=Y�}���QU}�>�����a��G���=G��y����}��>Iȡ�ťT��4�?�ť�;� ƥc@����?9ƥ80C�ǥ�; ȥ�;)ȡ�W�?H�?�W�X� X��W�:W�2W*W�VbUBU *UUU%�����B@Bm�L�;Bq Bq�AuEP>*Bq�Auv���Aq�Ay�A}C��<"C}��?*C��z��RC��?>C�?H�?�C��օ�sP>��II��G�B>�� � ���� ����� ����� ��� � �B:Y� �Y1y� �:�� `6)� g�;�9 ��ż j,w(�E�AY}6�U�?�}6x��?y}6�L�:�}67�G��}6H�����������v_����`a�ȿ�������?�����ʡ������2t������)_����@!�ȿ����}d�?)~6�U�? ~6_;I~6��Cɫ9�9)�9 �9I�9Y�}<�@y�}�sG���j�����\=�����i��G�@��� ��X�@)��I��X�@i���� AB�M Q=Y� Q;QU �>�����a�G����y�,�}%�>I�9��U�:��=5��4�?��]�:��=K�;� �=@��e�?9�=w0C��=ۻ; �=߾;)�=��:�W��D�?�W�X� X��W:W)2W1*W1�V1bU9BU9*U9U9UE���@ �@�RmB*** querying acoustic contact ***�Pi�PiB��d�;B� B��A�K=>*B��A��H��A��A��A����<"C�1��?RC��e>C��D�?�C������;>��yI��G�^>�s� j,��1(�E�Aɫ)�))�) �-����I�)Y�ea�@y�mtGmZ****** received transponder code query ******mF****** received ping request ******u<Arming DUSBL. detectThresh: 75}8****** ping requested ******�ٙ�ٙ�-��>9�)I�)i�)��)��)��)��-�; �-��D���=i��4=��u��G�z��?���Q����~j�t�h���up�>��u�u� �u�D�)�qI�qy�u�V-����?{�G�z�?<�O��n�?��u|?��uף<��ut< �u�A)�u�$AI�u�Ai�udA��q��upA���<M�=Y����QU��>�����a��G���=G��y����}��>Iȱ�ŵ5��4�?�ŵ�;� Ƶ9@����?9Ƶ�0C�ǵU�: ȵ��:)ȱ�W=���?�W9X9 X9�W9:WA2WA*WA�VAbUABUI*UIUIUM����X� @B}f��;By By�A}�A>*By�A�`��A��A��A���<"C�kd�?RC�m;>C����?�C��֡ �� � ���� ����� ����� 8�� � �[:Y� DW1y� Y�:�� � 6)� ��;�ׁ I�� G� �>��� j,��K(�E�A�|i|�@Y}>�j�?�}>`��?y}>i;�}>ƤZ��}>H����@��?��� �E�����T˿����w��?��� �l�?�����r?��� �!b������˿���@�E�?)~>�j�? ~>(i_;I~>��C �H)�HɇJ�H�H��LɈN�pAi�LI�L��LI�Pi�P �P�P)�P�T �T��T��TɉT��T��XI�Z���)�Z�WFi�X)�XI�ZrA�\Ɋ\ �\ɋ\�`��`i�`��`i�`��`)�d �dI�dɫ�髙)�� ������I��Y�U��@y�u2sG}xDUSBL response received:!U1,P 35C,000,0093E,188,80,80,6E,FF }Command Ack}BRequesting micromodem ping code 2i�y��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �Õ�̼�Õ���Õ�ԼiÕ �@�Ñ ĕ"�@)ĕ"�@Iĕ9�@iĕ�@���ł�M�l=Y�5�j:QU=�?�����a��G����y����}��>Iȩ����:�ŭ���4�?����:�ŭ�;� ƭL@����?9ƭ 1C�ǭ��: ȭ��:)ȭ��:�W�=�?�W9X9 X9�W9:WA2WA*WA�VAbUIBUI*UIUIUM����� @B�t��;B� B��A�=+>*B��A�J���A��A��A�[|�<"C�.�?RC3XF>C =�?�C�օ ��;>��a I�i G� �>��� j,��e(�E�AY}2u��?�}29��?y}201;�}2[��}2H������y�?��� CA����@N&˿���`���?��� ���?���@�%�?���@%a�����,˿���`FE�?)~2u��? ~2}J_;I~2��Cɫ�髩)�� ��I��Y��?�@y���sG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����Z=M�q=Y��kѹQU�?�������a��G������y�����}�?I� �� ���4�?�� ܬ;� � ]@����?9� =1C�� X�< � Y�:)� �W��?�WX X�W:W2W!*W!�V!bU!BUI*UIUIUM����I?@B���;B� B��A��=>*B��A��ݻ�A��A��A�g^�<"C�2�?RC� �W>C���?�C�����\C>�I��G�f>�� % ���� ����� ����� {�� � 0K:Y� d\1y� ��:�� �6�9 @܍ ��>9܍ f�CI܍ toGi܍ ��@�܉ �܉ �܍ ��D�܍ �; ݍ ��D�K$ j,Z�(�E�AY}JD�?�}JQ�?y}J�;�}J�}W��}JH����`��?����^@�����s�ʿ�������?������?����<�?�����@c������ʿ���@AK�?)~JD�? ~J�;_;I~J��Cɫ�髱)�� ��I��Y� C�@y� �sGxDUSBL response received:!U1,R,28E,000,00959,189,80,80,B1,FF Fpublishing direction and range info������ɰD>�7�> �)��1CI�y�(�B���?�t���?`��I���������ٱI�))�)��E��:MET=Y�MU9:QUM�>��I��Q�aU�G��U�=G��ay�ulY�}}�>Iȉ����:�ō��4�?����:�ōA�;� ƍq@����?9ƍ{1C�Ǎ<�: ȍ�:)ȍ��:�W�=ˎ?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����ફ@�P�*Q�(�B�Z����,QV@��)7��L����������Z��?�t���?`��I���������2Q���:Q��Z��H���UN@�� �U@�=7ׅ'@�Z������<M�?�!RC�?���2,b�?BQ��%u? Q�p�BQ��rB�P�$�9?�P��9?�P�����Q�Q���A"Q��N@BN��;B B�A7>>*B�Aٻ�A!�A!�A%�A�<"C-��?RC-�[>C-=ˎ?�C1��% F>���I� G%M>�� & j,�W�(�E�A�|4<�|Y}23z�?�}2���?y}2�s;�}2��T��}2H�����v��?���`�:������Kʿ���@���?���@V �?���`>)�?����Xpn�����vfʿ��� �O�?)~23z�? ~2�8_;I~2��Cɫ9�A)�A �E����I�IY�}�@y���sG�%DNmea in: $SNTTA,,,,,164105.79*57 ��-�����-����-Y=i�-p�@��) �))�)I�-��@i�-"�@��=���M=/=Y�E@?;QUE�>��A��I�aM�G��I��Iy�Uj4�}U�>I�Y��] ��4�?��]�;� �]�@��e�?9�]�1C��]M�: �]r�:)�Y�m�uAdded new target pos. range: 106.080002 m, bearing: 54.867002 deg, deltaT: 4.419589 s, approachRate: 0.366549 m/s, LOS rate: -0.661823 deg/s, posRepo size: 4�m�� ProNav: pos range: 106.080002 m, bearing: 54.867002 deg, approachRate: 0.366549 m/s, LOS rate: -0.661823 deg/s, cmd update: -1.985468 deg/s, cmd heading: 63.917873 deg, new cmd heading: 62.016114 deg. �W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U������Z@U��������?B��l�;B� B��A�Y6>*B��A��#Ի�A��A��A��6�<"C����?RC��p>C����?�C����mA����TW>���I��Gk>�� � ���� ����� ����� ��� � S:Y� [1y� ݏ:�� �6��4, j,'3�(�E�Aɫ�髁)�� ������I��Y����@y�� sG��M�Zd;�O�?L7�A`�?��~j�t�?��M~*?��M+= �M��<)�II�Iy�M�Zd;�O��?���S㥫?<�O��n����Mj?��M/]=��Mt� �M�A)�MI.AI�M�Ai�M�A��I��M�A��m; �MuX=Y�u���QUu�>��y��y�a}�G��}�=G��yy����}��>Iȉ����:�ō�4�?����:�ō��;� ƍ�@����?9ƍ�2C�Ǎ��: ȍ�:)ȍ��:�W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����(��?B��M�;B� B�Ac)>*B�A�л�A�A�A �*�<"C �o�?RC�>C��?�C�5��>9�1I�5�nGi�5��@��5*=��1��1��5�; �5��D��=��[>���I�G%n>��3 j,� �(�E�AY}:$G�?�}:�}�?y}:�;�}:f�O��}:H���� ��?�����%����@k�ɿ�������?����$'�?����?ϝ?����� z�����L�ɿ�����W�?)~:$G�? ~:h^;I~8ɫ�髱)�� ������I��Y��R�@y���rG��Ii�Ma=�í,��í7�=�í�Լií��@�é ĩ)ĩIĭ�@iĩ���ʣ�M�5=Y���;QU��>�������a��G������y�����}��>Iȁ�Ņ���4�?�Ņ�q;� ƅE@����?9ƅI2C�Džn�: ȅY�:)ȁ�W�W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����/��?B�mY�;B� B��A�! >*B��A�;J˻�A��A��A�@>�<"CW��?RC6a>CW��?�C ���9n>�ױI��G��>�� ����� ����� ����� +�� � �/:Y� �U1y� ��:�� X6��F9 j,-��(�E�A�|i|�@Y}6W��?�}6ͷ?y}6N��;�}6�gN��}6H����`>5�?����������FDɿ��� f��?����4��?���@���?����v�~�����)�ɿ�����Y�?)~6W��? ~6�7^;I~4i�>��C��>�qA)�< �@I�@ �B��C)�@ɠB���D�D��DɡF�pAi�F���I�F�gF��HI�J��Ci�J�qA �Jף��H)�H�N3�C �NqA��l��lɢl��r�C��r�qAI�p)�pi�p)�tI�t�tɣt �tɤz̔C�x��xi�x��xɫ�髹)�� ������I��Y���@y���sG��}�=M}|=Y�}i;QU� ?�����a��G����y����}� ?Iș�ŝd��4�?�ŝ1g;� Ɲ�@����?9Ɲz2C�ǝ �: ȝ�:)ș�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B�<B B �A �5>*B �A��ǻ�A�A�A�;�<"C���?RC��Z>C���?�C!�� F]~>���I��G�%>�5 ��>9�5 g�CI�5 HnGi�5 ��@��5 (=��1 ��1 ��5 {�; �5 d�D��.@ j,���)�E�AY}2���?�}2p�?y}2V�<�}2�Q��}2H��������?����y�������zɿ���`-��?����D�?�����E�?����}��������ɿ���@�U�?)~2���? ~24^;I~2��Cɫ�髙)�� ��I��Y���@y���rG���x��M�E=Y����;QU��>�������a��G����>G���y���P�}��>I��� �:�����4�?���:���X;� � @���?9��2C��h; �t;)���:�WM��?�WQXQ XQ�WQ:WY2Wa*Wi�VqbUyBUy*U�U�U�����VS�@B�E�;B� B��A�0>*B��A���û�A��A��A��Y�<"C���?RC���U>C���?�C���K�>�ױI��G��>�� ����� ����� ����� ��� � �h:Y� �W1y� č:�� �6)� C�;�9 ���XF j,#�)�E�AY}:g�?�}:*9�?y}:j <�}:�TT��}:H�����z��?���������� x�ɿ�����}�?������?����a*�?�������������Yʿ����0P�?)~:g�? ~:X^;I~:��Cɫ��)� � ����I� Y�=�@y�EarGI��)������/�$���?V-��?<�O��n�?����?�����< ��t=)��I��y���'1�Z�?ˡE����?�I+��?����"?����'=���94< �A)K)AIi5A������fA���9�<���������Q��i��p�@��� ���@)��Σ@I��i���@�� �M 8=Y���:QU�>�����a�G����y�%�N�}%�>I�)��-���4�?��-I;� �-@��5�?9�-3C��-ӻ: �-�:)�)�W](σ?�WYXY XY�WY:WY2Wa*Wa�VabUaBUi*UiUiUm����x�@B� �;B� B��A��>*B��A��\���A��A��A��}�<"CM(σ?RCMf�O>CM(σ?�CI��]�m>��1I�AG]v>��L j,�z4)�E�A�|�;�|ɫ�髩)�� ������I��Y��*�@y���rGi�]�lG��aI��i����e@A����ȿٺ�����A��|Z<M[=Y����QU�>��)��)�a5�G��5>G��1y�=���}=�>I�A��U�:��Eۓ�4�?��]�:��E�;;� �E�@��]�?9�EA3C��E�S; �E�`;)�E��:����������>9��I���mGi��[�@���&=�����������: ����D)��f�CI��f�Ci�����*=���*=����6�Wu�?�WqXq Xq�Wq:Wq2Wy*Wy�VybUyBUy*U�U�U�����T@�R�B*** querying acoustic contact ***�P��P�B�/M�;B� B��A� >*B��A��;���A��A�AT��<"C-�?RC-�*^>C-�?�C1����V>���I��Gj>��= � ����= �����= �����= ��� �= OW:Y�= 0Y1y�= ��:��= �6)�= ?�;��jS j,LUN)�E�AY}2��?�}2JC�?y}2�.<�}2�_��}2H�������?����y����`N�ʿ����1�?����A��?�����?��� ҅�����k�˿�����=�?)~2��? ~2�)^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=���j�����Q8=i����@��� ��9�@)��9�@I��"�@i��"�@���$L�M�M=Y����;QU��>�������a��G����y��} �>I���8��4�?���-;� ��@���?9��3C�� �: �{�:)��WExb�?�WAXA XA�WA:WA2WI*WI�VIbUIBUQ*UQUQUU������ @B}���;B� B��A��>*B��A�F*���A��A��A�B��<"C�xb�?RC�*k<>C�xb�?�C��֥�U>��yI��G�^>I� )� ���Y j,�0h)�E�AY}2� �?�}2�D�?y}2R�D<�}2��d��}2H�����(w�?��� CD������$˿�����?�����Z�?����ܰ?����#������ �a̿���@{3�?)~2� �? ~2�Q^;I~2��CɫQ�Q)�Q �U����I�QY��q�@y���qG�xDUSBL response received:!U1,P 28E,000,00959,189,80,80,B1,FF �Command Ack�BRequesting micromodem ping code 2i��������R=i��C=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��'��MZ=Y�%$j;QU-�>��9��A�aM�G��I��Yy�mty�}}�>I�1��E�:��50��4�?��M�:��55;� �5�@��u�?9�5�3C��5�< �5�<)�5��:�W]��|?�WYXa Xa�W�:W�2W�*W��V�bU�BU�*U�U�U���� �� @B��@;B B�A�>*B�AvQ���A�A�A��<"CE��|?RCM�|8>CM��|?�CI��=��C>��I�9Gex>�� ��>9�� h�CI�� �mGi�� �@��� %=��� TD��� ��D��� ��: �� ��D�� ����� ����� ����� ��� � ��:Y� d\1y� ��:�� J96)� ��;��|` j,��)�E�A�|i|�@Y}2��?�}2�M�?y}2ԫ^<�}2"g��}2H�����8*�?����v����`�!˿��� ��?��� @��?����꠲?���`BՋ�����$�̿���@�/�?)~2��? ~2g�^;I~2��Cɫ9�9)�9 �=����I�9Y�}b�@y�}�qG鮁ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u�M}D=Y�}�z;QU}�>�����a��G��>G��y��h�}��>Iȑ�ŕb��4�?�ŕ�;� ƕ~@����?9ƕ4C�Ǖ��: ȕ8�:)ȑ�W��y?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� ,@B%`�;B) B)�A->*B)�A-J{���A1�A1�A5>�<"C=�y?RC=�0>C=�y?�C9 �m�=��m�=�օ�S<>��YI�aG�Y>�>�f j,��)�E�AY}ZLB�?�}Zy�?y}Z�O|<�}Z��e��}ZH��������?��������������ʿ����^��?�������?���@�*�?�����������`oz̿�����1�?)~ZLB�? ~ZM^;I~Z��Cɫ9�A)�A �M����I�IY����@y��rG�xDUSBL response received:!U1,R,1D0,000,00976,186,80,80,B7,FF �Fpublishing direction and range info���3QϾ���ɰ�iF>鰕��> ��)���7CI��y����B�������i�?0X6ٿ��������ٱ���}�Zd;�O�?����Mb`��I+�����}~*?��}� �}94�)�yI�yy�}���~j�t�?V-��?����������}�?��}�m=��}��� �}�A)�}�0AI�}5Ai�}�A��y��}�A)á å>���`e�����=���`e�i��¥@��� ���@)���@I���@i���@��EP�<ME%=Y�M%o;QUM�>��I��I�aU�G��Q��Qy�]�6�}]�>Iȁ����:�Ņ���4�?����:�Ņ��;� ƅ�@����?9ƅQ4C�DžQ�: ȅ��:)ȅ��:�W�JEu?�W�X� X��W�:W�2W�*W��V�bU�BU*UUU�����/@�P*Q��B�Z�Ѕ��y�X@��J��<E����������Z����i�?0X6ٿ��������2Q3QϾ:Q�Z�i���)Q@P��!�T@l&��'�@�Z����J�?��&8��?�f��jв?BQ*�a? Q��BQ��B�P9�9?�P$�9?�P����Q����Q"aA"Q��AB�J�O;B� B��A�:>*B��A��۬��A��A��A�ȧ�<"C�JEu?RC�/�,>C�JEu?�C��ֵ�/>���I��G �>�� � ���� ����� ����� K�� � aA:Y� [1y� ݏ:�� �6�9 @�F�l j,>ϵ)�E�AY}��?�}VU�?y}�S�<�}}O`��}H�����r��?�����������Βɿ���@�:�?�����=�?�����L�?��� C���������˿���� ;�?)~��? ~.�];I~��Cɫ)�1)�1 �5����I�1Y�m5�@y�mfqG��DNmea in: $SNTTA,,,,,164110.20*5F I��)����M#9�MMp=Y�M}�;QUU?��Q��Q�aU�G��U>G��Yy�]��}]?��i��i�u��>9�qI�u�lGi�ug�@��u$=��q��q��u��: �u �DIȉ�ō���4�?�ō��̾� ƍG@����?9ƍ�4C�Ǎ��: ȍ��:)ȉ�m�uAdded new target pos. range: 107.820000 m, bearing: 50.523872 deg, deltaT: 4.548576 s, approachRate: 0.382537 m/s, LOS rate: -0.954833 deg/s, posRepo size: 4�m�� ProNav: pos range: 107.820000 m, 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. �W���p?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����z�Z@U�����$a�?BM�;B B�A��=*B�A�E���A�A!�A%���<"C-��p?RC-q�>C-��p?�C1��v�/>���I��Gm>���s j,(��)�E�A�|�|ɫ�髙)�� ��I��Y��t�@y���qG�õ����õ���õt��iõ3�@�ñ ĵΣ@)ĵ��@IĵΣ@iĵ��@�����<M�T=Y�����QU��>�������a��G������y�����}��>I�����`��4�?�����̾� ���@����?9���4C���f�: ����:)���W=)l?�W9X9 X9�W9:WA2WA*WA�VAbUABUI*UYUYUe���@�?B���;B� B��A�[>*B��A������A��A��A�<D�<"C�)l?RC�Yb,>C�)l?�C��֭MR!>�ׁI��G�=>�� � ���� ����� ����� �� � E:Y� 0Y1y� ��:�� �6��y j,6x�)�E�AY}2$ѻ?�}2��?y}2��<�}2��Z��}2H���� ��?����Xf�����@ʰȿ������?�����O�?���@6#�?���@/A�������(˿��� �C�?)~2$ѻ? ~2�];I~2��CɫY�Y)�Y �]����I�YY�e�@y�e+qG��y�MV=Y�;�;QU�>��!��!�a%�G��!��)y�-A�}-�>I�1��=�:��5f��4�?��=�:��5�̾� �5"@��E�?9�5�4C��5��: �5b�:)�5��:�We�1g?�WaXi Xi�Wi:Wi2Wi*Wq�VqbUqBUq*UyUyU}����ـ�?B��^;B�*��< B��A���=*B��A��*���A��A��A-o��<"C5�1g?RC5��*>C=�1g?�C9��e�Z>��9I�IGeU>�u ��>9�q I�u TlGi�u �@��u %=��q ��q ��u =; �u BE�ˀ j,�S*�E�AY}J���?�}J]��?y}J���<�}J�~M��}JH�������?����������@��ƿ����B��?����J�?�����?�����]�������ɿ���@SY�?)~J���? ~J4�];I~J��CɫY�Y)�Y �YI�YY����@y���pGI�)���%=i�%�=��u ��MuD=Y�}�D<QU}�>��y���a��G��>G��y�餽}��>Iȑ�ŕ���4�?�ŕm�̾� ƕp@����?9ƕ>5C�Ǖܹ: ȕn�:)ȑ�W���a?�W�X� X��W�:W�2W�*W �V bUBU*UUU����Y��?B��;B� B��A�m�=*B��A���A��A��A�pM�<"C���a?RC���>C���a?�C����'>���I��G�j>�� � ���� ����� ����� g�� � C:Y� �X1y� /�:�� �6�K�� j,�;*�E�A�|\i|\ɫ�髩)�� ��I��Y����@y���pG���+���?Zd;�O��?y�&1�|�����>��j<= �`�)�I�y����ʡE�?J+��?�~j�t�h?��-?���H=���D; ��A)��1AI� Ai��A������]ף<��]t���]�;i�]��@��Y �]"�@)�]�@I�]"�@i�]�@��m M�Mm.=Y�u���QUu�>��q��y�a}�G��y��y����}��>Iȉ����:�ōB��4�?����:�ō��̾� ƍ�@����?9ƍ�5C�Ǎ��: ȍ4�:)ȍ��:�W���[?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����` ��?B}�{;By By�A}e�=*By�A�$���A��A��A����<"C���[?RC��6>C���[?�C��֭h�*>�I��G��>��� j,�7*�E�AY}Z�\�?�}Z}��?y}Zc��<�}Z��G��}ZH����@��?����e������z;ſ����D<�?����G*�?��� �~�?�����x����� ��ȿ���`�a�?)~Z�\�? ~Z��^;I~Z��Cɫ�髙)�� ������I��Y����@y���pG ��鿅�A��ي<M�l=Y��=<QU��?�����a��G��>G���y��z��}��?I��������4�?���f�̾� ��T@����?9���5C���Ǻ: ����:)���W�^mW?�WX X�W:W2W*W �V ���>9�I�(kGi�"�@��'=�������P; �|$EbU)BU)*U1U1U5���@e�@B}*UR;B� B��A�m�=*B��A�y����A��A��A��x�<"C�^mW?RC��$>C�^mW?�C��ѽ�<�֝vh5>��qI��G�~>�� J���� ����� ����� x�� � �v:Y� �Y1y� �:�� �6)� ��;�9 ���� j,4�P*�E�Aɫ�髑)�� ������I��Y����@y���oG������AAI��)����5��=��5"[���5-2�i�5z�@��1 �5�@)�5Σ@I�5Σ@i�5Σ@��Ez��MMQ=Y�M���QUM�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a��m�:��e���4�?��m�:��e{�̾� �e�@��u�?9�e�5C��eE�: �e'�:)�e��:�W5�(R?�W1X1 X1�W1:W92W9*W9�V9bUABUA*UaUaUm���`~�@�RuB*** querying acoustic contact ***�Pq�PqB��,:B� B��A�.�=*B��A������A��A��A��5�<"C%�(R?RC%�::>C-�(R?�C)��)��<�� x 6>���I�G�>��1� j,3�j*�E�A�|�|Y}6M��?�}6�?y}6�i�<�}6��D��}6H����`'�?����xN�����fFĿ�������?�����=�?����*@�?���`�랿�����gȿ�����e�?)~6M��? ~6�\;I~4ɫ9�9)�9 �=����I�9Y��W�@y��UpG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��3,=M%M=Y�%=�;QU%�>��)��)�a-�G��->G��1y�=���}=�>I�A��E���4�?��E~�̾� �E*@��U�?9�E*6C��E ; �E�!;)�A�W�DKM?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��@B��;B� B��A�o�=*B��A��D���A��A��A�.��<"C�DKM?RC�p'>C�DKM?�C�������)�� ����Me�>��MՕC�ԩ�ԩi���mGI��i���]�˿ٺY��]1�A�����9>� ��>9� i�CI� `jGi� �@�� &=�� �� �� CM; � �"E)ݥ�h�CIݥ�h�Ciݡ��ݥ�%=�ݥ�%=�ݥ�U5��� I�� �� � ���� ����� ����� ��� � (U:Y� �X1y� /�:�� O6)� b�;G% �>�4� j,t��*�E�Aɫ�髡)�� ��I��Y��.�@y��#pG�xDUSBL response received:!U1,P 1D0,000,00976,186,80,80,B7,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 ��M�F�M]G=Y�e���QUm�>�����a��G����y����}��>I�����9��4�?�����̾� ���@���?9��h6C�����; ���;)���W��6G?�W�X� X��W�:W�2W�*W��V�bU�BU*UaUaUe����4�@B� �:B� B��A�@�=*B��A�pV���A��A��A�p��<"C��6G?RC�O?>C��6G?�C����d/>�ױI��G��>��G� j,���*�E�AY}=u�?�}=5V�?y}=�'=�}=w�E��}=H�����^�?��������� ��ÿ����58�?�����6�?����[<�?���`Ed��������ȿ����ec�?)~=u�? ~=G�[;I~=��Cɫ � )� �����I�Y����@y��MoG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�)��A�� p=i� �=����ףp= ��?���Q����v��/�?�����>����u� ��xi=)��I��y�����ʡE��?���Mb�?�~j�t�x?����?����@=�����; GA)�,AI^AidA�������A�� �>�� >�� 5^�i� ��@�� � Σ@)� ��@I� �@i� ��M�,�MU"=Y�U�m;QU}�>�����a��G����y����}��>Iȡ����:�ť���4�?����:�ť��̾� ƥ�@����?9ƥ�6C�ǥ�; ȥ8�;)ȥ��:�WoA?�WX X�W:W2W!*W!�V!bU!BU!*U)U)U-�����,@B�@� 9B� B��A���=*B��A�wi���A��A��A�ξ�<"C�oA?RC��1>C�oA?�C����O�'>�י I�� G� �>�� -���� ����� ����� >�� � �t:Y� [1y� ݏ:�� a 6�9 @�Sn� j,aU�*�E�A�|i|Y}J(�?�}J�'�?y}Jw�=�}J��F��}JH�����?�?��� ȋ����ਖÿ���@\��?���@�$�?�����$�?���`������@ �ȿ��� �a�?)~J(�? ~JvT[;I~J��Cɫ�髹)�� ������I��Y����@y��`nG�xDUSBL response received:!U1,R,502,000,00987,189,80,80,88,FF Fpublishing direction and range info���f3�����ɰ��G>��7�> ��)���CI��y����B�������w���?a�mf-����������ٱ��ٵ�<�ٵ�<ܽ��>9ܹIܽ3iGiܽ��@�ܽ#=�ܹ�ܽ��D�ܽ(N; ݽ-#E��@��M�l=Y���:QU�?�����a��G��>G��y�=M�}�?Iȩ�ŭ���4�?�ŭFv̾� ƭK@����?9ƭ�6C�ǭ@�: ȭӻ:)ȩ�W��)=?�W�X� X��W�:W2W*W�VbU)BU)*U)U)U-���`�@�P9*Q=��B�Z=���)!P�G@[</�zX����������Z=����w���?a�mf-����������2Q=f3��:Q9�Z=���ӿ�Z@`��� P�-&�z�R1@�Z=�=SvC��?��)Q����S)4�^�?BQ=���@ Q=���Q=��B�P=��9?�P=9�9?�P=l���Q=����Q=��A"Q="aAB���B� B��A�37=*B��A�,f���A��A��A�@��<"C��)=?RC�P�1>C��)=?�C� ���=����=�ֽxj0>��yI��G�^>��V� j,3�*�E�AY}r^̥?�}r�?y}r1w=�}r/�F��}rH���� ���?�����J����`SKÿ���`���?�����?����'��?���`������Z�ȿ�����a�?)~r^̥? ~rE�[;I~r��Cɫ���)�� ������I��Y���@y�7nG�}DNmea in: $SNTTA,,,,,164114.65*5A ���j�����"�=���/]�i���@��� ��"�@)����@I����@i����@�� �+�MS=Y��:QU�>�����a�G����y�%�0�}%�>I������:���'��4�?����:���ki̾� ���@����?9��-7C���oq; ��x;)����:�mM}Added new target pos. range: 108.840004 m, bearing: 357.558108 deg, deltaT: 4.384049 s, approachRate: 0.232663 m/s, LOS rate: -12.081470 deg/s, posRepo size: 4�m]!ProNav REINIT: LOS rate is -12.081470 deg/s. Setting heading cmd to target bearing of 357.558108deg and heading rate command to 0 deg/s.�W]���@�WYXY Xa�Wa:Wa2Wa*Wi�VibUiBUq*UqU}�����5[@U}���@�_�?B��vκBa Ba�Ae�&=*Ba�Ae R���Aa�Ai�Am9o�<"Cu¾1?RC�&�K>C����@�C��֭f1>�I��G��>�� � ���� ����� ����� `�� � �A:Y� �Y1y� �:�� 6�{� j,�*�E�AY}:Dգ?�}:�?y}:; =�}:�D��}:H�����k�?����~�������¿��� �q�?��� ���?����m%�?����V ����� �hȿ�����d�?)~:Dգ? ~:�g\;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}8mGI��)���A��u���MuU=Y�} �9QU}�>�����a��G��>G����@��y��#�}��>Iȑ�ŕ���4�?�ŕ(^̾� ƕ@����?9ƕf7C�Ǖ��: ȕ{�:)ȑ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����8b�?B�oT�B B�A f{<*B �A �����A �A �AEE�<"C�n%?RC/�h>C�C�� ��8>���I��G�$>ܱ9ܵj�CIܵhGiܵ��@�ܵ"=�ܱ�ܱ�ܵ�o; ݵ�4E�Gg� j,��+�E�A�|�|Y}6� �?�}6�@�?y}6%o=�}6�D��}6H����@���?���`�������է¿���`6�?����V�?����?K�?����'������`�kȿ����'e�?)~6� �? ~6];I~6��CɫY�Y)�Y �]����I�YY����@y��<mG����=��ף���"۽i�=�@�� ���@)�I�Σ@i���ȋ:MA=Y��-�QU�>�����a�G����!y�%��}%�>I�)��5�:��-��4�?��=�:��-Q̾� �-�@��=�?9�-�7C��-��: �- �:)�-��:�WY�WaXa Xa�Wa:Wa2Wa*Wi�VibUiBUq*UqUqUu�������?B���X�B� B��A�g�<*B��A�,����A��A��A��B�<"C��i?RC�� �>C��C��֥�kK>��yI��G�^>�� P ���� ����� ����� ��� � �N:Y� xZ1y� q�:�� �6���� j,6�+�E�AY}^\&�?�}^]�?y}^��<�}^H��}^H�����w4�?���`ݐ���� ��¿���`���?���`���?�������?����u��������ȿ��� k`�?)~^\&�? ~^qr];I~^��Cɫ�髱)�� ������I��Y��(�@y��klG��6only read 3 of 4 data itemsai�@a��� am�@a��� aq�@a��� ae�@a��� ���Q�MI=Y�H}�QU�>��!��!�a%�G��!��)y�-��}5�>I�1��5��4�?��5�D̾� �5�@��E�?9�5�7C��5��: �5��>)�1�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqbUqBUq*UyUyU}���@�w�?B�,���B� B��A����*B��A��A��A��A�2�<"C�VR�>RC�C��C��֥��Y>��YI�iG�8>�ӻ� j,p�9+�E�Aɫ�髙)�� ������I��Y��̿@y���kG��=R=i�=�=�]��>9�YI�]@gGi�]��@��] =��Y��Y��]�; �]L@E��u&�MuV=Y�}���QU}�>��y��y�a��G�� >G��y����}��>Iȑ�ŕ�4�?�ŕ�8̾� ƕa@����?9ƕ%8C�ǕȲ: ȕJ?)ȑ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?BB B�A*B�A �A �A �A G�<"C�@8�>RC�C��C��֍���>��aI�qG�;>�� � ���� ����� ����� �� � �T:Y� �X1y� /�:�� �,6)� .�;�9 ��b�� j,?tS+�E�A�|i|Y}B��?�}B�}w?y}B#c�<�}BB N��}BH���� 2+�?������������.ÿ����T�?�������?����F>�?��� �뚿������ɿ���@�W�?)~B��? ~B��];I~B��CɫY�Y)�Y �]����I�YY����@y���kG�Õף;�Õ���Õ\��iÕ��@�Ñ ĕ�@)ĕE�@Iĕ&�@iĕE�@���ػM�G=Y��2�QU��>�����a��G����y���}��>I������:����$�4�?����:����,̾� ���@����?9��f8C����: ����?)���:�W��W�X� X��W�:W�2W�*W��V�bUBU*UUU ��� .@B1B1 B1�A1*B9�A9�A9�A9�A=J��<"CE6d�>RCACA�CI��e��>��9I�IGeV>�y�� j,<Om+�E�AY}6���?�}6vwq?y}6%�<�}6�U��}6H����`���?���`�n�����2�ÿ����)��?����m@�?���@��?�����������P�ʿ����}K�?)~6���? ~6Fx^;I~6��CɫY�Y)�Y �YI�YY��R�@y��bkG)ý�= ý�=���B�M�Z=Y���»QU��>�������a��G��� >G���y��z��}��>I������.�4�?���|!̾� ��j@����?9���8C����: ����?)���W�WX X�W:W2W*W�VbUBU!*U!U!U%����@�R-B*** querying acoustic contact ***�P1�P1BU\��B� B��A��7�*B��A��Ώ��A��A��A����<"C��h>RC�C��C��� 6Ʌ>���I�G5O>�]��>9�YI�]�eGi�]��@��Y��Y��Y��]��; �]�BE�� G���� ����� ����� �� � ��:Y� �]1y� ��:�� : 6)� �"<� �� j,Q-�+�E�AY}F��?�}F��j?y}Fe��<�}F.g^��}FH������w�?����������@�8Ŀ����Cc�?�������?����.��?����q�����`a�˿��� �=�?)~F��? ~Fا^;I~F��CɫI�I)�I �M����I�IY���@y���jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)����M�D;��M�B>��Mj<�i�MG�@��I �Mz�@)�M��@I�M��@i�M��@��]�ԼM]=Y�e���QUe�>��a��a�am�G��i��iy�u�P�}u�>I�y��}�=�4�?��}J̾� �}�@����?9�}�8C��}��: �}0@)�y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����=? @B�'o»B� B��A��ʼ*B��A������A��A��A�A��<"C�0"�=RC�C��C�����ס I�� G� �>���� j,��+�E�A�|4<�|4<Y}6�w�?�}6X]c?y}6h¤<�}6�sf��}6H������.�?����K����`m�Ŀ�������?������?����s��?���������̿���`�/�?)~6�w�? ~6|O_;I~6��C �<)�>&qAɇ>�����@�@��@Ɉ@i�@I�D��DI�Di�D �D�D)�H�H �H��H��HɉH��L��LI�N���)�Li�P)�PI�RrA�PɊP �TɋT�T��Ti�T��Ti�X��X)�X �XI�Xɫ�髹)�� ������I��Y�)�@y��iGxDUSBL response received:!U1,P 502,000,00987,189,80,80,88,FF Command Ack%BRequesting micromodem ping code 2i�!��!�-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 aim�aim amu�amu aqu�aqu aeu�aeu ��u�^�I+�?{�G�z�?����Mb`���uX�>��uף< �u�)�qI�qy�u�+���?{�G�z�?����Mbp���u�?��u�#=��u�� �q)�u�0AI�u�Ai�u�A��q��ufA��%�W�M%>=Y�%��QU%�>��1��1�a5�G��1��yy����}��>Iȹ�Ž�J�4�?�Ž<̾� ƽ@����?9ƽ79C�ǽ4; ȽTA;)ȹ�W��W�X� X�W:W2W!*W!�V!bU!BU!*U)U)U-���@r@B�����B� B��A�B�*B��A�N+���A��A��A��s�<"C���A=RC�C��C���M � ����M �����M �����M ��� �M �B:Y�M �X1y�M /�:��M �6�9m @�ֽ ?΅>���i��mGI��i� I�GE�>�S� j,"º+�E�A��Cʿٺ���AY}>�?�}>Z�[?y}>ך�<�}>�*n��}>H��������?���������@��Ŀ�����5�?�����@�?����$�?��������@�Ϳ����"�?)~>�? ~>`;I~>��Cɫ���)�� ������I�����>9�I��dGi� �@����������; ��@E)ݥ�j�CIݥ�j�Ciݡ��ݥ� =�ݥ�!=�ݥ��5Y�-�@y�-�iG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��)��)��]�ռMe�=Y�e˨�QUe?��i��i�am�G��m>G��iy�u(˽}u?I�y����:��}S�4�?����:��}g�˾� �}�@����?9�}d9C��}�: �}��:)�}�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@B�N��B� B��A�bc�*B��A�*���A��A��A���<"C��=B�RC�C��C����6Ʌ>�שI��G�>�5�� j,�{�+�E�AY}>�ʉ?�}>�T?y}>�!�<�}>��r��}>H����@ɢ�?����&�����u�Ŀ���`��?��� 0��?�������?�����C������Jο����A�?)~>�ʉ? ~>�a;I~>��Cɫ�髹)�� ������I��Y��ؽ@y���iGxDUSBL response received:!U1,R,502,000,0098F,189,80,80,B4,FF Fpublishing direction and range info������ɰ�uH>�� ��)���4CI��y����B�������w���?a�mf-����������ٱ���p=i��=��u`弩�u�=��u�P=i�u��@��q �u��@)�uE�@I�u\�@i�u\�@�����M�[=Y�Q�QU��>�����a��G����y�ޤ�}��>Iȡ�ť'_�4�?�ť��˾� ƥ@����?9ƥ�9C�ǥ�: ȥ�:)ȡ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�P�*Q���B�Z���+�]&�G@۪X����������Z�����w���?a�mf-����������2Q�:Q��Z��\&��ȾY@�4�J)=�n��A6@�Z���kq �$�?�'�uѿ����?BQ�K;�@ Q�J��Q���B�P���9?�P���9?�P�����Q�l���Q���A"Q���AB%���BI BI�AM�j�*BI�AMM����AI�AQ�AU���<"CU��_�RCYCY�CY�֝?΅>��qI��G��>��U { ����U �����U �����U h�� �U �=:Y�U xZ1y�U q�:��U �6�� j,�U�+�E�A�|i|�@Y}6�L�?�}6HM?y}6<ϋ<�}6̺s��}6H����`XE�?�����j������0Ŀ�������?�������?������?����y�������,ο������?)~6�L�? ~6��c;I~6��Cɫ9�A)�A �E����I�AY����@y��hG�}DNmea in: $SNTTA,,,,,164119.11*54 �����M�E=Y����QU��>�������a��G���>G���y��Ն�}��>I������:����l�4�?����:���C�˾� ��y @����?9���9C���b�: ����:)���:�m�yAdded new target pos. range: 109.320000 m, bearing: 344.189379 deg, deltaT: 4.425841 s, approachRate: 0.108453 m/s, LOS rate: -3.020608 deg/s, posRepo size: 4�m�� ProNav: pos range: 109.320000 m, bearing: 344.189379 deg, approachRate: 0.108453 m/s, LOS rate: -3.020608 deg/s, cmd update: -9.061823 deg/s, cmd heading: 357.558108 deg, new cmd heading: 357.558108 deg. �W�X��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����zT[@U����`��?B�+�B B�A�*B�A%Wږ��A!�A!�A%�Y�<"C-Hױ�RC)C-X��@�C1��}��>��QI�aG}z>�9�I� dGi�k�@��=������j; ��<E�/�j,�1,�E�AY}jz��?�}jn�E?y}j�d�<�}j78x��}jH��������?�����������t�ÿ��� 9X�?����k%�?����j�?����j̐�����h�ο��� n�?)~jz��? 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~6��c;I~6��Cɫ�髙)�� ��I��Y��A�@y���gG��EmA��EmA�Íף<�Í�>�Í^��iÍ��@�É čz�@)čz�@Ičz�@ičz�@��Q}<M�H=Y�8��QU��>�����a��G����y���}��>Iȹ�Ž3��4�?�Ž�˾� ƽC @����?9ƽ�:C�ǽw�: Ƚ �:)ȹ�Wm�~�@�WqXq Xq�Wq:Wq2Wq*Wy�VybUyBUy*U�U�U����@8�@B�؝I�B� B��A�:۽*B��A������A��A��A�<;�<"C�P���RCC�~�@�C��� �>���I�G�Zj,�o,�E�AY}:-�i?�}:�D*?y}:��\<�}:9@y��}:H���� H-�?�����?�����������@3��?���`t_�?����MN�?���`����������ο����� �?)~:-�i? ~:P�c;I~8ɫ�髙)�� ������I��Y��A�@y��bfG��]�=i�]�=�����M�K=Y�`�QU��>�����a��G��>G��y���}��>Iȱ����:�ŵu��4�?����:�ŵ��˾� Ƶk @����?9Ƶ;C�ǵI�: ȵw�:)ȵ�:�W�v��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@),@B%b�t�B) B)�A-� �*B)�A5���A1�A1�A5��<"C=ϠԾRC9C=v��@�CA��M����M�� ���������ܹ9ܹIܽ�bGiܽ&�@�ܹ�ܹ�ܹ�ܽC�; ݽp=E��QI�YG}�>��5 � ����5 �����5 �����5 �� �5 <H:Y�5 xZ1y�5 q�:��5 �6)�5 9�;��D"j,���,�E�A�|8i|8Y} �b?�}�K#?y}G�I<�}��y��}H���� ���?����C������B0������� �?�������?����v��?�����=�����`u�ο���`��?)~ �b? ~��c;I~��Cɫ���)�� ������I��Y�M��@y�U�fG��Q��Q�õ�;�õ-�=�õ��iõ�@�ñ ĵE�@)ĵ�@Iĵ&�@iĵ&�@���b�<M�G=Y��5�QU��>�������a��G������y�����}��>I�����l��4�?����˾� ��� @����?9��V;C���=�: ���:)���Wwu�@�WX X�W:W2W*W!�V!bU!BU!*U)U)U-���@�u@�R5B*** querying acoustic contact ***�P1�P1B]lOc�BY BY�A]��*Ba�Aeㆨ��Aa�Aa�AeM��<"Cm���RCiCmwu�@�Cq��AI�QGm>� l(j,rS�,�E�AY}2r�[?�}2�R?y}2�(3<�}2F�w��}2H����@&7�?���@������ Rz�������X�?�����g�?�������?�����d����� [�ο������?)~2r�[? ~2LKc;I~0ɫY�Y)�Y �YI�YY����@y���fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=�!�rh���?���x�&�?T㥛� �?��=l?��=7�= �=�=)�9I�9y�=�j�t��?�� �rh�?�~j�t�x?��=� ?��=C=��=��; �=�A)�=�:AI�=�Ai�=�A��9��=( A)�U�= �U�=��]��MeA=Y�ebW�QUe�>��i��i�am�G��i��qy�uу�}u�>I�y����:��}��4�?����:��}˥˾� �}Y @����?9�}�;C��}E�: �}��:)�}�:�W��Q�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B���g�B� B��A���*B��A��#���A��A��A�X�<"C-��RCC�Q�@�C���aI�iG�9>��= ����= �����= �����= �� �= �4:Y�= [1y�= ݏ:��= =6�9E @���.j,�/�,�E�AY}2)�T?�}2�I?y}2T�<�}2vau��}2H�����ȵ�?�����-������r������˞�?����X��?������?���@6ԃ������`ο���`��?)~2)�T? ~2c;I~2��C��]�<��]p<�e��>9�aI�e,bGi�eԷ@��a��a��a��e\�; �e�BEɫ�髙)�� ������I��Y�� �@y��9fG�xDUSBL response received:!U1,P 502,000,0098F,189,80,80,B4,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��e��Mm\=Y�}�[�QU��>�����a��G��>G��y��ۓ�}��>I�)��-���4�?��-��˾� �-$ @��u�?9�-�;C��-.< �-<)�)�W�3�@�W!X! X!�WI:WI2WQ*WQ�VYbUYBUa*U�U�U���� H @B5 �r�B9 B9�A=��*B9�A=�K���A9�Aa�Ae*�<"Cm���RCiCm�3�@�Cq��AI�iG�d>��~5j,��,�E�A�|�;�|4<Y}2n�M?�}2�%?y}2�Q�;�}2G�t��}2H�����1�?����|p������R�����@q��?���@vc�?���@�A�?���@#�����@�Mο���@��?)~2n�M? ~2��b;I~2��CɫQ�Q)�Q �U����I�QY��ֺ@y���eG鮙ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��m94���m�����m�T�i�m@��i �m&�@)�m&�@I�mE�@i�mE�@��}ӵ�M}I=Y�}S��QU��>�����a��G����y����}��>Iș����:�ŝ���4�?����:�ŝ��˾� Ɲ�@����?9Ɲ<C�ǝ$�: ȝ�:)ȝ�:�WE�K�@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUQ*UYUYU]�����@B� ̈�B� B��A���*B��A��ֳ��A��A��A�d��<"C�~�+�RC�C��K�@�C���I� G-,>��5 �����5 �����5 �����5 �� �5 �.:Y�5 P^1y�5 ��:��5 �6�:�;j,���,�E�Aɫ�髙)�� ������I��Y��κ@y���eG�xDUSBL response received:!U1,R,502,000,00989,189,80,80,BA,FF �Fpublishing direction and range info������ɰ��G>鰹 ��)���:CI��y����B�������w���?a�mf-����������ٱ����nA�����n�MQ=Y����QU�>����!�a%�G��%>G��!y�-���}-�>I�1��5��4�?��5��˾� �5�@��=�?9�5W<C��5�: �54�:)�1�We^f�@�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUq*UqUqUu����Y�@�P�*Q���B�Z���X��G@H��X����������Z�����w���?a�mf-����������2Q�:Q��Z����"�V@����K�2�8��6@�Z��0c?^��?�����^�!u��*��?BQ��q�@ Q��^�Q���B�P��9?�P���9?�P�����Q�����Q�g�A"Q���AB����B� B��A���*B��A�^����A��A��A��8�<"C�6�RC�C�^f�@�C������>����Ci�5�lGI�Qi�i��a���C̿ٺ����ѿAI��G�$>�Y9�YI�]�aGi�]��@��]=��Y��Y��]͆; �]ADE)���k�CI���k�Ci�����=����=�����*5���Bj,J� -�E�AY}�j??�}^��>y}���;�}��w��}H�����t�?���`D�ݿ����R��������?����ZA�?�����8�?��� ��s�������ο����#�?)~�j?? ~��c;I~��Cɫ���)�� ������I��Y�En�@y�E^eG��TNmea in: $SNTTA,0.078510,,,,164123.54*49 ���p=i���=���<�����Q��i�̜@�� �)��@I�&�@i�&�@��%0ۼM%:=Y�-ӻQU-�>��)��)�a5�G��1��1y�=/�}=�>I�A��EW�4�?��E��˾� �E�@��M�?9�E�<C��E��: �E�:)�A�m}}Added new target pos. range: 108.959999 m, bearing: 328.454727 deg, deltaT: 4.401648 s, approachRate: -0.081788 m/s, LOS rate: -3.574718 deg/s, posRepo size: 4�m�� ProNav: pos range: 108.959999 m, bearing: 328.454727 deg, approachRate: -0.081788 m/s, LOS rate: -3.574718 deg/s, cmd update: -10.724155 deg/s, cmd heading: 317.633239 deg, new cmd heading: 313.650142 deg. �W�gĮ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����p=[@U����`�T�?B 2���B B �A �'�*B �A(����A�A�A���<"C�vfM�RC�C�gĮ@�C��בI��G�c>��M �����M �����M �����M ��� �M �.:Y�M �[1y�M H�:��M �6�A�Hj,$�$-�E�A�|i|�@Y}2w8?�}2���>y}2~�;�}24|u��}2H����`���?����b=ܿ���@���������?��� c��?�����O�?�����/p�����odο���@��?)~2w8? ~2�2c;I~2��CɫY�Y)�Y �]����I�YY��:�@y��eG�����Zd;��?{�G�z��/�$��?�����>���ף� ���<)��I��y���333333�?���Q��?����Mbp�����?�����<����� ±)µ=8AIµAiµ�A�������A���3��M%P=Y�%q�QU%�>��)��)�a5�G��1��1y�=���}=�>I�A��M�:��E.�4�?��M�:��E�~˾� �EK@��U�?9�E�<C��E�: �Eq�:)�E�:�Wu�Y�@�WqXq Xy�Wy:Wy2Wy*Wy�VybU�BU�*U�U�U����`���?B�8K��B� B��A�k.�*B��A������A��A��A��i�<"C��>Y�RC�C��Y�@�C����I��G�$>���Nj,�|>-�E�AY}2ݰ0?�}2�<�>y}2�>;�}2W~v��}2H�����(��?������ڿ����Rr������A^�?���@B�?���`���?������g�����̓ο��� ��?)~2ݰ0? ~27�b;I~2��C���>9�I��aGi��@����SD������; ��@Eɫ9�9)�9 �=����I�9Y�}7�@y�}�cG)��= ��=��%q��M%V=Y�-\9�QU-�>��)��)�a-�G��5>G��1y�=��}=�>I�A��E�>�4�?��E�x˾� �E�@��M�?9�E=C��EI�: �E��:)�A�Wu� �@�WqXq Xq�Wq:Wy2Wy*Wy�VybUyBU�*U�U�U����@�d�?B�\���B� B��A��N�*B��A���Ż�A��A��A����<"C�дj�RC�C�� �@�C����I��G�>��- � ����- �����- �����- ,�� �- �A:Y�- �X1y�- /�:��- s6)�- ��;�95 ��P�Uj,�QX-�E�AY}:]i)?�}:���>y}:g�:�}:�'t��}:H������M�?���� ٿ��� �鷿���`_��?����Dx�?���@g��?����,@[����@+;ο����:�?)~:]i)? ~:L�b;I~8ɫ9�9)�9 �=����I�9Y�]��@y�]dGI��)����e`�;��e9�=��e�u=i�e�@��a �e\�@)�aI�ai�e\�@��u�=MuF=Y�u�C�QU}�>��y��y�a}�G��y��y�Ҍ�}��>Iȉ����:�ōmQ�4�?����:�ō�r˾� ƍ�@����?9ƍT=C�Ǎj�: ȍM�:)ȍ �:�W�=��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� e�?B����B B�A�>�*B�A��ʻ�A �A �A ^��<"Cqnx�RCC=��@�C�� I�G5>�]�[j,|,r-�E�A�|�|p;Y}6U""?�}6��>y}6^��:�}6�2t��}6H�����O��?�����\��� /������`B �?���`��?��� ��?�����@����@�<ο����(�?)~6U""? ~6��b;I~6��CɫY�Y)�Y �]����I�YY��Q�@y���dG��5��M=N=Y�=�A�QU=�>��A��A�aE�G��E>G��Iy�M䒽}M�>Iȡ�ťd�4�?�ť�l˾� ƥa@����?9ƥ�=C�ǥ��: ȥ�;)ȡ�W�P3�@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU�����I�@BExV��BA BI�AM�K�*BI�AU�л�AQ�AQ�AUn�<"C]4�RCaCeP3�@�Ca�I��G�>� ��>9� I� 7`Gi� >�@�� =�� TD�� �� Ԁ; � >E��5 + ����5 �����5 �����5 �� �5 @7:Y�5 DW1y�5 Y�:��5 �6)�5 ��;���bj, �-�E�AY}2��?�}2���>y}2����}2`s��}2H��������?������տ����cC����� �[�?����F%�?��� �(�?����\P?����sο����H�?)~2��? ~2�c;I~2��CɫI�I)�I �M����I�IY�}�@y�}�cG��������5^����5�>��5��i�5z�@��1 �5E�@)�1I�5�@i�5�@��E��MEI=Y�Myp�QUM�>��I��I�aU�G��Q��Qy�]ۍ�}]�>I�a��m�:��e�v�4�?��m�:��e�g˾� �e@��m�?9�e�=C��e��: �e��:)�e �:�W��ע@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����-m@B]�驼BY BY�A]R�*BY�Ae��ջ�Aa�Aa�Aeo��<"C�'Ґ�RC�C��ע@�C���iI�qG�>I�! )�% AA�qij,�-�E�AY}2��?�}2�\�>y}2�q ��}2�r��}2H����� I�?����:Կ���������������?�����q�?����,W�?����4d?����ο�����?)~2��? ~2�c;I~0ɫ9�9)�9 �=����I�9Y��;�@y���cG������?A���i��%=��e�<�O��n�?sh��|?ſy�&1��?��et?��e�)� �e`e=)�aI�ay�e���~j�t�?<�O��n�?/�$��?��e�?��et<��e�< �e� A)�e�:AI�e�Ai�eXA��a��eQ A��}<M�G=Y��f�QU��>�����a��G����y����}��>Iȡ�ťY��4�?�ť�b˾� ƥ�@����?9ƥ>C�ǥD�: ȥn�:)ȡ�W�+a�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����ܷ@�R�B*** querying acoustic contact ***�P��P�B����B� B��A�[N�*B��A��ڻ�A��A��A�u�<"C����RC�C�+a�@�C��I��G�>��5 � ����5 �����5 �����5 �� �5 >:Y�5 �Y1y�5 �:��5 �6�9= @��2oj,��-�E�A�|i|�@��R�<��R�<�T9�TI�V�_Gi�V��@��V=��VSD��T��V�; �Vg[Eɫ�髙)�� ������I��Y��ĸ@y��ScG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��U��MUM=Y�]���QU]�>��a��a�ae�G��e>G��iy�m���}u�>Iș����:�ŝ���4�?����:�ŝ^˾� Ɲ&@����?9ƝO>C�ǝ�: ȝ4�:)ȝ�:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�� @Be"Ʊ�Bi Bi�Am+]�*B��A����A��A��A�q��<"C�����RC�C����@�C��בI��G=/>�\vj,��-�E�AY}2F�?�}2v/�>y}2"˻�}2fr��}2H�����K��?���@�п���@w~����� \�?���`p��?��� ���?����8dy?��� `ο����e�?)~2F�? ~2q�b;I~0ɫY�Y)�Y �]����I�YY����@y��.cG�xDUSBL response received:!U1,P 502,000,00989,189,80,80,BA,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 )���= ���=�õ�D��õn��õ+=iõ(�@�ñ ĵ�@)ıIıiı���d�M�2=Y��QU-�>��1��1�a=�G��9��Ay����}��>I�������4�?���bY˾� ���@����?9���>C�����: ��M�:)���W��@�WX X�W!:W92W9*W9�V�bU�BU�*U�U�U����@[� @B�En��B� B��A��`�*B��A�P���A��A�A��<"C����RCC��@�CA��YI��G��>��% =i�% 4=��5 � ����5 �����5 �����5 Y�� �5 �A:Y�5 [1y�5 ݏ:��5 E 6��D|j,:t�-�E�AY}2�y�>�}2#�t>y}2W�}2� q��}2H����`�?���@�>Ϳ����ɯ������J�?����?�?�������?������}?����u�Ϳ������?)~2�y�> ~2;+c;I~2��Cɫ9�9)�9 �=����I�9Y�}z�@y�}�bG鮅a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)�����t�M�a=Y��mD�QU��>�������a��G���>G���y��s��}��?I�������4�?���[V˾� ��R @����?9���>C����; ��y);)���W5`�@�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUE����B@Bu��ɼBy By�A}mf�*By�A}_��A��A��A�y�<"C��q��RC�C�`�@�C��ׁI��G�>ܡ9ܡIܥo_Giܥ��@�ܡ�ܡ�ܡ�ܥ; ݥ�{E��-�j,�T .�E�A�|�|ɫ�髱)�� ������I��Y����@y�� cG�xDUSBL response received:!U1,R,502,000,00978,189,80,80,C1,FF Fpublishing direction and range info������ɰ��F>�� ��)���ACI��y����B�������w���?a�mf-����������ٱ����.�����y>���r�>i���@��� ��E�@)��E�@I��&�@i��E�@����<M�7=Y�����QU�>�����a �G�� ��Ay�M���}M�>I�Q��]�:��UX��4�?��]�:��U^R˾� �U� @��]�?9�U?C��U�: �U��:)�U�:�W��[�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�P�*Q���B�Z�����L��G@kԁ JFX����������Z�����w���?a�mf-����������2Q�:Q��Z���~��P@ �+��'T�Α�[�6@�Z��a낮B(�?���م������C�?BQ��7�@ Q�=��Q���B�P�J�9?�P��9?�P�����Q�����Q��A"Q�g�AB����B� B��A�Bb�*B��A�b���A��A��A�*��<"C����RC�C��[�@�C����I��GI>��E � ����E �����E �����E z�� �E �@:Y�E �V1y�E �:��E �6��V�j,�+'.�E�AY}6�:�>�}6�+6>y}6/���}6�Pv��}6H����@S~�?�����ſ�����Z�����@~��?������?���@8��?��� ���?�����}ο������?)~6�:�> ~6\�b;I~4ɫY�Y)�Y �]����I�YY��d�@y���bG�dNmea in: $SNTTA,0.074421,0.452107,,,164127.97*56 ����+���?������������Mbp?����6?������ ���;)��I��y����E�����?�~j�t��?����Mb`�����?����D<���� ¥� A)¥=8AI¡i¡�������A�±�µnA��ǘ�M�a=Y���ݻQU��>�������a��G�����Iy�U(�}U�>I�Y��]���4�?��]0P˾� �]� @��e�?9�]F?C��]�: �]/�:)�Y�m�}Added new target pos. range: 107.940002 m, bearing: 310.143727 deg, deltaT: 4.514823 s, approachRate: -0.225922 m/s, LOS rate: -4.055751 deg/s, posRepo size: 4�m�� 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. �W wؓ@�W X X �W :W 2W*W�VbUBU*UU����)�Z@U�������?B��¼B� B��A�4i�*B��A�3����A��A��A��C�<"CE֗ȿRCACEwؓ@�Ca��YI�aG�Z>i��`mGI��i� ��= �¿ٺA ��E ܶAI�! )�! �l>�j,�A.�E�A��"nA��"oA�$9�$I�&_Gi�&J�@��&=��$��$��&G�; �&نE)����I����i���������=�����=�������4ɫ�髹)�� ������I��Y���@y��ObG����=i��C=���9 �M�I=Y�����QU��>�������a��G���>G���y�����}��>I������:���z��4�?����:����M˾� ��� @����?9��{?C���$�: ��^�:)�� �:�W%oA�@�W!X! X!�W!:W!2W)*W)�V)bU1BU9*UAUIUM����fd�?B�v�ϼB� B��A��w�*B��A�����A��A��A���<"C��ҿRC�C�oA�@�C���qI��G� >��5 ����5 �����5 �����5 ��� �5 /�:Y�5 P^1y�5 ��:��5 V6)�5 /�;�9= ���h�j,��Z.�E�A�|i|Y}6<�>�}6�[�=y}6\��}6�v��}6H�������?���@�A����� �k������G��?�������?�����%�?���� ��?���@D�ο��� (�?)~6<�> ~6oc;I~6��Cɫ9�9)�9 �=����I�AY�]`�@y�]�bG������xi>����i�כ@�� �)��@I��@i��@��%�=M%V=Y�%/�QU-�>��)��)�a-�G��)��1y�=��}=�>I�A��E7�4�?��ELL˾� �E@��M�?9�E�?C��E��: �Es�:)�A�WmR��@�WqXq Xq�Wq:Wq2Wy*Wy�VybUyBUy*U�U�U�����z@�?B�L�ǼB B�A�i�*B�AQ!��A�A�AK��<"ClvܿRC!C%R��@�C!��)I�1G]>����j,#�t.�E�Aɫy�y)�y ��I��Y����@y��bG)�m�= �m>���I�M�A=Y����QU��>�����a��G���>G���y�����}��>I������:���� �4�?����:����J˾� ��@����?9���?C����: ����:)���:�W�܋@�WX X �W :W 2W�*W��V�bU�BU�*U�U�U�����7T�?B���ʼB� B��A��~�*B��A����A��A��A�6>�<"C����RC�C��܋@�C����I��G (>�I9�II�Ii�I��M=��I��I��MV�; �M�E��- �=i�- �=��] O ����] �����] �����] ��� �] �N:Y�] xZ1y�] q�:��] �6)�] ��;��z�j,���.�E�AY}:W�>�}:�=y}:�튼�}:��u��}:H��������?�����䬿�������������ܯ?������?����R=�?�����]�?�����lο������?)~:W�> ~:�Yc;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}|bGI�)���uC����u?5>��u �>i�uz�@��q �u&�@)�u�@I�u�@i�u�@����<M�M=Y�D�QU��>�����a��G����y���}��>Iȡ�ť[2�4�?�ť�I˾� ƥ7@����?9ƥ@C�ǥ#�: ȥ]�:)ȡ�W�K2�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����c�?BX(мB B�A�r�*B�A����A�A�A%�s�<"C%�%�RC)C-K2�@�C)�� I�G5>�ʤ�j,�r�.�E�A�|�|�;Y}6N�>�}6�G=y}6�h���}6;]r��}6H��������?����l �����@���������'�?������?��� I��?�����?����*ο���@J�?)~6N�> ~6�-c;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}SbG����Zd;�O��?�rh��|��:��v���?���j�>������ ����<)��I��y���-����?{�G�zt�<�O��n�?���??���ף����t�< )I3Ai!A���������"�M�H=Y��L�QU��>�����a��G�����y���}��>I������:���pF�4�?����:��� I˾� ���@����?9��Z@C�����: ����:)���:�W��s�@�WX X�W:W2W*W �V bU BU*UUU������@BE��μBA BA�AEw�*BA�AM���AI�AI�AM���<"CU�"��RCQCU�s�@�CY��II�QGu>��5 N ����5 �����5 �����5 ��� �5 uN:Y�5 �W1y�5 č:��5 {6�9= @��9��9�E��>9�AI�Ai�A��E=��A��A��E�; �Ek�E���j,vO�.�E�AY}6Mm>�}6���:y}6�o���}6O�t��}6H����`���?���@!2l?����FD�����`�0R?����$�?��� M�?�������?����cLο��� ��?)~6Mm> ~6V�a;I~6��Cɫ�髑)�� ������I��Y��߷@y��8bG������AA��}mA��y���������Ga=�����;i��(�@��� ���@)��I��i�����?��M�,=Y�� ��QU��>�������a��G���>G���y��f��}��>I������]�4�?��� I˾� ���@����?9���@C���c�: ����:)���W%:F�@�W!X! X!�W):W)2W)*W)�V)bU1BU1*U1U1U=���`<�@�REB*** querying acoustic contact ***�PA�PABeYZȼBi Bi�Am�y�*Bi�Am����Ai�Aq�Au���<"Cu]��RCyC}:F�@�Cy��yI��G�^>I�% AA)�! ����j,�(�.�E�AY}6D�_>�}6T�@y}6�Ԡ��}6Cs��}6H��������?������?����`Έ����@3N����� ��?���`5(�?����J�?�����ο��� ��?)~6D�_> ~6�0b;I~6��C �<)�>+qAɌ> ��>YkF�<��B̔Cɍ@i�@I�@��@I�F��Ci�F�rA �Ft��D)�D�H �J&qA��J�뽉�J9aFɎH��N&�C��N�pAI�L)�Li�L)�PI�RqA�Rl�ɏR�`F �PɐT�VqA��V`�i�V�fF��Ti�ZٔC��X)�X �XI�Xɫ���)�� ������I��Y����@y��EcG�Z****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******��Ԧ=M�z=Y��ֺQU�?�����a��G����y�;��}�?I�����n�4�?���uI˾� ���@����?9���@C���ظ; ��U�;)���W5���@�W1X9 X9�W9:W92W9*WA�VAbUABUA*UAUIUM�����| @B�PbϼB� B��A��^�*B��A�+��A��A��A�u��<"C�s� �RC C ���@�C���I��G�&>��5 � ����5 �����5 �����5 [�� �5 >:Y�5 0Y1y�5 ��:��5 | 6�K�j, �.�E�A�|i|Y}6�@>�}6�#�@y}6Dm���}6��r��}6H��������?���@�'�?����Fw����@��������U �?�����%�?����J͔?����mο����d�?)~6�@> ~6b;I~4ɫ�髱)�� ������I��Y����@y��bG�xDUSBL response received:!U1,P 502,000,00978,189,80,80,C1,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 ��]���Me==Y�uκQU}�>�����a��G��>G��y�����}��>I�)��m�:��-��4�?��u�:��-\J˾� �-h@����?9�-AC��-s< �-�l<)�-�:�W���{@�W�X� X��W�:W�2W�*W��V�bU�BU�� ��>9� I� i� �� =�� �� �� ��; � M�E*U�UYU]������ @B��ɼB� B��A��}�*B��A��L��A��A��A���<"C�y�RCC��{@�C!��QI�qG��>���j,��/�E�Aɫ���)�� ������I��Y��@y�FbG�p=ɮp=�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Ý�= Ý�=��]33���]Z�>��]A�>i�]z�@��Y �Y)�]&�@I�Yi�Y��m�H<MmI=Y�u���QUu�>��q��q�a}�G��y��yy����}��>Iȉ�ōߖ�4�?�ō!K˾� ƍ'@����?9ƍNAC�Ǎ˵: ȍ�:)ȉ�W���v@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����a@B���B� B��A�zx�*B��A�����A��A�A�>�<"C ���RC C ��v@�C ���I��G (>��5 L ����5 �����5 �����5 #�� �5 �9:Y�5 �Y1y�5 �:��5 }6�P��j,f�)/�E�AY}Bߓ>�}B(R�@y}B�e���}B%�o��}BH����@���?����e�?����At?����$ڽ����@P��?��� ���?��� 7l�?����c�Ϳ���`��?)~Bߓ> ~B^Mb;I~@ɫY�Y)�Y �]����I�YY����@y��cG�xDUSBL response received:!U1,R,34D,000,00959,189,80,80,C3,FF �Fpublishing direction and range info���Z�<����ɰ�D>�� ��)���CCI��y��(�B�������ݯ�?�dc����������ٱ�� dNmea in: $SNTTA,0.160415,0.160334,,,164132.47*5A ������~j�t�?y�&1��?k�t�������?���`e< �� 0�)��I��y�����C�l��?�~j�t�x?�~j�t�x?���;?�����;�����; ©)�9AI©i�!A������( A���F=M�U=Y��#ۻQU��>�������a��G���>G���y����}��>I������:���Ӫ�4�?����:����L˾� ���@����?9���AC�����: ����:)���:�W`�q@�WX X�W:W2W*W!�V!bU!BU!*U!U)U����`��@�P�*Q�(�B�Z��v�an�S@��Ul��Q����������Z�����ݯ�?�dc����������2Q�Z�<�:Q��Z���ǂO�_Q@�XF�S��Y%"T2@�Z��ϧ�����?Ӕ����H!���?BQ�#�@ Q� ��Q���B�P�T�9?�P�J�9?�P�����Q�����Q���A"Q��ABMΰ̼BI BQ�AU�e�*BQ�AU����AQ�AQ�A]:M�<"C]�U�RCaCe`�q@�C���aI�iG�8>���mA���mA��9��I��o_Gi����@���=�����������; ��:�E����j,�C/�E�A�|�|Y}FM�=�}F�m�@y}F!2ȼ�}F��m��}FH����@ק�?������?���@�?���@w¿������?��� <��?�����?����sqͿ�����!�?)~FM�= ~F&b;I~F��CɫY�Y)�Y �]����I�YY��`�@y���bG��}U)�M}P=Y����QU��>�����a��G����y�)��}��>I��������4�?���hN˾� ��@����?9���AC���Ü; ��s�;)���m yAdded new target pos. range: 106.080002 m, bearing: 311.693634 deg, deltaT: 4.412619 s, approachRate: -0.421519 m/s, LOS rate: 0.351244 deg/s, posRepo size: 4�m� ProNav: pos range: 106.080002 m, bearing: 311.693634 deg, approachRate: -0.421519 m/s, LOS rate: 0.351244 deg/s, cmd update: 1.053732 deg/s, cmd heading: 216.458634 deg, new cmd heading: 211.470726 deg. �W%�Fr@�W!X! X!�W!:W�2W�*W��V�bU�BU�*U�U������Z@U�����3��?B��2μB B�A�i�*B�A H���A �A �A yR�<"C���RCC�Fr@�C��yI��G�^>��5 � ����5 �����5 �����5 '�� �5 b?:Y�5 0Y1y�5 ��:��5 �6)�5 ��;�9= ����j,p]/�E�AY}6���=�}6\x�@y}6>�Ѽ�}6�l��}6H��������?���`�f�?����F�?���`?ƿ���@d��?���� ]�?����+:�?�����>Ϳ�����$�?)~6���= ~6b;I~6��CɫI�I)�I �M����I�IY�}��@y�}cG���nA���mA��5Q8���5C�<��5��=i�5(�@��1 �1)�5�@I�1i�1��Eދ<MEN=Y�E]B�QUM�>��I��I�aM�G��I��Qy�]���}]�>I�a��m�:��e���4�?��m�:��e�P˾� �e�@��m�?9�e BC��e��: �e�:)�e�:�W���r@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ���?Bm� ؼBq Bq�Au�b�*Bq�Auӊ!��Ay�Ay�A}�V�<"C� ��RC�C���r@�C��ׁI��G�>�/�j,�Kw/�E�AY}>��-=�}>ay�@y}>'nټ�}>��l��}>H���� 1P�?����*;�?������?�����'ʿ����ks�?�����c�?�����,�?���`�RͿ���@-#�?)~>��-= ~>/:b;I~>��C��h��hi�E6nGI�ai�����S��ٺ�����A�=��?9�Eo�Aɫ�髩)�� ������I��Y���@y���bG��Ua=i�U=܉9܉I܍�_Gi܍��@�܉�܉�܍��D�܍��; ݍ��E)�!�I�!�i�!���!���!���%�' 5��m��M�=Y���QU��>�����a��G��>G��y��w�}��>I�����F��4�?���T˾� ��Q@����?9��[BC����: ����:)���W��Rs@�W�X� X��W�:W�2W�*W��VbUBU*UUU ���@���?B5RI̼B1 B1�A5vr�*B9�A��i%��A��A��A��I�<"C��E!�RC�C��Rs@�C����I��G=�>��5 Q ����5 �����5 �����5 9�� �5 H::Y�5 xZ1y�5 q�:��5 � 6)�5 +�;���j,W&�/�E�A�|i|Y}6{� <�}6�m�@y}6�Nݼ�}6i�o��}6H����`*�?�����2�?���`�Ν?����(;ο����%4�?����?�������?��� �Ϳ������?)~6{� < ~64Wb;I~6��Ci�>�C��<)�< �@I�@ �@)�B�qAɠ@��D�D��DɡF�pAi�FG�I�D��HI�Hi�J�qA �H�H)�L�L �N qA��L��LɢP��P��R�qAI�P)�Pi�T)�TI�V�qA�TɣT �TɤX�X��Xi�X��Xɫ���)�� ������I��Y�ĸ@y�ScG���.>����D����/ݼi����@��� ��&�@)��&�@I���@i��\�@���ˇ=M��=Y���źQU�?�������a��G������y�� ս}�?I���J��4�?���V˾� ��@�� �?9��BC��w�: ���:)��W5Q�s@�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUE���@���?Bu��Bq Bq�A}+]�*By�A}T�'��Ay�Ay�A}K�<"C��M!�*C�����RC�C�Q�s@�C���iI�qG�>�+A�j,��/�E�AY}6Y�@�}6�f�@y}6x༙}6(rq��}6H��������?����"�?��� �բ?����ѿ����^��?�������?�����?�����Ϳ����X�?)~6Y�@ ~6�pb;I~6��Cɫ�髹)�� ��I��Y����@y��3cG�� �����Mb�?�V-��D�l����?�� #?�� h�� � O�=)� I� y� ��I+��?������������������ 9?�� ����� ��� � �A)� �:AI� �Ai� �"A�� �� �A)�%�= �%�=��-��M-F=Y�5�t�QU5�>��1��1�a=�G��=>G��9y�EI��}E�>I�I��U�:��M��4�?��U�:��M*Z˾� �M)@��U�?9�M�BC��M��: �M �:)�M�:�W}�-t@�WyXy Xy�W�:W�2W�*W��V�bU�BU�*U�U�U������@B���мB� B��A�h`�*B��A���*��A��A��A��=�<"C����RC�C��-t@�C����I��G�$>��= � ����= �����= �����= A�� �= 3G:Y�= �W1y�= č:��= � 6�9E @��y��y܅��>9܅l�CI܁i܁�܅=�܁�܁�܅��; ݅�zE�[(�j,��/�E�AY}2s^�@�}2"l�@y}2k缙}2��p��}2H���� ��?����8��?��� Z��?���`4�ҿ������?����V��?������?����R�Ϳ���`��?)~2s^�@ ~2@b;I~2��Cɫ�髙)�� ������I��Y����@y��7cGI�A)�A��'�:M�R=Y��n�QU��>�������a��G������y�%��} �>Iȁ�Ņ�$�4�?�Ņ%^˾� ƅ�@����?9ƅCC�Dž4�: ȅ��:)ȁ�W�שt@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`kh@B��|ҼB� B��A��_�*B��A���-��A��A��A�,�<"C�u�RC C שt@�C ��I�G-->��R�j,з�/�E�A�|�|Y}>u�@�}>���@y}>*g꼙}>��r��}>H������C�?���@���?���@�q�?������Կ����N\�?�������?���@�K�?����# ο���@��?)~>u�@ ~>#b;I~<ɫY�Y)�Y �]����I�YY��ڸ@y��ncG������?A��M��=��M`e>��M���i�M̜@��I �M\�@)�M�@I�M�@i�M�@��]�b<M]P=Y�e�QUe�>��a��i�am�G��i��iy�u\��}u�>I�y����:��}�5�4�?����:��} b˾� �}�@����?9�}>CC��}��: �}��:)�}�:�W�Nu@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����%^@�R�B*** querying acoustic contact ***�P��P�B�.B� B��A�dZ�*B��A��#0��A��A��A���<"CGf�RCCNu@�C ���I�1GM>�� ����� ����� ����� 2�� � J+:Y� �X1y� /�:�� 6�Y~�j,���/�E�Aɫ�髱)�� ������I��Y���@y���cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��9��=nA��MY�;MMK=Y�M���QUM�>�������a��G���>G���y�����}��>I���hI�4�?���f˾� �n@��-�?9�}CC���; �s�;)��Wuݚu@�WqXq Xy�Wy:Wy2Wy*Wy�VybU�BU�*U�U�U������� @B�LͼB� B��A��W�*B��A��(3��A��A��A���<"C�*C!RC)C-ݚu@�C)��!I�)GE0>�Q9�QI�U7`Gi�U>�@��U=��Q��Q��Ur�; �U�oE��dj,n0�E�AY}2���@�}2J��@y}2����}2m�p��}2H�����J��?��� 2��?������?��� o ؿ�������?�����?���`B��?�����Ϳ��� R�?)~2���@ ~2�b;I~2��CɫI�I)�I �M����I�IY�}��@y�}[dG�xDUSBL response received:!U1,P 34D,000,00959,189,80,80,C3,FF �Command Ack�BRequesting micromodem ping code 2i��������=i��p=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �õ����õj�=�õ;_>iõ\�@�ñ ı)ĵ\�@Iĵ\�@iĵ\�@����/=M�)=Y���=�QU��>��a��a�am�G��i��yy�\�}��>I����%�:����_�4�?��-�:����l˾� ���@��5�?9���CC���y< ����<)���:�W��<v@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������%@B ���B1 B1�A5RB�*B1�A5L�6��A1�A9�A=h��<"CE���RCACE�<v@�CA��i I�� G� �>�� � ���� ����� ����� �� � �>:Y� �Y1y� �:�� �6�#� j,�I,0�E�A�|i|�@Y}66��@�}6�һ@y}6�����}6�oq��}6H�����tI�?�����n�?������?����-�ٿ�����e�?�������?����v>�?���� �Ϳ��� ��?)~66��@ ~6��b;I~6��Cɫ9�9)�9 �=����I�9Y����@y���dG鮩ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����������?�Zd;�?{�G�z�?���� ?����y= ���#=)��I��y���V-���?����Mbp?�~j�t�h?����?����;����D; ��� A)��9AI���Ai��- A������3A���X<M�n=Y�����QU�?������a��G��>G��y�j��}�?Iș�ŝ�o�4�?�ŝq˾� Ɲl@����?9Ɲ�CC�ǝ�; ȝ˻;)ș�W 4�v@�WX X�W:W2W*W�VbUBU*UU!U%���`l6@B�W]ؼB� B��A��=�*B��A��G8��A��A��A�C��<"C����RC�C�4�v@�C����I��G�F>�A9�AI�E�aGi�E�@��A��A��A��E�; �E�lE��wj,'F0�E�AY}J]��@�}J�@y}J܉���}J�s��}JH�����6��?�����?������?���@kiۿ��� ���?��� ���?����ﯟ?�����$ο������?)~J]��@ ~JOb;I~HɫY�a)�a �m����I�iY����@y��_dG)Ý�= Ý�=������-2���94=i��@�� ��@)��@I��@i��@��("�MG=Y���QU%�>��!��!�a%�G��!��)y�5���}5�>I�9��E�:��=ف�4�?��E�:��=�v˾� �=�@��E�?9�=7DC��=��: �=��:)�=�:�Wm�w@�WiXi Xi�Wi:Wq2Wq*Wq�VqbUqBUy*UyUyU}���`��@B���̼B B �A �A�*B �A Ţ:��A�A�AS��<"C%�RCC�w@�C��AI�IGe4>��! i�% �=��� ����� ������ ������ \�� �� "6:Y�� xZ1y�� q�:��� � 6)�� ��;�9����j,� `0�E�AY}rN��@�}r��@y}r�.���}rS�p��}rH�����3x�?�������?���@�h�?����(ݿ��� ��?����,M�?�����d�?������Ϳ������?)~rN��@ ~r�9a;I~r��Cɫ���)�� ��I��Y���@y���dG�DNmea in: $SNTTA,,,,,164136.86*57 I�)���%� =M%[=Y�-�I:QU-�>��1��1�a5�G��1��9y�=���}=�>I�A��E��4�?��E�|˾� �Eq@����?9�ErDC��EY�< �E��<)�A�W5aw@�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUm��� �Y@B��ļB� B��A��4�*B��A���<��A��A��A�WZ�<"C�T��RC�C�aw@�C����I��G(>���j,H�y0�E�A�|�|4<Y}:&��@�}:�ڸ@y}:�%���}:wdo��}:H����``��?������?��� �@�?����@߿����+�?�������?�������?������Ϳ���@��?)~:&��@ ~:�ya;I~8ɫQ�Q)�Q �U����I�QY�}�@y�}�dG������AA�����M�P=Y��W�:QU��>�������a��G���>G���y����}��>I�������4�?����˾� ���@���?9���DC���:�: ��h�:)���W-��w@�W)X) X)�W):W)2W1*W1�V1bU1BU9*U9U9U=��� "�@Bm�˼Bi Bi�Am�8�*Bi�Au�?��Aq�Aq�AuD;�<"C} 1�RCyC}��w@�C���iI�yG��=����>9��I��daGi��2�@�������������; ���jE��=�����=�����=�����=�� �='0:Y�=WU1y�=�:��=}6)�=k�;���$j,��0�E�Aɫy髁)�� ������I��Y��}�@y��qeG���mA�����%�T=��%�B>��%/>i�%��@��! �%\�@)�%E�@I�%\�@i�%E�@��5b2=M5E=Y�=���QU=�>��9��9�a=�G��A��Ay�E���}M�>I�I��]�:��M���4�?��]�:��M�˾� �M~@��]�?9�M�DC��M�: �M(�:)�M�:�W��kx@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@Gy@�R�B*** querying acoustic contact ***�P��P�B��B� B��A�&�*B��A�jHA��A��A��A�� �<"C���RC�C��kx@�C��ױI��G>�~�*j,l��0�E�AY}2ӿ�@�}2�Ͷ@y}2�����}2-m��}2H�������?������?���@�w�?�����F�������?�������?������?���@�\Ϳ�����!�?)~2ӿ�@ ~2��a;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�eG���a=i���=��M�gfffff�?y�&1��?D�l����?��M33?��M`e= �MO�=)�II�Iy�M���C�l�?Zd;�O���<�O��n�?��Md?��Mj<���Mt�< �I)�M�5AI�M Ai�M�!A��I��MA��m�;MmG=Y�mu�8QUm�>��q��q�au�G��u>G��yy�}��}��>Iȁ�Ņ���4�?�ŅG�˾� ƅ�@����?9ƅ1EC�Dž�; ȅ��;)ȁ�W���x@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����D@B����B� B��A��"�*B��AlC��A�A�A���<"C �7�RC C ��x@�C�� I�G5>i�mGI�i�1��]���ٺY��e;�A��� ��� �<�� 9�� I�� ,bGi�� Է@��� ��� ��� ��� ��; �� #`E)�]�l�CI�]�l�Ci�Y���]�=��]�=��]�>�4��=2 ����=�����=�����=�� �=�7:Y�=0Y1y�=��:��=�6)�=�;�Q�1j,Ym�0�E�A�|$i|&�@Y}B�ͽ@�}B�۵@y}B2��}B^�l��}BH������e�?���� ��?���@W�?����j����`~��?����dF�?����:�?����OͿ�����"�?)~B�ͽ@ ~BSOa;I~@ɫ�髁)�� ��I��Y���@y���eG��ɮ���eף���e�ƽ��e��=i�ef�@��a �ez�@)�aI�e&�@i�a��}r�<M}I=Y�}j:QU��>�����a��G����y����}��>Iȹ����:�Ž"��4�?����:�Ž��˾� ƽ�@����?9ƽpEC�ǽ��: ȽM�:)Ƚ�:�W zdy@�W X X �W :W)2W1*W1�V1bU1BU9*U9U9U=������@B�����B� B��A� �*B��A��E��A��A��A����<"C�<��RC�C�zdy@�C����I��G�$>�&�7j,AG�0�E�AY}2&�@�}2��@y}2ng}2m��}2H�����h��?�����}�?����ᬼ?���@3������c�?�������?��� �˝?����lYͿ����."�?)~2&�@ ~2;Wa;I~2��Cɫ9�9)�9 �=����I�9Y���@y��fG)ý�= ý�=����<M�S=Y��?�:QU��>�����a�G���� y� ��} �>I���/��4�?��[�˾� � @��%�?9��EC��4�: ���:)��WE��y@�WAXA XI�WI:WI2WI*WI�VQbUQBUQ*UYUYU]�����J@B��3��B� B��A�l�*B��A�'EG��A��A��A�E�<"C� I�RC�C���y@�C��I��G��=��e����e�����e�����ej�� �e?^:Y�exZ1y�eq�:��e6�9m@�O>j,�"�0�E�AY}J���@�}Jz�@y}J��}J��p��}JH������P�?��� �1�?��� ȸ�?����<�������?���@v��?���@`Н?����j�Ϳ����+�?)~J���@ ~J[a;I~J��CɫY�Y)�Y �]����I�YY���@y��fG�xDUSBL response received:!U1,N,80,80,63,E4 9,189,80,80,C3,FF �ZNo reply:!U1,N,80,80,63,E4 9,189,80,80,C3,FF -�<No response from remote modem.I��)�����?�:M�N=Y��86�QU��>�������a��G��� >G���y�����}��>I������:���k��4�?����:���\�˾� ��5@����?9���EC����: ����:)���:�W9Xz@�WX X�W:W2W*W�VbUBU*U!U!U%�����@B}뵴�By By�A}��*By�A�SWI��A��A��A��K�<"C�|��RC�C�9Xz@�C�ܑ9ܑIܕ�bGiܕ&�@�ܑ�ܑ�ܑ�ܕ2�; ݕ�[E�סI��G� >�5Ej,��1�E�A�|�|�;ɫ�髙)�� ������I��Y�� �@y��9fG������@A��=ף���=Q�=��=xi�i�=��@��9 �=��@)�=z�@I�=z�@i�=z�@��M�;MMB=Y����QU��>�����a��G����y�����}��>I������4�?���/�˾� ��{@����?9��-FC�����: ��8�:)���W��z@�W�X� X��W�:W2W*W�VbUBU *UU!U5����%�@Be?��Ba Bi�Am��*Bi�AmX6K��Ai�Aq�Au:�<"C}�N�RCyC}�z@�Cy��qI��G�!>���r �������������������� �TQ:Y��Y1y��:��6�D+Kj,��.1�E�AY}2� �@�}2<�@y}2 5鼙}2��r��}2H�������?��� G��?����`�?����{ ����@�J�?���`f��?�����%�?����.ο������?)~2� �@ ~2��`;I~2��Cɫ9�9)�9 �=����I�AY�]�@y�]�eG��-�ˡE����?V-����Q���?��-�?��-��� �-\=)�)I�)y�-��"��~j�?ˡE��������Q��?��-S#?��-�'���-��< �-�A)�-h7AI�-�Ai�-!A��)��-�A��EnA��A��Me��MMJ=Y�U��:QUU�>��Y��Y�a]�G��]!>G��Yy�e�}e�>I�i��u�:��m&�4�?��u�:��m��˾� �m� @��}�?9�mmFC��m3�: �m]�:)�m�:�W�AG{@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� @B](|��Ba Ba�Ae3�*Ba�Ae-M��Aa�Ai�Amy��<"Cut��RCqCuAG{@�Cy��II�YG}>�م nA�ف ܍ ��>9܉ I܍ XcGi܍ ȸ@�܍ =�܉ �܉ �܍ ��; ݍ `E�/Rj,�H1�E�AY}% �@�}%��@y}%�q輙}%�sv��}%H�����q�?�����M�?�����,�?���������� ���?����1��?���`6 �?����eο���`��?)~% �@ ~%$-a;I~!ɫ�)� �����I�Y�U[�@y�U�fG��eC=i�e%=�ý�#=�ý���ý�C>iý\�@�ù Ľ\�@)Ľ\�@IĽ\�@iĽ\�@����=M�B=Y��rf9QU��>�������a��G�����y�v��}�>I� �� '�4�?�� ��˾� � u"@����?9� �FC�� ��: � ��:)� �W���{@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������ @�R�B*** querying acoustic contact ***�P��P�B�*���B� B�AP �*B�A� O��A�A�A���<"C �S�RCC��{@�C��I�G-->���E ������������������� ��S9:Y���W1y��č:����6)��W�;�9��f=Xj,u�b1�E�A�|i|Y}B��@�}B��@y}B$l缙}B�su��}BH����`���?�������?�������?�����{��������?������?���`��?����[`ο���`��?)~B��@ ~B�/a;I~B��CɫY�Y)�Y �]����I�YY����@y���fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******鮩ɮ��=��m��<MmR=Y�m��9QU��>�����a��G����y����}��>I������5�4�?�����˾� ���#@���?9���FC���ϸ: ����:)���WEIA|@�WIXI XI�WI:WQ2WQ*WQ�VQbUYBUY*UYUYU]������!@B�����B� B��A�q�*B��A�E�P��A��A��A���<"C�l��RC�C�IA|@�C���I��G*>�\g^j,�i|1�E�AY}23�@�}2�#�@y}2�缙}2%�r��}2H������ �?��� ڬ�?�����_�?����O+����@wJ�?�����H�?�����ߜ?����Sο����N�?)~23�@ ~2�ta;I~0ɫ9�9)�9 �=����I�9Y�}ƻ@y�}gG�xDUSBL response received:!U1,P 80,80,63,E4 9,189,80,80,C3,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )���= �����c<M Q=Y�9QU�>��)���a��G��">G���y����}��>I��� �:���C�4�?��=�:����˾� �d%@��E�?9�6GC��"< ��<)��:�A9�AI�E�cGi�E�@��A��A��A��E��; �EsE�Wu��|@�WyXy Xy�Wy:W�2W�*W��V�bU�BU�*U�U�U�����ǩ"@B=��B9 B9�Ae���*Bi�AuD�R��Aq�Ay�A}�f�<"C�Y�RC�C���|@�C��ׁI��G�g>���}�������������������� ���f:Y��0Y1y����:����6)��y�;��Oej,,F�1�E�AY}6��@�}6�$�@y}6�弙}6�Sq��}6H����`9R�?���@�U�?�������?����q����� ���?����փ�?���@&��?���`)�Ϳ����q�?)~6��@ ~6Na;I~6��Cɫ9�9)�9 �9I�9Y��û@y��gG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�Q)�Q��������t>������i����@��� ��z�@)��I��i�����@��M�<=Y��y:QU��>�����a �G�� ��y�}ԕ�}��>I�����[S�4�?�����˾� ��'@�� �?9���GC���< ���<)���WU�H}@�WQXQ XQ�WY:WY2WY*WY�VYbU�BU�*U�U�U����#@B��V��B� B��A����*B��A�7T��A��A��A�37�<"C���RCC �H}@�C ���I�Gn>�oykj,} �1�E�A�|4<�|4<Y}6��@�}6]+�@y}6弙}6rkn��}6H�������?�������?����!]�?�����{�����l��?����%��?����l��?������Ϳ������?)~6��@ ~6$a;I~4ɫ9�9)�9 �=����I�9Y�}�@y�}ogG�������xDUSBL response received:!U1,R,084,000,008FF,186,80,80,99,FF �Fpublishing direction and range info�����뽩��ɰ��<>鰅��> ��)���CI��y��\�B����|9ˮ���?�N�Z�l����������ٱ���dNmea in: $SNTTA,0.075193,0.139481,,,164142.52*52 ����\���(\�?�rh��|��V-��?����:?������ ���m=)��I��y���'1�Z�?k�t���{�G�z�?����"?��� 0����ף< ��GA)���5AI��i��- A������pA��]�<M]D=Y�]GC�QUe�>��a��a�ae�G��e#>G��iy�s��}��>Iș����:�ŝ _�4�?����:�ŝ��˾� Ɲ*(@����?9Ɲ�GC�ǝG�: ȝ�:)ȝ�:�W��}@�WX X!�W!:W!2WI*WI�VIbUQBUQ*UQUYU]�����=$@�P�*Q�\�B�Z��*z�:��Y@�O�j�$'����������Z��|9ˮ���?�N�Z�l����������2Q����:Q��Z����*kI�K@�,�K�T����St�@�Z����s���?�����4z^>˫?BQ�쓩@ Q�j��Q��^B�P�>�9?�P�T�9?�P�����Q�����Q�5A"Q���ABf���B B�A|�*B�A��U��A�A�AD�<"CE�h�RCACE��}@�CI��9I�IGeU>�E ��>9�A I�E dGi�E k�@��A ��A ��A ��E �; �E !�E��%Z����%�����%�����%(�� �%��:Y�%[1y�%ݏ:��%�>6)�%��;��erj,R�1�E�AY} ��@�} d-�@y} 8n༙} o��} H����@V��?����$��?����-"�?���`���� � �?����t�?������?������Ϳ���@��?)~ ��@ ~ � a;I~ ��Cɫ���)�� ��I��Y�5��@y�=*hG���mA���mA���>�������?5>i��� ���@)�E�@I�E�@i����>=M%M=Y�%��:QU%�>��)��)�a-�G��)��1y�5F��}5�>I�9��=k�4�?��=�̾� �=X)@��M�?9�=�GC��=��: �=�:)�9�m}�Added new target pos. range: 100.680000 m, bearing: 303.627918 deg, deltaT: 10.127837 s, approachRate: -0.533184 m/s, LOS rate: -0.796391 deg/s, posRepo size: 4�m�� ProNav: 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. �W�:�|@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U���� �+Y@U�������?B�3E��B� B��A����*B��A�%�V��A��A��A����<"C���RC�C�:�|@�C���9I�IGe5>I� @A)� ?A�v�xj,���1�E�AY}2��@�}2W+�@y}2�|�}2..n��}2H����`f�?����6(�?��� ���?��� ������ �Y�?����B�?����Λ?����r~Ϳ����t �?)~2��@ ~2)Na;I~0ɫ9�9)�9 �9I�AY��'�@y��}gG�� �=i� =��U�:�M]Y=Y�]�$:QU]�>��a��a�ae�G��a��ay�m2��}m�>I�q��}�:��u)v�4�?��}�:��u�̾� �ux*@����?9�u:HC��u��: �u��:)�u�:�W���{@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@)��?B�ņ��B� B��A���*B��A�qX��A��A��A�P��<"Cup�RCqCu��{@�Cy��iI�qG�>��Y ��a i�� �mGI� i�)��e���ٺi��mK�A���~j,��1�E�A�|i|Y}J��@�}JT-�@y}J�aټ�}J?�m��}JH����@�5�?���`���?����7V�?��� �L�����T��?���`�|�?����a+�?���@�rͿ���`M!�?)~J��@ ~J��`;I~Hɫy�y)�y �}����I�yY��^�@y���gG��U|�<M]J=Y�]@�:QU]�>��a��a�ae�G��e$>G��ay�m.��}m�>I�q��um��4�?��u1̾� �u�+@����?9�u|HC��u2�: �u��:)�q�W���z@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������j�?B�<���B� B��A��ӽ*B��A��lY��A��A��A�:��<"C���RC�C���z@�C�����>9��I���dGi����@���=���������}�; ���E)�i�I�i�i�i���m�=��m�=��m��5�� I�G5>��5 �����5 �����5 �����5 ��� �5 X3:Y�5 0Y1y�5 ��:��5 k�6)�5 -�;���j,q�2�E�AY}2� �@�}2I.�@y}2nqؼ�}2G�n��}2H�����-b�?�����=�?���� �?����p������(��?����d��?����_ �?����?�Ϳ���`T�?)~2� �@ ~2ȉ`;I~0ɫ9�9)�9 �=����I�9Y�}�@y�}shG)��= �>�ý�=�ý�>�ý���iý��@�ù ĽΣ@)Ľ��@IĽ�@iĽ��@���,*=M�A=Y��9QU �>�����a%�G��!��1y�=}E�>I�Y��u�:��]��4�?��}�:��]�(̾� �]�,@����?9�]�HC��]�; �]�;)�]�:�Wu�^y@�WqXy Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U���� ��?B�.���B� B��A����*B��A���Z��A��A��A��S�<"C%���RC)C-�^y@�C)��I�)GEQ>��- �=i�- =��ɋj,�q12�E�AY}2�.�@�}2�<�@y}2��ּ�}2�Oj��}2H���� r��?����ѿ�?���@�"�?�����Z����@4��?��� ���?����mϚ?���@.Ϳ����'�?)~2�.�@ ~2v&`;I~0ɫi�i)�i �m����I�qY��.�@y���hGI� )� ����sh��|?�?{�G�z��Zd;�O��?����I?���ף� ��j�<)��I��y���V-����?�� �rh��{�G�z�?���|?���C���� ��)��h7AI��dAi���A�������A�����<M�-=Y��:QU�>�����a �G�� %>G�� y�!��}�>I���}��4�?���6̾� �;.@��%�?9�IC��3�: ��:)��WM�7x@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUY*UYUYU]��� �_�@B��s��B� B��A����*B��A��[��A��A��A���<"C����RC�C��7x@�C��בI��G�a>��� ��� �� 9�� I�� �dGi�� �@��� =��� ��� ��� ��; �� G�E��- �����- �����- �����- ��� �- /3:Y�- [1y�- ݏ:��- i�5)�- �;����j,GVK2�E�A�|�;�|�;Y}:Z>�@�}: L�@y}:�Ӽ�}:k�g��}:H���� '��?����R8�?�����i�?����v�������m�?��� ���?���`_w�?����պ̿����,,�?)~:Z>�@ ~:F`;I~:��C �@)�@ɌF�н��D�D��DɍFrAi�DI�H��HI�J�Ci�H �H�L)�L�L �L��Nl罉�LɎP��R3�C��PI�P)�Pi�P)�TI�VqA�TɏT �TɐX�Z qA��Z��i�\��\i�\��\)�\ �`I�`ɫ�髑)�� ������I��Y��ܽ@y���iG���`廩���m����`�=i����@��� ��\�@)��\�@I��E�@i��E�@�� S=M p=Y� O�:QU ?�����a�G����y����}?I�A��E���4�?��E�A̾� �E//@��U�?9�ECIC��En�: �E�:)�A�W��Iw@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����1@B�Ȑ�B B�A�h�*B�AK�\��A�A�A%���<"CE���RCACE�Iw@�CI��YI�iG�9>��ۘj,(e2�E�AY}:�U�@�}:6c�@y}:7�˼�}:�zf��}:H����@,��?����p��?�������?�����D��������?����2�?���@�q�?���@�̿���@�.�?)~:�U�@ ~:0`;I~:��Cɫ�髱)�� ������I��Y� �@y� whG��)��-nA��u���MuU=Y�u;*;QUu�>��y��y�a}�G��y��y����}��>Iȉ����:�ō1��4�?����:�ō�M̾� ƍ80@����?9ƍ�IC�Ǎ��: ȍb�:)ȍ�:�W��Hv@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����4+@�R�B*** querying acoustic contact ***�P��P�B-B) B)�A5ˮ�*B1�A5��]��A1�A1�A5���<"C=���RC9CE�Hv@�CA��AI�IGm>I�! )�% @A��5 P����5 �����5 �����5 ��� �5 �%:Y�5 �Y1y�5 �:��5 E�5�95 @���j,�2�E�AY}2Xd�@�}2r�@y}2����}2�gh��}2H�����G�?���`W�?����>��?����u�����@A�?����|��?�����9�?����1�̿�����+�?)~2Xd�@ ~2ZV`;I~2��Cɫ�髑)�� ������I��Y����@y���hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��a=i��=����;M�B=Y� 9;QU�>�����a�G�� &>G��)y�5���}5�>I�9��=#��4�?��=l[̾� �=\1@��E�?9�=�IC��=��: �=��:)�9�q9�um�CI�uLeGi�u_�@��u=��q��q��uh�; �u��E�W�� u@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����=� @BM����BI BQ�AU�*BQ�AU��^��AQ�AQ�AU>��<"C]���RCaC�� u@�C��ׁI��G�G>���j,�2�E�A�|i|�@Y}B�v�@�}BC��@y}B@s���}B-�g��}BH��������?�����m�?�������?����������`I��?������?���@�-�?������̿���@=-�?)~B�v�@ ~B�^`;I~@ɫ�髙)�� ������I��Y��t�@y��iG鮩ɮ�p=�xDUSBL response received:!U1,P 084,000,008FF,186,80,80,99,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 �����>���t<������i����@��� ����@)����@I����@i����@��}�=M�4=Y�;QU��>�����a��G�����!y�-�}�}-�>I�1��=�:��5P��4�?��=�:��5�j̾� �5�2@��=�?9�5JC��5�< �5�<)�5 �:�W��s@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�a @BM(���BI BI�AMd��*BQ�AU��_��AQ�AY�A}���<"C��>�RC�C��s@�C����I��G��>��5 �����5 �����5 �����5 ��� �5 �+:Y�5 0Y1y�5 ��:��5 6���j,���2�E�AY}:��@�}:ʕ�@y}:�����}:�Cg��}:H�����Y��?����y��?���@ W�?�����x���������?���``X�?�����t�?���@��̿����.�?)~:��@ ~:v�`;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}@iG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��%��V-�?i��|?5�?���Mb����%hQ?��%��= �%�@�)�!I�!y�%���K7��?�I+������Q��?��%I,?��%9����%��< �%A)�%�0AI�!i�!��!��%3A)�E> �E�=��UG6<MU`=Y�]��;QU]�>��a��a�ae�G��e'>G���y�����}��>I��������4�?���qw̾� ���3@���?9��MJC�����: ����:)���W-��r@�W)X) X)�W):W)2W1*W1�V1bU1BU9*U9U9U=����g@Bm쏘�Bi Bi�Am��*Bi�Au��`��Aq�Aq�Au�v�<"C}&2�RCyC}��r@�C��ׁI��G�=>��i ��m C=�u ��>9�q I�u �eGi�u ��@��q ��q ��q ��u B�; �u ��E����j,G��2�E�Aɫ�髉)�� ������I��Y����@y��miG�xDUSBL response received:!U1,R,F3F,000,008D1,187,80,80,AB,FF �Fpublishing direction and range info���jw,>���ɰ��8>��1�> ��)���+CI��y����B����g ���?=��t�?��������ٱ�I��)����U/ݼ��U�>��U��=i�U��@��Q �U�@)�U\�@I�U\�@i�U\�@��mf(<Mm:=Y�m���QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ����:�Ņ���4�?����:�ŅP�̾� ƅ5@����?9ƅ�JC�Džk�: ȅ��:)ȅ!�:�W��q@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��@�P�*Q���B�Z��d�O4"X@B��j0@���������Z��g ���?=��t�?��������2Q�jw,>:Q��Z��<���(J@`4�}_�T�6)T����Z��4C�%�?p�,]뿇ֺ��J��BQ�U֨@ Q����Q�GQB�P�8�9?�P�>�9?�P�����Q�����Q���@"Q�5ABh���B B�A�y�*B�A�ja��A!�A!�A%�Y�<"C-�R �RC)C-�q@�C)���I� G%M>��5 m����5 �����5 �����5 ��� �5 (:Y�5 �X1y�5 /�:��5 D�5�*�j,�o�2�E�A�|$�|&p;Y}5 ��@�}5���@y}5i����}5nFp��}5H�����V��?�������?���`��?�����v����`���?��� ��?��� ���?������Ϳ������?)~5 ��@ ~5�q`;I~5��Ci�Y��Y)�Y �YI�Y �e��C)�aɠa��a�a��iɡm�pAi�m`�I�m�gF��iI�qi�u�qA �q�q)�q�y �}qA��y��yɢy������I��)��i��)��I���qA飉ɣ� ��ɤ�餕��A����D�i�����ɫQ�Q)�Q �U����I�QY� �@y�-�iG��DNmea in: $SNTTA,,,,,164146.97*50 ��]�<M�V=Y��z;QU��>�����a��G�����y���o�}��>I��������4�?���#�̾� ��:6@����?9���JC����: ���:)���m yAdded new target pos. range: 97.919998 m, bearing: 302.301905 deg, deltaT: 4.453566 s, approachRate: -0.619729 m/s, LOS rate: -0.297742 deg/s, posRepo size: 4�m� ProNav: pos range: 97.919998 m, bearing: 302.301905 deg, approachRate: -0.619729 m/s, LOS rate: -0.297742 deg/s, cmd update: -0.893226 deg/s, cmd heading: 216.471559 deg, new cmd heading: 215.561440 deg. �W�kq@�WX! X!�W�:W�2W�*W��V�bU�BU�*U�U����@�zX@U������A�?B���B� B��A��T�*B��A��b��A��A��A��E�<"C�/ �*C�RC�C��kq@�C����I�GER>���j,G�3�E�AY}b���@�}b���@y}b�ܤ��}b Pq��}bH�������?���`E��?��� ��?����������`���?����LS�?����D��?��� 1�Ϳ��� ��?)~b���@ ~b��^;I~b��Cɫ���)�� ��I��Y�5ͽ@y�5�iG�©�©���,��M�Z=Y���s:QU��>�������a��G���(>G���y��⦽}��>I�����R��4�?���ۡ̾� ��`7@����?9��KC���M�: ����:)���9�I�fGi��@��=������s�; �6�E�W=q@�W9X9 X9�WA:WA2WA*WA�VAbUIBUI*UIUQUU����p<�?B�����B� B��A�Xp�*B��A.�b��A�A�A�8�<"C5G� �RC9C=q@�CI��yI��G�=>I�! )�% AA��5 �����5 �����5 �����5 1�� �5 �1:Y�5 �Y1y�5 �:��5 �6)�5 ̎;�9= ���9�j,G3�E�AY}F���@�}FnǞ@y}F�i���}F��q��}FH���� ��?����w/�?�����i�?��� ��������(�?���`y�?������?���`X�Ϳ���@J�?)~F���@ ~F&�^;I~F��Cɫ�)�! �%����I�!Y����@y��7iG��=C=i�=C=������"��~�?��(\�µ�{�G�z�?����3?����� ���#=)��I��y���!�rh���?y�&1����� �rh�?���l'?���`e����C�< ��rA)��=8AI���Ai���A�������A��=`弩�=�T=��=���i�=��@��9 �=��@)�=z�@I�=z�@i�=z�@��M3��MM5=Y�U��:QUU�>��Q��Q�a]�G��Y��Yy�eʼn�}e�>I�i��u�:��m���4�?��u�:��mK�̾� �m�8@��}�?9�mdKC��mu�: �m%�:)�m"�:�W�m�p@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �K�?B��w��B� B��A�釽*B��A��c��A��A��A��0�<"C�H�!�RC�C�m�p@�C����I��G%M>�e�j,��33�E�A�|,i|,Y}V��@�}V�Ν@y}VM}���}VE�p��}VH��������?����h�?������?�����:���� �~�?������?��� Z��?����F�Ϳ���@�?)~V��@ ~V�B_;I~V��Cɫ�髑)�� ������I��Y����@y��)iGi�%�mGI�9i�Q��Umo�M]\=���v��ٺ����ڲAY�u}#:QU��>�����a��G��)>G��y�&��}��>Iȡ�ť���4�?�ť�̾� ƥ�9@����?9ƥ�KC�ǥ��: ȥ��:)ȡ�W��7p@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����iX�?B �=��B B�A���*B�Aŗd��A�A�Ao.�<"C��!�*C!RC!C��7p@�C���yI��G�=>� ��>9� I� xfGi� S�@�� =�� �� �� 5�; � ��E)ݥ�m�CIݥ�m�Ciݡ��ݥ�=�ݥ�=�ݥ�lD5��U �����U �����U �����U �� �U �1:Y�U xZ1y�U q�:��U �6)�U ��;��K�j,p�M3�E�AY}FҤ@�}F�ߜ@y}F格�}F��n��}FH����@�(�?��� \��?����`��?���`'k��������?���@��?����n�?��� (�Ϳ����!�?)~FҤ@ ~F��_;I~F��Cɫy�y)�y �}����I�yY���@y���iG)�-�= �-�=��m��<��m �=��m��=i�m��@��i �i)�m��@I�m��@i�m��@���C=M�X=Y�b��QU��>�����a��G����y�9��}��>Iș����:�ŝ���4�?����:�ŝ��̾� Ɲ�:@����?9Ɲ�KC�ǝ��: ȝ=�:)ȝ#�:�W� �o@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����JG�?B�����B� B��A�PK�*B��A��8e��A��A��A�� �<"C��F"�*C�RC�C� �o@�C����I��G�$>��! i�% �=��z�j,��g3�E�AY}Rp�@�}R��@y}R$J���}Rm��}RH����@���?����+��?�������?��� A��������?����qͬ?���@ꈔ?�����^Ϳ�����#�?)~Rp�@ ~R��_;I~R��Cɫ�髑)�� ������I��Y��@y��iGI�i)�i��iػM�G=Y���QU��>�����a��G����y�ދ�}��>I��������4�?�����̾� ���;@����?9��&LC����: ��{�:)���W�Lpo@�W�X� X��W�:W�2W�*W�VbUBU*U U U ����F�@B5�.��B9 B9�A=lV�*B9�A=�e��A9�A9�AEA�<"CMi�"�*CIRCICMLpo@�CQ�יI��G�>��- ' ����- �����- �����- @�� �- �6:Y�- �]1y�- ��:��- � 6�95 @�:]�j,��3�E�A�|�|�;Y}6 �@�}6��@y}6P����}6�Ml��}6H����@_-�?�������?����[��?���`+�������!�?���@Bө?��� ��?���@9EͿ���@,%�?)~6 �@ ~6_D`;I~6��Cɫ9�9)�9 �=����I�AY�}��@y�}RiG������?A����M�^=Y�L��QU��>�����a��G��*>G��y�m��}��>Iȹ����:�Ž���4�?����:�Ž`�̾� ƽ�<@����?9ƽdLC�ǽ��: Ƚ�:)Ƚ$�:�W�o@�W�X� X��W�:W�2W�*W��V�bU�BU*UUU������@�R B*** querying acoustic contact ***�P�Pܹ9ܹIܹiܹ�ܽ=�ܹ�ܽ��D�ܽ��; ݽm�EB5P��B� B��A[��*B�AU�f��A�A!�A%j�<"C-� #�*C)RC)C-o@�C1��1I�QG�>����j,���3�E�AY} �-�@�} �;�@y} �ʨ��} ��m��} H�����n�?��� ��?������?����������U~�?�����צ?��� ��?�����wͿ����)"�?)~ �-�@ ~ �6`;I~ ��Cɫ)�))�1 �5����I�1Y��"�@y���iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����Q����?�/�$�?���Q�����\/?��1�> ����)�I�y���p= ף�?���Mb��ˡE����?��%?���@����'= �)�h7AI��Ai������A��1��5mA��}�K>��}t���}�L�i�}�@��y �y)�yI�}��@i�}��@����<M�#=Y�N��QU��>�����a��G����y�U^�}��>Iȩ�ŭU��4�?�ŭ��̾� ƭ�>@����?9ƭ�LC�ǭU�: ȭ'�:)ȩ�W��n@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B����B� B��A��E�*B��A��|g��A��A��A���<"C�͍#�*C�RC�C��n@�C����I��G�h>I� AA)� @A��% * ����% �����% �����% ;�� �% �K:Y�% xZ1y�% q�:��% 6���j,�?�3�E�AY}6�O�@�}6:]�@y}6�i���}69 q��}6H����@ჴ?������?���`ȋ�?���@������@���?���@��?���`�?��� n�Ϳ����U�?)~6�O�@ ~6["a;I~6��Cɫ9�9)�9 �E����I�AY�}�@y�}�iG�xDUSBL response received:!U1,P F3F,000,008D1,187,80,80,AB,FF �Command Ack�BRequesting micromodem ping code 2i��������R=i��=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���"�M �=Y�`��QU%?��1���a��G���+>G���y�E��}�>I� ��}�:�� ���4�?����:�� < ;� � ?@@����?9� �LC�� ��< � ��<)� %�:�W�N,n@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������ @B]ő�B� B��A��R�*B��A�'h��A��A��A�}��<"C�f�#�*C�RC�C�N,n@�C��I��Gk>�ٱ�ٵ�<ܽ��>9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽn�; ݽ*�E����j,�%�3�E�A�|i|�@Y}Jlm�@�}J{�@y}J�ү��}J�r��}JH����`��?����K�?��� ���?����������`���?������?���`���?������Ϳ����S�?)~Jlm�@ ~J�na;I~J��Cɫ�髱)�� ������I��Y����@y��qjG��ɮ���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����`?����T<���v>�i����@��� ��z�@)��z�@I��^�@i��z�@��m�=Mm5=Y�u-s�QUu�>��q��q�a}�G��y��yy�h��}��>Iȉ�ō���4�?�ō�;� ƍ�A@����?9ƍ6MC�ǍǺ: ȍ��:)ȉ�W�2�m@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����H@B�����B B�A�*B�A@�h��A �A �A L��<"C�R$�*CRCC2�m@�C��I�)GE0>��- �����- �����- �����- 3�� �- ,:Y�- [1y�- ݏ:��- 3 6����j,3��3�E�AY}2���@�}2���@y}2�K���}2�t��}2H�������?���� �?�����5�?���`}����� ���?�����0�?������?�����Gο����`�?)~2���@ ~2��`;I~2��Cɫ9�9)�9 �=����I�AY�]G�@y�]jGmxDUSBL response received:!U1,R,25E,000,008A7,189,80,80,9C,FF uFpublishing direction and range info��m�a���iɰms5>�m7�> �i)�m�CI�iy�m̾B��m�B����?�@%���������ٱi)Õ�= Õ>��=���M=`=Y�E�#�QUE�>��A��A�aE�G��I��Iy�Uߝ�}U�>I�Y��]��4�?��]�%;� �]�C@��e�?9�]rMC��]�: �]�:)�Y�W�"om@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`��@�P *Q ̾B�Z ���?c��T@S�,f�H����������Z �B����?�@%���������2Q �a�:Q �Z �v��o�^F�uY�!��T��6;.u*@�Z ��4�����t����'ڿ�?BQ ��@ Q m��Q �2��P 9�9?�P 8�9?�P ����Q ����Q f�A"Q ��@Be�.��Ba Ba�Ae?3�*Ba�A�i��A��A��A����<"C���$�*C�RC�C�"om@�C��ׁI��G�>��% �=i�% �=�c�� j,n�4�E�AY}~���@�}~p��@y}~`b���}~mt��}~H���� �qo������?�����<�?����������ຳ������~ԕ?��� �k�?���@�7ο���`>�?)~~���@ ~~r�`;I~~��Cɫ���)�� ������I��Y�Mt�@y�MiG�m��>9�iI�ii�i��m=��i��i��m��; �m7�E�TNmea in: $SNTTA,0.063296,,,,164151.40*4A I�)���uw]�Mu+=Y�uJ��QUu�>��y��y�a}�G��},>G��y��s�}��>Iȉ����:�ō���4�?����:�ō7;� ƍ�E@����?9ƍ�MC�Ǎs�: ȍ��:)ȍ&�:�m�}Added new target pos. range: 95.400009 m, bearing: 241.735694 deg, deltaT: 4.384786 s, approachRate: -0.574712 m/s, LOS rate: -13.812809 deg/s, posRepo size: 4�m�!ProNav REINIT: LOS rate is -13.812809 deg/s. Setting heading cmd to target bearing of 241.735694deg and heading rate command to 0 deg/s.�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�������W@U����`���?B�D��B B�Ad��*B�AB*j��A�A�A�v�<"C%�a#�RC!C-��@�C)��YI�aG}Y>��- �����- �����- �����- u�� �- �3:Y�- 0Y1y�- ��:��- E6)�- s�;�95 ���� j,��4�E�A�|8�|8Y}����@�}�e��@y}�q�¼�}��t��}�H������U�����`9�?�����N�?���������� O������ �ݎ?��� �R�?����?7ο�����?)~����@ ~�=�`;I~���Cɫ�髑)�� ������I��Y��p�@y��iG������v���?����Mb������Mb�?����8?���� ���=)��I��y�����n���?<�O��n��ˡE����?���6?���t���� ��GA)�����I�� Ai���A������QA�Å+�=�Åף��Å��iÅ=�@�Á ąƣ@)ą��@Ią��@ią��@����M�H=Y�I �QU��>�����a��G����y�a��}��>Iȱ�ŵ���4�?�ŵRG;� Ƶ9G@����?9ƵNC�ǵ�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B%�_��B! 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B!�A%�:�*B)�A-�1l��A)�A)�A-_��<"C5��RC9C9�C9�� I�G5>�v j,Cj4�E�A�| i| Y}N8�@�}N��@y}NUAۼ�}N��t��}NH������������`��?�����|�?���@��������q������2e����@Tg�?����Kο���`7�?)~N8�@ ~N'�`;I~N��Cɫy�y)�y �}����I�yY��V�@y��-jG��u�<MuL=Y�}D�QU}�>��y���a��G����y�T��}��>Iȑ����:�ŕ��4�?����:�ŕ�t;� ƕL@����?9ƕ�NC�Ǖ��: ȕA�:)ȕ(�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B�m��B B�A�+�*B�A g�l��A �A �A m��<"C[�RCC�C���I�iG�>������i���lGI�i���E�¿ٺI��M�A��5 ����5 �����5 �����5 ��� �5 �]:Y�5 DW1y�5 Y�:��5 �6�95 @�6� j,v�4�E�AY}2��@�}2��@y}27�㼙}2�t��}2H�������¿�������?�����g�?���`���������¿�����r������r�?�����6ο����C�?)~2��@ ~23a;I~0ɫI�I)�I �M����I�IY�]�@y�]�iG)��> ��>���>9�I��fGi���@��=��������; �ÊE)ݑ�Iݑ�iݑ��ݕ�=�ݕ�=�ݕ�CR5��;�MP=Y�%�*�QU%�>��)��)�a-�G��-.>G��)y�5(��}5�>I�9��=���4�?��=��;� �=�M@��U�?9�="OC��=K}; �=Q�;)�9�WQ�WQXQ XY�WY:Wa2Wi*W��V�bU�BU�*U�U�U���� ��@B���B� B�A<e�*B�A��m��A�A�A-�v�<"CM/k �RCICI�Ci��AI�IGm5>��'' j,O�4�E�AY}]�<�@�}]�J�@y}]�弙}]�Tp��}]H����@��ſ��� ���?���`���?���@������X"ƿ���@/������ ���?����5�Ϳ���@H�?)~]�<�@ ~]��`;I~Yɫ�髉)�� ��I��Y��ɽ@y��iG������@AI��)������-����?{�G�zĿk�t��?���?5?����#� �� �=)��I��y���333333�?<�O��n��Zd;�O��?����?������j�< ¥rA)¥�5AI¥5Ai¡������(A����?����������D<i����@��� ���@)����@I����@i����@�� FݻM.=Y���QU�>�����a�G����!y�%Pb�}%�>I�)��5�:��-���4�?��5�:��-m�;� �-:O@��=�?9�-jOC��-��: �-��:)�-)�:�WY�WaXa Xa�Wa:Wa2Wa*Wi�VibUiBUi*UiUqUu����?�@�R}B*** querying acoustic contact ***�Py�PyB=���BA BA�AE2r�*BA�AE:^n��AA�AI�AM3�<"CM�& �RCUJ�c>CQ�CQ�ץ�?iץ�?��qI��G�]>��- �����- �����- �����- ��� �- �:Y�- �_1y�- ̒:��- K36�]N- j,SϷ4�E�A�|�|Y}V a�@�}V�n�@y}V�s㼙}VHp��}VH����@�Fɿ����x�?���`U��?����t[�����fgɿ����;��� �m�?��� ¿Ϳ���@n�?)~V a�@ ~V�a;I~V��Cɫy�y)�y �}����I�yY��p�@y��LjG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���k=M�g=Y��C:QU��>�����a��G��/>G��y�����}��>I�������4�?��� �;� ��OP@����?9���OC�����; ��H�;)���W9�W9X9 X9�W9:WA2WA*WA�VAbUABUI*UIUiUm������ @B�ѐ��B� B��A���*B��A�i�n��A��A��A����<"C�]��RC���0>C��C����I��G�%>��9��I��i�����=�����������; ����E�R64 j,Ϊ�4�E�AY}B�t�@�}B���@y}BO㼙}B��l��}BH������̿��� L�?���@�a�?����|)�������̿����!�������h�?���@�XͿ�����"�?)~B�t�@ ~Bza;I~B��Cɫy�y)�� ������I��Y��{�@y��ZjG�xDUSBL response received:!U1,P 25E,000,008A7,189,80,80,9C,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 ��-mA��-nA�å�}=�å�½�å���iå��@�á ĥΣ@)ĥ\�@Iĥ\�@iĥz�@��A1;M�#=Y�Q8QU��>�����a��G����y��m�}��>I������:���.��4�?����:���g�;� ���Q@����?9���OC�����: ����:)��*�:�W�WX X�W:W2W*W9�VAbUABUI*UQUQU}��� P� @B=����BA BA�AMR�*BI�AU�xo��Aq�Ay�A}є�<"C����RC�ߍ >C��C����I��G��>I�% @A)�% AA��] � ����] �����] �����] ��� �] )S:Y�] DW1y�] Y�:��] {6��b: j,���4�E�AY}z䀖@�}z���@y}z�^伙}zFik��}zH����@�Jп���`D�?��� I�?���@������` Cп�����E�����@⊜?����(Ϳ����_%�?)~z䀖@ ~z�2a;I~z��Cɫ���)�� ������I��Y��t�@y��iG��ɮ�=�%�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���R=i��=���oͽM��=Y��?ԹQU�?�������a��G���0>G���y����}?I� �� [��4�?�� ��;� � �R@���?9� PC�� ��: � n�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAbUIBUI*UIUIUU���@�1@B}*#��By By�A}d��*By�A�M p��A��A��A��p�<"C�?�RC��W�=C��C���}�܄>��YI�iG�[>�HA j,�_5�E�A�|i|�@Y}6 ��@�}6���@y}6"�켙}6�Uo��}6H������ҿ����r��?����pt�?��� R��������ѿ����e������@v��?���@�Ϳ��� ��?)~6 ��@ ~6j�`;I~6��CɫY�Y)�a �e����I�aܵ��>9ܱIܵ@gGiܵ��@�ܱ�ܱ�ܱ�ܵ��; ݵ`�EY� e�@y� ?jGMxDUSBL response received:!U1,R,B9B,000,00881,189,80,80,AE,FF }Fpublishing direction and range info��E�S{?��AɰEW2>�A �A)�E�.CI�Ay�E=�B��E�)�pA;��?s@�#f��?��������ٱA�Õ�]?�Õ�P>�Õ/ݼiÕ��@�Ñ ĕ��@)ĕ��@Iĕt�@iĕ��@���R�=M�==Y����QU��>�������a��G������y�����}��>I�����*��4�?���V�;� ��T@����?9��aPC�����: ��/�:)���W9�W9X9 X9�W9:WA2WA*WA�VAbUYBUY*UYUYU]����K�@�P�*Q�=�B�Z����7� �I@����J[S@���������Z��)�pA;��?s@�#f��?��������2Q��S{?:Q��Z���%����L@R� ��Q�����n0��Z��� ����?��N��M��r�ƿBQ���@ Q����Q�fB�P�E�9?�P�9�9?�P�����Q�����Q��'�"Q�f�AB����B� B��A�n$�*B��A�O�p��A��A��A�B�<"C%���*C%�X��RC%/�=C!�C)�����u>�I��G�f>��5 � ����5 �����5 �����5 =�� �5 �>:Y�5 �Y1y�5 �:��5 F 6)�5 �;�9= ��SvG j,{L5�E�AY}zָ�@�}z�ƌ@y}z�6�}z�]q��}zH����@�ӿ�������?����4��?����6n���� �ӿ�����㦿����%�?�����Ϳ�����?)~zָ�@ ~z�a;I~z��Cɫ���)�� ������I��Y�M��@y�M�jG��=��ʡE���?:��v��ʿ<�O��n�?��=�/?��=�T� �=t�<)�9I�9y�=�u�V�?J+���i��|?5�?��=r(?��=�H���=�q= �=�A)�=n2AI�=�Ai�9��9��=�A)�U�= �U�=��]e�<MeQ=Y�e뵺QUe�>��i��i�am�G��i��qy�u���}u�>I�y����:��}r��4�?����:��}��;� �}QV@����?9�}�PC��}��: �}E�:)�}+�:�m=yAdded new target pos. range: 93.120003 m, bearing: 308.858340 deg, deltaT: 4.492771 s, approachRate: -0.507483 m/s, LOS rate: 14.940144 deg/s, posRepo size: 4�meProNav REINIT: LOS rate is 14.940144 deg/s. Setting heading cmd to target bearing of 308.858340deg and heading rate command to 0 deg/s.�We��@�WaXa Xa�Wa:Wi2Wi*Wi�VibUqBUq*UqUu��� �GW@Uu���@^��?B�;l��B� B��A����*B��A�i q��A��A��A�E��<"C��"�RC��i�<C���@�C����=�H>�בI��G�b>��% =i�% a=�ɝM j,q95�E�AY}FV�@�}F��@y}F�i9}FGis��}FH������2տ���@&E�?����p��?�����-������տ����H;�������?���� ο����?�?)~FV�@ ~F�a;I~F��CɫY�Y)�Y �]����I�YY��5�@y��jGI��)����5L'�M5`=Y�=�:QU=�>��A��I�aM�G��M1>G��Yy�e���}e�>I�i��m���4�?��mq�;� �meX@����?9�m�PC��mH!; �m�!;)�i�W!�W!X) X)�WI:WI2WI*WQ�VQbUQBUQ*UQUYU]����d��?B�����B� B��A��<�*B��A�}�q��A��A��A����<"C����RC����C��C��֥r>��aI�iG�9>�ٙ�ٝnAܹ9ܹIܽ�gGiܽF�@�ܹ�ܹ�ܹ�ܽF�; ݽ��E��5 �����5 �����5 �����5 ��� �5 c2:Y�5 �[1y�5 H�:��5 6)�5 Y�;�8�T j,��R5�E�A�|�|4<Y}6�:�@�}6�H�@y}6?⼙}6��q��}6H������ֿ��� �?����>�?�������������Jֿ���`�Q�������B�?������Ϳ���@��?)~6�:�@ ~6m`a;I~4ɫ9�9)�9 �9I�9Y��J�@y��YkG��u�u���u����u�}�i�u(�@��q �uΣ@)�u�@I�u�@i�u��@����=M�E=Y�|�;QU��>�����a��G����y�[�}��>Iȡ����:�ť���4�?����:�ť]�;� ƥ�Z@����?9ƥ%QC�ǥ��: ȥ��:)ȥ,�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����U��?B�h��B� B��A��F�*B��A���q��A��A��A�)0�<"C��l��RC�n�ѽC��C��֥JF�=�ׁI��G�=>�>�Z j,>�l5�E�Aɫ���)�� ��I��Y��Ծ@y���jG�nA�mA���.�M�E=Y�����QU��>�������a��G���2>G���y�����}��>I�����s��4�?���i�;� ���\@���?9��kQC����: �� �:)���W!�W!X) X)�W):W)2W)*W1�V1bU1BU1*U9U9U=���`)�?B���B� B��A��ټ*B��A-2r��A)�A)�A-���<"C5��RC50�C1�C9��$ӿ=I�!)�!���I�Gn>��5 � ����5 �����5 �����5 ��� �5 gF:Y�5 �X1y�5 /�:��5 �6�9= @�%�a j,~��5�E�AY}2��@�}2]*�@y}22粼�}2��W��}2H���� �ؿ�������?����c��?��� F������`UVؿ����� ������q\�?���`;�ʿ����5I�?)~2��@ ~2��`;I~2��CɫA�I)�I �M����I�Q�}��>9�yI�yi�y��y��y��y��}��; �}�EY��۾@y���jGI��)������=i���=���$&?���xi������>i����@��� ����@)��z�@I��\�@i��Ը@���;MG=Y��f<QU�>�� �� �a �G�� ��y�֮�}�>I���%�:�����4�?��-�:�� ξ� �$_@��-�?9��QC����: ��:)�-�:�WQ�WQXQ XQ�WQ:WY2WY*WY�VYbUYBUa*UaUaUe������?B����B� B��A�^Ҽ*B��A�цr��A��A��A�M��<"C����RC�� ��C��C���Vw�=���I��GI>�\�g j,ɓ�5�E�A�| i| Y}>���@�}>���@y}>f3���}>&�I��}>H�����aٿ���`r��?���`���?���@�^������pٿ����1����� "F�?����ɿ�����`�?)~>���@ ~>�`;I~>��Cɫ�)� �����I�Y�E�@y�EkG��m�sh��|?�?�������?:��v���?��m�)?��m��= �m�T<)�iI�iy�m�i��|?5�?�I+����������?��m�1?��m94���m��< �i)�m�5AI�m5Ai�i��i��m�A���c<M�'=Y���;QU��>�����a��G����y� �ּ} �>I����4�?���ξ� ��`@��%�?9� RC��Q�: ���:)��WA�WAXA XA�WI:WI2WI*WI�VIbUQBUQ*UQUYU]���`��@B�)��B� B��A�Қ�*B��A�`�r��A��A��A����<"C�%RӿRC�C��C��֍�&�<��II�QGm�>��- > ����- �����- �����- z�� �- �8:Y�- �Y1y�- �:��- �6���m j,�l�5�E�AY}6Jp�@�}6�}�@y}6,ց��}6�'<��}6H�����q�ٿ����a��?����U3�?����-E������G�ٿ����2|�������:�?����jbǿ����u�?)~6Jp�@ ~6�i_;I~4i�^�lGI�d �`)�n&qAi�pɌnٽ��p�x��B��ٺ����A�� ٔCɍi�I���I�!i�! �!�!)�!�) �-"qA��)��-+aFɎ)��)��1I�1)��i��)��I��qA鏝���ɏ��`F ��ɐ�鐙�����i���fF���i���C�����A)�� ��I��ɫ�髉)�� ������I��Y��ſ@y���kG������AA)��= �>����=M}=Y��<QU ?�����a�G��3>G��!y�%=Ѽ}-?I�1��5Iw�4�?��5`'ξ� �5}a@��=�?9�5@RC��5ϸ: �5��:)�1�WY�WYXa Xa�Wa:Wa2Wi*Wi�VibUiBUi*UqUqUu����sW@�R}B*** querying acoustic contact ***�Py�PyB�`�r�B� B��A����*B��A��A��A��A�9��<"C��˿RC�C��C��ֽ� ��ׁI��G�=>��=�<��=�<�]��>9�YI�]hGi�]��@��]=��Y��Y��]��; �];�E)�͆n�CI�͆n�Ci�Ɇ��͆=��͆=��͆��4��t j,}@�5�E�AY}2�]�@�}2^k�@y}2Q=M��}2��+��}2H���� ��ٿ���@X��?��� �0�?�����=�������ٿ����������� ~��?����tcſ����,��?)~2�]�@ ~2��^;I~2��Cɫ�髹)�� ��I��Y����@y��9lGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******�ý��>�ý��=�ý/ݼiýz�@�ù Ľ"�@)ĽΣ@IĽΣ@iĽ��@�����<M�?=Y����;QU��>�������a��G������y��9��}��>I������:����k�4�?����:���<6ξ� ���b@����?9���RC�����: �� �:)��.�:�W�WX X�W:W2W!*W!�V!bU)BU)*U)U)U5����,� @BYBY BY�AY*BY�Aa�Aa�Aa�Ae���<"CmZ���RCiCi�Cq��E�`k����I� G%M>��5 E ����5 �����5 �����5 ��� �5 �M:Y�5 [1y�5 ݏ:��5 �6�l�z j,'�5�E�A�|�|Y}>\u�@�}>��@y}>b���}>����}>H�������ٿ�������?���@d��?���@�G�����@�ٿ����������@_�?����&�¿�������?)~>\u�@ ~>"^;I~<ɫ�髙)�� ������I��Y��п@y���kG�xDUSBL response received:!U1,P B9B,000,00881,189,80,80,AE,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���с�M�\=Y���6<QU�>��9��A�aM�G��m4>G��yy���;}��>Iȹ�ŽCa�4�?�ŽDξ� ƽ�c@����?9ƽ�RC�ǽ < Ƚ�<)ȹ�W��W�X! X!�W!:W)2W)*W1�V1bU1BU1*U9U9U=���`�D @B�B B�A*B�A�A �A �A ���<"C�P��RCC�C��=X�轹�I�GE�>��� j,��6�E�AY}:���@�}:R��@y}:zG��}:"����}:H����`�hٿ�����$�?������?�����^����� e=ٿ���`Z���������h?��� wb������*��?)~:���@ ~:1C];I~8�|9�|I�~�gGi�~F�@��|��|��|��~G�; �~�Eɫ�髹)�� ������I��Y����@y���kG�-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �¡�¥nA��}`�=��}t=��}��=i�}Q�@��y �}z�@)�}z�@I�}z�@i�}\�@���̻M�<=Y�,J<QU��>�����a��G����y��@�<}��>I������:���mV�4�?����:���uRξ� ��ed@����?9��SC���^�: ����:)��/�:�W9�W9X9 X9�WY:W�2W�*W��V�bU�BU�*U�U�U����@0,@B�B� B��A�*B��A��A��A��A�e/�<"C����RC�C��C��ֽR���בI��G�a>I�) )�) ��m h ����m �����m �����m �� �m <:Y�m �W1y�m č:��m �6)�m ��;�9� ��*� j,��!6�E�AɫI�I)�I �M����I�QY�m�@y�mXlGuxDUSBL response received:!U1,R,AFD,000,00866,189,80,80,BF,FF }Fpublishing direction and range info��u�O�?��qɰu 0>�q �q)�u�?CI�qy�u��B��u�K��c���?�wnL��?��������ٱq��dNmea in: $SNTTA,0.077650,0.248763,,,164200.30*53 ����=i��=��5�j�t��?@5^�I¿����������5�@?��5b� �5���)�1I�1y�5�-����?Zd;�O���{�G�zt���5?5?��5j<���5ף� �5�A)�5�&AI�5�Ai�5�A��1��5 A��U��<MU@=Y�U���QUU�>��Y��Y�a]�G��Y��ay�e���}m�>I�i��m�J�4�?��mhaξ� �mxd@��}�?9�mhSC��m�: �m�:)�i�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����=�@�Pa*Qe��B�Ze��2���C@�Cv �T@���������Ze�K��c���?�wnL��?��������2Qe�O�?:Qa�Ze�MT¤ɓM@��m�EQ�:bK$��#��Ze�4����?FdnT�)迬s���绿BQest�@ Qe.��Qe�lB�PeF�9?�PeE�9?�Pe����Qe����Qe~�"Qe�'�B�B� B��A�*B��A��A��A��A�O��<"C�Н�RC�C��C� ���=���,>����1����I��G��>��8� j,��;6�E�A�|i|Y}>�l�@�}>�z�@y}>ɞ <�}>�T>��}>H���� �ؿ�������?���@�a�?��� Q������ ���� � ������ʳ�����`*ȧ��������?)~>�l�@ ~>�\;I~<i�H��H)�J�� �HI�H �L)�N�qAɠL��L�L��PɡR�pAi�R���I�P��PI�Ti�T �T�T)�T�X �X��X��XɢX��\��\I�\)�\i�\)�`I�`�`ɣ` �`ɤfٔC�f��A��f���i�d��dɫ�髙)�� ������I��Y�u(�@y�}klG��5t�;M5_=Y�=R=QU=�>��A��A�aM�G��M5>G��ay��}=}��>Iȡ����:�ť(A�4�?����:�ť�nξ� ƥAd@����?9ƥ�SC�ǥ��; ȥm�;)ȥ0�:�muAdded new target pos. range: 91.500008 m, bearing: 310.569767 deg, deltaT: 4.471582 s, approachRate: -0.362287 m/s, LOS rate: 0.382734 deg/s, posRepo size: 4�mM� ProNav: 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. �WU���@�WQXQ XQ�WQ:WQ2WY*WY�VYbUYBUY*UaUe��� ��V@Ue�������?B�B� B��A�*B��A��A��A��A�t�<"C ڹ��RC C ���@�C���@>��������mA�!9�!I�%@gGi�%��@��!��!��!��%r�; �%��EI�qG�>��5 z����5 �����5 �����5 �� �5 #):Y�5 DW1y�5 Y�:��5 !6)�5 [�;�a � j,��U6�E�Aɫ���)�� ������I��Y�5\�@y�5�lG����&>����������=i��G�@��� ����@)����@I����@i��z�@�����<M�N=Y����QU�>�����a�G�� �� y����}�>I���7�4�?���|ξ� �d@��%�?9��SC��÷: �ܹ:)��WE��@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUY*UYUYU]���৸�?B%8Dq�B! BA�AM��:*BI�AM�r��AI�AI�AM��<"CU����RCQC]��@�CY��E�f���M�?i�M�?��I�)GEQ>��J� j,�[o6�E�AY}2p��@�}2 ��@y}2�k�<�}2�l=�}2H�����c�տ������?����ۢ���������� ֿ�����u���� 6푿����/̠?����U��?)~2p��@ ~2��];I~0ɫ�髙)�� ������I��Y��k�@y���lGI�y)�y�����;M�M=Y���<QU��>�������a��G���6>G���y��ǭ=}��>I���l-�4�?����ξ� ��c@���?9�<TC��W-; �,;)��WMe?�@�WIXI XI�WQ:WQ2WY*WY�VYbUaBUa*UaUiUm���`�Y�?B��o�B� B��A��M;*B��A���r��A��A��A���<"C��Y~�RC�C�e?�@�C����mA���mA�֥�@����yI��G�^>��5 �����5 �����5 �����5 �� �5 R.:Y�5 0Y1y�5 ��:��5 6�9= @�6� j,F�6�E�A�|<�|>�;�\9�^o�CI�^fGi�^�@��^=��^RD��\��^L�; �^�EY}mb=�@�}mK�@y}m�n�<�}m��=�}mH�������Կ����w3�?���@�β�����I�����c�Կ����w�o?��������������?���`���?)~mb=�@ ~m��];I~m��Cɫ)�))�1 �5����I�1Y�mU�@y�m�lG��5= ?��5㥽��5��=i�5�@��1 �1)�5��@I�5�@i�5��@��E�ӻMMC=Y�M7�;QUM�>��Q��Q�aU�G��Q��Yy�]y^=}]�>I�a��m�:��e�#�4�?��u�:��e�ξ� �e�b@��u�?9�e�TC��e��: �eD�:)�e1�:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Z��?B��Jr�B� B��A��9*B��A�]�r��A��A��A�]p�<"C�qn�RC�C����@�C����FӅ����I��G�i>�}\� j,��6�E�AY}6'�@�}6�(�@y}6vL�<�}6/��=�}6H�������ҿ���@�]�?����~������q�����@�ӿ���@���?����i������& �?����)��?)~6'�@ ~6�^;I~4ɫ9�9)�9 �=����I�9Y��z�@y���lG������C�l�?/�$����I+������d;?����� ��94�)��I��y���5^�I�?�~j�t����Q���?���8?����Ľ���\= ��dA)���AI���Ai���A������(A��EmA��A��M@7<MUJ=Y�]�;QU]�>��a��a�am�G��i��qy�u��=}u�>Iȁ�ŅR�4�?�Ņ��ξ� ƅ-c@����?9ƅ�TC�Dž$; ȅ ;)ȁ�W��ƭ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ȏ�?B!m�B! B!�A%!�;*B!�A%B�r��A)�A)�A-�k�<"C5LCc�RC1C5�ƭ@�C9��]����I�a)�a��1I�AG]v>��= � ����= �����= �����= g�� �= B:Y�= �Y1y�= �:��= �6���� j,��6�E�AY}:]�@�}: �@y}:�u�<�}:>�}:H������-ѿ��� m��?���ঁ�����`�������<9ѿ���@Y�?���` N�����`sT�?��� >��?)~:]�@ ~:�`;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�lG���=i�R=��u��;MuY=Y�}��;QU}�>��y���a��G��7>G��y���=}��>Iȑ����:�ŕ6�4�?����:�ŕ��ξ� ƕJc@����?9ƕUC�ǕA�: ȕo�:)ȕ2�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@B��i�B/= B�A1�;*B �A �r��A �A �A PV�<"CQbX�RCC��@�C��E�����!I�AG�[>����<�����9��I���dGi�� �@������������_�; ���E�Oo� j,���6�E�A�|i|�@Y}6���@�}6��@y}6[Z�<�}6L� >�}6H������ο��� ���?�����+Ŀ���@P�������ο�������?�����ꙿ���`��?��� ��?)~6���@ ~6I�`;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}+lG������?A����>���9�������i����@��� ��\�@)��\�@I��\�@i�����ID�M�S=Y��a�;QU��>�������a��G������y���=}�>I� �� j�4�?�� ��ξ� � Rc@��%�?9� aUC�� pN; � �a;)� �W9G�@�WX X�W :W 2W)*W)�V1bU9BU9*UAUAUE���`�@�RuB*** querying acoustic contact ***�Pq�PqB��r�B� B��A����*B��A��A��A��A�&w�<"C->�Q�RC)C-9G�@�C)��=�����I�!G=r>��5 �����1 ��1 ��5 �� �5 X3:Y�1 y�1 ��5 t6���� j,8��6�E�AY}6��@�}61�@y}6��<�}6z.>�}6H������.˿����E��?�����ſ����2B�����J\˿�������?�����������V��?�������?)~6��@ ~68�a;I~6��Cɫ9�9)�9 �=����I�9Y�}U�@y�}gkG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)���= ���=���;D�MI=Y��<;QU�>�� �� �a �G�� 8>G��y���=}�>I�!��-�:��%���4�?��5�:��%N�ξ� �%Mc@��=�?9�%�UC��%�; �%�;)�%3�:�We��@�WaXa Xa�Wa:Wa2Wa*Wi�VibUiBUi*UqUqUu����� @BEM�BA BI�AMV0�*BI�Am��r��Ai�Aq�Au���<"C��Q�*C����=RC�C���@�C�������i�I�Qi�i���U̿ٺ�����A���� ������?i��s?�יI��G�b>�^�� j,� 7�E�A�>��>9�<I�>�cGi�>�@��>=��<��<��>��; �>B�E)�-�o�CI�-�o�Ci�)���-�=��-�=��-��:5Y}j�ǘ@�}j�Ր@y}j��<�}j4�2>�}jH������ǿ���@���?����)~ƿ���`=o�������ǿ�����x?���@�՛�����<�?����a��?)~j�ǘ@ ~j�~b;I~j��Cɫ���)�� ������I��Y�-��@y�-�kG5xDUSBL response received:!U1,P AFD,000,00866,189,80,80,BF,FF 5Command Ack=BRequesting micromodem ping code 2i�9��9I�I)�I�e�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��E(�>��E�d?��E�>i�A��A �A)�Ez�@I�Ez�@i�E\�@���<M�=Y�۱:QU��>�����a��G����y��X=}��>I��������4�?�����ξ� ��>c@����?9��VC���ӻ: ���<)���WU�ݮ@�WQXQ XQ�WY:WY2WY*WY�VYbUaBUa*UaUaUe����] @B���r�B� B��A����*B��A�A�A�AJ��<"CU?�Q�*CiRCqCu�ݮ@�C��ѥ 8��<�Ե ���Ե �� ս ���Խ ����M : ����M �����M �����M ��� �M �L:Y�M �X1y�M /�:��M ��5)�M 9�;�9m ���!I�)GE�>�o�� j,U�(7�E�A�|�|4<Y}6A��@�}6�@y}6L�<�}6L2>�}6H����@/0Ŀ������?�����oƿ����i�����`|Ŀ������N?��� �ț����@�*�?����*��?)~6A��@ ~6�%c;I~6��Cɫq�q)�q �u����I�qY��"�@y��'kG鮵a=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� ���~j�t�?�v��/��y�&1�|��� �;?�� xi� � `�)� I� y� ��&1��?X9��v����~j�t�x?�� �0?�� �}��� ��; � �'A)� � AI� �Ai� 5A�� �� zA��-~=�M-Q=Y�-m�QU-�>��1��1�a5�G��1��9y�=�=}=�>I�I��U�:��M��4�?��U�:��M;�ξ� �M�b@��U�?9�MRVC��M��: �M��:)�M4�:�W}c�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U����`�-@B54u��B9 B9�A=��*B9�A]i�r��Aa�Aa�AeI �<"Cm��O�RCiCmc�@�Ci��]y�=��1I�9GeV>�o�� j,MB7�E�AY}2���@�}2K��@y}2�A�<�}2?�/>�}2H����`���������=�?���`�ƿ��������������������e���� z'�����@;��?���@H��?)~2���@ ~2�b;I~0ɫy髁)�� ��I��Y����@y���jG�xDUSBL response received:!U1,R,CE6,000,00849,189,80,80,A3,FF �Fpublishing direction and range info����a1?���ɰ��->�� ��)���#CI��y����B����Be����?Lή3�p�?��������ٱ���nA��mA�� ��M _=Y� ~��QU�>�����a%�G��%9>G��!y�-=}-�>I�9��=K��4�?��=AϾ� �="b@��M�?9�=�VC��=��: �=u;)�9ܑ9ܑIܕ�bGiܕ&�@�ܑ�ܑ�ܑ�ܕ�; ݕ�E�W��d�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����0�@�PA*QE��B�ZE�[�ao�CQ@�⦂��L@���������ZE�Be����?Lή3�p�?��������2QE�a1?:QA�ZE�*�;6yG@����NS�`�ܲ7 @�ZE��m����?�}�a����X_J۶?BQE�|�@ QE*��QE�;B�PE#�9?�PEF�9?�PE����QE����QE�_A"QE~�B�4R��B� B��A���*B��A��ls��A��A��A�0L�<"C�AZM�RC�C��d�@�C�������)�� ����=B����=�����=�����=��� �=�a:Y�=0Y1y�=��:��=�6)�=i�;�ׁ I�� G� �>��� j,�2\7�E�AY}F�j�@�}F�x�@y}F�i�<�}F�J->�}FH�������������\�?����o�ſ���@������ 3-�������Cv����@�엿���`l��?����Ĉ�?)~F�j�@ ~Fu�b;I~F��CɫQ�Q)�Y �]����I�YY��R�@y��(jG�TNmea in: $SNTTA,0.072234,,,,164204.77*45 ��p=i��=��}&1>��}9�=��}`�i�}��@��y �}E�@)�yI�}E�@i�}E�@����M�B=Y�\��QU��>�����a��G����y��=}��>Iȩ����:�ŭ���4�?����:�ŭMϾ����tI ƭ�a@����?9ƭ�VC�ǭ0�; ȭK�:)ȭ5�:�m�yAdded new target pos. range: 89.760002 m, bearing: 301.676642 deg, deltaT: 4.503701 s, approachRate: -0.386350 m/s, LOS rate: -1.974626 deg/s, posRepo size: 4�m�� ProNav: pos range: 89.760002 m, bearing: 301.676642 deg, approachRate: -0.386350 m/s, LOS rate: -1.974626 deg/s, cmd update: -5.923878 deg/s, cmd heading: 314.039721 deg, new cmd heading: 314.431762 deg. �W�bC�@�W�X� X��W:W2W*W�VbU�BU�*U�U�����pV@U�����[��?B�/擼B� B��A��-�*B��A���s��A�A�Ae@�<"C-:�O�RC)C-bC�@�C)���I�G%M>���� j,hv7�E�A�|i|�@Y}6oH�@�}6 V�@y}6 ��<�}6'->�}6H�����������@$q�?�����ſ���`�������B������ś}���� a�������[��?����v��?)~6oH�@ ~6uc;I~6��Cɫy�y)�y �}����I��Y���@y���hG���ǽM�I=Y���QU��>�����a��G��:>G���y��ʇ=}��>I��������4�?����'Ͼ� ��a@����?9��&WC���Y�: ��8�:)���W�F�@�W�X� X��W:W2W*W�VbU BU *U UU���`o��?B=uܪ�B9 B9�AEP��*BA�AE"�t��AA�AA�AE�G�<"CM��V�RCQCUF�@�CQ��iI�qG�>��=�����=�����=�����=��� �=ҁ:Y�=xZ1y�=q�:��=�46�9E@܍ ��>9܉ I܍ daGi܍ 2�@�܍ =�܉ �܉ �܍ ��; ݍ ��E���� j,��7�E�AY}2N'�@�}2�4�@y}2"��<�}29�->�}2H������j��������?�����ſ����������d��������.�������o����� ϕ�?����y��?)~2N'�@ ~2/d;I~2��CɫY�Y)�Y �]����I�YY��ܼ@y��\hG)� �= � �=��M;_>��M W>��M94�i�M �@��I �M\�@)�M\�@I�Ii�M\�@��et�MeO=Y�e��QUe�>��i��i�am�G��i��qy�uT�=}}�>I�y��}o��4�?��}@6Ͼ� �}�`@����?9�}lWC��}+�: �}�:)�y�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �?BmHלּB� B��A�X��*B��A�v��A��A��A�N�<"C�w�d�RC�C����@�C�����?i���?�שI��G�">�:�� j, ��7�E�AY}2��@�}2��@y}2��S<�}2�T/>�}2H�����F�����@���?���@?�ſ����2�����@�0�����@j(�������{�����`���?�������?)~2��@ ~2�d;I~0ɫ9�9)�9 �=����I�AY�}��@y�}*hGI� )� ������~j�t�?���������� �rh������[?������ ��C��)��I��y����n����?��MbX������Mbp����V.?����ʽ����� �� *A)��lAI���Ai�� A������A���?�M@=Y��QU�>�� �� �a �G�� ;>G��y��=}�>I���%�:��j��4�?��-�:��xFϾ� ��_@����?9��WC��O�< �:�<)�6�:�W�#�@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU�����4�?B�����B� B��A����*B��A�Ipw��A��A��A�^G�<"C�\fw�RC�C�#�@�C����I��GI>��="����=�����=�����=��� �=":Y�=0Y1y�=��:��=��5���� j,��7�E�A�|�|ɫ�髙)�� ��I��Y���@y��=gG��U+|�MUV=Y�]���QU]�>��Y��a�ae�G��a��ay�m���}m�>I�q��u���4�?��uUϾ� �u'_@��}�?9�u�WC��u��: �uZ�:)�q�W���@�W�X X�W:W 2W*W�VbU!BU!*U1U1U=����A�?�19�1I�57`Gi�5>�@��5=��1��1��5�; �5Z�EB�@B��B� B��A���*B��A�>y��A��A��A�B�<"C�����RC�C���@�C����I��G�E>��� j,&p�7�E�AY}2���@�}2G��@y}2m�;�}2��*>�}2H�����%k�?������?���@�5ſ���`O����� wE�?���@7������ �q����@<�?����i��?)~2���@ ~2��f;I~2��CɫY�Y)�a �e����I�aY����@y��FgG��5mA��1�����=���O�=���C�=i���@��� ���@)���@I���@i���@����;M�A=Y�� ��QU��>�����a�G�� �� y�q�=}�>I���%�:�� ��4�?��%�:��jeϾ� ��^@��%�?9�EXC����: �'�:)�7�:�WM��@�WIXI XI�WQ:WQ2WQ*WQ�VQbUYBUY*UYUYUe����M�@B� 6¼B� B��A���*B��A��jz��A��A��A�q��<"C����RC�C���@�C�Iױ)ױ��iI�qG�>��=P����9��9��=��� �=�%:Y�9y�9��={�5��.� j,K�7�E�AY}:�@�}:���@y}:��ȹ�}:�*>�}:H�������?�����?�����2ſ����(�������J�?���@=������|9?�����:�?��� ���?)~:�@ ~:�h;I~:��CɫY�Y)�a �e����I�aY���@y��fG������@A���=i��������M�_=Y��UQ�QU��>�������a��G���<>G���y���=}��>I�����@��4�?���usϾ� ��^@����?9���XC���Ǻ: ���:)���W U�@�WX X�W:W2W*W�VbUBU!*U!U!U%�����@�R-B*** querying acoustic contact ***�P1�P1BU��ռBQ BQ�A]l�*BY�A].(|��AY�AY�A]���<"Ce8ꉿRCe����CmU�@�Ci��iI�yG��=�) 9�) I�- _Gi�- J�@��- =��) ��) ��- A�; �- }�E��j,�&8�E�A�|i|�@Y}24h�@�}2�u�@y}2�6���}23L)>�}2H���� �I�?�����s�?���@d ſ��� ����� +<�?���@Y��������&w?������?����*��?)~24h�@ ~22�j;I~0ɫ9�9)�A �AI�AY���@y��fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��UY=��Ut�<��U`e�i�Uכ@��Q �U��@)�U�@I�U&�@i�U&�@��e��:Me3=Y�e�<�QUm�>�����a��G����y��q=}��>Iȡ����:�ť���4�?����:�ťN�Ͼ� ƥ�]@����?9ƥ�XC�ǥ��; ȥG�;)ȥ8�:�WE���@�WAXA XA�WA:Wi2Wi*Wi�VibUqBUq*UqUqU}���`�� @B�n˼B� B��A���*B��A��v~��A��A��A��'�<"C��7��RC�>�>�C����@�C ��I�)G�[>��=A����=�����=�����=��� �=�$:Y�=�W1y�=č:��=�6)�=n�;�9E���@ j,e+8�E�AY}6�S�@�}6=a�@y}6A�/��}6+�>�}6H����@��?�����i�?����F�ÿ����8����� ���?�����v{��������?����ҿ�?���@m��?)~6�S�@ ~6�7g;I~6��CɫY�Y)�Y �]����I�YY��ú@y���eG�xDUSBL response received:!U1,P CE6,000,00849,189,80,80,A3,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 ������ �rh�?#��~j�Ŀ�� �rh�?���C?����%� ��C�=)��I��y���o��ʡ�?V-���L7�A`�?���-?���������+= ��K)A)��AAI�� Ai���A�������A)�m> �m>��uM��Mu-=Y�uv0�QU}�>��y��y�a��G��=>G��y��{=}��>Iȑ�ŕ���4�?�ŕU�Ͼ� ƕ9^@����?9ƕ)YC�Ǖ7�: ȕX�:)ȑ�W��A�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����= @BE��ӼBI BI�AMJ�*BQ�A]�Y���A��A��A�̘�<"C����RC�ӽ�C��A�@�C�i��HmGI�i�1��!��e2˿ٺa��eоAI�iG��>��(j,��D8�E�AY}:]Z�@�}:h�@y}:g���}:t�>�}:H������_�?��� �J�?���`�~ÿ����&�������v�?���@Γz����@��?���@�h�?����A��?)~:]Z�@ ~:<�f;I~:��Cɫ9�9)�9 �=����I�9Y����@y���dG鮉ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�y)�y������M}=Y�%�t�QU%?��)��1�a5�G��1��9y�E��=}E?I�I��u�:��Mc��4�?��u�:��M�Ͼ� �M�^@��}�?9�McYC��M��: �M��:)�M9�:������nA��9��I���^Gi����@���=�����������; ��?�E)�i�I�i�i�i���m�=��m�=��m���4�W��@�WX X�W:W2W*W�VbUBU*U!U!U%����@B�T���B� B��A��6�*B��A��d���A��A��A����<"C����RC�ѳ�C���@�C�����������I��G��>��=. ����=�����=�����=�� �=�K:Y�=0Y1y�=��:��=�6)�=e�;��Rj,��^8�E�A�|�|�;Y}6�n�@�}6�|�@y}6�ԧ��}6z�>�}6H���� Т�?�����!�?��� �ÿ����#}����`��?�����ey�����3��?�������?����V��?)~6�n�@ ~6��f;I~4ɫY�Y)�Y �]����I�YY��ǹ@y���dG�xDUSBL response received:!U1,R,220,000,00820,188,80,80,9E,FF �Fpublishing direction and range info�����ɰ�d*>鰥��> ��)���CI��y����B������Pv�?�R��Aݿ��������ٱ��� ��>�� �=�� ���i� �@�� � &�@)� &�@I� i� ����M%Y=Y�%YV�QU%�>��)��)�a-�G��)��)y�5�=}5�>I�9��=r��4�?��=R�Ͼ� �=t_@��E�?9�=�YC��=��: �=Q�:)�9�W @�@�W X X �W :W2W*W�VbUBU*UUU%��� �~@�Py*Q}��B�Z}�#' �XiS@�����C����������Z}���Pv�?�R��Aݿ��������2Q}��:Qy�Z}��np9����Y�T���/�9��Z}�+�t�eҿl����� ��@��BQ}�t�@ Q}��Q}����P}d�9?�P}#�9?�P}���Q}����Q}��?"Q}�_AB��C�B B �A �<�*B �A�����A�A�A� �<"CJq��RC��G�C@�@�C!��\�z����I��G�E>�M�j,Ǡx8�E�AY}v��@�}v���@y}v�Xż�}vMA>�}vH�������?���`(��?����bkÿ�����D�����50�?�����B�����`v��?����4�?������?)~v��@ ~v� g;I~tɫ1�1)�1 �5����I�1Y�u7�@y�u�cG��DNmea in: $SNTTA,,,,,164209.25*51 ����nA��u� �Mu6=Y�}|�QU}�>�����a��G��>>G��y���=}��>Iș�ŝk��4�?�ŝ��Ͼ� Ɲ\`@����?9Ɲ�YC�ǝ��: ȝX�:)ș�m�}Added new target pos. range: 87.300003 m, bearing: 253.275627 deg, deltaT: 4.385337 s, approachRate: -0.560960 m/s, LOS rate: -11.037012 deg/s, posRepo size: 4�m�� ProNav: pos range: 87.300003 m, bearing: 253.275627 deg, approachRate: -0.560960 m/s, LOS rate: -11.037012 deg/s, cmd update: -12.000000 deg/s, cmd heading: 288.054321 deg, new cmd heading: 285.507919 deg. �W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����@3�U@U������?B-�/��B) B1�A5�N�*B1�A5�ꃼ�A1�A1�A5�I�<"C=�1��RC��/�=C����@�C���m��H�I�q)�q��9I�QG}{>��]�����Y��Y��]��� �]5+:Y�Yy�Y��]�5�9}@�� 9�� I�� D^Gi�� ��@��� =��� ��� ��� ��; �� e�E��d$j,Tn�8�E�AY}6V��@�}6��@y}6��ڼ�}6 �>�}6H������b�?�������?�����Bÿ���������`���?���@P2������*W�?������?���@<��?)~6V��@ ~6�hg;I~6��Cɫ9�9)�9 �=����I�9Y��c�@y��dG��%p=i�%�<��}t=��}C����}��=i�}�@��y �}�@)�}Σ@I�}�@i�}�@��!n<M�[=Y���QU��>�����a��G����y�K�=}��>Iȩ����:�ŭ���4�?����:�ŭ�Ͼ� ƭ(a@����?9ƭ4ZC�ǭ�: ȭo�:)ȭ:�:�W��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@{J�?B�;���B� B��A�CI�*B��A����A��A��A��a�<"C��ݲ�RC��#>C��@�C��օ6���aI��G�g>��*j,wI�8�E�A�|i|Y}2DZ�@�}2x��@y}2��}2��>�}2H�����?�����k�?����2¿���@;�����`m��?�����ׅ���� �ϝ?���@x��?������?)~2DZ�@ ~2�uh;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}@cG����R���Q�?D�l���������Mb�?����"?���O � ���=)��I��y���w��/��?��(\�µ��~j�t�x�����&?���������Ļ ��)���AI��dAi��A������fA��E�K�ME?=Y�E��QUE�>��Q��Q�a]�G��]?>G��ay�eQ�=}e�>I�q��u���4�?��u��Ͼ� �u1a@����?9�u|ZC��u��: �u?;)�q�W5��@�W1X1 X9�W9:W92W9*W9�VAbUABUA*UaUiUm����}��?B�>���B� B��A�_�*B��A�W����A��A��A��m�<"C�����RC�?�>C���@�C�����ٽ�I��G�j>��=�����9��9��=��� �==.:Y�9y�9��=W�5�9y1j,0.�8�E�AY}6���@�}6W��@y}6@y��}6���=�}6H������O�?�����;�?���`_�����@�}������i�?����!~����@sN�?����dĿ?����~��?)~6���@ ~6| i;I~6��Cɫy髁)�� ������I��Y����@y��.cG)õ�= õ�=���A����D>���%>i��@�� �ۙ@)��@I��@i���-k��M-K=Y�5-QU5�>��1��1�a=�G��9��9y�E�=}E�>I�I��U�:��M���4�?��U�:��MI�Ͼ� �MMa@��U�?9�M�ZC��M��: �MQ�:)�M;�:�q9�qI�u�]Gi�uV�@��q��q��q��u��; �u��E�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?B����B� B��A��`�*B��A�(���A��A��A��q�<"C�hJƿRC�� �>C���@�C��֕����ם�?iם�?��qI�yG�~>���7j,*�8�E�AY}2=�@�}2�J�@y}2P���}2(��=�}2H�����Κ�?����� �?���@*d�������F�����߸�?�����Su�����=ӡ?����!�?������?)~2=�@ ~2יh;I~0ɫ9�9)�9 �=����I�9Y��d�@y���bGI��)����U=��M]Y=Y�e���QUe�>��i��i�am�G��i��qy�}�f=}}�>Iȉ�ō���4�?�ō�Ͼ� ƍwa@����?9ƍ�ZC�Ǎ; ȍ�;)ȉ�We�C�@�WaXa Xa�Wi:W�2W�*W��V�bU�BU�*U�U�U����`4�@B�&�B�j�< B�A%4i�*B!�A%�����A!�A!�A-�a�<"CM�nѿRCICM�C�@�CQ��E�*����I�)GEQ>��=d����=�����=�����=��� �=b':Y�=]1y�=�:��= �5���=j,t��8�E�A�|�|Y}:�ԩ@�}:R�@y}:�U��}:�\�=�}:H����@���?�������?�����н���������� ��?����~`b������I�?�����7�?����;��?)~:�ԩ@ ~:w�g;I~8ɫA�I)�I �M����I�IY��s�@y���bG��%a;M%0=Y�-5ʻQU-�>��)��)�a5�G��5@>G��1y�5�#=}=�>I�A��M�:��ED��4�?��M�:��E�о� �E�a@��M�?9�EM[C��E��: �E��:)�E<�:�WutQ�@�WqXq Xq�Wq:Wq2Wy*Wy�VybU�BU�*U�U�U����@B�~��B� B��A�Zg�*B��A�h1���A��A��A��;�<"CE��ٿRCACEtQ�@�CA��U�&ּ��I�9G}z>�m ��>9�i I�m |]Gi�m �@��i ��i ��i ��m ��; �m ��E��Dj,�9�E�AY}2�^�@�}28l�@y}2ΰ#��}2$�=�}2H����`��?������?���`�㻿��� ����������?����dR?����t�?������?����<��?)~2�^�@ ~2�dg;I~2��C �@)�B"qAɌB;߽��BKkF�D��DɍDi�DI�D��DI�Hi�J~rA �H�H)�H�L �NqA��N�LɎL��P��PI�P)�Pi�P)�TI�T�V��ɏT �TɐX�ZqA��Xi�X��Xi�\��^��A)�\ �|I�|ɫ�髹)�� ��I��Y����@y��cG������������mA�íף<�íj�<�í 0>ií��@�é ĭ�@)ĭ��@Iĩiĩ���|�;M�b=Y���λQU��>�������a��G�����y� F==} �>I������4�?���о� �b@��-�?9��[C����: ���:)��Wea؍@�WiXi Xi�Wq:Wq2Wq*Wq�VqbUyBUy*U�U�U����`��@�R�B*** querying acoustic contact ***�P��P�B-���B1 B1�A5 e�*B1�A=����AA�AA�Am��<"C}C��RC�C�a؍@�C���%��<I�9)�9��1I�AG]v>��=�����=�����=�����=��� �=�:Y�=DW1y�=Y�:��=��5)�=m{;�9E��C�Jj,u�-9�E�AY}2�֪@�}2��@y}2��-��}2HI�=�}2H��������?���`ώ�?���@]�����������������?������p?���@��?����Z�?����r��?)~2�֪@ ~2�vf;I~2��Cɫ�髙)�� ������I��Y��y���Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��m�T㥛� �?��� �rпk�t��?��mA?��m��� �m 0=)�iI�iy�m��V-�?��K7���y�&1��?��mh1?��mI���m`e< �m|#A)�mfAI�m�Ai�m�A��i��mAY�_��QU��>�����a��G��A>G��y�Q=}��>Iȡ����:�ť���4�?����:�ť�-о� ƥ�b@����?9ƥ�[C�ǥ��: ȥ��:)ȥ=�:�W�iӊ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������< @B5�$�B1 B9�A9*B9�A=K5���AA�AA�AE<��<"CU�A�RCQCUiӊ@�CY��UA�=�� ��=���I� G �>���Qj,�rG9�E�Aɫ�)� �����I�Y�]]�@y�]�bGuxDUSBL response received:!U1,P 220,000,00820,188,80,80,9E,FF uCommand AckuBRequesting micromodem ping code 2i�q��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �����I9�II�Ii�I��M=��I��I��M��; �M�E����������=����;i����@��� ��)���@I��i����=��M��<Y����QU��>�����a��G����y����}��>I��������4�?����>о� ���c@����?9��,\C�����: ����:)���W��݇@�W�X! X!�W!:W)2W)*W)�V)bU)BU1*U1U1U5������ @B�^�B B�A!j�*B�A%qꏼ�A!�A)�A-�y�<"C]����RCaCe�݇@�C���U ����U�����U�����U��� �UzH:Y�U�V1y�U�:��U!�5)�Uo�;��� ���<�ֽ ��>�יI��G��>� �Wj,(Ga9�E�AY}6�u�@�}6}��@y}6��?��}62�=�}6H����@2��?��� �X�?���`1������`Gy���������?�������?�������?���`��?���`v��?)~6�u�@ ~6d;I~6��Cɫi�i)�q �u����I�qY��Ӹ@y��ecG鮱ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���Y=M�R=Y���>�QU��>�������a��G������y�� T=}��>I�������4�?���tMо� ���d@����?9��p\C�����: ��8�:)���W�Z�@�WX X�W:W2W*W�VbU!BU!*U!U)U-��� xa@BU�� �BQ BQ�AUQ[�*BY�A][+���AY�AY�A]\*�<"Ce؆�RCiCm�Z�@�Ci��q��q)�q �q��1i�5�=��� �5>��� �?i�� �?��� I�� G� �>��I��I��^j,H5{9�E�Ai�6gmGI�Di�X��z�οٺx��z��AY}~D��@�}~���@y}~N�F��}~���=�}~H����@��?���`�U�?���@^����Mr�����@� �?�������?����lШ?������?��� ���?)~~D��@ ~~jb;I~|i���)��D� �I� �)��qAɠ�����!ɡ%�pAi�%��I�%�gF��!I�)i�-�qA �)�))�)�1 �1��1��1ɢ1��=��C��9I�9)�9i�9)�AI�A�AɣA �AɤM̔C�M��A��Ii�I��Iɫ�髑)�� ��I��Y��d�@y���bG�xDUSBL response received:!U1,R,E61,000,007FA,186,80,80,76,FF �Fpublishing direction and range info���}l�>���ɰ�G'>鰵��> ��)����BI��y�� �B����:3嫠��?*�V���?��������ٱ�����M%i=Y�-a��QU-�>��1��1�a5�G��5B>G��9y�=+�;}=�>I�Q��]�:��UL��4�?��]�:��U4[о� �Uee@����?9�U�\C��UG�; �UV�;)�U>�:�W���@�W�X! X!�W):W)2W)*W1�V1bU9BU9*UaUaUe������@�Pq*Qu �B�Zu��Ի/U�S@U���/>@���������Zu�:3嫠��?*�V���?��������2Qu}l�>:Qq�Zu�{�w��?M@Z!�}3�N��PCBn$@�Zu�f�P�U�?�L���翣@� ��?BQu)�@ Qu�u�Qu�iB�PuB�9?�Pud�9?�Pu����Qu���Qu�@A"Qu��?B�Q�B� B��A�4i�*B��A�S����A��A��A�N��<"C���RCC��@�C!��5mA��5mA����V>���I�Gew>��5/����5�����5�����5��� �5(#:Y�5�W1y�5č:��5W�5�9=@� 9� I� �]Gi� V�@�� �� �� �� ��; � �E)ݙ�Iݙ�iݙ��ݝ�=�ݝ�=�ݝ���4�ej,���9�E�Aɫ���)�� �����I�Y�MF�@y�M�bG��DNmea in: $SNTTA,,,,,164213.72*58 ��5t����57����5�D�i�5(�@��1 �5�@)�1I�5�@i�1��E�MMH=Y�M���QUM�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a��e)��4�?��e�jо� �eWf@��u�?9�e�\C��e �: �e��:)�a�m�yAdded new target pos. range: 85.020004 m, bearing: 313.623545 deg, deltaT: 4.477262 s, approachRate: -0.509240 m/s, LOS rate: 13.478755 deg/s, posRepo size: 4�m�ProNav REINIT: LOS rate is 13.478755 deg/s. Setting heading cmd to target bearing of 313.623545deg and heading rate command to 0 deg/s.�W�)�@�W!X) X)�W1:W12W9*Wi�VibUqBUy*U�U�����GAU@U�����WW�?B�� �B� B��A��l�*B�A�I���A!�A!�A%�]�<"C-��RC)C-)�@�C)��5�Ձ>���I�G�>�B+kj,�خ9�E�AY}6���@�}6@�@y}6ѽC��}6u�=�}6H�����W��?��� ���?����������`������@���?����pr�?����Wu�?�������?���`I��?)~6���@ ~6�'_;I~4ɫ9�9)�9 �=����I�9Y�}h�@y�}�bG��u�u�V�?5^�I˿{�G�zt���ur(?��uX� �uף�)�qI�qy�u����K7�?R���Q��{�G�z�?��u�)?��u�½��u�#= �u�A)�uAI�qi�uXA��q��u�A���'<MN=Y�=�:QU�>��!��!�a%�G��%C>G��)y�U�.�}U�>I�a��m�:��e�4�?����:��e�yо� �eh@����?9�e>]C��e��; �e��;)�e?�:�W�WX X�W:W2W*W�VbU!BU!*U!U!UM�������?B�<Z�B� B��A��h�*B��A������A��A��A�b�<"C 6~ �RCC�C��5��>I�9)�9��I���E�����E�����E�����E��� �E�,:Y�E0Y1y�E��:��E��5GU�>� rj,���9�E�AY}M�N�@�}M�\�@y}M�?��}MDtO��}MH����` ��?�������?����s�����p������`ԗ�?���@ٟ�?���`Z�?���@"牿���`n��?)~M�N�@ ~Mۂ^;I~Iɫ�髱)�� ������I���ٹ�ٽ�<��9��I��D^Gi����@���=�����������; ���EY�=��@y�=abG��Y=��C�=����=i�z�@�� �&�@)�I�i���V��M;=Y��*;QU�>����!�a%�G��!��!y�-�E�}-�>I�1��5��4�?��5��о� �5j@��=�?9�5�]C��5��: �5@�:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�VibUqBUq*UqUqU}���@a�?B%|��BA BA�AE�u�*BA�AMH���AI�AI�AM���<"CU���RCQCQ�CY�ֵ��>�I��G��>�==xj,Ɏ�9�E�Aɫ�髙)�� ������I��Y���@y��xbG��u(�;Mui=Y�}���QU}�>��y���a��G����y����}��>Iȑ����:�ŕ �4�?����:�ŕ_�о� ƕ�k@����?9ƕ�]C�Ǖ��: ȕb�:)ȕ@�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B=l�BA BA�AEcs�*BA�AM����AI�AI�A�v��<"C�,��*C�����RC�C��C�����יI��G�d>��=� ����9��9��=��� �=�>:Y�9y�9��={�5��g~j,{k�9�E�AY}2�l�@�}2�z�@y}2 �6��}2fuݽ�}2H�����j �?�����i�?����B��?��� �����`s��?������?���`Pئ?����ԙ������ ��?)~2�l�@ ~2��^;I~0ɫ9�9)�A �AI�IY�yy�y �����AY�Ef�;QUE�>��I��I�aM�G��MD>G��Qy�U��}U�>I�Y��]��4�?��]�о� �]�m@��m�?9�]^C��]�: �]M�:)�Y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� X�?B���B� B��A�*B��A�x!���A��A��A��I�<"C��� �RC�C��C��������?i���?�I��G�E>ܵ��>9ܱIܵ_GiܵJ�@�ܵ=�ܱ�ܱ�ܵ��; ݵ�E�GO�j,9E:�E�AY}6�s�@�}6���@y}6v�3��}67:��}6H�����N0�?���`���?���`���?�������������?����X��?����Uw�?���@Kÿ���ড়�?)~6�s�@ ~6�;`;I~6��CɫY�Y)�Y �]����I�YY���@y���bGI��)����U+=��UZ>��Uף�i�U��@��Q �U��@)�U&�@I�U\�@i�U\�@��e��:Me�<Y�e��:QUm�>��i��i�au�G������y� ԑ�}5�>I�q��u1�4�?��u_�о� �up@����?9�uR^C��ue#< �u�"<)�q�W��W�X� X�W :W 2W *W�VbUBU*UUU����+�@B�_L�B� B��A��q�*B��A�$���A��A��A�}��<"C�C �RC�C��C��֕?΅>��E. ����E�����E�����E��� �E�K:Y�ExZ1y�Eq�:��E��5)�Ee�;�9U���iI�yG��>�qy�j,� 0:�E�A�|�|ɫ�髉)�� ������I��Y����@y��cG��������]�d;�O���?L7�A`�?y�&1��?��]�4?��]+= �]`e<)�YI�Yy�]�o��ʡ�?ˡE�����ˡE����?��]-?��]�'���]�'= �]fA)�]|#AI�]�Ai�]�A��Y��]�A��}��<M}I=Y�}���QU}�>�����a��G��E>G��y����}��>Iȑ����:�ŕ��4�?����:�ŕK�о� ƕ�q@����?9ƕ�^C�Ǖ��: ȕ �:)ȕA�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �1@�R�B*** querying acoustic contact ***�P��P�B =��B B �A� e�*B��A��8���A��A��A����<"C����RC�C��C��ֽ��>�יI��G�c>�e�j,=J:�E�AY} gf�@�} t�@y} KM)��} �)[��} H����@�}�?�������?�������?����oy����@��?�������?����(�?�����)˿����?>�?)~ gf�@ ~ L�a;I~ ��Cɫ���)�� ������I��Y�-;�@y�-�bG5Z****** received transponder code query ******5F****** received ping request ******=<Arming DUSBL. detectThresh: 75=8****** ping requested ******�y9�yI�}o_Gi�}��@��y��y��y��}1�; �}1�E�¹�¹��b�>��C����Z�i�p�@�� �&�@)�I�E�@i�&�@��5Ŭ�M5?=Y�=V�;QUE�>��I��I�aU�G��Q��Yy�]Ub�}]�>I�A��EE�4�?��E��о� �E(t@��U�?9�E�^C��E�: �Ed�:)�A�W��W�X� X��W�:W�2W�*W��V�bU�BU�*UUU ��� R @B}�c�By By�A}Kn�*By�A����A��A��A���<"C�_���RC�C��C������5|����5�����5�����5��� �5L):Y�50Y1y�5��:��5E�5)�5�;���I��G��>�[��j,o�c:�E�Aɫ�髙)�� ������I��Y��Q�@y���bG�xDUSBL response received:!U1,P E61,000,007FA,186,80,80,76,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �� ��;M5N=Y�E���QUE�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a����:��e �4�?����:��e��о� �e�u@����?9�e#_C��e< �e�<)�eB�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������/ @B-:i�B1 B1�A5�k�*B1�A5���A9�A9�A=�q�<"CM����RCICI�CY��Y��1I�9GU�>�}��j,��}:�E�A�|i|Y}2d_�@�}2m�@y}2S�%��}2��c��}2H���� cp�?��� U��?����%5�?����ţ�����u��?����$�?���@��?���@<5̿���`�/�?)~2d_�@ ~2v�a;I~0ɫY�Y)�Y �]����I�aY����@y��3cG鮭p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u|�<MuT=Y�}�;QU}�>��y���a��G��F>G��y�z��}��>Iȑ�ŕ&!�4�?�ŕ��о� ƕ�w@����?9ƕd_C�Ǖ��: ȕ%�:)ȑ�W��W�X� X��W�:W�2W�*W��V�bUiBUq*UyUyU�����@B��&�B� B��A�h`�*B �A�ء��A�A�A:V�<"C���RCu�s>C!�C!�֝v�>��qI��G��>��] ����]�����]�����]��� �]�4:Y�]�Y1y�]�:��]!�5�9e@�q9�qI�u7`Gi�u>�@��u=��q��q��uL�; �u@�E����j,t��:�E�AY}2�Y�@�}2�g�@y}2�W"��}26i��}2H����@�ȼ?��� �?����)�?���@������ �ɹ?�����R�?�����I�?������̿����2&�?)~2�Y�@ ~2O�a;I~2��CɫQ�Q)�Y �]����I�YY�u4�@y�}�bG�xDUSBL response received:!U1,R,180,000,007CD,186,80,80,72,FF �Fpublishing direction and range info��}������yɰ}�#>�y �y)�}��BI�yy�}��B��}�et��T8�?�X}�&տ��������ٱy)�]> �]>��u��=��uG���u�y�i�u̜@��q �uz�@)�u�@I�u�@i�u�@�����M�-=Y�~�:QU��>�����a��G����y�f��}��>Iȡ����:�ť�"�4�?����:�ť�Ѿ� ƥ"z@����?9ƥ�_C�ǥ�: ȥ��:)ȥC�:�W��W�X� X��W�:W�2W�*W�V!bU!BU!*U!U)U-������@�P9*Q=��B�Z=�w_��moS@?�;c�;����������Z=�et��T8�?�X}�&տ��������2Q=����:Q9�Z=��t��}1���C�z�S�0)��?`"@�Z=��砕�2˿j����0��:���?BQ=��@ Q=ӟ�Q=���P={�9?�P=B�9?�P=���Q=����Q=oA"Q=�@AB���B� B��A�8o�*B��A����A��A��A�L3�<"C�W��RC��>C��C������y>����?i���?�בI��G��>�vǫj,�g�:�E�AY}R�S�@�}R�a�@y}R�f��}R��m��}RH������T�?������?���@5�?��� �������A,�?���@�ը?���ঋ�?����uͿ������?)~R�S�@ ~R�ma;I~R��Cɫy�y)�y �yI�yY��ϸ@y��`cG�dNmea in: $SNTTA,0.325622,0.326297,,,164218.15*5B I�)���5�^�I+�?����K���~j�t��?��5X9?��5^�� �5�D=)�1I�1y�5�V-��?ˡE�����/�$��?��5�-?��5什��5,= �5�A)�54AI�55Ai�5�"A��1��5pA��]�T=M]`=Y�e��;QUe�>��i��i�au�G��uG>G��yy�)0�}��>Iș�ŝ�!�4�?�ŝ�Ѿ� Ɲ(|@��5�?9Ɲ�_C�ǝ�< ȝ@�<)și�%�lGI�1i�Q����Ϳٺ����b�A�m�}Added new target pos. range: 82.320000 m, bearing: 257.653696 deg, deltaT: 4.468394 s, approachRate: -0.604245 m/s, LOS rate: -12.525719 deg/s, posRepo size: 4�m�!ProNav REINIT: LOS rate is -12.525719 deg/s. Setting heading cmd to target bearing of 257.653696deg and heading rate command to 0 deg/s.�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����z�T@U����@#�?Be)��Ba Ba�Am�[�*Bi�Am����Ai�Ai�Am��<"CuX4ؿRCuar�<C}��@�C���m�����m�����m�����m_�� �m�:Y�mxZ1y�mq�:��m��5�֍'s>��i I�q G� �>����j,�M�:�E�AY}J~a�@�}J0o�@y}J����}J�&p��}JH�����he�?������?���� ��?��� ������`L��?���`�0�?����Z�?��� �Ϳ��� �?)~J~a�@ ~JCyb;I~J��Cɫa�a)�a �aI�iY����@y��%cG����>9��I���`Gi����@��������������; ����E)ݙ�Iݙ�iݙ��ݙ��ݙ��ݝ�>]4��}/�>��}��>��}��i�}Q�@��y �y)�}\�@I�}��@i�}\�@���{�M�V=Y��:QU��>�����a��G����y��k��}��>I�y����:��}��4�?����:��}2 Ѿ� �}Y~@����?9�};`C��}��: �}��:)�}D�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�S�?B�<��B� B��A��a�*B��A��K���A��A��A���<"CT�ӿRC�w�C�C ����j>�I��G�E>���j,gE�:�E�AY}>�w�@�}>5��@y}>dd��}>Gp��}>H����@����������?���`D��?��� ?������>F������f!�?��� }��?����t�Ϳ����6�?)~>�w�@ ~>��b;I~>��CɫI�I)�I �II�IY��k�@y���bG��eꂼMeN=Y�m�\;QUm�>��i��i�am�G��q��qy�u���}}�>Iȁ�Ņ��4�?�Ņc.Ѿ� ƅ/�@����?9ƅ|`C�Dž��: ȅ8�:)ȁ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �"�?B�Z.�B� B��A�Gh�*B��A��A��A��A�\�<"CM�пRC�]�C�C ���4|E>I�)����I��G )>��M� ����M�����M�����M��� �M�Z:Y�M�W1y�Mč:��M�6�u�j,� �:�E�AY}:K��@�}:���@y}:�� ��}:գp��}:H�������������5�?�������?���������� �+������[ٙ?����K��?��� 7�Ϳ���` �?)~:K��@ ~:Y8b;I~:��CɫQ�Q)�Q �U����I�QY��@y��icGI�1)�1��5%=i�5%=��U�=MUL=Y�]�;QU]�>��Y��Y�ae�G��eH>G��ay�m��}m�>I�q��uS�4�?��u�=Ѿ� �uA�@��}�?9�u�`C��u�: �u�:)�q�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��?B�v��B� B��A��Z�*B��A�Y���A��A��A��!�<"C�� п*C� ���RC�Q�C��C� � �=�� �=�����>�סI��G ��9��I���aGi���@���=��������D���<�; ����E�,��j,I�;�E�AY}2Yʜ@�}2ؔ@y}2�O��}2�yf��}2H�����4��������?�������?�����������r���������?���`>i�?���@X�̿���`F-�?)~2Yʜ@ ~2(�a;I~2��CɫY�a)�a �e����I�aY����@y���cG�åj<��å+��å\�iå=�@�á ĥ�@)ĥҙ@Iĥ���iĥҙ@����3<M�4=Y���;QU��>�������a��G�����y�m.X�}u�>I�y����:��}��4�?����:��}LOѾ� �}y�@����?9�}aC��}��; �}�;)�}E�:�W!�W)X) X)�W):W)2W1*W1�V1bU1BU9*U9UaUe��� �3�@B���B� B��A��U�*B��A��ɪ��A��A��A�`1�<"C�n�ӿRC�摏�C��C����d�=���I��G��>��]1����]�����]�����]x�� �]P#:Y�]�Y1y�]�:��]X�5���j,ѯ2;�E�Aɫy�y)�y �}����I�yY��Ĺ@y���dG �!�!����#��~j��?�(\����?L7�A`堿����%?����G> ��+�)��I��y����Zd;��?������������Mb�?����>?����L�����= ��)��9AI���Ai��|#A������\A��E�=MEU=Y�E���QUM�>��Q��Q�aU�G��]I>G��Yy�e���}e�>I�q��ul�4�?��u�^Ѿ� �u��@����?9�uZaC��u* ; �uC;)�q�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@B�? �B� B��A�:=�*B��A��ԫ��A��A��A��A�<"C<�RC�$�C�C ���4|E=�סI��G�A>��U�=i�U�=�'��j,��L;�E�AY}2H��@�}2�Ǔ@y}2~�Ǽ�}2��K��}2H�����Y����� �6�?����K�?��� =�������ָ������#u?����N�?�����Pɿ���`�[�?)~2H��@ ~2�]`;I~2��Cɫ9�9)�9 �=����I�9Y�u �@y�}�dG��y��}AAI��)����������9��I��i�����=�����������; ���E�ÍX>�Íף��Í�J>iÍ\�@�É č\�@)č\�@Ič\�@ič\�@����<M�U=Y���<QU��>�����a��G����y�D��}��>Iȹ����:�Ž�4�?����:�ŽnѾ� ƽ��@����?9ƽ�aC�ǽ�: Ƚ��:)ȽF�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@� @�R B*** querying acoustic contact ***�P �P Bm4� �Bq Bq�Au�1�*Bq�Au�謼�Ay�Ay�A}�|�<"C��i߿RC�pࡼC��C��ԑ�ԑ��mG��<��AI�QGu6>��]M����]�����]�����]w�� �]�%:Y�]xZ1y�]q�:��]"�5)�]B�;�9e��(�j,�gf;�E�A�|�|4<Y}6n�@�}6�{�@y}6 ����}6� 8��}6H������s�������M�?������?����a���������������b]?�����5�?������ƿ����Lz�?)~6n�@ ~6�__;I~6��Cɫ9�9)�9 �=����I�9Y�}X�@y�}CeG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����<M�V=Y���<QU��>�������a�G����y� �Ǽ} �>I������4�?���]Ѿ� ��ޅ@����?9���aC����: ����:)���W�W!X! X!�W!:W!2W!*W)�V)bUIBUI*UQUQUU��� I[ @B���B� B��A��*�*B��A�f ���A��A��A�j��<"C��RC����;C��C����I��)���I��G�j>���j,SA�;�E�AY}6hE�@�}6S�@y}6s����}6~"��}6H�����_������@)g�?����SV�?�������������������D������/�?����<9Ŀ������?)~6hE�@ ~6Y�^;I~6��CɫY�Y)�Y �]����I�YY����@y���eG�xDUSBL response received:!U1,P 180,000,007CD,186,80,80,72,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������nA��Ù<M%H=Y�5�<QU=�>��I��I�aU�G��]J>G��iy�w9�}�>I���%�:����4�?��%�:��~�Ѿ� ���@��U�?9�?bC����; ���;)�G�:�W��W�X� X��W�:W�2W�*W��V�bU)BU1*U9U�U������) @B-;�B) B1�A5�"�*B1�A�GN���A��A��A��G�<"C��y�RC��/<C!�C)����>9��I��daGi��2�@���=���������r�; ��ۏE��]�����]�����]�����]��� �]J+:Y�]�Y1y�]�:��]j�5)�]7�;��m�&$<��) I�9 GU �>��9�j,��;�E�AY}2*3�@�}2�@�@y}2�4M��}2� ��}2H����@�H�������|�?����*��?����3������ot�������!i�����e��?������������x��?)~2*3�@ ~2^;I~2��CɫA�A)�A �M����I�IY�}(�@y��eG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���R=i��C=����R���Q�?���S�ۿT㥛� �?����b?���/ݾ ��>)��I��y���\���(\�?D�l������v��/�?����:?���O�����xi= ��lA)�����I�� Ai��XA�������A��M.>��Mף<��M��i�M�@��I �M&�@)�M&�@I�M&�@i�M&�@��]<�M]+=Y�e�<QUe�>��i��i�am�G��i��qy�uO��}u�>I�y��}��4�?��}��Ѿ� �}�@����?9�}�bC��}*�: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �@B�I��B� B��A��0�*B��A��Y���A��A��A�;��<"C�5��*C�L���RC�Q;C�C�����;�ױI��G��>��c�j,n��;�E�A�|i|Y}6�9�@�}6mG�@y}6*���}6<���}6H������������E��?��� ���?���`8�������(��������p����@���?����q������ ���?)~6�9�@ ~6�S];I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�eG��|H=M��=Y��0<QU�?�����a��G��K>G��y�Z';}�?Iȹ�Ž���4�?�ŽZ�Ѿ� ƽƈ@����?9ƽ�bC�ǽܹ: Ƚ��:)ȹ�W��W�X X�W:W2W *W �V bUBU*UUU���@^@B]q�Ba Ba�Ae� �*Bi�Am$,���Ai�Ai�Am+R�<"C}Ԥ�RC}K���C��C���Ec�U;��M�?i�M�?��I�1G]T>��]����Y��Y��]�� �]�!:Y�Yy�Y��]��5�9e@�-N�j,��;�E�AY}rPP�@�}r^�@y}r�ǻ�}rfp˽�}rH���� xa������S��?�����h�?�����������tf�����@v�r������x?���@:c������v��?)~rPP�@ ~r�\;I~r��C�}��>9�}p�CI�}�aGi�}�@��}=��y��y��}[�; �}ЏEɫ�)� �����I�Y�U7�@y�UeG�eDNmea in: $SNTTA,,,,,164222.58*52 �ý�T��ý�H=�ý��>iý̜@�ù Ĺ)Ľ�@IĹiĹ���r��M�8=Y��Y�;QU��>�������a��G������y����;}��>Iȉ����:�ō^��4�?����:�ō�Ѿ� ƍȉ@����?9ƍ%cC�Ǎ+�: ȍ��:)ȍH�:�W��W�X� X��W�:W�2W�*W�V bU BU *U UU���`�=@B]�`�BY BY�Ae�.�*B��A�i}���A��A��A�&%�<"C�դ�*C��R��RC��MڸC��C��ԡ�ԡ�֕"5���qI�yG�~>��u�j,��;�E�AY}:o�@�}:�|�@y}:{�M��}:�����}:H������l��������?����y��?��� 3�������h����� Y�s�����̵i?����1������@���?)~:o�@ ~:�\;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}ueGI��)������<M�`=Y��<QU��>�����a��G����!y�-"<}-�>I�1��5%��4�?��5��Ѿ� �5��@��=�?9�5icC��5��: �5��:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�VibUqBUq*UqUqU}��� C�@B���B�h>= B��A��%�*B��A��h���A��A��A���<"C�Ԥ�*C�O*��RC�<*O;C��C������9�סI��G�D>��e ����e�����e�����e��� �e4 :Y�e�W1y�eč:��ej�5��q ��y i�� �mGI� i� ��] �ƿٺY ��] ��A�I^�j,v�<�E�A�|�|�;Y}6��@�}62��@y}6��9�}6� }��}6H������b��������?���`}r�?��� ��������U�����@��y����@�|"�����4������`_��?)~6��@ ~6�\;I~4ɫy�y)�y �yI�yY��g�@y��UeG���J��M�G=Y���<QU��>�������a��G���L>G���y��Y(<}��>I�����:������4�?���:�����Ѿ� ��L�@�� �?9���cC���4�: ����:)��I�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`GL@�R�B*** querying acoustic contact ***�P��P�BE7)�BA BA�AM�(�*BI�A������A��A��A���<"C�Ӥ�*C G���RC�u�;C�C!���q�Z;I��)��܅��>9܁I܅�`Gi܅��@�܁�܁�܁�܅�; ݅��E)�цI�цi�ц��Ն=��Ն=��ՆXp5�ױI��G��>��j,�u<�E�AY}>���@�}>���@y}>B X;�}>e�H��}>H����@������@E��?�����Ǩ?���������� ������� �]�������k����`������`#��?)~>���@ ~>6�\;I~>��Cɫ���)�� ������I��Y�-n�@y�5^eG��=�F����x�?:��v���?<�O��n����=�k?��=��< �=t��)�9I�9y�=�@5^�I�?�E���Ը�:��v���?��=b0?��=�ƽ��=��< �=;A)�=!AI�=dAi�=^A��9��=zA�Ý�s>�Ý��=�Ýp=�iÝכ@�Ù ĝ�@)ĝ�@IĝE�@iĝ�@��O�:M�0=Y���;QU��>�����a��G����y�?�;}��>I�����:��4�?���q�Ѿ� ����@����?9��dC���a�: ����:)���W��W�X� X��W�:W2W*W�VbU BU *U U U ���`@B���B� B��A��'�*B��A��Ƶ��A��A��AF��<"C%Ҥ�*C-����RC-F+<C)�C1 �U�=��U>��M[R�;��)I�1��Ua����U�����U�����U�� �U$':Y�U�U1y�U��:��U��5Gm�>��j,>?5<�E�AY}6���@�}6Fē@y}6H�;�}6Ԥ��}6H����`�3�����`���?���`E��?����,������#!�����@k�������@|w�����XS��������?)~6���@ ~6l�\;I~6��Cɫ9�9)�9 �E����I�AY���@y���dG����=i���=����Mi=Y�%��;QU%�>��)��)�a-�G��-M>G��1y�=W�;}=�>I�I��u�:��Mp��4�?��u�:��M��Ѿ� �M�@��}�?9�MEdC��MT�; �M��;)�MJ�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@BmdB�Bq Bq�Au2�*Bq�Au�ʶ��Aq�Ay�A}���<"C}դ�*C�x���RC��'<C��C��х2g=��u��<��QI�aG}�>�řj,.O<�E�A�|i|����mA�%��>9�!I�%�_Gi�%��@��!��!��!��%5�; �%��Eɫ���)�� ��I��Y�-X�@y�-CeG5xDUSBL response received:!U1,N,80,80,63,E4 D,186,80,80,72,FF 5ZNo reply:!U1,N,80,80,63,E4 D,186,80,80,72,FF -5<No response from remote modem.�Õ�(?�Õ33>�ÕI�iÕ�@�Ñ ĕ&�@)ĕ&�@Iĕz�@iĕ&�@��2s<M�(=Y����QU��>�����a��G����y����}��>I��������4�?���iҾ� ��i�@����?9���dC�����: ����:)���W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B-���B1 B1�A5�*�*Bq�Aug=���Ay�Ay�A}%�<"C�Ԥ�*C��L��RC��%<C��C���e�����e�����e�����e{�� �eN:Y�e�X1y�e/�:��e��5)�eu;�9m���m ��=��]�h%<��ai�e�?��1I�AG]�>���j,� i<�E�AY}2 ɛ@�}2�֓@y}2:<�}2�^��}2H����������������?����(��?��� ������ �����E������1灿���@��������G��?)~2 ɛ@ ~2�;];I~2��C �`)�b&qAɌb"۽��`�`��`ɍdi�dI�d��dI�di�d �h�h)�h�l �nqA��n�lɎl��l��pI�p)�pi�p)�pI�rqA�v���ɏt �tɐt�vqA��z���i�z�fF��xi�x��~��A)�| �|I�|ɫ���)�� ������I��Y�m�@y�m�dG����ּM�m=Y��<QU�?�������a��G������y��u�;}�?I��� �:��0��4�?���:���Ҿ� ���@���?9��dC��b�: �M�:)�K�:�WQ�WYXY Xa�Wa:Wa2Wi*Wi�VibUiBUi*UqUqUu�����@B�D��B� B��A��3�*B��A����A��A��A���<"C�Ӥ�*C�/(��RC��6I<C��C�������)�� ����] � &<��A I�Q Gu �>��� j,WЂ<�E�AY}2Nқ@�}2��@y}2��<�}2��ϼ�}2H������V������p��?������?���������� E����� �$�����`�~�����`�������`���?)~2Nқ@ ~2'�\;I~2��Cɫ�髙)�� ��I��Y��$�@y��eG����;M�Y=Y�R;QU�>���� �a �G�� N>G�� y� C;}�>I���4��4�?���-Ҿ� ��@��%�?9�eC����: ���:)��WI�WIXI XI�WI:WQ2WY*Wa�VabUiBUy*UyU�U������X@B����B� B��A�21�*B��A S2���A �A�A�*�<"C%Ҥ�*CM�RCMp�V<CI�CI�֍jZX<�!9�!I�%_Gi�%J�@��!��!��!��%S�; �%̏E��qI��G�>��]q����]�����]�����]��� �]k(:Y�]�Y1y�]�:��]��5)�]��;�t�&j,���<�E�A�|<�|<Y}Mfޛ@�}M�@y}M�^"<�}MBʼ�}MH�����%���������?����:@�?���������� �䶿���@i��������K�������B��������?)~Mfޛ@ ~M�=\;I~Iɫ � )� � ����I� Y�E�@y�E|cG����)\���(�?�I+��?/�$��?���GA?���94< ���<)��I��y�����"��~�?�Q��롿�~j�t��?����3?���\������< ��dA)��3AI��i���A�������A��E�=��E�'=��E�D�i�E�@��A �E�@)�E�@I�E�@i�E�@��U{��MU*=Y�UU:QUU�>��Y��Y�a]�G��Y��ay�eI;}e�>I�i��u�:��mB��4�?��}�:��m�@Ҿ� �m3�@��}�?9�mreC��m��: �m:�<)�mL�:�W9�W9XA XA�WA:WA2WA*WA�VIbUIBUI*UIUQUU�����* @�R}B*** querying acoustic contact ***�P��P�B�P��B� B��A��Y�*B��A��ٻ��A��A��A�ԝ�<"C�դ�*C�����RC�^�k<C��C��� h�W<I�)����I��G �>��-j,Ɔ�<�E�AY}:��@�}:���@y}:��.<�}:�w���}:H���� Q�������b��?����]�?�����������j��������������@{ԅ�����=������?)~:��@ ~:[�[;I~8ɫ�髉)�� ������I��Y����@y��?dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=�F=M=L=Y�E�:QUE�>��I��I�aM�G��UO>G��Qy�]�y;}]�>I�a��e���4�?��e�PҾ� �el�@��u�?9�e�eC��e4�: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B�(H�B� B��A�E�*B��A�� ���A��A��A����<"C�Ԥ�*C�����RC��<C��C���U�t<��m�����m�����m�����mB�� �m-:Y�mDW1y�mY�:��m��5�9u@��Q I�� G �>���3j,�a�<�E�A��d��f�<�h9�hI�jD^Gi�j��@��j=��h��h��j��; �j�Ei�t��z�qA)�z�� �xI�x �x)�|ɠ|��|�|��|ɡi����I���I�i� � � )� � � �� ��ɢ�����qAI�)�i�)�I��!ɣ! �!ɤ!�!��)i�)��)ɫ���)�� ������I��Y�5��@y�5@cG=xDUSBL response received:!U1,P 80,80,63,E4 D,186,80,80,72,FF ECommand AckEBRequesting micromodem ping code 2i�A��A�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���b>���什����u�i����� ��)��I��i�����p�M>=Y����QUE�>��I��Q�aU�G��Q��Qy�]���}]�>Iȁ�Ņk��4�?�Ņ�aҾ� ƅ��@����?9ƅ fC�Dž�: ȅ:)ȁ�W��W�X� X��W�:W�2W�*W��V�bUBU*UUU��� ��!@BU��BQ BQ�AU_�*BQ�A]=����AY�Ay�A}��="C�Ӥ�*C��F��RC��x�<C��C��� ��<��� I�� G� ��:j,�D�<�E�A�|i|�@ɫ���)�� ������I��Y�v�@y��bG�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���k��M�w=Y��QU�?�������a��G���P>G���y��}� ?I������:������4�?����:���rnҾ� ��@����?9��DfC�����: ����:)��M�:�W�WX! X!�W!:W!2W!*W!�V)bU�BU�*U�U�U������}"@B��V'�B� B��A��f�*B��APݿ��A�A�A%_��="C-Ҥ�*C-&��RC-�'�<C1�C1��=oM�<��E�?i�E�?��I�)GMt>��]�����]�����]�����]S�� �]s+:Y�]�[1y�]H�:��]k�5���@j,=�E�AY}:U)�@�}:7�@y}:�SJ<�}:�����}:H���� �������@2��?�����?�?���`������`ܑ������t(�����`UJ�������S����� ��?)~:U)�@ ~:N�[;I~:��Cɫ�髙)�� ��I��Y����@y��abG�xDUSBL response received:!U1,R,D90,000,0078B,189,80,80,6F,FF �Fpublishing direction and range info���'g?���ɰ�0>��7�> ��)����BI��y����B����m���$_�?4xrb���?��������ٱ������M%K=Y�5V�;QU=�>��A��I�au�G��q��yy�@�<}��>Iȉ�ō���4�?�ōҾ� ƍ�@����?9ƍ�fC�Ǎb�: ȍ��:)ȉ�W��W�X� X��W�:W�2W*W�VbUBU*U U U ���@�P#@�P*Q��B�Z� )����P@�7�KD@���������Z�m���$_�?4xrb���?��������2Q'g?:Q�Z��BH�A@��]�'�Q����4����Z���O��?;�e4Μ쿈S)dO��BQ��@ Q!��Q7B�P�9?�P{�9?�P���Q���QD�@"QoAB���#�B� B��A��u�*B��A������A��A��A��c="C�դ�*C�d߯�RC�:a�<C��C�����>9��I��]Gi����@���=�����������; ���E������I��G��>�'Gj,7�=�E�AY}}�&�@�}}�4�@y}})�Y<�}}g����}}H������������@/��?�������?����o������쥴������ݍ������7�����������'��?)~}�&�@ ~}=�[;I~yɫi�q)�q �qI�qY��Y�@y���bG�5DNmea in: $SNTTA,,,,,164227.85*57 I�1)�1������ �rh�?B`��"۹�y�&1������CK?����ν ��`�)��I��y���/�$���?�l�����Q��?����<?�����������< �� A)��AI���Ai���A�������A�ý����ý�m=�ý�ƽiý=�@�ù Ĺ)Ľҙ@IĽҙ@iĽҙ@����<M�.=Y���;QU��>�������a��G������y��V1�}��>I������:������4�?����:�����Ҿ� ��^�@����?9���fC���#�: ����:)��N�:�m%uAdded new target pos. range: 78.360001 m, bearing: 296.579135 deg, deltaT: 9.659266 s, approachRate: -0.409969 m/s, LOS rate: 4.029855 deg/s, posRepo size: 4�m5� 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. �W=�ܒ@�W9X9 X9�WA:WA2WA*WA�VAbUIBUI*UIUM���@ �S@UU����Pj�?B}�� �B� B��A��j�*B��A��(ü�A��A��A�g#="C%�B�RC%�\�C%�ܒ@�C)��-��<��eE����e�����e�����eJ�� �e�$:Y�e�Y1y�e�:��e~�5���I��G �>�bNMj,h�7=�E�Aɫ�髹)�� ������I��Y����@y���aGi�E6nGI�Yi�q���������˿ٺ����a�AM�u=Y����QU�?�������a��G���Q>G���y�����}-?I�1��5���4�?��5ӟҾ� �5��@��E�?9�5'gC��5b�: �58�:)�1�We�0�@�WaXa Xi�Wi:Wi2Wi*Wq�VqbUqBUq*UyUyU}��� 1�?B�j�/�B� B��A�,��*B��A��ļ�A��A��A�&�="C��ݿRC��S��C��0�@�C������u<�ׁI��G�=>��7Tj,�Q=�E�A��0��0�6��>9�4I�6P\Gi�6�@��4��4��4��6�; �4)����p�CI����p�Ci��������������=�����H�4ɫ���)�� ������I��Y��۶@y���`G�í��í�=�í���iíQ�@�é ĭ��@)ĭ��@Iĩiĭ��@���~�M�I=Y��QU��>�������a��G������y��}��>I������:���>��4�?����:����Ҿ� ����@����?9��rgC�����: ����:)��O�:�W �җ@�W X X�W:W2W*W�VbUBU*UUU%��� ��?B�nd1�B B �A "��*B �A viƼ�A �A �A6�="C��ԿRCU���C�җ@�C��������I�G=r>��] ����]�����]�����]:�� �];J:Y�]�X1y�]/�:��]�5)�]�;�9e��aZj,��k=�E�AY}J���@�}JN@y}Je�H<�}Jda���}JH���� �B������ ��?����즐?�����������i4������i_������������`�둿���`!��?)~J���@ ~Jq�[;I~J��CɫY�Y)�Y �]����I�YY����@y���`G��=a=i�=p=��m��M�M=Y��*�QU��>�����a��G��R>G��y�u�}��>Iȱ�ŵq��4�?�ŵ?�Ҿ� Ƶ(�@����?9Ƶ�gC�ǵ��: ȵr�:)ȱ�W��}�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�?B��6�B! B!�A%���*B!�A%_.ȼ�A)�A)�A-�=="C5a�ʿRC5�&�C5�}�@�C9�� O�N����I��G�%>� Haj,�_�=�E�AY}6駛@�}6���@y}6]x2<�}6m�f��}6H������������8��?����않?���@m������Ν���������������N�����������@���?)~6駛@ ~6y�[;I~6��CɫY�Y)�Y �]����I�YY����@y���`G��-�u=��-��=��-xi�i�)��) �-��@)�-��@I�-��@i�)��=��;M=@=Y�EnQ�QUE�>��A��A�aM�G��I��Iy�U�n�}U�>I�Y��]E��4�?��]��Ҿ� �]x�@��e�?9�]hC��]U�: �]�:)�Y�W��W�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����n�@B���2�B� B��A����*B��A�� ʼ�A��A��A�D�="C�����RC���n�C��W�@�C���i��i��%�+w���I�GEQ>�i9�iI�m�ZGi�m̱@��m=��i��i��m[�; �mҏE��]B����]�����]�����]`�� �]�$:Y�]DW1y�]Y�:��]4�5)�]��;��vgj,wN�=�E�AY}v��@�}v�Ó@y}vw@<�}v0S/��}vH�����)7�����`���?����5��?��� �������w0�����@"d�������g����� ꅿ����)��?)~v��@ ~v�[;I~tɫ�髱)�� ������I��Y��Z�@y��Z`G���H�z�G�?<�O��n�?J+��?��=J?��t= ��H=)�I�y�����Q��?�MbX9������Mb`?���5?��ʡ���; �)�3AI�3Ai�����GA��%���M%K=Y�-�g�QU-�>��)��)�a5�G��1��1y�5D�;}=�>I�A��M�:��EV��4�?��M�:��Ez�Ҿ� �El�@��M�?9�EXhC��E��: �E��:)�EP�:�Wu �@�WqXq Xq�Wq:Wy2Wy*Wy�VybUyBU�*U�U�U�����_?@B�>Z9�B� B��A�<��*B��A�m̼�A��A��A���="C�2���RC�� ��C� �@�C����벫��יI��G�@>�6�mj,:�=�E�AY}F��@�}FX�@y}F;�<�}F�EȺ�}FH�����sĶ����@���?��� n�H?��� <�����`�ö�����^́����@������� {Y���� ���?)~F��@ ~F=\;I~DɫQ�Y)�Y �]����I�YY����@y��[_GI��)��������M_=Y���QU�>�� �� �a �G�� S>G��y�4~<}�>I������4�?����Ҿ� �`�@��-�?9��hC����: �H�:)��WM�}�@�WIXQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UYUaUe��� �,@�RmB*** querying acoustic contact ***�Pi�PiB���E�B�0.@= B��A�2��*B��A��ͼ�A��A��A��g="C��骿RC�C��}�@�C��օ ǫ���AI�IGe4>���p�������������������� ��:Y��X1y�/�:����5�9�@��Q��U4=�Y9�YI�]�YGi�]*�@��] =��Y��Y��]#�; �]��E��tj,@3�=�E�A�|4<�|Y}%�%�@�}%�3�@y}%���;�}%?+<�}%H����@.������`���?��� ��������������K������ ��{����`�x������g�?����O��?)~%�%�@ ~%%\;I~!ɫ�)�! �%����I�!Y��^�@y��$_G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 758****** ping requested ******�����=������������i����@��� ��~�@)��I��i������Mu=Y�}�ʺQU}�>��y���a��G����y��^<}��>I������:��� ��4�?����:���gӾ� ��K�@����?9��iC�����: ��o�:)��Q�:�Wm �Ǧ@�Wi Xi Xi �Wi :Wi 2Wq *Wq �Vq bUq BUq *Uy Uy U} �����K@B� ��1�B� B� �A� ���*B� �A� �SѼ�A� �A� �A� �y="C� �Ù�RC� C� �Ǧ@�C� �� >��� >�֥ ���Iש )ש �I��G��>�νzj,� �=�E�AY}6s�@�}6���@y}6@�;�}6:��<�}6H�����XU����� }��?���`7&��������������^��������s����`�'{���� 湘?���`n��?)~6s�@ ~6S�[;I~6��CɫY�Y)�Y �]����I�aY����@y��)^G�xDUSBL response received:!U1,P D90,000,0078B,189,80,80,6F,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �� �ͽM�=Y�%���QU-B?��9��A�aM�G��MT>G��y��=}-?I���g��4�?��DӾ� �A�@��-�?9�5iC���: ���:)��W��F�@�W�X X �W :W2W*W�V!bUIBUQ*UQUYUe����0 @Bi�f�B! B)�A-���*B)�A56�Ҽ�A1�A1�A5��="C=aߒ�RC�C��F�@�C��օV����YI��G��>��E�����E�����E�����E�� �E;:Y�E�W1y�Eč:��E��5����j,��>�E�AY}J�ʜ@�}JKؔ@y}J}Ӹ;�}J�$=�}JH�����|4�����`��?����ɱ�������������K������g j�����gw�����w��?����C��?)~J�ʜ@ ~J$�[;I~J��Cɫa�a)�i �iI�iY����@y��W^G�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i���=��%�>��%<��%`e�i�%��@��! �%��@)�%��@I�%��@i�!��=q'<M=9=Y�=e�QU=�>��A��A�aE�G��A��Iy�M!�<}M�>I�Q��]�:��U+��4�?��e�:��U�!Ӿ� �U0�@��e�?9�U�iC��U��: �U��:)�UR�:�W����@�W�X� X �W :W 2W *W�VbUBU*UUU�����,@Be��N�B� B��A�c��*B��A���Լ�A��A��A���="C�1���RC�C����@�C�����>9��I���XGi��6�@���=����������; ����E���ȿ=�ֵ�{U��שI��G��>�:Ӈj,$� >�E�A�|i|�@Y}6�2�@�}6q@�@y}6D�~;�}6��p=�}6H����@��������?��?��� ����� e�������Ǩ������Q����@��o����`u�?�������?)~6�2�@ ~6~[[;I~6��Cɫ1�1)�9 �9I�9Y�u�@y�u�]G}xDUSBL response received:!U1,R,C59,000,00765,188,80,80,CE,FF �Fpublishing direction and range info��}��P?��yɰ}>�}��> �y)�}�NCI�yy�}(�B��}�| ���?�� ��N�?��������ٱy��U�+���?333333���~j�t��?��U�v?��U��� �U��<)�QI�Qy�U�NbX9��?��ʡE������Mb�?��U�%?��U�����U�@= �UA)�U�AI�U�Ai�U3A��Q��UA��u(A�MuF=Y�uz��QUu�>��y��y�a}�G��y��y���<}��>Iȉ�ōS��4�?�ōx0Ӿ� ƍ��@����?9ƍ�iC�Ǎf�: ȍ��:)ȉ�W�Ԫ�@�W�X� X��W!:W!2W!*W!�V)bU)BU)*U)U1U5����4�@�Pa*Qe(�B�Ze�2A�yJ@ٻ/: �K@���������Ze�| ���?�� ��N�?��������2Qe��P?:Qa�Ze�b�W��^J@F�sQ�_K�U�i@�Ze�b����.�?��9������?BQe�T�@ Qe�Z�Qe�RB�Pe/�9?�Pe�9?�Pe����Qe���Qe� A"QeD�@B���Q�B� B��A�V��*B��A�<`�A��A��A�Ws ="C���z�RC�C�Ԫ�@�C��ѽ��B=��}e�}��ׅ�?iׅr?��qI�yG�>��E9 ����E�����E�����Ex�� �E^8:Y�EDW1y�EY�:��EX�5�q��j,��:>�E�AY}v���@�}v4��@y}v�?�:�}v`�=�}vH�����:ʠ�����g��?��� �6�����`�������2͠�������Q?���`��Z�����6�?���@���?)~v���@ ~v�[;I~tɫ �)� �����I�Y�M �@y�M�]G��DNmea in: $SNTTA,,,,,164232.28*54 ��-��M-O=Y�-ʺ�QU5�>��1��1�a5�G��5U>G��9y�=� =}E�>I�I��U�:��M��4�?��U�:��M�>Ӿ� �M6�@��U�?9�MjC��Mw�: �MM�:)�MS�:�m�uAdded new target pos. range: 76.080002 m, bearing: 313.928089 deg, deltaT: 4.457550 s, approachRate: -0.511491 m/s, LOS rate: 3.892038 deg/s, posRepo size: 4�m�� ProNav: pos range: 76.080002 m, bearing: 313.928089 deg, approachRate: -0.511491 m/s, LOS rate: 3.892038 deg/s, cmd update: 11.676113 deg/s, cmd heading: 310.950101 deg, new cmd heading: 315.691145 deg. �W�e>�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����S@U�����8b�?B��pX�B� B��A�D��*B��A�y�ټ�A��A��A� ="C�� g�RC�C�e>�@�C�������)�� ���֥ �����ׁ I�� G� �>��9��I��<WGi���@��� =���������3�; ����E��j,�zT>�E�AY}2uQ�@�}2)_�@y}2�E뺙}2;��=�}2H������.�����@���?��� ��������C������������@�Nj?�����h]?����߅�?��� ���?)~2uQ�@ ~2T�[;I~0ɫ9�9)�9 �=����I�9Y���@y��X]G��u�@>��ut�<��uj<=i�uf�@��q �uh�@)�u��@I�u��@i�u��@���.�M�V=Y�#�QU��>�����a��G����y�8Q=}��>Iȡ�ť��4�?�ť�LӾ� ƥ��@����?9ƥGjC�ǥ��: ȥ��:)ȡ�W�R��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����<H�?B�jIX�B� B��A�Y��*B��A�4�ۼ�A��A��A��� ="C���Q�RC�C�R��@�C��ֽ� ���יI��G�h>������������������� �-:Y��X1y�/�:����5)�z;�9���s�j,.Sn>�E�AY}:B�@�}:��@y}:zJȻ�}:��>�}:H�����N��?���`���?��� �������y��������?������s?����E y?����# �?���@��?)~:B�@ ~:<�[;I~8ɫ9�9)�9 �=����I�AY�}$�@y�}f\GI� >)� %=����mA��U�v�M]M=Y�]�1�QU]�>��a��a�ae�G��eV>G��iy�m�j=}m�>I�q��ux��4�?��u0[Ӿ� �u5�@����?9�u�jC��un�: �u�:)�q�W�3T�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B��2b�B� B��A��Ⱦ*B��A��p�A��A��A��d="C�)r=�RC�C�3T�@�C��� ���� �� � ���� ��������I)i�VnGI�)i�I����ѿٺ������A�I��G��>�]��?9�ea�A�\��j,�2�>�E�AY}v�ϟ@�}v�ݗ@y}v)&7��}v�S>�}vH�������?���`���?������ÿ������������ơ?�����Hx?�����?����`��?���@���?)~v�ϟ@ ~vp�\;I~v��Cɫ���)�� ������I��Y�M�@y�MB\G��1>��-2>���C>i�3�@�� �3�@)�3�@I�3�@i�3�@�� �M>=Y�zA�QU�>��!��!�a%�G��!��)y�-�c=}5�>I�1��=�:��5>��4�?��E�:��5�jӾ� �5ɑ@��E�?9�5�jC��5��: �5��:)�5T�:�We� �@�WiXi Xi�Wi:Wi2Wq*Wq�VqbUqBUq*UyUyU}���@�_�?B��^�B� BA�AMwʾ*BI�AM�8��AI�AI�AM��="CU]%�RCQC]� �@�CY��AI�IGe4>܉9܍q�CI܍VGi܍��@�܉�܉�܉�܍�; ݍ��E)�)�I�)�i�)���-� =��-�=��-�,5��]��������������K�� ��&:Y�0Y1y���:����5)�\�;�[�j,A �>�E�AY}2@�}2���@y}2�����}2�t*>�}2H������?����{�?����|Kſ����������@S�?������z?���`I�?����4�?�������?)~2@ ~2K�^;I~2��Cɫ9�9)�9 �=����I�9Y�}\�@y�}p[G���R=i��a=��m����Mb�?�Q���?�V-����m�@?��m\�= �mh��)�iI�iy�m�)\���(�?bX9�ȶ�:��v���?��mGA?��mE����m�T< �mK)A)�mAI�m^Ai�m�A��i��m�A���\�M�T=Y��c�QU�>�� �� �a �G�� ��y���=}�>I������4�?���{Ӿ� ��@��-�?9�kC��{�: ���:)��WM��@�WQXQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UaUaUe����X��?B��1i�B� B��A�վ*B��A�_���A��A��A���="C����RC�C���@�C���iI�yG� >�/H�j,%�>�E�AY}2�h�@�}2lv�@y}2R����}2�+>�}2H������L�?����oo�?��� qſ�����������Y�?��� ��?�������?����SG�?�������?)~2�h�@ ~2��_;I~0ɫ9�9)�9 �9I�9Y��7�@y��C[G��Uu:�M]N=Y�]�b�QU]�>��a��a�ae�G��eW>G��ay�ms�=}m�>I�q��}�:��u�4�?��}�:��uV�Ӿ� �u�@����?9�uikC��u(�: �u��:)�uU�:�W��;�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`m�@B���n�B� B��A�m*B��A�����A��A��A���="C�}���RC�C��;�@�C��� �?i� �?��II�QGm>�� `���� ����� ����� /�� � ':Y� �^1y� a�:�� ��5�9 @��y��}�<܍��>9܉I܍�TGi܍ �@�܍=�܉�܉�܍��; ݍ��E�0�j,P��>�E�AY}F[=�@�}FK�@y}F��弙}F��%>�}FH�����H�?���`�`�?������Ŀ�����������N��?���@�`�?����#��?�������?���`���?)~F[=�@ ~F�_;I~Dɫy�y)�y �}����I�yY��˱@y���ZG��E9�=��E��=��E��>i�E��@��A �E��@)�E��@I�E�@i�Eۙ@��U�MUK=Y�]qt�QU]�>��Y��Y�ae�G��a��ay�m��=}m�>I�q��u���4�?��u��Ӿ� �uZ�@��}�?9�u�kC��u�: �u�:)�q�W��ݿ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����.@�R�B*** querying acoustic contact ***�P��P�B��p�B� B��A�#*B��A� v��A��A��A��c ="C���;RC�C��ݿ@�C����I��G>��5=i�5=�Z�j,(��>�E�AY}2�@�}2�#�@y}2g� ��}2��!>�}2H�����UO�?����zI�?�����Ŀ��� ɯ����@���?�����ʉ?���`���?���@�!�?������?)~2�@ ~2!�];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�ZG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)������P�M�Q=Y����QU��>�������a��G���X>G��y�}�=}�>I���%�:����4�?��%�:��\�Ӿ� ���@��%�?9�lC���H; �>J;)�V�:�W ��@�W X X �W :W)2W1*W1�V1bU1BU9*U9U9U=������ @B��Sp�B� B��A���*B��A�M���A��A��A�]� ="C�.���RC�C���@�C����I��G�&>�� ���� ����� ����� ��� � �5:Y� [1y� ݏ:�� i�5��E�j,]� ?�E�A�|>�;�|<Y}���@�}� �@y}i�(��}ӌ >�}H���� h��?����v&�?������Ŀ����U�����`lq�?���@��?���@E�?����;��?���@���?)~���@ ~�^;I~��Cɫ���)�� ������I��Y�5�@y�5�YG=xDUSBL response received:!U1,P C59,000,00765,188,80,80,CE,FF =Command Ack=BRequesting micromodem ping code 2i�9��9�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I�}R=)�}4=��=��=��="۽��=`e�i�=z�@��9 �=Q�@)�=h�@I�=Q�@i�=Q�@����M�&=Y�][�QU��>�����a��G�����19�1I�5�TGi�5��@��1��1��1��5��; �5��Ey�]S=}]�>I�a��e���4�?��e��Ӿ� �e1�@��u�?9�enlC��eZ�; �e��;)�a�W�07�@�W�X� X��W�:W�2W�*W��V bUBU*UUU%����i@B�r�f�B���= B��A�,�*B��A�����A��A��A���="C��SD�RC�C�07�@�C�Iס )ס �ׁ I�� G� �>�$l�j,�S#?�E�Aɫ�髙)�� ������I��Y��0�@y���YG��ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����bX9���?���Q�����~j�t�?���Ev?����u� ����<)��I��y����E�����?�I+����~j�t�x?����&?���9�������; ���/A)��;AI���Ai���"A������3A�� �P<Mf=Y����QU�>�����a�G����!y�%���}%?I�)��=�:��-��4�?��=�:��-��Ӿ� �-_�@��=�?9�-�lC��-j�: �-��:)�-W�:�We���@�WaXa Xa�Wa:Wa2Wi*Wi�VibUqBUq*UqUqUu����G @B����B! B!�A%��*B!�A%9���AI�AI�AM~=="CU�j�RCQCU���@�CQ��aI�iG�9>I�5AA)�1��M ����M �����M �����M ��� �M |^:Y�M xZ1y�M q�:��M ��5���j,�1=?�E�AY}2�ǥ@�}2�՝@y}2`�\��}2X�>�}2H����@j��?����I��?���@ݥĿ����/���� ^��?�����?���@��?����2��?����L��?)~2�ǥ@ ~2+(_;I~0ɫY�Y)�Y �]����I�YY���@y���YG�xDUSBL response received:!U1,R,183,000,00744,186,80,80,88,FF �Fpublishing direction and range info����鬾���ɰ�_>鰝��> ��)���CI��y��3�B�����-n@1�?Y�ɣ4տ��������ٱ�����`�M�a=Y����QU��>�������a��G���Y>G���y��>}��>I�����ӈ�4�?����Ӿ� ����@����?9���lC�����: ����:)���W�~=�WX X�W:W!2W!*W!�V!bU!BU)*U)U)U-���� |@�P9*Q=3�B�Z=���r1�zQ@��+�X�8����������Z=��-n@1�?Y�ɣ4տ��������2Q=�鬾:Q9�Z=�0R�=�� ����X�gR������r?�Z=� �q2���;*���|ݼ�?BQ=�(�@ Q=>��Q=o��P=��9?�P=/�9?�P= ���Q=����Q=,�@"Q=� ABM�K��BQ BQ�AUg�*BQ�AUw���AY�AY�A]zZ="Ce����RCaCe�~=�Ca��II�QGm>�!9�!I�!i�!��%=��!��!��%�; �%��E��~�j,�W?�E�A�|i|Y}6>��@�}6�@y}6�@u��}6��>�}6H������7�?������?����ىĿ����y��������?���@�?���`a��?�����<�?��� ��?)~6>��@ ~6~ `;I~4ɫa�a)�a �e����I�iY�}��@y�}rYG� DNmea in: $SNTTA,,,,,164236.75*58 ��)�%�= �%�=�Í�q��Í 0>�Ír�>iÍf�@�É č��@)č��@Ič��@ič��@��%Z��M%6=Y�%?[�QU-�>��)��)�a-�G��1��1y�5v=}=�>I�A��E���4�?��E��Ӿ� �E%�@��M�?9�E(mC��E��: �E��:)�A�m}}Added new target pos. range: 74.100006 m, bearing: 263.489164 deg, deltaT: 4.373302 s, approachRate: -0.452746 m/s, LOS rate: -11.533374 deg/s, posRepo size: 4�m�!ProNav REINIT: LOS rate is -11.533374 deg/s. Setting heading cmd to target bearing of 263.489164deg and heading rate command to 0 deg/s.�W��(�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����f�R@U�����-��?B�v�~�B� B��A��*B��A�ܻ���A��A��A��b="C����RC�C��(�@�C�����K@=����?i���?�I��G�g>��m �����m �����m �����m ��� �m [/:Y�m [1y�m ݏ:��m ��5)�m ��;�9u ��h��j,��p?�E�AY}:̀�@�}:���@y}:߆��}:*�>�}:H������C�?����d�?�����YĿ����ٽ�����յ�?�����?�����ذ?��� ��?���@���?)~:̀�@ ~:��`;I~:��Cɫ9�9)�9 �=����I�9Y�}z�@y�} YG��U`��M]X=Y�]���QU]�>��a��a�ae�G��eZ>G��ay�m�=}m�>I�q��}�:��u���4�?��}�:��uW�Ӿ� �u��@����?9�uhmC��uM�: �uf�:)�uX�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������_�?B��$��B� B��A�3�*B��A�����A��A��A��_="C��U=RC�C�C���y�=�סI��G� >��5�=i�5�=����j,)ϊ?�E�AY}Rue�@�}R)s�@y}R~ߑ��}R�l>�}RH���� ���?����J$�?�����6Ŀ����;z����@Iq�?���@�6�?�����7�?����bQ�?�������?)~Rue�@ ~R��`;I~Pɫq�q)�q �u����I�qY����@y��[YG�í�Լ�í^�>�í�}=ií��@�é ĭ~�@)ĭ�@IĭI�@iĭh�@��Ef<M�C=Y���R�QU��>�������a��G������y��{�=}��>I�����Z��4�?����Ծ� ���@����?9���mC���+�: ����:)���W�WX X�W:W2W*W�VbUBU*U!U!U%���@���?BMڈ��BQ BQ�AU1�*BQ�AU�����AY�AY�A]�C="Ce, i=RCaCa�Ci��q��q)�q �q��9��I��i����������������; ����EI�)�mA���I�GE�>��� � ����� ��� ��� ��� �� C@:Y�� y�� ��� ��5)�� V�;�F��j,9��?�E�A�|�|4<Y}6�R�@�}65`�@y}6C����}6��>�}6H�������?���`p��?���@��Ŀ���@�-����@;�?���@���?���@���?��� w��?����^��?)~6�R�@ ~6��a;I~6��CɫY�Y)�Y �]����I�YY��Ӱ@y���YG����+���?���Q��?{�G�zt?����V?����u< ��ף;)��I��y����t�V�?)\���(���l����?����2?���G�����= µ�,A)µAIµ�AiµQ$A�������A����������H<M�I=Y��[�QU��>�������a��G������y��G�=}��>I������:���]��4�?����:���nԾ� ���@���?9���mC���f�: ����:)��Y�:�W!�W!X! X!�W):W)2W)*W1�V1bU1BU9*U9U9U=���`�_�?Be����Bi Bi�Am���*Bi�Au�����Aq�Aq�Au�="C}�d=*C}���=RCyCy�C��ׁI��G�>i��I��i���� �ɿٺ����A�~��j,�v�?�E�AY}2%L�@�}2�Y�@y}2D����}2^�>�}2H����@Έ�?����~�?������Ŀ����������@R�?�������?����*�?��� �X�?�������?)~2%L�@ ~2�a;I~0ɫI�Q)�Q �U����I�QY���@y���YG��-�V<M-6=Y�5?�QU5�>��1��1�a5�G��=[>G��9y�=K�=}E�>I�I��M���4�?��M�,Ծ� �M/�@��U�?9�MHnC��MX�: �M��:)�I�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�@B�p�w�B�+��< B��A���*B��A�����A��A��A�)� ="C�Ę�<RC�C��C���qI��G��>�� ����� ����� ����� ;�� � �-:Y� �W1y� č:�� G�5�9 @��� ��� �� ��>9�� I�� HUGi�� Z�@��� ��� ��� ��� ��; �� q�E)�]�q�CI�]�q�Ci�Y���]�=��]�=��]�<5�Q��j,Z�?�E�AY}2fT�@�}2b�@y}2�����}2 >�}2H�����'p�?�����?��� ��Ŀ��� Br������/�?���@��?����9�?����u �?�������?)~2fT�@ ~2.Ub;I~2��C �<)�>"qAɌ>&�@��><kF�<��@ɍ@i�@I�@��@I�Di�F�rA �D�D)�D�D �JqA��Jx齉�JaFɎH��H��HI�L)�Li�L)�PI�R qA�R���ɏR�`F �PɐP�T��V���i�T��Ti�T��Z��A)�X �XI�Xɫq�q)�y �yI�yY��d�@y��?ZG��U�=i�UR=���������Q8>�����=i����@��� ����@)����@I����@i����@���=M�b=Y��yH�QU��>�������a��G����� y�}�=}�>I���%�:�����4�?��%�:���:Ծ� �"�@��-�?9��nC����; ���;)�Z�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��@B 0���B B �A ��*B�A)��A�A�A� ="C�r�RCC�C!��aI��G�=>�g��j,�,�?�E�A�|i|ɫ���)�� ������I��Y�=��@y�=vZG��9��=@A)�U�= �U�=��e]e<MeS=Y�e���QUe�>��i��i�am�G��m\>G��qy�u���}}�>I�y��}���4�?��}�IԾ� �}!�@����?9�}�nC��}'�: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�B(���B B�A��*B�A%�g��A!�A!�A%�D ="C5�p��RC1C1�C9��II�QGm>�� ����� ����� ����� [�� � �1:Y� �X1y� /�:�� "�5���j,�@�E�AY}2��@�}2���@y}2_����}2L�>�}2H������r�?��� �)�?����Zſ���@�����@��?����n��?����᪷?����k��?���@���?)~2��@ ~2Kc;I~2��Cɫ�髉)�� ������I��Y��ӱ@y���ZG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�q9�qI�uVGi�u��@��q��q��q��u�; �uc�E�í��=�íA�>�í\>ií��@�é ĭ��@)ĭ�@Iĩiĩ�����<M�=Y���G�QU��>�������a��G������y��- >}��>I������:������4�?����:��� ]Ծ� ����@����?9��+oC�����: ��{�:)��[�:�W �W X X�W:W2W*W�VbUBU*U!U!U%���@;� @BM� u�BI BQ�AU�ݾ*BQ�AU�6��AQ�AQ�AUظ="C]�K9�RCaCa�Ca��u�#'=Iי)םlA��i I�� G� �>�U j,��%@�E�AY}2���@�}2@��@y}2�����}2M�>�}2H������l�?���@5��?���`y ſ����c�����@H��?�������?���@�0�?����IZ�?���@_��?)~2���@ ~2�c;I~2��Ci�<��>�qA)�>�D� �<I�< �@)�@ɠ@��@�@��DɡDi�FS�I�D��DI�J�Ci�H �H�H)�H�L �N qA��L��LɢL��P��R�qAI�P)�Pi�P)�TI�V�qA�TɣT �TɤT�Z��A��Xi�X��Xɫ�髙)�� ��I��Y����@y���ZG�xDUSBL response received:!U1,P 183,000,00744,186,80,80,88,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%��ʡE���?ˡE���������������%�/?��%什 �%���)�!I�!y�%���ʡE��?�z�Gế{�G�z�?��%�?��% ��%�#< �%�*A)�!I�%�Ai�%K)A��!��!��E�><MES=Y�M_��QUM�>��I��Q�aU�G��U]>G��Qy�]0�=}]�>Iȡ�ťf��4�?�ťJjԾ� ƥ9�@����?9ƥjoC�ǥ*�: ȥv�:)ȡ�W�WX X�W:W2Wa*Wa�VibUiBUq*UqUqUu�����0@B}_U~�B� B��A�\۾*B��A�"���A��A��A��A="C��Ԍ�RC�C��C��ѵ���<� I�� G� �>�� ���� ����� ����� y�� � �4:Y� d\1y� ��:�� ��5��2j,Q�?@�E�AY}6jǯ@�}6է@y}6oŽ�}6��>�}6H���� �*�?���`m �?������Ŀ����zq�����Vs�?����M��?������?�������?��� <��?)~6jǯ@ ~6$)c;I~4ɫ�髙)�� ������I��Y��:�@y��G[G��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I���=)���=�½nA�¹���@�<M�y=Y�����QU�?�������a��G�����y���=}?I���V��4�?���tԾ� �ʛ@���?9��oC���: ���:)��W9�W9XA XA�WA:WA2WA*WI�VIbUIBUQ*UQUQUU����XM@B}���B� B��A�2*B��A�~� ��A��A��A���="C�)o��RC�C��C��ϙ�ϙ)С С��I�G=�>��a ��e nA�q 9�q I�u <WGi�u �@��q ��q ��q ��u q�; �u \�E�ej,(�Y@�E�Aɫ���)�� ������I��Y�5v�@y�5�[G=xDUSBL response received:!U1,R,E87,000,0071F,186,80,80,A1,FF EFpublishing direction and range info��=�q�>��9ɰ=W>�9 �9)�=�!CI�9y�=B��=���ؤH�?������?��������ٱ9�å�D;�å�>�å|?>iá�á ġ)ĥ��@Iĥ��@iĥ��@���<M�A=Y����QU��>�����a��G����y����}��>Iȩ����:�ŭ5��4�?����:�ŭ��Ծ� ƭ��@����?9ƭ�oC�ǭ��: ȭ�:)ȭ\�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�P*QB�Z��-�*�Q@0�M97@���������Z���ؤH�?������?��������2Q�q�>:Q�Z���!Z K@�ji!3G�I��+#@�Z��4����?bS � ���і��?BQ�\�@ Q�9�Q8XB�P4�9?�P��9?�P����Q ���Q�rA"Q,�@B5Է}�B9 B9�A=~Ӿ*B9�A=�'��A9�AA�AEg�="C��ARC�C��C���i��?���I��GI>I�5@A)�5@A��E �����E �����E �����E q�� �E q-:Y�E �Y1y�E �:��E ��5)�E �;�9M ���Dj,uts@�E�AY}2e��@�}2ϩ@y}2�3ɽ�}2w�=�}2H��������?�����!�?�����Tÿ����ec���� 3�?�����Џ?�����?���@窽?���@��?)~2e��@ ~2��c;I~2��Cɫ9�9)�9 �=����I�9Y����@y��4\G��u�4=M}^=Y�}t��QU��>�����a��G��^>G��y��*>}��>Iȡ�ť4��4�?�ťz�Ծ� ƥ:�@����?9ƥpC�ǥ�; ȥ;)ȡ�myAdded new target pos. range: 71.880005 m, bearing: 319.358035 deg, deltaT: 4.501535 s, approachRate: -0.493165 m/s, LOS rate: 12.411071 deg/s, posRepo size: 4�m ProNav REINIT: LOS rate is 12.411071 deg/s. Setting heading cmd to target bearing of 319.358035deg and heading rate command to 0 deg/s.�W �\�@�W X X��W�:W�2W�*W��V�bU�BU�*U�U�����R�Q@U�����&�?B c�~�B B�A)˾*B�ALp��A�A�A7="C%��RC!C%�\�@�C)��I�G-->�d,#j,jO�@�E�AY}2`��@�}2ª@y}2s*ɽ�}2#�=�}2H�������?�������?������¿������������?�������?������?�������?���`��?)~2`��@ ~2�!d;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}K\G ����)��> ����m�����mGa=��mZd>i�mQ�@��i �i)�iI�m��@i�m��@��}/�;M}J=Y�}=98QU}�>�����a��G����y�ߖ=}��>Iȑ����:�ŕq��4�?����:�ŕ%�Ծ� ƕ��@����?9ƕ\pC�Ǖ��: ȕ��:)ȕ]�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��?B�K��B B �A �ʾ*B �A �� ��A�A�A� ="C^��RCt�C�C�C!�9�I�hXGi��@����������; �p�E��)I�9GU>��V)j,�*�@�E�AY}2f��@�}2��@y}2]�Ƚ�}27G�=�}2H������a�?������?���@P+ÿ�����D�������?����n�?��� ��?�����?����^��?)~2f��@ ~2�Zd;I~2��CɫY�Y)�Y �YI�YY��I�@y���\G������ʡE��?y�&1����Q���?����?���`� ��\=)��I��y�������K�?i��|?5��y�&1�|?���^?��������`�; ���%A)���AI��Ai������������A����<MB=Y�v�9QU �>�� �� �a�G����y�/�=}�>I�!��%��4�?��%*�Ծ� �%��@��-�?9�%�pC��%��: �%r�:)�!�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYbUYBUY*UaUaUe������?B��,{�B� B��A�Lƾ*B��A�K���A��A��A�0 ="C�*�%�RC�,Q�C��C�I)�סI��G� >��EK ����E�����E�����E��� �E�9:Y�E�[1y�EH�:��E�6�9U@�^>0j,��@�E�AY}2O��@�}2Ĭ@y}2�ǽ�}2���=�}2H������/�?��� �Z�?����;Mÿ���������� m�?������V?��� t�?�����}�?���`Q��?)~2O��@ ~2�cd;I~2��CɫY�Y)�Y �]����I�YY�}�@y�}�]GI��)�����=M[=Y�m�:QU�>��!��!�a%�G��%_>G��)y�-��=}-�>I�1��=�:��5:��4�?��=�:��5��Ծ� �5P�@��E�?9�5�pC��5��: �5��:)�5^�:�Wa�WaXi Xi�Wi:Wi2Wi*Wi�VqbUqBUq*UyUyU}��� o�?B���{�B� B��A����*B��A����A��A��A�� ="C�Ι/�RC�p.}�C��C���I�AG�>�� �� �<� 9� I� �YGi� ذ@�� �� �� �� m�; � Y�E��h6j,���@�E�Aɫy�y)�y �}����I�yY��ܴ@y���^G��u�'���u��>��u��>i�u�@��q �u���)�u�@I�uҙ@i�u�@��[o=M�D=Y����QU��>�����a��G����y����}��>Iȡ�ťl��4�?�ť6�Ծ� ƥ�@����?9ƥqC�ǥ��: ȥǺ:)ȡ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����U��?B ]p�B B�A��*B�A�@��A�A�A% ="C%�5�RC%�T�C!�C!��%������I� G%M>��= ����=�����=�����=��� �=�5:Y�=xZ1y�=q�:��=��5)�=s�;�9E����<j,���@�E�AY}2F�@�}2��@y}2b���}2�?>�}2H�����.��?����#��?���`�1Ŀ���������`r#�?�����k�����`#�?���`ki�?�������?)~2F�@ ~2��d;I~2��CɫY�Y)�Y �]����I�YY��S�@y��_G��U�=M]M=Y�]��;QUe�>��a��a�am�G��m`>G��iy���6>}��>I��������4�?���*�Ծ� ����@����?9��ZqC���ܹ: ��M�:)���W�WX X�W:W 2W *W �V bUBU*UUU��� M'@BE��m�BA BA�AE���*BI�AMGW��AI�AI�AMЧ="CUp�4�*CUk��=RC]gA<CY�CY���e�>����C��uR�v��ׅ�?iׅ�?i��I��i�!��AI�QGm5>��}Tȿٺy��}�AI�1)�5?A�yzCj,�A�E�Aɫy�y)�y �}����I�yY���@y���_G���������=i���=��O�=��S�=���C�i��@�� �&�@)�E�@I��@i�&�@��-qc=M5M=Y�5���QU5�>��9��9�a=�G��9��Ay�E���}E�>I�I��U�:��M}�4�?��U�:��Mj�Ծ� �M@�@��]�?9�M�qC��M��: �M��:)�M_�:�Wy�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�?@�R�B*** querying acoustic contact ***�P��P�B�ok�B� B��A�S��*B��A�L��A��A��A��/="CM �5�*CU%b�=RCU5u�;CQ�CYܱ9ܱIܵ�[Giܵo�@�ܵ=�ܱ�ܱ�ܵ,�; ݵ7�E)�Q�I�Q�i�Q���Q���U�=��U���4�� ��I����I��G )>��]U����]�����]�����]h�� �]�w:Y�]�Y1y�]�:��]�6)�][�;�p�Ij,�y(A�E�A�|i|Y}2X��@�}2 ��@y}2�����}2\c>�}2H����`+��?���`���?�����Ŀ�����Z����`\��?����R�������ɶ?���`M�?���`���?)~2X��@ ~2e�d;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�`G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** �!�!��m�+����?�����M¿{�G�z����mv�>��mn� �m�#�)�iI�iy�m� ףp= �?1�Zd����~j�t�?��mQ?��m"۽��m��< �m�'A)�mfAI�ii�m�'A��i��mzA���9=M�6=Y�*A<QU��>�����a��G����y�9.>}��>I�������4�?�����Ծ� ���@����?9���qC�����: ����:)���W��W�X� X��W�:W2W*W�VbU BU *U U U������ @B= `�B9 B9�A=鏾*BA�AEW��AA�AA�AE��="CM �5�*CMQV�=RCU���=CQ�CQ��emA��enA��]9����I�)GEQ>�|�Pj,<MBA�E�Aɫ�髙)�� ������I��Y��y���xDUSBL response received:!U1,P E87,000,0071F,186,80,80,A1,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 Y����QU%�>��Q��Y�a]�G��ea>G��)y�=���}E�>Iș����:�ŝ�"�4�?����:�ŝ(�Ծ� Ɲޢ@����?9ƝrC�ǝ.< ȝ}<)ȝ`�:�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqbUyBUy*UyUyU�����m� @B���`�B� B��A�*B��A��e��A��A��A��(="C�5�*CTJ�=RC���=C�C ��˺����I��G��>��5�=i�5a=��E����E�����E�����E��� �E�r:Y�E0Y1y�E��:��E��6�9M@�ٱ �ٵ lAܽ ��>9ܹ Iܽ �\Giܽ c�@�ܹ �ܹ �ܹ �ܽ �; ݽ .�E��Vj,�)\A�E�Aɫy�y)�y �}����I�yY����@y��JbG鮽a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����=���\�=�����>i����@��� ���@)���@I��ҙ@i���@����J=M��<Y��QU��>�������a��G������y��}��>I������-�4�?�����Ծ� ����@���?9��UrC�����: ��M�:)���W)�W)X) X)�W1:W12W1*W1�V1bU9BU9*U9U9UE�����@B�F�b�B� B��A�x�*B��A����A��A��A�:�="C��5�*C��A�=RC�C��C �����r��סI��G�A>���\j,\vA�E�A�|�|�;Y}6bj�@�}6x�@y}6v���}6��=�}6H����ଃ�?����`��?����x������`#��������?���@C�����``ݴ?�����?�����?)~6bj�@ ~6�b;I~6��Cɫy�y)�y �}����I��Y��̷@y��!bG�xDUSBL response received:!U1,R,01D,000,006F2,185,80,80,AD,FF �Fpublishing direction and range info���3Qϼ���ɰ��>��+�> ��)���-CI��y��\�B������w`��?�8q陿��������ٱ���mA���� �0�M Y=Y� ��<QU�>�����a�G��b>G��y�%vv>}%�>I�)��5�:��-�:�4�?��5�:��-�վ� �-2�@��5�?9�-�rC��-��: �-�:)�-a�:�WY�WYXY XY�WY:Wa2Wa*Wa�VabUiBUi*UiUiUm����ȑ@�P*Q\�B�Z��NJQ@"��7V�����������Z���w`��?�8q陿��������2Q3Qϼ:Q�Z�d���� K@���GaE���p�K�@�Z� F�-�?���t��0�|6�?BQ*��@ Q +�QnXB�P8�9?�P4�9?�P����Q����QK3A"Q�rAB���\�B� B��A�.|�*B��A����A��A��A�3n="C��5�*C��]�=RC�k>C��C� ���=���>���(�W��I��G�h>��=�����=�����=�����=��� �=�2:Y�=�W1y�=č:��=Y6���cj,ߏA�E�AY}j��@�}j�&�@y}jn����}jj�=�}jH��������?�����h�?��������������������?�����,����� Q�?��� &��?���`���?)~j��@ ~j�<a;I~j��Cɫ���)�� ������I��Y���@y� cG�}TNmea in: $SNTTA,0.076991,,,,164245.62*44 �Y9�YI�]�]Gi�]V�@��]=��Y��Y��]�; �](�E��}94<��}&1>��}ʡ=i�}f�@��y �}E�@)�}E�@I�}E�@i�}E�@���uL=M�1=Y��_�;QU��>�������a��G������y���<=}��>I������J�4�?���> վ� �� �@����?9���rC���÷: ���:)���mEuAdded new target pos. range: 69.180008 m, bearing: 321.681419 deg, deltaT: 4.414539 s, approachRate: -0.611615 m/s, LOS rate: 0.526303 deg/s, posRepo size: 4�mu� ProNav: pos range: 69.180008 m, bearing: 321.681419 deg, approachRate: -0.611615 m/s, LOS rate: 0.526303 deg/s, cmd update: 1.578909 deg/s, cmd heading: 319.358035 deg, new cmd heading: 319.358035 deg. �W}Ʋ@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U����@�KQ@U������&�?B�ST�B� B��A��d�*B��A����A�A�A%"="C-�N2�RC-��>C-Ʋ@�C1��m�� ���yI��G��>I�1)�5@A���ij,���A�E�AY}2���@�}2W��@y}2Έ���}2��=�}2H�����B?�?�������?�����z����� -#�����\�?����/������ ̳?���`W�?����@��?)~2���@ ~2�X`;I~0ɫ9�9)�9 �=����I�AY�}@y�}icG���i��a=��u��V-�?�/�$ѿy�&1��?��uh?��u1�� �u`e=)�qI�qy�u�1�Zd�?k�t���y�&1��?��u"?��u ����u`�< �u�"A)�u;AI�qi�u�"A��q��uA����<MW=Y�9�;QU�>��!��!�a%�G��%c>G��)y�M�<=}M�>I�Q��]�:��U`Y�4�?��e�:��U:վ� �U�@��e�?9�UsC��U��: �U��:)�Ub�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B%�tW�BI BI�AM�Z�*BI�AMX��AI�AQ�AU��="CU#�/�RC]�>C]��@�CY��E��<��I�)GEQ>��=| ����=�����=�����=��� �=�=:Y�=�X1y�=/�:��=�6���pj,Ք�A�E�A�|i|Y}6�*�@�}668�@y}6�t���}6���=�}6H�����Έ�?���@���?���@=O�������������x��?�����������i�?��� %��?����K��?)~6�*�@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9Y��U�@y��dG)�5�= �5>��u�#=MuU=Y�}��;QU}�>�����a��G����y��'=}��>I�����h�4�?���վ� ����@����?9��OsC�����< ���<)���W��z�@�W�X� X��W�:W�2W*W�VbUBU)*U)U)U-����-��?Bu'�P�By By�A}K�*By�A}e��Ay�A��A�a="C���,�RC�� >C��z�@�C��Թ�ԽmA��e� X=��9I�IGeV>�Y 9�Y I�] o_Gi�] ��@��] =��Y ��Y ��] B�; �] C�E��wj,mp�A�E�Aɫ�髙)�� ������I��Y����@y��VdG�Íxi=�Í?�ÍY=iÍ(�@�É č?�@)č�@Ič�@ič�@���<M�H=Y����QU��>�����a��G������y�����}��>I������w�4�?���l(վ� ����@����?9���sC����: ��M�:)���Wϳ@�WX X�W:W2W*W�VbUBU*U!U!U%���`���?B�(�R�B� B��A��B�*B��A�����A��A��A��="C�u*�RC��>C�ϳ@�C���� "�=�סI��G�A>��5�=i�5�=��Ef ����E�����E�����E/�� �E_P:Y�ExZ1y�Eq�:��E�6)�EA�;�9M���/}j,3N�A�E�AY}>>̾@�}>�ٶ@y}>o���}>&��=�}>H��������?���`�?���@G6�������2��������?�����s���������?�������?�������?)~>>̾@ ~>��^;I~>��Cɫy�y)�y �}����I�yY����@y��?dGI�Y)�Y��m��M�J=Y�O�;QU��>�����a��G��d>G��y���I=}��>I������:���,��4�?����:���m1վ� ��w�@����?9���sC���w�: ��M�:)��c�:�W��)�@�W�X� X��W�:W2W*W�VbU BU *U UU���`�&�@B=�KQ�B9 B9�AEE�*BA�AE�8��AA�AA�AE#�="CM�1'�RCU�>CU�)�@�CQ��-]>���I��G (>���j,�&B�E�A�|�|ɫy�y)�y �}����I�yY����@y���eG��)��)����D������<���V>i����@��� ��z�@)��z�@I��\�@i��\�@���-�=M�G=Y�����QU��>�������a��G������y���������>9��I���`Gi����@���=��������D����; ��"�E}�>I���<��4�?���:վ� �W�@��%�?9� tC����: ���:)��WE���@�WAXI XI�WI:WI2WI*WQ�VQbUQBUQ*UYUYU]����5u@B�V�G�B� B��A�O#�*B��A�����A��A��A�Cx="C��F$�RC��D>C����@�C� խ>�ԭ�=�֥,�>�סI��G=r>��=�����=�����=�����=��� �=�g:Y�=�[1y�=H�:��=i6)�=p�;��B�j,B +B�E�AY}6���@�}6m��@y}6C(���}6E=�}6H�����`��?����_6�?�����㵿�����G����@���?����6ya�����%!�?�������?�������?)~6���@ ~6[�];I~4ɫ1�9)�9 �=����I�9Y����@y���eG��������}���C�l�?)\���(������Mb����}d?��}G� �}�)�yI�yy�}�%��C��?/�$������Q��?��}Z$?��}����}�u< �}A)�}�AI�}fAi�}�!A��y��}zA����;M�N=Y�c�;QU��>�����a��G��e>G��y� ��}��>Iȹ����:�Ž���4�?����:�Ž�Cվ� ƽ�@����?9ƽNtC�ǽw�: Ƚ��:)Ƚd�:�W��ߴ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU����%�@�R�B*** querying acoustic contact ***�P��P�B�I�G�B� B��A�� �*B��A��I��A��A��A�C,="C���!�RC�Y�>C��ߴ@�C�����>���I��Gn>I�))�)i���mGI��i� ��- �Ͽٺ) ��- ��A��(�j,��DB�E�AY}:�f�@�}:Lt�@y}:�叽�}:�X�<�}:H����@���?������?���`2U�������������(��?���`H�?�������?����D�?�������?)~:�f�@ ~:��];I~8ɫ9�9)�9 �=����I�9Y�}��@y���eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=��D[�M�J=Y��y�:QU��>������a�G����!y�%S��}-�>I�Q��U��4�?��U�Mվ� �U֪@��]�?9�U�tC��Uw�: �Ub�:)�Q�W��?�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`� @B�,H�B! B!�A%�!�*B!�Ae'���Ai�Ai�Am<�="Cu�RCu<��=Cu�?�@�Cy��e�~>��9I�IGeV>��=9 ����=�����=�����= �� �=^8:Y�=xZ1y�=q�:��=�6�9E@��9��I���aGi����@���=�����������; ���E)ݑ�Iݑ�iݑ��ݕ�=�ݕ�=�ݕ���4��R�j,(�^B�E�A�|i|ɫy�y)�y �}����I�yY��f�@y���fG�xDUSBL response received:!U1,P 01D,000,006F2,185,80,80,AD,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 )��= ��=����̼����u<�����i����@��� ��)��\�@I��i����Eb[=ME3=Y�}���QU}�>�����a��G����y�����}��>I����-�:������4�?��-�:����Xվ� ����@��-�?9���tC���G'< ���%<)��e�:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����P� @Bm��?�Bi Bi�Am��*Bi�AueW��Aq�A��A�5�="C��2�RC�:#�=C����@�C���9��9��- �>�� I�! GE �>�g~�j,ИxB�E�AY}J�x�@�}JL��@y}Jmk���}JgV'��}JH����@>(�?����mg�?����?��������M�����E%�?���@ ��?����艱?�����ܤ��������?)~J�x�@ ~J��^;I~Hɫ�髑)�� ������I��Y����@y���fG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����<M�e=Y����;QU��>�������a��G���f>G���y����}�?I�����=��4�?���aվ� ��[�@����?9��uC�����: ���:)���W��@�WX X�W:W2W*W!�V!bU!BU!*U)U)U-�����+@BUV�D�BY BY�A]{��*BY�A]���AY�Aa�Ae�N="Cm���RCm4��=Cm��@�Cq��e�>>��!I�)GM1>��1i�5a=��m�����m�����m�����m�� �m�.:Y�m�Y1y�m�:��mF6��d�j,n�B�E�AY}2^ռ@�}2�@y}2_���}2哎��}2H�����:��?���`���?����!�����������������?�����y�?�����(�?�����ı����`���?)~2^ռ@ ~2y`;I~0ɫ9�9)�9 �=����I�9Y�}��@y�}AgG�xDUSBL response received:!U1,R,FF4,000,006C6,183,80,80,A8,FF �Fpublishing direction and range info�����+<���ɰ�>鰅$�> ��)���(CI��y���B����3���?�z�;r�?��������ٱ�I��)�����=���>����i���@�� ��@)�I�i���-D�<M-U=Y�-�~;QU-�>��1��1�a5�G��1��9y�=�T�}E�>I�A��EV��4�?��E�jվ� �E$�@��U�?9�EVuC��E��: �EE�:)�A�W}I�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U����@ �@�9�I��bGi�w�@��=��������; ���E�Py*Q}�B�Z}��9_�S�P@�2�L�?���������Z}�3���?�z�;r�?��������2Q}��+<:Qy�Z}�@� �K@߆/9�IC�"���$�@�Z}�J �����?ìc�X��Oǟq���?BQ}�8�@ Q}N�Q}%XB�P}>�9?�P}8�9?�P}����Q}����Q}�$A"Q}K3AB���=�B� B��A����*B��A�`��A��A��A��="C 86�RC �E=C I�@�C���O)�=���I�G]T>�)��j,�I�B�E�A�|�|ɫy�y)�y �}����I�yY��A�@y���gG�%dNmea in: $SNTTA,0.052016,0.367371,,,164250.06*5B �����ʡE���?<�O��n��L7�A`�?����/?���t�� ��+=)��I��y����������?��~j�t��/�$��?���� ?���������< 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. �WR��@�W)X) X)�W):W)2W)*W1�V1bU1BU1*U9U=������P@U=�����s�?B�,*;�B� B��A�:۽*B��A�o��A��A��A�-�="C�Et�RC�t=C�R��@�C� ���=����=���u �=����?i��~?�ױI��G��>��=! ����=�����=�����=.�� �=t6:Y�=WU1y�=�:��=�6��v�j,�$�B�E�AY}:{�@�}:���@y}:<s���}:� ���}:H���� ��?�������?�����-�?����]�����`k��?����c�?�����K�?��� �����������?)~:{�@ ~:Wa;I~:��Cɫ9�9)�9 �=����I�9Y����@y���gG����;���#>��<i�3�@�� �9�@)���@I���@i���@���<MG=Y��<QU�>��!��!�a%�G��!��!y�-;۽}-�>I�1��5� �4�?��5�}վ� �5�@��E�?9�5�uC��5 �: �5{�:)�1�We�*�@�WaXa Xa�Wi:Wi2W�*W��V�bU�BU�*U�U�U����`u�?B�:�B B�A�ʽ*B�A-[���A)�A)�A-D~="C5**�RC5�/�C5�*�@�C9�� ��=���I��GI>�� �<�� � 9� I� �dGi� ��@�� �� �� �� ��; � �E�5��j,X��B�E�AY}2|�@�}21�@y}2[z��}27��}2H���� ���?���@�l�?����ge�?���@+^����@tD�?����S��?�����=�?���������������?)~2|�@ ~2��a;I~0ɫ9�9)�9 �=����I�9Y�}��@y�} hG���a=i��R=��B�;M\=Y���;QU�>��!��!�a%�G��!��)y�-�N�}-�>Iȉ����:�ō��4�?����:�ō�վ� ƍ��@����?9ƍvC�Ǎ|�: ȍg�:)ȍg�:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����[�?B��:�B B�AŽ*B �A K ��A �A �A N="C���RC�<�C���@�C��MJ�c=��I�G-->��E� ����E�����E�����EU�� �E�@:Y�E]1y�E�:��E�6)�E��;�9M���˽j,���B�E�A�|i|Y}:WV�@�}:d�@y}:бm��}:v���}:H�����-B�?���`���?����?�?����Z���������?������?���@���?����|����� K��?)~:WV�@ ~:�Jb;I~:��CɫY�Y)�Y �YI�YY�}Ƽ@y�}AhG���0^<M�L=Y����;QU��>�����a�G��h>G�� y� �-�} �>I���C'�4�?��`�վ� �s�@��%�?9�WvC����: �+�:)��WE1��@�WAXI XI�WI:WI2WI*WQ�VQbUQBUQ*UYUYU]����tF�?B���8�B� B��A�湽*B��A�/T��A��A��A��#="CL��RC�|f�C1��@�C����=I��)�����I��G�$>� ��j,�C�E�AY}:-�@�}:���@y}:ZH_��}:� ��}:H���� A��?����/�?������?����4�������?����O{�?������?���@�-�����`���?)~:-�@ ~:��a;I~:��Cɫ�髉)�� ������I��Y����@y��IiG��mY���mt>��m`�i�m�@��i �mƣ@)�m��@I�m��@i�m��@��}=M}B=Y��<QU��>�����a��G����y�]��}��>Iș����:�ŝ 7�4�?����:�ŝ��վ� ƝB�@����?9Ɲ�vC�ǝ��: ȝI�:)ȝh�:ܽ��>9ܹIܽ�eGiܽ��@�ܽ=�ܹ�ܹ�ܽ\�; ݽˎE�Wm�l�@�WiXi Xi�Wi:Wq2Wq*Wq�VqbUyBUy*UyUyU}�����+�@B���/�B B�A5��*B�A-o���A)�A)�A-�="C=��RCEVi��CE�l�@�Cq����ױI��G��>��== ����=�����=�����=�� �=M:Y�=d\1y�=��:��=6)�=n�;�(��j,�-C�E�Aɫ�髉)�� ������I��Y��N�@y��#jGI�))�)����Zd;�O��?y�&1������S㥫?���j<?���`� ��/]=)��I��y���!�rh���?��~j�t���������?���l'?�������L= ��� A)��&%AI��;Ai���A���������`8=M�)=Y�����QU��>�������a��G���i>G���y����}��>I�����K�4�?�����վ� ����@����?9���vC���U; ���.;)���W-���@�W)X) X1�W1:W12W1*W1�V1bU9BUy*UyUyU������/@�R�B*** querying acoustic contact ***�P��P�B���)�B� B��A��/�*B��A�����A��A��A�C�="C����RC�C����@�C����W�<���I��G��>�\��j,�qGC�E�A�|(�|*4<Y}JW��@�}J��@y}J�vD��}J����}JH��������?����[o�?��� CZ�?�����k�����cy�?���@�?���@j��?����f������Q��?)~JW��@ ~J5�`;I~H �P)�VqAɌV�T�X��9ɍAi�AI�I��II�Yi�Y �a�a)�a�q ��qA���������Ɏ�������I��)��i��)�I�qA�ɏ �ɐ��pA����i��fF��i�!��%��A)�! �!I�!ɫ���)�� ������I��Y����@y���jGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******��emA��emA�ýY=�ý�̼�ý���iý�@�ù Ľ��@)Ľ��@IĽ��@iĽ��@���M=M�]=Y��k�<QU��>�������a��G������y����}�?I������:����Y�4�?����:���S�վ� ����@����?9��-wC����: ����:)��i�:�W=tY�@�WAXA XA�WA:WA2WA*WI�VIbUIBUI*UQUQUU���@�@B��(�B� B��A����*B��A�����A��A��A�Ӭ="C�ff��RC����C�tY�@�C������������?i���?�ױI��G��>��=� ����=�����=�����=��� �=EV:Y�=xZ1y�=q�:��= 6�9E@����>9��I���fGi����@��������������; ���E���j,GaC�E�AY}2{t�@�}20��@y}2tN6��}2�9ѽ�}2H�����T��?���@�z�?���`�B�?��� Wv����`�~�?�������?�����Ǧ?�����������7��?)~2{t�@ ~2�_;I~0ɫ�髩)�� ������I��Y���@y��kG�xDUSBL response received:!U1,P FF4,000,006C6,183,80,80,A8,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 ���x�<M;=Y��;QU�>��I��Q�a]�G��Y���y���Z�}��>I�i��m7k�4�?��m*�վ� �m�@����?9�mywC��m��; �mU�;)�i�WE�ع@�WAXA XA�WA:WI2WI*WI�VIbUIBUQ*UQUyU}���`� @B�K $�B� B��A�;��*B��A�j���A��A��A�*�="C��n�RC��H��C��ع@�C�I�1)�1����؎���� I�� G �>���j,W%{C�E�AY}bғ�@�}b���@y}b����}b>˓��}bH����� ��?�����f�?�����֔?�����`��������?�����"�?����u9�?��� �q���������?)~bғ�@ ~b�^;I~b��C��t��v�Ci�I��I)�M�� �II�Q �Q)�Qi�]�lGɠU���Y�Y��aɡe�pAi�e��I�e�gF��aI�ii�m�qA �i�i)�i�i �q��q��qɢq��yI����yI��)��i��i��)��I�����ɿٺ����ϼA��ɣ� ��ɤ�ٔC�����i�����ɫ���)�� ������I��Y����@y���jG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ii�m�=���M�`=Y���<QU��>�����a��G��j>G��y��F<<}�?I������:����w�4�?����:�����վ� ����@����?9���wC�����: ��I�:)��j�:�W=�*�@�W9X9 X9�W9:WA2WA*WA�VabU�BU�*U�U�U����@M_ @B�_&�B� B��A�r��*B��A�����A��A��A���="C�JN�RC�u�C��*�@�C���ஜ����I�G�>��=�����=�����=�����=�� �=h,:Y�=�X1y�=/�:��=�6�H�j,G�C�E�A�|i|Y}R�ɹ@�}R�ױ@y}Rh���}R$K��}RH�������?�����?�?����}}?����9���� ���?�������?����I��?����]�����@��?)~R�ɹ@ ~R3D^;I~R��Cɫ�)� �����I�Y�Ul�@y�U�kG]xDUSBL response received:!U1,R,F78,000,0069D,187,80,80,A3,FF ]Fpublishing direction and range info��]��=��Yɰ]� >�]1�> �Y)�]�#CI�Yy�](�B��]�K��_��?�E���O�?��������ٱY�}��>9�yI�}@gGi�}��@��}=��y��y��}��; �}�E)��I��i�����=����=���� �4)å�= å�=�õC�=�õG��õ94�iõ��@�ñ ĵ�@)ĵ��@Iĵ��@iĵ��@���=M-E=Y�=�;QU=�>��Q��Q�a]�G��Y��y�z<}��>I�����ň�4�?�����վ� ��ƶ@��E�?9���wC���_< ��<)���W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU�����~@�P*Q(�B�Z�=�j��O@�6glY@���������Z�K��_��?�E���O�?��������2Q��=:Q�Z���/�"NJ@6ٌ0EB�� �#���?�Z�&Vu*�E�?�!v=*?�ҽ�����?BQ���@ Q(�QqRB�P?�9?�P>�9?�PQ����Qi�@"Q�$AB��$!�B� B��A���*B��A�����A��A��A�4�="C���RC�� �C����@�C��������ֵS�Ľ��iI�yG��>�\-�j,i�C�E�AY}b� �@�}ba�@y}bi��}b�mۼ�}bH�����a�?������?����A�y���� � �������?����-�?��� A�?����Wi���������?)~b� �@ ~b��];I~b��Cɫ���)� �����I�Y�5��@y�5"lG��DNmea in: $SNTTA,,,,,164254.17*58 ��-�w��/��?T㥛� пX9��v��?��-�F?��-�� �-��<)�)I�)y�-�)\���(�?�~j�t�x�y�&1�|?��-G!?��-�Ļ��-`�; �- A)�-XAI�-fAi�-�A��)��-�A��UO=MUE=Y�]��;QU]�>��a��a�am�G��mk>G��qy�uԟ<}u�>Iȁ�Ņ^��4�?�Ņ �վ� ƅ�@����?9ƅ7xC�Dž� ; ȅ� ;)ȁ�m�uAdded new target pos. range: 64.080009 m, bearing: 325.219184 deg, deltaT: 4.125498 s, approachRate: -0.596291 m/s, LOS rate: 0.179951 deg/s, posRepo size: 4�m}� ProNav: pos range: 64.080009 m, 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. �W}Uº@�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�����P@U���� $��?B����B B�A���*B�A�A�A�A ��="C �m�*C��=RCs��CUº@�CQ��UI���I���=�����=�����=�����=��� �=�,:Y�=�Y1y�=�:��=�6GU�>�+�j,��C�E�AY}=�_�@�}=Im�@y}=��}=G���}=H����@�O�?������?��� :�������������SR�?��� ��?��� B�?���`3�`�����r��?)~=�_�@ ~=7�];I~9ɫ1�1)�1 �9I�9Y�u,�@y�uolGI��)����uz4?��u/?��u�'�i�u�@��q �u��@)�u��@I�u��@i�u��@�� �<M�Y=Y���;QU��>�����a��G����y���<}��>Iȡ����:�ťU��4�?����:�ť��վ� ƥl�@����?9ƥtxC�ǥ��: ȥ��:)ȥk�:�W��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?BB B�A*B�A�A�A�A,�="C%� �RC-���C-�@�C)��������I��Gl>��u�<��q�}��>9�}r�CI�}�gGi�}F�@��} =��y��y��}��; �}�E��A�j,��C�E�A�|(�|(Y}V!Ϻ@�}V�ܲ@y}VDZ⼙}Vӱ�<�}VH����`'��?�����p�?�����0������t�����;��?������A?����KU�?�����Ӗ?�������?)~V!Ϻ@ ~V�]];I~V��Cɫ�髑)�� ��I��Y�U�@y��lG���W<M�Y=Y��;QU��>�����a��G����y��=}��>I��������4�?���k�վ� ����@����?9���xC�����: ����:)���W���@�W�X� X��W�:W�2W�*W�VbUBU *U U U ����p��?B5���B9 B9�A=�9*B9�A=B���AA�AA�AEX="CMJ��*CM9��=RCM��ݽCM��@�CQ �e>��e�=�ֵ�����?i�?�בI��G�d>��E� ����E�����E�����E#�� �E�B:Y�E[1y�Eݏ:��E}6)�E��;�9M���g�j,k�C�E�AY}2�U�@�}2>c�@y}2��Ӽ�}2E�3=�}2H����`���?������?�����_������E�����T��?���`�l�����@Vw�?����dr�?���@b��?)~2�U�@ ~2�b];I~2��Cɫ9�9)�9 �=����I�9Y�}B�@y�}�lG�����MU=Y���;QU�>��!��!�a%�G��%l>G��)y�-/=}-�>Iȁ����:�Ņ���4�?����:�ŅK�վ� ƅ�@����?9ƅ�xC�DžZ�: ȅ��:)ȅl�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`#�?B�B��B� B��A����*B��A�A�A�AH6="C �T߾RC ��C ��@�C��M��潹�I�G-->�+Pj,�HD�E�AY}J�@�}JD��@y}JUȼ�}J8��=�}JH����@PC�?���@g��?���@�⭿����5�������?�?����B ������G�?���`�Q�?���`���?)~J�@ ~J�v];I~J��Cɫ�髹)�� ������I��Y��F�@y���lG���>9�I�i���=������J�; �ÎEI�U�A)�U�A��]=i�]%=�ÝТ>�Ý^�=�Ý��iÝ��@�Ù ĝ��@)ĝ��@Iĝ��@iĝ��@���r�:M�1=Y��I;QU��>������a �G�� ��y�->=}5�>I��������4�?�����վ� ��X�@����?9��=yC���Ȳ; ��F�;)���W]v@�@�WaXa Xa�Wa:Wa2Wa*Wi�VibUiBUi*UqUqUu��� ��?B�B� B��A�*B��A��A��A��A�r="C�N�ܾ*C�p�=RC�5ýC�v@�@�C��� zI�)���Mu ����M�����M�����M��� �M'=:Y�M�X1y�M/�:��M6)�M��;���I��G- �>�lyj,q 0D�E�A�|i|Y}2qo�@�}2&}�@y}2�H���}2�ߟ=�}2H���� Ú�?������?����0�������.�����d��?�����⨿����v��?����m��?���@���?)~2qo�@ ~2b�];I~2��Cɫ9�9)�9 �=����I�9Y����@y��smG����/�$���?y�&1���:��v���?����<?���`� ����<)��I��y����I+��?/�$���/�$��?���94?���������< ���A)���AI���Ai���A�������A)��> ���=���:w=M�Z=Y���h;QU��>�������a��G���m>G��y��C=}�>I� ����:�� ���4�?����:�� g־� � ��@����?9� |yC�� #�: � w�:)� m�:�W��[�@�W X X �W :W2W*W�VbUBU*U!U!UM������@B�}��B� B��A�<*B��A�����A��A��A���="C��>۾*C�aư=RC�a��C�[�@�C �����ʽ�I��G�g>��dj,� JD�E�AY} ��@�} 9�@y} !ƶ��} ���=�} H�������?����?��?�����������@1������k��?������������Gؖ?����L�?�������?)~ ��@ ~ V�];I~ ��Cɫ���)�� ������I��Y�-��@y�-emG�Õʡ=�ÕV>�Õ`�=iÑ�Ñ đ)đIđiđ��#a�M�O=Y��;QU��>�����a��G����y��==}��>I��������4�?���־� ���@����?9���yC���A�: ��8�:)���W��x�@�W�X� X��W�:W�2W�*W��V�bUBU*UUU ��� -�@�RB*** querying acoustic contact ***�P�PB5��B9 B9�A=��<*B9�A=����A9�AA�AE��="CMbqپ*CMo|�=RCMeM��CM�x�@�CQ��]Kk½��1I�AG]U>�� �� mA�9�I�i���������{�; �ݎE��-�=i�-p=��=� ����=�����=�����=��� �=�B:Y�=[1y�=ݏ:��=46)�=��;�c�j,��cD�E�AY}2ʛ�@�}2��@y}2tC���}2��=�}2H������J�?��� z�?���@�2�����`�:����@�7�?�������� ��?����a�?�������?)~2ʛ�@ ~2��];I~0ɫY�Y)�Y �YI�YY����@y��\mG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I���A)���A�� X�M U=Y��;QU�>�����a�G����!y�%�C=}-�>I�1��5 �4�?��5N־� �5f�@��E�?9�5 zC��5��: �5��:)�1�W��@�WX X �W :W 2W *W1�V1bU1BU1*U1U9U=����� @B��u�B� B��A�S�<*B��A�����A��A��A�="C��|*C�W+�=RC��+w�C���@�C��֥����I��G�>>���j,�}D�E�A�|�|Y}J�1�@�}Jy?�@y}J�9���}Js��=�}JH���� מ�?�������?����R[�����@���������?�������������F�?��� [Ƹ?�������?)~J�1�@ ~J*�];I~J��Cɫq�q)�q �}����I�yY����@y�� mG������AA�xDUSBL response received:!U1,P F78,000,0069D,187,80,80,A3,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 ����nA��5���M=G=Y�Mh�QUU�>��a��i�au�G��un>G��y�'3=}��>I�1��=�:��5��4�?��=�:��5�(־� �5˹@��=�?9�5YzC��5��: �5G ;)�5n�:�W ��@�W!Xa Xi�Wi:Wi2Wq*Wy�VybU�BU�*U�U�U�����9�@Bm[��Bq Bq�A=V1<*BA�AM���AQ�A��A�A="C��\վ*C��Я=RC�� J�C ��@�C!��=s ����=�����=�����=}�� �=hQ:Y�=xZ1y�=q�:��= 6�9E@��e ������9 I�I Ge �>���%j,ꑗD�E�AY}2nƾ@�}2#Զ@y}2 ���}2�L�=�}2H�����"��?����<�?�����p������)B����@��?�����v�����``�?����9}�?����S��?)~2nƾ@ ~2[N^;I~2��Cɫ9�9)�9 �=����I�9Y�uF�@y�}�mG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �9�q�CI�@gGi���@�� =��������; ��E��u�ļ��u����uY�i�u�@��q �q)�uΣ@I�qi�q��b"=M�+=Y�2R�QU��>�����a��G����y��=}��>Iȹ�Ž�4�4�?�Ž:4־� ƽ3�@����?9ƽ�zC�ǽV�; Ƚ�:)ȹ�W-�ۻ@�W)X1 X1�W1:W12W1*W1�V9bU9BU9*UYUaUe�����@B�~M�B� B��A�2�<*B��A�����A��A��A�u="C�`?Ӿ*C����=RC�Mc�C��ۻ@�C�������ױI��G��>I�))�-?A���+j,Di�D�E�AY}J{O�@�}J0]�@y}J����}J���=�}JH�����9�?�������?���@)㱿���`.������u"�?����!g�������R�?��� ��?���`���?)~J{O�@ ~JS^;I~J��Cɫ�髹)�� ������I��Y��!�@y���mG�xDUSBL response received:!U1,R,060,000,0066B,186,80,80,AE,FF Fpublishing direction and range info����������ɰ��>����> ��)���.CI��y��QtB����I -�D��?��=�k����������ٱ���a=i�����㥛� ��?{�G�z�����Q�������5?����#� �����)��I��y�����~j�t�?{�G�z�����Mb�?����?����#�����@= �A)� AI�Ai�A�������A���D�M�Y=Y��9QU��>������a��G���o>G���y���4=}��>I����-�:����D�4�?��-�:����;־� ���@��5�?9���zC�����; ��r�;)��o�:�WuD��@�WyXy Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U�����}�@�P�*Q�QtB�Z��k��nN@;�3�q����������Z��I -�D��?��=�k����������2Q�����:Q��Z����f��H@E��(=&B��X��vt�?�Z���X͉��?�Sw�[� �:��?BQ�#��@ Q�1�Q�wDB�P�;�9?�P�?�9?�P�����Q�Q���@"Q�i�@B-_9�B1 B1�AE+�<*BA�AEg���AA�AA�AMJ�="CMjiѾ*CU�X�=RCU(X�CUD��@�CQi��lGI�1i�I��}"ҿٺy��}T�A��u�8R���=, ����=�����=�����9 �=�K:Y�=�W1y�=č:��9��II�YGu�>�ڵ2j,9^�D�E�A�|8i|:�@Y}~-Ŀ@�}~�ѷ@y}~����}~1��=�}~H������u�?����9J�?���@m+�����@yj����`�`�?����汿�����O�?���`�*�?��� v��?)~~-Ŀ@ ~~�A^;I~~��Cɫ���)�� ������I��Y�-��@y�-�lG��TNmea in: $SNTTA,0.057024,,,,164258.54*49 )í�= í�=���<�����������<i����@��� ����@)����@I����@i����@����7�MU=Y��7QU �>�� �� �a �G�� ��y��=}�>I���sT�4�?��AC־� ���@��-�?9�!{C��w�: ���:)��m]yAdded new target pos. range: 61.080002 m, bearing: 323.534668 deg, deltaT: 4.399865 s, approachRate: -0.681841 m/s, LOS rate: -0.382856 deg/s, posRepo size: 4�m � ProNav: pos range: 61.080002 m, bearing: 323.534668 deg, approachRate: -0.681841 m/s, LOS rate: -0.382856 deg/s, cmd update: -1.148569 deg/s, cmd heading: 336.565592 deg, new cmd heading: 336.764120 deg. �W �@�W X X �W:W2W*W�VbUBU9*U9UE����=�N@UE����<��?B�0�B� B��A��<*B��A�ݏ��A��A��A���="C��/վRC����C��@�C��������בI��G�a>��9��I��i�����=�����������; ����E)�E�r�CI�E�r�Ci�A���E� =��E� =��E���5��8j,�$�D�E�AY}J#�@�}J�0�@y}J8과�}J�=�}JH���� ߥ�?����P��?����oc����� �����@-��?����J�������|�?���@�?���`��?)~J#�@ ~J�^;I~Hɫ�髙)�� ������I��Y��k�@y���lG���Q�M�R=Y�c�QU��>�����a��G����y���<}��>Iȩ����:�ŭ�d�4�?����:�ŭ�J־� ƭC�@����?9ƭ^{C�ǭs�: ȭ^�:)ȭp�:�W�}�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����n�?B�͟�B� B��A��M;*B��A�c���A��A��A�&="C�,پRC�$h�;C�}�@�C����G꼹ױI��G�g>��-�=i�-�=��=�����=�����=�����=J�� �=�o:Y�=0Y1y�=��:��='6��?j,���D�E�AY}:�q�@�}:t�@y}:Ai���}:��=�}:H��������?���@�t�?����=��������߿��� *��?���������`�L�?�����?���@���?)~:�q�@ ~:��];I~:��Cɫ9�9)�9 �=����I�9Y�}g�@y�}�lGI��)����E���MEP=Y�M �QUM�>��I��I�aU�G��Up>G��Qy�]��<}]�>I�a��e�u�4�?��eDR־� �e��@��m�?9�e�{C��e��: �eU�:)�a�W�<�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������K�?B���B� B��A�0;*B��A�I���A��A��A�|@="C��5ݾRC�G0�<C�<�@�C����}U������?i���?���I��G5->��Ej,v�E�E�A�| �|"�;Y}Nl��@�}N!��@y}N��Ǽ�}NF�=�}NH��������?����s�?��� �K�����`�I߿����g��?�����䪿����wߘ?���@��?����@��?)~Nl��@ ~N��];I~N��Cɫ�髑)�� ������I��ܵ��>9ܱIܱiܱ�ܵ =�ܱ�ܱ�ܵ��; ݵ�EY����@y��mG���nA���mA���$>���$������i�G�@�� �)�I�i�z�@��E�{<ME.=Y�M/V�QUM�>��I��I�aU�G��Q��Qy�]�h<}]�>I�a��m�:��eΉ�4�?��m�:��e[־� �e@��m�?9�e�{C��e��: �ek�:)�eq�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��?B-T��B1 B1�A5�"<*B1�A5?���A9�A9�A=>x="Ce��RCe<=Ce��@�Ca��m�ϩ;��=� ����=�����=�����=�� �=:W:Y�=[1y�=ݏ:��=� 6)�=.�;�9E���II�QGu�>��Lj,��2E�E�AY}2���@�}2��@y}2=�μ�}2_�=�}2H����@���?������?���@�@������������_��?�����������@�ޙ?�����|�?����_��?)~2���@ ~2�];I~2��CɫY�Y)�Y �]����I�YY��;�@y���mG����ˡE����?���Q���/�$�������'?����u� ����)��I��y����Zd;��?�Q��뱿:��v���?����?���\������T< )IAidA������zA����U=M�f=Y�M,�QUU�>��Q��Y�a]�G��]q>G��ay�e�<}m�>I�q��uϙ�4�?��u�b־� �u(�@����?9�u |C��u; �ue;)�q�W�<��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?Bm���Bq Bq�Au�<*Bq�A}�j��Ay�Ay�A}�="C����RC��/=C�<��@�C��օ��<��YI�iG�Z>I�1)�5@A� �Rj,��LE�E�AY}J��@�}J���@y}J/�Ҽ�}J�YM=�}JH�������?����۬�?����Uߧ���������`� �?���`+������V�?����R��?��� ���?)~J��@ ~JvU];I~J��Cɫq�y)�y �}����I�yY�U��@y�U<mG���4=i���=���,=���+>���x�=i��ף@��� ��9�@)��I��i��Σ@�� ��M 7=Y� �QU�>�����a�G����y�q�;}��>Iȱ�ŵ��4�?�ŵ�k־� Ƶ��@��]�?9Ƶg|C�ǵ�< ȵ7�<)ȱ�W�#d�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��@B�]=�B� B��A�f�<*B��A��Z��A��A��A�h�="C�v��RC���U=C�#d�@�C��ّ�ّܡ9ܡIܡiܡ�ܡ�ܡ�ܡ�ܥ��; ݥ�E��=� ����=�����=�����=��� �=�G:Y�=�V1y�=�:��=�6)�=С;�� 2g=I� )� �� I� G- �>��'Yj,ffE�E�A�|i|�@Y}>���@�}>[�@y}>K�Ӽ�}>ʇ=�}>H������?����<��?���@n�������j�����f�?������������}�?���@O��?���`���?)~>���@ ~>�`];I~>��CɫY�Y)�Y �]����I�YY����@y��mG鮡ɮ�)ý�= ù�����M�y=Y����QU�?�������a��G������y��G�;}�?I������:���R��4�?����:���r־� ��Ⱦ@����?9���|C���0�: ����:)��r�:�W��2�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����4@�R�B*** querying acoustic contact ***�P��P�B5��B1 B1�A5�)<*B1�A=�T��A9�A9�A=��="CE����RCEWJn=CE�2�@�CI��M��=��!I�)G]3>��`j,JA�E�E�AY}F-��@�}F��@y}F��ռ�}Fn��<�}FH���� ��?������?�����]������������?����lnp�����N��?����2V�?���`���?)~F-��@ ~FtF];I~F��Cɫ�髙)�� ������I��Y���@y��KlG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]D3�M]A=Y�e��QUe�>��a��a�ae�G��mr>G��iy�=h:�}=�>I�A��E���4�?��E*{־� �E/�@��U�?9�E�|C��E�: �E3�:)�A�Wu��@�WqXq Xy�Wy:Wy2Wy*Wy�V�bU�BU�*U�U�U����@�� @B��T�B� B��A����*B��A��A��A��A��="C�z>�RC��P�=C���@�C����&�V=�I��G�g>��5=i�5%=��A��E�����E�����E��� �AY�E�[1y�EH�:��EM6�9E@��9fj,��E�E�AY}2���@�}2���@y}2R�ռ�}2IT;�}2H������?����{��?����̓����� ������� �?�������?�������?���`�hb?����1��?)~2���@ ~2�x];I~2��Cɫa�a)�i �m����I�q��9��I��i�����=���������M�; ��ÎEY�EJ�@y�M�lGexDUSBL response received:!U1,P 060,000,0066B,186,80,80,AE,FF mCommand AckuBRequesting micromodem ping code 2i�q��qI��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��������S�?/�$�������Mb`�����:?���,� ���)��I��y���-����?�&1���Zd;�O��?���?5?����P����j<= ��5A)��AI���Ai���A�������A���b�>���v>>���94<i����@��� ��Ը@)��Σ@I����@i����@��=T<M==Y�E&�7QUM�>��Q��q�a}�G��y��y���}��>I������:���F��4�?���:���!�־� ��Q�@�� �?9��E}C���W< ��x<)��s�:�W�A��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����T0@B9 B9 B9 �A9 *B9 �AA �AA �AA �AE S="Cm �)��RCm �;�=Cm A��@�Cq Յ �=�ԅ �=��};��=�ׅ�?iׅ�?��QI�aG}�>�[xlj,�M�E�E�A�|�|Y}fB��@�}f�Ӹ@y}f��Ѽ�}f�2L��}fH��������?���@��?����۴������4߿��� m��?�����?���@�5�?���������� ���?)~fB��@ ~fXx^;I~dɫ�髱)�� ������I��Y�-�@y�-=lG�e�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���G��M��=Y��4�:QU�&?������a�G��s>G��y� ���} +?I�����4�?����־� ���@���?9�s}C��'�: �w�:)��WE{g�@�WAXA XA�WA:WI2WI*WI�VIbUQBUQ*UQUQUU���� �@B�B� B��A�*B��A��A��A��A�<l="C�����RC�D0�=C�{g�@�C����xr�=�ױI��G�D>��� ����������������� ��T:Y�xZ1y�q�:��g06�Z[sj,b�E�E�AY}6��@�}6���@y}6lUҼ�}6�[ۼ�}6H�����2��?�����a�?���������X߿����;��?����Bc�?���@�I�?����Jh�����@]��?)~6��@ ~6�^;I~6��Cɫ9�9)�9 �=����I�9Y�}@y�}lG�xDUSBL response received:!U1,R,094,000,00639,186,80,80,9A,FF �Fpublishing direction and range info���A����ɰ�>鰁 ��)���CI��y��QhB����� )Ż�?O�Z�_|����������ٱ���� �=���C������D�i����@��� ���@)����@I��i�����qG�M\=Y�[�QU�>�� �� �a �G�� ��y��N�}�>I���%�:����4�?��%�:��ؔ־� ���@��-�?9��}C����: �0�:)�t�:�W�'�@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU�����@�P1*Q5QhB�Z5�q�gwR�L@���������������Z5�� )Ż�?O�Z�_|����������2Q5A�:Q1�Z5�!]@�]CG@�-�8�\A��cg���?�Z5�V�bc��?6rM��!�f�1����?BQ5���@ Q5� �Q5:B�P1�P5;�9?�P1Q5����Q5��@"Q5��@B�B� B��A�*B��A��A��A��A�L�="C�8���RC�xǗ=C�'�@�C�����̓=�I��G�g>��9��9�A9�AI�E�gGi�EF�@��A��A��A��E9�; �E��EI�)�AA�v�yj,t��E�E�Aɫ�髙)�� ������I��Y���@y��BlG�EDNmea in: $SNTTA,,,,,164303.01*5C ����;<M�<=Y�����QU��>�������a��G�����y����}�>I� �� 7�4�?�� `�־� � ��@���?9� ~C�� �: � ��:)� �mMyAdded new target pos. range: 58.080006 m, bearing: 323.264712 deg, deltaT: 4.397850 s, approachRate: -0.682151 m/s, LOS rate: -0.061384 deg/s, posRepo size: 4�m]� ProNav: pos range: 58.080006 m, bearing: 323.264712 deg, approachRate: -0.682151 m/s, LOS rate: -0.061384 deg/s, cmd update: -0.184151 deg/s, cmd heading: 331.514614 deg, new cmd heading: 331.039176 deg. �W]1�@�WYXY XY�Wa:Wa2Wa*Wa�VabUiBUi*UiUu����= M@Uu���` ]�?B�B� B��A�*B��A��A��A��A���="C�����*C�R�=RC�ゔ=C�1�@�C������������=I��)���יI��G�c>��- ����-�����-�����-��� �-1I:Y�-�W1y�-č:��-M6��Q ��Q i�� `mGI�� i�� ��3ѿٺ��s�A�_m�j,��F�E�AY}2]�@�}2�j�@y}24�ͼ�}2�-P��}2H�����K��?���`���?����1�l?������߿����*��?���@��?����5��?���������������?)~2]�@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y����@y��+lG��5�»M=W=Y�=��:QU=�>��A��A�aE�G��Et>G��Ay�M민}M�>I�Q��U1�4�?��UΦ־� �UX�@��e�?9�UJ~C��Un�: �U:)�Q�W�,�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����h9�?B�B� B��A�*B��A��A��A��A�d�="C�����*C��I�=RC�J��=C�,�@�Cq������=�I��G�h>��j,!�F�E�AY}RQ+�@�}R9�@y}Rӯ˼�}R5�x��}RH��������?���`��?�����p�?����W�����t��?��� ߝ�?����Nu�?���������`d��?)~RQ+�@ ~R<�];�9�I�i���=��������; ��E)݅�q�CI݅�q�Ci݁��݅�=I~R��C�݅�=�݅� �4ɫ�髱)�� ������I��Y����@y���kG�������Q��?sh��|?�?��~j�t�?����?�����= ���=)��I��y����� �rh�?��~j�t������Mb�?���C+?����������< ��fA)���AI��Ai���A������pA��%V�>��%��>��%��i�%f�@��! �%��@)�%Σ@I�!i�!��5��M5.=Y�=.�9QU=�>��9��9�a=�G��A��Ay�M�S�}M�>I�Q��]�:��U�G�4�?��]�:��U�־� �U��@��]�?9�U�~C��U�: �U��:)�Uu�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������!�?B�P��B� B��A�Q��*B��A�Y��A��A��A��%="C��P��*C��=�=RC��K�=C���@�C�����@�=���I��G��>�� i� a=������������������� �!]:Y�0Y1y���:���6)�G�;�9%�����j,��5F�E�AY}2"��@�}2� �@y}2H�¼�}2����}2H�������?�����<�?����F��?����+:������{�?��� ͋�?����Y�?���������@���?)~2"��@ ~2$V^;I~2��Cɫ9�9)�9 �E����I�AY�]J�@y�]YkG��]G��Men=Y�e�N;QUe?��i��i�am�G��mu>G��qy�un��}u?I�y��}X�4�?��}�־� �}7�@����?9�}�~C��}ϸ: �}��:)�y�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����Ȟ�?B�""�B� B��A��F�*B��A��a��A��A��A�dS="C�����*C�3�=RCYsz=C���@�C ��=���=��M6�=��U�?i�U�?�� I�G-->�l��j,�[OF�E�AY}63��@�}6�˷@y}6����}61���}6H���� qr�?�����o�?�����m�?�����o����@�U�?����(��?��� �V�?�����������>��?)~63��@ ~6�^;I~6��CɫQ�Q)�Q �U����I�YY���@y��XlG��}t<��}�@>��}�@�i�}��@��y �}9�@)�}��@I�yi�}��@���5t=M@=Y�';QU�>�� �� �a �G�� ��y�ۑ�}�>I���%�:��9l�4�?��-�:����־� ���@��-�?9�C����: ��:)�v�:�Wm~�@�WiXq Xq�Wq:Wq2Wq*Wy�VybUyBUy*UyU�U�����o=�@B��a�B� B��A����*B��A��A��A��A�{�="C�����*C��"�=RC��e=C�~�@�C��֥[��=��yI��G�^>������nA����>9��I��i�����=�����������; ���E��Z����������������� ��c:Y��X1y�/�:���6)��;��әj,�6iF�E�AY}2�y�@�}2k��@y}2Lﲼ�}2(����}2H����@+O�?���@���?���`���?����1����� /�?�������?����u]�?���`��������?)~2�y�@ ~2��^;I~2��Cɫ9�9)�9 �=����I�9Y��̿@y���kG��5�ͼM=X=Y�=�$;QU=�>��A��A�aE�G��A��Iy�M��}M�>I�Q��U~�4�?��UA�־� �U �@��e�?9�U_C��U��: �U�:)�Q�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`<@B�B� B��A�*B��A��A��A��A�P�="C��A�*C��=RC�DdM=C���@�C���m�0f=��AI�IGm5>I�)��\��j,��F�E�AY}:(.�@�}:�;�@y}:����}:yb���}:H������'�?��� ���?���@���?���`���������?��� �Z�?����.4�?����㶿����C��?)~:(.�@ ~:f�^;I~:��Cɫ�髡)�� ��I��Y����@y���kG�p=ɮ��e��<��e��=��eY=i�eף@��a �a)�e��@I�ai�a��ue�Mu =Y�u�9QU}�>��y��y�a��G��v>G��y���}��>Iȑ����:�ŕ��4�?����:�ŕ��־� ƕ��@����?9ƕ�C�Ǖ^; ȕ�;)ȕw�:�W�,ڸ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������Q@�R�B*** querying acoustic contact ***�P��P�B B B �A *B �A�A�A�A! ="Cu��*C���=RC%d)5=C%,ڸ@�C!��1��1�����c=I��)����-4 ����-�����-�����-��� �-�7:Y�-xZ1y�-q�:��-�6�95@�ױI��G��>���j,��F�E�A�N��>9�LI�Li�L��L��L��L��N��; �N�E�|i|Y} ��@�} p�@y} �)���} �=���} H�����m��?��� �&�?����":�?����Z*�����B��?���� p�?������?����B���������?)~ ��@ ~ �^;I~ �)�!Ɍ%GὩ�%.kF�!��!ɍ)i�-��I�)��)I�1i�1 �5�#��1)�1�1 �= qA��=���=aFɎ9��9��9I�A)�Ai�A)�AI�EqA�M���ɏM�`F �IɐI�U�pA��U���i�Q��Qi�Q��Q)�Y �YI�Yɫ)�))�) �)I�)Y�E�@y�MlGMZ****** received transponder code query ******MF****** received ping request ******U<Arming DUSBL. detectThresh: 75]8****** ping requested ******���y�&1��?��ʡE���S㥛��?��`E?��-�� �$>)�I�y��@5^�I�?L7�A`尿<�O��n�?��b0?��+����t< �� A)�AI��Ai� A������51�<M5N=Y�=�G:QU=�>��A��A�aE�G��A��Ay�M꽼}M�>I�Q��Uc��4�?��UP�־� �U��@��]�?9�U�C��U��: �U+�:)�Q�W��ϸ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU���@�� @B9BA 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� X��W�:W�2W�*W��V�bU�BU�*U�U�U������J@���=i��=��U( ����U�����U�����U��� �U7:Y�U�X1y�U/�:��Ui6Bu��"�B}#i= By�A}O��*By�A}�q��A��A��A��="C�e�*C���=RC�D=C�8ø@�C���]�7=��e�?i�e�?��)I�9G]�>����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� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �;@B�D6�B� 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��@ Qmf�Qmo3B�Pm=�9?�Pi�Pm����QiQm��@"Qm��@B%+s�B! B)�A-���*B)�A)�A)�A1�A5��="C5���*C=���=RC=N��<C=ܱ�@�C9��=r�=��1I�IGmx>��%� ����%�����%�����%��� �%��: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. �W�;ڸ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�������K@U��������?B�B� B��A�*B��A��A��A��A��J="C����*C��g�=RC�%/�<C�;ڸ@�C����r�=�����<I��)���ש I�� G� �>��7�j,�FG�E�A�&��>9�$I�$i�$��& =��$��$��&f�; �&ΎEY}�=�@�}��J�@y}�4����}��z���}�H����@ʥ�?����P��?�������?��������������?���`F��?������?��� ,������`���?)~�=�@ ~��&_;I~�ɫ�髉)�� ������I��Y�%ӿ@y�%lG��DNmea in: $SNTTA,,,,,164307.53*5F ��5���|?5^�?�Q�����)\���(�?��5�?��5\� �5Ga=)�1I�1y�5������M�?�~j�t���V-��?��5n?��5�ļ��5��< �5�A)�1I�5�Ai�5�A��1��5�A)�M�= �M�=��U<MUG=Y�]49;QU]�>�������a��G������y����}��>I����4�?��� � ���@�� �?9���C����: �.�:)��W5���@�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUM������?BqBq Bq�Ay*By�Ay�Ay�Ay�A}p�="C��w��*C��A�=RC��D�<C����@�C��э�=�Ա�Ա��� ����������������� ��B:Y�0Y1y���:���6)�y�;�9%��ֽ oE�<�י I�� G� �>�+e�j,�.8G�E�AY}N�8�@�}N�F�@y}N�ׁ��}Ne���}NH��������?�������?������?���@.���������?��� �?�����:�?����������� ���?)~N�8�@ ~N\�^;I~N��Cɫ�髉)�� ������I��Y��ſ@y���kG��Ө�M�i=Y��Y;QU��>���i� �mG���a�G��y>GI�Ai�i��y���Tʿٺ������Ay�^��}��>Iȩ����:�ŭ%�4�?����:�ŭ�� ƭ[�@����?9ƭĀC�ǭ=�: ȭ��:)ȭz�:�W�~!�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?BB B�A*B!�A!�A!�A!�A%��="C-����*C- �=RC-�QU<C5~!�@�C1��9��9)�A �A�ֽ �z�<�ב I�� G� �>��E�j,)�QG�E�AY}:M.�@�}:<�@y}:�y��}:ygr��}:H��������?��� ���?�������?��������� ���?��� ,��?��� �:�?���`�G����� ���?)~:M.�@ ~:��^;I~8ɫ9�9)�9 �9I�9Y�}��@y�}�kG���+������=�����=i��Q�@��� ��z�@)��\�@I��z�@i��z�@������M�G=Y����:QU��>�����a�G���� y�#[�}�>I�!��%%�4�?��%�� �%��@��5�?9�%��C��%%; �%�;)�!�Wm�D�@�WiXq Xq�Wq:Wq2Wq*Wy�VybUyBU�*U�U�U ���@��?BUU��BQ BQ�AUQ��*BY�A]�v��AY�AY�A]B/ ="Cez���*C�l��=RC�T <C��D�@�C��օh�W<�i�-��>9�-p�CI�-�fGi�-��@��)��)��)��-r�; �-ӎE)ݹ�Iݹ�iݹ��ݹ��ݽ�=�ݽ��5��YI�iG�Z>���=i��=��% ����%�����%�����%+�� �%�H:Y�%�]1y�%��:��%X6)�%آ;�`p�j,��kG�E�AY}2��@�}2�$�@y}2�1u��}2�cd��}2H����`���?�������?������?�������������?����W��?�����?����Շ�����@Z��?)~2��@ ~2�w^;I~2��CɫY�Y)�Y �]����I�YY����@y���jG��5�B�M5W=Y�=�C:QU=�>��A��A�aE�G��Ez>G��Ay�M���}M�>Iȡ����:�ťA-�4�?����:�ťQ� ƥQ�@����?9ƥ��C�ǥE�: ȥ��:)ȥ{�:�W�Sg�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����R�@B�D%�B B�Ar��*B�AH���A�A�A%y} ="C%t���*C-�Э=RC-|X;C-Sg�@�C1 �=�=��9�օjZX<��YI�iG�[>��W�j,��G�E�A�|�|Y}6Q�@�}6�@y}6>!s��}6#HQ��}6H�����?��� ��?�������?��� c������ y�?������?�����c�?����]%������h��?)~6Q�@ ~6�@^;I~4ɫY�Y)�a �e����I�aY�}۾@y�}�jG��}��M�F=Y��9QU��>�����a�G����y��ǻ}%�>I�1��5�=�4�?��5]'� �5��@��=�?9�5�C��5��: �5��:)�1�W}���@�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@ap@B���%�B� 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 Xa�Wi:Wi2Wi*Wi�VibUqBUq*UqUqU}������@�R�B*** querying acoustic contact ***�P��P�B7�&�B B �A J�*B �A ����A �A �A�9 ="C����*C�i�=RC=V�Cﴹ@�CA��5�] ;I�9)�9�� I�AA)�I�GU�>�)��j,�X�G�E�AY}B��@�}B��@y}B�Uj��}B��.��}BH�����s�?�������?�������?���`�������qk�?�����,�?����^J�?����3ץ��������?)~B��@ ~B� ^;I~@ɫY�Y)�Y �YI�YY���@y��kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��= ��=�� ��<Mb=Y��,:QU�>�����a%�G��%{>G��)y�5@��}5�?I�A��EWc�4�?��Ef;� �E��@��u�?9�Ed�C��E��; �E��;)�A�W��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U U ����q @Be�$�Ba Ba�Ae;��*B��A����A��A��A�܍ ="C�"��*C�"8�=RC�j�a�C��@�C��ԩ�ԩ�օ����YI�aG�Y>��E� ����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 ��u��<��uE6>��u��=i�u��@��q �u��@)�u��@I�u��@i�u��@��������9��I��i�����=�����������; ���E�� 4�M =Y���QU�>��Y��a�ae�G��a��qy� �}��>Iș����:�ŝ8{�4�?��u�:�ŝ)H� Ɲ��@����?9Ɲ��C�ǝ�= ȝ��=)ȝ}�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����t<@B=[R%�B9 B9�A=^Ҽ*B9�AER���AA�AA�AE��="CMl��*CM��=RCm&o��Cu��@�Cq�օ �z�� i ~?��YI�iG��>���j,� �G�E�AY}2��@�}2���@y}2j�j��}2%���}2H���� �z�?����D��?���@6�q?��� ������`�v�?�����Y�?�����T�?���`�������`���?)~2��@ ~2D^;I~2��Cɫ9�9)�9 �=����I�9Y���@y���jG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��U��;M]�=Y�ev�8QUe?��i��q�au�G��}|>G��y��&<}�#?Iș�ŝ��4�?�ŝ�N� Ɲ/�@����?9Ɲ��C�ǝ��: ȝ>�:)ș�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �2@B�<'�B! B!�A%�ü*B!�AM����AI�AQ�AUT=="C]V�*C]�ˬ=RCe�Й�Ce��@�Ca��eO�N���9I�IGmV>��e ����������������� ��;:Y��U1y���:��4�6���j,��H�E�AY}JH%�@�}J�2�@y}J�g��}JЖ���}JH�����֘�?������?�����S,?��������������?�����g�?���@"��?�����������F��?)~JH%�@ ~J}�];I~J��CɫY�a)�a �m����I�iY����@y���jG5xDUSBL response received:!U1,R,022,000,005D8,184,80,80,A5,FF =Fpublishing direction and range info�����ɰ��=鰱 ��)���%CI��y�� QB�������d��?���`����������ٱ���]mA��Y����(>�����=����m�i���@��� ����@)��I��i�����c�M�A=Y����9QU��>�������a��G����y�m~<} �>I�Q��U��4�?��UcY� �U��@��m�?9�UҁC��U*}; �U�};)�Q�W��D�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����j�@�P�*Q� QB�Z���2�VJ@�w�4D������������Z�����d��?���`����������2Q���:Q��Z���E GE@reuS>�Ӟ�C���?�Z���y]���?���H���UӒ K�?BQ��?�@ Q����Q�8*B�P��P�=�9?�P�����Q�����Q�v�@"Q���@B%Dž'�BQ BQ�AU��*BQ�AUK ��AY�AY�A]N�="Ce��*C�ؕ�=RC�RP��C��D�@�C ��=���=��]4�����I�!GE�>����>9��I���eGi����@������������b�; ��ʎE�#�j,�� H�E�AY}�X�@�}�f�@y}��j��}�����}H�����R��?���`��?�����j����������� ��?����;��?�����X�?����R�����@��?)~�X�@ ~ذ];I~��Cɫ���)�� ������I��Y�-�@y�-�jG��DNmea in: $SNTTA,,,,,164311.87*51 �����������?�p= ף������Mb������@?����� ����)��I��y���y�&1��?�A`��"�����S㥛?���`%?���Y����/�< A)�AIfAi������zA��N<M�==Y���ϹQU��>�������a��G������y�c<}��>Iȉ����:�ō ��4�?����:�ōhc� ƍ�@����?9ƍ��C�Ǎ�: ȍ�;)ȍ~�:�muAdded new target pos. range: 52.260002 m, bearing: 324.526576 deg, deltaT: 4.453912 s, approachRate: -0.687037 m/s, LOS rate: 0.072793 deg/s, posRepo size: 4�m� ProNav: pos range: 52.260002 m, bearing: 324.526576 deg, approachRate: -0.687037 m/s, LOS rate: 0.072793 deg/s, cmd update: 0.218380 deg/s, cmd heading: 333.511179 deg, new cmd heading: 333.793326 deg. �W=~R�@�W9X9 X9�W9:WA2WA*WA�VAbUABUI*UIUM����G!J@UM���`�9�?B��%�B� B��A�BǼ*B��A�`$��A��A��A�x�="C����*C��[�=RC�m>[�C�~R�@�C��������I��)����=m ����=�����=�����=��� �=�P:Y�=]1y�=�:��=`6)�=��;�9E��ׁI��G��>��� j,�:H�E�Aɫy�y)�y �}����I�yY����@y��jG��UڼM]e=Y�]���QU]�>��a��a�ae�G��e}>G��ay�m���}m?I�q��uf��4�?��u�j� �ut�@��}�?9�u�C��u^�: �u@�:)�q�W��\�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`U��?B]I�)�Ba Ba�Ae� �*Ba�Ae�;��Aa�Ai�Am�F="C��0�*C��0�=RC��}x�C��\�@�C��֝jZX���yI��G�^>�C�j,,�TH�E�AY}6���@�}6`��@y}6�w���}6�wO��}6H��������?����]X�?����x�������}W�����"��?��� ���?�����.�?���� �i��������?)~6���@ ~6;�];I~6��Cɫ9�9)�9 �=����I�9Y�u��@y�}ujG)���= ���=��=�=��=��>��=�̼i�=�@��9 �=&�@)�=E�@I�=E�@i�=E�@��M�MUK=Y�Ugo�QUU�>��Y��Y�a]�G��Y��ay�eY�<}e�>I�i��u�:��m���4�?��u�:��m�s� �m��@��}�?9�m4�C��m��: �m�:)�m�:�W�ji�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?B�d)�B B�A7�*B�A_X��A�A�A̚="C%g�*C%��=RC�c��C�ji�@�C��������i9�iI�ii�i��i��i��i��m��; �m�E����]�����I��G�i>��=�����=�����=�����=��� �=�-:Y�=xZ1y�=q�:��=��5)�=Z�;��j,aUnH�E�AY}2���@�}2u˶@y}24����}2Ʌ�:�}2H�����&��?��� aJ�?��� Rލ���� �I����@.��?���`�7�?������?�����S?���@���?)~2���@ ~2d];I~2��Cɫ9�9)�9 �9I�9Y�}<�@y�} jG����ؼM�P=Y��t��QU�>�����a�G��~>G�� y� ӣ;} �>I�a��eT��4�?��e�|� �el�@��u�?9�eU�C��e��: �ev�:)�a�W��u�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������K�?B��w,�B� B��A��8�*B��A��}��A��A��A��="C�؝�*C�^ҫ=RC�FR��C��u�@�C��� ��軹��I��G*>�������Ci��nGI��i� ��=�Ͽٺ9��=�A��!j,b1�H�E�AY}^�Ⱦ@�}^_ֶ@y}^5���}^T;�}^H��������?���� A�?������������@����`$��?����8:~?����M��?����ˉb?�������?)~^�Ⱦ@ ~^�n];I~^��Cɫ1�1)�1 �9I�9Y����@y���iG�Å��=�Å㥽�Å�#�iÅQ�@�Á ąz�@)ąz�@Iąz�@iąz�@�����M�2=Y����QU��>�����a��G����y�<>;}��>I������:������4�?����:������ ����@����?9��{�C����; ���,;)����:�W�ʄ�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����4z�@B=�{-�B9 B9�A=FX�*Ba�Aeo���Aa�Aa�Ae�U ="Cm��*Cm���=RCu���Cuʄ�@�Cq�ֵc�ջ��E�����E�����E�����E�� �Ef.:Y�E�V1y�E�:��E+6�9U@�שI��G��>�}��>9�yI�}�dGi�} �@��y��y��y��}��; �}�E)�p�CI�p�Ci�ً��=��=��y�4��(j,(�H�E�AY}2�Ѿ@�}2�߶@y}2�X���}2lK�:�}2H����`���?����l9�?��� e_�����@�8����� ��?���`H�?���@ժ�?�����S?��� ���?)~2�Ѿ@ ~2&D];I~0ɫY�Y)�Y �]����I�YY����@y���iG�����~j�t��?�MbX9Ŀ�A`��"�?����D?����!� ��Y=)��I��y�����v���?L7�A`尿/�$��?����8?���+�����,= �A)5AIi�A�������A�¡�¡����M�[=Y�_1�QU��>�����a��G����y���E;}��>I�������4�?����� ����@��U�?9����C���U�< ��>�<)���W}!��@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U������X@B��40�B� B��A��[�*B��A�e���A��A��A��� ="C����*C�Fm�=RC�U��C�!��@�C� ������=�ֽ�z��יI��G�a>��I.j,���H�E�AY}2rܾ@�}2(�@y}2�����}2-7";�}2H���� f��?���`R0�?�������������/���� ���?�������?��� j_�?���`�Ed?���@���?)~2rܾ@ ~2�T];I~0ɫ9�9)�9 �=����I�9Y�u�@y�}�iG�yɮy���y�;M�W=Y��`��QU��>�������a�G��>G��y� a^;} �>I����4�?����� �L�@���?9���C��÷: �U�:)��WE���@�WAXA XA�WA:WA2WI*WI�VIbUIBUQ*UQUQUU����+C@�ReB*** querying acoustic contact ***�Pa�PaB��Q/�B� B��A��P�*B��A�h ��A��A��A��� ="C��E�*C�A�=RC���C����@�C��֩�ׁI��G�B>��=e ����=�����=�����=E�� �=�;:Y�=[1y�=ݏ:��=!6�05j,v��H�E�AY}6.�@�}6���@y}6 x���}6��;�}6H�������?��� �"�?�������������"����`u�?���`o�u?�����Γ?�����ax?����R��?)~6.�@ ~6�5];I~4ɫ9�9)�9 �=����I�9Y�}C�@y�}jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���j<�����=����s>i���@��� ����@)����@I����@i����@����<M�<=Y����QU��>�������a��G������y����;}�>I����:��!-�4�?���:��W�� ��@���?9��C����: �<�:)���:�W=��@�W9X9 X9�W9:W92WA*WA�VAbUABUA*UIUIUM������ @B}tS,�By By�A}5�*By�A��* ��A��A��A��;="C�0l�*C���=RC�+=�C���@�C��%��>9�!I�!i�!��%=��!��!��%��; �%E�ֽ����יI��G�b>I�1)�1�"Z;j,4��H�E�AY}2���@�}2W�@y}245���}2L��;�}2H������ �?�����?���� Г�������������?����z ~?��� IƔ?���`c�p?����>��?)~2���@ ~2M];I~0ɫy�y)�y �yI�yY���@y���iG�xDUSBL response received:!U1,P 022,000,005D8,184,80,80,A5,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 )��= ��=��=��MEV=Y�UI!�QU]�>��i��i�a�G���>G��)y�5�;}5�>I�9��=A�4�?��=��� �=��@��}�?9�=�C��=w< �=<)�9�W���@�W�X� X��W�:W2Wa*W��V�bU�BU�*U�U�U�����m� @B���.�B� B��A�a�*B�Adb ��A�A�A �="C ���*C Ҫ=RC3d�C��@�C��q��q��E�����E�����E�����EL�� �E�3:Y�E�Y1y�E�:��E�6�֍� ���i I�q G� �>�FBj,e� I�E�AY}/�@�}�%�@y}�����}�n�;�}H����� �?������?����ԕ�����8�������?���`�ot?���`M6�?���@,}?���@ ��?)~/�@ ~(];I~ɫ���)�� ������I��Y� �@y� �iG����AA�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=���۹>���t<i���@��� ��Ը@)��\�@I��z�@i��\�@���X ;M�?=Y��W��QU��>�������a��G�����y��;}��>Iȩ����:�ŭ]U�4�?����:�ŭ�� ƭ��@����?9ƭ6�C�ǭ��: ȭ(�:)ȭ��:�W�#ú@�W�X� X!�W!:W!2W!*W!�V)bU)BU)*U)U1U5���@|9@B}��0�B� B��A��]�*B��A�G� ��A��A��A���="C�t��*C�{��=RC�@!�C�#ú@�C�����z��שI��G��>�9�I��dGi���@��������z�; �ՎE�:lHj,�S#I�E�Aɫy�y)�y �}����I�yY��e�@y��iG�xDUSBL response received:!U1,R,058,000,005A9,184,80,80,AD,FF �Fpublishing direction and range info���nF�����ɰ�g�=�� ��)���-CI��y���EB����pE,���?.�0�ۣ����������ٱ����V-���?�~j�t�h?��~j�t�?���<?���D; ��=)�I�y��#��~j��? ףp= ��Zd;�O��?���%?��Q8���j<= �dA)��AI�i��A����zA��%�+�M%H=Y�-���QU-�>��)��1�a5�G��1��1y�=���}=�>I�A��E�f�4�?��EF�� �EN�@��M�?9�EV�C��Ej�: �E��:)�A�W�?Ϻ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U)U-���`��@�PA*QE�EB�ZE�b����H@�\�[ X����������ZE�pE,���?.�0�ۣ����������2QEnF��:QA�ZE������C@��E��b=��jJ4���?�ZE��j4��?����㿠bo~���?BQE���@ QE��QE�B�PE<�9?�PA�PE����QE����QE6�@"QEv�@B-��4�B) B)�A-��*B1�A5 � ��A9�A9�A=:+="CM� �*CM�t�=RCM�� �CM?Ϻ@�CQ��U�r绹�1��E@ ����E�����E�����Ea�� �E�8:Y�E0Y1y�E��:��E!6)�E��;�9M�I�QGu�>�͘Nj,G9=I�E�AY}j�T�@�}j9b�@y}j&����}j }-<�}jH������;�?������?����e!�����@�������>�?����� f?�����֖?��� %��?�������?)~j�T�@ ~j=];I~hɫ���)�� ������I��Y�5�@y�5�iG��TNmea in: $SNTTA,0.051208,,,,164316.32*48 ����nA��M-'=MMG=Y�U%~�QUU�>��Q��Q�aU�G��]�>G��Yy�]P�<}e�>I�i��u�:��m�x�4�?��u�:��m��� �m�@��u�?9�mx�C��mR�: �m��:)�m��:�m�yAdded new target pos. range: 49.439995 m, bearing: 323.524505 deg, deltaT: 4.461105 s, approachRate: -0.632132 m/s, LOS rate: -0.224624 deg/s, posRepo size: 4�m�� 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. �W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����Q�H@U��������?B�1�B� B��A��_�*B��A^� ��A�A�A�m="C x}�*C �M�=RC ��=;C��@�C �%�=��%�=���z����I��G l>�<Uj,^WI�E�Aɫ�髙)�� ������I��Y��Խ@y���iG�Õt=�ÕO���Õ/ݼiÕQ�@�Ñ ĕz�@)ĕz�@Iĕ\�@iĕz�@����M�V=Y����QU��>���� �a �G�� ��y����}�>I���9��4�?��b�� ���@��%�?9���C����: ��:)��WM��@�WIXI XQ�WQ:WQ2WQ*WQ�VYbUYBUY*UYUYUe����'��?B���1�B� B��A��l�*B��A��#!��A��A��A���="C����*C��%�=RC��:�;C���@�C��ٱ�ٵmA��9��I�� dGi��k�@���=��������� �����yb�:�I��G�E>��=� ����=�����=�����=��� �=&W:Y�=d\1y�=��:��=i6)�=�;�Z�[j,G�pI�E�AY}2̍�@�}2���@y}2S�ż�}2�@�;�}2H����`<Y�?���ౘ�?���`�������Ϙ����`�[�?����L�y?����̾�?�����~?���@c��?)~2̍�@ ~2];I~2��Cɫ9�9)�9 �=����I�9Y��V�@y���hG��=p!�M=R=Y�=z��QU=�>��A��A�aE�G��E�>G��Iy�M�<}M�>I�Q��U��4�?��U[�� �U��@��e�?9�U��C��U��: �Ub�:)�Q�W��]�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B���6�B� B��A�̕�*B��A��]!��A��A��A���="C��#�*C���=RC��'<C��]�@�C����q�Z;�I��G�I�5@A)�1�q�bj,�͊I�E�AY}R���@�}R���@y}R�Gμ�}R�`�;�}RH������c�?���`Ї�?���� Ә�����r������/f�?�������?���@Dș?����XJu?����J��?)~R���@ ~R%;];I~R��Cɫq�q)�q �qI�qY��i�@y�� iG)�-�= �-�=��u&1>��u����u�D=i�u�@��q �uE�@)�uE�@I�u&�@i�uE�@����;M�E=Y�. �QU��>�����a��G����y���;}��>Iȡ����:�ť���4�?����:�ť�� ƥj�@����?9ƥڃC�ǥ��: ȥo�:)ȥ��:�W��5�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�*�?B��5�B B�A+��*B�AB�!��A�A�A86="C%F���*C-M�=RC-���<C-�5�@�C)��9��9����u<���I��G*>��=/ ����=�����=�����=��� �=��:Y�=�]1y�=��:��=�-6�9E@ܡ 9ܡ Iܡ iܡ �ܡ �ܡ �ܡ �ܥ ��; ݥ �E���hj,c��I�E�A�|i|Y}6���@�}6H��@y}6��Ӽ�}6X9;�}6H�����^i�?���`h~�?���@������r}����@�k�?�����?���@u�?����{�c?����=��?)~6���@ ~6R];I~4ɫ9�9)�9 �=����I�9Y�}�@y�}nhG�����n����?���S�˿����Mb�?���V.?���/]� ��=)��I��y������x�&�?�l����:��v���?���7)?�����������< 5A)dAIi�A������pA����M�H=Y�7ӺQU��>�����a��G�����y���b;}��>I�����Ͽ�4�?���\�� ����@����?9����C����: ��4�:)���W�E�@�WX X�W:W2W*W �V bU BU *UUU����ô�?BE�W:�BA BA�AE���*BA�AML�!��AI�AI�AM�y="CU`�*CU!©=RCU�E�<C]E�@�CY�օ��v<��?i�?��9I�IGeV>���nj,�|�I�E�Ai�2�mGI�<i�H��b�ƿٺ`��b��AY}~B��@�}~���@y}~�tؼ�}~�:��}~H������i�?�����~�?��� �?�������|������k�?����Q��?����� �?���`�]����� ��?)~~B��@ ~~i=];I~|ɫ���)�� ������I��Y���@y�DiG���U=M�H=Y����QU��>�������a��G����>G���y��tW9}��>I������:������4�?����:������ ����@����?9�� �C�����: ����:)����:�W%��@�W!X! X!�W!:W!2W)*W)�V)bU)BU1*U1U1U5����(@B]X�4�Ba Ba�Ae"��*Ba�Ae�"��Ai�Ai�Am-�="Cu*��*Cu!��=RCu?��<Cu��@�Cy��M��<�I��GK>��=X ����=�����=�����=�� �=�::Y�=[1y�=ݏ:��=�6�v�uj,HR�I�E�AY}:��@�}:д�@y}:h9༙}:bw��}:H����`�e�?�������?���`������ Ђ�����'h�?��� %�?����G�?�����]���� ���?)~:��@ ~:�];I~:��Cɫ)�1)�1 �5����I�1Y��{�@y�� iG鮍p=ɮ��=I��)���¡�¡�� l�=�� ��=�� �>i� f�@�� � )� \�@I� E�@i� ��%��M-7=Y�-� �QU-�>��1��1�a5�G��1��1y�=��}=�>�Q9�Uo�CI�U�cGi�U�@��Q��Q��Q��U��; �U��E)���I���i�������=����=������4I�A��E���4�?��E��� �E-�@��u�?9�EF�C��E��; �E[�;)�A�W�e��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�R�B*** querying acoustic contact ***�P��P�B��4�B� B��A����*B��A�^"��A��A��A���="C�TG��*C���=RC���=C�e��@�C��֕Gg�<��iI�yG��>�v�{j,�,�I�E�A�|4<�|4<Y}6ҟ�@�}6���@y}6F輙}6#����}6H����`�a�?����x��?��� �w������������d�?�����?����J��?�����4r����@���?)~6ҟ�@ ~6�\;I~6��C �<)�>qAɌ>;߽��<�@��@ɍ@i�B�D�I�@��@I�Di�D �Ft��D)�D�H �JqA��J�����HɎH��L��N�pAI�L)�i�)�!I�!�%��ɏ! �!ɐ!�)��-���i�-�fF��)i�)��-��A)�1 �1I�1ɫ���)�� ��I��Y�M�@y�M�hGUZ****** received transponder code query ******]F****** received ping request ******]<Arming DUSBL. detectThresh: 75e8****** ping requested ******�����M�d=Y��f-�QU��>�������a��G����>G���y��p!�}��>I�����:������4�?���:���ؾ� ����@�� �?9��e�C���{8; ��s:;)����:�WE���@�WAXA XI�WI:WQ2WQ*WQ�VYbUYBUY*UaUaUe����ܡ @B�yO;�B� B��A�P��*B��A�ɜ"��A��A��A� +="C�~s��*C�p�=RC�EN=C����@�C����9�=I��)���I��G�f>��=& ����9��9��=��� �=DK:Y�9y�9��=�6��߂j,� J�E�AY}2呿@�}2���@y}2�>�}2�>��}2H����@QZ�?�������?����E֓������������x[�?����%�?���`�f�?�����������`���?)~2呿@ ~2�\;I~2��Cɫ�髉)�� ������I��Y��t�@y��iG�xDUSBL response received:!U1,P 058,000,005A9,184,80,80,AD,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 ��m`e>��m��?��m���i�m��@��i �m�@)�m��@I�m��@i�m��@���@�<M=Y��%�QU �>�� �� �a �G�� ��1y�=BL�}=�>I�A��E�4�?��Ewؾ� �E��@��u�?9�E��C��EL�; �E��;)�A�W�b�@�WX X�W!:W)2WQ*Wa�VabU�BU�*U�U�U���� �H@B .3�B B �A d��*B �A i�"��A �A �A Rs=�M ��>9�M p�CI�I i�I ��M =��I ��I ��M ��; �M �E"C� 8���*C� �L�=RC� ��=C� �b�@�C� �֑��i I�y G� �>����j,�(J�E�AY}2W��@�}2 ��@y}2V���}2:�T��}2H������R�?����l��?���������� ������ �S�?���@s��?���@|��?���@<�������l��?)~2W��@ ~2��\;I~0i� �� )��D� �I� �)�ɠ�����ɡ!i�%��I�%�gF��!I�!i�-�qA �)�))�)�) �5 qA��1��1ɢ1��1��9I�9)�9i�9)�9I�9�AɣA �AɤEٔC�E��A��Ii�I��Iɫ � )� � ����I�Y�M�@y�U�iG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ea=i�ep=��������Mb@�����Mb@�����Mb@��������� ���)������I��y�����C�l��?333333����~j�t�?���;?����������= ���A)��5AI��Ai�� A�������A)���= ���=�� �M=M S=Y��>�QU�>�����a�G���>G��!y�%b��}-�>I�)��=�:��-��4�?��=�:��-�ؾ� �-6�@��=�?9�-��C��-��: �-��:)�-��:�We)@�@�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUi*UqUqUu���`�{@B���3�B� B��A�+M�*B��A��#��A��A��A�#�="C�"���*C�7<�=RC�?�'=C�)@�@�C���� ���������������� �0>:Y�xZ1y�q�:���!6)���;�9�����=���I��G%�>����j,�MBJ�E�AY}2�w�@�}2I��@y}2����}2D����}2H�����L�?������?��������Ѫ������L�?�������?��� B|�?��� �.���������?)~2�w�@ ~2��\;I~2��Cɫ�髩)�� ��I��Y����@y��3hG�xDUSBL response received:!U1,R,065,000,00579,186,80,80,A1,FF �Fpublishing direction and range info���I������ɰ���=����> ��)���!CI��y��=:B����s�hg3��?�`Hψ����������ٱ��� a �M �=Y����QU?�����a�G����!y�%Ś�}-?I�I��Md*�4�?��Mb#ؾ� �M��@��]�?9�MʄC��Mn�: �M��:)�I�W�m"�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� з@�P�*Q�=:B�Z��oxX0G@1�]&�d����������Z��s�hg3��?�`Hψ����������2Q�I���:Q��Z����6���B@l&A5�;�l�����?�Z�����-���?�/Wo�)"5"�?BQ�ﲴ@ Q�9��Q��B�P��P�<�9?�P�Q�����Q���@"Q�6�@B��A�B B�A���*B�AS#��A�A�A û="C�����*C�|+�=RC�Lw.=C�m"�@�C��]�8 =��I�!GEr>�L��j,A+\J�E�AY}:Q[�@�}:i�@y}:����}:x���}:H�����=�?���@���?���@������ ������@�<�?���`��?�������?����k����������?)~:Q[�@ ~:eS];I~:��Cɫ�髙)�� ������I��Y�UѼ@y�UNhGܽ��>9ܽo�CIܽ dGiܽk�@�ܹ�ܹ�ܹ�ܽ��; ݽ�E��DNmea in: $SNTTA,,,,,164320.84*50 ��5�����5j<>��5,>i�5=�@��1 �5@)�5E�@I�5E�@i�5E�@�� 2�;M.=Y���QU�>�����a�G����Iy�M���}U�>I�Y����:��]�=�4�?����:��]�-ؾ� �]��@����?9�]�C��]��; �]r�;)�]��:�muAdded new target pos. range: 46.560001 m, bearing: 323.540242 deg, deltaT: 4.435833 s, approachRate: -0.649257 m/s, LOS rate: 0.003548 deg/s, posRepo size: 4�mU� ProNav: pos range: 46.560001 m, bearing: 323.540242 deg, approachRate: -0.649257 m/s, LOS rate: 0.003548 deg/s, cmd update: 0.010643 deg/s, cmd heading: 331.481992 deg, new cmd heading: 331.154057 deg. �WU*#�@�WQXQ XQ�WQ:WY2WY*WY�VYbUiBUi*UiUm��� �GG@Uu�����o�?B���:�B� B��A���*B��A�$�#��A��A��A���="C����*C�� �=RC���=C�*#�@�C�����=i��p=�� � ���� �� �� ��� � RF:Y� y� �� �6)� ��; ��=���=�� ��.=��� I�� G �>�\�j,!vJ�E�AY}29�@�}2�F�@y}2q���}2q��}2H����@+�?���@8��?���@*�������������@�'�?�������?������?���`�蝿�������?)~29�@ ~2�w];I~0ɫ9�9)�9 �=����I�AY�}�@y�}�hG����mA��eͩ<Mej=Y�e0�QUe�?��i��i�am�G��m�>G��qy�uqG�}u?I�y��}�K�4�?��}85ؾ� �}^�@����?9�}�C��}��: �} �:)�y�W��#�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B� �>�B� B��A�P��*B��A���#��A��A��A��="C����*C���=RC��=C�#�@�C��M�"=��I�G-->��ȣj,ߏJ�E�A�|�;�|Y}6��@�}6�%�@y}6G1 ��}6����}6H����`h�?������?���������@������� �?�����!�?��� RE�?�����x�����`��?)~6��@ ~6];I~4ɫ9�9)�9 �=����I�9Y�}@�@y�}�hG��E��>��Ev�=��E�%>i�E��@��A �EE�@)�E\�@I�Ai�E@��u�~<MuI=Y�}W�QU}�>��y���a��G����y�r#�}��>I� �� 7]�4�?�� �>ؾ� � 2�@���?9� -�C�� ��: � ��:)� �W=N$�@�W9X9 XA�WA:WA2WA*WA�VIbUIBUI*UIUQUU������?B�DO9�B� B��A�Z��*B��A��($��A��A��A�e:="C�ʸ��*C���=RC�M_=C�N$�@�C��֥ȿ=Iש)ש�ׁI��G�g>��5� ����5�����5�����5v�� �5�D:Y�5]1y�5�:��5`6�9M@ܱ9ܱIܵ�dGiܵ��@�ܱ�ܱ�ܱ�ܵ��; ݵ�E���j,幩J�E�AY}2��@�}2��@y}2����}2/� ��}2H�����>�?�����?���@dŅ����������� �?�����T�?�������?����Ӭ����� H��?)~2��@ ~2��\;I~2��Cɫ9�9)�9 �9I�9Y��<�@y���hG�����Q����?���Q�������Mbp?���\/?����u� ���;)�����I��y���)\���(�?���S㥫���~j�t�?���G!?���/]���� ��A)���AI��fAi���A������A�� +��M A=Y� ���QUm�>��q��q�au�G��u�>G��yy�}2��}}�>Iȁ����:�Ņo�4�?����:�Ņ}Gؾ����tI ƅ�@����?9ƅO�C�Dž^; ȅs�;)ȅ��:�W��$�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����cd�?B�T�9�B� B��A�G��*B��A�k$��A�A�Aa="C ����*C �Ĩ=RC �<C �$�@�C��!��!���r�=���I��GI>��ڰj,���J�E�AY}:6�@�}:���@y}:�� ��}:!���}:H���� �?�����%�?����,������ X����@F��?������?���`M��?�����������@��?)~:6�@ ~:a�\;I~8ɫ9�9)�9 �=����I�9Y�}��@y��7iG)�m�= �m�=���~�<M�O=Y���>�QU��>�������a��G�����y�ջ}�>I�1��5��4�?��5�Oؾ� �5��@��]�?9�5n�C��5կ; �5ܵ;)�1�Wm�%�@�WqXq X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B�6�B B �A釽*B�Aܨ$��A�A�Aׅ="C%.���*C-n��=RC-��<C-�%�@�C1�� � ���� ����� ����� ��� � b?:Y� �Y1y� �:�� �6�֕9�=��yI��G��>���j,&p�J�E�Aɫ�髙)�� ������I��Y����@y��;iG��Y��Y�a9�aI�ai�a��e=��a��a��e��; �e �E���ļ���B����l�i���@�� �z�@)�I�\�@i�\�@����:ME=Y����QU�>�����a�G����!y�%���}%�>I�1��5�:��5ʐ�4�?��=�:��5�Xؾ� �5��@��=�?9�5��C��5��: �5��:)�5��:�W](&�@�WaXa Xa�Wa:Wa2Wa*Wi�VibUiBUq*UqUqUu��� ��@B���8�B� B��A����*B��A�n�$��A��A��A�_�="C�(���*C�B��=RC��R�<C�(&�@�C������<�יI��G�b>��.�j,�K�J�E�Aɫ�髙)�� ������I��Y���@y��$iG��ɮ�a=����ȻM�^=Y�QU�>���� �a �G�� �>G�� y�}�>I���g��4�?��w`ؾ� �T�@��%�?9���C��=�: ���:)��WM�&�@�WIXI XI�WI:WI2WQ*WQ�VQbUYBUY*UYUYU]�����@�RmB*** querying acoustic contact ***�Pi�PiB�yh9�B� B��A����*B��A�1%��A��A��A�E�="C�2���*C�$r�=RC��x�<C��&�@�C� ս�=�Խ�=��y���i��gmGI�i�I���!οٺ������A�����<�סI��G�E>���i���=�� ���� ����� ����� �� � &J:Y� xZ1y� q�:�� !6���j,w.K�E�AY}2���@�}2���@y}2"���}2.7��}2H��������?����Y�?����c�t���� P�������?������?����ܡ?����<ি��� ���?)~2���@ ~2��\;I~2��Cɫ9�9)�9 �=����I�9Y�u�@y�u�iG}Z****** received transponder code query ******}F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����������������>������i����@��� ����@)��z�@I��z�@i��z�@���u�<M�<=Y����QU��>�������a��G�����y�)��}�>I����:��ò�4�?���:���iؾ� �3�@���?9�ЅC����: ��:)���:�WEa'�@�WAXA XA�WA:WA2WI*WI�VIbUIBUQ*UQUQUU���@> @B}?�4�B� B��A�<e�*B��A�NB%��A��A��A���="C�����*C��O�=RC��T�<C�a'�@�C������I�)Guy>�U��>9�QI�Qi�Q��Q��Q��Q��U��; �U�E)��o�CI��o�Ci�釉��=�����퇨.5��@�j,�+K�E�AY}6M��@�}6��@y}6�X��}6)�<��}6H����@���?���`�r�?����#<r�����i��������?�������?���@ �?����������@;��?)~6M��@ ~6R�\;I~6��Cɫ9�9)�9 �9I�AY�]�@y�]�iGexDUSBL response received:!U1,P 065,000,00579,186,80,80,A1,FF eCommand AckeBRequesting 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 ������Q���?-���ƿ�� �rh�����(?���?5� ��C��)��I��y���}?5^�I�?�Q��뱿y�&1��?���M"?���\�����`e< ��;A)��3AI��i��^A�������A��m�7;Mm)=Y�u�=�QUu�>��y��y�a}�G���>G��y�_��}��>Iȹ�Ž,��4�?�Žuؾ� ƽ��@���?9ƽ��C�ǽKf; Ƚ{<)ȹ�W�-(�@�W�X���%� ����%�����%�����%��� �%�Y:Y�%0Y1y�%��:��%26)�%b�;�9=� X��WQ:WY2WY*WY�VYbUYBUa*UaUaUe���@*L@B���2�B� B��A��_�*B��A�;�%��A��A��A�C="C��z��*C��"�=RC��5�<C�-(�@�C��� oE�<��� I�� G�>��(�j,@�DK�E�AY}6Os�@�}6��@y}6D��}6�P<��}6H�����W��?����Q��?�����^q����@0��������?�������?���@��?��� ;�������D��?)~6Os�@ ~6��\;I~6��Cɫ9�9)�9 �=����I�9Y����@y��7iG������@A� �Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����M�|=Y� $~8QU� ?�����a��G����y��J�}�?Iș����:�ŝ��4�?����:�ŝ�|ؾ� Ɲ>�@����?9Ɲ�C�ǝ�: ȝ��:)ȝ��:�W��(�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@cM@B :<�B B �A 釽*B �A˧%��A�A�A�'="C�s��*C� �=RC��v<C�(�@�C!����m�<���I��G�F>��S�j,R�^K�E�AY}:�U�@�}:oc�@y}:a���}:K�A��}:H��������?����'��?������m����`Ԟ�������?����i@�?����/;�?���`)6���������?)~:�U�@ ~:��\;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}ViG�xDUSBL response received:!U1,R,022,000,00548,185,80,80,A4,FF �Fpublishing direction and range info�����ɰ���=鰅+�> ��)���$CI��y��z.B�������d��?���`����������ٱ�)å�= å�=���;����J>�����=i����@�)9�)I�-�dGi�- �@��-=��)��)��-v�; �-юE��� ��\�@)��I��i��\�@��5��;M5G=Y�5*|�QU5�>��9��9�a=�G��9��Ay�E�}E�>I�i��mw��4�?��m ؾ� �m��@��}�?9�m3�C��m�: �m��:)�i�W�?)�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�P*Qz.B�Z��o����E@H�q�d������������Z����d��?���`����������2Q��:Q�Z�4�v&��A@~�[�9�y��x���?�Z���?�&�?��!3g�6Q��?BQzp�@ Q���Q�B�P=�9?�P�P����QQK�@"Q��@B���7�B� B��A�n��*B��A���%��A��A��A�OH="C��i��*C�c�=RC��G<C�?)�@�C��� � ���� ����� ����� E�� � GT:Y� DW1y� Y�:�� �&6)� ��;���u�<���I��G�>���j,A�xK�E�AY}58�@�}5�E�@y}5X��}5ȅ(��}5H��������?�������?����l3}�����m�����`~��?���@���?���@�i�?��������������?)~58�@ ~5��\;I~5��Cɫ�)� �����I�Y����@y���iG��TNmea in: $SNTTA,0.046376,,,,164325.24*41 ��M��<MMH=Y�U�e�QUU�>��Q��Q�aU�G��]�>G��Yy�]�}e�>I�i��m��4�?��m�ؾ� �mC�@��u�?9�mT�C��m�: �m@�:)�i�m�uAdded new target pos. range: 43.619995 m, bearing: 324.865927 deg, deltaT: 4.484008 s, approachRate: -0.655665 m/s, LOS rate: 0.295647 deg/s, posRepo size: 4�m�� ProNav: pos range: 43.619995 m, bearing: 324.865927 deg, approachRate: -0.655665 m/s, LOS rate: 0.295647 deg/s, cmd update: 0.886942 deg/s, cmd heading: 331.529718 deg, new cmd heading: 331.533979 deg. �W�\�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����\�E@U��������?B���4�B� By�A}!Z�*By�A�S&��A��A��A�'e="C�t=��*C�t��=RC��i;C�\�@�C����/�C<����?i���?���I� G �>��d�j,n�K�E�Aɫy�y)�y �}����I�yY��y����}j�<��}��>��}ʡ=i�}��@��y �}n�@)�}\�@I�}\�@i�}z�@Y����QU��>�����a��G����y����}��>Iȡ����:�ť��4�?����:�ť��ؾ� ƥ��@����?9ƥs�C�ǥ��: ȥ��:)ȥ��:�WU���@�WQXQ XQ�WQ:WY2WY*WY�VYbUYBUa*UaUaUe����K8�?B�,E6�B� B��A�*B��A��6&��A��A��A�="C����*C����=RC ���C ���@�C �� r��;��!I�QG�\>��i ����������������� �2<:Y��X1y�/�:���6�9 @�9�I�LeGi�_�@��=������D����; ��E����j,^G�K�E�AY}R9<�@�}R�I�@y}R-���}R����}RH���� ���?���@���?����f����������������?���@�ߨ?������?�����ס��������?)~R9<�@ ~R��\;I~R��Cɫ���)�� ������I��Y�=��@y�=�iG��-�V-����?bX9��ƿ�A`��"�?��-|??��-E6� �-Y=)�)I�)y�-��$��C�?�����������Q��?��-?��-�L���-��< �-�A)�-�AI�-;Ai�)��)��-�A��9��=lA��M��MM�<Y�Mh�:QU��>�������a��G����>G���y��ؓ:}��>I�����Z�4�?����ؾ� ���@����?9����C���Ǻ: ����:)���W 9Ĺ@�W X X�W:W2W*W�VbUBU*UUU%����t�?BM'_5�BI BI�AU�[�*BQ�AUaf&��AQ�AQ�AU̞="C]���*C]c�=RCe4�»Ce9Ĺ@�Ca��=q�Z;��I�!G=r>��v�j,O$�K�E�Ai�3�C��)� �I� � ��C)� ɥ �� � ���Cɦ�pAi����I��iF��I��Ci�ZrA ��)��%3�C �%�pA��%�����%�cFɧ!��-̔C��)I�))�)i�))�-��CI�5qA�1ɨ1 �1ɫ���)� �����I� Y��@�@y��jG�õ���õ5�>�õ iõQ�@�ñ ĵz�@)ĵz�@Iĵz�@iı�����<M�C=Y�����QU��>�������a��G������y�����}��>I������:���y'�4�?����:�����ؾ� ��.�@����?9����C����: ��@�:)����:�W���@�WX X�W:W2W*W�VbUBU*U!U!U%����g��?BM?H3�BQ BQ�AU�6�*BQ�AUF�&��AY�AY�A]p�="Ce"��*Ce[2�=RCe��5�Ce���@�Ci�օ&t����YI�iG�[>�������������������� ��:Y�[1y�ݏ:���6�v��j,��K�E�AY}::�@�}:�G�@y}:P+��}:����}:H��������?�������?���������������������?����XC�?��� �ġ?����+՝���� ���?)~::�@ ~:X�\;I~:��Cɫ�髩)�� ������I��ܽ��>9ܹIܽ�eGiܽ��@�ܽ=�ܹ�ܽ��D�ܽ��; ݽ�EY��-�@y���iG���ǻM�\=Y�\�:QU��>�����a��G�����y��^7�}��>I�����@6�4�?���]�ؾ� ����@����?9��цC���&�: ����:)���W��&�@�W�X X�W:W2W *W �V bU BU *UUU�������?B=ǩ4�BA BA�AE4@�*BA�AEŰ&��AI�AI�AM��="CU<��*CUR�=RCU�$��CU�&�@�CY��u*�����II�YGuY>I��)�����j,���K�E�AY}:�J�@�}:>X�@y}:P]��}:�ռ�}:H�����&��?�������?��� ������� _�����@˧�?����AѤ?����Ɋ�?���`��������g��?)~:�J�@ ~:y�\;I~:��Cɫ�髙)�� ������I��Y���@y���iG)�E�= �E>��u&�MuO=Y�}H�:QU}�>��y��y�a��G���>G��y���;}��>Iȑ����:�ŕF�4�?����:�ŕ��ؾ� ƕu�@����?9ƕ��C�Ǖ��: ȕ��:)ȕ��:�W��X�@�W�X� X��W�:W�2W�*W��VIbUIBUQ*UQUQUU���`�7@B�T�4�B� B��A�QK�*B��A���&��A��A��A��="C�t�*C�d̦=RC��0��C��X�@�C�����+w��יI��G�F>��� ����������������� ��A:Y�DW1y�Y�:���6���j,üL�E�A�|i|ɫq�y)�y �}����I�yY��w�@y��VjG��a=ɮ�p=��%;߽��%O�>��%�>i�%�@��! �%ٮ@)�%��@I�%��@i�%ƣ@��5��<M=N=Y�=���QU=�>��A��A�aE�G��A��Iy�M���}M�>I�Q��U�U�4�?��U��ؾ� �U�@��e�?9�U�C��Uض: �U4�:)�Q�W��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����+B@�R�B*** querying acoustic contact ***�P��P�B�,2�B� B��A�-�*B��A���&��A��A��A�7="C�@P�*C�&��=RC��ȼC��@�C������I�GMR>ܽ��>9ܹIܹiܹ�ܽ=�ܹ�ܹ�ܽO�; ݽ��E�I� j,��-L�E�Aɫy�y)�y �}����I�yY��ɾ@y���jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��m��E�����?'1�ZĿX9��v��?��m�F?��m�"� �m�}=)�iI�iy�m�V-����?㥛� �����~j�t�?��m|?��m�����m�= �m;A)�iI�m�Ai�i��i��i��a�<M�7=Y�QU��>�����a��G���>G��y�}��>Iȡ����:�ť�g�4�?����:�ť�ؾ� ƥ��@����?9ƥ2�C�ǥ��: ȥ,�:)ȥ��:�W��ú@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� $� @B���.�B� B��A���*B��A��'��A��A��A��8="C����*C�,V�=RC�t���C��ú@�C���������� � ���� ����� ����� ��� � >:Y� �Y1y� �:�� 6)� h�;�9����I��G��>i���lGI��i���� �Ϳٺ �� �A�w�j,�mGL�E�AY}B�ľ@�}B�Ҷ@y}B6���}BcP��}BH��������?����+G�?�����X�������A����@v��?����uŝ?�����p�?��� �����������?)~B�ľ@ ~B�\;I~B��Cɫ�髉)�� ������I��Y���@y�jG%xDUSBL response received:!U1,P 022,000,00548,185,80,80,A4,FF %Command Ack%BRequesting micromodem ping code 2i�!��!�5�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��q��unA��}O�>��}�=��}�(�i�}��@��y �}��@)�}��@I�}��@i�}��@��S�M�3=Y�,�9QU��>�����a��G����y��=}��>I������z�4�?�����ؾ� ����@����?9��X�C���: ����:)���W=���@�WYXY XY�WY:WY2Wa*Wa�VabUaBUi*UiUiUm����l� @B�|0�B� B��A�� �*B��A��6'��A��A��A�?\="CM��*CU �=RCuA���C}���@�C���� ��弹 I�� G� �>�.�j,cGaL�E�AY}6v�@�}6,��@y}6�M ��}6-���}6H����� �?�����&�?�����蘿��� 8"�������?������?���@˨�?���`JT����� ���?)~6v�@ ~6�\;I~4ɫ9�9)�9 �=����I�9��Y��]nA�a9�aI�efGi�e�@��e=��a��a��e�; �e��E)��I��i�����=���=����a5Y��ؾ@y���jG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� �<M�{=Y����QU� ?�������a��G�����y��j<}?I�����4�?����ؾ� ���@���?9�q�C��÷: �w�:)��W=�'�@�WAXA XA�WA:WA2WA*WI�VIbUIBUI*UQUQUU����Z@B}��/�B� B��A�ּ*B��A��F'��A��A��A�Gq="C�>�*C�Q�=RC��e¼C��'�@�C���mc�ռ��!I�AG}7>��� ����������� ��B:Y�y���W6)���;�`j,�"{L�E�AY}6�@�}6��@y}6�| ��}6&��}6H�������?�����?����������`g�������?������?�����N�?���`��C�����Q��?)~6�@ ~6��\;I~4ɫ9�9)�9 �=����I�AY�}�@y�}�jG�xDUSBL response received:!U1,R,035,000,0051A,184,80,80,A4,FF �Fpublishing direction and range info����q=����ɰ���=鰅��> ��)��I��y��p#B����:C�O=��?���_�����������ٱ����p;M�]=Y���:QU��>�����a��G����>G���y��qI<}��>I������:�����4�?����:�����ؾ� ��2�@����?9����C�����: ����:)����:�W�U�@�WX X�W:W 2W *W �V bU BU*UUU����}�@�P!*Q%p#B�Z%����|hD@�o���9�����������Z%�:C�O=��?���_�����������2Q%�q=�:Q!�Z%���P��@@�.��L7�uΤ���?�Z%���O��C�?��@u?�ڀ#;�M�?BQ%���@ Q%f��Q%%B�P!�P%=�9?�P!Q%����Q%�@"Q%K�@B]��.�BY BY�Ae�ʼ*Ba�AeZ'��Aa�Aa�Ae��="Cmȣ۾*Cm���=RCu� ˼Cu�U�@�Cq��m�����!I�1GM1>I�)�?A�#%j,z��L�E�AY}>|3�@�}>2A�@y}>kX ��}>A��;�}>H����`(�?���@���?��� $���������������,�?����X��?����:*�?�����r?����P��?)~>|3�@ ~>��\;I~>��Cɫy髁)�� ������I��Y��G�@y��UkG�]TNmea in: $SNTTA,0.055420,,,,164329.71*4B )�u�= �u�=�ýף��ý>�ý�)>iý��@�ù Ĺ)Ľz�@IĽz�@iĽz�@�����<M�9=Y���%:QU��>�������a��G������y��u%<}��>I�������4�?���\�ؾ� ���@��}�?9����C�����< ��#�:)���m�uAdded new target pos. range: 40.859997 m, bearing: 325.209868 deg, deltaT: 4.383276 s, approachRate: -0.629666 m/s, LOS rate: 0.078467 deg/s, posRepo size: 4�m-� ProNav: pos range: 40.859997 m, bearing: 325.209868 deg, approachRate: -0.629666 m/s, LOS rate: 0.078467 deg/s, cmd update: 0.235400 deg/s, cmd heading: 335.421023 deg, new cmd heading: 335.843220 deg. �W-�e�@�W1X1 X9�Wa:Wi2W�*W��V�bU�BU�*U�U����`nD@U�����(��?B5�*�B1 B9�A}�M�*B��A��h'��A��A��A���="C�r�ھ*C�Wp�=RC����e��>9�aI�ai�a��e=��a��a��e��; �e��E��} ����}�����}�����}P�� �}xJ:Y�}DW1y�}Y�:��}�'6)�}(�;C��e�@�C� ��>���>��� �̼��� I�� G� �>�X++j,�خL�E�AY}2aN�@�}2\�@y}2�7 ��}2�f<�}2H���� B6�?�������?���@�������������`5;�?�����ԃ?����+&�?���� �?������?)~2aN�@ ~21�\;I~0ɫ9�9)�9 �9I�AY�}�@y�}�jG����sh��|?�?�S㥛�п�� �rh�?����I?���$�� ��C=)��I��y����� �rh�?�MbX9��:��v���?���C+?���ʡ������< �A)5AI�Ai�A�������A����M�L=Y��8QU��>�������a��G����>G���y��3<}��>I������:�����4�?����:�����ؾ� ����@����?9��ԇC���V�: ����:)����:�W�q�@�WX X �W :W 2W *W�VbUBU*UUU�������?BE�A/�BI BI�AM�ü*BI�AMtw'��AQ�AQ�AU��="C]��پ*C]`H�=RC]??��C]�q�@�Ca��E������I�)GEQ>�82j,��L�E�AY}U!n�@�}U�{�@y}UO���}U�lY<�}UH������F�?�������?���`����������@L�?����<�x?������?�����)�?���@���?)~U!n�@ ~Ug�\;I~U��Cɫ1�1)�1 �=����I�9Y��ؾ@y���jG��el�=��eSc>��ej��i�e��@��a �a)�e��@I�e��@i�e��@��}Ь�M}?=Y�}1�9QU}�>�����a��G����y�<}��>Iȑ�ŕ���4�?�ŕ�پ� ƕG�@����?9ƕ��C�Ǖ��: ȕI�:)ȑ�W�[��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ^I�?B�.�B� B��A�ּ*B��A���'��A��A��A�"�="C���ؾ*C�R �=RC�;���C�[��@�C����q歼��i�p=��u� ����u�����u�����u��� �u�D:Y�uxZ1y�uq�:��u�6�9�@�ױI��G��>�A=8j,ڎ�L�E�AY}2���@�}2w��@y}2�q��}2/��<�}2H����@�^�?�������?�����㢿���@ԋ���� �c�?�����c?����w͠?�����o�?��� f��?)~2���@ ~2T�\;I~2��C����� ��>9� p�CI� xfGi� S�@�� =�� �� �� ��; � y�EɫY�a)�a �aI�aY���@y���jG��}�<M}\=Y�}@�:QU}�>�����a��G����y��u<}��>Iș����:�ŝ���4�?����:�ŝ�پ� Ɲ��@����?9Ɲ�C�ǝ�: ȝ��:)ȝ��:�W�ތ�@�W�X� X��W�:W2W*W�VbUBU*UUU�����\�?BE�c.�BI BI�Am'��*Bi�Au:�'��Aq�Aq�Au1 ="C}�/ؾ*C}�ޤ=RC}�h��C}ތ�@�C��֝�}��Iס)ס��yI��G�]>��h>j,�p�L�E�AY}2Aп@�}2�ݷ@y}2�3��}2�)�<�}2H������y�?����\�?��� C�����@�^���� �~�?����8-8?���`���?����Pb�?���@3��?)~2Aп@ ~2��\;I~2��Cɫ9�9)�9 �=����I�9Y�uɾ@y�u�jG����Q�M�R=Y��L:QU�>�����a �G�� �>G�� y�.�<}�>I�����4�?��wپ� �h�@��%�?9�:�C���: �U�:)��WM왻@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUY*UYUYU]���`F8�@B��/�B� B��A���*B��A�|�'��A��A��A�o*="C��^*C��=RC���I�C�왻@�C��֥�!���ׁI��G�C>���_ �������������������� ��O:Y�0Y1y���:���6�TOEj,oEM�E�Aɫ�髙)�� ������I��Y��)�@y��0kG�íC���í����í/>ié�é ĩ)ĩIĩiĩ�����<M�?=Y�����QU��>�������a��G������y�����}��>I�����N�4�?���aپ� ���@����?9��_�C�����: ��#�:)���WU���@�WYXY Xa�Wa:Wi2Wq*Wy�V�bU�BU *UUU%���@��@�R�B*** querying acoustic contact ***�P��P�BE��+�BA BA�AE���*BI�AM�'��AI�AI�AMAQ="CUs־*CU�s�=RCU~p�C]���@�CYI��AA)��AA� 9� o�CI� i� �� �� �� �� ��; � m�E�֕O�N��ׁI��G��>�QyKj,�0M�E�AY}2�5�@�}2tC�@y}2s_��}2�'�<�}2H�����-��?����?�?����=H�����`j���� #��?���� Pl����@-��?����>a�?���`���?)~2�5�@ ~2@�\;I~2��Cɫ)�1)�1 �5����I�1Y�m��@y�m�kGuZ****** received transponder code query ******uF****** received ping request ******}<Arming DUSBL. detectThresh: 75}8****** ping requested ******I��)�����=i���= ��������)\���(�?�������������������G!?����̽ ���̼)��I��y���'1�Z�?333333���� �rh�?����"?���������C�< dA)�AIAi�������A)å�= å�=��! =M�#=Y�;��QU��>�����a��G���>G��y��z�<}��>I�����:����4�?���:���I)پ� ����@�� �?9����C����; ��;)����:�WM���@�WIXI XI�WI:WI2WQ*WY�VYbUaBUa*UiUiUm�����@B��'�B� B��A����*B��A��A��A��A�-q="C�~eվ*C��@�=RC��C����@�C���� ����������������� �PU:Y�[1y�ݏ:��6)���;�9�����zl��ש I�� G� �>��dRj,� JM�E�A�|<i|<Y}n�h�@�}n}v�@y}nY��}nu��<�}nH��������?�������?�����s����� T�߿�������?����D{o����@^ʠ?�������?����f��?)~n�h�@ ~n��\;I~n��C �x)�zqAɌzl罩�x�x��|ɍ|i�~��I�|��|I�i�~rA ��)�� � qA�� ����� �aFɎ �����pAI��)��i��)��I��鏝���ɏ��`F ��ɐ�鐙������i�����i�������A)�� ��I��ɫ�髉)�� ������I��Y��۾@y���jG�xDUSBL response received:!U1,P 035,000,0051A,184,80,80,A4,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 ����Լ����D<���`e<i��=�@��� ��)����@I��i����@��E��MMQ=Y�U��QUU�>��Y��Y�ae�G��a��iy�,�<}��>Iȱ�ŵ@*�4�?�ŵ�1پ� Ƶ�@���?9Ƶ��C�ǵ��: ȵ/�:)ȱ�WeBǻ@�WaXa Xa�Wa:Wi2Wi*Wi�VibUqBU�*U�U�U���� �@B�D/�B� B��A�^Ҽ*B��A�Y�'��A��A��A���="C��Ծ*Cy�=RC�D�CBǻ@�C�� ������I��G �>�͌Xj,�cM�E�AY}6���@�}6W��@y}6p���}6��<�}6H�������?����dZ�?���@'~������c߿������?����\�p���� �ՠ?��� ��?����^��?)~6���@ ~6%�\;I~4��L��NmA�V��>9�TI�Ti�T��T��T��T��V��; �Vf�Eɫ�髱)�� ������I��Y����@y���kG�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��T�=M��=Y����QU� ?�����a��G����y���<}�?I������:����7�4�?����:���L8پ� ��p�@����?9��C���4�: ����:)����:�W�ѻ@�W�X� X��W�:W�2W�*W�VbUBU*UU U ���`�R @B}_L(�By By�A}���*By�A� �'��A��A��A���="C���Ӿ*C����=RC�ʆ�:C�ѻ@�C��֝#2����yI��G�a>����=i���=��-A ����-�����-�����-��� �-kM:Y�-d\1y�-��:��-(6)�-��;�y�^j,��}M�E�AY}:Ѹ�@�}:�Ƹ@y}:�J��}:���<�}:H����@���?���@S$�?���@��������+߿��� ���?������[����`���?���� ��?���`��?)~:Ѹ�@ ~:x�\;I~:��C��T��Ti��mGI�)i�9��u�̿ٺq��u��Aɫ���)�� ������I��Y��-�@y��5kG����?9���A������AA�xDUSBL response received:!U1,R,098,000,004ED,186,80,80,6A,FF uFpublishing direction and range info��������ɰ���=����> ��)����BI��y���B����,Q� ��?�) ������������ٱ�����M�I=Y���]:QU��>�������a��G����>G���y�M<}�>I����I�4�?��Aپ� ���@��%�?9��C����: �ϸ:)��Wm$@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����>Z@�P�*Q��B�Z���m��B@�s0����������Z��,Q� ��?�) ������������2Q���:Q��Z��'h���>@]V�k)�6���ԋ��?�Z����WK��?����$�ov���M�?BQ����@ Q����Q�u�A�P�;�9?�P��P�����Q�Q�P�@"Q��@B%gM,�B! B!�A%瀼*B!�AM(�'��AI�AI�AM��="CUlӾ*CUʣ=RCU�}:;C]$@�CY�ԉ�ԉ��}�] ;Iב)ב��QI�aG}z>��ej,���M�E�A�|�|�;Y}6���@�}6zܸ@y}6����}6��v<�}6H����`���?���@���?����#_�����@�߿�������?������e?����|��?��� 2Վ?�������?)~6���@ ~6��\;I~6��CɫY�Y)�a �aI�aY��s�@y���kG�-TNmea in: $SNTTA,0.036422,,,,164333.77*41 �Õ����ÕC=�Õף=iÕQ�@�Ñ ĕz�@)ĕz�@Iĕz�@iĕ\�@����<M�/=Y�ࡹQU��>�����a��G����y�n�;}��>I������:����]�4�?����:����Jپ� ��u�@����?9�� �C�����: ����:)����:�myAdded new target pos. range: 38.159996 m, bearing: 323.237446 deg, deltaT: 4.094278 s, approachRate: -0.659457 m/s, LOS rate: -0.481751 deg/s, posRepo size: 4�mrPowering the camera and arming the DDM at range: 38.16 m.X�m� ProNav: pos range: 38.159996 m, bearing: 323.237446 deg, approachRate: -0.659457 m/s, LOS rate: -0.481751 deg/s, cmd update: -1.445253 deg/s, cmd heading: 336.382885 deg, new cmd heading: 336.489907 deg. �W2��@�WX X�WX:W!2W!*W!�V!bU)BU)*U)U-����zC@U-���`L��?B]��)�BY BY�A]-�*Ba�Ae��'��Aa�Aa�Aez�="Cm��ؾRCmѱ}<Cm2��@�Cqܭ��>9ܩIܩiܩ�ܭ=�ܩ�ܩ�ܭ��; ݭb�E)�1�I�1�i�1���5�=��5�=��5���4�֝"5;��5� ����5�����5�����5��� �5�D:Y�5�X1y�5/�:��56)�5U�;��qI�yG��>���kj,si�M�E�AY}6\��@�}6�@y}6��}6�,<�}6H����@%��?�������?�����������u�������?����y�?�������?����GÀ?���`f��?)~6\��@ ~6 ];I~6��Cɫ���)�� ��I��Y�-��@y�5�kG��.Powering up loadControli�-��M���S㥛�?D�l�����{�G�zt���M�$?��MO�� �Mף�)�II�Iy�M���ʡE��?q= ףp��/�$��?��M�?��M����M�< �M5A)�II�Ii�I��I��MA��mb`<MmN=Y�m��9QUu�>��q��q�au�G��u�>G��yy�}��;}}�>Iȁ�Ņ�m�4�?�Ņ�Sپ� ƅ��@����?9ƅ)�C�Dž��: ȅM�:)ȁ�:����u��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;���v�ZEntering USBL mode with 5.000000 count pings.1;����q;����W�/�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����A��?B�t(�B B�A ��*B �A ;�'��A �A �A �="C�RC~`�<C/�@�C���jZX<�יI��G�b>I��@A)��@A���rj,R�M�E�AY}6��@�}66�@y}6l���}6�?�;�}6H�����)�?������?���@�c������;�����t�?����r��?����?����_Es?��� ���?)~6��@ ~6��l;I~6��Cɫ)�))�1 �1I�1Y����@y���kG����=i���= ������E����E�>��EV��i�E��@��A �Eƣ@)�E��@I�E��@i�E�@��UF�:M]]=Y�]Sj9QU]�>��a��a�ae�G��a��iy�m��:}u�>I�q��}�:��u�|�4�?����:��u�[پ� �uq�@����?9�uG�C��u_; �u�;)�u��:�X�������@q;�����u��Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�:�����u��Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�W���@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@rd�?B�2W(�B� B��A����*B��A�7�'��A��A��A��!="C�z��RC�q�=C���@�C��֕��t<��qI��G��>��m, ����m�����m�����m��� �m�K:Y�md\1y�m��:��m�6�9u@���xj,C�M�E�A�� ��"4=�&��>9�$I�$i�$��&=��$��&��D��&��; �&W�EY}F���@�}Fe��@y}F����}Fƶ/:�}FH�����%�?���@���?����D������@�������?���`F�?�����W�?��� ��E?�������?)~F���@ ~FUq�;I~F��Cɫ1�1)�1 �9I�9Y�uo�@y�u�kGi������5*��M5M=Y�5,�:QU5�>��9��9�a=�G��9��Ay�E u;}E�>I�I��M-��4�?��M�dپ� �M��@��]�?9�Mg�C��Mܹ: �Mn�:)�I�W}���@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@h��?B�K,*�B� B��A����*B��A���'��A��A��A��A="C�$��RC���+=C����@�C������<�ׁI��G�=>�,j,���M�E�AY}2���@�}2e�@y}2t����}2O볻�}2H����@� �?���`��?��������������@O�?����/a�?��� ��?���`�zv��������?)~2���@ ~2zN�;I~0ɫ5�����5����)�1 �1I�1Y�u0�@y�u9kGi������� ]��ML=Y���:QU�>�����a�G���>G��y�%�[;}%�>Iȁ�Ņ���4�?�Ņ�mپ� ƅ�@����?9ƅ��C�Dž��: ȅ�:)ȁ�W��;�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U������)�@B��[,�B� B��A�dz�*B��A� (��A�A�A�f="C �B��RC xR=C �;�@�C��]9�=���i���=��I�!GMs>���� �������������������� ���D:Y��DW1y��Y�:���r6�w�j,��N�E�AY}2 �@�}2��@y}2����}2|G"��}2H�������?���`͘�?����&����� ��������?����#�?�����ޟ?����UF�����@���?)~2 �@ ~2�w�;I~0ɫ������)� �I� Y����@y���kGI�9)�9i�a��i��jA��5����5��>��5��>i�5��@��1 �5��@)�5��@I�1i�5��@��M-�<MM8=Y�M�(:QUM�>��Q��Q�aU�G��Q��Yy�]m�;}]�>I�a��m�:��e���4�?��u�:��e�wپ� �e�@��u�?9�e��C��e^�: �e�:)�e��:�W�A�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@-�@B��F)�B� B��A�Q��*B��A�� (��A��A��A���="C����RC���=C�A�@�C����&t@=�E��>9�AI�E�fGi�E��@��A��A��A��E��; �EU�E�I��G�f>���j,��2N�E�Aɫy�y)�y �yI�yY��]�@y��pkGI��@)��@i�������e��G�z�?V-��ϿX9��v��?��e�0?��e�|� �e�}=)�aI�ay�e���/�$�?���Q���/�$��?��e&1?��e�u���a �e�A)�edAI�e;Ai�e�A��a��e�A��n��M�l=Y����QU��?�����a�G���>G��y�%���}%�>I�1��5n��4�?��5jپ� �5��@��E�?9�5ˉC��5�; �5 ;)�1�W���@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@a�@�RB*** querying acoustic contact ***�P�P���BUO�*�BY 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� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����M� @B��8-�B� B��A����*B��A.$(��A�A�A��="C-����RC5�2�=C5�F�@�C1��%oM�=���I��G J>I��)��AA�A9�AI�Ai�A��A��A��A��En�; �EF�E�(�j,�gfN�E�AY}>�e�@�}>�s�@y}>�� ��}>�u ��}>H�����N@�?����b�?�����ƌ����@��ݿ�����;�?�����g�?�����U�?����UK����� ���?)~>�e�@ ~>T�;I~<ɫy�y)�y �yI�yY����@y���jG��p=ɮ�=�xDUSBL response received:!U1,P 098,000,004ED,186,80,80,6A,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 i�)��1��}� �M}L=Y��QU��>�����a��G�����y����<}��>I��������4�?�����پ� ����@��5�?9���C�����; ����;)���W-��@�W)X) X)�W)X):W)2W1*W1�V1bU1BU1*U9U9U=���`�v @B���0�B� B��A����*B��A�aB(��A��A��A���="C��^�RC����=C��@�C! �-�=��-�=��U��=��]�?i�]�?���1 �����������%�� ��%L:Y��y�����#6)����;�9����) I�9 Ge �>���j,)A�N�E�AY}6�t�@�}6���@y}6�0��}6��1��}6H����@�F�?��� $��?����cs��������ݿ�����>�?����$?�?����e�?��� (9�����`���?)~6�t�@ ~6@�;I~6��CɫY�Y)�Y �YI�YY���@y��kG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �kA�kAi�!��!��U�=M]L=Y�]���QU]�>��a��a�ae�G��e�>G��ay�mc�;}m�>I� ���:�� ���4�?���:�� �پ� � Z�@���?9� 6�C�� �: � V�:)� ��:�W=y��@�WAXA XA�WAXA:WA2WA*WI�VIbUIBUQ*UQUQUU��� @B}B#.�B� B��A���*B��A�O(��A��A��A��="C���RC����=C�y��@�C���}��=�סI��G�C>�V:�j,!�N�E�AY}2n�@�}2�{�@y}2�T��}27�[��}2H�����C�?����"�?����������� w�ݿ���@6�?����a��?����eI�?�����v�����`b��?)~2n�@ ~2&p�;I~2��Cɫ�髉)�� ��I��Y��0�@y��9kG������@A�xDUSBL response received:!U1,R,060,000,004BC,186,80,80,75,FF �Fpublishing direction and range info����������ɰ���=鰩 ��)����BI��y���B����I -�D��?��=�k����������ٱ�i�������]���"��~�?:��v������ �rh����]�3?��]�T� �]C��)�YI�Yy�]�}?5^�I�?J+����~j�t�����]M"?��]�H���]�D� �]A)�]�AI�Yi�Y��Y��Y�õ��=�õ�I>�õx�=iõ��@�ñ ĵz�@)ĵz�@Iĵ\�@iĵE�@�����;M�=����>9��I��i��������������%�; �� �EY��2\�QU��>�����a��G�����y���Ⱥ}��>I������=i��p=���m�4�?���1�پ� ����@���?9��a�C�����; ����;)���W�,�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����`'P@�R(Combining 5 samples.�P!*Q%�B�Z%�&n�rY�A@ti7غ�����������Z%�I -�D��?��=�k����������2Q%����:Q!�Z%��Ne�i�=@5��t3�|! +���?�Z%����G��?ݨ��Dῴ�r�c��?BQ%�Ͷ@ Q%��Q%��A�P%?�9?�P%;�9?�P%����Q%����Q%��@"Q%P�@B= ��+�B9 BA �AE dz�*BA �AE b(��AA �A� �A� Y="C� %�RC� �=C� ,�@�C� ��- jA��- jA�� �=I�jA)�jA���I� GE �>���j,�N�E�AY}n�$�@�}n�2�@y}nQ� ��}n�f���}nH�����6 �?��� ��?������o����@�k����! �?�����2�?�����?����f����� ���?)~n�$�@ ~n�`�;I~n��Ci�~@�C��~5rA)�| �|I� ��C)� �qAɥ �� � ��&�Cɦ�pAi��'�I���I���Ci�%VrA �!�!)�!�) �-�pA��-�k���-�cFɧ)��5ٔC��1I�1)�9i�9)�AI�EqA�AɨA �Aɫ�)� �I�Y��@y��jG�uDNmea in: $SNTTA,,,,,164338.19*5D i�������/��M�`=Y�E��QU��>�����a��G���>G���y���ؼ}�?I������:����#�4�?����:�����پ� ����@����?9��|�C�����: ����:)����:�m�uAdded new target pos. range: 35.220001 m, bearing: 327.309249 deg, deltaT: 4.585738 s, approachRate: -0.641117 m/s, LOS rate: 0.887928 deg/s, posRepo size: 4i��mGI��~nA�m rPowering the camera and arming the DDM at range: 35.22 m.i�A�AX ��EƆ�ٺE~nA��E{B�mm� 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. �Wu ��@�WqXq Xq�WqXq:Wy2Wy*Wy�VybU�BU�*U�U�����)�A@U�����=��?�� ����� ����� ����� ��� � R�:Y� [1y� ݏ:�� �L6�9@Bmӎ/�Bi Bi�Am'��*Bi�Au�r(��Aq�Aq�Au�(="C�X�RC���=C� ��@�C��֍[R�=��QI�YG��>���j,=��N�E�AY}:Q��@�}:�@y}:�&��}:�=���}:H�������?������?����P�A����@���������?����3:�?��� KӤ?��������������?)~:Q��@ ~:~�|;I~:��Cɫ�髙)�� ��I��Y���@y��lGi�I��I�å����å����å�M�iå��@�á ĥ�@)ĥ��@Iĥ��@iĥ��@���=M�_=Y����QU��>�����a��G�����y���ż}��>I�����4�4�?�����پ� ����@����?9����C����: ��n�:)���W�J0�@�WX X�WX:W2W *W �V bU BU*UUU����v�?BE�r(�BA BA�AE���*BA�AI�AI�AI�AM*="CU����RC]�Ҙ=C]J0�@�CY��E~��=��I�)GER>����� 9� I� i� �� =�� �� �� 3�; � '�E)ݙ�Iݙ�iݙ��ݝ�=�ݝ�=�ݝ��4�!�j,Sx�N�E�AY}2���@�}2���@y}2bn.��}2����}2H����@R��?������?����Ep?����%}߿�������?�����ӷ?���`̥?���`h6����� `��?)~2���@ ~2d�o;I~2��Cɫ�髹)�� ��I��Y��-�@y��5kGi�A��A��=m�M�M=Y����QU��>�����a��G����y�Լ}��>Iș�ŝ�E�4�?�ŝ�پ� Ɲ7�@����?9Ɲ��C�ǝ4�: ȝ�:)ș�W��ǹ@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@�?B�-�B B�A瀼*B�A�(��A�A�A�(="C%*���RC%L�:=C%�ǹ@�C)��M�I�=��U�?i�U�?�� I�G-->I�AA)���-� ����-�����-�����-�� �-�R:Y�-�X1y�-/�:��-�6)�-u�;�95��H��j,�TO�E�AY}2�2�@�}2K@�@y}25��}2�j½�}2H�����m��?������?�����j�?��� P�����;~�?������?����~��?��� �=������&��?)~2�2�@ ~2�/h;I~2��CɫI�I)�I �II�IY�})�@y�}0kGi�������s��M%Q=Y�-���QU5�>��9��9�a=�G��=�>G��Ay�E�ؼ}E�>I�I��U�:��MW�4�?��]�:��M��پ� �Mz�@��]�?9�MۊC��M��: �M�:)�M��:�W}�]�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����6h�?B�� -�B� B��A����*B��A�P�(��A��A��A��!="C� �RC-���<C-�]�@�C1��%�P�=���I��GK>����j,nRO�E�AY}=��@�}=m�@y}=�z<��}=�Sͽ�}=H����`��?���`�[�?�����݇?��� �K���� �P�?����1�?����1��?�����������@<��?)~=��@ ~=��c;I~=��CɫA�A)�A �AI�AY��0�@y��9kGi�����������x�&1�?�ʡE��y�&1�|?����A?����� ��`�;)��I��y����������?��(\�µ����S㥫?���f&?��������/]= ¥� A)¥�AI¥�Ai¥A�������A��Q�=����>��x�i�f�@�� ���@)����I�i�Σ@��5�:M.=Y��}�QU�>�����a�G����!y�%���}-�>I�)��-dk�4�?��-l�پ� �-��@��=�?9�-�C��-; ; �-P;)�)�We�@�WaXa Xa�WaXi:Wi2Wi*Wi�VibUqBUq*UqUyU}���@���?ܡ9ܡIܥ�gGiܥF�@�ܡ�ܡ�ܡ�ܥ-�; ݥ#�EB]G�,�Ba Ba�Aedz�*Ba�Ae��(��Ai�Ai�Am="C�.�߾RC�d���C��@�C���%B ����%�����%�����%��� �%9:Y�%0Y1y�%��:��%h6)�%#�;�֥�Ԙ=��yI��G��>�B�j,� 7O�E�AY}B?��@�}B���@y}BB�A��}B�>ս�}BH���� �_�?���@���?����Z�?����>�����@�,�?����-�?�����;�?����擺����`���?)~B?��@ ~B��`;I~@ɫY�Y)�Y �YI�aY�}?�@y�}LkGi�A��A��u��;Muj=Y�}�y�QU}�>��y���a��G���>G��y���}��?Iȑ����:�ŕ{z�4�?����:�ŕP�پ� ƕ��@����?9ƕ�C�Ǖ��: ȕ:�:)ȕ��:�W�攻@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@�;@B��,�B B �A �\�*B �A %�(��A�A�A="CH�RC���C攻@�C�� �2�=I�iA)����I��G�'>���=i��=�1�j,!�PO�E�Aɫ�髙)�� ��I��Y����@y���kGi�������=۹>��=̌?��=A`�i�=¥@��9 �=��@)�9I�9i�=��@��M�"=MMM=Y�U���QU��>�����a��G����y����}��>I�����9��4�?�����پ� ���@����?9��A�C�����: ����:)���W�<1�@�W�X� X��W�X�:W�2W*W�VbUBU*U U U ����ȃ@�RB*** querying acoustic contact ***�P�PB=%�(�B9 B9�A=���*BA�AA�AA�AA�AE��="CM��;RCU �CU<1�@�CQ��M�}�<�� I�G-->��- ����-�����-�����-'�� �-�I:Y�-[1y�-ݏ:��-V#6�95@�٥ jA�٥ jAܭ ��>9ܩ Iܭ hGiܭ ��@�ܩ �ܭ SD�ܩ �ܭ o�; ݭ E�E��1�j,��jO�E�AY}2!�@�}2�.�@y}2�K��}2D�ٽ�}2H����@��?���@��?�����?�?����A������<��?�������?��� 4s�?����^���������?)~2!�@ ~2��^;I~2��Cɫ9�9)�9 �AI�AY����@y���kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I�� @)�� @i��������<�M�O=Y�ƻQU�>�� �� �a �G�� ��y��,�}�>I�!��-�:��%���4�?��5�:��%l�پ� �%I�@��5�?9�%a�C��%O+; �%�,;)�%��:�We�ü@�WaXa Xa�WaXa:Wa2Wi*Wi�VibUiBUq*UqUqUu���@M�@B��J)�B� B��A�{�*B��A��(��A��A��A���="Cul�ľRCu���Cu�ü@�Cq��mΒ{���!I�1GM1>�'�j,=��O�E�AY}6.�@�}6���@y}6�P��}6H�ɽ�}6H�����&��?���`�0�?����?��?�������������?�����3�?��� ���?�����(�����`���?)~6.�@ ~60f^;I~6��Cɫ9�9)�9 �9I�9Y����@y��"lG��ɮ�a=�xDUSBL response received:!U1,P 060,000,004BC,186,80,80,75,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���!��m��<M}C=Y�@'�QU��>�����a��G���>G���y��"w�}��>I�����4�?��x�پ� ���@����?9���C����< ��<)��W-M��@�W)X) X)�W)X):W)2W1*W1�V1bU1BU9*U9U9U=������@B��(�B� B��A����*B��A��A��A��A��="C�����RC�'���C�M��@�C�I�)���-\ ����-�����-�����-��� �-�O:Y�-�X1y�-/�:��-16����שI��G��>��F�j,܄�O�E�AY}= Ⱦ@�}=�ն@y}=-|S��}=����}=H�����u��?����P�?�����0q?���@�;��������?��� ��?�����l�?���@S������@M��?)~= Ⱦ@ ~=�I^;I~=��Cɫ �)� �I�Y�es�@y�m�lG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�������}�����x��?�z�Gế���Q��?��}K7?��} �}��<)�yI�yy�}�)\���(�?����K�����S㥛?��}G!?��}^����}/�< �}AA)�}- AI�yi�}3A��y��}�A�I9�II�MlhGi�M�@��I��I��I��MQ�; �M5�E�õ1��õ��õ�>iõG�@�ñ ĵ��@)ĵz�@Iĵ��@iĵ��@���k =M�*=Y��q�QU��>�������a��G������y����}��>I������:������4�?����:���Y�پ� ����@����?9����C�����: ����:)����:�W%D�@�W!X! X!�W!X):W)2W)*W)�V)bU1BU1*U1U1U=����n�@B�z'�B� B��A�}�;*B��A���(��A��A��A�w�="C�pY��RC��սCD�@�C!�����שI��G��>�'n�j,�T�O�E�A�|�@i|�@ɫ���)�� ��I��Y�o�@y��lGxDUSBL response received:!U1,R,FE9,000,0048D,183,80,80,65,FF %Fpublishing direction and range info���l�<��ɰ߾=�$�> �)���BI�y��B������Y��?P')�6��?��������ٱ �=jA�=jAi�9��9��M��MU}=Y�U���QUU ?��Y��Y�a]�G��]�>G��ay�e���}e ?I�i��m���4�?��m�ھ� �mM�@��}�?9�mŋC��m��: �m�:)�i�W=��@�W9X9 X9�W9X9:WA2WA*WA�VAbUIBUI*UiUiUu���`�E@�R}(Combining 5 samples.�P�*Q��B�Z���AxG]2@@������?���������Z�����Y��?P')�6��?��������2Q��l�<:Q��Z��6q<�;@�ŔQ��0� [b v��?�Z���`��A�?' ������^Ѓ�?BQ��y�@ Q�7��Q���A�P��P�?�9?�P�����Q�����Q��@"Q���@B�̊'�B� B��A�[k;*B��A�ܡ(��A�A�AXh="C-�=��RC-��C-��@�C1��%�8R����I��GI>��Ml ����M�����M�����M�� �M�P:Y�M�Y1y�M�:��M�!6�;U�j,s,�O�E�AY}f�Ҿ@�}fQ�@y}fU�R��}f�Vk��}fH����@0��?����F�?���@Dm������3��������?�����x�?����N\�?�����\���������?)~f�Ҿ@ ~f+}^;I~f��Cɫ�髹)�� ��I��Y��0�@y��tlG�]DNmea in: $SNTTA,,,,,164342.66*58 i�i��i�ýY>�ý�Q>�ýף=iý�@�ù Ľ�@)Ľ�@IĽ�@iĽ�@��u���M}9=Y�}�9QU}�>�����a��G����y��?;}��>Iȑ�ŕ���4�?�ŕھ� ƕ7�@����?9ƕ�C�Ǖ��: ȕ�:)ȑ�m�uAdded new target pos. range: 32.399998 m, bearing: 328.511690 deg, deltaT: 4.320499 s, approachRate: -0.652703 m/s, LOS rate: 0.278311 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 32.40 m.X��m�� ProNav: pos range: 32.399998 m, bearing: 328.511690 deg, approachRate: -0.652703 m/s, LOS rate: 0.278311 deg/s, cmd update: 0.834932 deg/s, cmd heading: 341.284787 deg, new cmd heading: 342.407436 deg. �W�Pξ@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U���� 33@@U������?B-ܡ(�B) B1�A5���*B1�A1�A1�A1�A5�D="C=�Ĩ�*CERc�=RCE[��CEPξ@�CA����������I��G�E>��%=i�%=�M ��>9�M n�CI�M �hGi�M :�@��M =��I ��I ��M -�; �M "�E�\�j,��O�E�Aɫ�髙)�� ��I��Y��d�@y���lGi�A��A��]�<M]^=Y�]���QUe�>��a��a�ae�G��e�>G��iy�m���}m�>I�y��}�:��}���4�?����:��}�ھ� �}��@����?9�}�C��}��: �}(�:)�}��:�W�6��@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@� �?B���'�B� B��A�{;*B��A�)�(��A��A��A��$="C�KZ��RC��z��C�6��@�C��K�����I� ��5�����5�����5�����5j�� �5on:Y�5�X1y�5/�:��5�*6)�5:�;�9E�GUS>��Q ��] �Ci�� �lGI�� i�� �� 2��ٺ ��% �B�?gj,��P�E�AY}2�Q�@�}2�_�@y}2��N��}2x����}2H�����/3�?�������?����%ؠ�����������`�6�?������?�����ԩ?��������������?)~2�Q�@ ~2$I^;I~2��CɫY�Y)�Y �YI�YY��~�@y���lGI�E@)�E@i�I��I������,����#�i�3�@�� ����)�Σ@I���@i���@��%C�;M%>=Y�-�;QU-�>��)��1�a5�G��1��1y�==}=�>I�A��EF�4�?��Evھ� �E��@��U�?9�E*�C��E��: �E��:)�A�Wu�-�@�WqXq Xq�WyXy:Wy2Wy*Wy�V�bU�BU�*U�U�U������g�?B� '�B� B��A���;*B��A�K�(��A��A��A��="C��$��*C�a��=RC��g�C��-�@�C����rAн�ׁI��G�>>�)�j,��P�E�AY}^���@�}^9��@y}^�J��}^O� ��}^H���� .f�?�����z�?��� �"����� �t����@Nn�?���`���?�����Q�?��� |�a���� ���?)~^���@ ~^^;I~^��Cɫ�髱)�� ��I��Y��U�@y���lGi�Y��Y�����S㥛�?�l����+�����?���$?���� ���=)�I�y���A`��"�?:��v����V-��?��?���T�����< �fA)��AI�� Ai��A�����A��-dH�M5I=Y�5>!;QU5�>��9��9�a=�G��9��Ay�E�<}E�>I�I��U�:��M��4�?��U�:��M�&ھ� �MI�A��]�?9�MI�C��M �: �M��:)�M��:�W} ^�@�WyX� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U���� ���?B��{(�B� B��A��9*B��A��(��A��A��A�s�="C����*C�폢=RC�1��C� ^�@�C�����>9��I��3iGi����@���=���������,�; ��!�E)݁�I݅�n�Ci݁��݅�=�݅�=�݅�/05����M�����i���?�I��G�E>I�)�@A��%�����%�����%�����%%�� �%Qm:Y�%xZ1y�%q�:��%#6)�%C�;��� j,��9P�E�Aɫ�髙)�� ��I��Y��>�@y���mGi�9��9��m��=MuW=Y�u���QUu�>��y��y�a}�G��}�>G��y����}��>Iȉ�ōS!�4�?�ō�.ھ� ƍ��A����?9ƍf�C�Ǎ@�: ȍY�:)ȉ�W�L��@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����`��?B����B� B��A��<*B�A��(��A�A�A_�="C �H��*CD/�=RC��CL��@�C�ֽ����בI��G�c>�V�j,tSP�E�AY}:��@�}:���@y}:�J��}:a&�<�}:H����@%��?�����y�?�����z�����@��߿�������?�����GZ������?�?����"z�?��� f��?)~:��@ ~:Zd^;I~:��Cɫ�)� �I�Y�M �@y�U�mG ��鼹i��������=���=���T�i���@�� ���@)�I�Σ@i�Σ@��%$b�M%2=Y�%t�9QU%�>��)��)�a-�G��)��1y�5�^=}5�>I�9��E�:��=X4�4�?��M�:��=�6ھ� �=A��M�?9�=��C��=��: �=��:)�=��:�Wu¿@�WqXq Xq�WqXq:Wq2Wy*Wy�VybUyBU�*U�U�U�������@B��b"�B� B��A��<*B��A�@n(��A��A��A��="C�3ܔ�*C��¡=RC�˽C�¿@�C���-` ����-�����-�����-.�� �-�O:Y�-�[1y�-H�:��-$6�95@�����뽹ױI��G��>��� ��� iA�� ��>9�� I�� �iGi�� ݽ@��� ��� ��� ��� r�; �� E�E�v�j,/OmP�E�AY}6[��@�}6��@y}6�$M��}66j4=�}6H���� ��?��� ѭ�?��� �������`9����@l�?����w������@ӡ�?���@,��?�������?)~6[��@ ~6;�_;I~6��C �<)�>�pAɌ>G����> kF�@��@ɍ@i�B�D�I�@��@I�Di�F�rA �F�#��D)�D�J��C �JrA��J�����HɓH��NٔC��NrAI�L)�Li�L)�RٔCI�R�pA�PɔP �PɕV�C�T��Ti�T��Tɫy�y)�y �yI�yY��$�@y���mG������AAi�������:<M%r=Y�%"�QU%?��)��)�a-�G��-�>G��1y�5E =}5?I�9��=�B�4�?��=#=ھ� �=]A��M�?9�=��C��=÷: �=U�:)�9�W�e�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U������l@�R�B*** querying acoustic contact ***�P��P�B-W� �BQ BQ�AU��<*BQ�AU[(��AY�AY�A]�~="Ce]G��*CeOq�=RCeht��Cee�@�Ci��Mo=ڽI�Q)�UiA��)I�QGu7>��!i�%�=�Z�!j,c*�P�E�AY}FB:�@�}F�G�@y}F�`M��}FRc=�}FH���� �&�?���`+�?����������`|B�����/�?����ƙ���� \��?����c]�?���`��?)~FB:�@ ~F�u;I~F��Cɫ�髉)�� ��I��Y����@y���nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5g ����5�����5�����5��� �5sP:Y�5[1y�5ݏ:��5�16i������Í^���Í����Í��=iÍz�@�É č�@)čƣ@Ič�@ič�@���&=M�=Y��SQU��>�������a��G������y����<}��>I�����:���m[�4�?���:���Hھ� ���A���?9��ЌC���"�: ����:)����:�WM�1�@�WIXI Xi�WiXq:Wq2Wq*Wq�VybUyBUy*UyUyU�����*@B�]�B� B��A��K=*B��A��(��A��A��A��C="C��㍾*C�)�=RC ����C �1�@�C ��e�M˽��9I�IG}�>��'j,�S�P�E�AY}2�l�@�}2Gz�@y}2��N��}2� �=�}2H�����Z>�?����w��?���@������@��ݿ�����D�?���@������@�ԩ?��� �x�?�������?)~2�l�@ ~2�d�;I~2��Cɫ�髩)�� ��I��Y����@y���nG�xDUSBL response received:!U1,P FE9,000,0048D,183,80,80,65,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� ��܅��>9܁I܁i܁�܅=�܁�܁�܅m�; ݅C�E������C�l��?B`��"۹��� �rh�?���;�>����ν ��C�<)��I��y����Zd;��?��(\�µ��I+��?����?��������9�< A) �AIi �A������ A���%�;M�n=Y��{�QU�?�������a��G������y�� �<}�?I������i�4�?���Oھ� ��'A����?9���C���+�: ��U�:)���W]�Z�@�WYXY Xa�WaXa:Wi2Wi*Wi�VibUqBUq*U�U�U���� V� @Be�T�Bi B��A��R=*B��A�F�'��A��A��A��="C�QQ��*C����=RC�T��C��Z�@�C���� +W½��� I�� G �>�`.j,�"�P�E�AY}2��@�}2���@y}2Y�N��}2�ۍ=�}2H�����lS�?��� @^�?���@����������ݿ���@�X�?����Fw������Z٩?���� ��?��� ���?)~2��@ ~2;�;I~0ɫ9�9)�9 �9I�9Y�} �@y�}�nG鮅a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i������� �;M��=Y��QU�?�����a��G���>G��y�_�<}�?Iȹ�Ž�v�4�?�ŽAUھ� ƽbA����?9ƽ�C�ǽ'�: Ƚ��:)ȹ�W��}�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U���`@B-(�B) B1�A5;\=*B1�A5��'��A1�A1�A5��="C=K%��*CE�_�=RCE%e��CE�}�@�CA��e �����m�?i�mr?I�)�AA��5� ����5�����5�����5�� �5�R:Y�5xZ1y�5q�:��5z"6��AI�IGeV>��5j,d�P�E�AY}2���@�}2ZԹ@y}2�R��}2���=�}2H�����g�?���` �?���@�:�������Iݿ�����k�?���@50�������R�?���@{��?���@W��?)~2���@ ~2�>�;I~2��CɫI�I)�I �II�IY�u��@y�}�nG�xDUSBL response received:!U1,R,0E9,000,00462,186,80,80,9F,FF �Fpublishing direction and range info��}�5P���yɰ}Է=�}��> �y)�}�CI�yy�}��A��}���j=W�?��&��ɿ��������ٱyi���������s���� W>�����=i��ף@��� ��ƣ@)��I��ƣ@i��ƣ@������MU=Y�8�QU�>�� �� �a �G�� ��y��h<}�>I���%�:��_��4�?��%�:��]ھ� ��A��-�?9�"�C��E�: ���:)���:�WMh��@�WIXQ XQ�WQXQ:WQ2WY*WY�VYbUYBUY*UaUaUe���`��@�Ru(Combining 5 samples.�Pq*Qu��A�Zu�"�]��4=@zJ�&����������Zu���j=W�?��&��ɿ��������2Qu�5P�:Qq�Zu�Lt��O17@ 3���2���z�_��?�Zu���c\��?G)9x��`��o�>�?BQuV�@ Qu���Qu��A�Pu9�9?�Pq�Pu����Qu����Qu��@"Qu�@B����BI BI�AM�R=*BI�AUԮ'��AQ�AQ�AU��="C]%G��*C]�=RC]s%��C]h��@�Ca��}�}����9I�AGeU>��i ��m �<�u ��>9�q I�q i�q ��u =��q ��q ��u u�; �u G�E�h+;j,8��P�E�AY}n�W�@�}n>e�@y}n�lV��}nΠ�=�}nH���� y��?���@��?������������#Gܿ��� ���?���@� �����`tʪ?���@~h�?��� +��?)~n�W�@ ~nj��;I~n��Cɫ�)� �I�Y�U$�@y�U�nG��TNmea in: $SNTTA,0.034562,,,,164347.10*44 i�������mDE<Mu5=Y�u��QUu�>��y��y�a}�G��}�>G��yy�� =}��>Iȉ�ō��4�?�ō�eھ� ƍA����?9ƍF�C�Ǎ��: ȍb�:)ȉ�m�yAdded new target pos. range: 29.819998 m, bearing: 321.100471 deg, deltaT: 4.414189 s, approachRate: -0.584479 m/s, LOS rate: -1.678954 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 29.82 m.X��m�� 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. �W��g�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U����`��=@U����@H��?B%�B! B!�A%0i=*B)�A-�x'��A)�A)�A-"�="C5o���RC5P,u�C5�g�@�C9��5 ���������������� �vL:Y��Y1y��:���!6)��;�9���% ������I�Gn>�wBj, �Q�E�AY}-��@�}-��@y}-��Z��}-�Κ=�}-H���� ��?���`W��?����z������� $ۿ����h��?�����p������.O�?����N�?�������?)~-��@ ~-�,};I~-��CɫQ�Q)�Q �QI�QY����@y���oGi�!��!��uC����ux�=��uٽi�u�@��q �u�@)�uK�@I�u�@i�u�@��\Z=M�I=Y�K#�QU��>�����a��G����y�NF=}��>Iȡ����:�ť���4�?����:�ť�mھ� ƥVA����?9ƥg�C�ǥ��: ȥ��:)ȥ��:�W��A�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����� `�?Br��B B�A�=*B�A�6'��A�A!�A%>W="C-�c��RC-j+(�C-�A�@�C1�� ͢��I�jA)�jA���I������=i���=G J>�k=Hj,��"Q�E�AY}:���@�}:V��@y}:�8^��}:�B�=�}:H������&�?�������?����Jw�����` *ڿ��� �*�?�������������ë?������?���� ��?)~:���@ ~:g��;I~:��Cɫ9�9)�9 �9I�9Y�}T�@y�}oGi����������n����?�n���ѿ�~j�t�h����V?���V�� ���D�)��I��y����~j�t��?����Mb��Zd;�O��?����?�������j�< ½�A)½1AI½�Ai½�A������(A���~)�M�V=Y��~�QU��>�������a��G������y���3=}��>I��������4�?���sھ� ���A���?9����C�����: ����:)���9�I�`jGi��@��������6�; �'�E�WM�+�@�WIXI XI�WIXI:WQ2WQ*WQ�VQbUYBUY*UYUYU]���`]��?B�9��B B �A ��=*B�A�'��A�A!�AE="CM�A��RCM��>=CM�+�@�CQ�� ����� �� �� A�� � �f:Y� y� �� &6)� ��;��]����1I�AG]v>��gNj,l<Q�E�A�|�|4<Y}6� �@�}6��@y}6Q�c��}6�3�=�}6H������\�?������?����}x������P2ٿ�����a�?����~��������l�?�����ڲ?������?)~6� �@ ~6vy�;I~6��CɫY�Y)�Y �YI�YY��r�@y��:oGi�I�"oAi�5��Ai�A��A��%<M�O=Y�VV�QU��>�����a��G���>G��y�g+=}��>Iȱ����:�ŵ��4�?����:�ŵ6xھ� Ƶ�A����?9Ƶ��C�ǵw�: ȵ�:)ȵ��:�W��@�W���Fo�ٺ"oA�� �_BX� X �W X:W2W*W�VbUBU*UUU%����?2�?BM��BI BI�AM �=*BQ�AU��&��AQ�AQ�AU_�="C] w;RC]}�=C]�@�Ca��e�xH���AI�IGe4>�DOUj,,EVQ�E�AY}6K��@�}6��@y}6��g��}62��=�}6H�������?������?����8<����� �Wؿ���@ʏ�?����.b�����`���?����'�?�������?)~6K��@ ~6���;I~6��CɫY�Y)�Y �YI�YY����@y���oGi�����Uxi���U~ ?��U,�i�UQ�@��Q �U�@)�U-�@I�U�@i�U�@��e)�<MeM=Y�m�-�QUm�>��i��i�am�G��q��qy�}�=}}�>Iȁ�Ņ���4�?�ŅO}ھ� ƅCA����?9ƅ��C�Dž�: ȅ;�:)ȁ�W���@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����4=�@B��#�B� B��A���=*B��A�ً&��A��A��A�ѓ="C����RC�-��=C���@�C����yb]����i���?�I��G�E>�� � ���� ����� ����� �� � fS:Y� �X1y� /�:�� �!6�9@� ��>9� I� �jGi� Ѿ@�� �� �� �� @�; � ,�E)ݭ�n�CIݩ�iݩ��ݭ�=�ݭ�=�ݭ�G�4�oy[j,} pQ�E�AY}:>��@�}:��@y}:�9j��}:�5�=�}:H�������?����Ac�?�����ڳ����������@��?���@�Ѥ�����%C�?��� g��?��� ���?)~:>��@ ~:�/�;I~:��Cɫ9�9)�9 �9I�9Y�yy�yi�����Y�M߿�QUM�>��I��I�aU�G��U�>G��Qy�]`�<}]�>I�a��eX��4�?��eO�ھ� �e�A��m�?9�eύC��es�: �eI�:)�a�W��ӹ@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����ep@B�K9�B� B��A�*B��A�O&��A��A��A�M="C�V��RC�E>C��ӹ@�C�����+=���I��G�&>�ebj,|�Q�E�A�|>�@i|<Y}zB�@�}z�O�@y}z~~m��}z��}=�}zH����� ��?���`���?���@!��������ֿ�������?���������������?���`��?�������?)~zB�@ ~zE��;I~z��Cɫ���)�� ��I��Y���@y��oG����@Ai�!��)����;���������Q�i��̤@��� �����)���@I��ƣ@i�����c�;M��<Y����QU��>�������a��G������y���<}��>I�����:���(��4�?�� �:���|�ھ� ���A�� �?9���C�����: ����:)����:�W5���@�W1X1 X1�W1X1:W12W9*W9�V9bU9BU9*UAUAUE����0�@�RUB*** querying acoustic contact ***�PQ�PQBu4J�Bq Bq�A}��=*By�A�&��A��A��A���="C�y���RC��E>C����@�C��֝��==�� ����� ����� ����� �� � &�:Y� �W1y� č:�� >6��qI�yG�]>�d�hj,�֣Q�E�AY}2R��@�}2��@y}2�p��}2�Y=�}2H���� ���?��� �"�?��� �β������Pֿ��� 7��?�����ڝ����@T�?�����?����^��?)~2R��@ ~2V,�;I~2��CɫQ�Q)�Q �QI�QY�}6�@y�},pG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������}��MbX9�?7�A`��¿y�&1��?��}�!?��}�� �}`e<)�yI�yy�}�� �rh��?333333���~j�t�h?��}�?��}�����}�D; �} A)�}AAI�}lAi�}�A��y��}�A��^�<M�O=Y���QU��>�����a��G����SA����9��o�CI��(kGi��"�@���=�����������; ��a�Ey���<}��>Iȱ�ŵ��5�?�ŵƍھ� Ƶ%A����?9Ƶ �C�ǵ: ȵ+�:)ȱ�W�k�@�WX) X)�W)X):W)2W1*W1�V1bU1BU1*U9U9U=�����P @B����B� B��A��=*B��A� �%��A��A��A�b�="C�F" �RC��;v>C��k�@�C����kA���kA���V�g=I��)���יI��G�b>���nj,J��Q�E�AY}2i��@�}2��@y}2��p��}2�S=�}2H�������?���@�D�?�����X�����`Q_ֿ����^��?���@�ϋ�����+�?����*��?����i��?)~2i��@ ~2�t�;I~2��Cɫ�)� �I�Y�U��@y�]�oGuxDUSBL response received:!U1,P 0E9,000,00462,186,80,80,9F,FF uCommand AckuBRequesting micromodem ping code 2i�q��q���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i��������^��M�7=Y����QU�>�����a%�G��%�>G��9y�M�}U�>I�q����:��u<�5�?����:��u�ھ� �u^A����?9�u(�C��u*$= �u$=)�u��:��=| ����=�����=�����=}�� �= R:Y�=�Y1y�=�:��=�,6�W�: �@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U���� >@B-��B) B)�A5p�=*B1�AU^^%��AQ�AQ�A]&@="C]���RCe�>Ce: �@�Ca��U���=��1 I�I G} �>� �uj,��Q�E�AY}2mX�@�}2#f�@y}2�Lq��}2s~�<�}2H��������?���`@��?����(��������ֿ���@���?����i�y?���@(%�?���@��?���`���?)~2mX�@ ~2'�;I~0i�<��<)�T �TI�X �X)�Z�qAɥX��X�\��\ɦ^fpAi�b���I�b�iF��`I�`i�` �`�d)�d�d �fZpA��f/����f�cFɧh��h��hI�h)�hi�l)�n��CI�l�lɨp �pɫ�髙)�� ��I��Y����@y���oG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i������� �̽�� �#?�� �O>i� ��@�� � O�@)� Ը@I� �@i� �@���M�P=Y�QU��>�����a��G����y�Z��}��>I������-�5�?���Йھ� ���A����?9��C�C�����: ���:)���W�#�@�WX X�WX!:W!2W!*WA�VIbUIBUI*UIUQUU�����f@B����B� B��A��=*B��A��(%��A��A��A�q�="C�d3�RC� �>C�#�@�C�����$>���I��G k>������=����>9��I���kGi��s�@��������������; ����E���{j,Yi�Q�E�AY}2� �@�}2��@y}2�Ko��}2/�*��}2H���� ���?�����]�?�����X������Q���@��?�����M�?��� �?��� �Ke��������?)~2� �@ ~21��;I~2��Cɫ1�1)�1 �1I�9Y��q�@y��upG�xDUSBL response received:!U1,R,152,000,00436,185,80,80,66,FF �Fpublishing direction and range info��������ɰ���=鰕+�> ��)����BI��y��p�A�����}ӄ7��?T��cݚҿ��������ٱ�i��������D=M�X=Y����:QU��>�������a��G����>G���y���ż}��>I������:���=�5�?����:���}�ھ� ���A����?9��]�C�����: ��o�:)����:�WE��@�WAXA XA�WAXI:WQ2WQ*WQ�VYbUYBUY*UaUaUe������@�R}(Combining 5 samples.�P�*Q�p�A�Z��:�<�:@D[�������������Z���}ӄ7��?T��cݚҿ��������2Q���:Q��Z��qqm XI5@b����0�-�)��?�Z��a��ҵ�?~K� ��㿖D�D���?BQ�2��@ Q����Q�J�A�P�:�9?�P�9�9?�P�����Q�����Q���@"Q���@B��B� B��A���=*B��A���$��A��A��A���="C�pN'�RC�C���@�C� խ>�ԭ�=�օ��B>��?i�?I�)�@A��q ��������������1�� �?Q:Y��X1y�/�:��h$6)��;�9%���AI�IGeV>�鳂j,VR�E�AY}6G��@�}6���@y}6ln��}6�sɼ�}6H����`ɚ�?����� �?�����Ѧ�����_ؿ������?�����֦?��� ļ�?�����"���������?)~6G��@ ~6��;I~4 �>�C)�B�rAɑBt���@�@��B�CɒF�pAi�DI�D��DI�F��Ci�FrA �J�D��H)�H�J�C �N�rA��N�D���LɓL��N�C��PI�P)�Pi�P)�R�CI�P�TɔT �TɕT�V�qA��Ti�X��Xɫ���)�� ��I��Y���@y��pG��DNmea in: $SNTTA,,,,,164351.60*5C i������Ý�P��Ý �>�Ý��<iÝ@�Ù ĝ��@)ĝ�@Iĝ���ię���v��M�9=Y���6:QU��>�������a��G������y���}��>I����N�5�?��Y�ھ� �A���?9�|�C��^�: ��:)��m�uAdded new target pos. range: 27.180000 m, bearing: 321.667650 deg, deltaT: 4.477799 s, approachRate: -0.589575 m/s, LOS rate: 0.126665 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 27.18 m.X��m�� ProNav: pos range: 27.180000 m, bearing: 321.667650 deg, approachRate: -0.589575 m/s, LOS rate: 0.126665 deg/s, cmd update: 0.379994 deg/s, cmd heading: 322.434538 deg, new cmd heading: 320.217064 deg. �W��,�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�����.;@U�������?Bmh) �Bi Bi�Am��=*Bi�Au��$��Aq�Aq�Au�R="C�c0�RC�C��,�@�C������E>���I��G= �>�}وj,&%R�E�AY}2�W�@�}2we�@y}2Bm��}2�%E��}2H������y�?�������?�����ѡ�����0�ؿ��� u�?���`n�?������?���@������� ���?)~2�W�@ ~2��;I~2��Cɫ�髙)�� ��I��Y���@y��pGi�q��qܝ��>9ܙIܝTlGiܝ�@�ܝ=�ܙ�ܙ�ܝ2�; ݝ&�E��E��z�G��?����Mb���������?��E 7?��E� �E�L=)�AI�Ay�E���n���?����Mb���I+��?��E?��E����E94= �E�A)�E�AI�E� Ai�E$A��A��E�A��e̙�MeT=Y�e��:QUe�>��i��i�am�G��i��qy�u7�}}�>I�y����:��}�_�5�?����:��}v�ھ� �}�A����?9�}��C��}U�: �}��:)�}��:�W��A�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U������"�?B�bm �B� B��A���=*B��A��D$��A��A��A��="C��3�RC�C��A�@�C����=Q>�� F ���� ����� ����� e�� � �M:Y� 0Y1y� ��:�� eE6)� �;�יI��G�b>���j,#�>R�E�AY}22�@�}2�(�@y}2D>m��}2�Ϟ��}2H�����yb�?�����L�?�����<�������ٿ���� J�?����� �?�������?����W̳��������?)~22�@ ~2 ��;I~0ɫ�髙)�� ��I��Y��.�@y��#pGi�A��A��u��;Mu[=Y�}�"7QU}�>��y���a��G���>G��y���}��>I���{p�5�?����ھ� �A���?9���C��I�: ��:)��W=�V�@�WAXA XA�WAXA:WA2WA*WI�VIbUIBUQ*UQUQUU�����L�?B}`p �B� B��A�?�=*B��A�w�#��A��A��A���="C��91�RC�C��V�@�C��ԡ�ԡ�֍B�v>Iב)ב��iI��G�B>���j,��XR�E�AY}2#��@�}2ڼ�@y}2ވl��}2�h۽�}2H����`�7�?�����?����X邿������ٿ������?�������?����猭?�����S������t��?)~2#��@ ~2��;I~0ɫ1�9)�9 �9I�9Y�u��@y�u�oGi�������=`e���=��=��=Q8�i�=��@��9 �=��@)�=�@I�9i�=�@��Ub��MUM=Y�U��9QU]�>��Y��Y�a]�G��Y��ay�u��}}�>Iȑ�ŕ(��5�?�ŕ�ھ� ƕ�A����?9ƕԎC�Ǖ��: ȕ8�:)ȑ�W��k�@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U��������?B�Z�B B �A ��=*B �AҼ#��A�A�A�n="CM-*�RCC�k�@�C!�֝�n�>�� � ���� ����� ����� ��� � �?:Y� �U1y� ��:�� �6�9@�ׁI��G�_>�ٕkA�ٕjAܙ9ܙIܝmGiܝ��@�ܝ=�ܙ�ܙ�ܝ=�; ݝ�E���j,��rR�E�AY}:P�@�}:�@y}:Ţn��}:����}:H�����U��?�����P�?������j?�����ۿ����L��?�����V�?����Э?����������@o��?)~:P�@ ~:q�;I~:��Cɫ9�9)�9 �9I�9Y�}.�@y�}#pGi�������E2�<MEK=Y�U;��QU]�>��i��i�a}�G��}�>G��y�S�}��>Iȑ����:�ŕ>��5�?����:�ŕпھ� ƕ%A����?9ƕ�C�Ǖ(; ȕ�;)ȕ��:�W��@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*UUU����O�@BEs �BM�m�< BI�AM?�=*BQ�AU�o#��AQ�AQ�A]E="CeJo$�RCeu}r>Ce�@�Ci�օ��>��Y��q��u�CI��i��I��i���E�o�ٺA��E`BGUt>�}��j,���R�E�AY}2�8�@�}2�F�@y}2��s��}2-���}2H����`���?���@���?�����Y�?����{ܿ����W.�?���@���?��� >n�?���@Uuÿ���@#��?)~2�8�@ ~2���;I~2��CɫY�Y)�Y �YI�YY����@y���oGi����å>�å�x>�åt�iåf�@�á ĥ"�@)ĥ���Iĥ�@iĥ�@����M�C=Y��=�QU��>�������a��G������y��8u�}��>I�����s��5�?����ھ� ���A����?9���C���^�: ����:)���W��@�WX X�WX :W 2W *W �VbUBU*UUU�����H@BE��BA BA�AE��=*BI�AM#+#��AI�AI�AM��="CU9C$�*C]���=RC]�Ri>C]��@�CY �u�=��u>��mE�}>��u�?i�u�?��AI�IGe4>I��@A)���� � ���� ����� ����� '�� � �E:Y� 0Y1y� ��:�� �6��'�j,�f�R�E�AY}2�S�@�}2�a�@y}2E�y��}2#�0��}2H����`�.�?�����C�?����nn�?���������j��?������?��� R9�?��� q�ſ����lw�?)~2�S�@ ~2]d�;I~2��CɫQ�Q)�Q �QI�QY��[�@y��ZpGi������99�9I�=�mGi�= �@��9��9��9��=��; �=�}E)�Ձo�CI�Ձo�Ci�с��Ձ=��Ձ=��Ձ�C5�����p= ף�?�� �rh���p= ף�?���%?���C�� ���=)��I��y���+�����?�� �rh��y�&1�|?����?���C����`�; �A)"AI�Ai�A������zA���=M�K=Y��|�QU��>��)��1�a5�G��1��1y�=Ј�}=�>I�A��M�:��E@��5�?��m�:��E��ھ� �E A��u�?9�E2�C��Ea�; �E��;)�E��:�W�I��@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����� �@�R�B*** querying acoustic contact ***�P��P�B5'��B9 B9�A=[�=*B9�A=��"��A9�AA�AE�_="CM�#�*CIRCMG�M>CUI��@�Ca��]%jr>��1I�AG]v>���j,[A�R�E�A�|i|�@Y}6���@�}6n��@y}6F���}685B��}6H��������?���@���?�����8�?���`*u߿����Y*�?��� ���?�������?����kȿ����l]�?)~6���@ ~6ֵ�;I~6��Cɫ9�9)�9 �9I�9Y��b�@y��cpG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����U�;MUP=Y�]�n�QU]�>��Y��a�ae�G��e�>G��iy�m)��}m�>I�y��}��5�?��}��ھ� �}a A����?9�}P�C��}�: �}%;)�y�W�{ô@�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����g� @B���B� B��A�6�=*B�A��"��A�A�A�="C �b"�*C�RC��m7>C�{ô@�C���� ����������������� �H:Y�[1y�ݏ:���;=��6�����^>�ױI��G��>��9�j,7�R�E�Aɫ�髙)�� ��I��Y���@y��pG xDUSBL response received:!U1,P 152,000,00436,185,80,80,66,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�9��9��E���E�@=��E^�=i�E �@��A �E9�@)�E"�@I�Ai�E"�@��E�1<ME#=Y�M���QUM�>��I��Q�aU�G��Q��Qy�]���}]�>Iȡ����:�ť{��5�?����:�ť<�ھ� ƥ� A����?9ƥy�C�ǥ��: ȥ��:)ȥ��:�W�-ߴ@�W�X� X��W�X�:W�2W�*W�VbU!BU!*U!U!U-����*� @Bu��Bq Bq�AuQ�=*Bq�A��"��A��A��A�s�="C�p�!�*C�RC�Q8>C�-ߴ@�C�������<�����99�9I�=HnGi�=��@��==��9��9��=��; �=�nE��� �XM>I� )� ��� I�� G�>��c�j,b��R�E�AY}6|D�@�}63R�@y}6�<���}6��V��}6H���� t&�?�������?�������?��� ������@�b�?�������?�������?����ݑʿ����<�?)~6|D�@ ~6z;I~6��Cɫ����)� �����I�Y����@y���pG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�)�I�@)�@i���!��u��<Mun=Y�u=ɻQUu?��y��y�a}�G��}�>G��y���}�?Iȉ�ō���5�?�ō��ھ� ƍ A����?9ƍ��C�Ǎ÷: ȍ��:)ȉ�W�3�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�3@B�ȹ��B� B��A�G�=*B��A�8�!��A��A��A��%="C�=� �*C�RC�>C�3�@�C�������)�� ���� � ���� ����� ����� ��� � �X:Y� �Y1y� �:�� r6)� k�;�9���M ��>>��) I�y G� �>��K�j,=� S�E�A�|�|�;Y}6͕�@�}6���@y}6α���}6ʱZ��}6H�����;��?����Ud�?����G�?�����b��������?���`�!�?���`Rs�?���`�˿���`V5�?)~6͕�@ ~67{q;I~6��CɫQ�Q)�Y �]����I�aY���@y��+qG�xDUSBL response received:!U1,R,FFE,000,0040B,183,80,80,83,FF �Fpublishing direction and range info������:���ɰ���=鰭$�> ��)���CI��y����A����9�L����?��np�\?��������ٱ�i�������=ʾ��݄?����i�G�@�� �O�@)�9�@I�n�@i�O�@��-��<M-b=Y�-�?:QU5�>��1��9�a=�G��9��9y�E�p�}E�>I�I��M^��5�?��Mc�ھ� �Mh A��U�?9�M��C��M8�: �Mr�:)�I�W}��@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U���� {�@�R�(Combining 5 samples.�P�*Q���A�Z���sd+��8@WC�(���?���������Z��9�L����?��np�\?��������2Q����::Q��Z���x_6v�4@$e�S�*���2b�%�?�Z��Qt�����?�qg�<W����R[�?BQ����@ Q�JU�Q��A�P�>�9?�P�:�9?�P�����Q�����Q�Q�@"Q���@B� ���B� B��A���=*B��A�qu!��A��A��A�q� ="C��W �*C�RC����=C���@�C ����U7>�סI��G�A>��u�j,��'S�E�AY}>���@�}>��@y}>�����}>��Y��}>H����`�q�?����%��?���@��?����%�����`̨�?���@y��?��� ?O�?����f�ʿ��� �6�?)~>���@ ~>��h;I~>��Cɫa�i)�i �u������9��I��oGi��O�@���=���������g�; ��8dEI�qY�5��@y�5�pG��DNmea in: $SNTTA,,,,,164356.00*5D i���������9��v���?L7�A`�п����Mb�?����4?���+�� ��=)��I��y����������?�~j�t���y�&1��?���� ?����D����`e= �A) �*AI AAi �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 \Transitioning guidance mode to: FINAL_APPROACH"X �m� ProNav: 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. �W��@�WX�D; X��?�W:W!2W!*W!�V!bU)BU)*U)U-������8@U5���@�!�?B]/�BY BY�A]��=*Ba�Ae!��Aa�Aa�Ae1L ="Cm���RCuz��=Cu��@�Cq Յ�=�ԅ�=��� ����������������� ��@:Y�0Y1y���:���6)�ћ;��}}�7>��9I�AGew>��^�j,��AS�E�AY}2}T�@�}24b�@y}2��}2�W��}2H������?�����e�?�������?����l�����aR�?�����T�?�����?����b�ʿ����<<�?)~2}T�@ ~2��p;I~2��CɫA�A)�I �M����I�QY��m�@y���qGi��� � � ��uz@=Mu`=Y�};QU}�>��y��y�a��G���>G��y�a^�}��>Iȑ�ŕ 5�?�ŕ��ھ� ƕ�A����?9ƕ�C�Ǖ4�: ȕ��:)ȑ�W�!��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����_�?B%���B! B!�A%n>*B)�A-?� ��A)�A)�A-*�="C5���RC5���<C=!��@�C9�֕J�%>�בI��G��>���j,,e[S�E�AY}2�ż@�}2;Ӵ@y}2��|��}2xR��}2H���� 3��?����U��?�����l�?��� ���������?����̢�?��� ��?�����ʿ����TD�?)~2�ż@ ~2��;I~2��Cɫa�a)�a �e����I�aY��|�@y���qGi�����5��;M=N=Y�=�K;QU=�>��A��A�aE�G��A��Ay�M�4�}M�>I�Q��]�:��U-5�?��]�:��U�۾� �UlA��e�?9�U�C��U��: �U=�:)�U��:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������`�?BE ���BA BA�AEH>*BA�AM�@ ��AI�AI�AM<{="Cu�I�RCu�F��C}���@�Cy��mp��>��AI�IGm5>�� � ���� ����� ����� �� � F:Y� �Y1y� �:�� D6�9@����>9��I���oGi����@������������A�; ���]E���j,?uS�E�AY}2T0�@�}2>�@y}2�w��}20�M��}2H���� �j�?����VL�?���@�?�����X�����ɷ�?�������?�����ݮ?����}ɿ�����L�?)~2T0�@ ~2�Ɍ;I~2��Cɫ9�9)�9 �E����I�AY���@y��srGi�a��a��X0=M�C=Y�?Q;QU��>�����a��G����>G���y���1�}��>I������=5�?���H۾� �� A����?9��2�C�����: ����:)���W�d�@�WX X�W:W2W *W �V bU�BU�*U�U�U������Z�?B����B� B��A��>*B��A����A��A��A�X="C��X�RC�C#��C��d�@�C������=I��)���I��G�E>����=i���=�O��j,�$�S�E�AY}:}��@�}:4��@y}:�bo��}:�BJ��}:H�������?�������?����K��?����������@m[�?���@x<�?������?����aɿ���@�S�?)~:}��@ ~:X�;I~:��CɫQ�Q)�Q �]����I�YY��G�@y���rGi�!��!-=Ponly read 0 of 1 data item for BIT error��=@��=@��=@��uA�<MuN=Y�ua�;QUu�>��y��y�a}�G��y��y��M�}��>Iȉ����:�ōDM5�?����:�ō�۾� ƍ� A����?9ƍR�C�Ǎ�: ȍk�:)ȍ��:�W�E6�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�7�@B�@I�B B�A�>*B�A�B��A�A �A ��="C^���RC>��CE6�@�C��9�=�I���� ����� ����� ����� �� � �j:Y� xZ1y� q�:�� � 6GL>����j,��S�E�A�|�|Y}2E�@�}2��@y}2e��}2��C��}2H�����H��?���`�K�?����u8�?��� �_�����x��?���`�:�?���@��?����qMȿ�����]�?)~2E�@ ~2�m�;I~2��Cɫ9�9)�9 �=����I�9܁9܁I܅�pGi܅��@�܁�܁�܁�܅i�; ݅�]EY��p�@y���rGi�������q= ףp�?��~j�tÿ�I+��?����+?����� ��9�<)��I��y����l�����?L7�A`堿�������?����?���+������< ���A)��z(AI��i��A������A���@<MB=Y� y�;QU �>�� ���a�G����y��K�}�>I�!��%�\5�?��%�#۾� �%.A��-�?9�%q�C��%��: �%q�:)�!�WU��@�WQXQ XQ�WY:WY2WY*WY�VYbUaBUa*UaUaUe����Q�@B���B� B��A��#>*B��A�����A��A��A�G="C����RC�?�C���@�C��֥���=��aI�qG�9>i���mGI��i����%�r�ٺ!��-�bB�]��j,#��S�E�AY}>���@�}>h��@y}> RV��}>*�:��}>H������f�?����6��?�����?����t�����@ ��?�������?���@ Ǫ?���`[3ǿ�����l�?)~>���@ ~> �;I~>��Cɫ�髱)�� ��I��Y����@y�� sGi��� ��Nm<MZ=Y�<QU%�>��!��!�a%�G��%�>G��)y�-��}5�>I�9��E�:��=nj5�?��E�:��=k,۾� �=�A��E�?9�=��C��=$�: �=��:)�=��:�W��ݺ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�B%��B9 B9�A=c)>*BA�AeA&��Aa�Aa�AeW� ="Cm��RCm�uh�Cu�ݺ@�Cq��e*��<��e�?i�e�?��4 ���������������� �bL:��I�)Y�0Y1y���:��M!6GMR>����j,ū�S�E�AY}J���@�}JE��@y}J16��}J��!��}JH����`�i�?���@ޒ�?����p�?����Σ����@���?�����?���@7Ħ?��� �!Ŀ����ԑ�?)~J���@ ~JUƪ;I~J��Cɫ�髡)�� ������I��Y��l�@y��tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��)�������������å��=�åV��åZd>iá�á ġ)ĥ���IĥO�@iġ��u=M�A=Y�ߗ<QU��>�����a��G�����y����9}��>I������y5�?���6۾� ���A����?9����C���@�: ����:)���W�:��@�WX X�W:W2W*W �V bU BU�*U�U�U������2 @B=�мB9 BA�AMOC>*Bi�Am�~��Ai�Ai�AmZ� ="CuJվRCumK��Cu:��@�Cy��E������I�G-N>�}��>9�}n�CI�}qGi�}��@��y��y��y��}}�; �}�iE)��I��i�����=���=�����4���j,T��S�E�AY}Zg��@�}Zò@y}Z�`&��}Z���}ZH���� ��?���`_x�?���`��?����p������T+�?��� O�?���@�ʤ?��� !@¿����y��?)~Zg��@ ~Z���;I~Z��Cɫ�髙)�� ������I��Y��K�@y���sG�xDUSBL response received:!U1,P FFE,000,0040B,183,80,80,83,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i�������5T�M=B=Y�E�<QUm�>��q��q�a}�G��}�>G��y�<<}��>I�I��]�:��Mh�5�?����:��M@@۾� �MQA����?9�MАC��M�< �M�<)�M��:�W ��@�WX X�W:W2W*W�VbUABUA*UAUAUM������ @B�>�ԼB� B��A�$?>*B��A�_���A��A��A�'v ="C��žRC�� ��C� ��@�C��� � ���� ����� ����� 7�� � DX:Y� �Y1y� �:�� %6)� �;�9��֝�蘽��qI��G��>�:�j,AcT�E�AY}F���@�}F��@y}FA ��}F�9���}FH����@ ��?����,I�?����ϩ?��� �P������m�?���`�m�?����/�?��� ج�����`p��?)~F���@ ~Fu�;I~Dɫy�y)�y �}����I�yY����@y���tG鮹ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�9��9���@���@���@�Í©Í��Í�iÍ̬@�Í���� č-�@)ĉIč���ič�@��%�3=M%L=Y�%�<QU%�>��)��)�a-�G��1��1y�5<}=�>I�A��E�5�?��E�H۾� �E�A��M�?9�E�C��E�: �E�:)�A�WuQn�@�WqXq Xq�Wq:Wq2Wy*Wy�VybUyBU�*U�U�U������F@B�����B� B��A�2Q>*B��A��<��A��A��A�pM ="C����RC�C�Qn�@�C����1��I��)���סI��G�B>��i�=�0 j,:t*T�E�AY}JA3�@�}J�@�@y}J����}J@�Ľ�}JH���� ���?�����$�?���`���?�����%����`���?�����M�?����2��?���������������?)~JA3�@ ~JKA�;I~J��C���>9�I�hqGi�6�@����������; �r�EɫY�a)�a �e����I�aY��,�@y��uG�xDUSBL response received:!U1,R,F4D,000,003DE,186,80,80,6B,FF �Fpublishing direction and range info�����>���ɰ�3�=����> ��)����BI��y��3�A�����8SB��?n����?��������ٱ�i�������z�G��?#��~j�ĿL7�A`�?�� 7?���%� �+�=)�I�y����n���?����Mb����~j�t�?��?��������< ��A)��"AI� Ai�5A�����A��5��<MUH=Y�U�%<QU]�>��Y��Y�a]�G��]�>G��ay�e|�<}m�>I�i��mz�5�?��m8R۾� �m�A����?9�m�C��m�; �m"�;)�i�W��L�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��@�R(Combining 5 samples.�P*Q3�A�Z�vMߙ#�5@� ƜA@���������Z��8SB��?n����?��������2Q��>:Q�Z���[M��2@7�]��%��o��N]�?�Z����ʎ��?��@e�|����̑?BQ�:�@ Q�/�Q~�A�P?�9?�P>�9?�P����Q����Q[�@"QQ�@B�Xr��B� B��A�a[>*B��A�}x��A��A��A�#, ="C��.��RC�C��L�@�C����n �����������������E�� ��Q:Y���[1y��H�:����&6)��Ω;���������I��G �>�,�j,LDT�E�AY}z�u�@�}zT��@y}z�%뼙}zA�u��}zH����`�?���`���?�������?���@�������l��?����D��?�����c�?���`�������@���?)~z�u�@ ~zx��;I~z��Cɫ��)� �����I� Y�u��@y�}�uG�DNmea in: $SNTTA,,,,,164400.43*5E i�A��I��5���5���5���5ʡ=��5/�<��5,=i�5��@��5��� �5O�@)�59�@I�1i�59�@��E�)=ME<=Y�MO<QUM�>��I��Q�aU�G��Q��Qy�]��<}]�>I�a��m�:��e��5�?��m�:��eG\۾� �e.A��m�?9�e,�C��e�: �e��:)�e��:�m�uAdded new target pos. range: 21.900000 m, bearing: 329.862483 deg, deltaT: 4.493078 s, approachRate: -0.600925 m/s, LOS rate: 0.612308 deg/s, posRepo size: 4�m�� ProNav: pos range: 21.900000 m, bearing: 329.862483 deg, approachRate: -0.600925 m/s, LOS rate: 0.612308 deg/s, cmd update: 1.836923 deg/s, cmd heading: 340.731752 deg, new cmd heading: 342.300679 deg. �W�U��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����`f�5@U�����^c�?B����B B �A �m>*B �A����A�A�A ="C����*C�ڱ=RCCU��@�C!��%rl����I��Gj>��%j,��]T�E�AY}F�ܻ@�}FR�@y}F��ɼ�}F�~̼�}FH�����yA�?��� r��?���@n�p����������� T>�?��� �ԡ?���`6<�?���`.����������?)~F�ܻ@ ~FՅ�;I~F��Cɫ�髁)�� ��I��Y��?�@y��#uGi�!��!��u�;�Mum=Y�u�@<QU}?��y��y�a}�G��y��y�q=}�?Iȑ�ŕ��5�?�ŕ9d۾� ƕ`A����@9ƕF�C�Ǖ��: ȕ@�:)ȑ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@���?B��Ұ�B� B��A��]>*B��A���A��A��A�� ="C��G��RC�C���@�C�����C;�����?i���?�יI��G�A>I��)��?A�� � ���� ����� ����� �� � S:Y� �Y1y� �:�� �!6�9@���>9�I�i�����������; ��E�`Nj,_�wT�E�AY}R]e�@�}Rs�@y}R����}R0��;�}RH����@��?����l6�?����t������I6��������?����8a?����т�?����L^y?���� ��?)~R]e�@ ~RO(�;I~R��Cɫy�y)�y �}����I�yY����@y���uGi�A��A����<M�H=Y�<QU��>�����a��G���>G��y��'=}��>Iȱ����:�ŵ��5�?����:�ŵ{m۾� Ƶ�A����@9Ƶd�C�ǵ�: ȵV�:)ȵ��:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?B%�έ�B! B!�A-�i>*B)�A-(R��A)�A)�A5� ="C5�ݘ�RC9C=���@�C9�� �Ki����I��G�'>��7$j,K��T�E�A�|i|�@Y}F���@�}FC�@y}FƝ���}FPe=�}FH�����>��?�������?��� )X������B����� ���?����0������q�?������?���`e��?)~F���@ ~F�[�;I~F��Cɫq�y)�y �yI�yY��,�@y��GvGi����Ý��>�Ý��=�Ý->iÝQ�@�Ù ĝ9�@)ęIĝ9�@ię���,=M�H=Y���;QU��>�����a��G�����y���5=}��>I�������5�?����v۾� ���A����@9����C���U�: ���:)���W� ��@�W�X� X��W�:W2W*W�VbU BU *U U U�����N�?B=X���B9 B9�A=Q{>*BA�AE{���AA�AA�AEd ="CM -��RCICM ��@�CQ��E�܄���I�GM1>��5B����5�����5�����5:�� �5�a:Y�5[1y�5ݏ:��5_%6��`*j,���T�E�AY}2/��@�}2柵@y}2�G���}2[s�=�}2H����`�E�?�����.�?����b�������B������:�?�������������H�?����~��?������?)~2/��@ ~2�'�;I~2��C�b��>9�`I�bqGi�b��@��b=��`��`��b��; �b�EɫY�Y)�Y �]����I�aY�}�@y�}vGi�������m���K7��?����Mb�?y�&1��?��mI?��m�< �m`e=)�iI�iy�m�u�V�?T㥛� ���l����?��mr(?��m����m�= �m1A)�m+AI�m�Ai�mEA��i��mzA���9�M�M=Y���;QU��>�����a��G����y� ?=}��>Iȩ��5�:�ŭ��5�?��5�:�ŭ5�۾� ƭA��5�@9ƭ��C�ǭM�< ȭ5�<)ȭ��:�W]SZ�@�WYXY Xa�Wa:Wa2Wa*Wa�VabUiBUi*UiUqUu���@k��?B�o�B� B��A��v>*B��A�'���A��A��A� ="C�tX��RC�C�SZ�@�C��ֽFӅ�I��)���יI��G�d>�9H1j,�`�T�E�Aɫa�i)�i �m����I�iY���@y��vG������I��)��i�������5�����5���5��=i�5�@��1 �5n�@)�5n�@I�5���i�5O�@��E!p:MM&=Y�M���QUM�>��Q��Q�aU�G��U�>G��Yy�]���}]�>I�i��m�5�?��m#�۾� �m`A��u�@9�mϑC��m�: �mn�:)�i�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B�����B� B��A�'w>*B��A�����A��A��A��/ ="C�ރ��RC�C����@�C��� T ���� �� �� �� � �N:Y� y� �� _6������I��G��>�r7j,�:�T�E�Ai�p��p)�p �pI�t �t)�v�qAɥt��t�x��xɦzVpAi�z��I�z~iF��xI�|i�| �|�|)�|� �QpA�������cFɧ�� �� �qAI� )� i� )�I��ɨ �ɫ���)�� ������I��Y�uB�@y�ubvGi�������x�<M��=Y�QU� ?�����a��G����y��}�?I�����&5�?����۾� ���A����@9���C�����: ��k�:)���W-�,�@�WIXI XQ�WQ:WQ2WQ*WQ�VYbUYBUY*UYUYUe��� �m@�R�B*** querying acoustic contact ***�P��P�B�N2��B� B��A�~>*B��A�c��A��A��A��1 ="C�0_|�RC�C��,�@�C��������<����<����>9��I���pGi����@��������������; ��E{E���I��Gk>�=j,T�T�E�AY}ZDž�@�}Z~��@y}Z����}Z��>�}ZH����@9V�?��� f�?��� vO����� [����� '�?��� d⼿�����_�?���@0"�?����Q��?)~ZDž�@ ~Z�s�;I~Z��C������ɫ���)�� ������I��i�mGY�>�@y�%]vGI�1i�IUZ****** received transponder code query ******UF****** received ping request ******m<Arming DUSBL. detectThresh: 75��}�h�ٺ����pYB�8****** ping requested ******i��������v�M�*=Y����:QU�>���� �a �G�� �>G�� y��>}�>I�!��-�:��%`(5�?��-�:��%��۾� �%�A��5�@9�%�C��%; �%;)�%��:�WU���@�WQXQ XQ�WY:WYI��)��@A�� 4 ���� ����� ����� 6�� � bL:Y� �Y1y� �:�� �$6)� ϥ;�9�2WY*W�VbUBU!*U!U!U%��� �c @B��⪼B� B��A��}>*B��A�^��A��A��A�9F ="C�D�l�RC�C����@�C� ��>����=���N�����?i���?�ס I�� G� �>��Dj,��U�E�AY}2�(�@�}2C6�@y}2ӡ���}2>�>�}2H�����9��?����M��?����mT�����`^���� zc�?����@N����� ��?����Qd�?���`+��?)~2�(�@ ~2 �;I~0 �>�C)�<ɑ<��>�kF�<��B�Cɒ@i�@I�@��@I�Di�D �D�D)�D�H �H��H��HɓH��N�C��NrAI�L)�Li�L)�PI�P�PɔP �PɕV�C�T��Ti�T��Tɫ1�1)�1 �=����I�9Y�u!�@y�u9vG}xDUSBL response received:!U1,P F4D,000,003DE,186,80,80,6B,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�)��Q�å�m��å�l>�åף�iå=�@�á ĥO�@)ĥ��@IĥO�@iġ�����M�1=Y�=�S�QUE�>��I��I�aU�G��Q��yy�_(=}��>Iȹ����:�Žg>5�?����:�Ž[�۾� ƽ1A����@9ƽ<�C�ǽ;�; Ƚ��;)Ƚ��:�W�~/�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������E@B t���B B �A �y>*B �A ���A �A �A �R ="C% �\�RC! C% ~/�@�CI ��=_ⅾ��I�)GM�>���Jj,T�,U�E�A�|i|�@�89�8I�:�oGi�:��@��:=��8��8��:m�; �:�rE)� �n�CI� �n�Ci� ��� �=�� �=�� �CE5Y}M���@�}M[Ը@y}M�H���}M�r >�}MH��������?����Ј�?�����ַ������߿���@-��?����(:���������?����O��?������?)~M���@ ~M�O�;I~M��Cɫ�髱)�� ������I��Y��;�@y��YvG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�q��y��m����Q��?y�&1�|����S㥛���m�?��m`� �m/ݼ)�iI�iy�m�����K�?�Q��뱿y�&1�|?��m^?��m\����m`�; �m�A)�m7 AI�mKAi�i��i��m�A���<M�v=Y���QU� ?�����a��G���>G��y��=}�?Iȩ�ŭ�J5�?�ŭe�۾� ƭ;A����@9ƭS�C�ǭn�: ȭ�:)ȩ�W�{y�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����5E@B%v�z�B) B)�A-+}>*B)�A-����A)�A)�A5oG ="C5��R�RC9C={y�@�C9��� ����������������� �w?:Y��[1y�H�:��r6)���;��]N���I�!G=�>�ކQj,jgFU�E�AY}J'Z�@�}J�g�@y}J~G���}JK� >�}JH�����=�?�������?����i跿������������?���`YM����� jh�?�������?����0��?)~J'Z�@ ~J��};I~J��CɫQ�Q)�Q �U����I�YY����@y���uG�xDUSBL response received:!U1,R,0A7,000,00A69,186,80,80,5B,FF �Fpublishing direction and range info����;����ɰ�QZ>鰙 ��)����BI��y����B�����6=)��?c]鎖¿��������ٱ�i�Q��Q��]kA��]lA���@���@���@�å©å��å�iå��@�å���� ĥ���)ĥO�@Iĥ���iĥ�@���(�M�[=Y����QU��>������a��G������y���E=}��>I������Z5�?�����۾� ��JA����@9��p�C�����: ��N�:)���W���@�WX X �W :W 2W *W�VbUBU*UUU���`��@�R-(Combining 5 samples.�P)*Q-��B�Z-���E=�F^@�i�_�1����������Z-��6=)��?c]鎖¿��������2Q-�;�:Q)�Z-������X@�ٕFR��$H 1#���Z-��T_����?����X�����gV�BQ-�̴@ Q-ڐ�Q-X�B�P-�9?�P-?�9?�P-]���Q-����Q-p�@"Q-[�@B��(��B� B��A�nm>*B��A�����A��A��A�)< ="C�@�F�RC�C����@�C������I�G�>�r�Wj,mY`U�E�AY}JP��@�}J�@y}J��Ѽ�}J�<>�}JH��������?��� i�?����ǁ����� "�ܿ�����@�?���`1�������W=�?����+��?�������?)~JP��@ ~JRDx;I~Hɫq�q)�y �yI�yY� Y�@y�CuG��TNmea in: $SNTTA,0.100138,,,,164404.90*41 i���������M�Z=Y��^�QU��>�������a��G������y��T=}��>I������:����j5�?����:�����۾� ��\A����@9����C���0�: ����:)����:�m�}Added new target pos. range: 122.400002 m, bearing: 323.721050 deg, deltaT: 4.442024 s, approachRate: 22.624821 m/s, LOS rate: -1.382575 deg/s, posRepo size: 4�m�� ProNav: pos range: 122.400002 m, bearing: 323.721050 deg, approachRate: 22.624821 m/s, LOS rate: -1.382575 deg/s, cmd update: -4.147726 deg/s, cmd heading: 348.891331 deg, new cmd heading: 349.616342 deg. �W����@�W�X� X��W�:W�2W�*W��V9bU9BUA*UAUE������^@UE����O!�?B�x��B� B��A��`>*B1�A=]��A9�A9�A=%* ="CE`�P�RCE�j�CE���@�CI��-�����-�����-�����-|�� �-@i:Y�-d\1y�-��:��-p,6�9=@��q��ulA�}��>9�yI�}toGi�}��@��}=��y��y��}Ю; �}nE�֍FӅ���aI�iG��>�$�]j,-&zU�E�A�|�|Y}6���@�}6G��@y}6��⼙}6m>�}6H����@B��?���`M�?���@]������w�ۿ�������?����)��������R�?��� �L�?����-��?)~6���@ ~6�Ip;I~6��CɫQ�Q)�Y �]����I�YY��4�@y��uGi�����}�<�M}P=Y�᩻QU��>�����a��G���>G��y��J=}��>Iș�ŝ�{5�?�ŝ��۾� ƝqA����@9Ɲ��C�ǝ^�: ȝ�:)ș�;��� w��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;����w�dResuming normal ranging with 1.000000 count pings.�;����1<����W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B�ӟ�B B�AN\>*B�Akp��A!�A!�A%� ="C-�g�RC-�Y4�C-��@�C1��eM�����!I�)GE0>���dj,���U�E�AY}V�J�@�}VtX�@y}V����}V�_>�}VH�����~�?������?�����������@��ڿ������?�����㾿���@O�?����|��?����!��?)~V�J�@ ~V��i;I~V��Cɫy�y)�� ������I��Y��F�@y��,uGi�9��9)�A �A�������������Õ��Õ?5>�Õ$>iÕQ�@�Õ��� ĕ9�@)ĕ9�@Iĕ9�@iĕ9�@��=�;M�H=Y��̻QU��>�����a-�G��)��1y�5�Q=}5�>I�9��E�:��=1�5�?��E�:��=v�۾� �=�A��M�@9�=͒C��=0�: �=,�:)�=��:�Xe�������?1<e���wm�Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;m��� wm�Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�Wu��@�WqXq Xq�Wy:Wy2Wy*Wy�VybU�BU�*U�U�U�������?B�p֨�B� B��A��^>*B��A�E���A��A��A�j� ="C�u���RC�_J��C���@�C�����i�����?i���?���I����-+����-�����-�����- �� �-~t:Y�-xZ1y�-q�:��-�"6G=P>���jj,�ҭU�E�A�9�m�CI�oGi�O�@���������; ��Eɫ�髹)�� ������I��Y���@y���tGI�Q)�U�Ai�a��a������x�&1�?\���(\Ͽ��ʡE�?����!?����z� ��-�=)��I��y���ˡE����?��~j�t������MbP�����'?����������� ��r A)���AI��i��dA�������A�� ax�MD=Y����QU�>�����a�G���>G��y�%���}%�>I�)��-T�5�?��-+�۾� �-�A��5�@9�-�C��-+�: �-/�:)�)�W]?*�@�WYXY XY�WY:Wa2Wa*Wa�VabUaBUi*UiUiUu����Kv�?B��]��B� B��A�#X>*B��A�����A��A��A�~� ="C-D���RC-U�_�C-?*�@�C1��9��I�!G=r>���qj,\��U�E�AY}5��@�}5���@y}5���}5<�>�}5H����@��?���`I�?����C������@ߙ���@x�?�����(�����`g9�?��� �)�?����m��?)~5��@ ~5��a;I~1ɫ9�9)�9 �9I�9Y��;�@y��uGi�����m��=��m�T���m�L�i�m��@��i �i)�m��@I�ii�i��}�B<M�C=Y�S�QU��>�����a��G����y��=}��>Iș�ŝ۵5�?�ŝ��۾� Ɲ�A����@9Ɲ�C�ǝR�: ȝ��:)ș�W��1�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@B��Y��B� B��A�;]>*B��A�`@��A��A��A�e� ="C��ݭ�RC�vO=C��1�@�C��օ�yZ���5�����5�����5�����5��� �5W�:Y�5�[1y�5H�:��5�-6��AI�IGmV>���wj,���U�E�AY}6���@�}6�ݽ@y}6���}6��>�}6H�����A �?��� �c�?�����z�����@<�տ������?����� �����`�6�?���` J�?���@��?)~6���@ ~6��`;I~6��CɫY�Y)�Y �]����I�YY��{�@y��2tGi�����5섽M=b=Y�=��QU=�>��A��A�aE�G��A��Iy�M��=}M�>I�Q��]�:��U��5�?��]�:��U��۾� �U�A��e�@9�U1�C��U��: �U��:)�U��:�W��Z�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����8�@B�n��B� B��A�)E>*B��AU߭��AQ�AQ�AUe ="C]�N��RC]$h�=C]�Z�@�Ca��-�1�I�1)�1��I�G5.>���=i�a=��%�<��!�)9�)I�)i�)��)��)��)��-�; �-?�E�s*~j,nj�U�E�AY}:���@�}:HǾ@y}:��"��}:��>�}:H����`|V�?���`k��?���@�ⴿ���@�2Կ���@f�?��� ������Y�?����m��?����Ҩ�?)~:���@ ~:{b;I~:��CɫQ�Y)�Y �]����I�YY����@y���uG����AAi���!��=G�=M=J=Y�Ed��QUE�>��I��I�aM�G��M�>G��Yy�]��=}e�>I�i��mj�5�?��m��۾� �m�A��u�@9�mS�C��m�: �m��:)�i�W��i�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�;@�R�B*** querying acoustic contact ***�P��P����B�iX��B� B��A�Di>*B��A�j� ��A��A��A�� ="C��`ʾRC��1;>C��i�@�C��������I��G�>��-M����-�����-�����-�� �-�b:Y�-�Y1y�-�:��-�6)�-+�;�95����j,�BV�E�A�|4<�|4<Y}2$��@�}2۰�@y}2�J+��}2��>�}2H����``��?�������?�������������uҿ���@�j�?����v��������g�?����W��?����0��?)~2$��@ ~2�Da;I~2��Cɫ9�9)�9 �9I�9Y�}U�@y�}>uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i������� \�>�� �H��� ʡ=i� G�@�� � O�@)� ���I� O�@i� O�@��%u��M%==Y�%A��QU%�>��)��)�a-�G��)��1y�5<�=}=�>I�9��E�:��=p�5�?��M�:��=C�۾� �=�A��M�@9�=x�C��=�: �=��:)�=��:�W}Qi�@�WyX� X��W�:W�2W�*W��V�bU)BU1*U9UAUm��� ,� @B����B� B��A�x`>*B��A�� ��A��A��A���="C��hھRC��>C�Qi�@�C��ֽ�̓��בI��G��>�%��>9�%n�CI�%toGi�%��@��%=��!��!��%��; �%��E� ;�j,�/V�E�AY}2�k�@�}2{y�@y}2�:3��}2��=�}2H����`;��?�������?���`�Ҳ������п�������?����s������ �e�?���े�?�������?)~2�k�@ ~2 Xc;I~0ɫy髁)�� ������I��Y����@y���tG�xDUSBL response received:!U1,P 0A7,000,00A69,186,80,80,5B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i����������G�z�?q= ףp��/�$��������>����� ��,�)��I��y������(\��?/�$���/�$��?���z?���,�����< �A) �AI 1Ai �A������\A��5��M5-=Y�=���QU=�>��a��a�ae�G��e�>G��iy�m�R=}m�>I�q��u]5�?��u��۾� �uCA����@9�u��C��uM< �u#<)�q�W�H�@�WX X �W :W 2W *W �VbUBU��Ec����E�����E�����ED�� �EO�:Y�E0Y1y�E��:��Eq&6)�Eo <*UaUaUm������ @B-*詼BQ BY�A]S>*BY�Ae�F��Aa�Aa�Am�n="C�vu�RC�� �>C��H�@�C� ���=���>i���lGI��i� A�A��] �f�ٺY ��e �WB��� ��c���� �?i�� �?�ס I�� G� �>�E(�j,cIV�E�AY}=��!;�}=�1�@y}=��8��}=��=�}=H����@��?���`[�?���@ﱿ���@ Ͽ�������?��� =S�����`/�?��� �?���`���?)~=��!; ~=�Ud;I~=��Cɫ � )� � ����I� Y�Mh�@y�MUuG�m�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i������Å��Å��Å-�=iÁ�Á ā)ąO�@Iāiā���2=M�h=Y�!{�QU��>�����a��G����y���=}��?Iȱ����:�ŵ|5�?����:�ŵ�۾� ƵA����@9Ƶ��C�ǵ��: ȵ�:)ȵ��:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�"@B%͆��B! B!�A%�b>*B)�A-ѵ��A)�A)�A-�$="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 XA�WA:WA2WI*WI�VIbUiBUq*UqUqUu����%�@�P�*Q���A�Z���^�gl�-@�$$m������������Z���p0���?�|�ݴܿ��������2Q��%�:Q��Z��g3}�)@���)�9%��k��a ���Z��,��3��?��,(o���� �m�BQ���@ Q��)�Q��LA�P�;�9?�P��9?�P�����Q�]���Q���@"Q�p�@B�/T��B� B��A��O>*B��A����A�A�A#�="C-���RC)C-(��@�C1��%ܪ&�������jA��9��m�CI���oGi����@���=�����������; ��#�E)�]�m�CI�]�m�Ci�Y���]�=��]�=��]��5���I�GL>��-i����-�����-�����-��� �-py:Y�-P^1y�-��:��-B16)�-��;��y�j,�|V�E�AY}~�s�<�}~�@y}~�D��}~�Y�=�}~H����@�4�?������?����������௦˿�����#�?����m��������?�������?���`���?)~~�s�< ~~Jap;I~~��Cɫ���)�� ��I��Y�MJ�@y�M1uG��DNmea in: $SNTTA,,,,,164409.31*52 i������� A=M 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. �W}T�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U����@��0@U�����>��?BU�=��BY BY�A]_>*BY�A]FN ��AY�A��A��c="C�u�*C����=RC�C�T�@�C���}ȿ=Iׁ)ׁ��%�=i�%�=��9I�yG�i>��d�j,���V�E�AY}2��=�}2�Y�@y}2_�H��}2��=�}2H������B�?������?���@�������Ǟʿ����7�?�����9������{�?��� LD�?�������?)~2��= ~2XPm;I~2��Cɫ)�1)�1 �1I�1Y�u��@y�u�uGi������1>���>�����=i�� �@��� ���@)��9�@I���@i���@��-S�<M-H=Y�5��QU=�>��I��Q�aU�G��Y��ay�u��<}u�>Iȑ�ŕ�P5�?�ŕ�ܾ� ƕ]A����@9ƕ�C�Ǖ�; ȕ�<)ȑ�:���u �Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1; ��v ZEntering USBL mode with 5.000000 count pings.1; ���q; ���W5`~�@�W9X9 X9�W9:W92W9*WA�VAbUABUA*UIUIUM�������?B�z헼B� B��A��g>*B��A��z ��A��A��A�'�="C�ҋ�RC�C�`~�@�C���%�����%�����%�����%9�� �%k:Y�%DW1y�%Y�:��%C%6�9-@�֭K-�=��iI�yG�}>ܹ9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽ��; ݽ��E����j,N`�V�E�A�|�;�|�;Y}>}/=�}>�{�@y}>�hJ��}>o�=�}>H����@�I�?�������?�����������@ʿ���@�D�?���@Ȯ�����oJ�?���@iT�?�������?)~>}/= ~>�7p;I~>��CɫQ�Q)�Q �U����I�QY��;�@y��uGi�������R���Q�?{�G�zĿ�&1��?����?����#� ���P=)��I��y���gfffff�?�V-�������������3?���h�������� �A)� AI�Ai~A�������A��1ܼM�S=Y�-ڕ�QU-�>��1��1�a5�G��5�>G��1y�=|,<}=�>I�A��Ec5�?��E�ܾ� �E�A��U�@9�E,�C��E'�: �E��:)�A�Xm������@q;m����um�Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�:u����uu�Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�W}Q�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U����`�j�?B����B� B��A�;]>*B��A�����A��A��A���="C��\�RC�C�Q�@�C���M7>���I��GI>�t�j,QJ�V�E�AY}b�z0=�}b�~�@y}b�JI��}b��b=�}bH����`bJ�?�������?���`0\������ ʿ����QL�?����Ӟ����� �&�?�����L�?�������?)~b�z0= ~b��q;I~`ɫ���)�� ������I��Y���@y��uGi�y��y���ף����V�>���t<i��G�@��� �����)��O�@I��O�@i��O�@��m$=Mm>=Y�m�,:QUu�>��q��q�au�G��q��yy�}�]:}}�>Iȁ����:�Ņ9v5�?����:�Ņܾ� ƅ�A����@9ƅJ�C�Dž��: ȅ�:)ȅ��:�W�ڃ�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������?B��*��B� B��A��n>*B��A�#��A��A�A�&="C `�RC C ڃ�@�C�� ;#7>��i��?���I��G��%d����%�����%�����%��� �%�d:Y�%xZ1y�%q�:��%�6�U��j,r�V�E�AY}2$�!=�}2a�@y}2�%G��}2���<�}2H������D�?����GV�?����������ʿ�����L�?����^�������3�?��� ���?��� m��?)~2$�!= ~2�m;I~2��Cɫ9�9)�9 �9I�9Y�}~�@y�}quGi�������E�ʼME`=Y�Eϻ:QUM�>��I��I�aM�G��I��Qy�]3!�}]�>I�a��e�5�?��e�ܾ� �e�A��m�@9�ee�C��e÷: �e4�:)�a�W�)�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B��L��B� B��A��e>*B��A�jj��A��A��A���="C��%�RC�C�)�@�C���-$b>���I��G+>�i9�iI�m�pGi�m��@��m=��i��i��m>�; �m�E�-žj,g��V�E�A�|i|�@Y}6�Q=�}65,�@y}6�D��}6K4);�}6H������9�?���`:T�?���@�I������&P˿���@C�?������?�����?���`J e?��� ���?)~6�Q= ~6 Q�;I~6��CɫY�a)�a �e����I�aY��k�@y��ZuGi�����]M]I=Y�e��:QUe�>��a��a�am�G��m�>G��iy��`y�}��>I���� �:�����5�?���:���ܾ� ��A���@9����C���<;; ��'<;)����:�WM�}�@�WQXQ XQ�WQ:WQ2WY*WY�VYbUYBUY*UaUaUe�����[@B��R��B� B��A�?c>*B��A�����A��A��A�EX="C�/��RC�C��}�@�C��֍�;�>��II�iG�=>��U ����U�����U�����U��� �Uǂ:Y�U[1y�Uݏ:��U06�"��j,��W�E�AY}2;�<�}2���@y}2�A��}2ә��}2H���� J'�?�������?����O`������a�̿�����'�?�������?�����0�?����Ѭ������e��?)~2;�< ~26ۉ;I~2��Cɫ9�9)�9 �=����I�9Y����@y���uG������i�������mh�=��m�ν��mS�i�m3�@��i �i)�m��@I�mn�@i�m��@���h<M�F=Y�R�:QU��>�������a��G������y��xӼ}��>Iȱ�ŵ)�5�?�ŵ?ܾ� Ƶ6A����@9Ƶ��C�ǵ�< ȵ�<)ȱ�W}O�@�WyXy Xy�W�:W�2W�*W��V�bU�BU�*U�U�U���� ��@�R�B*** querying acoustic contact ***�P��P����B�`���B B!�A%Di>*B!�A%o���A)�A)�A-2�="C5\$!�RC1C5O�@�C9��a��a��U��>I�Y)�Y��aI��G��>�a9�aI�eqGi�e��@��e=��a��a��e��; �e�E�?��j,��1W�E�AY}N�N<�}N:_�@y}Nm�?��}N�M���}NH�������?��� w��?����$������`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� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@(6 @BᏼB B�A�[>*B�A%���A!�A!�A%��="C-Ak%�RC)C-sb�@�C1��-\ ����-�����-�����-L�� �-h�:Y�-�[1y�-H�:��-L'6)�-y�;�95�����>���I��G�>�6��j,{�KW�E�AY}2c��@�}2��@y}28A��}2�-���}2H���� ���?����x��?����/挿���� Rп���`���?����؛�?���` �?�����(��������?)~2c��@ ~25 �;I~0ɫ9�9)�9 �=����I�9Y�}��@y�}�uG�xDUSBL response received:!U1,P 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 Xq�Wq:Wy2Wy*Wy�VybU�BU�*U�U�U�����^� @B�\Q��B� B��A=�l>*BA�AM�B��AI�AI�AM="Ce��)�RCiCm�ճ@�Cq������ I�� G� �>����j,IfeW�E�AY}6�%�@�}6�3�@y}6�B��}6����}6H����@!��?����a��?���� @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 Xy�Wy:W�2W�*W��V�bU�BU�*U�U�U����@�/@B�_1��B 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 X�W:W2W*W�VbUBU*U!U!U%�����@�R5(Combining 5 samples.�P1*Q5�qA�Z5����D�,@f��F�����������Z5���}=�?��#e#�Կ��������2Q5㭪�:Q1�Z5�� =�](@�m���!��4�m��?�Z5����!��?|��v>���JcΏ��?BQ5��@ Q5 �Q5�BA�P5@�9?�P5;�9?�P5����Q5����Q5v�@"Q5��@B���B� 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: $SNTTA,,,,,164413.75*59 i����������������?D�l��������Q��?����?���O�� ����<)��I��y���`��"���?:��v��������Mb�?����?����Լ���< �A)�$AIi�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. �W}{��@�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�����p=.@U����@���?��%�����%�����%�����%h�� �%ql:Y�%[1y�%ݏ:��%L*6�9-@B]���BY BY�A]x`>*BY�Ae���Aa�Aa�Ae��="Cm�H.�RCiCm{��@�C��։��A I�Q Gm �>���>9�I��rGi�*�@��=��������; ��E)ݑ�Iݑ�iݑ��ݑ��ݑ��ݕ���4�Y%�j,��W�E�AY}2,�@�}2��@y}2]�I��}2U�[��}2H�����m�?�������?�����њ?��� ftտ�����V�?��� ���?�����7�?����>˿��� ":�?)~2,�@ ~2�Rz;I~0ɫ9�9)�9 �9I�9Y�}��@y�}�uGi�������1=M�=Y���QU?��!��!�a%�G��%�>G��)y�-顽}-?Iȩ����:�ŭ�5�?����:�ŭ�2ܾ� ƭA����@9ƭX�C�ǭ:; ȭ�:;)ȭ��:�W,�@�WX X�W :W 2W*W�VbUBU*UU!U%����&��?Beb�Bi Bi�Amk>*Bq�Au�{��Aq�Aq�A}�w="C}R8)�RC�C�,�@�C��֙Iס)ס��yI��G�^>� �j,B��W�E�AY}2�D�@�}2:R�@y}2�pJ��}2�c��}2H�����p��?���@G�?����It�?�����ֿ������?���@���?����vK�?����.̿�����,�?)~2�D�@ ~2��n;I~2��Cɫ9�9)�9 �=����I�9Y�}~�@y�}quGi�������Uj<���U��<��U�=i�U�@��Q �Q)�UX�@I�UX�@i�UX�@��mV�MuE=Y�}a��QU}�>�����a��G����y�M�d�}U�>I�a��eQ15�?��e,8ܾ� �eLA��u�@9�ex�C��ez; �e3;)�a�W�x��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B<���B B�A�e>*B�A۳���A�A�Ac="C%+#�RC!C%x��@�C���M1����M�����M�����Mk�� �M�t:Y�Md\1y�M��:��M�*6�ֹ�בI��G��>�D7�j,z��W�E�AY}2���@�}2���@y}2p�J��}2��f��}2H��������?����<Z�?��� ��?����SHؿ�������?���@���?���`Z�?����Ӓ̿�����&�?)~2���@ ~2��h;I~0ɫ���)�� ������I��Y�5�@y�5vGi���������=M�6=Y����QU��>�������a��G������y���\�}��>I������:���qD5�?����:���>ܾ� ���A����@9����C�����: ���:)����:�WYD�@�WX X�W:W!2W!*W!�V!bU)BU)*U)U)U5����%]�?B]�7p�BY BY�A]�v>*BY�Ae�����Aa�Aa�Ae �="Cm\�RCiCuYD�@�Cq�٩�٭4=ܱ9ܱIܵ\sGiܵ��@�ܱ�ܱ�ܱ�ܵM�; ݵc�E��9��1I�AGe�>���j,w��X�E�AY}:a��@�}:�@y}:�K��}:*uh��}:H�����M�?���@y��?�����=�?������ٿ��� �q�?��� ���?����y�?������̿�����#�?)~:a��@ ~:Q�q;I~:��Ci�9��E1rA)�E�� �AI�A �M�C)�QɥQ��Q�Y��e�CɦeIpAi�e��I�epiF��aI�ii�q �q�q)�q�y �}IpA��}t�����ycFɧ��������qAI��)��i��)��I��騑ɨ� ��ɫ���)�� ��I��Y����@y��vGi��������_��M�9=Y�Em�QUE�>��A��I�aM�G��M�>G��Iy�U>�}U�>I�Y��]�X5�?��]�Dܾ� �]�A����@9�]��C��]��; �]k�;)�Y�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����?��@I�@A)�AA��-� ����-�����-�����-��� �-�:Y�-0Y1y�-��:��-�06Be0�}�Ba Ba�Ae�t>*Bi�Am�����Ai�Ai�Am�="Cu�RCqCu��@�C� խ�=�ԭ�=�֭��>��?i�?�ׁ I�� G� �>�PIj,�]X�E�AY}2+Q�@�}2�^�@y}2��K��}2��g��}2H����@\�?����͆�?����E �?������ڿ�����9�?��� M��?����o�?������̿��� ,%�?)~2+Q�@ ~2�?�;I~2��C �@)�@ɑD��D�H��LɒPi�PI�P��PI�V�Ci�VrA �T�T)�T�T �ZrA��X��XɓX��X��XI�\)�\i�\)�\I�b�pA�`ɔ` �`ɕ`�d��di�d��dɫ9�A)�A �AI�IY�}0�@y�}KvGi��� ������z�G��?㥛� �¿�MbX9�?�� 7?���� �ʡ=)�I�y��NbX9��?�I+��� ףp= �?���%?��94���Q8= �xA)�t-AI�� Ai�����pA�õ;?��õ?5>�õ��>iõ̬@�ñ ĵ��@)ĵ��@Iĵ��@iĵ��@��� �<M�M=Y��4I9QU��>�������a��G������y���5�}��>I������:���uk5�?����:���Kܾ� ��nA����@9��ەC���S�: ��:�:)����:�W%�y�@�W)X) X)�W):W)2W)*W1�V1bU1BU1*U1U9U=�����@Bep�U�Bi Bi�Am�{>*Bi�Amhm���Ai�Ai�Aux��="Cuޯ�RCyC}�y�@�Cy�֕6Ʌ>��iI�yG��>ܭ ��>9ܩ Iܭ �sGiܭ �@�ܭ =�ܩ �ܩ �ܭ ��; ݭ ��E��rj,*74X�E�A�|i|Y}>��@�}>��@y}>!L��}>D�i��}>H�����2��?���@?c�?���@�7�?���@�iۿ�����?�������?����0�?������̿�����!�?)~>��@ ~>-�;I~>��Cɫ�)� �����I�Y�]��@y�]�vG��a��ai�������}6=M�t=Y�g��QU�?�������a��G����>G���y���:�}�?I������{5�?����Pܾ� ���A����@9����C���U; ��@;)���W�C��@�W�X� X��W�:W�2W�*W��V�bU BU*UUU����:�@�RMB*** querying acoustic contact ***�PI�PIB���A�B� B��A���>*B��A�p����A��A��A�%�="C����RC��j>C�C��@�C���-K ����-�����-�����-��� �-��:Y�-�]1y�-��:��-�86)�-M�;�95�����>���I��G�>�A[j,�NX�E�AY}:�g�@�}:�u�@y}:p9M��}:�j��}:H��������?���`��?������?����*ܿ������?���@���?����n��?���`�Ϳ����c�?)~:�g�@ ~:Í;I~:��Cɫ�髙)�� ��I��Y���@y��vGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******i�a��a���t�����w>���C�<i���@��� ��b�@)��I����@i����@���/ػM�G=Y���5�QU��>�������a��G������y���}��>I�����5�?��Xܾ� �uA�� �@9��C��b�: ���:)��W5K��@�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUE��� �� @B-M=�B1 B1�A5#�>*B1�A5�C���A1�A9�A=B?�<"C=�$�RCE�[E>CEK��@�Ca�ԑ�ԕlA�օ�~>I)��9I�IGeV>�a�j,�gX�E�AY}6R�@�}6 �@y}6�6P��}6��l��}6H�����s��?����A��?����W�?���`(�ܿ����ǟ�?����z��?������?���`gCͿ����+�?)~6R�@ ~6s�;I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}wG�xDUSBL response received:!U1,P 17E,000,0036D,186,80,80,9B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i�����I���=)��4=����<M Z=Y�,��QU%�>�����a��G������y����}��>I� ��=�:�� �5�?��E�:�� [_ܾ� � A��M�@9� :�C�� v�< � ��<)� ��:�e��>9�aI�e$tGi�eo�@��a��a��a��e��; �e��E�WE�,�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�{ @BE��O�BA BI�AM��>*BI�AMF���AI�AI�AM��<"CUu�RC]>C]�,�@�CY��E� ����E�����E�����E��� �E��:Y�Ed\1y�E��:��E036)�Ex�;����i>�ױI��G��>�<m j,*ʁX�E�AY}2���@�}2p��@y}24&U��}2��q��}2H����@�O�?����/��?�����F�?���`ߣݿ�����b�?�������?�������?�����Ϳ��� V�?)~2���@ ~2W�;I~0ɫ9�9)�9 �=����I�AY����@y��wG鮩ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�9��9��u"ԻMuC=Y�}�=�QU}�>��y���a��G���>G��y�E�}��>Iȑ�ŕA�5�?�ŕ�fܾ� ƕ�A����@9ƕZ�C�Ǖ��: ȕM�:)ȑ�W�ꮸ@�W�X� X��W�:W�2W�*W��V�bUqBUq*UyU�U������3@B�:�7�B� B��A�&�>*B��A������A��A��A��<"C���RC���=C�ꮸ@�C�����]>�יI��G�c>�1�&j,-��X�E�AY}R!�@�}R�.�@y}R�Z��}R��t��}RH�������?�����P�?����'2�?�����m���@]&�?������?����3=�?���@�<ο����7�?)~R!�@ ~R�};I~R��Cɫ�髹)�� ������I��Y��X�@y���wG�xDUSBL response received:!U1,R,058,000,00337,184,80,80,7B,FF �Fpublishing direction and range info���nF�����ɰ�׆=鰕��> ��)����BI��y��>A����pE,���?.�0�ۣ����������ٱ�i�������m�/�$���?��Q�ſ�I+�����m�?��m�(� �m9��)�iI�iy�m��I+��?Zd;�O������S㥛?��m9?��mj����m/�< �i)�m�,AI�mAAi�m�A��i��m�A����T�����o>����m�i����� ��-�@)��I����@i����@���=M�(=Y�=��QU=�>��Y��Y�ae�G��a��ay�m��}m�>I�q��}�:��u<�5�?����:��u�nܾ� �uA����@9�u~�C��u��; �uL�;)�u��:�W�>i�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@>#@�R (Combining 5 samples.�P *Q >A�Z �~��ܡ�'@�|_^*�����������Z �pE,���?.�0�ۣ����������2Q nF����%c ����%�����%�����%��� �%��:Y�%�[1y�%H�:��%956�9-@:Q �Z �Q���#@�1��g����?�Z ����?��+͉@ῴ2'�8�?BQ �ɶ@ Q ���Q �A�P A�9?�P @�9?�P ����Q ����Q f�@"Q v�@B�Є=�B��u�< B��A�g�>*B��A��h��A��A��A�#��<"C��i��RC�R<�=C�>i�@�C� ���=����=�֭�+>��?it?��iI�yG��>�M ��>9�I I�M �tGi�M �@��I ��I ��M ��D��M ��; �M ��E���,j,��X�E�AY}z��@�}z���@y}z�Y��}zt;w��}zH���� T��?��� +�?���`Tc�?���`�:߿����D��?������?��� �2�?������ο���`)�?)~z��@ ~z��u;I~z��Cɫ���)�� ������I��Y�5��@y�5/wG��DNmea in: $SNTTA,,,,,164418.19*58 i����� ��鿱���'�M�w=Y���z9QU�?�������a��G����>G���y��-7�}�?I�������5�?����sܾ� ��bA����@9����C���+�: ����:)���muAdded new target pos. range: 11.879998 m, bearing: 327.282393 deg, deltaT: 4.537658 s, approachRate: -0.714025 m/s, LOS rate: 0.698339 deg/s, posRepo size: 4�m-� ProNav: pos range: 11.879998 m, bearing: 327.282393 deg, approachRate: -0.714025 m/s, LOS rate: 0.698339 deg/s, cmd update: 2.095018 deg/s, cmd heading: 331.977312 deg, new cmd heading: 332.777778 deg. �W-�ƹ@�W)X1 X1�W1:W12W1*W1�V9bU9BU9*U9UE��� ��'@UE����?��?Bm���Bi Bq�Auv�>*Bq�Au���Aq�Aq�Au���<"C}(���RC�_�2=C��ƹ@�C��օ>��AI�IGm5>i��mGI�Ii�����e�ٺ �� �VB���3j,�\�X�E�AY}2n'�@�}2%5�@y}2�X��}2h�q��}2H�������?�������?���@�Dz?��� =����`'��?�����3�?����#��?���` �Ϳ����M�?)~2n'�@ ~2�el;I~2��CɫY�Y)�Y �YI�YY��7�@y���wGi� �� ��]7�=��]�k���]7�=i�]��@��Y �]��@)�]n�@I�]n�@i�]n�@��mK�<MmP=Y�m�:QUm�>�������a��G������y���#�}��>I������:���H�5�?����:����zܾ� ���A����@9����C����; ���;)����:�WELA�@�WAXA XA�WA:WA2WQ*WQ�VYbUYBUY*UaUaUe���@� �?B��&�B� B��A�R�>*B��A�8��A��A��A����<"C����RC��O�;C�LA�@�C���D->��5����5�����5�����5 �� �5��:Y�5]1y�5�:��5�;6���I�Gn>�y�9j,�6�X�E�AY}6��@�}6Ƶ�@y}6{�S��}6�i��}6H�����{_�?��� sh�?���@���?�����}��������?���� �?����Iz�?���`��̿���� "�?)~6��@ ~6\g;I~6��Cɫ9�9)�9 �=����I�AY����@y��xGi�����5�=M=M=Y�=?';QU=�>��A��A�aE�G��A��Iy�MK%�}M�>I�Q��U �5�?��U��ܾ� �U*A��e�@9�UЖC��U4�: �U��:)�Q�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����?��?B��7�B� B��A�D�>*B��A�in��A��A��A���<"CUL��RCU���CU��@�CY��9��l�CI���uGi����@���=���������#�; ��ГE)݉�I݉�i݉��݉��ݍ�=�ݍ��5��E��<���T>��!i�%�=I�))�)���I� G-p>�ټ@j,Y�E�AY}2:�@�}2�G�@y}2��M��}2��^��}2H������&�?�������?�����{�?���`������`r\�?��� ���?���@���?���`��˿����4�?)~2:�@ ~2Sde;I~2��Cɫ9�9)�9 �=����I�9Y�u��@y�}$yGi�������t�=MN=Y��o;QU�>�� �� �a �G�� �>G��y�< �}�>I�!��%�:��%+5�?��-�:��%��ܾ� �%�A��-�@9�%�C��%s�: �%��:)�%��:�Wu�+�@�WqXq Xq�Wq:Wy2Wy*Wy�VybU�BU�*U�U�U��������?B�OٻB� B��A��>*B��A��U��A��A��A����<"C�FERC�A�~�C��+�@�C�����x�<�����=�יI��G�E>��-�����-�����-�����-��� �-�{:Y�-�Y1y�-�:��-B16�d�Fj,+�Y�E�A�|P�|PY}}~Ҿ@�}}5�@y}}��E��}}LV��}}H���� @��?����0�?�����h�?�����3������5�?��� f��?����౨?���`�ʿ���`dD�?)~}~Ҿ@ ~}��b;I~yɫ�髩)�� ������I��Y��/�@y���xGi�Q��Q�� ����Q��?���Q��?/�$��?�� �?�� ��= � ,=)� I� y� ���C�l��?���S㥫��� �rh�?�� ;?�� /]��� C= � )� �'AI� i� �A�� �� �A��mt����m`�>��m$�i�m�@��i �m��@)�m��@I�m��@i�m��@��}㧼M}(=Y�}A�;QU��>�����a��G����y�?ռ}��>Iș�ŝ�5�?�ŝ�ܾ� Ɲ A���@9Ɲ�C�ǝD�: ȝ��:)ș�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����´�?B >��B B�Aԝ>*B�A���A�A�AiF�<"C-pBվRC-j�ȽC-���@�C1�ѭܪ�<�֍� =�ו�?iו�?��a I�i G� �>�� ��>9�� I�� |vGi�� W�@��� =��� ��� ��� B�; �� ߓE��Mj,�6Y�E�AY}2���@�}2B��@y}2\b9��}2��J��}2H��������?����uc�?���@�?����Ny���� ��?�����/�?��� E*�?�����&ɿ����W�?)~2���@ ~2k�a;I~2��CɫY�Y)�a �aI�aY����@y��@yGi�����5f=M=x=Y�=�<QU=?��A��A�aE�G��E�>G��Iy�M���}M?I�Q��U0)5�?��U�ܾ� �U�A��e@9�U.�C��U4�: �U�:)�Q�W�"�@�WX X�W:W2W *W �V bU)BU1*U1U1U5����٣@B��i��B� B��A�O�>*B��A�� ��A��A��A�#T�<"C���ξRC�S��C��"�@�C�������)�� ����-�����-�����-�����-!�� �-$�:Y�-�[1y�-H�:��->6)�-�;�95���m�r�;��I I�q G� �>��Sj,M�PY�E�AY}2�o�@�}2f}�@y}2��)��}2�r=��}2H��������?�����s�?������?����#�����@r+�?�����?����9�?���`��ǿ��� Hm�?)~2�o�@ ~2%�h;I~2��Cɫ9�9)�9 �E����I�AY����@y��dyG������@Ai�������@��@��@��©�����i�@������ �@)����I����i�@��q<MM=Y��<QU�>�����a�G��!��!y�%ۨ�}-�>I�)��=�:��-�95�?��=�:��-f�ܾ� �-�A��=@9�-N�C��-��: �-4�:)�-��:�We���@�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUi*UqUqUu���@!�@�R�B*** querying acoustic contact ***�P��P�B�����B� B��A�)�>*B��A����A��A��A��l�<"C�ġǾRC����C����@�C�����(�;�סI��G�A>�L%Zj,ڍjY�E�AY}2s��@�}2*��@y}2V���}2U/��}2H�����l��?���`8X�?�����ү?�����j����`}U�?�������?���@���?����j�ſ�������?)~2s��@ ~2�nr;I~2��Cɫ1�1)�1 �5����I�9Y�uL�@y�uzG}Z****** received transponder code query ******}F****** received ping request ******}<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����U�7=MUF=Y�]�,<QU]�>��Y��Y�a]�G��a��ay�e-<}m�>Iȑ�ŕ$K5�?�ŕF�ܾ� ƕbA���@9ƕo�C�Ǖϸ: ȕ@�:)ȑ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������ @B=X��BA BA�ى�ٍlAܥ��>9ܡIܥ�vGiܥ��@�ܥ=�ܡ�ܡ�ܥ-�; ݥԓE�AE��>*B��A�����A��A��A���<"C�^ҿ�RC��W�C���@�C��U�7���I�!G=P>��U� ����U�����U�����U��� �U��:Y�U0Y1y�U��:��U926)�U��;�z aj,}Y�Y�E�AY}2�ؾ@�}2��@y}2�d��}2i&��}2H�������?����y"�?����P�?����]1�������?����Ǘ�?����ߋ�?�����nÿ�������?)~2�ؾ@ ~2Gs;I~2��Cɫ9�9)�9 �=����I�9Y�}i�@y�}CzG�xDUSBL response received:!U1,P 058,000,00337,184,80,80,7B,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���������<MQ=Y� �F<QU��>�����a��G����>G���y��<}%�>I�a���:��e"]5�?���:��eR�ܾ� �e�A��%@9�e��C��e��< �eK�<)�e��:�W�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B�ī��B� B��A���>*B��A�����A��A��A����<"C����RC�v�)�C�@�C��E=i�Ea=��E�Ȅ���I�G5�>��6gj,�A�Y�E�AY}=�!�@�}=v/�@y}=���}=v��}=H����� �?���`���?��� ���?���@l�����@���?����3��?�������?���@|R�����`���?)~=�!�@ ~=��n;I~=��Cɫ�)� �����I�Y�M��@y�U�zG�u�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i���������<�O��n�?���Q������Q��?���t3?����u� ���u<)��I��y���7�A`���?#��~j����I+��?����?���㥽���94= ��A)��r AI��� Ai��EA�������A��e���e���e���e+�>��e��>��e�r�i�e��@��e��� �eٮ@)�eٮ@I�e��@i�a��}f�<M�'=Y� (<QU��>�����a��G����y�=̙<}]�>I�i��mQo5�?��m=�ܾ� �mXA��u@9�m��C��mp�: �my�;)�i�W��#�@�W�X� X��W�:W�2W�*W��V�bU�BU*UUU��� �*@��M!����M�����M�����M��� �M�s:Y�MxZ1y�Mq�:��M�26�9U@B���T�B� B��A�\�>*B��A��e�A��A��A����<"C��î�RC�W�2�C��#�@�C�� ( ��I��G �>ܡ 9ܡ Iܡ iܡ �ܥ =�ܡ �ܡ �ܥ �; ݥ ̓E� ^mj,o�Y�E�A�|�|4<Y}Zk�@�}Z�x�@y}Z=����}Z'��}ZH�����tG�?�������?�����̤?����������@��?����J�?������?�����2������y��?)~Zk�@ ~Z��g;I~Z��Cɫ�髙)�� ������I��Y����@y���zG�xDUSBL response received:!U1,R,058,000,0030F,184,80,80,A9,FF �Fpublishing direction and range info������ɰ�I�=�� ��)���)CI��y���A����pE,���?.�0�ۣ����������ٱ�i����������<M�T=Y��/R<QU��>�������a��G����>G���y���<}�>I� ���:�� >}5�?���:�� ��ܾ� � �A��@9� ЗC�� =�: � ��:)� ��:�W=��@�W9X9 X9�W9:WA2WA*WA�VAbUIBUI*UIUIUU������@�Re(Combining 5 samples.�Pa*Qe�A�Ze�6�z�s�"@oה�F����������Ze�pE,���?.�0�ۣ����������2Qa:Qa�Ze�{�)ض@�d�5��SS���?�Ze�� AeP��?x��ɏ�$��'֟?BQe��@ Qe���Qe��@�Pe@�9?�PeA�9?�Pe����Qe����Qee�@"Qef�@B�@�<:B� B��A�K�>*B��A��^ܼ�A��A��A��v�<"C�|=��RC��7�C���@�C��֥+����yI��G�^>�/Htj,���Y�E�Aɫ�)� �����I�Y�5�@y�5{G��DNmea in: $SNTTA,,,,,164422.64*5B i��������@���@���@���©�������i��3�@������� ����@)��n�@I�����i��n�@���E<MZ=Y� ���QU �>�����a�G����y����}�>I�!��%͋5�?��%��ܾ� �% A��-@9�%�C��%I�: �%b�:)�!�m]uAdded new target pos. range: 9.479997 m, bearing: 324.131763 deg, deltaT: 4.388613 s, approachRate: -0.546870 m/s, LOS rate: -0.717910 deg/s, posRepo size: 4�mu� 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. �Wu��@�WqXq Xq�Wq:Wy2Wy*Wy�VybU�BU�*U�U���� ��"@U������?B���6B� B��A���>*B��A��ڼ�A��A��A����<"C�aS��*C��"�=RC�� 1�C���@�C���#����U�����U�����U�����U��� �U��:Y�U�X1y�U/�:��U0-6���I��Gm>�pzj,���Y�E�AY}2�:�@�}2uH�@y}2U�E��}2E+[��}2H����@��?������?�������?��� ����� ���?�����˪?��� ý�?��� �a���������?)~2�:�@ ~2�yc;I~0ɫY�Y)�Y �]����I�YY��#�@y��'{Gi��� ��Uy;MUW=Y�];�<QU]�>��Y��a�ae�G��a��ay�ma�=}m�>I�q��uܚ5�?��uQ�ܾ� �uu A��}@9�u �C��uk�: �u��:)�q�W�S��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����0�?�=��>9�9I�9i�9��==��9��9��=2�; �=֓EB}��ĹB� B��A��>*B��A����A��A��A����<"C�{ȶ�RC�ܽC�S��@�C��֕>�!��ׁI��G�?>��q ��u �Ci�� �mGI�� i���5�i�ٺ1��5 ZB�Be�j,s�Z�E�AY}69��@�}6�ϸ@y}6�����}6�H���}6H���� ��?���`k�?���@�j?�����߿����.��?������?����H9?�����蔿���� ��?)~69��@ ~69g;I~6��Cɫ9�A)�A �E����I�AY��@y�%F|Gi��������������������@���@���@���������i��@��� ��@)�����I��@i���������=M >=Y� �)<QU �>����9�a=�G��=�>G��qy�uR=}}�>I�y����:��}��5�?����:��}*�ܾ� �}� A���@9�}+�C��}��: �}�:)�}��:�W���@�W�X� X��W�:W�2W*W�VbU)BU1*U1U1U=���`s\�?B���9B� B��A���>*B��A�?�Լ�A��A��A��_�<"C�Us��RC��/��C��@�C��-�����-�����-�����-��� �-b~:Y�-<`1y�-8�:��-�/6��=k�1���I�!GE�>�"��j,ɎZ�E�Aɫ���)�� ��I��Y�-��@y�-+|Gi�������%�-�����?�O��nÿV-�����%5?��%�� �%���)�!I�!y�%��(\����?�� �rh���� �rh�?��%�'?��%C���%C�< �%� A)�%�AI�%�Ai�%�A��!��%�A��=oٻMEH=Y�E���QUE�>��I��I�aM�G��I��Qy�U���}U�>I�Y��]!�5�?��]��ܾ� �]� A��m@9�]M�C��]��: �]��:)�Y�W-���@�W1X9 XY�WY:Wa2Wa*Wa�VabUiBUi*UiUiUu����W��?B�{�:B� B��A�D�>*B��A��/Ҽ�A��A��A�_�<"C��RǾRC��MZ�C����@�C����c?#��I��G�g>�- ��>9�) I�) i�) ��- =��) ��) ��- k�; �- �E)ݽ�l�CIݽ�l�Ciݹ��ݽ�=�ݽ�=�ݽ���5���j,yX9Z�E�AY}B(�@�}B�$�@y}BL��8�}B��=�}BH�����ԕ�?�������?����}������L�ܿ����#��?���`��������7�����^?�?�������?)~B(�@ ~B�`l;I~B��CɫY�Y)�Y �]����I�YY���@y��]|Gi�����5�\<M=]=Y�=��<QU=�>��A��A�aE�G��E�>G��Iy�M�=}M�>Iȩ����:�ŭa�5�?����:�ŭ��ܾ� ƭ !A���@9ƭm�C�ǭ��: ȭ��:)ȭ��:�W��+�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����A��?B@�;B�Z�< B!�A%��>*B!�A%d�ϼ�A!�A!�A-�<"C-yAξRC5>�<C5�+�@�C1��m�����AI�QG}7>��U ����U�����U�����U��� �Ur:Y�UxZ1y�Uq�:��U9/6)�Ue�;�9]��)��j,e4SZ�E�AY}2��@�}2��@y}2�O@;�}2h�S=�}2H����@W��?�����^�?���������@�eۿ���`���?���ඐ������� h������x�?���@��?)~2��@ ~2��h;I~2��CɫI�I)�I �M����I�IY�}��@y�}/|Gi�������5���5���5���5=��5��=��5j�<i�5̬@��5��� �5��@)�5��@I�5��@i�5��@��Ei6�MMI=Y�M��;QUM�>��Q��Q�aU�G��Q��Yy�]�o=}]�>I�a��e��5�?��e��ܾ� �e"!A��u@9�e��C��e�: �e��:)�a�W�+��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B]�];BY BY�A]�>*BY�Ae?9ͼ�Aa�Aa�Ae� �<"C���վRC�);~=C�+��@�C��֍������aI�iG�9>����j,0mZ�E�AY}6���@�}6S��@y}6ҫ;�}6���=�}6H�����:�?������?�������`Rڿ�����)�?�����뮿����9zu����`OT�?���@4��?)~6���@ ~6�e;I~6��Cɫ9�9)�9 �=����I�9Y��*�@y��j|G������AAi��������!v<M�Q=Y��p�;QU��>�������a��G������y���p=}��>I��� �:����5�?�� �:��l�ܾ� �5!A�� @9���C��8�: ���:)���:�W5�9�@�W1X1 X1�W9:W92W9*W9�V9bUABUA*UAUAUM��� E@�RUB*** querying acoustic contact ***�PQ�PQBu�:�;By By�A}��>*By�A}y�ʼ�A��A��A���<"C��aݾRC��&�=C��9�@�C�����>9��I��vGi���@���=���������y�; ����E�֍�����aI�qG�;>I�A)�A�� ����������������� ���:Y�d\1y���:��B16)�E�;����j,���Z�E�Aɫy髁)�� ������I��Y����@y���{GMZ****** received transponder code query ******MF****** received ping request ******M<Arming DUSBL. detectThresh: 75�8****** ping requested ****** ��kA��kAi�������mj<���m���mK7>i�m�@��i �mn�@)�mn�@I�m��@i�m��@��}��M}3=Y����QU��>�������a��G����>G���y�����}��>I������5�?���Gݾ� ��J!A���@9��֘C���=�: ���:)���W=���@�W9X9 X9�W9:W92WA*Wa�VabUiBUi*UiUiUm��� � @B����9B� B��A��>*By�A}S�Ǽ�A��A��A�47�<"C��q�RC�T��>C����@�C�������<�֭�C"��ׁ I�� G� �>�xӧj,(ӠZ�E�A�|i|Y}6q��@�}6(ȼ@y}6�/<�}6S�=�}6H�����٫�?����=��?�����E����� �����@P��?�����I�����@祂�����]��?��� ]��?)~6q��@ ~6@�a;I~4ɫ1�1)�1 �5����I�9Y�u��@y�u|G}xDUSBL response received:!U1,P 058,000,0030F,184,80,80,A9,FF }Command Ack}BRequesting micromodem ping code 2i�y������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i�������e���/�$�?�z�Gế���S㥛?��e&1?��e �e/�<)�aI�ay�e�\���(\�?T㥛� ������������e�?��e����e��� �e+A)�e� AI�e�Ai�e�A��a��e\A��3�;M�!=Y�Q�;QU��>������������������������ ���~:Y���[1y��H�:���f36�9�@�������a�G���� y�=�=}=�>I�q����:��u`&5�?����:��u� ݾ� �u6!A���@9�u��C��u=�; �u��;)�u��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU��� �@Bu���8Bq Bq�Au.�>*By�A}�]ļ�Ay�Ay�A}���<"C�A��RC�xH>C���@�C�����>9��k�CI��PuGi��c�@���=���TD��������; ���E�ѝ )��<��u�u�<��YI�aG}�>� �j,��Z�E�AY}6)�@�}6�(�@y}6��8<�}6�k=�}6H�����\��?��� uB�?����U������ B����H��?����,���������������q�?�������?)~6)�@ ~6"S;I~6��CɫA�I)�I �M����I�IY��#�@y��'{G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�I��I��c��M��=Y��<QU�"?�����a��G���>G��y��;=}�-?Iȡ�ť�15�?�ť�ݾ� ƥ+!A���@9ƥ�C�ǥ��: ȥ��:)ȡ�W�_��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �@B��{ <B� B��A��>*B��A�3�¼�A��A��A�ݑ�<"C��7��RC� �`>C�_��@�C�������)�� ����]��M=��1 I�A Gm �>���j,^��Z�E�AY}>�[�@�}>Ti�@y}>��Y<�}>ڊO=�}>H�����[��?�������?����:w����@��ֿ����?��?���@-������ E;���������?���`���?)~>�[�@ ~>^��;I~>��CɫY�Y)�Y �]����I�YY���@y��{G�xDUSBL response received:!U1,R,163,000,002E9,185,80,80,C2,FF �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� ͚<} �>I����D5�?���ݾ� �!A��%@9�2�C���s; �P�;)��Wm�:�@�WiX� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`4�@�R (Combining 5 samples.�P *Q f�@�Z �� ���m@i2h�����������Z �l��z�?�N?��ӿ��������2Q ����:Q �Z ���͊6�@&�tM���0n{U�ɿ�Z �N���<��?������PT� ǜ�BQ Ё�@ Q ���Q �@�P A�9?�P @�9?�P ����Q ����Q ��@"Q e�@Be�8�:Ba B��A��>*B��A�A���A��A��A�A��<"C��S��RC���|>C��:�@�C��֕��=��YI�iG�\>�������������������� �v~:Y�d\1y���:��y.6���j,0��Z�E�AY}a}�@�}��@y}JCm<�}=#=�}H�����0��?����@��?�����@�����b�ֿ����=��?�����������`%��������e�?�������?)~a}�@ ~.��;I~��C��Q��U�<�]��>9�YI�]�tGi�]��@��]=��]SD��]��D��]��; �]�Eɫ � )� � I� Y�E��@y�E�yG��DNmea in: $SNTTA,,,,,164427.09*55 i�������%���M%,=Y�- #;QU-�>��1��1�a5�G��=�>G��Ay�Et <}M�>I�Q���:��U�Z5�?���:��UNݾ� �U!A��%@9�UW�C��U��< �U��<)�U��:�mUuAdded new target pos. range: 7.199999 m, bearing: 321.406190 deg, deltaT: 4.437313 s, approachRate: -0.513824 m/s, LOS rate: -0.614240 deg/s, posRepo size: 4�me� ProNav: pos range: 7.199999 m, bearing: 321.406190 deg, approachRate: -0.513824 m/s, LOS rate: -0.614240 deg/s, cmd update: -1.842719 deg/s, cmd heading: 331.651181 deg, new cmd heading: 330.578979 deg. �Wet��@�WaXa Xa�Wa:Wi2Wi*Wi�VibUqBUq*UqU}������@U}���@���?B�|�B� B��A���>*B��A������A��A��A�$k�<"C�8��RC�� �>C�t��@�C����w��=� I�� G� �>���j,\r[�E�AY}-Հ�@�}-���@y}-��y<�}-���<�}-H�����Q��?����h��?���@�x?����ڃֿ���@��?����`雿����0���������?�������?)~-Հ�@ ~-�ͣ;I~-��Ci�mL�C��m5rA)�uף� �qI�q �y)�}�qAɥy��y�y���&�Cɦ�=pAi�����I��aiF���I��i�� ��馉)��駉 ��ApA��������kcFɧ��������qAI��)��i��)��I��qA騡ɨ� ��ɫq�q)�q �u����I�qY�-|�@y�5ZzGi��������/ݼ���9�>�����=i����@��� �����)��n�@I��n�@i��n�@�� X=M^=Y�;QU�>�����a�G����!y�%��:}%�>I�i��m�k5�?��m"ݾ� �m� A��u@9�mu�C��m��: �m��:)�i�W�m[�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`���?B-�ZP;B) B)�A5��>*B1�A=_����A9�Aa�Ae��<"Cmm��RCiCmm[�@�Cq�֥�#�=���*�������������������� ��jt:Y��[1y��ݏ:���p/6�בI��G��>��-�j,�M"[�E�AY}24_�@�}2�l�@y}2�#�<�}2��ܹ�}2H����`\��?����T��?�����z�?���@��ֿ����T��?����.Zu���� O$������؛;����@���?)~24_�@ ~29�;I~2��CɫI�I)�Q �U����I�QY����@y���yG����=i���=i���������������?T㥛� п)\���(�?���,?���� �Ga=)�I�y���MbX9�?i��|?5���Q���?���!?���q���\= ��A)� AI�KAi�KA�����A���?7�M�0=Y����:QU��>������a�G����y� A�} �>I����:���5�?��%�:��A)ݾ� �!!A��%@9���C���+; ��*;)���:�W�<@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?BE��ͺBI BI�AM�>*BI�AMO���AI�AI�AU�<�<"Cu� �RCyC}<@�Cy�Y9�YI�]$tGi�]o�@��]=��]TD��Y��]��; �Y��uh�*>��I I�Q G� �>��W�j,�(<[�E�AY}:�#�@�}:}1�@y}:~�z<�}:S���}:H�������?���@w)�?����4�?�����1����>��?������?���`?^������v����������?)~:�#�@ ~:��;I~:��C �@)�@ɑD��D�D��DɒDi�DI�H��HI�Hi�JrA �H�H)�L�L �L��L��PɓP��P��PI�P)�Pi�T)�TI�T�TɔT �TɕX�Z�qA��Xi�X��Xɫ���)�� ������I��Y�uE�@y�u�xGi�-nGi�1I�A��9i�Y���yi�ٺ����ZB���V�M�y=Y�t��QU�?�����a��G���>G��y��ͳ�}�?I�����ˑ5�?����.ݾ� ��E!A���@9����C���÷: ��w�:)���W%���@�W!X! X!�W):W)2W)*W1�V1bU1BU1*U9U9U=������?B�`�;B� B��A�7�>*B��A��z���A��A��A����<"C�*�RC�C����@�C���ܢS>��I�1GMt>��U�����Q��Q��U��� �U�}:Y�Qy�Q��U�6)�U��;�9]���?�j,mV[�E�AY}6���@�}6�ܼ@y}6� i<�}6d�{��}6H����@���?�������?��� t�?������������?���`�?���`v!�����`u���������?)~6���@ ~6�&�;I~6��Cɫ�髹)�� ������I��Y����@y��IxGi�a��a��@��@��@���©�������i����@������� ��)��"�@I�����i��9�@���MS=Y� 9�QU�>�����a�G����!y�%}%�>I�1��5�:��5�5�?��=�:��5�4ݾ� �5s!A��=@9�5ԙC��5��: �5�:)�5��:�We�&�@�WaXa Xa�Wa:Wa2Wa*Wi�VibUiBUq*UqUqUu����f��@B��� �B� B��A�ϗ>*B��A� ����A��A��A����<"C��H�RC�C��&�@�C��֍Az|>��AI�QGm5>��i�j,��o[�E�AY}2�S�@�}2ra�@y}2�Q<�}2q���}2H���� ��?�������?����Fv�?���@��ؿ�����g�?�����ȴ?���@�1�������䷿�������?)~2�S�@ ~2���;I~2��Cɫ�髹)�� ��I��������kA�9�j�CI��rGi�{�@��=��������; ��E)ݕ�k�CIݕ�k�Ciݑ��ݑ��ݕ�=�ݕ��5Y�Q�@y��wGI��@)��@i�������M�MMG=Y�UUd�QUU�>��Q��Q�a]�G��]�>G��Yy�e��}e�>I�i��m��5�?��m�;ݾ� �m�!A��u@9�m��C��mb�: �m��:)�i�W�]��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������J@B�Ђ'�B� B��A��>*B��A�.ȳ��A��A��A� J�<"C���RCC]��@�C ��FӅ>���I��Gm>��u[����u�����u�����u��� �uRx:Y�u]1y�u�:��u-K6)�u��;�iT�j,�ʼn[�E�A�|L�|N�;Y}5���@�}5R��@y}5��9<�}5['���}5H����@�>�?����x��?�����Ȯ?����<�ٿ����W�?����ʐ�?���@�=������p������v��?)~5���@ ~5B4�;I~5��Cɫ�)� �����I�Y�U��@y�U�vG��Y��]@Ai�i��i)�q �u�=����������������4?����=����@=i����@������ ��O�@)��9�@I����@i��O�@���C�M�R=Y���r�QU��>�������a��G������y��lb�}��>I������:�����5�?����:���HBݾ� ���!A���@9���C����: ��b�:)����:�W�S�@�W!X! X!�W!:W!2W!*W)�V)bU)BU)*U1U1U5�����g@�R=B*** querying acoustic contact ***�P9�P9Be K�Ba Ba�A�t�>*B��A�����A��A��A�H��<"C����RC�C��S�@�C�����>���I��G��{�j,[�E�AY}2��@�}2�պ@y}2v�<�}2�D��}2H�����C��?����. �?��� �ײ?���`S�ۿ���`��?�������?����҃����`VUÿ�������?)~2��@ ~2�6�;I~2��Cɫ9�9)�9 �=����I�AY�]��@y�]�vGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******i�������5�V-����?�$��C˿�&1��?��5|??��5Z� �5�P=)�1I�1y�5�'1�Z�?L7�A`堿�I+��?��5�"?��5+���594< �5A)�5CAI�1i�5�A��1��5�A��M!�:MUC=Y�U���QUU�>��Y��Y�a]�G��Y��Yy�e₽}e�>I�i��m��5�?��mfIݾ� �m�!A��u@9�m7�C��m �: �m��:)�i�W�e�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������ @B]��|�BY BY�A]��>*Ba�Ae�;���Aa�Aa�A�!�<"C��S�RC�C�e�@�C��ֹ�בI����e ��������������s�� �Ć:Y��[1y�H�:��y+6�9�@G��>����>9��I���rGi��*�@���=�����������; ��-�E�ե�j,�o�[�E�AY}2M��@�}2۹@y}2Y��<�}2Qj6��}2H�����t�?������?����C��?���@�Gݿ���@F�?����N��?���@ �����`I�ƿ����~�?)~2M��@ ~2��;I~0ɫ9�9)�A �E����I�AY�]��@y�ewGexDUSBL response received:!U1,P 163,000,002E9,185,80,80,C2,FF mCommand AckmBRequesting micromodem ping code 2i�i��iI�u�A)�q�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i��������%<M�e=Y�����QU�>�����a%�G��%�>G��1y�E���}M�>I�i��m��5�?��m Pݾ� �m"A��U@9�mU�C��m��< �m��<)�i�W5�u�@�W9X9 X9�W9:WA2Wi*Wi�VqbUqBUy*UyU�U�����> @Bm`�d�Bi Bq�AuN�>*Bq�Au�Q���Aq�Aq�Au�^�<"C����RC�0>C��u�@�C�ԙ�ԝkA�֭��>� I�� G� �>�a��j,�M�[�E�AY}:���@�}:�Ӹ@y}:���;�}:x�K��}:H����@���?����Bj�?������?����.߿�����o�?������?���� y������Fɿ�����^�?)~:���@ ~:��;I~8ɫ9�9)�9 �9I�9Y�}��@y�}�uG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�i��i��ujA��ukA���ff>�����>������i����@��� ��)�����I����@i��n�@������M�<=Y�����QU��>�������a��G������y�����}��>I������:��� 5�?����:����Xݾ� ��"A���@9��x�C�����: ����:)����:�W��@�W!X! X!�W!:W!2W!*W)�V)bU)BU)*U1U1U5���`^@B]��^�Ba Ba�Ae�m>*Ba�AeT ���Aa�Ai�Amy��<"C�m��RC���f>C���@�C����3�>�ׁI��G�B>���v������������������� ��f:Y���Y1y���:����!6��j,>&�[�E�AY}6���@�}6r��@y}6_y�;�}6N�[��}6H����� f�?����� �?������?����������+��?�����?���@(�q������A˿���� D�?)~6���@ ~6;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�tG�xDUSBL response received:!U1,R,047,000,002C9,184,80,80,BF,FF �Fpublishing direction and range info�����}����ɰ��i=鰅��> ��)���?CI��y����@�����?��G��?�\ o볯���������ٱ��٥�<�٥�<��9��I��0rGi����@������������%�; ��M�Ei���������z�M�Y=Y����QU�>���� �a �G�� �>G�� y�:��}�>I����5�?���_ݾ� �2"A��%@9���C����: �b�:)��W�(��@�W�X� X��W�:W�2W*W�VbUBU*UUU��� ��@�RM(Combining 5 samples.�PQ*QU��@�ZU�u���W@r�nX��Կ���������ZU��?��G��?�\ o볯���������2QU��}�:QQ�ZU��%?�c@���������?�ZU�9I/��X�?L*R��(���OE��?BQU���@ QU�?�QU�@�PUD�9?�PUA�9?�PU����QU����QU��@"QU��@B��B� B��A�IV>*B��A�q����A��A��A����<"C��#�RC�g�I>C�(��@�C����Y>��-�=i�-=���I��G�j>��j,�\�E�AY}v0s�@�}v瀶@y}v,�;�}vCgj��}vH���� ���?��� ��?����9 �?���������`��?���`�(�?�����w`������Ϳ����J*�?)~v0s�@ ~v���;I~v��Cɫ � )� �����I�Y�M!�@y�M�tG��DNmea in: $SNTTA,,,,,164431.53*5D I���A)��I��)��@i�������=Q8=��=��=��=�ƽi�=�@��9 �=��@)�=O�@I�=n�@i�=��@��Md<MM7=Y�M+��QUU�>��Q��Q�aU�G��Q��Yy�]���}]�>I�i��m�:��mL&5�?��u�:��m�hݾ� �mQ"A��u@9�m��C��m��: �mI�:)�m��:�m�qAdded new target pos. range: 5.279998 m, bearing: 325.425702 deg, deltaT: 4.419605 s, approachRate: -0.434428 m/s, LOS rate: 0.909473 deg/s, posRepo size: 4�m�� ProNav: pos range: 5.279998 m, bearing: 325.425702 deg, approachRate: -0.434428 m/s, LOS rate: 0.909473 deg/s, cmd update: 2.728419 deg/s, cmd heading: 323.492840 deg, new cmd heading: 322.704864 deg. �W��R�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����@U��������?B��ǻB� B��A��Y>*B��A� ,���A��A�A��<"C �� �RC - >C �R�@�C ���+Oo>�יI��G�@>�� ����� ����� ����� �� � N�:Y� �V1y� �:�� �!6�A�j,@�$\�E�A�|�|Y}6�>�@�}6�L�@y}6�q?��}6s��}6H�������?������?�����[�?������������Z�?���@ؘ�?����1�G?�����ο����0�?)~6�>�@ ~6���;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y���tGi� �� �����C�l���?J+��?��~j�t�?����/?����H= ����<)��I��y���{�G�z�?����Mb����~j�t�?����#?���������= ���A)��,AI��dAi��~A������3A������M�R=Y��p�QU��>�������a��G������y���Ž}��>I���l65�?��rݾ� ��"A�� @9�ۚC����: ��:)��W5+�@�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUE�������?Bu�YĻBq Bq�AuR>*By�A}�ߨ��Ay�Ay�A}�:�<"C����RC��l=C�+�@�C��օ��N>��AI�QGm5>ܝ��>9ܙIܝqGiܝ��@�ܙ�ܙ�ܙ�ܝ'�; ݙ���j,��>\�E�AY}2v �@�}2-�@y}2�R��}2�w��}2H����@n_�?����n��?���@�M�?���@����� ���?���@m��?����R�o?���@��ο���`Y�?)~2v �@ ~2�S�;I~2��Cɫa�a)�a �aI�aY��<�@y���sGi�����=�Y�M=V=Y�E��QUE�>��A��A�aE�G��M�>G��Iy�M�ɽ}U�>I�Y��e�:��]�E5�?��e�:��]P{ݾ� �]�"A��e@9�]��C��]s�: �]k�:)�]��:�W���@�W X X �W :W 2W*W�VbUBU*UUU%�����J�?B��-��B� B��A�J=>*B��A�T����A��A��A�oT�<"C��J�RC�zr?�C����@�C������H>�I��G�h>��1��5�����5�����57�� �1Y�5P^1y�5��:��5%6)�5��;�9=����j,O�X\�E�AY}2L�@�}2��@y}2��}2�y��}2H�����|��?���@���?��� ] �?�����b�����)��?�����]�?������{?�����ο���`Z �?)~2L�@ ~2�c�;I~2��Cɫ9�A)�A �E����I�AY����@y�� sG����=i���= ��i�����]��>��]�=��]�y�i�]��@��Y �]n�@)�]�@I�]�@i�]�@��m$B�MmG=Y�m*�QUu�>��q��q�a}�G��y��yy�ư�}��>Iȉ�ō�U5�?�ō��ݾ� ƍZ#A���@9ƍ�C�Ǎ��: ȍo�:)ȉ�W�C �@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@���?Buy��Bq By�A}c)>*By�A}����Ay�Ay�A}�_�<"C��|�RC��a��C�C �@�C���m��;>��!I�1GM1>��j,�mr\�E�A�|�@i|�@Y}:�@�}:��@y}:�u��}:{��}:H����`���?�������?���@3��?���`A,�����:�?���`��?�����n�?����"Ͽ���`� �?)~:�@ ~:���;I~:��Cɫ9�9)�9 �=����I�A��A��EjA�U��>9�QI�U�pGi�U��@��Q��Q��Q��U%�; �UK�EY�}��@y�}sGi�9��A��Uٓ�MUL=Y�U�ۻQU]�>��Y��Y�a]�G��]�>G��ay�e���}m�>I�i��}�:��m�d5�?��}�:��m�ݾ� �m�#A���@9�m=�C��m�; �m=;)�m��:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`��@B��B B�A�'>*B�Aˁ���A!�A!�A%J[�<"C-S� �RC5���C5���@�C9�֍2 >��AI�QGm5>���E�>���i�mGI�1i�I��u�f�ٺy��}�WB��q@9�� aB���"j,=I�\�E�AY}2Z�@�}2�@y}2:�?��}2*�v��}2H����@>U�?���@[T�?����R��?���@\�����`Q��?����cF�?�������?����z�ο������?)~2Z�@ ~2;I~2��Cɫ9�9)�9 �=����I�AY�}R�@y�}�rGi�������]�'���]�C>��]�>i�]Q�@��Y �]9�@)�]9�@I�]���i�]9�@��mk��MmI=Y�u'��QUu�>��q��y�a}�G��y��yy����}��>Iȉ�ō_s5�?�ō�ݾ� ƍ$A���@9ƍ^�C�Ǎ�; ȍ\ ;)ȉ�W��[�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@$C@B���B� B��A! >*B�A4z���A�A�A6J�<"C ���RC:�I�C�[�@�C�� ���=���I��G�%>���=i�p=��-����-�����-�����) �-_:Y�-�X1y�-/�:��)�95@�)j,l$�\�E�AY}2�<�@�}2�J�@y}2xW��}2yp��}2H�����H��?����i��?���`���?����7^���� �/�?����lp�?���`���?���@��Ϳ����v�?)~2�<�@ ~2��;I~2��CɫY�Y)�Y �]����I�YY��y��i�������=�D�l����?��~j�t���p= ף�?��=O-?��=��� �=�=)�9I�9y�=�q= ףp�?333333��k�t��?��=�+?��=�����= 0= �=MA)�=�1AI�=�Ai�=�A��9��=�AY�]_j�QU]�>��Y��Y�ae�G��a��ay�m�P�}m�>I�q��u �5�?��u��ݾ� �u�$A���@9�u��C��u��: �u��:)�q�W=���@�W9XA XA�WA:WA2WA*WA�VIbUIBUi*UiUqUu����{�@�R}B*** querying acoustic contact ***�Py�PyB����B� B��A�*B��A�e`���A��A��A�;/�<"C�U���RC��Kz�C����@�C� ���=���>���?�2=����?i���?�ױI��G�C>�m��>9�mi�CI�m�oGi�m��@��i��i��i��m$�; �mJ�E)�Նj�CI�Նj�Ci�ц��Ն=��Ն=��Ն��4� B/j,z��\�E�AY}2���@�}2A��@y}2�^��}2��g��}2H������?�����>�?����R7�?�����������2��?�����a�?�����ҋ?������̿�����.�?)~2���@ ~29�;I~0ɫY�Y)�Y �YI�YY��"�@y���rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����)� �= � �=����M�<Y�ǘ�QU�>��!��!�a%�G��%�>G��)y�-�/�}5�>I�9��E�:��=J�5�?��M�:��==�ݾ� �=�$A��M@9�=��C��=��; �=o;)�=��:�Wu_��@�WyXy Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U������ @B�8B�B� B��A�>*B��A�^w���A��A��A���<"C�����RC�� ��C�_��@�C���m���9��II�qG�<>��-o����-�����-�����-��� �-�y:Y�-d\1y�-��:��-�.6)�-%�;�95��*6j,���\�E�AY}R�5�@�}R�C�@y}R�<��}R"$D��}RH������&�?������?��� >��?��� f�����P��?�������?���@T��?�����]ȿ�����i�?)~R�5�@ ~R���;I~Pɫy�y)�y �}����I�yY����@y��sG�xDUSBL response received:!U1,P 047,000,002C9,184,80,80,BF,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�������C>��,>��Q8�i���@�� �O�@)��@I���@i�O�@����<M�'=Y��F�;QU��>�������a��G������y�����}��>I�A��E��5�?��E3�ݾ� �E�%A��M@9�EΛC��E/�: �E:)�A�W�1Z�@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU����i� @I�!)�%@ABm>D�Bi Bq�Au�(>*Bq�A�4���A��A��A��<"C��Z�RC�C�1Z�@�C���- �0��� I� G- �>�1T<j,��\�E�AY}F�V�@�}Fsd�@y}F����}F��/��}FH�����^>�?����ڳ�?���`��?��� �������:��?�����?���@|у?���`\�ſ����@��?)~F�V�@ ~F�{�;I~D��r�<��p�v��>9�tI�vtoGi�v��@��v=��t��v��D��v�; �vB�Eɫ�髙)�� ������I��Y����@y��rG��p=ɮ���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����i�������=��MEd=Y�Er�;QUE�>��I��I�aM�G��M�>G��Qy�U�;<}U�>I�Y��e�:��]��5�?��e�:��]\�ݾ� �]�%A��m@9�]�C��] �: �]�:)�]��:�W��ܺ@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������3@B�#�B� B��A��>*B��A�KR���A��A��A����<"C�4�RC�C��ܺ@�Ca��E(�������52 ����5�����5�����5~�� �5��:Y�5xZ1y�5q�:��5�,6)�5��;I�AGeU>��;Cj,ɐ ]�E�A�|&�@i|&�@Y}F���@�}Fo��@y}F��}F���}FH������m�?���`���?����f��?���@�������l-�?����xغ?����r~?����1¿�������?)~F���@ ~FhɎ;I~F��CɫY�Y)�Y �e����I�aY�}��@y�}*rG�xDUSBL response received:!U1,R,157,000,002BC,185,80,80,8B,FF �Fpublishing direction and range info����@�����ɰ�`e=鰅+�> ��)���CI��y����@����G@_V���?ۻ5~8�ҿ��������ٱ�i�q��q��}kA��}lA�����<���ף����h�=i����@��� ����@)�����I���@i���@��� �;M�A=Y��;QU��>�������a��G������y����<}��>I�������5�?�����ݾ� ��;&A���@9���C���ܹ: ����:)���W%y��@�W!X! X!�W!:W)2W)*W)�V)bU1BU1*U1U1U5���`��@�RM(Combining 5 samples.�PI*QM��@�ZM���m3@OUy�;�����������ZM�G@_V���?ۻ5~8�ҿ��������2QM�@��:QI�ZM�Y"%t���@=��9�����:�?�ZM�B[�g��?����Y�g/���?BQM)�@ QM!�QM�@�PMC�9?�PMD�9?�PM����QM����QM��@"QM��@B��$�B B!�A%d>*B!�A-LL���A)�A)�A-��<"C5�ؾRC1C5y��@�C9��=�~����I�GEs>��pIj,Ԙ']�E�AY}r���@�}rL�@y}rJ����}ro+��}rH��������?����~n�?���@. �?��� ������x��?������?����Ctt?����*����������?)~r���@ ~r��;I~r��Cɫ���)�� ������I��Y�W�@y��qG�eDNmea in: $SNTTA,,,,,164435.98*5E i�q��q�����v���?R���Qȿ�� �rh�?���?���B� �C�<)�I�y���������?X9��v����������?��� ?���}�����< ��A)�z(AI��Ai�5A�����A�����M�I=Y����;QU��>�������a��G������y���<}��>I������:�����5�?����:�����ݾ� ��u&A���@9��1�C���f�: ����:)����:�8���qjAggregate::initialize lineCaptureDepth:SetNavAcoustic19�� r~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9%���r%dReseting nav to dock location at range 4.500001 m q9%����9%�� 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. �WM�ĸ@�WQXQ XQ�WQ:WQ2WY*WY�VYbUYBUY*UaUe���@��@Ue�����6�?B�"�+�B� B��A���>*B��A�}���A��A��A��3�<"C�� ھ*C�H�=RC�C��ĸ@�C��� i� =�� ��������������i�� �-�:Y�P^1y���:��g*6�9%@��%�j⽉�1i�5�?����>9��I��oGi��O�@���=�����������; ��0�E��I� G-p>�BQPj,�TA]�E�AY}2gj�@�}2x�@y}2���}2#����}2H�������?����R(�?���`��?����>����`���?��� ݰ?����`�a?�����붿������?)~2gj�@ ~2��;I~0ɫ1�1)�1 �9I�9Y�u��@y�u\rGi�������=�m=M=i=Y�E�<QUE�>��A��A�aM�G��M�>G��Iy�U(=}U�>I�Y��]��5�?��]Q�ݾ� �]�&A��e@9�]M�C��]��: �]��:)�Y�X��X��X�s�lSetNav fix at 20210813T164437: (41.552319, -70.708603)�9���� 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� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@z5�?B�҈�B� B��A�|>*B��A�����A��A��A� W�<"C�&�RC�C�{j�@�C���-G�����I� G%,>��xVj,�#[]�E�AY}2���@�}2� �@y}2֮�:�}2�^��}2H�����gf�?���`M��?����&K�?������������]�?������?�����P����@@������ ���?)~2���@ ~2sڝ;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}rGi�����)���= ����5�>��55�>��5�#�i�5��@��1 �5�@)�5�@I�5��@i�59�@��E"��MEJ=Y�M��;QUM�>��I��Q�aU�G��Q��Yy�]5=}]�>I�a��m�:��e-� 5�?��m�:��e�xݾ���utI �e�����u�?9�e�����e�; �e�;)�eo�:�W眳@�WX X�W:W2W*W�VbU!BU!*U!U!U-�������?B��� �B� B��A�:>*B��A������A��A��A�_��<"C����RC�۷`�C�眳@�C�����uK��סI��G�C>��-T ����-�����-�����-��� �-�:Y�-[1y�-ݏ:��-T26�M�\j,��t]�E�AY}6#��@�}6�±@y}6��~;�}6hV���}6H��������?����J�?�����"�?���@�K��������?����}�?������o�����^J������*��?)~6#��@ ~6�E�;I~6��C��BjA��@�F��>9�DI�F�mGi�F[�@��F =��D��D��F��; �F �Eɫ9�9)�9 �=����I�9Y����@y��!rGi�A��A��e��;MeI=Y�eA�;QUm�>��i��q�au�G��u�>G��yy�na=}��>Iȉ�ō֢ 5�?�ōC�ݾ� ƍ�<����?9ƍl�>�Ǎ'�: ȍ��:)ȉ�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`��?B5Z��B9 B9�A=w>*B9�A=�қ��AA�AA�AE���<"CM" �RCM�~�CM���@�CQ��-G�x�I�1)�1���I��G )>I�))�-AA�.�cj,�؎]�E�AY}:\��@�}:��@y}:,��;�}:�:o<�}:H����`�m�?���`���?��� �r�����^�������l�?����U�������Uz����@��?��� ���?)~:\��@ ~:�j�;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}rGi��� ��U`e���U��=��UO�=i�Ṳ@��Q �U���)�Uƣ@I�U�@i�U�@��eX��MmJ=Y�m@�;QUm�>��q��q�au�G��q��yy�}{�=}}�>Iȁ�Ņ�� 5�?�Ņ��ݾ� ƅ8�<����?9ƅ�?�Džv�: ȅ�:)ȁ�W��G�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B���B� B��A�� >*B��A��蚼�A��A��Ab�<"C�W"�RC Jϗ<C �G�@�C ��%N�����5����5�����5�����5E�� �5%�:Y�5xZ1y�5q�:��5�&6I�9GUT>�?�ij,���]�E�A�|i|Y}6Gu�@�}6���@y}6G <�}6��U=�}6H�����D�?������?�����z�����@���������?����Ǚ������:������ Y��?�������?)~6Gu�@ ~6�ԙ;I~6��Cɫy�y)�y �}����I�yY����@y���qGi�A��A�����z�G��?�/�$���~j�t������ ?���1� ���D�)��I��y���@5^�I�?k�t������Q��?���b?��� ������u< ���A)�� AI��;Ai���A������fA������kA���,��M�A=Y��-�;QU��>�����a�G���� y� ��=}�>I����:��x� 5�?��%�:����ݾ� �ۥ<��%�?9�Y@?����: ���:)�p�:�WE�r�@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUY*UYUYU]����I%@B�"�!�B� B��A�5>*B��A������A��A��A����<"C��9�RC��o#>C��r�@�C���m�z����I��G�E>܅��>9܅h�CI܅mGi܅��@�܅!=�܁�܁�܅��; ݅�E���pj,t��]�E�Ai�2�lGI�<i�H��b,d�ٺ`��b$UBY}%�w�@�}%e��@y}%��-<�}%5��=�}%H�������?����X�?���`Q������p(���� ���?����곿�������������?�������?)~%�w�@ ~%lJ�;I~%��Cɫ���)�� ������I��Y�5�@y�5+qG��9��=AAi�I��I��]�#�M]U=Y�][�;QUe�>��a��a�ae�G��e�>G��iy��.�=}��>I������� 5�?�����ݾ� ���<��5�?9���z?���v< ��� <)���WM=��@�WIXI XI�WI:WI2WQ*WQ�VQbUQBUQ*UYUYU]��� 0�@�R�B*** querying acoustic contact ***�P��P�B�"4�B� B��A���=*B��A��)���A��A��A����<"C���P�RC�� �>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�� 5�?����:�ŵt�ݾ� Ƶ��<����?9Ƶ?�?�ǵ��: ȵ(�:)ȵq�:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� @B�'�B� B��A���=*B��A��s���A��A��A�i�<"C���d�RC�C���@�C�����1��ׁI��G�=>���|j,�E�]�E�A�������>9�I��kGi�s�@����������; �!�E)��i�CI��i�Ci݃����� =�݃�������5Y}j6<�@�}j�I�@y}j�Ү<�}j�r�=�}jH��������?������?���`�˕����@������ v��?����� �������ٕ�����u �?�������?)~j6<�@ ~j��;I~j��Cɫ���)�� ������I��Y� t�@y� �qGxDUSBL response received:!U1,P 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 i�A��Y����<M�.=Y���<QU��>�������a��G����>G���y��oN=}��>I����� 5�?���ݾ� ���<�� �?9���?����< �j�<)���EV ����E�����E�����E��� �EO:Y�E[1y�Eݏ:��E�6)�E&�;�W=�t�@�W9X9 X9�W9:WA2WA*WA�VAbUIBUI*UIUIUM������ @B�g.�B�� = B��A�[>*B��A*R���A�A�A>7�<"C 怿RC C �t�@�C���/[����� I� G- �>�Pڃj,�(^�E�AY}2�Ǿ@�}2�ն@y}2n��<�}2 �=�}2H�����d��?���`�F�?������w?�����?����` ��?���`O)������T������ػ�?��� ���?)~2�Ǿ@ ~24d�;I~2��Ci�<��<)�< �<I�@ �@)�@ɥ@��@�@��DɦF9pAi�F���I�FSiF��DI�Hi�H �H�H)�H�L �N5pA��Nh����N\cFɧL��P��R�qAI�P)�Pi�P)�TI�T�TɨT �Tɫq�q)�y �}����I�yY�q�@y��qG�ɮa=�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i��������ʡ=���n�>���O�=i��̬@��� ��?�@)���@I��ƣ@i����������Mf=Y�%��<QU%�>��!��!�a%�G��)��iy�m�D=}u�>I�q��}�:��u}� 5�?����:��u]�ݾ� �uZ�<����?9�u*�?��u�: �u8�;)�ur�:�W��y�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����}@Bm�Q��Bi Bi�Am�>*Bi�Auƴ���Aq�Aq�Au���<"C}����RCyC}�y�@�C��֝�Xf�I�!)�%@A�I��G-o>�j�j,��)^�E�AY}2(�@�}2��@y}2Hz.=�}2#[+��}2H����@��?���@Q�?����O�?������������?�����C�������ͥ����`Qf��������?)~2(�@ ~2�;I~0ɫI�Q)�Q �QI�QY��5�@y��fqG�xDUSBL response received:!U1,R,FC0,000,002C6,185,80,80,B5,FF �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)�� AI��EAi���A������zA����~�M0=Y�/�<QU�>�� �� �a �G�� �>G��y���<}�>I����5�?����ݾ� ���<��-�?9�*�?����: �Y�:)��WM"w�@�WIXI XQ�WQ:WQ2WQ*WQ�VQbUYBUY*UYUYU�����(�@�R�(Combining 5 samples.�P�*Q�3�@�Z���q�A^@��S[8�?���������Z��OF�:��?��ᢔ�?��������2Q���d=:Q��Z��Z1q1��@���˹�(u�a�"̿�Z�����<��?~)��?��r�{X����-� ����-�����-�����-��� �-�X:Y�-�[1y�-H�:��-�6�95@�E��>9�AI�E`jGi�E�@��A��A��A��E��; �E#�EBQ���@ Q���Q���@�P�d�9?�P�C�9?�P�����Q�����Q�-�@"Q���@B�]B,�B� B��A���=*B��A�ݿ���A��A��A���<"C�/���RC�C�"w�@�C������9�ױI��G��>�F�j,��C^�E�AY}2� �@�}2��@y}2�Z=�}2�FW��}2H�������?���`���?���@1��?����#�����&�?����j��?����l?�����`�۪�������?)~2� �@ ~2�Ô;I~0 �<)�<ɑ<��<�<��@ɒ@i�@I�@��@I�Di�FrA �D�D)�D�F�C �J�rA��H��HɓH��H��HI�L)�Li�L)�N�CI�R�pA�PɔP �PɕP�T��Ti�T��Tɫ��)� �����I� Y�5��@y�5�pG�DNmea in: $SNTTA,,,,,164440.50*58 i�����������jA��U94=��U94=��U���i�U��@��Q �U��@)�U��@I�U��@i�U��@��eg�MmT=Y�m��<QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ����:�Ņ�5�?����:�Ņ��ݾ� ƅ�<����?9ƅ� @�Dž=�: ȅ=�:)ȅs�:�m�mAdded new target pos. range: 5.100000 m, bearing: 331.057985 deg, deltaT: 4.497573 s, approachRate: 0.133405 m/s, LOS rate: 7.459414 deg/s, posRepo size: 4�m�� ProNav: pos range: 5.100000 m, bearing: 331.057985 deg, approachRate: 0.133405 m/s, LOS rate: 7.459414 deg/s, cmd update: 12.000000 deg/s, cmd heading: 281.940642 deg, new cmd heading: 277.320186 deg. �W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����`ff@U�����'��?BR�0�B_�E= B�A��=*B�A|+���A!�A!�A%g�<"C-�Ԝ�RC)C-��@�C1��5��<��- �Ԙ<��I� G%�>���j,�]^�E�AY}2m��@�}2$̶@y}2��~=�}2�����}2H����`(��?���`!�?����Q�?����fA��������?���@�a�?����a̯�����z��������?)~2m��@ ~2��;I~2��Cɫ�髹)�� ������I��Y��6�@y��,pGi�a��a����M�m=Y���<QU�?�����a��G����y�R}�?Iȱ�ŵ�"5�?�ŵ"�ݾ� Ƶ;�<����?9Ƶb@�ǵ��: ȵ��:)ȱ�W]�t�@�WaXa Xa�Wa:Wa2Wi*Wi�VibUqBUq*UqUqU}���`TD�?B�b~;�B� B��A��=*B��A�R����A��A��A����<"C�.��RC�C��t�@�C��ѥ�+=��e��<��-����-�����-�����-%�� �-�r:Y�-0Y1y�-��:��-#6��9I�IGeU>�%��>9�!I�%�hGi�%:�@��%"=��!��!��%��; �%&�E�2N�j,��w^�E�AY}Z<�@�}Z�%�@y}Z.o�=�}Z����}ZH���� ���?�����g�?��� G�?�����������?����E��?�����i����� �^�����`Ϟ�?)~Z<�@ ~Z䔈;I~Z��Cɫ���)�� ������I��Y�5H�@y�5CpGi���������;M�D=Y����<QU��>�������a��G����>G���y���G�}��>I������15�?����ݾ� ��L�<����?9��a%@����: ��w�:)���W�>�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����e�?B}�@�B B�A��=*B�A8����A�A�A���="C%����RCICe>�@�Ca��]4|E=��5(��=��I�IG��>�c&�j,�g�^�E�Aɫ�髙)�� ������I��Y����@y���oGi�A��A)�M> �M>�Ý,��Ý+���Ý��<iÝG�@�Ù ĝ��@)ĝ\�@Ięiĝ��@���M�O=Y����QU��>�����a��G����y�����}��>I������:���c?5�?����:���w�ݾ� ��A�<����?9���3@���V�: ����:)��t�:�W�ɧ@�W�X� X��W�:W�2W*W�VbUBU *U U U ���@ W�?B=Y�E�B9 B9�A=��=*B9�AE�����AA�AA�AE�="CM-(��*CM���=RCICMɧ@�CQ��Y��Y)�Y �Y��U�����U�����U�����U��� �U�m:Y�U�[1y�UH�:��U�6�����=I��)�����I��G��>� R�j,�I�^�E�AY}2�X�@�}2�f�@y}2C��=�}2��!��}2H����@@s�?��� ��?����?i�?����i,�����̈́�?��� 01�?���`��������-Ŀ�����w�?)~2�X�@ ~2��z;I~2��CɫQ�Y)�Y �YI�YY��m�@y��ppGi����������"��~j�? ףp= ���Q��?���S�>���Q�� ����<)��I��y���Zd;�O�?ˡE�����:��v���?���~�>���什�����< ½AA)½XAI½Ai½�A�������A���N=M�G=Y���H=QU��>�������a��G������y��,�}��>I�����G5�?�����ݾ� ��s�<���?9���<@�����: ��ܹ:)���W%�@�W)X) X)�W):W)2W1*W1�V1bU1BU9*U9U9U=�������?Be"�7�Bm �v= Bi�Am��=*Bi�Aujْ��Aq�Aq�Au��="C}a��RCyC}�@�C���e>J>��!I�1GM1>����>9��I���gGi��F�@�����������D����; ��:�E�X8�j,�^�E�AY}2gY�@�}2g�@y}2y��=�}2u����}2H��������?���`�?����F��?����&��������?�����h�?�����������F������$��?)~2gY�@ ~2c�p;I~2��CɫA�A)�I �M����I�IY�}��@y�}hoG����=i��i� �� ��}A��M�Q=Y���9QU��>�����a��G���>G��)y�57��}5�>I�9��=�:��=gN5�?��E�:��=��ݾ� �=F�<��E�?9�=�E@��=V�: �=��:)�=u�:�WeoK�@�WiXi Xi�Wi:Wi2Wq*Wq�VqbUqBUq*UyUyU}������@B�b�T�B� B��A�K�=*B��A��^���A��A��A�Lg="C�,��RC�C�oK�@�C��֥��N>�ׁI��G�?>��-� ����)��)��-#�� �-�T:Y�)y�)��-�"6��b�j,���^�E�AY}2� �@�}2t�@y}2A��=�}2�"��}2H�������?����U��?���� ��?��������� �$�?����:�?�����̶������������`��?)~2� �@ ~2cQj;I~2��Cɫ9�9)�9 �9I�9Y��H�@y��CpG������@Ai�������%�}=��%�L>��%t��i�%��@��! �%�@)�%z�@I�%��@i�%z�@��5�`=M=O=Y�=[��QU=�>��A��A�aE�G��A��Ay�MM߽}M�>I�Q��U�T5�?��U��ݾ� �U�<��]�?9�U�M@��U��: �UM�:)�Q�W�Eί@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�R�B*** querying acoustic contact ***�P��P�B���5�B� B��A���=*B��A�%͑��A��A��A�ߢ="C�*��RC�C�Eί@�C��֭�nz>��iI�yG�>�ٹ�ٽ�<��9��I���fGi����@���$=���������?�; ��Q�E�'��j,���^�E�AY}fi��@�}f ��@y}f�b�=�}fY��}fH���� <�?�������?��� ���?��������� �3�?����|I�?��� E%������Y�¿�������?)~fi��@ ~fT;g;I~dɫ�髱)�� ������I��Y���@y���nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�I��I�� ���M==Y��»QU�>�����a�G���>G��!y�%�̽}%�>I�I��U�:��M�[5�?��]�:��M��ݾ� �M�=��]�?9�M�W@��M��: �M/�:)�Mv�:�W�K²@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �M @B$�i�B B�A�X=*B!�A%�i���A)�A)�A-)="CM�s��RCICMK²@�CQ������i�!I�Ai�Q����d�ٺ�����UB���=i��=��5� ����5�����5�����5��� �5�X:Y�5[1y�5ݏ:��56)�5G�;�9E���]��@=�֕��>��a I�q G� �>�st�j,d�_�E�AY}2gt�@�}2��@y}2�z�=�}2oK��}2H������?�?�����e�?���`���?�����������Q^�?�����?����Ո��������¿������?)~2gt�@ ~2��m;I~2��Cɫy�y)�y �}����I�yY����@y��%nG�xDUSBL response received:!U1,P FC0,000,002C6,185,80,80,B5,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I�� @)�� @i������å���å�V?�åE6�iå��@�á ĥ��@)ĥ���Iĥ\�@iĥE�@��}LѼM}=Y����QU��>�����a��G����y��-��}��>I�����d5�?����� ���"=�� �?9���c@���ܹ: ��n�:)���W-w�@�W)XQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UYUaUe����X� @B��u|�B B �A =*B �A }���A �A �A F�="CM �z�RCI CU w�@�CQ ��]��w=��Q ��)I�9G]�>�p��j,�0_�E�AY}2�j�@�}2\x�@y}2�i�=�}2j� ��}2H�����Z��?����+�?���@���?��� ������@���?��� �,�?����YǴ�����ؕ����� ��?)~2�j�@ ~2�8q;I~2��CɫI�I)�I �M����I�IY����@y��.nG鮑ɮ�4=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i� �� ���!�rh���?/�$�������������lg>��,� ����)�I�y���I+��?��K7�A���I+��?��94>�����94< �� A)�Q$AI��Ai��A���� A��%�4;M%y=Y�-m�QU-?��)��)�a5�G��5�>G��1y�=ӽ}= ?I�A��M�:��E�d5�?��M�:��E�� �E�4=��M�?9�E4h@��E�: �EA�:)�Ew�:�W�L��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����T%@��5�����5�����5�����58�� �5�i:Y�5�Y1y�5�:��5(%6�9E@ܝ��>9ܝg�CIܝLeGiܝ_�@�ܝ&=�ܙ�ܙ�ܝ3�; ݝL�E)��h�CI��h�Ci�����"=���#=���<�5BE��p�BA BI�AM�"=*BI�AM�Ӑ��AI�AI�Au� ="C}/�g�RC}6�%>C}L��@�C��ω�ω)Б Б��-��>�� I�9G}�>���j,� K_�E�Aɫ�髑)�� ������I��Y����@y��XmG�xDUSBL response received:!U1,R,F22,000,002CA,186,80,80,A6,FF �Fpublishing direction and range info����aF>���ɰ��i=����> ��)���&CI��y���@����I�߿f�?��M���?��������ٱ�i�������E��=��EQ8=��E/]�i�Ez�@��A �E�@)�Eƣ@I�E�@i�Eƣ@��]Qb�M]U=Y�]���QU]�>��a��a�ae�G��a��iy�m���}u�>I�q��u�e5�?��ur� �u�J=����?9�u�m@��u÷: �u��:)�q�WeP�@�WaXa Xa�Wa:Wa2Wq*Wy�VybUyBUy*UyU�U����`\�@�R�(Combining 5 samples.�P�*Q��@�Z����/��@t3�o�r�?���������Z��I�߿f�?��M���?��������2Q��aF>:Q��Z��H�@8���M �����J!��Z���Xz�>��?;;�����a�?)��BQ���@ Q�hJ�Q�|�@�P�f�9?�P�d�9?�P�����Q�����Q�Ȯ@"Q�-�@B-����B1 B1�A5��<*B1�A5%����A9�A9�A=�<="CEuT�RCeNK�=CeP�@�Ci��]A��>��I�)GER>����j,�d_�E�AY}2ش@�}2��@y}23�=�}2/���}2H������U�?�����V�?���@S��?��� 7�������r�?���@Q/�?�����߱������U��������?)~2ش@ ~2��m;I~2��Cɫ9�9)�9 �9I�9Y����@y���lG�TNmea in: $SNTTA,0.137404,,,,164444.87*4D ���=i��=i�����UuܼM]K=Y�]'�QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��uPf5�?��u[� �u�`=����?9�u#s@��u��: �uܹ:)�q�m�qAdded new target pos. range: 5.339999 m, bearing: 323.443499 deg, deltaT: 4.443311 s, approachRate: 0.054014 m/s, LOS rate: -1.713696 deg/s, posRepo size: 4�m�� ProNav: pos range: 5.339999 m, bearing: 323.443499 deg, approachRate: 0.054014 m/s, LOS rate: -1.713696 deg/s, cmd update: -5.141089 deg/s, cmd heading: 335.382535 deg, new cmd heading: 339.933835 deg. �W�S9�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����(\@U�������?B��6��B� B��A���;*B��A������A��A��A��X="C��<?�RC��\��C�S9�@�C������������������������� ���j:Y���W1y��č:���(6�����d>�ׁI��G�>>��5 kA��5 kA�E ��>9�E h�CI�E �dGi�E �@��E #=��A ��A ��E �; �E ;�E���j,ط~_�E�AY}2I"�@�}2�0�@y}2��y=�}2Lj�}2H��������?����s��?�����a�?��������� ���?���@t#�?����A.������������`���?)~2I"�@ ~2�Gl;I~2��Cɫ9�9)�9 �=����I�9Y�}J�@y�}�lGi�������5䯼M=L=Y�=%��QU=�>��A��A�aE�G��E�>G��Ay�M/c�}M�>I�Q��]�:��U�f5�?��]�:��U<� �U�w=��e�?9�U�x@��Us�: �U��:)�Ux�:�W�2�@�W�X� X��W�:W�2W�*W��V�bUBU*UUU�����1�?BE����BA BA�AE���*BA�AI�AI�AI�AMQ[ ="C�#*�RC��RX�C�2�@�C��օ�U7>��iI��GL>����j,���_�E�Aɫ�髁)�� ������I��Y��(�@y��klGi�A��I����=i��p=���E�������������������� ��'b:Y���Y1y���:���`6��"�=����>��`e�i�Q�@�� �9�@)�E�@I�\�@i��@��%��M%/=Y�-���QU-�>��1��1�a5�G��1��1y�=���}=�>I�A��E*g5�?��E�� �E�=��U�?9�E,@��E; �E;)�A�Wuu��@�WqXy Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U�����i��?BB B�A*B�A�A�A�A��="C%���RC-� ��C-u��@�C)��5Z�%>��I�G5�>���j,n�_�E�AY}:L��@�}:ƪ@y}:(-=�}:6���}:H���� ��?���`���?����� �?���`�������I��?����ܯ�?���@_������@������m��?)~:L��@ ~:��i;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}�jGi��� ���������M�?�/�$�?X9��v������n?���1> ���}�)��I��y���%��C��?���S㥻�����Mb�?���Z�>���/ݽ���< lA)�"AI�AiA������3A����M�d=Y��FU�QU��>�������a��G����>G���y�����}��>I����:��Fj5�?���:���&� ���=���?9���@��M;; 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X!�W!:W!2W)*W)�V)bUIBUa*UaUaUe�����N@B��̥�B� B��A�y�*B��A�43���A��A��A�^�="C��a �*C���=RC�C��`�@�C�I��)���֭u�r=�ׁI��G�=>�������<ܥ ��>9ܡ Iܥ dGiܥ k�@�ܥ =�ܡ �ܥ ��D�ܥ �; ݥ 3�E�B�j,e��_�E�Aɫy�y)�y �}����I�yY����@y��ujG������AA ����lAi��������9�;M�R=Y��QU��>�������a��G����>G���y��}��>I����s5�?��<� �s�=�� �?9�L�@��ض: ��:)��W5]N�@�W1X1 X1�W1:W92W9*W9�V9bU9BUA*UAUAUE����[>@�RUB*** querying acoustic contact ***�PQ�PQBu�>��Bq By�A}7�*By�A}ch���Ay�Ay�A}�V="C�� �RC�C�]N�@�C����� �����������������2�� ��BZ:Y��xZ1y��q�:����$6)��˱;�9�����@p=�����$<����?i���?��yI��G�^>�*j,��`�E�A�|�@i|Y}>,��@�}>㦨@y}>�<�}>"8��}>H�����D��?�������?������?���`(%��������?����S:�?���ࠣ�������6¿����@��?)~>,��@ ~>��k;I~>��CɫY�a)�a �m����I�iY���@y���iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����������lA�� K�>�� �+?�� ���i� 3�@�� � 9�@)� ��@I� ��@i� ��@����M+=Y�%�N�QU%�>��I��I�aM�G��I��Qy�U���}U�>I�Y��e�:��]�v5�?����:��]E� �]\�=����?9�]��@��]��; �]u�;)�]{�:�W�8�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������) @B����B B�AO�*B�AFБ��A�A�Ad�="C%R��RC!C-8�@�C)��5��B=���8����I� G% �>�Tj,��3`�E�AY}6�]�@�}6_k�@y}6ʆ;�}6T ��}6H�����ھ�?�����?���`�Q�?�����D�����R��?����W�?��� ��b����@'������`��?)~6�]�@ ~6�i;I~4ɫy�y)�y �yI�yY����@y��miG�xDUSBL response received:!U1,P F22,000,002CA,186,80,80,A6,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i������5��>9�1I�1i�1��5"=��1��1��5��; �5*�E����=i��=�����������������Z�� ��j:Y��Y1y��:���(6)� �;����Zd;�O��?���Q��?{�G�z�?���j�>����u< ���#<)��I��y����ʡE���?���������~j�t��?�����>����̼����D< ��� A)��Q$AI���Ai��dA�������A��=P��M=9=Y�eQ��QUe�>��a��i�am�G��m�>G��iy�u��}u�>I�y��}S5�?��}4O� �}6�=����?9�}�@��}f�; �}�;)�y�W-9��@�W1X1 X1�W1:W12W9*WA�VAbUIBUQ*UQU�U������� @i��I��i����e�ٺ!��%�UBB5�%��B1 B9�A=�y�*B9�A=SK���A9�A9�A=�5="CE 5�RCACM9��@�CI��q��q)�y �y����l�I��)����� I�� G� �>��j,��P`�E�Aɫ�髉)�� ������I��Y��*�@y���hG��a=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�y��y���@���@���@���©�������i����@������� ���@)�����I�����i��&�@����=�M�W=Y�����QU��>�������a��G������y�����}��>I���� �:���v�5�?�� �:����W� ��-�=�� �?9����@����; ���;)��|�:�W5��@�W1X1 X1�W1:W12W9*W9�V9bU9BU9*UAUAUE��� �P@Bm��ļBq Bq�Au蠽*Bq�Auܶ���Ay�Ay�A}�}="C���?�RC���k�C���@�C���}'����9I�IGe4>�c1j,��j`�E�AY}2�"�@�}2�0�@y}2����}23��}2H����@��?���`�7�?���@7n�?����c����`'h�?���@�u�?���`���?����!�����s��?)~2�"�@ ~2��e;I~2��CɫI�I)�I �M����I�IY�}��@y�}�gG�xDUSBL response received:!U1,R,F19,000,002FE,187,80,80,45,FF �Fpublishing direction and range info���plN>���ɰ��{=鰅1�> ��)����BI��y��\A������gZ�?�՞P��?��������ٱ���ea ����e�����e�����e�� �e�O:Y�e]1y�e�:��e� 6�9m@i�q��q)�}�= �y��U�L�MUD=Y�]�QU]�>��Y��Y�ae�G��e�>G��ay�mڌ�}m�>I�q��uE�5�?��u�a� �u��=��}�?9�u�@��u��: �u+�:)�q�W��^�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R5(Combining 5 samples.�P1*Q5\A�Z5�����Γ @7��(�?���������Z5���gZ�?�՞P��?��������2Q5plN>:Q1�Z5�(�B���@�[�����(��q���Z5���Nѩ�?N#O6'��UE�v���BQ5���@ Q56��Q5E�@�P5l�9?�P5f�9?�P5����Q5����Q5��@"Q5Ȯ@B���ɼB�` = B��A�}˽*B��A��m���A��A��A�ڶ="C��U�RC����C��^�@�C�����J>���yI��G�_>����jAܑ9ܕg�CIܑiܑ�ܕ$=�ܑ�ܑ�ܕ��; ݕ�E)݁�I݁�i݁��݁��݅�"=�݅���5�7!j,���`�E�AY}:�.�@�}:g<�@y}:J�[��}:��Ƚ�}:H�����c��?���@-A�?��� ���?�����\����`(y�?����3֯?���@3x�?����>�����@���?)~:�.�@ ~:�!f;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}�hG��DNmea in: $SNTTA,,,,,164449.38*5F I�]AA)�]BAi�������F<=M�F=Y��+�QU��>�����a��G����y��d;}��>Iȹ�Ž�5�?�Ž0k� ƽ��=����?9ƽ2�@�ǽI�: Ƚ��:)ȹ�mqAdded new target pos. range: 8.460000 m, bearing: 312.613633 deg, deltaT: 4.511922 s, approachRate: 0.691502 m/s, LOS rate: -2.400278 deg/s, posRepo size: 4�m5� ProNav: pos range: 8.460000 m, bearing: 312.613633 deg, approachRate: 0.691502 m/s, LOS rate: -2.400278 deg/s, cmd update: -7.200833 deg/s, cmd heading: 312.207512 deg, new cmd heading: 310.076674 deg. �W5㳬@�W1X1 X1�W1:W92W9*W9�V9bU9BUA*UAUE��� �� @UM���`��?Bu�¼By By�A}���*By�A}�����Ay�Ay�A�Z�="C�:�c�RC�T)��C�㳬@�C��օ�l���AI�QG�Y>�G'j,��`�E�AY}-IY�@�}-�g�@y}- q���}-�R���}-H��������?����Q8�?�������?����F��������?����ҫ?��� �m�?����Ä���������?)~-IY�@ ~-H�c;I~)ɫ �)� �����I���]1����]�����]�����]@�� �]�`:Y�]xZ1y�]q�:��]&6Y�e��@y�ehGi�!��!����k�t��?�p= ף�?Zd;�O��?��� 0?����= ��j<=)��I��y���7�A`���?���Q�����~j�t�?����?����u������< µ A)µ!AIµAiµ�A������fA��5���5���5���5ߏ>��5�k>��5��=i�53�@��5��� �5O�@)�1I�5\�@i�5z�@���� �M�8=Y��w�QU��>�������a��G������y��k@<}��>I��� �:����5�?�� �:���x� �V >�� �?9���@����: ���:)�}�:�WU��@�WQXQ XQ�WQ:Wy2Wy*Wy�VybU�BU�*U�U�U����@*E�?B�/)ȼB� B��A�)ý*B��A�Ǩ���A��A��A�Z�="C�l�RC�üC ��@�C ���<-�����I��G��>�an-j,�U�`�E�A�| i|"�@Y}J���@�}JI��@y}J6ǣ��}Jj,D��}JH���� Y��?����u�?�������?�������������?����0��?���`�x�?����偨��������?)~J���@ ~J��a;I~J��C�99�9I�9i�9��9��9��9��=��; �=�Eɫy�y)�y �}����I�yY��@y��hGi�y��y��jA��$=M�v=Y���QU�?�����a��G���>G��y��<}�?Iȱ�ŵ�5�?�ŵQ�� Ƶ�>����?9Ƶռ@�ǵ��: ȵf�:)ȱ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����ൽ�?B�Q�ɼB� B��A���*B��A�����A��A��A�:="C�o%w�RC�S�#=C���@�C��ѽQ�O=���FӅ��ױI��G% �>�PU4j,�,�`�E�AY}:B�@�}:�+�@y}:8����}:ܟ���}:H�����`�?�������?������d?��� _����� h^�?������?���@��?��� ���������?)~:B�@ ~:�d;I~8ɫ9�9)�9 �=����I�9Y�}�@y�}�hGi�9��9��Qi�Ua=��e& ����e�����e�����eC�� �e�6:Y�e�X1y�e/�:��e� 6�åC=�å94��åxi=iåQ�@�á ĥz�@)ĥz�@Iĥz�@iġ����<M�F=Y�����QU��>�������a��G������y��z=}��>I������:���E�5�?����:������ ���">����?9����@���4�: ����:)��~�:�W%��@�W!X! X!�W!:W!2W)*W)�V)bU1BU1*U1U1U5���@�U�?Be��üBa Ba�Ae���*Ba�Am�����Ai�Ai�A�*="C�"p��RC��>C���@�C����N�!=�������ֽ�p��I��)���שI��G�d>�c:j,��`�E�AY}2ҳ�@�}2���@y}2[�ɼ�}2��f<�}2H����@:��?��� s��?����I������������ ���?����潉?�����<�?�����?�������?)~2ҳ�@ ~2[�b;I~2��Cɫ9�9)�9 �=����I�9Y�} �@y�}�hGi�������%��M%V=Y�-���QU-�>��)��1�a5�G��1��y��>=}��>Iȑ�ŕt�5�?�ŕ�� ƕ�/>����?9ƕ�@�Ǖb�: ȕ8�:)ȑ�W�c`�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@՚�?BVƼB B �A =��*B �A�)���A�A�A�="CBG��RC�^>Cc`�@�C!��ed=��=�}P�����>9��I���cGi���@���%=�����������; ���E��9I�AGmx>�RgAj,�a�E�AY}2b�@�}2�o�@y}2�,ܼ�}2��1=�}2H����@il�?��� �?��� 7����� w&�����zq�?����*i����࿄�?�����7�?���`R��?)~2b�@ ~2x�a;I~0���U �������������������� ��::Y�[1y�ݏ:��i6)�q�;�9��ɫQ�Y)�Y �]����I�YY�m��@y�m hG��q��qi�����)Õ�= Õ�=����ྩ��Z?�����>i�� �@��� ����@)��\�@I�����i��\�@���h�M�%=Y�����QU��>�������a��G����>G���y��3=}�>I� ���:�� =�5�?���:�� �� � �?>���?9� -�@�� ��: � ��:)� �:�W=Cm�@�W9X9 X9�W9:W92WA*WA�VAbUIBUI*UIUIUU������@B}�ɼBy By�A�Ž*B��A��얼�A��A��A��="C�]���RC�� �>C�Cm�@�C��ϙ�ϙ)Й Й��% ":���- �?i�- �?��I�)Gm�>�{�Gj,��a�E�AY}^�@�}^��@y}^�f���}^Ŵ�=�}^H����`���?���`��?���`o�������"������ ��?�����َ��������?����ב�?��� `��?)~^�@ ~^+�j;I~^��CI�U@A)�Qi�����1rA)�� ��I�� ��)���qAɥ����饩����Cɦ�1pAi����I��DiF���I��i�� ��馹)��駽@�C ��1pA������NcFɧ�������I��)��i��)��I��qA��ɨ� ��ɫ���)�� ������I��Y���@y���hGi�������u��I+��?V-����I+�����u94?��u��� �u94�)�qI�qy�u�B`��"��?�~j�t���y�&1��?��u�?��u�Ľ��u`e< �u�A)�u�AI�u�Ai�u3A��q��u=A���a=M�K=Y����QU��>�������a��G������y��N=}��>I�������5�?������ ���I>���?9��w�@���f�: ����:)���W-�@�W)X) X)�W):W)2W1*W1�V1bU1BU9*U9U9U=��� �@�RMB*** querying acoustic contact ***�PI�PIBm��ƼBi Bq�Au*��*Bq�Auhy���Aq�Aq�Au<�="C�����RC�C��@�C���u��ό�1I�AGew>�M�Mj,o�9a�E�A�6��>9�4I�6XcGi�6ȸ@��6&=��4��4��6��; �6)�EY}^(��@�}^ߟ�@y}^�����}^�=�}^H�����a�?����dV�?��� �T�����@r�����d�?����}������ 4V�?������?������?)~^(��@ ~^C*�;I~^��C �d)�dɑd��d�d��hɒhi�hI�h��hI�li�nrA �l�l)�l�p �p��p��pɓp��t��vrAI�t)�ti�t)�xI�z�pA�xɔx �xɕx�~�qA��9i�9��9ɫQ�Q)�Q �U����I�Y��m����m�����m�����m��� �m^:Y�mxZ1y�mq�:��m�6)�m�;Y��x�@y��iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����5�$=M5j=Y�5���QU5�?��9��9�a=�G��E�>G��Ay�M�E=}M�>I�Y��]�:��]~�5�?��e�:��]o�� �]R>��e�?9�]��@��]I; �]�;)�]��:�W�e�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B����B� B��A�w��*B��A�痼�A��A��A���="CQ��RCCe�@�C ���;����I��G l>�N�Tj,�sSa�E�AY}2��@�}2`�@y}2�!��}2ȝ�=�}2H�������?����*�?�������������-�����y��?����y!�����`�c�?���@ ̳?����B��?)~2��@ ~22�;I~2��Cɫ�)� �����I�Y�1y�9ExDUSBL response received:!U1,P F19,000,002FE,187,80,80,45,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 i�������7����`�����=i�\�@�� �\�@)�I�\�@i�Y�@�QU��>�����a��G����y�m�<}��>I�����|�5�?����� ��4^>����?9����@����: ����:)���W5�l�@�W1X1 X1�W1:W92WY*WY�VYbUaBUa*UaUaUm����Ω @B���B� B��A�*B��Avo���A�A!�A%^�="C5쌦�RCYC]�l�@�Ci�֕���Iי)י��i I�q G� �>���Zj,�Oma�E�AY}2PL�@�}2Z�@y}2�l��}2��=�}2H�����^��?�������?���`3������@(����� T��?����vC��������?����]�?���`W��?)~2PL�@ ~2!ы;I~2��Cɫ�髩)�� ������I��Y���@y��nhG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�9��9��U�=i�Up=��e/ ����a��a��e��� �e�K:Y�ay�a��e�6�9m@��u���Mu�<Y�u�QU}?��y��y�a}�G��}�>G��y�l�<}�?Iȉ�ō=�5�?�ōX�� ƍ�e>����?9ƍ��@�Ǎ; ȍ��:)ȉ�W��;�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B��LѼB� B��A����*B��A��ޘ��A��A��A�^�="C�u�RC�C��;�@�C�����e�<�סI��G�C>�e��>9�aI�ai�a��a��eUD��a��e2�; �eI�E��q ��u ��Ci�� I�� i�� ��= `�ٺ9��=GQB�`�aj,|*�a�E�AY}N}�@�}NÊ�@y}N����}N��=�}NH����� �?����u��?���@������F�����` �?��������������?����K��?�������?)~N}�@ ~Nwv�;I~N��Cɫ�髁)�� ��I��Y�M��@y�M3hG]xDUSBL response received:!U1,R,FD5,000,0031D,185,80,80,52,FF ]Fpublishing direction and range info��U_�=��QɰU��=�U+�> �Q)�U��BI�Qy�U%A��U�Y�;��?ЙPgD5�?��������ٱQI�u@)�u@i�q��y���<�����=���>i����@��� ��)��z�@I��i�����?d�M�B=Y���QU�>�����a �G�� �� y�g<}�>I���%�:���5�?��%�:���� ��q>��%�?9���@����: ���:)���:�WM��@�WIXI XI�WI:WQ2WQ*WQ�VQbUYBUY*UYUYU]��� w�@�R�(Combining 5 samples.�P�*Q�%A�Z������$@`��E��?���������Z��Y�;��?ЙPgD5�?��������2Q�_�=:Q��Z�����?�@��1����7'���?�Z����f[��?˖������#�?BQ�ǽ�@ Q����Q���@�P�q�9?�P�l�9?�P����Q�����Q��@"Q���@BE�ͼBA BA�AE���*BI�AM����AI�AI�AM�z="Cmd��RCqCu��@�Cq��}�C"=��YI�qG�~>���gj,}�a�E�A�|4<�|�;Y}6���@�}6m��@y}6�;��}6��[=�}6H�����i&�?���@���?������������������ /�?����l u�����X�?���`Oi�?�������?)~6���@ ~6���;I~6��Cɫ9�A)�A �E����I�AY�Um�@y�]iG��TNmea in: $SNTTA,0.037645,,,,164453.90*4B i�!��!���������������Q�� �C�:Y�y���j6��u��$��C�?bX9�ȶ��I+��?��u?��uE�� �u94<)�qI�qy�u�> ףp=�?Zd;�O���L7�A`�?��u�?��uj����u+= �u3A)�ufAI�ufAi�u^A��q��u�A��"R=M�A=Y�y��QU��>�����a��G����y�'�;}��>Iȩ�ŭ2�5�?�ŭ�� ƭ��>����?9ƭ3�A�ǭm�: ȭ��:)ȩ�m�uAdded new target pos. range: 10.319998 m, bearing: 311.082632 deg, deltaT: 4.434924 s, approachRate: 0.419398 m/s, LOS rate: -0.345215 deg/s, posRepo size: 4�m�� 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. �W�N�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����֣$@U���� ���?Bu�\��By By�A}>��*By�A����A��A��A��H="C�M-��RC�C�N�@�C��ֽ��=����?i���בI��G��>�a9�aI�e�cGi�e�@��a��eTD��a��e`�; �ea�E)�m�g�CI�m�g�Ci�i���m�&=��m�%=��m�k:5��nj,,�a�E�AY}2���@�}2���@y}2� ��}2¤2=�}2H����� &�?������?���`(�������������0�?����ph?����/�?���``N�?���@���?)~2���@ ~2`b|;I~2��Cɫ9�9)�9 �=����I�9Y��Ѽ@y��NhGi�Q��Y���N�M�Y=Y��̻QU��>�����a��G���>G��y�K�8}��>Iȩ����:�ŭ?5�?����:�ŭ��� ƭi�>����?9ƭ�A�ǭ��: ȭ8�:)ȭ��:�W���@�W�X� X��W�:W�2W�*W��V�bUiBUi*UiUiUu���@�{�?B�<ѼB� B��A� ��*B��A�䇚��A��A��A�w ="C�l��RC�C���@�C����/��=�I��G�D>�uj,T��a�E�AY}:3|�@�}:ꉬ@y}:�I(��}:���<�}:H����@3�?����>��?�����m�����@Y������� �?�����)�?���`��?���`IҜ?�������?)~:3|�@ ~:h|s;I~:��Cɫ9�9)�9 �=����I�9Y�}&�@y�}�hG��5�=i�5�=i�9��9��e�����e�����e�����e��� �ei:Y�e�U1y�e��:��e=6�åh�=�å\���å+=iåQ�@�á ĥz�@)ġIĥz�@iĥz�@����<M�H=Y����QU��>������a��G������y�����}��>I�����5�?���߾� ����>����?9��lA����: ����:)���WOܛ@�WX X�W:W2W *W �V bUBU*UUU������?BE� ɼBA BA�AEա�*BA�AM{���AI�AI�AM��="C��$��RC�C�Oܛ@�C����#�>�ׁI��G�=>�?+{j,���a�E�AY}2Ne�@�}2s�@y}2��.��}2��3<�}2H������?���`M��?����8 ������G������e�?�������?�����ԥ?�����v�?������?)~2Ne�@ ~2�j;I~2��Cɫ9�9)�9 �9I�9Y�}ͼ@y�}JhGi�����]��M]P=Y�]���QUe�>��a��a�ae�G��e�>G��iy�mi�}u�>I�y����:��}l5�?����:��}'߾� �}��>����?9�} A��}#�: �}��:)�}��:�W�'��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����ZL�?B���ϼB� B��A� ��*B��A������A��A��A���="C�ζ��*C����=RC�C'��@�C�� �7@>���I��G*>����<����<����>9��I�� dGi��k�@���$=���������^�; ��`�E�,�j,�b�E�AY}U�:�@�}UmH�@y}U�V4��}U0,���}UH����@��?����1�?����)����@u����@$��?������?�������?���`����� ���?)~U�:�@ ~UMoe;I~U��Cɫ�)� �����I���Qi�U=��e� ����a��a��e�� �e}D:Y�ay�a��e6)�e��;�9m�Y�m��@y�uhGi�Y��Y�å`e<�å`�;�å�u<iåG�@�á ĥ�@)ġIġiĥ\�@��aV�M�6=Y��H�QU��>�������a��G������y���=�}��>I�����"5�?����߾� ��w�>����?9��,A�����: ��@�:)���W�_�@�WX� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�]�@B�1ϼB� B��A�Ľ*B��A��X���A��A��A��g="C����*C RC C �_�@�C���q�v>���I��Gj>�:=�j,��"b�E�AY}2y�@�}20�@y}2��;��}2P7��}2H�����X��?���`�F�?�����s���� *<��������?�����ѫ?�����z�?�����=����� ���?)~2y�@ ~2��f;I~2��Cɫ9�9)�9 �=����I�AY��*�@y���hGI�9)�9I�E�?)�E�?i�A��A����X9��v��?}?5^�I̿��~j�t�?����?���Mb� ����<)��I��y������S��?�MbX9���~j�t��?���/?���ʡ������< ���A)��5AI���Ai��3A������pA��p7=MU=Y����QU%�>��!��!�a%�G��!��)y�5��}5�>I�9��=:,5�?��=P$߾� �=(�>��E�?9�=�A��= �: �=��:)�9�We�&�@�WiXi Xi�Wi:Wi2Wq*Wq�VqbUqBUq*UyUyU}�����N@B��̼B� B��A�蠽*B��A��М��A��A��A��'="C�����RC�C��&�@�C������>�ׁI��G�=>����>9��I���dGi�� �@���#=�����������; ���E��v�j,�<b�E�AY}2�j�@�}2ex�@y}2�D��}2�xh��}2H�����J>�?��� ݏ�?������?��� ������`?*�?���@W��?����+~�?���������� r��?)~2�j�@ ~2��d;I~2��Cɫ9�9)�9 �=����I�9Y��@�@y���hG������@Ai���������;M�a=Y�����QU��>�������a��G����>G���y���'�}��>I������:����55�?����:���O/߾� ����>����?9���A�����: ��3�:)����:�W��@�WX X�W:W2W!*W!�V!bU!BU)*U)U)U-����1:@��Es ����E�����E�����Ep�� �E�<:Y�E�W1y�Eč:��E�6)�E��;�RUB*** querying acoustic contact ***�PQ�PQBu1�ʼB}'�< By�A}Z��*By�A}�E���Ay�A��A�]�="C�|��RC�C���@�C��֥��>��iI�yG�:>�:O�j,EVb�E�AY}>*��@�}>�Ȫ@y}>E�K��}>����}>H��������?����7��?���@l �?���������� ���?����)�?����wy�?����BQ���������?)~>*��@ ~>�Ub;I~<ɫa�a)�i �m����I�qY��O�@y���hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������%?5>��%�>��%j��i�%3�@��! �%��@)�!I�!i�%z�@��]�;M]5=Y�]���QU]�>��a��a�ae�G��a��iy�y>�}��>Iȱ�ŵA5�?�ŵJ=߾� Ƶo�>����?9ƵA�ǵ4�: ȵ+�:)ȱ�W�欚@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����h� @B�tEżB� B��A����*B��A��՝��A��A��A�h|="C�ҋ��RC�C�欚@�C���5��>��I�!GE�>�ly�j,q pb�E�AY}2_�@�}2��@y}2QKR��}2PH���}2H���� ��?���@CV�?���@m�?���@�d�����\��?�����̼?���`uF�?���������`��?)~2_�@ ~2d�`;I~2��CɫY�Y)�Y �]����I�YY��H�@y���hG�xDUSBL response received:!U1,P FD5,000,0031D,185,80,80,52,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i�������->"����� �������������������� ��@:Y�xZ1y�q�:��36�9�@MM`=Y�]T~�QU]�>��i���a��G���>G��y�;��}��>I���]�:��K5�?��e�:��#J߾� �V�>����?9�2A����< �֙<)���:�W8k�@�WX X�W:W2WA*WA�VAbUIBUI*UIUIUM����{ @�ف�مlAܭ��>9ܩIܭLeGiܭ_�@�ܭ$=�ܩ�ܩ�ܭ��; ݭ��EB��.ǼB� B��A����*B��A��a���A��A��A��="C�����RC�C�8k�@�C������>�בI��G��>�k�j,�$�b�E�AY}r��@�}rC�@y}r��X��}r����}rH����`MD�?���`ʾ�?����R��?����u������Z��?���@�J�?����a�?�����ÿ�������?)~r��@ ~rf�`;I~r��Cɫ���)�� ������I��Y�MS�@y�M�hG�QɮUa=�u�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�������5��=��5`e>��5�Ļi�5��@��1 �5�@)�1I�5��@i�5��@��E�H;ME8=Y�M ��QUM�>��I��Q�aU�G��Q��Qy�]X��}]�>I�a��e�S5�?��eV߾� �e��>��m�?9�e�"A��e@�: �e��:)�a�W�v6�@�W�X� X��W�:W92W9*W9�V9bUABUA*UAUAUE���`*;@B�ĘʼB� B��A����*B��A�PԞ��A��A��A�ҿ="C��e��*C�����RC�C�v6�@�C������$=���?΅>I��)����� I�9 G} �>�O��j,=֣b�E�AY}6^�@�}6)�@y}6��`��}6�(4��}6H�������?��� �#�?��� �;�?�����\�������?����}�?���@�?��� �^ƿ���`fu�?)~6^�@ ~6�&a;I~6��CɫY�Y)�Y �]����I�YY��Ƽ@y��AhG�xDUSBL response received:!U1,R,FAF,000,00349,184,80,80,76,FF �Fpublishing direction and range info����Ð=���ɰ�ʉ=鰥��> ��)����BI��y��\OA����M�����?-�r.��?��������ٱ�i�������e? ����a��a��e��� �e�8:Y�ay�a��e6���o��ʡ�?�l�����Zd;�?��-?���� ���=)�I�y����ʡE�?+�������l����?��-2?��������= �lA)�&%AI�fAi�A����3A��M�0�MUM=Y�U���QUU�>��Y��Y�a]�G��Y��Yy�e���}e�>Iȉ����:�ō�]5�?����:�ō[d߾� ƍu?����?9ƍs'A�Ǎ�: ȍ��:)ȍ��:�W����@�W�X� X��W�:W�2W�*W �V bU BU *UUU������@�R%(Combining 5 samples.�P!*Q%\OA�Z%�jD��)@HS"RYJ�?���������Z%�M�����?-�r.��?��������2Q%�Ð=:Q!�Z%�?j[�~�@ߋP�:1%�Х�8*��?�Z%�{(�Q`�?"9�%�)�� $J��?BQ%�c�@ Q%�)�Q%#�@�P%w�9?�P%q�9?�P%���Q%���Q%X�@"Q%�@B��KӼB� B��A�繽*B��A��m���A��A��A��]="C�GY��RC�C����@�C�����H�<������I��G��>܁9܁I܅xfGi܅S�@�܅%=�܅UD�܁�܅��; ݅��E�H��j,���b�E�AY}U~>�@�}U5L�@y}U��n��}UK'N��}UH����@���?�������?�����?�?���@/E�����܊�?�����b�?����~ӭ?����O�ɿ�����L�?)~U~>�@ ~U�f;I~U��Cɫ)�1)�1 �5����I�1Y�U.�@y�U�hG�5TNmea in: $SNTTA,0.011039,,,,164458.33*40 I�9)�9i�]HmGI�qi������U�ٺ�����GBi���������<M==Y� ��QU �>�� �� �a�G���>G��y�4�}�>I�!��%)g5�?��%�s߾� �%�?��-�?9�%7,A��%��: �%��:)�!�muAdded new target pos. range: 12.960001 m, bearing: 305.081136 deg, deltaT: 4.454959 s, approachRate: 0.592599 m/s, LOS rate: -1.347150 deg/s, posRepo size: 4�mU� ProNav: pos range: 12.960001 m, bearing: 305.081136 deg, approachRate: 0.592599 m/s, LOS rate: -1.347150 deg/s, cmd update: -4.041449 deg/s, cmd heading: 275.690732 deg, new cmd heading: 275.231417 deg. �WUC��@�WiXi Xq�Wq:W2W *W�VbU!BU)*UQU]���@��)@Ue�������?B}�,ɼBy By�A}���*B��A� ���A��A��A�Y�="C�^Z��RC�C�C��@�C��Ϲ�Ϲ)й й��M ��>��)I�9GU�>�[��j,��b�E�A��.j����.�����.�����.��� �.�':Y�.�V1y�.�:��.��5Y}FQ�@�}F�^�@y}FM�u��}F�;V��}FH����`��?����fI�?����&��?��� į�����T��?����2n�?����4��?��� [�ʿ�����>�?)~FQ�@ ~Fáf;I~F��Cɫi�i)�i �m����I�iY��Z�@y���hGi�Q��Q�å��=�ålg��å�D<iá�á ĥ�@)ĥ��@Iġiġ���P<M�@=Y���QU��>������a��G������y��#��}��>I������:����o5�?����:�����߾� ���?����?9���0A����; ��� ;)����:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`"��?B�9˼B B�Aߔ�*B �A }���A �A �A )g="Cy#ĿRC1C=��@�C9��-��>��I�G-p>����j,���b�E�AI�2AA)�2@AY}F3r�@�}F��@y}F��x��}F��\��}FH����� ��?��� ��?��� D��?���������� �4�?����'F�?�����?�����U˿���@�3�?)~F3r�@ ~F��e;I~F��CɫY�Y)�Y �e����I�aY����@y���iGi�Q��Q��)H=M�M=Y����QU��>�����a��G���>G��y�5��}��>Iȱ�ŵjw5�?�ŵ@�߾� Ƶ�?����?9Ƶa5A�ǵb�: ȵӻ:)ȱ�W�+�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� ��?B%�m��B! B!�A-!Z�*B)�=��>9�9I�=�gGi�=F�@��9��9��9��=��; �=��E)�ɂI�ɂi�ɂ��͂$=��͂$=��͂95�A-yР��AQ�AQ�AU�� ="C]<�ǿRCYC]+�@�Ca����I��G�h>�g��j,�[c�E�A��:>����:�����:�����:��� �:Z$:Y�:�W1y�:č:��:��5)�:9�;�9>�ɫ�髹)�� ������I��Y���@y���iG��]!>i�]a=i�a��a�õ+���õ��>�õ 0�iõ�@�ñ ĵ9�@)ĵ�@Iĵ�@iĵ�@���;M�G=Y�����QU��>�������a��G������y�����}��>I������:���35�?����:���q�߾� ��{)?����?9���9A���; ��+ ;)����:�W[=�@�WX X�W:W!2W!*W!�V!bU!BU)*U)U)U-����l`�?B]k̾�BY BY�A]lV�*BY�Ae�*���Aa�Aa�Ae�q ="Cm�I˿RCqCu[=�@�Cq�֥��>�ׁI��G�f>�r��j,�6)c�E�A�|�@i|�@Y}>�ƪ@�}>gԢ@y}>�nz��}>8>a��}>H������u�?��� 4�?���@�,�?����\��������$�?����[�?��� �H�?���@o�˿�����+�?)~>�ƪ@ ~>|wb;I~>��Cɫ�髹)�� ������I��Y��1�@y���iGi�a��a����������?y�&1�|?i��|?5�?��f&?��`�; ��q=)�I�y��%��C��?�~j�t�h��I+��?��Z$?���D���94= �GA)�/AI��Ai�- A�����A��=�e<M=C=Y�EG��QUE�>��A��A�aM�G��I��Iy�U��}U�>I�Y��]��5�?��]c�߾� �]\2?��e�?9�]8>A��]��: �]3�:)�Y�W��K�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@B�����B� B��A�[>�*B��A�,|���A��A��A�}�="C�jϿRC�C��K�@�C������>���I��Gm>�5 ��>9�1 I�5 hGi�5 ��@��5 &=��1 ��1 ��5 ��; �5 ��E�\��j,�Cc�E�A��0i�2a=��:L����:�����:�����:��� �:x%:Y�:DW1y�:Y�:��:��5)�:0�;Y}J��@�}Jg��@y}JJ�y��}J=�c��}JH����@k��?���`�w�?���@���?��� ������ ��?����9��?�����7�?��� 6̿�����&�?)~J��@ ~J��`;I~J��Cɫ�髙)�� ������I��Y����@y���jGi�i��i���'=M�S=Y���9QU��>�����a��G����>G���y��V��}��>I�q��uk�5�?��u�߾� �u�:?����?9�uaBA��u�< �uN<)�q�W=�T�@�W9X9 XA�WA:WA2WA*Wa�VibUiBUi*UiUqUu��� ��@B����B� B��A���*B��A������A��A��A��\="C���ҿRC�C��T�@�C�����ױI��G��>����j,$�\c�E�AY}B��@�}B�"�@y}B�7z��}B %f��}BH����@�G�?����/��?���@ϡ�?�����I�����w��?�����G�?�����A�?����)y̿����#�?)~B��@ ~BDb_;I~@ɫY�Y)�Y �]����I�YY����@y��hjG������i�������U�#=��U�#=��U>i�U�@��Q �U��@)�U��@I�U��@i�Uƣ@��e�a�MeO=Y�mOS�QUm�>��i��q�au�G��q��yy�}���}}�>Iȁ����:�Ņ��5�?����:�Ņ��߾� ƅ�B?����?9ƅ1FA�Dž��: ȅ�:)ȅ��:�W�^��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�B�^��B� B��A���*B��A�衼�A�A�A4�="C �ֿRC C ^��@�C �%�=��%�=��EN>��I�)GEQ>���j,C�vc�E�A��6�����4��4��6��� �6�):Y�4y�4��6|�5�9:@Y}N�-�@�}N�;�@y}NQzz��}NPi��}NH�������?�������?����s�?����������@pF�?�����c�?����KJ�?������̿����]�?)~N�-�@ ~N��_;I~N��Cɫ�髹)�� ������I��Y����@y���jG�Z****** received transponder code query ******�F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******i�����)���= ������;����>9��I��3iGi����@��������������; ����EM�D=Y��h�QU��>�������a��G����>G��y����}�>I� �� Ҝ5�?�� 1�߾� � �K?��=�?9� ~JA�� ��; � ��:)� �W}��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�@ @B�lp��B B�A��*B�A�%���A �A �A �\="C-?�ٿRC)C5��@�C1����>���I� G%o>���j,M��c�E�AI�2@A)�0Y}>==�@�}>�J�@y}>|��}>�l��}>H�������?���@.�?��� "6�?��������������?����##�?�����{�?����1Ϳ����1�?)~>==�@ ~>�_;I~>��Cɫ�髙)�� ������I��Y��4�@y��>kG�xDUSBL response received:!U1,P FAF,000,00349,184,80,80,76,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������+�=����S>����u�i��p�@��� ���@)���@I���@i���@��E=MM(=Y�MAN�QUM�>��Q��Q�aU�G��Q��Yy�]Uz�}]�>I�a��m�:��e�5�?��u�:��e��߾� �eV?��u�?9�ehOA��e��: �e8�:)�e��:�W�l�@�W�X� X��W�:W�2W*W �VbU9BUA*UQUyU������{@B=)���BA BA�AE�r�*BA�AM;G���AI�AI�Aup� ="C}V�RC�C�l�@�C��Ա�Ա��� ��>I�� kA)�� �יI��G��>��!�j,1~�c�E�A��: ����:�����:�����:��� �:�5:Y�:xZ1y�:q�:��:3�5ɫ���)�� ������I��Y�-��@y�-�kG�1ɮ1�U�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�������M��t�V�?��(\�µ��&1��?��M�2?��M�� �M�P=)�II�Iy�M��MbX9�?<�O��n��L7�A`�?��M�!?��Mt����M+= �M�A)�MI.AI�MfAi�M!A��I��MGA��m=Mmo=Y�m���QUu?��q��q�au�G��q��yy�}���}�?Iȁ�Ņ�5�?�Ņ��߾� ƅ�]?����?9ƅ�RA�DžX�: ȅ��:)ȁ�WU���@�WQXQ XQ�WQ:WY2WY*WY�VYbUaBUa*UaUaU�����gw@B�Ȥ��B� B��A�[g�*B��A��K���A��A��A�= ="C A��RC C ���@�C ����>���I�G%�>��9��I���iGi��.�@��������������; ��~�E�� �j,�Y�c�E�AY}>�`�@�}>yn�@y}>x�z��}>em��}>H�����M�?���`Q��?����,�?�����A��������?�������?���@�N�?�����PͿ������?)~>�`�@ ~>c`;I~>��Cɫy�y)�y �}����I�yY���@y��lG�xDUSBL response received:!U1,R,EF0,000,00374,186,80,80,60,FF �Fpublishing direction and range info����s>���ɰ�Ր=����> ��)����BI��y���xA����8��M�?���#�?��������ٱ�i�����������lA����<Md=Y� �{:QU �>�� �� �a�G���>G��y�-&�}�>I�!��-�:��%��5�?��5�:��%{�� �%�e?��E�?9�%{VA��%}�; �%��;)�%��:�W]N֏@�WaXa Xi�W�:W�2W�*W��V�bU�BU�*U�U�U�����|�@�R�(Combining 5 samples.�P�*Q��xA�Z���$M�c5.@,�\�; @���������Z��8��M�?���#�?��������2Q��s>:Q��Z��-\ؒ�`@`�?�d$,�Ё�@4�?�Z�������(�?$`j���쿰��%��v?BQ�)Ҥ@ Q�#a�Q��@�P��P�w�9?�P����Q����Q���@"Q�X�@BE�K��BA Ba�Am���*Bi�Ai�Ai�Ai�Am>� ="Cu4��RCqC}N֏@�Cy�֝��>��qI��G�>��3�j,5�c�E�A��6�=i�4��F�����F�����F�����Fh�� �FӀ:Y�F�W1y�Fč:��F�6Y}�}�@�}���@y}��{��}�k��}H��������?��� ���?��� �c�?�����l����`m��?����^�?���@�m�?����,Ϳ���@��?)~�}�@ ~��_;I~��Cɫq�q)�q �u����I�qY��!�@y��blG�DNmea in: $SNTTA,,,,,164502.85*57 i�!��)��};��}����}�p>i�}=�@��y �}��@)�}��@I�}z�@i�}��@��\�<M�4=Y�$�QU��>�����a��G����y��y�}��>Iȩ�ŭ�5�?�ŭ��� ƭ�o?����?9ƭ[A�ǭU�: ȭb�:)ȩ�m�uAdded new target pos. range: 15.540001 m, bearing: 295.110754 deg, deltaT: 4.501200 s, approachRate: 0.573180 m/s, LOS rate: -2.215050 deg/s, posRepo size: 4�m�ZTarget missed at range: 15.54 m. Rolling out.X��m�NTransitioning guidance mode to: ROLLOUT"X��W��W�X�; X��L?�W����X�:W�2W�*W��V�bUBU*UU����{/@U �����?B1B1 B1�A1*B9�A9�A9�A9�A=�* ="CE���*CM�o�RCICI�CM��� �]�=��]�=��}� �>�ׅ�?iׅ�?��9I�AGew>�a^�j,�c�E�AY}b���@�}b<��@y}b�|��}bn�j��}bH����`��?����Q��?����w��?���`$�����@�L�?����Y�?�������?����Ϳ������?)~b���@ ~b�^`;I~`ɫ�髹)�� ��I��Y���@y��kG�y9�yI�}`jGi�}�@��y��y��y��}v�; �}k�Ei��������� �M�W=Y���=�QU��>�������a��G����>G���y��Q��}��>I������:�����5�?����:����� ��Tx?����?9���^A�����: ���:)����:�W!�W!X! 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X!�W!X):W)2W)*W1�V1U1U5����|� @zL]�?�L]�?�L]��@�L]�6�@�A�VwI:B� B��A�B�=*B�`(9�A��A���3�A�*8�A�"C%2��*C!RC-*�q>C)�C1I��G��>���>9�I��lGi�g�@����������; ���E���1j,���d�E�AI�0)�2@AY}V�H�@�}VlV�@y}VEH���}V�����}VH������I�����`V��?����\�?����p������0������H�?����Y�?�����u������?)~V�H�@ ~VU��;I~V��Cɫ�����髡)�� ��I��Y����@y���oG��p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�������M�&���M��=��M�#=i�M\�@��I �MO�@)�M�@I�M�@i�I��]7=M]z=Y�e��;QUe?��a��a�am�G��i��iy�u^L�}u?I�y��}��5�?��}G��� �}H�?����?9�}o�A��}��: �} �:)�y�W��W�X� X��W�X�:W�2W�*W��V�U�U�����*@zL9�L9�L9�L=̧�@�Am��z�Bq Bq�Au.�=*Bu�+9�Aq�Au��3�A}(8�Ay"C}5��*C�RC�:�c>C��C�I��G�&>���7j,���d�E�A��:Q����:�����:�����:J�� �:�:Y�:0Y1y�:��:��:�B6Y}Fٜ@�}F��@y}F�s��}FBj��}FH���� p?��������?����=6�?���`>����������@bŪ?��� h^�?�����Q�����`6��?)~Fٜ@ ~F���;I~F��Cɫy�y)�y �yI�yY��A�@y��:pG�xDUSBL response received:!U1,R,F24,000,00399,187,80,80,38,FF �Fpublishing direction and range info��� �D>���ɰ��=��1�> ��)���`BI��y���A����.�.i}i�?P�@�ml�?��������ٱ�I��)��i��������� =M�e=Y���<QU��>�������a��G����y�*�} �>I� �� ��5�?�� ���� � %�?���?9� 0�A�� ��: � ��:)� �W9�W9XA XA�WAXA:WA2WA*WI�VIUIUM�����@�R](Combining 5 samples.�Pa*Qe�A�Ze��i�o1@;�2@���������Ze�.�.i}i�?P�@�ml�?��������2Qe �D>:Qa�Ze�ox�V�@�*��1�zx6)�?�Ze��b�N��?���t��z����?BQe��@ Qe���Qe*@�Pek�9?�Pa�Pe$���Qe���QeY�@"Qe��@zL!�L!�L!�L%�0�@�AEh�+�BA BA�AE�=*BE-9�AA�AM�4�AM 8�AI"Cu4��*CqRCu�Y>Cq�Cy�֥�Ȅ>I��G�B>��=j,k��d�E�AY}b�r�@�}b���@y}bx�b��}b����}bH�����[N�����@O��?���`Q;�?���@t�����@sȳ���� ��?��� ;R�?�����@�����`V��?)~b�r�@ ~b�(�;I~`�������<����>9��I��mGi����@���'=�����������; ����Eɫ���)�� ��I��Y��#�@y��pG�]DNmea in: $SNTTA,,,,,164507.29*54 i�i��i��}lA��y�� �M�>=Y�<QU��>�����a��G������y��'�}��>Iȉ����:�ōO�5�?����:�ō���� ƍ�?����?9ƍj�A�Ǎb�: ȍ��:)ȍ��:�m�uAdded new target pos. range: 17.759998 m, bearing: 277.546185 deg, deltaT: 4.393031 s, approachRate: 0.505345 m/s, LOS rate: -3.998280 deg/s, posRepo size: 4�W��W�X� X��W�X�:W�2W�*W��V�U����@��1@U���� e6�?zL9�L9�L9�L=�ʑ@�A]����BY BY�A]x�=*Be�+9�Aa�Ae9)4�Ae��7�Aa"Cm3��*CqRCu�OO>Cq�Cq�֥S�w>I��G�A>�~�Dj,�|e�E�A��0i�2�=��:J ����:�����:�����:K�� �:�9:Y�:�X1y�:/�:��:�6)�:��;�9>�ɫ�髹)�� ��I��Y���@y�%�pGi��������M�>�����>����H=i��Q�@��� ��ٮ@)���@I��i�����)=ME=Y����QU �>�� ���a�G����y����}�>I�!��%(�5�?��%V��� �%�?��5�?9�%V�A��%h; �%�;)�!�W)�W)X1 X1�W9X9:WA2Wi*Wq�VyUyU����`>�?zLq�Lq�Lq�Lq�A�p"��B� B��A���=*B��-9�A��A��H4�A��7�A�"C�2��*CRC��P>C�C!��5kA��5kA����Y>I�!G=r>�%Kj,V.e�E�AY}>ܞ�@�}>���@y}>�N;��}>���}>H�����鸿����2��?����ʽ?��� ������@5������E��?�����g�?���`mü����@���?)~>ܞ�@ ~> �;I~<ɫY�Y)�Y �YI�YY���@y��9qGi�������-����?�&1���y�&1�|����??����P� ��`�)��I��y���J+��?�l����X9��v��?����?����������< ½� A)½�AI½� Ai½�A�������A�����<M�M=Y����<QU��>�������a��G������y��V��}��>I������:���O�5�?����:���!��� ���?���?9���A���f�: ��M�:)����:�W!�W!X! 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X!�W!X):W)2W)*WQ�VQUYUe������@�R�B*** querying acoustic contact ***�P��P�zLQ�LQ�LQ�LU��@�A�?�B B �A �>*B(19�A�A�4�AE�4��AI"CU5��*CQRCU�>CQ�CY�֝->!>I��G��>�$Zkj,=��e�E�A��2�=i�0��: ����8��8��:��� �:�4:Y�8y�8��:{�5Y}F5˙@�}F�ؑ@y}F�t˼�}F����}FH����� �ÿ�����{�?���`�D�?�������������ÿ����2@�?�����m�?����Z������`���?)~F5˙@ ~F�6k;I~F��Cɫi�i)�i �iI�iY����@y��rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M�1�Zd�?�������?����������M"�>��M��= �M�L�)�II�Iy�M�ףp= ��?<�O��n������MbP���M��>��Mt���M�� �MQ A)�M�AI�M�Ai�M�A��I��M�A��mK�<Mm6=Y�u�<QUu�>��q��y�a}�G��y��yy�ۺ�}��>Iȉ�ō؉5�?�ō��� ƍ��?����?9ƍf�A�Ǎ�; ȍӻ:)ȉ�W��W�X� X��W�X�:W�2W�*W��V�U�U������: @zL�{�>�L�{�>�L�pk�@�L�05�@�AG_M�B B�A�>*B539�A�A��4�A�&��A!"C�4��*C�RC���>C��C����+�>I��Gj>�u��>9�qI�qi�q��q��q��q��u�; �u��E�|Frj,��e�E�AY}�s�@�}d��@y}�n���}����}H����@.ſ�����u�?�����u�?���������� A5ſ�����?����rM�?���@�ڳ��������?)~�s�@ ~V�e;I~ɫ���)�� ��I��Y�-��@y�-ArG5xDUSBL response received:!U1,P F24,000,00399,187,80,80,38,FF 5Command Ack=BRequesting micromodem ping code 2i�9��9I�9)�9�E�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����>����r�����u�i��̤@��� ���@)��ƣ@I���@i��ƣ@����<M�4=Y��T<QU=�>��A��I�aM�G��I��Qy�UM��}U�>I�y����:��}��5�?����:��}�� �}P�?����?9�} �A��}��: �}{�:)�}��:�W �W X X �WX:W12WQ*WQ�VQUYU]���`�#@zLy�Ly�Ly�L}Yݎ@�A�|4Z�B� B��A��>*B��19�A��A���4�A�����A�"C�3��*CRC��>C�C1��M�>I�QGu�>�lxj,eS�e�E�A��6����4��4��6�� �6�^:Y�4y�4��6�6Y}F�@�}F�&�@y}FN����}F����}FH������uƿ�����j�?���@��?��� ������r�ƿ���@ �p?�����6�?���@�2��������?)~F�@ ~F c;I~Dɫy�y)�y �yI�yY����@y��3rG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��]N��M]�=Y�]�M<QU]?��a��a�ae�G��a��iy�m>�}m?I�y��}��5�?��}9�� �}��?����?9�}�A��}��: �}��:)�y�WA�WAXI XI�WIXI:WI2WQ*WQ�VQUQUU���`"I@zL��L��L��L����@�A�$�e�B� B��A�Q>*B��59�A��A���4�A�F۷�A�"C�2��*C�RC��V�=C��C�����D>I� G%M>�U�~j,�.�e�E�AI�0)�2?AY}>�Ø@�}>�ѐ@y}>��Z��}>�"���}>H������ǿ���`�]�?����>��?�����p�������ǿ������B?���`jV�?���`�@���������?)~>�Ø@ ~>�ka;I~>��C���>9�h�CI�mGi���@��&=��TD����D���; ���Eɫ�髙)�� ��I��Y��Z�@y���qG�xDUSBL response received:!U1,R,415,000,003BE,189,80,80,35,FF �Fpublishing direction and range info����ti����ɰ���=��7�> ��)���TBI��y��ןA�����pϨH��? �E?TM���������ٱ���%I#�M%N=Y�%�<QU%�>��)��)�a-�G��)��1y�5lּ}=�>I�9��=�~5�?��=� �� �=�?��M�?9�=|�A��=÷: �=�:)�9�Wi�WiXi Xq�WqXq:Wq2Wq*Wy�VyUyU}����m�@�R�(Combining 5 samples.�P�*Q�ןA�Z��y��v(@W\����/����������Z���pϨH��? �E?TM���������2Q��ti�:Q��Z����iz��1���i'"��<����?�Z��"H!�np�ޓ�XMݿE�sw�?BQ�5Ng@ Q�;�Q� ���P�5�9?�P�k�9?�P����Q�$���Q���@"Q�Y�@zL��L��L��L�_-�@�A��o�B� B��A�>*B��19�A��A�c5�A�C��A�"C�5��*C�RC�vM�=C��C����I_�=I��G%,>��~�j,�f�E�A��6� ����6�����6�����6)�� �6XX:Y�6�V1y�6�:��6!6)�6$�;�9>�Y}fHu�@�}f���@y}fLc.��}f�e��}fH�������ȿ�����Q�?��� -�?����b���� )ɿ����a�\�����N̅?�����毿��� ���?)~fHu�@ ~f��_;I~dɫ���)�� �I�Y�5^�@y�=�rG��TNmea in: $SNTTA,0.014800,,,,164511.74*48 ����>i���>���xi=����>����T=i��p�@��� ���@)���@I��i���@���h�=M�&=Y����;QU��>�������a��G������y��r��}��>I������:����y5�?����:���C,�� ��f�?���?9��4�A�����: ��q�:)����:�m5yAdded new target pos. range: 19.980001 m, bearing: 207.075449 deg, deltaT: 4.449937 s, approachRate: 0.498884 m/s, LOS rate: -15.836345 deg/s, posRepo size: 4�W1�W9X9 X9�W9X9:W92W�*W��V�U����`��3@U����`?�?zL��L��L��L��ލ@�A���y�B� B��A��!>*B�39�A�A� 5�A�@��A"C 4��*C RC �D�=C �C��M�#�=I�YG��>�T��j,.�0f�E�A�|i|�@Y}>�1�@�}>�?�@y}> ���}>�Qn��}>H�����Sʿ�����F�?������?��� �T����`�ʿ����Q"j�������?���@�ŭ��������?)~>�1�@ ~>c)_;I~>��Cɫy�y)�y �yI�yY����@y��.sG��������K�?B`��"۹��~j�t�h����^�>����ν ���D�)��I��y���ףp= ��?���Mb�����S㥛?�������@����/�< ��lA)���AI���Ai���A������pA���(�<M�o=Y���;QU�?�����a�G���� y� �ļ}?I��� v5�?��L4�� ���?��%�?9�g�A�� �: ���:)��WQ�WQXQ XQ�WYXY:WY2Wa*Wa�VaUiUm������?zL�q�>�L�q�>�L�)��@�L��@�A��ȁ�B� B��A��*>*B��89�A��A��5�A��a��A�"C�3��*C�RC�(P�=C��C�i��kAI��kAY��(9���O)�=I���9�I�i���%=�������; ���EG%n>����j,��Jf�E�A��6� ����6�����6�����6 �� �6�C:Y�60Y1y�6��:��6�6)�6o�;Y}bK��@�}b �@y}bPv���}bh��}bH������ʿ����\<�?���`�>�?��� �I������ʿ�����/r������N?����B�����`���?)~bK��@ ~b?�^;I~`ɫ�髙)�� ��I��Y���@y��srG�ÅI?�Å5^>�Å���iÅ�@�Á ąK�@)ą9�@Ią9�@ią9�@���A�M�P=Y�gE;QU��>�����a��G����y�{��}��>Iȱ����:�ŵ�q5�?����:�ŵy=�� Ƶ��?����?9ƵƘA�ǵC�: ȵ��:)ȵ��:�W��W�X� X��W�X�:W�2W�*W��V�U�U��������?zL��L��L��L�ѵ�@�A%gv��B! B!�A-�>*B-�39�A)�A-O"5�A-c���A)"C52��*C1RC=r[�=C9�C9Y�=L9��M߁�=I�YGu�>�ݻ�j,�df�E�AY}>ԗ@�}>��@y}>�;ݻ�}>f�m��}>H�����nq˿����W3�?����p��?���@PA�����Lr˿������w���� c�{?���@�������@��?)~>ԗ@ ~>�L^;I~<ɫQ�Q)�Y �YI�YY����@y��%sGI�1)�1��u�5=MuM=Y�u�;QU}�>��y��y�a}�G��y��y��I�}��>Iȑ�ŕ�l5�?�ŕ�F�� ƕ0�?����?9ƕ+�A�Ǖ��: ȕ��:)ȑ�W��W�X� X��W�X�:W�2W�*W��V�U�U�����$��?zL��L��L��L�G��@�AH�B B�A�)>*B^79�A�A 3-5�A ���A "C5��*CRC���=C�CY���� ��=I� GEQ>�r�j,�v~f�E�A�|�;�|4<��6�����6�����6�����6��� �6<0:Y�6�X1y�6/�:��6�6�9:@��RlA��RnA�V��>9�TI�V�mGi�V �@��T��T��T��V�; �V��EY}j���@�}j`Ï@y}jۅǻ�}j�Mv��}jH������˿�����+�?��� #��?�����:������˿����_}����@��x?�����Į����� ��?)~j���@ ~j?^;I~j��Cɫ�髹)�� ��I��Y���@y���rG��m^%�MuK=Y�uV�:QUu�>��y��y�a}�G��y��y���}��>Iȉ����:�ō8h5�?����:�ō3P�� ƍ��?����?9ƍ��A�Ǎ��: ȍ��:)ȍ��:�W��W�X� X��W�X�:W�2W�*W��V�U�U����`�8�@zL��L��L��L�q�@�����i�emG�A]�C��BqI���oA B��A��%>i��*B��59�A������ٺ�oA����A�A-R85�A-R���A)"C54��*C5���=RC5���=C1�C9��E�=��Ei>Y� (9�� �=I�!G=r>�L̥j,�Q�f�E�Aɫ�髹)�� ��I��Y����@y��[sG���?���C���`�i���@�� �9�@)��@I���@i��@��-��<M-1=Y�5���QU5�>��1��9�a=�G��9��9y�E���}E�>I�I��M�b5�?��M�Z�� �M��?��U�?9�M1�A��M��: �M��:)�I�Wy�WyXy Xy�WyXy:W�2W�*W��V�U�U�������@zL��L��L��L��A�����B� B��A�h/>*B��59�A��A��D5�A�qʸ�A�"C�3��*C����=RC���=C��C�Y��L9������=I��G��>�l��j,�,�f�E�A��:�����:�����:�����:!�� �:�1:Y�:�W1y�:č:��:F6Y}F��@�}Fؔ�@y}F5�ƻ�}F|����}FH�������̿������?���@n �?�����0����@U�̿����8�������|�x?���`�0������s��?)~F��@ ~F��];I~F��Cɫy�y)�y �yI�yY����@y��rsG����>i���>��e��A`��"�?ˡE������l����?��e�>��e�'� �e�=)�aI�ay�e���"��~�?���������~j�t��?��e��>��e�̼��e�D< �e A)�e�AI�eAi�e+A��a��efA����;M�j=Y��8QU��>�����a��G����y����}��>Iȡ�ť8`5�?�ťg`�� ƥv�?����?9ƥ�A�ǥA�; ȥu�:)ȡ�W)�WIXQ XQ�WQXQ:WQ2WY*WY�VYUaUe������@�R�B*** querying acoustic contact ***�P��P�zL���>�L���>�L��L�@�L���@�A �#��B B�A�1>*BB89�A�AWP5�A}��A"C2��*C%p��=RC%�=C!�CIY�9ܥ��>9ܡIܡiܡ�ܥ#=�ܡ�ܡ�ܥ��; ݥ��E)�M�h�CI�M�h�Ci�I���M�%=��M�%=��M��5��m�d�=I�yG��>��߲j,0�f�E�A�|i|�@Y}>!v�@�}>ڃ�@y}>�ѻ�}>ۄ��}>H�������̿����H�?����T��?�����,����`��̿���@+6�������4z?���`^����������?)~>!v�@ ~>V�];I~<ɫY�Y)�Y �YI�YY����@y��NsG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�å�H��å��<�å�iå�@�á ĥ�@)ġIĥ�@iġ��K�M�G=Y�,U�QU��>�����a��G������y�����}��>I������:���&]5�?����:����f�� ��F�?����?9����A�����: ����:)����:�W�WX X�WX:W 2W *W �VUU����r� @zL��L��L��L�،@�A��B B�A%.>*B%�69�A)�A- \5�A-����A)"C55��*C5%��=RC5��=C1�C9i�elAI�elAY�E(9��5��=I�AG]v>�b�j,���f�E�A��:�����:�����:�����:��� �:D�:Y�:�Y1y�:�:��:��5Y}Zb�@�}Z�o�@y}Z�yػ�}Z�^���}ZH����`�-Ϳ������?����A��?���`(����`�+Ϳ�����끿��� .{?��� ���������?)~Zb�@ ~Z�c];I~Z��Cɫ�髙)�� ��I��Y����@y�� sG�xDUSBL response received:!U1,P 415,000,003BE,189,80,80,35,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������M�J=Y����QU�>��1��9�aE�G��A��yy����}��>I������Y5�?����m�� ��#�?��E�?9����A����< ���<)���W�W!X! 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�E��EY���/9�֭��$=I��G��>��4j,N&�h�E�AY}>@�@�}>�'�@y}>o���}>>3��}>H�����>ѿ��� ���?����R��?���@Q������!ѿ���@�?����oM�?��� �]����� <��?)~>@�@ ~>�N�;I~>��Cɫi�i)�i �iI�iY����@y��qtGI��)�����\>����M>����u<i���@��� ��n�@)��O�@I��n�@i��O�@�� L�<M P=Y�~g9QU�>�����a�G����y�%/<}%�>I�)��-� 5�?��-���� �-��?��5�?9�-8�A��-p�: �-M�?)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm��� $�&@�RuB*** querying acoustic contact ***�Pq�Pq�A�����B� B��A��K>*B��<9�A��A���5�A�Tٹ�A�"C�5��*C��G�=RC��d8=C��C�Yϩ�֝�+,=I��G�A>��D:j,�h�E�AY}^�*�@�}^;8�@y}^?����}^ķ2��}^H�������п���`���?����2��?���������� ��п�����у?��� ���?�����S�����`7��?)~^�*�@ ~^��|;I~\��5` ����5�����5�����5��� �5z;:Y�5�X1y�5/�:��5��5ɫ�髑)�� ��I��Y�C�@y�(uG��m`1=MuD=Y�u� �QUu�>��y��y�a}�G��y��yy�؛;}��>Iȉ�ō. 5�?�ōh��� ƍ��?����?9ƍ�A�Ǎ��: ȍ��?)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����7u'@�A�Y��B B�A(^>*B`=9�A�AB�5�A%���A!"C�4��*C�y1�=RC�9�==C��C�Yϝ�19�֕l;=I��G�c>��9��9�A9�AI�Ai�A��A��A��A��E��; �E��E�I(Aj,��i�E�A�����CI�0)�0i�j�mGI�ti���-�_�ٺ)��5JRAY}��1�@�}�n?�@y}������}��{3��}�H�������п���`���?����ذ�?���`c��������п������?����21�?��� $l������ ��?)~��1�@ ~��r;I~�ɫ�髡)�� ������I��Y��N�@y��5uG��u�>��u�����u`�i�u��@��q �u9�@)�u�@I�u9�@i�u9�@���J;M�:=Y�$��QU��>�������a��G������y����:}��>I�����:���5�?���:���z��� ����?�� �?9���A���t�: ���@)����:�W)�W)X1 X1�W1:W12W1*W9�V9U9U=����tY(@�Ae�Y��Bi Bi�Am�_>*Bm�<9�Ai�Au�5�Au���Aq"C}3��*C}>�=RC}��?=Cy�C�Y�}�19��u�K@=I��G��>��VGj,i�i�E�A��U�����U�����U�����U��� �U/3:Y�U[1y�Uݏ:��U��5ɫ�髙)�� ������I��Y��Q�@y��:uG���=i��=ai��ai� am��am� aq��aq� ae��ae� ����)\���(�?����x�ƿL7�A`�?���G?���K7� ��+�=)��I��y�����C�l��?J+���<�O��n�����;�>����H����t� AA)�AI Ai�A���������zA����:M�G=Y����QU��>�����a��G�����y�����}��>I������5�?������� ����?����?9�� �A����< ��̰<)���W��W�X� X��W�:W�2W�*W��V�U�U������0)@zL�C�>�L�C�>�L���@�L��6�@�A����B B �A `>*B �=9�A �A ��6�A���A"C2��*C-�=RC-�G?=C1�C9Y�-�39��% &t@=I�1 GM �>�L~Mj,_�8i�E�AY}Z�1�@�}Zb?�@y}Z]ż�}ZE�5��}ZH�������п����Q��?�����&�?������������п����~��?������?���������������?)~Z�1�@ ~Zh�e;I~Z��Cɫ�髹)�� ������I��Y����@y���tG�xDUSBL response received:!U1,N,80,80,63,E4 E,189,80,80,35,FF ZNo reply:!U1,N,80,80,63,E4 E,189,80,80,35,FF -<No response from remote modem.��� �M%h=Y�%��QU%�>��)��)�a-�G��)��1y�=���}E�>I�Y��]��5�?��]���� �]��?��m�?9�]�A��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����m�)@zLy�Ly�Ly�L}}6�@�A���B� B��A��S>*B��>9�A��A�6�A����A�"C�5��*C�]�=RC�C?=C��C�����>9��I���oGi����@��������������; 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X!�W!:W!2W)*W)�V)U1U5����;.@zLI�LI�LI�LMf�@�Ae�Ŋ�Ba Ba�Ae`>*Bm0A9�Ai�Am46�Am� ��Ai"Cu3��*Cu�t�=RC}o�@=Cy�Cy�֝lB=I��G�A>���zj,ѓ�i�E�AY}Z�8�@�}Z�F�@y}Z�����}Z�%.��}ZH�������п����K��?���@9�?����j�����`U�п����䌓?�����?����E����������?)~Z�8�@ ~Z[`;I~Xɫ�髡)�� ������I��Y���@y��0vG�xDUSBL response received:!U1,R,F97,000,003FA,187,80,80,4A,FF �Fpublishing direction and range info���f��=���ɰ�ʦ=��1�> ��)����BI��y����A����N�K���?L��v�l�?��������ٱ����� �������������������� ���S:Y���[1y��H�:���36����=MY=Y����QU �>�� �� �a �G�� ��y��!9}�>I�!��-�:��%��5�?��-�:��%��� �%��?��-�?9�%ĺA��%��: �%��:)�%��:�WI�WQXQ XQ�WQ:WQ2WY*WY�VYUYUe������/@�Rm(Combining 5 samples.�Pq*Qu��A�Zu�]�({7@WU�B@���������Zu�N�K���?L��v�l�?��������2Quf��=:Qq�Zu�^7��b��3#b67��͂���?�Zu���'e�<ƿv��M�ᅯ��z}�?BQu�4�@ Qu���Qu���PuT�9?�Pu5�9?�Pu:���Qu���Qu��@"Qu��@zL1�L1�L1�L5Nf�@�AM�K��BI BI�AMy>*BU�A9�AQ�AUI6�AUg ��AQ"C]2��*C]o`�=RC]��@=Ca�Ca��eg�@=I�qG�:>�ف �ف ܕ ��>9ܑ Iܑ iܑ �ܕ =�ܑ �ܑ �ܕ �; ݕ ɔE�0Łj,�lj�E�AY}v8�@�}/F�@y}����}D%��}H�������п��� ���?�����S�?�����������[�п����Ei�?�������?����?������ ���?)~v8�@ ~��_;I~ɫ�髱)�� ������I��Y� �@y� vG�uTNmea in: $SNTTA,0.042252,,,,164527.49*4D I�y)�y���x�=�����=����Ļi��=�@��� ��n�@)��I��n�@i��n�@���Ͼ�M�/=Y���6�QU��>�������a��G������y��F��}��>I���M�5�?����� ���?���?9���A��w�: ���:)��mEuAdded new target pos. range: 23.580000 m, bearing: 259.991342 deg, deltaT: 15.752464 s, approachRate: 0.228536 m/s, LOS rate: 3.359214 deg/s, posRepo size: 4�WI�WIXI XI�WI:WI2WQ*WQ�VQUU����z�7@U]��� ���?zLq�Lq�Lq�Lu0c�@�A%�ˌ�B) B)�A-:v>*B-@9�A)�A-�"6�A5i��A1"C=5��*C=�H�=RC=�~@=C9�Ca��QI�aG}{>�$�j,�O!j�E�A�|<�|>4<ɫ�)� �����I���5� ����5�����5�����5��� �5�D:Y�5�W1y�5č:��5�6Y�=;�@y�=uG��M���MbX�?���Q�������Mb�?��M��>��M�u� �M�<)�II�Iy�M��Zd;��?��~j�t��y�&1�|���M�~>��M����M`� �I)�MEAI�M�Ai�MdA��I��M�A��è�MmS=Y�m���QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ�Ņ��5�?�Ņ�"�� ƅ#�?��e�?9ƅW�A�Dž$�< ȅ��<)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����<�?zL��>�L��>�L�>7�@�L��e�@�A%q��B) B)�A-;]>*B->9�A)�A-E&6�A5L��A1"C54��*C=�3�=RC=�[@=C9�CaY�UV69��emA��emA��E &t@=I�Q Gm �>�E�j,`";j�E�AY}>q,�@�}>*:�@y}>F���}>E�!��}>H����`��п�������?���`�K�?�����������ѿ���@&�?������?��� :������~��?)~>q,�@ ~>ğ_;I~>��C�=��>9�9I�=qGi�=��@��9��9��9��=A�; 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�1 )���I���i�����ʼn=��ʼn=��ʼn��4���j,[��j�E�A��]D����]�����]�����]��� �]b:Y�]�W1y�]č:��]�6)�]��;ɫ�髉)�� ������I��Y��)�@y��uG�Ý�'>�Ýʡ=�Ý���iÝ��@�Ù ĝ9�@)ĝ9�@Iĝ9�@ię����M�4=Y�QU��>�����a��G�����y��}��>I�������5�?���P8�� ����?����?9����A���w�: ��ӻ:)���W��W�X� X��W�:W2W*W�VU U ����5@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L)�A=���B� B��A��Z>*B��<9�A��A��56�A�K��A�"C�4��*C�4ܯ=RC���6=C��C�����7=I��G�>�J=�j,���j�E�Aɫ�髹)�� ������I��Y��~�@y��quG�Z****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******�����|?5^��?����Mb��y�&1��?���ҍ>����� ��`e<)��I��y���X9��v�?�&1���y�&1�|?����s>����P����`�; � A)�AI©i~A������pA�����<M�[=Y��QU��>�������a��G������y��}��>I������:��� �5�?����:����<�� ����?����?9��h�A����: ��,�:)����:�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU����@)@zL�Yy>�L�Yy>�L��N�@�L�v�@�A��ӧ�B� B��A��e>*B�g@9�A��A�\96�A�o"��A�"C3��*Cȯ=RCU�6=C �C i�I������� �� ��� d6=I�G5�>�\g�j,�i�j�E�A�|4�|6�;Y}b��@�}b� �@y}b�"1��}bO�!��}bH�����Dѿ����V��?��� !f�?���������� �7ѿ��� F͟?�����"�?�����2����� ���?)~b��@ ~b5�`;I~b��Cɫ���)�� ��I��Y���@y�uuG-xDUSBL response received:!U1,P F97,000,003FA,187,80,80,4A,FF -Command Ack-BRequesting micromodem ping code 2i�)��)�E�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���:M�`=Y��j�QU��>�������a}�G��y��y�@��}��>����>9��I��i���������������; ��ŔEI�����?�5�?����A�� ����?��}�?9��/�A���r�< ���A;)���W)�W1X1 X1�W1:W92W9*W��V�U�U������� @zL��L��L��L�~e�@�AuvǮ�B� B��A�f>*B�v>9�A��A�^=6�A�5&��A�"C�2��*C���=RC%.T/=C)�C1��i I�y G� �>�[O�j,�E�j�E�A��6!����6�����6�����6��� �6�s:Y�6DW1y�6Y�:��6`6)�6��;ɫ���)�� ������I��Y�1y�1�U�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=i��%=�� �m>�� ^:>�� �D=i� =�@�� � n�@)� O�@I� n�@i� n�@Y����QU�>��!��!�a%�G��!��)y�-���}-�>I�1��=�:��5��5�?��=�:��5^F�� �5��?��E�?9�5��A��5R�: �5�:)�5��:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}����[ @zLQ�LQ�LQ�LQ�A��۵�B� B��A�*B��B9�A��A��@6�A�7)��A�"C�5��*C�H��=RC�[(0=C��C��֝��.=I��G�d>��}�j,�1�j�E�AY}BS�@�}B -�@y}B�~=��}B��(��}BH������ѿ�������?����פ�?��� �������"ѿ���`�/�?�������?����������F��?)~BS�@ ~B�Oa;I~B��CɫQ�Q)�Q �U����I�QY����@y���uG�������xDUSBL response received:!U1,R,EE3,000,003FE,186,80,80,50,FF �Fpublishing direction and range info�����~>���ɰ�q�=鰝��> ��)����BI��y����A����˪����?,#���?��������ٱ������;M��<Y��B�QU��>�������a��G������y��;}�>I� �� !�5�?�� �J�� � ��?��%�?9� ��A�� �*; � �+;)� �W��W�X� X��W�:W�2W�*W��V�U�U�����<@�R-(Combining 5 samples.�P1*Q5��A�Z5���ӿJ7@�"��t@���������Z5�˪����?,#���?��������2Q5��~>:Q1�Z5���.o�߿C}�W��7�N�t#wp�?�Z5��vc8:���?%O��ppC�h¡?BQ5�!�@ Q5g��Q5����P5]�9?�P5T�9?�P5<���Q5:���Q5�@"Q5��@zLy�Ly�Ly�L}�q�@�A�����B� B��A�Di>*B��A9�A��A��D6�A��,��A�"C�4��*C��=RC���5=C��C����4�/=I�G%M>��� ��� �<�� 9�� I�� hqGi�� 6�@��� ��� ��� ��� ��; �� ��E�8d�j,� k�E�A��RS ����R�����R�����R��� �R�N:Y�Rd\1y�R��:��R26)�R�;�|xi|z�@Y}�p%�@�}�*3�@y}�"�C��}�y^!��}�H������п�������?�����?���`&����� ѿ���`;6�?�����u�?���@�$����� L��?)~�p%�@ ~�~�a;I~���Cɫ���)�� ������I��Y� d�@y� QuG�uTNmea in: $SNTTA,0.036149,,,,164531.54*4C ����!������=����<i����@��� ����@)��n�@I��i������l�M�.=Y��nU�QU��>�������a��G������y��6�:}��>I�������5�?���|P�� ����?�� �?9����A�����: ��Y�:)���m=qAdded new target pos. range: 23.819998 m, bearing: 268.811493 deg, deltaT: 4.065277 s, approachRate: 0.059036 m/s, LOS rate: 2.169631 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`��7@U�����%w�?zL)�L)�L)�L-Tw�@�A]vżBa Ba�AeRb>*Be�=9�Aa�Ae�H6�Ae�0��Ai"Cm3��*Cun�=RCu�7=Cq�Cq��u�;6=I��G�~>�r��j,��#k�E�AY}>'�@�}>�4�@y}>H_J��}> ��}>H����@F�п������?����|$�?������������ѿ����vJ�?����FI�?���`$������K��?)~>'�@ ~>�a;I~>��Cɫ9�A)�A �AI�AY����@y���uG��%�����Mb�?��ʡE�ÿ�l����?��%�>��%�� �%��=)�!I�!y�%�}?5^�I�?�A`��"������Mb�?��%Mb>��%Y���%< �%�A)�%dAI�%lAi�!��!��%�A��Ex=MEV=Y�El��QUE�>��I��I�aM�G��I��Qy�U�:}]�>I�Y��e�:��]4�5�?��m�:��]�T�� �]��?��m�?9�]?�A��]@; 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X!�W!:W!2W)*W)�V)U)U5����_M@zLI�LI�LI�LMY�@�Ae(L�Ba Ba�Amx`>*Bm�A9�Ai�Amj6�Am�Z��Ai"Cu2��*Cu`��=RC}\PA=Cy�Cy9ԅ�2;��U-�B=I�aG�{>��9��i�CI��i�����%=��������D�����; ����E�0 j,��l�E�A��*�����*�����*�����*��� �*Oo:Y�*�Y1y�*�:��*�6)�*��;Y}bD>�@�}b�K�@y}b"߀��}b�u��}bH�����K�п�������?���`11�?����������o�п�����?����+�?����c���������?)~bD>�@ ~b��d;I~b��Cɫ�髙)�� ������I��Y����@y���uG�xDUSBL response received:!U1,R,F55,000,0040A,187,80,80,73,FF �Fpublishing direction and range info�����>���ɰ�i�=��1�> ��)����BI��y��Q�A����sZL���?b1Dz�?��������ٱ����p=i��C=����Լ���=���ff>i����� ��)��I��i�����!�<M�J=Y�ᏻQU�>���� �a �G�� ��)y�5�}5�>I�9��E�:��=ϗ5�?��E�:��=�{�� �=��?��E�?9�=��A��=0�: �==�:)�=��:�W��W�X� X��W�:W�2W�*W��V�U�U�����T�@�R�(Combining 5 samples.�P�*Q�Q�A�Z���W��kD8@7�7j�/ @���������Z��sZL���?b1Dz�?��������2Q���>:Q��Z������8��h���U8��}f��4�?�Z��T��A����f�^����_}���?BQ���@ Q����Q��5��P�U�9?�P�]�9?�P�?���Q�<���Q�#�@"Q��@zL1�L1�L1�L5�T�@�AE���Bi Bi�Am�l>*Bm�A9�Ai�Amn6�Au�`��Aq"Cu5��*C}���=RC}�E?=Cy�Cy9ԥ_;�֕�K@=I��G�>��: j,�&l�E�AY}M]@�@�}MN�@y}M�����}Ml���}MH�����п�������?����~ �?�������������п�����˪?��� �|�?���� ������R��?)~M]@�@ ~MN�d;I~M��Cɫ)�))�1 �1I�1Y��k�@y��ZuG�TNmea in: $SNTTA,0.071380,,,,164535.97*43 ��5�q= ףp�?�S㥛���:��v���?��5�k>��5$� �5�T=)�1I�1y�5��������?�A`��"������Mb`?��5ff>��5Y���5; �5�A)�5�AI�5�Ai�1��1��5(A��Ug��MU6=Y�U ^�QUU�>��Y��Y�a]�G��a��ay�e:}m�>I�i��m��5�?��m���� �m �?��}�?9�m_�A��m#�: �m��:)�i�m�uAdded new target pos. range: 24.539997 m, bearing: 263.339118 deg, deltaT: 4.470656 s, approachRate: 0.161050 m/s, LOS rate: -1.224065 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@=�8@U����`���?zL��l>�L��l>�L����@�L���@�A����B� B��A�?c>*B��?9�A��A��q6�A��f��A"C4��*C ���=RC �J@=C �C 9��L;�����>=I��G��>�/j,˂@l�E�A�|i|��*v����*�����*�����*��� �*yz:Y�*0Y1y�*��:��*�36�9*@Y}F'E�@�}F�R�@y}Fo熽�}F�o��}FH�����7�п���`��?����`��?���@a����� ��п����ߕ�?�����ٰ?����m¢��������?)~F'E�@ ~F�e;I~Dɫy�y)�y �yI�yY����@y���uG��UE<M]r=Y�]0��QU]?��a��a�ae�G��a��ay�m��:}m?I�q��}�:��u��5�?��}�:��um��� �u��?����?9�u��A��u��: �u��:)�u��:ܙ9ܝh�CIܝ�rGiܝ*�@�ܝ)=�ܝUD�ܙ�ܝ��; ݝ��E�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU���� �p�?zL��L��L��L�p�@�A��b�B� B��A�jg>*B��B9�A��A��u6�A��k��A�"C�3��*C��u�=RC��MB=C��C�9Ե��:�ֽ��B=I��G�f>�bIj,>^Zl�E�AY}>�L�@�}>>Z�@y}>~[���}>q���}>H�������п��� ���?�����?�����������]�п���`U2�?���`$(�?����dŢ�������?)~>�L�@ ~>�d;I~>��CɫY�Y)�Y �]����I�YY����@y���uGI�)��å��>�å`��åt�iå��@�á ĥO�@)ġIĥO�@iĥO�@��@�<M�D=Y��%<�QU��>�������a��G������y���;}��>I�������5�?���7��� ����?����?9����A����; 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�]p�EY�}�v�QU��>i���lG���I��i���m{~�ٺq��u�nA����a��G����y���9}��>I�!��e�:��%�{5�?����:��%��� �%5�?����?9�%��A��%�'< �%�+<)�%��:�W�WX X �W :W 2W *W �VUU������@�RB*** querying acoustic contact ***�P�PzLQ�LQ�LQ�LU�@�A�_�.�B� B��A�r>*B��@9�A��A���6�A�}���A�"C�2��*C���=RC��K=C��C�����I=I��G��>�\�6j,L��l�E�A�|i|�@��*] ����*�����*�����*��� �*r�:Y�*d\1y�*��:��*�6)�*��;�9.�Y}Zxp�@�}Z2~�@y}Z){���}Z�J��}ZH������bп��� S��?�����Ԫ?����n������i�п����߫?����;�?�����������`���?)~Zxp�@ ~Z*a;I~Z��Cɫ�髹)�� ������I��Y���@y��"vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��MnA��MnA��=Q�=��=�����=��=i�9��9 �9)�9I�9i�9��M�G<MU8=Y�UԹ�QUU�>��Y��Y�a]�G��Y��ay�eR�;}e�>Iȉ�ō�w5�?�ō#��� ƍ��?����?9ƍ��A�Ǎ��: ȍ�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U ���`b� @zLI�LI�LI�LMG�@�A]��2�Ba Ba�Ae�w>*Be�D9�A��A���6�A�����A�"C�5��*C�a�=RC�w�S=C��C��֝ �L=I��G�d>���<j,���l�E�AY}>4��@�}>@y}>�����}>�4��}>H�����1п�������?����̪?��� 5�����`�]п�������?����а?���@ۢ��������?)~>4��@ ~>)`;I~<ɫY�Y)�Y �e����I�aY��`�@y���vG�xDUSBL response received:!U1,P F55,000,0040A,187,80,80,73,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%�<M-`=Y�=Y�:QUE�>��Q����a��G�����y�%<}%�>I�Y����:��]As5�?����:��]���� �]0�?����?9�][�A��]��< �]�<)�]��:�W��W�X� X��W�:W�2W*W �V U U ���`zb @zL��L��L��L�}5�@�A��*7�B� B��A��>*B�-C9�A��A��6�A�����A�"C�4��*C�<�=RC�0)^=C��C�����Q=I��G��>��5�<��1�99�9I�=\sGi�=��@��==��9��9��=x�; �=y�E)�чI�Շi�Ci�ч��Շ"=��Շ#=��Շ=o6�ĩCj,F]m�E�A��*r����*�����*�����*�� �*�e:Y�*0Y1y�*��:��*q 6)�*��;Y}b���@�}b\��@y}bJW���}bh`��}bH����@��Ͽ��� F��?����v�?��� ��������%п�����I�?�������?������������d��?)~b���@ ~b��^;I~b��Cɫ�髙)�� ������I��Y����@y��vG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����>��������+�i���@��� ��n�@)��O�@I��O�@i��n�@�����M==Y��';QU �>�� �� �a�G����y�% <}�>I�!��%�n5�?��%��� �%��?��-�?9�%�A��%��: �%r�:)�!�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYU]��� �@zLy�Ly�Ly�L}MR�@�A�}=;�B� B��A�`t>*B�F9�A��A���6�A�����A�"C�3��*C���=RC %�i=C �Ci�I�������% 5�[=I�1 GM �>���Ij,�6)m�E�A�|�|Y}>2��@�}>�Ŏ@y}>Mw��}>B���}>H�����A�Ͽ������?����OA�?����k�����@�п����2�?��� ��?�����墿����z��?)~>2��@ ~>��^;I~>��Cɫy�y)�y �}����I�yY��B�@y��bvG�xDUSBL response received:!U1,R,F2B,000,00413,187,80,80,7B,FF �Fpublishing direction and range info����V>>���ɰ��=�� ��)����BI��y����A����Ցf�r�?��(�ҧ�?��������ٱ���dNmea in: $SNTTA,0.192516,0.192516,,,164540.41*59 ��]���/�$�?���Mb���� �rh�?��]&1>��]�@� �]C�<)�YI�Yy�]��z�G��?�A`��"������Mb����] W>��]Y���]� �]�A)�]�AI�]7 Ai�]�A��Y��]zA)Ý�= Ù��<MM@=Y�UA�;QUU�>��Y��Y�a]�G��Y��ay�\�;}��>Iȑ����:�ŕ�j5�?����:�ŕ��� ƕ�?����?9ƕ��A�Ǖ�"< ȕ�<)ȕ��:�W �W X X �W :W 2W *W�VUU������@�RE(Combining 5 samples.�PI*QM��A�ZM��t��8@���7@�@���������ZM�Ցf�r�?��(�ҧ�?��������2QM�V>>:QI�ZM�4�O����Ul'ʋ�8�8�T���?�ZM���&����m�$���c�E��ޫ?BQMݹ�@ QM���QM@Ͽ�PMW�9?�PMU�9?�PMA���QM?���QM��@"QM#�@zL��]>�L��]>�L��&�@�L��҆@�A�@?�B� B��A�~>*B��A9�A��A���6�A��A�"C�2��*C�Lԭ=RC��o=C��C�����(a=I��G �>�|�Pj,^Cm�E�A��*�����*�����*�����*q�� �*q�:Y�*]1y�*�:��*C+6�9*@Y}F�@�}F�Ȏ@y}F%�u��}F1a��}FH�����6�Ͽ���`c��?���@�+�?����;������_�Ͽ����7��?�������?���@-"���������?)~F�@ ~F�v^;I~F��C��9��I��i����������������; ����Eɫ�髱)�� ������I��Y����@y���vG���C=i��%=���`e<���t<����T�i����� ��)��I��i�������<M�7=Y��\�;QU�>�����a �G�� �� y��F:}�>I���Lg5�?��l��� �v�?��%�?9���A����: ���:)��mUqAdded new target pos. range: 25.079998 m, bearing: 266.292929 deg, deltaT: 4.488844 s, approachRate: 0.120298 m/s, LOS rate: 0.658034 deg/s, posRepo size: 4�WQ�WQXQ XY�WY:WY2WY*Wa�VaUe����z9@Ue���@ �?zL��L��L��L��Ն@�A���B�B� B��A�K�>*B�F9�A��A�.�6�A�����A�"C�5��*C��ƭ=RC���o=C��C��֕��m=I��G��>�J�Vj,��\m�E�AY}>���@�}>N��@y}>6�j��}>��}>H����`q�Ͽ�������?���`�ѩ?���@m������п�������?����iT�?����2�����@���?)~>���@ ~>O�^;I~< �D)�F�rAɑF���D�H��HɒJqAi�HI�H��HI�Li�L �L�L)�P�P �RrA��P��PɓP��T��VrAI�T)�Ti�T)�XI�X�XɔX �Xɕ\�^�qA��\i�\��\ɫ���)�� ������I��Y�%��@y�%vG���C�M�@=Y�M�;QU��>�����a��G����y���}��>I������:����c5�?����:������ ����?����?9��^�A�����: ��4�:)����:�W��W�X� X��W�:W�2W�*W��V�U�U������M�?zL�L�L�L}͆@�A-�F�B) B1�AU�u>*BU�A9�AQ�AUU�6�AU���AY"C]4��*Ce)��=RCe)�k=Ca�Ca��e �@p=I�q G� �>��]j,C�vm�E�A�|��*m ����*�����*�����*~�� �*�:Y�*�]1y�*��:��*�,6i|�@Y}N+��@�}N嬎@y}N��_��}N����}NH�����[п���@��?����G?�?���������� �.п��� �T�?��� g��?��� �͢�����:��?)~N+��@ ~NA�^;I~N��Ci�A��E1rA)�A �AI�I �I)�IɥQ��Q�Q��Yɦ]�pAi�]xi�I�Y��aI�e�Ci�mQrA �i�i)�i�q �u�pA��u�D���qɧq�������qAI��)��i��)��I��騩ɨ� ��ɫq�q)�q �u����I�yY����@y���vG��!��%mA��U��=MUy=Y�U�<QUU?��Y��Y�a]�G��Y��ay�ea��}e?I�i��m�`5�?��m{��� �m�?��}�?9�m��A��m�: �m�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U����@e��?zL��L��L��L�]��@�A��I�B� B��A���>*B�L9�A��A�6�6�A��A�"C�3��*C�T��=RC�)�b=C��C���}f�m=I��G�^>������mA��9��I��i����������������; ����E���cj,<��m�E�A�� i�"p=Y}>[��@�}>��@y}>l�V��}>=o��}>H������9п����q��?����h��?������������Zп���@�7�?�����Ҫ?��� X������@a��?)~>[��@ ~>�_;I~>��Cɫ�)� �I�Y�U`�@y�U�vG��eZ>��e�#���e��=i�e��@��a �a)�en�@I�en�@i�a��}�ƼM}G=Y�&�;QU��>�����a��G����y���}��>Iȡ�ť]5�?�ť߾�� ƥG�?����?9ƥ��A�ǥ/; ȥ�/;)ȡ�W��W�X� X��W�:W�2W�*W��VUU �����5�?zL9�L9�L9�L=̢�@�A�0�K�B� B��A��>*B��C9�A��A�i�6�A�%���A�"C 2��*C ��=RC �BY=C �C��-nA��)��]�(a=I��G��>��!jj,�~�m�E�A��*D����(��(��*��� �*}v:Y�(y�(��*�6Y}b�s�@�}bv��@y}b�]P��}b�P��}bH�����`п�������?������?���@X�������п�����f�?���@��?����ꂢ����� ��?)~b�s�@ ~bSM_;I~`ɫ�)� �����I�Y�U��@y�U&wG��E�F����x�?�� �rh��㥛� ��?��EƋ>��EC� �E��=)�AI�Ay�E�X9��v�?+����������Mb�?��E�s>��E����E�< �A)�E+AI�E�Ai�E�A��A��E�A��e�!=MeL=Y�m�{;QUm�>��q��q�au�G��q��qy�}}Ļ}}�>Iȁ����:�Ņ�Y5�?�� �:�Ņ���� ƅ��?���?9ƅh�A�DžV�< ȅ5�<)ȅ��:�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe�������?zL��w>�L��w>�L�K��@�L��\�@�A��:N�B� B��A���>*B�-G9�A��A���6�A�#���A�"C5��*C���=RC �~Q=C �C ��m�Y=I�)GMt>�� qj,�Y�m�E�A�|�|4<Y}>�n�@�}>>|�@y}>�AL��}>�1��}>H���� cjп�������?�����Ϩ?����h�����`�п�����ˣ?��� ���?���`"ߢ���� >��?)~>�n�@ ~>�<_;I~>��Cɫy�y)�y �}����I�y܍��>9܉I܉i܉�܍=�܉�܉�܍�; ݍ͔EY��>�@y��]vG)���= ��>��]uJ�MeK=Y�m�";QUu�>��y��y�a}�G����y��ͺ}��>Iș�ŝhV5�?�ŝ���� ƝP�?����?9Ɲ0�A�ǝ�; ȝ��;)ș�WQ�WQXQ XY�WY:WY2WY*Wa�VaUaU�����u1@zL��L��L��L�X�@�A�@zP�B� B��A��}>*B��D9�A!�A-��6�A-8���A)"C54��*C5Nu�=RC5�+P=C1�C9Y�5�69��- ��Q=I�9 GU �>��3wj,�4�m�E�A��*� ����*�����*�����*��� �*�[:Y�*DW1y�*Y�:��*6)�*>�;�9.�Y}Jgz�@�}J!��@y}J �K��}J����}JH�����xSп�������?����M�?��� �������sп�������?���@Up�?��� ,������1��?)~Jgz�@ ~J��^;I~J��CɫY�Y)�Y �]����I�YY����@y���vG��������p=i�= � � �A��],=��],=��]t�i�]��@��Y �] �@)�]��@I�]��@i�]��@��m��<Mm[=Y�m(�9QUu�>��q��y�a}�G��y��yy���;}��>Iȉ����:�ō`S5�?����:�ō_��� ƍ��?����?9ƍ��A�ǍE�: ȍ��:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`��@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�,d�@�A]͠R�BY BY�Ae��>*Be�H9�Aa�Aeɛ6�Aeȯ��Aa"C�3��*C�f�=RC�!�U=C��C�Y�m�89��]�}P=I�iG�Z>�^^}j,s�m�E�AY}b���@�}b���@y}b��G��}b���}bH�����п������?�����ܨ?������������7п���� F�?��� -�?���@D/���������?)~b���@ ~b5^^;I~b��Cɫ�髙)�� ������I��Y� �@y�awGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******���=M�I=Y� ;QU��>�����a��G����y��<}��>Iȡ�ťP5�?�ťj��� ƥ5�?����?9ƥ��A�ǥ�; ȥ� ;)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���� R> @zL �L �L �L ��@�A%@�T�B! B!�A%�>*B%jH9�A)�A-�6�A-Գ��A)"C52��*C5W�=RC=$c=C9�C9Y�O89��=lT=I�IGeU>�����>����Ci�-�mGI�Ai�Q��u�<��q܁9܁I܅�rGi܅{�@�܁�܁�܁�܅1�; ݅ڔE���UN�ٺ�����AA��E�j,>�n�E�A�|i|�@��&� ����&�����&�����&��� �&�[:Y�&[1y�&ݏ:��&{6)�&,�;ɫ�髹)�� ������I��Y����@y���vG�xDUSBL response received:!U1,P F2B,000,00413,187,80,80,7B,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 ��nA�Õz?�Õ��=�Õh��iÕQ�@�Ñ ĕ��@)ĕO�@Iĕ��@iĕO�@���ϼM�=Y����QU��>�����a��G������y�����}��>I����:��MK5�?���:������ �_�?��%�?9���A��M�: ���:)���:�WA�WAXA XI�WI:WI2WI*WQ�VQUQU]������ @zL��L��L��L��A���V�B� B��A��>*B��@9�A��A���6�A�乺�A�"C�5��*C�@�=RC�m a=C��C ��- �=��- ]>Y�� 269����(a=I��G�>��o�j,�+n�E�AY}J�Җ@�}JS��@y}J�5��}J����}JH����`�SϿ��� )��?���@E9�?����������@��Ͽ���@�t�?��� ���?�����8����� ���?)~J�Җ@ ~J1x];I~J��CɫY�Y)�Y �]����I�aY��(�@y��|wG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�Q)�Q�����������?�Q��뱿�~j�t�h?���f�>���\�� ���D;)��I��y���k�t��?���S㥫�y�&1��?��� 0>���/]����`e< �� A)��EAI���Ai���A�������A��=f=M�=Y� ��<QU ?�����a�G����y���<}1?I�!��%dI5�?��%���� �%�?��5�?9�%%�A��%?�: �%'�:)�!�W��W�X� X��W�:W2W*W�VU)U-�����@zL}(9>�L}(9>�L}�S�@�L}�/�@�A�"�W�B� B��A�e�>*B�oP9�A��A���6�A�����A�"C�4��*C�r7�=RC��}=C�C)��U5�[=I�aG}{>��W�j,�En�E�A��*� ����*�����*�����*��� �*OW:Y�*�X1y�*/�:��*�6�9.@Y}^Oۖ@�}^ �@y}^6�(��}^����}^H����@!3Ͽ����r��?����,�?���������@�cϿ������?���`��?���`@P����� ���?)~^Oۖ@ ~^q�];I~^��C�A9�AI�E\sGi�E��@��A��A��A��E4�; �EܔE)ݹ�Iݽ�j�Ciݹ��ݽ�=�ݽ�=�ݽ��4ɫ���)�� ������I��Y��3�@y���wG�xDUSBL response received:!U1,R,E42,000,00415,186,80,80,67,FF �Fpublishing direction and range info��TF�>��ɰ6�=���> �)���BI�y���A���㚰fQ��?���I�?��������ٱ�Í��>�Í7 >�Í�u�iÍ�@�É čn�@)čn�@Ič��@ič��@���uN;M�>=Y��E�;QU��>�������a��G������y�My;}M�>I�Q��]�:��U�E5�?��]�:��U���� �Ug�?��]�?9�U��A��U=�: �UI�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U����`��@�R�(Combining 5 samples.�P�*Q���A�Z����o�P7@�*/$�#@���������Z��㚰fQ��?���I�?��������2Q�TF�>:Q��Z����4 ǥ@R-w���8��~���?�Z������]0�?��5X^��45KSM+�?BQ�K\�@ Q�~��Q�.e@�P�d�9?�P�W�9?�P�C���Q�A���Q��@"Q���@zL)�L)�L)�L-S9�@�A=��X�B9 B9�AE�>*BeH9�Aa�Ae��6�Ae���Aa"Cm3��*Cu�*�=RCu �{=Cq�Cq��}| u=I��G��>����j,1|_n�E�A�|�|�;Y}b7Җ@�}b�ߎ@y}b�:��}bFJ��}bH�����5WϿ����*��?����*�?����W��������Ͽ���@R,�?����ƣ?������������s��?)~b7Җ@ ~b�];I~b��Cɫ1�1)�1 �=����I�9Y��:�@y���wG��DNmea in: $SNTTA,,,,,164544.87*57 )�> ��=��U ;MUS=Y�U��;QUU�>��Y��Y�a]�G��Y��ay�e$B�}e�>I�i��m�B5�?��m���� �m>�@��}�?9�mQ�A��m+�: �m8�:)�i�m�qAdded new target pos. range: 25.199999 m, bearing: 278.171940 deg, deltaT: 4.426774 s, approachRate: 0.027108 m/s, LOS rate: 2.683446 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� 339@U�����'��?zL��L��L��L�x1�@�A�AbY�"B��o:B� B��A���>*B��J9�A�A0�6�A �ĺ�A "C2��*CW�=RC�w=C�C �Y��Y��5��w=I�AG�}>���j,�Xyn�E�A��.� ����.�����.�����.��� �.�Y:Y�.xZ1y�.q�:��.;6Y}Vػ�@�}V�Ɏ@y}Va���}Vi���}VH�������Ͽ����a��?�����>�?��� ������ ��Ͽ�����|�?�������?�����:����� ���?)~Vػ�@ ~V �];I~V��Cɫ�髙)�� ������I��Y����@y���wG��]=i�Y����<M�U=Y���;QU��>�����a��G������y���}��>I������?5�?��� ��� ����@����?9����A���k�: ��w�:)���Wq�WqXq Xy�Wy:Wy2Wy*Wy�VyU�U���� =��?zL��L��L��L���@�A���Y�B� B��A�j�>*B��J9�A��A���6�A��Ⱥ�A�"C�5��*C���=RC��0m=C��C����7y=I� G5O>����nA�%��>9�!I�!i�!��!��!��!��%-�; �%ؔE����j,�2�n�E�AY}:�@�}:���@y}:A[��}:����}:H����`�п���@A��?����-o�?���@�����@[п���@s��?���`}ʡ?��� ������@��?)~:�@ ~:��];I~:��CɫY�Y)�Y �]����I�YY����@y��4wG�Å�#<�Å 0=�Å�>iÅQ�@�Á ą9�@)ą9�@Ią9�@ią9�@��.B�M�L=Y���;QU��>�����a��G����y���}��>Iȱ����:�ŵ�<5�?����:�ŵy��� ƵZ@����?9Ƶr�A�ǵk�: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����ir�?zL�L�L�L��@�A%D�Y�B) B)�A-��>*B-�H9�A)�A5ū6�A5ͺ�A1"C=4��*C=t�=RC={c=C9�CAi�AI�A��M����M����=mA��=mA��- �8k=I�9 GU �>�ݽ�j,� �n�E�A�|i|�@��*� ����*�����*�����*��� �*@\:Y�*�W1y�*č:��*�6Y}FY��@�}F��@y}F�� ��}F6��}FH�����&п��� I��?����$�?���@�����`�9п����>��?���`�V�?����b������l��?)~FY��@ ~F��];I~F��Cɫ�髙)�� ������I��Y����@y��FwG������ʡE�? ףp= ����~j�t�?���-2>���Q8� ����<)��I��y���^�I+�?L7�A`尿����Mbp?���X9>���+������; ��lA)��+AI��Q Ai��dA�������A�� ��;M C=Y�n ;QU�>�����a�G����y�%z��}%�>I�)��-�85�?��-3��� �-�@��5�?9�-�A��-�: �-��:)�)�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUe���@1$�?zL�RE>�L�RE>�L�u߽@�L��s�@�A��HY�B� B��A���>*B��G9�A��A��6�A�dѺ�A�"C�3��*C���=RC�&7]=C��C���J�c=I�GEs>�#��j,`��n�E�AY}N쏖@�}N���@y}N}Q ��}NPD��}NH�����,п�������?���@Y��?���`O�������?п����ߟ�?����\)�?���@�䢿���`���?)~N쏖@ ~Nc�];I~N��C�d9�fk�CI�f�rGi�f{�@��d��d��d��f4�; �fܔEɫ�髩)�� ��I��Y���@y�%�vGI��)����������'����@�i�@�� ���@)���@I���@i���@��-�ǼM-H=Y�5�]:QU5�>��1��9�a=�G��9��9y�EH��}E�>I�I��U�:��M55�?��U�:��M���� �M@��U�?9�M��A��M�: �MV�:)�M��:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U��������?zL��L��L��L�Up�@�A�%�X�B� B��A���>*B��F9�A��A�I�6�A��պ�A�"C�2��*C���=RC�\=C��C�9�����5�[=I��G��>�Wѷj,:��n�E�A��&� ����&�����&�����&��� �& T:Y�&d\1y�&��:��&�6)�&l�;�9*�Y}F���@�}FQ��@y}F�^��}F����}FH���� �п���`9��?���@�I�?������������.п���`��?���� �?�����������`��?)~F���@ ~F��];I~F��CɫQ�Y)�Y �]����I�YY�}�@y��wG����=M�R=Y�:QU��>�����a��G�����y��w2;}��>I������15�?���M��� ��T@����?9��P�A�����: ��n�:)���W��W�X� X��W:W2W*W�VU U �����@zL!�L!�L!�L%�x�@�A��iX�B� B��A���>*B�[J9�A��A���6�A��ٺ�A�"C�5��*C��Ҭ=RC�ݛ`=C��C�9����:���u \=I��G�j>���j,k��n�E�A�|4<�|Y}J��@�}Jع�@y}J����}J;���}JH�����}�Ͽ����^��?���`��?�����������_п�����<�?���`���?�����R������_��?)~J��@ ~J��];I~J��CɫY�Y)�Y �]����I�YY��n�@y���wG��!��M�\=Y��V�:QU��>�������a��G������y����;}��>I������:���.5�?����:������� ���@����?9����A���^�: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U���� E@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�m��@�A ��W�B B �A-ˑ>*B5SK9�A1�A5�6�A5�ݺ�A1"C=4��*C=�Ĭ=RC=�i=CA�CA9�m�:��]�(a=I�yG�`>�ٽ�<�ٽ�<��9��I��\sGi����@������������/�; ��ڔE����j,��o�E�A�����������A�� ���:Y�y���&6)���;Y}F���@�}F�Ɏ@y}Fz���}F���}FH����� �Ͽ���@���?���@E��?���������`Q�Ͽ������?���@uv�?���������@���?)~F���@ ~F��];I~Dɫy�y)�y �}����I�yY����@y���wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��U�#���U��=��U�#<i�U(�@��Q �Q)�Un�@I�Un�@i�U��@��e.<Me1=Y�mҕ:QUm�>��q��q�au�G��q��yy�}V�;}}�>Iȁ�Ņ�)5�?�Ņ���� ƅ�@����?9ƅ��A�Dž�: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL)�L)�L)�L-L��@�A�1�V�B� B��A���>*B�]G9�A��A���6�A����A�"C3��*C���=RC��n=C�C ��R=���=9��z~:�����h=I��G��>���j,A�.o�E�AY}>d��@�}>Ύ@y}>'����}>� ��}>H�����b�Ͽ����'��?���@O<�?���` �����@=�Ͽ�������?����3ݟ?���@�ࢿ����u��?)~>d��@ ~>vY];I~>��CɫY�Y)�Y �YI�YY�� �@y��XwG�xDUSBL response received:!U1,P E42,000,00415,186,80,80,67,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 ��}����Mb�?sh��|?���l������}�@>��}��� �}���)�yI�yy�}�㥛� ��?i��|?5������Mbp?��}�>��}�q���y �} A)�yI�}�Ai�}�A��y��}zA��%��M-%=Y�5 ;QUE�>��Q��Q�a]�G��Y��iy�u�:}u�>I�y����:��}�%5�?����:��}V��� �}R@����?9�}:�A��}�; �}��;)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U����� � @zLM!>�LM!>�L�ż@�L���@�AM��U�BI BQ�AU��>*BU�E9�AQ�AU0�6�AU���AQ"C]2��*CeW��=RCe��o=Ca�CaY�E �:99��p:i���mGI��i���My�ٺI��M�iAܽ��>9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽ:�; ݽ��E��5 �g=��e � ����e �����e �����e ��� �e �V:Y�e 0Y1y�e ��:��e ;6)�e î;I�� G� �>����j,��Ko�E�A�|i|ɫ�髱)�� ��I��Y����@y��IxG��ɮ���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �ý��<�ýp=>�ý+=iý��@�ù Ĺ)ĹIĹiĽn�@����=M�k=Y�����QU�?�������a��G������y�����}�?Iȉ�ō#5�?�ō��� ƍ�@����?9ƍ��A�Ǎ@�: ȍӻ:)ȉ�W��W�X� X��W�:W�2W�*W�VUU��� �J@zLA�LA�LA�LA�AUUAT�BY B��A�ϗ>*B��O9�A��A�o�6�A�@��A�"C�5��*C����=RC�^�o=C��C�YϙiҡIҡ�ҥ���ҥ����5#*l=I�AGm�>����j,M�eo�E�AY}>�@�}>�Ď@y}>輙}>����}>H����@��Ͽ���`o��?����u��?����[�����`|�Ͽ���@NH�?�������?���������������?)~>�@ ~>$e];I~>��CɫY�Y)�Y �]����I�aY��7�@y���wG�xDUSBL response received:!U1,R,E75,000,0041C,186,80,80,5C,FF �Fpublishing direction and range info����|�>���ɰ�\�=鰡 ��)����BI��y����A�����'�?���m��?��������ٱ����@�M�O=Y���;QU��>�����a��G����y��?�}��>Iȡ�ť+ 5�?�ť��� ƥ�@����?9ƥ'�A�ǥ��: ȥ]�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R(Combining 5 samples.�P*Q��A�Z������8@�AB.�P!@���������Z��'�?���m��?��������2Q�|�>:Q�Z�Խ�H�&@ ���h�9����L`�?�Z�v�W���?��c��i���?BQ�ʙ@ Q��Q7@�P_�9?�Pd�9?�PE���QC���Qg�@"Q�@zL��L��L��L���@�A�fR�B B!�A%R�>*B%TJ9�A!�A%��6�AM0��AI"C�4��*C�8��=RC��k=C��C�Yρ��uX�h=I��G�>������������������� ��:Y��Y1y��:�� 6�9@�'#�j,�}o�E�AY}2��@�}2ֹ�@y}27�}2����}2H����@��Ͽ���@���?���`�?���@�������п���@{'�?��� ��?����V������ ���?)~2��@ ~2�];I~2��Cɫ9�9)�9 �AI�AY�}��@y�}xG��DNmea in: $SNTTA,,,,,164549.31*57 ��u�=MuL=Y�uM0;QU}�>��y��y�a}�G��y��y�UX�}��>Iȉ����:�ō5�?����:�ōm�� ƍ@����?9ƍ��A�Ǎ3�: ȍ��:)ȍ��:�m�uAdded new target pos. range: 25.619999 m, bearing: 275.362246 deg, deltaT: 4.445275 s, approachRate: 0.094482 m/s, LOS rate: -0.632063 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@��9@U����`Id�?zL��L��L��L��t�@�APJP�B B�A�>*B�L9�A�A�6�A���A"C%3��*C%�|�=RC%l�f=C!�C)�ٹ�ٹ��9��I��i�����=���������-�; ��ٔE)�]�k�CI�]�k�Ci�Y���Y���]�=��]�6w4Y�-�:9��5��m=I�AGew>�� �j,2X�o�E�A�|�;�|Y}6烙@�}6���@y}6��Լ�}6�W��}6H������п���`T��?������?���@a�������п���@���?��� ?��� h�����@Z��?)~6烙@ ~6�`];I~4ɫ9�9)�9 �=����I�AY�]�@y�]�xG����u<���?5>���7�=i����� ��n�@)��I��i�������<M�5=Y���;;QU��>�������a�G����y�-���}-�>I�1��5i5�?��5� �� �5`@��M�?9�5;�A��5�H; �5eA;)�1�Wy�WyXy X��W�:W�2W�*W��V�U�U����`�m�?zL��L��L��L��m�@�A�"�M�Ba Ba�Ae��>*Be�J9�Aa�Am��6�Am����Ai"Cu2��*Cuk�=RCu��c=Cq�CyY�u�:9��m ��h=I�q G� �>��� ������ ������ ������ ��� �� �g:Y�� �[1y�� H�:��� �6��4�j,3�o�E�AY}2���@�}2^��@y}2�)ʼ�}2����}2H�����4п�������?����F��?����������@ п��� xԍ?�����D�?���`i��������?)~2���@ ~2o];I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�]|xG�������(\��?�E����ȿ��~j�t�����z�>����F� ����)��I��y����MbX9�?V-�������Mbp?����!>����m���� � A)�AIQ AiKA������fA��� �M�_=Y��Yd;QU��>�������a��G������y��R!�}��>I������:���~5�?����:���� �� ���@���?9����A���s; ��1.;)����:�WA�WAXA XA�WA:WI2WI*WQ�VQUQU]������?zLue,>�Lue,>�Lu�ͽ@�Lu�n�@�A�V<K�B� B��A�[�>*B�%O9�A��A�.�6�A� ���A�"C�5��*C��]�=RC�ç`=C��C���M�=��M�>Y�%<9��J�c=I�!GEs>�� 9�� I�� �sGi�� �@��� =��� ��� ��� *�; �� ؔE���j,� �o�E�AY}6e��@�}6��@y}6�꽼�}6^���}6H�����п����D��?��� �?�����������п����E_�?��� Ƽ�?���@�}����� t��?)~6e��@ ~6�S];I~6��CɫY�Y)�Y �]����I�YY�}P�@y�}�xG���������|�>����0����;��i�� �@��� �� �@)��I����@i�������<M�:=Y��9^;QU��>�������a��G������y�.�:}�>Iș�ŝ�5�?�ŝ�� Ɲ�@����?9ƝV�A�ǝ�; ȝ ;)ș�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL)�L)�L)�L-Lr�@�AM3<H�BI BQ�AU�>*BU�K9�AQ�AU��6�AUv���AQ"C]4��*Ce{L�=RCe¼b=Ca�CiY�U=9��enA��enA��M |�^=I�Q Gu �>��� k����� ������ ������ ��� �� u�:Y�� �X1y�� /�:��� �Q6�G�j,���o�E�A�|i|Y}6��@�}6Ҵ�@y}6(����}6 k��}6H����`,п�������?����^��?�����������п����~�?���`�o�?����AK����� ���?)~6��@ ~6�g];I~4ɫY�Y)�Y �]����I�YY����@y��xG��U���M]g=Y�]�k;QU]�>��a��a�ae�G��a��ay�m�;}m�>I�q��}�:��u5�?��}�:��u��� �u@����?9�u��A��u4�: �u��:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zLi�Li�Li�Lmx�@�A�n�D�B� B��A�W�>*B��N9�A��A�6�6�A�^��A�"C�3��*C��?�=RC��e=C��C�YϽ==9�ֵB�a=I��G��>��� �=i�� �=��4�j,��p�E�AY}6���@�}6���@y}6�����}6����}6H�����+�Ͽ��� ���?��� �H�?����y������п����Ϧ�?���`�?��������������?)~6���@ ~6�,];I~6��Cɫ)�1)�1 �5����I�1Y�m+�@y�u�xG���+<=M�P=Y���f:QU��>�����a�G���� y� �k:}�>I����5�?����� �V@��%�?9�P�A����: �D�:)��WA�WAXI XI�WI:WI2WI*WQ�VQUQUU��� �4@zLq�Lq�Lq�Lu�z�@�A��A�B� B��A���>*B�zO9�A��A���6�A���A�"C�2��*C��1�=RC�?�e=C��C�i̭mAI̭mAYύ?9��Q��U�<�q9�qI�qi�q��u=��q��q��u �; �uӔE�֕Qf=I��G�?>��� " ����� ������ ������ *�� �� �J:Y�� ]1y�� �:��� =6)�� ��;�9� ��3Yj,��p�E�Aɫ���)�� ������I��Y�u��@y�})yG������@A����L7�A`��?��K7�A�?�~j�t�h����+�>���> ���D�)��I��y���333333�?���S㥫�����Mb�?����>���/]����< �A)I�Ai+A�������A)���= ��>��5��=��594���594�i�5��@��1 �5 �@)�5��@I�1i�5��@��E�<MM+=Y�M���QUM�>��Q��Q�aU�G��Q��Qy�]���}]�>I�a��m�:��eY 5�?��m�:��eH�� �e�@��u�?9�e��A��e�: �eY�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U����@�@�R�B*** querying acoustic contact ***�P��P�zL�t#>�L�t#>�L��@�L��@�A�>�B� B��A�'�>*B��K9�A��A���6�A�I��A�"C�5��*C�l �=RC��e=C��C�Y��5?9 ���=����=���I��G �>��j,_z4p�E�A�|�|p;Y}6���@�}6jĎ@y}66����}6����}6H�������Ͽ����G��?����t=�?����9�����`��Ͽ������?�����1�?�����������?)~6���@ ~6� ];I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}nxG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����g�M�y=Y�k=<QU?�� �� �a �G�� ��y�;}?I�)��-�5�?��-��� �-@��=�?9�-X�A��-4; �-�;)�)�Wi�WiXq Xq�Wq:Wq2Wq*Wy�VyUyU}������ @zL��L��L��L��@�A-��9�B) B)�A-��>*B-�N9�A1�A5��6�A5���A1"CE4��*Cm�=RCmˍk=Ci�CqY�}Y?9��m��c=I�yG��>�a 9�a I�a i�a ��e =��a ��a ��e �; �e ̔EI�� )�� ��� ��������'�� �F:Y�y����6)�]�;��jj,�UNp�E�Aɫ1�1)�1 �5����I�1Y�U��@y�U)yG]xDUSBL response received:!U1,P E75,000,0041C,186,80,80,5C,FF ]Command Ack]BRequesting micromodem ping code 2i�Y��Y�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �í��>�í�?�í<iíf�@�é ĭ��@)ĭn�@Iĭ��@iĭn�@���,=M�=Y�����QU��>�������a��G������y�����}��>I�����:����5�?���:���� �� ��w@�� �?9���A����: ��V�:)����:�WQ�WQXQ Xq�Wq:Wq2Wy*Wy�VyUyU�����p>@zL��L��L��L��A���5�B B�A'�>*BOJ9�A�A�6�AE ��A "C=3��*C=T��=RCEcrj=CA�Cq�̅0>�̅;>Yυ vA9��u�@p=I��G��>���j,��hp�E�AY}Bo��@�}B)��@y}B��f��}Bv�$��}BH�����S�Ͽ����[��?�������?����"����� ��Ͽ������m?����r،?����������� ���?)~Bo��@ ~B�];I~B��C �H)�J�rAɑJt���H�H��LɒLi�LI�L��LI�Pi�R rA �P�P)�P�T �T��T��TɓT��X��ZrAI�X)�Xi�X)�\I�\�\ɔ\ �\ɕ`�b�qA��`i�`��`ɫ�髉)�� ������I��Y��A�@y���xG�m�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������mA�����M��=Y���Q<QU�?�������a��G������y��.�}�?I�����5�?��#�� ��@���?9�k�A��I�: �w�:)��W��W�X� X��W�:W�2W�*W��V�U�U������K@zLA�LA�LA�LEL��@�A}�11�B� B��A���>*B��T9�A��A�G�6�A�� ��A�"C�2��*C����=RC��Qg=C��C�����}i=I��Gm>�� G ���� ����� ����� K�� � �M:Y� �W1y� č:�� �6�9� @��� j,3��p�E�A�|i|Y}6q��@�}6+��@y}6H�T��}6��!��}6H����@ �Ͽ�������?�����?�?���@���������Ͽ�����'f?��� ���?���� ;���������?)~6q��@ ~6�q];I~6��Cɫ�髙)�� ������I��Y��+�@y���xG�xDUSBL response received:!U1,R,363,000,00435,189,80,80,6B,FF �Fpublishing direction and range info�����A����ɰ�t�=��7�> ��)����BI��y����A�����O�nE�?VAX�l����������ٱ�����>��i��nGI��i���=f�ٺA��E XA�ٽnA�ٹ��9��I��i���������������; ��ɔE��%ɻM%9=Y�m� ;QUm�>��q��q�au�G��q��yy�}T�}}�>Iȁ�Ņ� 5�?�Ņ\&�� ƅ @����?9ƅ��A�Dž{�; ȅ8�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U���`�@�R-(Combining 5 samples.�P1*Q5��A�Z5��ͣ��3@~�,ڝ2����������Z5��O�nE�?VAX�l����������2Q5��A�:Q1�Z5��JM��6�V���b�,�9�DѺ�?�Z5�Z-2<9�.REH=�z�$9��?BQ5�m@ Q5+g�Q5o���P5�9?�P5_�9?�P53���Q5E���Q5��@"Q5g�@zLy�Ly�Ly�L}7��@�A��J,�B� B��A���>*B��L9�A��A���6�A�`��A�"C�5��*C���=RC�t`f=C��C�����(a=I��G��>���&j,q�p�E�AY}eF��@�}e���@y}edD��}e6��}eH����@cп�������?�����У?����������`� п�����^c?��� \��?���@Uᢿ�������?)~eF��@ ~eY�];I~e��Cɫ�髁)�� ������I��Y����@y��MyG�%DNmea in: $SNTTA,,,,,164553.86*50 ����V-�?`��"���?y�&1�����h�>����= �`e�)�I�y����S㥛�?���x�&��{�G�z�����$>��7�����#� �lA)�EAI��Ai��A����\A)�-�= �)��uQ�=��u��=��uC=i�u��@��q �un�@)�qI�un�@i�u��@����<M�=Y�U�;QU��>�����a��G����y����}��>Iȡ����:�ť�� 5�?����:�ťT*�� ƥ�@����?9ƥ��A�ǥ�: ȥ�:)ȥ��:�m�yAdded new target pos. range: 27.119997 m, bearing: 212.215180 deg, deltaT: 4.520931 s, approachRate: 0.331790 m/s, LOS rate: -13.967713 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �;@U�����>��?zL�2>�L�2>�LWq�@�L��@�A%�('�B! B)�A-�>*B�dL9�A��A���6�A�V��A�"C�4��*C�ӫ=RC���b=C��C� � �=�� �=�� ���� ����� ����� ��� � 4_:Y� xZ1y� q�:�� )6��� �0f=I� G5�>�p�,j,_E�p�E�AY}2e��@�}2��@y}2�s4��}2y��}2H�����2п����o��?���@)�?���@������� п������]?����]��?����� ������h��?)~2e��@ ~2��];I~2��Ci�>�C��<)�< �<I�< �B��C)�B�rAɖ@��@�@��FY�CɗFqAi�DI�D��DI�J�Ci�H �H�H)�H�J3�C �N�qA��L��LɘL��p��r�pAI�r�T�)�r�WFi�p)�v�CI�vqA�təx �xɚx�~��A��|i���ɫ���)�� ������I��Y����@y��wxG��0��M��=Y�H�;QU�7?�����a��G����y�78}�7?Iȹ�Žq� 5�?�Ž<,�� ƽ�@����?9ƽ�A�ǽ��: Ƚ�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�Ly�@�A-��!�B) B1�A5 �>*B5!Y9�A1�A5��6�A5F��A1"C=3��*CE�ʫ=RCE�c=CA�CA�� <|^=I�G= >�� 9�� I�� \sGi�� ��@��� ��� ��� ��D��� �; �� ʔE)ݑ�Iݑ�iݑ��ݕ�=�ݕ�=�ݕ�ط4���3j,�!�p�E�A�|�|�;Y}6���@�}6\��@y}6�E(��}65S��}6H�������п�������?���� �?����N�����`Pп�����|Q?������?��� .)������i��?)~6���@ ~6tR];I~6��Cɫ�髙)�� ������I��Y����@y��@yG����N>���t����i����@��� ����@)����@I����@i�����eD=M�E=Y����:QU��>�������a��G�����y��,:}�>I����:���� 5�?���:��|/�� ��@��%�?9���A��M�: ���:)���:�WA�WAXA XA�WA:WI2WI*WQ�VQUQU]���@l�?zLq�Lq�Lq�Lu� �@�A��m�B� B��A�O�>*B��O9�A��A���6�A����A�"C�2��*C�S��=RC��d=C��C�i̭��I̭���̭���̭���ԝmA�ԝmA�օ ��c=I�� G� �>�� � ���� ����� ����� ��� � vY:Y� �[1y� H�:�� 6�:j,���p�E�AY}2���@�}2���@y}2X��}2���}2H�����.п�������?����[�?���������`�п����\�@�������?�����P���������?)~2���@ ~2�d];I~2��Cɫ�髙)�� ������I��Y��y����MmA��MnAY�}�.;QU}�>��y��y�a��G����y�T_�}��>Iȑ�ŕN� 5�?�ŕ�2�� ƕu@����?9ƕ*�A�Ǖ��: ȕ �:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L���@�A�G�B� B��A�*B�P9�A��A�G�6�A�O��A�"C�5��*C����=RC�I�b=C��C����J�c=I��GI>�P�@j,��q�E�AY}:e��@�}:��@y}:{���}:H�!��}:H���� п�������?����|��?����%������3 п����D�_�����#ր?����6������V��?)~:e��@ ~:fr];I~:��Cɫ9�9)�9 �9I�9Y�}|�@y�} yG��]���M]�<Y�]Z&;QU]�>��a��a�ae�G��a��iy�mUJ�}u�>Iȁ�Ņ�� 5�?�Ņ�5�� ƅM@����?9ƅ��A�Dž�; ȅ`�;)ȁ�W1�W1X9 X9�WA:WA��]�<��]�<�y9�yI�yi�y��}=��y��y��}*�; �}ٔE2W)*W)�V1U1U=�������?zL��L��L��L���@�A���B� B��A���>*B�9N9�A��A��6�A����A�"C�4��*C�Y��=RC�aa=C �C)��Uya=I�aG}z>�� )���� ����� ����� ��� � Vt:Y� d\1y� ��:�� �6)� S�;�9� ��$Gj,r�q�E�A�|8i|8Y}u��@�}uϮ�@y}u����}u�"��}uH������ п��� +��?�������?���`�������п������c����@�?����:]������C��?)~u��@ ~u�e];I~u��CɫI�I)�I �QI�QY����@y��;yG����)\���(�?k�t���<�O��n�����Ga>��� 0� ��t�)��I��y����n����?�&1������Q��?���V>����P�����u< )AI1Ai�����������>���O�������=i��(�@��� ��@)��I����@i��n�@��eW�;Me-=Y�e�L:QUm�>��i��i�am�G��i��qy�u ��}u�>I�y����:��}k� 5�?����:��}�8�� �}�@����?9�}G�A��}`�: �}��:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����zH@zL�c>�L�c>�L�Ͻ@�L����@�A���B� B��A��>*B��O9�A��A���6�A�;��A�"C3��*C���=RCz�`=C�C ��=�����(a=I�GEs>�w>Mj,��7q�E�Aɫ�髡)�� ������I��Y����@y��$yG)��= ��=��0�M%y=Y�%���QU%?��)��)�a-�G��)��)y�5���}5?I�9��=� 5�?��=%;�� �=:@��E�?9�=��A��=��: �=��:)�9�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}����n�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A�hq�B� B��A��>*B��T9�A��A�%�6�A�K��A�"C�2��*C���=RC�C��C����B�a=I��GK>�u ��>9�q I�q i�q ��q ��q ��q ��u <�; �u �E�� � ���� ����� ����� p�� � �V:Y� �[1y� H�:�� �6)� ��;��'Tj,anQq�E�AY}2 ��@�}2ڴ�@y}2~����}2x(��}2H���� �п���@���?����&��?����c�����@�п����Z`�����^�}?�����c�����`��?)~2 ��@ ~2Cq];I~2��Cɫ9�9)�9 �9I�9Y�} �@y���xG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�å`e>�åף��å吾iå@�á ĥ��@)ġIġiĥ��@��9�M�A=Y�V�:QU��>������a��G������y��8�:}��>I������:���� 5�?����:��� >�� ���@����?9��+�A���k�: ��w�:)����:�W�WX X�W:W 2W *W�VUU���@�N @zL��L��L��L�q��@�A-����B) B)�A-�>*B-�L9�A1�A5��6�A5���A1"C=5��*C=�n�=RC=qc=C9�CA��]<|^=I�iG�Z>��PZj,�Ckq�E�A�|�|Y}>��@�}>���@y}>q뻙}>�3��}>H�������Ͽ���`���?����[^�?������������Ͽ����k!^�����n}?����c�����`���?)~>��@ ~>�|];I~<ɫa�a)�i �iI�iY����@y��*xG�xDUSBL response received:!U1,P 363,000,00435,189,80,80,6B,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 ���]�M�K=Y��89QU �>�����a�G����y�#`:}�>I�Q��U*� 5�?��U�@�� �U0@����?9�U��A��U��; �U�;)�Q�W1�W1X9 X9�W9:WA2W�*W��V�U�U�������@zL)�L)�L)�L-���@�A�=���B� B��A�1�>*B�tK9�A��A�k�6�A����A�"C�4��*C��]�=RC�Jd=C��C�Y�U�C9��]nA��Y��E ��c=I�Q Gm �>�� � ���� ����� ����� |�� � >S:Y� d\1y� ��:�� 6�9� @�[8aj,�q�E�AY}2Ѩ�@�}2���@y}2�&軙}2JX��}2H�����o�Ͽ�������?���@v_�?���������� =�п������_������}?����� �����@���?)~2Ѩ�@ ~2�F];I~2��CɫA�I)�I �U����I�QY����@y��DyG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��a=i�p= �I�M�A��]nA��Y���>9�I�i���������7�; ���E��-��=MeB=Y�m�y9QUu�>��q��q�au�G��y��yy�}��}��>Iȁ����:�ŅF� 5�?����:�Ņ�C�� ƅ�@����?9ƅ'�A�Džz�; ȅƾ;)ȅ��:�W��W�X� X��W�:W2W*W�VU)U-���`q@zLA�LA�LA�LE���@�A}�E�By By�A}��>*B}7R9�A��A��6�A���A�"C�3��*C��P�=RC��sc=C��C����I�G%n>�ggj,��q�E�AY}-G��@�}-��@y}-nG��}-I��}-H�����c(п����s��?���`��?���`]�����@M*п����q�]������(�?�����'�����`��?)~-G��@ ~-$];I~-��Cɫ � )� �����I�Y�M��@y�M�yGUxDUSBL response received:!U1,R,EF5,000,0043C,186,80,80,6A,FF ]Fpublishing direction and range info��U�n>��QɰU��=�U��> �Q)�U��BI�Qy�UQ�A��U�h��9�"�?u��n��?��������ٱQ�udNmea in: $SNTTA,0.274327,0.274333,,,164558.25*57 �����rh��|�?F����xɿ�~j�t��?�����=����K� ����<)��I��y�����Q��?i��|?5��������������(>����q������� ��)��EAI��i���������A��E�#���E7����E�D=i�E��@��A �En�@)�En�@I�E��@i�En�@��U.�<M]8=Y�]��QU]�>��a��a�ae�G��a��iy�m�Ż}m�>I�q��u�� 5�?��uLG�� �u�@����?9�u��A��ui< �ui<)�q�W1�W1X1 X1�WQ:WY2Wa*Wa�ViUiUm���`��@�R�(Combining 5 samples.�P�*Q�Q�A�Z��͓�Թ�:@M����o@���������Z��h��9�"�?u��n��?��������2Q��n>:Q��Z����v$�㿁�Φw�;�2������Z����{x�f����h�:M�O�BQ�d�@ Q�C��Q����P�U�9?�P��9?�P�K���Q�3���Q�!�@"Q���@zL-o3>�L-o3>�L-��@�L-E��@�AeGY�Bi Bi�Am��>*Bm\O9�Ai�A���6�A�V��A�"C�2��*C��=�=RC�0�Y=C��C����I��G��>�� ����� ����� ����� �� � �i:Y� �Y1y� �:�� {6���mj,��q�E�A�| i|"�@ɫ�髱)�� ������I��Y����@y���yG���+�M�m=Y����QU�?�����a��G����y����}�?Iȩ����:�ŭ�� 5�?����:�ŭJ�� ƭ�@����?9ƭ?�A�ǭ��: ȭ4�:)ȭ��:�m�uAdded new target pos. range: 27.539997 m, bearing: 268.716581 deg, deltaT: 4.460467 s, approachRate: 0.094161 m/s, LOS rate: 12.667149 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@=�;@U�����*3�?zL�L�L�L�A���ؼB� B��A���>*B��X9�A��A�\�6�A���A�"C�5��*C��1�=RC��Z=C�C ����=��gW=I�!G=Q>i�%mGI�Ii�a����E�ٺ�����9A����>9��I��i��������SD������E�; ���E��ttj,���q�E�AY}:{��@�}:5��@y}:� ��}:F��}:H���� �Dп�������?���`Oأ?�����������>Gп�����sW����@s[�?�����`���������?)~:{��@ ~:pL];I~:��Cɫ9�9)�9 �=����I�9Y�]��@y�]�yGI���=)���=)���= ���=��UQ8>��Uʡ=��U^�=i�U�@��Q �Q)�U��@I�Qi�Q��H�M�H=Y�ջ�QU��>�����a��G������y����}��>I� �� P� 5�?�� M�� � �@���?9� ��A�� Ǻ: � n�:)� �W9�W9X9 X9�WA:WA2WA*WA�VAUIUM�����U�?zLa�La�La�Le{��@�A}"мBy By�A�>�>*B�wQ9�A��A�"�6�A�%��A�"C�4��*C�G!�=RC��S=C��C����KY=I�1GeU>�� F���� ����� ����� ��� � ;b:Y� xZ1y� q�:�� �6���zj,�q�E�AY}2�z�@�}2p��@y}2�P��}2���}2H������Wп������?���@ȣ?���`�������Zп����z�I����@��?���`C:�����`���?)~2�z�@ ~2�];I~2��CɫY�Y)�Y �]����I�YY�� �@y���yG��5��<M=S=Y�=�QU=�>��A��A�aE�G��A��Ay�MwI�}M�>Iȡ�ť � 5�?�ť�P�� ƥ @����?9ƥ`�A�ǥM�: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL��L��L��L����@�Aa�ǼB B�A{�>*B�S9�A�A��6�A��A"C%3��*C%��=RC% �O=C)�C)i�1I�1��1��1��- lT=I�9 GU �>�o��j,�er�E�A�|�|Y}6�y�@�}6M��@y}6`/��}6;���}6H������Yп��� ��?�����]�?������������]п�����1Q?����p�?���@�������@"��?)~6�y�@ ~6�];I~6��Cɫ�髁)�� ������I��Y����@y��VyGܙ9ܙIܙiܙ�ܙ�ܙ�ܙ�ܝL�; ݝ�E)�y�I�y�i�y���}�=��}�=��}��y4��5�)>��5�p>��5��>i�5��@��1 �5��@)�1I�1i�5��@��EaۼMM:=Y�M�j�QUU�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a��m�:��ex� 5�?��u�:��e(T�� �e! @��u�?9�e��A��e��: �e4�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U�����=��?zL��L��L��L�O��@�A��:��B� B��A�w�>*B�9P9�A��A�T7�A���A�"C�2��*C�2��=RC�C��C���dO=I�G=P>��� ������ ������ ������ 1�� �� ��:Y�� �m1y�� �:��� h$6)�� �0<�9�����j,�J r�E�AY}v���@�}vW��@y}v��R��}v����}vH�����#п���@���?���ऽ�?���������� �(п����_uj?����(U�?���`!����������?)~v���@ ~vU];I~v��Cɫ�髱)�� ������I��Y��j�@y�� yG �Y�Y����bX9���?�MbX9Ŀ+���������E6>����!� ����)��I��y����/�$�?��~j�t��{�G�zt?���1>��������ף; ���A)���AI��lAi��+A������\A���mA���mA��מ�M N=Y����QU��>�����a��G����y�<}��>Iȡ�ť� 5�?�ť�V�� ƥW @����?9ƥn�A�ǥ��: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U����@�^�?zL�� >�L�� >�L�(�@�L��Ņ@�A�-��B B�A��>*B%P9�A�A�7�A���A!"C-5��*C-���=RC5;�\=C1�C1�� �L=I�!GMS>�܍j,�!:r�E�AY}J8��@�}J�@y}Ja�\��}Jy���}JH�����п����?��?���@�R�?����&�������п����͍m?������?�����4������}��?)~J8��@ ~J��\;I~Hɫq�y)�y �}����I�yY����@y��dyG��5|�<M5Y=Y�=�ۺQU=�>��9��A�aE�G��A��Ay�M#k;}M�>I�Q��]�:��U�� 5�?��]�:��UXY�� �U� @��]�?9�U��A��Us�: �U�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����Q�@zL��L��L��L��Ѕ@�A��E��B� B��A�)�>*B�CT9�A��A��7�A�� ��A�"C�4��*C�I�=RC���_=C��C� ������=����S^=I��G�$>ܑ9ܑIܕ�sGiܕ�@�ܕ=�ܑ�ܑ�ܕX�; ݕ�E�� � ���� ����� ����� I�� � �E:Y� d\1y� ��:�� �6)� �;��j,j�Sr�E�A�|(i|*�@Y}FM��@�}F��@y}Fba��}FKb��}FH������п��� ���?�����q�?��� ������@Hп�����Wo?���`,�?���`�J�����@h��?)~FM��@ ~F�];I~F��Cɫ�髙)�� ������I��Y��6�@y���xG������AA��e�m=��e����e�Q�i�e��@��a �a)�en�@I�en�@i�en�@��}��M}F=Y�}�:�QU}�>�����a��G����y�뾺}��>Iȑ�ŕy� 5�?�ŕ\�� ƕ� @����?9ƕI�A�Ǖ�: ȕ8�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� 6�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��˅@�A &���B B �A J�>*B�O9�A�A>7�A�!��A"C3��*CcЪ=RC��\=C!�C!��E<|^=I�QGm5>�g�j,��mr�E�AY}6}��@�}67��@y}6/�k��}6���}6H���� l/п���`���?���@���?������������5п������q?���`�p�?���`�v������;��?)~6}��@ ~6��\;I~4ɫA�A)�A �AI�AY�u��@y�uvyG}Z****** received transponder code query ******}F****** received ping request ******}<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��> ��>���6=M�S=Y�� ҺQU��>�������a��G������y��s�}�>I� ���:�� .� 5�?���:�� �^�� � � @���?9� ��A�� �; � Q;)� ��:�WA�WAXI XI�WI:WI2WQ*WQ�VQUQUU����Q�@zLq�Lq�Lq�Lu��@�A����B� B��A��>*B�S9�A��A��7�A�a"��A�"C�2��*C����=RC�J�W=C��C���]/Z=I�yG�=>�� d ���� ����� ����� ��� � 6P:Y� [1y� ݏ:�� ;6�9� @�b֡j,r�E�AY}B��@�}BБ�@y}B�v��}Bn���}BH���� pEп�������?����բ�?���������� �Kп�����Et?����QЎ?��� �O����� >��?)~B��@ ~B�];I~B��CɫY�a)�a �e����I�iY� ��@y� iyGxDUSBL response received:!U1,P EF5,000,0043C,186,80,80,6A,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 ��A��EmA�m��>9�iI�ii�i��m=��i��i��m|�; �m�E����>����=����=i����@��� ��)����@I����@i����@��C/�M!=Y�E���QUE�>��A��A�aM�G��I��Iy�UM2�}U�>I�Y��]'� 5�?��]!b�� �]; @��m�?9�]H�A��]); �]�);)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������% @zL!�L!�L!�L%u��@�A]P���BY BY�A]d�>*B]�L9�Aa�Ae7�Aeb#��Aa"Cm5��*Cu᪪=RCuK�R=C��C�Yϩ�֥ -tY=I�� G��>����j,ӈ�r�E�A�|�|Y}6ey�@�}6��@y}6�ق��}6���}6H����@ Zп���`v��?��� �E�?���������� aп������x?����[�?����������m��?)~6ey�@ ~6�'];I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�yG鮅p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����j�t��?{�G�z�?�~j�t��?���� >����#< ���D<)��I��y���㥛� ��?���Mb��y�&1�|?����>����@����`�; ��� A)��+AI��� Ai��A��������9�<Ms=Y� �7�QU ?�� ���a�G����y�-��}?I�!��-�:��%ڽ 5�?��-�:��%�d�� �%w @��5�?9�%��A��%��: �%�:)�%��:�WQ�WQXQ XQ�WY:WY2WY*WY�VYUaUe��� ��@zL}9>�L}9>�L}��@�L}ꛄ@�A�����B� B��A�f�>*B�nX9�A��A�X 7�A��#��A�"C�4��*C�r��=RC��YN=C��C���]��T=I�iG�[>�� � ���� ����� ����� 6�� � rE:Y� �X1y� /�:�� � 6��(�j,�c�r�E�AY}2�r�@�}2���@y}2�=���}2^���}2H���� �fп�������?���@�*�?���`I����� �mп���@D�{?������?�����������t��?)~2�r�@ ~2,g];I~0ɫ9�9)�9 �=����I�9Y�}��@y�};yG�xDUSBL response received:!U1,R,F0F,000,00443,186,80,80,6E,FF �Fpublishing direction and range info���\W>���ɰ���=鰁 ��)����BI��y����A�����%l�~K�?Z��vѸ�?��������ٱ��¥nA�¥nA��1�M�c=Y�9�QU��>�����a��G������y��x�}��>I�����X� 5�?���'g�� ��� @����?9�� �A���8�: ����:)���W��WX X�W:W2W*W �V U U ��� nL@�R(Combining 5 samples.�P!*Q%��A�Z%���1X;@�R*Y@���������Z%��%l�~K�?Z��vѸ�?��������2Q%\W>:Q!�Z%��Ue���������;��X�&9�?�Z%�,���f��4�bz��ᅯ��|Ł?BQ%q:�@ Q%g��Q%N���P%R�9?�P%U�9?�P%L���Q%K���Q%V�@"Q%!�@zLA�LA�LA�LE(��@�A]����BY Ba�Ae�>*Be�S9�Aa�Ae� 7�Ae�$��Aa"Cm3��*Cu���=RCu4�K=Cq�Cq��m�XM=I�qG�>�99�=l�CI�9i�9��9��9��9��=��; �=�E���j,�?�r�E�AY}Jmu�@�}J'��@y}JH����}J~$��}JH������aп���`A��?�������?������������iп������?��� 6�?�����⢿����!��?)~Jmu�@ ~J�];I~J��Cɫ�髹)�� ������I��Y����@y��[yG�=DNmea in: $SNTTA,,,,,164602.71*5F �Ý;߽�Ý�}=�Ýj<�iÝ��@�Ù ĝ^�@)ĝO�@IĝO�@iĝO�@����;M�;=Y�N-�QU��>�����a��G����y��p7:}��>I�����P� 5�?���Rj�� �� @����?9����A�����: ����:)���muAdded new target pos. range: 27.959997 m, bearing: 267.192219 deg, deltaT: 4.327113 s, approachRate: 0.097062 m/s, LOS rate: -0.352281 deg/s, posRepo size: 4�W �W X X �W :W�2W�*W��V�U����`��;@U�����%��?zL��L��L��L����@�A�����B B �A ��>*B �O9�A �A7�An%��A"C2��*C�y�=RC�nM=C�C!��E<�H=I�QGuX>�� ���� �� �� �� � �I:Y� y� �� 46��:�j,r�r�E�A�|i|�@Y}>6|�@�}>���@y}>����}>�Y��}>H�����fTп�������?����:�?����[������m]п����ud�?�����A�?����#i�����@���?)~>6|�@ ~>_�];I~>��CɫY�Y)�Y �]����I�YY����@y��.xG��u왽MuN=Y�}�(�QU}�>��y���a��G����y��;}��>Iȑ����:�ŕ�� 5�?����:�ŕ5m�� ƕU@����?9ƕ&�A�Ǖ��: ȕ�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`Y��?zL��L��L��L����@�A�B B�Al�>*B�O9�A �A : 7�A &��A "C5��*C�i�=RC�NP=C�C��E?BI=I�QGm5>���}�>���ʕCi���lGI�i�)��#�j,�s�E�A��Wf�ٺ��MXA��9��I��$tGi��o�@������������{�; ���Eɫ���)�� ��I��Y� |�@y� yGI�i)�i)Å�= Å�=��]=M�8=Y����QU��>�����a��G����y�����}��>I�)��-c� 5�?��-�p�� �-�@��5�?9�-��A��- �: �-��:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm����T��?zL��L��L��L��A�C��B� B��A���>*B�/O9�A��A��7�A��&��A�"C�4��*C�nV�=RC���O=C��C�i̹I̹�̹�̹�օ �Q=��� |����� ������ ������ ��� �� �z:Y�� �W1y�� č:��� 6)�� �;�9� �I� Gu�>��M�j,(�"s�E�AY}2<��@�}2���@y}2�+���}2����}2H����`�Bп�������?����H��?������������Lп��� �>�?��� E�?��� >�������b��?)~2<��@ ~2�];I~2��Cɫ9�9)�9 �=����I�9Y�} �@y�}�xG��m�j�t��?�������?����������mĠ>��m��> �m�L�)�iI�iy�m�333333�?���Mb��{�G�zt?��m�>��i��mף; �m�A)�m�AI�m�Ai�m�A��i��m�A��i�M�_=Y��J*�QU�>�����a�G���� y�?=;}�>I���%�:��̯ 5�?��%�:��Is�� ��@��%�?9�+�A��V�: �s�:)���:�WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]������?zLu!>�Lu!>�LugX�@�Lu6�@�A��s��B� B��A���>*B��Q9�A��A��7�A�w'��A�"C�3��*C�'G�=RC���S=C��C���}dO=I��G�=>�:w�j,u�<s�E�A�|�|Y}6��@�}6Վ�@y}6Vۨ��}6�,��}6H������Jп�������?������?��� R����� Uп�����?�����?����M�������N��?)~6��@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y��:�@y���xG��U~r<MUN=Y�]��QU]�>��a��a�ae�G��a��ay�m}m�>I�q��u� 5�?��u'v�� �u$@��}�?9�u��A��uw�: �ub�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� MN�@zL��L��L��L��߄@�A�9 ��B� B��A���>*B��Q9�A��A�7�A�(��A�"Cu2��*Cuv6�=RCu�*Q=Cq�Cy�֝XR=I��G�A>��9��I���sGi���@��������������; ���E)�m�l�CI�m�l�Ci�i���m�=��m�=��m�s�4Iޡ )ޡ �� b ���� ����� ����� C�� � P:Y� xZ1y� q�:�� � 6)� ��;��a�j,�Vs�E�AY}:�{�@�}:a��@y}:ב���}:�U��}:H�����BUп��� c��?�����S�?������������_п���`�ֆ?������?����n(������a��?)~:�{�@ ~: E^;I~:��CɫQ�Q)�Q �]����I�YY���@y���xG��A��EmA���7�����7�����/]=i��p�@��� ��@)��@I����@i��@������M�B=Y�����QU��>�������a��G������y���κ}��>I�����:���%� 5�?���:���Ny�� ��i@���?9��.�A�����: ����:)����:�W)�W)X) X)�W):W12W1*W1�V1U1U=����C�@zLQ�LQ�LQ�LUڄ@�AmC䅼Bi Bi�Au �>*Bu!O9�Aq�Aug7�Au�(��Aq"C}5��*C}&%�=RC�(�N=C��C� ��=���=���I�G%M>�!��j,Rbps�E�Aɫ)�1)�1 �5����I�1Y�mP�@y�m�xG��q��u@A����<M�?=Y����QU��>�����a��G����y����}��>I������ 5�?����|�� ���@����?9����A���2; ���;)���W��W�X� X��W�:W�2W�*W��V�U�U������X@�R�B*** querying acoustic contact ***�P��P�zL!�L!�L!�L!�A5ك�B9 B9�A=�>*B=�N9�A9�A��7�A�)��A�"C�4��*C��=RC���N=C��C��֝�3J=I��G��>�� � ���� ����� ����� ��� � �B:Y� d\1y� ��:�� {�5�9� @�(s�j,|F�s�E�A�|Hi|J�@Y}v�q�@�}v}�@y}v����}va#��}vH�����Ehп����0��?�����ۤ?���@�����@�sп�������?����� �?��� .����������?)~v�q�@ ~vC�^;I~v��C �|)�~�rAɑ|��|���ɒ�pAi�I��� I� i� rA � � )� � �����QɓQ��Y��YI�Y)�Yi�Y)�aI�a�aɔa �aɕi�m�qA��ii�i��i��y��y܁9܁I܁i܁�܁�܁�܁�܅��; ݅#�EɫQ�Q)�Q �U����I�QY�]$�@y�]�xGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******����r>���$������i����@��� ��n�@)��n�@I��n�@i��n�@���V�M�E=Y��x6�QU��>�������a��G�����y�%e=�}-�>I�)��5�:��--� 5�?��=�:��-��� �-�@��=�?9�->�A��-=�: �-I�:)�-��:�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL!�L!�L!�L%�τ@�A=�8��BY BY�A]"�>*Be�P9�Aa�Ae7�Ae!*��Aa"Cm3��*Cm���=RCm=GJ=Cq�CqY�u�C9�֍ \J=I�� G �>��� i�� p=�0��j,��s�E�AY}6�l�@�}6<z�@y}6IN���}6����}6H�����brп�������?��� ��?����������@�}п���`�v�?���@A��?�����x���������?)~6�l�@ ~6��];I~6��Cɫ�髩)�� ������I��Y����@y��rxG�xDUSBL response received:!U1,P F0F,000,00443,186,80,80,6E,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 ��5���n���?L7�A`尿��~j�t�?��5V>��5+�� �5�=)�1I�1y�5�H�z�G�?�E���Ը��~j�t�x?��5= >��5�ƽ��5��; �5�A)�5�AI�1i�1��1��5�A)í�= í�=���`�M�1=Y�c�QU��>������a��G������y�� ��}��>I�����1� 5�?���c��� ��S @��%�?9����A�����; ��4�;)���Wq�WqXq X��W�:W�2W�*W��V�U�U������S@zLmU*>�LmU*>�Lm��@�LmEu@�A����B� B��A��>*B��L9�A��A�u7�A��*��A�"C2��*C��=RC<PH=C�C!Y� �� mA�� ��� � ����� ������ ������ ��� �� �A:Y�� �V1y�� �:��� ��5��� B�J=I� G5�>���j,�s�E�AY}26m�@�}2�z�@y}2?!���}2����}2H������pп��� ���?������?����������`�|п������?������?��� ������`��?)~26m�@ ~2�];I~2��Cɫ�髙)�� ��I��Y��n�@y�� yG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��QM=M��=Y�]��QU�?�������a��G������y����9}�?I������ 5�?���-��� ��� @����?9��B�A�����: ��:)���W�WX X �W :W 2W *W�VUU����I@zL1�L1�L1�L59u@�AE�p�BI BI�AMá>*BM�[9�AQ�AU�7�AUG+��AQ"C]5��*C]�ީ=RC]a�H=CY�Ca�օ<�H=I��G�G>�y9�yI�yi�y��y��y��y��}��; �}$�E���j,���s�E�A�|4<�|Y}6�o�@�}6s}�@y}6�P���}6����}6H����@ lп���@5��?��� ���?����`�����@9xп�����Ҋ?��� � �?����������� ��?)~6�o�@ ~6�:];I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�xG���d�>����ʽ������i����@��� ����@)����@I����@i����@����M�X=Y���ȹQU��>�������a��G������y�NT:}�>I� ���:�� ܗ 5�?���:�� k��� � � @���?9� ��A�� ��: � ��:)� ��:�W9�W9X9 X9�WA:WA2WA*WA�VAUIUM���� �@zLa�La�La�Le#u@�A}��~�By By�A���>*B�R9�A��A��7�A��+��A�"C�4��*C��ͩ=RC 2�I=C�C����G=I�G-->��� � ����� ������ ������ �� �� �A:Y�� 0Y1y�� ��:��� �6����j, ��s�E�AY}j,t�@�}j灎@y}jg����}j*���}jH������cп����A��?������?���@}�������oп������?��� �4�?��� �7���������?)~j,t�@ ~j�[];I~j��Cɫ)�))�) �-����I�)Y�m�@y�m�xG�}DNmea in: $SNTTA,,,,,164607.15*58 ���mA���nA���\0�M�"=Y��䫹QU�>���� �a �G�� �� y�X�:}�>I���l� 5�?��i��� �L@��%�?9�m�A��a�: ���:)��WI�WIXI XI�WI:WI2WQ*WQ�VQUQU]�����@zLq�Lq�Lq�Lu,u@�A�?}�B� B��A���>*B��L9�A��A�-7�A��,��A�"C�3��*C��=RC�YK=C��C� յ�=�Ե�=�֕�J=I��G��>���j,��t�E�AY}:�|�@�}:���@y}:�����}:g���}:H����@�Rп�������?����E��?���������� �^п��� �Q�?����#9�?����K����� ��?)~:�|�@ ~:u];I~:��Ci�F�C��D)�D �DI�D �H)�HɖJ���H�H��LɗLi�LI�L��LI�Pi�P �P�P)�P�T �V�qA��T��TɘT��X��Z�pAI�Z�@�)�Xi�X)�\I�\�\ə\ �\ɚ`�`��bף�i�`��`�����<�!9�!I�!i�!��%=��!��!��%��; 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�f-�E)�Y�I�Y�i�Y���]�=��]�=��]�I5ɫY�Y)�Y �]����I�YY����@y��xG�xDUSBL response received:!U1,N,80,80,63,E4 3,186,80,80,6E,FF �ZNo reply:!U1,N,80,80,63,E4 3,186,80,80,6E,FF -�<No response from remote modem. ������%j<���%�Խ��%�D�i�%�@��! �!)�!I�%��@i�%��@��5"X�M=C=Y�=�:QU=�>��A��A�aE�G��A��Ay�M�^:}M�>I�Q��]�:��U~ 5�?��]�:��U���� �US@��e�?9�U;�A��U��: �U��:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U���� w%@zL��L��L��L�tY~@�A}㒀�B� B��A�W�>*B��M9�A��A��!7�A�70��A�"C�5��*C�YV�=RC���T=C��C��֙I��G�A>�_7)j,맦t�E�AY}2ב�@�}2���@y}2�ٻ��}2��}2H����@4*п����n��?����2�?���`*�����`H6п����ZP�?��� �z�?���`"ߣ��������?)~2ב�@ ~2y/];I~0ɫ9�9)�9 �=����I�9Y����@y��wxG��e�H�z�G�?<�O��n������������e=�>��et�� �e���)�aI�ay�e��������?T㥛� ������Mbp?��e��>��e����e�; �elA)�eEAI�e1Ai�a��a��e�A��}�<M}F=Y�i�9QU��>�����a��G����y�n�:}��>Iș�ŝ�z 5�?�ŝ��� Ɲ�@����?9Ɲ��A�ǝ: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����@u�@zL�e>�L�e>�L�{�@�L�j@�A ����B� B��A� �>*B��Q9�A��A��"7�A��0��A�"C�4��*C�cF�=RC�ރV=C��C�Yϡ�֑I��G��>��� A ����� ������ ������ ��� �� kM:Y�� �W1y�� č:��� 26��0j,^��t�E�A�|i|�@ɫ�髙)�� ��I��Y����@y��xG��OǼMQ=Y����QU�>�����a�G����!y�%���}-�>I�)��5�:��-�w 5�?��=�:��-e��� �-�@��=�?9�-!�A��-��: �-�:)�-��:�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm���@. @zL��L��L��L��A�>��B� B��A�D�>*B�SP9�A��A�$7�A�o1��A�"C�3��*C��7�=RC��#V=C��C�Y��C9��1��1��9��I��i����������������; ��0�E��%gW=I�1GMt>��� i�� �=�ZI6j,^�t�E�AY}2���@�}2���@y}2����}2���}2H����@�7п���@���?�����V�?���������� <Bп����-�?����C��?����L����� ���?)~2���@ ~2�+];I~0ɫ9�9)�9 �9I�AY�]��@y�e�wG�aɮep=)�}�= �y�����=���+=������i����� ����@)��I��n�@i����@�����M�N=Y���;QU��>�������a��G������y�� �}��>I������t 5�?������� ��@���?9����A�����: ����:)���W!�W!X! X!�W!:W)2W)*W)�V)U1U5������ @�R=B*** querying acoustic contact ***�P9�P9zLQ�LQ�LQ�LU�Z@�Ae��Bi Bi�Am��>*Bm�O9�Ai�Au6%7�Au2��Aq"C}2��*C}_'�=RC}��R=Cy�C�Yρ��}`�T=I��G�^>��� ]����� ������ ������ ��� �� d:Y�� �X1y�� /�:��� F6��s<j,�9�t�E�AY}2���@�}2B��@y}2����}2����}2H���� e:п�������?����,ܣ?���@F�������Dп��� ?&�?���@-@�?������������7��?)~2���@ ~2q];I~2��Cɫ9�9)�9 �=����I�AY����@y��xG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��%z;M%F=Y�%:QU-�>��)��1�a5�G��1��9y�E,�}E�>I�I��]�:��M|q 5�?��]�:��M0��� �ME@��e�?9�M �A��M�-; �Mn?;)�M��:�W��W�X� X��W�:W�2W�*W��V�U�U���� H�!@zL��L��L��L�tW@�A� І�B� B��A��>*B��N9�A��A�s&7�A��2��A�"C�5��*C�+�=RC�fuR=C��C�Y���C9�ֽXR=I��G�f>�H[Cj,u�E�A�|�;�|��0��0�49�4I�4i�4��4��4��4��6��; �67�EY}J���@�}JM��@y}JC ���}J�6��}JH���� �Cп����x��?������?���` ������cNп��� |��?����� �?�����䡿������?)~J���@ ~J.#];I~HɫY�Y)�Y �]����I�YY�}g�@y�}�wG�xDUSBL response received:!U1,P 80,80,63,E4 3,186,80,80,6E,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 �ý��>�ýX��ýv��iý3�@�ù Ľn�@)Ľ@IĹiĽn�@���>�M/=Y�5��9QU=�>��A��q�au�G��q��y�R��}��>Iȱ�ŵ�m 5�?�ŵ��� Ƶ�@����?9Ƶ��A�ǵ��: ȵn�:)ȱ�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu���`�"@zL��L��L��L��M@�A��Ԉ�B� B��A�T�>*B�YK9�A��A��'7�A��3��A�"C%4��*C%d�=RC-.'P=C)�C)Y�u�C9 թ�ԭ�=�֥ �Q=I�� ��� p ����� ��� ��� ��� �� �<:Y�� y�� ��� ��5)�� N�;�9� �G� �>�]�Ij,�'u�E�Aɫy�y)�y �}����I�yY����@y��xG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��%nA��%mA��yx<M�e=Y����QU��>�����a��G����y����}�?Iȱ����:�ŵk 5�?����:�ŵ��� Ƶ�@����?9Ƶ��A�ǵ�: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����0r#@zL�L�L�L�A%����B! B!�A-�>*B-pT9�A)�A-�(7�A-4��A1"C53��*C=d��=RC=�NP=C9�C9��AI�QGu6>�4mPj,�Au�E�AY}2T��@�}2��@y}2w��}2> ��}2H�����@Lп������?�����?�����������Vп����.�?�����z�?��� Q�����`���?)~2T��@ ~2g];I~2��Cɫ�髹)�� ������I��Y����@y��xG�xDUSBL response received:!U1,R,EC1,000,0045F,187,80,80,5D,FF �Fpublishing direction and range info���Ӈ�>���ɰ�V�=��1�> ��)����BI��y���A����"C�����?�T�K��?��������ٱ���5Z�:M=Q=Y�=P�:QU=�>��A��A�aE�G��A��Iy�Md��}M�>I�Q��Uh 5�?��UW��� �U�@��]�?9�Ud�A��Uw�: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�UM��� �F$@�R](Combining 5 samples.�Pa*Qe�A�Ze��F��<@��֒@J @���������Ze�"C�����?�T�K��?��������2QeӇ�>:Qa�Ze� x����?r���=�m������?�Ze����ua�?}I�������i�K�?BQe�t�@ Qe��Qe}?�PeU�9?�PeR�9?�PeQ���QeL���Qe��@"QeV�@zLa�La�La�Le2H@�A�{:��B� B��A�W�>*B��M9�A��A�!*7�A��4��A�"C�2��*C �=RC�0N=C�C ܉9܉I܉i܉�܉�܉�܉�܍��; ݍ2�E��I�!G=r>��� � ����� ������ ������ ��� �� ZV:Y�� �W1y�� č:��� �5)�� k�;���Vj,�[u�E�A�|(i|(Y}M|��@�}M7��@y}M�����}M�4!��}MH�����MBп����I��?�����,�?����k�������Lп����k��?��� �3�?��� $���������?)~M|��@ ~M5�\;I~I �]�C)�]�pAɂ]�����e^hF�a��aɃe�pAi�e什I�m�WF��iI�ii�m�pA �m�Խ�m�VF)�q�u&�C �u�rA����D����Ʉ����3�C���qAI��)��i��)����CI����Ʌ� ��Ɇ���C��qA���i�����i����C���)�� ��I��ɫ�髱)�� ������I��Y��T�@y���wG�UDNmea in: $SNTTA,,,,,164612.79*56 �õ7�=�õ��>�õj��iõ�@�ñ ĵ �@)ĵO�@IıiĵO�@������M�4=Y���:QU��>�������a��G������y��5�:}��>I�����|d 5�?������ ��:@����?9����A�����: ����:)���muAdded new target pos. range: 29.639999 m, bearing: 271.181787 deg, deltaT: 10.140798 s, approachRate: 0.165668 m/s, LOS rate: 0.393418 deg/s, posRepo size: 4�W�W!X! X!�W!:W!2W)*W)�V)U-����ף=@U-������?zLI�LI�LI�LM�R@�Aen���Ba Bi�Am,�>*BmNO9�Ai�AmK+7�Am�5��Aq"Cu5��*C}�Ш=RC}3�P=Cy�Cy�ԍnA�ԍnA��}�;O=I��G�^>���\j,��uu�E�AY}:���@�}:\��@y}:�2���}:����}:H������,п���@���?���@=p�?����Y�����`�6п����#��?���`���?�����y������l��?)~:���@ ~:�];I~:��Cɫ�髙)�� ������I��Y�5��@y�=xG)í�= í�=����<M�Y=Y����:QU��>�������a��G�����y��l;} �>I����:���a 5�?���:��@��� �q@���?9�R�A����: ��:)���:�W9�WAXA XA�WA:WA2WA*WI�VIUIUM���`d��?zLi�Li�Li�Lm�h@�A��푼B� B��A�>*B�P9�A�A|,7�A;6��A"C-4��*C-9��=RC5�xU=C1�C1��=T�P=I�IGeV>������ЕCi�E HmGI�} fpAi�� ��] �T�ٺ] fpA��] �GA��� ������ ��� ��� ��� �� ��:Y�� y�� ��� �6�9� @��]mA��Y�a9�aI�e�rGi�e{�@��a��a��a��e��; �e"�E�|�cj,4��u�E�AY}2ߕ�@�}2���@y}2�����}2 ��}2H������"п������?�����H�?��� ��������+п������?�����ޓ?�����^������.��?)~2ߕ�@ ~2�\;I~2��Cɫ�髙)�� ������I��Y����@y���wG�Õ�F>�ÕC=�ÕQ�=iÕ3�@�Ñ ĕٮ@)đIđiĕn�@����M�M=Y�'�:QU��>�����a��G����y�b�:}��>I�����t^ 5�?������� ���@����?9����A���D�: ���:)���W��W�X� X��W�:W�2W�*W��V�UU����D�?zL�L�L�Lr@�A5e!��B1 B1�A=��>*B=�P9�A9�A=�-7�A=�6��A9"CE3��*CE]��=RCM� W=CI�CQi�YI�Y��Y��Y��M "N=I�Q Gu �>��ij,�w�u�E�A�|�|p;Y}6h��@�}6#��@y}6隼�}6�w��}6H������п��� B��?���ப�?������������"п������?�����\�?���`C͡��������?)~6h��@ ~6u];I~4ɫy�y)�y �yI�yY����@y��exGaim@a��m amm@a��m aqm@a��m aem@a��m ����<M�I=Y����:QU��>�������a��G������y����:}��>I������:���K[ 5�?����:������ ���@����?9���B�����: ����>)����:�W �W X X �W :W 2W*W�VUU�������?�AE�Y��BA BA�AE3�>*BE;Q9�AI�AM�.7�AM�7��AI"CU2��*CU���=RCU�X=CY�CY�օgW=I��G�?>�� ���� ����� ����� 1�� � �I:Y� �[1y� H�:�� �6��pj,�S�u�E�AY}2���@�}2j��@y}2;���}2���}2H�����tп����^��?���@���?�����������!п���@�-�?����'�?�����������`���?)~2���@ ~2�];I~2��CɫY�Y)�Y �]����I�YY��I�@y���wG�� �� ��EKH�MER=Y�M :QUM�>��Q��Q�aU�G��Q��Yy�][�8}e�>I�a��eEX 5�?��eP��� �e@��u�?9�eT�B��e�(; �ebL?)�a�W��W�X� X��W�:W�2W�*W��V�U�U������@�A ����B) B)�A-z�>*B-N9�A)�A507�A5k8��A1"C=5��*C=푨=RC=�fX=C9�CA��9��I���rGi��*�@���=�����������; ���E)�y�I�y�i�y���}�=��}�=��}�<�4�֝-tY=I��G�b>�!�vj,�.�u�E�AY}:v��@�}:1��@y}: ����}:�d��}:H�����4п��� ���?���`_�?����(������yп����r��?�����R�?���@˪������=��?)~:v��@ ~:];I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}owG��U�M>��U.>��U/�<i�UG�@��Q �UO�@)�QI�UO�@i�UO�@��ebY�MmH=Y�m;QUm�>��q��q�au�G��q��yy�}0�:}}�>Iȁ�ŅU 5�?�Ņ���� ƅR@����?9ƅ��B�DžS�: ȅR�?)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������C@�A�̚��B� B��A���>*B��O9�A��A�:17�A�9��A�"C4��*C ��=RC�Z=C�C ������!I�1GM1>�� 5 ���� ����� ����� ��� � 8:Y� �X1y� /�:�� +6�F}j,� �u�E�A�|i|Y}:���@�}:M��@y}:1���}:����}:H�����9п������?��� q�?����������Wп������}?�����ő?�����x���������?)~:���@ ~:1];I~:��Cɫy�y)�y �}����I��Y����@y���vG��ɮ����f,�M�S=Y��W�:QU��>�������a��G������y��Ā:}��>I�����R 5�?������ ���@���?9����B����: ����?)���W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P��A��h��B B�A^�>*BXL9�A�AQ27�A�9��A "C3��*C�t�=RC�[=C�C��%��Y=I�1G]2>�ޥ =iޥ p=�������<��9��I��i�����=�����������; ���E��j,��v�E�AY}28��@�}2�@y}2!S���}2�6��}2H����`п�������?��� 67�?�����������п���@,�|?����+��?����⤣��������?)~28��@ ~2 ];I~2��CɫA�I)�I �M����I�IY�} �@y�}swG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)���= ��>��=�A>��=94=��=�@�i�=��@��9 �=��@)�=n�@I�=@i�=n�@��M�#=MMC=Y�M�:QUU�>��Q��Q�a]�G��Y��Yy�e�J:}e�>I�i��M�:��m�N 5�?��M�:��m}��� �m�@��U�?9�mB��m#�< �mp@)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U�����,� @�A +��"B xĸB B�A�>*BSM9�A�A�37�A�:��A"C2��*C%Hd�=RC%�\=C!�C!��%5�[=I�QG�[>�� C ���� �� �� ~�� � *9:Y� y� �� ��5)� 4�;�9� ��d1�j,��*v�E�AY}6���@�}6C��@y}64y���}6�(��}6H�����sп��� ���?���@?�?��� �������[п�����W|?���@�n�?��� /������`���?)~6���@ ~6��\;I~6��CɫY�Y)�Y �]����I�YY��7�@y���wG�xDUSBL response received:!U1,P EC1,000,0045F,187,80,80,5D,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ai��ai� am��am� aq��aq� ae��ae� ����V-��?��(\�µ�{�G�z�?����m>����� ��ף<)��I��y����/�$�?�� �rh���~j�t�x?���1>���C������; ��� A)��+AI���Ai��+A������\A��U��;MU"=Y�]kX9QU]�>�����a��G����y�d-�}��>Iȑ�ŕ L 5�?�ŕ���� ƕ@����?9ƕIB�Ǖ��; ȕE�;)ȑ�W�WX X�W:W 2W *W �V UU������ @zL��>�L��>�L�� �@�L����@�A=̟�B9 B9�A=R�>*BEfK9�AI�AM�47�AM�;��AQ"C}5��*C�Q�=RC��a[=C��C�Yϥ F9�Խ ���Խ �� ս ���Խ ��I�Y G} �>�/��j,��Fv�E�A�|�|�;Y}B���@�}Bx��@y}Bű���}B�G��}BH�����-п����O��?�����٤?��������� п����x�|?��� v�?���@G���������?)~B���@ ~B3'];I~B��Cɫ�髙)�� ������I��Y����@y���vG������AA�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��%Y���%j����%�!�i�%Q�@��! �%9�@)�%9�@I�%9�@i�%9�@��5&[�M5\=Y�=-��QU=�>��9��A�aE�G��A��Iy�M@:}M�>I�Q��]�:��U�I 5�?��]�:��Ui��� �UL@��]�?9�U|B��U��: �U�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �Y@zL��L��L��L����@�A�JO��B� B��A�#�>*B��O9�A��A��57�A�Q<��A�"C�4��*C�E�=RC��Z\=C��C��i9�iI�m0rGi�m��@��m=��i��i��m��; �m*�EI��G'>��� ! ����� ��� ��� ��� � t6:Y� y� �� E�5)� ݒ;��ϗj,�`v�E�AY}2⤖@�}2���@y}2?\���}2���}2H����@�п����a��?�����l�?��� ������ � п������}?����Pk�?�����ע�����C��?)~2⤖@ ~2�w];I~0ɫY�Y)�Y �]����I�YY�}F�@y�}gvG�xDUSBL response received:!U1,R,302,000,00459,188,80,80,45,FF �Fpublishing direction and range info���,����ɰ�Z�=鰅��> ��)����BI��y��=�A�������? �?�5cԣ����������ٱ��©�©��<ܼM�h=Y��8QU��>�����a��G������y�� ��}��>I�����H 5�?������� ���@����?9���B���I�; ����;)���W9�WAXA XA�WA:WA2WA*WI�VIUIUM������@�R}(Combining 5 samples.�P�*Q�=�A�Z��H.�6@q?�+:2����������Z�����? �?�5cԣ����������2Q�,�:Q��Z��T`�^^7���|��1��9&��?�Z���; ����vN�>�m'���?BQ�?dr@ Q����Q����P��9?�P�U�9?�P�=���Q�Q���Q�6�@"Q���@zL��L��L��L�W��@�A�̓��B� B��A��~>*B��L9�A��A��67�A�=��A�"C�3��*C�7�=RC���[=C��CI�YG}�=����j,L�zv�E�AY}R\��@�}R��@y}R����}R����}RH������п���`���?����*�?��������� ?п����q}?����[@�?�����������n��?)~R\��@ ~R�];I~Pɫq�y)�y �}����I�yY����@y��&wG�eTNmea in: $SNTTA,0.038859,,,,164617.25*4B ���1=M�;=Y���9QU��>�����a��G�����y����}��>I������E 5�?������� ���@����?9���B���'�: ��4�:)���m }Added new target pos. range: 29.280003 m, bearing: 217.000233 deg, deltaT: 4.455470 s, approachRate: -0.080799 m/s, LOS rate: -12.160682 deg/s, posRepo size: 4�W �W X X �W:W2W*W�VU���@�G=@U����$�?zL9�L9�L9�L=���@�AUdF��BQ BQ�AU��>*BUGM9�AY�A]�77�A]�=��AY"Ce2��*Ce@'�=RCe�Z=Ca�CiI��G(>�� ? ���� ����� ����� ��� � �8:Y� �Y1y� �:�� ��5�9 @��a ��e nA�i 9�i I�m �qGi�m ��@��i ��i ��i ��m ��; �m #�E�+�j,�{�v�E�A�|i|Y}6���@�}6���@y}6^����}6t���}6H�����п����=��?�����E�?�����������п����^s|?�����?����Q�������`��?)~6���@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y�]�@y�]owG��?�>������H=i�G�@�� �O�@)�O�@I�O�@i�O�@��%��<M-T=Y�-��9QU-�>��1��1�a5�G��1��9y�=$ߺ}=�>I�A��M�:��EsC 5�?��M�:��E^��� �E@��U�?9�E!B��Eb�: �E{�:)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U�����a�?zLA�LA�LA�LEa��@�A��㣼B� B��A���>*B��N9�A��A�97�A��>��A�"C�5��*C�R�=RC���W=C��C�9���ֵ�7`=I��G��>��j,�U�v�E�Aɫy�y)�y �}����I�yY����@y���vG�������Mb�?�p= ף�?����Mb�������>����= ���)��I��y���㥛� ��?�p= ף����~j�t�?����>����������< �A)EAI�Ai�A������3A)���= ��>����%�M�@=Y�U���QUU�>��Q��Q�a]�G��Y��Yy�e���}e�>I�a��e�? 5�?��ew��� �e�@��u�?9�eiB��e�: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��$>�L��$>�L����@�L�<]�@�A��r��B� B��A��>*B�]L9�A��A�6:7�A�}?��A�"C�4��*C���=RC���W=C��C�i��I��������9ԭ�:��% �����% �����% �����% b�� �% &2:Y�% 0Y1y�% ��:��% ��5�֥ h�W=I�� G� �>����j,5�v�E�Ai�Z�mGI�ti���m4\�ٺi��u�NAY}���@�}�ר�@y}�����}�<���}�H������п���`���?��� ?���`�������. п���@�)z?�������?����W3����� $��?)~���@ ~�4];I~���Cɫ�髱)�� ������I��Y����@y���vG���@���@���@�9�I�hqGi�6�@����������; ��E��-��;M-6=Y�-H:QU5�>��1��1�a5�G��1��9y�=b�}=�>I�A��M�:��E,< 5�?��U�:��E���� �EW@��U�?9�E�B��E�: �EV�:)�E��:�Wq�WqXy Xy�Wy:Wy2Wy*W��V�U�U��������?zL��L��L��L�s]�@�A��Ӥ�B� B��A���>*B� L9�A��A�Y;7�A�X@��A�"C�3��*C����=RC��JW=C��C�9�])�9��M�@W=I�YGu�>���j,��v�E�A�|�|Y}6���@�}6Z��@y}6����}6����}6H������п��� ���?����R[�?���@$����� Qп���@�d{?�����ސ?����?ע�����V��?)~6���@ ~64J];I~4ɫ9�9)�9 �=����I�9Y�}��@y�}�uG��=璽M=p=Y�=鰹QUE?��A��A�aE�G��A��Iy�M:l:}M?I�Q��UW9 5�?��U���� �U�@��e�?9�U�B��U��: �UǺ:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����`g.�@zL��L��L��L�7_�@�A�_��B� B��A�r>*B�M9�A��A�C<7�A�A��A�"C�2��*C���=RC��mX=C��C����=����=9�-\,8��1��1 �1��1I��G��>��e �����e �����e �����e ��� �e �-:Y�e �Y1y�e �:��e |�5�3H�j,6��v�E�AY}2B��@�}2���@y}2����}2���}2H������п����7��?����V �?�����������п�����,|?������?���`����������?)~2B��@ ~2�M];I~0ɫY�Y)�Y �]����I�YY���@y��vG�� �� nA��5w7<M=J=Y�=�K�QU=�>��A��A�aE�G��A��Iy�M�:}M�>I�Q��]�:��U�5 5�?��]�:��U���� �Uy@��e�?9�U)B��U�: �Uk�:)�U��:�W�WX X�W:W2W*W�VU!U%���ཎ@zLA�LA�LA�LE3`�@�A]�2��BY BY�A]�v>*B]4J9�Aa�AeM=7�Ae�A��Aa"Cm5��*Cm�٧=RCmY�X=Cq�Cq9�M�øI�YG}>�� �� �<� 9� I� i� �� �� �� �� ��; � #�E)ݡ�Iݡ�iݡ��ݥ�=�ݥ�=�ݥ���4�0�j,e�w�E�AY}6���@�}6g��@y}6�?���}6kB��}6H����@�п���`���?������?�����������п������{?���`�ǐ?�����f�����@���?)~6���@ ~6]F];I~4ɫY�Y)�Y �]����I�YY����@y���uG鮥p=ɮ�=�����������`�<�����t<i� �@�� ��@)��@I��@i��@���K�MM=Y�%�9QU�>����!�a%�G��!��!y�-O�}-�>I�1��5�2 5�?��5���� �5@��=�?9�5jB��5��: �5��:)�1�Wa�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm���`ٚ@�R}B*** querying acoustic contact ***�Py�PyzL��L��L��L�v]�@�A��&��B� B��A��q>*B�EK9�A��A�D>7�A=�B��AA"Cu4��*C}Vʧ=RC�cuW=C��C�i�I���-����-��I��G�>��e R ����e �����e �����e ��� �e �N:Y�e [1y�e ݏ:��e j�5)�e �;�9m ���[�j,��/w�E�A�|i|�@Y}6G��@�}6��@y}6�䁼�}6����}6H������п����(��?����e��?��� ������`�п����Ssx?����r<�?�����������H��?)~6G��@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�u%�@y�}>vG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]��I+��� ףp= ��<�O��n�?��]94���]Q8� �]t=)�YI�Yy�]�/�$���?D�l�����<�O��n�?��]�>��]O����]t�< �] A)�]+AI�]�Ai�]�A��Y��]�A��um�<M}6=Y�}��:QU}�>�����a��G����y���}��>Iȑ�ŕ�. 5�?�ŕ���� ƕ�@����?9ƕ�B�Ǖ��: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U������4 @zL��,>�L��,>�L�(��@�L�r4�@�A�Ȥ�B B�Adz>*B%�I9�A!�A-[?7�A-�C��A)"C53��*C5���=RC=rOW=C9�C9I�aG�>��D�j,'�Iw�E�AY}Ģ�@�}��@y}�6z��} i��}H���� п�������?�����¤?����������@�п����J�u?�����F�?����[k�����@&��?)~Ģ�@ ~U,];I~��Cܱ9ܱIܵqGiܵ��@�ܵ=�ܱ�ܱ�ܵ��; ݵ)�Eɫ���)�� ������I��Y�E��@y�E�uG�xDUSBL response received:!U1,P 302,000,00459,188,80,80,45,FF �Command Ack=BRequesting micromodem ping code 2i�9��9I�A)�A�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )�} �= �} �=��� � ����� ������ ������ ��� � TD:Y� �W1y� č:�� W�5)� ٞ;�õ �Ļ�õ �m=�õ �=iõ �@�ñ ĵ ��@)ĵ O�@Iĵ O�@iĵ O�@��U��MU�<Y�]6g:QUe�>��i��i�am�G��q��yy�#�:}��>Iȑ����:�ŕ�( 5�?����:�ŕ���� ƕ�@����?9ƕ)B�Ǖ��; ȕC{;)ȕ��:�W�WX X �W :W2W*W�V!U!U-�����@zL��L��L��L��;�@�A����B� B��A jg>*B @B9�A �A �@7�A �D��A "C 2��*C ~��=RC ��Y=C �C! ��=-tY=I�IGm?����j,A�iw�E�AY}BЮ�@�}B���@y}Bc�n��}B����}BH�������Ͽ�������?���@ ��?������������Ͽ����J�r?�����܍?��� �x������3��?)~BЮ�@ ~B)�\;I~B��Ci�L��L)�L �LI�L �P)�PɖRt���P�P��TɗVqAi�TI�T��TI�Xi�X �X�X)�X�^@�C �\��\��\ɘ\��`��b�pAI�b`e�)�`i�`)�b�CI�d�dəd �dɚd�h��j�Ļi�h��hɫ�髉)�� ������I��Y� 0�@y� KvG�-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����=M��=Y��=F;QU�C?�������a��G������y��j�;}�E?I����& 5�?��h��� �@���?9�PB����: �k�:)��WQ�WQXY XY�WY:WY2WY*Wa�VaUaUe��� �@zL��L��L��L�DH�@�A�yN��B� B��A��{>*B��X9�A��A�XA7�A�EE��A�"C�5��*C�-��=RC���_=C��C����I��GL>����j,Ȕ�w�E�A�|�|Y}6J��@�}6̎@y}6��R��}6\m��}6H�����éϿ���`!��?���@���?������������Ͽ����.l?�����V�?����6������`���?)~6J��@ ~6�];I~6��Cɫ�髹)�� ��I��Y����@y���uG�xDUSBL response received:!U1,R,259,000,00467,18A,80,80,48,FF �Fpublishing direction and range info����C����ɰ���=����> ��)����BI��y����A������j#��?ɚ̏0���������ٱ���-kM�M-X=Y�5�;QU5�>��9��9�a=�G��9��9y�En�;}E�>I�I����:��M�# 5�?����:��M3��� �M�@���?9�M�B��Mi�< �MQ�<)�M��:�W��W�X� X��W�:W�2W�*W��V�U U �����`@�R(Combining 5 samples.�P*Q��A�Z��GI�O:@��_*.����������Z���j#��?ɚ̏0���������2Q�C�:Q�Z��3�= 5�߳qB��5��|�3�T�?�Z���O�]�����濊|>��?BQO |@ Q/��Qi���P�9?�P�9?�PE���Q=���Q��@"Q6�@zLa�La�La�LeW�@�A�=���B� B��A�Wh>*B��H9�A��A�UB7�A�F��A�"C�4��*C����=RC�0�e=C��C�IޅAA)ށ�٥nA�٥mAܩ9ܩIܭ�pGiܭ��@�ܭ=�ܩ�ܩ�ܭ��; ݭ'�E�����^=I��G5p>������������������������ ��3:Y��xZ1y��q�:�����5)����;���j,V��w�E�AY}��Ɩ@�}�nԎ@y}�����}�4��}�H�������Ͽ�������?�����h�?����&�����_�Ͽ����ȑ6�����gx�?���`M⡿������?)~��Ɩ@ ~��];I~���Cɫ � )� � I� Y�E��@y�M�uG��DNmea in: $SNTTA,,,,,164621.88*58 ��E���n���?���(\�¿�&1��?��EV>��Ez� �E�P=)�AI�Ay�E�!�rh���?���Mb��/�$��?��El�=��E�@���E�< �E�A)�EEAI�E1Ai�E�A��A��E�A��=�=��=����=�i�= �@��9 �=9�@)�=�@I�=�@i�=�@��M� <MM!=Y�U�<QUU�>��Y��Y�a]�G��Y��ay�e�;}e�>I�i��mq 5�?��m���� �m\@��u�?9�m�B��m��: �m�:)�i�m�qAdded new target pos. range: 30.119997 m, bearing: 225.634685 deg, deltaT: 4.596789 s, approachRate: 0.182735 m/s, LOS rate: 1.878366 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �>@U������M�?zL�N�=�L�N�=�L��r�@�L��a�@�A�����B� B��A�nm>*B��H9�A��A}]C7�A}�F��Ay"C�3��*C�<z�=RC�?8h=C��C� ��p=����=�����f=I��G��>�R0�j,PQ�w�E�Aɫ�髱)�� ������I��Y��w�@y��guG��9�M��=Y����QU�?�����a��G����y����}�?Iȩ����:�ŭ� 5�?����:�ŭ���� ƭ�@����?9ƭ�B�ǭ��: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL �L �L �L �A�9��B! B!�A%�d>*B%/M9�A!�A%1D7�A-�G��A)"C�2��*C��o�=RC�B�g=C��C��֝X�h=I��G�B>�� u ���� ����� ����� ��� � '=:Y� �X1y� /�:�� k�6�9@���j,B&�w�E�A�|i|�@�&��>9�$I�&�oGi�&��@��&=��$��$��&��; �&"�EY}n���@�}nOŎ@y}ń���}n�8��}nH�����[�Ͽ���`,��?������?�����������I�Ͽ���`��r�����5pr?��������������?)~n���@ ~n];I~n��Cɫ�髹)�� ��I��Y����@y���tG�õ��>�õ�'>�õ=iõG�@�ñ ĵO�@)ĵO�@IĵO�@iĵO�@�����M�G=Y��!<QU��>�������a��G������y��~��}��>I����� 5�?������� ��q@����?9��*B���'�: ��U�:)���W �WX X�W:W2W*W�VUU����/��?zL9�L9�L9�L=�V�@�AU���BQ BQ�AU�T>*BUG9�AY�A]E7�A]PH��AY"Ce5��*Ce5b�=RCeΥ`=Ca�Ci�ցI��G�=>��}�=i�}=��@�j,��w�E�Aɫy�y)�y �yI�yY���@y���tG��]�=<M]Q=Y�]���QUe�>��a��a�ae�G��a��iy�m���}m�>I������:���� 5�?����:���2��� �� @����?9��\B�����: ��<�:)����:�W��W�X� X��W�:W�2W�*W��VUU���@�G�?zL!�L!�L!�L!�A5���B9 B9�A=�Y>*B=�H9�A9�AE�E7�AE I��AA"CM4��*CM4T�=RCM�ua=CI�CQYϡ�ԵnA�ԵmA�ֵ|�^=I��G��>��� ���������������� ��D:Y�0Y1y���:���6�i)j,n�x�E�AY}Nǵ�@�}N�Î@y}N翺��}N�&��}NH���� i�Ͽ��� ���?���`~��?����>������k�Ͽ����+1�����`�WW?���@�#����� D��?)~Nǵ�@ ~N�];I~N��Cɫ�髁)�� ������I��Y����@���]�>���y��QtGi��lGI�Qi������A�ٺ���m6A-uPonly read 0 of 1 data item for BIT error��}@��}@��}@���M�9=Y�$�;QU��>�����a��G����y�Q�}��>Iș�ŝ� 5�?�ŝ���� Ɲ�@����?9Ɲ�B�ǝG; ȝ�;)ș�W��W�X X �W :W 2W *W�VUU����j'�@zLQ�LQ�LQ�LUaX�@�A�nr��B� B��A�fH>*B��D9�A��A��F7�A��I��A�"C�3��*C�xD�=RC�̓`=C��C���M�<��M�<�Y9�YI�]toGi�]��@��Y��Y��Y��]��; �]�E����Pa=I��Gj>��[j,�x�E�A�|H�|J4<Y} 鼖@�} �ʎ@y} �l"��} s��} H�����ǯϿ�������?����t~�?����������Ͽ����������� �MD?�����������Z��?)~ 鼖@ ~ )>];I~ ��Cɫ!�!)�! �%����I�!Y�e��@y�etG��}���������Zd;�O��?/�$�����}�����}j�< �},�)�yI�yy�}��ʡE��?bX9�ȶ�Zd;�O��?��}��=��}E����}j�< �}�A)�yI�}fAi�}+A��y��}A��25<M�H=Y��;QU��>�����a��G����y��;}��>Iȱ����:�ŵ� 5�?����:�ŵ���� Ƶ\@����?9Ƶ�B�ǵ/�: ȵ8�:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U������]@zL\>�L\>�L�@�@�LGt@�A%���B! B)�A-M>*B-�F9�A)�A-�G7�A-~J��A)"C52��*C=�6�=RC=��c=C9�C9��M<|^=I�YI�m@A)�m?AG�\>��=�����9��9��=)�� �=��:Y�9y�9��=!6�-� j,@�8x�E�AY}bLɖ@�}b@y}b��":�}b�Q��}bH����`�Ͽ�������?����B@�?����������yϿ����q������TD����@"颿����h��?)~bLɖ@ ~b��];I~b��Cɫ�髑)�� ������I��Y����@y��HtG��=Ix�M=d=Y�=+c;QUE�>��A��A�aE�G��A��Iy�Ug�;}U�>I�Y��]� 5�?��]���� �]�@��e�?9�]B��]�: �]ӻ:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U���� �:@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��at@�A�����B� B��A�yG>*B�iG9�A��A�yH7�A�K��A�"C�5��*C�C+�=RC��i=C��C� ���=����=�����c=I� G5.>�Ihj,_|Rx�E�A�9�I��nGi���@����������; �#�E)���I���i�������=����=����K�4Y}FQՖ@�}F�@y}F��;�}FVX��}FH����`#QϿ������?�����?���`�����*IϿ�����Ć�������a������颿����c��?)~FQՖ@ ~F �^;I~F��Cɫq�q)�q �u����I�qY����@y��vtG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-���-���-���-x�>��-�o>��- 0=i�)��) �-��@)�-�@I�-�@i�-�@��=K)<ME;=Y�E|d;QUE�>��I��I�aM�G��I��Qy�U�[;}U�>I�Y��]Q 5�?��]���� �]� @��m�?9�]GB��]8�: �]f�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zL��L��L��L�Z|t@�A�䝄�B� B��A�L>*B�vE9�A��A�[I7�A��K��A�"C�4��*C���=RCE��m=CA�CA��1I�AG}Z>��m ����m�����m�����m �� �m4_:Y�m�U1y�m��:��m!6)�m�;�9u��I�j,fJlx�E�A�|i|�@Y}6;ߖ@�}6��@y}6�ʦ;�}6>��}6H������*Ͽ����j�?���`;��?���@X ���� NϿ�����~������K�t������ᢿ��� R��?)~6;ߖ@ ~6^P_;I~6��Cɫ9�9)�9 �9I�AY����@y���tG�xDUSBL response received:!U1,P 259,000,00467,18A,80,80,48,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��Є<M b=Y�K<QU%�>��)��1�a=�G��9��Qy�erU;}m�>Iȁ����:�Ņ� 5�?�� �:�Ņ���� ƅN!@���?9ƅB�Dž��< ȅ<�<)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U U����� @zL��L��L��L�'�t@�A��G~�B� B��A�R>*B�BF9�A��A�BJ7�A�rL��A�"C�3��*C���=RC��uq=C��CAi�II�I��I��I��yi�}�=��Q ��Q ��=�8k=I�IGe�>��v!j,�$�x�E�AY}B7��@�}B��@y}B��<�}B��}BH������&Ͽ��� (�?����p̠?��� k �����^Ͽ������������Ԁ������_�����@r��?)~B7��@ ~Bq|_;I~B��Cɫa�a)�i �iI�qY�=��@y�=`sG��eAA��e?A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Íَ>�Í�O>�Í��<iÍ�@�É č�@)č�@Ič�@ič�@����M�3=Y���;QU��>�����a��G����y���9}��>Iȹ�Žt 5�?�Ž ��� ƽ"@����?9ƽ�B�ǽǺ: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������#@zL�L�L�L�t@�A%�r�B) B)�A-�/>*B-�C9�A)�A5�J7�A5�M��A1"C=2��*C=E�=RC=�&q=C9�CA��������9��I��HnGi����@��������������; ��'�E��]�'�=I�iG�]>�������������������� ��.:Y��V1y��:����5)�?�;�W�'j,��x�E�AY}N�ۖ@�}N��@y}N.�,<�}Nĥ��}NH������7Ͽ��� W�?���`DV�?��� ,�����'Ͽ���@ W������k�������z3������^��?)~N�ۖ@ ~N�E_;I~N��Cɫa�a)�a �iI�iY���@y���sG�xDUSBL response received:!U1,R,240,000,00468,188,80,80,6E,FF �Fpublishing direction and range info����������ɰ�ϸ=鰭��> ��)����BI��y��p�A�����L�G� �?(s u ���������ٱ������~j�t�h?+��η��~j�t�x?����D;���v�� ����;)��I��y������Mb�?+������:��v���?�����=�����������< ��1A)��I��i���A�������A�� ��<M 4=Y��;QU�>�����a�G����!y�%���}%�>I�)��5�:��-�� 5�?��5�:��-���� �-�"@��=�?9�-�B��-��: �-'�:)�-��:�Wa�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm������@�R�(Combining 5 samples.�P*Qp�A�Z��T]jr:@�i��"-����������Z��L�G� �?(s u ���������2Q����:Q�Z��H���4��p�6�P V��y�?�Z�:�����UNdwq�җ�V(�?BQ��}@ Qݰ�QW���P�P�9?�PG���QE���Q��@"Q��@zLE��=�LE��=�LE��@�LEA�q@�A}��d�B� B��A� 9>*B�bB9�A��A��K7�A��M��A�"C�5��*C����=RC�l�n=C��C�����0f=I��G��>���-j,q�x�E�A�|,�|.�;Y}n�ٖ@�}n��@y}n�3L<�}n���}nH������>Ͽ���@3�?���@My�?��������� �,Ͽ���@U�����`E��������ԡ�����d��?)~n�ٖ@ ~n�._;I~n��C �)��pAɂ ���� � ��Ƀu�pAi�u+��I�}�WF��yI�yi�}�pA �}��郁)��鄅3�C ��������nmFɄ����@�C����pAI��)��i��)����CI��酑Ʌ� ��Ɇ�醙���i�����i���C�����A)�� ��I��ɫi�q)�q �u����I�qY�-��@y�MRsG��DNmea in: $SNTTA,,,,,164626.27*5A ��>�M ]=Y� M�;QU �>�����a�G����y��#�}�>I�!��%�� 5�?��%j��� �%y#@��-�?9�%(B��%8�: �%��:)�!�m�qAdded new target pos. range: 30.180000 m, bearing: 227.102342 deg, deltaT: 4.506889 s, approachRate: 0.013314 m/s, LOS rate: 0.325648 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����.>@U�����)��?zL�L�L�L��q@�A-DW�B) B)�A5{.>*B55D9�A1�A5�L7�A5!N��A1"C=4��*CE��=RCER@n=CA�CA �U�=��U�=I�uAA)�u@A��U�f=I��G��>��9��I���mGi�� �@��������������; ��,�E���4j,5��x�E�AY}>�ܖ@�}>`�@y}>̪^<�}>;���}>H������3Ͽ������?���`>A�?��������`� Ͽ�����2�����`!Ջ�����-ܡ�����B��?)~>�ܖ@ ~>�_;I~>��Cɫ�髡)�� ������I��Y��4�@y���sG��ut����u�D;��u��=i�u\�@��q �u9�@)�u�@I�u�@i�u�@���=M�g=Y��P;QU��>�����a��G����y�9v:}��>Iȡ����:�ť�� 5�?����:�ť���� ƥ$@����?9ƥUB�ǥ�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����}��?zL�L�L�Lr@�A�'3I�B� B��A�]<>*B�+G9�A��A�9M7�A��N��A�"C�3��*C���=RC��o=C��C��ֽ��o=I��G�E>���� �������������������� ��>:Y��X1y�/�:�� �5)��;���:j,!��x�E�Aɫ���)�� ������I��Y�5&�@y�5�sG������M�6=Y�����QU��>�������a��G������y����}�>I� �� � 5�?�� ���� � �$@���?9� �B�� ��: � �:)� �W9�W9X9 X9�W9:W92W9*WA�VAUAUE���`�w�?zLa�La�La�La�A}�9;�By By�A}�:>*B}ZC9�Ay�A�N7�A� O��A�"C�2��*C��Ӧ=RC��Ho=C��C��֝e�l=I��G�b>���Aj,�ky�E�A�|$i|&�@Y}F��@�}F��@y}F�Qw<�}F�f��}FH����@�Ͽ����#�?���@k=�?����m �������ο�����������鎿����<������`���?)~F��@ ~F$�^;I~F��Cɫa�a)�i �m����I�iY����@y�� sG�Õ=�Õ�'��Õ�&�iÕQ�@�Ñ ĕ-�@)ĕ�@Iĕ�@iĕ�@��m=�M�b=Y�U�;QU��>�����a��G����y�}d;}��>Iȹ����:�Ž� 5�?����:�Ž2�� ƽ�%@����?9ƽ�B�ǽ��: Ƚ(�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� C�?zL�L�L�L!r@�A5c�,�B1 B1�A5c)>*B5�C9�A9�A=�N7�A=jO��A9"CE5��*CE�ɦ=RCE< t=CA�CI��Y��Y��ef�m=I�i�م�<�ف܉9܉I܍�lGi܍g�@�܍=�܉�܉�܍��; ݍ<�EG�A>��}=i�}a=������������������ ��2:Y�y�����5)���;�+�Gj,VG!y�E�AY}6Y�@�}6��@y}6|��<�}6 +��}6H����@��ο����~�?����7�?����*���� ��ο���@������ ������������������?)~6Y�@ ~6t�^;I~6��CɫY�Y)�Y �YI�YY����@y��2sG�����G�z�?333333�?y�&1��?����p>�����= ��`e<)��I��y������Q��?/�$���{�G�z�?�����=���,�����#< �A)�AI+Ai+A������ A��;�;M�J=Y���:QU��>�����a��G����y���:}��>I������� 5�?������ ���%@��U�?9���B�����< ��Q�<)���Wq�WqXy Xy�Wy:Wy2Wy*Wy�V�U�U��������?zL��>�L��>�L��I�@�L��N�@�A�\�B� B��A�=+>*B�'B9�A��A�tO7�A��O��A"C4��*C Q��=RC ��t=C�C)���q=I�)GER>��Nj,�(;y�E�Aɫ�髙)�� ��I��Y���@y��jrG��uM�MuN=Y�u���QU}�>��y��y�a}�G��y��y����}��>Iȉ�ōc� 5�?�ō�� ƍ&@����?9ƍ"B�Ǎ��: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L��A����B� B��A�>*B.A9�A�AP7�A$P��A"C 3��*C���=RC��t=C�C��^oj=I�)GM0>���V�������������������� ��w:Y�0Y1y���:����5�9�@i�=HmGI�m qAi������V�ٺ� qA���OJA܅��>9܅m�CI܅�kGi܅Ŀ@�܁�܁�܁�܅��; ݅:�E�7Uj,��Ty�E�A�|�|4<ɫ�髹)�� ������I��Y� ��@y��qG�ɮp=-U6only read 2 of 4 data items��U@��U@��U@��]Z�M]L=Y�aQUe�>��a��a�am�G��i��iy�q}u�>I�y����:��} � 5�?����:��}i �� �}E&@����?9�}WB��}��: �}��:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����{�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A��c�B� B��A�� >*B��>9�A��A��P7�A�tP��A�"C�2��*CK��=RCOjt=C�C ����=��J�z=I�G-,>�U+[j,��ny�E�AY}6G��@�}6�@y}6(��<�}6'���}6H����@N%Ͽ����f�?���@{~�?����_����@� Ͽ���@����������������BY�����`���?)~6G��@ ~6�W_;I~6��CɫY�Y)�Y �]����I�YY�}��@y�}*rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���������<MO=Y���;QU%�>��!��!�a-�G��)��)y�5~K�}5�>I�9��=�� 5�?��=��� �=�&@��M�?9�=�B��=�: �=L�:)�9�Wi�WiXi Xi�Wi:W)2W1*W1�V1U1U=����8 @zLq�Lq�Lq�Lu�D�@�A�a�B� B��A�d>*B�3?9�A��A�FQ7�A��P��A�"C�5��*C����=RC�R�o=C��C��ֽ�Hu=I��G�E>����������������������� ��3:Y�DW1y�Y�:���6�"bj,���y�E�AY}%�Ԗ@�}%_�@y}%���<�}%�Z��}%H�����YRϿ�����?��� z:�?����s������8Ͽ����nʛ����`�P������o�������+��?)~%�Ԗ@ ~% �_;I~%��Cɫ1�1)�1 �=����I�9Y�u��@y�u�qG}xDUSBL response received:!U1,P 240,000,00468,188,80,80,6E,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 ��)��)�A9�AI�E�kGi�Es�@��A��A��A��E��; �ED�E)���I���i�����ń=��ń=��ń��4�����������������=�����������=i����@��� ���@)��ƣ@I���@i��ƣ@������M�=Y��.�:QU��>�������a��G������y���0�}��>I����=�:����� 5�?��E�:������ ���&@��E�?9���B���"< ��3"<)����:�W��W�X� X��W�:W�2W�*W��V�U�U����`E @zL��L��L��L�/8�@�AE�ŻBA BI�AM">*BMr<9�AQ�A}�Q7�A} Q��Ay"C�4��*C���=RC��j=C��C��� �hp=I�1 Ge �>�M=hj,��y�E�A�|i|ɫ�髙)�� ������I��Y����@y��rG���@A���AA��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����K7�A`�?�l���������?��+>���� ��L=)�I�y����C�l�?T㥛� ��:��v���?��;�=��������< ��A)� AI�dAi������A��%P�<M%�=Y�%���QU% ?��)��)�a5�G��1��1y�=���}= ?I�A��EQ� 5�?��E��� �EY'@��M�?9�E�B��E�: �E��:)�A�W �W X X �W :W2W*W�VUU����*�@zLU�>�LU�>�LU�J�@�LU��|@�A��,��B� B��A�:>*B��A9�A��A�tR7�A�6Q��A�"C�3��*C�o��=RC�.nk=C��C���}�=i�}�=���$ ���������������������ֽ`k=I�� ��6:Y��W1y�č:����5G�g>�[gnj,�i�y�E�AY}6%Ė@�}6�ю@y}6jE�<�}6����}6H�����1�Ͽ����3��?��� �P�?��� J������xϿ����.`������Y����� �/������C��?)~6%Ė@ ~6P�^;I~6��Cɫ9�9)�9 �=����I�9Y�}.�@y�}]qG�xDUSBL response received:!U1,R,F3F,000,00479,187,80,80,5F,FF �Fpublishing direction and range info���jw,>���ɰ���=鰅1�> ��)����BI��y����A����g ���?=��t�?��������ٱ�)á á���:�M�e=Y���;QU��>�������a��G������y�����}��>I������:����� 5�?����:���`�� ���'@����?9��% B���b�: ����:)����:�W�WX X�W :W 2W *W �V UU���`�A@�R%(Combining 5 samples.�P!*Q%��A�Z%�x�>�.�>@1�,���@���������Z%�g ���?=��t�?��������2Q%jw,>:Q!�Z%�^H���)�juﮊ?�6.$b13��Z%����YJ���K�Q��eB��ؙ�BQ%,5�@ Q%���Q%O!��P%H�9?�P!�P%W���Q%G���Q%��@"Q%��@zL��L��L��L���|@�A��|��B B�A �=*B?>9�A�A�R7�A [Q��A "C2��*C�t�=RC��c=C�C��!I�1GM1>�)9�)I�-�jGi�-Ѿ@��)��)��)��-��; �-<�E�AOuj, E�y�E�AY}6�Ȗ@�}6_֎@y}6y?�<�}6݊��}6H������Ͽ�������?�����ɟ?����������,gϿ�����������`������ qϢ����� ��?)~6�Ȗ@ ~6�(^;I~6��CɫA�A)�A �M����I�IY����@y���pG�5TNmea in: $SNTTA,0.046691,,,,164630.74*49 ����H=���h�����9��i��p�@��� ���@)���@I���@i���@�����M�8=Y��j�QU��>�������a��G������y�(�:}�>I� �� p� 5�?�� ��� � �(@���?9� ^ B�� ��: � o�:)� �mEqAdded new target pos. range: 31.200001 m, bearing: 265.364870 deg, deltaT: 4.316696 s, approachRate: 0.236292 m/s, LOS rate: 8.863846 deg/s, posRepo size: 4�WA�WIXI XI�WI:WI2WQ*WQ�VQUU���@33?@UU��� [�?zLq�Lq�Lq�Lu|@�A��V�B� B��A���=*B��;9�A��A�sS7�A�~Q��A�"C�5��*C��f�=RC��f=C��C��֥J�c=I��G�A>���� �������������������� ��D:Y��X1y�/�:��6)�C�;�9���{y{j,� �y�E�A�|�|�;Y}6-Ӗ@�}6���@y}6c��<�}6+���}6H����`>XϿ����6�?�����u�?��� M����� ?Ͽ���@𭚿����ё����`9���������?)~6-Ӗ@ ~6�^;I~4ɫ9�9)�9 �=����I�9Y��6�@y��,pG��U8]�M]T=Y�]�I�QU]�>��a��a�ae�G��a��ay�m[;}m�>I�q��u�� 5�?��u��� �uW)@��}�?9�u� B��u¿: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������m�?zL��L��L��L���|@�A�{�B� B��A��=*B��99�A��A��S7�A��Q��A�"C�4��*C��Z�=RC�:<k=C��C��֝a�k=I��G���d�j, z�E�AY}v7�@�}v��@y}vk��<�}v�h��}vH�����gϿ������?����d��?��� � ���� V�ο����@��������Ԑ�����G+����� &��?)~v7�@ ~v��];I~tɫ�髱)�� ������I��Y� [�@y� ZpG��y��y���l�=���Ga����Y=i���@��� ��)��I���@i���@����/<M�B=Y����QU��>�������a��G������y���;}��>I������:����� 5�?���:������ ��*@���?9��� B�����: ����:)����:�W!�W!X) X)�W):W)2W)*W1�V1U1U5���@���?zLQ�LQ�LQ�LU��|@�A�CкB B�A [�=*B �99�A �A HT7�A �Q��A "C3��*C�M�=RC:�r=C�C��9��I���iGi��.�@��������������; ��-�E���f �������������������� ��;:Y�0Y1y���:����5�ֽ`k=I��)���;G�g>�[��j,o�#z�E�Aɫy�y)�y �}����I�yY��f�@y��gpG����ףp= ��?X9��v�������Mb`?����>����}� ��;)��I��y���V-��?�I+���<�O��n�?�����=���94����t< ��fA)��I���Ai���A�������A���[;M�I=Y�����QU��>�������a��G�����y����}�>I� �� !� 5�?�� �� � H*@���?9� � B�� ��: � /�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAUAUM����Ys�?zLe��=�Le��=�Le�u�@�Leks�@�A}7HJ�By By�A}"�=*B�;:9�A��A��T7�A��Q��A�"C�2��*C��B�=RC���q=C��C��֥�@p=I��G�A>����j,ձ=z�E�A�|i|�@Y}6��@�}6C��@y}6z�e<�}6B���}6H����@��ο����l �?�����F�?��������� /�ο����b斿���`�������ॎ�����@���?)~6��@ ~6-^;I~6��Cɫ9�9)�9 �=����I�9Y�}E�@y�}>pG���0�MY=Y�ѻQU�>��!��!�a%�G��!��)y�-}p;}-�>I�1��=�:��5�� 5�?��=�:��5G�� �5�*@��E�?9�5* B��5��: �5�:)�5��:�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu��� �=�@zL��L��L��L�p}�@�A%���B! B!�A%ͼ=*B%�99�A)�A-U7�A)�A9"CU5��*CU�7�=RCUS�v=CQ�CY��eu�r=I��G�H>��c����������������� �M':Y��W1y�č:��"6�9�@�� 9�� I�� �iGi�� ݽ@��� ��� ��� ��� ��; �� ����j,�Wz�E�AY}6_�@�}6��@y}6}T<�}6����}6H�����r Ͽ��� �?�������?����� �������ο���@7핿��� ߁�����@]������ ���?)~6_�@ ~6�M^;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�oG)��> ���=��5�>��5\�>��5�y�i�5¥@��1 �5ٮ@)�5��@I�5��@i�5��@��E���MEH=Y�E�.�QUM�>��I��I�aM�G��Q��Qy�]�2�}]�>I�a��ev� 5�?��e��� �e�*@��m�?9�e^ B��eI�: �eܹ:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�@t�@�A��1:B� B��A�$�=*B��89�A��A�U7�A��Q��A�"C�4��*C��,�=RC�^�q=C��C���eзe=I�iG�9>�Ǜj,�gqz�E�AY}:�Ԗ@�}:��@y}:\A<�}:�[��}:H������QϿ���@1�?����a:�?����c�����>Ͽ����m"������F#�������I���������?)~:�Ԗ@ ~:eL^;I~8ɫY�Y)�Y �]����I�YY����@y��moG鮡ɮ�=�� ��MN=Y��>�QU�>�����a�G����!y�%V��}%�>I�)��5�:��-� 5�?��=�:��-�!�� �-�*@��=�?9�-� B��-��: �-��:)�-��:�WY�WYXa Xa�Wa:Wa2Wa*Wa�ViUiUm�����@�R}B*** querying acoustic contact ***�Py�PyzL��L��L��L�Zb�@�A�ϱ�:B� B��A�7�=*B�J79�A��A��U7�A��Q��A�"C�3��*C� �=RC�3�i=C��C��֥�|=I��G�A>���� �����������������]�� �i\:Y�0Y1y���:��� 6��)��)i���mGI�i�)�(��j,�R�z�E�A�| �| ��B�G�ٺ@��F?<A�n�[?9�nANAY}~@�}~�ώ@y}~�5<�}~1���}~H�����_�Ͽ���@H��?�������?����������Z�Ͽ����I������`B��������������`p��?)~~@ ~~�W^;I~~��Cɫ���)�� ������I��Y� I�@y�oGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******��E@��E@��u@��}<��M}5=Y� ̺QU��>�����a��G����y�i��}��>Iș�ŝd� 5�?�ŝ�$�� Ɲ?+@����?9Ɲ� B�ǝ��: ȝ �:)ș�W��W�X� X��W�:W�2W�*W��V�U�U���� ZO @zL1�L1�L1�L5�O�@�AM�/;BI BI�AM�{=*BUq59�AQ�AU!V7�AU�Q��AQ"C]2���i9�iI�m�hGi�m:�@��m=��i��i��m��; �m:�E*C}��=RC��b=C��C�I�u@A)�q�֕X�h=I��G�a>�ڨj,� �z�E�AɫI�I)�I �U����I�QY����@y��mnG�xDUSBL response received:!U1,P F3F,000,00479,187,80,80,5F,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��z ��������������A�� ��=:Y�xZ1y�q�:��� 6����J+��?�ʡE���Q�������H>����� ���u�)��I��y���㥛� ��?�� �rh������Mb`�����>���C������ ½�A)¹I½Ai½�A������ A������mA����M=Y����QU�>�� �� �a �G�� ��y�U���}U�>I�Y��e�:��]�� 5�?��e�:��]2(�� �]6+@��m�?9�] B��]#�: �]4�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U���� <�@zLu�$>�Lu�$>�Lu&�@�Lu�ۀ@�A�.;B� B��A��<=*B�39�A �A eV7�A5 ^Q��A1 "CE 5��*Cm ���=RCu ��b=Cq �Cy �֭ �(a=I�� G� �>�ǂ�j,�$�z�E�AY}B���@�}BM��@y}B��<�}B�|��}BH������п�������?���`]+�?����s������|п�����p������������ \���� 4��?)~B���@ ~B�];I~B��Ci�H��J�qA)�L �LI�L �N�C)�LɖL��P�P��Rf�CɗPi�PI�P��TI�V&�Ci�T �T�T)�X�X �X��X��\ɘ\��\��^�pAI�^ 0�)�\i�`)�`I�`�`ə` �`ɚd�d��fף�i�d��dɫ�髉)�� ������I��Y��y��������?A�m�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B Y�%��QU-?��)��)�a-�G��1��1y�e�9�}m?I�y��} � 5�?��}{*�����tI �}2+@����?9�}VB��}S�; �}C�;)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����l�@zL �L �L �L O��@�AE-TT;BA BA�AA*BE�49�AI�AM�V7�AMCQ��AI"CU4��*Cu��=RCu]T=Cq�Cy�֍��c=I��G��>����>9��l�CI��lhGi���@���=�����������; ��2�E)�}�m�CI�}�m�Ci�y���y���y���}��5����j,���z�E�A�|i|�@Y}2��@�}2Ъ�@y}2�f�;�}2j��}2H�����sп��� ���?�����,�?�����������п�������������y����`J������@��?)~2��@ ~2Sg^;I~2��Cɫ�髹)�� ������I��Y����@y��nGxDUSBL response received:!U1,R,205,000,00485,187,80,80,80,FF Fpublishing direction and range info���q�澩��ɰ���=�� ��)����CI��y��\�A����]� L��?\��7��ۿ��������ٱ�������������I>����=��`�i���@�� �z�@)�z�@I�z�@i���@��[A�M�<Y����QU�>��!��!�a%�G��!��!y�-��}-�>I�1��=�:��5�� 5�?��=�:��5;-�� �5/+@��E�?9�5�B��5I�: �54�:)�5��:�Wa�WaXa Xa�Wa:Wi2Wi*Wi�VqUqUu�����#@�R�(Combining 5 samples.�P�*Q�\�A�Z��@`�ݹ<@D��A��+����������Z��]� L��?\��7��ۿ��������2Q�q��:Q��Z���A��Ԯ4�4O��O8�X5�����?�Z��Kk"���-�ư)_迫�����?BQ�=�@ Q�|��Q�v���P��9?�P�H�9?�P�L���Q�W���Q���@"Q���@zL��L��L��L�ƶ�@�A�L�w;B� B��A��=*B�h39�A��A��V7�A�!Q��A�"C�3��*C��=RC�J�S=C��C��� �=i� �=��# ����������������� �K:Y��X1y�/�:��X�5)���;�9%���}XR=I��G�^>�Ѽj,���z�E�AY}6��@�}6�@y}6���;�}6dF ��}6H���� �п����1��?������?����C�����`�п����� �������3r������'������Q��?)~6��@ ~6C^^;I~6��Cɫ���)�� ������I��Y�!�@y��mG�}TNmea in: $SNTTA,0.040733,,,,164635.22*40 )Õ�= Õ�=��7��MJ=Y�I��QU%�>��!��!�a%�G��!��)y�-��9}5�>I�1��5)� 5�?��50�� �5,+@��E�?9�5�B��5��: �5I�:)�1�muuAdded new target pos. range: 31.920000 m, bearing: 229.609814 deg, deltaT: 4.536986 s, approachRate: 0.158696 m/s, LOS rate: -7.880795 deg/s, posRepo size: 4�Wq�WqXq Xy�Wy:Wy2Wy*Wy�V�U���� ��?@U����`���?zL��L��L��L�ͷ�@�A���;B� B��A�+�<*B��19�A��A��V7�A��P��A�"C�2��*C��ԥ=RC��VT=C��C� ���=����=���I��GI>�$��j,Ý{�E�Aɫy�y)�y �}����I�yY����@y��XmG��u��>��uC�<��u�m=i�ṳ@��q �u�@)�u�@I�u�@i�u�@��9��M�T=Y����QU��>�ّ�ٕ�<ܙ9ܙIܝhGiܝ��@�ܝ=�ܙ�ܙ�ܝ��; ݝ;�E�����a��G����y����}��>I�����̺ 5�?����2�� ��*+@����?9��B�����: ��.�:)���W��W�X� X��W�:W�2W�*W��V�UU����JQ�?zL��L��L��L��A���;B� B��A���<*B��09�A��A� W7�A��P��A�"C�5��*C�ť=RC��'T=C��C ��+���������������� �~t:Y�DW1y�Y�:��6)�v�;���$OV=I� G5O>�;��j,�x){�E�AY}:���@�}:�ʎ@y}:D�?9�}:"� ��}:H���� ��Ͽ�������?���`�w�?�������� �Ͽ����JH������h�'���������������?)~:���@ ~:�e^;I~:��Cɫ9�9)�9 �=����I�9Y�}F�@y�}�mG��������S�?�~j�t��?:��v��������>�����= ���Լ)��I��y����v��/�?)\���(��k�t��?���x�=���Ga���� 0= µ�A)µ$AIµ�AiµdA�������A����<M�F=Y���(�QU��>�������a��G������y���<}��>I������:���� 5�?����:���5�� ��X,@����?9��OB��� �: ����:)����:�W�WX X�W:W!2W!*W!�V!U)U-����34�?zLE�>�LE�>�LEo��@�LE@�A]螨;BY BY�Ae2�<*Be*29�Aa�Ae3W7�Ae�P��Aa"Cm4��*Cuŷ�=RCuiGb=Cq�CqI�)����ewV=I� G%M>���j,�SC{�E�AY}2�Ж@�}2�ގ@y}2�ɺ�}2� *��}2H������bϿ�������?�����ʤ?��������� �]Ͽ�����ˁ������"Y?�����?���������?)~2�Ж@ ~2z�^;I~2��CɫY�Y)�Y �]����I�YY����@y��/mG��=>#�MET=Y�M���QUM�>��I��Q�aU�G����y�]�;}��>Iȡ�ťg� 5�?�ť/7�� ƥ~-@����?9ƥ�B�ǥ�; ȥ;)ȡ�WA�WIXQ XQ�WQ:WY2Wa*Wi�VqUyU��������?zLY�LY�LY�L]��@�Au��;Bq Bq�Au�l<*Bu09�Ay�A}MW7�A}UP��Ay"C�3��*C�թ�=RC��}i=C��C��ԙ�ԙ�������������������� �'o:Y��U1y���:��26�9-@�֝Qf=I��G�f>ܙ9ܙIܝ@gGiܝ��@�ܙ�ܙ�ܙ�ܝ��; ݝI�E���j,�.]{�E�AY}2q��@�}2,�@y}2^A$��}2 g(��}2H������%Ͽ���`��?���`L��?����� ����`�"Ͽ��������`*�d?����[����� ��?)~2q��@ ~2�d^;I~2��CɫI�I)�I �M����I�IY�}Q�@y�}�lG��5�>��5�?��5,�i�5ף@��1 �5��@)�5��@I�5z�@i�5��@��Eq�MEJ=Y�E��QUM�>��I��I�aM�G��I��Qy�]ѝ;}]�>I�a��e�:��eò 5�?��m�:��e[9�� �e�.@��m�?9�e�B��eR�: �e��:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U����`S��?zL9�L9�L9�L=�@�Am��;Bq Bq�Au���*Buo.9�Aq�AuWW7�A} P��Ay"C�2��*C�О�=RC�t_o=C��C�Yυ�E9��u)�n=I��G��>�F�j,� w{�E�AY}6|�@�}67��@y}6f�S��}6�J��}6H�����Ͽ���@"�?��� x�?����2 ����@%Ͽ���`#fy�����)yj?���`����������?)~6|�@ ~6�c^;I~6��CɫY�Y)�Y �]����I�aY���@y��FlG��uZ��MuG=Y�}��QU}�>��y���a��G����y�S:}��>Iȑ�ŕ� 5�?�ŕ�;�� ƕ�/@����?9ƕ�B�ǕU�: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����`d4@zL��L��L��L���@�A ��;B B�A*BL-9�A �A YW7�A �O��A "C�5��*C�ڒ�=RC��<o=C��C����=i�a=�������������������� ��*:Y��W1y�č:����5Yϥ�G9�֕*�=I��G�� �j,��{�E�AY}:�ؖ@�}:��@y}:wl���}:����}:H�����|CϿ������?������?���@����� CϿ����$is������mp?��������������?)~:�ؖ@ ~:)$^;I~8ɫ9�9)�9 �=����I�9Y�}]�@y�}pkG鮁ɮ�a=I��)���99�9I�=�fGi�=��@��==��9��9��=��; �9��U�-?��UO ���U�<i�U��@��Q �U��@)�QI�U��@i�Q��e~X�MeK=Y�m��QUm�>��i��q�au�G��q��yy�}!@�}}�>Iȁ����:�ŅQ� 5�?����:�Ņ�=�� ƅ1@����?9ƅ B�Dž �: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U������m@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L� ڀ@�A���;B� B�A�!�*B�*9�A�ADW7�A�O��A"C 4��*C���=RC�j=C�CY��F9���np=I�)Gmx>��0�j,���{�E�AY}6�ǖ@�}6�Վ@y}6����}6�0��}6H������Ͽ���`���?���`f��?��� ������r�Ͽ�����p�����\s?����-���������?)~6�ǖ@ ~6 '^;I~4ɫY�Y)�Y �]����I�YY���@y��lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M�7�A`���?<�O��n���~j�t�x���M�>��Mt�� �M�Ļ)�II�Iy�M�i��|?5�?��������<�O��n����M��=��M�L���Mt� �MfA)�M�AI�M�Ai�M�A��I��MQA��m�=Mm;=Y�uDºQUu�>��q��q�a}�G��y��yy����}��>Iȉ�ōs� 5�?�ōS@�� ƍ�0@����?9ƍV B�Ǎ��: ȍ�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��>�L��>�L��<�@�L���@�AuJ��;By By�A}���*B}�,9�Ay�A}AW7�A�VO��A�"C�3��*C�x�=RC�=Oc=C��C���� ����������������� ��@:Y��V1y��:���6Yϝ�C9�ֵ�Ui=I��G��>��j,��{�E�A�|�|p;Y}6���@�}6���@y}6k���}6�k��}6H����@6�Ͽ������?������?���@+��������Ͽ���@q�j�����[ w?��� |졿���@���?)~6���@ ~6��];I~6��CɫQ�Q)�Q �U����I�QY��s�@y���kG�xDUSBL response received:!U1,P 205,000,00485,187,80,80,80,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�M�lGI�mfpAi����������C�ٺ�fpA����7AM�Z=Y����QU��>����)�a-�G��1��9y�E�̻}m�>I�y����:��}�� 5�?����:��}�B�� �}�0@����?9�}� B��}�M<I�)� �}>M<)�}��:�WI�WIXI XI�WI:WQ2WQ*WQ�VQUQU]��� � @zL��L��L��L��܁@�A���;B� B��A�-�*B�+9�A��A�.W7�A� O��A�"CE2��*C]�g�=RCe�Z=Ca�Ci�E��>9�Em�CI�EfGi�E�@��A��A��A��E��; �EF�EY�e�@9�օ Qf=I�� G� �>�IC�j,hv�{�E�AY}6���@�}6^��@y}6~ٻ�}6����}6H����@п���`���?����x6�?������������п������g������/{?����������� 2��?)~6���@ ~6��];I~6��Cɫ9�9)�9 �9I�9Y�}Y�@y�}lkG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -Ponly read 0 of 1 data item for BIT error��@��@��@���0��M�F=Y��<4�QU��>�������a��G������y���˻}��>I�����B� 5�?����D�� ��}0@����?9��� B�����: ���:)���W�WX X�W!:W!2W!*W!�V!U)U-���@�@zLA�LA�LA�LE�Ɂ@�A]_�;Ba Ba�Ae�(�*BeE*9�Aa�AeW7�Ae�N��Ai"Cu5��*Cu�[�=RCu��R=Cq�Cyi̅mAI̅mAY�M5?9��Q��Q��8 ����������������� �I8:Y��Y1y��:����5)�r�;�9%���=m�Y=I�IGeV>�bn�j,�U�{�E�AY}J`��@�}J��@y}J�O}J�R��}JH���� ,п���@���?���`v��?������������-п������e�������}?��� �����������?)~J`��@ ~J��];I~Hɫi�i)�i �m����I�qY����@y��zjG�xDUSBL response received:!U1,R,1B3,000,0048B,185,80,80,70,FF �Fpublishing direction and range info��� \¾���ɰ���=鰵+�> ��)����BI��y��B����l��θ�?Ѕ�6���������ٱ���EuJ�ME)=Y�M櫺QUM�>��I��I�aU�G��Q��Qy�U�k�}]�>I�a��e � 5�?��e�G�� �eL0@��m�?9�e� B��e+�: �eY�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����@�Re(Combining 5 samples.�Pi*QmB�Zm���Yxb�=@uĸ�U�'����������Zm�l��θ�?Ѕ�6���������2Qm \¾:Qi�Zm�hT���#3���>5�9�p���?�Zm���_za��C�S���[3�|�?BQm {�@ Qm���Qm���Pm�9?�Pm�9?�PmP���QmL���QmB�@"Qm��@zL��L��L��L�ݺ�@�A�qT�;B� B��A�]�*B�0(9�A��A��V7�A�uN��A�"C�4��*C�MG�=RC��WM=C��C�Y���:9��� �Q=I�� G� �>��Uj,U/|�E�A�|$i|$Y}jE��@�}j���@y}j�x��}jP��}jH�����GIп�������?�����ͣ?���� ����� PKп����\�\����`��?���`Pa�����`���?)~jE��@ ~j=�];I~j��C �)��pAɂ���� PhF� ��Ƀ�pAi�I���!I�)i�) �-+���1)�1�9 �=�rA��9��AɄA��I��II�Q)�Qi�Q��9��I���eGi����@���=�����������; ��L�E)�u�l�CI�u�l�Ci�q���u�=��u�=��u�gA5)��I����Ʌ� ��Ɇ���i���i� �� )� � I� ɫ���)�� ������I��Y����@y��ljG�uDNmea in: $SNTTA,,,,,164639.66*51 ���������������33>���94�����>i��Q�@��� ��z�@)��\�@I��z�@i��z�@�� ?t�M a=Y� `�QU�>�����a�G����y���}%�>I�)��-�:��-�� 5�?��5�:��-�I�� �-'0@��5�?9�-.B��-��: �-��:)�-��:�m�qAdded new target pos. range: 32.279999 m, bearing: 233.624653 deg, deltaT: 4.538837 s, approachRate: 0.079315 m/s, LOS rate: 0.884553 deg/s, posRepo size: 4�� =i� %=��=� ����=�����=�����=��� �=�D:Y�=�X1y�=/�:��=E�5)�=f�;�Wa�WiXi Xq�Wq:Wy2W�*W�V U�����#@@U=�����|�?zL��L��L��L� ��@�A \��;B B�A��*Bp'9�A1�A5�V7�A=,N��A9"C=3��*CE�5�=RCE��F=CA�CAY�m 949��]�J=I�iG��>�� j,5 ,|�E�Aɫ���)�� ������I��Y�55�@y�5jG��5�B`��"��?�I+����~j�t�����5�N>��594� �5�ļ)�1I�1y�5����S㥻?D�l�����V-��?��5/�=��5O����5��< �1)�1I�5�Ai�5�A��1��5pA��Mn�MMW=Y�U���QUU�>��Y��Y�a]�G��Y��Yy�e���}e�>I�i��m�� 5�?��m�K�� �m�0@�� �?9�m_B��mi�; �m�;)�i�W)�W)X) X1�W1:W12W1*W1�V9U9U=����h��?zL}�>�L}�>�L}�@�L}�'y@�A�J��;B� B��A��<�*B�6%9�A��A��V7�A��M��A�"C�2��*C�l(�=RC���G=C��C�����>����>Y���19 ��=���=�� ��G=I�! GE �>��hj,>�E|�E�AY}2���@�}2j��@y}2�F��}2�T��}2H�����RLп���@{��?����@W�?���@��������Nп����8�9����@��?����ɡ�������?)~2���@ ~2ܞ];I~0ɫ�髹)�� ��I��Y��1�@y���iG����>��.>����>i���@�� �\�@)�I�i��� ��MN=Y�oźQU�>��!��!�a%�G��!��!y�-i��}-�>I�1��=�:��5�� 5�?��=�:��5}M�� �5�1@��E�?9�5�B��5��: �5I�:)�5��:�Wa�WaXa Xa�Wa:Wi2Wi*Wi�VqUqUu����+��?zL��L��L��L��y@�A���;B� B��A�[>�*B��%9�A��A�KV7�A��M��A�"C�5��*C���=RC�_�F=C��C���� ��������������<�� �։:Y�xZ1y�q�:���%6�9@Y�=�.9��E����E�� �M����M����9��I���dGi�� �@��������������; ��N�EI�� G �>�q�j,8�_|�E�A�|�|�;Y}6 ��@�}6ے�@y}6:[��}62���}6H������Cп���@v��?���`��?�����������Fп����j�H�����Yk�?��� ����������?)~6 ��@ ~6o];I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�iG�����M\=Y�):QU�>��!��!�a%�G��!��)y�-��:}-�>I�1��5�� 5�?��5MO�� �5�2@��=�?9�5�B��5��: �5��:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUiUu��� ~��?zL��L��L��L��#y@�A="7�;BA BA�AEGX�*BE%9�AA�AEV7�AMqM��AI"CU4��*CU��=RCU��H=CQ�CYI��G�>��j,��y|�E�AY}>���@�}>i��@y}>2o���}>����}>H�����7п�������?����#w�?����t�������8п�����a`�����э?��� ���������?)~>���@ ~>qr];I~>��CɫY�Y)�Y �]����I�YY��Խ@y���iG �A�A��u�C�MuD=Y�}��:QU}�>��y���a��G����y��:}��>Iȑ����:�ŕ_� 5�?����:�ŕWQ�� ƕe3@����?9ƕ�B�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������o�?zLi�Li�Li�Lm|9y@�A�%��;B� B��A��l�*B��$9�A��A��U7�A�-M��A�"C�3��*C����=RC���K=C��C�I�G5>��5� ����1��1��5z�� �5�@:Y�1y�1��5��5�w�$j,�t�|�E�AY}:y��@�}:4��@y}:C�ͻ�}:c���}:H���� (п������?��� a&�?���`������@�(п���@�n����@��y?����E������@���?)~:y��@ ~:�a];I~:��Cɫ9�9)�9 �=����I�9��}mA��}lA܍��>9܉I܍ dGi܍k�@�܍=�܉�܉�܍�; ݍS�EY��H�@y���hG�å94��å�>�å��iåQ�@�á ĥz�@)ĥz�@Iġiġ���*�M�F=Y��a;QU��>�������a��G������y��;}��>I�����%� 5�?���^S�� ��@4@����?9��/B���U�: ��b�:)���W�WX X�W:W 2W *W �V UU���`3�@zL1�L1�L1�L52Ry@�AEw��;BA BA�AM���*BMC"9�AI�AMmU7�AM�L��AQ"CU2��*C]I�=RC]0�N=CY�CYI��G)�Q�*j,�R�|�E�A�|i|Y}6���@�}6h��@y}6�a���}6Q���}6H����`3п����L��?�������?���`�������Rп����l�s����`3,u?��� n���� ���?)~6���@ ~6Ru];I~6��Cɫ9�9)�9 �=����I�9Y�}p�@y�}iG鮅a=ɮ�p=����Q����?�rh��|�?i��|?5�?��\>����= ��q=)�I�y���"��~j�?���Mb���Q���?��S�=���@���\= �A)�I�i��A�����A��=R<M=S=Y�=2<;QU=�>��A��A�aE�G��A��Iy�M?);}M�>I������� 5�?����U�� ��75@����?9��aB�����: ��ӻ:)���W�W!X! X!�W!:W!2W!*W)�V)UIUM������@�R]B*** querying acoustic contact ***�PY�PYzL���>�L���>�L��>�@�L�,+�@�A�s��;B� B��A�Q��*B�#9�A��A�U7�A��L��A�"C�5��*C�ؤ=RC���Q=C��C����=i�a=��� ��������������$�� ��\:Y�DW1y�Y�:���6����(a=I�G5O>�[�1j,g*�|�E�AY}Fs��@�}F.��@y}F,Nr��}F\���}FH������п���`���?��� 9Ԣ?��� _�����@<п����sw������In?����&�������S��?)~Fs��@ ~F�_];I~F��Cɫ�髁)�� ��I��Y��e�@y��iGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******)�}�= �}�=��5ף=��5j<���5j<=i�5\�@��1 �5\�@)�5\�@I�5\�@i�5\�@��EK�ME;=Y�Ee\;QUE�>��I��I�am�G��i��qy�u�H:}}�>I�y����:��}� 5�?����:��}�W�� �}:6@����?9�}�B��}�c< �}�c<)�}��:�W1�W1X1 X1�W1:W92W9*W9�V9U9UE����J @zLy�Ly�Ly�L}�*�@�A�-I�;B� B��A���*B�$#9�A��A��T7�A�kL��A�"C�4��*C�rǤ=RC�+wR=C��C�i����I������ ���� ��܁9܁I܅XcGi܅ȸ@�܁�܁�܁�܅��; ݅K�E���R=I�1GM�>�|�7j,��|�E�AY}>V��@�}>��@y}>>���}>q���}>H�����j п���`���?������?���`�������п�����{�������`?�����١��������?)~>V��@ ~>�{];I~>��CɫY�Y)�Y �YI�YY����@y��|hG�xDUSBL response received:!U1,P 1B3,000,0048B,185,80,80,70,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 ����M�W=Y��}�;QU��>�������a��G�����y���:}�>I����� 5�?���Y�� �'7@��U�?9��B��%�; ���;)��W��W�X� X��W�:W�2W�*W��V�UU����du@zL��L��L��L�`,�@�A�Sq�;B� B��A�ޭ�*B�>!9�������������������� �N2:Y��X1y�/�:��{�5)�G�;�9��A!�A%^T7�A%/L��A!"C-3��*C-ٷ�=RC-tT=C1�C1��a��a �a��aI� G5 �>�� >j,��|�E�A�|4<�|Y}6��@�}6ϴ�@y}6�Y=��}6{|��}6H���� .п��� ���?���`��?�������������Ͽ����u������0�'?�����n����� @��?)~6��@ ~6�g];I~4ɫQ�Q)�Q �U����I�QY����@y��hG������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=`ؼM=P=Y�=,�;QU=�>��A��A�aE�G��A��Iy�MP�:}M�>I�Q��]�:��Uo� 5�?��]�:��U\�� �U 8@��e�?9�U�B��U(�: �U��:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����P@zLI�LI�LI�LM 0�@�Ae�E�;Ba Ba�Ae)ý*Be�9�Ai�Am�S7�Am�K��Ai"Cu2��*Cu���=RC}��U=Cy�CyI��G�>������i���mGI�� qAi����-�_�ٺ- qA��-�RA��Dj,z�}�E�A�)9�)I�-�bGi�-w�@��)��)��)��-��; �-F�Eɫq�y)�y �}����I�yY����@y��!hG��R=i��=����nA-]6only read 3 of 4 data items��]@��]@��]@��e�X;MeG=Y�m���QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ�Ņ� 5�?�Ņ8^�� ƅ�8@����?9ƅ&B�Dž� ; ȅ�;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������L@zL��L��L��L��A���;B� B��A�b��*B��9�A��A��S7�A�K��A"C5��*C ��=RC �lU=C �CI��G5>��=, ����=�����=�����=��� �=T7:Y�=�W1y�=č:��=4�5)�=��;��Kj,D�.}�E�Aɫ)�1)�1 �5����I�1Y�m^�@y�m�gG��TNmea in: $SNTTA,,0.354307,,,164644.09*4A ����������?o��ʡſ�� �rh�?����>��-� �C=)�I�y����|?5^�?�p= ף��������������=��������� ��A)�^AI�Ai�5A����pA��=;��M===Y�9QU=�>��A��A�aE�G��A��Iy�I}U�>I�Q��]�:��U�� 5�?��e�:��U?`�� �U9@��e�?9�U\B��U��: �U �:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U����@3@zLeo�=�Leo�=�Le)�@�Le}fy@�A}�$�;B� B��A��ӽ*B�u9�A��A�S7�A��K��A�"C�4��*C����=RC��JU=C��C�I��GE0>��Rj,`rH}�E�A�|i|Y}U@z�@�}U���@y}U%�<�}U&1!��}UH������Xп�������?�����G�?����������@�Oп����W������S��������$������P��?)~U@z�@ ~U�A];I~U��Cɫ1�1)�1 �=����I�9Y����@y���gG鮱ɮ������������&1>���u<���=i�כ@�� ��@)��@I��@i��@��-�8<M-L=Y�-|�<QU5�>��1��1�a5�G��1��9y�=�_�}E�>I�A��E�} 5�?��Eb�� �E9@��U�?9�E�B��E��: �E��:)�A�Wq�WqXq Xy�Wy:Wy2Wy*Wy�V�U�U���� ��@zL��L��L��L��y@�A�V;B� B��A��ʽ*B��9�A��A��R7�A�fK��A�"C�3��*C��{�=RC� q@=C��C����=i�=����������S�� ��:Y�y���k�5�9@Y��!'9�)9�)I�-,bGi�-Է@��-=��)��)��-��; �-@�E)ݵ�m�CIݵ�m�Ciݱ��ݵ�=�ݵ�=�ݵ���4��5��|=I�9G]�>��-Xj,bMb}�E�AY}6`^�@�}6l�@y}6�(Q<�}6�%��}6H�����t�п���`+��?���@���?���@r��������п���@�薿�����$������㣿����&��?)~6`^�@ ~6�)];I~4ɫ9�9)�9 �=����I�AY����@y��.hG)ý�= ý�=���Ð<M�d=Y��%<QU��>�������a��G������y����}��>I������:���{ 5�?����:����c�� ��!9@����?9���B�����: ����:)����:�W �WX X�W:W2W*W�VUU����@�R-B*** querying acoustic contact ***�P)�P)zLA�LA�LA�LE�x@�AU���;BY BY�A]���*B].9�AY�A]@R7�A];K��Aa"Ce2��*Cm�j�=RCm|6=Ci�Ci�֍\|=I��G��=�YY^j,#/|}�E�AY}2�C�@�}2�Q�@y}21��<�}2����}2H�����T�п����;��?�����?����/������еп����-�������7q������͜�����@���?)~2�C�@ ~2K];I~0ɫ9�9)�9 �=����I�9Y�}ͼ@y�}JhG�����;M�G=Y��^<QU��>�������a��G�����y����}�>I� �� �w 5�?�� �e�� � &9@���?9� �B�� 4�: � ��:)� �W9�W9X9 XA�WA:WA2WA*WA�VAUIUM������@zLi�Li�Li�Lm��x@�A}�?�;By B��A� ��*B�] 9�A��A��Q7�A� K��A�"C�5��*C��V�=RC���+=C��C��֥�==I��G�">�� " ���� ����� ����� ��� � �6:Y� �X1y� /�:�� ��5��?ej,��}�E�AY}:34�@�}:�A�@y}:8��<�}:����}:H�����u�п��� ��?��� \�?����������@��п����0�������\?�����@~���������?)~:34�@ ~:�8];I~:��C�d9�dI�fdaGi�f2�@��d��d��d��f��; �fA�Eɫ9�9)�9 �=����I�9Y�}A�@y�}�gG������@A���t�>���X9>���+�i��f�@��� ��\�@)��E�@I��E�@i��&�@���*.�MuJ=Y�u��;QU}�>��y��y�a}�G��y��y����}��>Iȹ�Ž�t 5�?�Ž�g�� ƽ'9@����?9ƽ#B�ǽ@�: ȽM�:)ȹ�W�WX X �W :W 2W1*W9�V9UAUM�����q@zL1�L1�L1�L56�x@�A�m��;B� B��A�;۽*B�&9�A��A�UQ7�A��J�I� )� �A�"C-4��*C-,=�=RC-�%=C1�C1��5�+,=I�AG]w>��ikj,�ޯ}�E�Aɫy�y)�y �}����I�yY���@y��=gG��=���MbX�?����Mb������Mbp?��=�J>��=�� �=�;)�9I�9y�=��v��/�?+������)\���(�?��=x�=��=�����=Ga= �9)�9I�=�Ai�= A��9��=3A��Q��UmA��] ��MeD=Y�e���QUe�>��i��i�am�G��i��iy�����}��>I�����:���q 5�?�� �:����i�� ���:@�� �?9��]B���E�; ��V�;)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����(@zL->>�L->>�L->ܵ@�L-w@�Am���;Bi Bi�Au��*Bu�9�Aq�Au�P7�A}�J��Ay"C�3��*C�c)�=RC��&=C��C���� ����������������� �#[:Y��Y1y��:���6����#'=I��Gj>��Trj,���}�E�Aɫ)�1)�1 �5����I�1Y�m��@y�mFgGuxDUSBL response received:!U1,N,80,80,63,E4 B,185,80,80,70,FF }ZNo reply:!U1,N,80,80,63,E4 B,185,80,80,70,FF -}<No response from remote modem.����Ļ�������� 0=i����� ��E�@)��I��i��E�@���G;M�B=Y��QU��>�������a��G������y��}��>I�����Im 5�?����k�� ��(<@��-�?9���B����< ��A<)���WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]����,�@zL��L��L��L��A��Y�;B� B��A���*B�L9�A��A�NP7�A�mJ��A�"C2��*C��=RCag&=C�C i�I�����ܽ��>9ܹIܽ�aGiܽ�@�ܹ�ܹ�ܹ�ܽ��; ݽH�E��- nA��- mA��I�)GM�>��{xj,є�}�E�AY}>m�@�}>�z�@y}>k��<�}>ܚ��}>H�����+qп���`S��?���`pS�?����m�������`п�����0�������r�����@������`���?)~>m�@ ~>b];I~>��CɫY�Y)�Y �]����I�aY�} �@y�}]gG鮁ɮ�a=�� ��;M Z=Y� �<QU�?�����a�G����y�%ף<}%�?I�)��5�:��-Fj 5�?��5�:��-�m�� �-a=@��5�?9�-�B��- ; �-;)�-��:�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm�����-@zL��L��L��L�'�w@�A���;B� B��A�0�*B��9�A��A��O7�A�CJ��A�"C�5��*C��=RC��A=C��C����I��G�&>�������������������� ��2:Y��X1y�/�:����6)���;�9��ͥ~j,�o�}�E�AY}2���@�}2���@y}2�m�<�}2��$��}2H�����m1п������?�����d�?����S�����@Oп����;��������̛���� a�������\��?)~2���@ ~2Y];I~2��Cɫ)�1)�1 �5����I�1Y�m�@y�mOgG)Í�= Í�=���C�M�4=Y���;QU��>�����a��G����y��<}��>I���Bf 5�?��8p�� �?@�� �?9� B��b�: ���:)��W1�W1X1 X1�W1:W92W9*W9�V9U9UE����� @zLY�LY�LY�L]cx@�Au�;�;Bq Bq�A}��*B}9�Ay�A}PO7�A}J��Ay"C�4��*C�a�=RC���K=C��C��֝-�B=I��G�d>�j��j, N~�E�A��0��2�<�49�4I�67`Gi�6>�@��6=��4��4��6��; �6G�EY}B��@�}Bղ�@y}B2*�<�}B�?(��}BH�����+п�������?����셠?������������Ͽ��� �������������@������l��?)~B��@ ~B��];I~B��Ci�L��L)�L �LI�P �P)�PɖP��P�P��TɗTi�TI�T��TI�Xi�X �X�X)�X�\ �\��\��\ɘ\��`��b�pAI�b�}�)�`i�`)�dI�d�dəd �dɚh�h��hi�h��hɫ��)� � ����I� Y�=[�@y�=�fG�Õ���Õ��>�Õ���iÑ�Ñ ĕ�@)ĕ�@Iĕ�@iĕ�@����J�M�G=Y��E�;QU��>�������a��G����iy�}��;}��>Iȩ����:�ŭ�b 5�?����:�ŭrr�� ƭ�@@����?9ƭJB�ǭ��: ȭk�:)ȭ��:�W��W�X� X��W�:W������������������r�� ��:Y��V1y��:���5)�Kw;2W*W!�V!U!U-������ @�R5B*** querying acoustic contact ***�P1�P1zLi�Li�Li�Lm�Rx@�A}1!�;B� B��A�P �*B�#9�A��A��N7�A��I��A�"C�3��*C���=RC�ԅT=C��C����JM=I��G�>�ӷ�j,-&1~�E�Aɫ���)�� ������I��Y�T�@y�yfGZ****** received transponder code query ******F****** received ping request ******%<Arming DUSBL. detectThresh: 75-8****** ping requested ******��)��)��U�L7�A`�?�� �rh������Mb`?��U+�=��UC�� �U;)�QI�Qy�U�i��|?5�?�~j�t���:��v������U�q=��U�D���U�Լ �U�A)�QI�U�Ai�U5A��Q��U�A�����M�;=Y�����QU��>�������a��G������y�����}��>I�AA)�I� �� j` 5�?�� {s�� � �?@���?9� jB�� �: � ��:)� �WY�WYXY XY�WY:WY2W�*W��V�U�U�����ݷ!@zL���=�L���=�L�5�@�L���p@�A��Ż;B� B��A�=�*B��9�A�AN7�A�I��A"C 2��*C ^ң=RC S=C �C��5lT=I�9G]�>i�=�mG���j, K~�E�AI�*fpAi�4��Nx\�ٺNfpA��N OAY}n��@�}nͲ�@y}n~P=�}ng���}nH�����Wп���@f��?����9q�?��� ���������Ͽ����%Ϧ������������ t����������?)~n��@ ~n��];I~n��Cɫ�)� �����I�Y�M��@y�U�fG]xDUSBL response received:!U1,P 80,80,63,E4 B,185,80,80,70,FF ]Command Ack]BRequesting micromodem ping code 2i�Y��Y�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������nA����=M�n=Y���<QU?��)��)�a5�G��9��Iy�]R4�}e�>I�1����:��5s^ 5�?����:��5jt�� �5.?@����?9�5�B��5�I< �5)K<)�5��:��%�����%�����%�����%i�� �%�:Y�%�Y1y�%�:��%"�5�9=@�W��W�X� X��W�:W�2W�*W��V�U�U�����y�"@zL)�L)�L)�L-��p@�a9�aI�eo_Gi�e��@��e=��a��a��e��; �e?�E�A��J�;B� B��A�{��*B� 9�A��A��M7�A�LI��A�"C�5��*C�~£=RC���R=C��C�Y� t$9��� XR=I� G%�>��ɘj,��d~�E�AY}2��@�}2Ζ�@y}2 � =�}2����}2H���� 9п�������?����8И?�����������#п��� ������������`������@���?)~2��@ ~2�];I~2��Cɫ9�9)�9 �9I�AY���@y���eG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��H��M�R=Y�e�;QU��>�����a��G����y���}��>Iȱ�ŵ�\ 5�?�ŵIu�� Ƶ�>@����?9Ƶ�B�ǵ��: ȵY�:)ȱ�Wy�WyXy Xy�W�:W�2W�*W��V�U�U�����4#@zL��L��L��L�[p@�A����;B� B��A� �*B�9�A��A��L7�A�I��A�"C�4��*C�ص�=RC���E=C��C���I� G-N>����j,��~~�E�AY}2mf�@�}2)t�@y}2�)=�}2Qv��}2H������{п����-��?�������?��� m�������dп�����'�������!����� �i�����@���?)~2mf�@ ~2��];I~2��Cɫ9�9)�9 �9I�9Y�u�@y�}fG�yɮ}p=�xDUSBL response received:!U1,R,1C6,000,00491,186,80,80,71,FF �Fpublishing direction and range info���b�ʾ���ɰ���=鰅��> ��)����BI��y���B����Ս��n��?��J��ؿ��������ٱ���uƒ;M}J=Y�}�;QU}�>�����a��G����y��,�}��>Iȹ�ŽzZ 5�?�ŽGv�� ƽ�=@����?9ƽ�B�ǽ@�: Ƚ+�:)ȹ�W!�W!X! X!�W):WI2WI*WI�VQUQUU������#@�Re(Combining 5 samples.�Pa*Qe�B�Ze���d��>@�)h#1)����������Ze�Ս��n��?��J��ؿ��������2Qeb�ʾ:Qa�Ze�SJ��"�3���:��9����5F��Ze��X[�!�㿅���V��dv,Wǘ�BQe�ǁ@ Qe���Qea���Pe�9?�Pe�9?�PeQ���QeP���Qe��@"QeB�@zL��L��L��L��p@�A�*��;B� B��A�F�*B��9�A��A�VL7�A��H��A�"C 3��*C *��=RC �t7=C �C��=T ����=�����=�����=��� �=�::Y�=DW1y�=Y�:��=E�5�֕�#@=I��G�a>�]��>9�YI�]�^Gi�]��@��Y��Y��Y��]��; �]A�E)��I��i�����=����=����)�4����j,�ޘ~�E�AY}TC�@�}Q�@y}��1=�}�c��}H����@��п����0��?���@�e�?����������� �п�����U������H<������馢���� ���?)~TC�@ ~v<^;I~��Cɫ�!)�! �-����I�)Y��+�@y��GfG��DNmea in: $SNTTA,,,,,164649.77*56 ��U�+���?�� �rh�?�~j�t��?��U�v>��UC�= �U�D<)�QI�Qy�U������M�?#��~j���{�G�z�?��Un>��U㥽��Uף< �U�A)�QI�U3Ai�Q��Q��U(A)�m�= �m>-�6only read 3 of 4 data items���@���@���@���f<M�*=Y���;QU��>�����a��G�����y����}��>I������:����U 5�?����:���py�� ��f>@����?9��B�����: ��(�:)����:�myAdded new target pos. range: 32.639999 m, bearing: 232.370959 deg, deltaT: 10.001461 s, approachRate: 0.035995 m/s, LOS rate: -0.125351 deg/s, posRepo size: 4�W�WX X�W:W2W*W��V�U������Q@@U�����:��?zL=�)>�L=�)>�L=쑸@�L=E|@�AMm�<BQ BQ�AUT�*Bu19�A��A��K7�A�iH��A�"C�2��*C����=RC���)=C��C��֭��8=I��G��>���j,���~�E�Aɫy�y)�y �}����I�yY��A�@y��bfG��U+<M]z=Y�]���QU]?��a��a�ae�G��a��iy�m���}m?I�y��}�R 5�?��}�{�� �}�>@����?9�}JB��}7 ; �}C;)�y�WY�WYXa Xa�Wa:Wa2Wi*W��V�U�U����`b,�?zL��L��L��L��A�[!<B B �A � �*B 9�A �A K7�A#H��A"C5��*C�z�=RCC+=C�C! �U�=��U�=���� ����������������� �� ���B:Y���X1y��/�:����6��%�#'=I�1GM1>����j,��~�E�A�|�;�|p;Y}6��@�}6�"�@y}6��<=�}6���}6H�����ѿ���`$��?������?����a������6�п�������������������������������?)~6��@ ~6K^;I~6��Cɫ9�9)�9 �=����I�9Y���@y��0fG��m���m���m���mt>��m94<��m+>i�m�@��i �m&�@)�m&�@I�m&�@i�m&�@��G�M�H=Y�l�;QU��>�����a��G����y��b�}��>Iȡ����:�ť�N 5�?����:�ťO~�� ƥ-?@����?9ƥ�B�ǥa�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U������.�?zLY�LY�LY�L]��{@�A}�-<By By�A}��*B}�9�A��A��J7�A��G��A�"C�4��*C�e�=RC� �=C��C�i̹I̹�̹�̹��9��I��D^Gi����@��������������; ��E�E��� �+,=I�� G� �>��(�j,�k�~�E�AY}:��@�}:\#�@y}:#�==�}:�<��}:H�����xѿ�������?����-�?����|��������п����⧫���� �������@�������"��?)~:��@ ~:��];I~8ɫ9�9)�9 �=����I�9Y�uL�@y�}pfG������U�<MUM=Y�]�E:QU]�>��Y��Y�ae�G��a��ay�m9}m�>I�q��u�J 5�?��u��� �u�?@��}�?9�u�B��u�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`A��?zL��L��L��L�r�{@�A�r�(<B� B��A�*�*B�q9�A��A��I7�A�bG��A�"C�3��*C��O�=RC�*�=C��C��֭�3=I��G�>��� �������������������� ���4:Y���W1y��č:�����5)��|�;�9���u�j,�@��E�AY}2�'�@�}2�5�@y}2.<=�}2J���}2H�����8�п���`���?��� 腕?���`�������C�п�����R������ȁ�����`#������`���?)~2�'�@ ~2�];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y���eG��=P�M=L=Y�=���QUE�>��A��A�aE�G��A��Iy�MM�;}U�>I�Y��]�:��]�F 5�?��e�:��]���� �]�@@��e�?9�]B��]�: �]��:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U���� `��?zL��L��L��L��{@�A�_�5<B� B��A�� �*B�9�A��A�CI7�A��F��A�"C�2��*C�S:�=RC�t� =C��C���-l�=I�QGm5>�������<��9��n�CI���]Gi��V�@���=�����������; ��J�E�B;�j,�"�E�A�|i|Y}:�D�@�}:�R�@y}:1R9=�}:[8��}:H�������п���`���?����A��?����Y������N�п����� �����@@(������^�����`���?)~:�D�@ ~:J�];I~:��Cɫa�i)�i �u����I�qY����@y���eG�Å`�<�ÅS�=�ÅE��iÅp�@�Á ąE�@)āIāiā���;M�5=Y�ƺQU��>�����a��G�����y����;}��>I������B 5�?������� ��z@@����?9��bB����: ��b�:)���W�WX X!�W!:W)2W)*W)�V)U)U5����š@zLi�Li�Li�Lm�|@�A�1D<B� B��A�$�*B��9�A��A��H7�A�gF��A�"C�5��*C�B#�=RC���,=C��C�����=i��C=��� �������������������� ��76:Y���X1y��/�:���|�5)����;��*!=I�!G=r>��c�j,f�3�E�Aɫ�髙)�� ������I��Y��ú@y���eG����)\���(�?��ʡE���{�G�z�����Ga>������ ���#�)��I��y���+��η?��ʡE�����~j�t�?���v�=�����������< ¹)½3AI¹i½dA������)���= ���=���ܜ;M�X=Y�����QU��>�������a��G�����y����} �>I���b? 5�?����� ��@@���?9��B����: �i�:)��W9�WAXA XA�WA:WA2WA*WI�VIU�U�������@�R�B*** querying acoustic contact ***�P��P�zL Q�=�L Q�=�L ��@�L ��p@�A%�R<B! B!�AMJ�*BM9�AI�AM�G7�AM�E��AI"CU4��*CU��=RC]*+=CY�CY��]�+,=I�iG�[>��M�j,��M�E�AY}F_{�@�}F��@y}F-�5=�}F1�"��}FH�����Rп�������?����<��?������������7п����H"����� ������� 'R������y��?)~F_{�@ ~FF�];I~F��Cɫi�i)�i �m����I�iY����@y��fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�Í�>�Í`�<�Í^��iÍ��@�É č�@)č�@Ičҙ@ič�@��&a<M�1=Y����QU��>�����a��G����y�sm<}��>Iȹ����:�Ž�; 5�?����:�Ž���� ƽmA@����?9ƽ�B�ǽ��: ȽZ�:)Ƚ�:���2�����������������~�� ��e#:Y��DW1y��Y�:�����5�9�@�W�W X X �W :W 2W *W�VUU��� �T @zL1�L1�L1�L5wqq@܅��>9܁I܅|]Gi܅�@�܅=�܅RD�܅��D�܅��; ݅M�E�A%�b<B! B!�A%��*B-I9�A)�A-;G7�A-OE��A)"C53��*C5���=RC]I�C=CY�CYY�M,$9 �]�=��]�=��= ��)=I�I Gm �>�cv�j,:�g�E�A�|�|4< �`)�b�pAɂbt����`�`��dɃfqAi�fO��I�d��dI�hi�h �jC���h)�h�h �n�rA��l��YɄY��Y��]qAI�a)�ai�a)�aI�a�aɅi �iɆi�m�pA��ii�i��qi�q��u��A)�q �qI�yɫ1�1)�1 �5����I�9Y����@y���eG�������xDUSBL response received:!U1,P 1C6,000,00491,186,80,80,71,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 ��mx��Mua=Y�}���QU��>�����a��G����y�����}��>I������8 5�?���t��� ���A@����?9���B�����< ����<)���W��W�X� X��W�:W�2W�*W�VU!U%������ @zLY�LY�LY�LY�AuIOq<Bq Bq�Au��*B�99�A��A��F7�A��D��A�"C�2��*C��=RC�@=C��C�YϭP$9��� -�B=I�GE�>�}_�j,����E�AY}N�z�@�}Nf��@y}Nm7=�}N����}NH������Sп�������?������?��� t������I9п�����4�����`Zি��� ����������?)~N�z�@ ~NI�];I~N��Cɫ���)�� ������I��Y�B�@y�(eG�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����8�M�T=Y���]:QU��>�������a��G������y���p�}��>I�����:���p5 5�?���:������ ��HB@���?9��'B�����; ��߆;)���:�W9�W9X9 X9�WA:WA2WA*WA�VA�� }�>��ՕC���j�������������������� ���y:Y��xZ1y��q�:�����5i��gmGU�U ���`id@I�i�)��]xZ�ٺY��](MAzL��L��L��L��nq@�A��"�<B� B��A�~-�*B�9�A��A��E7�A�D��A�"C�5��*C�٢=RC�@=C�C!Y� "9�� �#@=I� G= �>��}nA��}nA܁9܁I܅]Gi܅��@�܅=�܁�܁�܁ ݅N�E�9��j,er��E�AY}:�b�@�}:�p�@y}:/�4=�}:���}:H������п����F��?������?����������@0iп�����������`啦������������@c��?)~:�b�@ ~:O�];I~:��Cɫ���)�� �I�Y�U/�@y�UeG�xDUSBL response received:!U1,R,FAC,000,00498,185,80,80,78,FF �Fpublishing direction and range info��eQ �=��aɰe��=�e+�> �a)�e��BI�ay�e=B��e�E� ���?����?��������ٱa��dNmea in: $SNTTA,0.048614,0.277560,,,164654.24*52 ��]�)\���(�?�C�l��ѿ�~j�t��?��Y��]ߏ� �]�D=)�YI�Yy�]� ףp= �?i��|?5��{�G�zt���]Q�=��]�q���]ף� �]�A)�]�AI�]�Ai�] A��Y��]A���@���@���@����M�==Y�/��QU��>�����a��G����y��oۻ}��>I������2 5�?������� ��B@����?9��VB�����: ��@�:)���W��W�X� X��W�:W2W�*W��V�U�U��� ��@�R (Combining 5 samples.�P*Q=B�Z�!��P|@@��غ^@���������Z�E� ���?����?��������2QQ �=:Q�Z�N��盩���YG�8@��v�=����Z�0��-�ǿ��AH,g↑�0IBQfɐ@ Q��QL���P9�9?�P�9?�P^���QQ���Qň@"Q��@zL5��=�L5��=�L5G~�@�L5�w@�A�{Չ<B� B��A��/�*B��A��A�E7�A�kC��A�"C�4��*C��Ǣ=RC�� 5=C��C����������� ���������I�� G� �>����j,F��E�AY}^_9�@�}^G�@y}^�K(=�}^�� ��}^H�������п�������?�����(�?���`�������)�п���������������� ��������,��?)~^_9�@ ~^g�];I~^��Cɫ���)�� ������I��Y�u�@y�heG����<M�\=Y�"�QU��>�����a��G�����y���_�}��>I���%�:���/ 5�?��%�:��7��� ��A@��-�?9��B����: �'�:)��:�m]qAdded new target pos. range: 33.060001 m, bearing: 259.239611 deg, deltaT: 4.503230 s, approachRate: 0.093267 m/s, LOS rate: 5.966529 deg/s, posRepo size: 4�WY�WYXY Xa�Wa:Wa2Wa*Wa�VaUm��� ��@@Um��� ,c�?zL��L��L��L�Iw@�A��#�<B� B��A�'�*B��A��A�sD7�A��B��A�"C�3��*C�q��=RC���"=C��C�I��G�>���i��4=��� �������������������� ���I:Y���Y1y���:���2�5�L��j,� ��E�AY}F�5�@�}FfC�@y}FԀ=�}Fx���}FH�����(�п���@_��?�������?�������������п����Y刺�����Σ������Y���������?)~F�5�@ ~F��];I~F��CɫQ�Y)�Y �]����I�YY��\�@y��HeG�������������í�}=�í"[��í�K�ií��@�é ĭ�@)ĩIĭ�@iĩ�����M�J=Y��>��QU��>�������a��G������y��5��}��>I�����;- 5�?���ˑ�� ���A@����?9���B�����: ���:)���W�W X X �W :W 2W*W�VUU���@���?zL��L��L��L��Bw@�A�� �<B� B��A�@*�*B��A��A��C7�A�B��A�"C�2��*C�$��=RC���#=C��C�I�qG�>�)9�)I�)i�)��-=��)��)��-��; �-J�E)ݽ�n�CIݽ�n�Ciݹ��ݽ�=�ݽ�=�ݽ��'5����j,"���E�AY}f�8�@�}f�F�@y}f��=�}f����}fH����`%�п���@���?�����H�?��� �����@B�п������������������:���������?)~f�8�@ ~fٹ];I~f��Cɫ�髱)�� ��I��Y����@y���eG��u��<MuO=Y�u��QU}�>��y��y�a}�G��y��y�ą:}��>Iȑ����:�ŕ�* 5�?����:�ŕ`��� ƕ�A@����?9ƕ�B�Ǖ��: ȕ��:)ȕ�:�W��W�X� X��W�:W�2W�*W��V�U�U������3�?zL��L��L��L�Jw@�A�ۡ<B B�A��*B�A �A C7�A UA��A "C5��*C���=RC�y%=C�CI�1GM�=���� �������������������� ���[:Y��xZ1y��q�:�����5)��>�;�9���ī� j,p���E�AY}Fe;�@�}F!I�@y}Fr.=�}FW���}FH�������п������?�����I�?�����������п���`ۃ�����`������`x������@���?)~Fe;�@ ~F�];I~Dɫy�y)�y �}����I�yY��7�@y��eG��]�!�MeL=Y�m `�QU��>�����a��G����y��=:}��>I������' 5�?������ ��vA@����?9��B�����: ��ϸ:)���W)�W1X1 X9�W9:WA2WI*WQ�VYUYUe���`���?zL��L��L��L��Ow@�A��s�<B� B��A��.�*B��A��A�TB7�A�s@��A�"C�4��*C��v�=RC��4&=C��C�I��@A)��AAi��I����������� �<=I�� G �>��!��%�<�-��>9�)I�-�\Gi�-c�@��)��)��)��-��; �-N�E�!� j,����E�Aɫ���)�� ������I��Y�X�@y� CeG �q�q�������S��?�S㥛���J+��?���/]>���$� ���H=)��I��y����z�G�?V-�������Mb�?��� �=����m����< ��)��3AI���Ai��dA������3A��]��=��]��=��]��=i�]��@��Y �]�@)�YI�]ҙ@i�Y���h <M�(=Y�����QU��>������W �����������������6�� ��5�:Y��0Y1y����:���� 6)��!�;����a��G������y�����}�>I��� �:��d$ 5�?���:��Z��� ��A@���?9�?B����: ��:)��:�W9�W9X9 X9�W9:WA2WA*WA�VAUIUM�����8�@zLm6�=�Lm6�=�Lm��@�Lm|@�A�9;�<B� B��A��*�*B��A��A��A7�A�{?��A�"C�3��*C��`�=RC���%=C��C���u�#'=I��G�]>�� j,��6��E�AY}2�!�@�}2�/�@y}2�� =�}2�?��}2H�����ѿ����c��?���@!�?�����������i�п��� �������@�<������D�����@���?)~2�!�@ ~2:�];I~2��Cɫ1�9)�9 �=����I�9Y�u�@y�u�dG�� ��M �=Y���QU?�����a�G����y�%�$�}%?I�)��-7" 5�?��-ژ�� �-�A@��5�?9�-eB��-g�: �-�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm������@zL��L��L��L�VN|@�A��<B� B��A��3�*B��A��A��@7�A��>��A�"C�2��*C�P�=RC��~=C��C����X%=I��G�%>�� j,�jP��E�A�|i|Y}Z��@�}Z��@y}Z��=�}Z�s��}ZH������!ѿ�������?���@���?����������`tѿ����錄����9z�����@�ꢿ��� )��?)~Z��@ ~Z"^;I~Z��Cɫ�髑)�� ������I��Y����@y��VdG��ɮ��Å�?�ÅO;�Å㥽iÅכ@�Á ą&�@)āIą�@iā����M�B=Y�uf�QU��>�����a��G����y���}��>Iȱ�ŵ= 5�?�ŵ��� Ƶ�A@����?9Ƶ�B�ǵ�: ȵ@�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������@�RB*** querying acoustic contact ***�P�PzL�L�L�L�*|@�A-�m�<B1 B1�A5�B�*B1�A1�A5@7�A5�=��A9"C=5��*CE98�=RCE�=CA�CA �U=��U�=���8�����������������z�� ���#:Y��xZ1y��q�:�����5�9�@��9��I��]Gi����@���=�����������; ����}�3=I��G�<>�a j,�>j��E�AY}2��@�}2o�@y}2���<�}2�j��}2H���� � ѿ����'��?�����P�?����b�������ѿ����?������ ȗ�����@7j�����` ��?)~2��@ ~2�Q^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��> ���=����U<M�V=Y��HƻQU��>�������a��G�����y��9} �>I����:��� 5�?���:������ �%B@��%�?9��B��p; �s�;)��:�WI�WIXI XI�WI:WQ2W)*W1�V1U1U5�����\ @zLQ�LQ�LQ�LU *|@�AeA��<Bi Bi�Am�=�*Bq�Aq�AuI?7�Au�<��Aq"C�4��*C�� �=RC���=C��C��ֽ��=I��G�E>��� j,q ���E�AY}F�#�@�}Fe1�@y}F���<�}F!��}FH�����u�п�������?���`��?����������@��п���@�{������<����� �_����� ���?)~F�#�@ ~F�}^;I~Dɫ�髹)�� ������I��Y�Ĺ@y��dGxDUSBL response received:!U1,P FAC,000,00498,185,80,80,78,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 ��4�:M�@=Y����QU-�>��9��A�am�G��q��y��[�;}��>I�����F 5�?������� ��\B@���?9��B�����; ��O;)����w ���������������� �P=:Y��V1y��:��+6�W)�W)X1 X1�W1:W92W9*WY�VaUaUe��� �+ @zL��L��L��L��L|@�A�|z�<B� B��A�;=�*B�A�Al>7�A�;��A"C3��*C��=RC%٨=C!�C!��Ml�=I�YGu�>��� mA��� �� ��>9�� I�� i�� ��� ��� ��� ��� ��; �� T�E��&' j,2����E�A�|R4<�|Pɫi�i)�q �u����I�qY��c�@y��QeG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���y�&1�|�k�t��?����Mb`���`��� 0= ��)�I�y���p= ף�?)\���(���I+��?���=��Ga���94< ��A)�^AI�i�������}Q8=��}/ݽ��}xi�i�}p�@��y �}=�@)�}&�@I�}&�@i�}&�@���)=M�.=Y����QU��>�����a��G����y����}��>Iȩ����:�ŭ� 5�?����:�ŭ+��� ƭ�B@����?9ƭ'B�ǭ��: ȭ��:)ȭ�:�W��W�X�I��)��@A X��W�:W�2W�*W��V�U�U�����\$@zL�ԯ=�L�ԯ=�L����@�L���o@�A��e�<B� B��A�S)�*B��A��A��=7�A��:��A�"C2��*C��=RC��=C�C!�� �=I�GE�>�qP- j, ط��E�AY}Z+O�@�}Z�\�@y}Zݮ�<�}Z{���}ZH����@�п�������?�����9�?���`�������*�п�����̠�����@�������L������`��?)~Z+O�@ ~Z�A^;I~Z��Cɫ�髙)�� ������I��Y��r�@y��ceG�xDUSBL response received:!U1,R,1E4,000,0049E,186,80,80,79,FF �Fpublishing direction and range info����@ؾ���ɰ���=����> ��)����BI��y���B����%:y�0�?�9��-<ڿ��������ٱ���Y�;M ~=Y� �5�QU ?�����a�G����y�<�<}% ?I�!��%� 5�?��% ��� �%�B@����?9�%CB��%��< �%��<)�!�W1�W1X1 X1�W1:W12W9*W9�V9U9UE����P�@�Rm(Combining 5 samples.�Pq*Qu�B�Zu���S�{>@�(�5f+����������Zu�%:y�0�?�9��-<ڿ��������2Qu�@ؾ:Qq�Zu�J;�Z�(5�xq]l �9��˵�,�̿�Zu�v�_ثB�+��U���̼겁{�BQuKۀ@ Qu���QuF���Pu�9?�Pu9�9?�PuS���Qu^���QuC�@"Quň@zL��L��L��L�.p@�A����<B� B��A�y'�*B��A��A�=7�A��9��A�"C�5��*C���=RC5-0=C�C!���� �����������������j�� ���D:Y��0Y1y����:���Y�5��1I�AG]U>i�1 I�e qAi�q ��� #a�ٺ� qA��� �SA�64 j,��р�E�AY}6lU�@�}6(c�@y}6�<�<�}6 .��}6H�������п�������?���@ �?���������� �п�����|������������ )ã���� ���?)~6lU�@ ~6�^;I~6��Cɫ�髹)�� ������I��Y���@y���dG�eDNmea in: $SNTTA,,,,,164658.66*56 ����M�==Y��K�QU��>�������a��G������y����:}�>I����:��P 5�?���:��>��� �9C@���?9�hB����: �E�:)��:�mEuAdded new target pos. range: 33.419998 m, bearing: 230.716878 deg, deltaT: 4.390568 s, approachRate: 0.081993 m/s, LOS rate: -6.496365 deg/s, posRepo size: 4�WA�WAXI XI�WI:WI2WI*WQ�VQUU����µ@@UU�������?zLq�Lq�Lq�Lu]<p@�A�p�<B� B��A��3�*B��A��A�U<7�A��8��A�"C�4��*C�1Ρ=RC���/=C��C�ܑ9ܑIܕ|]Giܕ�@�ܑ�ܑ�ܑ�ܑ ݑ����[1=I��G�E>�k`: j,Ӆ뀨E�A�|i|�@ɫ�髹)�� ������I��Y���@y���dG���a�M�P=Y����QU��>�����a��G����y����}��>Iȱ�ŵ 5�?�ŵS��� Ƶ�C@����?9Ƶ�B�ǵ+�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����pK�?zL��L��L��L��A�"�<B� B��A��4�*B��A��A��;7�A�7��A�"C�3��*C����=RC���.=C��C� ���=����=���x�����������������0�� ���:Y��DW1y��Y�:����6�����.=I��GK>�#HA j,N`��E�AY}:�I�@�}:�W�@y}:���<�}:�� ��}:H����`>�п��� ���?�����o�?���@������ h�п���`������`�p������%���������?)~:�I�@ ~:��];I~:��CɫA�A)�A �E����I�IY�]P�@y�]:eG-=6only read 2 of 4 data items��=@��=@��=@��E��<ME@=Y�ES#�QUM�>��I��I�aU�G��Q��Qy�]vW�}]�>I�a��e� 5�?��e��� �e�C@����?9�e�B��e�< �eU�<)�a�W �W X X �W :W2W*W�VUU���`���?zLq�Lq�Lq�Lu %p@�A�,�<B� B��A��+�*B��A��A��:7�A�I6��A�"C�2��*C�k��=RC���)=C��C��ֽ4�/=I��G�f>�ّ �ٕ �<ܥ ��>9ܡ Iܡ iܡ �ܡ �ܡ �ܡ �ܡ ݡ )��I��i�����=���=����4��vG j,�N��E�AY}n=�@�}*K�@y}g#�<�}����}H���� l�п����}��?������?����������@Y�п���@�a�������㕿�����������`%��?)~n=�@ ~��];I~��Cɫ���)�� ������I��Y�e7�@y�eeG��]�Zd;�O��?q= ףp�?�I+��?��]j�=��]��= �]94=)�YI�Yy�]�y�&1��?k�t������Q�����]`�=��] ����]�u� �]�A)�]AI�]5Ai�]5A��Y��]�A��}X��M}F=Y�z��QU��>�����a��G����y�yr�}��>Iș����:�ŝ� 5�?����:�ŝx��� ƝwC@����?9Ɲ�B�ǝf�: ȝ��:)ȝ �:�WI�WIXI XI�WI:WI2WQ*WQ�VQUQU]��� 0V�?zL�i>�L�i>�L�x�@�L�%kr@�A���<B� B��A��.�*B��A��A�:7�A�5��A������������������������� ��11:Y��0Y1y����:���{6)��Q�;�9��"C�5��*C����=RC�<Q$=C��C��-�K'=I�9GUv>���M j,�9��E�A�|�;�|�;Y}F'0�@�}F�=�@y}FJɬ<�}F���}FH����`�п��� p��?�����9�?����@����� �п����է�����@��������ܞ���������?)~F'0�@ ~F �];I~F��CɫY�Y)�Y �]����I�YY��u�@y��heG��5L�<M5b=Y�=aP�QU=�>��9��9�aE�G��A��Ay�M'��}M�>I�Q��U% 5�?��U2��� �U#C@��]�?9�U B��U@�: �U��:)�Q�Wy�W�X� X��W�:W�2W�*W��V�U�U ��� #��?zL)�L)�L)�L-�Rr@�Ae�\�<Ba Ba�Ae'�*Ba�Aa�A�n97�A� 4��A�"C�4��*C��}�=RC�X�=C��C����nA���nAI��)��AA���O$=I��G�G>���T j,�R��E�AY}J��@�}JO,�@y}JZ��<�}Jo ��}JH���� �ѿ���@7��?����Y[�?�����������п��� >ҝ�����G5����� ����a��?)~J��@ ~J��];I~J��Cɫ���)�� ������I���19�1I�1i�1��1��1��1��5��; �5S�EY�M �@y�M�dG�IɮI��a��a���! �����������������L�� ��t6:Y���V1y���:�����5)��ݒ;��%���%���%���%;�>��%O����%�m�i�%(�@��! �%�@)�%�@I�%�@i�%�@��5���M5#=Y�=8F�QU=�>��9��9�aE�G��A��Ay�M��}M�>I�Q��]�:��U\ 5�?��]�:��U���� �U�B@��]�?9�UhB��U#�: �U��:)�U �:�W��W�X� X��W�:W�2W�*W��V�U�U����`��@zL��L��L��L��1r@�A��W�<B� B��A��1�*B��A��A��87�A��2��A�"C�3��*C��c�=RC�s�=C��C�����=I��G�>�K�Z j,u�l��E�AY}:| �@�}:8�@y}:��<�}:�y ��}:H�����/ѿ������?������?����`������#ѿ�������������������~-�����@���?)~:| �@ ~:�];I~8i�@��F�qA)�D �DI�D �D)�J�rAɖH��H�H��HɗHi�LI�L��LI�Li�P �Rף��P)�P�P �P��T��TɘT��T��V�pAI�V�#�)�Z�WFi�X)�XI�X�Xə\ �\ɚ`�`��b�Ļi�`��`ɫy�y)�y �}����I�yY�Uc�@y�UQeG��}��<M}�=Y�}d�QU� ?�����a��G����y����}�?Iȱ�ŵR�5�?�ŵ��� ƵbB@����?9Ƶ�B�ǵǺ: ȵ+�:)ȱ�W�WX X�W :W 2W *W)�V1U1U5����L�@�R=B*** querying acoustic contact ***�P9�P9zLq�Lq�Lq�Lur@�A�z6�<B� B��A�S)�*B��A��A��77�A��1��A�"C�2��*C��P�=RC��=C��C��ֽr=I��G�G>�"�a j,r����E�AɫQ�Q)�Q �]����I�YY��ú@y���eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M/�=��Mj�<��M7�=i�M��@��I �I)�M�@I�Ii�M�@��]V�<M]==Y�e���QUe�>��a��i�am�G��i��qy�u���}u�>I�y����:��}9�5�?����:��}%��� �}�A@����?9�}�B��}��: �}��:)�}�:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqUu��� @zL��L��L��L�����=i���=����������������������� ��:2:Y���U1y����:����6�9�@�A���=B B �A J�*B�A�AH77�A80��A"C%5��*C-�6�=RC-��=C)�C)��5�#=I�AG]v>��- nA��) �1 9�1 I�5 �]Gi�5 V�@��1 ��1 ��1 ��5 ��; �5 V�E�|�g j,����E�AY}>���@�}>k�@y}>v~�<�}>u���}>H�����7Nѿ����1��?������?����3�����@!Aѿ�����<������z�����@�]������'��?)~>���@ ~>m�];I~>��Cɫ���)�� ������I��Y�ݺ@y��eG����xDUSBL response received:!U1,P 1E4,000,0049E,186,80,80,79,FF Command AckBRequesting micromodem ping code 2i����-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��M�q= ףp�?#��~j�������Mb`?��M�k>��M㥽 �M;)�II�Iy�M���ʡE��?y�&1���<�O��n�?��M�>��M`e���Mt< �M�A)�M^AI�M Ai�MdA��I��M�A)�}�= �}�=����;M�,=Y�x��QU��>�����a��G�����y�����}��>I�����V�5�?���DZ�� ��<B@����?9��&B�����: ��Ǻ:)���W1�WQXQ XQ�WY:WY2WY*WY�VYUaUe����#� @zL� (>�L� (>�L���@�L�R�@�A'�=B! B!�A% �*B%�9�A)�A-�67�A]�.��AY"Cm4��*C���=RC�I�=C��C���� ]=I�� G �>���m j,�^���E�AY}:��@�}:x�@y}:f!�<�}:|� ��}:H�����5ѿ��� ���?��� e��?�����������&ѿ�������������㓿����$������#��?)~:��@ ~:q�];I~:��CɫY�Y)�a �e����I�aY����@y���eG�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���z�M��=Y��� �QU�?�������a��G������y����;}�?I������:�����5�?����:������ ��eB@����?9��YB�����: ����:)���:�W�W!X! X!�W!:W!2W!*W)�V)U)U-���@�@zLI�LI�LI�LM/�@�A��+=B� B��AO#�*B9�A�A�57�A�-��A"C-3��*C-� �=RC5F�=C1�C1��� ����������������� ��B:Y��V1y��:����5��=G�=I�IG�`>�F�t j,�8ԁ�E�AY}6B#�@�}6�0�@y}6.7�<�}6)��}6H���� �ѿ�������?����1��?���@��������п�����E����� �Ɠ����`v��������?)~6B#�@ ~68�];I~6��Cɫy�y)�y �}����I�yY���@y��5fG�xDUSBL response received:!U1,R,169,000,004A3,186,80,80,51,FF �Fpublishing direction and range info����K�����ɰ�z�=鰹 ��)����BI��y���B�����2��l�?�����ӿ��������ٱ����5^>����������@�i��p�@��� ��&�@)��&�@I��&�@i��E�@����)=M�J=Y�����QU��>�������a��G������y��F<}��>I�������5�?��� ��� ���B@����?9���B����: ����:)���W�WX! X!�W!:W!2W!*W)�V)U)U-���@�@�R=(Combining 5 samples.�PA*QE�B�ZE���� �@@uLj�d�$����������ZE��2��l�?�����ӿ��������2QE�K��:QA�ZE�na��2���:T#<�Z�O��ȿ�ZE��C"3r�ῂ)�}��꿾�P�V�v�BQE{�@ QE��QE����PE�9?�PE�9?�PEW���QES���QE�@"QEC�@zLa�La�La�Le��@�A}�z=By By�A�.�*B��A��A�`57�A��,��A�"C�2��*C����=RC�#=C��C���9��o�CI��D^Gi����@���=����������; ��\�E����=I��G�E>�e�z j, E�AY}F$E�@�}F�R�@y}F8�<�}F�)��}FH�������п��� y��?�����ڡ?�����������п���@�Q����������`2�����`l��?)~F$E�@ ~F� ^;I~F��Cɫy�y)�� ��I��Y����@y��fG�%DNmea in: $SNTTA,,,,,164703.10*58 �A�A��I��I���/�M�H=Y����9QU��>�������a��G����y�&<} �>I�1��5g�5�?��5>��� �5�B@��=�?9�5�B��5��: �5¿:)�1�m�qAdded new target pos. range: 33.719997 m, bearing: 236.558274 deg, deltaT: 4.437059 s, approachRate: 0.067612 m/s, LOS rate: 1.316502 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����(�@@U��������?zL��L��L��L��@�@�A�S�=B� B��A���*B��A��A��47�A�B+��A�"C5��*C�=RC��(=C�C������������������������ ���]:Y��DW1y��Y�:����5�֝��=I��G�b>�#� j,3���E�AY}>�h�@�}>uv�@y}>� �<�}>�l%��}>H������yп���@��?��� \1�?��� ������ �iп������������T��������������`~��?)~>�h�@ ~>#1^;I~>��C��u]�>��}ЕCɫ�髑)�� ������I� i�I�1Y�E��@y�EfGi�I��}�8�ٺy��}.A��]f�>��]����]��i�]@��Y �]E�@)�]E�@I�Yi�]&�@��u���MuB=Y�u׀;QU}�>��y��y�a}�G��y��y�)<}��>Iȉ����:�ō�5�?����:�ōg��� ƍC@����?9ƍ(B�Ǎ��: ȍ��:)ȍ �:�W��W�X� X��W�:W�2W�*W��V�U�U����`v�?zL��L��L��L�d�@�A��=B B�AY�*B�A �A 47�A �)��A "C4��*C�͠=RCU�6=C�C��5��)=I�AGeV>��� ��� �<�� ��>9�� I�� �^Gi�� ��@��� ��� ��� ��� �; 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�uh�E)��o�CI��o�Ci�����=���=����5zL��L��L��L�I�F@�A�� =B� B��A���*B�d9�A��A�I27�A�5&��A�"C�5��*C����=RC�v�2=C��C����������������������'�� ���:Y��WU1y���:�����5)���|;���l;=I��GI>��J� j,K\o��E�AY}2�H�@�}2�V�@y}2Ǘ�<�}2����}2H�����M�п�������?����E�?��� <������դп��� ������둝�����ru������A��?)~2�H�@ ~2�H^;I~0ɫI�I)�I �M����I�IY�}��@y�}�fG��]�<MX=Y���;QU�>��!��!�a%�G��!��)y�-�$�}-�>I�9��E�:��=�5�?��E�:��=(��� �=wB@��E�?9�=�B��=��: �=��:)�=�:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqU}��� �/@zL��L��L��L��kF@�A�$�=B� B��A�!��*B�"9�A)�A-�17�A5 %��A1"C=4��*C=���=RC=+�%=C9�CAI��)����%�31=I�1GM1>�k5� j,�C���E�AY}�)�@�}F7�@y}<�<�}����}H�������п����,��?���@8М?�������������п���@�)����� QF����� �9������f��?)~�)�@ ~�;^;I~��Cɫ�)� �����I�Y�U�@y�U=gG�aɮa �y�y���^�>����>���d;�i���@��� ��ƣ@)���@I���@i���@����<M}<=Y�}�r;QU}�>�����a��G����y���}��>Iȑ�ŕ*�5�?�ŕ��� ƕMB@����?9ƕ�B�Ǖk�: ȕܹ:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����m�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�J+F@�A =�=B B �A ��*B �9�A�A917�A�#��A"C3��*C�o�=RC�=C�C!����������������������� ���:Y���W1y��č:�����5�9�@���"=I�!G=Q>��q ��q ܍ ��>9܉ I܉ i܉ �܍ =�܉ �܉ �܍ �; ݍ c�E��\� j,����E�AY}2C�@�}2��@y}2:=�}2M���}2H���� .'ѿ���`���?����J!�?���������@ѿ����4Ǥ�����������`�������?)~2C�@ ~2�E^;I~2��Cɫ9�9)�9 �=����I�9Y�}ٻ@y�}gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���5^�I�?�rh��|��X9��v��?��X>����� ���<)�I�y��J+��?�l����<�O��n������=����t� ��A)��AI��Ai� A���� A��5��M5G=Y�=�;QU=�>��A��A�aE�G��A��Ay�M/ �}M�>I�Q��]�:��U��5�?��]�:��U���� �UB@��e�?9�U�B��U��: �Ub�:)�U�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @zLE+�=�LE+�=�LE�]�@�LE�r@�A]Y�=BY BY�A]&��*Be�9�Aa�Ae�07�AeT"��Aa"Cm2��*Cm*X�=RCu� =Cq�Cq��}2�=I��G�^>���� j,�켂�E�AY}2R�@�}2�@y}2��=�}2����}2H���� <ѿ����(��?���@#�?�����������(ѿ��� &$������������� �;���������?)~2R�@ ~2�+^;I~2��Cɫ�髩)�� ������I��Y����@y��AgG�xDUSBL response received:!U1,P 169,000,004A3,186,80,80,51,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��p=��=L����9��9��=��� �=x%:Y�9y�9��=2�5��e3�;Me,=Y�mC�:QUm�>��i��q�au�G��q���y�]�-�}e�>I�������5�?������� ���A@�� �?9��9B����; ���;)���W)�W1X1 X1�W1:WQ2WQ*WY�VYUYU]�����*@zL��L��L��L�يr@�A��=B B�A���*B�9�A�A07�A� ��A"C%5��*C%�9�=RC%�� =C!�C) �e�=��e�=��e Nw=I�q G� �>�Wo� j,��ւ�E�AY}2��@�}2��@y}2�=�}2�x��}2H���� �:ѿ��� ���?����S�?������������'ѿ���@ a������1�������K�����`3��?)~2��@ ~2O2^;I~2��C �<)�>�pAɂ>�}���<�<��@Ƀ@i�B��I�@��@I�@i�F�pA �F���F�VF)�D�D �H��H��HɄH��H��J�pAI�L)�Li�L)�LI�L�PɅP �PɆR�C�P��Ti�T��Ti�T��T)�T �XI�Xɫ�髙)�� ������I��Y����@y��!hG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���->�����>�����=i��f�@��� ���@)����@I��E�@i�����Ѝ=M��=Y��6L;QU�?�������a��G������y���9}�?I�����Z�5�?��� ��� ���A@����?9��[B�����: ��¿:)���9�I�o_Gi���@����������; �R�E�W9�W9X9 X9�WA:WA2WA*WA�VAUIUM�����*@zLi�Li�Li�Lm5�r@�A}x=By B��A�b��*B��9�A��A��/7�A����A�"C�4��*C��*�=RC�iW=C��C������=I��GI>���� j,{����E�AY}:&�@�}:��@y}:M�=�}: ��}:H�����)#ѿ����Y��?����F֘?���������� eѿ����ۗ�������|������Q�������L��?)~:&�@ ~:6^;I~8ɫ�髙)�� ��I��Y����@y���gG�xDUSBL response received:!U1,R,FE2,000,004AB,185,80,80,6E,FF �Fpublishing direction and range info���Pw�<���ɰ���=��+�> ��)����BI��y���B����y��[1��?��P!Κ?��������ٱ����Y�M�H=Y��:QU�>�� �� �a �G�� ��1y�=]k;}=�>I�I��u�:��M��5�?��u�:��M���� �MSA@��}�?9�M�B��M/�; �Mr�;)�M�:�W��W�X� X��W�:W�2W�*W�VUU-�����@�R=(Combining 5 samples.�PA*QE�B�ZE���љA@��M���?���������ZE�y��[1��?��P!Κ?��������2QEPw�<:QA�ZE�,S ��� �O�b 3�@���^e�-��ZE�}O�u# Ͽ��7\�ߦ���BQEZ�@ QE��QE���PE1�9?�PE�9?�PE`���QEW���QE$�@"QE�@zL��L��L��L���r@���������������������c�� ��Y1:Y��xZ1y��q�:�����5�A"<�=B B�A}˽*B�9�A�AO/7�A���A"C%3��*C-?�=RC-��=C)�C)��5Nw=I�AG]v>��� j,�� ��E�AY}V�%�@�}Vk3�@y}VB�=�}V}'��}VH���� w�п������?����bS�?���`>��������п�����Y������,3�����`!���������?)~V�%�@ ~V^;I~Tɫ���)�� ������I��Y�5��@y�5|hG��TNmea in: $SNTTA,0.040169,,,,164707.60*4F �Ý��>�Ý"[>�Ý�>iÝQ�@�Ù ĝz�@)ĝz�@Iĝz�@iĝ\�@��� =M�>=Y���T;QU��>�������a��G������y���;}��>I�����t�5�?������� ��A@��m�?9���B�����< ����<)���m�qAdded new target pos. range: 34.200001 m, bearing: 255.959044 deg, deltaT: 4.476998 s, approachRate: 0.107215 m/s, LOS rate: 4.333433 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������A@U��������?zL��L��L��L��r@I��)��?A�A����<B� B��A�ޭ�*B��9�A��A��.7�A�H��A�"C�2��*C����=RC���=C��C������-]=I�9GQ�� �� �1 9�1 I�5 �_Gi�5 ��@��1 ��1 ��1 ��5 ��; �5 H�E���� j,�Y$��E�AY}2�A�@�}2{O�@y}2f=�}2���}2H������п��� ���?���`Gݛ?����0������y�п��� �u������������� ��������[��?)~2�A�@ ~2i�];I~0ɫI�I)�I �II�IY�}ܼ@y�}\hG������S㥫?�|?5^�ɿX9��v�����/]=���M� ����)�I�y����(\�µ?:��v����y�&1��?���=���T���`e< �)�^AI��Ai��A����fA��5V�M5T=Y�=L�;QU=�>��9��9�aE�G��A��Ay�U�<}U�>I�a��m�:��e�5�?��u�:��e��� �e`A@��u�?9�e�B��e�6; �e~$;)�e�:�W��W�X� X��W�:W�2W�*W��V�U�U������P�?zL��=�L��=�L�=~�@�L���y@�A��D�<B� B��A�Y��*B��9�A��A��.7�A�&��A�"C5��*CD�=RCON%=C�C ���������������������K�� ��9:Y���V1y���:�����5)���t;�9������=I�)GEQ>���� j, 5>��E�AY}2�Y�@�}2Wg�@y}2��=�}2#�'��}2H���� ٔп��� ���?�����7�?���@��������{п���`�z�����`������� i줿���`��?)~2�Y�@ ~2��];I~0ɫ9�9)�9 �=����I�9Y��5�@y���hG��U<�<M]Y=Y�]�{;QU]�>��a��a�ae�G��a��iy�m�;}m�>I�q��u��5�?��u���� �u�A@��}�?9�uB��u^�: �uϸ:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����ࠒ�?zL��L��L��L��1z@�A���<B� B��A�!��*B�#9�A��A�4.7�A���A�"C�4��*C��ן=RC��~.=C��C��օ��$=I��i�qI��i������7�ٺ����--AG�g>���� j,�X��E�A�|i|�@Y}>Ok�@�}>y�@y}>Q�#=�}>ڏ)��}>H�����mrп���@"��?����cm�?��������� �Wп����K9�������z����� ,�����`n��?)~>Ok�@ ~>@�];I~>��CɫY�Y)�Y �]����I�YY����@y��hG����>9��I��7`Gi��>�@��� =�����������; ��C�E���@�����=����?���`�i�������� ��&�@)�����I���@i��&�@�� e-�M?=Y�N];QU�>�����a�G����!y�5��;}5�>I�9��E�:��=>�5�?��E�:��=2��� �=B@��U�?9�=>B��=�d; �=`e;)�=�:�W��W�X� X��W�:W�2W*W�VUU ���`<��?zL!�L!�L!�L%�Wz@�AU���<"BU[n:BY BY�A])ý*B] 9�AY�A]�-7�A]���Aa"C�3��*C��ß=RC�%�4=C��C� ՙ�ԝ�=��������������(�� ���:Y��y�����5�5)���~;�֝�[1=I��G�b>���� j,�q��E�AY}2;q�@�}2�~�@y}2�M-=�}2�% ��}2H���� �fп���@_��?����<��?������������Lп���������� ���������������i��?)~2;q�@ ~24�];I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}2iGI��)����f�=M[=Y�p�;QU%�>��!��!�a%�G��!��)y�-��:}-�>Iȉ�ō��5�?�ō���� ƍVB@����?9ƍeB�Ǎ��: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����i��?zL��L��L��L�_`z@�Am�<B B�Aֈ�*B%Z 9�A!�A%v-7�A%���A!"C52��*C5���=RC=�w6=C9�C9��e�;6=I�qG�:>���� j,?Ƌ��E�AY}2gi�@�}2#w�@y}2��5=�}2���}2H���� Tuп����?��?���`���?����"����� �]п�����������칦����`,8�����`���?)~2gi�@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y�}Ž@y�}{iG��U���U�P���U\���U�k>i�Uf�@��Q �UE�@)�UE�@I�UE�@i�UE�@��u��<M}E=Y�}Ƥ;QU��>�����a��G����9y�Ez�}E�>I�Q��UY�5�?��U^��� �U�B@��e�?9�U�B��U; �U;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������?@zL��L��L��L�sJz@�AU��<B B �A t�*B "9�A�A+-7�AI��A"C5��*C9��=RCW2=C�C!���i �����������������'�� ��2<:Y���X1y��/�:�����5�9@��} d6=I��G�^>�ٹ�ٽoA��9��I���`Gi����@��������������; ��N�E)݉�I݉�i݉��݉��݉��ݍ���4�"�� j,ࢥ��E�A�|�|4<Y}6 Z�@�}6�g�@y}6T<=�}6�% ��}6H����ఒп��� ���?������?���@�������w|п����+"������������� D�����`���?)~6 Z�@ ~6b�];I~6��Cɫ9�9)�9 �9I�9Y���@y���iG��p=ɮ�a=��m�{�G�z�?�� �rh��y�&1�|?��mף>��mC� �m`�;)�iI�iy�m��� �rh�?�Q��뱿V-�����mC>��m\����m��� �mA)�m�AI�m�Ai�i��i��m=A���Z<M�I=Y�Fv;QU��>�����a��G����y����}��>Iȡ����:�ť�5�?����:�ť���� ƥ�A@����?9ƥ�B�ǥi ; ȥ� ;)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U�����bD@�R�B*** querying acoustic contact ***�P��P�zLk>�Lk>�L�ٹ@�L�}@�A�3=�<B� B��A��]�*B�["9�A��A��,7�A���A�"C�4��*C����=RC��}+=C��C�I��)��AA��!��%mA��·3=I�!G=r>��"� j,[|���E�AY}:zK�@�}:6Y�@y}:O%@=�}:U��}:H�������п������?���@` �?���@{��������п����Q�������h�����@j]����� E��?)~:zK�@ ~:p�];I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}�iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A������mA�� N<M B=Y�U;QUU�>��Y��Y�ae�G��a��ay�m'��}u�>I�y��}@�5�?��}z��� �}�@@����?9�}B��}��; �}��;)�y�W9�W9X9 X9�W9:W92W9*WA�VAUAUe���@�� @��b�������������� �9':Y�WU1y��:��zLq�Lq�Lq�Lu"�}@�A���<B� B��A�+M�*B�~#9�A��A��,7�A����A�"C�3��*C�v�=RCV�%=C�C9�1��% ��)=I�1 GM �>�� � j,�Wك�E�Aɫy�y)�y �}����I�yY��w�@y��VjG�xDUSBL response received:!U1,P FE2,000,004AB,185,80,80,6E,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 ܅��>9܁I܅�aGi܅�@�܁�܁�܁�܅��; ݅Y�E����D����=���j<�i�� �@��� ��\�@)��\�@I��\�@i����M��<MU8=Y�]���QU]�>�����a��G����y����}��>I������:���N�5�?����:���P��� ���@@����?9��VB���+�: ����:)���:�W9�W9X9 Xq�Wq:Wq2Wy*Wy�VyU�U������z @zL�L�L�L�Am%�<Bq Bq�Au-�*B��$9�A��A�s,7�A�j��A�"C�2��*C��a�=RC�S&=C��C�9�U.Y9��% �#'=I�1 GI ��5� j,H7�E�A�|i|�@Y}2S2�@�}2@�@y}2Y�D=�}2�"��}2H�������п���`���?�����?���`t����� i�п����9����� ޙ�����@;������"��?)~2S2�@ ~22�];I~0ɫ9�9)�9 �=����I�9Y�]��@y�]zjG��a��e?A�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����4<M�y=Y���g;QU�?�����a�G����y� \�} ?I�����5�?��B��� �Y?@��%�?9��B���: ��:)��WY�WaXa Xa�Wa:Wi2Wi*W��V�U�U����`��@zL�L�L�L�e}@�Au@��<By By�A}]�*B}$9�A��A�K,7�A���A�"C�5��*C��Q�=RC��,=C��C�9��j�9 ���=����=���������������������G�� ���-:Y��P^1y����:���X6�֕ܪ&=I��G�c>��!j,� ��E�AY}2K)�@�}27�@y}2�=E=�}2��&��}2H�����8�п���@���?���`��?���@ �����@��п����C������E�������.̤���� ���?)~2K)�@ ~2z�];I~2��CɫY�Y)�Y �]����I�YY�}��@y�}qjG�xDUSBL response received:!U1,R,F57,000,004B4,186,80,80,51,FF �Fpublishing direction and range info���>���ɰ�C�=鰅��> ��)����BI��y��� B�����vP��?���"��?��������ٱ�)í�= í�=����=���94=���9�<i���@��� ��&�@)��&�@I��&�@i��&�@��C�MJ=Y�qa9QU �>�� �� �a �G�� ��y�E2�}�>I���%�:���5�?��-�:������ ��>@��-�?9��B����: ���:)��:�WI�WIXQ XQ�W�:W�2W�*W��V�U�U����f�@�R-(Combining 5 samples.�P1*Q5� B�Z5�-��r.A@`�nk@���������Z5��vP��?���"��?��������2Q5>:Q1�Z5�#yԉ���#N�8A�#��\�����Z5�\�h�9����)q�иᅢ���%o��BQ5��@ Q5� �Q5����P5:�9?�P51�9?�P5c���Q5`���Q5��@"Q5$�@zLy�Ly�Ly�L}�P}@�A��=�<B� B��A��*B��$9�A��A�,7�A�<��A�"C�4��*C�><�=RC���=C��C�9��CD:�֝�3=I��G�b>��a��e�<܁9܁I܅daGi܅2�@�܁�܁�܁�܅�; ݅b�E��F !j,��&��E�AY}2�%�@�}2J3�@y}2�aG=�}25d��}2H�����O�п����V��?���@�1�?�����������D�п����I�����@�騿����2壿��� ��?)~2�%�@ ~2�q];I~2��CɫY�Y)�Y �YI�aY��ؾ@y���jG�dNmea in: $SNTTA,0.043801,0.453219,,,164711.97*52 �����p= ף�?X9��v���y�&1��?����=����}� ��`e<)��I��y����ʡE��?�V-��Zd;�O��������=���h�����j�� ½;A)½�AI½^Ai½A�������A�� �<M�4=Y�!�:QU��>������a��G������y��Ѐ�}��>I������5�?���5��� ���=@��-�?9��B�����; ����;)���m�qAdded new target pos. range: 34.740002 m, bearing: 263.090090 deg, deltaT: 4.409213 s, approachRate: 0.122471 m/s, LOS rate: 1.617306 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W����������������������!�� ��:Y��DW1y��Y�:�����5)��s;�9��*W��V�U���`�^A@U%���@R��?zLe>�Le>�Le���@�Le��x@�Au�$�<By By�A}ּ*B}4&9�Ay�A}�+7�A����A�"C�3��*C�'#�=RC��w=C��C�9��Kn:�֩I��G��>��.!j,H�@��E�Aɫ�髙)�� ������I��Y���@y��kG��u��<Mu^=Y�}���QU}�>��y���a��G����y����}��>Iȑ����:�ŕ�5�?����:�ŕ��� ƕ#=@����?9ƕ9B�Ǖ^�: ȕ��:)ȕ�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �u�?zL��L��L��L��Ai��=B B�A<��*B <&9�A �A �+7�A ���A "C2��*C�=RCC�Ci�!I�!��)��)I��)���ԽmA�Թ�֍��=I��G��>��X!j, �Z��E�AY}2�$�@�}2P2�@y}2ӈG=�}2�|��}2H���� /�п����N��?����P6�?���������� ��п���`�Z������������I�����@!��?)~2�$�@ ~20b];I~2��Cɫ9�9)�9 �=����I�9Y�}ӿ@y�}lG���>9�I�,bGi�Է@���������; �i�E�Õ�p>�Õ �Õ7 �iÕQ�@�Ñ ĕz�@)ĕ\�@Iĕ��@iĕ\�@���s=M�G=Y��8QU��>�����a��G����y���}��>I�������5�?���;��� ��q<@����?9��rB����f; ���];)���W!�W!X) X)�W):W12W1*W9�V9U9U=�����j�?zLi�Li�Li�Lm�x@�A��=B� B��A����*B��)9�A��A��+7�A�~ ��A�"C�5��*C�^��=RC���=C��C���� �����������������r�� ��I:Y���W1y��č:����5)���;��9I�IGeV>���!j,-zt��E�AY}2�'�@�}2�5�@y}2��E=�}2u��}2H�������п������?����b��?�������������п���@�3����� Ȱ������{�������'��?)~2�'�@ ~2x];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�kG��=�M=R=Y�=���QUE�>��A��I�aM�G��I��Qy�]��:}]�>I�a��eV�5�?��eC��� �e�;@��u�?9�e�B��e�$; �e,;)�a�W�WX! X!�W!:W!2W!*W)�V)U)UM���@���?zLi�Li�Li�LmS�x@�A��@=B� B��A�*B�r)9�A��A��+7�A�5��A�"C�4��*C���=RC�%Y=C��C������=I��G�F>��� }�>��� i�AI�Yi�q���eG�ٺ�����;A�k#!j,\V���E�AY}23�@�}2�@�@y}2@=�}2j���}2H����`��п��� ?��?��� �9�?������������п����������`B�����������������?)~23�@ ~2F^];I~2��Cɫ9�9)�9 �=����I�9Y��,�@y��olG��MC���MO >��M�=i�M��@��I �M��@)�II�Mz�@i�M��@��]O=MeH=Y�e�V�QUe�>��i��i�am�G��i��iy�u$[;}u�>I�y����:��}�5�?����:��}d��� �};@����?9�}�B��}R�: �}=�:)�}�:�W��W�X� X��W�:W�2W�*W��V�U�U������ �@zL��L��L��L��y@�Au��=Bq Bq�Aq*Bu+9�Ay�A}�+7�A}� ��A�"C�3��*C�ў=RC��=C��C� ������=���i���=��� �����������Z�� ���H:Y��y�������5�9@����3=I��GI>�������9�I��bGi�w�@���������; �d�E���)!j,0���E�AY}:XF�@�}:T�@y}::=�}: p&��}:H����@Ǹп���`D��?�������?���������� |�п����8ޫ������A������Ǥ���� ���?)~:XF�@ ~:��];I~:��Cɫ)�1)�1 �5����I�1Y�e�@y�mlG��e�㥛� ��?���S㥛���~j�t����e��=��e/ݼ �e���)�aI�ay�e�bX9�ȶ?���S㥫��I+�����eE�=��e/]���e94� �eA)�e�AI�e�Ai�a��a��eA��}���M�,=Y��J�QU��>�����a��G����y���;}��>Iș�ŝ�5�?�ŝJ��� Ɲ�:@����?9ƝB�ǝp�: ȝW�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL�b�=�L�b�=�L�@��@�L��by@�A ��=B B�A*B%*9�A)�A-�+7�A-a ��A)"C52��*C=���=RC=��#=C9�CA��U�=I�aG��>��|0!j,��E�AY}2�U�@�}2Oc�@y}2�2=�}2��-��}2H����༛п�������?����zQ�?����E�����`�~п���`q2�������X�������������`���?)~2�U�@ ~2��];I~2��Ci�<��<)�< �<I�< �`)�`ɖ`��`�`��dɗdi�dI�d��dI�di�d �h�h)�h�h �h��l��lɘn����l��r�pAI�r/]�)�pi�p)�pI�rqA�tət �tɚt�v��A��vף�i�x��xɫ�髹)�� ��I��Y����@y��*mG�Z****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******� ɮ �=���I�=M�k=Y��^��QU��>�������a��G������y�ܬ;}�>I� ���:�� ��5�?���:�� ���� � p:@��%�?9� 9B�� �P; � R;)� �:�W�WX) X)�W1:W92WA*Wi�VqUyU}��� ��@zL��L��L��L��y@�A-�=B1 B1�A5,e<*B5�-9�A1�A5�+7�A=+��A9"C=5��*Cu��=RC}��)=Cy��������������������X�� �{!:Y�0Y1y���:��~�5�Cy�ֵ��$=I��G��>���6!j,��ۄ�E�A�|�|�;Y}6`�@�}6�m�@y}6yI+=�}6�&��}6H���� Çп���`���?�����&�?�����������mп����F �����@�g�����`<ˤ�������?)~6`�@ ~6��];I~6��Cɫ�髙)�� ������I��ܭ��>9ܩIܭ�cGiܭ�@�ܩ�ܩ�ܩ�ܭ �; ݭa�E)��I��i�၉�� =��� =��� �3Y��Q�@y���lG�xDUSBL response received:!U1,P F57,000,004B4,186,80,80,51,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 �å���åף��åxi=iå��@�á ĥz�@)ĥz�@Iĥ��@iġ���=�M�9=Y� �QU�>�����a%�G��!��)y�5�=;}=�>I�I��Mѕ5�?��M��� �M:@��e�?9�MiB��M?; �Mz�;)�I�W)�W)X) X)�W1:W12W1*W1�V1U9U=����Xc @zLq�Lq�Lq�Luƙy@�A�r=B� B��A����*B��+9�A��A��+7�A����A�"C�4��*C����=RCގ-=C�C��}nA��}nA��m�+=I�yG��>�.�<!j,D����E�AY}:�^�@�}:[l�@y}:`�#=�}:3���}:H����@��п��� ���?�������?�����������ltп���`~�������'q�����`E���������?)~:�^�@ ~:��];I~8ɫ�髙)�� ������I��Y����@y��nmG�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������nA���$d=M�[=Y��h��QU��>�������a��G�����y�M�} �>I����:����5�?���:������ ��9@���?9��B����: ���:)��:�W9�WAXA XA�WA:WI2WQ*WQ�VYUYUe�����" @zL1�L1�L1�L5��y@�Aul� =By By�A}"�<*B}}.9�Ay�A} ,7�A����A�"C�3��*C����=RC��#,=C��C����8�������������������� ��u:Y��WU1y���:�����5����+,=I�G%n>��C!j,����E�AY}6T�@�}6�a�@y}6<f=�}6�p��}6H���� ��п��� ���?�����Ɩ?���`�������M�п�����K�����@�������@ ������|��?)~6T�@ ~6��];I~6��CɫY�Y)�Y �YI�YY����@y��emG���C�=�����=���Z�i����@��� ��\�@)��I��\�@i��\�@�� �M Z=Y�]��QU�>�����a�G����y�%b�}%�>I�)��-�5�?��-x��� �-}9@��5�?9�-�B��-��: �-��:)�)�W��W�X� X��W�:W�2W�*W��V�U�U����@�@zL!�L!�L!�L%��y@�A=� =BA BA�AE��<*BEU.9�AA�AM+,7�AM\��AI"CU2��*C]]q�=RC]�)'=CY�CY�ԍ���ԍ�� Ս���ԍ��I�a�١�١ܽ��>9ܹIܽ�dGiܽ��@�ܹ�ܹ�ܽ��D�ܽ��; ݽQ�EG�>��I!j,)x)��E�A�|i|�@Y}6M?�@�}6 M�@y}6��=�}6����}6H����`��п����B��?���@��?���������`O�п�����{�����@岢����`������ ��?)~6M?�@ ~6��];I~6��CɫQ�Q)�Q �U����I�QY����@y��;nG��dNmea in: $SNTTA,0.427490,0.427477,,,164716.02*56 ��M�`��"���?L7�A`堿{�G�z����M��=��M+� �M�#�)�II�Iy�M�Zd;�O��?���Q���ˡE�������Mj�=��M�u���M�'� �M;A)�M�AI�M�Ai�M�A��I��I��eyQ=MeE=Y�mx��QUm�>��q��q�au�G��q��yy�}�ǻ}}�>Iȁ����:�Ņ8�5�?����:�Ņ"��� ƅ]8@����?9ƅ�B�Dž��: ȅv�:)ȅ�:�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe������@zL��=�L��=�L����@�L��}v@�A��C=B B �Ab(=*B�09�A�Aa,7�A���A"C5��*C%�[�=RC%�)=C!�C1I�qG�>�ށiޅ�=���@�������������������� ��$:Y��V1y��:��[�5)�\�;�9����P!j,�SC��E�AY}6b*�@�}68�@y}6k�=�}6�E��}6H������п�������?��� �~�?���`������ ��п������������u�����@넢��������?)~6b*�@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y��y�@y�� nG)���= ���=��� R�M�S=Y��ͻQU��>�������a��G������y���}�>I����5�?������ �S7@���?9� B��ϸ: ���:)��WQ�WQXY XY�WY:WY2WY*WY�VaUaUe����TI@zL��L��L��L�LNv@�A��R =B� B��A�=*B��09�A��A��,7�A����A�"C�4��*C��H�=RC���=C��C�I�1GU>��V!j,{.]��E�AY}:��@�}:�+�@y}:�(�=�}:�_$��}:H������ѿ���@���?����'�?���`Q��������п�����夿���@f��������������f��?)~:��@ ~:��];I~8ɫ9�9)�9 �E����I�A�M��>9�II�MLeGi�M_�@��M=��I��I��M��; �M?�EY�}��@y�}InG鮁ɮ�p=����>���ҍ����h>i��¥@��� ��ٮ@)����@I����@i����@����<M�J=Y�u�ڻQU}�>��y��y�a}�G��y��y��k�}��>Iȉ�ō��5�?�ō`��� ƍ56@����?9ƍA B�Ǎk�; ȍ��;)ȉ�W��W�X� X��W:W2W*W�VU U ���`��@�R5B*** querying acoustic contact ***�P1�P1zLI�LI�LI�LM%-v@�A�]7=B� B��A��-=*B��09�A��A��,7�A�9���A�"C�3��*C��0�=RC�p�=C��C�I�G5>���������|�����|������� ��5+:Y���R1y��i�:�����5)��&�;�Z]!j,$ w��E�A�|�|4<Y}:Z�@�}:'�@y}:���<�}:��(��}:H�����Dѿ�������?����y��?��� ������ �п����eu�����@�������`Q���������?)~:Z�@ ~:��];I~:��CɫY�Y)�Y �]����I�aY����@y��RnG��4;M�N=Y��g�QU��>�������a��G������y�����}��>I������:���5�?����:������� ��45@����?9��l B���V�: ����:)���:�W �W X X �W :W 2W*W�VUU�����z@zL1�L1�L1�L5*v@�AM��=BI BI�AM�1=*BM�19�AQ�A��,7�A�����A�"C�2��*C�0�=RC��m=C��C�����S,=I�G-->�=d!j,T吅�E�AY}6��@�}6u(�@y}6��<�}6���}6H����@ѿ�������?���@�Y�?���@��������п����9m�������?�������������@i��?)~6��@ ~6��];I~6��CɫI�I)�I �M����I�IY�}:�@y�}�nG���a=i���=������'=����þ���M��i����@��� ���@)��I��i��ƣ@���Z"=M�G=Y��3�QU��>�������a��G�����y���9}�>I� �� �5�?�� ���� � !4@���?9� � B�� ��: � ��:)� �W9�W9X9 XA�WA:WA2WA*WA�VAUIUM���� @zLi�Li�Li�Lm�Dv@�A}�0=B� B��A�Lt=*B�%39�A��A�D-7�A� ���A�"C�5��*C�|�=RC�2=C��C��� ?���� ����� ����� o�� � n$:Y� �W1y� č:�� k�5�9U@����#=I�)��A��EnA�a9�aI�efGi�e�@��e =��a��a��e��; �e<�EG��>��2j!j,�Ū��E�AY}:g�@�}:#-�@y}:�߰<�}:�+��}:H�����Nѿ�������?����y�?�����������п����%������`o��������������K��?)~:g�@ ~:y�];I~:��Cɫ9�9)�9 �=����I�9Y�u��@y�}�oG��y��}@A��m��p= ף�?���Q���bX9�ȶ���m>��m�u� �mE��)�iI�iy�m� ףp= �?L7�A`尿�� �rh����mQ�=��m+����mC�� �m�A)�m AI�mdAi�i��i��m�A��+=M�A=Y�P��QU��>�����a��G����y���:}��>Iȡ����:�ť�5�?����:�ť0��� ƥ�3@����?9ƥ� B�ǥ/�: ȥ��:)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL4�=�L4�=�L`д@�L�}s@�A-gF=B1 B1�A5��=*B5�49�A1�A5�-7�A52���A9"CE4��*CE<�=RCE =CA�CI��E[�=I�IGm5>�;q!j,��ą�E�A�|i|�@Y}6� �@�}6u.�@y}6�Q�<�}6����}6H����@�ѿ����D��?���@�?����z�����` �п�����t������㉓����@�8�����@e��?)~6� �@ ~6i�];I~6��CɫY�Y)�Y �]����I�YY����@y��coG�xDUSBL response received:!U1,N,80,80,63,E4 4,186,80,80,51,FF �ZNo reply:!U1,N,80,80,63,E4 4,186,80,80,51,FF -�<No response from remote modem.���h/�M�W=Y��]ػQU��>�������a��G������y��h�9}��>I������|5�?������� ��F3@����?9��� B�����: ����:)���W��W�X� X��W�:W�2WQ*Wai���lG�ViI��i�����CA�ٺ���5AUIUU����5�@zL��L��L��L��s@�A5�,=B9 B9�A=^�=*Be�39�Aa�Am�-7�Am����Ai"Cu3��*C}k՝=RC}47=Cy�C����nA���nA�� K���� ����� ����� �� � �:Y� �X1y� /�:�� ��5���d=I��G��>�hCw!j,�vޅ�E�AY}6��@�}6N,�@y}6�<�}6���}6H����@R ѿ���@3��?����V9�?����>��������п����聙���� �������������@X��?)~6��@ ~6��];I~4�z��>9�xI�z@gGi�z��@��z=��x��x��z��; �z>�Eɫ9�9)�9 �=����I�9Y��u�@y��?oG)õ�= õ>��=9?��=�T���=��<i�=f�@��9 �=@)�=ƣ@I�=�@i�=��@��M0 �MMC=Y�MX��QUM�>��Q��Q�aU�G��Q��Yy�]!$�}e�>I�a��m�:��e�y5�?��u�:��eI��� �e�2@��u�?9�e&!B��e#�: �e��:)�e�:�W��W�X� X��W�:W�2W�*W��V�U�U����`@zL��L��L��L���s@�A���=B� B��A���=*B�B59�A��A�@.7�A����A�"C�2��*C��Ý=RC�^�=C��C��օ]=I��G�?>�7o}!j,Y���E�AY}N��@�}NS*�@y}N��j<�}N����}NH�����L ѿ���`J��?���@oҠ?��� �������ѿ���������`�O�������y�����@;��?)~N��@ ~N��];I~N��Cɫ�髑)�� ������I��Y� j�@y� lpG��5�=M5K=Y�=,��QU=�>��9��A�aE�G��A��Ay�M��}M�>I�Q��U�v5�?��U���� �Un2@��]�?9�UT!B��U��: �U �:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�%|s@�A� X=B� B��A��=*B��79�A��A��.7�A����A�"C�5��*C�=RC�J=C��C��֝��=I��G�E>��]�����Y��Y��].�� �]<:Y�Yy�Y��]~�5�?U�!j,�,��E�A�|�|Y}6N�@�}6 -�@y}6��E<�}6��-��}6H�����1ѿ��� ���?�����N�?�����������|�п���� z�������������ॻ��������?)~6N�@ ~6c�];I~4ɫ9�9)�9 �=����I�9Y�}��@y�}�oG���^�������>���j�=i����@��� ��K�@)����@I����@i������\�M�O=Y����QU��>�������a��G������y�1\:}�>I� �� �s5�?�� ^��� � 2@���?9� �!B�� "; � .;)� �W��W�X� X��W�:W�2W�*W��V�U�U����@" @�R�B*** querying acoustic contact ***�P��P�zL �L �L �L �}s@�A=̤ =BA BA�AE��=*BE59�AA�AE/7�AE ���AI"Cu4��*Cu��=RC}.?=Cy�Cy խ�=�ԭ�=�։I��Iޙ)ޝ@AG=P>�������<����>9��I��lhGi���@���=�����������; ��@�E)ݹ�Iݹ�iݹ��ݽ�=�ݽ�=�ݽ��:5�l�!j,�,��E�AY}6�$�@�}6U2�@y}6�g"<�}6�a1��}6H������п����y��?���`#�?���@������@s�п���@8��������L������1*���������?)~6�$�@ ~6*^;I~4ɫ)�1)�1 �5����I�1Y�Ux�@y�U~pG]Z****** received transponder code query ******]F****** received ping request ******]<Arming DUSBL. detectThresh: 75e8****** ping requested ******����V-���?��ʡE���~j�t�x�����|>���-�� ���Ļ)��I��y���/�$��?���Mb��������������=����@�����̼ ��)��5AI���Ai���������A��)��-mA��mn+=Mm=Y�u���QUu�>��e����e�����e�����e+�� �e� :Y�e0Y1y�e��:��e��5)�e1�;�9����q���a��G����y��:}��>I������:����p5�?���:������� ��/1@���?9���!B�����: ���:)���:�WA�WAXI XI�WI:WI2WI*WQ�VQUQUu��� K?!@zL���=�L���=�L�缸@�L��{@�A���=B� B��A���=*B�A69�A��A��/7�A�d��A�"C�3��*C�0y�=RC�$2=C��C�Y�% (9��I�!GE�>�S]�!j,,�E��E�AY}BC,�@�}B�9�@y}B��<�}B��"��}BH�����a�п��� u��?����v}�?�������������п��� �Ғ����@d�������%R�����`E��?)~BC,�@ ~B(�];I~@ �J�C)�J�pAɂN�y���L�L��LɃNqAi�PI�R�WF��PI�Pi�R�pA �R���T)�T�T �V�rA��T��TɄX��X��ZqAI�X)�\i�\)�\I�\�\Ʌ\ �`Ɇ`�bqA��`i�`��`i�d��f��A)�d �dI�dɫ�髑)�� ������I��Y�m�@y�u+qG�xDUSBL response received:!U1,P 80,80,63,E4 4,186,80,80,51,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 �Õ�k>�Õt>�Õ�νiÕ�@�Ñ ĕ�@)ĕ�@Iĕ�@iĕ�@��%�C=M%c=Y�-ם�QU5�>��y��y�a��G����y���#;}��>I������n5�?������� ���0@���?9���!B���Z�; ��ظ;)���WQ�WQXi Xq�Wq:Wq2Wq*Wy�VyUyU}������!@zL��L��L��L��0{@�A�/�=B� B��A���=*B�6;9�A��A�07�A����A�"C�2��*C�e�=RCb=C�CY��L9��� d=I� G% �>����!j,R|_��E�A�|i|Y}6�+�@�}6�9�@y}6Y��;�}6����}6H������п���`���?����-�?������������п����۠������>?{�����y��������?)~6�+�@ ~6��];I~6��C�T9�TI�V�iGi�Vݽ@��V=��T��T��V��; �VE�Eɫ�髙)�� ������I��Y���@y��'qG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u���Mu�=Y�}��QU}?��y���a��G����y���}�?Iȑ����:�ŕ�l5�?����:�ŕ�� ƕ-0@����?9ƕ�!B�Ǖ��: ȕ��:)ȕ �:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViU�U�����l�"@zL��L��L��L�F{@�A BK =B B�A�=*B�<9�A�Ay07�A���A"C%5��*C%bU�=RC%m�=C!�C)��5�=��5�=Y�(9��1��1����������������%�� �f!:Y��U1y���:����5)���;����=I�G=�>����!j,�^y��E�AY}B�"�@�}B�0�@y}B�;�}Bm*���}BH����`�ѿ����K��?����f�?����[��������п������������X�w������Þ�����*��?)~B�"�@ ~Bi�];I~B��Cɫ�髱)�� ������I��Y��.�@y��]qG�xDUSBL response received:!U1,R,10F,000,004C0,186,80,80,78,FF �Fpublishing direction and range info����*r����ɰ�:�=�� ��)����BI��y��� B����VK���?�_�W�Ϳ��������ٱ�)�%�= �%�=��-"a<M-O=Y�-��QU5�>��1��9�a=�G��9��9y�E-7�}E�>I�I��M�j5�?��M��� �M�/@��U�?9�M!"B��M�: �M �:)�I�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U�����6W#@�R�(Combining 5 samples.�P�*Q�� B�Z��WhM^�<A@O�V�� ����������Z��VK���?�_�W�Ϳ��������2Q��*r�:Q��Z��7�g'�*1��.�r?��I헃�?�Z��XD� ��18�쿜]�K�W?BQ�$��@ Q�8��Q�T���P��9?�P�:�9?�P�_���Q�c���Q���@"Q���@zL��L��L��L��C{@�A�f�=B� B��A� �=*B��;9�A��A��07�A�s��A�"C�4��*C��A�=RC��A=C��C�Y�����l�=I��Gn>�ϓ�!j,�2���E�AY}:��@�}:�&�@y}:z[�;�}:ξ���}:H������ѿ����B��?����ϵ�?���������`Wѿ����_������`j�s���� �����@���?)~:��@ ~:͗];I~:��Cɫ9�A)�A �E����I�AY�}@�@y�}tqG�UDNmea in: $SNTTA,,,,,164721.70*5E ��5j<���5�̽��5��>i�5(�@��1 �5�@)�5ƣ@I�5ƣ@i�5ƣ@��Ei�;ME:=Y�M"�QUM�>��I��Q�aU�G��Q��Qy�]Y5�}]�>I�a��m�:��eh5�?����:��eE�� �e�.@����?9�eL"B��e!+< �e\+<)�e!�:�m uAdded new target pos. range: 35.460003 m, bearing: 241.046118 deg, deltaT: 9.672906 s, approachRate: 0.074435 m/s, LOS rate: -2.278940 deg/s, posRepo size: 4�W �WX X�W:W2W*W�VU���`�A@U����.�?zLY�LY�LY�L]-{@�A���=B� B��A���=*B�m:9�A �A �17�A ߺ�A"CM3��*CUa'�=RC]4 =C��C��١�١ܵ��>9ܱIܵ`jGiܵ�@�ܱ�ܱ�ܱ�ܵ��; ݵK�E����������������������� ���:Y���W1y��č:���H�5)���r;Y�����]=I��G��>���!j,����E�AY}2��@�}2V�@y}2ho;�}2�\��}2H������"ѿ�������?��� Q]�?���`��������ѿ��� T ��������m������������`���?)~2��@ ~2yl];I~2��Cɫ9�9)�9 �=����I�9Y����@y��)sG�������S��?���Mb�?:��v�������/>�����= ���T�)��I��y���sh��|?�?�p= ף��ˡE����������=���������'� KA)�AIAiEA����������=M�T=Y��>�QU��>�����a��G������y��p�}��>I�����Je5�?������ ���-@����?9��v"B���]�: ��{�:)���W��W�X� X��W�:W�2W�*W��V�U�U����`���?zL���=�L���=�L�Tͳ@�L��p@�AV�=B B�AP*>*B/A9�A!�A%A27�A%�ܺ�A!"C-2��*C-q�=RC5 =C1�C1Y�!Iޡ)ޥ?A���K=I�!G=r>�إ�!j,W�Ɔ�E�AY}J��@�}J��@y}J�9;�}J�9'��}JH����`$ѿ����d��?��� ʾ�?������������ѿ����7��������=g������夿����$��?)~J��@ ~JK�];I~J��Cɫa�a)�i �m����I�iY�M<�@y�M�rG�� ��=�� �@>�� ף�i� \�@�� � �@)� �@I� 9�@i� �@��y��MD=Y�%���QU%�>��!��!�a-�G��)��)y�5Y>�}5�>I�9����:��=@b5�?����:��=�� �=�,@����?9�=�"B��=G�< �=��<)�="�:�W��W�X� X��W�:W�2W�*W��V�UU���`��?zL!�L!�L!�L%��p@�A5?%=B1 B9�A=Z>*B=@?9�A9�A=�27�A=sں�A9"CE5��*CM���=RCICI�CIY�=L9��5�����5�����5�����5M�� �5`:Y�5�Y1y�5�:��5"�5�9=@��MG�=I�YGu�>�\з!j,����E�A�$9�$I�&�kGi�&s�@��&=��$��$��&��; �&*�EY}Z��@�}Za�@y}Z/�;�}Z��+��}ZH���� �"ѿ����(��?����j`�?����������@aѿ�����Ë�����D�c������}���������?)~Z��@ ~Z��];I~Z��Cɫ�髙)�� ��I��Y��^�@y���rG��,<M�S=Y�R��QU��>�����a��G����y��[9}��>Iȱ�ŵn_5�?�ŵm�� Ƶ�+@����?9Ƶ�"B�ǵ��: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������ �?zL�L�L�L6�p@�AM$��<BI BQ�AU�!>*BU�@9�AQ�AU�37�AU/غ�AQ"C]4��*Ce~�=RCeF =Ca�Ca��m0>��mR>Y�}(9��u� =I��G�>� ��!j,b����E�AY}2d�@�}2 !�@y}2U;�}2��"��}2H�����vѿ���`V��?���@�E�?����V�������ѿ�����������` �c������W���������?)~2d�@ ~2~�];I~2��Cɫy�y)�y �}����I�yY��G�@y���sG��U��=M]O=Y�]l17QU]�>��a��a�ae�G��a��ay�mQ :}m�>I�����{\5�?���� �� ���*@����?9���"B����: ����:)���W��W�X� X�W:W 2W*W!�V!U!U-��� �M�@zLA�LA�LA�LE��p@�A]�c�<BY BY�Ae�>>*BeQC9�Aa�Ae_47�Ae�պ�Aa"Cm3��*Cu�Ϝ=RCu�� =Cq�CqY�mi9�֝ l =I��G�d>��e�����e�����e�����es�� �e�:Y�e�V1y�e�:��eF�5�� �� i�uHmGI��fpAi�����3V�ٺ�fpA���&IA�.��!j,�{��E�AY}2��@�}2L�@y}22�);�}2wT��}2H������&ѿ����o��?����2b�?���@O�������"ѿ����M؈������7e������i���������?)~2��@ ~2О];I~2��CɫY�Y)�Y �YI�YY��1�@y���sG��M@��M$>��M��=��M=i�M�����I �I)�M�@I�M�@i�I��]eۻMeJ=Y�e��9QUe�>��i��i�am�G��i��iy�u��}u�>I�y����:��}�Y5�?����:��}9�� �}�)@����?9�}%#B��}�: �}j�:)�}#�:�W��W�X� X��W�:W�2W�*W��V�U�U���� }l@zL1�L1�L1�L5�p@�AuR��<By By�A}�;>*B}AC9�Ay�A}'57�A�`Ӻ�A�"C�2��*C�ɸ�=RC���=C��C�Yϵ�9�I9�II�MTlGi�M�@��M=��MSD��I��M�; �M�E�����=I��G��>�� �!j,6\.��E�AY}2��@�}2S�@y}2�|3;�}2X���}2H�����}.ѿ��� ���?����m�?����=�����@{*ѿ���@x!�����@�of�����Iq������6��?)~2��@ ~2J�];I~2��Cɫ9�9)�9 �9I�9Y�u��@y�};tG�}a=ɮy��u��|?5^��?�A`��"��L7�A`�?��uҍ>��uٽ �u+=)�qI�qy�u�P��n��?�l����<�O��n����u>��u�����ut�� �u1A)�u~AI�u�Ai�u�A��q��ufA��h�<M�G=Y���9QU��>�����a��G����y�ݚ�}��>Iȩ�ŭ�U5�?�ŭ� �� ƭ�)@����?9ƭd#B�ǭC�; ȭկ;)ȩ�W�WX X�W:W 2W *W �V UU���`{�@�RB*** querying acoustic contact ***�P�PzL�f>�L�f>�L�Xe�@�L��z@�A����<B� B��A�F>*B�D9�A��A��57�A��к�A�"C�5��*C���=RC�J=C��C�Y�����������~�����~�����0�� ��:Y�T1y�@�:����5)��w;�9���� G�=I�G=�>�"��!j,�1H��E�A�|�|Y}np �@�}n,�@y}nw>O;�}n���}nH������0ѿ����f��?��� �Ġ?�����������N,ѿ����Fl��������i����`ܡ����@���?)~np �@ ~nє];I~n��Cɫ���)�� ��I��Y�5C�@y�5(uG=Z****** received transponder code query ******=F****** received ping request ******=<Arming DUSBL. detectThresh: 75E8****** ping requested ******�� ��� �8?�� �L��� x�i� �@�� � n�@)� 9�@I� 9�@i� ?�@��Fd=MB=Y�%��:QU%�>��!��)�a-�G��)��)y�5Ǯ�}5�>I�9��E�:��=%R5�?��E�:��=�� �= )@��E�?9�=�#B��=��: �=(�:)�=$�:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}����� @zL1�L1�L1�L5�z@�Am���<Bi Bi�Am(^>*Bm�F9�Ai�Au�67�Au�κ�Aq"C}4��*C}�=RC}��=Cy�C�Yυ�!9 Ս�=�ԍ�=Iީ)ޭAA�֕y=I��G��>�E��>9�AI�E�mGi�E �@��A��A��A��E��; �E�E)�ыI�ы�B�!j,�b��E�Ai�������=����=������5Y}6 �@�}6��@y}6�4�;�}6�c��}6H����`q1ѿ���@���?������?��� ��������+ѿ�����Ό�������p���� BK��������?)~6 �@ ~6I�];I~4ɫ�髙)�� ������I��Y����@y��mtG�xDUSBL response received:!U1,P 10F,000,004C0,186,80,80,78,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 ��=mA��9����?�M�N=Y��;QU�>��Q��Q�a]�G��Y��ay�e��}m�>Iȱ�ŵ`N5�?�ŵ��� Ƶ�(@�� �?9Ƶ�#B�ǵ=< ȵ�A<)ȱ�W��W�X� X��W�:W�2W!*W!�V!U)U-����� @zL��L��L��L�b�z@�A ���<B B�A-K>*B�C9�A�A�77�A=*̺�A9"CE3��*CEn�=RCM;=CI�CQY�Y��}� ����}�����}�����}&�� �}VZ:Y�}�V1y�}�:��}��5)�}ݱ;�օ <-=I�� G� �>�1H�!j,.�{��E�AY}:��@�}:��@y}:���;�}:��#��}:H����`GAѿ�������?����K �?���@��������:ѿ����f������ 8Wt���� �{����� W��?)~:��@ ~:�];I~8ɫ9�9)�9 �=����I�9Y�}�@y�}�tG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5=M=V=Y�=�;QU=�>��A��A�aE�G��A��Iy��.�}��>Iș����:�ŝK5�?����:�ŝ��� ƝV(@����?9Ɲ$B�ǝ�: ȝ��:)ȝ%�:�W��W�X� X��W�:W�2W�*W��V�U�U�����_5@zL9�L9�L9�L=ކz@�Am0��<Bq Bq�Au�Y>*Bu�J9�Aq�Au�87�Au{ʺ�Ay"C}2��*C�C\�=RC�%F=C��C�Y�m,$9��]� =I��G�g>�0�!j,��E�A�|i|Y}6N��@�}6 �@y}6Db�;�}6�w��}6H�����iWѿ������?��� `P�?����_������IPѿ����%�������=�y���� �����������?)~6N��@ ~6��];I~6��Cɫy�y)�y �}����I�yY��%�@y��>vG�xDUSBL response received:!U1,R,029,000,004CC,185,80,80,73,FF �Fpublishing direction and range info���C�����ɰ�2�=鰽+�> ��)����BI��y���B�����o�����?z�>�P����������ٱ�����'?�����=������i����@��� ��b�@)���@I���@i����@��˗=M==Y�E;QU%�>��!��!�a%�G��!��)y�]�V�}]�>Iȑ�ŕ&G5�?�ŕE�� ƕ�'@����?9ƕ_$B�Ǖ�< ȕ�<)ȑ�W��W�X� X��W�:W�2W�*W��V�U!U-��� }@�Rm(Combining 5 samples.�Pi*Qm�B�Zm��V[}B@B7d�������������Zm��o�����?z�>�P����������2QmC��:Qi�Zm�2�,�&����J:A����3Y�ƿ�Zm��FX�V�ӿ:f�` y����=�s�BQm'ߌ@ Qm� �Qm�0��Pm%�9?�Pm�9?�Pme���Qm_���Qm��@�ޥ�=iޥ�="Qm��@��9��I��HnGi����@������������{�; ���EzLA�LA�LA�LE>pz@�A����<B� B��A�dz>*B��G9�A��A��97�A��Ǻ�A�"C�5��*C��=�=RC����<C��C����<�����������������\�� ��1$:Y���W1y��č:���Y�5)���;Y��P$9��������� ��=I�� G �>�.Z�!j,g����E�AY}V�@�}V��@y}V�=�;�}VT���}VH������xѿ������?������?���`������@xqѿ���@qH�������'}����@Ң�����A��?)~V�@ ~Vx^];I~Tɫ�髹)�� ������I��Y��`�@y���vG�=DNmea in: $SNTTA,,,,,164726.12*5D ��5����S��?�� �rh�����Q�����5/>��5C� �5�u�)�1I�1y�5���MbX�?<�O��n��<�O��n����5��=��5t����1 �5 A)�5dAI�5�Ai�5A��1��5pA)�M�= �M�=��U�<MUG=Y�]k;QU]�>��Y��Y�ae�G��a��ay�eg��}m�>I�q��}�:��u�C5�?��}�:��u��� �u{'@��}�?9�u�$B��u��: �u �:)�u&�:�m�qAdded new target pos. range: 36.180000 m, bearing: 252.229788 deg, deltaT: 4.536138 s, approachRate: 0.158725 m/s, LOS rate: 2.465461 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@ B@U�����I`�?zL�e�=�L�e�=�L���@�L�|\s@�A�m�<B B�A�>*B��O9�A��A��:7�A�Fƺ�A�"C�4��*C�+)�=RC����<C��C�YϽ�&9�֭��<I��G��>��E�!j,+�ɇ�E�AY}5ٕ@�}��@y}E�<�}�H ��}H����@Y�ѿ�������?����A��?��� Y��������ѿ����,{�������6������ ����������?)~5ٕ@ ~�x];I~��Cɫ���)� �����I�Y�-��@y�5�vG������j�=���A>i�(�@�� ���@)�O�@I�9�@i�O�@��%0�<M%M=Y�%�;QU-�>��)��)�a-�G��)��1y�5�n�}=�>I�9��=�@5�?��=��� �='@��M�?9�=�$B��=��: �=m�:)�9�Wi�WiXq Xq�Wq:Wq2Wq*Wy�VyUyU}������?zL��L��L��L�\Gs@�A�^��<B� B��A� >*B��M9�A��A��;7�A�^ĺ�A�"C�3��*C�5�=RC��|�<C��C�Y���ֵ���<I��G�h>����>9��I��oGi��O�@������������l�; ���E�/l�!j,�SE�A�|"4<�| Y}>"ڕ@�}>��@y}>#(<�}>���}>H���� ��ѿ�������?����iv�?����������`t�ѿ�����������d�������������@���?)~>"ڕ@ ~>�p];I~<ɫy�y)�y �}����I�yY��j�@y���wG��u�w=MuV=Y�} �:QU}�>��y���a��G����y���9}��>Iȑ�ŕ�=5�?�ŕC�� ƕ�&@����?9ƕ�$B�Ǖ8�: ȕ#�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL��L��L��L��Hs@�A �<B B�A��>*B hQ9�A �A �<7�A �º�A "C2��*C��=RC2v�<C�CY���(9 ���=����=��� ���������������� ��D:Y�0Y1y���:��l�5)�U�;������<I��GI>�8��!j,s.���E�AY}2��@�}2��@y}2�<�}2�z��}2H������zѿ�������?����B�?���`#�������rѿ����>������@�c������ ��� ��?)~2��@ ~2!�];I~2��CɫI�Q)�Q �QI�QY��Q�@y���wG��nA���� f�M 3=Y��;QU�>�����a�G����y�%T);}%�>I�)��5�:��-�95�?��5�:��-2�� �-1&@��5�?9�-,%B��-��: �-��:)�-'�:�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUm����HR�?zL��L��L��L��Vs@�A���<B� B��A��>*B��M9�A��A�8>7�A�����A�"C�5��*C��ܛ=RC����<C��C�Y���(9�����<I��G��>��~"j,o��E�AY}21�@�}2���@y}2�*<�}2e^$��}2H����`cѿ����t��?����EQ�?����p����� Yѿ�����o�����`�_����������������?)~21�@ ~2��];I~2��Ci�<��<)�< �<I�< �@)�@ɖ@��@�@��DɗDi�DI�D��DI�Hi�H �J���H)�H�L �L��L��LɘN����P��R�pAI�R�P�)�Pi�P)�TI�T�TəT �TɚT�Z��A��Xi�X��Xɫ�髡)�� ������I��Y����@y���xG���x�=���O �������i��p�@��� ����@)��n�@I��n�@i��n�@��+f=M ]=Y��*;QU�>��)��1�a5�G��9��Ay�UO�;}]�>I�q��u�65�?��u��� �u�%@����?9�u\%B��u��; �uԷ;)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� 5��?zL��L��L��L�is@�A-$�<B) B)�A-��>*B5R9�A1�A5�?7�A5����A1"C=4��*C=BÛ=RCeF��<Ca�Ca�ى�ٍ�<ܑ�����������������h�� �Ij:Y�d\1y���:����5�9�@9ܑIܕ<pGiܕB�@�ܕ=�ܑ�ܑ�ܕp�; ݕ �EY�U+9��M ���<I�Q Gu �>�H�"j,��0��E�A�|i|Y}6���@�}6� �@y}6��?<�}6c�*��}6H�����_Lѿ���@G��?���@��?�����������!Aѿ���������@O������@wV����� R��?)~6���@ ~6��];I~4ɫ�髹)�� ������I��Y����@y��xG����e;�O���?X9��v�������Mb������t>������ ���)��I��y���<�O��n�?i��|?5��/�$������t�=����q������ ��� A)���AI��i��fA�������A��.��M J=Y� uO;QU �>�����a��G����y�a;}��>I������:���45�?����:���!�� ��I%@����?9���%B����>; ���(;)��(�:�W�WX X�W:W2W!*W!�V!U)U-�����@zL]n�=�L]n�=�L]*�@�L]��o@�A}?o�<By By�A}�>*B�!R9�A��A��@7�A�#���A�"C�3��*C�¬�=RC�x��<C��C�Yρ�ԉ�ԉ�ީiޭ�=�֕G��<I��G��>�Ӓ"j,O�J��E�Ai�b�lGI�li�x���d�ٺ!��%�VAY}����@�}�z �@y}��q<�}�. ��}�H������Dѿ���`���?�����&�?����9�������9ѿ������������0�����`f⢿�������?)~����@ ~���];I~���Cɫ���)�� ��I��Y� y�@y� yG)�%�= �%�=�Ý����Ý���Ýף�iÝ��@�Ù ĝn�@)ĝ9�@Iĝ9�@iĝO�@����=M�@=Y��;QU��>�����a��G����y����:}��>I�����a15�?���A"�� ���$@����?9���%B���n�: ��Y�:)���W��W�X� X��W�:W�2W�*W�VUU ��� �C@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L-!�o@�A=��<BA BA�AEu�>*BEU9�AA�AM�B7�AM����AI"CU2��*CU���=RCUګ�=CQ�CYY�}/-9��� ����������������� �.@:Y��W1y�č:����5��mV��<I�yG�~>܁9܁I܅qGi܅��@�܅=�܁�܁�܅�; ݅�E�Q�"j,g�d��E�Aɫ�髙)�� ������I��Y��I�@y���xG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�� �{�M V=Y����QU�>�����a�G����y�%���}%�>I�)��5�:��-�.5�?��5�:��-e#�� �-I$@��5�?9�-�%B��-]�: �-v�:)�-)�:�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm���@�S @zL��L��L��L��A�?��<B� B��A�s�>*B�<U9�A��A�DC7�A����A�"C�5��*C�5�=RC�gC�=C��C�i̽mAI̽mAYω�֝r�=I��G�d>�a�"j,Gv~��E�A�|�;�|�;Y}6���@�}6N�@y}6�<�}6�. ��}6H�����zTѿ�������?��� 1��?������������Iѿ���@6W���������`jD������B��?)~6���@ ~6�^;I~6��CɫI�I)�I �M����I�IY�}y�@y�}yG�xDUSBL response received:!U1,P 029,000,004CC,185,80,80,73,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���'�<M�_=Y��;QU �>����!�a%�G��)��9y�M�-�}U�>I�q��up,5�?��u�$�� �u�#@���?9�u�%B��u��< �u�<)�q�W�WX X�W!:W!2Wi*Wi�VqUyU�������@zL��L��L��L�,�o@�A����<B� B��A�u�>*B��R9�A��A��D7�Ag���A!"C=4��*Cm*d�=RCu�z�<Cq��6��������������f�� ��#:Y�0Y1y���:��}�5�CyY��p/9 ���=����=��� ��<I�� G �>���%"j,&T���E�AY}2b�@�}2��@y}2�@�<�}2�2��}2H�����"fѿ����N��?��� _�?����I�����@�[ѿ��������������������䠿����g��?)~2b�@ ~2��];I~2��CɫY�Y)�Y �YI�YY���@y���yG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��I��MnA��M�S>��M�����MGa�i�M��@��I �I)�Mn�@I�M��@i�Mn�@��]�=M])=Y�]�[:QUe�>��i��q�au�G��q��yy���}��>Iș����:�ŝ[)5�?����:�ŝ�%�� Ɲ-#@����?9Ɲ!&B�ǝ�t; ȝ�;)ȝ*�:�W�=��>9�9I�=�qGi�=��@��9��9��9��=z�; �=�E)�ɄI�Ʉi�Ʉ��̈́=��̈́=��̈́�w5�WyXy X��W�:W�2W�*W��V�U�U�����d1@zLi�Li�Li�Lm��o@�A��n�<B� B��A��>*B��T9�A��A�&F7�A�Ƕ��A�"C�3��*C�zH�=RC����<C��C�Y� �/9��� G��<I�G-�>�_�+"j,�,���E�AY}2��@�}2���@y}2�ߍ<�}2���}2H�����O|ѿ�������?���` m�?���@�����@�pѿ����\Ț������������ Bϡ����@���?)~2��@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y��A�@y��zG��dNmea in: $SNTTA,0.166219,0.166219,,,164730.55*59 ��U�9��v���?#��~j��?{�G�z�?��U��>��U�= �U�#<)�QI�Qy�U��v��/�?ˡE������� �rh����Ux�=��U什��UC�� �UlA)�UAI�UKAi�U�A��Q��U3A��mD�<Mmp=Y�u�;QUu?��y��y�a}�G��y��yy�䈻}�?Iȉ�ō;&5�?�ō�'�� ƍ�"@����?9ƍQ&B�Ǎf�: ȍ+�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����p@zL��>�L��>�L���@�L���s@�A��s�<B� B��A���>*B�/^9�A��A�fG7�A�����A�"C�2��*C� 5�=RC�߅�<C��C�Y���19�����������������&�� ��-:Y��U1y���:����5������<I�G%n>�L�2"j,�̈�E�A�|i|�@Y}:'ە@�}:��@y}:g�<�}:C4��}:H����� �ѿ�������?���@��?���@��������}ѿ���@-N����� �,������zģ��������?)~:'ە@ ~:��];I~8ɫy�y)�y �}����I�yY����@y���zG��ej����e/]=��e�½i�e�@��a �e��@)�aI�ai�a��u�=MuJ=Y�}b�:QU}�>��y���a��G����y���}��>Iȑ�ŕt"5�?�ŕ�)�� ƕl"@����?9ƕ�&B�Ǖn�: ȕ:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����h@zL��L��L��L��s@�Al��<B B�A��>*BY[9�A �A �H7�A w���A "C5��*Cw�=RC~��<C�CY��19�����ޥ�=iޥp=��5 ��<I�QGuy>�)9�)I�-�rGi�-*�@��-=��)��)��-k�; �- �E�]9"j,��刨E�AY}Rx��@�}R4̍@y}RZ��<�}RE�&��}RH�����$�ѿ���@d��?����"j�?���`�����@��ѿ�����e�����@ȗ������pΤ��������?)~Rx��@ ~Rz*^;I~R��Cɫy�y)�y �}����I�yY����@y���zG)���= ���=�����;M�T=Y��C�:QU��>�������a��G������y���}��>I�����:����5�?���:���n+�� ��"@�� �?9���&B�����: ����:)��+�:�W��W�X� X��W�:W�2W�*W��V�U�U����` �@zL�L�L�L�bs@�A�*�<B B�A�>*B,Z9�A�ASJ7�A%/���A!"C%4��*C-I�=RC-Ϡ�<C)�C1Y������������_�� � +:Y�y�����5)��;�9���� ��<I�G=q>�{2?"j,ܽ���E�Aɫ�髹)�� ������I��Y��m�@y���{G���N=MF=Y�%���QU%�>��!��)�a-�G��)��)y�5���}5�>I�9��=5�?��=n-�� �=�!@��E�?9�=�&B��=w�: �=M�:)�9�Wa�WiXi Xi�Wi:Wi2Wi*W��V�U�U������L@�R�B*** querying acoustic contact ***�P�PzL1�L1�L1�L1�AM4�{<BI BI�A���>*B��\9�A��A��K7�A���A�"C�3��*C�N�=RC���<C��C�Yύ�39�֝�m�<I��G�b>�UF"j,���E�A�|$�|&p;Y}F#��@�}F߱�@y}F���<�}Fw���}FH�������ѿ�������?�������?�������������ѿ����*����@N������@�С���� ���?)~F#��@ ~F�o^;I~F��Cɫ�髱)�� ������I��Y�e�@y�y{G�Í�v>�Í��=�Í;�=iÍ@�É č��@)č��@Iĉič��@����M�4=Y� s9QU��>�����a��G����y�Z�}��>Iȹ����:�Ž�5�?����:�Ž�/�� ƽ&!@����?9ƽ?'B�ǽ��: Ƚ��:)Ƚ,�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�L�L�L(5s@�A-Cr<B) B)�A5=�>*B5_[9�A1�A5�M7�A5����A1"C=2��*C={Ț=RCEo{�<CA�CA����>9��I��\sGi����@������������{�; ���EIޡ)ޥ?A��i���������� ��':Y�y�����5)�/�;Y�49 �-�=��-�=��8��<I�G=�>��IL"j,U�3��E�AY}BР�@�}B���@y}B�'�<�}B�g ��}BH�����#�ѿ���`β�?�����,�?�������������ѿ����5⚿���`�䑿���@lK��������?)~BР�@ ~B��^;I~@ɫQ�Q)�Q �U����I�QY����@y��|G����F����x�?�&1��� ףp= �?���Ƌ>����P� ��Q8=)��I��y���㥛� ��?i��|?5���I+��������=����q����9�� ¡)¡I¥�Ai¥1A����������������%=M�W=Y����QU��>�������a��G������y��~��}��>I���C5�?���0�� �� @���?9�d'B��_/; ��;)��WA�WAXA XI�WI:WI2WI*WI�VQUQUU������@zL�p�=�L�p�=�L�|O�@�L��To@�A%��h<B! B!�A%�>*B-H_9�A)�A-'O7�A-����A)"C55��*C5�=RC5�ذ<C9�CYY�u269��e�<I�yG��>�A-S"j, SM��E�AY}6æ�@�}6��@y}6xņ<�}6�$��}6H�������ѿ������?������?���`�������_�ѿ����;T�����@}ؐ�����#��������?)~6æ�@ ~6��^;I~6��Cɫ9�9)�9 �=����I�9Y�}O�@y�}�|G���X�>����G>�����i��̬@��� ��@)��I����@i����@����=M�[=Y���3�QU��>�������a��G������y��;}�>I� ���:�� �5�?���:�� �1�� � ! @���?9� �'B�� w�: � M�:)� -�:�W��W�X� X��W�:W�2W�*W��V�U�U����@k%@zL1�L1�L1�L5�^o@�Am� `<Bq Bq�Au��>*Butb9�Aq�Au�P7�Au����Ay"C}4��*C�i��=RC�2m�<C��C��̭%>�̭N>Yρ�����������������<�� ��1:Y�DW1y�Y�:��~�5�9�@��}���<I��G�^>�� 9�� I�� $tGi�� o�@��� ��� ��� ��� ��; �� �E��VY"j,�*g��E�A�|i|�@Y}6u��@�}61��@y}6�~<�}6����}6H����`j�ѿ����g��?����|��?����������@-�ѿ���@�<�����`�������������������?)~6u��@ ~6a�^;I~4ɫ9�9)�9 �=����I�9Y�}�@y�}8|G�xDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,73,FF �ZNo reply:!U1,N,80,80,63,E4 C,185,80,80,73,FF -�<No response from remote modem.��*żM�O=Y���QU��>�����a��G����y�Mm;}��>I�����@5�?��� 3�� ���@����?9���'B����: ���:)���W��W�X� X��W�:W�2W�*W��V�U�U�����T�@zL�L�L�Ltpo@�A-�eW<B1 B1�A5��>*B5&b9�A9�A=ZR7�A=����A9"CE3��*CE�x�=RCE��<CA�CIY�MV69��Q��Q��=�U�<I�IGeV>�d>`"j,����E�AY}6��@�}6�̍@y}6��r<�}6�r&��}6H�����#�ѿ����E��?������?���@������`f�ѿ���������� m_������M̤����@V��?)~6��@ ~6��^;I~4ɫ1�1)�1 �5����I�9Y�m5�@y�mx|G)Í�= Í�=���]<M�/=Y�n��QU��>�����a��G����y��X;}��>Iȱ����:�ŵ05�?����:�ŵt4�� Ƶ�@����?9Ƶ�'B�ǵ>�; ȵo�;)ȵ.�:�WQ�WQXY XY�Wa:Wi2Wq*Wq�VyU�U%���@�@��1��5ՕCi��HmGI�� qA��' ����������������� �YK:Y�[1y�ݏ:���5i���� �Z�ٺ qA�� �MA�]XR?9�]�EAzL��L��L��L���o@�A��!O<B� B��A�3�>*B�IY9�A��A�LT7�A�;���A�"C�2��*C��S�=RC�K��<C��C�Y���89��� ���<I�� G� �>�Hif"j,䚉�E�AY}J�ƕ@�}J�ԍ@y}J��n<�}Jl&��}JH������ѿ���`p��?���`��?�������������ѿ���@Й����`�ڍ�����g�������e��?)~J�ƕ@ ~Jh_;I~H �P)�PɂV�����VAhF�T��TɃV�pAi�Z���I�X��XI�Xi�^�pA �b����`)�`�j@�C �h��h��lɄp��t��xI�x)�xi�|)� I� � Ʌ �Ɇ!�-�pA��)i�1��1i�Q��Q)�Y �YI�aɫY�Y)�a �e����I�aY����@y��}G������ �rh�?��/�$ƿ���Q��?���C=���&1� ����<)��I��y���<�O��n�?�Q��뱿�����������t�=���\������̼ ��hA)���AI��fAi��-A��������i��mmA�u��>9�qI�u�tGi�u�@��u=��q��q��u��; �u�E���+>����N>����>i��@��� ��-�@)�����I����@i����@���e=M�7=Y����QU��>�������a��G������y���;}��>I������5�?����5�� ��R@��%�?9�� (B����; ��f�;)���Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUqU}�����) @�R�B*** querying acoustic contact ***�P��P�zL���=�L���=�L�?a�@�L�l�i@�A���G<B� B��A���>*B�5d9�A��A��U7�A%P���A!"C%5��*C-:�=RC-���<C)�C)Y���- �m�<I�9 Ge �>�Ŕl"j,�Ĵ��E�A�|�|Y}6��@�}6�@y}6��f<�}6j��}6H�������ѿ����F��?������?����$�������ѿ���@4Ԙ�����qی�����ˣ�������?)~6��@ ~6�_;I~4ɫ�髱)�� ������I��Y����@y���|GZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******��ۊ�Ml=Y���QU%�?��!��!�a%�G��!��Iy�U��}U�>I�Y��]G5�?��]�6�� �]�@��e�?9�]-(B��]U�: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����@R� @zL�L�L�Lj�i@�AEy#A<BI BI�AM��>*BMmf9�AI�AM�W7�AM����AQ"CU4��*C]�#�=RC](�<CY�CYY�=�99IޝAA)ޝAA�����������������R�� ��2:Y�0Y1y���:��5�5��E�}�<I�QGuy>��zs"j,��Ή�E�AY}65��@�}6�Í@y}6t�]<�}6`��}6H����`X�ѿ��� з�?������?����3��������ѿ���@:������@ׯ������������� ���?)~65��@ ~6��^;I~6��CɫI�I)�I �M����I�IY�}0�@y�}�}G�xDUSBL response received:!U1,P 80,80,63,E4 C,185,80,80,73,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 ��u��>��u|?>��u��=i�q��q �u��@)�u@I�u��@i�u��@���F=M�C=Y�0��QU��>�������a��G������y���K�}��>I�Q��e�:��U5�?����:��U�7�� �U%@����?9�UZ(B��UV7< �U�2<)�U/�:�W��W�X� X��W�:W�2W�*W��V�U�U�����@�!@zLY�LY�LY�L]¢i@�A�U�;<B� B��A���>*B��a9�A��A�wY7�A�����A�"C�3��*C�U�=RC����<C��C����!>���,>Yϵ�:9�֥ 8��<I�� G� �>�i 9�i I�m vGi�m �@��m =��i ��i ��m ��; �m �E)���I���i�������=����=�����C5���y"j,�r艨E�AY}:���@�}:h��@y}:N�L<�}:�w��}:H�������ѿ���`���?�����@�?���@���������ѿ���`�Ӗ����@^������ ~͢��������?)~:���@ ~:��^;I~:��Cɫ�髙)�� ������I��Y��a�@y���}G�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����}<M�X=Y���2�QU��>�������a��G������y���}��>I�����a�5�?����8�� ���@����?9��(B���w�: ����:)���W�W!X! X!�W!:W!2W!*W)�V)U)U5�����o"@zLI�LI�LI�LM�{i@�Ae��6<Ba Ba�Ae��>*BeYk9�Ai�Am[7�AmŨ��Ai"Cu2��*Cu��=RCu�6�<Cq�CyYυ�:9�����������H�� �1:Y�y����5)�?�;�9���֕�]�<I��G��>����"j,�M��E�A�|i|�@ɫ�髙)�� ������I��Y��R�@y���}G�xDUSBL response received:!U1,R,FC9,000,004DB,185,80,80,4B,FF �Fpublishing direction and range info��� �D=���ɰ���=�� ��)����BI��y��QB�����3���?Cw�ږ��?��������ٱ��� Ɯ�M X=Y� ���QU�>�����a�G����y�%���}%�>I�)��-�:��-��5�?��5�:��-�9�� �-@��5�?9�-�(B��-��: �-�:)�-0�:�W��W�X� X��W�:W�2W�*W��VUU�����;#@�RE(Combining 5 samples.�PI*QMQB�ZM��L?ƄB@`��6�v�?���������ZM��3���?Cw�ږ��?��������2QM �D=:QI�ZM�V��}�d!�6ǁ^B�0�������ZM�c ο5)�2��$bH�&��BQM^8�@ QM*�QM$��PM)�9?�PM%�9?�PMi���QMe���QMn�@"QM��@zLq�Lq�Lq�Lq�A��~3<B� B��A��>*B��b9�A��A�]7�A�Ч��A�"C�5��*C��Ι=RC����<C��C��ޥ�=iޥa=Y���<9����<I��G �>����"j,M0��E�AY}5�n�@�}5k|�@y}5��<�}5����}5H������[ҿ������?���`��?���@[������Sҿ�����E�����@�4�����@�O���������?)~5�n�@ ~5�n^;I~5��Cɫ)�))�) �)I�)Y�mJ�@y�m�}G��TNmea in: $SNTTA,,0.044181,,,164735.80*42 I���=)��� ��>9� I� |vGi� W�@�� �� �� �� ��; � (�E����Q����?�MbX9�?�~j�t��?��\>��ʡ= ��D<)�I�y����MbX�?�l����Zd;�O�������=�������j�� �7 A)��AI�1Ai�� A����� A��u�M>��uv�=��u�k>i�u̬@��q �u@)�u��@I�qi�q����M�=Y�{ĻQU��>�����a��G����y��D�}��>��( ����������������� �mK:Y�[1y�ݏ:���5)���;Iȹ�Ž,�5�?�Ž<�� ƽW@����?9ƽ�(B�ǽ��: ȽX�:)ȹ�muqAdded new target pos. range: 37.080002 m, bearing: 256.434753 deg, deltaT: 9.626019 s, approachRate: 0.093497 m/s, LOS rate: 0.436833 deg/s, posRepo size: 4�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�����=�B@U����`�^�?zL��>�L��>�L���@�L�~q@�A�\�/<B� B��A���>*B�h`9�A��A�_7�A�Ȧ��A�"C�4��*C�i��=RC��'�<C��C�YϹ �ֵoE�<I��G��>�'�"j,E*7��E�AY}>�^�@�}>�l�@y}>ڽ�;�}>e��}>H�����Szҿ����$��?������?���@����� �rҿ��� �x����� �W~�����Ok���������?)~>�^�@ ~>�0^;I~>��CɫI�I)�I �U����I�QY���@y���~G��e�=Me�=Y�m%ʻQUm?��q��q�au�G��q��qy�}Kǻ}}?Iȁ����:�Ņ��5�?����:�ŅX=�� ƅ�@����?9ƅ)B�Dž��: ȅ��:)ȅ1�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��aq@�A��C,<B� B��A�!�>*B��s9�A��A��`7�A�3���A�"C�3��*C�S��=RC�Wk<C��C�Y�u�>9��U'�<I�aG�9>�9�"j,C�P��E�A�|�|�;Y}B�N�@�}B�\�@y}B/��;�}B ��}BH����@�ҿ�������?���@�7�?���`i��������ҿ�����W��������s����@������� h��?)~B�N�@ ~B�];I~@ɫY�Y)�Y �]����I�YY��J�@y��G��u��>��u-�>��u�u=i�u̴@��q �u��@)�uٮ@I�u-�@i�uٮ@��g�<M�I=Y��̻QU��>�����a��G����y���}��>Iȡ�ť�5�?�ť?�� ƥa@����?9ƥD)B�ǥܹ: ȥ+�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U����@Ro�?zL��L��L��L��Hq@�A��(<B B�A��>*B}i9�A�A�b7�A`���A!"C%2��*C-�q�=RC-.�Q<C)�C1��5< ����5�����5�����5��� �5M:Y�5�V1y�5�:��5��5�9=@Y�E5?9 �I��M�=��5��<I�AG]v>ܑ 9ܑ Iܕ DwGiܕ ��@�ܑ �ܑ �ܑ �ܕ ��; ݕ �E�11�"j,��j��E�AY}6�E�@�}6|S�@y}6��);�}69;��}6H����`S�ҿ����I��?����k��?����՛�������ҿ����d�����21e���� t桿�������?)~6�E�@ ~6�];I~6��Cɫ9�9)�9 �9I�9Y�}Y�@y�}G��ї;MQ=Y� ��QU�>��!��!�a%�G��!��)y�-,:�}-�>Iȁ�Ņ��5�?�Ņ�@�� ƅ�@����?9ƅw)B�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��=q@�A�� %<B� B��A�t�>*B�Mj9�A��A�vd7�A�����A"C5��*C �P�=RC �C<C �C��4>��Y�eY?9��U2�D<I�iG�{>��"j,횄��E�AY}2�;�@�}2�I�@y}2��9�}2I4 ��}2H����`B�ҿ��� Z��?�����Ϡ?�����������.�ҿ�����}�����`<�;����ࣥ������!��?)~2�;�@ ~2r�];I~2��Cɫ9�9)�9 �=����I�9Y�}B�@y�}�~G���ۻMJ=Y����QU�>��)��)�a5�G��1��Ay�M�A�}U�>I�i����:��mM�5�?����:��mKB�� �mS@���?9�m�)B��m< �m�<)�m2�:�W��W�X� X��W�:W�2W�*W��V�U�U�����Mb�@zL��L��L��L��.q@�A�o!<B B�A�>*B6g9�A�Azf7�A����A!"CE4��*CM�+�=RCM�2<CI�CQ��5V ����1��1��5��� �5�::Y�1y�1��5��5Y�=�?9��5/�C<I�9G]�>�}M�"j,4����E�A�|8i|8Y} 8�@�}�E�@y}{9���}x���}H�������ҿ���`���?��� xݡ?���`ٗ�����$�ҿ���@�'������/'U?�����{����� ���?)~ 8�@ ~̱];I~��Cɫ���)�� ������I��Y�%k�@y�%1G�����!9�!I�%xGi�%��@��!��!��!��%��; �%&�E��U��G�z��?Zd;�O���y�&1�|?��Up=>��Uj<� �U`�;)�QI�Qy�U�+��η?+������{�G�zt���Uv�=��U�����Uף� �U� A)�U�AI�U�Ai�U1A��Q��U�A�õ�T>�õ\=�õ�#�iõ��@�ñ ĵ@)ĵ@Iıiĵ@����0<M�1=Y��6s�QU��>�������a��G������y��9��}��>I�����e�5�?����C�� ��D@����?9���)B���ʽ: ��+�:)���W �WX X�W:W2W*W�VUU���@K�@zL=��=�L=��=�L=���@�L=��m@�AU�<BQ BQ�AU��>*B]�i9�AY�A]th7�A]��AY"Ce3��*Ce �=RCe�-<Ca�Ci��=i�=Y�vA9�� mA�� ����0<I� G5 �>��n�"j,qV���E�AY}Rw8�@�}R3F�@y}R��E��}R6]��}RH�������ҿ���`đ�?����@~�?������������ҿ�����r������R�h?����Wꣿ���`���?)~Rw8�@ ~RԤ];I~R��Cɫ�髙)�� ������I��Y� ��@y� �G�p=ɮ=��5�(=M5i=Y�=|��QU=�>��9��A�aE�G��A��Ay�M>9}M�>I�Q��]�:��Ua�5�?��]�:��UIE�� �U:@��]�?9�U*B��U4�: �UA�:)�U3�:�W��W�X� X��W�:W�2W�*W��V�U�U����`��@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�p�m@�A��$<B� B��A��>*B��p9�A��A�Sj7�A�L���A�"C�2��*C���=RC�Ͷ-<C��C�i��I��Y����M� ����M�����M�����M��� �M�G:Y�M�W1y�Mč:��M��5�ֹI��G�E>i�� �lGI�� i� ��5 Ea�ٺ1 ��5 TA�UU�"j,�,Ҋ�E�Aɫy�y)�y �}����I�yY���@y���G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5 �>��5$>��5?5>i�5�@��1 �5��@)�5�@I�5�@i�5�@��E�(<ME:=Y�M���QUM�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a��e��5�?��e�F�� �e.@��m�?9�eD*B��e��: �e�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U����`t @zL��L��L��L��Am�<B B�AT�>*B�j9�A�Aol7�A����A"C%5��*C%-Ƙ=RC%Tm,<C!�C)Y�NB9���h%<I�)GU�>�= ��>9�= n�CI�= �xGi�= ?�@��= =��9 ��9 ��= ��; �= 6�E�g�"j,�슨E�A�|�|Y}6�J�@�}6eX�@y}6��廙}608+��}6H�����Ԡҿ��� ���?��� ���?���`������`�ҿ����#Yv���� J�|?����Ke�����`���?)~6�J�@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�G�xDUSBL response received:!U1,P FC9,000,004DB,185,80,80,4B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����$�M�d=Y�95�QU�>�����a%�G��!��9y�M��;}U�>I�i����:��mj�5�?��u�:��mNH�� �m'@��u�?9�ms*B��m� = �m" =)�m4�:�Wq�WqXy Xy�Wy:W�2W�*W��V�U�U������� @zL��L��L��L���m@�A�P<��5& ����5�����5�����5��� �5�6:Y�5�X1y�5/�:��5��5)�55�;�9=�B9 B9�A=��>*B=_j9�Aa�Ae�n7�Ae����Aa"Cm4��*Cm���=RCuKVM<Cq�CqY�}�C9 Ս�=�ԍ�=��m �x/<I�� G� �>�=g�"j,����E�AY}:�T�@�}:�b�@y}:� ��}:hL!��}:H�����c�ҿ����Z��?�������?��������� 2�ҿ�����j�����ǡ�?����(�����`X��?)~:�T�@ ~:]�];I~8ɫ9�9)�9 �=����I�AY�]�@y�]�G�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=R=i�== �i�i����;M�>=Y���r�QU��>�������a��G������y��d?;}��>I�������5�?����I�� �� @���?9���*B����; ���;)���WQ�WQXQ XY�WY:WY2WY*WY�VaUaUe��� �<@zL��L��L��L�� n@�A�ޤ <B� B��A���>*B�q9�A��A�yp7�A����A�"C�3��*C F��=RC �Z<C �CY���C9���NJN<I��Gj>���"j,:���E�AY}VV�@�}V�c�@y}V�r%��}VX���}VH����`ˊҿ�������?���@iK�?����7��������ҿ����RSL����`:��?���� �������-��?)~VV�@ ~VW�];I~Tɫ�髑)�� ������I��Y��n�@y��8�G����i��|?5�?�V-��V-�������q>���h�� ���m�)��I��y���bX9�ȶ?���Mb���~j�t�h?���E�=����@�����D; �A)fAI� Ai�A�������A�������<��9��o�CI���zGi��2�@��������������; ��C�E)�a�I�a�i�a���e�=��e�=��e�U5��5�q>��5O����5�N�i�5��@��1 �5-�@)�1I�1i�5-�@��E��<MEA=Y�E�g�QUM�>��I��I�aM�G��I��Qy�U��9}]�>I�Y��e�:��]Q�5�?��m�:��]�K�� �]F@��m�?9�]�*B��]��: �]��:)�]5�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�7�=�L�7�=�L����@�L�w�{@�A�$�<B� B��A���?*B��n9�A��A��r7�A�q���A�"C]2��*Ce�d�=RCe�Y<Ca�Ci��-+ ����-�����-�����-��� �-@7:Y�-[1y�-ݏ:��-X�5)�-��;Y�U�E9��Eh�W<I�QGm�>�|��"j,ʩ9��E�A�|,i|,Y}vrI�@�}v.W�@y}vzN9��}ve^��}vH�������ҿ����i��?�����w�?����p�����@��ҿ�����`K?����)�?���������������?)~vrI�@ ~v3�];I~v��Cɫ)�))�) �5����I�1Y�iy�i�}TNmea in: $SNTTA,0.308786,,,,164740.26*46 Y��O�QU��>�����a��G����y�%�}%�>I�)��-��5�?��-*M�� �-k@��5�?9�-�*B��-'�: �-�:)�)�WY�WYXY XY�WY:WY2Wa*Wa�VaUiUm���`�y@zL��L��L��L�Q�{@�A�}<B� B��A�*B��o9�A��A��t7�A�О��A�"C�5��*C�[D�=RC��Y@<C��C���%�=i�%�=Yϱ�ֵjZX<I��G%�>�x��"j,�tS��E�AY}6]1�@�}6?�@y}64�J��}6� ��}6H����`��ҿ����K��?����/��?����J������#�ҿ����v]?����\[�?��� ����������?)~6]1�@ ~6 �];I~6��Cɫ)�1)�1 �5����I�1Y�mz�@y�m?�G���+�����G>����u<i���@��� ��ٮ@)��@I��@i��@�����:M��<Y��}�QU��>�������a��G������y���}��>I���_�5�?���N�� ��@���?9�'+B��b�: ���:)��W1�W1X1 X1�W1:W92W9*W9�V9UAUE�����2@zLY�LY�LY�L]�s{@�Au+��;Bq Bq�A}@?*B}�m9�Ay�A}�v7�A}*���Ay"C�4��*C���=RC��F<C��C�ȋȊ��=�����9��9��=F�� �=4-:Y�9y�9��=��5�9E@Y�]@F9��M�=<I�YGu�>����>9��n�CI��dzGi����@���=��������� ���w��"j,3Om��E�AY}:�@�}:�!�@y}:�e��}:P��}:H������ӿ���`��?����{��?����v������� ӿ����_�e?���र�?���`�h�����@���?)~:�@ ~:"c];I~8i�D��D)�D �DI�D �D)�J�rAɖH��H�H��HɗLi�LI�L��LI�Pi�P �Rף��P)�P�T �T��T��TɘT��X��XI�Z�D�)�Xi�X)�XI�^qA�\ə\ �\ɚ`�b��A��`i�`��`ɫy�y)�y �}����I�yY��v�@y��<�G��]P��M]g=Y�eݖ�QUe�>��a��i�am�G��i��iy��#�}��>Iș����:�ŝ:�5�?����:�ŝRP�� Ɲ�@����?9ƝL+B�ǝ��: ȝ��:)ȝ6�:�W��W�X� X��W�:W�2W�*W��V�U�U����@̥@�RB*** querying acoustic contact ***�P�PzLY�LY�LY�L]w9{@�A�� �;B� B��A�#?*B�wr9�A��A��x7�A�����A�"C�3��*C����=RC�Ǔ�;C��C�Y���G9���� <I��G�>�Y��"j,^*���E�A�|�|Y}F�@�}F��@y}F�S���}F�z��}FH���� +ӿ��� ���?����O-�?���������@}1ӿ�����l?����K �?���@z������@���?)~F�@ ~F�p];I~F��Cɫ���)�� ������I��Y�M��@y�MU�G�ílg>�í��í��ií�@�é ĭ-�@)ĭ-�@Iĭ�@iĭ-�@���C<M�D=Y��I��QU��>�������a��G������y�����}��>I�������5�?����Q�� ���@����?9��w+B���0�: ����:)���W �W X X �W:W2W*W�VUU�����G@zL1�L1�L1�L51{@�AM��;BI BQ�AUh?*BU�p9�AQ�AU�z7�AU���AQ"C]2��*C]�ڗ=RCe�;�;Ca�Ca��=�����=�����=�����=��� �=�.:Y�=�W1y�=č:��=��5Y�e9H9 �m�=��i��]#2�;I�aG�{>����"j,u���E�AY}6f��@�}6"�@y}6g���}6"��}6H������9ӿ�����}�?��� �?��� e�����@Aӿ�����mr?�����?�����M������W��?)~6f��@ ~6pk];I~6��Cɫ�髹)�� ������I��Y��/�@y����G ���y9�}o�CI�},{Gi�}&�@��}=��y��y��}��; �}G�E�� �o��ʡ�?Zd;�O������Q��?�� ->�� j<� � ��<)� I� y� ��Q���?T㥛� ��:��v������ \�=�� ���� �T� � A)� �AI� �Ai� � A�� �� \A��-�,=M-D=Y�5wt�QU5�>��1��1�a=�G��9��9y�=d�}E�>I�A��U�:��E��5�?��U�:��ES�� �E�@��U�?9�E�+B��E��: �E��:)�E7�:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U����`��@zL���=�L���=�L����@�L��k@�A��~�;B� B��A��?*B��q9�A��A�}7�A�����A�"C�5��*C�+��=RC���z;C��C�Y��]H9�ֵy�;I��G��>�� �"j,3ẋ�E�AY}6��@�}6���@y}6����}6z ��}6H������Kӿ�����z�?��� ��?����g�������Sӿ����Tlv?��� !��?���@ ������]��?)~6��@ ~6�p];I~6��Cɫ9�9)�9 �=����I�9Y����@y����G���A̼M�a=Y��j&�QU��>�������a��G������y���Q�}��>I���a�5�?��T�� �i@�� �?9��+B����: ��:)��W1�W9X9 X9�W9:W92W9*WA�VAUAUE��� �f@zLa�La�La�LeA�j@�A}���;By By�A}�?*B}hu9�Ay�A�7�A�&���A�"C�4��*C�]��=RC���6;C��C�Y�m�J9��=�����=�����=�����=�� �=��:Y�=�V1y�=�:��=6��er��;I�iG�;>�}��"j,ػԋ�E�A�|i|Y}B �@�}B���@y}B"6���}B'���}BH�����5Kӿ����r{�?����EM�?��� C������Tӿ�����}?��� r�?���@�1���������?)~B �@ ~Bs_];I~B��CɫY�Y)�Y �]����I�YY���@y����G�xDUSBL response received:!U1,N,80,80,63,E4 B,185,80,80,4B,FF �ZNo reply:!U1,N,80,80,63,E4 B,185,80,80,4B,FF -�<No response from remote modem.�Ý->�Ý��=�Ý/]=iÝ��@�Ù ĝ��@)ĝ��@Iĝ��@iĝٮ@��I�<M�>=Y��'A�QU��>�������a��G�����y��68}�>I� ��5�:�� ^�5�?��=�:�� ?U�� � '@��=�?9� �+B�� ��; � ��:)� 8�:�Wy�WyXy X��W�:W�2W�*W��V�U�U�����3@zL�L�L�Lw�j@�A��;B B�AX?*B�n9�A!�A%��7�A%����A!"C-3��*C-�g�=RC5��<;C1�C1Y�yJ9��nA�����"5;I�G%n>�y9�}n�CI�}�{Gi�}x�@��}=��y��y��}��; �}E�E�m�"j,1�E�AY}F���@�}FZ�@y}FbR���}F ��}FH�����<ӿ����~�?����̤?����c�����`Fӿ���`嚁?������?���������������?)~F���@ ~F�}];I~F��Cɫy�y)�y �}����I�yY���@y����G)���= ���=���o�M�Y=Y���/�QU��>�������a��G������y��J$;}��>I�������5�?���=V�� ���@�� �?9��,B�����: ��M�:)���W)�W)X) X)�W):W12W1*W1�V9U9U=���`�@zL��L��L��L��k@�A�a��;B� B��A��?*B �u9�A�A��7�AU���A"C2��*C�E�=RC�7q;C!�C!Y� �J9��=Y ����=�����=�����=��� �=J�:Y�=[1y�=ݏ:��=�I6)�=D�;�9E���I�)GER>�r#j,!v��E�AY}Z���@�}Z~�@y}ZV`���}Z����}ZH������2ӿ������?����ͬ�?���������@=<ӿ����q�?������?�����\���������?)~Z���@ ~Z4q];I~X���]�>���ЕCɫ���)�� �����I�Y�=��@y�E��Gi�}HmGI��fpAi���� g[�ٺ fpA�� NA��eZ?��e,���e���i�e��@��a �e-�@)�e-�@I�e�@i�e-�@��u�Mu3=Y�u��QUu�>��y��y�a}�G��y��y�{�:}��>Iȉ����:�ō��5�?����:�ōxW�� ƍ�@����?9ƍ=,B�Ǎ��: ȍ��:)ȍ9�:�W��W�X� X��W�:W�2W�*W��V�U�U������9 @zL��L��L��L��k@�A���;B B�Ak?*B�o9�A �A 7�A ����A "C5��*C��=RCƺ�;C�CY���L9���yb];I� G-�>��-#j,�M"��E�A�|�|Y}6���@�}6W�@y}6����}6!���}6H���� N-ӿ���`,��?���@�H�?���`��������7ӿ���@���?����P�?�����֢��������?)~6���@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y��>�@y����G�%��>9�%o�CI�%X|Gi�%�@��%=��!��!��%��; �%C�E������(\���?�A`��"���I+��?���.>���Y� ��94=)��I��y����p= ף�?�A`��"������Mb������=���Y����� �A)I 7 Ai �A������QA��ʦ<M�Y=Y�0�QU��>�����a��G����y�Fq:}��>I�����u�5�?���sX�� ���@����?9��],B�����: ��n�:)���W��W�X� X��W�:W�2W�*W��V�U�U����(� @�R B*** querying acoustic contact ***�P �P zL���=�L���=�L�,�@�L�V<n@�A�\;B� B��A�b?*B�zt9�A��A��7�A�����A�"C�4��*C����=RC�Lӊ;C �C I�%@A)�%@A��5 ����5�����5�����5 �� �5�J:Y�5�W1y�5č:��5�6)�59�;Y���M9���r��;I��G�>��W#j,�(<��E�AY}:��@�}:f�@y}:�ε��}:����}:H���� g'ӿ�������?���@���?���`h������A2ӿ������?���@b��?���@�w��������?)~:��@ ~:�];I~:��Cɫ9�9)�9 �=����I�AY�}��@y�}�G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���'�<M�G=Y���ǺQU��>�������a��G������y�� n:}��>I������5�?����Y�� ��n@���?9���,B���b�: ����:)���W!�W)X) X)�W):W)2W1*W1�V1U1U5������!@zLQ�LQ�LQ�LU�An@�AeW-;Bi Bi�A�) ?*B��u9�A��A��7�A�����A�"C�3��*C�wՖ=RC�CU�;C��C����J>���8>Yϭ�N9�֡I��Gl>��?#j,�V��E�AY}6�@�}6��@y}6�¹��}6<���}6H����`o*ӿ������?������?����օ����@�5ӿ�����?�����7�?�����z����� ���?)~6�@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�]}�@y�]ހGexDUSBL response received:!U1,P 80,80,63,E4 B,185,80,80,4B,FF 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 ���@���@���@�ý©ý��ý�iý��@�ý���� Ľ�@)Ľ���IĽ�@iĹ��MV�MM7=Y�U��QU]�>��a��a�a��G����y�s�}��>Iȱ����:�ŵJ�5�?����:�ŵ�Z�� ƵL@���?9Ƶ�,B�ǵL#< ȵ�#<)ȵ:�:��5' ����5�����5�����5��� �5YK:Y�5�X1y�5/�:��5�6�9=@�WI�WIXI XI�WI:WI2WQ*WQ�VQUQUU�����"@zL��L��L��L��>n@�A}��:B B �A Z ?*B �n9�A �A :�7�AW���A"CE2��*CM���=RCM 7�;CI�CQY�Y�!9�!I�!i�!��%=��!��!��%��; �%@�E)�чI�Շn�Ci�ч��Շ=��Շ=��Շ��4��m ���;I�q G� �>��i#j,��o��E�A�|i|Y}6��@�}6��@y}6�����}6,K��}6H������;ӿ�����}�?���`�w�?����0�����@vFӿ�����ۄ?����vޖ?����碿����^��?)~6��@ ~6`];I~6��Cɫ9�9)�9 �=����I�9Y����@y�� �G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u��<Muj=Y�}�:QU}?��y���a��G����y��X�}�?Iȑ�ŕO�5�?�ŕ�[�� ƕ3@����?9ƕ�,B�Ǖ��: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U������d#@zL��L��L��L�t-n@�A��Δ:B� B��A��?*B�g}9�A��A�>�7�A�D���A�"C�5��*C�Nj�=RC��yI;C��C�Yϭ<Q9�֝�rg;I��G�b>�V"#j,�̉��E�AY} {�@�} 7�@y} y����} �v��} H������bӿ��� �w�?��� �?����}���� )mӿ����h�?��� �T�?����������� ���?)~ {�@ ~ �g];I~ ��Cɫ���)�� ������I��Y�-��@y�-"�G5xDUSBL response received:!U1,R,FFC,000,004EB,183,80,80,55,FF =Fpublishing direction and range info��5��d;��1ɰ5F�=�5$�> �1)�5��BI�1y�5(B��5� �29���?QC�1m�l?��������ٱ1I�I)�M�A�������������åxi=�å�m=�å�H=iåQ�@�å��� ĥ��@)ĥ�@Iĥ��@iĥ��@��E<M�F=Y���:QU��>�������a��G������y���ƻ}��>I������:���۴5�?����:����\�� ��@����?9���,B����: ��#�:)��;�:�W�WX X �W :W 2W *W �VUU����]8$@�R%(Combining 5 samples.�P!*Q%(B�Z%����'C@�J!��?���������Z%� �29���?QC�1m�l?��������2Q%��d;:Q!�Z%��s���&��۩<G$B�N.�*Pd�?�Z%���9k,ӿ����E�F�3�?BQ%��@ Q%"�Q%W6��P% �9?�P%)�9?�P%k���Q%i���Q%P�@"Q%n�@zLQ�LQ�LQ�LU�n@�Ae��9B B�A�?*B Sw9�A �A _�7�A =���A "C4��*Cd�=RC�``:C�C��-� ����-�����-�����-��� �-�B:Y�-�Y1y�-�:��-��5Y��`Q9�� yb];I�G5�>�L~(#j,�����E�AY}nД@�}n�@y}n�����}n����}nH�����ӿ�����q�?���`^Ϥ?�����v���� ʓӿ��� H{�?���`���?����S���������?)~nД@ ~n[S];I~n��C�ٱ�ٵnAܽ��>9ܹIܽ }Giܽ��@�ܹ�ܹ�ܹ�ܽ��; ݽ>�Eɫ���)�� ������I��Y�}��@y�},�G��dNmea in: $SNTTA,0.074620,0.483038,,,164745.91*50 ����1�Zd�?�Q�����Zd;�O������"�=���\� ��j��)��I��y���J+��?L7�A`堿����Mb�������=���+���� A)� AI�AiKA������3A��%t�;M-5=Y�-�<:QU-�>��1��1�a5�G��1��9y�=_��}=�>I�A��E��5�?��E�^�� �E�@��M�?9�E-B��E�: �E��:)�A�m}yAdded new target pos. range: 38.040001 m, bearing: 252.563020 deg, deltaT: 10.112658 s, approachRate: 0.094930 m/s, LOS rate: -0.382860 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����C@U��������?zL�i�=�L�i�=�L���@�L�4h�@�A��%��B� B��A�I ?*B��s9�A��A���7�A�H���A�"C�3��*C�n:�=RC�m@��C��C�Y���S9����rg:I��G��>�٥.#j,�p���E�A�|�|Y}6���@�}6oȌ@y}6�9���}6����}6H�����d�ӿ����$k�?�������?���`;p������ӿ������?������?���@�\���������?)~6���@ ~6l[];I~4ɫy�y)�y �}����I�yY��+�@y��I�G��=��<M=p=Y�=�)�QU=?��A��A�aE�G��A��Iy�M1��}M?I�Q��]�:��U��5�?��e�:��U\`�� �U�@��e�?9�U=-B��U��: �U��:)�U<�:�W�WX X�W:W 2W *W �V U1U5����z��?zLa�La�La�Le�R�@�A}~尺By By�A��?*B�$|9�A��A���7�A�`���A�"C�2��*C�E�=RC��Mb�C��C�I�))�)��=� ����=�����=�����=��� �=�X:Y�=�X1y�=/�:��=��5Yϥ}S9����鑺I��G��>���5#j,L�E�AY}6F��@�}6��@y}6\ø��}6�y��}6H�����~�ӿ����h�?���@6�?�����m�����1�ӿ����^��?��� ��?�����������`���?)~6F��@ ~6�Q];I~6��Cɫ9�9)�9 �9I�9Y��T�@y��b�G��m�@=��mE6���m��<i�m�@��i �mK�@)�m-�@I�mK�@i�mK�@��&E<M�F=Y��QU��>�����a��G����y���}��>Iș�ŝ��5�?�ŝKb�� Ɲ�@����?9Ɲh-B�ǝs�: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����;8�?zL��L��L��L�QK�@�A [��B� B��A�?*B�&z9�A��A�ˋ7�A�����A�"C�5��*C�@�=RC����C��C����G>���>YϽ�U9�ֵr�����9��I��i����������������; ���EI� G%�>��;#j,�&�E�AY}:���@�}:_Č@y}:T(���}:r���}:H������ӿ����wi�?����;��?���`�n����`��ӿ�������?���`�$�?���`��������I��?)~:���@ ~:F�];I~:��Cɫ)�1)�1 �5����I�1Y���@y��>�G��m�}�Mm/=Y�miظQUu�>��q��q�au�G��q��yy�}�f:}}�>Iȁ����:�Ņ&�5�?����:�Ņyd�� ƅ�@����?9ƅ�-B�Dž��: ȅ�:)ȅ=�:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L�CN�@�A�kZO�B� B��A�6?*B�-s9�A��A��7�A�ך��A��52����5�����5�����5��� �5�`:Y�5�Y1y�5�:��5�6)�5N�;�9=�"C�4��*C�齕=RC��Wk�C��C�Yϵ�U9�֥ vт�I�� G� �>�8�B#j,��E�A�|0i|2�@Y}Z�Ô@�}Zgь@y}Zܵ��}Z����}ZH�����X�ӿ����Hm�?�����ޥ?��� s����@�ӿ��� ?��?��� ��?�����O������&��?)~Z�Ô@ ~Z~�];I~X �`)�`ɂbt����d�d��dɃfqAi�ft��I�h��hI�hi�h �n����l)�l�l �l��p��pɄp��p��pI�p)�ti�t)�tI�t�tɅt �xɆx�zqA��xi�|��|i�|��~��A)�| �|I�ɫ���)�� ������I��Y� ��@y�~�G��%��=��%d;���%/ݽi�!��! �%-�@)�%K�@I�!i�!��UW=MU]=Y�]ێ:QU]�>��Y��Y�ae�G��a��y���;}��>Iȑ�ŕ5�5�?�ŕ9f�� ƕy@����?9ƕ�-B�Ǖk�: ȕ4�:)ȑ�W��W�X� X�W:W2W*W �V U U ��� �d�@zLI�LI�LI�LM�Z�@�A}�ʅ�B� B��A�t?*B��{9�A��A�*�7�A�&���A�"C�3��*C�[��=RC�}r�C��C����=i��=Y�y�֍r���I��G �>���H#j,��$��E�AY}2�є@�}2]ߌ@y}2A����}2;��}2H�����Άӿ�����q�?���`z�?����Xw�����R�ӿ������?�����^�?�����e������*��?)~2�є@ ~2>�];I~2��C��]=��]�<�e��>9�aI�e�}Gi�e�@��a��a��a��e��; �e�Eɫ���)�� ������I��Y���@y�"�G��]�i��|?5�?q= ףp����~j�t�?��]�q=��]�� �]��<)�YI�Yy�]��~j�t��? ףp= ��/�$��?��]�D=��]Q8���]�< �Y)�]KAI�]lAi�]�A��Y��]QA��}�5�M}H=Y�}mb:QU}�>�����a��G����y�A�;}��>Iȑ�ŕH�5�?�ŕ�f�� ƕ@����?9ƕ�-B�Ǖ��: ȕ@�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�r�=�L�r�=�L� ��@�L��i@�AA���B� B��A��?*B��x9�A��A�H�7�A�����A�"C�2��*C�r�=RC���t�C��C�i��I��nA��56����5�����5�����5r�� �5_u:Y�5d\1y�5��:��5�6)�58�;YϽ�W9�֭�e�I��G��>���N#j,��>��E�AY}2�ה@�}2��@y}2QT���}2����}2H���� {ӿ�����s�?����ʳ�?����>y�����u�ӿ����L�?����J�?���`?8������H��?)~2�ה@ ~2w];I~2��Cɫ�髙)�� ������I��Y��W�@y��e�G���=M�f=Y�h9QU�>���� �a �G�� �� y�T;}�>I���%�:����5�?��%�:���g�� ��@��%�?9��-B����: �k�:)�>�:�WI�WIXI XI�WI:WI2WQ*WQ�VQUYU]���`�g@�ReB*** querying acoustic contact ***�Pa�PazLy�Ly�Ly�L}`�i@�A�Vd»B� B��A�.?*B�.~9�A��A�^�7�A���A�"C�5��*C�`Q�=RC����C��C�Yω��}��q�I��G�d>i� nGI� qAi�1��e�f�ٺe qA��e!YA�/�U#j,��X��E�A�|�|Y}61Ք@�}6��@y}6�����}6����}6H������ӿ���`�r�?����O{�?����ox�����j�ӿ����9q�?��� ^�?����R�������j��?)~61Ք@ ~6�C];I~6��Cɫ1�9)�9 �=����I�9Y�u��@y�}��G}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����>����#=���9��i��Q�@��� ����@)����@I���@i����@���<�<M�<=Y���8�QU��>��)��)�a-�G��)��1y�5�=�}=�>I�9��={�5�?��=_h�� �=L@��m�?9�=.B��=߾; �=]�;)�9�W��W�X� X��W�:W�2W�*W��V�U�U����` @zL��L��L��L���i@�A5U��B1 B1�A5a?*B=�v9�A9�A=��7�A=����A9"Ce4��*Ce%�=RCm�O��Ci�Ci��5� ����5�����5�����5��� �5D:Y�5�Y1y�5�:��5��6�9=@Y�A �M�=��M�=��5���I�9�Y9�YI�Yi�Y��]=��Y��Y��]��; �]�EG}z>��\#j,�mr��E�AY}6�ϔ@�}6C@y}6�겼�}6ǣ��}6H���� ϊӿ����Hq�?��� �V�?�����v����`%�ӿ�������?�����\�?����<Ң���� ���?)~6�ϔ@ ~6}];I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�],�GexDUSBL response received:!U1,P FFC,000,004EB,183,80,80,55,FF 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 ��鿡���\�M�]=Y��xR7QU��>�� ���a�G����)y���}��>I������:�����5�?����:���i�� ���@����?9��+.B����'; ���[;)��?�:�W��W�X� X��W�:W�2W�*W�VU)U5�����Y @zL��L��L��L�a�i@�A��o��B� B��A�I ?*B��v9�A��A�Ȓ7�A�6���A�"C3��*CEj��=RCE�,ںCA�CIY�%?Z9��Β{�I�G=�>��b#j, J���E�AY}2OƔ@�}2Ԍ@y}2[3���}2�q��}2H���� ^�ӿ���@fn�?����#m�?�����s����੦ӿ�����+�?���@�E�?�����뢿����w��?)~2OƔ@ ~2_n];I~2��Cɫ9�9)�9 �9I�AY����@y����G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��m��>��mt����m��i�m��@��i �mb�@)�mK�@I�mK�@i�mK�@��}�ȼM}A=Y� Y9QU��>�����a��G����y��8�}��>Iș�ŝ��5�?�ŝ�i�� Ɲ}@����?9ƝF.B�ǝ�: ȝH�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����'6@zL��L��L��L��i@�A�Q��B� B��A�� ?*B��y9�A��A�ۓ7�A�ڝ��A�"C�2��*C��֔=RC��0�C��CY����5f����5�����5�����5w�� �5��:Y�5[1y�5ݏ:��5�+6���?BɺI�Gn>��i#j,�*���E�A�|i|�@Y}6��@�}6�ˌ@y}6�Y���}6����}6H����@�ӿ���`�k�?�������?����qq������ӿ���@t9�?������?���@����� p��?)~6��@ ~6�];I~6��C����mA� ��>9� I� i� �� =�� �� �� ��; � )ݙ�Iݝ�o�Ciݙ��ݙ��ݙ��ݝ�4ɫ9�9)�9 �=����I�9Y�u��@y�}��G�xDUSBL response received:!U1,R,037,000,004F0,184,80,80,79,FF �Fpublishing direction and range info��} �D���yɰ}�=�}��> �y)�}��BI�yy�}\B��}��3���?Cw�ږ�����������ٱy�dNmea in: $SNTTA,0.050948,0.261673,,,164750.35*5E �����&1��?����Mbp��~j�t�x?����P=����� ����;)��I��y���#��~j��?����Mb��:��v��������=���������T� �A)1AI�Ai©������ A���G;M�7=Y���K:QU��>�������a��G������y����}��>I������:���{�5�?����:���9k�� ��<@����?9��u.B�����: ��j�:)��@�:�W�WX X�W:W2W*W!�V!U!U-����r�@�R5(Combining 5 samples.�P9*Q=\B�Z=�a��R�%C@=t�n�����������Z=��3���?Cw�ږ�����������2Q= �D�:Q9�Z=� ڶM* +��:z���A�@�l�?�Z=��-l��ֿН&k���$�0�Ҹ�?BQ=�B�@ Q=v�Q=QX��P=�9?�P= �9?�P=j���Q=k���Q=�@"Q=P�@zLe�=�Le�=�Le�@�Le��n@�Au��By By�A}� ?*B}�u9�Ay�A}�7�A�����A�"C�5��*C�Ȭ�=RC���g�C��C���!i�!Yϵ�\9���������"5�I��G �>��p#j,(���E�AY}>��@�}>���@y}>��}>����}>H�����6�ӿ��� �h�?�������?���@^n����`-�ӿ���`���?���@���?��� ]������r��?)~>��@ ~>��];I~>��CɫQ�Q)�Q �]����I�YY����@y���G��Z_<M�`=Y��:QU��>�����a��G����y��]�}��>Iȩ�ŭ՚5�?�ŭel�� ƭ@����?9ƭ�.B�ǭ�: ȭY�:)ȩ�m�uAdded new target pos. range: 38.340000 m, bearing: 249.345918 deg, deltaT: 4.478230 s, approachRate: 0.066991 m/s, LOS rate: -0.718387 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �+C@U�����cA�?zL�L�L�LO�n@�A-�+�B) B)�A-??*B5<|9�A1�A5�7�A5f���A1"C=4��*C=F��=RC=_��CA�CAi�II�IY�e�\9�� ����������������� �dJ:Y��[1y�H�:����5�֍vт�I��G��>�#*v#j,/�ٍ�E�AY}2���@�}2X��@y}2Ğ���}2%���}2H����`�ӿ�����e�?���@���?����6k�������ӿ��� �u�?����sS�?��� ϛ�����@���?)~2���@ ~2�`];I~2��Cɫ9�9)�9 �=����I�9Y��#�@y��E�G��m��<��m�>��m��i�mQ�@��i �m��@)�m���I�m��@i�m�@����<M�L=Y�݁:QU��>�����a��G����y�tO�}��>Iș�ŝ�5�?�ŝ�m�� Ɲ�@����?9Ɲ�.B�ǝ4�: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����i�?zL��L��L��L���n@�A �8�B� B��A��?*B��y9�A��A�7�7�A�I���A�"C�3��*C��]�=RC�4���C��C�YϽ�^9�)9�)I�)i�)��)��)��)��-g�; �-�E�ֵ�3��I��G��>��U|#j,���E�A�|(�|(Y}Fl��@�}F(��@y}F����}FRq��}FH����@c�ӿ���@�b�?����f~�?���`�g����@e�ӿ����'��?����F��?���@<,�����`)��?)~Fl��@ ~FYf];I~DɫQ�Y)�Y �]����I�YY���@y��@�G����M�I=Y�W�:QU��>�����a��G����y�&[�}��>I������:����5�?����:���o�� ���@����?9���.B����M; ���S;)��A�:�W�WX X�W:W2W*W�VUU%��� ���?zL9�L9�L9�L=�kn@�AU��E�BQ BQ�A]T?*B]�x9�AY�A]_�7�A]D���AY"Ce2��*Ce�4�=RC�o��C��C���uq ����u�����u�����uM�� �u?Q:Y�uxZ1y�uq�:��u�6)�u�;�9}�Y��^9 �%�=��%�=���#2��I��G�>��;�#j,ɐ ��E�AY}2y��@�}25��@y}2�3���}2��}2H�����p Կ�����\�?����죤?����*b����@�Կ��� 'H�?����&�?���@�>�����`��?)~2y��@ ~2�W];I~0ɫ9�9)�9 �=����I�9Y�}q�@y�}t�G��-C=��-+���-��=i�-�@��) �-K�@)�--�@I�-K�@i�--�@��m]�<MuM=Y�ug��QUu�>��y��y�a}�G��y��y����}��>Iȉ�ō�5�?�ōGp�����tI ƍT@����?9ƍ/B�ǍS�: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L�*Hn@�A��+S�B� B�A�?*B|9�A�A��7�AC���A "C 5��*C� �=RCo �C�CY�I��=[RӻI�IGeV>�[f�#j,�l'��E�AY}F1��@�}F퍌@y}F ���}F.0��}FH������!Կ����Y�?����Jͤ?����K^���� +Կ�����,�?����=A�?�����c���������?)~F1��@ ~F�];I~F��C��R�<��R4=�T9�TI�Ti�T��V=��T��T��V��; �V��Eɫ�髹)�� ������I��Y��A�@y��W�G�� �����MbP?�p= ף�?�p= ף�?�� �:�� > � �=)� I� y� ��A`��"�?V-���:��v���?�� �=�� �m��� ��< � )� AI� Q Ai� �A�� �� � A��-�`�M-?=Y�5�}�QU5�>��1��9�a=�G��9��9y�E|e�}E�>I�I��U�:��M�5�?��U�:��MBr�� �M)@��U�?9�MP/B��MM�: �Mj�:)�MB�:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U�������?zL��=�L��=�L�b �@�L��]y@�A�d;`�B� B��A�|?*B�`x9�A��A���7�A�j���A�"C�4��*C��ܓ=RC��$�C��C���5� ����1��1��5�� �5�G:Y�1y�1��5�6)�5�;Y��a9������I�G-�>��M�#j,GA��E�A�|i|�@Y}6C|�@�}6���@y}6�-���}6�I��}6H�����6)Կ�����W�?���@|'�?���`]������2Կ���`xp�?����Y%�?��� Ǣ��������?)~6C|�@ ~6l�];I~6��Cɫ9�9)�9 �=����I�9Y��L�@y��^�G��U�k;M]Y=Y�]5�9QU]�>��a��a�ae�G��a��ay�m��}m�>I�q��u�5�?��u�s�� �u�@��}�?9�u/B��u��: �uw�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� w�@zL��L��L��L��Xy@�A���l�B� B��A��?*B�W}9�A��A�ԛ7�A�|���A�"C�3��*C���=RC�_*�C��C���!i�%�=Yυ&a9��qI��G�>��x�#j,-$[��E�AY}V(��@�}V䑌@y}Vi����}V����}VH���� 6Կ�����Y�?���`ϐ�?�����_����@�#Կ�����X�?��� HS�?�����/������x��?)~V(��@ ~V�^;I~V��Cɫy�y)�y �}����I�yY����@y���G鮽a=ɮ�p=��m��<��m��<��m�D�i�m��@��i �m-�@)�iI�ii�mQ�@��}���M}H=Y�}��QU��>�����a��G����y��;}��>Iș����:�ŝ�5�?����:�ŝ�u�� Ɲ�@����?9Ɲ�/B�ǝ��: ȝ��:)ȝC�:�W��W�X� X��W�:W�2W�*W��V�U�U�����C@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��jy@�A <�y�B B�A�?*B�x9�A�A��7�A����A"C%2��*C%U��=RC%<�C!�C)i�1I�5mAY�)��5� ����1��1��5��� �5�A:Y�1y�1��5�6�9=@�����I�)GEQ>ܵ��>9ܱIܱiܱ�ܱ�ܱ�ܱ�ܵ��; ݵ��E�@��#j,m�t��E�AY}2j��@�}2&��@y}2#����}29���}2H�����2�ӿ��� e^�?�����¥?����@d�����(Կ����e �?�������?�����U������P��?)~2j��@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y�}A�@y��W�G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����<M�S=Y�y�QU�>�� �� �a�G����y�%��;}%�>I�)��->�5�?��-�w�� �-q@����?9�-�/B��-Q�< �-b�<)�)�W9�W9X9 X9�WA:WA2WA*WA�VAUIUM��� כ @zL��L��L��L�e�y@�A���B� B��A�|?*B�y9�A��A�'�7�A����A�"C�5��*C��[�=RC���C��C�Y��Bc9�ֹI��G�f>��q��qi��mGI�%fpAi�A�t��#j,�ꎎ�E�A��k�ٺfpA���\A�|4�|6p<Y}b ��@�}bŬ�@y}b2����}bI ��}bH���� %�ӿ���@b�?��� ���?�����g�������ӿ���@�Ѐ?���@�v�?���`j?������h��?)~b ��@ ~bG�];I~b��Cɫ���)�� ������I��Y���@y�"�G xDUSBL response received:!U1,P 037,000,004F0,184,80,80,79,FF Command Ack BRequesting micromodem ping code 2i� �� ��Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��e� ����e�����e�����e��� �e�D:Y�e�X1y�e/�:��e��5��}�<��}7�=��}I�i�}��@��y �}�@)�yI�yi�}K�@������M=Y�m��9QUu�>�����a��G����y��;}��>Iȹ����:�Ž��5�?����:�Ž�z�� ƽ�@�� �?9ƽ-0B�ǽMT< Ƚe <)ȽD�:�W �W9 X9 X9 �W9 :W9 2WA *WA �VA UA UM ���`��@zL� �L� �L� �L� ��y@�A� a��B� B� �A� �?*B� �k9�A� �A� ��7�A� ���A� "C� 4��*C� ��=RC� �&�C� �C� ܙ9ܙIܙiܙ�ܙ�ܙ�ܙ�ܝ�; ݝޔEYϽ�e9�֝Β��I��G��>���#j,�ꭎ�E�AY}6���@�}6]��@y}6�����}6�6��}6H�����M�ӿ��� Ic�?�������?��� i�����%�ӿ����Z4�?����m��?�����$������s��?)~6���@ ~6ٿ];I~6��Ci�L��L)�L �LI�L �P)�PɖP��P�P��PɗVqAi�TI�T��TI�Ti�T �j���h)�h�l �l��l��lɘl��p��r�pAI�r`e�)�pi�p)�pI�t�tət �tɚt�x��xi�x��xɫ���)�� ������I��Y�%��@y�%��G�E�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i��=��M�B`��"��?����Mb�?����������Mَ>��M�< �M���)�II�Iy�M���C�l�?y�&1�������MbP?��M;�=��M`���M�: �MA)�MKAI�MAi�M�A��I��M�A��m���Mmt=Y�u���QUu?��q��q�a}�G��y��yy���:}�?Iȉ�ō�5�?�ō@|�� ƍ�@����?9ƍQ0B�Ǎ�: ȍ�:)ȉ�WQ�WQXQ XQ�WY:WY2WY*Wa�VaUaUe��� ��@zL�}�=�L�}�=�L��@�L�U��@�A���B� B��A�?*B�t�9�A��A���7�A����A�"C�3��*C����=RCS��C�C!��M����I�QGuy>��Ա#j,m�ǎ�E�AY}BI��@�}B��@y}B2����}Bڍ��}BH�������ӿ�����b�?����x�?����wh�����?�ӿ���`n�?��� �V�?����Q���������?)~BI��@ ~BQo];I~B��Cɫ�)� �����I�Y�U��@y�U�G]xDUSBL response received:!U1,R,0EE,000,004EF,186,80,80,8B,FF eFpublishing direction and range info��]ɭT���Yɰ]��=�]��> �Y)�]�CI�Yy�]B��]��b{�O�?YS�"�dʿ��������ٱY���6 ������������������� ���L:Y���Y1y���:����6��e\=��e �=��e/]>i�e��@��a �a)�e��@I�e�@i�e�@���eŻM�5=Y���QU��>�������a��G������y����}��>I�����:����}5�?�� �:����~�� ���@�� �?9���0B�����: ����:)��E�:�W)�W)X1 X1�W1:W12W1*W9�V9U9U=����;:@�RM(Combining 5 samples.�PI*QMB�ZM���ߌ��B@�F>������������ZM��b{�O�?YS�"�dʿ��������2QMɭT�:QI�ZM�|��8"3��?�o�@�A�}��?�ZM��M� K�߿W�`�8����˻�?BQM �@ QM��QM���PM �9?�PM�9?�PMf���QMj���QMj�@"QM�@zLq�Lq�Lq�Lu ��@�A�'���B� B��A�e ?*B��v9�A��A���7�A�����A�"C�2��*C��ϒ=RC�2��C��C��ֵ�r�I��G��>���#j,��ᎨE�A�|(i|*�@ɫi�i)�q �u����I�qY����@y���G�%DNmea in: $SNTTA,,,,,164754.89*5A )�=�= �=�=��EH(�MMh=Y�M���QUM�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a��e|5�?��e���� �e�@��m�?9�e�0B��e^�: �e��:)�a�m�yAdded new target pos. range: 38.279999 m, bearing: 239.996810 deg, deltaT: 4.559330 s, approachRate: -0.013160 m/s, LOS rate: -2.050544 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������#C@U��������?����>9��I��i�����=���������N�; ����E)ݑ�Iݑ�iݑ��ݕ�=�ݕ�=�ݕ�b�4zL��L��L��L��A �Օ�B B �A ) ?*B\}9�A�A��7�Aެ��A"C5��*C ��=RC���C!�C!��1��5mA�����I�!GMR>��(�#j,�c���E�AY}:H��@�}:��@y}:�"���}:;<��}:H����`��ӿ�����_�?����N�?�����e�������ӿ����\��?������?����E������ ��?)~:H��@ ~:T'];I~:��Cɫ9�9)�9 �9I�9Y�}��@y����GI�A)�A���<M�W=Y���QU��>�����a��G����y�T=�}��>���� �������������������� ��*F:Y���W1y��č:�����5)��o�;�9��I�����z5�?������� ��@����?9���0B���M�: ��Y�:)���W��W�X� X��W:W2W*W�VU U �����y�?zL1�L1�L1�L5蜄@�AM�ޙ�BI BQ�AU?*BU�{9�AQ�AUˣ7�AUD���AQ"C]4��*C]u��=RCe�Q�Ca�Ca�օ����I��G�=>���#j,?��E�Aɫ�髙)�� ��I��Y��}�@y��ހG�õ�L=�õ�#=�õ1�iõ��@�ñ ı)ĵ�@Iıiı���w��M�G=Y�����QU��>�������a��G������y�����}��>I�����:����w5�?�� �:���Ä�� ��1@���?9��1B�����; ����;)��F�:�WA�WAXA XA�WA:WA2WA*WI�VIUIUU����X�?zLy�Ly�Ly�Ly�A�B� B��A�Z ?*B��w9�A��A��7�A�֯��Ai"C}3��*C�|U�=RC��c�C��C�i����I�������������� ������=�� 9�� I�� }Gi�� ��@��� ��� ��� ��� �� ��E��� �z�I�� G�>��:�#j,]/��E�A�|�|�;Y}6��@�}6���@y}6�~ü�}6ޟ��}6H�����(Կ�����\�?���ด�?����b������Կ������?���@<o�?���@�������@4��?)~6��@ ~6�p];I~4ɫY�Y)�Y �]����I�YY���@y����G����:��v���?V-��?<�O��n�?�����=������������������������ ���m:Y���Y1y���:�����5)����;�����< ��t=)��I��y���Zd;�O��?�&1�������Mb�?���j�=����P�����< �A)�AI©iKA�������A����M�G=Y��\�QU�>�����a �G�� �� y�% G�}%�>I�)��-Su5�?��-i��� �-�@��5�?9�-41B��-�: �--�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm�������?zL���=�L���=�L�Dݸ@�L��y@�A�����B� B��A��?*B�w9�A��A���7�A�f���A�"C�2��*C�|-�=RC�-��C��C�������I��G�E>�D$�#j,��H��E�AY}Ub��@�}U��@y}U�oݼ�}U;Z��}UH�������ӿ����?a�?���@��?���`�f������ӿ�����?���`��?����*ȣ��������?)~Ub��@ ~U�}];I~U��Cɫ1�1)�1 �5����I�1Y�u��@y�ux�GI��)���A���R=i��=��u���u�=��u�i�u��@��q �u-�@)�qI�qi�u-�@���d�M�B=Y�O��QU��>�����a��G����y���;}��>Iș����:�ŝ�r5�?����:�ŝ��� ƝE@����?9Ɲa1B�ǝ,�: ȝ�:)ȝG�:�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L��'y@�A�\��B B�A%?*B8u9�A�A�7�A���A"C%5��*C% �=RC%����C)�C)��=���I�AGmW>��L�#j,J�b��E�Aɫy�y)�y �}����I�yY����@y��a�G��U�J�M]`=Y�]���QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��uGp5�?��u���� �u�@��}�?9�u�1B��u�: �u4�:)�q�W��W�X� X��W�:W�2W�*W��V�U����E �������������������� ���M:Y��WU1y���:����6�9�@U������@zL��L��L��L��A� ߨ�B� B��A��?*By9�A�A�7�A����A"C 4��*C�ۑ=RCӦ��C�C!��1��5nA�}��>9�yI�}�|Gi�}k�@��}=��y��y��}��; �}�E��%����I�1GM1>��v�#j,*�|��E�AY}6T��@�}6��@y}69�Ἑ}6�!��}6H���� ��ӿ��� [d�?���`.��?���@+j�������ӿ�������?��� }6�?���`������@���?)~6T��@ ~6��];I~6��CɫY�Y)�Y �]����I�YY��n�@y��8�G��l��M�U=Y��Ӳ�QU��>�������a��G������y���c;}��>I������:����m5�?����:������ ��A @����?9���1B���R�: ����:)��H�:�W �W X X �W :W2W*W�VUU����c�@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=R>y@�AMs2��BQ BQ�A���?*B��v9�A��A��7�A�"���A�"C�3��*C�<��=RC� yٻC��C���I�G-->��`�#j,㎖��E�AY}6���@�}6S��@y}6�Z缙}6f���}6H�����E�ӿ�����d�?���@�q�?����j����`��ӿ���`�:�?����]�?���@X��������?)~6���@ ~6��];I~6��CɫA�A)�I �M����I�IY�u��@y�uE�G}Z****** received transponder code query ******}F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A��=��=��=O����=/]�i�=��@��9 �=��@)�=��@I�=��@i�=��@��] �;Me@=Y�m�ҺQUu�>��q��q�au�G��q��yy�}��8}��>Iȁ�Ņk5�?�ŅҌ�� ƅ� @����?9ƅ�1B�Dž��: ȅo�:)ȁ���� �������������������� ���V:�W��W�Y��]1y���:����6X� X��W�:W�2W�*W��V�U�U%������ @zL9�L9�L9�L=�<y@�Au4l��Bq Bq�Au�?*Bu�n9�Ay�A}D�7�A}E���A�"C�2��*C����=RC��^�C��C��֭`�ԻI��G��>��i ��i �q 9�q I�u X|Gi�u �@��u =��q ��q ��u ��; �u �E� ��#j,�a���E�AY}6���@�}6y��@y}6p�9}6%��}6H���� W�ӿ����c�?����J��?����\h�������ӿ�����ǐ?����4��?����Yޢ���� ���?)~6���@ ~6�];I~6��Cɫy�y)�y �}����I�yY����@y��X�G�xDUSBL response received:!U1,P 0EE,000,004EF,186,80,80,8B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��e���K7�A�?'1�Z�?V-�����e�>��e�"> �e���)�aI�ay�e�R���Q�?�p= ף��{�G�z�?��e��=��e����e�#< �a)�efAI�e� Ai�efA��a��e�A��}mA��}mA����;M�!=Y�t�QU��>�����a��G����y����}��>I������:���$g5�?����:���؎�� ��P!@����?9��2B���"�: ��a�:)��I�:�W�WX X�W:W2W!*W!�V)U)U5��� �Q @zL���=�L���=�L�>ܵ@�L��s@�A-���BQ BY�A]�?*Bear9�Aa�Ama�7�Am9���Ai"C}5��*C��P�=RC�����C��C�Yϭ �g9 յ �=�Ե �=�֝���I��G��>��v�#j,mUʏ�E�AY}r?��@�}r���@y}rr;��}rE���}rH�������ӿ�����_�?������?�����c����@sԿ�����?���`�f�?�����ء��������?)~r?��@ ~r��];I~r��Ci���lGI��i����%UV�ٺ!��%FIAɫ)�))�) �-����I�)Y�M�@y�M�G��Q��Q�u�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5t ����5�����5�����5�� �5|Q:Y�5�W1y�5č:��5a6�����=���-�=���,=i��G�@��� ��-�@)���@I���@i���@���(]�M�h=Y�����QU��>�������a��G������y��v��}��>I���|d5�?��5��� ��!@��-�?9�D2B����: �:)��Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU���� �@zL��L��L��L���r@�A�a��B� B��A�T�>*B��y9�A��A�N�7�A�����A�"C4��*C�.�=RC%H~�C!�C!��-Β��I�9GUu>����#j,�䏨E�AY}Jܓ�@�}J���@y}J�m ��}J����}JH����@��ӿ����^�?�����ɦ?�����a����`�Կ�����&�?�����,�?����nU������!��?)~Jܓ�@ ~JF�];I~J��CɫQ�Y)�Y �]����I�YY��}�@y��A�G����-=M�p=Y����QU?�����a�G�� �� y� κ}?I����a5�?������ ��!@��%�?9�l2B��U�: ���:)��WA�WAXI XI�WI:WI2WI*WQ�VQUQUU���@Pc@zLq�Lq�Lq�Lu|�r@�A��|��B� B��A�^?*B�N}9�A��A�=�7�A�#���A�"C�3��*C� �=RC� �C��C����>9�I�i���=��������; �(�E�֥���I��G� >�8��#j,�����E�AY}?��@�}���@y}����}5���}H����@��ӿ��� �]�?�����:�?����b����� Կ����Wܕ?���@���?���������������?)~?��@ ~��];I~��Cɫ�)� �����I�Y�m��@y�m�G�}DNmea in: $SNTTA,,,,,164759.34*51 )Õ�= Õ>��D�M�@=Y�l�QU��>�����a��G����y��3:}��>Iȹ����:�Ž�^5�?����:�Ž1��� ƽk"@����?9ƽ�2B�ǽM�: Ƚ7;)ȽJ�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�L�L�L��r@��=w ����=�����=�����=(�� �=P=:Y�=�X1y�=/�:��=6�AM�㼼BI BI�AMR�>*BU�q9�AQ�AUE�7�AU���AQ"C]2��*C]#��=RC]\��Ca�Ca��q��q��e���I��G�B>��$j,2���E�AY}6'��@�}6㨌@y}6W���}6�|#��}6H����@F�ӿ��� �^�?��� Y4�?���`Ec���� 'Կ����j��?����~��?��� �j��������?)~6'��@ ~6��];I~6��Cɫi�i)�q �u����I�qY����@y���G��=\���=ٽ��=��i�=\�@��9 �=ٮ@)�=��@I�=��@i�=ٮ@��m�^�MuM=Y�}VN�QU�>�����a�G��-�=i�)��!��Qy���:}��>I�����A[5�?������ ���"@��=�?9���2B���c< ��X<)���W��W�X� X��W�:W�2W�*W��V�U�U�����i�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���r@�AY[��B B�A��>*B%Do9�A!�A%W�7�A%5���A!"C-5��*C-į�=RC-���C1�C1��M���I�QG}{>�� �� �<� 9� I� �{Gi� x�@�� =�� �� �� ��; � 6�E)ݩ�Iݩ�iݩ��ݭ�=�ݭ�=�ݭ��3�l�$j,��1��E�AY}2���@�}2���@y}2)s��}2u�"��}2H�������ӿ���`l_�?����40�?�����c������ӿ����N�?����J��?���`CL���������?)~2���@ ~2S^;I~2��Cɫ9�9)�9 �=����I�9Y����@y��7~G��]�<�O��n�?�Q��뱿�I+��?��]t�<��]\�� �]94<)�YI�Yy�]�sh��|?�?)\���(��:��v���?��]��=��]Ga���]��< �Y)�YI�]Q Ai�]�A��Y��]G A��}���M}J=Y�}�ͺQU}�>�����a��G����y�@p:}��>Iȑ����:�ŕ�X5�?����:�ŕ+��� ƕ�#@����?9ƕ�2B�Ǖ��: ȕ��:)ȕK�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �L@zL���=�L���=�L��U�@�L��t@��E~ ����E�����E�����A �E�=:Y�ExZ1y�Eq�:��A)�EE�;�9U��A�̲üB� B��A���>*B� t9�A��A�0�7�A��º�A�"C�4��*C�2��=RC����C��C�i�I���I��I��E �z�I�Q Gm �>���$j,�K��E�AY}>���@�}>v��@y}>����}>�'��}>H����`��ӿ�����a�?�����ɨ?�����e�����C�ӿ���@�v�?���@�V�?���`������� ��?)~>���@ ~>�{^;I~>��CɫA�I)�I �M����I�IY�yy�y�nA�©���Q8=����&����E�=i��G�@��� ��-�@)���@I���@i���@Y���QU�>�� �� �a �G�� ��y�?�:}�>I����U5�?������ �$@��-�?9�#3B����: ���:)��WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]����;@zLq�Lq�Lq�Lu�t@�A�.ǼB� B��A�*B��k9�A��A�+�7�A��ĺ�A�"C�3��*C�0^�=RC�n��C��C�������I��G�j>���$j,�ae��E�A�|�|4<Y}6���@�}6I��@y}6W���}6�:��}6H������ӿ����Ce�?����La�?�����h����@��ӿ�����J�?����q��?�����B������4��?)~6���@ ~6�_;I~6��C �<)�<ɂ>�����<�@��@Ƀ@i�B���I�B�WF��DI�Di�F�pA �F7���F�VF)�D�H �H��H��HɄH��L��NqAI�)�i�)�!I�!�!Ʌ! �!Ɇ!�-�pA��)i�)��)i�)��-��A)�1 �1I�1ɫ�)� �����I�Y�M��@y�M{~G��Q��Q��u� <M}�<Y�}X��QU}�>�����a��G����y��u;}��>Iȑ����:�ŕ�S5�?����:�ŕ��� ƕ4%@����?9ƕG3B�ǕI�: ȕ��:)ȕL�:ܹ9ܹIܽ,{Giܽ&�@�ܹ�ܹ�ܹ�ܽ��; ݽ>�E�W��W�X� X��W�:W�2W�*W��V�U�U����`�@zL �L �L �L �)t@�A%O`ʼB! B!�A%Z�>*B-�s9�A)��=A ����=�����=�����=?�� �=9:Y�=WU1y�=�:��=| 6)�=�;�A-�7�AE�ƺ�AA"CM2��*CU�9�=RCUW�CQ�CQ��eΒ��I�iG�9>�L$j,;��E�AY}2��@�}2�Ō@y}2����}2���}2H����@״ӿ����dh�?����/*�?��� ok�������ӿ���@�N�?����3��?��� �뢿����*��?)~2��@ ~2��`;I~2��Cɫ�髙)�� ������I��Y����@y��~G����ѼM�S=Y���QU�>�����a �G�� �� y��C;}�>I���6Q5�?��I��� ��%@��%�?9�m3B���: �2�:)��WI�WIXI XI�WI:WI2WI*WQ�VQUYU]����p@zLq�Lq�Lq�Lu�7t@�A���ͼB� B��A�B�>*B�Kp9�A�A�7�A�Ⱥ�A"C5��*C%��=RC%5rȻC!�C)�֥`�ԻI��G J>���%$j,����E�AY}:7@�}:�ό@y}:*�#��}:����}:H�����V�ӿ����Nk�?���@Sw�?����Fn���� �ӿ����h$�?��� �p�?��������������?)~:7@ ~:��a;I~:��Cɫ�髡)�� ������I��Y����@y��$~G�xDUSBL response received:!U1,N,80,80,63,E4 F,186,80,80,8B,FF �ZNo reply:!U1,N,80,80,63,E4 F,186,80,80,8B,FF -<No response from remote modem.��e ����e�����e�����e�� �eOJ:Y�e�X1y�e/�:��e�6�9}@���v�=���-�=���|?�i��\�@��� ����@)��ٮ@I����@i��ٮ@��m^7;Mu)=Y�u���QUu�>��y��y�a}�G��y��yy��';}��>Iȉ����:�ōN5�?����:�ō���� ƍ�&@����?9ƍ�3B�Ǎ�: ȍ+�:)ȍM�:�W��W�X� X��W:W2W*W�VU U ���@� @zLI�LI�LI�LM�Jt@�Au�ѼBq Bq�Au��>*B}ii9�Ay�A}��7�A}˺�Ay"C�4��*C���=RC�ϡ��C��C��֕8�ƻI��G��>�ٱ�ٱܽ��>9ܹIܽ�zGiܽ��@�ܹ�ܹ�ܹ�ܽ��; ݽA�E�_%,$j,�E�A�|i|�@Y}> ʔ@�}>�@y}>�'��}>s���}>H����`D�ӿ���@]m�?��� O�?����]p������ӿ����u�?���@�?�����n������=��?)~> ʔ@ ~>�b;I~>��CɫY�Y)�Y �]����I�YY�}Y�@y�}�}G鮁ɮ�=��}��Zd;�?sh��|?��{�G�z�?��}�y>��}��� �}ף<)�yI�yy�}�㥛� ��?�Q��뱿Zd;�O��?��}��=��}\����}j�< �}7 A)�}�AI�}7 Ai�}+A��y��}� A��砼M�m=Y��7�QU�?�����a��G�����y��|4;}��?I������K5�?������ ���'@����?9���3B����; ��";)���W�WX! X!�W!:W!2W)*W)�V1U9U=����kn@zLmk�=�Lmk�=�Lm���@�Lm��h@�A��ԼB B�A{�>*Br9�A)�A5Ҵ7�A5�̺�A1"C=3��*C=M��=RC=����C9�CA��=I�IGeV>�3$j,�̐�E�Aɫ�髙)�� ������I��Y����@y��}GI��)����e�'=��eף=��e94�i�e@��a �e@)�e@I�eٮ@i�e��@��}�G�M}M=Y�}���QU}�>�����a��G����y����}��>Iȑ�ŕ�H5�?�ŕ��� ƕP(@����?9ƕ�3B�Ǖb�: ȕ8�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��AؼB B �A ��>*B Rn9�A�A��7�A�κ�A"C2��*C@��=RC�D��C�C!��=� ����9��9��=4�� �=D:Y�9y�9��=�$6Y�E�g9��5��I�AG]v>�I79$j,��搨E�AY}2�˔@�}2Oٌ@y}2��(��}2���}2H�����D�ӿ�����n�?�����?�����p�����b�ӿ�����?���`h�?�����\�����@���?)~2�˔@ ~2W2a;I~0ɫ9�9)�9 �=����I�AY�}��@y�}|G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������nA���Ց�M�S=Y��g�QU�>�����a �G�� �� y���9}�>I���-�:���E5�?��-�:������ �)@��-�?9�4B����; �"&;)�N�:�]��>9�YI�]�zGi�]2�@��]=��Y��Y��]��; �]<�E�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U������ @zLy�Ly�Ly�L}��h@�A���ۼB� B��A�j�>*B��g9�A��A�|�7�A�Ѻ�A�"C�5��*C��p�=RC�'��C��C���=�3��I�IGeV>�� @$j,�����E�AY}J`Ɣ@�}JԌ@y}J��)��}J�O��}JH������ӿ���@�m�?�����0�?��� o����`��ӿ����R��?�����6�?���`;�������)��?)~J`Ɣ@ ~J� a;I~J��CɫY�Y)�Y �]����I�YY���@y��8|G�������xDUSBL response received:!U1,P 80,80,63,E4 F,186,80,80,8B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��5�E<M=G=Y�M:��QUU�>��a��a�am�G��q��y� ƺ}��>Iȱ�ŵ�B5�?�ŵ��� Ƶ�)@����?9Ƶ=4BI�5AA)�1��Em ����A��A��E��� �E�P:Y�Ay�A��Et6�ǵ��; ȵ1a=)ȱ�WQ�WQXQ XQ�WQ:WY2WY*W��V�U�U�����H�!@zL��L��L��L�~�h@�Av�B B�A��>��)��)*BM�d9i���mG�A�I��i���A�c�7���`�ٺ��%+SA�A5�Ӻ�A1"CE4��*CM~=�=RCM�@��CI�Cy�ԝ���ԝ�� ե���ԥ��I�AGe�>�]IF$j,)^��E�AY}2@�}2�ό@y}2�z+��}2� ��}2H�����W�ӿ��� �l�?����ߦ?�����m�����øӿ���@�?�?����m�?����r������>��?)~2@ ~2�`;I~2��Cɫa�a)�i �iI�iY�K�@y��|G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��������Mb��@5^�I¿J+��?�������b� ���H=)��I��y�����(\�µ?�v��/��/�$��?����=���xi�����< ��� A)��fAI���Ai��A������G A��]�=��]�����]�F�i�]p�@��Y �Y)�YI�]��@i�]@��mo�<Mm+=Y�m�g�QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ����:�Ņ{?5�?����:�Ņ���� ƅ�*@����?9ƅm4B�Dž��: ȅ�:)ȅO�:�W�WX X�W:W2W*W�VUUE������"@zL]��=�L]��=�L]�(�@�L]��s@�A�mO�B� B��A���>*B��k9�A��A�6�7�A��պ�A�"C�3��*C�4�=RC���C��C�I� GEQ>�Y9�YI�]8yGi�]��@��]=��Y��Y��]��; �Y�^uL$j,-A4��E�AY}NTŔ@�}Nӌ@y}N�i-��}Nx���}NH������ӿ�����l�?����$��?����un���� ��ӿ����� �?�������?����9������v��?)~NTŔ@ ~N��`;I~N��Cɫq�q)�y �}����I�yY����@y���{G�xDUSBL response received:!U1,R,039,000,004F9,184,80,80,A5,FF �Fpublishing direction and range info���%�K����ɰ���=鰝��> ��)���%CI��y���B����ϓ0���?�)nu����������ٱ�)�� ���=������M�f=Y�����QU��>�������a��G�����y�T�:}�>��=S ����=�����=�����=D�� �=�N:Y�=�W1y�=č:��=6)�=�;�9E�I�A��E =5�?��E��� �E1+@��u�?9�E�4B��EE�; �E�:)�A�W��W�X� X��W�:W�2W�*W��V�U�U������J#@�R�(Combining 5 samples.�P�*Q��B�Z��s|<�{jC@7K�[@������������Z��ϓ0���?�)nu����������2Q�%�K�:Q��Z��\qj2�w+�R�m��*B��|b��e�?�Z��f�Ql>�ֿJ�9�n���������?BQ�p;�@ Q�U�Q��[��P��9?�P� �9?�P�m���Q�f���Q��A"Q�j�@zL9�L9�L9�L=��s@�AuC�Bq Bq�Au��>*Bu\j9�Aq�A}��7�A}��Ay"C�2��*C�o��=RC����C��C�I��G (>�?[S$j,�N��E�AY}v8Δ@�}v�ی@y}vai-��}vK"��}vH���� �ӿ����vn�?����2�?����-q����@�ӿ�����O�?�������?�����~���������?)~v8Δ@ ~vu�`;I~tɫ���)�� ������I��Y���@y��{G��DNmea in: $SNTTA,,,,,164804.59*5D ����L=����=�����<i��\�@��� ����@)��ٮ@I��ٮ@i����@��-�=i�-p=��5a�;M=F=Y�=�05QU=�>��A��A�aE�G��A��Ay�M^,;}M�>I�Q��]�:��UY:5�?��]�:��Ur��� �U�+@��e�?9�U�4B��U��: �Ub�:)�UP�:�m�qAdded new target pos. range: 38.879997 m, bearing: 249.294255 deg, deltaT: 9.652207 s, approachRate: 0.062162 m/s, LOS rate: 0.963245 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������pC@U������E�?zL��L��L��L���s@�A����B� B��A�,�>*B��i9�A��A���7�A�ں�A�"C�5��*C��Ύ=RC��H��C��C�i̡I̡�̡�̡I��G��>���Y$j,�g��E�AY}JPה@�}J�@y}J�.��}JSK��}JH���� �xӿ���`�p�?���@ڙ�?���@�s�����B�ӿ�����i�?���`ҥ?���@�㣿���`^��?)~JPה@ ~J'[`;I~J��Cɫ�髹)�� ������I����9��p�CI���xGi��?�@��������������; ��A�E)ݑ�Iݑ�iݑ��ݑ��ݑ��ݕ���4Y�&�@y�,{G����MM=Y�&A�QU�>�����a�G����!y�%%6;}-�>��=i ����9��9��=��� �=�P:Y�9y�9��=36)�=u�;I�I��M�75�?��Mߥ�� �M�,@��U�?9�M�4B��M4�: �M�:)�I�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����`�c�?zL��L��L��L�]t@�A�4��B� B��A�N�>*B��f9�A��A���7�A�Oܺ�A�"C�4��*C�%��=RC��wv�C��C��ֽ���I��G�G>�dm`$j,�ʁ��E�AY}2�@�}2��@y}2�}.��}2�A��}2H�����m^ӿ���`7u�?���`�r�?���� x������xӿ����b��?���@Υ?���@X£�����u��?)~2�@ ~2ݕ_;I~0ɫ9�9)�9 �=����I�AY�� �@y��{G��-mA��)��]��M]W=Y�]q�8QUe�>��a��a�ae�G��a��iy�m�;}m�>I�q��u)55�?��u5��� �u9-@����?9�u 5B��uw�: �u+�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� q��?zL��L��L��L�?*t@�A�[��B� B��A�t�>*B��g9�A��A�?�7�A�~�A"C�3��*C�b��=RC� h�C��C��}�_�I��G�^>��f$j,Ƨ���E�AY} ��@�} ��@y} ��,��} �z��} H����`pBӿ����Jz�?����M��?�����|������[ӿ����2��?���@;��?����� ������ ��?)~ ��@ ~ �8_;I~ ��Cɫ9�9)�A �E����I�AY����@y���zGI�-@A)�)��=�����=�����=�����=)�� �=�}:Y�=DW1y�=Y�:��=!6�9E@����m������?��K7����� �rh�?����n>���I� ��C�<)��I��y����I+��?�� �rh���I+��?���9�=���C�����94= ��lA)��+AI��i���A������fA��M;��M�u���M�i�M�@��I �M@)�M@I�M��@i�M��@��]F��M].=Y�]�i:QU]�>��a��a�ae�G��a��iy�m�z;}u�>I�q��}�:��u�15�?����:��u٨�� �u�.@����?9�uA5B��u��: �u��:)�uQ�:�W��W�X� X��W�:W�2W�*W��V�U�U����@�>�?zL���=�L���=�L�n�@�L�H�o@�A����B� B��A��>*B��a9�A��A��7�A�F��A�"C�2��*C�[�=RC�xߌ�C��C��ԭmA�ԭnA�֕���I��G��>����>9��I��xGi����@���=�����������; ��;�E���l$j,�����E�AY}2��@�}2;�@y}28,-��}2����}2H������/ӿ���`�}�?��� �=�?���`����� $Iӿ��� ��?���`ࣥ?���`既�����E��?)~2��@ ~2^;I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}�zG��]��<M]q=Y�eN��QUe?��a��i�am�G��i��iy�uBd;}u?I�y��}/5�?��}��� �}�/@����?9�}g5B��}@�: �}ӻ:)�y�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL��L��L��L��p@�A|w��B B �A ��>*B �i9�A�A��7�AU��A"C5��*C�;�=RC�`Y�C�C!��E?BɺI�IGu6>���s$j,^eϑ�E�AY}F)�@�}F��@y}F@�+��}FM���}FH����@�ӿ���@���?�����]�?����������4ӿ���@��?����v�?��� �̢�����E��?)~F)�@ ~F�-^;I~F��Cɫ�髑)�� ������I��Y��|�@y��ZzG)�E�= �A�Ít�>�Í`�<�Í\�iÍ��@�É čn�@)čn�@Ič��@ičn�@�����M�C=Y��[:QU��>�������a��G������y���K;}��>I������:����+5�?����:������� ��)1@����?9���5B�����: ��/�:)��R�:�W�WX X�W:W2W!*W!�V!U!��= ����=�����=�����=F�� �=I:Y�=0Y1y�=��:��=<6UE��� �.@zLY�LY�LY�L]�p@�A}1K��By By�A}��>*B}{c9�A��A�z�7�A����A�"C�4��*C���=RC�|�B:C��C��֝���I��G�A>���y$j,7鑨E�A�|i|Y}6��@�}6�'�@y}65'��}6+���}6H����@(�ҿ����W��?����X�?����o������-ӿ����p/�?����&�?���������� ��?)~6��@ ~6e^;I~4ɫ9�9)�9 �=����I�9ܡ9ܡIܥDwGiܥ��@�ܥ=�ܡ�ܡ�ܥ��; ݥ:�EY��f�@y��?zG��p=ɮ�a=��<�MW=Y�%V>;QU%�>��!��)�a-�G��)��)y�5��;}U�>I�Y��])5�?��]۬�� �]e2@��e�?9�]�5B��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������T@�R�B*** querying acoustic contact ***�P��P�zL�L�L�L[Np@��5�=i�5�=�AU����BQ BQ�AUE�>*BU�d9�AY�A]0�7�A]T��AY"Ce3��*Ce��=RCe�&;Ca�Ci �}�=��}�=��e?B�:I�iG�9>����$j,���E�AY}V�"�@�}Vy0�@y}V�"$��}Vzy"��}VH����@c�ҿ��� ���?��� �t�?����L������Tӿ���@�%�?����邤?��� �I�����@���?)~V�"�@ ~V��];I~V��C��]� ����]�����]�����]Y�� �]fS:Y�]�X1y�]/�:��]E 6ɫ���)�� ������I��Y�-��@y�5@yG5Z****** received transponder code query ******=F****** received ping request ******=<Arming DUSBL. detectThresh: 75E8****** ping requested ******�nA�mA����#>���������C��i���@��� ����@)��@I����@i��@���C�M=Y��:QU�>�� �� �a �G�� �� y�n;}�>I���%�:�� %5�?��%�:������ �4@��-�?9��5B����: ���:)�S�:�WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]���`�{ @zLy�Ly�Ly�L}�ip@�A�ν�B� B��A�O�>*B�@\9�A��A��7�A����AQ"C]2��*C]�č=RC]H M;CY�Ca��e ��2;I�q G� �>���$j,����E�AY}e2)�@�}e�6�@y}e+���}e����}eH�����N�ҿ���`��?����;��?�������������ҿ���@T�?����أ?����o����`���?)~e2)�@ ~e&�];I~e��Ci�����)�� ��I�� ��)���rAɖ����������ɗ�qAi��I�����I��&�Ci��QrA �������fF)�����C ��^rA������ɝ��������pAI��h��)���[Fi��)����CI����ɞ� ��ɟ���C����A���i�����ɫ���)�� ��I��Y� _�@y� �xGxDUSBL response received:!U1,P 039,000,004F9,184,80,80,A5,FF Command AckBRequesting micromodem ping code 2i����-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��e�/�$���?7�A`���?X9��v��?��e��>��e�> �e��<)�aI�ay�e����x�&�? ףp= ��y�&1��?��e7�=��eQ8���e`e< �a)�e�AI�ai�e�A��a��e�A�����M�@=Y��H;QU��>�����a��G����y���:}��>Iȹ�Ž�"5�?�Ž��� ƽ�4@����?9ƽ6B�ǽ/�: Ƚ��:)ȹ�W)�W)XI XQ�WQ:WQ2WQ*WQ�VYUYU]����=� @�ّ�ٕ�<ܩ9ܭo�CIܭvGiܭ�@�ܭ=�ܩ�ܩ�ܭ��; ݭ?�EzL§=�L§=�L�"�@�L��t@�Au�i�By By�A}֠>*B}�]9�A��A���7�A�}��A�"C�5��*C����=RC��q;C��C���q�Z;I�!GE�>��$j,�6��E�AY}Jv(�@�}J26�@y}Jq���}J����}JH�������ҿ�������?�����@�?����Ս�����8�ҿ����㊙?������?�����o���������?)~Jv(�@ ~J1^;I~J��Cɫ���)�� ������I��Y�>�@y��wG����?A�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����M��=Y����;QU� ?�������a��G������y��娹}� ?I������:���r!5�?����:������� ���4@����?9��56B�����: ����:)��T�:I�))�-AA��=�����=�����=�����=��� �=�o:Y�=�[1y�=H�:��=�6)�=��;�9E��W��W�X� X��W�:W�2W�*W��V�UU ���`4+@zL!�L!�L!�L%H�t@�A]{��BY BY�A]Ɏ>*B]�c9�AY�Ae �7�AeA��Aa"C�4��*C� ��=RC�Ub;C��C��֙I��G�b>i�U�mGI�m qAi������Y�ٺ� qA���MA����$j,r�P��E�AY}Fm�@�}F),�@y}F� ��}F L ��}FH����`B�ҿ��� ���?�����j�?���� �����`eӿ�����V�?���`���?��� ������� ���?)~Fm�@ ~FL^^;I~F��Cɫ�髹)�� ������I��Y�5B�@y�5�wG=xDUSBL response received:!U1,R,041,000,004FA,185,80,80,36,FF =Fpublishing direction and range info��=�Vh���9ɰ=��=�=+�> �9)�=�XBI�9y�=�B��=�������?��>A�����������ٱ9�å�'>�åh��å�=iå�@�á ĥn�@)ĥO�@Iĥn�@iĥO�@��ߓ:M�L=Y�F�:QU��>�������a��G������y���H�}��>I�����X5�?���ױ�� ��_5@����?9��U6B����: ���:)���W�WX X �W :W 2W*W�VUU�����@�R%(Combining 5 samples.�P)*Q-�B�Z-�V�^�MpC@�3�3�����������Z-�������?��>A�����������2Q-�Vh�:Q)�Z-��wN�*;+��]3��9B�����?�Z-�����`ֿ�Ak���Pc�� ��?BQ-j[�@ Q-��Q-�Y��P-�9?�P-�9?�P-n���Q-m���Q-B�@"Q-�AzLY�LY�LY�L]��t@�Au���Bq Bq�Au�>*Bul]9�Aq�A}��7�A}���Ay"C�3��*C��f�=RC��;C��C���9I�IGuW>��$�$j,��j��E�AY}J��@�}J�"�@y}J��}J,���}JH�����\ӿ����̅�?�����`�?����>������qӿ�����O�?�������?���`\����������?)~J��@ ~J�]^;I~J��C�M��>9�II�MPuGi�Mc�@��M=��I��I��M��; �M8�Eɫ���)�� ������I��Y���@y��vG��TNmea in: $SNTTA,0.052325,,,,164809.08*49 ��5� ����5�����5�����5�� �5�@:Y�5�Y1y�5�:��5a6)�5��;��EPI�MmA=Y�m�7QUu�>��q��q�au�G��y��yy�}H1�}��>I�����5�?������ ���5@����?9��y6B�����; ����;)���mMqAdded new target pos. range: 38.939999 m, bearing: 249.517903 deg, deltaT: 4.417214 s, approachRate: 0.013584 m/s, LOS rate: 0.050631 deg/s, posRepo size: 4�WI�WIXI XI�WQ:WQ2WQ*WQ�VQU]����QxC@U]�����i�?zL��L��L��L�{{t@�A�# �B� B��A�^�>*B��W9�A��A�C�7�A�����A�"C2��*C�>�=RC%�-�:C!�C!��5�] ;I�AGmx>�v �$j,mY���E�AY}6��@�}6� �@y}6"��}6����}6H�����Hӿ����τ�?��� 1�?����Ƈ�����ӿ����Y}�?����7��?���`�1�����@w��?)~6��@ ~6(^;I~4ɫ9�9)�9 �=����I�AY�} �@y�}swG���;=M`=Y�*�:QU�>��!��!�a%�G��!��)y�5�2�}=�>I�Q��m�:��U35�?��u�:��U��� �UH6@����?9�U�6B��U��; �U��;)�UU�:��=�=i�=�=�W��W�X� X��W�:W�2W�*W��V�U�U����@�k�?zL��L��L��L�Q{t@�A5ه �B1 B1�A5�>*B5�\9�A9�A=��7�A=*���A9"CE5��*CE��=RCE�/�:CI�Ci��5��q:I�AG]w>�E8�$j,4H���E�AY}E��@�}E�$�@y}Ew��}E� ��}EH����� ӿ����<��?��� iͧ?����������ӿ�����f�?��� �A�?����=�����`���?)~E��@ ~EV^;I~E��Cɫ)�))�) �-����I�1Y�m��@y�m�vG��5� ����5�����5�����5 �� �5yU:Y�5�[1y�5H�:��5*6�9=@����J+��?�I+�ƿ�l����?�����=���94� ���=)��I��y����l����?���x�&��L7�A`�?�����=���7�����+= ���A)���AI��Q Ai��EA�������A��5�=��5/>��5��i�5��@��1 �5-�@)�51�@I�5�@i�51�@��E=�ME,=Y�E6�:QUM�>��I��I�aM�G��I��Qy�U3�:}U�>I�a��e�5�?��eg��� �ep7@��m�?9�e�6B��e��: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����`�?zL=R�=�L=R�=�L=<��@�L=>k@�AM���BQ BQ�AU�>*BU X9�Ay�A}e�7�A})���Ay"C�4��*C����=RC��h�:C��C��99�9I�=�sGi�=�@��9��9��9��=��; �=B�E)�ɆI�Ɇi�Ɇ��͆=��͆=��͆��5��iI�yG�~>�^�$j,����E�AY}R*�@�}R�)�@y}Rgd��}R����}RH����`��ҿ����W��?����j�?����Ŋ������ӿ���� ��?������?��� ����������?)~R*�@ ~R� ^;I~R��Cɫy�y)�y �yI�yY���@y��vG��ub�Mun=Y�}�:QU}?��y��y�a��G����y���:}�?Iȑ����:�ŕf5�?����:�ŕ^��� ƕF8@����?9ƕ�6B�Ǖ�: ȕ��:)ȕV�:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L�wPk@�A�U �B B�A�v>*B�Z9�A �A ��7�A b���A "C3��*C1ٌ=RC�:;C�C��%0:�:I�)GM0>�E�$j,��ђ�E�AI�5AA)�1��Ed ����A��A��E��� �E6P:Y�Ay�A��E�6Y}M�*�@�}M�8�@y}M@���}M/!��}MH����`��ҿ�������?��� X�?����;������c�ҿ���@w;�?����zۡ?���������@���?)~M�*�@ ~M��];I~M��Cɫ���)�� ������I��Y����@y���uG���v�=���O�=�����i����� ��n�@)��n�@I��n�@i��n�@�� �W�M =Y� �:QU �>�� �� �a �G�� �� y� �>;} �>I�! ��% 5�?��% ��� �% �9@��- �?9�% &7B��% �: �% ��:)�! �WQ �WQ XQ XQ �WQ :WY 2WY *WY �VY UY Ue ��� �@zLy �Ly �Ly �L} �pk@�A� ���B� B� �A� [n>*B� �P9�A� �A� v�7�A� ����A� "C� 2��*C� &��=RC� ?<`;C� �C� �A 9�E p�CI�E �rGi�E {�@��E =��A ��A ��E ��; �E ;�E�� ��;I�G5�>�`�$j,�E�AY}26�@�}2�C�@y}2I8��}2���}2H�����o�ҿ����R��?�������?���������� Q�ҿ������?����(��?���� �������#��?)~26�@ ~2�];I~2��Cɫ1�1)�1 �5����I�1Y�U��@y�U�tG������M��=Y���6;QU�??�������a��G������y��;}??I����:��X5�?��%�:��Ǹ�� �\:@��%�?9�>7B��(�: ��;)�W�:�WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]���`��@zLy�Ly�Ly�L}��k@�A 3��B B �A �R>*B�[9�A�A��7�A���A"C5��*C���=RC�x�;C!�CA��%?BI;I�1G]>� J�$j,c� ��E�AY} E�@�} �R�@y} ���} JH��} H���� �ҿ����s��?���@��?����I��������ҿ���`<��?���@M�?����GŢ��������?)~ E�@ ~ a];I~ ��C��]� ����]�����]�����]l�� �]�U:Y�]0Y1y�]��:��]N6ɫA�A)�A �II�IY�e�@y�e�tG�iɮmp=����=���Q�����t�i��G�@��� ��O�@)��O�@I��1�@i������n<M�<=Y���;QU��>�������a��G������y��3�;}��>I�����G5�?������ ��i;@���?9��i7B�����: ��f�:)���W��W�X� X��W�:W�2W�*W��V�U�U������B@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���k@�A�B B �A Y>*B rR9�A �A E�7�A 3��A"C54��*C=�j�=RC=�6�;C9�CA��]q�Z;I�yG�\>��k�$j,DQ#��E�A�|i|Y}>Q�@�}>�^�@y}>�X��}>`R��}>H����`.�ҿ���`(��?����;��?����ܚ����`i�ҿ���@���?���@6�?���`�������@)��?)~>Q�@ ~>�m];I~>��CJ�Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.��J�EIɁJ�qAi�J H��J��A-V�Failed to receive data from all sticks prior to timeout. Will not retry this scan cycle.��Yi�Yɫy�y)�y �yI�yY����@y���tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���+�����?5^�I˿�������?���>��X� ��L=)�I�y���MbX9�?�I+��� ףp= �?��ʡ=��94���Q8= ��A)��AI�1Ai�dA����GA��5{��M=7=Y�=�@:QU=�>��A��A�aE�G��A��Iy�M�V;}U�>I�Q��]�:��U� 5�?��]�:��U���� �U�<@��e�?9�U�7B��U��: �U��:)�UX�:�W��W�X� X��W�:W�2W�*W��V�U�U�����v� @zL���=�L���=�L��̸@�L���z@�A��$�B� B��A�EP>*B�BR9�A��A���7�A����A�"C�3��*C�~H�=RC���;C��C� ���=����������>9�I��qGi���@����������; �:�E���Q��;I��G�j>�3��$j,�6=��E�AY}J�[�@�}J�i�@y}J_<��}J����}JH������}ҿ����r��?��� �m�?����������s�ҿ����q{�?�����Ơ?���`[������U��?)~J�[�@ ~JJ];I~J��C��e ����e�����e�����e+�� �e�I:Y�exZ1y�eq�:��e�#6)�ee�;�9m�ɫq�q)�y �}����I�yY���@y���sG�xDUSBL response received:!U1,P 041,000,004FA,185,80,80,36,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���i��M�c=Y���C:QU��>��)��)�a-�G��)��1y�5�j;}=�>I�9��=�5�?��=ټ�� �=�=@��u�?9�=�7B��=_�; �=E�;)�9�WQ�WQXQ XY�WY:WY2W�*W��V�U�U����`�� @zL��L��L��L��z@�A��/�B� B��A��6>*B�/O9�A��A��7�A�7��A�"C�2��*C�%�=RC R�<C�C��֥ �r�;I�� G� �>��~�$j,�W��E�Aɫy�y)�y �}����I�yY����@y��sG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Åt<�Å�=�Å��=iÅf�@�Á ą�@)ą��@Ią��@ią��@��$�M�O=Y����QU��>�����a��G����y����}��>I�a��e�5�?��eF��� �eB?@��u�?9�e�7B��eb�: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������v@zL��L��L��L��A�+�B� B��A��&>*B��O9�A��A�n�7�A�s��A�"C�5��*C�� �=RC��V�;C��C����I�G-O>�9�I��pGi���@��=��������; ����$j,m�p��E�A�|64<�|6�;Y}f k�@�}f�x�@y}fj���}f�� ��}fH���� |`ҿ���ࣝ�?����#��?���������� #sҿ���� �?���`r}�?��� }����� q��?)~f k�@ ~f�N];I~f��C��m�����i��i��m��� �m~*:Y�iy�i��mi�5)�m��;ɫ�髹)�� ������I��Y���@y�<sG �)�)��=�b<M=Q=Y�=W�:QUE�>��A��A�aE�G��A��Iy�Me�;}M�>I�Q��]�:��U�5�?��e�:��U���� �Ul@@��e�?9�U�7B��U��: �U��:)�UY�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�({@�A�l�B� B��A�*,>*B��O9�A��A���7�A����A�"C�4��*C��=RC�ɀ<C��C�����=����=Y���g9����0�;I��Gj>�ʓ�$j,[ϊ��E�AY}%�l�@�}%�z�@y}%���}%�� ��}%H�����]ҿ����2��?������?����*�������oҿ�����֓?���@�b�?���@`���������?)~%�l�@ ~%�G];I~%��C������i�-�lGɫ1�1)�1 �5����I�1I�AY�ED�@y�M�rGi�Q���CI�ٺ�����=A��DNmea in: $SNTTA,,,,,164813.54*56 ����?���ף�����D�i���@��� ���@)���@I���@i���@����M>=Y���9QU�>�� �� �a �G�� ��y��:}�>I����5�?����� ��A@��-�?9� 8B��8�: �f�:)��WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]���@[�@zL1�L1�L1�L5y{@�Am��Bi Bi�AmG>*Bm�K9�Aq�Au �7�Aug ��Aq"C}3��*C}�ʋ=RC}n�<C��C�Y�y��m��<I�yG�~>����$j,E����E�AY}J�f�@�}J�t�@y}Jm���}J�M ��}JH����@ehҿ�������?�����?����m����� �zҿ����t�?���@4r�?��������������?)~J�f�@ ~J�];I~J��C��m ����m�����m�����m��� �m�5:Y�m�V1y�m�:��m6�9u@ɫ�髑)�� ������I��Y����@y���qG��ɮ��=����`��"���?�I+���k�t��?�����=���9�� �� �=)��I��y����E���Ը?Zd;�O���y�&1��?�����=���j<����`�< ¥1A)¥�AI¥�Ai¥ A������fA���6�M�3=�١�١ܩ9ܩIܭtoGiܭ��@�ܩ�ܩ�ܩ�ܭ��; ݭ@�EY�+��QU�>�� �� �a �G�� ��y�˺}�>I�����:���h�5�?���:���l��� ���B@���?9��Y8B�����: ����:)��Z�:�Wy�WyXy Xy�Wy:Wy2Wy*W��V�U�U�����a�@�R�B*** querying acoustic contact ***�P��P�zL�7�=�L�7�=�L�K�@�L��~@�A�G[�B� B��A�s >*B�pH9�A��A�u�7�A�E��A�"C�2��*C����=RC��b<C��C�i��mAI��mAY�M �e9 �] �=��] �=��=�X<I�IGe�>�U��$j,v���E�A�|i|�@ɫy�y)�y �}����I�yY��.�@y��]qG�xDUSBL response received:!U1,R,01F,000,03675,184,80,80,BB,FF �Fpublishing direction and range info���l�ݼ���ɰ���?����> ��)���;CI��y���GD����i�E����?|�vв����������ٱ���� 0�M��=Y�����QU�?�������a��G�����y����}?I� �� ��5�?�� ���� � fC@��%�?9� t8B�� fX; � QY;)� �WA�WAXI XI�WI:WI2WI*WQ�VQUQUU������@�Re(Combining 5 samples.�Pi*Qm�GD�Zm�^0-�W��@L���5����������Zm�i�E����?|�vв����������2Qml�ݼ:Qi�Zm��IHhLo���x<����Eq�:@�Zm���{�Կ��u��^���O��?BQm��@ Qm�=�Qmcz��Pm��9?�Pm�9?�Pmd���Qmn���Qm�B"QmB�@zL��L��L��L��A]���Ba Ba�Ae �=*Be�L9�Aa�Ae��7�Ae6 ��Ai"Cu5��*Cub��=RCu <Cq�CyYυBc9�֕�8<I��G��>����$j,�Vؓ�E�AY}Jh[�@�}J%i�@y}JT���}J�k��}JH������~ҿ������?������?����:�������ҿ����F��?�����0�?����� ����� <��?)~Jh[�@ ~J)%];I~J��Cɫ�髉)�� ������I�����n ������������������� ��<:Y�0Y1y���:���6Y����@y���pG�Í1�>�ÍO ��Ív��iÍ¥@�É ĉ)ĉIč�@iĉ���>�M�?=Y�o�:QU��>�����a��G����y��W�}��>Iȹ����:�Žk�5�?����:�Žf��� ƽKD@����?9ƽ�8B�ǽ��: ȽV�:)Ƚ[�:�mu}Added new target pos. range: 798.960083 m, bearing: 251.725830 deg, deltaT: 5.691353 s, approachRate: 133.539444 m/s, LOS rate: 0.387944 deg/s, posRepo size: 4�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U����@���@U����`�7�?zL��L��L��L���~@�A��:�B� B��A�d�=*B�F9�A��A��7�A���A"C 4��*C �l�=RC ���;C �CY�=�^9��-�H<I�9G]�>ܩ 9ܩ Iܭ HnGiܭ ��@�ܭ =�ܩ �ܩ �ܭ ��; ݭ B�E)�=�p�CI�=�p�Ci�9���9���=�=��=��5�`��$j,�,�E�Aɫ�髙)�� ������I��Y��u�@y��ypG���ܻM�K=Y����QU��>�����a��G����y����}��>Iȱ�ŵ�5�?�ŵ0��� Ƶ#E@����?9Ƶ�8B�ǵ� ; ȵ�;)ȱ�;��� w��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;����wdResuming normal ranging with 1.000000 count pings.�;���1<���W�WX X�W:W2W*W�V!U!U%����r��?zLQ�LQ�LQ�LQ�A g��B B�A��=*BgF9�A�A�7�A'��A"C3��*C%]L�=RC%b�;C!�CI��U>��U�>Y�=�\9��A��A��5�0�;I�AGe�>���%j,��E�AY}J>e�@�}J�r�@y}J�$��}J���}JH������kҿ�������?�����.�?���@����� �}ҿ���@ ��?����׃�?����y<�����@���?)~J>e�@ ~J�];I~J��Cɫq�y)�y �}����I�y���} �����������(�� ��=:Y�y���6Y���@y���oG ��鿵�A���@���@���@���©�������i��\�@������� ��)��ƣ@I����@i���@�� �M C=Y��źQU�>�����a�G����y�%U;;}%�>I�)��5�:��-��5�?��5�:��-��� �-F@��5�?9�-�8B��-�: �-��:)�-\�:�XU�������?1<U���wU�Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;U��� wU�Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUu���@n��?zL��L��L��L���~@�A����B� B��A�د=*B�xD9�A��A�O�7�A����A�"C�2��*C��-�=RC��� <C��C�Y�5�W9��-Β�;I�YG��>�X %j,��%��E�AY}65v�@�}6�@y}6U<��}6���}6H����`Kҿ���@��?���@[��?���������� �]ҿ����Z��?��� ʦ�?����w����������?)~65v�@ ~6U8];I~6��Cɫ9�9)�9 �=����I�AY�}�@y���nG������Q��?����MbP����Q��?����(>����� ���u=)��I��y����l����?�����������Mb�?�����=����L�����@= �A) AI � Ai ~A�������A���x��M�L=Y�B.�QU�>���� �a �G�� ����@��y��;}�>I���B�5�?��O��� �WG@��%�?9�9B����: �:)��WI�WIXI XQ�WQ:WQ2WQ*WQ�VYUYU]���`[�?zL}��=�L}��=�L}�@�L}uu@�A����B� B��A�^=*B��@9�A��A�p�7�A���A�"C�5��*C�H�=RC�^�%<C��C���M�<��I�]��>9�YI�]�lGi�]g�@��]=��Y��Y��]��; �]D�EYύ�U9��}��<I��G�^>��2%j,��?��E�AY}Jσ�@�}J���@y}J����}J9���}JH����`1ҿ�������?�������?���`��������Cҿ�����L�?�����y�?�����̣����`���?)~Jσ�@ ~J3.];I~Hɫ�髱)�� ��I�����r ������������������� ���<:Y���Y1y���:���O6)��q�;�9��Y�$�@y��nG��6�;M�O=Y��c:QU��>�����a��G������y����;}��>I����� �5�?������� ���H@����?9��B9B���b�: ����:)���Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������}�@zL��L��L��L�>�u@�A-]��B1 B1�A50i=*B5�@9�A1�A5��7�A=���A9"C=4��*CE��=RCE �9<CA�CIi�QI�QY�=<Q9 �M�=��M�=��-�h%<I�9G]�>� %j,�Y��E�Aɫ�髙)�� ��I��Y����@y��2nG��A��EnA�������������Õ&Q?�Õ��=�ÕC�iÕ=�@�Õ��� ĕ��@)ĕ��@Iĕ��@iĕ��@���*�M�L=Y����QU��>�����a��G����y����}��>Iȹ����:�Ž��5�?����:�Ž���� ƽ�I@����?9ƽf9B�ǽ��: Ƚw�:)Ƚ]�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L�A-�y�B) B)�A-�$=*B-&?9�A1�A5��7�A5��A1"C=3��*C=)Ԋ=RC=[k5<C9�CAY�&M9�� �9<I�!GE�>�I 9�M o�CI�M �kGi�M s�@��I ��I ��I ��M ��; �M H�E��E%j,xzs��E�AY}V���@�}Vy��@y}VP����}V�k��}VH���� t/ҿ����O��?���@�.�?����5������>@ҿ�������?����Zϟ?��� -j�����`���?)~V���@ ~VU];I~V��Cɫy�y)�y �}����I��Y����@y��emG���������� �������������������� ��U:Y��xZ1y��q�:���`6)��Q�;�� bX�M T=Y��=;QU��>�����a��G����y����9}��>I�����v�5�?������ ��KK@���?9���9B���� ; ���;)���Wi�WiXq Xq�Wq:Wq2Wq*Wq�VyUyU}������@�R�B*** querying acoustic contact ***�P��P����zL��L��L��L���u@�A���B� B��A���<*B�F<9�A��A���7�A����A�"C2��*CE��=RC%�!6<C!�C)Y��J9���I�Gn>�g,#%j,vO���E�AY}2�~�@�}2H��@y}2J0���}2t���}2H�����N;ҿ����ä�?����F�?����m�������Kҿ����=�?��� ��?���`X���������?)~2�~�@ ~2�[];I~2��Cɫy�y)�� ������I��Y����@y��mG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-=�>��-\���-S�=i�-̤@��) �-�@)�-�@I�-�@i�-�@��=Ņ�M=8=Y�E�@�QUE�>��A��I�aM�G��I��Iy�U��}U�>I�Y��e�:��]�5�?��e�:��]g��� �]�L@��e�?9�]�9B��]��: �]�:)�]^�:�W��W�X� X��W�:W�2W�*W��V�U�U�����f+ @zL��L��L��L�uu@�A�k�B� B��A��N<*B�y;9�A��A���7�A���A�"C�5��*C�Y��=RC���)<C��C�����>���?>Y��F9�� nA�� mA���x/<I�IG��>�HW)%j,�-���E�AY}N�s�@�}NB��@y}N2����}N$-��}NH������Pҿ����Z��?�����:�?����h������aҿ�����m�?�����]�?���`b����������?)~N�s�@ ~N�%];I~N��Cɫ�髙)�� ������I��Y��4�@y��xlG�xDUSBL response received:!U1,P 01F,000,03675,184,80,80,BB,FF �Command Ack�BRequesting micromodem ping code 2i�������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��E� ����E�����E�����El�� �EKC:Y�E�W1y�Eč:��EN6�9�@�9�p�CI��iGi�.�@��=��������; �N�E����'1�Z�?)\���(���MbX9�?����">���G� ��ʡ=)��I��y���D�l����?�Zd;���Q���?���O�=����y����\= ¥�A)¥$AI¥�Ai¥�A�������A)õ�= õ�=�����M�(=Y���:QU��>�������a��G������y��Y5�}��>I�������5�?������� ���M@�� �?9���9B���]�: ����:)���WQ�WQXy Xy�Wy:W�2W�*W��V�U�U���� <,@zL ��=�L ��=�L \�@�L ?�l@�A}ۼ�B� B��A����*B�W99�A��A���7�A����A�"C�4��*C��m�=RC�j�<C��C�Y� �A9����h%<I�G%�>�U>0%j,q���E�AY}2'k�@�}2�x�@y}2�����}2����}2H����@�`ҿ����U��?����J�?���`/�����`*qҿ������?���`?�����w����� j��?)~2'k�@ ~2�5];I~2��Cɫ9�9)�9 �9I�9Y�}�@y�}lG鮁ɮ�=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Q�M��=Y��#;QU�?�����a��G����y��_�}�?Iȩ����:�ŭ �5�?����:�ŭ���� ƭ�N@����?9ƭ�9B�ǭ�; ȭw;)ȭ_�:�W��W�X� X��W�:W�2W�*W��V�U�U����`:@zL�L�L�L �l@�A���B B�A!*B%89�A!�A%��7�A%���A!"C-3��*C5Z�=RC5�Z<C1�C1��E� &<I�QGm5>i��HmGI��i�����x�ٺ��5jA��h6%j,q�ڔ�E�AY}J�j�@�}J�x�@y}J$�9}J�!��}JH���� aҿ�����?���`���?��� F����� �qҿ��� ��?������?���`2 ������'��?)~J�j�@ ~J�^];I~J��Cɫy�y)�y �}����I�yY��-�@y��5kG�xDUSBL response received:!U1,R,029,000,00515,185,80,80,9C,FF �Fpublishing direction and range info���C�����ɰ�'�=鰵+�> ��)���CI��y��="B�����o�����?z�>�P����������ٱ���MY=��M��;��M��=i�Mf�@��I �ME�@)�ME�@I�ME�@i�ME�@��m�b�MmL=Y�m��:���� �����������������0�� �&W:Y�xZ1y�q�:���6QU �>�����a�G����y��_�}�>I�!��%U�5�?��%���� �%�O@��U�?9�%:B��%��; �%I�;)�!�W��W�X� X��W�:W�2W�*W��V�U�U���� ��@�P�*Q�="B�Z���b[DD@)�[e�6�����������Z���o�����?z�>�P����������2Q�C��:Q��Z�������*��9�o�1C������?�Z��gb͎Կ�� a�I��>�n]e�?BQ��S�@ Q���Q�tP��P��9?�P���9?�P�r���Q�d���Q���@"Q��BzLA�LA�LA�LE��l@�A}S�By By�A}瀼*B}�59�Ay�A���7�A�k��A�"C�2��*C�C7�=RC���<C��C� ե�=�ԥ�=��}�8<I��G�^>�� �>9�� I�� �hGi�� :�@��� =��� ��� ��� ��; �� R�E���<%j,����E�AY}^Dm�@�}^{�@y}^��뼙}^j���}^H����@�\ҿ����Ş�?���`�=�?���`�����`�lҿ����6ѐ?����My�?��� �ף�����s��?)~^Dm�@ ~^�];I~^��Cɫ�髩)�� ������I��Y�N�@y�^kG��TNmea in: $SNTTA,0.026616,,,,164819.20*44 �¹�½mA��/<M?=Y�%r�:QU%�>��!��)�a-�G��)��)y�5�4:}5�>I�9��E�:��=��5�?��E�:��=���� �=�P@��E�?9�=E:B��=��: �=��:)�=`�:�m}�Added new target pos. range: 40.559998 m, bearing: 251.254383 deg, deltaT: 4.490346 s, approachRate: -168.895691 m/s, LOS rate: -0.104991 deg/s, posRepo size: 4�Wy�WyXy Xy�Wy:W�2W�*W��V�U������GD@U���� 1A�?zL��L��L��L��l@�A����B� B��A�&?�*B��59�A��A���7�A����A�"C�5��*C���=RC��<C��C����I� G%M>�szC%j,і��E�AY}J�|�@�}J���@y}JD⼙}J�@��}JH�����0?ҿ�������?����@��?�����������Nҿ������?�����G�?�����d���������?)~J�|�@ ~J��];I~J��Cɫy�y)�y �}����I��Y����@y���jG��u� ����u�����u�����u�� �u�E:Y�u]1y�u�:��ua6����>���|?�����q=i��ף@��� ��ƣ@)��ƣ@I��ƣ@i��ƣ@���]�ML=Y��>;QU �>�� �� �a �G����y�ؚ;}�>I��� �5�?������ ��Q@��-�?9�j:B����: �Ǻ:)��WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]�����`�?zL��L��L��L�L�l@�A���B B�A��*B;39�A�A��7�A1 ��A"C%4��*C%���=RC%�;'<C!�CI��=��<I�IGmV>���I%j,r(��E�AY}2o��@�}2,��@y}2l��}2����}2H�����}ҿ���@0��?�����?����������/+ҿ����)`�?����A��?����NӢ��������?)~2o��@ ~2I]^;I~0ɫ9�9)�9 �=����I�AY�]��@y�]�iG����T㥛� �?���Q���<�O��n�?����=������ ��t<)��I��y����&1��?�V-���p= ף�?�����=���h������= ) �AI +Ai CA�������A���T�M�Q=Y��U;QU��>�����a��G����y���;}��>Iȹ�Ž�5�?�Ž���� ƽyS@����?9ƽ�:B�ǽ: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL�>�L�>�Lc��@�L��t@�A-�L�B) B1�A5�[�*B5]09�A1�A5{�7�A5�!��A9"C=3��*CE\߉=RCE�HC<CA�CAi�M��I�M����M����M��ܡ9ܡIܥ@gGiܥ��@�ܥ=�ܡ�ܡ�ܥ��; ݥD�E)�1�I�1�i�1���1���5�=��5��5��9��9��- �h%<I�9 GU �>�x�P%j,+MB��E�A�|�|4<Y}6y��@�}66��@y}6njƼ�}6����}6H����@��ѿ���࠰�?���`ܭ�?���`Ƶ������ѿ���@_]�?�����И?����������� ���?)~6y��@ ~6�^;I~6��CɫA�A)�A �E����I�AY��p�@y��LjG��E�=MEP=Y�E'�;QUE�>��I��Q�ae�G��a��qy�u�<}}�>Iȁ����:�Ņ��5�?����:�Ņ?��� ƅ@U@����?���� �������������������� �W:Y��Y1y��:���6)� �;�9��9ƅ�:B�Dž˵< ȅ��<)ȅa�:�W��W�X� X��W:W2WY*Wa�VaUiUm����+�?zL��L��L��L��u@�A����B� B��A���*B��29�A��A�`�7�A�#��A�"C�2��*C�S��=RC��n<C��C���5/�C<I�AG]v>�]�V%j,W'\��E�AY}::��@�}:�ɍ@y}:�V���}:D ��}:H������ѿ���@���?�����+�?���`������`��ѿ����x�?����g*�?����/ߣ���� ���?)~::��@ ~:�^;I~:��Cɫ9�9)�9 �=����I�AY�}ܽ@y�}�iG��e`�=��e`�;��e�=i�e\�@��a �e\�@)�e\�@I�e\�@i�e\�@��}#4�M}G=Y�}_�;QU}�>�����a��G����y�@�;}��>Iȑ�ŕ��5�?�ŕ��� ƕW@����?9ƕ�:B�Ǖ8�: ȕf�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@T��?zL��L��L��L�SSu@�A+��B B �A �h�*B {/9�A �A @�7�A=$��A"C5��*CN��=RCh��<C�C�֥�zl<I��G�A>ܑ 9ܑ Iܕ fGiܕ �@�ܑ �ܑ �ܑ �ܕ ��; ݕ >�E�>�\%j,qv��E�Aɫ�髙)�� ������I��Y���@y�whG��e��M�H=Y����QU��>�����a��G����y�����}��>I������:��� �������������������� ���3:Y��DW1y��Y�:����6)����;���p�5�?����:������� ���X@����?9��2;B���Kb; ��c;)��b�:�W�WX X �W :W2W!*W1�V1U9U=����z<@zLY�LY�LY�LY�Am)� �Bi Bq�Auˮ�*Bu�,9�Aq�Au�7�Au�%��Aq"C}4��*C�Q��=RC����<C��C� Օ�=�ԕ�=�֥ˈ<I��G����c%j,�ޏ��E�A�|i|�@ɫy�y)�y �}����I�yY��5�@y���hG������I��)���� 0���V>����i���@�� ��@)�z�@I�z�@i�z�@����<MT=Y�QU�>��!��!�a%�G��!��!y�)}-�>I�1��5f�5�?��5��� �5�Z@��=�?9�5b;B��5w�: �5�:)�1�Wi�WqX� X��W�:W2W *W)�V)UiUu��� �@�R}B*** querying acoustic contact ***�Py�PyzL��L��L��L��A����B� B��A�!��*B��-9�A��A���7�A��'��A�"C�3��*C�:p�=RC�YH�<C��C���oM�<I�1G�Z>�[�i%j,0����E�AY}6���@�}6�ύ@y}6yfu��}6���}6H�������ѿ����Ƹ�?����7�?����D��������ѿ���@��q?�������?���������������?)~6���@ ~6��];I~6��Cɫy�y)�y ��I��Y����@y��hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 758****** ping requested ******�����������������#�� ��2:Y�0Y1y���:��}6�9@��5mA��5oA�99�9I�=�dGi�= �@��9��9��9��=��; �=7�E������K7�?+�����?���Q��?���I>����= ���<)�I�y��<�O��n�?�p= ף���~j�t��?��t�=��������< �A)��AI��Ai��A������U�*�MU+=Y�]�d<QU]�>��a��a�ae�G��a��y��:}��>Iȑ����:�ŕ�5�?����:�ŕ���� ƕy[@����?9ƕ�;B�Ǖ{�: ȕ�:)ȕc�:�WA�WAXA XI�WI:WI2WI*WI�VQUQUU�����? @zL���=�L���=�L���@�L���l@�A�|J�B� B��A��ƽ*B��,9�A��A���7�A��(��A�"C�2��*C�gQ�=RC�_ۆ<C��C�Y���<9��������� ��<I�� G �>���p%j,�Õ�E�AY}:���@�}:`ɍ@y}:�[��}:�v��}:H�������ѿ����·�?���@aŢ?��� ������@��ѿ�����{k?��� �z�?�����������`r��?)~:���@ ~:��];I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�fG�xDUSBL response received:!U1,P 029,000,00515,185,80,80,9C,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 ���5��M�f=Y��Ɏ;QU��>�� ��1�a=�G��9��Iy�}��}��>Iș�ŝ��5�?�ŝ���� Ɲ\@�� �?9Ɲ�;B�ǝ�k< ȝ�i<)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����~U @zL��L��L��L�4�l@�A5��B1 B9�A=h��*B=O'9�A9�A=`�7�A=�)��A9"C�5��*C�E6�=RC�x�<C��C�Y�����}U�<I��G��>��w%j,�pݕ�E�A�|�;�|�;ɫy髁)�� ������I��Y��u�@y���fG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�E�= �E�=��U ����U�����U�����U �� �U�J:Y�U[1y�Uݏ:��U�6��u�=��u�Ļ��u�w�i�u�@��q �u�@)�u�@I�u�@i�u�@�����M�@=Y����QU��>�����a��G����y����}��>Iȡ����:�ť��5�?����:�ť��� ƥ�\@����?9ƥ�;B�ǥ/�: ȥ'�:)ȥd�:�W��W�X� X��W�:W�2W�*W��V�U�U������*@zL��L��L��L��Aw���B B�A�*B�%9�A�A�7�A�*��A"C%4��*C%��=RC%w��<C)�C)Y��:9����X<I�G%n>�9 9�9 I�= XcGi�= ȸ@��9 ��9 ��9 ��= ��; �= :�E��.}%j,�K���E�AY}>��@�}>Ϸ�@y}>ި��}>a��}>H���� ��ѿ���@<��?����ǵ�?���`4����� :�ѿ����\����� ��?�����*�����`���?)~>��@ ~>��];I~>��CɫY�Y)�Y �e����I�aY��_�@y���fG�xDUSBL response received:!U1,R,FD5,000,00514,184,80,80,AC,FF �Fpublishing direction and range info���_�=���ɰ���=����> ��)���,CI��y���"B����Y�;��?ЙPgD5�?��������ٱ����>��M�g=Y��aF<QU�>�����a�G���� y� �ƻ} �>I���S�5�?�� ��� �p]@��%�?9��<B��Ǻ: �ӻ:)��WA�WAXA XI�WI:WI2WI*WI�VIUQU�����e�@�P�*Q��"B�Z����Y<D@�jO�?���������Z��Y�;��?ЙPgD5�?��������2Q�_�=:Q��Z���8���#��B�䆣C�Ѐ7���?�Z��|��72Ͽ8�v��»�?BQ��@ Q��Q����P��9?�P��9?�P�t���Q�r���Q�a�@"Q���@zL��L��L��L���l@�A�-)��B� B��A�� �*B�L%9�A��A���7�A��+��A�"C�3��*C�{�=RC�$5_<C��C�����=���]>Y���89 ���=����=����u}<I��GI>��}�>��i�m�mGI��fpAi������U�ٺ�fpA����HA���%j,2��E�AY}]m��@�}]*��@y}]+eջ�}]j%��}]H�����z�ѿ����خ�?��� h��?��� ������ ��ѿ������t�������z?����b�������-��?)~]m��@ ~]��];I~]��Cɫi�q)�q �u����I�qY����@y���eG�TNmea in: $SNTTA,0.044202,,,,164823.63*4F ��z����������������� ���:Y��Y1y��:���6����N>����=�����=i���@��� ��&�@)��E�@I��E�@i��E�@��%�2�M%,=Y�-��;QU-�>��)��1�a5�G��1��1y�=#"�}=�>I�A��E �5�?��E}��� �EC^@��M�?9�E/<B��E@�: �En�:)�A�m}uAdded new target pos. range: 40.500000 m, bearing: 255.893666 deg, deltaT: 4.403982 s, approachRate: -0.013623 m/s, LOS rate: 1.053429 deg/s, posRepo size: 4�Wy�W�X� X��W�:W�2W�*W��V�U������@D@U�������?zL��L��L��L���l@�A��X��B� B��A�$�*B�%9�A��A�w�7�A�S-��A�"C�2��*C�M�=RC���Q<C��C�Yϕ�19�օ jZX<I�� G� �>��@�%j,�+��E�Aɫ�髙)�� ��I��Y��\�@y��HeG���>9��I���aGi����@���=�����������; ��K�E��5��Q��뱿<�O��n��333333�?��5\����5t� �5��=)�1I�1y�5�)\���(�?+�������� �rh�?��5Ga=��5�����5C= �5�A)�5^AI�5dAi�5�A��1��5�A��A��A��Mt�MUY=Y�U���QUU�>��Y��Y�a]�G��Y��ay�e���}e�>I�i��u�:��m=�5�?��u�:��m%��� �m)_@��}�?9�mS<B��m��: �m��:)�me�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�~�=�L�~�=�L�s�@�L��^@�A�����B� B��A�@*�*B�^!9�A��A��7�A�d.��A�"C�5��*C��Ɉ=RC���R<C��C�Yϭ�/9�֙I��G�d>��(�%j,��D��E�AY}2��@�}2ɛ�@y}2�� ��}2^# ��}2H������ҿ����r��?����p�?��� ��������ҿ���@������ �<a?������������?)~2��@ ~2��];I~0ɫ9�9)�A �AI�AY����@y���eG�Í�;�Í�>�Í��iÍ=�@�É č��@)č�@Ič�@ič�@���h<M�F=Y��.<QU��>�����a��G�������������������n�� ���:Y��a1y��:���*6)���;�9����y���}��>I����� �5�?������� ��&`@����?9��|<B�����: ���:)���W��W�X� X��W�:W�2W�*W��V�U�U��� � �?zL�L�L�L~^@�A5:9�B1 B1�A=<$�*B=8#9�A9�A=��7�A=�/��A9"CE4��*CM���=RCM0<CI�CQi�]mAI�]mAY�]/-9��II�YG}�>�PT�%j,ӽ^��E�Aɫq�y)�y �}����I�yY���@y���dG��em�Me`=Y�e���QUm�>��i��i�am�G��i��qy�u���}}�>I�y����:��}g�5�?����:��}���� �}a@����?9�}�<B��}��: �}=�:)�}f�:�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L��A���B� B��A�2�*B��9�A��A�k�7�A��0��A�"C3��*C.��=RC�3<C�C �֝� &<I��G�A>��9��I���`Gi����@���=���RD�����D�����; ��T�E)�a�I�a�i�a���e�=��e�=��e� 5�b~�%j,��x��E�AY}R��@�}Rђ�@y}R K�:�}R���}RH���� 1ҿ���`��?���@4��?�����������-ҿ��� n*������c�R����������������?)~R��@ ~R��];I~R��Cɫq�y)�y �}����I�yY��}�@y��6dG)Í�= Í�=��� >�M�C=Y��K�;QU��>�������a��G������y���*�}��>I���;�5�?��=��� ��a@���?9��<B���; ���:)��WQ�WQXQ XQ�WQ:WY2WY*Wa�VaUaUm���@�`�@���������������������u�� ��%~:Y���Y1y���:���E6)����;zL��L��L��L�ld^@�AtbB! B)�A-F�*B-�9�A)�A-��7�A-�1��A1"C52��*C=Ep�=RC=�1"<C9�C9��]��.<I�iG�Z>��d�%j,�m���E�AY}2���@�}2���@y}2� ;�}2����}2H������#ҿ������?����a �?����������$ ҿ���@�������`�d���������������?)~2���@ ~2o�];I~2��CɫY�Y)�Y �]����I�YY�}�@y�}�dG��= 0=��=94���=�u�i�=z�@��9 �=&�@)�=�@I�=�@i�=�@��My=MMT=Y�+[;QU��>�����a��G����y��� ;}��>I������:���@�5�?����:������� ���b@����?9���<B�����: ����:)��g�:�W��W�X� X��W�:W2W*W�VU U ����@zL!�L!�L!�L%�x^@�A=��ϼB9 B9�AE�9�*BE_9�AA�AE��7�AE�2��AA"CM5��*CU�T�=RCU$<0<CQ�CQ��e� &<I��G�C>����%j,�O���E�AY}6ş�@�}6���@y}6��;�}6���}6H�������ѿ���� ��?��� �ˠ?���������� ��ѿ�����������6 q����`� ���������?)~6ş�@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�}0�@y���cG������܁9܅q�CI܅o_Gi܅��@�܁�܁�܁�܅��; ݅P�E����V-��?����Mbp�+�����?�����=����� ���=)��I��y����V-�?�A`��"��)\���(�?���h�=���Y����Ga= �A) 3AI Ai�������A���D�M�5=Y��5|;QU��>�������a��G������y���;}��>I�������5�?���D��� ���d@����?9��=B�����: ����:)���W �WX X�W:W2W*W�VUU���@9@�R-B*** querying acoustic contact ***�P)�P)zL=��=�L=��=�L=Ɋ�@�L=2�s@�AU0ȼBQ BQ�AU�O�*B]�9�AY�A]*�7�A]�3��AY"Ce4��*Ce�5�=RCm6�Q<Ci�Ci��]�9<I�qG�\>�+w�%j,�%Ɩ�E�A�|i|Y}2���@�}2Pč@y}2(�;�}2�� ��}2H���� ��ѿ���`v��?�������?��� ����� �ѿ���@������� �w���������������?)~2���@ ~2j�];I~0ɫ9�9)�9 �=����I�9Y�}��@y���cG�ޡiޥp=��� �������������������� ���I:Y��0Y1y����:����6)����;�Z****** received transponder code query ****** F****** received ping request ****** <Arming DUSBL. detectThresh: 75�8****** ping requested ******��mA��nA�õ�>�õC=�õp=�iõ3�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@���'��M�J=Y���h;QU��>�������a��G������y����;}��>I���U�5�?������ ��e@��-�?9�:=B��Ǻ; �#�;)��Wq�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU������Z @zL��L��L��L��s@�A�����B� B��A�9V�*B�69�A��A���7�A��4��A�"C%3��*C%��=RC%�av<C!�C)i�5��I�5����5����5����NJN<I�)GE�>����%j,��ߖ�E�AY}2�ɕ@�}2�@y}2���;�}2�%*��}2H����@�ѿ����9��?���@0l�?���`$��������ѿ���`�ʒ�����'[}�����C���������?)~2�ɕ@ ~2m�];I~2��CɫQ�Q)�Q �U����I�QY��U�@y���bG�xDUSBL response received:!U1,P FD5,000,00514,184,80,80,AC,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%�m�M-i=Y�=�;QUE�>��Q��Y�ae�G��a��yy���;}��>I�Y����:��] �5�?����:��]���� �]`g@����?9�]\=B��]7�< �]p�<)�]h�:�W��W�X� X��W�:W�2W�*W��V!U!U-���`$� @zLa�La�La�Le�/t@�A����B� B��A�k�*B��9�A��A�7�7�A��5��A�"C�2��*C�B��=RC�Y�<C��C������v<I��G��>�y9�yI�}�]Gi�}V�@��y��y��y��}��; �}O�E�@̽%j,U����E�AY}>*ە@�}>��@y}>2%<�}>�(��}>H�������ѿ���@S��?��� ��?����������� �ѿ���`)[�������d������!�����@���?)~>*ە@ ~>��];I~<ɫY�Y)�Y �]����I�Y�� ����������������� �5:Y��X1y�/�:���6)���;Y��N�@y���bG鮽a=ɮ�a=�M�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���N �M�?=Y���;QU��>�������a��G������y��X�;}��>I�����ަ5�?������� ���h@���?9��=B���I�: ��ܹ:)���W)�W)X) X)�W):W12W1*W1�V1U1U=����$>@zLQ�LQ�LQ�LUvYt@�A��;��B� B��A��k�*B�9�A��A���7�A�B6��A�"C�5��*C�"�=RC�k��<C��C��= �<I�IGeU>����%j,����E�A�|�|p;Y}6�ו@�}6~�@y}6��?<�}6���}6H�������ѿ����{��?������?���@������@��ѿ�����:����� ���������������@~��?)~6�ו@ ~6r�];I~4ɫ9�9)�9 �=����I�9Y�]��@y�e�aG)�}�= �}�=�����<��������S�i����@��� ����@)����@I����@i����@����~�M�]=Y��Q�;QU��>�������a��G������y��^��}��>I������:�����5�?���:��� ��� ��j@���?9���=B�����: ����:)��i�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zLQ�LQ�LQ�LU�It@�A��I��B� B��A�ˁ�*B��A��A�=�7�A�7��A�"C�4��*C��͇=RC�N�<C��C�����Ԙ<I� G=Q>�+��%j,�-��E�AY}2�@�}2�Ѝ@y}2Vd<�}2�;��}2H������ѿ���@���?������?��� ������`ܯѿ����Q������������@&�����`��?)~2�@ ~2$�];I~2��Cɫ9�9)�9 �=����I�9Y�}p�@y�}�aG��dNmea in: $SNTTA,0.400947,0.400891,,,164828.08*5D ��� �������������� ��A:Y��T1y���:���6�9�@���<��4=�!9�!I�%�\Gi�%c�@��%=��!��!��%��; �%J�E��e�^�I+�?�I+��?����Mb`?��eX9>��e9�< �e;)�aI�ay�e��Zd;�?����Mb��{�G�zt?��e�y=��e����eף; �a)�e�AI�ai�e A��a��a����M�@=Y�f�;QU��>�����a-�G��)��1y�5���}=�>I�9��=ɡ5�?��=��� �=Nj@��M�?9�=�=B��=r�: �=��;)�9�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�\�=�L�\�=�L�M)�@�L���g@�A-����BI BI�AM���*BI�AI�AU��7�AU�7��AQ"C]3��*C]ޱ�=RC]|<CY�Ca��] �<I�iG�Z>����%j,�kG��E�Aɫ���)�� ������I��Y�з@y�&bG���������>���O�>���ף�i���@��� ���@)���@I���@i���@i���lGI� qAi�)����<ME4=��]fQ�ٺ] qA��])EAY�e���QUm�>��i��i�am�G��i��qy�u���}u�>I�y����:��}۞5�?����:��}��� �}}j@����?9�}�=B��}r@< �}�@<)�}j�:�W��W�X� X��W�:W2W*W�V U U ��� T@zL)�L)�L)�L)�A=Iϓ�B9 B9�A=�{�*BE9�AA�AE$�7�AM�8��AI"CM2��*CU���=RCU%�<CQ�CQY�u�&9�ԁ�ԅnA��m ��v<I�y G� �>����%j,�Ha��E�A�|i|�@Y}VF��@�}V��@y}Vɂ<�}V����}VH�����H�ѿ������?����?�?���`ȴ����@��ѿ����^�������X�����������������?)~VF��@ ~V�[^;I~V��Cɫy�y)�y �}����I�y���#��������������5�� ��4;Y��]1y���:���$6Y����@y��aG%xDUSBL response received:!U1,R,FF9,000,036DF,183,80,80,A6,FF -Fpublishing direction and range info��%+�;��!ɰ%?�%$�> �!)�%�&CI�!y�%TID��%�--1����?b�A�Xy?��������ٱ!��MnA��I��Us��MUk=Y�]�;QU]?��Y��a�ae�G��a��ay�mM�}m?I�q��u��5�?��u���� �u�j@��}�?9�u>B��uM�: �uY�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�TID�Z���T�p*�@ @�ft�@���������Z��--1����?b�A�Xy?��������2Q�+�;:Q��Z��~Ъ��k�1�0���`0S�*��Z�����1�ѿ$���������BQ���@ Q��A�Q��]��P���9?�P��9?�P�����Q�t���Q�"��"Q�a�@zL��L��L��L�.�g@�A i��B B �A H��*B9�A�A��7�A39��A"C5��*C�}�=RC��><C!�C!Y����I�)GER>��>9�I��[Gi���@����������; �V�E���%j,%{��E�AY}N���@�}N@��@y}N&m�<�}N)���}NH���� ��ѿ���`V��?����u�?�������������ѿ����}�����`s͐�����>������`���?)~N���@ ~N0A^;I~N��Cɫy�y)�y �}����I�yY���@y��GaG��]�$<M]J=Y�]��:QUe�>��a��a�ae�G��a��iy�moJ;}m�>I�y����:��}��5�?����:��}���� �}�j@����?9�}4>B��}a�; �}��;)�}k�:�m�Added new target pos. range: 805.320007 m, bearing: 254.026401 deg, deltaT: 5.661112 s, approachRate: 135.100662 m/s, LOS rate: -0.329841 deg/s, posRepo size: 4�W�WX X�W :W2W*W�VU%���`�*�@U%����K��?zLI�LI�LI�LM.�g@�Am=���Bi Bq�Au3��*Bq�Aq�A}�7�A}�9��Ay"C�4��*C��`�=RC�CZ<C��C���%=��%�=Y�P$9����9<I�)Gew>�/�%j,�����E�AY}Fo��@�}F,��@y}FD�<�}Fi���}FH�����N�ѿ���`���?�������?�������������ѿ����o6����� �ܑ����`�ף��������?)~Fo��@ ~FG^;I~F��Cɫy�y)�y �}����I�y��~���������������� ��f:Y��W1y�č:��M!6Y��i�@y��l`G��m`廩�mO�=��m��i�m�@��i �m~�@)�mh�@I�m~�@i�m~�@���S�M�B=Y��9!;QU��>�������a��G������y��c;}��>I�����.�5�?������� ���j@��%�?9��Z>B���ĭ; ����;)���WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]���`�~�?zLy�Ly�Ly�L}x�g@�A�'�n�B� B��A�O��*B��A��A�r�7�A�n:��A�"C�3��*C�7D�=RC��fe<C��CYϝ�9 ե�=�ԡ�֍jZX<I��G��>�G+�%j,�خ��E�AY}F���@�}FIǍ@y}Fߏ�<�}F���}FH���� ��ѿ���`���?�����d�?�����������R�ѿ����(̜�����������$�����`���?)~F���@ ~F�^;I~Dɫi�i)�i �m����I�iY��&�@y��`G��9��I���ZGi��̱@���=��������� ��W�E)�}�q�CI�}�q�Ci�y���}�=��}�=��}�I5����sh��|?�?����Mb`?y�&1�|������=���; ��`�)��I��y����� �rh�?T㥛� ��/�$��?���C�=��������,= dA)AI�Ai�A�������A)å�= å�=�����M�M=Y���-;QU��>��i���a��G����y��;}��>I�����X�5�?������� ��'l@����?9���>B�����: ����:)���WQ�WYXY XY�WY:Wa2Wa*W��V�U�U����` W�?zL�l�=�L�l�=�L�d&�@�L���l@�A�N[�B BA�AEy��*BA�AI�AMɽ7�AM;��AI"CU2��*C]�%�=RC]��o<CY�C��ֵ��a<I��G��>���%j,��ȗ�E�AY}M?��@�}M�ɍ@y}M�s�<�}M� ��}MH�����U�ѿ����_��?����q��?����/�������ѿ����������� (n�����������������?)~M?��@ ~M�^;I~I���� ������������������� �]E:Y��[1y�H�:��j6)���;�9��ɫ�髉)�� ������I��Y��µ@y���_G��]َ>��]C�=��]�̼i�]��@��Y �]ҙ@)�]ҙ@I�]ҙ@i�]��@����M�<=Y�֏:QU��>�����a��G����y�T:}��>Iȱ����:�ŵ��5�?����:�ŵ��� ƵAm@����?9Ƶ�>B�ǵ��: ȵQ�:)ȵl�:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL�L�L�L�l@�A-��G�B) B)�A-���*B1�A1�A5)�7�A5z;��A1"C=5��*C=��=RCE�'r<CA�CA�֕�]n<I��G�c>��=�%j,�◨E�AY}2c��@�}2 ˍ@y}2���<�}2!���}2H����`(�ѿ���@��?����Ԛ?����������`ڸѿ����cǛ������?������~������ ,��?)~2c��@ ~2��];I~0ɫY�Y)�Y �]����I�YY���@y���_G��5�x<M=e=Y�=f�QU=�>��A��A�aE�G��A��Ay�MW�9}M�>Iȡ�ťE�5�?�ť��� ƥCn@����?9ƥ�>B�ǥ��: ȥ?�:)ȡ�W��W�X� X�W:W2W *W�VUU��� �?�@zLA�LA�LA�LE��l@�Aer4�Ba Ba�Ae�*Bi�Aq�Au��7�Au�;��Aq"C}4��*C���=RC��r<C��C��ԡ�ԡ��e��t<I�iG�:>ܹ9ܹIܽ�YGiܽ*�@�ܹ�ܹ�ܹ�ܽ��; ݽQ�E�yg�%j,bj���E�A�|i|�@Y}6̾�@�}6�̍@y}6��<�}6U���}6H����@��ѿ����\��?����ll�?���`����� H�ѿ���`EH���������������������@'��?)~6̾�@ ~6}^;I~6��Cɫ9�9)�9 �E����I�AY�]i�@y�]2_G�ޝ�=iޙ��� ���������������� � T:Y��Y1y��:���6)�l�;���������W(�M�N=Y���ͺQU��>�����a�G���� y� ��9} �>I�1��=�:��5��5�?��=�:��5+��� �5To@��E�?9�5�>B��5��: �5��:)�5m�:�W��W�X� X��W�:W�2W�*W��V�U�U���� Z@zL��L��L��L���l@�A cG!�B B �A-G��*B1�A1�A5�7�A5D<��A1"C=3��*C=#ن=RC=�Ot<CA�CA��E��u<I�QG�9>��O&j,�G��E�AY}6վ�@�}6�̍@y}6�D�<�}6I|��}6H����@s�ѿ�������?����4��?���������@�ѿ���@��������Uh�����@��������K��?)~6վ�@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y���@y���^G��p=ɮ���%��=��%�;��%`�;i�%��@��! �%��@)�%h�@I�%~�@i�%h�@��5��M=F=Y�=���QU=�>��A��A�aE�G��A��Ay�M�.7}M�>I�Q��U�5�?��UL��� �Utp@��e�?9�U?B��U�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����s�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���l@�A '0�B� B��A����*B��A��A�1�7�A��<��A�"C 2��*C���=RC} s<C!�CYi�qI�q��}����}�� Օ�=�ԕ�=�օ �t<I�� G� �>�jy&j,h 0��E�AY}:9��@�}:�ō@y}:�N�<�}:"�$��}:H���� �ѿ����ʷ�?���`�,�?����,��������ѿ��� x]��������������8���������?)~:9��@ ~:=;^;I~:��Cɫ9�9)�9 �=����I�9��Y��]�<�a9�aI�e�XGi�e6�@��a��a��a��e��; �eT�EY�}�@y�}�^G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��|��������������K�� ��f:Y�[1y�ݏ:��1'6)�h�;��}�V-��?���x�&�?�~j�t�����}�m=��}7 > �}�D�)�yI�yy�}�ˡE����?�A`��"��<�O��n�?��}�'=��}Y���}t< �}5A)�}�AI�}^Ai�}�A��y��}�A��-˽;M-.=Y�5@:QU5�>��9��9�a=�G��A��iy�u�}u�>I�y����:��}��5�?����:��}���� �}�p@����?9�}8?B��}��; �}��;)�}n�:�W��W�X� X�W:W2W *W �V U U ����u @zLMv�=�LMv�=�LM�ݫ@�LM[�a@�A��b��B� B��A�#��*B��A��A�q�7�A��<��A�"C�5��*C����=RC��/f<C��C��ֵ��u<I��G��>��d&j,J��E�AY}r试@�}r���@y}r�<�}rh�-��}rH������ѿ������?����S$�?����Ƹ����@:�ѿ��� \������`�=������H�������3��?)~r试@ ~r:T^;I~r��Cɫ�髱)�� ������I��Y����@y��2^G�xDUSBL response received:!U1,P FF9,000,036DF,183,80,80,A6,FF �Command Ack�BRequesting micromodem ping code 2i�������p=i�C=� �Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )�-�= �-�=���Ga����,�����P�i��\�@��� ����@)����@I��i����@����M ==Y�6�:QU�>����!�a%�G��!��)y�-��}5�>I�1��5L�5�?��5���� �5q@��e�?9�5U?B��5�: �5��:)�1�W��W�X� X��W�:W�2W�*W��V�U�U����@�� @zL1�L1�L1�L5�~a@�AM��ϻBI BI�AM=��*BQ�Ay�A}��7�A}<=��Ay"C�4��*C���=RC��eW<C��C��� ��a<I� G- �>�W�&j,^�c��E�AY}6���@�}6[��@y}6� �<�}6��'��}6H����`��ѿ��� ���?����cc�?���@����� ?�ѿ��� _z������뀓���������������?)~6���@ ~6�f^;I~6��Cɫ9�9)�9 �=����I�9��O ����������������� ��:Y��X1y�/�:��o56�9�@Y���@y���^G���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ul�<Mu�=Y�}�R:QU}?��y���a��G����y���}� ?Iȑ����:�ŕ��5�?����:�ŕ��� ƕDq@����?9ƕk?B�Ǖ��: ȕ��:)ȕo�:�W��W�X� X��W�:W�2W�*W��V�U�U������,@zL��L��L��L�4ba@�A�Qݨ�B� B��A��*B��A��A��7�A�f=��A�"C�3��*C�ui�=RC�Z-?<C��C��������h�W<I� G5O>�Y9�YI�]XGi�]��@��Y��Y��Y��]��; �]K�E���&j,�}��E�AY}:O��@�}:��@y}:�ʘ<�}:A���}:H����@E ҿ����y��?���@2��?���������`�ҿ�����������@����� U���`���?)~:O��@ ~:�%^;I~8ɫ9�9)�9 �9I�9Y�}��@y�}^G�xDUSBL response received:!U1,R,FC5,000,00524,185,80,80,41,FF �Fpublishing direction and range info���A�R=���ɰ���=鰅+�> ��)����BI��y���%B�����{��$��?Sn�Y�?��������ٱ���_��M�X=Y�u��QUu�>��y��y�a}�G��y��yy�m`�}��>Iȉ�ō��5�?�ō���� ƍ�q@����?9ƍ�?B�Ǎ#�: ȍ��:)ȉ�W��W�X� X��W�:W�2W *W�VUU���`��@�P!*Q%�%B�Z%��f��سD@d-=�@���������Z%��{��$��?Sn�Y�?��������2Q%A�R=:Q!�Z%�xV���C#��|���(D�ɹ� v<��Z%�� x.�Ϳ�km�4,d���BQ%�J�@ Q%D!�Q%��P%�9?�P%��9?�P%w���Q%����Q%G�@"Q%"��zL��L��L��L�iCa@�A��܁�B� B��A����*B��A��A�X�7�A��=��A "C2��*C�K�=RCS�-<C�C!��= �><I�iG�^>��9��=ʕCi��HmGI��i�����Ee�ٺ�����WA�M 2]?9�M PA��%&j,�����E�A�|i|�@Y}bu��@�}b2��@y}b밒<�}b���}bH�����Oҿ������?�����Ӛ?����������jҿ��������� �U�����@0������@U��?)~bu��@ ~bW)^;I~b��C��&����������������� �J�:Y�[1y�ݏ:��N6ɫ���)�� ��I��Y��j�@y���]G�5DNmea in: $SNTTA,,,,,164833.75*57 ������mA�õ3�>�õ����õd;�iõ��@�ñ ı)ĵ~�@Iıiĵ~�@���ͻM�"=Y��#��QU��>�������a��G������y��*�}��>I�����5�?���;��� ���q@����?9���?B����: �� �:)���m-}Added new target pos. range: 41.459999 m, bearing: 256.562478 deg, deltaT: 4.456883 s, approachRate: -171.388840 m/s, LOS rate: 0.569025 deg/s, posRepo size: 4�W)�W)X) X)�W):W12W1*W1�V1U5���@�D@U=��� �7�?zLQ�LQ�LQ�LU@(a@�Am�a7�Bi Bi�Am?��*Bq�Aq�Au��7�Au�=��Aq"C}5��*C�+�=RC��U<C��C��ֵ�0<I��G��>�6�+&j,o���E�AY}2"��@�}2ߘ�@y}2h~�<�}2ڶ���}2H���� �$ҿ����L��?�����X�?����������`�ҿ����骙������o������f������`���?)~2"��@ ~2>^;I~2��C��nA��mA� �>9� I� �WGi� B�@�� =�� �� �� ��; � E�Eɫ9�9)�9 �=����I�9Y�u2�@y�}�]G�����l����?�n�����y�&1�|?�����=���V� ��`�;)��I��y�����ʡE�?�Q��뱿���Q��?���-�=���\������u< ±)µ�AI±iµ�A������A������M�o=Y���(�QU�?�������a��G������y�����}�?I�����:���a|5�?���:���v��� ��-r@�� �?9���?B���� ; �� ;)��p�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zLU��=�LU��=�LUva�@�LUl'p@�A�@�غB� B��A����*B��A��A�ض7�A��=��A�"C�4��*C��=RC��<C��C���5� &<I�AG]v>�ɲ2&j,]Q˘�E�AY}>���@�}>D��@y}>f|�<�}> ��}>H�����Pҿ�������?���@d��?���@�������ҿ����vn������]�������G����z��?)~>���@ ~>q,^;I~<ɫQ�Q)�Q �U����I�YY���@y���]G��� ���������������� �"C:Y�0Y1y���:���6����=�����=����@�i��@��� ��~�@)��h�@I��h�@i��h�@����$�M�J=Y��i �QU��>�������a��G������y���:}��>I���Cy5�?������ ��r@�� �?9��?B����: �M�:)��W1�W1X1 X1�W1:W12W9*W9�V9U9U=�����t�?zLY�LY�LY�L]g1p@�Au:�Bq Bq�Au�*Bq�Ay�A}�7�A}�=��Ay"C�3��*C���=RC5l <C�C �����<I�GM>�t�8&j,�嘨E�A�|�|�;Y}6y��@�}66��@y}6Nx<�}6����}6H�����: ҿ����3��?���`��?���`g�����@�ҿ����:�������t ��������������m��?)~6y��@ ~6�$^;I~4ɫY�Y)�Y �]����I�YY�}r�@y�}�\G)���= ���=���R�MX=Y�%�0�QU%�>��!��!�a-�G��)��)y�5�=;}5�>I�9��E�:��=\v5�?��E�:��=I��� �=�r@��E�?9�='@B��=��: �=��:)�=q�:�W�WX X �W :W 2W*W�VUU����I��?zL1�L1�L1�L5sJp@�AM��:BI BI�AM�þ*BI�AQ�AUU�7�AU�=��AQ"C]2��*C]=RC])^/<CY�Ca�օ� &<I��G�@>�9�I��VGi���@��=��������; �C�E)ݑ�Iݑ�iݑ��ݕ�=�ݕ�=�ݕ��15��?&j,8����E�AY}2��@�}2ܳ�@y}2Ńf<�}2��$��}2H�����0�ѿ��� _��?������?���ॶ����` �ѿ����\[�����`:Ќ����������������?)~2��@ ~2&^;I~2��Cɫ9�9)�9 �=����I�AY��+�@y��o\G��%� ����%�����%�����%V�� �%?:Y�%[1y�%ݏ:��%�6)�%M�;�9-���5���M5I=Y�=�.�QU=�>��9��9�a=�G��A��Ay�E��;}M�>I�I��M>s5�?��M���� �Mjs@��]�?9�MV@B��M��: �M��:)�I�Wy�WyX� X��W�:W�2W�*W��V�U�U����@���@zL��L��L��L��lp@�A]U��:BY BY�A]&Ⱦ*Ba�Aa�Ae��7�Ae�=��Aa"C�5��*C����=RC�E'G<C��C��ԡ�ԡ����9<I��GK>���E&j,����E�AY}2G��@�}2��@y}24VY<�}2h�%��}2H�������ѿ������?���@��?����i�����@.�ѿ�����������@�*����������������?)~2G��@ ~2�D^;I~2��CɫA�I)�I �II�IY��3�@y��x\G�����>����P�����(�i��f�@��� ��)��~�@I����@i�����f;M�2=Y��W�QU��>�������a��G������y��{e;}��>I����:���o5�?���:��m�� ��s@��%�?9��@B��n; �1M;)�r�:�WQ�WQXY XY�WY:WY2Wa*Wi�ViUiUu��� Ӻ@zL��L��L��L���p@�Au�(;Bq Bq�Au�Ǿ*By�Ay�A}��7�A}�=��A�"C�4��*C���=RC�tZ<C��C����/�C<I��G��>��L&j,d�2��E�A�|i|Y}>���@�}>Pƍ@y}>oP<�}>Wc��}>H�������ѿ������?������?���������`>�ѿ�����`������� ������̊������^��?)~>���@ ~>q2^;I~<��P��R4=�T9�TI�VsVGi�VN�@��T��T��T��V��; �VN�EɫY�Y)�Y �]����I�YY�}�@y�}]\G鮅a=ɮ���%� ����%�����%�����%��� �%�X:Y�%xZ1y�%q�:��%�5)�%Y�;����ʡE��?:��v���?����Mbp?����=���T> ��;)�I�y���MbX9�?�p= ף���~j�t��?��ʡ=�������D< ��A)�XAI�3Ai�3A�����A��9��=nA��M_�MMT=Y�U]��QUU�>��Y��Y�a]�G��Y��ay�mX�:}m�>Iȱ�ŵ�l5�?�ŵ��� Ƶ>t@����?9Ƶ�@B�ǵ]�: ȵf�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����`��@�R�B*** querying acoustic contact ***�P��P�zL5��=�L5��=�L5��@�L5K�o@�Aeeh;Bi Bi�Amɾ*Bi�Ai�Am7�Auo=��Aq"Cu3��*C}e��=RC}��`<Cy�Cy�֝h�W<I��G�c>�"�R&j,3�L��E�AY}2���@�}2X@y}2��M<�}2Ż��}2H�����x�ѿ�������?��� �f�?����ں�������ѿ�����}�����@h�������6������+��?)~2���@ ~2�D^;I~0ɫ9�9)�9 �9I�AY�}:�@y�}�\G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���t=����p>����#<i��ד@��� ��I�@)��3�@I��I�@i��3�@���<MO=Y� �ڹQU �>�����a�G����y���}�>I�!��%4j5�?��%��� �%�t@��5�?9�%�@B��%*�: �%��:)�!�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe���@�� @zLy�Ly�Ly�L}C�o@�A�J��;B� B��A�9Ǿ*B��A��A��7�A�D=��A�"C�2��*C��h�=RC��W<C��C� չ�Խ�=�����a<I��G�G>��'Y&j,�ef��E�AY}2E��@�}2��@y}2x�M<�}2�� ��}2H���� =�ѿ�������?����1n�?���`������@�ѿ����O@������B������@m������`r��?)~2E��@ ~2P8^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�[G�xDUSBL response received:!U1,P FC5,000,00524,185,80,80,41,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 ���S�M�^=Y� QU �>��] ����]�����]�����]��� �]�H:Y�]�W1y�]č:��]46�9}@�����a��G����y�<W�}��>I���� �:���,g5�?���:���^�� ���t@���?9�� AB����< ���<)��s�:�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL!�L!�L!�L%̧o@�Au[,�;Bq Bq�A}�о*By�Ay�A}-�7�A}=��Ay"C�5��*C�WH�=RC�FLB<C��C�ܱ9ܵr�CIܵVGiܵ��@�ܱ�ܱ�ܱ�ܵ��; ݵJ�E�ֵjZX<I��G��>��`&j,[A���E�A�|�|Y}>k��@�}>(��@y}>�S<�}>|� ��}>H������ҿ���ࣰ�?����s��?����{��������ѿ�����j������(c�����`�S���������?)~>k��@ ~><^;I~>��CɫY�Y)�Y �]����I�YY���@y��O\G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Å�= Å�=��D=M�A=Y�7P:QU��>�����a��G����y����}��>I������d5�?������ ��?u@����?9��/AB���k�: ��nZ;)���W��WX X�W:W2W*W �V U U �����%@zL)�L)�L)�L-�o@�A=\�;BA BA�AE�ɾ*BA�AA�AEo�7�AM�<��AI"CU4��*CU�0�=RCU*�(<CQ�CY��M/�C<I�YG}8>�O:f&j,���E�AY}6���@�}6o��@y}6�%N<�}6�[��}6H����@& ҿ��� Ь�?����|z�?���������@�ҿ����Pm�����`�ĉ�����2ʡ�����g��?)~6���@ ~6m�];I~6��Cɫa�a)�i �m����I�iY����@y���[G�xDUSBL response received:!U1,R,15B,000,00528,186,80,80,19,FF �Fpublishing direction and range info���� �����ɰ�D�=����> ��)����AI��y���&B��e ����������������� ��;:Y�[1y�ݏ:��6�����=�E��?̣A��ӿ��������ٱ��-dNmea in: $SNTTA,0.047401,0.311132,,,164838.17*5D ���� ףp= �?����Mb���~j�t������Q8=����� ���D�)��I��y����MbX9�?�V-����~j�t�?������h�������< µ�A)µ�AIµ^Ai±������ A�� �D��� /ݼ�� ��=i� ��@�� � ��@)� ��@I� ��@i� ��@��T�M'=Y�%~#�QU%�>��!��)�a-�G��)��)y�5�Q�}5�>I�9��E�:��=�`5�?��E�:��= �� �=�u@��E�?9�=dAB��=��: �={�:)�=t�:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUqU}�����@�P*Q�&B�Z��7����C@�k���(����������Z��=�E��?̣A��ӿ��������2Q� ��:Q�Z���h17�t}�SA�,�{6�����Z�[4�H�����꿈J�[�BQQ�@ Q� �Q����P��9?�P�9?�Pm���Qw���Qk�@"QG�@zLM��=�LM��=�LM]��@�LM�l@�A�6 �;B� B��A��о*B��A��A�}�7�A�s<��A�"C�3��*C��=RC��T<C��C��������֭�h%<I��G��>��cl&j,#����E�A�� �� �$9�$I�&�UGi�&��@��&=��$��$��&��; �&9�EY}F<��@�}F���@y}F��G<�}F����}FH�����%6ҿ����G��?�������?���`������@�,ҿ�����e�����`O��������P������%��?)~F<��@ ~F��];I~F��CɫY�Y)�Y �]����I�YY����@y���[G��u�:<M}�=Y�}6��QU�?�����a��G����y����}�?Iȡ�ťx^5�?�ť �� ƥMv@��-�?9ƥ�AB�ǥ#�< ȥ4�<)ȡ�m]uAdded new target pos. range: 41.700001 m, bearing: 236.207421 deg, deltaT: 4.538447 s, approachRate: 0.052882 m/s, LOS rate: -4.485027 deg/s, posRepo size: 4�WY�WYXY XY�WY:Wa2Wa*Wa�VaUm������D@Um�����]�?zL��L��L��L��l@�A��<B� B��A�Ͼ*B��A��A���7�A�4<��A�"C�2��*C�M�=RC�9N�<C��C������<I��G J>��Ks&j,��͙�E�A�|i|Y}6�v�@�}6]��@y}6��><�}6����}6H�����nLҿ�������?����9�?����r�������Bҿ����������@�؇����@Ѵ���������?)~6�v�@ ~6��];I~6��Ci��nGI�)i�AɫY�Y)�Y �]����I�Y����6�ٺ����L,AY�� �@y��[G��%� ����%�����%�����%��� �%W@:Y�%�W1y�%č:��%6��a��a�ít���í�T<�íG�ií(�@�é ĭI�@)ĭI�@IĭI�@iĭI�@���V�M�F=Y�����QU��>�������a��G������y��r`�}��>I������:���V[5�?����:���g�� ���v@����?9���AB�����: ����:)��u�:�W��W�X� X��W�:W�2W�*W��V�U�U����`\�?zL��L��L��L���l@�A��<B� B��A�4ھ*B��A��Aۭ7�A�;��A"C-5��*C-�Ԅ=RC5Q�;C1�C1��YI�iG�Z>��uy&j,}�癨E�AY}:mq�@�}:*�@y}:|)<�}:���}:H�����vVҿ��� ��?���@�l�?���@�����`�Mҿ����~ؔ�����v!������������?)~:mq�@ ~:�];I~8ɫ9�9)�9 �=����I�9Y�}��@y�}�[G��U�K=M]Q=Y�]�^�QU]�>��a��a�ae�G��a��iy�m�պ}m�>I�q��ubX5�?��u��� �u]w@����?9�u�AB��u�: �u�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`��?zL��L��L��L�`�l@�A��<B� B��A�@о*B��A��A��7�A��;��A�"C4��*CH��=RC���;C�C ��=�����[R�;I��G-->�I9�II�MHUGi�MZ�@��I��I��I��M��; �M7�E��]�&j,����E�AY}2�w�@�}2S��@y}2r�<�}2#`��}2H������Jҿ������?�����_�?��� ��������Bҿ���@������`�ځ������j������b��?)~2�w�@ ~2�m];I~2��Cɫ9�9)�9 �9I�9Y�}g�@y�}~[G��%� ����%�����%�����%��� �%�T:Y�%�X1y�%/�:��%�6)�%��;�9-���5��M5M=Y���QU��>�����a��G����y�2�:}��>Iȡ����:�ťFU5�?����:�ť� �� ƥ�w@����?9ƥ BB�ǥZ�: ȥ/�:)ȥv�:�W��W�X� X��W�:W�2W�*W�V UU����RN�?zL1�L1�L1�L5��l@�AE��$<BA BA�AMkԾ*BI�AI�AM-�7�AM;��AQ"CU3��*C]Θ�=RC]��;CY�CY��e#2�;I�iG�9>����&j,`t��E�AY}:k��@�}:(��@y}:\�;�}:AI��}:H����`�$ҿ�������?���`�f�?������������ҿ����t������m������H���������?)~:k��@ ~:Z];I~:��Cɫ�髙)�� ��I��Y����@y��+\G��=��������?㥛� �¿���x�&�?��=ff>��=�� �=7�=)�9I�9y�=��A`��"�?�&1�������Mbp?��=Y=��=�P���=�; �=�A)�=- AI�=�Ai�=A��9��=\A)�U�= �U�=�Ý�P=�Ý\�=�Ýף=iÝf�@�Ù ĝ~�@)ĝ~�@Iĝ~�@iĝ~�@��=M�4=Y� �QU��>�����a��G����y��Z�;}��>I������R5�?������ ��x@����?9��+BB���#�: ��b�:)���W��W�X� X��W�:W�2W*W�VUU �����I�?zL�ۖ=�L�ۖ=�L�d��@�L�TLj@�A���,<B� B��A��˾*B��A��A�N�7�A��:��A�"C�2��*C6w�=RC%�*<C!�C)��U�0�;I�YG}z>��1��5�<�99�9I�=�TGi�= �@��9��9��9��=��; �=B�E�*��&j,-@5��E�A)���r�CI���r�Ci�������=����=����`�4Y}6;��@�}6���@y}6g��;�}6 ���}6H���� ��ҿ����ɰ�?�������?����������`��ѿ���@��������:\~������Q�����`���?)~6;��@ ~6i;];I~6��Cɫ9�9)�9 �9I�AY����@y���[G��-����-�����-�����-��� �-_�:Y�-d\1y�-��:��-�6)�-<D<��u�˼Mua=Y�}_��QU}�>��y���a��G����y�#�;}��>Iȑ�ŕ�P5�?�ŕ��� ƕ1x@����?9ƕFBB�Ǖn�: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@Z�@zL)�L)�L)�L-�qj@�AE��4<BA BA�AE@о*BA�AI�AM��7�AM<:��Ai"Cu5��*Cu^�=RCuA/1<Cq�Cy�ԍmA�ԍmA�օ�H<I��G�=>�*��&j, O��E�AY}6'��@�}6䴍@y}6�@�<�}6H*��}6H����@��ѿ��� I��?����<��?����y������G�ѿ����������� ������ d�����@v��?)~6'��@ ~60�];I~6��Cɫ9�9)�9 �=����I�9Y�u��@y�}�[G�yɮy��5����5ף;��5�#�i�5(�@��1 �5I�@)�5I�@I�5I�@i�5I�@��E<�MEM=Y�M��:QUM�>��I��Q�aU�G��Q��Yy�]*3;}]�>I�a��m�:��e�N5�?��m�:��ed�� �eTx@��u�?9�edBB��e��: �e��:)�ew�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��j@�A�,V;<B� B��A��Ѿ*B��A��A���7�A��9��A�"C�4��*C��B�=RC��;<C��C����0<I��G*>�vę&j,��h��E�A�|i|Y}>���@�}>���@y}>�~<�}>c���}>H���� �ѿ���@���?��� /Π?����@��������ѿ��� �Z�������o����� ��������D��?)~>���@ ~>u^;I~<ɫY�Y)�Y �]����I�YY���@y��[G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��%� ����%�����%�����%��� �%�A:Y�%DW1y�%Y�:��%^.6�9-@��mA���$�M�E=Y���9QU��>�����a��G����y��X:}��>Iȹ�Ž�L5�?�Ž@�� ƽyx@����?9ƽ�BB�ǽ��: Ƚ��:)ȹ�Wi�W�X� X��W�:W�2W�*W��V�U�U����@88 @zL��L��L��L�q�j@�A ?�@<B B �A oھ*B �A�A¨7�AI9��A"C3��*CW$�=RC�=<C�C!���>9��I��i����������������; ��@�E��=�8<I�IGeV>�[��&j,�҂��E�AY}2.��@�}2멍@y}2� <�}2�!��}2H����`�ҿ���`ԯ�?�����5�?����a��������ѿ����-������ �a�������"��������?)~2.��@ ~2�^;I~2��CɫY�Y)�Y �YI�YY�}��@y�}�ZG�xDUSBL response received:!U1,P 15B,000,00528,186,80,80,19,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 ������M�W=Y�6��QU �>��)��1�a=�G��9��Iy�X��}%�>I�Y����:��]NJ5�?����:��] �� �]�x@����?9�]�BB��]�}< �]��<)�]x�:�W��W�X� X��W�:W�2W�*W��V�U�U�����"�@zL��L��L��L��oj@�A]�gF<B� B��A�\۾*B��A��A�ҧ7�A��8��A�"C�2��*C���=RC��"<C�C �)��-�=��--�B<I�9GU�>�^ڦ&j,Y����E�AY}U���@�}Um��@y}UF$<�}U*a��}UH�����2$ҿ���ફ�?���`sM�?������������ҿ���`�Ò�����z������ �J�����@x��?)~U���@ ~U��^;I~U��C��%d ����%�����%�����%��� �%�;:Y�%�X1y�%/�:��%;6ɫ�髉)�� ������I��Y���@y���ZG������AA�E�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� Nmea in: 00*27 ��xResponse from modem failed NMEA checksum: 00*27 expected 0��%�k�t��?�Q��롿�I+�����% 0>��%\� �%9��)�!I�!y�%�D�l����?�l���I+�����%O�=��%�����%94� �%5A)�%XAI�%�Ai�%�A��!��% A�������\=�����i����� ��)��I��i���� _[�M =Y�/�:QU�>�����a�G����!y�%���}%�>I�)��-�F5�?��-b�� �-Vx@��=�?9�-�BB��-��: �-<�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm���`�6@zL�o�=�L�o�=�L��Ϯ@�L�h�f@�A�DwJ<B� B��A�Iܾ*B��A��A��7�A�58��A�"C�5��*C��=RC`?<C�C��% ԅ#<I�1 GU �>��������9��I���TGi����@���=�����������; ��:�E�6��&j,�����E�A�|�|4<Y}6�|�@�}6���@y}6Q�<�}6�V��}6H�����KBҿ���`���?������?����A�����`h;ҿ���@�呿��� �������`�i���������?)~6�|�@ ~6�d_;I~6��Cɫ�髙)�� ������I��Y��F�@y��U[G�xDUSBL response received:!U1,R,FBE,000,0052F,184,80,80,B0,FF �Fpublishing direction and range info�����k=���ɰ�j�=����> ��)���0CI��y��z(B����W���j��?`8�.y�?��������ٱ����(=M�=Y�%�кQU%#?��!��!�a-�G��)��)y�5v�}5#?I�9��E�:��=hD5�?��E�:��=�� �=.x@��E�?9�=�BB��=^�: �=k�:)�=y�:�W!�W!X! X!�W):W)2W)*WQ�VQUQUU���`-l@�Pa*Qez(B�Ze��$�kE@����e@���������Ze�W���j��?`8�.y�?��������2Qe��k=:Qa�Ze�H�a/!Y#����~D�����;ۿ�Ze��zs�fͿkCԍ�$�QY����BQePa�@ Qe�#�Qe���Pe�9?�Pe��9?�Pey���Qem���Qe��@"Qek�@zL��L��L��L��ef@�A�F\N<B� B �A �־*B �A �A �7�A �7��A"C4��*C�˃=RC���;C�C��]��<I�qG�\>���&j,�aК�E�AY}2�r�@�}2|��@y}2���;�}2$[��}2H����@ Tҿ����V��?������?������������Mҿ���`}̐������~�������������~��?)~2�r�@ ~2dK_;I~2��CɫI�I)�I �M����I�IY�}�@y�}[G��%\ ����%�����%�����%��� �%(;:Y�%xZ1y�%q�:��%D�5��M��>��Mߏ���M��i�M@��I �Mh�@)�Mh�@I�M~�@i�Mh�@��]�W�MeF=Y�e�ͺQUe�>��i��i�am�G��i��iy�uq3�}u�>I�y��}?A5�?��}�� �}�w@����?9�}CB��}��: �}M�:)�y�mUqAdded new target pos. range: 42.119999 m, bearing: 256.721129 deg, deltaT: 4.357558 s, approachRate: 0.096384 m/s, LOS rate: 4.707616 deg/s, posRepo size: 4�WQ�WQXY XY�WY:WY2WY*Wa�VaUe��� \E@Ue�������?zL��L��L��L��Uf@�A�=�P<B� B��A�Gپ*B��A��A�?�7�A�R7��A�"C�3��*C g��=RC �T�;C �C��%nA��%nA��c��;I�)GER>��&j,=ꚨE�AY}2Iq�@�}2�@y}2A��;�}27j��}2H����`�Vҿ���`��?���@��?����>������Qҿ����f�������z}�����vL���������?)~2Iq�@ ~2Q8_;I~2��Cɫ9�9)�9 �9I�9Y����@y���ZG��)��)��u��MuI=Y�}/�QU}�>��y���a��G����y���}��>Iȑ����:�ŕ >5�?����:�ŕ#�� ƕ�w@����?9ƕICB�Ǖ��: ȕ��:)ȕz�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�P�?zL��L��L��L�lSf@�A� �R<B� B��A�K߾*B��A��A�^�7�A��6��A�"C�2��*C���=RC�4��;C��C�ܑ9ܑIܑiܑ�ܑ�ܑ�ܑ�ܕ��; ݕ=�E���*��;I��G�G>����&j,���E�AY}:�l�@�}:nz�@y}:��;�}:Ӳ��}:H������_ҿ����s��?���`b�?���`�����`{Yҿ�����ΐ����� �}����@vՠ�����Z��?)~:�l�@ ~:P�^;I~8ɫ9�9)�9 �=����I�9Y�}n�@y�}�[GI��)����%����%�����%�����%]�� �%�\:Y�%�V1y�%�:��%� 6)�%��;�9-���5�S=M=?=Y�MT9QUU�>��Y��a�ae�G��i��qy����}��>Iȉ�ō�:5�?�ō<�� ƍsw@����?9ƍvCB�Ǎ��; ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W�VUU����и�?zLA�LA�LA�LE8If@�Au��S<By By�A}�Ӿ*By�Ay�A}v�7�A}D6��A�"C�5��*C��m�=RC��X�;C��C���u��>��qi��=nGI��i� ��U�=�ٺY��]�2A����;I��Gn>�o'�&j,���E�AY}U^m�@�}U{�@y}U���;�}U�G��}UH����`Y^ҿ������?���`��?����������Wҿ���`@�����`ܒ������g�����@v��?)~U^m�@ ~U��^;I~U��Cɫ)�1)�1 �5����I�1Y���@y���ZG������C�l�?�n�������K7��?���d;>���V� ��I>)��I��y���k�t��?:��v��������Mbp?��� �=����T�����; A) �AI ^Ai A����������>���X>�����<i��\�@��� ��+�@)��ƣ@I��+�@i��+�@��Mo�MU9=Y�U%}:QUU�>��Y��Y�a]�G��Y��ay�e?G9}e�>I�i��m85�?��m��� �m�w@��u�?9�m�CB��m�: �m÷:)�i�W��W�X� X��W�:W�2W�*W��V�U�U����`���?zL���=�L���=�L�Ǩ�@�L�mDx@�A���T<B� B��A��ܾ*B��A��A���7�A��5��A�"C�4��*C�QM�=RC���;C��C� ��=���=�����;I��Gm>��y��y܁9܁I܁i܁�܁�܁�܁�܅��; ݅>�E�jN�&j,��7��E�AY}F�q�@�}F��@y}F��<�}F���}FH����`�Uҿ���`���?�������?����\������fMҿ��� 9N������)������������������?)~F�q�@ ~Fs^;I~F��CɫY�Y)�Y �]����I�YY��\�@y��p[G)� �= � �=��%� ����%�����%�����%��� �%PU:Y�%�W1y�%č:��%��5)�%��;��5�1=M5u=Y�5�:QU=?��9��9�a=�G��9��Ay�E�:}E?I�I��]�:��M�55�?��]�:��M(�� �M�w@��]�?9�M�CB��M�; �M';)�M{�:�W��W�X� X��W�:W�2W�*W��V�U�U���� D��?zL��L��L��L��Ox@�Ae.�T<Ba Ba�Aeվ*Ba�Aa�Am��7�AmG5��Ai"C�3��*C��1�=RC�(�;C��C��ԥ���ԥ�� խ���ԭ��I��G��>�6�&j,��Q��E�A�|�|�;Y}6�w�@�}6Z��@y}6�:<�}6� ��}6H�����Jҿ���`���?������?������������Aҿ���@������`1ǁ�����*������^��?)~6�w�@ ~6o�^;I~6��Cɫ9�9)�9 �=����I�9Y����@y���[GI�9)�9��9i�=p=�Ý+���Ýp=��Ý��<iÝ��@�Ù ĝ�@)ĝ~�@Iĝh�@iĝh�@���<M�C=Y�6�:QU��>�����a��G����y����:}��>I�����Z35�?������ ���w@����?9���CB���YW; ��X;)���W�WX X �W :W 2W�*W��V�U�U������p@zL��L��L��L�>\x@�A���T<B� B��A�о*B �A �A �7�A �4��A"C2��*C��=RC6b�;C�CI�QG�>��_�&j,b�k��E�AY}:X��@�}:��@y}:��<�}:���}:H���� >2ҿ��� ��?���`�K�?�����������o)ҿ����=W�����@�X�������x����� ���?)~:X��@ ~:�I^;I~:��Cɫ9�9)�9 �=����I�AY�}��@y�}�[G鮅p=ɮ���6 �M�]=Y��;QU��>�����a��G����y�ʉ;}��>Iȹ����:�Ž15�?����:�Ž*�� ƽ�w@����?9ƽDB�ǽ��: Ƚ��:)Ƚ|�:�W��W�X� X��W���%� ����!��!��%��� �%�B:Y�!y�!��%��6�9-@:W�2W�*W��V�U�U������j@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��tx@�A9�S<B B!�A%�Ѿ*B!�A!�A%�7�A%C4��A!"CM5��*CU��=RCU~��;CQ�CQI��G��=�19�1I�1i�1��5=��1��1��5��; �1)���I���i�����ń=��ń=��ń�^5�JH�&j,�`���E�AY}2ы�@�}2���@y}2'�'<�}2)���}2H������#ҿ���`��?����|��?������������ҿ����)K����������� �������t��?)~2ы�@ ~2�G^;I~2��CɫA�A)�A �AI�AY�}!�@y�}'[G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���mA���nA�� ��M%D=Y�-��:QU5�>��A��A�aM�G��I��y�M;}U�>I�q��u+.5�?��u��� �ux@����?9�uEDB��uX�: �uC�:)�q�W��W�X� X��W�:W�2W�*W��V�U U ����� @zLA�LA�LA�LE��x@�Au\�R<Bq Bq�Au�ؾ*By�Ay�A}$�7�A}�3��Ay"C�4��*C�CՂ=RC�i�<C��C�I��G�'>�Yu�&j,bH���E�A�|8i|8��� ��������P�� �KC:Y�y���N6Y}=D��@�}=��@y}=C*9<�}=�U��}=H����` ҿ����9��?����Wh�?����4�������ҿ���������� (%������� ���������?)~=D��@ ~=V^;I~=��Cɫ�)� �����I�Y�Mr�@y�M�[GUxDUSBL response received:!U1,P FBE,000,0052F,184,80,80,B0,FF UCommand AckUBRequesting micromodem ping code 2i�Q��QI�Y)�Y�e�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �������Q��?�I+��?Zd;�O�������u=���94< ��j��)��I��y�������K�?���x�&������Mb`?���^�=���7�����; �A)!AIAi3A�������A��mC�<��m(����m �=i�m�@��i �m3�@)�m3�@I�m�@i�m3�@���<M�=Y���:QU��>�����a��G����y�1:}��>I������:���*5�?����:��� !�� ��:x@���?9���DB�����; ����;)��}�:�W��W�X� X��W�:W�2W�*W��V�U�U ���`��@zLU x�=�LU x�=�LU ���@�LU ��r@�A� X�Q<B� B� �A� �Ӿ*B� �A� �A� �7�A� �2��A� "C� 3��*C� ���=RC� >T<C� �C� ��)��)�99�9I�9i�9��9��9��9��=��; �=F�E�ֵ�] <I��G��>�e��&j,����E�AY}f$��@�}fᛍ@y}f�A<�}f#���}fH����@Wҿ����3��?�����^�?�����������ҿ����@>������l ������&���������?)~f$��@ ~f8B^;I~f��Cɫ�髙)�� ������I��Y����@y��+\G������@A� �Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=M��=Y���;QU�7?�����a��G������y��b��}�7?I�����1(5�?����!�� ��Gx@����?9���DB���4�: ����:)���W �W X X�W:W2W*W�VUU���`�@zL9�L9�L9�L=��r@�AU7�O<BQ BQ�AU�˾*BQ�AY�A]��7�A]�2��AY"Ce2��*Ce���=RCe�,<Ca�Ci����<I�)GUS>���&j,�қ�E�AY}2q��@�}2.��@y}2�iQ<�}2�g ��}2H�����ҿ�������?���@65�?����������`�ҿ���@��������-����� �������@s��?)~2q��@ ~2{i^;I~2��Cɫ9�9)�9 �9I�9Y�}\�@y�}p[G�xDUSBL response received:!U1,R,FD6,000,0052F,185,80,80,A3,FF �Fpublishing direction and range info���Q =���ɰ�鰅+�> ��)���#CI��y��������-���?(א��¢?��������ٱ�)í�= í�=����}=�����=���̌>i��\�@��� ����@)����@I����@i��~�@���F�MV=Y� �+;QU �>�� ���a�G����%�����%�����%�����%��� �%G/:Y�%�V1y�%�:��%��5��)y��^�:}��>I������:��� %5�?����:����#�� ��\x@����?9���DB�����: ����:)��~�:�W9�W9X9 X9�W9:WA2WA*WA�VAUAUM������@�Py*Qy�Z}���.�E@��̷��?���������Z}���-���?(א��¢?��������2Q}Q =:Qy�Z}�~h�L�$�j0L�wgD� �UG����Z}���ս�Ͽ�Pϝ���.2�_����BQ}H͎@ Q};#�Q}�&��P}�9?�P}�9?�PyQ}y���Q}p�@"Q}��@zL��L��L��L��r@�A�X�N<B� B��A�վ*B��A��A���7�A�52��A�"C5��*CG~�=RCU <C�C)��=Β�;I�IGeV>�4��&j,�웨E�AY}2Օ�@�}2���@y}2�LP<�}2����}2H������ҿ�������?�����a�?���`5�����`Pҿ�����3����� i �����������������?)~2Օ�@ ~2k�^;I~0ɫ9�9)�9 �=����I�AY�}�@y�}[G���=i���=��DNmea in: $SNTTA,,,,,164847.12*55 I�@A)���]i��MeE=Y�eX+�QUm�>��q��q�a}�G��y��y�R8:}��>Iȁ�Ņ�!5�?�Ņ'%�� ƅsx@����?9ƅ�EB�Dže�: ȅ��:)ȁ�m�uAdded new target pos. range: 42.119999 m, bearing: 255.685782 deg, deltaT: 4.446539 s, approachRate: 0.000000 m/s, LOS rate: -0.232843 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�U�����B��?zL��L��L��L�R�r@�A��L<B B�A�پ*B �A �A ƛ7�A �1��A "C4��*Ca�=RC <<C�C���>9��I���TGi�� �@���=�����������; ��E�E�����<I��Gm>��'j,H���E�AY}6���@�}6Z��@y}6�5W<�}6��}6H�����Uҿ���@���?����WР?�������������ѿ�����ᗿ����抿���@�~�����@Z��?)~6���@ ~6��^;I~6��CɫA�A)�A �M����I�I��M* ����M�����M�����MP�� �M�K:Y�MxZ1y�Mq�:��MN6)�M�;�9U�Y�U �@y�U[G��-��>��-E����-���i�-@��) �-h�@)�-h�@I�-h�@i�)��=��M===Y�E�:QUE�>��A��A�aE�G��I��Iy�U�:}U�>I�Y��]�5�?��]�&�� �]�x@��e�?9�]/EB��]�: �]�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����I��?zL��L��L��L���r@�A�j�J<B� B��A�4ھ*B��A��A��7�A�81��A�"C�3��*C��D�=RC�$�<C��C������<I� G5O>���'j,h� ��E�AY}:⒕@�}:���@y}:�\<�}:����}:H����@%ҿ���`���?��� \a�?���@L������pҿ����������������������������?)~:⒕@ ~:ӳ^;I~8ɫQ�Q)�Q �QI�QY�u�@y�uK\G����R���Q�?/�$����~j�t�������B>����� ���D�)��I��y���<�O��n�?J+������Q������t�=����H�����u� dA)- AI�Ai�A�������A���nA���mA����=M�P=Y��H`:QU��>�������a��G������y����}��>I�����:����5�?���:����'�� ��.x@���?9��REB�����: ����:)���:�W)�W)X) X)�W):W)2W1*W1�V1U1U=���`EF�?zLU��=�LU��=�LU��@�LU֝t@�At�H<B B �A �ʾ*B �A �A �7�A�0��A"C2��*C�&�=RC�&<C�CA �M�=��M�=��=�H<I�aG}Y>�ٹ �ٽ 4=�� 9�� I�� i�� ��� ��� ��� ��� ��; �� A�E��� 'j,�^:��E�A�|i|Y}6���@�}6d��@y}6\_l<�}6"���}6H����@ 7ҿ���`���?�������?���`N�������,ҿ���@gM�����`�������`~ӡ���� .��?)~6���@ ~6֖^;I~6��Cɫ9�9)�9 �=����I�9Y�]+�@y�]o\G���J<M�Z=Y��^';QU��>�����a�G���� y� F��} �>��%� ����%�����%�����%V�� �%$Y:Y�%�[1y�%H�:��%�6)�%հ;I�)��-5�?��-)�� �-�w@����?9�-sEB��-Ƈ< �-�<)�)�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL �L �L �L �~t@�A%�F<B! B!�A%&Ⱦ*B!�A)�A-J�7�A-G0��A)"C55��*C5� �=RC5&�;C1�C9��E�0�;I�QGu6>i�� �lGI�� i�� ��� �6�ٺ� ��� L,A�<�'j,�8T��E�AY}2�h�@�}2Iv�@y}2��|<�}2�1��}2H�����)gҿ���`��?�������?���@������F]ҿ���@��������͏�����@�Ġ��������?)~2�h�@ ~2��^;I~0ɫ9�9)�9 �E����I�AY�}�@y�}T\G��5^�=��5��=��5^�=i�5�@��1 �5�@)�5�@I�5��@i�5�@��E�ֻMEE=Y�M�;QUM�>��I��Q�aU�G��Q��Yy�]��}]�>I�a��m�:��e$5�?��m�:��eT*�� �etw@��u�?9�e�EB��e�: �e��:)�e��:�W�WX X�W:W2W*W�VUU%������@zLY�LY�LY�L];Ot@�A�g�E<B� B��A��ɾ*B��A��A�v�7�A��/��A�"C�4��*C�\�=RC�Ĺq;C��C����X�;I��G�F>�[�'j,�n��E�AY}2~W�@�}2;e�@y}2�*�<�}2�T��}2H�����ʇҿ������?�����9�?���@�����@�}ҿ�����������'%������G����������?)~2~W�@ ~2̆^;I~2��Cɫ9�9)�9 �9I�9Y��ò@y���[G)� �= � >��%�����%�����%�����%��� �%3:Y�%�Y1y�%�:��%�6�9-@��5˼M5L=Y�5^h:QU=�>��9��9�a=�G��9��Ay�E��}E�>I�I��M�5�?��M�+�� �Mw@��]�?9�M�EB��M�: �M��:)�I�Wy�WyXy X��W�:W�2W�*W��V�U�U����`%&@zL��L��L��L��,t@�A��E<B� B��A��ξ*B��A��A���7�A�U/��A�"C�3��*C�́=RC��;C��C���]nA��]mA�q9�qI�qi�q��q��q��q��u��; �uD�E��Eq�Z;I�QG}7>���!'j,�E�A�|�|p;Y}V+W�@�}V�d�@y}V���<�}V�C��}VH�����e�ҿ���@���?����q��?���@�������}ҿ����������� QW������g����� 9��?)~V+W�@ ~VH�^;I~Tɫ���)�� ������I��Y� �@y�b\G�a=ɮ=��}5�>��}�>��}�'>i�}��@��y �}��@)�}~�@I�}��@i�}��@��~�<M�D=Y� �9QU��>�����a��G����y�uǸ}��>Iȩ����:�ŭs5�?����:�ŭ�,�� ƭ�v@����?9ƭ�EB�ǭ��: ȭA�:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U������~@�RB*** querying acoustic contact ***�P�PzL�L�L�L,)t@�A-�3D<B1 B1�A5�Ⱦ*B1�A1�A5Җ7�A5�.��A9"C=2��*CE���=RCE�t;CA�CA���0:�:I��G�G>�`('j,:ʡ��E�AY}6�c�@�}6�q�@y}6L��<�}6q���}6H���� �oҿ�������?�����9�?���`������ 3dҿ�����X������|>������`������ z��?)~6�c�@ ~6\�^;I~4ɫ9�9)�9 �9I�9Y�}u�@y�}�\G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������������������������ ��2:Y�0Y1y���:����5��]���MbX�?i��|?5������Mbp?��]�J>��]�� �]�;)�YI�Yy�]�P��n��?L7�A`尿�Q���?��]>��]+����]\= �]�A)�]�AI�Yi�]3A��Y��]�A��}H�<M}<=Y�} e�QU}�>�����a��G����y�*l;}��>Iȑ�ŕ�5�?�ŕh/�� ƕ�w@����?9ƕ!FB�Ǖ8�: ȕb�:)ȑ�W�WX X�W :W 2W *W �V UU���`� @zLM�>�LM�>�LM���@�LM�B}@�Ae%C<B� B��A��þ*B��A��A���7�A�S.��A�"C�5��*C����=RC�1l;C��C��֝��;I��G�b>��i ��m nA�q 9�q I�u HUGi�u Z�@��q ��q ��q ��u ��; �u Q�E)��I��i�����=���=���9�4��8.'j,����E�AY}2�~�@�}2���@y}2�c�<�}2����}2H���� Z<ҿ������?����Z�?��� V������ 0ҿ������������JL�����`�z��������?)~2�~�@ ~2��^;I~0ɫY�Y)�Y �]����I�YY��X�@y���\G�xDUSBL response received:!U1,P FD6,000,0052F,185,80,80,A3,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 ������oA��u�MuK=Y�}�9QU��>�����a��G����y�k<}��>I�����:���Z5�?��-�:����1�� ���x@��5�?9��_FB���< ���<)����:�W��W�X� X��W�:W�2W�*W��V�U�U���� �x @zL)�L)�L)�L-�}}@�A���A<B� B��A�_ž*B��A�A*�7�A�-��A"C4��*C�e�=RC=`�;CA�CI ե�=�ԥ�=�֭r��;I��G��>�c 5'j,��՜�E�Aɫy�y)�y �yI�yY����@y���[G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�1)�1����?���\������'�i��3�@��� ��~�@)��h�@I����@i��h�@�� B�M Q=���=i�a=��%�����%�����%�����%��� �%C3:Y�%�X1y�%/�:��%��5Y�-���QU-�>��1��1�a5�G��1��9y�=���}=�>I�A��E, 5�?��E)4�� �E|y@��U�?9�E�FB��E��: �E��:)�A�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U�����>*@zL��L��L��L��A���@<B� B��A��ξ*B��A��A�a�7�A�i-��A�"C�3��*C�M�=RCE��;CI�CI��=[R�;I�IGeV>�{J;'j,�[E�AY}2��@�}2ɾ�@y}2Bd�<�}2����}2H�������ѿ������?���@���?����O������N�ѿ������������N����������������?)~2��@ ~2�^;I~2��Cɫ9�9)�9 �=����I�AY�}dz@y�}/]G�xDUSBL response received:!U1,R,FA0,000,00537,185,80,80,7D,FF �Fpublishing direction and range info������=���ɰ���=鰁 ��)����BI��y��f*B����I -�D��?��=�k�?��������ٱ���uʪ=MuT=Y�}�f;QU}�>��y���a��G����y���<}��>I�I��M�5�?��M�6�� �Mez@��]�?9�M�FB��M�: �Mӻ:)�I�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�f*B�Z��b���9E@���t�@���������Z��I -�D��?��=�k�?��������2Q����=:Q��Z����pJ� �Zv��D����Ods��Z��"l/Pɿ�(7-�\¬5p�ʞ��BQ��l�@ Q��&�Q����P��9?�P��9?�P�{���Q�Q�S�@"Q�p�@zLa�La�La�Le~�}@�A��@<B� B��A�n��*B��A��A���7�A��,��A�"C2��*C �.�=RC >�=<C �C�M�>9�Ms�CI�M�UGi�M��@��M=��I��I��M��; �MM�E��5�;I�AG�|>�[6B'j,xG ��E�AY}5���@�}5V��@y}5�!�<�}5����}5H������ѿ���@@��?��� Ad�?������������ѿ�����Y����������p������ %��?)~5���@ ~5`�^;I~5��CɫI�I)�I �M����I�QY����@y���\G��d��������������y�� �b':Y�0Y1y���:����5)�ׅ;�9��mTNmea in: $SNTTA,0.051070,,,,164851.51*48 )�}�= �}�=���ʡ=���`�=����S�i���@��� ��h�@)��I����@i��������M�5=Y��� ;QU��>�������a��G������y��)5:}��>I������:���H5�?����:���$9�� ��X{@���?9��GB�����: ����:)����:�m5qAdded new target pos. range: 42.599998 m, bearing: 258.591918 deg, deltaT: 4.456772 s, approachRate: 0.107701 m/s, LOS rate: 0.652072 deg/s, posRepo size: 4�W1�W1X1 X1�W9:W92W9*WA�VAUE�����LE@UE������?zLa�La�La�Le��}@�Au� A<By By�A}"¾*By�A�A̒7�A%r,��A!"C-5��*C-��=RC-Yf4<C)�C1��a��enA��M+WB<I�YGuz>��\H'j,�#��E�Aɫ�髙)�� ������I��Y���@y��\]G��=R=i�=%=�����S㥛��?�l����+���������$>����� ����)��I��y����Q���?)\���(����~j�t�����\�=���Ga������� �� A)��I��3Ai�������� A�����=M�[=Y�����QU��>�������a��G�����y����}�>I� �� ��5�?�� 9:�� � �z@���?9� 5GB�� 3�: � �:)� �W9�WAXA XA�WA:WA2WA*WI�VIUIUM����?O�?zL�l�=�L�l�=�L�<��@�L��hp@�Au��A<Bq Bq�Au��*By�Ay�A}�7�A}�+��A"C%4��*C%��=RC%��2<C!�C)��M*:<I�aG��>�� �� �<�9�I�VGi���@�� =������D����; �[�E���N'j, �<��E�AY}6���@�}6v��@y}6eɛ<�}6(���}6H������ ҿ���`=��?���@�~�?����<��������ѿ����7������x�����`:�����@S��?)~6���@ ~6_;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}s]G��=��;M=W=Y�=�;QUE�>��A��A�aE�G��A��Iy�MB �}M�>I�Q��]�:��U��5�?��e�:��UQ;�� �Uuz@��e�?9�UXGB��Us�: �U�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����a��?zL��L��L��L��*p@�A��LC<B� B��A����*B��A��A�U�7�A��+��A�"C�3��*C��߀=RC��-�<C��C������������������G�� ��):Y��[1y�H�:��X6)���;����x/<I��G)>�SoU'j,��V��E�AY}6 ��@�}6Ɨ�@y}6��<�}6&-��}6H�����&ҿ���@^��?����~,�?��� �����`rҿ��� ��������������tã�����c��?)~6 ��@ ~6h_;I~4ɫY�Y)�Y �]����I�YY��=�@y���]G��M�?��M`�;��M�ļi�M��@��I �Mz�@)�II�Ii�I��]��<M]H=Y�e��9QUe�>��a��i�am�G��i��iy����}��>I������5�?����<�� ���y@����?9��~GB�����: ��*�:)���W�WX X�W:W2W!*W!�V!U!U-����`}�?zLA�LA�LA�LE"p@�A]�=E<BY BY�A]��*BY�Aa�Ae��7�Ae+��Aa"Cm2��*Cm���=RCuA��;Cq�Cq Յ�=�ԅ�=����P�;I��GI>���['j,+�p��E�AY}6䃕@�}6���@y}6� �<�}6�"��}6H�����s2ҿ���`c��?����C��?����L������#ҿ�����q������������� �@��������?)~6䃕@ ~6�K_;I~4ɫY�Y)�Y �]����I�YY��H�@y���]GI��)����5�^;M=M=Y�=ݤ9QU=�>��A��A�aE�G��A��Iy�MB��}M�>I�Q��]�:��U��5�?��]�:��U�=�� �U�y@��e�?9�U�GB��U��: �UM�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����¥�?zL��L��L��L�c�o@�A���G<B� B��A�T��*B��A��A�ُ7�A��*���� ����������������� �Y>:Y��V1y��:���5�9%@�A�"CU5��*CUƢ�=RC]e��;CY�CYܑ9ܑIܕsVGiܕN�@�ܑ�ܑ�ܑ�ܕ��; ݕY�E�ֽX�;I��G�E>���b'j,{����E�AY}R���@�}R`��@y}R�"�<�}R&���}RH�����j)ҿ������?���@}�?����������@�ҿ���@vB�����������`vq�����`���?)~R���@ ~R|(_;I~R��Cɫi�i)�i �iI�iY��ʴ@y��n^G��}�J>��}/]>��}�>i�}=�@��y �}�@�����>���)�}~�@I�}~�@i�}~�@���=M�@=i��HmGI� i�Y��ٺQU}�>����3�ٺ����h)A�����a��G����y���:}��>I�������5�?����>�� ���x@����?9���GB�����: ��Y�:)���W��W�X� X��W�:W�2W�*W��V�U�U������q@zL�L�L�Lp@�A5�I<B1 B1�A5;��*B1�A9�AE�7�AM*��AI"Ce4��*CmU��=RCmlE�;Ci�Ci�֍0:�;I��G�`>���h'j,qY���E�Aɫ�髙)�� ������I��Y����@y��<^G����#��~j��?�V-��<�O��n������%>���h�� ��t��)��I��y����"��~j�?���x�&��{�G�zt����S�=���7�����ף� 5A)�AIi^A������fA���L�M�M=Y����QU��>�������a��G������y�����}��>I�������5�?����@�� ���x@����?9���GB�����: ����:)���W�WX X�W:W 2W *W �������������������� ��3:Y�WU1y��:����5�V U)U-��� �q@�R5B*** querying acoustic contact ***�P9�P9zLM�>�LM�>�LM��@�LM�Wx@�Ae�L<Ba Ba�Aeư�*Bi�Ai�Amg�7�Am�)��Ai"Cu3��*C}�f�=RC}�u�;Cy�Cy��I��I��=[R�;I�IGeV>�٩ �٭ oA܁ 9܁ I܅ <WGi܅ �@�܁ �܁ �܁ �܅ ��; ݅ O�E�|�n'j,�7���E�A�|4<�|�;Y}6���@�}6A��@y}69s�<�}6ڿ��}6H�����bҿ������?����"��?��� ���������ѿ���@�X�����`,Α������v�����`���?)~6���@ ~6�_;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�^G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���R�<M�Y=Y��dM�QU��>�������a��G������y�5�;}�>I� ���:�� ��5�?���:�� �B�� � �x@���?9� .HB�� � ; � �;)� ��:�WA�WAXA XA�WA:WI2WI*WI�VIUQU-����� @zLI�LI�LI�LM��x@�A}��M<B� B��A�%��*B��A��A���7�A�)��A�"C�2��*C��I�=RC�5� <C��C����������� ���������I��G��>���u'j,V؝�E�AY}2K��@�}2��@y}2W<�}2����}2H����`�ѿ������?��� ���?�������������ѿ���@�������@N��������y�����`~��?)~2K��@ ~2�)_;I~0ɫI�I)�I �II�IY�}��@y�}2^G�xDUSBL response received:!U1,P FA0,000,00537,185,80,80,7D,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 ��5" ����5�����5�����5,�� �5�:Y�5�X1y�5/�:��5s6�Í5^>�Í"���Í�L>iÍ\�@�É č��@)ĉIč��@ič��@��mX��Mu(=Y�}�9QU}�>������a��G������y���s:}��>I�������5�?���E�� ���x@���?9��pHB���@�; ���;)���WA�WIXa Xa�Wa:Wa2Wa*Wi�ViUiUm����� @zL��L��L��L�u�x@�A��O<B� B��A�=��*B��A��A��7�A��(��A�"C�5��*C�(�=RC�7a<C��C!I�QG�^>���{'j,:��E�AY}:Қ�@�}:���@y}:P'�<�}:� ��}:H������ҿ���`-��?������?����������o�ѿ����@���������������2��������?)~:Қ�@ ~: �^;I~8ɫ9�9)�9 �9I�9Y�}��@y�}Q_G������?A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� mA��ѧ=M�k=Y�:�8QU��?�����a��G������y����}�?I������:����5�?����:����F�� ���x@����?9���HB���O; ���;)����:�W!�W!X! X!�W!:W)2W)*W1�V1U1U=����}@zLq�Lq�Lq�Lu/}x@� 9� I� i� �� �� �� �� � )��s�CI��s�Ci����� =��� =����4�AM:�Q<BI BI�AM���*BI�AQ�AUQ�7�AU(��AQ"C]4��*C]��=RC]r<CY�CaI��G�%>��'j,L���E�AY}2 ��@�}2ݡ�@y}2/��<�}2����}2H����@{ҿ�������?�����q�?����+������Hҿ���@���������ґ����`�|�����`j��?)~2 ��@ ~2��^;I~2��CɫY�Y)�Y �]����I�YY��t�@y��?_G�xDUSBL response received:!U1,R,F90,000,0053B,187,80,80,A6,FF �Fpublishing direction and range info���+�=���ɰ�a�=鰥1�> ��)���&CI��y��\+B����Q�!���?A��_1��?��������ٱ�I��)���� @��@��@�� ©� ��� �i� ��@�� ���� � ~�@)� I� ~�@i� ��%ә�M%T=Y�%4�QU%�>��)��)�a-�G��)��1y�=� �}=�>I�A��E��5�?��E�H�� �Egx@��M�?9�E�HB��E4�: �E�:)�A�W��������������������� ��:Y�xZ1y�q�:���6)���;�9%��W�X) X)�W):WI2WI*WQ�VQUQUU����$�@�Pa*Qe\+B�Ze�ʸtpYQE@��Aȸ@���������Ze�Q�!���?A��_1��?��������2Qe+�=:Qa�Ze����7 �"�� E����W���Ze�`����ȿ���l�ю�X��BQe0@ QeH(�Qe����Pa�Pe�9?�Pe|���Qe{���Qe��@"QeS�@zL��L��L��L�Qox@�A���S<B� B��A����*B��A��A���7�A��'��A�"C�3��*C���=RC��x�;C��C�I�1Gu>����'j,��%��E�AY}2W��@�}2��@y}2��<�}2���}2H�����<&ҿ�������?����e8�?��� b�����@�ҿ���������`&������ ���@#��?)~2W��@ ~2s�^;I~2��Cɫ9�9)�9 �=����I�9Y��x�@y��D_G�dNmea in: $SNTTA,0.057581,0.424018,,,164855.95*5C ����)\���(�?�A`��"��L7�A`�?���G�=���ٽ ��+=)��I��y���/�$��?i��|?5������Mb`�����=����q����� )�AI�Ai�A������GA����:M�A=Y��'�9QU��>�������a��G������y���8�}��>I������:��� �5�?����:���(J�� ��^x@����?9���HB�����: �� �:)����:�m�qAdded new target pos. range: 42.840000 m, bearing: 259.189177 deg, deltaT: 4.428823 s, approachRate: 0.054191 m/s, LOS rate: 0.134857 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��VU��� �kE@U����XV�?zLUD�=�LUD�=�LU�w�@�LU��s@�A���U<B� B��A�Z��*B��A��A���7�A�'��A�"C�2��*C�;�=RC�C�;C��C�����] <I� G%o>��Q ��U �<�� �>9�� I�� XGi�� ��@��� =��� QD��� ��� ��; �� J�E�m$�'j,�?��E�AY}:���@�}:B��@y}:�C�<�}:����}:H����`n1ҿ����8��?����*��?����ɬ�����L%ҿ����qZ������?���������������j��?)~:���@ ~:Ʈ^;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}�_G��=�=M=S=Y�=捺QU=�>��A��A�aE�G��A��Iy�M��}M�>I�Q��U�5�?��U�K�� �UUx@��e�?9�U&IB��U+�: �UY�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@��?zL��L��L��L���s@�A��jX<B� B��A����*B��A��A�^�7�A��&��A�"C�5��*C��r=RC�&p�;C��C���]����������������� ��&:Y��Y1y��:��!�5)�\�;��[R�;I�1Gm5>�� �'j,�WY��E�A�|�;�|Y}6᎕@�}6���@y}6n'�<�}6�C��}6H������ҿ��� i��?���@t��?����ϯ���� Xҿ����mT�������䐿��� �桿��� ���?)~6᎕@ ~6_l^;I~6��CɫY�Y)�Y �]����I�YY��V�@y��U`G��m���u���u���u+�>��u�>��u��>i�u��@��u��� �u��@)�u��@I�u��@i�q�� �<M�F=Y� ƺQU��>�����a��G����y��H;}��>Iș����:�ŝ��5�?����:�ŝM�� ƝLx@����?9ƝQIB�ǝ��: ȝ��:)ȝ��:�W��W)X1 X9�W9:WA2Wi*Wi�VqUqUu���`"l�?zL��L��L��L��t@�A�|a[<B� B��A�w��*B��A��A���7�A��%��A�"C�4��*C��2=RC�?��;C��C� �-a=��-�=���;I�)GER>��5�'j,.7s��E�AY}6~��@�}6;��@y}6���<�}6���}6H�������ѿ���`V��?����3��?����ܴ����@��ѿ��� a������ �2�������ء���� ���?)~6~��@ ~6f^;I~6��Cɫ9�9)�9 �=����I�9Y�}l�@y�}p`G��I�;MS=Y���QU�>�� �� �a �G�� ��y���;}�>I����5�?��nN�� �Dx@��-�?9�zIB��w�: � �:)��WY�WYXa Xa�Wa:Wa2Wi*Wi�ViUqUu����T^�?zL��L��L��L��&t@�A�gp^<B� B��A���*B��A��A�'�7�A�~%��A�"C�3��*C���~=RC��4 <C��C���E ����A��A��E��� �Ek5:Y�Ay�A��E��5�9�@܉9܉I܍0YGi܍��@�܉�܉�܉�܍��; ݍL�E�֝�r�;I��G�A>���'j,� ���E�AY}2`��@�}2ȍ@y}2M�}<�}2ߊ��}2H����`3�ѿ���`?��?���`��?����"����� �ѿ����}�����@�������@�o���������?)~2`��@ ~2�:^;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}BaG������nA��eG�=��eV>��e`e=i�e�@��a �eҙ@)�eҙ@I�eҙ@i�eҙ@��m�K=MuC=Y�u�G�QUu�>��y��y�a}�G��y��y���;}��>Iȉ�ōB�5�?�ō�O�� ƍ<x@����?9ƍ�IB�Ǎ+�: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����b��@zL��L��L��L��Zt@�A%a�a<B) B)�A-n��*B)�A1�A5��7�A5�$��A1"C=2��*C=��~=RC=md7<C9�CA��e�H<I�iG�9>��F�'j,�覞�E�A�|i|Y}6�ӕ@�}6��@y}6~<�}6����}6H�����H�ѿ����ݿ�?����VR�?����,������v�ѿ���@�֙������������:>������9��?)~6�ӕ@ ~6�x^;I~6��CɫY�Y)�Y �]����I�YY����@y���aG�����p= ף�?/�$��?���S㥫����>���,= ��/]�)��I��y����p= ף�?ˡE������~j�t�h?����=����'�����D; µ A)µ�AIµ�Aiµ�A�������A����=M�B=Y��`<7QU��>������a�G����y� ��;} �>����������w�� ���:Y�y����+6I�)��5�:��-7�5�?��5�:��-+Q�� �-Ux@��=�?9�-�IB��-w�: �-��:)�-��:�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm���@�e@zL���=�L���=�L�� �@�L���w@�A�Drd<B� B��A�T��*B��A��A� �7�A�Z$��A�"C�5��*C���~=RC�w"_<C��C����nA���nA����9<I��GI>������mA�i 9�i I�m �YGi�m ذ@��m =��i ��i ��m ��; �m V�E��.�'j,�����E�AY}2��@�}2���@y}2�r�<�}2VA��}2H������rѿ����0��?��� �?����������@+fѿ���@�������-�������E����������?)~2��@ ~2ژ^;I~2��CɫY�Y)�Y �YI�YY���@y��aG鮥p=ɮ�p=���ci�M�`=Y����:QU��>�������a��G������y����;}��>I�����z�5�?���7R�� ��jx@����?9���IB���4�: ��b�:)���W�WX X�W:W2W*W�VU!U%����K@�R-B*** querying acoustic contact ***�P)�P)zLA�LA�LA�LE x@�A]}�g<BY BY�A]���*BY�Aa�Ae�7�Ae�#��Aa"Cm4��*Cm`d~=RCm��}<Ci�Cq��U�jb<I��G�&>i��gmGI��i����1<�ٺ��21A��X�'j,�ڞ�E�AY}2L�@�}2 ��@y}2'n�<�}2A!��}2H������mѿ���@���?���@��?����0������Saѿ����������`�퐿����<����������?)~2L�@ ~2v�^;I~2��CɫY�Y)�Y �]����I�YY����@y��aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��> ��>��: ��������������b�� �r8:Y�]1y��:��<6��U/>��U���U`e�i�U��@��Q �U�@)�QI�U�@i�U�@��e�;Me3=Y�e�P:QUm�>�����a��G����y�I':}��>Iș����:�ŝB�5�?����:�ŝ�S�� Ɲ�x@����?9ƝJB�ǝ�; ȝU�;)ȝ��:�W �WX X�W:W2W*W�VUU����b @zLY�LY�LY�L]� x@�A���j<B� B��A����*B��A��A��7�A�/#��A�"C�3��*C�Q)~=RC�i�{<C��C������<I��Gk>����'j,-z���E�AY}2��@�}2R�@y}2\?�<�}2L,��}2H�����yѿ�������?���� �?���������`mѿ�����F�������������`�������G��?)~2��@ ~2X#^;I~2��CɫI�I)�I �M����I�IY�]�@y�]aGexDUSBL response received:!U1,P F90,000,0053B,187,80,80,A6,FF mCommand AckmBRequesting micromodem ping code 2i�i��i�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���N��M�g=Y�����QU��>�� ���a�G����1y�E��}M�>I�iI�)��� �>9��I��\ZGi��{�@��������������; ��W�E��m��5�?��m�T�� �m�x@��U�?9�m$JB��mK�< �m��<)�i�W1�W1X1 X9�W9:W92WA*WA�V�U�U������k @zL��L��L��L�Kx@�A�*�m<B� B�Ap��*BA�AA�AEJ�7�AE�"��AI"CM2��*CU7�}=RCU,�o<CQ�CQ��u�3|<I��G�>��j�'j,�U��E�AY}:Hؕ@�}:�@y}:_;}<�}:����}:H�������ѿ�������?���@��?����f������ԅѿ�����'�����@�������M�����`���?)~:Hؕ@ ~: ^;I~:��Cɫ9�9)�9 �=����I�9Y�}l�@y�}�aG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����#�����m����C��i����@��� ����@)����@I����@i����@�� �=M 8=������������������� ��{:Y�DW1y�Y�:���6Y�-�ʺQU-�>��1��1�a5�G��1��9y�=~a�}=�>I�A��M�:��Em�5�?��M�:��E�U�� �E�x@��U�?9�EFJB��E/�: �E�:)�E��:�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U������,@zL�L�L�L��w@�AU}p<BQ BQ�AU��*BY�AY�A]ą7�A] "��AY"Ce5��*C���}=RC��7Z<C��C��֝��a<I��Gm>����'j,n0(��E�AY}2�ɕ@�}2v@y}2��s<�}2�� ��}2H�������ѿ��� ���?������?����v�����ѿ���@�8�������}�������V������d��?)~2�ɕ@ ~2�"^;I~2��CɫY�Y)�Y �]����I�YY����@y���aG�xDUSBL response received:!U1,R,FAF,000,00541,184,80,80,AB,FF �Fpublishing direction and range info����Ð=���ɰ�]�=鰭��> ��)���+CI��y���,B����M�����?-�r.��?��������ٱ���=�^�I+�?<�O��n��+��������=X�>��=t� �=��)�9I�9y�=�T㥛� �?X9��v������Q�����=�=��=�}���=�u� �=dA)�=�AI�=�Ai�9��9��=�A��I��I��]�z<M]E=Y�]7��QU]�>��a��a�ae�G��a��iy�m܍�}u�>I�q��u��5�?��u�V�� �u&w@����?9�ulJB��u: �u �:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������@�P�*Q��,B�Z��ڷ��ʋE@)uV��h@���������Z��M�����?-�r.��?��������2Q��Ð=:Q��Z���>��j�!��=��A E��e2�����Z���Ȉ���ʿI�v;L�8������BQ�F�@ Q�)�Q����P��9?�P��P�}���Q�|���Q�ʟ@"Q���@zLM��=�LM��=�LMh/�@�LM�xh@�A]�Ps<BY Ba�Aeހ�*Ba�Aa�A�<�7�A�p!��A�"C�4��*C���}=RC�jYA<C��C��֝h�W<I��G�c>�ٕ�<�ّܙ9ܙIܝ�ZGiܝ̱@�ܝ=�ܙ�ܙ�ܝ��; ݝM�E)ݩ�Iݩ�iݩ��ݭ�=�ݭ�=�ݭ��b4��'j,B��E�A�|$i|&�@Y}f綕@�}f�č@y}f<�m<�}f����}fH����@��ѿ������?��� 8q�?���@I������Y�ѿ����������� ������@����������?)~f綕@ ~fW^;I~f��Cɫ���)�� ������I��Y���@y�XbG��TNmea in: $SNTTA,0.242077,,,,164900.39*44 �� �=i� =��L��������������v�� �x%:Y��W1y�č:����5)�0�;�9%��� ��<M?=Y�6e�QU%�>��Q��Q�a]�G��Y��iy�u���}u�>I�y����:��}��5�?����:��}�W�� �}u@����?9�}�JB��}��; �}�;)�}��:�m�uAdded new target pos. range: 43.200001 m, bearing: 258.014767 deg, deltaT: 4.456040 s, approachRate: 0.080789 m/s, LOS rate: -0.263555 deg/s, posRepo size: 4�W��W�X X�W!:W!2W!*W!�V!U-������E@U-�������?zLa�La�La�Leh[h@�A�[v<B� B��A��v�*B��A��A���7�A�� ��A�"C�3��*C�[T}=RC�.�!<C��C��ֵ/�C<I��G��>����'j,��[��E�AY}:���@�}:���@y}:*#f<�}:E���}:H������ѿ�������?���@)ʜ?����5��������ѿ����Ch�����@'Č����` ���������?)~:���@ ~:�y^;I~8ɫ9�9)�9 �9I�9Y�]z�@y�]�bG�Åj�=�Åt<�ÅY�iÅ��@�Á ąҙ@)ą��@Ią��@ią��@��P6=M�f=Y�¬�QU��>�����a��G����y�5��}�?Iȱ�ŵ��5�?�ŵ�X�� Ƶ3t@����?9Ƶ�JB�ǵ�: ȵ�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����C�?zL�L�L�L1h@�A-��x<B) B)�A-mf�*B1�A1�A5F�7�A5L ��A1"C=2��*C=�&}=RC=j�;CA�CA�ֽ��<I��G�E>� ��'j, �u��E�AY}6��@�}6՝�@y}66 ]<�}6R ��}6H�����~ҿ�������?����7�?������������ҿ�����8������������`<�������d��?)~6��@ ~6�,^;I~4ɫ9�A)�A �E����I�AY�}�@y�}�cG)���= ���=�99�9I�=�[Gi�=o�@��==��9��9��=��; �=D�E���.=M�K=Y����QU��>�����a��G����y���}��>Iȩ�ŭ��5�?�ŭ�Y�� ƭ�r@����?9ƭ�JB�ǭ��: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�Lh@�������������� ��:Y�y�����5)��|;�A5�z<B9 B9�A=�T�*B9�A9�A=Ճ7�A=���AA"CE5��*CM��|=RCM"��;CI�CQ��e�0�;I�iG�9>���'j,�����E�AY}2��@�}2���@y}2��\<�}2�5��}2H����`)ҿ����q��?����䩞?���`������ 3ҿ�����g������������@Y�����`/��?)~2��@ ~2�^;I~2��Cɫy�y)�y �}����I�yY���@y���cG��i��<�å�!��å��=�åj�>iå�@�á ĥ�@)ĥ�@Iĥ���iĥҙ@���;M�H=Y��"�QU��>�����a��G�����y��� �}��>I������:����5�?����:����Z�� ��(q@����?9���JB�����: ����:)����:�W��W�X X�W:W2W*W�V U U �����z�?I�)�zL1�L1�L1�L5��g@�AE-�|<BA BI�AM�R�*BI�AQ�AUe�7�AU��AQ"C]4��*C]ï|=RC]�<�;Ca�Ca�օX�;I��G�B>����'j,�v���E�AY}2���@�}2E��@y}2#�Z<�}2�b��}2H�����ҿ����Ϭ�?�����u�?��� ����� \ҿ���������� �Z�����@�j���������?)~2���@ ~2��];I~2��Cɫ9�9)�9 �E����I�AY��U�@y��dG����#��~j��?�Zd;�Ͽ�I+��?����=����~� ��94<)��I��y���/�$��?i��|?5��{�G�zt�����=����q����ף� µ�A)µ^AIµ Ai±�������A���d�<M�H=��F ����������������� �g9:Y��V1y��:��}6�9%@Y�u�-�QUu�>��q��q�a}�G��y��yy���:}��>Iȉ�ō3�5�?�ō\�� ƍq@����?9ƍ+KB�Ǎ�; ȍ��;)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����&*�@zL�y�=�L�y�=�L��w�@�L���s@�A�L�~<B� B��A�K�*B�A�A��7�Ak��A"C 3��*Cyq|=RC��;C�C����;I�)GER>��1��5nA�= �>9�=t�CI�=�\Gi�=c�@��= =��9��9��=��; �=L�E�l��'j,hYß�E�AY}2R��@�}2��@y}2�M<�}2�E��}2H�������ѿ�������?������?����$�������ѿ����Ζ�����S������@E����������?)~2R��@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y�qy�y������Y���QU�>���� �a �G����!y�-j <}5�>I�9��E�:��=��5�?��E�:��=h]�� �=�p@��E�?9�=QKB��=k�: �=��:)�=��:�Wi�WiXi Xi�Wi:Wq2Wq*Wy�VyUyU}�����@zL��L��L��L�E#t@�A�*�<B� B�A*B �A�A%��7�A%���A!"C�2��*C�:|=RC��b<C��C���X�;I�!GEQ>���'j,�.ݟ�E�A�|i|�@Y}>�ĕ@�}>�ҍ@y}>��H<�}>����}>H������ѿ����ѻ�?����_(�?���`l������k�ѿ����qY�����` ������-����������?)~>�ĕ@ ~>��];I~>��CɫY�Y)�Y �]����I�YY��`�@y��dG鮡ɮ�a=��M�T���M9����M"[�i�M3�@��I �I)�M���I�M�@i�M�@��]��:M]�<Y�e�L�QUe�>��a��i�am�G��i��iy�u�<}u�>I�y��}��5�?��}�^�� �}�p@����?9�}|KB��}ϸ: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U������Z@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��^t@�A�"P�<B� B��A��I�*B��A��A�$�7�A�;��A�"C5��*CQ|=RC�S><C�C �� ���������� ��I:Y�y���+6���� <I�G-,>�!�'j,^���E�AY}6:�@�}6���@y}6��[<�}6�q��}6H������{ѿ����0��?������?������������qѿ��� �e�����@;r�����@������� ���?)~6:�@ ~6E�];I~6��Cɫy�y)�y �}����I�yY���@y���dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�9�s�CI�|]Gi��@��=��������; �S�E��E�O=MEL=Y�M{<;QUM�>��Q��Q�aU�G��Q��Yy�e�<}e�>I�i��M�:��mD�5�?��U�:��m]`�� �m�p@��m�?9�m�KB��m�= �m��;)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @zL��L��L��L�Śt@�A ���<B B�A�4�*Bh9�A�A��7�A���A"C4��*C%��{=RC%Bn<C9�CA��=/�C<I�AGeU>��!��!�� (j,����E�Ai�"�lGI�,i�8��RS>�ٺP��R43AY} J��@�} �@y} v&l<�} 4��} H����@�Zѿ�������?�����i�?��� *�������Oѿ�������������������`�!������m��?)~ J��@ ~ ]�];I~ ɫ���)�� ������I��Y�5��@y�5�eG=xDUSBL response received:!U1,P FAF,000,00541,184,80,80,AB,FF =Command Ack=BRequesting micromodem ping code 2i�9��9�E�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )Í�= Í�=�����������������*�� ��0:Y��W1y�č:����5�Í�>�Í,��Í�H>iÍf�@�É čE�@)čE�@IčE�@ičE�@��=M =Y�=��:QUE�>��I��Q�au�G��y��y��y;}��>I�A��E|�5�?��Ejb�� �E�p@����?9�E�KB��E|�< �E��<)�A�WY�WYXY Xa�Wa:Wa2Wa*W��V�U�U���� CY@zL��L��L��L�D�t@�A��6�<B� B��A�� �*B�%9�A �A X�7�A ���A "C 3��*C ��{=RC ��<C �C �E �=��E �=��5��k<I�AGe�>�'1 (j,��*��E�A�|�|ɫ�髙)�� ������I��Y���@y��fG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���X9��v��?�I+��?�&1�������=��94< ��P�)�I�y���l����?���������� �rh������=���L���C�� �)�AI�^Ai������A��%�=M%�=Y�%���QU-?��)��)�a5�G��1��1y�=���}=?I�A��M�:��E�5�?��M�:��EKc�� �ESp@��M�?9�E�KB��Ez�: �E�:)�E��:�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU�����# @zL]0�=�L]0�=�L]�@�L]:�u@�A����<B� B��A�l�*B�9�A��A��7�A�G��A�"C�2��*C�n{=RC�&=�<C��C����}U�<I��Gm>���>9��t�CI��D^Gi����@��������������; ��\�E�((j,A�D��E�AY}2��@�}2���@y}2�p<�}2tn��}2H����@gѿ���@���?�������?����k�������[ѿ���@�옿�����������L������L��?)~2��@ ~2މ];I~2��CɫY�Y)�Y �]����I�YY�� �@y��"fG�xDUSBL response received:!U1,R,F0F,000,00543,186,80,80,83,FF �Fpublishing direction and range info���\W>���ɰ���=鰭��> ��)���CI��y��G-B�����%l�~K�?Z��vѸ�?��������ٱ�����u;M�b=Y���,:QU��>�������a��G������y����}��>I�����Ѯ5�?���ud�� ���o@���?9��LB���E�: ��);)���W�WX X!�W!:W)2W�*W��V�U�U����@}�@�P�*Q�G-B�Z���ݢ��.E@�c�`"@���������Z���%l�~K�?Z��vѸ�?��������2Q�\W>�����������������0�� �:Y�0Y1y���:����5)�x;�9��:Q��Z��L8?N����-KyЛE���l�0���Z���B��ެ���|f���d��ʺ��BQ�Ƶ�@ Q��,�Q��4��P�&�9?�P��9?�P����Q�}���Q�H�@"Q�ʟ@zL �L �L �L v|u@�A�<B! B!�A%�*B%*9�A!�AEɀ7�AM���AI"CU5��*CU�>{=RCU��s<CQ�CY��}��v<I��G�^>�8C(j,!v^��E�AY}6��@�}6��@y}6Rr<�}6l��}6H����@�tѿ����.��?���@��?���@u������iѿ����Pۘ������I�������ޢ��������?)~6��@ ~6I�];I~6��Cɫa�a)�a �aI�iY����@y���fG�ETNmea in: $SNTTA,0.078434,,,,164904.86*4C ��Q��UmA�Ý$�>�Ý�L=�Ý�=iÝ(�@�Ù ĝ�@)ĝ�@Iĝ�@iĝ�@���8=M�==Y�%��9QU%�>��!��!�a-�G��)��)y�5a��}5�>I�9��=<�5�?��=�e�� �=}o@��E�?9�=DLB��=��: �=�:)�9�muqAdded new target pos. range: 43.319996 m, bearing: 266.264324 deg, deltaT: 4.439899 s, approachRate: 0.027027 m/s, LOS rate: 1.858051 deg/s, posRepo size: 4�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�������E@U��������?zL��L��L��L��ou@�A��5�<B� B��A�!��*B��9�A��A���7�A� ��A�"C�4��*C�{=RC�Q�g<C��C�����������zl<I��G�G>��n(j,�Vx��E�AY}^��@�}^���@y}^ue<�}^TZ��}^H���� �|ѿ���@���?����Z\�?����s����� �qѿ����?*�������������� ���������?)~^��@ ~^�3];I~^��Cɫ�髡)�� ������I��ܱ9ܵs�CIܵo_Giܵ��@�ܵ=�ܱ�ܱ�ܵ��; ݵX�E)��I��i�����=���=���d�4Y����@y��FgG��u��<MuN=Y�}� �QU}�>��y��y�a}�G����y�O��}��>Iȑ����:�ŕ�5�?����:�ŕg�� ƕo@����?9ƕgLB�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����u��?zL��L��L��L�\hu@�A�N�<B B�A��*Bz9�A�A E�7�A u��A �ޭ�=iޭ�=��'��������������=�� ��":Y��Y1y��:����5)���;"C�3��*C���z=RC�M*a<C��C�����a<I�)GUS>��U$(j,�/���E�AY}Nd�@�}N!��@y}N��e<�}N� ��}NH������sѿ�������?���`L�?���`�������Whѿ����Д������@������`|���������?)~Nd�@ ~N9];I~LɫY�Y)�Y �]����I�YY����@y���fG��uh>��u��<��u+�=i�u@��q �u=�@)�u&�@I�u=�@i�u&�@��pȼM�I=Y���8QU��>�����a��G����y�ش:}��>Iȡ�ť��5�?�ťnh�� ƥ�n@����?9ƥ�LB�ǥ<�: ȥ�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�����Q��?zL�L�L�Linu@�A;�<B B�A���*B�9�A�A�7�A%���A!"C-2��*C-��z=RC->�i<C)�C1��AI�qG�>>��*(j,����E�AY}F��@�}F���@y}Fem<�}Fx���}FH����`�pѿ����%��?��� �/�?���@ ������eѿ�����������蟍����������������?)~F��@ ~F�D];I~F��CɫY�Y)�Y �]����I�YY����@y���gG�������S��?�~j�t�ȿy�&1�|?���/]>����D� ��`�;)��I��y����� �rh�?�Q��뱿�&1������C=���\������P� ©)^AI�Ai�A�������A)���= �����O�=M�F=Y���:QU��>�������a��G������y����9}��>I������:����5�?����:����h�� ��cm@����?9���LB���f; ��Y;)����:�W�WX X!�W!:W!2W!*W!�V!U)U-����Q��?zLM��=�LM��=�LM�C�@�LM=$S@�A]��<Ba Ba�Ae�ʽ*Be("9�Aa�Ae�7�Am-��Ai"Cu5��*Cu{z=RCuܿj<Cq�Cy Ձ�ԅ�=�������������������� ��:Y��W1y�č:����5�9�@�֥��u<I��G�D>ܙ9ܙIܝ�_Giܝ��@�ܙ�ܙ�ܙ�ܝ��; ݝK�E��k1(j,��Š�E�AY}6A�@�}6��@y}6hJ|<�}6߲��}6H������yѿ����}��?��� ��?�����������-nѿ����������`���������������`i��?)~6A�@ ~6�?];I~6��Cɫ1�1)�1 �5����I�1Y�uu�@y�}�gG���=i��=��u���MuP=Y�;QU��>�������a��G������y����}��>I�����C�5�?����i�� ��l@����?9���LB����: ����:)���W1�W1X1 X1�W1:W92W9*W9�V9U9UE���@n�@zLY�LY�LY�L]KS@�Au���<Bq Bq�AuDν*B}�!9�Ay�A}7�A}���Ay"C�4��*C�|Hz=RC��a<C��C�Iީ)ީ�ֽoM�<I��G�E>�m�7(j,Y�ߠ�E�AY}>jޕ@�}>'�@y}>AЃ<�}>z� ��}>H������ѿ���@���?����皜?����������@hzѿ��� ZC�������y������H6������O��?)~>jޕ@ ~>t\];I~<ɫY�Y)�Y �]����I�YY���@y���hG��m�>��m�T<��m��=i�m(�@��i �m�@)�m�@I�m�@i�m�@��}�D=M}J=Y���:QU��>�����a��G����y����}��>Iș����:�ŝ��5�?����:�ŝFi�� Ɲ�j@����?9Ɲ�LB�ǝ��: ȝ��:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U������0@zLq�Lq�Lq�Lu�S@�A�`�<B� B��A�v��*B�5$9�A��A��~7�A����A���[����|����|����_�� ��&:Y��R1y�i�:����5"C�3��*C�Rz=RC�$�V<C��C��ֽjZX<I��G��,�=(j,����E�AY}B�ޕ@�}By�@y}B�ӆ<�}B6b���}BH����`>�ѿ����n��?����|�?���`�������zѿ���@���� ?ڐ������響��� ���?)~B�ޕ@ ~B�M];I~B��C�E�>9�Et�CI�E�aGi�E�@��A��A��A��E��; �E;�EɫY�Y)�Y �]����I�YY���@y��nhG鮙ɮ�p=�±�µnA����V�M�W=Y���}:QU��>�������a��G������y�U%�8}U�>I�Y��]�5�?��]�i�� �]�i@��e�?9�]MB��]�: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U���� k@�R�B*** querying acoustic contact ***�P��P�1(��� P�lAggregate::initialize lineCaptureDepth:MicromodemCommsq(����P�|Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn�(���zL!�L!�L!�L%S@�AU\�<BQ BQ�A]���*B]P#9�AY�A]W~7�A]K��AY"Ce2��*Ce��y=RCm��W<Ci�C����������I����-�����-~����-~����-K�� �-�:Y�-T1y�-@�:��-��5GU?���G(j,�# ��E�A�|,i|.�@Y}J��@�}J��@y}J�q�<�}J����}JH������vѿ���`I��?��� ��?������������lѿ�����_������ .�������8���������?)~J��@ ~J�\];I~Hɫ�髉)�� ������I��Y����@y��@iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��� uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D�POutgoing frame #2, 6 bytes: 55B944648000�DNmea out: $CCCYC,0,1,10,1,0,2*6A I� �=)� &?������K7�A�?�����M¿Zd;�O������>���n� ��j��)��I��y�����(\�µ?�I+���<�O��n������=���9�����t� ���A)��I���Ai��5A��������U �p>��U 94=��U Ga=i�U ��@��Q �U \�@)�U r�@I�U r�@i�U ��@��e ��<Mm �<Y�m ��9QUm Q>��q ��q �au �G��q ��y y�} ��:}} Q>Iȁ ��� �:�Ņ w�5�?��� �:�Ņ Cl�� ƅ 9i@��� �?9ƅ xMB�Dž ��: ȅ ��:)ȅ ��:�W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ���� @zL� >�=�L� >�=�L� �_�@�L� �eh@�A� ]H�<B� B �A ��*B �(9�A �A �}7�A ��A "C 5��*C d~y=RC �wb<C �C �� I�G=�>���M(j,`�9��E�AY}Z��@�}Z���@y}Zl�<�}Z����}ZH�����acѿ��� 5��?��� ���?���@��������Wѿ�����<�����@������������������?)~Z��@ ~Z�#];I~X�Q9�QI�U�aGi�U��@��U=��Q��Q��U��; �U8�Eɫ�髁)�� ������I��Y��8�@y��jG�xDUSBL response received:!U1,P F0F,000,00543,186,80,80,83,FF �Command Ack�BRequesting micromodem ping code 2i�������BNmea in: $CACYC,0,1,10,1,0,2*68 ���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��M/�=MU�=Y�]���QUe�?��q���a��G����y�,�;}�{?I�����Г5�?����l�� ��$i@����?9���MB���� = ��� =)���W��W�X� X��W�:W�2W�*W��V�U�U�����v�@zL��L��L��L�xh@�A5Oo�<B9 B9�A=�:�*B=�&9�A9�A=�}7�AE���AI"Cm4��*CuP\y=RCu6�v<Cy�Cy���I��G��>�� ����� ����� ����� ��� � *,:Y� �U1y� ��:�� "6)� ��;�9% �i�m�lGI��i�����!E�ٺ�����9A���T(j,�uS��E�AY}2���@�}2x �@y}2}�<�}2d ��}2H�����eLѿ����p��?������?�����������?ѿ������������i�������o �����@���?)~2���@ ~2�6];I~0ɫ9�9)�9 �=����I�AY�]&�@y�]�iG��a��eAA�uNNmea in: $CADRQ,164909,1,10,0,64,1*75 �u|Response from modem unexpected: $CADRQ,164909,1,10,0,64,1*75 )�e�= �e�=�í�S?�í����íxi=iíf�@�é ĭ=�@)ĭ=�@Iĭ=�@iĭt�@��ec��Me;=Y�m̂:QUm�>��i��q�au�G��q��qy�}N_;}}�>Iȁ����:�Ņ��5�?����:�Ņ;n�����tI ƅ�h@����?9ƅ�MB�Dž�; ȅY;)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U���`��@zL�L�L�L�h@�A5�i�<B1 B1�A=�C�*B=�'9�A9�A=�}7�A=��A9"CE3��*CeK5y=RCm�$�<Ci�Ci��}��v<I��G�^>���Z(j,nOm��E�AY}2Z��@�}2�@y}2�)�<�}2J&��}2H�����xCѿ����P��?������?���� ������P5ѿ�����m�������䑿��� �Ƥ��������?)~2Z��@ ~2;>];I~2��Cɫy�y)�y �}����I�yY���@y��_jG�xDUSBL response received:!U1,R,F30,000,0054D,186,80,80,3D,FF �Fpublishing direction and range info�����9>���ɰ�T�=�� ��)���tBI��y���/B��������jy�?M�We@�?��������ٱ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Ua=i�Q)�Y �����A��E�<MML=Y�M�U:QUm�>��q��q�au�G��q��yy�}Ӷ:}}�>Iȁ�ŅH�5�?�Ņ�o�� ƅ�h@����?9ƅ�MB�Džs�; ȅظ;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������@�P1*Q5�/B�Z5�U6�*g�E@K��ஶ@���������Z5�����jy�?M�We@�?��������2Q5��9>:Q1�Z5���h�c�B!��n�E���P�9��Z5��E/��r��l�|���j��)��BQ5Dܓ@ Q5�.�Q5����P5"�9?�P5&�9?�P5����Q5���Q5�@"Q5H�@zLy�Ly�Ly�L}��h@�A�gF�<B� B��A�y�*B��)9�A��A�P}7�A�e��A�"C�2��*C�Ny=RC�R��<C��C����oM�<I��Gl>�u �>9�qI�u�bGi�uw�@��u=��q��q��u��; �u6�E��5 #����5 �����5 �����5 H�� �5 3":Y�5 �X1y�5 /�:��5 �5)�5 ]�;�W�a(j,V*���E�AY}Z���@�}Zm �@y}ZC��<�}Z����}ZH�����{Jѿ�������?���@���?������������<ѿ���@;������`�������%գ��������?)~Z���@ ~Z�i];I~Z��Cɫ���)�� ������I��Y�5�@y�5kG��DNmea in: $SNTTA,,,,,164909.49*50 ���lAi��lA����B>����:�����>i��G�@��� ����@)����@I����@i��z�@����=M�=Y��s�:QU��>�������a��G������y��HU�}��>I�����:���H�5�?���:���Wq�� ���h@���?9��;NB���f�: ��/�:)����:�m5uAdded new target pos. range: 43.920002 m, bearing: 264.743050 deg, deltaT: 4.654195 s, approachRate: 0.128917 m/s, LOS rate: -0.326861 deg/s, posRepo size: 4�W9�W9X9 X9�W9:W92WA*WA�VAUE������E@UM���`V6�?zLa�La�La�Le~�h@�A}�?�<By By�A���*B�c,9�A��A�.}7�A����A�"C�5��*C��x=RC��O�<C��C��ԡ�ԡ����<I�aG��>���g(j,����E�AY}2Z��@�}2�@y}2���<�}2n��}2H������Xѿ�������?���@a��?�����������NLѿ����b������`+������`�����������?)~2Z��@ ~24[];I~0ɫ9�9)�9 �9I�AY�]��@y�]�kG��}�X9��v�?�� �rh�?��(\��ſ��}��=��}C> �}.�)�yI�yy�}��Zd;�?���S㥫�����Mb����}�y=��}/]���}�� �};A)�}�AI�}5Ai�}�A��y��}pA���=M��=Y�7;QU�@?�����a��G����y�_}�}�@?Iȱ�ŵ�5�?�ŵ�q�� ƵKh@����?9ƵONB�ǵ��: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����G��?zL�=�L�=�L�߱@�L�2m@�A%~'�<B! B)�A-���*B-#.9�A)�A5(}7�A55��A1"C=4��*C=��x=RC=��s<C9�CA��II�YG�9>��5 �����1 ��1 ��5 ��� �5 �:Y�1 y�1 ��5 ��5�9= @�� n(j,�ມ�E�A��mA��mA� 9� s�CI� dGi� k�@�� =�� RD�� �� ��; � ,�E)ݝ�t�CIݝ�t�Ciݙ��ݝ�=�ݝ�=�ݝ�3�4ɫy�y)�y �}����I�yY��̿@y���kGI�)�I�-�=)�-�=���ʎ;M�E=Y�����QU��>�������a��G������y����}�>I� �� ��5�?�� �r�� � �g@���?9� qNB�� (�: � ��:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUE����`��?zLa�La�La�La�A}�<By By�Ay*B��.9�A��A�!}7�A����A�"C�3��*C�yx=RC�[v<C��C��֥�zl<I��G�A>���t(j,Z�ԡ�E�AY}2��@�}2Q��@y}2�ԙ<�}2�Q��}2H������eѿ����=��?�������?�����������Yѿ���@1������S:�����������������?)~2��@ ~2�]];I~2��CɫY�Y)�Y �]����I�YY��\�@y���lG��=/]=��=�%>��=>i�9��9 �9)�=��@I�=z�@i�9��m�+=MuB=Y�u�:QUu�>��y��y�a}�G��y��y����}��>Iȉ����:�ō�5�?����:�ō�s�� ƍ{g@����?9ƍ�NB�Ǎ��: ȍ��:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����ե�?zL��L��L��L�V&m@�A��<B B�Aw�:*B�09�A�A-}7�A ���A "C2��*C�Ex=RCi<C�C �-�=��-�=����u<I�GEQ>��5 �����5 �����5 �����5 *�� �5 ?:Y�5 �V1y�5 �:��5 ��5�{(j,��E�AY}2�@�}2���@y}2ਗ਼<�}2�S��}2H���� �`ѿ���@��?����R��?��������� >Sѿ����P�������T������eH����� ���?)~2�@ ~2}];I~2��Cɫ1�1)�1 �5����I�9Y�]��@y�]%mG����=Md=Y�͔9QU�>�� �� �a �G�� ��y��\:}�>I����5�?���t�� �"g@��-�?9��NB��U�: �@�:)��WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]�����^�?zLy�Ly�Ly�L}]$m@�A���<B� B��A��]<*B��29�A��A�D}7�A�X��A�"C�5��*C��x=RC��n<C��C���]�zl<I�iG�9>��9��t�CI���dGi�� �@���=�����������; ��9�EI� )� @A���(j,�r��E�A�|�|Y}Uf�@�}U$�@y}U��<�}U�>#��}UH���� C\ѿ���@.��?���@>��?���@K�������Mѿ������������������{e�����@���?)~Uf�@ ~U�q];I~Qɫ1�1)�1 �=����I�9Y�u��@y�umGI��)����-�F>��-����-��i�-�@��) �-ƣ@)�-��@I�-ƣ@i�-��@��=��M=8=Y�E�.:QUE�>��A��I�aM�G��I��Qy�U�):}U�>I�Y��e�:��]k|5�?��e�:��]�u�� �]�f@��e�?9�]�NB��]�: �]=�:)�]��:�W �W X X �W :W 2W*W�VUU����b]@zLQ�LQ�LQ�LUD$m@�A���<B� B��A��)<*B��19�A��A�Z}7�A����A�"C�4��*C���w=RC��hq<C��C������k<I� G-o>��] �����] �����] �����] k�� �] �-:Y�] 0Y1y�] ��:��] ��5��-�(j,�M"��E�AY}6���@�}6��@y}6*�<�}6�!��}6H������Uѿ����I��?����章?����,�������Fѿ����*������������@I!�����`��?)~6���@ ~6Z�];I~6��CɫY�Y)�Y �]����I�YY�}��@y�}.nG鮅a=ɮ���%���MbX�?�~j�t����V-����%�J>��%�D� �%h��)�!I�!y�%�D�l����?�I+�������Mb����%O�=��%94���%� �!)�%�AI�%�Ai�%�A��!��%(A��1��1��E�=ME\=Y�Ef�:QUE�>��I��I�aM�G��I��Qy����:}��>I�����dz5�?���w�� ���e@����?9���NB���]�: ��f�:)���W)�W)X) XI�WI:WQ2WQ*WQ�VQUQU]���`g@�ReB*** querying acoustic contact ***�Pa�PazL���=�L���=�L���@�L�R�v@�A���<B� B��A��"=*B��59�A��A��}7�A���A�"C�3��*C�6�w=RC��v<C��C ��5��u<I�9G]�>��W�(j,�(<��E�AY}6 ��@�}6��@y}6|*�<�}6J��}6H����`FSѿ����z��?����8��?���@������1Fѿ�����6�������������`a����� '��?)~6 ��@ ~6q\];I~6��C��R�<��P�V�>9�TI�VfGi�V�@��V =��T��T��V��; �VT�Eɫ9�9)�9 �=����I�9Y����@y��nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E��MEJ=Y�M�5QUM�>��Q��Q�aU�G��Q��Yy�e��9}e�>I�i��u�:��m[x5�?��}�:��mGx�� �m"e@��}�?9�mOB��m�; �mB;)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����@ww @zL��L��L��L���v@�A��<B� B��A��=*B��59�A��A��}7�A�n��A�"C�2��*C�օw=RC�r.w<C��C��֡I��G�C>��% �=i�% R=��5 �����5 ����5 ����5 �� �5 :Y�5 �T1y�5 ��:��5 �5)�5 ;q;�9= ���?�(j,�V��E�A�|i|�@Y}>���@�}>� �@y}>Oi�<�}>�W��}>H�����Jѿ�������?����~��?���`������@�>ѿ���`�-�������쓿���@b������ ��?)~>���@ ~>�{];I~>��CɫY�Y)�Y �YI�YY�}6�@y�}�nG�xDUSBL response received:!U1,P F30,000,0054D,186,80,80,3D,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 ��m��=��m��<��m�=i�m�@��i �m��@)�iI�m��@i�m��@����6=M�(=Y��|F�QU��>�������a��G������y����:}��>I� �� �u5�?�� �y�� � "d@���?9� BOB�� ��: � ��:)� �Wq�WqXq Xq�Wy:Wy2Wy*Wy�V�U�U�����w @zL��L��L��L�J�v@�A5�@�<BY BY�Aerr=*Be?79�Ai�Am ~7�Am� ��Aq"C�5��*C�Kw=RC���~<C��C�����Hu<I��G �>�6j�(j,��o��E�AY}2��@�}2��@y}2���<�}2V���}2H������8ѿ���`��?���`v�?����2�������-ѿ��� ������������`'T������A��?)~2��@ ~2\U];I~2��Cɫ9�9)�9 �=����I�9Y�]E�@y�]oG��a��e@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )� �= � �=��=��;M==Y�E<�9QUE?��A��A�aM�G��I���y���R;}�?I����� t5�?����z�� ��rc@�� �?9��^OB����: ����:)���WI�WIXi Xi�Wi:Wq2Wq*Wq�VqUyU}�����@zL��L��L��L���v@�A�w��<B� B��A��y=*B�r99�A��A�O~7�A� ��A"C54��*C=7&w=RC=���<C9�CA��]��v<I�iG�[>ܩ9ܭs�CIܭ@gGiܭ��@�ܩ�ܩ�ܩ�ܭ��; ݭe�E��5 �����5 �����5 �����5 w�� �5 �:Y�5 DW1y�5 Y�:��5 "�5)�5 d|;��T�(j,*lj��E�AY}z� �@�}z��@y}z�.�<�}z�~ ��}zH����@</ѿ���`���?�����Ԝ?�����������#ѿ���@�J����� ��������#����������?)~z� �@ ~z�A];I~z��Cɫ���)�� ��I��Y�-��@y�5MoG=xDUSBL response received:!U1,R,F0C,000,0054E,186,80,80,77,FF =Fpublishing direction and range info��5^ Z>��1ɰ5~�=�1 �1)�5��BI�1y�5�/B��5�n0��F�?�\��?��������ٱ1)�Q��q��qi��I��i���=eI�ٺA��E�=A��U��>��UZD?��U�ҽi�Up�@��Q �U��@)�QI�U��@i�Q��_w<M�+=Y����QU��>�����a��G����y�q�:}��>Iș����:�ŝ�q5�?����:�ŝ+|�� Ɲ�b@����?9Ɲ�OB�ǝ�: ȝ��:)ȝ��:�W �W X X �W:W2W*W�VUU=������@�PI*QM�/B�ZM�G���M~E@QjQ���"@���������ZM�n0��F�?�\��?��������2QM^ Z>:QI�ZM�8��]-���6����E�) i�=?��ZM�8�s��0�����}��←�8T����BQMe�@ QM�/�QM�%��PM%�9?�PM"�9?�PM����QM����QM�@"QM�@zL��L��L��L���v@�A����<B� B��A���=*B��89�A��A��~7�A�^��A�"C�3��*C�G�v=RC��ω<C��C�֥���<I��G��>��{�(j,����E�A�|�|Y}>��@�}>�#�@y}>��<�}>a"��}>H�����ѿ���@���?���@��?���`������`lѿ�����.��������������:B���������?)~>��@ ~>�:];I~>��CɫY�Y)�Y �]����I�YY�}y�@y�}DoG�%dNmea in: $SNTTA,0.439852,0.441039,,,164913.91*54 ����/�$��?y�&1�������Mb`����,>���`e� ���)��I��y���Zd;�O��?ˡE�����+���������j<=���什����� µ�A)µ5AI±iµ�A�������A���������{�M�=Y���49QU��>�������a��G�����y�*;} �>I����m5�?���|�� �La@��%�?9��OB���4; �H%;)��m qAdded new target pos. range: 43.980000 m, bearing: 266.618374 deg, deltaT: 4.480771 s, approachRate: 0.013390 m/s, LOS rate: 0.418527 deg/s, posRepo size: 4�W �W X X �W :W 2W *W �V U ����p�E@U �������?zL= v�=�L= v�=�L= �'�@�L= R�W@�AU �Y�<BQ BQ �A] �=*B] $89�AY �A] 7�A] ���AY "Ce 2��*Ce p�v=RCm t��<Ci �Ci ��y ��y ��= �����= �����= �����= ��� �= N:Y�= �X1y�= /�:��= X�5�9E @��]�]�<I�iG��>�ڥ�(j,p���E�A��"nA�� �$9�$I�&hGi�&��@��&=��$��$��&��; �&\�EY}Ba�@�}B"�@y}B؆�<�}B�R ��}BH���� �ѿ����:��?����Ĭ�?����+�����`Rѿ�������������������@�����@6��?)~Ba�@ ~Bx4];I~B��CɫY�Y)�Y �YI�YY�}+�@y�}pG��]_�=M]�=Y�]U�9QUeI?��a��a�ae�G��a��iy�m�G�}mJ?I�q��}�:��u�k5�?����:��u }�� �u�`@����?9�u�OB��u��: �u��:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U�����B �?zL��L��L��L� �W@�A�߄<B� B��A�S�=*B��A9�A��A�H7�A�;��A�"C�5��*C�ȡv=RC���<C�CY�%�9��'�<I�!GEs>�g��(j,�Mע�E�AY}2� �@�}2��@y}2s�<�}2O���}2H������.ѿ���@���?���`0F�?���@������ � ѿ����3����� �;�����@��������S��?)~2� �@ ~2{Q];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�pG��5�u���5;�=��5�P=i�5z�@��1 �5�@)�5�@I�5ƣ@i�5ƣ@��EY8=MMK=Y�MB�:QUM�>��Q��Q�aU�G��Q��Yy�]�<�}]�>I�a��e�h5�?��e�}�� �e�_@��m�?9�e�OB��e��: �e�:)�a�W�WX X�W:W2W*W�VUU���@�>�?zLY�LY�LY�L]�{W@�A�C��<B� B��A�Z�=*B��>9�A��A��7�A�� ��A�"C�4��*C�fpv=RC�W)�<C��C�Y��L9����<I�G%�>��% �=i�% �=��5 �����5 �����5 �����5 ]�� �5 u:Y�5 [1y�5 ݏ:��5 ��5�鷻(j,�&�E�A�|i|�@Y}6c��@�}6!�@y}6���<�}6[���}6H���� ?Zѿ�������?�������?���@\����� �Lѿ����������`������`�Q������ ��?)~6c��@ ~6�K];I~4ɫ9�A)�A �AI�AY����@y��qG��U�<M?=Y� e�:QU �>�����a�G����y�,һ}�>I�!��-�:��%te5�?��5�:��% ~�� �%�^@��5�?9�%PB��%�!; �%�";)�%��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�6RW@�A���<B� B��A�*�=*B��>9�A�A#�7�A� ��A"C3��*C3?v=RC^�f<C�C��-�=��-�=Y�(9�M�>9�II�M3iGi�M��@��I��I��I��M��; �ML�E)�݅s�CI�݅s�Ci�م��݅ =��݅ =��݅h45�����<I��G�>����(j,�&��E�Aɫ�髩)�� ������I��Y���@y��srG)�I��}�=��}�$>��}b>i�}(�@��y �}ƣ@)�}ƣ@I�}�@i�y��+�=M�3=Y����QU��>�����a��G����y����}��>Iȹ�Ž�a5�?�Ž�~�� ƽ�]@����?9ƽIPB�ǽ#�: Ƚ�:)ȹ�W��W�X� X��W�:Wq2Wq*Wq�VyUyU}�����8�@zL��L��L��L��A���<B� B��A��>*B�"B9�A��A�|�7�A� ��A�"C2��*C�v=RC0k<C�C)Y�%T9��E *����E �����E �����E N�� �E �":Y�E �V1y�E �:��E Y�5��M ��m<I�Y Gu �>����(j,��$��E�AY}2�ŕ@�}2MӍ@y}2F&�<�}2&- ��}2H����`Q�ѿ����N��?�����4�?����������`�ѿ����n�����`kĔ������#��������?)~2�ŕ@ ~2p�];I~2��Cɫ9�9)�9 �=����I�9Y����@y��XrG��-�ˡE����?�~j�t�x�:��v������-�'=��-�Ļ �-�T�)�)I�)y�-��z�G�?J+���<�O��n����- �=��-�H���-t�� �-�A)�-�AI�-�Ai�-�A��)��- A��Mڴ�MM&=Y�MǹQUU�>��Q��Q�aU�G��Y��Yy�e�?�}e�>I�a��m�:��e�^5�?��u�:��e���� �e)]@��u�?9�e�PB��e��: �es�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U����@@�R�B*** querying acoustic contact ***�P��P�zL�&�=�L�&�=�L��@�L�V@�A�!L�<B� B��A�>*B��A9�A��A�Ҁ7�A�Y��A�"C�5��*C�v�u=RC��<C��C�Y� I�1 )�1 �����a<I�G%�>�A9�AI�E`jGi�E�@��E=��A��A��E��; �EO�E�`��(j,^�>��E�A�|�|Y}6��@�}6�͍@y}6BN�<�}6����}6H������ѿ���@4��?������?���@#������±ѿ�����������r)�����`�[������$��?)~6��@ ~6��];I~4ɫY�Y)�Y �]����I�YY����@y��sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��ɮ�=��='�=M=�=Y�EU"�QUE;?��I��I�aM�G��I��Qy�]n7�}]:?I�a��e,]5�?��e$��� �e�\@��u�?9�e�PB��ea; �eL;)�a�W��W�X� X��W�:W�2W�*W��V�U�U������@zLI�LI�LI�LM�F@�A�.�<B� B��A��'>*B��J9�A��A��7�A����A�"C�4��*C�ڥu=RC�C�<C��C�i��mAI��nAY��x9�֥�9<I��G-N>��5 � ����1 ��1 ��5 a�� �5 N?:Y�1 y�1 ��5 k�5)�5 ��;�9= ��&��(j,�X��E�AY}2;͕@�}2�ڍ@y}2�]�<�}2_��}2H�������ѿ��� ��?����T�?�������������ѿ�����m������rK������俣�����r��?)~2;͕@ ~2 �];I~2��Cɫ9�9)�9 �=����I�9Y����@y��NsG�xDUSBL response received:!U1,P F0C,000,0054E,186,80,80,77,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 ���;�=����E�����}=i��Q�@��� ��1�@)��1�@I��1�@i��1�@��=�\<ME.=Y�M��QUU�>��Y��Y�ae�G��a��y�gZ;}��>I�����Z5�?������� ��R\@�� �?9���PB���:�; ����;)���WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]���`�� @zL��L��L��L��\@�A��i�<B� B��A�.>*B��D9�A��A���7�A�!��A�"C�3��*C��hu=RCi�,<C�CY���9��� �H<I�� G �>���(j,nr��E�AY}2��@�}2��@y}2X��<�}2�s"��}2H����� zѿ���@���?�������?��� <������lѿ����X����@ȑ�����`>L����� 6��?)~2��@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y�}<�@y�}�sG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )���= ���=���&=M_=Y����QU�>��!��!�a%�G��!��)y�5+�<}5�>I�A��M�:��E�W5�?��U�:��E=��� �E�[@��U�?9�EQB��E*(; �EC&;)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U����@a�@zLY�LY�LY�L]��@�A���<B� B��A�J=>*B��I9�A��A���7�A����A�"C�2��*C�p;u=RC�k�S<C��C��9�I��kGi�Ŀ@����������; �V�EYϝ(9�֕�x/<I��G��>��- =i�- =��] &����] �����] �����] ]�� �] �_:Y�] 0Y1y�] ��:��] � 6)�] {�;����(j,VI���E�AY}2���@�}2��@y}2��<�}2d���}2H����`CFѿ��� ���?����I6�?��� ��������8ѿ�����\����� ��������ho�����`���?)~2���@ ~2\^;I~2��CɫY�Y)�Y �YI�YY�}C�@y�}�sG�������xDUSBL response received:!U1,R,F0F,000,00557,186,80,80,8A,FF �Fpublishing direction and range info���\W>���ɰ���=鰁 ��)��� CI��y��2B�����%l�~K�?Z��vѸ�?��������ٱ�����!>���l�=��� 0�i����@��� ��9�@)��9�@I���@i��9�@�� ;M ]=Y� Ē�QU�>�����a�G����y�%5<}%�>I�)��-kU5�?��- ��� �-}[@��5�?9�-.QB��-o�: �-�:)�)�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUe���`>�@�P*Q2B�Z�b}/.��E@�p�뤖"@���������Z��%l�~K�?Z��vѸ�?��������2Q\W>:Q�Z�h /�ru�c��V5F��9���F��Z���ν�$����|��ᅯ(\AQF��BQ�Ɣ@ Q�1�Q�3��P#�9?�P%�9?�P����Q����Q��@"Q�@zLY�LY�LY�L]��@�A�ފ�<B� B��A�7>>*B��I9�A��A�A�7�A����A�"C�5��*C��u=RC��A<C��C�YϥI9�֝h�W<I��G�b>���(j,-$���E�AY}Z/�@�}Z��@y}Z�c�<�}Z����}ZH����`!ѿ���@P��?�������?������������ѿ���@��������2L������)y������[��?)~Z/�@ ~Z�=^;I~Z��Cɫ�髡)�� ������I��Y��h�@y��tG�]DNmea in: $SNTTA,,,,,164917.97*5C ��e��l�����?{�G�z��<�O��n����e��>��eף� �et�)�aI�ay�e�X9��v��?y�&1����I+�����e��<��e`e���e94� �a)�e�AI�e+Ai�e�A��a��e�A���#<M�5=Y���QU��>�����a��G����SA��y�Ѫ;}��>Iȡ����:�ť�R5�?����:�ťf��� ƥBZ@����?9ƥMQB�ǥ��: ȥ��:)ȥ��:�m�uAdded new target pos. range: 44.520000 m, bearing: 266.383443 deg, deltaT: 3.966659 s, approachRate: 0.136135 m/s, LOS rate: -0.059226 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`�BF@U�����h��?zL�=�L�=�L���@�L��V@�A%�.�<B) B)�A-�B>*B-aH9�A)�A5��7�A54��A1"C=4��*C=l�t=RC=�/�<C9�CAY�i9����<I�!GE�>��5 � ����5 �����5 �����5 y�� �5 �C:Y�5 �U1y�5 ��:��5 �6�9= @��9��I��mGi����@��������������; ��f�E�i�(j,�@���E�AY}>��@�}>�$�@y}>o�<�}>@A��}>H�����"ѿ���@���?���`Xz�?���`�������ѿ�����Ú����`�푿��� �ơ���� ���?)~>��@ ~>Z^;I~<ɫY�Y)�Y �]����I�aY���@y���tG��Y��]mA���M=M�X=Y�vz�QU��>�����a��G����y���:}��>Iȱ�ŵ�P5�?�ŵ���� Ƶ;Y@����?9ƵfQB�ǵ��: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L���V@�A�l<B� B��A�IV>*B��K9�A��A��7�A����A�"C3��*Cܳt=RC ��<C �C Y���9����e�<I�GIi��I��fpAi�����V\�ٺ�fpA����NAI� )� � *�(j,��٣�E�A�|�|Y}>L�@�}> �@y}>�؎<�}>G���}>H����@�"ѿ���`T��?����G��?���@�������7ѿ����.Ú������ڑ������ݡ��������?)~>L�@ ~>T^;I~>��CɫY�Y)�Y �YI�YY�};�@y�}uG���=i���=�õ�?�õ�D;�õ=iõp�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@���ވ<M�I=Y��39�QU��>�������a��G������y���ں}��>I������:����N5�?����:������ �� X@����?9���QB���^�: ����:)����:�W�WX X�W:W2W*W�VUU���`qj�?zL9�L9�L9�L=��V@�AUᗌ<BQ BY�A];]>*B]'M9�AY�A]��7�A]���AY"Ce2��*Cm*�t=RCmW��<Ci�CiY�m�9��]�Ď<I�iG�Z>��5 �����5 �����5 �����5 P�� �5 �i:Y�5 �[1y�5 H�:��5 N6� T�(j,���E�AY}2��@�}2��@y}2�z�<�}2f���}2H�����s>ѿ����@��?����Z��?������������2ѿ�����������`!o�������N���������?)~2��@ ~2h�];I~2��CɫY�Y)�Y �]����I�YY�}��@y�}�uG��%�=M-U=Y�-��QU5�>��9��9�a=�G��9��Ay�M���}M�>I������L5�?���Q��� ��W@����?9���QB����; ��`;)���W�WX X�W:W!2W!*W!�V!U!U-�������?zLI�LI�LI�LM��V@�A]aG�<Ba Ba�Ael>*Be9N9�Aa�Ae�7�Am4��Ai"Cu5��*CuZt=RCu|�w<Cq�CyY�m�!9܉9܉I܍�mGi܍[�@�܍=�܉�܉�܍�; ݍn�E��}�]�<I��G�^>��<)j,ѓ ��E�AY}2��@�}2���@y}27 �<�}2�B��}2H����`kѿ������?���@nҟ?�����������_ѿ���@�f���������������梿����Q��?)~2��@ ~2U,^;I~0ɫA�I)�I �M����I�IY�}J�@y�}kvG)� �= � >��U���Uxi=��U\�=i�Uf�@��Q �U��@)�U��@I�U1�@i�U��@��e�7=MmF=Y�mhӺQUm�>��q��q�au�G��q��yy�}_�}}�>Iȁ�Ņ�J5�?�Ņ���� ƅ�U@����?9ƅ�QB�Dž��: ȅ��:)ȁ�Wq�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU}��� RE�@zL��L��L��L�AmV@�A��ٍ<B� B��A�>*B�O9�A�A��7�A{��A"C-4��*C-�%t=RC-L*P<C1�C1Y�%"9����u<I�IG�|>��5 K����5 �����5 �����5 �� �5 w:Y�5 �X1y�5 /�:��5 a6��g )j,2s'��E�AY}2$֕@�}2��@y}2�{�<�}2ظ��}2H�����Ĕѿ�������?���@i �?������������ѿ���@l]������Eϐ����@k������@��?)~2$֕@ ~2�^;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�vGI��)��)�����bX9���?+�����?Zd;�O��?���E�>�����= ��j�<)��I��y�����ʡE�?sh��|?��L7�A`堿���-�=���������+� ��)��EAI��fAi��fA�������A���=M?=Y�%�9QU%�>��!��!�a%�G��)��y�]Ż}��>Iȑ����:�ŕ�F5�?����:�ŕ��� ƕU@����?9ƕ�QB�Ǖ��: ȕ��:)ȕ��:�W��W�X X�W :W 2W *W �V UU���� �@zLU\�=�LU\�=�LU���@�LU�ej@�A�h��<B� B��A�t�>*B��Q9�A��A�$�7�A����A�"C�3��*C���s=RC��Y-<C��C�Y�},$9��u<�H<I�yG�~>܁9܁I܅oGi܅O�@�܅=�܁�܁�܅�; ݅m�E)��I��i�����=���=���N[5� N)j,�GA��E�AY}Zf��@�}Z$ʍ@y}Z�Ƃ<�}Z���}ZH�����E�ѿ����,��?�������?��� �������h�ѿ�����������@�X�����`پ��������?)~Zf��@ ~Z /^;I~Z��Cɫy�y)�y �yI�yY����@y��FwG�� nA��5 �����5 �����5 �����5 )�� �5 ;Y�5 [1y�5 ݏ:��5 �>6)�5 Y[<�9= ���m�z>��mS���m�>i�m��@��i �mn�@)�mn�@I�mn�@i�mn�@���VA<M��<Y���+�QU��>�������a��G������y�����}��>I�����:����@5�?�� �:���c��� ���S@�� �?9��@RB���r�: ���:)����:�W �W X X �W :W 2W!*W!�V)U)U-���@]� @�R5B*** querying acoustic contact ***�P1�P1zL�L�L�L*8j@�Ae�J�<Ba Bi�Am��>*Bm�H9�Ai�Am�7�AmW���Ai"C2��*C��s=RC�<C�CY��l&9���� &<I��GJ?��Y)j,-�s��E�AY}:ݛ�@�}:���@y}:�Mu<�}:]���}:H����@�ҿ���`#��?����?�?����������`��ѿ����錘�����r������@l|������M��?)~:ݛ�@ ~: �];I~:��Cɫ�髉)�� ��I��Y��v�@y���wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��ɮ�R=���=i�4=��eu�<Mm*=Y�mD�QUu�>��y��y�a}�G��y��y�-��}-�>I�1��5;<5�?��5��� �5�R@��=�?9�5~RB��5 �: �58�:)�1�WY�WYX� X��W�:W�2W�*W��V�U�U����� @zL��L��L��L�z�i@�A?��<B B�AA�>*B qX9�A �A ��7�A }���A "C5��*C�Os=RC��;C�C9���>9��I��<pGi��B�@��������������; ��g�EY�5�&9�� �P�;I�G5q>��� � ����� ������ ������ @�� �� �>:Y�� �[1y�� H�:��� � 6)�� �;��<#)j,1����E�AY}2Η�@�}2���@y}2�`<�}2)���}2H������ҿ���@b��?��� ���?���`������ Bҿ����������������������������?)~2Η�@ ~2�y];I~0ɫ9�9)�9 �9I�9Y�� �@y���xG�xDUSBL response received:!U1,P F0F,000,00557,186,80,80,8A,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��]Ԉ?��]Y���]t�<i�]��@��Y �Y)�YI�]3�@i�Y���2=M�+=Y�-,�QU��>������a�G���� y� ���} �>I����:��85�?���:������ ��Q@��E�?9��RB����; ��;)���:�W��W�X� X��W�:W�2W�*W��V�U�U����@dh@zL��L��L��L�)�i@�Adu�<B B �A �>*B[U9�A�A3�7�A%����A!"CE4��*CE�s=RCM+2�;CI�CIYϕ�(9�֝ ��<I�� G� �>��f))j,�n���E�AY}2ꝕ@�}2���@y}2/�J<�}2Z���}2H����� ҿ����e��?����I!�?��� �������{�ѿ���`C>�������Y�����@ɴ�����`M��?)~2ꝕ@ ~2Vz];I~2��CɫY�Y)�Y �]����I�YY����@y��$yG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����7�A`���?�l����:��v��������>����� ���T�)��I��y����~j�t��?���Mb������Mb`?�����=����@����; �� A)��+AI���Ai��A������)��= ��=��.�<MT=Y�%d�QU%�>��!��)�a-�G��)��)y�5�;}5�>I�9��=�55�?��=I��� �=�Q@��E�?9�=�RB��=��: �=�:)�9�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUqU}�����@zL���=�L���=�L�4~�@�L�F~@�A�$�<B� B��A��>*B��[9�A��A�ԇ7�A�����A�"C�3��*C�R�r=RC�f+�;C��C�Y���- }U�;I�9 Ge �>��� T ����� ������ ������ W�� �� �::Y�� �Y1y�� �:��� 6�9� @�ٹ�ٽnA��9��I���qGi����@���=�����������; ��h�E�4N0)j,H���E�AY}2���@�}2i��@y}2�W-<�}2��&��}2H����@!�ѿ��� ִ�?����I��?������������ѿ���@. ������ڪ�������٤��������?)~2���@ ~2M�];I~2��CɫI�I)�I �M����I�IY�}��@y�}DyG�xDUSBL response received:!U1,R,EC9,000,0055B,187,80,80,60,FF �Fpublishing direction and range info�����>���ɰ���=鰅1�> ��)����BI��y�� 3B�����J��%��?\��5(�?��������ٱ�I��)��)����u7<Muj=Y�}z��QU}�>��y���a��G����y���;}��>Iȑ����:�ŕ�35�?����:�ŕד�� ƕ�Q@����?9ƕSB�ǕR�: ȕ^�:)ȕ��:�Wa�WaXa Xi�Wi:Wi2W�*W��V�U�U����`�`@�P�*Q� 3B�Z�������E@ۛ�T��'@���������Z���J��%��?\��5(�?��������2Q���>:Q��Z�� VK"��n��_F�C+P!�<��Z������⇿6<w�����?�v䝕�BQ�Sl�@ Q��2�Q����P�(�9?�P�#�9?�P�����Q�����Q�^�@"Q���@zL��L��L��L��l~@�A-�K�<B) B)�A-��>*B-�Y9�A1�A5��7�A54���A1"C=2��*C=ɟr=RC=���;C9�CaY�U�*9��M �ϩ;I�Q Gu �>��z6)j,�-ۤ�E�AY}r+ɕ@�}r�֍@y}r�<�}r:�&��}rH����@�ѿ���`���?���`���?���`���������ѿ����������� Ղ������פ��������?)~r+ɕ@ ~r*�];I~r��Cɫ�)� �����I�Y�5��@y�5�yG��DNmea in: $SNTTA,,,,,164922.79*5A ��]mA��]mA�å"[>�å:��å� �iå �@�á ĥ-�@)ĥ��@Iĥ��@iĥٮ@��Jg<M�=Y�j�QU��>�����a��G�����y���;}��>I�)��-*05�?��-x��� �-R@��=�?9�-GSB��-n�: �-:)�)�mmqAdded new target pos. range: 44.759998 m, bearing: 269.331598 deg, deltaT: 4.846448 s, approachRate: 0.049520 m/s, LOS rate: 0.608313 deg/s, posRepo size: 4�Wi�WiXi Xq�Wq:Wq2Wq*Wq�VyU}����GaF@U}���� �?zL��L��L��L�?�~@�A��:�<B� B��A���>*B�%V9�A��A�K�7�A�m���A�"C�5��*C��[r=RC�vt<C��C����N>���G>��� � ��Y�� +9 �� �=��� ��� ������ ������ 3�� �� �>:Y�� xZ1y�� q�:��� 3 6����P�;I��G��>�4�<)j,�]���E�AY}2sߕ@�}21�@y}2��<�}2��!��}2H���� R�ѿ���@���?����cQ�?���`�����`�zѿ����W ������������� �9����� V��?)~2sߕ@ ~2g�];I~2��Cɫ1�1)�1 �5����I�1Y����@y���zG��s�=M��=Y����QU�.?�����a��G����y�X.<}�.?Iȡ�ť�.5�?�ť���� ƥR@����?9ƥbSB�ǥM�: ȥ8�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�Ue����@��?zLy�Ly�Ly�L}��~@�A���<B� B��A��>*B��i9�A��A��7�A�����A�"C�4��*C��:r=RC�!C<C��C���9��I���rGi��{�@��������������; ��e�EY��6+9�ֵ�H<I��G�D>�[�C)j,� ��E�AY}:��@�}:���@y}:��<�}:� ��}:H������aѿ���@��?���@���?����������@�Yѿ�����7������H��������_���������?)~:��@ ~:��];I~:��C��X��\i�I�= qAi�Qɫ�髁)�� ��I������h�ٺ� qA���#[AY��*�@y��0{G��%p=i�%%=�Å���ÅC���Å�}=iÅ �@�Á ą9�@)ą�@Ią�@ią�@��Y=M�J=Y��A�QU��>�����a��G����y���;}��>Iȩ����:�ŭG,5�?����:�ŭ_��� ƭ%R@����?9ƭ�SB�ǭ�: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����~V�?zL �L �L �L ��~@�A%s�<B! B)�A-��>*B-�a9�A)�A-��7�A5D���A1"C53��*C=�r=RC=��Y<C9�C9Y�E/-9��]��<I��G��>�� � ���� ����� ����� �� � �>:Y� �[1y� H�:�� �6��J)j,�)��E�AY}Riٕ@�}R'�@y}Ry�;�}R����}RH�������ѿ����P��?����Q^�?����p������-�ѿ�����+�����@�#~����@d���������?)~Riٕ@ ~RX�];I~R��Cɫy�y)�y �}����I��Y����@y���zG��=�j�t��?:��v��������Mb����=� >��=�T� �=�)�9I�9y�=�+�����?:��v�����p= ף����=�=��=�T���=�� �=lA)�=�AI�=KAi�=�A��9��=zA��]��M]>=Y�eъ�QUe�>��a��a�ae�G��i��iy�u=ۻ}u�>I�y��}*5�?��}��� �}fP@����?9�}�SB��}��: �}w�:)�y�W��W�X� X��W):W)2W)*W1�V1U1U5��� Ax�?zLuB�=�LuB�=�Lutc�@�Lu@�^@�A�В�<B� B��A���>*B�i\9�A��A�j�7�A�����A�"C�2��*C� �q=RC��)<C��C�i��I��mAY��S-9������mA���l�X<I��G �>�� 9�� I�� $tGi�� o�@��� =��� ��� ��� ��; �� b�E�;�P)j,o�C��E�AY}F���@�}FZˍ@y}Fef�;�}F���}FH�����m�ѿ�������?���� 5�?����Ͻ����@-�ѿ����OV����� ��z�����z֡��������?)~F���@ ~F��];I~F��Cɫy�y)�y �}����I�yY��*�@y��0{G��U�)=M]\=Y�]�QU]�>��a��a�ae�G��a��ay�m�}m�>I���E�:���'5�?��M�:��d��� ��N@��u�?9��SB��#v< ��v<)���:�W��W�X� X��W�:W�2W�*W��V�U�U����`8i�@zL9�L9�L9�L=��^@�Au��<B� B��A���>*B�2a9�A��A�-�7�A�}���A�"C�5��*C���q=RC��x�;C��C�Y�ew-9��U�h%<I�aG}z>��- �=i�) �� � ���� ����� ����� ��� � rE:Y� �X1y� /�:�� �6)� П;�9� ��bW)j,��]��E�AY}B���@�}Bo��@y}BZܦ;�}B#� ��}BH�������ѿ������?���@M?�?��� =����� a�ѿ���`P荿���`��t����@�����������?)~B���@ ~B�];I~B��Cɫi�i)�i �m����I�iY�}��@y��|GI��)����5�>��5�ļ��5v>>i�5@��1 �5@)�5@I�5@i�5@��E�o=MEK=Y�M�l�QUM�>��I��Q�aU�G��Q��Yy�]��}]�>I�a��e�%5�?��eݚ�� �eDM@��m�?9�e�SB��e��: �en�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U����`yI@zL��L��L��L��y^@�AU�ʅ<BQ BQ�AU��>*BU.g9�AY�A]�7�A]Y��AY"Ce4��*Ce�iq=RCe��;Ca�C�Y�m�/9��]�r�;I�iG�Z>��B])j,��w��E�Aɫ���)�� ������I��Y� �@y�=|G��5��<M5K=Y�=���QU=�>��9��A�aE�G��A��Ay�M���}M�>I�Q��]�:��U�#5�?��]�:��U\��� �U�K@��e�?9�U�SB��U��: �Ub�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����F�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A�/��<B� B��A�1�>*B�Yd9�A��A�č7�A���A�"C�3��*C��2q=RC�h4�;C��C����!>���;>Y�� ���=����=�q9�qI�u�tGi�u�@��q��q��q��u��; �uZ�E)��I��i�����=���=����:5���]�;I�!G=Q>��� m ����� ������ ������ ��� �� �P:Y�� 0Y1y�� ��:��� }6)�� ��;��&d)j,�i���E�AY}2�m�@�}2f{�@y}2Ť.;�}2����}2H����@�]ҿ����Ϣ�?�����ʠ?����a�����`�Yҿ����)щ�������e�����?��������?)~2�m�@ ~2~�];I~0ɫ9�9)�9 �=����I�9Y�}��@y�}"|G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���9�=���C�<���V�>i����@��� ��n�@)��n�@I��n�@i��n�@����ѻM�A=Y��|��QU��>�������a��G������y�5�b�}5�>I�9��=z!5�?��=��� �=�I@��E�?9�=TB��=ܹ: �=M�:)�9�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L��2^@�A-��<B) B)�A-��>*B-�a9�A1�A5��7�A5���A1"C=2��*C=��p=RC=�lD�C9�CAY�=�19��M�ϩ;I�YGu�>I�) )�) ��Qj)j,,I���E�AY}2@`�@�}2�m�@y}2�� ;�}2�a��}2H������wҿ����ڞ�?��� l��?���������� �sҿ���@��������T2a�����<���������?)~2@`�@ ~2�,];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�|G�xDUSBL response received:!U1,P EC9,000,0055B,187,80,80,60,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������|?5^�?�l����?{�G�zt�����R>����= ��ף�)��I��y����~j�t��?�MbX9��/�$��������=���ʡ������ µ7 A)µ�AIµ�Aiµ1A������G A����7=M�-=Y�����QU��>�����A�aE�G��A��Iy�M{b�}M�>I�Q��}�:��UT5�?��}�:��U���� �USI@����?9�UUTB��U&�; �U��;)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL}>�L}>�L}-�@�L}W�n@�A�N|<B� B��A���>*B b9�A�A ��7�A 8��A "C5��*C%�p=RC%n�ӺC!�CQi�iI�iY�I �u �>9�q I�u vGi�u �@��u =��q ��q ��u ��; �u G�E��j ����������������� �F<:Y��X1y�/�:����5)��;��]�rg�I�aG��>�S8q)j,�ť�E�AY}R�^�@�}RMl�@y}R�>�:�}R[���}RH������zҿ��� ��?��� ���?��������� wҿ��������������R�����cz�����`���?)~R�^�@ ~R�4];I~R��Cɫy�y)�y �}����I�yY����@y��S}G�M�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Õ�}��Õ�<�Õ1�iÕQ�@�Ñ ĕ��@)ĕ��@Iĕ�@iĕ��@����<M�c=Y�{-�QU��>�����a��G����y��}��>Iȹ�Ž@5�?�Ž��� ƽ�H@����?9ƽ�TB�ǽ��: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U����@�H@zL�L�L�L�}n@�A-5v<B1 B1�A5O�>*B5on9�A1�A5[�7�A=C��A9"C=4��*CEnp=RCE��ܺCA�CIY�%�39��U���I�aG}{>�~bw)j,M�ޥ�E�AY}2�d�@�}2�r�@y}2YD��}2���}2H����@�nҿ����!��?���@c?����������Ckҿ����G9����� �(?���@������@���?)~2�d�@ ~2�>];I~2��Cɫ9�9)�9 �=����I�AY�}~�@y�}~G�xDUSBL response received:!U1,R,F5A,000,00565,186,80,80,95,FF �Fpublishing direction and range info����V>���ɰ�C�=鰅��> ��)���CI��y��p5B����� �1��?'�ЌCz�?��������ٱ����i��)������F=M�V=Y���d�QU��>�������a��G�����y��;} �>I����5�?������ �zH@���?9��TB����: ���:)��W9�W9XA XA�WA:WA2WA*WA�VIUIUM������@�PY*Q]p5B�Z]���DqF@3��,&1@���������Z]�� �1��?'�ЌCz�?��������2Q]�V>:QY�Z]�^�zԤ��I�� oF���b�Ͽ�Z]���8��¿����K\�FW�u�BQ]��@ Q]x3�Q]&���P]�9?�P](�9?�P]����Q]����Q]��@"Q]^�@zL��L��L��L���n@�A�3zo<B� B��A���>*B��k9�A��A�A�7�A�(���A�"C-3��*C-�1p=RC-���C)�C1Y��39��?BɺI�G=�>��- =i�- p=��]� ����Y��Y��]��� �]�>:Y�Yy�Y��]|�5�9e@���})j,L����E�A�|,i|,Y}�r�@�}[��@y}�����}$�$��}H�����lTҿ����]��?�����?����Ҩ������Qҿ���`�߄�����RV?���@8�������`��?)~�r�@ ~�7];I~��Cɫ���)�� ������I��Y�-J�@y�5�}G��DNmea in: $SNTTA,,,,,164927.25*56 �I9�II�MDwGi�M��@��I��I��I��M��; �MB�E��5�3�M==Y�Ey�QUE�>��Q��Y�a]�G��a��qy�}t;;}��>Iș����:�ŝ�5�?����:�ŝ٢�� Ɲ�G@��5 �?9Ɲ�TB�ǝh�< ȝ��<)ȝ��:�mm uAdded new target pos. range: 45.360001 m, bearing: 261.555647 deg, deltaT: 4.454918 s, approachRate: 0.134683 m/s, LOS rate: -1.745476 deg/s, posRepo size: 4�Wi �Wi Xi Xi �Wi :Wq 2Wq *Wq �Vq U} �����F@U} ��� ]�?zL� �L� �L� �L� Z�n@�A� h<B� B� �A� ��>*B� �_9�A� �A� [�7�A� y��A� "C� 2��*C� X�o=RC� ���9C� �C� ��� J>��� J>YϵZ59�֭ Β{�I�� G� �>��7�)j,���E�Aɫ�髉)�� ������I��Y��;�@y���~G�Í^���Í���Íz>iÉ�É ĉ)ĉIč��@ič�@��L�=M��=Y����QU�#?�������a��G������y�����}�'?I�����t5�?������ ���G@��e�?9�� UB���ޙ< ���<)���Wi�WqX� X��W�:W�2W�*W��V�UU���@�F�?zLa�La�La�La�A�}`<B� B��A���>*B��u9�A��A�5�7�A����A�"C�5��*C�o�o=RC�_A�8C��C�Yϭ69�֥��9I��G��>��� � ����� ������ ������ ��� �� �[:Y�� �W1y�� č:��� �6��Y�)j,,�/��E�AY}>`��@�}>��@y}>B�3��}>��!��}>H���� #ҿ����ȩ�?�����ˣ?����$������!ҿ�����������`}f?���`7:���������?)~>`��@ ~>@];I~>��Cɫ9�9)�9 �9I�AY�}�@y�}�~G����bX9���?k�t��?�~j�t������E6>��� �= ���ļ)��I��y���/�$��?D�l���������Mbp?���,=���O������; ½Q A)½�AI¹i½fA������� A�����M�I=Y���]�QU��>�������a��G������y���;}��>I������:����5�?����:���Z��� ���G@���?9��AUB��� �: ����:)����:�W!�W!X! X!�W!:W)2W)*W)�V1U1U5������?zLU��=�LU��=�LU/K�@�LU�Y@�AecX<Bi Bi�Am��>*Bm6s9�A��A��7�A����A�"C�4��*C��qo=RC�ӅB;C�CY�V69��I�GE�>IAA)ޱ�������<��9��I��pxGi����@��������������; ��L�E��E�)j,�I��E�A�|@�|B4<Y}=���@�}=i��@y}=WW��}=?���}=H����` *ҿ����\��?�����͢?�����������(ҿ���གྷ~������j?���������� ?��?)~=���@ ~=�>];I~=��Cɫ �)� �����I�Y�m��@y�m�G���rh>����S>������i����@��� ��@)��@I���@i��ٮ@i�QI�mfpA��u�R=Mu3=i��Y�ʘ�QU��>���Fi�ٺ�fpA���[A�����a��G�����y���~�}��>I������ 5�?������ ���G@����?9��hUB�����: ���:)���W��W�X� X��W:W2W*W�VU U �����?zL)�L)�L)�L-��Y@�A=<�O<BA BA�AE��>*BE)l9�AA�AE'�7�AM���AI"CM3��*CU�/o=RCU� ;CQ�CQi��I��Y��z69��������� q�Z;I�� G �>��] Q ����] �����] �����] ��� �] �N:Y�] �X1y�] /�:��] k�6)�] Χ;�9e ��,l�)j,�Sc��E�Aɫy�y)�y �}����I�yY�� �@y���G)�!���nz<M�f=Y�����QU��>�������a��G�����y����} ?I����:��v5�?���:��M��� � H@���?9��UB����: �M�:)���:�W9�WAXA XA�WA:WA2WA*WI�VIUIUM�������@zLi�Li�Li�Li�A���G<B� B��A���>*B�=v9�A��A��7�A����A�"C�2��*C�z�n=RC�C��C�Y�mO89��]�] ;I�iG�Z>�:��)j,{.}��E�AY}6t�@�}6ʁ�@y}6�����}6����}6H����`�Qҿ���@ ��?�����ء?����*�����@1Qҿ����"x����@\�q?�����������`���?)~6t�@ ~6-];I~6��Cɫ9�9)�9 �=����I�9Y����@y���G�y9�yI�}�yGi�}��@��y��y��y��}��; �}V�E��ף���E6>�����i���@�� ���@)���@I���@i���@��X�M=Y����QU�>��!��!�a%�G��!��)y�-��}-�>I�A��E�5�?��E���� �EHH@��]�?9�E�UB��EHv; �E |;)�A�W��W�X� X��W�:W�2W�*W��V���=iޱU�U�����M/@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���Y@�A ��><B B �A ?�>*B @f9�A! �A% N�7�A% m��A! "C5 5��*C5 ��n=RC= �^�C9 �C9 ��� 0>��� 4>��E ����E �����E �����E ]�� �E �I:Y�E xZ1y�E q�:��E � 6)�E ��;Y���89���������� ���������I��G�?��V�)j,�Ȟ��E�A�|<i|<Y}�c�@�}�q�@y}1����}9���}H�����gpҿ����7��?���`8�?����������@gpҿ�����vu������su?����8���������?)~�c�@ ~M];I~��Cɫ���)�� ������I��Y� g�@y� 3�GZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******������(\�µ?:��v��ʿ<�O��n�?����=����T� ��t<)��I��y����� �rh�?V-�����~j�t�����C�=����m������ µ7 A)±I±iµKA������p A���G(=M�T=Y����QU��>�������a��G������y��Ԧ�}��>I������:���85�?����:������ ��iG@����?9���UB���A�: ����:)����:�W!�W!X! X!�W!:W!2W)*W)�V)U)U-�����0@zLM��=�LM��=�LM�v�@�LM�m@�A�� 5<B� B��A���?*B��u9�A��A�L�7�A����A�"C�4��*C�-fn=RC�έ��C��C�Y�-�:9I�AG]w>���)j,����E�AY}FS�@�}F�`�@y}F/λ�}F���}FH����@��ҿ��� ���?�����ע?��� �������1�ҿ���`5�r�������y?����Z������`]��?)~FS�@ ~FS];I~F��CɫQ�Q)�Q �]����I�YY�}��@y�}Z�G�xDUSBL response received:!U1,P F5A,000,00565,186,80,80,95,FF �Command Ack�BRequesting micromodem ping code 2i������U�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���٪<M�^=Y��{:�QU��>�������a��G����� y����}%�>Iȁ�Ņ��5�?�Ņ��� ƅ�F@����?9ƅ�UB�Dž��; ȅ��:)ȁ�WY�WYXi Xq�Wq:Wy2Wy������mA���>9��I��dzGi����@��������������; ��X�E)�)�I�)�i�)���-�=��-�=��-��%4*W)�V1U1U=��� K�@zL��L��L��L���l@�A%�G+<B! B)�A-�?*B-,p9�A)�A-k�7�A5���A1"C}3��*C}n=RC���l�C��C����� �������������������� ��8A:Y��WU1y���:����6)��*�;YϑI�G��>��d�)j,�mҦ�E�AY}2�A�@�}2�O�@y}2��}2����}2H�������ҿ��� }��?������?��� ���������ҿ����J�p����`��}?����Y�����@���?)~2�A�@ ~2��];I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}O�G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=\���=V>��=`�i�=�@��9 �9)�9I�=ٮ@i�=Ը@��M⯻MMB=Y�Ul�QUU�>��Q��Q�a]�G��Y��Yy�e�}e�>I�a��u�:��e�5�?��u�:��e#��� �e�E@��u�?9�e VB��e��: �eZ�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�D�l@�A�n!<B� B��A�?*B�Pz9�A��A�_�7�A� ��A�"C�2��*C��m=RC��`��C��C�Y���<9I��I�)�?AG*>����)j,�K즨E�A�|�|Y}6�0�@�}6j>�@y}6�|�}6HE��}6H�������ҿ��� ��?�����Ѣ?���@z��������ҿ����1�m������/~?����~������ i��?)~6�0�@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y��y�@y��܀G鮱ɮ�p=�xDUSBL response received:!U1,R,F3F,000,00568,186,80,80,97,FF �Fpublishing direction and range info���jw,>���ɰ���=鰱 ��)���CI��y��(6B����g ���?=��t�?��������ٱ������=M�d=Y���a�QU��>�������a��G������y��=��}��>I�����5�?����� ��D@���?9�AVB��n�: ���:)��W1�W1X1 X9�W9:W92W9*W9�V9UAUE���@*�@�PQ*QU(6B�ZU�����rF@l[� �@���������ZU�g ���?=��t�?��������2QUjw,>:QQ�ZU�^��&̦�0ͷœF�8����?�ZU�;r>'�����~�����w���S?BQU<��@ QU�4�QU6���PU�9?�PU�9?�PU����QU����QU8�@"QU��@zLy�Ly�Ly�L}�l@�A���<B� B��A�< ?*B�Y{9�A��A�j�7�A�b��A�"C�5��*C���m=RC�o��C��C�Yϭ�<9�֥?B�:I��G�D>���y �������������������� ���Q:Y��xZ1y��q�:���t6�9�@�� 9�� I�� ,{Gi�� &�@��� ��� ��� ��� ��; �� G�E��v�)j,:$��E�AY}:��@�}:�*�@y}:���}:����}:H�����M�ҿ���@���?���`��?��� ���������ҿ������i����@�:~?����֞���������?)~:��@ ~:��];I~:��Cɫ9�A)�A �E����I�AY����@y���G�eDNmea in: $SNTTA,,,,,164931.48*5A ��%/�=��%�;��%ף�i�%G�@��! �%-�@)�%�@I�%�@i�%�@��UC$<M]5=Y�]�ķQU]�>��a��a�ae�G��a��ay�m���}��>Iȑ�ŕ��5�?�ŕS��� ƕ�C@����?9ƕlVB�Ǖ@�: ȕ+�:)ȑ�m 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 X�W:W2W*W�VU�����F@U%������?zLY�LY�LY�L]S�l@�A��<B� B��A�e ?*B�*s9�A��A���7�A����A�"C�4��*C�lXm=RC����C��C�YϽ5?9�֭�P��I��G��>���)j,� ��E�Aɫ�髱)�� ������I��Y����@y���G�� �q= ףp�?@5^�I¿���Q��?�� ��=�� b� � �u<)� I� y� �1�Zd�?y�&1����~j�t�h?�� "�=�� `e��� �D; � �A)� KAI� � Ai� � A�� �� (A��-�K<M-L=Y�5���QU5�>��1��1�a=�G��9��9y�E���}E�>I�I��U�:��M�5�?��U�:��M;��� �M�C@��U�?9�M�VB��M��: �MD�:)�M��:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U������&�?zL�h�=�L�h�=�L����@�L�n�{@�A��<B� B��A��?*B�X{9�A��A���7�A����A�"C�3��*C�Km=RC�]��C��C����G>���0>���i��Y�1��%�+�I�1GU�>���)j,��9��E�A�|i|�@Y}:��@�}:]�@y}:����}: ���}:H���� l*ӿ����̂�?����o�?��� Ç�����,ӿ���@@�c��������?���@�s�����@���?)~:��@ ~:��];I~:��CɫQ�Q)�Q �U����I�QY����@y���G��U <MUZ=Y�]3 �QU]�>��Y��Y�ae�G��a��ay�m��}m�>I�q��uQ�5�?��u��� �uD@��}�?9�u�VB��uw�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U)U5�������?zLi�Li�Li�LmkR{@�A�:\�;B� B��A�z?*B�3z9�A��A�Ҟ7�A�m��A�"C�2��*C���l=RC���C�C��C��q9�qI�u�{Gi�u��@��u=��q��q��u��; �u6�E��-� ����-�����-�����-�� �-�T:Y�-�X1y�-/�:��-�6)�-?�;�95�YϽY?9���nA���mA�ֵ���I��G%�>���)j,�S��E�AY}2��@�}2\�@y}2���}2 ���}2H����`� ӿ�������?���`��?����6�������"ӿ����i3c����`t�?����lp������]��?)~2��@ ~2�];I~2��Cɫ9�9)�9 �=����I�9Y�]'�@y�eG�G��%�̽��%->��%��i�%�@��! �%�@)�!I�!i�%b�@��5(�<M5M=Y�=�QU=�>��9��9�aE�G��A��Ay�M�:}M�>I�Q��]�:��Ur�5�?��]�:��U���� �U7D@��]�?9�U�VB��U�: �U��:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����z��?zL��L��L��L�C]{@�A����;B� B��A��?*B��|9�A��A��7�A����A�"C�5��*C�ۉl=RC�i�4�C��C�Y��vA9�ֽ�:�I��G�h>���)j,��m��E�AY}:�@�}:�"�@y}:����}:���}:H����@ӿ����چ�?�����B�?����,������� ӿ�����qb��������?�����������@���?)~:�@ ~:�j];I~:��Cɫ9�9)�9 �9I�9Y�}j�@y�}p�G��U�<M]H=Y�]b��QU]�>��a��a�ae�G��a��ay�m�;}m�>I�q��u��5�?��u��� �u`D@��}�?9�u/WB��u��: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����}A�@zL��L��L��L�Uy{@�A����;B� B��A��?*B�x{9�A��A��7�A�s��A�"C�4��*C��Al=RC�=�C��Ci� I� nAY��I� @A)� ��m� ����m�����m�����m�� �m�S:Y�mxZ1y�mq�:��m�6�9u@���*:�I��G%M>�i 9�i I�m }Gi�m ��@��m =��i ��i ��m ��; �m <�E����)j,�k���E�AY}B�*�@�}Bg8�@y}B1#��}B�$��}BH�������ҿ��� ���?������?���`�������}�ҿ������b������b�?���`i���������?)~B�*�@ ~B�n];I~B��CɫY�a)�a �m����I�iY��L�@y����G)�!���"[>����=���94<i��z�@��� ��b�@)��b�@I��b�@i������=M�A=Y���L�QU��>�����a�G����y� 8�;} �>I����:��{�5�?���:������ ��D@��%�?9�cWB��=�: ���:)���:�WA�WAXA XA�WA:WI2WI*WI�VQUQUU����+�@zLq�Lq�Lq�LuF�{@�A��u�;B� B��A��?*B��}9�A��A�[�7�A���A�"C�3��*C���k=RC�X���C��C�Y�u�A9 �}�=��}�=����!i��HmGI��i����=�b�ٺ9��=�TA�֥���I��G�d>���H?9���<A�$��)j,9G���E�AY}2z;�@�}28I�@y}2�$��}2�$��}2H����ҿ�������?��� �?��� w�����@o�ҿ�����aa��������?��� F������ ��?)~2z;�@ ~2<W];I~0ɫI�I)�I �M����I�IY�}��@y�}��G��K ����������������� �7N:Y��X1y�/�:����5�� ��������?��~j�t��㥛� ����� �L>�� �� � ���)� I� y� ���~j�t�?ˡE�����/�$����� ��<�� �'��� �� � )� I� i� 1A�� �� QA��%m�M%=Y�-�?�QU-�>��)��1�a5�G��1��9y�=xx;}=�>I�A��Ef�5�?��E(��� �E�C@��M�?9�E}WB��E��: �E��:)�A�Wq�WqX� X��W�:W�2W�*W��V�U�U����@�@�R B*** querying acoustic contact ***�P �P zLEL=�LEL=�LE֮�@�LE�Q@�Au�W�;Bq By�A}N?*B}Or9�Ay�A}��7�A}�ߺ�Ay"C�2��*C�I�k=RC���ƻC��C��̝4>�̝]>Yυ �C9��u�P��I��G��>��>�)j,#����E�AY}2!I�@�}2�V�@y}2�6��}2�"��}2H����ॣҿ����ѕ�?�����ɤ?���@�����@��ҿ�����3d������f�?�����@�����`8��?)~2!I�@ ~2m];I~2��Cɫ)�1)�1 �1I�1Y����@y��O�G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��� >M�=Y�;QU4?��!��)�a-�G��)��1y�5a�;}53?I�A��U�:��Eq�5�?��U�:��E>��� �E�C@��]�?9�E�WB��ELZ; �E[;)�E��:�Wy�W�X� X��W�:W�2W�*W��V�U�U���� >� @zL��L��L��L��Q@�A��<~;B� B��A�?*B�n�9�A��A���7�A�Tߺ�A�"C�5��*C�.qk=RC�ڬ��C��C����>9��I���}Gi��_�@���=�����������; ��N�E����=i��Y��GD9��XһI�G-�>��!�)j,�է�E�AY}2B�@�}2�O�@y}2c'��}2{s��}2H����@"�ҿ���`��?����\�?����o��������ҿ������a�����ل�?�����̣�������?)~2B�@ ~2r)];I~2��Cɫ9�9)�9 �9I�9Y�u�@y�}ہG�xDUSBL response received:!U1,P F3F,000,00568,186,80,80,97,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��)i�)���� ������������������� ��sC:Y���Y1y���:���6����'>���+�����M�i����@��� ���@)���@I����@i����@�� �<�M#=Y���QU�>�����a�G����!y�%�}%�>I�)��-��5�?��-j��� �-�B@��5�?9�-�WB��-k�: �-��:)�)�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm������ @zL��L��L��L��Q@�A-�R;B1 B1�A52?*B5�v9�AY�A}�7�A}ߺ�Ay"C�4��*C�yk=RC�����C��C�Y���E9�ֽ ��I�� G� �>��J�)j,�[裡E�AY}2�+�@�}2�9�@y}2����}2���}2H����@��ҿ������?����g��?�������������ҿ�����a�����cׂ?���`������@��?)~2�+�@ ~2a%];I~2��CɫY�Y)�Y �]����I�YY��L�@y����G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )��= �>��52�<M5n=Y�=�|:QU=?��9��9�aE�G��A��Ay�Mc�}M?I�Q��U6�5�?��U���� �U�B@��]�?9�U�WB��U��: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@H_@zL��L��L��L�\zQ@�A��T);Bi Bi�Am�?*Bm��9�Aq�Au+�7�Au��Aq"C}3��*C���j=RC���C��C�i̽nAI̽mAYϽ@F9�֭[RӻI��G��>�� 9�� I�� L~Gi�� ��@��� ��� ��� ��� ��; �� W�E)�a�I�a�i�a���e�=��e�=��e��Q4��6*j,(I ��E�AY}E �@�}E��@y}E;���}Ew��}EH�����Kӿ��� ���?������?��� ������ ӿ�����'d������{�?�����-�����@���?)~E �@ ~E�];I~E��Cɫ � )� �I�Y�Mb�@y�M �GUxDUSBL response received:!U1,R,F33,000,0056F,187,80,80,AC,FF ]Fpublishing direction and range info��U�07>��QɰU��=�U1�> �Q)�U�,CI�Qy�U�7B��U����B}�?$2����?��������ٱQ)�q�����=���O�������<i����@��� ��-�@)��I��-�@i���@�����;M�>=Y��6�:QU��>������a�G����y� ��} �>I����:����5�?���:������ �B@��%�?9��WB����: ���:)���:�W��W�X� X��W�:W�2W�*W��V�U�U������@���� �������������� ���W:Y��y�����E�5)����;�9���P�*Q��7B�Z��@C�C��F@X�32H[ @���������Z�����B}�?$2����?��������2Q��07>:Q��Z���LWW+����v]�F�������?�Z���;UOǿ�"� ������ta?BQ�XВ@ Q�j6�Q�����P��P��9?�P�����Q�����Q�r�@"Q�8�@zLA�LA�LA�LE>7Q@�AU1��;BY BY�A]�?*B]n|9�Aa�Aew�7�Ae��Aa"C}2��*C}�j=RC}E�A�C��C�Yύ9H9�֍ �8�I�� G� �>�_*j,�#��E�Aɫ�)� �����I�Y�Ma�@y�U��G��TNmea in: $SNTTA,0.059642,,,,164935.91*48 ����=i����U ��������?�O��nÿ:��v���?��U ff>��U �� �U �T=)�Q I�Q y�U �sh��|?�?�� �rh��T㥛� ����U ��=��U C���U �� �U �A)�U 1AI�U �Ai�U lA��Q ��U = A�� �X=M� =Y� ���QU� �>�� �� �a� �G�� �� y� ���}� �>Iȹ ��� �:�Ž ��5�?��� �:�Ž ���� ƽ �?@��� �?9ƽ �WB�ǽ �: Ƚ I�:)Ƚ ��:�m qAdded new target pos. range: 45.959999 m, bearing: 262.869174 deg, deltaT: 4.535619 s, approachRate: 0.092600 m/s, LOS rate: 0.072645 deg/s, posRepo size: 4�W �W X X �W :W 2W *W! �V! U- ���@��F@U- ���`�}�?zL] z�=�L] z�=�L] 螼@�L] 2��@�A} (ް:By B� �A� ?*B� �w9�A� �A� ��7�A� ��A� "C� 5��*C� �/j=RC� xT;�C� �C� �̭ N>�̭ �=Yϕ]H9�օ*:�I��G��>�#s*j,��A��E�AY}6���@�}6C@y}6���}6����}6H�����.�ӿ�����j�?������?�����o�����F�ӿ�����pb������Â?�����/������|��?)~6���@ ~6�];I~6��CɫI�Q)�Q �U����I�Q�Y9�YI�]Gi�]S�@��Y��Y��Y��]��; �]N�EY����@y��f�G��u� ����u�����u�����u�� �u�A:Y�u�X1y�u/�:��u�6)�u��;���P�M��=Y��%�QU�4?�����a��G����y��,�}�4?Iș�ŝZ�5�?�ŝ��� Ɲ�>@��-�?9ƝXB�ǝ��< ȝ��<)ș�W��W�X� X��W�:W�2W�*W!�V!U)U5������?zL��L��L��L��W@�A#?:B B�AA?*B҇9�A�A�7�Ax�A!"C%4��*C-S�i=RC-�ϳ�C)�C)Y�1J9���:�I�G-�>��*j,��[��E�Aɫ�髙)�� ������I��Y��a�@y����G�Õ����ÕC���Õ��=iÕ=�@�Ñ ĕC�@)ĕ��@IĕC�@iĕ-�@��t�<M�I=Y����QU��>�����a��G����y����}��>I�����H�5�?���z��� ��&=@����?9��8XB�����: ����:)���W��W�X� X��W�:W�2W�*W��V�UU�������?zL!�L!�L!�L!�A����8B� B��A� ?*B���9�A��A�G�7�A�v�A�"C�3��*C�J�i=RC�e��C��C�Y��UJ9���ԅ��I��G�j>� �*j,�u��E�Aɫ�髙)�� ��I��Y���@y���G)����� ������������������� �zH:Y�0Y1y���:��6�9�@��M�L=MU@=Y�QQUU�>��Y��Y�a]�G��Y��ay�a}e�>I�y����:��}�5�?����:��}��� �}{;@����?9�}`XB��}$�: �}R�:)�}��:�W1�W1X1 X1�W9:W92W9*W9�V9UAUE��� +��?zLa�La�La�La�Au4��By By�A}�%?*B}�9�Ay�A}��7�A}��A�"C�2��*C��Si=RC��ǣ�C��C�i̝mAI̙Y�}�J9�E�>9�AI�E�Gi�E��@��E=��A��A��E��; �EV�E��}፨�I��G��>�s�#*j,�[���E�AY}J묔@�}J���@y}JӅO��}J����}JH�����r�ӿ�����g�?����ql�?��� Nm�������ӿ������O?�������?�����P�����`��?)~J묔@ ~Ja�\;I~J��CɫY�Y)�Y �]����I�YY���@y���G��}�,?��}�m=��}�r�i�}��@��y �}��@)�}��@I�}��@i�}��@�����M�X=Y���QU��>�����a��G����y�� �}��>Iȡ�ť3�5�?�ť���� ƥ:@����?9ƥ�XB�ǥ��: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U������?�@zL�L�L�LeU@�A�ҙ�B B�A%y%?*B%R�9�A!�A%��7�A%��A!"C-5��*C5� i=RC5wo��C1�C1Y�mNL9��]U֣�I��G�d>���)*j,�6���E�AY}FPȔ@�}F@y}F��V��}Fn-��}FH�����K�ӿ���@`p�?�����4�?�����u����`ϝӿ�����[?���@�Պ?����T����� 9��?)~FPȔ@ ~F];I~DɫY�Y)�Y �]����I�YY��e�@y��E�GI�q)�u@A���� �����������������F�� �i\:Y��Y1y��:��<6����m������?J+��?k�t�������n>����H= �� 0�)��I��y����p= ף�?i��|?5�����S㥛?����=����q����/�< A)�AI7 Ai� A������ A��-��<M-A=Y�5���QU5�>��1��1�a5�G��9��9y�=<}E�>I�A��U�:��E��5�?��U�:��E���� �E�:@��U�?9�E�XB��E��: �E,�:)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U����@7�@zL��=�L��=�L��y�@�L�*�j@�A���B B�A�(?*B@�9�A!�A%T�7�A%��A!"C-4��*C-��h=RC-����C1�C1Y�=�L9��፨�I�!G=�>�m�0*j,è�E�A�|(�|*�;Y}Fߔ@�}F��@y}F�T��}F���}FH����@�mӿ���`w�?��� V��?�����|����`drӿ����{2V?��� ���?����ё�����@���?)~Fߔ@ ~Fw�\;I~F��C�p9�pI�rR�Gi�r��@��r=��p��p��r��; �r_�EɫY�Y)�Y �]����I�YY��Y�@y��>�G��TNmea in: $CAERR,164939,DATA_TIMEOUT,1*4E ��m�i�M�W=Y��9QU��>�����a��G����y�r�;}��>Iș�ŝ�5�?�ŝ���� Ɲ�;@����?9Ɲ�XB�ǝ��: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����`�@�RB*** querying acoustic contact ***�P�PzLI�LI�LI�LM~k@�A�S&�B� B��A�@(?*B��9�A��A���7�A���A�"C�3��*C�xdh=RC�c���C��C����0>���,>Y�� ���=����=i���lGI�� qAi����-�m�ٺ- qA��-�_A����e��I��G �>���6*j,��ܨ�E�AY}B��@�}Bl��@y}B�mM��}B0���}BH����`�[ӿ��� 9y�?����:��?���������`�_ӿ����P�2?���@���?������������F��?)~B��@ ~B�];I~@ɫQ�Q)�Q �U����I�QY��K�@y��5�G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��}$ ����}�����}�����}R�� �}K:Y�}DW1y�}Y�:��}�6��u��=��u�<��u�Ƚi�u̴@��q �ub�@)�u��@I�ub�@i�ub�@����M�7=Y�_�:QU��>�����a��G����y�!-;}��>I������:���P�5�?����:������� ��j<@����?9���XB����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U9UE�����N @zLy�Ly�Ly�L}^)k@�A��O�B� B��A��'?*B�V�9�A��A��7�A�6ߺ�A�"C�2��*C�}h=RC���v�C��C�YϵO9�֭pI��G��>��=*j,2����E�AY}2���@�}2m�@y}2S�G��}2sb(��}2H������jӿ���`�u�?���@��?��� 6}������nӿ������K�������?���@c ����� x��?)~2���@ ~2�];I~0ɫy�y)�y �}����I��Y��C�@y��1�G�xDUSBL response received:!U1,P F33,000,0056F,187,80,80,AC,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 ��E�%�MMe=��yi�}�=Y��m:QU��>�������a��G�����1y�5�%�}5�>I�9��=��5�?��=���� �=)=@����?9�=YB��=8=< �=XB<)�9�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L�%k@�A��vw�B� B��A��'?*B��9�A��Av�7�A%�ߺ�A!"C55��*CE��g=RCE���CI�CQ��9��I����Gi����@���=�����������; ��a�EY�1��M �+w�I�q G� �>���C*j,����E�A�|i|�@Y}6ϔ@�}6�܌@y}6�DH��}6��-��}6H�����n�ӿ����p�?�������?��� �w�����c�ӿ������U�����g�?���������� ��?)~6ϔ@ ~6�W];I~6��Cɫ9�9)�9 �=����I�9Y�}]�@y�}A�G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���� �������������������� �@:Y�d\1y���:���6)�!�;�9�����Z�>����������&�i��f�@��� ���@)��b�@I��i��x�@����;M>=Y��[�QU �>�� ���a�G����y����}�>I�!��%]�5�?��%���� �%�=@��-�?9�%8YB��%��: �%m�:)�!�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUYUe����@D@zL��L��L��L�(k@�A��z��B� B��A�](?*B��9�A��A���7�A��ߺ�A�"C�4��*C���g=RC��W��C��C�i��I��Y�<Q9���������I�)Gmx>�!J*j,W|*��E�AY}6_��@�}6��@y}6IS��}6�(��}6H�����)�ӿ�����g�?������?��� Go�������ӿ����h>����@�b�?���@�������b��?)~6_��@ ~6Va];I~6��Cɫ9�9)�9 �AI�AY�}��@y�}n�G�xDUSBL response received:!U1,R,F4D,000,00576,186,80,80,A8,FF �Fpublishing direction and range info�����>���ɰ��=鰅��> ��)���(CI��y���9B�����8SB��?n����?��������ٱ�)���������Mb�?�&1��?�������������=����P= �����)��I��y����&1��?��~j�t���&1�������P=����������P� �A) AI�Ai�A������p A��E��<MEF=Y�M�ѺQUM�>��y��y�a}�G����y���}��>Iȱ����:�ŵ�5�?����:�ŵ���� Ƶ�<@����?9ƵPYB�ǵ��: ȵ��:)ȵ��:�W�WX X�W:W2W *W)�V)U)U5�����@�P9*Q=�9B�Z=��8��[�F@�] l��@���������Z=��8SB��?n����?��������2Q=��>:Q9�Z=�X�V$�ʞ���F�����?�Z=���w2GĿ!�eo"��&�e��y?BQ=���@ Q=67�Q="���P=�9?�P9�P=����Q=����Q=�@"Q=r�@zL���=�L���=�L�l��@�L��Y�@�A%\��B! B)�A-�*?*B-L�9�A)�A5%�7�A5B��A1"CE3��*C]4'g=RC]�\��CY�CaY�I��U(���I�YG}�>�iQ*j,�eD��E�A��@��@�H9�HI�J��Gi�J;�@��H��H��H��J��; �J[�E)�9�I�9�i�9���=�=��9���=�xq4Y}-g��@�}-%��@y}-��Y��}-����}-H������Կ����o^�?����>��?��� �d�����QԿ������G?��� �9�?�����|����� W��?)~-g��@ ~-V�];I~-��CI�y)�}BAɫ���)�� ��I����U_����U�����U�����U:�� �U:d:Y�U�[1y�UH�:��U� 6)�Uh�;Y����@y��\�G� TNmea in: $SNTTA,0.030484,,,,164940.43*42 �� 94>�� ����� �y=i� 3�@�� � C�@)� C�@I� -�@i� b�@��- ƻM- =Y�5 �3�QU5 �>��1 ��1 �a= �G��9 ��9 y�E c�}� �>Iș �ŝ C�5�?�ŝ ��� Ɲ �:@��� �?9Ɲ rYB�ǝ k�: ȝ w�:)ș �m� uAdded new target pos. range: 46.380001 m, bearing: 260.962212 deg, deltaT: 4.499028 s, approachRate: 0.093354 m/s, LOS rate: -0.423861 deg/s, posRepo size: 4�W� �W� X� X� �W� :W� 2W� *W� �V� U� ����0G@U� ���@b��?zL �L �L �L FN�@�A m��B! B! �A% �)?*B% �}9�A! �A% ¸7�A- ���A) "C- 2��*C5 ɯf=RC5 nȼC1 �C1 ��E ?>��E ]>Y�u}S9��e፨�I�qG��>��RX*j,��b��E�A�|�|Y}6yp�@�}67~�@y}6��c��}6� ��}6H�����+@Կ���@�T�?����S�?���`CZ�����EԿ����~�`?���`cw�?���`��������$��?)~6yp�@ ~6 �];I~4ɫa�a)�a �e����I�aY����@y����G��Ml=MU�=Y�]U�QU]0?��i��i�am�G��q��yy�}���}�.?Iȉ����:�ō��5�?����:�ō���� ƍ�9@����?9ƍ�YB�Ǎ-/; ȍ ?;)ȍ��:�Wy�WyX� X��W�:W�2W�*W��V�U�U���� ���?zL!�L!�L!�L%�B�@�Ae�E»Ba Ba�Ae/,?*Bmg�9�Ai�Am�7�Am2��Ai"Cu5��*Cu}pf=RCu�p�Cq�CyY�m�S9��M����I�YG�{>��w^*j,>�|��E�A��&�����$��$��&��� �&*;Y�$y�$��&�6�9*@Y}B$T�@�}B�a�@y}B�t��}B�� ��}BH������uԿ�����K�?���@iA�?����"Q����`H{Կ�����i?���`���?������������*��?)~B$T�@ ~B�m];I~@ɫY�Y)�Y �]����I�YY����@y����G��a�;M�D=Y��#�QU��>�������a��G������y��X �}��>I�����C�5�?������� ���8@����?9���YB���{�: ��ʽ:)���W�WX X�W:W 2W *W��V�U�U�����0�?zL��L��L��L��,�@�A��ӻB� B��A��,?*B�#�9�A��A�G�7�A����A�"C�4��*C�7f=RC�����C��C��Q9�QI�Qi�Q��Q��Q��Q��U��; �U^�EY���U9��)I�9GU�>��`e*j,K����E�A��=i�p=Y}B�G�@�}B�U�@y}B�?���}B�S��}BH������Կ�����G�?��� �ʣ?����M�����&�Կ������l?�����'�?���@�(�����@���?)~B�G�@ ~BV];I~B��CɫQ�Y)�Y �YI�YY����@y���G��5$>��5�L=��5+>i�5f�@��1 �5��@)�5��@I�5��@i�5��@��u�H=M}1=Y�\��QU��>�����a��G����y���R�}��>I������:�����5�?����:������� �� 7@����?9���YB�����: ���:)����:�W��W�X� X��W�:W�2W�*W��V�U�U����@1��?zL��L��L��L�7�@�A z=�B B �Ao2?*Bf�9�A�Aռ7�AY��A"C=3��*C=��e=RCEa��CA�CAi�II�IY�M�U9��= G�I�I Gm �>� �k*j,�a���E�A�|i|�@��* ����*�����*�����*��� �*�I:Y�*]1y�*�:��*)6Y}BM�@�}B�Z�@y}B&拼�}B.���}BH����@�Կ�����H�?�������?�����N������Կ������p?�����|�?���@G2��������?)~BM�@ ~B�&];I~B��CɫY�Y)�Y �YI�YY����@y��e�G)������n���?�MbX9������������V>��ʡ� ��̼)�I�y��bX9�ȶ?����Mb������Mb`���E�=������� �)��AI��Ai�Q A���� A�����Mc=Y�%n�QU%�>��!��)�a-�G��)��1y�5I�:}5�>I�9��=0�5�?��=��� �=+7@��E�?9�=�YB��=�: �=ϸ:)�9�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqUyU}�������@zL���=�L���=�L���@�L���p@�A�t=��B� B��A�7*?*B���9�AI�AM�7�AM���AI"C]2��*C]"]e=RC]߶��CY�CaYυ�W9��u���I��G�>��A ��E nA�M �>9�I I�M �Gi�M ��@��M =��I ��I ��M ��; �M \�E��tr*j,�Lʩ�E�AY}n�W�@�}n�e�@y}n���}n����}nH���� �nԿ���`�K�?���`��?�����Q�����xvԿ����Ǚt?���`���?���@Z����������?)~n�W�@ ~n-+];I~lɫ�髱)�� ������I��Y����@y���G��ɮ��å�>�å/ݽ�åQ8=iåµ@�á ġ)ġIĥ��@iĥ��@��Os=M�=Y���QU��>�������a��G������y���;}��>I������:����5�?����:������ ��>7@����?9��ZB�����: ��w�:)����:�W�WX X �W :W 2W *W�VUU����/�@�RB*** querying acoustic contact ***�P�PzL1�L1�L1�L59�p@�AMى�BI BI�AU�2?*BU��9�AQ�AU��7�AU���AQ"C]5��*C]�d=RCe9���Ca�CaYϡ �֑I��G��>��x*j,䩨E�AI� )�"AA��* ����*�����*�����*��� �*�I:Y�*�Y1y�*�:��*k�6Y}B�j�@�}Bzx�@y}BE����}BU���}BH������JԿ�����Q�?�����L�?�����W������RԿ����"�x?���@}V�?�����9���������?)~B�j�@ ~B];I~B��CɫY�Y)�Y �]����I�aY��o�@y���G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M)��MM�=Y�U�%�QUUE?��Y��Y�a]�G��Y��ay�m�&<}mE?I�q��uQ�5�?��u���� �uF7@����?9�u2ZB��u�: �ut�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� ��@zL��L��L��L��q@�A��� �B� B��A��0?*B�V�9�A��A���7�A���A�"C�4��*C���d=RC����C��C�Y��FX9���=���I��Gj>�&�~*j,I����E�A�|�|Y}>gw�@�}>%��@y}>�����}>�+��}>H������2Կ����zV�?����q�?�����[������:Կ�����|?�������?�����C������D��?)~>gw�@ ~>�&];I~>��Cɫ9�9)�9 �=����I�AY�e0�@y�eGmxDUSBL response received:!U1,P F4D,000,00576,186,80,80,A8,FF mCommand AckmBRequesting micromodem ping code 2i�i��i�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��mF��M�H=Y�/c�QU��>�������a��G������y��p;}�>I�!��%�5�?��%]��� �%T7@��e�?9�%bZB��%X�; �%�;)�!�9�I��Gi���@��=��������; �]�E�Wa�WaX� X��W�:W�2W�*W�VU U ���@Q� @zLI�LI�LI�LM^q@�A���B� B��A��.?*B���9�A��A%V�7�A%���A)"Cm3��*CuCd=RC5�LݼC9�CAY�M ?Z9��� ��>��� �Ci�U �lGI�m fpAi�� ��� �c�ٺ� fpA��� �UA��=��I�IGe�>���*j,l���E�A��*w ����*�����*�����*��� �*�Q:Y�*�X1y�*/�:��*36)�*l�;�9.�Y}B�y�@�}B���@y}B�*���}B�$��}BH���� �-Կ�����W�?���`���?�����\������5Կ�����}?����e�?�����b����� ���?)~B�y�@ ~Bo];I~B��Cɫy�y)�� ��I��Y��w�@y���G������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�]�= �]�=�Õ94��Õ�#=�Õ�m�iÕf�@�Ñ đ)đIĕ��@iĕ��@��w�<M�+=Y�):QU��>�����a��G����y� -:}��>I������:�����5�?����:������ ��a7@����?9���ZB�����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�UU��� �� @zL!�L!�L!�L%�#q@�A5) �B9 B9�A=)1?*B=K�9�A9�A=��7�AE���AA"CM2��*CM&�c=RCICI�CQY�U�\9��M ���I�Y G} �>��؋*j,>�1��E�A��"�=i�"�=Y}6v�@�}6Ń�@y}6�����}6)���}6H�����)5Կ���@=V�?�����'�?���@P[���� �=Կ���@&�}?�����ғ?���������n��?)~6v�@ ~6 =];I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]�GexDUSBL response received:!U1,R,F80,000,00583,186,80,80,AE,FF eFpublishing direction and range info��e���=��aɰe-�=�a �a)�e�.CI�ay�e�<B��e�T� a���?-�V:��?��������ٱa�}dNmea in: $SNTTA,0.061232,0.127976,,,164944.54*5D ��U��K7�A`�?/�$��?X9��v��?��U+>��U�< �U��<)�QI�Qy�U���ʡE��?���Q���{�G�z�?��U��=��U�u���U�#< �UrA)�QI�U7 Ai�U A��Q��U= A����<M�^=Y����QU��>�����a��G����y���}��>I�����,�5�?���%��� ���7@����?9���ZB��� B; ���A;)���W�WX X�W:W!2W!*W)�V)U1U5�����q@�PI*QM�<B�ZM�W��nG@��~ @���������ZM�T� a���?-�V:��?��������2QM���=:QI�ZM��/�̠#���#V�G��s �"�?�ZM�ؕ!��ʿ7�7��Kᅡ��x�e�?BQM^�@ QM|8�QM��PM�9?�PM�9?�PM����QM����QM��@"QM�@zL���=�L���=�L�:�@�L� �n@�A�G�%�B� B��A��2?*B���9�A��A�&�7�A���A�"CE5��*CEF�c=RCE���CA�CIY�9��5�.ۼI�YGu�>�� 9�� I�� L�Gi�� /�@��� ��� ��� ��� ��; �� a�E�]*j,��K��E�A��&�����&�����&�����&[�� �&�:Y�&�W1y�&č:��&| 6)�&>�;�|(i|*�@Y}f�k�@�}f�x�@y}f�g���}f�|��}fH����`�IԿ�����Q�?�����ץ?�����W����`QSԿ����J=}?��� �̔?���`W������`U��?)~f�k�@ ~f�/];I~f��Cɫ�髑)�� ������I��Y����@y��+�G�Õ�D��Õ/ݼ�ÕٽiÕ(�@�Ñ ĕb�@)ĕK�@Iĕb�@iĕb�@��m<M�Z=Y��&�QU��>�����a��G����y�yl�}��>I������:�����5�?����:���G��� �� 8@����?9���ZB���(�: ��w�:)����:�muAdded new target pos. range: 47.159996 m, bearing: 257.987446 deg, deltaT: 4.113750 s, approachRate: 0.189607 m/s, LOS rate: -0.723128 deg/s, posRepo size: 4�W�WX X �W :W 2W *W�VU����z�G@U����R]�?zL1�L1�L1�L5[�n@�AMm�-�BI BI�AMI4?*BM��9�AQ�AU��7�AU?��AQ"C]4��*C]�Nc=RC]i�CY�Ca��mJ>��mV>Y�e�\9 �m�=��m�=��U���I�aG}Y>��*j,�_e��E�AY}6�]�@�}6�k�@y}66����}6�z)��}6H������bԿ��� .L�?�������?����[S���� mԿ�����5}?���`���?�����,�����@��?)~6�]�@ ~6C];I~4ɫY�Y)�Y �]����I�YY����@y���G������)��M�M=Y��:�QU��>�����a��G����y��}��>Iș�ŝ�5�?�ŝ{��� Ɲe8@����?9Ɲ[B�ǝ��: ȝ �:)ș�W��W�X� X��W�:W�2W�*W��V�U�U������Z�?zL��L��L��L��n@�Ag+5�B B�A�2?*B�9�A�A��7�A��A"C%3��*C%2�b=RC%)a��C!�C)Y�e�^9��UG�I�aG}z>�7�*j,�:��E�AI� )�"@A��*� ����*�����*�����*��� �*U:Y�*0Y1y�*��:��*�6�9.@Y}BUV�@�}Bd�@y}B���}B-��}BH����`�pԿ����PI�?���`� �?�����P�����%|Կ������~?����HÖ?����}������@���?)~BUV�@ ~BmG];I~B��Cɫy�y)�y �}����I�yY��h�@y���G��U���M]M=Y�]�QU]�>��a��a�ae�G��a��ay�m��}m�>I�q��}�:��u4�5�?��}�:��u���� �u�8@����?9�u.[B��uw�: �uA�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U9UE���@"��?zLa�La�La�Leg�n@�Au�=�Bq By�A}�0?*B}��9�Ay�A}_�7�A} ��Ay"C�2��*C��b=RC� ���ܝ�>9ܙIܝ~�Giܝ��@�ܙ�ܙ�ܙ�ܝ��; ݝd�E)�1�I�1�i�1���5�=��1���5�H5C��C�Yϡ�ֵ���I��G��>�]��*j,���E�A�|�|Y}6�M�@�}6b[�@y}6�7���}6��'��}6H�����R�Կ�����F�?�������?�����M����`�Կ���`y��?��� q��?����S������`���?)~6�M�@ ~6L`];I~6��Cɫ9�9)�9 �=����I�AY�]�@y�]D�G�õ1H?�õ��=�õ iõ�@�ñ ĵ��@)ĵ��@Iĵ&�@iĵ��@���,=M�5=Y���QU��>�������a��G������y��8�}��>I������5�?������ ��+9@���?9��\[B���Us; ���f;)���WI�WQXQ XQ�WQ:WQ2WY*WY�VYUaUe����V��?zL��L��L��L��vn@�A�F�D�B� B��A��5?*B�q�9�AA�AE��7�AE��AA"CM5��*CM�.b=RCU,��CQ�CYi�iI�iY�Ua9��emA��enA��M ���I�Q Gu �>�<%�*j,E�A��*A ����*�����*�����*&�� �*kM:Y�*xZ1y�*q�:��*�6Y}V�A�@�}VCO�@y}V�UǼ�}V4���}VH������Կ����D�?���� P�?���`�I����`(�Կ�����?�?��� �?����BT���������?)~V�A�@ ~V�;];I~V��Cɫy�y)�y �}����I�yY����@y��)�G����v��/�?J+��?y�&1�|?��xi=���H= �`�;)�I�y���z�G�?/�$���{�G�z���� �=��,����#� �XA)�1AI��Ai��A����� A)�5> �5>��E�e�MES=Y�M!f�QUU�>��Q��Y�a]�G��Y��ay�e{�}m�>I�q��}�:��u��5�?��}�:��u���� �u9@����?9�u�[B��ui�: �u��:)�u��:�WA�WIXI XI�WI:WI2WI*WQ�VQUQUU�����+�@zL���=�L���=�L���@�L�|�@�A���L�B� B��A�+4?*B�U�9�A��A�W�7�A���A�"C�4��*C���a=RC��+�C��CY��&a9������I��G �>ܑ 9ܑ Iܑ iܑ �ܑ �ܑ �ܑ �ܕ ��; ݕ a�E�) �*j,l�̪�E�AY}6,8�@�}6�E�@y}6 6Ѽ�}6���}6H����`��Կ�����A�?�����B�?���`|F������Կ���`4�?����&�?��� ������@C��?)~6,8�@ ~6�F];I~6��CɫY�Y)�Y �]����I�YY�}��@y�} �G)�����\=�����>����T�i����@��� ��3�@)��b�@I��b�@i��b�@���(��M�P=Y���I�QU��>�������a��G������y��s?�}��>I���D�5�?������ ��8@�� �?9��[B�� �: �D�:)��W1�W1X1 X1�W1:W92W9*W9�V9UAUE���`�@zLa�La�La�Le��@�Au�SU�By By�A}�3?*B}��9�Ay�A}��7�A}��A�"C�3��*C�p�a=RC�g �C��C�Y�I��YI�iG�Z>�87�*j,H�檨E�A�|i|��*� ����*�����*�����*�� �*jB:Y�*0Y1y�*��:��*t6Y}B42�@�}B�?�@y}B`�ּ�}B����}BH�����״Կ�����?�?���@+;�?���`lD����`��Կ����Ρ�?�����Ԛ?���@�ء����@5��?)~B42�@ ~B�,];I~B��Cɫy髉)�� ��I��Y����@y��)�G��ɮ�R=I��)�����i����ha;M�=Y�Z��QU��>�����a��G����y����}��>Iȹ����:�Ž��5�?����:�ŽZ��� ƽ�8@����?9ƽ�[B�ǽ(�: Ƚ��:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@�S@�RB*** querying acoustic contact ***�P�PzL�L�L�L0�@�A5I�]�BA BA�AM+4?*BM��9�AY�A][�7�Aem���Aa"Cm2��*Cm�a=RCmj��Ci�Cq��}?>��})>Y�e Bc9 �i ��m >��U���I�aG}�>��4�*j,{����E�Aɫ�髉)�� ������I��Y��k�@y���G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��EI�ME�=Y�M���QUM'?��Q��Q�aU�G��Q��Yy�]���}e&?I�i��mO�5�?��m���� �m�8@��}�?9�m\B��m��: �mB�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������{ @zL��L��L��L�� 9� I� ��Gi� ��@�� �� �� �� �; � h�E�AU��e�B� B��A��0?*B���9�A��A���7�A�+��A�"C5��*C%S�`=RC)C)�C9Y�-fc9�� ���I�) GU �>��X�*j,b���E�AI�)�AA�������������������� ��:Y��W1y�č:���6)���;�9�Y}�2�@�}�@�@y}!꼙}���}H�����S�Կ�����>�?����Q.�?���`D�������Կ���`�?����C�?���@�}���������?)~�2�@ ~nZ];I~��CɫY�Y)�a �e����I�aY����@y����G�xDUSBL response received:!U1,P F80,000,00583,186,80,80,AE,FF �Command Ack�BRequesting micromodem ping code 2i�������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����/�$��?����K��V-�������<���^�� �����)��I��y���V-��?�v��/��{�G�zt?����m=���xi����ף; rA) � AI rAi �A������� A��=EV?��=����=h�i�=Q�@��9 �=?�@)�=��@I�=��@i�=��@��]�Me=Y�mf��QUm�>��y��y�a}�G��y��y�: 9}��>Iȹ�Ž˘5�?�Ž���� ƽ�8@����?9ƽB\B�ǽ�< Ƚ� <)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������V@zL5 ۦ=�L5 ۦ=�L5 5�@�L5 ��f@�AE �"n�BA BI �AM �,?*BM �9�AI �AM 8�7�AU ���AQ "Cm 4��*Cm 45`=RCu ���Cq �Cq i�y I�y Y�}�e9��u ���I�� G� �>��,�*j,JA7��E�A�|�|4<Y}>:�@�}>�G�@y}> 6���}>���}>H�������Կ�����@�?����ޓ�?���`aF�����/�Կ�����p�?�������?��� �٣����@g��?)~>:�@ ~>߲];I~<ɫ�髑)�� ������I��Y��;�@y��ɃG��������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=M�}=Y�Ø�QU� ?�����a��G����y��3;}� ?I������:���ۖ5�?����:���z��� ��9@����?9��\\B����_; ��?a;)����:�W �W X X�W:W2W*W�VU!U%����uT@zLY�LY�LY�L]I�f@�A��cv�B� B��A�O/?*B�q�9�A��A�h�7�A����A�"C�3��*C���_=RC����C��C Y���e9��9��I��i�����=�����������; �����I�! G� �>��5I����5�����5�����5 �� �5��:Y�50Y1y�5��:��5� 6)�5�"<�n�*j,!�P��E�Ai�AI�Yi�q����r�ٺ����dAɫ���)�� ������I��Y�5��@y�5��G=xDUSBL response received:!U1,R,F27,000,00581,186,80,80,A1,FF EFpublishing direction and range info��=��A>��9ɰ=��=�9 �9)�=�!CI�9y�=(<B��=�!;��m�?��\�2�?��������ٱ9)��õt���õ���õ̌�iõQ�@�ñ ĵ��@)ĵ��@Iĵ̸@iĵ̸@���덼M�8=Y�����QU��>�������a��G������y�����}��>Iȁ�Ņ�5�?�Ņj��� ƅZ9@����?9ƅ�\B�Dž��: ȅ�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������$@�P�*Q�(<B�Z��HH�{G@�� ��!@���������Z��!;��m�?��\�2�?��������2Q���A>:Q��Z��z8�d^!�r}B kIG��O�J���?�Z�����C����k�j�Ůᅫ!��Ĥ�?BQ�LV�@ Q�K:�Q� ���P��9?�P��9?�P�����Q�����Q���@"Q���@zL��L��L��L��A \�~�B B�AW-?*B��9�A�A��7�A(��A"C%2��*C%��_=RC%a��C!�C)Y�M�g9��E ���I�Q Gm �>��=�=i�=�=�V4�*j,��j��E�AY}~qH�@�}~/V�@y}~V����}~,��}~H������Կ���@\F�?����bp�?�����J�����8�Կ����wݑ?����IY�?�����_���������?)~~qH�@ ~~��];I~~��Cɫ���)�� ������I��Y�e��@y�m��G��DNmea in: $SNTTA,,,,,164949.03*5A ���(=M�=Y���L�QU��>�������a��G������y���W;}��>I������:����5�?����:���y��� ���9@����?9���\B�����: ��M�:)����:�m- uAdded new target pos. range: 47.040001 m, bearing: 262.015564 deg, deltaT: 4.537902 s, approachRate: -0.026443 m/s, LOS rate: 0.887661 deg/s, posRepo size: 4�W) �W) X) X) �W) :W1 2W1 *W1 �V1 U5 �����G@U= �������?zLQ �LQ �LQ �LU ��f@�Am ���Bi Bq �Au �1?*Bu Y�9�Aq �Au ~�7�Au ���Aq "C} 5��*C� �_=RC� `��C� �C� �̑ �̕ N>��E ����E�����E�����E��� �E5:Y�ExZ1y�Eq�:��Ek�6�9M@Yϵ�g9�֩ I�� �� �>9�� I�� i�� ��� =��� ��� ��� ��; �� b�EG� �>�"��*j,� ���E�A�| i| Y}B�B�@�}BWP�@y}B�����}Bw��}BH����@�Կ���`�D�?������?�����H����`S�Կ��� 2��?����I��?����ࡿ������?)~B�B�@ ~B��];I~B��Cɫ���)�� ������I��Y����@y��'�G�åh�=�åt�<�å��=iå3�@�á ĥK�@)ĥK�@IĥK�@iĥK�@����=M��=Y���QU�,?�������a��G������y��t4�}�,?I�����W�5�?������ ���9@����?9���\B�����: ����:)���W�WX X�W:W 2W *W �V U U���@���?zL)�L)�L)�L-t�f@�AEG��BA BI�AM 4?*BMT�9�AI�AM��7�AM����AI"CU4��*C]^�^=RCe� �Ca�CqY�u�g9��e���I�qG�[>�j�*j,dʡ��E�AY}6�8�@�}6HF�@y}6+����}6+��}6H������Կ����#A�?���@.��?��� KE����@ȸԿ������?����w�?����b���������?)~6�8�@ ~6ǯ];I~4ɫ9�9)�9 �=����I�9Y��o�@y���G��=���ʡE�?ˡE����?:��v���?��=-�=��=�'> �=�T<)�9I�9y�=�k�t��?i��|?5���I+��?��= 0=��=�q���=94< �=XA)�=�AI�=�Ai�=1A��9��=� A���M�?=Y���QU��>�����a��G����y�h<�}��>Iș����:�ŝڌ5�?����:�ŝ���� Ɲ/:@����?9Ɲ�\B�ǝ��: ȝ��:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U������3�?zL�4�=�L�4�=�L�=�@�L��=\@�Ac���B B�A�0?*B�9�A�A�7�A���A"C%3��*C-�s^=RC-D��C)�C)Y��i9���I��G�>Iީ )ޭ @A�� � ���� ����� ����� ��� � gF:Y� �V1y� �:�� D�5��8�*j,j����E�AY}:�.�@�}:X<�@y}:-H��}:�Z��}:H���� ʺԿ�����<�?����C�?�����A����@}�Կ����+ �?����QH�?���������������?)~:�.�@ ~:�u];I~:��Cɫ9�9)�9 �=����I�9Y�}U�@y�}كG��=Q�MEO=Y�U�\�QU]�>��Y��Y�ae�G��a��ay�m�G�}m�>Iȡ�ť~�5�?�ť��� ƥ�:@����?9ƥ�]B�ǥ��: ȥ<�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL�L�L�Lz,\@�A���B B�A0?*B)�9�A�A��7�Ay���A!"C%2��*C-%^=RC-�T�C)�C1� 9� I� i� �� �� �� �� ��; � ��E)�y�I�y�i�y���}�=��}�=��}��'5Y�}j9�֍���I��G��>�u �*j,ի�E�A�|4<�|ɫy�y)�y �}����I�yY��d�@y���G����>����q=�����=i���@��� ���@)���@I���@i���@���:�;M�O=Y�����QU��>�������a��G���� y����}%�>I�9��=7�5�?��=y��� �=�:@��M�?9�=]B��=r; �=�&;)�9�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��AM�Q��BI BI�AM�0?*BU�9�AQ�AU��7�AU����AQ"C]5��*C])�]=RC]u�Ca�CaY�eMj9��U�#�I�aG}z>�� ���� ����� ����� �� � FI:Y� �Y1y� �:�� M!6��J�*j,�[E�AY}2<�@�}2�I�@y}2%� ��}2�3(��}2H����`��Կ����@�?�����}�?�����E�����+�Կ�����G�?����j\�?��� �������c��?)~2<�@ ~2:x];I~2��Cɫ9�9)�A �E����I�AY�}��@y�}��G����MY=Y�t��QU�>��!��!�a%�G��!��)y�-�;}-�>I�1��=�:��5�5�?��=�:��5���� �5H;@��E�?9�58]B��5�: �5M�:)�5��:�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUqUu����H�@zL��L��L��L�pE\@�A��♼B� B��A�u-?*B�ۊ9�A��A-=�7�A5>���A1"C54��*C=�]]=RC=$ �C9�C9Y�-"l9��9I�IGeV>�ޭ �=iޭ �=��9��r�CI��~�Gi����@���=�����������; ��)�E��4+j,A ��E�AY}]0S�@�}]�`�@y}]�J��}]�#��}]H����@�tԿ��� �G�?���@v �?�����L����@��Կ����6ޔ?��� j�?����G_����� ��?)~]0S�@ ~]��];I~]��Cɫ1�1)�1 �=����I�9Y�u��@y�u^�G鮅p=ɮ�a=��u�>��ub>��uQ8=i�uQ�@��q �u��@)�ub�@I�ub�@i�ub�@�����M�4=Y���QU��>�����a��G����y���;}��>Iȹ�Žj�5�?�Žx��� ƽ�;@����?9ƽZ]B�ǽ3�: Ƚa�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U����`8�@�RB*** querying acoustic contact ***�P �P zL�L�L�Lo\@�A5f���B1 B1�A5�)?*B=y�9�A9�A=��7�A=����A9"CE3��*CEn�\=RCM���CI�CIY�5jl9��-� �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 X1�W1:W12W9*W9�V9U9U=���@� @zL}�j=�L}�j=�L}S�@�L}ybg@�A�団�B� B��A�_+?*B���9�A��A��7�A�����A�"C�2��*C�'�\=RC��H��C��C�Y���n9���9��I��G��>���+j,��<��E�AY}6'h�@�}6�u�@y}6" ��}6����}6H�����MԿ����TO�?�����$�?���@_S������aԿ�������?����!`�?��� �L�����`���?)~6'h�@ ~6N�];I~6��CɫY�Y)�Y �]����I�YY����@y��W�G�xDUSBL response received:!U1,P F27,000,00581,186,80,80,A1,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 �����M%d=Y�5Mc�QU=�>��I��I�a��G������y��:}�>I�!��%�5�?��%���� �%<@��U�?9�%�]B��%��; �%��;)�!�W�WX X�W!:W!2Wi*Wi�VqUqU}�����& @zL��L��L��L�wig@�A-С��B) B)�A-�)?*B-r�9�A1�A5w�7�A5M���A1"C=5��*C=b@\=RC=g���C9�Ci�ٕ�<�ٕ�<ܙ9ܙIܝL�Giܝ/�@�ܝ=�ܝSD�ܙ�ܝȸ; ݝ�xEY�1�֍I_��I��G��>Iީ )ޭ AA�� � ���� ����� ����� �� � �G:Y� 0Y1y� ��:�� O6)� ��;�p+j,��V��E�AY}:�h�@�}:�v�@y}:���}:����}:H������KԿ����{O�?����L8�?����nS����`�`Կ���@��?����졢?�����K��������?)~:�h�@ ~:h�];I~:��Cɫ9�9)�9 �=����I�AY�]s�@y�]N�G��a��a�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�������>����>���둾i����@��� ����@)��C�@I��C�@i��C�@��P��M<=Y� @��QU �>�����a�G����y�H9}�>I�!��-�:��%Q~5�?��-�:��%8��� �%+<@��5�?9�%�]B��%��: �%f�:)�%��:�WQ�WQXQ XY�WY:WY2WY*WY�VYUaUe�����@zL��L��L��L�jg@�A�_Э�B� B��A�)?*B��9�A��A���7�A�k���A�"C%4��*CE��[=RCM���CI�CIi�QI�UnAY�%;o9��I�!G=r>���+j,��p��E�A�|�|�;Y}6c�@�}6�p�@y}6ٖ��}6j���}6H���� �VԿ�����M�?������?����Q���� zkԿ����B��?��� Б�?����,���������?)~6c�@ ~6��];I~6��CɫY�Y)�Y �]����I�YY�yy�y�xDUSBL response received:!U1,R,EF3,000,00586,187,80,80,98,FF �Fpublishing direction and range info���vap>���ɰ���=鰅1�> ��)���CI��y��\=B������N�Q�?8�����?��������ٱ�Y�Ug9QU��>������a��G������y����}��>I������{5�?��� ��� ��b<@����?9���]B���U�: ����:)���W�WX X�W:W 2W *W �V UU��� �G@�P!*Q%\=B�Z%���&�SG@��]��&@���������Z%���N�Q�?8�����?��������2Q%vap>:Q!�Z%���h.����VD�n�G�M���?�Z%���%p�������Ȼ���M�3�?BQ%5�@ Q%�<�Q%����P%�9?�P%�9?�P%����Q%����Q%��@"Q%��@zLI�LI�LI�LM�^g@�A]A��Ba 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��AI�yG��>���"+j,����E�AY}zN]�@�}zk�@y}z^%��}z����}zH������aԿ����4L�?��� ���?�����O����@vԿ��� �і?�����c�?���`�ע���� )��?)~zN]�@ ~zi�];I~z��Cɫ�髹)�� ��I��Y����@y��тG�mTNmea in: $SNTTA,0.097693,,,,164953.53*48 ���+�=����H=����#=i��3�@��� ��K�@)��-�@I��K�@i��b�@������M��<Y��^�:QU�&?�������a��G������y��:-�}�&?I������:����z5�?����:���m��� ��|<@����?9���]B���I�: ��4�:)����:�m-qAdded new target pos. range: 47.339996 m, bearing: 264.903505 deg, deltaT: 4.571760 s, approachRate: 0.065619 m/s, LOS rate: 0.631691 deg/s, posRepo size: 4�W1�W1X1 X1�W1:W12W9*W9�V9U=������G@UE�����%�?��Y��ai��HmGI��i����%�u�ٺ!��%�fAzL��L��L��L�+Sg@�A��P��B� B��A��"?*B���9�A��A�z�7�A�F��A�"C�2��*C�A1[=RC�t�C��C�YϽ�q9�ֵط��I������=i��p=G5 �>�&�(+j,�_���E�AY}2#Q�@�}2�^�@y}2�5��}2���}2H������xԿ���`�H�?������?����L�����k�Կ���@�W�?�����e�?�������������?)~2#Q�@ ~2'�];I~2��CɫI�I)�I �U����I�QY�}��@y���G��]����Q��?�I+���)\���(�?��]�u<��]94� �]Ga=)�YI�Yy�]�+��η?{�G�z���~j�t��?��]v�=��]ף���]�D< �Y)�]�AI�]�Ai�]1A��Y��]G A���<M�C=Y�b�QU��>�����a��G����y�g�}��>Iȹ�Ž w5�?�Ž���� ƽ�<@����?9ƽ^B�ǽb; Ƚ�;)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U���� �?zL%o�=�L%o�=�L%MT�@�L%�Bk@�A5�j��B1 B9�A=[%?*B=s�9�A9�A=��7�A=$��A9"C�5��*C�e�Z=RC����C��C����4>���G>YϽs9�֭7J�I��G��>��E i ����E �����E �����E �� �E 2<:Y�E �W1y�E č:��E 6�K/+j,;���E�A�|i|�@ɫ�髑)�� ��I��Y��l�@y����G��m=4�MuL=Y�u���QUu�>��y��y�a}�G��y��y����}��>Iȉ�ō�s5�?�ōK��� ƍo=@����?9ƍ6^B�Ǎ��: ȍ8�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����D_�?zL��L��L��L��A��¼B� B�A� ?*B��9�A�A�7�A��A"C 4��*C6�Z=RCx�C�C�m�>9�iI�m�Gi�m��@��i��i��i��m��; �m�jEY�y��my�I�yG��>�P�5+j,�٬�E�AY}:D�@�}:�Q�@y}:t���}:k ��}:H�����S�Կ����#E�?����n�?�����G�����&�Կ����p��?���`�Ң?�����I���������?)~:D�@ ~:��];I~:��CɫA�I)�I �U����I�QY�}��@y�}��G)�A��%�?��%�N���%= �i�%��@��! �%��@)�%b�@I�%��@i�!��=�#=MEN=Y�EO �QUM�>��Q��Q�aU�G��Q��Qy�]T��}]�>I������:����o5�?����:������� ���=@����?9��j^B����; ���#;)����:�W!�WIXI XI�WI:WI2WI*WQ�VQUQUU��� ��?zL��L��L��L��%k@�A���ǼB� B��A��$?*B�N�9�A��A�h�7�A���A�"C�3��*C�Z=RC���C��C�Y��Iu9���Ƣ�I��G �>I�) )�) ��= ����9 ��9 ��= ��� �= �4:Y�9 y�9 ��= P�6�6%<+j,���E�AY}2BU�@�}2�c�@y}2����}2���}2H�����pԿ���@�I�?����1z�?�����L����@��Կ����0w�?����T�?�����R������ ��?)~2BU�@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y�}x�@y�}��G��uFμMu=Y�u_|�QUu�>��y��y�a}�G��y��y�Bp;}��>Iȹ����:�Ž�j5�?����:�Ž���� ƽ�>@����?9ƽ�^B�ǽ�: Ƚ �:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������@zL �L �L �L �Ik@�A= ?z̼B9 BA �AE 1!?*BE ��9�AA �AE ��7�AE r��AA "CM 2��*CU ��Y=RCU ���CQ �CQ i�Y I�] mA�A9�AI�E��Gi�E;�@��E=��A��A��ED�; �EHgE)�M�r�CI�M�r�Ci�I���M�=��M�=��M�%~5Y�Q��M�#�I�YG}�>�D"D+j,�V��E�AY}ju��@�}j3��@y}j� ��}j��'��}jH�����L�ӿ�����]�?����5�?�����b����@8Կ�����3�?���@|��?��������������?)~ju��@ ~j�];I~j��Cɫ�髡)�� ������I��Y����@y��h�G��ɮ��=�åSc>�å�>�å�;iå\�@�á ĥ��@)ĥ��@Iġiĥ��@���T�M��=Y��g�QU�?�������a��G������y���<}�?I�����jh5�?������� ���>@����?9���^B�����: �� �:)���W�WX X �W :W 2W *W�VUU����t�@zL1�L1�L1�L5��k@�AM:IѼBI BI�AM_?*BMs�9�AQ�AU��7�AU'��AQ"C]5��*C]tfY=RC]0z˼CY�CaY�5mu9�� ��I�G5.>��=�����=�����=�����=�� �=Y1:Y�=�X1y�=/�:��=�6)�=t�;�9U��QAJ+j,`+��E�Aɫy�y)�y �}����I�yY���@y��t�G��]����K7�?�I+���/�$�����]�I>��]94� �]��)�YI�Yy�]��Zd;�?��������Zd;�O��?��]�y=��]�̼��]j<= �]�A)�]�AI�]�Ai�]�A��Y��] A��u��;M}P=Y�}���QU}�>�����a��G����y����}��>I�!��%g5�?��%���� �%7@@��5�?9�%�^B��%��: �%��:)�!�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUe����!@�RuB*** querying acoustic contact ***�Pq�PqzL���=�L���=�L����@�L���@�A��ּB� 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� X��W�:W�2W�*W��V�U�U����`� @zL��L��L��L�q�@�A%��ڼB) B)�A)*B-��9�A)�A-��7�A-d ��A1"C53��*C=��X=RC=Nx��C9�C9��MG>��M!>��-�����)��)��-T�� �-4-:Y�)y�)��-�6)�-ߊ;Y�9 �E�=��E�=��M ��ڼI�Y Gu �>�sTW+j,f�^��E�A�|i|�@Y}:t�@�}:2��@y}:��}:�� ��}:H����` Yӿ���`v�?����3�?�����z������oӿ�����D�?������?��������������?)~:t�@ ~:^;I~8ɫ9�9)�9 �=����I�9Y�]��@y�]?�GexDUSBL response received:!U1,P 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 Xq�Wq:Wq2Wy*Wy�VyUyU�������@zL��L��L��L���@�A���B� B��A�J?*B���9�A��A���7�A�y ��A9"CE2��*CEcmX=RCM0���CI�CIY�E�w9��=FΞ�I�QGmx>�o~]+j,�x��E�Aɫ���)�� ��I��Y�]��@y�];�G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��-E �M5==Y�5���QU5�>��9��9�a=�G��9��9y�E���}E�>I�I��U�:��M�b5�?��U�:��M:��� �MD@��U�?9�M=_B��M�: �M��:)�M��:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U����`��@zL��L��L��L��A��y�B� B��A�?*B��9�A��A��7�Aex��Aa"Cm5��*Cm�&X=RCmʕ��Cq�CqY�]�y9I�)���- ����-�����-�����-��� �-a4:Y�-DW1y�-Y�:��-�6�95@��QI�yG�~>� 9� I� R�Gi� ��@�� =�� �� �� >�; � �]E��dd+j,~n���E�AY}6�Ք@�}6��@y}6li��}6�{��}6H������|ӿ����~q�?������?����xu�������ӿ����R:�?����(l�?����k�����@���?)~6�Ք@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y��W�@y���G�xDUSBL response received:!U1,R,EC7,000,0058A,186,80,80,9B,FF �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� X��W�:W�2W�*W��V�U�U�����d@�P�*Q�Q>B�Z���H7�u�F@��jE��)@���������Z��;�\`M��?��x�C�?��������2Q��ً>:Q��Z���f�x����Z��fZ�G� Ξ{��?�Z����������^#���2'�Y���?BQ�L��@ Q�">�Q���P��9?�P��9?�P�����Q�����Q���@"Q���@zL��L��L��L� �@�A�v��B� B��A�*?*B��9�A��A�4�7�A����A�"C4��*C}�W=RCpk��C�C ȋI̕nAY�m�y9��unA��q��aI��G�d>��j+j,�I���E�Aɫ�髙)�� ������I��Y�2�@y��G��dNmea in: $SNTTA,0.085837,0.414599,,,164958.05*59 ��%�����K�?����Mbp?����Mb`���%^:>��%�; �%�)�!I�!y�%�i��|?5�?�l������~j�t����%�q=��%����%��� �%rA)�%� AI�%rAi�%KA��!��%f A��E�)�ME;=Y�M���QUM�>��I��Q�aU�G��Q��Qy�]���}]�>I�a��m�:��e�_5�?�� �:��ea��� �e�D@�� �?9�eu_B��e?�< �e �<)�e��:�m]qAdded new target pos. range: 47.579998 m, bearing: 267.904608 deg, deltaT: 4.350065 s, approachRate: 0.055172 m/s, LOS rate: 0.689898 deg/s, posRepo size: 4�WY�WYXa Xa�Wa:Wa2Wi*Wi�ViUu���`=�G@Uu����3��?zL�֓=�L�֓=�L�W#�@�L��u@�A%U3��B! B!�A-?*B-ʁ9�A)�A-��7�A-� ��A)"C53��*C5��W=RC=����C9�C9��%+ ����%�����%�����%��� �%@7:Y�%�]1y�%��:��%6Y�5|9��- q歼I�9 GU �>��vq+j,y$ƭ�E�AY}6T��@�}6��@y}6����}6\���}6H����`��ӿ�����d�?�����ʧ?�����h���� q�ӿ��� ���?���@Ԓ�?����������� ���?)~6T��@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y�}�@y����G��emA��emA܁9܁I܅�Gi܅��@�܅=�܅RD�܁�܅ �; ݅�\E��MG�=��Mף���M�(>i�M��@��I �M��@)�M��@I�M��@i�M��@��]ʵ�MeI=Y�e�=�QUe�>��i��i�am�G��i��qy�uCL�}u�>I�y��}�]5�?��}i��� �}cD@����?9�}�_B��}4�: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zLQ�LQ�LQ�LU�_u@�Au w�Bq Bq�A}n?*B}k�9�Ay�A}��7�A}���Ay"C�2��*C��7W=RC��ӼC��C�i��nG�ֽI��I��G l>���=i��=i�)��]�c�ٺY��]�UA��w+j,��߭�E�Aɫ�髙)�� ��I��Y����@y�� �G)�q��CŽMO=Y����QU�>�����a�G����!y�%���}%�>I�)��-�[5�?��-i��� �-�C@��=�?9�-�_B��-@�: �-n�:)�)�WY�WYXY Xa�Wa:Wa2Wa*Wa�ViUiUm�������?zL��L��L��L��A����B� B��A��?*B�y�9�A��A���7�A���A�"C�5��*C���V=RC��&ϼC��C��֭�&ּI��G�!>��%M����%�����%�����%��� �%�%:Y�%�Y1y�%�:��%}6���}+j,r����E�A�|i|Y}:Ŕ@�}:�Ҍ@y}:ɸ��}:&5��}:H����`R�ӿ���`m�?�����2�?�����o�������ӿ���@���?�����U�?���@["�����@��?)~:Ŕ@ ~:�^;I~8ɫ9�9)�9 �=����I�9Y����@y��~�G����=M�=Y���8�QU��>�������a��G������y��/�;}��>I�����:����Y5�?�� �:������� ��yC@�� �?9���_B���,�: ����:)����:�W1�W1X9 X9�W9:WA2WI*WI�VQUYUe����{O�?�}�>9�}s�CI�}Gi�}S�@��}=��y��y��};�; �}�^EzL��L��L��L�љu@�A���B� B��A�t?*B�d{9�A��A�/�7�A����A�"C�4��*C�yV=RC��蹼C��C���� ��ԼI� G-�>��+j,����E�AY}>`�@�}>��@y}>����}>����}>H���� �Xӿ��� x�?������?����?z���� �nӿ����e�?���`�ۣ?���@s١����@���?)~>`�@ ~>�6^;I~>��Cɫa�a)�i �m����I�iY��j�@y��ӀG�õA�?�õ/ݼ�õ��iõµ@�ñ ĵ��@)ĵb�@Iĵ��@iĵ��@���b��M��=Y���w�QU�%?�������a��G������y����<}�#?I�����WX5�?���t��� ��4C@���?9���_B�����: ���:)���W!�W)X) X)�W):W)2W1*W1�V1U1U=���`�K�@zL��L��L��L�k�u@�A����B� B��A��?*B�1�9�A��A� �7�A����A�"C�3��*C��KV=RC�����C��C����O��I�G]3>I�)�@A��% ����%�����%�����%��� �%k5:Y�%0Y1y�%��:��%��5)�%��;�9-��u݊+j,G�-��E�AY}2>�@�}2�%�@y}2���}2rO��}2H�������ҿ��� F��?��� �%�?����������`�ӿ����Sg�?����V��?���`v���������?)~2>�@ ~2�^;I~2��CɫY�Y)�Y �YI�YY��y�@y��܀G����{�G�z�?�rh��|��ˡE����?���ף<������ ���'=)��I��y����~j�t��?ˡE�����X9��v��?����D=���什����}= �A)KAI�Ai�A�������A)å�= å>����;M�L=Y���QU��>�����a��G�����y��?p<}��>I����U�:���UU5�?��U�:������� ���D@��U�?9��`B���j�< ��b�:)����:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�����&�@zL�[�=�L�[�=�L�J��@�L��V@�A�����B� B��A�< ?*B�ā9�A��A�#�7�A����A�"C�2��*C�zV=RC�8i�C��C�i����I���������������֭ *��I�� G� �>��ȑ+j,�{G��E�AY}BvD�@�}B4R�@y}B4O��}B����}BH�����9�ҿ������?����ꧧ?�������@��ҿ�����?�����ȣ?��� ԯ������k��?)~BvD�@ ~BA^;I~@ɫa�a)�i �m����I�q�� �<�� �9�I��}Gi�_�@��=�������; ��^E)� �I� �i� ��� �=�� �=�� �K'6Y��y��鮵a=ɮ�a=�����<���`e=����=i����@��� ���@)����@I���@i���@Y���V:QU��>�������a��G������y��G<}��>I������Q5�?���g��� ���F@�� �?9��8`B���n�: ����:)���W1�W1X1 X1�W1:W12W1*W9�V9U9U=���� @�RB*** querying acoustic contact ***�P�PzL1�L1�L1�L5&JW@�A����B� B��A�*B��}9�A��A�V�7�A�H��A�"C55��*C=�U=RC=��%�C9�CA�������������������� �E1:Y��W1y�č:��O6)�b�;��-�X�I�9GUu>���+j,�Ha��E�AY}6c�@�}6�p�@y}6l��}6���}6H������nҿ������?�����v�?�����������Åҿ������?���`��?�������������?)~6c�@ ~6� ^;I~6��Cɫ9髱)�� ������I��Y����@y����G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)����7��M��<Y�c�:QU��>�����a��G����y�)<}��>Iȹ����:�ŽCO5�?����:�Ž���� ƽZH@����?9ƽZ`B�ǽI�: ȽV�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����k� @zLi�Li�Li�Lm4�W@�A�e��B� B��A��?*B�{�9�A��A�L�7�A�Q��A�"C�4��*C��U=RC��U�C��C�����zl�I� G%M>��=i�=���+j,_${��E�AY}6Vt�@�}6��@y}6�x��}6v�%��}6H����`�Mҿ���`^��?����yM�?����У�����eҿ���@��?�����-�?���`&������`���?)~6Vt�@ ~61^;I~6��Cɫ9�9)�9 �=����I�9Y�];�@y�]�GmxDUSBL response received:!U1,P EC7,000,0058A,186,80,80,9B,FF uCommand AckuBRequesting micromodem ping code 2i�q��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��M� ����M�����M�����M��� �M@:Y�M�Y1y�M�:��M}6�9m@��9��I���}Gi���@���=��������D��� �; ���[E��!��%nA��m`e<��mt<��mt�i�m��@��i �i)�m�@I�ii�i��W�M��<Y�k:QU��>�����a��G����y�?G;}��>Iș�ŝ J5�?�ŝ���� ƝUK@����?9Ɲ�`B�ǝ#�: ȝr�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U������}@zL��L��L��L���W@�A3X�B B�A��>*B p9�A�A��7�A���A"C%3��*C%~U=RC%�ƻC!�C) ���=����=�������I��G �>��^�+j,����E�AY}Rey�@�}R#��@y}R����}R�?-��}RH�����#Dҿ���� ��?���@@;�?����=������+\ҿ�����n�?�����7�?����d������ ���?)~Rey�@ ~RN)^;I~R��Cɫq�q)�y �}����I��Y��(�@y�� �G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�A)�A������v���?����MbP�����Mb�?����x>����� ���<)��I��y���/�$��?L7�A`堿{�G�z�?����<���+�����#< ��� A)��fAI��i���A������zA�����M��=Y��3��QU� ?������a�G����y� ;} ?I�����:��+I5�?����:������ ��K@����?9��`B��+�< ��<)���:�W��W�X� X��W�:W�2W�*W��V�UU��� ��@zL�^%=�L�^%=�L���@�L�<�Z@�A���B� B��A�j�>*B�a�9�A��A���7�A����A�"C�2��*C���T=RC� Ÿ�C �C �� #2��I�) GE �>�@��+j,g{���E�AY}N�q�@�}NR�@y}Nӹ��}NQ�*��}NH����`Sҿ�������?������?����ܢ�����5kҿ������?��� v�?�����T���������?)~N�q�@ ~N�'^;I~N��Cɫy�y)�y �}����I�yY����@y���G�xDUSBL response received:!U1,R,E8E,000,00591,186,80,80,94,FF �Fpublishing direction and range info���MQ�>���ɰ�x�=�� ��)���CI��y���?B������~۪X�?�Hs%�N�?��������ٱ���dNmea in: $SNTTA,0.188477,0.149101,,,165002.50*52 ��h�M%�=Y�%�ɺQU-?��)��1�a5�G��1��9y�E�H�}E?I�I��M1H5�?��M���� �M�K@���?9�M�`B��MI�< �MV�<)�I�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������<@�P�*Q��?B�Z����F��F@4}�v.@���������Z����~۪X�?�Hs%�N�?��������2Q�MQ�>:Q��Z���?_v��?�G�<�G��؝և�?�Z��(�IU�k�?a��c��¢��F�_�?BQ��җ@ Q��?�Q��?�P�&�9?�P��9?�P�����Q�����Q���@"Q���@zLY�LY�LY�L]>�Z@I�mAA)�mAA��}V ����}�����}�����}3�� �}O:Y�}]1y�}�:��}3 6�A�]� �B� B��A�e�>*B��9�A��A�p�7�A����A�"C�5��*C��T=RC� ܻC��C���&t��I�!G=r>��EnA��ElA�M�>9�Mt�CI�M�|Gi�Mk�@��M=��I��I��M��; �MYE��j�+j,�Uή�E�AY}2@i�@�}2�v�@y}2����}2_"&��}2H������bҿ��� ��?���`ʌ�?��� R�����@{ҿ����gϙ?�����?����徤���� 0��?)~2@i�@ ~2'�];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�G)���= ���=���'>��`���9��i�\�@�� �)�ٮ@I�ٮ@i�ٮ@��ة;M;=Y�}��QU�>��!��!�a%�G��!��)y�-~�}-�>I�1��5�F5�?��5<��� �5!L@��E�?9�5�`B��5b�: �5��:)�1�muqAdded new target pos. range: 47.999996 m, bearing: 271.838332 deg, deltaT: 4.565544 s, approachRate: 0.091993 m/s, LOS rate: 0.861611 deg/s, posRepo size: 4�Wq�WqXq Xy�Wy:Wy2Wy*Wy�V�U�������G@U���� �i�?zL��L��L��L��kZ@�A��c�B� B��A���>*B��9�A��A�i�7�A����A�"C�4��*C��}T=RC��K��C��C����������`�ԻI�9GUT>����+j,{0讨E�AY}J�b�@�}J�p�@y}J����}J����}JH����`oҿ���@;��?�����@�?����f������A�ҿ�����՚?����Wڣ?�����W���������?)~J�b�@ ~JҸ];I~Hɫ�髉)�� ������I��Y����@y��`~G��p=i�%=��u���M}U=Y�}�.�QU}�>�����a��G����y���}��>Iȑ����:�ŕ�E5�?����:�ŕu��� ƕmL@����?9ƕ�`B�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zLq�Lq�Lq�Lu8XZ@�A����B� B��A���>*B��y9�A��A�+�8�A�D��A�"C�3��*C��>T=RC� ��C��C���}� ����}�����}�����}��� �}�C:Y�}xZ1y�}q�:��}�6Y��p~9�ֽ���I��G��>��|�+j,���E�AY}: ]�@�}:�j�@y}:�� ��}:���}:H�����zҿ����j��?�����(�?���������� ��ҿ������?������?����(���������?)~: ]�@ ~:щ];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}[~G��5���M=N=Y�=7��QU=�>��A��A�aE�G��A��Iy�M��}M�>I�Q��UfD5�?��U���� �U�L@��e�?9�U�`B��U �: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��EZ@�A�U��B� B��A���>*B�L{9�A��A���8�A����A�"C�2��*CT=RC���C�C��u�=i�up=��9��I���{Gi��x�@���=���������1�; ���WE�� �z�I�G5.>��a��ai��VnGI��i���� "W�ٺ �� JA���+j,4���E�AY}m�Y�@�}m�g�@y}m��#��}moO��}mH������ҿ����ؙ�?���@ȴ�?���`k��������ҿ������?���`7z�?����u����������?)~m�Y�@ ~mx�];I~m��Cɫ�髩)�� ��I��Y��U�@y���}G���Zd;�O��?1�Zd˿D�l����?��j<>��"[� �O�=)�I�y��:��v���?��~j�t��L7�A`�?����=�������+= �7 A)��AI�Ai��A�����A��u� ����u�����u�����uh�� �u�B:Y�u�W1y�uč:��u�6)�u��;�9}���]�>��]���]��i�]�@��Y �]-�@)�YI�Yi�] �@���M�*=Y�gϺQU��>�����a��G����y�.V�}��>Iȩ����:�ŭK@5�?����:�ŭ���� ƭ�M@����?9ƭ!aB�ǭ��: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����}�?zL )>�L )>�L @�L ;sr@�A��B B!�A%@�>*B%Xs9�A!�A%8�A%: ��A)"C-5��*C5��S=RC5r3�C1�C1 ���=����=�֭���I��G��>�*��+j,3�5��E�A�|i|Y}6�Z�@�}6Oh�@y}6b�%��}6� ��}6H������~ҿ������?����I��?�������������ҿ�����Q�?��� {��?���@�������e��?)~6�Z�@ ~6�];I~6��Cɫy�y)�y �}����I��Y��%�@y���}GI�)���_��M�p=Y����QU�?�����a��G����y�"�9}�?Iȹ�Žd=5�?�Ž9��� ƽ�N@����?9ƽMaB�ǽ��: Ƚʽ:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL�L�L�L�tr@�A5:m�B1 B1�A5>�>*B5^|9�A9�A=�8�A=j!��A9"CE4��*CEn�S=RCE^��CA�CI�օ���I��G�B>��� �<��� �<�� 9�� I�� �zGi�� 2�@��� ��� ��� ��� �; �� oUE�u��+j,�O��E�AY}Jtc�@�}J2q�@y}J(��}J����}JH�����mҿ�������?������?����ߝ�����ۅҿ����"e�?����A��?����9����������?)~Jtc�@ ~J��];I~Hɫi�q)�q �qI�qY����@y��S}G��e��>��eE6���e,�i�ep�@��a �e@)�e��@I�ai�e��@��uY��M}L=Y�}ʺQU}�>�����a��G����y��1;}��>Iȑ����:�ŕ�95�?����:�ŕ���� ƕ�O@����?9ƕ�aB�Ǖ��: ȕ��:)ȕ��:�W��WAXI XI�WI:WI2WI*WQ�VQUQUU�����L@zL��L��L��L���r@�A����B� B��A�O�>*B�vu9�A��A��8�A��"��A�"C�3��*C��=S=RC�s��C��CI�]@A)�Y��m? ����m�����m�����m�� �mBM:Y�m�X1y�m/�:��m�6)�m��;����+�I�G-N>����+j,�~i��E�AY}6�p�@�}6�~�@y}6u�(��}6�8��}6H����`�Sҿ��� ���?����v��?���ଡ������lҿ���@0>�?�����?��������������?)~6�p�@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�uw�@y�}�|G���?�M�T=Y����QU��>�������a��G������y�-�;}�>I� �� �65�?�� ��� � �P@���?9� �aB�� �: � ��:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUE���@y?@�RUB*** querying acoustic contact ***�PQ�PQzLi�Li�Li�LmF�r@�A}�E�B� B��A�]�>*B��w9�A��A�a8�A�2$��A�"C�2��*C�\S=RC��C��C�i̙I̙�̡�̡�ԁ�ԅmA��m���I�yG��>�;��+j,iT���E�A�|"�;�| Y}Z ��@�}Z˒�@y}Z�(��}Z%���}ZH�����+-ҿ���@���?����X��?����{�������Fҿ�������?����q��?�����Σ��������?)~Z ��@ ~Zj^;I~Z��Cɫ�髙)�� ��I��Y��l�@y���|G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���a=i���=)�y��u�C�M}4=Y�Y:QU��>�����a��G����� y���;}�>I����:���25�?��%�:����� �R@��%�?9��aB��(�: ���;)���:��u� ����u�����u�����u�� �u�C:Y�u�U1y�u��:��u�6�9}@ܕ�>9ܑIܕ8yGiܕ��@�ܕ=�ܑ�ܑ�ܕ`�; ݕ�SE)�%�t�CI�%�t�Ci�!���%�=��%�=��%� z5�W��W�X� X��W�:W�2W�*W��V�U�U�����" @zL��L��L��L�A�r@�Ae$u�Ba Ba�Am��>*Bm�o9�Ai�Am�8�Am�%��Ai"Cu5��*Cui�R=RCu���Cy�Cy��u[RӻI��G�>����+j,�=���E�AY}e���@�}eR��@y}eY�(��}e����}eH�����t�ѿ���`,��?���@b6�?����|������Eҿ���@���?���`�?�����������`��?)~e���@ ~e�R^;I~e��Cɫi�i)�i �m����I�qY���@y��8|G�xDUSBL response received:!U1,P E8E,000,00591,186,80,80,94,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��ai�e�=��U�q= ףp�?�Q��롿L7�A`�?��U��=��U\� �U+�=)�QI�Qy�U��~j�t��?:��v����)\���(�?��U�D=��U�T���UGa= �UQ A)�U�AI�U�Ai�U�A��Q��UA�õ��=�õ+���õ�D�iõ��@�ñ ĵٮ@)ĵٮ@Iıiĵٮ@��-=��M-�<Y�-{[�QU5c>��1��1�a5�G��1��9y�E�;}Eg>I�I��M�.5�?��M��� �M�T@��U�?9�M&bB��Ma�: �M�:)�I�Wq�WyXy Xy�Wy:Wy2W�*W��V�U�U�����3@zL���=�L���=�L�^��@�L��9f@�A�g��B� B��A���>*B��e9�A��A�h8�A��(��A�"C�4��*C��SR=RC�H�C��C� ���=����=���� ������������������� ���E:Y���X1y��/�:����6������I��G?�%��+j,�%ï�E�A�|i|�@Y}R{�@�}R9��@y}Rh'��}R���}RH�����Ipѿ����T��?���@�$�?���������� �ѿ��� XW�?���@��?������������?)~R{�@ ~R�`^;I~Pɫ�髑)�� ������I��Y����@y���zG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��X<�M��=Y���:QU�y?�����a��G����y�/C=}�y?Iȩ����:�ŭ�-5�?����:�ŭ@�� ƭ�U@����?9ƭ2bB�ǭ�: ȭk�:)ȭ��:�W��W�X� X��W�:W12W1*W1�V1U9U=���`{�@zL��L���9��I��xGi����@������������A�; ��iQE�L��L���f@�A���B B �A �>*B }9�A �A �8�A�)��A"C=3��*C=�5R=RC=\K�;C9�CA��5�e�I�AG]U>����+j,p�ܯ�E�Aɫ�髙)�� ������I��Y��D�@y��zG��E�T���E �>��E�ҽi�E�@��A �Et�@)�AI�Ai�A��U`\�MUO=Y�]���QU]�>��Y��Y�a]�G��a��ay�e���}m�>I�i��m�+5�?��m��� �mW@��}�?9�mMbB��mV�: �mo�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U�����h@zL��L��L��L��A��B B�A/�>*B�p9�A�A 8�A �*��A "C2��*CPR=RC�;C�C�����I�G-,>I�AA)��� ����� ����� ����� C�� � �0:Y� DW1y� Y�:�� � 6���+j,X����E�AY}:�@�}:��@y}:� ��}:"�&��}:H����@� ѿ��� ���?�����u�?����������@�9ѿ�������?��� ��?��� Ӥ����`���?)~:�@ ~:�^;I~8ɫY�Y)�Y �e����I�aY����@y��lzG��TNmea in: $SNTTA,0.044635,,,,165007.07*42 �����<M�C=Y��w;QU��>�������a��G������y��F<}��>I������:����)5�?����:������ ���X@����?9��kbB�����: ���:)����:�W�WX! X!�W!:W!2W!*W!�V)U)U-����K@zLI�LI�LI�LM�Kg@�Aev��Ba Ba�Ae��>*BeBm9�Aa�Ame8�AmR,��Ai"Cu5��*Cux�Q=RCu[1<Cq�Cy�ԉ�ԍnA�օ��d;I��G�=>�� 9�� I�� DwGi�� ��@��� ��� ��� ��� ]�; �� eNE���,j,����E�AY}:� �@�}:k�@y}:����}:�/��}:H�����-ѿ��� >��?����M�?���@Q�����`�Eѿ���@���?��� y�?����.ݥ����@���?)~:� �@ ~:��^;I~8ɫY�Y)�a �e����I�aY����@y��RyG)����et<��e\=��eף�i�e��@��a �e��@)�e9�@I�e9�@i�e9�@�����M�N=Y�M;QU��>�����a��G����y��}��>Iȱ�ŵ�'5�?�ŵW�� Ƶ0Z@����?9Ƶ�bB�ǵ��: ȵb�:)ȱ�Wa�WaXa Xa�Wa:Wi2Wi*W��V�U�U�����|�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��^g@�A�� �B� B��A�<�>*B��i9�A��A��8�A��-��A�"C�4��*C�ɭQ=RC��^�;C��C������<I�G]v>�����������������3�� ��-:Y��X1y�/�:��3 6�*1 ,j,��*��E�AY}B���@�}BU�@y}B~V��}B��*��}BH����@�Sѿ����^��?����I��?���`L�����@1kѿ����ǔ�?���@�ɢ?�����P����� `��?)~B���@ ~B"_;I~@ɫY�Y)�Y �]����I�YY�� �@y���xG�����~j�t��?���Mb����MbX�?����D=����@� ����=)��I��y���L7�A`�?J+����I+��?���+�=����H����94< ���A)��+AI��� Ai���A�������A�� �M =Y�`;QU�>����!�a%�G��!��)y�-���}5�>I�9��M�:��=�$5�?��M�:��=� �� �=�Z@��U�?9�=�bB��="; �= ;)�=��:�Wy�WyXy X��W�:W�2W�*W��V�U�U�����x�@zL�٩=�L�٩=�L�(��@�L�z;s@�A���"B�C�B� B��A���>*B�c9�A��A�8�A��/��A�"CU3��*CU�kQ=RCU+�;CQ�CY �m�=��m�=��e �r�;I�q G� �>��� i�� =�� ,j,�YD��E�AY}B�ו@�}BL�@y}B�!��}B����}BH���� ��ѿ���@r��?����d��?���`���������ѿ���@��?���`.��?����(U�����@���?)~B�ו@ ~By�^;I~@ɫY�Y)�Y �YI�YY����@y��|xG���T@�M��=Y���;QU�A?�������a��G�����y��y�}�3?I�����H#5�?���� �� ���Z@��=�?9���bB���J< ��<)���W��W�X� X��W�:W�2W�*W��V�U�U������@zL �L �L �L �r@�A%Y�B! 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��G);)����:�W�WX X�W:W 2W *W�VUU��� �Q%@zLA�LA�LA�LEOe@�A]d'�BY BY�A]�>*Be�Z9�Aa�Ae�8�A�iA��A�"C 3��*C�8O=RCN�<C�CY��� ���� �� � ���� ��I��G��>��} �=i�} a=�1H^,j,.�{��E�AY}2��@�}2�*�@y}2-����}2+�(��}2H�����ѿ���`���?����9a�?����f�����@�ѿ���@�<�?���@��?����V����� h��?)~2��@ ~2a�_;I~2��Cɫ9�9)�9 �=����I�AY��t�@y���qG�xDUSBL response received:!U1,R,E53,000,0370D,186,80,80,9D,FF �Fpublishing direction and range info���֭�>���ɰ�O�?鰩 ��)���CI��y��JD����B���?A��~sg�?��������ٱ���6Buffer fill timout failure.���ZƼM�G=Y��";QU��>�������a��G������y���u:}��>I������5�?������ ��j@���?9���dB���ӻ: ��D�:)���W)�W)X) X)�W):W)2W1*W1�V1U1U=���@0"&@�PI*QMJD�ZM�VG�Iဇ@c��xr@���������ZM�B���?A��~sg�?��������2QM֭�>:QI�ZM�V���U@K_�C���А #��$@�ZM���Ϙᬺ?�����]�H�%�?BQM#�@ QM�H�QMg�B�PM��9?�PM&�9?�PM����QM����QM��A"QM��@zLq�Lq�Lq�Lu�ie@�A� Y�B� B��A�[>*B��S9�A��A��8�A��B��A�"C�2��*C�3O=RC�]�<C��C�Y�Umu9I�iG��=� 9� I� oGi� O�@�� �� �� �� ��; � 1AE��� /����� ������ ������ '�� � f`:Y� xZ1y� q�:�� �6)� �;������i���mGI��fpAi���UWl�ٺUfpA��U�]A�^0e,j,�Õ��E�A�|i|Y}F%�@�}F�2�@y}Fko輙}F>%��}FH����`��п����(��?���@˾�?���������� ѿ������?������?���@ٟ������ ��?)~F%�@ ~F��_;I~F��CɫY�Y)�Y �]����I�YY���@y��KqG��uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D��POutgoing frame #2, 6 bytes: 55B944648000��DNmea out: $CCCYC,0,1,10,1,0,2*6A ��� �����Mb�?���Q���{�G�z�?��� �=��� ��� �� �#=)�� I�� y�� ��I+��?�� �rh��X9��v��?��� 9�<��� C���� ��< �� 1A)�� ~AI�� � Ai�� �A��� ��� fA)�� �= �� �=��} ��<��} �ļ��} >i�} �@��y �} n�@)�} ��@I�} ��@i�} ��@�� w�M� �<Y� T;QU� �>�� �� �a� �G�� �� y� r�:}� �>Iȱ ��� �:�ŵ �5�?��� �:�ŵ �� Ƶ �k@��� �?9Ƶ �dB�ǵ ��: ȵ �:)ȵ ��:�m� }Added new target pos. range: 808.080017 m, bearing: 275.981580 deg, deltaT: 11.068710 s, approachRate: 68.669250 m/s, LOS rate: 0.374321 deg/s, posRepo size: 4�W� �W� X� X� �W� :W� 2W� *W� �V� U����@�@U��� �?zL%�P=�L%�P=�L%�,�@�L%�{\@�A5�e�B1 B9�A=l�=*B=N9�A9�AE(8�AEvE��AA"CM5��*CM>�N=RCM)�<CI�CQi�YI�]mAY�%bn9I��G��>�k,j,�7���E�AY}RS-�@�}R;�@y}R��ڼ�}R�,��}RH�������п����f��?��� MQ�?��� q�����`V�п����x�?�����\�?�����b������2��?)~RS-�@ ~Rߠ_;I~R��Cɫ�髉)�� ������I��Y����@y���oG�5BNmea in: $CACYC,0,1,10,1,0,2*68 )�A�����M��=Y���&<QU��?�������a��G������y����;}��?I���15�?��:�� ��k@�� �?9��dB���: ���:)��W1�W9X9 X9�W9:W92W9*WA�VAUAUE����4�?zLa�La�La�LeM�\@�A}h\�By By�A}.�=*B�,S9�A��A�78�A�F��A�"C�4��*C�f�N=RC���-<C��C�Y��k9I�!GEQ>I�= AA)�= AA��M ����M �����M �����M ��� �M �I:Y�M DW1y�M Y�:��M �6�9M @�(er,j,�ʱ�E�AY}z:5�@�}z�B�@y}z��̼�}zB���}zH�������п������?�����դ?�����������w�п����w5�?����ȑ�?����^�����`R��?)~z:5�@ ~zi�_;I~z��Cɫ���)�� ������I��Y� ��@y��oG�٭mA�٭mAܱ9ܱIܵmGiܵ��@�ܱ�ܱ�ܱ�ܵ��; ݵ@E��NNmea in: $CADRQ,165015,1,10,0,64,1*70 ��uNmea out: $CCTXD,1,10,1,188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D*32 �í ��>�í C���í 㥾ií �@�é ĭ ��@)ĭ ��@Iĭ n�@iĭ �@��� $`;M� �<Y�� �-;QU� �>��� ��� �a� �G��� ��� y�� _�:}� �>I�� ��� �:��� �5�?��� �:��� ��� �� Mm@��� �?9�� �dB��� (�: �� 4�:)�� ��:�W �WX X�W:W2W*W�VUU%����,�?zL9�L9�L9�L=��\@�AU\.�BQ BQ�A]Σ=*B]�J9�AY�A]U8�A]qH��AY"Ce3��*Ce1oN=RCm��5<Ci�Ci��u�>��u�>Y�� �e9�ֽ�0�;I��G�?��Wz,j,pa뱨E�A�|�|Y}2�6�@�}2�D�@y}2라��}2�a ��}2H������п���`���?����\ɣ?��� ��������п�����=�?����4��?����9J������'��?)~2�6�@ ~2!@_;I~0ɫI�I)�I �M����I�QY����@y��QoG� <Nmea in: $CATXD,1,10,1,64*49 ��e/;�Mm�=Y�m<QUm4?��q��q�au�G��q��qy�}n`:}}4?Iȁ�ŅV�5�?�Ņ��� ƅ�m@����?9ƅ�dB�Džܹ: ȅǺ:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U]�����p�?zL��L��L��L�p�\@�A����B� B��A���=*B��M9�A��A�e8�A�jI��A�"C�2��*C��RN=RC1q7<C!�C!Y�-Bc9��� ���������� ��D:Y�y����6��%��<I�1GUu>��7�,j, ��E�AY}:�4�@�}:�B�@y}:�����}:���}:H�������п���@#��?�������?�����������v�п�����w�?��� �5�?��� �x������x��?)~:�4�@ ~:GL_;I~8ɫ9�9)�9 �9I�AY�}��@y�}�nG�mNNmea in: $CADRQ,165015,1,10,0,64,2*73 �}RNmea out: $CCTXD,1,10,1,55B944648000*38 ��-�&>��-��=��-O >i�-�@��) �-ƣ@)�)I�-��@i�-��@��=;�M=1=Y�Eޣ;QUE�>��A��I�aM�G��I��Iy�Ua �}U�>I�Y��m�:��]��5�?��u�:��]$�� �]�n@��}�?9�]�dB��]z�; �]��;)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U����`��@zL��L��L��L�F�\@�-�>9�)I�-(kGi�-"�@��-=��)��)��-k�; �-�>E)݁�I݁�i݁��݅�=�݅�=�݅�P64�AUL\�BQ BQ�AU�V=*B]#I9�AY�A]v8�A] K��AY"C�5��*C��#N=RC��K2<C��C���=i�=Yϕ&a9�֍ �9<I�� G� �>�5f�,j,���E�AY}~3�@�}~�@�@y}~�ϑ��}~����}~H�������п����g��?����v��?���@���������п����~�?����9�?����=���������?)~~3�@ ~~�_;I~~��Cɫ���)�� ��I��Y�E;�@y�M�mG��Q��Q�]:Nmea in: $CATXD,1,10,1,6*7D ��m�����Mb@�����Mb@�����Mb@���m���m� �m�)�m����I�iy�m��Zd;�?�p= ף�����Q��?��m�y=��m����m��< �m�A)�iI�mKAi�m A��i��m�A��6k�M�D=Y���;QU��>�����a��G����y��� �}��>I�����#�5�?����� ���o@����?9��eB����1; ��x1;)���W�WX X�W:W!2W!*W!�V!U)U-���`�&@�R�B*** querying acoustic contact ***�P��P�zL���=�L���=�L���@�L��sh@�A���B B!�A%�<*B%zF9�A!�A%�8�A%�L��A!"C-4��*C5��M=RC5'�.<C1�CQi�YI�Y���� �����������������K�� ��#A:Y���X1y��/�:����6Y�5�^9��E �0<I�I Gm �>�-��,j,��8��E�AY}Jv6�@�}J5D�@y}JF,_��}J<,��}JH�����n�п�������?�����V�?��� ���������п�����o?���@P�?���@ $��������?)~Jv6�@ ~J��_;I~J��Cɫq�y)�y �}����I�yY��g�@y���mG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��.Nmea in: $CATXP,70*75 ��5�<M5|=Y�=S<QU= ?��A��A�aE�G��A��Iy�M��:}U ?I�Y��]�5�?��]��� �]]p@��e�?9�]eB��]�: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����@zL!�L!�L!�L%��h@�A=x�B9 B9�A=� =*B=�G9�AA�AE�8�AU�M��AQ"Cm3��*Cm�M=RCm��4<Ci�CqY�u�\9��u�x/<I��G��>�����<�!9�!I�%�iGi�%ݽ@��!��!��!��%ހ; �%;>E��t�,j,��R��E�AY}2<�@�}2�I�@y}2 �+��}2`���}2H����`��п�������?������?�����������D�п����0e<?���@G|�?����pݢ��������?)~2<�@ ~2��^;I~2��CɫY�Y)�Y �]����I�YY����@y��mG�xDUSBL response received:!U1,P E53,000,0370D,186,80,80,9D,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 ��l�=���}=��C�<i�(�@�� �)�ƣ@I�ƣ@i��@��M�O�MM-=Y�U;�;QUU�>��Y��a�ae�G��a��y���:}��>Iș����:�ŝ��5�?����:�ŝ��� Ɲ_q@����?9ƝIeB�ǝc�; ȝ��;)ȝ��:�W)�W)X1 X1�W1:W12W9*W9�V9UaUe���`ĩ@zL��L��L��L�u�h@�A��B� B��A��"<*B�(D9�A��A�8�A%JO��A!"C-2��*C->�M=RC5^N=<C1�C1I@A)������������������������ ���{:Y���Y1y���:�����5)����;�9��Y�m�W9��e ��0<I�q G� �>�w��,j,C�l��E�AY}6r9�@�}61G�@y}6�5���}6;]��}6H�������п����0��?������?���@U�����@��п���@4�n������Fw?������������?)~6r9�@ ~6A�_;I~6��Cɫ9�9)�9 �9I�9Y�}s�@y�}�lG�}p=ɮ}a=��ޗ�M��=Y��x<QU� ?�����a��G����y�F��}�?Iȹ�Ž��5�?�Ž��� ƽr@����?9ƽeeB�ǽk�: Ƚw�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U����`@zL�L�L�L��h@�A-�� �B� B��A�}�;*B��C9�A��A��8�A�>P��A�"C�5��*C�\�M=RC�1�6<C��C�Yϭ�U9�֥*:<I��G�C>�v��,j,�e���E�A�|4<�|Y}6�6�@�}6^D�@y}6BU��}6[� ��}6H����@��п�������?�����d�?���������@:�п���� �|���� �Jc?�����������`��?)~6�6�@ ~6�b;I~6��Cɫa�i)�i �qI�qY��~�@y���lG��-S;M5B=Y�=��<QUE�>��Q��Y�a]�G��Y��iy�mrS�}m�>I�q��}�:��u�5�?����:��u��� �u�r@����?9�u�eB��uI�: �uV�:)�u��:�W!�W!X) XQ�WQ:WQ2WY*WY�VYUYU]����x�@zL��L��L��L�&�h@�A��{�B� B��A���;*B��C9�A��A��8�A��Q��A�"C�4��*C��YM=RC���1<C �C ��9��I��hGi����@���=�����������; ��>EY���Q9���� �������������������� ���C:Y��[1y��ݏ:���b6)��L�;���9<I�)GEs>����,j,iQ���E�AY}B2(�@�}B�5�@y}B�,;�}B{����}BH����@V�п����"��?���@}��?����������@�п���@�`�����`��a����@>����� ���?)~B2(�@ ~B�f;I~B��CɫQ�Q)�Q �QI�QY����@y���kGaie@a��e ame@a��e aqe@a��e aee@a��e aIe@a��e ��e�����Mb@�����Mb@�����Mb@���a��a �a)�aI�ai�e�����Mb@�����Mb@�����Mb@���e©�e���e� �e���)�e���I�e���i�e�����e������e������������u>�����=i��f�@��� ����@)����@I�����i����@����a�M�?=Y��{.<QU��>�������a��G������y��?��}e�>I�i��m4�5�?��m��� �m�s@��u�?9�m�eB��m5�: �mA�>)�i�W��W�X� X��W�:W�2W�*W��V�U�U���� cy@�A���B B�A���*B�@9�A�A�8�A S��A!"CE3��*Cew-M=RCe�<Ca�CaY�UJM9�ޱip=��M�x/<I�aG}�>�!ܭ,j,�!���E�AY}:��@�}:�"�@y}:��;�}:�n��}:H����@�ѿ������?�����5�?���@��������ѿ��������������u�����m����� ���?)~:��@ ~:��i;I~:��Cɫ9�9)�9 �=����I�9Y�u8�@y�}BkG��y��}@A�� 7�M�`=Y�<QU��>�����a��G����y��Ի}��>Iȹ�Ž��5�?�Ž��� ƽ�t@����?9ƽ�eB�ǽа: Ƚ=I?)ȹ�Wi�WiXi Xi�Wi:W�2W�*W��V�U�U����`H�@�A����B B�A�k�*B�>9�A�A�8�A&T��A"C%2��*C%�M=RC%�%�;C!�CIY�]yJ9���9�������������� ��2a:Y��y�����"6�9�@��u��<I��G��>�� 9�� I�� xfGi�� S�@��� =��� ��� ��D��� ��; �� U>E��´,j,j�Ӳ�E�A�|<i|>�@i�F�lGI�R"oAi�\��v�ҿٺv"oA��v*�AY}U��@�}Uk�@y}U� <�}UN��}UH������"ѿ���@4��?�����J�?�����������ѿ����AN�����`�"�������蠿����>��?)~U��@ ~Ui$q;I~U��Cɫ�)� �����I�Y�m߾@y�u�jG��.Nmea in: $CATXF,70*63 ��\Response from modem unexpected: $CATXF,70*63 ����?i���?)����E���E�G���E���i�EG�@��A �E��@)�Ez�@I�E��@i�A��U���MU2=Y�U�;QUU�>��Y��Y�a]�G��Y��ay�e�[�}e�>I�i��u�:��m��5�?��u�:��m� �� �mou@��}�?9�m�eB��m��: �mg�?)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����@��@�R�B*** querying acoustic contact ***�P��P��A�����B� B��A��μ*B��=9�A��A��8�A��U��A�"C�5��*C�,�L=RC�V��;C��C�Y���E9����0�;I��G��>�i��,j,0����E�AY}2��@�}2��@y}2?�<�}2҉��}2H�����-ѿ����+��?���`��?���`�������$ѿ����k㓿���������� �����n��?)~2��@ ~2��q;I~0ɫ9�9)�9 �=����I�9Y�]V�@y�]-jG�u�Nmea in: $CAXST,7,20210813,165016.655819,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*51 �}�Response from modem unexpected: $CAXST,7,20210813,165016.655819,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*51 I)���> �����������������.�� ��.M:Y���W1y��č:����6�����M�=Y�&�:QU��>�����a��G����y�ҩ�}��>Iȱ�ŵS�5�?�ŵ�!�� Ƶ�v@����?9Ƶ.fB�ǵ|�: ȵ �?)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�A���B B!�A%�+�*B%<9�A!�A%w8�A%�V��A!"C54��*C5��L=RC5���;C1�C9�ց I�� G� �>����,j,���E�AY}B3�@�}B��@y}B��I<�}B�Y$��}BH�����l!ѿ���`���?�����?����r�����@mѿ��� �#������.:������i����������?)~B3�@ ~B�l;I~B��Cɫa�i)�i �m����I�qY���@y�miG�ɮp=����L>���َ����$ƾi��Q�@��� ����@)��\�@I��\�@i��\�@�����M��=Y��yF<QU�4?�������a��G������y���K;}�4?I�)��-��5�?��-�"�� �-w@��=�?9�-EfB��- �: �-�@)�)�WY�WYXY XY�Wa:Wa2Wa*Wa�VaUiU�������@�A�}�B� B��A��y�*B��69�A��A�h8�A��W��A�"C3��*C-zxL=RC-[�;C)�C)�q9�qI�u�dGi�u �@��q��q��q��û; 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X)�W1:W92W9*WA�VIUQU]���@G*@zLi�Li�Li�LmQR@�A}��:B� B��A�Kn�*B��#9�A��A��8�A��`��A�"C�2��*C�6MI=RC��C��C�I�))�-@AYϽp/9���� ������������������� ���B:Y���X1y��/�:����6�9�@��������9��I��$[Gi���@���=����������; ��+QE���Β{;I��G��>�M�6-j,/jܴ�E�AY}24��@�}2�@y}26f+=�}2�E��}2H����`�ѿ���`���?���@���?��� *��������ѿ���@��������-k�������������`V��?)~24��@ ~2�!_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}bG鮅p=ɮ�p=)����u\�=��u`e<��u��=i�u��@��q �u\�@)�u~�@I�u~�@i�u~�@���'�M�N=Y�:�QU��>�����a��G����y��v�}��>Iȡ����:�ť��5�?����:�ťL4�����tI ƥC�@����?9ƥ�hB�ǥ}; ȥ�;)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �+@�R�B*** querying acoustic contact ***�P��P�zL �L �L �L өQ@�A%��L;B! B!�A%�~�*B%�9�A)�A-O8�A-�`��A)"C55��*C5I=RC5�/��C1�C9Y�-S-9����q�I�G5.>�j�<-j,FE���E�A�|�;�|�;Y}2)u�@�}2炍@y}2�k&=�}2����}2H����@�Kҿ���@���?�����_�?�����������8ҿ����╨������̤�����mM��������?)~2)u�@ ~2�^;I~2��Cɫ9�A)�A �E����I�AY�]��@y�]�aG��� �������������� �� �E>:Y��Y1y��:��*6��%F-�M%=Y�-Z�QU-�>��)��1�a5�G��1��9y�=��}=�>I�A��M�:��E��5�?��M�:��E�4�� �E�@��M�?9�E�hB��E=�: �E(�:)�E��:�W��W�X� X��W�:W�2W�*W��VUU����3,@zL!�L!�L!�L%�SQ@�A=٢;B9 B9�A=}��*B=%9�A9�AE�8�AE\`��AA"CM4��*CM�H=RCU���CQ�Cai�yI�}nAYυ �(9�ԩ �ԭ nA�֕���I��G��>��D-j,����E�AY}2�T�@�}2�b�@y}2*?=�}2?)��}2H�������ҿ�������?���@uї?���@�������}tҿ��� N �����ਦ�����`�`�����`���?)~2�T�@ ~2��^;I~0�9�I��YGi�*�@��=������,�; �*MEɫQ�q)�q �u����I�qY����@y���`G����>���P=����i�(�@�� ��@)���@I���@i���@��%�ȽM-�=Y�-��QU-/?��1��1�a5�G��1��9y�=�}�}=0?I�A��Eų5�?��E�4�� �E�@��U�?9�EiB��E��: �Eb�:)�A�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U�������,@zL9�L9�L9�L=�Q@�AU$�;BQ BQ�AU7��*B]9�AY�A]�8�A]0`��AY"C�3��*C�!�H=RC��eV�C��C��֝�7�I���i�=G� >�B1J-j,�*��E�AY}2�O�@�}2~]�@y}2�u=�}2�� ��}2H���� �ҿ������?�������?���@�������7}ҿ���@<����������������������N��?)~2�O�@ ~2_;I~2��Cɫ9�9)�9 �=����I�9Y����@y���`G���AA���AA���Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��]�P��n��?���S㥛?L7�A`�?��]>��]/�< �]+=)�YI�Yy�]�q= ףp�?�p= ף�����Q��?��]��=��]����]�u= �]5A)�]AI�]Ai�]5A��Y��]A���m��M�%=Y�-퍻QU-�>��1��1�a5�G��1��9y�es��}m�>I�q��u¯5�?��ux7�� �u��@����?9�uRiB��uN�; �u�;)�q�WI�WQXQ XQ�W�:W�2W�*W��V�U�U����@��-@��C ���������������� �*9:Y�0Y1y���:��t6zL��>�L��>�L�x��@�L�fU{@�A���<B� B��A����*B�I!9�A��A�i8�A��_��A�"C�2��*C��AH=RC�k�T�C��C �%�=��%�=��% ���I�1 GM �>�&Q-j,9�D��E�A�|i|�@Y}:�`�@�}:�n�@y}:f�=�}:�-��}:H���� �sҿ������?������?����a�������[ҿ����`���������������������@��?)~:�`�@ ~:!�_;I~:��Cɫ9�9)�9 �=����I�9Y�}@�@y��:`G��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���v>>���t������u=i���@��� ��ҙ@)��ҙ@I��ҙ@i��ҙ@����M�^=Y����QU��>�������a��G������y���;}��>I�����:����5�?���:���[9�� ����@�� �?9���iB���A�: ��8�:)����:�W)�W)X1 X1�W1:W12W1*W9�V9U9U=����hf.@zLY�LY�LY�L]ւ{@�Au��&<Bq Bq�Auږ�*Bu9�Ay�A}&8�A}o_��Ay"C�5��*C��H=RC���3�C��C���]O�N�I�iG�[>�%�>9�!I�%�YGi�%ذ@��%=��!��!��%��; �%nIEi�=mGI�UfpAi�i����g�ٺ�fpA����YA��CW-j,dw^��E�AY}26{�@�}2���@y}2��=�}2kd(��}2H������Aҿ��� ���?������?����I����� d+ҿ���@M�������EX������J���������?)~26{�@ ~2��_;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}`G�xDUSBL response received:!U1,R,E6B,000,005A6,186,80,80,81,FF �Fpublishing direction and range info������>���ɰ���=鰁 ��)���CI��y�� EB������ש�?��#�&�?��������ٱ���gH�M�v=Y�咻QU�?�����a��G�����y���<}�?I�����V�5�?���;�� ��,�@����?9���iB�����: ���:)���W��W�X X�W:W2W*W �V U U �����/@�P�*Q� EB�Z���R��G@�� κ1@���������Z����ש�?��#�&�?��������2Q����>:Q��Z�����3 @��t5�H��Îa�g��Z��<b._�?p� y8�↑>W.>���BQ��ؘ@ Q�qD�Q��I@�P�&�9?�P���9?�P�����Q�����Q��`@"Q���AzL�L�L�L^�{@�A5}A<B9 B9�A=�*B9�A9�A=�8�AE_��AA"CE4��*CM��G=RCMƝ�Ci�CqI��)����e�9�I�yG�;>��p]-j,�_x��E�AY}{��@�}:��@y}�^�<�}�,"��}H����`� ҿ����E��?����i�?����ͯ����`��ѿ���@��������ʟ����`�A�����@���?)~{��@ ~�_;I~��Cɫ���)�� ������I��Y�-�@y�5�_G��TNmea in: $SNTTA,0.058061,,,,165029.24*45 �� "��M 6=Y���QU�>�����a�G����y�d<}%�>I�)��5�:��-Ѧ5�?��5�:��-�=�� �-�@��5�?9�-�iB��-(�: �-4�:)�-��:�mm�Added new target pos. range: 49.259998 m, bearing: 273.670189 deg, deltaT: 15.554580 s, approachRate: -48.784348 m/s, LOS rate: -0.148599 deg/s, posRepo size: 4�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUu����G�H@U}����y�?zL��L��L��L�^�{@�A�w�Y<B� B��A�ߜ�*B��9�A��A��8�A�v^��A�"C�3��*C�i�G=RC��1��C��C�i����I������������������������������g�� ��r:Y���X1y��/�:����6��������� �z�I�� G �>�5Ud-j,Z,���E�A�|4<�|4<Y}6�@�}6���@y}6�c�<�}6�#��}6H�������ѿ���@���?����3$�?������������ѿ����������� .k����� �������� ��?)~6�@ ~6�Y_;I~4�d9�dI�f�XGi�f6�@��d��d��d��f`�; �fFEɫ9�9)�9 �9I�AY��µ@y���_GI�9)�9�Ý94>�Ý�;�Ýz�iÝ �@�Ù ĝ��@)ĝ~�@Iĝ��@iĝ~�@����M�Q=Y�6t�QU��>�����a��G����y���;}��>I�����£5�?����?�� ����@��5�?9��"jB���\_< ���_<)���Wq�WqXq Xy�Wy:Wy2Wy*Wy�V�U�U�������?zL��L��L��L�6�{@�A��-r<B� B��A����*B��9�A��A�38�A��]��A�"C�2��*C [gG=RC /[��C �C��E&t��I�qG�g>�[�j-j,����E�AY}2@�}2���@y}2n�<�}2����}2H����`�ҿ���� ��?����o��?���র���� ��ѿ���@�����S �����������������?)~2@ ~2eD_;I~0ɫ1�9)�9 �=����I�9Y�]��@y�]z_G����1�Zd�?333333����~j�t�����"[>������ ����)��I��y��� ףp= �?k�t�����~j�t�?���Q8=��� 0������< ±)µ�AIµ�Aiµ A�������A�����M�H=Y�� 7�QU��>�������a��G������y���j�}��>I������5�?���S@�� ���@����?9��<jB����: ��#�:)���W�WX X�W:W2W!*W!�V!U!U-����ʟ�?zL�G�=�L�G�=�L���@�L�ăk@�Ar��<B B�A���*BM9�A�A%�8�A%5]��A!"CM5��*CM�+G=RCM��ĻCI�CQ���i��a=���� �������������������� ��0>:Y���]1y����:����5��}y��I��G�b>�7gq-j,��ŵ�E�AY}:Ay�@�}:���@y}:���<�}:�"��}:H���� �Eҿ����Y��?���@��?����9�����@x1ҿ���`�o����� ˙�����`?�����`���?)~:Ay�@ ~:��^;I~8ɫ9�9)�9 �=����I�AY�}�@y���^G�����E���b�i�G�@�� �ƣ@)�h�@I�~�@i�h�@��%`c�M-E=Y�-$��QU-�>��1��1�a5�G��1��9y�=2"�}=�>I�A��M�:��E �5�?��U�:��EA�� �ED�@��U�?9�EVjB��E�: �Ef�:)�E��:�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U�����|E�?zL��L��L��L��@k@�A���<B B�Aa��*B9�A!�A%�8�A%�\��A!"Cm4��*Cm�F=RCm�y�Ci�Cq Յ�=�ԅ�=��}[RӻI�����>9��I��XGi����@���=���������y�; ��CE)�Y�I�Y�i�Y���]�=��]�=��]�'�4Gm>�V�w-j,ǽߵ�E�A�|i|�@Y}6�J�@�}6PX�@y}6�R�<�}6����}6H������ҿ���@*��?����_�?����������@8�ҿ���@�⣿����J������ B������`���?)~6�J�@ ~6��^;I~6��CɫY�Y)�Y �]����I�YY��u�@y��^G���i����5��M=[=Y�=!!�QU=�>��A��A�aE�G��A��Iy�MOz�}M�>Iȩ�ŭO�5�?�ŭ�A�� ƭ��@����?9ƭojB�ǭ+�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U���� �5�@zL �L �L �L �j@�A=Û<B! B!�A%���*B!�A!�A%+8�A-�[��A)"C53��*C5��F=RC5F�n�C1�C9����������������������� ��0p:Y���W1y��č:����6)����;�9����e���I�iG�@>���}-j,����E�AY}>i�@�}>(+�@y}>M�<�}>|��}>H�������ҿ���@���?����?��?��� �����@��ҿ���`l¢������H�����`ʾ���������?)~>i�@ ~>��^;I~>��CɫY�Y)�Y �]����I�YY����@y��^G)����e�;M�@=Y���O�QU��>�������a��G������y���T�}��>I������:���n�5�?���:���wB�� ��@���?9���jB���I�: ����:)����:�W!�W)X) X)�W):W)2W1*W1�V1U1U5����O�@zLQ�LQ�LQ�LU�lj@�AmQn�<Bi Bi�Ame��*Bq�Aq�Au�8�Au�Z��Aq"C}2��*C}PjF=RC}`��C��C�I��AA)���ֽ��v�I��GI>�m��-j,mt��E�A�6�>9�4I�6<WGi�6�@��4��4��4��6�; �6^@EY}B���@�}B��@y}B���<�}BG4���}BH����@�9ӿ���ৃ�?������?���ං������,ӿ�����{���������������������@S��?)~B���@ ~B�^;I~@ɫY�Y)�Y �]����I�YY��#�@y���]G��a=ɮ�a=������������������������ ���*:Y���X1y��/�:��� �5)���;�� ��������?<�O��n��V-��?�� ��<�� t� � ��<)� I� y� �ˡE����?���x�&��:��v���?�� �=�� 7���� �T< � dA)� �AI� Ai� �A�� �� �A)� �= � �=��] ����] �}=��] ��<i�] �@��Y �] ~�@)�Y I�Y i�Y ��� ���M� =Y�� k�QU� �>��� ��� �a� �G��� ��� y�� ��}� �>I�� ��� ��5�?��� �D�� �� �@�� �?9�� �jB��� �: �� ��:)�� �W1 �W1 X1 X1 �W1 :W1 2W1 *W9 �V9 U9 U= ����(�@�RM B*** querying acoustic contact ***�PI �PI zLe ~�=�Le ~�=�Le �#�@�Le �n@�Au ��<By By �A} ���*B} �9�Ay �A} U8�A� �Y��A� "C� 5��*C� z�E=RC� 䵼C� �C� Yϕ�&9�ԡ�ԥmA�֍�u��I��G��>�$��-j,�D2��E�AY}2I�@�}2��@y}2}��<�}2҇��}2H�����SYӿ�����~�?���`�_�?�����}���� xMӿ�����Ġ����`<љ���� �����������?)~2I�@ ~2��^;I~0ɫI�Q)�Q �U����I�QY��W�@y���]G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���<M�=Y�5��QUE?��!��!�a%�G��!��)y�5��}5D?I�9��E�:��=�5�?��E�:��=ME�� �=�@��U�?9�=�jB��=�-; �=S.;)�=��:�Wy�WyX� X��W�:W�2W�*W��V�U�U�����Pn @zL��L��L��L��hn@�A�[�<B� B��A�g��*B�9�A��A� 8�A�!Y��A1"C]4��*Ce��E=RCe�WļCa�CaY�m�(9��M�r��I�YGuy>��ߒ-j,� L��E�AY}2��@�}2��@y}2�=�<�}2;����}2H���� "^ӿ��� �}�?�������?����Q}����`fQӿ��� �������`������컟��������?)~2��@ ~2{�^;I~2��Cɫ9�9)�9 �=����I�9Y�]ҳ@y�]<]GexDUSBL response received:!U1,P E6B,000,005A6,186,80,80,81,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 ��}�=i�}=���� �������������������� ���U:Y��0Y1y����:���W�5�9�@����>����>�����=i���@��� ����@)��I��h�@���<���<�I9�II�MsVGi�MN�@��M=��I��I��M��; �M>Ei�����2 �M�)=Y�� κQU��>�������a��G������y���!�}��>I�����a�5�?����F�� ��Q�@��-�?9��kB���z�: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U����`+}@zLI�LI�LI�LM�fn@�A�k�<B� B��A����*B��A��A���8�A��W��A�"C3��*C pdE=RC �üC1�C9Y�E l&9��9I�IGm�>�T�-j,��e��E�AY}2m�@�}2,��@y}2Y_�<�}2j���}2H������Qӿ�����~�?����L��?���@h�����,Bӿ����|L����� Q���������������B��?)~2m�@ ~2�^;I~2��Cɫ9�9)�9 �AI�AY�} �@y�}�]G���@A������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5�<M5c=Y�5ȯ�QU5�>��9��9�a=�G��9��Ay�E9;}E�>I�I��U�:��M5�?��]�:��MH�� �Mx�@��]�?9�MBkB��M4�: �M��:)�M��:�Wy�W�X� X��W�:W�2W�*W��V�U�U�����۔@zLq�Lq�Lq�Lu�}n@�A����<B� B��A�D��*B��A��A�E�8�A�W��A�"C�2��*C��%E=RC�����C��C�Y�,$9 ����=����¼I��G�>�t2�-j,����E�A�|i|Y}6���@�}6y�@y}6��<�}6(��}6H����@,:ӿ����*��?�����e�?���`,������@(ӿ���@ء�����/4�����`�����������?)~6���@ ~6 �^;I~6��Cɫ9�9)�9 �9I�AY�}ճ@y�}A]G�xDUSBL response received:!U1,R,E63,000,005AB,185,80,80,AC,FF �Fpublishing direction and range info������>���ɰ���=鰅+�> ��)���,CI��y��=FB�����~Cz���?�X�k���?��������ٱ����i���=I��)���A)����ӌ�M^=Y��l�QU�>��!��!�a%�G��!��)y�-��;}-�>I�1��5�5�?��5HI�� �5��@��E�?9�5jkB��5��: �5D�:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wi�Vq���� �����������������(�� ��V:Y�[1y�ݏ:��6U�U������@�PY*Q]=FB�Z]�#Z��0G@ ��Mz1@���������Z]��~Cz���?�X�k���?��������2Q]���>:QY�Z]��6��@��ιH�:n������Z]�gM0�?������ �\����BQ]l��@ Q]�E�Q]�.@�P]$�9?�P]&�9?�P]����Q]����Q]�s@"Q]�`@zL��L��L��L�ßn@�A ���<B B �A ���*B�A�A��7�AV��A"C5��*CG�D=RC5���C�C!Y�-�!9��5�e��I�AGew>� 9� I� VGi� ��@�� �� �� ��D�� �}; � <E��5 ݡ>��1 i�� �lGI�� i�� ��E�^�ٺA��EJQA����?9��{A���-j,�����E�AY}N� �@�}NG�@y}N��<�}NK�0��}NH����`.ӿ���`���?����&��?����O������aӿ����N١��������������������3��?)~N� �@ ~N �^;I~N��Cɫ�髙)�� ������I��Y�T�@y��\GI�}@A)�}?A��dNmea in: $SNTTA,0.378693,0.475437,,,165033.76*5B ��� �k�t��?Zd;�O����� �rh����� 0=��� j�� �� C�)�� I�� y�� �D�l����?ˡE������~j�t��?��� O�=��� �'���� �D= �A) - AI i �A��� ��� (A�� $�>�� ��;�� �=i� Q�@�� � ҙ@)� ��@I� ��@i� ��@��% ���M% �<Y�- �b�QU- �>��) ��1 �a5 �G��1 ��1 y�= I;}= �>I�A ��M �:��E ��5�?��M �:��E ]K�� �E ��@��U �?9�E �kB��E +�: �E ��:)�E ��:�m� uAdded new target pos. range: 49.560001 m, bearing: 273.158062 deg, deltaT: 4.540410 s, approachRate: 0.066074 m/s, LOS rate: -0.112793 deg/s, posRepo size: 4�W� �W� X� X� �W� :W� 2W� *W� �V� U� ��� ��H@U� ��� D��?zL� ��=�L� ��=�L� ��@�L� p�y@�A� ��<B� B� �A� �ž*B� �A� �A� ��7�A� rT��A� "C� 4��*C� �oD=RC� }��C� �C� �������I��G �>���-j,k���E�Aɫ�髱)�� ������I�����a ����������������� �� ���;:Y��0Y1y����:����6Y� j�@y� �\G���Pm<M��=Y�����QU�n?�������a��G������y�����}�n?I�Q��Uň5�?��U�K�� �U��@��u�?9�U�kB��UbY; �UnZ;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����`F��?zL��L��L��L��A���<B� B��A�7ľ*B��A��A�:�7�A��S��A�"C�3��*C��KD=RC����C��C����bި�I��G (>����-j,�ζ�E�A�|�;�|Y}>$�@�}>�!�@y}>�*�<�}>�o��}>H����`�ӿ����6��?��� �'�?����*�����`��ҿ����� ����@ʤ����� �k���������?)~>$�@ ~>Z�^;I~>��CɫY�Y)�Y �]����I�YY��E�@y���\GI�A)�A�å�>�å`�<�å�B�iå�@�á ĥ~�@)ĥ~�@Iĥh�@iĥh�@���8�M�L=Y�0�8QU��>�������a��G������y���?;}��>I�����߆5�?���1M�� ����@����?9���kB���I�: ��U�:)����9��I��HUGi��Z�@���=���QD������Hz; ��\:E�W!�W!X) X)�W):W12W9*W9�V9UAUE���@���?zL1�L1�L1�L5�y@�Aua_�<Bq Bq�A}�ƾ*By�Ay�A}i�7�A��R��A�"C�2��*C���D=RC�����C��C����Vw��I��Gj>�L��-j,�趨E�AY}2��@�}2� �@y}2���<�}2ؿ��}2H������3ӿ�������?������?���`!����� E&ӿ����Ⳡ�����z[�������������`/��?)~2��@ ~2H�^;I~2��CɫY�Y)�Y �YI�YY����@y���[G�ip=��� ������������������� ��B5:Y���V1y���:����6)��ԑ;�9�� ��鿹�¹�½nA����Y�M�H=Y����:QU��>�������a��G������y����}��>I������:���ۄ5�?����:���vN�� ��/�@���?9���kB���=�: ��k�:)����:�W!�W!X! X)�W):W)2W)*W1�V1U1U5���`�*�?zLQ�LQ�LQ�LU�Wy@�AmnZ�<Bi By�A}�Ѿ*By�Ay�A���7�A��Q��A�"C�5��*C���C=RC��̷�C��C��օI��I��G�=>�#��-j,���E�AY}2�Ӕ@�}2��@y}2���<�}2ي��}2H����`�ӿ�����w�?���`l_�?����vw�����<sӿ��������@ྙ�����o���������?)~2�Ӕ@ ~2'q^;I~2��CɫY�Y)�Y �]����I�YY��}�@y���[G��5��M=U=Y�=�g;QU=�>��A��A�aE�G��A��Ay�M�U�}M�>I�Q��U�5�?��U�O�� �UŌ@��]�?9�UlB��Us�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������.�@zLY�LY�LY�L]Yy@�A%���<BI BI�AMӾ*BI�AQ�AU��7�A]{P��AY"C}4��*C��hC=RC���ۼC��C��ֽ ��I��G�g>��9��I���TGi�� �@������������qw; ���8E)݉�I݉�i݉��ݍ�=�ݍ�=�ݍ�mw5����-j,�w��E�AY}]���@�}]m��@y}]�=�<�}]�V��}]H�����y�ӿ����_g�?���`���?�����g����@�ӿ�����������`�ƚ������g�����`O��?)~]���@ ~]b^^;I~]��C��5! ����5�����5�����5��� �5�J:Y�5[1y�5ݏ:��5��6)�5��;ɫ�髉)�� ������I��Y��g�@y��~[G�� �=i� �=I� )� ��i����+�����?+�����?:��v�������>���= ��T�)�I�y���~j�t��?D�l�����X9��v�������=��O������� � A)��AI�i�3A����3A�Ýx�>�Ý��=�Ý���iÙ�Ù ĝ\�@)ĝ3�@Iĝ3�@iĝ3�@��/��M�(=Y�;QU��>�����a��G����y��DO�}��>I������:���5�?����:����Q�� ��J�@����?9��MlB����: ����:)����:�W��W�Xy Xy�Wy:Wy2Wy*W��V�U�U���� �(@�R�B*** querying acoustic contact ***�P��P�zL�O�=�L�O�=�L���@�L��p@�A�ɴ�<B B�AkԾ*B�A�A��7�AO��A "C 3��*C C=RCoM�C�C1i�9I�9��A��A��5�ѼI�9G]�>�,��-j,l]6��E�AY}2�n�@�}2o|�@y}2�j�<�}21*(��}2H�����=BԿ�����V�?����O�?��� �W������.Կ�����x�����@��������������=��?)~2�n�@ ~2��^;I~0ɫI�Q)�Q �U����I�QY���@y���ZG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I)AA��p=ɮ��� �9�M�=Y�Z:QU?�����a�G����!y��:��}�?I�����6|5�?����R�� ���@����?9��wlB�����: ��ӻ:)���W9�W9X9 XI�WI:WI2WQ*WQ�VQUQUU��� 1�@zL��L��L��L� Op@�A-'%�<B1 B1�A5�۾*B1�AY�Ae��7�AeN��Aa"Cm2��*Cm�B=RCm{�Cq�Cq�֕&l��I��G�@>�?��-j,: P��E�Aɫy�y)�y �}����I�y���H �������������������� ���M:Y���Y1y���:�����5�9�@Y��ϱ@y���ZG�xDUSBL response received:!U1,P E63,000,005AB,185,80,80,AC,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��M�<�Q9�QI�U�TGi�U��@��Q��Q��Q��U_v; �US8E�Å�m=�Å�J>�Å��=iÅf�@�Á ąz�@)āIāiā�����Me&=Y�m���QUm�>��q��q�au�G��q��qy�}���}}�>I������:���-x5�?����:����T�� ��w�@����?9���lB��� �: ����:)����:�W��W�X� X��W�:W�2W�*W�VU!U%��� d� @zLi�Li�Li�Li�A�g�<B� B��A��ݾ*B��A��A���7�A��L��A�"C 5��*C �QB=RC���C�C9��m ���I�q G� �>���-j,�j��E�AY}2�=�@�}2YK�@y}2e��<�}2O���}2H����`6�Կ����BH�?����)�?��� H���� ˎԿ����1Ң������7������xq���������?)~2�=�@ ~2�^;I~0ɫ9�9)�9 �=����I�9Y�u3�@y�}>[G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Up=i�U�=��u�=Mux=Y�}F:QU}?��y���a��G����y�_��}�?Iȑ�ŕ�u5�?�ŕ�U�� ƕ+�@����?9ƕ�lB�Ǖ�: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@�$ @zL��L��L��L���o@�A��<B B�A �*B �A �A A�7�A �K��A"C4��*C�B=RC[�,�C�C�֥�#�I��G�">�D��-j,�փ��E�AY}2�?�@�}2�M�@y}2'}�<�}2+���}2H����කԿ�����I�?����6�?���@�H�������Կ���@�J������ʎ����� �N���������?)~2�?�@ ~2��^;I~0ɫ9�9)�9 �9I�9Y�}ò@y�}�[G������@A�xDUSBL response received:!U1,R,E1B,000,002A4,187,80,80,80,FF �Fpublishing direction and range info���8��>���ɰ��]=鰅1�> ��)����CI��y���C@����>ν�'-�?�S,�7I�?��������ٱ����>=M�X=��=i�=���� �����������������j�� ���C:Y��xZ1y��q�:���6Y��;c:QU��>�������a��G�����y��B:}�>I� �� �r5�?�� YW�� � Ȋ@����?9� mB�� ��< � �<)� �W��W�X� X��W�:W�2W�*W��V�U�U�����EW@�P1*Q5�C@�Z5���{Q�Q@@�=��?���������Z5�>ν�'-�?�S,�7I�?��������2Q58��>:Q1�Z5��.�b���?��Ue�Y�� UK�w���Z5�l��Z`�?�;b���¬G�p�B��BQ5�ٙ@ Q5�B�Q5-�>�P5�9?�P5$�9?�P5@���Q5����Q5�@"Q5�s@zLq�Lq�Lq�Lup@�A��p�<B� B��A��ξ*B��A��A�^�7�A�]J��A�"C�3��*C���A=RC��(�C��C��ֽ���I��G�f>�5 �>9�1 I�5 �SGi�5 �@��5 =��5 RD��1 ��5 �w; �5 9E���-j,�����E�AY}}gI�@�}}&W�@y}}�>�<�}}�\��}}H�������Կ�����M�?����̕�?���@dK����@�{Կ����R��������F������o������@>��?)~}gI�@ ~}Z_;I~yɫI�Q)�Q �U����I�QY��I�@y��Y[G�5DNmea in: $SNTTA,,,,,165037.84*54 )�9ai�@a��� am�@a��� aq�@a��� ae�@a��� ����#��~j��?�Q��뱿�I+��?����%>���\�� ��9�<)��I��i�������Mb@�����Mb@�����Mb@����©������� ��A)��AI��Ai���A����������=A��uj����uף���ux�i�up�@��q �uh�@)�uh�@I�uh�@i�uh�@�� �M�=Y��P;QU��>�����a��G����y��;}��>I�9��E�:��='n5�?��E�:��=jY�� �=;�@��E�?9�=GmB��=��: �=?)�=��:�8����q�jAggregate::initialize lineCaptureDepth:SetNavAcoustic19��� r�~Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNavq9����r�dReseting nav to dock location at range 3.059998 m q9�����9��� s�6Initialize SetNavComponent.�m�uAdded new target pos. range: 3.059998 m, bearing: 275.467649 deg, deltaT: 4.091462 s, approachRate: -11.365131 m/s, LOS rate: 0.564490 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�z@U�����e��?�AEL��=BA BA�AEE־*BI�AI�AMh�7�Am�H��Ai"Cu2��*C}�6A=RC}ff$�Cy�Cy�օ l"�I�� G� �>�}>�-j,�����E�A�|i|�@Y}BP�@�}B>^�@y}Bٯ�<�}BD����}BH������zԿ���`�O�?���`㛓?����,M�����@lԿ���`@裿�����t�����`�N�����`M��?)~BP�@ ~B��^;I~B��CɫY�Y)�Y �]����I�Y����������������������� ��Bg:Y��DW1y��Y�:���6Y��F�@y��U[GI�9)�9��U��M]1=Y�](�;QU]�>��a��a�ae�G��a��iy�m��:}m�>I�q��u�j5�?��u[�� �ulj@��}�?9�u}mB��u��: �u�|?)�q�:����u��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;���v�ZEntering USBL mode with 5.000000 count pings.1;����q;����X��X��X�s5lSetNav fix at 20210813T165039: (41.552319, -70.708603)�95��� s=:Uninitialize SetNavComponent.r=fCompleted lineCaptureDepth:SetNavAcoustic:UpdateNav19=��� rE�Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav�qERCompleted lineCaptureDepth:SetNavAcoustic�8M����qMnAggregate::uninitialize lineCaptureDepth:SetNavAcoustic�W��W�X� X��W�:W�2W�*W��V�U�U ���`���?�A� �=B� B� �A� �־*B� �A� �A� u�7�A� TG��A� "C� 5��*C� ��@=RC� �"�C� �C� ��� ��� ���I��G�>�O&�-j,�gѷ�E�AY}6�J�@�}6�X�@y}6Կ=�}6����}6H�������Կ���� M�?���@�&�?�����J������qԿ������������.�������4{������)��?)~6�J�@ ~6B�^;I~6��Cɫ9�9)�9 �9I�9Y�}�@y�}[Gi�aI�} qAi�����wT�ٺ� qA��� HA������oA���>9��I��i�����=���QD������x; ��:9E)���= ���=��M��=��M��;��M��=i�M̔@��I �I)�MI�@I�Ii�MI�@��}矼M��=Y��<QU� ?�����a��G����y�� �}� ?Iș����:�ŝ-� 5�?����:�ŝ�xݾ����tI Ɲ�����M�?9Ɲ����ǝ��< ȝ�?)ȝo�:�X�������@q;�����u��Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�:�����u��Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�W��W�X� X��W�:W�2W�*W��V�U�U��������?�A]��=B� B��A�Gپ*B��A��A���7�A��F��A�"C�4��*C�͌@=RC�+j%�C��C�����C"�I��G��>��P�-j,=C뷨E�AY}2>�@�}2�K�@y}2��=�}2J�(��}2H�����՜Կ��� 6H�?�����.�?���`F�������Կ��� -�����`y6�����@8���������?)~2>�@ ~2^^;I~0ɫy�y)�y �}����I�y��������������������V�� ���]:Y���Y1y���:���^(6)��Դ;�9��Y����@y���ZG���W�M�W=Y��k�;QU��>�������a��G������y��*��}��>I������ 5�?���zݾ� �� D�����?9���7=���W�: ��v�?)���W �W X X�W:W2W*W!�V)U1U=����YZ�?�A}�g=By By�A}8�*B��A��A���7�A�oE��A�"C�3��*C��>@=RC�51+�C��C��֡I��G�B>�N8.j,���E�A�|�|�;Y}6�+�@�}6p9�@y}6�3=�}6Y�-��}6H���� 5�Կ��� @B�?����)��?���@|?�����w�Կ�����@������LE������������� ���?)~6�+�@ ~6md^;I~6��CɫA�A)�I �M����I�QY��ϱ@y���ZG���O�=���������-2�i��p�@��� ��)��h�@I��i��h�@���/(<M�:=Y��ߙ;QU��>�������a��G������y����}��>I�����w� 5�?����{ݾ� ��*Լ���?9��?�=�����: ��j@)���W!�W)X) X)�W):W)2W1*W1�V1U1U5�����*�@�A z�=B B�A�ݾ*B�A�A��7�A�C��A"CE2��*CM��?=RCM\,3�CI�CQ Ս>�ԍ�=��qI��G��>��9��u�CI��TSGi��ī@������������8w; ���8E�qj.j,���E�A�ޱi�=��� �������������������� ���:Y���V1y���:�����5)��i�;ɫ�)� � ����I� Y�E��@y�E�ZG)��ai�ai am�am aq�aq ae�ae ������S㥻�)\���(��sh��|?����/ݽ��Ga� ����)�I�y��T㥛� �?+�������~j�t��?���=�������D< ��A)�"AI�r Ai�xA��������A��)��-mA��57C<M5D=Y�=���QU=�>��9��A�aE�G��A��Ay�M���}M�>I�Q��Uv� 5�?��U�|ݾ� �U�����e�?9�U�>��U; �UG ;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U���� S�@zL���=�L���=�L��R�@�L���u@�AE��=BA BA�AM\۾*BI�AI�AM�7�AM�B��AI"Cu5��*Cu�o?=RC}E�2�Cy�Cy�֥4�/�I��G��>��� .j,'�8��E�AY}N��@�}NB�@y}Nj%=�}Nޒ��}NH������Կ����g;�?����qؔ?���` 6�������Կ����i|�����`|��������-����� %��?)~N��@ ~N�d^;I~N��Cɫq�y)�y �}����I�yY���@y���ZG��u���Mu =Y�}��;QU}�>��y��y�a��G����y��ͻ}��>Iȑ����:�ŕ� 5�?����:�ŕ5~ݾ� ƕ�������?9ƕ�)>�Ǖ��; ȕҤ;)ȕp�:�W1�W9XA XA�WI:W�2W�*W��V�U�U�������@�R B*** querying acoustic contact ***�P �P ���zL! �L! �L! �L% Ru@�AU ?�=BY BY �A] �ܾ*BY �AY �A] �7�A] �@��Aa "C� 4��*C� ��>=RC� ��>�C� �C� �ԙ �ԝ nA��yI��G��>��s.j,q�R��E�A�|6�@i|6�@Y}5��@�}5��@y}5�D(=�}5 )��}5H�������Կ���@#:�?�����O�?���@]4�������Կ����������`�����`{�������K��?)~5��@ ~5~P^;I~5��C���� ������������������� ��%;Y���X1y��/�:���!6�9�@ɫ���)�� ������I��Y�5��@y�=zZG=Z****** received transponder code query ******EF****** received ping request ******E<Arming DUSBL. detectThresh: 75M8****** ping requested ******������=��9��I���RGi��s�@������������tu; ���7E)�)�I�)�i�)���-�=��-�=��-�]L5���i����e�=��eI���e�D�i�eד@��a �eI�@)�e+�@I�eI�@i�e+�@����M��=Y�^;QU�?�����a��G����y��J�}�?I������ 5�?���ݾ� ��J�����?9��bA>����: ����:)���W�W!X! XA�WA:WA2WI*WI�VIUIUM��� �& @zL��L��L��L��Eu@�A�a�=B� B��A���*B��A��A�G�7�A�@��A�"C�3��*C�{�>=RC��@�C��C��ֽ�89�I��G�f>���.j,~�l��E�AY}2� �@�}2��@y}2>�)=�}2YF��}2H����`g�Կ����/9�?�����V�?��� �3������Կ���@�!�������2�����@�����������?)~2� �@ ~2:�^;I~2��Cɫ9�9)�9 �9I�AY����@y���ZG�xDUSBL response received:!U1,P E1B,000,002A4,187,80,80,80,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 )��= �>��=�<MEz=Y�UY�:QU]?��i��i�a}�G��y��y�37�}�?I������:���߅ 5�?����:����ݾ� ��p����?9��[>���y%= ���F=)��q�:�W��W�X� X �W :W 2W *W�VUU���@�T @zL��L��L��L��Hu@�A���=B� B��A��߾*B��A!�A%^�7�A%�>��A!"C52��*C5�B>=RC]��@�Ca�Ca�֍�8�I��G��>��!.j,�k���E�AY}2S�@�}2 �@y}2�-=�}2�p#��}2H�������Կ�����9�?�����^�?���@m4���� �Կ�����0������յ����� h��������?)~2S�@ ~2��^;I~0ɫ9�A)�A �II�I���������������� �� ����:Y��y�����W�6Y�]!�@y�]'[G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������=|?>��=�A>��=��i�=�@��9 �=�@)�=��@I�=�@i�=�@��M(�<MM-=Y�M�;QUU�>��Q��Q�aU�G��Q��Yy�]�l:}e�>I�i��m�� 5�?��m)�ݾ� �m�s���u�?9�m�}>��m��: �mǺ:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������8@zLA�LA�LA�LEZu@�AU�9=BQ BY�A]�ؾ*BY�Ay�A}��7�A}�=��A�"C�5��*C���==RC���?�C��C��֕Q9�I��G��>��9��I��i�����=���������8s; ���6E���'.j, O���E�A�|$�|$Y}N��@�}N[�@y}N�5=�}N[/$��}NH������տ���@�7�?����ԗ?��� �1����`R�Կ�����2��������������T����� X��?)~N��@ ~N>�^;I~N��Cɫq�q)�q �u����I�qY����@y���ZG�xDUSBL response received:!U1,R,E9C,000,005B8,186,80,80,84,FF �Fpublishing direction and range info�����>���ɰ���=鰽��> ��)���CI��y��\IB����㶭 �w�?�t5���?��������ٱ����i��=��U��z�G��?����Mb��:��v���?��U W>��U�� �U�T<)�QI�Qy�U�#��~j��?)\���(��Zd;�O�����U�=��UGa���Uj�� �U�A)�U- AI�U�Ai�U�A��Q��U�A��E&�M�X=Y����;QU��>�������a��G������y�� �}��>I������:���� 5�?����:���h�ݾ� ��4W�����?9��=�>����; ���;)��r�:�W �WX X�W:W2W*W�VUU����#�@�RM(Combining 5 samples.�PQ*QU\IB�ZU�7铕�G@�,���.@���������ZU�㶭 �w�?�t5���?��������2QU��>:QQ�ZU�g(��6���Ř I�YT�����ZU�Ь�l�m���ߌ({��WS]�BQU'�@ QU�I�QU����PUQ�9?�PU�9?�PUD���QU@���QU�3@"QU�@zL���=�L���=�L�Q��@�L�-%q@�A�R�=B� B��A���*B��A��A���7�A�T<��A�"C 4��*C q�==RC !JC�C�C�։I��G��*�-.j,F&���E�AY}v�@�}v���@y}v�>=�}v`���}vH�����b3տ���@�/�?����Vv�?����(�����^տ����P������`�ڧ����@�����������?)~v�@ ~v.�^;I~v��C�ޱi�=������������������������ ��&2:Y��xZ1y��q�:����6ɫ���)�� ������I��Y���@y��ZG��TNmea in: $SNTTA,0.053685,,,,165042.28*43 ��������=�;M=O=Y�E�;QUE�>��A��I�aM�G��I��Qy�U �}U�>I�Y��]�~ 5�?��]��ݾ� �]����e�?9�]��>��]�\; �]�];)�Y�m�yAdded new target pos. range: 50.340000 m, bearing: 268.630985 deg, deltaT: 4.448993 s, approachRate: 10.627125 m/s, LOS rate: -1.536677 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �+I@U�������?zL��L��L��L�Q�p@�Am6O=Bi Bi�Am8�*Bi�Ai�Au��7�Au!;��Aq"C}3��*C}$==RC}m�O�Cy�C��֝l;�I��G�b>���4.j,'�Ӹ�E�Aɫ�髙)�� ������I��Y���@y���ZG��u+=��u�ļ��u�=i�q��q �q)�qI�qi�q��!�<M�W=Y����QU��>�ّ�ٕmAܡ9ܡIܥ(RGiܥЪ@�ܡ�ܡ�ܡ�ܥ�p; ݥ~5E����)�a5�G��1��1y�=���}=�>I�A��E�{ 5�?��E�ݾ� �E����M�?9�E��>��E��; �E��;)�A�;��� w��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;����w�dResuming normal ranging with 1.000000 count pings.�;����1<����W��W�X� X��W�:W�2W�*W��V�U�U����@�t�?zL1�L1�L1�L1�Am�=Bi Bi�Am�۾*Bi�Aq�Au��7�Au�9��Aq"C}2��*C}�<=RC}�@N�Cy�C������J�I��G k>���:.j,c����E�A�|�@i|�@Y}:���@�}:[��@y}:X9P=�}:G�ۼ�}:H����`S�տ����(�?���@�f�?����/�����}�տ���@; �����`L�������p������x��?)~:���@ ~:�^;I~:��Cɫ9�9)�9 �9I�9Y�}\�@y�}6ZG��=�����=�����=�����=��� �=h,:Y�=0Y1y�=��:��=��5)�=.�;�9E���M�=i�M�=��~6�M�I=Y��*<QU��>�����a��G����y�_��}��>Iȱ����:�ŵAy 5�?����:�ŵ&�ݾ� Ƶ�-�����?9Ƶ��>�ǵ�: ȵ�:)ȵs�:�X��������?1<����w��Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;���� w��Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�W��W�X� X��W�:W�2W�*W��V�U�U���� E��?zL�L�L�Lp@�A-��=B) B)�A-�*B1�A1�A5��7�A5�8��A1"C=5��*C=\<=RC=_�m�C9�CA���I��G�G>���A.j,���E�AY}:y��@�}:/��@y}:��R=�}:L^��}:H�����'�տ���@��?������?����l ����`1�տ���@!������@�U����� ������ ���?)~:y��@ ~:��^;I~:��Cɫ�髡)�� ������I��Y����@y���ZG)�m�= �m�=�õ�u>�õh���õC��iõp�@�ñ ĵh�@)ĵh�@Iĵh�@iĵh�@���%�<M�G=Y����:QU��>�������a��G������y��k��}��>I������v 5�?���r�ݾ� ��Y�����?9��6�>����: ����:)���W�WX X�W:W2W*W�VUU%����,<�?zL9�L9�L9�L=Tp@�AU�=BQ BQ�A]��*BY�AY�A]�7�A]D7��AY"Cu4��*CuN�;=RCuq~r�Cy�Cy��}��h�I��G�>����>���i�-HmGI�9i�Q��}�O�ٺy����CAܑ9ܑIܑiܑ�ܕ=�ܑ�ܑ�ܕ�n; ݕK4E��G.j,��!��E�AY}2Z��@�}2��@y}2��P=�}2^� ��}2H����`��տ�����?���� �?����� ����@B�տ�����d������3������=-���������?)~2Z��@ ~2��^;I~2��CɫY�Y)�Y �]����I�YY���@y��[G��%�����%�����%�����%��� �%�/:Y�%�W1y�%č:��%}�5)�%�; �A�A���!�rh���?-����?�E���Ը���l�=��?5> ��ƽ)�I�y���A`��"�?y�&1�������Mb�?���=��`e���= �^A)�XAI�- Ai������A��=H�<M=D=Y�= ��QU=�>��A��A�aE�G��A��Iy�Mi�}M�>I�Q��]�:��Uds 5�?��]�:��Ub�ݾ� �Uq(���e�?9�U �>��U��: �UV�:)�Ut�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL��=�L��=�L�H��@�L�\y@�A���=B� B��A�oھ*B��A��A�%�7�A��5��A�"C�3��*C��w;=RC���q�C��C�����0f�I� G%M>��(N.j,�c;��E�A�|�|Y}6��@�}6ɱ�@y}6�M=�}6�$��}6H������տ��� I�?����M�?��� C���� a�տ��� >��������������������� !��?)~6��@ ~6�{^;I~4ɫ9�9)�9 �=����I�AY����@y���ZGI�9)�=�A)�A���@��M�O=Y���QU��>�������a��G������y� �;}�>I� �� wp 5�?�� 8�ݾ� � �����?9� � ?�� ��: � 8�:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUM����<@zLa�La�La�LetLy@�A��q =B� B��A�\۾*B��A��A�E�7�A��4��A�"C�2��*C��;=RC��Yl�C��C�����Xf�I�G5P>�4U.j,EU��E�AY}28��@�}2�ċ@y}2k�K=�}2�3��}2H�������տ�����?������?����������xտ���ເ������<w�����@�W�����@��?)~28��@ ~2�e^;I~0ɫA�A)�I �M����I�QY���@y��[G������AA��%�����%�����%�����%��� �%�1:Y�%WU1y�%�:��%E�5�9-@��1��5�<�99�9I�=�QGi�=�@��==��9��9��=ol; �=%3E��!��%nA��m��=��m9����m���i�m(�@��i �mI�@)�m3�@I�mI�@i�mI�@��}&V;M}=Y�}� �QU}�>�����a��G����y�r�;}��>Iȑ����:�ŕal 5�?����:�ŕ̍ݾ� ƕ\_�����?9ƕ�?�Ǖ��: ȕ��:)ȕu�:�W��W�X� X��W�:W�2W�*W��V�U�U�����o�@�R�B*** querying acoustic contact ***�P��P����zLq�Lq�Lq�Lu[�y@�A�=P =B� B��A�oھ*B��A��A�9�7�A��2��A�"C�5��*C�Wt:=RC��:e�C��C���� I�� G�>��:[.j,�o��E�AY}:�Ó@�}:Tы@y}:rM=�}:�/��}:H�������տ���`l!�?����'��?����������waտ�����w������0������ yڥ�����B��?)~:�Ó@ ~:8�^;I~:��Cɫ9�9)�9 �9I�9Y�}ֱ@y�}�ZG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����ټM��=Y���:QU�I?�������a��G������y��f�;}�2?I������j 5�?�����ݾ� ��Hѻ����?9���"?�����: ���:)���W1�W1X1 X1�W9:W92W9*W9�V9UAUE������ @zL��L��L��L���y@�A��l=B� B��A�qݾ*B��A��A���7�A��1��A�"C�4��*C�;3:=RC�l&`�C��C���Qf�I�G5O>�'b.j,W���E�A�|@i|B�@Y}UZ��@�}U@y}U�O=�}U�{��}UH���� �տ������?���@wo�?����������7�տ����"������@�������������� ^��?)~UZ��@ ~Up^;I~U��C�������������������� �d0:Y�DW1y�Y�:���5ɫ)�))�) �5����I�1Y��ı@y���ZG�xDUSBL response received:!U1,P E9C,000,005B8,186,80,80,84,FF �Command Ack�BRequesting micromodem ping code 2i��������i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��u�>��u94���u i�u=�@��q �u�@)�u�@I�u�@i�u�@���M�=Y��¥:QU��>�������a��G������y���q�}��>I�����:����f 5�?���:���Q�ݾ� ��i<��%�?9��2?�����; ��(�;)��v�:�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViU�U������ @zL��L��L��L� Yy@�A�S�=B B�A�*B�A�A��7�A(0��A"C%3��*C--�9=RC=��h�C9�Cq�A9�AI�E(RGi�EЪ@��E=��A��A��EFj; �E2E)�͇u�CI�͇u�Ci�ɇ��͇=��͇=��͇�4�օ ��c�I�� G� �>�_Lh.j,B��E�Aɫ�髁)�� ������I��Y���@y���ZG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���������� �rh�?������������Mb�����C�=������ ����)��I��y���X9��v��?��������/�$��������<����L������ ���A)���!AI��!Ai��^A�������A)��= ��=���><Mj=Y����QU?�����a%�G��!��!y�-���}-?I�1��5e 5�?��5��ݾ� �5b\:��=�?9�5T7?��5Q�: �5��:)�1�WY�WaXa Xa�Wa:Wa2Wi*Wi�ViUiUu���� ,@zL��=�L��=�L�j��@�L�^)U@�A��t=B� B!�A%�ܾ*B!�A)�A-��7�A- /��A)"C52��*C5nP9=RC5?bh�C1�C9�֕�0f�I��G��>�wn.j,�����E�AY}:���@�}:G��@y}:Q=�}:U���}:H����@��տ����=�?�������?����� ������տ��� �F�����`�������%Ԡ����`���?)~:���@ ~:qq^;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}[G�xDUSBL response received:!U1,R,EC1,000,005BE,186,80,80,85,FF �Fpublishing direction and range info���Ӈ�>���ɰ���=鰁 ��)���CI��y���JB����"C�����?�T�K��?��������ٱ�)����%� ����!��!��%�� �%�?:Y�!y�!��%�6����<M�f=Y�^W:QU��>�����a��G����y���}��>Iȱ�ŵ`c 5�?�ŵ��ݾ� Ƶ�����?9Ƶ�<?�ǵU�: ȵb�:)ȱ�W�WX X�W:W2W *W �V U)U5�����@�P9*Q=�JB�Z=�S^�_H@>eoS�+@���������Z=�"C�����?�T�K��?��������2Q=Ӈ�>:Q9�Z=�(���b��9'R��?I�~�K���Z=�lr��vp��JƖS��(�;5���BQ=t��@ Q=�I�Q=]��P=J�9?�P=Q�9?�P=E���Q=D���Q=�'@"Q=�3@zL��L��L��L�SU@�A�nF=B� B��A��پ*B��A��A���7�A��-��A�"C�5��*C���8=RC��p�C��C��I�)GmV>��`u.j,��ֹ�E�A�|�|Y}6헓@�}6���@y}6 �L=�}6Hu ��}6H�������տ��� �?���@.-�?���`, ���� ��տ���@ꭿ����K�������KH��������?)~6헓@ ~6�R^;I~6��Cɫ�髙)�� ��I����9��I��i����� =��������� h; ���0EY�uk�@y�uHZG��DNmea in: $SNTTA,,,,,165046.75*5C I��)���A��9��9�Í�!>�ÍE�=�Í�L�iÍ��@�É č3�@)č3�@IčI�@ič3�@��s �M�=Y���QU��>�����a��G����y���}��>Iȹ����:�Žp` 5�?����:�Ž�ݾ� ƽ�������?9ƽ�E?�ǽ/�: ȽH�:)Ƚw�:�m�uAdded new target pos. range: 50.699997 m, bearing: 266.087231 deg, deltaT: 4.408253 s, approachRate: 0.081664 m/s, LOS rate: -0.577043 deg/s, posRepo size: 4�W��W�X� X��W�:W 2W *W �V U �����YI@U ����3�?zL) �L) �L) �L- ��T@�A= �=BA BA �AE (�*BA �AA �AM ��7�AM �+��AI "CU 4��*CU oN8=RCU S>u�CQ �CY ��i ��i ��}��h�I��G��>���{.j,�a�E�AY}Jb��@�}J��@y}J�8E=�}JҾ��}JH����@��տ���@Y�?�����͑?������������տ����w�������������`Yq������/��?)~Jb��@ ~J��];I~J��Cɫ�髙)�� ��I��Y���@y��[G��U�=i�U%=��e2 ����e�����e�����e��� �e9L:Y�e�X1y�e/�:��e�6�����=M��=Y����QU�O?�������a��G������y����}�O?I�����c_ 5�?���@�ݾ� ������ �?9��I?�����: ��;)���W1�W1X1 X1�W1:W12W9*W9�V9U9U=�������?zLY�LY�LY�L]��T@�A���=B� B��A��پ*B��A��A��7�A��*��A�"C�3��*C�k8=RC��w{�C��C����0�p�I��G�F>��s�.j,�I ��E�Aɫ���)�� ������I��Y��@y�[G�����>���C�����=i���@��� ����@)���@I��z�@i����@�����M�J=Y�����QU��>�����I�aM�G��I��Iy�U���}U�>I�Y��e�:��]Z] 5�?��e�:��]��ݾ� �]����u�?9�]LO?��]�h; �]�i;)�]x�:�W��W�X� X��W�:W�2W�*W��V�U�U�����+��?zL��L��L��L��A��m=B� B��A��ھ*B��A��A�6�7�A�o)��A�"C�2��*C���7=RC��vz�C��C����I� GMS>��9��I��i��������������f; ���/E����.j,�$��E�A�|(i|(Y}R��@�}R͘�@y}Rj$:=�}Rp���}RH���� �տ���@B�?�����Ԑ?��� o�������տ����sѫ����`�B�������l���������?)~R��@ ~R��];I~R��Cɫy�y)�y �yI�yY��˱@y���ZG��9i�=�=��e}����e�����e�����e\�� �e`):Y�e�V1y�e�:��e� 6)�e��;�9m�������S㥻?{�G�z�?�� �rh����/�=���#= �C�)�I�y���~j�t��?333333���~j�t�h�����=��������D� ��A)�!AI�i��A����A��=�w�MM6=Y�]�ĻQU]�>��a��a�ae�G��a��iy�m���}m�>I�q��u�Y 5�?��u�ݾ� �uk�����?9�u�\?��um�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����z��?zL���=�L���=�L��ֳ@�L���l@�A���=B� B��A�#*B��A��A�G�7�A��'��A�"C�5��*C�d%7=RC�K{�C��C� � �=�� >���hp�I�!G=r>��Ɏ.j,p>��E�AY}:)��@�}:ߜ�@y}:��7=�}:�� ��}:H�������տ������?����P��?��� �������տ����Qx������D�������I7��������?)~:)��@ ~:5�];I~:��CɫQ�Q)�Q �U����I�QY��B�@y��P[G��-�/=M-r=Y�5dݺQU5?��1��9�a=�G��9��9y�E��:}E?Iș����:�ŝ�V 5�?����:�ŝY�ݾ� Ɲ+�����?9Ɲ�g?�ǝ��: ȝ@�:)ȝy�:�W��W�X� X��W�:W�2W�*W��V�U�U�����Q�@zL��L��L��L�۷l@�A�l=B B�A�־*B�A�Az�7�A�&��A"C%4��*C%��6=RC%�~y�C!�C)�ցI��G�H>i���lGI��fpAi����=UP�ٺ=fpA��E�CA�9��.j,B�W��E�AY}6���@�}6k��@y}6� 4=�}6�W��}6H�������տ����X�?����p��?����5 �������տ��� F!�������������Dž������H��?)~6���@ ~6d^;I~4ɫY�Y)�Y �e����I�a��y��y܁9܁I܁i܁�܅=�܁�܁�܅=d; ݅�.EY���@y��[G��M �=��Mף;��Mף�i�M@��I �Mh�@)�Mh�@I�Mh�@i�M~�@��][}�MeH=Y�eH�QUe�>��i��i�am�G��i��qy�uG:}u�>I�y��}S 5�?��}˖ݾ� �}������?9�},t?��}ʽ: �}��:)�y��/��������������v�� �(#:Y��W1y�č:����5)�1�;�WA�WAXA XI�WI:WI2Wy*Wy�VyU�U����@�u@zL��L��L��L�r�l@�A�$�=B� B��A��پ*B��A��A���7�A�%��A�"C3��*C-�N6=RC-�y�C)�C)��=0�p�I�IGeV>�Vٛ.j,��q��E�A�|�|4<Y}6m��@�}6#��@y}6xG-=�}6ו��}6H�������տ����g�?���@ Q�?����R ����`K�տ��� ��������G������`b�������6��?)~6m��@ ~6pS^;I~6��Cɫ1�9)�9 �=����I�9Y�]�@y�][GI�a)�a�����M�Q=Y���QU��>�������a��G�����y�ҹ} �>I� �� �O 5�?�� 5�ݾ� � �!����?9� +�?�� Y�: � 8�:)� �W9�W9X9 XA�WA:WA2WA*WA�VIUIUM��� �`@�R]B*** querying acoustic contact ***�PY�PYzLq�Lq�Lq�Lu�l@�A�Dž=B� B��A�oھ*B��A��A���7�A��#��A�"C�2��*C���5=RC��:z�C��C��Ա�Ա�֥p�p�I��G�>�J��.j,υ���E�AY}2���@�}2L��@y}2�&=�}2�3��}2H�����8�տ��� ��?������?����������{�տ��� �U�������ؤ�����������@��?)~2���@ ~2�$^;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}#[G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��f��������b�� ��':Y�y�����5�9�@��-�Q>��-�����-�>i�-�@��) �-E�@)�-3�@I�-3�@i�-3�@��=��;M=7=Y�=Jh�QUE�>��A��A�aE�G��A��Iy�M�b:}U�>I�Q��]�:��U�K 5�?��e�:��Uәݾ� �U�(���e�?9�U�?��U^�: �Uk�:)�Uz�:�W��W�X� X��W�:W�2W�*W��V�U�U�����l� @zL�L�L�Ld�l@�A]�=BY BY�A]پ*BY�Aa�Ae��7�Ae�!��Aa"Cm5��*Cm�k5=RCm!4y�Ci�Cq��]0�p�I�iG�Z>܁9܁I܅�RGi܅!�@�܅=�܁�܁�܅�b; ݅.E�C�.j,N`���E�AY}2(��@�}2ߦ�@y}2@2=�}2�"��}2H�����*�տ��� v�?����k��?����`�����V�տ������������䣿����R=������g��?)~2(��@ ~2M<^;I~2��CɫY�Y)�Y �YI�YY����@y���ZG�xDUSBL response received:!U1,P EC1,000,005BE,186,80,80,85,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 �����n����?�A`��"�?���S㥫����V>���Y> ��/]�)��I��y���L7�A`�?V-����~j�t�h?���+�=����m�����D; ��^A)��- AI��XAi���A�������A���ּM0=Y���QU�>��a��a�ae�G��a��iy�my�:}m�>I�q��u�H 5�?��u��ݾ� �u�#�����?9�up�?��uj�; �u��;)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zLm�=�Lm�=�Lm���@�Lm�Si@�A��_="B��i:B� B��A�K߾*B��A��A���7�A� ��A�"C%4��*C-��4=RC-qbw�C)�CQ ՝,>�ԝ,>�օ p�p�I�� G� �>�`�.j,d;���E�A�|i|Y}6���@�}6A��@y}6X�=�}69���}6H�����e�տ����C�?�����Z�?���`����� Ӳտ����%������� �����@Zף�����)��?)~6���@ ~6�u^;I~6��Cɫ9�9)�9 �=����I�9Y��˱@y���ZG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��U�=i�U�=�������������������� ��2:Y��U1y���:��6����;M�|=Y���QU� ?�����a��G����y���;}� ?I������:����F 5�?����:�����ݾ� �� �����?9����?�����: ����:)��{�:�W��W�X� X��W�:W2W*W�VU U �����!@zL��L��L��L��\i@�A�|�=B� B��A�#*B��A�A�7�A���A"C3��*C%Б4=RCM�lu�CI�CI��}� q�I��G�^>�I��.j,�ٺ�E�AY}:4��@�}:묋@y}:_`=�}:^L��}:H����@��տ���`��?�������?��� g����`��տ��� G�������+������O%��������?)~:4��@ ~:��^;I~:��C��nA���)9�)I�-�RGi�-s�@��)��)��)��-a; �-3-E)�рI�рi�р��Հ=��Հ=��Հ&O5ɫA�A)�A �E����I�AY�}r�@y�}�[G�xDUSBL response received:!U1,R,EA6,000,005BF,186,80,80,63,FF �Fpublishing direction and range info���#��>���ɰ��=鰁 ��)����BI��y�� KB����[(�f��?�+�0�?��������ٱ�IޕAA)ޕ@A)����e��=��e�T���eھi�e\�@��a �a)�e~�@I�eI�@i�eI�@��y>=M�;=Y����QU��>�����a��G�����y��~B9}��>I������C 5�?���Üݾ� �� �����?9���?����: ��M�:)���W�WX X�W!:W!2W!*W!�VAUIUM�����@�PY*Q] KB�Z]�8��7Y;H@�K���0.@���������Z]�[(�f��?�+�0�?��������2Q]#��>:QY�Z]�h㋵r�<�0��SI��!��E��Z]� V��B��G�:(<�ᅱ���/ ��BQ]:W�@ Q]�J�Q]���P]L�9?�P]J�9?�P]F���Q]E���Q]�R@"Q]�'@zL��L��L��L�O\i@�A��� =B� B��A��Ӿ*B��A��A� �7�A�5��A�"C�2��*C�*4=RC��v�C��C����0�p�I� G-p>� (�.j,���E�AY}~a��@�}~��@y}~�O =�}~����}~H����@��տ����f�?��� ߁�?������������տ����.w������I������r<����� !��?)~~a��@ ~~��^;I~|ɫ���)�� ������I��Y��@y�[G�����������������{�� �Y1:Y��X1y�/�:����5��DNmea in: $SNTTA,,,,,165051.16*5F ��-o��M5=Y�5�L�QU5�>��9��9�a=�G��9��Ay�E�ź}E�>I�I��U�:��M<@ 5�?��U�:��M�ݾ� �M����]�?9�M!�?��Mw�: �M��:)�M|�:�m�qAdded new target pos. range: 50.760002 m, bearing: 267.393546 deg, deltaT: 4.480177 s, approachRate: 0.013393 m/s, LOS rate: 0.291577 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����GaI@U������h�?zL��L��L��L�XLi@�A� ��!=B� B� �A� �پ*B� �A� �A� �7�A� !��A� "C� 5��*C� 3=RC� ��y�C� �C� �� mA�� mA����hp�I��G �>��p�.j,�n��E�A�|�|�;Y}6Q��@�}6��@y}6��=�}6gG��}6H�����s�տ�����?���@���?����k������տ�����������`�������������������?)~6Q��@ ~6)�^;I~6��Cɫi�i)�q �u����I�qY��!�@y��'[GI�9)�9�Ý�L=�Ý��>�Ý>iÝ��@�Ù ĝ3�@)ĝ3�@Iĝ�@iĝ�@��X�;M��=Y�̲�QU�3?�������a��G������y��ѻ}�2?I������> 5�?�����ݾ� ��������?9���?�����: ��/�:)���W�WX X �W :W 2W *W �V UU����%U�?zL1�L1�L1�L5n0i@�AM��"=BI BQ�AU�ؾ*BQ�AQ�AUm�7�AU)��AQ"C]4��*Ce�D3=RCe���Ca�Ca9�Q�e�>9�ev�CI�ai�a��e =��a��a��e�_; �ek,E��mp�p�I��G��>�u��.j,Z.(��E�AY}6xv�@�}6/��@y}6G��<�}6�=��}6H������ֿ���@��?������?����������ֿ�������������X��������������\��?)~6xv�@ ~6��^;I~6��Cɫy�y)�� ������I��Y����@y���[G����=i��p=���� �����������������]�� ����:Y��xZ1y��q�:���� 6)����;�9������~j�t�x?��ʡEƿ���Mb������;��-2� ��@�)�I�y���MbX9�?���x�&��<�O��n����ʡ=��7����t� ��A)�I��Ai��A�����A��5�=M5C=Y�=��QU=�>��9��A�aE�G��A��Ay�Mhǻ}M�>I�Q��]�:��Uh; 5�?��]�:��Uןݾ� �U�O���e�?9�U{�?��U��: �U��:)�U}�:�W��W�X� X��W�:W�2W�*W��V�U�U�����S]�?zL���=�L���=�L����@�L��i@�A� e#=B� B��A��Ѿ*B��A��A���7�A����A�"C�3��*C�!�2=RC��q��C��C�9ԭ�Q9��}��|�I��G�^>��|�.j,�B��E�AY}2�k�@�}2�y�@y}2�G�<�}2"� ��}2H������)ֿ���`��?���`�ؖ?���@`�����Xֿ����8&�������睿����N����������?)~2�k�@ ~2W�^;I~0ɫ9�9)�9 �=����I�AY��n�@y���[G��5$%�M5J=Y�=_d�QUE�>��I��Q�a]�G��Y��iy�u�L�}}�>Iȑ�ŕ>8 5�?�ŕ��ݾ� ƕ+������?9ƕ��?�ǕJ�; ȕ1�;)ȑ�W9�W9XA XA�WI:WQ2WY*Wa�VaU�U�����"��?zL!�L!�L!�L%��h@�A58�#=B9 B9�A=�Ӿ*B9�A9�A=��7�AE���AA"CM2��*CMM2=RCMc~��CI�CQ9�=: �E>��E!>�����I�!GE�>�a9�aI�eTSGi�eī@��e =��a��a��e^; �e�+E����.j,9(\��E�A�|i|Y}Rr�@�}R��@y}R~��<�}R7e��}RH������ֿ������?����&�?����������� ֿ��� �������������؉���������?)~Rr�@ ~R�_;I~R��Cɫy�y)�y �}����I�y���e �������������������� ��JP:Y���X1y��/�:���|�5)��/�;Y����@y���[G��]�=i�]�=)�a��%�)>��%\�=��%ٽi�%p�@��! �%h�@)�%h�@I�%h�@i�%h�@��e� <MmE=Y�m闻QUm�>��q��q�au�G��q��yy�}��:}}�>Iȁ����:�Ņ!5 5�?����:�Ņ �ݾ� ƅգ�����?9ƅW�?�Dž��: ȅ��:)ȅ~�:�W��W�X� X��W�:W�2W�*W��V�U�U������:�@zL��L��L��L��i@�A�$=B� B��A��Ѿ*B��A��A���7�AM��A"C 5��*C ��1=RC ����C �C9�E�\:��5t0��I�AG]v>���.j,��u��E�AY}2��@�}2ɒ�@y}2~a�<�}2K���}2H�����O�տ����� �?������?��� � �������տ���@�Ǣ�����w����������������?)~2��@ ~2�`_;I~2��Cɫ9�9)�A �E����I�AY�]�@y�]K\GI��@A)�������<M�=Y���k�QU��>�������a��G�����y� ��;} �>I���+1 5�?����ݾ� �aɽ��-�?9�4�?���3; ��4;)��WY�WaXa Xa�Wa:Wa2Wi*Wi�VqUyU}����kg@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��+i@�A�$=B� B��A��ʾ*B��A��A���7�A�;��A�"C�4��*C�dQ1=RC��.��C��C�9���i:���nA���nA��� �I�� G�>���.j,�E�Aɫy�y)�y �}����I�yY����@y���[G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����%� ����%�����%�����%m�� �%+D:Y�%DW1y�%Y�:��%��5�9-@���?A����!i��HmGI�� qAi�����fU�ٺ� qA����HA��%��=��%C�<��%\�=i�!��! �!)�!I�!i�!��M���MU�=Y�U���QUU?��Y��Y�a]�G��Y��ay�e���}e?Iȉ�ō�. 5�?�ō{�ݾ� ƍ������?9ƍw�?�Ǎ/�: ȍ�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����.�@zL!�L!�L!�L!�A="�#=B9 B9�A=Ͼ*B9�AI�AM*�7�AM���AI"Ce3��*Ce��0=RCm�с�Ci�Cii�yI�y��y��y� 9� I� TGi� f�@�� �� �� �� �\; � �*E��� ���I� G%�>���.j,Bx���E�AY}2���@�}2Eȋ@y}2_D�<�}2o��}2H�����0�տ������?�����3�?��� �������տ��� ʠ�����Ȗ�����v������@���?)~2���@ ~2�_;I~0ɫ9�9)�9 �=����I�AY��Dz@y���[G�xDUSBL response received:!U1,P EA6,000,005BF,186,80,80,63,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��-��� �rh�?)\���(�����Mb�?��-C�=��-Ga� �-�@=)�)I�)y�-�㥛� ��?�V-��<�O��n�?��-��=��-h����-t< �))�-XAI�-�Ai�-3A��)��)��E�K;MM;=Y�M��QUM�>��Q��Q�aU�G��Q��Yy�]xu<}]�>I�a��m�:��ed+ 5�?��m�:��e��ݾ� �e���u�?9�e�?��e��: �eA�:)�e�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�b @zL�^�=�L�^�=�L��_�@�L�_tf@�A�z�#=B� B��A�fξ*B��A��A�O�7�A�O��A�"C�2��*C���0=RC���k�C��C���I�!GE�>�F��.j,�Tû�E�AY}2�Г@�}2�ދ@y}29�<�}2����}2H�����.mտ��� 8$�?������?����u%����`�_տ���`Mɟ���� H㔿���������� .��?)~2�Г@ ~2Oz_;I~0ɫ9�9)�9 �=����I�9Y�}��@y�}+\G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i���=���� �������������������� ���E:Y��0Y1y����:���E�5��u�<M}m=Y�^��QU�?�����a��G������y����;}��>I������( 5�?���}�ݾ� ���н���?9����?���U�: ���:)���WA�WAXI XI�WI:WI2WI*WQ�VQUQUU��� @F @zLq�Lq�Lq�Luo�f@�A���"=B� B��A��˾*B��A��A���7�A����A�"C�5��*C��(0=RC�u�d�C��C��֥np�I��G�A>���mA����9�I��TGi���@��������e[; �D*E�5��.j,�.ݻ�E�AY}2ٓ@�}2��@y}2@�<�}2�;��}2H����@�]տ�����&�?���@2ޚ?����R(����`GQտ���@b�������瓿��� �š��������?)~2ٓ@ ~2�`;I~2��Cɫ9�9)�9 �9I�AY�}��@y�}�[G鮁ɮ�=�xDUSBL response received:!U1,R,E77,000,005C5,186,80,80,78,FF �Fpublishing direction and range info�����>���ɰ���=鰁 ��)����BI��y��zLB����o�U�"�?�vw���?��������ٱ��Õ1>�Õ>�Õxi=iÕ�@�Ñ đ)đIĕ~�@iĕ~�@��6�M�Y=Y�h'�QU��>�����a��G������y���0;}��>I������:����% 5�?����:���n�ݾ� ��ɽ����?9����?�����; ��T�;)����:�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYUe���� @�P�*Q�zLB�Z���:��MH@k��01@���������Z��o�U�"�?�vw���?��������2Q���>:Q��Z���#bj��?v�8<f�I���=����Z���3�j�c?*��'K��z�<�Բ��BQ��ߖ@ Q�cL�Q�M�=�P�R�9?�P�L�9?�P�G���Q�F���Q�v�@"Q��R@zL��L��L��L���f@�A gA"=B B �A�Ҿ*B�A�A��7�Ag ��A"C4��*C��/=RC% �b�C!�C!��=�`k�I�IGeV>�X!�.j,���E�A�|(i|(Y}nRٓ@�}n�@y}n�Ò<�}nM��}nH����@�]տ���`v&�?�����>�?�����(������Pտ�����Ν���� <X����� ��������/��?)~nRٓ@ ~n�0`;I~n��C���"�������������� ��]_:Y��y������6ɫ�)� �����I�Y�U��@y�U4\G��TNmea in: $SNTTA,0.051249,,,,165055.22*49 ���i��>������mA��MP=MM@=Y�U?j�QUU�>��Q��Y�a]�G��Y��Yy�e�8}e�>Iȩ�ŭ�" 5�?�ŭ��ݾ� ƭ������?9ƭ#�?�ǭ��: ȭ��:)ȩ�m�qAdded new target pos. range: 51.119999 m, bearing: 270.139774 deg, deltaT: 4.038024 s, approachRate: 0.089152 m/s, LOS rate: 0.680092 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� \�I@U�����j��?zL1�L1�L1�L5=�f@�Am�<!=Bi Bi�Am)˾*Bi�Aq�Au��7�Au���Aq"C}3��*C}kZ/=RC}�c�Cy�C��֕��c�I��G�a>�;/j,K���E�Aɫ�髙)�� ������I��Y��y��I��)��AAI�M�=)�I�å�x>�åtӾ�åz�iå �@�á ĥ\�@)ĥI�@IĥI�@iĥI�@Y�����QU��>�������a��G������y�����}��>I������:���� 5�?����:����ݾ� ��������?9���?�����: ����:)����:�W �W X X�W:W2W*W�VUU�����b�?zL9�L9�L9�L9�A�� =B� B��A�*B��A��A��7�A�] ��A�"C�2��*C���.=RC��c�C�C��1��5mA��9��I���TGi�� �@�������c�I�1���������NZ; ���)E)�M�v�CI�M�v�Ci�I���M� =��M� =��M���4G�d>�.1 /j,��*��E�AY}2E˓@�}2�؋@y}2X�d<�}27J,��}2H������xտ������?���@��?����e$�����(kտ��� 盿��� �������@����������?)~2E˓@ ~2+�`;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}K\G����������������������� ���):Y��xZ1y��q�:����6)���;�9�������������?:��v������~j�t������L=����Խ ����)��I��y���333333�?<�O��n���Q��롿�����=���t����\� ��)���AI���Ai���������A�� a9;M �<Y���QU�>�����a�G����y�%ᇻ}%�>I�)��-� 5�?��-֪ݾ� �-Jս��5�?9�-x�?��-8�: �-b�:)�)�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUe����O�?zL�=�L�=�L�Ž�@�L�p�y@�A��0=B� B��A��ʾ*B��A��A�>�7�A����A�"CM5��*CMM�.=RCM��j�CI�CQ��=��c�I�IGmW>�/j,ؚD��E�A�|4<�|4<Y}6eȓ@�}6@y}6"Q8<�}6@$)��}6H�����&~տ���@��?�������?�����#������rտ���`� �����` �������"��������?)~6eȓ@ ~6��`;I~6��Cɫ�髁)�� ������I��Y���@y��T\GI�!)�%�A)�e�= �e�=�Í�>�Í���Í�iÍ@�É čh�@)čh�@Ič~�@ičh�@��K;M�A=Y��һQU��>�����a��G����y��Y�}��>Iȹ�Ža 5�?�Ž6�ݾ� ƽ������?9ƽ��?�ǽ��: Ƚ�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������?zLQ�LQ�LQ�LUd�y@�A}��=By By�A}�ɾ*By�A��A�f�7�A�,��A�"C�4��*C�*.=RC�H�k�C��C��֝�l�I��G�b>�ٙ�ٝ�<ܡ9ܡIܥHUGiܥZ�@�ܥ=�ܡ�ܡ�ܥ^Y; ݥ6)E�IC/j,hv^��E�AY}6�Γ@�}6~܋@y}6�<�}6����}6H���� Hrտ�����!�?����P��?���`&������iտ����,������@�������`����� ��?)~6�Γ@ ~6��`;I~4ɫY�Y)�Y �YI�YY��I�@y���\G���L�������������������� ��:Y���W1y��č:���F�5)��e; � � ��+�<Mf=Y�� �QU�>��!��!�a%�G��!��)y�-);}-�>I�1��=�:��5� 5�?��E�:��5^�ݾ� �5����E�?9�5��?��5=�: �5��:)�5��:�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUqUu������?zL��L��L��L��z@�A�=B� B��A�Lƾ*B��A��A���7�A����A�"C�3��*C��-=RC���h�C��C)��%�`k�I�1GM1>�Mq/j,�ax��E�AY}FBݓ@�}F��@y}F;�;�}F����}FH���� Wտ�����'�?���@6s�?��� +������Qտ��� �k�����`Z�v����������������?)~FBݓ@ ~F�M`;I~DɫQ�Q)�Q �U����I�QY����@y���[G)�Q����^�M�==Y��ɻQU��>�������a��G������y���;}�>I� �� f 5�?�� Ȯݾ� � ����?9� d�?�� �: � �:)� �W��W�X� X��W�:W�2W�*W��V�U�U���� |o@zL��L��L��L�4\z@�A��=B� B��A�UҾ*B��A��A���7�A�N��A�"C�2��*C��Q-=RC�X-c�C��C���$�l�I�!G=Q>��U$/j,�.���E�A�|i|Y}>�@�}>���@y}>b�u;�}>�@��}>H�����1;տ��� �,�?����dh�?���� 0�����7տ�����h��������n������f������T��?)~>�@ ~>/`;I~<ɫY�Y)�Y �]����I�YY��P�@y���\G����=i���=��������������������~�� �� :Y���Y1y���:�����5�9�@�a9�aI�eVGi�e��@��a��a��a��evX; �e�(E�� ��v��/�?y�&1������Mb���� xi=�� `e� � �@�)� I� y� �����Mb�?y�&1���{�G�zt��� �=�� `��� ף� � 5A)� �AI� �Ai� �� �� �A��1 ��5 oA��} ?��} E�=��} �u=i�} �@��y �y )�} I�@I�} ҙ@i�y �� !=M� =Y� %<�QU� �>�� �� �a� �G�� �� y� �>;}� �>Iȩ ��� �:�ŭ � 5�?��� �:�ŭ ��ݾ� ƭ J���� �?9ƭ ��?�ǭ ��: ȭ o�:)ȭ ��:�W� �W� X� X� �W� :Wa 2Wa *Wa �Va Ui Um ���` l@�Ru B*** querying acoustic contact ***�Pq �Pq zL� 0>�L� 0>�L� �h�@�L� Z�T@�A� �=B� B� �A� �ž*B� �A� �A� ��7�A� ��A� "C� 5��*C� �,=RC� k^�C� �C� �� ��c�I� GE �>���*/j,W���E�AY}2k�@�}2!��@y}2(�=;�}2y����}2H����` 1տ�����.�?���`;�?�����1�����A-տ���@"J�����ࢿg������=������'��?)~2k�@ ~2�`;I~2��CɫA�A)�A �E����I�AY��j�@y���\G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E�<MM�=Y�M���QUUc?��Q��Q�aU�G��Q��ay�eQX;}mb?I�q��u� 5�?��uگݾ� �u������?9�u��?��u�; �u4;)�q�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L�)�T@�A���=B� B��A�7ľ*B��A��A�<�7�A�|��A�"C�4��*C�:�,=RC�\�C�C�����^�I��G�G>�T�1/j,�Ǽ�E�A��--����-�����-�����-��� �-�":Y�-�V1y�-�:��-��5ɫ���)�� ������I��Y�M��@y�M�\G��Q��U@A]xDUSBL response received:!U1,P E77,000,005C5,186,80,80,78,FF ]Command Ack]BRequesting micromodem ping code 2i�Y��Y�e�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �í��=�í 0��íh��ié�é ĩ)ĭ~�@Iĭh�@iĭ~�@����<M�'=Y� ���QU �>�����a]�G��a��iy�m���}u�>I�q����:��uI 5�?����:��u��ݾ� �u������?9�u0�?��u'�: �u��:)�u��:�W�WX X �W :W 2W *W�VUU5�����@zLq�Lq�Lq�Lq�A��5=B� B��A����*B��A��A�X�7�A����A�"C�3��*C�,=RC��B]�C�i���lG�C�I��i���=3P�ٺA��EDA��= �p\�I�I ��] nA��] nA�i 9�i I�i i�i ��m =��i ��i ��m �W; �m K(EG� �>���7/j,��ἨE�A�|�;�|�;Y}6e��@�}6�@y}6��);�}6�x��}6H����@�)տ�����-�?���`�^�?����'3������#տ�����]����� �<e����������������?)~6e��@ ~6�`;I~6��CɫY�Y)�Y �YI�YY����@y��2^G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�)������=M�r=Y��Mo�QU�?�����a�G����y� &�:} ?I���� 5�?���ݾ� ������?9���?����: ���:)��WA�WAXA XA�WA:WA2WI*WI�VIUIUU����u=@zLq�Lq�Lq�LuݰT@�A��j=B� B��A�=��*B��A��A���7�A�����A�"C�2��*C��+=RC�k�[�C��C��֥u \�I��G�A>��(>/j,�c���E�AY}2���@�}2��@y}2�˥:�}2�&��}2H����`!տ����v.�?���@'a�?���@�4���� �տ����ڍ�����u�T������������@B��?)~2���@ ~2��_;I~2��C���=i�a=��� ����������������� �pG:Y�0Y1y���:����5ɫ9�9)�9 �=����I�AY��b�@y���]G�xDUSBL response received:!U1,R,E3A,000,005C8,186,80,80,9E,FF �Fpublishing direction and range info���b��>���ɰ�{�=�� ��)���CI��y��3MB����Ս��n��?��J���?��������ٱ�)���m��M�O=Y��[�QU��>�����a��G������y��ķ:}��>I�i��u�:��m] 5�?��u�:��m{�ݾ� �m���}�?9�m6@��m��: �mo�:)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����@]�@�P�*Q�3MB�Z��-Zw���G@����3@���������Z��Ս��n��?��J���?��������2Q�b��>:Q��Z���)!�fa@���vߙI�zT&4���Z���fE�j�?:�T_�i� %7��BQ�貘@ Q��L�Q�C@�P�X�9?�P�R�9?�P�H���Q�G���Q�ɘ@"Q�v�@zLA�LA�LA�LE�T@�Au<N=By By�A}���*By�Ay�A}��7�A}����A�"C�5��*C��J+=RC�,HZ�C��C�����H\�I�GUu>�9E/j,$E��E�AY}2��@�}2G�@y}2̣r��}2���}2H�����6�Կ���@�5�?��� UҢ?�����;����`��Կ��� ������@yTN?����������� ���?)~2��@ ~2�`;I~2��CɫY�Y)�a �e����I�aY��@y��]G��DNmea in: $SNTTA,,,,,165059.72*55 �-�>9�)I�-�VGi�-��@��)��)��)��-�V; �-�'E��U �m������?H�z�G�� ףp= ����U �n>��U = � �U Q8�)�Q I�Q y�U ��~j�t��?�v��/���~j�t��?��U �D=��U xi���U ��< �U A)�U XAI�U ^Ai�Q ��Q ��U A�õ �A>�õ v���õ �=iõ G�@�ñ ĵ ҙ@)ĵ ��@Iĵ ��@iĵ ҙ@��� �s�M� �<Y�� �V�QU� �>��� ��� �a� �G��� ��� y�� x�;}� �>I�� ��� �� 5�?��� w�ݾ� �� ����� �?9�� E@��� ;�: �� ��:)�� �m�qAdded new target pos. range: 51.299995 m, bearing: 273.406243 deg, deltaT: 4.485715 s, approachRate: 0.040127 m/s, LOS rate: 0.728194 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@f�I@U���� ���?zL�U�=�L�U�=�L�j1�@�L� a@�A@��<B B�A�*B!�A!�A%��7�A%����A!"C-4��*C-ê*=RC-��Q�C1�C1��] � ����] �����] �����] ��� �] @:Y�] �U1y�] ��:��] ��5)�] !�;�9e ���)I�AG��>�'\L/j,k�3��E�A�|i|Y}6s>�@�}6*L�@y}6��Y��}6RA��}6H�������Կ��� �E�?���`���?�����J����� �Կ����������U<k?���@*'���������?)~6s>�@ ~6H�_;I~6��Cɫ)�))�) �-����I�)Y����@y��7^G���=i��=I�)���m+�=Mm�=Y�u@�QUuZ?��y��y�a}�G��y��y���<}�X?Iȑ����:�ŕl� 5�?����:�ŕȲݾ� ƕ�����?9ƕ>@�Ǖ�+; ȕn$;)ȕ��:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm���`7��?zL��L��L��L��Ka@�A� �<B� B��A���*B��A��A�{�7�A�����A�"C�3��*C��z*=RC��H:�C��C����`�T�I��G�'>�<S/j,%�M��E�AY}:�u�@�}:8��@y}:Hբ��}:)� ��}:H���� 7Կ�����W�?�����H�?��� �\������6Կ����x������Zt?�����^������.��?)~:�u�@ ~:�`;I~:��Cɫ9�9)�9 �=����I�9Y�eܴ@y�m�^G��]@��]@��e@��]©�]���]�i�]��@��]���� �]��@)�]��@I�Yi�]�@��mI�<MuK=Y�uԅ�QUu�>��y��y�a}�G��y��y�"�<}��>Iȉ�ō� 5�?�ōh�ݾ� ƍ������?9ƍ# @�Ǎ��: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L���a@�A\i�<B B�A��*B �A �A ��7�A {��A "C2��*C)*=RC��&�C�C��%�Q�I�9Ge4>�������<��9��I���WGi��B�@������������$V; 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X!�W!:W!2W)*W)�V)U1U5������?zLQ�LQ�LQ�LU b@�Ae���<Ba Ba�Am���*Bi�Ai�Am�7�AuB��Aq"Cu5��*C}�)=RC}yD�Cy�Cy Ս�=�ԍ�=�օ�S,�I��G�>�N`/j,cG���E�AY}2綔@�}2�Č@y}2��]��}2W���}2H������ӿ�����j�?���`Jf�?�����p�����*�ӿ�����݁����`U�k?���@�ԣ����@���?)~2綔@ ~2"F`;I~0ɫY�Y)�Y �]����I�YY�}��@y�}^GI��)���A���R=i��=���V�MW=Y�1�;QU%�>��!��!�a%�G��!��)y�-�;}-�>I�1��=�:��5�� 5�?��E�:��5��ݾ� �5�����E�?9�5�@��54�: �5�:)�5��:�Wa�WaXi Xi�Wi:Wi2Wi*Wq�VqUU���`���@zLa�La�La�LeqHb@�A�I�<B� B��A�ܲ�*B��A��A�^�7�A�*��A�"C�4��*C�~)=RCM�b�CI�CY�֝l,�I��G�d>��-�����-�����-�����-,�� �-,:Y�-DW1y�-Y�:��-�5�95@�3xf/j,�"���E�Aܩ9ܩIܭXGiܭ��@�ܩ�ܩ�ܩ�ܭ_U; ݭ 'Eɫ���)�� ������I�Y�5´@y�=e^G�IɮI��}��(\����?y�&1��?�~j�t�����}�G>��}`e< �}�D�)�yI�yy�}�i��|?5�?L7�A`尿V-�����}�q=��}+����}�m� �}dA)�}�AI�}�Ai�}A��y��}A���������������94�����'�����y�i��(�@������ ��I�@)��3�@I��I�@i��I�@��I�<M.=Y����QU�>�����a�G����!y�%���}-�>I�)��-A� 5�?��-��ݾ� �-�����=�?9�-�@��-��: �-�:)�)�WY�WYXY XY�Wa:Wa2Wa*W��V�U�U������6@�R�B*** querying acoustic contact ***�P��P�zL-��=�L-��=�L-�#�@�L-]�b@�Ae��<Ba Ba�Ae���*Ba�Ai�Am��7�Am���Ai"Cu3��*Cu}#)=RCu�"�Cq�Cy�֕d�I��G��>�L�l/j,�����E�AY}: ��@�}:���@y}:��R:�}:Q'��}:H������ӿ���@�b�?�������?���`�h�����Z�ӿ����������� �]J������ߤ�����/��?)~: ��@ ~:�e`;I~:��Cɫ9�9)�9 �=����I�9Y�}^�@y�}$_G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��`[=M�g=Y�N?<QU��>�����a��G�����y��%�}��>I������:����� 5�?����:���N�ݾ� ��������?9���@���D�; ����:)����:�WY�WYXY Xa�Wa:Wa2Wa*Wa�VaUiU���� � @zL��L��L��L�o_b@�A m��<B B�A���*B�A�A��7�AF��A"C2��*C%��(=RC%7��C!�CI��Q��UnA��=�+�I�QGuW>��-�����-�����-�����-��� �-�:Y�-0Y1y�-��:��-W�5�(�s/j,��ν�E�AY}2���@�}2���@y}2�:�}2B��}2H������Կ����\�?����g��?����&a�����Կ������������`�Q�����0����������?)~2���@ ~2�i`;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}d_G�xDUSBL response received:!U1,P E3A,000,005C8,186,80,80,9E,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �í�>�í�<�ít=ií��@�é ĭ��@)ĭҙ@Iĭ��@iĭ��@��1Z<M�,=Y��:QU��>�������a��G������y���Ի}��>I�����p� 5�?���8�ݾ� ���*����?9��d@���#�; ���;)���WI�WIXI XI�WI:WI2WQ*WQ�VQUQUU������ @zL��L��L��L��Gb@�A��q�<B� B��A����*B��A��A�F�7�A�=��A�"C�5��*C�yv(=RC���'�C��C���y��y܉9܉I܍hXGi܍�@�܍ =�܉�܉�܍�T; ݍ�&E�ֵd�I��G��>I�!)�!�\�y/j,)�轨E�AY}>�r�@�}>P��@y}>��#��}>z���}>H����@�<Կ���`�W�?��� � �?���`�[�����4:Կ���`��������w�>��������������?)~>�r�@ ~>�&`;I~>��Cɫ9�9)�9 �=����I�9Y�}��@y�}�_G������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���n-<M�o=Y���N�QU�?�������a��G������y���˻}�?I������:��� � 5�?����:����ݾ� ��>�����?9��[@���V�: ��b�:)����:�W!�W!X! X!�W):W)2W)*W)�V1U1U5�����u @zLQ�LQ�LQ�LUxQb@�Ae�ƭ<Bi Bi�Am*Bq�Ay�A���7�A����A�"C 4��*Ce*(=RC#�.�C�C��t'�I�1GUT>��-�����)��)��-r�� �-@*:Y�)y�)��-�5�&��/j,���E�AY}2}w�@�}24��@y}2�鿺�}2ʋ��}2H���� h3Կ�����Y�?�������?����6]������1Կ���@Q����� 2�W?����i����������?)~2}w�@ ~2kF`;I~2��CɫY�Y)�Y �]����I�YY��|�@y��H_G�xDUSBL response received:!U1,R,E23,000,005CF,187,80,80,58,FF �Fpublishing direction and range info���* �>���ɰ���=鰥1�> ��)����BI��y���NB�����S>vD�?^������?��������ٱ�)����%,z�M-E=Y�]�b�QUe�>�����a��G�����y���:}��>I����� 5�?����ݾ� �oW���M�?9��@��,�; ���;)��W��W�X� X��W�:W�2W�*W��V�U�U���� W�@�P�*Q��NB�Z�����oئG@T;�a��4@���������Z���S>vD�?^������?��������2Q�* �>:Q��Z��L�l���@�����I��������Z��`��6]F�?������CXX�a*��BQ��ՙ@ Q��M�Q��@�P�\�9?�P�X�9?�P�Q�H���Q�a�@"Q�ɘ@zL �L �L �L �tb@�A%�ԣ<BA BA�AE��*BA�AI�AM��7�AM��AI"CU3��*CU��'=RCUQ�+�CQ�CY Ս�=�ԍ�=��u4�/�I��G�>��� ��� i�� �mGI� i�! ��U 2B�ٺQ ��U �6A�ˆ/j,~��E�A�99�9I�=�XGi�=6�@��9��9��9��=�S; �=G&Eɫ�)� �����I�Y�M.�@y�M�^G��TNmea in: $SNTTA,0.044472,,,,165103.80*49 I��)���A���a=i���=��� �bX9�ȶ?y�&1���:��v���?��� E�=��� `e� �� ��<)�� I�� y�� �y�&1��?���x�&��ˡE����?��� `e=��� 7����� �'= �� A)�� AI�� Ai�� ��� ��� �A��M �=��M ����M /ݽi�M ��@��I �M ��@)�M ��@I�M ��@i�M ��@��] or�M] �<Y�e ���QUe �>��a ��a �ae �G��i ��i y�m ���}u �>I�y ��� �:��} �� 5�?��� �:��} ݹݾ� �} f<���� �?9�} J@��} ��: �} ��:)�} ��:�m� qAdded new target pos. range: 51.719997 m, bearing: 275.441476 deg, deltaT: 4.139315 s, approachRate: 0.101467 m/s, LOS rate: 0.491683 deg/s, posRepo size: 4�W� �W� X� X� �W� :W� 2W� *W� �V� U� ����(�I@U� �����9�?��i�p=��%�����!��!��%h�� �%�.:Y�!y�!��%�6)�%Q�;�9-�zLe��=�Le��=�Le3�@�Le^�a@�A��ԙ<B� B��A����*B��A��A�"�7�A����A�"C�2��*C�WD'=RC��_,�C��C���� �S,�I�� G� �>�aȍ/j,�9��E�AY}JpĔ@�}J'Ҍ@y}J�8D��}J2|��}JH����@'�ӿ��� @p�?�����M�?���@*u�����p�ӿ����ޱ�������H?���`����������?)~JpĔ@ ~J�8`;I~Hɫi�q)�q �}����I��Y���@y���_G��}( >M}�=Y�wj;QU�_?�����a��G����y�W@=}�_?Iș�ŝ{� 5�?�ŝ=�ݾ� Ɲ�3�����?9Ɲe@�ǝǺ: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��[b@�A �,�<B B �A ݙ�*B�A�A��7�A*��A"C5��*C%$!'=RC%�C!�C!��5����5�� յ���Ե��I��G��>�h��/j,XtS��E�AY}2��@�}2��@y}2���9�}23�(��}2H������Fӿ��� }�?������?����������� Bӿ���`������`ߕ4����������� ��?)~2��@ ~2C1`;I~2��Cɫ9�9)�9 �=����I�9Y�m�@y�u�_G��]�P=��]�����]94�i�]כ@��Y �]&�@)�]�@I�]�@i�]�@��mH��MuM=Y�u`.;QUu�>��y��y�a}�G��y��y�3n<}��>Iȉ�ō�� 5�?�ō��ݾ� ƍ�!�����?9ƍ�@�ǍA�: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U���� �*�?zL��L��L��L���b@�A���<B B�A��*B�A�A �7�A ���A "C4��*C#�&=RC5�C�CI�1GM�=܉9܉I܍0YGi܍��@�܉�܉�܉�܍S; ݍ�%E��� ����� ������ ������ F�� � � :Y� �W1y� č:�� <6)� �;��͚/j,�Pm��E�A�|i|�@Y}6��@�}6u+�@y}60_�:�}6�3��}6H���� ��ҿ���`���?���@�8�?���@�������ҿ���������� �[������|��������?)~6��@ ~6�v`;I~4ɫY�Y)�Y �]����I�YY��G�@y��C`G����=i���=I��)���A��5&�<M5?=Y�5Q;QU5�>��9��9�a=�G��9��Ay�E�B<}E�>I�I��U�:��M�� 5�?��U�:��Mӻݾ� �Mj���]�?9�M�!@��I �M �:)�M��:�Wy�WyXy X��W�:W�2W�*W��V�U�U�������?zL��L��L��L�pLc@�A� k|<B� B��A�d��*B��A��A�t�7�A����A�"C�3��*C�-�&=RC�PмC��C�I��G�>Iމ )މ �[��/j,g*���E�AY}B�;�@�}BmI�@y}BR�[;�}BY�+��}BH�������ҿ����^��?���`��?�����������'�ҿ���@ö������&k�����&x���������?)~B�;�@ ~B�d`;I~B��Cɫ�髑)�� ������I��Y����@y��`G)����=�>��=�̼��=t�i�=��@��9 �=��@)�=��@I�=��@i�=��@��uO=MuF=Y�u:�;QUu�>��y��y�a}�G��y��y�y<}��>Iȉ�ō<� 5�?�ō��ݾ� ƍ ������?9ƍ8$@�Ǎ:�: ȍh�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����O�@zL��L��L��L��c@�A��al<B B�A7��*B�A�Aܾ7�Agߺ�A "C2��*CTG&=RC���C�CI�1GM>�� H ���� ����� ����� e�� � �9:Y� DW1y� Y�:�� �)6�9� @ܡ9ܡIܥ�YGiܥ*�@�ܥ=�ܡ�ܡ�ܥAR; ݥ~%E)�a�I�a�i�a���e� =��e� =��e�P5���/j,�I���E�Aɫ�髙)�� ������I��Y���@y��aG �9�9����ףp= ��?�I+��?+����������>���94= ����)��I��y����p= ף�?y�&1���+����������=���`e������ ���A)���AI���Ai���A������A���+<M=Y����QU�>�����a�G����!y�%���}%�>I�)��5�:��-�� 5�?��5�:��- �ݾ� �-"���=�?9�-S'@��-H�: �-��:)�-��:�WY�WYXY Xa�Wa:Wa2Wa*Wa�VaUiUm����T�@�R}B*** querying acoustic contact ***�Py�PyzL��=�L��=�L�N�@�L�!l@�A���\<B� B��A�5��*B�E9�A��A�/�7�A��ݺ�A�"C�5��*C���%=RC�z��C��C���%l"�I�1GU�>�D�/j,["���E�AY}BC�@�}B�P�@y}B�$�;�}B����}BH�����i�ҿ��� q��?������?��� ޚ����@M�ҿ���`u̐����@�d}������������h��?)~BC�@ ~B�C`;I~B��CɫY�Y)�Y �]����I�YY�}Ŷ@y�}�`G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******鮑ɮ�p=���R=i��%=������M��=Y��}�<QU�>?�������a��G������y��Wz;}�>?I���I� 5�?����ݾ� �,��� �?9��(@��8�: �Q�:)��W1�W1X1 X1�W1:W92W9*W9�V9U9UE���`��@zLY�LY�LY�L]�Il@�A�ċN<B� B��A����*B�9�A��A���7�A�Wݺ�A�"C�4��*C���%=RC�oY��C��C����o��I��G�&>�� �=i� �=�� V ���� ����� ����� N�� � �::Y� �V1y� �:�� Y�5�&�/j,��Ծ�E�AY}2�6�@�}2zD�@y}2]<�}2ӹ��}2H�������ҿ������?��� ��?���� �����`ſҿ����c䒿�����+������L������@W��?)~2�6�@ ~2]�`;I~2��Cɫ9�9)�9 �=����I�9Y�]�@y�e9aGmxDUSBL response received:!U1,P E23,000,005CF,187,80,80,58,FF mCommand AckmBRequesting micromodem ping code 2i�i��i�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �å�Ļ�å����å7 �iåf�@�á ĥ~�@)ĥ~�@Iĥ~�@iĥ~�@�����<M-;=Y�5��;QU5�>��9��A�aE�G��A��qy�}6Y�}}�>Iȡ����:�ťr� 5�?����:�ťϿݾ� ƥ�+�����?9ƥ'+@�ǥ��: ȥA�:)ȥ��:�W��W�X� X��W�:W�2W�� mA�� �9�I�\ZGi�{�@�� =������pQ; �%E*W!�V!U!U-��� 2e @zLi�Li�Li�Lm�(l@�A}[�A<By B��A�剾*B��A��A�!�7�A�?ܺ�A�"C�3��*C�s%=RC�J�ļC��C��ֵ�ǼI��G��>�[+�/j,�E�AY}J�@�}J��@y}JLCN<�}J0��}JH������ӿ��� w��?����OѠ?����j�����@�ӿ������������<ȉ�����D�������T��?)~J�@ ~J��`;I~J��CɫY�Y)�Y �]����I�YY��G�@y��}aG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������nA��U6�<MUT=Y�U�<QU]�>��Y��Y�a]�G��Y��ay�e�Q�}m�>Iȉ�ō&� 5�?�ō��ݾ� ƍ:�����?9ƍ0-@�Ǎ2�: ȍ>�:)ȉ�W�WX X�W:W2W*W�V!U!U%��� \ @zL��L��L��L�#�k@�A��E7<B� B��A�l��*B��A�A ��7�A kۺ�A "C2��*C�.%=RC��C�CA Յ=�ԅ�=��QI�aG}z>�� ����� ����� ����� U�� � �:Y� DW1y� Y�:�� ��5�6�/j,���E�AY}U{�@�}U2�@y}U�gS<�}UgZ��}UH������"ӿ����|��?���@k�?����������`�ӿ������������l�������飿������?)~U{�@ ~U� a;I~Qɫq�q)�q �u����I�qY����@y���aG�xDUSBL response received:!U1,R,E1B,000,005D6,187,80,80,91,FF �Fpublishing direction and range info���8��>���ɰ���=鰹 ��)���CI��y���PB����>ν�'-�?�S,�7I�?��������ٱ�I��)����--���-��=��-�!>i�-�@��) �-�@)�-�@I�-�@i�-�@��="=M=L=Y�E�L:QUE�>��I��I�aM�G��I��Qy�U=?�}U�>I�Y��e�:��]�� 5�?��e�:��]��ݾ� �]bI���m�?9�]c/@��]R�: �]��:)�]��:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqUu���@rV@�P�*Q��PB�Z��5���G@���5j5@���������Z��>ν�'-�?�S,�7I�?��������2Q�8��>:Q��Z���n�e�@7�g��I�"?�i�#���Z����,z{�?���x���l �xJg��BQ���@ Q��N�Q���@�P�_�9?�P�\�9?�P�I���Q�Q�g�@"Q�a�@zL��L��L��L���k@�Aaa-<B B �A ��*B �A�A�7�A�ں�A"C%5��*C-�$=RC-�J�C)�C)�����I�!G=r>I� AA)� �!9�!I�%�ZGi�%̱@��!��!��!��%�P; �%�$E�D=�/j,�"��E�AY}F^�@�}F�@y}F�eW<�}F�d��}FH������ӿ����Ɇ�?���`Z�?���@�����`zӿ�����������슿��� 1K��������?)~F^�@ ~Fo a;I~DɫY�Y)�Y �YI�YY�}��@y�}bG��dNmea in: $SNTTA,0.089477,0.450157,,,165107.90*54 ������(\���?��K7���y�&1��?���.>���I� ��`�<)��I��y���X9��v��?㥛� �������Mb`?����}=���������; ���A)��3AI�� Ai���A�������A���J�:M�O=Y���!:QU��>�������a��G�����y�s�:}�>I� �� �� 5�?�� ��ݾ� � �G����?9� �1@�� �: � D�:)� �mMqAdded new target pos. range: 52.139999 m, bearing: 276.841173 deg, deltaT: 4.090495 s, approachRate: 0.102678 m/s, LOS rate: 0.342183 deg/s, posRepo size: 4�WI�WIXI XQ�WQ:WQ2WQ*WQ�VYU]�����J@U]�����(�?zL}1�=�L}1�=�L}�S�@�L}p�b@�A��2$<B� B��A�l�*B��A��A���7�A��ٺ�A�"C�4��*C���$=RC�P�C��C����+O�I��G�F>�� N���� ����� ����� �� � 6:Y� �U1y� ��:�� �5)� ae;�9 ��xm�/j,��<��E�AY}6'"�@�}6�/�@y}6�'c<�}6����}6H�������ҿ���@���?��� �Ӛ?���ॐ������ҿ����q)����� �d�����`�<��������?)~6'"�@ ~6t�`;I~4ɫ9�9)�9 �E����I�AY�U�@y�U=bG)���= ���=��-L}<M-W=Y�-}�:QU5�>��1��1�a5�G��9��9y�=��;}E�>I�I��M�� 5�?��M\�ݾ� �M�F���U�?9�M!4@��M��: �M��:)�I�Wq�WqXy Xy�Wy:Wy2Wy*W��V�U�U����@���?zL��L��L��L���b@�A5��<B1 B9�A=gy�*B9�A9�A=�7�A=ٺ�A9"Ce3��*Cmj`$=RCm��ҼCi�Ci��uG�I��G�=>��O�/j,�FV��E�Ai�VVnGI�`i�l�� A�ٺ �� �5AY}%g@�@�}%N�@y}%%sp<�}%�6���}%H������ҿ�������?���@�e�?���`s������f�ҿ��� �w����������� �$������S��?)~%g@�@ ~%��`;I~%��Cɫ�)� �����I�Y�U��@y�UcG���C=i��R=��E`e<��E�H=��E�P�i�EG�@��A �Eҙ@)�Eҙ@I�E��@i�E��@��U�4=MU9=Y�]V�:QU]�>��Y��a�ae�G��a��ay�mI <}m�>I�q��}�:��u�� 5�?��}�:��uN�ݾ� �uE���}�?9�u�6@��u�: �u�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U���� r��?zL��L��L��L��5c@�A���<B� B��A��e�*B�h9�A��A���7�A�Zغ�A�"C�2��*C��$=RC��麼C��C���)��-�<�=�>9�9I�=$[Gi�=�@��9��9��9��=P; �=`$E��c�ռI�1GUT>�� �=i� �=�� ����� ����� ����� V�� � �:Y� �W1y� č:�� �5)� �r;��y�/j,�!p��E�AY}2�e�@�}2�s�@y}2$B�<�}2� ��}2H���� 6lҿ���@���?����J�?����&�����`�aҿ��� �������`�������T@������G��?)~2�e�@ ~2�J`;I~2��Cɫ9�9)�9 �=����I�9Y�]s�@y�]�bG���椻M�c=Y����;QU��>�����a�G���� y� �P<} �>I�a��e�� 5�?��e�ݾ� �e�C���m�?9�e9@��eӻ: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L���c@�A��|<B� B��A�Zg�*B�9�A��A��7�A���A�"C�5��*C���#=RC��C��C���E�ǼI�QGm5>��d�/j,[ ���E�AY}f���@�}fG��@y}f��<�}f&� ��}fH������-ҿ��� ��?����#��?����U�����`�ҿ���@h������ż�����@�������w��?)~f���@ ~ff`;I~f��Cɫ�髱)�� ��I��Y���@y��|cG��a��emA����<����K����V�i���@��� ��&�@)���@I��E�@i��&�@����=M:=Y� 0;QU�>�� �� �a �G�� ��y��<}�>I���%�:��Ľ 5�?��-�:���ݾ� �B���-�?9��;@���: ���:)���:�WI�WIXQ XQ�WQ:WQ2WQ*WQ�VYUYU]���@B��?zLy�Ly�Ly�L}=�c@�A��k <B� B��A��Y�*B��9�A��A���7�A��A�"C�4��*C�U�#=RC�Op��C��C� ս�=�Թ�֝I��G�B>��- z����- �����- �����- ��� �- #):Y�- �Y1y�- �:��- ��5�9� @�!9�!I�%�[Gi�%��@��!��!��!��%�O; �%$E����/j,أ��E�AY}2Ѥ�@�}2���@y}2{�<�}2�0��}2H�����h�ѿ���`���?���@���?�����������_�ѿ����N����������`����������?)~2Ѥ�@ ~2* `;I~2��CɫY�a)�a �aI�aY�}ϸ@y�}`cGI��)��)���������x�&�?<�O��n�����S㥫����7 >���t�� ��/]�)��I��y����I+��?J+���{�G�zt?���9�<����H����ף; ��dA)��I���Ai��������zA��5ۻMJ=Y��<;QU�>�����a�G����!y�%X<}%�>I�)��-�� 5�?��-7�ݾ� �-D?���=�?9�-=@��-�: �-M�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm�����@zL��\=�L��\=�L��L�@�L��#R@�A�YV<B� B��A��[�*B��9�A��A�4�7�A�^ֺ�A�"C�3��*C�zh#=RC��UW�C��C�����]��I��GK>I� )� ���/j,_����E�AY}2p��@�}2'Ǎ@y}2v��<�}2��.��}2H�������ѿ�������?���@|5�?���@W������y�ѿ�����&�������ϓ����`xѥ���� ��?)~2p��@ ~2��_;I~0ɫ9�9)�9 �=����I�9Y�]v�@y�]-dG)�E�= �A�Õ����Õ۹��Õ^�=iÕ�@�Ñ ĕ�@)ĕ�@Iĕ�@iĕ�@��:=M�=Y���:QU��>�����a��G����y���;}��>I������:���{� 5�?����:���t�ݾ� ��|;�����?9��?@���s�: ��'�:)����:�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU�������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��MR@�A��O<B� B��A��F�*B�c!9�A��A ��7�A vպ�A "C- 2��*C- �#=RC- vR;�C) �C1 �� j���� ����� ����� 7�� � �':Y� �W1y� č:�� � 6��E�c�I�QGu�>����/j,`��E�AY}B6��@�}B�̍@y}BLե<�}B}���}BH�������ѿ����Z��?������?��� μ���� ݱѿ����V֞�����L�������g�������?��?)~B6��@ ~Bw;_;I~@ɫY�a)�a �e����I�aY�}Q�@y�}�dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������M��=Y��#�;QU�O?������a��G����y��C;}�=?Iȡ�ťn� 5�?�ť��ݾ� ƥ�9�����?9ƥ�?@�ǥ �; ȥv�;)ȡ�W�WX X�W:W2W*W�VU!U%����8v @zLa�La�La�LeYVR@�A�EU�<B� B��A��K�*B�9�A��A�e�7�A�պ�A�"C�5��*C��"=RC��3�C��C����nA���oA��9��I��P\Gi���@���=����������N; ���#E)��I��i��ჩ�����i�4���0:D�I��GI>����/j,�h�E�AY}2ͽ�@�}2�ˍ@y}2�P�<�}2+� ��}2H�����4�ѿ��� ��?�����f�?����I�����@\�ѿ�����R����� ������� �]������y��?)~2ͽ�@ ~2o1_;I~2��CɫY�Y)�Y �]����I�YY�}�@y�}�dG�xDUSBL response received:!U1,P E1B,000,005D6,187,80,80,91,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����Z=MI=Y���:QU�>��)��1�a=�G��A��Qy���ڹ}��>I���U�:���� 5�?��U�:����ݾ� �D7���]�?9�AA@���< �D<)���:�Wq�WqXy Xy�Wy:W�2W�*W��V�UU�����/ @zLA�LA�LA�LE�OR@�AU�O�;BY BY�A]\5�*B]� 9�AY�A���7�A�iԺ�A�"C�4��*C���"=RC���9�C��C��ֱI��G��>�� �=i� �=�� :���� ����� ����� x�� � $:Y� �X1y� /�:�� X�5� �0j,zR��E�AY}6���@�}6B��@y}6���<�}6t���}6H�������ѿ����o��?����+��?����m������h�ѿ����S+�����`N������@�����������?)~6���@ ~6� _;I~6��Cɫ1�1)�1 �1I�9Y�U �@y�]�dG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��������}�L>��}h���}O��i�}̜@��y �}�@)�}�@I�}\�@i�}�@���;M�3=Y��h8QU��>�����a��G����y��>�}��>Iȩ�ŭ�� 5�?�ŭ��ݾ� ƭ�4�����?9ƭ�B@�ǭϸ: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�����3@zL �L �L �L h:R@�A�g�;B! B!�A%o4�*B%9�A!�A-��7�A-�Ӻ�A)"C53��*C5{�"=RC5�M�C1�C9 �M>��M>��1I�AG]U>�� 9�� I�� ]Gi�� ��@��� ��� ��� ��� �N; �� �#E���0j,C%��E�AY}6ǥ�@�}6~��@y}6���<�}6�E��}6H�����Q�ѿ��� a��?����В�?�����������?�ѿ������������˲������Ԇ������[��?)~6ǥ�@ ~6I_;I~6��Cɫ9�9)�9 �9I�9Y�](�@y�eeGmxDUSBL response received:!U1,R,E15,000,005D8,186,80,80,74,FF mFpublishing direction and range info��e�a�>��aɰe�=�e��> �a)�e��BI�ay�e QB��e��\fpo�?����W��?��������ٱa)����%�y�&1��?X9��v��?�l������%`�=��%��< �%��)�!I�!y�%����Q��? ףp= ���A`��"����%�u=��%Q8���%Y� �%�A)�!I�!i�!��!��%QA��=�<MEP=Y�El�9QUE�>��I��I�aM�G��I��Qy�U拻}U�>I�Y��]�� 5�?��]��ݾ� �]�I���m�?9�]�D@��]��: �Y)�Y�W �W X X �W :W 2W*W�VUU���`*�@�P)*Q- QB�Z-�����G@^��͞�5@���������Z-��\fpo�?����W��?��������2Q-�a�>:Q)�Z-���F�@�v ��I�yY�L���Z-��`�2dc�?~{�a��X��&��BQ-~i�@ Q-�N�Q->�@�P-a�9?�P-_�9?�P)Q-I���Q-#�@"Q-g�@zLu�=�Lu�=�LuKx�@�Lupp@�A��;B� B��A��0�*B� 9�A��A�A�7�A�9Ӻ�A�"C�2��*C��Q"=RC�p e�C��C����NJN�I��Gl>�� ����� �� �� ��� � P0:Y� y� �� ��5)� ��;�9% ���0j,6?��E�AY}r���@�}rE��@y}r� �<�}rZ��}rH�����[ҿ����Ů�?���`Yɞ?���������ҿ�����������@�������`>������\��?)~r���@ ~r �^;I~pɫ���)�� ������I��Y���@y��eG��TNmea in: $SNTTA,0.103585,,,,165112.34*4D I��)����}�#>��}C�<��}�H=i�}�@��y �}�@)�}�@I�}�@i�y����<M�=Y��!�8QU��>�������a��G������y���j�}��>I������:����� 5�?����:���P�ݾ� ��mi�����?9��nG@�����: ����:)����:�m- qAdded new target pos. range: 52.260002 m, bearing: 278.264256 deg, deltaT: 4.428540 s, approachRate: 0.027098 m/s, LOS rate: 0.321344 deg/s, posRepo size: 4�W1 �W1 X1 X1 �W1 :W1 2W9 *W9 �V9 U= ����G!J@UE ���`E�?zLY �LY �LY �L] M0p@�Au Fb�;Bq Bq �A} �"�*B} �$9�Ay �A} ڶ7�A} \Һ�Ay "C� 5��*C� }�"=RC� [���C� �C� �ԝ nA�ԝ nAI� @A)� ?A��5��d�I�AG]�>�C�0j,��X��E�AY}2���@�}2B��@y}2Ჭ<�}2Y"��}2H����@�6ҿ���`��?���@v\�?����R������'ҿ���`^,�����������H��������?)~2���@ ~2��_;I~2��CɫI�I)�Q �U����I�QY��˺@y���eG��M�=MM�=Y�Mod�QUUj?��Q��Q�aU�G��Q��Yy�]�G�}ej?I�i��m�� 5�?��m��ݾ� �m�s���u�?9�mYH@��m4�: �m@�:)�i�W��W�X� X��W�:W�2W�*W��V�U�UM�����K�?zLa�La�La�Le!�o@�A}�q�<By By�A�]�*B�.9�A��A���7�A� Һ�A�"C�4��*C�:�!=RC�L���C��C���a��e�<�i9�iI�m|]Gi�m�@��m =��i��i��mN; �mV#E�ֽ�+w�I��G+>�� I ���� ����� ����� ��� � �9:Y� 0Y1y� ��:�� ��5)� ��;��0j,�r��E�AY}2�r�@�}2���@y}2{c�<�}2i��}2H�����Sҿ��� ��?����_�?���@ �������Cҿ���������`��������ߣ��������?)~2�r�@ ~2D�^;I~2��Cɫ9�9)�9 �9I�9Y�]��@y�e�eG�����MN=Y�~ȸQU�>��!��!�a%�G��!��)y�-���}-�>I�1��=�:��5�� 5�?��=�:��5��ݾ� �5x����E�?9�5BJ@��5(�: �54�:)�5��:�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu��� �~�?zL��L��L��L���o@�A�<B� B��A�7�*B�&!9�A��A�K�7�A�sѺ�A�"C�3��*C�/�!=RC���C��C����u}�I�G-->���"0j,*����E�A�|4<�|Y}>5q�@�}>�~�@y}>�F�<�}>p���}>H����@"Vҿ������?�����<�?����������� Hҿ���@V�����@i������ �}�����`���?)~>5q�@ ~>��^;I~<ɫY�Y)�Y �YI�YY�}I�@y�}kfG��=d;>��=�}���=��>i�=כ@��9 �=&�@)�9I�=�@i�9��Uc=MU8=Y�U �QU]�>��Y��Y�a]�G��Y��ay�e�}e�>I�����%� 5�?�����ݾ� ���������?9��tL@���+�: ��8�:)���W��W�X� X��W�:W�2W�*W��V�UU��� R��?zL!�L!�L!�L%��o@�A56l<B9 B9�A=��*B=�$9�A9�A=��7�AE�к�AA"CM2��*CMb!=RCM�으CI�CQ �]�=��]�=��q��qi��I� i�1��e�J�ٺa��m?A��}FΞ�I��G�`>�� �=i� �=�� j���� ����� ����� ��� � �':Y� [1y� ݏ:�� |�5�9 @܉ 9܉ I܍ D^Gi܍ ��@�܉ �܉ �܉ �܍ �M; ݍ 6#E��')0j,Mg���E�AY}2�|�@�}2e��@y}28(�<�}2���}2H����`1@ҿ����¨�?������?���������``3ҿ����z<�������$����� &������w��?)~2�|�@ ~2`�^;I~2��Cɫ9�9)�9 �9I�9Y�]��@y�]�fG��U�����Mb`?�����M�?)\���(����U;��Un> �UGa�)�QI�Qy�U�i��|?5�?D�l�����y�&1��?��U�q=��UO����U`e< �U�A)�UAI�U5Ai�UdA��Q��U�A��~=M�W=Y����QU��>�����a��G����y��q;}��>Iȱ����:�ŵ�� 5�?����:�ŵ��ݾ� Ƶߍ�����?9Ƶ�N@�ǵ��: ȵb�:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@"��?zL �=�L �=�L+o�@�L=d@�A%<B! B!�A-U��*B-�$9�A)�A-��7�A-!к�A1"C55��*C=r*!=RC=�{��C9�C9�օ�}��I��G�=>�u00j,�@���E�AY}2]��@�}2��@y}2�{�<�}2���}2H���� &ҿ����s��?�����5�?���`�������>�ѿ����������� ϔ�����!�������a��?)~2]��@ ~2�_;I~0ɫY�a)�a �e����I�aY�� �@y��]gG��5,�<M=P=Y�=IZ�QU=�>��A��A�aE�G��A��Iy�M8 <}M�>I�Q��Uۤ 5�?��Uq�ݾ� �Uӊ���]�?9�U�P@��Uӻ: �U:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U���� `�@zL��L��L��L��td@�A�k�<B� B��A�0�*B��&9�A��A�x�7�AMxϺ�AQ"CU4��*C]�� =RC]��u�CY�CY�ֽ�m��I��G�E>�� 3���� ����� ����� ��� � y#:Y� �W1y� č:�� ��6�:;60j,�"���E�A�|i|�@Y}6&��@�}6�Ǎ@y}6�r�<�}6 <��}6H�����e�ѿ����3��?������?�����������ټѿ����Nx�������������~���������?)~6&��@ ~6G_;I~6��Cɫ9�9)�9 �=����I�9Y�]λ@y�]gG��a��e?A����>��,����l�i�z�@�� �z�@)�\�@I�-�@i�\�@��-��M5K=Y�53�QU5�>��9��9�a=�G��9��Ay�Eo'<}E�>I�I��M� 5�?��MM�ݾ� �M�����]�?9�M4S@��M�: �M+�:)�I�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������2@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�_�d@�A���<B� B��A����*B��%9�A��A�4�7�A��κ�A�"C�3��*C��� =RC��?�C��C��������� mA�� nA� �>9�I�_Gi�J�@���������M; �#E���oM��I��G )>I� )� �d<0j,�����E�AY}2%ٕ@�}2��@y}2�q�<�}2M�"��}2H����@�ѿ�������?���@���?����B��������ѿ������������������ mU�����@,��?)~2%ٕ@ ~2�_;I~2��Cɫ9�9)�9 �=����I�9Y�]f�@y�]�gGeZ****** received transponder code query ******eF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******����A=M�Q=Y��j#�QU��>�������a��G������y���<}��>I��� �:��V� 5�?�� �:��&�ݾ� �|�����?9�|U@����< �պ<)���:�W�WX! X!�W!:W!2W!*W!�V)U)UM����� @zL��L��L��L���d@�A��^<B� B��A��ѽ*B��(9�A��A���7�A��ͺ�A�"C�2��*C�_� =RC�g��C��C����h�W�I� G%M>��M �����M �����M �����M ��� �M �:Y�M �X1y�M /�:��M ��6�ULC0j,c� ��E�AY}2U�@�}2��@y}2Iב<�}2��&��}2H������oѿ������?���@Ꮱ?����������@faѿ�������������:�����`"Ԥ����@���?)~2U�@ ~2�D_;I~0ɫy�y)�y �}����I�yY��L�@y���gG�xDUSBL response received:!U1,P E15,000,005D8,186,80,80,74,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 ��m��>��ml���mC�<i�mQ�@��i �mn�@)�m&�@I�m�@i�m&�@��}�ŻM�=Y��U�QU�>�����a�G�� �� y� 1p;}�>I�9��=�� 5�?��=Q�ݾ� �=%����U�?9�=�X@��=�(; �=);)�9�W�WX X �W1:W92WA*WI�VIUqU}���`&� @zLI�LI�LI�LMPe@�A�D<B� B��A�sؽ*B�*9�A��A���7�A��̺�A�"C 5��*C- �= =RC- ����C) �C1 �= �=��= >� 9� I� �_Gi� ��@�� �� �� �� MM; � �"E)ݡ�Iݡ�iݡ��ݡ��ݡ��ݥ���4��=���I�IG��>��uI0j,�'��E�A�|�;�|4<Y}2��@�}2s��@y}2���<�}2���}2H�����|cѿ��� J��?��� ּ�?������������Uѿ����uD�����@��������������?)~2��@ ~2�_;I~2��Cɫ9�9)�9 �=����I�9Y�]6�@y�e�gG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)������V-����A`��"����ʡE�����������Y� ��-��)��I��y����MbX9�?ˡE��������Mb�����ʡ=����'�����@� ��)��3AI��i��������fA���w �M�=Y��쵹QU�?�������a�G����y� F(;} ?I����:��� 5�?���:��h�ݾ� �p�����?9�WZ@��+�: �I�:)���:�WA�WAXA XA�WA:WA2WI*WI�VIUIUU���@)@zLm#�=�Lm#�=�Lm*��@�Lm��{@�A���"<B� B��A�*B��"9�A��A���7�A�r̺�A�"C�4��*C��" =RC����C��C��օ���I��G�=>�� � ���� ����� ����� � �� � Y>:Y� �Y1y� �:�� ��6)� ��;�9 ���]P0j,A��E�AY}2��@�}2��@y}2<2�<�}2����}2H������tѿ���@��?���`1\�?��� .�������gѿ��� yz�������������|���������?)~2��@ ~2��^;I~2��Cɫ9�9)�9 �=����I�9Y�]*�@y�e�hG)�q����=MY=Y�q˺QU�>��!��!�a%�G��!��)y�-*<�}-�>I�1��5 � 5�?��5��ݾ� �5o����E�?9�5|\@��5��: �5��:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUiUu��� ��@zL��L��L��L��{@�A-'8(<BI BQ�AU蠽*BU�*9�AQ�AUU�7�AU�˺�AQ"C]3��*Ce��=RCe�I�Ca�Ca�������I��G�F>��V0j,�m[��E�AY}j�Օ@�}j��@y}j�3�<�}j9Q��}jH����`r�ѿ�������?��� g'�?�����������]�ѿ����1h������C������`^(����� 2��?)~j�Օ@ ~j^;I~j��Cɫ���)�� ������I��Y�5��@y�5[iG�EDNmea in: $SNTTA,,,,,165116.79*54 �٩�٩ܱ9ܱIܵ�`Giܵ��@�ܵ=�ܱ�ܱ�ܵ�L; ݵ�"E)�� �= �� �� ����� ����� ����� �� � /3:Y� [1y� ݏ:�� �6)� �;��M �z>��M �!���M �ľi�M \�@��I �M \�@)�M =�@I�M ��@i�I ��] ��<Me �<Y�e A��QUe �>��i ��i �am �G��i ��q y�u J�}u �>I�y ��� �:��} z� 5�?��� �:��} +�ݾ� �} ������ �?9�} W`@��} ��: �} �:)�} ��:�W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ���@9A@zLY�LY�LY�L]��{@�Am��-<Bi Bi�Au���*Bu"/9�Aq�Au$�7�A�>ʺ�A�"C�2��*C�p�=RC�E "�C��C���������� ���I�� G�>�|�]0j,�y��E�AY}F���@�}Fbύ@y}F��s<�}Fq,��}FH�����G�ѿ����ۺ�?����0H�?��� :������ذѿ����G>�������z�������#������]��?)~F���@ ~FQ�];I~F��CɫY�Y)�Y �]����I�aY����@y��DiG����=i���=I��)�����@�M�=Y��ջQU%h?��!��!�a%�G��!��)y�-�Q�}-h?I�1��5u� 5�?��5��ݾ� �5-����E�?9�5pa@��5��: �5ϸ:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu����\@zL��L��L��L���{@�A���3<B� B��A�"��*B��'9�A��A� �7�A��ɺ�A�"C�5��*C���=RC���J�C��C�����z�I��G�>��td0j,ѯ���E�AY}:���@�}:���@y}:F�]<�}:Y���}:H�������ѿ����l��?����z�?����������"�ѿ����{ ����� �������`�.��������?)~:���@ ~:9�];I~:��Cɫ9�9)�9 �9I�9Y�}p�@y�}iG���`�;���`�������i���@��� ��&�@)��&�@I��&�@i����e�F�MeG=Y�mKV�QUm�>��i��i�au�G��q��qy�}9ݻ}}�>Iȁ����:�ŅI� 5�?����:�ŅP�ݾ� ƅ﮾����?9ƅ�c@�Dž��: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����n�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�/{@�A�MV:<B� B��A�Q��*B�7,9�A�A�7�A�Ⱥ�A"C 4��*C �K=RC ��j�C�C��-� &�I�YG�<>��9��I��daGi��2�@��� =��������D���wL; ��z"E��]{����]�����]�����]��� �]7):Y�]�U1y�]��:��]Y6)�]m�;���j0j,?����E�AY}2�@�}2y��@y}2�UI<�}2a���}2H�����ҿ���`h��?����z��?����9�����@�ҿ����.ؖ������*�����@K���������?)~2�@ ~2�w^;I~0ɫ9�9)�9 �=����I�9Y����@y���iG��5��&1��?/�$���{�G�z����5��=��5�� �5�#�)�1I�1y�5�J+��?1�Zd��Zd;�O�����5��=��5"۽��5j�� �5;A)�5�AI�5dAi�1��1��5pA��A��EnA��Uu=MU<=Y�Ub=�QUU�>��Y��Y�a]�G��Y��ay�e�û}e�>I�i��m~� 5�?��m��ݾ���utI �mm����}�?9�m�g@��m��: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U���� gf@zL�o>�L�o>�L�t��@�L���e@�A���@<B� B��A��[�*B�p.9�A��A���7�A��Ǻ�A�"C�3��*C�( =RC�����C��C� � �=�� �=���@p�I�1GUS>���q0j,�e���E�AY}: ��@�}:ē�@y}:�[;<�}:G9��}:H���� �.ҿ������?����kV�?����ڭ����`�%ҿ���@R㕿����Zk�������Ţ��������?)~: ��@ ~:��_;I~:��CɫA�A)�I �M����I�IY�}w�@y��VjGI��)���A���R=i���=)������x>����%>����D>i��G�@��� ��O�@)��E�@I��\�@i��E�@���<%=M�P=Y����QU��>�������a�G����y� 0��} �>I�1��=�:��5� 5�?��=�:��5E�ݾ� �5�����=�?9�5�k@��5 �: �5�:)�5��:�Wa�WaXa Xa�Wa:Wi2Wi*W��V�U�U�����b�@zL��L��L��L�p�e@�A�1G<B� B��A -�*B 09�A �A ��7�A �ƺ�A"C2��*C��=RC�4��C�C���}U��I�)GMt>��}%����}�����}�����}o�� �}�_:Y�}�V1y�}�:��}�6�9�@i��mGI��i� ��5 �A�ٺ1 ��5 X6A���w0j,A���E�AY}6.�@�}6匍@y}6�Q3<�}6W\��}6H�����<ҿ��� @��?������?���@�����`13ҿ����;������j�����@>j������5��?)~6.�@ ~6��`;I~6��CɫY�Y)�Y �YI�Y�ٝnA�ٙܥ!�>9ܡIܥ,bGiܥԷ@�ܡ�ܡ�ܡ�ܥL; ݥ@"EY���@y��_jG�xDUSBL response received:!U1,N,80,80,63,E4D8,186,80,80,74,FF �ZNo reply:!U1,N,80,80,63,E4D8,186,80,80,74,FF -�<No response from remote modem.��Us�:M]=Y�]�j�QU]�>��a��a�ae�G��a��iy�m�Ⱥ}m�>I�q��u� 5�?��u3�ݾ� �u%������?9�u�p@��u�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����y(@zL��L��L��L�w�e@�A�֦L<B� B��A�y�*B��09�A��A���7�A��ź�A�"C�5��*C��=RC��C��C��� �� ��E (���I�Q Gm �>�,�}0j,"���E�AY}6��@�}6֑�@y}6�(<�}6����}6H������2ҿ�������?����21�?����g������*ҿ������������y������r�����@@��?)~6��@ ~6C�`;I~6��CɫA�A)�I �M����I�IY�uG�@y�}jG��6Buffer fill timout failure.����M��=Y��N�QU�N?�����a��G����y�[6;}�N?Iȹ�Ž� 5�?�Ž��ݾ� ƽa������?9ƽ�r@�ǽ��: Ƚ �:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�L�L�Lj�e@�A-��Q<B) B)�A5?3�*B5�,9�A1�A5u�7�A=ź�A9"C=4��*CE�`=RCERz��CA�CA��%�m��I�1GM>��]�����]�����]�����]r�� �]-:Y�]�W1y�]č:��]�5�+Ą0j,��¨E�AY}2镕@�}2���@y}2�<�}2t���}2H������ҿ������?�����u�?������������ҿ���@铿����A������ "����������?)~2镕@ ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y�u��@y�}�jG��y��}AA����=i���=I��)���Aܙ9ܙIܝ�bGiܝw�@�ܙ�ܙ�ܙ�ܝ�K; ݝ"E��uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D��POutgoing frame #2, 6 bytes: 55B944648000��DNmea out: $CCCYC,0,1,10,1,0,2*6A ���i����� �����K�?�Q������I+������ ^�=��� \� �� 94�)�� I�� y�� �<�O��n�? ףp= ��{�G�z�?��� t=��� Q8���� ף< �� A)�� �AI�� �Ai�� ��� ��� �A��U @��U @��U @��U ©�U ���U �i�U 3�@��U ���� �U ƣ@)�U ��@I�U ƣ@i�U ��@��e =Mm �<Y�m l�QUm �>��q ��q �au �G��q ��q y�} �M;}} �>Iȁ ��� �:�Ņ �| 5�?��� �:�Ņ ��ݾ� ƅ η���� �?9ƅ u@�Dž ��: ȅ 4�:)ȅ ��:�W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ����;�@zL� �y=�L� �y=�L� ^c�@�L� ��b@�A� ��T<B� B� �A��*B39�A�A`�7�AXú�A"C 3��*C �=RC=ᄼC�C �] �=��] �=��AI�IGm?��x�0j,�O4¨E�AY}2��@�}2Ӻ�@y}2��<�}2P|)��}2H���� !�ѿ����d��?����^4�?���`!����� 5�ѿ���ਛ�������0�������-�����`���?)~2��@ ~23�`;I~2��Cɫ1�1)�1 �5����I�1Y�m��@y�u�kG��BNmea in: $CACYC,0,1,10,1,0,2*68 �����=M��=Y��⍻QU�+?������a�G���� y�51<}*?I���{{ 5�?��+�ݾ� �괾��5�?9�v@��,; �;)��W��W�X� X��W�:W�2W�*W��V�U�U�����pp @�R�B*** querying acoustic contact ***�P��P�zLQ�LQ�LQ�LUs�b@�A�y�W<B� B��A����*B��49�A��A�\�7�A��º�A�"C�2��*C��=RC� �^�C��C���E�����A��A��E��� �E�):Y�Ay�A��E��5���}U��I��Gj>�R[�0j,@N¨E�AY}6O@�}6Ѝ@y}6Ŏ�;�}6Y�3��}6H�����o�ѿ����k��?���@^��?���@������P�ѿ����m`��������|�����on���������?)~6O@ ~6��`;I~4ɫ9�9)�9 �9I�9Y�}�@y�}=lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��NNmea in: $CADRQ,165121,1,10,0,64,1*76 ��uNmea out: $CCTXD,1,10,1,188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D*32 �������������ÝC���Ý�T��Ý �=iÝf�@�Ý��� ĝE�@)ĝE�@IĝE�@iĝE�@���<M�1=Y� ��QU �>�����a�G����Iy�M�;}M�>I�Q��]�:��Uby 5�?��]�:��U��ݾ� �U�������?9�U�w@��U�+< �U,<)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U������e!@zL1�L1�L1�L5�c@�A��IZ<B� B��A�*B�$69�A��A��A�]���A�"C�5��*C��=RC��rB�C��C�����c�I��G��>�ف �ف ܉ 9܉ I܍ dGi܍ k�@�܍ =�܉ �܉ �܍ ,K; ݍ �!E)�!�I�!�i�!���!���%�=��%��4����0j,+�g¨E�A�|�|�;Y}6�ѕ@�}6Dߍ@y}6���;�}6Ȼ4��}6H�����&�ѿ����}��?��� }ä?����N������.�ѿ����x��������{���� w������@���?)~6�ѕ@ ~6��`;I~6��Cɫ1�9)�9 �=����I�9Y�uӿ@y�ulG}xDUSBL response received: !U1,P 0,80,63,E4D8,186,80,80,74,FF �Command Ack�BRequesting micromodem ping code 2i�������<Nmea in: $CATXD,1,10,1,64*49 I��)���A�U�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �� #|�M V=Y��i�QU�>��I��I�aM�G��Q��Yy���;}��>Iș�ŝ�w 5�?�ŝB�ݾ� Ɲd�����?9Ɲ5y@�ǝ�< ȝ�<)ș��e~����e�����e�����e��� �et):Y�e�Y1y�e�:��e4�5)�e��;�9u��W��W�X� X��W�:W�2W�*W��V�U�U�����/"@zL��L��L��L��,c@�A Xi]<B B�A*Be59�A�AY�7�AS���A"Ce4��*Cm&c=RCmpI+�Ci�Ci��y��}mA��ml;�I��G��>��l�0j,�ȁ¨E�AY}2�֕@�}2f�@y}2��;�}2E+��}2H����`G�ѿ�������?����碣?���@������ �ѿ���@�[������r|{����@�f���������?)~2�֕@ ~2��`;I~0ɫ9�9)�9 �=����I�AY��z�@y���lG��NNmea in: $CADRQ,165121,1,10,0,64,2*75 ��|Response from modem unexpected: $CADRQ,165121,1,10,0,64,2*75 ���y=M�t=Y���QU�?�������a��G�����y�!�:} ?I� ���:�� Kv 5�?���:�� ��ݾ� � ۧ����?9� `z@�� ��: � ��:)� ��:�WA�WAXA XA�WA:WI2WI*WI�VIUIUU����.�"@zLi�Li�Li�Lm�-c@�A���`<B� B��A��;*B�N89�A��A�`�7�A�����A�"C�3��*C��?=RC�$&�C��C���e�0�I�qG�9>����0j,���¨E�AY}r2Ε@�}r�ۍ@y}r���;�}r|V��}rH�������ѿ����%��?��� zD�?��� i�����@~�ѿ����O����� Q[y����`m飿���@���?)~r2Ε@ ~r]a;I~r��Cɫ���)�� ������I��Y����@y���lG�xDUSBL response received:!U1,R,DAC,000,005E5,189,80,80,5A,FF �Fpublishing direction and range info����%?���ɰ�<�=鰝7�> ��)����BI��y��(TB���������?�k��k��?��������ٱ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �="�>9�9I�=LeGi�=_�@��9��9��9��=�J; �=�!E���X9��v��?:��v��������Mb�?��UC����Q��Q��U��� �U�$:Y�Qy�Q��U4�6)�U��;����=���Խ ��<)�I�y��+�����?�l����V-������=��������m� �fA)�^AI��Ai�����A���?��A�?��㥽i�z�@�� ���@)���@I���@i���@��E��:MM=Y�M�y�QUM�>��Q��Q�aU�G��Q��Yy�}���}}�>Iȁ�Ņfr 5�?�Ņ*�ݾ� ƅq������?9ƅb}@�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�UU������#@�P*Q(TB�Z���D+]G@g��\:@���������Z������?�k��k��?��������2Q�%?:Q�Z��<��C)@��L��I��0�����Z��D�R|�?l,��ᅯu���J��BQ�~�@ Q�M�QJA�Pm�9?�Pa�9?�PJ���QQ��@"Q#�@zL�v�=�L�v�=�L�KQ�@�L�<U@�A��+c<B� B��A���;*B��79�A��A�j�7�A�����A�"C�2��*C��=RC;�7�C�C �1��5�=�� I� G- �>����0j,���¨E�A�|i|�@Y}6N��@�}6ʍ@y}6A��;�}6����}6H�������ѿ����0��?������?����u��������ѿ����q%�������]y�����������@���?)~6N��@ ~6��a;I~6��CɫY�a)�a �e����I�aY����@y���lG��=�=i�=0>��}N�;M}�=Y�} 7QU} ?�����a��G����y�)�}�"?Iȑ����:�ŕvp 5�?����:�ŕi�ݾ� ƕE������?9ƕ�~@�Ǖ��: ȕ�:)ȕ��:�muqAdded new target pos. range: 53.040001 m, bearing: 283.782776 deg, deltaT: 9.946997 s, approachRate: 0.078416 m/s, LOS rate: 0.554793 deg/s, posRepo size: 4�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU������J@U����@g`�?zL��L��L��L��(U@�A�ie<B� B��A���;*B��89�A��A�q�7�A�<���A�"C�5��*C���=RC��Z�C��C�Yϝ9�֑I��G��>�|��0j,\�¨E�AY}6^��@�}6��@y}6�,�;�}6҅��}6H���� �ѿ������?������?���@��������ѿ����"�����`�%z������������@��?)~6^��@ ~6�{a;I~6��Cɫ9�9)�9 �=����I�9Y����@y��/mG)�!�� �@=�� ���� 94<i� ��@�� � ��@)� ��@I� \�@i� z�@��EV�<ME>=Y�M�9QUU�>��Y��Y�ae�G��a��iy�}'ӻ}}�>Iȁ�Ņem 5�?�Ņ��ݾ� ƅ�˾����?9ƅ��@�Dž�E; ȅG;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�LH�T@�A5�3g<B1 B9�A=�l<*B=99�AA�AE~�7�AE���AA"CM4��*CU��=RCU~�CQ�CY��U����U�����U�����U��� �U�):Y�U0Y1y�U��:��U2�5�9U@Y�e(9��Ul�X�I�aG}z>��! ��! �1 9�1 I�5 fGi�5 �@��5 =��1 ��1 ��5 -J; �5 G!E��ӹ0j,�6�¨E�AY}:��@�}:���@y}:^��;�}:v(��}:H�����2/ҿ��� թ�?����c��?����0�����`�(ҿ���@�ؐ����`�z������c����� ���?)~:��@ ~:�Ka;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}nG����4=M�=Y��Ƈ9QU��>�������a��G������SA���y��y�}��>I���� �:����i 5�?�� �:���@�ݾ� ��dھ���?9�� �@����; ��|;)����:�WI�WIXI XQ�WQ:WQ2WY*WY�VYUaUe����=��?zL��L��L��L���T@�A�hh<B� B��A��=*B�];9�A��A���7�A�����A�"C�3��*C��H=RC��R��C��C�����=����=Yϥ �9�ԩ �ԭ nA�֕�I��G��>����0j,[�èE�A�|�|Y}Fj�@�}F�w�@y}F'8�;�}F���}FH������dҿ������?��� $�?����0�����@x]ҿ���`�ő�������z�����ӣ�������?)~Fj�@ ~F��`;I~F��CɫQ�Q)�Q �U����I�QY����@y���nGI�I)�M�A��d8=M��=Y��,�QU�?�������a��G������y���B�}?I�!��%�g 5�?��%�ݾ� �%����U�?9�%ւ@��%�; �%g�;)�!�W�WX X�W:W2W9*WA�VAUIUM���@��?zL��L��L��L��qT@�Aj�i<B B�AjM=*B�>9�A!�A%��7�A%����A!"C-2��*C-c=RC-����C)�C1��]�����]�����]�����]��� �]H-:Y�]�V1y�]�:��] �5Y�-�9�� 5%��I�) GM �>��� ��� �Ci�5 �lGI�I i�a ��� �Y�ٺ� ��� 3MA���0j,Q�èE�AY}m$Z�@�}m�g�@y}m���;�}m�#��}mH�����D�ҿ���`��?���`��?���@������@�{ҿ�����Ƒ�����3�x����@�t������N��?)~m$Z�@ ~m��`;I~m��Cɫ1�1)�1 �5����I�1Y���@y���nG�q9�qI�u�fGi�u��@��u=��q��q��u�I; �u!E�����A`��"�?����Mb`��Q��롿����=���� ��\�)��I��y������S㥻?�MbX9������Mb`����/�=���ʡ����� ���A)�� AI��;Ai���A�������A��Uj�>��Uף���Un>i�U¥@��Q �Uٮ@)�U��@I�U��@i�U��@��e��;Me2=Y�mf|�QUm�>��i��i�au�G��q��qy�}y��}}�>Iȁ�Ņ�c 5�?�Ņ��ݾ� ƅ������?9ƅ��@�Dž��: ȅz�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U����`�M�?zL� >�L� >�L�@ڴ@�L�4cr@�A�3/i<B� B��A��X=*B��=9�A�A׳7�A����A"C 5��*C ��=RC $��C �CY�5�9��% �U��I�1 GM �>�x>�0j,��7èE�Aɫ�髙)�� ������I��Y���@y���nG��������5y�;M5a=Y�=���QUE�>��I��I�aU�G��Q��Yy�e���}m�>I�q��}�:��uO` 5�?����:��u4�ݾ� �uk�����?9�uV�@��u?�: �ue;)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U���� ٣@zL�L�L�L�A%��g<B! B!�A��a=*B��>9�A��A���7�A�����A�"C�4��*C�$�=RC�Ǻ�C��C���e�����e�����e�����e��� �e�.:Y�e0Y1y�e��:��e��5Y�5T9��- �¼I�Y G� �>��%�0j,geQèE�AY}2�_�@�}2�m�@y}2���;�}2<��}2H����@<xҿ���@;��?���`"�?����K����� *qҿ����qT������y�����T����������?)~2�_�@ ~20x`;I~0ɫ9�9)�9 �=����I�AY����@y��coG������)���Í,��Í��>�Íj�=iÍ��@�É č��@)čƣ@Ičƣ@ičƣ@���k =M�P=Y���9QU��>�������a��G������y��d�:}��>I�a��e�\ 5�?��e�ݾ� �eX���m�?9�e�@��e��: �ev�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����N�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�nr@�A�9we<B� B��A�^�=*B�^@9�A��A� �7�A�q���A�"C�3��*C��[=RC�䵼C��C�Y��9�������I��Gj>��m �<��m �<�q 9�q I�u �gGi�u F�@��u =��q ��q ��u kI; �u � E��P�0j,NCkèE�AY}:/f�@�}:�s�@y}:���;�}:n���}:H�����3lҿ���`{��?���@��?����������teҿ���`����� ��y�����}٢�����H��?)~:/f�@ ~:��`;I~:��Cɫ9�9)�9 �9I�9Y�}L�@y��GpG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��e� ����e�����e�����e��� �eY>:Y�e�Y1y�e�:��e��5)�e��;�9m�)ý�= ý�=���^=M�=Y���9QU��>�������a��G������y� �:} �>I� �� �:�� dW 5�?�� �:�� ��ݾ� � F��� �?9� ��@�� h�: � S�:)� ��:�W9 �WA XA XA �WA :WA 2WA *WI �VI UI UM ������ @zLi �Li �Li �Lm �zr@�A� ��b<B� B� �A� ��=*B� �@9�A� �A� a�7�A� ִ��A� "C� 2��*C� p�=RC� �ϱ�C� �C� Y�� L9���I��G��>����0j,���èE�AY}2/i�@�}2�v�@y}2��;�}2�W��}2H���� rfҿ�������?����C��?��� ������+_ҿ������������{����ଉ���������?)~2/i�@ ~2^a;I~2��Cɫ1�1)�9 �=����I�9Y��=�@y��5pG xDUSBL response received:!U1,P DAC,000,005E5,189,80,80,5A,FF Command AckBRequesting micromodem ping code 2i����E�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��e��>��e�}=��e>i�e¥@��a �e�@)�e�@I�e�@i�e�@����˻M��=Y� �~:QU?��a��i�am�G��i���y��L�:}� ?I�����vT 5�?���/�ݾ� ��9��� �?9����@�����: ���:)���WI�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}��� �3 @zL��L��L��L��r@�A5�t`<B9 B9�A=�=*BE�C9�Ai�Am��7�Am賺�Ai"C}5��*C��=RC��毼C��C�Y���9��� ���I�GE�>���0j,�R�èE�AY}VX�@�}V�e�@y}Vy6�;�}V�3��}VH���� �ҿ���`s��?�����W�?�����������u}ҿ��� �w�����@�F����� o���������?)~VX�@ ~V�;a;I~V��Cɫq�q)�q �u����I�qY��E�@y��>pG鮵a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��-C=i�-C=�u#�>9�qI�ulhGi�u�@��u=��q��q��u*I; �u� E)��I��i�����=��������4���y�&1�|�y�&1�|�����Mb`���`���`� ��)�I�y������Mb`?��������:��v������;���L����Լ �fA��E�=i�A)�$AI��Ai������A��uA;MuQ=Y�}g1;QU}�>�����a��G����y��}��>I�����:����R 5�?���:�����ݾ� ������ �?9����@����: ����:)����:��� ����������������� �lX:Y��W1y�č:���6)�6�;�WI�WIXI XQ�WQ:WQ2WQ*Wy�VyUyU}�����@zL��f=�L��f=�L�e�@�L���8@�A�^<B� B��A�ͼ=*B��C9�A��A�Ĵ7�A���A�"C4��*C-�=RC?���C�C Y� �9��� I� G- �>�,��0j,"�èE�AY}FP�@�}F�]�@y}F�Z<�}F}�0��}FH�����m�ҿ����b��?�������?����������@Čҿ��� ޞ������IK�����@���������?)~FP�@ ~F�`;I~F��CɫY�Y)�Y �]����I�YY����@y���pG�xDUSBL response received:!U1,R,DFE,000,005ED,187,80,80,5B,FF �Fpublishing direction and range info���L��>���ɰ���=鰽1�> ��)����BI��y��VB�������w���?x1���?��������ٱ�����<M�l=Y��r:QU�?�����a��G������y���;�}�?I������Q 5�?�����ݾ� ��������?9�� �@����: ����:)���Wy�WyXy X��W�:W�2W�*W��V�U�U������u@�P�*Q�VB�Z���ȍ��H@Ք>O�57@���������Z�����w���?x1���?��������2Q�L��>:Q��Z���� �a^ @�M���oJ���l� )���Z��*�x���?聀vߜ�B4v����BQ����@ Q�}S�Q��A�P�`�9?�P�m�9?�P�L���Q�J���Q�5�@"Q���@zL�L�L�L5x8@�AU��[<BY BY�A]w�=*B]E9�AY�A]��7�A]���Aa"Cm3��*CmTV=RCm~ƼCi�Cqi�}mAI�}mAY�] 9 �e�=��e�=��m�¼I�yG��>����0j,��èE�AY}jB�@�}j�O�@y}j02<�}j!��}jH���� 0�ҿ����z��?����k�?�������������ҿ�����ݓ����`9怿��� 7/�����@Z��?)~jB�@ ~j��`;I~hɫ���)�� ������I��Y�S�@y��qG�}DNmea in: $SNTTA,,,,,165126.69*56 ���9�<���94<����R�i��ף@��� ����@)��ƣ@I���@i����@���)x=M�G=Y���<:QU��>�������a��G������y��N��}�>I����O 5�?��]�ݾ� ������?9�ˍ@����: �f�:)��mmuAdded new target pos. range: 53.519993 m, bearing: 278.799224 deg, deltaT: 4.366889 s, approachRate: 0.109916 m/s, LOS rate: -1.141213 deg/s, posRepo size: 4�W �W X X �W:W2W*W�VU��� ��J@U��� ���?zL��L��L��L�yZ8@�A��X<B B�A1�>*B �F9�A �AA�7�A氺�A��%� ����%�����%�����%��� �%B:Y�%[1y�%ݏ:��%�6�9-@"C2��*CE�=RCE9�ҼCA�CIY�"9��8�ƼI�!G=�>�ف�ف܉9܉I܍�iGi܍ݽ@�܉�܉�܉�܍�H; ݍ� E����0j,R��èE�AY}F�4�@�}F�B�@y}F�( <�}F����}FH�������ҿ����ג�?��� i��?���������� ?�ҿ����(�������E�������ڡ�������?)~F�4�@ ~F�k`;I~F��Cɫy�y)�y �}����I�yY����@y���qGI�)�����<M�O=Y�c�9QU��>�����a��G����y�Ԇ�}��>Iȹ����:�Ž2N 5�?����:�Ž�ݾ� ƽ�������?9ƽp�@�ǽ��: ȽA�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U����d�?zL�L�L�L?8@�A5� U<B1 B1�A=�>*B=�I9�A9�A=��7�A=���A9"CE5��*CE��=RCM��ݼCI�CII�I)�M@AYω��}VoѼI��G�^>�=�1j,��ĨE�AY}B�(�@�}BU6�@y}Bs� <�}Bz���}BH�������ҿ����ɏ�?�����t�?���@�����`0�ҿ����w�������:������$������ T��?)~B�(�@ ~B�^`;I~B��Cɫ�髙)�� ������I��Y����@y���qG�í��>�í/ݼ�í\�=iíz�@�é ĭ�@)ĩIĭ�@iĭƣ@��w�;M�H=Y��G�QU��>�����a �G�� �� y��i�}�>I���yL 5�?����ݾ� ������%�?9��@��D�: ���:)��WQ�WQXY XY�WY:Wa2Wa*Wi�ViUqU}���`�D�?zL��L��L��L�,'8@�A�zIQ<B� B��A��>*B�PH9�A��A�ӵ7�A�����A�"C�4��*C���=RC����C��C����>���N>��m0 ����m�����m�����me�� �mL:Y�m�X1y�m/�:��m�6Y��P$9�����ݼI��G�>�1j,}�!ĨE�AY}2��@�}2u,�@y}2��<�}2v0 ��}2H�������ҿ���@{��?������?����������M�ҿ��� ������������������������?)~2��@ ~2S`;I~0ɫ1�9)�9 �=����I�9Y�u��@y�uArG�9�I�`jGi��@���������H; 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B!�A%� >*B%�K9�A)�A-w�7�A- ���A)"C52��*C5�=RC5�r�C1�C9Y� ���� �������������� ���S:Y��y������6�����I�G5P>��1j,�>UĨE�AY}2� �@�}2F�@y}2�<�}2E�-��}2H������ӿ����5��?���@O�?���`������Aӿ����E�����nタ������������I��?)~2� �@ ~2�d`;I~0ɫY�Y)�Y �]����I�YY��R�@y���rGi��mGI�fpAi�1���hm�ٺ�fpA����^A���>����Q>�����=i��G�@��� ����@)���@I���@i���@���ƍ�MD=Y�su:QU�>�� �� �a �G�� ��y����}�>I���%�:��JD 5�?��%�:��@�ݾ� �>���-�?9�#�@����: ��:)���:�WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]����\J@zLy�Ly�Ly�L} �t@�A�qnD<B� B��A�! >*B��J9�A��A�ζ7�A����A�"C�5��*C���=RC�M���C��C�i̱I̱Yυ�&9��u+O�I��G�>���<���<�9�I�(kGi�"�@��������HH; �K E��:1j,�oĨE�AY}2� �@�}2��@y}29�<�}2��-��}2H������ӿ����P��?�����K�?���@������� ӿ���@ 땿����������6�������M��?)~2� �@ ~2W`;I~2��CɫY�Y)�Y �]����I�YY����@y���sG������)����UsF=M]V=Y�]�]�QU]�>��a��a�ae�G��a��ay�m}�8}m�>I�q��u�A 5�?��u��ݾ� �u������?9�ui�@��u��: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������Y@�R�B*** querying acoustic contact ***�P��P�zLQ�LQ�LQ�LU��t@�Ae��?<Bi Bi�Am3>*B��M9�A��A�-�7�A�"���A�"C�4��*C��p=RC����C��C�Y���(9�� � ���� �� �� 7�� � OW:Y� y� �� � 6)� ?�;�9����r��I��G��>��*"1j,7�ĨE�AY}=��@�}=� �@y}=��<�}=s�#��}=H�����iӿ�������?��� �'�?�����������*ӿ���`۔����`�9������Uo������&��?)~=��@ ~=�`;I~=��Cɫ!�!)�) �-����I�)Y�ay�amZ****** received transponder code query ******mF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******����=i���=I��)���A��u��>��u��=��u���i�u��@��q �ux�@)�qI�qi�qY���QU��>�����a��G����y�t�:}��>Iȡ����:�ť�= 5�?����:�ť��ݾ� ƥ������?9ƥo�@�ǥ�; ȥ��;)ȥ��:�W��W�X� X��W�:W�2W�*W �V U U ���@�A@zL! �L! �L! �L% �u@�AU �:;<Ba Ba �Ai *Bm �I9�Aq �Au ��7�A ʩ��A "CU 3��*C] i=RCe É��Ca �C� Y���(9� 9� I� �kGi� Ŀ@�� �� �� �� H; � - E���Q���I��G�>���)1j,���ĨE�AY}2M�@�}2!�@y}2{<�}2ځ��}2H���� � ӿ���`j��?����NƠ?���@��������ӿ����P������`Ⴡ������������?)~2M�@ ~2�m`;I~2��CɫQ�Q)�Q �]����I�YY��Y�@y�� tG�xDUSBL response received:!U1,P DFE,000,005ED,187,80,80,5B,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 ��-[����-�����-�����-��� �-�c:Y�-d\1y�-��:��-6)�-"�;������Q��?X9��v��?���Q������u=����< ����)�I�y��y�&1��?����Mb��{�G�z����`e=�����ף� � A)� AI��Ai��A�����A��=�_<M=�<Y�E�l�QUE�>��A��I�aM�G��I��Iy�U�9}��>Iș�ŝ�; 5�?�ŝ��ݾ� Ɲ� �����?9Ɲ?�@�ǝ{�: ȝ�:)ș�W��W�X� X��W�:W�2W*W�VUU�����k@zL�L�=�L�L�=�L�s�@�L�Vx@�A��d6<B B�A�@>*B_O9�A�A% �7�A%娺�A!"C52��*C=s�=RC=4��CA�CQY�} �*9��mɯ��I�yG��>�c�01j,�L�ĨE�AY}B��@�}BZ�@y}B<l <�}BY���}BH����`�ӿ����!��?���@I��?����������'ӿ���@0 ����� y������ N��������?)~B��@ ~B;`;I~B��CɫY�Y)�Y �]����I�YY��N�@y���sG鮡ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��uَ�Mu�=Y�}��9QU}?��y��y�a��G����y� ��}�?Iȑ����:�ŕ�: 5�?����:�ŕ��ݾ� ƕe�����?9ƕߗ@�ǕI�: ȕ?;)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@�i@zL�L�L�LoXx@�AM��1<BQ BQ�A]�?>*B]�S9�Aa�Am_�7�AmH���A "C5��*C-ˆ=RC5�"��C1�CAY�A��1I�AGew>���61j,t(�ĨE�A�|�|Y}6���@�}6c�@y}6�W<�}6����}6H������9ӿ������?��� �?����X������N1ӿ���@铿���`슁����@I9����� ���?)~6���@ ~6Wu_;I~6��Cɫ9�9)�9 �9I�9Y�ep�@y�e$tG�ޝ�=iޝ�=����=��9�=��xi�i�p�@�� ��@)��@I���@i���@��-&<M-?=Y�5x!�QU5�>��9��9�a=�G��9��Ay�M�̻}U�>I�a��e 9 5�?��e��ݾ� �e����m�?9�eĘ@��e$�: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U���� �@��9���������������� ��u:Y�0Y1y���:��W6�9�@zLI�LI�LI�LM�"x@�A]��,<Ba Ba�Ae�C>*Be�N9�A��A�7�A�]���A�"C�4��*C��9=RC��8 �C��C��� �� �$�>9�I�mGi���@��=�������G; � E)ݱ�Iݱ�iݱ��ݱ��ݱ��ݵ�z�4YϽ/-9�֭���I��G��>��<1j,| �ĨE�AY}v�ڔ@�}ve�@y}v<w <�}v��%��}vH������vӿ����iv�?����(p�?�����{����@imӿ�����Ȕ����@�.������w������@���?)~v�ڔ@ ~vjn_;I~tɫ�)� �����I�Y�U%�@y�UuG�eDNmea in: $SNTTA,,,,,165131.21*5C )�i��%_`=M%J=Y�-4�QU-�>��1��1�a5�G��1��1y�=��}=�>I�A��Eh7 5�?��E��ݾ� �E|���M�?9�E��@��E��: �E��:)�A�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU�U���� '�@zL��L��L��L��w@�A���'<B� B��A�tZ>*B��S9�A��A�=�7�A�����A�"C�3��*C��=RC��C��C�Y������ �I��G��>���C1j,��ŨE�AY}6T��@�}6ʌ@y}6�'�;�}6��(��}6H���� r�ӿ���@�l�?���`+ߢ?���`tr���� y�ӿ����kP�����@��~���� ����������?)~6T��@ ~6�`_;I~6��Cɫ9�9)�9 �=����I�9Y��d�@y��QuG������?A������������������������ ��0p:Y���[1y��H�:����6��� ���/�$�?�~j�t��?{�G�z�?��� &1>��� �D= �� �#=)�� I�� y�� � ףp= �?�Zd;���I+������ Q�=��� �y���� 9�� ½ � A)½ dAI½ fAi¹ ��� ��� pA�� ��=�� /�<�� ��i� �@�� � �@)� �@I� �@i� �@��- �F<M- =Y�5 l��QU5 �>��1 ��1 �a5 �G��9 ��9 y�= ���}E �>I�I ��U �:��M �2 5�?��U �:��M �ݾ� �M ����U �?9�M Λ@��M f�: �M M�:)�M ��:�Wy �Wy Xy Xy �Wy :Wy 2W� *W� �V� U� U� ��� @@�R� B*** querying acoustic contact ***�P� �P� zL� .�=�L� .�=�L� >��@�L� �r@�A� X�"<B� B� �A� Rb>*B� �M9�A� �A� ӹ7�A� Z���A� "C� 2��*C� _r=RC� �"�C� �C� � 9� I� �mGi� [�@�� =�� �� �� �G; � E�̝;>�̝>Yύ '/9�օ�3�I��G�?���K1j,Z�0ŨE�A�|i|�@Y}6V��@�}6 ��@y}6 ��;�}6?l#��}6H���� ��ӿ�����g�?���@{W�?���`@m������ӿ����$C������3�{�����l������J��?)~6V��@ ~6T�_;I~6��CɫA�A)�A �E����I�AY����@y���uG�xDUSBL response received:!U1,R,DF7,000,03784,187,80,80,93,FF �Fpublishing direction and range info������>���ɰ���?�� ��)���CI��y���KD�����%0�ȿ�?���?��������ٱ����i���� �=M �=Y�9C�QU3?�����a�G��!��!y�%��}-2?I�)��-�0 5�?��-��ݾ� �- ���=�?9�-��@��-��: �-��:)�)�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm����?@�Py*Q}�KD�Z}�;~��8�@�q�!`v@���������Z}��%0�ȿ�?���?��������2Q}���>:Qy�Z}�&&~$Z\@SyX��8���o��B3��Z}���%|��?VG,����vJ1��BQ}�C�@ Q}�I�Q}��B�P}t�9?�P}`�9?�P}|���Q}L���Q}OP�"Q}5�@zL��L��L��L�o�r@�A�O�<B� B��A�l>*B� ]9�A��A�6�7�A�ऺ�A�"C�5��*C��>=RC�Z*�C��C�Y��p/9�֥�C"�I��G�B>�W�R1j,��JŨE�Aɫ���)�� ������I��Y�%��@y�%�uG���~�>���^�������<i��G�@��� ��O�@)��O�@I��O�@i��O�@���<��M�==Y�����QU��>������a�G���� y� ���} �>I����:���- 5�?���:����ݾ� �D����?9�/�@��=�: ���:)���:�mM�Added new target pos. range: 815.220032 m, bearing: 277.998835 deg, deltaT: 5.814323 s, approachRate: 131.004074 m/s, LOS rate: -0.137658 deg/s, posRepo size: 4�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYU]�����y�@Ue������?zLy�Ly�Ly�Ly�A��<B� B��A��k>*B�$T9�A��A���7�A����A�"C�4��*C�I�=RC�d)�C��C�Yϭ�/9�֡I��G��>�� ���� ����� ����� 3�� � ^:Y� �]1y� ��:�� �$6���X1j,�YdŨE�AY}2:��@�}2�@y}2�n�;�}2bR��}2H�����`�ӿ�����f�?��� ���?����%k�������ӿ���@O������`��r�����E)���������?)~2:��@ ~2�6`;I~2��CɫY�Y)�Y �]����I�Y��y��}�<܁9܁I܅�nGi܅��@�܁�܁�܁�܅�G; ݅ EY��F�@y��gvG����==M�L=Y��A��QU��>�������a��G������y���}��>I����* 5�?���ݾ� �W��� �?9���@���: ���:)��W1�W1X1 X1�W1:W12W9*W9�V9U9UE����L��?zLY�LY�LY�L]��r@�Au0�<Bq Bq�A}�~>*B}�W9�Ay�A};�7�A}a���Ay"C�3��*C��=RC�0�,�C��C�ȋȊY�eh19��UX%�I�aG}z>���^1j,�5~ŨE�A�| �| Y}J���@�}J]��@y}J�/m;�}J5���}JH�������ӿ����hg�?���@�<�?����<l���� v�ӿ���@G�����@��m�����,�������u��?)~J���@ ~JjH`;I~J��Cɫy�y)�y �}����I�yY��o�@y���vGI�)���=�T<M=V=Y�E�+�QUE�>��A��A�aE�G��I��Iy�M>�:}U�>I�Y��e�:��]( 5�?��e�:��]�ݾ� �]N���e�?9�]�@��]��: �]b�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�����d�?zL��L��L��L�o�r@�A��w<B� BI�AMӁ>*BM Y9�AQ�AU��7�AU����AQ"C]2��*C]YC=RC]��*�CY�CaY�U�19��]�(�I�iG�Z>�� � ���� ����� ����� N�� � >S:Y� �[1y� H�:�� 6�`�e1j,3�ŨE�A��4��4i�f�mGI�pi�|��%�e�ٺ!��%�WA���P?9��wDAɫ���)�� ������I��Y�%��@y�%�vG��-�=��-C�<��-Zd�i�-Q�@��) �-9�@)�-9�@I�-9�@i�-9�@��U� <MU-=Y�U���QUU�>��Y��Y�a]�G��Y��ay�e���}m�>I�i��m�$ 5�?��mC�ݾ� �m� ���}�?9�m��@��mϸ: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U��������?zLi�Li�Li�Li�A� <B� B��A��>*B��U9�A��A�Y�7�A��A�"C�5��*C���=RC�k+�C��C�܅%�>9܁I܅toGi܅��@�܁�܁�܁�܅H; ݅3 EY���19��� ��)�I�� G� �>���k1j,J�ŨE�Aɫ�髹)�� ��I��Y� ��@y� �vG ��鿁��-�-�����?�p= ף�����Q��?��-5^>��-�� �-��<)�)I�)y�-� ףp= �?�A`��"��{�G�z����-Q8=��-Y���-�#� �-1A)�-EAI�-KAi�)��)��-A��Uz;M]\=Y�YQUe�>��a��a�am�G��i��qy�y}}�>Iȁ���:�Ņ�" 5�?��%�:�Ņ��ݾ� ƅ�!���e�?9ƅf�@�Dž�< ȅ��<)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������@zL�ۏ=�L�ۏ=�L��R�@�L���a@�A 4�<B B �A ^�>*B�Y9�A�A�7�AN���A"C4��*Cޑ=RCEj�+�CA�CI��U%>��U!>Y�5�39��- %�)�I�1 GU �>�� p ���� ����� ����� 6�� � +Q:Y� �Y1y� �:�� � 6���r1j,u��ŨE�AY}2L��@�}2��@y}2���:�}2�{(��}2H�������ӿ����Nc�?�������?�����i�����H�ӿ�����ݍ�����q�^������ �����`��?)~2L��@ ~2��`;I~2��CɫY�Y)�Y �]����I�YY�� �@y��XwG���i���=I��)���Í��=�ÍO���Í1>iÉ�É ĉ)ĉIĉiĉ���=M�W=Y���QU��>�����a��G����y�00�}��>Iȹ�Ž� 5�?�Ž_�� ƽJ"�����?9ƽ?�@�ǽ��: ȽU�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������~@zL�L�L�L;�a@�A-��;B1 B1�A5��>*B5�]9�A1�A5h�7�A=Ǡ��A9"CE3��*CE�J=RCE��/�CA�CIY�I��=��)�I�IGeV>��x1j,Ҧ�ŨE�A��)��)�19�1I�5<pGi�5B�@��5=��1��1��5tH; �5a Eɫ�髱)�� ������I��Y����@y���wG��=ɮ����+=MS=Y�%���QU%�>��!��)�a-�G��)��)y�=���}=�>I�A��Ep 5�?��E��� �E#���M�?9�E�@��E4�: �E�:)�A�Wi�WqXq Xq�Wq:Wq2Wq*Wy�VyUyU}��� ��@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A%�)�;B) B)�AU��>*BU�]9�AQ�A]��7�A]6���AY"Ce2��*Ce1�=RCeK�/�Ca�C�Yϥ�59 յ�=�Ե�=�ֵ%�)�I��G�f>�� H ���� ����� ����� ��� � �M:Y� 0Y1y� ��:�� �6)� 0�;�9� ���"1j,�z�ŨE�AY}>u�@�}>Â�@y}>�P�9�}>�j��}>H����`8Կ��� W�?���`e#�?����s\�����94Կ��� �ۈ�����J5����`5,������A��?)~>u�@ ~>ja;I~>��CɫY�Y)�Y �]����I�YY����@y�� xG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)���<M�A=Y�Kr�QU��>������a��G������y��6H�}��>I������:���! 5�?����:����� ���#�����?9���@�����: ��A�:)����:�W�WX X�W:W2W *W �V U�U�����& @zL��L��L��L�TWa@�A%��;B! B!�AM��>*BM�[9�AI�AM��7�AM����AI"CU5��*C]a�=RC]!�C�CY�CYYϝz69�։I��G��>�� �1j,�XƨE�AY}V]�@�}V�j�@y}VQ�B��}Vu���}VH���� }eԿ�����O�?����#ڡ?�����T�����lbԿ����5h������ QH?���`ݴ����� ���?)~V]�@ ~V�@a;I~Tɫy髁)�� ������I��Y���@y���xG}xDUSBL response received:!U1,P DF7,000,03784,187,80,80,93,FF }Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �)9�)I�-qGi�-��@��)��)��)��-�H; �-� E)ݑ�Iݑ�iݑ��ݑ��ݑ��ݕ�*�4�� Y���� ����� ����� ��� � )x:Y� �Y1y� �:�� i6)� ��;��E���~j�t��)\���(����~j�t����E����EGa� �E��)�AI�Ay�E�sh��|?�?���Mb��Zd;�O�����E��=��E�@���Ej�� �E�A)�E�AI�E�Ai�E�A��A��E�A�å��>�å��>�å�L�iå��@�á ĥO�@)ĥO�@Iĥ��@iĥn�@����<M��<Y���QU�t>�����a��G������y�����}�t>I������:���� 5�?����:���+� ���'�����?9��L�@���M�: ����:)����:�W �W X X �W :W 2W *W �V U U �����@zL- ��=�L- ��=�L- ���@�L- �dw@�AE �(�;BA BA �AE ��>*BM TU9�AI �AM |�7�AM ����AI "CU 4��*C] ��=RC] S L�CY �CY Y�es89��umA��umA��u-�B�I��G�?�ێ1j,7O>ƨE�AY}:@�@�}:�M�@y}:z�{��}:�u$��}:H�����c�Կ�����D�?�����?�����K�������Կ��������� �yo?����F������@V��?)~:@�@ ~:Ba;I~8ɫI�I)�Q �QI�QY�� �@y���xG������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��>�;M��=Y��O�QU�6?�����a��G����y�m�}�6?Iȩ�ŭ7 5�?�ŭ� ƭ7)�����?9ƭ �@�ǭI�: ȭ�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U���� �@zL�L�L�L�$w@�AC��;B B�A�>*B�j9�A!�A%��7�A%T���A!"C-3��*C-�=RC-BZ�C)�C1Y����4|E�I� G=.>���1j,sXƨE�AY}2?�@�}2�L�@y}2Z����}2��(��}2H����`0�Կ���@D�?�����Ԥ?����$K������Կ����g$������%?u?���������� ���?)~2?�@ ~2]�a;I~2��Cɫ9�9)�9 �9I�9Y�]�@y�]�xGexDUSBL response received:!U1,R,E20,000,005F4,187,80,80,57,FF mFpublishing direction and range info��ePw�>��aɰe��=�a �a)�e��BI�ay�e�WB��e���s��;�?%-u,��?��������ٱa��-�'=��-$���-Y=i�-�@��) �-n�@)�)I�-n�@i�-O�@��]H�MeN=Y�e!^�QUe�>��i��i�am�G��i��qy����}��>Iș�ŝ� 5�?�ŝx� ƝT+�����?9ƝH�@�ǝ�: ȝk�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P1*Q5�WB�Z5��D�h�H@_P��z�5@���������Z5���s��;�?%-u,��?��������2Q5Pw�>:Q1�Z5�v]�uԀ@� ���J��i�&����Z5�����$�?7��`����-|����BQ5u��@ Q5�V�Q5�@�P5U�9?�P5t�9?�P5O���Q5|���Q5A�@"Q5OP�zLy�Ly�Ly�L} "w@�A�.9�;B� B��A� �>*B�H^9�A��A���7�A�ԝ��A�"C�2��*C�q`=RC�J�W�C��C���m ����m�����m�����m��� �m�I:Y�m�W1y�mč:��m�6�9u@Y���89�������<����<��9��I���qGi����@������������HI; ��� EI�G-�>���1j,�qƨE�A�|i|Y}>�=�@�}>:K�@y}>d{ƻ�}>��%��}>H�����5�Կ��� �C�?����u��?�����J���� ȠԿ������}�����b�x?��� Ѹ����� #��?)~>�=�@ ~>�ma;I~>��CɫY�Y)�Y �]����I�YY����@y��myG�ETNmea in: $SNTTA,0.080026,,,,165137.01*4A ��U�T=MU<=Y�]�QU]�>��a��a�ae�G��a��iy�u=�}u�>I�y���:��}& 5�?���:��}� �}�-���%�?9�}��@��}#�< �}Χ<)�}��:�mU�Added new target pos. range: 53.939995 m, bearing: 275.186600 deg, deltaT: 4.635767 s, approachRate: -164.218781 m/s, LOS rate: -0.606639 deg/s, posRepo size: 4�WQ�WQXQ XQ�WY:WY2WY*WY�VYUe����Q�J@Ue�����Y�?zL��L��L��L��"w@�A��ɺ;B� B��A���>*B�*`9�A��A�U�7�A�W���A�"C�5��*C���=RC���X�C��C�Yϝ�:9 յ>�Ե�=����8R�I��G��>��1j,GNjƨE�AY}2q:�@�}2(H�@y}2��ϻ�}2d� ��}2H����`�Կ����C�?������?�����I������Կ����E{����� �y?��� ����������?)~2q:�@ ~2r�a;I~2��CɫY�Y)�Y �]����I�YY����@y���yG��i�mA)� ����>���V�������i��z�@��� ����@)����@I����@i����@����<M�R=Y��+B�QU��>�������a��G������y���|�}��>I���� 5�?��d � ��/��� �?9�ͬ@����: �#�:)��W1�W1X1 X1�W1:W12W9*W9�V9U9U=��� )��?zLY�LY�LY�L]� w@�Au�;Bq Bq�Au>�>*B}md9�Ay�A}��7�A}����Ay"C�4��*C�F�=RC�e�Z�C��C�Y�m�:9��u=����u�����u�����uU�� �u�a:Y�u0Y1y�u��:��u�6��YI�iG�[>����1j,I��ƨE�AY}2�0�@�}2U>�@y}2�O给}2����}2H�������Կ����Q@�?����Ty�?����^F������Կ�����v�������|?�����X���������?)~2�0�@ ~2b;I~0ɫI�I)�I �U����I�Q܅&�>9܁I܅�rGi܅{�@�܁�܁�܁�܅�I; ݅!EY��S�@y��(zG��ai�e=������(\�µ?��~j�t�?����Mbp�����=�����< ����)��I��y�������Mb�?ˡE�����{�G�z�����=����'�����#� ¥lA)¥+AI¥�Ai¥�A�������A�����<M�=Y��B��QU��>�������a��G������y��� �}��>I���� �:���m 5�?�� �:���� � ���0��� �?9����@����; ���$;)����:�WI�WIXQ XQ�WQ:WQ2WY*WY�VYUYUe������?zL��X=�L��X=�L����@�L�@*^@�A���;B� B��A��>*B�"]9�A��A���7�A�c���A�"C�3��*C��=RC�.N_�C��C�Y�� �<9���I� G �>��C�1j,*�ƨE�A�|�|p;Y}6�!�@�}6�/�@y}6M����}6��}6H�����f�Կ����;�?����7E�?�����A�����h�Կ�����s�������?�����������@��?)~6�!�@ ~6�b;I~6��CɫQ�Q)�Q �U����I�QY��A�@y��zG��-�M-�=Y�5�U�QU56?��1��1�a=�G��9��9y�E��}E7?Iș�ŝ_ 5�?�ŝ, � Ɲb1�����?9Ɲ,�@�ǝ�: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����`��?zL��L��L��L��^@�A �J�;B B �A ��>*B �p9�A�Ae�7�A*���A"C2��*CF�=RC`f�C�C!���9�����������*�� ���u:Y��y������#6Yϑ��u��Y�I�yG�\>i���lGI�� qAi� ��5�s�ٺ5 qA��5�eA��h�1j,���ƨE�AY}6��@�}6T!�@y}6�- ��}6�Q��}6H�����^�Կ���@�6�?����f��?�����<����@��Կ����3�r������E�?��� Ө���������?)~6��@ ~6}Ab;I~4ɫY�Y)�Y �e����I�aY�}��@y�}zzG��5����5��=��5j��i�5G�@��1 �5O�@)�5O�@I�5O�@i�5O�@��E�<MEJ=Y�EϺ�QUM�>��I��I�aM�G��I��Qy�]ь�}]�>I�a��e�:��e� 5�?��m�:��e� � �e52���m�?9�e֮@��e��: �e��:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U�����3�@zL�L�L�L��]@�A=���;B9 B9�A=G�>*BE;e9�AA�AE"�7�AEқ��AA"Cm5��*Cm�=RCuh�k�Cq�CqY�I��9I�YG�Z>�ٹ�ٽmA��9��I���sGi���@������������;J; ��O!E����1j,Q��ƨE�Aɫ�髉)�� ������I��Y��P�@y��#zG �9�9��m���Mu9=Y�u���QUu�>��y��y�a}�G��y��y����}��>Iȉ�ō� 5�?�ō� � ƍ!3�����?9ƍ��@�Ǎ �: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L��A��1�;B� B��A�>*B?c9�A�A��7�A}���A"C 4��*C�=RCS~k�C�CI�EAA)�A��U� ����U�����U�����U/�� �UE�:Y�U�[1y�UH�:��U1$6)�U��;�9]�Y�=Y?9��-��c�I�9G]�>�pz�1j,ĖǨE�A�|i|�@Y}>o��@�}>&�@y}>9w2��}>�'��}>H����`@տ����~.�?���@���?��� �5������տ�����?j����@�N�?���`�錄�������?)~>o��@ ~>=b;I~>��CɫY�Y)�Y �]����I�YY���@y���yG鮥a=ɮ���M"�=��M���Mz>i�M@��I �M��@)�M��@I�M��@i�M��@��e��Me]=Y�e9ڻQUe�>��i��i�am�G��i��qy�uO�}u�>I�y����:��}S 5�?����:��}O� �}�3�����?9�}2�@��}0�: �}^�:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����-�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�G�]@�A��Yh;B� B��A��>*B��e9�A��A���7�A�;���A�"C3��*CӼ=RC ��u�C �C Y��5?9���I�)G�{>����1j,�q(ǨE�A�49�4I�6$tGi�6o�@��6 =��4��4��6�J; �6�!Eɫ�髙)�� ������I��Y����@y���zG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����A`��"�?/�$��?q= ףp�����Y=����< ����)��I��y�������Mb�?X9��v����I+�������=����}����9�� )�AI Ai�A������\A���S=M�7=Y����QU��>�����a��G����y����}��>I�����N 5�?���P� ��6���-�?9��z�@����_< ���_<)���Wq�W�X� X��W�:W�2W�*W��V�U�U�����i @zL���=�L���=�L��o�@�L���f@�A�zON;B� B��A���>*B��c9�A��A�V�7�A���A�"C�2��*C��H=RC���t�C��C��UZ����U�����U�����U��� �U�c:Y�U�Y1y�U�:��U�6)�U�;Y�vA9�� �hp�I� G5 �>�w��1j,'MBǨE�AY}2���@�}2\�@y}2V��}20� ��}2H�����&!տ����=-�?���@�,�?�����3�����`%տ������D�����0��?���@#����� ���?)~2���@ ~2��a;I~2��Cɫ9�9)�9 �AI�AY�]{�@y�]�{GexDUSBL response received:!U1,P E20,000,005F4,187,80,80,57,FF eCommand AckeBRequesting micromodem ping code 2i�i��i�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����{=M�m=Y���̻QU��?�� ���a�G����)y�=�غ}E�>I�a��e�� 5�?��e � �e�7�����?9�e��@��e>?= �e�?=)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����{� @zL)�L)�L)�L-��f@��Ai�A�A=��0;Ba Ba�Ae��>*Be�h9�Ai�Am$�7�Am����Ai"Cu5��*Cu��=RCu�pw�Cq�CyYϑ�։ I�� G� �>�Ƕ�1j,)\ǨE�A�|�|4<ɫ�髙)�� ������I��Y��H�@y��U{G��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�q)�u�A����'>���h�=���x�i����@��� ��n�@)��n�@I��n�@i��n�@���Hm�M�;=Y�����QU��>�������a��G������y�����}��>I����:����5�?�� �:��� ��9��� �?9���@����: ���:)���:�W1�W1X1 X1�W1:W12W9*W9�V9U9U=����JC@zLY�LY�LY�LY�A �;B B�Ac�>*B�l9�A�A��7�A����A"C%4��*C%݅=RC!C!�C)Y��A9��U�����U�����U�����U��� �U�l:Y�UxZ1y�Uq�:��UN6�9]@�y9�yI�}�tGi�}�@��y��y��y��}(K; �}�!E)��I��i�����=��� =����5��I�!G=r>����1j,�vǨE�AY}2ߓ@�}2��@y}2,2a��}2aK��}2H�����\Sտ���@�$�?������?����+���� �Xտ����(-:?���`&�?�����G�����@j��?)~2ߓ@ ~2;l`;I~2��Cɫ9�9)�A �E����I�AY�}��@y���{G�xDUSBL response received:!U1,R,E3C,000,005F9,186,80,80,97,FF �Fpublishing direction and range info������>���ɰ���=鰍��> ��)���CI��y���XB�����m>(���?��cK��?��������ٱ����+�<M�]=Y����QU��>�������a��G������y����}��>I���w�5�?���� ��;��� �?9�̴@���: ���:)��W1�W�X� X��W�:W�2W�*W��V�U�U����@S�@�P *Q �XB�Z ��.�� I@�g���4@���������Z ��m>(���?��cK��?��������2Q ���>:Q �Z �p��C��@���oK��HQ������Z ����^�?Ɂ���� �.4]�BQ ���@ Q �X�Q �<@�P P�9?�P U�9?�P P���Q O���Q r�@"Q A�@zLq�Lq�Lq�LuBTf@�A����:B� B��A���>*B��i9�A��A���7�A�m���A�"C�3��*C��!=RC�2&��C��C�Yϝ�C9�֑I��G��>���1j,��ǨE�AY}r�Ɠ@�}roԋ@y}r�h��}r����}rH����`�տ����9�?�����@�?�����"���� ��տ�����,?����4�?���@l������ ���?)~r�Ɠ@ ~r�`;I~r��Cɫ���)�� ������I��Y���@y�|G�}TNmea in: $SNTTA,0.053592,,,,165141.60*48 ��--2>��-t=��-/�<i�-\�@��) �- �@)�)I�-��@i�-��@��=ּ<ME5=Y�E�u�QUE�>��I��I�aM�G��I��Qy�Uػ}U�>I�Y��e�:��]i�5�?��e�:��]�� �]�=���m�?9�]�@��]��: �]��:)�]��:�m�uAdded new target pos. range: 54.239998 m, bearing: 273.117299 deg, deltaT: 4.463184 s, approachRate: 0.067217 m/s, LOS rate: -0.463638 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�K@U������9�?zL��L��L��L� !f@�A�1>�:B� B��A���>*B�j9�A��A�{�7�A�R���A�"C�2��*C�k� =RC�����C��C�I�M@A)�MAA��m�����m�����m�����m,�� �m�n:Y�m�]1y�m��:��m�#6Y�����pI�G�>�]'�>9�YI�]�uGi�]��@��]=��Y��Y��]�K; �]�!E�)�1j,{��ǨE�A�|i|�@ɫ�髑)�� ������I��Y����@y���{G��=�=i�=�=)�I��u�^�I+�?���x�&���I+��?��uX9>��u7�� �u94=)�qI�qy�u� ףp= �?�p= ף�����Q�����uQ�=��u����u�u� �u� A)�u�AI�u� Ai�u�A��q��uA���f�M�D=Y����QU��>�����a��G����y����}��>Iȩ�ŭ-�5�?�ŭ`� ƭ�>�����?9ƭ��@�ǭ��: ȭ]�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zLn�=�Ln�=�L��@�Lyoo@�A�"Y:B B�A��>*B%�i9�A!�A%K�7�A%A���A!"C-5��*C-�H =RC5?���C1�C1Y��E9��5{���I�AGe�>����1j,���ǨE�Aɫ�髙)�� ��I��Y��&�@y��f|G��UB����U�����U�����UV�� �U�a:Y�U[1y�Uݏ:��U^(6����>���ҽ���½i��@�� �ٮ@)�@I�@i�@����<M=Y�QU�>��!��!�a%�G��!��!y�)}-�>I�1��=�:��5��5�?��=�:��5Q� �5w@���E�?9�5��@��5�: �5f�:)�5��:�W��W�X� X��W�:W�2W�*W��V�U U ��� e��?zL! �L! �L! �L! �A= ��9B9 B9 �A= F�>*B= xd9�AA �AE H�7�AE 7���AA "CM 4��*CM g�=RCU �҆�CQ �CQ Y�]�E9��U [���I�Y G} �>�"��1j,��ǨE�AY}2���@�}2o��@y}2\Շ��}2�[��}2H������տ����_�?��� �B�?����������}�տ�����e?����x��?��� �������@���?)~2���@ ~2#�`;I~2��Cɫi�q)�q �u����I�qY���@y��8|G��-p��M-�=Y�5��QU54?��1��9�a=�G��9��9y�Ex��}E4?I�I��M��5�?��M1� �M*A���U�?9�Mk�@��MǺ: �M��:)�I�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�����I/�?zL��L��L��L�$!o@�A��X8�B� B��A���>*B��|9�A��A���7�AE9���AA"CM3��*CM�p=RCM�8��CI�CQ��=i��=Y�9��9��I��vGi���@�������������K; ��-"E��={���I�iG�[>����1j,���ǨE�A�|�|�;Y}>ʦ�@�}>���@y}>q ���}>�%��}>H�������տ����0�?�����4�?���@������l�տ����$�l?�����#�?���` c�����`���?)~>ʦ�@ ~>ea;I~>��CɫQ�Q)�Q �U����I�QY�u��@y�}4|GI��)���A��G��ML=Y��ιQU�>�����a�G����!y�%g5;}-�>I�1��5�:��5��5�?��=�:��5�� �5NB���=�?9�5ػ@��54�: �5�:)�5��:�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm����GK�@zL��L��L��L�7o@�A��V<�B� B��A���>*B�Rl9�A��A���7�A�G���A�"C�2��*C��=RC�B��C��C�Yϡ��=� ����=�����=�����=]�� �=�A:Y�=�]1y�=��:��=� 6)�=Ȝ;�9E��ֽ���I��G�E>�\�2j,%tȨE�AY}:���@�}:9��@y}:�����}:�!��}:H�������տ������?���� ��?���`�����g�տ����Dp?�����2�?���@�⡿��� ���?)~:���@ ~:�aa;I~8ɫ9�9)�9 �=����I�9Y�}l�@y�}�|G ��鿙)å�= å>������i�=�mGI�UfpAi�i���yn�ٺ�fpA����_A��}�����}xi=��};߽i�}@��y �}@)�yI�yi�y�����<M�0=Y�����QU��>�����a�G����)y�5}:}5�>I�A��E:�5�?��EB� �E�C�����?9�E��@��EI�< �E�x<)�A�W��W�X� X��W!:W)2W1*W1�V9UaUe����ˎ@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�@o@�A%Σ��B! B)�A-��>*B-�f9�A)�A5��7�A5j���A1"C]5��*Ce�r=RCeI���Ca�CiYυ ]H9�9�I��vGi���@��=������@L; �["E��}�@��I��G��>�}� 2j,LO-ȨE�Aɫ�髙)�� ������I��Y��Z�@y���|G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��ɮ�)������p= ף�?�K7�A`�?�~j�t�������=���+> ���D�)��I��y����~j�t��?y�&1����I+��?����D=���`e����94< ¹)½�AI¹i½fA������� A���K��M�L=Y�����QU��>�������a��G������y�����}��>I������:�����5�?����:����� ��DB����?9��r�@���Y�: ����:)����:�W!�W!X! X!I�))�-@A��=T ����=�����=�����=��� �=�::Y�=0Y1y�=��:��=�6)�=`�;�WA:WA2W�*W��V�U�U����@)Z@zL���=�L���=�L��x�@�L�yY`@�A=*��B9 B9�A=��>*BE�q9�Aa�Ae|�7�Am����Ai"Cu4��*Cu�=RC}�E��Cy�C�YϕYI9�օ �T��I�� G� �>�e�2j,�*GȨE�A�|i|�@Y}F\��@�}F��@y}F�琼�}F��&��}FH�������տ����� �?����]��?���������`�տ������f?������?����Τ��������?)~F\��@ ~Fća;I~F��Cɫa�a)�a �m����I�iY�5��@y�5}G=xDUSBL response received:!U1,P E3C,000,005F9,186,80,80,97,FF ECommand AckEBRequesting micromodem ping code 2i�A��A��Ii�I�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �� �� mA��Uʡ=��U��=��U7��i�U��@��Q �Uٮ@)�Uٮ@I�Qi�Uٮ@��e�<Me�<Y�mƳ�QUm�>��i��i�au�G��q��qy�u;�}}�>I������5�?����� ���?�����?9����@���n�: ��{�:)���W �W X X�W:W2W*W�VUU���`,�@zL9�L9�L9�L=I`@�AM0�!�BQ BQ�AUM�>*BUWd9�AY�A]��7�A]ښ��AY"Ce3��*Ce/j =RCe�E��Ca�CiYύ�J9��}�h������ �����������������t�� ��Z:Y�]1y��:��*6�9�@I��G�?�52j,^JjȨE�A���<���<�9�u�CI�DwGi���@��=��RD�����L; ��"EY}J0��@�}J砋@y}J&1���}J/�4��}JH�������տ���@d�?����+n�?���`��������տ�����[`?���@ᥒ?���`������� ���?)~J0��@ ~J\�a;I~J��Cɫ�髱)�� ������I��Y����@y��W}G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��L�<M��=Y���QU�+?�����a��G����y����}�+?I������:�����5�?����:���-� ���>�����?9����@�����: ����:)����:�W�WX X�W:W2W)*W)�V1U1U5����>�@zLq�Lq�Lq�Lu�7`@�A�0J�B� B��A���>*B�t}9�A��A�G�7�A����A�"C�2��*C�! =RC���C��C�YϹ�֭�Ď�I��G��>���=i�� � 2j,��ȨE�AY}:���@�}:w��@y}:�����}:��8��}:H�������տ��� �?���`��?��� �������ֿ������\?����Ւ?���������� J��?)~:���@ ~:�a;I~:��Cɫ9�9)�9 �=����I�9Y����@y��S}G�xDUSBL response received:!U1,R,E35,000,00602,186,80,80,6B,FF �Fpublishing direction and range info���K�>���ɰ���=�� ��)����BI��y��[B��������w�?Qw�P���?��������ٱ��� ���MT=Y����QU�>�����a�G����!y�%s��}%�>I�)��-w�5�?��-�� �-�=���E�?9�-}�@��-�J; �-�R;)�)�W��W�X� X��W�:W�2W�*W��VU U-�����@�PA*QE[B�ZE����8I@1�8\5@���������ZE�����w�?Qw�P���?��������2QEK�>:QA�ZE��$���@�5�L[K�@|�5�ѡ��ZE�H��HsC�?&�@����_�D�BQEE`�@ QE�Z�QE�,@�PEN�9?�PEP�9?�PEQ���QEP���QE��@"QEr�@zL��L��L��L�`@�A�qs�B� B��A�O�>*B��m9�A��A�3�7�A�U���A�"C�5��*C�O� =RC���C��C�Y���L9������I� GM �>��Mw����M�����&'2j,���ȨE�A��u������u�P�� �u�$f:Y�u�xZ1y�u�q�:��u��'6�|I�|M4<ɫ���)�� ������I��Y� ��@y� N}G�uTNmea in: $SNTTA,0.044054,,,,165145.71*45 ������S㥛�?Zd;�O��?y�&1��?����$>���j�< ��`e<)��I��y����A`��"�?<�O��n��+���������Y=���t������ ��7 A)��I���Ai��KA������p A��- 0���-�}=��-�=i�-�@��) �-@)�-@I�-ٮ@i�-@��cb�M�=Y����QU��>�����a��G����y�����}��>I������:����5�?����:����� ��gB�����?9����@����: ����:)����:�muAdded new target pos. range: 54.779995 m, bearing: 272.828273 deg, deltaT: 4.259394 s, approachRate: 0.126778 m/s, LOS rate: -0.067856 deg/s, posRepo size: 4�W �W X X �W :W 2W*W�V�%(�>9�%v�CI�%�wGi�%K�@��%=��!��!��% M; �%�"E)ݱ�Iݱ�iݱ��ݵ�=�ݵ�=�ݵ�Ç5U=�����cK@UE���@r�?zLe��=�Le��=�Le��@�Le��o@�Au(E��By By�A}�>*B}�l9�Ay�A�#�7�A�����A�"C�4��*C��% =RC�[˕�C��C��̝?>�̝a>Yϩ յ�=�Ե>�֝ ���I�� G� �>�O-2j,[ҷȨE�Aɫ�髱)�� ������I��Y����@y��s}G����<<M��=Y��QU� ?�����a�G�� ��y�} ?I�!��%��5�?��%�� �%[E���=�?9�%@�@��%�&; �%';)�!�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U������%�?zL��L��L��L��A����B� B��A���>*B��w9�A��A���7�A� ���A�"C�3��*C�V�=RC�����C�C�YϽM9�ֱI��G��>I�)���%Z ����%�����%�����%�� �%jO:Y�%0Y1y�%��:��%z"6�7642j,\��ȨE�Aɫ�髹)�� ������I��Y���@y���}G�ý1>�ý�C>�ý33>iý׳@�ù Ľ�@)ĹIĽ@iĹ��'�;MH=Y�!QU%�>��!��!�a%�G��)��)y�1}5�>I�9��=��5�?��=\� �=$I���E�?9�=�@��==�: �=�:)�9�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqUyU}������?zL��L��L��L��A�J��B� B��A�Q�>*B��q9�A��A���7�A�z���A�"C�2��*C�g]=RC�o/��C��C�Y���N9���I��G��!9�!I�%xGi�%��@��!��!��!��%rM; �%�"E�7`:2j,���ȨE�A�|Xi|XY}�c�@�};q�@y}%Ǘ��}ɷ��}H�����!;ֿ�������?�������?��� g�����`�Bֿ����pts?�������?����������@2��?)~�c�@ ~��`;I~��Cɫ���)�� ������I��Y���@y�;~G���3=M�Q=Y��/��QU��>�������a��G������y��6)�}��>I������:����5�?����:���0� ���L����?9����@���|4; ���;)����:�WA�WAXA XA�WA:WI2W�*W��V�U�U��������?zL!�L!�L!�L%V�o@�Ae2ͻBa Bq�Au�>*Bur9�Ay�A}��7�A}����Ay"C�5��*C�u�=RC��!��C��C�i̡I̡Yϙ�ԭnA�ԭnA�֍�"��I��G��>��%z ����%�����%�����%8�� �%�=:Y�%xZ1y�%q�:��%� 6)�%��;�9-��/HA2j,�`ɨE�AY}f�d�@�}f�q�@y}f�ޗ��}fb��}fH�����8:ֿ���`1��?����伥?������������Aֿ����~p?��� ���?��� )����������?)~f�d�@ ~f��`;I~f��Cɫ�髙)�� ������I��Y��8�@y���}G��m�{>��m��<��m`�i�m��@��i �m��@)�m��@I�m��@i�m��@��} ��M}>=Y��۷QU��>�����a��G����y�9}��>Iș�ŝ�5�?�ŝ� Ɲ�P�����?9Ɲ��@�ǝU�: ȝ��:)ș�W)�W)X) X)�W):W)2W1*W1�V1U1U5�����&�@zL��L��L��L���o@�A���B� B��A�f�>*B�Oq9�A��A���7�A�����A�"C�4��*C�)j=RC�:2��C�CY��`Q9���ஜ�I��G �>��%�=i�%�=��vG2j,�MɨE�AY}~'d�@�}~�q�@y}~L���}~�D��}~H������9ֿ��� ��?�������?��� ��������Aֿ���� �o?�����?���`V棿����e��?)~~'d�@ ~~�`;I~~��Cɫ���)�� ������I��Y� Y�@y� �}G����� �rh��?�l����/�$�������l>������ ����)��I��y��� ףp= �?+������:��v���?���Q8=�����������< � A)KAI� Ai�A����������<M�D=Y�����QU��>�������a��G������y���:8}��>I������:�����5�?����:���u� ��tM�����?9���@���D�: ��+�:)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����@zL��=�L��=�L���@�L{�S@�A5����B1 B1�A={�>*B=eq9�A9�A=��7�A=1���AA"CE3��*CM��=RCMi��CI�CI��9��u�CI��pxGi����@���=����������M; ��1#EY�m<Q9��Y I�i G� �>��%� ����!��!��%��� �%�G:Y�!y�!��%��6)�%��;���M2j,�9ɨE�A�|8�|8Y}Zxf�@�}Z/t�@y}Zh����}Z�l��}ZH������5ֿ����;��?���`{�?����r����@1=ֿ������p?����'Ӓ?�����k�����@���?)~Zxf�@ ~Z��_;I~Z��Cɫ�髙)�� ������I��Y��w�@y��~G��p=ɮ�)����u�%<M}e=Y�}:QU}�>�����a��G����y�2P:}��>Iȑ�ŕ`�5�?�ŕ�� ƕ�J�����?9ƕ�@�Ǖ��: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�UiUm�����h@�R}B*** querying acoustic contact ***�Py�PyzL��L��L��L���S@�A�)��B� B��A�U�>*B��v9�A��A�t�7�A���A�"C�2��*C���=RC����C��C����8>���J>Y��`Q9 ���=����=�������I��G�j>�_�T2j,SɨE�AY}:h\�@�}:j�@y}:�䗼�}:���}:H����`uHֿ���`���?����O�?�����������@Pֿ�����q?����I��?����5����� ���?)~:h\�@ ~:�^;I~8ɫA�A)�I �M����I�IY����@y���~G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�%VnGI�= qAi�Y���Fm�ٺ� qA���h_A�� ף;�� ף��� t�i� ��@�� � �@)� @I� @i� @�� �<M =Y� ԃ�QU% �>��! ��! �a% �G��! ��) y�- ���}5 �>I�9 ��E �:��= ��5�?��E �:��= C� �= ,F���E �?9�= ��@��= �: �= ��:)�= ��:�Wi �Wi Xi Xi �Wi :Wi 2Wi *Wq �Vq Uq U} �����>@zL� �L� �L� �L� ��S@�A� F�B� B� �A� �>*B- �j9�A1 �A5 ��7�A5 ̟��A1 "C= 5��*C= ��=RC= ֶ��C9 �CA �٩�٭�<ܱ9ܱIܵ�xGiܵ?�@�ܵ=�ܱ�ܱ�ܵSN; ݵo#EI� )� ��=s ����=�����=�����=~�� �=hQ:Y�=0Y1y�=��:��=<6Y�E�S9)�=&�;��1I�AG]�>���[2j,l>qɨE�AY}B`S�@�}Ba�@y}BRF���}B����}BH����`dYֿ����[��?�����˥?���@�������� aֿ�����So?������?��� S����������?)~B`S�@ ~Bh^;I~@ɫI�Q)�Q �U����I�QY����@y��)~G�xDUSBL response received:!U1,P E35,000,00602,186,80,80,6B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���9�M��=Y���9QU'?�� �� �a �G�� ��y�i��}$?I�Q��U��5�?��U~� �UD�����?9�U��@��U�< �UL<)�Q�WQ�WQXQ XY�W�:W�2W�*W��V�U�U������ @zL)�L)�L)�L-��S@�AE�=�BA BA�AE/�>*BMOz9�AI�AMn�7�AMg���AI"CU4��*C�P~=RC��顽C��C�Yύ�S9��} ஜ�I�� G� �>���b2j,{�ɨE�A�|0i|2�@Y}Z�H�@�}ZOV�@y}Z9���}Zl�'��}ZH������mֿ���@���?���`��?�������������uֿ�����pm?��� Ѧ�?����������� ���?)~Z�H�@ ~Z�t^;I~Z��Cɫq�y)�y �}����I�yY����@y��@~G������?A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e�>��e�%>��eh��i�e��@��a �a)�eٮ@I�eٮ@i�e��@��ua�;Mu@=Y�u-�QUu�>��y��y�a}�G��y��y�6N�}��>Iȉ�ō��5�?�ō�� ƍ�@�����?9ƍ��@�ǍM�: ȍ:)ȉ�W��W�X� X��W�:W2W*W�VU U �����h@zLI�LI�LI�LM��S@�A]�m$�B� B��A�X�>*B��v9�A��A�R�7�A�$���A�"C�3��*C��=RC�A1��C��C�i��I��Yϝ�S9�ԡ�ԥmA�֍�I��G��>��M � ����I ��I ��M v�� �M �S:Y�I y�I ��M `6�9U @��h2j,DݤɨE�Aɫy�y)�y �}����I�yY����@y��m~G�xDUSBL response received:!U1,R,E30,000,00604,187,80,80,36,FF �Fpublishing direction and range info���3Q�>���ɰ�P�=��1�> ��)���XBI��y���[B�������i�?0X6�?��������ٱ���dNmea in: $SNTTA,0.225639,0.227452,,,165150.34*52 �])�>9�YI�]8yGi�]��@��Y��Y��Y��]�N; �]�#E��E��������?333333��y�&1��?��E��>��E��� �E`e=)�AI�Ay�E��I+��?J+������Q�����E94<��E�H���E�u� �EQ A)�E�AI�E�Ai�EA��A��A��]�*<M]==Y�e���QUe�>��i��i�am�G��i��qy�u���}u�>I�y����:��}��5�?����:��}�� �}OB�����?9�}v�@��}*�: �}��:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U����`b@�P�*Q��[B�Z��y�`��:I@�Q?���5@���������Z�����i�?0X6�?��������2Q�3Q�>:Q��Z���C�e@њ���kK� �Y� �?�Z���z��Ƨ?�S'����DۆX?BQ�pH�@ Q�\[�Q�(#@�P�M�9?�P�N�9?�P�Q�Q���Q�m�@"Q���@zL��V=�L��V=�L��ܝ@�L��k@@�A �T.�B B �A ��>*B �s9�A�AH�7�A���A"C2��*C��=RC���C�C!Y�5�U9��- �Т�I�9 Ge �>�� �=i� p=���n2j,���ɨE�AY}6)B�@�}6�O�@y}6�d���}6T�$��}6H������yֿ�������?�����ͦ?���`�������@ �ֿ����`$q?����A�?���`;����������?)~6)B�@ ~6B�^;I~6��Cɫ9�A)�A �E����I�IY����@y���~G)�Q����;M�g=Y����QU��>�������a��G�����1y�5� �}=�>I�A��EL�5�?��E�� �E�C���U�?9�E�@��E�; �E�;)�A�m�uAdded new target pos. range: 54.900002 m, bearing: 272.661589 deg, deltaT: 4.529864 s, approachRate: 0.026492 m/s, LOS rate: -0.036797 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@3sK@U����@�M�?zL��L��L��L��a@@�A�b8�B� B��A���>*B��x9�A��A�,�7�A�բ��A�"C�5��*C��&=RC��ԥ�C��C�Y����䢽I�G=�>�� u���� ����� ����� ��� � ez:Y� d\1y� ��:�� �6���u2j,,��ɨE�A�| �|"�;Y}J-A�@�}J�N�@y}J�&���}J����}JH�����X{ֿ���`���?������?���@=�������Ӄֿ������s?��� �$�?����Vң�����E��?)~J-A�@ ~J\?_;I~J��Cɫq�y)�y �}����I�yY���@y���~G��%`廩�%Y���%+>i�%\�@��! �%ٮ@)�!I�!i�%�@��uq-<Mu=Y�}�.�QU}�>��y��y�a��G����y��f�}��>Iȑ����:�ŕ��5�?����:�ŕP� ƕME�����?9ƕ��@�Ǖ�: ȕA�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����* �?zL��L��L��L��a@@�A��A�B B�A ��>*B !n9�A �A G�7�A ���A"C4��*C��=RC�$��C�C��%0>��%>�Q 9�Q I�Q i�Q ��U =��Q ��Q ��U �N; �U �#E)��u�CI��u�Ci�鈉��=���=����d5Y�E �W9 �M �=��M >��U�&��I�aG}�>�|2j,d��ɨE�AY}2NB�@�}2P�@y}2�����}2����}2H����@Kyֿ���@7��?���@���?����������� *�ֿ���@�u?����#��?����{Z�����`<��?)~2NB�@ ~2]_;I~2��Cɫ)�1)�1 �5����I�1Y�m��@y�u�~G��TNmea in: $CAERR,165151,DATA_TIMEOUT,2*4A �����M��=Y���;QU�/?�������a��G������y��.:}�-?I������5�?���6� ��)F��� �?9��\�@����>; ���H;)���WI�WIXI XI�WQ:WQ2WQ*WY�VYUYUe������?zL��L��L��L�pe@@�A�*NJ�B� B��A��>*B���9�A��A��7�A�����A�"C�3��*C��6=RC]����CY�CYY�I��AI�QGm�>I�� AA)�� ��� ������ ������ ������ ��� �� �g:Y�� xZ1y�� q�:��� �6����2j,��ʨE�AY}26A�@�}2�N�@y}2%����}2h��}2H�����M{ֿ�������?����&դ?����G������ p�ֿ������v?�������?���@~������ ��?)~26A�@ ~2?_;I~0ɫ9�9)�9 �9I�9Y�}��@y�}d~G��.Nmea in: $CATXP,64*70 ��5��=��5�K>��5"�=i�5@��1 �1)�5��@I�5��@i�5ٮ@��E��MMS=Y�M�v�QUM�>��Q��Q�aU�G��Q��Yy�]��}]�>I�a��m�:��eC�5�?��m�:��e� �epG���u�?9�e��@��eM�: �e��:)�e��:�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYU]���`b,�?zL��L��L��L�^d@@�A�+S�B� B��A�2�>*B�Qu9�A��A���7�A�ĥ��A�"C�2��*C ��=RC i���C �C Y��"X9���I�GY��'�2j,�e&ʨE�A�|i|�@Y}61A�@�}6�N�@y}6� ���}6�%��}6H�����0{ֿ���� ��?������?�������������ֿ���@�Vu?�����@�?���������������?)~61A�@ ~6�*`;I~6��Cɫ9�9)�9 �=����I�9Y����@y��7~G��9��I��i�����=��������� O; ���#E��������Mb@�����Mb@�����Mb@��������� ���)������I��y��� ףp= �?T㥛� ���~j�t������Q8=���������D� ���A)��fAI��i��1A������\A���!�M�2=Y���4�QU�>�����a�G���� y����}�>I���X�5�?���� �pH���%�?9�!�@���: �w�:)��WA�WIXI XI�WI:WI2WI*WQ�VQUQUU����0�@zLus�=�Lus�=�Lu���@�Lu�Y@�A�e\�B B �A ��>*B s9�A �A ��7�A禺�A"C5��*C&:=RC+Ħ�C�Ci�II�MkAY�5?Z9��EmA��ElA��I I�a G� �>��� � ����� ������ ������ s�� �� �T:Y�� �Y1y�� �:��� 6)�� ��;�9� ����2j,�A@ʨE�AY}:�5�@�}:]C�@y}:;����}:����}:H���� �ֿ���� ��?�����~�?����a������ ��ֿ�����n?����B��?����lp�����@���?)~:�5�@ ~:Cjc;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�~G����<Mo=Y�|�;QU%?��!��!�a%�G��!��)y�-熻}-?I�9��=�:��=,�5�?��E�:��=�� �=5I���E�?9�=��@��=��: �=��:)�=��:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqUu��� )�@zL��L��L��L���Y@�A��d�B� B��A��>*B��{9�A��A���7�A�ا��A�"C�4��*C�'�=RC�����C��C�YύcZ9�ցI��G�=>��� �=i�� =��9�2j,zZʨE�AY}2��@�}2G*�@y}2�����}2���}2H������ֿ���@l��?�����:�?�����������@+�ֿ������k?����=_�?���@8�����@���?)~2��@ ~2�a;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}r~G鮁ɮ��=��.Nmea in: $CATXF,64*66 �ýt=�ý���ý�E>iý=�@�ù Ľt�@)Ľ@IĽ@iĽ@���ꬻM�?=Y���]:QU��>�������a��G������y��E�}��>I���q�5�?��q � �.J����?9��@���; ��;)��WI�WQXQ XQ�WQ:WQ2WY*WY�VaUaUe�����I@�RuB*** querying acoustic contact ***�Py�PyzL��L��L��L�tiY@�A�k�B B�A��>*B�r9�A�A��7�A���A!"CE3��*CMJN=RCMH��CI�CQY�%?Z9��I�!G=r>��9��v�CI��i�����=���������GO; ���#E��� S����� ������ ������ ��� �� Ec:Y�� [1y�� ݏ:��� 6)�� ��;��c�2j,{�sʨE�A�|�|Y}6� �@�}6`�@y}6Uᠼ�}64��}6H�������ֿ�������?��� ���?��� ����������ֿ�����s?������?����]d���������?)~6� �@ ~6�`;I~6��CɫY�Y)�Y �]����I�YY����@y���~G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��Nmea in: $CAXST,7,20210813,165151.845628,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*56 ��5Rh;M5V=Y�=1��QU=�>��A��A�aE�G��I��Iy�U֛�}]�>I�a��e�5�?��e� � �e K����?9�e�@��eu�< �e��<)�a�WQ�WQXQ XQ�WY:WY2WY*WY�VYUaUe������ @zL��L��L��L��MY@�A�+As�B� B��A���>*B�w9�A��A���7�A�C���A�"C�2��*C ���=RC �B��C�C��4>��?>Y��\9 �>������6��I�G%n>��K�2j,NҍʨE�AY}2"�@�}2��@y}2�P���}2y<��}2H����@��ֿ�������?����x��?��������������ֿ�����*x?�����)�?���`^%����� ���?)~2"�@ ~2��_;I~0ɫ9�9)�9 �=����I�AY��v�@y��?G�xDUSBL response received:!U1,P E30,000,00604,187,80,80,36,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��b>���m>���L�i���@�� ���@)���@I���@i���@��M�$=MM-=Y�]��QU]�>��a���a��G����y��\��}��>I������:����5�?����:���e!� ��L�����?9��7�@����: ��D�:)����:�WA�WAXA XI�WI:WI2WI*WI�VQUQUU����qB @zL��L��L��L��DY@�A���z�B� B��A�N�>*B�_t9�A��A���7�A�����A�"C�5�俩�����*C��A�=RCpN��CAi�iI��fpAi�����Q��ٺ�fpA���ʒA�C�Y�- �^9I�� @A)�� AA��� L����� ��� ��� #�� �� �b:Y�� y�� ��� �"6�9 @��=�x��I�IGm�>��u�2j,���ʨE�AY}2�@�}2��@y}2�ȯ��}2Q���}2H����`;�ֿ�������?����U��?���@���������ֿ���@��{?���@���?���@o�������}��?)~2�@ ~2�z_;I~2��CɫI�I)�I �M����I�IY�}%�@y�}�~G������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �}*�>9�yI�}�yGi�}��@��}=��}QD��y��}�O; �}$E����<�O��n�?�I+���{�G�z�?���t>���9�� ��ף<)�����I��y���/�$��?V-����I+��?���,=���������94< 7 A)+AI� AifA������� A��E�ۼME]=Y�M�QUM�>��Q��Q�aU�G��Q��Qy�]Y�:}]�>I�a��e��5�?��e�!� �e�J�����?9�e��@��e�; �e��;)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����O@zL%�U=�L%�U=�L%b��@�L%9�o@�A]�ǀ�BY BY�A]6�>*B]�z9�Aa�Ae��7�Aeɬ��Aa"C�4��*C���<RC�ͯ��C��C�YϽ�^9�֭����I��G��>��]�2j,ӈ�ʨE�A�|i|Y}6 �@�}6��@y}6 ݷ��}6=W��}6H�������ֿ���`���?����c<�?�������������ֿ����'8~?����"��?��� vh����� ��?)~6 �@ ~6�K_;I~6��Cɫ9�9)�9 �=����I�9Y���@y���~G�����M�c=Y��s3�QU��>�������a��G�����y� ^1�} �>I�!��5�:��%i�5�?��=�:��%�"� �%�I���=�?9�%a�@��%�|; �%��;)�%��:�Wq�WqXy Xy�Wy:W�2W�*W��V�U�U����`@@zL��L��L��L���o@�A�3��B� B��A���>*B�-{9�A��A���7�A�魺�A�"C�3��*C����<RC��x��C��C i̕lAI̕mAY�y�ԥlA�ԥmA�֙I��G�b>��� ����� ������ ������ U�� �� zH:Y�� DW1y�� Y�:��� �6����2j,�o�ʨE�AY}~� �@�}~��@y}~���}~@8#��}~H���� �ֿ����f��?���@aB�?����!������ �ֿ�����}?����?����Dd������T��?)~~� �@ ~~r_;I~|ɫ���)�� ������I��Y�M��@y�M@~G�]DNmea in: $SNTTA,,,,,165154.79*52 )�i��ʡ=����=���'�i���@�� �ٮ@)�ٮ@I�ٮ@i�ٮ@��-r�M-7=Y�5��QU5�>��1��1�a=�G��9��9y�E}9}E�>I�I��Mܫ5�?��MG#� �M;H���U�?9�M�@��M��: �M+�:)�I�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U������>@zLA�LA�LA�LE��o@�AUmL��BY BY�A]X�>*B]�r9�AY�A]��7�A]b���A�"C�2��*C�K��<RC�C��C�Y�u&a9��i��ulA��q�y9�yI�yi�y��y��y��y��}�O; �}7$EI��G��>��� =i�� �=�ֱ�2j,�>�ʨE�AY}2X�@�}2�@y}2�����}2��*��}2H����`��ֿ���@���?����G�?����Z�������U�ֿ�����:}?���` <�?����4Z���������?)~2X�@ ~2B_;I~2��CɫY�Y)�Y �aI�aY��U�@y��G��=9"=M==Y�E瞺QUE�>��A��A�aM�G��I��Iy�Ui��}U�>I�Y��e�:��]��5�?��e�:��]%$� �]kF���e�?9�]��@��]��: �] �:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�����d@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��o@�A�L���B� B��A�8�>*B�fq9�A��A��7�A���A"C 5��*C 3i�<RC �ڴ�C �C��5 �����5 �����5 �����5 H�� �5 �g:Y�5 �X1y�5 /�:��5 s6Yϑ �֕��I��G��>����2j,�˨E�A�|�|ɫ�髉)�� ������I��Y����@y��R~G��5�����5 0>��5d;>i�5��@��1 �5��@)�1I�1i�1��Eڛ�MM�=Y�M���QUM.?��Q��Q�aU�G��Q��Yy�]���}].?I�a��e�5�?��e�$� �e�E���m�?9�e`�@��e��: �e�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U����`i@zL��L��L��L��A�bÍ�B� B��A�E�>*B���9�A��A�`�7�A�����A�"C�4��*C�x��<RC��崽C��C�YϽna9�ֵ�?��I��G�C>����2j,��)˨E�AY}:��@�}:;�@y}:��м�}:|�"��}:H������ֿ�������?���@p��?���������� ��ֿ���`ח�?���@>�?���� P���������?)~:��@ ~:��^;I~:��Cɫ9�9)�9 �=����I�AY�]��@y�]m~G��9��I��i��������������P; ��T$E)�}�v�CI�}�v�Ci�y���}�=��}�=��}�@�5����L7�A`�?V-����?+���������+=���|?> �����)��I��y���333333�?���S㥛��~j�t�h?�����=���/ݼ����D; ��)���AI��Q Ai���A������ A��M#�;Mm<=Y�uЇ�QU}�>�����a��G����y�>E8}��>I������:���"�5�?����:���&� ���D�����?9����@����; ���;)����:�W9�WAXA XA�WA:WA2Wi*Wi�ViUiUm�����A@zL�]�=�L�]�=�L��@�L�� �@�A����B� B��A���>*B��r9�A��A�a�7�A�����A�"C�3��*C�^��<RC�7%��C��C�Y��Bc9���I��G �>Iލ AA)ލ @A��� � ����� ������ ������ L�� � .Z:Y� �[1y� H�:�� L'6)� ��;�9� �����2j,��C˨E�AY}2��@�}2X!�@y}2�ټ�}2 ���}2H�������ֿ�������?���`!��?��� �������`o�ֿ���@2��?���� "�?���@zT���������?)~2��@ ~2�^;I~2��Cɫ9�9)�9 �=����I�AY�]��@y�]�~G��a��a���,<M�T=Y���,�QU��>�������a��G������y� Ǔ;}�>I�!��%u�5�?��%a'� �%JD���M�?9�%~�@��%��; �%L�;)�!�W9�W9X9 X9�W9:WA2WA*WA�VAUIUM������@zLi�Li�Li�Lm�@�A}����B� B��A���>*B�x9�A��A�P�7�A�����A�"C�2��*C����<RC�-��C��C�Y��fc9��� S��I��G��>���2j,�o]˨E�A�|i|Y}6�$�@�}6�2�@y}6�$Ἑ}6x���}6H����@L�ֿ������?�������?������������%�ֿ����^ی?�����#�?���`ͺ���������?)~6�$�@ ~6؞^;I~6��Cɫ9�9)�A �E����I�AY�]�@y�]�~G)�i��%��=��%l�=��%t�=i�%Q�@��! �%�@)�%��@I�%��@i�%��@��E�><MER=Y�M$&�QUU�>��Y��Y�ae�G��a��iy�u��;}u�>I�y��}ˣ5�?��}�(� �}�C����?9�}w�@��}��< �}:�<)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����Wb@zL�L�L�L�)�@�A]�1��BY BY�A]�>*B]�x9�Aa�AeA�7�Aep���Aa"C�5��*C����<RC�Rͮ�C��C�Yυ�e9��u�?��I��G�>�ٱ�ٵ�<ܹ9ܹIܹiܹ�ܽ=�ܹ�ܹ�ܽBP; ݽu$E��� z ����� ������ ������ ��� � �=:Y� xZ1y� q�:�� |6)� ��;��.�2j,#Kw˨E�AY}:�/�@�}:�=�@y}:��伙}:�z��}:H�������ֿ���`��?�����k�?���@����������ֿ����y>�?���@i��?�����l�����`���?)~:�/�@ ~:ȥ^;I~:��Cɫ�髉)�� ��I��Y��U�@y���}G�xDUSBL response received:!U1,N,80,80,63,E4 4,187,80,80,36,FF �ZNo reply:!U1,N,80,80,63,E4 4,187,80,80,36,FF -�<No response from remote modem.���'�M=Y��M�QU�>��!��!�a%�G��!��)y�-;}-�>I�9��=�:��=\�5�?��E�:��=�*� �=�B���E�?9�=��@��=��: �=��:)�=��:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqUu����p�@zL��L��L��L��4�@�A�xp��B� B��A�@�>*B��n9�A��A5H�7�A5^���A1"C=4��*C=���<RC=I6��C9�CAY���ޕ �=iޕ �=��=K��I�IGe�>���2j,&�˨E�AY}>�5�@�}>HC�@y}>)�輙}>����}>H����@ֿ���� ��?����S�?�����������`�ֿ������?����$�?����������� ���?)~>�5�@ ~>��^;I~>��CɫY�Y)�Y �]����I�YY���@y��|}G��E�y>��E��=��E�#�i�E��@��A �E-�@)�Eٮ@I�Eٮ@i�A��U��MU�=Y�]���QU]4?��a��a�ae�G��i��qy�}�5;}�2?Iȑ�ŕE�5�?�ŕr+� ƕwB�����?9ƕ��@�ǕV�: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����Ӈ@zL)�L)�L)�L-U;�@�A��ƞ�B� B��A�d�>*B���9�A��A���7�A�\���A�"C�3��*C ;��<RC �1��C�C��YI��G�h>��� � ����� ������ ������ ��� � �>:Y� �Y1y� �:�� �6�9� @�F@�2j,���˨E�A�|�|4<�e+�>9�ew�CI�e8yGi�e��@��e=��a��a��e�P; �e�$Eɫy�y)�y �}����I�yY����@y��$~G����sh��|?�?�/�$��X9��v��?����)>���1� ����<)��I��y����l����?�A`��"���~j�t�h������=���Y�����D� ¥� A)¡I¡i¡������p A����#=M�D=Y�����QU��>�������a��G������y�����}��>I������:�����5�?����:����,� ��]B�����?9����@���<�: ����:)����:�W�WX X�W:W2W*W�VUU����� @�R-B*** querying acoustic contact ***�P)�P)zLE��=�LE��=�LEO,�@�LE�n@�AUy���BY BY�A]��>*B]>v9�AY�A]��7�Aeﺺ�Aa"Cm2��*Cm���<RCm����Ci�Cq�օl��I��G�=>��(�2j,��˨E�AY}2&�@�}2�3�@y}2���}2�4��}2H���� ˬֿ�������?�����x�?���`����������ֿ�����#�?���@��?����������� y��?)~2&�@ ~25_;I~2��Cɫy�y)�� ������I��Y��?�@y���}G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����Í��<�Í��=�Í= >iÍp�@�É č��@)č@Ič��@ičٮ@��5��M�0=Y���QU��>�������a��G������y�����}��>I�������5�?����-� ��.B����?9���@���'�; ��Z�;)���WI�WIXI XQ�WQ:WQ2WQ*WQ�VQUYU]����a !@zL��L��L��L�5�n@�A�DϤ�B� B��A���>*B�hp9�A��A���7�A�ۼ��A�"C�5��*C[��<RC����C�C��nA��nA����ଽI��G�>��� � ����� ������ ������ �� � E�:Y� 0Y1y� ��:�� &=6i�� mGI�� i�� ��Wh�ٺ��.ZA��R�2j,з�˨E�AY}2G�@�}2�$�@y}2���}2P�7��}2H�����$�ֿ��� 6��?���@��?����]������`��ֿ���@�_�?����I�?����8������`���?)~2G�@ ~2�_;I~2��Cɫ9�9)�9 �9I�AY�}�@y�}�}G�xDUSBL response received:!U1,P 80,80,63,E4 4,187,80,80,36,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��+��M�r=Y�wC�QU�?�������a��G����� y�5H��}5?I�A����:��E_�5�?����:��E�.� �EB�����?9�E �@��E�D< �EB�<)�E��:�W��W�X� X��W�:W�2W�*W��V!U!U%������!@zLi�Li�Li�Lmeun@�A}m���B� B��A���>*B�Nu9�A��A���7�A�q���A�"C�4��*C����<RC�:ҳ�C��C���emA��a�y9�yI�yi�y��y��y��y��}Q; �}�$E���ϰ�I��G�X~�2j,���˨E�A�|i|Y}J\ �@�}J�@y}J�k��}Jmc-��}JH������ֿ����~��?������?��� j�������V�ֿ����?�����L�?�����������@���?)~J\ �@ ~J&_;I~J��Cɫ�髑)�� ������I��Y����@y��S}G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���3�M�E=Y��Ae�QU��>�������a��G�����y���} �>I���ҕ5�?��0� ��A���%�?9�J�@����: ��:)��WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUqUu���@k�"@zL��L��L��L�\n@�AEhY��BI BI�AMO�>*BMgx9�AQ�AU��7�AU߿��AY"Ce3��*C���<RC� ~��C��C�i̝��I̝���̝���̝����� ����� ������ ������ 0�� � 5]:Y� xZ1y� q�:�� �?6�ֽ S��I�� G� �>��d3j,n̨E�AY}6h�@�}6�@y}6����}6<G��}6H�������ֿ�������?����=�?��� ������� <�ֿ���@���?����K�?�����d�����`���?)~6h�@ ~6�L_;I~6��Cɫ9�9)�9 �E����I�AY�]��@y�]n}GexDUSBL response received:!U1,R,DF9,000,0060E,187,80,80,66,FF mFpublishing direction and range info��e4��>��aɰe��=�a �a)�e��BI�ay�e�^B��e�OPjK ��?��Qk�?��������ٱa)É Í�=���d�>���x�=������i����@��� ��ٮ@)��ٮ@I��ٮ@i��-�@�����;M�]=Y�����QU��>�������a��G������y�����}��>I���u�5�?��1� ��A����?9�]�@���: �Y�:)��W1�W1X9 X9�W9:W92W9*W9�VAUAUE����B#@�PQ*QU�^B�ZU��1f���H@'�E;I8@���������ZU�OPjK ��?��Qk�?��������2QU4��>:QQ�ZU��hL@9DZ���K��@����?�ZU��Mj�?S �������y��?BQUፙ@ QU']�QUژ@�PUQ�9?�PUM�9?�PUS���QQQU��@"QUm�@zLy�Ly�Ly�L}9Qn@�A����BI BQ�AU��>*BUrw9�AQ�AUo�7�AUg���AY"C]2��*CeR�<RCeǵ��Ca�Ca��m(�I�qG�>�� 3j,�H,̨E�AY}2��@�}2��@y}2Y� ��}2H� ��}2H�������ֿ����G��?�����٦?��������������ֿ�����`�?�������?����m�������6��?)~2��@ ~2�J_;I~2��C� 9� I� i� �� =�� �� �� �Q; � F%EɫA�A)�A �E����I�AY����@y���|G�dNmea in: $SNTTA,0.371320,0.409757,,,165200.05*57 �����~j�t�?���x�&�?�I+������>��7 > �94�)�I�y��D�l����?���Mb���I+��?��O�=���@���94< �7 A)��AI�7 Ai�fA�����A��]6�M]5=Y�e�,�QUm�>�������a��G������y���9}��>I� ���:�� Ð5�?���:�� ]2� � �?���%�?9� ��@�� �8; � �/;)� ��:�m�qAdded new target pos. range: 55.500000 m, bearing: 274.937763 deg, deltaT: 9.631209 s, approachRate: 0.062297 m/s, LOS rate: 0.236333 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������K@U����`5��?zL%u�=�L%u�=�L%K��@�L%��o@�A=�粼B9 B9�A=�>*B=�m9�Aa�Aea�7�Ae�ú�Aa"Cm5��*Cm��<RCiCq�Cq�ֱI��G��>��� ������ ������ ������ ��� � ii:Y� 0Y1y� ��:�� �6)� �;�9� ���v3j,B$F̨E�A�|�|p;ɫ���)�� � ����I�Y�e��@y�e�|G��5�T���5�m=��5��>i�5�@��1 �1)�5��@I�5��@i�5��@��E��;MEL=Y�E���QUM�>��I���a��G����y����}��>Iȩ�ŭ��5�?�ŭh3� ƭl>�����?9ƭ��@�ǭ��: ȭ8�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�����i�?zL�L�L�L�AcV��B B�As�>*B�u9�A!�A%2�7�A%ź�A!"C-4��*C-��<RC-�鷽C)�C1��9I�IGeV>��3j,��_̨E�AY}6D�@�}6��@y}6�:��}6'��}6H�������ֿ�������?����H��?����>���������ֿ����mE�?��� Qf�?�����=���������?)~6D�@ ~6�^;I~6��Cɫ9�9)�9 �9I�AY�]&�@y�]f|G������nA��E��ME\=Y�EFn�QUM�>��I��I�aM�G��I��Qy�U�N:}]�>I�Y��e�:��]q�5�?��m�:��]^4� �]=���m�?9�]��@��]�: �]�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�+�o@�A����B� B��A�F�>*B��t9�A��A���7�A��ƺ�A�"C�3��*C��1�<RC�ٕ��C��C���������AI�QGm5>�9�I��xGi�?�@���������R; ��%E)ݕ�w�CIݕ�w�Ciݑ��ݕ�=�ݕ�=�ݕ�W�5��� ������ ������ ������ ��� � 0p:Y� �Y1y� �:�� �6)� ��;�#�3j,>�y̨E�AY}6��@�}6^�@y}6����}6�k��}6H����`.�ֿ���`���?��� ��?�����������+�ֿ���`��?���@䴢?����ꈣ��������?)~6��@ ~6��^;I~6��Cɫ1�1)�9 �=����I�9Y�]-�@y�]o|G)����U�;MUI=Y�UX��QUU�>��Y��Y�a]�G��Y��ay�e%;}e�>Iȩ�ŭ�5�?�ŭy5� ƭe;�����?9ƭ��@�ǭ��: ȭY�:)ȩ�W��W�X� X��W�:W�2W*W�VUU-����M�?zLa�La�La�Le�p@�A}@½�By By�A}��>*B�tp9�A��A���7�A��Ⱥ�A�"C�2��*C�B'�<RC�����C��C��ֹI��G�E>���$3j,��̨E�A�|i|�@ɫy�y)�y �}����I�yY��&�@y��f|G�� �X9��v��?w��/�Ŀ�l����?�� ��=�� �&� � �=)� I� y� ��Q���?�p= ף���l����?�� \=�� ���� �= � Q A)� fAI� � Ai� �A�� �� A)�U > �Q ��� � ����� ������ ������ ]�� � jB:Y� xZ1y� q�:�� � 6�9� @�ý ��=�ý A`>�ý �Ƚiý ��@�ù Ľ �@)Ľ �@IĽ �@iĽ �@��� ƶ�M� �<Y�� ���QU� �>��� ��� �a� �G��� ��� y�� ���}� �>I�� ��� �:��� 8�5�?��� �:��� �5� �� �4���� �?9�� -�@��� Y�: �� k�:)�� ��:�W �W X X �W! :W! 2W1 *W1 �V1 U9 U= ����y:@zL] �=�L] �=�L] B��@�L] C�P@�Am q���Bq Bq �Au F�>*Bu �g9�Aq �Au ��7�Au �˺�Ay "C} 5��*C� c��<RC� ����C� �C� Yϝ�i9��9��I��pxGi����@��� =��������D����T; ���&E�։I��G��>��,3j,셲̨E�Aɫ�髩)�� ������I��Y��8�@y��}|G��a=ɮ�R=��i�lA���!<M�=Y�QUC?��!��!�a%�G��!��)y�)}-C?I�1��55�?��5�5� �5V2���=�?9�5��@��5'�: �5b�:)�1�Wa�WaXa Xa�W�:W�2W�*W��V�U�U�����-@�R-B*** querying acoustic contact ***�P)�P)zLi�Li�Li�Li�A�żB� B��A�n�>*B��9�A��A���7�A��̺�A�"C�4��*C�>�<RC��ȶ�C��C���I�G=P>���23j,EI�̨E�AY}2ET�@�}2�a�@y}2b+��}28���}2H����@mTֿ�������?������?���@���������jֿ����.��?���@*ģ?�����,�����@$��?)~2ET�@ ~27B_;I~2��Cɫ9�A)�A �E����I�AY��"�@y��a|G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�ý�<�ý���ý+�iý(�@�ù Ľ��@)Ľ��@IĽ��@iĽ��@���%лM�?=Y�����QU��>�������a��G�����y�ė<}��>Iȹ����:�Ž!�5�?����:�Ž!6� ƽ�-�����?9ƽ��@�ǽ��: Ƚ��:)Ƚ��:�W)�W)X) X)�W):W)2W1*W1�V1U1U5���`��@zLq�Lq�Lq�Lu�<Q@�A�+�ɼB� B��A��>*B�p9�A��A�h�7�A��κ�A�"C�3��*C�U�<RC��i��C��C����G뵽I�Gn>��E� ����E�����E�����E��� �E3T:Y�E�X1y�E/�:��E��5��93j,1$�̨E�A�|�|4<Y}B^c�@�}Bq�@y}B����}B<}��}BH�����8ֿ����o��?���@;��?������������gNֿ������?�����ԣ?���`�ʢ����@T��?)~B^c�@ ~B�q_;I~B��CɫY�Y)�Y �]����I�YY����@y���{G�xDUSBL response received:!U1,P DF9,000,0060E,187,80,80,66,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��5�1�M=D=Y�E���QUM�>��q��q�au�G��y��y�-�;}��>Iȡ�ť�5�?�ťW6� ƥp)�����?9ƥ��@�ǥm�; ȥ+V;)ȡ�Y9�YI�Yi�Y��] =��Y��Y��]�V; �]�'E�W��W�X� X��W�:W�2W�*W��V�U�U���� 0(@zL9�L9�L9�L=KWQ@�AM}�̼BQ BQ�AU��>*BU\n9�AQ�AU9�7�AUѺ�AY"C]2��*C���<RC����C��C����������Bʨ�I��G�>�B?3j,i��̨E�AY}:�n�@�}:�|�@y}:\a��}:�5��}:H�����"ֿ�������?����$�?������������U9ֿ����6��?���@�ʣ?�����a���������?)~:�n�@ ~:��_;I~:��Cɫ9�9)�9 �9I�9Y�}t�@y�}�{G���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )������MM=Y��A9QU�>����!�a%�G��!��)y�5Ti;}=�>I�9��U�:��=_}5�?��U�:��=�6� �=\%���]�?9�=��@��=Y; �=1M;)�=��:�Wy�WyX� X��W�:W�2W�*W��V�U�U�����t@zL��L��L��L�sQ@�A-7�мB) B)�A5*�>*B58r9�A1�A5��7�A5�Һ�A1"C=5��*C=L>�<RCE���CA�Ci�ֽ����I��G�f>I�9)�=AA��E� ����E�����E�����E��� �E�[:Y�E�U1y�E��:��Ei6��)F3j,n�ͨE�A��4��4Y}J�s�@i�z�lG�}J���@y}J���I� �}Jxk#��}JH�����Aֿ��� ���?������?����������b0ֿ������?��� ���?���`6h�����`z��?i�!)~J�s�@��}X|�ٺy��}�lA ~J�_;I~Hɫ�髡)�� ������I��Y�y�UxDUSBL response received:!U1,R,E63,000,0060F,186,80,80,8F,FF UFpublishing direction and range info��M���>��IɰM�=�M��> �I)�M�CI�Iy�M=^B��M��~Cz���?�X�k���?��������ٱI��5 �{�G�z�?J+��?{�G�zt?��5 ף=��5 �H= �5 ף;)�1 I�1 y�5 ��Q���?<�O��n���� �rh����5 \�=��5 t��I 9�I I�M xGi�M ��@��I ��I ��I ��M Y; �M )E��5 C�� �1 )�5 �AI�5 lAi�5 �A��1 ��5 =A�õ \�>�õ ����õ �B>iõ @�ñ ĵ @)ĵ @Iĵ @iĵ @Y�Uc:QU]�>��a��a�ae�G��a��iy�mXp:}m�>I�q��uz{5�?��u�8� �u�'�����?9�u�@��u��: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����@ݰ@�P�*Q�=^B�Z���\9:��I@�����3@���������Z���~Cz���?�X�k���?��������2Q����>:Q��Z���-�f�<�?��r��K��j�A�[�?�Z��@Pb�8~?��=�����FLL�?BQ�Z�@ Q�.^�Q���>�P�E�9?�P�Q�9?�P�T���Q�S���Q�+�@"Q���@zL���=�L���=�L�X��@�L�'&�@�A��ԼB B�A*B�d9�A�A��7�A ;ֺ�A "C4��*Cj��<RC���C�Ci�I���!��! � �=�� �=�������I�G?�E8O3j,$�?ͨE�A�|i|�@Y}:xc�@�}:/q�@y}:q���}:Z�&��}:H���� ?8ֿ������?����M.�?����_��������Nֿ����=�?������?��� �ؤ��������?)~:xc�@ ~:�_;I~:��CɫI�Q)�Q �U����I�Q��}<����}�����}�����}�� �}oa:Y�}0Y1y�}��:��}�6)�}��;�9��Y���@y��"{G��dNmea in: $SNTTA,0.059677,0.352357,,,165204.17*53 I��)�����-�M��<Y�/_;QU�?�����a��G������y���һ}�?I������:����z5�?����:���:� ���(�����?9����@���ƾ; ��¿;)����:�mUuAdded new target pos. range: 55.560005 m, bearing: 270.422871 deg, deltaT: 4.424879 s, approachRate: 0.013561 m/s, LOS rate: -1.020342 deg/s, posRepo size: 4�WQ�WQXQ XQ�WY:WY2WY*WY�VYU����@��K@U����@1��?zL��L��L��L���@�A�ؼB! B!�A%>*B%�s9�A!�A%��7�A%��A)"C-3��*C5=�<RC5]���C1�C1�֍�q��I��G�`>�WV3j,�YͨE�AY}6�]�@�}6ck�@y}6;���}6���}6H�����3Cֿ���`��?������?��� |��������Xֿ����㬕?���`pآ?��� ��������u��?)~6�]�@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9��}�=i�}=Y��6�@y��zG�Å��Å7�=�Å�@�iÅ��@�Á ą��@)ą��@Ią��@ią��@�����M�K=Y���:QU��>�����a��G����y��}��>Iȱ�ŵxy5�?�ŵp;� ƵO*�����?9Ƶ��@�ǵϸ: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����ѝ�?zL��L��L��L���@�A�ӛۼB� B��A�B�>*B��j9�A��A�a�7�A� ں�A�"C�2��*C��!�<RC�ը�C��C�����짽I��GI>܍ ,�>9܉ I܍ DwGi܍ ��@�܉ �܉ �܉ �܍ u[; ݍ P*E�}D\3j,*tsͨE�AY}:�X�@�}:�f�@y}:���}:l���}:H���� �Kֿ���@r��?������?��� �������`X`ֿ���@Α�?���`Kբ?���`�7������C��?)~:�X�@ ~:?p_;I~:��Cɫ9�9)�9 �=����I�9���� �����������������I�� �\G:Y��X1y�/�:���6)�x�;Y��x�@y��UzG��5�<M=A=Y�=m8QU=�>��A��A�aE�G��A��Iy�M���}u�>I�y����:��}@x5�?����:��}�<� �}�+�����?9�}��@��}��: �}��:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����g2�?zL��L��L��L��@�A� B� B��A�m�>*B��k9�A��A��7�A�:ܺ�A�"C5��*C�5�<RC����C�C ��=�.��I�IGeV>�#-c3j,�R�ͨE�A�|�|�;Y}6L^�@�}6l�@y}6p��}6����}6H������Aֿ�������?�����?��� ��������!Vֿ����qZ�?����/�?���@�����������?)~6L^�@ ~6�x_;I~6��Cɫ9�9)�9 �=����I�9Y��H�@y��zGI�Q)�U�A����������������M>i��p�@��� ��ٮ@)����@I��@i����@��_�M>=Y�mK�QU%�>��1��1�a5�G��1��9y�=K�:}E�>I�I��M w5�?��Mz>� �Mh-���U�?9�M��@��M�: �M��:)�I�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����@�?zL��L��L��L���@�A���B� B��A�k�>*B� j9�A��A���7�A���A�"C�4��*C�c<�<RC��ب�C��C��ֽ���I��G�g>��Vi3j,�*�ͨE�AY}2pv�@�}2'��@y}2o~��}2e��}2H������ֿ�������?���@���?���`������})ֿ�����o�?�����.�?����b(�����`��?)~2pv�@ ~2�l_;I~2��Cɫ9�9)�9 �=����I�9I�y)�y���A �������������������� �9:Y��W1y�č:����5�9�@Y����@y���yG�����&1��?{�G�z��Zd;�O��?�����=����#� ��j�<)��I��y����I+��?T㥛� ��:��v���?���94=���������T= ��� A)���AI��Q Ai��A������fA�� @�M[=Y�5u�QU�>�����a�G����!y�%R<}%�>I�)��-�t5�?��-�>� �-((���=�?9�-��@��-z�: �-Ǻ:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm���`���?zL��=�L��=�L�9N�@�L��X@�A�B�B� B��A�f�>*B�"l9�A��A���7�A����A�"C�3��*C��l�<RC�����C��C�ܑ9ܑIܕ�vGiܕ��@�ܑ�ܑ�ܑ�ܕ^; ݕ�+E)�ɃI�Ƀi�Ƀ��̓ =��̓ =��̓�D4�֥���I��G�B>�t>p3j,��ͨE�AY}2|��@�}23��@y}2Ot��}2����}2H����@6�տ��� ��?����Ե�?���@����� ��տ����Pٖ?����c-�?���`yR�����`i��?)~2|��@ ~29�_;I~0ɫ9�9)�9 �=����I�9Y����@y��6yG��p=ɮ�a=�����M�_=Y��A�7QU��>�������a��G������y���O<}�>I��� �:���r5�?���:��>?� ��"����?9�j�@��v�: ��:)���:�WA�WAXA XI�WI:WI2WI*WI�VQUQUU���@�l@zLq�Lq�Lq�Lu�XY@�A����B� B��A�أ>*B��j9�A��A�#�7�A����A�"C�2��*C�"��<RC�𩛽C��C��֭�&��I��G )>��hv3j,���ͨE�AY}:�ɓ@�}:W@y}:�w��}:�]!��}:H����`vxտ�����?�����M�?���`d�����:�տ�����ە?�����͢?�����&��������?)~:�ɓ@ ~:2�_;I~:��Cɫ9�9)�9 �=����I�9���< �������������������� ��8:Y��Y1y��:���5Y����@y���yG���i���=���i���Å���Å��>�Å,>iÅ̬@�Á ą@)āIą��@iā��)�<M�@=Y�d�:QU��>�����a��G����y�T<}��>Iȱ�ŵ p5�?�ŵ�?� Ƶ������?9Ƶl�@�ǵ��: ȵ#�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL�L�L�L��Y@�A%�W��B) B)�A->�>*B-�h9�A1�A5��7�A5��A1"C=5��*C=���<RC=Ӓ�C9�CA��%�>��I�1GM1>�م nA�م nA܍ -�>9܉ I܍ vGi܍ �@�܍ =�܉ �܉ �܍ p`; ݍ �,E���|3j,b��ͨE�AY}2G�@�}2���@y}2� ��}2Ĝ!��}2H�����.տ����(�?����� �?���@�,������Bտ����Δ?����X �?���@/����� ~��?)~2G�@ ~2"�_;I~2��Cɫ9�9)�9 �=����I�9��}�=i�yY����@y��dyG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���t-�M�U=Y��a;QU�>���� �a �G�� ��y�pM<}�>I�!��5�:��%�m5�?����:��%@� �%D�����?9�%V�@��%c�< �%v�<)�%��:�Wy�WyX� X��W�:W�2W�*W��V�U�U�����> @zL��L��L��L�"Z@�A��n�B� B��A�)�>*B�/h9�A��A���7�A����A"C4��*C =��<RC �%��C �C)������I�)GMR>�M|�3j,��ΨE�AY}2��@�}2H�@y}2�~ ��}2�1��}2H���� ?տ����0�?����k�?�����4�����Zտ����ؓ?���@�N�?���`)�������]��?)~2��@ ~2Z�_;I~2��CɫA�I)�I �M����I�I��� �����������������O�� ��H:Y�0Y1y���:��36Y��|�@y�� yG������@A�xDUSBL response received:!U1,P E63,000,0060F,186,80,80,8F,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 )����5��>��5��=��5C�i�5@��1 �5��@)�5��@I�5��@i�5��@���b�M�'=Y��R;QU��>�������a��G������y��9�;}��>I������j5�?����@� ��*���%�?9����@���D�; ����;)���W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�eVZ@�AE8�BI BI�AU��>*BUfe9�Ay�A}!�8�A�\��A�"C�3��*C�{��<RC�֥��C��C���I��I��e �@��I�q G� �>����3j,Tr(ΨE�A�|�|p;ɫ�髙)�� ������I��Y����@y��@xG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�Q)�U�A��UR=i�U4=�19�1I�5�uGi�5��@��5=��1��1��5�b; �5.Eai�@a��� am�@a��� aq�@a��� ae�@a��� �� u/�M=Y����QU�>����!�a%�G��!��)y�-���}5�>I�9��E�:��=�g5�?��M�:��=>A� �=����M�?9�=��@��=.+; �=R?)�=��:�W9 �WA XA XA �WA :WA 2WA *WI �VI UQ UU ����>�@�A� *���B� B� �A� Y�>*B� �a9�A� �A� z�8�A� d���A� "C� 2��*C� �<RC� �s��C� �C� �ֽ����I��G��>�j��3j,�LBΨE�AY}6��@�}6]�@y}6W���}6]���}6H�����%�Կ����t2�?����7��?���`�6����� տ��� ��?��� ��?���@�������?)~6��@ ~6�S_;I~6��Cɫy�y)�y �}����I�yIޅ@A)ށ���Q �������������������� ��N:Y�[1y�ݏ:��j�5)�Χ;�9��Y����@y��xG�xDUSBL response received:!U1,R,DFC,000,0061A,187,80,80,65,FF �Fpublishing direction and range info�����>���ɰ���=��1�> ��)����BI��y���`B����\�$Qi��?�2T����?��������ٱ��� ���M �=Y���<QUW?�����a�G����!y�%b;}%X?I�)��-if5�?��-yA� �-����5�?9�-7�@��-��: �-�7?)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm���@�M@�P�*Q��`B�Z���MGS�NI@��g�w8@���������Z��\�$Qi��?�2T����?��������2Q���>:Q��Z�� �.X�@+��v��K���1ˣ�?�Z��tz~2��?�(�)��� ���~�?BQ���@ Q�\_�Q���@�P�T�9?�P�E�9?�P�Q�T���Q�F�@"Q�+�@�A�����B� B��A��>*B��p9�A��A���8�A����A�"C�5��*C� ��<RC�����C��C����I��Gj>i�-HmGI�M qA����3j,0\ΨE�Ai�,��RCK�ٺR qA��Vc?AY}5���@�}5d�@y}5�����}5���}5H�����տ����6.�?�����m�?�����3����@�!տ���`:@�?���`���?����`������ ���?)~5���@ ~5>_;I~5��CɫQ�Q)�Q �U����I�QY��>�@y���wG�%TNmea in: $SNTTA,,0.045939,,,165208.80*42 ��}^����};��}t<i�}��@��y �}9�@)�}9�@I�}�@i�}9�@���ܼM�4=Y��3;QU��>�����a��G����y��A�}��>Iȩ�ŭ�c5�?�ŭ�A� ƭ�������?9ƭJ�@�ǭ�: ȭʕ?)ȩ�m�qAdded new target pos. range: 56.219994 m, bearing: 276.629983 deg, deltaT: 4.362288 s, approachRate: 0.151294 m/s, LOS rate: 1.422903 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����(L@U����`���?�A%����B! 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X) �W) :W) 2W) *W) �V1 U1 U5 ��� I��?zLu ��=�Lu ��=�Lu b�@�Lu g y@�A� P���B� B� �A� =�>*B� �]9�A� �A� �8�A� ����A� "C� 5��*C� ��<RC� ����C� �C� ��� ��� �������I��G�>��ڰ3j,���ΨE�AY}2@%�@�}2�2�@y}2�`伙}2�h��}2H�����%�Կ����;�?����=-�?�����?�����]�Կ�����Ӎ?��� &��?����8������@q��?)~2@%�@ ~2�}_;I~0ɫQ�Q)�Y �]����I�YY�}��@y�}�vGI��)���A���a=i��=��Ǣ�M%�=Y�-��QU5^?��1��1�a=�G��9��9y�E{�<}E^?I�I��MFY5�?��M`F� �M8پ��U�?9�M�@��M��: �M��:)�I�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U����@���?zL��L��L��L�W_y@�A �H��B B �A#�>*B�m9�A�A8�A����A"C4��*C���<RC%4l��C!�C!��YI�iG�^>���3j,�p�ΨE�AY}2[U�@�}2c�@y}2�=Ἑ}2� ��}2H�����)rԿ����@K�?�����E�?����rO������Կ���`e��?���@�&�?��� Ų��������?)~2[U�@ ~2O�_;I~0ɫ9�9)�9 �9I�9I�y)�}@A���J�������������� ��b:Y�y���M6Y��d�@y���vG����D;����پ������i��=�@��� ��)��O�@I��n�@i��O�@����`�M�?=Y���j:QU��>�������a��G������y��4a<}��>I�����:���5V5�?���:���SH� ���о�� �?9����@�����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U������l@zL��L��L��L���y@�A��B B�A-!�>*B-�`9�A)�A-`8�A-}���A)"C53��*C5���<RC=}�q�C9�C9��=�ˁ�I�IG�\>��� mA��� �� 9�� I�� �rGi�� {�@��� ��� ��� ��� ik; �� �2E)�a�I�a�i�a���e�=��e�=��e�wq5��.�3j,8K�ΨE�AY}F���@�}Fk��@y}F�ؼ�}F�y ��}FH�����RԿ�����Y�?����� �?����^����@B)Կ��� &)�?���@��?��� ì������@��?)~F���@ ~F�_;I~F��CɫY�Y)�Y �e����I�aY���@y��vG鮅a=ɮ����1�M�K=Y���);QU��>�������a��G������y��ua<}��>I�����US5�?���,J� ��1ɾ����?9���A���k�: ����:)���W)�W)X) X1�W1:W12W1*W1�V9U9U=��� '�@�REB*** querying acoustic contact ***�PA�PAzLY�LY�LY�L]�z@�Au���Bq Bq�A}:v>*B}�`9�Ay�A}�8�A}����Ay"C�2��*C�IL�<RC�߯_�C��C ��=���=�����r�I� G%M>���3j,p&ϨE�AY}2��@�}2Ŭ�@y}2Q˼�}2���}2H�������ӿ����[b�?���@a�?����:g�������ӿ�����a�?����`�?��� �V������9��?)~2��@ ~2��_;I~0ɫY�Y)�Y �]����I�a���� �������������������� �PU:Y�xZ1y�q�:��W�5Y���@y��4vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=I��)���A���i��mA��]/]=��]�����]���i�]Q�@��Y �]9�@)�]9�@I�]9�@i�]9�@��m��;MmA=Y�u��;QUu�>��q��q�a}�G��y��yy��<}��>Iȉ����:�ōRP5�?����:�ō L� ƍ������?9ƍ��A�Ǎ��: ȍ(�:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@� @zL��L��L��L��Xz@�A=���B9 B9�A=wy>*B=/_9�AA�AE�8�AEF��AA"CM5��*CME��<RCM��U�CQ�CQ��]��c�I��G�c>�N@�3j,"�*ϨE�AY}6g��@�}6��@y}6�&���}6����}6H�������ӿ����f�?���@���?���@�k����@��ӿ���@=D�?���`YD�?����aW�����` ��?)~6g��@ ~6L�_;I~6��CɫI�I)�I �M����I�IY�eQ�@y�e:uGmxDUSBL response received:!U1,P DFC,000,0061A,187,80,80,65,FF mCommand AckmBRequesting micromodem ping code 2i�i��i��}=i�}p=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܑ9ܑIܕ0rGiܕ��@�ܕ =�ܑ�ܑ�ܕ�o; ݕ�4E������Q��?D�l����?�������?����(>���O�= ����<)��I��y����&1��?�Zd;���~j�t��?����P=����y������< �� A)���AI�� Ai��dA������A���]�M2=Y�;�;QU%�>�����a��G����y��b;}��>Iȑ�ŕoM5�?�ŕ�L� ƕm������?9ƕA�Ǖ��; ȕ_�;)ȑ�WA�WAXA XI�WI:WQ2WQ*W��V�U�U������� @zLE�=�LE�=�LEa�@�LEϚa@�A����B� B��A�`>*B�Z9�A��A�%8�A����A�"C�4��*C����<RC�C�Q�C��C��օ ��Y�I�� G� �>��(�3j,��DϨE�AY}:���@�}:7��@y}:�C���}:)�"��}:H�����a�ӿ�����d�?����S��?���`sk�������ӿ����|?������?��� P���������?)~:���@ ~:��_;I~:��Cɫ9�9)�9 �=����I�A������������������������ ��:Y�0Y1y���:���5)��s;�9��Y��w�@y��guG������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����]<M�u=Y� ��;QU=?��9��9�aE�G��A��Ay�M�8�}M?I�Q��]�:��UjK5�?��]�:��UsM� �Uɵ���]�?9�U�A��U��: �UI�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����v2@zL �L �L �L Ƥa@�A%���B! B!�A%�d>*B%�b9�AI�AMY8�AM���AI"CU3��*CU"P�<RC])�S�CY�CY��}m�Y�I��G�_>��R�3j,̷^ϨE�A�|4<�|4<Y}6?��@�}6���@y}6!����}66�#��}6H�����~�ӿ����Jc�?������?����j�������ӿ���@�Rz?�����O�?���@�z���������?)~6?��@ ~6(�_;I~6��Cɫ9�9)�9 �=����I�AY�}��@y�}�tG�xDUSBL response received:!U1,R,E46,000,0061C,186,80,80,3C,FF �Fpublishing direction and range info����|�>���ɰ��>鰅��> ��)���pBI��y��\aB����4d\��?��*��?��������ٱ�I��)���A���a=i��p=����D>���t�=����{>i����� ��)��I��i���� �^�M [=Y�}Q;QU�>�����a�G����!y�%^�}%�>I�)��-,I5�?��-N� �-�������?9�-^A��-n�< �-��<)�)�W!�W!X! X!�W!:W)2W)*WI�VIUQUU���`�@�Pa*Qe\aB�Ze�% ��J@%=L25@���������Ze�4d\��?��*��?��������2Qe�|�>:Qa�Ze��+2u@��g��L���YjN�?�Ze�D��"ޱ?��~'����cuGk?BQe�@ Qe�`�Qe�{@�PeM�9?�PeT�9?�PeU���QaQe��@"QeF�@zL��L��L��L���a@�A��_�B� B��A��O>*B��[9�A��A��8�A���A "C2��*C���<RC�[V�C�C��I�)GEQ>��i ��m 4<�q 9�q I�u hqGi�u 6�@��q ��q ��q ��u �t; �u �7E���3j,˞xϨE�AY}r�@�}r���@y}r4c���}r�%��}rH�������ӿ���@�d�?��� `�?����k�����;�ӿ�����D{?���� ��?���@����������?)~r�@ ~rW"`;I~r��CI�q)�q������������������������ ��,:Y��W1y�č:���5)���;ɫ���)�� ������I��Y�5�@y�5�tG��DNmea in: $SNTTA,,,,,165213.24*5A ��M��<MM7=Y�U O�QUU�>��Q��Q�aU�G��Y��Yy�]��:}e�>I�i��mrF5�?��m�N� �ma����u�?9�m�A��mܹ: �m+�:)�i�m�uAdded new target pos. range: 56.340000 m, bearing: 274.002218 deg, deltaT: 4.439351 s, approachRate: 0.027032 m/s, LOS rate: -0.591925 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �+L@U��������?zL��L��L��L��a@�A�� �B� B��A�#X>*B�:\9�A��A��8�A�D��A�"C�5��*C�v �<RC�g�S�C��C��)I�YG��>��d�3j,�m�ϨE�AY}2���@�}2Yό@y}2����}2��!��}2H�����c�ӿ����(l�?��� ���?�����r�����v�ӿ���@��?����s�?�����1���������?)~2���@ ~2��_;I~0ɫ9�9)�9 �=����I�9Y��4�@y���sG��}��=��}t����}7 �i�}G�@��y �}O�@)�}O�@I�}O�@i�}O�@��Β�M�X=Y���QU��>�����a��G����y���;}��>Iȡ����:�ť!D5�?����:�ťlO� ƥ������?9ƥgA�ǥ��: ȥ�:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����W�?zL��L��L��L���a@�A�ٛ��B� B��A�]<>*B�JY9�A��A��8�A�z��A�"C�4��*C�l�<RC���I�C��C���9��9i��nGI��fpAi���mTH�ٺufpA��}<A�ֹI��G�h>�D��3j,QJ�ϨE�A�|i|�@���� ������������� �@:Y�y����6�9�@ɫ�髙)�� ������I��Y����@y��rsG��M�=i�M�=I�I)�M�A��Qi�UlA)�Y��6only read 3 of 4 data itemsai�@a��� am�@a��� aq�@a��� ae�@a��� �!9�!I�%�pGi�%��@��%=��!��!��%{; �%�:E��=iǼM=?=Y�E���QUE�>��A��A�aM�G��I��Iy�U���}U�>I�Y��]�A5�?��]"P� �]����e�?9�]�A��]ٮ: �]W�>)�Y�W��W�X� X��W :W)2W)*W)�V)U1U5������?�A]v��Ba Ba�Ae�1>*Be�V9�A��A�+8�A����A�"C�3��*C����<RC���K�C��C��֝��O�I��G�d>��v�3j,�#�ϨE�AY}2�@�}2��@y}2�����}2��}2H����`bӿ�������?�����ؤ?������������#ӿ�����p�?�����6�?���`^�����`���?)~2�@ ~2��_;I~2��Cɫ�髁)�� ������I����=i�=Y����@y��`sG��EmA��A�Í��>�Í㥽�Íj��iÍ�@�É č�@)č�@Ič�@ič�@���X�M�=Y�ﲺQU��>�����a��G����y�B�<}��>Iȹ����:�Ž.>5�?����:�ŽQ� ƽk������?9ƽ�A�ǽ��: Ƚ�y?)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� PD�?�A%���B) B)�A-�/>*B-�T9�A)�A5a8�A5j ��A1"C=2��*C=U�<RC=$?+�C9�CA��UmA��Q��E Q�O�I�Q Gm �>���3j,B�ϨE�AY}6c0�@�}6>�@y}6Sᮼ�}6"���}6H����@"�ҿ������?����zD�?����Г���� ��ҿ����5Ä?�����ە?����ס����`(��?)~6c0�@ ~6x�_;I~6��Cɫ1�9)�9 �9I�9Y����@y��sG���� �������������������� ���B:Y���X1y��/�:�����5��5F��M5�=Y�=f�:QU=D?��9��9�a=�G��A��Ay�E%�<}MD?I�Q��U�<5�?��UtQ� �U?����]�?9�U�A��U5�: �U�?)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@y��?�A�����B� B��A��(>*B�^9�A��A��8�A���A�"C�5��*C�1��<RC����C��C��օ[�<�I��G�>�� nA�� � .�>9� v�CI� toGi� ��@�� �� �� �� ,�; � �>E�U��3j,���ϨE�AY}>�Q�@�}>�_�@y}> 6���}>VO��}>H������ҿ�������?���@��?��� Ɲ����`D�ҿ���@wT�?����b�?���� ȡ�����Y��?)~>�Q�@ ~>�_;I~>��CɫY�Y)�Y �]����I�YY��5�@y���rG��=i�=��5@��M=J=Y�=�;QU=�>��A��A�aE�G��A��Iy�M&<}M�>I�Q��UU:5�?��U(R� �U�����e�?9�UkA��U,�: �U��?)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����/@�A��G��B� B��A�m>*B�3U9�A��A��8�A�U��A�"C�4��*C��5�<RC����C��C����<�1�I� G%,>�?�4j,ȶШE�AY}>ge�@�}>s�@y}>JB���}>����}>H������lҿ����y��?��� �?�?���`}�������uҿ�������?���`�G�?���������`F��?)~>ge�@ ~>i�_;I~<ɫY�Y)�Y �e����I�aY����@y��ArG鮥p=ɮ�I)������������������ ���f:Y��y������6���C>���`������i��f�@��� ��)��I��9�@i����{��M%==Y�%�:QU%�>��)��)�a-�G��)��1y�5p�;}5�>I�9��=�75�?��=�R� �=�����E�?9�=�A��=ٮ: �=�@)�9�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}����5�@�R�B*** querying acoustic contact ***�P��P��AU���BY BY�A]�>*BeOS9�A��A��8�A�� ��A�"C�3��*C�T��<RC�6 �C��C�Y�j9 �%>��%>�� �[�I� G5 �>�� 4j,��-ШE�Aɫy�y)�y �}����I�yY���@y���qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)�ܽ-�>9ܽw�CIܽHnGiܽ��@�ܹ�ܹ�ܹ�ܽ�; ݽ�JE)�y�I�y�i�y���}�=��}�=��}��5ai-�ai- am-�am- aq-�aq5 ae5�ae5 ��5��"��~j�?{�G�z�?{�G�z����5S�=��5�#< �5�#�)�1I�1y�5�T㥛� �?����Mb�����S㥛?��5�=��5����5/�< �5�A)�1I�1i�5�A��1��5�A��M�MU8=Y�U���QUU�>��Y��Y�a]�G��Y��Yy�e���}e�>I�i��u�:��m�45�?��u�:��m�S� �m�����}�?9�m�A��mr�: �m��:)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����`; @zL� �=�L� �=�L�_��@�L�@Th@�A���B B�A%�>*B%�Q9�A!�A-�8�A-���A)"C52��*C=o �<RC=�i�C9�CAY�)j9�� �K�I� G1 �3�4j,�lGШE�AY}N;y�@�}N�@y}N�}���}N ��}NH����@�Fҿ����>��?��� Ɣ�?��� M�������Oҿ���@[�}?����lo�?���� ������`���?)~N;y�@ ~N�W_;I~N��C���� ������������� ���D:Y��y�����6)��g�;�9�ɫ�)� � ����I� Y�Ux�@y�U�qG]xDUSBL response received:!U1,P E46,000,0061C,186,80,80,3C,FF ]Command Ack]BRequesting micromodem ping code 2i�a��aI�a)�a�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��5lG?��5j�<��5�"�i�5p�@��1 �1)�1I�5��@i�5�@��}N��M}�=Y�R�:QU��>�����a��G����y�x;}��>Iș�ŝ�05�?�ŝuU� ƝYo�����?9ƝA�ǝ��: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����@�N@zL��L��L��L�#�h@�A 6���B B �A�>*B�N9�A�A*8�A���A�"C�5��*C��\�<RC�P�C��C��̭�=�̭�=���=i��=Yϥ�g9�ԵnA�Ա�֡I��G� ?��;4j,��jШE�AY}: |�@�}:���@y}:`&���}:�"��}:H������Aҿ���@���?�����G�?���@�������Jҿ������|?����}��?���`/R�����` ��?)~: |�@ ~:�_;I~:��CɫA�A)�A �M����I�IY�m��@y�m�pG��q��u@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}%��M��=Y�L�QU�+?�����a��G����y���:}�+?Iș����:�ŝ�.5�?����:�ŝV� Ɲ*g�����?9Ɲ�A�ǝ�: ȝ�:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`��@zL��L��L��L���h@�A �:��B B�A��=*BS9�A�AB8�A����A�"C�4��*C� �<RC�W��C��C����<���<�!9�%v�CI�%�mGi�% �@��!��!��!��%)�; �%5�EY���g9�ֽ@o�I��G �>��� � ����� ������ ������ ��� � �S:Y� xZ1y� q�:�� �6)� �;�)!4j,E��ШE�AY}:�~�@�}:9��@y}:����}:2C"��}:H������<ҿ����8��?����9V�?�����������dFҿ���@(�?��� H^�?����F����� ���?)~:�~�@ ~:�q_;I~8ɫ9�9)�9 �=����I�9Y�}��@y�}�pG�xDUSBL response received:!U1,R,D08,000,00621,18A,80,80,68,FF �Fpublishing direction and range info����)?���ɰ���>鰅��> ��)����BI��y���bB����x�kTb7�?j�$���?��������ٱ������;M�W=Y�����QU��>�������a��G������y��>P:}��>I�q��u@,5�?��uW� �u�Z�����?9�umA��uR< �u4<)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����k@�P�*Q��bB�Z������QF@$Z�:oA@���������Z��x�kTb7�?j�$���?��������2Q��)?:Q��Z���-�!�4@�,���]J�HD�� �߿�Z��HSc�[�?���V����R�mYӁ�BQ����@ Q��R�Q�`�A�P�x�9?�P�M�9?�P�O���Q�U���Q��@"Q���@zL9�L9�L9�L=��h@�AU���BQ BY�A]!�=*B],O9�AY�A]c8�A]���AY"C�3��*C�'��<RC����C��C�Y�}�e9��m���I��G��>�G'4j,M��ШE�A�|>�;�|>�;Y}53��@�}5ꗍ@y}5�����}58���}5H����@D&ҿ�������?�����ǥ?����ڭ�����U0ҿ����E��?���@M?�?���@z�������@��?)~53��@ ~5ӑ_;I~5��Cɫ � )� �����I�Y��:�@y��1pG��TNmea in: $SNTTA,0.050230,,,,165217.72*47 ������~j�t�?/�$���㥛� ��?�����<���,� ����=)��I��y���X9��v��?�p= ף��<�O��n�?����}=��������t�< KA) �AI 1Ai �A������A���ף����<�����i��(�@��� ���@)��ƣ@I��ƣ@i��ƣ@�����M�!=Y��SQU��>������a�G����y� |8;} �>I����:���(5�?���:��"X� ��O���%�?9� A����: ���:)���:�mMqAdded new target pos. range: 56.640007 m, bearing: 291.406852 deg, deltaT: 4.610911 s, approachRate: 0.065065 m/s, LOS rate: 3.774663 deg/s, posRepo size: 4�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUe�����QL@Ue���@���?zL���=�L���=�L�e,�@�L��g@�A��B1 B1�A5�=*B=�L9�A9�A=~8�A=9��A9"CE2��*CE�<RCE�W��CA�CIi�umAI�umAY�mBc9 Ձ�ԅ�=�օ ������ ����� ������ ������ X�� � �:Y� DW1y� Y�:�� * 6�9� @I�� G� �>�! 9�% w�CI�% TlGi�% �@��! ��! ��! ��% �; �% �E��n-4j,&W�ШE�AY}FŞ�@�}F|��@y}F/ů��}F�g��}FH�������ѿ����g��?������?���������� �ҿ����%F�?���`7��?����֊�����@���?)~FŞ�@ ~F�I_;I~F��Cɫ�髱)�� ������I��Y���@y��pG���mG�M�u=Y��P �QU�?�������a��G������y����;}�?I������&5�?����X� ��ZH�����?9��� A���b�: ����:)���W�W!X! X!�W!:W!2W!*W)�V)U)U-���`o �?zLI�LI�LI�LMG�g@�Ae��Ba Ba�Ae��=*Be�N9�Ai�Am�8�Am��Ai"Cu5��*Cuɬ�<RCu�K�Cy�CyY�]a9��Ur��I��G��>�NU44j,�,�ШE�AY}6$��@�}6�@y}6����}6dL��}6H����@��ѿ���`f��?�����N�?���`�������ѿ���`S!�?����fb�?�����硿������?)~6$��@ ~6 �_;I~4ɫ9�9)�9 �=����I�9Y�]��@y�]�oG��-33>��-+���-�J�i�-��@��) �-ƣ@)�-��@I�)i�)��=e��MET=Y�E��QUE�>��I��I�aM�G��I��Qy�U�2<}U�>I�Y��]4$5�?��]�Y� �]�?���m�?9�]& A��]��: �]ܹ:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����r��?zL��L��L��L���g@�A�*��B� B��A�Σ=*B��L9�A��A��8�A�2��A�"C�4��*C�xF�<RC�Z�˼C��C�Y���\9i��VnGI� i�!��]4f�ٺY��]-XA�ֽ.��I��G�h>��� ������ ������ ������ ^�� � �:Y� [1y� ݏ:�� � 6���:4j,��ШE�A�|i|Y}>��@�}>���@y}>�����}>�� ��}>H�����Rpѿ��� q��?���@)!�?��� ��������zѿ��� Y�?��� >��?����W���������?)~>��@ ~>3I_;I~>��CɫQ�Q)�Y �]����I�YY����@y��moG��5���M5K=Y�5���QU=�>��9��9�a=�G��9��Ay�E@E<}M�>I�Q��U�:��U�!5�?��]�:��U�Z� �U�6���]�?9�U� A��U��: �U��:)�U��:�Wy�W�X� X��W�:W�2W�*W��V�U�U������!�?zL��L��L��L��<h@�A���B� B��A�7�=*B�NK9�A��A��8�A�Q��A�"C�3��*C�x��<RC�����C��C����V>����>YϭcZ9�ԵmA�Ա��.�>9��I���kGi��s�@��������������; ����E�֝�ѼI��G�C>��fA4j,;�ѨE�AY}2D�@�}2� �@y}2�����}2+��}2H����`�ѿ���`���?����ޔ�?���@p������C)ѿ����q��?�����^�?���@�@�����@���?)~2D�@ ~2�U_;I~2��Cɫ9�9)�9 �=����I�AY����@y���nG�����>����'�����u�i����@��� ��-�@)���@I���@i���@�� N�M==Y�(:QU�>�����a�G����!y�%{D<}%�>I�)��-�5�?��-�[� �-\-���=�?9�-VA��-{�: �-r�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm������@zL��L��L��L�Ȕh@�A��E�B� B��A��K=*B�ZH9�A��A��8�A���A�"C�2��*C���<RC�co��C��C�YυV9��u���I��G��>��� � ����� ������ ������ N�� � �[:Y� �[1y� H�:�� 6���G4j,�ѨE�AY}V_A�@�}VO�@y}V7���}VU=��}VH���� ��п��� m��?����� �?�������������п���@�΄?�����!�?����������@���?)~V_A�@ ~V�F_;I~V��Cɫ�髑)�� ��I��Y����@y��mnG����bX9�ȶ?{�G�z��{�G�z�?���E�=���ף� ��ף<)��I��y���+�����?T㥛� ��<�O��n�?����=��������t= ��fA)��~AI���Ai���A�������A���8�M�L=Y��"F;QU��>�������a��G������y���f<}��>I��� �:��W5�?�� �:��;\� �Y����?9��A���: ��:)���:�W1�W1X1 X1�W9:W92W9*W9�V9UAUE�����6@zLe��=�Le��=�LeLj�@�Leɚ[@�A}>�By By�A}�<=*B}0H9�A��A��8�A����A�"C�5��*C��2�<RC�cJ�C��C�Yϝ}S9�֍���I��G��>�� 9�� I�� �jGi�� Ѿ@��� ��� ��� ��� ϻ; �� �{E�5�M4j,�9ѨE�A�|4<�|4<Y}>�a�@�}>�o�@y}>�����}><p��}>H�����R�п�������?����ό�?���`���������п������?����䳓?���@۫������o��?)~>�a�@ ~>�t_;I~<ɫy�y)�y �}����I�yY����@y��7nG��ɮ�p=)����;b�M�P=Y�i;QU��>�����a��G����y�}%<}��>Iȱ�ŵ5�?�ŵ�\� Ƶ� �����?9ƵBA�ǵǺ: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�Um�����Z@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���[@�A�?�ݼB� B��A��&=*B�lG9�A��A��8�A����A�"C�4��*C����<RC����C��C�i��I��Y���N9 ��>���>���l�X�I�G]�>��� G ����� ��� ��� ��� � |9:Y� y� �� 46)� {�;�9� ���T4j,�rSѨE�AY}:�u�@�}:���@y}:a����}:�<��}:H���� �`п�������?��� �q�?����������@Kiп������}?���@m3�?���`�ţ����@���?)~:�u�@ ~:�d_;I~:��Cɫ9�9)�9 �=����I�AY�}r�@y���nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��m����ml���mxi�i�m��@��i �m�@)�m��@I�mƣ@i�m��@��^�M�=Y�(;QU��>�������a��G������y����;}��>I������:����5�?����:���a]� ��k������?9���A���4�: ��A�:)����:�W�WX X�W:W 2W *W �V U U������@zL��L��L��L��\@�A���ټB� B��A�Q=*B��E9�A��A �8�A +��A "C 3��*C ��<RC ���C �C ��Eܪ&�I�IGm�>�y�Z4j,<OmѨE�AY}2�z�@�}2i��@y}2�����}2����}2H������Wп����H��?���� �?����?������/_п����i�z?�����1�?����.~���������?)~2�z�@ ~2�{_;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}8mG�xDUSBL response received:!U1,P D08,000,00621,18A,80,80,68,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 ������M�=Y� ;QU�L?�������a��G������y���;}�5?I���C5�?���]� ��ٽ��e�?9�5 A���B< ��B<)�܅/�>9܅v�CI܅�iGi܅.�@�܅=�܁�܁�܅��; ݅nE)��I��i�������������4�W��W�X� X��W�:W�2W�*W��V�U�U���� mJ @zL��L��L��L�C.\@�A}�cռBy By�A�d{<*B��D9�A��A��8�A����A�"C�2��*C�7Q�<RC�"8�C��C��ֽ���I��G��>��� � ����� ��� ��� M�� � �D:Y� y� �� �6)� C�;�εa4j,I,�ѨE�A�|�@i|�@Y}F=��@�}F�@y}F����}F���}FH������Lп���`���?����� �?���@�������HTп������x?���@�ѐ?��������������?)~F=��@ ~F�_;I~F��Cɫa�a)�i �m����I�iY��N�@y���lG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u�=i�u�=�� ����� ��>�� �>i� ��@�� � ��@)� z�@I� ��@i� z�@����M9=Y�%�Z:QU%�>��!��!�a-�G��)��)y�5��:}5�>I�9��=�5�?��=,^� �=���E�?9�=� A��=ϸ: �=��:)�9�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUqU}���@�@zL��L��L��L�L=\@�A��8ѼB� B��A����*B�tB9�A��A�8�A����A�"C�5��*C���<RC�f��C��C���%����I�1GMR>�!�g4j,t�ѨE�AY}^���@�}^l��@y}^�m{��}^����}^H�����Hп��� ���?���@[Z�?����y�����@�Nп�����v?����fm�?���`I�������g��?)~^���@ ~^o�_;I~\ɫ� )� � ����I� Y�5��@y�5<mGExDUSBL response received:!U1,R,1B4,000,00625,185,80,80,52,FF EFpublishing direction and range info��=��¾��9ɰ=��>�=+�> �9)�=��BI�9y�=�cB��=�"R!�'��?zM��}���������ٱ9�]dNmea in: $SNTTA,0.299191,0.299103,,,165222.28*5F �������S��?���x�&�?����Mb`?���/>���7�= ��;)��I��y���#��~j��?<�O��n��������������=���t�������� )�AIfAi A�������A���=M�4=Y��;QU��>�����a��G����y��-:}��>I������:���h5�?����:����_� ��9������?9��yA�����: ���:)����:�W1�W1X1 X1�W9:W92W9*WY�VaUaUe�����@�Pq*Qu�cB�Zu�X���gJ@�'d?�5����������Zu�"R!�'��?zM��}���������2Qu��¾:Qq�Zu���(_�@������F��1�|~�?�Zu�1��� ����{˳�bd�bq��?BQu{d�@ Qu�6�Qub��Pu�9?�Pux�9?�PuC���QuO���Qu��@"Qu�@zL���=�L���=�L�3ϱ@�L��n@�A-�ͼB) B)�A-f�<*B-D9�A1�A5 8�A5���A1"C]4��*C]���<RC]6�CY�Ca�։I��G��>��� L����� ������ ������ 3�� � �b:Y� [1y� ݏ:�� 3 6�9� @�q 9�q I�u �hGi�u :�@��q ��q ��q ��u d�; �u [cE�� n4j, �ѨE�AY}6���@�}6@��@y}6��d��}6"I��}6H������<п�������?���`���?�����������Bп������q?�������?���������������?)~6���@ ~6��_;I~4ɫ9�9)�9 �=����I�9Y�}��@y�}�lG)�����ܼM�s=Y���;QU�?�����a��G����y�� ;}�?Iȱ�ŵ�5�?�ŵ�`� Ƶ�������?9Ƶ A�ǵ4�: ȵ�:)ȱ�m�yAdded new target pos. range: 56.879997 m, bearing: 233.466876 deg, deltaT: 4.493265 s, approachRate: 0.053411 m/s, LOS rate: -12.894849 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������pL@U�����W��?zL�L�L�L�n@�A5�ȼB1 B1�A5a�;*B=�C9�A9�A= 8�A=���A9"CE3��*CEx��<RCEPaʻCI�CI��e��I�iG�9>���t4j,��ѨE�A�|�|Y}6y��@�}60��@y}6FD��}6w9��}6H������'п����~��?�������?����������V,п����אc?���@���?����ȥ���������?)~6y��@ ~6N�_;I~6��CɫQ�Q)�Q �U����I�QY���@y��XlGI��)���A)å�= å�=����=����D�����m�i����@��� ����@)����@I��i����@����ʼM=Y�Bm;QU�>�� �� �a �G�� �� y��;}�>I���%�:���5�?��%�:���b� ������-�?9�A����: ���:)���:�WI�WIXI XI�WI:WQ2WQ*WQ�VYUYU]����:��?zL��L��L��L���n@�A5��üB9 B9�A=���*B=�A9�AA�AE8�AE!��AA"Cu2��*C}h:�<RC}pH��Cy�C�i̍��I̍���̍���̍���� ���� ����� ����� J�� � $4:Y� �[1y� H�:�� �6 ՝�=�ԙ�֍`�ԻI��G��>��L|4j,%��ѨE�AY}2���@�}2D��@y}2*�"��}2c���}2H������п��� Z��?����oݣ?����N�����@�п������*?���@o]�?�����3���������?)~2���@ ~2=�_;I~2��C��~mA��|�9�I�hGi���@��=��������; �?ZEɫI�I)�I �II�IY��ſ@y���kG��-��M-}=Y�-��;QU5 ?��1��9�a=�G��9��Ay����;}�?I�����5�?����c� ��*�����?9���A�����; �� �;)���WI�WIXI XQ�WQ:WQ2WQ*WQ�VYUYU}�������?zL��L��L��L���n@�A�7ʾ�B� B��A�*B�2@9�A��A�8�A��!��A�"C5��*C��<RC�~�C�C ��M�ϩ�I�YGuW>��+�4j,�L ҨE�AY}6I��@�}6���@y}6' ��}6����}6H�������Ͽ�������?���@�g�?����[������A�Ͽ������Z�����w"�?�����������z��?)~6I��@ ~6�m_;I~4ɫI�I)�I �II�IY�}l�@y�}�kG��5�|>��5O�=��5h��i�1��1 �1)�1I�5��@i�1��EpۼMEJ=Y�Ev;QUE�>��I��I�aM�G��I��Qy�Ur;}]�>I�Y��e�:��],5�?��m�:��].e� �]g����m�?9�]DA��]^�: �]k�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�����ѓ�?zL9�L9�L9�L==�n@�Am�>��Bq Bq�Au��*Bu�>9�Aq�Au8�A}�"��Ay"C}4��*C�=��<RC�Qe7�C��C����y��I��GK>������������������������������ ���/:Y���X1y��/�:�����6i��mGI�% qAi�I���n�ٺ� qA���)`A��V�4j,M,'ҨE�A�|�@i|�@ɫ�髉)�� ��I��Y����@y��4lG���=i��=�e`only read 0 of 1 data item for water mass range.aie@a��e ame@a��e aqe@a��m aem@a��m ��u�"=Mu8=Y�}���QU}�>��y���a��G����y����}��>Iȑ�ŕ��5�?�ŕ�f� ƕ<������?9ƕ A�Ǖ5�: ȕ��>)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����mV�@�A�}���B� B�A���*BA9�A�A�A�#��A "C 3��*C���<RC1mE�C�C��%nA��!���yb]�I� G%M>��9��I��@gGi����@������������G�; ���RE�\>�4j,�AҨE�AY}:_ܖ@�}:�@y}:aLӻ�}:w�!��}:H�����5Ͽ���� �?��� �d�?�����������7Ͽ����W�k���� �iz?�����2������s��?)~:_ܖ@ ~:9A_;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�jG��=��M=a=Y�EȬ;QUE�>��A��A�aM�G��I��Iy�U�<}U�>I�Y��]�5�?��]�g� �]�����e�?9�]�A��]ݱ: �] O?)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������>@�A�_B� B��A����*B��<9�A��A��8�A�\$��A�"C�2��*C��d�<RC��J);C��C����I� G%,>��� ����������� �gF:Y�y���P�6�zh�4j,��ZҨE�AY}6v��@�}6- �@y}6o����}6�9��}6H����@��ο������?���@�ߢ?�����������ο����U n����@��u?���� Ƣ�����`��?)~6v��@ ~6�D_;I~6��Cɫ9�9)�9 �=����I�9Y�}U�@y�}gkG鮁ɮ�=���������\=����i��f�@��� ��=�@)��=�@I��=�@i��=�@�����<M�O=Y��cB;QU��>�������a��G�����y��1<}�>I� ���:�� �5�?���:�� Mi� � A�����?9� YA�� W�: � �?)� ��:�W9�W9XA XA�WA:WA2WA*WA�VIUIUM����f@�R�B*** querying acoustic contact ***�P��P��A�0��B B�AV0�*B�>9�A!�A%�8�A%1%��A!"C-5��*C-�9�<RCM��;CI�CQ��E�] ;I�QGm5>����4j,��tҨE�A�|�;�|�;Y}6� �@�}6p.�@y}6@�X��}6����}6H�����a,ο������?�����Ƞ?�������� �+ο���ࢦr�����dk?���`�ܠ��������?)~6� �@ ~6g_;I~6��C��B�<��B�<�D9�Fw�CI�FxfGi�FS�@��F=��D��D��F,�; �F+LEɫY�Y)�Y �]����I�aY��G�@y��UkG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A��6Buffer fill timout failure. �)�)��eK��MmC=Y�m,�;QUu�>��y��y�a}�G��y��y�<}��>I�������5�?����j� ������?9��A����: ����?)���W!�W!X! X!�W!:W!2W)*W)�V)UQUU���`(� @�A��`��B� B��A��M�*B�f>9�A��A��8�A�&��A�"C�4��*C���<RC��{<C��C�Y��H9 ��=���=�����������������7�� ��i:Y�xZ1y�q�:��� 6)��;�9�����;I�)GE�>��z�4j, ��ҨE�AY}6�<�@�}6FJ�@y}6����}6�����}6H���� ,�Ϳ���`��?���`~w�?�����������Ϳ����#{�������>?�����5������1��?)~6�<�@ ~6)_;I~4ɫ�髱)�� ������I��Y����@y���jG�xDUSBL response received:!U1,P 1B4,000,00625,185,80,80,52,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 ��=�P���=�<��=`�<i�9��9 �=\�@)�=E�@I�=E�@i�=E�@��MB��MU=Y�U��;QUU�>��Y��Y�a]�G��a��ay�m��;}m�>I�q��u��5�?��u�l� �u�����E�?9�u�A��uP�< �u�@)�q�W��W�X� X��W�:W�2W�*W��V�U�U����@u�@�AE ���Bi Bi �Am W��*Bm �=9�Ai �Au �8�Au '��Aq "C} 3��*C} ���<RC} ;<Cy �C� �ֽ�z<I��G��>����4j,&r�ҨE�Aɫy�y)�y �}����I�yY��о@y���jG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܉9܉I܍�eGi܍��@�܍=�܉�܉�܍Ԉ; ݍ�FE)�%�v�CI�!�i�!���%�=��%�=��%�&�4�-uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D�5POutgoing frame #2, 6 bytes: 55B944648000�5DNmea out: $CCCYC,0,1,10,1,0,2*6A ��= ����9��9��=��� �=�I:Y�9y�9��= 6)�=��;ai� �ai� am� �am� aq� �aq� ae� �ae� ��� �q= ףp�?+������<�O��n�?��� ��=��� �� �� t�<)�� I�� y�� ���~j�t�?�A`��"����~j�t�?��� �=��� Y���� ��< �� A)�� �AI�� Ai�� ��� ��� �A��� �7�M� =Y�� ���QU� �>�� �� �a �G�� �� y� ���} �>I� ��% �:�� T�5�?��- �:�� Zm� � n����- �?9� �A�� �+; � C*;)� ��:�WY �WY XY XY �WY :Wa 2Wa *Wi �Vi Ui Uu ��� k@zL� �=�L� �=�L� ���@�L� 3b@�A� �X��B� B� �A� zݼ*B� �<9�A� �A� �8�A� �'��A� "C� 2��*C� ���<RC� �5<C� �C� ����8<I� G �>� �4j,���ҨE�A�|i|�@Y}6�`�@�}6vn�@y}6FK�;�}6����}6H���� 43Ϳ�����"�?���`Z�?��� �'������'Ϳ���@�b������aIv���� �9��������?)~6�`�@ ~6{d_;I~4ɫQ�Q)�Q �U����I�QY��K�@y��jG�xDUSBL response received:!U1,R,0EB,000,0062B,186,80,80,79,FF �Fpublishing direction and range info���~�Q����ɰ�Z>鰵��> ��)����BI��y���dB������+WT�?��-��ʿ��������ٱ���BNmea in: $CACYC,0,1,10,1,0,2*68 ����=i�����½M�=Y�� =QU�?�����a�G����!y�%��<}-�?I�1��5z�5�?��5�m� �5b~���=�?9�5�A��5��: �5n�:)�1�Wy�WyX� X��W�:W�2W�*W��V�U�U�����G�@�P�*Q��dB�Z��\*�V1L@:���P'����������Z����+WT�?��-��ʿ��������2Q�~�Q�:Q��Z��@��: 8�{p�f�I�T�����?�Z��^�WI��ڿL���tIS _�c?BQ��߈@ Q��O�Q����P���9?�P��9?�P�O���Q�C���Q���@"Q���@zL�L�L�L��b@�Ae�Ə�Ba Ba�Ame1�*Bm�79�Ai�Am�8�AmN(��Ai"Cu5��*Cu��<RC}zM�<C��C��ԩ�ԭmA�֭�9<I��G�d>�a�4j,���ҨE�AY}FZg�@�}Fu�@y}F�w�;�}F��3��}FH���� `Ϳ����l"�?�������?����C)������Ϳ���@̴��������~����@v���������?)~FZg�@ ~F�_;I~Dɫy髁)�� ������I��Y�N�@y�#jG�}NNmea in: $CADRQ,165227,1,10,0,64,1*73 ��uNmea out: $CCTXD,1,10,1,188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D*32 )������>�����������i����@��� ��ƣ@)����@I��ƣ@i��ƣ@��^:M=Y�>;QU%�>��)��)�a-�G��1��1y�=�:}=�>I�I��M��5�?��M[n� �M*P���]�?9�MFA��M�; �M�;)�I�meqAdded new target pos. range: 57.240005 m, bearing: 245.071477 deg, deltaT: 4.486408 s, approachRate: 0.080244 m/s, LOS rate: 2.586613 deg/s, posRepo size: 4�Wi�WiXi Xi�Wq���� �����������Q�� ��:Y�y����'6�9�@:W�2W�*W��V�U�������L@U����@h�?zL�L�L�L#�b@�AM���BQ BQ�AU�/�*BU[;9�AQ�AU�8�A]/)��AY"Ce4��*Ce���<RCec�z<Ca�Ci�օ ��<I�� G� �>�ٽnA�ٹ��9��I���dGi�� �@������������,�; ���CE��>�4j,�ҨE�AY}n�i�@�}n�w�@y}n<�}n�UB��}nH�����Ϳ���@�!�?������?�����)������̿�����������Հ�����@.H������{��?)~n�i�@ ~nĝ_;I~n��Cɫ�髹)�� ������I��Y��ؽ@y���iG�eDNmea in: $SNTTA,,,,,165226.84*56 �ezTXD response from modem unexpected: $SNTTA,,,,,165226.84*56 ��U���M]+=Y�m3;QU��>�������a��G������y��n*:}��>I� ��% �:�� R�5�?��- �:�� o� � e%���5 �?9� �A�� #�; � ��;)� ��:�W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ���� �?zL� �L� �L� �L� ��b@�A� "��B� B� �A� �j�*B� /99�A� �A� �8�A� �)��A� "C� 3��*C� ���<RC� AA~<C� �C� i�� I�� ��� ��� �� �=��� �=���+w<I� G-?���4j,�oӨE�A�|�|Y}F�k�@�}FHy�@y}F�<�}F�a;��}FH������Ϳ�����"�?�������?����*����@�̿���@5������@���������i����� ��?)~F�k�@ ~F"L_;I~F��CɫI�Q)�Q �U����I�QY�u�@y�}�iGI�q)�q���>���`e�������i��z�@��� ��&�@)���@I��&�@i���@���;MR=Y���:QU�>��%4����!��!��%0�� �%�`:Y�!y�!��%�6��)��)�a-�G��)��1y�5:}5�>I�9��=t�5�?��=�o� �=9���E�?9�=+A��=#�: �=��:)�9�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUqU}���@���?zL��L��L��L�}�b@�A�[�u�B� B��A��a�*B�q89�A��A��8�A�o*��A�"C�2��*C�w}�<RC�$H�<C��C��֭��v<I��G�d>��4�4j,�23ӨE�AY}2j�@�}26x�@y}2<R<�}2����}2H����� Ϳ���`�$�?����Z�?�����)����� �̿�����b����� 5*������R������ j��?)~2j�@ ~2�i_;I~2��CɫY�a)�a �e����I�aܥ0�>9ܡIܥ�cGiܥ�@�ܡ�ܡ�ܡ�ܥd�; ݥ�AEY��S�@y���hG��U�/�$��ÿT㥛� ����ʡE��?��U����U�� �U��=)�QI�Qy�U��Q���?X9��v����~j�t�x?��U\=��U�}���U��; �U;A)�U^AI�U�Ai�Q��Q��U�A��u}F�MuV=Y�}1:QU}�>��y���a��G����y�賹}��>Iȑ����:�ŕE�5�?����:�ŕp� ƕ:�����?9ƕ�A�Ǖ��: ȕV�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����m��?zL�T�=�L�T�=�L��=�@�L��{[@�AD�g�B B��A����*B�F69�A��A��8�A��*��A�"C�5��*C�'j�<RC�I�~<C��C������<I�Gn>���4j,� MӨE�AY}2kl�@�}2"z�@y}2�_<�}2!����}2H������Ϳ���`\'�?���`���?����E*�������̿����/Ő�����ޫ����� w����������?)~2kl�@ ~2H#_;I~2��Cɫ9�A)�A �M����I�IY��t�@y��iG�M<Nmea in: $CATXD,1,10,1,64*49 I�=�=)�=4=��=nA��9���`�=����Ľ����u<i��\�@��� ��\�@)��\�@I��\�@i��\�@���<M@=Y�%|:QU%�>��)��)�a-�G��)��1y�5^:}5�>I�9��=��5�?��=�p� �=�ּ��U�?9�=A��=+Z; �=�Z;)�9��m� ����m�����m�����m �� �m�E:Y�m�Y1y�m�:��m�6�W��W�X� X��W�:W�2W�*W��V�UU����G@zLA�LA�LA�LE�w[@�A]h�Y�BY BY�A]d��*B]�79�A��A�y8�A��+��A�"C�4��*C��U�<RC��Ҁ<C��C�i��HmG�֝��v<I��i��I�����yj�ٺ�����\AG�>�TH�4j,�fӨE�AY}2t�@�}2�@y}2k�'<�}2�1ټ�}2H�������̿��� *�?���`�?�����+�������̿����fV�����`u�������%����� ���?)~2t�@ ~2�_;I~2��CɫA�A)�I �M����I�IY�uʼ@y�}EhG�yɮ}p=��NNmea in: $CADRQ,165228,1,10,0,64,2*7F ��RNmea out: $CCTXD,1,10,1,55B944648000*38 )�I���h�M�_=Y��_�:QU��>�������a�G����y� �&;} �>I�Q��]�:��U��5�?��]�:��U�p� �Ut����]�?9�U�A��U��: �U{�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����9k@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�y�[@�A-��K�B) B)�A5���*B5�39�A1�A5a8�A5�+��A1"C=3��*C="F�<RCEޭ�<CA�Ca��]}U�<I�iG�Z>�ّ�ٕp<ܙ9ܙIܝ�bGiܝw�@�ܙ�ܙ�ܙ�ܝ��; ݝ?E��.�4j,ĀӨE�AY}2F��@�}2���@y}2�8<�}2���}2H������̿���@�,�?����� �?�����.�����է̿���@Z���������������V�����`X��?)~2F��@ ~2(�^;I~2��Cɫ9�9)�9 �=����I�9Y�}i�@y�} iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��:Nmea in: $CATXD,1,10,1,6*7D ���� �������������������� ��B:Y��]1y���:���6)���;�9��)�1 �1 ��} @��} @��} @��} ©�} ���} �i�} f�@��} ���� �} E�@)�} ���I�} ���i�} E�@�� m�=M� =Y� ��:QU� �>�� �� �a� �G�� �� y� �*;}� �>Iȩ �ŭ *�5�?�ŭ �q� ƭ ě���� �?9ƭ 5A�ǭ M�: ȭ ��:)ȩ �Wq �Wq Xq Xq �Wq :Wq 2Wy *Wy �Vy Uy U� ���@�f @zL� �L� �L� �L� ��[@�A� �=�B� B� �A� +��*B� �89�A� �A� G8�A� �,��A� "C� 2��*C� �/�<RC� p3�<C� �C� �� �=��� �=���I��G �>���4j,P�ӨE�Aɫ�髙)�� ������I��Y��¼@y��<hG�xDUSBL response received:!U1,P 0EB,000,0062B,186,80,80,79,FF �Command Ack�BRequesting micromodem ping code 2i�������.Nmea in: $CATXP,70*75 ���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��������Mb@�����Mb@�����Mb@��������� ���)������I��y����v��/�?+��������~j�t�?���xi=����������= ½�A)½�AI½�Ai½dA������A�����M��=Y�����QU�?�������a��G������y�����}�?I�����:�����5�?���:���Nr� ������ �?9���A�����: ��#�:)����:�W)�W)X) X)�W1:W12W1*W1�V1U9U=����z�@zL]��=�L]��=�L]���@�L]7�c@�A��1�B� B��A�Ժ�*B�29�A��A�08�A�-��A�"C�5��*C��$�<RC���<C��C�Yϵ�C9�֭ '�<I�� G� �>���4j,���ӨE�AY}Jdʗ@�}J؏@y}J!N<�}JYB��T9�TI�V�bGi�V&�@��T��T��T��V�|; 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B!�A%2�*B%�*9�A!�AE�8�AM�/��AI"CU3��*CU!�<RCUq=CQ�CY�A9�AI�Ai�A��A��A��A��E�X; �E�(E��]� =I�iG�Z>�Q�a5j,=*�ըE�AY}J�R�@�}Je`�@y}J�/�:�}Jӌ��}JH����@��ɿ��� }W�?���@�;�?�����[�����?}ɿ�����k���� ��S�����װ��������?)~J�R�@ ~J|N`;I~J��Cɫa�a)�a �iI�iY���@y���dGI�I)�I��MR=i�M�<I�q)�uAA�í�(?�í+�=�í�P=iíf�@�é ĭE�@)ĭE�@IĭE�@iĭE�@��d]�M�L=Y��G��QU��>�������a��G������y��/<}��>I������5�?������ ��{d>����?9��%A���@�: ����:)���W �W X X �W:W2W*W�VUU��� �&@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=e�p@�AUA�;BQ BQ�AU�3�*B]F(9�AY�A]k8�A]t/��AY"Ce2��*Ce�.�<RCe�w=Ci�C������=I� G%M>���g5j,��ըE�AY}2n�@�}2�{�@y}2�&H:�}2 ���}2H����`_ɿ����%\�?��� ꧡ?����a����@�ɿ��� )k���� �I���� M���������?)~2n�@ ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y�}7�@y�}eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���� �����������������8�� �3G:Y�0Y1y���:��� 6��e�X9��v������Mb������������e�}���e��� �e���)�aI�ay�e�D�l����?#��~j���X9��v��?��eO�=��e㥽��e��< �a)�e^AI�edAi�e A��a��e�A���,<M�>=Y���QU��>�����a��G����y���;}��>Iȡ����:�ť��5�?����:�ťׅ� ƥTs>����?9ƥ�%A�ǥ�g; ȥ�f;)ȥ��:�W9�W9XA XA�WA:WA2WA*Wi�ViUiUm��� ��&@zL���=�L���=�L��_�@�L�j@�A��j5;B� B��A��.�*B��*9�A��A�:8�A�T/��A�"C�5��*C�$U�<RC�^z)=C��C�i�!I�!��!��!��%��=I�1GU�>��9��I��_Gi��J�@�������������U; ��>'E�� n5j,"�ըE�AY}2҉�@�}2���@y}2 �B:�}2� ��}2H���� ��ȿ����^`�?�������?����~f������ȿ���@@�����XH���������������?)~2҉�@ ~2��`;I~2��CɫQ�Q)�Q �U����I�QY�}>�@y�}#eG�xDUSBL response received:!U1,P 0EB,000,0062B,186,80,80,79,FF �Command Ack�BRequesting micromodem ping code 2i�����)Ý�= Ù���,;M�n=Y��{�QU�?�����a��G����y�s!<}�?I������5�?���چ� ��O>����?9��R&A���÷: ����:)���W��W�X� X��W�:W�2W�*W��VUU�����'@zL!�L!�L!�L%�Rj@�A=��Q;B9 B9�A=�-�*B=�&9�A9�AE8�AE;/��AA"CM4��*CMtt�<RCM� 5=CI�CQ��M �=I�YGu�=���t5j,��ըE�AY}2җ�@�}2���@y}2� :�}2&'��}2H������rȿ�����b�?���`[s�?����.i���� �lȿ����& ����� ӣA����@D㤿����-��?)~2җ�@ ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y���@y���dGI��)����%+���%��=��%V�i�%=�@��! �%�@)�%ҙ@I�%ҙ@i�%ҙ@��5�/�M5B=Y�='��QU=�>��9��9�aE�G��A��Ay�MƄ;}M�>I�Q��U̝5�?��U�� �U�>��]�?9�U'A��U�: �U��:)�Q��u=i�up=���U �����������������"�� �O:Y�d\1y���:��a6�W��W�X� X��W�:W�2W�*W��V�U�U����`�u(@zL��L��L��L��sj@�A�� l;B� B��A��2�*B��)9�A��A��8�A�/��A�"C�3��*C����<RC�9=C��C�i�5�lGI�Qi�i���wV�ٺ����fIA��%d)=I�1GM1>�{5j,��ըE�AY}2u��@�}2,��@y}2� �9�}2��!��}2H�����sdȿ��� �c�?���� ̣?���`�i������^ȿ���@�_������^�?����`�6���������?)~2u��@ ~2�Q`;I~0ɫ9�9)�9 �=����I�9Y�]X�@y�]CeG��$�<M�R=Y���QU��>�������a��G������y���:}��>I������:���Κ5�?����:���@�� ��֍>����?9���'A�����: ���:)����:�W�WX X �W :W 2W *W �VUU�����E)@zL��L��L��L�vj@�A��;B B�A�*�*B*9�A�A �8�A �.��A "C2��*C���<RCR{:=C�C �%�=��%�=���8=I�Gu6>ܡ9ܡIܥ�^Giܥ��@�ܡ�ܡ�ܡ�ܥ�R; ݥ�%E���5j,Gr֨E�AY}%E��@�}%���@y}%/�j:�}%S��}%H���� ��ȿ����Zc�?���`���?���@�h����@�{ȿ����f�������QM�����\i���������?)~%E��@ ~%�`;I~%��Cɫ1�1)�1 �=����I�9���? �������������������� ��8:Y�0Y1y���:��X�5)��;�9��Y����@y���dG�� �� nA��U��=��U,���U�@=i�Uz�@��Q �U��@)�U�@I�U�@i�U�@��e�)�Me2=Y�m�l:QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ�ŅD�5�?�Ņ��� ƅɕ>����?9ƅv(A�Dž8�: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������%*@zL��L��L��L�&]j@�AFI�;B B�A(>�*Bl(9�A �A }8�A �.��A "C5��*CG��<RCe7=C�C�֝п8=I��G�b>��-�5j,YM"֨E�AY}2샘@�}2���@y}2��:�}285��}2H����@��ȿ���@a�?����B{�?����[e�����W�ȿ���@�~�����0"P����`�堿�������?)~2샘@ ~2��_;I~2��Cɫ9�9)�9 �=����I�9Y����@y��ddG���a=i��a=)��I�q)�u?A�����S㥛��?�MbX9ĿZd;�O������$>����!� ��j��)��I��y���J+��?�l����{�G�zt�����H=���������ף� �A)�AI5Ai�A�������A��� �M�U=Y���u9QU��>�������a��G������y��x��}��>I������:�����5�?����:���U�� ��F�>��m�?9��)A���S�< ��8�<)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����g�*@zL= �=�L= �=�L=5��@�L=��a@�A]ԭ�;Ba Ba�A�eA�*B�{'9�A��A�H8�A��.��A�"C�4��*C��#�<RC���/=C��C�YϽD19�֭�;6=I��G��>ܙ9ܙIܙiܙ�ܝ=�ܙ�ܙ�ܝJP; ݝ}$E��W�5j,�(<֨E�Aɫ�髙)�� ������I��Y����@y���dG������������������ ��,:Y�y���3�5)�c�;)�}�= �}>����o>�����<����=i���@��� ���@)��I��i�����;�<M�=Y�����QU��>�������a��G������y�����}��>I�������5�?���k����tI ����>���?9���)A�����: ��5�:)���W��W�X� X��W�:W�2W�*W��V�U�U����`V,@�R�B*** querying acoustic contact ***�P��P�zL �L �L �L �A% ���;B! B! �A% �6�*B% �+9�A! �A- 8�A- C.��A) "C5 3��*C5 �X�<RC5 \1=C1 �C9 ��e mA��e mA-JgetPosition uart error serial timeout]^Rudder uart error - getPosition..serial timeout���-(Communications Fault��� I�)-$=\Communications Fault in component: RudderServoGM�>�':�5j,��U֨E�AY}fBl�@�}f�y�@y}f���9�}ff���}fH������ɿ�����[�?������?�����`�����ɿ���@�}~����@�}8�����x���������?)~fBl�@ ~f�_;I~f��Cɫ���)�� ������I��Y��M�@y���cG��e���Me�=Y�e�3�QUmH?��i��i�am�G��i��qy�u\T�}uH?Iȁ����:�Ņ�5�?����:�Ņ� ƅ>�>����?9ƅ#*A�Dž��: ȅM�:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�UU�����,@zLA�LA�LA�LE�a@�AU�k�;By By�A} L�*B}�9�Ay�A}��8�A�'.��A�"C�2��*C�RC���$=C��C� �4Uninitialize Rudder Servo.�Powering down���������� ���������I��G% >�$Z�5j,=�o֨E�AY}:�j�@�}:�x�@y}:_��9�}:��!��}:H�����6#ɿ����:Z�?����0ʣ?����x`������ɿ������������k�4�����7���������?)~:�j�@ ~:�_;I~:��Cɫ9�9)�9 �=����I�9Y�}g�@y�}dG���Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I��)���ޝ�=iޝ�=���9 �������������������� ��^8:Y���[1y��H�:�����5�9�@���=�;MC=Y���QU�>��)��)�aU�G��Q��Yy�e�й}m�>I������5�?������ ��ē>��}�?9���*A���&�< ���<)���W!�W!X! X!�W):W)2W)*W)�V)U1U5���@:w-@�e2�>9�aI�eD^Gi�e��@��a��a��a��e�M; �eG#E)�9�I�9�i�9���=�=��=�=��=���4zL��L��L��L���a@�A�� �;B� B��A��H�*B�.(9�A��A%��8�A%�-��A!"C55��*CYRCe��&=Ca�CiI��G�j>��G�5j,m��֨E�AY}�l�@�}?z�@y}HJ:�}L'��}H������ɿ����+Z�?�����e�?�����`����@@ɿ��� A����II����������.��?)~�l�@ ~�_;I~��Cɫ���)�� ������I��Y�-M�@y�-�cG�M�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �©�mA�������;���,�i����@��� ���@)��I��i���@��]��Me4=Y�eq�:QUe�>��i��i�am�G��i��iy�u��9}}�>Iȉ����:�ō�5�?����:�ō}�� ƍS�>����?9ƍa+A�Ǎ�; ȍ�q;)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@:C.@zL1�L1�L1�L5y�a@�AMV��;BQ BY�A] L�*B]$%9�AY�Aex�8�Ae�-��Aa"Cm4��*CiRCm��'=Ci�Cy �4Initializing EZServoServo. 2Initializing RudderServo.I�I $u ^Clearing failed state for component RudderServo�} ���G� �>�l�5j,LS�֨E�AY}62w�@�}6ꄐ@y}62T�9�}6xd%��}6H�������ȿ���`]\�?���@�;�?�����b����� �ȿ���`b倿���@��9������������R��?)~62w�@ ~6��_;I~6��CɫY�Y)�Y �]����I�YY����@y��vdG�xDUSBL response received:!U1,R,027,000,0063C,185,80,80,71,FF �Fpublishing direction and range info���'g����ɰ��>鰥+�> ��)����BI��y�� iB�����T$�A��?E�ll����������ٱ�)��������������������� �Cr:Y�d\1y���:��E�5������ʡE��?X9��v����~j�t��?�����=������ ����<)��I��y���:��v���?��ʡE���Zd;�O��?����T=���������j�< ¹)¹I¹i½�A�������A��5 =M=`=Y�=N��QU=�>��A��A�aE�G��A��Ay�M:j;}m�>I�q��um�5�?��u<�� �u8�>��}�?9�u�+A��u�: �u:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�������.@�P*Q iB�Z���W�M@; Z������������Z��T$�A��?E�ll����������2Q'g�:Q�Z���eP�*��N�\L�v�Z��Z�?�Z��Q��3Ϳ�y���'�ak�b�P?BQVn�@ Q�b�Q�T��P�9?�P��9?�PX���QO���Q��@"Q��@zLm�=�Lm�=�Lm�ͩ@�Lm��b@�A}S6�;B� B��A��?�*B�)&9�A��A�G�8�A�u-��A�"C�3��*C�RC��,=C��C�I��G%,>�� 9�� I�� �]Gi�� V�@��� =��� ��� ��� �K; �� ("E����5j,4�֨E�AY}=���@�}=9��@y}=1@T:�}=<@��}=H������ȿ����+a�?���@-֢?�����f����@��ȿ�����w�������J������F������0��?)~=���@ ~=1�_;I~=��Cɫ�)� �����I�Y�UQ�@y�U�dGIޑ)ޕAA��TNmea in: $SNTTA,0.053351,,,,165242.31*45 ���p=i��=)� > � >��] ��>��] �r���] O >i�] @��Y �] E�@)�] E�@I�] &�@i�] &�@�� ˜�M� =Y� H3:QU� �>�� �� �a� �G�� �� y� 3�;}� �>Iȹ ��� �:�Ž �5�?��� �:�Ž |�� ƽ J�>��� �?9ƽ �,A�ǽ �: Ƚ ��:)Ƚ ��:�m� uAdded new target pos. range: 58.260006 m, bearing: 256.812217 deg, deltaT: 15.501815 s, approachRate: 0.065799 m/s, LOS rate: 0.757378 deg/s, posRepo size: 4�W� �W� X� X� �W� :W 2W *W �V U ����G!M@U �����E�?zL) �L) �L) �L- �c@�AE (��;BA BA �AE �K�*BE *9�AA �AM �8�AM -��AI "CU 2��*CQ RCU ��4=CQ �CY i�Y I�Y ��a ��a ��-P ����-�����-�����-��� �-3::Y�-[1y�-ݏ:��-2�5I��G ?��[�5j,3��֨E�AY}:^��@�}:��@y}:Q�`:�}:D� ��}:H�����KIȿ����jf�?���� R�?���`0k������Dȿ�����Z~������L�����߹��������?)~:^��@ ~:b�_;I~:��CɫI�I)�I �M����I�IY��Ĺ@y���dG��eoF=Me�=Y�m�.9QUm?��i��i�au�G��q��qy�}W<}}?Iȁ�Ņ�5�?�Ņ�� ƅ�>����?9ƅ>-A�Dž��: ȅM�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����p�?zLq�Lq�Lq�Lu�2c@�A�3�;B� B��A�;=�*B��#9�A��A���7�A��,��A�"C�5��*C�RC�D?=C��C�I��G��=�U~�5j,���֨E�AY}Z.��@�}Z�͐@y}Z9 �:�}Z,y��}ZH����`+�ǿ���`�l�?����|f�?��� �p������ǿ���`S�}�����DS�����^Π����`���?)~Z.��@ ~Z�-_;I~X�p9�rv�CI�pi�p��r=��p��p��r�I; �r!Eɫ�髙)�� ������I��Y�UF�@y�U�cG��5��M5?=Y�5�B:QU=�>��9��9�a=�G��9��Ay�E,<}E�>I�I��M�|5�?��M��� �M��>��]�?9�M�-A��M�: �M�:)�I�W��W�X� X��W�:W�2W�*W��V�U�U������C�?zL �L �L �L kc@�A�G�;B! B!�A%�L�*B%�%9�A)�A-D�7�A-�,��A)"C54��*C1RC5��J=C1�C9I�YG�>��=�=i�=�=��M� ����M�����M�����M��� �M3G:Y�MxZ1y�Mq�:��M��5)�MT�;�9U���d�5j,HnרE�A�|i|�@Y}:v��@�}:.�@y}:�;�}:����}:H�����>Uǿ����r�?����cX�?��� �v���� �Oǿ���`~�������/�a����@�Ԡ��������?)~:v��@ ~:1_;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}�cG�mA�����H>���ף>����#�i��(�@��� ���@)���@I���@i���@���M�N=Y���&;QU��>������a�G����y� #<} �>I����:��$z5�?���:��Β� �Ю>���?9�v.A��M�: ��:)���:�WA�WAXA XA�WA:WI2WI*WI�VIUQUU�����j�?zLq�Lq�Lq�Lu��c@�A�MM�;B� B��A��W�*B�1#9�A��A���7�A�q,��A�"C�3��*C�RC�~)X=C��C�I��G�>����>��i���mGI�� qAi����E�^�ٺM qA��M�QA�h��5j,�J,רE�Aɫ�髙)�� ������I��Y���@y���dG��6only read 3 of 4 data itemsai�@a��� am�@a��� aq�@a��� ae�@a��� �����=M�L=Y�����QU��>�������a��G�����y� ���} �>I���Cw5�?����� ��>��%�?9�/A����: ��>)��WY�WaXa Xa�Wa:Wa2Wi*Wi�ViUqUu��� .��@�A����;B� B��A��8�*B��'9�A��A�r�7�A�3,��A�"CM2��*CIRCM[V=CI�CQI�iG���9��I��i�����=����������G; ��$ E��Me ����I��I��M��� �MJP:Y�Iy�I��M��5)�M/�;��v�5j,�$FרE�AY}:�@�}:���@y}:��;�}:���}:H���� f+ǿ����]s�?��� �G�?���@�x�����!ǿ�����s�����@��u�����o������1��?)~:�@ ~:%/_;I~8ɫa�a)�a �iI�iY��v�@y��-dG��=�M=V=Y�E�<QUM�>��a��i�au�G������y��XV;}��>I�����ut5�?���}�� ��B�>����?9���/A�����: ��/M?)���W�WX X�W:W 2W *W �V UU���@�@�RB*** querying acoustic contact ***�P�P�AE�;BA BA�AE�F�*BEv%9�AI�AM �7�AM�+��AI"CU5��*CQRCU� [=CY�CYYυ�*9I�aG�Y>I�9)�=?A� ��5j,��_רE�A�|�;�|�;Y}:�ܘ@�}:��@y}:V|�;�}:�/$��}:H�����cǿ���� p�?����%��?���`�u�����.Uǿ����?t����� zo}�����g������@5��?)~:�ܘ@ ~:�_;I~:��Cɫ9�9)�9 �=����I�AY��y���Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��)�=�= �=�=�í�>�í-2��í���ií3�@�é ĭ�@)ĭ�@Iĩiĭ�@Y���;QU��>�����1�a5�G��1��9y�E{��}E�>I�Q��U�:��Uzq5�?��]�:��U_�� �UǾ>��e�?9�UC0A��U�&; �Uv�?)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����f}@�Au��;By By�Ay*B}�&9�Ay�A}��7�A��+��A�"C�4��*C�RC�.�S=C��C�I��G)>��M? ����M�����M�����M��� �M�8:Y�M�W1y�Mč:��M}�5�9U@����5j,"�yרE�A��@��B�<�D9�Fw�CI�F|]Gi�F�@��F=��D��D��FnF; �FXEY}n�ʘ@�}n{ؐ@y}n�<�}n�@*��}nH�����W�ǿ����\l�?����C�?����qr�������ǿ���@�Đ�����!����� KF���������?)~n�ʘ@ ~nk'_;I~n��Cɫ�髹)�� ������I��Y���@y���cG�xDUSBL response received:!U1,P 027,000,0063C,185,80,80,71,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 ��}�t�M��<Y���;QU��>�����a��G������y��鸻}��>I� �� �n5�?�� 4�� � ��>����?9� �0A�� QU; � a�?)� �W��W�X� X��W�:W�2W�*W��V�U�U �����@�A�a��;B� B��A�sS�*B�D%9�A��A�&�7�A�r+��A�"C�3��*C��<RC�YgL=C��C�����3=I� GM�>���5j,���רE�AY}:ȶ�@�}:�Đ@y}:1<�}:��(��}:H�������ǿ�����h�?���@�ϣ?�����n�������ǿ�����7�����@4������`����������?)~:ȶ�@ ~:s _;I~:��CɫY�Y)�Y �]����I�YY��v�@y��-dG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5�=��5C����5,�i�5��@��1 �5�@)�1I�5�@i�5�@��MF�<MM>=Y�U�:QUU�>��Y��Y�a]�G��a��ay�mҽ�}u�>I�q��u�k5�?��u�� �ux�>����?9�uv1A��u�: �u9@)�q�W��W�X� X��W�:W�2W�*W��V�U�U������@�A����;B� B��A��F�*B�$9�A��A���7�A<+��A "CM2��*C]7��<RC]PxD=C��C������|=I��G��>��Ai�Ea=��U� ����U�����U�����U��� �Um>:Y�Upc1y�UQ�:��U��5����5j,2��רE�A�| i|"�@ɫ�髙)�� ������I��Y��r�@y��)dG�xDUSBL response received:!U1,R,F52,000,00643,186,80,80,26,FF �Fpublishing direction and range info����|>���ɰ�Q>����> ��)���BI��y���jB����ҧ�����?\'\Ƀ\�?��������ٱ���dNmea in: $SNTTA,0.150442,0.150655,,,165246.49*55 )� ai�ai am �am aq �aq ae �ae �� ���ʡE�?�I+������S㥛��� -�=�� 9�� � /ݼ)� I� y� �X9��v��?���x�&���~j�t�h��� �}=�� 7���� �D� � �A)� 3AI� �Ai� �� �� (A�����M�C=Y�����QU��>�������a��G������y�����}��>I������h5�?���6�� ��L�>���?9��2A����; ���;)���Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�������@�P�*Q��jB�Z���o��M@��;��!@���������Z��ҧ�����?\'\Ƀ\�?��������2Q��|>:Q��Z��4�&�a5��0}�QM�g��C���Z����V0�Ģ��|�ȅ��f��IE���BQ�}��@ Q��j�Q�� ��P�6�9?�P��9?�P�\���Q�X���Q���@"Q���@zL5 �=�L5 �=�L5���@�L5��l@�Auޓ�;Bq Bq�AujG�*B}�&9�Ay�A}S�7�A}�*��A�"C�5��*C����<RC�:�E=C��C� ���=����=܉9܍v�CI܉i܉�܍=�܉�܉�܍�E; ݍ�E)��v�CI��i�����=���=����E5�ֵ�==I��G��>���5j,l�רE�AY}Nꦘ@�}N���@y}N�6<�}N[��}NH����@<7ȿ����<g�?��� $k�?�����k������)ȿ�����^������Ц�����@1������ [��?)~Nꦘ@ ~N�^;I~N��Cɫ�髁)�� ��I��Y��>�@y���cG���>���ף�����D;i��=�@��� ��ҙ@)��I��ҙ@i��ҙ@����@�M�=Y���QU��>�������a��G������y��ll�}��>I������:���te5�?����:������ ����>���?9���2A�����: ��A�:)����:�m5qAdded new target pos. range: 58.680004 m, bearing: 267.898953 deg, deltaT: 4.183173 s, approachRate: 0.100402 m/s, LOS rate: 2.650317 deg/s, posRepo size: 4�W1�W9X9 X9�W9:W92W9*WA�VAUE���` WM@UE���`���?zL��L��L��L�ѡl@�A 3��;B B �A �M�*B �'9�A! �A% ��7�A% �*��A! "C- 4��*C5 �0�<RC5 ��>=C1 �C1 i�9 I�9 ��9 ��9 ��M< ����M�����M�����M��� �M�8:Y�MDW1y�MY�:��M��5��%�+E=I�1GM�?��k�5j,Ӄ�רE�A�|$�|&4<Y}N���@�}Ntʐ@y}N�Y<�}N���}NH����`p�ǿ���``l�?����Xޞ?�����o����`��ǿ�����z�����@,k�����`�������O��?)~N���@ ~N"�^;I~N��Cɫ�髉)�� ������I��Y����@y���dG��M�=MM�=Y�U��;QUU?��Q��Q�aU�G��Y��Yy�]�<}e?I�i��m^c5�?��m��� �m��>��u�?9�mS3A��mb�: �mӻ:)�i�W �W X X�W:W2W*W�VUU��� �K�?zL9�L9�L9�L=C�l@�AU��;BQ BQ�AU67�*BUb$9�AY�A]��7�A]{*��AY"Ce3��*Ce�W�<RCe� J=Ca�Ci�֝��==I��G�>܁ 9܁ I܁ i܁ �܅ =�܁ �܁ �܅ TE; ݅ �E�[P�6j, QبE�AY}Vmʘ@�}V%ؐ@y}V�;<�}V����}VH�������ǿ�����n�?���`N)�?����,r����`h�ǿ�����������1`��������������?)~Vmʘ@ ~V��^;I~Tɫ�髑)�� ������I��Y���@y���cG �A�A��u���MuH=Y�u0�;QUu�>��y��y�a}�G��y��y�:�;}��>Iȉ����:�ō�`5�?����:�ō��� ƍu�>����?9ƍ�3A�Ǎ��: ȍ+�:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zLi�Li�Li�LmF�l@�A}���;By B��A�R�*B�E$9�A��A��7�A�>*��A�"C�2��*C�|��<RC���N=C��C��U�K@=I�aG�Z>��] ����]�����]�����]��� �]�4:Y�]0Y1y�]��:��]}6)�]��;�9e��/}6j,�7بE�AY}Z�@�}Z��@y}Z�YX<�}ZX���}ZH����`Q~ǿ���`|p�?����Έ�?��� t�����lǿ���`�듿���������� �������-��?)~Z�@ ~Z! _;I~Xɫ�髹)�� ������I��Y�m��@y�u;dG��-�����Mb�?)\���(�?Zd;�O�����-�=��-G�= �-j<�)�)I�)y�-�/�$��?���x�&��Zd;�O��?��-,=��)��-j�< �))�)I�)i�)��)��)�Í;�=�Í�m��Í��=iÍ3�@�É č�@)č�@Ič�@ič�@��H�<M�,=Y��v;QU��>�����a��G����y��@;}��>Iȱ�ŵ�]5�?�ŵq�� Ƶ�>����?9Ƶ�4A�ǵ��: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL���=�L���=�L�붨@�L���a@�A��?�;B� B��A��E�*B��'9�A��A���7�A��)��A�"C�5��*C�g��<RC��:S=C��C��JM=I�G=�>�{�6j,e�4بE�A�|i|Y}J�@�}J��@y}J�g<�}J x��}JH�����<Jǿ����8r�?�����ʡ?����lv����@J5ǿ�����B�����@^ጿ���@Qm����� I��?)~J�@ ~J� _;I~J��Cɫ�髙)�� ������I��Y����@y��RdG)���19�1I�1i�1��5=��1��1��5/E; �5�E��M��;MUc=Y�UC#;QUU�>��Y��Y�a]�G��Y��Yy�e�;}e�>I�i��u�:��m�[5�?��u�:��m�� �m�>��}�?9�m�4A��m+�: �m��:)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����@p��@zL��L��L��L���a@�A]* �;BY BY�A]?C�*B].$9�Aa�Ae<�7�Ae�)��Aa"C�4��*C���<RC���X=C��C��֝lT=I��G�b>��U�=i�Q��]Q ����]�����]�����]��� �]H::Y�]�[1y�]H�:��]{�5)�]+�;�%�6j,��NبE�AY}6��@�}6���@y}6Mhf<�}62�&��}6H���� �#ǿ����-s�?����c+�?����1x���� 7 ǿ����W������`�̌����`�Ϥ����@k��?)~6��@ ~6�=_;I~6��Cɫ9�9)�9 �=����I�9Y�}z�@y��2dG����=i���=��-nA��)��uC=��u�O���u;��i�up�@��q �uE�@)�u&�@I�u&�@i�u&�@���˻M�!=Y�ˡ�QU��>�����a��G����y�;}��>Iș�ŝyX5�?�ŝ�� Ɲ��>����?9Ɲ�5A�ǝ��: ȝ �:)și�-mGI�9i�����[�ٺ��OA�W�WX X�W!:W!2W!*W!�V!U)U-�����@�R5B*** querying acoustic contact ***�P1�P1zLI�LI�LI�LMc�a@�Ae���;Bi Bi�Am|F�*Bm�(9�Aq�Au��7�Aut)��Aq"C}3��*C}�S�<RC}�\=Cy�C� Օ�=�ԕ�=�֥ m�Y=I�� G� �>���6j,��hبE�AY}F��@�}F��@y}F��d<�}F��,��}FH������ǿ����&t�?���@]��?�����y�����+�ƿ���`�Օ�����5������@����������?)~F��@ ~F�3_;I~F��Cɫ�髙)�� ������I��Y��c�@y��dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��Ey'�ME�=Y�M���QUM(?��Q��Q�aU�G��Q��Yy�e�t;}e'?I�i��u�:��m�V5�?��}�:��mX�� �m�>��}�?9�m�5A��m%; �m7!;)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�b@�A����;B� B��A�CI�*B�9�A��A�s�7�A�S)��A�"C�2��*C�cz�<RC�,`=C��C��ֽ-tY=I��G�E>��e0 ����e�����e�����e��� �e�7:Y�e[1y�eݏ:��eE�5�9e@�1 9�1 I�1 i�1 ��1 ��1 ��1 ��5 E; �5 �E�!� 6j,ڎ�بE�AY}:���@�}:��@y}:�Wf<�}:J�*��}:H�����z�ƿ��� u�?�������?��� ^z������ƿ�����Ε������ʌ����@�X��������?)~:���@ ~:�9_;I~8ɫ9�9)�9 �=����I�9Y�]r�@y�])dGexDUSBL response received:!U1,P F52,000,00643,186,80,80,26,FF 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 ��m��;M}H=Y��W9QU��>�����a��G������y���:}��>I�����HT5�?����� ��{�>����?9��x6A���~�; ��@#<)���W�WX! X!�WI:WI2WQ*WQ�VYUYUe����� @zL��L��L��L��b@�A��T�;B� B��A�jG�*B�'9�A��A���7�A)��A"C-5��*C-��<RC-Wa=C)�C1��]J�c=I�yG�}>I�Q)�UAA���&6j,g}�بE�AY}���@�}�`��@y}���w<�}��;��}�H����� ǿ����u�?���`�С?����y����`��ƿ���@�4�����`�ߎ������������`��?)~���@ ~�.�^;I~�ɫ�髩)�� ������I��Y���@y���cG��a=ɮ�� �Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�a)�a����L7�A`��?����Mb���������?���+>���� ����<)��I��y���/�$��?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 XY�WY:WY2WY*WY�VYUaUe��� �M@zL���=�L���=�L��U�@�L��Z@�A�m�;B� B��A��S�*B�W%9�A��A���7�A��(��A�"C�4��*C���<RC�ol^=C��C��%nA��%nA��U�����U�����U�����Ur�� �U�1:Y�U0Y1y�U��:��U�5��% ya=I�1 GU �>�b�,6j,$E�بE�Aɫy�y)�� ��I��Y����@y���dG�xDUSBL response received:!U1,R,FE8,000,00643,183,80,80,9C,FF �Fpublishing direction and range info������<���ɰ�鰭$�> ��)���CI��y������H�V4��?P�4��q�?��������ٱ����ՙ=M��=Y�����QU�?�������a��G�����y����}?I� �� (N5�?�� (�� � ��>���?9� �7A�� M�: � �:)� �W9�W9X9 X9�WA:WA2WA*WA�VAUIUM��� �9@�PY*QY�Z]��7۪dUM@��Eb���?���������Z]�H�V4��?P�4��q�?��������2Q]���<:QY�Z]��0��Ƕ"�O ����L�b�������Z]��1�8iĿ��8�"���N�a^@��BQ]ث�@ Q]�g�Q]���P]"�9?�P]6�9?�P][���Q]\���Q]�@"Q]��@zL��L��L��L��A��t�;B� B��A��=�*B�� 9�A��A�6�7�A��(��A�"C�3��*C��.�<RC���^=C��C���3�>9��w�CI��]Gi����@���=���������3E; ���E���|�^=I��G�$>���36j,�2�بE�AY} �Ԙ@�} s�@y} d��<�} l"��} H�������ǿ���`q�?�������?���`�s�����Xoǿ���@3����� �S������� ���� ���?)~ �Ԙ@ ~ �-^;I~ ɫ � )� �����I�Y�e��@y�eIdG��TNmea in: $SNTTA,0.051300,,,,165250.61*45 ��5�{>��5��>��5�Ļi�5�@��1 �1)�1I�1i�5ҙ@��e�d�Mm4=Y�mb�:QUm�>��q��q�au�G��q��qy�}$�}}�>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 Xa�Wa:Wa2Wa*Wa�ViUiUm�����C�?zL��L��L��L�A�Y@�A��>�;B B�A,D�*Ba'9�A�A��7�A \(��A "C2��*CRq�<RC�SQ=C�C9��)I�9GUv>��Ii�MR=��UO����U�����U�����Um�� �U�%:Y�UDW1y�UY�:��U��5��:6j,���بE�AY}2&Θ@�}2�ې@y}2��|<�}2���}2H����@��ǿ��� �o�?���`��?��� mr�����ǿ����������������������������?)~2&Θ@ ~2]^;I~2��Cɫ9�9)�9 �=����I�9Y�]c�@y�]dG���i����Kb�Mc=Y����QU�>��!��!�a%�G��!��!y�-E�}-�>I�1��=�:��5�G5�?��=�:��5L�� �5��>��E�?9�5�8A��5��: �5��:)�5��:�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu�������?zL)�L)�L)�L-n�Y@�AE�;BA BA�AECI�*BE�"9�AI�AM`�7�AM%(��AI"Cu5��*Cu+��<RCuB�O=Cq�CyYυ�(9 Ս�=�ԍ�=��uXR=I��G��>��9��I��|]Gi���@���=����������E; �� E)�i�I�m�v�Ci�i���m�=��m�=��m��U5���@6j,��٨E�AY}R�Ҙ@�}RA��@y}Rk�r<�}RS���}RH�����[�ǿ��� �o�?�����f�?����Ns�����[wǿ���`������`�^�����`����������?)~R�Ҙ@ ~R�];I~R��Cɫ�髩)�� ������I��Y����@y��ddG��uc�<Mu6=Y����QU��>�����a��G����y�Ú:}��>Iȱ�ŵ9D5�?�ŵ�� Ƶ��>����?9Ƶ�9A�ǵ�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������;�?zL �L �L �L ��Y@�A%�Z�;B! 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X!�W!:W!2W)*W)�V)U)U5����a�@zLI�LI�LI�LMg�_@�Ae ��;Ba Ba�Ae�5�*Bm�%9�Ai�Am/�7�Am_'��Aq"Cu2��*C}K�<RC}?[=Cy�Cy�ԉ�ԍmA�֝lT=I��G�A>��� �����������������l�� �I:Y��W1y�č:��N6)��;�Y&T6j,�gQ٨E�AY}2F�@�}2���@y}2��m<�}2� ��}2H����`�5ǿ��� �r�?���`�5�?���`Pw������ǿ�����ҕ�����L�������F⣿�������?)~2F�@ ~2^;I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}{dG)������;�����<����u�i���@��� ��ҙ@)��ҙ@I��ҙ@i��ҙ@��䳼MF=Y�]b:QU�>�����a�G����!y�%�:}%�>I�)��5�:��-c:5�?��=�:��-[�� �-�>��=�?9�-�;A��-o�: �-��:)�-��:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm����Ь@zL��L��L��L��_@�A� ��;B� B��A�?�*B�&9�A��A���7�A�'��A�"C�5��*C����<RC��r[=C��C��ֽ��[=I��G�E>��PZ6j,tCk٨E�AY}:w�@�}:/�@y}:�Jv<�}:����}:H������Pǿ����r�?�������?����v�����O<ǿ���@f�����Ɏ����@�4���������?)~:w�@ ~:��];I~:��CɫY�Y)�Y �]����I�aY����@y��MdG���������$�M�=Y�S|:QU�>�� �� �a �G�� ��y�̺}�>I�!��%�55�?��%p�� �%��>��5�?9�%�<A��%��: �%2�:)�!�WY�WYXY XY�WY:WY2WY*Wa�VaUaUe����E�@�RuB*** querying acoustic contact ***�Pq�PqzL��L��L��L��_@�A�V-�;B� B��A��C�*B�n(9�A��A�P�7�A��&��A�"C�4��*C����<RC��rX=C��C�i̹I̹��������Qi�U=��e1 ����e�����e�����e �� �e�7:Y�e�Y1y�e�:��eW6�9e@�}4�>9�yI�}|]Gi�}�@��y��y��y��}�E; �}E ���=����=�ֵ -tY=I�� G� �>���a6j,[^�٨E�AY}=�@�}=��@y}=7~r<�}=ۣ ��}=H������}ǿ����q�?���@� �?���`�s�����;kǿ��� G4�����`~O������+3�����`z��?)~=�@ ~=�^;I~9ɫY�Y)�a �e����I�aY���@y���dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]`�;��]��=��]��=i�]f�@��Y �]E�@)�]E�@I�]E�@i�]E�@��m�J=Mmr=Y�m24�QUm?��q��q�aU�G��Q��Qy�]}�}]�>I�a��m�:��e�25�?��m�:��e,�� �e)�>����?9�e=A��e¿; �eH�;)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zL!�L!�L!�L%��_@�A=ɍ�;BA BA�AE�2�*BEe&9�AA�AE��7�AMv&��AI"CU3��*CU��<RCU�wS=CQ�CY�֙I��G��>�� �� i�� HmGI�� i���MwR�ٺI��U+FA��h6j,��٨E�Aɫ�髹)�� ������I��Y��I�@y��1eG�xDUSBL response received:!U1,P FE8,000,00643,183,80,80,9C,FF �Command AckBRequesting micromodem ping code 2i���� �Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��u�/�$���?��ʡE�������Mbp���u�>��u��� �u��)�qI�u���y�u��Zd;�?��~j�t������MbP?��u�y=��u�����u�: �q)�qI�u�Ai�u�A��q��u�A���K<M�-=Y����QU��>�����a��G����y����}��>Iȱ�ŵ�/5�?�ŵS�� Ƶ��>����?9Ƶ�=A�ǵ7�: ȵH�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������i@zL ��=�L ��=�L p�@�L ��h@�Am"��;Bq Bq�A��,�*B��(9�A��A���7�A�%&��A������������������� �� �R.:Y��[1y�H�:����6"C2��*C)F�<RC%i`T=C!�C)��E lT=I�Q Gm �>�Hn6j,��٨E�AY}:Ԙ@�}:��@y}:W�E<�}:�!��}:H�������ǿ�����n�?�������?���`�s�����rǿ���@ђ������������� );�����@��?)~:Ԙ@ ~: ,^;I~:��C�T9�TI�V�]Gi�VV�@��V=��T��T��VdE; �V�Eɫ9�9)�9 �=����I�9Y�}n�@y�}^eG鮅p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5yc<M5{=Y�5� �QU5 ?��9��9�a=�G��9��Ay�E�;�}E ?I�I��Mk-5�?��M+�� �MO�>��]�?9�MP>A��M�: �M+�:)�I�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�L�L�L�h@�Aj�;B B�A�'�*B%Z&9�A!�A%B�7�A%�%��A!"C-5��*C-$r�<RC5��S=C1�C1��E����E�� �E����E��I��)��I��G��>��1u6j,���٨E�AY}J}��@�}J5�@y}J��0<�}J:0��}JH������Tǿ�����o�?�������?���`Gv���� �@ǿ�����ߒ���� ������ w����������?)~J}��@ ~J��^;I~J��Cɫq�y)�y �}����I�yY���@y���dG�xDUSBL response received:!U1,R,FBD,000,0064A,185,80,80,78,FF �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� X��W�:W�2W�*W��V�U�U���� u$@�P�*Q�flB�Z��j=���M@�U�Р@���������Z��(�Sd���?��o�8�?��������2Q��|o=:Q��Z�����q�څ��7QM�������Z�����8�Ø�=z��"�#�1��BQ��̒@ Q��j�Q�����P�&�9?�P�"�9?�P�\���Q�[���Q��@"Q��@zLA�LA�LA�LE0�h@�Au�<Bq Bq�Au\5�*Bu'9�Ay�A}��7�A}�%��Ay"C�4��*C����<RC�D�Y=C��C�I��G�#>��� ������������������� ���4:Y��0Y1y����:����,6�Z{6j,��٨E�AY}R�@�}R���@y}RQ'<�}R�22��}RH���� ^/ǿ�����q�?����P��?��� x������ǿ����T�����`2ㄿ��� >D���������?)~R�@ ~R� _;I~R��Cɫ�髙)�� ��I��Y��˹@y���dG�%TNmea in: $SNTTA,,0.052641,,,165255.12*47 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� X��W�:W�2W�*W��V�U�����͌M@U������Q�?zL �L �L �L @�h@�A%�?<B! B!�A%N<�*B%�(9�A)�A-m�7�A-%%��A)"C=3��*CEl��<RCM4]=Ci�CiI��G��>�vF�6j,� ڨE�AY}��@�}���@y}�B"<�}�%��}H������#ǿ����s�?���@�]�?�����x����`�ǿ����=l������<H������#������`���?)~��@ ~��^;I~��Cɫ���)�� ��I��Y�-��@y�-�dG��t����\���>i�3�@�� �)�I�i��@��[�<M%�=Y�%#��QU-*?��)��)�a-�G��)��1y�5R�:}5+?I�9��M�:��=�$5�?��M�:��=S�� �=��>��U�?9�=3@A��=�#; �=L$;)�=��:�Wy�WyX� X��W�:W�2W�*W��V�U�U���� ��?zL��L��L��L�)�h@�A�{�<B� B��A��5�*B�� 9�A��A��7�A��$��A�"C�2��*C��"�<RC�UF^=C��C�I��G >���i��p=������������������ ���/:Y��y�����X�5�l�6j,iS#ڨE�AY}:E�@�}:���@y}:�1<�}:�U��}:H�����V2ǿ�����s�?��� ���?�����w�����H$ǿ���@������@$��������ɡ����`���?)~:E�@ ~:�^;I~:��Cɫ9�9)�9 �=����I�AY�]P�@y�]:eG���i���=�����������?�~j�t�h����S㥛�����L>����D� ��/ݼ)��I����@y����v��/�?�Zd;��{�G�z�����xi=����y�����#� ¥�A)¡I¥ Ai¥ A������3A���}�<M�Q=Y���O�QU��>�������a��G������y����}��>I�����Y"5�?���O�� ����>����?9���@A��� �: ����:)���W �W X X�W:W2W*W�VUU���`J�?zL=3�=�L=3�=�L=Iخ@�L=Jm@�AU�<BQ BQ�AU�+�*BUT'9�AY�A]��7�A]�$��AY"Ce5��*Ce�[�<RCe�k\=Ca�Ci�օ5�[=I��G�=>����6j,�/=ڨE�A�$9�&x�CI�&D^Gi�&��@��&=��$��&��D��&KD; 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�M/E��e�]=I�qG�[>���l�����������������W�� ��(:Y��0Y1y����:���G�5)��d�;����6j,lΊڨE�AY}V\��@�}V�@y}V� �;�}V��&��}VH������ǿ����Lt�?���`�Σ?����Kz���� ;�ƿ���@�9�����@A������פ��������?)~V\��@ ~VX�^;I~V��Cɫq�q)�q �u����I�qY���@y���dG������AA������nA��u�G>��u W���u94<i�up�@��q �q)�u&�@I�qi�uE�@���ռM�M=Y���QU��>�����a��G����y��t:}��>Iȡ�ť�5�?�ťb�� ƥ��>����?9ƥ�BA�ǥ�: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U����`tg@�R�B*** querying acoustic contact ***�P��P�zL�L�L�L_m@�A�%<B B�A�2�*B�%9�A!�A%X�7�A%-#��A!"C-5��*C-bO�<RC-(b=C)�C1���(a=I�)GE0>�һ�6j,���ڨE�AY}N��@�}N��@y}N� �;�}N�|4��}NH����`9�ƿ��� ss�?����Џ�?����z�������ƿ�����捿����J�{����@�����������?)~N��@ ~N��^;I~N��Cɫy�y)�y �}����I�yY��E�@y��,eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����:��v���?ˡE�����V-��������<���什 �����)��I��y���L7�A`�?+������y�&1�|?���+�=���������`�; �A)^AI5Ai�A����������F<M�7=Y���ߺQU��>�������a��G�����Iy�M��9}U�>I�Q��U]5�?��U��� �UH�>��e�?9�U�CA��U��: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����_ @zL���=�L���=�L��D�@�L�Σj@�A��]<B� B��A�-�*B��(9�A��A���7�A��"��A�"C�4��*C�t��<RC�;�b=C��C�����=i���=���������������������`�� ��+:Y���W1���J�c=I�y��č:���4�5�95@Guy>�99�9I�=�^Gi�=��@��= =��9��9��=D; �=!E���6j,�w�ڨE�AY}6��@�}6��@y}6�*�;�}6jz0��}6H����@ ǿ����5s�?��� Q�?��� #z������ƿ���@Z������Qey����@r ������=��?)~6��@ ~6��^;I~6��CɫY�Y)�Y �YI�YY����@y��~eG�xDUSBL response received:!U1,P FBD,000,0064A,185,80,80,78,FF �Command Ack�BRequesting micromodem ping code 2i��������i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��-�<M=j=Y�E=�QUM�>��Y��a�am�G��i��yy�Њ�}�?I����u�:����5�?��u�:������ ���>��}�?9��6DA���j�< ���<)����:�WQ�WQXQ XY�WY:WY2Wa*W��V�U�U�����>e @zL��L��L��L��j@�A}5�<B� B��A��$�*B��)9�A��A���7�A�S"��A�"C�3��*C����<RC���a=C��C��ԅnA�ԅnA�֍ �(a=I�� G� �>��̵6j,T�ڨE�AY}V��@�}V���@y}V�f�;�}V3~��}VH����`i4ǿ�����r�?�����O�?����x�����%)ǿ���@k鉿�����lx������.�����`��?)~V��@ ~V�^;I~V��Cɫ�髙)�� ������I��Y��c�@y��QeG�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i���lGI��fpAi�)��= ��=��e�E�ٺefpA��e�9A�ÅQ8=�Å-���Åp=�iÅf�@�Á ą9�@)ą�@Ią�@ią�@���!�M�2=Y����QU��>�������a��G������y�� H�}��>I�����p5�?������ ��>�>�� �?9���DA���d�: ����:)���W)�W1X1 X1�W1:W12W1*W9�V9U9U=���@�9@zLY�LY�LY�L]�~j@�Au�<Bq Bq�AuS)�*Bu�%9�Ay�A}D�7�A}�!��Ay"C�2��*C���<RC��\=C��C��֝�Pa=I��G�c>���W�������������������� ��X&:Y���U1y����:��� �5�a��6j,�,�ڨE�AY}6@�}6��@y}6�^�;�}6/��}6H������ǿ���`�p�?�����'�?���`�t������yǿ���������`ӫs���� 堿����q��?)~6@ ~6�l^;I~6��CɫY�Y)�Y �]����I�YY��:�@y��eG�xDUSBL response received:!U1,R,FE8,000,0064E,183,80,80,8E,FF �Fpublishing direction and range info������<���ɰ�8>鰥$�> ��)���CI��y��\mB����H�V4��?P�4��q�?��������ٱ�)�����W�MX=Y�5I�QU�>��!��!�a%�G��!��)y�5'л}5�>I�A��m�:��E�5�?��m�:��E�� �E �>��u�?9�E�EA��E#�; �E��;)�E�:�W��W�X� X��W�:W�2W�*W��V�U�U������@�P*Q\mB�Z�f���کM@�x��1��?���������Z�H�V4��?P�4��q�?��������2Q���<:Q�Z�%���yY#��R� �EM�������Կ�Z���ey�Ŀ�f�'C���/jVv�BQC��@ Q.j�Q���P�9?�P&�9?�P]���Q\���Q̯@"Q�@zLi�Li�Li�LmTQj@�A�;F <B� B��A�k.�*B�"'9�A��A���7�A��!��A�"C�5��*C�G�<RC��:T=C��C����nA���nA��9��I��_Gi��J�@������������/D; ��0E���u \=I�9I�Q)�QG]v>����6j,EۨE�AY}r#Ř@�}r�Ґ@y}rٽh;�}rA���}rH���� ��ǿ�����m�?����>�?�����q����@�ǿ���@�2����� �m������=���������?)~r#Ř@ ~r�'^;I~r��Cɫ�)� �����I�Y�U��@y�U�eG��TNmea in: $SNTTA,0.049578,,,,165259.55*4B I��)����u& ����q��q��u�� �u�6:Y�qy�q��u��5�¹�¹�����>�����=���\��i��(�@��� ���@)��I��&�@i���� �<M� =Y�� ��QU� �>��� ��� �a� �G��� ��� y�� �L�}� �>I� �� �5�?�� ٶ� � �>�� �?9� �FA�� ��: � f�:)� �m} uAdded new target pos. range: 59.340008 m, bearing: 260.616496 deg, deltaT: 4.453167 s, approachRate: 0.053895 m/s, LOS rate: -0.500265 deg/s, posRepo size: 4�W� �W� X� X� �W� :W� 2W� *W� �V� U� ���`��M@U� ��� ��?zL� �L� �L� �L� �.j@�A%�z!<B! B!�A%�!�*B-�,9�A)�A-{�7�A-!��A)"C54��*C5��<RC=%�N=C9�CY �m�=��m�=��m lT=I�y G� �>�&��6j,U�(ۨE�Aɫ�髉)�� ������I��Y����@y���eG����y�&1��?D�l������� �rh�?���`�=���O�� ��C=)��I��y���+�����?T㥛� ���~j�t��������=���������D� ���A)��I�� Ai���������A��`�<M�=Y� ���QU G?�� ���a�G����y����}H?I�!��-�:��%�5�?��-�:��%��� �%��>��5�?9�%�FA��%��: �%V�:)�%�:�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUYU����@��?zL��=�L��=�LR�@�L<�u@�A5 �"<B1 B1�A5��*B5"9�A9�A=;�7�A]� ��AY"Ce3��*Ce���<RCe_O=Ca�Ci��mXR=I�yG�^>ܡ 9ܡ Iܡ iܡ �ܥ =�ܡ �ܡ �ܥ �D; ݥ ^E� ��6j,TBۨE�AY}F�Ƙ@�}F~Ԑ@y}F|;�}FNi��}FH�����=�ǿ�����l�?�������?�����q�����3�ǿ���@{Ⴟ���`��c������,������;��?)~F�Ƙ@ ~FG ^;I~F��Cɫ�髑)�� ������I��Y��ݺ@y���eG���<M�P=Y�QM�QU��>�������a��G������y��!:}��>I������5�?����� ����>����?9���GA�����: ��ӻ:)���W�WX X�W :W 2W *W �VUU���`*��?zLy�Ly�Ly�L}��u@�AM�#<BQ BY�A] �*B]�(9�Aa�A���7�A�k ��A�"C�2��*C����<RC�z;P=C��C���i�p=��-�����-�����-�����-��� �-^+:Y�-DW1y�-Y�:��-��5)�-I�;�95��֕dO=I��G�c>����6j,p(\ۨE�AY}2�@�}2~�@y}2��:�}2'�$��}2H�����Gǿ����dn�?����� �?�����t���� xǿ�����Ȃ����`��]�����7�������^��?)~2�@ ~2�K^;I~2��Cɫ9�9)�9 �9I�9Y�}y�@y�}leG���i���=�� 94=�� ,=�� �$>i� @�� � E�@)� &�@I� i� E�@����MD=Y�%ښ�QU%�>��!��)�a-�G��)��)y�5�;}5�>I�9��E�:��=F5�?��E�:��=��� �=��>��E�?9�=9HA��=�: �=4�:)�=�:�Wi�WiXi Xq�Wq:Wq2Wq*Wq�VyUyU}����46�?zL��L��L��L��v@�A�7T#<B� B��A��&�*B��'9�A��A���7�A� ��A�"C�5��*C���<RC��!W=C��C��������ֹI��G�E>�n��6j,� vۨE�Aɫ�髹)�� ������I��Y��P�@y��tfG)�9�����=M�M=Y�����QU��>�������a��G�����y����}�>I�Y��]��5�?��]�� �]��>��m�?9�]�HA��]U�: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������`�@zL��L��L��L��A��1#<B� B��A���*B�9+9�A��A�D�7�A����A�"C�4��*C�U�<RC�rWV=C��C���M�<��M�<�U5�>9�QI�Uo_Gi�U��@��U=��Q��Q��USD; �UDE)��x�CI��x�Ci�郉�� =��� =����5��XR=I�!GMS>��e�����e�����e�����e[�� �e,*:Y�e]1y�e�:��e"�5)�eA�;����6j,�ޏۨE�AY}:P�@�}:�@y}:�F;�}:E& ��}:H����`?�ƿ����Xw�?�����|�?����[}������ƿ����jӂ�����ިb�����v���������?)~:P�@ ~:6�^;I~8ɫ9�9)�9 �=����I�9Y�}=�@y�}^fGI�EAA)�E?A�����p= ף�?{�G�zt?y�&1�������>���ף; ��`e�)��I��y���X9��v��?333333������Mb�?����}=���������< ���A)���AI���Ai���������� ��>�� Z>�� ���i� f�@�� � \�@)� E�@I� E�@i� ��- �s�M5 =Y�5 �A:QU5 �>��9 ��9 �a= �G��9 ��A y�E G<}E �>I�I ��U �:��M `�5�?��U �:��M ��� �M �>��] �?9�M �IA��M o�: �M ��:)�M �:�Wy �Wy Xy Xy �W� :W� 2W� *W� �V� U� U� �����(@�R� B*** querying acoustic contact ***�P� �P� zL� ��=�L� ��=�L� ��@�L� �i@�A� �:#<B� B� �A� �*B� .9�A� �A� ��7�A� ��A� "C� 3��*C� ��<RC� �k=C� �C� �� �=��� �=�����T=I� GE �>��l�6j,幫ۨE�AY}F�@�}F��@y}F� ;�}F���}FH����@�ƿ����z�?����n��?����������X�ƿ�����避��� ��a����@u9�����@4��?)~F�@ ~FA�_;I~F��Cɫ�髑)�� ������I��Y��ݺ@y���eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������@AI��)����5�i�M5�=Y�=��QU=X?��A��A�aE�G��A��Iy�M(�;}UW?I�Q��U��5�?��UF�� �U@�>��e�?9�U!JA��U; �U �:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U���� <�@zL��L��L��L��j@�A�M "<B� B��A� �*B�Z!9�A��A���7�A����A�"C�2��*C� ��<RC�RAp=C��C�����}i=I��G�&>��U[����U�����U�����U�� �U�&:Y�UDW1y�UY�:��U��5�9]@�Y 9�] y�CI�] �_Gi�] ��@��] =��Y ��Y ��] C; �] �E��G�6j,�_�ۨE�AY}:��@�}:� �@y}:�w;�}:<t��}:H���� y�ƿ��� wz�?����S�?����������-�ƿ���@H[�����`�`�����o͢�����u��?)~:��@ ~:��_;I~:��CɫA�A)�A �E����I�AY�]n�@y�]�fGexDUSBL response received:!U1,P FE8,000,0064E,183,80,80,8E,FF 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 ����8=M�Q=Y�e���QU}�>�����a��G�����y��ʉ9}��>I�������5�?���h�� ����>��%�?9���JA����; ��L;)���W��W X X�W:W2W*W!�V!UiUu������ @zL��L��L��L�?j@�A � <B B�A��*B�,9�A�A\�7�Ab��A"C%5��*CeR)�<RCm8Jo=Ci�Ci�֕�(a=I��G��>�xr�6j,O<�ۨE�AY}J��@�}J|�@y}J��7;�}J�?��}JH����`��ƿ����@x�?���@��?���`�}����`�ƿ����@W����� R�f������F������(��?)~J��@ ~Jn`;I~J��Cɫ�髙)�� ��I��Y� ��@y� �fG�-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� t���� �y��� �i� ��@�� � �@)� ҙ@I� �@i� �@����<M+=Y�%��:QU%�>��)��)�a-�G��)��1y�50H�}5�>I�9��E�:��=��5�?��E�:��=��� �=��>��M�?9�=zKA��=��: �=��:)�=�:�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqUyU}������ @zL��L��L��L��j@�A��<B� B��A�h��*B�h,9�A��A��7�A���A�"C�4��*C�Wi�<RC��@j=C��C���e�=i�eR=��u<����u�����u�����us�� �u1$:Y�uxZ1y�uq�:��uF�5�֝��m=I��G�b>����6j,�ۨE�AY}Fe��@�}F�@y}Fz�>;�}F��#��}FH���� �ǿ��� ?t�?������?����z�����o�ƿ����)�������M�g����@�}������f��?)~Fe��@ ~Fk?a;I~F��Cɫ�髙)�� ������I��Y����@y���fG��ɮ��xDUSBL response received:!U1,R,FBB,000,00656,184,80,80,93,FF �Fpublishing direction and range info���Ϣv=���ɰ��>����> ��)���CI��y��GoB������1Q'��?��,�Ϯ?��������ٱ�����=i���=�����Ms=Y�Σ9QU?�����a%�G��!��!y�%ڻ}-?I�)��-U�5�?��-��� �-��>����?9�-�LA��-N�< �-¿:)�)�6�>9�I�7`Gi�>�@����PD����x?; ��E�WY�WYXq Xq�Wy:W�2W�*W��V�U�U�����U`@�P�*Q�GoB�Z���ÝL�M@�� �l�@���������Z����1Q'��?��,�Ϯ?��������2Q�Ϣv=:Q��Z��`�^U�����W�>�M� �;`�WԿ�Z���04�˾��d�� �(��u�BQ���@ Q��m�Q�G���P�%�9?�P��9?�P�_���Q�]���Q�}�@"Q�̯@zL�L�L�LB�i@�A%Y<BA BI�AM���*BM�+9�AI�AM��7�AM���AQ"CU3��*C]���<RC]�Hb=CY�CY��}Qf=I��G�^>���7j,��ܨE�AY}jp�@�}j(�@y}j��U;�}jw"��}jH�����cQǿ�����p�?����ȝ�?�����v������Hǿ�����T��������j���� mB�����`���?)~jp�@ ~j��a;I~j��Cɫ���)�� ��I��Y��@y�+gG��DNmea in: $SNTTA,,,,,165303.65*5F ��I>��j�=��t�i�f�@�� �E�@)�E�@I�E�@i�\�@��U��<M]7=Y�m�O:QUm�>��q��q�au�G��q��yy�}5��}}�>Iȁ����:�Ņ#�5�?����:�Ņ��� ƅM�>����?9ƅ�LA�Džf�: ȅ��:)ȅ�:�m�qAdded new target pos. range: 59.820000 m, bearing: 263.090554 deg, deltaT: 4.095992 s, approachRate: 0.117186 m/s, LOS rate: 0.604019 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������M@U������?�?zL��L��L��L�J�i@��1��9���� �������������������� �>F:Y��X1y�/�:����5i�5HmGI�Ii������8�ٺ����x-A�A�o<B� B��A�_�*B��-9�A��A���7�A�@��A�"C�2��*C����<RC���Z=C��C��� <|^=I� G- �>�j� 7j,��,ܨE�AY}6�֘@�}6��@y}6�a);�}6�e��}6H�����zǿ����5o�?������?�����t����`sǿ���`��������;,e����@q����������?)~6�֘@ ~6�}a;I~6��CɫY�Y)�Y �]����I�YY����@y���fG����sh��|?�?����Mb��{�G�z�?����)>���� ���#<)��I��y���/�$��?�MbX9��{�G�zt�����=���ʡ����ף� µ�A)µ^AIµdAiµ�A�������A���jܼM�T=Y����QU��>�������a��G������y���Z�}��>I������5�?���-�� ����>����?9��gMA�����: ����:)���W!�W!X) X1�W9:WA2WI*WI�VIUQUU������?zLua�=�Lua�=�Lu�@�Lummq@�A�s�<B� B��A���*B��*9�A��A�J�7�A����A�"C�5��*C���<RC�j�W=C��C�I�e@A)�e@A���-tY=I��G�F>� 9� I� i� �� �� QD�� �� d<; � E��7j,ɯFܨE�AY}VWژ@�}V�@y}Vڴ;�}V����}VH�����Pmǿ����)p�?������?��� �u���� Ufǿ���`������� �Vc�����,������I��?)~VWژ@ ~V�a;I~V��Cɫ�髹)�� ������I��Y��λ@y��gGI�y)�}�A�����=���������Ƚi��̜@��� ��&�@)���@I��i���@���ę<M�H=Y� ��QU�>��!��!�a%�G��!��)y�-0�:}5�>I�1��=�:��5��5�?��=�:��5��� �5f�>��E�?9�5+NA��5��: �5o�:)�5�:�Wa�WaXi Xi�Wi:Wi2Wq*Wq�VqUqUu����pL�?zL��L��L��L�|tq@�A��:<B� B��A����*B��,9�A��A��7�A����A�"C�4��*C��M�<RC��[Y=C��C���m.����i��i��ms�� �m#:Y�iy�i��mF�5)�m�;�9u����&�V=I��GI>�H�7j,��`ܨE�AY}2�@�}2���@y}2݆*;�}2/���}2H������+ǿ��� ns�?���`�#�?�����x����`�$ǿ��� Bł������Pe������������ ���?)~2�@ ~2�}a;I~0ɫ9�9)�9 �=����I�9Y����@y���fG��U�g�M]U=Y�].&:QU]�>��a��a�ae�G��a��ay�m8�;}m�>I�q��u��5�?��u8�� �u��>��}�?9�u�NA��u �: �uӻ:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����@�X�?zL��L��L��L��q@�AE�<B B �A ��*B �+9�A��A���7�A�<��A�"C�3��*C�͉�<RC�� a=C��C��ֽ-tY=I��G�E>���7j,�^zܨE�AY}VM��@�}V�@y}V;';�}V���}VH����`��ƿ�����v�?��� �?��� |�������ƿ���`2q�����`b�d�����o������ ���?)~VM��@ ~V�2a;I~V��Cɫy�y)�y �}����I�yY����@y���fG��=�;M=L=Y�=��QUE�>��A��A�aE�G��A��Iy�M��;}U�>I�Y��]��5�?��]��� �]w�>��e�?9�]�OA��]+�: �]Y�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����=��?��5�>9��I���`Gi����@���=���PD������:; ��$EzL��L��L��L���q@�A !�<B B�Ah��*Ba,9�A�A{�7�A���A"C%2��*C%���<RC%��h=C!�C)��%|�^=I�1GM1>��ai�e%=��u����u�����u�����u��� �u] :Y�u�Y1y�u�:��u�5)�u�;�8�$7j,�8�ܨE�AY}6&�@�}6�!�@y}6��<;�}6����}6H�����Չƿ�����z�?���`��?���`�����@��ƿ�����邿���`�g����@�����������?)~6&�@ ~6{H`;I~6��Cɫ9�9)�9 �9I�AY�}�@y�}4gG����=i���=)�����ף<��������`e=i��p�@��� ��E�@)��&�@I��&�@i��&�@����<M�?=Y���J:QU��>�������a��G�����y�o�;} �>I� ���:�� n�5�?���:�� k�� � ��>���?9� ePA�� ��: � b�:)� �:�WA�WAXA XA�WA:WA2WI*WI�VIUIUU����kN@zL��L��L��L�*�q@�A���<B� B��A���*B�y-9�A��A�7�7�A����A�"C�5��*C���<RC���q=C��C���=�Pa=I�IGuX>�G�*7j,��ܨE�AY}F�@�}F7,�@y}F� u;�}F1���}FH����@aƿ����~|�?���`�Q�?����Á����`�Xƿ�����Ȅ�����K�n����������@U��?)~F�@ ~F��_;I~F��CɫY�Y)�Y �e����I�aY��=�@y���gG��uC����u�����u�����uu�� �u�$:Y�uxZ1y�uq�:��u��5�9�@�������K7�?y�&1���V-�������I>���`� ���m�)��I��y����I+��?���x�&��y�&1�|����94=���7�����`� A)I Ai�A������ A���<M�=Y��:QU��>�����a��G����y�4;}��>I�������5�?���i�� ����>����?9��QA���v�: ��'�:)���W��W�X� X��W�:W�2W�*W��V�UU����-�@�R B*** querying acoustic contact ***�P �P zL%Ȥ=�L%Ȥ=�L%d�@�L%)�b@�A=��<B9 B9�A='ܽ*B=z09�AA�AE��7�AE��AA"CM4��*CM�o�<RCU$ru=CQ�CQܽ6�>9ܹIܽ�aGiܽ�@�ܹ�ܹ�ܹ�ܽ 9; ݽaE)�M�y�CI�M�y�Ci�I���M�=��M�=��M�{5�օ |(�=I�� G� �>�#�17j,,�ܨE�AY}:�@�}:�+�@y}:�5�;�}:c8��}:H����@�bƿ���`e|�?���@�]�?�����������*Xƿ�����Z�����`�Fv���� �%������%��?)~:�@ ~:G�^;I~8ɫi�q)�q �}����I�yY��D�@y��gG Z****** received transponder code query ****** F****** received ping request ****** <Arming DUSBL. detectThresh: 758****** ping requested ******���&1>����>���t>i��(�@��� ���@)���@I���@i���@����m;M��=Y��6�;QU�3?�������a��G������y���T�}�3?I�����:���g�5�?�� �:������ ���>�� �?9��oQA����: ��M�:)�� �:�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L���b@�A$Z<B B�AUMڽ*B]%+9�AY�A]��7�A]���AY"Ce3��*CeO��<RCe��t=Ci�CiI�Q)�Q�֍p�p=I��G�`>��87j,���ܨE�AY}R.�@�}R�#�@y}R���;�}R�6��}RH�������ƿ��� {�?�����Q�?��� &�������tƿ�����-�����}������E���������?)~R.�@ ~R�^;I~R��Cɫq�y)�y �}����I�yY����@y��hG�xDUSBL response received:!U1,P FBB,000,00656,184,80,80,93,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �����<M�J=Y�-��;QU5�>��A��A�aE�G��I��qy�}��}}�>Iȱ�ŵ��5�?�ŵ��� Ƶ��>�� �?9Ƶ�QA�ǵs;< ȵ<<<)ȱ�Wy�W�X� X��W�:W�2W�*W��V�U�U�����q @zL!�L!�L!�L%g�b@��m�����m�����m�����ml�� �m�/:Y�m�W1y�mč:��m��5�A����;B� B��A�N��*B��09�A��A���7�A����A�"C�2��*C�z��<RC�dmq=C��C��֕6s=I��G��>��8>7j,j��ܨE�AY}2� �@�}2��@y}2�� <�}2)���}2H�����p�ƿ�����x�?����u��?���`~������ƿ�����Ҏ����@�:������ޔ�����`���?)~2� �@ ~2��^;I~2��CɫY�Y)�Y �YI�YY����@y��7hG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �٩�٭oAܹ9ܹIܹiܹ�ܽ=�ܹ�ܹ�ܽ�7; ݽ�E��5��;M5G=Y�5�8;QU5�>��9��9�a=�G��9��Ay�EWe�}E�>I�I��U�:��MQ�5�?��]�:��ML�� �M��>��]�?9�M|RA��Mw�: �M��:)�M �:�W��W�X� X��W�:W�2W�*W��V�U�U������(@zL��L��L��L�u�b@�A��q�;B� B��A����*B�C/9�A��A�U�7�A�J��A�"Cm5��*CmQ%�<RCm��l=Ci�Cq�֝np=I��G k>��!E7j,w�ݨE�A�| i| Y}R��@�}R9�@y}R� <�}RS ��}RH���� ,�ƿ����cw�?���`��?�����|�����C�ƿ����kL����� VX��������������t��?)~R��@ ~Rk_;I~R��Cɫy�y)�y �}����I�yY����@y�� hG�xDUSBL response received:!U1,R,FB4,000,0065C,184,80,80,79,FF �Fpublishing direction and range info���ԇ=���ɰ�]>鰹 ��)����BI��y���pB���� �:X���?{���S��?��������ٱ�)�������<���O�=���ף�i�� �@��� ��E�@)��\�@I��E�@i��z�@����M/=Y�-V�8QU5�>��9��A�aM�G��I��Qy�Uw��}U�>��e�=i�e�=��u�����u�����u�����u�� �uj:Y�u]1y�u�:��u��5I�y��}Z�5�?��}#�� �}��>����?9�}SA��}b�: �}M�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����@4@�P�*Q��pB�Z�����N@����*�@���������Z�� �:X���?{���S��?��������2Q�ԇ=:Q��Z��hL����8�.��M����1B��Z���$a�ͼ�(�z�;������BQ�'0�@ Q�-o�Q�����P��P�%�9?�P�`���Q�_���Q�W�@"Q�}�@zL��L��L��L�~�b@�A��h�;B� B��A�Ž*B��09�A��A��7�A����A�"C�4��*C�5u�<RC�YOj=C��C����f�m=I��G �>�LK7j,0b/ݨE�Aɫ���)�� ������I��Y���@y�hG�}TNmea in: $SNTTA,,0.340943,,,165308.11*40 ��yi�}�=I��)����E���Q��?��(\��ſ����MbP?��E�(>��E.� �E�:)�AI�Ay�E��MbX9�?�p= ף������������Eʡ=��E����E��� �E�A)�AI�E�Ai�E�A��A��E3A��]L�:Me=Y�e���QUe�>��i��i�am�G��i��qy�u���}u�>I�y����:��} �5�?����:��}�� �}S�>ܑ9ܑIܕdaGiܕ2�@�ܑ�ܑ�ܑ�ܕ�6; ݕ!E����?9�}�SA��}S�; �}W�;)�}�:�m�qAdded new target pos. range: 60.179996 m, bearing: 263.539270 deg, deltaT: 4.514080 s, approachRate: 0.079750 m/s, LOS rate: 0.099404 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� N@U������9�?zL ��=�L ��=�L ��@�L jv@�A% j��;B! 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�E�EI�a)�a �q�q)�}�= �}�=��=<M�8=Y��+:QU��>�����a��G����y����;}��>I������:��� �5�?����:������ ��G�>����?9���UA�����: ��k�:)���:�W��W�X� X��W�:W2W*W�VUU �������?zL)�L)�L)�L-\�v@�A=9��;B9 BA�AE���*BE�09�AA�AEE�7�A����A�"C�4��*C�ׅ�<RC�=3�=C��C���y��}�����}�����}+�� �yY�}0Y1y�}��:��}��5)�y���^oj=I�G%n>��ne7j,:ɖݨE�AY}2XP�@�}2^�@y}2�<�}2T��}2H�����u�ſ����ą�?����R�?�����������ſ�����g������lp����� ����������?)~2XP�@ ~26Da;I~2��CɫA�A)�I �M����I�QY���@y��shG�Õ��=�Õ`e=�Õ�G�iÕf�@�Ñ ĕ\�@)ĕE�@IĕE�@iĕE�@��ҟ<M�\=Y��);QU��>�������a��G������y����;}��>Iș�ŝ��5�?�ŝy�� Ɲ��>����?9ƝLVA�ǝ�< ȝ<)ș�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL�L�L�L�v@�AMs��;BQ BQ�AU���*BUJ19�AQ�AU�7�AU���AY"C]3��*C����<RC�ʢ�=C��C��֕| u=I��G��>���k7j,{��ݨE�A�|i|Y}B$P�@�}B�]�@y}B�,<�}B2��}BH�����-�ſ����t��?���`җ�?����������S�ſ���@!����:��������Ģ����� ��?)~B$P�@ ~B�6a;I~B��CɫY�Y)�a �e����I�aY���@y��`hG����`��"���?�I+���:��v���?�����=���9�� ����<)��I��y���:��v���?<�O��n�����Q�������T=���t������u� ��)���AI���Ai��5A�������A��k��M D=Y� �m;QU �>�����a�G����y�G~�}�>I�!��-�:��%��5�?��5�:��%S�� �% �>��5�?9�%�VA��%��: �%��:)�% �:�WQ�WQXY XY�WY:WY2WY*Wa�VaUaUe�����@zLw�=�Lw�=�L�Ϫ@�L�e@�AU��;BY BY�A]k��*B]�/9�Aa�Ae��7�AeX��Aa"C�2��*C�H&�<RC�r�=C��C���ai�a��}�����}�����}�����}i�� �}�:Y�}DW1y�}Y�:��}"�5�9�@�֝i��=I��G�b>�M7�>9�II�Ii�I��I��I��I��M�4; �M2E�-�r7j,��ݨE�AY}Z�L�@�}ZSZ�@y}ZP�D<�}Z�w ��}ZH����@�ſ��� 6��?������?����+��������ſ�����蒿��� ��������G ��������?)~Z�L�@ ~Z�a;I~Xɫ�髑)�� ������I��Y��ͼ@y��JhG鮽a=ɮ�p=����=i���=������mA����>������ף�i�z�@�� �&�@)�&�@I�ƣ@i�b�@��Z��M�P=Y� |;QU��>�����a��G����y�珺}��>I�����>�5�?���/�� ��u�>����?9��jWA�����: ��f�:)���W�WX X�W:W2W*W!�V!UAUE����,�@�RUB*** querying acoustic contact ***�PQ�PQzL��L��L��L��e@�A��l�;B� B��A� ��*B��/9�A��A���7�A���A�"C�5��*C��q�<RC�jZ�=C��C����[��=I�GM>���x7j,�Y�ݨE�AY}2A�@�}27O�@y}2�ST<�}2�c*��}2H�������ſ�������?����b٣?����0�����`��ſ�����T����� O������ qJ������9��?)~2A�@ ~2Va;I~0ɫA�I)�I �M����I�IY�}S�@y�}�hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���P/=M�W=Y�2";QU�>���� �a �G�� ��y��h�}�>I�!��-�:��%��5�?��5�:��%�� �%��>��=�?9�%�WA��%�"; �%�#;)�%�:�Wi�WiXq Xq�Wq:Wy2Wy*Wy�V�U�U�������@zL9�L9�L9�L=@�e@�AU��;BQ BQ�AU���*B]�29�AY�A]��7�A]���AY"Ce4��*C�U��<RC����=C��C���}�����y��y��}E�� �}�:Y�yy�y��}l�5���Ȅ=I�!G=r>�,�~7j,~6�ݨE�AY}2�<�@�}2jJ�@y}2�pR<�}2,��}2H����`��ſ���@���?������?����a��������ſ���`�O�������M����� ́��������?)~2�<�@ ~2��`;I~0ɫ9�9)�9 �=����I�9Y�}��@y�}ViG�xDUSBL response received:!U1,P FB4,000,0065C,184,80,80,79,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 ������nA�9�I�,bGi�Է@��=�������4; �E)݉�I݉�i݉��ݍ�=�ݍ�=�ݍ���4����<M<=Y�%��QU%�>�����a��G����y�騺}��>I�������5�?����� ���>���?9���XA����< ���<)���W��W�X� X��W�:W�2W�*W��V�U�U������@I�i)�mAAzL��L��L��L�b�e@�A���;B� B��A�n��*B�K49�A��A�Y�7�A����A�"C3��*C� �<RC kR�=C �C��M S�=I�Y Gu �>�D��7j,�ިE�AY}:�?�@�}:�M�@y}:��F<�}:�)%��}:H�����C�ſ�������?����jF�?�����������R�ſ�����K����� �߈�����i����������?)~:�?�@ ~:��`;I~:��CɫY�Y)�Y �]����I�YY���@y���iG������?A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)��)���= ��>��] 0>��]��=��]`�<i�]Q�@��Y �]z�@)�]\�@I�]z�@i�]z�@��m�=Mm4=Y�u�̺QUu�>��q��y�a}�G��y��yy��i:}��>Iȉ����:�ō��5�?����:�ō��� ƍ:�>����?9ƍ:YA�ǍA�: ȍ��:)ȍ�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L���e@�A�Y��;B B�A�G�*B�49�A�A =�7�A O��A "C2��*Cb�<RC�=�=C�C��u\����u�����u�����u�� �u�&:Y�u�Y1y�u�:��ua6��5Pڀ=I�AG]v>���7j,�1ިE�AY}JRb�@�}J p�@y}J�D1<�}J\u��}JH�����yUſ����(��?����b�?�����������Fſ�����Đ�����v(�����������������?)~JRb�@ ~JOa;I~J��Cɫy�y)�y �}����I�yY����@y��7iG�xDUSBL response received:!U1,R,F6C,000,00662,187,80,80,8E,FF �Fpublishing direction and range info���A>���ɰ��>��1�> ��)���CI��y��(rB����� )Ż�?O�Z�_|�?��������ٱ�)� ��5�����Mb�?y�&1���{�G�zt���5�>��5`� �5ף�)�1I�1y�5�L7�A`�?�l����<�O��n�?��5+�=��5�����5t< �5A)�53AI�55Ai�1��1��5fA��UH4�MUL=Y�]�X�QU]�>��Y��Y�a]�G��a��ay�m�+<}m�>I�q��uԲ5�?��u$�� �ur�>��}�?9�u�YA��uӻ: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�(rB�Z��y;�U�N@t��k0@���������Z��� )Ż�?O�Z�_|�?��������2Q�A>:Q��Z����e����L\u�>N�����V���Z���,U�Z���l=�$��hQL-4��BQ����@ Q��q�Q����P�/�9?�P��P�a���Q�`���Q�7�@"Q�W�@zL���=�L���=�L�D�@�L��*m@�A���;B� B�A釽*B39�A�A �7�A ��A "C5��*CǶ�<RCA3�=C�C��5p�=I�AGY-�tFailed to parse device response: ,23.7992,4.75035,2402.93 �[ђ7j,��KިE�AY}z�q�@�}zB�@y}z�5<�}z�t ��}zH����`nſ�������?����'�?����m������� ſ���`�ڐ�����´����� y-���������?)~z�q�@ ~z��`;I~z��Cɫ���)�� ������I��Y�5�@y�5�iG��TNmea in: $SNTTA,0.056697,,,,165312.54*48 ��]�=i�]�=��m����m�����m�����m��� �m!:Y�mxZ1y�mq�:��m��5��=�'=��=�̽��=�D;i�=f�@��9 �=E�@)�=E�@I�=E�@i�=E�@���<M�=Y�::QU��>�����a��G����y�t`;}��>Iȩ����:�ŭ�5�?����:�ŭ��� ƭn�>����?9ƭ�ZA�ǭV�: ȭb�:)ȭ�:�m�qAdded new target pos. range: 60.540005 m, bearing: 267.801581 deg, deltaT: 4.409671 s, approachRate: 0.081641 m/s, LOS rate: 0.966583 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����EN@U������]�?zL �L �L �L kHm@�A� .K�;B� B� �A� <e�*B� �59�A� �A� ��7�A� ���A� "C� 4��*C� 0�<RC� s��=C� �C ���i��=I�G�>�U�7j,C�eިE�AY}F�y�@�}F:��@y}F�eA<�}F�s��}FH�������Ŀ���@Ռ�?������?�������������Ŀ�����ʑ������,������3�������h��?)~F�y�@ ~F6�`;I~F��Cɫi�i)�i �m����I�iY����@y��@iG��-�=i�)I�))�)���:�M��=Y��a;QU�V?�����a��G����y�?�;}�V?Iȡ�ť��5�?�ťb�� ƥ��>����?9ƥ[A�ǥ��: ȥ�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U����@��?zL��L��L��L�T[m@�A��;B B�A��*Bh/9�A�A��7�A���A"C�3��*C��]�<RC��g�=C��C�Yϭ�(9�֥p,�=I��G��>��'�7j,�ިE�AY}Bƀ�@�}B~��@y}B@�I<�}B_���}BH�����>�Ŀ����1��?��� �1�?����Α������Ŀ����xɒ����@�9������6{����� r��?)~Bƀ�@ ~B�`;I~B��CɫQ�Q)�Y �YI�Y܅8�>9܁I܅�bGi܅&�@�܁�܁�܁�܅(5; ݅[EY���@y���iG���'=M�H=Y��:QU��>������a��G������y��B;}��>I�������5�?������ ����>��-�?9���[A����; ��j�;)���Wi�WiXi Xq�Wq:Wq2Wq*Wq�VyUyU}����S��?zL��L��L��L��nm@�A%*��;B! B!�A%�G�*B%�59�A)�A-��7�A-N��A)"C52��*C5���<RC5���=C1�C9���b�����������������V�� �9':Y�[1y�ݏ:���5)���;�9���֭[ޏ=I��G�e>���7j,�[�ިE�AY}2ߍ�@�}2���@y}2W�J<�}2��&��}2H�������Ŀ��� ���?���`���?����������T�Ŀ����F4�������S�����`�Τ���� ���?)~2ߍ�@ ~2��`;I~0ɫY�Y)�Y �]����I�YY��5�@y��jG���E�>���i�U6nGI��fpAi�����CK�ٺ�fpA����>Aai]@a��] am]@a��] aq]@a��] ae]@a��] �í��=�í�=�í$>ií �@�é ĭ\�@)ĭ\�@Iĩiĭ\�@���;M�.=Y���8QU��>�������a��G������y��sa;}��>I������:���_�5�?����:����� ����>����?9��p\A�����: ���>)���:�W �W X X �W :W2W*W�VUU����V�?�AE��;BI BI�AM�<�*BM�59�AI�AM��7�AM��AQ"CU5��*C]�"�<RC]4��=CYI�a)�e?A�Ca��U�Ď=I�aG}z>��4�7j,�2�ިE�AY}2���@�}2���@y}2%G<�}2r*��}2H�����PJĿ������?����d�?����ϗ������5Ŀ���� �����`x䈿���`GL������M��?)~2���@ ~2��`;I~0ɫ9�9)�9 �=����I�AY����@y���iGI�9)�=�A��=�=i�=p=)�I��과Mj=Y���QU%�>��!��)�a-�G��)��1y�=V <}=�>I�I��M�5�?��M�� �M��>��]�?9�M�\A��Mf9; �M�Q?)�I�W��W�X� X��W�:W�2W�*W��V�U�U�����=��?�A�"a�;B� B��A��[�*B�49�A��A�u�7�A����A�"C�4��*C�ay�<RC����=C��C���ud����u�����u�����u��� �ub':Y�uxZ1y�uq�:��u�5�9}@������=I��GK>�y9�yI�}�bGi�}w�@��}=��y��y��}`5; �}xE�N�7j,U�ިE�AY}2��@�}2�ˑ@y}2݃J<�}2�R&��}2H�����o�ÿ����%��?������?���`������`a�ÿ����C������`QP����� {Ȥ���� ���?)~2��@ ~2�`;I~0ɫ9�9)�9 �=����I�9Y�ut�@y�}QjG�ý 0>�ýA`��ý���iý�@�ù Ľ��@)Ľ��@IĽ��@iĽ��@���P�<M�=Y��M�9QU��>�������a��G������y��.�;}��>I�����?�5�?������ ����>����?9���]A�����: ����?)���W�WX X�W:W2W!*W!�V!U!U-���@�@�R5B*** querying acoustic contact ***�P1�P1�A]e�;BY BY�A]�*B]B79�Aa�AeX�7�Aep��Aa"Cm3��*Cm���<RCm}��=Ci�Cq��� �P�=I�� G� �>��F�7j,��ިE�A�|i|Y}>vә@�}>.�@y}>G�L<�}> ��}>H����`��ÿ������?���@0Ȣ?��� ۞�����k�ÿ��������� ��������������@��?)~>vә@ ~>�ga;I~>��CɫY�Y)�Y �]����I�YY���@y��_jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******鮹ɮ�=��z�;M��=Y�� :QU�(?�����a��G����y�� <}�'?I�����a�5�?���}�� ���>����?9��@^A����!< ����?)���Wy�WyXy Xy�W�:W�2W�*W��V�U�U������W@�A�"'�;B� B��A�y�*B��59�A�AD�7�A=��A"C-2��*C-�M�<RC-�g�=C)�C1i�9I�9��9��9��e�=i�e�=��u�����u�����u�����u��� �u!:Y�u�X1y�u/�:��u��5��% ���=I�1 GM �>��.�7j,��ߨE�AY}2a�@�}2�@y}2�-I<�}29��}2H������_ÿ����t��?���@'�?���@��������Mÿ���@ ?����� �%�������>���������?)~2a�@ ~2�:b;I~2��C�%9�>9�!I�%XcGi�%ȸ@��!��!��!��%�5; �%�Eɫ9�9)�9 �E����I�AY���@y���iG�xDUSBL response received:!U1,P F6C,000,00662,187,80,80,8E,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����M�L=Y���QU��>�����a��G������y� G�;}5�>I�A��Es�5�?��E��� �Ez�>����?9�E�^A��E~D< �E�@)�A�W��W�X� X��W�:W�2W�*W��V UU���`�� @�A��R�;B� B��A��G�*B��59�A��A�#�7�A����A�"C�5��*C�4��<RC���=C��C����͢�=I�G�>��X�7j,I�ߨE�Aɫ���)�� ������I��Y�]e�@y�]?jG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ai��ai� am��am� aq��aq� ae��ae� ����Zd;�O��?�~j�t��?Zd;�O������j<>�����= ��j��)��I��y���Zd;�O��?/�$���<�O��n�����j<=��������t� ��)���AI��i��������A��m-����m�����m�����m��� �m�":Y�m�W1y�mč:��m��5�õ��>�õZ�>�õ�Ļiõ��@�ñ ĵ��@)ĵ\�@Iĵ\�@iĵ\�@����<M%=Y�%���QU%�>��)��)�a-�G��)��1y�5���}5�>I�i��u�:��m��5�?��u�:��m��� �m��>��u�?9�m�_A��m��: �m��:)�m�:�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL%��=�L%��=�L%1Ԧ@�L%�D_@�A]���;BY BY�Aeo$�*Be�69�Aa�Ae�7�Ae���Aa"Cm4��*Cm�J�<RCu}n�=Cq�C���� ��=I�� G �>����7j,[z4ߨE�A�|�|4<Y}6�ۙ@�}6W�@y}6��9<�}6a���}6H�����zvÿ�������?����`d�?����6������Ifÿ����d����� �8�������|�����`!��?)~6�ۙ@ ~67�`;I~4ɫY�Y)�Y �]����I�YY�}��@y�}cjG������AA�xDUSBL response received:!U1,R,39A,000,00669,189,80,80,3B,FF �Fpublishing direction and range info����M����ɰ�n>鰅7�> ��)���lBI��y���sB�����WB Y0�?Ϸ03����������ٱ�����b<M��=Y��[k�QU�*?�������a��G������y��/�}�)?I�������5�?���.�� ����>���?9��`A����; ��� ;)���W9�W9X9 XA�WA:WA2WI*WI�VIUIU���`��@�P*Q�sB�Z����(�"E@�J��_�E����������Z��WB Y0�?Ϸ03����������2Q�M�:Q�Z��3v�g�H���5s%�A����U���?�Z�n��Dc&����+Po��(�u���?BQv\p@ Qy�QCG��P��9?�P/�9?�P5���Qa���Q��@"Q7�@zL��L��L��L��:_@�A�F �;B� B��A���*B��59�A��A���7�A�f��A�"C�3��*C�F��<RC��=C��C�I�i)�m@A����Т=I��GI>�19�1I�1i�1��1��1��1��5�5; �5�E�jm�7j,$`NߨE�AY}n�ҙ@�}nS��@y}n�O+<�}n�2��}nH���� *�ÿ����S��?���@sڡ?���`��������ÿ����i\�������i����� �䢿�������?)~n�ҙ@ ~n��_;I~lɫ���)�� ������I��Y�5{�@y�5ZjG��TNmea in: $SNTTA,0.062234,,,,165316.59*4B I��)�����\�=�����=�����=i��f�@��� ��E�@)��E�@I��E�@i��E�@������M�-=Y��F��QU��>�������a��G������y�� �}��>I������:����5�?���:��� �� ��l�>���?9���`A����: ����:)���:�m5yAdded new target pos. range: 60.960007 m, bearing: 215.182514 deg, deltaT: 3.986734 s, approachRate: 0.105350 m/s, LOS rate: -13.198540 deg/s, posRepo size: 4�W1�W9X9 X9�W9:W92W9*WA�V�U������zN@U�����-X�?zL��L��L��L�.)_@�A�-\�;B� B��A�S�*B��69�A9�AE��7�AE��AA"CM2��*CM6�<RCM�n�=CI�CQ��m�����m�����m�����i �m�:Y�m�Y1y�m�:��i)�m��;�9u��֍��=I��G��>� ��7j,�0hߨE�AY}6�ə@�}6�ב@y}6��<�}6���}6H����`G�ÿ��� ���?���@��?���������� ��ÿ�����������������ᢿ��� ��?)~6�ə@ ~6h_;I~6��Cɫ9�9)�9 �=����I�9Y��N�@y��^kG��5mA��5nA��u7�=Mud=Y�}�N�QU}�>��y���a��G����y��@�}��>Iȑ�ŕR�5�?�ŕ��� ƕC�>����?9ƕ]aA�Ǖ�: ȕb�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L�_@�A���;B B�A &?�*B �99�A �A ��7�A ���A�"C�5��*C��m�<RC����=C��C����͢�=I��G�F>�}�7j,^�ߨE�AY}:�͙@�}:Wۑ@y}:M <�}:����}:H���� ��ÿ���`���?����r�?����J������~�ÿ�����������`{��������Ϣ�����*��?)~:�͙@ ~:1�_;I~8�b:�>9�`I�b�cGi�b�@��b=��bQD��`��b�5; �b�E)�i�I�i�i�i���m�=��m�=��m�C5ɫ9�9)�9 �=����I�9Y�}о@y�}�jG����M�F=Y����QU��>�������a��G�����y�\�:}�>I�1����:��5�5�?����:��5x�� �5��>����?9�5bA��5y�< �5�<)�5�:�Wy�WyXy X��W�:W�2W�*W��V�U�U�����`5�?zL��L��L��L�!_@�A����;B! B!�A%zݼ*B%489�A!�A-��7�A-x��A)"C54��*C5���<RC5P��=C1�C9��e�=i�e�=��uL����u�����u�����u��� �u;;Y�u�W1y�uč:��u�5)�u�`<��-� �=I�AG]�>�)��7j,��ߨE�AY} �ٙ@�} ��@y} �<�} ���} H���� �}ÿ���@w��?���`+ơ?����/������"qÿ���@K���� V�������?�������N��?)~ �ٙ@ ~ &U`;I~ ��Cɫ�!)�! �-����I�)Y��N�@y��#jG��i��=����:��v���?��������{�G�z�������=����L� ��ף�)��I��y���X9��v��?i��|?5������MbP?�����<����q�����: ;A)�AI�AidA�������A��]�>��]>��]�=i�]�@��Y �]&�@)�]&�@I�]���i�]&�@��m��Mu2=Y�u���QUu�>��y��y�a}�G��y��y�W;}��>Iȉ�ō��5�?�ō�� ƍ��>����?9ƍ~bA�Ǎ: ȍ@�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL���=�L���=�L�G�@�L�RK^@�A���;B B�A�/�*B�59�A�A ��7�A )��A "C3��*C�Q�<RC���=C�C��5G�=I�AGew>�:��7j,vµߨE�AY}2��@�}2Q��@y}2�Z<�}2L��}2H������ÿ���`U��?�������?���`������?ÿ���@l������`Pˀ���� ~a������q��?)~2��@ ~2�a;I~2��CɫA�A)�A �E����I�AY�}��@y�}�jG)�-�= �-�=��}�=M}q=Y��9QU�?�����a��G����y�� <}�>I�!��-�:��%Ј5�?��5�:��%u�� �%�>��=�?9�%�bA��%�N; �%�O;)�%�:�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU�U����`�C�@zL��L��L��L��|^@�A�^�<B� B��A���*B�S89�A��A���7�A����A�"C�2��*C���<RC��Y�=C��C�����������������Т=I�������������� ����:Y���Y1y���:���ܾ5�9@G J>��9��I�� dGi��k�@���=���PD������i6; ��E�}��7j,j��ߨE�AY}2��@�}2��@y}2KT<�}2y���}2H���� @�¿����6��?���`! �?���������@_�¿���@ԛ������}ʀ�����Mݢ�����)��?)~2��@ ~2I(a;I~2��Cɫ9�9)�9 �=����I�9Y��h�@y��~kG)����3�>����}=����">i��(�@��� ���@)��ƣ@I����@i��ƣ@��Ea�<ME>=Y�U@u�QUU�>��Q��Q�a]�G��Y��Yy�eo<}e�>I�i��m��5�?��m��� �m��>��u�?9�mPcA��mD�: �mD�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U����@>�@zL��L��L��L���^@�A��b<B� B��A�N�*B�+:9�A��A���7�A����A�"C�5��*C�V2�<RC���=C��C�I��AA)��AAi�}�mGI��i����Ǒ�ٺ���A��m��=I�yG��>�"��7j,Wx�ߨE�AY}:�-�@�}:[;�@y}:� <�}:`���}:H���� &2¿���@��?����F�?��� �������w$¿����s������@�ဿ���`ѣ����@���?)~:�-�@ ~:�Aa;I~:��Cɫ9�9)�9 �=����I�9Y�}0�@y�}9kG��� �����������������9�� ��76:Y��0Y1y����:�����5��MnA��MmA��uUM�M}=Y�}��8QU��>�����a��G����y���;}��>Iȡ����:�ť5�?����:�ť��� ƥ��>����?9ƥ�cA�ǥ�=; ȥJ4;)ȥ�:�W��W�X� X��W�:W�2W�*W�VUU����f�@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L--�^@�A ��<B B �A fz�*B �99�A! �A% v�7�A% ��A! "C- 4��*C- ���<RC5 L�=C1 �C1 ��A ��A ��=�d�=I�IGu�>����8j,3S�E�A�49�4I�6�dGi�6��@��4��6QD��4��6�6; �6EY}FYI�@�}FW�@y}FA�;�}F�O%��}FH�����n�������p��?���`�?���`t������Ӷ������C��������a�����Z���������?)~FYI�@ ~F�Ka;I~DɫY�Y)�Y �]����I�YY��R�@y��bkG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�� �<M�=Y�1(�QUE?��!��!�a-�G��)��y��8a<}�5?I� �� l�5�?�� ��� � ��>����?9� )dA�� !g< � �e<)� �W!�W!X! X!�W!:W)2W)*W)�V)U1U5����# @zLq�Lq�Lq�Lu,_@�A�3�<B� B��A��7�*B�99�A��A�m�7�A����A�"C�3��*C��;�<RC�O��=C��C������=I��G�E>��8j,�>�E�AY}}{[�@�}}3i�@y}}���;�}}�&��}}H����`�|������Ǭ�?���@�(�?����������^p����� ի��������z������Ϥ����� ��?)~}{[�@ ~}�<a;I~yɫi�q)�q �u����I�yY� ̾@y� �jG�p=ɮa=xDUSBL response received:!U1,P 39A,000,00669,189,80,80,3B,FF Command AckBRequesting micromodem ping code 2i����5�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����=i��p=�� ��������������W�� �-5:Y��X1y�/�:��G�5������Q��?���S㥛?�I+�������(>���/�< ��94�)��I��y�������Mb�?V-���{�G�zt?����<����m����ף; ��A)���AI���Ai���A�������A��m�L>��m��>��m-�=i�m��@��i �m��@)�m\�@I�m\�@i�m\�@��}��M}=Y����QU��>�����a��G����y��;}��>Iȡ����:�ť�5�?����:�ť9�� ƥ�>����?9ƥ�dA�ǥ�; ȥ�x;)ȥ�:�WI�WIXQ XQ�WQ:WY2WY*Wa�V�U�U�����ӆ@zLE Jw=�LE Jw=�LE �h�@�LE d�Q@�AU oz <BQ BY �A] /�*B] {89�AY �A] W�7�A] i��A� "C� 2��*C� o��<RC� m�=C� �C� ՝ �=�ԝ �=�֕�l�=I��G��>�# 8j,> 7�E�AY}6�n�@�}6�|�@y}6���;�}6���}6H�����s/��������?���`77�?���������� �$������������ (y����@�У����`���?)~6�n�@ ~6f�a;I~4ɫy�y)�y �}����I��Y��]�@y��pkG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ux�=Mu�=Y�uyҺQUu%?��y��y�a}�G��y��y� <}�%?Iȉ�ōL~5�?�ōY�� ƍ��>����?9ƍ�dA�Ǎ@�: ȍ��:)ȉ�W�WX X�W:W2W!*W!�V!U!U-����xK@zLA�LA�LA�LEK�Q@�A]W�<BY BY�A]�!�*Be:99�Aa�AeO�7�Ae6��Aa"Cm5��*CmcK�<RCu(��=Cq�Cq��m5ߺ=�y9�yI�}�dGi�} �@��y��}PD��y��}K6; �}�EI��G�`>�38j,*�P�E�AY}21|�@�}2鉒@y}21]�;�}2[��}2H���� ������`V��?���@�B�?���@z�����`���������ӄ����@��u����@:ʢ����@]��?)~21|�@ ~2�`b;I~2��CɫY�Y)�Y �]����I�YY����@y���kG�xDUSBL response received:!U1,R,F54,000,0066C,186,80,80,9E,FF �Fpublishing direction and range info���_�>���ɰ��>鰥��> ��)���CI��y���tB������l��?to�R�#�?��������ٱ�)����ez>��e���e�#<i�e��@��a �e\�@)�aI�ai�ez�@��U��<M]L=Y�e���QUe�>��i��i�am�G����y�#�;}��>I�����<|5�?������ ��z�>����?9��YeA���n�: ��{�:)���WQ�WQXQ XY�WY:WY2WY*Wa�V�U�U����@B�@�P�*Q��tB�Z��KE���9N@���I"@���������Z����l��?to�R�#�?��������2Q�_�>:Q��Z��8�Î���?�"�zW�N�)�����Z�� +�[�?m+��X�¬��u��BQ��V�@ Q��t�Q���?�P�7�9?�P���9?�P�c���Q�5���Q���@"Q���@zL��L��L��L��Q@�Az�<B B�A���*B;9�A�AI�7�A���A!"CM4��*CM^��<RCMx3�=CI�CQ���E�����������������`�� ���$:Y���V1y���:���4�5)����;�9���֕�:�=I��G��>�B18j,�j�E�AY}2?��@�}2���@y}2��;�}2�C ��}2H�����������`��?����1'�?������������������`nŃ����@�#u����`����������?)~2?��@ ~2�ab;I~2��Cɫ9�9)�9 �=����I�9Y��8�@y��BkG�mTNmea in: $SNTTA,0.055552,,,,165321.08*48 I��)��?A��5���M5=Y�=���QU=�>��9��9�aE�G��A��Ay�M9�:}M�>I�Q��]�:��Uxy5�?��]�:��U��� �Un�>��]�?9�U�eA��U:�: �U��:)�U�:�m�uAdded new target pos. range: 61.140003 m, bearing: 270.971226 deg, deltaT: 4.492430 s, approachRate: 0.040067 m/s, LOS rate: 12.418382 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������N@U����@s+�?zL��L��L��L���Q@�A�e <B� B��A��k�*B��99�A��A�:�7�A�g��A�"C�3��*C����<RC����=C��C�i��mAI��nAY�� �(9��� ��� �e;�>9�aI�eLeGi�e_�@��e=��eQD��a��e�5; �e�E�� ��=I� G= �>��!8j,�|��E�Aɫ�髱)�� ������I��Y� ��@y��kGI��)���A��=�?��=���=���i�=\�@��9 �9)�9I�9i�=\�@��M�K=MU�=Y�]���QU]#?��a��a�ae�G��a��iy�u���}u"?I�y��}x5�?��}��� �}h�>����?9�}$fA��}.+; �}Z;)�y�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L��A��`<B� B��A��V�*B��:9�A��A�6�7�A�+��A�"C�2��*C�� �<RC���=C��C���[��������������J�� ��&:Y�0Y1y���:��~�5)�9�;Yϱ�֩I��G��>���'8j,�Q��E�AY}B���@�}Bd��@y}B>��;�}B����}BH�������������j��?�����~�?����#������=������@͏�����@bqt����@�����������?)~B���@ ~BX{b;I~B��Cɫa�a)�a �e����I�aY��w�@y���kG����X9��v��?R���Q���~j�t�h?�����=����½ ���D;)��I��y���Zd;�O��?ˡE���������Mb�����j<=���什����� fA) AI�Ai5A������zA���{�M�V=Y�~�QU��>�����a��G����y��:}��>I����M�:���Gu5�?��M�:������ ����>��U�?9���fA�����: ��M�:)���:�W��W�X� X��W�:W�2W�*W��V�U�U������j�?zLR�=�LR�=�L�'�@�Lv'a@�Aca<B B�Aaۻ*BZ:9�A�AE-�7�AE���AA"CM5��*CM��<RCM ��=CI�CQY�9�֍7�=I��G��>���-8j,�(��E�Aɫ�髑)�� ��I��Y��~�@y���kG��E�;MEA=Y�M���QUM�>��Q��Y�a]�G��Y��ay�e���}e�>I�i��m"r5�?��m�� �m��>����?9�m[gA��m�$; �m@>;)�i�W��W�X� X��W�:W�2W�*W��V�U�U�����2��?zL��L��L��L��A hJ<B B�A���*Bs:9�A�A%�7�Ax��A"C4��*C%�%�<RC!C!�C)��5�=��5Y>���i���=�� ����� ����� ����� ��� � �:Y� DW1y� Y�:�� %�5�9@�!9�!I�!i�!��!��!��!��%.5; �%^E)ݹ�Iݹ�iݹ��ݹ��ݽ�=�ݽ�G�4Y�UA(9��iI��G��>���48j,���E�AY}:K��@�}:��@y}:�;�}:�S!��}:H�����'H������U��?���@���?���`_����� B?�����@�M������|@r�����)���������?)~:K��@ ~:�b;I~8ɫ9�A)�A �E����I�AY�}ۿ@y�}lG���i���=�Å+�=�Å3���Å���iÅ�@�Á ą��@)ą��@Ią��@ią��@����<M�V=Y��QU��>�����a��G����y��,<}��>Iȱ�ŵTo5�?�ŵ?�� Ƶd�>����?9Ƶ�gA�ǵb�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�Laea@�A%(<B) B)�A-���*B-�;9�A1�A5#�7�A5%��A1"C=3��*C=���<RC=X��=C9�CAY�e�(9��U �=I�aG}{>���:8j,-���E�AY}21��@�}2�˒@y}2�S�;�}2`� ��}2H�����v꿿���@���?�������?�����������ٿ�����+5������w�p����@������@���?)~21��@ ~2�bb;I~0ɫY�Y)�Y �]����I�YY����@y��/lG��=<M=P=Y�E>��QUM�>��I��I�a��G����y���;}��>I������:���Rl5�?����:����� ����>����?9���hA���%; ����:)���:�W�WX X�W:W2W!*W)�V)U1U5�����?@zLa�La�La�Le.�a@�A}�t<B� B��A�*B�S<9�A��A�"�7�A����A�"C�2��*C��S�<RC��=C��C�Yϥ�(9�������������� ��:Y�y�����5�֝y$�=I��G�b>��%mA��%mA�)9�)I�-�eGi�-��@��-=��-PD��)��-5; �-�E���A8j,���E�AY}B�ݚ@�}B��@y}B�9�;�}B_���}BH����������D��?����: �?����������������@y灿����.'q����`�p�����@��?)~B�ݚ@ ~B��b;I~@ɫa�a)�i �m����I�iY���@y��lG��������e�K>��e�=��e$�i�e��@��a �a)�e��@I�e��@i�e��@��u(ػM�G=Y��9QU��>�����a��G����y��<}��>Iȩ�ŭ_i5�?�ŭ��� ƭ�>����?9ƭ'iA�ǭ�; ȭ��:)ȩ�W�WX X�W!:W!2W!*W!�V!U)U-�����x@�RUB*** querying acoustic contact ***�PQ�PQzL��L��L��L���a@�A���<B� B��A�*B��;9�A��A� �7�A�m��A�"C�5��*C����<RC�<W�=C��C�I�@A)�AAY���*9���Vo�=I��G�>����!i��nGI��i����%^�ٺ!��%�PA���G8j,ƈ!�E�AY}:���@�}:d�@y}:��;�}:و��}:H�����e꽿�������?�����M�?���`�������;۽����@Ng�������wq�������������w��?)~:���@ ~:��c;I~8ɫ9�9)�9 �=����I�9Y���@y��]lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��ai�@a��� am�@a��� aq�@a��� ae�@a��� ����<M�D=Y���B9QU��>�������a��G������y��<}��>I�����:��Pf5�?����:����� �5�>����?9��iA��[�< ���>)��:�WY�WYXY XY�WY:Wa2Wa*Wa�V�U�U����`� @�A�*.<B� B��A�*B��<9�A��A�"�7�A� ��A�"C�4��*C�^��<RC���=C��C������������������1�� ��:Y�[1y�ݏ:��#�5YϽ+9�֭Dc�=I��G��>��(N8j,�c;�E�AY}:�@�}:�#�@y}:�;�}:>��}:H����@!0��������?��� �̢?���`������`{!������<�������/�o������&������4��?)~:�@ ~:1d;I~8ɫ9�9)�9 �=����I�AY�],�@y�]olGexDUSBL response received:!U1,P F54,000,0066C,186,80,80,9E,FF eCommand AckeBRequesting 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 ��]˘;MeS=Y�){�QU��>������a��G������y����;}��>I�����`c5�?������ ����>��%�?9��bjA���i�; ���Q?)���W��WX X�WI:WI2WQ*WY�VYUaUe�����A @��9��I��i�����=���QD�������6; ��:E�A]��<B� B��A�*B�=9�A��A�%�7�A�� ��A�"C�3��*C�fl�<RC�ޱ�=C��C�Y��/-9�� e��=I� G5 �>��U8j,�>U�E�AY}2l)�@�}2$7�@y}2�;�}29���}2H����������������?����T�?���@������`��������Yn�������cq������������ ���?)~2l)�@ ~2�Kd;I~2��Cɫy�y)�y �}����I�yY��g�@y���lG��a=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��UGa���U�=��U�#=i�U�@��Q �U��@)�U��@I�Qi�U��@��u׆<Mu:=Y�ueT:QUu�>��y���a��G����y���;}��>Iș�ŝ<`5�?�ŝe�� Ɲ��>����?9ƝkA�ǝQ>; ȝ�?)ș�W��W�X� X��W�:W�2W�*W��V�U�U��� l1@�A�BO<B� B��A�0;*B�>9�A��A�+�7�A�Z ��A�"C�2��*C���<RC����=C��C���i�p=��A��������������"�� ��$:Y��U1y���:����5YϥS-9�֝�M�=I��G��>�~;[8j,�o�E�AY}2�3�@�}2�A�@y}22�e;�}2^)��}2H����@�C��������?��� v֤?���������� 4�����`�y�����`¶l�����<*���������?)~2�3�@ ~2{�d;I~0ɫ9�9)�9 �=����I�9Y��J�@y���lG�xDUSBL response received:!U1,R,05D,000,00672,187,80,80,37,FF �Fpublishing direction and range info���6�����ɰ�+>鰭1�> ��)���\BI��y���vB����Ҽ�? ��?n~��������������ٱ�����=i���=)����uI�Mu\=Y�}n�QU}�>��y��y�a��G����y��a;}��>Iȑ�ŕ�]5�?�ŕ'�� ƕA�>����?9ƕ�kA�Ǖ�: ȕ�?)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@�@�Py*Q}�vB�Z}�r�c��N@~��b�����������Z}�Ҽ�? ��?n~��������������2Q}6��:Qy�Z}�MS�np'���*�/N�@cp#��Z}��� ��cȿ�52�i� �#�)�"�BQ}N��@ Q}~q�Q}�;��P}�9?�P}7�9?�P}b���Q}c���Q}�@"Q}��@�A� k<B� B��A����*B��=9�A��A0�7�A ��A"C-5��*C-J��<RC-��=C1�C1Y�=p/9��-~��=I�9GU�>�� 9�� I�� fGi�� �@��� ��� ��� �D��� �9; �� �E�oTb8j,�ʼn�E�AɫQ�Q)�Q �]����I�YY��o�@y���lG�DNmea in: $SNTTA,,,,,165325.49*55 �������������������� ��.:Y��Y1y��:��E�5)�@�;�9����] O�=��] 7�=��] S�i�] ��@��Y �] E�@)�] E�@I�] \�@i�] \�@�� ��;M� �<Y� ���QU� �>��� ��� �a� �G��� ��� y�� ���}� �>I� ��- �:�� �X5�?��5 �:�� ��� � ��>��= �?9� �lA�� ��; � �@)� �:�mEuAdded new target pos. range: 61.500000 m, bearing: 259.015144 deg, deltaT: 4.435352 s, approachRate: 0.081165 m/s, LOS rate: -2.695633 deg/s, posRepo size: 4�WA�WIXI XI�WI:WI2WI*WQ�VQUU������N@Ue���@M��?�A�ц <B� B��A�[k;*B��=9�A��A�9�7�A�w��A�"C4��*C,��<RC���=C�C Y�� �/9������=I��G?�|Wj8j,[`��E�AY}2�J�@�}2�X�@y}2B�R;�}2����}2H�����0����������?���@<Ѣ?����c����� ������ш}����@�Xj����`�������@��?)~2�J�@ ~2�d;I~2��CI�x)�xɫI�I)�Q �U����I�QY��4�@y��xlGai��ai� am��am� aq��aq� ae��ae� �����~j�t��?+�����?L7�A`�?�����=����= ��+=)��I��y����~j�t��?{�G�z������Mb������D=���ף���� �A)�AI�AidA�������A��-S��M5�=Y�5�r�QU5?��9��9�a=�G��9��Yy�ev<}e?I�i��mrV5�?��m1�� �m��>��u�?9�m mA��mʽ: �mM�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U�����Wt�?zL��=�L��=�L�@�L��d@�A=*�<B9 B9�AE���*BEk=9�AA�AE<�7�AE>��AA"CM3��*CMuj�<RCU�3�=CQ�CQY�M 19��AI�IGm�>�19q8j,�!��E�A�49�4I�4i�4��4��4��6��D��6�?; �6�EY}^V�@�}^�c�@y}^N�j;�}^'^��}^H������3���������?��� m!�?�����������}(����� �|�����Sm�����k����� ���?)~^V�@ ~^R�c;I~^��C�� /���� ����� ����� :�� � (#:Y� [1y� ݏ:�� �5)� 1�;ɫ�髹)�� ������I��Y�=~�@y�=�lGI��)���A�Ý1>�Ý\?�Ý�ļiÝ��@�Ù ĝ��@)ĝ��@Iĝ��@iĝ��@���<M�C=Y��c:QU��>�����a��G����y��NW;}��>I�����yS5�?����� ����>����?9���mA���f�: ��/�:)���W��W�X� X��W�:W�2W�*W�VUU�������?zL)�L)�L)�L-0�d@�A=�9<B9 BA�AE��;*BE^>9�AA�AED�7�AM���AI"CM2��*CU�%�<RCU��=CQ�CQY�]�19�֍���=I��G��>�qbw8j,���E�AY}2Le�@�}2s�@y}2cvw;�}2����}2H�����v����������?����]j�?��� +������^���������{�������n����`��������m��?)~2Le�@ ~2��c;I~2��Cɫ9�9)�9 �9I�9Y�}?�@y�}�lG ��鿙)å�= å�=�����M�Y=Y���:QU��>�������a��G������y�b�;}�>I� ���:�� �P5�?���:�� ��� � J�>���?9� >nA�� w�: � ��:)� �:�W9�W9X9 X9�W9:WA2WA*WA�VAUAUM������?zLa�La�La�Lex�d@�A}�<By By�A����*B�r=9�A��A�H�7�A����A�"C�5��*C�h��<RC��g�=C��C�Yρ�֝��=I��G�b>�Ҏ}8j,����E�AY}V�y�@�}V���@y}V�!q;�}V\���}VH������������u��?���ை�?����N�����@�������|����`,$n������ ����� ���?)~V�y�@ ~V~2c;I~V��C��~�=i�~�=�� ����� ����� ����� �� � D:Y� 0Y1y� ��:�� ��5�9@ɫ�髑)�� ������I��Y����@y��mG)����i�<M�J=Y���{�QU��>�������a��G������y���;}��>I������M5�?������ ��z�>����?9���nA���w�: ��Ǻ:)���W!�W!X! X!�W!:W!2W)*W)�V)U1U5��� '%@zLQ�LQ�LQ�LU��d@�Ae��<Ba Bi�Am�"<*Bm�>9�Ai�AmR�7�AuK��Aq"Cu4��*C}כ�<RC}���=Cy�CyY�e�19��]���=�a9�aI�exfGi�eS�@��a��a��a��esH; �em E)��I��i�����=�������6�4I��G�^>�{t�8j,���E�AY}2���@�}2;��@y}2��\;�}2-���}2H������:�����`���?�����?���������@ .������[�|�������k����`�������D��?)~2���@ ~2��b;I~2��CɫY�Y)�Y �]����I�aY����@y��XmG������@A����=i���=����ˡE����?����K�?����MbP�����=���^�= ����)��I��y������Mb�?�&1���/�$��?����@=����P�����< ;A) AI �Ai �A������QA��nA����m>���Q8=�����i���@��� ��)��ƣ@I��i�����Ji<M�=Y��s�QU��>�������a��G����� y� ��;} �>I� �� �:�� K5�?�� �:�� C�� � �>�� �?9� �oA�� Q�: � �:)� �:�W� �W� X� X� �W� :W� 2W� *W� �V� U� U� �����@�R� B*** querying acoustic contact ***�P� �P� zL5 g�=�L5 g�=�L5 ���@�L5 ��r@�AU 2��<BY BY �A] ��<*B] R?9�AY �A] d�7�A] � ��Aa "Cm 3��*Cm %��<RCm h��=Ci �Cq Y�e�39��U ɯ�=��m �����m �����m �����m ��� �m #:Y�m ]1y�m �:��m ��5I�y G� �>�F@�8j,�0/�E�AY}Vj��@�}V"��@y}V::;�}Vӹ2��}VH���� �L������X��?����M�?���������� �>�������|����@%Cg�����dU�����`+��?)~Vj��@ ~VqDc;I~V��Cɫ�髉)�� ������I��Y����@y��mG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���M��=Y�X�QU�9?�����a��G����y���x<}�9?I� �� �I5�?�� ��� � o�>���?9� �oA�� f�: � ��:)� �W9�W9X9 X9�W9:WA2Wa*Wa�VaUiUm����O�@zL��L��L��L�_Is@�A����;B� B�A�G<*B@9�A�Am�7�A� ��A"C 2��*C�O�<RCYY>C�CY���59������=I��G�H>�9�I��fGi���@�� =�������P; ��$EI� )� ��&�8j,�I�E�Aɫ�髉)�� ������I��Y����@y��JmG�xDUSBL response received:!U1,P 05D,000,00672,187,80,80,37,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 �������H���`�;i�G�@�� ���@)�z�@I���@i���@��-�'<M5(=Y�]���QU]�>��a��i�am�G��i��yy����}��>I������:����G5�?����:����� ��@�>����?9��RpA���o�; ����;)���:�WY�WYXa Xa�Wa:Wa2Wa*Wa�ViUiUm���`�@zL��L��L��L��A����;B B�A��<*B�?9�A�A}�7�AC ��A "C55��*C=�Q�<RC=��>CA�CI��}0>��}t>Y�} V69i�-�mGI�Ii�i�֙I��G��>����b�ٺ����UA�*M�8j,��b�E�A��:�����:�����:�����:��� �:,:Y�:�W1y�:č:��:��5ɫ���)�� ������I��Y�5,�@y�5olG�9ɮ9�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����t�M�a=Y��QU��>�������a��G�����y�} �>I�1��5F5�?��5��� �5i�>��=�?9�5�pA��5��: �5��:)�1�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU�U�������@zL��L��L��L��A��_�;B� B��A����*B�;=9�A��A��7�A� ��A�"C�4��*C����<RC���>C��C���u�>I��G�>�w�8j,ɫ|�E�AY}2b�@�}2�@y}26��:�}2���}2H���� Ï�����`���?���`�o�?�����������臵����@�os���� Y����@�����������?)~2b�@ ~2bc;I~0ɫY�Y)�Y �]����I�YY����@y��8mG�xDUSBL response received:!U1,R,ED7,000,00673,187,80,80,8D,FF �Fpublishing direction and range info���l��>���ɰ�?>鰡 ��)��� CI��y��=vB����I�/Xc��?U9�|g�?��������ٱ�����Z=M�[=Y�5Yb�QU5�>��1��1�a=�G��9��9y�EK�<}E�>I�I��U�:��MhD5�?��U�:��M��� �M��>��U�?9�MqA��M�: �M~�:)�M �:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U���� ��@�P�*Q�=vB�Z���K� ��M@����/@���������Z��I�/Xc��?U9�|g�?��������2Q�l��>:Q��Z����3;_e%@ �^�FON���/�7��Z����<,y>�?�D��҂�jw���BQ��b�@ Q�zr�Q�*+A�P�N�9?�P��9?�P�c���Q�b���Q���@"Q��@zL��L��L��L���s@�A=wI�;B9 B9�A=d{<*B=�?9�AA�AE��7�AE� ��AA"CM3��*CM���<RCMv" >CQ�CQ��������9��I��i���������������V; ���'E�օ�>I��G�g>��i��=��`�8j,���E�A��"' ����"�����"�����"��� �"YK:Y�"0Y1y�"��:��"|�5)�"�;�9&�Y}Fb�@�}F+�@y}F�:�:�}F�s��}FH���� C����������?���@�Ѡ?����a���������������@p�����U�T���������������?)~Fb�@ ~Fkc;I~F��Cɫ�髙)�� ��I��Y����@y��3mG�]TNmea in: $SNTTA,0.048267,,,,165329.75*47 ���C�������=���j�<i����� ��)����@I��i��z�@����}�M�/=Y��Y�QU��>�������a��G������y��0�;}��>I���OB5�?����� � �>�� �?9��qA����: �D�:)��m=qAdded new target pos. range: 61.560005 m, bearing: 280.008413 deg, deltaT: 4.220002 s, approachRate: 0.014219 m/s, LOS rate: 4.974706 deg/s, posRepo size: 4�WA�WAXA XA�WA:WA2WI*WI�VIUM���@��N@UU����6�?zLi�Li�Li�LmZ�s@�A����;B� B��A��s<*B�t?9�A��A���7�A�x ��A�"C�2��*C�b��<RC��� >C��C��֕�>I��G�b>�܈�8j,1a��E�AY}Z�:�@�}ZcH�@y}Z|��9�}Z�d ��}ZH���������������?����?���������@�������3i������18����`����������?)~Z�:�@ ~Z��b;I~Z��Cɫy�y)�y �yI�yY����@y��jmG����F����x�?����K������Mb�?����K>���^�� ���<)��I��y���/�$��?�v��/�����Q�������<���xi�����u� ½fA)½�AI½Ai½dA�������A���+�<M�s=Y���-�QU�?�������a��G������y��8.<}�?I������@5�?���,�� ����>���?9���qA���: ����:)���W!�W!X! X!�W!:W)2W)*W)�V)U1U5�����M�?zLU$�=�LU$�=�LU��@�LUCrZ@�Ae���;Bi Bi�Amn�<*Bm�@9�A��A���7�A�B ��A�"C5��*Cm��<RC .>C �C���>I�)GER>�� <�>9�� I�� i�� ��� ��� ��� ��� �Y; �� d)E�Ru�8j,�O��E�A��V� ����V�����V�����V��� �VVB:Y�V�Y1y�V�:��V��5)�V!�;ɫ � )� �����I�Y�m3�@y�m�mG��=(\>��=��<��=�i�=��@��9 �=��@)�=��@I�=��@i�=��@����<M�?=Y����QU��>�����a��G����y����}��>Iȡ����:�ť�>5�?����:�ť��� ƥ�>����?9ƥ`rA�ǥ��: ȥ��:)ȥ!�:�WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU�������?zL��L��L��L��A���;B� B��A���<*B��@9�A��A���7�A����A�"C4��*C��<RC ��>C �C i���I��������������>I�!G=�>I�)�@A���8j,a��E�A�|�|Y}N�V�@�}N�d�@y}N_��}N��$��}NH����@�5������M��?����n��?������������2������}e�����k�9?����j�������c��?)~N�V�@ ~N��b;I~Lɫ�髙)�� ������I��Y����@y��<mG��u��M}^=Y�}��QU}�>�����a��G����y�Q<}��>I������<5�?������ ����>����?9���rA����: ����:)���W�WX X�W:W2W*W�VU!U%�������?zLA�LA�LA�LE~�Z@�AUno�;BY BY�A]f�<*B]�?9�AY�A]��7�A]���Aa"Ce3��*Cm�m�<RCm�)>Ci�Cq�օ�>I��G�=>�už8j,����E�A��R` ����R�����R�����RD�� �Rz;:Y�RxZ1y�Rq�:��R5�5�9V@Y}bj�@�}b7x�@y}b�J.��}b�v ��}bH�����5������`��?����F�?����Y������B���������a����`[�E?����� �����`���?)~bj�@ ~b�b;I~`ɫ�髩)�� ������I��Y����@y��mGI�Y)�Y�]6Buffer fill timout failure.)�a ������U�MU==Y�U7%�QUU�>��Y��Y�a]�G��Y��ay�e��;}e�>I�i��u�:��m�:5�?��u�:��mQ�� �m��>��}�?9�m)sA��m{�: �mD�:)�m"�:�W��W�X� X��W�:W�2W�*W��V�U�U����@`%�@zL��L��L��L���Z@�A�b��;B� B��A��N<*B�K?9�A��A���7�A����A�"C�2��*C��m�<RC�� >C��C��q9�qI�u@gGi�u��@��q��q��q��uvY; �uM)E���>I�)GmV>����8j,���E�AY}6Y��@�}6��@y}6�}6�6��}6H������ұ��������?����q��?���@����� �ұ�����?VU����@3�S?����х���������?)~6Y��@ ~6eWb;I~6��Cɫq�q)�q �u����I�qY���@y���mG��uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D��POutgoing frame #2, 6 bytes: 55B944648000��DNmea out: $CCCYC,0,1,10,1,0,2*6A ���=i�p=�� G ���� ����� ����� �� � |9:Y� �Y1y� �:�� ��5�������Mb�?�V-��y�&1�|������=���h�� ��`�)��I��y���y�&1��?D�l��������Q��?���`�<���O������u< ��)��I��fAi���A������ A��]�>��]�H=��]��=i�Y��Y �Y)�]��@I�Yi�Y��u�f<Mu�<Y�}45�QU}^>�����a��G����y� w;}�^>Iȡ����:�ť�55�?����:�ť^�߾� ƥ�>����?9ƥtA�ǥ[; ȥ�$;)ȥ#�:�W��W�X� X��W�:W�2W�*W��V�U�U���`��@�R B*** querying acoustic contact ***�P�PzL5��=�L5��=�L5�!�@�L5�r]@�AUP�;B� B��A��<*B��?9�A��A���7�A���A�"C�5��*C�p�<RC���>C��C����>I�G- ?���8j,�@�E�A�|i|Y}F���@�}Fu��@y}FQ�ֺ�}F,N��}FH���� >���������?��� ͡?���`�������W ������z,F����`I�Z?���`�ȡ�������?)~F���@ ~FϘb;I~F��CɫQ�Q)�Q �QI�QY����@y��/mG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������AA��BNmea in: $CACYC,0,1,10,1,0,2*68 ���7�M��=Y����QU�S?�������a��G������y���l<}�P?I������45�?�����߾� ����>��M�?9��]tA����< ��<)��܍;�>9܉I܉i܉�܉�܉�܉�܍�W; ݍt(E)��I��i����� =��� =���Kc4�W��W�X� X��W�:W�2W�*W��V�U�U������{@zL9�L9�L9�L=�]@�A� ��;B� B��A��l<*B�}@9�A�A%��7�A%��A)"CU4��*C}I �<RC}e�>Cy�C���u�>I�yG�\>� *�8j,��Y�E�Aɫ�髙)�� ������I��Y���@y���mG�xDUSBL response received:!U1,P ED7,000,00673,187,80,80,8D,FF �Command Ack�BRequesting micromodem ping code 2i�������NNmea in: $CADRQ,165333,1,10,0,64,1*77 ��uNmea out: $CCTXD,1,10,1,188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D*32 ������mA�Å`e��Å�>�Å�%�iÁ�Á ą��@)ą��@Iāiā��֍<M�%=Y����QU�>��I��Q�aU�G��Q��]�����]�����]�����]}�� �]�/:Y�]�W1y�]č:��]k�5��iy�m���}m�>I�q��uw15�?��uT߾� �u��>����?9�u�tA��u��: �u]�:)�q�W��W�X� X��W�:W�2W�*W�VUU������@zL!�L!�L!�L!�A]�ޗ;Bq Bq�A}��<*B}K@9�Ay�A}�7�A}���Ay"C�3��*C�:�<RC��D>C��C��օ $z>I�� G� �>�T�8j,��s�E�AY}2�Μ@�}2jܔ@y}2vd���}2�A$��}2H�����������]��?����m��?��������������������Z?������p?����Ć������X��?)~2�Μ@ ~2 ]c;I~0ɫY�Y)�Y �]����I�YY��B�@y���mG��<Nmea in: $CATXD,1,10,1,64*49 ���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��e��<Mew=Y�����QU� ?�������a��G����� y���<}?I�I��]�:��M�/5�?��]�:��M�߾� �M��>����?9�M]uA��MG< �M�~<)�M$�:�W�WX X�W:W2W*WA�VAUIUM���`gJ@zL��L��L��L��^@�A��h�;B� B��A�}�<*B��A9�A��A��7�A����A�"C�2��*C���<RC��T!>C��C���m+�>I�yG��>ܝ <�>9ܙ Iܙ iܙ �ܙ �ܙ �ܙ �ܝ W; ݝ (E��;�8j,����E�AY}2�ߜ@�}2��@y}2[����}2�R,��}2H����@Rޭ��������?�������?����������`y����@D�c?���@��s?���`�������`���?)~2�ߜ@ ~2ڇc;I~0ɫI�I)�I �II�IY�}(�@y�}�mG鮁ɮ�R=��NNmea in: $CADRQ,165333,1,10,0,64,2*74 ��|Response from modem unexpected: $CADRQ,165333,1,10,0,64,2*74 )����E�>��E�"���EC�<i�E��@��A �Ez�@)�E\�@I�E��@i�E��@��u� �MuZ=Y�}6 �QU}�>��y���a��G����y���;}��>Iȑ�ŕu-5�?�ŕ=߾� ƕ��>����?9ƕ�uA�Ǖx�: ȕ��:)ȑ�Wy�WyXy X��W�:W�2W�*W��V�U�U������@zL��L��L��L�3'^@�A���|;B B�A��<*BmA9�A�A/�7�A-���A)"C55��*C5{ �<RC5�">C1�C9��EMR!>I�QG�9>�������������������� ��1:Y�DW1y�Y�:����6)��;�9��������i�% �lGI�= qAi�Q ��� �O�ٺ� qA��� �CA�� ;Y?9�� 1LA��f�8j,�m��E�AY}2�@�}2���@y}2&����}2�t(��}2H������ͬ���� ���?����}.�?���`�������欿��� 2�k?����Pw?��� ���������?)~2�@ ~2��c;I~2��Cɫ9�9)�9 �=����I�9Y����@y��mG�xDUSBL response received:!U1,R,F3D,000,00677,186,80,80,7B,FF �Fpublishing direction and range info����@.>���ɰ��>����> ��)����BI��y��3wB�������۬��?��U�>��?��������ٱ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Ù Ý�=����ѼM�=Y�����QU��>�������a��G�����y� ui;} �>I���%�:��*5�?��%�:��߾� �3�>��-�?9�xvA���; �i%;)�%�:�Wa�WaXa Xa�Wa:Wi2Wi*Wq�VqUqU}����FK@�P�*Q�3wB�Z�����$tN@,t�p}�$@���������Z�����۬��?��U�>��?��������2Q��@.>:Q��Z����s6� @.�I�N�����?i���Z��b��\� �?ff@�����_,V�BQ��o�@ Q��u�Q�o�@�P�D�9?�P�N�9?�P�d���Q�c���Q��@"Q���@zL��L��L��L��D^@�A�6�b;B� B��A��8<*B��>9�A��A�<�7�A�O��A�"C 4��*C �B�=RC 7K$>C �C ��� =H!>I� G%�>��P�8j,*S��E�AY}\�@�}�@y}��Ż�}����}H����@s����������?����x�?�����������Z��������p?����Ƚx?����T���������?)~\�@ ~q�c;I~��Cɫ���)�� ��I��Y�5,�@y�5�mG��DNmea in: $SNTTA,,,,,165334.38*53 ���@�=M��=Y��p��QU�9?�������a��G������y�!<}:?I� �� �(5�?�� [߾��A9�AI�E�gGi�EF�@��A��A��A��EtW; �EA(E � \�>��U�?9� �vA�� �< � �<)� �muAdded new target pos. range: 61.800007 m, bearing: 276.516520 deg, deltaT: 4.827119 s, approachRate: 0.049719 m/s, LOS rate: -0.723391 deg/s, posRepo size: 4�W�WXA XA�WA:WI2WI*WI�VIUU����f�N@UU���`��?zL��L��L��L��b^@�A=֓I;B9 BA�AEF�<*BE�A9�AI�AMM�7�AM7��AI"C�3��*C�p��=RC��&>C��C����� �������������������� ��hD:Y��[1y��ݏ:����6)���;���5c$>I��G��>�lx�8j,�#��E�Aɫy�y)�y �}����I�yY���@y���mG�Ý�>�Ý;�ÝC�=iÝף@�Ù ĝƣ@)ĝƣ@Iĝƣ@iĝƣ@��Z�M�O=Y����QU��>�����a��G����y����}��>I������:���J&5�?����:����߾� ����>����?9��8wA���,�: ��E�:)��&�:�W��W�X� X��W�:W�2W�*W�VUU�����?zL!�L!�L!�L!�A=�(2;B9 B9�A=[�<*B=QA9�AA�AE\�7�AE!��AA"CM2��*CM�=RCM@&>CQ�CQY�%s89��O�'>I�!GEr>�9��8j,P���E�AY}2W?�@�}2M�@y}2)Tл�}2ݪ���}2H���� �����6��?��� EY�?��� ������ x�����@r1t?����y z?�������������?)~2W?�@ ~27yc;I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}*mG������nA�����M�F=Y��1I�QU��>�������a��G�����y�Ď<} �>I����#5�?��x߾� ���>���?9��wA��ӻ: �#�:)��W9�W9XA XA�WA:WA2WA*WA�VIUIUM�������?zLi�Li�Li�LmH�^@�A�rX;B� B��A�,e<*B��?9�A��A�i�7�A� ��A�"C�5��*C��=RC��/->C��C� ���=����=���KP&>I��G5O>������������������������ ���+:Y��0Y1y����:���|�5�9�@�1 9�1 I�1 i�1 ��5 =��1 ��1 ��5 X; �5 �(E�j�9j,���E�AY}2 _�@�}2�l�@y}2��⻙}2Z���}2H�����F�����W��?���`��?����G�����`������ �v?�����Q|?���������� ���?)~2 _�@ ~2��c;I~2��Cɫ9�9)�9 �9I�9Y�}�@y�}�mG��b>����=��Q8�i���@�� ���@)���@I���@i���@��u�<M%9=Y��`��QU��>�������a��G������y���<}��>I���!5�?��!߾� ���>����?9�DxA���;= ��==)��W1 �W1 X9 X9 �W9 :W9 2W9 *W9 �VA UA UE ����7�?zL� �L� �L� �L� _@�A��a;B� B��A��<*B��?9�A��A��7�A����A�"C� 4��*C� "�=RC� �!0>C� �C� �ֽm�,>I��G� ?�0�9j,MM2�E�A�����������������d�� ��-:Y��X1y�/�:���5Y}Mk��@�}M$��@y}Mk���}M��?��}MH������ʢ�����d��?������?���@8�����@���������y?�����R�?����e����������?)~Mk��@ ~M�d;I~Iɫ�)� �I�Y�m��@y�mnmG���=i��R=ai@a�� am@a�� aq @a�� ae @a�� ����M�<Y��ۺQU�>�����a%�G��!��!y�- <}-�>I�1��=�:��5x5�?��=�:��5߾� �5��>��=�?9�5�yA��5%�: �5`?)�5'�:�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUiUu�����@�A�y�:B� B��A�"�<*B�F@9�A��A���7�A����A�"C�3��*C��@=RC��e5>C��C���� F�/>I� G% �>ܙ 9ܙ Iܙ iܙ �ܙ �ܙ �ܙ �ܝ \; ݝ �*E�g�9j,OL�E�AY}2���@�}2X��@y}2�a ��}2��9��}2H����������� d��?�����Y�?�����������65����� ��{?���@(L�?����6����� I��?)~2���@ ~2֜d;I~2��CɫY�Y)�Y �]����I�YY����@y��emG��������� 0=���������1�i��p�@��� ��@)��I��i����:{�M�=Y�C�QU=?�� �� �a �G�� ��y� �;}=?I�!��%5�?��%Z߾� �%��?��-�?9�%GyA��%t�: �%�[?)�!�WI�WIXI XQ�WQ:WQ2WQ*WY�VYUYU]����!�@�Aj��:B B �A ��<*B ZA9�A �A ��7�A���A"C2��*C�=RC҈6>C�C��I��I�� �04>I�G5>�b9j,��e�E�AY}2Τ�@�}2���@y}2�2 ��}2���}2H���� Ԕ����� ��?����gţ?���@�����������������}?���@J��?���@k����������?)~2Τ�@ ~2Mad;I~2��Cɫ9�9)�9 �=����I�AY��M�@y���mG��m�<MI=Y�%�ܹQU-�>��)��)�a5�G��1��1y�=�;}=�>I�I��M�5�?��M�߾� �M�?��]�?9�M�yA��M�D; �M~�?)�I�W��W�X� X��W�:W�2W�*W��V��������������������� ��:Y�xZ1y�q�:����5U�U���� G@�R�B*** querying acoustic contact ***�P��P��Am4�b:B� B��A���<*B��A9�A��A���7�A����A�"C�5��*C��B=RC�z27>C��C�i��I����������� �r5>I�� G� �>�%49j,���E�A�|i|Y}6Ǫ�@�}6���@y}6+���}6�5���}6H�����A5������z��?����;��?���`�����@{V����� (�?���@v��?����'E����� ���?)~6Ǫ�@ ~6J�c;I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]jmGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******���ȼM�A=Y��ĹQU��>�����a��G�����y��|�:}��>I������:���75�?����:����߾� ���?����?9��DzA����: ����?)��(�:�W9�W9X9 XA�WA:WA2WA*WA�VIUiUm����� @�A� ��9B� B��A�n�<*B�b@9�A��A���7�A����A�"C�4��*C���=RC���7>C��C��U=�>9�QI�Qi�Q��Q��Q��Q��U5^; �U�+E)��I��i����� =��� =�����4����U7>I� G%M>�b&9j,���E�AY}2��@�}2�Õ@y}2����}26�ݼ�}2H����แ���������?������?���@h������a������`s��?�����|�?���@���������?)~2��@ ~2�kc;I~2��Cɫ9�9)�9 �E����I�AY�m��@y�m<mG�xDUSBL response received:!U1,P F3D,000,00677,186,80,80,7B,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�Í��>�Í?5��Í��iÍ�@�É č��@)ĉIč��@ič��@�����M�"=Y����QU��>�������a��G������y���0;}�>I� �� A5�?�� H߾� � �?��%�?9� �zA�� �P; � �@)� �WQ�WQXQ XQ�WQ:WQ2WQ*Wa�VaUaUm����̳ @�A��8B B�Af�<*B�?9�A�A%��7�A%���A!"C=3��*C=��=RC=�K9>C9�CA��m }�7>I�q G� �>�xD,9j,t��E�AY}2�ϝ@�}2�ݕ@y}2��"��}2����}2H����`Oǝ����`~��?���@��?����!��������������w�?��� AW�?���@8ߟ����`���?)~2�ϝ@ ~2��b;I~2��CI�)�AAɫ9�9)�9 �=����I�9Y��T�@y���mG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��uU =M}2=Y�}��QU}�>�����a��G����y�U�;}��>Iȑ�ŕ�5�?�ŕ�߾� ƕ�?����?9ƕf{A�Ǖа: ȕ�)@)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�A�焹B B�A�=*B�A9�A �A ��7�A ���A "C2��*CT=RC�D<>C�C�� ��9>I� G5 �>�i 9�i I�i i�i ��i ��i ��i ��m �_; �m �,E�e,39j,nO��E�A�|�|�;Y}6���@�}6��@y}6>+��}6����}6H����`'���������?��� ��?�����������������@�q�?���@Na�?���@�x���������?)~6���@ ~6�b;I~6��CɫY�a)�a �e����I�aY��B�@y���mG�xDUSBL response received:!U1,R,EBF,000,0067C,187,80,80,6B,FF �Fpublishing direction and range info����l�>���ɰ��>鰥1�> ��)����BI��y��fxB������ɫ���?)o�ȱ�?��������ٱ�I��)��)���= ��>-=6only read 2 of 4 data items��=@��E@��E@��E5�MM�=Y�M� �QUU>?��Y��Y�a]�G��a��ay�m�<}m=?I�����$5�?���P ߾� �� ?���?9���{A���t; ���9@)���WI�WIXI Xi�Wi:Wq2Wq*Wq�VqUqU}����Ȳ@�P�*Q�fxB�Z���=�[��M@\~�N+1@���������Z����ɫ���?)o�ȱ�?��������2Q��l�>:Q��Z����]U�^/@BN�N�@�K������Z���ҎX*�?��[D_���#�� �?�BQ����@ Q�Xp�Q��zA�P�Z�9?�P�D�9?�P�b���Q�d���Q�M�@"Q��@�A��"�B B�A}�<*B�B9�A�A��7�A���A)"C55��*C5�=RC5ƴ@>C1�C9��=��;>I�IGeV>i� �mGI�) i�A ��u e�ٺq ��u �WA�tV99j,I*��E�AY}2�@�}2�,�@y}2[5��}2�n4��}2H�����a䓿���`n��?������?������������_�������?���@B��?�����������@���?)~2�@ ~2�b;I~2��C�� � ���� ����� ����� '�� � �V:Y� �[1y� H�:�� �>6ɫ9�9)�9 �=����I�AY��`�@y���mG��DNmea in: $SNTTA,,,,,165339.02*57 ��� <M>=Y����QU�>�����a�G����!y�%�D<}-�>I�I��M� 5�?��M� ߾� �M?��]�?9�M0|A��M��: �M�T@)�I�m�qAdded new target pos. range: 62.100002 m, bearing: 284.630512 deg, deltaT: 4.426514 s, approachRate: 0.067772 m/s, LOS rate: 1.833043 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������O@U��������?�A�Ղ�B B �A =*B B9�A�A�7�A���A"C4��*C�j=RC/�D>C�C!����A>I�)GER>��?@9j,�E�AY}6G�@�}6�T�@y}6�6��}6�8��}6H������ȍ��������?���@�,�?�����������HȎ�����Yd�?���@�?����������@(��?)~6G�@ ~60�b;I~4��|i�|ɫ9�9)�A �AI�AY��v�@y���lG��⊽M�C=Y���QU��>�����a��G����y��><}��>Iȩ�ŭR5�?�ŭ� ߾� ƭ?����?9ƭ�|A�ǭ$�: ȭ)o@)ȩ� 9� I� i� �� =�� �� �� 0c; � `.E�W��W�X� X��W�:W�2W�*W��V�U�U�����m�?�A��q��B� B��A�M�;*B�c>9�A��A��7�A����A�"C�3��*C�E-=RC�2�H>C��C�����?E>I��G�>��hF9j,���E�A�| i|"�@Y}N�h�@�}Nnv�@y}N9`*��}N�&��}NH����� ]�����@���?����2�?�����������6�������h�?�����K�?���`�դ����@���?)~N�h�@ ~ND�b;I~N��C��-�����-�����-�����-��� �-?,:Y�-�X1y�-/�:��-��5)�-�;�9U�ɫ�髩)�� ������I��Y����@y��%mG)����6only read 0 of 4 data items��������������>��"۽���½i���@�� �z�@)�z�@I�i�z�@���<MB=Y���:QU�>�����a�G����!y�%/ <}%�>I�)��-�5�?��-4߾� �-�?��=�?9�--}A��-x�: �- �@)�)�WY�WYXY XY�WY:Wa2Wa*Wa�ViUiUm���`1��?�A��Z�B� B��A��]<*B��?9�A��A�!�7�A����A�"C�2��*C���=RC�GPL>C��C��ֽ��H>I��G�f>���L9j,�4�E�AY}2<y�@�}2�@y}2iC��}2�� ��}2H������;�����@���?���@D��?����]�����@�߁������,�?����[Ȃ?���` ���������?)~2<y�@ ~24�b;I~2��Cɫ9�9)�9 �=����I�AY����@y��mG��F�M�=Y��;QU��>�����a��G����y�~~;}��>Iȱ�ŵ�5�?�ŵ�߾� ƵR?����?9Ƶ�}A�ǵ�: ȵ��@)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U���� *�?�AC�B B�A�N<*B%0?9�A!�A%/�7�A% ��A!"C-5��*C-� =RC5�M>C1�C1 �E�=��E�=��u ��L>� 9� I� i� �� �� �� �� rg; � �0EI�� G�>�vzS9j,ݖN�E�AY}:�|�@�}:���@y}:�����}:�����}:H�����Q�����`���?���`%�?���`}������Ѐ������~?������?���`������ ���?)~:�|�@ ~:��b;I~:��CI�AA)�@A��% ��������������5�� ��6:Y�DW1y�Y�:��j 6)�#�;ɫ9�9)�9 �=����I�AY��y���Å�v>�Å��>�Å>iÅ��@�Á ą��@)ą��@Ią��@ią��@Y���;QU�:?�����a��G����y�m�:}�:?Iȱ�ŵ~5�?�ŵ^߾� Ƶc?����?9Ƶ~A�ǵx�: ȵX�@)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����`@�@�Av��B B�A!*B%]@9�A!�A%8�7�A%��A!"C-4��*C5� =RC5�@N>C1�C1��AI�QGm5>���Y9j,rh�E�A�|�|ɫy�y)�y �}����I�yY���@y��wmG �a�a���e<M��<Y����QU��>�����a��G����y����}��>I�����#5�?����߾� ��3?����?9���~A����); ��h�@)���W�WX X�W:W2W*W�VUU%����HI@�Ae�,�Bi Bi�Am��<*Bu�@9�Aq�AuH�7�Au4��Aq"C�3��*C��� =RC��UN>C��C��֝��N>I��G�B>���`9j,bM��E�AY}2Zz�@�}2��@y}2��ݻ�}2y��}2H�����_��������?���@��?���@�������y�������]z?��� �{?���`ȭ���������?)~2Zz�@ ~29(c;I~2��C�� � ���� ����� ����� �� � �G:Y� �X1y� /�:�� 6�9@ɫy�y)�y �}����I�yY��F�@y���lG����������d�M�F=Y��';QU��>�������a��G������y���F�}��>I�������5�?���� ߾� ��?���?9�� A�����: ���@)���WI�WIXQ XQ�WY:WY2Wa*Wi�VqUyU����`��@�ٝ�<�ܱٙ9ܱIܱiܱ�ܱ�ܱ�ܱ�ܵ5i; ݵ�1E�R�B*** querying acoustic contact ***�P��P��A���<�B� B��A����*B��=9�A��A�M�7�A�T��A�"C�2��*C���=RC��;N>C��C����I�G%n>���f9j,p(��E�A���=i��=Y}-K��@�}-��@y}-�V�}-��,��}-H�����D�}�����v��?����٢�?���������� �0���� %�}?��� �J~?����ě������z��?)~-K��@ ~-u'c;I~-��Cɫ�髱)�� ������I��Y���@y�amG-Z****** received transponder code query ******-F****** received ping request ******-<Arming DUSBL. detectThresh: 7558****** ping requested ******ai-�ai- am-�am- aq-�aq- ae-�ae- ��-���K7��?m�����Ϳ���S㥫?��-I>��-�n� �-/]=)�)I�)y�-�)\���(�?�l����{�G�z�?��-Ga=��-�����-�#< �-;A)�-dAI�)i�-dA��)��)�� 5�>�� f�>�� ߏ�i� ̤@�� � ��@)� ��@I� ��@i� ٮ@��t2=M+=Y�^��QUE�>��A��A�aM�G��I��Iy�U�;}U�>I�Y����:��]��5�?����:��]߾� �]�?����?9�]�A��]�!< �]!<)�])�:�W��W�X� X��W�:W�2W�*W��V�U�U������v @zL�=�L�=�L�?�@�L�q@�AM�yN�BQ BQ�AU�<*BU/@9�AQ�AU]�7�AUx��AY"C}5��*C�W_=RC��]O>C��C��֍��M>I��G��>���l9j,���E�A�|i|�@Y}69��@�}6�@y}6N���}6{�*��}6H����@]�r��������?���@�[�?������������\t����`xn�?���@}׀?����V���������?)~69��@ ~6 ;c;I~6��C�����������������x�� � /:Y�DW1y�Y�:��X�5ɫ9�9)�A �AI�AY����@y���lGxDUSBL response received:!U1,P EBF,000,0067C,187,80,80,6B,FF Command AckBRequesting micromodem ping code 2i� �� �� �=i� �=�5�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��������=n�MEn=Y�R�QU��>������a��G������y���;}��>I�����5�?��6߾� ��?��U�?9�#�A���< ���<)��WA�WAXA XA�WA:WI2WI*WI�VIUIUU��� 8� @zL��L��L��L���q@�A���`�B� B��A���;*B��>9�A��A�f�7�A����A�"C�4��*C�� =RC���R>C��C�����O>I�!G=�>ܱ 9ܱ Iܵ @gGiܵ ��@�ܱ �ܱ �ܱ �ܵ mj; ݵ (2E)�i�I�i�i�i���m�=��m�=��m���4�{�s9j,}���E�AY}2��@�}2�ɖ@y}2^��}2rU��}2H���� �01�����B��?��� �)�?����������@�_C�������?����|�?���@X)���������?)~2��@ ~2!�b;I~2��Cɫ1�9)�9 �=����I�9Y�u��@y�umG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������������"�=i��3�@��� ����@)��ƣ@I����@i��ƣ@�� ~L<MM=Y����QU�>�����a%�G��!��!y�m9<}m�>I�q����:��u"�5�?����:��uf߾� �uK?����?9�ul�A��u�O; �uAU;)�u*�:�W��W�X� X��W�:W�2W�*W��V�U�U������7@zL1�L1�L1�L5�r@�AeF�t�Bi Bi�Am�N<*Bm�?9�Ai�Amq�7�Au���Aq"C}3��*C}� =RC}.�U>Cy�C��֕Q>I��G�b>���y9j,���E�AY}2q�@�}2*��@y}2 i ��}2�r��}2H�������v?���@���?���@rg�?��� ������ ��u?�������?����M�?����ym�����@}��?)~2q�@ ~27c;I~0I�@A)�AA��E����������������� ��$:Y��X1y�/�:���6ɫ9�9)�9 �=����I�9Y�}�@y�}TlG�xDUSBL response received:!U1,R,E9E,000,00683,185,80,80,94,FF �Fpublishing direction and range info���1+�>���ɰ��>鰅+�> ��)���CI��y��zB����^}��3|�?*q�Gu�?��������ٱ���c�M�d=Y�>}:QU��>�����a��G�����y����<}��>I�������5�?���|߾� ��q?����?9����A���"\; ���\;)���W �W X X �W :W 2W*W�V�U�U������@�P�*Q�zB�Z��a<���M@ y�3@���������Z��^}��3|�?*q�Gu�?��������2Q�1+�>:Q��Z����3K�S3@aߕ���M�`)jtR���Z���~���?5|I�n�Ȳ���[�BQ��ڠ@ Q��m�Q���A�P�c�9?�P�Z�9?�P�a���Q�b���Q���@"Q�M�@zL �L �L �L fir@�AE����BA BA�AE���*BE=9�AI�AMr�7�AM���AI"Cu2��*Cu�Z=RCuN[>Cq�Cy��e�&V>I�iG�9>��ڀ9j,��E�A�|4<�|Y}F��@�}F�(�@y}F��}F4����}FH������+�?������?�����'�?����?������J��?������?���`�{~?����>���������?)~F��@ ~F5c;I~F��Cɫ�髙)�� ������I��Y����@y�� mG�eDNmea in: $SNTTA,,,,,165343.44*58 I�a)�a)��= �>�U>�>9�QI�Qi�Q��Q��Q��Q��U�l; �Ux3E�� �=M*=Y��;QU�>�����a�G��!��!y�M C<}M�>I�Q��]�:��U��5�?��]�:��U߾� �U?��]�?9�U �A��UR�: �U��:)�U+�:�m�qAdded new target pos. range: 62.520000 m, bearing: 288.007248 deg, deltaT: 4.419063 s, approachRate: 0.095042 m/s, LOS rate: 0.764129 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`�BO@U���� �>�?zL�L�L�L!�r@�AU�ۋ�BQ BQ�AUT1<*BU$?9�AQ�A]~�7�A]��AY"C�5��*C�+;=RC�^�_>C��C��ֵ�$[>I��G��>���9j,Á�E�A��5�>��9i��mGI��fpAi����������������������������%D�ٺ-fpA��-8A ���.:Y��xZ1y��q�:���X�5)���;�95�Y}=�A�@�}=`O�@y}=�GŻ�}=zo��}=H����`;o�?����9��?��� �_�?����������`)7�?����G�z?������x?�����l��������?)~=�A�@ ~=s�b;I~9ɫa�a)�i �m����I�iY��B�@y���lG��Nonly read 0 of 1 data item for altitudeai�@a��� am�@a��� aq�@a��� ae�@a��� ��%`e<��%�#<��%���i�%=�@��! �!)�%��@I�%��@i�%��@��5�M58=Y�=�R;QU=�>��A��A�aE�G��A��Ay�M1<}M�>I�Q��UK�5�?��Ue߾� �Uv?��]�?9�U[�A��U��: �U�>)�Q�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?�A��咻B� B��A����*B��=9�A��A���7�A�B��A�"C�4��*C��=RC�i�c>C��C�����`>I��G��>��.�9j,�J7�E�AY}F�^�@�}Fgl�@y}F�}���}F+a'��}FH�������?�������?�����ݤ?���`W�������ړ?���`v?������r?���@�ꤿ��� ��?)~F�^�@ ~F9c;I~F��C�� i� �=ɫY�Y)�Y �e����I�aY����@y���lG)�q���<Mu=Y���;QU?�����a%�G��!��)y�5�-<}5?I�9��=@�5�?��=u߾� �=� ?��U�?9�=��A��=L$; �=~F?)�9�W��W�X� X��W�:W�2W *W �V UU������?�A����B� B��A���;*B��>9�A��A���7�A�m��A�"C�3��*C��=RC���f>C��C��ֽ \c>I��G�g>�I 9�I I�M �fGi�M ��@��M =��I ��I ��M �n; �M �4E���9j,1&Q�E�A�|i|Y}6�s�@�}6;��@y}6\�e��}6F=��}6H�����Z��?����G��?���@���?���`��������y�?���@��r?�����l?������������4��?)~6�s�@ ~6�c;I~6��C��W��������������#�� ��c:Y�0Y1y���:����6)�۹;ɫ9�9)�9 �=����I�AY�]��@y�]�lG���i���=��I��MmA�Õ����Õ�u��Õ��iÕ��@�Ñ ĕ��@)ĕz�@Iđiĕz�@����;M�=Y�r;QU��>�����a��G����y���;}��>Iȹ����:�Ž�5�?����:�Ž߾� ƽg"?����?9ƽ��A�ǽ��: Ƚ��?)Ƚ,�:�W��W�X� X��W�:W�2W�*W��V�U�U����`��?�A����B� B��A�<*B��>9�A��A���7�A����A�"C�2��*C���=RC��h>C��C��% %,g>I�1 G] �>��@�9j,yk�E�AY}6�z�@�}6���@y}6��G��}6�>��}6H�����왗?���@���?����7ʧ?��� �������9n�?����l�p?���@��h?����է���� ��?)~6�z�@ ~6��c;I~6��CɫI�I)�I �M����I�IY�}Y�@y�}�lG��5��M=�=Y�=0�:QU=,?��A��A�aE�G��A��Iy�M g;}M,?I�Q��U��5�?��U�߾� �UN#?��]�?9�U,�A��UB�: �U��?)�Q�W��W�X� X��W�:W�2W�*W��V�U1U=���@�F�@�A�hͣ�B� B��A�of:*B�n>9�A��A���7�A����A�"C�5��*C��H=RC��i>C��C����i>I�1GUS>�y)�9j,�߄�E�AY}2�z�@�}2?��@y}2�b6��}2��(��}2H���� ϊ�?�������?������?����������`�g�?����Çn?���@Z�f?��� ������@��?)~2�z�@ ~2w�c;I~2��CI�)�?A�� P���� ����� ����� ?�� � c:Y� �W1y� č:�� | 6�9@ɫ9�9)�9 �9I�9Y�J�@y��lG��9��I��i���������������n; ��x4E�Ýף<�Ý�u<�Ý iÝQ�@�Ù ĝz�@)ęIĝz�@ię����M�3=Y��4:QU��>�������a��G������y����}��>I�������5�?���d߾� ���$?����?9����A���W�: ����@)���W9�W9X9 X9�W9:W92WA*WA�VAUQUU������@�A��|��B� B��A����*B��=9�A��A���7�A� ��A�"C�4��*C��$=RC��i>C��C����i>I��G�j>��V�9j,*Ȟ�E�A�|>�;�|<Y}�u�@�}n��@y}����}�L ��}H���� ��?���`[��?����� �?������������ؖ?�����Ai?����=c?�����(����� `��?)~�u�@ ~�Qc;I~ɫ���)�� ������I��Y�-s�@y�-�lGI�9)�9ai��ai� am��am� aq��aq� ae��ae� ����)\���(�?�A`��"��<�O��n�����G�=���ٽ ��t��)��I��y���+�����?#��~j���<�O��n�������=���㥽���t� ��fA)���AI���Ai�� A�������A)�M> �M>��]g@<MeA=Y�eي:QUe�>��i��i�au�G��q��qy�}]��}��>Iȉ�ō��5�?�ōN߾� ƍ/$?����?9ƍ�A�ǍC*; ȍ1;)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U���� +@�R�B*** querying acoustic contact ***�P��P�zL��=�L��=�L�SS�@�L�yu{@�A 3n��B B �A y�;*B {>9�A�A��7�A= ��A"C3��*Cw�=RC�mi>C!�C!��1��1��M�i>I�YGuz>�~�9j,[���E�AY}Ffm�@�}F{�@y}FG����}F�D��}FH�������?�������?����'��?���`�����`�֕?���@��d?�����_?���@�����������?)~Ffm�@ ~F�&c;I~F��C��� ��������������%�� ��E:ɫa�a)�a �e����I�aY��U1y���:���6Y�}�@y�}lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)����u�N�Mup=Y�}�:QU}?��y��y�a}�G����y�D�}�?Iȑ����:�ŕ��5�?����:�ŕ�߾� ƕ�#?����?9ƕ2�A�Ǖ�: ȕ^�:)ȕ-�:�WY�WYXY XY�Wa:Wa2Wa*Wa�VaU�U������ @zL��L��L��L�Ph{@�A����B� B��A����*B�U<9�A�A ��7�A n ��A "C2��*Cv�=RCr�h>C�C��I�)GER>��9��I��xfGi��S�@���=���������8m; ���3E��d�9j,Ln��E�A��~�=i�~�=ɫ�髉)�� ������I��Y��Q�@y���lG�xDUSBL response received:!U1,P E9E,000,00683,185,80,80,94,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 ����=��Ga=��94=i��� �)�I�i���%�<M%�<Y�-���QU-�>��)��1�a5�G��1��1y�=���}=�>I�A��E�5�?��E� ߾� �Et"?��M�?9�EуA��E4�: �En�:)�A�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L�A5ಳ�B1 B1�A1*B=�=9�A9�A=��7�A=� ��A9"CE5��*CEM�=RCE�-i>CI�CI �]�=��]�=��] O ����] �����] �����] ��� �] �N:Y�] �X1y�] /�:��] �5�֍(nh>I��G��>���9j,�D��E�A�|i|Y}6�u�@�}6S��@y}6�H��}6-���}6H���� [�?���`0��?�����q�?��� ������ YԖ?�����j?�����c?�����y������3��?)~6�u�@ ~6�b;I~6��Cɫ)�))�) �5����I�1Y���@y��BlG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Ai�E�=���9�M��=Y���QU�`?�����a��G����y���;}�`?Iȡ����:�ť��5�?����:�ť�!߾� ƥ%"?����?9ƥ��A�ǥk�: ȥ��:)ȥ.�:�W��W�X� X��W�:W�2W�*W��V�U�U������|@zL��L��L��L��t{@�A�ﴶ�B� B��A�*B��<9�A��A���7�A�� ��A�"C�4��*C�f=RC\j>C�C!��5i>I�AGeU>�B��9j,=�E�A��nA���9�I�i����������v; ��8E)����I����i�������������������7�4Y}-���@�}-���@y}-ܻ��}-J�#��}-H����`�y�?�������?���`�i�?��������� F\�?���@�Yk?����z�b?��� �s������p��?)~-���@ ~-)�b;I~-��Cɫ!�))�) �-����I�)Y�u;�@y�u�lG�xDUSBL response received:!U1,R,EAE,000,00689,186,80,80,88,FF �Fpublishing direction and range info��}�>��yɰ} >�}��> �y)�}�CI�yy�}�{B��}��}ӄ7��?T��cݚ�?��������ٱy����z>����=���`�<i��ף@��� ��ƣ@)��ƣ@I��ƣ@i��ƣ@�� �v<MB=Y���9QU�>�����a�G����y�%-<}%�>I�)��-��5�?��-�#߾� �-�!?��5�?9�-`�A��-��: �-�:)�)�WY�WYXY XY�WY:WY2Wa*Wa�ViUiUu���@�+@�Py*Q}�{B�Z}��ߝ8N@�!)��G2@���������Z}��}ӄ7��?T��cݚ�?��������2Q}�>:Qy�Z}�)�|]�3@P�V7��M��V�����Z}�=��{�9�?�y��[��٣�U��BQ})�@ Q}�n�Q}��A�Py�P}c�9?�P}b���Q}a���Q}<�@"Q}��@zL��L��L��L���{@�A��e��B� B��A�*B��=9�A��A���7�A�& ��A�"C�3��*C�9C=RC��n>C��C�����i>I��G�j>I�� AA)�� BA�������������������� �g:Y�0Y1y���:����5)�;�;�95�����9j,��$�E�AY}2�ɟ@�}2ח@y}2c��}2��1��}2H�����踠?�������?��� �-�?���@������@|��?������n?���`_Lc?�����:������@��?)~2�ɟ@ ~2�<c;I~2��CɫY�Y)�Y �]����I�YY��4�@y��xlG�TNmea in: $SNTTA,0.074658,,,,165347.87*45 ����X9��v��?+��η?����Mb�������=���v�= ����)��I��y���X9��v��?��~j�t����~j�t�?�����<���������= A) �AI Ai 5A������zA��R�M�B=Y�PV�QU��>�����a��G����y�Bb<}��>I������:�����5�?����:���y$߾� ���%?����?9����A���r; ��w;)��/�:�m}qAdded new target pos. range: 62.879997 m, bearing: 288.424381 deg, deltaT: 4.544624 s, approachRate: 0.079214 m/s, LOS rate: 0.091786 deg/s, posRepo size: 4�Wy�WyX� X��W�:W�2W�*W��V�U������pO@U������?zL�~=�L�~=�L����@�L��Gx@�A�/y��B! 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ȕTA;)ȕ0�:�W��W�X� X��W�:W�2W�*W�VUU ���`m��?zL9�L9�L9�L=PMy@�A]����BY BY�A]�*B]x;9�Aa�Ae��7�Ae ��Aa"C�3��*C�ҙ=RC��^�>C��C� ��=���=�� ǭ~>I�G=.>��5�����5�����5�����5X�� �5�:Y�50Y1y�5��:��5~�5�9M@�!9�!I�%fGi�%�@��%=��!��!��%��; �%d[E����9j,�I��E�A�|i|�@ɫ�髙)�� ������I��Y����@y���kG��]�=i�]�=I�Y)�Y�ý 0��ý���ý`�iýQ�@�ù Ľ��@)Ľ\�@IĽz�@iĽ\�@���E�M�D=Y�����QU��>�������a��G������y�����}��>I�������5�?���c'߾� ���5?����?9��%�A���o�: ����:)���W�WX X�W:W2W!*W!�V!U!U%���� �@zLA�LA�LA�LA�A]�u��BY BY�Ae���*Be�;9�Aa�Ae��7�AeE��Aa"Cu2��*Cu�|=RCu(*�>Cq�Cy��eY>I�iG�9>��9j,p$��E�Aɫ�髙)�� ������I��Y��-�@y��5kG��M��"��~j�?�V-¿�~j�t��?��MS�=��Mh� �M�D<)�II�Iy�M��� �rh�?V-�������Mb����MC=��M�m���M� �M;A)�M�AI�M�Ai�M A��I��MA��e��MmA=Y�qQUu�>��q��y�a}�G��y��yy�}��>Iȉ����:�ō��5�?����:�ōF(߾� ƍ�2?����?9ƍ`�A�Ǎf�: ȍ�:)ȍ1�:�W��W�X� X��W�:W�2W�*W��V�U�U������u@zL�}�=�L�}�=�L�kç@�L���m@�A��ܼ�B� B��A瀼*B�99�A�A��7�A���A"C 5��*C^k=RCH�>C�C�����>I� G%M>I�)��� ����� ����� ����� ��� � W:Y� d\1y� ��:�� ��5��A�9j,����E�AY}>�q�@�}>y�@y}>��4:�}>&9'��}>H�����6�?�������?������?����k�����`�3�?���@MFX?������F�����夿����,��?)~>�q�@ ~>E7e;I~>��CɫY�Y)�Y �]����I�YY��ۿ@y��lG������ ����)���= ���=����u=M�g=Y��\�;QU��>�������a��G������y��9�;}��>I���*�5�?��)߾� ��/?�� �?9���A����: ���:)��W1�W1X1 X1�W9:W92W9*W9�V9UAUE���@�J@�RMB*** querying acoustic contact ***�PI�PIzLa�La�La�LeI�m@�A}���By By�A}���*B�#<9�A��A���7�A����A�"C�4��*C�z4=RC�_��>C��C��ԡ�ԥmA���I� GE0>��@�>9��I���eGi����@����������D���S�; ���XE�+�9j,&���E�AY}2�^�@�}2�l�@y}2�m:�}2]���}2H����� �?����(��?�������?����f�������?���@,�Q?���`w�M�����^����������?)~2�^�@ ~2�d;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���a=i���=)���Ý(�>�Ý���ÝQ8�iÙ�Ù ĝ\�@)ĝz�@Iĝ��@ię���c��M�/=Y��~�9QU��>�������a��G������y��r��}��>I� ���:�� ��5�?���:�� �)߾� � e,?���?9� ԅA�� ��: � '�:)� 2�:�W9�W9X9 X9�W9:WA2WA*Wi�ViUyU}���`� @zL��L��L��L���m@�A�0L��B� B��A����*B�#;9�A��A���7�A����A�"C3��*C�E=RC $��>C �C �����>I�!G=r>�� E���� ����� ����� ��� � �$:Y� 0Y1y� ��:�� �16�@T�9j,F���E�AY}2�L�@�}2�Z�@y}2�.7:�}24� ��}2H����@��?����e��?�������?���`K�������?����� P?���@��F���� ������`��?)~2�L�@ ~2��d;I~2��CɫY�Y)�Y �]����I�YY��R�@y��bkG�xDUSBL response received:!U1,P EAE,000,00689,186,80,80,88,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 ��- |A�M5 =Y�= ���QUE �>��Q ��Q �a] �G��Y ��i y�u Rh�}} �>Iȑ �ŕ ��5�?�ŕ E+߾� ƕ �'?��� �?9ƕ *�A�Ǖ ��; ȕ ��;)ȑ ���=i��W��W�X� X��W�:W��ٹ�ٽoA��9��I��i�������������� �; ��ChE2W�*W��V�U�U����`K@zL)�L)�L)�L-ӕm@�Ae���Ba Ba�Ae�7�*Bm�:9�Ai�Am��7�AmS��Ai"C�2��*C��=RC��>C��C����3�>I��G��>�ԓ:j,3�E�AY}FsH�@�}F,V�@y}Ff�9�}F�,���}FH���� ��?�������?����)ݞ?�����������ʟ�?����yIU?����l�#�����f䞿����E��?)~FsH�@ ~F�Hd;I~F��Cɫ�髹)�� ��I��Y��4�@y��>kG��ɮ�a=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���+=��������`�i����@��� ����@)����@I��i����@�� �d�M�=Y��QU-?�����a�G����!y�%S�}%1?I�)��5�:��-��5�?��5�:��-�+߾� �-�%?��=�?9�-M�A��-��: �-w�:)�-3�:�WY�WYXY Xa�Wa:Wa2Wa*Wa�ViUiUm���`�@zL��L��L��L�+�m@�A�Ę��B� B��A��r�*B�[89�A��A�z�7�A�n��A�"C�5��*C�5! =RC���>C��C���%��>I�QGuX>��]h����]�����]�����]:�� �]�':Y�]�Y1y�]�:��]�5)�]�;�9e��Z� :j,��,�E�A�|i|�@Y}>TT�@�}> b�@y}>앑��}> ���}>H������_�?�������?����f��?����������� \�?�����\?�����22?����R����������?)~>TT�@ ~>٬d;I~>��CɫQ�Q)�Q �]����I�aY���@y���jG�xDUSBL response received:!U1,R,E91,000,00692,186,80,80,9D,FF �Fpublishing direction and range info���(��>���ɰ�� >鰡 ��)���CI��y���}B����3�E$r_�?��1i&�?��������ٱ���M��p= ף�?���S㥫?��~j�t�?��M>��M/]= �M��=)�II�Iy�M�<�O��n�?㥛� ������S㥫?��Mt=��M�����M/]= �MfA)�M5AI�M�Ai�MdA��I��M(A��mdüMmX=Y�mє�QUu�>��q��q�a}�G��y��yy��z;}��>Iȁ�Ņz�5�?�Ņ�,߾� ƅ*+?����?9ƅ��A�Dž��: ȅ��:)ȁ�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U�����P@�P�*Q��}B�Z����I�N@�\��G�3@���������Z��3�E$r_�?��1i&�?��������2Q�(��>:Q��Z��Y�/Δ�6@���M�w�����Z��ȹ�; 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�uz�;)�u5�:�W!�W!X) X)�W1:W12W1*W1�V1U9U=����Q��?zLY�LY�LY�L]�pk@��}����}�����}�����}I�� �}}:Y�}�X1y�}/�:��}G�5�9�@�A��v���������<��9��I��i����� =��������D���R�; ��X{EB� B) �A- ]�*B- �79�A) �A5 0�7�A5 N ��A1 "C= 5��*C= v($=RC= � �>C9 �CA �] �=��] �=��YI�iG��>�Z�$:j,?9��E�AY}2��@�}2��@y}2�?��}2L[A��}2H����@2q�?�������?����x��?������������b�?����z�y?����z�g?����)���������?)~2��@ ~2��e;I~2��Cɫ9�9)�9 �=����I�9Y�}Ծ@y�}�jG��5��<��5^:���5��=i�5��@��1 �5��@)�5��@I�5��@i�5��@��EQ�<ME�=Y�E�˺QUM5?��I��I�aM�G��I��Qy�])�<}]9?I�a��e.�5�?��eE0߾� �e�B?��m�?9�e��A��eU�: �e��:)�a�W��W�X� X)�W):W12W1*W1�V1U9U=���`ƛ�?zL��L��L��L���k@�A�A���B� B��A��ټ*B��69�A��A�"�7�A�k ��A�"C�4��*C���$=RC�C �C��mk��>I��������G-N>i�MgmGI�ai�y���TB�ٺ�����6A���*:j,���E�Aɫ�髱)�� ������I��Y��߾@y���jG��5�>i�5�=I�9)�9�����/�$�?k�t���<�O��n�����1>��� 0� ��t�)��I��y���{�G�z�?L7�A`堿�I+�������#<���+����94� ��;A)��^AI���Ai���������A��e�P;Me@=Y�e���QUm�>��i��i�am�G��q��qy�u���}}�>I�y��}��5�?��}�0߾� �}�A?����?9�}��A��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����5,�@zL�@=�L�@=�L�C6�@�L��L`@�A��h��B� B��A��μ*B�P89�A��A��7�A�� ��A�"C3��*C��%=RCC �C ��=��>I�IGeU>��}�����y��y��}k�� �}�:Y�yy�y��}��5���1:j,���E�AY}f ^�@�}f�k�@y}f����}f���}fH��������?���`��?�����ڠ?��� e��������?���`J�{?������p?����������_��?)~f ^�@ ~f�^e;I~f��Cɫ���)�� ������I��Y�-��@y�-�jG�q9�qI�u�dGi�u �@��u=��q��u�D��u>�; �u>�E���9������D=����m�i��f�@��� ��\�@)��E�@I��E�@i��E�@������M�<=Y��K4�QU��>�������a��G������y��M�<}��>I������:���Ѻ5�?���:����0߾� ���@?���?9��·A�����: ����:)��6�:�W!�W)X) X)�W):W)2W)*W1�V1U1U5�����@zLQ�LQ�LQ�LU�a@�AmN�Bi Bi�Am��*Bme79�Aq�Au��7�Au� ��Aq"C}2��*C}�:�<RCyC��C��ԑ�ԑ�֕��>I��G�a>��8:j,9���E�AY}Z�Y�@�}Z�g�@y}Z�ӈ��}Z����}ZH������ش?��� ���?���`�W�?����������� ʹ?���`f�{?����zq?���@l���������?)~Z�Y�@ ~Z�/e;I~Z��Cɫ�髱)�� ������I��Y����@y���jG������@A��&�<M%l=Y�%T��QU%�?��)��)�a-�G��)��1y�5���}5�?I�9��=5�?��= 1߾� �=�??��E�?9�=�A��=f�: �=Q�:)�9�W��W�X� X �W :W 2W*W�VUU���@�w@�R%B*** querying acoustic contact ***�P!�P!zLY�LY�LY�L]��a@�A��q��B� B��A�g��*B�f79�A��A���7�A�� ��A�"C�5��*C����<RC�C��C��֝o�>I��G�A>��}�����}�����}�����}8�� �}P0:Y�}�U1y�}��:��}��5�8>:j,Y���E�AY}FsI�@�}F,W�@y}FyĄ��}F-���}FH������T�?����f��?����E[�?�����������H�?���@v�{?��� ��p?��������������?)~FsI�@ ~F)�d;I~F��CɫY�Y)�Y �]����I�YY��]�@y��6jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i��=�� �ݼM L=Y� ,�9QU�>�����a�G����!y�%䤻}%�>I�)��=�:��-Ÿ5�?��=�:��-j1߾� �-�>?��E�?9�-�A��-A; �-�A;)�-7�:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VyUyU}���@�� @zL��L��L��L�?�`@�A�*���B� B��A�#(�*B� 69�A��A���7�A���A�"C�4��*C�!��<RC��>�>C��C��ֽ��>I��G J>��}mA��}mA܁9܁I܅�dGi܅��@�܅=�܁�܁�܅i�; ݅�E�l"E:j,��E�A�|,�|,Y}^�7�@�}^iE�@y}^�C~��}^=���}^H�����dz?��� ��?�������?���`t�����`X��?����cz{?����q�o?����Gע�����c��?)~^�7�@ ~^� e;I~^��Cɫ�髱)�� ������I��Y���@y���iG�xDUSBL response received:!U1,P E91,000,00692,186,80,80,9D,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 ��uff>��u94���ub>i�u3�@��q �u&�@)�u&�@I�u��@i�u&�@��曼M�=Y���9QU��>�����a��G����y�6��}��>I�����U�5�?����1߾� ��Q=?����?9��)�A�����: ����:)���WI�WQXQ XQ�Wy:Wy2W�*W��V�U�U���� O� @zL�L�L�L��`@�Aun ��Bq By�A}�P�*B}69�A��A���7�A�W��A�"C�3��*C�"G�<RC�� �>C��C� � �=�� �=��}�����}�����}�����} �� �}�1:Y�}�V1y�}�:��}*6)�}�;�9���� <-�>I� G- �>��NK:j,�l/�E�AY}>0�@�}>�=�@y}>�>x��}>����}>H�����ω�?��� ���?����/�?���������`x}�?���@��z?���`�o?������������y��?)~>0�@ ~>�d;I~>��CɫQ�Q)�Q �U����I�QY�u�@y�u�iG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����/�$��?7�A`��¿:��v���?����=����� ���T=)��I��y����V-�?�I+���y�&1�|����h�=���9�����`� ) AI Ai�������A����;M��=Y�M)�9QUM?��Q��Q�aU�G��Q��Qy�]�;�}]?I�a��e�5�?��e23߾� �e=?��m�?9�et�A��e�: �eϸ:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������'@zL��=�L��=�L�P��@�L� Vy@�A�����B� B��A�QK�*B��39�A��A���7�A�u��A�"C�2��*C�|��<RC��ƅ>C��C����.ą>I�GM>��m�=i�mp=� 7R:j,VJI�E�AY}5$1�@�}5�>�@y}5)��}5w���}5H����@Ӓ�?�������?����\�?�����������"��?����� ?��� `�s?���@Ԛ������~��?)~5$1�@ ~5]vd;I~1ɫ �)� �I��!9�!I�% dGi�%k�@��% =��!��!��%@�; �%b�EY�M��@y�M�jGUxDUSBL response received:!U1,R,ED7,000,0068E,187,80,80,68,FF ]Fpublishing direction and range info��Ul��>��QɰUv >�U1�> �Q)�U��BI�Qy�U�|B��U�I�/Xc��?U9�|g�?��������ٱQI�i)�i����>���/�>���94<i��p�@��� ����@)����@I����@i����@����&=M�G=Y���,�QU��>�������a��G������y��ƹ9}��>I������:���_�5�?����:����4߾� ���<?���?9��ΈA�����: ����<)��8�:�W��W�X� X��W�:W�2W�*W��V�U�U����@�@�P!*Q%�|B�Z%��)�N@�g��>10@���������Z%�I�/Xc��?U9�|g�?��������2Q%l��>:Q!�Z%�|_���4@y�*Z��M�e���ҿ�Z%��[E���?�PA87���ߨ�s�BQ%���@ Q%�n�Q%n�A�P%d�9?�P%k�9?�P%c���Q%a���Q%6�@"Q%��@zLi�Li�Li�Lm�Xy@�A�Yj|�B� B��A���*B�\79�A��A�u�7�A����A�"C�5��*C�\��<RC�� �>C��C����6Ʌ>I��G�i>��u,����u�����u�����u"�� �u�":Y�u�X1y�u/�:��ua6)�u��;��\X:j,@c�E�A�|i|�@Y}v,E�@�}v�R�@y}v�8���}v<m��}vH����`�2�?����s��?���`��?����R�����`�!�?���`X��?���` x?�����,�����@���?)~v,E�@ ~v�%e;I~tɫ���)�� �����I�Y�5�@y�5�iG��TNmea in: $SNTTA,0.063728,,,,165356.92*41 )õ�= õ�=����:�M�I=Y��/)�QU��>�������a��G�����y�^�;} �>I�����5�?���6߾� �R<?���?9�-�A���: �w�:)��mMyAdded new target pos. range: 63.180004 m, bearing: 289.225235 deg, deltaT: 4.459273 s, approachRate: -0.053821 m/s, LOS rate: -0.439152 deg/s, posRepo size: 4�WI�WIXI XQ�WQ:WQ2WQ*WQ�VYU]���` �O@U]�����*�?zL�L�L�L��y@�AM�jt�BI BQ�AU�R�*BU�49�AQ�AUU�7�AU���AQ"C]4��*C]���<RCaCa�C��Ա�Ա�֝?΅>I��G�b>���^:j,�|�E�AY}J;n�@�}J�{�@y}J�뻙}J����}JH������y�?�������?���`9P�?�����������4e�?����j�?�����{}?���������� T��?)~J;n�@ ~Jq�e;I~J��Cɫ�髙)�� ��I��Y��Խ@y���iG)�q��~�MH=Y��U�QU�>�����a�G����!y�%@I<}%�>I�)��5�:��-��5�?��=�:��-y8߾� �-�;?��=�?9�-��A��-��: �-k�:)�-9�:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm��� ��?zL��L��L��L���y@�A��o�B� B��A��l�*B��39�A��A�3�7�A����A�"C�3��*C����<RC�C��C���=��>I�iG�_>���<���B�>9�I�i���=��������; ��E)ݩ�Iݩ�iݩ��ݩ��ݭ�=�ݭ�X|5��}t����}�����}�����}��� �}�(:Y�}�Y1y�}�:��}��5)�}�;�aoe:j,�˖�E�AY}2��@�}28��@y}2L ��}2�!��}2H����`~��?�������?�������?��� ���������?������?�����?����82������X��?)~2��@ ~2��f;I~2��Cɫ9�9)�9 �=����I�9Y�}ؽ@y�}�iG���a=i���=������n���?��C�l绿+�����?����>���;߽ ���=)��I��y������Q��?�p= ף��V-��?����u<����������< �A) �AI fAi������QA���t>���Q8=����S�i����@��� ����@)��I��i����@��m �A:Mm =Y�m �ߺQUm �>��q ��q �au �G��q ��y y�} �<}} �>Iȁ �Ņ ��5�?�Ņ -9߾� ƅ �@?��� �?9ƅ ݉A�Dž ��: ȅ ��:)ȁ �W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ���� T�?zL� ��=�L� ��=�L� � �@�L� X]@�A� Fn�B� B� �A� �j�*B� �59�A �A �7�A ��A "C 2��*C ��|<RC C �C �֕��>I��G��>���k:j,Ҩ��E�A�|�|Y}N�̡@�}Nlڙ@y}N�Y��}N�.��}NH�����yj�?��� ���?����v6�?����Q�����@�K�?����彊?����,��?�����������`D��?)~N�̡@ ~N�:h;I~N��Cɫ�髙)�� ������I��Y��i�@y�� iG��U���M]�=Y�]���QU]m?��a��a�ae�G��a��ay�m��<}mm?I������:���~�5�?����:���h9߾� ���B?����?9����A�����: ���:)��:�:�W��W�X X�W:W2W *W �V UU���@��?zLA�LA�LA�LE6�]@�AeYp�Ba Ba�Am+��*Bm@.9�Aq�Au��7�Au1��Aq"C}5��*C�&'"<RC�C��C��֡I��G�B>�����������������d�� �1:Y��U1y���:���5�9@�<�r:j,?S��E�AY}:��@�}:���@y}:���}:�0��}:H�������?��� ���?����t��?������������r�?��� ,��?��� G@�?�������������?)~:��@ ~:�vh;I~8ɫ�髁)�� ������I��ܑ9ܑIܑiܑ�ܑ�ܑ�ܑ�ܕl�; ݕ�EY����@y��[iG��e�R?��e<��e��=i�eף@��a �e\�@)�e\�@I�eE�@i�e-�@��}p�<M}J=Y�}m_�QU}�>�����a��G����y��7<}��>Iȑ�ŕo�5�?�ŕ�9߾� ƕ�E?����?9ƕ-�A�Ǖ��: ȕ:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@F��?zLq�Lq�Lq�Lu-�]@�A�6pr�B� B��A����*B�m39�A��A���7�A�W��A�"C�4��*C����;RC�C��C����?΅>I��G�I>i�� �lGI�� i�� ��� �?�ٺ� ��� �4A���x:j,~��E�AY}^m�@�}^&�@y}^a���}^#�&��}^H����@�]�?���`���?��� �@�?���`������;?�?���@�?����s�?����ݤ��������?)~^m�@ ~^�'g;I~\ɫ�髙)�� ������I��Y� �@y��iG��u�=i�q)�=�= �=�=��}��<M};=Y�}6i�QU}�>�����a��G����y���;}��>Iȑ����:�ŕ(�5�?����:�ŕe:߾� ƕUI?����?9ƕg�A�Ǖ��; ȕi�;)ȕ;�:�W��W�X� X��W�:W�2W�*W��V�U�U����@�o@zL�L�L�La*^@�A-ٛv�B1 B1�A5�P�*B559�A1�A5��7�A=��A9"C=3��*CE��;RCACA�CI��]��>I�iG�[>��-C����-�����-�����-��� �-�$:Y�-�X1y�-/�:��-��5��:j,/���E�AY}2��@�}2<&�@y}2y���}2���}2H������ź?���� ��?����!�?�����������߫�?�������?���@}��?�����~������L��?)~2��@ ~2B�e;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�})iG������AA)����E�;�MM`=Y�Mf:QUM�>��Q��Q�aU�G��Q��Yy�]k�;}]�>I�a��e@�5�?��e�:߾� �eEL?��u�?9�e��A��e�: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������Q@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��>^@�A��yy�B� B��A����*B�-29�A��A�~�7�A����A�"C�2��*C��hw;RC�C��C���%g�>I�QG�9>��}nA��y܅C�>9܁I܅�cGi܅�@�܁�܁�܁�܅F�; ݅\�E���:j,��E�AY}> �@�}>�,�@y}>Y���}>_���}>H��������?����k��?���@˟?���@�����@%�?�����Ɉ?����\��?���`�u�����@s��?)~> �@ ~>"�d;I~>��Cɫy�y)�� ������I��Y����@y��RiG�Z****** received transponder code query ******�F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******I�)�@A��%2����%�����%�����%��� �%e#:Y�%0Y1y�%��:��%�6��- �L7�A`��?H�z�G��X9��v�����- +>��- = � �- ���)�) I�) y�- �:��v����k�t�������Mb����- �T���- ����- � �- A)�- �AI�- �Ai�- �A��) ��- A��A ��A �� �;�� �#=�� ?5�i� p�@�� � &�@)� &�@I� &�@i� E�@�� ��;M �<Y� �I:QU �>��! ��! �a% �G��! ��) y�- �:}- �>I�1 ��= �:��5 h�5�?��= �:��5 �:߾� �5 ^K?��E �?9�5 �A��5 ��: �5 �:)�5 <�:�Wa �Wa Xi Xi �Wi :Wi 2Wi *Wq �Vq Uq Uu �����@zL� �=�L� �=�L� ���@�L� #FF@�A� zNz�B� B� �A� [��*B� C59�A� �A� M�7�A� ���A� "C� 5��*C� %Ɖ;RC� C� �C� �����>I� G% �>�!|�:j,�]4�E�AY}2 �@�}2�+�@y}2�2��}2BF���}2H������?���`���?��� �ٞ?��� 9������f?��� �C�?���`J��?����0矿�������?)~2 �@ ~2�rd;I~2��CɫA�A)�A �M����I�IY����@y��2iG�xDUSBL response received:!U1,P ED7,000,0068E,187,80,80,68,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �����M�=Y�--v;QU5�?��I��I�aU�G��Q��iy�}a1�}�{?I�I��M�5�?��M�:߾� �MK?����?9�M2�A��M]>< �M B<)�I�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL�L�L�L�CF@�AUXKy�BY BY�A]ֈ�*B]09�AY�A].�7�Ae���Aa"Cm4��*Cm�~d;RCiCi�C��֡I��G��>��Z�:j,QN�E�A�89�8I�8i�8��8��8��8��:��; �:��EY}j �@�}j�,�@y}j��໙}j�p��}jH���� ���?����!��?����rv�?���@2��������?���`8�?���@Q|?���@3������@T��?)~j �@ ~j��d;I~j��Cɫ�髹)�� ������I��Y�5�@y�=$iG�=p=ɮ=p=�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� �u��� �>�� `e=i� f�@�� � E�@)� E�@I� E�@i� \�@���K�M%;=Y�%�?;QU%�>��)��)�a-�G��)��1y�5�9}5�>I�9��=��5�?��=�:߾� �=�J?��E�?9�=z�A��=÷: �=��:)�9�W��W�X� X��W�:W�2W�*W��V�U�U�����G@zL1�L1�L1�L5HDF@�Am��v�Bi Bi�Am���*BuD29�Aq�Au�7�Au��Aq"C}3��*C}2 [;RCyC��C��֝��>I��G�b>��ek����e�����e�����e��� �e�':Y�e�Y1y�e�:��e�6)�eS�;�9m�����:j,��g�E�AY}2d�@�}2+�@y}2Fw给}2e��}2H����@��?�������?����\c�?����[�����@�պ?���@��?������|?�����ࣿ���`���?)~2d�@ ~2��e;I~2��Cɫ9�9)�9 �9I�9Y�}Ѽ@y�}NhG�xDUSBL response received:!U1,R,EAE,000,0069D,186,80,80,6B,FF �Fpublishing direction and range info����>���ɰ�� >鰅��> ��)����BI��y��(�B�����}ӄ7��?T��cݚ�?��������ٱ����[]�M�P=Y����QU��>�������a��G������y����}��>I������:����5�?����:���z:߾� ��J?����?9����A���k�: ��w�:)��=�:�W�WX X�W:W!2W!*W!�V!U)U-������@�P9*Q=(�B�Z=�,"|�N@�o��Ѡ2@���������Z=��}ӄ7��?T��cݚ�?��������2Q=�>:Q9�Z=�������8@:�-W�M��wQ�}�ҿ�Z=�M��C���?5s>c�x���X��r�BQ=���@ Q=l�Q=��A�P=n�9?�P=d�9?�P=b���Q=c���Q=��@"Q=6�@zLa�La�La�LeSAF@�A}�Lv�By By�A���*B��/9�A��A���7�A�@��A�"C�2��*C�B,h;RC�C��C��ԡ�ԥnA�����>I��GI>��o�:j,�Ձ�E�AY}j�&�@�}j�4�@y}j�����}j�1��}jH����`�8�?����:��?����ʕ�?����N����� ��?����D(�?���@B�?�����!����� ��?)~j�&�@ ~j�xf;I~hɫ���)�� ��I��Y��@y�jhG��DNmea in: $SNTTA,,,,,165401.39*53 ����>i���=I��)����-��;M-D=Y�5�ӺQU5�>��1��1�a=�G��9��9y�=l7;}E�>I�I��M�5�?��Md:߾� �M�I?��U�?9�M�A��M{�: �MK�:)�I�m�qAdded new target pos. range: 64.080009 m, bearing: 292.924520 deg, deltaT: 4.449779 s, approachRate: 0.202258 m/s, LOS rate: 0.831341 deg/s, posRepo size: 4�W��W�X X�W:W2W*W�V U ����P@U ���`���?zLI�LI�LI�LMUF@�A��x�B� B��A����*B�19�A��A���7�A�m��A�"C�5��*C��3 ;RC�C��C���Y��]�<�mD�>9�iI�mXcGi�mȸ@��i��i��i��m1�; �m��E��mF����m�����m�����m��� �m;b:Y�m�X1y�m/�:��m�6)�m��;�֍� �>I��G��>����:j,ʦ��E�AY}R�2�@�}RR@�@y}RL���}R��3��}RH�����l��?�������?����Pץ?���@��������u�?����.��?����z�?���`_u���������?)~R�2�@ ~R�f;I~R��Cɫ���)�� ������I��Y���@y�|hG��=��� �rh�?<�O��n��+��������=C�<��=t�� �=��)�9I�9y�=��I+��?��~j�t���� �rh�?��=94<��=�����=C�< �=;A)�=^AI�=�Ai�=�A��9��=�A�Ý��<�Ý�½�ÝK7>iÝQ�@�Ù ĝ\�@)ĝz�@Iĝz�@iĝz�@��K�;M�C=Y��,�QU��>�����a��G����y�@^;}��>I������:���m�5�?����:����:߾� ���K?����?9��L�A�����: ����:)��>�:�W��W�X� X��W�:W�2W�*W�VUU������?zL%�=�L%�=�L%fe�@�L%�Y@�A=df�B9 B9�A=ޭ�*B=�/9�AA�AEq�7�AE���AA"CM4��*CM*T�:RCICQ�CQ��]����]�� �e����e��I��G��>����:j,���E�AY}RTB�@�}R P�@y}R����}R�C'��}RH����`v�?����(��?����~<�?����7�����@7�?����7��?�������?�����椿�������?)~RTB�@ ~Re;I~Pɫy�y)�y �}����I��Y���@y���hG��e�<Mea=Y�mn�QUm�>��i��q�au�G��q��yy�}X�;}}�>Iȁ�Ņ-�5�?�Ņ9;߾� ƅ�M?����?9ƅ��A�Dž�: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����,$�?zL��L��L��L�;9Y@�A��[��B� B��A�c��*B�309�A�AD�7�A���A"C 3��*C �ݹ�RC C �CI�)GE�=��e�����e�����e�����eK�� �e~�:Y�e0Y1y�e��:��e�6�9m@�a9�aI�e�bGi�ew�@��a��a��a��et�; �e�E)� �I� �i� ��� ��� ��� �m�4����:j,����E�AY}2yT�@�}22b�@y}2���}2r��}2H��������?�������?�������?����3������⇼?���`��?�����݃?����8?����� i��?)~2yT�@ ~26�d;I~2��Cɫ1�1)�9 �=����I�9Y�u�@y�ujhGI��)������=i��R=��ej�=��e 0���eC�i�ef�@��a �eE�@)�eE�@I�eE�@i�eE�@��}+F�M}G=Y�}�G�QU}�>�����a��G����y���;}��>Iȑ����:�ŕ��5�?����:�ŕ�;߾� ƕ�O?����?9ƕČA�Ǖk�: ȕ��:)ȕ?�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL��L��L��L��ZY@�A �m��B B �A ���*BK09�A�A�7�A���A"C2��*CO��RCC!�C!I�9G]�=�(�:j,px��E�AY}Bl_�@�}B%m�@y}B_���}Bo��}BH���� ���?�������?����x<�?����������S�?��� ��?���`ڂ?����MA���������?)~Bl_�@ ~BKc;I~B��Cɫy�y)�y ������I��Y��b�@y���gG�%TNmea in: $CAERR,165403,DATA_TIMEOUT,2*48 ���%!�M�F=Y���:QU��>�������a��G������y���S;}��>I������5�?���<߾� ���Q?����?9���A���6�: ����:)���W�WX X�W:W2W*W!�V!U!U%�����*�@zLA�LA�LA�LEqY@�A]mR��BY BY�A]�ҽ*B]J.9�Aa�Ae��7�Ae��Aa"Cm5��*CmЯJ�RCiCq�CqI��G��=��M�����I��I��M[�� �M�l:Y�Iy�I��M| 6����:j,rS�E�AY}2�l�@�}2Bz�@y}2,� ��}2Ȱ��}2H����� b�?�������?������?����������@#L�?���@j2�?�������?���@2������@e��?)~2�l�@ ~2rPc;I~2��CɫY�Y)�Y �YI�YY�}�@y�}�hG��.Nmea in: $CATXP,64*70 ������=�a=M=T=Y�E��:QUE�>��A��A�aE�G��I��Iy�M�;}U�>I�Y��]��5�?��]�<߾� �]�S?��e�?9�]A�A��]�: �]+�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����.�@zL��L��L��L��Y@�A�!��B B)�A-c��*B-19�A)�A-��7�A->��A1"C54��*C=RА�RC9C9�C9I�qG�>��E�>9��I���bGi��&�@��������������; ���E���:j,P�E�AY}EP{�@�}E ��@y}E��}E�r��}EH�����t?���@���?�����g�?�����������q��?����ƃ�?����Á?���� ��������?)~EP{�@ ~E��d;I~E��C������i�=�lGI�M"oAi�i����a�ٺ�"oA����RAɫ�髑)�� ������I��Y��W�@y���gG������I��)��)����������Mb@�����Mb@�����Mb@��������� ���)������I��y�������Mb�?333333��/�$��?���<����������< ���A)��I��i��^A�������A��-@��-@��-@��-©�-���-�i�-\�@��-���� �-���)�-���I�-���i�-\�@��=FD�M=-=Y�EAo�QUE�>��A��A�aM�G��I��Iy�U�z;}U�>I�Y��e�:��]Ń5�?��e�:��]�<߾� �]�V?��e�?9�]��A��]�: �]��:)�]@�:�W��W�X� X��W�:W�2W�*W��V�U�U�����@�R�B*** querying acoustic contact ***�P��P�zL=X�=�L=X�=�L=j2�@�L=|=W@�AM�E��BI Bq�Au�ս*Bu�.9�Aq�Aug�7�Aur��Ay"C}3��*C�����RC�C��C�I��G�D>��5�����5�����5�����5��� �53:Y�5]1y�5�:��5�6�C�:j,� 7�E�A�|i|�@Y}F녢@�}F���@y}F�����}F)�(��}FH������+�?���@L��?���� ~�?�������������?�������?������?���@����������?)~F녢@ ~F��i;I~F��CɫY�Y)�Y �]����I�aY��^�@y���gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��u[�:M}!=Y�}��:QU}�>�����a��G����y�';}��>Iȑ����:�ŕ��5�?����:�ŕq=߾� ƕ�Y?����?9ƕA�Ǖ��: ȕ4�:)ȕA�:�W��W�X� X��W�:W�2W�*W��V�U�U����@*@zL��L��L��L�YW@�Ap���B B �A �ӽ*B N/9�A �A-&�7�AE���AI"C�2��*C��fRC�C �C I�� G� �>��9��z�CI��,bGi��Է@��������������; ����E�3�:j,*�P�E�AY}2���@�}2Z��@y}2iyջ�}2rK ��}2H����@��?������?���@�z�?���`L����� _��?������?���� �z?���@���������?)~2���@ ~2!�e;I~0ɫY�Y)�a �e����I�aY�}��@y�}AgG�xDUSBL response received:!U1,P EAE,000,0069D,186,80,80,6B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �������������Ý��=�Ýxi��Ý�"�iÝ@�Ý��� ę)ĝ&�@IĝE�@iĝE�@��%�M%y=Y�- |;QU-?��)��1�a5�G��1��1y�=/<}=?I�a��e�~5�?��e�=߾� �e�[?��m�?9�e �A��e��: �e8�:)�a�W��W�X X �W :W 2W*W�VUYUe������ @zL��L��L��L�8�W@�A%.ڟ�B! 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X!�W!:W!2W!*W)�V)U)U-����H�.@zLI�LI�LI�LI�Ae����Ba Ba�Ae�5�*Bes 9�Ai�Amn�7�Amp��Ai"Cu4��*Cu��Q�RCqCq�CyY�mZ+9I��G�D>ܵ J�>9ܱ Iܵ D^Giܵ ��@�ܱ �ܱ �ܱ �ܵ ��; ݵ 1�E��ݕ;j,��X�E�AY}2�Y�@�}2�g�@y}2��;�}2��#��}2H����@�Q�?�����{�?����)��?��� c�����`T�?������[?���`��u���� Hq������Y��?)~2�Y�@ ~2�*a;I~2��Cɫ9�9)�9 �=����I�9Y�u��@y�}vdG�xDUSBL response received:!U1,R,DD0,000,006A6,189,80,80,91,FF �Fpublishing direction and range info��}�5�>��yɰ}m>�}7�> �y)�}�CI�yy�}=�B��}�x��NA�?jѝw��?��������ٱy)��ý�G>�ý�D;�ý�>iýz�@�ù ĽE�@)Ľ�@IĽ�@iĽ�@���{��M�J=Y���<QU��>�������a��G������y��Wq;}��>I������;5�?���hb߾� �� �?����?9����A���4�: ��@�:)���W�WX X�W:W!2W!*W!�V!UiUm���`r�/@�P�*Q�=�B�Z��q2�}-�L@��IEVV>@���������Z��x��NA�?jѝw��?��������2Q��5�>:Q��Z���aO��C@�^߁�qI�X�Dl�A���Z���l� ��?$ދ+Q3�6�W0��BQ���@ Q��K�Q�/B�P���9?�P�n�9?�P�U���Q�b���Q�.�@"Q���@zL��L��L��L���[@�AU�ԑ�BY BY�A]�?�*B]#9�Aa�A��7�A����A�"C�3��*C��]W�RC�C��C�Yϕ+9I��G�b>��E�����A��A��E��� �EP0:Y�Ay�A��E6)�E��;�9M��:�;j,hwr�E�AY}r�^�@�}rel�@y}rkf�;�}r�G��}rH�����>d�?����2|�?����s��?���@������`Hh�?����-�������z������G���������?)~r�^�@ ~r��`;I~r��Cɫ���)�� ������I��Y�-��@y�5rdG��DNmea in: $SNTTA,,,,,165417.15*5A I��)����Y��Y��^H�M� =Y�b;QU��>�����a��G����y��:}��>Iȩ����:�ŭ�75�?����:�ŭ:c߾� ƭ�?����?9ƭ�A�ǭb�: ȭo�:)ȭO�:�m�uAdded new target pos. range: 64.620003 m, bearing: 308.026013 deg, deltaT: 15.769365 s, approachRate: 0.034243 m/s, LOS rate: 0.957648 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �'P@U����`Υ�?zL �L �L �L ��[@�A- �#��B) B) �A- @�*B5 �%9�A1 �A5 ��7�A5 ���A1 "C= 2��*C= ��X�RC9 CA �CA I�y G� �>�|�;j,&T��E�AY}2�j�@�}2�x�@y}2jL�;�}2�V��}2H�����&��?�����z�?���`�j�?����T���� Ř�?����JS�����|I}������ ������@��?)~2�j�@ ~2d�`;I~2��Cɫ1�1)�9 �=����I�9Y�u��@y�uMdG��=����=`e���=ʡ�i�9��9 �=&�@)�9I�9i�9��E��MM�=Y�M<>;QU�`?�����a��G����y���;}�U?Iȱ�ŵ=65�?�ŵ�c߾� Ƶ�?����?9Ƶ�A�ǵ�: ȵϸ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����EE�?zL�L�L�L��[@�A%��t�B) B)�A-�C�*B-9�A1�A5A�7�A5���A1"C=5��*C=X�^�RC9C9�CA��I��M�<�Y9�YI�Yi�Y��Y��Y��Y��]=�; 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�U ��E�*�;j,����E�A�|i|�@Y}>Ї�@�}>���@y}>B <�}>�X)��}>H������?��� �r�?��� ���?��� z�������?������K�����ZA������[)���������?)~>Ї�@ ~>rp`;I~>��CɫY�Y)�Y �YI�YY��>�@y���cG)�A���J>���m=��x�i���@�� �E�@)��@I�ҙ@i��@��5ڼ�M5F=Y�5��:QU5�>��9��9�a=�G��9��Ay�E��:}E�>I�Y��]�.5�?��]?d߾� �]��?��}�?9�]ƗA��]�b; �]�E;)�Yi��mGI�5 qAi�A��uwR�ٺu qA��u+FA�W��W�X� X��W�:W�2W�*W��V�U�U������x�@zL��L��L��L�T@R@�A-��/�B) B)�A-�M�*B5!9�A1�A5��7�A5P��A1"C=2��*C=�Di�RC9Ca�CaI�yG�>>�T�;j,����E�AY}2���@�}2z��@y}2w)<�}2+��}2H���� ��?���@Jr�?���@�ҥ?�����y�����j�?����/uP����@ Ł������^���������?)~2���@ ~2B�`;I~2��CɫY�Y)�Y �]����I�YY��M�@y���cGI�9)�=@A��M� ����M�����M�����M��� �M�B:Y�M�Y1y�M�:��M��5����S;M�=Y��K�9QU��>�������a�G����y� (:} �>I���%�:��.+5�?��-�:���d߾� ���?��-�?9��A����: ���:)�Q�:�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYU]����[�@�RmB*** querying acoustic contact ***�Pi�PizL��L��L��L��GR@�A����B� B��A� L�*B��#9�A��A�z�7�A�n��A�"C�5��*C�=Ej�RCI CI �CI i�Q I�Q ��Q ��Q I�a G� �>�v��;j,(�E�Aɫ�髑)�� ������I��Y��7�@y���cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������nA�9�I�|]Gi��@����������; �鮹ɮ�a=��%a=i�%C=�Í`e<�Í�н�ÍMb>iÍ=�@�É č�@)čҙ@Iĉičҙ@���%�M��=Y����QU�&?�����a��G����y����}�&?Iȹ�Ž�)5�?�Ž�d߾� ƽ��?����?9ƽC�A�ǽ��: Ƚb�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L�A���B B�A �N�*B d9�A �A �7�A {��A "C4��*C�#j�RCC�CI�QG�>����;j,��)�E�A�|4<�|Y}>捻@�}>���@y}>�)<�}>"g��}>H�����h��?���@uo�?�����7�?����Jt���� ���?�����yo������ ������ŋ���������?)~>捻@ ~>W`;I~<ɫY�Y)�Y �]����I�aY��Q�@y���dG�xDUSBL response received:!U1,P DD0,000,006A6,189,80,80,91,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 �� �ˡE������I+��?y�&1��?�� �'��� 94< � `�<)� I� y� ��I+��?�~j�t������Q��?�� 9�<�� �Ľ�� �u< � dA)� 3AI� i� �A�� �� )�e�= �e�=��m,�;Mm&=Y�u�Y;QUu�>��q��q�a}�G��y��yy���;}��>Iȩ����:�ŭ�%5�?����:�ŭ�e߾� ƭʊ?����?9ƭ��A�ǭ]�: ȭf�:)ȭR�:�W��W���=�����=�����=�����=��� �=�3:Y�=xZ1y�=q�:��=�6X� XA�WA:WI2WI*WQ�VQUYU}���@h� @zL=�=�L=�=�L=\�@�L=.�c@�A���B� B��A��K�*B�;#9�A��A���7�A����A�"C�3��*C���v�RC�C��C�I�AG]�>����;j,�C�E�AY}2L��@�}2͜@y}2�N:<�}2���}2H����@��?����mk�?����_�?�����o����@%��?���� �t�����I������]�������-��?)~2L��@ ~2`;I~0ɫ9�9)�9 �E����I�AY����@y��_dG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����<M�f=Y���B;QU��>�������a��G�����y�� <}�>I� �� #5�?�� �f߾� � ��?���?9� �A�� b�: � n�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAUIUM����˓ @zLi�Li�Li�Lm]�c@�A}_pl�B� B��A��A�*B��9�A��A�I�7�A����A�"C�2��*C� r��RC�C��C�I��G-,>��L�>9��I��i�����=�����������; ����E���;j,"p]�E�AY}:.դ@�}:��@y}:DG<�}:����}:H����@6�?���@?f�?���@)6�?���@�k������@�?���@Tu�����Y舿����Z]�����`��?)~:.դ@ ~:�8a;I~:��Cɫ9�9)�9 �=����I�9Y�]��@y�];dG��a��eAAexDUSBL response received:!U1,R,DF0,000,006AC,188,80,80,6B,FF mFpublishing direction and range info��e���>��aɰe�>�e��> �a)�e��BI�ay�e��B��e�K=����?�϶�t�?��������ٱaI�y)�y�����=���`�����#�i��(�@��� ���@)���@I���@i���@���� �M�^=Y���;QU��>�������a��G������y����;}��>I���V 5�?��tg߾� �t�?���?9�8�A���X; ��Z;)��WQ�WQXQ XQ�WY:WY2WY*Wa�VaUaUe���@�I@�P�*Q���B�Z����|M@*:�s�<@���������Z��K=����?�϶�t�?��������2Q����>:Q��Z��6&����C@��d�H�I�y4����Z���8���a�?M`͇r�l�#vu|��BQ�Z��@ Q��N�Q�oB�P���9?�P���9?�P�V���Q�U���Q���@"Q�.�@zLA�LA�LA�LE��c@�A}G'۹B� B��A��E�*B�� 9�A��A���7�A����A�"C�5��*C�����RC�C��C�I��G*>��-O ����-�����-�����-��� �-::Y�-�Y1y�-�:��-�76)�-�;�95���0�;j,�Tw�E�A�|(i|(Y} ��@�} J��@y} Hd<�} �%��} H��������?�����`�?����,��?���`�g��������?�����8x����`ň�����`k������@~��?)~ ��@ ~ ��a;I~ ��Cɫ���)�� ������I��Y�mM�@y�u�cG��DNmea in: $SNTTA,,,,,165421.23*5A ��������-�y�M-E=Y�5Ë;QU5�>��1��9�a=�G��9��9y�Eú;}E�>I�I��U�:��M95�?��U�:��Mdh߾� �Mp�?��U�?9�M��A��M�: �M�:)�MS�:�m�uAdded new target pos. range: 64.980003 m, bearing: 307.295839 deg, deltaT: 4.083550 s, approachRate: 0.088159 m/s, LOS rate: -0.178809 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`�>P@U����`���?zL��L��L��L��d@�Am���8Bi Bi�Am L�*Bmd9�Aq�Auv�7�Au���Aq"C}4��*C}fj��RCyCy�C�I��G�%>���;j,&��E�AY}2��@�}2v��@y}2��v<�}2�{5��}2H�������?����]�?����㼧?�����e�����ߵ�?����S�y�����i����@謦�������?)~2��@ ~2jb;I~0ɫA�A)�I �II�Q܁9܁I܁i܁�܁�܁�܁�܅��; ݅��EY��`�@y��dG��]�}>��]�J>��]���i�]��@��Y �]9�@)�]�@I�]\�@i�Y��m��;MmX=Y�m�D;QUm�>��q��q�au�G��y��yy�}�A;}��>Iȁ�Ņa5�?�Ņ?i߾� ƅZ�?���?9ƅ֙A�Dž��< ȅ��<)ȁ�Wa�WaXi Xi�Wi:W�2W�*W��V�U�U����@&��?zL �L �L �L <-d@�AMY�':BI BI�AU�I�*BU� 9�AQ�AU �7�A]���AY"C]3��*Ce���RC�C��C���UW ����U�����U�����Ub�� �U�::Y�U�V1y�U�:��UE6)�U��;YϽ�&9I�)G�~>�H@�;j, ���E�AY}6~��@�}67�@y}6I�y<�}6�G5��}6H���� ���?���`�\�?���@���?���@�d����@���?�����9z�����y;����� b���������?)~6~��@ ~6��a;I~6��CɫA�I)�I �II�IY����@y��?dG��i��=����NbX9��?��K7�Aп����Mb�?����E>����� ���<)��I��y����������?{�G�z���~j�t�x?�����<���ף������; �A)�AI�Ai�A������zA���2<M�E=Y���9QU��>�������a��G������y��Ϸ:}��>I������:����5�?����:���.j߾� ��֎?����?9���A�����: ����:)��T�:�W��W�X� X��W�:W�2W�*W��V�U�U�����3K�?zL��=�L��=�L� }�@�L��i@�A��:B B �A E�*B � 9�A�A��7�A���A"C2��*C��RCC�C!I�qG�>��(�;j,r���E�A�|�|�;Y}>��@�}>��@y}>��z<�}>=�$��}>H�����:��?���@�\�?��� Զ�?����Sc��������?�����o}������Q��������������k��?)~>��@ ~>�a;I~>��CɫY�Y)�Y �]����I�YY��>�@y���cG)�}�= �}�=���e��M�H=Y��}�8QU��>������a�G�� ��1y�5;}5�>I�9��=>5�?��=k߾� �=O�?��M�?9�=e�A��=U�: �=��:)�9�W��W�X� X��W�:W�2W�*W��V�U�U�����g��?zLy�Ly�Ly�L}�i@�A�z��:B� B��A��M�*B�� 9�A��A�1�7�A�t��A�"C 5��*C�[��RCC�CI�9Gu6>��-�����-�����-�����-e�� �-1:Y�-[1y�-ݏ:��-�6�95@�y9�yI�}]Gi�}��@��y��y��y��}Z�; �}��E)��I��i�����=������rx4��R�;j,����E�AY}2P�@�}2 �@y}2>y<�}2�$��}2H��������?�����]�?������?�����b��������?����f�������t'�����@㡿���� ��?)~2P�@ ~2�sa;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}IdG��U�#<��Ub�>��U���i�Uf�@��Q �U��@)�Uҙ@I�Uҙ@i�Uҙ@��e��<MeR=Y�m�Y�QUm�>��i��i�au�G��q��qy�}Έ:}}�>Iȁ����:�Ņ�5�?����:�Ņ�k߾� ƅ��?����?9ƅ��A�Džs�: ȅ��:)ȅU�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�1 i@�A�é ;B� B��A�,D�*B��9�A�A��7�Ab��A"C 4��*C Y㌽RC C�CI�)GE�=���=i��=�?~�;j,)���E�AY}B.�@�}B��@y}Baz<�}B�o��}BH����@'��?�����]�?�������?��� �a�����k��?���`S�������|C�����������������?)~B.�@ ~BKa;I~@ɫq�y)�y �}����I�yY���@y���cGI�)�)�!����B�M�C=Y���9QU��>�������a��G������y���:}��>I�����O5�?����l߾� ��(�?����?9���A���ܹ: ��+�:)���W�W!X! X!�W!:W!2W!*W)�V)U)U-���@U>@zLI�LI�LI�LM&i@�Ae��*;Ba Ba�Ae�X�*Be�9�Ai�Am\�7�AmF��Ai"Cu3��*C}����RCyC��C�I��G�>��-�����-�����-�����-��� �-,:Y�-0Y1y�-��:��-��5�.e<j,Xo�E�AY}2;�@�}2��@y}2�}<�}2���}2H���� .��?����@]�?�����-�?��� �a�������?�����Á�����ơ����������������?)~2;�@ ~2I�`;I~2��C�%M�>9�!I�!i�!��!��%PD��!��%�; �%e�EɫY�Y)�Y �]����I�YY��F�@y���cG��eE�>��ai���lGI��i����-T@�ٺ)��-5A��� ��������?/�$��?y�&1�|���� ��=��� �= �� `�)�� I�� y�� �:��v���?/�$�������Mb�?��� �T<��� ����� < �� )�� I�� Ai�� ��� ��� QA��� ��� mA��5 �>��5 x���5 ��>i�5 ��@��1 �5 ��@)�5 ��@I�1 i�5 ��@��E �<MM �<Y�M ��9QUM �>��Q ��Q �aU �G��Q ��Q y�] ��9}] �>I�a ��m �:��e �5�?��m �:��e �m߾� �e �?��u �?9�e ^�A��e ��: �e ��:)�e V�:�W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ���`qm@�R� B*** querying acoustic contact ***�P� �P� zLEٮ=�LEٮ=�LE���@�LE]�_@�AU�FL;BY By�A}�L�*B}�%9�Ay�A���7�A���A�"C�2��*C�����RC�C��C�ȋȊ�̹�̹I��G�?��Z<j,k�3�E�AY}RA%�@�}R�2�@y}R.�<�}Rwo"��}RH������o�?����9U�?����<��?�����[�������?����B�������`�������K����� ���?)~RA%�@ ~RB�`;I~R��Cɫy�y)�y �}����I�yY���@y���cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���p=i���=��%��M-�=Y�-�;QU5.?��1��1�a=�G��9��9y�E�j<}M.?I�Q��U? 5�?��Umn߾� �Uf�?��e�?9�U��A��U��; �U%;)�QIމ)ލAA��������������M�� ��):Y�y���"�5�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L�[�_@�A���m;B� B��A�LU�*B�9�A�Ar�7�A���A"C 5��*C �n��RC C�CI�IG�>��=<j,p�M�E�AY}6~?�@�}67M�@y}6�k�<�}6s�&��}6H�������?�����O�?��� ��?����KV����`���?�����~����@HM������ܤ�����(��?)~6~?�@ ~6��`;I~6��Cɫ9�9)�9 �=����I�9Y�uB�@y�}�cG�xDUSBL response received:!U1,P DF0,000,006AC,188,80,80,6B,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܡ9ܡIܡiܡ�ܥ=�ܡ�ܡ�ܥ��; ݥU�E�í,=�í��<�í���ií̜@�é ĭE�@)ĭ�@Iĭ&�@iĭ�@���<M�'=Y��$�QU��>�������a��G������y����;}��>I����%�:����5�?��-�:���?o߾� ���?��-�?9��ߛA�����; ��j�:)��W�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�LU`@�AE�P�;BI BI�A]nM�*B]�!9�Aa�Ae��7�Ae���Aa"Cu4��*C}�♽RCyCy�C�I�Guz>�'f<j,"lg�E�A�|�;�|4<Y}B1_�@�}B�l�@y}B�Չ<�}BG���}BH���� �R�?��� �I�?����W2�?�����O���� c�?���� ]����� �:������ ٣��������?)~B1_�@ ~B�t`;I~@ɫY�Y)�Y �]����I�YY��,�@y���cG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �������������� �6:Y�y���[�5)��{;�9��)�=�= �=�=��}<��M}b=Y��%;QU��>�����a��G����y�1<}��>Iș�ŝ�5�?�ŝ�o߾� Ɲ��?����?9Ɲ�A�ǝ��: ȝܹ:)ș�W��W�X1 X1�W1:W12W9*W9�V9U9UE���`(�@zLY�LY�LY�L]vT`@�Au�>�;Bq Bq�A}5P�*B}!9�Ay�A}��7�A}���Ay"C�3��*C�Щ��RC�C��C�I��G�>�N <j,�G��E�AY}2zs�@�}23��@y}2�h�<�}2�q��}2H�������?�����E�?������?�����K���� ���?����.2�������,�����@B������ ���?)~2zs�@ ~2S�_;I~2��Cɫ9�9)�9 �9I�9Y�}F�@y�}�cG�xDUSBL response received:!U1,R,D5C,000,006AF,189,80,80,7C,FF �Fpublishing direction and range info���?���ɰ�*>鰅7�> ��)����BI��y��Q�B����Y�l��?��6z,��?��������ٱ�I��)��)����5<M=b=Y�=#�QU=�>��A��A�aE�G��A��Ay�M�;}M�>I�Q��U-5�?��Uyp߾� �U�?��]�?9�U\�A��U%�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����]6@�P�*Q�Q�B�Z�����K@}���B@���������Z��Y�l��?��6z,��?��������2Q�?:Q��Z��7��yRXG@Ұ�m_�F�t�R�lh��Z��������?��LW�J濠�����BQ�4a�@ Q��5�Q��:B�P���9?�P���9?�P�K���Q�V���Q�I_@"Q���@zL��L��L��L��|`@�A�B�;B� B��A��L�*B 9�A�A&�7�Ah��A"C%2��*C-oP��RC)C)�C)I�aG}8>�ٍ �<�ٍ �<ܕ N�>9ܑ Iܑ iܑ �ܑ �ܑ �ܑ �ܕ #�; ݕ q�E���&<j,�E��E�AY}-�|�@�}-G��@y}-dŇ<�}-p���}-H����`���?�����C�?��� ��?�����I����@���?����가�����y������������������?)~-�|�@ ~-C_;I~-��Cɫ�髡)�� ������I��Y��;�@y���cG�� ����� ����� ����� �� � :Y� DW1y� Y�:�� *6)� x;�uTNmea in: $SNTTA,0.044740,,,,165425.78*4D ��������Sÿ�~j�t������Mb�����������D� �����)��I��y���:��v���?�� �rh��y�&1���������C�����`e� ��)��I���Ai�� A������(A��������5 /�<��5 �H=��5 j<=i�5 =�@��1 �5 �@)�5 ҙ@I�5 ҙ@i�5 ҙ@��E ��ME �=Y�E ���QUE �>��I ��I �aM �G��I ��Q y�U �:}] �>I�Y ��e �:��] ��5�?��m �:��] oq߾� �] -�?��m �?9�] ��A��] M�: �] ��:)�] X�:�mu qAdded new target pos. range: 65.159996 m, bearing: 315.806637 deg, deltaT: 4.556440 s, approachRate: 0.039503 m/s, LOS rate: 1.867861 deg/s, posRepo size: 4�Wq �Wy Xy Xy �Wy :Wy 2Wy *W� �V� U� ���`=JP@U� ����6�?zL� ��=�L� ��=�L� Vל@�L� bb@�A� �$�;B� B� �A� [N�*B� �#9�A� �A� ��7�A� ��A� "C� 5��*C� ����RC� C� �C� I�� G�>�R�,<j,����E�A�|i|Y}>�w�@�}>���@y}>�G�<�}>Ec��}>H����@s��?�����D�?�����Ϥ?�����J����@���?���@ ������H�����`�����������?)~>�w�@ ~>��^;I~<ɫY�Y)�Y �YI�aY��M�@y���cG���E<M��=Y��j�QU�n?�����a��G������y��'G�}�n?I�������5�?����q߾� ���?����?9��ҜA���@�: ��n�:)���W��WX X�W:W2W*W �V U U����8:�?zL1�L1�L1�L5�Zb@�AE���;BA BI�AM L�*BM9�AI�AU]�7�AU���AQ"C]4��*C]�/��RCYCY�CaYυ,$9I��G�>>���3<j,���E�AY}6�p�@�}6�~�@y}6�6u<�}6���}6H�����m��?����zF�?�������?���@HL�����v��?�����{�������������]_�����@7��?)~6�p�@ ~6J�^;I~6��CɫY�Y)�a �e����I�aY����@y��;dG��%�=i�%p=���$>��������?5�i����@��� ���@)��I��i���@����|<M�G=Y����QU��>�������a��G������y��!�}��>I��� �:��}�5�?�� �:��$����������������� �G":Y�[1y�ݏ:����5�9%@��Vr߾� �I�?��-�?9��A����; � �;�99�={�CI�9i�9��= =��9��9��=��; �=ƑE)�Y�:�Wi�WyXy Xy�Wy:Wy2W�*W��V�U�U�����cT�?zL��L��L��L�IOb@�A��;B� B��A��E�*B�� 9�A��A���7�A����A�"C�3��*C�T梽RC�C��C�Y��P$9I��G�%>�K�9<j,���E�AY}2u�@�}2���@y}2��f<�}2�~��}2H�����`��?����mF�?�����H�?�����K�����ô�?����u z���� �ь����@f.��������?)~2u�@ ~2ź^;I~2��CɫI�I)�I �M����I�IY�}��@y�}DdG���j;M�K=Y����QU��>�������a��G������y��k�:}��>I�����O�5�?����r߾� ����?����?9��F�A�����: ����:)���W!�W!X) X)�W):W)2W)*W1�V1U1U5����2��?zLQ�LQ�LQ�LUpZb@�Am�b�;Bi By�A}�D�*B}�9�Ay�A���7�A�p��A�"C�2��*C�F��RC�C��C�I��G�>�0�@<j,��E�A�|�|Y}2�z�@�}2���@y}2�K]<�}2zp��}2H���� ���?�����E�?������?����^J��������?������y�����>�����������������?)~2�z�@ ~2%�^;I~2��Cɫ9�9)�A �E����I�AY����@y���dG��e�=MeR=Y�mN��QUm�>��q��y�a��G����y�E�:}��>Iȩ����:�ŭ,�5�?����:�ŭ�s߾� ƭ�?����?9ƭ~�A�ǭR2; ȭ,3;)ȭZ�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?�������������������� �s:Y�DW1y�Y�:����5zLI�LI�LI�LMvhb@�A]��;BY Ba�Ae�6�*Be�"9�Aa�A�&�7�A���A�"C�5��*C�GK��RC�C��C�I��G�$>��) ��- mA�5 O�>9�1 I�1 i�1 ��1 ��1 ��1 ��5 G�; �5 �E)���I���i�����ň=��ň=��ň5G5���F<j,�w�E�AY}]���@�}]Q��@y}] U^<�}]]K��}]H���� C��?�����C�?��� _ޡ?��� !H�����q��?�����z����@iʋ����@AȠ��������?)~]���@ ~]��^;I~]��CɫI�I)�Q �U����I�QY��k�@y�� dGI��)����M=i�M�=�������x�&�?�A`��"˿�����������7�=���Y� ���̼)��I��y����l����?��MbX��<�O��n�?����=����ʽ���t�< )AIi�������A��M���M�}���Mh�>i�M=�@��I �Mҙ@)�II�Ii�I��]��M].=Y�ey 9QUe�>��a��a�am�G��i��iy�u�7;}u�>I�y��}��5�?��}u߾� �}P�?����?9�}�A��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����@�@zL���=�L���=�L��=�@�L�I�m@�A�߇�;B� B��A�VH�*B�V 9�A��A���7�A����A�"C�4��*C8���RCC�CI�G5.>�`�L<j,E6�E�AY}2���@�}2���@y}2y[<�}2ö ��}2H�����;)�?�����?�?���` â?���`�D������4�?���@]�w������n��������������]��?)~2���@ ~2 G_;I~2��CɫY�Y)�a �e����I�aY��;�@y���cG���R��M�~=Y��� �QU� ?�������a��G������y�^�;} ?I� ���:�� Q�5�?���:�� v߾� � .�?��%�?9� (�A�� GD; � �E;)� [�:�WQ�WQXQ XY�WY:WY2WY*Wa�VaUiUm����}M@�R�B*** querying acoustic contact ***�P��P�zL1�L1�L1�L5��m@��]����]�����]�����]��� �]}:Y�]xZ1y�]q�:��]W�5�A��/<B� B��A�[N�*B�69�A��A�R�7�A����A�"C�3��*C�F$��RC�C��C�I��G->�F�S<j,X P�E�A�|i|Y}2+��@�}2䵝@y}2�S<�}2�7��}2H���� tp�?�����:�?����p|�?�����@����@�{�?���@�/r����@�w������Q�������\��?)~2+��@ ~2PQ_;I~0ɫ9�9)�9 �=����I�9Y��˹@y���dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���@���@���@�Å©Å��Å�iÅ\�@�Å���� ąO�@)ą�@Ią�@ią�@��3)=M�?=Y����QU��>�����a��G����y�8�;}��>Iȱ�ŵ)�5�?�ŵtw߾� ƵV�?����?9Ƶ��A�ǵ��: ȵǺ:)ȱ��9��I��i����� =�������D���*�; ����E�W��WX X�W:W2W*W �V U U ��� ڲ @zL �L �L �L �n@�A�b<B! B!�A%N<�*B%�!9�AA�AM��7�AM'��AI"CU2��*CUï��RCQCQ�CYi�YI�Y��a��aI�aG}�>i���mGI� i�! ��U �P�ٺQ ��U �DA�ZZ<j,H�i�E�AY}:���@�}:�ϝ@y}:=�I<�}:-)��}:H���� ���?����@4�?����W�?����^;��������?������h�����}9�������#������d��?)~:���@ ~:�_;I~:��CɫA�A)�A �M����I�IY�e��@y�e{dG�yɮ}R=�xDUSBL response received:!U1,P D5C,000,006AF,189,80,80,7C,FF �Command Ack�BRequesting micromodem ping code 2i��������p=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��EݻM�K=Y�úQU��>�������a��G�����y�6�;}�>I�1��5 �5�?��5�x߾� �5��?I�Q)�Q����������������������� �~*:Y�DW1y�Y�:���6����?9�5ޞA��5�x< �5�{<)�1�W�WX X�W:W!2W!*WI�VQUQUU���@�D @zL��L��L��L��On@�A�N<B B�A?�*B�!9�A�A��7�A���A"CE5��*CE����RCACA�CII��G�D>���`<j,�׃�E�AY}2Kޥ@�}2�@y}2��K<�}2�.'��}2H������C�?����,.�?����Aȥ?����!5������N�?����f�i����`�|�������㤿��� ���?)~2Kޥ@ ~2�e_;I~2��CɫY�Y)�Y �]����I�YY��X�@y�� dG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�E�= �E�=��}��M}K=Y���9QU��>�����a��G����y���<}��>I������:�����5�?����:���7z߾� ����?����?9��:�A�����: ��+�:)��\�:�W�WX! X!�W!:W!2W!*W)�V)U)U5����;@zLI�LI�LI�LMP�n@�AeE.<B� B��A��J�*B��9�A��A��7�A�l��A�"C�4��*C�RC�C��C�I� GE0>����<�����9��I��|]Gi���@��� =����������; ���E��g<j,�Н�E�AY}=��@�}=���@y}=�iH<�}=$�#��}=H���� ��?����(*�?��� �Q�?�����0�����C��?������h����� �����@�o���������?)~=��@ ~=�__;I~9ɫ)�))�) �-����I�)Y�e �@y�m�dGuxDUSBL response received:!U1,R,D6A,000,006B5,189,80,80,74,FF uFpublishing direction and range info��uh�?��qɰu�>�q �q)�u��BI�qy�u �B��u�:n����?�n�Īy�?��������ٱq)����MR����M�����M�����M��� �M�%:Y�M�X1y�M/�:��M�6)�M��;�9U���u��p= ף�?�I+����I+��?��u>��u94� �u94<)�qI�qy�u�<�O��n�?�p= ף���~j�t�x���ut<��u����u�Ļ �q)�u3AI�qi�u�A��q��u(A��-���-���-���-�t>��-94���- 0�i�-z�@��-��� �-\�@)�-�@I�-�@i�)��]H=M]#=Y�]�߹QU]�>��a��a�ae�G��a��iy�m3�;}m�>I�q��u��5�?��u�z߾� �uz�?����?9�uw�A��u�: �u�:)�q�W��W�X� X��W�:W�2W�*W��V�U U�����@�P!*Q% �B�Z%�M�1�qK@�i���A@���������Z%�:n����?�n�Īy�?��������2Q%h�?:Q!�Z%�VDCW�G@ⷦ#z�F�ͫ�������Z%�H���9��?1W.�Z9�����#h��BQ%�z�@ Q%6�Q%`<B�P!�P%��9?�P%L���Q%K���Q%�m@"Q%I_@zLM�=�LM�=�LM�3�@�LM�4`@�A�0�<B� B��A��1�*B�$9�A��A���7�A����A�"C�3��*C�RC�C��C�I��G5p>�0@m<j,ޓ��E�AY}nH��@�}n�@y}n9<�}n����}nH����`j��?�����'�?������?����-�����9��?����:e�����A"�������.���������?)~nH��@ ~n8h_;I~n��Cɫ�髱)�� ������I��Y����@y��;dG�]DNmea in: $SNTTA,,,,,165430.23*5A ��M�=i�I��U2*�MU/=Y�]%�QU]�>��Y��a�ae�G��a��ay�m^w;}m�>I�y����:��}�5�?����:��}n{߾� �}B�?����?9�}��A��}V�: �}��:)�}]�:�m�qAdded new target pos. range: 65.520004 m, bearing: 315.984085 deg, deltaT: 4.526968 s, approachRate: 0.079525 m/s, LOS rate: 0.039198 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����GaP@U������~�?zL�L�L�LR`@�A?�"<B B�A%�E�*B%C!9�A!�A%B�7�A%���A!"C-2��*C1RC1C1�C1I� G� �>�%&t<j,�f��E�AY}2L�@�}2�@y}2��(<�}2����}2H����` ��?��� `'�?����Nբ?�����,����`p��?������`�����z������H�����`p��?)~2L�@ ~2�g_;I~0ɫy髁)�� ��I��Y����@y��?dG��A��A܉9܉I܍�]Gi܍V�@�܍ =�܉�܉�܍��; ݍ�E��%ף<��%��=��%�q�i�%�@��! �%�@)�!I�!i�%�@��X�:M��=Y�k�QU� ?�����a��G����y�!;}�?Iȹ�Ž��5�?�Ž�{߾� ƽ�?���F�������������������� ���$:Y���V1y���:���b6)��ƃ;����?9ƽܟA�ǽo�; Ƚ'�;)ȹ�W)�W1X1 X1�W1:W12W1*W9�V9U9U=�������?zLy�Ly�Ly�L}�\`@�A� j'<B� B��A�E�*B�9�A��A���7�A�=��A�"C�5��*C�RC�C��C�I�G=/>��Pz<j,C��E�A�|i|�@Y}2c�@�}2�@y}2��#<�}2�+��}2H��������?�����%�?���`-w�?���� +��������?������^���� �}������Yġ��������?)~2c�@ ~2VO_;I~2��Cɫ9�9)�9 �=����I�9Y����@y���dG��u.=M}]=Y�}�O�QU}�>�����a��G����y�';}��>Iȑ����:�ŕ��5�?����:�ŕI|߾� ƕ�?����?9ƕ �A�Ǖ�: ȕA�:)ȕ^�:�W��W�X� X��W�:W�2W�*W��V�U�U�����8��?zL��L��L��L�dk`@�A��+<B B �A �6�*B �9�A �A ��7�A����A�"C�4��*C�RC�C��C�I��G >�`8�<j,2�E�AY}:. �@�}:��@y}:u<�}:�� ��}:H���� :��?�����&�?����O^�?��� �+��������?����*�W����@ۀ�����������������?)~:. �@ ~:�C_;I~8ɫ9�A)�A �E����I�AY�}$�@y�}eG��ai�e4=Iމ)މ�����<���������H�i����@��� ����@)����@I����@i����@����D<M�5=Y��䋺QU��>�������a��G������y��%c�}�>�� [���� ����� ����� t�� � �c:Y� �W1y� č:�� *6�9@I���j�5�?���|߾� ���?���?9�J�A��ʽ: ��:)��WA�WAXA XA�WI:WI2WI*WI�VIUQUU��� f��?zLq�Lq�Lq�Lune`@�A�c/<B� B��A�21�*B�l#9�A��A�*�7�A�f��A�"C�3��*C�RC�C��C�I��G�!>��q��unA�y9�yI�yi�y��y��y��y��}�; �}�E��e�<j,��E�AY}z��@�}z��@y}z=<�}z���}zH��������?��� /'�?��� T��?����Z,�����6��?�����NT�����C����� �����������?)~z��@ ~z�^;I~z��Cɫ���)�� ������I��Y����@y���dG)������sh��|?�?�~j�t�����(\�µ?����)>����D� ���=)��I��y���J+��?�Q��뱿Zd;�O�������H=���\�����j�� �A)©I Ai�A�������A)ù ý�=���;p�M�L=Y��J��QU��>�������a��G������y��a?�}��>I�a��m�:��ea�5�?��m�:��e_~߾� �e��?��m�?9�e��A��e+�: �e��:)�e_�:�W��W�X� X��W�:W�2W�*W��V�U�U�����J��?zL�8�=�L�8�=�L��V�@�L�=E~@�A�s13<B� B��A�67�*B��!9�A��A���7�A����A�"C�2��*C�RC�C��C�I�G%,>�荍<j,��8�E�A�|4<�|�;Y}Bd�@�}B�@y}B1�<�}B�v��}BH�����\��?���@$'�?���`h?����o,��������?����V+T������p����� �-����� w��?)~Bd�@ ~B��];I~@ɫY�Y)�Y �]����I�YY�� �@y���dG�� � ���� ����� ����� ��� � ��:Y� [1y� ݏ:�� ��5���&<M�=Y���*9QU��>�������a��G������y��|��}�>I�����5�?��@�߾� �1�?��M�?9��A��S�; �F�;)��W��W�X� X��W�:W�2W�*W��V�U�U������@�R�B*** querying acoustic contact ***�P��P�zL� �L� �L� �L� GC~@�A� ��6<B� B� �A� �1�*B� t%9�A� �A� W�7�A� V��A� "C� 5��*C� RC� C� �C� I� GM �>��t�<j,��R�E�AY}2��@�}2��@y}2�"<�}2+��}2H�������?����%�?����� �?���@z*����`z�?�����uX�����f@������(_������S��?)~2��@ ~2Sv];I~2��Cɫ9�9)�9 �=����I�9Y�� �@y���dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�!9�!I�%D^Gi�%��@��%=��!��!��%�; �%�E)ݵ�{�CIݵ�{�Ciݱ��ݵ� =�ݵ� =�ݵ�YE5������I�Q)�Q�õ�}>�õ�&>�õv�=iõ\�@�ñ ĵE�@)ĵ\�@Iĵ��@iĵE�@���8�M��=Y��'�:QU�9?�������a��G������y����;}�=?I�������5�?����߾� ����?����?9���A���Y�: ��Q�:)���W��W�X� X��W�:W�2W�*W��V�U�U����� �@zL��L��L��L�=R~@�A��:<B B�Ao4�*B9�A�A�7�A%��A!"CM4��*CIRCICI�CQI��G�>����<j,��l�E�AY}:e"�@�}:0�@y}:��(<�}:�U��}:H�����aM�?����F �?�������?����&����@�T�?������Y������������T颿�������?)~:e"�@ ~:�a];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�eG�xDUSBL response received:!U1,P D6A,000,006B5,189,80,80,74,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 ���L=M�N=Y���:QU��>�������a��G������y��۾;}��>I� ��=�:�� ��5�?��=�:�� ��߾� � y�?��E�?9� a�A�� ��; � �\;)� `�:��2���������������� � u:Y�xZ1y�q�:��a6�WQ�WQXQ XQ�WY:WY2WY*Wa�V�U�U�����fu @zL��L��L��L��u~@�A�^�><B� B�A% �*B%�$9�A!�A-��7�A-���A)"C53��*C1RC1C1�C9I�YG�;>����<j,�f��E�A�|i|�@Y}6�9�@�}6�G�@y}6LN(<�}6����}6H�����x��?����u�?����ZF�?��� � ���� ׯ�?�����WR����@� ������Җ���������?)~6�9�@ ~6A5];I~6��CɫA�A)�I �II�IY�}ֺ@y���eG�M�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���K7>����;����q�i����@��� ��&�@)���@I����@i���@����5<M�6=Y��"\�QU��>�������a��G�����y���;}�>I� �� ��5�?�� �߾� � O�?���?9� ��A�� I�: � w�:)� �W9�W9X9 X9�WA:WA2WA*W��V�U�U�����հ@zL��L��L��L���~@�A�!�A<B� B��A��*B%�$9�A)�A-b�7�A-��A)"C52��*C1RC1C1�C9I�QG�9>�����P�>9�I��^Gi���@��=������ ��b��<j,�L��E�AY}B�O�@�}BT]�@y}B*�!<�}B�p!��}BH�����T��?�����?�����ˤ?���������@�?����|�6������2�����`�,�����`=��?)~B�O�@ ~Bʎ];I~B��C����ɫqi��mGI���)�i�1��m�0�ٺq��uE&A �%����I�����Y?9���LAY�Mú@y�}�eG�xDUSBL response received:!U1,R,0C7,000,006BC,186,80,80,57,FF �Fpublishing direction and range info�����1����ɰ�: >鰕��> ��)����BI��y���B�����σ�Ȅ�?T��ƿ��������ٱ��%dNmea in: $SNTTA,0.304198,0.265179,,,165434.27*53 ��-�=i�-�=��Ee ����A��A��E��� �E�;:Y�Ay�A��E��6)�E��;�9M������� �rh��`��"��ο�I+��?���C�����w� ��94=)��I��y���{�G�z�?㥛� ���y�&1�|?���ף<���������`�; �A) AI �Ai 5A������3A���F��M�0=Y��"d�QU��>������a�G����y� I�;} �>I���=�:����5�?��M�:���߾� ��?��U�?9���A���< ��K<)�a�:�W��W�X� X��W�:W�2W�*W��V�U�U����`;=@�P�*Q��B�Z����R�<P@�����&����������Z���σ�Ȅ�?T��ƿ��������2Q���1�:Q��Z���пS��@?`w��sP�5�-�ȿ�Z���o���?�챎���va����g�BQ��Ϙ@ Q����Q�̈́@�P�1�9?�P��P�p���Q�L���Q���@"Q��m@zL=��=�L=��=�L=�Z�@�L=Hwi@�Au�"E<Bq By�A}J�*B}&9�Ay�A}�7�A}���Ay"C�5��*C�RC�C��C�I��G��>��ۭ<j,`!��E�AY}:j]�@�}:#k�@y}:��'<�}:+���}:H������2�?������?���`ٟ�?����K����`=:�?����L�H�����������������@Y��?)~:j]�@ ~:r];I~8ɫ9�9)�9 �=����I�9Y�u��@y�}�fG��u��=Mu�=Y�}ٰ:QU}?��y��y�a}�G����y�i�;}�?Iȑ�ŕY�5�?�ŕ��߾� ƕ?�?����?9ƕ#�A�Ǖϸ: ȕ�:)ȑ�m�yAdded new target pos. range: 65.940010 m, bearing: 273.608417 deg, deltaT: 4.066034 s, approachRate: 0.103296 m/s, LOS rate: -10.421868 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� )|P@U������G�?zL�L�L�L^�i@�A�G<B B�A��*B�#9�A�A��7�A=��A"C%4��*C!RC)C)�C)Y�]�9I�qG�:>��´<j,���E�A�|�|Y}6hh�@�}6!v�@y}6�'%<�}6����}6H����@�]�?���`��?�����ǣ?�����������d�?����ԚN�����椄����@����������?)~6hh�@ ~6��];I~4ɫY�Y)�Y �YI�aY����@y���fG��Q�>9��I��_Gi��J�@������������ �; ���E���p=>��������`�i����@��� ��E�@)��E�@I��\�@i��\�@�����M�C=Y���ֹQU��>�����a�G���� y��P;}�>I�!��-�:��%�5�?��5�:��%��߾� �%Ð?��5�?9�%e�A��%�; �%;)�%b�:�Wi�W�X� X��W�:W�2W�*W��V�U�U�����DO�?zL��L��L��L�Чi@�A�XH<B� B��A���*B��'9��eI����e�����e�����e��� �e:%:Y�e]1y�e�:��e6)�e��;�A��A���7�A����A�"C�3��*C�RC�C��C�I��G5.>�`��<j,���E�AY}2Ls�@�}2��@y}2��&<�}2���}2H����`��?�����?��� L{�?��������`���?�����}Z����`�܄�������������?)~2Ls�@ ~2��];I~2��CɫI�I)�I �M����I�IY�}2�@y�}PfGI��)����mμMY=Y�ٔ9QU�>��!��!�a%�G��!��!y�-�h;}-�>I�1��5��5�?��5W�߾� �55�?��=�?9�5��A��5ܹ: �5 �:)�1�Wa�WaXa Xa�Wa:Wa2Wi*Wi�ViUiUu���`��?zL��L��L��L���i@�A�=�I<B� B��A�g�*B��$9�A��A�8�7�A�H��AI"CU2��*CQRCQCQ�CYI�yG��=����<j,���E�AY}B�z�@�}B���@y}BX�-<�}B�+��}BH��������?�����?��� ���?����@�������?����Ǚc����@0������@m䠿���@��?)~B�z�@ ~B�];I~@ɫa�a)�i �m����I�iY���@y��eG��E/]=��E�H=��Ez�i�E3�@��A �E�@)�E�@I�E�@i�E�@��]: �M]7=Y�e,w:QUe�>��i���a��G����y�y;}��>Iȡ����:�ťp�5�?����:�ťF�߾� ƥ��?����?9ƥ�A�ǥ%; ȥv&;)ȥc�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�I�?zL)�L)�L)�L-��i@�Ae��J<Ba Ba�Am$�*Bm-%9�Ai�Am��7�Am���Aq"C}5��*CyRC�C��C�I������������������������� ���/:Y��0Y1y����:���O6�9�@G�9>ܹ9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽ��; ݽ�E����<j,��!�E�A�|i|�@ɫ�髙)�� ��I��Y����@y���fG�����Zd;�?X9��v����~j�t�x�����y=������ ���Ļ)��I��y�����������sh��|?��:��v��������������������T� ��)���AI�� Ai��������=A�� ]�=M P=Y����QU�>�����a�G����y�%���}%�>I�)��-��5�?��-��߾� �-:�?��5�?9�-&�A��-$�: �-6�:)�)�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUm��� �r�?zLE�=�LE�=�LE�˖@�LE�sX@�AuñK<Bq Bq�A}��*B}�'9�Ay�A}��7�A}9��Ay"C�4��*C�RC�C��C�I�QG�<>��(�<j, d;�E�AY}2A��@�}2���@y}2:�K<�}2P��}2H���� ���?��� �?����!�?����S����@���?����Wm����`<r�������!������:��?)~2A��@ ~2�}];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�fG����=i��%=)����R��M�R=Y��;QU��>�����a��G����y��;}��>Iȱ�ŵ!�5�?�ŵ%�߾� Ƶ��?����?9Ƶi�A�ǵ{8; ȵ�<;)ȱ�W�WX X �W :W 2W*W�VUU��� \a@zLY�LY�LY�L]~X@�Au�7M<By By�A}K�*B}a&9�A��A�P�7�A�� ��A�"C�3��*C�RC�C��C�i̡I̡�̩�̩I�MAA)�M@A����������������������� ��).:Y��WU1y���:����6I��G��>���<j,�>U�E�AY}2��@�}2w��@y}2 �[<�}2e`��}2H����� ��?����� �?������?���`������U��?����o���� �t������[�������7��?)~2��@ ~2r�];I~2��Cɫ9�9)�9 �=����I�9�eR�>9�aI�eo_Gi�e��@��e=��a��a��e��; �eёEY�}�@y�}8gG)�e�= �e�=�íA�>�í W>�íҍ>iíp�@�é ĭ��@)ĭ\�@Iĭ\�@iĭb�@���s�<M�=Y����:QU�>�����a�G���� y� ��} �>I����:��c�5�?��%�:��߾� � �?��%�?9�ƣA��V�: ���:)�d�:�WA�WAXI XI�WI:WI2WI*WQ�VQUQU�������@�R�B*** querying acoustic contact ***�P��P�zL1�L1�L1�L53yX@�AM?O<BI BI�AM��*B�+9�A��A��7�A� ��A�"C�2��*C�RC�C��C�I��G �>��:�<j,�o�E�A�|�;�|Y}6c��@�}6��@y}6<�a<�}6��$��}6H�����)��?���@!�?��� ߳�?����������-��?����{En������=������뛤��������?)~6c��@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y����@y��FgG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��6Buffer fill timout failure.��5%�;M=�=Y�=��:QUE3?��A��A�aM�G��I��Iy�Um�:}u3?I�y��}��5�?��}�߾� �}��?����?9�}�A��}��: �}f�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����m�@zLI�LI�LI�LM,�X@�A��P<B� B��A���*B��$9�A��A���7�A����A�"C5��*CRCC)�C1I��G (>��E�����E�����E�����E��� �E�*:Y�E�Y1y�E�:��E46��%�<j,6��E�AY}=���@�}=e��@y}=��`<�}=�#��}=H�����S��?���`:�?�������?���`������4��?������m�����?�����`�x��������?)~=���@ ~=ך];I~=��Cɫ�)� �����I�Y�mջ@y�mgGuxDUSBL response received:!U1,P 0C7,000,006BC,186,80,80,57,FF uCommand AckuBRequesting micromodem ping code 2i�q��yI�y)�y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��5��=��5+���5t�i�5�@��1 �5&�@)�5&�@I�5&�@i�5&�@���M�=Y�I��QU��>�����a��G�����y��o�:}��>I��� �:���5�?�� �:����߾� ��?���?9�K�A����: ���:)�e�:�WQ�WQXy Xy�Wy:Wy2Wy*W��V�U�U�����G�@zL��L��L��L�ːX@�A�*ER<B B�A��*B�)9�A!�A%��7�A%��A!��Y��]�<�i9�m|�CI�m�_Gi�m��@��i��i��i��mu�; �m��E)��I��i�醉��=���=���A!5"C�4��*C�RC�C��C�I�YG��>��L�<j,FТ�E�AY}2���@�}2s��@y}2��_<�}2WD��}2H�������?���`��?����P�?����� ������$�?����ܗo������������@�ƣ�������?)~2���@ ~2�];I~2��CɫY�Y)�Y �]����I�YY���@y��tgG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e�����e�����e�����e0�� �e1:Y�eDW1y�eY�:��e�6)�e?�;�9m��}uOutgoing frame #1, 64 bytes: 188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D��POutgoing frame #2, 6 bytes: 55B944648000��DNmea out: $CCCYC,0,1,10,1,0,2*6A ��� �ˡE����?y�&1����~j�t��?��� �'=��� `e� �� ��<)�� I�� y�� �L7�A`�?333333��y�&1�|���� +�=��� ������ `� �� �A)�� 3AI�� i�� �A��� ��� �A��� ��� nA�� z�<M =Y� p�QU �>�� �� �a �G�� ��! y�- qA;}- �>I�1 ��5 ��5�?��5 "�߾� �5 ��?��M �?9�5 ��A��5 K(; �5 �;)�1 �Wy �W� X� X� �W� :W� 2W� *W� �V� U� U� ���`�@zLE�=�LE�=�LE��@�LE�j�@�A}�$S<B� B��A���*B�s+9�A��A�:�7�A�i��A�"C�3��*C�RC�C��C�I��G �>�Ew�<j,����E�A�|i|�@Y}Vw��@�}V0��@y}Vk X<�}V�/��}VH����`V�?��� I��?������?��� �����@�`�?����9�n������������z䢿��� ���?)~Vw��@ ~V��];I~V��Cɫy�y)�y �}����I�yY����@y���gG�xDUSBL response received:!U1,R,027,000,006C2,185,80,80,5C,FF �Fpublishing direction and range info���'g����ɰ�� >鰽+�> ��)����BI��y����B�����T$�A��?E�ll����������ٱ���BNmea in: $CACYC,0,1,10,1,0,2*68 )����uu�=Mu>Y�}yF�QU}�?��y���a��G����y�L<}��?Iȑ����:�ŕǶ5�?����:�ŕ؍߾� ƕ��?����?9ƕ٤A�Ǖ0�: ȕ=�:)ȕf�:�W��W�X� X��W�:W�2W�*W��V�U�U�����;@�P�*Q���B�Z�� R3��P@WwV�P����������Z���T$�A��?E�ll����������2Q�'g�:Q��Z���ݩԌ,@v��2P��B<KN��Z��$5#>�?,�L%�E�+C�p�m��BQ����@ Q����Q��`A�P�K�9?�P�1�9?�P�n���Q�p���Q�5�@"Q���@zL �L �L �L {�@�A�S<B B!�A%�ʽ*B%� 9�A!�A%�7�A%>��A!"C�2��*C�RC�C��C�Y��L9I�!GeU>��`�<j,����E�AY}2C��@�}2�@y}2*�\<�}2~V��}2H��������?�������?���@��?���`������d��?���@�Zr�����n�������{ɡ�����P��?)~2C��@ ~2�];I~2��C�9�I��`Gi���@��������)�; �x�Eɫ9�9)�9 �=����I�9Y�u��@y�u.hG��NNmea in: $CADRQ,165439,1,10,0,64,1*7A ��uNmea out: $CCTXD,1,10,1,188916611B0000005D00000400320000000000000000151D80030C5669C08C799867A14828934E0C0722F95E4C4F45CC8B9AC8190F7D99411ED24AA5D85B080D*32 ���p=i���=��}@ ����}�����}�����})�� �}�8:Y�}xZ1y�}q�:��}!6)�}��;i�5HmGI�EfpAi�Y���`��ٺ�fpA���ÄA��� �q=��� ^�=��� �#>i�� p�@��� �� E�@)�� I�� i�� ���<M�<Y�%2�9QU%�>��!��)�a-�G��)��)y�5�;}5�>I�9��=~�5�?��= �߾� �=,�?��E�?9�=f�A��=b�: �=��:)�9�m�qAdded new target pos. range: 66.300003 m, bearing: 282.223335 deg, deltaT: 4.309675 s, approachRate: 0.083531 m/s, LOS rate: 1.998972 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W�VU���@3�P@U��� ���?zL!�L!�L!�L%��@�A=.[S<B9 B9�A=���*BE�.9�AA�AE��7�AEY ��AA"CM5��*CIRCICQ�CQI��G��>���<j,I��E�AY}�Ħ@�}CҞ@y}��g<�}:���}H����`���?���@��?��� �Ң?���������� A��?�����=u��������������������Z��?)~�Ħ@ ~/^;I~��Cɫ���)�� ������I��Y�%Ѽ@y�%NhG��<Nmea in: $CATXD,1,10,1,64*49 ���M�<M�>Y���;QU��?�������a��G������y��qT<}��?I�����β5�?�����߾� ���?���?9����A���ܹ: ����:)���W)�W)X) X)�W):W)2W)*W1�V1U1U=������?zLQ�LQ�LQ�LU:��@�AmS<B� B��A���*B��$9�A��A���7�A�& ��A�"C�4��*C�RC�C��C�I��G�&>���=j,�� ��E�A�|0�|24<Y}N�Ԧ@�}N��@y}N�Os<�}N^]��}NH����� �?���`���?������?�����������'�?������w������i������L�������I��?)~N�Ԧ@ ~N�#^;I~Lɫq�q)�q �qI�yY��b�@y���gG��NNmea in: $CADRQ,165439,1,10,0,64,2*79 ��RNmea out: $CCTXD,1,10,1,55B944648000*38 ���t=����P����C��i�� �@��� ��\�@)��\�@I��\�@i��E�@�����M%8=Y�-��:QU5�>��9��9�a=�G��9��Ay�M��;}M�>I�Q��e�:��U��5�?��e�:��Uɓ߾� �UÍ?��m�?9�UߥA��U�3; �UU9;)�Ug�:�W��W�X� X��W�:W�2W�*W��V�U�U�����F��?zL��L��L��L�]��@�A�R<B B�A�ҽ*B�*9�A!�A%w�7�A%� ��A)"C-3��*C1RC1C1�C1��E� ����A��A��E��� �E�@:Y�Ay�A��E��5�9E@I�YGu6>ܽS�>9ܽ{�CIܹiܹ�ܽ=�ܹ�ܹ�ܽ/�; ݽ{�E�=�=j,�$��E�AY}2�ܦ@�}2��@y}26{<�}2���}2H������?����r��?�������?�����������1�?����K�w����@`�������R�����`���?)~2�ܦ@ ~2�^;I~0ɫI�I)�I �M����I�IY�}��@y�}3hG��:Nmea in: $CATXD,1,10,1,6*7D ����=i�� ������������Mb@�����Mb@�����Mb@��������� ���)������I��y�������Mb�?�MbX9��<�O��n�����<���ʡ����t� ��)���AI��i��5A������fA���mA��������<MM=Y���:QU�>�����a�G����y�~";}�>I�!��%0�5�?��%g�߾� �%q�?��5�?9�%�A��%�: �%��:)�!�W��W�X� X��W�:W�2W�*W��V�U�U���� S��?zL���=�L���=�L���@�L�ѩ_@�A5��R<B1 B1�A=���*B=�+9�A9�A=B�7�A= ��A9"C�2��*C�RC�C��C�I��G�D>��=j,�t>��E�AY}22ަ@�}2��@y}22��<�}2����}2H����`��?����<��?����t��?����-��������?�����������M�������u��������?)~22ަ@ ~2�>^;I~0ɫ9�9)�9 �=����I�AY�]*�@y�]�hG��.Nmea in: $CATXP,70*75 ����%=M�t=Y��ʳ;QU�?�������a��G������y����9}�?I��� �:���5�?�� �:���߾� �,�?���?9�V�A��k�: ���:)�h�:�W1�W9X9 X9�W9:W92W9*WA�VAUAUE���@K�@zLa�La�La�Leǩ_@�A}ǛS<By By�A}蠽*B}�+9�A��A��7�A����A�"C�5��*C�RC�C��C�I��G��=���� �������������������� �AB:Y��[1y�H�:���6�8�=j,uUX��E�A�|i|�6T�>9�4I�6�aGi�6�@��4��4��4��6��; �6ƑEY}RI֦@�}R�@y}RC�<�}R�*��}RH���� ��?����E��?����_�?������������?������~�����$������_c���������?)~RI֦@ ~R�G`;I~Pɫy�y)�y �}����I�yY��5�@y���hG�Õ��>�Õ���Õj��iÕ�@�Ñ ĕE�@)ĕE�@IĕE�@iĕ&�@���O;M�?=Y���:QU��>�����a��G����y���}��>Iȹ�Žb�5�?�Ž��߾� ƽ?����?9ƽ��A�ǽ�: Ƚ@�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����|@zL�L�L�Lԙ_@�A5m�T<B1 B9�A=!��*BE�-9�AQ�AU��7�A]'��AY"Ce4��*CyRCyCy�CyíÍ�́�́I��G��>�S�=j,R,r��E�AY}2UЦ@�}2ޞ@y}2��}<�}2��7��}2H����@T��?����m��?�����2�?���������� ��?����1o�����d�������+����@���?)~2UЦ@ ~2��`;I~0ɫy�y)�y �yI�yY��i�@y�� iG��a=ɮ�I��)�����p>i��K?)���= ���=�����<M�W=Y��W��QU��>�������a��G������y�����}��>I��� �:����5�?�� �:��+�߾� ���?���?9�ڦA���: �I�:)�i�:�W1�W1X1 X9�W9:W92W9*W9�VAUAUE������@�RMB*** querying acoustic contact ***�PI�PIzLa�La�La�Le��_@�A�C�T<B� B�A+��*B�-9�A�A��7�A ���A "CE3��*CARCACA�CII��G >���� �����������������|�� ���R:Y���Y1y���:���6�=�"=j,����E�AY}2_��@�}2Ξ@y}2I1�<�}2��}2H��������?�������?������?��� N���������?���`SV�������œ���� ������ ���?)~2_��@ ~2�a;I~2��Cɫ9�9)�9 �9I�9Y��Խ@y���iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���O ?����ؾ����D�i����@��� ��z�@)�����I��z�@i��\�@��U<�<MU5=Y�] <QU]�>��Y��Y�ae�G��a��ay�m���}m�>Iȁ�Ņ!�5�?�Ņݖ߾� ƅ4�?����?9ƅ$�A�Dž�; ȅk�;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����6 @zL9�L9�L9�L=�k_@�Au��U<Bq Bq�Au�l�*B}\09�Ay�A}��7�A}��Ay"C�2��*C�RC�C��C�I�G5.>��a��a�i9�m|�CI�m�aGi�m��@��i��i��i��mC�; �m�E��)=j,.���E�A�|�|�;Y}6#��@�}6�Ȟ@y}6��<�}6~���}6H��������?���@���?����틥?���`����������?������}�����Ց�����������`���?)~6#��@ ~6��`;I~6��Cɫ9�9)�9 �9I�9Y�}C�@y�}jG�xDUSBL response received:!U1,P 027,000,006C2,185,80,80,5C,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 aim@a��m amm@a��m aqm@a��m aem@a��m aIm@a��m ��e�����Mb@�����Mb@�����Mb@���a��a �a)�aI�ai�e�����Mb@�����Mb@�����Mb@���e©�e���e� �e���)�e���I�e���i�e�����e������e����lA�kA����<M�+=Y�d��QU��>�����a��G����y��%��}��>I������:����5�?����:�����߾� ��Ջ?����?9��r�A�����: ����>)��j�:���� �����������������8�� ���G:Y���W1y��č:���� 6)���;�9���W�WX X �W :W 2W *W �VUU���@�� @�AEsYV<BA BA�AE5�*BE�19�AI�AM�7�AMx��AI"CU5��*CQRCQCQ�CYI�qG�[>��2/=j,����E�AY}2�æ@�}2�ў@y}2 ��<�}2[���}2H����`���?���@��?����0��?����������@���?����Sh������;�������H����� ���?)~2�æ@ ~2��a;I~0ɫ9�9)�9 �=����I�9Y�]{�@y�]ZjG��e�?i�e@����<M��=Y��;QU�"?�������a��G������y����;}�"?I�����a�5�?����߾� ����?����?9����A��� �: ��2A?)���W!�W!X! X!�W):W)2W)*W)�V)U1UU���`Q@�A��W<B� B��A�S�*B�19�A��A�j�7�A���A�"C�4��*C�RC�C��C�I��G�=�eW�>9�aI�e,bGi�eԷ@��e =��a��a��er�; �e$�E)���|�CI���|�Ci����������G35�m,6=j,�����E�Aɫ�髑)�� ������I��Y��5�@y��jG��.Nmea in: $CATXF,70*63 ��\Response from modem unexpected: $CATXF,70*63 ���jAi��jA)����u�½��u���u��i�u �@��q �q)�u�@I�u���i�uz�@��]��M�/=Y����QU��>�����a��G����y����}��>Iȡ�ťn�5�?�ť��߾� ƥ2�?����?9ƥ�A�ǥ5�: ȥ|�?)ȡ�W��WX X�W:W2W *W �V U U������@�A���W<B� B��A��<�*B�19�A �A K�7�A {��A "C3��*CRCACA�CAI��G�A>��-��������������i�� �=`:Y�[1y�ݏ:���6)���;�.T<=j,�����E�A�|i|�@Y}2�Ʀ@�}2yԞ@y}2�Ğ<�}2l���}2H��������?��� W��?�����?��������������?���������`?ؓ�������������j��?)~2�Ʀ@ ~2 p{;I~2��Cɫ9�9)�9 �=����I�9Y����@y���jG���Nmea in: $CAXST,7,20210813,165440.733093,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5D ���Response from modem unexpected: $CAXST,7,20210813,165440.733093,3,0,200,4000,14500,1,1,10,1,2,2,3,70,14500*5D )�e�= �e>��g�<M�=Y���:QU��>�����a��G����y�@&:}��>Iȱ�ŵ �5�?�ŵ��߾� Ƶ��?����?9ƵB�A�ǵp�: ȵ�?)ȱ�WA�WAXA XA�WI:WI2WI*WI�VQUQUU�����'@�A}m�X<B� B��A���*B�k39�A��A�1�7�A����A�"C�2��*C�RC�C��C�I�� G� �>��;C=j,ɐ ��E�AY}:�@�}:�ʞ@y}:�+�<�}:�%��}:H����@���?����H��?��� X��?���`Q������P��?���@�Å�����0Œ����`k�������8��?)~:�@ ~:�o;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�jG���C�<���$�����E>i��\�@��� ��\�@)��E�@I��\�@i�����$\=M��=Y��D��QUuL?��q��y�a}�G��y��yy�+��}�>?Iȉ�ō��5�?�ō�߾� ƍ{�?����?9ƍi�A�Ǎ��; ȍ��?)ȉ�W��W�X� X��W:W2W*W�VU U �����@�Au?�Y<By By�A}��*B}�29�Ay�A�$�7�A�~��A�"C�5��*C�RC�C��C�I��G >���lA���jA��V�>9��I���bGi��w�@���=���������s�; ����1 ��1 i�� �mGI�� qAi�� ��� R3�ٺ� qA��� �(B�fI=j,�k'��E�AY}2�@�}2���@y}24��<�}2����}2H����@ov�?����q��?�������?���`Z����@j��?����LX������H�����������������?)~2�@ ~2n0|;I~0ɫY�Y)�Y �]����I�YY���@y���jGai��ai� am��am� aq��aq� ae��ae� aI��aI� ����+�����?��~j�t�?Zd;�O�������>�����< ��j��)�����I��y���X9��v��?:��v��������Mb�������<����T������ ;A)�AIdAi�A���������A���ϻM�?=Y��κQU��>�����a��G����y��g�}��>I������:����5�?����:����߾� ����?����?9����A���]�: ����:)��k�:�W��W�X� X��W�:W�2W�*W�VUU������@�RB*** querying acoustic contact ***�P�PzL%=�=�L%=�=�L%���@�L%D�z@�A=��Z<B9 BA�AECǼ*BE�39�AA�AE�7�AE���AA"C]4��*CYRCaCa�CaI�yG��=��u�����u�����u�����u��� �u��:Y�u0Y1y�u��:��u�6)�u��;�SNP=j,�HA��E�A�|�|4<Y}69��@�}6�Þ@y}6:\�<�}6jw��}6H�������?��� C��?����`��?���� ��������?���@��}�����O��������m���������?)~69��@ ~6d"u;I~6��CɫQ�Q)�Q �QI�QY����@y���jG��y��}nA���4�;M�G=Y�����QU��>�������a��G������y��G�:}��>I�������5�?����߾� ���?���?9��ϨA���R�: ��^�:)���WI�WIXY XY�WY:WY2Wa*Wa�VaUaUm���@�[@zL��L��L��L���z@�A�=�[<B� B��A���*B�D49�A��A��7�A�k��A�"C�3��*C�RC�C��C���E�����E�����E�����E��� �E>k:Y�E�Y1y�E�:��E�6�9M@I�aG}Y>��9��I���cGi���@��������������; ��/�E���V=j,Vc[��E�AY}2�ͦ@�}2T۞@y}2ѣ�<�}2����}2H��������?�������?���`�¤?����d���������?����ο{����@F������9=��������?)~2�ͦ@ ~2�Gm;I~2��Cɫ9�9)�9 �=����I�9Y��C�@y��PkGI��)��)���Å��=�Å�}=�Å�u<iÅG�@�Á ą��@)ąz�@Ią��@iā��î<M�K=Y�ݓ�QU��>�����a��G������y��u�;}��>I������:����5�?����:�����߾� ��1�?����?9���A�����: ��I�:)��l�:�W�WX X�W:W2W *W �V U U�����C@zL��L��L��L��{@�A��"]<B B�A`U�*BU59�A�A��7�A-���A)"C52��*C1RC1C1�C9I�qG�>�?�\=j,i�t��E�AY}:`�@�}:��@y}:�߂<�}:�G��}:H���� 8�?���`l��?�������?����~�������>�?�����z������[������g���������?)~:`�@ ~:~�f;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}lG��]����]�����]�����]:�� �]^:Y�]xZ1y�]q�:��]� 6)�% �= �% �=��M >=MM =Y�U ���QUU �>��Q ��Q �a] �G��Y ��Y y�e ?�;}e �>I�i ��m ސ5�?��m _�߾� �m �?��u �?9�m N�A��m ϸ: �m �:)�i �W� �W� X� X� �W� :W� 2W� *W� �V� U� U� ����[�@zL�L�L�L�_{@�Ad ^<B9 B9�A=���*BE�79�AA�AE��7�AE��AA"CM5��*CIRCICQ�CQI��G��>�*�c=j,�؎��E�A�|i|�@Y}6��@�}6�&�@y}6oCv<�}6T4��}6H��������?�������?������?��� {����� ݊�?����)Bw�����!Ȏ�����(�������F��?)~6��@ ~6�c;I~6��CɫY�Y)�Y �]����I�YY����@y���kG�:Nmea in: $CAACK,10,1,1,1*7B ܍W�>9܉I܍�dGi܍��@�܍ =�܉�܉�܍��; ݍQ�E���M�>����D�������i����@��� ��z�@)��I��z�@i����@�� ��M O=Y� �QU �>�� �� �a �G�� �� y� �H<} �>I� ��% �:�� r�5�?��- �:�� U�߾� � K�?��- �?9� �A�� U�: � ��:)� m�:�WQ �WQ XQ XQ �WQ :WQ 2WQ *WY �VY UY U] ������@zLy �Ly �Ly �L} ٳ{@�A� �^<B� B� �A� ���*B� I69�A� �A� ��7�A� ���A� "C� 4��*C� RC� C� �C� I�� G� �>���i=j,c����E�AY}6�8�@�}6UF�@y}6��e<�}6-���}6H��������?�������?�������?����_������}��?����~�p������������ �z���������?)~6�8�@ ~6M�`;I~6��CɫI�I)�I �M����I�IY��B�@y���lG��:Nmea in: $CAACK,10,1,2,1*78 ����=i���=���Sent 62 bytes from file Logs/20210813T150040/Courier0027.lzma.parts��.Packets left to send: 0��]���C�l�?�����M¿<�O��n�?��]d;>��]n� �]t�<)�YI�Yy�]����Q���L7�A`尿V-�����]�u���]+����]��� �Y)�YI�]�Ai�Y��Y��]�A��}u�=M}�=Y�}���QU�j?�����a��G����y�{�<}�k?Iș�ŝX�5�?�ŝ\�߾� Ɲ��?����?9Ɲ��A�ǝM�: ȝ4�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����`��@zL�͖=�L�͖=�L�,��@�L��K@�A��_<B� B��A����*B��99�A��A���7�A�A��A�"C�3��*CRCC�C)I�!GE0>�ǜp=j,�����E�AY}2?I�@�}2�V�@y}2�]<�}2�"��}2H����@���?����p��?���@]�?��� �����`v��?�����se�����,�������I@�����`���?)~2?I�@ ~26X_;I~0ɫA�A)�I �M����I�QY���@y��&lG��MNmea in: $CACST,6,0,20210813165445.446509,06,32767,45,0132,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,16.1,4.20,12,-1.20,-01,0.16,39,14500,4000*62 ���Response from modem unexpected: $CACST,6,0,20210813165445.446509,06,32767,45,0132,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,16.1,4.20,12,-1.20,-01,0.16,39,14500,4000*62 ��u# ����u�����u�����u�� �uK:Y�u�X1y�u/�:��u�6���nA����V>���7�=�����i��G�@��� ����@)����@I����@i��z�@���'��M�=Y���Q�QU��>����� �a �G�� �� y� �W;} �>I� �� �:�� Ŋ5�?�� �:�� v�߾� � ��?�� �?9� �A�� ��: � ^�:)� n�:�WA �WA XA XA �WI :WI 2WI *WI �VQ UQ UU ��� b� @�R] B*** querying acoustic contact ***�PY �PY 1(e ��� Pe pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(e ����Pe �Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn�(e ���zLy �Ly �Ly �L} ɿK@�A� C�_<B� B� �A� *B� �79�A� �A� ��7�A� v���A� "C� 2��*C! 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C! �C) I�A G} �>܁9܁I܅�dGi܅ �@�܁�܁�܁�܅��; ݅]�E���v=j,�l���E�A�|4<�|�;Y}6�;�@�}6kI�@y}6��Y<�}6-�+��}6H��������?����/��?���@M��?�����������E��?����k�]�����>������kz����� ��?)~6�;�@ ~6�^;I~4ɫ9�9)�9 �=����I�9Y�}v�@y�}�lG����=M��=Y�տ�QU��?�����a��G����y��$�}��?I�����Љ5�?���|�߾� �� �?����?9���A�����: ����:)���W��W�X� X��W�:W�2W�*W�VUU������ @zL��L��L��L���K@�A���_<B� B��A�M�;*B��:9�A��A���7�A�8���A�"C�5��*C�RC�C��C Y��9I�!G]2>�z�|=j,�E���E�AY}2��@�}2�)�@y}2ۏY<�}2��%��}2H�����W��?��� ���?�����˥?���������� ���?����L5c������1����� ������@���?)~2��@ ~2�/^;I~0ɫy�y)�y �}����I��Y��z�@y���lGI��)�����ȏ:M�F=Y���v�QU��>�������a��G�����y�s�}�>I� �� l�5�?�� ��߾� � ��?���?9� C�A�� o�: � f�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAUIUM������!@zLa�La�La�Le!hK@�A� K`<B� B��A�!�;*B :9�A�A��7�A_���A"C4��*CRCC�C��u� ����u�����u�����u��� �u+D:Y�u�V1y�u�:��u!�5Y�i9I�G5->��׃=j,���E�AY}6���@�}6j �@y}6�]<�}6o���}6H���� N�?�������?��� �A�?����������`tS�?���@��p���� e��������������#��?)~6���@ ~6��];I~6��CɫY�Y)�Y �]����I�YY����@y��mG��Setting waiting for range response to false due to timeout. 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��W�E)�A�I�A�i�A���E�=��E�=��E���5Y�el&9I�qG�:>�� J ���� ����� ����� ��� � #N:Y� xZ1y� q�:�� �6)� S�;� ��=j,ZIl��E�AY}2�J�@�}2GX�@y}2�<�}2g�C��}2H����`���?����v��?�����Ԩ?�������������?���@dJp?���@�a������g|������K��?)~2�J�@ ~2~G^;I~2��CɫY�Y)�Y �]����I�YY����@y���pG���Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���<M%U=Y�-;��QU5�>��A��I�aU�G�����y���6�}��>I��� �:��d5�?�� �:����߾� � r?��5�?9�#�A�� �; �t�;)�u�:�W)�W)X) X)�W1:W12W9*W9�VAUAUe���`<�-@zL��L��L��L��N@�A�n�c<B� B��A�Z�=*B*F9�A!�A%5�7�A%%��A!"C-2��*C)RC1C1�C1Y�U�&9I��G��>I�)���v�=j,�$���E�AY}:S7�@�}:E�@y}:��<�}:<?#��}:H�����?����v��?���`<ݤ?���`/���������?����%`?��� !�������Rf������.��?)~:S7�@ ~:K^;I~:��Cɫa�a)�i �m����I�iY�==�@y�=oqG�QɮUp=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�))�-�A�Å����Å"�>�Å1�>iÅף@�Á ąƣ@)āIąƣ@iā��� =M�4=Y�T�QU��>�����a��G����y�IJ�}��>Iȱ�ŵ�a5�?�ŵ��߾� Ƶ^q?����?9Ƶ^�A�ǵϸ: ȵܹ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������].@zL�L�L�L�N@�A%��b<B! B)�A-��=*B-�I9�A)�A-x�7�A-��A1"C55��*C9RC9C9�C9��E?>��Et>Y��(9I�G}7>�٩ �٭ 4=�� 9�� I�� �iGi�� .�@��� ��� ��5Q ����5�����5�����5��� �5�N:Y�50Y1y�5��:��5�6)�5Χ;��� ��� ��; �� b�E����=j,����E�AY}Fn$�@�}F'2�@y}F��<�}FԱ���}FH���� ,��?������?���`Ha�?��� (������7��?����J�0?����*�����������������?)~Fn$�@ ~F"^;I~F��CɫQ�Q)�Y �]����I�Y������Y����@y���qGi�5�mGI��i���xDUSBL response received:!U1,R,F04,000,006D5,187,80,80,70,FF �Fpublishing direction and range info���CG�ٺ����;A���z0a>���ɰ�G>鰕1�> ��)����BI��y���B�������ɵ:�?�'$��?��������ٱ���dNmea in: $SNTTA,0.304004,0.303873,,,165454.26*52 ����{�G�zt?{�G�z���I+������ף;���ף� ��9��)��I��y����~j�t�x?R���Q��y�&1��������;����½���`� 1A)IAi�A�������A����<M�I=Y�p�QU��>�����a��G����y����}��>I������:����^5�?����:���[�߾� ���n?����?9����A����: ����:)��v�:�W��W�X� X��W�:W�2W�*W��V�U�U������</@�P�*Q��B�Z�����6tP@aۥOTl-@���������Z�����ɵ:�?�'$��?��������2Q�z0a>:Q��Z��_�+�F?@~d�<��M��|�����Z����4����?n�ݠ�X쿬��BQ��:�@ Q��n�Q�7�A�P�u�9?�P�K�9?�P�f���Q�n���Q��@"Q�5�@zLm4�=�Lm4�=�Lm�И@�Lm��]@�A�YNa<B� B��A�` >*B��I9�A��A���7�A����A�"C�4��*C�RC�C��C�Yϵ�(9I��G�f>�k��=j, ���E�AY}:��@�}:A"�@y}:���;�}:s+ռ�}:H�����y|�?����n��?����&��?����L������A~�?������A�����G�~�����x����������?)~:��@ ~:`^;I~8ɫY�Y)�Y �]����I�YY��&�@y���rG���7=M%h=Y�-�˺QU-�>��1��1�a=�G��9��9y�E��}M�>I�Q��U�[5�?��U��߾� �Ull?��e�?9�U��A��U; �U�;)�Q�m�uAdded new target pos. range: 67.440002 m, bearing: 297.634400 deg, deltaT: 15.620847 s, approachRate: 0.072979 m/s, LOS rate: 0.986570 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)�P@U�����h��?zL1�L1�L1�L5ʝ]@�Am�_<Bi Bi�Am�>*Bu�N9�Aq�Au�7�Au��Aq"C}3��*CyRCyC��C�Yϝ�(9I��G�B>��� �=i�� a=�� � ���� ����� ����� ��� � �Z:Y� xZ1y� q�:�� �76�9@����=j,$����E�AY}Bb �@�}B�@y}B�,�;�}B�E��}BH����@�n�?���@���?����|�?����-����� &p�?�����C?������{����`������� ���?)~Bb �@ ~Bq^;I~B��Cɫa�a)�a �e����I�aY����@y��sG���=i��=��u����u+����u�D�i�ṳ@��q �u�@)�u�@I�u�@i�u�@��|=M�D=Y�EۺQU��>�����a��G����y� �}��>Iȡ�ť�X5�?�ť��߾� ƥ�i?����?9ƥE�A�ǥ��: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�9�]@�A��e\<B� B��A�v(>*B��N9�A��A�l�7�A����A�"C�2��*C�RC�C��C�i��I���Y9�YI�]�jGi�]Ѿ@��]=��Y��Y��] �; �]~�EYϽ�*9I��G�F>�*��=j,����E�AY}:��@�}:e"�@y}:Z��;�}:O~��}:H������|�?����*��?�����'�?����T�������}�?����Dh?��� ��y����`��������?)~:��@ ~:!�];I~:��Cɫ9�A)�A �AI�AY�}K�@y�}�rG����M�I=Y�嫺QU��>�����a��G����y��;}��>I������:����U5�?����:���]�߾� ��(g?����?9����A�����: ����:)��w�:�W��W�X� X��W�:W�2W�*W��V�UU��� W\�?zL!�L!�L!�L%�]@�A5ƎY<B1 B9�A=4>*B=:M9�A9�A=��7�A=���A9"CE5��*CIRCICI�CIY�II�YG}>�� � ���� ����� ����� ��� � gF:Y� �Y1y� �:�� �6��>j,Dl��E�AY}BZ(�@�}B6�@y}B���;�}Bn:,��}BH�����Ѣ�?�������?����?����E�����`Ӣ�?���`u�v?������v���� ����������?)~BZ(�@ ~B�(^;I~B��Cɫa�i)�i �m����I�qY����@y��7sG��}��=��}`���}�!�i�}Q�@��y �}9�@)�}9�@I�}9�@i�}9�@��c�<M�K=Y���QU��>�����a��G����y�(�;}��>Iȩ�ŭsR5�?�ŭ�߾� ƭ�d?����?9ƭ�A�ǭA�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�L1�]@�A�yV<B B�A�+>*BO9�A!�A%�7�A%���A!"C-4��*C)RC)C)�C1Y�-/-9I�AGe>��Q ��Q �u \�>9�q I�u �kGi�u s�@��u =��u QD��q ��q �u |�EI� )� BA���>j,�H!��E�AY}2G?�@�}2�M�@y}2I�;�}2�f9��}2H����`��?���@���?���� �?��� K���������?������{?������u����`�*������~��?)~2G?�@ ~2J#^;I~0ɫ9�9)�A �E����I�AY�]��@y�]�sGI��)������X9��v�����~j�t���Zd;�������������� ���y�)��I��y�������Mb`?������������Mb�����;����L����� ���A)��dAI���Ai��������=A����T�M�D=Y��/9�QU��>������a�G����y� ��;} �>I����:���P5�?���:��i�߾� �d?��%�?9��A���: � �:)�x�:�WA�WAXA XA�WA:WI2WI*WI�VIUQUU����At�?zLu�O=�Lu�O=�Lue�@�Lu4�\@�A��uS<B� B��A�%&>*B��M9�A��A�y�7�A����A�"C�3��*C�RC�C��C��̥0>�̥,>YϽS-9I��G�F>������������������� �ɍ:Y��W1y�č:��|6�h>j,�";��E�A�|4<�|Y}6�M�@�}6�[�@y}6à;�}6�O3��}6H���� C��?�������?��� �E�?��� v���������?�����|?����Zt����`h������ ��?)~6�M�@ ~6�:^;I~6��Cɫ9�9)�9 �9I�9Y��1�@y���sG��=�d=M=W=Y�=R�QUE�>��A��A�aE�G��I��Iy�M��;}U�>I�Y��]8O5�?��]��߾� �]�c?��e�?9�]7�A��]�: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����u�@zL��L��L��L��\@�A��2P<B� B��A��;>*B��Q9�A��A���7�A����A�"C�2��*C�RC�C��C�Y���/9I��G*>�>j,Y�T��E�AY}:�Q�@�}:__�@y}::�;�}:�S"��}:H��������?�������?���@S9�?����v�����@=��?�����w?��� <t����@I�����@x��?)~:�Q�@ ~:|^;I~:��Cɫ9�A)�A �E����I�AY���@y���sG�������Í7�=�Í��Í���iÍ̤@�É č�@)č�@Ič�@ič�@��h��M�D=Y� $�QU��>�����a��G����y���:}��>I������:����M5�?����:����߾� ���b?����?9��b�A���|4; ��o;)��y�:�W�WX X�W!:W!2W!*W!�V!U)U-�����%@�R5B*** querying acoustic contact ***�P1�P1zLI�LI�LI�LM��\@�A��L<B� B��A��9>*B��O9�A��A�A�7��[�>9��I���lGi��g�@������������?�; ����E�A ���A "C5��*CRCC�CY�I�G5.>���=i��=�������������������� �^�:Y�0Y1y���:���6)���;�9��=+>j,��n��E�AY}2�>�@�}2�L�@y}2�;�}2����}2H���� q��?�������?���@<r�?����h������P��?��� &�t?������r����`�y���������?)~2�>�@ ~2�^;I~2��Cɫ9�9)�9 �=����I�9Y�}a�@y�}tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���i��)���= ��>���q�<M�W=Y���C�QU��>�������a��G�����y�Ż}�>I� �� �K5�?�� k�߾� � Db?����?9� ��A�� ��< � ��<)� �W�WX X)�W1:W12W1*W1�V1U9U=���`�e @zLY�LY�LY�L]ȓ\@�A���H<B� B��A��A>*B�MR9�A��A���7�A����A�"C�4��*C�RC�C��C�i̱I̱YωI��G� >�">j,�����E�AY}5�"�@�}5�0�@y}59j�;�}5d� ��}5H�����b��?�������?���@���?���@������`��?����r�t?��� D�p����`������`��?)~5�"�@ ~5Q�];I~5��Cɫ9�9)�9 �=����I�9Y�U��@y�]�tGexDUSBL response received:!U1,P F04,000,006D5,187,80,80,70,FF eCommand AckeBRequesting micromodem ping code 2i�a��a�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����=���s����=i��@�� ��@)�I��@i��@��+=M�=Y����QU��>�����a�G���� y� �л} �>I���=�:���I5�?��E�:��ް߾� �ga?��E�?9���A��"�; �e�;)�z�:�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L��\\@�A-jzD<B) B1�A5\U>*BU�P9�AY�A]'�7�Ae���Aa"Cu3��*C�RC�C��C�Y�� �19��� ��� �<� \�>9� I� mGi� ��@�� =�� �� �� A�; � ��E)�m�{�CI�m�{�Ci�i���m�=��m�=��m�ӆ5I�� ��5\����5�����5�����5��� �5�;Y�5�Y1y�5�:��5�l6)�5`a<G}�>�8=(>j,�����E�AY}6f �@�}6�@y}6��L;�}6�:��}6H����@g�?����>��?����5ա?���`X����� 7f�?������x?���`��i�����d���������?)~6f �@ ~6v^;I~6��Cɫ9�9)�9 �9I�9Y���@y���tG鮡ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����/�$��:��v�����������?���1�����Խ ����<)��I��y���{�G�z�?sh��|?��Zd;�O�������#=���������j�� � A)©IfAi+A�������A�����;M��=Y���F�QU�?�������a��G������y��}*�}�?I����� H5�?����߾� ���_?����?9����A���9�< ���<)���W �W X X �W :W2W*W�VUU����G@zLU|�=�LU|�=�LU�*�@�LU� v@�A�a!?<B� B��A��W>*B�JX9�A��A���7�A����A�"C�2��*C�RC�C��C�YϽ�39I��G�g>I�@A)�@A�Xg.>j,�i���E�AY}>'��@�}>� �@y}>cK;�}>^ ��}>H�����`O�?�������?���`�|�?����y�������N�?������w?�����`i���� ֪����� ��?)~>'��@ ~>,�];I~<ɫ9�9)�9 �9I�9Y�}��@y�}�tG�xDUSBL response received:!U1,R,EE3,000,006E1,186,80,80,89,FF �Fpublishing direction and range info�����~>���ɰ�B>鰍��> ��)��� CI��y��Q�B����˪����?,#���?��������ٱ�I��)���A�©�©����ڻM�I=Y��3��QU��>�������a��G����y�%sm�}%�>I�)��-�E5�?��-G�߾� �-�]?��]�?9�-H�A��-U�; �-p�:)�)�W��W�X� X��W�:W�2W�*W��V�U�U����@��@�P*QQ�B�Z�|�˟�P@��6��0@���������Z�˪����?,#���?��������2Q��~>:Q�Z�f{h$U�@@�!���M����0��Z��#<?I�?[��o���"`��g���BQ3��@ Qln�Q2B�Py�9?�Pu�9?�PQf���Q�@"Q�@zLQ�LQ�LQ�LU�v@�A}ҙ9<By By�A}�T>*B}AT9�Ay�A���7�A����A�"C�5��*C�RC�C��C�YϽ�39I��G=r>�� ���� ����� ����� ��� � ?^:Y� �]1y� ��:�� �6�9@�DO5>j,,E���E�AY}6N��@�}6 �@y}6v<�:�}6S���}6H������M�?������?����˝�?����������`L�?����Q~?�����'[�����u����������?)~6N��@ ~6�*^;I~6��CɫY�a)�a �e����I�aY����@y��vG�mTNmea in: $SNTTA,0.027355,,,,165458.74*4E ���9�����I����X>i��̬@��� ����@)��n�@I��O�@i��O�@����=M�K=Y�� j�QU��>�������a��G������y�����}��>I������:���5C5�?����:�����߾� ���[?���?9����A���k�: ��4�:)��{�:�m5qAdded new target pos. range: 68.160004 m, bearing: 299.006749 deg, deltaT: 4.413974 s, approachRate: 0.163119 m/s, LOS rate: 0.310910 deg/s, posRepo size: 4�W1�W1X9 X9�W9:W92W9*WA�VAUE����= Q@UE�����0�?zLa�La�La�Le� v@�AuU4<By By�A}`t>*B}�Y9�Ay�A}y�7�A�.��A��-]�>9�)I�-�mGi�-[�@��)��)��)��-`�; �-��E"Cm4��*CiRCiCi�CqY�Yi��gmGI��i��I� ��-UP�ٺ)��-�CAGew>�z;>j,�"���E�AY}6� �@�}6��@y}6�F�9�}6����}6H�����h�?������?����!�?����@�����`�e�?������?�����h<�����Op�����`���?)~6� �@ ~6�*^;I~6��Cɫy�y)�y �yI�yY����@y��uuG��Q�M�M=Y�@I�QU��>�����a��G�����y��c�;}��>I������@5�?�����߾� ���Y?����?9��߱A���>�: ����:)���W�W!X! X!�W!:W!2W)*W1�V1U1U5���� ��?zLi�Li�Li�Lms(v@�A��#-<B� B��A�f>*B�[V9�A��A���7�A�T��A�"C�3��*C�RC�C��C�Y��69I��G J>��� �=i�� �=�� ����� ����� ����� k�� � m}:Y� 0Y1y� ��:�� 36�ieB>j,� ��E�AY}��@�}�%�@y}@u���}(��}H�������?������?���`Ḣ?����������@��?����.�?������?��� �c��������?)~��@ ~?L^;I~ɫ���)�� ������I��Y� ��@y� �uG��ii�m�=)�}�= �}>���/>��� ������(�i����@��� ��9�@)���@I��9�@i���@�� ��<M C=Y� ��QU�>�����a�G����y�%*�;}%�>I�)��5�:��-X>5�?��5�:��-b�߾� �-�W?��=�?9�-.�A��-'!; �-�Y;)�-|�:�Wy�W�X� X��W�:W�2W�*W��V�U�U������%�?zL��L��L��L� Cv@�A��x&<B� B��A�5p>*B��W9�A��A�s�7�A��ߺ�A�"C�2��*C�RC�C��C�i��I��nAY��269I� G-O>�ى �ى ܩ 9ܩ Iܭ �nGiܭ ��@�ܭ =�ܩ �ܩ �ܭ ��; ݭ ��E�o�H>j,��#��E�AY}:)�@�}:�*�@y}:��R8�}:�$��}:H�����D��?�������?���@�?����K�����@���?���@�/�?��� �Q �������������a��?)~:)�@ ~:mS^;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}'vG����y�&1��?��������D�l��������`e=������ ��O��)��I��y�������Mb`����Q�������Mbp���������u������ ��1A)��EAI���Ai��A�������A��5��<M=I=Y�E��9QU��>�������a��G������y����:}��>I�����<<5�?�����߾� ��UW?����?9��c�A���¿: ���:)���W�WX X�W:W!2W!*W!�V!U)U-��� ���?zLEqv=�LEqv=�LE���@�LE�W@�A]�d<BY BY�A]x>*Be*X9�Aa�Ae��7�Ae��Aa"Cm5��*CiRCqCq�CqY�eV69I�qG�:>�� � ���� ����� ����� 3�� � �:Y� [1y� ݏ:�� �$6���N>j,ȱ=��E�AY}2_�@�}2%�@y}2�h�8�}2�)��}2H�������?��� ��?��� �y�?����������`�~�?���@۷�?��� M����@�.�����@���?)~2_�@ ~2v�^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�uG��=�2�M=[=Y�E�]8QUE�>��A��I�aM�G��I��Iy�UV�}U�>I�Y��e�:��]~:5�?��e�:��]��߾� �]2W?��e�?9�]��A��]=�: �]��:)�]}�:�W��W�X� X��W�:W�2W�*W��V�U�U�����Ѝ�?zL��L��L��L�V�W@�A��R<B� B��A��s>*B��Z9�A��A�q�7�A��A�"C�4��*C�RC�C��C�Yϭs89I�9GU>I�)�AA�z�U>j,7�W��E�AY}2&�@�}2��@y}2�]��}22�&��}2H�����0r�?����i��?����H �?����������`'n�?������?���`��K?�����٤����`3��?)~2&�@ ~2b^;I~2��CɫY�Y)�Y �YI�YY���@y��"vGI��)���� �� mA���������C�����#�i����@��� ��n�@)��O�@I��O�@i��O�@��: <M==Y�� �QU�>��!��!�a%�G��!�E^�>9�AI�EtoGi�E��@��E=��A��A��E�; �E��E��Yy�e��}e�>I�i��mS85�?��mQ�߾� �mW?����?9�mIJA��m.+; �m�,;)�i�W��W�X� X��W�:W�2W�*W��V�U�U����`S@zL��L��L��L�D�W@�A��<B� B��A��w>*B��V9�A��A���7�A�Aݺ�A�"C�3��*C�RC�C��C����%>���0>YϽ�89I��G�g>�� ����� ����� ����� ��� � do:Y� xZ1y� q�:�� �6)� �;�9����[>j,Mhq��E�AY}2��@�}2��@y}2���}2�|��}2H���� \^�?�������?�������?��� ������@Z�?���@�6�?���@}�`?����P����������?)~2��@ ~2�^;I~2��CɫY�Y)�Y �]����I�YY����@y��wG������@A���^�=M�c=Y���]�QU��>�������a��G������y��h�}��>I������:����65�?����:�����߾� ���V?����?9���A�����: ����:)��~�:�W�WX X�W:W2W*W�VUU%�����@�R-B*** querying acoustic contact ***�P)�P)zLA�LA�LA�LER}W@�A]��<BY BY�A]a�>*Bei_9�Aa�Ae}�7�Ae�ܺ�Aa"Cm2��*CiRCiCq�CqYυ�:9I��G�>�m�b>j,�K���E�AY}F��@�}F|�@y}FVSv��}F@���}FH�����`�?���@���?����N8�?���@B������:[�?���@,0�?����f�n?��� _R��������?)~F��@ ~Fē^;I~F��CɫQ�Y)�Y �YI�YY��F�@y��gvG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����>���G�=���= �i��Q�@��� ��9�@)��9�@I��9�@i��9�@���b�M�,=Y���i�QU��>�������a��G�����y� i9} �>I���945�?���߾� ��V?��-�?9�+�A��(; �%);)��WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe������ @zLy�Ly�Ly�L}�W@�A���<B� B��A��~>*B�SW9�A��A��7�A��ۺ�A�"C�5��*C�RC�C��C�YϽ�:9I��GM>��1 ��5 �<�Q 9�Q I�U <pGi�U B�@��U =��Q ��Q ��U ��; �U ��E��� i�� �=�� ����� ����� ����� ��� � ��:Y� 0Y1y� ��:�� �6)� U&<���h>j,����E�AY}6��@�}6��@y}60����}6l��}6H����`rq�?�������?���@���?����������`�k�?����iw�?���`ޱv?����������@���?)~6��@ ~6�^;I~6��Cɫ9�9)�9 �=����I�9Y�}M�@y�}�wG�xDUSBL response received:!U1,P EE3,000,006E1,186,80,80,89,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����Zd;�O��?�V-�?���S㥛����j�<���h�= ��/ݼ)��I��y���{�G�z�? ףp= ��{�G�z������#<���Q������#� ¥ A)¥�AI¥�Ai¥�A������A)���= ���=���=M<=Y� �QU �>�� �� �a�G����y��$;}�>I�a��m�:��e15�?��m�:��eŹ߾� �e�U?��m�?9�e~�A��e/�: �e��:)�e�:�W��W�X� X��W�:W�2W�*W��V�U�U����`� @zL��=�L��=�LeV�@�L��`@�Ae��;Bi Bi�Au��>*Bu�[9�A��A���7�A�Pۺ�A�"C�4��*C�RC�C��C�i��I��Y���<9I�G%�>�.o>j,�����E�Aɫq�y)�y �}����I�yY����@y��AwG鮹ɮ�=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}��M}{=Y����QU� ?�����a��G����y����}� ?Iȩ�ŭ�.5�?�ŭ[�߾� ƭRU?����?9ƭ��A�ǭN; ȭ>+;)ȩ�W��W�X� X��W�:W2W*W�V U U��� �@zL��L��L��L��A��)�;B� B��A�c�>*B��`9�A�A2�7�A�ں�A)"C-3��*C1RC9C9�CiY�AI��G�@>�� ����� ����� ����� ��� � �:Y� P^1y� ��:�� 36�9@���u>j,�����E�AY}FV!�@�}F/�@y}F?�黙}F�p"��}FH�����;��?�������?��� <��?���`���������?����*��?����W5}?�����L������Y��?)~FV!�@ ~F�^;I~F��Cɫy�y)�y �}����I�yY���@y��OwG�xDUSBL response received:!U1,R,EA6,000,006E1,186,80,80,42,FF �Fpublishing direction and range info���#��>���ɰ�鰹 ��)����BI��y������[(�f��?�+�0�?��������ٱ���9��I��qGi����@������������i�; ����E)��I��i�����=���=���ہ5��Ế���m=��v�=i���@�� �O�@)�O�@I�^�@i�O�@��%�P;M%@=Y�-Gu�QU-�>��1��1�a5�G��1��9y�=P�;}=�>I�A��E�+5�?��E$�߾� �E�T?��M�?9�E�A��E�: �E��:)�A�W��W�X� X��W�:W�2W�*W��V�U�U������@�P�*Q��Z���^�DP@qd ��D4@���������Z��[(�f��?�+�0�?��������2Q�#��>:Q��Z���M�+_6B@k���L����!�տ�Z����I��?���8���ܘgt�BQ��֨@ Q�pf�Q��B�P���9?�P�y�9?�P�c���Q�Q�%�@"Q��@zL1�L1�L1�L5��`@�Am��;Bi Bi�Am�>*Bm�\9�Aq�Au��7�Au]ں�Aq"C}2��*CyRCyCy�C�Yϝ5?9I��G�c>I�)�@A�|>j,Թ���E�AY}v��@�}v�&�@y}v}ֻ�}vC�&��}vH����@���?����r��?�����=�?���`A������!}�?����Q3�?��� ��z?�����Τ�������?)~v��@ ~vc_;I~v��Cɫ���)�� ������I��Y���@y�xG��DNmea in: $SNTTA,,,,,165503.16*5D I��)���A��!��%nA��m�.=MmF=Y�u��:QUu�>��y���a��G����y��$�}��>Iș����:�ŝ�(5�?����:�ŝ�߾� Ɲ�S?����?9ƝT�A�ǝu; ȝ;)ȝ��:�m�qAdded new target pos. range: 68.160004 m, bearing: 302.303763 deg, deltaT: 4.439835 s, approachRate: 0.000000 m/s, LOS rate: 0.742598 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�U����`�?zL�L�L�L��`@�A%�;B! B)�A-�>*B-^9�A)�A-f�7�A-�ٺ�A)"C55��*C1RC9C9�C9��E8>��EJ>Y�1I�AG]w>��5����5�����5�����5��� �5�r:Y�5�X1y�5/�:��5 6����>j,����E�AY}2�@�}2��@y}2x�˻�}2��!��}2H������d�?������?���@���?��� �������r]�?����>�?���@zy?�����1������w��?)~2�@ ~2l_;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}�xG��]��=��]�����]h�=i�]��@��Y �]��@)�]��@I�]��@i�]��@��}/=M}\=Y�}z]:QU}�>�����a��G����y���}��>I� �� &5�?�� ��߾� � VS?���?9� ��A�� �: � ��:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUE���`I+�?zLa�La�La�Ler�`@�A}"��;By By�A} �>*B}d9�A��A���7�A��ٺ�A�"C�4��*C�RC�C��C�YυvA9I��G�>���mA���nA��9��I���qGi����@������������Y�; ����E��)��-�Ci���lGI�� qAi������H�ٺ� qA���@=A��7�>j,m�&��E�AY}2���@�}2T�@y}2��һ�}2�`��}2H����@�D�?������?�����u�?����������@>�?����K��?����+Xz?���`�ꢿ����<��?)~2���@ ~2-5_;I~2��Cɫ9�9)�9 �9I�9Y����@y��SxG����D�l����?��Q��˿����Mb�����O >���(\� ����)��I��y�����~j�t�?��|?5^��{�G�zt�����=����ҽ���ף� �A)I�AifA�������A��~U�M�D=Y��&�QU��>�������a��G������y�����}��>I������:����"5�?����:����߾� ��=S?���?9����A���s:; ���9;)����:�W��W�X� X��W�:W�2W*W�V)U)U-�������?zLu�=�Lu�=�LuF�@�Lu�p@�A�v�;B� B��A�F�>*B��^9�A��A���7�A�ٺ�A�"C�3��*C�RC�C��C�YϹI��G�F>��� ������ ������ ������ �� �� p:Y�� �Y1y�� �:��� 6�*�>j,��@��E�AY}:E��@�}:���@y}:G<}:�=��}:H���� �0�?������?���ೞ�?����V�����@�)�?���`�a�?����w�}?���`�&�����`���?)~:E��@ ~:@_;I~:��Cɫ9�9)�9 �=����I�9Y�][�@y�]�xG���i���=)���= ���=��-�,=M-T=Y�5��QU5�>��9��9�a=�G��9��9y�E�W�}E�>I�I��M 5�?��Mk�߾� �M"S?��]�?9�MM�A��M�; �M);)�I�Wy�WyX� X��W�:W�2W�*W��V�U�U�����N1�?zL��L��L��L�@p@�A�sȎ;B� B��A���>*B��e9�A��A�>�7�A��غ�A�"C�2��*C�RC�C��C�Y���C9I��G�>��I�>j,�_Z��E�A�|i|�@Y}6��@�}6��@y}6a��}6���}6H������=�?����{��?���� x�?������������5�?�����C�?���@[��?���`#?������u��?)~6��@ ~6il_;I~4ɫ9�9)�9 �=����I�9Y�}n�@y�� yG�Y9�YI�]0rGi�]��@��]=��Y��Y��]J�; �]��E�ý�u?�ýv>��ýC�<iý��@�ù Ľn�@)Ľn�@IĽn�@iĽ��@�����;M�A=Y�� ��QU��>�������a��G������y����:}��>I����:���5�?���:����߾� �S?���?9���A��I8; ��8;)���:�WI�WQXQ XQ�WQ:WQ2WY*WY�VYUaUe����E�@zL��L��L��L��p@�A��v{;B� B��A�á>*B��a9�A��A���7�A�wغ�A�"CM5��*CQRCQCQ�CYY�aI�qG�:>��� ������ ������ ������ ��� �� u�:Y�� �[1y�� H�:��� �6)�� b<�9� ��gs�>j,�8t��E�AY}2��@�}2��@y}2��4��}2vO��}2H����@�R�?���`&��?����s�?�����������LI�?�����ޔ?���@���?���@j����������?)~2��@ ~2�q_;I~0ɫI�I)�Q �U����I�aY��I�@y���xG��]�=�M]R=Y�e���QUe�>��i��i�am�G��i��qy�}Vb;}}�>Iȁ�Ņ�5�?�ŅO�߾� ƅ�R?���?9ƅ�A�Džd< ȅy<)ȁ�W!�W!X) X)�W):W)2W)*W1�V1U1U5�����;@zLQ�LQ�LQ�LU�+p@�Ae�V;Bi Bi�Ams�>*Bm�b9�Aq�Au��7�Au6غ�Aq"C}4��*CyRCyCy�C�Yϭ�E9I��G�!>I�� )�� �J[�>j,���E�AY}2� �@�}2W�@y}2��F��}2ԛ(��}2H�����i�?����i��?����_Ƣ?���@}�������]�?����)̖?���@PՈ?�����������u��?)~2� �@ ~2�_;I~0ɫA�A)�A �E����I�AY����@y��_yG������I��)���������� �l>�� ��=�� -��i� 3�@�� � ��@)� ��@I� i� ��@�� =MO=Y�7�QU%�>��!��!�a%�G��!��)y�-�k;}5�>I�9��=�5�?��=��߾� �=�R?��E�?9�=^�A��=ϸ: �=��:)�9�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUyU}����F@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�KBp@�A��O/;B� B��A��>*B�le9�A��A�:�7�A�غ�A�"C�3��*C�RC�C��C����J>���a>YύF9I��G��>��Y��Y�y9�}z�CI�}�rGi�}{�@��}=��y��y��}I�; �}��E��� f����� ������ ������ Z �� �� �;Y�� xZ1y�� q�:��� {6)�� �a<�}��>j,����E�AY}B��@�}B}!�@y}B{7M��}B�f+��}BH������z�?�������?���@��?���������@ o�?�����i�?���`æ�?�����j������/��?)~B��@ ~Bzp_;I~B��CɫY�Y)�Y �]����I�YY�}��@y�}$yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-��p= ף�?<�O��n�?��ʡE�����->��-t�= �-���)�)I�)y�-��~j�t�x?D�l�����:��v������-��;��-O����-�T� �-�A)�)I�-�Ai�-�A��)��-\A��E�Y�MM9=Y�M�l�QUM�>��Q��Q�aU�G��Q��Yy�]S%;}]�>I�a��m�:��eu5�?��u�:��eN�߾� �e�Q?��u�?9�e��A��e��: �e'�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U����@�� @zLR�=�LR�=�Lt��@�L�[_@�A=o`;B9 B9�A=�>*BE"a9�AA�AE��7�AE��AA"CM2��*CQRCQCQ�CQY�=9H9I�IGmV>�/m�>j,�����E�AY}2 �@�}2�#�@y}2H�K��}2��%��}2H�����.�?�������?����^d�?���������� t�?����@��?��� ^s�?����ߺ�����@���?)~2 �@ ~2�R_;I~2��CɫY�Y)�Y �]����I�YY����@y��IyG�xDUSBL response received:!U1,P EA6,000,006E1,186,80,80,42,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 �� �"<Ma=Y�%y�9QU-�>��9��A�aE�G��I��y���<:}��>I� �� K5�?�� ��߾� � �P?��M�?9� նA�� ��< � P�<)� �W��W�X� X��W�:W�2W�*W��V�U!U%��� �o @zLi�Li�Li�Lm�`_@�A�[��:B� B��A�Ť>*B��a9�A��A���7�A���A�"C�5��*C�RC�C��C�Yϵ]H9I��G��>��� i�� a=��� N����� ������ ������ 3�� �� C�:Y�� 0Y1y�� ��:��� ۖ6�9� @�f��>j,v����E�AY}:��@�}:��@y}:�(H��}:����}:H����`Uq�?���@l��?����Pݠ?����c����� ~g�?�����?������?����U���������?)~:��@ ~:�7_;I~:��Cɫ9�9)�9 �=����I�9Y�]��@y�]vyG�ea=ɮep=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �_�>9�I�\sGi���@��������U�; ���E�í�>�íS�>�í��=ií �@�é ĭ?�@)ĭn�@Iĩiĭn�@����*<M�<=Y���:QU��>�������a��G����y�9�} �>I�1��=�:��55�?��=�:��5a�߾� �5�O?��=�?9�5�A��5 �: �5��:)�5��:�Wy�W�X� X��W�:W�2W�*W��V�U�U������$@zL��L��L��L�)S_@�A����:B B�A�>*B�g9�A�A-F�7�A-��A)"C54��*C1RC1C1�C9i�AI�EmAY�UJ9I�G5.>����>j,�����E�AY}2��@�}2r�@y}2�VH��}2d��}2H����@�Y�?����"��?����!t�?��� ������`�P�?����RA�?���@� �?����:롿����^��?)~2��@ ~2 t_;I~0ɫY�Y)�Y �e����I�aY��6�@y��zG�xDUSBL response received:!U1,R,FA6,000,006E8,187,80,80,78,FF �Fpublishing direction and range info���|٠=���ɰ��>鰥1�> ��)����BI��y��(�B����X�.���?5�;��?��������ٱ����=M�]=Y�����QU��>�������a�G���� y� ���} �>I���� 5�?����߾� ��N?��-�?9�D�A��j; �;)��WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm���@��@�P*Q(�B�Z���@�Q@��|�܅@���������Z�X�.���?5�;��?��������2Q|٠=:Q�Z�f/ۨ�6@���?.P��������?�Z���Gz#'�?gLyy;3��-��BW�?BQz��@ Qq��QU�A�P\�9?�P��9?�Pp���Qc���Q��@"Q%�@zLY�LY�LY�L]�;_@�A�6�9B� B��A�B�>*B��g9�A��A���7�A���A�"C�3��*C�RC�C��C�Y���J9I�G-N>��� A����� ������ ������ ��� �� @v:Y�� �]1y�� ��:��� �.6����>j,se��E�AY}~*��@�}~� �@y}~�Wi��}~jT��}~H������N�?����#��?������?�����������$D�?�����˗?���`�*�?����������@���?)~~*��@ ~~b�_;I~|ɫ���)�� ������I��Y���@y�lzG�}TNmea in: $SNTTA,0.057205,,,,165507.60*43 ��-E�=��-;�=��-;_>i�-f�@��) �-��@)�-@I�-@i�-@��=2�<M=6=Y�E���QUE�>��A��I�aM�G��I��Qy�U(Ǻ}U�>I�Y��e�:��]�5�?��e�:��]v�߾� �]�M?��m�?9�]��A��](; �]4;)�]��:�m�uAdded new target pos. range: 68.580002 m, bearing: 289.300859 deg, deltaT: 4.420171 s, approachRate: 0.095019 m/s, LOS rate: -2.941720 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����%Q@U�����|]�?zL��L��L��L��4_@�A��иB� B��A���>*B��f9�A�A��7�A��A"C 2��*C RCC�CY���L9I� G5O>���nA���mA�9�I�$tGi�o�@��=������h�; ���E)�͇z�CI�͇z�Ci�ɇ��͇=��͇=��͇t@5I�� )�� AA���>j,R)��E�Aɫ�髩)�� ��I��Y��A�@y��zG����X9��v��?k�t���<�O��n�������=��� �� ��t�)��I��y������������&1�������Mb`�����������P����� ���A)��AI���Ai���A��������%��MM=Y� ���QU �>�� ���a�G����y����}�>Iȡ�ť� 5�?�ť��߾� ƥ�M?����?9ƥ��A�ǥ��; ȥ��;)ȡ�W1�W1X1 X1�W1:WY2WY*WY�VaUaUe��� kF�?zL�Q=�L�Q=�L��˖@�L�P�Y@�A�DZ1�B� B��A��>*B8e9�A�At�7�A��A"C-5��*C)RC1C1�CQ��eR>��eG>Y�QI�aG�Y>��� ������ ������ ������ ��� �� 'o:Y�� ]1y�� �:��� �6�g��>j,C��E�A�|&�;�|&�;Y}R?�@�}R��@y}R�����}R4*��}RH������s�?���`?��?�����]�?���������� �e�?����rH�?���`��?�����@���������?)~R?�@ ~R��_;I~R��Cɫy�y)�y �}����I�yY��[�@y��1zG��G<M�P=Y�)��QU��>�����a��G������y����;}��>I�����@5�?����߾� ���M?����?9��ַA���ͫ; ���;)���Wq�WyXy X��W�:W)2W)*W)�V)U1U5���`��?zLi�Li�Li�Lma�Y@�A�4���B� B��A���>*B�@h9�A��A�(�7�A���A�"C�4��*C�RC�C��C�Yϥ�N9I��G�B>����>j,��\��E�AY}>��@�}>� �@y}>�lj��}>{�&��}>H������x�?�������?�����?���`������@4k�?���`�W�?�����8�?����vϤ���� ��?)~>��@ ~>:�_;I~>��CɫQ�Q)�Q �QI�Qܙ9ܙIܝ�tGiܝ��@�ܙ�ܙ�ܙ�ܝq�; ݝ��EY���@y���yG�õ��=�õ���õ���iõG�@�ñ ĵO�@)ĵO�@IĵO�@iĵO�@���ԣ�M�I=Y��&3�QU��>�������a��G������y���S:}��>I������:����5�?����:���X�߾� ���M?����?9����A�����: ����:)����:�W�WX X�W:W2W*W�VUU����X��?zL9�L9�L9�L=��Y@�AU@~��BQ BQ�AUi�>*BU�h9�AY�A]��7�A]��AY"Ce3��*CiRCqCq�C�i���lGI�ii������Q�ٺ�����EAYϽO9I��G�G>��� i�� ��� :����� ������ ������ ��� �� B�:Y�� d\1y�� ��:��� �6)�� ��;�9� ��X�>j,��v��E�AY}2p�@�}2)$�@y}2ܧ���}2���}2H�������?��� ���?���@�~�?���`������`�r�?������?�������?���� n���������?)~2p�@ ~2&)`;I~2��CɫQ�Y)�Y �]����I�YY����@y��~zG����=i���=��5?(=M5T=Y�5���QU=�>��9��9�a=�G��9��Ay�E}�:}E�>I�Q��U�5�?��U��߾� �U�M?��]�?9�U)�A��UY�: �Uʽ:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����\�@zL)�L)�L)�L-��Y@�AE�='�BA BA�AE��>*Bm�h9�Ai�Am��7�Amغ�Ai"Cu2��*CqRCqCy�CyíI̅nAY�e<Q9I�qG�>����>j,�����E�AY}21�@�}2�)�@y}2?ΐ��}2Y���}2H����໊�?���`���?����O��?���`O�������~�?�����?��� ��?����hp������g��?)~21�@ ~2�`;I~2��Cɫ9�9)�9 �=����I�9Y����@y���zG��u�>��u33>��u�L�i�u�@��q �u@)�u��@I�u��@i�u@����<M�E=Y��s�QU��>�����a��G����y��:}��>Iȡ����:�ť=5�?����:�ť��߾� ƥ�M?����?9ƥT�A�ǥ�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����YX@zL�L�L�L��Y@�A� ;P�B� B��A�#�>*B�$i9�A��A�Q�7�A�Yغ�A�"C�5��*C�RC�C��C�Yϥ`Q9I��G�%>�ٙ�ٝ�<ܡ9ܡIܡiܡ�ܥ=�ܡ�ܡ�ܥY�; ݥ��E��� I����� ������ ������ >�� �� E�:Y�� [1y�� ݏ:��� �%6)�� �<�"�>j,����E�AY}:��@�}:t,�@y}:� ���}:�2��}:H��������?���@<��?����5r�?�����������A��?�������?��� ��?�����D������h��?)~:��@ ~:Oza;I~:��Cɫ9�9)�9 �=����I�9Y�}f�@y�}?zG��������m��G�z�?<�O��n���~j�t�h���m�p>��mt�� �m�D�)�iI�iy�m��������?#��~j���:��v������m��<��m㥽��m�T� �mlA)�iI�m� Ai�i��i��i����M�J=Y��κQU��>�����a��G����y��H:}��>Iȡ�ť��5�?�ť��߾� ƥ�L?����?9ƥ��A�ǥ; ; ȥ;)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL ��=�L ��=�L M`�@�L �m@�A_z�B! B!�A%E�>*B%�h9�A!�A%�7�A-�غ�A)"C54��*C1RC1C1�C9Y�%}S9I�1GU2>I�� AA)�� @A�� �>j,�Y���E�AY}2��@�}2F,�@y}2�*���}2�U��}2H�����/��?�������?���`:�?����������w��?���@p�?������?�����h�����`���?)~2��@ ~2�_a;I~0ɫY�Y)�Y �]����I�YY����@y��hzG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A�� �� mA��+<MR=Y����QU%�>��!��)�a-�G��)��1y�E k�}E�>I���-�:��>�5�?����:�� �߾� ��K?����?9��A��-f< ��`<)���:�W!�W!X! X!�W1:W12W9*W9�VAUAUm����4 @zL��L��L��L��m@�A��^��B� B��A�Z�>*B��e9�A�A��7�A ٺ�A "C3��*CRCC�C!��UG>��UY>Y�5�S9I�IGew>��� l����� ������ ������ ��� �� �y:Y�� <`1y�� 8�:��� �6�9� @��3�>j,�4���E�AY}6��@�}6o+�@y}6����}6a&(��}6H����`���?����-��?����\��?���������� &~�?���@��?�����?����E����� ���?)~6��@ ~6KEa;I~4�A9�AI�EPuGi�Ec�@��E=��A��A��EP�; �E��EɫY�Y)�Y �]����I�YY����@y���zG�xDUSBL response received:!U1,P FA6,000,006E8,187,80,80,78,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 �Å��=�Å�u��ÅٽiÅp�@�Á ā)ą@Ią@ią��@���w�<M�0=Y��NH�QU��>����)�a-�G��)��1y�=�d�}E�>I�Q��U��5�?��U-�߾� �UvJ?����?9�U1�A��U=< �U�A<)�Q�W��WX X�Wy:W�2W�*W��V�U�U�����S� @zL��L��L��L���l@�A��ڧ�B� B��A�K�>*Bwh9�A�A��7�A|ٺ�A"C 2��*C RC C�CY��U9I�IGmx>��^�>j,����E�AY}N�@�}N� �@y}N6맼�}N�2��}NH����`�x�?���`?��?������?����;����� �g�?���@�?���`��?���`�S������{��?)~N�@ ~N~�a;I~N��Cɫy�y)�y �}����I�yY���@y��{G鮹ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��m�P<M�f=Y�9E�QU��>�����a��G����y��q�}��>Iȩ����:�ŭg�5�?����:�ŭ�߾� ƭ�I?����?9ƭn�A�ǭ��: ȭ+�:)ȭ��:�W!�W!X! X!�W!:W!2W)*WI�VIUQUU����1@zL��L��L��L�Y�l@�A�ߜ��B� B��A���>*B��o9�A��A�H�7�A��ٺ�A�"C�5��*C�RC�C��C�YϡI��G�$>��� �=i�� =��� ������ ������ ������ �� �� �:Y�� �]1y�� ��:��� M!6��E?j,����E�AY}2��@�}2z�@y}2AT���}2:+��}2H������b�?���@���?�������?���� ����� OR�?���@5ß?���� ��?����td�����@��?)~2��@ ~2��a;I~2��CɫY�Y)�Y �]����I�YY����@y���zG�xDUSBL response received:!U1,R,FCE,000,006F1,185,80,80,5C,FF �Fpublishing direction and range info���¸2=���ɰ��>鰥+�> ��)����BI��y��=�B�������3��?����GU�?��������ٱ�����=i���=)���= ���=�������\�=��;i�̬@�� ���@)���@I���@i���%HؼM%P=Y�%-��QU-�>��)��)�a-�G��)��1y�=Ch�}=�>I�A��E�5�?��E�߾� �E�H?��M�?9�E��A��E��: �En�:)�A�W1�W1XI XI�WQ:WQ2WQ*WQ�VQUYU]������@�Pi*Qm=�B�Zm��?�ExCQ@��z��@���������Zm����3��?����GU�?��������2Qm¸2=:Qi�Zm��Æ�ޗ4@�n�Q�}P��Ip�9�?�Zm�f"�;\�?�5��c���UJ��?BQm�z�@ Qm��Qm��A�PmV�9?�Pm\�9?�Pmr���Qmp���Qm9�@"Qm��@zL��L��L��L�#�l@�A��\ӻB� B��A�I�>*B��i9�A��A��7�A�aں�A�"C�4��*C�RC�C��C�i�I�mAY��W9I�YG�e>�E^�>9�AI�E�uGi�E��@��E=��A��A��Em�; �E��E��o ?j,��+��E�AY}5���@�}5��@y}5�鰼�}5���}5H������Q�?������?������?����?�������B�?����aG�?������?���@n������0��?)~5���@ ~5�b;I~5��Cɫ�髑)�� ������I��Y��&�@y��,{G�]dNmea in: $SNTTA,0.062890,0.370377,,,165512.05*5D �� �)\���(�?y�&1�|?ˡE������� Ga=�� `�; � �'�)� I� y� �:��v���?�V-��{�G�z���� �T=�� h���� �#� � � A)� I� �Ai� �A�� �� �A��-l�<M--=Y�5���QU5�>��1��9�a=�G��9��9y�ES�}E�>I������:�����5�?����:�����߾� ���G?����?9���A����); ��J0;)����:�m�uAdded new target pos. range: 69.120003 m, bearing: 287.336879 deg, deltaT: 4.454681 s, approachRate: 0.121221 m/s, LOS rate: -0.440880 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �GQ@U�������?zL=e�=�L=e�=�L=]�@�L=���@�A���B� B��A�N�>*B��f9�A��A���7�A�ۺ�A�"C�3��*C�RC�C��C�Y��"X9I� G% �>��� , ����� ������ ������ ��� �� ~�:Y�� �Y1y�� �:��� �6�HW?j,ӟE��E�AY}:���@�}:S�@y}:g����}:+] ��}:H�����4O�?����N��?����GJ�?����c������vA�?�����L�?������?�����������@��?)~:���@ ~:�Ib;I~:��Cɫ9�9)�A �E����I�AY����@y��~zG��5-2>��5"�=��5�ļi�5��@��1 �5 �@)�1I�1i�5��@��E�;�MEZ=Y�M#�QUM�>��Q��Q�aU�G��Q��Yy�]�̹}]�>I�a��e�5�?��eS�߾� �efG?��u�?9�eK�A��eP; �e�;)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����k�?zL��L��L��L����@�A�O���B� B��A���>*B�o9�A��A���7�A��ۺ�A�"C�2��*C�RC�C��C�Y�!I�9GU2>I�� )�� �z�?j,s_��E�AY}:��@�}:��@y}:b-���}: /��}:H�����H_�?�������?����sÚ?���������`�Q�?������?�����?����������`8��?)~:��@ ~:�\b;I~8�z_�>9�zy�CI�xi�x��z=��x��x��z��; �z��E)�q�I�q�i�q���u�=��u�=��u�\�5ɫ9�9)�9 �=����I�9Y�}V�@y�}g{GI��)���A������nA��u3z=MuY=Y�}^!�QU}�>��y��y�a��G����y�b1;}��>Iȑ�ŕL�5�?�ŕ��߾� ƕ�F?����?9ƕ��A�Ǖ�: ȕ@�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� �?zL �L �L �L v�@�A= �B9 B9�AMP�>*BMum9�AQ�AUJ�7�AU1ܺ�AQ"C]5��*CYRCYCY�CaY�E?Z9I�aG�8>������������������� ��]:Y��[1y�H�:���6)���;�9 ��a�?j,�Yy��E�AY}B��@�}Bz�@y}Bo�ȼ�}B9���}BH����`�u�?����+��?���� J�?���������� g�?������?������?������������~��?)~B��@ ~BQ]b;I~B��CɫY�Y)�Y �]����I�YY��1�@y��9{G��5�:�M=N=Y�=f+�QU=�>��A��A�aE�G��A��Ay�M,n;}M�>Iȡ����:�ťf�5�?����:�ť[�߾� ƥ"F?����?9ƥٺA�ǥ �: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����d��?zL�L�L�L��@�A���B B�A��>*Bl9�A!�A%�7�A%�ܺ�A!"C-4��*C)RC)C1�C1YρI��G�>>�Γ$?j,�2���E�AY}2$�@�}2�1�@y}2"*ͼ�}2\���}2H����@N��?�������?�������?���������`��?��� )��?�������?������������/��?)~2$�@ ~2�a;I~2��CɫI�I)�I �M����I�IY�}V�@y�}g{G��-�M>��-��=��-S�=i�-\�@��) �-��@)�)I�)i�-��@��E�6<MEJ=Y�Eб�QUE�>��I��I�aM�G��I��Qy�Uش;}U�>I�Y��]��5�?��]��߾� �]�E?��m�?9�]!�A��]0�: �]^�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zLQ�LQ�LQ�LU3"�@�Am5L!�Bi Bq�AuP�>*Bu�k9�Ay�A}��7�A}�ݺ�Ay"C�3��*C�RC�C��C�Yϥ;[9I�GeU>��9��I��vGi���@���=���RD����D�����; ����E��=�>��=��Ci��I��fpAi������N�ٺ�fpA���"BA��� =i�� �=��� � ����� ������ ������ ��� �� �Y:Y�� xZ1y�� q�:��� �6)�� s�;���*?j,V���E�AY}B5�@�}B9C�@y}Ba�ϼ�}B/��}BH���� ��?���@��?����x��?����l����� 9��?���@^=�?����U��?�����ߥ��������?)~B5�@ ~B<-a;I~B��CɫY�Y)�Y �YI�YY��m�@y���{G���>i��=������ �rh�?<�O��n��<�O��n�?���C�<���t�� ��t<)��I��y�������Mb`?��ʡE���/�$��?���;����������< �A)�AI�AiA������ A)���= �������;M�B=Y��iA�QU��>�������a��G������y��ڤ;}��>I������:�����5�?����:���e�߾� ��*H?����?9��c�A�����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����;~@zL���=�L���=�L����@�L��([@�A{�,�B B!�A%��>*B%�k9�A!�A%��7�A%��AI"CM2��*CQRCQCQ�CQi�YI�YY�]�\9I�qG�[>�ƥ1?j,����E�AY}:dD�@�}:R�@y}:sfѼ�}:��3��}:H��������?�������?����=�?����z�����@!��?����7��?����,�?��� w������n��?)~:dD�@ ~:ݽ`;I~:��CɫY�a)�a �iI�iY����@y���{G������AA���`e<���,�����y�i��@��� ��@)��@I��@i��@���OG<M�H=Y����QU��>�������a��G�����y��;} �>I� �� r�5�?�� ��߾� � �J?���?9� ��A�� ϸ: � ��:)� �W9�W9X9 XA�WA:WA2WA*WA�VAUIUM������@�RUB*** querying acoustic contact ***�PY�PYzL��L��L��L�E[@�A�Q8�B� B��A�?�>*B�Tn9�A��A�p�7�A�wߺ�A�"C�5��*C�RC�C��C�Y��I��G*>��� � ����� ������ ������ 6�� �� ��:Y�� �[1y�� H�:��� �$6�9� @���7?j,]����E�AY}25O�@�}2�\�@y}2�LҼ�}2 -��}2H�����t��?������?���@�c�?����������@���?�����b�?�����H�?���������������?)~25O�@ ~2��`;I~2��C�D9�DI�Di�D��F=��D��D��F��; �F��EɫY�Y)�Y �]����I�YY��5�@y��>{G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����M[=Y� J��QU �>�� �� �a�G����y�Hg;}%�>I�!��5�:��%$�5�?��5�:��%V�߾� �% M?��=�?9�%ܻA��%�'; �%�(;)�%��:�W�WX X�W:W2W *W �V U)U5���`W� @zLi�Li�Li�Lm�Z[@�A�F�C�B� B��A�;�>*B��l9�A��A�4�7�A�e��A�"C�4��*C�RC�C��C�YϽ�\9I��G�F>I�� )�� ��=?j,�����E�AY}2TQ�@�}2_�@y}23�Լ�}2Æ��}2H��������?�������?���@�k�?��������������?��� ��?��� C��?���`�������`��?)~2TQ�@ ~2�`;I~0ɫ9�9)�9 �=����I�AY�� �@y��{G�xDUSBL response received:!U1,P FCE,000,006F1,185,80,80,5C,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����mA��-�Y�M5H=Y�E�-�QUE�>��Y��a�am�G��i��yy�R":}��>Iȱ�ŵ��5�?�ŵ��߾� Ƶ�O?����?9Ƶ�A�ǵ��< ȵ;�<)ȱ�WY�WaXa Xa�W�:W�2W�*W��V�U�U������u @zL��L��L��L��^[@�A���N�B� B��A�t�>*B�h9�A��A��7�A����A�"C�3��*C�RC�C��C��C>��)>Y�5�^9I�AG]�>��� x����� ������ ������ �� �� �:Y�� ]1y�� �:��� �<6���D?j,xz��E�AY}:�M�@�}:i[�@y}:��ݼ�}:3���}:H����`\��?����J��?����.��?���`������@���?���`Ue�?���@b��?����9�����@M��?)~:�M�@ ~:8�a;I~:��Cɫ9�9)�9 �=����I�AY�}�@y�}{G鮅p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���,>���$?���E�=i��Q�@��� �� �@)����@I����@i����@���Y ;M�?=Y��Q*�QU��>�������a��G������y��j��}��>I�����5�?��Y�߾� �+R?�� �?9�_�A��W; ��;)��WQ�WQXY XY�WY:WY2WY*Wa�VaUaUe����H(@zL��L��L��L� R[@�A]�6Z�Ba B��A��>*B�7p9�A��A���7�A�t��A�"C�2��*C�RC�C��C I��G�F>��}mA��y܁9܁I܁i܁�܅=�܁�܁�܅��; ݅��E��K?j,aU.��E�AY}2�C�@�}2�Q�@y}2x�伙}2a1��}2H�����$��?����H��?���@���?����"������,��?����l��?�������?����Qc���������?)~2�C�@ ~2�7b;I~0ɫ9�9)�9 �=����I�AY�}#�@y�}'{G�xDUSBL response received:!U1,R,EE1,000,006F2,186,80,80,A5,FF �Fpublishing direction and range info����;�>���ɰ��>鰅��> ��)���%CI��y��\�B�����̃wh��?e��^��?��������ٱ���-����(\��?��ʡE��?y�&1�����-z>��-�> �-`e�)�)I�)y�-��I+��?����Mb���~j�t�����-9�<��-����-�D� �-� A)�-�AI�-7 Ai�-�A��)��-fA��E��;MMU=Y�M��QUM�>��Q��Q�aU�G��Q��Yy�]�N�}]�>I�a��m�:��e-�5�?��m�:��e-�߾� �eGQ?��u�?9�e��A��e�: �es�:)�e��:�W1�W1X1 X1�W1:W92W9*W9�V9U9UE����Y�@�Pq*Qu\�B�Zu�t# �a�P@Dl��X%1@���������Zu��̃wh��?e��^��?��������2Qu�;�>:Qq�Zu����VA@�!� N�~�Ow��?�Zu�������?���/��뿈��u��?BQu8T�@ Qu�p�Qu�B�Puy�9?�PuV�9?�Pui���Qur���Qu\�@"Qu9�@zL�Ì=�L�Ì=�L�;d�@�L��ho@�A�~e�B� B��A��>*B��k9�A��A��7�A����A�"C�5��*C�RC�C�CI�9Gu>��� �=i�� p=��� P����� ������ ������ ��� �� rw:Y�� (b1y�� z�:��� '.6�v�Q?j,�?H��E�AY} :=�@�} �J�@y} �~꼙} =���} H�����n��?���`���?�������?�����������r��?���@`�?�����N�?����k���������?)~ :=�@ ~ 3�a;I~ ��CɫI�I)�I �U����I�QY���@y���zG��DNmea in: $SNTTA,,,,,165516.49*53 ����=i���=)��= ��=��]�v>��]��<��]�i�]��@��Y �]?�@)�]��@I�]��@i�]��@��m��Mm9=Y�uɺQUu�>��q��y�a}�G��y��yy���}��>Iȉ�ō�5�?�ō"�߾� ƍCP?����?9ƍҼA�Ǎ��: ȍӻ:)ȉ�m�qAdded new target pos. range: 69.180008 m, bearing: 299.601385 deg, deltaT: 4.444968 s, approachRate: 0.013500 m/s, LOS rate: 2.759189 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�KQ@U�����~��?zL��L��L��L��[o@�A ��p�B B �A ��>*B Kk9�A�AD�7�A���A"C4��*CRCC�C!I�9GU>��X?j,Ib��E�A�9�I�|vGi�W�@����������; ���EY}Br8�@�}B,F�@y}B+�}B�V��}BH����`��?���`���?��� ���?��������������?���೮�?������?����X磿����I��?)~Br8�@ ~B�a;I~@ɫQ�Y)�Y �]����I�YY����@y���zG����M�W=Y���QU��>�����a��G�����y���ɺ}��>I������:���F�5�?����:�����߾� ��fO?����?9���A���(�: ��4�:)����:�W��W�X� X�W:W2W*W�V U U�����z�?zL��L��L��L��Qo@�A�Ʋ{�B� B��A���>*B��j9�A��A���7�A����A�"C�3��*C�RC�C��C�I�1GM>��� <����� ������ ������ ��� �� oa:Y�� �[1y�� H�:��� �6)�� ��;�9� ��*H^?j,�{��E�AY}:C3�@�}:�@�@y}:|K�}:����}:H���� ��?���`��?������?���������@x��?�����ѣ?��� NH�?���`�������1��?)~:C3�@ ~:�%`;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�zG��=(�<M=R=Y�E&6�QUE�>��A��A�aM�G��I��Iy�Ufպ}U�>I�Y��]m�5�?��]��߾� �]�N?��e�?9�]=�A��]+�: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����`H��?zL��L��L��L��Go@�A�V~��B� B��A��>*B��m9�A��A���7�A�$��A�"C�2��*C�RC�C��C�i����I��������������I�GEr>I�� @A)�� AA��/e?j,��E�AY}6x5�@�}62C�@y}66[�}6�3��}6H����@T��?�������?���@�7�?���@|��������?����S֣?����Aj�?����ã����`G��?)~6x5�@ ~6y`;I~6��CɫY�Y)�Y �]����I�YY��^�@y��p{GI��)����Uh>��U�y=��U/]�i�U��@��Q �Uٮ@)�Uٮ@I�Uٮ@i�Uٮ@���=M�E=Y�~��QU��>�����a��G����y���(:}��>I������:���q�5�?����:�����߾� ���M?����?9��x�A�����: ����:)����:�W��W�X� X��W�:W�2W*W�VUU�������?zLQ�LQ�LQ�LU�Lo@�A��*��B� B��A���>*B�3l9�A��A���7�A����A�"C�5��*C�RC�C��CI�qG�:>�����19�1I�5vGi�5�@��5=��1��1��5��; �5��E)�Ņy�CI�Ņy�Ci�����Ņ=��Ņ=��Ņ��5��� � ����� ��� ��� $�� �� �?:Y�� y�� ��� �6)�� ښ;�%Zk?j,A����E�AY}2�<�@�}2]J�@y}2>����}2ɥ��}2H�������?������?����?�����������b��?�����ӣ?����ٽ�?��� d�����@���?)~2�<�@ ~2Zqa;I~0ɫY�Y)�Y �YI�YY�}��@y�}�zG��m��G�z�?����Mb������������m�p>��m� �m�̼)�iI�iy�m�/�$��?�V-���~j�t��?��m�<��mh����m��< �mQ A)�m�AI�m� Ai�i��i��m=A��$<�M�K=Y��O�QU��>�����a��G����y�;}��>Iȩ�ŭX�5�?�ŭ��߾� ƭ\P?����?9ƭ��A�ǭU�: ȭ�:)ȩ�WQ�WQXQ XY�WY:WY2WY*WY�VaUaUe���`b%�@zL�f�=�L�f�=�L����@�L�Dl@�A�̹��B� B��A�I�>*B�k9�A��A�D�7�A����A�"C�4��*C�RC�C��C�I�IG�>�/Ir?j,p����E�AY}ZH�@�}V�@y}##���}Im��}H����`���?��� ��?������?���`\��������?���` ��?����)#�?���`Zʢ��������?)~ZH�@ ~.b;I~��Cɫ!�))�) �-����I�)Y�e�@y�e{G���=�������t�i�̬@�� ���@)���@I���@i���@��U �<MU==Y�Uk�QU]�>��Y��Y�a]�G��a��ay�mGY;}m�>I�i��u�:��m�5�?��}�:��mx�߾� �m]S?��}�?9�m��A��m�: �mH�:)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U�����Px@zL��L��L��L��l@�A�| ��B� B��A���>*B��k9�A��A� �7�A�k��A�"C�3��*C�RC�C��C�I�G->��� �=i�� �=��� � ����� ������ ������ �� �� �V:Y�� d\1y�� ��:��� O6�9� @�9�x�CI�i��� =��������; �ʒE�Alx?j,�S���E�AY}B�R�@�}B�`�@y}B�W���}B���}BH����@���?�������?����Eٝ?����o���������?����:��?���@�ɟ?�����ԣ��������?)~B�R�@ ~B�/b;I~B��Ci��mGI�% qAi�9ɫi�i)�i �iI�i��}�X�ٺ} qA��}2LAY����@y���zG���������i���=���8Q�M�g=Y��;�QU��>�������a��G������y��m;}��>I�����:�5�?���9�߾� ���U?���?9��)�A�����: �� �:)���WA�WAXA XA�WI:WI2WI*WI�VIUQUu��� ;]@�R}B*** querying acoustic contact ***�Py�PyzL��L��L��L�m*l@�A�fS��B� B��A�^�>*B�n9�A��A���7�A����A�"C�2��*C�RC�C��C�I�1G��=�K�~?j,�.���E�A�|i|�@Y}6�^�@�}6�l�@y}6�J��}68�*��}6H����� �?������?���`89�?�������������?���`�\�?���@�H�?���`/Q���������?)~6�^�@ ~6�b;I~6��CɫY�Y)�Y �]����I�YY��H�@y��zG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��iB�MH=Y� ��QU �>�� ���a�G����y�%�l;}%�>I�)��-�5�?��-�߾� �-�X?��=�?9�-f�A��-�; �-+;)�)�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUiUu����ޗ @zLi�Li�Li�Lm�Al@�A}�T��B� B��A�k�>*B��h9�A��A�}�7�A�d��A�"C�5��*C�RC�C��C�I��G >��� ������ ������ ������ ��� �� �l:Y�� �Y1y�� �:��� �6�4~�?j, ��E�AY}2ik�@�}2#y�@y}2���}2�1��}2H������!�?��� ]��?�����?���`������@� �?���`$�?������?���`r5����� ���?)~2ik�@ ~2n�a;I~2��CɫY�Y)�Y �]����I�YY����@y��hzG�xDUSBL response received:!U1,P EE1,000,006F2,186,80,80,A5,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 ��n>���B>���=i���@�� �?�@)�@I�@i�@����~<M�%=Y��кQU��>�������a��G������y���I;}��>I��� �:��{�5�?���:��,�߾� �G\?���?9���A����: �{�:)���:�WQ�WaXa Xa�Wa:Wa2Wi*Wi�ViUiUm����<� @zL��L��L��L��Wl@���nA���nA��9��I��i�����"=�����������; ���A|��B B �A Z�>*B;g9�A�AH�7�A?��A9"CE4��*CIRCICI�CQY�U&a9I�iG��>I�� )�� �N��?j,�0��E�AY}2�s�@�}2���@y}2����}2#/��}2H����`/2�?����T��?����?����������5�?���@�9�?���`���?�����ߥ����@��?)~2�s�@ ~2m0a;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�zG鮁ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)���A����y�&1��?�"��~j���~j�t������`�=���S� ���ļ)��I��y�������Mb��y�&1���{�G�zt��������`e����ף� ��)���AI��i��������fA����nA����<Mk=Y�]ںQU�?��!��!�a%�G��!��!y�-�B;}-�?I�1��5��5�?��5Q�߾� �5\?��=�?9�5ؾA��5: �5:)�1�Wi�WqXq Xq�Wq:Wy2Wy*Wy�VyU�U�����N+@zL5�h=�L5�h=�L5xA�@�L5�Q@�Am3r��Bi Bq�AuI�>*Bu{n9�Aq�Au��7�A}���Ay"C�3��*C�RC�C��C�I��G*>��� 6����� ��� ��� ��� �� _u:Y�� y�� ��� �6����?j,#�J��E�A�|8�|8Y}V�v�@�}V���@y}V)���}V� ��}VH������7�?���@t��?���@[�?����7����� |"�?����sҥ?�����?��� ��������/��?)~V�v�@ ~V3�a;I~V��Cɫ�髉)�� ������I��Y��A�@y��zG�xDUSBL response received:!U1,R,ED4,000,006F5,186,80,80,92,FF �Fpublishing direction and range info���� �>���ɰ��>�� ��)���CI��y����B������EF���?�V!�}��?��������ٱ�%8Not Powering down - fast GPS�) �-����)�-����I�)i�)i�-������-������-����ɶ-�����5���� �5����)�5����I�5����i�5������5������5����ɷ5������%��>��% ����%\��i�%�@��! �%n�@)�%n�@I�%��@i�%��@������M�=Y�����QU��>�����a�G���� y�-�3:}5�>I�9��E�:��=N�5�?��E�:��=��߾� �=�[?��E�?9�=�A��=��: �=7�;)�=��:�W��W�X� X��W�:W�2W�*W��V�U�U����@F`@�P�*Q���B�Z���悍ȿP@��9��1@���������Z����EF���?�V!�}��?��������2Q�� �>:Q��Z����\K�A@u��9�M��HXkm��?�Z��U� J�?o^ ���V����?BQ�*�@ Q��n�Q�: B�P�{�9?�P�y�9?�P�h���Q�i���Q�T�@"Q�\�@zLi �Li �Li �Lm юQ@�A� ����B� B� �A� ��>*B� �b9�A� �A� ��7�A� ���A� "C� 2��*C� RC� C� �C� I�� G��>ܹ9ܹIܽ�uGiܽ��@�ܹ�ܹ�ܹ�ܽ��; ݽ��E����?j,�d��E�AY}{x�@�}5��@y}���}h��}H�����;�?�������?���@���?�����������J(�?����X*�?������?����� �����@m��?)~{x�@ ~I�a;I~��Cɫ�)� �����I�Y�-6�@y�-zG��TNmea in: $SNTTA,0.104139,,,,165520.94*46 ���n��M��=Y��4i:QU�?�������a��G������y�e':}e?I�����5�?����߾� �S[?�� �?9�=�A��Y�: ��:)��m�qAdded new target pos. range: 69.360001 m, bearing: 300.608155 deg, deltaT: 4.612130 s, approachRate: 0.039026 m/s, LOS rate: 0.218287 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@ WQ@U���� }>�?zLA�LA�LA�LEK�Q@�A]A���Ba Ba�AeB�>*Bmn9�A��A�z�7�A�����A�"C�5��*CRCC�CI��GE �>��� _����� ��� ��� h�� �� :d:Y�� y�� ��� L*6)�� h�;�9� ��(�?j,Xu~��E�AY}:Vx�@�}:��@y}:J���}:�� ��}:H������:�?��� *��?����NK�?���������� )�?���@rݤ?�����Ԡ?����O����� ���?)~:Vx�@ ~:�b;I~:��Cɫ9�9)�9 �=����I�AY�] �@y�]�yG����=i���=)���= ���=��el�M%m=Y�%�!:QU%?��)��)�a-�G��)��Qy�]T�}]�?I�a��m�:��e<�5�?��m�:��e��߾� �e [?��u�?9�eb�A��e� < �eY!<)�e��:�W�WX X�W:W2W*W!�V!U!U%��� �*�?zL��L��L��L�b�Q@�A�*���B� B��A���>*B��q9�A��A��7�A�����A�"C�4��*C�RC�C�CI�G= >��ͥ?j,W���E�AY}6z�@�}6ʇ�@y}6���}6����}6H����`/>�?����c��?����Ù?���`������@�+�?����e��?�������?����C������`���?)~6z�@ ~6�a;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�yG��et�>��e/�<��e�#>i�e��@��a �e@)�e@I�e@i�e��@���#�M�5=Y���:QU��>������a��G��)��)y�5��9}5�>I�9��= �5�?��=�߾� �=�Z?��E�?9�=��A��=z�: �=��:)�9�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUqU}�����>�?zL��L��L��L���Q@�A��y��B� B��A�f�>*B��f9�A��A���7�A�����A�"C�3��*C�RC�C��C�i��I���������١�٥�<ܭ^�>9ܩIܩiܩ�ܭ$=�ܩ�ܩ�ܭ��; ݭ��EI��G��>��� e ����� ������ ������ }�� �� JP:Y�� 0Y1y�� ��:��� 6)�� /�;�i��?j,�,���E�AY}61��@�}6덟@y}6���}6�O��}6H����@ J�?��� ���?��� ��?��� !�������5�?���@��?�����A�?����*����������?)~61��@ ~6�ra;I~4ɫ9�9)�9 �=����I�9Y�}��@y�}�yG��m�@5^�I�?��������{�G�z����mb�>��m�̽ �mף�)�iI�iy�m�����MbP�sh��|?�����Q��?��m����m�����m�u< �m�A)�iI�ii�m�A��i��m\A��Q�M�]=Y���:QU��>�����a�G����!y�%�;}-�>I�Q��]�:��U��5�?��e�:��Ut�߾� �Uf\?��e�?9�UA��U�; �U�;)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U ���`�y�?zL%��=�L%��=�L%2i�@�L%SZY@�A]����BY BY�A]ȧ>*B]�h9�Aa�Aet�7�Ae����Aa"C�2��*C�RC�C��C�I��G (>I�� )�� @A�\?j, ���E�AY}6愧@�}6���@y}6%���}6�)��}6H�����S�?�������?�������?������������<�?���@�z�?��� N\�?����i3�����`���?)~6愧@ ~6�a;I~4ɫ9�9)�9 �9I�9Y��j�@y�� yGI��)���� mA�� ��U�=��U�J>��U-��i�U@��Q �U��@)�U��@I�U��@i�U��@��e`��MeM=Y�m��QUm�>��i��i�am�G��q��qy�}:�:}}�>Iȁ�Ņ��5�?�Ņ��߾� ƅ,^?����?9ƅ�A�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������C�?zL��L��L��L�4aY@�A���ļB� B��A���>*B�}i9�A��A��7�A�C���A�"C�5��*C�RC�C��C�I��G>��� � ����� ������ ������ ~�� �� ?:Y�� P^1y�� ��:��� <6�9� @ܡ9ܥw�CIܥPuGiܥc�@�ܥ(=�ܡ�ܡ�ܥx�; ݥ��E)���x�CI���x�Ci�������"=����#=�����+6�n�?j,����E�A�|�|Y}V�@�}V���@y}V]���}V��,��}VH�����:j�?���@���?�����P�?��� |������)S�?����2��?�����v�?���`��������w��?)~V�@ ~V�z`;I~V��Cɫy�y)�y �}����I�yY��E�@y���xG��-V:�M5N=Y�5l�QU=�>��9��9�a=�G��9��Ay�Er;}E�>I�I��MS�5�?��M\�߾� �M `?��]�?9�MY�A��M��: �M��:)�I�Wy�WyXy X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�xY@�A���ȼB� B��A�7�>*B��f9�A��A���7�A�-���A�"C�4��*C�RC�C��C�I��G �=�y2�?j,ӽ���E�AY}2_��@�}2��@y}2^���}2D�&��}2H�����*��?���`���?���@� �?��� N����� j�?����奥?���` ��?��� �֤���� ���?)~2_��@ ~2[W`;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}2yG������@A����<M�T=Y��'�QU��>�����a��G����y�em;}��>Iȹ����:�Ž��5�?����:�Ž��߾����tI ƽ�a?����?9ƽ��A�ǽh�: Ƚ2�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`n�@�RB*** querying acoustic contact ***�P�PzL�L�L�L�Y@�A5�b̼B1 B��A���>*B��h9�A��A�^�7�A� ���A�"C�3��*C�RC�C��C�I��G=�=��� i�� %=��� 1 ����� ������ ������ 6�� �� %L:Y�� �X1y�� /�:��� � 6�g�?j,1���E�AY}2F��@�}2���@y}2�x��}2����}2H��������?���`��?���`���?����������҉�?����u}�?����T��?�����գ�������?)~2F��@ ~2�ja;I~2��Cɫ9�9)�9 �=����I�AY�M$�@y�U�xGeZ****** received transponder code query ******mF****** received ping request ******u<Arming DUSBL. detectThresh: 75}8****** ping requested ******����=i���=)���= ���=��E�;��E��=��E/ݽi�E̬@��A �A)�E��@I�E��@i�E��@�� ݼM�.=Y��ƹQU��>�����a��G�����y��Y�;}��>I�������5�?���a�߾� ��d?����?9����A���'�: ���:)���W�WX) X)�W):W)2W)*W1�V1U1U5����q�@zLq�Lq�Lq�LuG�Y@�A��9мB� B��A�"�>*B��b9�A��A��7�A�<��A�"C�2��*C�RC�C��C�I��G)>�I9�Mv�CI�M�tGi�M�@��M,=��MSD��M��D��MP�; �M��E��q��qi��mGI��i����%�R�ٺ!��%�FA�hF�?j,5|3��E�AY}2��@�}2�Ο@y}2�u��}2����}2H���� ���?�������?������?����4������E��?���`^!�?���`�?���`Zע����`*��?)~2��@ ~2��b;I~2��Cɫ9�9)�9 �=����I�9Y�u/�@y�u�xG}xDUSBL response received:!U1,P ED4,000,006F5,186,80,80,92,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 ���� ףp= �?�E���Ը��I+��?���Q�=����ƽ ��94<)��I��y���y�&1��?�MbX9���� �rh�?���`e<���ʡ����C�< ��lA)��+AI���Ai���A������ A��E�A;MM2=Y�M :QUM�>��Q��Q�aU�G��Q��Qy�]�;}}�>Iȁ����:�Ņ̲5�?����:�ŅF�߾� ƅsf?����?9ƅ5�A�Dž��: ȅb�:)ȅ��:�W��W�X� X�W:W2W *W �V U U����[o@zL���=�L���=�L��h�@�L���e@�A�0ԼB B�A ԝ>*Bc9�AA�AE��7�AEt��AA"Cu5��*CyRCyCy�C�I��G�>��� ��������������z�� �VZ:Y��Y1y��:���6�c,�?j,fOM��E�AY}2�ͧ@�}2O۟@y}2�����}2 ��}2H����`���?���`���?����w�?����������D��?����_Ѥ?������?����i@������(��?)~2�ͧ@ ~2��b;I~0ɫ9�9)�9 �=����I�9Y�]��@y�]rxG�ea=ɮe=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Í���Í 0>�Í�}=iÉ�É č��@)čO�@Ič9�@ičO�@���ļM��=Y��:;QU�?�������a��G������y��K�;}�?I�����߰5�?�����߾� ��h?���?9��i�A�����: ����:)���WA�WAXA XA�WI:WI2WI*WQ�VQUQUU��� e�@zL��L��L��L���f@�A���B� B��A��>*B�Yk9�A��A�P�7�A�>��A�"C�4��*C�RC�C��CI�GU>I�� AA)�� BA�M_�>9�II�M�tGi�M��@��M.=��I��I��MQ�; �M��E��V�?j,�*g��E�AY}2=ͧ@�}2�ڟ@y}2�R���}2�j"��}2H�����W��?������?�����P�?����Q�����`���?���@͎�?���@ �?���`�I���������?)~2=ͧ@ ~2o c;I~0ɫY�Y)�Y �]����I�YY�}��@y�} xG�xDUSBL response received:!U1,R,E17,000,006FD,187,80,80,5B,FF �Fpublishing direction and range info����|�>���ɰ��>鰅1�> ��)����BI��y����B����>K]!�?W�CR}�?��������ٱ�I��)���nA�©������M�Z=Y���B;QU��>�������a��G������y��u�}��>I����5�:�����5�?��=�:�����߾� ��j?��=�?9����A����< ��<)����:�W!�W!X! X!�W!:W!2W)*W)�VIUQUU����c@�Pa*Qe��B�Ze�,��r��O@��E �<@���������Ze�>K]!�?W�CR}�?��������2Qe�|�>:Qa�Ze���c_I�F@����}J�6�e$�?�Ze�&��EX��?�֞��F��x����?BQe��@ Qe�S�Qe�5B�Pe��9?�Pe{�9?�Pe\���Qeh���Qe��@"QeT�@zL��L��L��L��f@�A�d�ڼB� B��A���>*B�`d9�A��A���7�A P��A "C3��*CRCC�C!I�YG5.>��� ��� ������ ������ ��� �� Y�� 0Y1y�� ��:��� y.6)�� ݱ;�9� ��A�?j,����E�AY}�ɧ@�}�ן@y})�}�(��}H����@���?�������?�����?�������������?���@l5�?���`�ޝ?���@q���������?)~�ɧ@ ~L�c;I~��Cɫ�)� �����I�Y�M��@y�UexG��TNmea in: $SNTTA,0.062830,,,,165525.37*4B ���y<M8=Y��(;QU�>�����a�G����!y�%}w�}%�>I�)��-��5�?��-~�߾� �-kl?��=�?9�-��A��-; �-�0;)�)�m�qAdded new target pos. range: 69.840004 m, bearing: 310.651019 deg, deltaT: 4.273802 s, approachRate: 0.112313 m/s, LOS rate: 2.349867 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������uQ@U����` ]�?zL!�L!�L!�L%6f@�A=��ݼBY BY�A]3�>*Beuc9�Aa�Ae��7�Ae���Aa"Cm2��*CiRCiCq�CqI��GI>�rh�?j,�����E�AY}B]ʧ@�}B؟@y}BVo鼙}B�Q&��}BH�������?������?���@�ȟ?��������������?�����ˣ?�����,�?�����Ƥ��������?)~B]ʧ@ ~B_�b;I~B��Cɫ�髑)�� ������I��Y����@y��7xG��M��I+��?k�t����v��/�?��M94=��M 0� �Mxi=)�II�Iy�M��� �rh�?�~j�t����� �rh�?��MC�<��M�Ľ��I �M� A)�M�AI�Ii�MEA��I��MzA�åj<>�å+�>�å�Լiå��@�á ĥ �@)ĥ��@Iĥ��@iĥ��@��[.�M�@=Y�4�:QU��>�������a��G������y��f)9}��>I������:���ڨ5�?����:�����߾� ���n?����?9��A�A���f�: ��M�:)����:�W�WX X �W :W 2W *W�VUU������?zL5��=�L5��=�L5�g�@�L5f@�A���B� B��A��>*B��f9�A��A�.�7�A����A�"C�5��*C�RC�C��C���9��I��$tGi��o�@���,=���������X�; ����EI�GM1>��� �=i�� �=��� -����� ������ ������ ��� �� =`:Y�� [1y�� ݏ:��� �6)�� ��;�@��?j,R����E�AY}2�ҧ@�}2���@y}2X�漙}2���}2H��������?������?����'�?����:�����@���?����d�?���`�Ӝ?���`gݣ����@���?)~2�ҧ@ ~2��b;I~2��Cɫ9�9)�9 �=����I�AY��B�@y���wG��i��=)�5�= �1��}s-�M}a=Y�}[u:QU��>�����a��G����y�<;}��>Iȡ�ť/�5�?�ť`�߾� ƥ�p?����?9ƥ��A�ǥ��: ȥ�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L�"$f@�A���B� B��A��>*B� e9�A��A���7�A�~��A�"C�4��*C�RC�C��C�I��G >�wz�?j,����E�A�|i|�@Y}> ۧ@�}>��@y}>D輙}>����}>H���� ��?���@��?���@mK�?���������`@��?�����>�?��� ��?�������������?)~> ۧ@ ~>�b;I~>��CɫY�Y)�Y �YI�YY��I�@y���wG��u�����u�">��u��i�u��@��q �uO�@)�u9�@I�u9�@i�uO�@���;M�I=Y��QU��>�����a��G����y�O ;}��>Iȡ�ť9�5�?�ťX�߾� ƥ�r?����?9ƥ��A�ǥ��: ȥ�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�{3f@�A*�B B�Az�>*BFc9�A�AR�7�A���A"C%3��*C!RC)C)�C)I�AG]�=��� � ����� ������ ������ ��� �� 1V:Y�� xZ1y�� q�:��� _6�9� @�9�w�CI�\sGi���@��)=��RD����@�; ��E����?j,*r���E�AY}2v�@�}20��@y}2O�㼙}2v���}2H����`��?��� ���?�������?��� ��������?���@��?��� �q�?����� �����`)��?)~2v�@ ~2��b;I~2��Cɫ9�9)�9 �=����I�9Y�}v�@y�}�vG��R��MR=Y��:QU�>��!��!�a%�G��!��)y�-W�;}-�>Iȁ����:�ŅM�5�?����:�ŅN�߾� ƅu?����?9ƅ)�A�Dž'�: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�LTf@�A���B� B��A�I�>*B�J`9�A��A���7�A� ��A"C2��*C RC C �CI�!GE�=I�� )�� AA�}��@j,@M��E�AY}6F��@�}6��@y}6~��}6k� ��}6H������)�?��� ^��?����ܥ�?������������?���`��?����ڛ?���`��������?)~6F��@ ~6�]b;I~6��Cɫ9�9)�9 �=����I�9Y�}X�@y�}}vGI��)���A������mA����M�L=Y�Z�:QU�>�����a �G�� �� y�D;}�>I���s�5�?��?�߾� �*w?��%�?9�v�A���: �:)��WI�WIXI XI�WI:WI2WI*WQ�VQUQU]�����@zLq�Lq�Lq�LuHjf@�A�J��B� B��A�o�>*B�R`9�A��A _�7�A� ��A"C5��*CRCC�C!I��G% >��� e����� ��� ��� �� �� �d:Y�� y�� ��� 6�7�@j,�&��E�AY}E���@�}Em�@y}E��ؼ�}E��)��}EH����`62�?���@���?���@6w�?���@����� ��?�������?������?��� �.�����@��?)~E���@ ~E#�a;I~Aɫq�q)�q �yI�yY����@y���vG������?A�����I+��?���Mbȿ��ʡE��?���94>����@� ����=)��I��y�����~j�t�?�p= ף��:��v���?����=���������T< �A) �AIi �A�������A����>���`�;���-��i���@��� ��n�@)��n�@I��O�@i�����е<M�.=Y����:QU��>�������a�G����y� +�:} �>I����:��o�5�?���:����߾� �+y?���?9���A����: �=�:)���:�WA�WAXA XA�WA:WI2WI*WI�VIUQUU������@�R]B*** querying acoustic contact ***�PY�PYzLu{�=�Lu{�=�Lu���@�Lu5Q}@�ى�ىܑ9ܕx�CIܕ�rGiܕ*�@�ܕ%=�ܑ�ܕ�D�ܕB�; ݕ��E)�%�v�CI�%�w�Ci�!���%�,=��%�*=��%��I6�AE�0�BA BA�AE >*BM�^9�AI�AM��7�AM��AI"Ce4��*CiRCiCi�CiI��G�A>���@j,u6��E�AY}:}��@�}:7�@y}:r�Լ�}:��*��}:H������5�?���`��?����s��?���`�������?"�?����*Ϣ?���ੜ�?�����L�����`#��?)~:}��@ ~:�a;I~:��Cɫ9�9)�9 �E����I�AY�}��@y�}�uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������M�s=Y����:QU�?�����a��G����y� :}��>Iȡ�ť�5�?�ť��߾� ƥ�z?����?9ƥ��A�ǥ�; ȥ��;)ȡ�W�WX X�W:W2W*W�V!U!U%���@� @zLa�La�La�Le�V}@�A�?q�B� B��A��r>*B��_9�A��A�q�7�A�$ ��A�"C�3��*C�RC�C��C�I� G% >��� �=i�� �=��� � ����� ������ ������ ��� �� �V:Y�� �Y1y�� �:��� 26�[�@j,��O��E�AY}2{��@�}25�@y}2�μ�}2b�"��}2H�����p=�?��� /��?���@���?����������`�+�?����+�?��� /֙?�����R���������?)~2{��@ ~2aa;I~2��CɫY�Y)�Y �YI�YY����@y��vG�xDUSBL response received:!U1,P E17,000,006FD,187,80,80,5B,FF �Command Ack�BRequesting micromodem ping code 2i��������i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )���= ��>�� �D��� �L>�� �=i� (�@�� � b�@)� O�@I� i� ��M8;MU)=Y�]U�:QU]�>��a���a��G����y���:}��>I������:���ۗ5�?����:���:�߾� ���|?����?9��=�A�����: ��]�:)����:�WY�WYXY XY�WY:W�2W�*W��V�U�U������ @zL��L��L��L�=^}@�A9X�B B�A=`t>*BE�[9�AA�AE��7�AM���AI"CU2��*CQRCQCQ�CaI��G�e>ܑ 9ܑ Iܕ 0rGiܕ ��@�ܕ =�ܑ �ܑ �ܕ ]�; ݕ �Ei�� �lGI�� fpAi�� ��=c)�ٺ=fpA��=A�4�@j,��i��E�AY}2��@�}2o�@y}2�ż�}2,���}2H���� ?O�?����9��?�����Ȝ?��������� �?�?�����-�?����@��?����o�������&��?)~2��@ ~2Y�a;I~2��Cɫ9�9)�9 �=����I�9Y����@y���uG��ɮ�4=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u&��Mun=Y�}HT;QU}?��y���a��G����y��[;}�?Iȑ�ŕo�5�?�ŕ>�߾� ƕ~?����?9ƕo�A�Ǖ��: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����@zL��L��L��L��o}@�A���B B �A [n>*B _b9�A��A�l�7�A�c��A�"C�5��*C�RC�C��C�I��G>��� ����� ��� ��� B�� �� �\:Y�� y�� ��� � 6��� @j,p����E�AY}:}�@�}:7!�@y}:fAż�}:�A��}:H����@�e�?���`��?����-��?���@������@�V�?������?�������?��� �%������y��?)~:}�@ ~:u�b;I~8ɫ9�9)�9 �9I�9Y�}��@y�}uuG�xDUSBL response received:!U1,R,E9E,000,006FF,186,80,80,BD,FF �Fpublishing direction and range info���1+�>���ɰ��>鰅��> ��)���=CI��y���B����^}��3|�?*q�Gu�?��������ٱ���D��M�X=Y�Z�8QU��>�����a��G����y��y;}��>I�����ϔ5�?���g�߾� ���?����?9����A���D�< ��&�<)���W��W�X� X��W�:W�2W�*W��V�U�U�������@�P*Q�B�Z����|�P@�0�(E5@���������Z�^}��3|�?*q�Gu�?��������2Q1+�>:Q�Z����R��C@UM0'�L� DZJ9�?�Z�7ͥ��?��c��f�wg7��?BQw�@ Q�f�QB�P��9?�P��9?�Pe���Q\���Q��@"Q��@zLY�LY�LY�L]ۅ}@�A��g�B� B��A�f>*B�?[9�A��A���7�A����A�"C�4��*C�RC�C��C�I��G*>I�� @A)�� ��'@j,Xp���E�AY}2�$�@�}2s2�@y}2G���}2�k��}2H�����݆�?�������?����&G�?����ݞ������w�?����v�?����O(�?����k������j��?)~2�$�@ ~2�zb;I~0ɫY�Y)�Y �]����I�YY��!�@y���tG�dNmea in: $SNTTA,0.425840,0.425953,,,165529.83*5A I�)�ai@a�� am@a�� aq @a�� ae @a�� �������Mb@�����Mb@�����Mb@������� ��)�����I�i������Mb@�����Mb@�����Mb@���©����� �� A)��X@I����i��A��������f�@��!��%nA��mt���mh����m\=i�m��@��i �mO�@)�iI�m9�@i�i��}�ϼM}0=Y�}g�:QU��>�����a��G����y���;}��>Iș����:�ŝҒ5�?����:�ŝ��߾� Ɲɀ?����?9Ɲ��A�ǝh�: ȝW�>)ȝ��:�m�uAdded new target pos. range: 69.959999 m, bearing: 304.401068 deg, deltaT: 4.466905 s, approachRate: 0.026863 m/s, LOS rate: -1.399168 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V���)��-�<�19�5y�CI�5hqGi�56�@��5=��5QD��1��5��; �5��EU�����p}Q@U����`W��?�A�ƛ�B� B��A��Y>*B�[9�A��A�a�7�A����A�"C�3��*C�RC�C��C�I��G (>��� � ����� ������ ������ ��� �� AB:Y�� xZ1y�� q�:��� �6)�� �;�9� ��</-@j,�L���E�AY}>u6�@�}>/D�@y}>�����}>9���}>H���� Ѩ�?���@��?���`87�?�����������3��?���@#D�?����%�?���������������?)~>u6�@ ~>�Cb;I~<ɫY�Y)�Y �]����I�aY���@y���tG��5��M=a=Y�=d:QU=�>��A��A�aE�G��A��Ay�M �;}M�>I�Q��UG�5�?��U��߾� �U��?��]�?9�U'�A��U>�: �U�S?)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����`�C�?�AU?��BY BY�A]6W>*B]�]9�AY�A]��7�A]���Aa"Ce2��*CiRCiC��C�I��G�>�4@j,�'���E�AY}6�F�@�}6�T�@y}6�S���}6��.��}6H����@D��?��� _��?�����U�?������������?�������?����艗?��� E����`r��?)~6�F�@ ~6��a;I~4ɫ9�9)�9 �=����I�9Y���@y���tG��m�u���m��>��m�B�i�m��@��i �i)�m9�@I�ii�m9�@��}��M}F=Y�|:QU��>�����a��G����y��;}��>Iș�ŝ��5�?�ŝ:�߾� Ɲm�?����?9Ɲg�A�ǝt�: ȝҞ?)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����M��?�A�N�B B �A IV>*B �Z9�A��A�=�7�A����A�"C�5��*C�RC�C��C�I�G->�1 9�5 z�CI�5 �pGi�5 ��@��5 =��1 ��5 �D��5 n�; �5 ��E��� i�� �=��� � ����� ��� ��� ��� �� �B:Y�� y�� ��� }6)�� ��;��@:@j,����E�AY}:R�@�}:�_�@y}:�����}:i%4��}:H��������?�������?��� _!�?����ԑ����`���?����1��?������?����^���������?)~:R�@ ~:uMa;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}mtG���=i��=ai��ai� am��am� aq��aq� ae��ae� ����bX9���?���������I+��?���E6>����̽ ��94<)�����I��y���Zd;�O��?y�&1����I+��?���j�<���`����94< ¹)½�AI½1Ai½EA���������pA)��> ������ռM�E=Y���:QU��>�������a��G������y��GW;}��>I������:����5�?����:�����߾� ��M�?���?9����A���A�: ��I�:)����:�W!�W!X) X)�W):W)2W)*W1�V1U1U5���@g�?zL]>�=�L]>�=�L]G�@�L]i@�A g��B B �A -K>*B NY9�A�A��7�A'��A"C4��*CRCC�C!I�YG�>��(A@j,���E�AY}2�S�@�}2Ca�@y}2ϥ���}2��.��}2H����`~��?���`���?����{�?����`�����`A��?���`�v�?����9�?���`{٥����@t��?)~2�S�@ ~2E�`;I~2��Cɫ9�9)�9 �9I�9Y�})�@y���sG���� �M�K=Y��w��QU��>�������a��G����� y�3�9}�>I�1��5��5�?��5��߾� �5(�?��E�?9�5'�A��5R�: �5¿:)�1�Wa�WaXa Xa�Wi:Wi2Wq*Wq�VqUqU}����-��@zL��L��L��L��i@�A� E�B� B��A��:>*B��W9�A��A��8�A�Q��A�"C�3��*C�RC�C��C�I�YGu>��� � ����� ������ ������ ��� �� "C:Y�� �[1y�� H�:��� O6�9� @��RG@j,ȷ�E�AY}2�N�@�}2�\�@y}2�Ѷ��}2�|!��}2H����@���?����ʐ�?����ٟ?����͒�����4��?����Wڠ?�����ٖ?�����,���������?)~2�N�@ ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y�]a�@y�etG�� Y��� ��=�� ̌>i� p�@�� � �@)� �@I� �@i� �@����<M%V=Y�%:QU%�>��)��)�a-�G��)��)y�5�Ⱥ}=�>I�9��E�:��=m�5�?��M�:��=��߾� �=�?��M�?9�=~�A��=��: �=��:)�=��:�Wi�WiXi Xq�Wq:Wq2Wq*Wy�VyUyU}������@zL��L��L��L�di@�A Ǧ�B) B1�A5�A>*B5YY9�A1�A5:�8�A5e��A1"C=2��*CARCACA�CAI�YG��=���mA���mA��9��I���oGi����@���=�����������; ����EI�� )�� �.~M@j,�8�E�AY}BhM�@�}B"[�@y}B�Դ��}B����}BH����`���?���@ ��?���@�v�?����C���������?���@+3�?����!��?���`i]�����`���?)~BhM�@ ~B�a;I~B��Cɫ�髁)�� ������I��Y����@y��sG������@AI��)��������������M�N=Y��� :QU��>�������a��G������y����}��>I������5�?����߾� ����?�� �?9����A���ϸ: ����:)���W)�W)X) X)�W1:W12W1*W9�V9U9U=���@�$@�REB*** querying acoustic contact ***�PI�PIzLY�LY�LY�L]�i@�AuU��Bq Bq�A}v(>*B}(V9�Ay�A}f�8�A}z��Ay"C�5��*C�RC�C��C�I��G��=��]� ����]�����]�����]��� �]\G:Y�]d\1y�]��:��]X�5��dT@j,nnR�E�AY}B�O�@�}B�]�@y}B�����}B|���}BH����`���?���ऑ�?���`lԚ?���������� t��?��� g��?����`_�?��� �z�����`D��?)~B�O�@ ~Bl�a;I~B��CɫY�Y)�Y �]����I�YY��&�@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���u=���������i���@�� �O�@)�O�@I�9�@i���@���"=M8=Y��:QU�>����!�a%�G��!��!y�-�::}-�>I�1��=�:��5\~5�?��=�:��5{�߾� �5��?��=�?9�5B�A��5��: �5#�:)�5��:�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu����� @zL��L��L��L�Li@�A �/�B B �A �:>*B �V9�A�A��8�A���A"C4��*C!RCICI�CQI��G�>�� 9�� I�� oGi�� O�@��� =��� ��� ��� ��; �� ڑE)�m�z�CI�m�z�Ci�i���m�=��m�=��m�)�6��Z@j,8Il�E�AY}2�]�@�}2�k�@y}2�˯��}2���}2H����@A��?�������?����� �?��������������?���@�`�?��� ��?��� �������`K��?)~2�]�@ ~2i�a;I~2��CɫY�Y)�Y �]����I�YY��p�@y���rG�xDUSBL response received:!U1,P E9E,000,006FF,186,80,80,BD,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 ��������x��?V-����~j�t������K7>������ ���D�)��I��y����Q���?k�t����������?���\=��� ������L= ��KA)���AI��KAi���A�������A��)B�M/=Y� �Z:QU �>�� �� �a�G����y��l;}�>I�!��%�{5�?��%��߾� �%ȉ?����?9�%��A��%�; �%7 ;)�!�W �W X X �W:W2W9*WA�VAUAUM����t� @zL���=�L���=�L�'*�@�L���t@�A=��BA BA�AE�#>*BE�R9�AI�AM��8�AU'��AQ"C�3��*C�RC�C��C�I��G��>��� �=i�� p=��e� ����e�����e�����e��� �euA:Y�e�[1y�eH�:��ek�6�wva@j,�"��E�AY}>1l�@�}>�y�@y}>gŮ��}>���}>H������?���`���?�������?����F���������?������?���@@ؕ?���@������ l��?)~>1l�@ ~>��a;I~>��Cɫa�a)�i �m����I�iY��@y�%|rG�=p=ɮ=R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=i��=)�%�= �%�=��m&1���m|?>��mʡ=i�m�@��i �m�@)�m�@I�m�@i�m�@��}B��M}g=Y���9QU��>�����a��G����y�p�;}��>Iș�ŝ~y5�?�ŝ"�߾� Ɲ9�?����?9Ɲ��A�ǝU�: ȝ@�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U������$@zL!�L!�L!�L%|�t@�A=���B9 B9�A=�>*B=�V9�A9�AE��8�AE��AA"CM2��*CIRCICI�CQI�iG�>� �g@j,����E�AY}:&{�@�}:���@y}:�ݨ��}:��#��}:H����`R,�?����]��?�����[�?���@��������?�����0�?��� ]�?��� /t���������?)~:&{�@ ~:�r`;I~:��Cɫ9�9)�9 �=����I�9Y�}H�@y�}}qG�xDUSBL response received:!U1,R,E93,000,00703,186,80,80,AC,FF �Fpublishing direction and range info���e�>���ɰ�>鰁 ��)���,CI��y��f�B�����+�i�c�?�g�B� �?��������ٱ�������i���mGI� qAi�)��U�*�ٺ] qA��]� A��q��u�<�y9�}{�CI�}HnGi�}��@��}=��y��y��}.�; �}��E���m?9���_A���Yv�MB=Y�q�:QU�>��)��)�a-�G��1��1y�=��;}=�>I�A��m�:��E�v5�?��m�:��E��߾� �E+�?��m�?9�E)�A��Ej�; �E;)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�f�B�Z��7;e�ΪP@h|���5@���������Z���+�i�c�?�g�B� �?��������2Q�e�>:Q��Z��Pb,�wD@rUۏy�L���K멽�?�Z������?7����鿤���|?BQ���@ Q�d�Q��#B�P���9?�P���9?�P�d���Q�e���Q�'�@"Q���@zL1�L1�L1�L5�u@�Am�U�Bi Bi�Am��=*BmP9�Aq�Au8�Au9��Aq"C}5��*CyRC�C��C�I��G�_>��� ����������������� ��E:Y��Y1y��:����5)��;�9�����m@j,]��E�Aɫ�)� �����I�Y�U.�@y�U]qG��TNmea in: $SNTTA,0.061950,,,,165534.27*4E ��M��MMV=Y�U���QUU�>��Q��Q�a]�G��Y��Yy�e���}e�>I�i��m�t5�?��m���� �mȑ?��u�?9�mo�A��m��: �m�:)�i�m�qAdded new target pos. range: 70.200005 m, bearing: 305.671593 deg, deltaT: 4.471873 s, approachRate: 0.053670 m/s, LOS rate: 0.284115 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����̌Q@U�������?zL��L��L��L��Aͭ�B B�A �=*B.Q9�A�A48�A8��A"C%4��*C!RC)C)�C)I�AGe>I�� )�� ��t@j,-���E�AY}2���@�}2v��@y}2����}2l3��}2H�����gU�?�����{�?���`��?����O�����9C�?�����-�?������?�����]������N��?)~2���@ ~2O_;I~0ɫ)�1)�1 �5����I�1Y�U#�@y�UPqGI��)���A��=`�=��=94���=�B�i�=¥@��9 �=9�@)�=�@I�9i�=ƣ@��M�n�MM\=Y�M3�QUU�>��Q��Q�aU�G��Q��Yy�]�;}e�>I�a��m�:��e�r5�?��u�:��e��� �e_�?��u�?9�e��A��e��: �eb�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�XJu@�A���B� B��A�Y�=*B� Q9�A��A�T8�A�5��A�"C�3��*C�RC�C��C�I�G�=�a 9�a I�e �mGi�e �@��e =��a ��a ��e R�; �e �E��� ���������������� �pG:Y�0Y1y���:��j6)���;�@�z@j,h���E�AY}N���@�}NA��@y}N�׳��}N(�+��}NH�����Jb�?����qz�?������?����'}�����P�?���`16�?���@�z�?�����{�����@���?)~N���@ ~Nr�_;I~LɫY�Y)�Y �]����I�YY����@y���pG�������������� �rh�?y�&1�|�����̼���C�< ��`�)��I��y���y�&1��?X9��v���{�G�z�?���`e<����}�����#< ���A)���AI���Ai��dA������=A���v��M�A=Y�����QU��>�������a��G�����y�K�;}�>I� �� �p5�?�� ��� � �?���?9� ��A�� �: � /�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAUAUU���@L��?zL ƃ=�L ƃ=�L 0�@�L b�j@�Ag��B! B!�A%��=*B%EN9�A!�A-t8�A-h ��A)"CM2��*CIRCICQ�CQI��G�c>��ā@j,�k�E�AY}B���@�}Bc��@y}B����}B�]��}BH�����l�?�����y�?���@�Ş?�����{�����\�?�����?������?����7ɣ����@���?)~B���@ ~B�`;I~@ɫ�髁)�� ������I��Y����@y���pG�í �>�íC���í��=ií��@�é ĭ��@)ĩIĭ�@iĭ�@����M�M=Y��'��QU��>�������a��G������y��Q�:}��>I������:����n5�?����:���g�� ����?����?9���A�����: ���:)����:�W �W X X�W:W2W*W�VUU���@���?zLY�LY�LY�L])�j@�Au"-Bq Bq�A}!�=*B}PO9�Ay�A}�8�A}m!��Ay"C�5��*C�RC�C��C�I��G��=��� i�� ��� ���������������� ��D:Y��X1y�/�:��6�9%@���@j,AI!�E�AY}2Ꞩ@�}2���@y}2W"���}2����}2H���� Np�?�����y�?�����4�?�����z������a�?���`H��?������?�����v���������?)~2Ꞩ@ ~2�a;I~0ɫY�Y)�Y �]����I�YY�}.�@y�}#pG���?>i����=K�MV=Y�=��QU�>��!��!�a%�G��!��)y�-�<:}-�>I�1��5m5�?��5�� �5U�?��=�?9�5O�A��5��: �5��:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUiUu����Y�?zL��L��L��L�`�j@�A�"�ݼB� B��A�?�=*B��L9�A��A��8��!��%nA�5^�>9�1I�5TlGi�5�@��5=��1��1��5s�; �5!�E�A�o"��Ai"Cu4��*CqRCqCq�CyI��G�>�Q�@j,�";�E�A�|i|Y}6���@�}6N��@y}6����}6����}6H������k�?�����z�?���@쀛?�����{���� �]�?�����r�?���@��?����U���������?)~6���@ ~6g�a;I~6��Cɫ9�9)�9 �=����I�9Y�]=�@y�]5pG����;M�M=Y��57QU��>�������a��G������y���;�}�>I���:k5�?����� ���?���?9���A��w�: ���:)��W1�W1X1 X9�W9:W92W9*W9�VAUAUE������@zLa�La�La�Lew�j@�Au�ܼBy By�A}�=*B}�L9�Ay�A}�8�A}|#��A�"C�3��*C�RC�C��C�I��G��=���� �����������#�� ��3G:Y��y�����}6�8�@j,��T�E�AY}J���@�}J\��@y}J#F���}J_��}JH����`�u�?����y�?�������?���� z�����Hg�?�����^�?��� IȖ?���@�)���������?)~J���@ ~J�b;I~J��CɫY�Y)�Y �]����I�YY����@y���oG������?A��M/>��M��>��M�Ļi�M��@��I �M-�@)�Mƣ@I�M�@i�Mƣ@��]=�M]C=Y�]�:QUe�>��a��a�ae�G��a��iy�mW�:}m�>I�y��}�:��}Ni5�?����:��}��� �}��?����?9�}��A��}I�: �}��:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U����@H@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�U�j@�A�5ڼB B�A��=*B�J9�A�A�8�A�$��A"C%2��*C!RC!C)�C)I� G�>� 9� I� �kGi� s�@�� =�� �� �� q�; � �EI�� )�� @A��+�@j,��n�E�AY}2뱨@�}2���@y}2n���}2�q��}2H��������?�����s�?����W�?����u����`o��?���@���?��� J��?�����������Q��?)~2뱨@ ~2o�a;I~2��Cɫ9�9)�9 �=����I�9Y�}A�@y�}�nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)����M���~j�t�?��C�lǿZd;�O��?��M��=��Md;� �Mj<=)�II�Iy�M��~j�t��?�Q��뱿ˡE����?��M��<��M\����M�'= �I)�II�M1Ai�M A��I��MfA��a��emA��m��Mm:=Y�u�u9QUu�>��q��q�a}�G��y��yy�O�;}��>Iȉ�ō'g5�?�ō��� ƍ�?����?9ƍ��A�Ǎ��: ȍn�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U����`Ѝ @zLmB�=�LmB�=�Lm�]�@�Lmb�q@�A�:8ؼB� B��A��x=*B��H9�A��A��8�A��%��A�"C�5��*C�RC�C��C)I�IG�9>�0�@j,����E�A��&� ����&�����&�����&�� �&>:Y�&0Y1y�&��:��&�6Y}��è@�}�KѠ@y}��g���}��b"��}�H���� ��?�����m�?�����z�?�����o�����g��?���@$D�?����r,�?���@�I�����`w��?)~��è@ ~��a;I~�ɫQ�Q)�Q �U����I�YY����@y��rnG�xDUSBL response received:!U1,P E93,000,00703,186,80,80,AC,FF �Command Ack�BRequesting micromodem ping code 2i����a�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��ut=��u��=��u���i�uף@��q �uƣ@)�qI�uƣ@i�q��Y�M�,=Y�s��QU��>�����a��G�����y��2�;}��>I�A��U�:��E�d5�?��}�:��E��� �E�?��}�?9�EC�A��E��; �E��;)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U���� ה @zL �L �L �L ��q@�AE6ּBA BA�AE�>=*BE�F9�AI�AM�8�AM'��AI"CU4��*CqRCqCq�CyYυ �a9I�� G� �>�H=�@j,����E�AY}6�٨@�}6}�@y}6#����}6[z,��}6H�����3��?��� Kf�?�����Π?����h����@���?���@��?�������?���@/������`���?)~6�٨@ ~6�Oa;I~4ɫ9�9)�9 �=����I�9Y��>�@y���mG��a=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}Qo�M��=Y���QU�?�����a��G����y��<}�?Iș�ŝ]c5�?�ŝ}�� Ɲ��?����?9Ɲm�A�ǝ��: ȝ��:)ș�ٱ�ٱܽ]�>9ܹIܽ�jGiܽѾ@�ܹ�ܹ�ܹ�ܽ^�; ݽ�E)�U�{�CI�U�{�Ci�Q���U�=��U�=��U�4�4�W��W�X� X��W�:W�2W�*W��VUU����d�@zL��L��L��L�\r@�A�"DԼB� B��A���<*B��E9�A��A�8�A��'��A�"C�3��*C RC C �CY��c9I�G-N>��� �=i�� ��g�@j,k��E�A��� ����������� ��>:Y�y����6)�ҙ;�9N�Y}V�@�}V���@y}V�b���}V�O.��}VH����@�?��� y`�?�������?���@�b�����{��?����c�?���`ӫ�?�����ƥ����`e��?)~V�@ ~V��`;I~V��Cɫy�y)�y �}����I�yY����@y��)nG�xDUSBL response received:!U1,R,EAB,000,00708,185,80,80,70,FF �Fpublishing direction and range info���:\�>���ɰ�t>鰽+�> ��)����BI��y����B����aP.����?�cs����?��������ٱ�����=i���=)å�= å�=����<M�G=Y��>�8QU��>�������a��G������y���;}�>I� ��5�:�� Va5�?��5�:�� � �� � �?��5�?9� ��A�� z�; � ��;)� ��:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����`��@�P�*Q���B�Z��E�^���P@ W�ȫ4@���������Z��aP.����?�cs����?��������2Q�:\�>:Q��Z���:c�YYD@^M��L��Rב{��?�Z���&�iy�?ʅ�y� ����?BQ�p}�@ Q�@f�Q��"B�P���9?�P���9?�P�f���Q�d���Q�M�@"Q�'�@zL��L��L��L��8r@�A=�]ҼB9 B9�A=� =*B=BF9�AA�AE8�AE�(��AA"CM2��*CIRCICI�CQ��]�=��]�=Y�]Bc9I��G�i>�1O�@j,�D��E�AY}6���@�}6n �@y}6꿿��}6��.��}6H�����9(�?����\Z�?���@&��?���`�\�����s�?���@�;�?����m��?����ͥ�����R��?)~6���@ ~6��_;I~4ɫ9�9)�9 �=����I�9Y�}B�@y�}�mG����q�����R������=i��z�@��� ���@)���@I��i����%�¼M%C=Y�-�7�QU-�>��1��1�a5�G��1��9y�E#�;}M�>I�a��eS_5�?��e� �� �eF�?��u�?9�e��A��e��: �e��:)�a�m�uAdded new target pos. range: 70.500000 m, bearing: 305.261153 deg, deltaT: 4.404367 s, approachRate: 0.068113 m/s, LOS rate: -0.093189 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������Q@U����`���?zL��L��L��L�<]r@�AM��мBQ BQ�AU~�<*B]�D9�A��A�8�A��)��A�"C�5��*C�RC�C��C�YϽ�^9I��G�g>i��VnGI��i����u:�ٺ���/Aܹ9ܹIܽ�iGiܽݽ@�ܹ�ܹ�ܹ�ܽ��; ݽ-�E�*|�@j,�+��E�A��.� ����.�����.�����.��� �.@:Y�.�]1y�.��:��.�6)�.3�;Y}>�@�}>��@y}>@����}>�(��}>H�����(8�?���`&X�?���@��?����Z�����;&�?����&�?���`��?����}����������?)~>�@ ~>��_;I~<ɫq�q)�q �}����I�yY��M�@y���mG�TNmea in: $SNTTA,0.060236,,,,165538.77*4D �� ��V-�?bX9�ȶ�J+����� h�=�� E�� � �H�)� I� y� �y�&1�|���(\�µ�����Mb�?�� `廹� ���� = � KA)� �AI� �Ai� �� �� �A��-[;M-I=Y�-��QU-�>��1��1�a5�G��1��9y�=p&;}=�>I�A��M�:��E�\5�?��U�:��E� �� �E�?��U�?9�E,�A��Eb�: �Eb�:)�E��:�Wq�WqXy Xy�Wy:Wy2Wy*W��V�U�U���� .��?zL���=�L���=�L��*�@�L���W@�A�$�μB� B��A���<*B��E9�A��A�)8�A��*��A�"C�4��*C�RC�C��C�Y���\9I� G%M>I�� )�� �Le�@j,[ �E�AY}r� �@�}r��@y}r_忼�}r���}rH�����;�?���`gX�?����`�?����{Y������+�?���@�t�?��� ��?���`�=���������?)~r� �@ ~r�n`;I~r��Cɫ�髱)�� ������I��Y��d�@y���lGI�Q)�U�A��a��a�í`e<�í�½�í�@�iíG�@�é ĭ��@)ĭ��@Iĭz�@iĭ��@��+��M�Q=Y��ֈ9QU��>�������a��G������y���:}��>I������Y5�?���]�� ��צ?��}�?9��p�A�����< ����<)���W��W�X� X��W�:W�2W�*W��V�U�U�����-f�?zL��L��L��L�d�W@�A��OͼB� B��A�{;*B��A9�A��A�,8�A��+��A�"C�3��*C�RC�C��C�i� mAI� nAY�?Z9I�)GMR>�J��@j,��#�E�A��.f ����.�����.�����.��� �._P:Y�.�W1y�.č:��. �5�92@Y}F���@�}F� �@y}F����}F�7��}FH���� �(�?����1\�?���@(�?���@�\����@J�?����E�?������?�����ġ��������?)~F���@ ~F&a;I~F��Cɫ�髑)�� ��I��Y��\�@y���lG��Q��Q�Y9�YI�]�hGi�]:�@��Y��Y��Y��]��; �]2�E����M�K=Y� b�QU��>�����a��G����y��CG�}��>I�����W5�?������ ����?����?9����A�����: ����:)���W��W�X� X��W�:W2W*W�VUU ��� ���?zL!�L!�L!�L%��W@�A=ɳ˼B9 B9�A=w�:*BE�A9�AA�AE/8�AE�,��AA"CM2��*CIRCQCQ�CQY�E�U9I�YGu>����@j,�=�E�AY}2T��@�}2 �@y}2/Cü�}2� ��}2H�������?�����]�?����E�?����^�������?��� >�?���`�g�?���`�@��������?)~2T��@ ~2�a;I~2��Cɫ9�9)�9 �=����I�9Y�}Y�@y�}lkG�����MU=Y�o]�QU�>��!��!�a%�G��!��)y�-5��}-�>Iȁ����:�Ņ\T5�?����:�Ņ7�� ƅ`�?����?9ƅ��A�Dž<�: ȅj�:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�Z�W@�A��ʼB� B��A��(�*B��=9�A��A�*8�A�-��A"C5��*C RC C �CY�M}S9I�aGy��� i�� �=�f��@j,��W�E�AY}Jt��@�}J.�@y}J 7ż�}JG���}JH������#�?�����\�?���@8Y�?���@M]������?�����X�?����E��?�����������`���?)~Jt��@ ~J��a;I~J��C��^� ����^�����^�����^7�� �^[T:Y�^�Y1y�^�:��^� 6ɫ�髑)�� ������I��Y��R�@y��bkG��1i�5�=)�E�= �E�=�Í`�>�Í�K>�Í�iÍ3�@�É čƣ@)čƣ@Ič��@ič��@���5 �M�==Y����QU��>�������a��G������y��f:}�>I� �� qQ5�?�� ��� � A�?���?9� B�A�� ܹ: � M�:)� �Wy�W�X� X��W�:W�2W�*W��V�U�U������f@zL�L�L�L��W@�A=@�ȼB9 B9�A=�7�*B=�=9�AA�AE$8�AE�.��AA"CM4��*CIRCICI�CQ��]�>��]R>Y�M�L9I�aG}{>�Q9�Uz�CI�UhGi�U��@��Q��Q��Q��Q �Q����@j,�gq�E�AY}6��@�}6��@y}6�YƼ�}6�E��}6H�����P.�?����nZ�?�������?�����[�����n�?����(��?�����ʘ?�����ţ����`|��?)~6��@ ~6�?a;I~6��Cɫ9�A)�A �M����I�IY��ؾ@y���jG������AA��m�㥛� ��?���Q���y�&1��?��m��=��m�u� �m`e<)�iI�iy�m�{�G�zt�+��η�/�$��?��mף���mv����m�< �m�A)�m AI�mfAi�i��i��m�A��m�M�Q=Y����QU��>�����a��G����y���:}��>Iȩ����:�ŭ�N5�?����:�ŭ0 �� ƭy�?����?9ƭ��A�ǭ��: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����Ji@�RuB*** querying acoustic contact ***�Pq�PqzL���=�L���=�L���@�L�ԷY@�A���ƼB� B��A�ּ*B�s;9�A��A�8�A�/��A"C-3��*C)RC1C1�C9Y�=1J9I�QGmW>�ӵ�@j,^��E�AY}Z��@�}Z{�@y}ZΦ¼�}Z�+��}ZH����@lJ�?�����T�?����%k�?�����V���� �7�?����DN�?����CT�?�����^���������?)~Z��@ ~Z�`;I~Xɫ�髉)�� ������I��Y���@y��jG Z****** received transponder code query ****** F****** received ping request ****** <Arming DUSBL. detectThresh: 758****** ping requested ******�ý��<�ý�D<�ý94�iý��@�ù Ľ\�@)Ľ\�@IĽ\�@iĽ��@����2<M�E=Y��Ŏ:QU��>�������a��G������y����;}��>I�����eK5�?���� �� ��ɮ?����?9����A�����: ���:)���W�WX X!�W!:W!2W!*W)�V)U)U-����� @zLI�LI�LI�LMR�Y@�A]�LżB� B��A��*B)<9�A�A8�A�0��A"C 2��*C RCC�CY�-�C9I�AG]U>I�� )�� AA��� � ����� ������ ������ ��� �� �U:Y�� �[1y�� H�:��� 6����@j,���E�Aɫy�y)�y �}����I�yY��C�@y��jG�xDUSBL response received:!U1,P EAB,000,00708,185,80,80,70,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �� �� �<�-\�>9�)I�-�fGi�-��@��)��)��)��-p�;���� �-�E��X�M�?=Y����QU��>�������a��G������y����}�>I�!��]�:��%H5�?��e�:��%W�� �%0�?����?9�%-�A��%�^< �%�a<)�%��:�W �WX X�W:W2W*W�VUU���@Wt @zLy�Ly�Ly�Ly�A���üB� B��A�5�*B��99�A��A�8�A��1��A�"C�5��*C�RC�C��C�I�YG�`>���@j,y��E�AY}J�!�@�}J�/�@y}J�紼�}J:�(��}JH�����i�?�����O�?���@b�?���@!R����@�W�?�����n�?�������?��� O�����` ��?)~J�!�@ ~JL^`;I~J��Cɫ�髑)�� ������I��Y��8�@y��jG��p=ɮ��=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����h�M�U=Y���;QU��>�������a��G����y���;} �>I���OE5�?����� �[�?���?9�s�A��w�: �b�:)��W9�WAXA XA�WA:WA2WA*WI�VIUIUM����@zLi�Li�Li�Lm7�Y@�A}CE¼B� B��A��:�*B�~89�A��A��8�A��2��A�"C�4��*C�RC�C��C�I��G��=��� ����� ������ ������ �� �� ?^:Y�� xZ1y�� q�:��� 6����@j,b���E�AY}2o!�@�}2)/�@y}2ۘ���}2���}2H������h�?���@�P�?����$=�?���`�R���� IZ�?��� J�?������?���`��������?)~2o!�@ ~2?�_;I~2��Cɫ9�9)�9 �9I�9Y����@y��qjG�xDUSBL response received:!U1,R,EAE,000,0070F,187,80,80,9E,FF �Fpublishing direction and range info����>���ɰ�>��1�> ��)���CI��y��B�����}ӄ7��?T��cݚ�?��������ٱ���M��<��M����M�N�i�M��@��I �M��@)�M��@I�M��@i�I��]��<M]U=Y�ev�;QUe�>��a��i�am�G��i��iy�ux�}u�>I�y����:��}lB5�?����:��}]�� �}��?����?9�}��A��}0�: �}�:)�}��:�W�WX X �W :Wq2Wy*W��V�U�U�����L�@�P!*Q%B�Z%�5����P@U�tٝ4@���������Z%��}ӄ7��?T��cݚ�?��������2Q%�>:Q!�Z%����D@�`�)�L��UƋ�?�Z%�����?�r��� ��`�6�?BQ%ߝ�@ Q%�f�Q%�$B�P!�P%��9?�P!Q%f���Q%��@"Q%M�@zL��L��L��L��Z@�A�<���B� B��A��*B��:9�A!�A-�8�A-�3��A)"C=3��*CaRCaCi�CqI�GUS>��9��I��fGi���@������������$�; ����E)ݍ�z�CIݍ�z�Ci݉��݉��ݍ�=�ݍ���4��� i�� �=�T�@j,����E�AY}j�.�@�}j�<�@y}j�M���}jQ� ��}jH����`W��?�����L�?����N�?����mN���� �u�?����3��?����gi�?��������������?)~j�.�@ ~j��_;I~j��Cɫ�髱)�� ������I��Y����@y���iG�edNmea in: $SNTTA,0.373683,0.331801,,,165543.16*5B ��e�=i�e�=��=����Mb�?<�O��n¿���Q��?��=�@=��=t� �=��<)�9I�9y�=��~j�t�h��V-��/�$��?��=�D���=h����=,= �=�A)�=$AI�=�Ai�=�A��9��=�A)�]�= �]�=��e�$�Mm:=Y�m'`;QUu�>��q��y�a}�G��y��y�yv;}��>Iȑ�ŕ�?5�?�ŕ��� ƕ �?����?9ƕ��A�Ǖ: ȕY�:)ȑ�mUqAdded new target pos. range: 70.919998 m, bearing: 305.487997 deg, deltaT: 4.458080 s, approachRate: 0.094211 m/s, LOS rate: 0.050884 deg/s, posRepo size: 4�WQ�WQXY XY�WY:WY2WY*Wa�VaU����@�Q@U����@ɫ�?zL��=�L��=�L��q�@�L��hZ@�A�˾�B� B��A�FX�*B�B89�A��A��8�A��4��A�"CE2��*CARCACA�CII�aG}7>�� � ���� ����� ����� ��� � �U:Y� �[1y� H�:�� �96���Aj,X��E�Aɫy�y)�y �}����I�yY����@y��[iG�Ý`廩Ý^:��Ý��iÝ��@�Ù ĝz�@)ĝ\�@Iĝ\�@iĝ\�@���ּM�W=Y����QU��>�����a��G����y����}��>I������=5�?���9�� ��2�?����?9��0�A�����: ����:)���W��W�X� X��W�:W�2W�*W�VUU���@w��?zL!�L!�L!�L!�A=� ��B9 B9�A=���*B=H69�A9�AE�8�AEJ5��AA"CM5��*CIRCICI�CQi�]��I�]����]����]��I�IGew>��)��)�) Aj,�k&�E�Ai�6�mGI�FfpAi�P��r�a�ٺrfpA��rTA�ٝnA�ٙܡ9ܡIܥ�dGiܥ �@�ܡ�ܡ�ܡ�ܥ�; ݥ��Eɫ�髑)�� ������I��Y�H�@y��hG�����M�9=Y��QU��>�������a��G������y��}��>I������:���N;5�?����:������ ����?����?9��o�A���=�: ��I�:)����:�W�WX X�W:W2W*W!�V!U!U-�����f�?zLI�LI�LI�LI�A]6A��BY BY�Ae���*Be�59�A��A��8�A�I6��A�"C�4��*C�RC�C��C�I�)Ge4>��� � ����� ������ ������ ��� �� �R:Y�� �Y1y�� �:��� �6)�� R�;�9� �� Aj,,�@�E�AY}R�<�@�}R�J�@y}R�M��}R)�%��}RH�����)��?���`]F�?�������?���`�J�����e��?�����}�?����1��?����(������@���?)~R�<�@ ~RI�_;I~Pɫ�髙)�� ������I��Y��p�@y��iGI�9)�=�A��I��I��u�_<Mua=Y�}&�<QU}�>��y���a��G����y���;}��>Iȑ�ŕB95�?�ŕ�� ƕʻ?����?9ƕ��A�Ǖ �: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U������8�?zL��L��L��L��Z@�A�Z��B B�AQ��*B�59�A �A �8�A 7��A "C�3��*C�RC�C��C�I��Ge>�j>Aj,<0Z�E�A�|(�|(Y}b|=�@�}b6K�@y}b<�*��}b��%��}bH�����y��?�����E�?��� �?�����J�������?�����m�?���@.U�?���`ײ���������?)~b|=�@ ~b��_;I~b��Cɫ�髑)�� ��I��Y��ܼ@y��\hG���y=���������i��@�� �\�@)�E�@I�&�@i�&�@���"�M4=Y��;QU�>��!��!�a%�G��!��)y�-�/9}-�>I�1��=�:��5�65�?��E�:��5��� �5e�?��E�?9�5��A��57!; �5";)�5��:�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUqU}���@�@�@zL��L��L��L���Z@�A��'��B� B��A�Y��*B�{49�A��A��8�A�8��A�"C�2��*C�RC�C��C�I��G�&>ܑ9ܑIܕ dGiܕk�@�ܑ�ܑ�ܑ�ܕ�; ݕ�E��� ����� ������ ������ �� �� ;J:Y�� �W1y�� č:��� 46)�� �;�iAj,g t�E�AY}2~A�@�}28O�@y}2����}2۷��}2H�����*��?�����D�?�������?���`�I����@Q��?����@�?�������?������������}��?)~2~A�@ ~2�3`;I~2��Cɫ1�1)�1 �5����I�1Y�Uռ@y�UShG����D�l����?���x�&������Mb�����O�=���7 � ����)��I��y����I+��?+�������I+��?���9�<���������9�< ¥�A)¥�AI¥�Ai¥�A������fA����#�M�b=Y���;QU��>�������a��G������y��~�:}��>I������45�?���~�� ����?���?9���A����: ��2�:)���W)�W)X) X)�W):W)2W1*W1�V1U1U5����V(@zLU��=�LU��=�LU���@�LU��o@�Am,���Bi Bi�Am3��*Bm�29�Aq�Auk8�Au�8��Aq"C}5��*CyRCyCy�C�I��G��=��� �=i�� �=�DL#Aj,Ս�E�AY}F�E�@�}F�S�@y}Fm�̻�}F����}FH����@_��?�����C�?����AD�?��� UH���� ��?������?����y?��� ,V���������?)~F�E�@ ~Fw`;I~F��Cɫ�髁)�� ������I��Y����@y��hG������?A���i���=)ý�= ý�=��%�>��%/ݽ��%���i�%Q�@��! �%��@)�%\�@I�%��@i�%E�@��Uax�MUS=Y�]�;QU]�>��a��a�ae�G��a��ay�m�:}m�>Iȑ����:�ŕ�25�?����:�ŕ~�� ƕ��?����?9ƕ_�A�Ǖ�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V UU�����W@�RB*** querying acoustic contact ***�P�PzLQ�LQ�LQ�LU��o@�Ae?ﭼBi Bi�A�<½*B��29�A��A�P8�A��9��A�"C�4��*C�RC�C��C�I��G5>��� � ����� ������ ������ �� �� �F:Y�� �[1y�� H�:��� O6�9� @�cu)Aj,���E�AY}>XL�@�}>Z�@y}>�c���}>����}>H�����غ�?���@?A�?����B��?���@LF����ྴ�?�����l�?����t�p?����:Q��������?)~>XL�@ ~>Т`;I~>��Cɫ9�9)�9 �E����I�A��I��I�U[�>9�QI�UXcGi�Uȸ@��Q��Q��Q��U�; �U�EY��.�@y���gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M �MUK=Y�u��;QU}�>��y��y�a��G����y���;}��>Iȱ�ŵA05�?�ŵ��� Ƶ �?����?9Ƶ��A�ǵ��: ȵ��:)ȱ�W�WX X�W :W 2W *Wi�ViUqUu���@� @zL��L��L��L���o@�A��婼B� B��A��߽*B�<19�A��A�08�A��:��A�"C�3��*C�RC�C��C�Y�5?9I�G-O>��^0Aj,���E�AY}N�J�@�}N]X�@y}N�l���}N���}NH��������?����LA�?����Zq�?���@�F��������?����Qt�?������_?��� Yգ��������?)~N�J�@ ~NO a;I~N��Cɫy�y)�y �}����I�yY����@y��KgG�xDUSBL response received:!U1,P EAE,000,0070F,187,80,80,9E,FF �Command Ack�BRequesting 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 ���e�M�B=Y��أ;QU��>������a �G����!y�5N��}=�>I�Y��u�:��]�-5�?��}�:��]��� �]}�?����?9�]��A��]c0= �]0=)�]��:�WI�WIXI XQ�WQ:WQ2WY*W��V�U�U���� { @zL��L��L��L���o@�A� ���"B���B� B��A���*B}19�A�A 8�A|;��A!"C%2��*C)RC)C)�C)Y��Y?9I�!GUt>I�� )�� ��� � ����� ��� ��� 0�� �� ZV:Y�� y�� ��� �6�[�6Aj,,b��E�AY}2)F�@�}2�S�@y}2�n߹�}2�&(��}2H����@/��?�����A�?�����У?����\H�����s��?�������?���`��;?���@Y��������?)~2)F�@ ~2��a;I~0ɫa�a)�i �m����I�iY���@y��fG�!ɮ%a=�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)����5����Mb�?H�z�G��{�G�z�?��5�@=��5= � �5ף<)�1I�1y�5��~j�t�h�+������y�&1��?��5�D���1��5`�< �5�A)�5^AI�5�Ai�5�A��1��5�A��A��EnA�Õ��>�Õ��Õ�þiÕ�@�Ñ ĕE�@)ĕE�@IĕK�@iĕ�@�����M0=Y� �R;QU �>�� �� �a�G����y����}�>I���+5�?��5�� �U�?��m�?9�1�A�� < �:�;)��W��W�X� X��W�:W�2W�*W��V�U�U������Y@zL�թ=�L�թ=�L����@�L�7�[@�A-�*��B) B)�A-���*B5/9�A1�A5��8�A5H<��A1"C]5��*CYRCaCa�CaY�==9�I9�II�M,bGi�MԷ@��M=��I��I��M�; �M�EI�qG�|>���<Aj,�G��E�AY}Z�=�@�}Z�K�@y}Z;� ;�}ZOA$��}ZH�����n��?�����D�?�����ɣ?��� K��������?��� tD�?������a���� ������� e��?)~Z�=�@ ~Z�/c;I~Z��Cɫ�髙)�� ������I��Y�5 �@y�5"fGExDUSBL response received:!U1,R,E84,000,00717,186,80,80,8C,FF EFpublishing direction and range info��=ɩ>��9ɰ=�>�=��> �9)�=�CI�9y�=̎B��=��M,�A�?`FI���?��������ٱ9��}2i�M}u=Y�} <QU}?�����a��G����y�$O�}�?Iȑ�ŕ)5�?�ŕ��� ƕ��?����?9ƕc�A�Ǖϸ: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�̎B�Z��� vK��P@�00u�>7@���������Z���M,�A�?`FI���?��������2Q�ɩ>:Q��Z��n+L���E@���(6L� �~4?��Z���4�I���?%Є��I��J��6뎿BQ�2�@ Q��a�Q��.B�P���9?�P��P�d���Q�Q���@"Q���@zL �L �L �L ��[@�AgB��B! B!�A%�*B%�)9�A!�A%��8�A-�<��A)"C54��*C1RC1C1�C9Y�s89I�1GM1>��� � ����� ������ ������ ��� �� }D:Y�� [1y�� ݏ:��� i6��CAj,��E�AY}2d3�@�}2A�@y}2C�;�}22'��}2H��������?����\H�?�����(�?����QN���� ���?����q�~?���@��s������c��������?)~2d3�@ ~2�sc;I~0ɫ9�A)�A �E����I�IY�e �@y�efG��DNmea in: $SNTTA,,,,,165547.62*5E ��� 0=�����>���>i����@��� ���@)��&�@I��&�@i��&�@��� ��M�C=Y����;QU��>�����a�G���� y� �F�}�>I����:��l&5�?��%�:�� �� �G�?��%�?9���A����: �4�:)���:�mUqAdded new target pos. range: 71.400002 m, bearing: 307.784334 deg, deltaT: 4.403271 s, approachRate: 0.109011 m/s, LOS rate: 0.521507 deg/s, posRepo size: 4�WQ�WYXY XY�WY:WY2WY*Wa�VaUe������Q@Ue�������?zL��L��L��L�A�[@�A�MᖼB� B��A��*B��,9�A��A���8�A��=��A�"C�3��*C�RC�C��C�YϽ269I��G�F>���IAj,4�(�E�AY}J=(�@�}J�5�@y}J�K�;�}J�0��}JH�����av�?���@pL�?���` ^�?�����Q�����-w�?�����r?����hi}�����%���������?)~J=(�@ ~J�hc;I~J��C�x9�xI�z�aGi�z�@��z=��x��x��z�; �x)�y�I�y�i�y���y���y���}��04ɫ�髹)�� ��I��Y��˺@y���eG��Yi�]�=)�i �m�=��}a��M}S=Y�}�;QU��>�����a��G����y�;f�}��>Iș�ŝ$5�?�ŝ��� Ɲ��?����?9Ɲ��A�ǝ: ȝQ�:)ș�W�WX X �W :W 2W *W1�V1U1U5����,�?zLq�Lq�Lq�Lu��[@�A��!��B� B��A�]�*B�U+9�A��A�t�8�A�O>��A�"C�2��*C�RC�C��C�I�1GM1>��� � ����� ������ ������ ��� �� (H:Y�� �X1y�� /�:��� ��5)�� (�;�9� ��^�PAj,��B�E�AY}>!&�@�}>�3�@y}>�8<�}>����}>H����@Nr�?����BM�?����D&�?���`VR����`At�?�����c?���� ������������������?)~>!&�@ ~>�c;I~>��CɫY�Y)�Y �]����I�YY���@y���eG��]9<MeL=Y�u7�;QU}�>�����a��G����y� '�}��>Iș����:�ŝ!5�?����:�ŝ�� Ɲd�?����?9Ɲ"�A�ǝ��: ȝ��:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`4]�?zL��L��L��L���[@�AM�#��BQ BQ�AU��*BUB,9�AQ�AUJ�8�A]?��AY"C]5��*CaRCaCa�C�9�yI��G�^>���VAj,��\�E�AY}j0�@�}j�=�@y}j �,<�}j�[��}jH�������?����tI�?�����,�?���� O�����؇�?����JZY?���চ�����`,j�����`>��?)~j0�@ ~j��b;I~j��Cɫ���)�� ������I��Y��y�@y��leG����k�t��?L7�A`�?���Q��?��� 0=���+�= ���u<)��I��y������Q��?����K������Mb�?�����<���^�����= ���A)��3AI��i�������� A��%�>��%�½��%���i�%��@��! �%\�@)�!I�%z�@i�%E�@��5��M50=Y�=�T;QU=�>��9��A�aE�G��A��Iy�UT,;}U�>I�Y��]�5�?��]��� �]t�?��e�?9�]|�A��] �: �]�;)�Y�W��W�X� X��W�:W�i���lG2WI� i�A����J�ٺ����`>A*W��V�U�U������J�?zL���=�L���=�L����@�L�g�r@�A��Մ�B� B��A��&�*B��+9�A�A�8�A%�?��A!"C-4��*C)RC)C)�C1��9��I��7`Gi��>�@�������������; ���E9�#:I�)GEs>�� m ���� ����� ����� �� � �P:Y� �W1y� č:�� =6)� ��;��]Aj,v�E�AY}2p:�@�}2*H�@y}2�f@<�}2�j#��}2H��������?���@�D�?�����D�?�����K�������?�����M\?���@��������k���������?)~2p:�@ ~2׀b;I~0ɫ9�9)�9 �E����I�AY�}>�@y�}#eGI��)��������mA����Mt=Y��i;QU?��!��!�a%�G��!��)y�-nx;}-?Iȑ����:�ŕa5�?����:�ŕ��� ƕ�?����?9ƕ��A�ǕA�: ȕ �:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�$�@zL��L��L��L�[�r@�A m�|�B B �A �-�*B�%9�A�A��7�A9@��A"C3��*CRCC�C!i�5nAI�5mA9�-�9I�9G�>���cAj,�a��E�AY}2�?�@�}2�M�@y}2��S<�}2�`3��}2H�����Ѣ�?��� wA�?�����Y�?���@�I��������?����I�^?���`)~�������i������v��?)~2�?�@ ~2|ob;I~2��CɫA�A)�A �E����I�IY��M�@y��5eG��}�m���}C�=��}A`�i�}�@��y �}ҙ@)�}ҙ@I�}ҙ@i�}ҙ@���ڊ;M�?=Y��.7;QU��>�������a��G������y��%�:}��>I������5�?����� ����?����?9���A����; ���;)���W�WX X!�W!:W!2W!*W!�V)U)U-���� v@zLI�LI�LI�LM�s@�A]qZo�BY Ba�Ae,�*Be�)9�Aa�Ae��7�Ae�@��Aa"Cm2��*CqRCqCq�Cqi�yI�y��y��y9�5 ��I�AG]�>��� j����� ������ ������ ��� �� e:Y�� DW1y�� Y�:��� �6�9� @�-jAj,�=��E�AY}2/9�@�}2�F�@y}2�m<�}2�98��}2H���� ��?�����B�?����8/�?�����K�����h��?����2+H?����=�����������������?)~2/9�@ ~2�!b;I~2��C��@��@�D9�DI�F_Gi�FJ�@��D��D��D��F"�; �F��Eɫ9�9)�9 �=����I�9Y���@y���dG������AA���BƼM�[=Y��9�;QU��>�������a��G������y���}��>I�����g5�?���I�� ����?���?9��X�A���@�: �� �:)���WI�WIXI XI�WI:WI2WI*Wq�VqUqU}����b�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�s@�A��a�B� B��A�\5�*B��'9�A��A�'�7�A�WA��A�"C�5��*C�RCC�Ci���I�������I��G�h>��� �=i�� �=���pAj,"��E�AY}>�(�@�}>�6�@y}>��<�}>�+��}>H������v�?����1I�?����>��?�����P������}�?����ic���� �������@a����� ���?)~>�(�@ ~>L�a;I~>��CɫY�Y)�Y �YI�YY��+�@y��eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��9i�=�=)Å�= Å�>����;<M�<=Y��;QU �>�����a�G��!��Qy�]���}e�>Iȱ����:�ŵ~5�?����:�ŵ��� Ƶ��?����?9Ƶ��A�ǵV�: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W �V U U��� �( @zLQ�LQ�LQ�LUs�r@�A���R�B� B��A�E0�*B�*9�A��A���7�A��A��A�"C�4��*C�RC�C��C�I�G5.>��� s ����� ������ ������ ��� �� �<:Y�� �X1y�� /�:��� �6� $wAj,Z���E�AY}E �@�}E��@y}E#ř<�}E�\��}EH������G�?���`�R�?����Â�?����IX����@�O�?�����,z����`Z8�������i������A��?)~E �@ ~EҚa;I~E��Cɫ1�1)�1 �=����I�9Y����@y��[dG�xDUSBL response received:!U1,P E84,000,00717,186,80,80,8C,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����-����?��n��ҿsh��|?�?���?5>����� ����=)��I��y���<�O��n�?����K���~j�t�h����t=�������D� ��)���AI���Ai�� A������܁9܁I܅D^Gi܅��@�܁�܁�܁�܅*�; ݅��E��$>���A>���>i��@�� �ƣ@)��@I��@i��@����M=Y�q�;QU�>��!��)�a-�G��)��qy�O��}��>Iȑ����:�ŕ"5�?����:�ŕ� �� ƕ��?����?9ƕ�A�Ǖ�< ȕ�<)ȕ��:�Wi�W�X� X��W�:W�2W�*W��V�U�U����༘@zL���=�L���=�L��٢@�L���u@�A �C�B B �A RB�*B **9�A �A% J�7�A% �B��A! "CM 3��*CI RCI CQ �CQ I�i G� �>��N}Aj,����E�AY}F���@�}F� �@y}F|�<�}F�����}FH�����@!�?���@�Z�?���`*�?����3^�����B*�?��� �����<������l�������h��?)~F���@ ~F�7a;I~F��Cɫy�y)�� ������I��Y��`�@y��dG��a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��t�M��=Y��;<QU�-?�����a��G����y�j#�}�4?I������5�?����!�� ����?��e�?9��M�A�����< ��Ǩ<)���W��W�X� X��W�:W�2W�*W��V�U�U�����@@zL��L��L��L�#�u@�A�3�3�B� B��A��I�*B�9�A��A���7�A��B��A�"C�2��*C�RC�C��C�I��G>I�� AA)�� ��� # ����� ��� ��� ��� �� �6:Y�� y�� ��� t6��E�Aj,���E�AY}B.�@�}B���@y}B[(�<�}B����}BH���� ��?����9^�?�����&�?����9a�������?����!������vD����� �6������!��?)~B.�@ ~B�`;I~B��CɫY�Y)�Y �YI�YY��0�@y���cG�xDUSBL response received:!U1,R,E22,000,0071B,187,80,80,6D,FF �Fpublishing direction and range info������>���ɰ�>鰽1�> ��)����BI��y��G�B�����?��A�?����?��������ٱ�I��)���A������nA��-/]���-7�=��-E�=i�-��@��) �-�@)�-ҙ@I�-��@i�-��@��E�r�MEN=Y�E�;QUE�>��I��I�aM�G��I��Qy�U@Y�}]�>I�Y��] 5�?��]�"�� �]��?��m�?9�]��A��]ϸ: �]�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�G�B�Z���~w�_P@��;=@���������Z���?��A�?����?��������2Q����>:Q��Z�����w�H@�(v��J�Dp7��D��Z��9���w�?�)�{����3S�6��BQ��X�@ Q�HT�Q�?@B�P���9?�P���9?�P�^���Q�d���Q�9X@"Q���@zL��L��L��L�/�u@�A���"�B� B��A��O�*B��#9�A��A���7�A�1C��A�"C�5��*C�RC�C��CI��G��=�>`�Aj,�+�E�A����mA�9�I�|]Gi��@���������; ��Eɫ�髙)�� ������I��Y����@y��<cG��TNmea in: $SNTTA,0.074923,,,,165552.08*43 ���O�M�C=Y�����QU��>�������a��G������y�����}��>I����:��h 5�?���:��j$�� ���?���?9���A���; �|;)���:�mEqAdded new target pos. range: 71.640007 m, bearing: 312.165026 deg, deltaT: 4.440311 s, approachRate: 0.054052 m/s, LOS rate: 0.986573 deg/s, posRepo size: 4�WA�WIXI XI�WI:WI2WQ*WQ�VQUU������Q@UU���@!�?zLq�Lq�Lq�Lq�A�c��B� B��A�{_�*B�N#9�A��A��7�A��C��A�"C�4��*C�RC�C��C�Y�]S-9I�yG�]>��� � ����� ������ ������ ��� �� B:Y�� �[1y�� H�:��� ��5)�� �;�9� ���H�Aj,�_E�E�AY}6�@�}69�@y}6�T�<�}6�x"��}6H�������?��� �Y�?����0��?�����_����@c�?��� p������ �)�������K������u��?)~6�@ ~6��_;I~6��CɫY�Y)�Y �]����I�YY��%�@y���cG��� =M�I=Y��c<QU��>�������a��G������y��6:}�>I� �� �5�?�� �%�� � {�?���?9� A�A�� 8�: � ��:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUE����x\�?zLa�La�La�Le"�u@�A}�[��By By�A}"Q�*B}Y$9�A��A���7�A��C��A�"C�3��*C�RC�C��C�I��G�>��� i�� �=�>u�Aj,�G_�E�AɫQ�Q)�Q �U����I�YY����@y���cG���=i��=�����Q���?���Q������Q��?���\�=����u� ���u<)��I��y���<�O��n�?�Zd;��Zd;�O��?���t�<����y����j<= �A)AI©i�A������zA)���= ��>���y=����=��/]�i�(�@�� ��@)��@I��@i��@��%%7�M%8=Y�-���QU-�>��)��)�a-�G��1��1y�5���}=�>I�9��M�:��=�5�?��M�:��=�&�� �=4�?��U�?9�=z�A��=�; 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�%�E�q��Aj,ͬ�E�Aɫ�髙)�� ������I��Y����@y��EcGI�9)�9��I��MmA��u�=MuO=Y�}���QU}�>��y���a��G����y����}��>Iȑ����:�ŕ5�?����:�ŕ/)�� ƕJ�?����?9ƕ �A�Ǖ��: ȕ��:)ȕ��:�W9�WAXA XA�WA:WA2WA*WI�VIUiUm����c�@zL��L��L��L��A�L9�B� B��A��^�*B��"9�A��A���7�A��D��A�"C�3��*C�RC�C��C�i��I��������I�G�>�0��Aj,����E�A�|�|Y}6r�@�}6,��@y}6��=�}6����}6H�����9��?���`�^�?��� ص�?���@4a�������?�����������<�������٠�����\��?)~6r�@ ~6�=a;I~6��CɫA�A)�I �II�IY��J�@y���bG�������}=���}=���D<i���@�� �)���@I���@i���5��M5?=Y�=<QU=�>��9��A�aE�G��A��Iy�U�ƻ}U�>I�Y��]H�5�?��]*�� �]��?��m�?9�]D�A��]�!; �]N;)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����Y�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�J�q@�A��|ºB� B��A�ql�*B�� 9�A��A�L�7�A��D��A�"C�2��*C�RC�C��C�I�G5>��� � ����� ������ ������ ^�� �� �?:Y�� �V1y�� �:��� � 6��ŷAj,����E�AY} ը@�} 9�@y} _2=�} ���} H��������?�����c�?������?�����f���� ���?����7�����@'%�����`h�������6��?)~ ը@ ~ �Ja;I~ ɫ���)�� ��I��Y�-��@y�- bG5Z****** received transponder code query ******5F****** received ping request ******5<Arming DUSBL. detectThresh: 75=8****** ping requested ******���T㥛� �?/�$��?J+��?��>���= ��H=)�I�y��Zd;�O��?�I+���<�O��n�?��j�<��9����t< �dA)��AI�^Ai������A��=�1�M=I=Y�=N�;QU=�>��A��A�aE�G��A��Iy�M2��}M�>I�Q��]�:��U��5�?��]�:��U6+�� �Uy�?��%�?9�U��A��U��< �U��<)�U��:�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu����M @zL�0�=�L�0�=�L�"��@�L��m@�A�e㷸B� B��A�~�*B��9�A��A���7�A��D��A�"C5��*CRCC�C!I�iG�9>ܹ9ܹIܽ�[Giܽo�@�ܹ�ܹ�ܹ�ܽU�; ݽ�E��� �=i�� �=���Aj, _��E�AY}2���@�}2jΠ@y}2,�=�}2z�!��}2H�������?���@�h�?�����[�?�����l��������?���@�Q������ݣ�����O7������p��?)~2���@ ~2 a;I~0ɫ9�9)�9 �=����I�9Y�}U�@y�}�bG�xDUSBL response received:!U1,P E22,000,0071B,187,80,80,6D,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )��> ���=��aV=M a=Y�+|;QU%�>��)���a��G�����y��ֻ}��>I���'�5�?��O,�� ��?��]�?9���A���< �L<)��W�WX X�W:W2W!*W!�VqUqU}������ @zL��L��L��L�V�m@�A�_�:B� B��A�k�*B!9�AA�AED�7�AE�D��AA"CM4��*CIRCQCQ�CQI��G�F>��� � ����� ������ ������ ��� �� �F:Y�� �Y1y�� �:��� ��5���Aj,"8�E�AY}2DZ�@�}2���@y}2>&=�}2��'��}2H����@]��?��� \l�?����!I�?��� �p����`.��?����y�������NƤ����`�뤿��� h��?)~2DZ�@ ~2 �`;I~2��Cɫ9�A)�A �E����I�AY�}��@y�}�aG鮅p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��m�>��m�����m��=i�m��@��i �m��@)�iI�ii�m��@��}/n�M}C=Y���;QU��>�����a��G����y����}��>Iș����:�ŝ��5�?����:�ŝb-�� Ɲ��?����?9Ɲ!�A�ǝ=�: ȝI�:)ȝ��:�Wa�WaXi Xi�Wi:W�2W�*W��V�U�U�����vC@zL��L��L��L�ƽm@�A�3�9;B� B��A���*B�'9�A��A���7�A��D��A�"C 3��*CRCC�CI�)GU>�ٹ�ٽnA��9��I���ZGi��̱@���=�������D�����; ��B�E���Aj,;U.�E�AY}B���@�}B���@y}B�&=�}B�%��}BH������~�?�����o�?������?���@�s����@o��?������������Ф���� 촤��������?)~B���@ ~B��_;I~B��CɫY�Y)�Y �]����I�YY����@y���aG�xDUSBL response received:!U1,R,E77,000,00722,186,80,80,B3,FF �Fpublishing direction and range info�����>���ɰ��>鰽��> ��)���3CI��y���B����o�U�"�?�vw���?��������ٱ��� �<M P=Y��T9QU�>�����a�G����!y�-^F�}-�>I�1��5 �5�?��5y.�� �59�?��M�?9�5j�A��5�; �5�;)�1�Wy�W�X� X��W�:W�2W�*W��V�U�U�����m�@�P�*Q��B�Z���?PD�P@��I\;8@���������Z��o�U�"�?�vw���?��������2Q���>:Q��Z��%K�p �E@���\��L�w ��� ��Z����ns j�?��'�'b�{��3���BQ�İ�@ Q��d�Q��.B�P���9?�P���9?�P�f���Q�^���Q��@"Q�9X@zL��L��L��L�کm@�AK��;B B �A g��*B �9�A��A�?�7�A�^D��A�"C�2��*C�RC�C��C�I��G >I�� @A)�� @A��� ����� ��� ��� )�� �� #�:Y�� y�� ��� !6)�� ��;�9� �����Aj,m�G�E�AY}M���@�}MP��@y}M�<&=�}M-F��}MH���� *z�?�����q�?���@��?���@Wt�������?�����.������Ƥ����@ȣ���������?)~M���@ ~Mʀ_;I~M��CɫI�I)�Q �U����I�QY��@y��/bG��TNmea in: $SNTTA,0.087733,,,,165556.48*40 I��)���A�� �� nA��U��<��U�<��Uף;i�Q��Q �Q)�U��@I�U�@i�U��@���U<M�6=Y��=�QU��>�����a��G����y�j+�}��>I�a��m�:��e�5�?��m�:��e�/�� �e��?��m�?9�e��A��e��: �e{�:)�e��:�m�uAdded new target pos. range: 72.060005 m, bearing: 307.410641 deg, deltaT: 4.444966 s, approachRate: 0.094489 m/s, LOS rate: -1.069611 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �R@U����`���?zL��L��L��L��m@�A����;B� B��A��z�*B�� 9�A��A���7�A�D��A�"C�5��*C�RC�C��C�Y�+9I�)GEs>���Aj,<�a�E�AY}N���@�}Nx��@y}NW�&=�}N[���}NH����� ��?���`r�?����|F�?���� s����@A��?�����r����� Ԥ����`=������ ���?)~N���@ ~N+�_;I~N��Cɫq�q)�q �u����I�qY��N�@y���aG��-��� �rh�?�~j�t�h?{�G�zt���-C=��-�D; �-ף�)�)I�)y�-�����Mb��bX9�ȶ��~j�t��?��-����-E����-��< �))�-�AI�-�Ai�-�A��)��-�A��eY+�MmL=Y�m��9QUu�>��q��q�au�G��q��yy���:}��>Iȑ�ŕG�5�?�ŕ0�� ƕ;�?����?9ƕ�A�Ǖ��: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL���=�L���=�L���@�L�q1R@�A��n�;B� B��A����*B�89�A��A�&�7�A��C��A�"C�4��*C�RC�C��C�I�I�a9�aI�e\ZGi�e{�@��a��a��a��e��; �e+�EG�=>��� ������ ������ ������ ��� �� )�:Y�� [1y�� ݏ:��� �J6)�� ��;��8�Aj,��{�E�AY}2V��@�}2��@y}2E\(=�}2E���}2H��������?����\p�?�����8�?����3q��������?����r板���@ ����� �����������?)~2V��@ ~2.h`;I~0ɫY�Y)�Y �]����I�YY�}�@y�}fbG���{=Mc=Y��:QU�>��!��!�a%�G��!��)y�-�:}-�>I�1��5��5�?��5N0�� �5~�?��E�?9�5I�A��5�: �5+�:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUqUu��� s3�?zL��L��L��L��>R@�A��U<B� B��A�=u�*B�U9�A��A���7�A��C��A�"C�3��*C�RC�C��C�I�qG��=�S"�Aj,����E�AY}2̭�@�}2���@y}2�b*=�}24���}2H���� ���?����[o�?���@�-�?���`�q���� %��?����@-�������J�����@����������?)~2̭�@ ~2[�`;I~0ɫ1�9)�9 �9I�9Y�uw�@y�u�aG����=i���=)���= ���=��=�'���=��=��=v�=i�=�@��9 �=ƣ@)�9I�=��@i�=��@��]*�MeF=Y�m��:QUm�>��y��y�a}�G��y��y���}��>Iȑ����:�ŕ��5�?����:�ŕ�0�� ƕ��?����?9ƕ��A�Ǖ�8; ȕf9;)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL�L�L�Lz=R@�A��D)<B� B��A�j��*B�k9�A��A� �7�A�C��A�"C�2��*C�RC�C��C�I�9Gu>��� � ����� ������ ������ ��� �� D:Y�� �Y1y�� �:��� j�5�9� @��Y��Y�a9�aI�e�YGi�eذ@��e=��a��a��eK�; �e�E)��I��i�����=����=�����^5��J�Aj,�[��E�AY}Rr��@�}R,��@y}R�<+=�}R1(��}RH����� p�?����zq�?���@Ӆ�?�����u�������?�����������@f�������������`���?)~Rr��@ ~R��`;I~R��Cɫy�y)�y �}����I�yY��p�@y���aG��U(�M]K=Y�]�:QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��u��5�?��u�0�� �ul�?��}�?9�u��A��un�: �u8�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������ �@zL��L��L��L��#R@�A��^B<B� B��A����*B��9�A��A���7�A��B��A�"C�5��*C�RC�C��C�I�G-�=��4�Aj,)A��E�AY}%ǐ�@�}%���@y}%JE+=�}%��1��}%H�����JR�?����@u�?����?����@z�����Dn�?�����Y�����`g����� �-������$��?)~%ǐ�@ ~%�_`;I~%��Cɫ���)�� ������I��Y�5R�@y�5�aG��=�����=�D>��=�#=i�=��@��9 �=��@)�=��@I�=��@i�9��M��MM;=Y�U:�7QU]�>��Y��Y�ae�G��a��iy�m)��}u�>I�y����:��}E�5�?����:��}21�� �}�?����?9�}.�A��}>/; �}�%;)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����@�@zL��L��L��L�IR@�A���[<B� B��A����*B��9�A��A��7�A�B��A�"C�4��*C�RC�C��C�i��I��������I��G �>I�� )�� ��; ����������������� ��8:Y�0Y1y���:��!�5��\�Aj,E��E�AY}2��@�}29��@y}2��)=�}2$.)��}2H������<�?�����y�?����S��?�����}������W�?����˽����� d;����������������?)~2��@ ~2�s`;I~2��CɫI�I)�I �M����I�IY�}��@y�}�`G������I��)��i�%mGI�= qAi�Q��}�F�ٺ� qA���;A��%�`��"���?)\���(��y�&1�|?��%��=��%G� �%`�;)�!I�!y�%����Q��?��ʡE���<�O��n�?��%��<��%�����%t< �!)�!I�%Ai�!��!��%�A��9��=mA��E8�MEK=Y�E�Y�QUM�>��I��I�aU�G��Q��Qy�],a�}]�>I�a��e�5�?��e^2�� �e��?��m�?9�eq�A��ev�: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U����`��@�R�B*** querying acoustic contact ***�P��P�zL�>�=�L�>�=�L�]��@�L���t@�A��bt<B� B��A����*B��9�A��A�t�7�A�{A��A�"C�3��*C�RC�C��CI��G�&>� Z�>9� I� 0YGi� ��@�� �� �� �� ;�; � �E���Aj,k���E�AY}2�y�@�}2x��@y}2.]&=�}2J���}2H������&�?���� �?����5�?����������`�>�?�����Z����� /ʤ���� �բ��������?)~2�y�@ ~2�`;I~2��Cɫ9�9)�9 �=����I�9Y���@y���`G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��%\��M%^=Y�%3�QU-�>��)��1�a5�G��1��9y�=|�}=�>I�A��U�:��E"�5�?��U�:��Er3�� �E�?��]�?9�E��A��E�; �ES;)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L���t@�A�%u�<B� B��A�뒾*B�9�A��A���7�A��@��A�"C�2��*CRCC�C I�!Gm>��� = ����� ��� ��� ��� �� �8:Y�� y�� ��� ��6�]oBj,���E�AY}:4r�@�}:��@y}:��!=�}:����}:H�����z�?���ూ�?�����S�?����*������(.�?���@�]�������6������?��������?)~:4r�@ ~:uBa;I~8ɫ9�9)�9 �=����I�9Y�}�@y�}KaG�xDUSBL response received:!U1,P E77,000,00722,186,80,80,B3,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 ��u/ݼ��u>��uG�i�uQ�@��q �u��@)�u��@I�uҙ@i�u��@���.=M�3=Y���!�QU��>�������a��G������y�U���}U�>I�i��m��5�?��m�4�� �m��?����?9�m��A��m��; �m��;)�i�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL1�L1�L1�L5ǧt@�A�*0�<B� B��A����*B�J9�A��A�C�7�A�@��A�"C�5��*C�RC�C��C�I��GEQ>��� �=i�� ����� 9� I� i� �� �� �� �� 6�; � ��E���Bj,j�0�E�AY}B�i�@�}Bcw�@y}B�=�}Bd���}BH�����f�?�������?������?���@�������?���@�k����� [������`�Ԡ���� ���?)~B�i�@ ~B�Sa;I~@ɫY�Y)�Y �YI�YY�}��@y�}"aG鮁ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=i��=���3�M�\=Y��L�QU��>�����a��G������y��\A�}��>I������:�����5�?����:����5�� ��-�?����?9��;�A����|; ���w;)����:�W)�W1X1 X1�W1:W92W9*W9�V9UAUE��� �7@zLq�Lq�Lq�Luړt@�A��c�<B� B��A� ��*B�9�A��A���7�A�`?��A�"C�4��*C�RC�C��C�I�G=.>��� � ����� ������ ������ A�� �� D:Y�� �[1y�� H�:��� � 6)�� ��;�9� ����Bj,}�J�E�A�|8i|:�@Y}Z�`�@�}Zgn�@y}Z�=�}Z�|��}ZH��������?������?��� �b�?��� A������s�?���@��������������@]���������?)~Z�`�@ ~Z��`;I~Z��Cɫ�髉)�� ������I��Y���@y��`G�xDUSBL response received:!U1,R,EC7,000,00729,186,80,80,99,FF �Fpublishing direction and range info����ً>���ɰ�(>�� ��)���CI��y����B����;�\`M��?��x�C�?��������ٱ���}Ga���}�}>��}�D;i�}��@��y �}��@)�}~�@I�}��@i�y��\��M�==Y�t��QU��>�����a��G����y�&�}��>Iȡ�ťU�5�?�ť7�� ƥ��?����?9ƥ��A�ǥ@�: ȥ+�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���� 7�@�P�*Q���B�Z��$G�X�rQ@�t�^�3@���������Z��;�\`M��?��x�C�?��������2Q��ً>:Q��Z���h�C@���t eN�`퓒� ��Z��X|z��]�?`�� ��꿅Y�,���BQ��,�@ Q�(s�Q�XB�P�~�9?�P���9?�P�m���Q�f���Q�h@"Q��@zL��L��L��L�a�t@�A����<B� B��A��*B�9�A��A��7�A�|>��A�"C�3��*C�RC�C��C�Y���(9I�G=r>���Bj,�Yd�E�AY}2�^�@�}2Ol�@y}2{_=�}2%��}2H��������?����R��?���@>�?����N�����@��?���������������� ������@U��?)~2�^�@ ~2�?`;I~2��Cɫ9�9)�9 �9I�AY����@y���`G�%dNmea in: $SNTTA,0.058192,0.445558,,,165600.93*5A �����Zd;�?J+����� �rh�?����y=����Ƚ ��C=)��I��y���J+��?R���Q��������������H=����½������ ½ A)½�AI½^Ai½ A�������A��eN=MeM=Y�m#~�QUm�>�����a��G����y��%�}��>Iȱ�ŵ��5�?�ŵ�8�� Ƶ��?����?9Ƶ��A�ǵ�; ȵ{W;)ȱ�mmuAdded new target pos. range: 72.480003 m, bearing: 302.906650 deg, deltaT: 4.482593 s, approachRate: 0.093695 m/s, LOS rate: -1.004774 deg/s, posRepo size: 4�Wq�WqXq Xq�Wy:Wy2Wy*W��V�U����`�R@ܱ9ܱIܵ�XGiܵ6�@�ܵ=�ܱ�ܱ�ܵS�; ݵ�EU�����0��?zL��=�L��=�L��@�LR�z@�AmF>�<Bi Bi�AmÑ�*Bm�9�Aq�Auy�7�Au�=��Aq"C}2��*CyRCyC��C�Y�}�(9I��G�_>I�� )�� ��� 4����� ������ ������ ��� �� �:Y�� d\1y�� ��:��� �6)�� [�;�a�Bj,+3~�E�AY}B�Z�@�}B^h�@y}B}� =�}B�)��}BH��������?��� >��?�����C�?��� ٌ��������?����BV�����`�3������������ g��?)~B�Z�@ ~BF/`;I~B��CɫY�Y)�Y �]����I�aY��R�@y��Q`GI�)���U^��M]]=Y�]�w�QU]�>��a��a�ae�G��a��ay�mo��}m�>I�q��}�:��ui�5�?��}�:��u\:�� �u��?����?9�u,�A��u��: �us�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U�����\~�?zL��L��L��L���z@�A��A�<B� B��A����*B�9�A��A���7�A��<��A�"C�5��*C�RC�C��C�Y���(9I�G >�J�%Bj,���E�AY}:�T�@�}:�b�@y}:�V=�}:�n��}:H���� ���?���`���?���@.�?����ߎ���� _��?���@zѓ�����������@�飿�������?)~:�T�@ ~:�"`;I~:��Cɫ9�9)�9 �=����I�9Y�]8�@y�]1`G��U5^>��U��<��U�D<i�U��@��Q �Q)�U��@I�U��@i�U��@��ex��MeI=Y�m6Q�QUm�>��i��i�au�G��q��qy�}��}}�>Iȁ�Ņ��5�?�Ņ<�� ƅ�?����?9ƅ��A�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�?�z@�A����<B� B��A�Q��*B��A��A�M�7�A��;��A�"C4��*CRCC �C Y��,$9I�G->�١ �١ ܩ 9ܩ Iܭ hXGiܭ �@�ܭ =�ܩ �ܩ �ܭ �; ݭ '�E��� o ����� ������ ������ ��� �� �<:Y�� 0Y1y�� ��:��� �6)�� <�;��+Bj,_��E�AY}2K�@�}29Y�@y}2� �<�}2pA��}2H�������?����R��?���`�˥?����������t��?���@�꓿���`������ 塿������?)~2K�@ ~2(�`;I~2��Cɫ9�9)�9 �=����I�9Y�}V�@y�}U`G��`<MO=Y��C�QU�>��!��!�a%�G��!��)y�-T?�}-�>Iȁ����:�Ņ5�5�?����:�Ņ�=�� ƅ0�?����?9ƅ��A�DžH�: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U������5�?zL��L��L��L���z@�A 6��<B B �Aw��*B�A�A��7�A�:��A"C%3��*C!RC!C)�C1Y�E�9I�QG}7>���2Bj,���E�AY}2E@�@�}2�M�@y}2��<�}2���}2H��������?����k��?��� ���?����z���������?���`���������ў�����Ӡ��������?)~2E@�@ ~2� a;I~2��Cɫ9�9)�9 �E����I�AY�]@�@y�]:`G����=i���=)���= ���=��/�=���L����;i�f�@�� �~�@)�~�@I�~�@i�~�@��%ۻM%I=Y�-�&�QU-�>��)��1�a5�G��1��1y�=A]�}=�>I�A��E��5�?��Ep?�� �EE�?��M�?9�E4�A��E˵: �E��:)�A�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU���� ��?zL�L�L�L��z@�AM��<BQ BQ�AUږ�*BQ�AY�A]�7�A]�9��Aa"C�2��*C�RC�C��C�I��G% >��� ������ ������ ������ ~�� �� ,:Y�� DW1y�� Y�:��� ��5�9� @���8Bj,#���E�AY}2�)�@�}2|7�@y}2��<�}2`1��}2H���� ޏ�?������?�����C�?����\���������?�����Ǒ����`�_������bá��������?)~2�)�@ ~2�Wa;I~0ɫ9�9)�9 �=����I�9Y�}��@y�}�_G��u��� �rh�?V-����v��/����uC�=��u�m� �uxi�)�qI�qy�u�L7�A`�?����K������������u+=��u^����q �q)�u�AI�u3Ai�u�A��q��u�A���,�M�D=Y��]�QU��>�����a��G����y��}��>Iȩ����:�ŭ��5�?����:�ŭ�@�� ƭc�?����?9ƭ��A�ǭ��: ȭ{�:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����N@zLe>�=�Le>�=�Le���@�LeD:r@�A����<B� B��A�*B��A��A�g�7�A��8��A�"C�5��*C�RC�C��C�I��G�>�Q9�QI�UXGi�U��@��Q��Q��Q��U��; �U-�E)��I��i���=���=���)�4��"?Bj,�|��E�AY}:��@�}:O"�@y}:��<�}:�>��}:H���� �g�?����K��?����-�?���`Ӣ����`>v�?��� 6�������������@�䣿�������?)~:��@ ~:� a;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}�_G���������<M�[=Y�_��QU��>�����a��G����y���}��>Iȹ�Ž~�5�?�ŽB�� ƽ��?����?9ƽ��A�ǽܹ: Ƚ�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����)J@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��r@�A�m��<B� B��A�ߜ�*B��A��A���7�A��7��A�"C4��*CRCC�C I�G=�=I�� AA)�� ��� | ����� ������ ������ ��� �� �=:Y�� �Y1y�� �:��� {�5�� FBj,�W �E�AY}2��@�}2\�@y}2���<�}2"%,��}2H�����HG�?���` ��?����NW�?����������|U�?�����h�����@������:������ ��?)~2��@ ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}[_G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)�� ������������t�����H=�����i���@�� ���@)�I�i���t��M5=Y��h�QU�>��!��!�a%�G��!��)y�-��}-�>I�1��=�:��5��5�?��=�:��5}C�� �5��?��E�?9�5*�A��5��: �5��:)�5��:�Wa�WaXi Xi�Wi:Wi2Wi*Wq�VqUqUu����ݶ @zL��L��L��L��q@�A����<B� B��A�2��*B��A��A��7�A��6��A�"C�3��*C�RC�C��C�I�1Gu>������i��HmGI��i�!��MDY�ٺI��M�LA��A ��A �Q 9�Q I�Q i�Q ��U =��Q ��Q ��U h�; �U �E��4LBj,�23 �E�AY}2*��@�}2��@y}2*��<�}2�{'��}2H������<�?���`B��?�������?����֩������I�?���@�y�������������p줿�������?)~2*��@ ~2��`;I~2��Cɫ9�9)�9 �=����I�AY�E��@y�Mq_GUxDUSBL response received:!U1,P EC7,000,00729,186,80,80,99,FF UCommand AckUBRequesting micromodem ping code 2i�Q��Q�e�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����;M�d=Y���u�QU��>�������a��G����y�%��}-�>I�A��E�5�?��E�D�� �E��?��}�?9�Et�A��Es�; �E��;)�A�W��W�X� X��W�:W�2W�*W��V�UU����} @zL��L��L��L���q@�A����<B B�A ��*B �A �A j�7�A K5��A"C2��*CRCC�C)i�1I�1��1��1I�9 GU �>�� � ���� �� �� ��� � B:Y� y� �� ��6��,SBj,jPM �E�AY}:��@�}:W�@y}:ڽ<�}:Ue��}:H�����lI�?���@+��?����)�?����-�������T�?���`Z?�������������`Z������ m��?)~:��@ ~:Z�`;I~:��Cɫ9�9)�9 �9I�9Y��Z�@y��_G鮹ɮ�=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Å��=�Å�"��Åd;>iÅ=�@�Á ą�@)ąҙ@Iąҙ@iąҙ@��`��M�;=Y�|�QU��>�����a��G����y�*�:}��>Iȱ�ŵS�5�?�ŵF�� Ƶ��?����?9Ƶ��A�ǵw�: ȵǺ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L���q@�A�Lj�<B� B��A�4��*B��A��A���7�A�:4��A�"C�5��*C�RC�C��C�I� GM>��� �=i�� �=�|VYBj,k*g �E�AY}:��@�}:��@y}:O2�<�}:����}:H���� 0a�?������?��� �$�?����ڤ���� k�?����- ������҅�����`����������?)~:��@ ~:A�a;I~8ɫ9�9)�9 �=����I�9Y�}�@y�}M_G�xDUSBL response received:!U1,R,EB3,000,00730,186,80,80,6A,FF �Fpublishing direction and range info���,ɔ>���ɰ��>鰁 ��)����BI��y��̑B������m���?���kV�?��������ٱ���dNmea in: $SNTTA,0.230861,0.230217,,,165605.36*51 ����=i���=��5�+����������K��:��v������5����5^�� �5�Լ)�1I�1y�5����Q��?���Mb��y�&1��?��5��<��5�����5`�< �1)�1I�5�Ai�1��1��5�A)�E�= �E�=��U!-<MU?=Y�U�4�QU]�>��Y��Y�a]�G��Y��ay�e�f;}m�>Iȩ����:�ŭ`�5�?����:�ŭrG�� ƭ��?����?9ƭ�A�ǭ; ȭ�;)ȭ��:��9��I��i����������������; ��-�E�W1�W1X9 X9�W9:W92WA*WA�VAUaUm���`��@�P�*Q�̑B�Z��;��)�uQ@�L�d<�4@���������Z����m���?���kV�?��������2Q�,ɔ>:Q��Z��<�L�pD@�R���oN��5)���Z��n���?/�H�s�꿼�b�"��BQ�k�@ Q�}s�Q�3 B�P��9?�P�~�9?�P�Q�m���Q�S]@"Q�h@zL��=�L��=�L����@�L�Ap@�A5��<B9 B9�A=㢾*B9�Ai�Am�7�Am�2��Ai"Cu4��*CyRCyCy�C�I��G�G>��� � ����� ������ ������ ��� �� RF:Y�� xZ1y�� q�:��� !�5)�� ��;�9� ��^>`Bj,�� �E�AY}2_�@�}2,�@y}2D˰<�}2�U��}2H����`�z�?���`J��?�����Ȣ?��� ����� f��?�����x����� �������I�����@���?)~2_�@ ~2ބb;I~0ɫ9�9)�9 �=����I�9Y�}ѵ@y�}�_G����<Ma=Y����QU�>��!��!�a%�G��!��)y�-��;}-�>Iȁ�Ņ�5�?�Ņ�H�� ƅ�?����?9ƅi�A�Dž'�: ȅv�:)ȁ�m�qAdded new target pos. range: 72.900002 m, bearing: 303.342361 deg, deltaT: 4.464506 s, approachRate: 0.094075 m/s, LOS rate: 0.097595 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������9R@U������]�?zL��L��L��L��.p@�Ag��<B B �A ̝�*B �A�A{�7�A�1��A"C3��*CRCC�C!I�IGm�=��hfBj,�� �E�AY}2�&�@�}2�4�@y}2���<�}2v���}2H�����I��?����K��?������?����������`���?���`ۜ�����`@�����@����������?)~2�&�@ ~2�;b;I~0ɫ9�9)�9 �=����I�9Y�}ɵ@y�}�_G��-3�>��- �>��-x�=i�-�@��) �-��@)�-��@I�-��@i�-��@��=�M=H=Y�E�N8QUE�>��A��A�aM�G��I��Iy�UX';}U�>I�Y��e�:��]6�5�?��e�:��]�I�� �]��?��e�?9�]��A��]��: �]��:)�]��:�W��W�X� X��W�:W 2W*W�VUU���� a�?zLQ�LQ�LQ�LUVIp@�Am���<Bi Bq�AuB��*Bq�Aq�A}��7�A}�0��Ay"C�2��*C�RC�C��C�I��G��=�� 9�� I�� i�� ��� =��� ��� ��� ��; 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�}��E��� =i�� p=�~��Bj,DM �E�AY}2nݧ@�}2(�@y}2��<�}2���}2H����@H��?������?������?����D������� �?��� h=��������������������?)~2nݧ@ ~2V,a;I~2��Cɫ9�9)�9 �=����I�9Y�}O�@y�}_G���i���=)���= ���=��8w�MR=Y��:QU�>��!��!�a%�G��!��)y�-U#�}-�>I�1��5��5�?��5�N�� �5��?��=�?9�5�A��5w�: �5Ǻ:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu������@zL��L��L��L�7ng@�A�a��<B� B��A�楾*B��A��A�1�7�A��+��A�"C2��*C!RC!C9�CAI��G�'>��� ������ ������ ������ ��� �� 11:Y�� �Y1y�� �:��� W�5�"ƆBj,{i �E�AY}:���@�}:FΟ@y}:�l�<�}:�����}:H����@���?����R��?������?����4�����`P��?����#�����@�������`p������ ���?)~:���@ ~:F]a;I~:��Cɫ9�9)�9 �=����I�9Y���@y��`G���������D���>��+>i���@�� ���@)���@I���@i���@��-�s=M-G=Y�-F�:QU-�>��1��1�a5�G��9��9y�=��}E�>I�A��M�:��E[�5�?��U�:��E�O�� �E��?��U�?9�E\�A��E�: �E��:)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U�����>*@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��3g@�A����<B� B��A�f��*B��A��A���7�A��*��A�"C�5��*C�RC�C��C�I� G��=�Q 9�Q I�Q i�Q ��U =��Q ��Q ��U b�; �U ��E)��I��i�鈉��=��������4����Bj,�6 �E�AY}2���@�}2M��@y}2f\�<�}2k�ݼ�}2H�����:��?���@S��?�����͠?����Q�����@z��?��� ������� �J������������`���?)~2���@ ~2Q@a;I~2��Cɫ9�9)�A �E����I�AY�}Z�@y�}_G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����q�M�Q=Y����:QU��>�������a��G������y�l��}�>I� �� M�5�?�� �P�� � ��?����?9� ��A�� �< � :�<)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUE���`̈ @zL��L��L��L�>g@�A�o��=B� B��A�4��*B��A��A���7�A�M)��A�"C�4��*C�RC�C��C�I�AG�>I�� )�� ?A��� � ����� ������ ������ ��� �� �S:Y�� 0Y1y�� ��:��� ��5��ȓBj,��O �E�AY}6���@�}6���@y}6��<�}6�h���}6H��������?���`п�?��� �[�?��������������?�����l������+㙿��� ]ɞ����`���?)~6���@ ~6#a;I~6��CɫY�Y)�Y �]����I�YY���@y��`G�xDUSBL response received:!U1,P EB3,000,00730,186,80,80,6A,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������nA��E��>��E�Լ��E�$�i�E��@��A �E��@)�E��@I�Ai�E��@����@=M�$=Y����:QU��>�������a��G������y��| �}��>I�A��M�:��EV�5�?��M�:��ER�� �ED�?��M�?9�E�A��E �: �E��:)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U�����Nj @zL�L�L�L^�f@�A=p��=Ba Ba�Am+��*Bm�9�Aq�Au2�7�Au�'��Aq"C�3��*C�RC�C��C�I�qG �>i��nGI��i������.�ٺ�����$A���Bj,�i �E�AY}F,��@�}F浟@y}F�0�<�}F���}FH��������?�������?��� /ͥ?���`�������3��?���`b0������=�������!ᢿ������?)~F,��@ ~F�`;I~DɫY�Y)�Y �]����I�YY��&�@y���^G鮡ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� �ˡE����?���x�&ѿR���Q���9�I��WGi�B�@��=��������; �˒E�� �=�� 7�� � �½)� ���I� y� �����Mbp?y�&1�����~j�t�?�� �;�� `��� ��< � A)� �AI� 3Ai� �� �� A��M��MMf=Y�U�:QUU�>��Q��Q�a]�G��Y��Yy�e`�:}e�>I�i��mG�5�?��m�R�� �mG�?��u�?9�mi�A��m8�: �m�:)�i�W�WX X!�W!:W!2W!*WI�VIUIUM���`)"@zL���=�L���=�L�V�@�L���]@�A�=B� B��A�q��*B�9�A��A���7�A��&��A�"C�2��*C�RCC�C I�IG�8>��� ������ ������ ������ b�� �� �f:Y�� �W1y�� č:��� <6)�� ��;�9� ���ڠBj,��� �E�AY}2⯧@�}2���@y}2�z�<�}2N4��}2H���� ~��?����ٷ�?�����Y�?��� b�����@ε�?�����������@�Κ�����셦�����B��?)~2⯧@ ~2��a;I~2��CɫY�Y)�Y �]����I�YY����@y���_G�xDUSBL response received:!U1,R,F89,000,00739,187,80,80,5D,FF �Fpublishing direction and range info���ɭ�=���ɰ�x>鰥1�> ��)����BI��y���B���� ����?i�Q��?��������ٱ�����K=M�f=Y���N:QU��>�������a��G������y���-;}��>I������:��� �5�?����:���iS�� ��\�?����?9����A����T; ���i;)����:�W9�W9X9 X9�W9:W92WA*WA�VAUAUE���`�{@�P!*Q%�B�Z%���G��BR@�X؉s@���������Z%� ����?i�Q��?��������2Q%ɭ�=:Q!�Z%��O���s;@I�5> Q����#���Z%���o~��?��p\�������T��BQ%��@ Q%(��Q%��A�P%]�9?�P%�9?�P%z���Q!Q%�[@"Q%S]@zL!�L!�L!�L%)�]@�AU�W=BQ BY�A]k��*BY�AY�A]��7�A]|%��AY"C�5��*C�RC�C��C�I��G�#>��� �=i�� ���Bj,p� �E�AY}2ʸ�@�}2�Ɵ@y}2��<�}2�>��}2H�����w��?���@5��?���@�ê?�����������A��?�����L������]��������ѧ���� ��?)~2ʸ�@ ~2�a;I~2��CɫI�I)�I �M����I�IY�}յ@y�}�_G���i���=)���= ���=��5C>��5�����5��=i�5f�@��1 �5~�@)�5~�@I�5~�@i�5~�@��E8 <MEC=Y�E�1;QUM�>��I��I�aM�G��I��Qy�]�);}]�>I�a��eg�5�?��e>T�� �e��?��m�?9�e�A��eϸ: �e@�:)�a�m�uAdded new target pos. range: 73.440002 m, bearing: 291.961572 deg, deltaT: 4.398796 s, approachRate: 0.122761 m/s, LOS rate: -2.587251 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)\R@U�����g��?zLA�LA�LA�LEw�]@�A}S=By B��A����*B��A��A�J�7�A�Q$��A�"C�4��*C�RC�C��C I�!G]>� 9� I� i� �� �� �� �� ��; � ْE��� C ����� ������ ������ ��� �� i�:Y�� �Y1y�� �:��� ��5)�� ��;��C�Bj,#�� �E�AY}B1Ƨ@�}B�ӟ@y}B]X�<�}B��5��}BH����@��?����<��?������?�����������e��?�����ߎ�����J������Ϻ���������?)~B1Ƨ@ ~BY[a;I~B��CɫQ�Q)�Q �U����I�QY��ص@y���_G��MR�:MMG=Y�U�M;QUU�>��Q��Q�a]�G��Y��Yy�e��;}e�>I�i��u�:��m5�?��u�:��mU�� �m��?��u�?9�mw�A��m��: �m��:)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U����`���?zL��L��L��L���]@�A��m=B� B��A�U��*B��A��A���7�A�#��A�"C�3��*C�RC�C��C�I��G��=��&�Bj,�h� �E�AY}:�ͧ@�}:�۟@y}:���<�}:� ��}:H�����l��?��� ��?��� ڌ�?����&�����@���?���`ݣ������������@�����������?)~:�ͧ@ ~: �a;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�_G��uh�=��u`e<��u�i�u=�@��q �u��@)�u��@I�u��@i�u��@���4<M�G=Y��;QU��>�����a��G����y�r;}��>Iȡ�ť�5�?�ť�U�� ƥ�?����?9ƥ��A�ǥ��: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�����6T�?zL�L�L�Lt�]@�A!q=B B�A��*B�A�A�7�A�!��A!"C%2��*C)RC)C)�C)I� G% >Iޡ )ޥ AA�� ���� ����� ����� m�� � 6:Y� [1y� ݏ:�� @F6�9� @��P�Bj,1C� �E�AY}6�ǧ@�}6�՟@y}6u=�}6%1��}6H��������?����c��?���@�M�?����W�����@���?���@�������@S��������b��������?)~6�ǧ@ ~6��a;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�_GI��)���Aܙ9ܙIܝXGiܝ��@�ܝ=�ܙ�ܙ�ܝ��; ݝӒE����sh��|?�?��ʡE���~j�t�h?����)>���-�� ���D;)��I��y����� �rh�?<�O��n������Mbp����C�<���t������� ½dA)½- AI¹i¹������fA����������:M�E=Y����;QU��>�������a��G������y��i�}��>I�����܌5�?����V�� ���?���?9���A���{�: ��@�:)���WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]����� �?zL}��=�L}��=�L}S7�@�L}��i@�A��{=B� B��A�ʚ�*B��A��A�a�7�A�� ��A�"C�5��*C�RC�C��C�I��GU>�T8�Bj,��E�A�|�|Y}6ݵ�@�}6�ß@y}6�=�}6�����}6H�����߰�?������?����0T�?���@̻�����G��?���@>Ԙ������������`������@!��?)~6ݵ�@ ~6rhb;I~6��CɫA�A)�A �M����I�IY�}�@y�}�_G��]��MeS=Y�mЭ;QUu�>��y���a��G����y�g��}%�>I�!��U�:��%��5�?��U�:��%�W�� �%��?��U�?9�%Q�A��%�; �%T�;)�%��:�W��W�X� X��W�:W�2W�*W��V�U�U������T�@zL��L��L��L���i@�A��=B B�A%h��*B!�A!�A%��7�A%8��A!"CM4��*CIRCQCQ�CQI��G�>�� ����� ����� ����� ��� � &2:Y� �W1y� č:�� �6��b�Bj,+��E�AY}6'��@�}6ᬟ@y}6T�=�}6k���}6H�������?�������?��� ��?��� n�����@ ��?��� a뚿���@������� �p������P��?)~6'��@ ~6��b;I~4ɫ9�9)�9 �=����I�9Y���@y���_G��M^�=��M����M�u�i�M�@��I �Mz�@)�II�Ii�I��]�;M]J=Y�ef�;QUe�>��a��a�am�G��i��iy�u�}u�>I�y��}��5�?��}WX�� �}��?����?9�}��A��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����`�Q@zLq�Lq�Lq�Lua�i@�A�Z�=B� B��A��*B��A��A��7�A���A�"C�3��*C�RC�C��C�I��G>ܙ9ܙIܙiܙ�ܝ=�ܙ�ܙ�ܝ��; ݝڒE�ޡ iޥ �=�ݍ�Bj,��8�E�AY}N���@�}Nu��@y}N�==�}N�B��}NH����`�Q�?�������?��� ��?���`�����@�g�?����f蛿�������������C���������?)~N���@ ~N��b;I~N��Cɫq�y)�y �yI�yY��-�@y��#`G������@A���i���=)�-�= �-�=��5��<M5M=Y�=�;QU=�>��9��9�a=�G��A��Ay�El�}M�>I�I��]�:��M^�5�?��]�:��M%Y�� �M��?��]�?9�M��A��M��: �M �:)�M��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�q`i@�A�o�=B� B��A���*B��A��A���7�A����A�"C�2��*C�RCC�CI�G5�=�� � ���� ����� ����� ��� � F:Y� WU1y� �:�� ��5�zt�Bj,��R�E�A�|i|�@Y}6�l�@�}6az�@y}6&"#=�}6�#��}6H�����*#�?�������?����0�?��� ������E<�?���`7F�������b����� 4v�����`���?)~6�l�@ ~63�b;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�_G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-+�=��-�����-�H�i�-��@��) �-��@)�)I�)i�)��,��M==Y�%�Y;QU%�>��!��!�a%�G��)��)y�M)ܻ}U�>I�Y��]��5�?��]Z�� �]��?��e�?9�] �A��]��: �]b�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL�L�L�L2i@�AMW�="BMPj:BI BI�AU{��*BQ�AQ�AU��7�AUo��AQ"C]5��*CYRCYCa�CaI��G�!>����Bj,��l�E�AY}6`�@�}6�m�@y}6��&=�}6��+��}6H������ �?���@ ��?����B�?���`5�����`m%�?�����������Ѥ������y��������?)~6`�@ ~6D�b;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�_G�xDUSBL response received:!U1,P F89,000,00739,187,80,80,5D,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �i9�iI�m�WGi�mB�@��i��i��i��m��; �mҒE)�сI�сi�с��Ձ=��с��ՁC�4�������x�&�?!�rh���?�~j�t������7�=���l�= ���D�)��I��y�����~j�t�?�MbX9������Mb�?����=���ʡ�����< �� A)���AI���Ai���A�������A��]���M]+=Y�|�:QU��>�����a��G�����y��4P�}��>I�����:���O�5�?���:����[�� ����?�� �?9��a�A���p�; ���;)����:�W��W�X� X��W�:W�2W�*W��V�UU%����+@zL���=�L���=�L��$�@�L���w@�A�Z=B� B��A����*B��9�A��A��7�A����A�"C�4��*C�RC�C��CI�YG}�>Iޡ )ޥ @A�� ����� ����� ����� ��� � �1:Y� [1y� ݏ:�� ��5)� �;�9� ����Bj,0d��E�AY}B�b�@�}Bwp�@y}BD�(=�}B�m'��}BH�������?��� ���?�����ʩ?����N������}*�?�����{������ �������礿��� 3��?)~B�b�@ ~Bb;I~@ɫa�a)�a �m����I�iY���@y��aG��a=ɮ�p=�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)���A��M�����Mף���M94�i�Mf�@��I �M~�@)�M~�@I�M~�@i�M~�@��]�=M]r=Y�e.�:QUe?��a��a�am�G��i��qy�u6�:}u?I�y��}�5�?��}�\�� �}i�?����?9�}��A��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����A@zL��L��L��L���w@�A�3=B� B��A�p��*B�9�A��A���7�A����A�"C�3��*C�RCC�CI�!G= >����Bj,�@��E�AY}:^m�@�}:{�@y}:�.=�}:=��}:H����@$�?������?���@�e�?����������`:>�?���@g������ kԥ������<���������?)~:^m�@ ~:˿`;I~:��Cɫ9�9)�9 �=����I�9Y�}*�@y�}`G�xDUSBL response received:!U1,R,E66,000,0073B,186,80,80,7C,FF �Fpublishing direction and range info����0�>���ɰ��>鰅��> ��)����BI��y���B����ƌ{�7��?��Z8�i�?��������ٱ���uh�MuI=��y��}��CY�c;QU��>���i��=nG����a��GI� ���i�!��!��UA+�ٺQ��U?!Ay�MDE;}]�>I�Y��m�:��]$}5�?��m�:��]^�� �]_�?��m�?9�]��A��]]�: �]��:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q��B�Z�����9Q@_�~���9@���������Z��ƌ{�7��?��Z8�i�?��������2Q��0�>:Q��Z����$�E@~4�{�M�bc�$�>��Z�����c���?K�|���~'4/��BQ�I�@ Q��m�Q��,B�P���9?�P�]�9?�P�k���Q�z���Q���?"Q��[@zL��L��L��L��w@�A��A=B� B��A�>��*B��A��A���7�A����A�"C�2��*C�RCC�CI�G�A>�=Y�>9�9I�9i�9��==��9��9��=��; �=֒E�� ����� ����� ����� ��� � �1:Y� d\1y� ��:�� 6)� ��;����Bj,�'��E�Aɫ���)�� �I�Y�e�@y�m�_G��TNmea in: $SNTTA,0.096718,,,,165614.27*45 ��-�M�M-O=Y�5���QU5�>��1��1�a5�G��9��9y�=���}E�>I�I��M{5�?��MS_�� �M1�?��U�?9�M+�A��M��: �Mr�:)�I�m�qAdded new target pos. range: 73.560005 m, bearing: 306.064410 deg, deltaT: 4.499324 s, approachRate: 0.026671 m/s, LOS rate: 3.134435 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �cR@U�����k��?zL��L��L��L��A�Dq=B� B��A�ʚ�*B��A��A�a�7�A�l��A�"C�5��*C�RC�C��C�I�AG]U>����Bj,����E�AY}6�}�@�}6���@y}6�^5=�}6?���}6H������C�?������?���`��?����������` ^�?�����Ӡ���� ������� �m����� ���?)~6�}�@ ~6m:`;I~6��Cɫ9�A)�A �E����I�AY�}w�@y�}~`G��]j<>��]^�>��]94�i�]Q�@��Y �]��@)�]��@I�]��@i�]��@��m�=MmX=Y�m+�;QUu�>��q��q�a}�G��y��yy�a�;}��>Iȉ�ōy5�?�ō�`�� ƍ�?����?9ƍo�A�Ǎ��: ȍ��:)ȉ�W1�W9X9 X9�W9:W92W9*WA�VAUAUE���@J^�?zL��L��L��L�h�w@�A���=B� B��A�b��*B��A��A���7�A�-��A�"C�4��*C�RC�C��C�9�I�AG�Z>�� � ���� ����� ����� ��� � E>:Y� �X1y� /�:�� �6�9� @�k��Bj,���E�AY}>�v�@�}>���@y}>��:=�}>�5��}>H������5�?����Q��?�������?��� g������TR�?����^J������FR������y ���������?)~>�v�@ ~>B/`;I~>��Cɫ9�9)�9 �=����I�AY����@y��aG��9��I��XGi����@��������������; ��ݒE���� ףp= �?����K��X9��v������Q�=���^�� ���}�)��I��y����~j�t��?/�$�����~j�t������D=����������� ��5A)��XAI��Ai��������fA���=MA=Y� �F;QU �>�����a��G����y����}��>Iȩ����:�ŭ|v5�?����:�ŭDb�� ƭ�?����?9ƭ��A�ǭ��: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��=�L��=�L�h�@�LH{@�A%v=B! 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B!�A%1��*B%C9�A!�A%�7�A%f��A)"C55��*C1RC1C1�C99�MTR:I�YG�>��9��I��i�����=�����������; ��ΒE��(Cj,Nd;�E�A�|�|Y}2�g�@�}2^u�@y}2]B=�}2���}2H������?�������?���@̋�?�����������n5�?����]V�������?�����`Z�������Q��?)~2�g�@ ~2�&a;I~2��Cɫ9�9)�9 �=����I�AY�e�@y�eGaG���p�ML=Y�ŏ:QU�>��!��!�a%�G��!��)y�->��}-�>I�1��5�o5�?��5�f�� �5O�?��=�?9�5��A��5��: �5��:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu�����@zL��L��L��L�T�z@�A��=B� B��A�3��*B�9�A��A���7�A�)��A�"CU4��*CQRCQCQ�CY9�MAj:I�YGu>�� � ���� ����� ����� ��� � BZ:Y� �U1y� ��:�� �6�zCj,�=U�E�AY}>�h�@�}>�v�@y}>��B=�}>RC��}>H�����[�?�������?������?����p������47�?��� ��������8]����� -"���������?)~>�h�@ ~>��`;I~>��CɫA�I)�I �U����I�QY����@y���`G������)���= ���=��t=����=��`�;i�Q�@�� ���@)���@I���@i���@��-;��M-I=Y�-�:QU5�>��1��1�a=�G��9��9y�E��9}E�>I�I��M�:��M]m5�?��U�:��MJh�� �M\�?��U�?9�M��A��M�: �MQ�:)�M��:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����`�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���z@�A��H=B� B��A����*B��A��A���7�A����A�"C�3��*C�RC�C��C�i��I��������I�iG�Z>��:Cj,?o�E�AY}:�l�@�}:�z�@y}:oK?=�}:����}:H�����:"�?����N��?���`�j�?��� ��������?�?���`�������@4秿���������������?)~:�l�@ ~:�`;I~8ɫ9�9)�9 �9I�9܁9܁I܁i܁�܅=�܁�܁�܅��; ݅ϒEY��V�@y���aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=��������Mb���� �rh�?���������������C= �����)��I��y������Mb�?k�t�������Mb������@=��� ������ )�AI�Ai A���������3=M�4=Y�?�QU��>�����a��G����y���:}��>I������j5�?���j�� ����?����?9��Y�A��� �: ��U�:)���W��W�X� X��W�:W�2W*W�VUU������ @zL-a�=�L-a�=�L-6ͦ@�L-P4z@�AMb�=BI BI�AU��*BU�9�AQ�AUZ�7�AUf ��AY"Ce2��*CaRCiCi�CiI��G�>�� Y ���� ����� ����� %�� � �::Y� �X1y� /�:�� ��5)� ��;�9� ��<&"Cj,���E�AY}Mt�@�}Mف�@y}MtD6=�}M}&��}MH����@�0�?�������?������?������������M�?���@_W�������Ʀ����`ٹ�����`+��?)~Mt�@ ~M��a;I~M��Cɫ �)� �����I�Y�m�@y�mKaGuxDUSBL response received:!U1,P E66,000,0073B,186,80,80,7C,FF uCommand AckuBRequesting micromodem ping code 2i�q��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��m�ƽ��mQ8=��mC�=i�i��i �m&�@)�m~�@I�m~�@i�i���}�M�;=Y�դ�QU��>�������a��G������y���;}=�>I�I����:��M�g5�?����:��M�k�� �M��?����?9�M��A��M��; �Ms�;)�M��:�W��W�X� X��W�:W�2W�*W��V�U�U����`ao @zL9�L9�L9�L=�Ez@�AM��=BI BQ�AU���*BUw9�Ay�A}��7�A}���Ay"C�5��*C�RC�C��C�I��G l>��L(Cj,tТ�E�Aɫ�髙)�� ������I��Y��~�@y���aG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��enA��eoA���=M�t=Y����QU�?�����a��G����y����}�?I�I��M�e5�?��Mm�� �MH�?��U�?9�M��A��MV�: �M��:)�I�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U������@zL��L��L��L��A��P=B� B��A��*B�9�A��A�D�7�A�� ��A�"C�4��*C�RC�C��C�I��G>܉9܍{�CI܍hXGi܍�@�܍=�܉�܍�D�܍��; ݍƒE)��I��i�����=���=���ӳ5�� � ���� ����� ����� �� � �C:Y� �W1y� č:�� 6�5)� ��;��v.Cj,㩼�E�AY}2�j�@�}2Ix�@y}2�1=�}2!��}2H����@}�?������?�����S�?��� �������:�?����������`z2������������`���?)~2�j�@ ~2�@a;I~2��Cɫ9�9)�9 �=����I�AY���@y��BaG�xDUSBL response received:!U1,R,098,000,00743,187,80,80,4D,FF �Fpublishing direction and range info��������ɰ�J>鰝1�> ��)����BI��y���B����,Q� ��?�) ������������ٱ����Y �M�Y=Y��qD�QU��>�������a��G������y���J�}��>I������c5�?���rn�� ����?����?9��@�A���˵: ��=�:)���W�WX X�W:W2W*W�VU!U%�����p@�P1*Q5�B�Z5��2�XR@��/���#����������Z5�,Q� ��?�) ������������2Q5��:Q1�Z5�n�5rTj$@pN��QR�7m��`��Z5��|䆠��?���3ޫ��0�W��BQ5�9�@ Q5���Q5R#A�P5.�9?�P5��9?�P5����Q5k���Q5(;@"Q5��?zLY�LY�LY�L]�3z@�Am�=Bq Bq�Aun��*Bq�Ay�A}��7�A}� ��Ay"C�3��*C�RC�C��C�I��G��=�?a5Cj,����E�A�|�|4<Y}6Y�@�}6�f�@y}6�'=�}6(���}6H����` ��?�������?���`���?�������������?����]l�������������@�Ѣ��������?)~6Y�@ ~6��a;I~6��CɫY�Y)�Y �]����I�aY��w�@y���aG�-TNmea in: $SNTTA,0.055629,,,,165618.74*43 ���Q8>����O>�����i��3�@��� ��)���@I��ҙ@i���@��o�<M8=Y�ɮ�QU�>�� �� �a �G�� ��y����}�>I�1��E�:��5*a5�?��M�:��5)p�� �5��?��M�?9�5��A��5�'; �5;)�5��:�m}uAdded new target pos. range: 74.040001 m, bearing: 277.930124 deg, deltaT: 4.362034 s, approachRate: 0.110039 m/s, LOS rate: -6.449809 deg/s, posRepo size: 4�Wy�WyX� X��W�:W�2W�*W��V�U����`��R@U����@���?zLI�LI�LI�LMwz@�A���=B� B��A�j��*B�}9�A��A�'�7�A���A�"C%2��*C)RC1C1�CaI��G�G>i���mGI��i���� �>�ٺ �� �3A�� h���� �� �� ��� � �d:Y� y� �� ��5�9� @��;Cj,�a��E�AY}JuD�@�}J/R�@y}J��=�}J�����}JH�����8��?�������?���@��?��� ����������?����������� ٢����@>j���������?)~JuD�@ ~Jўc;I~J��C�)9�)I�-�XGi�-6�@��-=��)��)��-��; �-��Eɫy�y)�y �}����I�yY��y�������Q����?`��"�������Q������\>������ �����)��I��y����~j�t�h?��|?5^���~j�t��?����D;����ҽ����D< ��dA)��I���Ai���A������)��> ���=Y���)�QU�>�����a�G���� y�Z̻}�>I����]5�?���p�� �\�?��%�?9���A����: ���:)��WA�WIXI XI�WI:WI2WQ*WQ�VQUQUU���@ �?zLuu�=�Luu�=�Lum��@�Lu%T\@�A��> =B� B��A�*B�9�A��A���7�A����A�"C�5��*C�RC�C��C�I��G�>�xBCj,>[ �E�AY}bW=�@�}bK�@y}bt� =�}b����}bH����@���?�������?���@�l�?���`/��������?���@�������@������ [X�����`���?)~bW=�@ ~b{+c;I~b��Cɫ�髉)�� ������I��Y����@y�� bG��ii�m�=�ýj<��ý��=�ý\�iý��@�ù Ľ�@)Ľ��@IĽ��@iĽ��@����%<M��<Y����QU��>�������a��G������y��0�}��>I������:����Z5�?����:����q�� ��#�?����?9��B�A���s�: ����:)����:�W�W�X� X��W�:W�2W�*W��V�U�U���� �1�?zL��L��L��L�YA\@�A�� =B B�A~�*B%�9�A!�A%�7�A%��A!"C-4��*C)RC)C1�C1I�iG�>�� � ���� �� �� '�� � D:Y� y� �� �6��HCj,�$ �E�AY}J�7�@�}J�E�@y}J#�=�}JC���}JH�����l��?���`���?���@Tf�?����7����� ���?����4����� Ɩ�����@����:��?)~J�7�@ ~J*�b;I~HɫY�Y)�Y �]����I�YY�}~�@y�}�aG��=~��M=U=Y�E��QUE�>��A��I�aM�G��I��Iy�U=�}U�>I�Y��]cW5�?��].r�� �]��?��e�?9�]��A��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����]�?zL��L��L��L��3\@�A�'� =B� B��A��*B�9�A��A���7�A�K��A�"C�3��*C�RC�C��C�I��G�=�!9�!I�%0YGi�%��@��%=��%PD��!��%��; �%��E�k�NCj,2> �E�AY}6s/�@�}6-=�@y}6��<�}6��*��}6H�����Į�?������?��� ��?����(����� -��?���@Ƒ������������hT������`��?)~6s/�@ ~6%5b;I~6��CɫQ�Q)�Q �U����I�QY��߷@y��8bG������mA��-��<M5K=Y�5!��QU5�>��9��9�a=�G��9��9y�E>%�}E�>Iȡ����:�ť�S5�?����:�ť�r�� ƥ��?����?9ƥ��A�ǥf�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U������Y�@zL�L�L�L/\@�A?� =B B�A�y�*B�9�A�A�7�A���A"C%2��*C)RC)C)�C)I�AGe�=�� @ ���� ����� ����� ��� � �8:Y� [1y� ݏ:�� �6�E�UCj,t�W �E�AY}2*1�@�}2�>�@y}29x�<�}2%L4��}2H����`��?���`��?�����-�?����}�����`���?����98������IN������������� ]��?)~2*1�@ ~25�a;I~2��CɫI�I)�I �U����I�QY�}��@y�}�aG��- �=��-�>��-�>i�-��@��) �-��@)�-ҙ@I�-ҙ@i�-ҙ@��=��MEJ=Y�E��QUE�>��I��I�aM�G��I��Qy�Ub:}U�>I�Y��]�P5�?��]�s�� �]��?��m�?9�]=�A��]+�: �]{�:)�Y�W��W�X� X��W):W12W9*WA�VAUIUU���`�@zLi�Li�Li�Lm�\@�A�� =B B �Ag��*B59�A�A��7�An��A"C%5��*C!RC!C!�C)I�aG}7>�<�[Cj,�q �E�AY}2;�@�}2�H�@y}2⸳<�}2�z,��}2H�������?�������?����ݽ�?��������������?����@������ �v����� h����������?)~2;�@ ~2 [a;I~2��C�fX�>9�dI�f�YGi�fذ@��f=��d��d��d �dɫ9�9)�9 �9I�9Y��K�@y���aG������AA�����������?�"��~j��Zd;�O��?�����<���S� ��j�<)��I��y���Zd;�O��?㥛� ���Zd;�O������j<=���������j�� ��9A)���AI��3Ai��A�������A��bǼM0=Y�o�QU�>��!��!�a%�G��!��)y�-f+;}-�>I�1��=�:��5dN5�?��=�:��54u�� �5Y�?��E�?9�5��A��5��: �5��:)�5��:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqUu����(8@�R�B*** querying acoustic contact ***�P��P�zL��=�L��=�L�!ʨ@�L��c}@�AM` =BI BI�AM1��*BM9�AQ�AU��7�AU���AQ"C]4��*CYRCYCY�C�I��G�B>�� ����� ����� ����� +�� � 2:Y� �Y1y� �:�� ��5)� �;�9� ����bCj,�� �E�AY}:D�@�}:�Q�@y}:���<�}:#L��}:H��������?����$��?������?���@������`��?����a�����`���������'�����@���?)~:D�@ ~:`�a;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}=bG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)���= ���=���\�����(>����T=i���@��� ��ҙ@)��I��i�����O=M�_=Y��#�QU��>�������a��G�����y��B;} �>I�1��5�L5�?��5�v�� �5Y�?��=�?9�5��A��5@�: �5Ǻ:)�1�Wy�WyX� X��W�:W�2W�*W��V�U�U�����2? @zL��L��L��L�6�}@�A�D�=B� B�Agy�*BR9�A�Au�7�A%����A)"C-3��*C1RC1C1�C1I�iG�>��hCj,�_� �E�AY}2CL�@�}2�Y�@y}2c�w<�}2�)��}2H��������?�������?���@�V�?���������@���?���@�x�����~��������㠿���@���?)~2CL�@ ~2�a;I~0ɫY�Y)�Y �]����I�YY�}з@y�}&bG�xDUSBL response received:!U1,P 098,000,00743,187,80,80,4D,FF �Command Ack�BRequesting micromodem ping code 2i��������i��I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����ǻM�]=Y�U �QU �>����!�a-�G��)��9y�MV-;}��>I������J5�?����w�� ��E�?����?9���A��� �: ��8�:)���W��W�X� XI�WI:WI2WQ*WQ�VYUYUe���`-� @zL��L��L��L�|�}@�A$ =B B�A �{�*B �9�A �A ��7�A ����A "C2��*CRCC�CI�1G�9>��9��I��\ZGi��{�@���=�����������; ����E�� ����� ����� ����� ��� � =.:Y� �d1y� '�:�� ��5)� ċ;�oCj,�B� �E�AY}2iM�@�}2#[�@y}2b�@<�}2�|��}2H����`��?�������?�����̡?����"������.��?����D�e�����G�����`Π�������?)~2iM�@ ~2ޛb;I~2��Cɫ1�9)�9 �9I�9Y�u̷@y�u!bG�}p=ɮy���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ut��MuB=Y�}��QU}�>��y���a��G����y�2�9}��>Iȑ����:�ŕ�H5�?����:�ŕYy�� ƕ6�?����?9ƕ]�A�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������>@zL��L��L��L���}@�Av=B B�A.|�*B9�A �A r�7�A ����A "C5��*CRCC�CI��G�>�"�uCj, � �E�AY}2K�@�}2�X�@y}2fo<�}2�L��}2H��������?������?���`���?���`����������?�����#?�����M������v衿�������?)~2K�@ ~2�c;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}\bG�xDUSBL response received:!U1,R,E86,000,00745,186,80,80,B0,FF �Fpublishing direction and range info���[�>���ɰ�t>鰅��> ��)���0CI��y��Q�B����#2��TF�?����?��������ٱ��¡�¥nA�� ~j>�� ��>�� &1>i� (�@�� � �@)� ��@I� ��@i� ��@����d<MB=Y� ��QU5�>��A��A�aM�G��I��yy��(�}��>I�����lF5�?����z�� ���?���?9����A���4W< ���Y<)���W��W�X� X��W�:W�2W�*W��V�U�U�����Y@�P�*Q�Q�B�Z����1Y�Q@��1,�8@���������Z��#2��TF�?����?��������2Q�[�>:Q��Z��ĝ���D@��E�N��H��F���Z��<aN���?�v��u�4������BQ���@ Q�Ju�Q��&B�P���9?�P�.�9?�P�p���Q�����Q���@"Q�(;@zL��L��L��L���}@�A% �=B) B)�A-*v�*B-�9�A1�A5��7�A5f���A9"Ce4��*CiRCiCi�CqI��G�g>�� ����� ����� ����� ��� � G/:Y� xZ1y� q�:�� ��5�9� @�H%|Cj,E�� �E�A�49�6|�CI�6�ZGi�6̱@��4��4��4��6~�; �6��E)���{�CI���{�Ci�������=���� =�����6Y}F@D�@�}F�Q�@y}F���;�}F*@��}FH�������?��� ���?����0�?���������� ���?����E�k?������|�����ƣ����`���?)~F@D�@ ~Fo�c;I~F��CɫY�Y)�Y �]����I�aY��v�@y���bG�dNmea in: $SNTTA,0.375147,0.375085,,,165623.15*50 ��=i�C=��U�{�G�z�?�~j�t��?<�O��n�?��U�#=��U�D< �Ut<)�QI�Qy�U�/�$�����MbX��{�G�zt���U����U�ʽ��Uף� �U�A)�U�AI�Qi�U�A��Q��UA��u�=M}C=Y�}p��QU}�>�����a��G����y�y�}��>Iȑ����:�ŕC5�?����:�ŕ{�� ƕ��?����?9ƕ��A�Ǖ��: ȕ�:)ȕ��:�m�qAdded new target pos. range: 74.160004 m, bearing: 304.201763 deg, deltaT: 4.535426 s, approachRate: 0.026459 m/s, LOS rate: 5.792541 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����=�R@U����`��?zL���=�L���=�L���@�L�-�L@�A�q�=B� B��A��f�*B��9�A��A�m�7�A���A�"C�3��*C�RC�C��C�I� GE0>� �Cj,��E�AY}2�;�@�}2�I�@y}2sԒ;�}2i�%��}2H����@^��?����p��?���`Ꝥ?����=����� ���?������y?���`�Zr����`˽������1��?)~2�;�@ ~2H�c;I~2��CɫI�I)�I �M����I�IY�}d�@y�}�bG��5$�>��5��<��5Q��i�5��@��1 �5�@)�5ҙ@I�5�@i�5�@��E�ʻME`=Y�M�QUM�>��I��Q�aU�G��Q��Yy�]�9�}]�>I�a��e�?5�?��e.{�� �e��?��m�?9�eJ�A��e��: �e�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������e�?zLY�LY�LY�L]ޭL@�A���=B� B��A�4i�*B�9�A��A���7�A����A�"C�2��*C�RC�C��C�I��G >�� ����� ����� ����� �� � /:Y� DW1y� Y�:�� �6��6�Cj,ץ&�E�AY}:�6�@�}:�D�@y}:n� ;�}:p."��}:H����`پ�?���@=��?���@ أ?��� ������`Ҽ�?����� �?����lPa�����pD���������?)~:�6�@ ~:�,c;I~8��T��Ti�nGI�)i�AɫY�a)�a �e����I�a����"�ٺ����vAY����@y��cG)�E�= �E>��ua<M}G=Y�}��QU}�>�����a��G����y�'��}��>Iȑ����:�ŕk<5�?����:�ŕP{�� ƕ��?����?9ƕ��A�ǕR�: ȕ^�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������C�?zL��L��L��L�@�L@�A ���=B B �A �e�*B �9�A��A���7�A�e��A�"C�5��*C�RC�C��C�I��G>�a9�aI�e�[Gi�eo�@��e =��a��a��ex�; �e��E��Cj,��@�E�AY}:�4�@�}:CB�@y}:nw��}:���}:H�����j��?�������?����?�?����7������l��?������?���@��.?���������������?)~:�4�@ ~:E�b;I~:��Cɫ9�9)�9 �=����I�9Y�}o�@y�}�bGI�)���U:��M]L=Y�]���QU]�>��a��a�ae�G��a��ay�m!8�}m�>I�q��u95�?��up{�� �u��?��}�?9�u��A��u�: �u+�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL��L��L��L��L@�A����<B� B��A��g�*B��9�A��A��7�A����A�"C�4��*C�RC�C��C�I�G5�=�� ����� ����� ����� v�� � �-:Y� �W1y� č:�� ��5��I�Cj,_Z�E�A�|i|�@Y}65�@�}6�B�@y}6V���}6����}6H�������?�������?����삠?�������������?���@�?����i�c?����q������8��?)~65�@ ~6wb;I~4ɫ9�9)�9 �9I�9Y�}d�@y�}�bG��m �>��m�}>��m�r>i�m(�@��i �m�@)�m�@I�m�@i�m�@��XG�M�7=Y�ʟ�QU��>�������a%�G��!��!y�-9}-�>I�1��555�?��5�{�� �5��?��=�?9�5R�A��5��: �5 �:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu����S�@zL��L��L��L���L@�A�p��<B� B��A�4i�*B��9�A��A���7�A�6��A�"C�3��*C�RC�C��C�I��G�%>�a9�aI�e�[Gi�e��@��e=��a��a��ez�; �a����Cj,Jzt�E�AY}2U7�@�}2E�@y}2�Ȝ��}2���}2H����`Ŀ�?����7��?���@�?�?���`e���������?����7ŋ?�����s?���`���������?)~2U7�@ ~2�Kb;I~2��CɫY�Y)�Y �]����I�YY����@y�� cG�����������?�~j�t�ȿ{�G�zt?�����=����D� ��ף;)��I��y�������Mb�?#��~j���{�G�zt����=���㥽��� ��)��I���Ai��������zA���������><MR=Y� �ȻQU �>�� ���a�G����y�i?:}�>I�!��-�:��%�25�?��-�:��%�|�� �%��?��5�?9�%��A��%=; �%R;)�%��:�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUe���@K@zL���=�L���=�L�֢@�L��r@�A��5�<B� B��A��d�*B�9�A��A��7�A���A�"C�2��*C�RC�C��C�I��G�>�� ����� ����� ����� q�� � �.:Y� �^1y� a�:�� ��5)� c�;�9� ���[�Cj,<��E�AY}:v@�@�}:0N�@y}:���}:X���}:H�����U��?���@f��?���@��?��������������?�����~�?����(�{?����!������ e��?)~:v@�@ ~:9b;I~:��Cɫ9�9)�9 �M����I�IY�}��@y�}�cG������I��)�����i��a=���v�=���94=���= �i���@��� ���@)���@I���@i���@��� =M�`=Y�u&��QUu�>��y��y�a}�G��y��y��?;}��>Iȉ�ō�05�?�ō�}�� ƍ��?����?9ƍ��A�Ǎ�: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U���� #@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L-A"r@�A]^5�<Ba Ba�AeX�*BeM9�Aa�Ae��7�Am���Ai"C�5��*C�RC�C��C�I��G�>�S��Cj,���E�A�|�|Y}2rL�@�}2,Z�@y}2����}2�3 ��}2H�����i��?�������?����^2�?�����������)��?�������?���`�ـ?���������� u��?)~2rL�@ ~2p�a;I~2��CɫY�Y)�Y �]����I�YY���@y���cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���H<MI=Y�Up�QU�>�� �� �a �G����y��u;}�>I�!��-�:��%W.5�?��5�:��%�~�� �%r�?��5�?9�%�A��%7!; �%3";)�%��:�W�WX X!�W!:W!2W!*W!�V)U)U-�����a @zLa�La�La�Le�9r@�A����<B� B��A��R�*B��9�A��A�/�7�A����A�"C�4��*C�RC�C��C�I�GU>� 9� {�CI� �\Gi� c�@�� �� �� �� n�; � ��E�� � ���� ����� ����� ��� � GG:Y� �V1y� �:�� j�5)� f�;�?m�Cj,6���E�AY}6Z�@�}6�g�@y}6{��}6�n%��}6H����`��?�������?����`��?���������� ���?������?�������?����(������@���?)~6Z�@ ~6C�a;I~6��CɫI�I)�I �M����I�IY�}�@y�}�cG�xDUSBL response received:!U1,P E86,000,00745,186,80,80,B0,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 )��> ���=����;M�K=Y���QU �>����!�a-�G��)��9y�M��;}U�>I�q��u�+5�?��u,��� �u^�?����?9�uh�A��u��; �u��;)�q�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL�L�L�L)Ur@�Ae�*�<Ba Ba�AeR�*Be�9�Ai�Am��7�Am ��Ai"C�3��*C�RC�C��C�I��G�D>�ޡ iޥ =����Cj,ʦ��E�AY}2Eb�@�}2�o�@y}2�=��}2@�#��}2H�����p�?�������?��� Fk�?��� ������ ! �?���@R�?��� ���?����v�����`��?)~2Eb�@ ~2��a;I~2��CɫA�I)�I �II�QY��(�@y���cG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)���ý9�<�ýt�<�ý`�iý�@�ù Ľ&�@)Ľ&�@IĽ&�@iĽ&�@���+>;M�/=Y�����QU��>�������a��G�����y�� ;}�>I�)��=�:��-5)5�?��=�:��-���� �-H�?��E�?9�-��A��-�n; �-bp;)�-��:�W��W�X� X��W�:W�2W�*W��V�U�U�����O@zL��L��L��L��er@�A�\�<B B�A�P�*B%49�A)�A-J�7�A-�ݺ�A)"C=2��*C9RC�C��C�I��GK>�� / ���� ����� ����� k�� � �K:Y� �X1y� /�:�� ��5�9� @�9�I�|]Gi��@��������l�; ���E����Cj,����E�A�|i|�@Y}6�g�@�}6Pu�@y}6�^��}63n��}6H�������?�������?����1��?����e������;�?����b�?���`Ƌ�?���`Z���������?)~6�g�@ ~6I�a;I~6��CɫY�Y)�Y �aI�aY�m��@y�mRdG}xDUSBL response received:!U1,R,EBC,000,0074A,186,80,80,A1,FF }Fpublishing direction and range info��u�Ð>��qɰu�>�q �q)�u�!CI�qy�u�B��u��lӹ��?%>�~���?��������ٱq��dNmea in: $SNTTA,0.058319,0.152794,,,165627.60*53 ��e��&1��?�I+��?�"��~j����e�P>��e94< �eS�)�aI�ay�e�J+��?�p= ף���~j�t�����e�H=��e����e�ļ �e�A)�e3AI�e�Ai�e^A��a��e�A��} =M%W=Y�%Y�:QU%�>��)��)�a-�G��)��qy�u��:}u�>I�y��}�'5�?��}��� �}A�?����?9�}��A��}ܹ: �}� ;)�y�W��W�X� X��W�:W�2W�*W��V�U�U���� .�@�P)*Q-�B�Z-�Rj��8�Q@l����4@���������Z-��lӹ��?%>�~���?��������2Q-�Ð>:Q)�Z-�04�M��C@#��O>�O���C�¿�Z-�*���C��?aۂ:뿴�H��`�BQ-��@ Q-i}�Q-}B�P-x�9?�P-��9?�P-t���Q-p���Q-�@"Q-��@zLuͭ=�Luͭ=�Lu�w�@�Lu?��@�A��n�<B� B��A�?C�*B�{9�A��A���7�A�ܺ�A�"C�5��*C�RC�C��C�I��G-->�S��Cj,l[�E�AY}6�c�@�}6mq�@y}6т��}6�W��}6H�����5�?����>��?��� Z��?����m�����@3 �?���@��?����HЂ?��� ��������5��?)~6�c�@ ~6�a;I~6��CɫY�Y)�Y �]����I�YY��@y���dG�� �� ��Uף=��U<��U�P�i�U��@��Q �U�@)�U�@I�U�@i�Uҙ@��e��<MeW=Y�m4��QUm�>��i��q�au�G��q��yy�}-��}}�>Iȁ����:�Ņ&5�?����:�ŅK��� ƅ?�?����?9ƅ9�A�DžM�: ȅ]�:)ȅ��:�m�uAdded new target pos. range: 74.459999 m, bearing: 301.696778 deg, deltaT: 4.417468 s, approachRate: 0.067911 m/s, LOS rate: -0.567064 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�UU����p�R@UU��� ��?zLq�Lq�Lq�Lu㶁@�A��;�<B� B��A��9�*B� 9�A��A���7�A�6ں�A�"C�4��*C�RC�C��C�I��G5>Iޡ )ޡ �� 0���� ����� ����� >�� � �:Y� d\1y� ��:�� a 6���Cj,.=)�E�AY}2�S�@�}2ta�@y}2{���}2 ���}2H�����j��?�������?���@q�?���@����������?����_ݒ?�������?����KZ�����@b��?)~2�S�@ ~2/ a;I~2��Cɫ9�9)�9 �=����I�9Y�u��@y�}_dG�����M�Q=Y���@�QU�>�����a�G���� y� ���}�>I���Z$5�?������ �/�?��%�?9�{�A����: �ܹ:)��WA�WIXI XI�WI:WI2WI*WQ�VQUQUU����j��?zLq�Lq�Lq�Lu٧�@�A����<B� B��A��A�*B�9�A��A�"�7�A�wغ�A�"C�3��*C�RC�C��C�I��G��=ܩ9ܩIܭ�]GiܭV�@�ܭ=�ܩ�ܩ�ܭy�; ݭ��E)�9�I�9�i�9���=�=��=�=��=��4����Cj,4C�E�A�|�|�;Y}6�C�@�}6ZQ�@y}6���}6�A��}6H����`d��?���`w��?����3=�?���������� ���?����o6�?������?�������������?)~6�C�@ ~6!�`;I~6��Cɫ9�9)�9 �=����I�9Y�}@y�}�dG��=��<MEF=Y�M<;QUU�>��a��a�ae�G��a��iy�m뚻}m�>I�q��u�"5�?��u<��� �u�?����?9�u��A��u��: �uǺ:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����Y��?zL��L��L��L�`��@�AE-��<BI BI�AU�9�*BU�!9�AY�Ae��7�Ae�ֺ�Ai"C�2��*C�RC�C��C�I�YG�>��� ����������������� ��F:Y�0Y1y���:����5�{��Cj,��\�E�AY}B3�@�}B�@�@y}BH���}B���}BH��������?�������?���@���?���`]��������?����,��?��� 5B?�����V�����@���?)~B3�@ ~B�V`;I~B��Cɫ�髁)�� ������I��Y��\�@y��HeG��=�k�t�����������<�O��n����= 0���=��� �=t��)�9I�9y�=��~j�t��?���Mb������Mbp���=�D<��=�����=�� �9)�=^AI�9i�=�A��9��= A)�U�= �U�=�Ý94��Ý�T=�Ý��=iÝ3�@�Ù ĝ�@)ęIęiĝ�@���=M�5=Y���:QU��>�����a��G����y��Ó�}��>I������:���F5�?����:���%��� �� �?����?9���A�����: ����:)����:�W��W�X� X�W:W2W*W�VIUIUU���`���?zL�?�=�L�?�=�L� ܚ@�L��b@�A����<B� B��A�@*�*B�$9�A��A�\�7�A��Ժ�A�"C�5��*C�RC�C��C�I�GM1>i��=nGI��i����-�+�ٺ)��-!A�ޡ iޥ �=ܡ9ܡIܥ�^Giܥ��@�ܥ=�ܡ�ܡ�ܥ��; ݥŒE���Cj,��v�E�AY}2�2�@�}2x@�@y}2��ػ�}2����}2H�����ܶ�?�������?��� IQ�?���`������ 3��?���@b�?����E{?���`�ڢ�����C��?)~2�2�@ ~2iN`;I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}�eGI��)�������<M�l=Y���?;QU��?�������a��G����y���} �?I� �� �5�?�� ڈ�� � �?���?9� [�A�� ��: � Y�:)� �W9�WAXA XA�WA:WA2WA*WI�VIUIUM����|W�?zLi�Li�Li�Lmb@�A�m��<B� B��A��"�*B��!9�A��A��7�A�9Ӻ�A�"C�4��*C�RC�C��C�I��G��=��� ����������������� ��>:Y�DW1y�Y�:���6)��;�9%�����Cj,����E�A�|i|Y}V�>�@�}V�L�@y}V�����}V�S��}VH����`F��?������?����Z��?���`f���������?����Xd�?���@�u?��� p顿��� ���?)~V�>�@ ~V�C`;I~V��Cɫy�y)�y �}����I�yY����@y���eG�Ý��<�Ý"�=�Ý��<iÝ��@�Ù ĝz�@)ĝ\�@Iĝ\�@iĝ\�@��_�;M�?=Y�6A;QU��>�����a��G����y��b;}��>I������:����5�?����:������� ����?����?9����A���Q; ��M ;)����:�W��W�X� X��W:W2W*W�VU U �����@zL!�L!�L!�L%a0b@�A=�k�<B9 B9�AE� �*BE�$9�AA�AE��7�AE�Ѻ�AA"CM3��*CQRCQCQ�CQI�iG��=��!�Cj,_~��E�AY}6EK�@�}6�X�@y}6뾃��}6�� ��}6H�����@��?�������?�����5�?���`.���������?����hH�?�����wp?��� p^������7��?)~6EK�@ ~6�``;I~6��CɫY�Y)�Y �YI�YY��M�@y��5eG�±�±�����M�[=Y��j;QU��>�������a��G������y���;}��>I������5�?���~��� ����?����?9����A���+�: ����:)���W �W X X �W :W 2W*W�VUU����x@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=$Ib@�AMm�<BI BI�AU,�*BU�!9�A��A�[�7�A�'к�A�"C�2��*C�RC�C��C�I��G=�=�I9�II�M_Gi�MJ�@��M=��I��I��M��; �MՒEIޡ )ޡ ��% ����%�����%�����%;�� �%�4:Y�%�X1y�%/�:��% 6)�%Y�;�� �Cj,�Y��E�AY}6}]�@�}67k�@y}64���}6{���}6H�����i �?������?����%�?����f��������?��� Y�?�����t`?�������������?)~6}]�@ ~6�`;I~6��CɫI�I)�I �M����I�IY�}$�@y�}>fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)�������=M�G=Y��ˠ;QU��>�������a��G�����y�]�;}�>I����:���5�?���:��W��� ���?��%�?9�G�A���; �;)���:�W��W�X� X��W�:W�2W�*W��V1U1U=����?� @zL��L��L��L�Bmb@�A���<B� B��A�A�*B��&9�A��A��7�A��κ�A�"C�5��*C�RC�C��C�I�)GM>��;�Cj,KW��E�AY}5T^�@�}5l�@y}5�ȸ�}5.J��}5H����� �?����s��?����,Т?����0��������?����[��?����"?��� ������� ��?)~5T^�@ ~5� `;I~5��Cɫa�a)�a �e����I�aY�� �@y��9fG�xDUSBL response received:!U1,P EBC,000,0074A,186,80,80,A1,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 �����E���Ը�Zd;�O�ǿ ףp= ������ƽ���j<� ��Q8�)��I��y����~j�t�x?Zd;�O���<�O��n�������;���j�����t�� ���A)���AI��dAi���������A�õ���õ�D;�õ��iõ�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@��-/M�M- =Y�5�X;QU5�>��9��9�a=�G��9��ay�mN89}u�>I�y��}r5�?��}W��� �}��?����?9�}��A��}\C; �}�C;)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����O@zL�a�=�L�a�=�L�e�@�L�Qt^@�A�G�<B� B��A���*B��(9�A��A���7�A �̺�A "C 4��*C RC C �C I�) GU �>�A9�AI�Eo_Gi�E��@��A��A��A��E��; �EߒE��}�����}�����}�����}*�� �}�.:Y�}DW1y�}Y�:��}=6)�}.�;��^�Cj,���E�AY}F�[�@�}F�i�@y}F31;�}FG�!��}FH�����|�?����m��?��� uڣ?���������� ��?����j.�?����� f������6�����@���?)~F�[�@ ~Fk�_;I~F��Cɫq�y)�y �}����I�yY����@y���fG鮹ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���`9=M��=Y���1<QU�,?�������a��G������y�����}�0?I������:���� 5�?����:���ƌ�� ��]�?����?9����A���w�: ���:)����:�W�W!X! X!�W!:W!2W!*W)�V)U)U-����@zLI�LI�LI�LMOh^@�Ae�s�<Ba Ba�Ae��*Be� 9�Ai�Amt�7�Am�˺�Ai"Cu3��*CqRCqCq�CyI��G��=��EDj,-��E�AY}2�Q�@�}2T_�@y}2�ȗ;�}2i�#��}2H�����t��?��� ���?��� �_�?���@|����� ���?��� y?���@�r�����z������[��?)~2�Q�@ ~2��^;I~2��Cɫ9�9)�9 �=����I�9Y�}I�@y�}kfG�xDUSBL response received:!U1,R,E87,000,00754,186,80,80,90,FF �Fpublishing direction and range info����q�>���ɰ��>鰁 ��)���CI��y���B������ؤH�?������?��������ٱ����V>���O�>���?5>i��f�@��� ��\�@)��E�@I��E�@i��E�@������M�Y=Y�"�;QU�>�����a�G�� �� y� x\�}�>I���� 5�?��j��� ���?��%�?9�.�A��w�: ��:)��WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]���`ω@�Pi*Qm�B�Zm��-m�2�Q@���R@8@���������Zm���ؤH�?������?��������2Qm�q�>:Qi�Zm��Q��tE@4�� O����u����Zm���m+���?��8� w���+���BQm��@ QmNx�Qm�(B�Pm�9?�Pmx�9?�Pmr���Qmt���Qm��@"Qm�@zL)�L)�L)�L-�N^@�AE�kx<BA BA�AE��*BE$&9�AI�AM(�7�AM�ʺ�AQ"Cu2��*CqRCqCq�CyI��G�>�������������������� �E1:Y�[1y�ݏ:����5�9�@��o Dj,��+�E�AY}6)P�@�}6�]�@y}6�h�;�}6���}6H��������?�������?��� Dt�?��������������?���@�>j?�����|�����1������ ��?)~6)P�@ ~6��^;I~6��Cɫ9�9)�A �E����I�AY�}u�@y�}�fG� TNmea in: $SNTTA,0.113397,,,,165632.08*43 ��M�V<MME=Y�U��;QU]�>��a��a�ae�G��i��qy�۹}��>Iș�ŝ�5�?�ŝ!��� Ɲ��?����?9Ɲ~�A�ǝ�: ȝb�:)ș�mqAdded new target pos. range: 75.059998 m, bearing: 304.192419 deg, deltaT: 4.386504 s, approachRate: 0.136783 m/s, LOS rate: 0.568936 deg/s, posRepo size: 4�W!�W!X! X!�W!:W!2W)*W)�V)UM������R@UU��� +��?zL��L��L��L��E^@�A�m4j<B� B��A��*B�$'9�A��A���7�A��ɺ�A�"C�5��*C�RC�C��C�I�QG�>��9��I���_Gi����@��� =�����������; ���E��WDj,�E�E�AY}:�U�@�}:�c�@y}:w8 <�}:����}:H����`���?������?���@�#�?��� ���������?�����m9�����������@ko�����`���?)~:�U�@ ~:F�^;I~8ɫ9�9)�9 �=����I�9Y�}D�@y�}�gG��t�=��C�����=i��@�� �&�@)�&�@I�&�@i�&�@��-4o=M5<=Y�5��;QU5�>��9��9�a=�G��9��Ay�E��:}E�>I�I����:��M�5�?����:��Mێ�� �M�?����?9�M��A��M��: �M��:)�M��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�f�?zL�L�L�LCJ^@�AÑ\<B B�AMڽ*BH*9�A�A��7�AyȺ�A!"C%4��*C)RC)C)�C1I�IGe>���������������"�� ���:Y��y�����a6�z�Dj, �_�E�AY}�^�@�}��k�@y}��N<�}�����}�H����� �?����'��?���@3ڡ?��� ������@��?����k�k����@*�����������������?)~�^�@ ~���^;I~�ɫQ�Q)�Q �U����I�QY��W�@y���gGI��)���A���p=i���=��������Mb�?NbX9�ȿ���x�&�?���=����E� ��7�=)��I��y�������Mb`�k�t���y�&1�|?������� �����`�; �A) ^AIi 5A������fA����;M�C=Y�f�;QU��>�����a��G����y��;}��>Iȹ�Ž�5�?�ŽZ��� ƽ��?��M�?9ƽ�A�ǽ��< Ƚ��<)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����g��?zL°=�L°=�Lj �@�L��X@�A=X�O<B9 B9�AE�ս*BE�*9�AA�AEb�7�AEbǺ�AA"CM3��*CIRCQCQ�CQI��G�D>�� W�>9�� I�� 7`Gi�� >�@��� ��� ��� ��� ��; 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ݕ�E�� ����������������� ��4:Y��X1y�/�:��6)�|�;�ե1Dj,K���E�A�|i|Y}6G��@�}6��@y}6#�<�}6�A&��}6H����� W�?������?������?����������@�a�?��� ���������a�������Ť�����w��?)~6G��@ ~6�d_;I~6��Cɫa�a)�i �iI�iY���@y��`hG������?A�������Ýj�<�Ý����Ý什iÝ(�@�Ù ĝ&�@)ĝ�@Iĝ�@iĝ�@����M�G=Y��<QU��>�����a��G�����y��g�;}��>I�������5�?���@��� ����?����?9��.�A���w�: ���:)���W��W�X� X��W�:W2W*W�VUU ����p�@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L-KY@�A=/�"<BA BA�AEk��*BE`,9�AA�AE��7�AMĺ�AI"CU3��*CQRCQCQ�CYI�9G�>�Q�7Dj,S���E�AY}z ��@�}zۘ�@y}z� �<�}z`���}zH�����1`�?�������?�����ߥ?����������k�?��� ,��������C�����`Pq���������?)~z ��@ ~zN�_;I~z��Cɫ���)�� ������I��Y�^�@y��hGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******�����~j�t��?'1�ZĿD�l���������D=����"� ��O��)��I��y������Q��?bX9�ȶ��l������u=���E������� ���A)���AI�� Ai���A������A���% =M�7=Y���;QU��>�������a��G�����y��:} �>I� ���:�� ��5�?���:�� L��� � ��?���?9� ��A�� +�: � ��:)� ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @zLU��=�LU��=�LU%ǩ@�LU��@�Am�7<Bi Bi�Am�*Bm�.9�Ai�Aun�7�Au/ú�Aq"C�2��*C�RC�C��C�I��GI>Iޡ )ޡ ܉ 9܉ I܍ �aGi܍ �@�܉ �܉ �܉ �܍ �; ݍ �E��=Dj,����E�A��.K ����.�����.�����.��� �.�9:Y�.0Y1y�.��:��.��5)�.��;ɫ�髱)�� ������I��Y��Խ@y���iGxDUSBL response received:!U1,P E87,000,00754,186,80,80,90,FF Command AckBRequesting micromodem ping code 2i���I� )� �A�� p=i� �=��Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��mt'=Mug=Y����QU��>�����a��G����y�����}��>I�������5�?������� �� �?���?9����A�����; �� �;)���Wq�WqXy Xy�Wy:W�2W�*W��V�U�U����`� @zL)�L)�L)�L)�A]��<Ba Ba�Ae�l�*Be�/9�Aa�AeK�7�Ae}º�Ai"Cm5��*CqRCqCq�CqI� G-�>���DDj,Sz�E�A�|4<�|4<ɫ�髙)�� ������I��Y��ܽ@y���iG��ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����>��A`������i���@�� �z�@)�\�@I�\�@i�\�@��-;M@=Y�QU�>��!��!�a%�G��!��!y�)}-�>I�1��52�5�?��5���� �54�?��=�?9�5=�A��5��: �5ܹ:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wq�VqUqUu�����K@zL��L��L��L��A�� <B� B��A��h�*B�u/9�A��A�+�7�A�����A�"C�4��*C�RC�C��C�I��G�>�zKDj,~W.�E�A��"M����"�����"�����"U�� �"5w:Y�"DW1y�"Y�:��"C(6�9&@Y}:s��@�}:.��@y}:R,�<�}:6� ��}:H�����{�?���@���?����<��?���������@���?����p��������D������{Z���������?)~:s��@ ~:v `;I~:��CɫY�Y)�Y �]����I�YY���@y���iG�xDUSBL response received:!U1,R,E93,000,00756,186,80,80,C9,FF �Fpublishing direction and range info���e�>���ɰ��>鰩 ��)���ICI��y��\�B�����+�i�c�?�g�B� �?��������ٱ����N#;M�a=Y��U�<QU��>�������a��G������y��ϝ;}��>I������:��� �5�?����:������� ����?���?9����A�����: ����:)����:�W)�W)X) X)�W):W)2W1*W1�V1U1U=����E�@�PA*QE\�B�ZE���[.�Q@�&$3-�7@���������ZE��+�i�c�?�g�B� �?��������2QEe�>:QA�ZE���|g�E@� �O���E딵��ZE�n<]O���?>1 *�y�U� zU��BQE�ة@ QE�x�QE�(B�PE~�9?�PE�9?�PAQEr���QEF@"QE��@zLi�Li�Li�Lm@�@�A�BS<B� B��A�<e�*B��/9�A��A� �7�A�Q���A�"C�3��*C�RC�C��C�I�QG��=�19�1I�5daGi�52�@��1��1��1��5�; �5��E�ޡ iޥ �=���QDj,^0H�E�AY}v���@�}v=��@y}v���<�}vT���}vH��������?������?�����y�?����G����� '��?���� B������ ڞ�����X������@���?)~v���@ ~v��_;I~v��CɫQ�Q)�Q �]����I�YY��t�@y��QjG��TNmea in: $SNTTA,0.087474,,,,165636.50*4C I��)���ýt<�ý?�>�ý��=iý��@�ù Ľ@)ĹIĽ��@iĹ���%=M�.=Y���X;QU��>�������a��G������y��߬:}��>I�����?�5�?������� ��l�?����?9����A�����: ����:)���m%uAdded new target pos. range: 75.180008 m, bearing: 304.110293 deg, deltaT: 4.439689 s, approachRate: 0.027031 m/s, LOS rate: -0.018498 deg/s, posRepo size: 4�W!�W)X) X)�W):W)2W1*W1�V1U5���@��R@U5����1��?zLY�LY�LY�L]��@�Am��<Bq Bq�Au�*Bu�29�Aq�Au��7�Au����Ay"C}2��*C�RC�C��C�I��G5.>�$XDj,%b�E�A�| i| ��6 ����6�����6�����6��� �6`6:Y�6xZ1y�6q�:��6j�5Y}R椧@�}R���@y}R��<�}RΖ$��}RH��������?��� ���?���@E)�?����D��������?�����g����� n������`ގ������f��?)~R椧@ ~RK�_;I~R��Cɫi�i)�q �qI�qY����@y��ljG�����K7�A`ſT㥛� ��X9��v������+������ �����)��I��y����� �rh�?�V-������Mb`����C�<���h������ ���A)��^AI���Ai���A������=A�� ��;M W=Y� �9;QU �>�����a�G����y�j;}�>I�!��-�:��%5�5�?��-�:��%t��� �%p�?��5�?9�%.�A��%{�: �%A�:)�%��:�WQ�WQXY XY�WY:WY2WY*Wa�VaUaUe������?zL���=�L���=�L�Q�@�L���i@�A�}<B B�A��*B�29�A�A��7�A����A"C%5��*C)RC)C)�C)I��G�%>�! 9�! I�% ,bGi�% Է@��% =��! ��! ��% "�; �% �E�FH^Dj,��{�E�AY}2��@�}2в�@y}2+=�}2E�'��}2H�������?�������?���`#��?������������?����I��������D�����`����������?)~2��@ ~26�_;I~2��CɫY�Y)�Y �YI�YY��t�@y��QjG��5��M=Z=Y�=N�:QU=�>��A��A�aE�G��A��Ay�M-z8}M�>Iȡ�ť#�5�?�ť<��� ƥt�?����?9ƥg�A�ǥ��: ȥQ�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�Lg�i@�A�@<B B�A�*B29�A�A��7�Af���A"C%4��*C)RC)C)�C)I�AG]�=�X1eDj,�Ǖ�E�AY}Bף�@�}B���@y}B<0=�}B��!��}BH����@���?����s��?�����ߧ?����j������#��?�����/������TE������!-��������?)~Bף�@ ~B{_;I~@ɫY�Y)�Y �]����I�YY����@y���jG���a=i���<��M�>��M�R>��Ml�i�M��@��I �M��@)�II�M\�@i�I��]�<M]H=Y�eeH7QUe�>��a��i�am�G��i��iy�u-¹}u�>I�y����:��}��5�?����:��} ��� �}x�?����?9�}��A��}4�: �}��:)�}��:�W��W�X� XI�WI:WI2WQ*WQ�VQUQUU����zj�?zL��L��L��L��i@�A�i6<B� B��A�f��*B�t39�A��A���7�A�����A�"C�3��*C�RC�C��C�YϽx9I��G�H>�� M���� ����� ����� P�� � 5w:Y� �Y1y� �:�� N6��YkDj,̛��E�A�|�;�|Y}:��@�}:ӷ�@y}:=�}:+���}:H��������?���`��?������?���ി�������?����9$������NA������&T���������?)~:��@ ~:�D_;I~8ɫ9�9)�9 �9I�AY�]a�@y�eukG���W=MO=Y�!��QU�>��!��!�a%�G��!��)y�-��:}-�>I�1��5��5�?��5֝�� �1��E�?9�5��A��5w�: �5��:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu����B4�@zL��L��L��L���i@�A���<B� B��A� �*B��59�A��A���7�A�&���A�"C�2��*C�RC�C��C�Yύ(9I��G��=��9��I���bGi��&�@������QD������5�; �� �E)�i�I�i�i�i���m� =��m� =��m��4�GrDj,a���E�AY}^��@�}��@y}��=�}����}H�����.��?������?�����¤?���@������@~��?�����ԕ������7����� ����@f��?)~^��@ ~�f_;I~��Cɫ���)�� ������I��Y�-l�@y�-�kG�����������>����P>i����@��� ����@)��E�@I��E�@i��E�@���<M;M�==Y���2�QU��>�������a��G�����y���8} �>I� �� ��5�?�� ���� � u�?���?9� �A�� ܹ: � n�:)� �W9�W9X9 XA�WA:WA2WA*WI�VIUIUM����M�@zL��L��L��L���i@�A��;<B� B�A%��*B%869�A!�A%��7�A%j���A!"C-5��*C)RC1C1�C1i�]nAI�]nAY�I�)GE1>��� X����� ������ ������ ��� �� �c:Y�� �[1y�� H�:��� ��5�"lxDj,zS��E�AY}2��@�}2:��@y}2v�=�}2����}2H�����3��?���@[��?����!��?��������� ȯ�?��� �b����� t{����� ؠ����@Q��?)~2��@ ~2Q%_;I~0ɫ9�9)�9 �=����I�9Y�}ȿ@y�}�kG������AA����=i���=I��)����%���������}?5^�I̿��~j�t�?��%�̼��%Mb� �%��<)�!I�!y�%�/�$��?Zd;�O����� �rh����%�<��%j����%C�� �%;A)�%�AI�%dAi�%�A��!��%�Ai��mGI�i�)��]�5�ٺY��]�*A����<M�A=Y�f�:QU��>�����a��G����y�!:}��>Iȩ����:�ŭ��5�?����:�ŭʟ�� ƭ��?����?9ƭq�A�ǭ��: ȭ��:)ȭ��:�W�WX X�W!:W!2W!*W!�VIUIUU�����'@�R]B*** querying acoustic contact ***�PY�PYzL�_�=�L�_�=�L�O��@�L�%�h@�A�W� <B� B��A����*B��79�A��A���7�A�����A�"C�4��*C�RC�C��C�Y��9I��Gm>�� 9�� I�� �cGi�� �@��� =��� PD��� ��� ?�; �� �E���~Dj,�8��E�A�|i|�@Y}F���@�}Fg@y}F=�}F����}FH����@��?����E��?���`��?��������[��?�����������@ǂ�����`���������?)~F���@ ~F�_;I~F��Cɫ�髑)�� ������I��Y��0�@y��tlG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����oA��Ua=MU`=Y�]� 9QU]�>��a��a�ae�G��a��iy�mK3;}u�>I�y��}�5�?��}���� �}��?����?9�}��A��}��: �}:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����@�3 @zL��L��L��L�R�h@�A%W<B! B)�A)*B-99�A)�A-��7�A-���A1"C53��*C9RC9C9�C9Y�yI��G�f>�� # ���� ����� ����� ��� � K:Y� xZ1y� q�:�� �6)� ��;�9� ��\~�Dj,� �E�Aɫy�y)�y �}����I�yY����@y���kG�xDUSBL response received:!U1,P E93,000,00756,186,80,80,C9,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 ��5��>��5�>��5�Ļi�5f�@��1 �5-�@)�5��@I�5��@i�5��@��u��Mu-=Y�}���QU��>�������a��G������y�����}��>I����%�:�����5�?��%�:������� ���?��%�?9���A���T�; ���;)����:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}������ @zL��L��L��L��A%��<B) B)�A-���*B579�A1�A5��7�A=#���AY"Ce2��*CiRCiCq�C��̭�=�̭Y>Yϭ09I��G��>�y��Dj,��0�E�AY}F�Χ@�}FHܟ@y}Ft �=�}FI�%��}FH����`���?����;��?����[�?���������� ��?����!����������� ������@K��?)~F�Χ@ ~Fk�^;I~F��Cɫ�髙)�� ��I��Y���@y��&lG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)�����=i��a=���<M�m=Y�<�QU�?�����a��G����y���<}�?I�����L�5�?���Т�� ����?����?9��W�A�����: ����:)���W��W�X� X��W�:W�2W*W�VUU ���� B@zL!�L!�L!�L%e.i@�A=�0$<B9 B9�A=���*B=89�AA�AE��7�AE����AA"CM5��*CQRCQCQ�CYܩ9ܩIܭ dGiܭk�@�ܭ=�ܭQD�ܩ�ܭY�; ݭ �EY�E9I�QG�8>�� = ���� ����� ����� ��� � M:Y� 0Y1y� ��:�� �6)� n�;�=��Dj,o�J�E�A�|0�|2�;Y}^�@�}^��@y}^���<�}^�>&��}^H����`r�?����ͪ�?���@d>�?�������������?��������������@Ĥ��������?)~^�@ ~^��^;I~\ɫ�髩)�� ������I��Y��g�@y���lG�xDUSBL response received:!U1,R,E65,000,00760,186,80,80,84,FF �Fpublishing direction and range info������>���ɰ��>�� ��)���CI��y����B������H���?�,a0w�?��������ٱ���et����eף���e�@�i�e��@��a �e\�@)�e\�@I�ez�@i�e\�@��u�=MuM=Y�}_�QU}�>��y��y�a��G����y�h�;}��>Iȑ����:�ŕ��5�?����:�ŕأ�� ƕ��?����?9ƕ��A�Ǖ�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q���B�Z����N7M�Q@�j=ę:@���������Z����H���?�,a0w�?��������2Q����>:Q��Z����bG �F@�dp�!DN���� ��Z���b�P;4�?E�?��鿌h�w���BQ�<j�@ Q�!r�Q��5B�P���9?�P�~�9?�P�p���Q�Q��3@"Q�F@zL�L�L�L�Xi@�A/�,<B BA�AU0;*BU�99�AY�A]��7�A]����Ay"C�4��*C�RC�C��C�Y�u(9I��G�=>�还Dj,ٲd�E�AY}jD�@�}j���@y}j���<�}j4 ��}jH������'�?�������?�����ڦ?��������� /7�?���@x������qO������~���������?)~jD�@ ~j�_;I~j��Cɫ���)�� ������I��Y� U�@y� �lG�uTNmea in: $SNTTA,0.059520,,,,165640.94*46 �� �X9��v�?P��n����&1����� ��=�� � � �P�)� I� y� �/�$���333333��/�$����� ���� ����� �� � A)� �AI� �Ai� �A�� �� �A������M�7=Y���;�QU��>�������a��G������y����;}��>I�������5�?���ݣ�����tI ����?����?9����A����: ����:)���mqAdded new target pos. range: 75.780006 m, bearing: 306.917337 deg, deltaT: 4.489149 s, approachRate: 0.133655 m/s, LOS rate: 0.625295 deg/s, posRepo size: 4�W!�W!X! X!�W!:W)2W)*W)�V)U-������R@U5���`I�?zLU4�=�LU4�=�LUg�@�LU��I@�Aey6<Bi Bi�Am��9*Bm�99�Ai�Au��7�Au����Aq"C}3��*CyRCyCy�C�i̍mAI̍mAYύE9I��G�b>�q 9�q I�u �dGi�u �@��q ��q ��q ��u b�; �u $�E�� � ���� ���� ���� ��� � '�:Y� �T1y� ��:�� �6)� ��;�a�Dj,Gv~�E�AY}:y��@�}:4 �@y}:��<�}:?f��}:H�����^9�?����?��?�������?�����������`G�?���@���������������j�����`���?)~:y��@ ~:?_;I~8ɫ9�9)�9 �=����I�9Y�} �@y�}�mG����=i���=I��)����]�~=M]f=Y�]ꋻQUe�>��a��a�ae�G��a��iy�m�N;}m�>I�q��}�:��u.�5�?����:��u��� �u��?����?9�u&�A��u�: �u(�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U����`��?zL��L��L��L�^�I@�A�\�?<B� B��A��<*B��<9�A��A���7�A�緺�A�"C�2��*C�RC�C��CY� �9I�yG�?>��ͥDj,CW��E�A�|i|�@ɫ�髱)�� ������I��Y���@y���mG�õ`�=�õ�T=�õ�#=iõ��@�ñ ĵn�@)ĵz�@Iĵ\�@iĵz�@���j�;M�D=Y�����QU��>�������a��G������y�����}��>I�����i�5�?������ ���?����?9��i�A���^�: ��ϸ:)���W �W X X�W:W2W*W�VUU������?zL9�L9�L9�L9�AMm J<BQ BQ�AUv�<*BU�<9�AQ�AU��7�AU䶺�AY"C]5��*CaRCaCa�CaY�}b9I��G�=>�� � ���� ����� ����� �� � D:Y� [1y� ݏ:�� *6�9� @����Dj,#-��E�AY}2��@�}2G�@y}2Ы�<�}2(���}2H�����M�?�������?���`O�?����������@�X�?�����`�����@�4������tU������t��?)~2��@ ~2L�^;I~2��Cɫ9�9)�9 �=����I�9Y��T�@y���mG��L�<MV=Y���QU�>��!��!�a%�G��!��)y�-�R;}-�>I�1��5��5�?��5��� �5,�?��E�?9�5��A��5U�: �5b�:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUqUu�����9�?zL��L��L��L���I@�A�n�S<B� B��A��=*B��=9�A��A���7�A�굺�A�"C�4��*C�RC�C��C����i>���G>��V�>9��I���eGi����@������������Q�; ���EY���9I��G*>��߲Dj,N ��E�AY}R��@�}R;�@y}R�p�<�}R�z��}RH�����l^�?�������?����2;�?����H�������i�?��� (X�������m������͢���� ���?)~R��@ ~R��^;I~R��Cɫq�y)�y �yI�yY����@y��NnGI�)���p=i���u�:��u��>��u/ݽi�u��@��q �u��@)�uƣ@I�uƣ@i�uƣ@��y�<M�C=Y�/��QU��>�����a��G����y�@+;}��>Iȡ����:�ť�5�?����:�ť���� ƥ8�?����?9ƥ��A�ǥg; ȥ1;)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�L�J@�A�&^<B B�A�/=*B�>9�A�A��7�A%ʹ��A!"C-3��*C)RC)C)�C1Y�%�9I�9G]>�� ���� �� �� ��� � �q:Y� y� �� �6�\�Dj,����E�A�|�|p<Y}2D�@�}2�'�@y}2�v�<�}2 ���}2H�����8s�?���`��?�����%�?����}����� �|�?���@�o���������������������`���?)~2D�@ ~2��^;I~0ɫ9�9)�9 �9I�9Y�yy�y�����O��n�?��Q��˿��~j�t�?����>���(\� ����<)��I��y������Mb�?333333��<�O��n������@=������t�� ;A) AIdAi������(AY����QU��>�����a��G����y���R;}��>I������5�?���}��� ��`�?����?9��4�A����; ���;)���W��W�X� X��W:W2W*W�VU U ��� �:@zL%��=�L%��=�L%���@�L%L.@�A=dh<B9 BA�AA*BE?9�AA�AE�7�AE����AA"CM2��*CQRCQCQ�CQY�M�!9I�aG� >�� 9�� I�� xfGi�� S�@��� ��� ��� ��� D�; �� �E)�ىI�ىi�ى��݉=��݉=��݉��4��3�Dj,n���E�AY}F�%�@�}Fs3�@y}F� �<�}F����}FH�����P��?�������?��� ���?����v�����`q��?������z�����r�������*�����`���?)~F�%�@ ~F��^;I~F��Cɫy�y)�y �yI��Y����@y��rnG������@A�����;M��<Y��C��QU��>�������a��G������y���r;}��>I������:���4�5�?���:������ ����?���?9��y�A�����: ��g�:)����:�W!�W!X) X)�W):W)2W)*W1�V1U1U5���@8?@�REB*** querying acoustic contact ***�PA�PAzLQ�LQ�LQ�LU�I@�Ammur<Bi Bi�Au�>=*Bu�?9�Aq�Au'�7�Au����Ay"C}5��*C�RC�C��C�i�)I�)Y��"9I� G->�� 3 ���� ����� ����� �� � ML:Y� �[1y� H�:�� �6���Dj,��E�Aɫy�y)�y �}����I�yY����@y���nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)����u����u^:>��u�i�u¥@��q �u�@)�u��@I�uO�@i�u�@��<�;M�@=Y����QU��>�����a��G����y����}��>Iȡ�ť�5�?�ť���� ƥ��?����?9ƥ��A�ǥ÷: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zL��L��L��L��A ��|<B B�A-F=*B-Y?9�A1�A5G�7�A=0���A9"Ce4��*CaRCaC��C�Y�},$9I��G�_>��e�>��e��Ci���lGI��i� ��5�Y�ٺ1��5�LA��E�Dj,cz3�E�A�|i|Y}^�=�@�}^;K�@y}^?�_<�}^�{��}^H�����'��?���`��?����U��?���������@G��?����1`������������`�m������U��?)~^�=�@ ~^��^;I~\ɫ�髑)�� ������I��Y� ��@y� �nGxDUSBL response received:!U1,P E65,000,00760,186,80,80,84,FF Command AckBRequesting micromodem ping code 2i���!�5�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��3[;M�J=Y��5�QU��>�������a��G������y����;}�>��!��%mA�Q9�QI�U@gGI�9i�U��@��Q��Q��Q��U=�; �U�E��m�:��=5�?��u�:��=9��� �=��?��}�?9�=�A��=e< �='<)�=��:�WA�WAXA XI�WI:WI2WI*WI�VQUQUU���`� @zL��L��L��L���@�A��ւ<B� B��A��K=*B�w?9�A��A�h�7�A�����A�"C�3��*CRCC�CY�l&9I�!G=�>��� � ����� ������ ������ ��� �� {S:Y�� DW1y�� Y�:��� �6)�� �;�9� ���,�Dj,�PM�E�AY}2�R�@�}2�`�@y}2��9<�}2�G��}2H����@=��?�������?����}�?��� ���������?����h@?��� �6������b�������o��?)~2�R�@ ~22e^;I~2��CɫI�I)�I �M����I�IY�}E�@y�}oG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��M�P=��M��=��M7 �i�M3�@��I �M�@)�II�M��@i�M��@����<M�J=Y���QU��>�����a��G����y���;}��>I�a��e��5�?��e���� �e �?��m�?9�e^�A��e�: �e�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������'@zL��L��L��L���@�A���<B� B��A��y=*B�B9�A��A���7�A�����A�"C�2��*C�RC�C��C��C>��)>Y�I�G5->��X�Dj,]4g�E�AY}J�j�@�}JIx�@y}J�7 <�}Jl3��}JH������ �?������?�����/�?���`@������D�?����.�j?����䦁���� �ģ���� ���?)~J�j�@ ~J��^;I~Hɫy�y)�y �}����I�yY���@y�hoG xDUSBL response received:!U1,R,E6A,000,00763,186,80,80,C9,FF Fpublishing direction and range info�� g�>�� ɰ �>� � )� �ICI� y� �B�� �A�R�/�?�A�14�?��������ٱ ��%R=i�%�=�����p= ף�?��~j�t���� �rh������=������ ��C�)��I��y���<�O��n�?333333���I+������t=������94� µfA)µ�AIµ�Aiµ�A�������A�����<M�F=Y���QU��>�������a��G������y��X�;}��>I������:�����5�?����:������ ����?����?9����A�����: ���:)����:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q��B�Z��Q:�}�Q@�YhmZ:@���������Z��A�R�/�?�A�14�?��������2Q� g�>:Q��Z��bR͠>,G@ܢ�ϙN��������Z��)�W�4��?QVD�!X���u����BQ�*ͫ@ Q��p�Q�a9B�P���9?�P���9?�P�o���Q�p���Q�a�@"Q��3@zL5ܫ=�L5ܫ=�L5��@�L5��x@�Amz�<Bi Bi�AuK�=*BuqB9�Aq�Au��7�Au=���Aq"C}5��*CyRC�C��C�Y�}�&9I��G�>>� 9� I� lhGi� �@�� �� �� �� A�; � �E�� \ ���� ����� ����� #�� � �O:Y� d\1y� ��:�� �"6)� ��;��>�Dj,���E�A�|�|�;Y}Z]��@�}Z��@y}ZO��;�}Z����}ZH������>�?�����~�?�����/�?���@������@.?�?����puu?����>�y������������"��?)~Z]��@ ~Z��^;I~Xɫ�髙)�� ������I��Y����@y��QoG�EDNmea in: $SNTTA,,,,,165645.40*5F ��eG��MeR=Y�e.ŻQUe�>��i��i�am�G��i��qy�u�<}}�>I�y��}��5�?��}"��� �}6�?����?9�}��A��}ϸ: �}b�:)�y�m�qAdded new target pos. range: 75.959999 m, bearing: 307.609263 deg, deltaT: 4.453861 s, approachRate: 0.040413 m/s, LOS rate: 0.155354 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����p�R@U����`�i�?zL��L��L��L��y@�A�,�<B B�A��=*B�B9�A�A��7�A���A "C4��*CRCC�CY��(9I�G+>�xh�Dj,����E�AY}FE��@�}F���@y}F&;�}FN��}FH�����en�?���@�w�?���@�?�?���@;}�����pm�?�����]}?����[p���� x����������?)~FE��@ ~F��^;I~F��CɫY�Y)�Y �e����I�aY����@y��qoG�å�>�å����å��=iåf�@�á ĥ��@)ĥ�@Iĥ�@iĥƣ@�����;M�C=Y��ղ�QU��>�������a��G������y��+�;}��>I�����ӳ5�?���{��� ����?����?9��+�A�����: ����:)���W�W!X! X!�W!:W!2W!*W)�V)U)U5���@� �?zLI�LI�LI�LM�Ny@�Ae�j�<Ba Ba�Ae%�=*Bm�B9�Ai�Am�7�Am����Ai"Cu3��*CqRCyCy�CyY�II�aG�>�ޥ =iޥ a=�� � ���� ����� ����� '�� � �G:Y� �i1y� ��:�� �6�9� @����Dj,���E�Aɫ�髙)�� ������I��Y���@y���oG��u(=M}P=Y�}���QU��>�����a��G����y����}��>Iȡ����:�ťα5�?����:�ť���� ƥV�?����?9ƥn�A��9��z�CI���hGi��:�@���=���������_�; ��!�E�ǥ��: ȥ��<)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����)Q�?zL��L��L��L��Aޡ�<B B�A�=*BD9�A �A 8�7�A ���A "C2��*CRCC�CY��+9I��G*>��z�Dj,9���E�A�|i|Y}:̨@�}:�٠@y}:�����}:ɪ��}:H��������?���`�i�?����]��?��� �n��������?���`1�?������3?��� =������`b��?)~:̨@ ~:;�^;I~:��CɫY�Y)�a �e����I�aY����@y��moG��i��mnA�õ"�=�õ|?>�õ��iõ3�@�ñ ĵ��@)ĵƣ@Iĵ��@iı�����M�F=Y��X*�QU��>�������a��G������y���b<}��>I�������5�?������ ����?����?9����A�����: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L��y@�A�Ւ<B B�A8�=*B�B9�A�Ab�7�A����A"C%5��*C!RCICI�CQY�=/-9I�QGmW>�� � ���� ����� ����� e�� � �T:Y� 0Y1y� ��:�� �6����Dj,r��E�AY}:�ߨ@�}:@��@y}:�%��}:`@ ��}:H����@���?����0c�?�������?�����h�����D��?�����>�?�����$b?�������������?)~:�ߨ@ ~:��^;I~:��Cɫ9�9)�9 �=����I�9Y�} �@y�}�oG�����E���Ը?X9��v���X9��v��������=������ ���}�)��I��y���y�&1��?T㥛� �����S㥛����`e<��������/ݼ ©)dAI�Ai�A������ A���# =M�J=Y��r��QU��>�������a��G������y��=�;}��>I������:���ƭ5�?����:���ײ�� ����?����?9����A�����: ����:)����:�W9�WAXA XA�WA:WA2WI*WI�VIUQUU�������?zL E�=�L E�=�L :˝@�L �'k@�A�n�<B! B!�A%��=*B%kD9�AA�AM��7�AM;���AI"CU4��*CQRCQCQ�CY��e;>��e�=Y�]S-9I�iG�[>��9��I���iGi��ݽ@���=���������Z�; ���EIޡ )ޡ �w��Ej,'M�E�AY}6E�@�}6���@y}6؇���}6C'&��}6H����`��?���`;`�?������?���` f����`D��?���@=�?�����Pq?����gä�����0��?)~6E�@ ~6�^;I~6��Cɫ9�9)�9 �=����I�AY�}��@y�}�pG���a=i��C= ������R�=M�O=Y���QU��>�����a��G����y��0;}��>Iȹ�Ž�5�?�Ž���� ƽd�?����?9ƽ!�A�ǽ�; Ƚ��:)ȹ�W�W X X�W:W!2W!*W!�V)U1U5�����1@zL��L��L��L�\Ck@�Ae�d�<B� B��A���=*B��G9�A��A���7�A�פ��A�"C�3��*C�RC�C��C�YυL/9I��G�>>�� � ���� ����� ����� ��� � �R:Y� �U1y� ��:�� �6���Ej,�(�E�AY}2G�@�}2��@y}2�}���}2� %��}2H����@+�?��� �]�?������?����>c����@m�?���@���?�����w?���ຟ����� 6��?)~2G�@ ~2�h^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�pG���������/�<����<�����=i����@��� ��)����@I��i����@���Z@�M�T=Y�����QU��>�������a��G�����y��;;}�>I� ���:�� �5�?���:�� O��� � 4�?���?9� T�A�� V�: � �:)� ��:�W9�W9XA XA�WA:WA2WA*WI�VIUIUM����0@�R]B*** querying acoustic contact ***�PY�PYzLi�Li�Li�Lm\_k@�A����<B� B��A���=*B��G9�A��A� �7�A�����A�"C2��*CRCC�CY��p/9I�G >���Ej,!6�E�Aɫ�髙)�� ������I��Y��|�@y���pG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��U��M]D=Y�]���QUe�>��a��i�am�G��i��qy�}���}}�>IȁܥU�>9ܡIܥ�iGiܥ.�@�ܥ=�ܡ�ܡ�ܥf�; ݥ$�E)�%�z�CI�%�z�Ci�!���%�=��%�=��%��Q5�Ņ�5�?�Ņ��� ƅ��?����?9ƅ��A�Dž_N< ȅ�M<)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL�L�L�L�AMY��<BI BI�AM��=*BM�E9�AQ�AUF�7�AU����AQ"C]5��*CYRCYCY�CaỉỈY�}�09I��G�^>�� � ���� ����� ����� ��� � �\:Y� �Y1y� �:�� �6)� ˳;�9� ����Ej,�O�E�AY}:��@�}:O�@y}:I���}:2B��}:H�����C:�?��� $X�?������?�����[�����82�?���@;n�?�����8�?���`#硿��� ���?)~:��@ ~:Z^;I~:��Cɫ9�9)�9 �=����I�9Y�}[�@y�}ZpG�xDUSBL response received:!U1,P E6A,000,00763,186,80,80,C9,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �åh>�åh��å"�=iåf�@�á ĥ�@)ĥ�@Iĥ�@iĥ�@��U!�MU.=Y�]`��QUe�>��i��q�au�G��q��yy�� �;}��>I������:���ϥ5�?����:������ ��b�?����?9����A�����: ����:)����:�W9�W9X� X��W�:W�2W�*W��V�U�U����`d� @zL��L��L��L�ުk@�A%�C�<"B%��:B) B)�A-[�=*B-�D9�A1�A5��7�A5_���A9"Cm4��*CqRCqCq�C�Yϵ�19I��G��>���Ej,��i�E�Ai�2�mGI�>fpAi�H��b�I�ٺbfpA��f`=AY}Ut�@�}U/,�@y}U��1��}U����}UH������c�?���`�Q�?�����?��� �T�����l[�?�����o�?����z:�?��� ����� ���?)~Ut�@ ~U}^;I~U��CɫQ�Q)�Q �]����I�YY����@y���pG��a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������ �rh��`��"��ο:��v���?���C������w� ���T<)��I��y�������Mbp?㥛� ����I+�������;���������94� ���A)���AI��fAi��EA������fA��57=M5L=Y�5�p�QU=�>��9��9�a=�G��9��Ay�Mo�;}M�>I�Q��U��5�?��U���� �U��?��]�?9�U�A��U: �UǺ:)�Q�Wy�W�X� X��W�:W�2W�*W��V�U�U����`�=@zL�i�=�L�i�=�L�R��@�L��aa@�A��P�<B� B��A���=*B��H9�A��A���7�A�%���A�"C�3��*C�RC�C��C�Y��I�AGeU>ܕV�>9ܑIܕ�jGiܕѾ@�ܕ=�ܑ�ܑ�ܕE�; ݕ�E�� ����� �� �� ��� � :�:Y� y� �� �6)� ��;�� Ej,����E�AY}2T:�@�}2H�@y}2<�J��}2����}2H�����c��?���`�H�?���@n��?�����K���� Ў�?���@S��?���@=P�?���@�������`S��?)~2T:�@ ~2_;I~0ɫY�Y)�Y �]����I�YY�}5�@y�}fqG�xDUSBL response received:!U1,R,E37,000,00768,186,80,80,A9,FF �Fpublishing direction and range info����0�>���ɰ�R>鰁 ��)���)CI��y����B�����78!}�?,)=�;��?��������ٱ���5�=M=q=Y�=���QU=?��A��I�aM�G��q��yy�}�!<}}?Iȁ�Ņ��5�?�Ņ#��� ƅ��?����?9ƅ;�A�DžwW< ȅD�<)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������@�P*Q��B�Z�VM0��Q@#�ۑ��=@���������Z��78!}�?,)=�;��?��������2Q�0�>:Q�Z��W1��QI@�p�z�L�(<��ſ�Z�L���?�?1��T"���>�Z�Yb�BQ��@ Qd�Q�JB�P��9?�P��9?�Pj���Qo���Q��@"Qa�@zLY�LY�LY�L]�a@�A�ʡ�<B� B��A���=*B�hI9�A��A���7�A�ם��A�"C�2��*C�RC�C��C�������>Yϥ�39I��G�B>��'Ej,|��E�AY}v5R�@�}v�_�@y}v�S��}v W��}vH����@���?����@@�?���`l�?��� �C��������?���`��?��� �q�?����OI���������?)~v5R�@ ~v�+_;I~v��Cɫ���)�� ������I��Y�M�@y�UBqG��DNmea in: $SNTTA,,,,,165649.82*5D I��)���A���a=i��=��e-�=��e���eʡ�i�e�@��a �e�@)�eƣ@I�e�@i�e�@��u��M}7=Y�}���QU}�>�����a��G�����y����;}��>I������:����5�?����:���ط�� ���?���?9���A���(�: ��e�;)����:�muqAdded new target pos. range: 76.259995 m, bearing: 311.608557 deg, deltaT: 4.448243 s, approachRate: 0.067441 m/s, LOS rate: 0.899073 deg/s, posRepo size: 4�Wq�WqXq Xq�Wy:Wy2Wy*Wy�V�U������S@U���� ��?zL��L��L��L���a@�A�O�<B B�A%��=*B%�H9�A!�A%C�7�A%����A!"C-5��*C)RC1C1�C1Y�549I�qG��>�� � ���� ����� ����� ��� � �T:Y� xZ1y� q�:�� �6�9� @��.-Ej,�K��E�AY}>xi�@�}>3w�@y}>��X��}>U=&��}>H���� ���?���`�7�?�����i�?����3<����@=��?����]e�?���`e�?�����Ť����`���?)~>xi�@ ~> _;I~>��CɫY�Y)�Y �aI�aY��y���99�9I�=(kGi�="�@��==��9��9��=4�; �= �EY��a�QU��>�����a��G������y��M�;}��>I������5�?���k��� ����?����?9����A�����: ���:)���W��WX X�W:W2W*W �V U U����~��?zL)�L)�L)�L-2�a@�AEj�~<BA BA�AA*BE%J9�AA�AM��7�AMt���AI"CU4��*CQRCQCQ�CYY�e2699�QI�aG}{>��4Ej,N&��E�Aɫ�髙)�� ��I��Y����@y���qG����=����>���=i�f�@�� �9�@)��@I�i��@��5�<M5�<Y�=���QU=�>��A��A�aE�G��A��Iy�U���}U�>I�Y��e�:��]�5�?��e�:��]��� �]P�?��e�?9�]��A��]��: �]�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U������"�?zL��L��L��L��A�%�s<B� B��A�>*B�fJ9�A��A���7�A�8���A�"C�3��*C�RC�C��C�i��I��nAYϩ9ԅx�:I��G�B>�� � ���� ����� ����� X�� � �X:Y� �X1y� /�:�� * 6�~@:Ej,����E�AY}2r��@�}2-��@y}2/�t��}2�s#��}2H����� J�?���@�(�?������?�����,�����=�?���@f��?����ۏ�?��� }l����� ���?)~2r��@ ~2L�^;I~0ɫ9�9)�9 �=����I�AY��.�@y��]qG����=i���=I��)���A�������(\��?㥛� ���+���������z>������ ����)��I��y����I+��?�V-������Mb�����9�<���h������ )dAIKAi�A���������M�S=Y����QU��>�����a��G�����y���s<}��>I�������5�?������ ���?����?9��0�A���/�: ����:)���W��W�X� X�W:W2W*W�VU U �����M�?zL��=�L��=�L�fi�@�L��q@�A���g<B� B��A� �=*B�>I9�A��A��7�A����A�"C 2��*C RC C �CY���699��b�:I��Gl>�99�9I�=�kGi�=Ŀ@��9��9��9��=%�; �=�E��(AEj,���E�AY}:��@�}:�ʡ@y}:�ˀ��}:�i��}:H��������?���`d�?�����r�?����) �����ӂ�?���@)��?��� R�?��� |����� Q��?)~:��@ ~:�i^;I~8ɫ9�9)�9 �=����I�9Y�}��@y��3rG���V=M�J=Y�����QU��>���� �a5�G��9��9y�EH.<}E�>Iȉ����:�ōe�5�?����:�ō!��� ƍ��?����?9ƍr�A�Ǎ��: ȍ��:)ȍ��:�W��W�X� X��W�:W�2W�*W �V U U �����&�@zLI�LI�LI�LM�Ir@�A]�H[<Ba Ba�AeQ>*Be�K9�A��A�`�7�A�����A�"C�5��*C�RC�C��C�YϽ�89i��nAI��mA9ԕc�:I��G��>�� b ���� ����� ����� R�� � P:Y� 0Y1y� ��:�� �6��RGEj,���E�AY}2��@�}2��@y}2����}2����}2H����@-��?������?�������?����������@��?�����_�?��� b�?��� �W�����`���?)~2��@ ~2=]^;I~2��Cɫ9�9)�9 �9I�9Y�}��@y��FrG��u��;��u$�>��u`e<i�u��@��q �ub�@)�u�@I�u�@i�u�@��O�;M�N=Y����QU��>�����a��G����y�;<}��>Iș�ŝ��5�?�ŝ��� Ɲ��?����?9Ɲ��A�ǝǺ: ȝӻ:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����@zL��L��L��L���r@�AM<B B�A+>*B[M9�A�A��7�A���A"C%4��*C!RC!C!�C)��1��5p>Y�Es899���:I�)GMR>��~MEj,J�8�E�AY}FI�@�}F�@y}F���}F����}FH����@�?�����?���@�7�?����r�������?����n��?��� "�?���@´�����@b��?)~FI�@ ~F�3^;I~F��Cɫa�a)�i �m����I�qY����@y���qG������AA��9��I��TlGi���@������������ �; ����EI�)��� =i� �<��5ؼM5O=Y�=8!�QUE�>��A��A�aM�G��I��Qy�U)<}]�>I�a��e��5�?��e��� �eM�?��u�?9�e��A��e#; �e�;)�a�WQ�WQXQ XY�WY:WY2WY*Wa�VaUaU������{@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���r@�A�1><B� B��A��>*B�VJ9�A�A��7�A���A"C 3��*C RC C�CY��:9i�%��I�%����!��!I�� G� �>�� B ���� ����� ����� d�� � �M:Y� �X1y� /�:�� s6)� Ʀ;�9� ��sdTEj,HlR�E�A�|�|4<Y}6��@�}6�&�@y}6����}69h��}6H�����n;�?���`���?����q�?����������`L.�?���@0p�?����qԐ?��������������?)~6��@ ~6�>^;I~6��CɫA�I)�I �U����I�QY��@�@y��tqG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�í�D��í����íQ�=iíz�@�é ĭƣ@)ĭ�@Iĭ�@iĩ��QʼM�B=Y��8:QU��>�������a��G������y����;}��>I������:���u�5�?����:���)��� �� �?����?9��'�A���(�: ��V�:)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����d� @zL�L�L�LAs@�A%�/<B! BI�AM��=*BM�I9�AI�AM=�7�AM>���AQ"CU2��*CYRCYCY�CYY�e�:9I��G�h>��ZEj,=Il�E�AY}:8�@�}:�'�@y}:<$���}:,5$��}:H����`�=�?��� ���?�����N�?����0�����@�/�?����H�?���@U�?���@��������M��?)~:8�@ ~:�^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}sG�xDUSBL response received:!U1,P E37,000,00768,186,80,80,A9,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �������Q��?��~j�t������Mb�������=������ ���)��I��y���:��v���?ˡE�����<�O��n�������<���什���t�� ��KA)��I���Ai���A������A��=D�=M=(=Y�e��QUe�>��i��i�am�G��i��iy�u��9}u�>I�y��}��5�?��}���� �}%�?����?9�}~�A��}0�; �}�;)�y�W1�W1X9 XY�WY:Wa2Wa*Wi�ViUqUu������ @zL-��=�L-��=�L-6��@�L-5ts@�A�j& <B� B��A��(>*B�L9�A��A���7�A�C���A�"C�5��*C�RC�C��C���9��I���lGi��g�@���=�������D���1�; ���E)�i�I�i�i�i���m�=��m�=��m�ʚ5i��I��mAY�� I�� G �>�ޥ �=iޥ �=�� � ���� ����� ����� ��� � )S:Y� �W1y� č:�� {6)� ��;��vaEj,}$��E�AY}6��@�}6P&�@y}6����}6i�"��}6H����@�:�?���`���?���`��?�����������,�?����I�?����l?�?�����S������a��?)~6��@ ~6P'^;I~4ɫY�a)�a �m����I�iY��a�@y���rG�ɮa=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I� )� ��e��<��eA`>��e��=i�e�@��a �e�@)�e�@I�e�@i�e�@��u��M}l=Y�}V��QU}?�����a��G����y�b�}�?Iȑ����:�ŕ��5�?����:�ŕ���� ƕ��?����?9ƕ��A�Ǖ��: ȕY�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� 3 @zL��L��L��L�<rs@�A�<B B �A �!>*B �Q9�A �A ��7�A��A"C4��*CRCC�CY��<9I�G5.>� �gEj,����E�A�|i|Y}>��@�}>�)�@y}>kF���}>7��}>H����@A�?������?������?����b�������73�?������?�������?�����~���������?)~>��@ ~>Ey^;I~>��CɫY�Y)�Y �]����I�YY��V�@y���rG�xDUSBL response received:!U1,R,DE7,000,00770,188,80,80,A0,FF �Fpublishing direction and range info�����>���ɰ��>鰥��> ��)��� CI��y��z�B����2e�E�?~z�����?��������ٱ����@~�M�j=Y��Rk�QU��>�������a��G������y���:}��>I�������5�?������� ����?��}�?9����A����< ����<)���W��WX X�W:W2W*W�V!U!U-����Q�@�PA*QEz�B�ZE��R�E�Q@kD ?~TA@���������ZE�2e�E�?~z�����?��������2QE��>:QA�ZE�p^��$L@��بqJ��\�������ZE�� ��x�?b"2� ��`v3\/Q�BQE�%�@ QE�P�QE'aB�PE��9?�PE��9?�PEb���QEj���QE��@"QE��@zL��L��L��L��}s@�A����;B B�A� >*B#N9�A)�A-C�7�A-)���A)"C53��*C1RC1C1�C9������i� nGY�I�- qAi�9��m#[�ٺm qA��mTNAI�yG�?>�� � ���� ����� ����� ��� � �G:Y� ]1y� �:�� )6�9� @�e�mEj,!��E�AY}c=�@�}K�@y}#಼�}s���}H���� A�?��� ���?�����)�?���������� :r�?���@�x�?�����[�?��������� z��?)~c=�@ ~� _;I~܅W�>9܅y�CI܅�mGi܅ �@�܅=�܁�܁�܅0�; ݅�Eɫ�)� �����I�Y�U��@y�U�sG� TNmea in: $SNTTA,0.093400,,,,165654.26*4F ��M�3=MM4=Y�U��QUU�>��Q��Q�a]�G��Y��Yy�e�<}e�>I�i��u�:��m �5�?��u�:��m��� �m�?��u�?9�m%�B��m��: �m��:)�m��:�m�qAdded new target pos. range: 76.739998 m, bearing: 317.180243 deg, deltaT: 4.416495 s, approachRate: 0.108684 m/s, LOS rate: 1.261563 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� \/S@U�����]��?zL��L��L��L��s@�A���;B� B��A��4>*B��P9�A��A���7�A�����A�"C�2��*C�RC�C��C�� )>�� )>Y��=9I��G )>Iޡ )ޥ ?A�(�tEj,g���E�Aɫ�髁)�� ��I��Y����@y��sG��a=i�=�å1�>�å9�=�åC>iå��@�á ĥO�@)ĥ9�@Iĥ9�@iĥ9�@��#��M�T=Y����QU��>�������a��G������y�����}��>I�����Մ5�?���?��� ��L�?����?9��G�B����6; ��b6;)���W��W�X� X��W�:W�2W�*W��V�U�U�����\��?zLI�LI�LI�LI�A]���;Ba Ba�Ae�(>*Be�N9�A��A���7�A�<���A�"C�5��*C�RC�C��C�YϽ5?9I� G%o>�� ���� ����� ����� ��� � �H:Y� [1y� ݏ:�� �6�D�zEj,y���E�A�|�|Y}V?��@�}V���@y}V'cּ�}V.��}VH�����c�?����b��?����^��?����R������� ��?�����x�?���`�˚?��� c`������S��?)~V?��@ ~V��`;I~Tɫy�y)�y �}����I�yY��{�@y���rG�����Q���?V-����� �rh�����\=������ ��C�)��I��y�������Mbp?�Zd;��V-��?����;����y������< µ�A)±Iµ1Aiµ�A�������A�����M�I=Y���.�QU��>�������a��G������y��J�<}��>I������:�����5�?����:������� ����?����?9��`�B�����: ����:)����:�W�W!X! X!�W!:W!2W!*W)�V)U)U-����[�?zLM��=�LM��=�LMN�@�LM�d@�Aeq�v;Ba Ba�Ae9%>*Be�O9�Aa�AmU�7�Am����Ai"C�4��*C�RC�C��C�Y�}?9I�G5O>�y9�yI�}�mGi�}[�@��}=��y��y��})�; �}��E�ŁEj,"l�E�AY}J��@�}J�Ģ@y}Jƻ弙}J�N+��}JH������a�?���`$��?����1^�?��� M��������L�?���@�,�?��� ���?����f�����@���?)~J��@ ~J�`;I~J��Cɫ���)�� ������I��Y�y�����=����=��O �i�f�@�� ��@)��@I��@i��@Y�є�QU�>��!��!�a%�G��!��)y�5�]<}5�>I�9��=�5�?��=b��� �=��?��U�?9�=y�B��=�?; �=�8;)�9�W��W�X� X��W�:W�2W�*W��V�U�U�����"�?zL��L��L��L�6Wd@�A}��;By By�Ay*B}�M9�A��A���7�A�����A�"C�3��*C�RC�C��C�i̹I̽nAYϽ�A9I��G�g>�� C ���� ����� ����� ��� � �M:Y� �Y1y� �:�� �6���Ej,I!�E�AY}F�@�}F��@y}FH9}F�5��}FH��������?��� ���?���@B�?����Ǵ�����`���?�����B�?������?����z����������?)~F�@ ~Fo+_;I~F��Cɫ�髙)�� ������I��Y��K�@y���rGI�1)�1��u��Mu�<Y�}G�QU}�>��y���a��G����y�vu<}��>I�����D5�?������� ��3�?����?9����B�����: ��Q�:)���W�WX X�W:W2W!*W!�V!U!U-�����"�@zLA�LA�LA�LE�d@�A]�|:BY BY�A]4>*B]%O9�Aa�Ae�7�Ae����Aa"Cm2��*CiRCiCq�CqY��I��G�F>���Ej, 5;�E�A�|i|Y}>��@�}>��@y}>�����}>n3��}>H��������?������?���@�ݝ?����¦���������?����<��?���@���?���`\������m��?)~>��@ ~>ڬ^;I~<�����!9�!I�!i�!��%=��!��!��%=�; �% �EɫQ�Q)�Q �U����I�QY� 1�@y� �sG��+�=M�F=Y�(�QU��>�������a��G������y���2<}��>I����M�:���m}5�?��U�:������� ����?��U�?9����B���K~< ��i~<)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����O@zL��L��L��L���d@�A�m���B� B��A��;>*B�$Q9�A��A�j�7�A�����A�"C 5��*C RC C �CY��I�G-->�� � ���� ����� ����� %�� � ��:Y� d\1y� ��:�� �6)� #�;�9� ��`�Ej,z�T�E�AY}:��@�}:�*�@y}:����}:fQ%��}:H�������?���@R��?����6 �?������������F�?���@�Ϧ?��� �;�?���`�������6��?)~:��@ ~:�]^;I~:��Cɫ9�9)�9 �=����I�9Y�]a�@y�]�rG��a��a����>�����=����q�i�� �@��� ��)���@I���@i���@���f��M�Z=Y�cw�QU�>�����a�G����!y�%º;}%�>I�)��-�{5�?��- ��� �-`�?��]�?9�-��B��-w�; �-ӹ;)�)�W��W�X� X��W�:W�2W�*W��V�U�U������x@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��e@�A%I��B! B!�A%�!>*B%JO9�A)�A-��7�A-ߑ��A)"Cu4��*CqRCqCq�Cy�́�̅>Yυ�C9I��GI>�H+�Ej,��n�E�AY}2�&�@�}2�4�@y}2����}2����}2H����@�/�?���@z��?�������?�������������?���@>��?����L�?������������"��?)~2�&�@ ~2`a^;I~2��Cɫ9�9)�9 �=����I�9Y�}O�@y�}�rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���i��p=��u��l����?�Zd;�Ͽ�I+�����u�=��u�~� �u9��)�qI�qy�u��~j�t��?����Mb��Zd;�O�����u�D<��u����uj�� �u1A)�qI�qi�uEA��q��upA����M�0=Y�G�QU��>�����a��G����y��c0;}��>I����:���y5�?��%�:������ �*�?��%�?9���B����; �p�;)���:�W��W�X� X��W�:W�2W�*W��V�U�U�����:E @zLn�=�Ln�=�LC��@�L�>n@�A]�De�B� B��A��>*B��L9�A��A��7�A�3���A�"C�3��*C�RC�C��C��!9�!I�%�nGi�%��@��!��%RD��!��%>�; �!Yϕ�C9I��G��>�� � ���� ����� ����� &�� � �Y:Y� �[1y� H�:�� :#6)� b�;�)�Ej,ٳ��E�A�|(�|*�;ɫq�q)�q �qI�qY���@y���sG�xDUSBL response received:!U1,P DE7,000,00770,188,80,80,A0,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 �� 0���7�=���D<i��@�� ��@)��@I��@i��@����X=M�+=Y�����QU��>�������a��G������y�����}��>I���Tw5�?������ ���?��-�?9��B��Y�: ���:)��Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqU�U����@�� @zL��L��L��L��A���B! B!�A%�9>*B-P9�A)�A5��7�A5����AA"Ce2��*CaRCiCi�CqI�9G��>�^=�Ej,T���E�AY}2�,�@�}2�:�@y}2����}2}���}2H����@J:�?����&��?���`���?���`+������`�(�?����)�?��� z�?����ؠ��������?)~2�,�@ ~2�w^;I~2��Cɫ9�9)�9 �=����I�9Y��l�@y���rG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u6��Mu�=Y�}m�QU}?��y���a��G����y�Z&;}�?Iȑ����:�ŕ�u5�?����:�ŕ���� ƕ1�?����?9ƕB�Ǖ��: ȕM�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�8en@�A��ֻB� B��A�_#>*B�MS9�A��A���7�A����A "C5��*CRCC�C!I�aG�>�ޥ �=iޥ p=�� � ���� ����� ����� }�� � pT:Y� �W1y� č:�� 6�9� @��h�Ej,rp��E�AY}:�4�@�}:UB�@y}:#��}:�e��}:H���� �G�?����D��?����^u�?����������� 4�?��� ���?���@�a�?����2ȡ����`���?)~:�4�@ ~:�V^;I~:��C�`9�`I�`i�`��`��`��`��b�; �b��E)�]�y�CI�]�y�Ci�Y���]�=��]�=��]�6�5ɫ9�9)�9 �=����I�9Y�u�@y�}�sG�xDUSBL response received:!U1,R,D43,000,00770,189,80,80,B5,FF �Fpublishing direction and range info��}ۚ?��yɰy�}7�> �y)�}�5CI�yy�y��}����c2�?��{��`�?��������ٱy��f=M�X=Y��ػQU��>�����a��G����y��!;}��>I�����=t5�?���T��� ��6�?����?9��-B���� ; ��� ;)���Wy�WyXy Xy�Wy:Wy2Wy*W��V�U�U����`��@�P�*Q��Z��� �aiO@ ��� F@���������Z�����c2�?��{��`�?��������2Q�ۚ?:Q��Z��*���&P@��X��D� ����?�Z��^��?q��?����D� .��R�?BQ��Ҷ@ Q��%�Q�5�B�P���9?�P���9?�P�O���Q�b���Q�'�@"Q���@zL9�L9�L9�L=�}n@�Au���Bq Bq�Au 9>*BuXQ9�Ay�A}1�7�A}����Ay"C�4��*C�RC�C��C�I��G��>�AO�Ej, E��E�A�|i|�@Y}6"I�@�}6�V�@y}6&�,��}6+���}6H�����1m�?����_��?�����֒?�������������V�?���@�?�?����`��?��� ����������?)~6"I�@ ~6Z^;I~4ɫa�a)�a �e����I�iY�}x�@y�}�rG� DNmea in: $SNTTA,,,,,165658.75*55 ��MmA��MmA����>���Q8����9�=i��Q�@��� ��9�@)��9�@I��9�@i��9�@��65�M6=Y�Z��QU�>�����a%�G��!��)y�5�;}=�>I�Y��e�:��]!r5�?��m�:��]D��� �]�?��u�?9�]LB��]�:; �]�;;)�]��:�m�qAdded new target pos. range: 76.739998 m, bearing: 327.343236 deg, deltaT: 4.434717 s, approachRate: 0.000000 m/s, LOS rate: 2.291689 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�UUe�����?zLa�La�La�Lez�n@�A���B� B��A��$>*B�VM9�A��A���7�A�����A�"C�3��*C�RC�C��C�I�1GmW>i�� 6nGI�� fpAi�� �� �T�ٺ fpA�� �GA�� $ ���� ����� ����� z�� � K:Y� 0Y1y� ��:�� �6��y�Ej,� ��E�AY}6Sg�@�}6u�@y}67��}6p ��}6H�����8��?�������?����<J�?����������@T��?����mˬ?��� �ަ?���`D������ ���?)~6Sg�@ ~6�1^;I~6��Cɫ9�9)�9 �=����I�9Y����@y���sG�����~j�t��?�l����? ףp= �?�����=�����= ��Q8=)��I��y���:��v���?J+���������������T<����Ƚ������ ±)µ�AIµ�Aiµ�A�������A���Q=M�N=Y���ͻQU��>�������a��G������y��=<}��>I�����Ro5�?���[��� ��C�?��u�?9��tB���+�< ���:)���W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�v�=�L�v�=�L�G�@�L�U�j@�A��K;�B� B��A�4>*B��R9�A�A��7�A^���A"C2��*CRCC�C!i�-��I�-����5����5����9��I��i����������������; ��ڒEI�AG]�>Iޡ )ޥ @A��d�Ej,� �E�AY}vL��@�}v��@y}v�t?��}v�� ��}vH����@���?���@�v�?�����I�?����;n������6��?���@�֭?����`�?���@� ���������?)~vL��@ ~v�7^;I~v��Cɫ�髱)�� ��I��Y� ��@y� )sG��u�=i�u�= �y�y�����=�����=����y=i���@��� ����@)��O�@I��O�@i��O�@������M�I=Y��6��QU��>�������a��G������y���S<}��>I�����hl5�?������� ��~�?���?9���B���Ǻ: ���:)���W!�W!X) X)�W):W)2W)*W1�V1U1U5������?zLa�La�La�Le� k@�A�V�B� B!�A%P*>*B-�O9�A)�A-G�7�A5i���A1"C=5��*C9RC9C9�CaI��G�%>�� z ���� ����� ����� ��� � �=:Y� �Y1y� �:�� V6�_��Ej,��#�E�A�|4<�|4<Y}6���@�}6ϣ@y}6�F��}6�r��}6H�����wI�?����Hd�?��� g��?���`[������M0�?���@��?������?���@0�������`��?)~6���@ ~6�^;I~6��Cɫ9�9)�9 �=����I�9Y�}{�@y�}�rG��NW�MX=Y���QU�>��!��!�a%�G��!��)y�-{<}-�>Iȁ����:�Ņ�i5�?����:�Ņ���� ƅ��?����?9ƅ�B�Dž��: ȅ@�:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��hk@�A���p�B� B��A�9%>*B�FP9�A�A��7�A{���A"C 4��*C RC C�CI�1GM�=����Ej,��=�E�A�49�6x�CI�6oGi�6O�@��6=��4��4��6��; �6ݒEY}B��@�}B���@y}B��K��}B`���}BH����� ��?��� �S�?�����G�?�����I������?}�?����� �?���`%n�?���`?V������ ��?)~B��@ ~B�*^;I~B��Cɫy�y)�y �}����I�yY����@y��%sG��5�5<M=H=Y�=�U�QU=�>��A��A�aE�G��A��Ay�M�M<}M�>I�Q��U�f5�?��U���� �U��?��]�?9�U�B��U��: �UǺ:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U���@/�@zL)�L)�L)�L-}�k@�Aeễ�Ba Ba�Ae�)>*Be�O9�Ai�Am��7�AmҘ��A�"C�3��*C�RC�C��C�I�GU>�ޡ iޡ �� k ���� ����� ����� s�� � [<:Y� �X1y� /�:�� 6)� ��;�9� �����Ej,��W�E�AY}6�@�}6� �@y}6|OO��}6���}6H��������?����;D�?�������?�����9�����@?��?����ꕯ?�����?����A������`���?)~6�@ ~6^;I~6��Cɫ9�9)�9 �=����I�9Y����@y��IsGI��)����M��<��I��M�>i�Mf�@��I �M�@)�M�@I�M�@i�M�@��e�<MeH=Y�e��QUe�>��i��i�am�G��i��qy�u�?<}}�>I�y����:��}�c5�?����:��}���� �}*�?����?9�}B��}�: �}4�:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �^@zL��L��L��L� l@�Ae�ג�Bi Bq�Au�->*B}�O9�A��A�X�7�A�R���A�"C�2��*C�RC�C��C!I�QG�:>�x��Ej,�gq�E�A�|i|�@Y}>f3�@�}>!A�@y}>��S��}>�� ��}>H�����2�?���@-7�?���@c�?����&,���������?���`�+�?����x�?����> ���������?)~>f3�@ ~>@!^;I~>��CɫY�Y)�Y �]����I�YY���@y���sG��}�y�&1���J+��?�v��/����}`���}��= �}xi�)�yI�yy�}��I+��?/�$�������Mbp���}94=��},���}�� �y)�}dAI�}�Ai�}�A��y��}�A���<M�G=Y�X0�QU��>�����a��G����y�)<}��>Iȹ�Ž+c5�?�ŽB��� ƽ)�?����?9ƽ/B�ǽf�: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U���� �@�RB*** querying acoustic contact ***�P�PzL%�y=�L%�y=�L%Y��@�L%T@�AE�)��BA BI�AM�6>*BMiR9�AQ�AU��7�AUƛ��AQ"Ce5��*CaRCaCa�C�Y��9H9I��G J>�i9�iI�mtoGi�m��@��m=��i��i��m!�; �m��E��� ~ ����� ��� ��� ��� �� IR:Y�� y�� ��� �6)�� �;����Ej,.U��E�Aɫ�髱)�� ������I��Y��a�@y���rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]n>��]��>��]`e�i�](�@��Y �]9�@)�]��@I�]9�@i�]9�@��m�@�Mm==Y�u���QUu�>��q��y�a}�G��y��yy����}��>Iȉ����:�ōmb5�?����:�ō���� ƍ(�?����?9ƍJB�Ǎ��: ȍ��:)ȍ�:�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L��A�����B� B��AE�!>*BEzN9�AA�AE�7�AE����AA"CM4��*CIRCQCQ�CQI��G�!>Iޙ )ޝ ?A���Ej,.��E�Aɫy�y)�y �}����I�yY����@y��isG�xDUSBL response received:!U1,P D43,000,00770,189,80,80,B5,FF �Command Ack�BRequesting micromodem ping code 2i��������p=i��=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��-�#=M5b=Y�AQUM�>��Y��a�am�G��i��yy�}��>Iȱ�ŵ�a5�?�ŵ���� Ƶ'�?��]�?9ƵbB�ǵU�< ȵū<)ȱ�Wq�WqXy Xy�Wy:W�2W�*W��V�U�U�����|� @zL��L��L��L��A㡸�B B �A �0>*B gO9�A �A u�7�A ����A "C3��*CRCC�CAI�qG�f>�� m���� ����� ����� m�� � Xe:Y� �Y1y� �:�� j6�9� @�a9�aI�eoGi�eO�@��e=��a��a��eM�; �e�E���Ej,�<��E�AY}2�z�@�}2���@y}2S�a��}2����}2H�������?�����?�������?����` ��������?����tȰ?���@�1�?��� ������ ���?)~2�z�@ ~2�^;I~0ɫ9�9)�9 �=����I�9Y�}t�@y�}�rG鮅p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}��M}C=Y���QU��>�����a��G����y�ʮ<}��>Iș�ŝa5�?�ŝ.��� ƙ����?9Ɲ{B�ǝ: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����)@zL��L��L��L���@�A L�ļB B�AK$>*BQR9�A�A��7�A���A"C%2��*C!RC!C!�C)I�9G]�=�J��Ej,����E�AY}2���@�}2^��@y}2p�b��}2����}2H�������?������?����>�?����@�����`3��?������?����wZ�?����`������N��?)~2���@ ~2�K^;I~0ɫ9�9)�9 �=����I�9Y�}V�@y�}�rG�xDUSBL response received:!U1,R,CCF,000,00774,189,80,80,AA,FF �Fpublishing direction and range info����6?���ɰ�M>鰁 ��)���*CI��y����B�����1�I�4�?�E�';��?��������ٱ�����>���^�=��� �=i����@��� ��)���@I���@i���@��+�M U=Y�US�QU�>��!��!�a%�G��)��)y�-m<}5�>I�9��E�:��=s`5�?��E�:��=p��� �=&�?��E�?9�=�B��=k�: �=��:)�=�:�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUyU}����D�@�P1*Q5��B�Z5���fbM@�Xݕ�,I@���������Z5��1�I�4�?�E�';��?��������2Q5�6?:Q1�Z5�H�>ɆQ@� ��?��C"�?�Z5�b�,�}$�?LK�)�hڿ�R���;�?BQ5�r�@ Q5��Q56�B�P5Ĩ9?�P5��9?�P5?���Q5O���Q5��@"Q5'�@zL��L��L��L�M=�@�A��мB B �A � >*B �M9�A�A �7�Ah���A"C5��*CARCACA�CII��G�B>�ޡ iޡ �� A ���� ����� ����� ��� � kM:Y� xZ1y� q�:�� �6�T�Ej,����E�AY}r���@�}r���@y}r��c��}rZ���}rH����`���?��� ��?���@�1�?���������`1��?����G��?����qo�?����}������`O��?)~r���@ ~r u^;I~pɫ���)�� ������I��Y�M�@y�MxrG��TNmea in: $SNTTA,0.063297,,,,165703.16*48 I��)������+��η?�~j�t��?�Q��롿���v�=����D< ��\�)��I��y����l����?��ʡE���������������=������������ ¥�A)¥EAI¥� Ai¥ A������GA��$��M-=Y����QU�>��!��!�a%�G��!��)y�-��;}-�>I�1��5O^5�?��5-��� �5o�?��=�?9�5�B��5I�: �5�:)�1�mmqAdded new target pos. range: 76.980003 m, bearing: 335.625196 deg, deltaT: 4.452283 s, approachRate: 0.053906 m/s, LOS rate: 1.860160 deg/s, posRepo size: 4�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU}���`�>S@U���� ���?zL���=�L���=�L�o!�@�L�Q��@�A�k�ۼB� B��A�C>*B�8N9�A��A�q�7�A�����A�"C�4��*C�RC�C��C�i��I��������� 9� I� toGi� ��@�� =�� �� �� {�; � &�E)ݝ�x�CIݝ�x�Ciݙ��ݝ�=�ݝ�=�ݝ���5I��G��>���Fj,���E�AY}27Ȭ@�}2�դ@y}2D$d��}2����}2H������$�?���@I��?����Z�?����������`��?���`�ݰ?���@�?���`4������@���?)~27Ȭ@ ~2jc^;I~0ɫy�y)�y �}����I�yY��9�@y���rG�Ýt�<�Ý��>�Ý`e�iÝ=�@�Ù ĝ-�@)ĝ�@Iĝ�@iĝ9�@��iO<M�e=Y�E¹QU��>�����a��G����y��;}��>I������:����\5�?����:������� ����?����?9���B���f; ��@;)���:�W��W�X� X��W�:W�2W*W�VUU ���@��?zL!�L!�L!�L%"׀@�A=�=�B9 B9�A=�>*BEP9�AA�AE��7�AE{���AA"CM3��*CIRCQCQ�CQI�iG��=�� i ���� ����� ����� U�� � 2<:Y� �X1y� /�:�� �6��' Fj,bg&�E�AY}2"ެ@�}2��@y}20�e��}20F��}2H�����_L�?�������?�������?��� ,�����`�2�?�����#�?����˴�?���@�������)��?)~2"ެ@ ~2�^;I~0ɫY�Y)�Y �]����I�YY��l�@y���rG���ݡ>�����%�<M-S=i�=VnGY�M��I�] qAQU]�>i�q��y��y�a��G�����V^�ٺ� qA���XQA��y�p�;}��>Iȱ�ŵ�Z5�?�ŵ���� Ƶ��?����?9Ƶ�B�ǵ��: ȵ��:)ȱ�W!�W!X! X!�W!:W!2W)*W)�V)UIUU����q�?zL��L��L��L�z�@�A����B� B��A�_#>*B�O9�A��A��7�A�쩺�A�"C�2��*C�RC�C��C�I� G% >Iޡ )ޥ @A�9�w�CI�i���"=������D����; �+�E�`Fj,��@�E�AY}:���@�}:T�@y}:ɧe��}:���}:H����`��?���`���?���@�2�?�����������se�?����34�?������?����!ɣ��������?)~:���@ ~:{_;I~:��Cɫ9�9)�9 �=����I�9Y����@y���sGI�)���UE�;MUE=Y�]t�8QU]�>��a��a�ae�G��a��ay�ma<}m�>I�q��}�:��uY5�?��}�:��u~��� �u,�?��}�?9�u!B��u��: �uR�:)�u�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L���@�A�$!��B� B��A�&&>*B��P9�A��A�q�7�A�9���A�"C�5��*C�RC�C��CI��G�>��� ] ����� ������ ������ k�� � =;:Y� xZ1y� q�:�� 36)� ��;�9� ��XIFj,^Z�E�A�|�;�|�;Y}>��@�}>�#�@y}>qpe��}>���}>H����@���?������?����q�?���`;������C��?�����'�?���`7��?������������&��?)~>��@ ~>�m_;I~<ɫY�a)�a �m����I�iY���@y���rG)Õ�= Ñ����u<���������+�i����@��� ��9�@)��I��9�@i���@�� }�M 2=Y� ��8QU�>�����a�G����y���;}%�>I�!��%�V5�?��%6��� �%x�?��5�?9�%JB��%ϸ: �%�:)�!�WQ�WQXY XY�WY:WY2WY*WY�VaUaUe��� ��@zL��L��L��L�G$�@�A�s��B� B��A�0>*B�M9�A��A���7�A����A�"C�4��*C�RC�C��C�I��G�$>�^sFj,�8t�E�AY}2?5�@�}2�B�@y}2�Ec��}2�1��}2H�����~��?����t��?���@�O�?���@ٽ��������?������?�����d�?���@������ ���?)~2?5�@ ~2�V_;I~2��CɫY�Y)�Y �]����I�YY����@y��<rG������ʡE��?����Kǿ+�����?�����=���^:� ���=)��I��y���/�$��?�Q��롿���Q��?����<���\�����u< ��)���AI�� Ai���A������fA��F��M\=Y�h�:QU�>�����a�G����!y�%H(<}%�>I�)��5�:��-JV5�?��=�:��-���� �-L�?��=�?9�-YB��-A�: �-��:)�-�:�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUu�����z@zL�2=�L�2=�L��@�L���@�A����B� B��A�>>*B�]N9�A��A��7�A�����A�"C�3��*C�RC�C��C�I��G� >ܑ9ܑIܕoGiܕO�@�ܕ$=�ܑ�ܑ�ܕq�; ݕ�E�މ iލ �=��� } ����� ������ ������ "�� �� �=:Y�� 0Y1y�� ��:��� a6)�� 3�;��[#Fj,��E�AY}27T�@�}2�a�@y}27y_��}2�@��}2H�����q!�?���@ֽ�?���@�5�?���@������@a �?����˶�?������?������������)��?)~27T�@ ~2�Q_;I~0ɫ9�9)�A �AI�AY��e�@y���rG����������=i���=I��)�����94<������ 0�i����@��� ���@)��I���@i������/=M�^=Y��%;QU�>�����a�G���� y� /(<} �>I����U5�?������ ��?��%�?9�hB���: �U�:)��WA�WIXI XI�WI:WI2WI*WQ�VQUQUU�����l@�ReB*** querying acoustic contact ***�Pa�PazLy�Ly�Ly�L}��@�A��]�B� B��A�q">*B��P9�A��A�h�7�A����A�"C�2��*C�RC�C��C�I��G5�=�m�)Fj,N��E�A�|i|Y}6�j�@�}6ux�@y}6�Y��}6����}6H�����NJ�?���`���?����I��?����F�������1�?�������?����<�?�����t�����@z��?)~6�j�@ ~6vI_;I~6��Cɫ9�9)�9 �=����I�9Y����@y��rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-�X�M-G=Y�50V;QU5�>��9��9�a=�G��9��Ay�E��;}M�>I�Q��U�T5�?��U]��� �U �?��e�?9�UyB��U�: �UG�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L�` �@�A�͊�B� B��A�:>*B��L9�A��A���7�A�ᶺ�A�"C�5��*C�RC�C��C�I��G��=��� � ����� ������ ������ Y�� � �>:Y� [1y� ݏ:�� E 6�9� @܁9܁I܁i܁�܁�܁�܁�܅e�; ݅�E�Sm0Fj,����E�AY}B�x�@�}BP��@y}BST��}B�� ��}BH������c�?����C��?����2��?���������� J�?�����Q�?�����}�?����\���������?)~B�x�@ ~BS_;I~B��CɫY�Y)�Y �]����I�YY����@y��SrG�xDUSBL response received:!U1,P CCF,000,00774,189,80,80,AA,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 ����<M�C=Y���_;QU��>�����a�G����y���;}�>I�)��]�:��-T5�?��]�:��-,��� �-��?��e�?9�-�B��-�< �- �<)�-�:�W��W�X� X��W�:W�2W�*W��V�U�U������ @zL�L�L�L\4�@�A�jp�B� B��A��>*B�L9�A��A��7�A�h���A�"C�4��*C�RC�C��C�I��GM>Iޅ AA)ށ �l�6Fj,����E�AY}2���@�}2���@y}2�:K��}2ޛ��}2H�����n|�?���� ��?����xو?����������@Fd�?����p�?����d�?����������@���?)~2���@ ~2��^;I~2��Cɫ9�A)�A �M����I�IY����@y��/rG��a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=i�%=�����C�l��?> ףp=ҿ/�$��?��;_>��둾 ��=)�I�y��������������Mb���~j�t�x?�������������; �� A)�EAI�1Ai��A�����A��ut�=��u+>��ut�=i�u��@��q �q)�uO�@I�u�@i�q�����M�0=Y�ۘ;QU��>�����a��G����y�el;}��>I� �� �Q5�?�� ���� � ��?���?9� �B�� ¿: � ��:)� �W��W�X� X��W�:W�2W�*W��V�U�U�����@zL��=�L��=�L�˖@�L�3f@�A5���B9 B9�AE�>*BEM9�AA�AE^�7�AM����AI"CM3��*CQRCQCQ�CyI��G�i>��� � ����� ������ ������ !�� � �G:Y� 0Y1y� ��:�� F6���<Fj,����E�A�|�|4<Y}>.��@�}>鞥@y}>��G��}>;���}>H���� ���?����!��?����T��?����ؗ����`�y�?����ۮ?�������?����s���������?)~>.��@ ~>��^;I~>��CɫY�Y)�Y �]����I�aY����@y���qG�xDUSBL response received:!U1,R,C77,000,00783,18A,80,80,9D,FF �Fpublishing direction and range info����-J?���ɰ��>鰥��> ��)���CI��y��B����7E�I��?<;8�ֹ�?��������ٱ�)���= ���=���\ѼM��=Y���(;QU�?�����a��G����y�ʂ;}�?I������:���7P5�?����:���n��� ����?����?9���B���e�; ����;)���:�W1�W9X9 X9�W9:W92W9*WA�VAUAUE����h�@�Pq*QuB�Zu�2���jK@�#20��K@���������Zu�7E�I��?<;8�ֹ�?��������2Qu�-J?:Qq�Zu��<]ʓ}R@��)�a8�|����?�Zu��:H��c�?ǝJ� Կ��ZA�)�?BQu&߾@ Qu��Qu�B�Puͨ9?�PuĨ9?�Pu2���Qu?���QuA�@"Qu��@zL��L��L��L��Lf@�A�h�B� B�A�>*BlN9�A�A��7�A����A"C2��*CRCC�CI�1GM>�19�1I�5�nGi�5��@��5"=��1��1��5��; �5'�E���CFj,a�E�AY}Z���@�}Zb��@y}ZH{E��}Z���}ZH����`q��?���@��?����xh�?����������}��?����x$�?���`���?��� '�����@b��?)~Z���@ ~Z7@^;I~Z��Cɫ�髱)�� ������I��Y����@y���qG�=DNmea in: $SNTTA,,,,,165707.60*5A �� 0>���>���P�i� �@�� �)��@I�i���%�G;M%8=Y�%��:QU-�>��)��)�a5�G��1��1y�=�Z;}=�>I�A��E1N5�?��E��� �EL�?��M�?9�E�B��E��: �E��:)�A�m�qAdded new target pos. range: 77.880005 m, bearing: 341.754416 deg, deltaT: 4.455779 s, approachRate: 0.201985 m/s, LOS rate: 1.375567 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����RxS@U���� G�?zL��L��L��L��ff@�A���B� B��A�� >*B��L9�A��A���7�A�ú�A�"C�5��*C�RC�C��C�I�qG� >�ޅ �=iޅ �=��� � ����� ��� ��� *�� � �?:Y� y� �� =6���IFj,�6)�E�AY}2���@�}2Gƥ@y}2��@��}2NY ��}2H��������?�������?���@lF�?��� ̆�����[��?���`_I�?������?���`kE������B��?)~2���@ ~2�8^;I~2��CɫI�I)�I �M����I�IY�}��@y�}rG���i���=��c�;M]=Y�WK;QU�>��!��!�a%�G��!��)y�-<}-�>I�1��=�:��5jL5�?��=�:��5���� �5��?��E�?9�5�B��5�: �5A�:)�5�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��f@�A=��!�B9 BA�AE:>*BE�M9�AA�AE6�7�AEƺ�AA"Cm4��*CqRCqCq�CqI��G��=�)9�-x�CI�-HnGi�-��@��-=��)��-�D��-��; �-=�E)ݽ�w�CIݽ�w�Ciݹ��ݽ�"=�ݽ�"=�ݽ� �5��PFj,C�E�A�|i|Y}N�ӭ@�}NN�@y}N�l;��}N���}NH�����8�?��� 8��?����J��?���@{����`���?����cǬ?��� {k�?����o���������?)~N�ӭ@ ~N^;I~N��Cɫ�髙)�� ������I��Y����@y���qG��UnA��UnA�����M�C=Y�5L;QU��>�����a��G����y���<}��>Iȱ�ŵeJ5�?�ŵ]��� Ƶ�?����?9Ƶ B�ǵ�: ȵӻ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zLI�LI�LI�LM��f@�A]��$�Ba Ba�Ae�>*Be�K9�A��A���7�A��ɺ�A�"C�3��*C�RC�C��C�I��G )>��� � ����� ��� ��� ��� � Z:Y� y� �� �6)� ��;�9� ��u�VFj,��\�E�AY}F�@�}F���@y}F�4��}F\K��}FH�����=�?���`tv�?����㣈?����'n����@;(�?������?�����?����Ã���������?)~F�@ ~F�.^;I~F��Cɫ�髁)�� ������I��Y�=L�@y�=�qG��U��(\����?j�t�Ŀ����MbP���U�G>��U� � �U��)�QI�Qy�U�����Mbp?X9��v���y�&1��?��U�;��U�}���U`�< �U1A)�UdAI�U�Ai�U A��Q��U�A����B>����ҽ���ף<i���@��� ���@)���@I���@i���@��]��M5=Y� �l;QU �>�����a�G����y�i<}�>I�!��-�:��%bH5�?��-�:��%"��� �%��?��5�?9�%)B��%E�: �%,�:)�% �:�WQ�WQXQ XY�WY:WY2WY*WY�VYUaUe���`�W�?zL���=�L���=�L��ۘ@�L��@j@�A�\�'�B� B��A���=*B�jK9�A��A���7�A��̺�A�"C�2��*C�RC�C��C�I��G�$>i���mGI��i����0,�ٺ!��% "AIޅ @A)ޅ AA��]Fj,��v�E�AY}2Z�@�}2#�@y}2Z�,��}2����}2H�����?~�?��� Ee�?����s��?����^������g�?�����L�?���`��?����nԣ���� ���?)~2Z�@ ~2U^;I~2��Cɫ9�9)�9 �=����I�AY�}^�@y�}�qGI��)�����p=i��= � � ����;Mo=Y�% �;QU%?��!��!�a-�G��)��)y�5U<}5?Iș�ŝ�F5�?�ŝ���� ƝC�?����?9Ɲ?B�ǝr�: ȝ¿:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����>�@zL��L��L��L���j@�A *�B B�A�>*BM9�A�A �7�A�Ϻ�A"C%5��*C!RC!C!�C)I�AG]�=��V�>9��I���mGi��[�@���=�����������; ��?�E��� � ����� ������ ������ ��� � AB:Y� �X1y� /�:�� �6)� �;���cFj,j���E�A�|�|�;Y}2�6�@�}2�D�@y}2��$��}2�t%��}2H����@��?����UU�?�������?����8O�������?�����ͫ?���@T��?����騤��������?)~2�6�@ ~2#^;I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�]�qG)���= ���=���y=���>��㥽i��@�� �^�@)��@I�9�@i��@��%��<M%J=Y�-��;QU-�>��)��)�a-�G��1��1y�=%<}=�>I�A��EE5�?��Ek��� �E��?��M�?9�EXB��E�: �E��:)�A�Wi�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU}�����#@zL��L��L��L�|�j@�A�H,�B B!�A%� >*B%�L9�A!�A%X�7�A% Ӻ�A!"CM4��*CQRCQCQ�CQI��G��=��!jFj,V~��E�AY}2GW�@�}2e�@y}2B)��}2�$��}2H�����#��?�����E�?���`O�?���@�@����@[��?���@�ܪ?���`�?��� �������`p��?)~2GW�@ ~2U^;I~2��Cɫ9�9)�9 �=����I�AY����@y���pG������?A����|�M�O=Y��ש;QU��>�������a��G������y��x$<}��>I�����:���SC5�?���:������ ��Y�?�� �?9��pB���(�: ���:)�� �:�W)�W)X1 X1�W1:W12W1*W9�V9U9U=���`N@�RMB*** querying acoustic contact ***�PI�PIzLY�LY�LY�L]b=k@�Au�Y.�"Bu�h:Bq By�A}��=*B}XJ9�Ay�A}��7�A}@ֺ�Ay"C�3��*C�RC�C��C�I��G��=�ޅ �=iޅ p=��� � ����� ������ ������ ��� � �>:Y� [1y� ݏ:�� �6�9� @�� 9�� y�CI�� �mGi�� �@��� =��� ��� ��� ��; �� =�E�� qFj,�Z��E�Aɫ�髙)�� ������I��Y����@y��qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=�=i�=�=����;M�>=Y�����QU��>�������a��G����� y�=���}E�>Iȉ�ōPA5�?�ō���� ƍ!�?����?9ƍ�B�Ǎӻ: ȍ#�:)ȉ�W��W�X� X��W�:W�2W�*W��VAUIUM��� h @zL��L��L��L��A�i0�B� B��A���=*B��H9�A��A���7�A�Fں�A�"C�2��*C�RC�C��C�I�QGm5>��7wFj,tE��E�AY}e���@�}e���@y}eI6��}e�|��}eH���� �J�?����(/�?����ұ�?���@�*������7�?����뵨?��� ��?������������x��?)~e���@ ~e�^;I~e��CɫI�I)�Q �U����I�QY����@y��"qG�xDUSBL response received:!U1,P C77,000,00783,18A,80,80,9D,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 ��M��� �rh�?����Mbпk�t��?��MC=��M�� �M 0=)�II�Iy�M�:��v���?�p= ף���I+��?��M�T<��M����M94< �MKA)�M~AI�M Ai�M�A��I��M=A��i��i����>���j<=����}�i��̤@��� ���@)���@I���@i���@����;M�=Y��9�;QU��>�����a�G����y�-7<}%�>I�y����:��}?5�?����:��}'��� �}�?����?9�}�B��}�; �}J�;)�}�:�WQ�WQXQ XQ�WY:WY2Wa*W��V�U�U����@�o@zL���=�L���=�L���@�L�l�t@�A �(2�B B �A �=*B `H9�A �A $�7�A ��A "C 5��*CA RCA CA �CA I�Y G� �>��� � ����� ��� ��� ��� � B:Y� y� �� M6��a}Fj,� ��E�Aɫ�髱)�� ��I��Y��#�@y��PqG��ɮ�R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����<M��=Y����QU�,?�����a��G����y����}�-?Iȩ�ŭ�=5�?�ŭ���� ƭ��?����?9ƭ�B�ǭY�: ȭ �:)ȩ�WQ�WQXY XY�WY:WY2WY*WY�VaUaUe�����'@zL��L��L��L��A���3�B� B��A�Y�=*B�LP9�A��A�W�7�A����A�"C�4��*C�RC�C��C�I�!G=>�i9�iI�m�lGi�mg�@��m=��mQD��i��m��; �m[�EI�} AA)�y ��H�Fj,8��E�AY}6ͽ�@�}6�˦@y}6O, ��}6(���}6H�����ߩ�?����m�?�������?��� L��������?���@tӧ?����$�?���@�S������'��?)~6ͽ�@ ~6�%^;I~6��Cɫ1�1)�1 �=����I�9Y�u��@y�uqG}xDUSBL response received:!U1,R,BEA,000,0077E,189,80,80,95,FF �Fpublishing direction and range info��}��i?��yɰ}>�}7�> �y)�}�CI�yy�}(�B��}��$���?�]��Q�?��������ٱyI��)����5=i�5�=�ý7 >�ý��>�ý7�=iý�@�ù Ľ�@)Ľ�@IĽ�@iĽ�@��� j�M�G=Y��ۈ;QU��>�������a��G������y��҂<}��>I������:���6<5�?����:������� ��;�?����?9���B���k�: ��V�:)���:�W�WX X�W:W2W*W!�V!U!U%����@�Pq*Qu(�B�Zu���N6��G@��8 �N@���������Zu��$���?�]��Q�?��������2Qu��i?:Qq�Zu�U�z&S@�����(�|U�Vz��Zu�I��Х��?��K>Ŀ����>��BQu���@ QuOD�Qu3�B�PuԨ9?�Puͨ9?�Pu���Qu2���Quy�@"QuA�@zL��L��L��L��Wu@�A�3�4�B� B��A�P�=*B�jJ9�A��A���7�A�x��A�"C�3��*C�RC�C��C�I�iG�8>��� 1 ����� ������ ������ ��� � �7:Y� �V1y� �:�� �6��o�Fj,m�+�E�AY}:�ٮ@�}:��@y}:}7��}:-m��}:H�����W��?��� ��?������?�������� ��?�������?���@/��?����ʢ�����%��?)~:�ٮ@ ~:nH^;I~:��Cɫ9�A)�A �AI�AY�}��@y�}qG�mDNmea in: $SNTTA,,,,,165712.08*50 ������M�I=Y���;QU��>�������a��G������y��� <}��>I���{:5�?������ ���?�� �?9��B��Q�: �H�:)��m=uAdded new target pos. range: 77.580002 m, bearing: 350.900122 deg, deltaT: 4.444592 s, approachRate: -0.067498 m/s, LOS rate: 2.057715 deg/s, posRepo size: 4�WA�WAXA XA�WA:WA2WI*WI�VIUU����eS@UU��� U��?zLi�Li�Li�LmV�u@�A���5�B� B��A���=*B�iJ9�A��A���7�A����A�"C�2��*C�RC�C��C�9�9I�QGuX>�i 9�i I�m TlGi�m �@��m =��i ��i ��m ��; �m l�E��W�Fj,s�E�E�AY}2���@�}2��@y}2�����}2Y���}2H���� G�?�������?����� �?���������� ���?����YG�?�������?����?.������A��?)~2���@ ~2,1^;I~2��CɫY�Y)�Y �]����I�YY��|�@y���pG���½��xi=���ʽi��� �)�I�i���5���M5F=Y�5O;QU5�>��9��9�a=�G��9��Ay�E<}E�>I�I��U�:��M�85�?��U�:��M���� �M��?��]�?9�MB��M4�: �M�:)�M �:�Wy�WyXy X��W�:W�2W�*W��V�U�U�������?zL��L��L��L��u@�A��e6�B� B��A���=*B��H9�A��A��7�A����A�"C�5��*C�RC�C��C�9�%�:I�1GM1>�ޅ =iޅ a=��� ������ ������ ������ ��� � P0:Y� xZ1y� q�:�� ;6��Fj,��_�E�AY}u*�@�}u��@y}u��}uy��}uH���� �<�?����V��?����,�?��� �������,*�?���@ Ϧ?����\x�?�����~������n��?)~u*�@ ~u�G^;I~u��CɫI�I)�I �M����I�QY��E�@y��>pGI��)������L7�A`�?���K7ɿ+�����?���+=����I� ����=)��I��y����~j�t��?333333��y�&1��?�����<���������`�< �A)dAIfAi~A�������A����M�B=Y�c;QU��>�����a��G����y���;}��>I������65�?������� ��a�?����?9��6B���n�: ���:)���W��W�X� X��W�:W�2W�*W��VUU����6��?zL%*�=�L%*�=�L%���@�L%8}@�A5Ï6�B1 B9�A=ͼ=*B=�G9�A9�A�D�7�A�6��A�"C�4��*C�RC�C��C�9Խf�:I��G�F>�}��Fj,Zy�E�AY}B�(�@�}B`6�@y}B��鼙}B�3��}BH������e�?���@���?���@��?����������@�S�?���@6M�?���`�8�?����3����������?)~B�(�@ ~B�*^;I~@ɫY�Y)�Y �]����I�YY����@y���pG��U��<MUc=Y�]^;QU]�>��Y��a�ae�G��a��ay�m�<}m�>I�q��u<55�?��u ��� �u��?��}�?9�uRB��u4�: �u@�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`3r�?zL��L��L��L��K}@�A�z6�B� B��A���=*B��I9�A��A�z�7�A�]��A�"C�3��*C�RC�C��C�i�nAI�nA�9�I��kGi�Ŀ@��=��������; �h�E)ݥ�y�CIݥ�y�Ciݡ��ݥ�=�ݥ�=�ݥ��069�5R�:I�AGe>��� � ����� ������ ������ V�� � �>:Y� d\1y� ��:�� �6)� ҙ;�9� ��?��Fj,�0��E�AY}:g?�@�}:"M�@y}:[0弙}:U���}:H����`���?�������?���@�]�?���`������`|�?���`L�?������?�����<��������?)~:g?�@ ~:;^;I~8ɫ9�9)�9 �=����I�AY�}��@y�}VoG��u�P���uC=��u94=i�u��@��q �uƣ@)�u��@I�uƣ@i�uƣ@��G��M�G=Y�[�:QU��>�����a��G����y���;}��>Iȡ����:�ťh35�?����:�ťn��� ƥ|�?����?9ƥsB�ǥ,�: ȥ��:)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U�����c�@zL�L�L�LG|}@�A�G6�B B�A��=*B�D9�A�A��7�A%����A!"C%2��*C)RC)C)�C19� �h:I�G5>Iޅ @A)ޅ @A��)��)i���lGI��i������>�ٺ����t3A�<��Fj,R��E�AY}6�U�@�}6=c�@y}6��༙}6p���}6H���� (��?�������?���@��?�����������X��?����g�?����,��?��� �ڢ�����`��?)~6�U�@ ~6o(^;I~6��CɫY�Y)�Y �]����I�YY����@y���oGI��)������=i��%=��5�=M=O=Y�=��:QU=�>��A��A�aE�G��A��Ay�M��;}M�>Iȱ�ŵ�15�?�ŵ���� Ƶ�?����?9Ƶ�B�ǵ��: ȵ+�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����`�@@zL �L �L �L [�}@�A%�5�B! B!�A%��=*B%�F9�A)�A-��7�A-���A)"C55��*C1RC1C9�C9i�E��I�E����I��II��G�h>�� �� � 9� z�CI� (kGi� "�@�� =�� �� �� ��; � l�E��� � ����� ������ ������ i�� � �G:Y� �W1y� č:�� �6)� ��;�ǥ�Fj,���E�AY}6�n�@�}6d|�@y}6Y4ټ�}62���}6H����`���?���`1��?��� �J�?��� a�����`��?���@z�?�����%�?����V����� ���?)~6�n�@ ~6�@^;I~6��Cɫ�髁)�� ������I��Y��:�@y��1pG�������ý�=�ý94<�ý��<iýz�@�ù Ľ�@)Ľ�@IĹiĹ���!�<M�A=Y����;QU��>�������a��G������y����;}��>I������:����/5�?����:������ ����?����?9���B���;�: ��G�:)���:�W�WX X�W:W!2W!*W!�V!U)U-������@�R5B*** querying acoustic contact ***�P1�P1zLI�LI�LI�LMY�}@�Ae�<5�Ba Ba�Ae�=*Be�G9�Ai�Am�7�Am���Ai"Cu4��*CqRCqCy�CyI��G��=�ӷFj,|���E�AY}v���@�}v���@y}v�м�}v�8��}vH�����^ �?���`���?����4 �?����j��������?���@�N�?����J�?����������D��?)~v���@ ~v^;I~v��Cɫ�髱)�� ������I��Y����@y��qoG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 758****** ping requested ******������������㥛� ���Zd;�O��?������������ ��j�<)��I��y������Q���<�O��n��<�O��n�?����u����t�����t�< ���A)��~AI��i�� A�������A���.=�M�G=Y�B(;QU�>�����a��G������y��) <}��>I�����6-5�?������� ����?���?9���B���<�; ��E�;)���Wa�WaXa Xi�Wi:Wi2Wi*Wi�ViUqUu��� @zL��=�L��=�L�K9�@�L���\@�A�V�4�B� B��A�%�=*B��D9�A��A�4�7�A�}���A�"C�3��*C�RC�C��CI�1Gm6>��} �=i�} p=��� � ����� ��� ��� �� � 5E:Y� y� �� �6�9� @�y��Fj,���E�AY}է�@�}���@y}��Ǽ�}1���}H������!�?���`L��?������?���������`�?���@��?������?�����N������Q��?)~է�@ ~Z@^;I~ɫ��)� �����I�Y�5A�@y�=�nGExDUSBL response received:!U1,P BEA,000,0077E,189,80,80,95,FF ECommand AckEBRequesting micromodem ping code 2i�A��AI�I)�I�U�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����M�P=Y��Z.;QU��>�������a��G������y� �<}�>I�)��U�:��-+5�?��]�:��-��� �-��?��e�?9�-�Bܱ9ܱIܵ�jGiܵѾ@�ܵ=�ܱ�ܱ�ܵ��; ݵ_�E��-T�< �-=�<)�-�:�W��W�X� X��W�:W�2W�*W��V�U�U�����^q @zLQ�LQ�LQ�LU1]@�A��G3�B� B��A��x=*B��C9�A��A�Z�7�A�P��A�"C�2��*C�RC�C��C�I�GMR>�)��Fj,�{�E�A�|i|ɫy�y)�y �}����I�yY��r�@y��:oG鮥p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��m@��m@��m@��m©�m���m�i�i��m���� �m���)�m��@I�m���i�m�@��}�q<M}M=Y����QU��>�����a��G����y����} �>I����(5�?������ ���?��%�?9�B���: ���:)��WA�WAXA XI�WI:WI2WI*WQ�VQUQUU����1$@zL��L��L��L��A���1�B� B��A� �=*B��E9�A��A�~�7�A����A�"C�5��*C�RC�C��C�I�GU>��� � ����� ������ ������ ]�� � l@:Y� d\1y� ��:�� � 6�.�Fj,?V.�E�AY}6�߯@�}6f��@y}6�����}6] ��}6H������Q�?��� 8��?����#��?���`�������I�?���`+�?����p1�?����M����������?)~6�߯@ ~6��^;I~4ɫ9�9)�9 �=����I�9Y�}}�@y�}HoG�xDUSBL response received:!U1,R,3FE,000,00787,189,80,80,73,FF �Fpublishing direction and range info���&Qd����ɰ��>鰁 ��)����BI��y��=�B�����/F�?7�%^����������ٱ���<c;MQ=Y�0�;QU�>��!��!�a%�G��!��)y�-��<}-�>I�Q��Ur&5�?��U��� �U��?��e�?9�U+B��U#�: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����ְ@�P�*Q�=�B�Z��hB�{:�H@-@w��eN����������Z���/F�?7�%^����������2Q�&Qd�:Q��Z���6>]B;��U�HR��>���@�Z���2� Uֿ����b������צ?BQ��`�@ Q�@��Q����P���9?�P�Ԩ9?�P�����Q����Q�A"Q�y�@zL)�L)�L)�L- �]@�A]�/�Ba Ba�AeЊ=*BeE9�Aa�Ae��7�Aev��Ai"Cu4��*CqRCqCq�CyI��G��=�٩ �٩ ܵ U�>9ܱ Iܵ �iGiܵ .�@�ܱ �ܱ �ܱ �ܵ �; ݵ y�EIށ )ށ ����Fj,�9H�E�AY}f(�@�}f���@y}f�谼�}fj���}fH������a�?��� �z�?����p�?��� �z������Y�?����,��?������?����/������@���?)~f(�@ ~f{�^;I~f��Cɫ� )� � ����I� Y�5X�@y�5oG��DNmea in: $SNTTA,,,,,165716.51*58 I��)���A����������������=����y����t��i�� �@������ ��K�@)��I����@i��ƣ@��D*�M <=Y� ;QU �>�����a�G����y��;}�>I�!��-�:��%�#5�?��-�:��%���� �%�?��5�?9�%KB��%��: �%��:)�%�:�meyAdded new target pos. range: 78.119995 m, bearing: 249.556206 deg, deltaT: 4.424633 s, approachRate: 0.122042 m/s, LOS rate: -22.904479 deg/s, posRepo size: 4�Wa�W�X� X��W�:W�2W�*W��V�U�������S@U����`O�?zL)�L)�L)�L-��]@�Ae�-�Ba Ba�Am��=*BmD9�Ai�Am��7�AmE��Ai"Cu3��*CqRCyCy�CyI��G�%>�� � ���� ����� ����� X�� � 9Y:Y� �Y1y� �:�� * 6�#�Fj,� b�E�A�| �| Y}>I��@�}> �@y}>�����}>����}>H������j�?����xu�?����6��?�����u�����1c�?�����ݢ?�����ה?�����W������t��?)~>I��@ ~>�^;I~>��CɫQ�Q)�Q �U����I�QY���@y���nG����/�$���#��~j���X9��v�����������㥽 �����)��I��y���:��v����Zd;�O�������Mb�?����T����j�����< µ�A)±Iµ1Ai±������3A)���= �����᰼M�M=Y��dL;QU��>�������a��G������y���K;}��>I�����!5�?���q��� ����?����?9��qB�����: ����:)���W�WX X!�W!:W!2W!*W)�V)U)U-�����3�?zLM��=�LM��=�LM�M�@�LM�^b@�A]�<+�Ba Ba�Ae�_=*Be�C9�Ai�Am��7�Am���Ai"Cu2��*CqRCqCq�CyI��G��=�!H�Fj,��{�E�AY}6��@�}6D�@y}6�9���}6����}6H������r�?�����p�?���`'v�?����>q���� l�?������?�����f�?����{Q������H��?)~6��@ ~6^�^;I~6��CɫI�I)�Q �QI�QY�]��@y�] nG����1�M�Z=Y���u;QU��>�����a�G���� y� @E;} �>I����:��`5�?���:��3��� � �?��%�?9��B����: �=�:)��:�WI�WIXI XI�WI:WI2WQ*WQ�VQUQU]����)�?zLq�Lq�Lq�Luub@�A�ao(�B� B��A�G=*B��A9�A��A��7�A�T ��A�"C�5��*C�RC�C��C�I�9�Y9�YI�]�iGi�]ݽ@��]=��Y��Y��]!�; �]��EGu�=�ށ iޅ =��� � ����� ������ ������ ��� � B:Y� ]1y� �:�� �6)� ڜ;�9� ��0�Fj,Y�E�AY}6��@�}6O �@y}6���}6� ��}6H�����~�?����Ij�?����g�?����j����@!x�?���`T��?�����?���@�P��������?)~6��@ ~6�y^;I~6��Cɫ9�9)�9 �=����I�9Y��3�@y���mG���=i��=I�)��A��u�����u��<��u94=i�u��@��q �u��@)�qI�qi�u��@���ҼM�B=Y�nS;QU��>�����a��G����y�w;}��>Iȡ�ťV5�?�ť ��� ƥ��?����?9ƥ�B�ǥ��: ȥz�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�����L��?zL�L�L�L�b@�A��`%�B� B��A���<*B��?9�A��A��7�A���A�"C�4��*C�RC�C��C�I��G�>�Z�Fj,���E�A�|i|Y}>�%�@�}>�3�@y}>Y懼�}>Z��}>H����`���?����M`�?��� }R�?�����`�������?������?�������?�����������Z��?)~>�%�@ ~>`u^;I~>��CɫY�Y)�Y �]����I�YY����@y��%nG��U��<M]M=Y�]F$;QU]�>��a��a�ae�G��a��ay�m��;}m�>I�q��}�:��uz5�?����:��u���� �uD�?����?9�u�B��uA�: �u �:)�u�:�W��W�X� X��W�:W�2W�*W��V�U�U���� {�@zL��L��L��L���b@�A��""�B� B��A� =*B�yA9�A��A�3�7�A�� ��A�"C�3��*C�RC�C��CI�G5�=�Q 9�Q I�U 3iGi�U ��@��Q ��Q ��Q ��U %�; �U ��E)��z�CI��z�Ci�鈉��=���=����\5��� r ����� ������ ������ ��� � �<:Y� 0Y1y� ��:�� �6)� q�;��E�Fj,���E�AY}�@�@�}�N�@y}�m���}� ��}H����`���?���`R�?����ە?���`�R����@۟�?������?�����-�?��� '���������?)~�@�@ ~�Q^;I~��Cɫ���)�� ������I��Y�e$�@y�m�mG��%��<��%C=��%�νi�%�@��! �%ƣ@)�!I�!i�!��5��M5==Y�5�:QU5�>��9��9�a=�G��9��Ay�Mm�;}M�>I�Q��U_5�?��U���� �U��?��]�?9�UB��Uw�: �U��:)�Q�Wy�WyX� X��W�:W�2W�*W��V�U�U�����~�@zL��L��L��L�K�b@�A���BA BA�AE��<*BE�?9�AA�AEF�7�AM4��AI"CM2��*CQRCQCQ�CQI��G�$>Iށ )ޅ AA�%l�Fj,�S��E�AY}6sc�@�}6.q�@y}6squ��}6���}6H���� U��?���`\?�?�����B�?��� �@��������?���`�u�?��� 㭎?�����������w��?)~6sc�@ ~6�R^;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}|mG������AA���a=i��a=��� ףp= ���rh��|�����Q��?��Q8������ ���<)�I�y��{�G�zt���ʡE�������Mb�?��ף���������< ��A)�I�fAi��A������=z�M=\=Y�Eo;QUE�>��A��A�aE�G��I��Iy�M�:<}U�>I�Y��e�:��]?5�?��e�:��]~��� �]��?��e�?9�](B��]{�: �]�:)�]�:�W��W�X� X��W�:W�2W *W�VUU���`O�@�R%B*** querying acoustic contact ***�P!�P!zL]c�=�L]c�=�L]���@�L]��g@�A��7�B� B��A�>�<*B�j?9i���mGI��A��AV�7�A��i�)��U�+�ٺQ��]�!A�A"C�5��*C�RC�C��C�I��G���� ����� ������ ������ M�� � �H:Y� �Y1y� �:�� �6�9� @�\��Fj, /��E�A�|4<�|Y}6�@�}6���@y}6s`j��}6� ��}6H�����,��?����N.�?�����F�?����~0���� n��?���`Qà?�����K�?���@�����������?)~6�@ ~6_/^;I~6��Cɫ9�9)�9 �=����I�9Y���@y���mG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-;�;M-K=Y�58�:QU5�>��9��9�a=�G��9��Ay�Eg<}E�>I�I��M�5�?��MN��� �M��?��]�?9�MHB��M�; �M��:)�I�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L��/h@�A����B� B��A���<*B��?9�A��A�h�7�A���A�"C�4��*C�RC�C��C���9��I��lhGi���@�������������; ���EI��G>��~Gj,��E�AY}:���@�}:_��@y}:�^��}:U�!��}:H��������?���� �?�����ښ?���`u"�����,��?����G��?����h?���`Y.���������?)~:���@ ~:�8^;I~:��Cɫ9�9)�9 �=����I�9Y�}k�@y�}�lG�xDUSBL response received:!U1,P 3FE,000,00787,189,80,80,73,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 ��m1>��m�'=��m�M�i�m��@��i �m��@)�m��@I�ii�i��3�M�(=Y���:QU��>�����a��G����y��;}��>I������:���+5�?����:���L��� ����?����?9��nB�����: ����:)���:�W9�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm����~� @zL��L��L��L��gh@�A���B� B��A��M;*B��<9�A��A�o�7�A����A�"C�3��*C�RCC!�C!I�qG�e>�ޅ �=iޅ �=��� � ����� ������ ������ ��� � .Z:Y� xZ1y� q�:�� �6�>�Gj,��0�E�AY}6��@�}6�Ũ@y}6L�P��}6˸��}6H���� L�?����8�?����wǙ?����������3�?��� ܣ�?��� ;�?�����U������}��?)~6��@ ~6^;I~6��CɫI�I)�I �M����I�IY�}~�@y�}�lG鮁ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i���=��=��;M=}=Y�=v-;QU= ?��A��A�aE�G��A��Iy�M:#<}M ?I�Q��U[5�?��U���� �U��?��e�?9�U�B��U��: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������@zLI�LI�LI�LM��h@�Am���Bi B��A���;*B�~=9�A��A�w�7�A����A�"C�2��*C�RC�C��C�I�1GU>��9��I���gGi��F�@������������%�; ����E��Gj,�J�E�AY}N�˰@�}N�٨@y}N��B��}N$��}NH���� �?��� ��?����[[�?��� � �������?���@�˝?��� S�?���`�A������6��?)~N�˰@ ~N�0^;I~N��Cɫa�a)�i �m����I�iY���@y��lG�xDUSBL response received:!U1,R,28E,000,0078F,189,80,80,67,FF �Fpublishing direction and range info��������ɰ��>�� ��)����BI��y��3�B����?�t���?`��I���������ٱ�������mA��="�=��=�B>��= ��i�=Q�@��9 �=z�@)�=z�@I�=z�@i�=z�@��M�=�MUH=Y�U�;QUU�>��Y��Y�a]�G��Y��ay�e��;}e�>I�i��m 5�?��m���� �m��?��}�?9�m�B��m��: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������@�P�*Q�3�B�Z���v�"�P@(���?;E����������Z��?�t���?`��I���������2Q���:Q��Z�������w�՟$�S�~�o�e@�Z����'��@z��a@"S�y�L���?BQ�]��@ Q�!��Q�����P��9?�P���9?�P�����Q�����Q��A"Q�AzL�L�L�L��h@�A�Oy�B� B��A����*B��:9�A�Au�7�A_��A"C5��*C!RC!C!�C!I�YG}>�� � ���� ����� ����� I�� � �S:Y� [1y� ݏ:�� �6�'�Gj,~�d�E�AY}v�ݰ@�}vn�@y}v��3��}v, ��}vH�����2+�?�������?����z��?�����������>&�?��� �c�?�����u�?�����������`���?)~v�ݰ@ ~v�^;I~v��Cɫ���)�� ������I��Y�-Y�@y�-�lG��dNmea in: $SNTTA,0.076811,0.486111,,,165720.93*51 ��-�y�&1�����~j�t��{�G�z�?��-`���-��� �-ף<)�)I�)y�-�y�&1��?{�G�z��:��v���?��-`e<��-ף���-�T< �))�-�AI�-�Ai�-A��)��-�A��M/=MU<=Y�U ;QUU�>��Y��Y�a]�G��Y��Yy�e��;}m�>I�i��u�:��m�5�?��}�:��m��� �m��?��}�?9�m�B��m��: �m4�:)�m�:�mMqAdded new target pos. range: 78.599998 m, bearing: 269.632618 deg, deltaT: 4.448342 s, approachRate: 0.107906 m/s, LOS rate: 4.513235 deg/s, posRepo size: 4�WI�WIXI XQ�WQ:WQ2WQ*WQ�VQU]���`f�S@U]����b��?zL�r�=�L�r�=�L�W�@�L�Tx@�A��6�B� B��A�of:*B��<9�A��A�z�7�A����A�"C4��*CRCC�C I�!G]4>I�y )�} @A���Gj,�v~�E�AY}6���@�}6@��@y}6S�,��}6i��}6H���� �8�?���`���?�����1�?�����������3�?����@�?��� p��?�����ˡ����@���?)~6���@ ~6�/^;I~6��CɫY�Y)�Y �]����I�YY��~�@y���kGI��)����5���M=_=Y�=y�:QU=�>��A��A�aE�G��A��Ay�MM�;}M�>I�Q��U�5�?��U>�� �UP�?��]�?9�U�B��Uϸ: �U@�:)�Qܙ9ܙIܝ@gGiܝ��@�ܝ=�ܙ�ܙ�ܝ�; ݝ��E�W9�W9XA XA�WA:WA2WA*WI�VIUIUm����I�?zL��L��L��L� ux@�A����B� B��A����*B�G99�A��A�s�7�A����A�"C�3��*C�RCC�CI�AG�8>��� � ����� ������ ������ `�� � �C:Y� �V1y� �:�� 6)� ;�;�9� ��|�%Gj,aR��E�AY}6��@�}6��@y}6�*��}6���}6H�����}K�?���@|��?���`�]�?�����������BF�?��� ��?��� �@�?����|������7��?)~6��@ ~6�^;I~6��Cɫ9�9)�9 �=����I�9Y���@y��=lG)�%�= �%�=��u\�=��u�'>��u/]�i�u��@��q �u��@)�u��@I�u��@i�u��@��5!=M�F=Y�m�9QU��>�����a��G����y�D�;}��>Iș����:�ŝ�5�?����:�ŝ��� Ɲ)�?����?9ƝB�ǝ��: ȝ��:)ȝ�:�W��W�X� X��W�:W�2W�*W��V�U�U������P�?zL��L��L��L��x@�A�� ��B� B��A����*B�h;9�A��A��A�(��A�"C�2��*C�RC�C��C�I��G5 >��+Gj,8/��E�AY}:G#�@�}:1�@y}:p�*��}:PR��}:H������e�?��� H��?�����]�?�����������7`�?�����ȝ?�����V�?�����(�����@���?)~:G#�@ ~:-^;I~8ɫ9�9)�9 �=����I�9Y�}��@y�}�kG��U�MUM=Y�]P۸QU]�>��Y��a�ae�G��a��ay�m<}m�>I�q��u�5�?��u��� �u��?��}�?9�u-B��uI�: �u�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��x@�A�=[��B� B�A{�*B�99�A�A m�7�A F��A "C5��*CRCC�C!I�YG>ܙ9ܙIܝxfGiܝS�@�ܝ=�ܙ�ܝ�D�ܝ��; ݝl�E��� m ����� ������ ������ ��� � �<:Y� [1y� ݏ:�� +6)� �;���2Gj,} ��E�AY}2�E�@�}2TS�@y}2�C0��}2lo��}2H���� ���?�������?����&~�?���`>�������|�?���@y�?����V�?���@rl��������?)~2�E�@ ~2D^;I~2��Cɫ9�9)�9 �=����I�9Y�}?�@y�}LkG����=i���=I��)����e�>��e�}>��e��=i�e��@��a �e��@)�e��@I�e��@i�e��@��u��MuH=Y�}�Y�QU}�>��y���a��G����y�+(<}��>Iȑ����:�ŕ���5�?����:�ŕ�� ƕ��?����?9ƕNB�Ǖ(�: ȕV�:)ȕ�:�W��W�X� X��W�:W�2W�*W��V�U�U�����O�@zL��L��L��L��%y@�A���B B �A �\�*B g89�A�Aa�7�Al��A"C4��*CRC!C!�C9I��G�=>�o9Gj, ���E�A�|i|Y}6g�@�}6�t�@y}6��4��}6�/��}6H�����r��?����E��?���`*�?���������@���?�����ƞ?�������?��� vd���������?)~6g�@ ~6�^;I~6��CɫQ�Q)�Q �U����I�QY��G�@y��UkG����7�A`���?ףp= �ÿ:��v���?����>����� ����<)��I��y�����������+��������~j�t�?����̼�����������< A)�AIAi�A�������A�¡�¥nA��B;M�G=Y�M,�QUU�>��Q��Q�aU�G��Q��Yy�] <}e�>I�a��e��5�?��e��� �e�?��u�?9�erB��e��: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����U�@zL�3�=�L�3�=�L��ތ@�L��)Z@�A�Ê�B� B��A��M�*B��89�A��A�U�7�A����A�"C�3��*C�RC�C��C�I�G% >��� ^ ����� ����� ����� ��� � Q;:Y� �T1y� ��:�� ��5�9� @��2?Gj,4���E�AY}2�}�@�}2V��@y}2M:��}2>n��}2H�����C��?���@���?�������?���`d������z��?����o�?����@�?����P,��������?)~2�}�@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y����@y��ujG������@A����o�M�X=Y��b�QU��>�������a��G������y��l�;}��>I��������5�?������ ���?�� �?9���B���4�: ��b�:)���W)�W)X) X1�W1�A9�AI�EfGi�E�@��E=��A��A��E��; �EZ�E)��I��i�����=���=���m�5:WY2WY*WY�VYUaUe����u@�RmB*** querying acoustic contact ***�Pi�PizL��L��L��L�XVZ@�A��ۼB� B��A�7�*B�i59�A��A�?�7�A����A�"C�2��*C�RC�C��C�I��G �=��FGj,���E�AY}2���@�}2<��@y}2�}=��}2�j��}2H����`T��?���@!��?����̽�?��� X�����`���?�������?���@���?���`�ˢ��������?)~2���@ ~2^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A���C=i��=��1>���G>��Q��i�f�@�� �E�@)�\�@I�E�@i�E�@��%1&<M%7=Y�-���QU-�>��1��1�a5�G��1��9y�=�C;}=�>I�A��M�:��E���5�?��U�:��E��� �E>�?��U�?9�E�B��E ; �E�;)�E�:�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U����@�� @zL��L��L��L�elZ@�A���ӼB� B��A�f��*B��69�A��A�)�7�A����A"C 5��*C RC C �CI�IGe>��Y��Yi���mGI� i�! ��] �4�ٺY ��e )*A��� V ����� ������ ������ ��� � �::Y� [1y� ݏ:�� "6��DLGj,�u3�E�AY}2>��@�}2���@y}2�@��}2Ѳ��}2H����`��?��� z��?���@�?����z�����@���?����4M�?������?����U����� /��?)~2>��@ ~2�^;I~2��CɫY�Y)�Y �YI�YY����@y���jG�xDUSBL response received:!U1,P 28E,000,0078F,189,80,80,67,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 �� !;M^=Y�%G�QU-�>��9��A�aM�G��I��ay�m��}��>I�1��5��5�?��5�� �5Y�?����?9�5�B��5C< �5TB<)�1�W!�W!X� X��W�:W�2W�*W��V�U�U������� @zL�L�L�L�lZ@�Aq�̼B B�A��*Be�69�Aa�Ae�7�Ae� ��Aa"Cm4��*CiRCqCq�CqI��G�`>�99�9I�=LeGi�=_�@��9��9��9��=��; �=ǓE�c,SGj,fOM�E�Aɫ�髙)�� ��I��Y����@y���jG��a=ɮ��%�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���t�=�����=���(\>i��=�@��� ����@)����@I����@i����@��L�M<=Y����QU �>�� �� �a �G����y����}�>I���%�:��x��5�?��-�:����� �t�?��-�?9��B���: �,�:)��:�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYU]��� �4@zLy�Ly�Ly�Ly�A-J�żB) B1�A5��*B5�59�A1�A5��7�A5�!��A1"C=3��*C9RCACA�CAI�yG�>�ޅ �=iޅ �=��H ����������������� ��9:Y��V1y��:��D6��VYGj,�*g�E�AY}2!��@�}2ܗ�@y}20�S��}2����}2H���� ���?������?�������?���`T������E��?������?����|�?����O�������y��?)~2!��@ ~2.2^;I~2��CɫY�Y)�Y �]����I�YY��K�@y��jG�xDUSBL response received:!U1,R,2BE,000,00791,189,80,80,8F,FF �Fpublishing direction and range info��������ɰ��>鰡 ��)���CI��y��p�B������MH.�?j�nqf���������ٱ�I��)���A��M�����Mbp?D�l�����i��|?5�?��M�;��MO � �M�q=)�II�Iy�M��������?�Q��뱿<�O��n�?��M��<��M\����Mt= �M;A)�II�M;Ai�M5A��I��M(A��m��MuC=Y�uj=�QUu�>��y��y�a}�G��y��y�~:}��>I��������5�?������ ����?����?9�� B���/�: ����:)���W!�W!X! X)�W):W)2W)*W)�V1U1U5����c�@�PA*QEp�B�ZE�;�w�P@e-b}ءF����������ZE���MH.�?j�nqf���������2QE��:QA�ZE����W*�����o,�S��1Pq@�ZE��8D>o���Hv�*���]��y��?BQE��@ QEQ��QE����PE�9?�PE�9?�PE����QE����QE\A"QE�AzLm$�=�Lm$�=�Lm�š@�Lm�I�@�A}�羼B� B��A�e1�*B��49�A��A���7�A��"��A�"C�2��*C�RC�C��C��̭p=�̭�=YϹI��G�g>��@`Gj,^��E�AY}b���@�}bx��@y}bv�b��}b�% ��}bH����@���?����ё�?����<˔?���������@,��?����9��?����SS�?����|C���������?)~b���@ ~b�\^;I~`ɫ���)�� ������I����T�>9��{�CI���dGi�� �@���=�����������; ���EY�-�@y��iG�}DNmea in: $SNTTA,,,,,165725.38*57 ��-��M-O=Y�-��QU5�>��9��9�aE�G��A��Qy�]5 <}e�>I�i��u�:��mw��5�?��u�:��m2 �� �m@�@��u�?9�m5 B��m��: �m�:)�m�:�m�uAdded new target pos. range: 78.720009 m, bearing: 268.560716 deg, deltaT: 4.484722 s, approachRate: 0.026760 m/s, LOS rate: -0.239012 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������S@U���� U��?zL �L �L �L �`�@�A�����B� B�A5@�*B49�A �A ��7�A }#��A "C5��*CRCC�CY�I�)GER>��� ������ ������ ������ ��� �� .:Y�� [1y�� ݏ:��� r6)�� ��;�9��hfGj,&ߚ�E�AY}2�ӱ@�}2j�@y}2"w��}2�K ��}2H���� ���?����8x�?����F��?��� y��������?���@�M�?������?�����������2��?)~2�ӱ@ ~2�>^;I~0ɫY�Y)�Y �]����I�YY���@y���iG��}� ���}�����}�Ƚi�}Q�@��y �}z�@)�}z�@I�}z�@i�}z�@����M�U=Y�V�QU��>�����a��G����y�Dr<}��>Iȩ�ŭ��5�?�ŭs�� ƭ1@����?9ƭQ B�ǭ{�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����@xm�?zL�L�L�Lo��@�A�����B� B��A�O�*B�J39�A��A���7�A�F$��A�"C�4��*C�RC�C��C�YϩI��G�!>Iޅ AA)ޅ AA���lGj,,���E�AY}2A�@�}2��@y}20����}2����}2H�����h*�?���`�U�?�����ҕ?�����V������#�?���`?��?����6��?���@�������`M��?)~2A�@ ~2�E^;I~0ɫ9�9)�9 �=����I�9Y�}߽@y�}�iG��u�o�M}K=Y�}r5�QU��>�����a��G����y�R�<}��>Iȡ����:�ť���5�?����:�ť��� ƥ2@����?9ƥo B�ǥ��: ȥ��:)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��ł@�Adh��B B�Ag�*B�29�A�A��7�A%��A"C%3��*C!RC)C)�C)i�5mAI�5mAY�-�D9I�9Gm>��U�>9��z�CI�� dGi��k�@���=�����������; ���E��%�����%�����%�����%d�� �%�*:Y�%d\1y�%��:��%s6)�%Έ;��zsGj,����E�AY}2�M�@�}2J[�@y}2�$���}2Ⱥ%��}2H�����\�?����a2�?������?�����3������T�?����A�?����gD�?����%�������!��?)~2�M�@ ~2z^;I~2��CɫY�Y)�Y �]����I�YY��t�@y��iG)� �= � �=��U�'=��U�>��U���i�U\�@��Q �U\�@)�U\�@I�U\�@i�U\�@��e��MeL=Y�eqںQUm�>��i��i�am�G��i���y����<}��>I�����+��5�?���+�� ��<@����?9��� B�����: ��ϸ:)���W�W!X! X!�W!:W!2W!*W)�V)U)U-�����J�?zLI�LI�LI�LM��@�AeG���Ba Ba�Aed��*Be_19�Aa�Am\�7�Am�%��Ai"Cu2��*CqRCqCq�CyY�}}?9I��G�?>���yGj,r��E�AY}6��@�}6V��@y}67@���}6T�/��}6H��������?��� ,�?���@^��?��������� �|�?������?����ͧ�?���@��������<��?)~6��@ ~6�*^;I~4ɫ9�9)�9 �=����I�AY����@y��|hG��������Mb�?���(\�¿�����������>���z� �����)��I��y�������Mbp�X9��v����~j�t�h?���������}�����D; ���A)���AI��Ai���A�������A��,�M@=Y� �i�QU �>�����a�G����y��s<}�>I�!��%X��5�?��%��� �%b@��5�?9�%� B��%�: �%j�:)�!�WQ�WQXQ XY�WY:WY2WY*WY�VYUaUe�������?zL��~=�L��~=�L���@�L�lVl@�A��6��B� B��A�ޭ�*B�f/9�A��A�*�7�A��&��A�"C�5��*C�RC�C��C�Y���:9I�G-N>�ޅ =iޅ p=��] ����]�����]�����]��� �]�4:Y�][1y�]ݏ:��]��6�9e@����Gj,MM�E�AY}B4��@�}B離@y}B����}B��/��}BH����@/��?������?���@�V�?��� ^��������?����� �?����[�?��� ��������6��?)~B4��@ ~B�^;I~B��CɫY�Y)�Y �]����I�Yܡ9ܡIܥXcGiܥȸ@�ܥ=�ܡ�ܥ�D�ܥ��; ݥܓEY��Ƽ@y��AhG���=i��=��M�}�MMW=Y�M6�QUM�>��Q��Q�aU�G��Q��Yy�]<}e�>I�a��m�:��e���5�?��m�:��e��� �e�@��u�?9�e� B��e��: �e�:)�e�:�W��W�X� X��W�:W�2W�*W��V�U�U�����u�@zL��L��L��L�L�l@�A�JG��B� B��A�繽*B�7.9�A�A��7�A�'��A"C 4��*C RC C �C��0>��?Y�s89I�G5->����Gj,A(�E�Aɫ�髁)�� ��I��Y��^�@y���gG������AA������mA��%C�>��%�%>��%㥾i�%G�@��! �%E�@)�%&�@I�%��@i�%E�@��5I�M5L=Y����QU��>�����a��G����y����}��>Iȩ�ŭ���5�?�ŭ`�� ƭ�@����?9ƭ� B�ǭo�: ȭD�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����@�D@�R�B*** querying acoustic contact ***�P��P�zL �L �L �L �A�W��B! B!�A%�ӽ*B%-9�A!�A%��7�A%D(��A)"C53��*C1RC1C1�C9I�iG��=��]/ ����]�����]�����]��� �]�7:Y�]�W1y�]č:��]��5����Gj,�6�E�AY}2���@�}2u��@y}2�Ó��}21}��}2H����� ��?�����?����yݑ?��������@��?����嵡?����:x�?���` ����������?)~2���@ ~2 ^;I~2��CɫA�I)�Q �U����I�YY�}�@y�}=gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����ML=Y�%}��QU%�>��!��!�a-�G��)��)y��}��>Iș����:�ŝ ��5�?����:�ŝ�� Ɲ�@����?9Ɲ� B�ǝ��: ȝ��:)ȝ�:�W��W�X� X�W:W2W*W�VUU����ʍ @zLY�LY�LY�L]�~l@�A�M��B� B��A���*B�s+9�A��A�z�7�A�)��A�"C�2��*C�RC�C��C�I��G>�}T�>9�yI�}�bGi�}w�@��}=��y��y��}��; �}�E)��I��i�����=���=���9�5Iޅ @A)ޅ @A�+ʓGj,.�O�E�AY}2D��@�}2���@y}2|���}2����}2H�����l��?����[�?�������?���������`���?�����z�?���`��?���� U��������?)~2D��@ ~2�?^;I~2��Cɫ9�9)�9 �=����I�9Y�u��@y�}�fG�xDUSBL response received:!U1,P 2BE,000,00791,189,80,80,8F,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����p=i��a=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��5V���5�&>��5Y>i�5��@��1 �1)�1I�5&�@i�5@��NT�M�'=Y��X�QU��>�����a��G����y��}�}��>I��������5�?������ ���@����?9�� B�����: ��Y�:)���W�WX X�W:W2W*WA�VAUAUE����)[ @zL��L��L��L�2al@�A�����B� B��A����*B��+9�A��A�/�7�A��)��A�"C�5��*CRCC�C!I��G%o>�� ��������������!�� �V5:Y��[1y�H�:��F6��Gj,�i�E�AY}2��@�}2|��@y}2c�}2;���}2H��������?������?���@Aψ?���������` ��?����E�?�������?����������� `��?)~2��@ ~2�(^;I~2��Cɫ9�9)�A �E����I�AY�]��@y�e�fG�yɮ}R=i��nGI��fpAi�����X�ٺfpA��gKA�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��M�y�&1���`��"�����������?��M`e���M��� �M��<)�II�Iy�M�L7�A`�?�A`��"����~j�t�?��M+=��Mٽ��M��< �M�A)�M�AI�M?Ai�M^A��I��MA��e��Meb=Y�m$��QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ����:�Ņ���5�?����:�Ņ��� ƅv@����?9ƅ; B�Dž��: ȅ��:)ȅ�:�W��W�X� X��W�:W�2W�*W��V�U�U�����j@zL���=�L���=�L�Rt�@�L�X�@�Au���Bq Bq�AuK�*B}�(9�Ay�A}��7�A}�*��Ay"C�4��*C�RC�C��C�I��G�'>��ڠGj,�E�AY}2���@�}2X��@y}2�B���}2����}2H����@���?�����?����]��?���@���������?����bp�?���`Ȓ?���@.Q��������?)~2���@ ~2�B^;I~0ɫ9�9)�A �AI�A�I9�II�M,bGi�MԷ@��M=��I��I��M��; �M�EY��ʻ@y��gG�xDUSBL response received:!U1,R,26F,000,00796,188,80,80,61,FF �Fpublishing direction and range info����-����ɰ�>鰽��> ��)����BI��y�� �B����σ�<�b�?��-������������ٱ���}e�<M}[=Y�}F:QU��>�����a��G����y��Q;}��>I��������5�?������ ��@���?9��f B���l< ���<)���W��W�X� X��W�:W�2W�*W��V�U�U�������@�P*Q �B�Z�C����P@c�DpD����������Z�σ�<�b�?��-������������2Q�-�:Q�Z���{�@�@N`H���S���ι�@�Z�h�-O %�?}����^+>���?BQc1�@ Q���Q�@�P�9?�P�9?�PQ����QA"Q\AzLY�LY�LY�L]�@�A�'T��B� B��A����*B��*9�A��A���7�A�:+��A�"C�3��*C�RC�C��C�i����I��������������I��G��>���������������������O�� ���*:Y��DW1y��Y�:���36)����;�9����Gj,Է��E�AY}=Ҳ@�}=�ߪ@y}=k����}=�_#��}=H����@z��?��� ���?���@�)�?�������������?�����~�?����J��?�����i������#��?)~=Ҳ@ ~=`(^;I~9ɫ�)� �����I�Y�U|�@y�U�fG��TNmea in: $SNTTA,0.082428,,,,165729.82*40 I��)����}\����}-2>��}?5>i�}��@��y �}@)�}E�@I�}E�@i�}\�@��ҭ�M�7=Y��9QU��>�����a��G����y��<}��>I������:���H��5�?����:������ ���@����?9��� B���^�: ����:)�� �:�mqAdded new target pos. range: 79.020004 m, bearing: 274.290862 deg, deltaT: 4.437794 s, approachRate: 0.067600 m/s, LOS rate: 1.291215 deg/s, posRepo size: 4�W �W X X �W :W 2W*W�VU����G�S@U���� /�?zL1�L1�L1�L5�8�@�AM֍�BI BI�AU%�*BUN)9�AQ�AU^�7�AU�+��AQ"C]2��*CYRCaCa�CiI��G�>��.�Gj,�J��E�A�|i|ɫ�髙)�� ��I��Y���@y��+fG��q�M�a=Y����QU��>�����a��G����y����}��>Iȱ�ŵB��5�?�ŵ��� Ƶ=@����?9Ƶ� B�ǵ�: ȵǺ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����Ѫ�?zL �L �L �L �A%����B! B!�A%�*B%�&9�A)�A-�7�A-�,��A)"C55��*C1RC1C1�C9I�YGu�=��=�<��=�<�EU�>9�Ey�CI�E�aGi�E��@��E=��A��A��E��; �E�E���6 �����������������:�� ��!8:Y���Y1y���:���� 6)��O�;�;�Gj,g(��E�AY}N�?�@�}NYM�@y}N�6���}N��$��}NH����@� �?���@٤�?����ذ�?���`�������?����t:�?��� �F�?����Q������@5��?)~N�?�@ ~NV!^;I~N��Cɫy�y)�y �}����I�yY��W�@y��}fG��m�P=��m�#���m�C�i�m�@��i �m&�@)�m&�@I�m&�@i�m&�@��F�<M�H=Y��J;QU��>�����a��G������y��(=}��>I�������5�?������ ���@����?9��� B���k�: ����:)���W�WX X�W:W2W *W �V U U�������?zL)�L)�L)�L-i��@�AE�e��BA BA�AE� �*BE�(9�AI�AM��7�AM2-��AI"CU4��*CQRCQCY�CYI�qG��=��@�Gj,m��E�AY}Fzp�@�}F5~�@y}F~��}Fw���}FH���� �G�?����Ӈ�?�����ޔ?�����������aA�?���`ҡ?���@���?����W�����`U��?)~Fzp�@ ~F�-^;I~F��Cɫi�i)�i �m����I�iY����@y��fG���=i���=�����V-�?�Q���ѿbX9�ȶ?���h>���\�� ��E�=)��I��y���<�O��n��)\���(���������?���t����Ga������< �A)3AI�Ai�A�������A���ܼM�K=Y�Z^;QU��>�����a��G����y��r<}��>I����M�:������5�?��M�:������ ���@��U�?9�� B���ˑ< ����<)��!�:�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��=�L��=�L�@�@�L�,�L@�A����B� B��A���*B��'9�A��A�s�7�A��-��A"C3��*C)RC)C)�C1I�aG�>��] ����]�����]�����]*�� �]a4:Y�]DW1y�]Y�:��]=6�9e@�%0�Gj,���E�A�|*�;�|*4<Y}F���@�}F?��@y}FUta��}F.��}FH���� `�?����u�?����'�?�����v�����IZ�?�������?���`P.�?����_������&��?)~F���@ ~F�^;I~D�l9�nx�CI�n�aGi�n�@��n=��l��l��n�; �n��Eɫq�q)�q �}����I�yY� �@y� �eG���l��M�E=Y����;QU�>��!��!�a%�G��!��)y�-<}5�>I�1��5���5�?��5��� �5A@��e�?9�5%B��5��; �5 �;)�1�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L���L@�A%0o��B) B)�A- �*B-'9�A)�A- �7�A-�.��A1"C52��*CYRCYCY�CaY�Ml09I�aG�Z>��W�Gj,���E�AY}B?��@�}B���@y}B&�C��}B����}BH������h�?��� �n�?��� �'�?����ep�����Ac�?������?����{�?��� m�������]��?)~B?��@ ~B�*^;I~B��CɫQ�Q)�Q �U����I�QY����@y���eG�Í`e<�Í�>�Í��iÍ3�@�É č�@)č�@Ič�@ič�@����M�P=Y�)�;QU��>�����a��G����y��];}��>Iȹ����:�Žf��5�?����:�Ž��� ƽ�@����?9ƽ?B�ǽA�: ȽQ�:)Ƚ"�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �@zL�L�L�L��L@�A-���B) B)�A-� �*B5�$9�A1�A5��7�A5/��A1"C=5��*C9RC9C9�CAI�yG��=��} �=i�} �=�*~�Gj,З8�E�A��"�����"�����"�����"N�� �"l3:Y�"�W1y�"č:��"6Y}N{��@�}N6��@y}N)�!��}N{��}NH����@�h�?����1n�?���`�|�?���`gp������c�?����^��?����o2�?����枢�����.��?)~N{��@ ~N�^;I~Lɫq�y)�y �yI�yY����@y��~eG������@A����=i���=���d�M�X=Y����;QU��>�������a��G������y��|�8}��>I�����S��5�?����� ��� @���?9��YB�����: ���:)���W)�W)X) X)�W):W)2W1*W1�V1U9U=��� d$@�REB*** querying acoustic contact ***�PA�PAzLY�LY�LY�L]��L@�Am�`}�B� B��A��$�*B��$9�A��A�w�7�A��/��A�"C�4��*C�RCC�CI�GU�=��9��I���`Gi����@���=���RD�����D����; ����E��d�Gj,HnR�E�AY}23��@�}2@y}2@���}2]<��}2H������d�?���`�p�?������?���@�s�����_�?�����e�?�����R�?����J梿����(��?)~23��@ ~2�2^;I~0ɫY�Y)�Y �]����I�YY�}}�@y�}qeG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�� �� nA�ý9���ý�Q>�ý�ļiýz�@�ù Ľ&�@)Ľ�@IĹiĽ�@����L�M�<=Y��ߎ;QU��>�������a��G������y�����}�>I���-�:�����5�?��5�:���� �N @��5�?9�vB����; �"�;)�#�:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����@s� @zL��L��L��L���L@�A�Cw�B� B��A�&�*B�W&9�A��A��7�A^0��A"C-3��*C)RC)C)�C1I�iG�>���Gj,?Vl�E�A��.�����.�����.�����.��� �.�/:Y�.�Y1y�.�:��.r6Y}Bڍ�@�}B���@y}B<�ٻ�}Bm��}BH���� �_�?�����t�?���@��?�����w�����J[�?����Z��?���`�1{?����5A�����`���?)~Bڍ�@ ~B^;I~@ɫQ�Q)�Q �U����I�YY�u��@y�}ueG�xDUSBL response received:!U1,P 26F,000,00796,188,80,80,61,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���/�$��?:��v���?�� �rh�?��,>���T< �C=)�I�y��<�O��n�?+��η�����Mb�?��t<��v�����< �A)�I�i��A����=A��]Ar:Me'=Y�e'2;QUe�>��i��i�am�G��i��qy�uEѺ}u�>I�y��}#��5�?��}��� �}� @����?9�}�B��}z; �}�;)�y�W��W�X� X��W�:W�2W�*W�VU!U%����� @zL�#�=�L�#�=�L�4�@�L��x@�A�Wp�B B�A�%�*B%Q'9�A!�A-��7�A-1��A)"C=2��*CARCACA�CqI��G��>I�y )�y ��v�Gj,�$��E�AY}2Ɩ�@�}2���@y}2�䛻�}2;+��}2H�����g�?�����o�?���@��?����Ir������c�?�������?�����|s?�����D�����`���?)~2Ɩ�@ ~2�A^;I~2��C�D9�DI�F�_Gi�F��@��F=��D��D��F1�; �F�E)�%�x�CI�%�y�Ci�%���C��%�=��%�=��%�F�6ɫ9�9)�9 �E����I�AY�]`�@y�edG�qɮup=�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)����M�$>��Mp=>��M,�i�M̜@��I �I)�II�M&�@i�M&�@��uCԽMup=Y�uC�;QU}?��y��y�a}�G����y��Q;}�?Iȱ�ŵ*��5�?�ŵ�� ƵS@����?9Ƶ�B�ǵ�: ȵ��:)ȱ�W��W�X X�W:W2W*W)�V)U)U-����},@zLi�Li�Li�LmL�x@�A}��i�By B��A��I�*B��9�A��A�U�7�A��1��A�"C�5��*C�RC�C��C�i̹I̹�̹�̹I��G��>�G��Gj,����E�AY}>p��@�}>+��@y}>V=l��}>w����}>H�����y�?���@$b�?����_p�?�����d�����v�?����qە?������m?����H������*��?)~>p��@ ~>2^;I~>��Cɫ9�9)�9 �=����I�9Y��7�@y��eG�xDUSBL response received:!U1,R,1D5,000,00798,187,80,80,9E,FF �Fpublishing direction and range info����Ѿ���ɰ�@>鰥1�> ��)���CI��y��G�B����(�geg[�?�k҃�wٿ��������ٱ�)���= ���=����=M�f=Y��wT;QU��>�����a�G���� y� ��;} �>I����:��&��5�?���:��O �� ��@��%�?9��B����: �V�:)�$�:�WA�WAXA XI�WI:WI2WI*WI�VQUQUU���`g�@�Pa*QeG�B�Ze����;�&R@�ucO`~?����������Ze�(�geg[�?�k҃�wٿ��������2Qe�Ѿ:Qa�Ze����(33@�,\�1S�SF'��~�?�Ze�`۟j� �?m���D �&e�'Ƈ�?BQe���@ Qe���Qe��A�Pe9�9?�Pe�9?�Pe����QaQe4�@"QeAzL��L��L��L�y@�A���b�B� B��A��.�*B��!9�A��A���7�A�2��A�"C�4��*C�RC�C��C�I��G��=������i���mGI� qAi���UvH�ٺU qA��U�<A��2F?9��z:A��� | ����� ����� ����� ��� � �=:Y� �T1y� ��:�� 6�n��Gj,���E�AY}j^ճ@�}j�@y}jn0 ��}j,����}jH����`���?��� XI�?����Z(�?����4L���� Ε�?����ll�?����&a?���������� ���?)~j^ճ@ ~j�1^;I~hɫ�髱)�� ��I��Y���@y���dG�]TNmea in: $SNTTA,0.085445,,,,165734.27*4F ����M�?=Y�mg;QU��>�����a��G����y��:<}��>I��������5�?����!�� ��D@����?9��B�����: ���:)���mqAdded new target pos. range: 79.140007 m, bearing: 284.041913 deg, deltaT: 4.389039 s, approachRate: 0.027341 m/s, LOS rate: 2.221683 deg/s, posRepo size: 4�W �W X X �W :W 2W*W�VU������S@U�����b�?zL1�L1�L1�L5Fmy@�AM\�[�BI BI�AM#8�*BM\#9�AQ�AU��7�AU�2��AQ"C]3��*CYRCYCY�CaI�yG��=�y9�yI�}_Gi�}J�@��} =��y��y��}>�; �}�E��y i�} =����Gj,8���E�AY}B!�@�}B��@y}B����}B[^��}BH����`���?���@�)�?���� ��?�����-��������?��� %��?����о ?���`�*�����`���?)~B!�@ ~B�^;I~B��CɫY�Y)�Y �]����I�YY�}}�@y�}6dG����=i���=��=�?��=�T>��=E6�i�=�@��9 �=�@)�=�@I�=��@i�=�@��M4�MMQ=Y�M�;QUM�>��Q��Q�aU�G��Q��Yy�]�~<}e�>I�a��m�:��e���5�?����:��eA#�� �e�@����?9�e4B��e �< �e<�<)�e%�:�W�WX X�W:W2W*W!�V!U!U%����A��?zLa�La�La�Le��y@�Au��T�By By�A}F�*B}#!9�Ay�A}0�7�A�3��A�"C�2��*C�RC�C��C�I��G>��� ^ ����� ������ ������ ��� � �O:Y� �W1y� č:�� �6�6��Gj,?���E�AY}2�<�@�}2�I�@y}2�E;�}2�&��}2H����`r��?����.�?���` �?���`�����@���?�����:�?����H`����@������� A��?)~2�<�@ ~2� ^;I~2��CɫY�Y)�Y �]����I�YY�}��@y�}_dG��u� ףp= �?y�&1����l����?��uQ�=��u`� �u�=)�qI�qy�u��~j�t�h�����Mb�����S㥛?��u�D���u����u/�< �udA)�qI�udAi�u^A��q��u(A�� mA��x!<M�F=Y�٧;QU��>�����a��G����y��<}��>Iȩ�ŭ���5�?�ŭ$�� ƭ� @����?9ƭNB�ǭ{�: ȭv�:)ȩ�W9�W9X9 X9�W9:WA2WA*WA�VAUIUM����3��?zL�d�=�L�d�=�L�,L�@�L�h q@�A�6M�B� B��A��A�*B��!9�A��A���7�A��3��A�"C�5��*C�RC�C��C�I� G% >��Hj,�x �E�A�9�w�CI�D^Gi���@��"=��������; �<�EY} m�@�}�z�@y}�v;�}��2��}H�������?���`A��?������?��� "��������?���`��?�����n����@DW������#��?)~ m�@ ~j�^;I~��Cɫi�i)�q �u����I�qY��r�@y��)dG�Åȶ>�Å/�>�Å�S�iÅf�@�Á ąE�@)ąE�@IąE�@iąE�@���J�M�:=Y�'�;QU��>�����a��G����y�C`<}��>Iȱ����:�ŵۼ�5�?����:�ŵ%�� Ƶ^@����?9ƵkB�ǵ�: ȵ�:)ȵ&�:�W��W�X� X��W�:W�2W�*W��V�U�U�����@��?zL �L �L �L o|q@�A%�SE�B! 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��F�E��eBHj,� !�E�AY}-�@�}-�)�@y}-kn<�}-�(5��}-H�����U��?�����u�?���@G�?����l~�����ŕ�?����;��?����͍������������`��?)~-�@ ~-�>^;I~-��Cɫ � )� �����I�Y�Mĸ@y�MScG��]�=i�YI�Y)�Y�õj�<�õV>�õS�=iõ3�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@�����M�L=Y�M0:QUM�>��I��I�aU�G��Q��Qy�]|�<}]�>I�a��e��5�?��ek1�� �e=@��m�?9�e� B��e��: �eD�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��}@�A��ڻB� B��A�+]�*B��9�A��A���7�A��7��A�"C�2��*C�RC�C��C�i��I������������I��G�>��� ����� ������ ������ �� � M4:Y� �W1y� č:�� �6)� ��;�9� ���HHj, �#!�E�AY}2�L�@�}2hZ�@y}2��s<�}2�s5��}2H����`v��?����V�?��� �3�?���`�^����`���?�����ɑ?���`z������嫦�������?)~2�L�@ ~2�Q^;I~2��Cɫ9�9)�9 �=����I�9Y�uv�@y�}�bG���iϼM�Z=Y��Iq:QU��>�������a��G������y����<}��>I������5�?��o2�� ��@���?9�� B����: �a�:)��W1�W1X9 X9�W9:W92W9*W9�VAUAUE�����9@zLa�La�La�Le�}}@�Au��ƻBy By�A}�f�*B}d9�Ay�A}y�7�A��7��A�"C�5��*C�RC�C��C�I��G��=���NHj,c�=!�E�AY}NWh�@�}Nv�@y}N�z<�}N2++��}NH����`x��?��� �D�?�����R�?�����L�����g��?���`�?����JA������*c����� ���?)~NWh�@ ~N��];I~N��Cɫy�y)�y �}����I�yY����@y��SbG鮹ɮ����� �M�K=Y��|w:QU��>�������a��G������y��� <}��>I�q��}�:��u���5�?��}�:��u�3�� �u@��}�?9�uB��u��: �u��:)�u+�:�W��W�X� X��W�:W�2W�*W��V�U�U�����|�@zL��L��L��L���}@�A�I���B� B��A�w�*B��9�A��A���7�A�*8��A�"C�4��*C�RC�C��C�I�G5�=�y9�yI�yi�y��y��y��y��}��; �yIށ )ޅ @A��� P ����� ������ ������ � 3::Y� �Y1y� �:�� )� �;�6�UHj,�W!�E�AY}2dl�@�}2z�@y}2h>�<�}2+���}2H��������?���`�C�?���@�Σ?���`OJ�������?���@N��?��� ��������8�����@8��?)~2dl�@ ~2p�];I~2��Cɫ9�9)�9 �=����I�AY�},�@y�}�bG���C=i�������<����}=���7 �i����@��� ����@)��h�@I��~�@i����@�����<M�I=Y���}:QU��>�������a��G�����y�k�:} �>I� �� _��5�?�� �4�� � �@���?9� -B�� ��: � ��:)� �W9�W9XA XA�WA:WA2WA*WI�VIUIUM��� �u@zL��L��L��L�l�}@�A�M���B� B��A%p�*B9�A�Au�7�A[8��A"C 3��*C1RC9C9�CII��GE>���[Hj,Xqq!�E�AY}F$[�@�}F�h�@y}F�<�}FN���}FH�����e��?����P�?����$(�?�����U�����g��?�����s�?�����0����� �������@z��?)~F$[�@ ~F4�];I~Dɫq�y)�y �}����I�yY����@y��bG�xDUSBL response received:!U1,N,80,80,63,E4 8,187,80,80,9E,FF �ZNo reply:!U1,N,80,80,63,E4 8,187,80,80,9E,FF -�<No response from remote modem.��U�L7�A`���X9��v���<�O��n�?��U+���U��� �Ut<)�QI�Qy�U��~j�t�h?��ʡE��y�&1�����U�D;��U-����U`� �U�A)�U�AI�U�Ai�Q��Q��Q��u���MuB=Y�}i�9QU}�>��y��y�a}�G����y�ܣ�}��>Iȑ����:�ŕ��5�?����:�ŕ%6�� ƕ�@����?9ƕSB�Ǖ��: ȕ�:)ȕ,�:�W��W�X� X��W�:W�2W�*W��V�U�U�����;>@zL�F�=�L�F�=�L�C�@�L��.x@�A5g��B9 B9�A=�}�*B=�9�A9�A=��7�A=�8��AA"Ce2��*CiRCiCi�CiI��G� >��� � ����� ������ ������ ��� � �V:Y� �X1y� /�:�� E6�9� @�y9�yI�}�[Gi�}o�@��}=��}QD��}�D��}��; 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�)���uHj,���!�E�AY}FB�@�}F�O�@y}F�6x<�}F� ��}FH�����Y��?���`R`�?�����!�?��� �e�����$��?��� �ބ?��� �������3������o��?)~FB�@ ~F�];I~F��Cɫy�y)�� ������I��Y����@y��\bG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��ɮ��Å-���Å�ļ�ÅQ8=iÅ��@�Á ā)ą��@Iąҙ@ią��@���G=M�;=Y��bX�QUM�>��Y��a�ae�G��a��y�|�;}��>I���=�:����5�?��=�:���;�� �/@��m�?9��B�� `< �d<)�.�:�W��W�X� X��W�:W�2W�*W��V�U�U�����i�!@zL)�L)�L)�L-��w@�Ae�ͺBa Ba�Ae*v�*Bm9�Ai�Am��7�Am�8��Ai"Cu2��*CqRCqCy�CyI��G�B>��� � ����� ������ ������ ��� � vY:Y� �Y1y� �:�� ��5��|Hj,���!�E�AY}:�d�@�}:Vr�@y}:lt<�}:�6��}:H����`���?�����H�?����R�?����qO����` ��?���@A�?��� 9�������:墿�������?)~:�d�@ ~:G�];I~:��Cɫ9�9)�9 �=����I�9Y�}a�@y�}�aG�xDUSBL response received:!U1,P 80,80,63,E4 8,187,80,80,9E,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����p=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������(\�µ?����������~j�t�?����=����L� ����<)��I��y���ˡE����?!�rh����+�����?����'=���l�����= µ5A)±Iµ Ai±�������A����"�M�+=Y�����QU��>��!��!�a%�G��!��)y�-<}5�>I�1��5���5�?��5>>�� �5d@��E�?9�5B��5��: �5��:)�1�W��W�X� X��W�:W�2W�*W��V�U�U����@��"@zL%h>�L%h>�L%3�@�L%���@�Au?ad�By B��A�̈́�*B��9�A��A�F�7�A��8��A�"C�5��*C�RC�C��C�I�iG�>�)9�)I�)i�)��-=��)��)��-��; �-A�E)�Ŋx�CI�Ŋx�Ci�����Ŋ=��Ŋ=��Ŋ�6����Hj,Ɗ"�E�AY}2ِ�@�}2���@y}2Z�h<�}2ƾ$��}2H���� @��?����6+�?����:R�?��� �2��������?�����?���@�������䕤��������?)~2ِ�@ ~2��];I~2��CɫY�Y)�Y �]����I�aY����@y���aG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�M�= �M�=�Ý��<�ÝE�=�Ý���iÝ��@�Ù ĝ&�@)ĝ�@Iĝ�@iĝ�@����<M-x=Y�-/ �QU5?��1��1�a5�G��1��9y�=�<}E?I�A��M�:��E��5�?��U�:��E>@�� �ES@��U�?9�EHB��E��: �E��:)�E/�:�Wy�WyXy Xy�Wy:Wy2Wy*W��V�U�U�����Gw#@zL��L��L��L��̆@�A�(i,�B� B��A����*B�9�A��A���7�A��8��A�"C�4��*C�RC�C��C�I��G>��� ����� ������ ������ ��� � �f:Y� [1y� ݏ:�� !�5)� ��;�9� ���'�Hj,0f&"�E�Aɫ�髁)�� ������I��Y��w�@y���aG�xDUSBL response received:!U1,R,099,000,007A6,186,80,80,9A,FF �Fpublishing direction and range info���ܸ����ɰ�f >鰽��> ��)���CI��y����B���������?�}�� ����������ٱ�����j�M�X=Y�����QU��>�������a��G������y����}�>I� �� _��5�?�� `B�� � S@���?9� tB�� V�: � ��:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUE����31$@�PY*Q]��B�Z]�@�m)�S@��NIK%����������Z]������?�}�� ����������2Q]ܸ�:QY�Z]�D+�y�E@�����P�Z�vv�O��Z]�����?Lm6>���r:]�hځ�BQ]�Y�@ Q]Ѕ�Q]C/B�P]x�9?�P]9�9?�P]����Q]����Q]'�@"Q]4�@zLy�Ly�Ly�Ly�A��?:B� B��A�j��*B��A��A�J�7�A��8��A�"C�3��*C�RC�C��C��������Ci̱I̱������i���mGI��i���M>�ٺI��M�2AI��Gj>�ށ iޅ a=���Hj,�I@"�E�AY}j�Ե@�}j��@y}j8�H<�}j�'��}jH������"�?�������?����i�?����������!�?��� HE�?���������@�����������?)~j�Ե@ ~j�];I~j��Cɫ�髹)�� ��I��Y�%@y�%/bG��DNmea in: $SNTTA,,,,,165744.36*5E ����=i��8>�����<M�:=Y�����QU��>�������a��G�����y�B�<} �>I���L��5�?���D�� ��@���?9��B���: ���:)��mMuAdded new target pos. range: 79.979996 m, bearing: 303.220347 deg, deltaT: 10.098483 s, approachRate: 0.083180 m/s, LOS rate: 1.899140 deg/s, posRepo size: 4�WI�WQXQ XQ�WQ:WQ2WQ*WY�VYU]���@��S@U]������?zL�L�L�L%�@��9��I��i�����=�����������; ��D�E�A-��:B1 B1�A=�z�*B]=9�Aa�Ae��7�Ae�8��Aa"Cm2��*CiRCiCi�CqI��GI>��� ^ ����� ������ ������ @�� � �O:Y� \e1y� ��:�� � 6)� ��;�r;�Hj,�#Z"�E�A�|i|Y}2*�@�}2���@y}2�9<�}2�&��}2H������5�?�������?����∢?���`o�������4�?���@b�?��� � ����� P�������s��?)~2*�@ ~2�];I~0ɫ9�9)�9 �9I�9Y�}��@y�}bG��I��MoA��%ף=��%�u���%`�<i�%��@��! �%ҙ@)�%��@I�%��@i�%��@���һM�B=Y��QU��>�����a��G����y��U�;}��>I������:���D��5�?����:����G�� ���@���?9���B����7; ��k8;)��0�:�W)�W)X) X)�W):W)2W1*W1�V1U1U5����2��?zLQ�LQ�LQ�LU��@�AmA��:Bi Bi�Am�}�*Bm�9�Aq�Au7�7�Au�8��Aq"C}5��*CyRCyCy�C�I��G�>��c�Hj,I�s"�E�AY}:��@�}:��@y}:2:)<�}:B���}:H�����Y?�?��� ���?����:�?������������>�?���@��?����-'�����`7������ ���?)~:��@ ~:��];I~:��Cɫ9�9)�9 �E����I�AY�}l�@y�}�aG��%��ʡE���?-����˿�z�G�?��%�o>��%5^� �% �=)�!I�!y�%�{�G�zt�D�l���������������%ף���%O����%��� �%dA)�%�AI�%Ai�%�A��!��%�A��EMMEO=Y�Er �QUM�>��I��I�aU�G��Q��Qy�]�;}]�>I�a��ez��5�?��elH�� �e�@��m�?9�e�B��ev�: �e��:)�a�W �W X X�W:W2W*W�VUU�����P�?zL]��=�L]��=�L]N{�@�L]��r@�A�>�';B� B��A���*B�9�A��A���7�A��8��A�"C�4��*C�RC�C��C�I�G5.>�� 9�� I�� �ZGi�� ̱@��� =��� ��� ��� ��; �� F�EIޙ )ޙ ��=I ����=�����=�����=&�� �=N:Y�=xZ1y�=q�:��=�6)�=A�;��K�Hj,�Ӎ"�E�AY}2K �@�}2�@y}2�J<�}2���}2H�����J�?�������?�����^�?���`�������SI�?�������?���@<���������������L��?)~2K �@ ~2��];I~2��CɫY�Y)�Y �]����I�YY��1�@y��baGI��)������=i��C= ����U+�=��UC=��U���i�U�@��Q �Q)�Uҙ@I�Uҙ@i�Uҙ@��e���MeZ=Y�m!��QUm�>��i��i�a��G������y��֑;}��>I�����:������5�?���:���ZI�� ���@���?9��B���^�: ����:)��1�:�W)�W)X) X1�W1:W12W1*W1�V9U9U=�����Q�?zLY�LY�LY�L]v s@�Am��Q;Bq Bq�Auχ�*Bq�Aq�Au#�7�Au�8��Ay"C}3��*C�RC�C��C�I��G��=��u�Hj,i��"�E�A�|�|4<ɫy�y)�y �}����I�yY��V�@y���aG)�5�= �5�=��uc6<MuI=Y�}���QU}�>��y���a��G����y����}��>Iȡ�ť܅�5�?�ťHJ�� ƥ�@����?9ƥ1B�ǥ�; ȥ�;)ȡ�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUu����r�@zL��L��L��L��A���|;B� B��A���*B��A��A���7�A�t8��A�"C�2��*C�RC�C��C�I�G->��� � ����� ������ ������ |�� � +D:Y� [1y� ݏ:�� 6�9� @�_�Hj,��"�E�AY}6��@�}6[�@y}65<�}6g\��}6H�����H�?���`9��?����H�?��� Y�������F�?���@_�?�����������uʡ����@���?)~6��@ ~6�z];I~6��Cɫ9�9)�9 �=����I�9Y�uh�@y�}�aG�����;M�R=Y����QU�>�����a�G���� y� }\�}�>I���%�:����5�?��%�:��3K�� ��@��%�?9�MB����: ���:)�2�:�WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]����,e@zLq�Lq�Lq�Lu�s@�A�� �;B� B��A�W��*B��A��A��7�A�L8��A�"C�5��*C�RC�C��C�I��G��=�a9�aI�ai�a��e=��a��a��e��; �eN�E�ޅ �=iޅ �=�,��Hj,�e�"�E�AY}2��@�}2s�@y}2A<�}2����}2H������E�?���@���?����(�?����Q�����@-D�?����cB�?���`<�������R�����@��?)~2��@ ~2��];I~2��Cɫ9�9)�A �E����I�AY�}K�@y���aG����=i���=��mn>��m/>��m;߽i�mQ�@��i �m��@)�m��@I�m��@i�m��@��}��M}4=Y�}eֺQU��>�����a��G����y�BM�}��>Iș�ŝ���5�?�ŝFL�� Ɲ@����?9ƝmB�ǝU�: ȝ��:)ș�W�WX X �W :W 2W *W�VUU����3@�RB*** querying acoustic contact ***�P�PzLq�Lq�Lq�Lu��r@�A��?�;B� B��A�1��*B��9�A��A�y�7�A�8��A�"C�4��*C�RC�C��C�YϽL9I��G�h>��� ������ ������ ������ ��� � �1:Y� xZ1y� q�:�� ��5�R��Hj,E�"�E�AY}6��@�}6v�@y}6l�;�}6����}6H�����CE�?���@D��?���@d��?��� ������C�?���@=��?����tM|����``������@���?)~6��@ ~6Dz];I~4ɫY�Y)�Y �]����I�aY��ض@y���`G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��U��������?{�G�zĿ�������?��U��=��U�#� �U��<)�QI�Qy�U�{�G�z�?!�rh����<�O��n�?��U�#<��Ul���Ut< �Q)�QI�UdAi�U�A��Q��UQA��a��emA��uh�MuK=Y�u-;�QUu�>��y��y�a}�G��y��y���}��>Iȉ�ōZ�5�?�ō%N�� ƍ^@����?9ƍ�B�Ǎ&�: ȍ �:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U������= @zL��=�L��=�L����@�L��Q}@�A�gU�;B B�A]��*B9�A��A���7�A��7��A�"C�3��*C�RC�C��C�I��G-,>�i 9�i I�i i�i ��i ��i ��i ��m ��; �m O�E�Ι�Hj,T#�E�AY}6�@�}6��@y}6q��;�}6���}6H����@�M�?���@m��?���`&ߟ?�����������{K�?�����v�?���`�w����`��������e��?)~6�@ ~6ҙ];I~6��Cɫ9�9)�9 �=����I�9Y����@y��"aG�xDUSBL response received:!U1,P 099,000,007A6,186,80,80,9A,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 ����P����=������i���@��� ���@)���@I���@i���@��ed*<M�<=Y��"�QU��>�������a��G������y�rG;}�>I� ���:�� g|�5�?���:�� ?P�� � �@���?9� �B�� ��: � �:)� 3�:�W9�WAXa Xa�Wa:Wi2Wi*Wi�ViUqUu��� l� @zL��L��L��L��e}@�A�t��;B� B��A� ��*B��A��A�L�7�A��7��A�"C�2��*C�RC�C��C�I�GMR>Iށ )ޅ AA��� ������ ��� ��� ��� � 0:Y� y� �� =6�0��Hj,��(#�E�AY}6�"�@�}6�0�@y}6���;�}6�� ��}6H�����:]�?�������?���@<�?���@�������'[�?���@�n�?����Us������>������B��?)~6�"�@ ~6ӈ];I~6��Cɫ9�9)�9 �=����I�9Y�}"�@y�}PaG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)������=i��a=��WX<M�o=Y��U�QU�?�����a��G����y���;}� ?Iș�ŝKz�5�?�ŝ�Q�� Ɲ@����?9Ɲ�B�ǝ^�: ȝ�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����*:@zL��L��L��L���}@�A � �;B B�A���*B�A�A��7�AZ7��A"C5��*C!RC!C!�C!I�9G]�=�ǫ�Hj,}�B#�E�AY}2�9�@�}2DG�@y}2���;�}29��}2H�����,n�?���@ɿ�?�����?���@�������-l�?������?��� �Rp�����af�����@���?)~2�9�@ ~2`�];I~2��CɫY�Y)�Y �]����I�YY��C�@y��yaG�xDUSBL response received:!U1,R,041,000,007A9,184,80,80,83,FF �Fpublishing direction and range info����Vh����ɰ�� >鰭��> ��)���CI��y��Q�B����������?��>A�����������ٱ����<-<M�T=Y�����QU��>������a�G����y� ��;}�>I���%�:���w�5�?��-�:���S�� �R@��-�?9�"B�� ; ��o;)�4�:�W)�WqXy Xy�Wy:W�2W�*W��V�U��9�z�CI�i���=��������; �M�E)�Ńy�CI�Ńy�Ci�����Ń=��Ń=��Ń]�5U�����w�@�PQ*QUQ�B�ZU���6�T@Ww�ԏ-����������ZU�������?��>A�����������2QU�Vh�:QQ�ZU��S�u�I@k�}��<O�-p"Y=1ƿ�ZU�m.����? ��F���N�<o�a�BQU�v�@ QU�y�QU�HB�PU��9?�PUx�9?�PUy���QU����QU��@"QU'�@zL��L��L��L�j�}@�A�0��;B B�A���*B }9�A �A 6�7�A 7��A "C4��*CRCC�CI�1Gm5>��� � ����� ������ ������ 8�� � ?:Y� �W1y� č:�� (%6)� M�;�9� �� ��Hj,.�\#�E�AY}r�M�@�}r�[�@y}r}5�;�}r��}rH�����P}�?������?���@�ƛ?���`۵�����D{�?����~C�?��� ��q�����! ��������?)~r�M�@ ~r|}];I~r��Cɫ9�9)�A �E����I�AY�}��@y�}�aG�TNmea in: $SNTTA,0.078240,,,,165748.82*4A �������Mb�?�Zd;���~j�t��������=������ ���D�)��I��y���y�&1�������Mb������Mb�?���`弹��������< µ5A)µ�AIµ�Aiµ3A�������A����<���;����=i���@�� ���@)���@I���@i���@��%��<M%+=Y�%�!:QU-�>��)��)�a-�G��1��1y�5�;}=�>I�9��=(u�5�?��=&T�� �=�@��M�?9�=DB��=U�: �=�:)�9�m}qAdded new target pos. range: 80.160004 m, bearing: 308.795912 deg, deltaT: 4.509133 s, approachRate: 0.039921 m/s, LOS rate: 1.236505 deg/s, posRepo size: 4�Wy�WyX� X��W�:W�2W!*W!�V!U-����= T@U-����˙�?zLMŒ=�LMŒ=�LMm��@�LMw�]@�A]e��;BY B��A�}��*B�9�A��A���7�A��6��A�"C�3��*C�RC�C��C�i̙I̙�̹�̹i��mGI��i� ��=�=�ٺ9��=�2AI�� G� �>�ޅ �=iޅ �=���Hj,��v#�E�AY}:~`�@�}:9n�@y}:˖;�}:uz��}:H�������?���`���?������?����b���������?��� g��?��� ]�r�����G.����� ���?)~:~`�@ ~:��];I~:��Cɫ9�9)�9 �E����I�AY�}�@y�}aGI�))�)��u�c�Muj=Y�}xr:QU}�>�����a��G����y�t�;}��>Iș����:�ŝ7s�5�?����:�ŝ�T�� ƝI@����?9Ɲ]B�ǝ�B; ȝ�/;)ȝ5�:�W��W�X� X��W�:W�2W�*W��V�U�U���`�s�?zL!�L!�L!�L%+�]@�AE� <BA BI�AMp��*BI�A��A�$�7�A�r6��A�"C�2��*C�RC�C��C�I��G->� 9� I� i� �� �� �� �� ��; � ^�E��� ����� ������ ������ $�� � �I:Y� 0Y1y� ��:�� �6)� ��;����Hj,b�#�E�AY}2�r�@�}2X��@y}2{�;�}2����}2H�����j��?����˗�?��� 2�?����,������f��?���`�E�?���`�@r����`C����������?)~2�r�@ ~2_�];I~2��Cɫ9�9)�9 �=����I�9Y�}C�@y�}yaG��U��=��UC�=��UY�i�U=�@��Q �U�@)�QI�U�@i�Uҙ@��e��<MeL=Y�eK��QUm�>��i��i�am�G��i��qy�}*�;}}�>Iȁ�Ņq�5�?�ŅU�� ƅ�@����?9ƅyB�Dž�: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����̎�?zL��L��L��L���]@�A�0�<B� B��A����*B��A��A���7�A� 6��A�"C5��*CRC C �C I�!G=�=�l�Hj,�>�#�E�AY}2'��@�}2☮@y}2�t;�}2 �$��}2H����@���?�������?�����q�?��� ������ ���?�����?�����n�����뗤����`P��?)~2'��@ ~2��];I~2��Cɫy�y)�y �}����I�yY��)�@y��YaG��U���M]K=Y�]5�QU]�>��a��a�am�G��i���y����;}��>I������:����n�5�?����:����U�� ��C@����?9���B����.; ���3;)��6�:�W)�W1X1 X1�W1:W12W9*W9�V9U9UE��� "J�?zLq�Lq�Lq�Lu�^@�A�� <B� B��A�F��*B��A��A��7�A��5��A�"C�4��*C�RC�C��C�I��G�>Iށ )ޅ ?A��� ~����� ������ ������ ��� � �f:Y� [1y� ݏ:�� �6�9� @����Hj,H�#�E�AY}6䣶@�}6���@y}66� ;�}6wC$��}6H�����?����}v�?�����ԟ?���@�{�����ٸ�?����_�?���`ed����@�������c��?)~6䣶@ ~6A�];I~6��CɫY�Y)�Y �]����I�YY�}��@y�}�`G��5�&�M=L=Y�=�P�QU=�>��A��A�aE�G��A��Iy�]�;}e�>I�y��}�l�5�?��}V�� �}�@����?9�}�B��}��; �}��;)�yܙ9ܙIܝ$[Giܝ�@�ܙ�ܙ�ܙ�ܝ��; ݝm�E�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L�>^@�A5�<B9 B9�A=���*B9�A9�A=k�7�A=e5��AA"Ce3��*CiRCiCi�CiI��G�>��$�Hj,0��#�E�A�|@�|B�;Y}MH��@�}Mˮ@y}M/A�:�}MdD��}MH����@V��?����f�?���@�I�?�����j��������?�����~�?����%�T�����Zg��������?)~MH��@ ~MF�];I~M��Cɫ�髱)�� ������I��Y����@y���aG��=��v��/����/�$ƿ�V-����=xi���=&1� �=h��)�9I�9y�=�{�G�z��{�G�z��{�G�z����=ף���=ף���=�#� �=dA)�9I�=�Ai�9��9��=GA)�U�= �U�=�Ý�F>�Ý�>�Ý/ݽiÝf�@�Ù ĝ��@)ĝ��@Iĝ��@iĝ��@��i=M�)=Y���QU��>�����a��G����y��u�;}��>I������:����i�5�?����:���/W�� ���@����?9���B�����: ��w�:)��7�:�W��WX X��W�:W�2W�*W��V�U�U����@��@zL�=�L�=�L��@�Lni@�A�<B B�A}��*B=�9�AY�A]��7�A]�4��Aa"Ce2��*CiRCiCi�CiI��G�b>��� # ����� ������ ������ ��� � K:Y� �W1y� č:�� 6��N�Hj,J��#�E�Aɫ�髙)�� ��I��Y��C�@y��yaG������AA���ӼM��=Y�����QU ?�����a�G���� y� ���} ?I����g�5�?���W�� �_@��%�?9��B��4�: �b�:)��W��W�X� X��W�:W�2W�*W��V�U�U����@�:@�R�B*** querying acoustic contact ***�P��P�zL�L�L�L�A%�<B) B)�AM���*BM9�AQ�AU\�7�AU�4��AQ"C]5��*CYRCYCY�CaI��G�>ܑ 9ܑ Iܑ iܑ �ܕ =�ܑ �ܑ �ܕ ��; ݕ s�E�ޅ �=iޅ �=�6Ij,��$�E�AY}2�@�}2@�@y}2 �R:�}2����}2H��������?�����P�?�������?�����S��������?���`�Q�?��� YJ�����ֽ���������?)~2�@ ~2�];I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}0aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=I��)����=�@���=�����=���i�=�@��9 �=ҙ@)�=ҙ@I�=ҙ@i�=ҙ@��e>��MeD=Y�m4��QUm�>��q��q�au�G��q��yy�}<}}�>Iȉ�ō&e�5�?�ō�X�� ƍ-@��}�?9ƍB�Ǎi�< ȍ��<)ȉ�W��W X X �W :W2W*W�VUU������ @zLA�LA�LA�LE[�i@�Au��<By By�A}[��*By�Ay�A}��7�A�O4��A�"C�4��*C�RC�C��C�I��G'>��� ������ ������ ������ ��� � �/:Y� �X1y� /�:�� 3�5�C` Ij,+�+$�E�AY}6��@�}6��@y}6&j�:�}6c���}6H����� ��?���`;N�?������?���`�Q����@Z��?�����?���`D�U�����L����������?)~6��@ ~6�];I~6��Cɫ9�9)�9 �9I�9Y��"�@y��PaG�xDUSBL response received:!U1,P 041,000,007A9,184,80,80,83,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����;M�G=Y����:QUU�>��Y��Y�ae�G��a��iy�4r:}��>Iȡ����:�ťxb�5�?����:�ť�Y�� ƥ�@����?9ƥ>B�ǥ�< ȥ�<)ȥ8�:�W��W�X� X��W�:W�2W�*W��V�U�U�����E: @zLA�LA�LA�LE)�i@�A��Q<B� B��A����*B��A��A�/�7�A��3��A�"C�3��*C�RC�C��C�I��GK>��GIj,�_E$�E�Aɫy�y)�y �yI�yY����@y���`G鮥p=ɮ�� �Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �99�9I�9i�9��9��9��9��=��; �=w�E����>���-�=���O�=i����@��� ����@)����@I����@i����@���N�M-6=Y�5���QU5�>��9��9�a=�G��9��Ay�e���}m�>I�q��u�_�5�?��u�Z�� �u�@��}�?9�ucB��u��: �u�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����@A9@zL �L �L �L �AM�<BQ BQ�A]7��*BY�AY�A]��7�A��3��A�"C�2��*C�RC�C��C�I��G�E>Iށ )ޅ @A��� � ����� ������ ������ ��� � �?:Y� 0Y1y� ��:�� 4�6)� ɚ;�9� ���tIj,�B_$�E�AY}�<@�}���@y}�?�;�}�|U��}�H�����K��?����U�?��� yٚ?�����X�����{��?�����G�?��� ��`������i�����@>��?)~�<@ ~�X<^;I~���Cɫq�q)�y �}����I�yY��d�@y���aG�xDUSBL response received:!U1,R,FF4,000,007AF,183,80,80,81,FF �Fpublishing direction and range info�����+<���ɰ�"!>鰽$�> ��)���CI��y�� �B����3���?�z�;r�?��������ٱ��}dNmea in: $SNTTA,0.321940,0.321903,,,165753.26*5E ���=i��=����X9��v�������Mb��<�O��n������������� ��t��)��I��y����� �rh�?:��v��������Mbp?���C�<����Խ����; ���A)��I���Ai���A�������A��-?=M57=Y�=y�:QU=�>��A��A�aE�G��A��Ay�M�C�}M�>I�Q��]�:��U�]�5�?��]�:��U�\�� �U�@��e�?9�U�B��U��: �U#�:)�U9�:�W��W�X� X��W�:W�2W�*W��V�U�U����@��@�P�*Q� �B�Z��;�Mj� T@"��e��?���������Z��3���?�z�;r�?��������2Q���+<:Q��Z��ZZz7��K@4�1�tM�A`���ȿ�Z������ �?�Ő���Q�c�BQ��:�@ Q��h�Q��^B�P���9?�P���9?�P�q���Q�y���Q�,�@"Q���@zL���=�L���=�L�;��@�L��Ӂ@�A�k<B� B��A����*B��A��A� �7�A�-3��A�"C�5��*C�RC�C��C�I�G-N>�}�Ij,y$�E�AY}JEҶ@�}J��@y}J��;�}J�j��}JH����`���?����%X�?���`�ʛ?����A\�������?����!�?����3�`����`_����� ���?)~JEҶ@ ~JX[_;I~J��CɫY�Y)�Y �]����I�YY��з@y��&bG��C(=M��=Y�.�6QU�?�����a��G����y�����}�?I������[�5�?���^^�� ��!@����?9���B���0�; ����:)���m%qAdded new target pos. range: 80.520004 m, bearing: 313.746871 deg, deltaT: 4.487296 s, approachRate: 0.080227 m/s, LOS rate: 1.103328 deg/s, posRepo size: 4�W)�W)X) X)�W1:W12W1*W9�V9U=����G!T@U=�������?zLa�La�La�Le+ρ@�A��8<B� B��A��{�*B��A��A���7�A��2��A�"C�4��*C�RC�C��C)I�qG�>�1 9�1 I�5 �[Gi�5 o�@��1 ��1 ��1 ��5 �; �5 ��E)�݈z�CI�݈z�Ci�و��݈=��݈=��݈�5��� � ����� ������ ������ a�� � VB:Y� �Y1y� �:�� !6)� !�;�"�$Ij,,�$�E�AY}2�۶@�}2��@y}2ـ*;�}2����}2H��������?����7Q�?��� q��?���`�U����@���?���@oU�?����Pe������w����� ���?)~2�۶@ ~2>�_;I~2��CɫY�Y)�Y �]����I�YY��~�@y���aG��Ut����U�S>��U�=i�U�@��Q �Uҙ@)�Uҙ@I�Uҙ@i�Uҙ@��eͼMeN=Y�eL�:QUm�>��i��i�am�G��i���y��)>;}��>I������:����Y�5�?����:���I`�� ��U@����?9���B�����: ����:)��:�:�W�W!X! X!�W!:W!2W!*W)�V)U)U-�����B�?zLI�LI�LI�LMJف@�A]�<Ba Ba�Ae�*Ba�Aa�Ae �7�Am�2��Ai"Cu3��*CqRCqCq�CyI��G��=��A��E��C�ұ*Ij,@۬$�E�Ai�BHmGI�Li�X��n�,�ٺl��n�"AY}~��@�}~���@y}~2F;�}~+���}~H��������?��� �B�?��� ��?����PG��������?����!�?����#�h�����x~���������?)~~��@ ~~�_;I~~��Cɫ���)�� ������I��Y�5%�@y�5�bGI��)���� >C=M?=Y�=�:QU�>�����a�G����)y�-R�;}5�>I�9��=YW�5�?��==b�� �=�@��M�?9�= B��=+?; �=@;)�9�W��W�X� X��W�:W�2W�*W��V�U�U������R�?zL��L��L��L�f�@�A��<B� B��A�q�*B�;9�A��A���7�A�+2��A�"C�2��*C�RC�C�CI�)GM>��� � ����� ������ ������ ��� � �G:Y� 0Y1y� ��:�� �6�9� @���1Ij,ͭ�$�E�A�|i|Y}6�@�}6��@y}6a#j;�}6����}6H����@Q�?���`�,�?���`Q�?����%1������ �?����t�?����hDm������7���������?)~6�@ ~6�w_;I~6��CɫA�A)�A �M����I�IY�}��@y��\bG��Y��Y���t>�����������i��=�@�����9��I��i���������������; ����E ���@)��I��i����5�G�M5H=Y�5Ұ:QU5�>��9��9�a=�G��9��Ay�E�<}E�>I�i��m'U�5�?��m-d�� �m�@��}�?9�m9B��m�: �m�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL!�L!�L!�L%��@�A=,�<B9 B9�A=*v�*B=f9�AA�AE�7�Ae�1��Aa"Cm5��*CiRCiCq�CqI��G%,>�/�7Ij,ڎ�$�E�AY} 0�@�} �=�@y} J҃;�} ?t��} H������"�?����P�?������?���������` �?�������?���`Fzp������ ���������?)~ 0�@ ~ ��_;I~ ��Cɫ���)�� ������I��Y�Mз@y�M&bG��u�k�t���R���Q���I+��?��u 0���u�½ �u94<)�qI�qy�u���~j�t�?�p= ף������������u��<��u����u��� �u5A)�u�AI�qi�u A��q��q��]T�M�C=Y�%��:QU%�>��)��1�a5�G��1��9y�=<}=�>I�A��U�:��E�S�5�?��]�:��E�e�� �E�@��m�?9�EWB��E˷; �E��;)�E;�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL���=�L���=�L���@�L���@�A �h<B B �A �{�*B 59�A�A|�7�As1��A"C4��*CRCC!�C!I�9G�C>I�y )�} AA��� � ����� ������ ������ ��� � jB:Y� [1y� ݏ:�� t6���=Ij,�^�$�E�AY}6�A�@�}6@O�@y}6ST�;�}6f@��}6H�����S/�?��� �?���@�K�?���`�����@�,�?����WF�?��� � q�����G����� ���?)~6�A�@ ~6�`;I~6��CɫY�Y)�Y �]����I�YY����@y��SbGI��)���A���a=i��=��5LO<M=e=Y�=��9QU=?��A��A�aE�G��A��Ay�M��;}M?I�Q��U�R�5�?��U�f�� �U�@��]�?9�UnB��UI�: �U�:)�Q�W�WX X�W:W2W*W�VUU%����o�@zL9�L9�L9�L=z'�@�AU�� <BQ BQ�AUw�*B]9�AY�A]�7�A]*1��AY"Ce3��*CaRCaCi�CiI��G��=��9��I���[Gi����@���=�����������; ��}�E���DIj,�6%�E�A�|�|Y}6�K�@�}6;Y�@y}6���;�}6nX��}6H����`�6�?������?�����6�?����������3�?�����͖?��� �>r���� �ɢ�����f��?)~6�K�@ ~6D�a;I~4ɫ9�9)�9 �E����I�AY��,�@y���bG������@A)���= ���=�� O�=�� Y>�� O >i� ��@�� � ƣ@)� ��@I� ��@i� ��@����<ML=Y�%R@:QU%�>��!��)�a-�G��)��)y�5JG;}5�>I�9��E�:��=�Q�5�?��E�:��= h�� �=�@��M�?9�=�B��=s�: �=^�:)�=<�:�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VyUyU}������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��1�@�A�!X<B� B��A�%p�*B��A��A���7�A��0��A�"C�2��*C�RC�C��C�I��G��=��� ����� ������ ������ ��� � I:Y� d\1y� ��:�� `6�b�JIj,�.%�E�Aɫ�髙)�� ������I��Y��8�@y���bG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���Q;M�A=Y����QU��>������a��G������y�����}��>I����P�5�?��zi�� ��@���?9��B��ܹ: �+�:)��Wa�WaXa Xa�Wa:Wa2Wi*Wi�ViU�U�����~N @zL��L��L��L��A�=�<B� B��A��n�*B��9�A��A��7�A �0��A"C%5��*C!RCACI�CII�aG�>�ޅ =iޅ �=�J�QIj,�H%�E�AY}>�e�@�}>�s�@y}>��;�}>��}>H����`XI�?�������?���@�x�?����b������VG�?��� H�?���@R�x����`M���������?)~>�e�@ ~>q�`;I~>��Cɫy�y)�� ������I��Y��s�@y���bG�xDUSBL response received:!U1,P FF4,000,007AF,183,80,80,81,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ܝT�>9ܙIܙiܙ�ܙ�ܙ�ܙ�ܝ��; ݝy�E��������=��C�i�(�@�� ��@)��@I��@i��@��Eف<MM3=Y�U�j;QUU�>��Y���a��G����y�z�;}��>I��� �:��JO�5�?���:��k�� �@���?9��B���0; ���;)�=�:�Wy�WyX� X��W�:W�2W�*W��V�U�U�����9 @zL��L��L��L�L�@�A�M`�;B B�AZg�*B�9�A�A ��7�A %0��A "C=4��*C9RC9CA�CAI��G�f>��� U ����� ������ ������ ��� � O:Y� �Y1y� �:�� ��6)� �;�9� ��XXIj,��a%�E�A�|0i|0Y}R�|�@�}RF��@y}R���;�}R����}RH������Y�?��� 0��?�����?���`x������X�?�����'�?���`e�|�������������q��?)~R�|�@ ~R��`;I~R��Cɫq�q)�q �u����I�qY��U�@y���bG鮹ɮ�R=�-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��%�����K�?L7�A`����� �rh����%^�=��%+� �%C�)�!I�!y�%���~j�t�?D�l���������Mb`?��!��%O����%; �%�A)�%�AI�% Ai�%�A��!��%QA��1��5nA��E��ME]=Y�E�';QUM�>��I��I�aM�G��Q��Qy�U��;}]�>I�Y��]:N�5�?��]@l�� �]@���?9�]�B��]=�< �]"�<)�Y�WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]��� A�@zL��=�L��=�Le�@�L��@�A��;B9 B9�A=k�*B=9�AA�AE�7�AE�/��AA"CM3��*CIRCICI�CQI��G�A>�~8^Ij,U�{%�E�AY}6��@�}6���@y}6���;�}62���}6H������k�?������?����,�?���@�������Gj�?�����I�?��� I������5����� 4��?)~6��@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�} cG�xDUSBL response received:!U1,R,EB8,000,007B6,186,80,80,8D,FF �Fpublishing direction and range info���C��>���ɰ��!>鰅��> ��)��� CI��y���B����)sN9���?Ix����?��������ٱ�����<M�i=Y���:QU��>�����a��G����y��<}��>I�����+M�5�?���ym�� ��7@����?9���B���#�: ��]�:)���W��W�X� X��W�:W2W*W�VUU ����M@�P*Q�B�Z�~�hfiS@�lʵK�6@���������Z�)sN9���?Ix����?��������2QC��>:Q�Z������Q@��Yv�C���J����Z��,�X)��?��s�X%߿#�j6��BQ�˸@ Q��Qd�B�P��9?�P��9?�PQ���Qq���Q��@"Q,�@zL��L��L��L����@�A�/�;B B�A�d�*B�A�A��7�A�/��A"C%2��*C!RC!C!�C)I�aG��=�y9�yI�yi�y��}=��y��y��}��; �}n�EIށ )ށ ��� O ����� ������ ������ ��� � �N:Y� d\1y� ��:�� �6)� ��;�-#eIj,?��%�E�AY}bj��@�}b%��@y}bKY<�}b�{��}bH������z�?��� A��?����;,�?���@�������[y�?�����Y�?���`끿����IN������r��?)~bj��@ ~bm�_;I~b��Cɫ�髱)�� ������I��Y����@y��SbG�]TNmea in: $SNTTA,0.061431,,,,165757.70*41 I�Y)�Y��]p=i�]R= �q�q��-�#=��-`e<��-�Լi�-�@��) �-ҙ@)�-ҙ@I�-ҙ@i�-ҙ@��=T"�ME3=Y�ER;QUE�>��I��I�aU�G��Q��Qy�]v�;}]�>I�Y��}�:��]�K�5�?����:��]o�� �]X@����?9�]B��]s�; �]��;)�]>�:�m�qAdded new target pos. range: 80.940002 m, bearing: 330.874553 deg, deltaT: 4.327452 s, approachRate: 0.097054 m/s, LOS rate: 3.957914 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)<T@U��������?zL��L��L��L�'�@�A U9�;B B �A w�*B �9�A �A�7�AM/��A"C5��*CRCC�C!I��G )>�uJkIj,u[�%�E�AY}2���@�}2rǯ@y}2�Z<�}23{��}2H���� #��?����O��?����le�?����z������%��?����t)�?��� J낿��� �ͣ��������?)~2���@ ~2��_;I~0ɫ9�9)�9 �=����I�9Y���@y���cG��5e�=M=]=Y�=O�:QU=�>��A��A�aE�G��A��Iy�M�;}M�>I�Q��U�J�5�?��UZp����]tI �Us@��e�?9�U8B��U��: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����`n[�?zL��L��L��L�M%�@�A��U�;B� B��A��R�*B�.9�A��A���7�A�/��A�"C�4��*C�RC�C��C�I�yG��=��� � ����� ������ ������ s�� � �S:Y� �Y1y� �:�� 6�9� @��4rIj,�A�%�E�AY}5�Ƿ@�}5�կ@y}5<�}5L!��}5H�����5��?���� ��?����ߟ�?��� z��������?��� ���?�����������\!����� P��?)~5�Ƿ@ ~5`;I~5��Cɫ�)� �����I��!9�!I�%P\Gi�%�@��%=��!��!��%��; �%l�E)ݩ�Iݩ�iݩ��ݭ�=�ݭ�=�ݭ�1A5Y�U�@y�U�cG��t=��>��Y�i�כ@�� ��@)��@I��@i��@��̈�M==Y�?�8QU�>��)��1�a=�G��9��Iy�U��;}U�>I�Y��e�:��]bI�5�?��e�:��]�q�� �]�@��e�?9�]XB��]T�< �]��<)�]?�:�WA�WAXI XI�WI:WI2WI*WQ�VQUQUU����r��?zL��L��L��L��3�@�A��[�;B� B��A��T�*B�K9�A��A�0�7�A��.��A�"C�3��*C�RC�C�CI�GU2>�ށ iޅ p=��\xIj,��%�E�AY}6$ܷ@�}6��@y}6_I<�}6W���}6H��������?����r��?����Ϡ?��� 4����� ���?����LQ�?����ɂ����������`���?)~6$ܷ@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�cGI��)���A��������Mb�? ףp= ��:��v���?���<���Q8� ����<)��I��y���i��|?5��R���Q������MbP?����q�����½����: dA)�AI�Ai�A������GA��W�;M�Q=Y�I��QU��>�������a��G������y����;}��>I������E�5�?���or�� ���@����?9���B�����: ��@�:)���W�W!X) X)�W1:W12W1*W1�V1U9U=��� Zr�?zL] �=�L] �=�L]$�@�L]ӷW@�Am3>�;Bq Bq�Au�R�*Bu-9�Aq�AuƷ7�A}|.��Ay"C�2��*C�RC�C��C�I��G��=i�5�lGI�Ii�i����&�ٺ����A��� � ����� ��� ��� R�� � �F:Y� y� �� �6��~Ij,���%�E�AY}2i�@�}2$�@y}2�<�}2�t��}2H���� ���?����Í�?��� !o�?��������������?���@��?��� S�������m�����@���?)~2i�@ ~2�`;I~2��CɫY�Y)�Y �YI�YY�}N�@y�}�bG�����MU=Y��3:QU�>��!��!�a%�G��!��!y�-��;}-�>I�1��=�:��5SB�5�?��=�:��5�r�� �5�@��E�?9�5�B��54�: �5A�:)�5@�:�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu�����@�@zL��L��L��L�C�W@�A��w�;B� B��A��k�*B�9�A��A�M�7�A�<.��A�"C�5��*C�RC�C��C�I�QGu�=�9�I��\Gi�c�@����������; 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ݵL�EY����@y��vdG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-Q8>��-Ġ>��-���i�-�@��) �-�@)�-&�@I�-\�@i�-�@��=��;Me2=Y�es�:QUm�>��i��i�am�G��i��qy�u��8}u�>I�y��}�6�5�?��}�t�� �}4@����?9�}@B��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����<W @zLI�LI�LI�LMU X@�AuIB�;By By�A}�?�*B}9�A��A��7�A�l-��A�"C�2��*C�RC�C��C�I� GM1>�� ^ ���� ����� ����� N�� � �O:Y� �Y1y� �:�� 6)� ��;�9� ��Ǫ�Ij,:Zd&�E�AY}2W�@�}2�@y}2�FO<�}2 4��}2H����@���?���@̀�?�����H�?���@���������?����%|�?��� �艿����.������D��?)~2W�@ ~2�5`;I~2��Cɫ9�9)�9 �=����I�9Y��F�@y���cG�xDUSBL response received:!U1,P EB8,000,007B6,186,80,80,8D,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 �� ����Q��?+�������I+����� �u=�� ��� � 94�)� I� y� ��I+��?333333������Mbp?�� 94<�� ����� �; � �A)� AI� �Ai� �A�� �� (A��M��MM.=Y�U�:QUU�>��Q��Q�a]�G��Y��Yy�e�;9}e�>I�i��u�:��m5�5�?��u�:��mkv�� �mf@��u�?9�mdB��mM�: �m��:)�mB�:�W��W�X� X��W�:W�2W�*W��V�U�U����@I@zL5u�=�L5u�=�L5�t�@�L5�@�Au��;B� B��A��L�*B��9�A��A���7�A�!-��A�"C�5��*C�RC�C��C�I�aG��>�ޅ �=iޅ =��ԞIj,�4~&�E�AY}:��@�}:r#�@y}:�[<�}:����}:H��������?����?t�?����1��?���@z����`r��?����h.�?��� Ab����� r������"��?)~:��@ ~:��_;I~:��Cɫ9�9)�9 �9I�9Y�}ڹ@y�}�dG鮅a=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)�����g=M��=Y��;QU�?�������a��G������y����;}�?I������3�5�?����w�� ���@���?9��}B���÷: ��ϸ:)���WA�WIXI XI�WI:Wi2Wi*Wq�VqUqUu�����V@zL��L��L��L�ܔ�@�A��s�;B� B��A�s:�*B�/9�A��A�@�7�A��,��A�"C�4��*C�RC�C��CI�9G�>ܹ9ܹIܽ|]Giܽ�@�ܹ�ܹ�ܹ�ܽ��; ݹ��� ^����� ������ ������ ��� � %d:Y� �[1y� H�:�� �6)� W�;�R��Ij,��&�E�A�|i|Y}6�5�@�}6MC�@y}6<#W<�}6-)��}6H�����4��?���`�]�?����R~�?���`gc��������?������?����4䊿���@�#������&��?)~6�5�@ ~6� _;I~4ɫY�Y)�Y �]����I�YY��T�@y��?eG�xDUSBL response received:!U1,R,E82,000,007BA,186,80,80,90,FF �Fpublishing direction and range info���㭪>���ɰ� ">鰙 ��)���CI��y��\�B������}=�?��#e#��?��������ٱ���Et���E����EC�i�EG�@��A �A)�E��@I�E��@i�E��@��U�=M]A=Y�]��QU]�>��a��a�ae�G��a��ay�m<}m�>I�q��uF2�5�?��u�x�� �u�@��}�?9�u�B��uM�: �u{�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�\�B�Z�����]�-S@�q��D�:@���������Z����}=�?��#e#��?��������2Q�㭪>:Q��Z������wWR@`)��XA�T/9Z�,���Z���*ҋ��?���d4Zۿd�������BQ�4��@ Q�� �Q���B�P�è9?�P���9?�P�I���Q�Q���Q��w@"Q���@zLI�LI�LI�LM���@�A]R�;BY BY�Ae-+�*Be� 9�Aa�Ae�7�Ae�,��Ai"Cm3��*CqRCqCq�CqI��G�$>�o�Ij,�&�E�Aɫ�髱)�� ������I��Y��+�@y��eG�}TNmea in: $SNTTA,0.079254,,,,165802.15*41 ��%M�M%N=Y�%���QU-�>��1��1�a5�G��1��9y�E���}E�>I�I��U�:��M�0�5�?��]�:��MZz�� �M�@��]�?9�M�B��Md; �M>;)�MC�:�m�qAdded new target pos. range: 81.180008 m, bearing: 334.690744 deg, deltaT: 4.498588 s, approachRate: 0.053351 m/s, LOS rate: 0.848309 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�KT@U����@���?zL��L��L��L��A�ۄ�;B B�AE0�*B9�A �A ��7�A k,��A "C2��*CRCC�CI�1G�%>Iލ AA)ލ AA��� ������ ������ ������ h�� � �j:Y� �]1y� ��:�� �6�9� @��βIj,���&�E�AY}2��@�}2~��@y}2KaZ<�}2����}2H���� ��?�����'�?����dW�?���`'.������?���@Gw�?���`�K����� �]������h��?)~2��@ ~2g�^;I~0ɫ9�9)�9 �=����I�9��]�<��Y�a9�e{�CI�e�]Gi�eV�@��e =��ePD��e�D��e��; �eJ�EY����@y���eG�Å-2>�Åؾ�Å9��iÅf�@�Á ąE�@)ąE�@IąE�@iąE�@��H;=M�T=Y��:QU��>�����a��G����y�.�<}��>Iȩ�ŭ]/�5�?�ŭ�{�� ƭ @����?9ƭ�B�ǭϸ: ȭ4�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����@=��?zL �L �L �L f��@�A]��;Ba Ba�Ae7�*Be!9�Aa�Am2�7�Am,,��Ai"C�5��*C�RC�C��C�I��G >����Ij,{��&�E�A�|�;�|Y}>⣸@�}>���@y}>}�\<�}>];"��}>H������(�?������?�������?��� ����@�'�?���@Փ?����8��������E���������?)~>⣸@ ~>=�^;I~<ɫY�Y)�Y �YI�YY����@y���dG����:��v���?���(\�¿���Q��?�����<���z� ���u<)��I��y���/�$����Zd;��{�G�zt����������y����ף� ±)µ3AIµ�Ai±������)��> ���=����d�M�F=Y��I�9QU��>�������a��G������y��/<}��>I������:���^-�5�?����:���`|�� ���@���?9���B���{�: ����:)��D�:�W!�W!X! X)�W):W)2W)*W1�V1U1U5����F�?zLU��=�LU��=�LU�/�@�LU��g@�AeA��;Bi Bi�Am�5�*B��9�A��A�ѳ7�A��+��A�"C�4��*C�RC�C��C�I�1Gu>��� � ����� ������ ������ ��� � �[:Y� [1y� ݏ:�� i6��"�Ij,�|�&�E�AY}2k��@�}2&ǰ@y}2�5]<�}2�X#��}2H������7�?����G��?��� ��?����r����@�6�?����7�?����z�������:i���������?)~2k��@ ~20w_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�eG��]]s=M]S=Y�]��8QUe�>��a��a�ae�G��a��iy�m�;}m�>I�q��u~+�5�?��u}�� �u�@����?9�uB��uܹ: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������M�?zL��L��L��L���g@�A�U��;B� B��A�7�*B�!9�A��A�~�7�A��+��A�"C�3��*C�RC�C��CI�G5�=�Y9�YI�]D^Gi�]��@��Y��Y��Y��]��; �]I�E)��I��i�����=����=�����5�ށ iޅ p=��Ij,�X'�E�AY}2E��@�}2�Ͱ@y}2��U<�}26���}2H���� �;�?�������?���`O�?����<������:�?����?�?����������� �������P��?)~2E��@ ~2�u_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y���eGI��)����M�#���MC=��Mz>i�MG�@��I �M�@)�M��@I�M��@i�M��@��e.��MeJ=Y�e���QUe�>��i��i�am�G��i��qy�u��:}}�>I�y����:��}�)�5�?����:��}�}�� �}�@����?9�}*B��}�: �}��:)�}E�:�W)�W)X1 X1�W1:W12W1*W9�V9U9U=��� ~�@zLy�Ly�Ly�L}�g@�A�a��;B� B��A���*B��!9�A��A�&�7�A�_+��A�"C�2��*C�RC�C��C�I��G5 >��u �>��u �Ci�� HmGI�� i� ��- t0�ٺ) ��- %&A�� ����� �� �� ��� � fm:Y� y� �� �6��4�Ij,�23'�E�A�|i|Y}2���@�}2�˰@y}2��M<�}2_� ��}2H������:�?�������?���`Eؠ?����4����`::�?���@�ߐ?����&�������H�������s��?)~2���@ ~2��_;I~2��CɫA�A)�I �M����I�QY��ٺ@y���eG��/"<M�G=Y����QU��>�����a��G����y�eȹ}��>I������'�5�?���g~�� ���@����?9��EB���B; ���;)���Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������T@zL��L��L��L�F�g@�A�(f�;B� B��A���*B�6"9�A�AѲ7�A+��A"C 5��*C RCC�CI�)GE>���Ij,� M'�E�AY}:���@�}:qϰ@y}:3�I<�}:L���}:H�����s=�?�������?�����?�����������5=�?���@$��?�����=������➟�����x��?)~:���@ ~:*}_;I~:��C����� 9� I� �^Gi� ��@�� =�� �� �� ��; � N�EɫA�A)�A �E����I�AY�}+�@y�}GfG��������]��=��]j|?��]�=i�]Q�@��Y �]�@)�]E�@I�]&�@i�]E�@��m��<MmM=Y�m��QUm�>��q��q�au�G��y��yy�}@�:}��>Iȁ�Ņ�%�5�?�Ņ�� ƅ�@����?9ƅ`B�Dž��: ȅ<�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����]@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�L�g@�A����;B� B��AT�*BE"9�A�A��7�A�*��A"C 4��*CRCC�CI�)GE�=Iޥ @A)ޡ �� 7���� ����� ����� ��� � a:Y� 0Y1y� ��:�� r6)� ��;�9� ���F�Ij,��f'�E�AY}2�Ѹ@�}2c߰@y}2�uH<�}2����}2H����@hH�?���@���?������?�����������OH�?����0r�?��� ��������������@���?)~2�Ѹ@ ~2~�_;I~2��Cɫ9�9)�9 �=����I�9Y�}:�@y�}YfG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���C=i��4=��%��V-�?V-���ǿ:��v���?��%h>��%|?� �%��<)�!I�!y�%�{�G�zt?�&1���<�O��n����%ף;��%�н��%t� �%�A)�%AI�%5Ai�%5A��!��% A��=[�;ME==Y�E�Z�QUE�>��I��I�aM�G��I��Qy�Uޓ;}U�>I�Y��e�:��]6#�5�?��e�:��]���� �]�@��m�?9�]�B��]4�: �]�:)�]F�:�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL���=�L���=�L�#]�@�L��%�@�AM�j�;BI BQ�AUz�*BU�#9�AQ�AU6�7�AU�*��AQ"C]3��*CaRCaCa�CaI�yG�>��.�Ij,�À'�E�A�|�|�;Y}6��@�}6���@y}6�K<�}6�s���}6H���� �W�?������?���`%7�?��� �������^W�?�����}�?���`�b�����`t ������W��?)~6��@ ~6�_;I~6��Cɫ9�9)�9 �=����I�9Y�}n�@y�}�fG�xDUSBL response received:!U1,P E82,000,007BA,186,80,80,90,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 ���̏<M�c=Y���9QU �>��!��!�a-�G��)��Ay�U��;}]�>I�y��}!�5�?��}���� �}i@���?9�}�B��}��< �}^�<)�y�W�WX X�W:W!2W�*W��V�U�U������X @zL9�L9�L9�L=J<�@�A�PD�;B� B��A���*B�-%9�A��A��7�A�3*��A�"C�2��*C�RC�C��C�I�!G�_>�9�I�_Gi�J�@��=��������; �G�E�� � ���� ����� ����� �� � $Y:Y� �Y1y� �:�� �!6)� հ;��X�Ij, ��'�E�Aɫ�髙)�� ������I��Y����@y���fG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Ga���9�=��-�=i��@�� �&�@)�&�@I�i�&�@����;M9=Y����QU�>��!��!�a%�G��!��!y�-���}-�>I�1��=�:��5��5�?��=�:��5|��� �5@@��E�?9�5�B��5��: �5=�:)�5G�:�Wa�WaXa Xa�Wi:Wi2Wi*Wi�VqUqUu���@z@zL��L��L��L��A����;B� B��A�8�*B��"9�A��A���7�A��)��A�"C�5��*C�RC�C��C�I��Gm>����Ij,Wz�'�E�AY}2J�@�}2*�@y}2��6<�}232)��}2H�����m{�?����K��?����䌢?����w����� <y�?�����G�?����7؆�����f$���������?)~2J�@ ~2L�_;I~2��CɫI�I)�I �M����I�IY�}ƻ@y�}gG�xDUSBL response received:!U1,R,E01,000,007C0,186,80,80,99,FF �Fpublishing direction and range info���&Q�>���ɰ��">鰁 ��)���CI��y���B����+6�����?.3jYe��?��������ٱ�����=i���=I��)����D�<M�c=Y���a�QU��>�������a��G������y��Ő<}��>I�������5�?������ ��#@����?9��B���1; ��;)���W)�W)X1 X1�W1:W92W9*W9�V9UAUE����n�@�PY*Q]�B�Z]��P�;dR@�Lۃ�A@���������Z]�+6�����?.3jYe��?��������2Q]&Q�>:QY�Z]�8�v��uS@��Tk7,8�LXb��.��Z]�m�/�j��?�g��ҿ�>ɩ����BQ]Fm�@ Q]a��Q]��B�P]Ψ9?�P]è9?�P]7���Q]I���Q]f@"Q]�w@zL��L��L��L��q�@�A�a��;BI BI�AU���*BU�$9�AQ�AUc�7�AU�)��AQ"C]4��*CYRCaCa�CaI�yG��=��� � ����� ������ ������ ��� �� �S:Y�� xZ1y�� q�:��� �6�9� @�/l�Ij,�Z�'�E�A�| i| �T9�TI�V�_Gi�V��@��V=��T��T��V{�; �V<�EY}e�G�@�}e�U�@y}e�#<�}eh��}eH���� ��?����9��?�����:�?����|��������?�����w�?�����|�����@x룿��� c��?)~e�G�@ ~e�#_;I~aɫQ�Q)�Q �U����I�QY���@y��/gG��TNmea in: $SNTTA,0.059967,,,,165806.58*45 ��emA��emA�íl罩í��>�í�T<ií��@�é ĭ9�@)ĩIĩiĩ��� <M�.=Y��� �QU��>�������a��G������y���9<}��>I������:���#�5�?����:���(��� ���@����?9��8B���=; ��|;)��H�:�mqAdded new target pos. range: 81.540001 m, bearing: 342.748455 deg, deltaT: 4.397970 s, approachRate: 0.081854 m/s, LOS rate: 1.832143 deg/s, posRepo size: 4�W!�W!X! X!�W!:W)2W)*W)�V)U-���`�bT@U5����ܵ�?zLI�LI�LI�LMÝ�@�Ae"�<Ba Ba�Aer�*Bm�&9�Ai�Am�7�AmP)��Ai"Cu3��*CqRCqCy�CyI��GM1>���Ij,1�'�E�AY}JX�@�}J�e�@y}JX�<�}J�q ��}JH��������?����|��?������?����������@z��?��� x��?����7t������������ ���?)~JX�@ ~JW�_;I~Hɫy�y)�y �yI�yY���@y��fgG����<�O��n�?H�z�G������Mb�����t=���= � ���)��I��y�������Mb�?k�t���X9��v������<��� �������� µA)µ^AIµdAiµdA�������A���Mn<M�[=Y��X��QU��>�������a��G������y��a�;}��>I�����y�5�?������� ��P@����?9��YB����: ����:)���W�WX X�W:W!2W!*W!�V!U)U-����a��?zLE�=�LE�=�LE�Ù@�LE��@�A]�<BY BY�AeV�*Be�%9�Aa�Ae�7�Ae)��Aa"C�2��*C�RC�C��C�I�9GU>Iޡ )ޥ ?A�� � ���� �� �� ��� � �X:Y� y� �� 26��|�Jj,(�E�AY}F�c�@�}FEq�@y}F�#<�}Fc��}FH����`���?���`���?����_�?��� ���������?����4g�?��� _d����� �+���������?)~F�c�@ ~F+i_;I~F��Cɫ�髙)�� ��I��Y��|�@y���gGI�Y)�]�A���=M�N=Y�ߟ�QU��>�����a��G����y��f;}��>Iȱ����:�ŵ��5�?����:�ŵ+��� Ƶ�@����?9Ƶ}B�ǵ.�; ȵ��;)ȵI�:�W�WX X�W:W 2W *W �V UU�������?zL)�L)�L)�L-��@�AEg <BQ BQ�A]j̽*B]�'9�Aa�Ae��7�Am�(��Aq"C�5��*C�RC�C��C�I��G�>ܡ9ܡIܥ7`Giܥ>�@�ܥ=�ܡ�ܡ�ܥ��; ݥ@�E�ëJj,��(�E�A�| �|"p;Y}B%d�@�}B�q�@y}BQ<�}B����}BH����`��?���@P��?����pݜ?���ࠇ��������?�������?���@x������Y:���������?)~B%d�@ ~B�f_;I~B��Cɫq�q)�q �qI�qY���@y��ehG)��= ��=��e����e��<��ex�=i�e(�@��a �e�@)�e�@I�e�@i�e�@��u!=M}L=Y�}]��QU}�>�����a��G�����y��W:9}��>I�����5�?��̌�� ��@���?9��B���: ���:)��W1�W1X1 X1�W9:W92W9*W9�V9UAUE����UY�?zLY�LY�LY�L]�@�Au��<Bq By�A}��*B}�)9�Ay�A}t�7�A}_(��Ay"C�4��*C�RC�C��C�I��G��=�� (���� ����� ����� 9�� � 0K;Y� �X1y� /�:�� � 6���Jj,�5(�E�AY}6�b�@�}6rp�@y}6�<�}6�j��}6H���� +��?���@��?���@,��?���`������ ©�?�����ʒ?���`����a젿����/��?)~6�b�@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9Y�}f�@y�}�gG��U��MUM=Y�U. �QUU�>��Y��Y�a]�G��Y��ay�e:�}e�>I�i��m&�5�?��mM��� �m&@��}�?9�m�B��mϸ: �mw�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������E�@zL��L��L��L���@�Aup� <Bq Bq�A}�ѽ*B}�'9�Ay�A}:�7�A} (��Ay"C�3��*C�RC�C��C�I��G >�ޝ �=iޝ �=�M�Jj,o�O(�E�A�$9�$I�&�aGi�&�@��&=��$��$��&�; �&?�E)���{�CI���{�Ci�������=����=������4Y}RHh�@�}Rv�@y}R̀<�}R���}RH��������?��� ��?�����u�?�������������?�����?����0�����`/2���������?)~RHh�@ ~RW�`;I~Pɫy�y)�y �}����I�yY��Ѽ@y��NhG���=i��=��u7 >��q��u�&�i�uQ�@��q �uz�@)�uz�@I�uz�@i�uz�@���=M�G=Y��9�QU��>�����a��G����y�$�:}��>Iȡ����:�ťS�5�?����:�ť��� ƥj@����?9ƥ�B�ǥW�: ȥ��:)ȥJ�:�W��W�X� X��W�:W�2W�*W��V�U�U�����^�@zL��L��L��L�1�@�A�8<B B�A��*B)9�A�A�7�A�'��A"C%2��*C!RC!C)�C)I�G5 >�� � ���� ����� ����� ��� � �T:Y� [1y� ݏ:�� V6)� �;�9� ����Jj,�zi(�E�A�|i|Y}6�|�@�}6l��@y}6ZH�;�}6Xl��}6H��������?����p�?����1?�?�����u�������?��� �V�?���@�({�����Z̢�����K��?)~6�|�@ ~6��`;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�hG������i�EnGI��i�����R(�ٺ����{A��������Mb�?J+��?�v��/�����>�����= ��xi�)��I��y���V-����~j�t�������MbP?����������Ľ����: ���A)���AI��i��5A������=A��nA��nA����<MA=Y�%�D�QU%�>��!��)�a-�G��)��)y�5��;}5�>I�9��=C�5�?��=$��� �=�@��E�?9�=B��=�: �=��:)�9�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUyU}���@��@�R�B*** querying acoustic contact ***�P��P�zL�d�=�L�d�=�L��h�@�L�d�k@�A�Tq<B� B��A�c��*B�o*9�A��A�ׯ7�A�Y'��A�"C�5��*C�RC�C��C�I��G�>�� Jj,~S�(�E�AY}2x��@�}24��@y}2 ��;�}2ܐ��}2H�����Y��?����xW�?����M�?����w\��������?����幗?����V�y����`�Т�����M��?)~2x��@ ~2�Ha;I~0ɫI�I)�I �M����I�IY�}^�@y�}�hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����<M�a=Y���x�QU��>�������a��G������y��i9<}�>I����:����5�?���:��6��� ��@���?9�:B��2*; ��7;)�K�:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm����>� @zL��L��L��L�� l@�A��T<B� B��A��*B��*9�A��A���7�A5'��A1"CM4��*CqRCyCy�C�I�YG}Y>ܑ9ܑIܕ�aGiܕ��@�ܑ�ܑ�ܑ�ܕ��; ݕD�EIޡ )ޥ @A�� ���� ����� ����� Z�� � �\:Y� d\1y� ��:�� �(6)� �;���&Jj,'0�(�E�AY}2�¹@�}2Zб@y}2���;�}2)��}2H�����i��?�����<�?�����ĝ?����}A��������?���@�e�?���@d�z����@��������e��?)~2�¹@ ~2 �a;I~0ɫ9�9)�9 �=����I�9Y�]��@y�][iGexDUSBL response received:!U1,P E01,000,007C0,186,80,80,99,FF eCommand AckeBRequesting micromodem ping code 2i�a��aI�i)�m�A��m�=i�m�=�u�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��������C�������>i��p�@��� ��&�@)��E�@I��&�@i��&�@��-^�<M5+=Y�=�:QU=�>��A��i�am�G��q��yy�}�<}��>Iȩ�ŭ�5�?�ŭ���� ƭ�@����?9ƭlB�ǭ{�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W!�V!U!U%���` � @zLa�La�La�Le<Rl@�A}�R<By By�A}���*B}e-9�A��A���7�A��&��A�"C�3��*C�RC�C��C�I��GMR>�I-Jj,� �(�E�A�|�|�;Y}F��@�}Ff��@y}Ff��;�}F����}FH����`J�?�����!�?���`�:�?���@}&����@���?����ۖ?�����T{���� =<���������?)~F��@ ~F�c;I~DɫY�Y)�Y �e����I�aY���@y���iG鮥p=ɮ�=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Í�= Í>��Z�<M�f=Y���9QU��>�����a��G������y��JO<}��?I������:�����5�?����:������� ���@����?9���B���8�: ��#�:)��L�:�W�WX X�W:W2W *W �V UU���@�@@zL)�L)�L)�L-�l@�AE�<BA BA�AE�_�*BE�,9�AI�AMf�7�AML&��AI"CU2��*CQRCQCY�CYI�qG >�� � ���� ����� ����� ��� � �Z:Y� 0Y1y� ��:�� �6�9� @��4Jj,X��(�E�A�S�>9�I��bGi�&�@����������; �B�EY}=��@�}=��@y}=/��;�}=�s��}=H�������?����'�?����2�?���������@�?�������?��� �|y�����[m���������?)~=��@ ~=Ջd;I~=��Cɫ�)� �����I�Y�M�@y�U�iG]xDUSBL response received:!U1,R,E2D,000,007C5,186,80,80,AE,FF ]Fpublishing direction and range info��UY��>��QɰU�">�Q �Q)�U�.CI�Qy�U��B��U��7a�?�05�]�?��������ٱQ����#�����4?�����<i����@��� ��n�@)��?�@I����@i����@�����:M�9=Y�����QU��>�������a��G������y��}�;}��>Iȩ�ŭQ�5�?�ŭ��� ƭ @����?9ƭ�B�ǭn�: ȭ8�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�����9@�P�*Q���B�Z��Z���R@P�&r�7@@���������Z���7a�?�05�]�?��������2Q�Y��>:Q��Z��̞3xS@x.���9�=s�(���Z���e��/s�?Uo��Ȣӿ�=x�t��BQ���@ Q����Q���B�P�ͨ9?�P�Ψ9?�P�9���Q�7���Q���@"Q�f@zL9�L9�L9�L=��l@�Auת<Bq Bq�Au�]�*B}+.9�Ay�A}B�7�A}�%��Ay"C�5��*C�RC�C��C�I��G J>�ޥ �=iޥ �=��1:Jj,]��(�E�AY}2��@�}2��@y}2��;�}2�&��}2H����`��?������?����_�?��� � �������?���`���?�����x������㢿����H��?)~2��@ ~2�d;I~2��CɫY�Y)�Y �]����I�YY���@y���iG�dNmea in: $SNTTA,0.438452,0.400634,,,165811.02*5F ���=i��=��������Mb�?k�t����I+�������=��� 0� ��94�)��I��y���J+����I+����~j�t�h�����H����9������D� �A)�AI�Ai�A������pA��$]<M�^=Y�rw�QU��>�������a��G������y�-1�;}5�>I�Q��]�:��Up��4�?��]�:��U�� �U @��]�?9�U�B��UD�: �U��:)�UM�:�m�uAdded new target pos. range: 81.839996 m, bearing: 342.129203 deg, deltaT: 4.529470 s, approachRate: 0.066232 m/s, LOS rate: -0.136716 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������uT@U������O�?zL�^�=�L�^�=�L��@�L�e+_@�A5�<B1 B1�A=vI�*B=�-9�A9�A=%�7�A=�%��A9"CE4��*C�RC�C��C�I�qG�:>�� Y���� ����� ����� ��� � �c:Y� d\1y� ��:�� 6�'AJj,=�)�E�AY}:[�@�}:!�@y}:I��;�}:�L��}:H������ �?���@>��?���`���?������������?�����C�?�����sv�����v������ ���?)~:[�@ ~:��c;I~:��Cɫ9�9)�9 �=����I�9Y�]1�@y�]�iG��!��%mA��]��;MeQ=Y�m��QUu�>�����a��G����y��;}��>Iȹ�Ž^��4�?�Ž���� ƽ@����?9ƽB�ǽw�; Ƚ&�;)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L�l:_@�A��<B B�A[>�*Bj.9�A �A �7�A .%��A "C3��*CRCC�CI�1GM>�!9�!I�%�bGi�%w�@��!��!��!��%u�; �%9�E�MCGJj,yv)�E�AY}2��@�}2\$�@y}2"С;�}2k���}2H����@�"�?��� N��?������?����v�����I �?����$6�?�����9t���������������?)~2��@ ~2�c;I~0ɫ9�9)�9 �9I�9Y�}��@y�}�jG��U/�<��Uj<=��U�=i�U�@��Q �U&�@)�U&�@I�U&�@i�U&�@��e-=MeJ=Y�mS��QUm�>��i��q�au�G��q��yy�}4�:}}�>Iȁ�Ņ2��4�?�ŅD��� ƅ@����?9ƅ5B�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������;�?zL��L��L��L��@_@�A�_<B� B��A��*B�09�A��A��7�A��$��A�"C2��*C RC C �C i�mAI�nAY�%%9I�9G]3>Iޡ )ޡ �� ����� ����� ����� p�� � n{:Y� P^1y� ��:�� �6��nMJj,�V8)�E�AY}F=#�@�}F�0�@y}Fv�;�}FX���}FH����`:+�?����N��?����w,�?������������(�?��� @ϕ?���`*�r�����D|�����`���?)~F=#�@ ~F�b;I~F��Cɫq�y)�y �}����I�yY����@y���jGI��)�����p=i��a=��5ޔ�M5M=Y�=XW�QU=�>��9��9�aE�G��A��Ay�M�};}M�>I�Q��]�:��U��4�?��]�:��U ��� �U@��]�?9�U^B��U��: �U��:)�UN�:�W��WX X�W:W2W*W �V U)UM��� ��?zLa�La�La�Le�Y_@�A}{�<By B��A���*B�R09�A��A�ܮ7�A�t$��A�"C�5��*C�RC�C��C�Yυi9I��G�>�!9�!I�%�cGi�%�@��!��!��!��%|�; �%<�E�gUTJj,,-R)�E�AY}6�6�@�}6rD�@y}6T�;�}6�R��}6H������7�?�������?���@I�?���`9������5�?����b��?����~Js����`�i���������?)~6�6�@ ~6b;I~6��Cɫy�y)�y �}����I�yY���@y��kG��u�D���u�C>��u\>i�u��@��q �u��@)�u��@I�u��@i�u��@��F=M�F=Y��y9QU��>�����a��G����y�6�;}��>Iȡ�ť���4�?�ťؙ�� ơ����?9ƥ�B�ǥ��: ȥ��:)ȡ�WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]�����z�?zLy�Ly�Ly�L}ڀ_@�A��<B� B��A�Қ�*B��19�A��A�ͮ7�A�$��A�"C�4��*C�RC�C��C�YϡI��G�!>��� ����� ������ ������ ��� �� �^:Y�� ]1y�� �:��� �6)�� ˵;�9� ��cZJj,�l)�E�AY}:�M�@�}:L[�@y}:�0�;�}:� ��}:H������F�?��� ���?����g�?���`�������KD�?������?�����s�����@5�����@G��?)~:�M�@ ~:�5b;I~8ɫ9�9)�9 �=����I�9Y�}��@y�}�kG����<�O��n���/�$������Mb�����t�����1� ���)��I��y����l����?��ʡE���<�O��n������=���������t� µA)µ�AIµ Aiµ5A������A����7=M�F=Y���9QU��>�������a��G������y����;}��>I������:������4�?����:���ě�� ���@����?9���B���_�: ���:)��O�:�W�WX X!�W!:W!2W!*W!�V)U)U-����z�@zLM�=�LM�=�LMo!�@�LMz_�@�A]��<Ba Ba�Ae�*Be449�Aa�AeȮ7�Am�#��Ai"C�3��*C�RC�C��C����=��G>Y��L9I��G%M>�3gaJj,��)�E�AY}6 j�@�}6�w�@y}6 ��;�}6\���}6H����@qY�?�������?��� �f�?����2������LV�?����bH�?��� ��t�����%բ�����Y��?)~6 j�@ ~6*^b;I~6��Cɫ9�9)�9 �=����I�9Y�}o�@y���kG����������=i���=I��)���� 3��MW=Y�%]:QU-�>��1����a��G������y��� <}��>I�����3��4�?������� ���@����?9���B����; ��� ;)���W)�WIXI XQ�WQ:WQ2WQ*WQ�VYUYU]���`x3@�ReB*** querying acoustic contact ***�Pa�PazL��L��L��L�${�@�A�L*<B� B��A���*B�U39�A��A���7�A�V#��A�"C�2��*C�RC�C��C ��R�>9��z�CI���dGi����@��� =���QD������s�; ��7�E)�q�I�q�i�q���q���q���u�1�4Y��I�G-N>�� ����� ����� ����� ��� � �j:Y� [1y� ݏ:�� �6)� �;��gJj,���)�E�A�|i|Y}6i��@�}6$��@y}6!@�;�}6�� ��}6H�����el�?�������?���@T�?�����������h�?���`W,�?������u���� 9���������?)~6i��@ ~6�b;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5��<��5 W>��5�½i�5��@��1 �1)�5z�@I�5z�@i�5z�@��E�<MEG=Y�M8�9QUM�>��I��Q�aU�G��Q��Yy�]<}]�>I�a��m�:��e}��4�?��m�:��eu��� �e�@��m�?9�e�B��e��: �e@�:)�eP�:�Wq�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU}��� wx @zL��L��L��L�ɗ�@�A���<B� B��A����*B�`49�A��A���7�A��"��A�"C�5��*C�RC�C��CY��I��G�%>���ݡ>�����Ci�VnGI�i�1��]�;�ٺY��]�0A�ռmJj,���)�E�AY}:���@�}:Z��@y}: $�;�}:�"��}:H����@`{�?���@ٕ�?������?���@&�������w�?���@鷛?����~dt�����.B������{��?)~:���@ ~:�c;I~:��Cɫq�y)�y �}����I�yY����@y��/lG�xDUSBL response received:!U1,P E2D,000,007C5,186,80,80,AE,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 ��5�<M=K=Y�M=H�QUU�>��a��a�am�G��q��y���;}��>Iȹ�Ž���4�?�Že��� ƽk@����?9ƽB�ǽ= Ƚ��<)ȹ�WY�WYXa Xy�Wy:W�2W�*W��V�U�U����� @zL��L��L��L���@�Am�<Bi Bi�Ai*Bug59�Aq�Aq�Au�"��Aq"C�4��*C�RC�C��C�i��I��Yϝi9I��G�j>�� 9���� ����� ����� ��� � �u:Y� xZ1y� q�:�� �6�9� @��9��I���dGi�� �@������������k�; ��2�E���tJj,�t�)�E�Aɫ�髙)�� ������I��Y����@y���kG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u=i�u=���E������Ļ����=i��G�@��� ��)��I����@i����@�����M�@=Y�����QU��>�������a��G������y�����}��>I��������4�?���R��� ��A@���?9��;B����: ��I�:)���W)�W)X) X)�W1:W12W1*W1�V1U9U=�����@zLQ�LQ�LQ�LQ�Am=<Bi Bi�Au[g�*Bu�39�Aq�Au��7�Au="��Aq"C}3��*CyRC�C��C�Y��I��G)>���zJj,�O�)�E�A�|�|4<ɫy�y)�y �}����I�yY��g�@y���lG�xDUSBL response received:!U1,R,E3C,000,007CA,186,80,80,8A,FF �Fpublishing direction and range info������>���ɰ�Y#>鰹 ��)��� CI��y��G�B�����m>(���?��cK��?��������ٱ�����X9��v�?�����M¿���Q��?�����=���n� ����<)��I��y���X9��v����MbX9��Zd;�O������������ʡ����j�� ;A)�AI�Ai�A������(A��ux=M�==Y�QU��>�������a��G������y��}��>I������:���A��4�?����:���Q��� ���@����?9��aB���{�: ��(�:)��Q�:�W�WX� X��W�:W�2W�*W��V�U�U�����Y�@�P�*Q�G�B�Z��c�vG�R@�����?@���������Z���m>(���?��cK��?��������2Q����>:Q��Z����n���S@_�$D:�8�?���C���Z��b�ޠH��?p���>ӿ�kT�F��BQ��I�@ Q����Q���B�P�Ψ9?�P�ͨ9?�P�Q�9���Q�[�@"Q���@zL �=�L �=�L �Ԋ@�L �i@�AEq�<BI BI�AM0;*BM�69�AQ�AU��7�AU�!��AQ"C�2��*C�RC�C��C�Yϝ�9I��G�c>�� ���� ����� ����� ��� � �q:Y� [1y� ݏ:�� �6�ȷ�Jj,�4*�E�AɫQ�Q)�Q �U����I�QY��J�@y���lG��DNmea in: $SNTTA,,,,,165815.48*5C ��]��<��] 0=��]1>i�]��@��Y �Y)�]��@I�Yi�Y����M�M=Y�QU��>�����a��G����y�}��>Iȡ�ť���4�?�ť=��� ƥ5@����?9ƥ�B�ǥ��: ȥ��:)ȡ�m�qAdded new target pos. range: 82.139999 m, bearing: 342.499208 deg, deltaT: 4.432920 s, approachRate: 0.067676 m/s, LOS rate: 0.083468 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������T@U������w�?zL�L�L�L�A%��<B! B)�A-���*B-�69�A)�A-��7�A-!��A)"C55��*C9RC9C9�C9��Mx>��M�>�eQ�>9�aI�e�eGi�e��@��e=��a��e�D��e~�; �e;�EY���!9I�G%n>�s��Jj,� !*�E�AY}2t�@�}2/��@y}2�ߨ;�}29���}2H��������?����D\�?���`���?����!`����@��?����Ŗ?�����u�����M�����g��?)~2t�@ ~2�`;I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�]%nG����=i���=I��)�����k�=M�h=Y��D:QU��>�����a�G����y� 7�<} �>I����:�����4�?���:����� ��@��%�?9��B��.�: ��:)�R�:�WA�WAXA XI�WI:WI2WI*WI�VQUQUU����Yu�?zL��L��L��L�W�i@�A�_f<B� B��A� =*B��;9�A �A7�A-!��A"C4��*CRCC�C!Y�%"9I�1GM1>�� ?���� ����� ����� ��� � �a:Y� �X1y� /�:�� �6�� �Jj,��:*�E�AY}2 ��@�}2��@y}2���;�}2q6 ��}2H�����5��?�����Q�?���@�6�?���`�U���� ���?�����*�?����pv������E������7��?)~2 ��@ ~2��`;I~2��CɫY�Y)�Y �]����I�YY�}\�@y�}�mG��%~�MH=Y��:QU�>��!��!�a%�G��!��)y�-R�;}-�>I�1��5���4�?��5��� �5:@��E�?9�5�B��5��: �5M�:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu�����?�?zL��L��L��L���i@�A���<B� B��A�4=*B��:9�A��A���7�A�� ��A�"C�3��*C�RC�C��C�Y��$9I��G�%>�a9�aI�exfGi�eS�@��a��a��a��e�; �a��Jj,��T*�E�AY}>p�@�}>+�@y}>�-�;�}>?��}>H����@,��?��� &J�?����Uʚ?���`bN���� i��?������?������u������ơ��������?)~>p�@ ~>��a;I~<ɫY�Y)�Y �]����I�YY����@y��DnG��m�D=��mn>��m�M�i�m��@��i �m��@)�m��@I�m��@i�m��@��}��<M�B=Y�c�QU��>�����a��G����y�&2;}��>Iș����:�ŝJ��4�?����:�ŝ��� Ɲ�@����?9Ɲ�B�ǝ��: ȝV�:)ȝS�:�W��W�X� X��W�:W�2W�*W��V�U�U�����|��?zL��L��L��L��i@�A��f<B� B��A�,=*B��;9�A��A��7�A�x ��A�"C�2��*C�RC�C��C�i� I� Y�%P$9I�qG�[>��� ������ ������ ������ �� � ��:Y� �[1y� H�:�� h!6)� |�;�9� ����Jj,c�n*�E�AY}:`�@�}:�@y}:��;�}:s&��}:H����@��?����-?�?�����V�?��� �C�������?���@�Ԙ?���@m�u������C���������?)~:`�@ ~:�c;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}%nGI��)�����=i��=����1�Zd�?sh��|?ſ{�G�z�����"�=����)� ��ף�)��I��y���:��v�����v��/��{�G�z������T����xi����ף� ��?A)���AI���Ai���A�����������M�F=Y�����QU��>�������a��G������y���;}��>I������4�?��ݨ�� �6@�� �?9�B���: ���:)��W1�W1X1 X1�W1:W92W9*W9�V9U9UE�������?zL]}=�L]}=�L]���@�L]ojs@�Au� <Bq Bq�A} =*B}�;9�Ay�A}"�7�A} ��Ay"C�5��*C�RC�C��C)Y�l&9I�1GMR>���Jj,;r�*�E�AY}z �@�}z�-�@y}z���;�}zq��}zH����@���?��� �2�?����0��?����z7����@���?����{��?���`+Ut����@�������r��?)~z �@ ~z�4d;I~z��Cɫ���)�� ������I��Y�5 �@y�=�nG���94>���`����O��i����� ��)��I��i�����1=MH=Y� �^�QU �>�� ���a�G����y���;}�>I�!��-�:��%��4�?��-�:��%���� �%�@��-�?9�%B��%��: �%�:)�%T�:�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe����p@zLy�Ly�Ly�L}d�s@�A��$<B� B��A�Vg=*B��=9�A��A�D�7�A����A�"C�4��*C�RC�C��C��!9�!I�%@gGi�%��@��!��!��!��%��; �%D�EYϥ�&9I��G�B>�� ���� ����� ����� ��� � �\:Y� xZ1y� q�:�� i6)� �;��-�Jj,^M�*�E�Aɫ�髙)�� ������I��Y�� �@y���nG���%�M�]=Y�����QU�>�����a�G���� y� ���} �>I������4�?��v��� �S@��%�?9�3B��ܹ: �+�:)��WA�WIXI XI�WI:WI2WI*WQ�VQUQUU�����@�ReB*** querying acoustic contact ***�Pa�PazLy�Ly�Ly�Ly�A�r<B� B��A�;\=*B��=9�A��A�d�7�A�z��A�"C�3��*C�RC�C��C��̭Y>�̭>Y�%l&9I�1GU2>��W�Jj,�(�*�E�AY}2OF�@�}2 T�@y}2*��;�}2���}2H����� ��?����M�?�����/�?�������������?����/��?������q������ᢿ����Y��?)~2OF�@ ~2��c;I~2��Cɫ9�9)�9 �=����I�9Y����@y��VoG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)����%�=M-G=Y�-�úQU-�>��1��1�a5�G��9��9y�EV:<}E�>I�I��M��4�?��MO��� �M�@��]�?9�MLB��M�; �M�;)�I�W��W�X� X��W�:W�2W�*W��V�U�U������Q @zL��L��L��L�W�s@�A��H<B� B��A���=*B�m?9�A��A���7�A�%��A�"C�2��*C�RC�C��C�Y��(9I�G5->�� ���� ����� ����� ��� � �^:Y� DW1y� Y�:�� 26�9� @�-P�>9�)I�-hGi�-��@��)��)��)��-��; �-L�E)ݝ�z�CIݝ�z�Ciݙ��ݝ�=�ݝ�=�ݝ��.5��?�Jj,��*�E�A�|i|Y}B�[�@�}Bii�@y}B��};�}Bl���}BH����@x��?�����?����K�?��� $ �����,��?������?���@-�o�����:���������?)~B�[�@ ~B��c;I~B��CɫY�Y)�Y �]����I�YY����@y��oG�xDUSBL response received:!U1,P E3C,000,007CA,186,80,80,8A,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �Ýף��Ý�=�Ýj<�iÝף@�Ù ĝƣ@)ĝƣ@Iĝƣ@iĝƣ@��<M�=Y���r�QU��>�����!�a%�G��!��)y�5B�;}5�>I�a��u�:��e���4�?����:��em��� �e=@����?9�emB��e�G< �eI<)�eU�:�W��W�X� X��W�:W�2W�*W��V�U�U�����U� @zL��L��L��L��t@�A��<B B�A�=*B_>9�A!�A%��7�A%���A!"C-5��*C)RC)C)�CQi�YI�]mAY�) I�9 G] �>i���mGI��i����%xX�ٺ!��%�KA��i�Jj,+��*�E�AY}2�h�@�}2`v�@y}2<�Y;�}2�d��}2H��������?����T��?�������?���` ������t��?���@�E�?���@�2k����������$��?)~2�h�@ ~2<�c;I~2��CɫY�Y)�Y �]����I�YY����@y��MoG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����v��/���~j�t����~j�t������x�����D� ���ļ)��I��y������������A`��"�����Q������������Y�����u� ¥fA)¥ AI¥fAi¡������ A��5�y�M={=Y�=u�QU=?��A��A�aE�G��A��Ay�M*�;}M?I�Q��U ��4�?��U#��� �U�@��]�?9�U}B��Un�: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��a=�L��a=�L��˖@�L��+�@�A�V��;B� B��A���=*B��A9�A��A��7�A����A�"C�4��*C�RC�C��C�Y���(9I��G*>�� � ���� ����� ����� ��� � �Y:Y� 0Y1y� ��:�� �6��T�Jj,�� +�E�AY}vy�@�}1��@y}��';�}����}H������?�������?�����b�?����������`��?��� �"�?������d���� �������e��?)~vy�@ ~td;I~ɫ���)�� ������I��Y�-��@y�5�oG=xDUSBL response received:!U1,R,E5E,000,007D0,186,80,80,87,FF =Fpublishing direction and range info��5�ú>��1ɰ5�#>�1 �1)�5�CI�1y�5��B��5�������?�O����?��������ٱ1��M�=i�M�=�å���å�T��åj<�iå�@�á ĥ�@)ĥ�@Iĥ�@iĥ�@���<M�S=Y�5��QU��>������a��G������y��E�;}��>I������:������4�?����:��� ��� ���@����?9���B�����: ���:)��V�:�W�WX X�W:W�2W�*W��V�U�U�����ɫ@�P�*Q���B�Z��,s��DS@���tNn=@���������Z��������?�O����?��������2Q��ú>:Q��Z��v��{�S@�+��9�|)���Z������|�?b�DZ�kӿ\�TR{R��BQ��1�@ Q�E��Q�3�B�P��P�Ψ9?�P�Q�Q��@"Q�[�@zLA�LA�LA�LE>�@�A]9��;BY BY�A]��=*B]@9�A��A��7�A�0��A�"C�3��*C�RC�C��C�ܹ9ܹIܽ�hGiܽ:�@�ܽ=�ܹ�ܹ�ܽ��; ݽM�EYϵ�*9I��G�f>��}�Jj,=�#+�E�A�|(�|(Y}~���@�}~B��@y}~��&;�}~�o��}~H�������?����~��?����ͳ�?���������� ��?���@7��?������d�����m�����@:��?)~~���@ ~~��c;I~|ɫ���)�� ������I��Y�Mq�@y�MupG��TNmea in: $SNTTA,0.072663,,,,165819.92*4F �� _=M E=Y� ��QU�>�����a�G����y�%��;}%�>I�)��-���4�?��-��� �-N@��5�?9�-�B��-��: �-��:)�)�meuAdded new target pos. range: 82.500000 m, bearing: 342.333835 deg, deltaT: 4.419680 s, approachRate: 0.081454 m/s, LOS rate: -0.037417 deg/s, posRepo size: 4�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUu������T@U}����O�?zL��L��L��L�&Q�@�A���;B� B��A���=*B��C9�A��A�E�7�A����A�"C�2��*C�RC�C��C��̭)>�̭R>YϑI��G�b>�� � ���� ����� ����� �� � GG:Y� [1y� ݏ:�� D6���Jj,*p=+�E�AY}2��@�}2í�@y}2��;�}2���}2H������?������?������?��� ��������?���`�W�?����Ӿc�����,���������?)~2��@ ~2�Ud;I~2��CɫY�Y)�Y �]����I�YY��u�@y��ypG��5h�:M=Y=Y�=���QU=�>��A��A�aE�G��A��Iy�Mz�;}M�>I�Q��]�:��U���4�?��]�:��U��� �U�@��e�?9�U�B��U�: �UV�:)�UW�:�W�WX X�W:W2W *W �V U)U5��� K�?zLI�LI�LI�LM�d�@�AuD%�;By By�A}��=*B}`C9�Ay�A}|�7�A}���A�"C�5��*C�RC�C��C�Y�eS-9I��G�G>ܭ O�>9ܩ Iܭ �iGiܭ ݽ@�ܩ �ܩ �ܩ �ܭ ��; ݭ Y�E��� �=i�� =��Jj,{KW+�E�AY}2k��@�}2&��@y}2� ;�}21���}2H�����\&�?���@s��?���@�c�?���@.�����@�"�?�������?��� � a����`]����� ���?)~2k��@ ~2l/f;I~2��CɫY�Y)�Y �YI�YY����@y��qG��M �=��MI,?��M��>i�M��@��I �M��@)�Mƣ@I�M�@i�Mƣ@��]�"=MeH=Y�e�L�QUe�>��i��i�am�G��i��iy�uڂ;}u�>I�y��}���4�?��}��� �}�@����?9�}�B��}��: �}�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��r�@�A�6s�;B� B��A�*�=*B��D9�A��A���7�A�_��A�"C4��*CRCC!�CIY�U/-9I�iG�{>��� ����� ������ ������ ��� �� �J:Y�� �[1y�� H�:��� 36�e��Jj,{gq+�E�A�|i|�@Y}B ��@�}B�˳@y}BF\�:�}Bp=��}BH������0�?���`L��?����f��?���������`�,�?����RȜ?��� �KY������梿��� h��?)~B ��@ ~B�h;I~B��CɫY�Y)�Y �]����I�YY����@y��qG�����E���Ը?#��~j����������������=���㥽 �����)��I��y���{�G�z��i��|?5��:��v��������#�����q�����T� ©)$AIAidA�������A������nA����R�M�B=Y�����QU��>�������a��G������y����;}��>I������:�����4�?����:���ڱ�� ��Z@����?9���B�����: ��_�:)��X�:�W��W�X� X��W�:W�2W�*W��V�U�U����@]��?zL�z=�L�z=�L}l�@�LT`x@�A]J��;BY BY�A]c�=*B]�D9�Aa�Ae��7�Ae��Aa"Cm3��*CiRCiCq�Cqi�yI�yY�aI�yG�:>�t��Jj,�+�E�AY}R�ջ@�}Rv�@y}R�:�}RA��}RH���� 9?�?���`ߥ�?��� 綗?���`r�������:�?�����r�?���`<�C����� 碿����i��?)~R�ջ@ ~R� h;I~Pɫq�q)�q �u����I�qY��W�@y���qG�Í��<�Í�=�Í��iÍ��@�É č�@)č�@Ič�@ič�@��G=M�O=Y�[�QU��>�����a��G����y���;}��>Iȹ�Ž���4�?�޲�� ƽ@����?9ƽB�ǽ0�: Ƚ=�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�Lk�x@�A-P��;B) B)�A-��>*B-�G9�A1�A5A�7�A5���A1"C=2��*C9RC9C9�CA�I9�II�M`jGi�M�@��I��I��I��M��; �M_�EY�ep/9I�qG�>I ) ��=l����=�����=�����=��� �=Ce:Y�=�X1y�=/�:��=�96)�=M�;�9E��0��Jj,�ݤ+�E�AY}2z��@�}25�@y}2e�5��}2BY��}2H������S�?����ɋ�?��� z��?����ǎ�����O�?����"0�?�����F?��� .*�����@���?)~2z��@ ~2<�g;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�qGI��)�����R=i���= ������_�<MT=Y��[�QU�>��!��!�a%�G��!��)y�-�.<}-�>I�1��5��4�?��5���� �5�@��=�?9�5B��5w�: �5b�:)�1�W��W�X� X��W�:W�2W�*W��V�U�U�����-@zLI�LI�LI�LM��x@�Ae���;Ba Ba�Ae>*Bm�G9�Ai�Au��7�Au���Aq"C�5��*C�RC�C��C�YρI��G�>����Jj,���+�E�A�|�|�;Y}6;�@�}6�#�@y}6�w���}6HR��}6H������f�?��� �s�?�����B�?��� ev�����Xb�?����%��?������^?���@W顿�������?)~6;�@ ~6,fg;I~6��CɫQ�Q)�Q �U����I�QY��y��������@AY��ZF�QU��>�������a��G������y���<}��>I������:������4�?����:������� ���@����?9��7B���=�: ��I�:)��Y�:�W �W X X �W :W2W*W�VUU�����'@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=�y@�AM��;BQ BQ�AQ*BU�H9�AY�A]ӱ7�A]u��AY"Ce4��*CaRCaCa�CiY�5�19I�AG]�=�U N�>9�Q I�U (kGi�U "�@��Q ��Q ��Q ��Q �Q ��E/����E�����E�����E4�� �E�t:Y�E[1y�Eݏ:��E�$6)�E��;�x��Jj,:��+�E�AY}2=,�@�}2�9�@y}2xq3��}2//��}2H������s�?���`mb�?���@�Ó?��� �d�����qo�?��� ��?��� -nf?���`�$���������?)~2=,�@ ~2�g;I~2��Cɫ9�9)�9 �=����I�AY����@y��rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��e��=��e����eC�i�e¥@��a �a)�e�@I�e�@i�e�@��u�<Mu�<Y�u��QU}�>��y��y�a}�G��y��y�&�;}��>Iȉ�ō��4�?�ō���� ƍ<@����?9ƍQB�Ǎ��: ȍ�:)ȉ�W�WX X �W�:W�2W�*W�VIUQUU������ @zL��L��L��L�yHy@�A-�[�;B) B1�A5>*B5�F9�A1�A5(�7�A56��A1"C=3��*CARCaCa�CaY�U�19I�iG�{>���Jj,�m�+�E�AY}2�6�@�}2�D�@y}2dl��}2����}2H�����uz�?�����Y�?���`��?���@\\�����zu�?����� �?����|�m?������������u��?)~2�6�@ ~2��h;I~2��Cɫ9�9)�9 �=����I�9Y�}@�@y�}�rG�xDUSBL response received:!U1,P E5E,000,007D0,186,80,80,87,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �����������?y�&1�|����Q��?�����>���`� ���u<)��I��y����Zd;����ʡE���X9��v�������y������������� ��� A)��5AI���Ai���A�������A��M�<MM$=Y�U��QUU�>��Q��Q�aU�G��Y��]SA��Yy�e,;}e�>I�i��u�:��m ��4�?��u�:��mA��� �mU@��}�?9�m�B��ml�: �m��:)�mZ�:�W��W�X� X��W�:W�2W�*W��V�U�U����`Т @zLU��=�LU��=�LU|[�@�LU �Y@�A��)�;B� B��A��>*B�DI9�A��A���7�A����A�"C=2��*C9RCACA�CIY�m 49I�� G� �>��l ����������������� ��:Y�xZ1y�q�:���6�9�@���Kj,II,�E�A�|i|�@Y}B�8�@�}BdF�@y}BRn���}B����}BH����@v{�?�����X�?����� �?��� �Z�����*v�?����_��?���@ŭs?�����������@E��?)~B�8�@ ~B�h;I~B��CɫY�Y)�Y �]����I�YY����@y���sG鮥a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Í�H��Í��=�Ít�iÍ��@�É č��@)ĉIč�@iĉ��:�=M��=Y�x�QU� ?�����a��G����y�-:}� ?Iȹ�Ž���4�?�Ž���� ƽ�@����?9ƽ�B�ǽ��: Ƚ+�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����} @zL�L�L�LX�Y@�A-|��;B1 B1�A5l5>*B5�Q9�A1�A5ղ7�A5���A9"C=5��*CARCACA�CA��9��I���kGi��Ŀ@��������������; ��W�E)ݙ�Iݙ�iݙ��ݝ�=�ݝ�=�ݝ���4Y�)I�9GU>�� Kj,F$&,�E�AY}2�8�@�}2oF�@y}2?.���}2���}2H�����u{�?���@EY�?���@#��?�����Z������v�?���@-۟?����w?����$ѡ��������?)~2�8�@ ~2�g;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}wsG�xDUSBL response received:!U1,R,E0D,000,007D2,186,80,80,C8,FF �Fpublishing direction and range info������>���ɰ��$>鰁 ��)���HCI��y��=�B������}�?�A�|7��?��������ٱ����M�[=Y�s�QU��>�����a��G����y���k7}��>I������:���~��4�?����:���=��� ��@����?9���B���H�: ����:)��[�:�W��W�X� X��W:W2W*W�VU U ������@�P*Q=�B�Z��U$�6�R@�$~�lA@���������Z���}�?�A�|7��?��������2Q���>:Q�Z��:�c.T@2y��1�uQ�$�U��Z�ȓk$D�?���;˿&�2���BQ�3�@ Q���Qs�B�PӨ9?�P�P-���QQ��@"Q�@����>���i�=nGI�UfpAi�i����I�ٺ�fpA���@=AzL��L��L��L��Y@�A�V�;B� B��A�.2>*B�FK9�A��A�=�7�A����A�"C�4��*C�RC�C��C�Yϵ269I��G��>������������������������ ��i:Y��X1y�/�:���6���Kj,�@,�E�AY}�=�@�}�K�@y}�ۻ�}:���}H������~�?���@�U�?��� �=�?���@�V�����qz�?�������?����/r{?�����3�����`���?)~�=�@ ~_,g;I~��Cɫ�)� �����I�Y�U��@y�U%sG��TNmea in: $SNTTA,0.065260,,,,165824.36*4E I��)���A)���= ���=��}�M}0=Y�}��QU}�>�����a��G����y�ζ:}��>Iȑ�ŕÿ�4�?�ŕ��� ƕ7@����?9ƕ�B�Ǖ��: ȕ��:)ȑ�m�qAdded new target pos. range: 82.620003 m, bearing: 347.716461 deg, deltaT: 4.385617 s, approachRate: 0.027363 m/s, LOS rate: 1.227336 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W�VU��� ��T@U ����J��?zL!�L!�L!�L%��Y@�A=�o;B9 B9�A=�)>*B=@M9�AA�AE��7�AE���AI"C]3��*CaRCiCi�CyYϹI��G�g>�� 9�� I�� �lGi�� g�@��� ��� ��� ��� ��; �� Q�E�}+Kj,��Y,�E�AY}::R�@�}:�_�@y}:Bs���}:�z���}:H���� ʊ�?��� �E�?���@x��?�����F���� ʆ�?����h��?����U�~?�����M�����`���?)~::R�@ ~:��f;I~:��Cɫ9�9)�9 �9I�9Y�u)�@y�}�sG��}�����}V>��}94>i�y��y �}O�@)�}�@I�}�@i�}�@���&=M�G=Y�W�QU��>�������a��G������y����;}�>I���%�:��a��4�?��%�:������ �n @��-�?9�#B�� �: �7�:)�\�:�WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]�����8�?zLq�Lq�Lq�Lu�Y@�A�ܲU;B� B��A��:>*B��M9�A��A���7�A�j��A�"C�2��*C�RC�C��C�YυV69I��G�>>���7�������������������� ��$�:Y��[1y��ݏ:���6�<TKj,5�s,�E�AY}6Vv�@�}6��@y}6����}6����}6H�����i��?�����(�?������?��� �)���� ���?��� �+�?����݁?����>ڠ�����?��?)~6Vv�@ ~6ľf;I~6��Cɫ9�9)�9 �=����I�9Y�}&�@y�}�sG������S㥛�?�Zd;�Ͽ:��v��������$>����~� ���Լ)��I��y���y�&1����V-������MbP����`e����h������� ��KA)���AI���Ai��������pA����M�W=Y���Z�QU��>�����a�G���� y�A<}�>I������4�?������ �t @��-�?9�EB��;�: �7�:)��WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYU]��� � �?zL}4�=�L}4�=�L}m�@�L}w�Y@�A�IB:;B� B��A��:>*B�JO9�A��A�X�7�A�P��A�"C�5��*C�RC�C��C�Yϥs89I��G�!>�<#Kj,���,�E�AY}6���@�}6t��@y}6�J$��}6�_��}6H���� 0��?���`��?���@��?����������ڶ�?���@dĢ?����?��?����y����������?)~6���@ ~6�Mg;I~4ɫ9�9)�9 �=����I�9Y�eR�@y�e�sG���i���=������mA��5(\>��5�ļ��5,�i�5G�@��1 �1)�5O�@I�5O�@i�5O�@��Ei<MEV=Y�M;`�QUM�>��I��I�aU�G��Q��Qy�]�~<}]�>I�a��eڶ�4�?��e���� �e{ @��m�?9�eiB��eI�: �e��:)�a�W��W X X�W:W2W*W�VUU�����a�?zL9�L9�L9�L=�Z@�Am�(;Bq Bq�Au@>*BuBO9�Aq�A}��7�A}8��Ay"C�4��*C�RC�C��C�ܝM�>9ܙIܝ�mGiܝ �@�ܝ=�ܙ�ܙ�ܝ��; ݙY���89I��G�F>��=� ����=�����=�����=W�� �=G�:Y�=d\1y�=��:��=z(6)�=o�;�9E��lf)Kj,Dm�,�E�A�|i|Y}6�Ӽ@�}6��@y}6�8��}6�0��}6H���� ���?��� G��?���`{��?����?����� ���?���@v<�?������?����������@���?)~6�Ӽ@ ~6��h;I~4ɫ9�9)�9 �=����I�9Y����@y��{tG��u��<MuG=Y�}G�QU}�>��y���a��G����y�'\<}��>Iȑ����:�ŕ׳�4�?����:�ŕ��� ƕ� @����?9ƕ�B�Ǖ=�: ȕI�:)ȕ]�:�W��W�X� X��W�:W�2W�*W��V�U�U������X�@zLi�Li�Li�LmxZ@�A����:B� B��A��L>*B�\P9�A��A�+�7�A�$��A�"C�3��*C�RC�C��C�YϽ�:9I��G��N0Kj,VG�,�E�AY}:-��@�}:��@y}:X@H��}:\�4��}:H��������?��� R��?�����Z�?��� ������2��?��� ��?��� ��?��� =�������k��?)~:-��@ ~:�'j;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}?tG��5s�M=N=Y�=��QU=�>��A��A�aE�G��A��Ay�M8#<}M�>I�Q��U��4�?��U���� �U� @��]�?9�U�B��U�: �Uӻ:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�6�Z@�A��c�:B� B��A��F>*B��P9�A��A���7�A���A�"C�2��*C�RC�C��C�Y���:9I�G}>ܑ 9ܕ y�CIܕ HnGiܕ ��@�ܕ =�ܑ �ܑ �ܕ ��; ݕ Y�EI�� )�� ��=8 ����=�����=�����=��� �=��:Y�=xZ1y�=q�:��=�6)�=��;��x6Kj,W%�,�E�AY}2p�@�}2,�@y}2YYS��}2��"��}2H�����a��?��� =��?����:)�?���`7������;��?�����\�?��� �j�?����mW���������?)~2p�@ ~2ɑj;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y��htG������I��)���A)��> ����}C�<��}O�=��}xi=i�}¥@��y �}�@)�}���I�}�@i�}�@���<M�6=Y�ƺQU��>�����a��G����y���;}��>I���� �:������4�?�� �:���@��� ��� @���?9���B�����; ��3�;)��^�:�W1�W1X1 X9�W9:W92W9*W9�V9UAUE�����0@�RMB*** querying acoustic contact ***�PQ�PQzLa�La�La�Le#�Z@�A}��:By By�A}�J>*B}�N9�A��A��7�A� ��A�"C�5��*C�RC�C��C�Yϵ�<9I��G�h>�F�<Kj,���,�E�A�|�|Y}6� �@�}6��@y}6Yc��}6%���}6H��������?�������?���@?��������������?���`��?����c�?���������� ���?)~6� �@ ~6��h;I~4ɫy�y)�y �}����I��Y��k�@y��ZuG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��u�/�$���{�G�z��/�$��?��u����u�#� �u,=)�qI�qy�u��I+���D�l�����Zd;�O�����u94���uO����uj�� �u A)�u~AI�u�Ai�u�A��q��u�A���r=M�J=Y���QU��>�����a��G����y�I�:}��>Iȩ�ŭ��4�?�ŭ_��� ƭ @����?9ƭ�B�ǭ+�: ȭ�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�����U @zL���=�L���=�L�Ѽ�@�L�/�{@�A�pU:B� B��A�?c>*B�_S9�A��A�}�7�A���A�"C�4��*C�RC�C��C��̽G>�̽?>Y��I��Gk>��]j����Y��Y��]��� �]�y:Y�Yy�Y��]�6�9e@�0�CKj,0�-�E�Aɫ�髩)�� ������I��Y��w�@y��guG�xDUSBL response received:!U1,P E0D,000,007D2,186,80,80,C8,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 �Q9�QI�UoGi�UO�@��U=��Q��Q��U��; �Uo�E�����=���/>����T=i����@��� ��n�@)��O�@I��O�@i��O�@��=�@;M=1=Y�E���QUE�>��A��A�aM�G��I��Iy�U���}��>Iȡ����:�ť���4�?����:�ť���� ƥm@����?9ƥB�ǥ��; ȥH�;)ȥ_�:�W�WX X�W:W2W*W�VU!U%���@�(@zL��L��L��L��A��5�8B� B��A��d>*B�uQ9�A��A���7�A��A"C3��*CRCC�C!Y�} �=9I�� G� �>��IKj,x�(-�E�AY}2?�@�}2�&�@y}2/ℼ�}2T���}2H����� ��?���@���?�����g?��� ������`I��?�����?�?��� ��?����������`���?)~2?�@ ~20�f;I~0ɫ9�9)�9 �=����I�9Y�]��@y�]�uG�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i���=I��)��������nA���<M��=Y����QU�?�����a��G����y�@�;}�?Iȡ�ť���4�?�ť���� ƥ@����?9ƥ2B�ǥ�: ȥU�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���� �B@zL��L��L��L� |@�AzXչB B�A1j>*BZZ9�A�Ag�7�A��A"C%2��*C!RC)C)�C)Y�%5?9I�1G}7>�j�PKj,>�B-�E�A�|i|��"�����"�����"�����"��� �"�p:Y�"0Y1y�"��:��"p26Y}B�.�@�}BD<�@y}B=F���}B�^��}BH����@N�?���@>��?����R�t?����R�������?�����ˢ?���@���?����rʠ�����_��?)~B�.�@ ~B��g;I~B��Cɫ�髙)�� ������I��Y����@y���uG�xDUSBL response received:!U1,R,E4A,000,007D7,185,80,80,7D,FF �Fpublishing direction and range info���E��>���ɰ�i$>��+�> ��)����BI��y��ץB�����2v�հ�?�0���?��������ٱ���+j<M�9=Y���QU��>�������a��G������y����;}��>I���5�:��ۦ�4�?��=�:��ڿ�� �i@��E�?9�SB��< ��<)�`�:�W��W�X� X��W�:W�2W�*W��V�U�U�����D@�P�*Q�ץB�Z����8c�;S@Ft ��>@���������Z���2v�հ�?�0���?��������2Q�E��>:Q��Z��S�w6�%T@"�z��3���F��?�Z��D����?��uο�sv2g�n?BQ��u�@ Q���Q�.�B�P�Ѩ9?�P�Ө9?�P�0���Q�-���Q���@"Q���@zL)�L)�L)�L-?|@�A��w�B� B��A��p>*B��R9�A��A��7�A���A�"C�5��*C�RC�C��C�YϵY?9I��G��>�A 9�A I�E �oGi�E ��@��A ��A ��A ��E ��; �E {�E)�ňy�CI�ňy�Ci�������������ň��4�)�VKj,�q\-�E�AY}b�M�@�}b�[�@y}b�����}b�w$��}bH����@V�?���`�|�?�������?�����z���� ��?���@ 9�?����Uޒ?���ଌ��������?)~b�M�@ ~bm�i;I~`ɫ���)� �����I� Y�u��@y�}�uG��DNmea in: $SNTTA,,,,,165828.82*54 �����~j�t������S㥛�y�&1��?����D����/ݼ ��`e<)��I��y���V-���i��|?5���I+�������m�����q����94� ���A)���AI��1Ai���A������A���j�M�G=Y���<�QU��>�������a��G������y��<}��>I�����4�?��2��� �)@���?9�uB����: �n�:)��mEuAdded new target pos. range: 82.919998 m, bearing: 346.388536 deg, deltaT: 4.535816 s, approachRate: 0.066139 m/s, LOS rate: -0.292764 deg/s, posRepo size: 4�WA�WAXA XI�WI:WI2WI*WI�VQUU���@�T@UU���`���?zLu�=�Lu�=�Lu��{@�Lu��T@�A�<�ĺB� B��A��j>*B��U9�A��A�i�7�A���A�"C�4��*C�RC�C��C�YϵRA9I��G�f>i���mGI� qAi�! ��M DS�ٺM qA��M �FA�1�\Kj,�Pv-�E�A��.�����.�����.�����.��� �.�:Y�.�Y1y�.�:��.�86Y}b�a�@�}b�o�@y}b�m���}bo�4��}bH���� �)�?��� ;l�?����52�?����\j�����{ �?����k�?����dm�?����������@���?)~b�a�@ ~b̬h;I~`ɫ�髙)�� ������I��Y����@y���uGI�9)�9)�U�= �U�=���M�c=Y��ƺQU��>�����a��G����y���;}��>Iȩ�ŭ���4�?�ŭ���� ƭ� @����?9ƭ�B�ǭ �: ȭ8�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�LF�T@�A���B B!�A%jg>*B%&V9�A!�A%ܸ7�A%0��A)"C-3��*C1RC1C1�C1Y�vA9I�G5>�E�cKj,S �-�E�AY}2i�@�}2�v�@y}2�3���}2�D,��}2H������-�?�����f�?�����?����Rd���� W%�?����w]�?����"�?����ꅥ�����0��?)~2i�@ ~2.�g;I~2��CɫY�Y)�Y �]����I�YY��7�@y��TvG��%@��%@��%@���T=M�K=Y���QU��>�����a��G����y��;}��>Iȡ����:�ťܞ�4�?����:�ť���� ƥ� @����?9ƥ�B�ǥ��: ȥ��:)ȥa�:��9��I��<pGi��B�@���=����������; ����E�W��W�X� X��W�:W�2W�*W��V�UU����#e�?zL!�L!�L!�L%��T@�A=��+�B9 B9�A=�|>*B=�V9�AA�AEb�7�AEK��AA"CM2��*CIRCQCQ�CYY�II�YG}>�WjKj,��-�E�AY}F�u�@�}F\��@y}F�3���}F����}FH������4�?���@�\�?����^m?����Z����@�.�?�������?������?����Q����N��?)~F�u�@ ~FDCi;I~D��^�����\��\��^��� �^c|:Y�\y�\��^x76)�^H�;�9b�ɫQ�Q)�Y �YI�YY��X�@y��}vG��U]'<MUM=Y�U�ȺQUU�>��Y��Y�a]�G��Y��ay�e�{;}e�>I�i��m!��4�?��m3��� �mo @��}�?9�m�B��m: �mf�:)�i�W��W�X� X��W�:W�2W�*W��V�U)U-����R��?zLI�LI�LI�LMNU@�A]��Q�BY BY�Aeo�>*BeXW9�Aa�Ae�7�Ael��A�"C�5��*C�RC�C��C�Yυ�C9I��G�!>�N�pKj,���-�E�AY}2.��@�}2ꍵ@y}2٪��}2X\��}2H������:�?����hT�?����t�I�����MQ������6�?���@%�?�����Z�?�����(�����@���?)~2.��@ ~2Ysi;I~2��Cɫ9�9)�9 �=����I�9Y����@y���vG��V>i��=��-mA��)��]3n<M]J=Y�]}ߺQU]�>��a��a�ae�G��a��iy�m�P;}m�>Iȁ����:�ŅY��4�?����:�Ņ���� ƅ) @����?9ƅ�B�Džv�; ȅ��;)ȅb�:�W��W�X� X��W�:W�2W�*W��V�U�U�����L��?zL�L�L�LN!U@�AMn�x�BQ BQ�AUq�>*BUVW9�AQ�AUx�7�A]���AY"C]4��*CaRCaCa�C�YρI��G�>>��9��I��qGi����@���=���������/�; ����E��wKj,=��-�E�AY}E���@�}Ec��@y}E�����}E;�ټ�}EH�����(G�?�����B�?������a������?������C�?���@_P�?�������?���� .������K��?)~E���@ ~E>�h;I~E��CɫQ�Q)�Q �U����I�QY����@y���vG����+�����?�rh��|��{�G�z�������=������ ���#�)��I��y���<�O��n��X9��v����~j�t��?���t�����������D< ¥� A)¡I¥�Ai¥+A������QA�������������=����>��+=i�p�@�� ���@)���@I�n�@i�n�@��-�<M-0=Y�-3�QU-�>��1��1�a5�G��1��9y�=�;}=�>I�A��E���4�?��E���� �E� @��U�?9�EB��E: �E��:)�A�W��W�X� X��W�:W�2W�*W��V�U�U�����HU@zL��H=�L��H=�L�e�v@�L�V%O@�A��8��B� B��A���>*B�X9�A��A��7�A����A�"C�3��*C�RC�C��C�YϥF9I��GL>��� ������ ������ ������ ;�� �� ql:Y�� �]1y�� ��:��� z%6�9� @�}>}Kj,���-�E�AY}>8��@�}>�ĵ@y}>$髼�}>�S���}>H�����@Z�?����@'�?�����������$������U�?����>�?��� �|�?�����'�����@g��?)~>8��@ ~>��h;I~<ɫy�y)�y �}����I�yY����@y���vG������AA���p�;M�y=Y���}9QU�?�������a��G������y���L<}�?I�����:���3��4�?���:������� ��� @���?9�� B�����: ����:)��c�:�W)�W)X) X)�W1:W12W1*W1�V9U9U=����/�@�REB*** querying acoustic contact ***�PA�PAzLY�LY�LY�L]�ZO@�Au�=��B� B��A�9�>*B�*]9�A��A���7�A����A�"C�2��*C�RC�C��C�Y��I��G�>��&�Kj,�h.�E�AY}F��@�}F��@y}F�I���}F����}FH�����t�?����g�?�����1q?����l�����`m�?�������?���`�(�?��� \�����@d��?)~F��@ ~F�=i;I~F��Cɫa�i)�i �m����I�iY�}��@y�}wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��)���= ���=��=����=7�=��=�нi�=3�@��9 �=@)�=n�@I�9i�9��ED1<MMD=Y�M�H:QUM�>��Q��Q�aU�G��Q��Yy�]xZ<}]�>I�a��e���4�?��e���� �e@��u�?܁9܁I܅�qGi܅��@�܁�܁�܁�܅7�; ݅��E9�e4B��e��; �e�;)�a�W��W�X� X��W�:W�2W�*W��V�U�U����@M @zL��L��L��L���O@�A��ȷ�B B �A ��>*B �W9�A�A�7�A.��A"C5��*CRC!C)�C9Y�]]H9I�iG�Z>��� � ����� ������ ������ ��� �� ߊ:Y�� [1y�� ݏ:��� 16)�� 1�;�9� ���`�Kj,8�+.�E�AY}BH �@�}B�@y}BD���}Bi�4��}BH����@��?����?��?���� ~?����o��������?���@,��?���`h�?���`��������:��?)~BH �@ ~BRQf;I~B��CɫY�Y)�Y �]����I�YY��>�@y���wG�xDUSBL response received:!U1,P E4A,000,007D7,185,80,80,7D,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 ��-G�<M5J=Y�E��QUM�>��Y��a�ae�G��i��yy��4<}��>Iȩ�ŭ��4�?�ŭ���� ƭq@����?9ƭIB�ǭi�; ȭ��;)ȩ�W��W�X� X��W�:W�2W�*W�VUU ����6' @zL!�L!�L!�L%��O@�A=d�˻B9 B9�A=Ɏ>*B=�Y9�Aa�Ae��7�Aet��Aa"Cm4��*CiRCiCi�CqY�uUJ9I��G��>��9�Kj,�"E.�E�AY}F�4�@�}FmB�@y}F����}F�:��}FH�����x��?���@@��?����!`}?���@������z��?�������?�����P�?����dZ���������?)~F�4�@ ~F�f;I~F��Cɫa�a)�i �m����I�iY���@y��fwG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}�F�M�G=Y�"�QU-�>��1��1�a5�G��1��9y�=\H<}=�>I�A��m�:��E9��4�?��m�:��E��� �E�@��u�?9�E]B��E;�; �Em�;)�Ed�:�W��W�X� X��W�:W�2W�*W��V�U�U����@�@zL1�L1�L1�L5�P@�Am_�Bi Bi�Au=�>*Bu|\9�Aq�AuI�7�Au���Aq"C}3��*CyRC�C��C�Y�}�J9I��G�>>�y9�yI�}0rGi�}��@��}=��y��y��}/�; �}��E��� ������ ������ ������ G�� �� �~:Y�� �[1y�� H�:��� �&6)�� }�;�ld�Kj,e_.�E�AY}�:`�@�}��m�@y}�4���}�@�/��}�H����@N��?�������?������q?�����������`��?�����Ө?�������?����o����`I��?)~�:`�@ ~��e;I~���Cɫq�q)�q �yI�yY����@y��xG�xDUSBL response received:!U1,R,DB2,000,007DC,189,80,80,BC,FF �Fpublishing direction and range info�����?���ɰ��$>��7�> ��)���<CI��y��p�B����k/���?�C�ރ�?��������ٱ���dNmea in: $SNTTA,0.323459,0.323528,,,165833.26*57 ���/�$��?k�t�ƿZd;�O�����,=�� 0� �j��)�I�y����~j�t�����Q���+��������������u����� ��A)��AI�5Ai��A�����A��}�'���}/ݼ��}j��i�} �@��y �}���)�}�@I�}�@i�}�@��c�=M�"=Y�f'�QU��>�����a��G����y�84<}��>Iȩ�ŭ9��4�?�ŭ=��� ƭ� @����?9ƭ}B�ǭY�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U������@�P�*Q�p�B�Z��,����R@\8�_}D@���������Z��k/���?�C�ރ�?��������2Q���?:Q��Z���J���T@��)�����f�-ŵ��Z���F\���?��*5#_����.��P�BQ����@ Q����Q��B�P�ר9?�P�Ѩ9?�P����Q�0���Q���@"Q���@zL���=�L���=�L����@�L�c�u@�A�+K��B� B��A�W�>*B��Y9�A��A��7�A���A�"C�2��*C�RC�C��C�Y��NL9I��G��>�$��Kj,��x.�E�A�|(i|*�@Y}V�x�@�}V���@y}V�Kü�}V-��}VH����`���?����0��?������Ҿ����������D��?����7G�?�����h�?����9�������=��?)~V�x�@ ~V�$d;I~V��Cɫ�髑)�� ������I��Y����@y��xG��ž;M��=Y�^ �QU�?�����a��G�����y���<}�?I������:�����4�?����:������� ��� @����?9���B���V�: ��A�:)��e�:�m qAdded new target pos. range: 83.220001 m, bearing: 356.109042 deg, deltaT: 4.479733 s, approachRate: 0.066969 m/s, LOS rate: 2.169885 deg/s, posRepo size: 4�W �WX X�W:W2W*W�VU�����T@U�������?zL9�L9�L9�L=�&v@�A����B� B��A�D�>*B��c9�A��A�x�7�A�K��A�"C�5��*C�RC�C�C i�I�Y���L9I� G-N>��� [ ����� ������ ������ ��� �� ^�:Y�� �X1y�� /�:��� -T6�9� @�|t�Kj,���.�E�AY}2\x�@�}2��@y}2�Cż�}2�$���}2H�����a��?�������?������h����@m����� ���?�����%�?����㧘?��������������?)~2\x�@ ~2��c;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�wG�%L�>9�%x�CI�%�rGi�%*�@��%=��!��!��%;�; �%��E)ݱ�Iݱ�iݱ��ݵ�=�ݵ�=�ݵ��5�ý�@��ýj<>�ý�P�iý��@�ù Ľ��@)Ľ��@IĽ��@iĽ��@����#�M�I=Y����QU��>�������a��G������y���A�}��>I�����H��4�?������� ���@����?9���B���+�: ��Y�:)���W�WX X�W:W!2W!*W!�V!U!U-����*��?zLA�LA�LA�LEv@�A]��Ba Ba�Ae.�>*Be�\9�Aa�Ae�7�Ae���Ai"C}4��*C�RC�C��C�Yυ�L9I��G�>>I�� )�� �瞪Kj,独.�E�AY}F�r�@�}F���@y}F��ü�}F:����}FH�����k��?����(��?����֦p�����������_��?�����"�?���@�v�?���@ɸ������5��?)~F�r�@ ~F>�e;I~F��C��Uݡ>��]�Cɫ�髙)�� ������I��Y��y�@y���wGi���lGI��fpAi���=DM�ٺ=fpA��=�@A �a�a���a�M�O=Y����9QU��>� ??9��3A�� �� �a �G�� ��y�պ}�>I���%�:�����4�?��%�:������ ��@��-�?9��B����: ��:)�f�:�Wa�WaXi Xy�Wy:Wy2Wy*W��V�U�U���� ��?zL��L��L��L� v@�A���B� B��A�}�>*B�-\9�A��A���7�A���A�"C�3��*C�RC�C��C�YϽ�N9I��G�H>��� ������ ��� ��� ��� �� �m:Y�� y�� ��� �L6���Kj,���.�E�AY}2�j�@�}2Vx�@y}2HP���}2P���}2H�������?���� ��?�����Fm����`������ྐྵ�?�����7�?����v)�?����g�����@-��?)~2�j�@ ~2#lg;I~2��CɫA�A)�I �M����I�IY����@y��@xG�õ<�õ3�>�õX9>iõ�@�ñ ĵԸ@)ĵn�@Iĵn�@iĵn�@�����<M�D=Y���@:QU��>�������a��G������y���%�}��>I��������4�?������� ���@����?9���B���4�: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L���u@�A�^'�B� B��A�Y�>*B�j]9�A��A�N�7�As��A"C2��*C)RC)C)�C1Y��N9I�G5.>��9��I��\sGi����@���=���������/�; ����E���Kj,�S�.�E�AɫI�I)�I �II�IY��T�@y���xG�����~j�t��?�Zd;���� �rh�?�����=������ ��C�<)��I��y���y�&1�������K��{�G�z�?���`弹��^������#< �� A)��AI��Q Ai��+A������3A���� =M�;=Y�����QU��>�������a��G������y�����}��>I��� �:��?��4�?�� �:��F��� �O@�� �?9� B���: ���:)�g�:�W1�W1X1 X1�W1:W12W9*W9�V9U9UE��� 2l�?zL]�=�L]�=�L]�>�@�L]5 u@�AuZ�1�Bq Bq�Au$�>*B}�_9�Ay�A}��7�A}���Ay"C�5��*C�RC�C��C�Y�}O9I��G�>>��� >����� ������ ������ G�� �� v:Y�� �[1y�� H�:��� �]6�.ܽKj,%"�.�E�AY}6,X�@�}6�e�@y}6McǼ�}6� ��}6H��������?���ૢ�?�����]�����J����� '��?���@E5�?���`��?���@�/���������?)~6,X�@ ~6Tf;I~6��Cɫ9�9)�9 �=����I�9Y�u �@y�}�xG����=i���=���nA���mA�����Mn=Y�D �QU?����!�a%�G��!��!y�-Lֻ}-?I�1��5��4�?��5p��� �5�@��=�?9�5- B��5��: �5M�:)�1�W�WX X�W:W2W*W!�V!U!U%����=�@zLA�LA�LA�LE��t@�AU� =�BY BY�A]�>*B]qa9�AY�A]��7�AeP��Aa"Ce4��*CiRCiCi�CqY�-<Q9I�9G]>����Kj,;/�E�AY}F�i�@�}F�w�@y}F��Ǽ�}F`���}FH�����p��?��� ۓ�?����^�X�����r�����ஷ�?��� ���?���@��?����5����������?)~F�i�@ ~F��d;I~F��Cɫa�i)�i �m����I�iܹ9ܹIܹiܹ�ܽ=�ܽRD�ܹ�ܽ=�; ݽ��EY���@y���xG��EY���EG�>��E��=i�E@��A �E��@)�AI�Ai�A��Un��M]F=Y�]��QU]�>��a��a�ae�G��a��ay�mI�;}m�>I�q��u���4�?��u���� �u�@��}�?9�uU B��uӻ: �uD�:)�q�W��W�X� X��W�:W�2W�*WI�VIUIUU������@�R]B*** querying acoustic contact ***�PY�PYzL��L��L��L�au@�A��H�B� B��A���>*B�_9�A��A�:�7�A����A�"C�3��*C�RC�C��C�Y��`Q9I��G J>��� � ����� ������ ������ �� �� :�:Y�� xZ1y�� q�:��� � 6)�� ��;�9� ��g��Kj,��-/�E�AY}>���@�}>Y��@y}>9�Ƽ�}>A#��}>H�����:��?�����q�?����tFI������l����`���?���@�.�?���`�ט?��� b����� N��?)~>���@ ~>_�e;I~>��CɫY�Y)�Y �]����I�YY����@y��)yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���=M%N=Y�%r9QU%�>��)��)�a-�G��)��1y�=�Q<}=�>I�A��M�:��E�4�?��M�:��E0��� �E:@��U�?9�E{ B��EK; �E�;)�Eh�:�Wy�W�X� X��W�:W�2W�*W��V�U�U����`��@zL��L��L��L�8Wu@�A���R�B� B��A�'�>*B��b9�A��A���7�A�J ��A�"C�2��*C�RC�C��CY�}S9I�!GM1>I�� )�� AA�$��Kj,��G/�E�AY}z�Ⱦ@�}z=ֶ@y}zW�Ƽ�}z�z��}zH��������?�����D�?����@G4?���@%@��������?����sD�?��� Kؘ?���@�������`���?)~z�Ⱦ@ ~z�g;I~z��Cɫ�)� �����I�Y�U��@y�U�yG]xDUSBL response received:!U1,P DB2,000,007DC,189,80,80,BC,FF ]Command Ack]BRequesting micromodem ping code 2i�a��aI�a)�e�A�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )õ�= õ�=�Õ�#=�Õ�=�Õ\�iÕG�@�Ñ ĕ �@)ĕ@Iĕ@iĕ@���3�<M�&=Y����QU �>�����a�G����!y�-WS<}5�>I�9��=|�4�?��=���� �=�@��u�?9�=� B��=Q:; �=�:;)�9�W��W�X� X��W�:W�2W�*W��V�U�U����` @zLI�LI�LI�LMW�u@�A�_K]�B� B��A��>*B��]9�A��A���7�A�� ��A�"C�5��*C�RC�C��C���9��w�CI���sGi���@���=��������D���X�; ����EYϭ�S9I��G��>��c����������� ��d:Y�y����6)���;�#�Kj,�a/�E�AY}R���@�}R��@y}R`�Ǽ�}R�?&��}RH����@c�?������?����:�Q?���`p�����i�?���`�8�?��� ��?�����Ĥ��������?)~R���@ ~R��h;I~R��Cɫ�髑)�� ��I��Y����@y��yG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��]��� �rh�����S㥛�Zd;�O�����]C���]/ݼ �]j��)�YI�Yy�]�J+����~j�t�x�<�O��n����]�H���]�Ļ��]t� �]�A)�]�AI�]�Ai�]�A��Y��](A��}�a�M}c=Y�*��QU��>�����a��G����y��<}��>Iș����:�ŝ�z�4�?����:�ŝ���� Ɲj@����?9Ɲ� B�ǝZ�: ȝ��:)ȝi�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ��@zL��M=�L��M=�L��P@�L�L-@�AO�g�B B�A��>*B�g9�A�AE�7�Ao!��A"C�4��*C�RC�C��C�I� GM1>�)�Kj,�d{/�E�Aɫ���)�� ��I��Y���@y�iyG%xDUSBL response received:!U1,R,D90,000,007E0,18A,80,80,92,FF -Fpublishing direction and range info��'g?��ɰ&%>���> �)��CI�y��B���m���$_�?4xrb���?��������ٱ��u�ȻMu]=Y�}���QU}�>��y���a��G����y����}��>Iȑ�ŕVy�4�?�ŕ��� ƕ.@����?9ƕ� B�Ǖk�: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����y[@�P�*Q��B�Z���=M���Q@��V�E@���������Z��m���$_�?4xrb���?��������2Q�'g?:Q��Z��Ĵp�m�T@@��Aj����N�v ���Z��s��?P)�G�듿���qMG&�BQ�zp�@ Q��ϿQ��B�P�ب9?�P�ר9?�P����Q����Q�C�@"Q���@zL��L��L��L��A��q�B� B��A�d�>*B�c9�A��A���7�A��!��A�"C�3��*C�RC�C��C�I��G>��� �=i�� �=��� z����� ������ ������ ��� �� �z:Y�� d\1y�� ��:��� 26�9� @���Kj,>?�/�E�A�y9�yI�}$tGi�}o�@��}=��y��y��}j�; �}��Eɫ�髹)�� ��I��Y����@y��-yG��TNmea in: $SNTTA,0.092928,,,,165837.72*43 ����=i���±�µnA��������C�=����Ļi��G�@��� ��O�@)��O�@I��O�@i��O�@��5�`�M5?=Y�1QU5�>��9��9�a=�G��9��Ay�A}E�>I�I��U�:��M�w�4�?��U�:��M���� �M�@��]�?9�M� B��M��: �M��:)�Mj�:�m�qAdded new target pos. range: 83.460007 m, bearing: 358.885296 deg, deltaT: 4.341497 s, approachRate: 0.055282 m/s, LOS rate: 0.639469 deg/s, posRepo size: 4�WI�WIXI XI�WI:WI2WQ*WQ�VQUU����p�T@U]��� ���?zL��L��L��L��A�P|�B� B��A�b�>*B��_9�A��A���7�A��"��A�"C�2��*C�RC�C��CI�GU2>��:�Kj,��/�E�AY}6�J�@�}6YX�@y}6h�ȼ�}6 ��}6H�����6�?���@���?����q�f����`������o0�?���`U��?�����?����B����������?)~6�J�@ ~6�k;I~6��CɫY�Y)�Y �YI�YY����@y��[yG��B<M�V=Y�s�QU��>�����a��G����y�Z�<}��>Iș�ŝIv�4�?�ŝ$��� Ɲ�@����?9Ɲ� B�ǝk�: ȝU�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L���-@�A���B B�A��>*BBe9�A�AB�7�A6#��A"C%5��*C!RC!C!�C)I�AG]�=��� \����� ������ ������ ��� �� gx:Y�� [1y�� ݏ:��� �6�\%�Kj,.��/�E�AY}E�X�@�}E�f�@y}E+�˼�}ER���}EH������=�?�������?�����ss�������������8�?���`�T�?��� 9y�?���@P�����`r��?)~E�X�@ ~Ebj;I~E��Cɫ�)� �����I�Y�M��@y�URyG��M�;��Mt����M�T=i�M��@��I �M��@)�M��@I�M��@i�M��@��U �M]==Y�]�P�QU]�>��a��a�ae�G��a��iy�m��;}m�>I�q��}�:��u�t�4�?��}�:��u���� �uc@����?9�u!B��u�: �uw�:)�uk�:�W��W�X� X��W�:W�2W�*W��V�U�U����`��?zL��L��L��L�S�-@�A�c��B� B��A�<�>*B��`9�A��A���7�A��#��A�"C�4��*C�RC�C��Ci� ��I� ���� ���� ���]K�>9�]v�CI�]�tGi�]��@��]!=��Y��Y��]��; �]��E)��w�CI��w�Ci�醉��=���=��톆y6I�G5�>I�� )�� �M�Kj,���/�E�AY}2"j�@�}2�w�@y}2ϼ�}2����}2H�����}F�?���@��?����z�u����@����� �A�?�����U�?�����?����V՟�����k��?)~2"j�@ ~2�}i;I~0ɫ9�9)�9 �=����I�9Y����@y��;yGI�q)�u�A��-��&1��?�O��nӿ�� �rh�?��-�P>��-��� �-C�=)�)I�)y�-�/�$����Zd;�����Q�����-����-�y���-�u� �))�-+AI�-�Ai�-EA��)��-�A)�E�= �E�=��M+��MUK=Y�U���QUU�>��Y��Y�a]�G��Y��Yy�e�;}e�>I�i��m�r�4�?��m���� �m @��u�?9�m*!B��m��: �mӻ:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������F�?zL���=�L���=�L��/�@�L�N�u@�A����B� B��A��>*B�b9�A��A���7�A��$��A�"C�3��*C�RC�C��C�I�G->i�m�lGI�� qAi�����2L�ٺ� qA���D@A��� ] ����� ������ ������ H�� �� r�:Y�� d\1y�� ��:��� �&6� w�Kj,���/�E�AY}2Yz�@�}2��@y}2��Ҽ�}2Ic ��}2H������N�?����G��?����)ar�����;�����@�I�?���`�?����[Y�?����!*�����`���?)~2Yz�@ ~2+i;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}vyG��=��<M=^=Y�=���QUE�>��A��A�aE�G��A��Iy�M��;}U�>I�Y��]mq�4�?��]t��� �]�@��e�?9�]B!B��]��: �] �:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L���u@�A�ё�B� B��A��>*B��d9�A��A�F�7�A�>%��A�"C�2��*C�RC�C��C�I��G�=��`Lj,�0�E�AY}2ݏ�@�}2���@y}2�5ּ�}2{U��}2H����`�Y�?��� $��?����4h�����ϖ�����LS�?���`JR�?�����Ś?�����'�����`v��?)~2ݏ�@ ~2�2i;I~2��C�9�I�i���#=��������; �ƔEɫ�髉)�� ��I��Y����@y��)yG�å��=�å�w��å33�iå��@�á ĥn�@)ĥn�@Iĥn�@iĥn�@���U��M�B=Y���QU��>�������a��G������y����;}��>I������:����o�4�?����:���s��� ��\@����?9��^!B�����: ����:)��l�:�W�WX X�W:W2W*W�VUU%����7v@zL9�L9�L9�L=��u@�AU�p��BQ BQ�AU'�>*BUa9�AY�A]��7�A]&��AY"Ce5��*CaRCaCa�CiI��G��=��� �=i�� a=��� ����� ��� ��� ��� �� r:Y�� y�� ��� �6)�� S�;�9� ���Lj,�a00�E�AY}2��@�}2Ȱ�@y}2`{ټ�}2�"��}2H������c�?������?������a�����[������I\�?�����p�?�����.�?����X�����@���?)~2��@ ~2ki;I~2��Cɫa�i)�i �iI�iY�}9�@y�}zG����=i���=�����p=M�X=Y�����QU��>�����a�G���� y� =�;} �>I�1��5n�4�?��5Z��� �5 @��E�?9�5w!B��5��: �5{�:)�1�W��W�X� X��W�:W�2W�*W��V�U�U�����'�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��v@�A����B B �A ~�>*B We9�A)�A5��7�A5�&��A1"C=4��*C9RC9C9�CAI�YGu�=�+{Lj,hJ0�E�A�|<i|>�@Y}f��@�}f�÷@y}fN�ݼ�}f����}fH����@�m�?�����{�?����8�j������u�����gf�?����V)�?���@��?����Zڣ��������?)~f��@ ~f�i;I~f��Cɫ���)�� ��I��Y�#�@y��yGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******����������%?���O >i��\�@��� ����@)��O�@I��O�@i��O�@����ʻM�:=Y�����QU��>�������a��G����y�˭;} �>I� ���:�� Dl�4�?����:�� b��� � �@����?9� �!B�� v�< � ��<)� m�:�W�W!X! X!�W!:W!2W!*W)�V)U)U-����8 @zL��L��L��L�Gv@�A�vs��B� B��A��>*B��a9�A��A�h�7�A��'��A�"C�3��*C�RC�C��C�Y���U9��������9��I��i�����$=��������� ��ŔEI�G5q>��� ��������������!�� ���:Y��Y1y��:���"6)�f�;��Lj,�d0�E�AY}6�ǿ@�}6yշ@y}6��}6���}6H������v�?�����l�?�����v������f������p�?���@ƅ�?����>��?����;�������?)~6�ǿ@ ~6ٳi;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�yG�xDUSBL response received:!U1,P D90,000,007E0,18A,80,80,92,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 ������K7�A�����x�&��X9��v��?�������7 � ���}=)��I��y���<�O��n��V-��������������t������m������� ½� A)½�AI½lAi½�A������\A��e��Me*=Y�m��QUm�>��i��i�au�G��q��qy�}��;}}�>Iȡ�ťjj�4�?�ť~��� ƥ�@����?9ƥ�!B�ǥ�: ȥ4�:)ȡ�W��W�X� X��W�:W�2W�*W�VU U ������ @zL��x=�L��x=�L��*�@�L�`�w@�A�s���B B�A ʪ>*B �`9�A�A(�7�A�(��A1"CE2��*CIRCICI�CYY�- �U9I�A Ge �>I�� )�� @A�(�Lj,R�}0�E�Aɫ�髙)�� ������I��Y����@y���yG��p=ɮ�p=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��E}]�MEu=Y�M���QUM?��I��Q�aU�G��Q��Qy�]���}]?I�a��m�:��e(i�4�?��m�:��e?��� �e�@��m�?9�e�!B��ej�: �e�:)�en�:�W��W�X� X��W�:W�2W�*W��V�U�U�����B@zL��L��L��L��A��ߧ�B� B��A�y�>*B��i9�A��A���7�A�))��A�"C�5��*C�RC�C��C�i��mAI��mAY��I�!GmW>��� Q ����� ������ ������ ��� �� ��:Y�� [1y�� ݏ:��� 6�9� @���%Lj,�̗0�E�A�|4<�|4<Y}BN�@�}B ��@y}B�S�}B�����}BH����`I��?���`�G�?�����o������=B�����4��?��� �{�?������?����,������-��?)~BN�@ ~B�h;I~B��C�T9�TI�V�tGi�V�@��T��T��T��V��; �V��EɫY�Y)�Y �]����I�YY����@y��yG�xDUSBL response received:!U1,R,E04,000,007E4,186,80,80,C9,FF �Fpublishing direction and range info�����>���ɰ�z%>����> ��)���ICI��y��f�B���� �j��?h�V�s�?��������ٱ���M;߽��M��<��Mt�=i�M̬@��I �M��@)�M��@I�M��@i�M��@��]*��MeZ=Y�e�9QUe�>��i��i�am�G��i��iy�uxc<}u�>I�y��}�g�4�?��}��� �}�@����?9�}�!B��}��: �}�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����@��@�P�*Q�f�B�Z��\����R@�I�sp�A@���������Z�� �j��?h�V�s�?��������2Q���>:Q��Z��� ��T@4�py�Qw+��?�Z��Sp#�A��?7�h��w������?BQ�".�@ Q����Q���B�P�ר9?�P�ب9?�P����Q����Q���@"Q�C�@zL��L��L��L�)x@�Afʫ�B B �A ��>*B �d9�A �A j�7�Au�)��Aq"C}4��*CyRCyC��C�Y�m�U9I�yG�>�F�+Lj,���0�E�AY}r(�@�}.6�@y}x��}��}H����`���?��� c�?����R�s����`����� =��?�����k�?����mܛ?������������T��?)~r(�@ ~��f;I~��Cɫ)�))�1 �5����I�1Y�u��@y�uiyG��TNmea in: $SNTTA,0.067233,,,,165842.14*4A ��M��MM<=Y�U��8QUU�>��Y��Y�a]�G��Y��ay�m�w<}m�>I�y��}f�4�?��}��� �}�@��E�?9�}�!B��}��< �},�<)�y�muuAdded new target pos. range: 83.699997 m, bearing: 354.840294 deg, deltaT: 4.441164 s, approachRate: 0.054038 m/s, LOS rate: -0.910798 deg/s, posRepo size: 4�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�������T@U�����Ȓ�?zL��L��L��L���x@�A�����B� B��A�d�>*B��`9�A��A�#�7�A��*��A�"C�3��*C�RC�C��C�Y���U9I�Gn>��� �=i�� p=��� Q ����� ������ ������ ��� �� �N:Y�� 0Y1y�� ��:��� �6���2Lj,��0�E�AY}JL�@�}J�Y�@y}Jh㼙}J�'��}JH����@\��?�������?������m�����^�߿�������?���@?�?����l�?��� ����� ���?)~JL�@ ~J�g;I~J��Cɫq�q)�q �u����I�qY����@y��vyG�Õ��=�ÕQ8��Õ-2�iÕ�@�Ñ ĕ�@)đIĕ@iđ���h;M�V=Y�H��QU��>�����a��G����y� ;<}��>Iȹ����:�Ž�d�4�?����:�Ž���� ƽ�@����?9ƽ"B�ǽ��: Ƚs�:)Ƚo�:�W��W�X� X��W�:W�2W�*W��V�U�U����`.�?zL�L�L�LC�x@�A5.��B1 B1�A5�>*B5df9�A9�A=��7�A=�+��A9"CE2��*CARCACI�CI��U�=��Ua>Y�YI�iG�;>ܝJ�>9ܙIܙiܙ�ܝ%=�ܙ�ܝ��D�ܝ��; 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ȭ�&;)ȭq�:�W��W�X� X��W�:W2W*W �V U U����#y@zL9�L9�L9�L9�AUg��BY BY�A]��>*B]�d9�Aa�Ae��7�AeQ/��Ai"Cu2��*CqRCqCq�CyY�e?Z9I�qG�>��SLj,��L1�E�AY}2r��@�}2.�@y}2G����}2v���}2H�������?������?�����/������c��������?�������?�������?��� �O������(��?)~2r��@ ~23�h;I~2��CɫI�I)�I �M����I�IY�}��@y�}vyG����������ʽ���O�=���/ݽi��@��� ��@)��@I��@i��@����<M S=Y� ���QU�>�����a�G����!y�%`V<}%�>I�1��5�\�4�?��5���� �5F@��E�?9�5o"B��5&%; �5�;)�1�Wy�W�X� X��W�:W�2W�*W��V�U�U���� :�@�R�B*** querying acoustic contact ***�P��P�zL9�L9�L9�L=�tP@�A��xüB� B��A��>*B��c9�A��A�5�7�A�C0��A�"C�5��*C�RC�C��C�I�1Gu>�A9�AI�Ai�A��E$=��A��E��D��Et�; �E��E��� �=i�� �=��� � ����� ������ ������ ��� �� �T:Y�� [1y�� ݏ:��� �6)�� ��;��6YLj,ߥf1�E�AY}2���@�}2q��@y}2���}2�� ��}2H�������?������?���@yE�����@���������?����7��?������?����U0���������?)~2���@ ~2-�h;I~2��Cɫ9�9)�9 �9I�AY��y���Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���i���=������ �rh�?q= ףp���I+������C=����� ��9��)��I��y���Zd;�O���k�t�����~j�t�����j<���� 0������� lA)�AI� AiEA������ A�¡�¥mAY��n�QU��>�����a��G����y���;}��>I������:����Z�4�?����:������� ���@����?9���"B�����: ��Z�:)��r�:�W��W�X� X��W�:W2W*W�VU U ������ @zL���=�L���=�L��+y@�L���Y@�A���ƼB� B��A�*B��b9�A��A��7�AG1��A"C-4��*C)RC)C)�C1I�iG�>�/`Lj,˂�1�E�AY}:���@�}:���@y}:M����}:���}:H������?�������?���@������� �������?����p�?����(Z�?����7 ��������?)~:���@ ~:֟i;I~:��Cɫ9�9)�9 �=����I�9Y�}q�@y�}yG�xDUSBL response received:!U1,P E04,000,007E4,186,80,80,C9,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 ��mjF�M��<Y��)�QU��>�������a��G�����y��:}%�>I�Y��]�X�4�?��]U��� �]@@����?9�]�"B��]F< �]N<)�Y�W��W�X� X��WI:WI2WI*WQ�VQUQUU����k� @zLq�Lq�Lq�Lu��Y@�A� \ɼB� B��A���>*B�~`9�A��A���7�A�`2��A�"C�3��*CRCC�CI�YG�c>��� ����� ������ ������ 1�� �� �J:Y�� �[1y�� H�:��� h$6�9� @�EI�>9�AI�E�tGi�E��@��E"=��A��A��Em�; �E��E��IfLj,�`�1�E�AY}2���@�}2��@y}2�_���}2���}2H���� ��?����s��?����0���@�����`&�?���@�ҧ?��� ���?����6|���������?)~2���@ ~2�2k;I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�]RyG�ea=ɮea=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��]v����]����]^:>i�]Q�@��Y �]���)�]9�@I�]9�@i�]9�@��mW�<MmJ=Y�m�J�QUm�>��q��q�au�G��q��yy�}/#;}��>Iȁ�Ņ�V�4�?�Ņ���� ƅ�@����?9ƅ�"B�Dž�< ȅ�<)ȁ�W��W�X� X��W�:W�2W�*W��VUU��� �0@zLA�LA�LA�LE��Y@�Aun�˼Bq By�A}<�>*B}h9�Ay�A}7�7�A}03��Ay"C�2��*C�RC�C��C�I��G�>I�� @A)�� �uslLj,*9�1�E�AY}2 ��@�}2��@y}2�K���}2iT��}2H�����;�?������?�����W������X������ �?���`�y�?���@!�?����Z���������?)~2 ��@ ~2Фk;I~0ɫ9�9)�9 �=����I�AY����@y���yG�xDUSBL response received:!U1,R,AFD,000,007E7,189,80,80,C3,FF �Fpublishing direction and range info����O�?���ɰ��%>鰥7�> ��)���CCI��y��§B����K��c���?�wnL��?��������ٱ�I��)��)���= ���=����e<M�S=Y����QU��>�������a��G�����y� @;} �>I���%�:���T�4�?��%�:����� �S@��-�?9��"B���; ��;)�s�:�Wq�WyXy Xy�Wy:Wy2W�*W��V�U�U�����Ѿ@�P�*Q�§B�Z������ZIB@va�(�R@���������Z��K��c���?�wnL��?��������2Q��O�?:Q��Z����ɬQ@q�:�NH@��R�K���Z���F�.�?��E܋�?-�������BQ�GJ? Q�uBBQ���B�P���9?�P�ר9?�P�����Q����Q�:�@"Q���@zL��L��L��L��Z@�A��dμB� B��A��>*B� d9�A��A���7�A�64��A�"C�5��*C�RC�C��C�i����I��������������I�G�>��q ��������������L�� ��<:Y�0Y1y���:���6��\sLj,H�1�E�AY}~ �@�}:�@y}�����}���}H����� �?�������?���������������`��?���`墦?����#�?���@��������l��?)~~ �@ ~}�k;I~��Cɫ���)�� ��I�Y�5|�@y�5 yG��DNmea in: $SNTTA,,,,,165846.58*5B ����D;����M>����T�i����@��� ��b�@)����@I����@i����@����M9=Y� �5�QU �>�����a�G����y�;}�>I�!��%wR�4�?��%s��� �%�@��-�?9�%�"B��%�: �%��:)�!�m]mAdded new target pos. range: 83.880005 m, bearing: 35.427177 deg, deltaT: 4.440112 s, approachRate: 0.040541 m/s, LOS rate: 9.140960 deg/s, posRepo size: 4�Wa�WaXa Xa�Wa:Wa2W *W �V U����R�T@U�������?zLI�LI�LI�LM1Z@�A��мB� B��A���>*B�b9�A��A���7�A�J5��A�"C�4��*C�RC�C��C�I��G�%>��9��I��i����� =���������W�; ����E�[�yLj,��1�E�AY}2�"�@�}2c0�@y}2����}2!^��}2H�����!�?��� c��?�����Ӊ���� �q�����?���@�)�?����(<�?�����h�����`���?)~2�"�@ ~29�k;I~2��Cɫ9�9)�9 �=����I�9Y�}y�@y�}yG����Zd;�O����Zd;������Mbp?���j<������� ���;)��I��y������Q������S㥫�{�G�z�?����u����/]����ף< ±)µAIµlAi±������\A������M�M=Y��� �QU��>�������a��G������y����;}�>I� ���:�� $Q�4�?���:�� W��� � U@���?9� #B�� �; � ;)� t�:�WQ�WQXY XY�WY:WY2WY*Wa�VaUaUe����6��?zL��s=�L��s=�L�K �@�L�h�{@�A�ӼB� B��A�u�>*B��d9�A��A�<�7�A�@6��A�"C�3��*CIRCICI�CII��G�>��� i�� a=��� q ����� ������ ������ ��� �� ?Q:Y�� �X1y�� /�:��� i6�=m�Lj,.�2�E�AY}2=�@�}2�J�@y}2����}2�h��}2H����@�-�?����&R�?����KÉ�����CC����K)�?���@���?�����V�?����ʠ����`k��?)~2=�@ ~2�1k;I~0ɫ9�9)�9 �=����I�AY�}I�@y�}�xG����=i����������L~�MX=Y�� �QU�>��!��!�a%�G��!��)y�-.<}-�>I�1��5�O�4�?��5.��� �5�@��E�?9�5 #B��5ϸ: �5��:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu����dG�?zL��L��L��L�X�{@�A-DTռBI BQ�AUs�>*BUzc9�AQ�AU��7�AU>7��AQ"C]2��*CYRCaCa�CaI��Gm>��9��I��$tGi��o�@���=���������N�; ����E����Lj,�2�E�A�|i|�@Y}6 ^�@�}6�k�@y}6���}6� ��}6H����@�<�?���@��?�����������@ ��� �7�?������?����Ĕ�?����Y����������?)~6 ^�@ ~6Ȉk;I~4ɫ9�9)�9 �=����I�AY�}��@y�}@yG��5����5?�>��57�>i�5��@��1 �5��@)�5��@I�5n�@i�5��@��E��<MEH=Y�E���QUM�>��I��I�aM�G��I��Qy�U� <}]�>I�Y��e�:��]�N�4�?��m�:��]��� �]h@��m�?9�]7#B��]�: �]0�:)�]u�:�W��W�X� X��W�:W�2W�*W��V�U�U����@E��?zL��L��L��L���{@�A]ۆ"B]��BY Ba�AeO�>*BeNd9�Aa�Ae��7�AeE8��Aa"C�5��*C�RC�C��C�I��G�>�� Y���� ����� ����� ��� � �c:Y� xZ1y� q�:�� 886)� ��;�9�����Lj,��52�E�AY}BV��@�}B��@y}B|4��}BQ^��}BH�����Q�?������?�����@����� o�ݿ���` K�?����}��?�����Š?�����g���������?)~BV��@ ~B�'l;I~B��CɫY�a)�a �e����I�aY���@y���xG��U�#�M]I=Y�]@q�QU]�>��a��a�ae�G��a��ay�mU<}m�>I�q��u=M�4�?��u��� �u�@��}�?9�uN#B��u��: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������*�@zL��L��L��L��D|@�A��ټB� B��A���>*B�b9�A��A�+�7�A�R9��A�"C�4��*C�RC�C��C�I�G5�=I�� AA)�� AA�b��Lj,�[O2�E�Aɫy�y)�y �}����I�yY����@y��nxGI�)��A)�-�= �-�=�íC���í��=�í,=iíf�@�é ĭ�@)ĭn�@Iĩiĭn�@���1�M�D=Y����QU��>�������a��G������y�����}��>I�����:����K�4�?���:������� ���@���?9��f#B���; ���;)��v�:�WA�WAXA XA�WA:WI2WI*WI�VQUQUU������@zL��L��L��L��A��ܼB� B��A���>*B�X`9�A��A���7�A�t:��A�"C�3��*C�RC�CI�CII��G�!>܍H�>9܍w�CI܉i܉�܍=�܉�܉�܍?�; ݍ��E)��I��i����� =���!=����6��� � ����� ��� ��� ��� �� �Z:Y�� y�� ��� �26)�� 5�;��әLj,&8i2�E�A�|�;�|p;Y}6���@�}6G�@y}6�� ��}6�� ��}6H������s�?�����F�?���@������� 5ݿ�����m�?����2��?����=7�?����������`��?)~6���@ ~6}�l;I~6��Cɫ9�9)�9 �E����I�AY����@y���wG������@A��=����x�&�?�E���Ը�����Mbp?��=7�=��=�ƽ �9)�9I�9y�=�Zd;�O���X9��v�������MbP?��=j<���=�����=�: �=�A)�=+AI�= Ai�=+A��9��=�A��]���M]Q=Y�]��QU]�>��a��a�ae�G��a��iy�m��<}m�>I�q��uJ�4�?��u��� �u�@����?9�u|#B��u��: �u4�:)�q�W!�W!X! X!�W!:W!2W)*W)�V1UQUe�����@i��gmGI��i�����hi�ٺ�����[A�R�B*** querying acoustic contact ***�P��P�zL5>c=�L5>c=�L5�o@�L5��P@�Am[xBi Bi�Am��>*Bu_9�Aq�Auo�7�Au�;��Aq"C}2��*CyRCyC��C�I��GI>�S��Lj,��2�E�Aɫy�y)�y �yI�yY����@y��ExG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��%��<M%N=Y�%���QU-�>��)��)�a5�G��1��1y�=���}=�>I�A��E9H�4�?��E<��� �E�@��u�?9�E�#B��E��; �E�;)�A�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L��A����Bq Bq�A}��>*B��c9�A��A��7�A��<��A�"C�5��*C�RCC�CI9�9I�IGeV>��� �=i�� p=��� [ ����� ������ ������ ��� �� ;:Y�� �X1y�� /�:��� 26�9� @܁9܁I܅�sGi܅�@�܅=�܁�܁�܅9�; ݅��E���Lj,5�2�E�AY}RO��@�}R�@y}R�0��}R���}RH����ः�?������?�����~��������ܿ������?�����*�?����9��?����A��������?)~RO��@ ~R�>l;I~Pɫy�y)�y �}����I�yY����@y��xG�xDUSBL response received:!U1,P AFD,000,007E7,189,80,80,C3,FF �Command Ack�BRequesting micromodem ping code 2i��������i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����=`e=��=��>��=�D�i�==�@��9 �=n�@)�9I�=O�@i�9���f�M�*=Y�����QU��>�������a��G������y��� <}��>I������:����E�4�?����:���l��� ���@����?9���#B�����: ���:)��w�:�W9�W9X� X��W�:W�2W�*W��V�U�U�����#� @zL��L��L��L���P@�A�CC�B B�A�>*Bv\9�A�A��7�A �=��A "C 4��*CRCC�C9�=:I�aG�}>���Lj,�Ƕ2�E�AY}2=��@�}2��@y}2� ��}2Mu���}2H�����h��?���@��?���@�t������n�ܿ���@t��?����z��?��� ���?���@�H�����@A��?)~2=��@ ~2��l;I~2��CɫA�A)�A �E����I�AY�]��@y�]xG�ep=ɮa���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5�<M=x=Y�=X��QU=?��A��A�aE�G��A��Iy�M�A:}M?I�Q��UvD�4�?��U���� �U�@��]�?9�U�#B��Ub�: �Un�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����6@zLa�La�La�Le<�P@�A��w�B� B��A��>*B�e9�A��A�>�7�A��>��A�"C�3��*C�RC�C��C�9���9I��G%+>��� � ����� ������ ������ ��� �� �>:Y�� [1y�� ݏ:��� �6����Lj,Ҩ�2�E�AY}Ey��@�}E5 �@y}E����}E�Y���}EH�����R��?�������?����F�������X�ܿ���`���?������?����c�?��� !垿��� =��?)~Ey��@ ~EPok;I~E��Cɫ�)� �����I�Y�-I�@y�-�wG=xDUSBL response received:!U1,R,AFD,000,007EE,189,80,80,8D,FF =Fpublishing direction and range info��1��1ɰ5L&>�1 �1)�5� CI�1y�5��B��5�K��c���?�wnL��?��������ٱ1�Ý$>�ÝQ���Ý�m�iÝf�@�Ù ĝ?�@)ĝO�@IęiĝO�@���ԼM�4=Y�z`�QU��>�����a��G�����y���:}��>I������:���]B�4�?����:������� ���@����?9���#B�����: ���:)��x�:�W��WX X�W:W2W *W �V U U ��� ��@�P*Q��B�Z��Yp�`B@'�nY�R@���������Z�K��c���?�wnL��?��������2Q:Q�Z��'V��P@n����|I@ց)Wl��Z���9�|�?��M�cY�?,��R��BQ�>&? Q�KBQE�B�P��9?�P��9?�P����Q����Q@�@"Q:�@zLA�LA�LA�LE��P@�A]R��BY BY�A]z�>*B]^9�Aa�Ae��7�Ae@��Aa"Cm2��*CiRCiCq�Cq�)9�)I�)i�)��-=��)��)��-8�; �-��Ei҅nAI҅mA9�=4+�I�IGeU>��!�Lj,��2�E�AY}2�@�}2��@y}2�r��}2sW��}2H����@Z��?�������?���`~k��������ܿ��� ��?����}��?���@c��?�����'����� ���?)~2�@ ~2DGk;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�wG��dNmea in: $SNTTA,0.063459,0.435820,,,165851.03*56 I��)������<�O��n��\���(\Ͽ��~j�t�?���t�����z� ���=)��I��y���ˡE�����333333��<�O��n�?����'����������t< ���A)���AI��i��/A������(A)��> �������<M�W=Y��|8QU�>���� �a �G�� �� y��;}�>I���@�4�?������ ��@��%�?9��#B����: �4�:)��mumAdded new target pos. range: 84.300011 m, bearing: 37.207575 deg, deltaT: 4.491872 s, approachRate: 0.093504 m/s, LOS rate: 0.396360 deg/s, posRepo size: 4�Wy�WyXy X��W�:W�2W�*W��V�U����`3U@U�����,��?zLE�=�LE�=�LE�Ɇ@�LE�Jo@�A���B� B��A�.�>*B�)`9�A��A�t�7�A�*A��A�"C�5��*C�RC�C��C�9����I��G J>��� ����� ��� ��� ��� �� &J:Y�� y�� ��� r6�{ �Lj,�Y3�E�AY}2 !�@�}2�.�@y}2���}2"$ ��}2H��������?�������?����dˏ���� *�ܿ�������?����Ƹ�?�������?����蠡�����7��?)~2 !�@ ~20�k;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}4wG��=1H�MEX=Y�M�k:QUU�>��a��a�am�G��i��yy���;}��>I�!��m�:��%�=�4�?����:��%���� �%@����?9�%$B��%�d< �%*^<)�%y�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?zL!�L!�L!�L%�po@�AU��BQ BY�A]��>*B]N^9�AY�A]�7�A]KB��AY"C�4��*C�RC�C��C�iҝ��Iҝ���ҙ�ҙI�9G]�>�-G�>9�)I�-\sGi�-��@��-=��)��)��-C�; �-��E��3�Lj,D53�E�AY}6�B�@�}6�P�@y}6>Q��}6��}6H����`O��?����:��?���������@rܿ����Ɵ�?�������?����Y �?���������@���?)~6�B�@ ~6��k;I~4ɫ9�9)�9 �=����I�9Y���@y��]wG��M/ݼ��M�>��M� >i�M��@��I �M�@)�M��@I�Mn�@i�M��@��]8#<M]H=Y�ea;QUe�>��a��i�am�G��i��iy�uH(<}u�>I�y��}m;�4�?��}���� �}_@����?9�}@$B��}��: �}�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����'��?zL��L��L��L���o@�A�.���Bq Bq�AuƋ>*Bu�`9�Aq�A}��7�A}QC��Ay"C�3��*C�RC�C��C�Y���^9I��G�F>��� � ����� ������ ������ ��� �� �T:Y�� �[1y�� H�:��� {6)�� .�;�9� ��_�Lj,<83�E�AY}j7l�@�}j�y�@y}j���}j���}jH���� ���?��� �8�?����}6������L(ܿ�������?������?��� L1�?�����ϣ��������?)~j7l�@ ~j��k;I~j��Cɫ�髱)�� ������I��Y����@y���vG��U�=i�U�=��a��enA��-��M�G=Y�p�;QU��>�����a��G����y�dI<}��>Iȱ�ŵ9�4�?�ŵ��� Ƶ�@����?9Ƶd$B�ǵ8�: ȵ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����<�?zL �L �L �L !p@�A%��B! B!�A%L�>*B%�\9�A!�A-�7�A-D��A)"C52��*C1RC1C1�C9I� G%>��E�Lj,��Q3�E�AY}6O��@�}6��@y}6�)���}6����}6H����@���?���@���?���@�U����� ��ۿ��� y��?������?������?����{�������?)~6O��@ ~6�Pl;I~4ɫ9�9)�9 �9I�9Y�}��@y�}wG��5�Ļ��5 0���5�{�i�5G�@��1 �5��@)�59�@I�59�@i�59�@��u�^<MuM=Y�u;QU}�>��y��y�a}�G��y��y��H<}��>Iȉ����:�ō�6�4�?����:�ō��� ƍ�@����?9ƍ�$B�Ǎ��: ȍ��:)ȍz�:�W��W�X� X��W�:W�2W�*W��V�U�U����@f��?zL��L��L��L��Xp@�A�.�B B�A�>*B^9�A �A ��7�A �E��A "C5��*CRCC�CI�1GM�=��9��x�CI���rGi��{�@���=���QD������M�; ����E��� ����� ��� ��� ��� �� 1I:Y�� y�� ��� �6)�� �;�p�Lj,u�k3�E�AY}25��@�}2�º@y}2�漙}2����}2H��������?���@>��?����`Z����� ��ۿ����b��?���@�Ƨ?���`�?����2s�����`���?)~25��@ ~2{l;I~2��Cɫ9�9)�9 �=����I�AY�]��@y�]FwG��M��v��/�����S㥻�{�G�z�?��Mxi���M/ݽ �M�#=)�II�Iy�M��I+����l����{�G�z�?��M9����M����M�#< �M A)�M�AI�M�Ai�M+A��I��MzA��mJ<MmK=Y�m��;QUm�>��q��q�au�G��q��yy�}7#<}��>Iȁ�Ņp5�4�?�Ņ���� ƅ3 @����?9ƅ�$B�Dž3�: ȅ��:)ȁ�W1�W1X1 X1�W1:W92W9*W9�V9UAUE����*@zL�5=�L�5=�L�i��@�L���m@�A����B� B��A���>*B��]9�A��A�>�7�A��F��A�"C�4��*C�RC�C��C�I�G= >I�� )�� @A��W�Lj,ܡ�3�E�AY}6���@�}6mں@y}6�Dټ�}6@E��}6H�������?���േ�?����Dc����� �{ۿ������?�����r�?��� �'�?�����e���������?)~6���@ ~6�:l;I~4ɫ9�9)�9 �=����I�9Y��(�@y��BvG����AAI�I)�I)í�= í�=��=�L���=E����=��=i�=��@��9 �=n�@)�=O�@I�=O�@i�=O�@��M�s�MM==Y�U�y;QUU�>��Q��Q�a]�G��Y��Yy�e��;}e�>I�i��u�:��m!4�4�?��u�:��m9��� �m @��u�?9�m�$B��m��: �m�:)�m{�:�W��W�X� X��W�:W�2W�*W��V�U�U�����,�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��,n@�A��V�B� B��A��z>*B�[9�A��A��7�AH��A"C3��*CRCC�CI�9Ge>�� F�>9�� I�� 0rGi�� ��@��� =��� ��� ��� J�; �� ��E)�]�w�C��� Z����� ������ ������ Y�� �� �c:Y�� 0Y1y�� ��:��� E 6)�� �;I�]�w�Ci�Y���]�=��]�=��]��66�'��Lj,~�3�E�AY}:���@�}:��@y}:2ͼ�}:����}:H�����`��?����m�?����������bbۿ�������?����s��?�������?��������������?)~:���@ ~:%�k;I~8ɫ9�9)�9 �=����I�9Y�}>�@y�}]vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����;M�d=Y��͆;QU��>�������au�G��q��yy�}�;}}�>Iȁ�Ņ�3�4�?�Ņ���� ƅ� @����?9ƅ�$B�Dž�; ȅ��;)ȁ�W��W�X� X��W�:W�2W�*W��VUU����{� @zLA�LA�LA�LE�Tn@�Au1}�By By�A}�}>*B}�\9�Ay�A}F�7�A�0I��A�"C�2��*C�RC�C��C�i̱I̱�̹�̹I��G��>������Ci�u�lGI��i�����B�ٺ�����6A�I��Lj,CY�3�E�AY}B���@�}B��@y}B0<���}Bw����}BH�����1��?��� G]�?���� �}�����ETۿ��� ���?����Dž�?�����g�?��������������?)~B���@ ~B�ek;I~@ɫY�Y)�Y �]����I�YY��B�@y��bvG�xDUSBL response received:!U1,P AFD,000,007EE,189,80,80,8D,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 �� $�:MH=Y�%�;QU%�>��1��9�aE�G��A���y���;}��>I����:���1�4�?��%�:��H��� � @��-�?9��$B��@#; �?<)�|�:�W�WX1 X1�W9:W92WA*WA�ViUiUu�����+ @zL��L��L��L��qn@�AeO3�Bi Bi�Am~>*Bm�Y9�Ai�Am��7�Au�J��Aq"C}5��*C�RC�C��C�I��G5O>��� i�� �=��� n ����� ������ ������ ��� �� Q:Y�� �W1y�� č:��� s6�9� @�&��Lj,Y4�3�E�Aɫy�y)�y �}����I�yY����@y���uG鮡ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �íS㽩í�w��íZ�ií��@�é ĩ)ĭ�@Iĭ9�@iĭ9�@��b-�M�?=Y�����QU��>�������a��G������y�����}��>I������0�4�?������� ��P @����?9���$B�����: ����:)���W �W X X �W :W 2W*W�VUU����B@zL1�L1�L1�L1�AEj��BI BI�AM�k>*BM\9�AI�AUH�7�AU�K��AQ"C]4��*CYRCYCY�CaI�qGM>�q9�qI�uhqGi�u6�@��u=��q��u�D��u'�; �u��E����Lj, �3�E�A�|i|�@Y}6���@�}6���@y}6�����}6v���}6H��������?�����F�?������a�����RAۿ����V��?����7%�?���@��?����lߟ��������?)~6���@ ~61�k;I~6��Cɫ�髹)�� ������I��Y����@y���uGxDUSBL response received:!U1,R,AFD,000,007EE,189,80,80,21,FF Fpublishing direction and range info������ɰ��� ��)���BI��y������K��c���?�wnL��?��������ٱ��dNmea in: $SNTTA,0.081170,0.177420,,,165855.47*5F �����A`��"�?1�Zd��y�&1�������=���"۽ ��`e�)��I��y����Zd;���� �rh��X9��v��?����y����C�������< )I� AiEA�������A��S;M�<=Y�TY<QU��>�����a��G����y��I;}��>I������:���r-�4�?����:������� ��4@����?9�� %B�����: ��o�:)��}�:�W9�WAXA XA�WA:Wq2Wq*Wq�VyUyU}�����@�P�*Q��Z���Yp�`B@'�nY�R@���������Z��K��c���?�wnL��?��������2Q�:Q��Z���5�ceP@�0���wJ@�ۄ�_����Z��� %�A��?� "�?p�� � ��BQ�L�-? Q��SBQ�+�B�P���9?�P���9?�P�����Q�����Q�?�@"Q�@�@zL%��=�L%��=�L%��~@�L%��a@�AmI��Bq Bq�A}�l>*B}�W9�Ay�A���7�A��L��A�"C�3��*C�RC�C��C�I�!GEQ>��� ? ����� ������ ������ ��� �� BM:Y�� �Y1y�� �:��� �6�ƥMj,�4�E�AY}6]��@�}6�@y}6��_��}6� ��}6H�������?����=0�?����� `?���@�,ۿ�������?����`��?������?����7A���������?)~6]��@ ~6��k;I~6��Cɫa�a)�i �m����I�iY����@y��uuG�õ`e<�õ9���õj<>iõ�@�ñ ı)ĵO�@Iĵn�@iĵO�@���0��M�Z=Y���<QU��>�������a��G������y���v;}��>I������*�4�?���a��� ���@����?9��,%B����: ����:)���m%mAdded new target pos. range: 84.300011 m, bearing: 38.908514 deg, deltaT: 4.462531 s, approachRate: 0.000000 m/s, LOS rate: 0.381160 deg/s, posRepo size: 4�W!�W)X) X)�W):W)2W1*W1�V1U1U5���`���?zLQ�LQ�LQ�LU��a@�Ams��Bi Bi�Amf>*Bu�[9�Aq�Au>�7�Au�M��Aq"C}2��*CyRCyC��C�I��G��=�i 9�m y�CI�m qGi�m ��@��m =��i ��i ��m �; �m ��EI�� )�� �[�Mj,� 4�E�AY}2��@�}2�$�@y}2ϲ%��}2kn��}2H�������?���@���?���@"iy?����o�ڿ���`���?������?����B��?���@������`!��?)~2��@ ~2 hk;I~2��Cɫ9�9)�9 �=����I�9Y��w�@y��guG)�%�= �!��U?d�MUR=Y�]u<QU]�>��Y��a�ae�G��a��ay�m<}m�>I�q��u (�4�?��u$��� �u�@��}�?9�uP%B��u@�: �un�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��:b@�A���B� B��A��d>*B��Y9�A��A���7�A��N��A�"C�5��*C�RC�C��C�I��G�>��� � ����� ������ ������ ��� �� vY:Y�� 0Y1y�� ��:��� �6�� Mj,��:4�E�AY}:�;�@�}:OI�@y}:�㻙}:C���}:H�����g�?����!��?�����4�?��� �ڿ���`�?����熣?����Q||?����bڣ��������?)~:�;�@ ~:�/k;I~:��Cɫ9�9)�9 �=����I�9Y�}Y�@y�}CuG��=��M=L=Y�E(<QUE�>��A��A�aM�G��I��Iy�U�6<}U�>I�Y��e�:��]8%�4�?��e�:��]���� �]� @��e�?9�]u%B��]�: �]��:)�]~�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�K�?zL��L��L��L�C�b@�A��$�B� B��A��`>*B��X9�A��A�+�7�A�P��A�"C�4��*C�RC�C��C�I��G�=���Mj,:zT4�E�AY}2�a�@�}2�o�@y}2t����}2Ł"��}2H�����q$�?����l�?����K��?����foڿ�����?��� }c�?��� �Sq?�����N������z��?)~2�a�@ ~2�j;I~0ɫY�Y)�Y �]����I�YY��]�@y��HuG��M�D<��Mף<��Mʡ�i�M\�@��I �M9�@)�M�@I�M�@i�M�@��ώ:M�E=Y���;QU��>�����a��G����y��8<}��>Iȱ�ŵO"�4�?�ŵ���� Ƶ�@����?9Ƶ�%B�ǵr�: ȵ�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL �L �L �L a�b@�A%:�B! B!�A%ea>*B%kX9�A)�A-��7�A--Q��A)"C53��*C1RC1C9�C9I�QGu�=�%E�>9�!I�%�oGi�%��@��%=��!��!��% �; �%~�E��� �=i�� a=��� /����� ������ ������ ��� �� �t:Y�� xZ1y�� q�:��� 6)�� ��;�9� ��YMj,�Vn4�E�AY}2W�@�}2��@y}2]$��}2q��}2H������0�?����6�?���`�`�?���`�9ڿ���`�*�?�������?������a?��� �̣����@���?)~2W�@ ~2�nj;I~2��Cɫ9�9)�9 �=����I�AY�]��@y�]�tG����=i���=��M����Q������Mb��J+��?��M�u���M�@� �M�H=)�II�Iy�M���~j�t���&1�����~j�t�?��M����M�P���M��< �M�A)�MdAI�MfAi�I��I��M=A��a��a��m���MmM=Y�u�;QUu�>��y��y�a}�G��y��y�J<}��>Iȉ����:�ōs �4�?����:�ōq��� ƍ@����?9ƍ�%B�Ǎ8�: ȍw�:)ȍ�:�W9�W9X9 X9�W9:WA2WA*WA�VAUIUM���`\��?zLe�=�Le�=�LeN�@�Lei@�A�v{B� B��A��T>*B��V9�A��A��7�A�LR��A�"C�2��*C�RC�C��C�I� G% >�#�!Mj,�1�4�E�AY}F���@�}F���@y}F��Ĺ�}F6X��}FH������9�?����i�?���@�K�?�����ڿ���@�4�?����f�?����4�8?���`j����� ���?)~F���@ ~F�!j;I~Dɫ�髁)�� ������I��Y���@y�;tG���9������u=����C>i���@��� ���@)���@I���@i���@���� �M�C=Y��֍;QU��>�������a��G������y����;}��>I�������4�?���)��� ���@���?9���%B���@�: ��M�:)���W��W�X� X��W�:W�2W�*W��V�U�U����`�*@zL��L��L��L�Si@�A�ټB B �A F>*B (U9�A �A��7�AcS��A"C5��*CRCC�C!I�9GU>� 9� I� toGi� ��@�� =�� �� �� �; � }�E��� ����� ��� ��� �� �� �\:Y�� y�� ��� 1!6)�� �;�K(Mj,��4�E�AY}:���@�}:w��@y}:=9�:�}:���}:H����@@@�?���`g��?���@i%�?�����ٿ����[<�?���� 8�?����'gX�����ޠ����@���?)~:���@ ~:��i;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�tG������@A��Q-=M�a=Y�@�;QU��>�����a��G����y���;}��>Iȹ����:�Ž��4�?����:�Ž���� ƽ@����?9ƽ�%B�ǽ��: Ƚ��:)Ƚ��:�W��W�X� X��W�:W�2W�*Wq�VqUqU}���@z @�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�[�i@�A��ԼB� B��A��U>*B�0Y9�A��A���7�A�MT��A�"C�4��*C�RC�C��C�I��G=�=I�� @A)�� �H.Mj,��4�E�AY}2�@�}2���@y}2�;~;�}2�&��}2H����@C�?�������?������?��� ��ٿ��� �?�?���`��?����r�o�����$���������?)~2�@ ~2�Ci;I~0ɫY�Y)�Y �]����I�YY����@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��)���= ��>��q��MD=Y� ��;QU �>�� ���a�G����y�!;}%�>I�)��-��4�?��-���� �-�@��5�?9�-&B��-; �-�;)�)�W��W�X� X�W:W2W*W�V U U ����xl @zLI�LI�LI�LMf�i@�A}bμBy B��A�l5>*B��R9�A��A�Q�7�A�^U��A�"C�3��*C�RC�C��C�I��G >��� ����� ������ ������ M�� �� B�:Y�� �V1y�� �:��� �6�9� @�05Mj,��4�E�AY}6P��@�}6��@y}6���;�}6X��}6H������C�?����{��?����[e�?���`��ٿ���`�@�?���ਗ�?��� �Pz�����0������ ���?)~6P��@ ~6�h;I~6��CɫI�I)�I �II�IY�}K�@y�}�sG�xDUSBL response received:!U1,P AFD,000,007EE,189,80,80,21,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��9��I���nGi����@�������������; ��)�M�y�CI�M�y�Ci�I���M�=��M�=��M���5��������6?���H�i���@�� ���@)��@I��@i��@���ڛ<M�$=Y��Ǧ;QU��>��1��1�a=�G��9��y���9}��>I���� �:���s�4�?�� �:���j��� ��^@���?9��$&B����< ���<)����:�Wq�WqX� X��W�:W�2W�*W�VU U ����� @zL��L��L��L��i@�A���ǼB� B��A�$?>*B��Q9�A��A���7�A��V��A�"C�2��*C�RC�C��C�I�!GE�>�#Z;Mj,9��4�E�AY}J4��@�}J�@y}J �<�}J� �i�f�lG�}JH����@WA�?��� ���?�������?�����ٿ�����>�?�����v�?����������`Z"��������?)~J4��@I�rfpA ~J�h;I~J��Ci�|��%A1�ٺ-fpA��-t&Aɫ���)�� ��I��Y�5"�@y�5�sG�9ɮ9�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����+��η?'1�ZĿi��|?5�?���v�=����"� ���q=)��I��y���<�O��n���� �rh���I+��?���t����C�����9�< ©)©I�AiA�������A���^�M�_=Y��:<QU��>�������a��G������y�����}�?I�����p�4�?������� ���@����?9��<&B����; ���;)���W)�W)X) X)�W):W12W1*W1�V9U9U=�����@zLm��=�Lm��=�Lm앒@�Lm�K�@�A ���B B �A :>*BX9�A�A�7�A\W��A"C5��*CRCC!�CII��G�C>��� i�� ��� =����� ������ ������ K�� �� �u:Y�� �Y1y�� �:��� 1'6�JFBMj,L� 5�E�AɫI�I)�I �M����I�QY����@y�� sG�xDUSBL response received:!U1,R,AFD,000,007F3,189,80,80,B4,FF �Fpublishing direction and range info������ɰ��&>鰑 ��)���4CI��y��3�B����K��c���?�wnL��?��������ٱ�����=i��=�¹�½mA���=�������i��@�� ��@)��@I���@i��@��g.�MV=Y����QU�>�����a�G����!y�-���}-�>I�1��5M�4�?��5���� �5~@��=�?9�5W&B��5E�: �5��:)�1�Wa�WaXa X��W�:W�2W�*W��V�U�U�����<�@�P�*Q�3�B�Z��B��{�qB@�����S@���������Z��K��c���?�wnL��?��������2Q�:Q��Z��\�rg�!P@w��PQK@y�m�"��Z�����Rh�?����s��?�O�����BQ���3? Q��ZBQ��B�P���9?�P���9?�P�����Q�����Q�#R@"Q�?�@zLA�LA�LA�LA�A]BY BY�A]c)>*B}nR9�A��A�w�7�A�@X��A�"C�4��*C�RC�C��C�I��G(>ܭ D�>9ܩ Iܭ �mGiܭ �@�ܩ �ܩ �ܩ �ܭ ��; ݭ x�E�boHMj,a#5�E�AY}r���@�}rz��@y}raTQ<�}r$� ��}rH������;�?�������?���@�Z�?���@�ڿ�����9�?�����?����]*�������������@l��?)~r���@ ~r`�i;I~r��Cɫ���)�� ������I��Y�G�@y��rG�}TNmea in: $SNTTA,0.079446,,,,165859.91*46 ��(ۼM�R=Y�I<QU��>�����a��G����y�=��}��>Iȹ����:�Ž&�4�?����:�Ž ��� ƽ@����?9ƽr&B�ǽ��: Ƚ��:)Ƚ��:�m�mAdded new target pos. range: 84.599998 m, bearing: 40.254570 deg, deltaT: 4.422066 s, approachRate: 0.067839 m/s, LOS rate: 0.304395 deg/s, posRepo size: 4�W��W�X� X��W�:W2W*W�VU ���`f&U@U ��� f��?zL)�L)�L)�L--I�@�A=���B9 B9�AE�>*BER9�AA�AE��7�AE Y��AI"CM3��*CQRCQCQ�CQI�iG��=��� ������ ������ ������ ��� �� 'o:Y�� d\1y�� ��:��� )6�E�NMj,�.=5�E�AY}2|��@�}28��@y}2` [<�}2�K ��}2H�����(E�?��� ��?����{�?������ٿ���`C�?��� �?����va������AH���������?)~2|��@ ~2cAi;I~2��Cɫ9�9)�9 �9I�9Y�}O�@y�}�rG��m;MT=Y�i�:QU�>��!��!�a%�G��!��)y�-��;}-�>I�1��5�4�?��5M��� �5�@��E�?9�5�&B��5�: �5��:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu�����4�?zL��L��L��L��a�@�A%(��B! B!�A%�>*B%PQ9�A)�A-�7�A-�Y��A)"CU2��*CQRCQCQ�CYI�YGu>I�� )�� �?~UMj,9 W5�E�AY}2��@�}2���@y}2z�`<�}2�� ��}2H�����5Z�?���@�o�?����l��?���@�yٿ���@,X�?������?����������`�5���������?)~2��@ ~2�eh;I~2��Cɫ9�9)�9 �=����I�9Y����@y��8rGI��)��)� �= � �=��U"[>��U�O>��U���i�Uf�@��Q �Q)�QI�U�@i�U�@��eK�MeF=Y�e�]:QUm�>��i��i�am�G��i��qy�}'~<}}�>Iȁ����:�Ņ��4�?����:�Ņ���� ƅZ@����?9ƅ�&B�Dž��: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?�]C�>9�YI�]�lGi�]g�@��Y��Y��Y��]��; �]m�EzL��L��L��L����@�A����B B!�A%�>*B%�O9�AQ�AUo�7�AU�Z��AY"C�5��*C�RC�C��C�I�qG�E>��� Q����� ������ ������ �� �� c:Y�� �[1y�� H�:��� W6)�� q�;�9� ��ũ[Mj,:�p5�E�AY}:e�@�}:!(�@y}:z�a<�}:�9��}:H����@n�?������?����[��?���@/ٿ����\k�?���`�?�����5�������Ţ��������?)~:e�@ ~:�g;I~8ɫ9�9)�9 �=����I�9Y�u��@y�}�qG�����~j�t���ףp= �ÿ���Q�������D������ ���u�)��I��y���{�G�z��L7�A`堿X9��v��?����#����+������< �A)~AI+Ai�A������ A������M�D=Y��� 9QU��>�������a��G������y���p<}��>I������4�?���A��� ��7@����?9���&B���o�: ����:)���W�WX X�W:W2W!*W!�V!U!U-���� h�?zLE�==�LE�==�LE�a�@�LEď�@�Ae=ƙ�Ba Ba�Ae� >*BmO9�Aq�Au��7�Auf[��Aq"C}4��*C�RC�C��C)I��G�^>���bMj,�ˊ5�E�AY}VIK�@�}VY�@y}V��d<�}V$�&��}VH�������?������?����T�?���� �ؿ����c}�?����x�?���@�������`Dܤ�����e��?)~VIK�@ ~VA�g;I~V��Cɫ�髱)�� ��I��Y����@y���qG����u=���94<���7�=i��z�@��� ���@)����@I���@i����@���&$�M�I=Y��,�:QU��>�������a��G������y���p<}��>I������:���S�4�?���:������� ��@���?9���&B�����: ���:)����:�W!�W)X) X)�W):W)2W1*W1�V1U1U5�������?zLQ�LQ�LQ�LU?��@�AmJ���Bi Bi�Am�>*Bm9N9�Aq�Au�7�Au\��Aq"C}3��*CyRCyCy�C�I��G��=�M B�>9�I I�M �kGi�M Ŀ@��M =��I ��I ��M ��; �M i�E��� i�� p=��� ����� ������ ������ N�� �� �^:Y�� �X1y�� /�:��� 6)�� ��;���hMj,ǜ�5�E�Aɫ�髙)�� ������I��Y����@y���pG��1i�5�=��I��MnA��u��MuQ=Y�}���QU}�>��y���a��G����y����}��>Iȑ�ŕ��4�?�ŕg��� ƕ�@����?9ƕ�&B�Ǖ�: ȕk�:)ȑ�WA�WAXA XA�WA:WA2WI*WI�ViUiUu����s=@zL��L��L��L��A��"��B� B��A�Z�=*B�K9�A��A�@�7�A��\��A�"C�2��*C�RC�C��C�I�GM>���nMj,Kx�5�E�AY}6 |�@�}6Ɖ�@y}6�^<�}6g�)��}6H�������?�����[�?������?����%iؿ���`ӏ�?����$��?����A������`�=������1��?)~6 |�@ ~6b�f;I~6��Cɫ9�9)�9 �9I�9Y���@y��'qG������AA���1�<M�T=Y����QU��>�������a��G������y��a}<}��>I�������4�?������� ���@���?9���&B�����: ����:)���W)�W)X) X)�W):W12W1*W1�V9U9U=���`�'@�REB*** querying acoustic contact ***�PA�PAzLY�LY�LY�L]�@�Am:ŀ�Bq Bq�Au�=*Bu1M9�Ay�A}}�7�A}Y]��Ay"C�5��*C�RC�C��C�I��G��=��� c ����� ������ ������ ��� �� !P:Y�� �[1y�� H�:��� �6�9� @���uMj,T�5�E�AY}:!z�@�}:݇�@y}:J�T<�}:�!��}:H�����8��?�����a�?����ɂ�?���`�lؿ��� R��?����_a�?���@8������@�������`���?)~:!z�@ ~:��e;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�pG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����D����� ?����q��@�>9�I�(kGi�"�@�� =��������; �q�Ei�� �@��� ��Ը@)����@I����@i��z�@�����M .=Y�QU�>�����a��G�����y��I��}��>I�����:����4�?���:������� ���@�� �?9���&B����; ��z�;)����:�WI�WIXQ XQ�WQ:WQ2WQ*WY�VYUYU]����5 @zL��L��L��L��@�A���p�B� B��A���=*B�J9�A��A���7�A�^��A�"C�4��*C�RC�C�CI��Gk>I�� )�� �e�{Mj,�,�5�E�Aɫy�y)�y �yI�yY��A�@y��:pG�xDUSBL response received:!U1,P AFD,000,007F3,189,80,80,B4,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �� ��~j�t����C�l��ѿB`��"۹?�� �� ߏ� � ��=)� I� y� �L7�A`堿#��~j���y�&1�|?�� +��� 㥽�� `�; � �A)� I� i� +A�� �� �A)�%�= �%�=��M�,�MM6=Y�U���QUU�>��Q��Q�a]�G��Y��Yy����}��>Iȉ����:�ō��4�?����:�ō+��� ƍ�@����?9ƍ'B�Ǎ��: ȍI�:)ȍ��:�W��W�X� X��W!:W!2W)*W)�V)U1U=����ǩ @zL���=�L���=�L��j�@�L�Q�{@�A-�0`�B1 B1�A]�=*B]�H9�Aa�Ae��7�Ae�^��Ai"C�3��*C�RC�C��C�I��G5�>��S����������������� �Ec:Y�xZ1y�q�:��D6����Mj,vT6�E�AY}66^�@�}6�k�@y}6�(.<�}63W��}6H��������?������?����)Ք?����w�ؿ���`>��?����]��?�����ą������ ����� w��?)~66^�@ ~6�6e;I~6��Cɫ1�1)�9 �9I�9Y����@y���pG鮽a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Å��=�Å��>�Å�k>iÅ¥@�Á ą�@)ą�@Ią�@ią�@����<M��=Y���QU�?�����a��G����y��.�}�?Iȱ�ŵ>�4�?�ŵE��� Ƶ-@����?9Ƶ2'B�ǵ'�: ȵ4�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����@r @zL��L��L��L��{@�A�7DP�B� B��A�>�=*B��L9�A��A�-�7�A�_��A�"C�2��*C�RC�C��C�i�mAI�mAY�QI�iG�Z>��9��I���iGi��.�@�����������D�����; ��r�E)�a�I�a�i�a���e� =��e� =��e��4��Mj,_$&6�E�AY}:�O�@�}:�]�@y}:!x<�}:�/��}:H�����X��?��� ��?�������?������ؿ����g��?��� �@�?�����.������������ c��?)~:�O�@ ~:O�c;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}hoG�xDUSBL response received:!U1,R,AFD,000,007FA,189,80,80,A8,FF �Fpublishing direction and range info������ɰ�G'>鰁 ��)���(CI��y�� �B����K��c���?�wnL��?��������ٱ������M�[=Y����QU��>�����a��G����y��!��}��>I�����M �4�?������� ��g@����?9��T'B�����: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U���� ��@�P�*Q� �B�Z��?OE��B@�bq� S@���������Z��K��c���?�wnL��?��������2Q�:Q��Z����>���O@�\w��L@�$\4����Z���O*�B��?��<e)�?�.��(��BQ�I9? Q��`BQ��~B�P���9?�P���9?�P�����Q�����Q�Ye@"Q�#R@zL9�L9�L9�L=�n{@�Au��@�Bq Bq�AuK�=*BuG9�Aq�A}V�7�A}�_��Ay"C�5��*C�RC�C��C�����i���mGI�� qAY���^9I��i��G J>��%�.�ٺ% qA��%b$A��� i�� =��� ������ ������ ������ ��� �� l:Y�� �X1y�� /�:��� �6���Mj,=@6�E�Aɫ �)� �����I�Y�e�@y�epG��DNmea in: $SNTTA,,,,,165904.36*54 ����=i���=�������� �=M 6=Y����QU�>�����a�G����y�%���}%�>I�)��5�:��-��4�?��5�:��-"��� �-�@��5�?9�-|'B��-��: �-��:)�-��:�memAdded new target pos. range: 85.020004 m, bearing: 41.421139 deg, deltaT: 4.412986 s, approachRate: 0.095175 m/s, LOS rate: 0.264349 deg/s, posRepo size: 4�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUu����GAU@Uu�������?zL��L��L��L��A�m1�B� B��A�İ=*B��H9�A��A���7�A��_��A�"C�4��*C�RC�C��C�YϱI��G�f>�*�Mj,�Y6�E�AY}2�G�@�}2�U�@y}2���;�}2����}2H�����\��?���`l��?�����u�?��� ��ؿ��� |�?�������?�����z{���� C=���������?)~2�G�@ ~2��c;I~0ɫI�I)�I �M����I�IY�]��@y�]�oG��E/ݼ��E9�<��E�@�i�E��@��A �E��@)�E��@I�E��@i�E��@ܝ?�>9ܙIܝ3iGiܝ��@�ܙ�ܙ�ܙ�ܝ�; ݝQ�E��e�V�MeE=Y�u ��QU}�>�����a��G����y���}��>I�������4�?������� ���@��-�?9���'B�����; ���;)���Wi�WiXi Xq�Wq:Wq2Wq*Wq�VyUyU}���@du�?zL��L��L��L�W{@�A�%�"�B� B��A���=*B��G9�A��A���7�A�c`��A!"C-3��*C)RC)C)�C1Y��\9I�1GMR>��� E ����� ������ ������ ��� �� �M:Y�� ]1y�� �:��� O6)�� ��;�9� ���S�Mj,1�s6�E�AY}2?]�@�}2�j�@y}2�v�;�}2���}2H��������?���@���?�����p�?������ؿ�����?����kD�?���@�Nv������ޣ�������?)~2?]�@ ~2�d;I~2��CɫY�Y)�Y �]����I�YY���@y���nG����/�$�����~j�tÿ���S㥫?���,������ ��/]=)��I��y����I+������S㥫�J+��?���94����/]�����H= ���A)���AI��/Ai���A�������A������M�R=Y��'U�QU��>�����a�G���� y�:�;}��>Iȑ����:�ŕ��4�?����:�ŕM��� ƕB@����?9ƕ�'B�ǕY�: ȕA�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����V��?zL�j�=�L�j�=�L���@�L���g@�AtJ�B B �A |e=*B PE9�A�A��7�A�`��A"C2��*CRCC�C!Y�?Z9I�G5.>�<�Mj,��6�E�AY}:H��@�}:��@y}:�x;�}:O�#��}:H����@��?����WQ�?���@�,�?�����Xؿ���@���?����J3�?�����o���� �z������b��?)~:H��@ ~:gd;I~:��Cɫ9�9)�9 �=����I�9Y�e��@y�mWnGI��)��)���= ��>�Í����Í$�>�Í���iÍ�@�É č�@)č�@Ič�@ič�@�����M�P=Y����QU��>�����a��G����y��T<}��>Iȹ�Ž���4�?�Ž���� ƽ~@����?9ƽ�'B�ǽb�: Ƚn�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����x��?zL�L�L�L��g@�A-\�B) B1�A53=*B5�C9�A1�A5��7�A5a��A9"C=5��*CARCACA�CAY� �U9I�G= >܁9܅x�CI܅�hGi܅:�@�܅=�܁�܁�܅��; ݅��E��� v ����� ������ ������ ��� �� �Q:Y�� [1y�� ݏ:��� �6)�� [�;��f�Mj,�m�6�E�A�|�|�;Y}6���@�}6=ü@y}6��;�}62�"��}6H�����N��?����9��?�����8�?����P��������?�����{�?���`��`����`�\�����@���?)~6���@ ~6V�d;I~6��Cɫ9�9)�9 �=����I�9Y�}}�@y�}nG����MS=Y�@��QU�>��!��!�a%�G��!��)y�-y<}-�>I�1��5���4�?��5���� �5�@��=�?9�5�'B��5�: �5�:)�1�W��W�X� X��W�:W�2W�*W��V�U�U����@'�@zL �L �L �L o!h@�A�.�B! B!�A%�=*B%�B9�A!�A%�7�A-Ra��A)"C54��*C1RC1C1�C9Y�E<Q9I�YGu6>�N�Mj,,G�6�E�AY}2&��@�}2���@y}2 ��9�}2][��}2H���� F��?������?����!?�?��� ���������?�����l�?�����=����@"ꣿ�������?)~2&��@ ~2�3e;I~2��CɫI�I)�I �M����I�IY�}�@y�}�mG������M�L=Y�E��QU�>�����a �G�� �� y���<}�>I���%�:�����4�?��%�:��b��� �@��%�?9�(B���: ��:)���:�WI�WIXI XI�WI:WI2WQ*WQ�VQUYU]��� �;@zLy�Ly�Ly�L}��h@�A��5ػB� B��A���<*B�7A9�A��A� �7�A��a��A�"C�3��*C�RC�C��C�Y���L9I�9G}>��� o ����� ������ ������ b�� �� Q:Y�� �Y1y�� �:��� <6�9� @�*x�Mj,u"�6�E�Aɫ���)�� ��I���=>�>9�9I�=hGi�=��@��= =��9��9��=�; �= {EY��o�@y���lG����������=i���=��Y��Y��\����xi>���D=i�̤@�� �K�@)�\�@I�z�@i�z�@��Y4�M-=Y����QU�>�����a�G����!y�%���}%�>I�)��-u��4�?��-=��� �-� @��=�?9�-0(B��-�: �-��:)�)�W��W�X� X��W�:W�2W�*W��V�U�U�����P@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A�V<��B� B��A�[k;*B�`>9�A��A�'�7�A��a��A�"C�2��*C�RC�C��C�Y��yJ9I� G%o>����Mj,7��6�E�A�|i|Y}61�@�}6�>�@y}6J��}6o;��}6H��������?��� C�?����x݈?���`��������?����⩢?��� �^?����/����������?)~61�@ ~6ȍe;I~4ɫY�Y)�Y �]����I�YY���@y��lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��e�����Mb��X9��v���:��v������e���e�}� �e�Լ)�aI�ay�e��&1�������Mb������Mbp���e�P���e����e�� �efA)�e�AI�eAi�edA��a��e(A���1�M�T=Y�y»QU��>�����a��G����y�)�<}��>Iș����:�ŝ���4�?����:�ŝ*��� Ɲ� @����?9ƝE(B�ǝ��: ȝ��:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� � @zLu�[=�Lu�[=�Lu��\@�LuE@�A�k���B� B��A����*B�i<9�A��A�&�7�A� b��A�"C�5��*C�RC�C��C��� �>�� �>Y��@F9I�G=r>��� !����� ������ ������ U�� �� H_:Y�� 0Y1y�� ��:��� �6���Mj,{�7�E�AY}2�=�@�}2�K�@y}2E�X��}2�l��}2H����`b��?��� S��?������?��� }�������?����3b�?���`%k?���@m������H��?)~2�=�@ ~2��d;I~0ɫI�I)�I �M����I�IY�}ۿ@y�}lG�xDUSBL response received:!U1,P AFD,000,007FA,189,80,80,A8,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�=¥@��9 �=��@)�=��@I�=ƣ@i�=ƣ@����F�M�7=Y���V�QU��>�����a �G�� �� y��c;}�>I������4�?����� �m @��E�?9�](B��<�; ���;)��W��W�X� X��W�:W�2W�*W��V�U�U�����?� @zL��L��L��L��%E@�A-����B) B)�A1*B5G<9�A9�A]#�7�A];b��Aa"C�4��*C�RC�C��C�I�9G�~>�9�I��gGi�F�@��=��������; �|pE�G��Mj,г(7�E�AY}:�?�@�}:[M�@y}:F}:.���}:H����@���?���`a��?���@�}�?����P�ֿ�������?���` ��?�����s?��� f����������?)~:�?�@ ~:��d;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�kG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)�����=i��=)Ý> Ù���B/�M�r=Y��o��QU�?�������a��G������y��P!:}�?I������:���0��4�?����:������ ��Y @����?9��p(B����: ����:)����:�W!�W!X! X!�W!:W!2W)*W)�V)U)U5���`�0@zLQ�LQ�LQ�LUY'E@�AehZm�Ba Ba�Ai*Bm�;9�Ai�Am�7�AuXb��Aq"Cu3��*CyRCyCy�CyI�GU>��� /����� ��� ��� ��� �� f`:Y�� y�� ��� {6�!��Mj,ڎB7�E�AY}2v=�@�}22K�@y}2Svֻ�}2� ��}2H�������?����w�?�����Bx?����J����T��?��� �/�?�����z?����� �����`=��?)~2v=�@ ~25�c;I~2��CɫY�Y)�Y �]����I�YY��4�@y��>kG�xDUSBL response received:!U1,R,AFD,000,007FE,189,80,80,9E,FF �Fpublishing direction and range info������ɰ��'>鰡 ��)���CI��y����B����K��c���?�wnL��?��������ٱ���=L$�MED=Y�ML��QU}�>�����a��G����y��) �} �>I�!��%2��4�?��%���� �%= @��]�?9�%�(B��%m ; �%��:)�!�W��W�X� X��W�:W�2W�*W��V�U�U����@& @�P�*Q���B�Z���Q�6_�B@�l,�.S@���������Z��K��c���?�wnL��?��������2Q�:Q��Z��JmA#O@�k��M@P�W;R���Z������z_�?��|����?�\�盿BQ�>a@? Q��hBQ�yB�P���9?�P���9?�P�����Q�����Q��i@"Q�Ye@zLA�LA�LA�LE�!E@�A]��A�BY BY�A]�r�*B��99�A��A��7�A�{b��A�"C�2��*C�RC�C��C�I��G�F>����Mj,�s\7�E�A��9��I��xfGi��S�@��������������; ���hE)��x�CI��x�Ci�����=�������4ɫ�9)�A �E����I�IY���@y��kG��TNmea in: $SNTTA,0.070697,,,,165908.80*44 �������(\�¿㥛� �¿ ףp= �?���z������ ��Q8=)��I��y���J+���V-���:��v���?����Ƚ�����������< �A) �AIi 5A�������A���;���ף;���94�i��p�@��� ��E�@)��&�@I��&�@i��&�@��� �M�1=Y�����QU��>�������a��G�����y����} �>I� ���:�� R��4�?���:�� ��� � !@���?9� �(B�� H�: � <�:)� ��:�mMmAdded new target pos. range: 85.260002 m, bearing: 43.056850 deg, deltaT: 4.510844 s, approachRate: 0.053205 m/s, LOS rate: 0.362617 deg/s, posRepo size: 4�WI�WQXQ XQ�WQ:WQ2WQ*WY�VYU]����PU@U]��� !��?zL��>�L��>�L�VY�@�L��h@�A���B� B��A�k��*B�R99�A��A��7�A��b��A�"C�5��*C�RC�C��C�I��G}Y>i�= VnGI�Q i�i ��� d�ٺ� ��� �VA� �=i p=��� ������ ��� ��� ��� �� Bg:Y�� y�� ��� 6)�� �;�9� �����Mj,xCv7�E�AY}B�#�@�}B�1�@y}BoOܻ�}B#c��}BH��������?����X2�?�����;u?�����1�������?����yQ�?���@��{?��� �+�����`���?)~B�#�@ ~B�kc;I~B��CɫY�Y)�Y �e����I�aY����@y���jG��=�=i�=�=��MmA��I��u� �M}~=Y�}�QU} ?�����a��G����y���}� ?Iȑ�ŕ���4�?�ŕ�� ƕ�!@����?9ƕ�(B�Ǖ�: ȕf�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����H��?zL��L��L��L���h@�A�1ݺB B�A ��*B 79�A �A ��7�A �b��A�"C�4��*C�RC�C��C�i̵��I̵���̽���̽��I��G��>�8��Mj, �7�E�AY}:��@�}:�'�@y}:?�ʻ�}:����}:H�����;��?�����D�?����[dx?���`�D�������?����℠?���@}Vy?����/���������?)~:��@ ~:��c;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}qjG��u�����u��>��un�i�u��@��q �u��@)�u��@I�u��@i�u��@���6�M�I=Y���:QU��>�����a��G����y�/F�}��>Iȡ�ť%��4�?�ť��� ƥh"@����?9ƥ<)B�ǥ��: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U����`�H�?zL��L��L��L�S�h@�AB B�A�*B!79�A!�A%��7�A%�b��A!"C-3��*C)RC)C)�C1I�IG->��9��I���eGi����@���=����������; ��eE��� � ����� ������ ������ ��� �� vY:Y�� [1y�� ݏ:��� h6)�� �;�c�Mj,n��7�E�AY}2H�@�}2*�@y}2f�ͻ�}2v ��}2H�������?���@*@�?��� ��y?����,@��� ^��?������?������y?���`g������A��?)~2H�@ ~2�]c;I~2��Cɫ9�9)�9 �=����I�9Y�}5�@y�}jG����MR=Y�qn�QU�>��!��!�a%�G��!��)y�-�G:}-�>Iȁ����:�Ņ���4�?����:�Ņ@�� ƅ(#@����?9ƅz)B�Dž�: ȅU�:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����_��?zL��L��L��L�V�h@�A�N�B� B��A��<�*B��59�A��A��7�A�b��A"C 2��*C RC C �CI�)Ge�=I�� )�� AA�9��Mj,g��7�E�AY}2�/�@�}2�=�@y}2q���}2ٳ��}2H����@6��?��� @�?��� ��~?��������� ��?������?����fbv?��� }ա��������?)~2�/�@ ~2�c;I~2��Cɫ9�9)�9 �9I�9Y�}C�@y�}jGI��)���A)� �= � �=��59�;M=H=Y�=;QU=�>��A��A�aE�G��A��Ay�M9�;}M�>I�Q��U0��4�?��U��� �U�#@��]�?9�U�)B��U��: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����`m��?zL)�L)�L)�L-M�h@�AEb8��BA Ba�Am5�*BmI69�Ai�Am��7�Ai�Ai"Cu5��*CqRCyCy�CyI��G�%>��� ������ ��� ��� ��� �� ;|:Y�� y�� ��� 36�9� @���Mj,d��7�E�AY}r�V�@�}rzd�@y}r21���}r#���}rH����`<��?������?���@S��?����'�ֿ���`���?����/_�?����"�q?����BԢ���� b��?)~r�V�@ ~r�;c;I~p��9��I���dGi�� �@ɫ �)� �����I����=�����������; ���cEY��ܽ@y���iG����<�O��n���� �rh���V-�?���t����C�� ��h�=)��I��y�����~j�t�� ףp= ��{�G�z�?��������Q8�����#= A)�AI©i©�������A���������x�=i�Q�@�� �z�@)�z�@I�z�@i�z�@���M0=Y�';QU�>����!�a%�G��!��)y�-Y'<}-�>I�1��=�:��5/��4�?��=�:��5��� �5$%@��E�?9�5�)B��5�: �5A�:)�5��:�Wa�WiXi Xi�Wi:Wq2Wq*Wq�VqUqU}���`AA@zLϑ=�Lϑ=�L+[�@�L�&h@�AM��:BI BI�AM�h�*BM�49�AI�AU{�7�AU�b��AQ"C]4��*CYRCYCY�CaI�yG�>>��>�Mj,ʌ�7�E�AY}J�@�}J���@y}J۟%��}J}���}JH��������?�����}�?������?������ֿ�������?����m�?������d?����ʾ����� ���?)~J�@ ~JA%c;I~J��Cɫy�y)�y �}����I�yY���@y���iG�����������<M�w=Y��U�;QU�?�������a��G������y��Q�<}�?I�q��u���4�?��u �� �u&@����?9�u�)B��u��: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����s@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���h@�A�"�:B B�AQK�*B�49�A�A^�7�A�b��A"C%3��*C!RC!C!�C)Y�%5?9I�9GU2>��� �=i�� �=��� E����� ��� ��� .�� �� �v:Y�� y�� ��� $6�U&Nj,�g8�E�AY}2��@�}2���@y}2��C��}2��"��}2H�������?����9�?���@;֊?���@=ֿ����b��?����=4�?�����uH?�����V����� ���?)~2��@ ~2c3c;I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}�iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=���nA���oA��1��5��>��5�i�5�@��1 �5@)�5&�@I�5\�@i�5&�@��E� �MMD=Y�M��;QUM�>��Q��Q�aU�G��Q��Yy�]�,<}]�>I�a��m�:��e���4�?��m�:��e� �� �e#'@��u�?9�e�*B��e�; �e(;)�e��:�Wq�WyXy X��W�:W�2W�*W��V�U�U���� } @zL��L��L��L�|�h@�A�y��:B� B��A�!Z�*B��59�A��A�=�7�A��b��A�"C�2��*C�RC�C��CY�I�G5.>ܝ=�>9ܙIܝ dGiܝk�@�ܝ=�ܙ�ܙ�ܝ��; ݝ�aE�~Q Nj,9G+8�E�AY}2��@�}2�˽@y}2\�:�}2� ��}2H����`� �?������?���`Iٍ?�����ֿ���@��?��� D��?���@�R����`����������?)~2��@ ~2�/c;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}@iG�xDUSBL response received:!U1,P AFD,000,007FE,189,80,80,9E,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 ��}a�M�G=Y�͒;QU��>������a��G����� y���;}�>I�!��%%��4�?��%c �� �%I(@����?9�%*B��%aC< �%�N;)�!�Wy�WyX� X��W�:W�2W�*W��V�U�U�����\ @zL �L �L �L �i@�AE�H ;BA BI�AM��*BM�39�AI�AM�7�AM{b��AI"CU5��*CQRCYCY�C�I��GK>��� ����� ������ ������ ��� �� h^:Y�� �]1y�� ��:��� D6��8Nj,�E8�E�AY}:,��@�}:�Խ@y}:0;�}:)���}:H����@��?����#��?��� Vf�?��� ��ֿ������?���@Qq�?���@�f���� �������H��?)~:,��@ ~:�=c;I~:��Cɫ9�9)�9 �9I�9Y�}<�@y�}�hG鮁ɮ�=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����ӼMC=Y� ww;QU-�>��1��1�a5�G��1��9y�=�1;}=�>I�A��m�:��Ei��4�?��u�:��E�� �E`)@��u�?9�E1*B��EH�; �E��;)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L�Ai@�A5�l';B9 B9�A=G��*B=j19�A9�A=��7�AEcb��AA"Cm4��*CiRCiCi�CqI��G�">��fNj,__8�E�A�Y9�YI�]XcGi�]ȸ@��]=��Y��Y��](�; �]:eEY}����@�}��ս@y}���;�}�8� ��}�H�������?�������?����kF�?���@]�տ������?������?�����r�����g1������J��?)~����@ ~���c;I~���Cɫ�髉)�� ������I��Y� m�@y� iGxDUSBL response received:!U1,R,AFD,000,00802,189,80,80,B3,FF Fpublishing direction and range info����ɰ�'>� �)��3CI�y���B���K��c���?�wnL��?��������ٱ�-dNmea in: $SNTTA,0.286941,0.286473,,,165913.25*5C I�1)�5�A��������MbP?L7�A`�п���Q�������:���+�� �����)��I��y���D�l�����X9��v���/�$��?���O������}�����< ��;A)��3AI���Ai�� A������A)���= ��>��@��@��@���R<M�3=Y�`�;QU��>�����a��G�����y��]-9}��>I�������4�?������ ��*@����?9��\*B����: ��ܹ:)���W9�W9X9 X9�W9:WA2WA*WA�VAUIUM������@�Py*Q}��B�Z}��T�DģB@��v<S@���������Z}�K��c���?�wnL��?��������2Qy:Qy�Z}��_~\N@�&��M@���&� ��Z}����Χ��?W�4�;�?Ҵ�����BQ}g�D? Q}�mBQ}�uB�P}��9?�P}��9?�P}����Q}����Q}mJ@"Q}�i@zL���=�L���=�L�+�w@�L�wa@�A�aHC;B� B��A�>��*B�-39�A�A��7�AAb��A"C 3��*C RC C �CI�IG�Z>��� :����� ������ ������ U�� �� Ga:Y�� �X1y�� /�:��� �6)�� ܷ;�9� ����Nj,�x8�E�AY}Fp��@�}F,@y}F�S�;�}Fμ���}FH���� P �?��� ���?����F��?����:�տ����4 �?������?����tJy�����������@���?)~Fp��@ ~F�c;I~F��Cɫi�i)�i �iI�qY��ռ@y��ShG��E�g�MEz=Y�Mp�;QUM?��I��Q�aU�G��Q��Yy�]C$:}]?I�a��e���4�?��e��� �e�*@��m�?9�ez*B��eܹ: �e�:)�a�m�mAdded new target pos. range: 85.500008 m, bearing: 44.041412 deg, deltaT: 4.461336 s, approachRate: 0.053797 m/s, LOS rate: 0.220688 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �`U@U�������?zL��L��L��L��-a@�Aep\;Ba Ba�Ae3��*Be�.9�Ai�Am��7�Am%b��Ai"C�2��*C�RC�C��C�I��G�>��u$Nj,ᵒ8�E�AY}2���@�}2Z�@y}2�<�}2']���}2H�������?���@���?����=Œ?�����տ����� �?����QO�?���@�������@� ���������?)~2���@ ~2O�c;I~2��Cɫ9�9)�9 �9I�9Y�ub�@y�}�gG��e���e���e���e\���e7�=��e���i�ef�@��a �ez�@)�eE�@I�e&�@i�a��uw�MuG=Y�}U�;QU}�>��y���a��G����y�pF;}��>Iȑ����:�ŕ���4�?����:�ŕL �� ƕ(+@����?9ƕ�*B�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����~ �?zL��L��L��L�uGa@�A�s;B B �A �ҽ*B ;.9�A �A U�7�Ab��A"C5��*CRCC�Ci�!I�!��!��!I�!�99�9I�=�bGi�=&�@��==��9��9��=�; �=<gE)ݙ�Iݙ�iݙ��ݝ�=�ݝ�=�ݝ��5Gew>� �=i a=��� ������ ������ ������ D�� �� !j:Y�� �Y1y�� �:��� 6)�� ��;���*Nj,���8�E�Aɫ�髙)�� ������I��Y��y����A��A����=i���=i��mG�¹�½nAY�����QU��>�������a��G���I�����i��y����}�>��%�J�ٺ)��-�>AI�1��5���4�?��5�� �5�+@��=�?9�5�*B��5ϸ: �5��:)�1�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUu�����K�?zL��L��L��L��A=��;B9 B9�A9*BE/9�AA�AE�7�AE�a��AA"Cm4��*CiRCqCq�CqI��G�$>�l�1Nj,�e�8�E�AY}2T��@�}2�@y}2 XZ<�}28 ��}2H����`g�?����q��?����p��?����4�տ��� D�?����a��?�����J�����`�¢����`���?)~2T��@ ~2�c;I~2��Cɫa�a)�a �m����I�iY��L�@y���gG���ף<���`e=���,�i���@��� ��E�@)��&�@I��E�@i��E�@���>X�M��<Y���Q<QU��>�������a��G������y��o"<}��>I��� �:�����4�?�� �:����� �i,@���?9��*B��j�: ���:)���:�W1�W1X9 X9�W9:W92W9*WA�VAUAUE����/��?zLa�La�La�Le��a@�Au���;By By�A}sؽ*B}�-9�Ay�A}��7�A��a��A�"C�3��*C�RC�C��C�I��G��=��� ����� ������ ������ | �� �� �^:Y�� [1y�� ݏ:��� �~6�9� @���7Nj,&R�8�E�A�~<�>9�|I�~�aGi�~��@��|��|��|��~��; �~�fEY}U\�@�}U�@y}Ud�<�}U�3��}UH���� � �?���`��?���@�r�?����Ԍտ���`~�?�������?���@W,�����ࠤ�����@���?)~U\�@ ~UDc;I~U��Cɫ)�))�) �5����I�1Y�m=�@y�m�gG��e�V-��?�p= ףпy�&1�|���e�m=��e�� �e`�)�aI�ay�e�T㥛� ��D�l������� �rh�?��e����eO����eC= �eA)�aI�e5Ai�a��a��e�A��}���M�@=Y�o�;QU��>�����a��G����y��;}��>Iș�ŝ���4�?�ŝ��� Ɲo-@����?9Ɲ+B�ǝ��: ȝ8�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����`�u�?zL���=�L���=�L�<~@�L���g@�A �;B B�A'ܽ*B$.9�A�A��7�Axa��A"C2��*C!RC!C!�C)I��G*>I ) @A�K�=Nj,�"�8�E�AY}6��@�}6�!�@y}6w9�<�}6���}6H���� k%�?��� b�?�����U�?�����oտ���`#�?����M�?����솒����`�<���������?)~6��@ ~6��b;I~4ɫ9�9)�9 �=����I�9Y���@y��OgGI�1)�1)�E�= �E�=��u���Mu]=Y�u2�;QU}�>��y��y�a}�G��y��y�<�;}��>Iȑ����:�ŕr��4�?����:�ŕ������tI ƕS.@����?9ƕ9+B�Ǖ�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����``�@zL��L��L��L�th@�A_��;B B�A��*B,9�A �A a�7�A�Ia��A�"C�5��*C�RC�C��C�I��G >��� � ����� ������ ������ ��� �� X:Y�� xZ1y�� q�:��� �6���DNj,/�9�E�AY}:a!�@�}:/�@y}:/��<�}:y���}:H������)�?����uH�?����ᘟ?�����Uտ����l(�?��� `�?�����Ԕ�����������D��?)~:a!�@ ~:��b;I~8ɫ9�A)�A �E����I�AY�}��@y�}FgG��������-����-�<��-�P�i�-3�@��) �-�@)�-�@I�-�@i�-�@��=p�M=N=Y�Eҹ;QUE�>��A��A�aM�G��I��Iy�U�;}U�>I�Y��]���4�?��]��� �]H/@��e�?9�]_+B��]: �]&�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����r�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�iIh@�A�@B�;B� B��A���*B��,9�A��A�!�7�A�a��A�"C�4��*C�RC�C��C�Y��v79I��G)>��9��I���`Gi����@������������$�; ��7eE���JNj,��-9�E�Aɫ�髙)�� ��I��Y��b�@y���fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E�;�MEJ=Y�E���QUE�>��I��I�aM�G��Q���y�����}��>I�����:���Һ�4�?�� �:������ ��N0@�� �?9���+B�����: ����:)����:�Wq�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU�����,S @zL��L��L��L��A��ݾ;B� B��A�c �*B� +9�A��A���7�A��`��A�"C3��*CRCC�C)Y��89I�1GMR>��� =i�� �=��=6����=�����=�����=8�� �=�`:Y�=0Y1y�=��:��=� 6�I�QNj,�G9�E�AY}>�5�@�}>�C�@y}>��<�}>f��}>H������/�?���`H �?�����ء?����j.տ����0�?���`B=�?��� ���������ޠ����@���?)~>�5�@ ~>2�b;I~>��Cɫ�髹)�� ��I��Y��f�@y���fG�xDUSBL response received:!U1,P AFD,000,00802,189,80,80,B3,FF �Command Ack�BRequesting micromodem ping code 2i��������i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��!��!���@���@���@�Í©Í��Í�iÍ��@�Í���� č&�@)č&�@Ič��@ič�@����:M�3=Y��5<QU��>�� �� �a�G����y���;}��>Iȑ�ŕ���4�?�ŕ��� ƕi1@����?9ƕ�+B�Ǖe�; ȕ�;)ȑ�WI�WIXI XI�WI:WI2WQ*WQ�VQUQU}����" @zL��L��L��L�=�h@�A�-�;B� B��A���*B��+9�A��A���7�A��`��A�"C2��*CRCC�C Y� V69I�G5�>� XNj,��a9�E�A�<9�<I�>�_Gi�>��@��<��<��<��>q�; �>�eEY}^�6�@�}^�D�@y}^�y�<�}^�m��}^H����@n/�?������?����R�?��� ,տ����80�?���@5��?����EN���������������?)~^�6�@ ~^�ub;I~^��Cɫ�髩)�� ������I��Y��n�@y���fG��ɮ�p=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e��~j�t�h?㥛� ������S㥛?��e�D;��e��� �e/�<)�aI�ay�e�+������{�G�z��Zd;�O��?��e����eף���ej�< �e�A)�e^AI�e Ai�e�A��a��e3A���;M�O=Y� �;QU��>�����a��G����y�M�9}��>Iȡ�ť���4�?�ť6�� ƥ2@����?9ƥ�+B�ǥ�: ȥk�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U����@q�@zL�B�=�L�B�=�L�H�@�L�`-{@�A?�;B B�A��*B)9�A�A>�7�AN`��A"C%5��*C!RC!C!�C)Y��39I�)GE0>��-� ����-�����-�����-��� �-BZ:Y�-�X1y�-/�:��-6)�-̱;�9=��)^Nj,�d{9�E�AY}R�5�@�}ReC�@y}RyH�<�}R����}RH������.�?������?����G��?����9.տ���`�/�?���@��?���`�'����� {�����@���?)~R�5�@ ~R�ab;I~R��Cɫy�y)�y �}����I�yY��P�@y��tfG�xDUSBL response received:!U1,R,AFD,000,00809,189,80,80,9E,FF �Fpublishing direction and range info������ɰ��(>鰹 ��)���CI��y��B����K��c���?�wnL��?��������ٱ����})�M�j=Y��v�;QU��>������a��G����y�Pٹ}��>I������:���dz�4�?����:������ ���2@����?9���+B�����: ��"�:)����:�W�WX X�W:W2W*W!�V!U!U%�����v@�PQ*QUB�ZU�ad�4�B@"L���TS@���������ZU�K��c���?�wnL��?��������2QQ:QQ�ZU��|�e"kN@x��-:EN@�,xa���ZU����x��?")f<��? d��ŧ�BQU�oH? QU)rBQUYsB�PU��9?�PU��9?�PU����QU����QU��?"QUmJ@zL��L��L��L�n/{@�A����;B� B��A���*B��)9�A��A���7�A� `��A�"C�4��*C�RC�C��C�Y��19I�!G=Q>��eNj,�>�9�E�AY}%�)�@�}%�7�@y}%H=�}%Kd��}%H������)�?�����1�?����d��?���@�Cտ�����,�?���@.n�?����d �����-ɡ��������?)~%�)�@ ~%6"b;I~%��Cɫ�)� �����I�Y�Uݺ@y�U�eG��TNmea in: $SNTTA,0.066905,,,,165917.70*46 I��)���A)���= ���=��%���%���%���%����%Q�>��%�S>i�%Q�@��%��� �%ٮ@)�%�@I�%�@i�!��5���M=7=Y�=�;QU=�>��A��A�aE�G��A��Ay�M�]�}M�>I�Q��U���4�?��U��� �Uo3@��e�?9�U,B��UI�: �Uw�:)�Q�m�mAdded new target pos. range: 85.920006 m, bearing: 44.860204 deg, deltaT: 4.372099 s, approachRate: 0.096063 m/s, LOS rate: 0.187277 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`�zU@U����@�?zL��L��L��L�O+{@�A�@��;B� B��A� �*B�F(9�A��A���7�A��_��A�"C�3��*C�RC�C��C�I�yG�>܅;�>9܁I܅o_Gi܅��@�܁�܁�܁�܅٦; ݅�eE���4�����������������s�� ��`:Y��Y1y��:��6)�r�;�I;kNj,��9�E�Aɫy�y)�y �}����I�yY����@y���eG��UC��MUZ=Y�]���QU]�>��Y��a�ae�G��a��ay�m���}m�>I�q��}�:��u���4�?��}�:��uL�� �u4@��}�?9�u=,B��us�: �u(�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U������1�?zL��L��L��L��AeG�<Ba Ba�Ae �*Be�&9�Ai�AmK�7�A�o_��A�"C�2��*C�RC�C��C�I��G >��*rNj,r�9�E�AY}E�Z�@�}E�h�@y}E��=�}E(q���}EH�����9�?�������?���`���?��� ��Կ�����=�?�������?��� J�������瞿�������?)~E�Z�@ ~E�Mb;I~E��Cɫ!�!)�! �-����I�)Y�e6�@y�eTfG��94=����=���O�i�̜@�� �&�@)�&�@I�&�@i���e�=Me:=Y�el<QUm�>��i��i�am�G��i��qy�uN^<}u�>I�y��}K��4�?��}��� �}�4@����?9�}e,B��}��: �}k�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����`���?zL��L��L��L��{@�A�5 <B� B��A���*B��)9�A��A���7�A�_��A�"C5��*CRCC�C I�G= >���P�������������������� �c:Y��[1y�H�:���6�9�@��LxNj,���9�E�A�9�I��^Gi���@��=������ȥ; ��dE)����I����i��������������=����� 5Y}ZC}�@�}Z���@y}Zh�=�}Z�� ��}ZH�����C�?��� ��?���@�%�?����]�Կ���`[H�?�����,�?��������cT������J��?)~ZC}�@ ~Z$Ob;I~Z��Cɫ���)�� ������I��Y���@y��eG��}�=i�y�� ���~j�t�?� �rh�Ϳ{�G�z���� ��<�� �l� � �#�)� I� y� ����S㥫�X9��v�������Mb�?�� /]��� �}��� �< � �A)� 3AI� �Ai� A�� �� (A��!��%mA��-8�M5O=Y�5"�;QU5�>��9��9�a=�G��9��9y�E�-<}E�>I�I��U�:��M���4�?��U�:��M��� �MY5@��]�?9�M�,B��M"�: �M+�:)�M��:�Wy�WyXy X��W�:W�2W�*W��V�U�U����`���?zL���=�L���=�L���@�L��j@�A��z<B� B��A���*B�@'9�A��A���7�A��^��A�"C�4��*C�RC�C��C�I�iG�>i�e�lGI�yi������G�ٺ����?<A��v~Nj,z��9�E�AY}F×�@�}F��@y}F0!=�}F�%��}FH������K�?���`1Z�?���`���?�����sԿ��� �O�?�����8�?�����$�����`+���������?)~F×�@ ~F~<b;I~F��CɫY�Y)�Y �YI�YY����@y��~eG��5O��M=\=Y�=�7;QU=�>��A��A�aE�G��A��Iy�M`<}M�>I�Q��U¨�4�?��U��� �U�5@��]�?9�U�,B��U�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����O��?zL��L��L��L�(�k@�AE-&<BA BA�AE�$�*BE@&9�AI�AMQ�7�AM^^��AI"Cu3��*CqRCqCq�Cyi�yI�y�́�́I��G��>���} �����������������l�� ����:Y���X1y��/�:����*6��i�Nj,l�:�E�AY}F��@�}Fظ�@y}FP!=�}F��5��}FH���� R�?����2�?�����P�?��� XNԿ�����T�?�����T�?���@�(�����`����������?)~F��@ ~F,b;I~F��Cɫ�髁)�� ������I��Y���@y���dG��u���u�ν��u��=i�u�@��q �u�@)�u�@I�u�@i�u�@���>�M�D=Y�ř8QU��>�����a��G����y���;}��>Iȡ�ťM��4�?�ť��� ƥe6@����?9ƥ�,B�ǥ��: ȥ@�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�����$L@zLy�Ly�Ly�L}Qk@�A���&<B� B��A��8�*B��$9�A��A���7�A��]��A�"C�2��*C�RC�C��C�I��G >�9�I��]Gi�V�@����������; ��cEIީ )ީ �X��Nj,9c0:�E�AY}:7��@�}:�@y}:|�=�}:�0��}:H������S�?�����)�?��� ��?�����DԿ���@�V�?�����?����������� 1�������4��?)~:7��@ ~:/�a;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�dG������I��)��)Ý�= Ý�=��n�;M�[=Y����QU��>�����a��G����y��:}��>I������:�����4�?����:���s�� ���6@����?9���,B�����: ����:)����:�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU�U���� �h@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�_*k@�A��0<B� B��A��5�*B��#9�A��A���7�A�]��A"C5��*C RC C �C1I��G�>���y������������������� ��d�:Y��0Y1y����:����!6��w�Nj,YJ:�E�AY}z���@�}z@��@y}z&=�}z>���}zH������S�?�����0�?���`���?����FԿ��� X�?���@�h�?���@{㣿�����q��������?)~z���@ ~z+�a;I~z��Cɫ���)�� ������I��Y� ��@y� �eGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******�Ý��=�Ý����Ý��iÝ=�@�Ù ę)ĝҙ@Iĝҙ@iĝҙ@��=M�-=Y�!��QU��>�����a��G����y���:�}��>I���G��4�?����� ��7@���?9�-B��Ǻ: �Y�:)��W1�W1X1 X1�W9:W92W9*W9�VAUAUE����@ @zL��L��L��L��6k@�A��:<B� B��A�O#�*B�(9�A��A�1�7�A�]��A�"C�4��*C�RC�C��C�I�G=/>�� �� �9�I�|]Gi��@��������&�; �#cE�@��Nj,d:�E�AY}6���@�}6V��@y}66� =�}6ۦ��}6H�����=R�?���� >�?����룧?���@rMԿ���`�W�?����f��?���������`"������g��?)~6���@ ~6HBa;I~6��CɫY�Y)�Y �]����I�YY���@y���dG�xDUSBL response received:!U1,P AFD,000,00809,189,80,80,9E,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 �����~j�t�ȿk�t���������������D���� 0� �����)��I��y���ˡE�����<�O��n��:��v���?����'����t������T< ���A)���AI��3Ai��5A������zA�� ':�M 7=Y� dP:QU�>�����a�G����y����}e�>I�i��m�:��m���4�?��u�:��m� �� �m�7@��u�?9�m4-B��m��: �m�:)�m��:�W��W�X� X��W�:W�2W�*W��VUU���@]� @zLeë=�Leë=�LeO;�@�Le� x@�A��E<B� B��A�#8�*B��%9�A��A���7�A�z\��A�"C3��*CRC!C!�C)I��G��>��� �=i�� ��]�����]�����]�����]��� �]J�:Y�]�W1y�]č:��]{6)�]�;�9e��k˞Nj,� ~:�E�AY}B���@�}B���@y}B*7"=�}B�Ѽ�}BH���� JQ�?���`�D�?����a�?���@SRԿ��� yW�?��� ��?�����E�����@�0���������?)~B���@ ~B��`;I~B��Cɫi�i)�i �u����I�qY��7�@y���cG鮵p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ai�a�����M�z=Y�M�:QU�?�����a��G����y���}�?I�����V��4�?����!�� ��S8@����?9��O-B���0�: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U���� g@zL�L�L�Lx@�A-�[Q<B1 B1�A5�N�*B5�9�A1�A5i�7�A=\��A9"CE2��*CARCACA�CIY�=6+9I��G�B>����Nj,ї:�E�AY}6?��@�}6���@y}6��$=�}6�K��}6H������N�?����bO�?���`: �?��� �^Կ����U�?���@�ӌ?����唤�����y�����`��?)~6?��@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}IdG�xDUSBL response received:!U1,R,AFD,000,0080D,189,80,80,A7,FF �Fpublishing direction and range info������ɰ��(>鰁 ��)���'CI��y��Q�B����K��c���?�wnL��?��������ٱ���.���ף���E�=i�(�@�� ��@)��@I��@i��@��-�<M-C=Y�5H�:QU5�>��1��9�a=�G��9��9y�Ew��}E�>I�I��U�:��M-��4�?��U�:��M>#�� �M�8@��]�?9�Mr-B��M; �M��:)�M��:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������@�P�*Q�Q�B�Z����#ș�B@G]�(zbS@���������Z��K��c���?�wnL��?��������2Q�:Q��Z���Z��N@zcSf,�N@�E�I�� ��Z�����i�Z�?w��f2��?���G��BQ���K? Q�)vBQ��pB�P���9?�P���9?�P�����Q�����Q��@"Q���?zL��L��L��L��w@�A5�K]<B1 B1�A=,D�*B=}#9�A9�A=��7�A=�[��A9"CE5��*CaRCiCi�CiY�ES-9I�QGu6>��9��I���\Gi��c�@���=���������t�; ��_aE��=� ����=�����=�����=�� �=�X:Y�=]1y�=�:��=� 6)�=��;��٫Nj,ٳ�:�E�AY}f���@�}fA��@y}f��$=�}f���}fH����`oM�?�����R�?�����D�?�����gԿ�����R�?���`l��?����䜤�����M������@K��?)~f���@ ~f��_;I~f��Cɫ���)�� ������I��Y�5˹@y�5�dG��DNmea in: $SNTTA,,,,,165922.14*50 ��M��<MMH=Y�U�9QUU�>��Y��Y�a]�G��a��ay�mW��}u�>I�y��}��4�?��}�$�� �}99@����?9�}�-B��}$5; �}�!;)�y�m�mAdded new target pos. range: 86.159996 m, bearing: 45.636592 deg, deltaT: 4.453114 s, approachRate: 0.053893 m/s, LOS rate: 0.174347 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`=�U@U�����Ė�?zL�L�L�L�w@�A-�j<B) B1�A5M<�*B5r#9�A1�A5��7�A5�Z��A1"C=4��*CARC�C��C�I�)Gm5>I AA) ����Nj,��:�E�AY}:~��@�}::��@y}:bH"=�}:a�(��}:H������N�?�����H�?����@�?��� ibԿ���@\R�?���@]�?�����G������+���������?)~:~��@ ~:`;I~:��Cɫ9�9)�9 �=����I�AY��\�@y�� dGI�)��A��}�=��}Sc>��}E��i�}��@��y �}ҙ@)�}��@I�}��@i�}��@����M�X=Y���QU��>�����a��G����y�Q|:}��>Iȩ����:�ŭ!��4�?����:�ŭ�%�� ƭ�9@����?9ƭ�-B�ǭ��: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����}�?zL�L�L�L��w@�A��w<B� B��A�0J�*B�{ 9�A��A�2�7�A�jZ��A�"C�3��*C�RC�C��C�I�GE>��9��I��P\Gi���@������������˟; ���^E�y�Nj,�m�:�E�A��68����6�����6�����6��� �6�u:Y�6�]1y�6��:��636)�6[�;Y}Vi��@�}V%��@y}VWO =�}V~�-��}VH������R�?�����/�?����jߩ?����JԿ����V�?����5�?����������@B�������[��?)~Vi��@ ~Vȗ`;I~V��Cɫq�q)�q �u����I�qY����@y��[dG����)\���(���O��nÿ�������?���Ga������ ����<)��I��y���:��v�������x�&��/�$��?����T����7������< ��dA)��AI��i���A������A��%M�<M%@=Y�-���QU-�>��)��1�a5�G��1��1y�=us;}=�>I�A��E���4�?��E�&�� �EY:@��M�?9�E�-B��EA�: �E(�:)�A�W��W�X� X��W�:W�2W�*W��V�U�U�����2��?zL�=�L�=�L��@�L�n@�AUI�<BQ BQ�AURB�*BU�#9�AY�A]��7�A]�Y��AY"C�2��*C�RC�C��C�I��G�">�7�Nj,�:�:�E�AY}6��@�}6�Ѿ@y}6��=�}6AN��}6H����@)Z�?���@)�?������?��� RԿ���@�]�?����*�?����3��������ģ��������?)~6��@ ~6��`;I~6��Cɫ9�9)�9 �=����I�AY�}�@y�}�cG���4�M^=Y�g�QU�>��!��!�a%�G��!��)y�-+�;}-�>Iȁ�Ņo��4�?�Ņ�'�� ƅ�:@����?9ƅ�-B�Dž@�: ȅ] ;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������j�?zL��L��L��L��o@�A�v:�<B� B��A��R�*B��9�A�A\�7�A!Y��A"C 5��*C RC C �CI�)GE�=��� �=i�� p=�s��Nj,];�E�A��"b����"�����"�����"��� �"z�:Y�"�Y1y�"�:��"-Q6�9&@Y}B���@�}Bg�@y}B�U=�}B�M��}BH�����0a�?��� ���?��� ���?����]�ӿ�����e�?���@��?���@�I�������堿��� ���?)~B���@ ~B��`;I~B��Cɫ�髙)�� ������I��Y����@y���cG��1i�5�=�Í�<�Ít���Í94�iÍz�@�É čE�@)č�@Ič�@ič�@�����M�?=Y�����QU��>�������a��G������y����;}��>I������:������4�?����:����(�� ���;@����?9��.B�����: ���:)����:�W�W!X! X!�W!:W!2W!*W)�V)U)U-���`��@zLI�LI�LI�LM�>o@�AeR�<Ba Ba�Ae&W�*Bem 9�Ai�Am��7�AmgX��Ai"Cu4��*CqRCqCy�CyíÍ�́�́�m:�>9�iI�m�[Gi�m��@��i��i��i��mԛ; �mtZE)���I���i�������=����=�����v4I��G�>��������Ci�5�mGI�Ai�Y��.�Nj,v3;�E�A��"�S�ٺ ��"�GAY}F[��@�}F��@y}Fp�=�}Fԟ��}FH�����g�?���@0��?�������?������ӿ�����k�?�����V�?��� \��������m���������?)~F[��@ ~FҠ`;I~F��Cɫ�髑)�� ������I��Y����@y��EcG��e��MeP=Y�m}6�QUm�>��q��q�au�G��q��yy���;}��>Iȉ�ō���4�?�ō�)�� ƍE<@����?9ƍ>.B�Ǎ�%; ȍ�;)ȉ�W��W�X� Xy�Wy:Wy2Wy*W��V�U�U�����wc@zL��L��L��L��eo@�A�B4�<B� B��A��^�*B��9�A��A�o�7�A��W��A�"C�3��*C�RC�C��CI�GU>���Nj,I�L;�E�AY}J���@�}Jz��@y}J}=�}J����}JH�����<i�?�������?����|D�?�����ӿ����@m�?��� ��?�����B�����������������?)~J���@ ~Jd`;I~H��^�����^�����^�����^��� �^�p:Y�^d\1y�^��:��^�56ɫq�q)�q �u����I�qY����@y��cG������@A��e�D=��eX?��e�D�i�e��@��a �e��@)�e~�@I�e��@i�eK�@��u�[�MuJ=Y�}Q�QU}�>��y��y�a}�G����y���:}��>Iȑ����:�ŕ[��4�?����:�ŕ+�� ƕ�<@����?9ƕa.B�Ǖ��: ȕ{�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����ql@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��ko@�A �Y�<B B �A d�*B9�A�A��7�A�V��A"C2��*CRCC�C!I�9G]�=I ) AA�i9�iI�ii�i��i��i��i��m9�; �m�UE�E7�Nj,~�f;�E�AY}2j��@�}2&��@y}2��=�}2���}2H����`}g�?�������?����Ә�?����+�ӿ����}j�?��� �b�?����jޡ���������������?)~2j��@ ~2�J`;I~2��Cɫ9�9)�9 �=����I�9Y�}?�@y�}�bG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A��-�D�l������/�$��/�$�����-O����-1� �-��)�)I�)y�-�+���������x�&������Mbp?��-����)��-�; �))�-3AI�-�Ai�)��)��-�A)�E�= �E�=��M���MM>=Y�U��QUU�>��Q��Y�a]�G��Y��]��@��Yy�e��}e�>I�i��mD��4�?��mB,�� �m =@��}�?9�m�.B��m�: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U����@M� @zL���=�L���=�L���@�L� �w@�A=C��<B9 B9�A=�m�*B=[9�AA�AEx�7�AEV��AA"C�5��*C�RC�C��C�I��G�#>�U�Nj,k��;�E�AY}J��@�}J��@y}JF� =�}J�K��}JH������e�?������?���@뢦?����e�ӿ���@�g�?����/Қ?����.\����� Eţ���� -��?)~J��@ ~J�{`;I~J��CɫY�Y)�Y �]����I�YY��0�@y���bG�xDUSBL response received:!U1,P AFD,000,0080D,189,80,80,A7,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 �����Ma=Y�%C2�QU-�>��9��A�aM�G��I��Yy�mE�}u�>Iȉ����:�ōH��4�?����:�ōq-�� ƍU=@����?9ƍ�.B�Ǎ�L< ȍ�L<)ȍ��:�W9�W9X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L�%�w@�AG�<B B�A�o�*B �9�A �A ��7�A U��A"CE4��*CARCACA�CII��G k>��� � ����� ������ ������ I�� �� �Z:Y�� �X1y�� /�:��� �6�~Y�Nj,ϡ�;�E�AY}6���@�}6O�@y}6��=�}6��!��}6H����`Ce�?�������?�����F�?����M�ӿ���@�f�?���@���?�����ݠ������������:��?)~6���@ ~6�.`;I~6��Cɫ9�9)�9 �=����I�9Y��]�@y���bG鮝a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����D;���Q�=���C��i��3�@��� ���@)���@I���@i���@����L<M�<=Y��j�QU��>�������a��G������y��M<�}��>I�����e��4�?����.�� ���=@����?9���.B����: ���:)���W��W�X� X��W�:W�2W�*W��V�U�U������7@zL)�L)�L)�L-��w@�A=t��<B9 B9�AE!j�*BEQ9�AA�Ae~�7�AeTT��Aa"Cm3��*CqRCqCq�Cq��9��I���[Gi��o�@������������8�; ��xQEY�}�!9I��G�_>�ޥ �=iޥ �=�e��Nj,4��;�E�AY}R���@�}RA��@y}RG�=�}R˴��}RH����@�g�?���@���?�����@�?��� �ӿ���@i�?���@+*�?�����u����� >���������?)~R���@ ~R>�_;I~Pɫq�y)�y �}����I�yY����@y��*cG�xDUSBL response received:!U1,R,AFD,000,00812,188,80,80,B7,FF �Fpublishing direction and range info������ɰ�?)>����> ��)���7CI��y���B����K��c���?�wnL��?��������ٱ����i���=���������!�<M�H=Y�����QU��>�����a�G���� y�-��:}5�>I�1��=�:��5d��4�?��E�:��5�/�� �5�=@��E�?9�5�.B��5��: �5��:)�5��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q��B�Z���"X�B@Ŋ��sS@���������Z��K��c���?�wnL��?��������2Q�:Q��Z��";��q�M@�M$O@J#Lb����Z��n~Am)�?C��} �?�df�q��BQ��N? Q��xBQ��oB�P���9?�P���9?�P�����Q�����Q���?"Q��@zL�L�L�L|�w@�AE��<BA BA�AMUa�*BMB9�AI�AM�7�AMlS��AI"CU2��*CQRCYCY�CYI��G )>��� ������ ������ ������ ��� �� �g:Y�� �[1y�� H�:��� �6�4n�Nj,sc�;�E�AY}r8��@�}r���@y}r�x�<�}r�P���}rH�����>j�?�������?����>�?������ӿ���`�l�?�����Y�?��������`�ğ����@��?)~r8��@ ~r>o_;I~r��Cɫ���)�� ������I��Y���@y�<cG�}DNmea in: $SNTTA,,,,,165926.58*5C ���\���� �>���x�i���@��� ���@)��ҙ@I��i���@����;M�K=Y����QU��>�������a��G������y���B;}�>I� �� u��4�?�� �0�� � �=@���?9� /B�� k�: � w�:)� �mEmAdded new target pos. range: 86.459999 m, bearing: 46.109361 deg, deltaT: 4.454288 s, approachRate: 0.067352 m/s, LOS rate: 0.106138 deg/s, posRepo size: 4�WI�WIXI XI�WI:WI2WQ*WQ�VQUU����p�U@UU�������?zLq�Lq�Lq�Lu��w@�A��#�<B� B��A�{_�*B��9�A��A���7�A��R��A�"C�5��*C�RC�C��C�I��Gu>�� 9�� w�CI�� $[Gi�� �@��� =��� ��� ��� �; �� )NE����Nj,�;�;�E�AY}F��@�}F|�@y}F{-�<�}Fu!���}FH������p�?����̕�?���@�?����֣ӿ����-s�?����1{�?����t$������i����� ���?)~F��@ ~F&�_;I~F��Cɫ�髑)�� ������I��Y����@y��.cG����k�t��?�"��~j̿����Mb����� �=���Sc� ����)��I��y���<�O��n���l����{�G�zt?���t����������ף; ��)���AI��3Ai���A�������� �Y�M H=Y����QU�>�����a�G����y�%7�;}%�>I�)��-|��4�?��-�1�� �->@��5�?9�-/B��-��: �-4�:)�)�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUm��� �w�?zL��)=�L��)=�L��N�@�L���|@�A���<B� B��A��`�*B�b9�A��A��7�A��Q��A�"C�4��*C�RC�C��C�I��G�>Iޝ @A)ޙ �� ���� ����� ����� +�� � ƃ:Y� d\1y� ��:�� �Z6)� ��;�9� ��]}�Oj,� <�E�AY}2�@�}2�*�@y}2���<�}2�g��}2H���� <x�?����uh�?���`d$�?�����wӿ�����y�?����� �?���@Ky������iʠ�����2��?)~2�@ ~24y_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}cGI��)���A)���= ���=����M\=Y����QU�>��!��!�a%�G��!��!y�-�;}-�>I�1��=�:��5��4�?��=�:��582�� �5?>@��E�?9�5#/B��5��: �5��:)�5��:�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUqUu�������?zL��L��L��L��|@�A����<B� B��A��c�*B��9�A��A���7�A��P��A�"C�3��*C�RC�C��C�I��G >�H�Oj,�<�E�A�|$�|$Y}R�0�@�}Rt>�@y}R�]�<�}R�$��}RH�����p~�?���� @�?����Ww�?����fRӿ����T~�?�����ݜ?�����j������o����������?)~R�0�@ ~R��_;I~R��Cɫy�y)�y �}����I�yY��)�@y���bG��}/�>��}Q�=��}���i�}��@��y �}ҙ@)�}��@I�yi�}��@��h��M�C=Y�X!�QU��>�����a��G����y� �;}��>Iȩ�ŭ�~�4�?�ŭ�2�� ƭo>@����?9ƭ4/B�ǭ��: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U������d�?zL �L �L �L �}@�A�<B B!�A%�p�*B%�9�A!�A%(�7�A%�O��A!"C-2��*C1RC1C1�C1i�9I�9��9��9ܑ9ܑIܑiܑ�ܕ=�ܑ�ܑ�ܕD�; ݕ@KEI�AGew>�� � ���� ����� ����� b�� � �X:Y� �]1y� ��:�� <6)� ��;�2�Oj,U�5<�E�AY}2�A�@�}2�O�@y}2��<�}2�R-��}2H�����ă�?������?���@���?�����1ӿ����a��?���@R��?���@+~�������������`���?)~2�A�@ ~2��_;I~2��Cɫ9�9)�9 �E����I�AY�}��@y�}�aG���&�MR=Y�%�QU%�>��!��!�a-�G��)��)y�5��;}5�>Iȉ����:�ō�}�4�?����:�ō�3�� ƍ�>@����?9ƍE/B�Ǎ��; ȍ;)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��3}@�A�A �<B� B�Ag��*B9�A�A��7�AvN��A"C 5��*CRCC�CI�)GM�=�ޥ =iޥ p=�6�Oj,@�O<�E�AY}BLC�@�}BQ�@y}ByH�<�}B �+��}BH�����O��?����G�?����)P�?���@)/ӿ������?���@�h�?���@A�������o���������?)~BLC�@ ~B;/`;I~B��Cɫ�髙)�� ������I��Y��U�@y���bG��1i�1��A��EnA���v������=����i��G�@��� ��)��I��ҙ@i�����5K=M�?=Y��ĉ�QU��>�������a��G������y��]�9}��>I������|�4�?���I4�� ���>@����?9��W/B�����: ����:)���W!�W!X! X!�W!:W!2W)*W)�V)U)U5����<@zLQ�LQ�LQ�LU�5}@�Ae'��<Ba Bi�Amk�*BmO9�Ai�Au#�7�AuTM��Aq"C}4��*CyRCyCy�C�I��G��=܍ 9�>9܉ I܍ �ZGi܍ ̱@�܍ =�܉ �܍ ��D�܍ �;�� �� ����� ����� �� � Y� 0Y1y� ��:�� M!6)� ݍ �HE)�-�w�CI�-�w�Ci�)���-�=��-�=��-��w5���Oj,hvi<�E�AY}2�4�@�}2kB�@y}2���<�}2v���}2H���� ��?����c:�?�������?����Kӿ������?���@]��?���@ �������r����������?)~2�4�@ ~2��_;I~2��Cɫ9�9)�9 �=����I�AY�u��@y�u�aG��y��}AA���> ףp=ʿ333333ÿ�~j�t�h?���Q����� ��D;)�I�y���v��/������K������Mb`���xi���^����� ��A)�AI��Ai��A����zA��5щ�M5U=Y�=���QU=�>��9��A�aE�G��A��Ay�M���}M�>I�Q��]�:��Uz�4�?��]�:��U�5�� �U�>@��]�?9�U�/B��U��: �U��:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U������M@�R�B*** querying acoustic contact ***�P��P�zL���=�L���=�L���@�L��4v@�A�|��<B� B��A����*B��9�A��A���7�A�CL��A�"C�3��*C�RC�C��C�I�yG�i�}�lGI��i������@�ٺ����W5A��� Oj,�[�<�E�AY}N�#�@�}NM1�@y}N�R�<�}Nx���}NH������z�?����o_�?�����8�?����kӿ���� |�?���@P�?��� ���������̝��������?)~N�#�@ ~N��_;I~N��Cɫq�q)�y �}����I�yY����@y���aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��<<M�5=Y��;�QU��>�����a �G�� �� y�⓻}�>I����v�4�?���7�� ��>@��M�?9��/B����; ���;)��W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L��v@�A��z�<B� B��A�ހ�*B�p9�A��A� �7�A��J��A�"C�2��*CRC!C!�C!I�aG}7>Iޙ )ޝ @A�� � ���� ����� ����� ��� � �[:Y� �W1y� č:�� p/6�9� @��&Oj,s.�<�E�AY}2��@�}2B!�@y}2��<�}2��ȼ�}2H�����v�?����Հ�?���@B�?����\�ӿ�����w�?���`%�?��� г������2����� ���?)~2��@ ~2��_;I~2��CɫY�Y)�Y �]����I�YY���@y���bG�xDUSBL response received:!U1,P AFD,000,00812,188,80,80,B7,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )���= ��>����<��>��;߽i�=�@�� ��@)�ҙ@I�i�ҙ@�A9�AI�Ai�A��E=��A��A��E�; �E�FE���h =M�8=Y����QU��>�������a��G������y�� ��}��>I�A��M�:��E�s�4�?��M�:��ER9�� �E�>@��U�?9�E�/B��E��: �E �:)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U����@3� @zL�L�L�L'�u@�AEͿ�<BI BI�AM�q�*BU%9�AQ�A]��7�A}�I��Ay"C�5��*C�RC�C��C�I�AG�}>�~-Oj,� �<�E�AY}R�@�}R�#�@y}R�g�<�}R�м�}RH����@�v�?���@�{�?��� ��?���`��ӿ����ax�?������?���@T,������!����������?)~R�@ ~R��_;I~R��Cɫy�y)�y �}����I�yY���@y��fbG鮽p=ɮ�R=�-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���K�M�s=Y���ɺQU�?�������a��G������y��Gl:}�?I������q�4�?����:�� ��?@����?9��0B���ܹ: ���:)���W�W!X! X!�W!:W!2W!*W)�V)U)U5����i@zLI�LI�LI�LM=�u@�Ae���<Ba Ba�Ae=u�*Be9�Ai�Am�7�Am�H��Ai"C 4��*CRCC�CI�)G�>�� � ���� ����� ����� �� � �Y:Y� �X1y� /�:�� �6�>4Oj,X��<�E�AY}2�"�@�}2b0�@y}2P��<�}2y��}2H������z�?��� W`�?�����ˠ?���@�mӿ����{�?���@ �?������������)�������T��?)~2�"�@ ~2m`;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}xbG�xDUSBL response received:!U1,R,AFD,000,0081A,189,80,80,AC,FF �Fpublishing direction and range info������ɰ��)>鰅7�> ��)���,CI��y���B����K��c���?�wnL��?��������ٱ���������Ga�����<i����@��� ����@)����@I����@i����@���e�;M�Y=Y�+��QU�>�����a �G�� �� y� a�;}�>I����n�4�?��<�� �?@��%�?9�20B��w�: �Ǻ:)��W�WX X�W:W 2W *W �V UU��� ]�@�P!*Q%�B�Z%���X "�B@'�M g�S@���������Z%�K��c���?�wnL��?��������2Q!:Q!�Z%�t0>��M@3�W�O@̆�����Z%�g��3�?P����1�?N��H��BQ%��O? Q%|BQ%-oB�P%��9?�P%��9?�P%����Q%����Q%�@"Q%��?zLi�Li�Li�Lm v@�A����<B� B��A�cs�*B��9�A��A���7�A�}G��A�"C�3��*C�RC�C��C�I��G->�1 9�1 I�1 i�1 ��1 ��1 ��1 ��5 ��; �5 nDE�ޥ �=iޥ �=�3:Oj,���<�E�AY}^y0�@�}^5>�@y}^�N�<�}^5h&��}^H����@ �?����.A�?���`_4�?����LSӿ���@b}�?���@��?���@0 �����@�ɤ���� ���?)~^y0�@ ~^0`;I~^��Cɫ�髹)�� ������I��Y����@y���aG�]TNmea in: $SNTTA,0.063502,,,,165931.03*48 ��]�=i�]�=��U�����Mb�?+���ǿ㥛� ��?��U�<��Uv>� �U��=)�QI�Qy�U�#��~j�������K��/�$��?��U㥽��Q��U�< �U5A)�QI�Qi�Q��Q��U�A��i��i��u�ܼMu4=Y�}l4:QU}�>��y��y�a��G����y�6t;}��>Iȑ����:�ŕ�j�4�?����:�ŕ�=�� ƕ�?@����?9ƕj0B�Ǖo�: ȕ��:)ȕ��:�m�mAdded new target pos. range: 86.940002 m, bearing: 46.503609 deg, deltaT: 4.422154 s, approachRate: 0.108545 m/s, LOS rate: 0.089153 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)�U@U������r�?zL�.�=�L�.�=�L�N@�L��Sk@�A��<B B�A��*B}9�A�A�7�A9F��A"C�2��*C�RC�C��C�I��G�&>�� V���� ����� ����� �� � �c:Y� �[1y� H�:�� �6�>AOj,��=�E�AY}2>�@�}2�K�@y}2���<�}2z7��}2H�������?��� U$�?������?����;9ӿ����e��?���@9�?���`�������`w릿��� 9��?)~2>�@ ~2�L`;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y���aG���X�M�Z=Y�B�:QU��>�������a��G������y����;}��>I�A��E�g�4�?��E?�� �E�@@��u�?9�E�0B��E��; �E��;)�A�W��W�X� X��W�:W�2W�*W��V�U�U���� b��?zL��L��L��L�Bhk@�A�O�<B B�A%}��*B%79�A!�A%�7�A%�D��A!"C-5��*C1RC1C1�C1I�IGm>��DGOj,�{=�E�AY}R�I�@�}RvW�@y}R|��<�}Rݷ-��}RH���� a��?��� )�?����� �?���@�"ӿ��� ���?����/Ƞ?����qQ������{����������?)~R�I�@ ~Rp`;I~R��Cɫq�y)�y �yI�yY��ŷ@y��bG��}/ݽ��}9�<��}/ݽi�}��@��y �}�@)�}ҙ@I�}�@i�}�@��J�<M�K=Y�{�:QU��>�����a��G����y��j;}��>Iȩ����:�ŭ,d�4�?����:�ŭY@�� ƭ0A@����?9ƭ�0B�ǭ(�: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�H�?zL �L �L �L 6�k@�A�U�=B! B!�A%}�*B%�9�A!�A%��7�A%�C��A)"C54��*C1RC1C1�C9I�IGm�=��9��I��i�����=�����������; ��*BEIޡ )ޥ AA�� � ���� ����� ����� N�� � �Y:Y� xZ1y� q�:�� 6)� >�;�9� ���nMOj,qV8=�E�AY}BV�@�}B�c�@y}BG_�<�}B ���}BH��������?����c��?����p4�?��� _ӿ���@���?����1њ?���� ˚����`�6�����@��?)~BV�@ ~B!�`;I~@ɫ�髙)�� ������I��Y���@y��FbGI�)�)�%> �%�=��m�9<MmM=Y�m��:QUm�>��q��q�au�G��q��yy�}gw;}}�>Iȁ�Ņ�`�4�?�Ņ�A�� ƅ�A@����?9ƅ�0B�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����S��?zL��L��L��L���k@�A��R=B� B��A�zx�*B�c9�A��A}�7�A�B��A"C 3��*C RC C �CI�)GE�=�+UTOj,0,R=�E�AY}F`g�@�}Fu�@y}FW��<�}F����}FH�������?�������?�����N�?���@P�ҿ��� F��?����FĔ?��� ����������������?)~F`g�@ ~F�r`;I~F��Cɫ�髙)�� ������I��Y��߷@y��8bG����T<�����<���94=i����@��� ��ҙ@)����@I����@i����@����S�M�C=Y��g�9QU��>�������a��G������y����;}��>I��� �:��]�4�?�� �:��9C�� ��B@�� �?9�/1B����: ���:)���:�W1�W1X1 X1�W9:W92W9*W9�V9UAUE���@-1�@zLY�LY�LY�L]��k@�Au�=Bq Bq�A}�y�*B}�9�Ay�A}��7�A}KA��Ay"C�2��*C�RC�C��C�I��G��=�� 9�� I�� i�� ��� ��� ��� ��� ��; �� @E�� � ���� ����� ����� @�� � �V:Y� [1y� ݏ:�� &6)� ��;��ZOj,�l=�E�AY}2�{�@�}2Z��@y}2� �<�}2}��}2H����`��?���`���?����x�?�����ҿ����c��?���`'œ?���@��������0̜�������?)~2�{�@ ~2`q`;I~2��Cɫ9�9)�9 �=����I�9Y��R�@y���aG����@5^�I�?�&1����I+������b>����н ��9��)��I��y���{�G�z���p= ף���~j�t�x�����#����������Ļ dA)�AI3Ai A������A����/�M�L=Y�����QU��>�������a��G������y��W�;}��>I�����[�4�?���\D�� ��yB@����?9��N1B�����: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U�����0�@zL�ʜ=�L�ʜ=�L��$�@�L�H;w@�A�=B B�A���*B�9�A�Ag�7�A�?��A"C%5��*C!RC!C!�CII�aG�>�ޡ iޥ �=�4gaOj,��=�E�AY}Fl��@�}F(��@y}F��<�}F����}FH�����ę�?����[��?���@�w�?����~�ҿ����/��?�����P�?���@dX����������������?)~Fl��@ ~F@5`;I~F��CɫY�Y)�a �e����I�aY����@y���aG����������=i���=��mA��-�;��-Q�=��-�'�i�-�@��) �))�-ҙ@I�-ҙ@i�-ҙ@��=Q�<M=C=Y�E���QUE�>��A��A�aM�G��I��Iy�Uϖ;}U�>I�Y��e�:��]Y�4�?��e�:��]�E�� �]fB@��e�?9�]o1B��]�: �]�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�RB*** querying acoustic contact ***�P�PzL1�L1�L1�L5h^w@�Am~%=Bi Bq�Au��*Bup9�Aq�Au��7�Au�>��Ay"C}4��*C�RC�C��C�I��G�&>�� � ���� ����� ����� ��� � =�:Y� xZ1y� q�:�� �6�9� @�P�gOj,���=�E�AY}2���@�}2`��@y}2Kf�<�}2�G ��}2H�����a��?����Ё�?����U��?����ѓҿ����v��?��� V��?���������� ����������?)~2���@ ~2�2`;I~2��Cɫ9�9)�9 �E����I�AY�}��@y�}�aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����$<M�d=Y���h:QU��>�������a��G������y���L;}��>I���TW�4�?���F�� �XB@���?9��1B����: �;)��W��W�X� X��W�:W�2W*W�VUU������ @zLA�LA�LA�LEWuw@�}8�>9�}v�CI�yi�y��}=��y��y��}��; �} >E)�)�I�)�i�)���-�=��-�=��-�5�A��5=B� B��A�,��*B�9�A��A�[�7�A�=��A�"C�3��*C�RC�C��C�I��G >�������Ci�= �lGI�I i�a ��� �#�ٺ� ��� �A�� 1I?9�� d=A�`�mOj,���=�E�AY}:-��@�}:頿@y}:N��<�}:��,��}:H�����ޛ�?�������?����o:�?���`��ҿ��� M��?���@:��?���@�������Ȕ���������?)~:-��@ ~:U(`;I~8ɫY�Y)�Y �YI�aY�}�@y�}ObG�xDUSBL response received:!U1,P AFD,000,0081A,189,80,80,AC,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 �����<MH=Y��:QU�>��)��1�a=�G��9��Iy�e��}e�>Iȁ�ŅMU�4�?�Ņ�G�� ƅHB@��u�?9ƅ�1B�Dž�< ȅS�<)ȁ�W�W!X! X!�W�:W�2W�*W��V�U�U�����iz @zL��L��L��L�Utw@�A5�=B1 B1�A5�w�*B5�9�A1�A=��7�A=<��A9"Ce2��*CiRCiCi�CiI��G�A>Iޡ )ޡ �� � ���� ����� ����� ��� � Պ:Y� �[1y� H�:�� "6�U�tOj,t�=�E�AY}:���@�}:���@y}:��<�}:V#��}:H����@��?���`���?�����s�?����ǭҿ��� {��?����ù�?���`�B������m]������e��?)~:���@ ~:�`;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�aG鮁ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�Y)�Y)�m�= �m�=�õ�@��õ�=�õ�u<iõG�@�ñ ı)ĵ��@Iıiĵ��@���uM�>=Y��-;QU��>�������a��G������y���h�}��>I������:���JS�4�?����:����H�� ��9B@����?9���1B���,�: ��E�:)����:�W�WX X�W:W2W*W�VU!U%��� �(@zL9�L9�L9�L=�Yw@�AU��=BQ BQ�A]���*B]9�AY�A]R�7�A]�:��AY"Ce5��*CaRCiCi�C�I�G= >�q 9�q I�q i�q ��q ��q ��q ��u -~; �u n<E���zOj,]O�=�E�AY}2�{�@�}2q��@y}2���<�}2'3��}2H����@}��?�������?���@^�?���`�ҿ����֕�?����Nc�?��� ���������à�����-��?)~2�{�@ ~2�_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}abG�xDUSBL response received:!U1,R,AFD,000,0081F,189,80,80,88,FF �Fpublishing direction and range info������ɰ�O*>鰁 ��)���CI��y��z�B����K��c���?�wnL��?��������ٱ���dNmea in: $SNTTA,0.216097,0.215847,,,165935.47*56 ��e�<�O��n�?�� �rh��L7�A`堿��et<��eC� �e+�)�aI�ay�e�<�O��n��<�O��n������Mb`���et���et����e� �a)�aI�e^Ai�e�A��a��eGA���<M�>=Y�RI;QU��>�����a��G����y��P�}��>Iȱ�ŵFQ�4�?�ŵcJ�� ƵCB@����?9Ƶ�1B�ǵܹ: ȵ��:)ȱ�W!�W!X! X!�W!:WI2WI*WI�VIUIUU����I�@�Pa*Qez�B�Ze��"p1�C@�r�X��S@���������Ze�K��c���?�wnL��?��������2Qa:Qa�Ze��m�o�M@n×��O@H��S�] ��Ze��Bj����?�W.�Ao�?�u;x8���BQe��R? Qe�BQe+mB�Pe��9?�Pe��9?�Pe����Qe����Qe@"Qe�@zL��=�L��=�L����@�L���|@�A���=B� B��A��u�*B�@9�A�A��7�A�9��A "C4��*CRCC�CI�iG�A>�� W���� ����� ����� ��� � x:Y� xZ1y� q�:�� `6�z��Oj,�*>�E�AY}BXs�@�}B��@y}B%��<�}B ڼ�}BH��������?�������?����Lܢ?��� ��ҿ����{��?���@��?������������=������R��?)~BXs�@ ~B��_;I~B��Cɫi�i)�q �u����I�yY��!�@y���bG�Õ��Õ�N>�Õ�}=iÕ=�@�Ñ ĕ�@)đIĕ�@iĕҙ@���2<M�[=Y��|;QU��>�����a��G������y���/�}��>I����:��}O�4�?�� �:���K�� �IB@�� �?9�2B��4�: ���:)���:�m=mAdded new target pos. range: 87.239998 m, bearing: 47.136799 deg, deltaT: 4.484703 s, approachRate: 0.066893 m/s, LOS rate: 0.141189 deg/s, posRepo size: 4�WA�WAXA XA�WA:WA2WI*WI�VIUM��� \�U@UU����7��?zLi�Li�Li�Lm��|@�A��T=B� B��A��q�*B�9�A��A�P�7�A�h8��A�"C�3��*C�RC�C��C�I��G��=�ޥ �=iޥ �=�R��Oj, !>�E�AY}6�j�@�}6`x�@y}6�=�}6K7ռ�}6H���� �?����H��?��� +V�?����Y�ҿ���@��?������?���@a ��������������)��?)~6�j�@ ~6�p_;I~6��Cɫ9�9)�A �E����I�AY����@y��JbG��=V>i�9��I��MnA��ހ�M�K=Y�19;QU��>�����a��G����y�0�}��>I������M�4�?����L�� ��OB@����?9��12B����; ���";)���W��W�X� X��W:W2W*W�VU U ����vv�?�Y9�YI�Yi�Y��]=��]RD��Y��]^}; �]<EzL��L��L��L�x�|@�A��=B B�Ax�*B�9�A�A%��7�A%7��A!"CM2��*CaRCiCi�CiI��G�>�� ����� ����� ����� D�� � �i:Y� �Y1y� �:�� q&6)� ;�;�9� ��� �Oj,�:>�E�AY}:l�@�}:�y�@y}:{�=�}:7���}:H�������?�������?���@1��?���`}�ҿ��� ӑ�?���@��?���@�������M����������?)~:l�@ ~:z~_;I~:��Cɫ9�9)�9 �=����I�9Y�}Y�@y�}�bG��U�=M]O=Y�]�;QU]�>��a��a�ae�G��a��ay�m\�9}m�>I�q��}�:��u�K�4�?��}�:��u9N�� �uYB@��}�?9�uQ2B��u��: �us�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U�����t��?zL��L��L��L���|@�A�eH=B� B��A��j�*B�9�A��A�U�7�A��5��A�"C�5��*C�RC�C��C�I�G5�=�z�Oj,˻T>�E�AY}6�k�@�}6�y�@y}6(�=�}6���}6H�����Ǝ�?��� ���?������?������ҿ���@[��?����緛?����8������� ������@e��?)~6�k�@ ~6�_;I~6��Cɫ9�A)�A �E����I�AY�}��@y�}�aG��}�q=��}h>��}�D�i�}�@��y �}ҙ@)�}ҙ@I�}ҙ@i�y��|W�M�F=Y���:QU��>�����a��G����y����}��>I������I�4�?����O�� ��fB@����?9��s2B���M; ��l;)���W �W X X�W:W2W*W�VUU����#2�?zL9�L9�L9�L=5�|@�AU��=BQ BQ�AUg��*BUg9�AY�A]��7�A]�4��AY"Ce4��*CaRCaCa�CiI��G��=�U 7�>9�Q I�U \ZGi�U {�@��Q ��Q ��Q ��U ;|; �U i;EIޡ )ޥ @A�� ����� ����� ����� ��� � ��:Y� xZ1y� q�:�� �6)� ��;���Oj,[�n>�E�AY}2op�@�}2+~�@y}2G�=�}2��0��}2H����`��?���@��?���`�7�?������ҿ�������?�������?�����~������_���������?)~2op�@ ~2��_;I~2��Cɫ9�9)�9 �=����I�9Y�}0�@y�}�bGI��)����m�<�O��n�?�v��/տ�~j�t��?��mt=��mx�� �m��<)�iI�iy�m�J+�������Mb��{�G�z�?��m�H���m����m�#< �m A)�m3AI�m�Ai�m�A��i��m�A)Å�= Å>��%*=M�K=Y� �;QU�>�����a�G����y�s�:}%�>I�!��%�G�4�?��%�P�� �%�B@��5�?9�%�2B��%�: �%/�:)�!�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUe�������?zL�W�=�L�W�=�L��@�L��p@�A�3�=B� B��A��o�*B�A9�A��A�L�7�A�e3��A�"C�3��*C�RC�C��C�I��G�>���Oj,Kr�>�E�A�|4<�|Y}~r��@�}~.��@y}~T�=�}~bQ*��}~H��������?��� ��?���@�}�?���`+�ҿ��� 1��?�����#�?����������`5E���������?)~~r��@ ~~4�_;I~~��Cɫ�)� �I�Y�Qy�Q��]��;��]C=��]+>i�]��@��Y �]��@)�]��@I�]��@i�]��@Y�m�0;QUu�>��q��q�au�G��y��yy�}w�;}��>Iȁ����:�ŅGE�4�?����:�Ņ�Q�� ƅ*C@����?9ƅ�2B�Dž��: ȅ8�:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`<@zL��L��L��L���p@�A�C��<B� B��A�*B�G9�A�A��7�A2��A"C 2��*C RC C �CI�)GE>�� ����� ����� ����� ��� � p;Y� [1y� ݏ:�� x76�9� @��-�Oj,{M�>�E�AY}:���@�}:���@y}:��=�}:���}:H��������?�����w�?�����+�?�����ҿ��� ��?���`��?������������a<����� V��?)~:���@ ~:��_;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}xbG������@A��s��M��<Y�h;QU�?�����a��G����y� <}�?Iȹ�ŽdC�4�?�Ž�R�� ƽzC@����?9ƽ�2B�ǽ@�: Ƚn�:)ȹ�W��W�X� X��W�:W�2W�*W��VqUqUu����_@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�Pq@�A�k?�<B� B���9��I���ZGi��̱@���=����������z; ���:E�A�cs�*B�9�A�AR�7�A�1��A"C5��*CRC!C!�C!I�aG��=�ޥ �=iޥ �=��W�Oj,�(�>�E�AY}2V��@�}2��@y}2=�}2�0���}2H����@١�?�����J�?����8��?����4[ҿ���@g��?�������?���`_ �����`dߞ����@���?)~2V��@ ~2~�_;I~2��CɫY�Y)�Y �]����I�YY��`�@y���bG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���� �� mA��*�<MC=Y��;QU%�>��!��)�a-�G��)��1y�=v�;}=�>I�A��-�:��EA�4�?��5�:��E�S�� �E�C@��5�?9�E�2B��E��< �E��<)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U���� � @zL �L �L �L FIq@�A%j��<B! B!�A%�i�*B%�9�AI�AM��7�AM�/��AI"CU4��*CQRCQCQ�CYI��G�>�� �5���� ����� ����� ��� � ��;Y� 0Y1y� ��:�� E6��?�Oj,��>�E�AY}6 ��@�}6�@y}6_=�}6���}6H�����ƨ�?����t�?�����ڦ?�����+ҿ�������?����.�?���`�a������������@���?)~6 ��@ ~6��_;I~6��CɫI�I)�I �M����I�IY�}0�@y�}�bG�xDUSBL response received:!U1,P AFD,000,0081F,189,80,80,88,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 �í`e��í �=�í\��ií��@�é ĭҙ@)ĩIĭҙ@iĭҙ@��M�M%.=Y�5n�:QU=�>��A��i�au�G��q��y���;}��>I� �� e>�4�?�� U�� � HD@��U�?9� 3B�� 9< � �<)� �WA�WAXA XI�WI:WI2WQ*WQ�VYU�U������� @zL�L�L�L�|q@�Ae���<Bi Bi�Am�o�*Bu�9�A��A�B�7�A�.��A�"C�3��*C�RC�C��C�I��G�>��9��I��i��������������{; ���:E)�M�v�CI�M�v�Ci�I���M�=��M�=��M�25�6j�Oj,���>�E�AY}6o��@�}6+�@y}6;�=�}6#���}6H���� ���?����I��?���@]��?���`#ҿ������?���@�}�?�������� ~y������9��?)~6o��@ ~6[�_;I~4ɫa�a)�i �m����I�iY����@y��abGi��I��i��ɮ��-�*�ٺ1��5� A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �������Mb�?���S�տ<�O��n�������=����� ��t�)��I��y����~j�t���Zd;�O���y�&1�������D����j<����`e� ��dA)���AI��i���������A��5�l�M5I=Y�5��:QU=�>��9��9�aE�G��A��Iy�M�;}U�>I�Y��e�:��]{<�4�?��m�:��]�U�� �]D@��m�?9�]93B��]�!; �]!;)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U������4@zL�$�=�L�$�=�L�F�y@�L��g@�A��1�<B� B��A��u�*B9�A�A��7�A-��A "C 2��*CRCC�CI�)GM0>Iޡ )ޥ AA�� ����� �� �� *�� � .�:Y� y� �� =6��U�Oj,q� ?�E�AY}zm��@�}z)�@y}z�u=�}z�%��}zH��������?����N��?�������?����ҿ��� ���?����/��?����t�������D�������>��?)~zm��@ ~z܌_;I~xɫ���)�� ������I��Y� 3�@y� �cGxDUSBL response received:!U1,R,AFD,000,00822,189,80,80,B3,FF Fpublishing direction and range info����ɰ�*>� �)��3CI�y�B���K��c���?�wnL��?��������ٱI�))�))�=> �=�=�ÅC=�ÅC=�Å��=iÅG�@�Á ą�@)āIą��@ią��@���=M�h=Y��:QU��>�����a��G����y�m�*�}m�>I�q��u�:�4�?��ulV�� �u�C@��}�?9�uS3B��u��: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P�*Q�B�Z�������C@�K�`�S@���������Z��K��c���?�wnL��?��������2Q�:Q��Z���|�OM@��({�+P@�ȥ�ȕ��Z����S�nu�?-J��y��?����S6��BQ��U? Q�^�BQ�}jB�P���9?�P���9?�P�����Q�����Q��?"Q�@zLa�La�La�LeZ�g@�Au���<By By�A}HO�*B��9�A��A�a�7�A��+��A�"C�5��*C�RC�C��C�I��G%,>��}�Oj,x�#?�E�AY}^���@�}^Gڿ@y}^W�=�}^�/��}^H�����1��?������?���@�:�?��� �&ҿ�������?����DӞ?�����գ�����S쥿����U��?)~^���@ ~^�`_;I~^��Cɫ�髡)�� ������I��Y��ȸ@y��WcG�ETNmea in: $SNTTA,0.112098,,,,165939.92*49 ܡ9ܡIܡiܡ�ܥ=�ܡ�ܡ�ܥ�z; ݥ�:E��}�M�H=Y��WE:QU��>�������a��G������y��v�}��>I������:����8�4�?����:���W�� ���C@���?9��m3B����"; ��~$;)����:�m�mAdded new target pos. range: 87.419998 m, bearing: 47.814411 deg, deltaT: 4.432292 s, approachRate: 0.040611 m/s, LOS rate: 0.152881 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@��U@U��� ��?zL9�L9�L9�L=إg@�Aud��<Bq Bq�Au�\�*Bu�9�Ay�A}��7�A}�*��Ay"C�4��*C�RC�C��C�I��G�'>�� � ���� ����� ����� ��� � �W:Y� P^1y� ��:�� �6)� ��;�9� ����Oj,p=?�E�AY}:@��@�}:�¿@y}:� =�}:J��}:H�����e��?����y;�?������?����]Sҿ������?��� p��?���@������ 䣿����~��?)~:@��@ ~:�K_;I~:��Cɫ9�9)�9 �=����I�9Y�}ϸ@y�}`cG��u;MuO=Y�}z�:QU}�>��y���a��G����y�2��}��>Iȑ�ŕ�6�4�?�ŕ�W�� ƕEC@����?9ƕ�3B�Ǖ��: ȕY�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����ژ�?zL��L��L��L��lg@�A��<B B�A�[�*B 9�A �A �7�A �)��A "C3��*CRCC�CI�1GU�=�ޥ �=iޡ �Ɏ�Oj,�OW?�E�AY}2��@�}2ԩ�@y}2�R"=�}2�=���}2H�������?��� �q�?���@p��?���@q�ҿ����`��?�����o�?��� �H�����`����������?)~2��@ ~2P_;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}cG���i��������oA�Ý�#��Ý��>�Ý���iÝ3�@�Ù ę)ĝ�@Iĝ�@iĝ�@�����M�F=Y���b:QU��>�������a��G������y����}��>I������4�4�?���|X�� ���B@���?9���3B�����: ����:)���WA�WAXA XI�WI:WQ2WY*Wa�VaUqU}����'�?zL��L��L��L��%g@�Ae���<Bi Bi�Amd�*Bm9�Ai�Am��7�Am"(��Aq"Cu2��*CyRCyCy�C�I��G J>ܝ6�>9ܙIܙiܙ�ܙ�ܙ�ܙ�ܝHy; ݝ�9E�� M ���� ����� ����� k�� � `N:Y� �Y1y� �:�� 36)� ��;���Oj,�&q?�E�AY}2ފ�@�}2���@y}2�L$=�}2�HǼ�}2H���� ��?����n��?�����C�?����J�ҿ����5��?����߷�?����0�������U㘿��� ���?)~2ފ�@ ~2� _;I~0ɫ9�9)�9 �=����I�9Y�}3�@y�}�cG��m�{�G�z�?j�t�Ŀ�~j�t�����m�#=��m� � �m�ļ)�iI�iy�m�{�G�z��ˡE������������?��mף���m什��m��< �m�A)�m�AI�mAi�m A��i��m�A��9Q=M�M=Y���:QU�>�����a�G���� y����}�>I����:��,1�4�?��%�:���Y�� ��C@��%�?9��3B����: ���:)���:�WY�WYXY XY�WY:Wa2Wa*Wa�ViUiUu����#��?zL�#�=�L�#�=�L�|@�L�dfi@�A��b�<B� B��A�HO�*B�v9�A��A���7�A� '��A�"C�5��*C�RC�C��C�I��G >����Oj,R �?�E�AY}F��@�}FÚ�@y}Ft0&=�}F}�ż�}FH�����`��?����I��?�����t�?�����ҿ��� ��?������?�����Ĥ����@�����������?)~F��@ ~Fw�^;I~F��CɫQ�Q)�Y �]����I�YY���@y���cG�õ�ゥõd;>�õ�ļiõ�@�ñ ĵҙ@)ĵҙ@Iĵҙ@iĵҙ@����3�M�F=Y��_�:QU��>�������a��G������y��-:}u�>I�y��}�-�4�?��}[�� �}�D@����?9�}4B��}g5; �}6;)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����L�@zL��L��L��L��li@�A%�<B B�A�S�*B%9�A!�A%#�7�A-�%��A)"C54��*C9RC9C9�CAI�YGu>Iޙ )ޙ �� >���� ����� ����� L�� � �a:Y� 0Y1y� ��:�� �6�9� @����Oj,�ܤ?�E�AY}:���@�}:R��@y}:#�'=�}:����}:H���� ���?�����o�?����Z��?����=�ҿ���@���?����4]�?�����������r؟�����&��?)~:���@ ~:��^;I~:��Cɫ9�9)�9 �=����I�9Y�}!�@y�}�cGI�!)�!�A9�AI�E$[Gi�E�@��A��A��A��EJw; �E�8E)�U�= �U�=��M�;M�N=Y�H�:QU��>�����a��G����y�3�;}��>Iȱ����:�ŵ�*�4�?����:�ŵ4\�� ƵSE@����?9Ƶ14B�ǵ^�: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�@zL�L�L�LK|i@�A-��=B) B)�A-�Q�*B5�9�A1�A5��7�A5�$��A1"C=3��*C9RC9CA�CAI�YG�>����Oj,���?�E�AY}2���@�}2U��@y}2�+*=�}2cj(��}2H���� ���?����7?�?�����d�?���@�Yҿ��� Ȥ�?����H �?�����C������!�����`��?)~2���@ ~2��^;I~2��Cɫ9�9)�9 �=����I�9Y�},�@y�}�cG���������n;M�\=Y���:QU��>�����a��G����y���;}��>Iȹ�Žp'�4�?�ŽZ]�� ƽF@����?9ƽ\4B�ǽ��: ȽM�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U���� =@�RB*** querying acoustic contact ***�P�PzL!�L!�L!�L%Y�i@�A�n��=B� B��A�5P�*B��9�A��A�N�7�A�z#��A�"C�2��*C�RC�C��C�I�9G��=�� � ���� ����� ����� ��� � /X:Y� �X1y� /�:�� �6����Oj,��?�E�AY}2���@�}2�п@y}2H�,=�}26?D��}2H����@_��?���@��?��� t��?���@�8ҿ������?�����[�?��� 嗥������������Q��?)~2���@ ~2��^;I~2��Cɫ9�9)�9 �=����I�AY�}��@y�}MdG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E�����EV>��E�#=i�E�@��A �Eƣ@)�E�@I�E�@i�E�@��U��<M]?=Y�]��:QU]�>��a��a�ae�G��a��iy�m3�;}m�>I�q��}�:��u�#�4�?��}�:��u�^�� �u�F@����?9�u�4B��u��: �u��:)�u��:�W��W�X� X��W�:W�2W�*W��VU�U����@�� @zL��L��L��L�Ԣi@�A53�=B1 B1�A5�C�*B5 "9�A1�A=��7�A=�!��A9"Ce5��*CiRCiCi�CiI��G�C>�=5�>9�9I�9i�9��==��9��9��=u; �=�7E�ޥ =iޥ p=��Oj,&n�?�E�AY}:l��@�}:(ܿ@y}:��+=�}:@��}:H��������?������?����+W�?���@�"ҿ�������?����&�?��� �o�����������������?)~:l��@ ~:��^;I~:��Cɫ9�9)�9 �=����I�AY�}M�@y�}�cG�xDUSBL response received:!U1,P AFD,000,00822,189,80,80,B3,FF �Command Ack�BRequesting micromodem ping code 2i���������=i�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����/�$���?����MbP�y�&1�|�����>����� ��`�)��I��y����l��������Mb������Mbp���������������� ��dA)��AI���Ai���������� �� nA����M%=Y��"�QU�>�����a�G��!��Ay�M�8;}M�>I�Q��U�!�4�?��U`�� �U�F@��]�?9�U�4B��U{�: �Uܹ:)�Q�W��W�X� X��W�:W�2W�*W��V�UU������ @zL���=�L���=�L���@�L�o�y@�A��Y=B� B��A� L�*B��9�A�Ag�7�A~ ��A"C-4��*C)RC1C1�CYI��G��>�� ^ ���� �� �� =�� � �O:Y� y� �� F 6���Pj,bI@�E�AY}2���@�}2Bؿ@y}2Z'=�}2�� ��}2H��������?����z�?����μ�?����R*ҿ��� 5��?�����?�����餿����| �����`���?)~2���@ ~2�^;I~2��CɫY�Y)�Y �YI�YY����@y���dG鮥a=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���-�=����E����p=�i���@��� ���@)��I��i�������=M�v=Y��YI�QU�?�������a��G������y�����}�?I��� �:��' �4�?���:��a�� ����?9��4B��,�: ���:)���:�W1�W9X9 X9�W9:W92W9*WA�VAUAUE���@�@zLa�La�La�Le��y@�A}8.=By By�A}I6�*B}9�A��A��7�A����A�"C�3��*C�RC�C��C�I��G��=�� Pj,J$&@�E�AY}2W��@�}2ʿ@y}2G!=�}2�i���}2H����`d��?���@�4�?��� ��?���`�Eҿ���ඩ�?������?�����'�������������@���?)~2W��@ ~2of^;I~2��CɫI�I)�I �M����I�IY�}��@y�}IdG�xDUSBL response received:!U1,R,AFD,000,0082C,189,80,80,AD,FF �Fpublishing direction and range info������ɰ�`+>鰁 ��)���-CI��y�� �B����K��c���?�wnL��?��������ٱ�����M�a=Y����QU��>�����a��G�����y��뛻}��>I�������4�?���b����9��I���[Gi��o�@�������������r; ��w6E)�y�I�y�i�y���y���y���}���5 ���F@����?9���4B�����; ���;)���W!�W!X! X!�W!:W!2W)*W)�V)U)U-�����@�PA*QE �B�ZE�a��Wh0C@vZ���S@���������ZE�K��c���?�wnL��?��������2QA:QA�ZE�d\(H�M@����<P@�l+�i ��ZE��z ��?6�N�w��?NC���BQEʸT? QE�BQE"mB�PE��9?�PE��9?�PAQE����QE\�?"QE�?zLi�Li�Li�Lm�y@�A���=B� B��A�,D�*B�89�A��A���7�A�a��A�"C�2��*C�RC�C��C�I�yG��=�� �� i�mHmGI��i�����s$�ٺ�����AIޥ AA)ޡ �� A ���� ����� ����� ��� � kM:Y� [1y� ݏ:�� �6)� ��;�9� ��-Pj,�@@�E�AY}j���@�}jb��@y}ja�=�}j��Ƽ�}jH�����m��?���@T]�?����5=�?�����iҿ��� ���?����$�?���@W~�������Ә��������?)~j���@ ~jg-^;I~j��Cɫ���)�� ������I��Y���@y��dG�}TNmea in: $SNTTA,0.105465,,,,165944.36*4D I�y)�y)Õ�= Õ�>����<M�:=Y�FA�QU��>������a��G������y��Ū�}��>I�������4�?���Wc�� ���F@����?9��5B�����: ��w�:)���m�qAdded new target pos. range: 88.019997 m, bearing: 47.609622 deg, deltaT: 4.386629 s, approachRate: 0.136779 m/s, LOS rate: -0.046685 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����GV@U������h�?zL1�L1�L1�L5�Vy@�A�="B�)f:B� B��A�67�*B�_"9�A!�A%G�7�A-���A)"Cu5��*CqRC�C��C�I��G�G>�*Pj,��Y@�E�AY}2Ɨ�@�}2���@y}2�i=�}2��ϼ�}2H����`a��?�����~�?���`�9�?�����ҿ���`���?�����P�?���`L�����������`���?)~2Ɨ�@ ~2�7^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y��IdG�å�Ƚ�å��=�å��=iá�á ĥ��@)ĥ��@Iĥ��@iĥ��@�����M�8=Y��a�QU �>�����a�G����y�%���}%�>I�1��=�:��5w�4�?��=�:��5�d�� �5�F@��E�?9�5*5B��5��: �5`;)�5��:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������=�?zL��L��L��L��3y@�A�$�=B� B��A�,D�*B��9�A��A���7�A����A�"C�4��*C�RC�C��C�I�G5.>��9��I���[Gi����@���=���QD������Np; 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�}�2E�U�<Pj,���@�E�AY}2���@�}2t��@y}2�9 =�}2e���}2H����@}��?�������?���@5,�?������ѿ����̵�?������?����X�������b����������?)~2���@ ~2�t^;I~2��CɫI�I)�I �M����I�IY�}��@y�}�eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�������Q���X9��v����� �rh������u������� ��C��)��I��y���Zd;�O��?�I+��������������j�<���9������̼ �A)�AIi������zA����u=M�E=Y��">�QU��>�������a�G����)y�5��:}5�>I�9��M�:��=��4�?��U�:��=�j�� �=nF@��U�?9�=6B��=Dw; �=Hv;)�=��:�W��W�X� X��W�:W�2W�*W��V�U�U����@A� @zL=/�=�L=/�=�L="��@�L=I��@�A�ք=B� B��A��"�*B��#9�A��A���7�A����A�"C�2��*C�RC�C��C�9ԝ�:I��G�b>��� i ����� ������ ������ ��� �� �P:Y�� �Y1y�� �:��� �/6���CPj,7�A�E�AY}2���@�}2q�@y}2oS =�}2� ��}2H����ம�?�������?�����N�?��� �ҿ����E��?�����N�?��� �)�������.���������?)~2���@ ~2KK^;I~0ɫ9�9)�9 �=����I�9Y�u��@y�}�eG�xDUSBL response received:!U1,P AFD,000,0082C,189,80,80,AD,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��- 0=��-�=��-/�i�-=�@��) �-�@)�-�@I�-ҙ@i�-ҙ@��u�;MuB=Y�} �QU}�>�������a��G������y�����}��>I�������4�?���0m�� ���E@��E�?9��96B���I< ���<)���W��W�X� X��W�:W�2W�*W��V�U�U����@�� @zL��L��L��L���@�A�^=B B�A� �*B%�#9�A!�A%>�7�A%��A!"CE5��*CIRCICI�CyiҵnAIҵnA9ԕUa:I��G��>�L�IPj,�(A�E�A�%3�>9�!I�%]Gi�%��@��%=��!��!��% n; 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X!�W!:W!2W)*W)�V)U)U5���@�G@zLI�LI�LI�LI�Ae�C =Ba Ba�Ae@*�*BeH9�Ai�Am��7�Am��Ai"Cu4��*CqRCqCq�Cyi҅��I҅���ҁ�ҁI�!GEs>�� ����� ����� ����� ��� � f�:Y� [1y� ݏ:�� -6)� �<�9� ��.�PPj,�BA�E�AY}25��@�}2�@y}2&��<�}2�y��}2H���� ؟�?����_g�?�����h�?����fuҿ����G��?����gғ?���@@v������s*�����@���?)~25��@ ~2�j^;I~2��CɫY�Y)�Y �]����I�YY����@y���eG�xDUSBL response received:!U1,R,AFD,000,00833,189,80,80,A1,FF �Fpublishing direction and range info������ɰ��+>鰡 ��)���!CI��y���B����K��c���?�wnL��?��������ٱ�����<M�]=Y�����QU��>�������a��G������y����}��>I������:�����4�?����:����p�� ���D@����?9��{6B�����: ��M�:)����:�W�WX X!�W!:W!2W!*W!�V!U)U-���@O�@�P9*Q=�B�Z=��g��GC@������S@���������Z=�K��c���?�wnL��?��������2Q9:Q9�Z=����n4�M@:��z�DP@�|vrA<��Z=�^ď�F��?���d��?� z|�n��BQ=��S? Q=$�BQ=)oB�P=��9?�P=��9?�P9Q9Q=q@"Q=\�?zL��L��L��L��O�@�AU�� =BQ BQ�AU� �*BU�#9�AY�A]��7�A]���AY"Ce3��*CaRC�C��C�I��G�">�:�VPj,Cr\A�E�AY}f���@�}fY��@y}f'�<�}fR���}fH����@���?����}��?������?����$�ҿ���@q��?����O��?����ң������Ӆ���������?)~f���@ ~f�^;I~f��Cɫ���)� �����I�Y�U��@y�U�eG��DNmea in: $SNTTA,,,,,165948.80*51 �������Mb����/�$ƿX9��v��?����@����&1� ����<)��I��y���y�&1���#��~j����~j�t�h����`弹��㥽����D� �A)^AI�Ai�A������ A����'=���ݤ>�����<i��z�@��� ���@)���@I��&�@i��&�@����:M*=Y�%s�QU%�>��)��)�a-�G��)��1y�5��}=�>I�����n �4�?����r�� ���D@����?9���6B���7�: ����:)���meqAdded new target pos. range: 88.439995 m, bearing: 47.421628 deg, deltaT: 4.442840 s, approachRate: 0.094534 m/s, LOS rate: -0.042314 deg/s, posRepo size: 4�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqU}����(V@U����@�X�?zL���=�L���=�L�m%�@�L� ��@�A�<=B B!�A%��*B%�$9�A!�A%7�7�A%� ��A)"C-2��*C1RC1C1�CQI�iG�^>�9�w�CI�|]Gi��@��=������et; �T7E)ݱ�Iݱ�iݱ��ݵ�=�ݵ�=�ݵ�w�5Iޡ )ޡ �� ����� �� �� ��� � i:Y� y� �� �6)� ��;i�%�lGI�9i�Q��}u<�ٺy���r1A��\Pj,�CvA�E�AY}2���@�}2K��@y}2'T�<�}2�?��}2H��������?�������?���@�7�?�����ҿ���@���?��� �u�?���@� ������������� ���?)~2���@ ~2/x^;I~2��CɫY�Y)�Y �]����I�aY����@y���eGI�1)�1)�E�= �E�=��})�M}i=Y�}���QU}�>�����a��G����y� ��}��?Iȑ����:�ŕ�4�?����:�ŕt�� ƕ�D@����?9ƕ�6B�Ǖ�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �{�?zL��L��L��L����@�A�e=B B �A � �*B �9�A �A���7�A����A�"C�5��*C�RC�C��C�I��G�>�D�cPj,O �A�E�AY}:���@�}:���@y}:��<�}:����}:H�����6��?��� H��?����H�?������ҿ��� ߙ�?������?�����_������\������`���?)~:���@ ~:]v^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}ueG�Ý�D��Ý��>�Ý �=iÝ�@�Ù ĝ��@)ĝ&�@Ięię��zF�M�G=Y�ˁ�QU��>�����a��G����y�A9}��>I�����L�4�?����u�� ���D@����?9���6B�����: ��{�:)���W��W�X� X��W�:W�2W�*W�VUU���`G��?zL!�L!�L!�L%���@�A=�[=B9 B9�AE�%�*BE�"9�AA�AE��7�AE���AA"CM4��*CQRCQCQ�CQI��G>�� B ���� ����� ����� �� � �M:Y� �X1y� /�:�� � 6�9� @�ejPj,v��A�E�AY}2���@�}2���@y}2���<�}2��#��}2H�����,��?���@g��?���@eס?������ҿ�������?������?���@�Ә�����at��������?)~2���@ ~2�e^;I~2��C�d9�dI�f�]Gi�fV�@��f=��d��d��f�{; �f;Eɫ9�9)�9 �9I�AY�E��@y�MfG���=MT=Y�\��QU�>��!��!�a%�G��!��)y�-G&�}-�>Iȁ����:�Ņ��4�?����:�Ņ9w�� ƅ�D@����?9ƅ7B�Dž8; ȅ�;)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U������#�?zL��L��L��L�E��@�A��)=B� B��A�Y�*B��#9�A�AB�7�A( ��A"C 3��*C RC C �CI�)GE�=�ޥ �=iޥ �=�>�pPj,|��A�E�AY}2�|�@�}2���@y}2��<�}2E�$��}2H����@!��?��� ���?���@��?��� r�ҿ���`��?�����C�?��� ^4������㏤���� I��?)~2�|�@ ~2n�^;I~2��Cɫ9�9)�9 �=����I�9Y�}E�@y�}gfG���i���=����mA��6�<MJ=Y����QU%�>��!��!�a%�G��!��)y�-�}-�>I�1��5��4�?��5�x�� �5�D@��E�?9�5-7B��5=�: �5��:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wq�VyU�U���� n<�@zL��L��L��L�1��@�A��� =B� B��A� �*B��%9�A��A���7�A����A�"C2��*CRCC�CII�yG�$>�� � ���� ����� ����� x�� � C:Y� DW1y� Y�:�� �6��wPj,J��A�E�AY}v[w�@�}v��@y}vS�<�}v�c��}vH�����͔�?����)��?����f�?����j�ҿ�������?��� s�?�����;�����`Xꢿ��� ���?)~v[w�@ ~v�=^;I~v��Cɫ�!)�! �-����I�)Y�U��@y�U�fG��m�F����xɿk�t�ƿ����Mb����m�K���m 0� �m��)�iI�iy�m�/�$����V-������Mb`?��m,���mh����m; �m�A)�m3AI�m�Ai�mdA��i��i���Q8>����>����@�i��z�@��� ���@)���@I���@i��E�@�����<M�1=Y���QU��>�������a��G������y��Pú}��>I������:������4�?����:���3z�� ��E@���?9��T7B���4�: ��=�:)����:�W!�W)X) X)�W):W)2W)*W1�V1U1U5���`#�@zLU��=�LU��=�LU�@�LU�Wx@�Am-a =Bi Bi�Am8�*Bm�&9�Aq�Au��7�Au@��Aq"C}5��*CyRCyCy�C�I�GU2>��2�>9��I��D^Gi����@��������������; ��%>E��>}Pj,��A�E�AY}F���@�}Fm��@y}F\֘<�}Fu���}FH�����'��?�������?������?����ٸҿ���@ʖ�?���@�p�?�����������+������@1��?)~F���@ ~F�&^;I~F��Cɫa�a)�i �m����I�qY��A�@y��bfG������?A��-��M-j=Y�-PûQU5�?��1��1�a=�G��9��9y�E�l;}E�?I�I��M���4�?��MJ{�� �ME@��U�?9�Mr7B��M8�: �M�:)�I�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�����v�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�vkx@�A��=B� B��A�� �*B��#9�A��A�a�7�A���A�"C�4��*C�RC�C��C�I��G�=Iޡ )ޥ AA�� ���� ����� ����� �� � �]:Y� �X1y� /�:�� j6�\&�Pj,�gB�E�AY}2+��@�}2禿@y}2.d�<�}2�����}2H�����P��?�������?������?���@#�ҿ����ϝ�?��� `m�?����U�������C������`��?)~2+��@ ~2W�];I~2��CɫA�I)�I �M����I�QY�� �@y��]gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��)���= ���� �#��� Y=�� &1>i� ̜@�� � &�@)� &�@I� &�@i� �@��=-h=M=:=Y�=[��QU=�>��A��A�aE�G��A��Iy�M@�;}U�>I�Q��U���4�?��U�|�� �UBE@��e�?9�U�7B��UI�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U���� �5 @zL��L��L��L�ɘx@�A�q�=B� B��A-0�*B-�(9�A)�A-�7�A-���A)"C53��*C1RC9C9�C9I�qG�>��Q�Pj,�H+B�E�A�49�4I�6_Gi�6J�@��6=��4��4��6��; �6?EY}B���@�}BB��@y}B�Wc<�}B� ��}BH�������?���@�W�?��� ��?���@�aҿ����t��?���@���?�����j�������=���������?)~B���@ ~B��];I~B��Cɫy�y)�y �yI�yY����@y���fG�xDUSBL response received:!U1,P AFD,000,00833,189,80,80,A1,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 ��uz�M}Z=Y�ϻQU��>�������a��G�����y�m��;}u�>I�y����:��}t��4�?����:��}�}�� �}cE@����?9�}�7B��}��; �}v�;)�}��:�W!�WIXI XI�WI:WQ2WQ*WY�VYUaU�����k� @zL��L��L��L���x@�A��e =B� B��A����*B��'9�A��A�Կ7�A���A�"C�2��*C�RC�C��C�I�G�Y>�� ����� ����� ����� z�� � �+:Y� �Y1y� �:�� ��5)� ��;�9� ��8�Pj,�EB�E�AY}2>��@�}2�ſ@y}2^�9<�}2u ��}2H���� ͨ�?�����F�?�������?�����Pҿ����R��?����?���@k3�������������0��?)~2>��@ ~2��];I~2��Cɫ9�9)�9 �AI�AY����@y���fG��ɮ��M�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �ÍG�=�Íj<>�ÍE��iÍ��@�É čE�@)čE�@Iĉič��@��ǥ�M�7=Y����QU��>�����a��G����y��(;}��>Iȹ�Ž[��4�?�Ž@�� ƽ�E@����?9ƽ�7B�ǽV�: Ƚ{�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U���� �c@zL�L�L�LB�x@�A-��=B1 B1�A5��*B5Z%9�A1�A5��7�A5���A9"C=5��*CARCACA�CII�YGu>�ޥ �=iޥ =�%f�Pj,�_B�E�Aɫ���)�� ������I��Y� ��@y� �fGxDUSBL response received:!U1,R,AFD,000,00838,189,80,80,B1,FF Fpublishing direction and range info����ɰ\,>� �)��1CI�y�z�B���K��c���?�wnL��?��������ٱ�5dNmea in: $SNTTA,0.076433,0.285364,,,165953.25*5F ��1i�5�=�����&1���+���ǿ�� �rh������н���v>� ��C��)��I��y����Q��롿�Q��뱿�l�����\����\������� ¡)¥AI¥ Ai¥ A�������A�±�±����;M�9=Y�����QU��>�������a��G������y�����}��>I���� �:���P��4�?�� �:������� ���D@�� �?9���8B���~�: ��L�:)����:�W��W�X� X��W�:W�2W�*W��V�U�U������D@�P *Q z�B�Z ���d�XC@ �Y�S@���������Z �K��c���?�wnL��?��������2Q :Q �Z ���w�0�M@��yvYP@�a�����Z ��/�y��?�ۥ-��?o5�C͒��BQ pVT? Q ˂BQ �oB�P ��9?�P ��9?�P Q Q @"Q q@�i9�mx�CI�mo_Gi�m��@��m =��i��m��D��m��; �m?EzL�J�=�L�J�=�L����@�L��}@�A�s�=B� B��A����*B�*(9�A��A�C�7�A�N���A�"C�4��*C�RCC�CI�YG�~>�� ~���� ����� ����� H�� � t):Y� xZ1y� q�:�� �5)� ��;�A��Pj,�xB�E�Aɫ�髹)�� ������I��Y���@y��4gG��p�<M�v=Y�QU�?�����a��G����y�}�?Iȱ�ŵ���4�?�ŵʁ�� Ƶ�C@����?9Ƶ8B�ǵ�: ȵ��:)ȱ�m�mAdded new target pos. range: 88.740005 m, bearing: 47.523637 deg, deltaT: 4.569732 s, approachRate: 0.065652 m/s, LOS rate: 0.022323 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@\/V@U����n�?zL�L�L�L�A5��=B1 B1�A5��*B5�$9�A9�A=�7�A=����A9"CE3��*CARCACA�CII�aG}�=�yt�Pj,}��B�E�AY}2���@�}2g��@y}2-�|;�}2�q��}2H�����q��?�������?���@柌?���`Ƌҿ������?����&Ӡ?������o�����.-�����`���?)~2���@ ~2ڇ^;I~2��CɫY�Y)�Y �]����I�YY����@y���fG��m�D���m�&>��m��=i�m(�@��i �m�@)�m�@I�m�@i�m�@��}��M�L=Y�Ø�QU��>�����a��G����y���}��>Iș����:�ŝ���4�?����:�ŝ��� Ɲ�B@����?9Ɲ<8B�ǝ[�: ȝ��:)ȝ��:�W��W�X� XI�WI:WQ2WQ*WQ�VQUYU]��� ���?zLq�Lq�Lq�Luw}@�A��D=B� B��A�!��*B��&9�A��A�ľ7�A�0���A�"C�2��*C�RC�C��C�I��G5>Iޡ )ޥ ?A�� ����� ����� ����� ��� � �*:Y� �Y1y� �:�� E�5�9� @�e1�>9�aI�e7`Gi�e>�@��e=��a��a��eـ; �eJ>E)���w�CI���w�Ci�����=����=�����6�9��Pj,E�B�E�AY}N�|�@�}N\��@y}N��d:�}N��ݼ�}NH���� ��?����=��?���`���?��� _�ҿ����8��?�����?�?���`��L����`������� ���?)~N�|�@ ~N�a^;I~N��Cɫ�髡)�� ������I��Y��q�@y���gGI�1)�1)�M�= �M�=��u�n=MuG=Y�}��QU}�>��y���a��G����y�s �}��>Iȑ�ŕ��4�?�ŕn��� ƕB@����?9ƕ]8B�Ǖ=�: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�5}@�����i���lGI��i����%�%�ٺ!��-A�AECa�<BI BI�AM1Ͻ*BM�)9�AI�AM��7�AU����AQ"CU5��*CYRCYCY�CYI��G�!>�ᩱPj,D��B�E�AY}Rfp�@�}R"~�@y}R./Ҹ�}R����}RH�����q��?������?��� S��?���@��ҿ�������?�����?�����E?�����U������g��?)~Rfp�@ ~R�^;I~Pɫq�y)�y �yI��Y����@y��!hG�õ"۽�õG�>�õO�=iõ��@�ñ ĵO�@)ĵ\�@Iĵ\�@iĵE�@���<M�E=Y����QU��>�������a��G������y���k�}��>I�����2��4�?���ƅ�� ��A@����?9��8B����: ����:)���W�WX X�W:W2W*W�VUU���@�s�?zL9�L9�L9�L= +}@�AU���<BQ BQ�AUa��*BUN*9�AQ�A]U�7�A]O���AY"Ce4��*CaRC�C��C�I��G >��m �����m �����m �����m z�� �m d:Y�m �X1y�m /�:��m ��5��ԷPj,��B�E�AY}r�c�@�}rfq�@y}r�����}r���}rH��������?���@���?���@tv�?�����ҿ�������?�����f�?����5�W?��������������?)~r�c�@ ~rz-^;I~r��Cɫ�髩)�� ��I��Y��f�@y���gG���:��v���?<�O��n¿��~j�t�?����<��t� ���<)�I�y��L7�A`堿k�t�������Mb`?��+��� ����; �)�^AI��Ai�5A����=A����M%D=Y�%*U�QU%�>��)��)�a-�G��)��1y�5�t�}5�>I�9��E�:��=3��4�?��E�:��=x��� �=AA@��M�?9�=�8B��=��: �=��:)�=��:�Wi�WiXq Xq�Wq:Wq2Wq*Wy�VyUyU}��� �?zL���=�L���=�L�c�@�L�eo�@�A���<B� B��A��ѽ*B��)9�A��A��7�A�����A�"C]3��*CYRCaCa�CaI��G�>��9��I���`Gi����@������������%; ���<E��Y i�Y ���Pj,A��B�E�AY}2=`�@�}2�m�@y}2y�@��}2�o"��}2H����ࡏ�?���@���?��� �R�?���`��ҿ���`;��?����9գ?�����h?�����L���������?)~2=`�@ ~2^;I~2��Cɫ9�9)�9 �=����I�9Y�}S�@y�}�gG���i���=���������ȻM]=Y�#��QU�>��!��!�a%�G��!��)y�-j��}-�>I�1��5n��4�?��5���� �5aA@��E�?9�5�8B��5ϸ: �5��:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu��� �@zL��L��L��L��j�@�A%zT�<B! B!�A%�ֽ*B%�(9�A)�A-�7�A-���A)"CU2��*CQRCQCQ�CYI�qG��=��u �����u �����u �����u �� �u :Y�u �V1y�u �:��u �6����Pj,BzC�E�AY}2^d�@�}2r�@y}2Fg���}2_�'��}2H�����Ґ�?����J��?�����̀?���@��ҿ���@��?����V��?������p?���`�������`��?)~2^d�@ ~24^;I~2��Cɫ9�9)�9 �9I�AY�}��@y�}�gG������AA���ʽ��j����7�=i���@�� �E�@)�E�@I�i�\�@��-ˈ<M-I=Y�-;�QU-�>��1��1�a5�G��1��9y�=��:}E�>I�A��M�:��E{��4�?��M�:��E���� �E�A@��U�?9�E�8B��E8�: �E�:)�E��:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����@7�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��m�@�A�n�<B� B��A��Ƚ*B��)9�A��A���7�A����A�"C�5��*C�RC�C��C�I��G��=��9��I���aGi���@���=���������F|; ��u;E��Pj,�U.C�E�AY}B6m�@�}B�z�@y}B����}BN��}BH�����h��?����)��?������{?������ҿ������?���@ã?����t?����i裿������?)~B6m�@ ~B�.^;I~B��CɫY�Y)�Y �YI�YY����@y���gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-Ò�M-J=Y�5��QU5�>�����a��G����y��);}��>Iȩ�ŭ{��4�?�ŭQ��� ƭ�A@����?9ƭ9B�ǭ�< ȭ <)ȩ�W9�W9X9 X9�W9:W92WA*WA�VAUAUE����0 @zL��L��L��L��v�@�A�hH�<B� B��A��ɽ*B�F*9�A��A�n�7�A�[��A�"C�4��*C�RC�C��C�I�)GE>I�a )�e @A��u p����u �����u �����u ��� �u W(:Y�u �W1y�u č:��u ��5)�u ��;�9} �����Pj,�4HC�E�AY}f t�@�}fǁ�@y}f�Ý��}fv��}fH�����l��?���@e��?�����=x?������ҿ���`��?�����7�?���`l�s?���@�M�����@���?)~f t�@ ~f�+^;I~f��Cɫ���)�� ������I��Y� �@y��hGxDUSBL response received:!U1,P AFD,000,00838,189,80,80,B1,FF Command Ack%BRequesting micromodem ping code 2i�!��!I�!)�!�-�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )� �= � �=�í-���í��=�íף;ií@�é ĩ)ĩIĭ&�@iĭ&�@��5��=M5"=Y�5"69QU=�>��9��9�ae�G��a��ay�m��:}m�>I�q��}�:��u��4�?��}�:��uV��� �u�A@����?9�uE9B��u�R; �u|S;)�u��:�W��W�X� X��W:W2W*W�VU U ��� �% @zLI�LI�LI�LMG~�@�A��<B� B��A�<��*B��,9�A��A�9�7�A����A�"C�3��*C�RC�C��C�I�yG��>��!�Pj,XbC�E�AY}>�s�@�}>���@y}>�����}>�b��}>H�����g��?���`���?�����u?������ҿ���@���?���@=d�?���@�4t?��� ik�����`(��?)~>�s�@ ~>E^;I~>��CɫQ�Q)�Q �U����I�QY����@y��miG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������ �rh��+����ÿ�I+������C������� ��9��)��I��y���J+����p= ף������Mb������H����������� A)3AI�Ai�A��������-'�=M-q=Y�5���QU5?��1��9�a=�G��9��9y�E���}E?I�I��M?��4�?��M>��� �M�A@��U�?9�Ma9B��M��: �M�:)�I�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U�������@zL��=�L��=�L�4 �@�L�Alq@�A����<B� B��A��y�*B�L-9�A��A��7�A�[��A�"C�2��*C�RC�C��C�I��G>�i9�iI�m�aGi�m��@��m=��i��i��m�y; �m:E��u �����u �����u �����u ��� �u E1:Y�u �Y1y�u �:��u X�5)�u b�;�H�Pj,u�{C�E�AY}6p�@�}6�}�@y}6 ����}6���}6H�����9��?���`r��?������t?����n�ҿ����d��?����Xb�?����}u?����)a������+��?)~6p�@ ~6%�];I~6��Cɫ9�9)�9 �=����I�9Y��½@y��viG�xDUSBL response received:!U1,R,AFD,000,0083D,189,80,80,B5,FF �Fpublishing direction and range info������ɰ��,>�� ��)���5CI��y���B����K��c���?�wnL��?��������ٱ�����#;M�b=Y����QU��>�������a��G�����y�)��}�>I� ���:�� <��4�?���:�� 9��� � 0A@���?9� 9B�� �: � ��:)� ��:�W9�W9X9 XA�WA:WA2WA*WA�VIUIUM����0P@�PY*Q]�B�Z]�bUiC@�7�ZT@���������Z]�K��c���?�wnL��?��������2QY:QY�Z]��+R�ZN@���f�EP@���AU)��Z]��U�2p��??a�/'d�?�������BQ]S�Q? Q],�BQ]�rB�P]��9?�P]��9?�P]����QYQ]9Z@"Q]@zL��L��L��L��dq@�A��r�<B� B��A��u�*B�.9�A��A���7�A����A�"C�5��*C�RC�C��C�I��G��=��e =i�e a=�X0�Pj,zÕC�E�AY}Zm�@�}Z�z�@y}Zl̸��}Z/^ ��}ZH�����U��?����H��?������s?���� �ҿ����S��?���`���?�����w?����ͪ���������?)~Zm�@ ~Z��];I~Z��Cɫ�髙)�� ������I��Y����@y��riG�eTNmea in: $SNTTA,,0.052734,,,165957.72*4B ��e�=i�e�=��y��}nA���������= ����`�i����@��� ��z�@)��\�@I��z�@i��\�@������M�<=Y�����QU��>�������a��G������y��#Y�}��>I��������4�?���f��� ���@@����?9���9B���ӻ: ����:)���m-qAdded new target pos. range: 89.040009 m, bearing: 46.992859 deg, deltaT: 4.330427 s, approachRate: 0.069278 m/s, LOS rate: -0.122569 deg/s, posRepo size: 4�W1�W1X1 X1�W1:W12W9*W9�V9U=�����BV@UE���@���?zLY�LY�LY�L]�`q@�Aum�<Bq Bq�A}�w�*B}�.9�Ay�A}Ѽ7�A}���Ay"C�4��*C�RC�C��C�I��G= >��u _����q ��q ��u �� �u �&:Y�q y�q ��u ��5�9} @�m0�>9�iI�m,bGi�mԷ@��m=��i��i��m�v; �m�8E�%Z�Pj,A��C�E�AY}2�g�@�}2�u�@y}2���}2L���}2H�����ȑ�?���`C��?��� �zt?���� �ҿ���@���?���@'�?���@�`w?��� ������`���?)~2�g�@ ~2�p];I~0ɫY�Y)�Y �]����I�YY��a�@y���iG��5I�M=U=Y�=D9�QU=�>��A��A�aE�G��A��Ay�M�ں}M�>I�Q��U���4�?��Uq��� �Ut@@��]�?9�U�9B��U/�: �U��:)�Q�W��W�X� X��W:W2W*W�VU U ���`��?zL!�L!�L!�L%�Wq@�A=LA�<B9 BA�AE��*BE�,9�AA�AE��7�AE��AA"CM3��*CQRCQCQ�CQI�qG��=��E�Pj,��C�E�AY} `h�@�} v�@y} �����} �s��} H��������?������?������u?������ҿ�������?�����p�?����џv?����]m�����@���?)~ `h�@ ~ w�];I~ ɫ���)�� ������I��Y���@y�[iG���94�����u����= >i��@��� ��E�@)�����I��&�@i��E�@�� `�<M ==Y��9QU�>�����a�G����y�%L$9}%�>I�)��5�:��-F��4�?��5�:��-���� �-@@��5�?9�-�9B��-�: �-��:)�-��:�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm���@���?zL��L��L��L�yYq@�A����<B� B��A����*B�C.9�A��A���7�A�m��A�"C�2��*C�RC�C��C�I��G )>I�a )�e AA��� <����� ������ ������ ��� � 1$:Y� �X1y� /�:�� �5��m�Pj,6[�C�E�AY}2cl�@�}2 z�@y}2㝻�}2����}2H����@+��?���`���?���`'y?����Y�ҿ�������?����0��?��� ]�s?���`��������~��?)~2cl�@ ~2�S];I~2��Cɫ1�9)�9 �=����I�9Y�u��@y�u;iGI��)���A��}���������+����ÿi��|?5�?��}�����y �}�q=)�yI�yy�}� ףp= ���Q��뱿�~j�t�x���}Q����}\����}�Ļ �};A)�}�AI�}�Ai�}�A��y��}�A)Í�= Í�=��_�M�R=Y���:QU��>�����a��G����y�%�:}��>Iȱ�ŵ���4�?�ŵ��� Ƶ�?@����?9Ƶ:B�ǵ�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������,�?zL��=�L��=�Lc^s@�L�G`@�A%��<B! B)�A����*B��-9�A��A�Z�7�A����A�"C�5��*C�RC�C��C�I��G�>� 9� I� �bGi� w�@�� �� �� �� �t; � {7E)ݥ�x�CIݥ�x�Ciݡ��ݥ�=�ݥ�=�ݥ���4i��mGI�1i�I��ut(�ٺq��u�A�<��Pj,�.�C�E�AY}:Sm�@�}:{�@y}:��b��}:%��}:H����@}��?����i��?�����&~?������ҿ���`��?����o6�?�����Yl?���������������?)~:Sm�@ ~:}+];I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}�iG��=5=M=Q=Y�Ec;QUE�>��A��A�aM�G��I��Iy�U!�9}U�>I�Y��e�:��]B��4�?��e�:��]d��� �]�?@��e�?9�]C:B��](�: �]V�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�����9�@zL��L��L��L�OI`@�A�/q�<B� B��A��R�*B�a/9�A��A�:�7�A����A�"C�4��*C�RC�C��C�I��G�=��u l����u �����u �����u ��� �u (:Y�u �Y1y�u �:��u �5��~Qj,�D�E�AY}6�g�@�}6�u�@y}6{���}6�k��}6H�������?������?���@� �?����0�ҿ���`���?�����?���@�^?���`ol�����@���?)~6�g�@ ~6V];I~6��CɫY�Y)�Y �]����I�YY��)�@y���iG��M�z���Mt�=��M���i�M=�@��I �M�@)�Mz�@I�Mz�@i�M��@��z <M�E=Y�{;QU��>�����a��G����y�Xպ}��>Iȱ�ŵ���4�?�ŵV��� Ƶ�?@����?9Ƶt:B�ǵ��: ȵӻ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����_�@zL �L �L �L �=`@�A%�+�<B! B!�A%B�*B%09�A!�A-�7�A-$ߺ�A)"C53��*C1RC1C1�C9I�qG�9>��} �=i�} �=� 9� I� XcGi� ȸ@�� �� �� �� �r; � _6E�P�Qj,�0D�E�AY}2�V�@�}2�d�@y}2C� ��}2�+��}2H�������?���@��?����Tք?����pӿ����̇�?���@.��?���`H�A?���@nd�����@���?)~2�V�@ ~2];I~0ɫY�Y)�Y �]����I�aY�}�@y�}�jG����������=i���=��mA�� }=M�[=Y��i;QU��>�����a��G����y���}��>I������:���!��4�?����:���1��� ���?@����?9���:B�����: ����:)����:�W1�W1XQ XQ�WQ:WQ2WY*WY�VYUYUe����۠@�RmB*** querying acoustic contact ***�Pi�PizL��L��L��L�p`@�A���<B� B��A�CǼ*B��29�A��A��7�A��ݺ�A�"C�2��*C�RC�C��C�I�!Ge�=��} �����} �����} �����} ��� �} �+:Y�} DW1y�} Y�:��} ��5)�} m�;�9� ���Qj,��JD�E�AY}N7@�@�}N�M�@y}N��Z:�}N����}NH�������?���@53�?����#_�?�����6ӿ����L��?���@�$�?����RK�����Y�����`���?)~N7@�@ ~N��\;I~N��Cɫa�a)�a �m����I�iY����@y���jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�Å�̼�Åף;�Åt<iÅכ@�Á ą�@)ą�@Ią�@ią�@��~�M�;=Y��M;QU��>�����a��G�����y���λ}��>I�����'��4�?���/��� ���?@����?9���:B���V�< ��z�<)���W�WX X!�W!:W!2W!*W!�V!U)U-����0Z @zL��L��L��L�i�_@�A�$lz<B� B��A����*B�d29�A��A���7�A�{ܺ�A�"C�5��*C�RC�C��C�I��G5.>�F�Qj,9�dD�E�AY}2[&�@�}24�@y}2�%;�}2WF��}2H�����H~�?�����c�?����.�?���� hӿ����z�?����2�?����֡d����`�g����� =��?)~2[&�@ ~2P ];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�jG�xDUSBL response received:!U1,P AFD,000,0083D,189,80,80,B5,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 ܱ9ܱIܵ�cGiܵ�@�ܵ=�ܱ�ܱ�ܵrp; ݵH5E�����~j�t�h�㥛� �¿�p= ף�?����D������ ���=)��I��y����l���� ףp= ������Mb�����������Q������ ��)��^AI��i��5A������A��M��<Me'=Y�e�_;QUe�>��i��i�am�G��i��qy�u]Ի}u�>I�y����:��}'��4�?����:��}��� �}s?@����?9�} ;B��}��: �}w�:)�}��:�W��W�X� X��W�:W�2W�*W��VUU �����@zL�/�=�L�/�=�L��ƀ@�L���m@�A�v�k<B� B��A����*Bi39�A�A �7�A *ۺ�A "C=4��*CARCACI�CQI��G�>I�a )�e @A��u �����u �����u �����u #�� �u �:Y�u 0Y1y�u ��:��u }6)�u �|;�h�Qj,dv~D�E�AY}2��@�}2Q(�@y}2ˁ�;�}2��}2H���� �z�?���`�y�?���`,��?���@n~ӿ����Aw�?�����'�?����3�t������"����� ���?)~2��@ ~2#];I~0ɫ9�9)�9 �=����I�9Y���@y��kG��ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�Q)�Q��� <M��=Y�l<QU�?�����a��G����y�ږ�}�?Iȱ�ŵ���4�?�ŵ��� Ƶ[?@����?9Ƶ2;B�ǵ@�: ȵǺ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����e<@zL �L �L �L ��m@�A�s�^<B� B��A����*B��29�A��A�ջ7�A�Vں�A�"C 3��*C RCC�CI��GM0>���%Qj,.T�D�E�A�|�;�|Y}Bg�@�}B$"�@y}B�.�;�}B[��}BH�����x�?������?���@�6�?���@�ӿ�����u�?����㛜?����ɥ~������?���������?)~Bg�@ ~B�e];I~B��CɫY�Y)�Y �]����I�YY����@y���kG�xDUSBL response received:!U1,R,AFD,000,00844,189,80,80,A8,FF �Fpublishing direction and range info������ɰ�W->鰙 ��)���(CI��y���B����K��c���?�wnL��?��������ٱ��õ/ݼ�õ��>�õt��iõp�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@����=M�9=Y��DZ;QU��>�������a��G������y��#ߺ}��>I�������4�?������� ��:?@����?9��g;B���]�: ����:)���W �WX X�W:W2W*W�VUU�����@�P)*Q-�B�Z-���x9ƀC@�!]� T@���������Z-�K��c���?�wnL��?��������2Q):Q)�Z-�pi ��N@�)�C.P@���n���Z-�b�I�C�?��%�&�?8�K��BQ-�2O? Q-r�BQ-�vB�P-��9?�P-��9?�P-����Q-����Q-�H@"Q-9Z@zLQ�LQ�LQ�LUp�m@�Am�S<Bi Bi�Am#,�*Bm�59�Aq�Auλ7�AuBٺ�Aq"C}2��*CyRCyCy�C�I��G�>��u =����u �����u �����u M�� �u E$:Y�u �V1y�u �:��u "�5�9u @ܩ 9ܩ Iܭ dGiܭ k�@�ܭ =�ܩ �ܩ �ܭ \n; ݭ 24E���+Qj,:?�D�E�AY}r"�@�}r�)�@y}r=<�}r����}rH������z�?���@�s�?����>�?����P{ӿ����ew�?����Z��?�����G������Ś���������?)~r"�@ ~rqV];I~pɫ���)�� ������I��Y���@y��kG�}DNmea in: $SNTTA,,,,,170002.14*5F �����Q7�M�[=Y��7�;QU��>�������a��G������y���$;}��>I�����:���к�4�?�� �:������ �� ?@�� �?9���;B���90; ��D;)����:�mUqAdded new target pos. range: 89.459999 m, bearing: 46.373289 deg, deltaT: 4.503768 s, approachRate: 0.093253 m/s, LOS rate: -0.137567 deg/s, posRepo size: 4�WY�WYXY XY�WY:Wa2Wa*Wi�ViUm����p]V@Uu��� ^�?zL��L��L��L�b�m@�A��OH<B� B��A����*B=Z39�AA�AE��7�AEWغ�AA"CM5��*CIRCICI�CQi�]mAI�]mAY�5�9I�IGeV>�^�2Qj,)�D�E�AY}2�&�@�}2J4�@y}26�2<�}2����}2H����`�}�?����X]�?����Q��?����bgӿ���@�y�?����95�?�����]�����@�գ�����\��?)~2�&�@ ~2�{];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�kG��5�P���5ߏ>��5$>i�5z�@��1 �5 �@)�5&�@I�5&�@i�5&�@��E�W=MMT=Y�M�;QUM�>��Q��Q�aU�G��Q��Yy�]�X;}]�>I�a��e���4�?��eS��� �e?@��m�?9�e�;B��e[�: �e�:)�a�W9�W9X9 X9�W9:W92W9*WA�VAUAUE���@%��?zLa�La�La�Le��m@�A}[><By By�A}���*B}�59�A��A���7�A�p�A�"C�4��*C�RC�C��C�Yυ�9I��G�>>��� k����� ������ ������ P�� � �':Y� �X1y� /�:�� ��5�l9Qj,���D�E�A�|i|Y}:�*�@�}:�8�@y}:ͰJ<�}:�+��}:H���� �?��� �R�?�������?�����^ӿ���@*z�?���`u�?���@�U�������_����� ;��?)~:�*�@ ~:�n];I~:��Cɫ9�9)�9 �=����I�9Y��ſ@y���kG�����&1���L7�A`堿�������?����P����+� ����<)��I��y���+���������S㥫�:��v������������/]�����Լ ©)�AI�Ai©�������A���ތ;M�B=Y���a;QU��>�������a��G������y���:}��>I������:������4�?����:���I��� ��h>@����?9���;B�����: ���:)����:�W��W�X� X��W�:W�2W�*W��V�U�U������:�?zL�q�=�L�q�=�L��ǂ@�L��;r@�Ap94<B B�A*B?69�A�A��7�A�ֺ�A"C%3��*C!RC!C)�C)�Y9�YI�]�dGi�]��@��]=��Y��Y��]`l; �](3EY�9I�QGmW>��2?Qj,���D�E�AY}:L'�@�}: 5�@y}:oEe<�}:P�'��}:H������}�?���`*Y�?����IW�?��� �eӿ���`{y�?����,ʡ?����p�������d����@W��?)~:L'�@ ~:��];I~8ɫ9�9)�9 �=����I�9Y�}�@y�}XlG��U��<M]R=Y�]y�;QU]�>��a��a�ae�G��a��iy�m锺}m�>I�q��u��4�?��u,��� �u�=@��}�?9�u�;B��u��: �ub�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L�*r@�A��>+<B� B��A�*B��79�A��A���7�A��պ�A�"C�2��*C�RC�C��C��� �=�� G>Y��I�GM>��u �����u �����u �����u a�� �u f.:Y�u �Y1y�u �:��u k�5��FQj,��E�E�AY}2�@�}2�,�@y}2�\<�}2sr��}2H�����#{�?���@�i�?����R��?����iuӿ����Nx�?����'��?����C돿��� �����������?)~2�@ ~2&N];I~2��Cɫ9�9)�9 �=����I�9Y�}7�@y�}}lGI��)���A��5�'���5Q8=��5�@�i�1��1 �5�@)�5ƣ@I�5ƣ@i�5ƣ@��m�<MmI=Y�u+�;QUu�>��y��y�a}�G��y��y�w"�}��>Iȉ����:�ō��4�?����:�ō��� ƍ8=@����?9ƍ<B�Ǎ3; ȍ�;)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����Ԙ�?zL��L��L��L��r@�A���"<B B�A*B�79�A�A ��7�A �Ժ�A "C5��*CRCC�CY�E�9I�QG}7>�M /�>9�I I�M �dGi�M �@��I ��I ��I ��M kj; �M #2E)��I��i���=�����剛�4��DLQj,mt3E�E�A�����|8�|8i�JVnGI�Pi�\��vv@�ٺt��v65AY}U��@�}U�&�@y}US�<�}U*����}UH����� y�?���@�v�?����B��?�����ӿ�����w�?�����?�?����ќ�����`������`���?)~U��@ ~U�J];I~U��Cɫ1�9)�9 �=����I�9Y�u?�@y�u�lG��� ;M%?=Y�%�w;QU-�>��1��1�a5�G��1��9y�=��}E�>I�A��E#��4�?��E��� �E�<@��U�?9�E4<B��E��: �Ee�:)�A�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U�����8@zL��L��L��L�a�q@�A���<B� B��A�*B�89�A��A���7�A�-Ժ�A�"C�4��*C�RC�C��C�Yϥ�9I��G�D>�� ����� ����� ����� @�� � �1:Y� DW1y� Y�:�� � 6��,SQj,PME�E�AY}2��@�}2|�@y}2���<�}2L���}2H�����[v�?���`W��?�������?��� W�ӿ�����u�?����E�?��� �3�������]���������?)~2��@ ~2}];I~0ɫ9�9)�9 �=����I�9Y����@y��*mG������@A��/]=���!>�����i���@�� �\�@)�\�@I�z�@i�\�@��-�2=M-[=Y�5��;QU5�>��1��9�a=�G��9��9y�E�-�}E�>I�I��Mo��4�?��M��� �M<@��U�?9�MN<B��M��: �M�:)�I�Wy�WyXy Xy�W�:W�2W�*W��V�U�U�����u1@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���q@�A�"�<B� B��A�,e<*B�D:9�A��A�̻7�A��Ӻ�A�"C�3��*C�RC�C��C�i��I��YϩI��G�>��VYQj,�*gE�E�AY}:��@�}:N�@y}: #�<�}:�p��}:H�����s�?����!��?�������?���@̟ӿ���`�r�?����@B�?���@ d������������� ��?)~:��@ ~: .];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}amG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E�T㥛� �?L7�A`�������Mbp?��E>��E+� �E�;)�AI�Ay�E� ףp= ���E���Ը�y�&1�����EQ8���E�ƽ��E`e� �E�A)�E�AI�EIAi�E�A��A��E�A��]�H<Me8=Y�e�+;QUe�>��i��i�am�G��i��qy�u��}u�>I�y����:��}���4�?����:��}ߥ�� �}�;@����?9�}~<B��}��: �}n"<)�}��:��9��I��LeGi��_�@�������������h; ��*1E�W �W X X�W:W2W*W�VUU����%� @zL]��=�L]��=�L]��@�L]!�}@�A�U�<B� B��A��<*B��:9�A��A�ܻ7�A��Һ�A�"C�2��*C�RC�C��C�Yϥ�9I��G�B>��u D����u �����u �����u �� �u �$:Y�u ]1y�u �:��u 6)�u ��;�9} ��c>`Qj,��E�E�A�|i|�@Y}29��@�}2��@y}29٪<�}2K���}2H�����mo�?�������?���`2 �?���@�ӿ�����m�?���@�Ɲ?�����Z����� V�����`���?)~29��@ ~2�];I~2��CɫY�Y)�Y �YI�YY����@y��AmG�xDUSBL response received:!U1,P AFD,000,00844,189,80,80,A8,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 �� ��Mc=Y�%*;QU-�>��9��A�aE�G��I��y��ދ�}��>I� �� Q��4�?�� ���� � ~;@��m�?9� �<B�� �Z< � ?]<)� �Wa�W�X� X��W�:W�2W�*W��V�U�U������C @zLa�La�La�Le��}@�A�Y�<B� B��A��<*B�M:9�A��A��7�A��Ѻ�A�"C�5��*C�RC�C��C�Yϕ"9I��G��>�jfQj,q�E�E�AY}2��@�}2��@y}2[��<�}2�G#��}2H�����h�?����T��?����t0�?������ӿ����f�?���@갟?���@�֖���� Pf������t��?)~2��@ ~2C];I~2��Cɫ9�9)�9 �9I�9Y�u��@y�}`nG�}p=ɮy���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�]�= �]�=�å�P��å`��åף;iåQ�@�á ĥz�@)ĥz�@Iġiĥz�@����=M�?=Y��_;QU��>�������a��G������y����}��>I������:���ܦ�4�?����:���[��� ��C;@����?9���<B�����: ��=�:)����:�W�WX X �W :W 2W *W�VUU����u@zL��L��L��L�1�}@�A���<B� B��A�27=*B��>9�A��A��7�A�gѺ�A�"C�4��*C�RC�C��C���%C>��%�>Y��,$9I� G-N>�� 9�� I�� �eGi�� ��@��� =��� ��� ��� g; �� e0E��u �����u �����u �����u ��� �u �:Y�u 0Y1y�u ��:��u ��5)�u �u;���lQj,軴E�E�Aɫ�髙)�� ������I��Y��F�@y���mG�xDUSBL response received:!U1,R,AFD,000,0084A,189,80,80,A3,FF �Fpublishing direction and range info������ɰ��->�� ��)���#CI��y����B����K��c���?�wnL��?��������ٱ�I��)�������M�H=Y�����QU��>�������a��G������y�����}��>I�����X��4�?���)��� ��;@����?9��=B����: ����:)���W!�W!X! X)�W):W)2W)*W1�V1U1U5�����@�PA*QE��B�ZE� {��ݔC@c��G5T@���������ZE�K��c���?�wnL��?��������2QA:QA�ZE���{� O@B��B'P@S�i�[`��ZE�0��'.�?x��?�=�jV��BQE��M? QE:�BQEyB�PE��9?�PE��9?�PE����QE����QE�?"QE�H@zLi�Li�Li�Li�A}�<B� B��A�2�<*B�8<9�A��A��7�A��к�A�"C�3��*C�RC�C��C�YϝP$9I��G�B>��|sQj,ӟ�E�E�AY}r���@�}r���@y}r��<�}rB���}rH������S�?����!N�?�����O�?����u\Կ����S�?����N1�?�����ј������q���������?)~r���@ ~rQ�];I~r��Cɫ���)�� ������I��Y����@y���nG��DNmea in: $SNTTA,,,,,170006.59*52 �������>���/�=i��=�@��� ����@)����@I����@i����@�� �A=M G=Y��;QU�>�����a�G����y�%a��}%�>I�!��5�:��%ȡ�4�?��5�:��%���� �%�:@��5�?9�%/=B��%��: �%��:)�%��:�meqAdded new target pos. range: 89.820007 m, bearing: 46.063933 deg, deltaT: 4.413902 s, approachRate: 0.081562 m/s, LOS rate: -0.070087 deg/s, posRepo size: 4�mm�Completed rollout at range: 89.82 m. Resuming terminal guidance.�mmbTransitioning guidance mode to: TERMINAL_GUIDANCE"Xm�Wm����WiXq Xq�Wu��?:Wq2Wq*Wy�VyU}����{tV@U}����c[�?zL��L��L��L�� }@B��%�;�A�-�>�A�&��;B��= B��A��I=*B��>9�A��A�8�7�A�qк�A�Xp =�C�S�AYϽH&9I�GM>��m �����m �����m �����m ��� �m Q:Y�m [1y�m ݏ:��m X�5�9u @���yQj,�s�E�E�Aɫ�髙)�� ������I��Y����@y���nG����/�$��?�~j�t�пy�&1�|�����<������ ��`�)��I��y���:��v����B`��"۹�y�&1��?����T�����ν���`e< ��fA)���AI���Ai���A������(A��o��MJ=Y����QU�>�����a�G����!y�%���}%�>I�)��-I��4�?��-��� �-;;@��=�?9�-Y=B��-�: �-4�:)�)�WY�WYXY Xa�Wa:Wa2Wa*Wa�Va�,m�� Ym�Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy�,m��1-m�� ZmInitialize.q-u���Zu<Initialize Buoyancy Component.bUqBUq*UqUqU}����a�?ܙ9ܙIܝfGiܝ�@�ܝ=�ܙ�ܙ�ܝ�e; ݝ�/EzL���=�L���=�L�>��@�L��r�@B��~`;"B�6A;B� B��A��G=*B��9�A���&8�A�����A����A�l� =�C�i��I��nAY��l&9I�)GMR>����Qj,fMF�E�AY}2���@�}2H��@y}2*�<�}2���}2H������I�?����q��?���`W!�?���`�Կ����BK�?����;w�?��� ず�����n��������?)~2���@ ~2Sa];I~2��Cɫ9�9)�9 �9I�9Y���@y���nG��i��=��UX/<M]W=Y�]3�;QU]�>��a��a�ae�G��a��ay�m' �}m�>I�q��}�:��uߞ�4�?��}�:��u���� �u�;@����?9�u�=B��u�: �u��:)�u��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�-�?zL��L��L��L�xV�@B �%~;Bq B��A��X=*B��A���8�A��A��A��� =�CI�G%+>��u v����u �����u �����u X�� �u g:Y�u 0Y1y�u ��:��u ~�5����Qj,[(F�E�A�|i|�@Y}>ȍ�@�}>���@y}>DB�<�}>���}>H����`L�?���`Sz�?��� Yˡ?����5�Կ�����L�?�����˖?�����g������������ ��?)~>ȍ�@ ~> ];I~<ɫY�Y)�Y �]����I�YY��n�@y��6oG�Õ,=�ÕOM?�Õ�>iÕ��@�Ñ ĕ��@)ĕƣ@Iĕƣ@iĕƣ@���=M�E=Y��~�QU��>�����a��G����y��;}��>I�����T��4�?������ ��<@����?9���=B���V�: ����:)���W��W�X� X��W�:W�2W�*W��V�bUBU*UUU �������?zL!�L!�L!�L%�]�@B=��;B9 B9�A=�=*B9�AE�s9�AA�AA�AEF =�CI��eΒ{:I�Gn>ܑ 9ܑ Iܕ �fGiܕ ��@�ܑ �ܑ �ܑ �ܕ ud; ݕ /E����Qj,�6F�E�Aɫ�髙)�� ������I��Y����@y���oG���<M�I=Y����QU��>�����a��G������y�����}��>I�����қ�4�?���4��� ���<@����?9���=B����: ����:)���W�WX X�W:W2W*W �V bU BU*UUU������@zL1�L1�L1�L1BE $�;BI BI�AMٖ=*BI�AMK9�AQ�AQ�AU�� =�CY��MoM�<��%I�AI�1GM1>I�a )�e AA��u ����u �����u �����u R�� �u !:Y�u �W1y�u č:��u 5�5��ȓQj,��OF�E�AY}2��@�}2���@y}2ۇ�<�}2��9��}2H����`!T�?�����E�?����N#�?�����ZԿ���`HQ�?��� ��?��� \И����`(7������*��?)~2��@ ~2�];I~2��CɫI�I)�I �M����I�IY�}��@y�}�oGI��)����5+�=��5����5\��i�5(�@��1 �5�@)�1I�1i�1��E#�<MER=Y�E���QUM�>��M�?��M�?�aM�G��I��Qy�]��;}]�>I�a��m�:��eb��4�?��m�:��e3��� �e =@��m�?9�e�=B��eE�: �e��:)�e��:�W��W�X� X��W�:W12W1*W1�V9bU9BU9*U9U9UE��� xc@Bm �;B� B��A���=*B��A��7�9�A��A��A��� =�C��э�� =I��lA)��lA�יI��G�b>���Qj,�iF�E�Aɫ�髁)�� ������I��Y����@y��VoG������?A��]��~j�t���{�G�z���I+�����]�D���]ף� �]94�)�YI�Yy�]��A`��"��y�&1�����~j�t����]Y���]`���]��� �]?A)�]�AI�]�Ai�]�A��Y��]�A��uh�M}G=Y�}���QU}�>�����a��G����y����}��>Iȑ�ŕP��4�?�ŕp��� ƕ�<@����?9ƕ>B�Ǖ��: ȕ+�:)ȑ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�BB��;B B �A ��=�99�9I�=�gGi�=F�@��==��9��9��=�b; �=D.E)�ɂI�ɂi�ɂ��͂=��͂=��͂[5*B �A�u��9�A��A��A�& =�C�i����I��������������i�QI�mfpAi�����d�ٺ�fpA���,VA������)�� ����u �����u ����u ����u ^�� �u �*:Y�u �T1y�u ��:��u � 6)�u ߈;�9} �9ԑ ��iI��G��>���Qj,Qj�F�E�AY}jS��@�}j��@y}j|��<�}j}�,��}jH�����pV�?��� �<�?��� �ݡ?�����NԿ��� T�?�����ˠ?�����>������ޗ�����@���?)~jS��@ ~j�0];I~j��Cɫ���)�� ������I�Y�=��@y�=�oGEZ****** received transponder code query ******EF****** received ping request ******E<Arming DUSBL. detectThresh: 75M8****** ping requested ******�õ���õG��õ��=iõ�@�ñ ĵƣ@)ĵ��@Iĵ��@iĵ��@����<M�=Y��_@�QU��>�������a��G����>G���y����:}��>I������:������4�?����:������� ��<@����?9��8>B���{�: ��s�:)����:�W�WX X�W:W2W*W�V!bU!BU!*U!U!U-������ @B���;B� B��A��=*B��A�x��9�A��A��A��U=�C�9��Ԅ:�יI��G�c>���Qj,� �F�E�AY}:��@�}:���@y}:74�<�}:-� ��}:H�����,T�?����yL�?����/�?�����\Կ���`aR�?��� ��?����Ɩ�����������`���?)~:��@ ~:];I~:��Cɫ9�9)�9 �=����I�AY�}��@y�}�oG�xDUSBL response received:!U1,P AFD,000,0084A,189,80,80,A3,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �����M�`=Y�����QU��>��)��)�aM�G��Q��Yy�e8�}m�>Iș�ŝ���4�?�ŝ���� Ɲ�;@���?9ƝP>B�ǝ��< ȝ@�<)ș�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �@B�ʻ�;B� B��A��=*B��A���9�A��A��A���=�C�9Խ�:�.�>9�I�hGi���@��=��PD�����a; ��-E�ױI��G��>��E" ����E�����E�����E��� �E�J:Y�E�X1y�E/�:��E!�5)�E��;�2H�Qj,2�F�E�AY}2��@�}2ȥ�@y}2@L�<�}2�V+��}2H�����)P�?���@�c�?�����U�?����JuԿ�����M�?����c��?����)����� �g���������?)~2��@ ~2$#];I~2��Cɫ9�9)�9 �=����I�9Y��P�@y��LpG��a=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u�=MuN=Y�}�ȺQU}�>��y���a��G���>G��y�A��}��>Iȑ����:�ŕّ�4�?����:�ŕ.��� ƕ=;@����?9ƕg>B�ǕV�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������d@B��;B B�A��=*B �A � :�A �A �A ��=�C�9����:�סI��G�D>� 0�Qj,3��F�E�AY}:���@�}:~��@y}:�`�<�}:�}U��}:H�����K�?�����}�?���@���?��� ?�Կ����E�?����vۥ?���`�+������)������` ��?)~:���@ ~:�];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�oG�xDUSBL response received:!U1,R,AFD,000,00852,189,80,80,BC,FF �Fpublishing direction and range info������ɰ�}.>鰁 ��)���<CI��y����B����K��c���?�wnL��?��������ٱ� ��鿥�A���C�����l�=���= �i����@��� ����@)��I��i����t��M�H=Y���QU��>�����a��G����y�����}��>I�����ď�4�?���k��� ���:@����?9���>B�����: ����:)���W)�W)X) X)�W1:W12W1*W1�V1bU9BU9*U9U9UE�����@�P�*Q���B�Z���i6���C@�����PT@���������Z��K��c���?�wnL��?��������2Q�:Q��Z�����0#�O@Y���w P@9����/��Z��V�ܕ�m�?Oe�(��?�;N�����BQ���J? Q�k�BQ�)}B�P���9?�P���9?�P�����Q�����Q���?"Q��?BUЇ�;BY BY�Ae��=*B��A��4:�A��A��A�B�=�C�9���;���I�G%n>��=� ����=�����=�����=��� �=�C:Y�=DW1y�=Y�:��= �5�9E@��\�Qj,���F�E�A�\9�\I�^lhGi�^�@��^=��^QD��\��^I`; �^�,Eɫ�髉)�� ������I��Y����@y���oG�5TNmea in: $SNTTA,,0.359472,,,170011.10*49 ��5p=i�5C=������K7�A����Q�ſZd;�O��?��������(� ��j<=)��I��y������S㥛��MbX9��/�$������/ݼ���ʡ������ ���A)�� AI��i���A�������A���Hw�M�6=Y����QU��>�������a��G����>G���y�����}��>I����:�����4�?���:��6��� �O:@���?9��>B���: ���:)���:�m�IAdded new target pos. range: 90.299995 m, bearing: 45.413549 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1�m�ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 45.413549deg and heading rate command to 0 deg/s.�W���J?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U���� 3�V@U���� �_�?B � �;B B �A ��=*B�AB�.:�A�A�A�)="C=(�RC9C=��J?�CA9�5p;���I��G�>�ZE�Qj,]� G�E�A�|<�|<Y}T�@�}�a�@y}���<�}o���}H������:�?����&��?���� A�?��� 6�Կ���@�&�?���@�߱?��� S�������Y�������?��?)~T�@ ~�a];I~��Cɫ���)�� ������I��Y�-��@y�5�oG�� �Ļ�� t<�� �u<i� z�@�� � �@)� �@I� �@i� ƣ@����<MY=Y�%ӻQU%�>��)��)�a-�G��)��1y�5b��}5�>I�9��=.��4�?��=���� �=�:@��M�?9�=�>B��=�: �=]�:)�9�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqbUyBUy*UyUyU����@���?B����;B� B��A���=*B��A���<:�A��A��A�{H="C�PݿRC�C��C�9��(;�יI��G�@>��Q ����������������� �H::Y��X1y�/�:��W�5��m�Qj,�Y#G�E�AY}2�7�@�}2|E�@y}2v"�<�}2/Ұ��}2H������1�?��� ��?�����^�?�����+տ���@��?�����x�?������������������l��?)~2�7�@ ~2c�];I~2��Cɫ9�9)�9 �9I�9Y�u_�@y�}^pG���mA������F=M `=Y���QU�>�����a�G����y�%��}%�>I�)��-���4�?��-��� �-�9@��5�?9�-�>B��-4�: �-+�:)�)�WY�WYXY XY�WY:Wa2Wa*Wa�VabUaBUi*UiUiUm������?B����;B� B��A�H�=*B��A�p O:�A��A��A�Vb="C�QGֿRC�C��C�9�m�:;��AI�QGm>ܡ9ܡIܥ3iGiܥ��@�ܥ=�ܥPD�ܡ�ܥ _; ݥ3,E�:��Qj,{.=G�E�AY}:��@�}:�+�@y}:Qy\<�}:�U���}:H�����a)�?�����8�?�������?�����\տ����%�?������?�������@�c����� ���?)~:��@ ~:�[];I~8ɫ9�9)�9 �9I�9Y�}#�@y�}pGI��)����Mώ�MME=Y�M�ԻQUM�>��Q��Q�aU�G��U�>G��Yy�]���}]�>I�a��m�:��e���4�?��u�:��et��� �eO9@��u�?9�e?B��e��: �e��:)�e��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������[�?B����;B� B��A�x�=*B��A�b:�A��A��A��x="C��˿RC�C��C�9��2A;�שI��G� >�� ����������������� �V5:Y�xZ1y�q�:��|�5��Qj,� WG�E�A�|i|Y}6��@�}6p�@y}6��&<�}6_�}6H������!�?���` l�?���@V�?����шտ��� ��?����Q�?����Zބ�����4����������?)~6��@ ~6JJ];I~6��Cɫ9�9)�9 �=����I�9Y�]P�@y�]LpG�� ��� ;�=�� ,=i� ��@�� � ��@)� I� i� �@���^<MM=Y�%0�QU%�>��)��)�a-�G��)��)y�5�}5�>I�9��=���4�?��=��� �=�8@��E�?9�=.?B��=��: �=^�:)�9�W �W X X9�W9:W92W9*WA�VAbUABUA*UAUIUM������@B�G��;B� BI�AM��=*BQ�AU�+w:�AY�AY�Aml�="C��\��RC�C��C�i��I����!��!�ס I�� G� �>�F��Qj,��pG�E�A�&-�>9�$I�&�iGi�&.�@��&=��$��$��&�]; �&�+Eɫ�髹)�� ��I��Y��A�@y��:pG�� �o��ʡ�?�K7�A`ſ�I+��?�� �>�� +� � 94<)� I� y� �`��"���?�Q��뱿�~j�t�x?�� ��=�� \���� ��; � A)� AI� �Ai� �A�� �� �A)�%�= �%�=��-1��M-:=Y�5���QU5�>��1��9�a=�G��=�>G��9y�E���}E�>I�I��U�:��MQ��4�?��]�:��M���� �M99@��]�?9�Mm?B��M�2; �M�;)�M��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�m@B\b�;B B�A�=*B�A%ҟ�:�A!�A!�A%��="C5-ȴ�RC1C1�C9���I��G J>I�5AA)�5@A��# ����������������� ��6:Y��W1y�č:�� �5)���;�9������Qj,BΊG�E�Aɫ�髱)�� ������I��Y���@y���oG������@A���C=i���<��Uף=��U?5>��Urh�i�U\�@��Q �U9�@)�U�@I�U�@i�U�@��eǥ�MmW=Y�iQUm�>��q��q�au�G��q��yy�y}}�>Iȁ�Ņ8��4�?�Ņ���� ƅy9@����?9ƅ�?B�Dž��: ȅ{�:)ȁ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������i@�R�B*** querying acoustic contact ***�P��P�B���;B� B��A�$�=*B��A�W:�A�A�AĖ="C���RC�C��C��ׁI��G�>�4��Qj,횤G�E�A�|�|Y}>(��@�}>�ƽ@y}>�F5��}>2^���}>H�������?���`� �?����B�?�����ֿ����L��?���@�R�?����ۨf?���@[e������N��?)~>(��@ ~>� ];I~>��CɫY�Y)�Y �]����I�YY��[�@y��ZpG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����<M�G=Y���QU��>�����a��G����y��V��}��>I������:���X��4�?����:���R��� ���9@����?9���?B���{�: ��r�:)����:�W)�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B ��;B B�A[�=*B�A�E�:�A�A�A�o="CBM��RC�C��C��M�>9�II�M�jGi�MѾ@��M�=��I��M��D��Mm\; �M�*E)��I��i�����=���=��� {6��9I�IGmx>������i�I�9i�Y���/��ٺ�����A���� �������������� ���@:Y��y�������5)��қ;����Qj,yw�G�E�AY}2H��@�}2��@y}2���}2e���}2H�������?�����P�?����<�?���` \ֿ�������?��� �͵?�����"�?���������������?)~2H��@ ~2�];I~2��CɫI�I)�I �M����I�IY�}|�@y�}�pG�xDUSBL response received:!U1,P AFD,000,00852,189,80,80,BC,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 ������nA���.<MU=Y� �Y�QU�>��!��)�a5�G��5�>G��Ay�U�3�}]�>I�y��}I��4�?��}���� �} :@����?9�}@B��}O;= �}�B=)�y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�` @Bm <Bu8X�< Bq�A}��=*B��A��:�A��A��A�18="CE?���RCICI�Ca��qI��G��>��5�=i�5=����Qj,3T�G�E�AY}:�d�@�}:�r�@y}:�!Y��}:{����}:H��������?��� ���?����C��?����\�ֿ���`���?����#�?���@�#�?�����v�����`���?)~:�d�@ ~:� ];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�pG鮅p=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)�����=���Q>��7�=i��@�� ���@)�ƣ@I�ƣ@i�ƣ@��Muv;MU*=Y�]Y7�QUe�>��q��q�a}�G��y��y��N�}��>Iȹ����:�Žؖ�4�?����:�Ž���� ƽ�:@����?9ƽZ@B�ǽ{v; Ƚ.a;)Ƚ��:�W��W�X� X��W�:W2W*W�VbU BU *U U U���`�Y@BM�)<BQ BQ�AUd�=*BY�A]�ή:�Aa�Aa�Ae9�="Cu+_��RCqCq�C���I�1GUu>�� � ���� ����� ����� J�� � >F:Y� xZ1y� q�:�� �6�9 @�E �>9�Ev�CI�E(kGi�E"�@��E�=��EQD��E��D��E�Z; �E *E�#��Qj,�/�G�E�A�|i|Y}6K$�@�}62�@y}6�����}6̩Ľ�}6H����`���?�����0�?���`*[�?����`0����ժ�?���` ��?�������?���@�������`���?)~6K$�@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]�pGexDUSBL response received:!U1,R,AFD,000,00856,189,80,80,B4,FF eFpublishing direction and range info��a��aɰe�.>�a �a)�e�4CI�ay�e�B��e�K��c���?�wnL��?��������ٱa��dNmea in: $SNTTA,0.070065,0.179666,,,170015.55*51 ����5^�I�?�E����п�~j�t�h?����>������ ���D;)��I��y���m������?sh��|?���I+�������n>���������94� ��lA)��I��fAi���������A��e��;Me[=Y�e}V�QU��>�����a��G���>G��y�����}��>I�����Μ�4�?��� ��� ���:@����?9���@B���Ǻ: ��k�:)���W�W!X! X!�W!:W!2WI*WI�VIbUIBUI*UQUQUU������@�Pa*Qe�B�Ze��lŢ�C@�6Z��^T@���������Ze�K��c���?�wnL��?��������2Qa:Qa�Ze�z>��P@�Q2�]�N@f�ۘa��Ze��g$��o�?�ɜ���?� ����BQeC�>? Qe�tBQe��B�Pe��9?�Pe��9?�Pe����Qe����Qe�{�"Qe��?B��<B� B��A��=*B��A��T�:�A��A��A<�="C ��{�RC C �C ���I� G%M>���Rj,�H�E�AY}2���@�}2��@y}2�s���}25�ͽ�}2H�����-��?�������?���@w��?���@�����߉�?���@���?�����M�?���@�������`���?)~2���@ ~2� ];I~2��Cɫ9�9)�9 �=����I�9Y�u�@y�}'qG)���= ���=��U�@=��Uף=��U`�i�U�@��Q �U@)�U���I�U�@i�U��@��e�=Me\=Y�e[L�QUe�>��i��i�am�G��i��qy�uoӼ}}�>I�y��}`��4�?��}U��� �}�:@����?9�}AB��}��: �}�:)�y�m�qAdded new target pos. range: 90.540001 m, bearing: 42.722024 deg, deltaT: 4.469279 s, approachRate: 0.053701 m/s, LOS rate: -0.602228 deg/s, posRepo size: 2�m�� ProNav: 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. �W�#H?�W�X� X��W�:W�2W�*W��V�bU�BU�*UU���`��V@U ���@� �?B�j�%<B� B��A��=*B��A����:�A��A��A��5="C��Qh�RCC #H?�C ���Ho=���I��G�i>I�M@A)�I��e �����e �����e �����e ��� �e th:Y�e 0Y1y�e ��:��e D6�T Rj,��%H�E�AY}2]|�@�}2��@y}2�ݼ�}2�ؽ�}2H�������?���`�q�?����6F�?���@�fؿ�����a�?��� k��?���@"��?����b�����t��?)~2]|�@ ~2A'];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�pG����=i���=��{�MO=Y��3�QU�>��!��!�a%�G��!��)y�-A�}-�>Iȉ����:�ō���4�?����:�ō ��� ƍ�:@����?9ƍ|AB�Ǎ~ ; ȍ;)ȍ��:�W��D?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �b�?B%�2<B) B)�A-�=*B)�A5p��:�A1�A1�A5�� ="C=�S�RC=�>C=�D?�CA��M��<��!I�)GM1>���>9��t�CI���kGi��Ŀ@��� =���RD�����D����Y; ��K)E�s2Rj,��?H�E�A�|4<�|Y}6��@�}6u&�@y}6*����}6�1��}6H�����mj�?���@�-�?�����2�?�����ٿ����4�?����M4�?������?�����S���������?)~6��@ ~6�];I~6��Cɫ9�9)�9 �9I�9Y�}�@y�}9qG���=MJ=Y�0�QU�>��!��!�a%�G��%�>G��)y�-���}-�>I�1��5���4�?��5���� �5�:@��E�?9�5�AB��5�: �5b�:)�1�WeǕA?�WaXa Xi�Wi:Wi2Wi*Wi�VibUqBUq*UqUyU}����vc�?B%~!<B! B!�A%��=*B!�A-��:�A)�A)�A--1 ="CUQ�=�RCUH0/>CUǕA?�CY��a��a)�a �a���I��G �>��m d����m �����m �����m V�� �m y:Y�m �W1y�m č:��m ^(6�`Rj,�YH�E�AY}62��@�}6�Ż@y}6�u��}6���}6H���� �B�?��� g��?����O��?��� ��ٿ��� ��?���`��?�����M�?�����ʽ�������?)~62��@ ~6L<];I~6��Cɫ9�9)�9 �=����I�9Y����@y��qG��9��9��]t<��]n>��]t�i�]��@��Y �]��@)�]�@I�Yi�]�@���ĻM�5=Y�q�QU��>�����a��G������y��"Ҽ}��>I�����:������4�?��%�:���K��� ��;@��5�?9��TBB���U�; ����;)����:�W]<�=?�WYXa Xa�Wa:Wa2Wa*Wi�VibUiBUi*UqUqUu����"��?BJJ<B B�A*�=*B!�AE�&�:�AA�AA�AE�� ="CM��$�RCM0��=CU<�=?�CQ��YI�iG�Z>���>9��r�CI���lGi��g�@���=���������X; ��}(E��DRj,ytsH�E�Aɫ�髹)�� ������I��Y���@y��FqGI�a)�a��E�)\���(�?�l����J+��?��EG�>��E��� �E�H=)�AI�Ay�E���ʡE�?bX9�ȶ��������?��E-�>��EE����E��< �E7 A)�E=AI�EKAi�E A��A��E�A���#<M�I=Y����QU��>�����a��G���>G��y����}��>I�������4�?���(��� ��N<@����?9���BB�����: ���:)���W�Z�:?�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU���@��@B-U+<B1 B1�A5�=*B1�A5���:�A9�A9�A=��="CEk��RCE�Թ<CEZ�:?�CI��]�}�>��1I�AG]v>�� ����� �� �� u�� � k:Y� y� �� E6)� C�;�9� ��s,#Rj,�O�H�E�A�|i|Y}67��@�}6���@y}6 �1��}6�l��}6H��������?����eS�?����G��?�����3ۿ��� S��?����,�?�����<�?����^���������?)~67��@ ~6U]];I~6��Cɫ9�9)�9 �=����I�9Y�}e�@y�}�qG��}t>��}Q8���}Z>i�}��@��y �}��@)�}�@I�}9�@i�}�@��=�<M�^=Y���QU��>�����a��G����y�{��}��>Iȡ����:�ť���4�?����:�ť���� ƥ�=@����?9ƥkCB�ǥ�: ȥ��:)ȥ��:�W�f�7?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@B�}8<B���< B�A�>*B�AɆ�;�A!�A!�A%�F="C-6��RC-�d|�C-f�7?�C1�� �l>���I��G (>��U)Rj,_(�H�E�AY}6]��@�}6��@y}6�=��}6YY ��}6H�����}��?������?�������?����K�ۿ����q�?����2��?������?���@V����� ǭ�?)~6]��@ ~6�b];I~4ɫY�Y)�Y �]����I�YY����@y���pG������?A)õ�= õ�=������M�X=Y����QU��>�������a��G������y���}��>I�����f��4�?������� ���>@����?9���CB�����: ��ʽ:)���W=��4?�W9X9 X9�W9:W92WA*WA�VAbUABUI*UIUIUM���@(@�R]B*** querying acoustic contact ***�PY�PYB�`�<B� B��A��=*B��A��;�A�A�A�="C=,ϾRC>��C��4?�C�� �9T>���I��G )>܍�>9܍q�CI܍�mGi܍ �@�܍=�܍SD�܉�܍�V; ݍ�'EI�1)�5AA��� � ����� ������ ������ k�� �� �T:Y�� xZ1y�� q�:��� 36)�� ��;�X>0Rj,}�H�E�AY}6v!�@�}63/�@y}6GF��}6k���}6H�������?���@���?���� �?����<�ܿ���@y:�?���`D��?����fƨ?��� ��������Ʀ�?)~6v!�@ ~6W�];I~4ɫY�Y)�Y �]����I�YY��W�@y���qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���=i��C=��%�b=M%D=Y�%���QU-�>��)��)�a-�G��-�>G��9y�=���}=�>I�A��U�:��E���4�?��U�:��E��� �E;@@��]�?9�E�DB��E\,; �Eh-;)�E��:�W��>1?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����lc @B�5�0<B� B��A���>*B��A���;�A��A��AU}�="C�`���RC��.^�C��>1?�C��֍�B >��aI�iG�9>�j6Rj,>��H�E�A�|�;�|4<Y}6��@�}6�ǹ@y}6�O��}6!��}6H����`(b�?���@���?���@�\�?�����`ݿ�����?����YT�?����b�?�����m¿������?)~6��@ ~6��];I~4ɫ9�9)�9 �9I�9Y�ux�@y�}�qG�xDUSBL response received:!U1,P AFD,000,00856,189,80,80,B4,FF �Command Ack�BRequesting micromodem ping code 2i������M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���ף������>����E�i��@��� ����@)��n�@I��n�@i��n�@��-d�;M5=Y�E���QUM�>��Y��a�am�G��i��9y�E���}E�>I�Y��]���4�?��]���� �]>B@��}�?9�]^EB��]M�; �]��;)�Y�WuGi,?�WqXq Xy�Wy:Wy2Wy*Wy�V�bU�BU�*U�U�U�����9@B5 � <B1 B9 �A= �>*BA �Am ��;�Ai �Ai �Am �="Cu �7D�RCu � ��C} Gi,?�Cy �� � ���� �� �� ��� � �X:Y� y� �� i6�9% @܍�>9܉I܍HnGi܍��@�܍ =�܉�܍��D�܍3U; ݍ�&E)��r�CI��s�Ci����C���=���=����G7�ѥ2g=��}Oo�=i��I��i� ��U �пٺQ ��U �A��i I�y G� �>�4=Rj,a�H�E�Aɫ���)�� ������I��Y� �@y� 0qG�-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �������� &"�M o=Y����QU?�����a�G���>G��y�%���}%?I�)��5�:��-���4�?��5�:��-���� �-TC@��5�?9�-�EB��-�: �-��:)�-��:�W]|+*?�WYXY XY�WY:WY2Wa*Wa�VabUiBUi*UiUiUm��� 3@B�~"J<B� B��A���=*B��A���;�A��A��A��="C��b �RC�C�|+*?�C��ѝ���<��]��\=��I�!G=P>����=i��p=��DRj,9&I�E�AY}J*��@�}J窸@y}Jc�g��}J�<��}JH����@���?�����|�?����Rښ?�����R߿����pm�?����Ԓ�?������?����ÿ�������?)~J*��@ ~J��];I~J��Cɫ�髙)�� ������I��Y����@y��rG�xDUSBL response received:!U1,R,D54,000,00856,189,80,80,A7,FF �Fpublishing direction and range info�����?���ɰ��� ��)���'CI��y�������ˬqw�?��I���?��������ٱ�I�)���] 0���]b�>��]�u�i�]p�@��Y �]��@)�]X�@I�]�@i�]�@��m�{=MmV=Y�u��QUu�>��q��y�a}�G��y��yy�'��}��>Iȉ�ō%��4�?�ō��� ƍ�D@����?9ƍYFB�Ǎm ; ȍ� ;)ȉ�W�n'?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�P�*Q��Z����pk��R@&��D rI@���������Z���ˬqw�?��I���?��������2Q���?:Q��Z��7G���V@��7z��@�4gc6C��Z����Xo��?T��㴳?��(�Z���BQ���= Q��@Q�g�B�P�ݨ9?�P���9?�P����Q�����Q�z'@"Q��{�B���F<B� B��A�>*B��A��n";�A��A��A�_="CxuR�RCCn'?�C)�����<����]�<���I�G%�>���r�������������������� ���e:Y��DW1y��Y�:����6��@JRj,y+I�E�A�|,i|,Y}f�X�@�}f�f�@y}f�j��}f����}fH����@۶�?��� K��?����z��?������߿����S�?�������?����R�?����r�¿����͙�?)~f�X�@ ~f�{];I~f��Cɫ�髙)�� ������I��Y�9�@y��rG����=M�D=Y���кQU��>�������a��G���>G�� y�%砼}%�>I�9��=h��4�?��=� �� �=RF@��]�?9�=�FB��=�; �=?�;)�9���>9��I��oGi��O�@���=����������S; ��G&E�m}mAdded new target pos. range: 90.540001 m, bearing: 4.418306 deg, deltaT: 4.434611 s, approachRate: 0.000000 m/s, LOS rate: -8.637447 deg/s, posRepo size: 3�m�� ProNav: 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. �W�ׇ?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@^��?B���R<B� B��A��>*B��A�.8+;�A��A��A��="C��o!=RC�C�ׇ?�C�������)�� ����e ��<��9I�IGu�>�j-QRj,9�DI�E�AY}>n)�@�}>+7�@y}>m�i��}>->��}>H�����8��?����%�?����3��?����� ������I�?�������?�����9�?�����R������%��?)~>n)�@ ~>T�];I~>��CɫQ�Q)�Q �QI�QY����@y��XrG��DNmea in: $SNTTA,,,,,170020.12*59 )��= ��=�Å�Ļ�Å/ݼ�Å��=iÅ\�@�Á ą�@)ą�@Ią9�@ią�@�����M�>=Y�Y�9QU��>�����a��G����y��`�}��>Iȱ����:�ŵz�4�?����:�ŵ��� Ƶ�G@����?9Ƶ�GB�ǵ�c< ȵ�d<)ȵ��:�We ��>�WaXa Xa�Wa:Wi2Wi*Wi�VibUiBUq*UqUqUu����P��?B��-S<B� B��A�>*B��A���2;�A��A��A��+="C�f��=RC�C� ��>�C����y�<�ױI��G�e>�WWRj,m�^I�E�AY}e��@�}e��@y}e�e��}e�����}eH�����I��?�����:�?�����?�����"���� NN�?����6��?����h��?��� ��������?)~e��@ ~ecd];I~e��Cɫi�i)�i �m����I�iY����@y��.sG��5p=i�5�=�UPonly read 0 of 1 data item for BIT erroraiU@a��] am]@a��] aq]@a��] ae]@a��] ��iX=M�K=Y�"';QU��>�����a��G����y�L��}��>Iȡ�ť�4�?�ť3�� ƥCI@����?9ƥ HB�ǥ�: ȥ��>)ȡ�W�CH�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?Bz�r<B B�A�*>*B�A;;;�A�A�A�H="C�F�T>RC�C�CH�>�C��֝፨���QI�iG�[>��������������������e�� ��Ls:Y��[1y��ݏ:����)6��� mA��� lA�� �>9�� I�� �oGi�� ��@��� =��� ��� ��� �R; �� �%E�"}]Rj,}�xI�E�A�|�|�;Y}J��@�}JX#�@y}Jq�^��}Jy�ֽ�}JH�����P��?��� �6�?����iy?����9�����`b�?����� �?�����٫?���`Mú����`���?)~J��@ ~J�];I~Hɫ�髙)�� ������I��Y���@y���sG��u}�<Mu^=Y�}��;QU}�>��y���a��G���>G��y�)�:}��>Iȑ�ŕ�4�?�ŕY�� ƕ�J@����?9ƕ�HB�Ǖ��: ȕ{E?)ȑ�W�LҠ>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����A��?B���<B� B��A��5>*B��A�nCD;�A��A��A��d�="C����>RC�C�LҠ>�C��֥�'���ׁI��G�=>��ddRj,n�I�E�AY}:A�@�}:�N�@y}:��U��}:\���}:H����`���?����b�?�����\�����P�߿�������?���@kӹ?����[��?�����������2��?)~:A�@ ~:Z~];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�sG����mA��]j�<��]�?��]S�i�]�@��Y �]��@)�]n�@I�]n�@i�]��@��m;��MmK=Y�m@�;QUm�>��q��q�au�G��y��yy�} X<}��>Iȁ����:�Ņ�!�4�?����:�Ņ��� ƅ�K@����?9ƅ9IB�Dž-�: ȅP�?)ȅ��:�W� <k>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����4#�@B�O��<B� B��A�l5>*B��A�&M;�A�A�A)�<"C ���>RC C <k>�C�� ��ό��I��G�&>��c���������� ��d:Y�y���("6��jRj,sI�I�E�Aɫy�y)�y �}����I�yY��h�@y��UuGI�9)�9��u��=MuI=Y�}���QU}�>��y���a��G���>G��y����}��>Iȑ�ŕz*�4�?�ŕ�%�� ƕ"M@����?9ƕ�IB�Ǖ1�: ȕ(�?)ȑ�W�`>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� 2a@B��J�<B B�A�b>*B�A��X;�A �A �A =3�<"C ��>RCC`>�C���P�"�ܥ�>9ܥp�CIܥ�pGiܥ��@�ܡ�ܡ�ܡ�ܥcQ; ݥ�$E��I�G-,>��vqRj,d$�I�E�A�|i|Y}2� �@�}2h�@y}2��<��}2� ��}2H�����"�?���@y��?���@�_������Q����`V�?�������?��� ��?��� ۣ����� ��?)~2� �@ ~2��];I~0ɫY�a)�a �e����I�iY����@y���uG������@A����<M%P=Y�-�|<QU5�>��A��A�aM�G��I��Yy�e{=}m�>I������3�4�?���R+�� ��QN@����?9��eJB�����: ��{�?)���W%��k=�W)X) X)�W):W)2W1*W1�V1bU1BU1*U9U9U=����`�@�REB*** querying acoustic contact ***�PA�PABm^ǜ<Bi Bi�Am�i>*Bq�Auhe;�Aq�Aq�Au2j�<"C}�X�>*CyRCyC���k=�C���M��S���AI�IGm5>��1��������������E�� ��t:Y��W1y�č:���&6���wRj,��I�E�AY}-r��@�}-/��@y}-p�1��}-j{c��}-H������S�?��� ��?����]��������ݿ�����W�?����p��?���`f0�?����Zh���������?)~-r��@ ~-Q�];I~-��Cɫ)�))�1 �5����I�1Y�m�@y�m4vGuZ****** received transponder code query ******uF****** received ping request ******u<Arming DUSBL. detectThresh: 75}8****** ping requested ******ai-�ai- am-�am- aq-�aq- ae5�ae5 ��5����K7�?�� �rh�?����Mb����5�)?��5C= �5�)�1I�1y�5�@5^�I�?)\���(��{�G�z�?��5b?��5Ga���5ף< �5� A)�5�AI�5 Ai�5~A��1��5�A)�E�= �E�=���������>����>i����@��� ��n�@)��I��i��n�@��� �<M#=Y���;QU�>�� �� �a �G�� �� y�� =}�>I�9��E�:��=�F�4�?��E�:��=�3�� �=�O@��M�?9�={KB��=��: �=��:)�=��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B ���<B B �Awy>*B�A�u;�A1�A1�A5Gg�<"C=�ʛ>RCACE��@�CA��5�q���� I�GE�>ܕ �>9ܑ Iܕ hqGiܕ 6�@�ܕ =�ܑ �ܑ �ܕ eP; ݕ r$E�>�}Rj,���I�E�AY}:#6�@�}:�C�@y}:�'��}:��O<�}:H��������?�������?���@����������ܿ������?�����-|?��� �?��� ���?����|��?)~:#6�@ ~:�;^;I~:��Cɫ1�1)�1 �=����I�9Y�uv�@y�u�vG}xDUSBL response received:!U1,P D54,000,00856,189,80,80,A7,FF }Command Ack}BRequesting micromodem ping code 2i��������=i��C=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��5��=M5m=Y�=��;QUE?��I��Q�aU�G��]�>G��ay� c=}��>Iȡ�ť�T�4�?�ť�9�� ƥ�P@��e�?9ƥFLB�ǥ�E< ȥOI<)ȡ�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU������ @BM}�<BQ BQ�AUI�>*BQ�AU��;�AQ�AQ�A]U��<"C}8�>RC�C���@�C���=� ����=�����=�����=�� �=�X:Y�=�Y1y�=�:��=�!6)�=Y�;�9e��֕FӅ���qI��G��>����Rj,ӽJ�E�A�|4<�|Y}2��@�}2Y�@y}2~��}2lv.=�}2H��������?�������?�����������`Eۿ����A��?���@|疿���@��?����ɥ?�������?)~2��@ ~2�V_;I~0ɫ1�9)�9 �=����I�9Y�]$�@y�]xwG�aɮep=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Å/�<�Å�u��Å�нiÅ��@�Á ą9�@)ą9�@Ią9�@ią�@���b=M�U=Y�"�;QU��>�����a��G����SA��y��=}��>Iȱ�ŵGd�4�?�ŵ�?�� Ƶ�Q@����?9ƵMB�ǵ�: ȵ�:)ȱ�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������,@B% ��<B� B��A�*�>*B��A��;�A��A��A��q�<"C�*V>RC�C����@�C��֙��qI��G�]>�*݊Rj,�-J�E�AY}:c��@�}: ��@y}:���}:�U�=�}:H�����KV�?����cB�?����M�������uٿ���@�O�?���`��������3�?���@�c�?�������?)~:c��@ ~:�w_;I~:��Cɫ9�9)�9 �=����I�9Y�}>�@y�}�wG�xDUSBL response received:!U1,R,D4D,000,00855,188,80,80,B8,FF �Fpublishing direction and range info����^?���ɰ��.>鰅��> ��)���8CI��y����B����v��0[�?��a��%�?��������ٱ��¡�¥nA��� <M�[=Y���;QU��>�����a��G���>G���y���=}��>I������:����s�4�?����:���}E�� ��uR@����?9���MB�����: ��o�:)����:�W�q*�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�P�*Q���B�Z���%�k�R@�f|� �I@���������Z��v��0[�?��a��%�?��������2Q��^?:Q��Z������$V@��.��[1@8���V@�Z��O~�/WS�?���?�+��|�?BQ�w,F> Q�ފAQ�%�B�P��P�ݨ9?�= �>9�9I�=0rGi�=��@��==��9��9��=�O; �=$E)�͂p�CI�͂p�Ci�͂��C��͂=��͂=��͂%�5�P�����Q����Q��IA"Q�z'@��y��}�Ci��mGI��i���=�Ͽٺ9��=3�ABE%��<Bi Bi�AmɎ>*Bi�Am�t�;�Ai�Aq�Au���<"Cu��=RCyC}q*�@�Cy�ֽV݅���n ����������������� �Q:Y��U1y���:���6)�ͩ;�ױI��G��>��ǑRj,)xGJ�E�AY} D��@�} �@y} -��} ��=�} H�����ʱ�?����Z|�?���`I������������#��?���`"`������š�?����+�?������?)~ D��@ ~ �v_;I~ ��CɫI�Q)�Q �U����I�QY����@y��@xG��TNmea in: $SNTTA,0.067719,,,,170024.48*42 I��)����e���e.?��e���i�ef�@��a �e��@)�eb�@I�e��@i�e��@��u'=Mu1=Y�u�;QUu�>��y��y�a}�G��y��y�8=}��>Iȉ�ōe��4�?�ōNL�� ƍoS@����?9ƍOB�Ǎ=�: ȍ4�:)ȉ�m�qAdded new target pos. range: 90.480011 m, bearing: 11.088395 deg, deltaT: 4.447549 s, approachRate: -0.013488 m/s, LOS rate: 1.499722 deg/s, posRepo size: 4�m�� ProNav: pos range: 90.480011 m, bearing: 11.088395 deg, approachRate: -0.013488 m/s, LOS rate: 1.499722 deg/s, cmd update: 4.499167 deg/s, cmd heading: 344.071526 deg, new cmd heading: 338.814386 deg. �W�CD�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�������V@U�����t��?B?��<B! B!�A%Y�>*B!�A-���;�A)�A)�A-�>�<"C5`�=RC1C5CD�@�C9���?΅��בI��G��>���Rj,zVaJ�E�A�|Hi|J�@ɫ���)�� ������I��Y�-��@y�- xG��-�Zd;�O��?/�$������Mb����-j<?��-�� �-�@�)�)I�)y�-�gfffff�?X9��v���:��v���?��-3?��-�����-��< �-dA)�-�AI�-� Ai�-�A��)��-zA��M��MMM=Y�M���QUM�>��Q��Q�aU�G��Q��Yy�]���}]�>I�����:������4�?���:���T�� ��PT@���?9���OB���<�: ��,�:)����:�W-1Q�@�W)X) X)�W1:W12W1*W1�V1bU9BU9*U9U9UE���@$5�?Bm���<Bi Bi�Am��>*Bq�AuB��;�Aq�Aq�Au��<"C}ZQ�RCyC�1Q�@�C���UFӅ���� ����������������� ��[:Y�[1y�ݏ:���6�9@��I�!G=r>�- �>9�) I�) i�) ��- !=��) ��) ��- �N; �- �#E�G�Rj,h"{J�E�AY}2ع�@�}2�Ǿ@y}2��ݼ�}2(��=�}2H������Y�?����Q��?�����>�����@�4Կ�����,�?����b���������?����ľ?�������?)~2ع�@ ~2U�_;I~0ɫ9�9)�9 �=����I�9Y�}6�@y�}�xG)���= ���=��6<=Ma=Y��t<QU�>��!��!�a%�G��%�>G��)y�-�&>}-�>Iȉ�ō���4�?�ōZ�� ƍ�T@����?9ƍ�PB�Ǎ��: ȍ��:)ȉ�W�86�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������L�?B��e�<B� B��A�J�>*B�A�ۥ;�A�A�A5g�<"C =߽RCݝv�C86�@�C��a��9I�IGuW>I�-AA)�-@A��Rj,P��J�E�AY}2<��@�}2���@y}2�Eм�}2�>�}2H�������?������?�����k�����@Mpҿ���`qj�?�����ν����`�?�������?���ຸ�?)~2<��@ ~2�_;I~2��Cɫ9�9)�9 �=����I�AY�yy�y���p=i����5�H=��5�u=��5���i�5̬@��1 �5��@)�5-�@I�5n�@i�1Y�E��;QUE�>��I��I�aM�G��I��Qy�U��=}]�>I�Y��e�:��]���4�?��m�:��]�`�� �]�U@��m�?9�]�QB��]��: �](�:)�]��:�W�U6�@�W�X X�W:W2W1*W1�V1bU1BU1*U9U9U=�������?Be �<Bi Bi�Ai*B��A�S�;�A��A��A�=��<"C���RC�~9A�C�U6�@�C���m��~���AI�IGm5>��%D����%�����%�����%@�� �%b:Y�%�X1y�%/�:��%&6�F+�Rj,�خJ�E�A�|�|Y}6���@�}6���@y}6yǼ�}6G >�}6H�����H��?����N�?����\ح�����L�п����ʤ�?���@F���������?���@x4�?����5��?)~6���@ ~6��_;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�yG���&�<M��<Y���2;QU��>�������a��G����>G��y��=} �>I� �� ?��4�?�� �f�� � V@���?9� �RB�� �: � #�:)� �W=�3�@�WAXA XA�WA:WA2WA*WI�VIbUIBUI*UIUQUU�������?B}B=�<B� B��A��>*B��A�Lj�;�A��A��A����<"C�Չ4�RC����C��3�@�C���9��I���rGi��*�@���#=���������N; ��:#E��m?:v���AI�QGu6>��Rj,���J�E�AY}=�b<�}=���@y}=�Jż�}=z� >�}=H�������?��� � �?�����G�����@�Ϳ���� ��?���@u�����൨�?������?����e��?)~=�b< ~=�_`;I~=��CɫQ�Q)�Q �]����I�YY����@y��ryG����lA��U�����U�D?��U+>i�U(�@��Q �Un�@)�QI�Qi�UO�@��e��Me5=Y�e�:QUe�>��i����a��G������y���~=}��>I��������4�?���Bm�� ���V@����?9���SB�����: ��o�:)���W0^�@�WX X�W:W2W*W�VbU!BU!*U!U!U-����ò@BUЗ�<BQ BQ�AUۦ>*BY�A]=S�;�AY�AY�A]y�<"Ce�3�*CaRCm��Cm0^�@�Ci��E�a���I�)GEQ>��%O����%�����%�����%!�� �%�b:Y�%xZ1y�%q�:��%�"6�x=�Rj,���J�E�AY}2�84=�}2 ��@y}2]�ü�}2�>�}2H�����NS�?�����K�?���@gn��������ɿ���@��?���`}������ �v�?������?���`���?)~2�84= ~2�`;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�yG������I��)�����-����?�p= ףп����Mbp?��??���� ��;)�I�y��+���?q= ףp������Mb�����?������� �A)��AI�1Ai�+A�����A��mU<M�V=Y�:QU��>�����a��G�����y����=}��>I������:���-��4�?����:���r�� ���V@����?9���TB���b�: ����:)����:�WiK�@�WX X�W:W2W *W �V bUBU*UUU����E�@�R%B*** querying acoustic contact ***�P!�P!BM�Q�<BI BI�AMf�>*BQ�AU�Y�;�AQ�AQ�AU���<"C]�� �RC]����C]iK�@�Ca��-�_7���I�G-,>��9��I��i�����"=����������M; ���"E��g�Rj,k�J�E�A�|i|�@Y}61�=�}6���@y}6�*���}6W�>�}6H�������?����BZ�?����������@O�ſ��� �;�?����N�������$�?��� z��?���@W��?)~61�= ~6U�a;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����j�M�X=Y���X:QU��>�������a��G����>G��y�Z�=}�>I� �� �4�?�� �v�� � NV@���?9� �UB�� �; � �;)� �WM[@�@�WIXI XI�WI:WQ2WY*WY�VYbUYBUY*UaUaUe������ @B�e��<BQ BQ�AU��>*BQ�A]���;�AY�AY�A]�u�<"Ce�>�RCeA@ �Ce[@�@�Ci��My����I�G-->��Ml����M�����M�����MK�� �MCe:Y�M�Y1y�M�:��M1'6)�MM�;�9}��EO�Rj,1EK�E�AY}6�o�=�}6Vs�@y}6�s���}6��>�}6H����`ߨ�?�������?���@{`������u`¿��� �h�?��� �-��������?���@@��?������?)~6�o�= ~6~`;I~6��Cɫ9�9)�9 �=����I�AY��P�@y��#zG�xDUSBL response received:!U1,P D4D,000,00855,188,80,80,B8,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 )���= ��>��%�J>��%��=��%���i�%(�@��! �%��@)�%��@I�%��@i�%��@�����<M�&=Y�=�9QU�>��!��!�a%�G��)��)y�5�e=}5�>I�9��=�:��=^�4�?��e�:��=.|�� �=V@��e�?9�=�VB��=r�; �=��;)�=��:�W���v<�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �� @B���<B� B�A�>*B�Am"�;�A�A�AB��<"C�RC�:�C%��v<�C)��M7����) I�9 Ge �>�[y�Rj,) 0K�E�AY}:@o>�}:Q�@y}:�����}:-��=�}:H��������?������?��� �Ģ����@�⽿����0��?����Ă������4�?���@�c�?������?)~:@o> ~:��`;I~:��Cɫ9�9)�9 �=����I�9Y�]�@y�]�yG�ea=ɮa���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��U=i�U�=�}�>9�yI�}�rGi�}{�@��}=��y��}��D��}M; �}�"E�����M�n=Y��C ;QU�?�������a��G����?G���y��֨=}�?I�����2*�4�?������ ���U@����?9���WB����: �� �:)���W%2�$=�W!X! X!�W!:W)2W)*W)�V)bU1BU1*U1U1U=����y0@Bepw=Ba Ba�Ae߬>*Bi�Am�<�;�A��A��A��<"C��<RC��B�C�2�$=�C�����$����I��G�E>��%�����%�����%�����%��� �%;o:Y�%d\1y�%��:��%'16)�%��;�%e�Rj,�JK�E�A�|:�;�|8Y} [L >�} ��@y} �} ,8�=�} H�����k��?����.��?���`�頿���@�u������Ө�?��� �����};�?������?���@��?)~ [L > ~ t�a;I~ ��Cɫ���)�� ������I��Y�e��@y�m�yGuxDUSBL response received:!U1,R,AFD,000,0084A,189,80,80,C7,FF uFpublishing direction and range info��u�O�?��qɰu�->�u7�> �q)�u�GCI�qy�u��B��u�K��c���?�wnL��?��������ٱq����=����B?���->i���@��� ����@)��-�@I��@i����@���ɴ�M�G=Y��%��QU��>�������a��G������y��|=}�>I����:��>�4�?���:��b��� ��U@���?9��XB��0�: ���:)���:�WE4D�=�WAXA XI�WI:WI2WI*WI�VQbUQBUQ*UQUQU]������@�Pi*Qm��B�Zm� {��ݔC@c��G5T@���������Zm�K��c���?�wnL��?��������2Qm�O�?:Qi�Zm��"��fG@.�?�S@zܲ�t$@�Zm��bD��o�?�̏6�?�_���&�?BQm&��? QmĘBQm�8B�Pms�9?�Pi�Pm����Qm����Qm��A"Qm�IAB�̞�<B� B��A�>�>*B��A�B�;�A��A��A�6"�<"C�4D�=RC���d�C�4D�=�C�����:����I��GI>�T��Rj,��cK�E�AY}n�5:>�}nG��@y}n_ͺ��}n�=�}nH��������?��� �D�?���������� F������@^��?����ق�����@'Y�?����w�?�������?)~n�5:> ~n�6b;I~n��Cɫ�)� �����I�Y�M��@y�UvyG��DNmea in: $SNTTA,,,,,170028.92*59 ��e�\���(\�?�&1�ҿi��|?5����e��>��e吾 �e�q�)�aI�ay�e�B`��"��?T㥛� ������������e�?��e����e��� �e�A)�e�AI�e�Ai�edA��a��e�A��y��}nA����M�A=Y�.��QU��>�����a��G����y��t=}��>Iȡ�ť�Q�4�?�ť���� ƥ�U@����?9ƥ�YB�ǥ��: ȥ+�:)ȡ�m�uAdded new target pos. range: 89.820007 m, bearing: 58.867966 deg, deltaT: 4.458680 s, approachRate: -0.148027 m/s, LOS rate: 10.716080 deg/s, posRepo size: 4�m�� ProNav: pos range: 89.820007 m, bearing: 58.867966 deg, approachRate: -0.148027 m/s, LOS rate: 10.716080 deg/s, cmd update: 12.000000 deg/s, cmd heading: 4.147969 deg, new cmd heading: 6.049209 deg. �W���$>�W�X� X��W�:W�2W�*W��V�bUBU*UU ����{tV@U ����^)�?B�?+�<B� B��A��>*B��A�8��;�A��A��A����<"C��=RC�r�C��$>�C ��% ����%�����%�����%��� �%k�:Y�%[1y�%ݏ:��%�36�9-@��5�z:��� I�G]�>�y9�}o�CI�}\sGi�}��@��} =��y��y��}iL; �}["E)��I��i�����!=���!=���ޞ5i��HmGI��i����% wѿٺ! ��% ��A����Rj,��}K�E�AY}:�XS>�}:_��@y}:�����}:fq�=�}:H����@���?���`��?���@���������t�����@���?��������� �/�?���@�^�?�������?)~:�XS> ~:�a;I~:��Cɫ9�9)�9 �9I�9Y�}A�@y�}zGI��)����u�*=Mu^=Y�}��QU}�>��y���a��G��?G��y���=}��>Iȑ����:�ŕc�4�?����:�ŕ���� ƕ�U@����?9ƕZZB�ǕY; ȕ#;)ȕ��:�W�g�s>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����7?�?B �, =B B �A ��>*B�A�R�;�A�A�AU�<"C%]f,>RC%߄�C%g�s>�C!�� D����I��G (>���Rj,���K�E�A�|i|�@Y}6��m>�}6���@y}6ۃ˼�}6�J�=�}6H�����c��?����1]�?��� �%�����`3���������?����[��������o�?����]?��� M��?)~6��m> ~6�a;I~6��CɫY�Y)�Y �]����I�YY��*�@y���yG��M,=��M�;��M��i�MG�@��I �M���)�MO�@I�MO�@i�MO�@��ڻM�I=Y��D�QU��>�����a��G����y�#�=}��>Iȩ�ŭv�4�?�ŭ-��� ƭV@����?9ƭD[B�ǭk�: ȭ��:)ȩ�W���>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����<�?B�L=B! B!�A%��>*B!�A%+<�A!�A!�A-��<"C5f�>RC5� ��C5��>�C1��mdh���!I�1GM0>��%�����%�����%�����%�� �%��:Y�%]1y�%�:��%�,6�p��Rj,�g�K�E�AY}2W�>�}2�\<y}2�Լ�}2#+�=�}2H���� ���?���`�熿����oT������!ʀ?�������?���@!������7��?���`��?�������?)~2W�> ~2/a;I~2��CɫI�I)�I �II�IY�}�@y�}�yG�%�>9�!I�!i�!��%#=��!��!��%�K; �%"E��=�a�M=P=Y�=*-�QU=�>��A��A�aE�G��E?G��Iy�M�~=}M�>I�Q��U���4�?��Uv��� �UGV@��e�?9�U&\B��U��: �U��:)�Q�W���>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������j�?B�q��=B� B��A�߬>*B��A���<�A��A��A��C�<"C��0�>RC�C���>�C���-mA��-mA��5tr�I�!)�!���I�G%o>����Rj,�P�K�E�AY}BQ�>�}B4g =y}B��}Bq�=�}BH�����\��?������������b~������r*�?����|��?�����&������ ݛ?���@��?���@���?)~BQ�> ~B'�`;I~@ɫQ�Q)�Q �U����I�YY��#�@y���yGI�)��A��p=i��=��u`�<��u9�<��u/]=i�u̬@��q �u��@)�u��@I�u��@i�u��@�� �:M�E=Y��R�QU��>�����a��G����y��y=}��>Iȩ����:�ŭ<��4�?����:�ŭ|��� ƭ{V@����?9ƭ]B�ǭ��: ȭ�:)ȭ��:�W�/B�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����( �@B��=B� B��A��>*B��A��Y<�A��A��A�@��<"C�Y��>RC�C�/B�>�C����j���יI��G�@>�������������������� �b�:Y�d\1y���:��/6����Rj,G�K�E�A�|�|4<Y}>k'�>�}>�p=y}>�)꼙}>�>�}>H��������?����}��������P����� ���?����;��?������������+D�?�����V�?��� ���?)~>k'�> ~>~c`;I~<ɫY�Y)�Y �]����I�YY��W�@y��,zG����gfffff�?�$��Cӿ���x�&�?���3?����� ��7�=)��I��y���D�l����?k�t����~j�t�h����O ?��� ������D� µCA)±Iµ Aiµ�A������zA���'{<M�F=Y��`Y�QU��>�������a��G������y���y=}��>I��������4�?������� ���V@����?9���^B����: ��b�:)���W�/?�WX X�W!:W!2W!*W!�V!bU)BU)*U)U1U5��� T@Be�=Ba Ba�AeX�>*Ba�Am��<�Ai�Ai�A���<"C�Cj�>RC�C��/?�C����E2�����I��G�j>��>9�I��sGi��@��������,K; ��!E�D�Rj,��K�E�AY}2ᰪ>�}2�2�=y}2�����}2�� >�}2H����@���?����^�������r6������"��?��� ���?���������������?�������?���`@��?)~2ᰪ> ~2�O`;I~0ɫ9�9)�9 �=����I�9Y�}[�@y�}1zG��������?�:M�`=Y��i�QU��>�����a��G��?G��y�b�=}��>Iȹ����:�Ž���4�?����:�Žx��� ƽ�V@����?9ƽ�^B�ǽE�: Ƚ��:)Ƚ��:�W�R�'?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����h?@�R B*** querying acoustic contact ***�P �P B-`�=B1 B1�A���>*B��A�&�<�A��A��A����<"C��D?RC�C�R�'?�C� ���=����=����������?i��w?��I�G5O>��% ����%�����%�����%b�� �%�q:Y�%�[1y�%H�:��%�)6)�%0�;�9-����Sj,(�L�E�AY}2���>�}2 ��=y}2����}2�U>�}2H��������?��� �~�����@�b����� n��?�����q�?��� ��¿������?���`y��?������?)~2���> ~2[`;I~2��Cɫ9�9)�9 �=����I�9Y�}m�@y�}HzG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����=i���=I��)���A��E�'���E�(���E�T>i�E3�@��A �En�@)�E��@I�E��@i�E��@��U`�;MU?=Y�] @�QU]�>��Y��Y�ae�G��a��ay�m=}m�>I�q��u���4�?��u��� �u�V@��}�?9�u�_B��u��: �u�:)�q�W}.*@?�WyXy Xy�Wy:W�2W�*W��V�bU�BU�*U�U�U������� @B�=B B�A��>*B�AB4<�A�A�A%2��<"C-�g(?RC)C-.*@?�CI��=FӅ���I�)GEs>��Sj,��2L�E�A�|i|�@Y}6���>�}6ä>y}6]z��}6!�>�}6H�����Z��?����\N¿���@��������,��?�����L�?����a�ÿ�����n�?���`3]�?���`r��?)~6���> ~6�5`;I~6��Cɫ9�9)�9 �=����I�9Y��*�@y���yG�xDUSBL response received:!U1,P AFD,000,0084A,189,80,80,C7,FF �Command Ack�BRequesting micromodem ping code 2i���������>9��I��i�����=����������J; ��i!E���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��=s��MEL=Y�Me�QUU�>��a��i�au�G��u?G��y���=}��>I������:���o��4�?����:���)��� ���V@����?9���`B�����< ���=)����:�W�=X?�W�X� X�W:W2W *W �V bU BU*UUU���`�� @B]<�=B� B��A���>*B��A��(<�A��A��A���<"C��@?RC�C�=X?�C���=r ����=�����=�����=��� �=I�:Y�=P^1y�=��:��=�56)�=��;�����I��G��>���Sj,ҊLL�E�AY}2��>�}2��->y}2�� ��}2Ü>�}2H��������?���@�ƿ�����1|��������?���@�#�?�����Ŀ����d<�?���`ۜ�?�������?)~2��> ~2�`;I~0ɫ9�9)�9 �=����I�9Y�}m�@y�}HzG鮁ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �í+>�í�'��í`�;ií��@�é ĭٮ@)ĭٮ@Iĭٮ@iĭٮ@��<�<M�B=Y���u�QU��>�������a��G������y����=}��>I�����p��4�?������ ���V@����?9���aB����: ��s�:)���W :�j?�W X X �W :W2W*W�VbUBU*UUU����H@BM�c=BM�< BQ�AU��>*BQ�A]C�"<�AY�AY�A]2�<"CeE�N?RCaCe:�j?�Ca��y��y��AI�I)�I��I�)GEQ>��'Sj,�efL�E�Aɫy�y)�y �}����I�yY��q�@y��LzG�xDUSBL response received:!U1,R,CB3,000,00836,189,80,80,C5,FF �Fpublishing direction and range info���Z�<?���ɰ�2,>�� ��)���ECI��y��=�B�������ݯ�?�dc��?��������ٱ�I��)���A���p=i����=���x�&1�?���Q��?����������=�?��=�u= �=�L�)�9I�9y�=�333333�?J+���L7�A`�?��=�?��=�H���=+= �=�A)�==AI�=�Ai�9��9��=GA��]��:Me@=Y�e���QUe�>��i��i�am�G��i��qy�u���}u�>I�y����:��}��5�?����:��}ƌ�� �}�W@����?9�}�bB��}��: �}o�:)�}��:�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� w�@�P�*Q�=�B�Z��\�C�GfP@Tf�L��M@���������Z�����ݯ�?�dc��?��������2Q�Z�<?:Q��Z����Q��.K@�nw��CQ@ P�&�&@�Z��p�D���?_�����?��� d`�?BQ�eg? Q��BQ�wYB�P���9?�P�s�9?�P�����Q�����Q���A"Q���AB B =B B �A ��>*B �A��'<�A�A�AfM�<"Cڰe?RCC���?�C!�����%�����!��!��%��� �%;|:Y�!y�!��%926�9-@ܽ��>9ܹIܽ$tGiܽo�@�ܽ=�ܹ�ܹ�ܽ*J; ݽ,!E���I��G�>�� Sj,8K�L�E�AY}v�a�>�}v�zn>y}v�u��}v��>�}vH�������?�����Ϳ���� �5?���@���?��� ���?���`��ÿ���@�m�?����w^�?����L��?)~v�a�> ~vas_;I~v��Cɫ���)�� ������I��Y�5��@y�5�zG��DNmea in: $SNTTA,,,,,170033.37*5C ��E��<MEL=Y�E���QUE�>��Q��Q�aU�G��U?G��Qy�]!>}]�>I�a��e�$�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. �W�|�x?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����@�'V@U�����3�?B.�=B B�AI�>*B�A.�,<�A�A!�A%�f�<"C-v�u?RC1C=|�x?�CA����ױI��G��>��9&Sj,\�L�E�AY}2��?�}2[�>y}2\��}2d*>�}2H����`���?����;�ѿ�����b?�������?��� ���?���@� ÿ����^*�?����vq�?���ඤ�?)~2��? ~2n�_;I~2��CɫY�Y)�Y �]����I�YY��D�@y��zG��}�}���}�=��}\�=i�}@��y �}���)�}��@I�}��@i�}��@���*�M�W=Y��x�QU��>�����a��G����y�r�=}��>Iȡ�ť�7�5�?�ť���� ƥSZ@����?9ƥ�dB�ǥM�: ȥ#�:)ȡ�W���p?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`O��?B�#=B B�A/�>*B�Ak�0<�A�A!�A%��<"C%�?RC)C-��p?�C1�х`=�< Ս�=�ԍ�=��=�����=�����=�����=��� �=.:Y�=[1y�=ݏ:��=�56�֕�����ם�?iםv?��iI�yG��>��c,Sj,��L�E�AY}2w`?�}2���>y}2����}26s >�}2H����`?��?����ӿ�����Xq?���@���?�����:�?���@H¿����r��?���`���?��� ��?)~2w`? ~2;H`;I~2��C��T��Ti�nG�e��>9�en�CI�e�tGi�e��@��e=��a��a��e�I; �e!E)���o�CI���o�Ci�����=���� =����4!6ɫ�髁)�� ������I��Y����@I��y���zGi������Ͽٺ����C�A��E�=i�E�=I�I)�M�A��u�A=MuL=Y�}s3�QU}�>�����a��G��?G��y�Ϊ=}��>�=��?9�=��AI�A��M�:��E�L�5�?��U�:��E���� �E�[@��U�?9�E�eB��E�; �EM ;)�E��:�W���g?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�a�?B�=B B�A�>*B�A%��5<�A!�A!�A%���<"CE��?RCACE��g?�C���e�] <��UN���1I�9G]�>��K3Sj,x��L�E�AY}2�]?�}2Z��>y}2M� ��}2�3>�}2H�����E2�?����L-տ������?������?�������?���@�¿��� ��?��� YU�?��� +��?)~2�]? ~2��`;I~2��Cɫ9�9)�9 �=����I�9Y����@y��czG��m�P=��mS�>��m1�i�m��@��i �m@)�m��@I�m@i�mٮ@��}N�M�J=Y���QU��>�����a��G����y���=}��>Iș�ŝ�_�5�?�ŝb��� Ɲ�\@����?9ƝrfB�ǝE�: ȝ��:)ș�W���_?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������[�?B ��=B� B��A��>*B��A��0:<�A��A��A����<"C�W�?*C�RC�C���_?�C�������)�� ����% ����%�����%�����% �� �%ۃ:Y�%P^1y�%��:��%�;6�֭ g煾�ׁ I�� G� �>��u9Sj,���L�E�AY}:n'?�}:�*�>y}:�"��}:��>�}:H�����:��?����99�����փ?������?����;��?����������`?A�?���`�c�?���@��?)~:n'? ~:�<a;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}�zG����bX9���?+����ÿ�������?���E�>����� ����<)��I��y����rh��|�?:��v����{�G�zt?����?����Լ���ף; µxA)µ�AIµ�Aiµ�A�������A���=M�E=Y���B�QU��>�������a��G������y��̩=}��>I������:����s�5�?����:����}�� ���]@����?9��tgB�����: ���:)����:�W��V?�WX! X!�W!:W!2W!*W!�V)bU)BU)*U1U1U5����Y��?BeN�=Ba Ba�Ae��>*Ba�Am�'?<�Ai�Ai�A�>��<"C��?RCC��V?�C��!��!���������I��Gj>�u��>9�um�CI�qi�q��u$=��uTD��u��D��u�J; �u�!E�!`@Sj,2�M�E�AY}6��&?�}6�I�>y}6�� ��}6���=�}6H����@>j�?�����0ٿ����'a�?�����?���@8+�?���@�������`��?�������?���@B��?)~6��&? ~6ݰa;I~6��Cɫ1�1)�9 �=����I�9Y�u��@y�u�zGI��)���A���=i��a=�� �MW=Y��^:QU�>�����a%�G��%?G��!y�-�=}-�>Iȑ�ŕ���5�?�ŕy�� ƕ3^@����?9ƕihB�Ǖ�: ȕ��:)ȑ�W���N?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�"@B�Q�=B B�A^�>*B�A��C<�A �A �A���<"C%�v?RC1C5��N?�C9��=� �����I� G%M>��5 �����1 ��1 ��5 ��� �5 t�:Y�1 y�1 ��5 �U6)�5 � <�9= ����FSj,�bM�E�A�|�|ɫy�y)�y �}����I�yY����@y���zG���������ʽ��t�����=i�=�@�� ���@)���@I��@i���@��-��M5I=Y�5���QU5�>��9��9�a=�G��9��Ay�E���}E�>I�I��U�:��M���5�?��U�:��MVt�� �M�^@��]�?9�M_iB��M��: �M��:)�M��:�W}�!F?�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�U���`�k@�RB*** querying acoustic contact ***�P�PBU�=BY BY�A]�>*BY�A]��H<�AY�AY�Ae8��<"Ce^e?RCiCm�!F?�Ci��}����}�� �}����}�����I��G�>�%�LSj,@5M�E�AY}>��6?�}>�;�>y}>)���}>���=�}>H��������?������ܿ����<Г?��� ;��?���`�V�?�����������@��?����!�?����8��?)~>��6? ~>��`;I~>��C���>9�I�PuGi�c�@��"=������RL; �G"EɫY�Y)�Y �e����I�aY����@y���zG Z****** received transponder code query ****** F****** received ping request ****** <Arming DUSBL. detectThresh: 758****** ping requested ******����;M�C=Y�`�;QU��>�������a��G���?G���y���>}��>I�����~��5�?���cn�� ���_@��5�?9��hjB����&< ���&<)���W}>�<?�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U����� � @B��w=B� B��A��>*B��A���M<�A��A�ASx�<"C-*�N?RC)C->�<?�C1��!I�)GM1>��u�=i�u�=��}� ����}�����}�����} �� �}��:Y�}�^1y�}a�:��}W6)�}��;���SSj,�OM�E�AY}:t6>?�}:�H�>y}:Q^��}:��=�}:H�����Y%�?�����g��� ���?�����]�?�������?����nd����� �*�?�����Ⱦ?���`[��?)~:t6>? ~:��`;I~:��Cɫ9�9)�9 �9I�9Y�}1�@y�}9{G�xDUSBL response received:!U1,P CB3,000,00836,189,80,80,C5,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)���A���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%���%�=��%��=i�%̬@��! �%��@)�%@I�%��@i�%��@����<M )=Y� �s;QU �>�����a�G����y�+|=}�>I�A��M�:��E���5�?��M�:��E.g�� �E=`@��U�?9�E�kB��E��: �E��:)�E��:�W���2?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����ٙ @BMډ=BI BQ�AU��>*BQ�A��S<�A��A��A��8�<"C��8<?RC�C���2?�C���QI��G �>��YSj,�hM�E�A�|i|ɫ�髙)�� ��I��Y��^�@y��p{G��p=ɮ�R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����L7�A`��?������п����Mbp����+?������ ����)��I��y����E�����?Zd;�O����� �rh�?����?���j<����C�< ��$A)��rAI���Ai��EA�������A��bz<M�f=Y����QU��>�����a��G�� ?G��y����}��>Iȡ�ť��5�?�ťc�� ƥ�`@����?9ƥRlB�ǥ��: ȥ{�:)ȡ�W��c+?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������+@B�+=B B�A��>*B�A#�W<�A�A�Al��<"C%��3?RC-=�~�C-�c+?�C)���I��GM0>���>9�I�i���=��SD�����N; ��#E��}q����}�����}�����}��� �}t�:Y�}P^1y�}��:��}6P6)�}��;� �`Sj,�тM�E�AY}:�+M?�}:�� ?y}:^���}:�]�>�}:H����@X7�?����������`���?��� ���?�������?����;�����`���?��� 7��?������?)~:�+M? ~:��`;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}{G�xDUSBL response received:!U1,R,182,000,00815,186,80,80,67,FF �Fpublishing direction and range info���jw�����ɰ�~)>鰅��> ��)����BI��y��G�B�����k��3�?!g�%'տ��������ٱ�)å�= å�=��N�M�n=Y��<QU�?�����a��G�����y��.>}�?I��������5�?����^�� ���a@����?9��mB���4�: ����:)���W�\y#?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� L�@�P�*Q�G�B�Z����¥VqT@�w:���<����������Z���k��3�?!g�%'տ��������2Q�jw��:Q��Z���4��$U@%�9��2@��f���Z���hY�;�?��[X��?��:����BQ��?`> Q���AQ� �B�P��9?�P���9?�P�����Q�����Q�ݧ@"Q���ABe�:=Ba B��A�8�>*B��A�ܨ\<�A��A��A�$��<"C�\y#?RC����C�\y#?�C����I��G�E>I�u@A)�uAA���fSj,��M�E�AY}��T?�}}?y}Y�ټ�}���=�}H���� ݶ�?��� {�����`cA�?�������?�����v�?����#������@�5�?��� �`�?����R��?)~��T? ~H)`;I~ɫ���)�� ��I��Y�5&�@y�5,{G��DNmea in: $SNTTA,,,,,170037.81*55 ���a=i���<��t����Q8>��^�=i�z�@�� �)���@I���@i���-<M-4=Y�-)�;QU5�>��1��1�a5�G��1��9y�=��=}E�>I�I��U�:��M���5�?��U�:��M*X�� �M<b@��]�?9�M�nB��M��: �M��:)�M��:�m�uAdded new target pos. range: 86.639999 m, bearing: 12.547341 deg, deltaT: 4.435693 s, approachRate: -0.446381 m/s, LOS rate: -8.846760 deg/s, posRepo size: 4�m�� ProNav: pos range: 86.639999 m, bearing: 12.547341 deg, approachRate: -0.446381 m/s, LOS rate: -8.846760 deg/s, cmd update: -12.000000 deg/s, cmd heading: 36.587396 deg, new cmd heading: 34.559629 deg. �W�x�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�������U@U���� �%�?B�9$=B� B��A�N�>*B��A��Za<�A��A��A���<"C��V?RC�O���C�x�?�C���aI�iG�9>��}�����}�����}�����}��� �}��:Y�}d\1y�}��:��}�h6�9}@�{mSj,ڌ�M�E�A�|4<�|Y}2�i\?�}2x�?y}2�p���}2�t�=�}2H�����0,�?�����X�����pܨ?���@~e�?����~��?������������ �?���`��?�������?)~2�i\? ~2�`;I~0ɫ9�9)�9 �9I�9Y��S�@y��b{G����>9��l�CI��i�����"=���TD�����D���oV; ���'E��UUl<MUY=Y�]X<QU]�>��Y��Y�a]�G��e ?G��ay�e��=}m�>I�q��u�5�?��u�R�� �u�b@��}�?9�u�nB��u÷: �u�:)�q�W�S��>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������6�?B=Id'=B9 BA�AE�>*BA�AE+f<�AA�AA�AEX�<"Cm� ?RCu�Q��CuS��>�Cq��]/E����AI�YG�[>�0�sSj,Ig�M�E�AY}R��d?�}Rr�$?y}RF����}Rk�=�}RH���� ?��?����+(�����Cg�?��� M7�?��� j_�?����)������@��?���`��?������?)~R��d? ~R�`;I~R��Cɫq�y)�y �}����I�yY���@y��{G��i��mmA�õ�F��õ9���õ+�=iõ��@�ñ ĵٮ@)ĵٮ@Iĵ��@iĵٮ@������M�C=Y��d�;QU��>�������a��G������y��ٚ=}��>I������:����5�?����:���L�� ��kc@����?9���oB����; ��;)����:�W��>�WX X�W:W2W*W!�V!bU!BU!*U!U)U-���� .�?B]Y#=BY BY�A]a�>*BY�Ae��j<�Aa�Aa�Ae ��<"Cm�m�>RCm]՞=Cm��>�Cq��EU'x���I�G-->���_����������������� �� ��:Y��]1y���:���V6�zSj,C=�M�E�Aɫy�y)�y �}����I�yY����@y���{GI�)�������ʡE��?X9��v����~j�t��������>����}� ���ļ)��I��y���i��|?5�?<�O��n��Zd;�O��?����?���t����j�< ��CA)���AI��� Ai���A���������T=M�G=Y�����QU��>������a�G��?G��y� ���} �>I���X 5�?���D�� �9d@���?9��pB��f�: �ܹ:)��WE�9�>�WAXA XA�WA:WI2WI*WQ�VQbUQBUY*UYUYU]�������?B��8*=B� B��A�A�>*B��A�U4p<�A��A��A���<"C��J�>RC�}o�=C��9�>�C���m��I���!I�1GM1>i��VnGI��i� ��5�ʿٺ1��=`�Aܵ��>9ܱIܱiܱ�ܵ%=�ܱ�ܱ�ܵ\[; ݵ*E)�M�m�CI�M�m�Ci�I���M�"=��M�"=��M��6����Sj,�/N�E�A�|i|ɫ�髩)�� ������I��Y����@y���{G��U%U�MUD=Y�aQUm�>��q��y�a}�G����y�}��>Iȩ����:�ŭo15�?����:�ŭt=�� ƭe@����?9ƭ�qB�ǭ��: ȭ��:)ȭ��:�W�8RU>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����D�@B�<(=B B!�A%z�>*B!�A%��u<�A!�A!�A%�N�<"C-+��>RC-�G>C58RU>�C1��EmA��EmA��5?�����I�GM>��u�����u�����u�����u�� �u��:Y�uP^1y�u��:��u�X6�n%�Sj,/�N�E�AY}6�|?�}6w�<?y}6��K��}6�F�=�}6H����୴�?�����c�������?�����}�?����ņ�?�����������T�?��� �ؼ?���`0��?)~6�|? ~6F#a;I~6��Cɫ9�9)�9 �=����I�9Y�u*�@y�}0{G)���= ���=��=j����=�T=��=�i�=��@��9 �=n�@)�=n�@I�=��@i�=n�@��MA�MM]=Y�U��<QUU�>��Y��Y�a]�G��Y��Yy�e�>}e�>I�i��m?5�?��m?6�� �m�e@��u�?9�mhrB��m��: �mY�:)�i�W���>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`Z)@B��.=B� B��A���>*B��A���y<�A��A��A����<"C��_j>RC�� �>C���>�C����+�ؽ�סI��G�">��N�Sj,��7N�E�AY}j9�?�}j�B?y}j����}jr�=�}jH����@�*�?��� ���������?���@��?����A�?��� �.�����@e��?���@� �?���@���?)~j9�? ~j�`a;I~j��C�y9�yI�yi�y��}'=��y��y��}�a; �}\-Eɫ�髹)�� ������I��Y�U��@y�U�{G��Y��]AA��e=i�e�=��}�4=M}G=Y�<QU��>�����a��G��?G��y��w=}��>Iș�ŝ5N5�?�ŝ�-�� ƝJf@����?9ƝWsB�ǝ^�: ȝ4�:)ș�W��??=�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����ip@�R�B*** querying acoustic contact ***�P��P�B Զ-=B B�A��>*B�A�%<�A�A�A���<"C�X>RC!C%�??=�C!����8k����I��G�$>���������������������y�� ���:Y��[1y�H�:���b6)��<�9���_6�Sj,�QN�E�A�|�;�|�;Y}6�׃?�}6H?y}6�⠻�}6 $�=�}6H��������?���@�t����@�֯?���` ��?������?����hб����`Kt?��� �۷?����?��?)~6�׃? ~6V�`;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}�{G�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5n���5\�>��5t�<i�5��@��1 �5@)�5��@I�5@i�5@��M_��MMN=Y�M9<QUU�>��1��1�a5�G��1��1y�=�D=}=�>I�A��M�:��E�]5�?��U�:��E�$�� �E�f@��]�?9�EPtB��EPB; �E;C;)�E��:�W� ��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����S� @B-:�)=B) B)�A-��>*B)�A5"K�<�A1�A1�A5�M�<"C=��O=RC9C= ��@�CA �u�=��u>��E�}����!I�IG�`>��`�Sj,��kN�E�AY}JV ?�}J��K?y}J�����}J�)�=�}JH������^�?����g������c��?�������?����M�?���`�<�������T?�����?���@D��?)~JV ? ~J�(`;I~Hɫ�髹)�� ������I��Y���@y��{G�xDUSBL response received:!U1,P 182,000,00815,186,80,80,67,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 ����i��|?5�?R���Qȿ�� �rh�?����?����B� ��C=)��I��y���333333�?{�G�z���� �rh�?����?���ף����C= ^A) �AI Ai �A������zA���ȼM�=Y����;QU��>�������a��G��� ?G���y��m�<}��>I� �� �o5�?�� [�� � �g@��M�?9� �uB�� � < � �<)� ���>9�I��tGi��@��������qf; ��/E�W�y�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����(>@BE�L=BI BI��qi�ua=��}*����}�����}�����}�� �}��:Y�}]1y�}�:��},W6)�}��;�AMa�>*B��A����<�A��A��A�v�<"C�>x��RC�C�y�@�C���� �]���יI��G��>�R�Sj,���N�E�AY}2�/�?�}2��N?y}2 C�:�}2g�=�}2H���� >�?���`j����@%1�?����!�?����w�?����ץ�����b�]���� J�?����b��?)~2�/�? ~2�`;I~2��CɫI�Q)�Q �U����I�QY��.�@y��5{G� ɮ a=�m�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Ý����Ý�L��Ý�P�iÝ̬@�Ù ĝn�@)ĝb�@Iĝn�@iĝn�@���d<M�n=Y���<QU�?�������a��G������y��=}�?I������:���|5�?���:���c�� ���h@���?9��PvB����: ����:)����:�W%�@�W!X) X)�W):W)2W)*W1�V1bU1BU1*U9U9U=���`�A@Be��B=Bi Bi�AmĽ>*Bi�Am�C�<�Ai�Ai�Au6�<"C}���RCyC}�@�Cy��M2�D��� I�G5O>�kr�Sj,<�N�E�A�|i|�@Y}Z_j�?�}Z�BQ?y}ZrɅ;�}Z��|=�}ZH����� ��?���`iJ������c�?����W�?��� ��?��� ������@+�p������z�?����n��?)~Z_j�? ~ZW_;I~Z��Cɫ�髙)�� ��I��Y���@y��{G�xDUSBL response received:!U1,R,EA3,000,007F0,186,80,80,C1,FF �Fpublishing direction and range info���H�>���ɰ�v&>�� ��)���ACI��y��רB����A�����?�V�5 1�?��������ٱ���u�Q�MuR=Y�u�;QU}�>��y��y�a}�G��y��y�l�<}��>Iȹ�ŽH�5�?�Ž��� ƽei@����?9ƽBwB�ǽ��: Ƚ)�:)ȹ�W�y�@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU����\�@�P*QרB�Z��Mp<"T@��p�P9@���������Z�A�����?�V�5 1�?��������2QH�>:Q�Z� �k6�UB@�M �S@�����?�Z��p�h���?�Af���?�@�ޕȍ?BQ���? Q�BQ�B�Pm�9?�P�9?�P����Q����QN�@"Qݧ@BM��-=BI BI�AM8�>*BI�AUi��<�AQ�AQ�AU�<"C]�EG�RCYC]y�@�Ca��q��q�֥*��<��YI�iG�\>��}�����}�����}�����}P�� �}p�:Y�}d\1y�}��:��}%C6�9�@�l��Sj,��N�E�A�\9�\I�^$tGi�^o�@��\��\��\��^�h; �^11EY}%�o�?�}%�MS?y}%�c�;�}%�މ=�}%H�����+��?�����s�����ڠ�?�������?����k��?�����ؤ�����ol{�����p8�?����B��?)~%�o�? ~%��^;I~%��Cɫ1�1)�1 �1I�1Y��#�@y���yG��DNmea in: $SNTTA,,,,,170042.27*5B )� �= � >��U��MUL=Y�]��;QU]�>��Y��Y�ae�G��e?G��ay�mU�<}m�>I�q��}�:��uY�5�?��}�:��u���� �uj@��}�?9�u5xB��u��: �uE�:)�u��:�m�uAdded new target pos. range: 84.420006 m, bearing: 64.252703 deg, deltaT: 4.460500 s, approachRate: -0.497701 m/s, LOS rate: 11.591831 deg/s, posRepo size: 4�m�ProNav REINIT: LOS rate is 11.591831 deg/s. Setting heading cmd to target bearing of 64.252703deg and heading rate command to 0 deg/s.�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U����`�U@U����`nL�?B�$�'=B� B��A��>*B��A�Jԋ<�A�A�A�+�<"CeW���RCaCe���?�Ci��]r�=��AI�IGmx>I�q)�q�y��Sj,���N�E�AY}JT(�?�}J��T?y}J�<�}J�֑=�}JH���� !��?���������@��?�������?������?���`�E����� RՁ����`�6�?�������?)~JT(�? ~JQ�];I~J��Cɫy�y)�y �}����I��Y���@y���yG��=p=i�=p=�Õ/ݼ�Õ$f?�Õ��<iÕ��@�Ñ đ)ĕ �@Iđiđ���.�M�V=Y�ج;QU��>�����a��G����y�nq<}��>I������5�?���W��� ���j@��-�?9�� yB����^< ��_<)���Wq�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@jZ�?B��!'=B� B��A��>*B��A����<�A��A��A�V�<"C�Z䘾RC�C��C��֭���=�סI��G-N>��}�����}�����}�����}y�� �}�:Y�}P^1y�}��:��}�G6����Sj,9��N�E�A�|�|ɫ�髩)�� ������I��Y��*�@y���yG������v���?��K7���y�&1�|?�����>���I� ��`�;)��I��y���@5^�I�?V-���<�O��n�?���b?���������t�< ��EA)��lAI��� Ai���A�������A����E<M�F=Y�����QU��>�������a��G���?G���y�����}��>I��� �:���5�?�� �:��%��� �k@���?9�zB����: ���:)���:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����`L�?BM�?'=BQ BQ�AU��>*BQ�AU�R�<�AY�AY�A]�t�<"Ce գ�RC�C��C��֝t(/>��yI��ܝ��>9ܙIܝ\sGiܝ��@�ܝ%=�ܙ�ܙ�ܝj; ݝ�1EG�b>����Sj,�O�E�AY}f��?�}f�QT?y}f0G@<�}f-XN=�}fH��������?�����������2�?���@>��?���@��?������������������`�ǩ?��� ��?)~f��? ~f��\;I~dɫ�髹)�� ������I��Y�m��@y�u�yG��%�@���%����%��i�%��@��! �%O�@)�%O�@I�!i�%O�@��5aּM5E=Y�=Y�;QU=�>��9��9�aE�G��A��Ay�M ��}U�>I�Y��]��5�?��]���� �]Uk@��e�?9�]�zB��]�: �]��:)�Y�W�WX X �W :W 2W *W �VbUBU*UUU���@���?BE��&=BI BI�AM�>*BI�AMO��<�AI�AQ�AUB��<"CU d��*C]:Ӱ�RCYCY�Ci��]��[>��e�?i�e�?��I�!GEQ>��}8 ����}�����}�����}��� �}��:Y�}�Y1y�}�:��}�/6�6��Sj,b� O�E�Aɫ�髙)�� ������I��Y��j�@y�� yGI�9)�9��Q�M�W=Y����QU��>�����a��G����y����}��>Iș�ŝ��5�?�ŝm��� Ɲ�k@����?9Ɲ�{B�ǝ�: ȝw�:)ș�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B 0)=B B�A��>*B�A�c�<�A�A�A)��<"C>&��RC!C!�C!��m�%�>��AI�IGm5>��1 ��1 i�� mGI�� i�� ��� �տٺ� ��� �A�G��Sj,xa:O�E�A���>9�I�0rGi���@��$=������cj; ��1E)�U�l�CI�U�l�Ci�Q���U�'=��U�&=��U�m�5�|4i|6�@Y}fh�?�}f�2N?y}f��j<�}f�\:��}fH�����*�?����4������\?���`�?���`�)�?����4��?�����O�������J���������?)~fh�? ~f�#];I~f��Cɫ���)�� ������I��Y�� �@y���xG�����M�E=Y��n�;QU��>�������a��G���?G���y��l�}��>I������:���E�5�?����:���b��� ���k@����?9���|B���E�: ����:)����:�W!�W!X! X!�W):W)2W)*W1�V1bU1BU1*U1U9U=��� {+@Be� =Bi Bi�Am��>*Bi�Auv�<�Aq�Aq�AuWM�<"C}h���RCyCy�C������>�I��G�f>��}�����y��y��}��� �}��:Y�yy�y��}�76)�}�<�9���O��Sj,9TO�E�AY}2]A�?�}2��H?y}2�Dx<�}2Vg��}2H��������?���`�������9읿����1��?����+��?����Y�?����H������묿��� ���?)~2]A�? ~2�{];I~2��Cɫ9�9)�9 �=����I�AY��X�@y���wG������ �����A��%-����%t�=��%��>i�%��@��! �%9�@)�%9�@I�!i�!��5�g�M5U=Y�=�;QU=�>��9��A�aE�G��A��Ay�Mw[�}M�>I�Q��U��5�?��U5��� �Ul@��]�?9�U�}B��Uϸ: �U@�:)�Q�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������;@�R�B*** querying acoustic contact ***�P��P�B���=B� B��A�g�>*B��A��:�<�A��A��A����<"C�`rK�RC�C��C��� ���I�GUS>�h��Sj,nO�E�AY}J� �?�}J"�B?y}J�E�<�}J��ֽ�}JH�����"2�?�����������Q������ � �?���`��?�����D�?�����������@�κ����@���?)~J� �? ~J=�];I~J��Cɫy髁)�� ������I��Y��(�@y��|wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���C=i��=����� �rh��?R���Q�?<�O��n�?����?�����= ��t=)��I��y����x�&1�?{�G�zt�/�$��?���A�?���ף����,= µ�A)µ�AI±iµKA�������A����R�M�3=Y���;QU��>�������a�G��?G�� y� �^�} �>I����:����5�?���:��<��� �!m@��%�?9��~B����: �0�:)���:�WA�WIXI XI�WI:WI2WI*WQ�VQbUQBUQ*UYUYU]������ @B�\�=B� B��A�e�>*B��A�pQ�<�A��A��A���<"C�C�нRC�C��C��١�١���>9�k�CI�hqGi�6�@��"=������.j; ��1E�����>�ױI��G��>���������������������j�� ��:Y�[1y�ݏ:���*6)���;����Sj,���O�E�A�|�|Y}: {?�}:�t;?y}:˨�<�}:�V��}:H����`D��?�����8�����sٵ������c�?��� }�?���@D��?��� �T�������¿�������?)~: {? ~:5�^;I~:��Cɫy髁)�� ��I��Y����@y���vG�xDUSBL response received:!U1,P EA3,000,007F0,186,80,80,C1,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����������s>���1�i���@��� ��@)��O�@I��i��n�@�� :�M F=Y�t�:QU�>��a��a�am�G��i��qy�����}��>I�����q5�?������ ��n@����?9��rB�����: ��H�:)���W)�W)X) X)�W):W)2W1*W1�V1bU1BU9*UYUYU]�����n @B��=B� B��A�L�>*B��A��g�<�A��A��A�z|�<"C�0��;RC�C��C� �->��-�=�� ��� I�G�>�V�Sj,ʡO�E�AY}>�s?�}>�C4?y}>G&�<�}>':��}>H����@�b�?���@t����� ����������?��� ���?���`��?�����$������3#ǿ�����w�?)~>�s? ~>*_;I~>��Cɫy�y)�y �}����I�yY� �@y� vG�E�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �¹�¹����]�M�^=Y��� ;QU��>�������a��G�����y�顽} �>I����:���5�?���:������ ��n@���?9��B��=�: �k�:)���:�WA�WAXA XA�WA:WA2WI*WI�VIbU BU *U UU�����(@B]�=BY BY�A]:v>*Ba�Ae���<�Aa�Aa�A��<"C���=RC�C��C��֝��>��qI��G�~>��}#����}�����}�����}��� �},�:Y�}d\1y�}��:��}�76�9�@ܭ��>9ܩIܭqGiܭ��@�ܭ!=�ܩ�ܩ�ܭ�i; ݭ�1E��8�Sj,¥�O�E�AY}6V�l?�}65-?y}6Ȳ�<�}6��S��}6H����@/��?��� DZ������R�����`"�?�����Y�?�������?���`֒�����Kʿ�����O�?)~6V�l? ~6:_;I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]�uGexDUSBL response received:!U1,R,E0B,000,007C8,186,80,80,A2,FF mFpublishing direction and range info��eU��>��aɰe/#>�a �a)�e�"CI�ay�e �B��e��7�s��?�P�"�?��������ٱaI�y)�y�����M�a=Y���:QU��>�������a��G���?G���y��.��}��>I�����n5�?���B��� ���o@����?9��o�B���4�: ��b�:)���W�WX X �W :W 2W *W�VbUBU�*U�U�U����`�@�P�*Q� �B�Z����⚆�R@�(�e/]A@���������Z���7�s��?�P�"�?��������2Q�U��>:Q��Z����F��HB@$��=;R@f?�;�!��Z���8{X#��?O��}Rs�?�*@����BQ�Џ�? Q�ؑBQ�GB�P�q�9?�P�m�9?�P�����Q�����Q�}�"Q�N�@B=F.=B9 B9�A=[n>*BA�AE �<�AA�AA�AEv��<"CM�S>RCqCy�C��֝��>�ׁI��GMt>��"�Sj,���O�E�A�|(i|(Y}%��e?�}%|M&?y}%���<�}%�e��}%H�����Wz�?����������@ þ�����fZ�?������?�������?�����u�������b̿��� �2�?)~%��e? ~%��^;I~%��Cɫ�)� �����I�Y�UC�@y�](uG��TNmea in: $SNTTA,0.080045,,,,170046.70*4A ��5 0>��51���594>i�5��@��1 �5O�@)�59�@I�1i�59�@��M�MU3=Y�e�Q�QUm�>��q��q�a}�G��y��yy��l�}��>Iȑ����:�ŕ�,5�?����:�ŕI��� ƕ�p@����?9ƕ�B�Ǖ^�; ȕ!�;)ȕ��:�m�uAdded new target pos. range: 82.020004 m, bearing: 63.366342 deg, deltaT: 4.405304 s, approachRate: -0.544798 m/s, LOS rate: -0.201203 deg/s, posRepo size: 4�m�� ProNav: pos range: 82.020004 m, bearing: 63.366342 deg, approachRate: -0.544798 m/s, LOS rate: -0.201203 deg/s, cmd update: -0.603609 deg/s, cmd heading: 64.252703 deg, new cmd heading: 64.252703 deg. �W� �?�WX X�W:W 2W *W�VbU!BU)*U1Ue����G�T@Um����'�?B]�=BY BY�A](^>*BY�Ae[Ӡ<�Aa�Aa�Ae�!�<"Cm��>RCmb>Cm �?�Cq�ԡ�ԡ��� ���������������������։Iב)ב ���:Y�xZ1y�q�:��]46��a I�q G� �>��J�Sj,�[�O�E�AY}2�_?�}2bp?y}21�<�}27r��}2H����@���?���@@����@w�������٩�?����~1�?����v��?���`�}����� ��Ϳ���@��?)~2�_? ~2�5^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}QtG�����v��/�? ףp= ��y�&1��?���x ?���Q8� ��`e<)��I��y���1�Zd�?X9��v��?��~j�t�?���"?�����<�����< �A)�)AI�Ai�A�������A)í�= í�=��*b�M�T=Y�/"�QU��>�������a��G���?G���y��K��}��>I������;5�?���!��� ���p@����?9��[�B����: ��H�:)���W jh�?�W X X �W :W 2W*W�VbUBU*UUU���@��?Bm�r=Bq Bq�AufH>*Bq�Auuӡ<�Ay�Ay�A}�¥<"C����>RC�p�>C�jh�?�C���m�S�>��AI�Q�m��>9�mj�CI�m<pGi�mB�@��m#=��i��m��D��m�i; �m�1EG�9>��5Tj,�E P�E�AY}-0sX?�}-�?y}-Q[�<�}-sW{��}-H�����<u�?���`l�����������������?���@���?����n��?����8ː���� XϿ���`f �?)~-0sX? ~-(�_;I~-��Cɫ�)� �I�Y�U�@y�U�tG��=a=i�=�=�Õ���Õ�Ļ�Õ+�=iÕ��@�Ñ ĕn�@)đIĕ��@iđ����<M�;=Y��̺QU��>�����a��G����y���p�}��>I������M5�?������ ���p@����?9���B���'�: ��ܹ:)���W�ҍ?�W�X� X��W�:W�2W*W�VbUBU *U U U �����?B5�w=B9 B9�A=IV>*B9�AE�M�<�AA�AA�AE�B�<"CM ��>RCM�6a=CMҍ?�CQ�֝��c>��QI�aG�[>��u����u�����u�����u �� �u��:Y�u�]1y�u��:��u>6�^Tj,L#P�E�A�|�|4<Y}6UQ?�}63�?y}6��<�}6ˡ���}6H��������?���������@��������DD�?������?�������?���`�|�������Ͽ���@���?)~6UQ? ~6u�_;I~6��Cɫ9�9)�9 �=����I�9Y�u��@y�}QtG����M j=Y� a�QU �>�����a�G����y����}�>I�!��-�:��%!\5�?��-�:��%��� �%�p@��5�?9�%O�B��%��: �%��:)�%��:�W] Y�?�WYXY XY�WY:WY2Wa*Wa�VabUaBUa*UiUiUm����x��?B��3=B� B��A�fH>*B��A��l�<�A��A��A��դ<"C��@�>RC�ԖC� Y�?�C�����na>����?i���?�I��G�E>�e��>9�aI�e�oGi�e��@��e!=��a��a��e�i; �e�1E�0�Tj,5�<P�E�AY}N��J?�}Ni.?y}N+�<�}NZ6���}NH����`�a�?��� �#�����5���������?�����s�?�����c�?������������Ͽ���`z��?)~N��J? ~Nz�^;I~N��Cɫy�y)�y �}����I�yY����@y��nsG��y��}nA��\�M�B=Y�y8QU��>�����a��G��?G��y���}��>Iȹ�Ž�m5�?�Ž߂�� ƽ�p@����?9ƽӂB�ǽ��; Ƚ��;)ȹ�W%�Č?�W!X! X)�W):W)2W)*W1�V1bU1BU1*U9U9U=��� �>�@Be��=Ba Bi�AmB1>*Bi�Am��<�Ai�Aq�Au�c�<"CuC.?RC}��C}�Č?�Cy����sP>�סI��G�D>��}�����}�����}�����}%�� �}h�:Y�}P^1y�}��:��}�>6)�}��;�9���VoTj,��VP�E�AY}2gD?�}2��?y}2�^�<�}2��~��}2H��������?����|����@�������@���?���@l��?�����n�?�����K��������Ͽ����0�?)~2gD? ~2�h^;I~2��CɫY�Y)�Y �]����I�YY����@y��WsGI��)����M9����M+�=��M��<i�M\�@��I �M9�@)�M�@I�MO�@i�M�@��<��M�J=Y�G�:QU��>�����a��G����y��y�}��>I������:���o5�?����:���L{�� ���p@����?9��Q�B����: ��=�:)����:�W%39�?�W!X! X)�W):W)2W)*W1�V1bU1BU1*U1U9U=�����z@Beh=Ba Bi�Am�.>*Bi�Am�Ʀ<�Ai�Aq�Au���<"C}��&?RC��"S�C�39�?�C�����z!>�I��G�E>���Tj,�pP�E�A�|i|Y}6��>?�}6.?�>y}6a�<�}6��z��}6H����`c!�?���@+�ݿ������������Z|�?���@�:�?��� T�?���@�|�����@ �Ͽ����� �?)~6��>? ~6��];I~6��Cɫa�a)�a �e����I�iY�}��@y�}.sG������i�5�mGI�Ii�Y����ɿٺ������A�����A`��"�?�z�G�?�������?����>��� �= ����<)��I��y���-����?�� �rh�?�~j�t�h?���??���C=����D; ��A)��C3AI���Ai�� A�������A���&�M�6=Y���);QU��>�����a �G�� ?G��y��L�}�>I�!��%!�5�?��%�s�� �%0p@��5�?9�%׃B��%q+; �%�;)�!�W� ��?�W�X� X��W��� �� nA���>9�i�CI�oGi�O�@�������� k; �82E)���j�CI���j�Ci�����!=����"=�����&5:W2WA*WA�VAbUIBUI*UIUIUU���`�A@�R]B*** querying acoustic contact ***�PY�PYB����<B� B��A��*>*B��A� �<�A��A��A�j��<"C��@?RC�� ��C� ��?�C����S-�=I��)���I��G��>��}�����}�����}�����}�� �}��:Y�}d\1y�}��:��}�V6)�}�<�ǃ"Tj,3��P�E�AY}^s�9?�}^��>y}^�*�<�}^JEu��}^H������m�?�����ܿ����p������ �Z�?������?���@�?���@�������W\ο������?)~^s�9? ~^/�];I~\ɫ�髡)�� ��I��Y����@y��<sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�í`�<�í7 >�íE��ií��@�é ĭn�@)ĭ9�@Iĭ9�@iĭ�@��zs;M�`=Y��k�;QU��>�������a��G������y��<a�}��>I������:���~�5�?����:���}m�� ���o@����?9��C�B���f�: ����:)����:�W �?�W X X �W :W 2W*W�VbUBU*UUU��� �- @B��=B� B��A�*,>*B��A�g�<�A��A��A�R@�<"C�B2T?RC�C��?�C���}| u=��QI�aG�]>���(Tj,CY�P�E�Aɫy�y)�� ������I��Y����@y��sG�xDUSBL response received:!U1,P E0B,000,007C8,186,80,80,A2,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���"\�M�J=Y�����QU�>��1��9�aE�G��A��qy�}���}}�>I� �� 7�5�?�� f�� � Vo@��M�?9� ȄB�� ��; � Q�;)� �W���?�W X X �W :W2W*W�VbUBU*UUU����6� @B���=B� B��A��&>*B��A�$?�<�A��A��A�}�<"C��k?RC�C����?�C��֝�!<��yI��G��>��}�����}�����}�����}�� �}��:Y�}Hg1y�}:��}\=6�9�@� ��>9� I� �mGi� [�@�� #=�� �� ��D�� Ul; � �2E�!�.Tj,P6�P�E�A�|�|Y}6Y�1?�}6k4�>y}6���<�}6�^��}6H����@u��?��� ?ۿ��� #G�����@ ��?����!�?����V9�?������������˿��� �<�?)~6Y�1? ~6[�];I~6��Cɫ9�9)�9 �=����I�9Y�]��@y�]FrG�aɮep=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���C�M�M=Y��M<QU��>�����a��G��?G��y�7��}��>Iȱ�ŵ��5�?�ŵ_`�� Ƶ�n@����?9Ƶ3�B�ǵk�: ȵ�:)ȱ�W�5�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �+@B%�=B%���< B)�A-+>*B)�A-�<�A1�A1�A5��<"C=��y?RC9C=5�?�C9��M9g����M�?i�M�?��I�G=/>��5Tj,,�P�E�Aɫy�y)�y �}����I�yY��1�@y���rG�xDUSBL response received:!U1,R,126,000,0079E,186,80,80,45,FF �Fpublishing direction and range info���G\�����ɰ��>�� ��)����BI��y����B�����|;����?�N�=п��������ٱ��õV>�õ`e=�õ���iõp�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@��e"�<M�1=Y�����QU��>�����a�G���� y� ���}�>I����:��}�5�?��%�:���X�� �Tn@��E�?9�ÅB����; �]�;)���:�W��d�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����z!@�P�*Q���B�Z����7tu9S@�:j{,4����������Z���|;����?�N�=п��������2Q�G\��:Q��Z���3��|S@�NH���.@y��c-�@�Z�����ِ`�?E�yx|��?�c/�RƟ?BQ���G> Q��vAQ��B�P��9?�P�q�9?�P�����Q�����Q� A"Q�}�Be`��<Ba Ba�Ae�>*Ba�AmI�<�Ai�Ai�Am䊢<"CuCG�?RCqCu�d�?�C����)�������������������� ���:Y��Y1y��:��wI6�֭F�˼�ס I�� G� �>�K�;Tj,x��P�E�AY}b�.?�}b2�>y}b7/=�}b��4��}bH�������?��� ,�ڿ�����g�����@ ��?����}��?��� *�?���`������-vƿ����H|�?)~b�.? ~b��];I~b��Cɫ���)�� ��I��Y�5��@y�5JrG��DNmea in: $SNTTA,,,,,170051.15*58 I��)���� ��I+��?)\���(���~j�t����� 9?�� G� � �D�)� I� y� �+�����?{�G�z�?<�O��n�?�� �?�� ף<�� t< � �A)� I.AI� 5Ai� dA�� �� �A��-Ч�M-N=Y�-@�<QU5�>��1��1�a5�G��5?G��9y�=��}=�>I�I��M>�5�?��M�R�� �M�m@��U�?9�M<�B��M�: �M�:)�I�m�yAdded new target pos. range: 79.500008 m, bearing: 11.183736 deg, deltaT: 4.543147 s, approachRate: -0.554681 m/s, LOS rate: -11.486004 deg/s, posRepo size: 4�m�ProNav REINIT: LOS rate is -11.486004 deg/s. Setting heading cmd to target bearing of 11.183736deg and heading rate command to 0 deg/s.�W���G>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U���� ��S@ܭ��>9ܭh�CIܭ�lGiܭg�@�ܭ"=�ܩ�ܩ�ܭn; ݭ�3EU����@'�?B-�=B) B)�A-�>*B1�A58(�<�A1�A1�A5ϔ�<"C=���?RCYCe��G>�Ca��]�S���I�!GEr>���BTj, �Q�E�A�|i|�@Y}>#�-?�}>��>y}> =�}>����}>H���� K�?����b�ڿ���@X����������?����i��?���@�Z�?��� �������<ÿ����̞�?)~>#�-? ~>~�];I~>��CɫY�Y)�Y �]����I�YY��y������ゥ����=�����i����� ���@)��I���@i��Y� �<QU�>��!��!�a%�G��!��)y�5J�}5�>I�9��M�:��=��5�?��U�:��=�L�� �=�m@��U�?9�=��B��=3&; �=z%;)�=��:�W �W X X�W:W2W*W�VbUBU*UUU%�������?B��=B� B��A�*B��A�Z �<�A��A��A�KĢ<"C��Ӆ?*C�3ʱ�RC�C��C��ѽ�0<�֕ ǫ�Iי)י��q���v�������������������� ���:Y��]1y���:��f96I��G��>���HTj,E�%Q�E�AY}2 �.?�}2�U�>y}2��9=�}2����}2H����`��?�����ۿ����������� %��?������?�������?����H8������4������m��?)~2 �.? ~24�];I~2��CɫY�Y)�Y �]����I�YY��q�@y���qG��}g��M}�<Y�}ȅ<QU}�>�����a��G����y�l<}��>Iȑ�ŕ� 5�?�ŕ�F�� ƕ�l@����?9ƕ,�B�Ǖϸ: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B��<B B �A �>*B �A �ή<�A �A�Ax�<"Cp҃?RCC�C��M�m�<��%..�����I� G%M>ܭ ��>9ܭ g�CIܭ (kGiܭ "�@�ܭ %=�ܩ �ܭ ��D�ܭ ^q; ݭ |5E��"OTj,�|?Q�E�AY}2©0?�}2</�>y}2]W=�}2�����}2H�����W��?����҆ۿ����o}?���`S�?�������?���� s�?����aિ���������`���?)~2©0? ~2��];I~2��CɫI�I)�I �M����I�IY�}��@y���qG���p=i��=��}�I<M}J=Y�ϐ<QU��>�����a��G��?G��y�ח<}��>Iȡ����:�ť� 5�?��U�:�ť\@�� ƥQl@��]�?9ƥ��B�ǥ��< ȥٺ<)ȥ��:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��?B�6q�<B� B�A�>*B�A4¯<�A�A�A%���<"C-9|?RC1C1�C1��9��9)�9 �9���� �������������������� ���:Y��^1y�a�:���16)���;�9���֭�]<��ס I�� G� �>�� VTj,}XYQ�E�A�|�|�;Y}6��3?�}6���>y}6��u=�}6mSo��}6H��������?�����)ܿ���@^�?�������?�������?�����$�?����������@Qح���� S��?)~6��3? ~6�];I~4ɫ9�A)�A �M����I�IY��'�@y��TqG�Ý`e��Ý����ÝGa�iÝ=�@�Ù ĝ��@)ĝ��@Iĝ��@iĝ��@������M�6=Y��r�<QU��>������a�G����y�%��<}E�>I�Q��U�55�?��U�8�� �Usk@��]�?9�UA�B��U�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����\��?Be^��<Be���< Ba�AmF�=*Bi�Am6��<�Ai�Ai�Am���<"Cu��i?RCqCq�Cy��]��c���1I�AG]v>��4\Tj,r2sQ�E�AY}:��7?�}:Q�>y}:���=�}:�����}:H����`�y�?����Mݿ������?�������?����m��?���`��?���`E�������8����������?)~:��7? ~: �^;I~8ɫA�A)�I �M����I�IY�}m�@y�}ppG���V-���?`��"����L7�A`�?����>����� �+=)�I�y��k�t��?����Mb`����Mb�?�� 0?������@= �lA)��AI�dAi��A�����A��EAp�MET=Y�UN�<QUU�>��Y��Y�a]�G��e?G��ay�m�0=}m�>I���%�:��fJ5�?��%�:���1�� �{k@��%�?9�̈B���x; �ax;)���:�U��>9�QI�U�hGi�U:�@��U(=��UUD��Q��UEu; �U�7E�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����)@B �+�<B B�A��=*B�A&E�<�A�A�A来<"C%��T?RCACA�CI��E�;����I�!G=r>��} ����}�����}�����}�� �}�:Y�}[1y�}ݏ:��}�,6)�}q�;��cTj,� �Q�E�AY}6i<?�}6̭�>y}6���=�}6��<�}6H���� �2�?��� ��ݿ���`�+�?����&��?����!G�?����Ě?����N������{�?���`���?)~6i<? ~6��_;I~4ɫY�Y)�Y �]����I�YY��L�@y��GpG������I��)�����P=���q���`�;i��@�� �)���@I�ƣ@i���@���6�M`=Y��h<QU�>�����a�G����!y�%�N=}%�>I�)��-�[5�?��-�+�� �-nk@��=�?9�-E�B��-M�: �-D�:)�)�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���`g�@�RB*** querying acoustic contact ***�P�PB]n�<Bq Bq�Au��=*Bq�Au&ͱ<�Aq�Ay�A}t��<"C}� B?RC�C��C��օ�����YI�aG�[>��FiTj,��Q�E�A�|i|�@Y}6)�B?�}6�?y}6�n�=�}6ո==�}6H�����\��?�����߿���`�Ѷ?�����=�?�������?����� i����@����=��?����Z��?)~6)�B? ~6�_;I~6��CɫQ�Q)�Q �U����I�QY��r�@y��:oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�� C��MJ=Y��C<QU�>����!�a%�G��!��)y�-/r=}5�>I�9��=�p5�?��=$�� �=Hk@��M�?9�=ԉB��=�: �=I�:)�9�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`V @B%��<BI BI�AU �=*BQ�AU�D�<�AQ�AY�A]��<"Ce��*?RCeȪJ�C��C���}'�<��i��ii���mGI� i�!��e�ҿٺa��e��A���������������������4�� � l:�֍?΅�Y�xZ1y�q�:���$6�9�@��I I�Y Gu �>�M ��>9�M f�CI�M xfGi�M S�@��M -=��I ��I ��M �x; �M V9E)��g�CI��g�Ci�剔�C���%=���&=����q6��.pTj,��Q�E�AY}6�I?�}6� ?y}6�=�}6�@�=�}6H����@e^�?����R1�����ϐ�?���@�a�?����ex�?�����ܟ������}�������o�?��� ���?)~6�I? ~6f>b;I~6��Cɫ9�9)�9 �9I�9Y���@y���nG�xDUSBL response received:!U1,P 126,000,0079E,186,80,80,45,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 )��= ��=��=��MEH=Y�U0<QU]�>��i��i�au�G��}?G��y�:�=}��>I������:�����5�?����:������ �� k@����?9��i�B�����; ����;)����:�WA�WAXI XI�WI:WI2WI*WI�VQbUQBUQ*UQUYU]������@B����<B� B��A�^=*B��A���<�A��A��A����<"C�n�?RC�H>ͽC�C������<���Q�|��בI��G��>��XvTj,���Q�E�AY}2�oQ?�}2g�?y}2`�=�}2���=�}2H�����\��?�����������r��?���@)4�?����F��?���`�������@�������M��?�������?)~2�oQ? ~2]Jb;I~2��CɫA�A)�I �M����I�IY�}T�@y�}�mG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���R=i���<��=C=��=�}=��=V�i�= �@��9 �=E�@)�=\�@I�=\�@i�=\�@��]YC�Me,=Y�e9�;QUm�>��i��i�au�G��q��yy�q�=}��>Iȑ�ŕ��5�?�ŕH�� ƕ�j@����?9ƕ�B�Ǖ�: ȕ;�:)ȑ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����h@B�j�<B B�A�=*B�A �<�A �A �A �<"C���>RCZ�B�C�C��!��!)�) �)��}�����}�����}�����}��� �}(m:Y�}d\1y�}��:��};6�֍ �sP���a I�q G� �>���|Tj,:z�Q�E�A�|�|Y}Nba?�}N<u!?y}N���=�}N2� >�}NH����@X��?�����M������=�?����T��?����!��?����N������`~+������D��?������?)~Nba? ~N70`;I~N��Cɫ�髹)�� ������I��Y���@y��OlGxDUSBL response received:!U1,R,1EE,000,0077C,187,80,80,7D,FF Fpublishing direction and range info����ܾ��ɰ�>�1�> �)���BI�y��B���9 ��?[Ae�U�ڿ��������ٱ����+�����?��"��~ʿ{�G�zt?����?����S� ��ף;)��I��y���T㥛� �?�I+���{�G�zt����!?���9�����ף� 3A) �AI �Ai�������A��ԽM�W=Y��]:QU��>�����a��G��?G��y�%>}��>Iȹ����:�Ž�5�?����:�Ž� �� ƽIi@����?9ƽ��B�ǽ��: Ƚ��:)Ƚ��:����>9��I��XcGi��ȸ@���*=���������t{; ���:E�W �WX X�W:W2W*W�VbUBU*UU!U%������@�P1*Q5�B�Z5�ANz��Q@y�Z'/@����������Z5�9 ��?[Ae�U�ڿ��������2Q5��ܾ:Q1�Z5��& ��R@�!���.@�8�%��Z5����z9�?���͈D�?2t�����BQ5:�M> Q5�tAQ5O�B�P5�9?�P5�9?�P5����Q5����Q5~��"Q5 AB��<B� B��A����*B��A��A��A��A�u��<"C���>RC����=C��C�����J����I��G�>��j�Tj,�UR�E�AY}v��g?�}vr)(?y}v���=�}v��&>�}vH�����B�?����������@t��?��� z�?����C�?�����_����������������?����~y�?)~v��g? ~v4_;I~v��Cɫ�)� �����I�Y�U��@y�U�kG��DNmea in: $SNTTA,,,,,170055.59*54 �����������<�����������i��\�@��� ��&�@)��I����@i��E�@��¼MC=Y�QU%�>��!��)�a-�G��1��1y�=�~=}=�>I�A��E�5�?��E �� �E�g@��]�?9�E�B��E3; �E$1;)�A�m5qAdded new target pos. range: 77.460007 m, bearing: 11.500340 deg, deltaT: 4.387464 s, approachRate: -0.464961 m/s, LOS rate: 0.072161 deg/s, posRepo size: 4�mE� ProNav: pos range: 77.460007 m, bearing: 11.500340 deg, approachRate: -0.464961 m/s, LOS rate: 0.072161 deg/s, cmd update: 0.216483 deg/s, cmd heading: 11.183736 deg, new cmd heading: 11.183736 deg. �WE�I>�WAXI XI�WI:WI2WI*WI�VQbUQBUQ*UQU]����p]S@U]����ID�?B�B� B��A�*B��A��A��A��A��V�<"C�^�>RC���H>C��I>�C��֍��:���YI�aG��>��}� ����}�����}�����}��� �}3T:Y�}[1y�}ݏ:��}�6��Tj,f0(R�E�AY}Jދm?�}J��-?y}J�6�=�}J��#>�}JH��������?����������=p�?������?����b��?����\�����`�����P�?���@!�?)~Jދm? ~Jf�^;I~J��CɫY�Y)�Y �]����I�YY��]�@y��6jGI�A)�A�����M�g=Y�E�QU��>�����a��G����y��=}��>Iȱ����:�ŵ��5�?����:�ŵ���� Ƶef@����?9Ƶ~�B�ǵ��: ȵ�:)ȵ��:�W���J>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����:��?B%���<B! B!�A%#(�*B!�A-���<�A)�A)�A-���<"C5�D�>RC5,т>C=��J>�C9�� ������I��G�$>�� ��>9�� I�� �`Gi�� ��@��� +=��� ��� ��� V}; �� �;E���Tj,*BR�E�A�| i| Y}>��r?�}>i�2?y}>♘=�}>�_>�}>H���� �m�?����[�������?������?���� q�?���@��������������`�j�?��� 3��?)~>��r? ~>�^;I~>��CɫI�I)�I �II�QY��y��Y�-�QU-�>��1��1�a5�G��5?G��1y�=�K=}=�>I�A��E4�5�?��E��� �Ee@����?9�E��B��EǺ: �E�:)�A�W�;lL>�W�X� X��W�:W�2W�*W��V�bUBU *U UU�������?B}h6�<B� B��A�*B��A��_�<�A��A��A���<"C��D`>RC�� �>C�;lL>�CY��u(����1I�9GUT>��m� ����m�����m�����mg�� �mGG:Y�mxZ1y�mq�:��m0*6)�mf�;�9u��]��Tj,3�[R�E�AY}2E�v?�}2-7?y}2�{�=�}2��>�}2H������?���@߆��������?��� ^��?������?�����ï����`tK�������W�?���`H��?)~2E�v? ~2�^;I~0ɫY�Y)�a �e����I�aY���@y���hG)é í>��UX���U�;��U�m=i�U=�@��Q �U�@)�U�@I�Uҙ@i�Uҙ@��e'N�Me�<Y�e�ܻQUm�>��i��i�am�G��q��qy�u�=}}�>I�y����:��}i�5�?����:��}8��� �}�c@����?9�}��B��}��: �}��:)�}�:�W�mN>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B�!n�<B� B��A�*��*B��A�Y̱<�A��A��A���<"CsH>RCCmN>�C ����J��I��G�E>�cќTj,"�uR�E�AY}:Wz?�}:.:?y}:?��=�}:w>�}:H����@���?�������������?���@�@�?��� ���?���@#?������f�������s��?���@B��?)~:Wz? ~:�^;I~8ɫ9�9)�9 �E����I�AY�}�@y�}4gG���p=i��4=�����K7�A`�?��~j�t����~j�t�����?������ �����)��I��y����C�l���?{�G�z��:��v���?����?���ף�����T< ��z(A)��� AI���Ai���A������GA������M�R=Y��b��QU��>�����a�G��?G�� ��@�� y� x=}�>I�����5�?��\��� ��b@��=�?9���B��Al; �Jj;)��Wu9�O>�WyXy Xy�Wy:W�2W�*W��V���9��I��D^Gi����@���-=���������;~; ��*<EbUIBUi*UiUqUu����9�@B��_<B� B��A���*B��A����<�A��A��A��2�<"C ��G>*C�հ�RCC9�O>�C���7;���I�Gn>��������������������G�� �^:Y�]1y��:��X6)��;�"��Tj,���R�E�A�|�|4<Y}6��|?�}6�=?y}6eR�=�}6��=�}6H�������?�����5�����M@�?��� e}�?��� ���?����>ͤ�����'�����`���?��� ��?)~6��|? ~6�^;I~6��CɫY�Y)�Y �]����I�YY��ٺ@y���eG��M�u���M�o>��M�@�i�M(�@��I �M�@)�M�@I�M�@i�M�@��]8��MeU=Y�e���QUe�>��i��i�am�G��i��iy����<}��>I����� 5�?���B��� ��b@����?9��l�B�����: ��o�:)���W�"Q>�WX X�W:W!2W!*W!�V!bU!BU)*U)U)U-����A @B]��)<BY BY�Ae��*Ba�Ae��<�Aa�Aa�Aeĉ�<"Cm�"Q>RCqCu�"Q>�Cq��m�31=��!I�1GM1>���Tj,)v�R�E�AY}6�i~?�}6p�>?y}6l/�=�}6���=�}6H�����zv�?�����s������,�?������?�������?�����Ɯ�����좰����`��?����_��?)~6�i~? ~6�^;I~6��Cɫ9�9)�9 �E����I�AY����@y���eG������mA������M�Q=Y��N��QU�>�����a�G���� y� ޚ<} �>I����:���5�?��%�:������ �|a@��%�?9�َB��=�: ���:)��:�WEٗR>�WIXI XI�WI:WI2WI*WQ�VQbUQBUY*UYUYU]���`)$@�ReB*** querying acoustic contact ***�Pi�PiB��k#<B� B��A��!�*B��A���<�A��A��A��<"C�?�O>*C�����RC�C�ٗR>�C���u���=��II�YG}>��}U ����}�����}�����}��� �}O:Y�}�X1y�}/�:��}�6�9�@�� ��>9�� I�� �[Gi�� ��@��� *=��� ��� ��D��� �}; �� �;E�m˰Tj,;U�R�E�AY}:mQ?�}:D�??y}:H��=�}:��=�}:H������c�?����������� �?���@��?���`�x�?����#7������������3��?�������?)~:mQ? ~:pr^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}ddG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)�����S��M�K=Y��7��QU��>�����a��G��?G��y��<}��>I���0*5�?������ ��`@��M�?9�V�B��]< �7_<)��W��_T>�W�X� X��W:W2W*W�VIbUIBUI*UIUQUU����-� @B�D�<B� B��A�eA�*B��A�Z��<�A��A��A�A��<"C��_T>*C�r�RC�C��_T>�C����Z��=�ױI��G��>�&��Tj,u?�R�E�A�|i|Y}Ft]?�}FJ�??y}Ff�u=�}F�6S=�}FH������c�?���`6������L5�?��� !��?�����w�?������h?���@������� �W�?��� f��?)~Ft]? ~F*_;I~F��Cɫ���)�� �����I�Y�5��@y�5cG]xDUSBL response received:!U1,P 1EE,000,0077C,187,80,80,7D,FF ]Command AckeBRequesting micromodem ping code 2i�a��a���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��-���n���?L7�A`堿����Mb�?��-6?��-+� �-=)�)I�)y�-��������?��~j�t��)\���(�?��-�?��-�����-Ga= �-�!A)�-AI�-- Ai�-�A��)��-A)�E> �A�� �K��� ��=�� /]=i� ��@�� � ��@)� ��@I� ��@i� ��@��Mn�M=Y�-���QU-�>��1��1�a=�G��9��Ay�U>�9}U�>I�i��}�:��m�=5�?����:��mf��� �m�a@����?9�m�B��m��; �m�;)�m�:�W�eoV>�WIXI XI�WI:WQ2WQ*WY�VY��}' ����}�����}�����} �� �}YK:Y�}�Y1y�}�:��}!6bUaBU�*U�U�U������D@B���;B� B��A��c�*B��A�"��<�A��A��A �p�<"C- eoV>*C- ĺ��RC) C- eoV>�C1 ��] �>��1I�AGm�>�0!�Tj,��R�E�Ai�"gmGI�Di�X��r�ӿٺp��r��AY}E�m~?�}E��>?y}E�Sh=�}E���<�}EH�����'y�?��� z�������ݬ?����C��?���@B��?����c�?���`z������!6�?��� ���?)~E�m~? ~E#�_;I~E��Cɫ)�))�1 �5����I�1Y�uw�@y�u�aG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��-9��M-�=Y�5C�QU5#?��1��9�a=�G��=?G��9y�Ej]�}E%?I�I��MG5�?��M���� �M�a@��U�?9�M=�B��Mϸ: �M��:)�I�u��>9�qI�u�YGi�u*�@��u&=��q��q��uY}; �u�;E)�͂f�CI�͂f�Ci�͂��C��͂*=��͂*=��͂96�W�ѓW>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����B9@B��.��B� B��A�j��*B��A�T��<�A��A��A�u�<"C�ѓW>*C��&��RC�C�ѓW>�C��ֽ�)>��qI��G�_>���Tj,��S�E�AY}6l�|?�}6@�<?y}6YW=�}6�@N��}6H����`ˢ�?���`Ō�������?�������?��� ��?�����ߦ?�����窿����ɾ�����`��?)~6l�|? ~6�+_;I~6��CɫY�Y)�Y �]����I�YY��ɶ@y���`G�xDUSBL response received:!U1,R,DFC,000,00752,187,80,80,BA,FF �Fpublishing direction and range info�����>���ɰ��>鰡 ��)���:CI��y���B����\�$Qi��?�2T����?��������ٱ�����=i���=�� Q8��� �� �L�i� =�@�� � &�@)� ��@I� i� ҙ@��%�k�M%^=Y�%8�QU%�>��)��)�a-�G��)��1y�5ϡ�}5�>I�9��E�:��=(T5�?��M�:��=���� �=�b@��M�?9�=��B��=$�: �=��:)�=�:�W 7�X>�W X X �W:W2W*W�VbUBU*UU!U%���@@�Pq*Qu�B�Zu�ZY ��P@ � F�N@@���������Zu�\�$Qi��?�2T����?��������2Qu��>:Qq�Zu����Ա�;@yJ��\Q@�JD=���Zu�1���%��?�ٺ���?�,<}��BQu@7�? Qu�BQu��A�Pul�9?�Pu�9?�Pu����Qu����Qu��?"Qu~��B����9B B�AJ��*B�A _֨<�A)�A)�A-f��<"C57�X>*C=�T��RC9C=7�X>�CA��E-tY>��I�)GEQ>���� �����������������6�� ��X:Y�[1y�ݏ:���$6�H1�Tj,�*S�E�A�|�|Y}6�iy?�}6��9?y}6�_E=�}6�_��}6H����`s��?���`5F�������2����@�7�?������?���@O��?���@������� C���@G��?)~6�iy? ~6�`;I~6��Cɫa�a)�a �e����I�iY����@y���_G�-DNmea in: $SNTTA,,,,,170100.06*5F ��I��I��Ξ�M�C=Y�E+�QU��>�����a��G�� ?G��y�,�}��>I�����Hc5�?������ ��`c@����?9���B�����: ��4�:)���mUuAdded new target pos. range: 74.940002 m, bearing: 68.135344 deg, deltaT: 4.419112 s, approachRate: -0.570251 m/s, LOS rate: 12.815924 deg/s, posRepo size: 4�m]ProNav REINIT: LOS rate is 12.815924 deg/s. Setting heading cmd to target bearing of 68.135344deg and heading rate command to 0 deg/s.�W]@7�?�WYXY XY�Wa:Wa2Wa*Wa�VabUiBUi*UiUu����)�R@Uu����z��?B��ɾ�B� B��A����*B��A��Ѧ<�A��A��A���<"C��kn>RC�C�@7�?�C��֍*b�>��aI�iG�9>�u ��>9�u e�CI�u hXGi�u �@��u #=��q ��q ��u T}; �u �;E�5�Tj,x�DS�E�AY}2Ǟt?�}2�5?y}2X3=�}2ν��}2H����@YM�?�����������Ͱ�����@w��?���`#�?�����?�?���`�a������D���������?)~2Ǟt? ~2��_;I~2��Cɫ9�9)�9 �=����I�9Y����@y��[^G���?��M�F=Y���0�QU��>������a�G�� ��ay�m#3�}m�>I�q��}�:��u�r5�?��}�:��u���� �uAd@����?9�u��B��u=�: �u��:)�u�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������(�?B��`�B B �A (��*B �A"~�<�A�A�ABL�<"C��>RC9��>C�C!����>���I�Gn>��}� ����}�����}�����}��� �}�B:Y�}�W1y�}č:��}}6)�}U�;�9����E�Tj,(�^S�E�Aɫ�髩)�� ������I��Y����@y��!]GI�I)�I�� �R���Q�?�K7�A`ſ333333�?�� �B?�� +� � ��=)� I� y� ����(\��?�Q���?{�G�zt��� z?�� \=�� ף� � dA)� XAI� �Ai� A�� �� fA��m���m�@���m� �i�m=�@��i �m�@)�m�@I�m3�@i�m�@��u���M}3=Y�}���QU}�>�����a��G����y����}��>Iș�ŝ*�5�?�ŝ���� ƝNc@����?9Ɲ�B�ǝ��: ȝ{�:)ș�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �&�?B�D��B� B��A� ��*B��A�͡<�A��A��A�A��<"C���>RC��B>C��C��֥& �>��qI��G�~>��n�Tj,WxS�E�A�|i|Y}J.Ig?�}J�'?y}JO�=�}J=`0��}JH������[�?��� �]������j�����@�{�?�������?�����4�?����X�������g�ſ����a��?)~J.Ig? ~J�l_;I~J��Cɫ�髱)�� ��I��Y��ݲ@y��\G)�}�= �}�=�����M�m=Y�G��QU�?�����a��G��!?G���y����}�?I������5�?���[��� ���b@����?9���B�����: ��ܹ:)���W��W�X X�W:W2W*W�V ���>9�I��VGi���@�� =��TD����D���}; ��;EbU)BU)*U1U1U5������?B]��,�BY Ba�Ae;*Ba�Aeɂ�<�Aa�Aa�Ae2��<"Cm{C�>RCu��=Cq�Cq�֥��>��yI��G�_>���� �����������������C�� �d�:Y�0Y1y���:��� 6)��;�;U�Tj,s,�S�E�AY}2n�_?�}2D= ?y}2� =�}2o�M��}2H�����'��?���`E�����@����������?���`�H�?�����2�?����@������~�ɿ���`NV�?)~2n�_? ~2�o_;I~2��CɫI�I)�I �M����I�IY�}��@y�}�[G��5�(>��5\���59�=i�53�@��1 �5~�@)�5��@I�5h�@i�5h�@��E���MER=Y�M��QUM�>��I��I�aU�G��Q��Qy�]g��}]�>I�a��m�:��e��5�?��m�:��eQ��� �e�a@��m�?9�e�B��e0�: �e��:)�e�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����]��?Bm(��Bq Bq�Au�Ҿ*Bq�Au�̜<�Ay�Ay�A}:��<"C��d?RC����C��C��օ�r>��AI�QGm5>�s�Tj,��S�E�AY}2��W?�}2\i?y}2ظ�<�}2�`��}2H�����>{�?������������̸���� ���?���`���?�����B�?�����������`��˿�����7�?)~2��W? ~2b�^;I~0ɫ9�9)�9 �=����I�9Y���@y���ZG��=a=i�==��u�8�MuG=Y�}�ƻQU}�>��y���a��G��"?G��y����}��>Iȑ�ŕ��5�?�ŕ.}�� ƕa@����?9ƕm�B�Ǖ8�: ȕf�:)ȑ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����4<@BX=�B B�AIܾ*B�A ��<�A �A �A ��<"C��*?RC�\�ǽC��C��֍��E>��aI�qG�:>��}�����}�����}�����}J�� �}9~:Y�}WU1y�}�:��}�6�9�@� ��>9� d�CI� �TGi� �@�� %=�� UD�� �� ; � �<E�5g�Tj,���S�E�A�|�|�;Y}>�P?�}>�-?y}>IP�<�}>\wn��}>H��������?���@������@��������.�?����N%�?�������?����������`�Ϳ����p�?)~>�P? ~>H_;I~>��CɫY�Y)�Y �]����I�YY����@y��`YG������@A������nA��%`e<��%�<��%v��i�%ד@��! �%3�@)�%3�@I�!i�%3�@��5���M5?=Y�=ߏ�QU=�>��9��9�aE�G��A��Ay�M��}M�>I�Q��]�:��U��5�?��]�:��Uu�� �U0`@��]�?9�U�B��U��: �U��:)�U�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����D�@�R�B*** querying acoustic contact ***�P��P�B%ءR�B! B!�AM��*BI�AM���<�AI�AI�AM!@�<"CU/-/?RCU|AD�CY�CY��E+�>��I� G%N>�̔�Tj,K��S�E�AY}MQ�J?�}M&]?y}MN��<�}M_s��}MH���� "]�?�����H�����BZ���������?����J�?�����?�����3�����`�ο������?)~MQ�J? ~M��_;I~Iɫ)�1)�1 �5����I�1Y����@y��8XG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����H�z�G�?)\���(�?��~j�t�����=*?���Ga= ����)��I��y�������K�?i��|?5�?y�&1��?���^?����q=���`e< A) �5AI - Ai �A������( A��Ï�M�C=Y���QU��>�����a��G����y�)^�}��>Iȹ�Ž��5�?�Žll�� ƽ�_@����?9ƽn�B�ǽ��: Ƚ�:)ȹ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����C @BuV�u�B� B��A����*B��A����<�A��A��A���<"C�nIG?RC�� ��C��C��ֵ�Ӹ=��qI�yG�~>��m=i�mp=��}� ����}�����}�����}��� �}�A:Y�}�Y1y�}�:��}��5���Tj,ܞ�S�E�Aɫ�髑)�� ������I��Y��]�@y���WG�xDUSBL response received:!U1,P DFC,000,00752,187,80,80,BA,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��]?�M]b=�U��>9�Uc�CI�U�SGi�U�@��U(=��Q��U�D��U�~; �Uu<EY�m���QU��>�������a��G���#?G�� y����}�>I�Q����:��U��5�?����:��U�c�� �UG_@����?9�U�B��Ux�< �U/�<)�U�:�W1�W1X1 X1�W1:W12W9*W9�V9bU9BUy*U�U�U������� @B����B� B��A���*B��A��z�<�A��A��A���<"C%��]?RC!C!�C)��U��=��A I�Q Gm �>�S�Uj,�tT�E�A�|i|�@Y}6'�C?�}6�?y}6���<�}6�Sb��}6H�������?���`@߿�����ӵ����`���?���@g�?������?����א�����` ̿�����5�?)~6'�C? ~6�^;I~6��CɫQ�Q)�Q �U����I�QY�}�@y�}oWG鮅a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�%�= �!��m<��m��>��m9��i�m��@��i �i)�iI�mI�@i�i��M�H=Y�QȺQU��>�����a��G����y�Z��}��>Iș�ŝv�5�?�ŝ�\�� Ɲ�^@����?9Ɲ]�B�ǝ0�: ȝ�:)ș�Wi�WiX� X��W�:W�2W�*W��V�bU�BU�*U�U�U������.@B��ٶ�B B �A ��*B �A坌<�A�A�A8��<"C�o?RCC�C!��%���=��I�G5O>��}- ����y��y��}��� �}i7:Y�yy�y��}��5��� Uj,�O-T�E�AY}2��A?�}2�=?y}2j@�<�}2|UP��}2H��������?���@�������%������c)�?�����H�?�����E�?����!G������C�ɿ���@�S�?)~2��A? ~2�>];I~0ɫ9�9)�9 �=����I�9Y����@y��FWG�xDUSBL response received:!U1,R,C83,000,0072B,188,80,80,86,FF �Fpublishing direction and range info����G?���ɰ�R>����> ��)���CI��y��3�B����[�L���?�* }�?��������ٱ�����,�M�T=Y����:QU��>�������a��G���$?G��y����}�>I� �� ��5�?�� bU�� � �^@���?9� ԕB�� ��: � Q�:)� �WA�WAXA XA�WA:WA2WI*WI�VIbUIBUQ*UQUQUU������@�Pa*Qe3�B�Ze�l�w��I@�a@��I@���������Ze�[�L���?�* }�?��������2Qe�G?:Qa�Ze�R4@���4@���ٕ)Q@%2�ev'��Ze�'Τ���?4-/DB�?���x�ĿBQe��? QeL�BQe�A�Pe^�9?�Pel�9?�Pe����Qe����Qel��"Qe��?B��w��B� B��A���*B��A����<�A��A��A����<"C�[s�?RC�C��C��֍��=��II�YGu>�������Ci���mGI�i�1����˿ٺ����A�AI�q)�u@A�5 ��>9�5 b�CI�5 �RGi�5 !�@��5 +=��1 ��1 ��5 �}; �5 �;E)�M�d�CI�M�d�Ci�M���C��M�%=��M�%=��M�(n6���Uj,�+GT�E�AY}=��@?�}=Z?y}=Yf�<�}=F�9��}=H������?����t�����د��������?���`_y�?�����?�����˝����`ǿ�����u�?)~=��@? ~=��\;I~=��Cɫ9�9)�9 �=����I�AY�]Z�@y�]�VG��TNmea in: $SNTTA,0.058438,,,,170104.48*4D ����=i��C=��94�����=����=i�G�@�� ��@)�ߏ@I��@i���@��UC1�MU6=Y�UcX;QUU�>��Y��Y�a]�G��Y��ay�e!�}e�>I�i��u�:��mx5�?��u�:��m�L�� �m'^@��}�?9�m`�B��m��: �m4�:)�m �:�mEqAdded new target pos. range: 72.599998 m, bearing: 73.371675 deg, deltaT: 4.409852 s, approachRate: -0.530631 m/s, LOS rate: 1.187416 deg/s, posRepo size: 4�mU� ProNav: pos range: 72.599998 m, bearing: 73.371675 deg, approachRate: -0.530631 m/s, LOS rate: 1.187416 deg/s, cmd update: 3.562249 deg/s, cmd heading: 68.135344 deg, new cmd heading: 68.135344 deg. �W]ɛ?�WYXY XY�WY:WY2Wa*Wa�VabU�BU�*U�U����`f&R@U������k�?B;=��B B�A� �*B�AeyE�<�Aa�Aa�Ae�z�<"Cuⱎ?RCqCuɛ?�Cy�ֵU֣���yI��G�>��}� ����}�����}�����}��� �}�Y:Y�}d\1y�}��:��}�6)�}P�;�9���J�Uj,�aT�E�A�|<�|<Y}j�@?�}j�~�?y}jW�=�}j}%��}jH������ �?��� ������%����������?�����?������?�����P�����@�Ŀ����%��?)~j�@? ~j��\;I~hɫ�髱)�� ������I��Y��y���� �5^�I�?����Mb�?���Q����� ?�� �= � ���)� I� y� ��l�����?��������:��v���?�� �?�� ����� ��< � �A)� ;=AI� �#Ai� \A�� �� �#A��!��%mAY�5��;QU5�>��1��1�a5�G��9��9y�=�Ļ}E�>I�I��M�#5�?��M,F�� �MS^@��U�?9�MٖB��M�: �M��:)�I�W}E��?�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U�������?B�v�¼B�� = B��A�*B��A���<�A��A��A�6��<"C�J �?RC�C�E��?�C��֥rZq���YI�iG�8>�� Uj,��zT�E�AY}23A@?�}2��?y}2�M =�}2N���}2H�����_�?�����������v�����@���?��� O��?����.y�?���`ب������t���������?)~23A@? ~2��\;I~2��Cɫ9�9)�9 �=����I�9Y��ƭ@y���UG��U㾼M]�<Y�]��;QU]�>��a��a�ae�G��e%?G��ay�m��;}m�>I�q��}�:��uO45�?��}�:��u@�� �ut^@����?9�uK�B��u��: �ub�:)�u �:�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����đ�?����>9��a�CI���PGi��ܩ@���-=���VD����D����{; ���:EB_�ʼB B �A =�*B �A��}<�A��A��A�J�<"C�J��?RC�C����?�C��֭�Y߽��aI�qG�:>��}�����}�����}�����}��� �}N2:Y�}�W1y�}č:��}}�5)�}G�;�u�$Uj,���T�E�AY}:�oA?�}:��?y}:��=�}:2ҽ�}:H�����Z��?����^$߿����������@��?���`~��?����?���@�����`R2�����`D��?)~:�oA? ~:r2];I~8ɫ9�9)�9 �=����I�9Y�}�@y�}VGI��)����}�ƽ��}.>��}Y�i�}3�@��y �}I�@)�}�@I�}3�@i�}3�@��#X<M�G=Y�K�;QU��>�����a��G����y��7<}��>Iȩ�ŭ6F5�?�ŭY9�� ƭ�^@����?9ƭȗB�ǭ�; ȭ�;)ȩ�W��<�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����V&�?B���B! B!�A%� �*B!�A%J�u<�A)�A)�A-��<"C5���?RC1C5�<�?�C9�� oh����I��G�$>��+Uj,̖�T�E�A�|i|�@Y}6o�C?�}6AP?y}6�I#=�}6�₽�}6H�����M��?����dz߿����Իh?�������?������?���@�>�?�����g�����@2V���������?)~6o�C? ~6��];I~4ɫY�Y)�Y �]����I�YY��'�@y��UG)� �= � >��5���M=P=Y�=��;QU=�>��A��A�aE�G��E&?G��Iy�Mx�<}M�>Iȩ����:�ŭ�W5�?����:�ŭ�2�� ƭ�^@����?9ƭB�B�ǭI�: ȭV�:)ȭ�:�W�t�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������N�@B�NӼB! B!�A%7�*B!�A%�n<�A)�A)�A-=��<"C5�^�?RC1C5t�?�C9�с��]��V���1I�AG]v>��}A����}�����}�����}0�� �}�$:Y�}DW1y�}Y�:��}��5�9�@����>9��I��OGi��F�@���+=���UD�������y; ���9E��2Uj,;r�T�E�AY} -�G?�} ��?y} ��.=�} ;���} H��������?�����;������?����D2�?����D��?����f�?���@}ۥ������ᖿ����|��?)~ -�G? ~ ��];I~ ɫ1�1)�1 �=����I�9Y�uì@y�u�TG��M9����M��>��M�=i�M��@��I �M��@)�Mt�@I�Mt�@i�Mt�@��]��M]9=Y�e��;QUe�>��a��a�am�G��i��iy�ug=}u�>I�y��}=j5�?��}_+�� �}�^@����?9�}ŘB��}'�: �}b�:)�y�W�#߫?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`��@B�'CԼB� B��A�W�*B��A�6�e<�A��A��A�ʔ�<"C��A�?RC�C�#߫?�C����=���[���יI��G�d>�/18Uj,:\�T�E�Aɫ�髑)�� ������I��Y��[�@y�� TG������AA���=i���=��u�}?5^�I�?)\���(��X9��v��?��uM?��uGa� �u�}=)�qI�qy�u�ˡE����?y�&1���{�G�zt?��u�?��u`���uף; �u A)�u�%AI�u!Ai�u3A��q��u=A����M�X=Y����QU��>�����a��G����y����}��>Iȩ����:�ŭLy5�?����:�ŭ&&�� ƭ8^@����?9ƭ,�B�ǭr�: ȭM�:)ȭ�:�W�V�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�R�B*** querying acoustic contact ***�P�PB�B��B� B��A���*B��A�;�]<�A��A��A�Zw�<"C�V�?RC�C�V�?�C�����)� ���u}����u�����u�����u=�� �u`):Y�uxZ1y�uq�:��u��5�ֽ V݅��בI��G��>��W>Uj,�'�T�E�A�|�|Y}6rPS?�}6D�?y}6��B=�}6sk�=�}6H�����m��?���`�R������'�?���`�p�?�������?���@�e�����@�Y������$D�?�������?)~6rPS? ~63�`;I~6��Cɫ9�9)�9 �=����I�AY�}�@y�}�SG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���;�M�V=Y��Q<QU��>�������a��G���'?G��y���=} �>I���$�5�?��k �� ��]@��%�?9���B�� ; ��;)��}��>9�}`�CI�}�LGi�}^�@��}0=��}VD��y��}�w; �}�8E�Weo;�?�WaXa Xa�Wi:Wi2W�*W��V�bU�BU�*U�U�U����@�+ @B�����B� B��A�*�*B��A �U<�A �A �A ���<"Co;�?RCCo;�?�C��=�����9I�QGmx>��?EUj,OU�E�AY}6��Z?�}6�R?y}6�gJ=�}6��=�}6H���� �A�?��� ������@X�?����B9�?���@�8�?���`�������VJ������d �?������?)~6��Z? ~6)~d;I~6��Cɫ9�9)�9 �=����I�AY�}��@y�}7SG�xDUSBL response received:!U1,P C83,000,0072B,188,80,80,86,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �Å���Åxi=�Ån>iÅ��@�Á ąߏ@)ąߏ@Iąߏ@ią��@����{�M�.=Y�e;QU�>��I��Q�aU�G��Q��ay��x=}��>Iș����:�ŝ��5�?����:�ŝ��� Ɲ�\@����?9Ɲ�B�ǝ��; ȝT�;)ȝ �:�W5r�?�W1X1 X1�W1:W12W9*W9�V9bU9BU9*UaUaUe���@�� @B��J�B� B��A �*B!�A-eL<�A)�A)�A-��<"Cer�?RCiCmr�?�Cq���U����������������� �� �/&:Y�[1y�ݏ:��m�5����ש I�� G� �>��kKUj,��/U�E�AY}2;�b?�}2 N#?y}2�1M=�}2�>�}2H����`���?���@S�������Կ?����\�?������?�����������`v��������$�?������?)~2;�b? ~2g�d;I~2��Cɫ1�9)�9 �9I�9Y�u(�@y�u�RG�yɮ}a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�I)�I���9�M�d=Y�=�:QU��>�����a��G��(?G��y�O�=}�?Iȩ�ŭr�5�?�ŭ!�� ƭZ\@����?9ƭv�B�ǭk�: ȭܹ:)ȩ�W�v��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�;@Bl��B%V�H= B!�A%/$�*B!�A%�RE<�A!�A!�A����<"C�v��?RC�C�v��?�C�������I��G�i>�}��>9�yI�}XJGi�}v�@��}6=��y��y��}�u; �}�7E��URUj,��IU�E�A�|Pi|PY}z[�j?�}z-S+?y}z��B=�}z#d#>�}zH�������?����i����@T�?��� y��?��� ���?�����q�����`�X�����@xP�?����Ɏ�?)~z[�j? ~z5�c;I~xɫ���)�� ��I��Y�-��@y�5�QG=xDUSBL response received:!U1,R,1C6,000,0070C,187,80,80,76,FF =Fpublishing direction and range info��5b�ʾ��1ɰ5�>�51�> �1)�5��BI�1y�5z�B��5�Ս��n��?��J��ؿ��������ٱ1�å����åQ8��å���iå̌@�á ĥ���)ĥ��@Iĥ��@iĥ��@��z�M�H=Y��ʻQU��>�����a��G�����y���=}��>I�����d�5�?����� ���[@����?9���B���Ǻ: ��#�:)���Wɻ?�WX X�W:W 2W *W �V bUBU*UUU������@�P!*Q%z�B�Z%���ur�PP@u}ъL;����������Z%�Ս��n��?��J��ؿ��������2Q%b�ʾ:Q!�Z%��@��P@�Ki�,3@ �?�,���Z%�J�J�)��?�tn �X�?NGka�躿BQ%�W�> Q%e�AQ%^�B�P%�9?�P%^�9?�P%����Q%����Q%��"Q%l��B]�z �BY BY�A]<(�*Ba�Ae�q<<�Aa�Aa�Am���<"Cmɻ?RCqCuɻ?�Cq���FӅ����I��Gm>��u= ����u�����u�����u��� �uM:Y�u�[1y�uH�:��u��5)�um�;�9}��XXUj,�cU�E�AY} V�r?�} &'3?y} m�+=�} X�1>�} H����@ u�?�����������F�?�������?���@�B�?�����������1u�������?���`�}�?)~ V�r? ~ Tvb;I~ ��Cɫ���)�� ������I��Y�-��@y�-�PG��DNmea in: $SNTTA,,,,,170108.91*59 ��5���v���?<�O��n¿����������5��>��5t� �5���)�1I�1y�5�+����?����Mbp���~j�t�?��5v?��5����5�= �5�/A)�55AI�5�%Ai�5�A��1��5="A��U���MUA=Y�U.Z�QUU�>��Y��Y�a]�G��Y��ay�e��=}m�>I�i��u�:��m��5�?��}�:��m��� �m�[@��}�?9�ml�B��mV�: �m�:)�m�:�m�yAdded new target pos. range: 70.739998 m, bearing: 15.817038 deg, deltaT: 4.469820 s, approachRate: -0.416124 m/s, LOS rate: -12.876276 deg/s, posRepo size: 4�m�ProNav REINIT: LOS rate is -12.876276 deg/s. Setting heading cmd to target bearing of 15.817038deg and heading rate command to 0 deg/s.�W��W�>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U���� \�Q@U����`���?B��2 �B� B��A��0�*B��A��"2<�A��A��A�$4�<"C$�?*C%�í�RC!C%�W�>�C!��-6Ʌ���I�!G=�>i�� 6nGI�� i�� ��- �Կٺ) ��- ��A��^Uj,&p}U�E�AY}2z?�}2Ҋ:?y}2��=�}2pL7>�}2H����@��?�����������ib�?�����K�?����.��?����G�������{���������?����gx�?)~2z? ~2�a;I~2��CɫI�I)�I �M����I�IY�}J�@y�}HPG����=i���=���>9�I��HGi���@��7=�������t; �@7E)ݵ�`�CIݵ�a�Ciݵ���C�ݵ�0=�ݵ�1=�ݵ�W�6��=d��M=^=Y�E��QUE�>��A��A�aM�G��M)?G��Iy�U�=}U�>I�Y��]!�5�?��]X��� �]\\@��e�?9�]��B��]s�: �]�:)�Y�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������F�?BM�,�BI Bi�Am3�*Bi�Au�*<�Aq�Aq�Au���<"C}�=�?RCyCy�C��х{0=�֕?΅���q���������������������$�� �H-:Y��_1y�̒:��Z�5)���;I��G��>���eUj,+L�U�E�A�|4<�|4<Y}6k��?�}6�~A?y}6�e�<�}6�5>�}6H�����WG�?����l������_��?������?���@��?�����[������,�����`q��?�����}�?)~6k��? ~6(�`;I~6��Cɫ9�9)�9 �=����I�9Y��7�@y��1PG��A��A�Í\�=�Íߏ>�Ít�iÍ=�@�É ĉ)čV�@IčV�@ičV�@�����M�D=Y�Ѩ�QU��>�����a��G����y�Q�=}��>Iȹ����:�Ž;�5�?����:�Ž���� ƽ�\@����?9ƽe�B�ǽ$�: Ƚs�:)Ƚ�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*UUU��� TM�?B���B� B��A��3�*B��A�� <�A��A��A�S��<"C��$�?RC�C��C������G=�ֹ�בI��G��>��kUj,|&�U�E�AY}:`Ѓ?�}:�H?y}:3�<�}:�1>�}:H����`���?�����"�����A�?������?���`�p�?���@�i������.��������?������?)~:`Ѓ? ~:|`;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}`NG��Ue�M]O=Y�]���QU]�>��a��a�ae�G��e*?G��ay�m-�=}m�>I�q��u�5�?��u��� �u�]@����?9�u�B��u��: �un�:)�q�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��?B� �6�B� B��A�~?�*B��A�bD<�A��A��A�6�<"C�c8�?RC�C��C�����)� ��9�a�CI�pFGi�J�@��4=������u; �P7E��mFӅ����� �������������������� ��D:Y��[1y�H�:����5)��;��i I�q G� �>���rUj,�"�U�E�AY}>��?�}>�}N?y}>�<<�}>,3->�}>H����@<$�?���������@�Y�?������?��� ���?�����(�����@�������`Nj�?����Ê�?)~>��? ~>K'`;I~>��CɫI�I)�I �M����I�IY����@y��MGI��)����m/ݽ��m��=��mj�<i�m�@��i �m7�@)�mt�@I�m��@i�m7�@��}m��M}G=Y�e��QU�>��!��!�a%�G��!��)y�5�n=}5�>I�9��M�:��=�5�?��M�:��=V��� �=r^@��U�?9�=j�B��=,�= �=Tl=)�=�:�W��W�X� X��W�:W�2W�*W��V�bU�BUa*UaUiUm�����@B} \m�B� �4= B� �A� gH�*B� �A� �<�A� �A� �A� �<"C� +\�?RC� C� �C �� ?΅�I� )� ��� I�� G�>���yUj,ۆ�U�E�A�|i|�@Y}6�H�?�}6��T?y}6M;�}6��!>�}6H����@S��?���@[������#�?��� L��?����}I�?���`,º����ਢ`����@�&�?����ՙ�?)~6�H�? ~6�9`;I~4ɫ1�1)�1 �5����I�1Y�u�@y�uOMG��e�y�&1��?:��v���?T㥛� �?��e`�>��e�T= �e�=)�aI�ay�e���/�$�?����Mb`�:��v���?��e&?��e���e��< �e�6A)�edAI�e&%Ai�e�"A��a��e�$A��$�<M�/=Y��y�QU��>�����a��G�����y���i=}��>I�����x5�?������� ��#_@����?9���B�����: ���:)���W�W X X �W :W 2W*W�VbUBU*UUU����\�@BEXm�BI BI�AMpF�*BI�AM���<�AQ�AQ�AU��<"C]��?RCYCY�CY��}FӅ���QI�aG}Y>��� �������������� �� ��U:Y�d\1y���:��m�5�9�@�F��Uj,YLV�E�A�&��>9�$I�&DEGi�&V�@��&0=��$��$��&su; �&�7EY}F���?�}F)�[?y}F/����}F@>�}FH���� ���?����\������\?�����:�?�������?��� �������]4w?�����W�?����Q��?)~F���? ~FF8`;I~F��Cɫy�y)�y �}����I�yY��^�@y��uKG������?A��M��MU=Y����QU�>��!��!�a%�G��%+?G��)y�-Y�=}-�>I�1��5�5�?��5���� �5�_@��E�?9�5[�B��5��: �5M�:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VibUqBUq*UqUyU}���`��@�R�B*** querying acoustic contact ***�P��P�B�VR�B� B��A�yR�*BQ�A]d��;�AY�Aa�Ae�<�<"C}4ȋ?RC�r���C��C������I�Gn>�#��Uj,�.V�E�AY}6�e�?�}6`9c?y}6Jd��}63�>�}6H������2�?����N������8��?���`���?���`���?�������������?����U��?���@���?)~6�e�? ~6�`;I~6��Cɫ9�9)�9 �=����I�9Y�u'�@y�}1KG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=i��=�� ��=�� \=�� "[�i� ��@�� � t�@)� I� t�@i� t�@��mx�Mm6=Y�u5��QUu�>��q��q�a}�G��y��yy���=}��>Iȉ����:�ō3-5�?����:�ō���� ƍ�`@����?9ƍݞB�Ǎ��: ȍ��:)ȍ�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������x @B��3G�B� B��A�5T�*B��Ar��;�A�A�A�>�<"C �n�?RC �'�C �C����J=���*�������������������� ���":Y��xZ1y��q�:���J�5�� GT�����?i�u?���I��G��>����Uj,�6V�E�A�|�;�|Y}6�B�?�}6��j?y}6|丼�}6>��>�}6H�����%p�?���`E�����% �?��� �h�?���@�7�?������������?������?������?)~6�B�? ~6S�`;I~6��CɫY�Y)�Y �e����I�aY��n�@y��MJG�xDUSBL response received:!U1,P 1C6,000,0070C,187,80,80,76,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 ��%H��M%c=Y�5üQU=�>��I����a��G���,?G��y�%�=}%�>I�)��-�85�?��-��� �-�a@��]�?9�-N�B��-|�; �-��;)�)�WA�WiXi Xi�Wi:Wq2Wy*Wy�V�bU�BU�*U�U�U�����0� @Br&Q�B B�A�Y�*B�Ae� �;�Aa�Aa�Aes�<"Cm��h?RCmν��Ci�Cq�U��>9�QI�U|DGi�U��@��U/=��UUD��Q��U�u; �U�7E�ѕȿ=��]U'x���QI�YG��>�ʓUj,��OV�E�AY}6~]�?�}6�(s?y}6�����}6cP�=�}6H�����ڛ�?����������@�U�?����s�?���@�b�?�����]����� ��?���@-��?�������?)~6~]�? ~6��`;I~6��Cɫ9�9)�9 �=����I�9Y�u��@y�}�JG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �å/ݼ�å 0=�åp=>iå��@�á ĥ�@)ĥ7�@Iĥ �@iĥ �@��1�<M�A=Y���QU��>������a��G������y����=}��>I������:����C5�?����:���ũ�� ���b@����?9����B�����: ��A�:)���:�W �W X X �W :W2W*W�VbUBU*UUU����k`@B�p�g�B B �A sW�*B �A ���;�A �A�AD��<"C�vU?RC�Y�<C�C��A��A)�I �I���7�������������������� ���#:Y��[1y��ݏ:���n�5��- �oA��� I� G5 �>�_�Uj,s�iV�E�AY}:���?�}:�{{?y}:�!��}:`��=�}:H��������?��� �������k�?������?���@O��?����x������ D"�?�������?��� 1��?)~:���? ~:��a;I~:��Cɫ9�9)�9 �=����I�9Y�}ǣ@y�}�IG�xDUSBL response received:!U1,R,EF6,000,006E2,186,80,80,AB,FF �Fpublishing direction and range info���+�m>���ɰ�W>鰅��> ��)���+CI��y��p�B������H$�?c2YEr�?��������ٱ�I��)������1�Zd�?X9��v������Mbp����"?����� ����)��I��y�����~j�t�?���Q��?�~j�t��?����?����u<�����< ��/A)�� AI��- Ai���&A������\#A����MD=Y����QU�>��!��!�a%�G��%-?G��!y�-��=}-�>I�1��51O5�?��5͝�� �5*d@��E�?9�5B�B��5��: �5n�:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wq�VqbUqBUq*UqUyU}����� @�P�*Q�p�B�Z���N����P@ٕu�Rc/@���������Z����H$�?c2YEr�?��������2Q�+�m>:Q��Z��@��h�7@_!����O@���Hc�@�Z����~;X�?8������?�9���?BQ�'O�? Q�BQ���A�P�q�9?�P��9?�P�����Q�����Q�A"Q���B=!uc�B9 B9�A=3_�*BA�AE�L�;�AA�Aa�Ae��<"Cm�9??RCmU�=Cq�Cq�օl,���9I�IGeV>��A��A���Uj,��V�E�A���>9�I�i�����VD�����v; �8E�|Di|F�@Y}}B��?�}}(��?y}}�A��}}c��=�}}H�������?���@����� =2�?����0!�?���@��?�����~�������0�?���`��?����r��?)~}B��? ~}Kb;I~}��Cɫi�i)�q �u����I�yY� ã@y� {IG��DNmea in: $SNTTA,,,,,170113.42*5D )���= ���=��U��<��UQ8���U`e�i�U�@��Q �Ut�@)�Uh�@I�U��@i�Ut�@��m��Mm6=Y�mɐ�QUm�>��q��q�au�G��q��yy�}��=}}�>Iȁ����:�Ņ�Z5�?����:�Ņ���� ƅ�e@����?9ƅ͠B�Dž��: ȅA�:)ȅ�:�muAdded new target pos. range: 68.219994 m, bearing: 69.520008 deg, deltaT: 4.511525 s, approachRate: -0.558570 m/s, LOS rate: 11.903507 deg/s, posRepo size: 4�m ProNav REINIT: LOS rate is 11.903507 deg/s. Setting heading cmd to target bearing of 69.520008deg and heading rate command to 0 deg/s.�W'O�?�WX X�W:W2W!*W!�V!bU)BU)*U)U5���`Q@U=��� N|�?B��K^�Bum�< B�AQ_�*B�A ҹm;�A �A �A LP�<"C5}�-?RC=�>G>C='O�?�C9���=�������������������� ��E$:Y���[1y��H�:�����5)��'�;�9���օo�'���y I�� G� �>���Uj,]p�V�E�AY}2r3�?�}2Xj�?y}2�\��}2��=�}2H����@��?���`W������Ұ?����(��?������?���@u������`�~�?�����k�?�������?)~2r3�? ~2�;b;I~2��CɫI�I)�I �QI�QY�}��@y�}RIG��L�Mz=Y���QU?��!��!�a%�G��!��)y�-�=}-?I�1��5c5�?��5��� �5�f@��E�?9�52�B��5��: �5��:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�VibUqBUq*UqUyU}����Ͻ�?B��;��B� B��A�\`�*B��A�`J;�A��A��A����<"C�t�$?RC�4Xy>C��C��օ�����aI�iG�9>�b.�Uj,0I�V�E�A����i�RVnGI�`i�p��Dҿٺ��%t�AY}m�Ũ?�}m���?y}m�5s��}m��=�}mH�����z��?���@����� ���?����/�?�����/�?����tW�����@#b�?�����9�?���`��?)~m�Ũ? ~m�wb;I~m��Cɫ�髑)�� ��I��Y����@y��nIG��5p=i�5�=��u_�;Mu6=Y�u�N�QUu�>��y��y�a}�G��}.?G��y�=}��>Iȑ����:�ŕ�m5�?����:�ŕ]y�� ƕ�h@����?9ƕ��B�Ǖk�: ȕw�:)ȕ�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@&��?B��5c�B B�A�_�*B�A�;�A�A �A �u�<"C�??RC� �>C�C�� ( ������>9��I���DGi���@�������������w; ���8E)�=�a�CI�9�i�9���=�/=��=�0=��=�M6I�!GMR>���b�����������������J�� ��wd:Y��[1y��ݏ:���~�5)����;���Uj,R&�V�E�A�|�|�;Y}28ԫ?�}2�?y}2r����}2K�=�}2H����@�N�?��� �_����`�{�?�����_�?����0��?�����Ѻ�����3[�?������?�������?)~28ԫ? ~23b;I~2��Cɫ9�9)�9 �=����I�9Y�} �@y�}�IG������nA��]�Ǿ��]O�=��]�νi�]��@��Y �] �@)�] �@I�]�@i�]7�@��m��<Mm\=Y�u5I�QUu�>��y��y�a}�G��y��y���=}��>Iȉ�ō�u5�?�ōn�� ƍ9j@����?9ƍ0�B�Ǎ�; ȍ�;)ȉ�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����w�?B�y�B B �A ]�*B �A d�:�A �A�Awc�<"C��?*CM��RCC�C��%�"=��������I�G]v>��@�Uj,��V�E�AY}6���?�}6�̎?y}6����}6w_�=�}6H�������?���`a����� ��?����X��?���@���?��� �c�����@譱?�����O�?�������?)~6���? ~6�a;I~6��Cɫy�y)�y �}����I�yY����@y��RIG����-�����? ףp= ��<�O��n�?���5�>���Q�� ��t�<)��I��y�����Q��?���Q��?�I+�������?������94� ���*A)���AI���Ai���*A���������S��M�B=Y���I�QU��>�������a��G���/?G��y��Q=}�>I� �� �}5�?�� {b�� � �j@���?9� ��B�� #�: � n�:)� �W9�W9XA XA�WA:WA2WA*WI�VIbUIBUI*UQUQUU������@B}��q�B� B��A�\`�*B��A��|q:�A��A��A�-�<"C��g$?RC�C��C��э8��<��M�}����!I�1GUS>��U< ����U�����U�����UD�� �U�8:Y�U�Y1y�U�:��U5�5�9]@��9��I��DEGi��V�@������������z; ���9E�&)�Uj,U�W�E�Aɫy�y)�y ��I��Y����@y��`IGI�!)�!��!`;M�N=Y�����QU��>��I��I�aM�G��I��Qy�U���}U�>I�Y��e�:��]q�5�?��e�:��]W�� �]�k@��m�?9�]�B��]�: �]v�:)�]�:�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� Zk@B�I�u�B� B��A�`�*B��A�ؑM9�A��A��A����<"C�X�/?RC��>C��C�������)�� ����M �=I�Q)�Q��9 I�A Ge �>�kT�Uj,D�W�E�A�|i|�@Y}6���?�}6�/�?y}6z���}6�7�=�}6H�����U��?��� $������R�?��� (�?������?��� �������?����o��?�������?)~6���? ~6wo_;I~6��Cɫ9�9)�9 �9I�9Y�u�@y�}�IG��y��y)��> ��>��=�����=�'=��=|?>i�=��@��9 �9)�=7�@I�=7�@i�9��M��<MMQ=Y�UX��QUU�>��Q��Y�a]�G��Y��Yy�eH�=}e�>I�i��m��5�?��m�L�� �mul@��u�?9�m{�B��m��: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����ag@�R�B*** querying acoustic contact ***�P��P�B��!��B� B��A�<]�*B��A�p���A��A��A���<"C��X>?RC�,�k>C��C����4F�=�I��G�>��U�����U�����U�����U|�� �Uh:Y�U�W1y�Uč:��U4�5��~�Uj,R�8W�E�AY}R�j�?�}R���?y}RNC���}R�\�=�}RH������Q�?���@�$������˖�?��� �?�������?����`��������B�?����tֳ?��� ���?)~R�j�? ~Rٲ^;I~R��Cɫq�y)�y �}����I�yY��I�@y��JG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���<M�G=Y�Cv�QU��>�����a��G��0?G��y�� <}��>Iȡ����:�ť�5�?����:�ť]A�� ƥQm@����?9ƥ�B�ǥz�; ȥ�;)ȥ�:�W�WX X�W:W2W*W!�V!bU!BU!*U!U)UM���`�� @B��ms�B� B��A�'[�*B��A�智�A��A��A�p��<"C��{U?RC�||>C��C������=ܕ��>9ܑIܕpFGiܕJ�@�ܕ-=�ܕUD�ܑ�ܕQ�; ݕW=E�I��G�E>��d�Uj,�mRW�E�Aɫ�髙)�� ������I��Y��#�@y��,KG�xDUSBL response received:!U1,P EF6,000,006E2,186,80,80,AB,FF �Command Ack�BRequesting micromodem ping code 2i��������a=i��=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �Å����Å/]=�Å�=iÅ��@�Á ą��@)ą�@Ią��@ią��@����U=M=Y����QU�>��!��)�a5�G��1��iy����}��>I�����!�5�?���R1�� ���n@����?9����B�����: ��ʽ:)����' ��������������e�� ��6:Y�WU1y��:��G�5�WA�WAXA XA�WA:WI2WI*WI�VibUqBUq*UqUqUu����%a@B�u�N�B� B��A�ST�*B��A�����A��A��A����<"C�,8t?RC���n=C��C���� ��;>�ׁ I�� G� �>�>��Uj,8JlW�E�A�|4<�|ɫ�髙)�� ������I��Y��ƥ@y���KG��p=ɮ�p=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���V-���?/�$��?y�&1��?����>���= �`e<)�I�y����MbX�?����Mb`�)\���(�?��� ?�����Ga= � *A)�3AI��Ai� *A�����!A��%e�=M%�=Y�!QU%?��)��)�a5�G��51?G��9y�9}=?I�A��M�:��E�5�?��U�:��Ex*�� �Ep@��U�?9�EΤB��E��: �Ef�:)�E�:�W�WX X�W:W2W*W�VbU!BU!*U!UAUM��� B@B�^F��B� B��A�;O�*B��A�$(��A��A��A����<"C��'�?RC�)�i<C��C�����G>�יI��G�c>܁9܁I܅�GGi܅=�@�܁�܁�܁�܅/�; ݅]AE��w�Uj,'�W�E�AY}6,��?�}6�?y}6k���}6T<=�}6H�����g�?������������$�?���`���?������?���������� K?��� x�?������?)~6,��? ~6f:];I~6��CɫY�a)�a �m����I�iY��S�@y��gKG�xDUSBL response received:!U1,R,FDB,000,006BC,185,80,80,AC,FF �Fpublishing direction and range info���A=���ɰ�: >��+�> ��)���,CI��y���B�����<���?��J!e��?��������ٱ���m/]���m�@=��m+�i�mz�@��i �m��@)�m��@I�m��@i�m��@����M�C=Y�vU<QU��>�����a��G����y�C�}��>Iȱ�ŵ�5�?�ŵ�� Ƶ�r@����?9ƵA�B�ǵU�: ȵ�:)ȱ�W!�W!X! X!�W!:WA2WI*WI�VIbUIBUQ*UQUQUU���@t�@�Pa*Qe�B�Ze�����yP@����@���������Ze��<���?��J!e��?��������2QeA=:Qa�Ze�=����9@�wd�2N@5��I �@�Ze��5IP�;�?���P1O�?�����<�?BQe��? Qe�qBQe��A�Pez�9?�Peq�9?�Pe����Qe����Qe�!A"QeAB��u�B� B��A��R�*B��A�X�T��A��A��Av]�<"C �V�?RC l���C �C��5�G>�����������������$�� ��:Y��X1y�/�:��Z�5)��p;�9����I�G5�>���Uj,���W�E�AY}b�L�?�}b���?y}b�V���}b�G<�}bH����@��?����}��������������־�?���@���?����$������ �f�?����D߈?����4��?)~b�L�? ~b�];I~`ɫ�髹)�� ��I��Y��ܥ@y��LG�]DNmea in: $SNTTA,,,,,170117.87*50 I�Y)�Y����2=M�U=Y��A�;QU��>������a�G����y� ��} �>I����:����5�?���:����� ��t@��%�?9���B����: �A�:)��:�m}uAdded new target pos. range: 65.940010 m, bearing: 66.709816 deg, deltaT: 4.472059 s, approachRate: -0.509829 m/s, LOS rate: -0.628389 deg/s, posRepo size: 4�m�� ProNav: 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. �W�8��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U���� )|P@U������A�?B�Q.��B� B��A��N�*B��A���{��A��A��A�r#�<"C���?RC�B���C�8��?�C�����z:>���I� G%M>����Uj,��W�E�A�|i|�@Y}:vn�?�}:Y��?y}:���}:����}:H�����k��?����������s�����@���?����*��?�����B�������=�?���@rK�����` ��?)~:vn�? ~:W�];I~:��Cɫ1�1)�1 �5����I�9Y�u��@y�u0LG)���= ���=�� j <M Z=Y� x�:QU�>�����a�G��2?G��y���}%�>I�!��%N�5�?��%� �� �%(w@��5�?9�%�B��%M�: �%f�:)�!�WUc&�?�WYXY XY�WY:WY2WY*Wa�VabUaBUa*UaUiUm����V��?B�E���B� B��A��M�*B��A����A��A��A�z��<"C��7�?RC�9g(�C�c&�?�C���m�>��AI�IGe>�-��>9�)I�-�HGi�-1�@��-/=��-VD��)��-��; �-�CE���������������������R�� ��T:Y���W1y��č:���5�5)���};�_��Uj,N��W�E�AY}2��?�}2�G�?y}29����}2bU���}2H�����N��?����6����@s������ �E�?���`@��?���@1V������z/�?����p�������4��?)~2��? ~2��];I~2��Cɫ9�9)�9 �9I�9Y�]K�@y�]�LG�� �=�� \���� `�i� �� � )� I� i� ��M��<MUF=Y�U9:QUU�>��Y��Y�a]�G��Y��ay�e�7�}e�>I�i��m��5�?��m��߾� �m�y@��}�?9�m��B��m��: �m��:)�i�W��i�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����с�?B�s�t�B� B��A�K�*B��A�s����A��A��A���<"C�-`�?RC��II�C��i�?�C��� I��=���I��G-,>�r��Uj,:��W�E�AY}2ҡ�?�}2�؈?y}2�}2/�н�}2H�������?����=�������d��������?����(�?����Q�������ڱ?���������������?)~2ҡ�? ~267_;I~2��CɫY�Y)�Y �]����I�YY����@y��MG���p=i��%=����� �rh��?���S㥫�:��v���?����,?���/]� ���T<)��I��y���i��|?5�?���Q��?����Mbp�����?����u=����� ½�A)½�"AI½�Ai½K)A������� A���G�<M�A=Y�6G;QU�>���� �a �G�� 3?G��y��6�}�>I���%�:����5�?��%�:����߾� �nz@��-�?9���B����: �M�:)��:�WM ��?�WIXQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UYUaUe����rS�?B��sp�B� B��A�H�*B��A��b���A��A��A�uT�<"C� ��?*C�`P��RC��W�C� ��?�C��֍�==��aI�qG�;>i��mGI��i���E3ԿٺI��ME�A�����������������i�� �h:Y�DW1y�Y�:��"�5�9@�-��>9�)I�-XJGi�-v�@��)��)��)��-}�; �-�EE)ݹ�Iݹ�iݹ��ݹ��ݽ�.=�ݽ�܆5�W�Vj,rmX�E�A�|2�;�|0Y}R���?�}Rn��?y}R�Ƈ��}Rok��}RH�����M��?���@vr���� �.¿����w��?���`G��?����h�u?��� ���?����V������ά�?)~R���? ~R�Ca;I~R��Cɫ�髡)�� ������I��Y��ئ@y��FMG��a��a�ý��=�ý-�=�ý�{>iý��@�ù Ľ��@)Ľ��@IĽ��@iĽ��@���1\<M�J=Y��'<QU��>�������a��G������y��-'�}��>I�����5�?�� �߾� �{@���?9�u�B����: �v�:)��W5��?�W1X1 X1�W9:W92W9*W9�V9bUABUA*UAUAUM���`���?Bu��x�By By�A}�F�*By�A}��л�A��A��A��.�<"C�,�?RC 1R�C ��?�C ��jZغ���I��GJ>�7�Vj,�G!X�E�AY}2C��?�}2&7�?y}2طx��}2, ��}2H���� &�?����M6�����ÿ�������?��� VA�?����� �?��� �?�����������Q��?)~2C��? ~2i�`;I~0ɫY�Y)�Y �]����I�YY��*�@y���MG��5��<M=V=Y�=\o<QU=�>��A��A�aE�G��A��Ay�M���}M�>I������:�����5�?����:���o�߾� ���{@����?9���B�����: ��f�:)���:�W�GB�?�W�X� X��W:W2W*W�VbU BU *U U U����R@B=yy�B9 B9�A=D�*BA�AE����AA�AA�AEm/�<"CM��?RCM�98�CUGB�?�CQ��m�8���!I�1GM1>��m� ����m�����m�����m��� �m-B:Y�m0Y1y�m��:��m��5��Vj,G ;X�E�AY}6�;�?�}6nr�?y}6�^��}6����}6H������Q�?�����%�����Q1¿��� �x�?�����e�?�����N�?���@�ӫ?���`1 ������ު�?)~6�;�? ~6�)`;I~6��CɫI�I)�I �II�IY�}Ч@y�}wNG������AAI��)�����X=M�T=Y� �<QU��>�����a��G��4?G��y���}��>I������5�?�����߾� ��|@����?9��U�B���Ǻ: ��#�:)���W�곏?�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU��� �@�R B*** querying acoustic contact ***�P �P B5�-}�B1 B9�A=�>�*B9�A=�����A9�A9�AE�]�<"CE곏?RCM���CM곏?�CI��5�8�����I��G>����>9��`�CI���KGi����@������������Ɗ; ��4HE�}Vj,��TX�E�A�|i|�@Y}62.�?�}6e�?y}6��F��}6���}6H������U�?����G9���� ���������x�?���@f�?����cƒ?����>Ѩ?�����߽����@V��?)~62.�? ~6�$^;I~6��Cɫ9�9)�9 �=����I�9Y����@y��VOG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)�-�= �->�å����å9���åt��iå��@�á ĥ��@)ĥߏ@Iĥ��@iĥ��@���N=M�:=Y��[<QU��>�����a��G�����y��-s�}��>I������:�����5�?����:�����߾� ���|@����?9��֨B�����: ���:)���:�Wcڍ?�WX X�W:W2W *W �V bU�BU�*U�U�U������ @B=��`�B9 B9�A=?9�*B9�AE����AA�AA�AE=��<"C}���?RC��' �C�cڍ?�C���u�z����II�Y��u� ����u�����u�����uJ�� �u�S:Y�u�U1y�u��:��u~�5G��>�B+Vj,��nX�E�Aɫ�髙)�� ������I��Y���@y���OG�xDUSBL response received:!U1,P FDB,000,006BC,185,80,80,AC,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������"��~�?�A`��"�?X9��v��?�����>���Y= ���}=)��I��y������ �r�?���Q��?���S㥛?����#?�����<���/�< dA)C3AI3Aiz(A������ #A�����<M�!=Y�����QU��>�������a��G���5?G���y�����}��>I�������5�?�����߾� ��X~@����?9��{�B���$�: ��|�:)���W%w��?�W!X! X!�W!:W!2W)*W)�V)bU)BU)*U1U1U5������ @Bm��^�Bq Bq�A}O5�*By�A�����A��A��A�g��<"C�0k�?*C�ds��RC���C�w��?�C��ֽ/����qI��G��>�� ��>9�� I�� LLGi�� �@��� 3=��� ��� ��� �; �� �JE��"Vj,ȵ�X�E�AY}5ñ�?�}5��?y}5����}5��p��}5H����@7�?�������������������լ�?���`��?������q�����F��?��� I���������?)~5ñ�? ~5�_\;I~1ɫQ�Q)�Q �U����I�QY��7�@y��1PG鮝a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��M=i�M�=�í��;�í��<�í=�>ií��@�é ĭ��@)ĭt�@IĭV�@iĭt�@��f�<M�s=Y���<QU�?�������a��G������y��N=}�?I������:�����5�?����:�����߾� ��k@����?9���B�����: ��]�:)���:�W jN�?�W X X �W :W2W*W�VbUBU*UUU��� �@BM����BI BI�AM�3�*BI�AU�B��AQ�AQ�AUMF�<"C]A�?RC]����C]jN�?�Ca��eۻ����I�)GMS>��������������������Z�� ���:Y��DW1y��Y�:�����5)���~;�9���J=(Vj,���X�E�A�|�|Y}>���?�}>�1�?y}>�9 ��}>6o��}>H�����{�?����������qߦ����`���?���@b��?���@U�����`W��?���@�J���������?)~>���? ~>�e\;I~>��CɫY�Y)�Y �]����I�YY��ĩ@y���PG�xDUSBL response received:!U1,R,F78,000,0068F,186,80,80,AA,FF �Fpublishing direction and range info�����=���ɰ�� >鰥��> ��)���*CI��y���|B����K��_��?�E���O�?��������ٱ�������mA��5)6=M5T=Y�5LA<QU=�>��9��9�a=�G��9��Ay�E+�<}E�>I�Q��U15�?��U��߾� �UM�@��]�?9�Ug�B��U�: �U8�:)�Q�W�ͭ�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�P�*Q��|B�Z�����H�eO@`@����@���������Z��K��_��?�E���O�?��������2Q���=:Q��Z��◙�`8@+���)M@�r�����?�Z��2�C����?�pE�?AV{�t1�?BQ��b�? Q�HiBQ��A�P�x�9?�P�z�9?�P�����Q�����Q�i�@"Q��!AB=)Pl�B9 BA�AEK/�*BA�AE4J"��AA�Aa�Am��<"Cmͭ�?RCu� ��Cuͭ�?�Cq��}7����QI�aG}z>�]g.Vj,�i�X�E�Aɫ���)�� ������I��Y��@y�KQG��DNmea in: $SNTTA,,,,,170122.32*58 �����<M�P=Y�����QU��>�������a��G���6?G���y�����}��>I������5�?�����߾� ���@����?9���B��� �: ��f�:)���m-qAdded new target pos. range: 63.240005 m, bearing: 67.315974 deg, deltaT: 4.423738 s, approachRate: -0.610345 m/s, LOS rate: 0.137024 deg/s, posRepo size: 4�m=� ProNav: pos range: 63.240005 m, bearing: 67.315974 deg, approachRate: -0.610345 m/s, LOS rate: 0.137024 deg/s, cmd update: 0.411072 deg/s, cmd heading: 61.180663 deg, new cmd heading: 60.443074 deg. �W=� �?�WAXA XA�WA:WA2WA*WI�VIbUIBUI*UQUU������O@UU�������?B���p�B� B��A��,�*B��A��*��A��A��A�0~�<"C�{�?*C��u��RC�9���C�� �?�C��u��>9�ua�CI�qi�q��u5=��q��q��u�; �u�JE�֭������iI��G�=>�ޝ�=iޝ�=���������������������$�� ��A:Y���[1y��H�:���Z�5)��.z;��O5Vj,oF�X�E�AY}6�4�?�}6�k�?y}6��ü�}6eg�<�}6H����`��?��� �>�����D�?����_<�?����E�?�����$�����@r�?���`�ʖ?�������?)~6�4�? ~6�^\;I~4ɫY�Y)�Y �]����I�YY�}��@y�}�QGI��)����=�����=Q8���=C=i�=3�@��9 �=��@)�=��@I�=�@i�=�@��M�5=MMS=Y�U��<QUU�>��Y��Y�a]�G��Y��Yy�eO�=}e�>I�i��u�:��m�5�?��u�:��mj�߾� �mp�@��}�?9�mf�B��m��: �m��:)�m�:�W��d�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?BNIk�B��= B�A(�*B!�A%�3��A!�A!�A%>Z�<"C5�d�?RC==���C=�d�?�CI��U�h����)I�QG�:>�Sy;Vj, �X�E�A�|i|�@Y}>f5�?�}>Hl�?y}>|����}>�G=�}>H�����{1�?����tt����`��?���@�x�?�����?����~��������s�?���@1ߨ?��� ���?)~>f5�? ~>��];I~>��CɫY�Y)�Y �]����I�aY���@y��KQG����/�$���?��~j�t��k�t��?�����>������ �� 0=)��I��y����Q����?��~j�t�?+�����?���\?����=����= µ�A)µ- AIµ�AiµQ$A�������A)���= ���=���M'�M�B=Y���c<QU��>�������a��G���7?G���y��a=}��>I������"5�?���>w߾� ���@����?9��ޫB���<�: ��f�:)���W�lj?�WX! X!�W!:W!2W!*W!�V)bU)BU)*U1U1U5���`��?B]�Om�Ba Ba�Ae�,�*Ba�Ae�3<��Aa�Aa�Am�n�<"C �?*Cii��RCZz�C�lj?�C��]G����1I�IG}z>�� 2���� ����� ����� r�� � �:Y� �a1y� �:�� �5�9 @�m ��>9�i I�m �KGi�m ��@��m 2=��i ��m �D��m ��; �m IE��dBVj, Y�E�AY}rQ�?�}r?y}r�V��}r>��=�}rH������@�?���@��������V�?�������?�����#�?���@~a������"��?���@�n�?����H��?)~rQ�? ~r�];I~pɫ�髱)�� ������I��Y����@y��RG��������t������#�i��(�@��� ����@)����@I��O�@i����@����C=M�I=Y��H<QU��>�������a��G������y��&=}��>I�����:����)5�?���:���hk߾� ����@���?9��S�B�����: ����:)���:�W-A'�?�W)X) X)�W):W12W1*W1�V1bU1BU9*U9U9U=���`̖�?Bm�sk�Bi Bi�Am�'�*Bi�Auh�D��Aq�Aq�Au2��<"C}A'�?RC} 3g�C}A'�?�C���emf����!I�)GE0>Iމ)ލ?A�^�HVj,|�#Y�E�AY}2Q��?�}23ސ?y}2~�0��}2vĪ=�}2H����`�3�?����������@E!�?�������?���`z�?���@��������?�����Q�?���@��?)~2Q��? ~29];I~2��CɫA�I)�I �U����I�QY��M�@y���QG���p=i��a=��5J�M=V=Y�=;�;QU=�>��A��A�aE�G��A��Iy�M�C=}M�>I�Q��U�05�?��U0`߾� �UX�@��e�?9�U��B��Ub�: �U�:)�Q�W���?�W�X� X��W�:W�2W�*W��V�bU BU*UUU����E��?B]�xr�Ba Ba�Ae+�*Ba�Aem�M��Ai�Ai�Am���<"C���?*C�4T��RC�U/�C���?�C����y=��������i���?�ױI��G��>��M �����M �����M �����M �� �M y0:Y�M �_1y�M ̒:��M H�5��� ��� i�- �mGI�Q i�i ��� �Կٺ� ��� ��A�յNVj,�=Y�E�A�|�|Y}6��?�}6�4�?y}6���}6�=�}6H����@�#�?�����������>�?����5�?������?���`}O��������?���@��?���`1��?)~6��? ~6wd];I~6��Cɫ9�9)�9 �9I�AY��!�@y��PQG��ElA��ElA��u�W�MuF=Y�}�G;QU}�>��y���a��G��8?G��y�\5=}��>Iȑ����:�ŕa75�?����:�ŕT߾� ƕ��@����?9ƕ7�B�Ǖw�: ȕb�:)ȕ�:�W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`&@B�x�B B�Af,�*B�A �]V��A �A �A i4�<"C���?*C��8��RC�����C���?�C����>9�b�CI��KGi�j�@��-=��UD����@�; ��FE)ݡ�Iݡ�iݡ��ݥ�2=�ݥ�1=�ݥ�!=6��e�;=��e\J���1I�AG]v>��UVj,u�WY�E�AY}:j�?�}:KI�?y}:c ��}:�ѹ=�}:H����`�/�?���`�N�����`�g�?�����j�?��� �?���@����@���?�����1�?�������?)~:j�? ~:�m];I~8ɫ9�9)�9 �9I�9Y�}�@y�}BQG������@A��-���-,���-ף�i�-�@��) �-��@)�-��@I�-��@i�)��=�_�MEN=Y�E�s:QUE�>��I��I�aM�G��I��Iy�U�'=}U�>I�Y��]�=5�?��]5H߾� �]��@��m�?9�]��B��]: �]��:)�Y�W��?�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������[@�R�B*** querying acoustic contact ***�P��P�B�J�x�B� B��A��,�*B��A�@_��A��A��A�4��<"C�?�?*C���RCC�?�?�C ����)�! �!�֭�[1���- �����- �����- �����- O�� �- h,:Y�- d\1y�- ��:��- ��5�ׁ I�� G� �>�v�[Vj,�gqY�E�AY}2�?�}2��?y}2V���}2�Ͳ=�}2H�����)X�?�����}�����@���?���@֗�?��� �4�?����MK������9��?����;R�?��� u��?)~2�? ~2N8];I~0ɫY�Y)�Y �YI�YY�e��@y�e�PGmZ****** received transponder code query ******mF****** received ping request ******u<Arming DUSBL. detectThresh: 75}8****** ping requested ******I��)����-�L7�A`��?�/�$��#��~j�����-+�>��-1� �-㥽)�)I�)y�-��Zd;��?{�G�z�?�~j�t��?��-�?��-�#=��-�D< �-z(A)�-�AI�-�Ai�-�!A��)��-� A��UۼM]:=Y�]�*8QUe�>��a��a�am�G��m9?G��qy�u�=}}�>Iȁ����:�Ņ&E5�?����:�Ņ�9߾� ƅ߄@����?9ƅ5�B�Dža>; ȅf=;)ȅ �:�W�;��?�W�X� X��W�:W�2W�*W��VabUiBUi*UiUiUu���@� @B�A;r�B� B��A��/�*B��A�C�i��A��A��A���<"C�;��?*C�����RC��v=�C�;��?�C����� ���yI��G�^>�� �� mA� ��>9� I� �JGi� Ȥ@�� .=�� �� �� ��; � �CE�^�bVj,�S�Y�E�A�|i|Y}6���?�}6���?y}6�L��}6LZ�=�}6H�������?��� "���������?���@�?�����v�?�����������nɂ?��� �D�?��� U��?)~6���? ~6�\;I~6��CɫI�I)�I �II�IY��k�@y��qPG�xDUSBL response received:!U1,P F78,000,0068F,186,80,80,AA,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 )���= ���=���O�����t������u�i����� ��)��I����@i�������M�4=Y�����QU�>��!��!�a%�G��!��!y�-��<}-�>I�1��5�L5�?��5>*߾� �5.�@��}�?9�5ȮB��5@< �5�<)�1�W�+�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������ @BM�w�Bq Bq�Au2�*By�A}j t��A��A��A�:��<"C�+�?*C�����RC�d��C�+�?�C����U֣���e ����e �����e �����e ��� �e {!:Y�e �Y1y�e �:��e n�5)�e ��;�9u �� I�� G� �>�y�hVj,�Y�E�AY}:bϹ?�}:B�?y}:��(��}:�a�=�}:H����@���?����*��������а?�������?��� 4��?����T������`��?����x�?�������?)~:bϹ? ~:g�\;I~:��CɫY�Y)�Y �YI�YY�}h�@y�}lPG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Ƴ�M�x=Y��`�QU�?�����a��G����y��=}�?Iȱ�ŵ�Q5�?�ŵ�߾� Ƶg�@����?9Ƶ.�B�ǵr�: ȵ�:)ȱ�W��^�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����@B%����B! B!�A-/2�*B)�A-�z��A)�A)�A5���<"C5�^�?*C=ќ��RC=B�;C=�^�?�C9��M[RS���I�G=/>��oVj,D��Y�E�AY}J�g�?�}J���?y}J8���}JqQ=�}JH����@�>�?����i����������?����5��?�����+�?�����������@\�?���� �?����S��?)~J�g�? ~J��\;I~HɫY�Y)�Y �]����I�YY��%�@y��PG�xDUSBL response received:!U1,R,046,000,00663,184,80,80,A8,FF �Fpublishing direction and range info����5z����ɰ��>鰥��> ��)���(CI��y��frB����C>�c���?�.x�A����������ٱ����a=i��=�����M�X=Y��vf�QU��>�������a��G���:?G���y���=}��>I������:���aW5�?����:����߾� ����@����?9����B���Z�: ��Q�:)��!�:�W᷌?�W!X! X!�W!:W!2W!*W)�V)bU)BU)*U1U1U5������@�PA*QEfrB�ZE��.s�T>N@�m-�� ����������ZE�C>�c���?�.x�A����������2QE�5z�:QA�ZE����}8@������K@����y6�?�ZE�?�����?����D�?t�U�>��?BQEbϓ? QE�]BQE��A�PE{�9?�PEx�9?�PE����QE����QE[�@"QEi�@B5U5��B9 B9�A=E4�*B9�A=����A9�A9�AE$�<"CE᷌?*CM>k��RCMi�'<CM᷌?�Ciܽ��>9ܹIܽXJGiܽv�@�ܽ/=�ܹ�ܹ�ܽЃ; ݽAE��ey����9I�IGeU>��� ������ ������ ������ ��� � :Y� �X1y� /�:�� ��5)� �y;�v�uVj,���Y�E�A�|4�|4Y}zȣ�?�}z�ڛ?y}zᕼ�}z�=�}zH����@"�?����������|�?�����?������?�����c�������?���@z��?����b��?)~zȣ�? ~z�\;I~xɫ���)� �����I�Y�M��@y�U�PG�]DNmea in: $SNTTA,,,,,170126.75*5F ���mA���mA��������,����/]=i��@��� ��t�@)����@I����@i��t�@��� =M�!=Y��߫�QU��>�����a�G���� y� \l;} �>I����^5�?���߾� ��@��%�?9�I�B����: ���:)��mUuAdded new target pos. range: 60.599998 m, bearing: 66.163237 deg, deltaT: 4.394579 s, approachRate: -0.600742 m/s, LOS rate: -0.262309 deg/s, posRepo size: 4�me� ProNav: pos range: 60.599998 m, bearing: 66.163237 deg, approachRate: -0.600742 m/s, LOS rate: -0.262309 deg/s, cmd update: -0.786927 deg/s, cmd heading: 62.988779 deg, new cmd heading: 63.197550 deg. �WePӋ?�WaXa Xi�Wi:Wi2Wi*Wi�VqbUqBUq*UqUu�����LN@U}�����Q�?B���u�B� B��A��/�*B��A�Y����A��A��A�?s�<"C�PӋ?*C��+��RC��\�<C�PӋ?�C��֕�] <��QI�aG}z>��|Vj,���Y�E�AY}J˻?�}J��?y}J�C���}J���<�}JH�����n�?��� �����@�A�?����)�?����e�?�����M������Ȕ?����mU�?����z��?)~J˻? ~J��\;I~J��CɫY�Y)�Y �]����I�YY����@y��VOG����v��/�?�� �rh�?���S㥛?��x�>��C�= �/�<)�I�y��333333�?�~j�t��?��~j�t�?���?����<���= ��%A)�^AI��Ai��"A����( A��5�۽M=m=Y�=z��QU=?��A��A�aM�G��M;?G��Qy�U�b;}]�?I�a��u�:��ehd5�?��}�:��e��� �e��@��}�?9�e��B��e}K; �e:G;)�e"�:�WE�,�?�WAXA XA�WA:Wa2Wq*Wq�VqbUyBUy*UyUyU�����&2�?B�����B� B��A�?9�*B��A�y����A��A��A���<"C��,�?*C�`���RC����<C��,�?�C����ܪ&<�ױI��G��>ܵ ��>9ܵ c�CIܵ �IGiܵ %�@�ܵ 1=�ܱ �ܱ �ܵ ,�; ݵ B>E��� ������ ������ ������ ��� �� �,:Y�� ]1y�� �:��� ��5)�� ��;���Vj,��Z�E�AY}:ٻ?�}:��?y}:#0���}:] �<�}:H�������?���`g ������Y�?���`; �?������?����Y���������?���@��?����1��?)~:ٻ? ~:n\;I~:��CɫQ�Q)�Q �U����I�QY��ۨ@y���OGI��)����M���M����Mt=i�M�@��I �M��@)�M��@I�M��@i�M��@����<M�V=Y���QU��>�����a��G����y���:}��>Iȡ�ťSj5�?�ťc�� ƥH�@����?9ƥ(�B�ǥ��: ȥ�:)ȡ�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����^��?B����B B�A�6�*B�Ao���A�A�Aa��<"C%���?*C-�ū�RC-N��<C-���?�C1��e�u�<��I�)GE0>��'�Vj,�f&Z�E�A�|i|Y}6�ػ?�}6u�?y}6�o���}6N�;�}6H�������?����$�����#�L���� % �?������?����{����� ��?�����^|?�������?)~6�ػ? ~6��\;I~6��CɫQ�Q)�Q �U����I�QY��4�@y���NG)� �= � �=��V�MR=Y��8�QU�>��!��!�a%�G��!��)y�-� �}-�>I�1��=�:��5\p5�?��E�:��5��� �5�@��E�?9�5��B��5��: �54�:)�5#�:�Wma܉?�WiXi Xi�Wi:Wi2Wq*Wq�VqbUqBUy*UyUyU}����Q��?B�����B� B��A��;�*B��A-ɔ��A)�A1�A52�<"C5a܉?*C=Y���RC=� �<C=a܉?�C9��E���<��I�)GEQ>���Vj,FA@Z�E�AY}6�һ?�}6� �?y}6����}6Q���}6H������?����� �����/���������?����(�?���@��������Е?���� }����@���?)~6�һ? ~6<�\;I~4ɫ9�9)�9 �=����I�9Y����@y���NG��=,~�M=H=Y�=��9QU=�>��A��A�aE�G��E<?G��Iy�M�}M�>I�Q��U�v5�?��U��� �U��@��e�?9�U�B��U�: �U��:)�Q�W��$�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����{?�@B�׀��B� B��A�i=�*B��A�'����A��A��A��X�<"C��$�?*C��L��RC�B�=C��$�?�C��e��>9�aI�ai�a��e/=��a��e��D��ee}; �e�;E�ֵV��<�I��G*>�������������������� ��:Y�xZ1y�q�:��n�5)�v;��9�Vj,TZZ�E�AY}2&�?�}2�?y}2�汼�}2����}2H����@b�?����\����@Ŝ���� � �?������?����;C������`<�?�����|��������?)~2&�? ~2r\;I~2��CɫY�a)�a �m����I�iY���@y���NG��!i�%�=���\�����O>�����=i��ד@��� ����@)���@I��i����@��5��:M5.=Y�=�f�QU=�>��9��9�aE�G��A��Ay�MJc:}M�>I�Q��]�:��U�}5�?��]�:��U��� �UV�@��]�?9�U��B��U��: �U+�:)�U$�:�W��Q�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@p�@�R�B*** querying acoustic contact ***�P��P�B�����B� B��A�.=�*B��A��i���A��A��A���<"C��Q�?*C�����RC� '=C��Q�?�C���9��E�?i�E�?��I�G=�>��c�Vj,+�sZ�E�A�|�|Y}6�?�}6�M�?y}69l¼�}6�K ��}6H�����R��?����� ������e�����@�?���� ��?���� ������L�?����iG��������?)~6�? ~6�W\;I~6��CɫY�Y)�Y �]����I�YY��%�@y���NG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������i��=nGI��i���5fϿٺ1��5��A��E��A`��"�?<�O��n���~j�t��?��E?��Et�� �E��<)�AI�Ay�E��������?�p= ף�?�~j�t��?��E� ?��E�=��E�D= �E- A)�E- AI�E�Ai�EQ$A��A��EQ A��Y��Y��e�<M�G=Y���QU��>�����a��G��=?G��y�r�;}��>I�����9�5�?���\�� ��&�@����?9��3�B�����: ���:)���W���?�WX X�W:W2W*W�VbUBU!*UAUAUE����}i@B��؎�B� B��A�A<�*B��A�ė���A��A��A�z�="C����?*C�����RC��@=C����?�C��ֽ��)=�י�������������������� �^+:Y��]1y���:��I�5�9�@I��G��>�U ��>9�U e�CI�Q i�Q ��U (=��Q ��Q ��U �x; �U X9E)��c�CI��c�Ci�툔�C���/=���.=����=6� M�Vj,�؍Z�E�AY}6S�?�}6ꉜ?y}6�GӼ�}6%��}6H��������?����>�����&䧿������?���@6��?�����{������4h�?���@s������ ���?)~6S�? ~6h&\;I~6��Cɫ9�9)�9 �=����I�9Y�uЧ@y�}wNG�xDUSBL response received:!U1,P 046,000,00663,184,80,80,A8,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��U��;��U�>��U��i�U��@��Q �U~�@)�U��@I�Qi�U��@��YȼM @=Y� ���QU �>�����a�G����y���;}�>I�!��%}�5�?��%�� �%��@��5�?9�%��B��%b�: �%��:)�!�WU�ن?�WQXQ XQ�WY:WY2WY*WY�VabUaBUa*UaUiUm����ڮ @B��$��B� B��A��>�*B��A������A��A��A���="C��ن?*C n��RC%� Z=C%�ن?�C)�ޕ�=iޕp=��m�K'=��A I�Y G� �>��u�Vj,`��Z�E�AY}6{��?�}6ZȜ?y}6��⼙}6)6E��}6H�����A��?��� ���������������?����x��?���@Yԃ������U�?����ꡨ�����_��?)~6{��? ~6^!\;I~4ɫY�Y)�Y �]����I�YY����@y��3NG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�)���U���M]�=Y�]�ûQU] ?��a��a�ae�G��a��ay�m��;}m ?I�q��}�:��um�5�?��}�:��u;�� �u��@����?9�u�B��uV�: �u��:)�u%�:�W��K�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������5 @B�U1��B� B��A��@�*B��A�h����A��A��A��4="C��K�?*C��0��RC�v*o=C��K�?�C�����z:=�סI��G�A>�������������������� ��:Y��Y1y��:��o�5�_�Vj,��Z�E�A�|i|�@Y}61��?�}6�?y}6-����}6��`��}6H����`W��?��������� F���������?��� ��?�����/�����@P��?����0�����`���?)~61��? ~6��[;I~6��Cɫ9�9)�9 �9I�9Y�uZ�@y�}�MG�yɮy�xDUSBL response received:!U1,R,053,000,0063C,184,80,80,9E,FF �Fpublishing direction and range info����V�����ɰ��>鰁 ��)���CI��y�� iB�����d�I���?�H�������������ٱ�)�e�= �e>��m���MmI=Y�u�λQUu�>��q��q�a}�G��}>?G��yy�� ;}��>Iȉ�ōz�5�?�ōD�� ƍk�@����?9ƍ��B�Ǎ�; ȍf�;)ȉ���>9�I��IGi�ԣ@��#=��TD����D���t; �?7E�WU���?�WQXY XY�WY:WY2WY*Wa�VabUaBUa*UaUiU������T@�PI*QM iB�ZM���T� M@����V�����������ZM��d�I���?�H�������������2QM�V��:QI�ZM��BI��7@O� ��J@~�i�}��?�ZM��q�B��?�S�CA<�?�4==uy�?BQM֡�? QM�TBQMA�PI�PM{�9?�PIQM����QM��@"QM[�@B3��B B �A �B�*B �A �H���A �A�A �="C���?*C(۩�RCڔ�=C���?�C!��-tY=��I�)GU�>���Vj,�u�Z�E�AY}~���?�}~��?y}~L� ��}~��v��}~H����@Т�?����| ������m����� ��?����\��?�����m�����`pU�?�����ͮ�����t��?)~~���? ~~��[;I~|ɫ���)�� ������I�Y��l�@y���MG�mDNmea in: $SNTTA,,,,,170130.79*54 ��M�D�l����?Zd;�O��?����������MO-?��Mj�< �M���)�II�Iy�M��|?5^��?L7�A`�?����Mb`���M�-?��M+=��M� �MA)�M&%AI�M3Ai�M�%A��I��M� A�í���í�T=�í^�=iíz�@�é ĭ��@)ĭ��@Iĭ��@iĭ��@��4�;M�*=Y����QU��>�������a��G������y����}��>I������:�����5�?����:����z� ����@����?9��H�B����e; ���d;)��&�:�m�uAdded new target pos. range: 58.260006 m, bearing: 66.083597 deg, deltaT: 4.106796 s, approachRate: -0.569785 m/s, LOS rate: -0.019392 deg/s, posRepo size: 4�m�� ProNav: 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. �W�B|�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����G!M@U���� �E�?B]q���BY BY�A] B�*BY�Ae�ָ��Aa�Aa�Ae�c="Cm���?*Cm����RCm�u�=CmB|�?�Cq��U�:�=���� �������������������� ��E:Y�P^1y���:��6�5�� I�G5�>��Vj,B?�Z�E�AY}2^W�?�}2<��?y}2����}2QW���}2H��������?�������������ܲ����@��?�������?�����H������!֢?�������������?)~2^W�? 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~:��[;I~:��Cɫ9�9)�9 �9I�9Y�}t�@y�}NGI�)���]���MeJ=Y�mM��QUu�>��y��y�a}�G��}@?G��y����}��>Iȉܥ��>9ܥe�CIܡiܡ�ܥ)=�ܥUD�ܡ�ܥ�m; ݥ�3E�ō;�5�?�ō�B� ƍߍ@����?9ƍ`�B�Ǎ��; ȍE�;)ȉ�W �H�?�WX X�W:W!2W)*W1�V1bU9BUA*UIUQU]�������?B]���Ba Ba�Ae�A�*Ba�A��̼�A��A��A��9="C��H�?*C��l��RC��H=C��H�?�C��֝-tY=��qI��������������������� �� :Y�P^1y���:����5)�1�;G��>����Vj,��\[�E�A�|$i|&�@Y}B�`�?�}Bf��?y}B��5��}B����}BH����� ,�?���ಯ�������M�����@���?����#U�?������������)��?���@X�������c��?)~B�`�? ~B?�[;I~@ɫa�a)�i �m����I�qY����@y��NG)�}�= �}�=�� �T=�� ���� = >i� ̌@�� � )� I� ��@i� ���;M%?=Y�%���QU%�>��)��)�a-�G��)��1y�5�k�}5�>I�9��E�:��=��5�?��E�:��=3� �=8�@��M�?9�=��B��= �: �=Y�:)�=(�:�Wm�:�?�WqXq Xq�Wq:Wq2Wq*Wy�VybUyBUy*UyU�U����`�.@B� ��B� B��A�XA�*B��A���м�A��A��A���="C��:�?*C��-��RC��,6=C��:�?�C ��=4|E=��I�!G=r>����Vj,w�v[�E�AY}6,Ӹ?�}6 �?y}6�2��}6�⨽�}6H����`n�?������������Ү���������?��� ��?������������@�?���� ������r��?)~6,Ӹ? ~6��[;I~6��Cɫ9�9)�A �E����I�AY���@y���MG��=��/�$�?y�&1����������?��=1�>��=`e� �=��<)�9I�9y�=��z�G��?X9��v��?<�O��n�?��= ?��=�}=��=t< �=�A)�=�'AI�=�Ai�=�&A��9��=� A��]��M]X=Y�]�;QU]�>��a��a�ae�G��eA?G��iy�m�:�}m�>I�q��u�5�?��u�&� �u��@����?9�ug�B��uQ�: �u8�:)�q�W�-�?�WX X�W:W 2W *W �V)bU1BU1*U1U1U=��� �V@�REB*** querying acoustic contact ***�PA�PAB��̣�B� B��A��D�*B��A���ռ�A��A��A��$="C��-�?*C��맽RC��o*=C��-�?�C�����3=�I��G�f>��� ���������� ��G:Y�y�����5�9�@ܝ��>9ܝf�CIܝXJGiܝv�@�ܝ'=�ܝTD�ܙ�ܝ�j; ݝ2E����Vj,b�[�E�AY}2|�?�}2���?y}2Қ.��}2?K���}2H��������?�������������������C��?���`��?�����Ԃ���� �ѥ?����u����������?)~2|�? ~2��[;I~2��Cɫ9�9)�9 �=����I�9Y���@y���NG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���=i���=�Å�u<�Å�T<�ÅI>iÅ��@�Á ąߏ@)ąߏ@Iąߏ@iąߏ@��o�=M�G=Y�;;QU��>�����a��G����y��ӻ}��>Iȱ����:�ŵ��5�?����:�ŵ�� Ƶ��@����?9Ƶ�B�ǵ��: ȵ+�:)ȵ)�:�W�� �?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������ @B�E���B B�A>�*B�A%��ڼ�A)�A)�A-^�="C5� �?*C5ƨ��RC5��$=C5� �?�C9��=�#'=��I�!G=r>��Vj,�<�[�E�A�|�|Y}>�1�?�}>�h�?y}>��+��}>�H���}>H����`^��?��� ������@>@���������?����p��?����tށ������x�?��� �������@���?)~>�1�? ~>��[;I~>��CɫY�Y)�Y �]����I�YY����@y��<NG������?A�xDUSBL response received:!U1,P 053,000,0063C,184,80,80,9E,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 �±�±������M�F=Y��o�:QU�>�����a�G��B?G��y�/��}%�>I�Q��UG�5�?��U� �UY�@����?9�Ue�B��U�S< �U�T<)�Q�Wuq�?�WyXy Xy�W�:W�2W�*W��V�bU�BU�*U�U�U������4 @B=�D��Ba Ba�Aek@�*Ba�AmW��Ai�Ai�Am3#="Cuq�?*CuFb��RCu�u=Cuq�?�Cy��������}�C"=��L ��������������7�� ��9:Y��W1y�č:��l�5i���lGI��i����%Ͽٺ)��-r�A��QI�YGu�>����?9����A����Vj,��[�E�AY}2T)�?�}21`�?y}2 �-��}2߇���}2H����`,��?�����������������������?�������?���@/���������?��� �&������-��?)~2T)�? ~2^�[;I~2��Cɫ9�9)�9 �=����I�9Y��o�@y��;OG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �M��>9�Mg�CI�M�JGi�MȤ@��M#=��I��M��D��M&h; �M�0E)���f�CI���f�Ci�����C����#=����%=�����36��or=M�?=Y����QU��>�����a��G�����y���}��>I������:�����5�?����:�����ݾ� ����@����?9���B�����: ��b�:)��*�:�Wz�?�WX) X)�W):W)2W)*W1�V1bU1BU1*U1U9U=����R&@B�� ��B� B��A��9�*B��A�����A��A��A�B�="C�z�?*C��&��RC�f\!=C�z�?�C���}�;=��QI�aG}z>��#�Vj,(��[�E�AY}U��?�}U~I�?y}U�`1��}U�g���}UH�����y��?���@Ȓ������׳����� I��?������?�����t������K*�?�����������:��?)~U��? ~UD�[;I~U��Cɫ�髙)�� ������I��Y��]�@y��$OG�xDUSBL response received:!U1,R,032,000,0060E,184,80,80,B1,FF �Fpublishing direction and range info���¸2����ɰ���=�� ��)���1CI��y���^B�������3��?����GU����������ٱ�I�)��5dNmea in: $SNTTA,0.047800,0.332052,,,170135.24*57 ���)\���(�?��ʡE�?�I+��?��G?��-�= �9�<)�I�y��j�t��?�~j�t��?�I+��?��� ?����<��9�< ��A)��*AI�^Ai�&%A����� A�������Y����/]�i����@��� ����@)����@I����@i����@���~��M�*=Y���QU�>���� �a �G�� �� y�ɽ�}�>I���h�5�?����ݾ� �w�@��E�?9�~�B����: ���:)��W�K�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����e@�P�*Q��^B�Z����=�K@ �2�]����������Z�����3��?����GU����������2Q�¸2�:Q��Z����ց��6@r��u#BI@�]���@�Z����Z|%V�?#��r �?~:L��?BQ����? Q�JBQ���A�P��P��P�Q�Q�;�@"Q���@BE?��BA BA�AE�:�*BA�AM���AI�AI�AMf="CUK�?*Cuئ�RCu#!=CuK�?�Cy��N����������� ��%:Y�y���!�5��M �C"=��! I�1 G] �>��N�Vj,���[�E�A�|i|�@Y}JS��?�}J/0�?y}J� 5��}Jg���}JH��������?���@k������������`���?����)��?�����b�����@ԟ�?�����8�����@���?)~JS��? ~J�[;I~Hɫ�髹)�� ������I��Y��V�@y��OG���jB�M��=Y���C�QU�?�������a��G���C?G���y��X(�}�?I������:�����5�?����:�����ݾ� ���@����?9��ߺB�����: ����:)��+�:�m5uAdded new target pos. range: 55.500000 m, bearing: 65.672194 deg, deltaT: 4.525725 s, approachRate: -0.609848 m/s, LOS rate: -0.090903 deg/s, posRepo size: 4�mE� ProNav: pos range: 55.500000 m, bearing: 65.672194 deg, approachRate: -0.609848 m/s, LOS rate: -0.090903 deg/s, cmd update: -0.272710 deg/s, cmd heading: 59.513424 deg, new cmd heading: 59.496391 deg. �WE�Ƅ?�WAXA XA�WA:WI2WI*WI�VIbUQBUQ*UQUU������K@U]���@b��?B��E��B� B��A��:�*B��A�!��A��A��A���="C��Ƅ?*C�����RC��$=C��Ƅ?�C��ֽ�=��yI��G�]>�e��>9�aI�e�KGi�ej�@��e!=��a��a��e�e; �e_/E�l6Wj,;�\�E�Aɫ�髁)�� ������I��Y��Y�@y��OG��mף���m�����m~j>i�mf�@��i �i)�m��@I�ii�i���:M�P=Y����QU��>�����a��G����y����}��>Iș�ŝ��5�?�ŝ��ݾ� Ɲ��@����?9Ɲ]�B�ǝ÷: ȝ�:)ș�W�[��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� Y��?B ش��B� B��A��:�*B��A�����A��A��A�?="C�[��?*C��j��RC�Y2+=C�[��?�C��ֽ��$=�יI��G�b>�������������������� ���:Y��V1y��:��i�5)�X�;�9���.` Wj,ӄ+\�E�AY}:��?�}:꾗?y}:ô2��}:���}:H�������?������������Y_����� =��?����I,�?������������T�?����$s����� "��?)~:��? ~:��[;I~:��Cɫ9�9)�9 �=����I�9Y�}ר@y�}�OG��p=i�%=��U�=M]M=Y�]��:QU]�>��a��a�ae�G��eD?G��ay�m5�}m�>I�q��u��5�?��uJ�ݾ� �u#�@��}�?9�uݻB��uY�: �uQ�:)�q�W�1K�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�?B��Y��B� B��A��6�*B��A�m���A��A��A��|="C�1K�?*C��-��RC���$=C�1K�?�C�����S,=�סI��G�B>��GWj,�_E\�E�A�|4<�|ɫy�y)�y �}����I�yY���@y���OG�9�h�CI��KGi���@��=������>c; �%.E��=����=;_>��=�u�i�=��@��9 �=ߏ@)�=ߏ@I�=ߏ@i�=ߏ@��M<MM<=Y�U���QUU�>��Y��Y�a]�G��Y��Yy�e���}e�>I�i��u�:��m��5�?��u�:��mһݾ� �m͒@��}�?9�mh�B��m�: �m��:)�m,�:�W�:�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����<�?B[K��B! B!�A%�4�*B!�A%s����A!�A)�A-��="CM:�?*CM:好RCM�-=CU:�?�CQ�֝��$=��qI����# ��������������k�� ��6:Y�WU1y��:����5)���;G��>�9vWj,L_\�E�Aɫ�髉)�� ������I��Y��J�@y��HPG������(\���?L7�A`堿V-��?���?���+� ����<)��I��y�����"��~�? ףp= �?����Mb������?���Q8=����� ½�A)½z(AI¹i½�&A������� A����<M�A=Y��QU��>�������a��G������y��}��>I�������5�?�����ݾ� ���@���?9���B����: ��8�:)���W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������X�?B5����B1 B1�A=3�*B9�A=�����AA�AA�AEq{ ="C]�?*C]0���RCe?^5=Ce�?�Ca��m��.=��AI�QGm�>�ҜWj,ey\�E�AY}Fx�?�}FSC�?y}F?�!��}Fp����}FH������A�?���`T������@lf���������?��� �`�?���@��������:�?�����а����`���?)~Fx�? ~F�[;I~F��CɫY�Y)�Y �]����I�YY��z�@y���PGI�)���U\�<MUh=Y�]�><QU]�>��Y��a�ae�G��eE?G��ay�m//�}m�>I�q��}�:��u05�?��}�:��u��ݾ� �u�@��}�?9�uO�B��u4�: �ub�:)�u-�:�W�#��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�R@B��R��B� B��A��1�*B��A�ë��A��A��A��� ="Cu#��?*CuEf��RCu�~,=Cu#��?�Cy��} d6=��YI�aG�Y>���W �����������������������>9�I�LLGi� �@��=������a; ��,E���*�� ���::Y���V1y���:���=6)����;��$Wj,J�\�E�A�|i|Y}6���?�}6�4�?y}6*��}66����}6H����@�H�?����6������ o����������?���`�f�?���@�*������^ߣ?�����+����� ]��?)~6���? ~6ڣ[;I~4ɫY�Y)�Y �YI�YY���@y��>QG鮥p=ɮ�)ý�= ý>��z�����#<��/>i�@�� ���@)���@I���@i���@���?=MO=Y�F�:QU�>����!�a%�G��!��!y�-���}-�>I�1��5'5�?��5f�ݾ� �5��@��=�?9�5ĽB��5��: �5��:)�1�W��M�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U U U-���`�@�R=B*** querying acoustic contact ***�P9�P9B�1-��B� B��A��,�*B��A����A��A��A�� ="C��M�?*C�<#��RC�=�3=C��M�?�C��ֽ�S,=�יI��G�b>�?�*Wj,B̬\�E�Aɫy�y)�y �}����I�yY����@y���PG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-��M-I=Y�-���QU5�>��1��1�a=�G��=F?G��9y�E���}E�>I�I��]�:��MN 5�?��]�:��M��ݾ� �M�@��e�?9�M=�B��M '; �M~(;)�M.�:�W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� !�@B��:��B� B��A�V0�*B��A�9*��A��A��A��="C���?*C�qߤ�RC�+�:=C���?�C����·3=�I��G�f>�� ����������������� �B5:Y�0Y1y���:����5�9�@���1Wj,���\�E�AY}2^L�?�}29��?y}2���}2�����}2H����@F��?���@�r��������������t��?���व�?�����]�����@6��?�����K���������?)~2^L�? ~2&�[;I~2��Cɫ9�A)�A �M����I�Iܭ��>9ܩIܭ�LGiܭ^�@�ܩ�ܩ�ܩ�ܭ�^; ݭ�+EY�5��@y�=�PGUxDUSBL response received:!U1,P 032,000,0060E,184,80,80,B1,FF UCommand AckUBRequesting micromodem ping code 2i�Q��Q��]a=i�]4=�e�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��uO ���u�=��u��i�uG�@��q �u��@)�u��@I�u�@i�u��@��6;M�'=Y��;QU �>�����a�G����Ay�U�0�}U�>Iȡ�ť-5�?�ť�zݾ� ƥ �@����?9ƥ־B�ǥM�: ȥ{�:)ȡ�W�8��?�W�X� X��W�:W�2W�*W�VbUBU!*U!U!U%��� 9�@B�L���B� B��A��/�*B��A��" ��A��A��A���="C�8��?*C�����RC���/=C�8��?�C��- l;=�� I� G= �>���7Wj,X��\�E�A�|:�;�|8Y}�ӵ?�}� �?y}�u��}+���}H���� 9��?�����g������o������;y�?��� ���?�����~���� �͡?����@���������?)~�ӵ? ~��[;I~��Cɫ�)� �����I�Y�M��@y�UQG��Q��U@A�u�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������"��~�?���Mb�?�A`��"�������>�����= ��Y�)��I��y���X9��v��?i��|?5�?�� �rh�?����?����q=���C�< ¥�A)¥�&AI¡i¥&%A�������A�¹�¹�����<M�[=Y���;QU��>�������a��G������y��)�}��>I������:����5�?����:���Aoݾ� ��p�@����?9��D�B�����: ����:)��/�:�W���?�WX X�W:W2W*W!�V!bU!BU!*U)U)U-����ߢ@B��+��B� B��A�.�*B��A����A��A��A��Q="C����?*C��W��RC��_)=C����?�C����.=��Y ��������������f�� ��::Y�DW1y�Y�:��}�5�� I�G5�>i��mGI�)���=Wj,�^�\�E�Ai���:!ʿٺ8��:нAY}J^�?�}J?y}J����}JL;���}JH������ �?����3\�������S������]n�?����c�?�����Ns�����T��?����Ub�����`���?)~J^�? ~J��[;I~HɫY�Y)�Y �]����I�YY��ȩ@y���PG�xDUSBL response received:!U1,R,017,000,005E1,183,80,80,81,FF �Fpublishing direction and range info����l�����ɰ���=��$�> ��)���CI��y��3SB�������Y��?P')�6�����������ٱ�����V�Mm=Y���;QU?�� �� �a �G�� G?G�� y��*�}?I����5�?���cݾ� �Γ@��%�?9���B��4�: ��:)��WM�T�?�WIXI XI�WI:WQ2WQ*WQ�VYbUYBUY*UYUYUe��� S2@�Pi*Qm3SB�Zm���� eJ@O�g������������Zm����Y��?P')�6�����������2Qm�l��:Qi�Zm��v����5@C�p[H@� =my�?�Zm���|(H6�?eI�pO,�?y����A�?BQm6�? Qm�@BQm��A�Pmz�9?�Pi�Pm����QiQm��@"Qm;�@B�y��B�ZF= B��A�-/�*B��A��� ��A��A��A�z�="C��T�?*C��#��RC�rj#=C��T�?�C�����K'=�סI��G�A>ܽ��>9ܽi�CIܽMGiܽ��@�ܽ=�ܹ�ܽ��D�ܽ�\; ݽ�*E)�m�h�CI�m�h�Ci�i���m�=��m�=��m�n�5�S�DWj,"9]�E�AY}:P��?�}:+/�?y}:�����}:k���}:H�����9�?��� �R�����@��������d�?����L�?������f�������?�����H���������?)~:P��? ~:��[;I~8ɫa�a)�a �m����I�iY��ĩ@y���PG�MDNmea in: $SNTTA,,,,,170139.70*54 I�I)�I�í�Ľ�í��>�í��=ií��@�é ĭ��@)ĭ�@IĭO�@iĭ��@��W��M�?=Y�b�;QU��>�������a��G������y�����}��>I������&5�?����Uݾ� ��>�@����?9��9�B���ϸ: ��ܹ:)���mqAdded new target pos. range: 52.799999 m, bearing: 65.807985 deg, deltaT: 4.301019 s, approachRate: -0.627758 m/s, LOS rate: 0.031572 deg/s, posRepo size: 4�m%� ProNav: pos range: 52.799999 m, bearing: 65.807985 deg, approachRate: -0.627758 m/s, LOS rate: 0.031572 deg/s, cmd update: 0.094715 deg/s, cmd heading: 58.339397 deg, new cmd heading: 58.222752 deg. �W%l�?�W!X! X)�W):W)2W)*W1�V1bU1BU1*U1U=���`ffJ@U=�������?BeF��Ba Ba�AmK/�*Bi�Am2V��Ai�Aq�Auy� ="Cul�?*C}�RC}&�=C}l�?�Cy����"=�I��G�f>�����������������t�� ��*:Y��V1y��:��}�5)�߈;�9�����JWj,�.]�E�A�|i|�@Y}6�?�}6�ܔ?y}6]���}6셁��}6H����@$_�?����7K�������ȱ����@]�?���@ap�?����t�W��������?���`>,������2��?)~6�? ~6s�[;I~4ɫY�Y)�Y �]����I�YY����@y��QG)�-�= �-�=��U�u<MUQ=Y�]An;QU]�>��Y��a�ae�G��eH?G��ay�mqһ}m�>I�q��}�:��u�,5�?��}�:��u�Hݾ� �u��@��}�?9�u��B��u(�: �u��:)�u0�:�W�=��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������(�?B]�0��Ba Ba�Ae�-�*Ba�Ae����Ai�Ai�A��Z="C�=��?*C�U���RC�+ =C�=��?�C��ֽ��=�יI��G�b>���QWj,� H]�E�AY}B�\�?�}B���?y}B�iἙ}B!΄��}BH��������?��� NC������������V�?�������?����DkE?���`N,�?���`.����������?)~B�\�? ~B�[;I~B��C�U��>9�QI�Qɫ���)�� ������I��i�Q��U=��Q��Q��U�Z; �U�)EY��n�@y���QG-�Nonly read 0 of 1 data item for altitude���@���@���@���=M�A=Y��h\;QU��>�������a��G������y�����}��>I����35�?���:ݾ� � �@�� �?9�<�B��n�: �Y�:)��W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������0�?B5B���B1 B1�A5�)�*B1�A]����AY�AY�A]="Ce��?*Ce�d��RCe� =Ce��?�Ci��m�C"=����������������������� ��+:Y�DW1y�Y�:��F6)�ĉ;��}�#=��Y I�a G� �>�XWj,��a]�E�AY}N�!�?�}N�X�?y}NT`�}Nw����}NH�������?���`.=����������� tP�?��� %��?�����mb?���@?�?����Xΰ�����}��?)~N�!�? ~N��[;I~N��Cɫq�q)�q �qI�qY����@y��"QG��5�=i�5�=�����(\����?���S㥫��Zd;�?����?���/]� ���y=)��I��y������Q��?)\���(�?Zd;�O��?����?���Ga=���j�< ��)���%AI��i��Q$A������\A���M�M�K=Y���F;QU��>�������a��G������y�����}��>I��� �:���95�?���:���-ݾ� �}�@���?9���B����; ���:)�1�:�W5��?�W9X9 X9�W9:W92W9*WA�VAbUABUI*UIUIUM�����S�?B}DO��By By�A}�-�*By�A�m ��A��A��A���="C%��?*C-k+��RC-�c�<C-��?�C)��<�H=�� ��=���I��G�>��8^Wj,a�{]�E�A�|4<�|Y}6Y�?�}63�?y}6e^м�}6����}6H����`e��?����D6�������I�����@=J�?���@K��?����[�m?�����?���@���������?)~6Y�? ~6�[;I~6��CɫY�Y)�Y �]����I�YY�}�@y�}0QG���k;MY=Y��;QU�>��!��!�a%�G��%I?G��)y�-��}-�>I�1��5�?5�?��5"ݾ� �5�@��E�?9�5&�B��5��: �5ӻ:)�1�W�IÂ?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� OK�@Bǭ��B B�A%6-�*B!�A%�5��A!�A!�A%M�="C5IÂ?*C5����RC5s��<C5IÂ?�C9��A��A)�A �A�����������������c�� �,:Y��U1y���:����5�9�@�e��>9�ej�CI�ai�a��e=��eSD��a��eY; �e�(E���G��<�ש I�� G� �>�� eWj,��]�E�AY}2�γ?�}2��?y}2�:ͼ�}2�j���}2H����@d��?�����4�����@�f�����`YH�?�������?������q?���દ�?�����H�����`���?)~2�γ? ~2�[[;I~0ɫI�I)�I �M����I�IY�}��@y�}�QG��-���-���-���-�}=��-t����-t�<i�-��@��) �-~�@)�-��@I�-ߏ@i�)��=�4=MEH=Y�Eyu:QUE�>��I��I�aM�G��I��Qy�U���}U�>I�Y��e�:��]%F5�?��e�:��]-ݾ� �]X�@��m�?9�]��B��](�: �]A�:)�]2�:�W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����r@Bm����Bq By�A}�(�*By�A}wq��Ay�Ay�A}yh="C��?*C����RC�h<�<C��?�C��ֽ���<�יI��G�b>��KkWj,�`�]�E�AY}6���?�}6��?y}6X�Ǽ�}6����}6H�����7��?����1�������J������<E�?�������?�����=t?��� i�?�����=���������?)~6���? ~6^.[;I~6��Cɫ9�9)�9 �9I�9Y��k�@y���QG��ɮ�I��)������u�M�P=Y����:QU��>�������a��G���J?G���y��$�}��>I���;L5�?���ݾ� �Ö@�� �?9��B����: �n�:)��W-��?�W)X1 X1�W1:W12W9*W9�V9bU9BU9*UAUAUE����ݔ@�RMB*** querying acoustic contact ***�PI�PIBu!s��Bq Bq�A}*�*By�A}[x��Ay�Ay�A}+="C���?*C�����RC����<C���?�C��օ ��<��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�= �@��9 �=��@)�=ߏ@I�=��@i�9��U�#�MU5=Y�]�;QU]�>��Y��Y�a]�G��a��ay�m:}m�>I�q��u>S5�?��u��ܾ� �u>�@��}�?9�u��B��u�: �u��:)�q�W]��?�WYXy X��W�:W�2W�*W��V�bU�BU�*U�U�U������k @B�2��B� B��A�.�*B�Aa, ��A�A�A�="C ��?*C *E��RCV��<C��?�C��5c��<�� I�G5�>��]xWj,P�]�E�AY}:���?�}:n$�?y}:�j���}: ���}:H��������?���`9�������f�������K�?���@r��?�����Pq?������?���`�]���������?)~:���? ~:�Z;I~:��CɫY�Y)�Y �]����I�YY����@y���QG�xDUSBL response received:!U1,P 017,000,005E1,183,80,80,81,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���V-����?ףp= �ÿ��K7�A�?��|?���� �>)�I�y���~j�t��?�I+��?��~j�t�?���$?��94=����< ��A)��'AI�3Ai�|#A����� A��Ux9=MU.=Y�]=M�QU]�>�����a��G����y�g;}��>Iȑ����:�ŕ�[5�?����:�ŕ��ܾ� ƕ��@����?9ƕ;�B�Ǖ2�; ȕ��;)ȕ3�:�W� �?�WX9 X9�WA:WA2WI*WI�VQbUQBUy*UyU�U������)@����������������!�� �� :Y�]1y��:����5B�����B� B��A�F)�*B��A�T�"��A��A��A�~="C�� �?*C����RC����<C�� �?�C���� �&�<��� I�� G� �>�Ά~Wj,���]�E�AY}2�)�?�}2�`�?y}2ƾż�}2Uހ��}2H�����Ҙ�?���`@������z8�������Q�?���@���?����<i?���`;��?�����������g��?)~2�)�? ~29�Z;I~2��Cɫ9�9)�9 �9I�9Y�]�@y�]GQG��a��a���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5a=i�5�=��u~-�Mu�=Y�}� �QU}?��y���a��G��K?G��y���;}�?Iȑ�ŕpa5�?�ŕ�ܾ� ƕ�@����?9ƕ��B�ǕǺ: ȕ�:)ȑ�W��0�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������6@B�bɽB B�A�,�*B�A ?$��A �A �A �="C��0�?*C�lڡ�RC�'^�<C��0�?�C���� \�<������>9�l�CI�i���=�������U; �4'EI�G=q>��p�Wj,��^�E�A�|*�;�|*�;ɫ�髱)�� ������I��Y��g�@y���QG�xDUSBL response received:!U1,R,001,000,005BA,182,80,80,88,FF Fpublishing direction and range info�����d����ɰ�0�=����> ��)���CI��y���IB����A!�3���?��p�L���������ٱ���!��!��m�Ļ��m什��m-�i�m��@��i �m��@)�m��@I�mߏ@i�i��}��<M�I=Y����QU��>�����a��G����y����}��>Iș����:�ŝ�h5�?����:�ŝ:�ܾ� Ɲo�@����?9Ɲ%�B�ǝ��: ȝ��:)ȝ4�:�W��F�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �@�P�*Q��IB�Z��}��~�:I@5�@��������������Z��A!�3���?��p�L���������2Q���d�:Q��Z��~�z�84@���2{G@F�U����?�Z���� ��?��]��N�?�O�Ř?BQ�BD�? Q��8BQ�ơA�P�y�9?�P�z�9?�P�����Q�����Q�w�@"Q���@B%�}��B! B)�A-3*�*B)�A-^y&��A1�A1�A5��="C=�F�?*C=����RC=`c�<C=�F�?�CA��%��<���I��GI>������������������������ ��*:Y��]1y���:���5����Wj,h�0^�E�AY}�j�?�}���?y}�;�}�&g��}H�����#z�?���@�H������A������W�?�������?����i�r����`ZF�?�����ݬ���� b��?)~�j�? ~��Z;I~ɫ���)�� ������I��Y�m�@y�m0QG��DNmea in: $SNTTA,,,,,170144.12*5A ��-��M-@=Y�5�P�QU5�>��1��1�a5�G��=L?G��9y�=:�;}E�>I�I��M�p5�?��M��ܾ� �M�@��U�?9�M��B��Mӻ: �MD�:)�I�m�qAdded new target pos. range: 50.459995 m, bearing: 66.367596 deg, deltaT: 4.461233 s, approachRate: -0.524520 m/s, LOS rate: 0.125439 deg/s, posRepo size: 4�m�� ProNav: pos range: 50.459995 m, bearing: 66.367596 deg, approachRate: -0.524520 m/s, LOS rate: 0.125439 deg/s, cmd update: 0.376316 deg/s, cmd heading: 58.761946 deg, new cmd heading: 58.802409 deg. �W�u��?�W�X� X��W���ݡ>���Ci��mGI��i�����˿ٺ��1�A:W2W*W!�V!bU!BU!*U!U-��� �:I@U-�������?Bu ��By B��A�6-�*B��A��")��A��A��A��^="C�u��?*C��`��RC��@�<C�u��?�C��֍ ��<��iI�qG��>�7��Wj,�J^�E�A�<9�<I�>�LGi�>^�@��>=��<��<��>_T; �>t&E)ݽ�k�CIݽ�k�Ciݽ���C�ݽ�=�ݽ�=�ݽ���6Y}n�`�?�}n���?y}n����}n�Fc��}nH����@~�?����G������]e������/U�?����0��?���@!݀����@)��?���`a���������?)~n�`�? ~n��Z;I~n��Cɫ �)� �����I�Y�M`�@y�UcPGI��)����5��=��5�}=��5�L�i�5 �@��1 �5ߏ@)�1I�5��@i�1��EWL�MMH=Y�M7�QUM�>��Q��Q�aU�G��Q��Yy�]zF�}]�>I�a��m�:��e�w5�?��m�:��e��ܾ� �ej�@��u�?9�e8�B��e�: �eb�:)�e5�:�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ���?B�e-��B� B��A�k2�*B��A�$+��A��A��A��="C����?*C�N1��RC��~�<C����?�C����7�<���I��Gm>���V�������������������� �D&:Y��[1y�H�:��n�5)���;�9������Wj,�Yd^�E�A�|i|�@Y}>�J�?�}>���?y}>Y��}>�dg��}>H�����8��?���`GD������U �������Q�?��� ɠ�?�����q��������?�����㬿��� K��?)~>�J�? ~>�Z;I~<ɫY�Y)�Y �]����I�YY��h�@y��lPG����X9��v��?��~j�t�?�� �rh�?����?����= ��C�<)��I��y�����ʡE�?�I+��?����MbP����-?���9�<����� ±)µ&%AIµ^Ai±������3A)���= ������;M�R=Y���(�QU��>�������a��G������y����}��>I������~5�?����ܾ� ����@����?9����B���f�: ����:)���W%�M�?�W!X! X!�W!:W)2W)*W)�V)bU1BU1*U1U1U5����H��?Beg��Ba Ba�Ae/2�*Ba�AmZ-��Ai�A��A���="C��M�?*C�����RC�.^�<C��M�?�C���8��<���I�Gn>��ԞWj,�5~^�E�AY}J? �?�}J@�?y}J��'��}J*�e��}JH���� 2��?���`@=�����@�U������CJ�?��� ���?�����ǎ��������?����������� E��?)~J? �? ~JſZ;I~Hɫ�髙)�� ��I��Y��N�@y��LPG����M�L=Y�+�QU��>�������a��G���M?G���y�����}��>I������:�����5�?����:����ܾ� ���@����?9���B�����: ����:)��6�:�W���?�WX X �W :W 2W *W�VbUBU*UUU������?BE���BA BA�AM�2�*BI�AM�/��AI�AQ�AURn="CU���?*C]�ʠ�RC])D�<C]���?�CY��er��<��A�e��>9�ek�CI�ai�a��e=��a��a��eS; �e�%EI��G�]>��4����������������� ��#:Y��^1y�a�:��$�5)���;�3��Wj,�^�E�AY}2���?�}2��?y}2�f7��}2Ȟ`��}2H����`p��?��� �3������t�������?�?���`���?�����8��������?���� ������|��?)~2���? ~2��Z;I~0ɫi�i)�i �iI�iY�}ש@y�}�PG����=i���=�å����å���åz>iå�@�á ĥ��@)ĥt�@Iĥ��@iĥ��@��*=M�K=Y���QU��>�����a��G�����y��z�}��>I�����ތ5�?����ܾ� ��8�@��U�?9����B����< ���:)���W}���?�WyXy Xy�W�:W�2W�*W��V�bU�BU�*U�U�U���� KQ�@B�n���B� B��A��.�*B��A���1��A��A��A�� ="C����?*C�^���RC���e<C����?�C�����m�<�I��G�f>���Wj,���^�E�A�|�|4<Y}N�@�?�}Nxw�?y}Nn�C��}N;_��}NH���� ���?���@�(�����@f��������3�?��� �"�?��� �������@�y�?�����۫����@|��?)~N�@�? ~N�Z;I~N��Cɫq�q)�q �qI�qY��d�@y��gPG��Y��Y��0�M�L=Y�#��QU��>�����a��G��N?G��y���}��>Iȩ�ŭ�5�?�ŭ�ܾ� ƭ��@����?9ƭ �B�ǭ��: ȭY�:)ȩ�W��P�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU����=j@B輽B B�AM2�*B �A �R4��A �A �A ?�="C�P�?*Cig��RC�<C�P�?�C��5��a<�� I�G5q>����������������������� �] :Y��[1y�H�:��J�5�9�@�]��>9�YI�]MGi�]��@��]=��Y��Y��]�Q; �]%E���Wj,s�^�E�AY}N���?�}N�/�?y}N�-M��}Ns�U��}NH�������?��� "�����`.i�����`�+�?��� /D�?���@�옿�������?����C����������?)~N���? ~N��Z;I~N��Cɫq�q)�q �}����I�yY����@y��'QG鮙ɮ���EO����Eٽ��E�@=i�E��@��A �E�@)�E��@I�Eߏ@i�Eߏ@��]B=M]L=Y�]Ĺ�QU]�>��a��a�ae�G��a��iy�m!��}m�>I�q��}�:��u8�5�?��}�:��u*zܾ� �u�@����?9�u�B��u��: �uV�:)�u7�:�W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�B��S��B� B��A�q-�*B��A��i6��A��A��A�/="C��?*C�1>��RC�d�;C�?�C����H<�סI��G�D>�!��Wj,?��^�E�AY}J�̲?�}J��?y}JߖQ��}J/N��}JH������1�?����c����� ��������&�?���@TX�?����?��������/�?����u������@���?)~J�̲? ~J��Z;I~Hɫq�q)�q �}����I�yY��F�@y��CPG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)����m�V-���?�~j�t�x?�������?��m��>��m��; �m��<)�iI�iy�m��ʡE���?{�G�z�?y�&1��?��m�?��m�#=��m`e= �i)�iI�mAi�m&%A��i��m� A���R�M�:=Y�n �QU��>�����a��G����y��H�}��>Iȱ�ŵ?�5�?�ŵmܾ� Ƶ�@����?9Ƶ��B�ǵʽ: ȵY�:)ȱ�W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����! @B�����B� B��A�:3�*B��A��9��A��A��A���="C���?*C�? ��RC� C);C���?�C������;��D ����������������� �>9:Y�]1y��:����5���I��G��>��"�Wj,J|�^�E�A�|i|�@Y}6'�?�}6� �?y}6�9U��}6F�I��}6H������#�?�����!�����������`)�?����%K�?����I�����!��?�����-����� ���?)~6'�? ~6�Z;I~6��CɫY�Y)�Y �]����I�YY��ĩ@y���PG�xDUSBL response received:!U1,P 001,000,005BA,182,80,80,88,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 )�> �>��%U0=M-e=Y�=�!�QUE�>��Q��Y�ae�G��eO?G��qy�c ;}��>Iȩ����:�ŭ#�5�?����:�ŭ+bܾ� ƭ�@����?9ƭg�B�ǭ �< ȭ��<)ȭ8�:�We�?�W!Xa Xi�Wi:Wq2Wy*W��V�bU�BU�*U����>9�l�CI�i����������P; �t$EUAUE����>� @B�߷�B B �A K/�*B�A=Ʊ;��A9�A9�A=)^="CMe�?*CU�ڟ�RCuˆ�:C}e�?�C��֥ ��2;�ׁ I�� G� �>� �Wj,�\_�E�Aɫ�髱)�� ������I��Y��7�@y��kQG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��t��� ����>i���@�� ���@)�I���@i���@��-�=M-:=Y�5���QU5�>��1��9�a=�G��9��9y�E���}E�>I�I��M�5�?��M�Uܾ� �M(�@��U�?9�M��B��Mϸ: �Mb�:)�I�W}���?�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U����@,=@B��ͽB� B��A��+�*B��A��\=��A��A��A���="C����?*C����RC�ڏ*�C����?�C��ֽ��:�בI��G�a>Iޑ)ޕ@A��� ���������������� �LA:Y�d\1y���:��[�5��4�Wj,�23_�E�AY}2T��?�}2-1�?y}2L�c��}2_6��}2H���� _��?����?������%������vC�?���`,��?�����砿���`�x�?������������7��?)~2T��? ~2��Z;I~0ɫY�Y)�Y �YI�YY���@y��0QG�xDUSBL response received:!U1,R,020,000,00589,185,80,80,74,FF �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! X!�W!:W)2W)*W)�V)bU1BU1*U1U9U=����[�@�PQ*QU>B�ZU�5�se0�G@`�ɸ:�����������ZU���Z���?�|�p}�����������2QU���:QQ�ZU�o;s�@4@�WU��sE@0�騚@�ZU����E�?{�L��?|�# ��?BQU���? QU�+BQU��A�PU{�9?�PUy�9?�PU����QU����QU8�A"QUw�@B��ŽB� B��A�6-�*B��A��d?��A��A��A�JU="C���?*C�G���RC��A�;C���?�C��օ��q���?i�?��yI��G�]>� ��>9� I� �MGi� R�@�� =�� �� �� [O; � �#E�O.�Wj,uWM_�E�A�|J4<�|HY}M���?�}Mn��?y}M��q��}My�!��}MH������J�?����TU�������z������U�?�����s�?�������������?��� �/������q��?)~M���? ~M��Z;I~Iɫ�)� �����I�Y�U0�@y�UbQG��DNmea in: $SNTTA,,,,,170148.57*57 ��������uxi���u�u<��u㥽i�q��q �q)�qI�qi�q���.<M�/=Y�V�QU��>�����a��G����y��S<}��>Iȩ�ŭ��5�?�ŭ=ܾ� ƭp�@����?9ƭ��B�ǭ�: ȭ]�:)ȩ�m�uAdded new target pos. range: 47.520004 m, bearing: 64.733227 deg, deltaT: 4.422876 s, approachRate: -0.664724 m/s, LOS rate: -0.369526 deg/s, posRepo size: 4�m�� ProNav: pos range: 47.520004 m, bearing: 64.733227 deg, approachRate: -0.664724 m/s, LOS rate: -0.369526 deg/s, cmd update: -1.108579 deg/s, cmd heading: 60.425844 deg, new cmd heading: 60.600807 deg. �W�Wׅ?�WX X�W:W2W *W �V bU BU *UU������G@U����{��?B=���BA BA�AE�+�*BA�AM��A��AI�AI�AMO�="CUWׅ?RCU�0�<CUWׅ?�CY��=��;���I�Gn>���B �����������"�� �9:Y�y�����5)�#�;�9���(G�Wj,!�f_�E�AY}2�|�?�}2г�?y}2=#���}2����}2H�������?�����h�����@�B����� !f�?����J�?���@_t�����`�A�?��� y���������?)~2�|�? ~2�[;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}JRG��u�NbX9��?<�O��n������Mbp?��u�%?��ut� �u�;)�qI�qy�u����S��?���Q��?����������u/?��u�u=��u��� �uA)�uQ$AI�u�Ai�q��q��u�A����=M�_=Y���J�QU��>�����a�G���� y� y<} �>I����:����5�?���:��0ܾ� ��@��%�?9�D�B����: �A�:)�:�:�WE&�?�WAXI XI�WI:WI2WQ*WQ�VQbUQBUQ*UYUYU]���`���?B�=���B� B��A� &�*B��A�g�C��A��A��A�y4="C�&�?RC�>�<C�&�?�C���moM�<��I�)GE0>i�E �lGI�Y i�q ��� �̿ٺ� ��� q�A�1�Wj,�̀_�E�AY}J���?�}Jd/�?y}J� ���}Jb���}JH����`H��?��� !v��������������o�?���`���?��������@~�?����MҠ����@k��?)~J���? ~Jp�Z;I~J��Cɫ�髉)�� ��I��Y��Ī@y��RGI�1)�1��uEK�MuL=Y�u�L�QUu�>��y��y�a}�G��}Q?G��y��<}��>Iȉ�ōv�5�?�ō�#ܾ� ƍa�@����?9ƍ��B�Ǎ��: ȍ�:)ȉ�W����?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B}`U��B� B��A�O'�*B��A�rF��A��A��A���="C����?RC�L�=C����?�C��٩�٭nA��9��I���NGi����@���=���������CN; ��G#E)�=�l�CI�=�l�Ci�=���C��=�=��=�=��=���5��U�̓<��I�!G=r>����������������������� �:Y��X1y�/�:���5)�[};��X�Wj,��_�E�A�|i|�@ɫ�髙)�� ������I��Y��/�@y���RG)�-�= �-�=��m�Ļ��m�u=��m�=i�m��@��i �m��@)�m��@I�m��@i�m��@��x=M�J=Y����QU��>�����a��G����y����}��>Iș�ŝ��5�?�ŝ@ܾ� Ɲ�@����?9Ɲ>�B�ǝ�: ȝD�:)ș�W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�&�?B h5��B B�A�#�*B�A}"H��A�A�A��="C��?RC%��1=C%��?�C!��-<��<���I��G+>�σ�Wj,�}�_�E�AY}F�I�?�}F���?y}F�Ҝ��}F����}FH�����#��?������������������s�?�������?����g�������v��?����������`���?)~F�I�? ~F/�Z;I~F��Cɫy�y)�y �}����I��Y���@y��wSG��K[=M�J=Y�J��QU��>�����a��G��R?G��y���;}��>Iȹ����:�Ž��5�?����:�Ž�ܾ� ƽ~�@����?9ƽ��B�ǽo�: Ƚ{�:)Ƚ;�:�W���?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU���@�W�@B-�輽B) B1�A5f�*B1�A514J��A1�A1�A=&="C=��?RCE��T=CE��?�CA��e��=��9I�AGeU>��� ��������c�� �W@:Y�y�����5�9�@ܥ��>9ܡIܥ�OGiܥ�@�ܡ�ܡ�ܥ��D�ܥ7M; ݥ�"E��j�Wj,LU�_�E�AY}2��?�}2}T�?y}2�$���}2qoۼ�}2H����@��?��� {�������_�������l�?�������?����y#�����@_�?���@�V��������?)~2��? ~2)[;I~0ɫI�I)�I �M����I�IY�}�@y�}�SG���4=i��=��5/ݼ��5�y���5=i�5=�@��1 �5+�@)�5��@I�5�@i�5+�@��E�;MEO=Y�E>��QUM�>��I��I�aM�G��I��Qy�]�`�}]�>I�a��e��5�?��e��۾���mtI �e�@��m�?9�e:�B��e��: �e��:)�a�W�y�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����,z@BM����BQ BQ�AU��*BQ�AU�CL��AY�AY�A]�A="Cuy�?RCu=g=Cuy�?�Cy��m�SE=��AI�QGm5>�p��Wj,v2�_�E�A�|�;�|�;Y}J�ĵ?�}J���?y}Jp����}JN����}JH�������?�����p�����@v�����sb�?�����?����3{������0�?����`�����@��?)~J�ĵ? ~J��Z;I~J��Cɫy�y)�� ������I��Y��A�@y���SG��a=ɮ�a=����i��|?5�?y�&1��?�I+��?����?���`�< ��9�=)��I��y������Q��?k�t��?�~j�t�������?��� �=����D� ^A)!AI5Ai�%A�������A�©�©��e�<M�C=Y�*��QU��>�������a��G������y��Ի}��>I������:����5�?����:���F�۾� ����@����?9����B����: ���:)��<�:�WP�?�WX X �W :W 2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P�B�����B B �A c�*B �A�_N��A�A�A�`="CP�?RC"Px=CP�?�C!��=gW=��I�!G=r>��J ����������������� ���:Y��W1y�č:��i6��|�Xj,�`�E�AY}:�?�?�}:cv�?y}:�}:Q ��}:H���� ��?�����^�����`9ӱ������S�?�����H�?�����B���������?���������������?)~:�?�? ~:c[;I~:��Cɫ9�9)�9 �=����I�AY�}=�@y�}�SG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���ɜ�M�Y=Y����QU��>�������a��G��S?G��y�{'�}��>Iȡ�ť!�5�?�ť~�۾� ƥ��@����?9ƥ1�B�ǥ��; ȥH�;)ȡ�W\�}?�WX! X!�W!:W!2W!*W!�V)bU)BU)*UaUaU�����u. @B�2���B� B��A���*B��A��|P��A��A��A�w="C�\�}?RC�;�=C�\�}?�C��M��>9�II�M�PGi�M��@��M=��I��I��M+L; �M0"E������=�יI��G�b>�p�Xj, �`�E�Aɫ�髱)�� ������I��Y����@y��[TG�xDUSBL response received:!U1,P 020,000,00589,185,80,80,74,FF �Command Ack�BRequesting micromodem ping code 2i�����I�)�� �Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����Ļ���t�������i���@��� ��3�@)���@I��3�@i��3�@��3�<M�'=Y����QU��>�����a�G����Ay�E���}M�>I�I��U�:��M^�5�?��]�:��M��۾� �M��@��]�?9�M��B��MU�: �MX�:)�M=�:�W��g{?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �� @B=�a��BA BA�AE��*BA�AE1�R��AA�AI�AM��="CM�g{?RC}3��=C}�g{?�C���L ����������������� ��9:Y�d\1y���:��i�5�����w=��� I�� G� �>��Xj,��5`�E�A�|i|�@Y}>��?�}>�=�?y}>Pд��}>�N��}>H�����G��?����$8�������ߴ�����3�?���@F��?����'��������?����p������@���?)~>��? ~>�[;I~>��CɫY�Y)�Y �e����I�aY��i�@y��ZUG������AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���=M�n=Y�?�QU�?�����a��G��T?G��y����}�?I�������5�?���f�۾� ���@����?9��&�B�����: ����:)���W���y?�W�X� X��W�:W2W*W�VbUBU *U U U��� �A@B=�EǽB9 B9�A="�*B9�AEn(T��AA�AA�AE �="CM��y?RCM�=CM��y?�CQ��MU֣=��I�G5.>�I9�Mm�CI�M(RGi�MЪ@��M=��I��I��MK; �M�!E��Xj,�O`�E�AY}NB��?�}N��?y}N �}N�c��}NH��������?���`R'�������2�����@�%�?�����%�?������������?���`�]��������?)~NB��? ~N�[;I~N��Cɫy�y)�y �}����I�yY����@y���UG�xDUSBL response received:!U1,R,016,000,00561,183,80,80,85,FF �Fpublishing direction and range info���nF�����ɰ���=��$�> ��)���CI��y��z4B������0�}��?�]��~�����������ٱ����X�����������=i��p�@��� ��h�@)��h�@I��h�@i��h�@�����<M�E=Y�����QU�>�����a�G���� y�]�}�>I���%�:���5�?��%�:��$�۾� �\�@��%�?9���B����: �w�:)�>�:�WM��w?�WIXI XI�WQ:WQ2WQ*WY�VYbUYBUY*UYUaUe����X�@�Pq*Quz4B�Zu��$�K�F@+0ѷ����������Zu���0�}��?�]��~�����������2QunF��:Qq�Zu�yF����2@}�QB^D@_Q.�S3@�Zu���P��?�����?�|Ԏ���?BQumE�? Qu�"BQuǗA�Puz�9?�Pu{�9?�Pu����Qu����Qu�A"Qu8�AB���B�Ad = B��A��*B��A��V��A��A��A��="C���w?RC����=C���w?�C���}���=��YI�����2 �������������������� ���7:Y���W1y��č:����6)���;�9��G=�>��Xj,xi`�E�AY}2 �?�}2�T�?y}2����}2m ���}2H����@Q��?������������0��������?����]�?����ţ������k��?��� s0�����`u��?)~2 �? ~2[;I~2��CɫI�I)�I �M����I�IY�}{�@y�}�VG��dNmea in: $SNTTA,0.399571,0.399340,,,170153.02*59 ���a=i��4=��}�T㥛� �?���Mb�?T㥛� �?��}A?��}�@> �}�=)�yI�yy�}���v���?/�$��?<�O��n�?��}�?��},=��}t= �} A)�}|#AI�}�Ai�}�'A��y��}GA��O�=M�Q=Y��1�QU��>�����a��G����y���}M�>I�Q��U�5�?��U2�۾� �U��@��e�?9�U!�B��Uf�: �U+�:)�Q�m qAdded new target pos. range: 45.119999 m, bearing: 65.026768 deg, deltaT: 4.480998 s, approachRate: -0.535596 m/s, LOS rate: 0.065508 deg/s, posRepo size: 4�m� 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. �W�(x?�WX X!�W!:W!2W!*W!�VIbUIBUI*UIUU��� \�F@UU����5��?B�zӵ�B� B��A�� �*B��A��X��A �A �A ڢ="C�(x?*C�@��RC#7�=C�(x?�C�֕�v�=��iI�yG��>��� Xj,&S�`�E�A�|4<�|Y}FQ��?�}F(��?y}FT/���}F����}FH������?�?����q�������������9 �?���@���?�����E�����`�=�?��� ����������?)~FQ��? 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~6H4[;I~6��Cɫ9�9)�9 �=����I�9Y�}d�@y�}YG��-+����-�C���-O�=i�-\�@��) �-��@)�-��@I�-~�@i�-��@��=�<=ME\=Y�E!�7QUE�>��I��I�aM�G��I��Iy�U5;�}U�>I�Y��e�:��]� 5�?��e�:��]�{۾� �]�@��m�?9�]�B��](�: �]w�:)�]@�:�W�F�y?�W�X� X)�W):W12W1*W1�V1bU9BU9*U9U9U=������@B�꼵�B� B��A����*B��A�p}^��A��A��A�_{="C�F�y?*C��,��RC��CC=C�F�y?�C�������)�� ���֥ S-P=� I�� G� �>��0:Xj,ܽ�`�E�AY}6�;�?�}6�r�?y}6 ����}6J4���}6H������F�?��� �����@$�������]��?���`w��?�����ݧ����@~��?�����������+��?)~6�;�? ~6�;[;I~6��CɫA�A)�A �E����I�AY����@y��mYG��-�/�$��?Zd;�O���+�����?��-?��-j�� �-�=)�)I�)y�-��MbX9�?����Mb�?<�O��n�?��-�!?��-=��-t�< �-�A)�-�%AI�-�Ai�)��)��-pA��E��<ME;=Y�Mk;QUM�>��Q��Q�aU�G��UW?G��Yy�]���}]�>I�a��eo 5�?��eCm۾� �e��@��u�?9�e��B��e�: �ef�:)�a�W���y?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� or@B�v屽B� B��A�D�*B��A�`��A��A��A�ei="C���y?*C��락RC�m�4=C���y?�C�����K@=�סI��G�A>������������������� ��m:Y��W1y�č:��+6�!AXj,$�a�E�AY}:��?�}:n#�?y}:�?���}:벱��}:H������k�?����ȫ������ソ���`���?�������?�����������@��?����������ѿ�?)~:��? ~:s`[;I~8ɫ9�9)�9 �=����I�9Y�}7�@y��ZG鮕p=ɮ�=���=i���=����1=M�g=Y����;QU��>�������a��G������y���}��>I������:����& 5�?����:����a۾� ��Ǭ@����?9���B���s�: ��I�:)��A�:�WE*Ez?�WIXI XI�Wi:Wq2Wq*Wq�VqbUqBUy*UyUyU}����Ӣ@�R�B*** querying acoustic contact ***�P��P�B�W��B� B��A�e�*B��A���a��A��A��A�X\="C*Ez?*C3���RCq)=C*Ez?�CIܕ��>9ܑIܕ�WGiܕB�@�ܕ=�ܑ�ܑ�ܕH; ݕ E��}?L=��QI�aG}z>�LCGXj,uva�E�A�|�;�|ɫ�髙)�� ������I��Y��ֱ@y���ZG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�Õ����Õ`��ÕC�=iÕ��@�Ñ ĕz�@)ĕ��@Iĕ��@iĕ��@��+=M�0=Y����QU��>�����a��G����y����}��>I�����0 5�?���iR۾� ��ۭ@����?9����B��� �: ����:)���W5զz?�W1X1 X1�W1:W92W9*W9�V9bUABUA*UAUAUM����D @B��m��B� B��A�qݾ*B��A��c��A��A��A��G="C�զz?*C��j��RC�n&=C�զz?�C��ֽ�#'=�ב�������������������� ��0:Y�DW1y�Y�:��4�6I��G��>��nMXj,!W8a�E�AY}Fu�?�}F�?y}FϾ���}F̞���}FH��������?������������彿������?����Z�?�����ؤ����@xp�?����cV�����`��?)~Fu�? ~F99[;I~F��Cɫ�髑)�� ������I��Y����@y���[G�xDUSBL response received:!U1,P 016,000,00561,183,80,80,85,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��Ea�=MUc=Y�]3�;QUe�>��y��y�a��G��X?G��y��!�}5�>I�i��m 8 5�?��m�E۾� �m��@����?9�m�B��m��< �mʅ<)�i�W�{?�WX X �W :W 2W *W�VbUBU*UUU����$� @B����B� B��A�-Ѿ*B��A�g�d��A��A��A��7="C��{?*C�Z)��RC���=C��{?�C�����K'=�שI��G �>܍ ��>9܉ I܍ 0YGi܍ ��@�܍ =�܍ RD�܉ �܍ 3G; ݍ �E��UTXj,/Ra�E�AY}:/;�?�}:r�?y}: >���}:����}:H���� g��?��� ���������������?����-�?����ր�������@�?����c:���������?)~:/;�? ~:s9[;I~:��Cɫ9�9)�9 �=����I�AY�}�@y�}]\G���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�1)�1��5��;��5��=��5�O�i�5��@��1 �5��@)�1I�1i�5ҙ@��E�=ME;=Y�M��:QUM�>�����a��G����y����}��>Iș����:�ŝs@ 5�?����:�ŝ+8۾� Ɲ��@����?9Ɲ��B�ǝ ; ȝ7!;)ȝB�:�W��Y{?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����F8@B*��B B�Aɾ*B�A-�e��A�A�A�1="C%�Y{?*C%���RC%�g=C-�Y{?�C)��}]=��YI�����y �������������������� ��x=:Y��0Y1y����:�����5)���;�9��G��>�ZXj,-la�E�A�|i|�@Y}6���?�}6�7�?y}6϶���}6�M���}6H�������?���������� ʺ����� 8��?��� sC�?����~������@��?����,/�����@R��?)~6���? ~6o)[;I~4ɫ9�9)�9 �=����I�9Y�}}�@y�}�\G�xDUSBL response received:!U1,R,FE8,000,00533,183,80,80,C2,FF �Fpublishing direction and range info������<���ɰ��=鰁 ��)���BCI��y��p)B����H�V4��?P�4��q�?��������ٱ���dNmea in: $SNTTA,0.044115,0.219097,,,170157.47*59 ������Q���?q= ףp���� �rh�����(�>����� ��C��)��I��y���'1�Z�?�I+��?����Mbp�����"?���94<����� ���A)��Q$AI��i��Q$A�������A)� �= � �=��=��<MEK=Y�m��:QUm�>�����a��G��Y?G��y�^��}��>Iȡ�ť�I 5�?�ť+۾� ƥN�@����?9ƥ�B�ǥ˹; ȥ�;)ȡ�W�z�{?�W�X� X��W�:W�2W�*W��V�bUBU*UUU-������@�P9*Q=p)B�Z=�X��,E@2�+eKc�?���������Z=�H�V4��?P�4��q�?��������2Q=���<:Q9�Z=�N�l\��1@X�.=�,C@��K+W�@�Z=�렉9��? �u_��?�����?BQ=��? Q=eBQ=�A�P=y�9?�P=z�9?�P9Q=����Q=�A"Q=�AB��¨�B� B��A�þ*B��A�@�g��A��A��A��#="C�z�{?*C�J���RC�qr=C�z�{?�C��ֽ� =�בI��G��>�dgaXj,e�a�E�Aɫ�髁)�� ��I��Y�� �@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. �W�u |?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����.E@U�����&�?B ���B B�A��*B�A�&h��A�A�A�="Cu |?*C%˃��RC%�<C%u |?�5��>9�1I�5�ZGi�5̱@��5=��5SD��1��5ZF; �5)E�C!��]2g=��I�!GEs>��S ��������������A�� ��N:Y��X1y�/�:��� 6)��;�{�gXj,b��a�E�Aɫ�髙)�� ������I��Y����@y��N^G��=a=i�==��U(\=MU]=Y�QQU]�>��Y��Y�a]�G��Y��ay�a}e�>I�i��m�Z 5�?��m/۾� �m��@��}�?9�m�B��m �: �m#�:)�i�W�2Z|?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@&D�?B����B� B��A�ٯ�*B��A�#.i��A��A��A�� ="C�2Z|?*C��P��RC����<C�2Z|?�C���G��<���I��GI>�Z�mXj,נ�a�E�A�| �| Y}>���?�}>�6�?y}>t����}>���}>H���� 8M�?���`��������/������f��?����1��?����������`,�?��� $���������?)~>���? ~>�+[;I~>��CɫY�Y)�Y �e����I�aY��|�@y��H_G�� �� ���v=M�F=Y��<QU��>�����a��G��Z?G��y����}��>I������:���dd 5�?����:����۾� ��+�@����?9����B���<; ���8;)��D�:�W��|?�WX X�W:W2W*W�V!bU!BU)*U)U1U5��� ���?Bm����Bq Bq�Au��*Bq�AuvHj��Aq�Ay�A}�="C}��|?*C����RC�.��<C���|?�C���y��9I�IGeU>���~ �����������������K�� ���=:Y��xZ1y��q�:����6�9�@�- ��>9�) I�- �[Gi�- ��@��) ��- RD��) ��- �E; �- �E�b�tXj,?t�a�E�AY}2d��?�}29��?y}2�ˣ��}2�����}2H���� ���?�����z�����й�����`���?���@���?�����褿��� �s�?����vc�����`���?)~2d��? ~2p[;I~2��CɫI�I)�I �M����I�IY�]q�@y�];_G��%\�=��% ����%�!>i�%�@��! �%&�@)�%&�@I�%&�@i�%&�@��5�b�M=Q=Y�=��;QU=�>��A��A�aE�G��A��Iy�M��}M�>I�Q��Ubm 5�?��U<�ھ� �U��@��e�?9�U�B��U��: �U/�:)�Q�W��}?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����|�?BEB���BA BA�AEУ�*BA�AM�Sk��AI�AI�Am��="Cu�}?*Cu�盽RCu�<C}�}?�Cy�֍�<��iI��G�B>���zXj,�O�a�E�AY}6� �?�}6jW�?y}6J/���}6��}6H�������?���`�r����`v������@�~�?��� ��?�����J����� ���?������������l��?)~6� �? ~6�/[;I~6��Cɫ9�9)�9 �9I�9Y����@y���`GI�Y)�Y��M�J+��?�I+����~j�t�h���M�(?��M9�� �M�D�)�II�Iy�M�+����?J+��?X9��v��?��Mv?��M�H=��M��< �M�A)�M!AI�M�Ai�M!A��I��MA��u{�=Mu8=Y�}��;QU}�>�����a��G��[?G��y�r�}��>Iș����:�ŝv 5�?����:�ŝ��ھ� Ɲҳ@����?9Ɲ��B�ǝD"; ȝj!;)ȝE�:�W��g}?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��@B����B B�A���*B�AUl��A�A�A��="C%�g}?*C%����RC-q�t<C-�g}?�C)��e���<i���lGI��i�����̿ٺ��q�A��9I�AG]v>��- ����������������� ���:Y��X1y�/�:��{6����Xj,�+b�E�A�|i|�@Y}Nܬ?�}N��?y}N�^���}NN���}NH�������?���@�l������������zx�?����K�?����cK�����`Y�?�������������?)~Nܬ? ~N�M[;I~N��Cɫ�髁)�� ��I��Y����@y���`G)�m�= �m�=�õ���õff>�õE��iõf�@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@�����<M�V=Y���;QU��>�������a��G������y��,��}��>I������} 5�?�����ھ� ����@����?9��!�B���/�: ��j�:)���Wʹ}?�WX X�W:W2W*W�V!bU!BU!*U!U!U-����?@BU����BQ BQ�A]���*BY�A]3m��AY�AY�A]�="Ceʹ}?*Ce\���RCm��K<Cmʹ}?�Ci����>9��I��|]Gi���@�������������D; ��_E)�i�I�i�i�i���m�=��m�=��m���5��m��u<��!I�1G]3>��߇Xj,�!b�E�AY}2vҬ?�}2K �?y}2 Փ��}2�t��}2H�����w��?���@�n����`*��������x�?����_�?����~�������v�?���@�g������+��?)~2vҬ? ~2��[;I~0ɫA�I)�I �U����I�QY����@y��aG鮡ɮ�p=���"�<M�[=Y���;QU��>�������a��G������y���K�}��>I���� 5�?����ھ� ���@���?9���B���X; �TE;)��W]�~?�WYXa Xa�Wa:Wa2Wa*Wa�VibUiBUq*UyUyU}�����+@�R�B*** querying acoustic contact ***�P��P�B]���BY Ba�Ae���*Ba�Ae�n��Aa�Ai�A��="C��~?*C�MY��RC�e=<C��~?�C��֙��yI��G�^>��� ���������� �A:Y�y����6�B�Xj,��:b�E�AY}2��?�}2�T�?y}2Z����}2��`��}2H���� ���?��� �z�����K�������߁�?���`���?��� A������@��?����H �����@=��?)~2��? ~2f[;I~0ɫ9�9)�A �E����I�AY�u��@y�}�aG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��p=i��=��U�<=MUB=Y�]�n;QU]�>��Y��a�ae�G��e\?G��ay�mp�;}m�>Iȑ����:�ŕ%� 5�?����:�ŕ��ھ� ƕ��@����?9ƕ�B�Ǖ�: ȕ��:)ȕF�:�W��e~?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @BE�r��BA BA�AM���*Bi�AuS�n��Aq�Aq�Au�*="C}�e~?*C}�*��RC}�O<C}�e~?�C��ֽ*:<�בI��G�f>�� 9�� I�� D^Gi�� ��@��� =��� ��� ��� "D; �� E�|�Xj,ԻTb�E�A�|�|Y}62��?�}6��?y}6�>���}6�[��}6H�����Њ�?��� ��������4������%��?����v��?����x������-ı?����a��������?)~62��? ~6ef[;I~4ɫ9�9)�9 �9I�9Y�}%�@y�}�bG�xDUSBL response received:!U1,P FE8,000,00533,183,80,80,C2,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 ������nA��m�@=��m����m��=i�m �@��i �i)�m&�@I�m&�@i�m&�@���=M�(=Y��� ;QU��>�����a��G�����y�� �;}��>I���/� 5�?��/�ھ� ���@����?9���B��d< �e<)��W} �~?�WyXy Xy�Wy:W�2W�*W��V�bU�BU�*U�U�U�����-� @��] ��������������+�� �=;:Y��Y1y��:��X6)���;�9��B�ï��B� B��A�q�*B��A��p��A�A�AO9="C �~?*C ꚽRC {�c<C5 �~?�C1��E h�W<��I�)GE�>���Xj,�nb�E�Aɫy�y)�y �}����I�yY����@y��NcG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����&1��?�������?y�&1��?����?�����< ��`�<)��I��y����"��~j�?����Mb�?<�O��n�?���S#?����=���t�< ��)���AI��fAi���������A����e=M�r=Y�����QU�?������a��G��]?G��y����}�?Iș����:�ŝY� 5�?����:�ŝM�ھ� ƝZ�@����?9Ɲ+�B�ǝ0; ȝ�;)ȝG�:�W��?�W X X �W :W 2W*W�VbUBU*UUU����D%@B�����B� B��A��]�*B��A�фp��A��A��A�wJ="C��?*C� Ț�RC�S<C��?�C������a<���I��G�>���Xj,qr�b�E�AY}MhҮ?�}M; �?y}M5���}M1T��}MH����`���?����Ƶ����`ur�����@���?��� �(�?��������5c�?������������ ��?)~MhҮ? ~M�6[;I~Iɫ9�9)�9 �E����I�AY�UQ�@y�U�dG]xDUSBL response received:!U1,R,FF8,000,0050B,183,80,80,B2,FF eFpublishing direction and range info��]���;��Yɰ]��=�Y �Y)�]�2CI�Yy�]�B��]�Z������?���a�|?��������ٱYI��)��������\����`e�i�\�@�� �\�@)�\�@I�\�@i�\�@��%�/=M%G=Y�%l;QU%�>��)��)�a5�G��1��9y�=x�<}E�>�y9�yI�}�_Gi�}��@��y��y��y��}�C; �}�EI�I��M�� 5�?��M�ھ� �M�@��5�?9�M��B��M@�< �MD�:)�I�W}�v?�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U�����#�@�P�*Q��B�Z��o�2W��C@1ҩ��?���������Z��Z������?���a�|?��������2Q����;:Q��Z��?��¯51@Ϻ_H;�A@��.l�@�Z��-B��'��?Q����?x��]�Q�?BQ�Z�? Q��BQ���A�P�z�9?�P�y�9?�P�Q�Q��A"Q��AB5���B1 B1�A5�K�*B1�A=8q��A9�A9�A= Z="Ce�v?*Ceג��RCe�{�<Cm�v?�Ci��uO�N<�������������������� ��+:Y�0Y1y���:����5)���;��iI�yG��>�G0�Xj,mX�b�E�A�|(i|*�@Y}#�?�}�U�?y}�֊��}Ң��}H��������?���@Ѿ����`#��������?����D�?���@Hᦿ����vW�?���`����� ���?)~#�? ~�J[;I~��Cɫ�)� �%����I�!Y�M�@y�U�cG��TNmea in: $SNTTA,0.042760,,,,170201.90*4B )���= ���=�� ���M K=Y�1�9QU�>�����a�G����y�%m�;}%�>I�)��5�:��-� 5�?��5�:��-�ھ� �-ع@��5�?9�-/�B��-��: �-��:)�-H�:�mmuAdded new target pos. range: 39.959999 m, bearing: 64.426893 deg, deltaT: 4.461024 s, approachRate: -0.537993 m/s, LOS rate: -0.197399 deg/s, posRepo size: 4�mmrPowering the camera and arming the DDM at range: 39.96 m.Xm�m}� ProNav: pos range: 39.959999 m, bearing: 64.426893 deg, approachRate: -0.537993 m/s, LOS rate: -0.197399 deg/s, cmd update: -0.592198 deg/s, cmd heading: 57.176002 deg, new cmd heading: 57.245339 deg. �W}�}~?�WyX� X��W�X�:W!2W)*W)�V)bU)BU1*U1U5���@��C@U5������?B�����B� B��A��X�*B��A�u�q��A��A��A��n="C��}~?*C�j_��RC�J��<C��}~?�C�������<�ױI��G�e>��W�Xj,�(�b�E�AɫQ�Y)�Y �YI�YY����@y��{dG�-.Powering up loadControli����=�f=M=9=Y�E���QUE�>��I��I�aM�G��M^?G��Iy�U���}U�>I�Y��]/� 5�?��]�~ھ� �]��@��e�?9�]��B��]��: �]X�:)�Y�:����u��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL1;���v�ZEntering USBL mode with 5.000000 count pings.1;����q;����W�'Q}?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U��������?B�����B� B��A�?�*B��A���r��A��A��A�m}="C�'Q}?*C��'��RC�-��<C�'Q}?�C����oE�<��� ����������� �ZV:Y�y����6�9�@���I��G��>�u ��>9�q I�u �`Gi�u ��@��u =��u SD��q ��u �B; �u `E��?�Xj,y�b�E�AY}N�H�?�}NZ�?y}N�����}N�R��}NH����@`��?���������� ?������ֿ�?�������?����E����������?����蝢����`��?)~N�H�? ~N=�m;I~N��Cɫq�q)�q �qI�qY����@y���dG��=i��=�Å��>�Å�T��Å`�;iÅz�@�Á ą&�@)ą�@Ią?�@ią�@��ɭ<M�U=Y��a�QU��>�����a��G����y�9X;}��>Iȱ����:�ŵ8� 5�?����:�ŵ�qھ� Ƶh�@����?9Ƶ<�B�ǵ��: ȵ��:)ȵI�:�X�������@q;�����u��Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�:�����u��Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL�W�17|?�W�X! X)�W)X1:W12W9*W��V�bU�BU�*U�U�U����`���?BE͑�BA BA�AM�6�*BI�AM�*s��AI�AI�AM7�="CU17|?*CU�白RC]H�=C}17|?�Cy��mG��<��i I�q G� �>��i�Xj,���b�E�A�|$�|$Y}F5�?�}FM�?y}F���}F�=��}FH����`���?������������T�����@��?���@A �?��� �ŧ������Ա?������������v��?)~F5�? ~Ff:�;I~F��Cɫ�)� �I�Y�U:�@y�UeGi���������1�Zd�?����Mb`�y�&1������"?���� ��`e�)��I��y���5^�I�?�p= ף�?����Mb`?���?����=���; ���A)��^AI���Ai��XA�������A�� �� ����<MB=Y�%��QU5�>��1��9�a=�G��=_?G��Ay�Mm�}M�>I�Y��]c� 5�?��]'dھ� �]��@��u�?9�]��B��]�; �]�0;)�Y�W5�{?�W9X9 X9�W9X9:W92Wa*Wa�VabUaBUi*UiUiUm�����7�?B�����B� B��A�k.�*B��A�1�s��A��A��A�Q�="C��{?*C�����RC�j<=C��{?�C���c ���������������� ��;:Y�xZ1y�q�:���6��5�#=�� I� G5 �>��o�Xj,9 c�E�AY}jZî?�}j-��?y}j&����}j���}jH�����$��?���@)����� z~������W��?�����/�?���@�8������ɭ�?��� il����� ���?)~jZî? ~j��;I~j��Cɫ�����髕����)�� ��I��Y��T�@y��?eG��9��I���aGi����@������������XB; ��Ei���!����#����������\=i��Q�@��� ��\�@)��z�@I��z�@i��z�@�����<M�K=Y����:QU��>�������a��G������y���ϻ}��>I�����%� 5�?����Wھ� ��{�@����?9��8�B���ӻ: ����:)���W%� z?�W!X! X!�W!X):W)2W)*W1�V1bU1BU1*U1U9U=���`U�@Be(��Ba Ba�Am-+�*Bi�AmE7t��Ai�Aq�Au��="Cu� z?*C}�y��RC}��=C}� z?�Cy�֝l�=��yI��G�>����Xj,^�#c�E�AY}2Qw�?�}2$��?y}27|���}2j/��}2H����@w�?����;�����`��������D��?�����T�?�����ҥ��������?����Xޥ�����=��?)~2Qw�? ~2\؇;I~2��Cɫ������)�� ��I��Y�M=�@y�M^fGI��)�� ��kA��jAi����������=M�[=Y���:QU�>�����a �G�� ��y�˻}%�>I�)��5�:��-�� 5�?��=�:��-�Kھ� �-��@��=�?9�-��B��-'<; �-�<;)�-J�:�Wu!y?�WqXy Xy�WyX�:W�2W�*W��V�bU�BU�*U�U�U����� @B�`��B� B��A��*B��A�l�t��A��A��A�O�="C�!y?*C�M=��RC�K�=C�!y?�C��ֽy�=���� �����������������c�� ���:Y��[1y�H�:���)6�בI��G��>��� ��>��� �Ci��mGI�-~nAi�=A�A��m�ٺm~nA��m+�A����Xj,ձ=c�E�A�|i|�@Y}6�A�?�}6ox�?y}6|Պ��}6��A��}6H������7�?����̠�����J�������ã�?���@�o�?�����]������HW�?���@�-��������?)~6�A�? ~6�F�;I~6��Cɫ9�9)�A �AI�AY�]�@y�]fG�aɮai�q��q)�}> �}>���ϼM�e=Y�\;QU��>�����a��G��`?G��y�T��}��>Iȡ�ť�� 5�?�ť�@ھ� ƥh�@����?9ƥ�B�ǥ �: ȥ:)ȡ�W�k3x?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�B*** querying acoustic contact ***�P��P����B��B! B!�A%F�*B!�A%�u��A!�A)�A-�="C-k3x?*C5���RC5҅%=C5k3x?�C9��M�=��!I�9Gm5>����>9��I���bGi��&�@���=����������A; ���E)݉�I݉�i݉��݉��݉��ݍ�.<5�ŝ�Xj,q�Wc�E�AY}2�#�?�}2�Z�?y}2�����}2ZKN��}2H�����yE�?����ƛ������(����� Ġ�?����V~�?�����b�����@%2�?�����������@"��?)~2�#�? ~2cAr;I~2��Cɫ9�9)�9 �9I�9Y����@y���fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i��� �Å����Å���Å�#<iÅ��@�Á ā)ąE�@Ią���iąE�@���_=M�:=Y�<�:QU��>�����a��G�����y���}��>I������:���C� 5�?����:����2ھ� ����@����?9����B���5; ��C�:)��K�:�W�$�v?�W�X1 X1�W1X9:W92W9*W9�VabUaBUa*UaUiUm���@ @B��J��B� B��A�{��*B��A�әu��A��A��A�A�="C�$�v?*C�I���RC��4=C$�v?�C���� �����������������9�� ��S:Y�xZ1y�q�:��� 6)�7�;�9������ &=���I��G��>����Xj,hqc�E�AY}2��?�}2dI�?y}2�뉽�}22OX��}2H���� +M�?���@M�����`�������@ʞ�?�������?����-ݢ�����':�?�����������@ ��?)~2��? ~2��h;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�fG�xDUSBL response received:!U1,P FF8,000,0050B,183,80,80,B2,FF �Command Ack�BRequesting micromodem ping code 2i��������i>i���>���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I��@)��@i���������Q����?���Q������Q�����\?����� ����)�I�y��/�$���?#��~j��?�~j�t��?���?���=����< �A)�I��Ai��A����=A��e�n�Me%=Y�mҁ�QUm�>��i��i�au�G��ua?G��qy�u1��}}�>Iȡ�ťp� 5�?�ťZ"ھ� ƥ�@����?9ƥ:�B�ǥ]�: ȥ��:)ȡ�W���u?�W�X� X��W�X�:W�2W!*W!�V!bU)BU)*U1U1U5������ @B�:���B B�Ah��*B!�A%v��A)�A)�A-�="C]��u?*Ce*s��RCe�gB=Ce��u?�Cq�֍ D�4=��a I�i G� �>���Xj,�k�c�E�A�| �|"4<Y}>s�?�}>D9�?y}>�2���}>t`��}>H�����T�?����+������:?���������?��� ���?���@(��������b�?����n�������?)~>s�? ~>�c;I~>��CɫA�I)�I �II�IY���@y��fgG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�1��1܍��>9܉I܍�cGi܍�@�܍=�܉�܉�܍#A; ݍqE��5��<��5��=��5C=i�5�@��1 �5��@)�5��@I�5��@i�5��@��M�=MMr=Y�M��QUM?��Q��Q�a��G����y����}��?Iȹ����:�Ž#� 5�?����:�Žھ� ƽ��@����?9ƽ��B�ǽK,; Ƚ�,;)ȽL�:�W%w�t?�W!X! X!�W)X):W)2W)*W1�VQbUYBUY*UaUaUm����`$@B�����B� B��A�V�*B��A��\v��A��A��A��="Cw�t?*C>��RC� M=C%w�t?�C!��elB=��u ����u�����u�����u1�� �u#�:Y�u[1y�uݏ:��uh$6)�u��;��YI�iG��>�x��Xj,�c�E�Aɫy�y)�y �yI�yY����@y��hG�xDUSBL response received:!U1,R,FEF,000,004DC,183,80,80,78,FF �Fpublishing direction and range info����s<���ɰ���=�� ��)����BI��y���B�����,:��?E��a�?��������ٱ�i���������?=M�e=Y�����QU��>�������a��G�����y����}�?I� �� �� 5�?�� �ھ� � D�@���?9� �B�� ��: � <�:)� �W�=�s?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@�@�R(Combining 5 samples.�P!*Q%�B�Z%��f�e�B@ү�|��?���������Z%��,:��?E��a�?��������2Q%�s<:Q!�Z%��Q[� �/@����@@i�s���@�Z%�\�m-z�?���!��?R ��^-�?BQ%��? Q%�BQ% A�P!�P%z�9?�P!Q!Q%.A"Q%�AB��㉽B� B��A�Ľ*B��A��v��A��A��A�(�="C�=�s?*C�8��RC��Y=C�=�s?�C����jA���jA���B�J=I��iA)��fA�I��G�f>�k�Xj,�c�E�Aɫ�)� �I�Y�Mf�@y�U�gG��DNmea in: $SNTTA,,,,,170206.35*5A i�����)���= ���=��x{�M9=Y�QU�>��)��)�a5�G��5b?G��9y�9}E�>I�I��U�:��MC� 5�?��]�:��M�پ� �M#�@��]�?9�M��B��M ?; �Mz@;)�MM�:�m�qAdded new target pos. range: 37.139999 m, bearing: 64.513281 deg, deltaT: 4.395084 s, approachRate: -0.641626 m/s, LOS rate: 0.019656 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 37.14 m.X��m�� ProNav: pos range: 37.139999 m, bearing: 64.513281 deg, approachRate: -0.641626 m/s, LOS rate: 0.019656 deg/s, cmd update: 0.058967 deg/s, cmd heading: 54.573528 deg, new cmd heading: 54.319331 deg. �W�0�s?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U������B@U�����g��?Bm�A��Bq Bq�A��ѽ*B��A�Iw��A��A��A���="C�0�s?*C�����RC���V=C�0�s?�C���B �����������������U�� ��M:Y�xZ1y�q�:���6�9�@��MgW=ܕ��>9ܑIܕ�dGiܕ��@�ܑ�ܑ�ܑ�ܕ�@; ݕ"E�� I� G- �>���Xj,��c�E�AY}:Q/�?�}:"f�?y}:0����}:gՈ��}:H��������?����lt�����m\������ރ�?�������?��� cϠ���� 0�?��� �������b��?)~:Q/�? ~:�hk;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}7hGi�������\�=����<��Y=i���@�� ���@)�I�i���E��<MUG=Y�]FλQUe�>��q��q�a}�G��y��)y�5pr�}=�>I�y��}�� 5�?��}��پ� �}�@����?9�}*�B��}��; �}��;)�y�W�]t?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U)U1U5����i�?B}����B� B��A����*B��A��Vw��A��A��A��="C�]t?*C�t��RC���==C�]t?�C����-tY=�שI��G��>���Xj,`��c�E�Aɫ�髙)�� ��I��Y��ʼ@y��EhGi�9��9��5��l�����?�I+���<�O��n����5�?��594� �5t�)�1I�1y�5���(\���?L7�A`�?Zd;�O��?��5.?��5+=��5j<= �5;A)�5�AI�5� Ai�1��1��5fA��uY;MuH=Y�}���QU}�>�����a��G��c?G��y����}��>Iȡ�ťT 5�?�ť�پ� ƥ�@����?9ƥ��B�ǥ<; ȥp/;)ȡ�W�R*t?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*UU U ��� �e�?B]�ň�BY BY�A]���*Ba�Am>�w��Ai�Ai�Am?�="C�R*t?*C��4��RC�;�?=C�R*t?�C� ՝�=�ԝ>������������������������ �i:Y��X1y�/�:��;6�֕l;=�יiם�?��iI�yG��>�o�Yj,v�d�E�AY}2���?�}2rȌ?y}2X2���}2K0���}2H����`$��?�����]������������� p�?����OD�?�������������?�����T������M��?)~2���? ~2��e;I~2��CɫI�I)�Q �QI�QY�}m�@y�}iGi��������jA���jA�E��>9�AI�E�eGi�E��@��A��A��A��E@; �E�E��U�=��U����U>i�U��@��Q �Q)�Uz�@I�Uz�@i�Q��eK\=Me]=Y�m�&�QUm�>��i��q�a}�G��y��yy�&V�}��>Iȉ����:�ō� 5�?����:�ō��پ� ƍ7�@����?9ƍ,�B�Ǎ��: ȍ��:)ȍN�:�WUTDt?�WYXY XY�WYXY:WY2Wa*Wa�VabUaBUa*UiUiU�������?B����B B�A>��*B�A�w��A�A�A{m="C%TDt?*CM$���RCM�,=CMTDt?�CI��]&t@=��1I�AG]v>��' Yj, f&d�E�AY}2��?�}2�O�?y}2�蛽�}2+���}2H���� �)�?�����P������Ƹ�����ka�?�����z�?���`�6�����`Mx�?���@�ұ�����V��?)~2��? ~2L�b;I~2��Cɫ9�9)�9 �9I�9Y��x�@y��iGi�!��!��]];M]K=Y�]���QU]�>��a��a�ae�G��a��iy�m|�}m�>I�q��u+ 5�?��u��پ� �up�@����?9�u��B��uǺ: �u8�:)�q�W� ^t?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U���� ��@B�VR��B� B��A�w��*B��A��x��A��A��A��L="C� ^t?*C��ǖ�RC��f =C� ^t?�C��օ�S,=��YI�iG�Y>���= �������������������� �M:Y�xZ1y�q�:���6�yYj,�@@d�E�AY}:w��?�}:G�?y}:�;���}:<ች�}:H����@9S�?���@4G�����yx������:U�?����?���@������ B�?����U+����� p��?)~:w��? ~:n2`;I~:��Cɫ9�9)�9 �9I�9Y�}e�@y�}?jGi�)��)��uL�=MuH=Y�}���QU}�>��y���a��G��d?G��y�V�}��>Iȑ����:�ŕ�# 5�?����:�ŕ��پ� ƕ��@����?9ƕD�B�Ǖ��: ȕ��:)ȕO�:�W��yt?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����`R@B]ʁ�B B�A o$�*B �A �.x��A �A �A�="C�yt?*C����RCWC=C�yt?�C��)��)��M��=I�a)�eiA��9I�IGeU>�99�9I�=�fGi�=��@��9��9��9��=�?; �=�E��9Yj,�Zd�E�AY}6�l�?�}6q��?y}6����}6�/���}6H������s�?�����:�������������rK�?�������?����rd������4|�?����3���������?)~6�l�? ~6`�^;I~6��Cɫ9�9)�9 �9I�9Y�}��@y��qjG鮉ɮ�i�����)å�= å>�� �@��� �>�� �k�i� ף@�� � ƣ@)� ƣ@I� ƣ@i� ƣ@��`E<M�F=Y�����QU��>�������a��G����y�%���}-�>I�q��u�- 5�?��u��پ� �u�@����?9�u��B��uJ< �uE<)�q�W=�t?�WAXA XA�WAXA:Wa2Wi*Wi�VibUqBUq*UyUyU����`&�@�R�B*** querying acoustic contact ***�P��P�B=�Ѐ�B9 Ba�Ae�*Bi�Am�Qx��Ai�Ai�Au3�="C}�t?*C}>H��RC}6=C��t?�C����� �������������������� ��R:Y��Y1y��:���6)��;�9���֕l�=��iI�yG��>��cYj,�sd�E�A�|�@i|�@ɫ�髙)�� ��I��Y��J�@y��YkG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�!��)i�}mGI��i�������ٺ����ӊB�����I+��?{�G�z�?i��|?5�?���9�>����#< ���q=)��I��y����I+��?�MbX9�?{�G�zt����9?���ʡ=���ף� �A)�AI�AiA�������A����F=M�,=Y�����QU��>�������a��G���e?G���y�����}��>I� ���:�� z5 5�?���:�� ��پ� � ��@���?9� b�B�� ��: � M�:)� P�:�W�d�t?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U������ @B%ȯ{�B! B!�A%�F�*B)�A-�\x��A)�A)�A-Α="C5d�t?*C5���RC1C5d�t?�C9��M��=��) I�1 Ge �>�?L#Yj,Սd�E�AY}:dɪ?�}:4��?y}:0h���}:��}:H�������?�����(������h������ 7�?������?����(�����&�?��� �����������?)~:dɪ? ~:�c];I~:��Cɫ9�9)�9 �9I�9Y�}z�@y�}�kG�xDUSBL response received:!U1,P FEF,000,004DC,183,80,80,78,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��� 9� l�CI� hGi� ��@�� =�� �� �� .?; � iE)�q�I�q�i�q���u�=��u�=��u���5�����������xi=����>i��G�@��� ����@)��z�@I��z�@i����@��m�w<MuR=Y�}�ۻQU��>�������a��G������y��KL�}��>I���P< 5�?�� �پ� ��@��M�?9���B����; ���;)��W���t?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*UUU ����y� @B��z�B� B��A��̻*B�AUbx��A�A�A%rC="C5��t?*C]kЕ�RC]=��<C]��t?���_ �����������O�� ��O:Y�y���36)�Ũ;�Ci ՝�=�ԝ�=�օ �#=� �?i �?��a I�i G� �>�rv)Yj,y��d�E�AY}2c�?�}2ؙ�?y}2<˩��}2����}2H�������?����8�����l]������+�?��� eA�?��� ��������.3�?����n�����@���?)~2c�? ~2�<];I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�kG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�����������5t�<M=w=Y�=�QU=?��A��A�aE�G��A��Ay�M��}M?I�Q��U�A 5�?��U_�پ� �Up�@��]�?9�U8�B��U �: �U¿:)�Q�W���t?�W�X� X��W�X�:W�2W�*W��V�bUIBUQ*UQUQUU���� 0@B�Ubx�B� B��A����*B��A��A��A��A��="C���t?*C�����RC����<C���t?�C����G��<���I��G�F>��]0Yj,��d�E�A�|4<�|Y}6:�?�}6 *�?y}6`Ȩ��}6C%���}6H���� ��?�������� �Z�����`2�?����r�?��� ������`��?�����q��������?)~6:�? ~6kj];I~6��Cɫ9�9)�9 �9I�9Y����@y���kG�xDUSBL response received:!U1,R,FDC,000,004B0,185,80,80,67,FF �Fpublishing direction and range info������=���ɰ���=鰭+�> ��)����BI��y��� B������.���?xo�;�?��������ٱ�i�������� �M�P=Y����:QU��>�������a��G���f?G���y��x�}��>I�����:���_H 5�?���:���Lyپ� ����@���?9����B����: ��b�:)��Q�:�W-{�u?�W)X) X)�W)X1:W12W1*W9�V9bU9BU9*U9UAUE���`��@�RU(Combining 5 samples.�PQ*QU� B�ZU�5�+�=A@-Ћ��V�?���������ZU���.���?xo�;�?��������2QU���=:QQ�ZU�is�·.@�z��>@�=�`N@�ZU�����qQ�?� � ��?���~���?BQUb0�? QU��AQU>tA�PQ�PQ�PQQQQUA"QU.AB���x�B� B��A��V�*B��A��bx��A��A��A���="C�{�u?*C��z��RC�X�<C�{�u?�C��։��iI�yG�<>���� �����������������j�� �Z:Y��W1y�č:��6�9�@��9��I��3iGi����@���=��������� ?; ��UE���6Yj,�s�d�E�AY}g��?�}6�?y}�b���}F����}H����`�1�?����� �����q�������?��� ��?���`<s������c�?�����%�����@2��?)~g��? ~?)];I~��Cɫ���)�� ��I�Y��F�@y���lG�]DNmea in: $SNTTA,,,,,170210.79*55 i�i��i��E���Q���?�~j�t���+�����?��E(�>��E�D� �E��=)�AI�Ay�E��(\����?L7�A`�?�������?��E�'?��E+=��E��< �E� A)�E�AI�ElAi�E- A��A��E�A�å�Q��å���å�#�iå �@�á ĥ�@)ĥ�@Iĥ�@iĥ�@���=M�$=Y���:QU��>�����a��G������y��'`�}��>I�����T 5�?����hپ� ���@����?9��T�B�����: ����:)���m uAdded new target pos. range: 34.500000 m, bearing: 63.647104 deg, deltaT: 4.418003 s, approachRate: -0.597555 m/s, LOS rate: -0.196056 deg/s, posRepo size: 4�mrPowering the camera and arming the DDM at range: 34.50 m.X�m5� 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. �W5~�s?�W1X1 X1�W1X�:W�2W�*W��V�bU�BU�*U�U������@A@U����`���?B5�bx�B� B��A����*B��A��A��A��A��k="C�~�s?*C��3��RC�e��<C�~�s?�C��Թ�Թ�֥�m�<Iש)jA�ׁ I�� G� �>��<Yj,?�d�E�AY}:���?�}:q��?y}:�s���}:}x���}:H������2�?����� �������������?���@���?�����:�������ȴ?���`���������?)~:���? ~:�;];I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�lGi�1��1)�E�= �E�=��md�<Muy=Y�u��:QU}?��y��y�a}�G��}g?G��y�!,�}�?Iȉ����:�ō�[ 5�?����:�ō�]پ� ƍ��@����?9ƍ��B�Ǎ �: ȍZ�:)ȍR�:�W���r?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����}e�?B�Gv�B B�A��;*B �A _x��A �A �A �6="C��r?*C) ��RC��<C��r?�C������<�שI��G�!>���$ �����������������d�� �K:Y��[1y�H�:��s6�ÙCYj,&e�E�AY}2��?�}2s�?y}2O%���}2��v��}2H������ �?���@�����`�o��������?����ns�?�����&�����@�?���@����������?)~2��? ~2��\;I~2��Cɫ9�9)�9 �9I�9܁9܁I܅`jGi܅�@�܅=�܁�܁�܅?; ݅^EY��I�@y���mGi����å��=�åp�>�åt>iå̤@�á ĥ���)ĥ�@Iĥ�@iĥ�@���m=M�F=Y�^W�QU��>�����a��G������y��B;}��>I�����[e 5�?���"Pپ� ����@����?9��K�B�����: ����:)���W��q?�WX X�WX:W2W *W �V bUBU*UUU����[��?BEX�o�BA BA�AE��<*BA�AM�Dx��AI�AI�AM��="CU��q?*CUӔ�RCU��=C]��q?�CY�օ���<��YI�aG�Y>���IYj,0�(e�E�AY}25 �?�}2@�?y}2�j���}2��j��}2H������?���`G�����RӶ������ �?����k`�?���@�6������K�?�����9���������?)~25 �? ~2��\;I~2��Cɫy�y)�y �yI�yY��Q�@y���mGi���!��U;M]P=Y�]�ϺQU]�>��a��a�ae�G��a��ay�m�I;}m�>I������:����n 5�?����:����Bپ� ����@����?9����B�����: ����:)��S�:�W�T�p?�W�X� X��WX:W2W*W�V bU BU *U UU���`�>�?B=�Do�B9 BA�AEM�<*BA�AE�*x��AA�AA�AEP�="CMT�p?*CU����RCU��#=CUT�p?�CQ �e�=��a��ugE=��}�?i�}�?�סI��G�C>���P �������������������� ��N:Y��^1y�a�:�� 6�ҫPYj,��Be�E�Aɫy�y)�y �yI�yY����@y��inGi���!��)��)��]�=M]J=Y�]���QU]�>��a��a�am�G��mh?G��yy����}��>Iȑ�ŕx 5�?�ŕ�5پ� ƕ��@����?9ƕV�B�Ǖw�: ȕ��:)ȑ�W�@�o?�W�X� X��W�X�:W�2W�*WQ�VYbUaBUa*U�U�U����@�~�@B])�k�BY Ba�Ae�:=*Ba�AeO�x��Aq�Aq�Au�:="C�@�o?*C��T��RC���1=C�@�o?�C�����=܁9܁I܅�kGi܅Ŀ@�܁�܁�܁�܅r?; ݅�E��I�G5�>���VYj,�\e�E�Aɫ���)�� ��I��Y�=��@y�=MoGi�������e���K7�A�?�Q���?�I+�����e?��e\= �e94�)�aI�ay�e��|?5^��?/�$��?�~j�t��?��e� ?��e�<��e�D< �e A)�e�AI�e� Ai�e�A��a��e�A�ýn���ý"۽�ý 0�iýf�@�ù Ľ�@)Ľ�@IĽ�@iĽ�@����L=M�5=Y��QU��>�������a��G������y��}��>I������:���� 5�?����:����(پ� ����@����?9����B�����: ����:)��T�:�W�Ldn?�W�X� X��W�X�:W12W1*W9�VabUaBUi*UiUiUu�����5@�R�B*** querying acoustic contact ***�P��P�B��je�B B�A��=*B�A%�w��A!�A!�A%��="C5Ldn?*C5@ ��RC5��A=C]Ldn?�CY����������������������� �lr:Y�xZ1y�q�:���/6)���;�9����m·3=��a I�q G� �>���\Yj,j�ve�E�AY}6[�?�}6푉?y}6B���}6�Oj��}6H����`�Y�?�����������2�����@� �?�������?����u;���������?�����*�����@��?)~6[�? ~6�a;I~4ɫ9�9)�9 �AI�AY���@y���oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��a=ɮ�a=i���!��E�7=MEh=Y�M0��QUM�>��Q��Q�aU�G��Ui?G��Yy�e�u�}e�>I�i��mZ� 5�?��m!پ� �m[�@��}�?9�m9�B��m�; �m�;)�i�W���m?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@��@B�1�\�B��0�< B��A�$�=*B��A�@�w��A��A��A��="C���m?*C��ۓ�RC�<�8=C���m?�C�����������8=I��)���I��G�f>�n�cYj,Mh�e�E�AY}6 (�?�}6�^�?y}6_)���}6\�k��}6H����@�p�?����������@�/������.�?�������?����ݦ�����`�~�?���`~[���������?)~6 (�? ~6��w;I~6��C�)9�)I�-mGi�-��@��-=��)��)��-�?; �-�Eɫ9�9)�A �AI�AY�]��@y�]voGexDUSBL response received:!U1,P FDC,000,004B0,185,80,80,67,FF 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 i����1)�e�= �e�=���@���@���@���©�������i��ף@������� �����)�����I��ƣ@i��ƣ@��=OͼME.=Y���:QU��>�����a��G����y� �O�} �>I���M�:��y� 5�?��M�:��lپ� �B�@��U�?9���B����; �F1;)�U�:�W��.l?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U���� I @���� �����������������I�� ��[:Y�d\1y���:���&6)��;B��Fe�B� B��A��=*B��A�&4w��A��A��A�="C��.l?*C�%���RC��G=C��.l?�C��� п8=��� I�� G�>��jYj,�<�e�E�A�|i|�@Y}6&�?�}6�\�?y}6�����}6�j��}6H����`Ir�?����&�������ﶿ�����?���@P��?����c0������,�?�����#���������?)~6&�? ~6C�;I~4ɫ9�9)�9 �9I�9Y�}E�@y�}>pG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�������Wi=M�j=Y��v;QU�?�����a��G����y��?�}� ?Iȱ�ŵ&� 5�?�ŵbپ� Ƶ��@����?9Ƶ �B�ǵ�: ȵY�:)ȱ�W��bk?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@�@ @B%V�B! B!�A%ͼ=*B!�A-�w��A)�A)�A-F�="C5�bk?*C5�]��RC5�BS=C5�bk?�C9��)��I�G=.>�������Ci�U�lGI�u"oAi�����X��ٺ�"oA�����B�*�pYj,D�e�E�AY}2|;�?�}2Ir�?y}2g����}2��i��}2H����`kj�?����S�����������@� �?������?����1������]��?����!������<��?)~2|;�? ~2R��;I~2��CɫI�I)�I �II�IY�}�@y�}FqG������@A�xDUSBL response received:!U1,R,FF4,000,0048D,183,80,80,7C,FF �Fpublishing direction and range info�����+<���ɰ�߾=鰅$�> ��)����BI��y���B����3���?�z�;r�?��������ٱ�i�������.�=M�Z=Y���;QU��>�����a��G���j?G���y����:}��>I�����ݠ 5�?�����ؾ� ����@����?9����B�����: ��3�:)���W �ej?�W X X�WX!:W!2W)*W)�V)bU)BU1*U1U1U=����Z%@�RE(Combining 5 samples.�PI*QM�B�ZM�>����2@@�8��۶�?���������ZM�3���?�z�;r�?��������2QM��+<:QI�ZM�\� ?3.@�*Pd��<@ki�m�@�ZM��j�����?��K�k2�?n���k�?BQM�Ɋ? QMe�AQM�qA�PM}�9?�PI�PIQIQMfA"QMAB}��S�B� B��A��=*B��A�Q�v��A��A��A��d="C��ej?*C5���RC5��b=C=�ej?�CA�ѥd)= յ�=�Ե�=�%��>9�!I�%�mGi�%[�@��%=��!��!��%�@; �%%E)ݵ�l�CIݵ�l�Ciݱ��ݵ�=�ݵ�=�ݵ�i5������������������� �g:Y�xZ1y�q�:��!6)��;�ֵ<�H=�i�?��yI��G��>��%wYj,/��e�E�AY}mY��?�}m&��?y}m}۞��}m\tj��}mH������L�?��� k�����K��������?����A��?����+�����Wֳ?�����3���������?)~mY��? ~m��;I~iɫ�髑)�� ��I��Y����@y��qG�]DNmea in: $SNTTA,,,,,170214.82*55 i�a��a����D�l����?T㥛� �����Mb�?���O-?���� ���@=)��I��y������K7�?V-��?J+��?���� ?����m=����H= ��)���AI��Q Ai��A������ A�� �� kA��U���]���]���]= ���]����]�@�i�]@��]��� �]��@)�]��@I�]��@i�]��@��m��Mm%=Y�m��;QUu�>��q��q�au�G��q��yy�}��;}}�>Iȉ����:�ō*� 5�?����:�ō�ؾ� ƍ��@����?9ƍ�B�Ǎ{�: ȍ��:)ȍV�:�m�uAdded new target pos. range: 32.399998 m, bearing: 62.125160 deg, deltaT: 4.038712 s, approachRate: -0.519968 m/s, LOS rate: -0.376839 deg/s, posRepo size: 4�m�rPowering the camera and arming the DDM at range: 32.40 m.X��m�� ProNav: pos range: 32.399998 m, bearing: 62.125160 deg, approachRate: -0.519968 m/s, LOS rate: -0.376839 deg/s, cmd update: -1.130517 deg/s, cmd heading: 52.460711 deg, new cmd heading: 52.159195 deg. �W���g?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U���� 33@@U�����p��?B=��Y�B9 B9�A==�=*B9�AE�&v��AA�AA�AE��="CM��g?RCMܧ�=CM��g?�CQ��5��<��% ��W=�� I� G- �>�6O}Yj,���e�E�AY}V\S�?�}V)��?y}V�*���}V �y��}VH����`�b�?����i���� e붿���`�?���`��?����V+�������`�?���@�������U��?)~V\S�? ~V�;I~V��Cɫ�髙)�� ��I��Y����@y��rGi�I��I��]ɜ=M]s=Y�eg�;QUe?��a��a�am�G��mk?G��iy�u}��}u?I�y��}خ 5�?��}��ؾ� �}��@����?9�}n�B��}U�: �} �:)�y�W��5f?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����`�X�?B��G�B� B��A�>*B��A���u��A��A��A��="C��5f?RC�č=C�5f?�C�� �� )� � ��uh5n=���������������������[�� ����:Y��]1y���:����(6�9�@��qI��G5 �>�6�Yj,z�f�E�AY}2��?�}2�Q�?y}2�5���}2�����}2H���� |�?����m������F���������?�������?���@iڡ���� -"�?�����b������>��?)~2��? ~2�!�;I~2��C�z��>9�zk�CI�zoGi�zO�@��z=��x��x��zzA; �z�Eɫ9�9)�9 �9I�AY�]�@y�]jrGi�������������=�����i�\�@�� ����)��@I�9�@i��@��%՞<M%N=Y�%;QU-�>��)��)�a-�G��)��1y�=[��}=�>I�A��M�:��E�� 5�?��M�:��E��ؾ� �E��@��M�?9�E��B��E^�: �E��:)�EW�:�W��*d?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@%��?BMĴK�BQ BQ�AU�>*BQ�AUaOu��AQ�AY�A]_="Ce�*d?RCe.җ=Ce�*d?�Ca��ukA��q��e��=I�mjA)�i��9I�IGeU>�ޑiޕa=�$`�Yj,��+f�E�AY}2�[�?�}2���?y}2M����}2v���}2H�����`�?��� �����������?������?���`�"��������?��� �߰��������?)~2�[�? ~2�e�;I~2��CɫI�I)�Q �QI�QY�}<�@y�}�rGi�����)���= ���=����<MK=Y���:QU�>��!��!�a%�G��!��)y�-7�;}-�>I�1��5X� 5�?��5E�ؾ� �5��@��E�?9�5I�B��5}�: �5��:)�1�Wes,b?�WaXa Xi�WiXi:Wi2Wi*Wq�VqbUqBUq*UyUyU}����*��?B�mH�B� B��A�Z>*B��A���t��A��A)�A-U ="C5s,b?RC=�Ψ=C=s,b?�C9�� ��=���I��G (>�����������������r�� ��l:Y�[1y�ݏ:��^+6�H�Yj,`Ef�E�A�|�@i|�@Y}6Hr�?�}6��?y}6����}6j鐽�}6H����`�V�?����@������ϸ������?�������?����jc�����`g��?���@����������?)~6Hr�? ~66�;I~6��CɫA�A)�I �II�IY��O�@y���rGi�������=O����=�<��=��>i�=Q�@��9 �=9�@)�=9�@I�9i�=9�@��M.�;MM8=Y�U�:QUU�>��Q��Q�a]�G��]l?G��Yy�]��:}e�>I�i��u�:��m�� 5�?��u�:��m��ؾ� �m-�@��u�?9�m��B��m��: �m��:)�mX�:�W� �_?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U��������@B�k�I�B� B��A��>*B��A��At��A��A��A���="C� �_?RC�|�=C� �_?�C���]���=��9��I��<pGi��B�@���=��������D����B; ��SE�� I�G=r>��t�Yj,�F_f�E�AY}u>B�?�}uy�?y}u�2���}u!���}uH������l�?����������@�8����� "�?����~��?����{�������Cb�?����o����������?)~u>B�? ~u'�;I~u��CɫI�Q)�Q �QI�QY����@y��HtGi���������#��~j��?y�&1�����~j�t�?����%?���`e� ����<)��I��y���gfffff�?�l����?�~j�t�h?���3?����=����D; lA)$AI� Ai�A������fA����=M�B=Y��r[;QU��>�������a��G������y��;d�}��>I�����W� 5�?���u�ؾ� ����@����?9��?�B����: ��/�:)���W��]?�WX X�WX:W!2W)*W)�V)bU)BU)*U1U1U5�����@B]b/=�Ba Ba�AeyG>*Ba�Am��s��Ai�Ai�Am%Y="Cu��]?RCu��=Cu��]?�Cy Ս�=�ԍ�=�օ�Ա=��?ix?�בI��G�b>�������������������� �v�:Y�xZ1y�q�:���-6���Yj,ayf�E�AY}F��?�}F�(�?y}F/e���}F�M���}FH��������?����z�������[�����`��?����D��?����J�����@��?��������� ��?)~F��? ~F�]�;I~F��Cɫq�y)�y �yI�yY��N�@y���sGi��������kA���jA���Ÿ�M�p=Y����;QU�?�������a��G���m?G���y��w�}�?I�����J� 5�?���u�ؾ� ��-�@�� �?9����B�����: ����:)���W-A\?�W)X) X1�W�X�:W�2W�*W��V�bU�BU�*U�U�U���� 5�@�R�B*** querying acoustic contact ***�P��P�B N4:�B B�A�?>*B�A� s��A�A�A�="C%A\?RC%�#�=C%A\?�C!��%�2�=���I� G%M>����Yj,��f�E�AY}2W�?�}2ꍇ?y}2K8���}2.����}2H����`�D�?�����������պ��������?����̌�?�����ɓ���� ���?�����촿����T��?)~2W�? ~2�X�;I~2��C�D9�DI�FqGi�F��@��F=��D��D��F�D; �FREɫ9�9)�9 �9I�9Y�]C�@y�]�sGeZ****** received transponder code query ******eF****** received ping request ******m<Arming DUSBL. detectThresh: 75m8****** ping requested ******i������õ-���õQ8=�õ���iõ��@�ñ ĵ��@)ĵ��@Iĵ��@iĵ��@���M�M�<=Y��gj;QU��>�������a��G������y����}��>I���-�:��u� 5�?��5�:����ؾ� ���@��5�?9�$�B����; �T�;)�Y�:�WuN�Y?�WyXy Xy�WyXy:Wy2W�*W��V�bU�BU�*U�U�U�����i8 @B �?�B B�A7>>*B�A�]r��A�A�As�="C-N�Y?RC5y��=C5N�Y?�CA��=!��=��I�!G]v>��{����������������� �uf:Y��[1y�H�:��K66)�V�;�9���c��Yj,�̬f�E�AY}6=��?�}6 ��?y}6F-���}6'ԯ��}6H����`U��?��� ������@~|������]��?��� ��?����gy������r�?����0絿�������?)~6=��? ~6�@�;I~4ɫ9�9)�9 �9I�9Y��?�@y���sG��ɮ��xDUSBL response received:!U1,P FF4,000,0048D,183,80,80,7C,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�������E+��MMT=Y�Ur�;QU]�>��i��q�a}�G��}n?G��y���}��>I������� 5�?���6�ؾ� ��6�@����?9����B�����; ����;)���W�6�W?�W�X� X��W�X�:W�2W�*W�VbUBU *U U U ����� @B�z�?�B� B��A��=>*B��A�k�q��A��A��A�Qt="C�6�W?RC����=C�6�W?�C���)��-kA�� C�=I�)����I��G �>���Yj,Y��f�E�AY}2�[�?�}2���?y}2�����}2'���}2H������H�?����P�����Э�����@�x�?�����h�?����W�}�����dM�?����9������@6��?)~2�[�? ~2oՏ;I~0ɫ9�A)�A �II�IY�}��@y��qtG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�����)ý�= ý>��C�<���q=���T<i���@�� �9�@)�9�@I��@i�9�@��5g�<M5<=Y�5��;QU5�>��9��9�a=�G��9��Ay�E[Ѽ}E�>I�I��U�:��M8� 5�?��]�:��M�ؾ� �M��@��]�?9�M�B��MI�: �M��:)�MZ�:�W}r�U?�WyX� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U�����wT@B�f4�B! B!�A%�K>*B!�A%2q��AI�AI�AM :="CUr�U?RCU�J�=CUr�U?�CQ��]m�=ܡ9ܡIܥ�qGiܥ��@�ܥ=�ܥTD�ܡ�ܥ�F; ݥpE��QI�iG�}>��Y��������������=�� �)x:Y��X1y�/�:���%6)���;��ķYj,��f�E�AY}(��?�}�1�?y}�Y}��} �ͽ�}H��������?���`����`�������DL�?���@���?�����hB����� ��?������������4��?)~(��? ~;I~��Cɫ���)�� ��I��Y��Q�@y��:uG�xDUSBL response received:!U1,R,FDD,000,00461,184,80,80,78,FF �Fpublishing direction and range info����5�<���ɰ���=����> ��)����BI��y���A����%�{�-��?&���|E�?��������ٱ�i�����]���C�l�?�V-���������?��]d�>��]h�� �]�L=)�YI�Yy�]��v��/�?�Q���?���Q��?��]x ?��]\=��]�u< �]7 A)�]�AI�]lAi�]^A��Y��]=A���B=M�C=Y���;QU��>�����a��G����y��Ҽ}��>Iȱ�ŵ�� 5�?�ŵ�}ؾ� ƵK�@����?9Ƶ��B�ǵ��: ȵ7�:)ȱ�W�b�S?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@��@�Rm(Combining 5 samples.�Pi*Qm�A�Zm�Ew���=@~���?���������Zm�%�{�-��?&���|E�?��������2Qm�5�<:Qi�Zm�2 B�I-@��Zv�9@�F݂0��?�Zm��p�"X}�?��`���?f� �?BQm{�? Qm��AQmHjA�Pm~�9?�Pm}�9?�PiQiQm@�@"QmfAB�rA3�B� B��A�`>*B��A��Wp��A��A��A��="C�b�S?RC���=C�b�S?�C����箵=���I��G��>���Yj,�^�f�E�Ai�n�mGI�|i�!����o�ٺ�����_BY}��U�?�}�{��?y}�5�u��}��ҽ�}�H����@���?����7������Q��������?����5 �?����(�n?�������?�����+������K��?)~��U�? ~���;I~���Cɫ�髱)�� ��I��Y�U�@y�>uG��TNmea in: $SNTTA,0.045907,,,,170219.28*49 i��������ߎ:M�E=Y����;QU��>�������a��G���o?G���y����}�>I� ���:�� �� 5�?���:�� �rؾ� � ��@���?9� ��B�� A�: � ��:)� [�:�mMuAdded new target pos. range: 29.760000 m, bearing: 60.470199 deg, deltaT: 4.514919 s, approachRate: -0.584728 m/s, LOS rate: -0.366554 deg/s, posRepo size: 4�mUrPowering the camera and arming the DDM at range: 29.76 m.XQ�me� 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. �Weo�Q?�WaXa X�WX:W2W *W �V bU BU*UU���`��=@U����-�?B���2�B� B��A�x`>*B��A�6�o��A��A��A���="C�o�Q?RC�d�=C�o�Q?�C� ���=����=���Ag�=����?i��p?��=G����=�����=�����=� �� �=�v:Y�=�[1y�=H�:��=��6�9E@���I��G��>�5��Yj,�8g�E�A�9�I��rGi�*�@���������H; �m E)ݫ��k�CIݫ��k�Ciݣ���ݫ��=�ݫ��=�ݫ����5Y}Fۊ�?�}FN�?y}F��m��}F7Vӽ�}FH������O�?������������,�����`H��?���@�h�?������}?����ѹ�?����dS���������?)~Fۊ�? ~F�;I~F��CɫY�Y)�Y �YI�YY�e�@y�e�tGi�����������kA��=-����=C���=94<i�=\�@��9 �=Ը@)�=��@I�=��@i�=��@��MqȼMUi=Y�æ;QU��>�����a��G����y����}��>I������5�?���3iؾ� ��]�@����?9��]�B���k�: ����:)���W���O?�W�X X�WX:W2W*W �V bU BU *UUU�����i�?B=��,�BA BA�AE�W>*BA�AE��n��AA�AI�AM"�="CU��O?RCUr[�=CU��O?�CQ��E��=��I�)GEQ>�c��Yj,.g�E�AY}2q��?�}2z�}?y}2ƾg��}2��ӽ�}2H����@L~�?����������`������@��?�������?����[z�?������?�����h�����@��?)~2q��? ~2�i�;I~2��CɫQ�Q)�Q �QI�QY�}��@y�}�uGi�������/i=MN=Y���;QU�>��!��!�a%�G��%p?G��)y�-4��}-�>I�9��=65�?��=_ؾ� �=��@��E�?9�=��B��=�: �=Y�:)�9�We �M?�WiXi Xi�WiXi:Wi2Wq*Wq�VqbUqBUy*UyUyU}�����\�?B�J*�B� B��A��n>*B��A�sCn��A)�A1�A5�b="C5 �M?RC=�P�=C= �M?�C9��E���=��I�1G]U>��u� ����u�����u�����u��� �uo�:Y�u]1y�u�:��uK66����Yj,m�Gg�E�AY}>��?�}>wC|?y}>�?_��}>Z�ؽ�}>H����`���?�����k�����4�����@ۡ�?����B��?����-�?����s�?���@�������`��?)~>��? ~>�d�;I~>��Cɫy髁)�� ��I��Y�->�@y�-]vGi��������xi����S�>������i���@��� ����@)�����I��O�@i��O�@����=M�==Y��ߜ;QU��>������a�G����y�me[�}m�>I�q��}�:��u,5�?��}�:��u[Sؾ� �ut�@��}�?9�uA�B��u�: �uw�:)�u\�:�W��K?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U���� |�?B�� *�B� B��A��}>*B��A�6\m��A��A��A� 2="C��K?RC�S�=C��K?�C���EjA��A�!9�%j�CI�%�rGi�%{�@��%=��!��!��%�J; �%X!E��M�ȝ=I�Q)�Q�� I�G=�>���Yj,��ag�E�AY}F��?�}F��{?y}FRU��}Fv�ٽ�}FH��������?�����b���� (�������?�������?���� �?��� -��?��������������?)~F��? ~FA��;I~F��Cɫi�q)�q �qI�qY��d�@y���vGi�������7�A`���?��C�l绿�v��/�?����6?���;߽ ��xi=)��I��y����t�V�?{�G�z�?�Q���?����?����#=���\= ��A)��AI��i��$A�������A)��> ���=���a7<M�J=Y����;QU��>�������a��G�����y�H��} �>I� �� l#5�?�� YHؾ� � 6�@���?9� ��B�� Y�: � @�:)� �W=c�I?�W9XA XA�WAXA:WI2WI*WI�VIbUQBUQ*UQUQUU����o��?B�ڀ#�B� B��A�!�>*B��A�ߌl��A��A��A� ="C�c�I?RC����=C�c�I?�C���u��=��9I�aG�\>��eN����e�����e�����e��� �eC�:Y�e�^1y�ea�:��e6M6�8�Yj,Y�{g�E�A�|i|�@Y}6���?�}6��{?y}6b�L��}6N�ٽ�}6H�����4��?���@&e����@椽�����"��?����c��?����:֑?�������?����e��������?)~6���? ~6;�;I~4ɫi�q)�q �qI�qY����@y��&wGi�����5'&=M=X=Y�=V�;QU=�>��A��A�aE�G��Eq?G��Iy�M[H:}M�>I�Q��]�:��U\,5�?��]�:��U�=ؾ� �U��@��e�?9�U#�B��U��: �U��:)�U]�:�W���G?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����@]�@B����B� B��A���>*B��A�g�k��A��A��A���="C���G?RC����=C���G?�C��֝��=��yI��G�f>��kA��mA�%��>9�!I�%�sGi�%�@��%=��!��!��%4L; �%+"E�-9�Yj,��g�E�AY}6��?�}6�U|?y}6`�C��}6�rս�}6H�����9��?�����q������뼿���`t��?����ʵ�?����fD�?���@ w�?����-�������=��?)~6��? ~60��;I~4ɫI�I)�I �II�IY��7�@y���wG������?Ai������� O�=�� 0=�� �i� (�@�� � @)� ��@I� ���i� ��@��@�<MI=Y�%��;QU%�>��)��)�a-�G��)��)y�5��;}5�>I�9��=�55�?��=>2ؾ� �=��@��E�?9�=��B��=��: �=��:)�9�Wm��E?�WiXi Xi�WiXq:Wq2Wq*Wq�VqbUyBUy*UyU�U�����*@�R�B*** querying acoustic contact ***�P��P�B����B� B��A�R�>*B��A���j��A��A��A���="C���E?RC�r��=C���E?�C� ���=����=���˺=����?i���?�שI��G�G>��}� ����}�����}�����}-�� �}[�:Y�}[1y�}ݏ:��}e?6)�}K�;�9���zJ�Yj,�[�g�E�AY}:UX�?�}:A}?y}:=��}:�lҽ�}:H��������?���`�������d������ȳ�?������?����}�?������?�����:��������?)~:UX�? ~:�u�;I~:��Cɫ9�9)�9 �9I�9Y�]��@y�]wGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******i�����������jA��� ��M�S=Y���;QU��>�������a��G���r?G���y����<}��>Iȱ����:�ŵ�?5�?����:�ŵ�&ؾ� Ƶp�@����?9Ƶ�B�ǵb�: ȵo�:)ȵ^�:�W���C?�W�X� X��W�X�:W�2W *W �VIbUQBUQ*UQUQU]���`z� @B��% �B� B��A�N�>*B��A�L�i��A��A��A�J�="C���C?RC�}��=C���C?�C��ֽ�M�=�יI��G�d>��9�Yj,�R�g�E�AɫI�I)�I �II�IY����@y��wG�xDUSBL response received:!U1,P FDD,000,00461,184,80,80,78,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i������ý��=�ý�D<�ýx�=iý̬@�ù Ľ��@)Ľ��@IĹiĽ��@����>9��I��$tGi��o�@�������������M; ��#E���[�M�=Y�����QU��>�������a��G����y����} �>I�Q��U�K5�?��U�ؾ� �Ue�@��]�?9�U��B��U��: �U��:)�Q�W�tXA?�W�X� X��W�X�:W�2W�*W��V�bU�BU�*U�U�U����� @B�/�&�B� B��A��>*B��A�W�h��A��A��A��="C�tXA?RC��V�=C�tXA?�C!���������������������s�� ��;o:Y���]1y����:���y+6)����;��} V��=I ) �בI��G��>�u\�Yj,��g�E�AY}Be/�?�}B`�x?y}B�2��}B4'ؽ�}BH���� ��?����P3����@������� �g�?��� ��?�����E�?�����>�?�������������?)~Be/�? ~B�=�;I~B��CɫY�Y)�Y �YI�YY����@y���wG鮡ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�y��y���+����?sh��|?�?{�G�zt���v�>���)> �ף�)�I�y��-����?)\���(�?����Mb�?��??��Ga=���< ��A)�xAI�i� A����GA��5!�=M5�=Y�=�<QU=?��9��A�aE�G��A��Ay�M;]�}M?I�Q��]�:��US5�?��]�:��Uؾ� �U��@��e�?9�U�B��U��: �U��:)�U_�:�W���??�W�X� X��W�X :W 2W *W �VbUBU*UUU���`�@Be�B� B��A���>*B��A� �g��A��A��A�ex="C���??RC����=C���??�C��֥��=��yI��G�^>����Yj,��g�E�AY}2�Ě?�}2'�u?y}2�;-��}2�a۽�}2H���� �P�?�����������]��������4�?����WX�?���@o�?����ҥ�?�����X���������?)~2�Ě? ~2p�{;I~0ɫ����)� �I�Y�m��@y�m\xG}xDUSBL response received:!U1,R,F75,000,00439,187,80,80,5D,FF }Fpublishing direction and range info��uVl�=��qɰu�=�u1�> �q)�u��BI�qy�u��A��u���mc���?OV����?��������ٱqi�����)Ý�= Ù��5�<M�T=Y��F;QU��>�����a��G��s?G��y���}��>I�����k\5�?����ؾ� ��+�@����?9��|�B���r�: ����:)���W���=?�W�X� X��W�:W�2W�*W��VbUBU*UUU ���@��@�R(Combining 5 samples.�P*Q��A�Z���^��(;@�o��3| @���������Z���mc���?OV����?��������2QVl�=:Q�Z�⒊��)@��O#�#8@H���m�?�Z��r����?�D8�;�?ܔ�ݽ�?BQ!m�? Q�AQ�MA�P}�9?�P~�9?�PQQK�@"Q@�@BU�BQ BQ�AU��>*BQ�A]Pg��AY�AY�A]�`="Ce��=?RCe?{�=Ce��=?�Ci�֥��=��aI��G�c>�� r���� ����� ����� ��� � (z:Y� �Y1y� �:�� 36�9 @����>9��I���tGi����@���=���������3O; ���#E�8pZj,d�h�E�AY}2�M�?�}2 s?y}2�*��}2��}2H�����L��?����`������?���������?�������?����8�?�����P�?���`@l���������?)~2�M�? ~2� r;I~2��CɫY�Y)�a �aI�aY�}��@y�}�wG� DNmea in: $SNTTA,,,,,170223.75*59 i�)��1���l罩��� >������i���@��� ����@)��n�@I����@i��n�@���]M�E=Y����:QU��>�������a�G����y� c�} �>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� ProNav: 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. �WmM�??�WiXm�D; Xu��?�Wq:Wq2Wq*Wq�VybUyBUy*UyU}����(\;@U����`���?B� j�B� B��A��>*B��A��f��A��A��A��N="C�M�??RC�}�)>C�M�??�C����L��=�סI��G�A>���Zj,�0h�E�AY}2=��?�}2�o?y}2�k(��}2�����}2H�����4��?����}����`�`������A��?������?�����;�?������?����o>������Ȼ�?)~2=��? ~2>�j;I~2��Cɫ1�9)�9 �=����I�9Y�u�@y�uOwGi��������(�M[=Y� $�:QU �>�� ���a�G��t?G��y�Y�}�>I�!��-�:��%p5�?��-�:��%��� �%�@��5�?9�%h�B��%s�: �%��:)�%`�:�WU8�A?�WQXQ XY�WY:WY2WY*WY�VabUaBUa*UaUaUm����#�?B��B� B��A��>*B��A�(Je��A��A��A�y?="C�8�A?RC���>C�8�A?�C����6[�=����Ai��mG���I��I��~nAi�GL>��5m�ٺ5~nA��5�\B��e ����e �����e �����e W�� �e �:Y�e d\1y�e ��:��e P_6�>�Zj,�Jh�E�Aɫ���)�� ��I��Y�j�@y��wG��u>i�u�=i�y��y� jA����=���xi����;�=i����@��� ����@)��I��i����@�����<M�==Y�����QU��>�������a��G������y�����}��>I������z5�?���`�� ��x�@�� �?9����B���#�: ��H�:)���W-+�C?�W1X1 X1�W1:W12W1*W9�V9bU9BU9*U9UAUE����@{�?BmJ��Bq Bq�Au��>*Bq�Au�Hd��Aq�Aq�A} /="C}+�C?RC��� >C�+�C?�C����#�=�u��>9�qI�qi�q��u=��q��q��u`P; �uU$E)���j�CI���j�Ci�����������=����q�5�I��G�D>���Zj,�Ydh�E�A�|�;�|�;Y}6�?�}6x�k?y}6���}6S��}6H���� �^�?���`�'�����;�����@�q�?���@�X�?���`h`�?�������?�����q��������?)~6�? ~6sx�;I~6��CɫY�Y)�Y �YI�YY��y�@y���wGi���������x�&1�?T㥛� �?���Q��������>����= ���u�)��I��y���k�t��?{�G�z�?ˡE����?��� ?����#<����'= ��)��"AI���Ai���A������pA�����;M�K=Y��+�;QU��>�������a��G������y��9&�}��>I�����:����5�?�� �:����� ��B�@�� �?9��]�B���H�: ��v�:)��a�:�W5�VE?�W1X1 X1�W1:W12W9*W9�V9bU9BU9*UAUAUE���@V��?Bu���Bq Bq�Au}�>*Bq�A}^Vc��Ay�Ay�A}�%="C��VE?RC���=C��VE?�C��օ�>��AI�QGm5>��m � ����m �����m �����m �� �m =�:Y�m [1y�m ݏ:��m �:6���Zj,�4~h�E�AY}2� �?�}2�j?y}2v'��}2����}2H������x�?���`����� �5����� ^�?�����o�?�����y�?����?���������������?)~2� �? ~2aM�;I~2��CɫY�Y)�Y �]����I�YY�}��@y�}ExGi�������R�<MX=Y�r�;QU�>��!��!�a%�G��%u?G��)y�-�.�}-�>I�1��5��5�?��5Y�� �5��@��E�?9�5��B��5b�: �5+�:)�1�We�G?�WaXa Xi�Wi:Wi2Wi*Wi�VqbUqBUq*UqUyU}���`U��?B�"!�B� B��A���>*B��A��kb��A��A��A��="C��G?RC�[��=C��G?�C���E �>��AI�iG�Z>�m��>9�mi�CI�ii�i��m=��i��i��m�Q; �m�$E�+�%Zj, Q�h�E�AY}>�s�?�}>�Ti?y}><j��}>`��}>H�����y��?����������������G�?������?����u��?���@f��?��� ���������?)~>�s�? ~>|E�;I~>��Cɫ9�9)�9 �9I�9Y��c�@y���wGI�)�i�!��!)�-�= �-�=��}���}����}/�=i�}Q�@��y �}K�@)�}��@I�}ٮ@i�}-�@��g��M�A=Y�y�;QU��>�����a��G����y�56�}��>Iȩ����:�ŭo�5�?����:�ŭ��� ƭ��@����?9ƭC�B�ǭ�: ȭ/�:)ȭb�:�W�8�H?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@;`@B�`�B� B��A��>*B��A�kpa��A��A��A��"="C�8�H?*C��ƒ�RC���=C�8�H?�C��֭�4>��aI�qG�9>�� `���� ����� ����� ��� � �x:Y� �[1y� H�:�� 56)� �;�9� ����+Zj,�h�E�A�|i|Y}>JΓ?�}>( h?y}>���}>�W��}>H�����Q��?���@u�������:�����`.�?�������?���� ?�������?�����Z�����@���?)~>JΓ? ~>��;I~<ɫY�Y)�Y �]����I�YY����@y���wG������@Ai���������E<M�Z=Y�� �;QU��>�������a��G���v?G���y���\�}��>I�������5�?����� ��w�@����?9����B����: ��:)���W�:�J?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� R�@�R�B*** querying acoustic contact ***�P��P�B%X�B! B!�A-j�>*B)�AMD~`��AQ�AQ�AU�)="C]:�J?RCe��=Ce:�J?�Ci�֍$ӿ=�ם�?iם�?��aI�qG����2Zj,��h�E�AY}2��?�}2�vf?y}2���}2 ���}2H����� ��?��������������������?���@���?�����b�?����B�?��� H?¿����(��?)~2��? ~2CO�;I~2��CɫY�Y)�Y �YI�YY��y�@y���wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i���������=������+��i�@�� �ٮ@)����I�n�@i�n�@��h��M7=Y�} ;QU�>����!�a%�G��!��!y�-aa�}-�>I�1��=�:��5��5�?��=�:��5��� �5H�@��E�?9�50�B��54�: �5 �:)�5c�:�WeٷL?�WaXa Xa�Wi:Wi2Wi*Wq�VqbUqBUq*UqUyU}������ @B�1��B� B��A�}�>*B��A���_��A��A��A�&5="C�ٷL?RC�9B=C�ٷL?�C�� ��>9� I� i� �� =�� �� ��D�� S; � �%E����:�=���I��G�j>���8Zj,��h�E�Aɫy�y)�y �}����I�yY�� �@y���xG�xDUSBL response received:!U1,P F75,000,00439,187,80,80,5D,FF �Command Ack�BRequesting micromodem ping code 2i���������=i���=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i��������!�rh���?ˡE����?/�$��?��l?���'= ��=)�I�y��333333�?�p= ף�?X9��v��?���?���=����< �rA)�=AI� Ai� A����=A��EkA��A��Mr=MU+=Y�U���QUU�>��Y��Y�a]�G��Y��y����}��>Iȑ�ŕ��5�?�ŕ֟� ƕ��@����?9ƕ��B�ǕJ; ȕ�;)ȑ�W���N?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B�|�B� B��A���>*B��A�EE^��A��A��A�kC="C���N?*C�|��RCq=C%��N?�C)������������������� ��s:Y��]1y���:��[I6�9�@�֍���=��I I�Y G� �>��"?Zj,N|�h�E�AY}:Kw�?�}:'\c?y}:y����}:;���}:H������-�?���`�}����`4~������/��?����!�?���`r�?�������?����V"¿�������?)~:Kw�? ~:3�;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}3xG鮁ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�Y��Y�����M��=Y��;QU�?�����a��G��w?G��y�R!�}�?Iȡ�ť�5�?�ť�� ƥK�@����?9ƥ#�B�ǥ��: ȥM�:)ȡ�W��NP?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������!@BD���B B�A��>*B�Aǐ]��A�A�A�B="C%�NP?RC%�Ls<C%�NP?�C)��-dO=�� I�YG�<>� ��>9� I� �tGi� �@�� =�� �� �� �T; � �&E�� FZj,:Xi�E�Aɫy�y)�y �}����I�yY��y�@y���wG�xDUSBL response received:!U1,R,EC7,000,0040E,187,80,80,82,FF �Fpublishing direction and range info����ً>���ɰ��=鰹 ��)���CI��y��=�A����;�\`M��?��x�C�?��������ٱ�i�������-t=��-"۽��-Sc>i�)��) �-��@)�-��@I�-���i�-��@��=���MEO=Y�E���QUE�>��I��I�aM�G��I��Iy�U���}U�>I�Y��e�:��]��5�?��e�:��]��� �]��@��m�?9�]��B��]=�: �]��:)�]d�:�W��R?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������@�R�(Combining 5 samples.�P�*Q�=�A�Z���y���7@����@���������Z��;�\`M��?��x�C�?��������2Q��ً>:Q��Z������V�#@s���6@�R�?��̿�Z����y����?��Q�?<��u���BQ�2H�? Q���AQ��A�P�y�9?�P�}�9?�P�����Q�Q�@�@"Q�K�@B�nz �B� B��A�}�>*B��A�w�\��A��A��A��N="C��R?*C�(P��RC��& <C��R?�C��ֽ�K@=�יI��G�b>�������������������� ��n:Y��[1y�H�:���16)�]�;�9����7LZj,�>3i�E�AY}~4O�?�}~�_?y}~�6꼙}~-���}~H�����D��?�����,������x�������y�?����S��?�����?�����E�?���`3����������?)~~4O�? ~~�K�;I~|ɫ���)�� ������I��Y�5 �@y�5XwG��TNmea in: $SNTTA,0.049980,,,,170228.17*44 i�����)���= ���=�� ���M ==Y��y;QU�>�����a%�G��%x?G��)y�5w�}5�>I�9��=��5�?��=t� �=V�@��U�?9�=#�B��=�.; �=}0;)�9�mEqAdded new target pos. range: 24.779999 m, bearing: 66.374481 deg, deltaT: 4.430906 s, approachRate: -0.582274 m/s, LOS rate: 0.995655 deg/s, posRepo size: 4�mU� ProNav: pos range: 24.779999 m, bearing: 66.374481 deg, approachRate: -0.582274 m/s, LOS rate: 0.995655 deg/s, cmd update: 2.986965 deg/s, cmd heading: 47.023740 deg, new cmd heading: 47.491014 deg. �WUM;X?�WQXY XY�WY:WY2WY*W��V�bU�BU�*U�U�������8@U��������?B��^�B� B��A��>*B�A��[��A�A�A�k="C M;X?RC ��4�CM;X?�C �1��5�=����<���I��Gn>��SZj,� Mi�E�AY}2q��?�}2p`\?y}2a�}2���}2H����`���?����|�������C�����@|B�?����V��?����}�?���@-?�����T����� ��?)~2q��? ~2���;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�wGi�������e�L���e>��ez��i�a��a �e��@)�en�@I�e@i�a��u3=MuU=Y�}�|;QU}�>��y���a��G����y��}��>Iȑ����:�ŕ��5�?����:�ŕ�t� ƕ��@����?9ƕ��B�Ǖ(�: ȕw�:)ȕe�:�W���\?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B���B B�A.�>*B �A ��Z��A �A �A �x="C��\?RC����C��\?�C�� �X<ܽ��>9ܽh�CIܽ�tGiܽ��@�ܽ=�ܹ�ܹ�ܽ�V; ݽ�'E���I��G'>��4����������������� �6u:Y�]1y��:��/6)��;��FYZj,�fi�E�AY}2��?�}2��Z?y}2�Ӽ�}2�F���}2H�����n�?��� ��������s����� ��?���@n��?����|�?����t_�?����>�������$��?)~2��? ~2�0�;I~2��CɫY�Y)�Y �]����I�YY��n�@y���wGi��������K7�A`�?ˡE�����{�G�z�?���?����'� ��ף<)��I��y���P��n��?�~j�t�x?�~j�t��?���$?�����;�����< ½�A)¹I½�Ai½�A�������A���hջM�D=Y��U;QU��>�������a��G������y�����}��>I�����f�5�?���Hi� ��V�@���?9��!�B�����: ����:)���W%}�b?�W!X! X!�W):W)2W)*W1�V1bU1BU1*U1U9U=����y��?Be� �Be?Q= Ba�Amˑ>*Bi�AuO�Y��Ay�Ay�A���="C�}�b?RC��b�C�}�b?�C��օ��<��9I�IGeV>i�E `mGI�] "oAi�� ��� h�ٺ� "oA��� �XB��.`Zj,HĀi�E�AY}25��?�}2�qY?y}2�Ƽ�}2��ڽ�}2H������ �?����%������<�������k�?����G�?����Lת?�������?���`�N���������?)~25��? ~2��;I~2��Cɫ9�9)�9 �=����I�AY��E�@y���wGi����� �� kA��5pT�M=U=Y�=�;QU=�>��A��A�aE�G��Ey?G��Ay�M�B�}M�>I�Q��]�:��U�5�?��]�:��U�^� �U��@��e�?9�U��B��U��: �U��:)�Uf�:�W�j�g?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� ��?B���B� B��A�?�>*B��A�5�X��A��A��AṴ="C�j�g?RC���C�j�g?�C����kA����֭`�Ի�ׁI��G�=>��<����������������� �oa:Y�[1y�ݏ:���6�9�@ܭ ��>9ܩ Iܭ $tGiܭ o�@�ܭ =�ܩ �ܭ ��D�ܭ hY; ݭ )E)�M�i�CI�M�i�Ci�I���M�=��I���M���5��ZfZj,���i�E�Aɫq�q)�y �}����I�yY����@y��ixGi�����m�@���m�!���m��=i�m=�@��i �mn�@)�mO�@I�mn�@i�mn�@��}�D=M�F=Y����QU��>�����a��G����y����}��>Iș�ŝ_5�?�ŝtS� ƝS�@����?9Ɲ'�B�ǝ�: ȝ��:)ș�W�x,m?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������4�@B c�B B �An�>*B�Ar�W��A�A�A1�="Cx,m?RCp�*�Cx,m?�C!�օ�J���AI�IGm5>���lZj,Fz�i�E�AY}:�(�?�}:��X?y}:����}:�H���}:H�����1�?���������� ������ ���?�����,�?���@�H�?����B�?����_B������>��?)~:�(�? ~:B�;I~:��Cɫ9�9)�9 �=����I�AY�}��@y�}%xGi�������;��M�G=Y�a�;QU��>�������a��G���z?G���y��ٻ}��>I������:����#5�?����:���;H� ����@����?9����B�����: ����:)��g�:�W%J�r?�W)X) X1�W1:W12W9*W9�V9bU9BU9*UAUAUE������@BmԘ�Bq Bq�Au��>*Bq�Au��V��Ay�Ay�A}�="C�J�r?RC�+�H�C�J�r?�C���=9�=��rAн����������������W�� �.r:Y��Y1y��:��z(6��I�G5�>��jsZj,eU�i�E�AY}2�8�?�}2��X?y}2cb���}2�A���}2H����@�.�?�����������pz���������?���@-�?����7�?����Ջ�?��������������?)~2�8�? ~2ܹ�;I~2��CɫY�Y)�Y �]����I�YY��y�@y���wG������?AI��)�� ��鼵kAi�����)ý�= ý�=��̌����=���D�i��� ���@)�I�i�O�@�����MU=Y���:QU�>��!��!�a%�G��!��)y�-��:}-�>I�1��5`15�?��5�=� �5H�@��E�?9�5+�B��5b�: �5��:)�1�W��w?�W�X X �WI:WQ2WQ*WQ�VQbUQBUY*UYUYU]������@�RmB*** querying acoustic contact ***�Pi�PiB���B� B��A�}�>*B��A���U��A��A��A�1="C��w?RC� a�C��w?�C��]��>9�]g�CI�]�sGi�]�@��]=��Y��Y��];^; �]�+E����=����M佹��I�! Gm �>��yZj,�0�i�E�A�|i|�@Y}6��?�}6�mY?y}6�����}6�F��}6H������!�?����1������Ƭ��������?���`�"�?����0��?�����~�?�����������`���?)~6��? ~6;I~4ɫ9�9)�9 �=����I�AY����@y���vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i���������H�z�G�?+����������Mbp����= ?������ ����)��I��y���F����x�?Zd;�O��?Zd;�O��?����?���j�<���j�< ¥�A)¥�AI¥�Ai¡������zA���f�M�@=Y��;QU��>�����a��G����y���;}��>I�����~>5�?����2� ����@����?9����B���m�: ����:)���W/�}?�WX X�W:W2W*W!�V!bU!BU!*UIUIUM�����E @B�w��B� B��A�8�>*B��A�U��A��A��A��C="C�/�}?RC���z�C�/�}?�C�������)�� ������������������E�� �us:Y��[1y�H�:���&6��U G����] �?i�] �?��! I�1 GM �>�O~�Zj,�j�E�Aɫq�y)�y �}����I�yY��}�@y���wG�xDUSBL response received:!U1,P EC7,000,0040E,187,80,80,82,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�������5O�=M=S=Y�M���QUU�>��a��a�am�G��u{?G��y����}��>Iȹ����:�Ž.I5�?����:�Ž�)� ƽ*�@����?9ƽ�B�ǽ< Ƚ�<)Ƚh�:�W5��?�W1X1 X1�W1:W92W9*Wy�VybU�BU�*U�U�U������� @B�`�B� B��A���>*B��A���S��A��A��A��o="C��?RC� ��C��?�C ����2/����I��G��>�M ��>9�M f�CI�M \sGi�M ��@��M "=��I ��I ��M �g; �M `0E���Zj,�j�E�AY}2X��?�}2?�]?y}2�p���}2�'m��}2H����`���?���`^�����e5������q]�?���`��?����[↿�����-�?����£m��������?)~2X��? ~2f4�;I~0ɫ9�9)�9 �=����I�AY�]��@y�]*xG�}�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i��i��������jA���jA���`e���� �=���ף<i��f�@��� ����@)����@I����@i����@���~�<M�@=Y����;QU��>�������a��G������y��� =}��>I������T5�?��� � ����@�� �?9����B�����: ����:)���W-b%�?�W)X) X1�W1:W12W1*W1�V9bU9BU9*U9U9UE����7;@Bm���Bi Bq�Au1�>*Bq�Au�0S��Aq�Aq�AuЍ="C}b%�?RC�C�b%�?�C���mܢS���!I�1GU2>�� ����������������� ��:Y��`1y���:���p6)�x<�9���ьZj,��5j�E�A�|�|Y}6�M�?�}6R a?y}6eR���}6�ԭ<�}6H������h�?��� Y�������vw?������?����$f�?���`������� �?���`h��?������?)~6�M�? ~6y��;I~4ɫY�Y)�Y �aI�aY����@y��wG�xDUSBL response received:!U1,R,F31,000,003E6,186,80,80,55,FF �Fpublishing direction and range info����8>���ɰ���=鰭��> ��)����BI��y�� �A�����RFv�z�?ͥѕ��?��������ٱ�i����������M�[=Y���B;QU��>�����a �G�� |?G�� y�=}�>I�!��-�:��%S_5�?��-�:��%�� �%��@��5�?9�%��B��%w�: �%��:)�%i�:�W]F��?�WaXi Xi�W :W2W*W�VbUBU*UUU����t�@�R-(Combining 5 samples.�P1*Q5 �A�Z5�l�Z6@<��pN@���������Z5��RFv�z�?ͥѕ��?��������2Q5�8>:Q1�Z5�8`����%@h�S1�3@�������?�Z5��- ��L�?L ����?��U�I��?BQ5ˣ�? Q5 �AQ5/A�P5��9?�P5y�9?�P5����Q5����Q5G�@"Q5@�@B����B� B��A��>*B��A��MR��A��A��A�c�="C�F��?RC�C�F��?�C��֥�`�Iס)ס��YI�iG�Z>����Zj,��Oj�E�AY}f�˓?�}f�h?y}f1z���}fP1=�}fH���� ��?�����.����`���?����:0�?����W��?����E(��������?����( �?���`F��?)~f�˓? ~f$��;I~f��Cɫ���)�� ������I��Y�=B�@y�E�wG��DNmea in: $SNTTA,,,,,170232.61*5C i�������}Q����}�����}O �i�}��@��y �}O�@)�}�@I�yi�}��@����<M�0=Y����:QU��>�������a��G������y��Wq=}��>����>9��I���rGi��*�@���$=���UD�����D���Ս; ��yKEI����k5�?��(� �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. �We��?�WaXa X��W�:W�2W�*W��V�bU�BU�*U�U�����Ga6@U�����z��?B=���Ba Ba�Ae�>*Ba�Am�?Q��Ai�Ai�Am�="CuU�?*Cu����RCuF�q�Cu��?�Cy�օ<�t���YI��G �>���g�������������������� ���d:Y��[1y��ݏ:���9/6)����;�k�Zj,�yij�E�Aɫy�y)�y �}����I�yY����@y���vGI�A)�Ai�I��I�� �y�&1��?Zd;�O�������Mb���� `?�� j�� � �)� I� y� �+����?�Q���?Zd;�O��?�� v?�� \=�� � �A)� �AI� 1Ai� +A�� �� QA)�%�= �%�=��-F�M-U=Y�5���QU5�>��1��9�a=�G��9��9y�E���}E�>I�I��U�:��M2w5�?��U�:��MU�� �M��@��]�?9�M��B��M2�: �MB�:)�Mj�:�W}-�~?�WyXy Xy�W�:W�2W�*W��V�bU�BU�*U�U�U����`�?�?B���B� B��A���>*B��A�~P��A��A��A��3="C�-P�?RC��IY�C�-�~?�C���%.ą����I��GI>��ʠZj,3S�j�E�AY}2~z�?�}2�bw?y}2����}2�1�=�}2H���� �.�?��� �@������Z�?����ES�?������?����8���������?���`�<�?���`���?)~2~z�? ~2��;I~2��CɫI�I)�I �M����I�IY�}��@y�}wGi�������U�D<M]Y=Y�]E��QU]�>��a��a�ae�G��e}?G��ay�mJ#>}m�>I�q��u~�5�?��u&�־� �uY�@��}�?9�u0�C��uM�: �u:)�q�W�j�x?�W�X� X��W�:W�2W�*W��V�bU1BU1*U9UAUM�����n�?B5���B1 B1�A5ׇ>*B1�A=��O��A9�A9�A=�a="CE�z?RCE����Cej�x?�Ci��]?΅���1I�AG]v>������������ � ]:Y�y���1!6�9�@��� jA��� jA�� ��>9�� I�� �qGi�� ��@��� !=��� ��� ��� ��; �� ��E�-��Zj,�.�j�E�AY}2d�?�}2�5?y}2Lo���}2?�=�}2H�����a^�?����������@5��?������?���@>4�?�����߳�����w-�?�����?��� ���?)~2d�? ~2Qߟ;I~0ɫ9�9)�9 �=����I�9Y����@y��wGi�!��!��u�̽��uQ8>��u`�i�uG�@��q �u���)�uO�@I�uO�@i�uO�@����:M�G=Y�#˻QU��>�����a��G����y���=}��>Iȡ����:�ť'�5�?����:�ť��־� ƥ��@����?9ƥq�C�ǥ��: ȥ�:)ȥk�:�W���q?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��?B����B� B��A��>*B��A�C�N��A��A��A��="C��Qt?RC�t�`�C���q?�C��֥ w���aI�qG�9>�M�Zj,� �j�E�AY}BA�?�}B�w�?y}B+Ƽ�}B��>�}BH���� ���?�����4������2�?��� �`�?����"T�?�����g�������Ę?�������?�������?)~BA�? ~Bu�;I~B��CɫY�Y)�Y �aI�aY����@y���vGi�!��!��1��1��A��A��u�J�M�L=i��6nGY�̻QU��>I��i���������a��G���~?G����h�ٺ��xYB�� y�5��=}=�>�U�2@9�U'BI�Y��]��5�?��]��־� �]t�@��m�?9�]��C��]I�< �]��<)�Y�W%��i?�W)X) X)�W1:W12W1*W1�V1bU9BU9*U9U9U=����xo�@Bm*�Bi Bi�Am��>*Bq�AuD�M��Aq�Aq�Au��="C}��i?RC}.�=C}��i?�C��ԑ�ԑ�օ�1O���9I�IGeV>�������������������� ��p:Y��]1y���:���46��Zj,���j�E�AY}2�?�}2��?y}2��ڼ�}2�>�}2H��������?���@������7�?������?������?����9̷�����R�?���`#�?����f��?)~2�? ~23��;I~2��Cɫ9�9)�9 �=����I�9Y�}J�@y�}kvGi�������5�m���5̌���5�;i�5�@��1 �1)�1I�5�@i�1��uU�MuJ=Y�u�̻QU}�>��y��y�a}�G��y��y�R�=}��>Iȉ�ō��5�?�ō��־� ƍ��@����?9ƍ��C�Ǎ��: ȍ:)ȉ�W���c?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�L@Bs��B B�A>*B�A GM��A �A �A ��="C��e?RC7Y�=C��c?�Cܥ��>9ܥe�CIܥqGiܥ��@�ܥ =�ܡ�ܡ�ܥ��; ݥ��E)�E�f�CI�E�f�Ci�A���E�!=��E�!=��E�G6��m��$���!I�1G]3>�41�Zj,˿�j�E�AY}2C��?�}26�?y}2E�}20>�}2H�����<*�?��� [�����`�"�?����5�?�����?���@y�����@�ѝ?������?����B��?)~2C��? ~2ܓ�;I~2��Cɫ9�9)�9 �=����I�AY�}r�@y���vG������i�������-���"��~�?��MbX��y�&1�����-��>��-�ʽ �-`e�)�)I�)y�-����S��?+�����?�&1��?��-/?��-�=��-�P= �-�A)�-�AI�-�Ai�-�A��)��-pA��ML<MMM=Y�U�ȻQUU�>��Q��Y�a]�G��Y��Yy�et�=}e�>I�i��u�:��mW�5�?��}�:��mg�־� �m��@��}�?9�m/C��m$; �m(;)�ml�:�W��\?�WX X�W!:W!2W!*W!�V!bU)BU)*U)UIUU������@�R]B*** querying acoustic contact ***�PY�PYB�by�B� B��A��>*B��A�e6L��A��A��A�ѻ="C���\?RC�s�H>C���\?�C����h�⽹סI��G�C>�ޑiޕp=��M�������������� �� ��b:Y�[1y�ݏ:�� 6��Zj,�k�E�AY}6��?�}6��?y}6&���}6�+>�}6H����`���?����4M������c�?�������?��� ?N�?���@�o�������W�?������?����f��?)~6��? ~6��;I~6��Cɫ9�9)�A �AI�IY����@y���uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�A��A)Í�= É����"�M�B=Y�QU �>�����a�G��%?G��Qy�eS=}e�>I�i��m��5�?��m��־� �m��@��}�?9�mtC��mQ�: �m�:)�i�W���U?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@N @B]� �Ba Ba�Ae�r>*Ba�A�!aK��A��A��A���="C���U?RC���>C���U?�C� ���=����=�������יI��G�b>ܕ ��>9ܑ Iܕ <pGiܕ B�@�ܕ #=�ܑ �ܑ �ܕ ��; ݕ q{E��C�Zj,�wk�E�AY}2ey�?�}2*��?y}2_���}2��>�}2H�����3��?���������@T�?���@d��?���`�0�?���`I����� i��?�������?���@���?)~2ey�? ~2���;I~2��CɫA�A)�I �M����I�IY�}�@y�}vG�xDUSBL response received:!U1,P F31,000,003E6,186,80,80,55,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������Å���Å�n>�Å�%>iÅ��@�Á ā)ąn�@Iąٮ@iā����<M�;=Y����QU��>���� �a �G�� ��Ay�_;=}��>Iȩ����:�ŭ_�5�?����:�ŭz�־� ƭ�@����?9ƭ�C�ǭ��: ȭb�:)ȭm�:�W��N?�W�X� X��W�:W�2W�*W��V�bU!BU!*U!U)U-��� �� @B�� �B� B��A�'w>*B��A��~J��A��A��A�y�="C��N?RC�� �>C��N?�C!���h �����������������B�� ���:Y���[1y��H�:���:&6)��M�;�9����M�<����U�?i�Q�� I� G5 �>��n�Zj,�W8k�E�AY}F�?�}F�U�?y}F���}F�>�}FH���� I��?��� 9�����`.��?���`���?����#��?����Z�����`���?���� K�?�������?)~F�? ~FGe�;I~F��Cɫy�y)�y �}����I�yY��s�@y��cuG��p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�Q��Y��#P�M�`=Y���QU��>�����a��G���?G��y��=}�?Iȱ�ŵ��5�?�ŵ��־� Ƶ��@����?9Ƶ�C�ǵ@�: ȵ��:)ȱ�W��RH?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������!@B����B� B��A�,d>*B��A���I��A��A��A���="C��RH?RC�C��RH?�C���x�����I��GI>�<U�Zj,w,Rk�E�Aɫ�髹)�� ������I��Y��w�@y��guG�xDUSBL response received:!U1,R,03F,000,003BC,184,80,80,65,FF �Fpublishing direction and range info���z0a����ɰ���=����> ��)����BI��y���A����ـ^h���?ɕ�n"����������ٱ�i�����%kA��%kA��m����m����mC��i�m��@��i �mO�@)�mO�@I�mn�@i�m��@��}��:M�L=Y����QU��>�����a��G����y����}��>Iș����:�ŝ��5�?����:�ŝɏ־� Ɲ��@����?9Ɲ.C�ǝ�: ȝ��:)ȝn�:�W�{�A?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����� �@�R�(Combining 5 samples.�P�*Q��A�Z���� ~z�3@�7�v����������Z��ـ^h���?ɕ�n"����������2Q�z0a�:Q��Z��I�rl��"@��N�8�1@����_|�?�Z���y�tE�?]i� U9�?�@}~,ɝ?BQ�BZ�? Q�!�AQ�uA�P��9?�P���9?�P�Q�����Q���@"Q�G�@B-$���99�=d�CI�9i�9��=&=��9��9��=��; �=�kEBQ BQ�AU�d>*BY�A]h+I��AY�AY�A]*�="Ce{�A?RCaCe{�A?�Ci�������8�Ƽ���I��G-N>��������������������7�� ��_:Y��d\1y����:���%6)����;�J��Zj,�lk�E�AY}-�"�?�}-SY�?y}-%3��}-_��=�}-H�������?����]=������6d�?�����K�?���`?�?����}0����� �b�?��� N�?��� @��?)~-�"�? ~-���;I~-��Cɫ�)� �I�Y�m��@y�m�uG��TNmea in: $SNTTA,0.039646,,,,170237.05*4B i�������u�!�rh���?Zd;�O��?y�&1��?��ul?��uj�< �u`e<)�qI�qy�u���|?5^�?�������?X9��v��?��u�?��u��<��u��< �u�A)�u�AI�qi�u�A��q��u�A��kk<M�:=Y�6��QU��>�����a��G���?G��y��Z=}��>Iȱ�ŵg�5�?�ŵ��־� Ƶ��@����?9ƵnC�ǵM�: ȵܹ:)ȱ�m�qAdded new target pos. range: 19.860001 m, bearing: 61.929831 deg, deltaT: 4.436511 s, approachRate: -0.568013 m/s, LOS rate: 0.273704 deg/s, posRepo size: 4�m�� ProNav: pos range: 19.860001 m, bearing: 61.929831 deg, approachRate: -0.568013 m/s, LOS rate: 0.273704 deg/s, cmd update: 0.821113 deg/s, cmd heading: 43.308848 deg, new cmd heading: 41.527454 deg. �W�9C?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����)�3@U����@��?B�n�B B�A%k>*B!�A%JH��A!�A!�A%�="C-p�@?*C-���RC1C59C?�C1�����<I�!)�!���I��G%o>�Pg�Zj,�k�E�Aɫ�髡)�� ������I��Y����@y���tGi�������%什��%�>��%+=i�%��@��! �%���)�%n�@I�%9�@i�%9�@��=c��M=Q=Y�E���QUE�>��A��A�aE�G��I��Iy�U���}U�>I�Y��]L�5�?��]�v־� �]}�@��e�?9�]�C��]k�: �]�:)�Y�W��D?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`;��?B��] �B� B��A��O>*B��A���G��A��A��A�f="C�[D?RC�C��D?�C���� ��=�ׁI��G�=>��G����������������� �Pb:Y�P^1y���:��y46�9�@�5 ��>9�1 I�5 �oGi�5 ��@��1 ��1 ��5 ��D��5 ��; �5 `E�-��Zj,L��k�E�Aɫ�髁)�� ��I��Y��J�@y��1uGi���)�-�= �-�=��U #=MUZ=Y�YQU]�>��Y��a�ae�G��a��ay�i}m�>I�q��}�:��u��5�?��}�:��u�k־� �u0�@��}�?9�u�C��u�: �u��:)�uo�:�W��E?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������C�?B�`{�B� B��A�_>*B��A��G��A��A��A��C="C��E?RC�C��E?�C� � >�� >��m��=��AI�YGu6>�Ѽ�Zj,���k�E�AY}Z�˲?�}Z��?y}Zd�Y��}Z�c=�}ZH�����W1�?�����.��������?�����%�?����D�?����J;������:�?����m�?�������?)~Z�˲? ~Z���;I~Xɫ�髑)�� ������I��Y� ��@y� �tGi�y��y���üM�D=Y�m��QU��>�����a��G���?G���y���μ}��>I�����]�5�?���$_־� ���@����?9��C���M�: ����:)���W��uG?�W�X X�W:W2W*W �V bU BU *UUU������?B=���B9 BA�AE�T>*BA�AEEPF��AA�AA�AME="CU�uG?*CU����RCQCU�uG?�CY����)>�� �?i� �?���I��GI>�������������������� ��l:Y�]1y��:���-6�U��Zj,t�k�E�AY}F��?�}F�E�?y}F$�a��}F9��<�}FH����@���?�����������!�i?�������?����b��?���@p߯������:�?���@�Ý?���`��?)~F��? ~F���;I~F��Cɫ�髙)�� ������I��Y����@y��_tGi�a��a �i�i�õQ8��õ94��õE��iõQ�@�ñ ĵ9�@)ĵ9�@Iıiı����ڼM�I=Y��e��QU��>����>9��I��i�����%=�����������; ���XE�������a��G������y�G�}�>I� ���:�� ��5�?���:�� �R־� � ��@���?9� XC�� ��: � s�:)� p�:�W=��H?�W9X9 X9�W9:WA2WA*WA�VAbUABUI*UIUQUU����w@�@B}5� �By By�A��I>*B��A�+�E��A��A��A�t�="C���H?*C����RC�C���H?�C��֍۠X>�ׁI��G�F>����Zj,J{�k�E�AY}>���?�}>��?y}> �e��}>����}>H�������?����w������������ࣶ�?����@�?����������'��?����%��������?)~>���? ~>��;I~>��CɫA�A)�I �M����I�IY��w�@y��-tGI�-@)�-@i�)��)����w��/��?�K7�A`ſ�I+��?����>���+� ��94=)��I��y����v��/�?����Mbp?y�&1��?���x ?����;���`e< ½~A)½� AI¹i¹������pA���=G�M�H=Y����QU��>�������a��G����?G���y���7�}��>I�������5�?����G־� ��m�@���?9���C�����: ��l�:)���W�y�J?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@B-��B) B)�A-�D>*B)�AUR�D��AQ�AQ�AU�n="C]y�J?*C]ێ�RCYCey�J?�Ca��5��>�� I�G5P>i�M�mGI�e~nAi�y������������������������ ��h:Y�[1y�ݏ:��g06����h�ٺ�~nA����XB���[j,�<l�E�A�|�|4<Y}R�Z�?�}R[��?y}R�zh��}R��@��}RH�����/�?���@�k������V������Er�?���@�@�?����?�������T�?���@������ ���?)~R�Z�? ~R�ԝ;I~R��Cɫq�y)�y ������I��Y����@y���tG��I��M@Ai�Y��Y�íE�=�íI���í��=ií3�@�é ĭ��@)ĭ���IĭO�@iĩ��q�<M�M=Y���ߺQU��>�������a��G������y��5?�}��>I������:�����5�?����:���-=־� ����@����?9���C���<�: ��U�:)��q�:�W W�K?�W X X�W:W2W*W�VbUBU*UUU%������@�R-B*** querying acoustic contact ***�P)�P)BUvS�BQ BQ�AUXO>*BQ�A]oZD��AY�AY�A]L%="CeW�K?*Ce`+��RCaCeW�K?�Ci��}?΅>I�y)�y��QI�aG}Y>����>9��I��<pGi��B�@���$=���������N�; ��LUE)�e�d�CI�e�d�Ci�a���e�%=��e�%=��e�$�5���[j,g!l�E�AY}>���?�}>�։?y}>uGi��}>�_���}>H������J�?����������@Aa����� +!�?���`g��?�����E�������$�?���`���������?)~>���? ~>4�;I~>��CɫY�Y)�Y �]����I�YY����@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i������� "��M W=Y� ��QU�>�����a�G����y�%e�}%�>I�1��5� 5�?��53־� �5��@��E�?9�5�C��5��: �5d�:)�1�WE�kM?�WAXA XA�WI:Wi2Wi*Wi�VqbUqBUq*UqUyU}���@�� @B�R�B� B��A�4>*B�A C��A �A �A ��="C�kM?*C~s��RC�w�>C�kM?�C��=��>��I�)GEs>�ޕ�=iޕa=��� ����������� �z�:Y�y���x76)���;�9���� [j,��:l�E�AY}2y��?�}2=׆?y}2d,i��}2g���}2H�������?���`zv������������@d��?�������?����rn�?�����!�?����s�������0��?)~2y��? ~2���;I~2��CɫI�I)�I �M����I�IY�}��@y�}[tG�xDUSBL response received:!U1,P 03F,000,003BC,184,80,80,65,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 ��鼵lAi��������N=M K=Y���8QU%�>��1��9�a=�G��E�?G��Qy�eSi�}m�>Iȉ����:�ō� 5�?��U�:�ō(־� ƍ�@��]�?9ƍ3C�ǍY�< ȍ�<)ȍr�:�W���N?�W�X X�W:WI2WI*WQ�VQbUYBUY*UaU�U���� @B �` �B B �A SI>*B�A� C��A�A�AՇ="C��N?*C<��RC� �>C%��N?�CQ��e/E�>��QI�YGu�>���[j,��Tl�E�A�| i| Y}Rk��?�}R/σ?y}R-h��}R�+��}RH�����Ot�?�������������ſ���`�b�?����O��?���@Pw�?�������?�����Nſ���`\��?)~Rk��? ~R�ݫ;I~R��Cɫy�y)�y �}����I�yY��K�@y���sG鮽a=ɮ��-�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �}��>9�}c�CI�}qGi�}��@��}'=��y��y��}u�; �}rUEi����������>����=���`�<i����@��� ����@)����@I�����i��n�@�����M;=Y��%:QU�>�� �� �a �G����y��b�}�>I�!��%� 5�?��%־� �%��@��-�?9�%mC��%k�: �%��:)�!�WU�cP?�WQXQ XQ�WQ:WQ2WY*WY�VYbUYBUY*UaUaUe����%7@BM@��BQ BQ�AU$?>*BQ�AUuB��AY�AY�A]�?="Ce�cP?*CeX��RCe�h>C��cP?�C�����>��%�?i�%�?�� ����������������� �s]:Y��W1y�č:��g-6)���;��I�!G}�>��[j,-�nl�E�AY}6��?�}6�ـ?y}6+j��}6N�I��}6H���� �?���@�S���� ��ȿ����H��?��� ��?���@6R�?����MA�?��� ��ɿ�����T�?)~6��? ~6���;I~4ɫ9�9)�9 �=����I�9Y�}a�@y�}tG�xDUSBL response received:!U1,R,FAF,000,0039C,185,80,80,80,FF �Fpublishing direction and range info����Ð=���ɰ�c�=鰅+�> ��)����CI��y����A����M�����?-�r.��?��������ٱ�i�������-��O��n�?�Q��롿�� �rh�?��-�?��-\� �-C=)�)I�)y�-��Q����?���x�&�?�I+��?��-\?��-7�=��-94= �-� A)�-^AI�-Q Ai�)��)��)���P�;M�K=Y�@��QU�>�����a �G�� �?G�� y��j�}�>I���� 5�?��r־� ���@��%�?9��C�� �: ���:)��WM`�Q?�WIXI XI�WI:WQ2WQ*WQ�VQbUYBUY*UYUYU]����-�@�Ru(Combining 5 samples.�Pq*Qu��A�Zu��#��+�1@�����E�?���������Zu�M�����?-�r.��?��������2Qu�Ð=:Qq�Zu�C1.Z!@�0�8�/@���y���?�Zu�d�+P\�?r����"�?T>�dI�?BQuJ��? Qua|AQu*A�Pq�Pu�9?�Pu����QqQu.�@"Qu��@B��� �B� B��A��A>*B��A���A��A��A��A�0�="C�`�Q?*C���(=RC�� �>C�`�Q?�C���]'I~>��I�)GEQ>��"[j,?s�l�E�AY}Iŝ?�}�{?y},in��}��\��}H�����v��?���@T������1�ʿ����;��?���`��?�����3�?�����ȭ?��� �W˿�����4�?)~Iŝ? ~��;I~��Cɫ1�1)�1 �=����I�9Y�u��@y�uisG����=i���=I�@)�@i�����U�'���Ud;>��U���i�Q��Q �UO�@)�U9�@I�Qi�U�@��e$�MeD=Y�m�"�QUm�>��q��q�au�G��q��yy�}�[�}}�>Iȁ����:�ŅH( 5�?����:�Ņ�־� ƅR�@����?9ƅ�C�Dž��: ȅ �:)ȅs�:�m�uAdded new target pos. range: 17.939997 m, bearing: 61.651869 deg, deltaT: 4.459828 s, approachRate: -0.430511 m/s, LOS rate: -0.062326 deg/s, posRepo size: 4�m�� ProNav: 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. �W���Q?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�������1@U�����'��?B���B B�A�0>*B�ADA��A�A�A�="C%��Q?*C-�)=RC-��s>C5��Q?�C1��%:i>���I��G J>��e����������������� ���:Y�d\1y���:��]:6�9�@�}��>9�yI�}hqGi�}6�@��}(=��y��y��}��; �}�XE��-([j,�N�l�E�A�|�|Y}6�?�}6��v?y}6/|r��}6�:i��}6H�����2>�?�����X�����U�˿���`�8�?����h'�?���@@�?�����J�?�����̿����s�?)~6�? 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~:�<a;I~:��Cɫ9�9)�9 �=����I�9Y�}v�@y�}�wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******鮍a=ɮ� ����kAi���������M�F=Y���;QU��>�����a��G����y���;}��>I�����5�?����3վ� ��vA����?9��� C���+�: ����:)���W%�rJ?�W!X! 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~b��];I~b��Cɫ�髙)�� ������I��Y���@y��tG%Z****** received transponder code query ******%F****** received ping request ******%<Arming DUSBL. detectThresh: 75-8****** ping requested ******i�a��i��H��M�d=Y�v�QU��>�����a��G���?G��y�� ;}��>I�����b�5�?�����Ծ� ���A����?9���C���� ; ��;)���W%F?�W!X) X)�W):W12W1*W1�V1bU1BU9*U9U9U=����_N,@B%�μB) B)�A-�T>*B)�A-��%��A1�A1�A5��="C=F?*C=��+=RC=�=C=F?�CA�� ���<���I��GJ>��1��������������M�� ��t:Y��W1y�č:��h'6�sd\j,Hlp�E�AY}e���?�}e��C?y}ea m��}eRm��}eH������?�����������ܩ�����x&�?���@��?�����F�?���`h��?����7�������e��?)~e���? ~e��\;I~e��Cɫ9�9)�9 �9I�9Y��;�@y��uG�xDUSBL response received:!U1,P 80,80,63,E4 C,185,80,80,80,FF �Command Ack�BRequesting micromodem ping code 2i�����i���������<��㥽��(\�i�Q�@�� �9�@)�9�@I�9�@i�9�@����<ME=Y��>�QU�>�����a�G����!y�%A�}%�>I�1��5��5�?��5��Ծ� �5*A��=�?9�5�C��5U�: �5��:)�1�WeѳE?�WaXa Xa�Wa:Wi2Wi*Wi�VibUqBUq*UqUqU}���`�-@B�Y˼B� B��A�;]>*B��A�E�$��A��A��A���="C�ѳE?*C�]�+=RC���=C�ѳE?�C��m��>9�iI�m�pGi�m��@��m+=��i��i��mV|; �m;E�֝���<I�@A)�AA��qI��G�~>��� \j,#I,p�E�Aɫy�y)�� ������I��Y��!�@y���tG������?A���Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I��@)��@i������E' �MMX=Y�]���QUe�>��q��y�a��G���?G��Qy�]���}]�>I�i����:��mF�5�?����:��m@�Ծ� �m\A����?9�m) C��m)-< �mV�:)�m��:�W��YE?�W�X� X��W�:W�2W�*W �V bU BU *UUU�����-@B]D}ҼBY Ba�Ae�Y>*Ba�Ae">$��A��A��A�="C��YE?*C�خ+=RC��| =C��YE?�C��֝@o=��5=����5�����5�����5>�� �5�a:Y�5[1y�5ݏ:��5�%6�ׁI��G��>�zw\j,�&Fp�E�A�|�|�;Y}6�>�?�}6t�B?y}6��n��}6��j��}6H�����J)�?����������������@b�?��� �$�?���`�?�����Ӎ?���`�X�����`���?)~6�>�? ~6@�\;I~6��Cɫ9�9)�9 �=����I�9Y���@y���tGi�������]_ڻMeI=Y�m�v�QU��>�����a��G����y�� �}��>Iȩ�ŭ��5�?�ŭ��Ծ� ƭ�A����?9ƭe C�ǭ�; ȭa�:)ȩ�W�E?�WX X!�W!:W!2W!*W!�V!bU)BU)*UIUQUU���`E�.@B��h˼B� B��A�6W>*B��A���#��A��A��A��"="C��E?*C��+=RC���=C��E?�C�����#=���I��G�j>�q9�qI�u<pGi�uB�@��u-=��q��q��u�x; �u69E�d�\j,�`p�E�Aɫ�髉)�� ������I��Y����@y��EsGi������������Mb�?�p= ףпk�t��?���� ?����� �� 0=)��I��y���@5^�I�?<�O��n�?V-��?���b?���t=�����< ���A)��$AI��KAi��EA�������A��E`�=��E����E�q>i�E�@��A �E��@)�E���I�EO�@i�A��Ub��MU.=Y�]���QU]�>��Y��a�ae�G��a��ay�m���}m�>I�q��}�:��u�5�?��}�:��uߍԾ� �u�A����?9�u� C��u��: �uo�:)�u��:�W���D?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������/@B��<�B� B��A�->*B��A���"��A��A��A�^W="C���D?*C���+=RC��� =C���D?�C���i��=��� ����������������� �cW:Y�0Y1y���:��6)�P�;�9%����2g=���I��G��>���\j,]�yp�E�AY}:��?�}:Y�B?y}:��h��}:�p��}:H������0�?���@|�����@;���������?���`�+�?����jʠ?�����?���`���������?)~:��? ~:9�\;I~:��Cɫ9�9)�9 �9I�9Y�u��@y�}QtG�yɮ}�=i���������=M��=Y�̑:QU� ?�����a��G���?G��y�ӈ�}� ?Iȹ�Ž�5�?�Ž��Ծ� ƽ�A����?9ƽ� C�ǽ��: Ƚ��:)ȹ�W�OdD?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU����!0@B-�\ƼB) B)�A�fH>*B��A�{w"��A��A��A��q="C�OdD?*C�9�+=RC�)�=C�OdD?�C� ������=���G�=�I��G�E>���$\j,���p�E�Aɫy�y)�y �}����I�yY��G�@y���sGi�������U`e<��U��=��Uv>�i�UQ�@��Q �UO�@)�U�@I�U9�@i�Q��m��Mm>=Y�u���QU}�>��y��y�a��G����y����}��>I�1��=�:��5D5�?��E�:��5�{Ծ� �5; A��M�?9�5C��5t�; �5��;)�5��:�W���C?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU��� #�0@�R-B*** querying acoustic contact ***�P)�P)Bm�Y�Bq Bq�Au�>>*Bq�Au��!��Ay�Ay�A}��="C���C?*C�0�+=RC�E=C���C?�C��9�I�toGi���@��.=������:u; �]7E�֝� =��-� ����-�����-�����-��� �-/X:Y�-]1y�-�:��-6)�-�;��YI�aG�{>� �*\j,p�E�AY}2�g�?�}2=C?y}28����}2K�c��}2H����@$"�?����m ����`�{�����`��?���`��?�����?�����1�?����"l������W��?)~2�g�? ~2�+^;I~2��CɫY�Y)�Y �]����I�YY���@y���sGi��������\h�M�V=Y�����QU��>�������a��G����?G���y��A�;}��>I������&5�?���sԾ� ��p A����?9��KC���'�: ��ܹ:)���W ��C?�W X X�W:W2W*W�VbUBU*U!U!U%���`��0@BM̽ѼBI BQ�AU 9>*BQ�AUR>!��AQ�AY�A]S�="Ce��C?*Ce<�+=RCe�y$=Ce��C?�Ci�օ[�=��qI��G�=>I�AA)�@A���1\j,�r�p�E�AY}FH��?�}F�C?y}FzX���}F/ck��}FH����`H�?���@�����yͪ���� �"�?�����?������?���`��?����g������9��?)~FH��? ~F��\;I~DɫY�a)�a �e����I�iY�5��@y�=�sG��EAA��EAAExDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,80,FF EZNo reply:!U1,N,80,80,63,E4 C,185,80,80,80,FF -M<No response from remote modem.i�Y��a��=<��=,���=1>i�=��@��9 �=�@)�=ƣ@I�=�@i�=�@��}��M}1=Y�*o�QU��>�����a��G����y��X>;}��>I���65�?��PhԾ� �� A���?9��C���: ��:)��We�OC?�WaX� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�l1@B�L_�B B�A�4>*B�AG� ��A �A �A [�="C�OC?*C�+=RC 2=C�OC?�C�ԁ�ԅkA��%�����%�����%�����%��� �%@i:Y�%d\1y�%��:��%�6�9-@��u�K'=I�y)�}iA��aI�qG��>�%��>9�!I�%�nGi�%��@��!��!��!��%�q; �%�5E���7\j,![�p�E�Aɫ���)�� ������I��Y� &�@y� �rGi�!��!�����S㥛��?�~j�t���V-��?���$&?����D� ����<)��I��y���m������?���S㥛?y�&1�|?����?���/�<���`�; ��lA)���AI���Ai��dA�������A���LJ�M�R=Y�����QU�>�����a �G�� �� y����}�>I����:��*B5�?��%�:���_Ծ� �� A��%�?9��C����: ��:)���:�WM��C?�WIXI XI�WI:WQ2WQ*WQ�VQbUQBUY*UYUYU]����Y�1@B���B� B��A��>*B��A�� ��A��A��A� ="C���C?*C�r�+=RC��m7=C���C?�C�����3=�ױI��G�e>�=>\j,>"�p�E�AY}2�߀?�}2�,B?y}2,����}2Fo��}2H����@K9�?��������������������?����i6�?����"�?�����O�?���` 㭿���`���?)~2�߀? 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~>�I^;I~>��CɫY�Y)�Y �]����I�YY��"�@y���rGi��������<C=M�R=Y��,�8QU��>�������a��G����?G���y��v=�}��>I�����Th5�?���ZEԾ� �� A����?9��lC�����: ��ϸ:)���W�8B?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�UU��� V�2@B��1�B� B��A�>*B��A�����A��A��A��n="C�8B?*C�F}+=RC���=C�8B?�C��l�=���I���%� ����%�����%�����%h�� �%C@:Y�%�Y1y�%�:��%�6G=q>� R\j,��Hq�E�AY}U�O~?�}U�>?y}Ul����}UU"��}UH�����V��?����q�����`�ɬ�����]��?����^��?���@�͠?���`_��?�����ݯ��������?)~U�O~? ~U�^;I~U��Cɫ1�1)�1 �=����I�9Y����@y��FrGi���������@=����������=i�� �@��� ���@)��I��9�@i����xy�M7=Y� [�8QU �>�� ���a�G����y��M�}�>I�!��-�:��%�v5�?��-�:��%b;Ծ� �%8 A��5�?9�%�C��%��: �%��:)�%��:�WUZ�A?�WQXQ XQ�WY:WY2WY*WY�VYbUaBUa*UaUaUe��� h3@�RuB*** querying acoustic contact ***�Pq�PqB�4�B� B��A�+>*B��A�3(��A��A��A���="C�Z�A?*C�!o+=RC�Y5�<C�Z�A?�C���}9�=I�-@A)�)��QI�aG}z>�� ��>9�� I�� �mGi�� �@��� -=��� ��� ��� \k; �� :2E��=X\j,��bq�E�AY}2��|?�}2Nk=?y}2�E���}2C�~��}2H�������?���`l������j�������D��?����՜�?���`���?����c��?�����Я��������?)~2��|? ~2,_;I~2��CɫI�I)�I �M����I�IY�}��@y�}�qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���@A���i�������}�����K�?<�O��n�?�~j�t��?��}^�>��}t> �}�D=)�yI�yy�}��V-�?y�&1������Q��?��}h?��}`e���}�u= �}�A)�yI�}1Ai�y��y��y����μM�>=Y��c�8QU��>�������a��G�� ��y��A�}�>I�����5�?��/2Ծ� �� A����?9��C��N�< �2�<)��W��EA?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������3@Be�7��Bi Bi�Am>*Bi�Am.���Ai�Aq�Au�="Cu�EA?*C}.Y+=RC}v/�<C}�EA?�C��ԍkA�ԉ��%~ ����%�����%�����%U�� �%�=:Y�%�X1y�%/�:��%�6)�%D�;�9-��֕��<��QI�YG}�>�kg^\j,'j|q�E�AY}2�n|?�}2'�<?y}2>蜼�}2���}2H���� ��?���`t�����.������� ��?����Ш�?������?��� ���?���@�쯿�������?)~2�n|? 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~2��c;I~2��CɫY�Y)�Y �]����I�aY��=�@y��oqG鮡ɮ�i����������<M�M=Y��lb�QU��>�������a��G����?G���y��uF�}��>I�������5�?���AԾ� ��A����?9���C����: ��U�:)���W �V@?�WX X�W:W2W*W�VbUBU*U!U!U%����&�4@BM���BQ BQ�AU��=*BQ�AU.���AY�AY�A]="Ce�V@?*Ce_"+=RCeW�<Ce�V@?�Ci�����<����?i���?�סI��G�D>�0cr\j,��q�E�A�|:�@i|8ɫ�)� �����I�Y�U��@y�UqGi�a��a�õ�=�õxi��õ ��iõ��@�ñ ĵ9�@)ĵ�@Iĵ��@iĵO�@����ʼM�;=Y�M���QUM�>��Q��Q�aU�G��Q��ay�e���}��>Iȑ����:�ŕ�5�?����:�ŕ�Ծ� ƕ�A����?9ƕ�C�Ǖ� < ȕ�<)ȕ��:�WUS�??�WQXQ XY�WY:Wa2W�*W��V�bU�BU�*U�U�U����@,w5@B O���B B�A��=*B!�A%\��A!�A!�A%`B="C-S�??*C-�+=RC-!��<C5S�??�C1��-�����-�����-�����-��� �-�l:Y�-xZ1y�-q�:��-�6�95@��U*��<��)I�9GU�>�m ��>9�i I�m TlGi�m �@��m .=��i ��i ��m Ie; �m /E�L�x\j,���q�E�Aɫq�q)�y �}����I�yY����@y���oGi�������U���x�&1�?X9��v��?�l����?��U�!?��U�}= �U��=)�QI�Qy�U�w��/��?+�����?:��v���?��U�&?��U�=��U��< �U� A)�U�AI�UfAi�U A��Q��U�A��uj��MuP=Y�qQU}�>��y��y�a}�G��y��y�}��>Iȑ�ŕX�5�?�ŕ�Ծ� ƕ�A����?9ƕC�Ǖ�: ȕ��:)ȑ�W��??�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������5@B�J�B B�A��=*B�A����A�A�A �c="C�??*C;�*=RC��<C�??�C��}�u�<��YI�qG�[>I�)��z�~\j,���q�E�Aɫ�髙)�� ������I��Y��m�@y��ppG������I��)��i�������=�=M=N=Y�AQUE�>��A��I�aM�G��M�?G��Iy�Q}U�>I�Y��e�:��]��5�?��e�:��]e�Ӿ� �] A��m�?9�]SC��]$�: �]�:)�]��:�W��O??�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������56@�R�B*** querying acoustic contact ***�P��P�B�P6��B� B��A���=*B��A�����A��A��A�K�="C��O??*C���*=RC����<C��O??�C��� ���<I�)�jA���I� GMR>��-�����-�����-�����-��� �-�:Y�-�[1y�-H�:��-�06�m��\j,��r�E�AY}2i({?�}2��;?y}2� ļ�}2.a��}2H�������?��� �W�����髿����:f�?����e��?�����u�?�������?���` ������H��?)~2i({? ~2 Af;I~2��CɫI�I)�I �M����I�IY�}��@y�}�oGi��������O������=���,>i��f�@��� ��-�@)����@I����@i����@���x@�M�O=Y���%�QU��>������a�G����y� ���} �>I�����5�?���Ӿ� �B A���?9��C����: ���:)��WE��>?�WAXA XA�WA:WA2WI*WI�VIbUIBUI*UQUQUU������6@B�{��B� B��A��=*B��A��K��A��A��A�*�="C���>?*C�w�*=RC�%i�<C���>?�C�����>9��I���kGi��Ŀ@������������Vb; ���-E�����<�I��G�G>��Nj\j,i1r�E�AY}B��z?�}B�3;?y}B��ȼ�}B�\��}BH���� ���?�����N�����I������� ]�?�������?���� S�?���`M�?����Y���������?)~B��z? ~B<Ri;I~B��CɫY�Y)�Y �]����I�YY����@y���oG�xDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,80,FF �ZNo reply:!U1,N,80,80,63,E4 C,185,80,80,80,FF -�<No response from remote modem.i�������1�;MH=Y�m��QU�>��!��!�a%�G��%�?G��)y�-�o�}-�>I�1��=�:��5��5�?��=�:��5[�Ӿ� �5� A��E�?9�5�C��5R�: �5��:)�5��:�We=�>?�WaXa Xi�Wi:Wi2Wi*Wi�VqbUqBUq*UyUyU}���`$7@B�(�B� B��A���=*B��A�b��A��A��A�ÿ="C�=�>?*C�/�*=RC�C�=�>?�C�����}�<���������I��GK>i�9I�Qi�i����d�ٺ����1UB��i�a=��-y����-�����-�����-��� �-/�:Y�-[1y�-ݏ:��-�k6�j��\j,�TKr�E�AY}F!�y?�}F�5:?y}FRE̼�}F4qT��}FH����`���?���`�7������+������JE�?���`���?�������?�������?������������p��?)~F!�y? 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~2���;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�������=�}���=�T<��=�w>i�=ף@��9 �=ƣ@)�=ƣ@I�9i�9��M4�MM@=Y�U�S:QUU�>��Q��Y�a]�G��Y��Yy�e ��}e�>I�i��m�[5�?��mǰӾ� �m-A����?9�mWC��m(= �m]=)�i�W���<?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������z9@Bu6�By By�A}�R=*B��A�n���A��A��A��^="C���<?*C�A*=RC��pv;C���<?�C�������;����?i��|?��%�=i�%�=��5E ����1��1��5��� �5�M:Y�1y�1��5�6�9=@���I�G�>ܱ 9ܱ Iܵ �jGiܵ Ѿ@�ܱ �ܱ �ܱ �ܵ Z; ݵ =)E��'�\j,f�r�E�AY}6��s?�}6 V4?y}6{ż�}6��N��}6H�����L`�?����ڪ����`����������?���@�`�?�����q�?������?��� �ө�����2��?)~6��s? ~6�y�;I~4ɫ9�9)�9 �9I�9Y�}r�@y�}�nG鮅a=ɮ��xDUSBL response received:!U1,P 80,80,63,E4 C,185,80,80,80,FF �Command Ack�BRequesting micromodem ping code 2i�����i�������5��S㥛��?�I+�������Mb����5$&?��59�� �5��)�1I�1y�5�bX9���?�I+������S㥛?��5E�>��59����1 �1)�5CAI�5�Ai�5�A��1��5�A��UO�MU;=Y�U2;QU]�>��Y��Y�a]�G��Y��ay�e>��}e�>I�q��}�:��u�i5�?��}�:��u��Ӿ� �utA��}�?9�u�C��ub�: �uI�:)�u��:�W�><?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����G�9@B�~_�B� B��A�Q=*B�A]���A�A�A�="C><?*C��)=RC�l�;C><?�C �)��-�=��q�Z;���I��Gk>�v�\j,�@�s�E�AY}:!t?�}:��4?y}:y-���}:�VL��}:H����`1\�?������������M��������?���@�[�?����j��?����0�?����t����������?)~:!t? 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~2.S�;I~2��Cɫ)�))�) �5����I�1Y����@y��JmG��������Powering downI����)���������i����I��)�����i��I��@)��@i������� i�M =Y� �QU�>����!�a%�G��%�?G��!y�-C?<}-�>I�9��=��5�?��=�Ӿ� �=?A��M�?9�=*C��=��: �=�:)�9�W�P,;?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����a*;@B���B� B��Am��<*Bi�AmH��Ai�Aq�Auy="CuP,;?*C}��)=RC}i�<C}P,;?�C��ԩ�ԭjA���2�������������������� ���`:Y��[1y��ݏ:���W6�֝NJN<��y I�� G� �>�ul�\j,!\Ns�E�A�|�|4<Y}6I x?�}6�v8?y}6�����}6�,��}6H���� 0 �?��� {������馿���@��?��� o�?����o-�?��� \�?��������������?)~6I x? ~6�!�;I~4ɫ9�9)�9 �=����I�9Y�u$�@y�}�mG�FLCB 1 fault: Software Overcurrent.i� �� ��]+����]7�=��]+�i�]��@��Y �]��@)�]z�@I�]z�@i�]��@��m��<Mu�=Y�u��QUu ?��y��y�a}�G��y��yy�m�<}� ?Iȉ�ō��5�?�ō��Ӿ� ƍqA����?9ƍQC�Ǎ��: ȍV�:)ȉ�W���:?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������y;@B����B B�A��<*B�Ar7��A�A�A {6="C��:?*C4)=RC:��<C��:?�C��e�u�<��!I�)GM0>����>9��I���iGi��ݽ@���0=���������#U; ���&E����\j,�0hs�E�AY}:�y?�}:u�9?y}:�����}:�v��}:H�������?���`�6������ॿ�����>�?����@��?�������?����a?�?���`IL�����`���?)~:�y? ~:�0�;I~:��Cɫ9�9)�9 �9I�9Y����@y��NmGi�������m��M�F=Y��.�QU��>�������a��G������y���b<}��>I������:�����5�?����:�����Ӿ� ���A����?9���C�����: ���:)����:�W`�:?�WX X�W :W 2W *W �VbUBU*UUU���@q�;@�R%B*** querying acoustic contact ***�P!�P!BM�0�BI BI�AM6�<*BQ�AU1(��AQ�AQ�AU�a="C]`�:?*C]�{)=RC]� =Ce`�:?�Ca�օ �<��YI�i$}\Clearing failed state for component Micromodemq }���G�Z>���i���=���a �����������������~�� ���O:Y��0Y1y����:���<6)���;�9��i�� �mGI�� "oAi�� ��� �c�ٺ� "oA��� �TB��|�\j,��s�E�AY}2�iz?�}2D�:?y}2S̼�}2���}2H�����h��?���@�L����@V֥����`^T�?���@;��?�����-�?����}��?����������`��?)~2�iz? ~2��;I~2��CɫY�a)�a �aI�aY��U�@y���lG鮥p=ɮ�a=)��i������0�M�M=Y�J�QU��>�����a��G���?G��y��<}��>Iȩ�ŭ�5�?�ŭ݀Ӿ� ƭ�A����?9ƭ�C�ǭ�: ȭ��:)ȩ�Wu::?�WX X�W:W2W*W!�V!bU!BU!*U!U)U-����mK<@B}��B� B��A���9*B��A��'��A��A��A�O�="C�u::?*C�)=RC�l�7=C�u::?�C� թ�ԭ�=�օl�=��9I�IGeV>�=��\j,��s�E�AY}:f�z?�}:�;?y}:yLּ�}:���}:H����`*��?����dR������1�������X�?���@���?����1�|?�����Ț?�����Р��������?)~:f�z? ~:�}�;I~:��CɫY�Y)�Y �aI�aY����@y��AmG�xDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,80,FF �ZNo reply:!U1,N,80,80,63,E4 C,185,80,80,80,FF -�<No response from remote modem.ܝ��>9ܙIܝ3iGiܝ��@�ܙ�ܙ�ܙ�ܝ�R; ݝr%E)�I�I�I�i�I���M�/=��M�/=��M�y5���� �������������������� ���>:Y���[1y��H�:���6)��;�;i�����e����eb>��e�#�i�e\�@��a �eٮ@)�e�@I�e�@i�e�@��u��<M}=Y�}��QU}�>�����a��G����y���:}��>Iȑ����:�ŕ��5�?����:�ŕ�vӾ� ƕWA����?9ƕ�C�Ǖ �: ȕ��:)ȕ��:�W�.�9?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������<@B B=�B� B� �A� �<*B� �A� ���A� �A� �A� �="C� .�9?*C� ��)=RC� �RC=C� .�9?�C� �֝��=��qI��G��>���\j,�Z�s�E�Aɫ�髱)�� ��I��Y��F�@y���lGi���������M�=Y����QUZ?�����a%�G��%�?G��!y�-���}-Z?I�1��5)�5�?��5sӾ� �5xA��=�?9�5C��5�: �5��:)�1�We��9?�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUq*UqUqUu�����=@B���B� B��A����*B��A��A��A��A�C�="C���9?*C���)=RC�~iF=C���9?�C���=�S,=��I�!GE/>IޕAA)ޕAA����\j,�&�s�E�AY}2n�y?�}2��9?y}2 �㼙}2[��}2H�������?��� �6����@_��� �>�?�������?����P��?����qz�?������������z��?)~2n�y? 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X!�W!:W!2W!*W)�V)bU)BU1*U1U1U5������=@BaBa Ba�Aa*Ba�Ai�Ai�Ai�Am�="Cu��8?*Cuˊ)=RCu7m=C}��8?�Cy���п8=���?i��?���I��G l>�2��]j,I�t�E�AY}F7�v?�}F�7?y}Fm����}FD�?��}FH����@�%�?����������@C��������?���@)�?�������?����;��?����2����������?)~F7�v? ~F�<�;I~F��CɫY�Y)�Y �YI�YY���@y��lGi��������d��M�]=Y����QU��>�������a��G����?G���y��S�}��>I������:��� �5�?����:����^Ӿ� ��EA����?9���C���*�; ���;)����:�W5��8?�W1X1 X9�W9:W92W9*W9�VAbUABUA*UAUAUM����1K>@B�B� B��A�*B��A��A��A��A��.="C���8?*C�J�)=RC��8=C���8?�C����l�=�סI��G�C>�ޝ=iޝa=��� ����������� ��X:Y�y���56�a]j,��t�E�AY}F��u?�}FrK6?y}F�����}F�PO��}FH������6�?���@�������}������e��?���@{9�?�����A�?�������?����N䩿�������?)~F��u? ~Fr(�;I~F��Cɫi�i)�i �iI�iY����@y���kG鮥a=ɮ�p=��Powering up��0Initializing Micromodem.�9�I�hGi���@��������nN; �0#Ei�����uQ8���u�T<��u�u<i�uף@��q �uƣ@)�uƣ@I�uƣ@i�uƣ@�����M�?=Y���QU��>�����a��G����y�i�}��>Iȡ�ť�5�?�ť�WӾ� ƥ�A����?9ƥ�C�ǥ;$; ȥ&%;)ȡ�Wu�/8?�WqXy Xy�Wy:Wy2Wy*Wy�V�bU�BU�*U�U�U����` �>@�R�B*** querying acoustic contact ***�P��P�B�B� B��A�*B��A�A�A�AbI="C-�/8?*C-�y)=RC-ub=C-�/8?�C1��]d=��1I�AG]v>�)H ]j,N�7t�E�A�|&�@i|&�@Y}R�[u?�}RO�5?y}R�����}R�c��}RH������@�?�����������p���������?�����C�?�����x�?����А�?�����Y����� ���?)~R�[u? ~Rő;I~R��Cɫ�髁)�� ��I��Y��8�@y��BkG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�9��A��]�MeK=Y�e��QUm�>��i��i�am�G��u�?G��qy�}���}}�>Iȁ�Ņw5�?�Ņ�PӾ� ƅ�A����?9ƅC�Dž�: ȅ��:)ȁ�W���7?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� 9?@B�a�B B�A�k�*B�A ��A �A �A =a="C��7?*C1p)=RC�-=C��7?�C����r�=I��)������ �����������������J�� �D:Y��W1y�č:���6���I��G�h>��*]j,�yQt�E�AY}:j u?�}:�w5?y}:���}:h�z��}:H�����LG�?��� i������o}����� ���?�����I�?���`)�?����R��?����I�����@\��?)~:j u? ~:�mq;I~8ɫQ�Q)�Q �QI�QY��l�@y���kG�xDUSBL response received:!U1,P 80,80,63,E4 C,185,80,80,80,FF �Command Ack�BRequesting micromodem ping code 2i�����i���������Ⱦ���/�<�����=i����@��� ��z�@)��z�@I����@i��z�@����v<M�B=Y��Ձ�QU��>�������a��G������y��1B�}��>I��� �:���5�?���:���IӾ� �!A���?9�EC���: �+�:)���:�W5j�7?�W9X9 X9�W9:W92W9*WA�VAbUABUA*UIUIUM����A�?@Bu0h�By By�A}��*By�A}&��A��A��A�Wt="C�j�7?*C�]e)=RC��=C�j�7?�C����Iޑ)ޑ���I��G�i>����>9��I��@gGi����@������������xL; ��,"E��S]j,eQkt�E�AY}u�xt?�}u�4?y}u����}u<܂��}uH������R�?���@|�����`�;�����@���?����IU�?���`��?����zq�?���@@V���������?)~u�xt? ~ufYh;I~u��CɫA�I)�I �II�IY��]�@y��pkG���AA���i����1��u\��Mu4=Y�}d�QU}�>�����a��G���?G��y�K��}��>Iȑ�ŕF+5�?�ŕ@BӾ� ƕuA����?9ƕ}C�Ǖ��: ȕ�:)ȑ�W�."7?�W�X� X��W�:W�2W�*W�VbUBU *U U U ���`*�@@BM���BQ BQ�AU�!�*BY�A]�/��AY�Aa�Aeă="Cm."7?*Cm�X)=RCu�;�<Cu."7?�Cq��Z����������������� ��c:Y�[1y�ݏ:��E6)��;�9%��� ���I��G �>�b8!]j,:�t�E�A�|�|�;Y}6�t?�}6�y4?y}6����}6Q���}6H�����J[�?���������� �:������I��?���`�^�?�����6�?�����?����]鯿�������?)~6�t? ~69=c;I~6��CɫY�a)�a �iI�iY��J�@y��YkGi����������M~=Y�̃�QU ?��!��!�a-�G��)��9y�MN��}M?I�i����:��m�55�?����:��m�<Ӿ� �m�A����?9�m�C��m��; �m��;)�m��:�Wmn�6?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������-@@B ���B B�A�F�*B�A�8��A�A�A��="C%n�6?*C%rN)=RC%�3�<C%n�6?�C)����<��%�?i�%�?���I�Gn>� d']j,���t�E�AY}2i�s?�}2��4?y}2����}2��y��}2H������d�?���`K�������6���������?����.i�?����qs�?���`f��?���@�/������M��?)~2i�s? ~2';`;I~2��Cɫ1�9)�9 �9I�9Y�uо@y�}�jG)��������kA����>9��a�CI��i�����.=����������J; ��<!Ei� �� ��]�P���]�#<��]�D;i�]��@��Y �]��@)�]��@I�]��@i�]�@��u��MuC=Y�u:�QUu�>��y��y�a}�G��y��y��}��>Iȉ�ō�B5�?�ō�5Ӿ� ƍ�A����?9ƍ�C�ǍU�: ȍ4�:)ȉ�W���6?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� :^@@BFR!�B B�Azݼ*B�A �M��A �A �A i�="C��6?*CC)=RC0��<C��6?�C��}���<��aI�y�ޝ�=iޝ�=G�`>�� ����������������� ���:Y�0Y1y���:��6)�E�;��-]j,RҸt�E�AY}R�s?�}RC�3?y}RT��}Rj��}RH������n�?���@/������R�������p��?����t�?��� }6�?����L��?�����9���������?)~R�s? ~R�^;I~R��Cɫy�y)�y �yI�yY��8�@y��BkG��ɮ���a��ai��6nGI��i����%�E�ٺ!��%�8B �}lA�yi�y��y����<M� =Y��M|�QU��>�������a��G����?G���y�W�} �>I�)��E�:��-�U5�?��M�:��-:,Ӿ� �-nA����?9�- C��-��< �-Q�<)�-��:�W5 6?�W9 X9 X9 �W9 :W9 2W9 *WA �VA bUA BUA *UA Ui Um ����~�@@�Ru B*** querying acoustic contact ***�Pq �Pq B� ��B� B� �A� �k�*B� �A� �`��A� �A� �A� U�="C� 6?*C� �/)=RC� ��<C� 6?�C� ���I�)����I��G��>���4]j,��t�E�A�|j�@i|hY} as?�} Ђ3?y} ���} 6�`��} H���� �n�?����������ip������E��?�����t�?��� 4�?����S�?���`'���������?)~ as? ~ ��];I~ ��Cɫ���)�� ������I��Y�-�@y�5�jGi�A��A�Ý����Ý�=�Ý 0�iÝQ�@�Ù ĝz�@)ĝz�@Iĝz�@iĝz�@���M��=Y�� �QU�-?�����a��G����y���}�1?I������]5�?���(Ӿ� ���A����?9��?C���^�: ��ϸ:)���W���5?�W�X� X��W�:W�2W�*W��VbUBU*U U U ����2�@@B=��"�B9 B9�AECǼ*BA�A��k��A��A��A���="C���5?*C�l))=RC����<C���5?�C��ֵC|�<�בI��G�`>���� �����������������|�� ��KC:Y���X1y��/�:���6�9�@�=��>9�9I�9i�9��=/=��9��9��= I; �=c E)݉�I݉�i݉��݉��݉��ݍ��M4�b�:]j,��t�E�AY}2(s?�}2��3?y}2e��}2�.[��}2H����@m�?��� {����� mJ���������?���@�s�?�������?���`i��?���`j]������O��?)~2(s? ~2�.];I~2��Cɫ9�9)�9 �=���I�9Y�}ž@y�}�jGi��������4�M�^=Y����QU��>�����a��G����y��J:}��>Iȹ����:�Ž~i5�?����:�Ž�"Ӿ� ƽ�A����?9ƽlC�ǽ��: Ƚ�:)Ƚ��:�W��5?�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU����v�@@B�K�!�B� B��A���*B��A�����A��A��A�>�="C��5?*C�� )=RC���=C��5?�C���V��<���I��I��@A)��@AG J>���A]j,�u�E�AY}F�\s?�}F0�3?y}F2���}F�B\��}FH���� �h�?���@,������t������ߧ�?��� fo�?���@ah�?���@@٣?��� ������@��?)~F�\s? ~Fi�\;I~F��Cɫ���)�� �����I��Y����@y��jG���@A���@A�xDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,80,FF �ZNo reply:!U1,N,80,80,63,E4 C,185,80,80,80,FF -�<No response from remote modem.I�� @)��@i������Í�D<�Í�H��Í\�iÍ=�@�É č��@)č��@Ič��@ič��@���=�M�.=Y�&��QU��>�����a��G���?G���y����:}��>I������x5�?���+Ӿ� ��>A����?9���C�����: ���:)���WE5?�WIXI XI�WI:WI2WI*WQ�VQbUQBUQ*UYUYU]����6A@B���"�B� B��A�� �*B��Aȣ��A�A�Aݦ="C5?*C�)=RC��=C5?�C!����������������������� ��P�:Y��DW1y��Y�:����66��e?�=��)I�9GU�>���G]j,!u�E�A�|�|Y}66s?�}6�3?y}6F� ��}6$&_��}6H����`�k�?��� ������@����������?�����r�?�������?��� v�?����۫����@���?)~66s? ~6��\;I~6��C�z��>9�xI�z�fGi�z��@��x��x��x��z�G; �z�EɫY�Y)�Y �]����I�YY����@y��qjG)��i�1��9��u�r�Mu_=Y�}k��QU}�>��y���a��G����y�_Ӻ}��>Iȑ�ŕ0�5�?�ŕ-Ӿ� ƕ�A����?9ƕ�C�Ǖ��: ȕ��:)ȑ�W�?�4?�W�X� X��W�:W�2W�*WY�VYbUYBUY*UYUaUe�����eA@B�"C$�B� B��A��*B��A����A��A��A�r�="C�?�4?*C��)=RC��=C�?�4?�C��ֽ��=�יI��G�b>�p*N]j,bj;u�E�Aɫ�髁)�� ��I��Y����@y���jG���=i��=��=� ����=�����=�����=��� �=�X:Y�=0Y1y�=��:��=�6i�1��1�Å�J��Å/�=�Å��=iÅ�@�Á ąO�@)ąz�@Ią��@iąz�@����;M�=Y����QU��>�����a��G���?G��y����}��>Iȱ����:�ŵ��5�?����:�ŵ+ Ӿ� Ƶ�A����?9ƵC�ǵ��: ȵ��:)ȵ��:�W��N4?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����˰A@B- �\!�B) B) �A- B�*B) �A5 ����A1 �A1 �A5 �="C= �N4?*C= �)=RC= ��=C= �N4?�CA ��]�+=��1I�AG]�>��U]j,�SUu�E�Aɫ�髩)�� ��I��Y���@y��jG� p=ɮ i�!��!��=�<M=�=Y�9QU=c?��A��A�aE�G��A��Iy�I}Ub?I�Q��Uҝ5�?��U�Ӿ� �UA��e�?9�U5C��U�: �U'�:)�Q�W��$4?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������A@B�!&�B� B��A���*B��A����A��A��A�4�="C��$4?*C�� )=RC� =C��$4?�C������=�סI��G�>����>9��I��xfGi��S�@������������9F; ���E��:[]j,]ou�E�A�|i|�@Y}23fp?�}2��0?y}2e��}2T�m��}2H�����{��?���` L�����s����� /_�?���@^��?�����z�?���@%�?����̩��������?)~23fp? 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~2A�^;I~2��C�L9�LI�N�fGi�N��@��N.=��L��N�D��N=E; �NkEɫy�y)�y �yI�yY� ��@y� hjG�� �� xDUSBL response received:!U1,P 80,80,63,E4 C,185,80,80,80,FF Command AckBRequesting micromodem ping code 2i���i�!��)��=p��M=�=Y�E�;QUE'?��A��A�aM�G��I��Iy�Mж�}U'?I�Y��]��5�?��]6�Ҿ� �]A��e�?9�]�C��]��: �]1�?)�Y�W��!3?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������dB@B�=�&�B� B��A���*B��A��H��A��A��A���="C��!3?*C�0�(=RC�e�<C��!3?�C���a5�<���I��G�F>���� �����������������B�� �m>:Y��U1y���:��� 6)���;�wn]j,���u�E�AY}:�wo?�}:[�/?y}:� ��}:�w��}:H����@���?�����5�����-u������1I�?���@&��?����/�?��� h5�?���������`d��?)~:�wo? ~:F:];I~:��CɫY�]����)�Y �YI�YY��l�@y��HjGi���������M�S=Y����;QU��>�������a��G����?G���y��c�:}��>I�Y��]��5�?��]��Ҿ� �]MA��e�?9�]�C��]��: �]��?)�Y�W���2?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`��B@B�{�%�B� B��A�� �*B��A�j��A��A��A���="C���2?*C���(=RC�Q�<C���2?�C���T��<���I�$=dClearing failed state for component RDI_Pathfinderq=���GeU>��`u]j,���u�E�AY}2��o?�}2.F0?y}2���}2�m��}2H����@(��?��� �@��������������R�?�������?���@O͘?����Z��?��� 6����������?)~2��o? ~2&y\;I~2��Cɫ1�=���)�9 �9I�9Y�ua�@y�u:jG���Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��kA鼩i�������]�����]�<��]-��i�]�@��Y �Y)�]��@I�]ƣ@i�Y��mTA�Mm2=Y�u4";QUu�>��y��y�a}�G��y��yy��R;}��>Iȩ����:�ŭy�5�?����:�ŭ[�Ҿ� ƭ�A����?9ƭ3C�ǭ�: ȭ@)ȭ��:�W��j2?�W�X� X�W:W2W *W�VbUBU*UUU������B@B��g%�B� B��A�I&�*B��A�U���A��A��A���="C��j2?*C���(=RC����=C��j2?�C�����=i��p=܍��>9܉I܍xfGi܍S�@�܉�܉�܉�܍RD; ݍ�E��� ��<I��)���בI��G��>���� �����������������#�� ���@:Y��xZ1y��q�:���}6)����;�ƈ{]j,�`�u�E�Aɫ�髙)�� ��I��Y��l�@y��HjG��a=ɮ�=i�������y;Me=Y����QU �>�� �� �a �G�� �?G��y����}�>I�!��%��5�?��%��Ҿ� �%�A��-�?9�%^C��%��: �%�@)�!�WMQ 2?�WIXQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UaUaUe�����B@B�3�&�B� B �A� �*B�A>���A�A�A="CQ 2?*C��(=RC%��=C%Q 2?�C!��E9�=��I�)GEQ>i��mGI��i���A��=^R�ٺ9��E�DB�t�]j,kJ v�E�A�|<i|<Y}f��o?�}f�d0?y}f�s��}f�db��}fH����`���?�����D�����5 �������U�?�������?���@��?����� �?���`�D���������?)~f��o? ~f��_;I~dɫ���)�� ��I��Y�-w�@y�5VjGi�A��A�Õ`e��Õv>>�Õ���iÕ\�@�Ñ ĕ\�@)ĕ���Iĕ\�@iĕ\�@���P;M�@=Y����QU��>�����a��G����y�ѐ:}��>I�������5�?�����Ҿ� ��*A����?9���C�����: ���5@)���Wm��1?�WiXq Xq�Wq:Wq2Wq*Wy�VybUyBUy*UyU�U������7C@B�d%�B� B��A�-�*B��A�����A��A��A�+.="C���1?*C�J�(=RC�r=C5��1?�C1��u��=��QI�YG�{>���� �����������������a�� ���T:Y���X1y��/�:���!6�9�@����]j,�$v�E�A���>9�I�i���/=������vC; �E)ݻ��a�CIݻ��a�Ciݳ���ݳ���ݳ���ݻ����4Y}n��o?�}n0?y}nť ��}n��^��}nH����@��?���@4=������ �������M�?���@���?����� �?�����S�?�����ҫ�����1��?)~n��o? ~n8#_;I~n��Cɫ�髹)�� ��I��Y�{�@y�ZjGi�)��)��1��1��=(�:M=R=Y�=6��QUE�>��A��A�aE�G��A��Iy�M?R�}U�>I�Y��]95�?��]X�Ҿ� �]pA��e�?9�]�C��] �: �]�N@)�Y�W��q1?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����zgC@�R�B*** querying acoustic contact ***�P��P�B��&�B� B��A�S�*B��A�����A��A��A��B="C��q1?*C��(=RC�&d=C��q1?�C�������kA��]=���I��G�E>�Ŏ]j,�=v�E�AY}2��n?�}2(Z/?y}2�' ��}2�`R��}2H����@���?���`�,������������@�;�?���@���?���@1�?����&D�?���`SE����� ���?)~2��n? ~2}�^;I~2��Cɫ9�9)�9 �9I�9Y�}�@y�}�iG������AA)��i�������m��MmG=Y�u^�9QUu�>��q��y�a}�G��}�?G��yy�?�}��>Iȉ�ō�5�?�ō��Ҿ� ƍ�A����?9ƍ�C�Ǎ��: ȍ#i@)ȉ�W�(1?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��C@B���)�B� B��A��R�*B��A���A�A�Al]="C (1?*C P�(=RC �N=C (1?�C��m��=��yI��G�b>���� �����������������!�� ���E:Y��0Y1y����:���F6���]j,[�Wv�E�A�|�|4<Y}6:_n?�}6��.?y}6�~ ��}6�dS��}6H����`���?���@����@�������� .�?�������?���`dS�?����/�?���`�e������{��?)~6:_n? ~6�|k;I~6��Cɫ9�A)�A �AI�AY��C�@y��jG�xDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,80,FF �ZNo reply:!U1,N,80,80,63,E4 C,185,80,80,80,FF -�<No response from remote modem.�-��>9�)I�-fGi�-�@��-0=��)��)��-�B; �-Ei������� ���� ��=�� �'=i� =�@�� � ��@)� ��@I� ��@i� ��@��xT<M=Y�%��9QU%�>��!��)�a-�G��)��)y�5�}�}5�>I�9��=�%5�?��=��Ҿ� �= A��E�?9�=9C��=ٮ: �=i�@)�9�W��0?�WX X �W :W 2W *W1�V1bU1BU1*U1U9U=���@w�C@B���%�B� B��A�5�*B��A�>P��A��A��A�_="C���0?*C��(=RC�ց=C���0?�C� ������=��� ER=I�)�kA���I��G�>�0כ]j,��qv�E�Aɫ�髙)�� ��I��Y����@y��;iGi����������M��=Y����QU=?�� �� �a �G�� �?G�� y����}=?I���K-5�?���Ҿ� �KA��%�?9�VC����: ���@)��WMfp0?�WIXI XI�WI:WI2WQ*WQ�VQbUYBUY*UYUYU]�����D@B�џ5�B� B��A����*B��A�m��A��A��A�.�="C�fp0?*C��(=RC�� =C�fp0?�C����@o=�סI��G�A>��4 ��������������B�� ��7:Y��X1y�/�:��� 6����]j,\��v�E�Aɫ�����髱)�� ��I��Y���@y���iG��ɮ�p=i�����UQ8���U�@=��U���i�UG�@��Q �U��@)�Uz�@I�U��@i�Q��e$�<MeD=Y�aQUm�>��i��i�au�G��q��qy�y}}�>Iȁ�Ņ�:5�?�Ņ$�Ҿ� ƅ�A����?9ƅ�C�DžJ�: ȅV�@)ȁ�W�0?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@7D@B�S+�B� B��A�<e�*B��A����A��A��A��="C0?*Cb�(=RC�p=C0?�C ����C =���I��GI>���>9�I��eGi���@���������A; ��E�a�]j,�`�v�E�A�|i|�@Y}6�m?�}6R�-?y}6?���}6:�G��}6H���� X��?����6��������������?����u��?��� վ�?�����ؠ?���@�쨿�������?)~6�m? ~64��;I~6��CɫY�Y)�Y �YI�YY��S�@y���hGi�q��q���.�M�E=Y���:QU��>�����a��G������y��wC�}��>I�����VH5�?�����Ҿ� ���A����?9���C���>�: ����@)���W��/?�WX X�W:W 2W *W �V bUBU*UUU��� lD@BE,�0�BI BI�AM���*BI�AU���AQ�AQ�AU��="C]��/?*C]!�(=RC]O��<C]��/?�Ca��eڍ=��e�?i�e�?��I�9GmV>��5' ����5�����5�����5�� �5�6:Y�5�W1y�5č:��5�6)�5F�;�9=��A�]j,�:�v�E�AY}2�m?�}2�-?y}2P���}2�C��}2H����`���?����"�����js������<�?������?����.�?�����ޠ?����m����� 8��?)~2�m? ~2t^�;I~0ɫ9�9)�9 �9I�AY�}��@y�}iiG)��i�������5��=M=S=Y�=��QU=�>��A��A�aE�G��E�?G��Ay�M6W�}M�>I�Q��U�T5�?��UI�Ҿ� �U&A��]�?9�U�C��Ux�: �U��@)�Q�W��k/?�W�X� X��W�:W�2W�*W��V�bU�BU*UUU���@��D@B]��-�Ba Ba�Aeu{�*Ba�Aep��Ai�Ai�Am��="C��k/?*C��x(=RC��~=C��k/?�C�������<�I��G�f>���]j,��v�E�AY}2��l?�}2<U-?y}2���}2��O��}2H����`i��?����,������!i�����`� �?���`=��?����a`�?�����ߠ?����������� ��?)~2��l? ~26��;I~2��Cɫ9�9)�9 �9I�AY����@y��@iG������@A����>9��b�CI��LeGi��_�@�������������@; ��#Ei�a��i���`e����������#<i����@��� ��)��I��z�@i��z�@������M=Y���QU �>�����a�G����y�%���}%�>I�)��-Og5�?��-F�Ҿ� �-�A��=�?9�-1C��-�; �-�@)�)�W}v�.?�WyXy Xy�W�:W�2W�*W��V�bU�BU�*U�U�U�����[�D@�R�B*** querying acoustic contact ***�P��P�B}�,�By By�A���*B��A��`��A��A��A�="C�v�.?*C�Bm(=RC��� =C�v�.?�C���� 9�=I�� )�� iA�יI��G��>�0%�]j,���v�E�A�|�|�;Y}F��l?�}F-?y}F� ��}F�R��}FH�����7��?��� {�����@r����g�?��� <��?���@���?����(5�?���`�N�����`���?)~F��l? 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B!�A%���*B)�A-&���A)�A)�AM�Q="CU$j.?*CU�_(=RC]q=C]$j.?�CY�ֽ� =��=�=i�=�=�יI��G�f>����>9��I���dGi�� �@���/=����������?; ���E�L7�]j,��&w�E�AY}2N�k?�}2�,?y}29���}2��P��}2H�������?�����������Hz���������?������?�����!�?����*;�?����W ������/��?)~2N�k? ~2Mۄ;I~2��CɫI�I)�I �II�QY�}9�@y�}�hG鮅p=ɮ�a=i�Q��Y���Q;M�A=Y�X(�QU��>�����a��G����y��}��>I�����5�?���Ҿ� �QA���?9��C��W�: �x�@)��WE�.?�WAXA XA�WI:WI2WI*WI�VQbUQBUQ*UQUYU]�����oE@B���2�B� B��A�4��*B��A�:��A��A��A�xm="C��.?*C�JU(=RC�"*=C��.?�C����9�=����?i���?��MK ����I��I��M1�� �M�9:Y�Iy�I��M�6)�M��;�9]��I��G���M��>��M�Ci���mGI��~nAi��A�A��pi�ٺ~nA��zYB���]j,Ѐ@w�E�A�|i|�@Y}6�|j?�}6/�*?y}6j���}6Ѣ\��}6H�������?��������@�Я�������?�����!�?����� �?�����?����,����������?)~6�|j? ~6�{;I~6��Cɫ9�9)�9 �9I�AY��p�@y��iGi���������<M�Y=Y���D�QU��>�������a��G����?G���y��=�}��>I�����w�5�?���U�Ҿ� ���A����?9���C����: ���@)���W ��-?�W X X �W :W 2W*W�VbUBU*UUU��� :�E@BMF2�BI BI�AMQ��*BI�AU�8��AQ�AQ�AU"�="C]��-?*C]�H(=RC]ot�<C]��-?�Ca�֭��<�ׁI��G�=>�:I�]j,�]Zw�E�AY}2�i?�}2��)?y}2Bj��}2U��}2H���� �7�?����ܙ�����BD�����@���?����V=�?���`���?����-�?���`f������ V��?)~2�i? ~2_�o;I~2��Cɫ9�9)�9 �9I�9Y�}x�@y�}iGi���������#������=���ߏ>i��G�@��� ����@)��z�@I��z�@i����@���b;M�G=Y��c�QU��>�������a��G�����y��W�}�>I� �� ��5�?�� �Ҿ� � �A����?9� C�� K�< � cA)� �W��c-?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������E@B���0�B� B�Aw��*B�Aov��A�A�A1�="C �c-?*Ci4(=RC�5�<C�c-?�C��E���<�}��>9�yI�yi�y��y��y��y��}?; �}>E)��b�CI��b�Ci�����0=���0=���5�4��I�)I�A)�A��M ����M�����M�����M'�� �M"6:Y�M�W1y�Mč:��M�6)�M��;GeU>�t�]j,�;tw�E�AY}2�0h?�}24�(?y}2 J��}2AvF��}2H������I�?����t�������5���������?�����O�?���� �?����!�?�����Ǩ���� ���?)~2�0h? ~2�h;I~2��CɫY�Y)�Y �YI�YY���@y���hG������i����������M�M=Y��1�QU��>�������a��G����?G���y����}��>I�����A�5�?����~Ҿ� ��.A�� �?9��FC����; ���A)���WE�-?�WAXA XA�WA:WI2WI*WI�VIbUQBUY*UYUYUe�����F@B5�5�B1 B1�A5P��*B9�A=w���A9�A9�A=.�="CE�-?*CE�(=RCE�<CM�-?�Ci��e~M�<I�eiA)�a��9I�IGeV>�a[�]j,�w�E�AY}2�g?�}2�U(?y}2���}2fN@��}2H�����ZO�?����~�����������`b��?����sU�?����숍?���`��?����F�����`M��?)~2�g? ~2.�c;I~2��CɫY�Y)�Y �YI�aY��@�@y���hGi�������������R>����i�Q�@�� �r�@)�r�@I�\�@i�r�@��z<ME=Y�/�QU�>��!��!�a%�G��!��)y�-#/�}-�>I�1��5ݾ5�?��55xҾ� �5{A��E�?9�5yC��5�: �5$A)�1�WeB�,?�WaXa Xa�Wi:Wi2Wi*Wi�VibUqBUq*UqUyU}���@�:F@�R�B*** querying acoustic contact ***�P��P�B���3�B� B��A�Z��*B��A�����A��A��A�-�="C�B�,?*C� (=RC���<C�B�,?�C���%�u�<��I�G5O>��M�����M�����M�����M��� �Mɀ:Y�MDW1y�MY�:��M�6�9U@�a9�aI�ai�a��e.=��a��e��D��eA>; �e�E���]j,@0�w�E�AY}>��g?�}>7k(?y}>��}>��8��}>H����@�M�?��� ������DS������j��?����T�?�������?����VA�?���� �����`���?)~>��g? ~>��a;I~>��CɫY�Y)�Y �YI�YY����@y��riGi������� �=MI=Y�-�v�QU-�>��)��)�a5�G��1��1y�=�O:}=�>I�A��Ef�5�?��E�qҾ� �E�A��M�?9�E�C��E1�: �E�A)�A�Wu�a,?�WqXq Xq�Wq:Wy2Wy*Wy�VybUyBU�*U�U�U�����MoF@B��T/�B� B��A��w�*B��A��.��A��A��A���="C��a,?*C�0�'=RC��h�<C��a,?�C����፨<���I��G�E>��i��=�En�]j,���w�E�AY}Jah?�}J��(?y}J@K��}J\�6��}JH������E�?���������������������?�����L�?���@*��?���@%ȣ?�����̦����@���?)~Jah? ~J�_;I~J��Cɫq�y)�y �yI�yY��H�@y���hG鮹ɮ�p=�xDUSBL response received:!U1,N,80,80,63,E4 C,185,80,80,80,FF �ZNo reply:!U1,N,80,80,63,E4 C,185,80,80,80,FF -�<No response from remote modem.i����������M�O=Y��,�QU��>�������a��G����?G���y��Y};}��>I���W�5�?���kҾ� �A�� �?9��C����: ��A)��W-�,?�WIXI XI�WI:WQ2WQ*WQ�VQbUYBUY*UYUYU]�����F@B�i�2�B� B��A����*B��A��v��A��A��A��="C��,?*C���'=RC�L��<C��,?�C���ma ����m�����m�����mk�� �m�;:Y�mxZ1y�mq�:��m36����U�<��i��?���I�GE�>���]j,H��w�E�A�|�@i|�@Y}6�h?�}6��(?y}6�#��}6�t6��}6H�����B�?����Ŏ����`�������>��?�����I�?���@L�?�����_�?����Ȧ����`d��?)~6�h? ~6�T^;I~6��Cɫ9�A)�A �AI�AY�}f�@y�}�gG)��i�������M�@=��M�o���M��=i�M��@��I �M��@)�II�Ii�I��]憽M]C=Y�]#5�QU]�>��a��a�ae�G��a��iy�m(�:}m�>I�y��}'�5�?��}(eҾ� �}dA����?9�}C��}J�: �}�!A)�y�W%߰+?�W!X! X!�W!:W)2W)*W)�V)bUIBU�*U�U�U�������F@B�b�<�B� B��A��ѽ*B��A�����A��A��A�6�="C�߰+?*C�G�'=RC����<C�߰+?�C����>9�c�CI��dGi���@����UD����m=; �aE���q��<���I��Gj>����]j,���w�E�AY}2΄h?�}2:�(?y}2l#+��}2�1��}2H���� =B�?�����������r��������?�����J�?���@*��?�����b�?����������@3��?)~2΄h? ~2��];I~2��Cɫ9�9)�9 �AI�AY�}��@y�}hGI�=@A)�9��M�����M�����M�����M��� �MN2:Y�MDW1y�MY�:��Mb6i�y�����$X<M�=Y���l�QU��>�������a��G����?G���y�����}��>I�����<�5�?����\Ҿ� ���A����?9��RC���ٮ: ��o*A)���W ?+?�W X X �W :W2W*W�VbUBU*UUU����8G@BM�47�BI BI�AM)ý*BI�AUC0��AQ�AQ�AU="C]?+?*C]��'=RC]��<Ce?+?�Ca��M ��<I�a )�e jA��) I�Y G� �>�e�^j,�[x�E�AY}:�"h?�}:6�(?y}:�5��}:�$$��}:H�����I�?���` �������m���������?����S�?����c's?�������?���@ ~�����@n��?)~:�"h? ~:�];I~:��Cɫ9�9)�9 �9I�9Y�}*�@y�}�hG������AAi�������=�'���=�u<��=���i�9��9 �=��@)�=z�@I�=z�@i�=z�@��Ml�=MU�=Y�U��QU],?��Y��Y�a]�G��Y��ay�e"��}m,?I�i��m�5�?��m�XҾ� �mA��}�?9�mrC��m��: �m�.A)�i�W��+?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����g>G@B�V;�B� B��A�蠽*B��A��Z��A��A��A�\="C��+?*C�˿'=RC����<C��+?�C����G��<�I��G�E>� ��>9� I� i� �� �� �� �� �<; � �E��� ^j,7)x�E�AY}2�g?�}2|(?y}2f�>��}2�_-��}2H����@S�?����nu�����@����� F��?����,^�?����Su?����7֧?���@S����������?)~2�g? ~2�K];I~2��Cɫ9�9)�9 �9I�9Y�}ʼ@y�}EhGi����������M�V=Y�̻QU��>�����a��G����y���}��>I�����m5�?����RҾ� ��SA����?9���C���t�: ���4A)���W��*?�W�X� X��W�:W�2W�*W��V�bUBU*UUU ����JoG@B5�#:�B� B��A����*B��A�U���A��A��A��="C��*?*C���'=RC����<C��*?�C������<�סI��G�A>��m ����m�����m�����m�� �m�5:Y�m�V1y�m�:��m�6)�ma�;�9u��S�^j,�Cx�E�AY}25�f?�}2�'?y}2K�E��}2<�8��}2H������d�?�����[������Ӱ�����i�?�����p�?������z?��� �?������������?)~25�f? ~2�e];I~2��Cɫ9�9)�9 �9I�AY�} �@y�}�hG��pNmea in: $CATMG,2021-08-13T17:03:27.640895Z,RTC,RTC*5D ���Response from modem unexpected: $CATMG,2021-08-13T17:03:27.640895Z,RTC,RTC*5D I�e@)�e�?i�i��i��]�<M]2=Y�m=v�QU��>�����a��G�� �?G��y�7��}�>I�!��%_5�?��%0KҾ� �%�A��]�?9�%�C��%��; �%}<A)�!�W}�M*?�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����/�G@�R�B*** querying acoustic contact ***�P��P�B&A5�B! B!�A%=��*B)�A-C���A)�A)�A-��="C5�M*?*C5g�'=RC5|��<C=�M*?�C9��M�=i�I��u�7�<��QI�YG��>���^j,-�\x�E�AY}:K�e?�}:�=&?y}:O`K��}:;II��}:H������t�?�����C�����,��������S�?����ˀ�?���@>��?���`]i�?���`���������?)~:K�e? ~:4a];I~:��Cɫ9�9)�9 �9I�AY�]�@y�]jhGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******�qɮq)��i�����u�=��u�L=��u+�i�u��@��q �u\�@)�uE�@I�u\�@i�uE�@���"�M�G=Y�FX�QU��>�����a��G����y�� �}��>Iȡ�ťA+5�?�ť8EҾ� ƥ A����?9ƥC�ǥ5�: ȥ�BA)ȡ�W���)?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@��G@B��9�B B�A���*B�A+= ��A�A�A��="C%��)?*C%l�'=RC-7O�<C-��)?�C)ܽ��>9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽ�;; ݽsE��U ����U�����U�����U��� �U�5:Y�U�X1y�U/�:��U}6)�U,�;��eT��<��I�!GEs>��^j,�vx�E�A�|�@i|�@Y}6Ge?�}6��%?y}6;P��}6��S��}6H�������?�����/����@V�����@A�?��� ���?����DӅ?���@��?���`1j����� ~��?)~6Ge? ~6T];I~6��Cɫ9�9)�9 �AI�AY�e5�@y�e�hGuxDUSBL response received:!U1,P 80,80,63,E4 C,185,80,80,80,FF uCommand AckuBRequesting micromodem ping code 2i�q��qi�mGI�)i�A��}ʂ�ٺy��}�sB ��jA鼙i����������<M�=Y��$�QU��>�������a��G����?G���y����}�>I� �� ~=5�?�� �<Ҿ� � �A��%�?9� OC�� �; � pKA)� �W�k�)?�W X X) �W1 :W1 2W9 *WA �Vi bUy BUy *U� U� U� �����*H@B5 ��2�B1 B1 �A5 !��*B9 �A= � ��A9 �A9 �A= ��="Ce k�)?*Ce �p'=RCm i@�<Cm k�)?�Ci ��u�]�<��Q I�Y Gu �>�/�$^j,[�x�E�AY}6�d?�}6n%?y}6r@T��}6��L��}6H����@i��?����I#�����F�������3�?�����?���@](�?���@��?��������������?)~6�d? ~6�];I~6��Cɫ1�1)�1 �1I�1Y��@�@y���hGi������� ����� &1��� C�i� =�@�� � ��@)� ��@I� ��@i� ��@��T�;M�=Y�%~~�QU%0?��!��)�a-�G��)��1y�5��}51?I�9��=�E5�?��=�8Ҿ� �=�A��E�?9�=nC��=J�: �=eOA)�9�WmQ)?�WiXi Xq�Wq:Wq2Wq*Wq�VybUyBUy*UyUyU���� �DH@B�S�?�B� B��A�Z��*B��A�� ��A��A��A���="C�Q)?*C��f'=RC���<C�Q)?�C������<I�)�@A��-! ����-�����-�����-�� �-t6:Y�-�W1y�-č:��-�6�95@�ױI��G�D>܍ ��>9܉ I܍ �dGi܍ �@�܍ ,=�܉ �܉ �܍ �:; ݍ �E)��c�CI��c�Ci�����.=���.=���15���*^j,�ͬx�E�AY}:vd?�}:j�$?y}:۔X��}:ӧ>��}:H���� ���?�����!����@��������70�?�������?�����v?����`�?���`@ʧ��������?)~:vd? ~:\�];I~:��Cɫ9�9)�9 �9I�9Y�}u�@y�}�gG���������Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 i��������P��M�N=Y�:%�QU��>�������a��G����?G���y���}��>I���<T5�?��e2Ҿ� � A��]�?9��C����; �hVA)��W�"�(?�W�X� X��W�:W2W)*W1�V1bU9BUA*UAU�U����`��H@B^v;�B B�AEν*B�A�#!��A�A�A�="CM"�(?*CM�N'=RCMY�<CM"�(?�CQ�֕R5�<��yI��G��>� �1^j,��x�E�A�|�|ɫy髁)�� ��I��Y����@y���iG�]�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��6Nmea out: $CCCFG,ALL,0*33 I��?)��?i����Å�#=�Å� >�Å�T=iÁ�Á ą1�@)ąr�@Iąr�@iąr�@����=M�&=Y����QU��>�����a��G����y����}��>Iȱ�ŵnc5�?�ŵp+Ҿ� Ƶx A����?9Ƶ�C�ǵٮ: ȵ�]A)ȱ�W�#�(?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������H@��5� ����5�����5�����5A�� �5�A:Y�5�Y1y�5�:��5� 6B=V0�BA BA�AEGX�*BA�AE�P!��AI�AI�AM��="CU#�(?*CU<'=RCUIT�<CU#�(?�CY����U�<���I��G��>�6�7^j,b��x�E�AY}6$�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 ��6Nmea out: $CCCFG,SRC,1*31 i�������Ș�M%=Y�-�!�QU- ?��9��9�a=�G��9��Iy�UA ;}U?I�Y��]Nn5�?��]r&Ҿ� �]� A��e�?9�]C��]t�: �]�bA)�Y�W�KM(?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����[�H@�R�(Combining 5 samples.�P�*Q�p}A�Z���iPr�/@6�*�X�?���������Z�����Y��?P')�6��?��������2Q��l�<:Q��Z���7����(@����#@�n\����?�Z���Ϙ_%�?�HWc��?c��)�?BQ�54*? Q�AQ�'GA�P���9?�P��P�����Q�����Q��@"Q�.�@�M��>9�Md�CI�MLeGi�M_�@��M/=��I��I��M�9; �M�EB���8�B� B��A�4��*B��A-щ!��A)�A)�A-b="C5KM(?*C=q-'=RCEs�<C�KM(?�C���-�=i�-�=��}&t�<��YI�aG�|>���=^j,-y�x�E�AY}r��d?�}r%?y}r#j��}r�vI��}rH�����χ�?����M$���� s=�������4�?����k��?���� mt?���@N@�?���@�!���������?)~r��d? ~r^;I~r��Cɫ���)�� ��I��Y� ^�@y� �hG�m4Nmea in: $CACFG,SRC,1*33 �uVNmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64 i������� G)<M ;=Y��$�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. �W�dK%?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U������/@U����@>��?��%����%�����%�����%��� �%<�:Y�%�[1y�%H�:��%�6B5�5�B1 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: $SNTTA,0.012069,,,,170331.27*4E i�Q��Q�å��<�å94=�å�H=iå�@�á ĥ��@)ĥ��@Iĥ��@iĥ��@���O=M�Q=Y�.>�QU��>������a��G������y��7;}��>I�������5�?����Ҿ� ��~!A����?9��hC�����: ���pA)���W�#?�WX X�W:W2W *W �V bUBU*UUU�����E�?BE,{2�BA BA�AElV�*BA�AM��!��AI�AI�AM�="CU�#?RC]��X=C]�#?�CY�֭� =Iש)iA��aI�qG�9>�5 ��>9�1 I�5 �eGi�5 ��@��5 .=��1 ��1 ��5 �8; �5 E�_�J^j,�.y�E�AY}2�e?�}2�~%?y}2*�s��}2�RG��}2H�����h�?���`�-�����ˣ�������=�?�������?�����h?����Ks�?�����ܨ��������?)~2�e? ~2��^;I~2��CɫY�Y)�Y �YI�YY���@y���iGi� �� ��=��;M=R=Y�EzL�QUE�>��A��A�aE�G��M�?G��Iy�My�:}U�>I�Y��]��5�?��]�Ҿ� �]�!A��e�?9�]�C��]>�: �]6vA)�Y�WĂ ?�WX X�W:W 2W *W)�V)bU1BU1*U1U1U=���@��?Be U0�Bi Bi�Am+M�*Bi�Au�"��Aq�Aq�AuC�="C}Ă ?RC}W#�=C}Ă ?�C�I�!)�!��=� ����=�����=�����=��� �=�>:Y�=xZ1y�=q�:��=6)�=љ;�9E��ֽe *=�יI��G�b>��Q^j,;�Gy�E�AY}:�ae?�}:��%?y}:Ijv��}:z9��}:H�����$y�?���@�7������@�������E�?�������?�����,"������Ȯ?���@}"�����@���?)~:�ae? ~:@�_;I~:��Cɫy�y)�� ��I��Y���@y���iGi�Y��a �e�A�e�A�õ7���õ�u��õ1�iõ�@�ñ ĵƣ@)ĵ��@Iĵ��@iı���M��M�B=Y��DʺQU�>�����a�G����!y�-�8;}-�>I�1��5��5�?��5L Ҿ� �5="A��=�?9�5�C��5t�: �5"}A)�1�We��?�WaXa Xa�Wa:Wi2Wi*Wi�VibUiBUq*UqUqUu�����E�?B���0�B� 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 X�W:W 2W *W �V bUBU*UUU��� w��@��-{ ����)��)��-F�� �-�=:Y�)y�)��-<6)�-�;B]յ+�Ba Ba�Ae7�*Ba�Ae�m"��Aa�Aa�Am,M="Cm��?RCu??�=Cu��?�Cq�ԅjA�ԁ�ֵ_�=��?i�?��iI�yG��>��8^^j,]�{y�E�AY}:�>e?�}:I�%?y}:c�v��}: B��}:H����@�{�?�����2����@ �������3B�?���@O��?�����yY?�����̮?���`S4���������?)~:�>e? ~:ςa;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�jG��JNmea in: $CACFG,pwramp.txlevel,0*2D ��8Nmea out: $CCCFG,DTO,30*1E ��-�=i�-=i� �� I� R=)� �=�Í �=�Í 9�=�Í ��=iÍ ��@�É č ��@)č ���Ič ��@ič ��@�� M<M� =Y� �q�QU� �>�� �� �a� �G�� �?G�� y� �u�}� �>Iȹ �Ž ��5�?�Ž ��Ѿ� ƽ +#A��� �?9ƽ J C�ǽ ��: Ƚ ��A)ȹ �Wm �G?�Wi Xi Xi �Wi :Wi 2Wq *Wq �Vq bUq BUq *Uy Uy U} ����To@�R� B*** querying acoustic contact ***�P� �P� B� ��)�B� B� �A� ��*B� �A� x�"��A� �A� �A� ��="C� �G?RC%[-�=C%�G?�C!����=���I� G- �>��e^j,�G�y�E�AY}2d?�}2:�$?y}2d�t��}2�_E��}2H���� &��?���` !���� ۚ�������0�?��� \��?�����!f?�������?���`B����������?)~2d? ~2�b`;I~2��Cɫ9�9)�9 �AI�AY�e��@y�e�jGmZ****** received transponder code query ******mF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******�qɮua=�6Nmea in: $CACFG,DTO,30*1C � >Nmea out: $CCCFG,FC0,14500*47 i�y��y��Uz�;MU�=Y�]e;QU]F?��Y��Y�a]�G��a��ay�eNC�}mF?Iȑ�ŕ��5�?�ŕ&�Ѿ� ƕ`#A9ƕf C�Ǖ+�: ȕ��A)ȑ�WX�?�WX! X!�W!:W!2W!��]2����]�����]�����]l�� �] u:Y�]�Y1y�]�:��]N6�9e@*W)�VabUaBU�*U�U�U����`sU@B��x-�B� B��A�J�*B��A���"��A��A��A��="C-X�?RC-� �=C-X�?�C)��=(�=���>9�e�CI�@gGi���@��+=������!7; � E��I�!GE�>�P�k^j,�y�E�AY}:=�c?�}:�W$?y}:?pq��}:G�_��}:H���� Õ�?���������`5l������� �?����&��?�����X�?�����)�?�������`���?)~:=�c? ~:�Sm;I~:��Cɫ9�9)�9 �9I�AY�]��@y�]�kGexDUSBL response received:!U1,P FE9,000,00379,183,80,80,4D,FF eCommand AckmBRequesting micromodem ping code 2i�i��i�u<Nmea in: $CACFG,FC0,14500*45 �u<Nmea out: $CCCFG,BW0,4000*63 i��������ٓ=M�i=Y��� ;QU��>�������a��G����?G���y���}��>Iȑ�ŕ��5�?�ŕ��Ѿ� ƕ�#A9ƕ� C�Ǖ"�: ȕ��A)ȑ�WE�|?�WAXA XA�WA:WI2WI*W��V�bU�BU�*U�U�U�����R @B}f�#�B� B��A�cg�*B��A�k�"��A��A��A�%�="C��|?RC���=C��|?�C��֥���=��yI����������CG�c>i�5�mGI�]"oAi�}��A���rx�ٺ�"oA���hB�l@9�\B�ڒr^j,l��y�E�AY}Ns�c?�}N�.$?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 �6Nmea out: $CCCFG,BND,0*3A i�)��1 �1�1�åxi��å��å��=iå(�@�á ĥ�@)ġIĥƣ@iĥƣ@���1��M�,=Y��=�:QU��>�������a��G����!y�-���}-�>I�1��5�5�?��5��Ѿ� �5$A��=�?9�5� C��5t�: �5.�A)�1I�a)�a��u� ����u�����u�����u6�� �u�?:Y�u�V1y�u�:��u� 6�W] �?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B�c�&�B B�A�k�*B�A��"��A �A �A T="C �?RC �>C �?�C��Og�=���I��G�>�I�x^j,E��y�E�AY}:��c?�}: $?y}:��g��}:� ���}:H�������?����"������SV��������?�������?����:�?�������?����$����������?)~:��c? ~:D��;I~:��Cɫ9�9)�9 �9I�9Y����@y���kG������@A��4Nmea in: $CACFG,BND,0*38 ��RNmea out: $CCCLK,2021,08,13,17,03,36*4F �%��>9�!I�%�gGi�%F�@��%-=��!��!��%H6; �%�E)�m�d�CI�m�d�Ci�i���m�-=��m�-=��m��5)��i���!ai5�ai5 am5�am5 aq5�aq5 ae5�ae5 aI5�aI5 ��5�T㥛� �?������������������5�>��5�L� �5���)�1I�1y�5��G�z�?��~j�t���� �rh�?��5�?��5�����5C= �5�A)�5�AI�5lAi�53A��1��1��U��<MUE=Y�U�r;QU]�>��Y��Y�a]�G��Y��ay�mJ"�}m�>I�q��}�:��u �5�?��}�:��u�Ѿ� �u�$A����?9�u!C��u��: �u��:)�u��:�W��?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�@B���#�B� 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� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����m�@1(���� P�pAggregate::uninitialize lineCaptureDepth:MicromodemCommsq(�����P��Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn�(����B��"�B B�A���*B�A�A�A�A��="C%��?RC%F�3>C-��?�C)��=kA��9��%*>��)i�-|?���I� G%c?� 3�^j,�\7z�E�AY}n� a?�}n_�!?y}n \[��}n���}nH���� ���?��� �������������@{��?��� ��?��� ��?��� )h�?�����ܼ�������?)~n� a? ~n��x;I~n��Cɫ�髱)�� ������I������ �����������������h�� ���?:Y���W1y��č:����6)����;�9�Y� ��@y� �lG�ɮ�=�BNmea in: $CACYC,0,1,10,1,0,1*6B �-NNmea in: $CADRQ,170336,1,10,0,64,1*76 ��UNmea out: $CCTXD,1,10,1,188916611E0000005D00000400260000000000000000151D80030C5669C08C79986EC92656A4BF84E97BE1752B70ABD534637561E856FC3929350700*33 i�������]P#=M��=Y���;QU�?�����a��G���?G��y�w��}�?Iȡ�ť�-5�?�ť��Ѿ� ƥ�%A����?9ƥ�!C�ǥw�: ȥ�:)ȡ�W�!�?�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ��@�R�B*** querying acoustic contact ***�P��P�B-8r �B) 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 XY�WY:Wa2Wa*Wa�VabUaBUi*UiU�U������+@B����B� B��A�&@<*B��A��"��A�A�ARE="C-f�?RC-d/>C-f�?�C1��-M)>��I�1G�`>�M��>9�II�M3iGi�M��@��M-=��I��I��M�4; �M�E�A�^j,kz�E�A�|�@i|Y}6�{\?�}6�?y}6ѝW��}6|���}6H����@|#�?����k����@�E������b�?����B�?����Գ?������?����\�������?)~6�{\? ~6�;e;I~6��Cɫ9�9)�9 �9I�9Y����@y��EmG��<Nmea in: $CATXD,1,10,1,60*4D ����=i���=��.Nmea in: $CATXP,60*74 ��2Powering down loadControl ��������I����)����i���������� ��������������o�� �@:Y��X1y�/�:���6)�2�;��������Mb@�����Mb@�����Mb@��������� ���)������I��y���7�A`���?����Mb���I+��?����?�������94< � A)�AI Ai^A�������A���A<M�B=Y�3;QU��>�����a��G�����y�����}��>I������:���kJ5�?����:�����Ѿ� ���&A����?9��0"C����: ����:)����:�W�?�WX X�W:W2W *W �V bUqBUq*UyUyU}������@B���B� B��A�ψ<*B��A���"��A��A��A�=="C��?RC��k/>C��?�C� �-�=��-�=��q�3>I�%jA)�%jA���I� G-p>��(�^j,n܄z�E�AY}:�Y?�}: u?y}: [��}:�m��}:H����`b�?��� ������>:������+�?���`NF�?���`⁷?��� �]�?����.�¿������?)~:�Y? ~:I�e;I~:��Cɫ9�9)�9 �9I�9Y�}��@y��\mG��B�;M�\=Y�<�QU��>�������a��G����?G���y����}��>I�q��u�Y5�?��u �Ѿ� �u�&A����?9�ug"C��u�< �u�<)�q�Wm���>�WqXq Xq�Wq:Wq2Wq*Wy�VybUyBUy*U�U�U����@a@B�!�B� B��A�R�<*B��A���"��A��A��A���="C����>RC��*>C���>�C��d/>���I� G5q>��R�^j,A��z�E�AY}2xU?�}2c�?y}2C�R��}2/" ��}2H�����U��?����RA������o������A��?����O|�?���`� �?����/T�?���@��ÿ����T��?)~2xU? 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~>�gf;I~>��Cɫy�y)�y �}���I�yY���@y���nGai�@a��� am�@a��� aq�@a��� ae�@a��� aI�@a��� �����(\����?ˡE���Ŀ/�$��?����'?����'� ���<)�����I��i�������Mb@�����Mb@�����Mb@����©������� ���)���I���i������������������i��M�C=Y��;QU��>�������a��G����?G���y��5+�}��>I�����(�5�?�����Ѿ� ���'A����?9��_#C�����: ��4�>)���Wz��>�WX X�W:W 2W *W �V bUBU*UUU�����d @�R%B*** querying acoustic contact ***�P!�P!BEѦ�BI BI�AM�_=*BI�A���!��A��A��A��,="C�z��>RC�k >C�z��>�C��֭2�>��aI�qG�:>i�U �mGI�m �oAi�� ��� �a�ٺ� �oA��� ~SB��v�^j,l${�E�A�|i|Y}6�BD?�}6�?y}6�QB��}6�+3��}6H����� ��?����i����@9;���������?������?�����d�?�����G�?�����Aƿ�����y�?)~6�BD? ~6*d;I~4ɫ9�9)�9 �=����I�9Y�}[�@y��oG����?i���=��-� ����-}����-}����-U�� �-_C:Y�-kS1y�-Ԋ:��-�6��i�<M�J=Y�zW;QU��>������a��G������y���/�}��>I�����ǰ5�?�����Ѿ� ��3(A����?9���#C���į: ��T?)���WE&L�>�WIXQ XQ�WQ:WQ2WQ*WY�VYbUYBUY*UYUaUe�����8!@B�"��B� B��A�{�=*B��A�m�!��A��A��A��="C�&L�>RC�>I>C�&L�>�C� ������=����>I��iA)��lA�I��G�f>����^j,m�{�E�AY}2�6@?�}20��?y}2��:��}2H�4��}2H���� ��?����o�ݿ����6����������?��� h��?����R��?�����Y�?��� �qƿ����ix�?)~2�6@? 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~24N^;I~0ɫ9�9)�9 �AI�AY�] �@y�]pGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75m8****** ping requested ******��q��q���g��M�G=Y���';QU��>�������a��G����?G���y����}��>I�����:����-5�?���:����kѾ� ���)A�� �?9��H%C���w; ���;)����:�W �|�>�W X) X1�W1:W12W1*W1�V9bU9BU9*U9U9UE����V�&@B��C�B� B��A���=*B��A�&���A��A��A�!Q="C��|�>RC�<6�=C��|�>�C��ֽ���=�סI��Gm>��^j,]��{�E�AY}2b�)?�}2���>y}2�i��}2I0��}2H���� C�?����!.ٿ����SI���������?������?���`8 �?��� (̢?���@�ÿ����7��?)~2b�)? ~2^;I~2��CɫY�Y)�Y �e���I�aY����@y���pG�xDUSBL response received:!U1,P FE9,000,00379,183,80,80,4D,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 ��= ����9��9��=��� �=�J:Y�9y�9��=�6��E�y=��E�>��E^��i�Ep�@��A �E�@)�E�@I�E�@i�E�@��� =Mu!=Y�}v;QU}�>��y���a��G����y� ļ}��>Iȱ�ŵ�E5�?�ŵ�cѾ� Ƶ*A���?9Ƶ�%C�ǵ�)< ȵ-<)ȱ�W�<�>�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU ���@��'@B���B� B��A�m�=*B��A��k��A��A��A��=="C�<�>RC��V�=C�<�>�C�������� (��=��� �?i�� j?�5 ��>9�1 I�5 �mGi�5 �@��5 ,=��1 ��1 ��5 B1; �5 E��� I�� G�>�?+�^j,���{�E�A�|�|Y}:�&?�}:��>y}:8� ��}:����}:H�����oi�?�����ؿ����#������@�?���@�*�?����{��?����_��?����;�ÿ���`I��?)~:�&? ~:��];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�pG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�)������Q����?���x�&��J+������\?���7 � ���H�)��I��y��� ףp= �?X9��v���y�&1��?���Q?����}����`�< ��rA)���%AI��1Ai��CA�������A�����M�r=Y����;QU ?�����a�G���?G�� y��}?I���%�:��1U5�?��%�:���`Ѿ� �Y*A��%�?9��%C����: �+�:)���:�WM[!�>�WIXI X��W�:W�2W�*W��V�bU�BU�*U�U�U�����+�(@B�"��B) B)�A-��=*B)�A-�,��A1�A1�A5r3="C=[!�>RC=z��=C=[!�>�C9��Y��9I�AGew>�!_j,��|�E�AY}em$?�}e���>y}ex���}e"��}eH��������?�������������������w�?���@�Q�?������?����,��?�����Q¿��� D��?)~em$? ~e��];I~a�� � ���� �� �� _�� � B:Y� y� �� � 6ɫY�Y)�Y �]���I�aY����@y���pG鮝p=ɮ�p=�xDUSBL response received:!U1,R,FD1,000,003EA,184,80,80,66,FF �Fpublishing direction and range info�����'=���ɰ�*�=鰝��> ��)����BI��y����A�����7�G��?��+q��?��������ٱ����Ƚ������m=i��@�� �K�@)��@I��@i��@��,�MH=Y��;QU�>��!��!�a%�G��!��)y�-�ݼ}-�>I�1��5�h5�?��5�\Ѿ� �5�*A��E�?9�5&C��5÷: �5ܹ:)�1�We ��>�WaXa Xi�Wi:Wi2Wi*Wq�VqbUqBUq*UqUyU}��� �N)@�R�(Combining 5 samples.�P�*Q���A�Z���Z�ٙ6@������?���������Z���7�G��?��+q��?��������2Q���'=:Q��Z���2� �4@.:&��"@J��X�?�Z��t��|��?'D�����?&Q|��^�?BQ���> Q��AQ�1�A�P��9?�P���9?�P�z���Q�����Q���@"Q��@B]ΐ�BY Ba�Ae��=*Ba�Aeu���A��A��A��/="C� ��>RC�E[�=C� ��>�C��օ$�=��AI�IGeU>��?_j,�"|�E�AY}�^!?�}��>y}�����}v)��}H�������?����s^���@�������� ��?����Qs�?����t�?��� �2�?������������/��?)~�^!? ~Y];I~ɫ�)� �I�Y�M��@y�UqG��TNmea in: $SNTTA,0.041717,,,,170343.90*4F ��� �<M�N=Y��X�;QU��>�������a��G������y���ؼ}��>I������{5�?����XѾ� ��+A���?9��E&C�����: ����:)���m5uAdded new target pos. range: 22.619999 m, bearing: 24.816002 deg, deltaT: 12.656083 s, approachRate: 0.535711 m/s, LOS rate: -1.049110 deg/s, posRepo size: 4�mE� ProNav: pos range: 22.619999 m, 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. �WE�ͤ>�WAXI XI�WI:WI2WI*WQ�VQbUQBUQ*UQU]���@��6@U]���`g|�?B�|���B� B��A���=*B��A��y��A��A��A�g0="C��ͤ>RC����=C��ͤ>�C�����>9��g�CI��i��������������h0; ���E�֝L��=Iס)ס��YI�aG}Y>�@i_j,�q<|�E�A�|i|�@��a��e��Cɫ�髁)�� ��I����e ��������������c�� ��;:Y�[1y�ݏ:��W6)���;�9 �Y�D�@y�yqGi�=�mGI�Ii�a����=i���=���4�ٺ������A��V�<M�L=Y�����QU��>�������a��G����?G���y�����}��>I������:���5�5�?����:���UѾ� ��i+A����?9���&C�����: ����:)����:�W ���>�W X X �W :W 2W*W�VbUBU*UUU����yh�?BEr��BA BI�A=��=*B9�A={��A9�AA�AE�.="CM���>RCMT>CM���>�CQ��%Z��=���I��G%M>�FO_j,5EV|�E�AY}67�?�}6-m�>y}6�Xۼ�}6?4 ��}6H����`/��?�����Zֿ����ಿ���@���?�������?���@�v�?����Gj�?��� �������`T��?)~67�? ~6�<];I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}�qG��}�1?��}�T?��}+�=i�}��@��y �}@)�yI�}�@i�y��ݧ<M�N=Y��<QU��>�����a��G����y��8�}��>Iȩ�ŭv�5�?�ŭ�QѾ� ƭ�+A����?9ƭ�&C�ǭ��: ȭY�:)ȩ�W<�>�WX X �W:W2W*W!�V!bU)BU1*UAUAUM���@�A�?B}4��B� B��A��>*B��A�f���A��A��A�9="C�<�>RC�T7>C�<�>�C����~��=���I��G�>�� ��>9�� I�� i�� ��� ��� ��� ��� }/; �� -E)�e�f�CI�e�f�Ci�a���e�,=��a���e�#5�by_j,G p|�E�AY}2�?�}2�t�>y}2��ּ�}2�S��}2H��������?����9�տ�����n�������Q�?���`���?����gt�?���@ښ?���`�z������i��?)~2�? ~2�F];I~2��CɫY�Y)�Y �]����I�YY����@y��qG��� ����~����~����p�� ��D:Y�T1y�@�:���6)��;��������Mb�?V-���X9��v��?���?������ ���}=)��I��y������Q��?y�&1���<�O��n�?����?���`e����t= ��GA)��!AI���Ai�� A�������A�� �8�M B=Y�q�:QU�>�����a�G���?G��y�%��}%�>I�)��5�:��-��5�?��5�:��-�LѾ� �-,A��5�?9�-�&C��-��: �-�:)�-��:�W]Ċ�>�WYXY XY�WY:Wa2Wa*Wa�VabUiBUi*UiUiUu����{��?B�t���B� B��A�v�=*B��A��@��A��A��A�LF="C�Ċ�>RC�P�(>C�Ċ�>�C����ط�=����?i���?�סI��G�A>��l"_j,4,�|�E�Aɫ��)� ����I�Y�%q�@y�%�qGI�y)�yI��R=)��%=�� Q�=�� �A��� j<>i� ¥@�� � ��@)� �@I� ��@i� ��@���"=MH=Y�%���QU%�>��!��!�a%�G��)��)y�-���}5�>I�9��=��5�?��=tHѾ� �=q,A��E�?9�=;'C��=ض: �=��:)�9�Wen>�WiXi Xi�Wi:Wi2Wi*Wq�VqbUqBUy*UyUyU}����'+�@B���B� B��A��>*B��A�����A��A��A� Q="C�n>RC���D>C�n>�C����(�>�סI��G�c>�ߌ(_j,�ܣ|�E�AY}6��?�}6 ��>y}6�Լ�}6B}��}6H�����K%�?������Կ�����汿��� �g�?������?���`?̾?�������?�����������M��?)~6��? ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�u��@y�}�qG��� ��������������q�� �pG:Y��W1y�č:���6�9 @���<M^=Y��m:QU�>����!�a%�G��!��!y�-?)�}-�>I�1��=�:��5�5�?��=�:��5�DѾ� �5�,A��E�?9�5r'C��5g�: �5��:)�5��:�We�_Y>�WiXi Xi�Wi:Wi2Wq*Wq�VqbUqBUq*UyUyU}��� �@B��D�B� B��A��>*B��A�"i��A��A��A�HX="C��_Y>RC�n�H>C��_Y>�C��}��>9�yI�}�mGi�}[�@��}*=��y��}��D��}�.; �}�E�֭8e>��iI�qG�>���._j,���|�E�AY}2��?�}2���>y}2�7Լ�}2J���}2H�����4>�?����pmԿ����d������`v��?���@D��?��� *��?����<��?��� �¿�������?)~2��? ~2t�];I~2��Cɫ9�9)�9 �9I�9Y�}*�@y�}YqG���+�M�S=Y���QU��>�����a��G���?G��y��¼}��>Iȹ�Ž6�5�?�Ž�@Ѿ� ƽ-A����?9ƽ�'C�ǽ÷: Ƚ�:)ȹ�W�ٗC>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����7@�R B*** querying acoustic contact ***�P �P B�~��B� B��A�3�=*B��A�=��A��A��A�xe="C�ٗC>RC��fX>C�ٗC>�C �M�=��M�=��-z�A>I�1)�5kA��I�G-,>��5_j,���|�E�AY}2$�?�}2%�>y}26�ռ�}2�n��}2H������[�?�����ӿ����L)������Y)�?������?�������?�������?���@��¿����ң�?)~2$�? ~2��];I~2��Cɫy�y)�y �}���I�yY��q�@y���qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=z ����9��9��=!�� �=�Q:Y�9y�9��=�"6����=i���= �!�!)�9 �=�=�����=���&1?���5^�i����@��� ����@)��1�@I��1�@i��O�@�����<M� =Y��ӹQU�>�� �� �a �G�� �� y�r��}�>I���E�:��`5�?��E�:���;Ѿ� ��-A��M�?9��'C��H�; ���;)���:�W�#&>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� \o @B ^���B B �A �>*B�AEx��A�A�Av="C=#&>RC=@(n>C=#&>�CA��M��D>��) I�1 GM �>�u ��>9�u h�CI�q i�q ��u (=��q ��q ��u �-; �u [E���;_j,h�|�E�AY}2�� ?�}2���>y}2���}2D���}2H����` ��?������ҿ�����J������1�?�����1�?����_��?���@���?������ÿ�������?)~2�� ? ~2��];I~2��Cɫ9�9)�9 �=����I�9Y��O�@y���qG������AA�xDUSBL response received:!U1,P FD1,000,003EA,184,80,80,66,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 ��U���n���?�V-¿�I+��?��U6?��Uh� �U94=)�QI�Qy�U�}?5^�I�?�~j�t����������?��UM"?��U�D���U��< �U�A)�U�!AI�Qi�U$A��Q��U�A��uz�MuA=Y�}��QU}�>�����a��G���?G��y���}��>Iȑ�ŕ�5�?�ŕ47Ѿ� ƕ�-A����?9ƕ=(C�Ǖ9�: ȕ-�:)ȑ�W��>�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`�� @B���B B �A u�=*B �A ���A �A �A �="C�>RC�xu>C�>�C��=��R>��I�!GE�>�w�B_j,hX}�E�AY}B�?�}B��>y}B�ܼ�}B0�-��}BH�����̲�?�����tѿ�����������`8��?����mO�?����O��?����z��?�����ſ�������?)~B�? ~B�0^;I~B��CɫQ�Q)�Q �QI�QY����@y���qG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���� �������������������� ���?:Y��xZ1y��q�:���6����@=���� ������i��f�@��� ��1�@)����@I����@i����@����<Mz=Y�GQU?�����a�G����!y�%�v�}-?I�)��-�*5�?��-4Ѿ� �- .A��=�?9�-r(C��-��: �-��:)�)�W]xL�=�WYXY Xa�Wa:Wa2Wa*Wi�VibUiBUi*UiUqUu�����&@B��e�B� B�A�>*B�A ���A�A�A ]�="C xL�=RC��q>CxL�=�C��A��A��/�j>���I�GM>���H_j,6%}�E�A�|�|4<ɫ�髙)�� ��I��Y����@y���qG�xDUSBL response received:!U1,R,1AA,000,0046A,186,80,80,4E,FF �Fpublishing direction and range info����V�����ɰ�#�=����> ��)����BI��y��f�A���� �� j��?�+=�?��������ٱ�����=i��p=I��)�����;M]=Y����QU�>�����a%�G��!��!y�-���}-�>I�1��=�:��5�=5�?��=�:��5�0Ѿ� �5K.A��=�?9�5�(C��5��: �5��:)�5��:�We��=�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUq���>9�I�HnGi���@��'=��TD����+-; ��E*UIUQUU������@�Re(Combining 5 samples.�Pa*Qef�A�Ze����[�:<@:ǚU&����������Ze� �� j��?�+=�?��������2Qe�V��:Qa�Ze��,��>@����-�=��@�Ze�K�ى���?��� ��W��?�?BQe�j�@ Qe~�Qe��A�Pe�9?�Pe�9?�Pe����Qez���Qe"A"Qe��@B�b �B� B��A�s >*B��A��A��A��A��A�`�="C���=RC�� �>C���=�C����n>���I��G�j>�%O_j,�?}�E�A��= ����������������� �M:Y��W1y�č:��_6)�m�;�9 �ɫi�q)�q �qI�qY����@y���pG�ETNmea in: $SNTTA,0.038112,,,,170348.35*46 ���T�M�4=Y�QU��>�����a��G���?G��y�}��>Iȩ�ŭ�T5�?�ŭ(,Ѿ� ƭ�.A����?9ƭ�(C�ǭ��: ȭ�:)ȩ�m�uAdded new target pos. range: 30.300001 m, bearing: 355.264585 deg, deltaT: 4.438775 s, approachRate: 1.730208 m/s, LOS rate: -6.657559 deg/s, posRepo size: 4�m�� ProNav: pos range: 30.300001 m, 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. �W�x��;�W�X� X��W�:W�2W�*W��VbUBU*U U �����L>@U ���@RD�?B=����BI BI�AU��=*BQ�A]#���AY�Aa�Aex�="Cm�ed=RCiCmx��;�Cq���Wg~>�ױI��G�e>���U_j,A�X}�E�AY}2��>�}2��]>y}2P���}2SL��}2H�����{<�?�����3ʿ�����������@��?������?���`��?����W �?�����Qɿ����Z�?)~2��> ~2�,_;I~0ɫ9�9)�9 �=���I�9Y�}��@y�}�pG�Ý�=�Ý�$>�Ý�&�iÝ��@�Ù ę)ĝ1�@Iĝ�@iĝ�@���Q��M�F=Y���0�QU��>�������a��G������y��)�}��>I������:���oj5�?����:���&)Ѿ� ���.A����?9��:)C����: ��s�:)����:�W%��@�W!X! X)�W):W)2W)*W)�V1bU1BU1*U1U1U=���@���?Be���Ba Ba�Am!�=*Bi�Am���Ai�Ai�AmҌ="Cu�:�RCqC}��@�Cy Ս�=�ԍ�=�����>I��)��lA�ױI��G��>� ��>9� i�CI� �mGi� [�@�� &=�� �� �� �,; � �E�\_j,:�r}�E�AY}2���>�}2[qE>y}2�d��}2U��}2H�����c�?����� ǿ����GY���������?�������?�����;�?���@��?��� i�ʿ�����I�?)~2���> ~2٬_;I~2��CɫY�Y)�Y �YI�YY����@y���pG��� ����������������� �5E:Y��[1y�H�:�� 6)���; ����5��|?5^��?������̿�~j�t��?��5� ?��5ff� �5��<)�1I�1y�5��Zd;��?�� �rh�����Q��?��5�?��5C����5��< �5rA)�5&%AI�1i�5�A��1��5zA��m��;MmR=Y�ux��QUu�>��y��y�a}�G��}�?G��y��y�}��>Iș�ŝ�~5�?�ŝ�&Ѿ� ƝA/A����?9Ɲx)C�ǝ��: ȝn�:)ș�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U��������?B�7��B� B��A���=*B��A�{'��A��A��A�m�="C�;½RC�C���@�C�i��6nG���I��i����%eƿٺ!��-ҹA���I��G��x�b_j,���}�E�AY}6���>�}6�B+>y}6v!��}66�^��}6H����`���?�����ÿ����"�������XK�?���@���?����n��?����0C�?��� ��˿���`�9�?)~6���> ~6�3`;I~6��Cɫ9�9)�9 �=����I�AY���@y��9qG��m`e���m��;��m9�<i�m��@��i �m��@)�m��@I�m��@i�mO�@��}��<M�Z=Y��лQU��>�����a��G����y����}��>Iș����:�ŝʑ5�?����:�ŝ�$Ѿ� Ɲ�/A����?9Ɲ�)C�ǝ�: ȝ��:)ȝ��:�W�1b�@�W�X� XI�WI:WQ2WQ*WQ�VQbUYBUY*UYUYU]���@d��?B�V���B� B��A���=*B��A�����A��A��A��j="C����RC�C�1b�@�C�����I��G�f>� )i_j,+l�}�E�AY}6�*�>�}6� >y}6o'��}6ʶh��}6H�����W��?��� �h�������`���������?��� D��?�������?�����C�?���@��̿�����'�?)~6�*�> ~66�`;I~6��Cɫ9�9)�9 �9I�9Y�u��@y�}�pG��� ����������������� �S:Y�xZ1y�q�:��W6�9 @����MQ=Y�J��QU�>�����a%�G��!��!y�%j��}-�>I�1��5�5�?��5#Ѿ� �5�/A��=�?9�5�)C��5ܹ: �5 �:)�1�We�þ@�WaXa Xa�Wa:Wa2Wi*Wi�VibUqBUq*UqUqUu����C��?B���B� B��A�!�=*B��A�s��A��A��A��P=ܹ9ܹIܽHnGiܽ��@�ܽ%=�ܹ�ܹ�ܽ,; ݽkE)�]�h�CI�]�h�Ci�Y���]�'=��]�'=��]�m�5"C�d�n�RC�C��þ@�C����������}�>�� �?i� �?���I��GI>�~p_j,�@�}�E�AY}:K�>�}:�=y}:z�#��}: 9p��}:H�����p��?����Ȫ�������������s˼?�������?���`$�?����Jr�?������Ϳ����B�?)~:K�> ~:�a;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}KqGI���=)���=���mA���mA��M�<MUG=Y�U���QUU�>��Y��Y�a]�G��]�?G��ay�e���}e�>I�i��m_�5�?��m�!Ѿ� �mQ0A��u�?9�m2*C��m��: �m\�:)�i�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����|4@B����B� B��A�l�=*B��A����A��A��A��*="C��梾RC�C���@�C���-��>���I� G%M>�X:v_j,*�}�E�AY}6�O�>�}6Z��=y}6� .��}6uw��}6H����`���?����V�������^�����ࣉ�?���@���?�����?��� n¥?���`��ο����� �?)~6�O�> ~6r�a;I~4ɫ�髡)�� �����I��Y����@y��qG��-� ����-�����-�����-��� �-�G:Y�-�X1y�-/�:��-�6��ɮ�a=����u�V�?:��v���?L7�A`�?���r(?�����< ��+=)��I��y����������?�l����{�G�z�?���� ?���������#= ��MA)���/AI��;Ai���A������3A��%�&���%Ը>��%ף�i�%Q�@��! �%1�@)�%1�@I�%1�@i�%1�@��`�M�+=Y�z��QU��>�����a��G����y��t�}��>Iȡ����:�ť^�5�?����:�ť!Ѿ� ƥ�0A����?9ƥ~*C�ǥ(�: ȥ��:)ȥ��:�W�~и@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����`@�R�B*** querying acoustic contact ***�P��P�B�9�B B�A*�=*B�A$���A!�A!�A%]�="C-F.־RC)C-~и@�C1��56Ʌ>���I��G�>ܱ9ܱIܵ�nGiܵ��@�ܵ#=�ܱ�ܱ�ܵ,; ݵoE��c|_j,���}�E�Aɫ�髙)�� ������I��Y��y���Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******Y�]���QU]?��a��a�ae�G��e�?G��iy�u���}u?Iȁ�Ņ��5�?�Ņ� Ѿ� ƅH1A����?9ƅ�*C�Džb; ȅ�*;)ȁ�W�H��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@û @B����B� B��A�*B��A�QB��A��A��A��="C�|��RC)C-H��@�C) �=�=��=�=��=� �>I�A)�A��I�!G=r>��K�_j,�� ~�E�Aɫ�髙)�� �����I��Y����@y���pG�xDUSBL response received:!U1,P 1AA,000,0046A,186,80,80,4E,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 ��= ����=�����=�����=��� �=ǂ:Y�=�V1y�=�:��={6 ��鿁)Ý�= Ý�=�Í�P��ÍC���Í��=iÍ �@�É č�@)č��@Iĉič�@�����M��<Y��QU%�>��)��)�a-�G��)��)y�1}5�>I�9��e�:��=��5�?��e�:��=�Ѿ� �=�1A��m�?9�=+C��= �; �=��;)�=��:�W��6�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������� @B-����B) B)�A-4�=*B1�A5K���A1�A1�A5�="Ce���RCiCu�6�@�Cy�ԍ���ԍ�� Օ���ԕ����9I�IGu�>��u�_j,��'~�E�AY}2�>|>�}2{��@y}2LJ��}2����}2H����`��?����Q�?�����3�������Z`��������?�������?��� j?�?������Ͽ��� h��?)~2�>|> ~24sb;I~0ɫ9�9)�9 �9I�9Y�}��@y�}"qG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �]��>9�YI�]oGi�]O�@��Y��Y��Y��]+,; �]xE���@�<M�m=Y�����QU�?�������a��G������y��u��}�?I���5�?��L Ѿ� �H2A�� �?9�7+C����: �f�:)��W5 �@�W1X1 X1�W1:W12W9*W9�V9bU9BUA*UAUAUE�����$@BuF��Bu�M�< Bq�Au�=*Bq�A}����Ay�Ay�A}�`="C�=�$�RC�C� �@�C��ׁI��G�>��]�_j,߈A~�E�AY}2��`>�}2s$�@y}2�S��}2`����}2H��������?�����Ѥ?����\������a��������?�������?����~r�?����4�Ͽ���@\��?)~2��`> ~2��b;I~0ɫ9�9)�9 �=���I�AY�} �@y�}0qG�xDUSBL response received:!U1,R,F5F,000,00442,187,80,80,40,FF �Fpublishing direction and range info�����>���ɰ���=鰅1�> ��)����BI��y��3�A������*G��?��d���?��������ٱ���"t;M�a=Y�+ӻQU��>�����a��G���?G��y��k��}��>I������:���($5�?����:���2!Ѿ� ���2A����?9��q+C����: ����:)����:��" ����������� ��J:Y�y����6)���;�9 ��W^��@�WX X�W:W2W*W�V!bU!BU!*U!U)U-����\�@�R=(Combining 5 samples.�P9*Q=3�A�Z=��N.9�;@f`1l�A@���������Z=���*G��?��d���?��������2Q=��>:Q9�Z=��ꗻU�;@��J��@0��C�?�Z=��Ku����?C���l�?�[�v�ǐ?BQ=���= Q=H?@Q=��A�P=�9?�P=�9?�P=����Q=����Q=��@"Q="ABm�=�Bq Bq�Au��=*Bq�A},0��Ay�Ay�A}�="C�L�8�RC�C�^��@�C���?iש�I��G�">� ��_j, e[~�E�AY}M?*D>�}M�>�@y}M�Z��}M��~��}MH����`"��?����yo�?����+P������~������J��?����M��?�����W�?��� �rϿ�������?)~M?*D> ~M�pc;I~M��Cɫ�髑)�� ������I��Y��i�@y���qG�=DNmea in: $SNTTA,,,,,170352.80*54 I�U=)�U4=�����������?�Q��롿V-��?����?���\� ���m=)��I��y���sh��|?�?���S㥛�{�G�z�?���� ?���/ݼ���ף< ��xA)���4AI���Ai���A�������A��������5j�=��5/]=��5ף<i�5��@��1 �51�@)�51�@I�5�@i�51�@��E��<MM'=Y�M�j�QUM�>��Q��Q�aU�G��Q��Qy�]�j�}]�>I�a��e4:5�?��e�"Ѿ� �e-3A��u�?9�e�+C��e�; �e��:)�a�m=mAdded new target pos. range: 27.900000 m, bearing: 6.150418 deg, deltaT: 4.406098 s, approachRate: -0.544700 m/s, LOS rate: 2.470630 deg/s, posRepo size: 4�mu� 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. �WuƮ�@�WqXq X��W�:W�2W�*W��V�bU�BU�*U�U����`f�;@U�����l�?B�z�B� B��A��>*B�A����A!�A!�A%X�="C-�qK�RC)C-Ʈ�@�C)��9I�AGew>�Y9�YI�]toGi�]��@��]$=��Y��Y��];,; �]�E�ﱜ_j,6?u~�E�AY}:N�%>�}:YL�@y}:�<_��}:�|��}:H����@Y��?����rθ?���� )������������ ���?���༹�?��� �?��� _6Ͽ����+��?)~:N�%> ~:2�c;I~:��Cɫ9�9)�9 �9I�AY�]��@y�]rG��M6����M�����M�����M��� �MN�:Y�M�Y1y�M�:��M 6)�M!�;��=M�g=Y��F�QU��>�������a��G����?G���y�����}��>I������:���J5�?����:����#Ѿ� ��}3A����?9���+C����: ��R�:)����:�Wc�@�W X X �W :W 2W*W�VbUBU*UUU������?BE��ѼBI BI�AM�>*BI�AMkH��AQ�AQ�AU_="C]�nS�RCYC]c�@�CY��E�C"=��I�)GEQ>�ř�_j,.�~�E�AY}2�;>�}2e_�@y}2��a��}2?�z��}2H�����H��?���@���?��� �������@�g���������?��� i��?��� N-�?���@��Ͽ����D��?)~2�;> ~2[�c;I~2��CɫY�Y)�Y �]���I�YY�}�@y�}�rG��--�=��-�$���-ף=i�- �@��) �-�@)�-�@I�)i�-�@��E��<MER=Y�E���QUE�>��I��I�aM�G��I��Qy�U��}��>I�����\5�?����%Ѿ� ���3A����?9��,C���o�: ��f�:)���W�`��@�W�X� X��W�:W�2W�*W�VbUBU*UU U �������?B5��ӼB9 B9�A=�>*B9�A=����A9�A9�AE��="CE�PX�RCICM`��@�CI��M8��<I�Q)�UkA��!I�)GM1>��é_j,��~�E�AY}2� �=�}2 j�@y}2N�a��}2�"x��}2H�����t��?����C��?����e�������Z¿����D��?��� �a�?����C/�?������ο������?)~2� �= ~2�qc;I~0ɫY�Y)�Y �]����I�YY����@y��&rG���>9�I��oGi���@��������W,; ��E �)�))�-�= �->��E: ����E�����E�����E��� �E�L:Y�E�W1y�Eč:��EM6)�E8�;��u9��M}G=Y�}��QU}�>�����a��G����y�L��}��>Iȑ�ŕ�m5�?�ŕ (Ѿ� ƕ34A����?9ƕS,C�Ǖ6�: ȕ.�:)ȑ�WE�o�@�WAXA XA�WA:WA2WI*WI�VibUiBUq*UqUqUu������?B�!ڼB� B��A��>*B��A��M��A��A��A��="C��jW�*C�����RC�C��o�@�C�����)� ���iI�yG��>��� }�>��� i�M�mGI�ai�q������ٺ������A�Y��_j,���~�E�AY}:�!�=�}:��@y}:��^��}:��x��}:H�����y�?����l�?����%E����� Tƿ���@E��?������?���@�ѫ?����h�ο����z�?)~:�!�= ~:y�b;I~:��Cɫ9�9)�9 �9I�AY����@y���qG��=�M�M=N=Y�E$�:QUE�>��A��A�aM�G��M�?G��Iy�UV��}U�>I�Y��e�:��]H5�?��m�:��]�*Ѿ� �]�4A��}�?9�]�,C��]�; �]x�;)�]��:�W�8�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����jK�@B�D�B� B��A�� >*B��A����A �A �A O?="C�MjQ�RC�C�8�@�C���I�G-->�ڶ_j,��~�E�AY}��@=�}����@y}���Y��}�Z�y��}�H�����O�?���`Iv�?�����b���� ��ɿ�����W�?�������?���`2<�?������ο��� Y�?)~��@= ~� �b;I~���C��E ����E�����E�����E�� �Ek�:Y�E0Y1y�E��:��E_"6�9U@ɫ�髉)�� �����I��Y���@y���rG���d;�O���?e;�O��ο�z�G�?���?���t� � �=)�I�y���MbX9�?333333��L7�A`�?���!?�������+�= �MA)��0AI�� Ai��A�����A��]�����]�>��]x�i�]@��Y �]��@)�]��@I�]��@i�]��@��m��<Mu+=Y�u�;QUu�>��y��y�a}�G��y��y�o�}��>Iȉ�ō��5�?�ōt/Ѿ� ƍo5A����?9ƍ�,C�Ǎ+�: ȍw�:)ȉ�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�R�B*** querying acoustic contact ***�P��P�B��B B�A 0>*B �A N��A �A �A ��="C�C�RCC���@�C���?i�?�בI��G�a>��9��I���pGi����@������������m,; ���E)݅�i�CI݅�i�Ci݁��݅�$=�݅�$=�݅���4�Q��_j,���~�E�A�|�|�;Y}6��<�}6��@y}6gmU��}6�z��}6H�����(!�?�������?������v?������̿�����&�?����\��?�������?��� ��ο���@���?)~6��< ~6?�b;I~6��Cɫ9�9)�A �E����I�AY�]��@y�] sGmZ****** received transponder code query ******mF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******�ua=ɮup=I��C=)��R=���lA�������+=M}=Y�a;QU ?�� �� �a �G���?G��9y�Ey��}E?I�I����:��M�5�?����:��M3Ѿ� �M 6A����?9�M-C��M""< �Mn"<)�M��:�W�Of�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U UM�����@B���¼B� B��A�'>*B��A����A��A��A��="C��|4�RC�C�Of�@�C����I��G�$>�Y��_j,'l�E�AY}:V��@�}:��@y}:S��}:�~��}:H�������?����Tr�?����_�?���@�"п�������?���@��?����c`�?�����dϿ�������?)~:V��@ ~:#Jb;I~:��Cɫ1�9)�9 �9I�9Y���@y���sG�xDUSBL response received:!U1,P F5F,000,00442,187,80,80,40,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 ��u�����u�����u�����u��� �u��:Y�u�W1y�uč:��uB.6��mQ8���m �=��m�=i�mG�@��i �mO�@)�m1�@I�m1�@i�i��=M�'=Y��:QU��>�����a��G����y���e�}��>I�A��E"�5�?��E9Ѿ� �E�6A��M�?9�E\-C��Eܹ: �EM�:)�A�W�6u�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@�� @Bm�ƼBq Bq�A}�8>*By�A�(��A��A��A�Y="C�Ȯ�RC�C�6u�@�C�I� )� lA�� I�GE�>���_j,�<*�E�AY}2���@�}2.��@y}2 T��}2����}2H�����8��?������?���@�_�?���`v�ѿ��� ���?������?��� Y��?���`c�Ͽ���@_��?)~2���@ ~2�=b;I~2��Cɫ9�9)�9 �=���I�9Y�}N�@y�}�sGܡ9ܡIܥqGiܥ��@�ܡ�ܡ�ܡ�ܥx,; ݥ�E���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��ˡ<M�n=Y��:�QU�?�������a��G������y��x��}�?I������:����5�?����:���L=Ѿ� ���7A����?9���-C�����: ����:)����:�W�ý@�WX X�W :W 2W *W �VbUBU*UUU����}P @BEx���BA BA�AE�?>*BI�AM���AI�AI�AMC� ="CU�� �RCUU�P>C]�ý@�CY��iI�qG�>����_j,�D�E�A�|i|Y}2M�@�}2��@y}2�U��}2��}��}2H������i�?���`���?����#ޛ?����f�ӿ�����e�?����d��?���` ��?����-^Ͽ���`���?)~2M�@ ~2X�`;I~2��Cɫ9�9)�9 �9I�9Y�}&�@y�}�sG�xDUSBL response received:!U1,R,1C0,000,00450,185,80,80,B4,FF �Fpublishing direction and range info���+Ⱦ���ɰ��=鰅+�> ��)���4CI��y����A����M�ސ��?����tcؿ��������ٱ� ��鿡)å�= å>���[�M�]=Y���QU��>������a��G����?G���y�����}��>I�����i�5�?���~BѾ� ��?8A����?9���-C�����: ��v�:)���W%Q�@�W!X! X!�W!:W!2W!*W)�V)bU)BU)*U1U1��E4 ����A��A��E��� �EbL:Y�Ay�A��E�6Ue���@[.@�R(Combining 5 samples.�P!*Q%��A�Z%�k��J�:@���g�%����������Z%�M�ސ��?����tcؿ��������2Q%+Ⱦ:Q!�Z%�`"�Ơ�5@�$��42����>3G@�Z%��OuW�? �w�E俒_z��?BQ%ײ@ Q%���Q%�A�P%��9?�P%�9?�P%����Q%����Q%/$A"Q%��@B�Gq��B� B��A��:>*B��A����A��A��A��W ="C �RC ���=C Q�@�C��!I�1GM1>�X)�_j,� ^�E�AY}m��@�}m>%�@y}m#�Y��}m��|��}mH����� �?�������?���`� �?�����aտ���@�?������?�����/�?���`�@Ͽ���� ��?)~m��@ ~m�`;I~m��CɫI�I)�I �II�IY�m��@y�mDtG��DNmea in: $SNTTA,,,,,170356.83*53 ai�@a��� am�@a��� aq�@a��� ae�@a��� ������x�&1�?��C�l�?���Mb�?����!?���d;> ���@=)��I��i�������Mb@�����Mb@�����Mb@����©������� �����)��AI�����i���A����������zA��E�h���E�">��EC�i�A��A �A)�EO�@I�E���i�EO�@��U_�<MU&=Y�U���QUU�>��Y��Y�a]�G��a��ay�e�t�}m�>I���%�:����5�?��%�:��JѾ� �19A��%�?9�.C����: ��?)���:�m�yAdded new target pos. range: 28.740002 m, bearing: 320.212082 deg, deltaT: 4.069831 s, approachRate: 0.206397 m/s, LOS rate: -11.287530 deg/s, posRepo size: 4�m�� 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. �W�#�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�����p�<@U���� ���?BM�G��BI BI�AMG>*BI�Au�:��Aq�Aq�Au��="C})���RC}S�X�C}#�@�C��ו�?iו�?��iI�yܑ9ܑIܕ�qGiܕ��@�ܑ�ܑ�ܑ�ܕy,; ݑG��>�fO�_j,��w�E�Aɫ�髱)�� ��I��Y� ��@y� �tG��E7 ����E�����E�����EP�� �E�L:Y�E0Y1y�E��:��E�'6)�E�;�9M���%=M�l=Y����QU�?�����a��G���?G��y����}�?Iȱ�ŵ�5�?�ŵ�NѾ� Ƶ�9A����?9ƵS.C�ǵ_�: ȵ�U?)ȱ�W�+��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ت�?B�˖�B! B!�A%S>*B!�A%_���A!�A!�A-g�="C5RC5�ů�C5+��@�C1��%?΅>���I�G%M>��5�_j,a���E�A�|�|Y}6�M�@�}60[�@y}66yY��}6M�u��}6H����� x�?�������?����Y��?���@Ѷؿ������?������?�����+�?�����cο����� �?)~6�M�@ ~6��`;I~6��Cɫy�y)�y �}����I�yY����@y���tGI�%�=)�%�=��-mA��)�í`e��í��<�í\�ií�@�é ĭn�@)ĭn�@Iĭn�@iĭ��@���}�M�E=Y��]�8QU��>�������a��G�����y�� �} �>I���5�?���UѾ� ��:A���?9��.C��į: � �?)��W=��@�WAXA XA�WA:WA2WA*WI�VIbUIBUI*UQUQUU���@�|�?B}�2��By B��A�XO>*B��A����A��A��A��="C��k��RC��i;�C���@�C��֭O�{>��aI�qG�9>��a�_j,����E�AY}6�h�@�}6�v�@y}6h�Y��}6D"u��}6H�������?����'^�?����R��?����\Yڿ���`(�?����G_�?��� �.�?���`�Nο����*�?)~6�h�@ ~6��a;I~4ɫY�Y)�a �aI�a܁9܁I܅�rGi܅*�@�܅%=�܁�܁�܅u,; ݅�EY����@y���tG��E� ����E�����E�����Ex�� �E�R:Y�EWU1y�E�:��E�6)�E@�;��M��MMU=Y�U#]�QUU�>��Y��Y�a]�G��Y��Yy�e��}e�>I�i��m�05�?��mp\Ѿ� �mD;A��u�?9�m�.C��m�: �m �?)�i�W��`�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����>��?BP���B B�AkN>*B�A%�f��A!�A!�A%/�="C5�:��*CIRCM&aX�CM�`�@�CQ��5O�N>I�9)�9��I� G-,>�zI�_j,�e��E�AY}2���@�}2M��@y}2YvX��}2 �s��}2H��������?����'��?������?������ۿ����P��?���`��?������?����A(ο����� �?)~2���@ ~2��_;I~2��CɫA�A)�I �II�QY���@y�%�tG��UX9>��U\�>��U/ݼi�U3�@��Q �UC�@)�UO�@I�U1�@i�U1�@��e��;Me:=Y�ex:QUe�>��i��i�am�G��m�?G��qy�u�j�}}�>I�y��}�D5�?��}vdѾ� �}<A����?9�}/C��}��: �}�@)�y�W�o�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������R�@B��˫�B B�A�P>*B�A�� ��A�A�A�6="C%����RC%,�U�C-o�@�C)��%�>���I��GI>��t�_j,AE��E�AY}j��@�}j�ٹ@y}j2�V��}j1�m��}jH������i�?�����0�?��� "��?�����?ݿ�������?��� D0�?�����ܪ?�����lͿ���`�?)~j��@ ~j1u_;I~j��Cɫ�髑)�� ��I��Y��4�@y��uG��=� ����=�����=�����=��� �=pG:Y�=0Y1y�=��:��=�6�9E@ �y�yai�ai am�am aq�aq ae�ae ��������M�?�E���Ը��~j�t�x?��n2?���ƽ ���;)�I�y����v���?R���Q��Zd;�O��?���?���½��j<= ���A)�I.AI��Ai�3A�������fA)�-�= �-�=��5�<M=M=Y�=�k:QU=�>��A��A�aE�G��A��Iy�Ma��}U�>I�Q��]�:��U#U5�?��e�:��U1lѾ� �U�<A��e�?9�UW/C��U��: �U��:)�U��:�W��@�W�X� X��W�:W�2W�*W��V�bU�BU*UU U ���@�@Bux���Bq Bq�A}N\>*By�A}����Ay�Ay�A}�� ="C���ʾRC���8�C��@�C��֝O��=��YI�aG�Z>�Y9�YI�]�rGi�]{�@��Y��Y��Y��]g,; �]�E�͜�_j,P��E�AY}J*�@�}J��@y}J�Q��}J �f��}JH����@��?�����w�?����2�?���@����� �7�?�����0�?���`� �?����Η̿���@&�?)~J*�@ ~J��_;I~J��CɫY�Y)�Y �YI�YY����@y���uG��vz=M�f=Y��z�;QU��>�������a��G����?G���y�����}��>I������c5�?���LsѾ� ��?=A����?9���/C�����: ����:)���W �a�@�W X X �W :W 2W *W�VbUBU*UUU�����Z@�R-B*** querying acoustic contact ***�P)�P)BM�ȃ�B� B��A��r>*B��A�$G��A��A��A�a ="C�zK�RC����C��a�@�C�i��nG���| u=����?i���?I�i���M���ٺI��M��A���I��G (>���`j,����E�AY}2�s�@�}2���@y}2qDI��}2�@]��}2H�����F��?���`���?�����x�?������߿�������?����=��?�����%�?���@�h˿��� �7�?)~2�s�@ ~2z�_;I~2��Cɫ9�9)�9 �=���I�9Y�u��@y�}�uG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E� ����E�����E�����E��� �E�S:Y�E�Y1y�E�:��Ei6��]E�>��]��>��]�#=i�](�@��Y �]��@)�]��@I�]@i�]��@��m��Mm2=Y�u��;QUu�>��q��q�a}�G��y��yy�'�}��>Iȱ����:�ŵv5�?����:�ŵ�|Ѿ� Ƶ�=A����?9Ƶ�/C�ǵ^�: ȵ��:)ȵ��:�W�dD�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����W @B%�昼B! B)�A-r>*B)�A-a��A)�A)�A-w� ="C5+�RC5��A�C=dD�@�C9���X<���I��G�E>�P� `j,��,��E�AY}:3�@�}:��@y}:P�=��}:lQQ��}:H���� X��?��� 8"�?����WN�?�����1����@���?�����X�?��� ��?����y�ɿ�����L�?)~:3�@ ~:�W_;I~:��C�9�I��sGi��@��������C,; ��E)�y�I�y�i�y���}�%=��}�%=��}�w�4ɫ9�9)�9 �9I�9Y�}��@y�}�vG�xDUSBL response received:!U1,P 1C0,000,00450,185,80,80,B4,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���=)��%=������nA��}�Z=M�[=Y�,�;QU��>�������a��G����?G���y����}��>I���-�5�?��ۄѾ� ��>A��5�?9�0C����; �D�;)��W���@�WX X)�W):W)2W1*W9�V9bU9BUA*UiUqUu����n @BZ��B B �A 6�>*B �A �| ��A�A�A� ="C�^"�RC�b8=C���@�C!��El"���9I�YG�~>�L�`j,"�F��E�AY}2���@�}29ɷ@y}2ˏ.��}2��?��}2H���� �l�?�����`�?���`���?��� o�����q��?�����5�?����HХ?���@+�ǿ����Ei�?)~2���@ ~2ʐ^;I~2��Cɫa�a)�i �iI�iY��+�@y���wG��eW ����e�����e�����e��� �e,O:Y�exZ1y�eq�:��e)6���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Íף;�Í?�Í7�=iÍ̬@�É č��@)čn�@IčO�@ičn�@���<=M�9=Y�� <QU��>�����a��G����y�,��}��>Iȹ����:�Ž��5�?����:�Ž��Ѿ� ƽ?A����?9ƽQ0C�ǽ� ; Ƚ;)Ƚ��:�W��ף@�W�X� X��W�:W�2W�*W��V�bU�BU�*UUU����!F@B-��b�B1 B1�A5��>*B1�A5� ��A1�A9�A=�" ="CE�6�RCE�#>CE�ף@�C����lA���lA�֥�Iש)ש��yI��G�^>���`j,��`��E�Aɫy�y)�y �}����I�yY��j�@y���wG�xDUSBL response received:!U1,R,338,000,0046F,189,80,80,BE,FF �Fpublishing direction and range info���X8����ɰ���=��7�> ��)���>CI��y����A����9ctd��?Z�x�����������ٱ���m���(\���?<�O��n��V-��?��mN?��mt� �m��<)�iI�iy�m� ףp= �?�p= ף��ˡE����?��mQ?��m����m�'= �mxA)�m&%AI�mlAi�m5A��i��mA��̪<M�^=Y����QU��>�����a��G����y����}��>Iȡ�ť֤5�?�ťF�Ѿ� ƥ�?A����?9ƥ�0C�ǥ��: ȥ��:)ȡ�W�F`�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� �@�R�(Combining 5 samples.�P�*Q���A�Z���sF7@�\���'4����������Z��9ctd��?Z�x�����������2Q�X8�:Q��Z��>�B�j�"@܀�bz�<����)�@�Z��)<l����?T��� �>k����?BQ�7�@ Q����Q��A�P�ި9?�P���9?�P�����Q�����Q�n0A"Q�/$AB��KY�B� B��A���>*B��A�h���A��A��A�s�="C�Y�K�RC�l>CF`�@�C���6���9�I�$tGi�o�@��������,; �qE��I�!GEs>�$�`j,Iiz��E�A�|<i|<Y}-���@�}-]��@y}-�� ��}-�X��}-H������h�?���@�t�?���@X1�?�����z�����J�?���@��?�����9�?������������E��?)~-���@ ~-�g];I~-��Cɫ�)� �I���=� ����=�����=�����=��� �=�G:Y�=�Y1y�=�:��=�6)�=�;�9E�Y�MB�@y�M�wG��TNmea in: $SNTTA,0.047770,,,,170401.27*45 ����)���= ��>���@�MA=Y�%\�<QU%�>��!��)�a-�G��-�?G��1y�5�_�}5�>I�9��=�5�?��=ÝѾ� �=@A��E�?9�=�0C��=M�: �=�:)�9�mUuAdded new target pos. range: 30.600000 m, bearing: 288.144999 deg, deltaT: 4.438869 s, approachRate: 0.419025 m/s, LOS rate: -7.224156 deg/s, posRepo size: 4�m�� 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. �W��X�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�������>@U���� �I�?BT�m�B B �A �>*B �A _���A �A �A�{="Cp`c�RC� �>C�X�@�C��֝̅����qI��G��>�,�$`j,~8���E�AY}6��@�}6���@y}6���}6�Jٽ�}6H��������?��� JG�?����%�?���@�F���� TW�?����w0�?����xq�?���@D�����@U��?)~6��@ ~6��];I~6��Cɫi�i)�i �iI�iY�}��@y�}%xG��=�=��=�����=�}=i�=(�@��9 �=��@)�=��@I�=��@i�=��@��M=MMX=Y�Mc*<QUU�>��Q��Y�a]�G��Y��Yy�e��<}e�>I�i��u�:��m#�5�?��u�:��mC�Ѿ� �mp@A��u�?9�m1C��mZ�: �m��:)�m��:�W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����;��?BU�1-�BY BY�A]��>*BY�A]����Aa�Aa�Ae�E="Cmtv�RCiCu��@�C���mG�����!I�1GM1>�;�*`j,����E�AY}>#R�@�}>�_�@y}>�/м�}>����}>H�����μ�?���`���?�������?���@n�߿���@��?���@�C�?����D�?�����{���������?)~>#R�@ ~>��];I~>��C��RlA��RmA�T9�TI�V�tGi�V��@��T��T��T��V�+; �VMEɫQ�Y)�Y �YI�YY�}��@y�}ExG��=�����=�����=�����=��� �=do:Y�=�X1y�=/�:��={6)�= �;��M#�<MMJ=Y�U�.<QUU�>��Q��Y�a]�G��]�?G��Yy�eM�<}e�>I�i��m��5�?��m8�Ѿ� �m�@A��u�?9�mA1C��m��: �mV�:)�i�W�;M�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������C�?B���G�B� B�A��>*B�A����A�A�A E="C��RCC;M�@�C�����v<�סI��G�%>���1`j,dȀ�E�A�|�|ɫ���)�� ��I��Y�5��@y�5$yGI��4=)��R=�½lA�½lA�� E�=�� t��� ,�i� ��@�� � ��@)� I� ��@i� ���R=M>=Y����QU�>��!��!�a%�G��!��)y�-���}5�>I�1��=�:��55�5�?��E�:��5��Ѿ� �5@AA��E�?9�5�1C��5j; �5;)�5��:�Wm?i�@�WiXi Xi�Wi:Wq2Wq*Wq�VqbUqBUy*UyUyU}���@#�?BE��7�BA BI�AM�>*BI�AM����AI�AI�AM��="CU����RCYC]?i�@�CY��=2��=��I�!G=Q>�@8`j,�ဩE�AY}Fo?�@�}FM�@y}FM����}F�%���}FH�����)1�?����G�?������t���� �A�����.�?����� �?���� S�?���@D#���������?)~Fo?�@ ~Fj^;I~F��CɫQ�Y)�Y �]���I�YY��u�@y��yG��=� ����=�����=�����=�� �=t[:Y�=WU1y�=�:��= 6�9E@�� �w��/��?���S�˿�I+��?�� �&?�� /]� � 94=)� I� y� �d;�O���? ףp= ���Q���?�� �?�� Q���� \= � � A)� �AI� �Ai� �A�� �� �A��-[�M-I=Y�5��<QU5�>��1��9�a=�G��9��9y�E?�=}E�>I�I��M@�5�?��MýѾ� �M�AA��U�?9�M�1C��M8�: �M�:)�I�W}ӱ�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U������P�@B����B� B��A�9�>*B��A�����A��A��A���="C��ߛ�RC�C�ӱ�@�C���������%��=I�))�)���I�G%M>ܡ9ܡIܡiܡ�ܡ�ܡ�ܡ�ܥc+; ݥE�8>`j,Y����E�AY}2x��@�}2$��@y}2�m��}2�w��}2H����@�Z�?������?���@��w���� ͦݿ�����Y�?���`��?�������?����@�������4��?)~2x��@ ~2~^;I~0ɫI�I)�I �M����I�IY�}��@y�}MyG��wq<M^=Y��<QU�>��!��!�a%�G��%�?G��)y�-4�<}-�>I�9��E�:��=�5�?��E�:��=��Ѿ� �=�AA��M�?9�=�1C��=S*; �=lf;)�=��:�W�1�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U����@7M@BM@5�Bq Bq�Au��>*Bq�Au\���Aq�Ay�A}�="C}�l��RC�C�1�@�C���m2!#>��AI�IGm5>�� E`j,ԁ��E�A�| i| Y}R?��@�}R�ֹ@y}RP�4��}R�,���}RH����`r�?�����P�?�����#?�����Nݿ�����o�?�������?�������?�����D����� ���?)~R?��@ ~RS�];I~Pɫ�髙)�� ��I��Y����@y��myG���AA��� ����)��= ��=��]� ����]�����]�����]�� �]�R:Y�]�X1y�]/�:��]�!6�Í�q��Í���ÍC��iÍQ�@�É č?�@)č��@Ič��@ič��@��Q�;M�B=Y�X<QU��>�����a��G����y�fl<}��>Iȹ�Ž�5�?�Ž)�Ѿ� ƽBA����?9ƽ72C�ǽM�: Ƚ��:)ȹ�W�h�@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������@�R B*** querying acoustic contact ***�P �P B�vY�B� B��A���>*B��A�����A��A��A��="C��v��RC�C�h�@�C�����T>�ׁI��G�=>�|JK`j,�[/��E�A�&��>9�$I�&$tGi�&o�@��$��$��$��&�*; �&�EY}^h��@�}^ܹ@y}^�: ��}^����}^H���� �t�?�����E�?��� \ԁ?���@�Eݿ���@,o�?���@ �?����P'�?���@����������?)~^h��@ ~^/+^;I~^��Cɫ�髙)�� �����I��Y����@y���yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����;M�I=Y���;QU��>������a��G����?G���y����:}��>I�q��}�:��u�'5�?��}�:��us�Ѿ� �uhBA��}�?9�uw2C��u��: �u��:)�u��:�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U-����� @B����B� B��A�>�>*B��A��n���A��A��A��="C��0��RC�C����@�C����!�k>����?i���?���I��G��>����%�Ci���mGI��i�����vʿٺ������A��8R`j,�QI��E�AY}U���@�}Ua��@y}UZ仙}U�`o��}UH����`�_�?����2��?���@CV�?�����ݿ��� �Q�?�����)�?��� 3�|?���@�筿�������?)~U���@ ~U�^;I~U��Cɫ)�))�) �-����I�)��E� ����E�����E�����E@�� �E�X:Y�E0Y1y�E��:��E&6Y�� �@y���xG�xDUSBL response received:!U1,P 338,000,0046F,189,80,80,BE,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���@��� ����@)��n�@I����@i��n�@��5Y:�MU(=Y�]v;;QUe�>��i��i�a��G����y��6�}��>I�����P;5�?�����Ѿ� ���BA���?9���2C�����; ����;)���W}�2�@�WyXy Xy�Wy:Wy2W�*W��V�bU�BU�*U�U�U�����d@B�4�<�B� B��A��>*B��A�br���A��A��A�r�="C�9�ɿRC C �2�@�C�� 6*�>�� I�1 Gm �>��\X`j,jc��E�AY}:�;�@�}:{I�@y}:�\Ż�}:˰���}:H�����y0�?����q/�?�����?����nI���@~�?���@��?���`��x?��������������?)~:�;�@ ~:��];I~8ɫ9�9)�9 �9I�9Y�}��@y�}|xG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�}a=)�}�=�� �y�&1��?���S㥛����������� `%?�� /ݼ � �̼)� I� y� ����Mb�?�p= ף��y�&1��?�� � ?�� ���� `�< � �A)� �AI� 1Ai� �A�� �� �A������%�r�M-s=Y�-j;;QU-?��1��1�a5�G��1��9y�=C�}= ?I�A��EHI5�?��E0�Ѿ� �E�BA��U�?9�E�2C��E��: �Eb�:)�A�Wu�)�@�WqXy Xy�Wy:Wy2Wy*W��V�bU�BU�*U�U�U����@];@BU���BY BY�A][�>*BY�A]����AY�Aa�Ae��="C�L�ҿRC�C��)�@�C��i9�iI�ii�i��i��i��i��m5*; �mqE)�مI�مi�م��م��م��݅��4�����>�יI��G��>�.�^`j,_�|��E�AY}F���@�}FO��@y}FBͻ�}F�g��}FH����@���?����^�?�����D�?���@lR߿����+��?�����5�?���@��y?����,������ T��?)~F���@ ~FZ ^;I~F��Cɫy�y)�y �yI�yY����@y��xG�xDUSBL response received:!U1,R,2B4,000,00491,189,80,80,88,FF �Fpublishing direction and range info���#�����ɰ���=�� ��)���CI��y���B�����"W�?����+���������ٱ�����ԼM�`=Y���(�QU��>�����a�G���?G�� y� O�} �>I����:��/Y5�?���:����Ѿ� �.CA��%�?9�.3C����: �^�:)���:��Et ����E����E����E�� �E|Q:Y�E�T1y�E��:��E!6)�E7�;�9M��We'��@�WaXa Xa�Wa:Wa2Wi*Wi�VibUiBUi*UqUqUu����'�@�R�(Combining 5 samples.�P�*Q��B�Z��I�����:@�F��ψ2����������Z���"W�?����+���������2Q�#��:Q��Z��*]Qx �,@��ʀ�)=���+���@�Z��w�ك;H�?�l������{�?BQ��~�@ Q�N��Q��fA�P��9?�P�ި9?�P�����Q�����Q��A"Q�n0AB�h�B� B��A��>*B��A��-���A��A��A���="Cm��ܿRCqCu'��@�Cq�օ��>Iׁ)ׁ��yI��G�g>��pe`j,xҖ��E�AY}2 �@�}2���@y}2�K�}2�-��}2H�����w��?�����?���`l��?����eS������?����2��?���@f�z?�����ſ����!��?)~2 �@ ~2��^;I~2��Cɫ9�9)�9 �AI�AY�}��@y�}�wG��DNmea in: $SNTTA,,,,,170405.76*58 ��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. �W���@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U������Q@@U���� ���?B-��;�B) B)�A-�>*B1�A5����A1�A1�A5�="C=~�RC9C=��@�CA��9���I�Gm>�A���k`j,3����E�A9�i�I�m��sGi�m��@��i���i���i���m��); �m�)Eɫ���)�� ��I����5j ����5~����5~����5��� �5�P:Y�5T1y�5@�:��5�6)�5��;Y�En�@y�E�wG��%���M%O=Y�%���QU-�>��)��)�a-�G��5�?G��1y�5���}=�>I�A��M�:��E�}5�?��M�:��EI�Ѿ� �E�CA��M�?9�E�3C��EI�: �E��:)�E��:�W}mN�@�WyX� X��W�:W�2W�*W��V�bU�BU�*U�U�U�������?B]¨%�BY BY�Aeˑ>*Ba�Ae"8���Ai�Ai�Am��="Cu��RC�C�mN�@�C��֩�ׁI��G��>��r`j,��ʁ�E�AY}^���@�}^��@y}^��}^�q\��}^H�������?�������?����<��?����y���������?��� RI�?���`�?�����W˿���`�B�?)~^���@ ~^ `;I~^��Cɫ���)�� �����I��Y����@y���vGU8Not Powering down - fast GPS�Q �U����)�]����I�Yi�Yi�]������]������]����ɶ]�����]���� �]����)�e����I�e����i�e������e������e����ɷe������5�|���5�y>��5-�i�5@��1 �5��@)�5��@I�5��@i�5��@��m�r�MmF=Y�m λQUm�>��q��q�au�G��q��yy�}�}}�>Iȡ�ť��5�?�ť�Ҿ� ƥDA����?9ƥ�3C�ǥ�; ȥ�;)ȡ�W����@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U������*�?Be��F�Bi Bi�AmK�>*Bi�Amop���Ai�Aq�Au1�="Cu�6��RCyC}���@�Cy Ս�=�ԍ�=�֕FӅ>�ם�?iםx?��iI��G���x`j,�Z䁩E�AY}JF�@�}J��@y}J$�8��}J"�f��}JH����` ��?��� �P�?�����+�?���༸����`�?�?�����?���`��?����+�̿�����0�?)~JF�@ ~J�6`;I~Hɫy�y)�y �}����I�yY���@y��OwG��E ����E�����E�����E)�� �E�]:Y�E�V1y�E�:��E�#6�9M@����^�I+�?k�t���+�����?���X?��� 0� ���=)��I��y����E�����?J+����I+��?����&?����Ƚ���94= ���A)��j*AI��fAi��dA�������A�����<M�R=Y����QU�>���� �a �G�� ��y�h��}��>Iș����:�ŝ��5�?����:�ŝ�Ҿ� Ɲ�DA����?9Ɲ=4C�ǝ��: ȝ��:)ȝ��:�W��@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U���� ���?Bm 1�Bi Bi�Am�>*Bi�Au֤��Aq�Aq�Au��="C}7I��RCyC}�@�C���9��I��i��������������5); 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���;)����:�W��d�@�W�X� X�W:W2W*W�V bU BU *U U U���@<�@�RB*** querying acoustic contact ***�P�PB=��&�BA BA�AE#�>*BA�AE����AI�AI�AM��="CU���RCQCU�d�@�CY��M���>�� I�G-->��ϒ`j,S�K��E�AY}bg�@�}b'�@y}bp'���}b��~��}bH���� ���?����r��?��� p�?�����v����� ��?���@W�?�������?���@փϿ����C�?)~bg�@ ~bia;I~b��Cɫ�髙)�� ��I��Y���@y��vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** �A�A)�U�= �U�=���|�����������B�� ��f:Y�y���:&6����Ļ���=����=i����@��� ����@)��n�@I����@i����@���#�M�9=Y���ۻQU��>�������a��G������y���}��>Iȑ�ŕ7�5�?�ŕ&>Ҿ� ƕ�FA����?9ƕL5C�Ǖn�: ȕ��:)ȑ�W��Ս@�W�X� X��W�:W�2W�*W��V�bU�BU�*U�U�U�����E< @Bes�\�B� B��A�:v>*B��A�����A��A��A��="C�щ��RC�C��Ս@�C��ֵ��>�בI��G��>����`j,<�e��E�AY}J�#�@�}J�1�@y}Jw���}JV��}JH�������?����0��?���`M�?�����"�����LM�?���`#��?����, �?������Ͽ���@��?)~J�#�@ ~J��`;I~HɫY�Y)�Y �]���I�YY����@y��vG�xDUSBL response received:!U1,P 2B4,000,00491,189,80,80,88,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 �����S㥛�?H�z�G��:��v���?���$?��= � ��T=)�I�y������Mb�?���x�&����(\�µ?��#?��7�����= �xA)��0AI��Ai�5A����A��u�q�Mu'=Y�}�A�QU}�>܉9܉I܉i܉�܍%=�܉�܉�܍W(; ݍyE�����a��G����y�x�}��>Iȹ����:�Žv�5�?����:�Ž6KҾ� ƽ]GA����?9ƽ�5C�ǽ7�; Ƚҿ;)Ƚ��:�We^V�@�WaXi Xi�Wi:Wq2Wq*W��V�bU�BU�*U�U�U�����08@B��b�B� B��A�`t>*B��A���A��A��A�=�="C�"�RC�C�^V�@�C���� ��� �?i�� �?�ס I�� G� �>�p%�`j,'���E�Ai� nGI�)i�Y���!ſٺ������AY}�wF�@�}�#T�@y}�¹���}����}�H���� _v�?���@k�?�������?����o�����෫�?�����G�?������?����8�Ͽ���@?��?)~�wF�@ ~���`;I~����M �������������������� �`N:Y�P^1y���:��(6)���;�9��ɫ�髩)�� ������I��Y����@y���uG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���n��M�f=Y� ���QU�>����!�a%�G��-�?G��)y�-ӛ�}5�>I�9��=;�5�?��=7UҾ� �=HA��E�?9�=�5C��=m�: �=��:)�9�W��e�@�W�X� X��W�:W�2W�*W�V bUBU*U!U!U-��� ��@B�BY3�B� B��A��r>*B��A�����A�A�A�}="C%R�RC!C%�e�@�C!��-N>�� I� G5 �>�� �`j,�W���E�AY}JAv�@�}J탭@y}J��ɼ�}J��|��}JH��������?�������?�������?���@�B�������?��� 5��?����7�?���@AϿ���`z�?)~JAv�@ ~J$=a;I~J��CɫY�Y)�Y �YI�YY����@y��uuG�xDUSBL response received:!U1,R,01F,000,004B1,185,80,80,55,FF �Fpublishing direction and range info���l�ݼ���ɰ���=鰥+�> ��)����BI��y��= B����i�E����?|�vв����������ٱ�I��R=)��4=���mA���lA����D�����<���Q8�i����@��� ����@)��I��O�@i��O�@�����M�]=Y�����QU�>�����a�G���� y���}�>I���%�:���5�?��%�:���_Ҿ� ��HA��%�?9�6C����: �A�:)���:�WM]��@�WIXI XI�WI:WQ2WQ*WQ�VQbUYBUY*UYUYU]������@�R�(Combining 5 samples.�P�*Q�= B�Z�����FA@Qhr�������������Z��i�E����?|�vв����������2Q�l�ݼ:Q��Z�����}��5@�Q��a�:����c�C�?�Z��z���44�?�)���迺�8����?BQ�쬬@ Q�;��Q���A�P� �9?�P��9?�P�����Q�����Q� �@"Q��ABNh9�B B�Af>*B�A-d��A)�A)�A-�W="C5���RC1C5]��@�C9��=��>��I�!G=r>܁9܁I܁i܁�܁�܁�܁�܅�'; ݅DE)�a�I�a�i�a���a���a���e��X4��9�`j,�G���E�AY}����@�}�a��@y}���ּ�}�k9~��}�H�����^?�?���`$%�?���`)J�?�����������Iy�?�����m�?����)ޚ?����qϿ���`�?)~����@ ~�1Xa;I~���Cɫi�i)�i �qI�q���������������������#�� ��p:Y��Y1y��:���"6)�J�;Y��3�@y��PvG�5DNmea in: $SNTTA,,,,,170410.17*5B ��R=M�A=Y��y�QU��>�����a��G���?G��y�Wn�}��>Iȡ�ť5�?�ťlҾ� ƥvIA����?9ƥT6C�ǥ��: ȥ��:)ȡ�m�qAdded new target pos. range: 34.559998 m, bearing: 309.174250 deg, deltaT: 4.481720 s, approachRate: 0.428407 m/s, LOS rate: 2.868920 deg/s, posRepo size: 4�m�ZTarget missed at range: 34.56 m. Rolling out.�m�NTransitioning guidance mode to: ROLLOUT"X��W��W�X�; X��L?�W����:W�2W�*W��V�bU�BU�*U�U������GA@U������b�?B�Z?�B B�A >|>*B �A +���A �A �A "="C�;ۿRCC�C����� ���I��G �>�M�`j,͂�E�AY}2a@�}2 �@y}27Ἑ}2-����}2H���� ��?����-��?��� �?����JD����@'��?���`�0�?����!�?�����Ͽ����5��?)~2a@ ~2s�a;I~2��Cɫ9�9)�9 �9I�9Y�],�@y�]GvG���`廩���%>����&�i���@��� ��)��I��i��n�@��uN��Mu/=Y�u`-�QUu�>��y��y�a��G�����y� �U�} �>�"�Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.Iȹ����:�Ž 5�?����:�Ž{Ҿ� ƽgJA��U�?9ƽ�6C�ǽ�W= Ƚ�V=)Ƚ��:�W� �W� X� X� �W� :W� 2W� *W� �V� �,� ��� Y� �Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy�,� ���1-� ��� Z� Uninitialize.q-� ����Z� @Uninitialize Buoyancy Component.U� U� ���`~�?�AE ?5�;B���� B�A%Q{>*B%�:9�A%�����A%O�3�A%��6�A!"C- HؿRC)C1�C1�� ��>I� ��)� ���� ��i� ������ ����������������� �� ���Z:Y���X1y��/�:��� 6�9�@����I��G� ?�]��`j,Fx���E�A�|i|Y}6���@�}61�@y}6�켙}6�A���}6H�����u��?����#�?���@���?���`���������?�������?������?��� �Ͽ���` ��?�L9�LI�Li�L��L��L��L��N�'; �NE)~6���@ ~6�Ya;I~6��Cɫ�髑)�� ��I��Y����@y��uuG ��������K7�?���Q����rh��|�?���I?����� ���=)�I�y����C�l�?#��~j���{�G�z�?��d?��㥽���#= �MA)����I�i��A����=A)��= ��=��-�1�M-+=Y�5F7�QU5�>��5�����=����a=�G��9��9y�emw�}e�>I�q��uu)5�?��uT�Ҿ� �u�JA��}�?9�u�6C��u��: �uY�:)�q�W��W�X! X!�W!:W!2W)*W)�V)U1U5���@U�?zL�?�L�?�L���@�L�vj�@�A��Ÿ;B� B��A�f>*B�F>9�A��A�: 4�A�7�A�"C�]�ؿ*C�RC�C��C���)I�9Gew>�6z�`j,d ��E�AY}f���@�}fT�@y}f�b���}fKd}��}fH����`��?�������?������?�����c����`@U�?���`}��?����k�?���`BVϿ���`��?)~f���@ ~f�a;I~f��Cɫ�髱)�� ��I��Y����@y���uG�ÝtӾ�Ý�I>�Ý�C>iÙ�Ù ĝ��@)ĝO�@Iĝ@iĝO�@��N<M�R=Y�QU��>�����a��G�����y�����}��>I������:����25�?����:�����Ҿ� ��kKA����?9��'7C���s�: ����:)����:�W��W�X� X��W:W2W*W�VU U ���`���?zL��L��L��L�wd�@�A�<�;B� B��A��i>*B��>9�A��A�vD4�A�CA7�A�"C�mFۿRC�C��C� ��=��������>I��GL>��E � ����E �����E �����E ��� �E �V:Y�E ]1y�E �:��E '.6����`j,7$��E�Aɫ�髙)�� �����I��Y����@y���uG��MĴ<MMR=Y�U���QUU�>��Y��Y�a]�G��Y��ay�e���}e�>I�i��m<5�?��m��Ҿ� �m�KA��u�?9�md7C��mA�: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U����`x@zL��L��L��L��A���Q;B� B��A��r>*B�@9�A��A���4�A�[_7�A�"C��)RC�C��C���2g=ܡ9ܡIܥ�rGiܥ{�@�ܡ�ܡ�ܡ�ܥY'; ݥ�E�����>I�GEs>��M �=i�M =�8��`j,��=��E�A�|�|4<Y}6ܯ@�}6��@y}6PC��}6��\��}6H�����(M�?������?�����A�?����"������8q�?�������?����`��?�����^˿��� =�?)~6ܯ@ ~6.`;I~6��CɫY�Y)�Y �YI�YY����@y��vG�������±�µmA���.�;M�T=Y���i�QU��>�������a��G������y��1.�}��>I�����D5�?���իҾ� ��bLA����?9���7C����: ��@�:)���W �W X X �W:W2W*W�VUU���@�)@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=�1�@�AU���:B� B��A�Lu>*B��?9�A��A���4�A�r7�A�"CՏ*CRCC�C�����<��9I�iG�]>��� � ����� ������ ������ ��� �� &�:Y�� P^1y�� ��:��� �6���`j,��W��E�AY}6aۮ@�}6 �@y}69���}6��E��}6H���� w��?���`w��?���`88�?�����������?���@M�?�����8�?���`@�ȿ��� Yb�?)~6aۮ@ ~6�``;I~6��CɫI�I)�I �M����I�IY�}��@y�}vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�� ��=�� �ļ�� n�i� ��@�� � n�@)� I� O�@i� ��%m��M�)=Y��2�QU��>�����a��G����y����}��>I������:����M5�?����:�����Ҿ� ��MA����?9���7C�����: ����:)����:�W��W�X� X��W�:W�2W*W!�V!U!U-�����1@zLa�La�La�Le: �@�A}\�0:By By�A}`t>*B��;9�A��A���4�A��z7�A�"C��)*C�RC�C��C�Y���(9)���= ��>��� ������ mA��� mA�����>I��G�>�I��`j,"�q��E�A�&��>9�$I�$i�$��$��$��$��&'; �&�EY}J_��@�}J�@y}J�+��}J�P(��}JH���� �H�?���`N'�?����|�?���@�m�����Ȑ�?�����v�?���`[�?����7�Ŀ������?)~J_��@ ~J��_;I~J��CɫY�Y)�Y �YI�YY��>�@y��]vG�xDUSBL response received:!U1,P 01F,000,004B1,185,80,80,55,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 ��E�u�V�?`��"����X9��v�?��Er(?��E��� �E��=)�AI�Ay�E�bX9���?��K7����&1��?��EE?��EI���E�P= �E�A)�E�-AI�EKAi�E�A��A��E�A��e��<Me8=Y�ed�:QUm�>��i��i�am�G��i��qy�u���}u�>Iȹ�ŽHS5�?�Ž��Ҿ� ƽ�MA����?9ƽ/8C�ǽ��: ȽQ�:)ȹ�W �W X X�W:W2W*W�VUU=����[�@zL��?�L��?�L����@�L�3,�@�A=��B9 BA�A]�}>*B]�>9�AY�Ae�4�Ae�t7�Aa"C}�)*CyRC�C��C�Yω�ϑ�ϑ)Е�� Е��I�E AA)�E AA��� ?����� ������ ������ �� �� v:Y�� �U1y�� ��:��� M!6)�� ��;�9� ���MՌ�>I�YGu�>����`j,U����E�A�| i| Y}Bf+�@�}B9�@y}B2� ��}B�Y��}BH��������?��� ��?���� ��?����F����� t[�?�������?�����Y�?�����z�����@���?)~Bf+�@ ~B��_;I~B��CɫI�I)�Q �QI�QY��Q�@y��tvG鮑ɮ���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �ý94>�ýף>�ý��=iý@�ù Ľ��@)Ľ��@IĽ��@iĽ��@���a�;M�R=Y����;QU��>�������a��G������y��}��}��>I������:����W5�?����:���V�Ҿ� ��4NA����?9��k8C�����: ����:)����:�W�WX X�W:W!2W)*W)�V)U)U-���@��@zL��L��L��L�tH�@�A�7̺B! B!�A%�>*B%B9�A!�A%75�A%>f7�A)"C-�)*C5�˱�RC1C1�C1��e�=��e�=Y�1��e��>I�yG�~>����`j, ����E�AY}2m�@�}2�z�@y}2�;�}2&���}2H�����)��?���`<��?���@8��?��� A������$�?�������?����\�?����/ξ��������?)~2m�@ ~2S_;I~2��Cɫ9�9)�9 �9I�9Y�}�@y�}SwG�xDUSBL response received:!U1,R,18A,000,004BC,185,80,80,8C,FF �Fpublishing direction and range info���x �����ɰ���=鰁 ��)���CI��y���B����ir�Ԇ �?�M��տ��������ٱ���x=M�_=Y��L<QU��>�����a��G�����y�����}��>I������[5�?���h�Ҿ� ���NA����?9���8C����: ����:)���W��W�X� X�W:W2W*W�V U U �����@�R�(Combining 5 samples.�P�*Q��B�Z�����L�@@%r���'����������Z��ir�Ԇ �?�M��տ��������2Q�x ��:Q��Z��� �@"� ;�A��&a�5@�Z����߮ѵ?p�}���|¦V�s�?BQ����@ Q� �Q�@@�P�ۨ9?�P� �9?�P�����Q�����Q�� A"Q� �@zL�L�L�L�|�@�A5�$�B9 B9�A=P�>*B=E9�A9�A=�5�AE�N7�AA"CM�)*CM����RCICi�Cq�19�1I�1i�1��1��1��1��5�&; �5�EYυ�(9 Չ�ԍ�=��qI��G��>�� ���� ����� ����� ��� � �I:Y� 0Y1y� ��:�� �6)� w�;��]�>�� �Ci���mGI��fpAi������ٺ%fpA��%�yA����`j,l�Ã�E�Aɫy�y)�y �}���I�yY���@y��OwG��DNmea in: $SNTTA,,,,,170414.36*5C ��)��)�� ~�M�/=Y����QU��>������a��G������y�����}��>I������:����`5�?����:����Ҿ� ��VOA����?9���8C���(�: ����:)����:�m�uAdded new target pos. range: 35.220001 m, bearing: 274.900716 deg, deltaT: 4.224678 s, approachRate: 0.156226 m/s, LOS rate: -8.112697 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)�A@U����`=��?zL �L �L �L �A�b�BA BA�AE�>*BE�@9�AA�AMr)5�AM�%7�AI"CU�)*CQRCQCQ�CYY�Q��M ��>I�Y Gu �>���`j,�}݃�E�AY}md �@�}m.�@y}mg;���}m8rԽ�}mH���� ?&�?��� D�?����)̶?������������j��?���@=��?���@)��?���@�����������?)~md �@ ~m_;I~m��Cɫ)�1)�1 �1I�1Y�m>�@y�m�wG��p=i�=I�-�=)�-�=�����G�z��?�I+��?����Mb�?���p�>���94< ���<)��I��y����v��/�?{�G�z��L7�A`�?���x ?���ף����+= µrA)µ3AIµ� Aiµ�A�������A��5��=��5�?��5���i�5f�@��1 �5b�@)�1I�5@i�1��E��<ME?=Y�M��<QUM�>��I��Q�aU�G��Q��Qy�]�Ž}]�>I������e5�?����Ҿ� ���OA�� �?9��(9C����: ��f�:)���W1�W1X1 X1�W1:W12W9*WY�VYUYUe�������?zL�>?�L�>?�L�[T�@�L�B��@�A�ց�B� B��A�Ɏ>*B��C9�A��A��<5�A�T�6�A�"C��)*C�RC�C��C�Y���*9���.ą>I��G��>�� T ���� {���� {���� ��� � �N:Y� #R1y� ��:�� i6�9 @�- ��>9�) I�- \sGi�- ��@��- $=��) ��) ��- o&; �- zE)ݹ�Iݹ�iݹ��ݹ��ݹ��ݽ���4��0�`j,]S���E�AY}>��@�}>�@y}>o�<��}>2�ҽ�}>H�����4�?��� ��?����/q�?���@n�������Y��?��� �j�?����+��?�����C������8��?)~>��@ ~>j�_;I~<ɫQ�Y)�Y �]����I�YY��\�@y���wG��uZ,<Mun=Y�uu�<QU}?��y��y�a}�G��y��y��W�}�?Iȑ����:�ŕ�h5�?����:�ŕ�Ӿ� ƕ�OA����?9ƕU9C�ǕA�: ȕ �:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������q�?zL��L��L��L��@�A�H��B B�A��>*B�I9�A �A VM5�A ϳ6�A "C�)*C_ ��RCC�CY� �*9������?΅>I�!GEQ>�`aj,�$��E�AY}�@�}��@y}j����}R �}H��������?�������?����֛�?���@(�������?����^D�?�����7t?����*����������?)~�@ ~/m_;I~��Cɫ���)�� �����I��Y��@y�jwG)�}�= �}�=��=�>��="�=��=/�<i�=̬@��9 �=-�@)�=n�@I�=��@i�=n�@��M���MM0=Y�U�h<QUU�>��Q��Q�a]�G��Y��Yy�]6�}e�>I�i��m9m5�?��m�Ӿ� �mDPA��u�?9�m�9C��mn�: �m8�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�(q�@�A����B� B��A�x�>*B��A9�A��A�a5�A��6�A�"C��)*C�x��RC�C��C�Y��+9�����>I� G% �>��- �����- �����- �����- ��� �- �h:Y�- DW1y�- Y�:��- �6��@ aj,C+��E�AY}6w2�@�}6#@�@y}6���:�}6(m��}6H�����ȉ�?������?��� qu�?����N����@�j�?���`�ӡ?���`��W������ݼ��������?)~6w2�@ ~64_;I~6��CɫY�Y)�Y �]����I�YY����@y��xGI��)�� ����HN=Mv=Y���<QU%?��!��!�a%�G��!��)y�-���}-?I�1��=�:��5 p5�?��E�:��5~ Ӿ� �5|PA��E�?9�5�9C��5��: �5��:)�5��:�Wi�WiXi Xi�Wi:Wi2Wi*W��V�U�U�����&8�@zL1�L1�L1�L5�Ü@�AE����BA BI�AM�>*BMI9�Ai�AmCs5�Amvd3�Aq"Cu�)*C}����RCyCy�Cy��9��I���rGi��{�@���%=���������&; ��DEYυ/-9��u��>I��G�>��(aj,Q�D��E�AY}2�}�@�}2���@y}2V��;�}2����}2H���� �2�?����lS�?���`^�?�����������!�?���@9��?�����T����@����@)��?)~2�}�@ ~2j_;I~2��Cɫ9�9)�9 �9I�AY��X�@y���wG��-��M�B=Y��p<QU��>������a��G�����Qy�USL�}U�>I�Y��]Xs5�?��]�-Ӿ� �]�PA��e�?9�]:C��]�: �]��:)�Y�W��W�X� X��W�:W�2W *W �V UU������@zL9�L9�L9�L=��@�AUr���BQ BQ�A]g�>*B]�C9�AY�A]{�5�A]6/��AY"Ce�)*C�RC�C��C�YϝS-9 ե�=�ԥ�=�֕��>I��G��>�� ���� ����� ����� ��� � �H:Y� xZ1y� q�:�� )6��[aj,M�^��E�AY}r�ħ@�}r�ҟ@y}r�c<�}r6oֽ�}rH����@���?���`��?�������?���`���������?�����4�?����o�������������Z��?)~r�ħ@ ~r9�^;I~r��Cɫ���)�� ��I��Y���@y�*xG�� �� AA����{�G�z�?�Zd;��Zd;�O��?����?������ ��j<=)��I��y����A`��"�?��MbX��{�G�z������>����ʽ����#� �A)AIKAi�A������zA�¹�¹��C=����>��C��i���@�� �K�@)��@I�9�@i��@��Q�<MB=Y��r<QU��>�����a��G����y��]�}��>Iȱ�ŵ"t5�?�ŵ8Ӿ� Ƶ�PA����?9Ƶ0:C�ǵ4�; ȵ��;)ȱ�W!�W!X! X!�W!:W!2W)*W)�V)U)U-�����@�R]B*** querying acoustic contact ***�PY�PYzLm��>�Lm��>�Lmĸ�@�Lmr�@�A���m�B� B��A�1�>*B�-F9�A��A�t�5�A�����A�"C��)*C�RC�C��C�Y���/9�ֽ?΅>I��G��>�� 9�� I�� �rGi�� *�@��� ��� ��� ��� �%; �� E�d}aj,��x��E�AY}RA�@�}R��@y}R���<�}R�Kɽ�}RH�����|q�?������?����̏�?��� _����� r|�?����= z?���������������������?)~RA�@ ~R��^;I~Pɫy�y)�y �}���I�yY��_�@y���wG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���%=i��C=I��a=)��4=���M�N=Y���l<QU �>�����a�G����y�Zl�}�>I�!����:��%�t5�?����:��%mAӾ� �%�PA����?9�%Z:C��%�c< �%c<)�%��:�W��W�X� X��W�:W�2W�*W��V�U�U���� ) @zL!�L!�L!�L%>��@�AU��H�BQ BQ�A]ސ>*B]F9�AY�A]˖5�A]��AY"C��)*C�> ��RC�c�>C��C�Y�a��]��>I��G��>��� � ����� ������ ������ ��� �� �G:Y�� 0Y1y�� ��:��� �6)�� ��;�9� ���d$aj,�m���E�AY}6U]�@�}6k�@y}6˞�<�}6L�½�}6H������0�?���`0��?������?����U����`[Z�?�����V�����23�����@�R������r��?)~6U]�@ ~6��^;I~6��CɫY�Y)�Y �]����I�YY��j�@y���wG�xDUSBL response received:!U1,P 18A,000,004BC,185,80,80,8C,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���@��� ����@)��n�@I����@i��n�@����<;M�-=Y���-<QU��>�������a�G����!y�-�<�}-�>I�1��5�t5�?��5�LӾ� �5�PA��=�?9�5�:C��54�: �5b�:)�1�W��W�X� X��W�:W�2W�*W��V�U�U�����u� @zLa�La�La�Le �@�A�p��B� B��A���>*B��B9�A��A� �5�A�t��A�"C�)*C%��n�RC%� �>C)�C1Y�Up/9��Y��Y��E Y>I�Q Gm �>�R�*aj,�J���E�AY}2���@�}24Ý@y}2o�<�}2����}2H�������?����6�?�������?����>;��������?���@�]����� �읿����y���������?)~2���@ ~29r_;I~2��Cɫ9�9)�9 �9I�9Y�} �@y�}�xG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )��= �>��u*w=Mu~=Y�}�j<QU} ?��y��y�a��G����y���}�?Iȑ����:�ŕ�t5�?����:�ŕ�TӾ� ƕ�PA����?9ƕ�:C�Ǖ�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������+@zL��L��L��L�b�@�A%�YϺB! B)�A-��>*B-DO9�A)�A5��5�A5 ��A1"C=�)*C=��m�RC=s�z>C9�CA�y9�yI�}�qGi�}��@��}$=��y��y��}%; �}� EY�-�19���ځ>I�G-,>�� � ���� ����� ����� ��� � �@:Y� [1y� ݏ:�� �6)� �;��w1aj,'Ƅ�E�AY}2D3�@�}2�@�@y}2�~=�}2!���}2H����@ݣ�?���@U:�?��� �>�?����tU����@���?������������Ϡ�����0������`��?)~2D3�@ ~2�"_;I~2��CɫY�Y)�a �e���I�aY����@y��@xGI��)�� ������-�M5O=Y�=6<QUE�>��Q��Q�a]�G��Y��iy����}�>I���t5�?��_Ӿ� �gPA���?9��:C��?�: ���:)��WY�WYXY XY�WY:WY2Wa*Wa�VaUaUe����G�@zL��L��L��L��ߕ@�A��%7�B� B��A�Y�>*B�,F9�A��A��5�A����A�"C �)*C ��l�RC };o>C �CY�������>I��G l>�q�7aj,���E�AY}z���@�}z���@y}z��=�}z�����}zH��������?�����T�?���@?�����l���� ���?�����������`�ݢ����`/����� ���?)~z���@ ~z��^;I~z��Cɫ���)�� ��I��Y�-�@y�-jwG�=TNmea in: $SNTTA,0.040746,,,,170418.86*44 ��U�L7�A`��?ˡE����?y�&1�����U+�>��U�'= �U`�)�QI�Qy�U��n����?�MbX9�����S㥛?��UV�>��Uʡ���U/�< �U�A)�U�AI�U�Ai�U1A��Q��U�A�õ�m��õ��<�õ�iõQ�@�ñ ĵ9�@)ĵ9�@Iĵ9�@iĵ9�@���g>�M�3=Y���<QU��>�������a��G������y����}��>I������:���t5�?����:��� iӾ� ���PA����?9��;C�����: ��f�:)����:�W �WX X�W:W2W*W�VUU���`��@zL=��>�L=��>�L=��@�L=���@�AU�9BQ BQ�AUx�>*BU D9�AY�A]W�5�A]���AY"C��)*C�RC� �>C�CY� 49 ��=���=�� C|w>I�GE�>�q 9�q I�u qGi�u ��@��u %=��q ��q ��u �$; �u � E��� + ����� ������ ������ ��� �� �K:Y�� WU1y�� �:��� �6)�� 0�;�#�=aj,>����E�AY}:�7�@�}:�E�@y}:��$=�}:$����}:H���� 5��?�����k�?���@>F�?���`ԁ����`��?���`��������������@�̳��������?)~:�7�@ ~:[�^;I~8ɫQ�Q)�Y �YI�YY����@y��xG�xDUSBL response received:!U1,R,1AC,000,004BC,185,80,80,8C,FF �Fpublishing direction and range info���t;�����ɰ��� ��)��I��y������!7��5��?>8^.$Z��������ٱ���)��)��5�,=M=g=Y�=�<QU=�>��A��A�aE�G��A��Iy�U/�}U�>I�Y��]�s5�?��]?qӾ� �]�PA��m�?9�]4;C��]&; �]�;)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����@�R�(Combining 5 samples.�P�*Q��Z��=9�EYe@@8�)��)����������Z��!7��5��?>8^.$Z��������2Q�t;��:Q��Z��oۤ�)(�qHorAA�̼g���Կ�Z����C�'�ɿ�L�[Z�H����悿BQ�n[�@ Q� �Q�A���P���9?�P�ۨ9?�P�����Q�����Q�,�@"Q�� AzL�L�L�L8E�@i���lGI��i� ��=DQ�ٺ9��=�DA�AM���:BI BI�AM�>*BU�H9�AQ�AU��5�AU���AQ"C]�)*C]m���RC���>C��C�Y�u�59��m+Oo>I��G��>��Daj,l���E�AY}:�ã@�}:^ћ@y}:h�0=�}:�$���}:H�������?������?������?����Г�����O\�?����R�������������{���������?)~:�ã@ ~:`�^;I~:��Cɫ9�9)�9 �9I�9Y�]Q�@y�e�wG���i���=I��4=)��%=��}�#?��}-�>��}�t�i�}��@��y �}��@)�}O�@I�}��@i�y�����M�D=Y���;QU��>�����a��G����y���}��>Iȹ����:�Žls5�?����:�Ž�zӾ� ƽ�PA����?9ƽ`;C�ǽ��: Ƚ^�:)Ƚ��:�m�uAdded new target pos. range: 35.220001 m, bearing: 258.470477 deg, deltaT: 5.258929 s, approachRate: 0.000000 m/s, LOS rate: -3.124256 deg/s, posRepo size: 4�W��W�X� X�W:W2W*W�V U U �����?zL)�L)�L)�L-KЕ@�A=�0#;BA BA�AE�>*BE�E9�AA�AE�5�AEB���AI"CU�)*CUԠ��RCU\�t>CQ�CYY�e269��=�2z>I�IGeV>��% � ����% �����% �����% ��� �% pT:Y�% [1y�% ݏ:��% D6�9- @� �Jaj,�-��E�AY}2I�@�}2�V�@y}2d�8=�}2�N���}2H����`��?������?������?����Z�������}�?����I������j������������`���?)~2I�@ ~2+n^;I~2��Cɫ9�9)�9 �9I�9Y�}$�@y�}xwG���e�MS=Y���;QU�>��!��!�a%�G��!��)y�-��}-�>Iȩ�ŭ�r5�?�ŭ%�Ӿ� ƭ�PA����?9ƭ�;C�ǭ��: ȭ8�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�L�U�@�9�I��pGi���@��$=������'$; �J E)���I���i�������������łz�4�AE�Wo;BA BA�AM*�>*BMYE9�AI�AM4�5�AM�AQ"CU�)*C]����RC]�eh>CY�CYYυV69�ԑ�ԑ��uK�>I��G�>���Qaj,�kG��E�AY}BXʢ@�}Bؚ@y}B��==�}BP4���}BH���� !�?���`���?���`Y��?����ҵ��������?��� �������`-������`s\��������?)~BXʢ@ ~Bhq^;I~B��Cɫ���)�� ������I��Y��(�@y�|wG)Å�= Å�=���Ga>��������ף�i�� �@��� ���@)���@I���@i���@�� 9�:M <=Y�:;QU�>�����a�G����y���}%�>I�!��%�q5�?��%܍Ӿ� �%�PA��5�?9�%�;C��%��: �%��:)�!�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUe����v��?zL��L��L��L��֔@�A�B��;B� B��A�e�>*B��D9�A��A���5�A�f���A�"C��)*C����RC��%\>C��C�YυO89��]�p>I�iG�Z>��m + ����m �����m �����m ��� �m �K:Y�m �[1y�m H�:��m �6�'�Waj,EGa��E�AY}2-H�@�}2�U�@y}2��@=�}2>^���}2H������8�?���`!��?���@�?����������� �?����5ߣ����`��������B��������?)~2-H�@ ~2Y^;I~2��Cɫ9�9)�9 �=���I�AY����@y��&wGI�))�) �9�9����X9��v��?��(\�µ�X9��v�������>����� �����)��I��y�����ʡE�?�&1���<�O��n�����-�>����P����t�� ��Q A)��$AI��EAi���A������pA���q��M�M=Y���:QU��>�������a��G������y��5#�}��>I�����:���qq5�?�� �:�����Ӿ� ���PA�� �?9���;C���A�: ��)�<)����:�W��W�X� X��W�:W�2W�*W��V�U�U������U�?zLP�>�LP�>�L�g�@�L���@�AM���;BQ BQ�AU��>*BUxC9�AQ�AU��5�AU,6�AY"C]�)*Ce^���RCe�%O>Ca�C�Y�}�89��m �h>I�yG��>� 9� I� �oGi� ��@�� �� �� �� �#; � E�L^aj,}"{��E�AY}:幡@�}:�Ǚ@y}:>gA=�}:9d���}:H����`�ͷ?�������?��� ʔ�?����V����� 1��?����������� �*����������������?)~:幡@ ~:vx^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}wG���M�O=Y���9QU��>�����a��G����y��4�}��>Iȱ�ŵ�p5�?�ŵ��Ӿ� Ƶ�PA����?9Ƶ�;C�ǵ¿: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������(�@zL �L �L �L (�@�A%�`�;B! B!�A%ׇ>*B%�E9�A)�A-`�5�A-�6�A)"C5�)*C5�#��RC5p�@>C9�C9Y�%s89 �-�=��-�=����]>I�G=Q>�eaj,L����E�AY}2 &�@�}2�3�@y}2`L>=�}2�����}2H���� �4�?�������?��� �e�?���������`���?����������@[ǧ����`�����������?)~2 &�@ ~2�G^;I~2��Cɫ9�9)�9 �=���I�AY�]��@y�]�vG��������eSc>��e�x���e`�;i�e�@��a �e�@)�e�@I�e�@i�e�@��uZ^�MuL=Y�}���QU}�>��y��y�a��G����y��8�}��>Iȉ����:�ō�o5�?����:�ō`�Ӿ� ƍUPA����?9ƍ!<C�Ǎ��: ȍk�:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����`[@zL��L��L��L�^n�@�A�<B B�A�>*B�C9�A �A �5�A �37�A "C�)*C쐀�RC�@2>C�CY�E�89��5ϚN>I�AG]v>��=� ����=�����=�����=g�� �=(H:Y�=�X1y�=/�:��=�6�4+kaj,^خ��E�AY}2 ��@�}2���@y}2u�8=�}2�����}2H�����=��?�������?����B�?����������A �?�����������`������@0n���������?)~2 ��@ ~2z8^;I~2��Cɫ9�9)�9 �=����I�9Y�]M�@y�]pvG��mR=i�m�<I�}�=)�}�=���qM�V=Y���l�QU��>�������a��G������y��D;�}��>I������n5�?����Ӿ� ��&PA����?9��D<C�����: ��ܹ:)���W�WX X�W:W2W*W�VUU%����%i@�R-B*** querying acoustic contact ***�P)�P)zLA�LA�LA�LE�ߓ@�AUYJ<BY BY�A]{>*B]C9�AY�A]�6�Ae��7�Aa"Cm�)*Cm�X~�RCm�$>Ci�Cqܹ9ܹIܽtoGiܽ��@�ܹ�ܹ�ܹ�ܽ2#; ݽ�EYύ�:9��e��B>I�qG�:>�#raj,��ȅ�E�AY}��@�}D*�@y}�x0=�}k ���}H�����ߥ?�������?�����2�?�����������(I�?����������� S �����`#������ ���?)~��@ ~�^;I~��Cɫ�)� �I�Y�U}�@y�U�vG]Z****** received transponder code query ******]F****** received ping request ******]<Arming DUSBL. detectThresh: 75e8****** ping requested ******�í�m=�í`�<�í�k>ií��@�é ĭO�@)ĭ9�@Iĭ9�@iĭ9�@����K<M�-=Y�����QU��>�������a��G������y����}��>I������:���hm5�?���:���+�Ӿ� ���OA���?9��n<C���^�: ��k�:)����:�W)�W)X) X)�W):W)2W1*W1�V1U1U5��� �0 @zLQ�LQ�LQ�LUNf�@�Am,�#<Bi Bi�Am��>*Bm�@9�Aq�AuB6�Au�7�Aq"C}�)*C}�"{�RC}�>Cy�C��� �� ����2>I�G-p>��=N ����=�����=�����=S�� �=uN:Y�=�U1y�=��:��=�6�J=xaj,��ⅩE�AY}:��@�}:�×@y}:7�%=�}:��x��}:H�������?�������?����Ӷ�?����������@���?�����������ള�������������.��?)~:��@ ~:�^;I~8ɫ9�9)�9 �9I�9Y�}��@y�}�vG�xDUSBL response received:!U1,P 1AC,000,004BC,185,80,80,8C,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 ����<�O��n�?�p= ף�������������t�>����� ���̽)��I��y���Zd;�O�?+��η�����Mb�?���~�>���v�����= ©)~AI�Ai1A�������A)���= ���=����<M�:=Y���ĻQU��>�������a��G������y�%s�}%�>I�)��-dj5�?��-��Ӿ� �-PA��5�?9�-�<C��-#�: �-��:)�)�W��W�X� X��W�:W�2W�*W��V�U�U������� @zLƱ>�LƱ>�L�X�@�L�D�@�A}_T0<B� B��A�Մ>*B�>A9�A��A��6�A��8�A�"CE�)*CE-�w�RCM��>CI�CyI�5@A)�1��U%�>I�YG}�>ܹ9ܹIܽoGiܽO�@�ܽ#=�ܹ�ܹ�ܽ�"; ݽ�E�Qg~aj,�i���E�AY}2�g�@�}27u�@y}2 s=�}2X�g��}2H�����9&�?�������?��� �R�?�����������H�?���`Pk�����@A �������ꬿ����>��?)~2�g�@ ~2�<^;I~2��CɫA�I)�I �U���I�QY��o�@y���vG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��Uϖ�M]�=Y�]�%�QU]?��a��a�ae�G��a��ay�m��}m?I�q��u(h5�?��u��Ӿ� �u8PA��}�?9�u�<C��uܹ: �u�:)�q�W9�WAXA XA�WA:WA2WA*WI�VIUIUm����Q9@zL��L��L��L�"�@�A���:<B� B��A�Ӂ>*B�G9�A��A��6�A�8�A�"C��)*C��,v�RC��>C��C����p>I�)GmV>��E ����E�����E�����Ej�� �E�I:Y�E�Y1y�E�:��E6)�E��;�9M��CO�aj,(E��E�AY}6Q#�@�}6�0�@y}6W� =�}6��a��}6H�����eB�?���`���?����c�?��� ������@Q�?�����۠������;������8)�����`���?)~6Q#�@ ~6��];I~6��Cɫ9�9)�9 �=����I�9Y����@y���uG�xDUSBL response received:!U1,R,FE2,000,004C7,185,80,80,61,FF �Fpublishing direction and range info���Pw�<���ɰ�`�=鰡 ��)����BI��y���B����y��[1��?��P!Κ?��������ٱ�����=������\�i���@�� �)�O�@I�O�@i�1�@��%�v�M%N=Y�%��QU-�>��)��)�a-�G��)��1y�=���}=�>I�A��M�:��E?e5�?��M�:��E �Ӿ� �EbPA��M�?9�E�<C��Ek�: �Ew�:)�E��:�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU�����ܷ@�R�(Combining 5 samples.�P�*Q��B�Z��m���A@�\��)�?���������Z��y��[1��?��P!Κ?��������2Q�Pw�<:Q��Z��A���?�y\i�A��e�d$���Z��~5�=���?������������BQ�C�@ Q�S�Q���?�P�ר9?�P���9?�P�����Q�����Q�b�@"Q�,�@zL��L��L��L���@�A��C<B� B��A�k>*B�/A9�A��A�x6�A�38�A�"C��)*C�*t�RC����>C��C� �u�=��q��M��>I�QGu>�B|�aj,V,0��E�AɫI�Q)�Q �QI�Q�a9�aI�e�nGi�e��@��a��a��a��e*"; �eBEY��B�@y��bvG��TNmea in: $SNTTA,0.037298,,,,170424.11*43 �� �� ��M�+=MM9=Y�M���QUU�>��Q��Q�aU�G��Q��Yy�]���}e�>I�i��mb5�?��mb�Ӿ� �m�PA��u�?9�m�<C��m��: �mG�:)�i�m�qAdded new target pos. range: 35.880001 m, bearing: 272.205742 deg, deltaT: 4.432004 s, approachRate: 0.148917 m/s, LOS rate: 3.099109 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������A@U�����Ù�?zL �L �L �L �AE�K<BA BA�AE~>*BM�?9�AI�AM6�AM�X8�AI"CU�)*CU'7q�RCU>CQ�C�i̡I̡�̥���̥����=s ����=�����=�����=C�� �=hQ:Y�=d\1y�=��:��=� 6)�=&�;��Q��U�Ci���lGI��i���� 3P�ٺ �� �CA�֕�~>I��G��>��d�aj,h J��E�AY}%�W�@�}%ce�@y}%��<�}%�do��}%H���������������?�����ŭ?��� ���������������ҕ�������������歿���@F��?)~%�W�@ ~% �];I~%��Cɫ���)�� ��I��Y�`�@y�LuG���C=i���<���/]=����q=����@�i����� ��C�@)���@I����@i����@��-,��M-L=Y�-��QU5�>��1��1�a5�G��1��9y�=~~�}E�>I�A��M�:��E�^5�?��U�:��E��Ӿ� �E�PA��U�?9�E=C��E��: �E��:)�E��:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����`���?zL��L��L��L��@�A� :N<B� B��A��a>*B��@9�A��A��6�A�u8�A�"C��)*C��ro�RC��O�=C��C���%�>I�)GE1>�_��aj,��c��E�Aɫ�髙)�� �����I��Y��]�@y��HuG������K7��?<�O��n�?��~j�t�����I�>���t= �����)��I��y����� �rh�?�v��/��<�O��n�����C�>���xi����t�� �� A)�� AI��+Ai��KA�������A����ML=Y����QU�>�����a�G����!y�%���}%�>I�)��-�\5�?��-��Ӿ� �-�PA��=�?9�-;=C��-v�: �-:)�)�WY�WYXY Xa�Wa:Wa2Wa*Wa�ViUiUm���`���?zL���>�L���>�L��s�@�L�s��@�A��$P<B� B��A�ea>*B�?9�A��A�@6�A���8�A�"C��)*C�amm�RC�1��=C��C����nA�������v>I��GI>��=�����=�����=�����=�� �=�k:Y�=[1y�=ݏ:��=�6�9E@�Y9�YI�Yi�Y��]"=��Y��Y��]�!; �]E)��I��i�釉��#=���#=��퇦O5�뵞aj,h�}��E�Aɫ�髁)�� ������I��Y��k�@y��ZuG)�! �%�=��]��;M]W=Y�YQU]�>��a��a�ae�G��a��iy�i}m�>I�q��}�:��u�Z5�?��}�:��u��Ӿ� �u�PA����?9�uW=C��u��: �uY�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U����@L��?zL��L��L��L��A�@rQ<B� B��A�?c>*B�(@9�A��A��"6�A�͙8�A�"C��)*C�̍k�RC�#)�=C��C���m�?�=I�qG�>I�1)�1����aj,�����E�A�|i|Y}Z�L�@�}Z�Z�@y}Z�y�;�}Z��m��}ZH���������� ��?���@d��?����}������֦������������+�{������������ ���?)~Z�L�@ ~ZM-];I~Z��Cɫy�y)�y �yI�yY���@y���tG �)�)��}��>��}���}Q�=i�}��@��y �}1�@)�}�@I�}�@i�}1�@����M�G=Y�� �QU��>�����a��G����y�j��}��>Iȩ�ŭVX5�?�ŭ��Ӿ� ƭgPA����?9ƭt=C�ǭ��: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����@�>�@zL�L�L�LZ��@�AC�L<B B�A6W>*B�=9�A!�A%{&6�A%��8�A!"C-�)*C-V�i�RC5b��=C1�C1��%t�=I�1GM1>��E� ����E�����E�����EW�� �E+D:Y�E0Y1y�E��:��E 6��ǫaj,+h���E�AY}FA�@�}F��@y}F�D�:�}F?`��}FH����@쫫��������?������?���`������Θ������1�p����@��S������������ ���?)~FA�@ ~F&-];I~Dɫ�髙)�� �����I��Y����@y���tG���>9�I�i���!=������=!; ��E����M�I=Y�_�QU��>�����a��G����y���}��>Iȹ����:�Ž�U5�?����:�Ž$�Ӿ� ƽMPA����?9ƽ�=C�ǽk�: Ƚ�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@1�@zL!�L!�L!�L%�Z�@�AE�E<BA BA�AE�S>*BMO=9�AI�AU*6�AUo�8�AQ"C]�)*C]Nth�RCe`1�=Ca�Ca �}�=��y��MG�=I�YGu>�ص�aj,1^ˆ�E�AY}FyΜ@�}F&ܔ@y}FhŐ��}F�kL��}FH����������������?�������?����������� ������4�V?��� �r?�����������`���?)~FyΜ@ ~F"];I~Dɫ�髉)�� ��I��Y����@y���tG��������-j�<��-�C>��-C��i�-��@��) �-n�@)�)I�)i�-�@��=�t�M=P=Y�E�i�QUE�>��I��I�aM�G��I��Qy�UA��}U�>I�Y��]eS5�?��]�Ӿ� �]7PA��m�?9�]�=C��]��: �]v�:)�Y�W �W X X �W :W2W*W�VUU�����@�REB*** querying acoustic contact ***�PA�PAzLY�LY�LY�L]{(�@�A��<<B� B��A�~M>*B�Y<9�A��A�w-6�A�{�8�A�"C��)*C�� g�RC�?f�=C��C������=I��GL>��]� ����]�����]�����]��� �]PU:Y�]xZ1y�]q�:��]�6��aj,�4冩E�AY}:���@�}:���@y}:����}:ښ@��}:H�������������N��?�����V�?����3�������ǰ����@�{?�����ރ?����������@���?)~:���@ ~:�K];I~:��Cɫi�q)�q �u����I�qY����@y��_tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I�4=)�%=������C�l�?�I+���X9��v��?���d�>���9�� ����<)��I��y���5^�I�?���Mb��y�&1��?����>���������`e< � A)�AI�Ai�A������(A�����M�B=Y��`M�QU��>�������a��G������y���6�}��>I�A��EIO5�?��E'Ծ� �E]PA��U�?9�E�=C��E��: �E��:)�A�W��W�X� X��W�:W�2W�*W��V�U�U����@�- @zL��>�L��>�L�@�@�L:��@�A��/<B B�A�I>*B�;9�A9�A=�06�A=��8�AA"CE�)*CM)�e�RCM�i�=CI�CI��=�@�=I�AGe4>��9��I��i��������������� ; ���E���aj,�����E�AY}:H��@�}:���@y}:�Rn��}:H/@��}:H����@Z����������?�����x�?����t������p㱿������?����ʍ?����������`��?)~:H��@ ~:�*];I~8ɫ9�9)�9 �=���I�9Y�}��@y�}�tG�xDUSBL response received:!U1,P FE2,000,004C7,185,80,80,61,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 ���j2<M�[=Y�}�J�QU��>�����a��G�����y���&�}�>I�!��U�:��%zK5�?��]�:��%�Ծ� �%�PA��]�?9�%�=C��%b< �%�<)�%��:�WY�WaXa X��W�:W�2W�*W��V�U�U�����6� @zL��L��L��L��Պ@�A� �!<B� B��A��M>*B��:9�A��A��46�A���8�A�"C�)*C%4d�RC%�}=C)�C1�ԑ�ԑ��E ����E�����E�����Ea�� �E�H:Y�E�U1y�E��:��E!6��m tn�=I�y G� �>����aj,����E�AY}2g�@�}2�t�@y}2o����}2�}A��}2H�����峲���� s��?��� �Ҩ?�����������겿��� ���?����aw�?����O,������a��?)~2g�@ ~2�];I~2��Cɫ9�9)�9 �=����I�AY����@y��_tG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�E�= �E�=�Í/]>�Í��<�Í�=iÍ�@�É čx�@)č��@Ič��@ič��@���M�?=Y��2�QU��>�����a��G����y�F�}��>Iȹ�Ž�G5�?�ŽԾ� ƽ�PA����?9ƽ>C�ǽܹ: Ƚ �:)ȹ�Wi�WiX� X��W�:W�2W�*W��V�U�U�����)K@zL��L��L��L����@�A�_b<B� B�A�I>*B�?9�A�A�76�A��8�A"C �)*C/c�RCV�q=C�C����X=I��G )>�:�aj,R�2��E�AY}2:G�@�}2�T�@y}2}Ϻ��}2p�C��}2H����������������?����LN�?���`������ d�������`|�?����kY�?�����y���������?)~2:G�@ ~2e�\;I~2��Cɫ9�9)�9 �9I�9Y�u��@y�}�tG�xDUSBL response received:!U1,R,502,000,004C6,189,80,80,72,FF �Fpublishing direction and range info��}f3����yɰ}6�=�}7�> �y)�}��BI�yy�}GB��}����w���?a�mf-����������ٱy��9��I��i�������������D���l ; ��ZE��m<M�I=Y�p�QU��>�������a��G������y��S�}��>I���� �:����C5�?��-�:����Ծ� ���PA��5�?9��/>C���O�; ����;)����:�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�(Combining 5 samples.�P�*Q�GB�Z���b���J/@{��o@����������Z�����w���?a�mf-����������2Q�f3��:Q��Z����̓9�@�N��+*��`�XZ�?�Z���s�3�����K켩`|ڸ��?BQ�Sa@ Q�XQ�Q�)��P�z�9?�P�ר9?�P�����Q�����Q��A"Q�b�@zL1�L1�L1�L5l��@�Ae�)<Bi Bi�Am~M>*Bm�<9�Ai�Au;6�Au[�8�Aq"C}�)*C}A�a�RC}Ede=Cy�C��֕��|=I��G�a>��= ����=�����=�����=L�� �=�J:Y�=[1y�=ݏ:��=�6)�=9�;�9E�����aj,\�L��E�AY}v�)�@�}va7�@y}v�ݼ�}v�wF��}vH�����s����������?���`Jԩ?��� j����������������?��� 䟛?����%ʨ����@h��?)~v�)�@ ~v��\;I~v��Cɫ���)�� ��I��Y�M��@y�M�sG��TNmea in: $SNTTA,0.075239,,,,170428.55*42 ���n>���u>��9��i��@�� �̸@)�n�@I�n�@i�n�@��M�g�MMA=Y�U�!�QUU�>��Q��Q�a]�G��Y��Yy�e% �}e�>I�i��m�?5�?��m|Ծ� �m�QA��u�?9�mP>C��m�: �m��:)�i�mE}Added new target pos. range: 35.820000 m, bearing: 201.456088 deg, deltaT: 4.488593 s, approachRate: -0.013368 m/s, LOS rate: -15.762101 deg/s, posRepo size: 4�WI�WIXI XI�WI:WI2WQ*WQ�VQUU������A@UU��� ��?zL��L��L��L�Rw�@�A���<B� B��A��4>*B��99�A��A�!>6�A�9�A�"C�)*C=�`�RC� Z=C�C ��=���=���0f=I�!G=r>��'�aj,ff��E�AY}2�@�}2� �@y}2b���}2�'J��}2H������O����� ���?��� ���?����m�����`������� P�?����9=�?���@?���������?)~2�@ ~2J�\;I~2��CɫY�Y)�Y �YI�YY��&�@y���sG����Zd;�O��?<�O��n¿�~j�t��?���j�>���t� ����<)��I��y���sh��|?�?/�$���y�&1��?�����>�������� µ�A)µ~AIµ1Aiµ�A������pA����������d<M�S=Y��H�QU��>�������a��G������y����}��>I������:����;5�?����:����"Ծ� ��.QA����?9��r>C����: ���:)����:�W!�W!X! X!�W!:W)2W)*W)�V)U1U5����j�?zLU|�>�LU|�>�LU�!�@�LU�@�@�Ae�w<Ba Ba�Am�:>*Bm<9�Ai�AmA6�Am79�Aq"Cu�)*C}2�_�RC}"�Q=Cy�Cy�օm�Y=I��G�=>��9��I��oGi��O�@�������������; ��"E��1i�5p=��E�����E�����E�����E��� �E;|:Y�EP^1y�E��:��E56)�E%�;���aj,cB���E�A�|�|Y}6w �@�}6$�@y}6����}6�L��}6H�������������@��?��� �?��� V������'�����@�Y�?�������?����r�������X��?)~6w �@ ~6��\;I~6��Ci� I�)ɫA�A)�A �AI�AY����@y��HtGi����� 7�ٺ�����+A��{=MW=Y�WG�QU�>��!��!�a%�G��!��)y�-AK�}-�>I�1��5d85�?��5v)Ծ� �5]QA��E�?9�5�>C��5@�: �5+�:)�1�Wa�WaXi Xi�Wi:Wi2Wi*Wi�V�U�U��������?zL��L��L��L��6�@�A��O<B� B��A�yG>*B��<9�A��A�SD6�A�� 9�A�"C�)*C��^�RC��N=C�C��MQ�O=I�qG�:>��9�aj,����E�AY}:�@�}:��@y}: =%��}:3�L��}:H������������ ���?����Z>�?���`�������?�����`�_�?����2��?�����������@��?)~:�@ ~:��\;I~:��Cɫ9�9)�9 �9I�9Y�}]�@y�} tG��U�@=��U���U�T<i�U��@��Q �U�@)�U9�@I�U9�@i�U�@��e�h�MeE=Y�m=�QUm�>��i��q�au�G��q��yy�}��}}�>Iȁ����:�Ņ�45�?����:�Ņ�0Ծ� ƅ�QA����?9ƅ�>C�Dž�: ȅ/�:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`>�?zL��L��L��L�{1�@�A�v�<B� B��A�uA>*B��;9�A��A��G6�A�:9�A"C�)*C Y�]�RC ٢M=C �C��mA����!I�1GM1>��E� ����E}����E}����E^�� �E1�:Y�EkS1y�EԊ:��E:)6�9M@��c�aj,<����E�AY}2���@�}24�@y}2��2��}2��L��}2H����@!�����@���?�����l�?���������� �����������?���@#T�?����=����������?)~2���@ ~2�];I~2��Cɫ9�9)�9 �9I�9Y�e8�@y�e�sGܡ9ܡIܥtoGiܥ��@�ܥ =�ܡ�ܡ�ܥ�; ݥ� E)�ـI�ـi�ـ��݀!=��݀!=��݀e�4)���= ���=���4�M�G=Y���QU��>�����a��G����y��s�}��>I������05�?���w8Ծ� ���QA����?9���>C���X; ��;)���W�W X X �W :W 2W1*W1�V1U1U5�������?zLq�Lq�Lq�LuU$�@�A��j <B� B��A��<>*B��:9�A��A��J6�A��9�A�"C��)*C��\�RC�2fH=C��C��֥<�H=I��G�A>I�5AA)�1��K�aj,k�͇�E�A�|i|�@Y}6P�@�}6���@y}6�K;��}6Z1P��}6H������������@���?��� ���?����T�������7���������?����]g�?����W������`���?)~6P�@ ~6b�\;I~6��CɫA�I)�I �II�QY����@y��`sGI��)����U��<��U �=��U���i�UG�@��Q �UO�@)�UO�@I�UO�@i�UO�@��e{�MeN=Y�e���QUm�>��i��i�am�G��i��qy�}ϣ�}}�>Iȁ�Ņ�,5�?�Ņ�?Ծ� ƅ�RA����?9ƅ�>C�DžǺ: ȅ��:)ȁ�W)�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]����S=@zL��L��L��L��@�A�� <B� B��A��/>*B��99�A��A��M6�A�a9�A�"C��)*C���[�RC���A=C��C����I� G%M>��ey ����e�����e�����e,�� �ex=:Y�exZ1y�eq�:��es6��u�aj,֭燩E�AY}2>ʛ@�}2�ד@y}2�AD��}2�tP��}2H�����E������ ���?����1�?��� �������b.���������?����օ�?��� ��������?)~2>ʛ@ ~2|];I~0ɫ9�9)�9 �=���I�9Y����@y��7sG��]���S㥛�?Zd;�O��?�~j�t�h?��]ݤ>��]j�= �]�D;)�YI�Yy�]�R���Q�?B`��"۹�����Mb`?��]��>��]�ν��]; �Y)�]dAI�]� Ai�] A��Y��]�A��}�#�M}I=Y�}#��QU��>�����a��G����y���}��>Iș����:�ŝ�(5�?����:�ŝ9EԾ� Ɲ RA����?9Ɲ?C�ǝf�: ȝ+�:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U������V@�R�B*** querying acoustic contact ***�P��P�zL�n�>�L�n�>�L�z��@�L�Ƈ@�A��<B� B��A��+>*B��99�A��A��P6�A�E#9�A�"C��)*C��Z�RC�=J5=C��C� ձ�Ե�=�֝e�?=I��G�A>ܙ9ܝj�CIܝ�oGiܝ��@�ܙ�ܙ�ܙ�ܝ; ݝ� E�8^�bj,/���E�AY}B��@�}B���@y}B?N��}B~�M��}BH�����揸��������?��� R�?���������� �4������6"�?���@��?����֫����� P��?)~B��@ ~B[];I~@ɫY�Y)�Y �YI�YY����@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]nA��]nA��m$]�MmK=Y�m\ĻQUm�>�����a��G����y���}��>Iȡ�ťf$5�?�ť�JԾ� ƥARA����?9ƥ7?C�ǥ»; ȥ/�;)ȡ�W9�W9X9 X9�W9:W92W9*WA�VAUAUE��� �� @zL��L��L��L�-��@�A��m�;B B!�A-%&>*B-�79�A1�A=eS6�A=a(9�A9"CU�)*C]F�Y�RC]�(=Ca�C��ֽ�3=I��G�f>��1i�1��= ����=�����=�����=8�� �=�I:Y�=[1y�=ݏ:��=� 6���bj,�c��E�A�|�|�;ɫ�髙)�� ������I��Y���@y���sG�xDUSBL response received:!U1,P 502,000,004C6,189,80,80,72,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I�%�=)�%�=����>�������O�=i�Q�@�� �1�@)�1�@I�1�@i�1�@��uw=M}-=Y����QU��>�����a��G�����y�%���}%�>I�)��5�:��-I5�?��5�:��-vQԾ� �-iRA��=�?9�-Y?C��-��: �-A�:)�-��:�WY�WYX� X��W�:W�2W�*W��V�U�U�����'� @zL��L��L��L��A�m�;B B!�A%F7>*B%�89�A!�A%�V6�A%�-9�A!"C-�)*C5P�X�RC5��*=C1�C1��5�#'=I�9G]�>�9�bj,�H5��E�AY}Bxz�@�}B%��@y}B�]g��}B��C��}BH���� ����������?���@lG�?����h��������������;�?������?����>m���������?)~Bxz�@ ~B7];I~B��CɫY�Y)�Y �e���I�aY��4�@y���sG��p=ɮ�� �Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ܩ9ܩIܭ<pGiܭB�@�ܩ�ܩ�ܩ�ܭ�; ݭ� E���Vi<M�j=Y�����QU��?��Q��Q�aU�G��Q��Yy�]e��}]?I�a��e�5�?��e0VԾ� �e�RA��u�?9�eq?C��e��: �e��:)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����i@zL��L��L��L��s�@�A��C�;B� B��A�]<>*B��=9�A��A��Y6�A�19�A�"C��)*C�z X�RC��v=C��C�����+,=I��G J>��]i ����]�����]�����]%�� �]2<:Y�]�W1y�]č:��]�6)�]җ;�9e��(�bj,�O��E�AY}2zs�@�}2'��@y}2��s��}2��<��}2H�����>�����@���?���`���?����B������������� �?���@�u�?����ᐧ���� ���?)~2zs�@ ~2)O];I~2��Cɫ9�9)�9 �=����I�9Y�}"�@y�}�sG�xDUSBL response received:!U1,R,502,000,004C5,189,80,80,8B,FF �Fpublishing direction and range info������ɰ��=鰁 ��)���CI��y�� B�������w���?a�mf-����������ٱ��í9�=�í����í?5>ié�é ĩ)ĩIĩiĩ�����M�K=Y����QU��>�������a��G������y����}��>I������:���5�?����:���t[Ծ� ���RA����?9���?C���(�: ����:)����:�W�W X X �W :W 2W*W�VUU������@�R%(Combining 5 samples.�P)*Q- B�Z-�.�t=/@6�0�@����������Z-����w���?a�mf-����������2Q):Q)�Z-�>0�2�@��Y��>(��%�hG@�Z-�\��'�RV{��տt���x@�?BQ-�?_@ Q-�A�Q-9��P-x�9?�P-z�9?�P)Q-����Q-� A"Q-�AzL��L��L��L��k�@�A����;B� B��A� :>*B�0;9�A��A��\6�A�<49�A�"C��)*C�u:W�RC�.�=C��C����]=I� G%M>�0�bj,��h��E�A�|i|�@Y}V�v�@�}V���@y}Vsl}��}V��8��}VH�����x!������m��?���@o2�?����t������7ݺ����`W�?��� b��?���� ��������?)~V�v�@ ~V�7];I~V��Cɫq�q)�q �}���I�yY����@y��isG�EdNmea in: $SNTTA,0.045604,0.427672,,,170433.01*5C ��E�=i�E�= �Q�Q�������S��?<�O��n��y�&1������/�>���t� ��`e�)��I��y����rh��|�?�Zd;��V-��?����{>����y������< ���A)��I�� Ai��~A������GA���l��M�F=Y���QU�>�����a �G�� �� y��:}�>I����5�?���`Ծ� ��RA��%�?9��?C��f�: �M�:)��mUyAdded new target pos. range: 35.760002 m, bearing: 199.862345 deg, deltaT: 4.418919 s, approachRate: -0.013577 m/s, LOS rate: -0.360663 deg/s, posRepo size: 4�WY�WYXY XY�WY:WY2Wa*Wa�VaUe����G�A@Um�����f�?zL���>�L���>�L��H�@�L��Ջ@�A5��x;B9 B9�A=�0>*B=�99�A9�A=�_6�AE�69�Aa"Cm�)*Cm_V�RCm� =Ci�Cq��ul�=I��G�]>��]� ����]�����]�����]�� �]�@:Y�][1y�]ݏ:��]�6�9e@�i9�iI�m�pGi�m��@��i��i��i��m ; �m� E��� bj,SЂ��E�AY}2逛@�}2���@y}2UɁ��}2l':��}2H������ѹ�����C��?����hj�?����������ߓ�������߭?��� c6�?�����6����� ��?)~2逛@ ~2<Y];I~2��CɫY�Y)�Y �]����I�YY��l�@y��tG��5�C=M=X=Y�=��QU=�>��A��A�aE�G��A��Ay�M�R;}M�>I������:����5�?����:���*fԾ� ��DSA����?9���?C�����: ����:)����:�W�WX X!�W!:W)2W1*W9�V9UAUM���� ��?zL��L��L��L�~ߋ@�A���;B� B��A�OC>*B��<9�A��A��b6�A�$89�A�"C��)*C���U�RC���=C��C� ���=����=�ֽ�3=I��G�f>���&bj,�����E�AY}F̌�@�}Fy��@y}F�X���}FJ]>��}FH������r���������?����t��?����<����� =������|~�?���`&��?����¼��������?)~F̌�@ ~Fm7];I~F��CɫQ�Y)�Y �YI�YY����@y��{sG��M94<��M/>��M7 �i�M��@��I �M9�@)�M9�@I�MO�@i�M9�@��] #�M]H=Y�]iH�QU]�>��a��a�ae�G��a��iy�m�h;}u�>I�y��}5�?��}jkԾ� �}�SA����?9�}�?C��}U�: �} �:)�y�W��W�X� X��W�:W)2W)*W)�V1U1U5����5j�?zLq�Lq�Lq�Lu��@�A���:B� B��A��2>*B��:9�A��A��e6�A��89�A�"C��)*C���T�RC�N� =C��C�����=I� G%M>��]S ����]�����]�����]��� �]q::Y�]DW1y�]Y�:��]b6��-bj,�����E�AY}2~��@�}2+��@y}2�Ն��}2e�?��}2H������������4��?���@#�?��� ������@6չ������#�?�����װ?�����秿����L��?)~2~��@ ~2�M];I~0ɫ9�9)�9 �9I�A����>9��I��i���������������; ��o EY���@y���sG��UC=i�U�=I�e4=)�e4=��X<M�G=Y��A�QU��>�����a��G����y�-�;}��>Iȱ�ŵ"5�?�ŵ�pԾ� Ƶ�SA����?9Ƶ�?C�ǵ�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL �L �L �L ~��@�A��B� B��A�38>*B��:9�A��A��h6�A��79�A�"C��)*C���S�RC��&=C��C���u�>��uʕCi�����N�!=I��I�i�!G-O>��u�)�ٺq��}�A����?9��T�A��3bj,�bЈ�E�AY}R���@�}R7��@y}R�숽�}R�"9��}RH�������������u��?���`�N�?�����������1R�������ʯ?����O�?����������Y��?)~R���@ ~R�<];I~Pɫy�y)�y �yI�yY��1�@y���sG�Õ���Õ+��Õ��<iÕG�@�Ñ ĕO�@)ĕO�@IđiĕO�@��<M�J=Y��$�QU��>�����a��G����y�%�;}��>I������:���N 5�?����:���IvԾ� ��2TA����?9��@C�����: ����:)����:�W��W�X� X��W�:W�2W�*W��VUU������@zL!�L!�L!�L%��@�A5=�U�B9 B9�A=�;>*B=�;9�A9�A=�k6�AE�59�AA"CE�)*CM��R�RCM�c-=CI�CQ��Y��Y��E]�&=I�QGm5>��eD ����e�����e�����eY�� �e>9:Y�exZ1y�eq�:��eE 6��:bj,�<ꈩE�AY}23��@�}2�Ǔ@y}2�r���}2r-��}2H�����������`"��?����eԨ?���`������̸���� K.�?�����J�?��������@���?)~23��@ ~2�\];I~2��CɫY�Y)�Y �YI�YY��p�@y��$tG����ˡE����?sh��|?���I+�������>������ ��94�)��I��y���i��|?5�?+������{�G�z�?����q>���������ף< �A)~AI7 Ai$A������A)���= ���=���Ι<M�H=Y���QU��>�������a��G������y�� �;}��>I������5�?���|{Ծ� ��tTA����?9��'@C�����: ����:)���W�WX X�W:W!2W!*W!�V!U!U-����tc@zLEX>�LEX>�LE�ؾ@�LEؗ�@�A]���BY BY�A]�C>*Beq<9�Aa�AeDo6�Ae=29�Aa"Cm�)*Cm�R�RCu��3=Cq�Cq�օ��.=I��G�?>ܱ9ܵi�CIܵqGiܵ��@�ܵ!=�ܱ�ܱ�ܵ�; ݵS E)�u�j�CI�u�j�Ci�q���u� =��u� =��u���4I�U@A)�U@A�}�@bj,���E�A�|i|�@Y}J���@�}J�ϓ@y}J����}J.a#��}JH����@˷��������?������?����������`ℸ������U�?���``�?���`�^���������?)~J���@ ~Jud];I~J��Cɫq�y)�y �}���I�yY����@y��nsG����������=i���= ��������C�M�X=Y��_�QU�>���� �a �G�� �� y�Y$;}�>I���%�:���5�?��%�:��J�Ծ� ��TA��-�?9�?@C��s�: ���:)���:�WI�WIXI XQ�WQ:WY2Wa*Wi�ViUqU}����r@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�ϝ�@�A�� ��B� B��A�A1>*B�:9�A��A�Gr6�A�6-9�A�"C��)*C��Q�RC���6=C��C����·3=I� G%N>��]� ����]�����]�����]z�� �]W@:Y�]�W1y�]č:��]�6�t%Gbj,H���E�AY}2�ț@�}2�֓@y}2�.���}2�"��}2H�����X������ ���?�����^�?���@/�������L�������\�?���@ob�?�����3���������?)~2�ț@ ~2E�];I~2��Cɫ9�9)�9 �=����I�9Y�uw�@y�}-tG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�õQ8��õC>�õ�=iõ=�@�ñ ĵn�@)ĵn�@Iĵn�@iı��M�-=MM7=Y�U|��QUU�>��Y��Y�a]�G��Y��Yy�e{�:}e�>Iȉ�ō�5�?�ō�Ծ� ƍ�TA����?9ƍ\@C�Ǎ��: ȍ{�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U������ @zLI�LI�LI�LMu��@�A].�#�Ba Ba�Ae�D>*B�1<9�A��A��u6�A��&9�A�"C��)*C�#P�RC�W�9=C��C� ���=����=�ֵ��8=I��G�f>��OMbj,N�7��E�AY}f�Û@�}f�ѓ@y}f�܋��}f�S"��}fH�����!������@��?���@(q�?���@������ �u�����`�o�?���`"x�?���`�<������|��?)~f�Û@ ~f�x\;I~f��C�]��>9�]j�CI�]hqGi�]6�@��Y��Y��Y��]T; �]9 Eɫ���)�� ��I��Y�U?�@y�U�sG]xDUSBL response received:!U1,P 502,000,004C5,189,80,80,8B,FF ]Command Ack]BRequesting micromodem ping code 2i�Y��Y�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �¡�¥mA������M�S=Y���_�QU��>�������a�G����y�%�ʺ}5�>I�Q��u�:��U��5�?����:��U�Ծ� �U8UA����?9�Uu@C��Uv#= �U�!=)�U��:�Wy�WyX� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L�Y��@�AL�B B�A�=>*B�:9�A �A �x6�A �9�A "C�)*C��N�RCj37=C�C9��-п8=���R�������������������� �0c:Y��Y1y��:��s6)���;�9��I��G% �>�p5Tbj,�Q��E�AY}6���@�}6KƓ@y}6�Ԋ��}6�q&��}6H�����e���������?�������?�����������Ҹ������D�?����5W�?������������p��?)~6���@ ~6!\;I~6��Cɫ9�9)�9 �=���I�AY�}<�@y�}�sG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�a=)��=��Mף���M94���M���i�M��@��I �M9�@)�M9�@I�M9�@i�I��e���MeQ=Y�e�:QUm�>��i��i�am�G��i��qy�}k�}}�>Iȁ�Ņ��5�?�Ņ؏Ծ� ƅtUA����?9ƅ�@C�Dž��: ȅ4�:)ȁ�WI�WIXI Xi�Wq:Wq2Wq*Wq�VqUyU}���`3@zL��L��L��L���@�A�01u�B B �A J=>*B _>9�A�A�{6�A�9�A"C�)*C�*N�RC�~2=C�C!��AI�yG�a>��cZbj,h�k��E�AY}J:��@�}J籓@y}JR���}JP�-��}JH����������� ���?������?����l�����`�}�������`�?�������?��� R������@k��?)~J:��@ ~J3�[;I~J��Cɫq�q)�q �u����I�yY����@y���sG�xDUSBL response received:!U1,R,008,000,004C4,183,80,80,62,FF �Fpublishing direction and range info�����仩��ɰ���=��$�> ��)����BI��y���B����Z������?���a�|���������ٱ���dNmea in: $SNTTA,0.161168,0.050734,,,170437.47*57 ����j�t��?㥛� ����������?���Ġ>������ ����<)��I��y����� �rh�?�I+������S㥛?���C�>���9�����/�< A)�AI� Ai�A�������A��gļM�E=Y���QU��>�����a��G����y���Ļ}��>I�������5�?����Ծ� ���UA����?9���@C����: ����:)���W��W�X� X��W�:W2W*W�VU�U�������@�R�(Combining 5 samples.�P�*Q��B�Z���*�|�A@�k]���Ͽ���������Z��Z������?���a�|���������2Q����:Q��Z��]�V� ��sW�1�A��dL�@�Z��ؐ!��}��M��f���H�����?BQ��x�@ Q�� �Q�ol��P�ƨ9?�P�x�9?�P�����Q�Q�; A"Q�� AzL�>�L�>�L��@�L@�AU�ޏ�BQ BQ�A]3>*B]H:9�AY�A]�~6�A] 9�Ay"C��)*C�!<M�RC�|*=C��C��ԙ�ԝnA�ֵ�31=I��G�g>�9�I�qGi���@��������; � E��U� ����U�����U�����U!�� �UV:Y�U�X1y�U/�:��U�"6)�U6�;��Gabj,�_���E�AY}:q��@�}:��@y}:�����}:~�0��}:H����@4����� ��?�����s�?����o������I������ ���?���� ��?����������`���?)~:q��@ ~:��[;I~8ɫ9�A)�A �M���I�IY�}��@y�}[tG)å�= å�=���U=MD=Y���QU�>�����a�G����!y�%Η�}-�>I�1��=�:��5��5�?��=�:��5��Ծ� �5VA��=�?9�5�@C��5o�: �58�:)�5��:�m�yAdded new target pos. range: 35.699997 m, bearing: 264.046152 deg, deltaT: 4.462994 s, approachRate: -0.013445 m/s, LOS rate: 14.381334 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������A@U�����I��?zL��L��L��L�S��@�A5m���B1 B1�A5SI>*B5�=9�A9�A=�6�A=�8�A9"CE�)*CE�aL�RCEB$=Ca�Ci��]�#'=I�iG�Z>�tgbj,C���E�A�| i| Y}J���@�}Jb��@y}J4����}J|�+��}JH����`�!���������?������?��� /�������빿�����Ȱ?����a�?�����k���������?)~J���@ ~J��[;I~J��Cɫy�y)�y �}���I�yY��V�@y��tG�Í��=�Í�D=�Í�u�iÍQ�@�É č1�@)č1�@Ič1�@ič1�@�����M�R=Y���QU��>�����a��G����y�::}��>Iȹ�Ž��5�?�Ž��Ծ� ƽkVA����?9ƽ�@C�ǽ��: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U����@� �?zL�L�L�LO��@�A-�B) B)�A5�@>*B5y=9�A1�A5��6�A5�8�A1"C=�)*C=\�K�RCE�u&=CA�CA��]�C"=I�iG�:>��])����]�����]�����]�� �]4�:Y�]�a1y�]�:��]D6�9e@�לmbj,z���E�AY}N���@�}N���@y}NTJ���}N�/"��}NH����@NY��������?������?��� r������������}��?����x�?���`�7������E��?)~N���@ ~N��[;I~N��C�^��>9�\I�^hqGi�^6�@��\��\��\��^�; �^� Eɫ�髹)�� ������I��Y����@y��tG��X�<M�K=Y�H�QU��>�����a��G����y���;}��>I��� �:���5�?�� �:����Ծ� ��VA�� �?9�AC���: ���:)���:�W1�W1X1 X1�W1:W92W9*W9�V9UAUE����s"�?zLY�LY�LY�L]���@�Au�FҼBq Bq�AuM>*B}�=9�Ay�A}_�6�A}��8�Ay"C��)*C�)�J�RC�42=C��C� ՙ�ԝ�=����#'=I��G J>��tbj,<�҉�E�AY}J�ϛ@�}J4ݓ@y}J�Z���}J�V��}JH�����5^���������?������?����_����� ������`��?���`��?����g=���������?)~J�ϛ@ ~JS�[;I~J��Cɫy�y)�y �}���I�yY�a�@y�tG��}mA��y���>���X9>���?5>i��z�@��� ����@)����@I����@i����@��� M�F=Y�����QU��>�������a��G������y���<}��>I�����R�5�?�����Ծ� ��WA���?9�� AC���w�: ��Ǻ:)���W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�L�މ@�A5C��B1 B1�A5�A>*B5<9�A9�A= �6�A=\�8�A9"Ce�)*CmٛI�RCu�q?=Cq�C�����[1=I� G-o>��U�=i�U�=��e� ����e�����e�����e_�� �eB:Y�e0Y1y�e��:��e� 6�F�zbj,`�쉩E�A�|�|4<Y}>���@�}>��@y}>�&���}>S���}>H����� ���������?���`l�?��� �������k��������۰?����,��?����袿���`���?)~>���@ ~>�\;I~>��CɫY�Y)�Y �]����I�YY��l�@y��tGI�-�=)�-�=�����A`��"�?���Mb�����Q��?����=������ ���u<)��I��y����(\����?�v��/��L7�A`�?����G>���xi����+= µ�A)µ�AI±iµ$A�������A����\;M�K=Y��K/;QU��>�������a��G������y��FS<}��>I������:�����5�?����:���ԱԾ� ��aWA����?9��4AC�����: ��M�:)����:�W�WX! X!�W!:W!2W!*W)�V)U)U-����=�@zLM�R>�LM�R>�LM,��@�LM2��@�A]P���Ba Ba�AeOC>*Be�=9�Aa�Am��6�Amg8�Ai"C��)*C���H�RC��jQ=C��C������@=I�G5O>ܹ9ܽi�CIܹiܹ�ܽ"=�ܹ�ܹ�ܽ�; ݽ�Ei�� I�� i�� ��� �/�ٺ� ��� 3%A����bj,����E�AY}f:�@�}f�%�@y}f�(���}f����}fH�����/����� d��?����{'�?��� ������e͵����@���?����a�?���@�M����� B��?)~f:�@ ~f�\;I~f��Cɫ�髙)�� �����I��Y���@y���tG����?�����<����u�i��̬@��� ��O�@)��9�@I��9�@i���@��X=MG=Y��h;QU �>�� ���a�G����y��<}�>I�!��%g�5�?��%(�Ծ� �%�WA��-�?9�%JAC��%w�: �%��:)�!�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYU]����L@zLy�Ly�Ly�L}D�@�A�m' �B� B��A��Y>*B��?9�A��A�k�6�A��8�A�"C��)*C���G�RC�|�\=C��C��Թ�ԽmA��}ܢS=I��G�=>��]� ����]�����]�����].�� �]D:Y�]xZ1y�]q�:��]�6�9��bj,o� ��E�AY}2#�@�}2�0�@y}2�χ��}2�!��}2H����`SǴ��������?����Ѧ?�����������y�����`q�?�������?���@o���������?)~2#�@ ~2MY\;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}mtG)Õ�= Ñ��� �M�e=Y�Е;QU��>�����a��G����y�Us;}��>Iȹ����:�ŽC�5�?����:�Ž�Ծ� ƽ�WA����?9ƽ\AC�ǽ=�: Ƚ(�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U������(@�RB*** querying acoustic contact ***�P�PzL�L�L�L,�@�A-$��B1 B1�A5-K>*B5�?9�A9�A=�6�A=vx7�A9"CE�)*CE�F�RCEA|`=CA�CI��M-tY=I�QGm>I�Q)�UAA�I9�Mj�CI�M�qGi�M��@��M!=�(�bj��q���q���u�[; �u��E)�9�I�9�i�9���=�!=��=�!=��=��4,�`:��E�A�| i|"�@Y}R �@�}R�(�@y}R����}R�&��}RH����@������@���?���@�y�?���@������ú�����@�L�?��� ���?����VƤ����@��?)~R �@ ~R�,\;I~R��Cɫ�髙)�� ��I��Y����@y��[tGZ****** received transponder code query ******F****** received ping request ****** <Arming DUSBL. detectThresh: 75 8****** ping requested ******��}ꈻM�==Y��e;QU��>�����a��G����y��}��>I�������5�?�����Ծ� ��NXA����?9��rAC�����; ��4�;)���W1�W1X1 X1�W9:W92W9*W9�V9UAUE���ࢺ @zL��L��L��L��&�@�A����B� B��A�SI>*B��<9�A��A�Ō6�A��=��A�"C��)*C 5RE�RC KZ\=C �C ��D�a=I�)GEQ>��] ����]�����]�����]G�� �]�5:Y�]�V1y�]�:��]X6)�]O�;�9e���Ӕbj,:?T��E�AY}2��@�}2g�@y}2�����}2��%��}2H������Z����� ���?����UY�?��� �������G������ى�?��� p4�?����]����������?)~2��@ ~2��[;I~2��Cɫ9�9)�9 �=���I�9Y�u��@y�}�tG�xDUSBL response received:!U1,P 008,000,004C4,183,80,80,62,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 �õ�>�õ�=�õߏ>iõ��@�ñ ı)ĵO�@Iıiĵ9�@�� y<M�,=Y��G;QU��>�������a��G�����)y�=�)�}��>Iȱ����:�ŵ��5�?����:�ŵ��Ծ� Ƶ�XA����?9Ƶ�AC�ǵ�J< ȵ�F<)ȵ��:�W)�W)XY XY�WY:Wa2Wa*Wi�ViU�U���� �@zL��L��L��L���@�A�-(�B B�A�P>*B;9�A�A%Ɏ6�A%=��A!"C-�)*CU��C�RCUd�X=CQ�CY �e�=��e�=��] 5�[=I�i G� �>�q��bj,<n��E�AY}:?�@�}:��@y}:(~��}:L���}:H����`��������]��?��� a�?����,�������&������)��?����.��?��� dg����� X��?)~:?�@ ~:��[;I~:��CɫY�Y)�a �e����I�aY��)�@y��uG��ɮ�a=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���ףp= ��?V-������Q��?���>���m� ��u=)�I�y�����S��?��~j�t������Mb`?��/]>�������; ��A)�EAI�Ai�����QA�� nA����<M�^=Y��i;QU��>�����a��G����y����}��>Iȱ�ŵ��5�?�ŵ��Ծ� Ƶ�XA����?9Ƶ�AC�ǵY�: ȵU�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������.@zL |j>�L |j>�L O<�@�L @A�@�AyK1�B! B!�A%�Z>*B%�E9�A)�A-J�6�A-T���A)"C5�)*C5�&C�RC5�V=C1�C9����>9��I��hqGi��6�@���"=���������; ���E��=m�Y=I�IGeU>��U�=i�Ua=��e ����e�����e�����e��� �eJ:Y�e�Y1y�e�:��e�6)�eϣ;���bj,2���E�A�|4<�|Y}bG�@�}b��@y}bo�|��}bWF��}bH�����E������ {��?���`��?���������`�9�����`�ڭ?���@���?����xޢ��������?)~bG�@ ~b+\;I~b��Cɫ���)�� ��I��Y�-��@y�-[tG=xDUSBL response received:!U1,R,502,000,004C5,18A,80,80,4D,FF =Fpublishing direction and range info��5f3����1ɰ5�=�5��> �1)�5��BI�1y�5 B��5����w���?a�mf-����������ٱ1��M=i�M�<�å�D��å �>�å�#>iåf�@�á ĥԸ@)ĥn�@Iĥ��@iĥn�@���:�M�Y=Y�3R:QU��>�����a��G������y��|�}��>I�������5�?���-�Ծ� ���XA����?9���AC���r�: ����:)���W�WX X�W:W 2W *W �V U U����Ű@�R(Combining 5 samples.�P!*Q% B�Z%�.�t=/@6�0�@����������Z%����w���?a�mf-����������2Q%f3��:Q!�Z%��j��@������{)��g �1@�Z%�o��������r��ֿL#^��Ů?BQ%l`@ Q%�K�Q%`��P%w�9?�P%ƨ9?�P%����Q%����Q%�A"Q%; AzLI�LI�LI�LM;>�@�A]�a:�Ba Ba�AeSI>*Be�>9�Aa�Am�6�Amź��Ai"Cu�)*Cu;'B�RCu�U=Cq�Cy���&�V=I�GL>�A�bj,M֡��E�AY} ��@�} S�@y} �|��} ����} H���� �k���������?���@���?��� �������H������)ĭ?�����}�?���`������� ���?)~ ��@ ~ �\;I~ ��Cɫ���)�� �����I��Y�5G�@y�5�sG��TNmea in: $SNTTA,0.072214,,,,170441.89*44 ���ѼM�I=Y���9QU��>�������a��G������y��$�:}��>I������:�����5�?����:�����Ծ� ��YA����?9���AC���(�: ��w�:)����:�m-yAdded new target pos. range: 35.760002 m, bearing: 200.913143 deg, deltaT: 4.424846 s, approachRate: 0.013561 m/s, LOS rate: -14.267843 deg/s, posRepo size: 4�W1�W1X1 X1�W1:W12W9*W9�V9U=����G�A@U=����+�?zLY�LY�LY�L]�D�@�Auj5B�Bq Bq�Au�>>*Bu�<9�Ay�A}��6�A}R���Ay"C��)*C��A�RC�NY=C��C��ԙ�ԙ��}`�T=I��G�<>��]� ����]�����]�����]��� �]�>:Y�]�U1y�]��:��]N6�9]@����>9��I��i�����!=����������; ��eE��8�bj,�����E�Aɫ�髙)�� ��I��Y��V�@y��tG��u^�;MuQ=Y�}���QU}�>��y���a��G����y����}��>Iȑ�ŕ��5�?�ŕ��Ծ� ƕ YA����?9ƕ�AC�Ǖ��: ȕ+�:)ȑ�W9�W9X9 X9�W9:W92WA*WA�VAUAUM����&��?zLa�La�La�La�A}�J�By By�A}�@>*B}=9�A��A��6�A���A�"C��)*C�.@�RC�/Y=C��C��֝-tY=I��G�A>�q �bj,ǀՊ�E�A�|i|�@ɫ�髙)�� ��I��Y����@y���tGI�9)�9 �A�A���|�>����=������i��f�@��� ���@)���@I���@i��9�@����=M�D=Y��QU��>�������a��G������y��}��>I�����:���^�5�?���:���o�Ծ��� tI ��?YA�� �?9���AC�����: ��r�<)����:�W��W�X� X��W�:W�2W�*W��V�U�U������W�?zLY�LY�LY�LY�A���Q�B� B��A�kN>*B��<9�A��A���6�A�A��A�"C��)*C�}�>�RC�4Y=C��C����I��G �>��])����]�����]�����]��� �]�_:Y�]xZ1y�]q�:��]|6�{J�bj,�[E�AY}:3 �@�}:��@y}:�u��}:�x&��}:H�����w���������?��� �N�?����X������5�����@AԬ?����굮?��� Ĥ����@��?)~:3 �@ ~:*�[;I~:��Cɫ9�9)�9 �=���I�9Y�}��@y�};tG�������Q��?�"��~j�?�I+�������u>���S�= ��9��)��I��y���!�rh���? ףp= ��{�G�zt?���lg>���Q�����ף; ±)µ�AIµ� Ai±������������M�K=Y���x;QU��>�������a��G������y��U�}��>I�������5�?���V�Ծ� ��dYA����?9��BC�����: ��Y�:)���W�WX X�W!:W!2W!*W!�V!U)U-�������?zLE&y>�LE&y>�LEA�@�LEi��@�A]18X�BY Ba�AeF>*Be�@9�Aa�Aes�6�Ae�\��Aa"Cm�)*Cu��=�RCu^Y=Cq�CqYυ ;9�ԍ���ԍ�� Օ���ԕ��ܥ��>9ܡIܡiܡ�ܡ�ܡ�ܡ�ܥb; ݥ6EI� G5 �>�}6�bj,H ��E�AY}=� �@�}=��@y}=m�r��}=X�$��}=H����`3���������?����P�?����n�����`!3������t�?����aS�?���`������@���?)~=� �@ ~=Z�[;I~=��Cɫ �)� �����I�Y����@y���tG��]33>��]��=��]n>i�]��@��Y �]��@)�]n�@I�]n�@i�]n�@��m==Mm@=Y�u�:QUu�>��q��y�a}�G��y��yy�`x�}��>Iȉ����:�ō��5�?����:�ō��Ծ� ƍ�YA����?9ƍ0BC�Ǎw�: ȍ��:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����oU�@zLa�La�La�Le>�@�A}v�]�By B��A��T>*B��>9�A��A�K�6�A�'���A�"C��)*C��<�RC���W=C��C�I��G%,>��M=i�I��]� ����]�����]�����]��� �]*F:Y�]d\1y�]��:��]36�q\�bj,�#��E�A�|�;�|�;Y}6 �@�}6��@y}6��p��}6����}6H����`b�������l��?����� �?���`������`"�������4�?������?���@�����������?)~6 �@ ~6��[;I~6��CɫQ�Q)�Q �QI�QY��F�@y��,uG��=�<M=a=Y�=��:QU=�>��A��A�aE�G��A��Iy�M�<:}M�>I�Q��U��5�?��U��Ծ� �U�YA��]�?9�UGBC��U4�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������=@zL1�L1�L1�L5*��@�AE�#c�BA BA�AM�^>*BM�B9�AI�Am �6�Am����Aq"Cu�)*C}��;�RC}�ZY=Cy�CyI��G�>܁9܁I܁i܁�܁�܁�܁�܅; ݅ E�>��bj,p�<��E�AY}>u�@�}>#%�@y}>��n��}>x���}>H����@�&�����`���?����F<�?��� ������1��������*�?����<٭?�����̢��������?)~>u�@ ~>�[;I~>��CɫA�A)�A �M���I�IY��Y�@y��CuG�������� ع;MM=Y��,:QU�>�����a%�G��!��!y�-�d;}-�>I�9��=ں5�?��=��Ծ� �=�YA��M�?9�=`BC��=��: �=B�:)�9�W��W�X� X��W�:W�2W�������*W��V�U�i�YI�qi�����u4�ٺ����v)AU ��� �@�R�B*** querying acoustic contact ***�P��P�zL �L �L �L \�@�Ak�g�B! B!�A%�`>*B%i@9�A!�AM��6�Am7���Ai"Cu�)*Cu��:�RCu�^=Cq�CyI��G�>��]'����]�����]�����]i�� �]��:Y�]P^1y�]��:��]�E6)�]�*<�9e��Xo�bj,��V��E�Aɫ�髙)�� ������I��Y��w�@y��-tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)��> ���=��� �=����>���;߽i����@��� ��O�@)��O�@I��O�@i������b�M�$=Y�����QU��>�������a��G������y����}�>I� ���:�� T�5�?���:�� ��Ծ� � �YA���?9� ~BC�� k�: � b�:)� ��:�W9�W9X9 X9�WA:WA2WA*WA�VIUIUM���`fj @zL��L��L��L��A�"�k�B� B��A��D>*B�r<9�A��A���6�A�븹�A�"C��)*C��\9�RC��^^=C��C����5�[=I��G�>I�MAA)�MBA����bj,w�p��E�A�|i|�@Y}6*E�@�}6�R�@y}6��j��}6����}6H���� �������W��?�����?����"������AM����� j��?����U�?����DS����� ���?)~6*E�@ ~6_�[;I~4ɫ9�9)�9 �AI�AY�}�@y�}�tG�xDUSBL response received:!U1,P 502,000,004C5,18A,80,80,4D,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 ������ʡE�?��ʡE��Zd;�O��?���-2>���-�� ��j�<)��I��y���B`��"��?J+��� ףp= �?����N>����Ƚ���Q8= ���A)���AI��i���A�������A�)9�)I�)i�)��- =��)��)��-�; �-�E)���I���i�������������ńi5��C&=M�A=Y��;QU��>�����a��G����y�X<}��>I�����S�5�?�����Ծ� ��bZA����?9���BC����: ��#�:)���W��W�X� X��W�:W�2W�*W��V�U�U�����2 @zL�zj>�L�zj>�L����@�L�#�@�A�v�o�B� B��A�IV>*B�+>9�A��A���6�A��ι�A�"C�)*C�8�RC°s=C�Ci�I���!��!��]� ����]�����]�����]��� �]ZV:Y�]]1y�]�:��]�6)�]k�;��M�S^=I�YGu�>� ��bj,�����E�AY}2|[�@�}2*i�@y}2��i��}2�!��}2H�����[ ���������?����#=�?����������`石��������?��� �-�?����#������]��?)~2|[�@ ~2��[;I~2��Cɫ)�))�) �5���I�1Y���@y���tG��a=ɮ�R=�e�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��]`e���]��<��]��i�]��@��Y �]9�@)�YI�Yi�]O�@��m�{;Mm.=Y�u2*:QUu�>��q��y�a}�G��y��y���;}��>Iȉ����:�ō��5�?����:�ō��Ծ� ƍ�ZA����?9ƍ�BC�Ǎ&; ȍ;)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� d�@zL�L�L�L��@�A%��r�"B%.�:B! B!�A%#X>*B%�?9�A)�A�p�6�A�#��A�"C��)*C�-�6�RC�m{=C��C����:Wt=I��G��>����bj,�����E�AY}Nyd�@�}N'r�@y}N�Wg��}N�;#��}NH������������ ��?���`�v�?���������� �X�����@�M�?���� �?�����]�����`q��?)~Nyd�@ ~NA\;I~N��Cɫq�y)�y �}����I�yY����@y���tG�xDUSBL response received:!U1,R,01D,000,004C1,184,80,80,85,FF �Fpublishing direction and range info���3Qϼ���ɰ�d�=鰽��> ��)���CI��y��B������w`��?�8q陿��������ٱ�������mA���� �M��=Y��*�:QU�?�����a��G������y���e;}�?I������5�?�����վ� ��#[A����?9���BC���@�: ���:)���W �W X) X1�W1:W12W1*W9�V9U9U=���@@�Rm(Combining 5 samples.�Pq*QuB�Zu��葬�A@��������������Zu���w`��?�8q陿��������2Qu3Qϼ:Qq�Zu� 8!{x����)��A���.�_R�@�Zu����4���-����A���h�?BQu���@ Qu' �Qu�_��PuĨ9?�Puw�9?�Pu����Qu����QuA"Qu�AzL��L��L��L�g �@�A�7�u�B� B��A��M>*B�,B9�A��A���6�A����A�"C��)*C���5�RC�n�~=C��C����Qf=I� G%M>��=�=i�=p=��MZ ����M�����M�����M��� �MjO:Y�M�Y1y�M�:��M`6�9U@� ��>9� I� i� �� =�� �� �� ^; � �E���bj,���E�A�|�|Y}2�h�@�}2>v�@y}2��g��}2�4"��}2H�����K������ w��?�����S�?��� ������7������3e�?�������?�����<������v��?)~2�h�@ ~2�!\;I~2��Cɫ9�9)�9 �9I�AY�}w�@y�}guG��DNmea in: $SNTTA,,,,,170446.33*5E ��5l[=M=F=Y�=˭�QU=�>��A��A�aE�G��A��Ay�Mܨ:}M�>I�Q��]�:��Ur�5�?��]�:��Uվ� �U�[A��e�?9�U�BC��U�: �U��:)�U��:�m�yAdded new target pos. range: 35.520000 m, bearing: 264.340123 deg, deltaT: 4.521337 s, approachRate: -0.053082 m/s, LOS rate: 14.028368 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���`��A@U����~4�?zL��L��L��L�� �@�A�Jx�B� B��A��d>*B�0A9�A��A���6�A� ��A�"C��)*C�{|4�RC��%�=C��C����\|=I��Gj>�%��bj,Nz܋�E�Aɫ�髩)�� ��I��Y����@y���tG�����ʡE���?y�&1�|?��~j�t������o>���`�; �����)��I��y�����C�l�? ףp= ��<�O��n�����d;>���Q�����t� ���A)��I��� Ai��$A��������Eb>��E��>��E�q�i�E��@��A �EO�@)�E9�@I�E9�@i�A��U���MU,=Y�]���QU]�>��a��a�ae�G��a��iy�m���}m�>I�q��uP�5�?��u� վ� �u�[A����?9�u�BC��u��: �u�:)�q�W!�W!X! X!�W!:W)2W)*W)�V)U1U5�������?zLmQ>�LmQ>�Lm�o�@�Lm�˅@�A���y�B� B��A�\U>*B�T?9�A��A�¨6�A�p ��A�"C��)*C�*-3�RC�C��C���M� ����M�����M�����MP�� �M�C:Y�M�X1y�M/�:��MN6�� �@p=I� G- �>�Q��bj,�D���E�AY}:�^�@�}:3l�@y}:�aj��}:+�"��}:H����� ��������?��� Zm�?�����������������@1��?���@H�?����H������&��?)~:�^�@ ~:.�[;I~:��Cɫ9�9)�9 �=���I�AY�e��@y�eHtG)�-�= �-�=��]4$�M]r=Y�eY�QUe?��a��a�am�G��i��iy�m�m�}u?I�y����:��}\�5�?����:��}" վ� �}�[A����?9�}CC��}�: �}�:)�}��:�W��W�X� X��W���9��I��i��������������; ���E:W�2W�*W��V�U�U����`��?zL��L��L��L����@�AM�{�B B�AyG>*B�A9�A�A=�6�A;��A"C%�)*C%�:2�RC%��{=C!�C)9�E0A; �M�=��M�=��5��=I�AG]v>�s�cj,!��E�AY}J=V�@�}J�c�@y}JX�k��}JV�!��}JH������2��������?�����c�?����M�������˳������٫?��� >z�?����Y3��������?)~J=V�@ ~J��[;I~J��Cɫ�髙)�� ������I��Y����@y��{tGI�q)�q��������=����#=i���@��� ����@)����@I����@i����@���WA<M�B=Y��Kn�QU��>�������a��G������y���}��>I�����5�?��Mվ� ��[A�� �?9�CC���: �u�;)��WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm�������?zL��L��L��L���@�A�<�|�B� B��A��L>*B��>9�A��A���6�A�}��A�"C��)*C���0�RC��y=C��C�9ԥ/;��U� ����U�����U�����U}�� �U�G:Y�Ud\1y�U��:��U 6��}��|=I��G�^>�M cj,�)��E�AY}6�L�@�}6�Z�@y}6�m��}6Wd ��}6H������|�����@x��?����k?�?����g�����@�������� �?�������?���������� ���?)~6�L�@ ~6} \;I~6��Cɫ9�9)�9 �9I�AY�}U�@y�}>uG���R=MX=Y�g��QU�>��!��!�a%�G��!��)y�-�D�}-�>I�1��5]�5�?��5 վ� �5�[A��E�?9�5-CC��5��: �5��:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu���`���?zL��L��L��L�F��@�AE ~�BA BA�AEx`>*BE<B9�AI�AMͭ6�AM)��AI"Cu�)*Cu��/�RCu��u=Cq�Cyi҅mAI҅mA9�M�;��=�+w=I�IGmV>ܹ9ܹIܹiܹ�ܹ�ܹ�ܹ�ܽ�; ݽYE�2�cj,��C��E�AY}J�@�@�}JbN�@y}J"p��}J�f��}JH����`,��������?���@��?����0������w�������U�?�������?�����£��������?)~J�@�@ ~JI�\;I~J��Cɫ�髙)�� �����I��Y����@y���tG�¥nA�¥nA��E��MM8=Y�U ��QU]�>��a��i�au�G��q��y�SY�}��>Iȱ����:�ŵb�5�?����:�ŵ�վ� Ƶ�[A����?9ƵDCC�ǵ��: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L��@�A%��B) B)�A-R>*B-'?9�A)�A5��6�A5�3��A1"C=�)*C=�.�RC=0�p=C9�CA9���;��E�=i�A��e� ����e�����e�����eq�� �e�@:Y�exZ1y�eq�:��e�6)�e��;�9m����| u=I��G�j>��cj, �]��E�AY}UK=�@�}U�J�@y}U��p��}U����}UH�����I����������?�����ڥ?����������`됴������g�?��� ��?���@�����������?)~UK=�@ ~UԿ\;I~Qɫ1�1)�1 �=���I�9Y�m��@y�m�tG��q��u@A��5��"��~j�?<�O��n���I+��?��5S�=��5t� �59�<)�1I�1y�5��v��/�?{�G�z��/�$��?��5xi>��5ף���5,= �5�A)�5EAI�1i�5�A��1��5�A�Í��<�Íxi=�Í�%>iÍ=�@�É čn�@)čO�@Ičn�@ičn�@���U�M�E=Y�̙�QU%�>��!��!�a-�G��)��)y�5���}5�>I�9��=��5�?��=�վ� �=\A��e�?9�=^CC��=�; �=Q�;)�9�W��W�X� X��W�:W�2W�*W��V�U�U�����"�@�R�B*** querying acoustic contact ***�P��P�zL%#{>�L%#{>�L%jC�@�L%���@�Ae���Bi Bi�Am�P>*Bm�>9�Ai�Amj�6�Am�>��Aq"Cu�)*C��Y-�RC�XNp=C��C�9ԕ7�:�օ�j=I��G��>�o>cj,��w��E�AY}VCA�@�}V�N�@y}V��p��}V����}VH����`�ٳ��������?���`ݢ�?��������� p�������|�?������?����S����� ���?)~VCA�@ ~V�_\;I~V��Cɫ�髙)�� ������I��Y���@y���tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��9��I���qGi����@������������g; ��/Ei��HmGI��i����vJ�ٺ�� >A��m����i��i��m��� �m�r:Y�iy�i��m�6)�m��;)Ý�= Ý�=���[<M�"=Y���]�QU��>�������a��G������y��с:}��>I�����:����5�?���:����$վ� ���\A���?9��|CC���V�: ����:)����:�WI�WIXI XI�WI:WI2WQ*WQ�VqUqU}������ @zL��L��L��L�F��@�A��Y��B� B��A��W>*B�w>9�A��A�_�6�A�yJ��A�"C�)*C�+�RC��r=C �C i�=��I�=����9��9��� �8k=I�� G� �>�0�$cj,�Ӕ��E�Aɫi�i)�q �qI�qY����@y���tG�xDUSBL response received:!U1,P 01D,000,004C1,184,80,80,85,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 ����O>���ף=������i����@��� ����@)����@I����@i����@����M]\=Y�e���QUm�>��q��q�a}�GIޥ@A)ޥ?A����y�����}��>I���؊5�?���)վ� ��\A�� �?9��CC���: �Ǻ:)��Wq�WqX� X��W�:W�2W�*W��V�U�U����`�@zL��L��L��L��A��v��B B�AoT>*B�@9�A�A�6�ACT��A"C%�)*C-��*�RC-S�r=C)�CQ��eX�h=I�qG��>��+cj,�����E�A�| i|"�@Y}r���@�}r=��@y}r�s��}r����}rH�����D���������?�����O�?����Y������Ù�������?����Ew�?����K��������?)~r���@ ~r�\;I~pɫ�髱)�� ��I��Y��@y��tG�ɮa=�5�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����8<M�b=Y���QU��>�������a��G������y��s=}�?I������:���7�5�?����:����-վ� ��6]A����?9���CC�����: ����:)����:�W�WX! X!�W!:W!2W!*W)�V)U)U-���`lU@zLI�LI�LI�LM��@�A �v��B B �A �X>*B �D9�A�A��6�A+\��A"C�)*C��)�RC�*�=C�C!��� ��������������\�� �E>:Y�DW1y�Y�:��� 6�9�@��=( n=I�IGeV>����>9��I��i��������������; ��E)�Q�I�Q�i�Q���U�=��U�=��U���4��2cj,sȌ�E�AɫQ�Q)�Q �QI�YY��;�@y��uG�xDUSBL response received:!U1,R,298,000,004C4,189,80,80,8C,FF �Fpublishing direction and range info����V����ɰ���=鰝7�> ��)���CI��y���B����-_�����?B#H�����������ٱ��½mA�½mA����=�������+�i�Q�@�� �1�@)�1�@I�1�@i�1�@��e3<MF=Y����QU�>��!��!�a%�G��!��)y�-���}-�>I�1��5��5�?��5�2վ� �5�]A��=�?9�5�CC��5�: �5ܹ:)�1�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU�������@�R�(Combining 5 samples.�P�*Q��B�Z����6[�=@� > J�3����������Z��-_�����?B#H�����������2Q��V�:Q��Z����m�x5�P���h<��z�u�@�Z��B�oD?��߀w��I�?BQ���@ Q�F��Q�ǫ��P���9?�P�Ĩ9?�P�����Q�����Q��A"Q�AzL��L��L��L��AmGZ��Bi Bi�Am;]>*BuQA9�Aq�Au��6�Aulf��Aq"C}�)*C}�h(�RC}��=C��C��օ_�=I��G�=>��08cj,�Y〈E�AY}v��@�}v���@y}v�9f��}v\���}vH������w������0��?����3�?���������@Z������t�?����[ì?�����������`��?)~v��@ ~vz�[;I~v��Cɫ���)�� ��I��Y�-�@y�5�tG��TNmea in: $SNTTA,0.067774,,,,170450.90*4B ��}�����K�?���Q��?�I+��?��}^:>��}��= �y)�yI�yy�}��������?���Mb������������}�L>��}�����}��� �} A)�}�AI�}�Ai�}�A��y��}pA��8d�M�B=Y�c<QU��>�����a��G����y�ӥ;}��>Iȹ����:�Ž0�5�?����:�Žd7վ� ƽ�]A����?9ƽ�CC�ǽ�: Ƚ��:)Ƚ��:�m�uAdded new target pos. range: 35.699997 m, bearing: 232.917101 deg, deltaT: 4.500141 s, approachRate: 0.039998 m/s, LOS rate: -6.982675 deg/s, posRepo size: 4�W��W�X� X��W�:W2W*W �V U ������A@U ����x��?�ޥ�=iޡ�������������������� �r�:Y��X1y�/�:���56zL�Jb>�L�Jb>�L����@�L����@�A���B! B!�A%6W>*B%�?9�A!�A%p�6�A%Tq��A)"C-�)*C5h�'�RC5E�=C1�C1��Utn�=I�aG}z>�Z>cj,�1���E�A�|�|4<�89�8I�8i�8��8��8��8��:�; �:�EY}V���@�}Vc��@y}V�B_��}V�J��}VH����� :���������?����'��?����<�����`8������@~��?������?����ᢿ���@A��?)~V���@ ~V̎[;I~V��Cɫ�髩)�� �����I��Y���@y���tG��]%=i�]a=I�e4=)�e%=����;M�]=Y�ߖ;QU��>�����a��G����y���}��>Iȩ�ŭ�}5�?�ŭf;վ� ƭ�]A����?9ƭ�CC�ǭb�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�Um���ଳ�?zL��L��L��L����@�A�*�B� B��A��Y>*B��B9�A��A�$�6�A�/z��A�"C��)*C�K�%�RC�5�=C��C����{�=I�GmV>�LAEcj,� ��E�AY}by�@�}bˆ�@y}b��Y��}bCI��}bH����@Q����� ���?�������?���`�������@������ �ͩ?�����8�?���@G������`���?)~by�@ ~b�[;I~b��Cɫ�髙)�� ��I��Y��d�@y��QuG�Õx齩Õ�D<�Õף�iÑ�Ñ ĕ9�@)ĕ9�@Iĕ9�@iĕ9�@��X�<M�I=Y�]T;QU��>�����a��G����y���}��>Iȹ�Ž)z5�?�Ž�?վ� ƽ�]A����?9ƽDC�ǽ�: ȽǺ:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�LOr�@�A-��}�B1 B1�A5Rb>*B5+C9�A1�A5��6�A=́��A9"C=�)*CE��$�RCE�k�=CA�CA���<�������������������� ��oa:Y���W1y��č:���s6��=i��=I�IGe5>��nKcj,��/��E�AY}>�]�@�}>�k�@y}>�W��}>s9��}>H���������������?����ox�?���`�����`w������z�?���`n�?���@������ K��?)~>�]�@ ~>��[;I~>��CɫQ�Q)�Q �U����I�QY�u�@y�u�tG�� 5��M T=Y���:QU�>�����a�G����y�%��}%�>I�)��5�:��-�v5�?��5�:��-�Cվ� �-�]A��5�?9�-DC��-��: �-��:)�-��:�W��W�X� X��W�:W�2W�*W��V�UU����w��?zL!�L!�L!�L%8W�@�A]D�|�BY Ba�A}�Y>*B}EA9�Ay�A}ɿ6�A�Ȇ��A�"C��)*C��p#�RC�,F~=C��C�Iޡ)ޥAA�֕W^�=I��G�@>�Y9�YI�]hqGi�]6�@��]=��Y��Y��]�; �]�E�DVRcj,O�I��E�A�|@i|@Y} �P�@�} _^�@y} �V��} ��} H������`��������?��� ,J�?��� 1�����������`�^�?����Zڪ?����|H�����`~��?)~ �P�@ ~ V�[;I~ ��Cɫ � )� � I�Y�Mw�@y�MguG��E�D���E\����EO��i�E��@��A �EO�@)�En�@I�EO�@i�EO�@��]��<Me7=Y�e��9QUm�>��i��i�am�G��i��qy�u�l�}u�>I�y��}�r5�?��}�Hվ� �}^A����?9�}4DC��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����`�5�@zL��L��L��L�J�@�A�O{�B� B��A��d>*B�HB9�A��A���6�A�����A�"C�)*C�7"�RCKOz=C�C �������������������� �8�:Y��Y1y��:��6)�=�;�9�����X=I�!G=Q>��{Xcj,t�c��E�AY}2�R�@�}2=`�@y}2��U��}2����}2H����@�Q������0��?���@�H�?���`s������Oϳ����@<�?��� \��?��� QK���������?)~2�R�@ ~2��[;I~2��Cɫ9�9)�9 �AI�AY�]o�@y�]^uG������ʡE�?+��η�V-��?���-�=���v�� ����<)��I��y����$��C�?1�Zd��y�&1��?���Z>���"۽���`�< �A)�AI� Ai�A�������A�nA�nA��#�M�W=Y�>:QU��>�����a��G����y�q:}��>I������:����n5�?����:��� Mվ� ��Q^A����?9��KDC�����: ���:)����:�W��W�X� X��W�:W�2W*W�VUU����~?@zL��u>�L��u>�L�H*�@�L�|}�@�A�ʏy�B� B��A��c>*B�C9�A��A���6�A�����A�"C �)*C !�RC�6|=C�C��%mA��%mA��=�(z=I�IGeV>�F�^cj,�q}��E�A�9�I��qGi���@���������; ��EY} �`�@�} Cn�@y} R��} ���} H����`Aⲿ����U��?����� �?������������\�������Ш?����n@�?����b7����� ��?)~ �`�@ ~ \�[;I~ ��Cɫ�)� �I�Y�Uw�@y�UguG��Y��]AA��u;MuN=Y�}�;QU}�>��y���a��G����y�6�;}��>Iȑ�ŕ�j5�?�ŕ�Qվ� ƕ�^A����?9ƕcDC�Ǖ��: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����m@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L����@�Ag�w�B B �A �d>*B D9�A �Ai�6�A(���A"C�)*C���RCn�=C�C!�ޭ�=iޭ�=��� ��������������J�� ��C:Y�0Y1y���:���6)�;�;��%2g�=I�1GM1>���ecj,UO���E�A�|�|Y}6�u�@�}6a��@y}6�'M��}6���}6H����@E:����� r��?����Ť?�����������S�������^2�?���`9��?����k������ ��?)~6�u�@ ~6��[;I~6��Cɫ9�9)�9 �=���I�9Y�]U�@y�]>uGeZ****** received transponder code query ******eF****** received ping request ******m<Arming DUSBL. detectThresh: 75m8****** ping requested ******���4=i��C=��v����<��"[�i�@�� ���@)���@I���@i���@��%)�M-O=Y�-�H;QU-�>��1��1�a=�G��9��9y�E��;}E�>I�I��U�:��M�f5�?��U�:��M,Vվ� �M�^A��U�?9�M{DC��Mw�: �MM�:)�M��:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U���� �� @zLI�LI�LI�LM9��@�A�s=v�B� B��A�x`>*B�#B9�A��A�L�6�A����A�"C��)*C�d��RC�� �=C��C����������� ���������I��G�~>��kcj,Z/���E�AY}F҈�@�}F���@y}F��H��}F����}FH�����&�������^��?����Ue�?���������������� e��?�������?���@y������ *��?)~F҈�@ ~F��[;I~F��Cɫ�髑)�� ��I��Y��C�@y��(uG�xDUSBL response received:!U1,P 298,000,004C4,189,80,80,8C,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%[��M-J=Y�=K;QUE�>��a��a�am�G��q��y���;}��>Iȱ�ŵVb5�?�ŵ�Zվ� Ƶ$_A����?9Ƶ�DC�ǵ��< ȵ��<)ȱ�W�WX XI�WI:WI2WQ*WQ�VQUYU]�����L @���+ �����������������]�� ���K:Y���U1y����:���� 6�9�@zL1�L1�L1�L5x��@�Aeot�Bi Bi�Am(^>*Bmr@9�Ai�AmD�6�Am����Aq"Cu�)*C}�,�RC}$��=C��C�I��G�C>�5��>9�1I�5hqGi�56�@��1��1��1��5�; �5�E��}��>��yi���lGI��i� ��5 8�ٺ1 ��5 �,A�;�rcj,Qˍ�E�AY}N뙜@�}N���@y}N�A��}N�� ��}NH����`-�����`Y��?���`ڨ�?���������� 锱����@FƦ?�����0�?��������������?)~N뙜@ ~N�x[;I~N��Cɫq�q)�q �qI�qY����@y���uG鮝p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����ļ��������@=i��f�@��� ���@)���@I���@i���@�����<M�==Y���n;QU��>�����a�G���� y� ��;}�>I����:��!^5�?���:���_վ� �l_A��%�?9��DC��6�: ���:)���:�WQ�WQXQ XY�WY:WY2WY*WY�VaUaUe����$@zL��L��L��L�@˅@�A��hr�B� B��A�Wh>*B��E9�A��A� �6�A�����A�"CE�)*CEq��RCMot�=CI�CII��G� >��xcj,��䍩E�A�|i|�@Y}Jt��@�}J"��@y}J &=��}J����}JH���������������?�����Z�?��� ��������������4F�?�������?�����֣�������?)~Jt��@ ~J�[;I~J��Cɫ�髙)�� ��I��Y��k�@y��ZuG�xDUSBL response received:!U1,R,334,000,004BC,188,80,80,5F,FF �Fpublishing direction and range info����07����ɰ���=����> ��)����BI��y���B����6���&�?*�<�o����������ٱ�I��)�� ������u��ʡE���?`��"���?����K�?��u��>��u��= �u^�=)�qI�qy�u��n����?/�$���<�O��n�?��uV>��u����ut< �u A)�u�AI�u� Ai�u�A��q��u�A��- G�M-H=Y�5�-;QU5�>��1��1�a=�G��9��9y�E �;}E�>I�I��M�Z5�?��M�bվ� �M�_A��e�?9�M�DC��MUX; �M8W;)�I�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�(Combining 5 samples.�P�*Q��B�Z������:@�z=7����������Z��6���&�?*�<�o����������2Q��07�:Q��Z���5j#�8�Q�Z��8���ą��@�Z��BK��|���؝����Gڮ?BQ��{@ Q����Q�!���P���9?�P���9?�P�����Q�����Q��A"Q��AzL��&>�L��&>�L�ɪ�@�L�=P�@�A��4p�B� B��A�?c>*B��B9�A��A���6�A�]���A�"C��)*C�ķ�RC�Su�=C��C�I����i ����������������� ��P:Y�0Y1y���:��)6G�$>�!9�%k�CI�!i�!��!��!��!��%�; �%�E)ݡ�Iݡ�iݡ��ݥ�=�ݥ�=�ݥ�"�4�T�~cj,�����E�AY}n ��@�}n���@y}n/w9��}n����}nH�����2b�����`/��?����,�?���������� tհ�����إ?�����,�?��� r����������?)~n ��@ ~n��[;I~n��Cɫ���)�� ������I��Y��,�@y��uG�uTNmea in: $SNTTA,0.038856,,,,170455.35*44 �����M�R=Y�};QU��>�����a��G�����y���0;}��>I�Y��]�W5�?��]�eվ� �]�_A��e�?9�]�DC��]��: �]�:)�Y�m�yAdded new target pos. range: 35.220001 m, bearing: 225.213685 deg, deltaT: 4.446477 s, approachRate: -0.107950 m/s, LOS rate: -1.732476 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)�A@U����@�-�?zL�L�L�L'Y�@�AD�m�B B�Aa[>*B�A9�AA�AE��6�AE���AA"CM�)*CM�X�RCM�-�=CI�CY�֕u�r=I��G�b>��ޅcj,^���E�AY}Vɸ�@�}VwƔ@y}V? 4��}V�J��}VH����@�$���������?����s�?���@�������J������`�4�?������?����K������ !��?)~Vɸ�@ ~VHv\;I~Tɫ�髑)�� �����I��Y��Y�@y��CuG�Í�>�Í�s>�Í��iÍ �@�É čԸ@)čn�@Ič@ič��@��l]<M�L=Y��W;QU��>�����a��G����y�J;}��>Iȹ����:�Ž�T5�?����:�Ž�hվ� ƽ�_A����?9ƽ�DC�ǽ��: Ƚ�;)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U������0�?zL�L�L�L_a�@�A5$Pk�B1 B1�A5�`>*B5D9�A9�A=��6�A=J���A9"CE�)*CE��RCE�ؓ=CQ�CY��G ���������������� �|9:Y��W1y�č:��6�ֽJ�z=I��G�#>���cj, n2��E�A�|�|Y}2v��@�}2$˔@y}2Å/��}2*���}2H������������K��?������?����s������<j����� T��?���`��?��� LR���������?)~2v��@ ~2Q];I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�uG���<MT=Y��;;QU�>��!��!�a%�G��!��)y�-��:}-�>Iȁ�Ņ�Q5�?�Ņ�kվ� ƅ�_A����?9ƅ�DC�Dž�: ȅ��:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U����@M��?zL�L�L�Lif�@�A5I�h�B9 B9�A=�h>*B=D9�AA�AE|�6�AEɵ��AA"CM�)*Ce���RCm�ܔ=Ci�Cq��e㲒=I�qG�9>����>9��I��i���������������; ���E���cj,�IL��E�AY}N1@�}N�ϔ@y}N�,+��}NM���}NH����`������@���?�����a�?���@�������@�����`�&�?��� d�?�����������'��?)~N1@ ~N��];I~N��Cɫ�髙)�� ��I��Y��w�@y��guG)�E�= �E�=�Í�%>�Í��<�ÍQ8=iÍ��@�É čO�@)č�@Ič�@ič9�@�����M�?=Y���";QU��>�������a��G������y���:}��>I������:���}N5�?����:����nվ� ��`A����?9��EC��� �: ��8�:)����:�W!�W!X! X!�W!:W!2W)*W)�V)U)U5������?zLY�LY�LY�L]ok�@�Au�f�Bq Bq�Au�d>*Bu3C9�Ay�A}e�6�A}X���Ay"C��)*C�K_�RC����=C��C���� ��������@�� �m>:Y�y���� 6)���;�9��Yϥ�:9�ԵmA�ԵmA�֕�̓=I��G�>��cj,h$f��E�AY}6���@�}6kΔ@y}6�:(��}6�J��}6H�����q˯����`���?���@8 �?���`D�����@�H�����`�̣?������?���@2Ģ��������?)~6���@ ~6��];I~6��Cɫ9�9)�9 �=���I�9Y��Y�@y��CuG����{�G�z�?q= ףp��+����������#>����� ����)��I��y�����MbX�?�ʡE�I+��?����J>��������94< ��)��EAI�� Ai���A�����������M�I=Y����:QU��>�������a��G������y����}��>I���J5�?��#sվ� �*`A�� �?9�EC����< �v�<)��W��W�X� X��W�:W�2W�*W��V�U�U�����+?�@zL�k>�L�k>�L���@�L���@�A5b}c�B1 B1�A5�`>*B5GB9�A9�A=O�6�A=���A9"CE�)*CE<��RCE㬕=CI�CII��)����}���=I��G�^>����>9��I��qGi����@�������������; ���E�1B�cj,����E�AY}Z���@�}Z�͔@y}Z��#��}ZS���}ZH����@د����`���?����v�?������������L�����`A�?����wz�?���`�ˢ��������?)~Z���@ ~Z_�];I~Z��Cɫ�髹)�� ��I��Y�=?�@y�=#uGI��)�����u��M�I=Y���+;QU��>�������a��G�����y��q�} �>I����:���E5�?���:��xwվ� �Q`A���?9�1EC���: ���:)���:�WA�WAXA XA�WA:WA2WI*WI�VYUaUe����2R@zL��L��L��L�a��@�A��`�"B#n:B B!�A%�]>*B%�B9�A!�A%#�6�A-\ú�A)"C5�)*C5���RC5?��=C1�C9���n �����������������^�� ���<:Y���Y1y���:���� 6)��*�;��yI��G���*�cj, ޙ��E�AY}2ᶜ@�}2�Ĕ@y}2���}2����}2H����`�4���������?����]��?����i����� ������� \��?��� 8ӣ?����NY����� ���?)~2ᶜ@ ~2�];I~2��Cɫy�y)�y �yI�yY��J�@y��1uG������@A���mA���mA��%>��%j�<��%`�;i�%��@��! �!)�%O�@I�%O�@i�%ٮ@��55j;M5W=Y�5|\;QU=�>��9��9�a=�G��9��Ay�E�?�}M�>I�I��M�A5�?��M�{վ� �Mu`A��]�?9�MGEC��M��: �Mw�:)�I�W��W�X� X��W�:W2W*W�VUU ��� �v@�R5B*** querying acoustic contact ***�P1�P1zLI�LI�LI�LM>��@�A�A�^�B� B��A�_>*B��C9�A��A���6�A�wǺ�A�"C��)*C�+J�RC�TǓ=C��C� ���=����=�ֽ���=I��G�E>��T�cj,5����E�AY}2$��@�}2ҳ�@y}2�i��}2����}2H�����u������@���?�������?�����������_������I�?���`L�?���`<���������?)~2$��@ ~2T�];I~0ɫ9�9)�A �E����I�AY��U�@y��>uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��E�Z;MEI=Y�MS&;QUU�>��Y��Y�a]�G��Y��iy�m���}}�>Iȁ����:�Ņ=5�?����:�Ņ�վ� ƅ�`A����?9ƅ_EC�Dž�@; ȅ3A;)ȅ��:�WY�WaXa Xa�Wa:Wa2Wa*Wi�V�U�U�����4� @zL��L��L��L�<��@�A��\�B� B��A�x`>*B��B9�A��A���6�A��˺�A�"C �)*C ���RCJc�=C�C����=i��%=���l ������������������� ���P:Y��DW1y��Y�:����6�9�@ܝ��>9ܙIܙiܙ�ܙ�ܙ�ܙ�ܝ; ݝ�E��5���=I�AG]U>��=�cj,��͎�E�AY}6ԕ�@�}6���@y}6&��}6߂��}6H�����<������w��?����0 �?���@������ 皱�����J��?��� ��?�����ˣ�����'��?)~6ԕ�@ ~6it];I~4ɫ9�9)�9 �9I�9Y�u��@y�}�uG�xDUSBL response received:!U1,P 334,000,004BC,188,80,80,5F,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 ��m@��m@��m@��m©�m���m�i�mf�@��m���� �m�@)�m��@I�m��@i�m�@��;�<M�)=Y��7:QU��>�����a��G����y�ڇ�}��>I������75�?����վ� ���`A����?9��{EC���f�: ��]�:)���W�WX X�W:W2W*WA�VAUAUE����� @zL��L��L��L���@�A�(�Y�B� B��A�k>*B��B9�A��A���6�A��к�A�"C��)*C�at�RC��e�=C��C�i�I�������Y��]lA��M ��=I�a G� �>���cj,?ꎩE�AY}J���@�}Jl��@y}J���}J���}JH�����N]������n��?����A��?����������`���������~�?��� cߢ?���@�o�����@���?)~J���@ ~JI�];I~J��Cɫ�髑)�� ��I��Y����@y���tG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=�bX9���?�A`��"�?����Mb�?��=E6>��=Y= �=�<)�9I�9y�=�o��ʡ�?bX9�ȶ���~j�t�?��=->��=E����=��< �9)�=+AI�=Q Ai�=EA��9��=�A)�U�= �U�=��]Y�M]L=Y�]��:QUe�>��a��a�ae�G��a��iy�u�}u�>I�y����:��}�45�?����:��}��վ� �}�`A����?9�}�EC��}M�:���� �����������~�� ��G:Y�y���<6 �}�;)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����X@zL��D>�L��D>�L���@�L��'�@�A�VW�B� B��A�\U>*B��B9�A��A���6�A��Ժ�A�"C��)*C��- �RC�� �=C��C�9Թ�֭5�=I��G��>�) 9�) I�) i�) ��) ��) ��) ��- _; �- -E� ��cj,����E�Ai��mGI�(i�8Y}j���@�}jo��@y}j*��}jN����nS8�ٺl��n-A�}jH�����Ee���������?���@�N�?����������`ƽ������E�?�������?���@����������?)~j���@ ~j��];I~hɫ���)� ����I� Y�Qy�Q]xDUSBL response received:!U1,R,2E8,000,00B54,189,80,80,AA,FF eFpublishing direction and range info��]6&���Yɰ]�m>�]7�> �Y)�]�*CI�Yy�]�C��]�G��M,}�?��@�X���������ٱYY��T�:QU��>��Y��Y�ae�G��aIޑ)ޕ@A��y� d��} �>I����05�?���վ� �)aA���?9��EC��k�: �w�:)��Wa�WaXa Xa�W�:W�2W�*W��V�U�U���� C@�R�(Combining 5 samples.�P�*Q��C�Z��0��>|.[@�%ǡT����������Z��G��M,}�?��@�X���������2Q�6&�:Q��Z��m8`d>jV���:���Y�'�HF�@�Z��V�����t�ل��X;�]�?BQ�{�@ Q�]��Q�Q���P�ݧ9?�P���9?�P�a���Q�����Q��SA"Q��AzL�L�L�Lo&�@�A+�T�B B�AA*BE�@9�AA�AEy�6�AE9ٺ�AA"CM�)*CM���RCUq�=CQ�CQ9�=��:�� p,�=I�G5�>���cj,9���E�A�|$i|&�@Y}V��@�}V���@y}V���}V{��}VH������"������X��?������?���������`�z�����`�o�?����_��?���`ˢ��������?)~V��@ ~V�:];I~Tɫ�髉)�� ������I��Y����@y���tG�UTNmea in: $SNTTA,0.119306,,,,170459.78*4D �������������í��>�í�H>�í�T�ií3�@�í��� ĭ��@)ĭ��@Iĭ��@iĭn�@�����M��<Y��2!�QU��>�������a��G������y��5;}��>I������-5�?���վ� ��SaA����?9���EC���f�: ����:)����� �����������Z�� �oI:Y�y���a 6�m�yAdded new target pos. range: 136.500000 m, bearing: 228.873560 deg, deltaT: 4.516167 s, approachRate: 22.426096 m/s, LOS rate: 0.810394 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������a@U����`->�?zL �L �L �L ,.�@�AE��R�BA BA�AEXO>*BEoB9�AI�AM �6�AM�ܺ�AI"CU�)*CU=� �RCU;�=Cq�Cy9�U��: �]�=��]�=��E���=I�QGuy>�y>�cj,��7��E�AY}RI��@�}R���@y}R����}R���}RH����������������?��� X�?���@d�������᰿��� �v�?����-��?����bܢ���� ���?)~RI��@ ~R�\;I~R��Cɫy�y)�y �}���I�yY���@y���tG��a��a��'�<M�O=Y�ͩ8QU��>�����a��G����y�d�;}��>Iȱ����:�ŵ�*5�?����:�ŵs�վ� Ƶ�aA����?9Ƶ�EC�ǵw�: ȵ��:)ȵ��:�;��� w��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;����w�dResuming normal ranging with 1.000000 count pings.�;����1<����W��W�X� X��W�:W�2W�*W��V�U�U��� 3%�?zL�L�L�L�A�@�A5g1P�B1 B1�A56W>*B=�C9�A9�A=��6�A=���A9"CE�)*CEgk �RCE���=CI�CQ��9��I��i���������������; ��nE)�m�k�CI�m�k�Ci�i���i���i���m�]v49�-9�:��x��=I�)GER>��'�cj,�nQ��E�AY}J羜@�}J�̔@y}J�&��}Jk���}JH�����[���@u��?��� ���?����������`N������� �?���@�c�?���`�l����� ���?)~J羜@ ~J�\;I~J��Cɫ�髹)�� ��I��Y��d�@y��QuG����p���� 0=���^:>i����@��� ��)��1�@I��1�@i��1�@�����<M�E=Y����:QU��>�������a��G������y����;}��>I�����&'5�?���;�վ� ���aA�� �?9���EC�����: ���;)���X-�������?1<-���w-�Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;-��� w-�Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�W1�W1X9 X9�W9:W92W9*W9�VAUAUE����-��?zLa�La�La�LecU�@�Au��M�By By�A}Rb>*B}zC9�Ay�A}��6�A}���A�"C��)*C���RC��f�=C��C���-�=i�-�=��E] ����E�����E�����E��� �E�O:Y�E�W1y�Eč:��E69�e,n:��]���=I��G�c>��P�cj,1Ck��E�A�|�|�;Y}2�М@�}2<ޔ@y}2�� ��}2����}2H����`Ѯ�����c��?����Ƥ?����>������?~�������v�?�������?��������������?)~2�М@ ~2�\;I~2��CɫY�Y)�Y �YI�YY����@y���tG����V-���?> ףp=ʿˡE����?����|>����Q� ���'=)��I��y���P��n��?bX9�ȶ�y�&1��?���>������`e< µ� A)µ�AIµ Ai±�������A��%E�M%F=Y�%.W;QU-�>��)��1�a5�G��1��9y�='�;}=�>I�A��M�:��E�#5�?��M�:��E�վ� �E�aA��U�?9�E�EC��E��: �E]�:)�E��:�Wq�WqXq Xy�Wy:Wy2Wy*Wy�V�U�U������D�?zL�!>�L�!>�L�u��@�L�ɐ�@�A�ËK�B� B��A��T>*B��A9�A��A���6�A����A�"C��)*C�.��RC���=C��C�i��I����������Y��]mA��M ���=I�Y Gu �>�� ��>9�� I�� i�� ��� ��� ��� ��� ~; 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݅(E��5� ����5�����5�����5e�� �5b?:Y�5�^1y�5a�:��5�6)�5��;��yI��G�=>�t�cj,��ҏ�E�AY}6V�@�}6��@y}6?����}6\L��}6H������F�����`m��?��� �٣?��� %�������ѭ�����t�?����6��?���@_���������?)~6V�@ ~60�^;I~6��CɫI�I)�I �M����I�IY�}0�@y�}uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���nA���nA��Uf�>��U�=��U�T�i�U��@��Q �U��@)�U��@I�UO�@i�U��@��e��<MeG=Y�mNm;QUm�>��i��q�au�G��q��yy�}���}}�>Iȁ�Ņ�5�?�Ņ�վ� ƅbbA����?9ƅ,FC�Dž��: ȅ÷:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����]� @zL��L��L��L�2��@�A�2A�B B�A%�[>*B%yB9�A!�A%��6�A%,���A!"CM�)*CU����RCU��=CQ�CQ�ցI��G�`>����cj, �쏩E�Aɫ�髙)�� �����I��Y��%�@y��uG�xDUSBL response received:!U1,P 2E8,000,00B54,189,80,80,AA,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 ��Ponly read 0 of 1 data item for BIT errorai�@a��� am�@a��� aq�@a��� ae�@a��� ����Q�MA=��-�=i�)��U� ����U|����U|����U��� �U G:Y�U�R1y�Ui�:��U�6�9e@Y����QU��>�����a��G������y�����}��>I�A��M�:��E5�?��M�:��E��վ� �E�bA��U�?9�E@FC��E��: �E��>)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U=���@�p @�A���>�B� B��A�tZ>*B��@9�A��A���6�A�����A�"C%�)*C-49��RC-q�=C1�CY�ԩ�ԭnA�q 9�q I�q i�q ��q ��q ��q ��u �; 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ݵa E�%Bdj,����E�AY}M���@�}M`�@y}M�HA��}M�R��}MH����@?ԫ����� ��?�����U�?����Q�����`8 ���������?�����(�?����������@���?)~M���@ ~M>�a;I~Iɫ�)� �I�Y�5��@y�5VtG=xDUSBL response received:!U1,P 2C9,000,004BF,189,80,80,34,FF =Command Ack=BRequesting micromodem ping code 2i�9��9�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%nA��%nA��,>��p=>���Լi���@�� �O�@)�9�@I�9�@i�O�@��]SּM]6=Y�}D;QU��>�����a��G����y� ��}��>Iȑ����:�ŕ��5�?����:�ŕ�վ� ƕ�dA����?9ƕ GC�Ǖ�; ȕ�;)ȕ��:�W)�W)X) X)�W1:W12W1*WQ�VyUyU}����(@zL��L��L��L����@�A����B� B��A��H>*B��?9�A��A��7�A�f��A�"C�)*C@�RC��=C!�C)��A I�Q G} �>��LHdj,9�"��E�AY}:w��@�}:& �@y}:I�+��}:����}:H���������������?����~��?����5������G������a4�?���@/�?����=V�����@���?)~:w��@ ~:��a;I~:��Cɫ9�9)�9 �=���I�9Y�}��@y�}�tG鮉ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}��<M}�=Y�}��;QU}?�����a��G����y��ٺ}�?I����� �5�?���D�վ� ���dA����?9��GC���j�; ����;)���Wi�WiXi Xq�Wq:Wq2Wq*Wq�VyUyU}����KE@zL��L��L��L����@�A��1�B� B��A��M>*B�F9�A��A�E7�A�z��A�"C��)*C^|ܻRC�4�=C�C��-�=i�-�=��=�����=�����=�����=��� �=$�:Y�=�o1y�=I�:��=`6��}���=I��G�`>�wNdj,��<��E�AY}2���@�}2� �@y}2�[��}2����}2H����� ���������?��� ���?��� >�������K�����@�0?����j�?����z��������?)~2���@ ~2 Ba;I~2��Cɫ9�9)�9 �=����I�9Y�}K�@y�}�sG�xDUSBL response received:!U1,R,2A1,000,004B8,189,80,80,90,FF �Fpublishing direction and range info����Y����ɰ���=鰁 ��)���CI��y���B����JU��?�vV����������ٱ�����M�X=Y��;QU��>�����a��G����y���.�}��>I������:�����5�?����:�����վ� ���dA����?9��)GC���L$; ��%;)����:�W�WX X�W:W2W *W �V U U ���@�@�R-(Combining 5 samples.�P1*Q5�B�e��>9�aI�eoGi�eO�@��a��a��a��e�; �e� E�Z5�Ő��a=@ T��b3����������Z5�JU��?�vV����������2Q5�Y�:Q1�Z5����]�4�eI]���<��&aE1T�?�Z5���)�'��I}ٝ�術�&��?BQ5@�@ Q5��Q5����P5��9?�P5��9?�P5����Q5����Q5��@"Q5<�@zLQ�LQ�LQ�LU���@�Ae���Bi Bi�Am$?>*B��@9�A��A�7�A����A�"C��)*C���ٻRC�4o�=C��C��֡I��G�C>��`Udj,�V��E�AY}2���@�}2Z �@y}2����}2wm��}2H�����������`���?�����b�?����]������:������[�z?������?����Z,�����`���?)~2���@ ~2� `;I~2��Cɫ9�9)�A �E���I�AY��V�@y��tG�=TNmea in: $SNTTA,0.087538,,,,170508.74*49 )�u> �u>��U����U�����U�����U��� �U.r:Y�U�W1y�Uč:��U�6�õ�M>�õ�P>�õ��iõf�@�ñ ĵ�@)ĵ���Iĵ�@iĵ�@���.;M� =Y���;QU��>�������a��G������y��i29}��>I���Y�5�?��~�վ� �eA���?9�>GC����: ��:)��muuAdded new target pos. range: 34.980000 m, bearing: 233.212274 deg, deltaT: 4.429285 s, approachRate: -0.094823 m/s, LOS rate: 0.513528 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����p}A@U�������?zL��L��L��L����@�Ae�B B�A%�@>*B%�>9�A!�A%�7�A%f��A!"C-�)*C-4%ֻRC5�Ԧ=C1�C1��-Z��=I�9GU�>��[dj,(bp��E�AY}:��@�}:|�@y}:[%���}:����}:H�����ޢ������w��?������?�����������!«�����~v?������~?�����������`K��?)~:��@ ~: �^;I~8ɫ9�9)�9 �9I�9Y�}��@y�}QtG�������x�&�?��K7�����MbX�?���7 >���I� ����=)��I��y����I+��?��MbX��y�&1��?���94>����ʽ���`e< ¥ A)¡I¥ Ai¥�A���������Ǽ<M�u=Y���[;QU�?�������a��G������y��+;}�?I������:���R�5�?����:�����վ� ��-eA����?9��OGC���'; ��{;)����:�W�WX X�W:W2W*W�VU!U%���`%��?zL=FO>�L=FO>�L=\��@�L=���@�A�Y �B� B��A�fH>*B�E9�A��A��7�A�f��A�"C�)*C�ӻRC¨�=C�C��=�ا=I�IGeV>�Y9�YI�]�nGi�]��@��Y��Y��Y��]; �]� Ei�� VnGI�� i�� �� hg�ٺ �� NYA� sbdj,�E���E�AY}r��@�}r<�@y}r�ﻙ}r�@��}rH������f����� }��?��� :3�?���@ ������܅�����`*�u?���@�}?���`������`��?)~r��@ ~rC�];I~r��Cɫ�髱)�� ��I��Y��Q�@y��:uGI��)�� ��鿩������������i� �@�� ��@)��@I�i��@��-"b=M-D=Y�5p�9QU=�>��9��9�aE�G��A��Ay�M�:}M�>I�Y��]��5�?��]��վ� �]MeA��m�?9�]eGC��]l; �]�;)�Y��5�����5�����5�����5]�� �5t�:Y�5<`1y�58�:��5�D6)�5�<�9=��Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU�����a��?zL��L��L��L����@�A��q��B� B��A�`>*B�C9�A��A��7�A����A�"C��)*C���лRC�rs�=C��C���1I�9G]v>��hdj,����E�Aɫy�y)�y �}����I�yY����@y���tG�� mA�� mA��5�-�M=[=Y�=���QU=�>��A��A�aE�G��A��Iy�M���}M�>I�a��e#�5�?��eH�վ� �ejeA��m�?9�exGC��eb�: �e��:)�a�W�WX X�W:W2W*W�VUU%����Y�?zL9�L9�L9�L9�AU����BQ BQ�A]�O>*B]�D9�AY�A]v7�A]���AY"Ce�)*Ceq�ͻRCm.��=Ci�Cq�օ�.�=I��G�?>��ndj,E�AY}6��@�}6Z�@y}6�ǻ�}6�!��}6H�����=%���������?�����[�?���`S������k?�����@ENp?������x?����~8������t��?)~6��@ ~6�;];I~6��Cɫ9�9)�9 �=���I�AY��"�@y���sG���mA���nA�9�I�HnGi���@��������R; �� E)ݡ�Iݡ�iݡ��ݡ��ݡ��ݥ���4��+Q�M�D=Y�O@;QU��>�����a��G����y���:}��>I������:���]�5�?����:���G�վ� ���eA��U�?9���GC����< ��"�<)���:�W��W�X� X��W�:W�2W�*W��V�U�U����@��@zL�L��-�=i�-=��=�����=�����=�����=�� �=�:Y�=]1y�=�:��=�!6)�=�<�L�L�DŽ@�AU@�BY BY�A] :>*B]@?9�AY�A]D7�A]��Aa"C��)*C���ʻRC����=C��C��֝��=I��G�b>���udj,�ב�E�AY}:��@�}:N�@y}:%���}:����}:H����@�U�����`���?����k�?��� 1�������l��������k?���@��v?����4����������?)~:��@ ~:2"];I~8ɫ9�9)�9 �=����I�9Y�]��@y�]�sG��%�>��%`e���%�i�%��@��! �%9�@)�%9�@I�%9�@i�%O�@��]K��Me>=Y���:QU��>�����a��G������y� \�} �>I���K�5�?����վ� ��eA��M�?9��GC����; �Ϻ;)��W��W�X� X��W�:W�2W�*W��V�U�U����� @�R�B*** querying acoustic contact ***�P��P�zL �L �L �L �Ą@�AE�T�BA BA�AE3>*BM�>9�AI�AM 7�AMF��AI"CU�)*CU5�ǻRCU��=CY�CY��qI��G�>��{dj,m��E�AY}2��@�}2j�@y}2� ���}2h��}2H����`%����������?����Q��?������������������b)i?������t?��� ��������y��?)~2��@ ~2: ];I~2��Cɫy�y)�y �}���I�yY����@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******������?A��=� ����=�����=�����=4�� �=�U:Y�=0Y1y�=��:��=O 6�9=@��M��~j�t��?����Mb��{�G�z����M��=��M�� �M�#�)�II�Iy�M���~j�t�?�Zd;�����Q��?��M�>��M�����M�u< �I)�II�M�Ai�M+A��I��M�A)�]�= �]�=����;M�7=Y�܇:QU��>�������a��G������y��yS�}��>I������:�����5�?����:����վ� ���eA���?9���GC����.; ���/;)���:�W9�WaXa Xa�Wa:Wa2Wi*Wi�ViUiUm����Oy@zL�,H>�L�,H>�L�?k�@�L��@�A�s�ܼB� B��A�l5>*B�(?9�A��A�� 7�A�e��A�"C��)*C��ĻRC�2��=C��C�������>9�I�i����������; �� EI�!G=�>����dj,C���E�AY}6��@�}6� �@y}6����}6>R ��}6H���� n���������?�����h�?���`��������!�����@)l?�����u?����`I������6��?)~6��@ ~6@5];I~6��CɫQ�Q)�Q �]����I�YY��Y�@y�� tG�xDUSBL response received:!U1,P 2A1,000,004B8,189,80,80,90,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�))�-@A��5n>��5�����5ʡ�i�5��@��1 �5�@)�51�@I�51�@i�5�@���<M�K=Y��))�QU��>�������a��G������y���,�}��>I�����6�5�?���b�վ� ���eA�� �?9���GC����; ��u�;)���W)�W)X) X1�W1:W12W1*W1�V9UYU]������ @zL��L��L��L���~@�A�vtԼB� B��A��@>*B�:A9�A��A�� 7�A�l��A�"C��)*C�J���RC���=C��C�����.�=I��G�>��dj,t_%��E�AY}:d��@�}:�@y}:�����}:�,��}:H����@p�������'��?����[(�?���������� +�����`��p?�����x?�����������T��?)~:d��@ ~:�];I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�sG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)�� �!�!��- �M5|=Y�-�QU�?�����a��G����y���9}�?Iȹ����:�Ž��5�?����:�Ž�վ� ƽ fA����?9ƽ�GC�ǽ�$; Ƚ�;)Ƚ�:�W9�WAXA XA�WA:WA2WI*WI�ViUqU}��� �k @zL��L��L��L��~@�A�̼B9 B9�AE4>*BmmA9�Aq�AuQ7�AuG��Aq"C}�)*C}u��RC�Ħ�=C��� ����������� ��H:Y�y���;6�C��ֹI��G�f>�5�dj,�:?��E�AY}2)��@�}2� �@y}2��ۻ�}2����}2H�����ݫ�������?����j�?������������������i�s?����${{?����I�������?)~2)��@ ~25,];I~2��Cɫ9�9)�9 �9I�AY�E��@y�M[sG�Ma=ɮMa=UxDUSBL response received:!U1,R,251,000,004B7,188,80,80,79,FF UFpublishing direction and range info��U<z���QɰU��=�U��> �Q)�U��BI�Qy�U�B��U��NW^��?�v1,�߿��������ٱQ��}WB�M}V=Y���QU��>�����a��G����y�':}��>ܡ9ܡIܥ�mGiܥ[�@�ܡ�ܡ�ܥ��D�ܥ�; ݥ� EIȹ�Ž��5�?�Ž#�վ� ƽ,fA����?9ƽ�GC�ǽ�: Ƚ{�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������!@�R(Combining 5 samples.�P *Q �B�Z ���H�Y>@�SœbF1����������Z ��NW^��?�v1,�߿��������2Q <z�:Q �Z �#؈��2������[=��l��?�Z ����|O�����J�꿞n����?BQ -��@ Q ���Q ���P ��9?�P ��9?�P ����Q ����Q ��@"Q ��@zL��L��L��L���~@�A��żB� B��A�g/>*B�;@9�A��A�7�A�%��A�"C�)*Chz��RC9-�=C�C��%��=I�QG�:>�r��dj,�Y��E�Aɫ1�9)�9 �E���I�AY��4�@y���sG��TNmea in: $SNTTA,0.041809,,,,170512.76*45 ��� ��������������^�� ��C:Y��X1y�/�:��� 6���:��v���?{�G�z��Zd;�O�������=��ף� �j��)�I�y��7�A`���?+����������Mbp?���>��������; ��A)��AI��Ai��A����GA��}\>��}\���}O��i�}�@��y �}��@)�}�@I�}�@i�}�@����<M�=Y����QU��>�����a��G����y����}��>Iȡ����:�ť��5�?����:�ťk�վ� ƥ<fA����?9ƥHC�ǥ��: ȥs�:)ȥ�:�m�uAdded new target pos. range: 34.920002 m, bearing: 237.241566 deg, deltaT: 4.035013 s, approachRate: -0.014869 m/s, LOS rate: 0.998582 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������uA@U�������?zL�t*>�L�t*>�L�s�@�L��x�@�A�ʳ��B� B��A�]<>*B��=9�A��A��7�A�[��A�"C��)*C�{���RC�o[�=C��C��� �� ���Bʨ=I��G �>��&�dj,+�r��E�A�|4<�|�;Y}6��@�}6��@y}6G���}6�o'��}6H����@�P������V��?�����#�?���������� <{��������{?���`{�?���`:줿�������?)~6��@ ~6oC];I~6��Cɫ9�9)�9 �9I�9Y�]l�@y�]�rG���i���<I�p=)�C=��5���M5�=Y�=���QU=?��9��9�aE�G��A��Ay�M�n;}M?I�a��e��5�?��e��վ� �eGfA��u�?9�eHC��eB; �e\(;)�a�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L����@�A ��B B�A_#>*B�A9�A�A} 7�A���A"C%�)*C- ���RC�"��=C��C��ֽ��=I��G�E>ܙ9ܙIܝ�mGiܝ �@�ܝ=�ܙ�ܝ��D�ܝ�; ݝ E� �dj,2̌��E�AY}:�@�}:� �@y}:ea!��}:X�$��}:H�����3������`��?����,ڤ?����w�������ݪ�������?���@,�?����ܝ�����`���?)~:�@ ~:�3];I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�} sG�Å�C>�Åף;�ÅٽiÅQ�@�Á ą1�@)ą1�@Ią1�@ią1�@���<M�B=Y�����QU��>�������a��G������y���>;}��>I������5�?���0�վ� ��VfA����?9��'HC���� ; ���;)���W9�W9X9 X9�W9:WA2WA*WI�VIUQUU������?zLy�Ly�Ly�L}Y��@�AEy°�Bi Bi�Am'>*Bm�=9�Aq�Au47�Au� ��Aq"C}�)*C�LA���� ����������������� ��I:Y��Y1y��:���6)�w�;�9��RC�iĭ=C��C��ֽ��=I��G�f>�97�dj,L����E�AY}2]�@�}2*�@y}2u�,��}2���}2H����@<�����`e��?������?������������I���������?���`Ԝ�?���@�?���������?)~2]�@ ~2`];I~0ɫY�Y)�Y �YI�YY��y��Y�=X�QU=�>��A��A�aE�G��A��Ay�MB;}M�>Iȡ����:�ť��5�?����:�ť\־� ƥcfA����?9ƥ7HC�ǥ��: ȥ��:)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U���� \O�?zL�L�L�L�@�A�Ϊ�B B�A*B�>9�A!�A%�7�A%�!��A!"C-�)*C-����RC-ί=C1�C1��aI�iG�;>��dj,k����E�A�|i|�M��>9�II�Ii�I��M=��I��M��D��M"; �M. Eɫy�y)�y �yI�yY����@������y��sGi� mGI�!i�Q��e�;Mu�<����.�ٺ����$AY����QU��>�����a��G����y����}��>Iȩ�ŭ5�?�ŭ�־� ƭqfA����?9ƭIHC�ǭ� = ȭ>=)ȩ�W��W�X� X��W�:W�2W�*W�VU U����~��@�� ���� ����� ����� ��� � us:Y� [1y� ݏ:�� �6)� ��;zLI�LI�LI�LI�A�����B� B��A��(>*B��<9�A��A��7�A��"��A�"C��)*C�"���RC�%��=C��C��֕�d�=I��G��>�UI�dj,^ڒ�E�AY}FQ"�@�}F�0�@y}F"�E��}F�h ��}FH����������������?������?���� ������$�����$�?������?����߫���������?)~FQ"�@ ~F;�];I~F��Cɫa�a)�a �iI�iY�=G�@y�=�rG��M�<�O��n�?��MbXѿ�~j�t�x?��Mt>��M��� �M��;)�II�Iy�M��V-�?���������~j�t��?��Mh>��M�̽��M�D< �M� A)�II�MfAi�MEA��I��M�A��]nA��]nA�í�">�í+�=�í���ií��@�é ĭ��@)ĭ�@Iĭ�@iĭ�@�����M�=Y��D�QU��>�������a��G������y����:}��>I������:���4�5�?����:����־� ���fA����?9��_HC��� �: ��w�:)���:�W�W X X �W :W 2W *W�VUU���@t@�R%B*** querying acoustic contact ***�P!�P!zL5E2>�L5E2>�L5�m�@�L5���@�AM����BI BI�AU�>*BU�<9�AQ�AU[7�AUr#��AQ"C]�)*Ce ���RCe3D�=Ca�Ci��iI�yG��>�]s�dj,�8���E�AY}2� �@�}2l.�@y}2�\P��}2�O��}2H�����)ԩ�������?�������?�����������G�������G�?����n�?�����h�����` ��?)~2� �@ ~2�];I~2��CɫY�Y)�Y �]���I�YY��-�@y���rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��17�M �=Y� �QU?�����a�G����!y�-k1�}-?I�1��5��5�?��5� ־� �5�fA��E�?9�5lHC��5�; �5r;)�1�W��W�X� X��W�:W�2W�*W��V�U�U����`P@��1i�1zLi�Li�Li�Lm���@�A�귚�B� B��A��>*B��>9�A��A��7�A�$��A�"C��)*C�r��RC���=C��C��� � ���� ����� ����� i�� � �D:Y� �W1y� č:�� �6�9@���*�=I�!�A9�AI�EmGi�E��@��E=��A��A��EI; �EB E)�نI�نi�ن��ن��ن��݆�i4G�>�Q[�dj,<��E�AY}2\�@�}2 )�@y}2�@[��}2�T��}2H�����*�����`��?��� eܣ?���������� �h������6[�?�����g�?����舣���� M��?)~2\�@ ~2E�];I~0ɫ9�9)�9 �=���I�9Y��9�@y���rG�xDUSBL response received:!U1,P 251,000,004B7,188,80,80,79,FF �Command Ack�BRequesting micromodem ping code 2i��������4=i���<���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%�D���%ݤ>��%�>i�%�@��! �%-�@)�%�@I�%�@i�%�@��e�8;M�*=Y���QU��>�����a��G������y��᭺}��>I����%�:���3�5�?��%�:����־� ���fA��-�?9���HC�����; ��"�;)���:�W��W�X� X��W�:W�2W�*W��V�U�U�����n� @zL��L��L��L�4��@�A ���B B �A �>*B <9�A�A�7�A�$��A"CE�)*CE����RCM��=CI�CQ�֭٦�=I��G��>�N��dj,��'��E�AY}6��@�}6p�@y}6�a��}6"���}6H�����p㪿����<��?��� %P�?������������$�������߇?����7!�?����<������@���?)~6��@ ~6�];I~6��Cɫ9�9)�9 �=����I�9Y�}G�@y�}�rG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��mL�;Mup=Y�ug��QUu?��y��y�a}�G��y��y���}� ?Iȉ�ōH�5�?�ō־� ƍ�fA����?9ƍ�HC�Ǎ�X; ȍrY;)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U����@AM @zL�L�L�L쉁@�A5ƕ��B9 B9�A=�>*BE`@9�AA�AE?7�AMr%��AI"C]�)*Ce�r��RCeCz�=Ca�Ci��e� ����e�����e�����et�� �e�Y:Y�e�Y1y�e�:��e*6�օ�~�=I��G�=>��m�dj,��A��E�AY}6c�@�}6�@y}6�u��}6����}6H�����㨫��������?���`D1�?����������������F�?������?����JΣ��������?)~6c�@ ~6�<];I~6��C�9�I�i���������d; �Q EɫY�Y)�Y �YI�YY�}�@y�}orG�xDUSBL response received:!U1,R,1F1,000,004BC,186,80,80,89,FF �Fpublishing direction and range info�������ɰ���=鰅��> ��)��� CI��y���B��������� �?tGG�ڿ��������ٱ���F��M�X=Y��R�QU��>�������a��G������y����}��>I�����ӛ5�?����־� ��gA��5�?9���HC���Q< ���<)���Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U����`�9@�R�(Combining 5 samples.�P�*Q��B�Z��n��O��?@��t�-����������Z������� �?tGG�ڿ��������2Q��:Q��Z���A#�~0�K��3�?���, ���?�Z���َ2�ݿ��\��A��6R���?BQ�<1�@ Q����Q����P���9?�P���9?�P�����Q�����Q���@"Q���@zLA�LA�LA�LE�|�@�A��h��B� B��A�V>*B�|<9�A��A��7�A�$&��A�I�1)�5?A"C=�)*Cm[��RCm�=�=Cq�Cy ���=����=�ֵ��=I��G�f>����dj,-�[��E�A�|4i|4Y}����@�}�g�@y}������}����}�H����`?����� ���?�����!�?����������@�N������e͍?���@���?����J������@i��?)~����@ ~�q];I~���Cɫ�髹)�� �����I��Y�MG�@y�M�rG��TNmea in: $SNTTA,0.052143,,,,170516.80*4D �� �:��v���?!�rh��̿y�&1�|��� �T=�� lg� � `�)� I� y� ����x�&�?J+����� �rh�?�� 7 >�� �Ƚ�� C�< � �A)� �AI� � Ai� dA�� �� pA��1��5mA��e� ����e�����e�����e�� �e0>:Y�eP^1y�e��:��eW6�Ýrh>�Ýף��Ý��iÝ̤@�Ù ĝ�@)ĝ�@Iĝ�@iĝ�@��Y]<M�=Y��G�QU��>�����a��G����y�����}��>I������:���&�5�?����:����־� ��3gA����?9���HC�����: ��{�:)���:�m�qAdded new target pos. range: 35.220001 m, bearing: 242.060921 deg, deltaT: 4.062773 s, approachRate: 0.073841 m/s, LOS rate: 1.186223 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����)�A@U����`�#�?zL�*>�L�*>�L�ڴ@�Lu�@�AE����BA BA�AM�>*BM�:9�AI�AM�7�AM'��AI"CU�)*C]���RC]�=CY�CY��E (��=I�Q Gu �>����dj,�u��E�AY}:#�@�}:��@y}:bv���}:����}:H�����q̫��������?����z�?��� �������(������+��?���`���?��� F������`���?)~:#�@ ~:I�\;I~:��Cɫ9�9)�9 �E����I�AY�}��@y�}rG��uS�Mu�=Y�}&��QU�?�����a��G����y��E�:}�?I�����v�5�?����־� ��OgA����?9���HC�����: ��G�:)���W��W�X� X��W�:W�2W*W�VUU ���@�+�?zL!�L!�L!�L%��@�A=�"��B9 B9�A=>*BE�?9�AA�AE'7�AEu'��AA"CM�)*C�����RC�U��=C��C����������� ������������>9�I�i���������s; �Y EI��G�~>�b��dj,�[���E�AY}2B�@�}2��@y}28̢��}2 #��}2H���� yZ���������?����ߧ�?���`������`��������;^�?���@/Y�?�����"������=��?)~2B�@ ~2Y�\;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�qG��M@��M@��U@��M©�M���M�i�M=�@��M���� �M��@)�M�@I�Mn�@i�M��@��}7�M�J=Y�u��QU��>�����a��G����y�%;}��>Iȩ����:�ŭ�5�?����:�ŭ�־� ƭugA����?9ƭ�HC�ǭ��: ȭ��:)ȭ �:�W��W�X� X��W�:W�2W�*W��V�U�U�����o��?zL�L�L�L��@�A%��B! 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µ� A)±Iµ�Aiµ~A������fA���������I�AA)�AA����=��Z���h��i�3�@����� ��@)� �@I��@i��@��-7�M-1=Y�5���QU5�>��1��9�a=�G��9��9y�E���}E�>I�I��M`�5�?��M�&־� �M�gA��U�?9�MIC��M*�: �M��:)�I�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�������@zL�wG>�L�wG>�L��>�@�L��]�@�A5�pv�B9 B9�A=��>*B=�99�A9�A=z7�AE�)��AA"CE�)*CM:��RCM՚�=CI�Cq��e벫=I�qG�}>���dj,C����E�A�|i|�@Y}B�@�}B��@y}B$0���}B^���}BH�����sݪ�����P��?�����8�?��� ������@�C�����@i�?�������?����𭣿����"��?)~B�@ ~BC\;I~B��CɫY�Y)�Y �]���I�aY����@y���qG ��鿱�¹�¹�����<M�}=Y��߄7QU� ?�������a��G�����qy�}t��}}?Iȁ����:�Ņ�5�?����:�Ņ�)־� ƅ�gA����?9ƅ IC�Džk�: ȅ��:)ȅ�:�W��W�X� X��W�:W�2W�*W��V�U�U����@У@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��Q�@�A��pr�B B�A5>*B6<9�A�A7�A *��A "C�)*C Ή�RC��=C�C��%�?�=I�1GU2>��H����������������� ��v:Y��X1y�/�:���6�9%@ܩ9ܩIܩiܩ�ܩ�ܩ�ܩ�ܭu; ݭZ Ei��lGI�i�1��]�/�ٺY��]�$A���ej,ۤ��E�AY}2[�@�}2 �@y}2�m���}2�;��}2H���� �X���������?����M��?����b�����@��������3*�?��� E-�?����_e���������?)~2[�@ ~2� \;I~2��Cɫ9�9)�9 �=����I�9Y�}�@y�}KqG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��=�>��=^:>��=\>i�=��@��9 �=��@)�=�@I�9i�=�@��M��MUB=Y�����QU��>�������a��G������y�l�}�>I� �� �}5�?�� r-־� � hA��5�?9� 5IC�� ��; � �;)� �Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U���� � @zL��L��L��L�>I�@�A��o�B� B��A�l�=*B��89�A��A�7�A+��A"C-�)*C5���RC5��=C1�C1���6�=I�)GER>�" ej,�*��E�AY}B$�@�}B��@y}Bbg���}B����}BH������k��������?����;,�?��� ;�����@!ͫ�����1��?����r��?���@6�������(��?)~B$�@ ~B"\;I~@ɫY�Y)�Y �]���I�YY��q�@y���qG�xDUSBL response received:!U1,P 1F1,000,004BC,186,80,80,89,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 ��%��<M-M=Y�=T��QUE�>��I��Q�a]�G��a��qy��ȹ}��>I�Y��]�y5�?��]1־� �]hA����?9�]IIC��]٠< �]�<)�Y��1i�5p=�W��W�X� X��W�:W�2W�*W��V�U�U����@F� @zL��L��L��L�kG�@�A�pul�B� B��A��>*B�r99�A��A�&7�A��+��A�"C�)*C%�5��RC%v �=C!�C1��EZ ����E�����E�����E<�� �E�;:Y�ExZ1y�Eq�:��E* 6 Օ=�ԕ�=�֭�"�=I��G��>� ej,�YD��E�A�|�;�|�$9�$I�&TlGi�&�@��$��$��$��&Z; �&L E)����I����i���������=�����=�����XP4Y}f �@�}f��@y}f�}f� ��}fH����`�-������8��?�����G�?����x�������������� ��?���@ ~�?����|������`��?)~f �@ ~f��[;I~f��Cɫ�髹)�� ������I��Y���@y��pG����@A�E�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=05�M=:=Y�M�9QUU�>��Y��a�ae�G��i��qy�}Ȏ:}}�>Iȁ�� �:�Ņ�u5�?�� �:�Ņ�4־� ƅ4hA���?9ƅ^IC�DžH�< ȅa�<)ȅ�:�W9�W9X9 X9�W9:WA2WA*WA�VAUIUM����G]@zLi�Li�Li�LmoK�@�A}��i�By By�A}��=*B��89�A��A��7�A�I,��A�"C��)*C�G���RC�M%�=C��C��֍2_�=I��G��>��6ej,�A^��E�AY}%��@�}%2�@y}%s����}%{��}%H����`<֪��������?����5��?������������@��������?������?���@ ������?��?)~%��@ ~%X�[;I~%��Cɫ���)�� ��I��Y�5��@y�5"qGExDUSBL response received:!U1,R,1DC,000,004B5,186,80,80,6B,FF �Fpublishing direction and range info��EɭԾ��AɰEm�=�A �A)�E��BI�Ay�E3B��E��c|YG�?�Mᳯ�ٿ��������ٱA�dNmea in: $SNTTA,0.313788,0.315663,,,170521.24*5A ������ʡE��?����Kǿ�~j�t�h?����>���^:� ��)��I��y���o��ʡ�?�l����:��v���?���->�����������< �A)IKAi�A�������A�õ �=�õ�?�õ���iõ3�@�ñ ĵ��@)ĵ�@Iĵ�@iĵ�@����5<M�'=Y�����QU��>�������a��G������y����:}��>I�����|r5�?���(9־� ��thA���?9��tIC�����: ��>�:)���WA�WAXA XA�WA:WA2WI*WI�VIUIUU�����?@�Re(Combining 5 samples.�Pa*Qe3B�Ze�X�(E1�?@�W�o5,����������Ze��c|YG�?�Mᳯ�ٿ��������2QeɭԾ:Qa�Ze�."}Ň]/���)�� ?��=#r��?�Ze���:�y�ܿ��U,�쿚��s�<�?BQe�Ӈ@ QeT��Qe�z��Pe��9?�Pe��9?�Pe����Qe����Qe��@"Qe��@zL��>>�L��>>�L��ڻ@�L���@�A��Eh�B� B��A��=*B��79�A��A�'7�A��,��A�"C��)*C��1z�RC�N}�=C��C��֭�x�=I��G��>�_ej,Yx��E�AY}F��@�}F�#�@y}F�;���}F�!��}FH����@�~������D��?�����Ǥ?������������������"�?���`�F�?���@3���������?)~F��@ ~F��[;I~F��CɫY�Y)�Y �YI�YY�}��@y�}�pG�����M��=Y���F�QU� ?�������a��G����y��;} !?I� ���:�� �p5�?���:�� �;־� � �hA���?9� �IC�� ��: � ��:)� �:�mMuAdded new target pos. range: 34.799999 m, bearing: 243.196125 deg, deltaT: 4.564642 s, approachRate: -0.092012 m/s, LOS rate: 0.248695 deg/s, posRepo size: 4�WI�WQXQ XQ�WQ:WQ2WY*WY�VYU]���`ffA@U]�����e�?zLy�Ly�Ly�L}r�@�A��cg�B� B��A���=*B��:9�A��A��7�A�S-��A�"C��)*C��(v�RC�ѱ=C��C���mA��mAI�-@A)�)��5� ����1��1��55�� �5�@:Y�1y�1��5j 6��%�d�=I�)GM0>�E��>9�AI�Ai�A��A��A��A��E5; �E9 E��E$ej,)둔�E�AY}2�@�}2�+�@y}2����}2��#��}2H������������ ���?��� 6�?����Z������q�����@m�?������?�����{������\��?)~2�@ ~2��[;I~0ɫ9�9)�9 �=���I�9Y����@y���pG �!�!��u?5>��uV>��u/�i�u��@��q �u��@)�u��@I�u�@i�u�@��q�;M�A=Y�g:QU��>�����a��G����y�N;}��>Iȩ�ŭ�m5�?�ŭ�?־� ƭ�hA����?9ƭ�IC�ǭw�: ȭӻ:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U������1�?zL �L �L �L ;�@�A�1 g�B� B��A�4�=*B�{79�A��A�7�A��-��A�"C��)*C��o�RC�ܜ�=C��C�������=I��GL>��o*ej, ƫ��E�AY}:��@�}:y#�@y}:ף���}:����}:H����@ہ����� c��?����u��?�����������+�������'u�?���@�?���������������?)~:��@ ~:S�[;I~:��Cɫ9�9)�9 �=���I�9Y�}�@y�}KqG��U �<M]M=Y�]H��QU]�>��a��a�ae�G��a��ay�m�%�}m�>I�q��}�:��u�j5�?��}�:��uLC־� �uiA����?9�u�IC��u��: �uw�:)�u�:�W��W�X� X��W�:W�2W�*W��V�U�U������x�?zL��L��L��L�� �@�A�g}g�B� B��A�l�=*B��99�A��A��7�A�v.��A�"C�)*C-�i�RC���=C �C ��=�����=�����=�����=�� �=c2:Y�=�X1y�=/�:��=6���?�=I�G-->�A9�AI�E�kGi�EĿ@��A��A��A��E; �E E�X1ej,�Ŕ�E�AY}2�@�}2��@y}2Ym���}2����}2H����`�ܪ��������?����aU�?���`z�������I������@�?���`�?�����������G��?)~2�@ ~2<�[;I~2��Cɫ9�9)�9 �=����I�9Y�]W�@y�]UpG��=~y�MEL=Y�M�]�QU}�>�����a��G������y���ٺ}��>I�����h5�?���+G־� ��?iA����?9���IC�����: ����:)���W�WX X�W:W2W*W!�V!U!U%���`�$�?zLA�LA�LA�LE��@�A]��h�BY BY�A]n�=*B]969�AY�Ae�7�Ae/��Aa"Cm�)*Cm�c�RCm�ʰ=Ci�Cq��-�=i�-�=��E�d�=I�QGm5>���7ej,��ߔ�E�A�|64<�|4Y}n��@�}n��@y}n�~���}nsX��}nH����@�`���������?���`cg�?���� �������ȫ���� ���?���@J�?��� �ȡ���� ���?)~n��@ ~n\�[;I~n��Cɫ�髱)�� �����I��Y��E�@y��>pG�����ʡE�?ˡE�����{�G�z�?��-2>���'� ��#=)�I�y��J+��?i��|?5��:��v���?����=�������T< �1A)�I��Ai��A����=A��m+�=��mX9>��mx�>i�mף@��i �mƣ@)�mƣ@I�mƣ@i�mƣ@��}��M}7=Y���QU��>�����a��G����y���}��>Iȑ����:�ŕ�c5�?����:�ŕ]I־� ƕaiA����?9ƕ�IC�Ǖ�: ȕ��:)ȕ�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��>�L��>�L����@�L���q@�A��i�B B �A ͼ=*B �59�A �A e7�A �/��A"C�)*C��]�RCzC�=C��5� ����5�����5�����5&�� �5ZV:Y�5xZ1y�5q�:��5�6�C9�ֵ���=I��G�e>��=ej,�[���E�AY}V��@�}VQ�@y}V�����}V2j��}VH����@�ë���� ��?��� �I�?���`��������/���������?���`O��?�����������@Y��?)~V��@ ~VP�[;I~V��Cɫy�y)�y �}����I�yY����@y���pG��uU�<Mu]=Y�}�:QU}�>��y��y�a}�G����y�(�}��>Iș�ŝ�_5�?�ŝDK־� ƝiA����?9Ɲ�IC�ǝܹ: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����Yv@zL��L��L��L���q@�A��!l�B� B��A���=*B��79�A��A��7�A�,0��A�"C��)*C���W�RC�[;�=C��C��֝���=I��G�C>����>9��I��i���������������; ��� E���Dej,f2��E�AY}Jl��@�}J�@y}J�T���}Jy���}JH�����������`e��?����.�?������������f������XY�?������?����Ï�����@���?)~Jl��@ ~J��[;I~J��CɫY�Y)�Y �]���I�YY��'�@y��pG鮥p=ɮ�=��U��=��U��<��U���i�U¥@��Q �U��@)�U�@I�U��@i�U��@��e`ݼMeL=Y�e�:QUm�>��i��i�am�G��i��qy�u��}}�>I�y��}�[5�?��}QM־� �}�iA����?9�}�IC��}Ǻ: �}�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�&�q@�AI�n�B B�Ae�=*B�59�A �A 87�A �0��A "C�)*C�fR�RC�߭=C�CI�-AA)�)��=� ����=�����=�����=b�� �=@:Y�=�[1y�=H�:��=<6)�=2�;�9E���%��=I�1GM1>�ڽJej,� -��E�AY}F��@�}Fi�@y}F3涼�}F����}FH����������������?���`$Q�?������������������M��?����Iܖ?���������������?)~F��@ ~Fh�[;I~F��CɫY�Y)�Y �]����I�YY��W�@y��UpG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** ������mA��nA�� u<M P=Y� <�:QU�>�����a�G����!y�-�;}-�>I�1��=�:��5�W5�?��E�:��5VO־� �5�iA��E�?9�5�IC��5��; �5^;)�5�:�W��W�X� X��W�:W�2W*W�VUU���@0�@zLQ�LQ�LQ�LU'�q@�Am�q�Bi B��A�n�=*B�S69�A��A��7�A�Z1��A�"C��)*C�$FL�RC���=C��C��֥���=I��G�C>��)��)i��HmGI��i����9��I���kGi��s�@������������]; ��� E��E�+�ٺA��EQ!A���Qej,��F��E�AY}V��@�}V}�@y}V����}V�,��}VH�����_q���������?���`y7�?����=������Hܫ����@T[�?������?��������������?)~V��@ ~V6�[;I~Tɫ�髁)�� ��I��Y����@y���oGxDUSBL response received:!U1,P 1DC,000,004B5,186,80,80,6B,FF Command Ack%BRequesting micromodem ping code 2i�!��!�E�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��M" ����M�����M�����MM�� �M�6:Y�MWU1y�M�:��M�6)�M�;��u�=��u�m���u�=i�uz�@��q �uƣ@)�qI�u�@i�uƣ@����M"=Y�1:QUe�>��a��i�am�G��i��iy�u�:}u�>I�y��}ZR5�?��}�Q־� �}�iA���?9�}JC��}-�< �}K�<)�y�WA�WAXI XI�WI:WI2WI*WQ�VQUQUU���` @zL��L��L��L��r@�Agu�B B �A y�=*B �29�A�A 7�A52��A9"CE�)*CM��D�RCM�!�=CI�CY�օ �d�=I�� G� �>� �Wej,��`��E�AY}6Q�@�}6��@y}6h ���}6���}6H�����c����� ���?�����?������������|������U�?��� � �?����ρ���������?)~6Q�@ ~6?�[;I~4ɫ1�1)�1 �1I�1Y�u��@y�u�oG��q��q���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �������Q��?�I+����������?�����=���9�� ����<)��I��y���333333�?+��η���~j�t�?����>���v�������< ��KA)��I���Ai��~A������\A��J�<M r=Y� ��:QU ?�����a�G����y�!;}?I�!��-�:��%�O5�?��-�:��%�T־� �%jA��5�?9�%JC��%��: �%w�:)�%�:�WQ�WQXQ XY�WY:WY2WY*WY�VYUaUe����߉@zL��5>�L��5>�L�TM�@�L�bh�@�A���x�B� B��A�\�=*B��69�A��A�]7�A��2��A�"C��)*C��l@�RC���=C��C���%=i�%p=����=I�!GMS>�9�]ej,'�z��E�A�|�;�|p;ɫy�y)�y �}���I�yY��:�@y��1pG�xDUSBL response received:!U1,R,18A,000,004B1,186,80,80,A5,FF �Fpublishing direction and range info���x �����ɰ���=�� ��)���%CI��y��= B����ir�Ԇ �?�M��տ��������ٱ�)���= �����е<M�_=Y�����QU��>�������a��G�����y����}�>I� �� |L5�?�� �W־� � 1jA���?9� -JC�� +�: � D�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAUIUM����?<@�R](Combining 5 samples.�PY*Q]= B�Z]��M���D@@ע�P�L'����������Z]�ir�Ԇ �?�M��տ��������2Q]x ��:QY�Z]���5�*�������?�>v�\���?�Z]��6�ηؿ�Mʨ����0���?BQ]��@ Q]���Q]�U��P]��9?�P]��9?�P]����Q]����Q]3�@"Q]��@zL��L��L��L��AU� }�BQ BQ�AU�=*B]�69�AY�A]�7�A]3��AY"Cu�)*Cu�:�RCqCq�Cy��E�����E�����E�����E �� �E�1:Y�E]1y�E�:��E!6�9M@��e�*�=I�i܉9܉I܍(kGi܍"�@�܍=�܉�܉�܍�; ݍ� E)��I��i�����������?4G�>>���dej,ty���E�AY}6��@�}6]&�@y}6����}6���}6H����@�S���������?���@gۢ?����T������&����������?����k��?����3R�����`���?)~6��@ ~6(m[;I~6��Cɫ���)�� ��I��Y� ��@y� �pG�}DNmea in: $SNTTA,,,,,170525.70*5D �Å�G>�År�>�Å���iÅG�@�Á ą��@)āIāiā����<M�.=Y���:QU��>�����a�G���� y��Q;}�>I���%�:���H5�?��%�:��u[־� �cjA��e�?9�BJC��.= �1.=)��:�m�uAdded new target pos. range: 34.559998 m, bearing: 247.267874 deg, deltaT: 4.311308 s, approachRate: -0.055668 m/s, LOS rate: 0.944435 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������GA@U����`R��?zL�L�L�L�t�@�A5����B9 B��A�d�=*B��59�A��A�C7�A��3��A�"C��)*C�}�2�RC�ވ�=C��C��9��9�� ���=I� G5 �>��kej,iU���E�AY}:��@�}:1)�@y}:ݱ���}:`���}:H������&������7��?����Ĺ�?����������`߉�����`|T�?�����U�?���`�3����� u��?)~:��@ ~:��[;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�oG��uYu�Muf=Y�}�Z:QU}�>��y���a��G����y��:}��>Iȑ�ŕ�E5�?�ŕV^־� ƕ�jA����?9ƕRJC�Ǖϸ: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U������T�?zL��L��L��L�4y�@�A���B B�A�=*B�69�A �A �7�A e4��A "C�)*C��.�RC�=C�CI�))�-@A��=7����=�����=�����=��� �=b�:Y�=�V1y�=�:��=036��e箵=I�qG�:>܅��>9܅l�CI܅�jGi܅Ѿ@�܅=�܅SD�܁�܅�; ݅n E���qej,;5ȕ�E�A�|i|�@Y}B��@�}B�%�@y}B�أ��}B���}BH����`�`���������?����u�?����z������:ê�����Ca�?�����z�?���������@#��?)~B��@ ~Ba[;I~@ɫ�)� �I�Y�M��@y�M�oG����=��������=i�ף@�� �ƣ@)�ƣ@I�ƣ@i���9Q�M@=Y���;QU�>����!�a%�G��!��!y�-و�}=�>I�9��E�:��=�A5�?��M�:��=�a־� �=�jA��M�?9�=eJC��=��: �=��:)�=�:�Wq�WqXq Xq�Wq:Wq2Wq*Wy�VyUyU}���@���?zL��L��L��L�Ww�@�A�$i��B� B��A��=*B�Y49�A��A��7�A�5��A�"C��)*C��r(�RC��D�=C��C���}��=I��G�`>�cxej,1 ╩E�AY}6`�@�}6�@y}6����}6�� ��}6H���������������?��� y��?���@����� ~t��������?������?�����������B��?)~6`�@ ~6�x[;I~6��Cɫ9�9)�9 �E���I�AY�}��@y�}ZoG��m��(\����?V-����MbX9����m�G>��m��� �mʡ�)�iI�iy�m��p= ף�?B`��"۹�����Mb�?��m>��m�ν��m< �m�A)�m~AI�m�Ai�mdA��i��m�A��`��M�T=Y��g;QU��>�� �� �a �G�� ��y�We�}�>I���Z>5�?���d־� ��jA��-�?9�vJC���: ��:)��WY�WYXY Xa�Wa:Wa2Wa*Wa�ViUiUm�����g�?zL��(>�L��(>�L���@�L�.�@�A�����B� B��A���=*B��39�A��A�C7�A��5��A�"C��)*C���"�RC���=C��C� ���=����=���\ �������������������� ��O:Y��^1y�a�:���6����l�=I��G I>� H~ej,�����E�AY}6���@�}6��@y}6�|���}6I���}6H�����Q������A��?���`��?���`A�����@'����������?����`��?����zs���������?)~6���@ ~6�^[;I~6��Cɫ9�9)�9 �=���I�9Y����@y���oG��5�<M=P=Y�=�w;QU=�>��A��A�aE�G��A��Iy�M�λ}M�>I�Q��U�:5�?��U>g־� �U�jA��]�?9�U�JC��UU�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����/7�@zL��L��L��L�[�@�A�aq��B� B��A�A�=*B��49�A��A��7�A�Z6��A�"C��)*C��'�RC� �=C��C���qi�u=��%�d�=�19�1I�5`jGi�5�@��1��1��1��5}; �5U EI�QGm5>��0�ej,a���E�A�|�|�;Y}B�ߜ@�}BV�@y}B+:���}B����}BH�����㭿���@o��?����m�?������������,�����@"+�?��� ǐ?�����q����� ���?)~B�ߜ@ ~BTv[;I~B��CɫY�Y)�Y �]����I�YY��y�@y��DoGI�E�=)�E�=)�M�= �M�=�Õl�=�Õ�N>�Õ�L�iÕz�@�Ñ đ)ĕ��@Iĕ1�@iđ���¼M�C=Y�z�:QU��>�����a��G����y���}��>I������:���75�?����:���(j־� ���jA����?9���JC���Z�: ����:)���:�W��W�X� X��W�:W�2W�*W��VUU����1�@zL!�L!�L!�L%�@�AE�g��BA BI�AM�=*BM+39�AI�AM�7�AU7��AQ"CU�)*C];I�RC]4�=CY�CY��u� ����u�����u�����u��� �uY>:Y�u0Y1y�u��:��u6)�u��;�9}���E���=I�IGe4>�3Z�ej,|�/��E�AY}2X̜@�}2ڔ@y}2����}2Pl��}2H����������� ���?����yC�?���`��������\�����@[�?����Qa�?���� ̡���� ���?)~2X̜@ ~2�X[;I~0ɫY�Y)�Y �YI�YY����@y���oG鮥a=ɮ�a=��N�<M�Z=Y����:QU��>�������a��G������y���λ}��>I������35�?����l־� ��kA����?9���JC����: ����:)���W �W X X �W :W2W*W�VUU����:�@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=�|@�AM�g��BQ B��A���=*B��49�A��A�@ 7�A��7��A�"C��)*C����RC�ZS�=C��C������=I��G*>�19�1I�5�iGi�5.�@��1��1��1��5J; �5; E��E�ej,��I��E�AY}PƜ@�}�Ӕ@y}�����}�� ��}H����@2x������R��?����w3�?����s������)��������s�?����fr�?���@!���������?)~PƜ@ ~�[;I~��Cɫ���)�� ��I��Y�-y�@y�-DoG5Z****** received transponder code query ******5F****** received ping request ******=<Arming DUSBL. detectThresh: 75=8****** ping requested ******����I>���xi>���A`>i����@��� ����@)���@I���@i���@����y�M�,=Y����QU��>�������a��G������y��?˺}��>I�����:���[/5�?���:��� p־� ��(kA�� �?9���JC����: ����:)���:�W)�W)X) X1�W1:W12W1*W1�V9U9U=����lZ @I�e@A)�e?A��u� ����u�����u�����u,�� �u�A:Y�ud\1y�u��:��us6)�up�;zL��L��L��L�up@�A�m���B� B��A��=*B�}29�A��A�� 7�A��8��A�"C�)*C6��RC%�Τ=C!�C!��-�h�=I�9GUv>�,l�ej,�Sc��E�A�|i|�@Y}6^Μ@�}6 ܔ@y}6v���}6g��}6H���� ��������k��?����i�?�����������?�������U�?�����o�?��� Bk����� ���?)~6^Μ@ ~6ߍ[;I~6��Cɫ9�9)�9 �9I�9Y����@y��coG�xDUSBL response received:!U1,P 18A,000,004B1,186,80,80,A5,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 � � �� ����S��?��Q�ſ�� �rh�?�� />�� �(� � C=)� I� y� ����x�&�? ףp= ��/�$��?�� 7 >�� Q���� ,= � KA)� dAI� KAi� �A�� �� fA��%nA��!��-}�;M-7=Y�5:�7QU5�>��1��9�a=�G��9��9y�E|;}E�>I�I��M�+5�?��MBs־� �MkA��U�?9�M�JC��M�: �Mw�:)�I�W��W�X� X��W�:W�2W�*W��V�U�U������@zL5�*>�L5�*>�L5�"�@�L5�@�A�����B� B��A�^�=*B�=39�A��A�� 7�A�S9��A�"C��)*C��4�RC���=C��C��M v��=I�Q Gu �>�H��ej,�.}��E�AY}2��@�}2N�@y}2�M���}2(���}2H����� ����������?�����n�?����3�������㭿���� �?���@��?��� �������@���?)~2��@ ~2(�[;I~0ɫ9�9)�9 �9I�9Y�}�@y�}�nG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}�;�M}�=Y�}��QU} ?�����a��G����y�C <}� ?Iȑ����:�ŕ0)5�?����:�ŕ�u־� ƕ�kA����?9ƕ�JC�Ǖ�: ȕ��:)ȕ�:�W��W�X� X��W�:W�2W�*W��V�U�U������8@zL��L��L��L��7�@�A Д��B B �A {e=*Bv39�A�A+!7�A�9��A"C�)*CTD�RCc;�=C!�C! �E�=��E�=i�]nG��};����}�����}�����}��� �}�u:Y�}�X1y�}/�:��}6�9�@I��i����9��I���iGi��ݽ@������������; �� E�� c+�ٺ �� � A��e�T�=I�iG�9>�*�ej,���E�AY}2���@�}2��@y}2�����}2ku$��}2H�����ѫ����`��?����g��?���`�������N#����� �c�?��� ���?����������� F��?)~2���@ ~2��[;I~2��CɫY�Y)�Y �]���I�YY����@y��NnG�xDUSBL response received:!U1,R,1B9,000,004B2,185,80,80,6B,FF �Fpublishing direction and range info���k ž���ɰ���=鰝+�> ��)����BI��y��z B����Ԛ<(Ϩ�?"���ؿ��������ٱ��� ��>�� f�>�� ���i� �@�� � b�@)� �@I� �@i� ����MP=Y���QU�>��!��!�a%�G��!��)y�-<}-�>I�1��5 &5�?��5\x־� �5 lA��E�?9�5�JC��5�: �5b�:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�V U U���`y�@�R%(Combining 5 samples.�P!*Q%z B�Z%�pM<@@p�&h�)����������Z%�Ԛ<(Ϩ�?"���ؿ��������2Q%k ž:Q!�Z%�xɳ�k-�6zmk[R?����xZ��?�Z%���j�1ۿ�]�q���P�.�'�?BQ% ��@ Q%���Q%\k��P%��9?�P%��9?�P!Q%����Q%f�@"Q%3�@zLi�Li�Li�Lm3V�@�A��u��B� B��A��/=*B�;09�A��A�c!7�A��:��A�"C��)*C�N��RC���=C��C���m�=i�mp=������=I��GI>����ej,�밖�E�A�|*4<�|*4<ɫ1�1)�1 �1I�1Y�U��@y�U�nG��TNmea in: $SNTTA,0.078337,,,,170530.13*4A )�%�= �%�=��U �<MU8=Y�U���QU]�>��Y��a�ae�G��a��iy�u���}u�>I�y����:��}t"5�?����:��}�{־� �}alA����?9�}�JC��}�#; �}�7;)�}�:�m�uAdded new target pos. range: 34.620003 m, bearing: 244.843185 deg, deltaT: 4.469505 s, approachRate: 0.013425 m/s, LOS rate: -0.542496 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@\OA@U��������?zL�L�L�L�A=�V��"B=�ȸB9 BA�AEQ=*BE919�AI�AM�!7�AM_;��AI"CU�)*C]���RC]�a�=CY��n ����������������� �Q:Y��Y1y��:��s6�C��U�*�=I�aG}{>�� ��>9�� I�� i�� ��� =��� ��� ��� �; �� �E)�]�l�CI�]�l�Ci�Y���]�=��]�=��]�]�4��ej,V˖�E�AY}n</�@�}n�<�@y}nK6v��}n9���}nH���� S쨿��� ���?����^L�?����\�������4����� �Ԋ?����}Ǝ?�������� ���?)~n</�@ ~n�\;I~n��Cɫ�髱)�� ������I��Y��[�@y��oG���j<>��������� 0�i���@��� ����@)����@I����@i����@����=M�O=Y��u�;QU��>�������a��G�����iy�mYc<}m�>I�q��u45�?��u�~־� �u�lA����?9�u KC��u4�: �u�=)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����w��?zL��L��L��L�f��@�A|{��B B�A{�=*B�29�A�A�!7�A+<��A"C%�)*C%v�ܺRC-^H�=C)�C)��M���=I�aG�|>�@��ej, �䖩E�AY}:�(�@�}:q6�@y}:�^��}:a��}:H������S����� ��?���@RS�?����7��������������Q�?�����Ë?���`�����������?)~:�(�@ ~:�\;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�nG����i��|?5�?�n������~j�t�h?����q>���V� ���D;)��I��y������S㥻?ˡE������~j�t������/�=���什����D� �A) AI�AiEA�������A�����M�N=Y���r;QU��>�������a��G������y����}��>I�����d5�?���Ā־� ���lA����?9��KC�����: ��r�:)���W�WX X�W:W2W!*W!�V!U!U-�����e�?zLUf>�LUf>�LU�G�@�LU�_�@�AmM0��Bi Bi�Am�T=*Bm229�Aq�Au."7�Au�<��Aq"C}�)*C}�IҺRC}���=Cy�C�Iީ)ޭ@A��9����������������� �K�:Y��W1y�č:���6�����=I� G%M>�Y�ej,%v���E�A�|i|�@Y}6� �@�}6g�@y}6�1D��}68���}6H�������������?������?������������8����� '��?������?���@�s�����@��?)~6� �@ ~6(\;I~6��CɫY�Y)�Y �YI�YY����@y��nG����mA��B �MV=Y��;QU%�>��!��!�a%�G��!��)y�-� �}-�>I�1��=�:��5�5�?��E�:��5��־� �5�lA��E�?9�5(KC��5�: �5��:)�5�:�W��W�X� X��W�:W�2W�*W��VUU���`���?zLY�LY�LY�L]�D�@�Au�u��Bq Bq�Au�=*Bu�/9�Ay�A}_"7�A}�=��Ay"C��)*C��dƺRC����=C��C�܁9܁I܅3iGi܅��@�܁�܁�܁�܅�; ݅�E�֥rŹ=I��G-N>�S��ej,�Q��E�AY}2��@�}2n��@y}2��3��}2(���}2H����`�b����� ���?���@~�?�����������{������`&�?��� �y�?����������� ��?)~2��@ ~2�\;I~2��CɫI�I)�I �M���I�IY�]F�@y�]�mG��+�>��;���T=i��@�� �-�@)�I���@i���%%��M%J=Y�-�!;QU-�>��)��)�a5�G��1��1y�=1;�}=�>I�A��E�5�?��EX�־� �E�lA��M�?9�E6KC��E��: �E��:)�A�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU���� ��?zL��L��L��L���@�A=+���B9 B9�AE1�<*BE�.9�AA�AE�"7�AE@>��AA"Cm�)*Cu/4��RCu"�=Cq�Cq�������������������� ��1:Y��_1y�̒:���6 Ձ�ԅ�=�֕�*�=I��G��>�r��ej,�,2��E�AY}2�ǜ@�}2SՔ@y}2M�6��}2���}2H����@�c����� ���?�����J�?���@�����@��������*'�?�����݆?��� ������@���?)~2�ǜ@ ~2H\;I~2��Cɫ9�9)�9 �=����I�AY�]k�@y�]�mG���N;<M�O=Y����QU��>�������a��G������y��e"�}��>I�����:����5�?�� �:�����־� ��lA�� �?9��DKC���^�: ���:)���:�W)�W1X1 X1�W1:W12W9*W9�V9U9UE����Z(@zLY�LY�LY�L]^�@�Auy]��Bq Bq�Au�=*Buq/9�Ay�A}�"7�A}�>��Ay"C��)*C���RC��ϥ=C��C�9�i�ީiޭ=��%�\�=I�1GU2>܁ 9܁ I܅ �hGi܅ :�@�܅ =�܁ �܁ �܅ U; ݅ �E�A��ej,�L��E�A�|�;�|Y}>\��@�}>@y}>�A?��}>�0��}>H����@�K������]��?����?��?������������e������6�?���` �?���`�D���������?)~>\��@ ~>|�[;I~>��CɫY�Y)�Y �]���I�YY��/�@y���mG鮡ɮ�p=��M�����M�L=��M`�i�Mz�@��I �M�@)�Mƣ@I�M�@i�Mƣ@��]��MeC=Y�e���QUe�>��i��i�am�G��i��iy�u���}u�>I�y��}m5�?��}�־� �}qlA����?9�}RKC��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����`�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���@�A��*��B� B��A���<*B�e.9�A��A��"7�A��?��A�"C�)*CMͥ�RC^��=C�C 9���$:��F ��������������?�� �g9:Y�0Y1y���:��| 6)�i�;�9������+�=I��G�E>�V�ej,��e��E�Aɫy�y)�y �yI�yY��y�@y�� nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��}��V-�?�(\���ȿ�"��~j�?��}h�=��}�G� �}S�=)�yI�yy�}��V-�?����K���������?��}h>��}^����}�L= �}KA)�}�AI�yi�}dA��y��}�A����<M�8=Y����QU��>�����a��G����y����}��>Iȱ����:�ŵ�5�?����:�ŵs�־� Ƶ�lA����?9ƵeKC�ǵ#�: ȵ��:)ȵ�:�W!�W)X) X)�W):W)2W)*W1�V1U1U5��� �" @zLu"4>�Lu"4>�Lu!Ӷ@�Lu�Ă@�A�6ט�B� B��A�=*B�G/9�A��A�#7�A��@��A�"C��)*C�����RC��U�=C��C�i�mAI�mA9���Z9������� �h�=I�� G �>�o2�ej,����E�AY}6$Ȝ@�}6�Ք@y}6��W��}6����}6H���� X[���������?����j�?���@���������������CO�?�������?��� _����������?)~6$Ȝ@ ~6�[;I~6��Cɫ9�9)�9 �=����I�AY�]�@y�]�mGexDUSBL response received:!U1,P 1B9,000,004B2,185,80,80,6B,FF eCommand AckeBRequesting 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 ���,�M�m=Y��猻QU��?������a �G�� ��y�-s�;}E�>I�Y��]� 5�?��]2�־� �]'mA����?9�]uKC��]��< �]��<)�Y�-��>9�)I�-lhGi�-�@��)��)��)��-; �-�EIAA)AA������������������ ���-:Y��y�������5)��}�;�W��W�X� X��W�:W�2W�*W�V!U!U-����� @zL9�L9�L9�L=2Ԃ@�A}s���B� B��A�v�<*B��-9�A��A�7#7�A�A��A�"C��)*C����RC��3�=C��C�9ԕ�и�օ ��=I�� G� �>�n�ej,N����E�A�|i|�@Y}6�֜@�}6��@y}6�V��}6d���}6H�����>p�����@���?����O�?�����������ժ�������0�?�����?�������������?)~6�֜@ ~6@�[;I~6��Cɫ9�9)�9 �9I�AY��k�@y���mG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Í�L>�Íh�=�Í+=iÍף@�É čƣ@)ĉIčƣ@iĉ����<M�>=Y��r9QU��>�����a��G����y�;}��>Iȹ�Že5�?�Ž_�־� ƽ�mA����?9ƽ�KC�ǽ�: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����7@zL��L��L��L��@�A�j_��B� B��A��=*B�v09�A��A�]#7�A�B��A�"C��)*C��M��RC���=C��C�i� ��I� ���� �� �֥ ��=I�� G� �>��D�ej,Kt���E�AY}:��@�}:5�@y}:�RH��}:����}:H����@����������?������?�����������쭿�������?��� - �?���`�����������?)~:��@ ~:�v[;I~8ɫ9�9)�9 �9I�AY�]v�@y�]nGexDUSBL response received:!U1,R,23E,000,004B1,189,80,80,82,FF mFpublishing direction and range info��e�;����aɰe��=�e7�> �a)�e�CI�ay�e= B��e�Y��є�?�KTa����������ٱa��tp;M�]=Y�;QU��>�����a��G����y�0|;}��>Iȩ����:�ŭ^5�?����:�ŭ3�־� ƭ�mA����?9ƭ�KC�ǭ��< ȭ�<)ȭ�:�W��W�X X�W:W2W*W�VU!U%���`��@�RU(Combining 5 samples.�PY*Q]= B�Z]�ΰzbmP>@������0����������Z]�Y��є�?�KTa����������2Q]�;��:QY�Z]������P2��`.�wJ=��K�`B�?�Z]��}���a���~�x��?BQ]��@ Q]S��Q]����P]��9?�P]��9?�P]����QYQ]��@"Q]f�@zL��L��L��L���@�A�Ȋ��B� B��A�*=*B��/9�A��A��#7�A��B��A�"C��)*C���q�RC ,y�=C �C ��J����������������� �O%:Y�[1y�ݏ:����5�9�@���m��=I� G%M>��Y��Yi��=nGI��i����5 �<�ٺ1 ��5 91A�� K;?9�� �/A� 9� I� hGi� ��@�� =�� �� �� �; � pE�0�ej,�^͗�E�Aɫ �)� �I�Y�M\�@y�M�mG��TNmea in: $SNTTA,0.040198,,,,170534.56*43 �� ף;�� t���� �i� ��@�� � r�@)� ��@I� r�@i� r�@��5��M=2=Y�=���QU=�>��A��A�aE�G��A��Iy�M���}M�>I�Q��U��5�?��U��־� �U@nA��]�?9�U�KC��U'�: �U��:)�Q�m�yAdded new target pos. range: 34.559998 m, bearing: 237.981413 deg, deltaT: 4.450911 s, approachRate: -0.013482 m/s, LOS rate: -1.541656 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������GA@U�����8~�?zLY�LY�LY�LY�A�Ee��B� B��A�4=*B� /9�A��A��#7�A��C��A��ޡiޥp="C��)*C���Y�RC�FD�=C��C��ֵ��=I��G-�>�sV�ej,E*痩E�A�|�|�;ɫy�y)�y �yI�yY����@y���lG����<�O��n�?V-��?����Mb`?���t>�����< ��;)��I��y����E���Ը?#��~j�������Mbp?�����=���㥽����; ��fA)���AI��+Ai��������(A)���= ���=����x�M�O=Y��QU��>������a�G����y� } �>I����:����5�?���:��־� �MnA��%�?9��KC���: ���:)��:�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe�������?zL}x>�L}x>�L}B̲@�L}~e}@�A�^�B� B��A�L<*B�T,9�A��A��#7�A�2D��A�"C��)*C�~ E�RC��m�=C��C���W��������������V�� �X&:Y�]1y��:���6�֥�d�=I��G�A>�X>�fj,}��E�AY}2MϜ@�}2�ܔ@y}2�g��}2�@��}2H�����p鮿�������?��� �ܣ?�������������������w?�����L�?��� �������@���?)~2MϜ@ ~2Vk[;I~2��CɫY�Y)�Y �]���I�YY����@y��!mG��5!C<M=W=Y�=38<QU=�>��A��A�aE�G��A��Iy�M�ʻ}M�>I�Q��U��5�?��U��־� �UYnA��]�?9�U�KC��U4�: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@w��?zL��L��L��L�C}@�A��}��B� B��A�\V<*B��,9�A��A��#7�A��D��A�"Cm�)*Cm.�/�RCur�=Cq�Cqܽ��>9ܽm�CIܹiܹ�ܹ�ܹ�ܹ�ܽ�; ݽOE)�q�I�q�i�q���u�=��u�=��u��5Yυ�:9�ԑ�ԑ��u���=I��G��>��hfj,����E�AY}:IΜ@�}:�۔@y}:�λ�}:q���}:H�������������T��?���`R�?��������������������p?���@��y?��� ۢ�����G��?)~:IΜ@ ~:�O[;I~8ɫ9�9)�9 �=����I�9Y�]��@y�e�lG��U����Ut>��UQ8>i�U=�@��Q �U��@)�QI�U��@i�Uƣ@��e��MeH=Y�e��;QUm�>��i��i�am�G��i��qy�}���}}�>I�y����:��}��5�?����:��}ן־� �}fnA����?9�}�KC��}�: �}��:)�}�:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL��L��L��L�A}@�A�����B� B��A�<*B�U,9�A��A��#7�A��E��A�"C�)*C� �RCᯩ=C�C Iޭ@A)ޭ?A���� �������������������� ���G:Y��DW1y��Y�:����6Y��<9����ا=I�G%n>���fj,ػ4��E�A�|i|�@Y}6PԜ@�}6��@y}6(����}6w���}6H�������������?��?���`��?����F������������`��b?��� Ar?���������������?)~6PԜ@ ~6�_[;I~6��Cɫ9�9)�9 �=���I�9Y�e��@y�e mG���mA�����]�\;M]K=Y�eq�;QUe�>��a��i�am�G��i��qy�}��:}}�>Iȁ�Ņ �5�?�Ņ�־� ƅrnA����?9ƅ�KC�Dž8; ȅ�;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�'M}@�A����B B�AT1<*B�,9�A �A $7�A @F��A "C�)*C���RC�H�=C�C��%�=��%�=Y�E=9��5�\�=I�AG]v>�� 9�� I�� @gGi�� ��@��� =��� ��� ��� B; �� .E�zfj,�N��E�AY}2�ٜ@�}2��@y}2����}2�N��}2H������?���������?�����ӡ?���`������`XF������u9?�����c?�����ȡ���� ��?)~2�ٜ@ ~2�I[;I~2��CɫY�Y)�Y �YI�YY�}U�@y���lG��-�L>��-94<��--�i�-��@��) �-��@)�-��@I�)i�-��@��=yԼMEL=Y�E��;QUE�>��I��I�aM�G��I��Qy�U�:}U�>I�Y��e�:��]"�5�?��e�:��]�־� �]}nA��m�?9�]�KC��]��: �]R�:)�]�:�W �W X X �W :W2W*W�VUU����GS@zLy�Ly�Ly�L}WY}@�A�m���B� B��A���9*B�3+9�A��A�$7�A��F��A�"C��)*C�� عRC��=C��C������������������ ��.:Y��T1y���:��t6)�Q�;�9��Y���:9����p�=I�!Guy>���fj,urh��E�AY}2Oۜ@�}2��@y}2�E��}2����}2H������)������p��?���@'t�?��� ��������'�����@��Y����నB?���`�w��������?)~2Oۜ@ ~2aa[;I~0ɫ9�9)�9 �=����I�9Y��7�@y��}lG��ɮ���e��~j�t��?)\���(̿T㥛� �?��e��=��eGa� �e�=)�aI�ay�e�q= ףp�?�"��~j��/�$��?��e��=��eS���e�< �e�A)�e AI�e�Ai�e A��a��a��}��M�F=Y���;QU��>�����a��G����y��9}��>Iș�ŝ�5�?�ŝ��־� Ɲ�nA����?9Ɲ�KC�ǝY�: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U���� }~@�R�B*** querying acoustic contact ***�P��P�zL�%>�L�%>�L��~�@�L�`�x@�A�����B� B��A����*B��*9�A��A� $7�A��G��A�"C��)*C��<��RC�!�=C��C��ޭ=iީY��269������=I��G=�>�� fj,/O���E�A�|4<�|4<Y}B�֜@�}B��@y}B3&�:�}B����}BH������o�����`���?��� |�?���@��������a������_p������[����������������?)~B�֜@ ~BBL[;I~B��CɫY�Y)�Y �YI�YY�}s�@y�}�lG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)���= ���=��*�<MA=Y���;QU�>�����a�G����!y�%���}%�>�y9�yI�}�fGi�}��@��y��y��y��}; �}EI�������5�?���B�־� ���nA��m�?9�� LC���~b< ���^<)����� ����������������� ��G:Y��X1y�/�:��{�5)���;�W��W�X� X��W�:W�2W�*W��V�U�U�����RH @zL1�L1�L1�L5��x@�Amwn��Bi Bi�Amy�;*Bu�+9�Aq�Au/$7�AuLH��Aq"C}�)*C�6�p�RC�C �=C��C�i��mAI��mAY���19��� m��=I�� G �>���&fj,((���E�AY}6Cʜ@�}6�ה@y}6��;�}6�D ��}6H�����:���������?���@kݣ?�����������S������Pz�����~�p�����C���������?)~6Cʜ@ ~6�h[;I~6��Cɫ9�9)�9 �9I�9Y�}B�@y�}�lG�xDUSBL response received:!U1,P 23E,000,004B1,189,80,80,82,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �ý`e��ýt��ý�=iýG�@�ù Ľ��@)Ľ��@IĽ��@iĽr�@��- ]�M-<=Y�5w�;QU=�>��A��A�a��G����y��^�}��>Iȹ����:�Žp�5�?����:�Žݫ־� ƽoA����?9ƽLC�ǽ��; Ƚ"�;)Ƚ�:�Wi�WiXi Xq�Wq:Wq2Wq*Wq�VqUyU}����$� @zL��L��L��L�9�x@�A�O�v�B� B��A����*B��*9�A!�A%8$7�A%�H��A!"C-�)*C-L��RC5�z�=C1�CY�ԑ�ԑ�֕�S�=I��G��>���,fj,����E�AY}:��@�}:�Ĕ@y}:`��;�}:?=��}:H�����P6�����`���?����&$�?����^�������"�������ɂ�������{���� Zf���������?)~:��@ ~:�Q[;I~8ɫ9�9)�A �AI�AY���@y��FlG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����M�e=Y�\�;QU��>�����a��G����y�|�}�?Iȱ�ŵ�5�?�ŵ�־� Ƶ#oA����?9Ƶ-LC�ǵ�: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�L�L�LD�x@�A%��k�B) B)�A)*B- *9�A9�A=9$7�A=_I��AA"CE�)*CM,꣸RCM�g�=CI�CIIޱ)ޱ���� �������������������� ���F:Y���Y1y���:�����5�9�@��]�.�=I�iG�9>�} ��>9�y I�} xfGi�} S�@��y ��y ��y ��} �; �} �E���3fj,��Ϙ�E�A�|i|Y}6���@�}6S��@y}6��<�}6���}6H�����;Ѱ����@_��?����߾�?��������������������P�����@������������� ���?)~6���@ ~6�l[;I~6��CɫY�Y)�Y �YI�YY�}4�@y�}xlG�xDUSBL response received:!U1,R,34A,000,004BB,18A,80,80,20,FF �Fpublishing direction and range info����<����ɰ�i�=鰅��> ��)����BI��y���B����#Ń'D��? �J|"t���������ٱ����`�<����m=����M�i��Q�@��� ��r�@)��r�@I��r�@i�����S<MU=Y�[�;QU�>�� �� �a �G�� ��y�!ʻ}�>I���%�:��L�5�?��%�:��@�־� �IoA��-�?9�<LC����: ���:)� �:�WI�WIXI XQ�WQ:W�2W�*W��V�U�U�����}�@�R (Combining 5 samples.�PA*QE�B�ZE�|c�~:@2�z{�7����������ZE�#Ń'D��? �J|"t���������2QE�<�:QA�ZE����89�Ju�}8�ʼml��?�ZE� ��C�濖�$,!J�I禤T��?BQE,cz@ QE���QE����PE|�9?�PE��9?�PE����QE����QE��@"QE��@zL��L��L��L�T�x@�A�:x_�B� B��A�*B��*9�A��A�@$7�A��I��A�"C��)*C��v�6RC�Yš=C��C����h�=I�1GmW>���9fj,��阩E�AY}2T��@�}2��@y}2W�I<�}2�� ��}2H�����MS�����@���?���`� ?����������`6�������֍�����!?������9�����`���?)~2T��@ ~2�N[;I~2��CɫI�Q)�Q �QI�QY�}�@y�}OlG��dNmea in: $SNTTA,0.042003,0.428246,,,170539.01*5D ��}��G�z�?+������:��v������}�p>��}�� �}�Լ)�yI�yy�}����x�&�?�rh��|��<�O��n�?��}7 >��}�����}t�< �y)�}�AI�}�Ai�}�A��y��}�A��\�M�A=Y���;QU��>�����a��G����y���}��>I�q��uY�5�?��uk�־� �unoA��}�?9�uQLC��uQ�: �u��:)�q�m�uAdded new target pos. range: 35.159996 m, bearing: 224.158448 deg, deltaT: 4.440715 s, approachRate: 0.135113 m/s, LOS rate: -3.112779 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����z�A@U��������?zL�+;>�L�+;>�L�JL�@�L���y@�A5�0R�B9 B9�A9*B=6*9�A9�A=B$7�AEvJ��AA"Cm�)*Cu�)�8RCu�Ӟ=Cq�Cq Յ�=�ԅ�=��A����������������� ��$:Y��V1y��:����5��]�Т=I�iG�Z>���@fj,���E�AY}21��@�}2���@y}2�mv<�}2AC ��}2H��������������?������?���@��������o�����`�Ǒ�����r͎�������������3��?)~21��@ ~2*�[;I~2��Ci�56nGI�Iɫa�a)�a �e���I�aY�m��@y�m�kGi�q��fS�ٺ���FA��5��M5Q=Y�5x�;QU=�>��9��9�a=�G��9��Ay�E�&�}M�>I�I��U�:��MK�5�?��]�:��M�־� �M�oA��]�?9�MbLC��M��: �M�:)�M!�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �6�?�i9�iI�m�eGi�m��@��m=��i��i��m~; 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B!�A)*B-)9�A)�A-�#7�A-M��A)"C5�)*C5�Y@:RC=��=C9�C9�ֵ�<�=I��G��>ܱ9ܱIܵ dGiܵk�@�ܱ�ܱ�ܱ�ܵ�; ݵ_E�'etfj,;oҙ�E�Aɫy�y)�y �}���I�yY��@y��lG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����=���= >����ƽi����� ��)��I��i������;M�@=Y�����QU��>�������a��G������y�����}��>I�����a�5�?���v�־� ���pA����?9���LC���@�: ��8�:)���W�WX! X!�W!:W!2W!*W)�V)U)U=����Y(@zLY�LY�LY�LY�Am�f3�Bq Bq�Aq*Bu@)9�Aq�A}�#7�A}(M��Ay"C��)*C�[HR:RC�m��=C��C��֥Vw�=I��GEQ>���zfj,4I왩E�Aɫy�y)�y �}����I�yY��R�@y��bkG�xDUSBL response received:!U1,R,268,000,004BA,188,80,80,81,FF �Fpublishing direction and range info����� ����ɰ�?�=����> ��)���CI��y��fB�����Ou�|�?�a��b���������ٱ���dNmea in: $SNTTA,0.040482,0.166607,,,170543.46*52 ���V-��?k�t�������Mb�?���m=�� �� �=)�I�y��7�A`���?!�rh��������MbP����>��l����� �fA)� AI� Ai��A����QA��u��Mu@=Y�yQU}�>��y��y�a��G����y�}��>Iȱ����:�ŵ��5�?����:�ŵ��־� Ƶ�pA����?9Ƶ�LC�ǵ<�: ȵ��:)ȵ%�:�W�WX X�W:W2W)*W)�V)U)U5�����@�R=(Combining 5 samples.�PA*QEfB�ZE�$N� E&>@>� �1����������ZE��Ou�|�?�a��b���������2QE�� �:QA�ZE���^�3�E���V�<�|gr�ڿ�ZE����*⿏x��W�Z2��'��BQE�y�@ QE"��QEj���PE��9?�PE|�9?�PE����QE����QE�@"QE��@Iޭ@A)ޭ@A������������������� �y0:Y��X1y�/�:��a6zL��=>�L��=>�L��@�L�g@�A��½�B� B��A��7�*B�g'9�A��A��#7�A9M��A"C-�)*C-\�i:RC-��=C)�C1��5�Т=I�AG]v>��v�fj,$��E�A�|i|Y}6k�@�}6�x�@y}6`d$=�}6��*��}6H�����4�������L��?��� pţ?������������#�������������"��������L����� N��?)~6k�@ ~6�[;I~4ɫ9�9)�9 �9I�9Y��C�@y��PkG�Y9�YI�]�cGi�]�@��Y��Y��Y��]�; �]FE ��鿩��������]�>��]�u=��]�=i�Y��Y �Y)�YI�Yi�Y��{��M�I=Y�5h<QU��>�����a��G����y��s�}��>I�������5�?�����־� ���pA����?9���MC���4�: ��b�:)���m�uAdded new target pos. range: 35.099998 m, bearing: 235.405393 deg, deltaT: 4.476913 s, approachRate: -0.013402 m/s, LOS rate: 2.512210 deg/s, posRepo size: 4�W�WX X�W:W 2W *W �V U����̌A@U�����u�?zL)�L)�L)�L-�@�AE_��BA BA�AM`U�*BM�&9�AI�AM�#7�AI�AI"CU�)*CUA |:RC]O��=CY�CY��]��=I�iG�Z>����fj,T���E�AY}:�k�@�}:ky�@y}:v�)=�}:���}:H�������������X��?������?����j�������#���������������9������k������`���?)~:�k�@ ~:�[;I~8ɫ9�9)�9 �9I�9Y�}z�@y�}�kG��U��<M]`=Y�]�q;QU]�>��a��a�ae�G��a��ay�mq9}m�>I�q��u��5�?��u��־� �u�pA��}�?9�uMC��u{�: �uʽ:)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� �7�?zL��L��L��L� @�A�-u�:B� B��A��̻*B��'9�A��A��#7�A�,M��A�"C��)*C�I��:RC�W�=C��C���y����������������� �):Y��W1y�č:���6�����=I�G-,>�%͍fj,�9��E�AY}6vu�@�}6%��@y}6�H/=�}6���}6H������=�����`7��?�����̟?����������`�߱�����x�����`g祿����a}���������?)~6vu�@ ~6}[;I~6��Cɫq�q)�q �yI�yY��۾@y���jG��=A�M�F=Y�S;QU��>�����a��G����y��<;}��>Iȩ����:�ŭ��5�?����:�ŭ�־� ƭ�pA����?9ƭ%MC�ǭ=�: ȭI�:)ȭ&�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL �L �L �L X@�A%�Z9;B! B!�A%_Ҽ*B%w%9�A!�A-�#7�A5M��A9"C=�)*CEG�:RCE-��=CA�CA�ީiޭ=��=��=I�IGe4>������i��=nGI�i�)��]�6�ٺY��]�+A�Q9�QI�UXcGi�Uȸ@��Q��Q��U��D��Ue; �U7E���fj,1�S��E�A�|�;�|ɫy�y)�y �yI�yY���@y��kG��m�#=��mGa���mҍ�i�mf�@��i �i)�mE�@I�mE�@i�mE�@��}K<M}L=Y����QU��>�����a��G����y����}�>I� �� e�5�?�� A�־� � �pA���?9� 9MC�� ��: � o�:)� �WA�WAXA XI�WI:WI2WI*WQ�VQUQUU�����^�?zLq�Lq�Lq�Lq�A�L[�;B� B��A����*B�&9�A��A�s#7�A��L��A�"C��)*C��(�:RC����=C��C����>�������������������� ��Z$:Y��0Y1y����:���|�5)��9�;�9�������=I�)GER>�4ݚfj,6�m��E�AY}2�@�}2���@y}2��6=�}2�? ��}2H�����+����@��?�����?����������e���������������iۦ������"������=��?)~2�@ ~2qr[;I~2��Cɫ9�9)�9 �9I�9Y���@y���jG��6only read 2 of 4 data itemsai�@a��� am�@a��� aq�@a��� ae�@a��� ����M�H=Y��;QU��>�����a��G����y�'A;}��>I������:���K�5�?����:���X�־� ���pA����?9��KMC����; ����>)��'�:�W��W�X� X��W�:W�2W*W�VUU ���`;��?�A��߸;B� B��A�CǼ*B��%9�A��A�O#7�A��L��A�"C��)*C��O�:RC���=C��C Y�p/9��-nA��-nA��I�G=�>�}ơfj,Cr���E�Aɫ���)�����>9�I��bGi�w�@��=������J; �)E)ݱ�Iݱ�iݱ��ݵ�=�ݵ�=�ݵ�W�4 ��I�Y�U��@y�U�jG��\=���}=��S�i��� �E�@)�I�i�����;MC=Y����QU�>��!��!�a%�G��!��!y�=���}=�>I�A��E�5�?��E��־� �E�pA��M�?9�E_MC��E9�: �E<Q?)�A�W��W�X� X��W�:W�2W�*W��V�U�U���� �R@�Aey�;Bi Bi�Ams��*Bm�%9�Ai�Am-#7�Am^L��Aq"Cu�)*C}�ѯ:RC}�Н=Cy�CyIޡ)ޡ������������������� �3:Y�[1y�ݏ:����5)�Dl;��5�ȝ=I�AG]v>��fj,$G���E�A�|i|�@Y}6�b�@�}6Op�@y}6%�9=�}6C'��}6H�����UӲ�������?������?���@a������}[�����न������;4������nۤ��������?)~6�b�@ ~6'�[;I~4ɫ9�9)�9 �9I�9Y�}ؾ@y�}�jG���&�M�f=Y�l�:QU��>�����a��G����y�� �}��>Iȹ�ŽD�5�?�Ž`�־� ƽ{pA����?9ƽpMC�ǽа: ȽЕ?)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������@�RB*** querying acoustic contact ***�P�P�A-� <B) B)�A-ּ*B-�$9�A)�A5#7�A5L��A1"C��)*C�R�:RC��B�=C��C���=����=�� �E����E��I��G k>�K�fj,y"���E�AY}6IZ�@�}6�g�@y}60/9=�}6D�&��}6H����@������@���?�����?����������@������� p������@�#������<Ϥ����`���?)~6IZ�@ ~6��[;I~6��Cɫ9�9)�9 �9I�AY�}�@y�}kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���L�<M�F=Y��k��QU��>�������a��G������y�� �}�>I� �� �5�?�� ��־� � vpA���?9� �MC�� ��: � �?)� �WA�WAXI XI�WI:WI2WI*WI�VQUQUU����1Z @�A��H"<B� B��A� ��*B�U&9�A��A��"7�A��K��A�"Cm�)*CmN��:RCut~�=Cq�CqI��G��=��{����������������� �7):Y��V1y��:����5�9�@��9��n�CI���bGi��&�@������������ ; ��E��fj,T�Ԛ�E�AY}6�U�@�}6�c�@y}6[�6=�}6>���}6H���� y8��������?����(��?������������˲����`r<�������ܦ������V�����@���?)~6�U�@ ~6�s[;I~6��Cɫ9�9)�9 �9I�9Y����@y���jG�xDUSBL response received:!U1,P 268,000,004BA,188,80,80,81,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 ��=\�=��=1�>��=�A>i�=��@��9 �=@)�=&�@I�9i�=&�@��qҼM�&=�ޱi�=Y�����QU��>��A��I�aM�G��I��Yy����}��>Iȉ����:�ō��5�?����:�ō��־� ƍopA����?9ƍ�MC�Ǎ��: ȍ�@)ȍ(�:�W��WX X�W!:W!2W!*W!�V!U)U-����z� @�A�ܘ9<B� B��A����*B�]%9�A��A��"7�A�K��A�"C��)*C�e�:RC%���=C!�C)I��G��>�B+�fj,��E�A�|�|4<ɫy�y)�y �}���I�yY����@y���jG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ai�ai am�am aq�aq ae�ae �� �L7�A`��?�A`��"ӿ����Mbp?�� +�>�� �� � �;)� I� y� ����Q��?��ʡE������Mb�?�� ��=�� -���� �< � A)� �AI� �Ai� �� �� �A)��= �>��=���M=c=Y�E���QUE�>��A��I�aM�G��I��Iy�U���}U?I�Y��]��5�?��]��־� �]�pA��e�?9�]�MC��] �: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�����_@zL��>�L��>�L����@�L����@�A�!�P<B� B��A�B�*B��#9�A��A��"7�A��J��A�"C��)*C�Z�:RC��0�=C��C�i��I�������������������������������� ��11:Y���U1y����:�����6I��G�>���fj,>���E�AY}h�@�}�u�@y}�4=�}����}H���������������?����ȝ?����4�����@�L��������������N�������.����������?)~h�@ ~St[;I~��C܅��>9܁I܅,bGi܅Է@�܅=�܁�܁�܅�; ݅�Eɫ�髑)�� ��I��Y����@y���jG�xDUSBL response received:!U1,R,1D4,000,004B2,187,80,80,5C,FF �Fpublishing direction and range info����Ѿ���ɰ���=��1�> ��)����BI��y��z B����� ��>^�?M\1��jٿ��������ٱ������<�����=����u�i����@��� ��z�@)��z�@I����@i��z�@����M 1=Y� ���QU �>�����a�G����y�ڜ;}�>I�!��%-�5�?��%��־� �%�pA��-�?9�%�MC��%��: �%��:)�!�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUYUe��� y�@�Ru(Combining 5 samples.�Pq*Quz B�Zu�D1#���?@��#�+����������Zu�� ��>^�?M\1��jٿ��������2Qu�Ѿ:Qq�Zu��Dt�0��%�|��>�T* dЧ��Zu�� �٠�ݿo�UZ쿆f{�U��BQu�d�@ Qud��Qu-���Pu��9?�Pu��9?�Pu����Qu����Qu��@"Qu�@zL��L��L��L�'��@�A��h<B� B��A���*B��$9�A��A�f"7�A�J��A�"C��)*C����:RC�~{�=C��C��ֵ�t�=I��G��>�Q=�fj,�"��E�Aɫ�)� �����I�Y�U@�@y�UjG��DNmea in: $SNTTA,,,,,170547.91*56 ��&�Mp=Y����QU?�����a�G����!y�%���}%?I�9��E�:��=p�5�?��E�:��=��־� �=�pA��M�?9�=�MC��=��: �=I�:)�=)�:�m}uAdded new target pos. range: 34.620003 m, bearing: 242.420161 deg, deltaT: 4.483197 s, approachRate: -0.107065 m/s, LOS rate: 1.564680 deg/s, posRepo size: 4�Wy�WyXy Xy�W�:W�2W�*W��V�U����@\OA@U���� ���?zL��L��L��L��A���~<B� B��A��6�*B��"9�A��A�0"7�A�}I��A�IޭAA)ީ�������������������� ��2:Y�xZ1y�q�:���6"C��)*C����:RC�c!�=C��C�����=I�!G=r>�[g�fj,�i<��E�A�|i|�@Y}6Hb�@�}6�o�@y}62-=�}6����}6H���� �ֲ����@���?������?����t����� �m�������������� ������������������?)~6Hb�@ ~6hV[;I~4ɫy�y)�y �yI�yY��w�@y��VjG �)�)��5nA��5nA��F�<M�Q=Y����QU��>�����a��G����y����}��>I�����T�5�?���l�־� ���pA����?9���MC����: ����:)���W��W�X� X��W�:W�2W�*W�VUU���� N�?zL!�L!�L!�L%1��@�AE��<BA BI�AM-�*BMy#9�AI�AM"7�AU�H��AQ"CU�)*C]-8�:RC]8�=CY�CY�֥��=I��G�A>܁9܁I܁i܁�܁�܁�܁�܅�; ݅�E��O�fj,5FV��E�AY}6%O�@�}6�\�@y}6\�)=�}6n�&��}6H���� go���������?����!1�?���`R������]�������������/�����`�פ�����0��?)~6%O�@ ~6�q[;I~6��Cɫ9�9)�9 �9I�9Y��5�@y��jG��u�u���uV>��u�l�i�u��@��q �uE�@)�u&�@I�u@i�u&�@��ݦ�M�M=Y���QU��>�����a��G����y����}��>Iȡ����:�ť}5�?����:�ť��־� ƥ�pA����?9ƥ�MC�ǥ��: ȥ��:)ȥ*�:�W��W�X� X��W�:W�2W�*W �V UU%������?������������������������ ���:Y��DW1y��Y�:����5)��y;�9��zL �L �L �L (��@�AE��<BA BA�AE�<�*BM@#9�AI�AM�!7�AMH��AI"CU�)*CU�#�:RCU�ٔ=CY�CY��U�ݖ=I�aG�{>�My�fj,�p��E�Aɫy�y)�y �yI�yY����@y���iG�����(\����?V-��?:��v��������G>�����= ���T�)��I��y����O��n�?��C�l绿y�&1�|�����>���;߽���`� ��)���AI�� Ai���������A���$��M�D=Y�����QU��>�������a��G������y����}�>I� �� �x5�?�� F�־� � �pA���?9� �MC�� H�: � ��:)� �WA�WAXI XI�WI:WI2WQ*WQ�VQUQUU�������?zLu-=>�Lu-=>�Lu�ٴ@�Lu��@�A�_�<B� B��A�GX�*B�T!9�A��A��!7�A�cG��A�"C��)*C��;RC�]��=C��C��ޭ�=iޭ�=Y�]�*9��M�̓=I�YG��>i�� �mGI�� i�� ��-"U�ٺ)��5%HA��e�fj,o���E�A�|<�|>�;Y}~6�@�}~�#�@y}~p%=�}~����}~H����@�5������K��?�����?����������`�ٴ����@�;����� lã�����-������ l��?)~~6�@ ~~(i[;I~~��C���>9�I��aGi���@��=������|; ��Eɫ���)�� ��I��Y�58�@y�5jG)���= ���=��=+=��=�>��=lg>i�=�@��9 �=�@)�=E�@I�=E�@i�=E�@��M��<MMD=Y�MiڻQUU�>��Q��Q�aU�G��Q��Yy�]���}]�>I�a��m�:��e�t5�?��u�:��e��־� �e�pA��u�?9�e NC��e^�: �e(�:)�e+�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�d�?zL��L��L��L���@�A��<By By�A��:�*B��"9�A��A�K!7�A��F��A�"C��)*C�XK;RC����=C��C���C����������������� ��$:Y�[1y�ݏ:��|�5)���;����P�=I��G�i>�]��fj,w֣��E�AY}2v�@�}2&�@y}2ZD=�}2}���}2H���������������?�����#�?��� 9�����@�V��������������|������@�������3��?)~2v�@ ~2�I[;I~2��Cɫ9�9)�9 �9I�AY����@y��MiG��=,N�M=^=Y�E���QUE�>��A��A�aE�G��I��Iy�M`��}U�>I�Y��]�p5�?��]m�־� �]�pA��e�?9�]NC��]U�: �]@�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�v�@�A����<B� B��A�H��*B��9�A��Am!7�Am�E��Ai"Cu�)*C}�&;RC}-=�=Cy�Cy��M�/�=I�YG�>�G��fj,M����E�AY}>� �@�}>��@y}>N =�}>�]��}>H����`������� n��?���@IO�?����!�������S������\��������@������(������C��?)~>� �@ ~>Bn[;I~>��CɫQ�Q)�Q �YI�YY�u�@y�u�iG�}a=ɮ}a=���=MM=Y���QU�>�����a�G����!y�%*�9}-�>I�1��5�l5�?��5��� �5�pA��=�?9�51NC��54�: �5�:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu��� R�@�R}B*** querying acoustic contact ***�Py�PyzL��L��L��L���@�A��b�<B� B��A�wI�*B�E"9�A��A�� 7�A��D��A�"C��)*C��(;RC��*�=C��C�Iޥ@A)ޥAA��� �������������� �� �B:Y��X1y�/�:���6�9�@������=I��G*>�9�I�i���������A; ��E)ݵ�n�CIݵ�n�Ciݱ��ݵ�=�ݵ�=�ݵ��+5�W��fj,כ�E�A�|i|�@Y}6J�@�}6�*�@y}6ɣ�=�}6w3��}6H�������������0��?�����d�?��� Z������ն�������x�������������Fá�������?)~6J�@ ~6�U[;I~6��Cɫ9�9)�9 �=���I�9Y�}�@y�}$iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���mA���mA��U�I>��U㥽��U�ʽi�UQ�@��Q �Uz�@)�Uz�@I�Uz�@i�Uz�@����M�&=Y����QU��>�������a��G������y����;}��>I���%�:���g5�?��%�:��r� ��pA��-�?9�INC����; ��;)�,�:�WI�WIXQ XQ�WQ:WQ2WQ*WY�VYUYU]����Q� @zL��L��L��L�>�@�A����<B� B��A����*B�� 9�A��A�j 7�A��C��A�"C��)*C�(�;RC���=C��C�����8�=I��G�>����fj,3n�E�AY}N�/�@�}N�=�@y}N���<�}N�v"��}NH�����qj�����@:��?���`��?����T�����@/������;������@�5�����@4K���������?)~N�/�@ ~Nn[;I~N��Cɫy�y)�y �yI�yY��ؽ@y���iG�xDUSBL response received:!U1,P 1D4,000,004B2,187,80,80,5C,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 ����������������������� ���\:Y���W1y��č:���6����)\���(�?�~j�t�h�����Mbp����Ga=����D� ����)��I��y�����MbX�?Zd;�O����I+��?�����=���j�����9�< A) �AI `Ai �A�������A����<M�==Y���QU��>�����a��G����y�o�;}��>I�����"d5�?����� ���pA����?9��XNC�����: ��{�:)���Wi�WiXi Xq�Wq:Wy2W�*W��V�U�U���� �a @zL]6>�L]6>�L]��@�L]Ny@�A����<B� B��A��j�*B��!9�A��A� 7�A��B��A�"C��)*C���;RC����=C��C�i��I��������� 9� I� i� �� �� �� �� ; � �E��-�:�=I�1GU�>�O�gj,�t��E�AY}65�@�}6�B�@y}6�n�<�}6�_/��}6H����@PA���������?���`߳�?���� �������ﳿ����~#�������윿����西����9��?)~65�@ ~6Vx[;I~6��CɫI�Q)�Q �U����I�QY��p�@y��iG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �ޭ�=iީ���Q8=���-�=���n�i��(�@��� ���@)���@I���@i���@�����M�V=Y��fW�QU��>�����a�G���� y� ��:}�>I����:���`5�?���:���� ��pA��%�?9�eNC���: ���:)�-�:�WI�WIXI XI�WI:WI2WQ*WQ�VQUQUU���@ %@zLq�Lq�Lq�LuH.y@�A���<B� B��A�Q��*B��9�A��A��7�A��A��A�"C��)*C��;RC�$a�=C��C��֝9)�=I��G�>��� gj,�6)��E�A�|�|Y}6t.�@�}6$<�@y}6=W�<�}6�+��}6H�����]v������_��?����:�?������������'�������ٟ����`��������dm�����`���?)~6t.�@ ~6��[;I~6��Cɫ9�A)�A �E���I�AY�]ܽ@y�]�iGexDUSBL response received:!U1,R,2C3,000,004AC,188,80,80,6A,FF mFpublishing direction and range info��e�����aɰe��=�e��> �a)�e��BI�ay�e B��e�}R�f��?���h�����������ٱaI���=)���=)õ�= õ�=����=M�_=Y����QU��>�������a��G������y��O�}��>I������]5�?���� � ��qA���?9��qNC���k�: ����:)���W)�W)X) X)�W):W)2W1*W��V�U�U�����9�@�R�(Combining 5 samples.�P�*Q� B�Z����mӎ�;@s��a�3����������Z��}R�f��?���h��������������������������������i�� ���:Y��[1y��ݏ:���"�52Q����:Q��Z��2/��5�`�aH:��}�p���?�Z��v�ֆ�D�O7��述H&fFX?BQ����@ Q�C��Q�ϯ��P���9?�P���9?�P�����Q�����Q�|�@"Q���@zL�L�L�L�y@�A%�V�<B) B)�A-�h�*B-!9�AI�AM�7�AU�@��AQ"CU�)*C]��!;RC]?ʏ=CY�CY�օ~4�=I��G�=>�d�gj,�C��E�AY}6Q�@�}6"�@y}6��<�}6:��}6H����@�F���������?����� �?������������������������� ���������=����� A��?)~6Q�@ ~6fc[;I~6��Cɫ9�9)�9 �=����I�9Y��1�@y���hG�%TNmea in: $SNTTA,0.047880,,,,170552.35*41 ��epJ�MeB=Y�mZ�QUm�>��i��q�au�G��q��yy�}���}}�>Iȁ����:�ŅnZ5�?����:�Ņ�� ƅ*qA����?9ƅ�NC�Dž��: ȅ�:)ȅ.�:�m�yAdded new target pos. range: 34.259998 m, bearing: 230.099183 deg, deltaT: 4.416530 s, approachRate: -0.081513 m/s, LOS rate: -2.789742 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W)�VIUM����G!A@UM�����H�?zLi�Li�Li�Lm�x@�A����<B� B��A���*B�29�A��A�07�A��?��A�"C��)*C�ɾ&;RC�*�=C��C�����>9��I��i���������������; ��dE�����=I��Gj>���gj,~�\��E�AIޭAA)ީ��M ��������������}�� ��9:Y��X1y�/�:��k�5)��;�9��ɫ���)�� ��I��Y� i�@y� iG��U��O��n�?{�G�z�?�Q���?��U�>��U�#< �U\=)�QI�Qy�U�333333�?J+���<�O��n����U�>��U�Ƚ��Ut� �UfA)�U�AI�U5Ai�U�A��Q��U�A�í94��í �=�í��=iíf�@�é ĭ\�@)ĭ=�@Iĭ=�@iĭ=�@��f<M�)=Y�����QU��>�������a��G������y�����}��>I������U5�?����� ��qA����?9���NC�����: ��Ǻ:)���W �W X X �W :W2W*W�VUU����`��?zL��7>�L��7>�L���@�L��@�A l�<B B �A +��*B 9�A �A�7�A?>��A"C=�)*C=�+;RC=w�=C9�CA��Mi��=I�YGu�>��gj,�v��E�A�|i|�@ɫ�髙)�� ��I��Y��{�@y�� iG��}��;M}y=Y�yQU}?�����a��G����y�}�?Iȑ����:�ŕ�R5�?����:�ŕ)� ƕqA����?9ƕ�NC�Ǖ�: ȕk�:)ȕ/�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�|�?zL��L��L��L��A ��<B B �A ���*B=9�A�A�7�A`=��A"C�)*C��.;RC1�=C�C!Y�%E'9��5mA��5mA��M֊=I�)GEs>�� 9�� I�� i�� ��� ��� ��� ��� �; �� =E���#gj,f����E�AY}N,ٛ@�}N��@y}N�a�<�}N���}NH�����%������e��?��� ��?���������� ﶿ��� �c�����@�����������������?)~N,ٛ@ ~N�o[;I~Lɫ�髹)�� �����I��Y��.�@y���hG�í�>�í�F>�í�;������������������������ ���/:Y���^1y��a�:���E�5)��%�;ií\�@�é ĭr�@)ĭ\�@Iĩiĭ\�@��%���M%@=Y�%'��QU%�>��)��)�a-�G��1��1y�5㊼}=�>I�9��=�N5�?��=�� �=�pA��M�?9�=�NC��=��: �=��:)�9�Wi�WqXq Xq�Wq:Wq2Wq*Wy�VyUyU}����?J�?zL��L��L��L��T�@�A�| �<B� B��A����*B��9�A��A�37�A�$<��A�"C��)*C���2;RC���{=C��C�������=I��GI>�"#*gj,DŽ���E�AY}J�@�}J��@y}J[��<�}J!�%��}JH������ȶ����`P��?���`�ף?����Q�������������`c씿���@uR�����`0������@"��?)~J�@ ~J�[;I~J��CɫQ�Y)�Y �]����I�YY���@y��`hG��lɼM�T=Y��QU��>�����a��G����y��a;}��>Iȩ����:�ŭGK5�?����:�ŭ�� ƭ�pA����?9ƭ�NC�ǭ��: ȭb�:)ȭ0�:���=i��p=�W��W�X� X��W�:W�2W�*W��V�U�U�����=�@zL�L�L�Lg_�@�A%���<B) B)�A�l��*B� 9�A��A��7�A��;��A�"C��)*C���6;RC�^&�=C��C������|=I��G�{ 1gj,�YĜ�E�AY}N��@�}Nu��@y}N�<�}N�'��}NH����@/������ ���?��� !�?������������c�������M������-������������� ��?)~N��@ ~N&o[;I~L��d��fՕCi�56nGI�Qi�iɫ�髱)�� �����I�����UN�ٺ�����AAY��K�@y���hGI��4=)��4=�� ��������������p�� ��4:Y�xZ1y�q�:����5�9@��=��<M=@=Y�MT��QU]�>��q��q�a}�G��y��yy�|�:}��>Iȉ�ō<G5�?�ō�� ƍ�pA����?9ƍ�NC�ǍZ�; ȍ:)ȉ�W��W�X� X��W�:W�2W�*W�VUU������@zLA�LA�LA�LE&f�@�u��>9�qI�qi�q��u=��q��q��u4; �uE�A�%�<B� B��A����*B�}9�A��A�t7�A��9��A�"C��)*C�K^;;RC��w�=C��C��ֽ�|=I��G�f>�87gj,sGޜ�E�AY}-�@�}-��@y}-�i�<�}-^["��}-H���������������?����Uy�?���������� �������P��������������aI��������?)~-�@ ~-(}[;I~-��Cɫ � )� �I�Y��Ѽ@y��NhG鮍p=ɮ���-���C�l�?�"��~j�?y�&1��?��-;�=��-S�= �-`e<)�)I�)y�-�����Mb�?k�t���y�&1�|���-=��- ����-`� �-A)�)I�- Ai�-�A��)��-�A�Í�'��Í�>�Í�%>iÍQ�@�É č�@)č=�@Iĉič=�@��i�M�D=Y�1��QU��>�����a��G����y��}��>Iȱ�ŵ*D5�?�ŵ�� Ƶ�pA����?9Ƶ�NC�ǵ'�: ȵ<�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U���� 7*@�R�B*** querying acoustic contact ***�P��P�zL�x�=�L�x�=�L�2�@�L�pZ@�A ��<B B �A ��*B D9�A �A 7�Ab8��A"C�)*C=C�?;RC=R�=C9�CA��M��|=I�YG}z>�Tb=gj,#���E�AY}J�כ@�}J{�@y}JEb�<�}J����}JH�����\*������7��?���@(�?����H�����`[�������'�����@̐����`��������B��?)~J�כ@ ~J|e[;I~J��Cɫ���)�� ��I��Y� �@y� �hGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******��}W�<M}^=Y��+:QU��>�����a��G����y���}��>IȡI��)��@A���m�����������������R�� ��(:Y��[1y��ݏ:���5�5����:�ťiA5�?����:�ť� ƥ�pA����?9ƥ�NC�ǥ= ȥ'=)ȥ1�:�W��W�X� X��W�:W�2W�*W��V�U�U����` 6 @zL9�L9�L9�L=��Y@�Am�%�<Bi Bi�Au���*Bu�9�Aq�Au�7�Au67��Aq"C��)*C�mBC;RC��~=C��C�i̩I̩�̩�̩�������a 9�a I�a i�a ��a ��a ��a ��e �; �e �E)��I��i�����=����=������4�ֽ �Ex=I�� G� �>��EDgj,����E�A�|i|Y}6�ƛ@�}68ԓ@y}6� �<�}6'z��}6H����`ճ�����@=��?���` �?��������������������@������������@������� ���?)~6�ƛ@ ~6�[;I~4ɫ9�9)�9 �=����I�9Y�]p�@y�]iGexDUSBL response received:!U1,P 2C3,000,004AC,188,80,80,6A,FF eCommand AckeBRequesting 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 ������nA������`�;���:i�\�@�� ���@)�I�\�@i���}��<M�.=Y��9QU��>�����a��G����y���}��>Iȹ�Ž�=5�?�Ž�� ƽ�pA����?9ƽ�NC�ǽ��; Ƚ˻;)ȹ�W)�W1X1 X1�W1:W12W1*W9�V9U9U=���@d� @zL��L��L��L��Y@�Aa�=B B �A Q��*B�9�A�AX7�A=�5��AA"CM�)*CU+�G;RCU��w=CY�C�������=I��G��>��oJgj,z�+��E�AY}6)��@�}6�Ó@y}6Å<�}6�� ��}6H���� =6���������?���� ٠?����.�����@}��������������2�����������������?)~6)��@ ~6��[;I~6��Cɫy�y)�y �}���I�yY���@y���hG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��� �M�m=Y�=[�QU�?�����a��G������y��3��}�?���������������������q�� ��z.:Y��d\1y����:�����5I������:���M;5�?����:���%� ���pA����?9��OC�����: ����:)��2�:�W�WX X�W:W!2W!*W!�V!U!U-����9@zLA�LA�LA�LE��Y@�A]��=BY BY�A]��*BeO9�Aa�Ae7�Ae�4��Aa"Cm�)*Cm�yJ;RCue?q=Cq�Cq��enp=I�iG�9>��WQgj,^�E��E�AY}6���@�}6\��@y}6�u�<�}6�� ��}6H���� ˉ����� ���?���� ܠ?����<�������b�����ඞ�����@�N������V������� ��?)~6���@ ~6��[;I~6��Cɫy�y)�y �}���I�yY��¼@y��<hG�xDUSBL response received:!U1,R,2E0,000,004AD,189,80,80,8E,FF �Fpublishing direction and range info����l$����ɰ��=��7�> ��)���CI��y��G B�����52b���?�]�3+���������ٱ�����=i��=���3��M�O=Y��A��QU��>�������a��G�����y��K�}�>I� �� >85�?�� �� � �pA���?9� OC�� 4�: � @�:)� �WY�WYXa Xa�Wa:Wa2Wa*Wa�ViUiU�����{�@�R�(Combining 5 samples.�P�*Q�G B�Z����b){;@��63��4����������Z���52b���?�]�3+���������2Q��l$�:Q��Z���Z#67���Ln�d9�`'�k��?�Z��K�ﳯ�忼��p��[s%$X�?BQ��^~@ Q�$��Q�����P�}�9?�P���9?�P�����Q�����Q���@"Q�|�@zL��L��L��9�I�i����������; ��E�L�ޟY@�A=���=B9 B9�A=Ժ�*B=$9�AA�AE�7�AE3��AA"C��)*C��sN;RC���m=C��C� ���=����=�ֹI��G�f>�ӅWgj,~�_��E�A�|B4<�|B4<ɫ)�))�) �5����I�1Y�mD�@y�m�hG��� �������������������� ��76:Y���[1y��H�:����5)����;�9���TNmea in: $SNTTA,0.073389,,,,170556.85*4B ����sh��|?�?��|?5^��y�&1��?����)>����ҽ ��`�<)��I��y����� �rh�? ףp= ��{�G�z�?���C>���Q�����ף< ��)���AI�����i��������A)��= �>�Ý��>�Ý�?�ÝV>iÝ=�@�Ù ĝn�@)ĝ\�@Ięiĝ\�@���=M�+=Y����QU��>�����a��G����y�����}��>I������:���F45�?����:����"� ���pA����?9�� OC�����: ����:)��3�:�m uAdded new target pos. range: 34.320000 m, bearing: 227.723220 deg, deltaT: 4.475417 s, approachRate: 0.013407 m/s, LOS rate: -0.530892 deg/s, posRepo size: 4�W �W X X �W :W2W*W�VU�����(A@U���`�?zL5?(>�L5?(>�L5�Z�@�L5Q-�@�AMU=BI BI�AMm��*BU9�AQ�AU97�AU"2��AQ"C]�)*C]�YR;RCe��n=Ca�Ca��m��h=I�yG�~>��]gj,�\y��E�AY}F�@�}F�Ó@y}FZ�p<�}F����}FH�����#8���������?�������?����]������)������������ $������~T������E��?)~F�@ ~F�q[;I~F��CɫY�Y)�Y �YI�YY����@y��!hG���b�M�t=Y�2o�QU�?�����a��G����y��u;}�?Iȩ�ŭi15�?�ŭc%� ƭqA����?9ƭ.OC�ǭ��: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U���� �(�?zL��L��L��L�:�@�A�C��=B� B��A�b��*B�b9�A��A��7�A�1��A�"C��)*C���U;RC���s=C��C������m=I��GI>� ��>9� I� i� �� �� �� �� l; � �E��dgj,�3���E�AY}>���@�}>[̓@y}>��u<�}>a�!��}>H�����������.��?���@a�?���`'�����@�Ƿ�����o����� ���������.�����@���?)~>���@ ~>�z[;I~>��Cɫ9�9)�9 �9I�9Y�}1�@y�}�hG��u��>��u33���u�<i�u��@��q �ur�@)�qI�qi�q���%=M�K=Y��8:QU��>�����a��G����y��-;}��>Iȡ����:�ť�-5�?����:�ťF(� ƥ'qA����?9ƥ?OC�ǥ��: ȥ�:)ȥ4�:I��@A)����� �������������������� ���J:Y��xZ1y��q�:���4�6)��9�;�W��W�X� X��W�:W�2W�*W��V�U�U��� x�?zL�L�L�L�D�@�A5�G�=B1 B1�A5��*B=9�A9�A={7�A=�/��A9"CE�)*CE0Y;RCERPw=CI�CI��Y��]nA��e�Xf=I�iG�9>��jgj,���E�A�|i|Y}6���@�}62˓@y}6@�<�}6N�"��}6H���������������?����ox�?������������ͷ�����V6�����@�|������>T�����@z��?)~6���@ ~6'Z[;I~6��Cɫ9�9)�9 �9I�9Y�}^�@y�}�hG���������c<MR=Y�;;;QU�>��!��!�a%�G��!��)y�-���}-�>Iȉ�ō�*5�?�ō'+� ƍKqA����?9ƍPOC�Ǎ��: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����Sl�?zL��L��L��L�vD�@�A @�<B B�A�*B �9�A �A '7�A �.��A "C�)*C��\;RC�vv=C�CY�eH&9��U�@p=I�aG}z>�*�qgj,��Ɲ�E�AY}J˫�@�}J{��@y}J�Ҏ<�}J����}JH����������������?����H��?�����������X�����@X������ ڑ��������������?)~J˫�@ ~J�m[;I~J��Cɫy髁)�� �����I��Y��Z�@y���hG�õ��<�õ��õ�>iõ(�@�ñ ĵ�@)ĵ���Iĵ�@iĵ�@�����M�@=Y���L;QU��>���������������������S�� ��2:Y���X1y��/�:���k�5�9�@�������a��G������y��ऻ}��>I������&5�?���&.� ��oqA���?9��aOC�����: ��U�:)���W)�W)X) X)�W):W12W1*W1�V1U1U=������@zLY�LY�LY�L]�2�@�Au9��<Bq Bq�Auߔ�*Bu9�Aq�A}�7�A}]-��Ay"C��)*C���`;RC���n=C��C�ܹ9ܽo�CIܽ,bGiܽԷ@�ܽ=�ܹ�ܹ�ܽ7; ݽ�E�ֽTw=I��G�E>���wgj,T����E�AY}6q��@�}6!��@y}6��<�}6����}6H�����l:�����@��?����h�?���`�������5 ������m�������s������t������`���?)~6q��@ ~6~`[;I~6��Cɫ9�9)�9 �=���I�9Y���@y��jhG����J+��?�&1����~j�t�h?�����=����P� ���D;)��I��y����rh��|�?)\���(���~j�t�x?�����=���G������; ¥;A)¥^AI¥dAi¡������pA���� �M�J=Y��u};QU��>����=i���=�������a��G������y��q}��>I����u�:����"5�?��u�:����0� ��{qA��}�?9��rOC�����< ����:)��5�:�W��W�X� X��W�:W�2W�*W��V�U�U�����{x@zL-)>�L-)>�L-w��@�L-��x@�A=���<B9 B9�AE���*BE�9�AA�AEh7�AE,��AI"Cm�)*Cm�ld;RCmӗe=Cq�Cq Յ�=�ԅ�=��]`k=I�iG�Z>�>�}gj,<����E�A�|*�;�|*p;Y}Fc��@�}F��@y}F��<�}F�9��}FH������ṿ���`���?���`���?��� V����� [������ d6�������������@[š���� b��?)~Fc��@ ~Fe�[;I~F��CɫY�Y)�Y �]���I�YY��*�@y���hG鮭a=ɮ�p=)���= ���=���J�<M�\=Y���\;QU��>��A��A�aE�G��A��Iy�M�ڻ}M�>I�Q��U�5�?��U3� �U�qA��e�?9�U�OC��Uk�: �UU�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@0Y@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�0�x@�A��<B� B��A�蠽*B�k9�A��A�7���������������������F�� ���-:Y��[1y��ݏ:�����5�A��+��A�"C��)*C�<dg;RC��`]=C��C���%J�c=I�1GM1>i��mGI�i���E�P�ٺI��M�CAܵ ��>9ܱ Iܵ �aGiܵ ��@�ܱ �ܱ �ܱ �ܵ ; ݵ zE���gj,cz��E�AY}6?q�@�}6�~�@y}6��<�}6t8 ��}6H�����1Z������{��?����?�?���@������ *������h阿�����������`D%���������?)~6?q�@ ~6�x[;I~6��Cɫ9�9)�9 �=���I�AY�}�@y�}�hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����>���k>��l�i���@�� �r�@)��@I�r�@i�r�@����M7=Y�@�:QU�>�����a�G����!y�%I��}%�>I�1��=�:��5w5�?��=�:��5�5� �5�qA��=�?9�5�OC��54�: �5A�:)�56�:�Wa�WaXa Xa�Wa:Wa2Wi*Wi�ViUiUu����� @zL��L��L��L�2jx@�A�C/�<B� B��A�P��*B�9�A��A��7�A��)��A�"C��)*C���j;RC�dX=C��C���=5�[=I�IGeV>���gj,be.��E�AY}F o�@�}F�|�@y}Fd�<�}F�D ��}FH����`k������3��?������?����p������h:��������������������@�F����� ���?)~F o�@ ~F��[;I~DɫQ�Q)�Q �QI�QY���@y��shG�xDUSBL response received:!U1,P 2E0,000,004AD,189,80,80,8E,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 �� ��M\=Y�%��8QU-�>��9��9�aE�G��A��Yy�e{2�}u�>I��)��AA�����������������>�� �&2:Y��X1y�/�:��a 6Iȡ�ť&5�?�ťm8� ƥ�qA����?9ƥ�OC�ǥ�< ȥ�<)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U���`+s @zL��L��L��L�2fx@�A����<B� B��A����*B�9�A��A�D7�A�V(��A�"C��)*C��n;RC��(X=C��C�i�I������� �� mA����@W=I��G�>���gj,U0H��E�AY}b�u�@�}b���@y}b,س<�}b����}bH������4����� :��?����x\�?���`������ ������� (����� �z������Ț�����`���?)~b�u�@ ~b ^[;I~b��Cɫ�)� �����I�Y�U½@y�UviG�u�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��)��������mA�Y9�YI�Yi�Y��Y��Y��Y��]�; �]cE)��o�CI��o�Ci�邉��=���=���j�4��p�>����<��-�i�z�@�� �=�@)���@I�=�@i�=�@��]�\=M]+=Y�];�:QU]�>��a��a�ae�G����y�g�:}��>Iȑ����:�ŕ�5�?����:�ŕ%;� ƕ�qA����?9ƕ�OC�Ǖ�; ȕ ;)ȕ7�:�W��WX X�W:W 2W *W �V U U����cY@zLI�LI�LI�LM�vx@�A�JL�<B� B��A��u�*B�K 9�A��A��7�A�0'��A�"C��)*C�"�q;RC�"�[=C��C��ֵm�Y=I��G��>��!�gj,�b��E�AY}RH{�@�}R���@y}R �<�}RS���}RH���� � ����� 4��?���@/b�?���`@������̹���� �ݛ����@��������H����������?)~RH{�@ ~R@m[;I~R��Cɫq�q)�q �u���I�qY��D�@y���hG�xDUSBL response received:!U1,R,2FF,000,004AD,188,80,80,77,FF �Fpublishing direction and range info���uY+����ɰ�鰥��> ��)����BI��y������߽�ut�?+I`������������ٱ����������������������l�� �� /:Y���Y1y���:�����5)��t�;�9����%�k�t��?X9��v��?+��������% �=��%��< �%��)�!I�!y�%����Q��?1�Zd��y�&1��?��%��=��%"۽��%`e< �%A)�%�AI�% Ai�%�A��!��%A��E�)�ME]=Y�M��;QUM�>��Q��Q�aU�G��Q��Yy�]��:}]�>I�a��e5�?��ec=� �e�qA����?9�e�OC��ev�: �e��:)�a�W1�W1X1 X1�W1:W12W1*W9�V9U9U=��� h�@�Rm(Combining 5 samples.�Pq*Qq�Zu��q�S:�:@���XK5����������Zu�߽�ut�?+I`������������2QuuY+�:Qq�Zu����s`�7��A��A�8���:E�"�?�Zu�54c"�J�T�D�)��`�S@��v?BQu�D|@ Qu���QuC���Puy�9?�Pu}�9?�Pu����Qu����QuM�@"Qu��@zL�B%>�L�B%>�L��±@�L���x@�A���<B� B��A�m��*B�B9�A��A��7�A�&��A�"C�)*C%�u;RC%Z�]=C!�C!��-�S^=I�9GUv>��K�gj,��{��E�AY}zT}�@�}z��@y}z(N�<�}z #��}zH�����k���������?����U��?����������洹������ĝ����`ə�����X`���������?)~zT}�@ ~ziM[;I~z��Cɫ���)�� ������I��Y� �@y��hG�}TNmea in: $SNTTA,0.045745,,,,170601.30*45 ��j��M�V=Y��;QU��>�����a��G����y��+:}��>Iȱ�ŵD 5�?�ŵ�?� Ƶ�qA����?9Ƶ�OC�ǵ��: ȵU�:)ȱ����=i���=�m�uAdded new target pos. range: 34.320000 m, bearing: 225.843347 deg, deltaT: 4.471737 s, approachRate: 0.000000 m/s, LOS rate: -0.420390 deg/s, posRepo size: 4�W��W�X� X��W:W2W*W�V U U �������?zL)�L)�L)�L-��x@�A=��<B9 BA�AE��*BE�9�AA�AEL7�AM%��AI"CM�)*CU��w;RCU��^=CQ�CQ �m�=��m�=��yI��G�<>�M ��>9�I I�I i�I ��M =��M RD��I ��M �; �M KE�=1�gj,;Ǖ��E�AY}N�{�@�}Ny��@y}N}��<�}Nе!��}NH���� ]��������?��� ñ�?����������@漹����������� Q�������{3���������?)~N�{�@ ~N^[;I~N��Cɫ�髙)�� �����I��Y���@y���hGI�%R=)�!)�-�= �-�=��u�m>��u�q=��u�T�i�uf�@��q �u��@)�u-�@I�qi�q����;M�L=Y�Q�;QU��>���J�����������g�� ��O%:Y��y�������5)�� �;�� �� �a �G����y���}�>I�!��%�:��%5�?��-�:��%JB���-tI �%�qA��5�?9�%�OC��%2; �%�;)�%8�:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VqUqU}������?zL��L��L��L�#�x@�A�@�<B� B��A�v��*B��9�A��A��7�A��#��A�"C��)*C�Hu{;RC�o^=C��C���z^=I� G%M>�4Z�gj,�����E�Aɫ�髁)�� ������I��Y���@y���iG��U��=M]M=Y�]���QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��uR5�?��u�D� �urA��}�?9�u�OC��u��: �u@�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`(u�?zL��L��L��L��A���<B� B��A�+M�*B�O!9�A��A��7�A��"��A�"C��)*C�ӌ~;RC��Z^=C��C�ԍ���ԍ�� Ս���ԍ��I�AG]v>��E�gj,�ɞ�E�AY}%*q�@�}%�~�@y}%���<�}%9)��}%H���� >Y���������?����?2�?��� ������`������`#X������������� �ᢿ���`���?)~%*q�@ ~%�Z[;I~%��Cɫ���)�� ��I��Y�M��@y�UDiGI��)������ �����������������n�� ���3:Y��[1y��ݏ:���4�5�9�@��9��I��i�����=���������z; ��1E��=��>��=��=��=�ʽi�=̤@��9 �=&�@)�=��@I�=��@i�9��M �MM;=Y�U��;QUU�>��Q��Q�a]�G��Y��Yy�]�B�}e�>I�i��u�:��m��5�?��u�:��mNG� �m&rA��u�?9�m PC��mI�: �m��:)�m9�:�W�WX X�W:W2W*W�VAUAUE����4��?zL��L��L��L��x@�A��J�<B� B��A�"��*B�B 9�A��A�\7�A��!��A�"C��)*C��&�;RC�*�Y=C��C�I�G%,>�$l�gj,�S㞩E�A�|i|�@Y}6�h�@�}6�v�@y}6�=�}6�]��}6H����`�������@K��?���`��?���@������@�O�������������!�����@dh�����@���?)~6�h�@ ~6�D[;I~6��CɫY�Y)�Y �]���I�YY����@y��iiG������ʡE��?�rh��|���Q��롿�����=������ ��\�)��I��y���Zd;�O��?��MbX��y�&1�|?���j�=����ʽ���`�; ��)���AI��5Ai���A�������A���nA���nA���u<M�Q=Y��gQ;QU��>�������a��G�����y�s(�}�>I� �� k�5�?�� I� � 2rA���?9� PC�� /�: � ��:)� �W9�W9X9 X9�WA:WA2WA*WA�VAUIUM��� ���?zLm� >�Lm� >�Lm���@�Lm��r@�A}���<By B��A�u{�*B��9�A��A�7�A�� ��A�"C��)*C����;RC�o�V=C��C�I��G��=�$��gj,�6���E�AY}Jja�@�}Jo�@y}Ja=�}J����}JH������պ��������?�������?����s�����@������� 2�������g ������[������W��?)~Jja�@ ~J�[[;I~Hɫq�q)�y �}���I�yY����@y��`iG��U�MUT=Y�]Q;QU]�>��Y��Y�ae�G��a��ay�m9�}m�>I�q��}�:��u��5�?��}�:��u�J� �u>rA��}�?9�u%PC��u �: �uY�:)�u:�:�W��W�X� X��W�:W�2W�*W��V�U�U�����5�@�����������������k�� �<0:Y��]1y���:����5zLI�LI�LI�LMSvr@�A]'c�<Ba Ba�Ae)�*Be�9�Aa�Am�7�Am���Ai"Cu�)*Cux*�;RCu��S=Cq�CyI��G�>����>9��I��i��������������M; ��E�p��gj,j��E�AY}6�U�@�}6]c�@y}6Q�=�}6ui��}6H������2������>��?����;��?���@������ 1ế��� ~^������~������T������ ���?)~6�U�@ ~6�F[;I~4ɫ1�9)�9 �=����I�9Y�u�@y�u�iG�yɮy��=-�=��=��=��=+=i�=f�@��9 �=E�@)�=���I�=E�@i�=E�@��M'�<MMK=Y�U�i;QUU�>��Q��Y�a]�G��Y��Yy�e�h�}e�>I�i��mB�5�?��m�L� �mJrA��u�?9�m3PC��i �m�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U���� 8'@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�`r@�A��H�<B� B��A�lV�*B� !9�A��A��7�A����A�"C��)*C�ѥ�;RC��-O=C��C��� i� �=���J�c=I��G (>����gj,��0��E�A�| �| Y}bLG�@�}b�T�@y}bw/=�}b��}bH�����㤻��������?���`��?����������`CN�������3�������D����� K������@%��?)~bLG�@ ~b$a[;I~b��Cɫ�髑)�� ��I��Y��y���Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)å�= å�=Y�En;QU��>�����a��G����y��$��}��>I����� ����������������� ��@:Y�[1y�ݏ:���6��-�:���w�5�?��-�:����N� ��WrA��5�?9��BPC����"< ���"<)��;�:�W��W�X� X��W�:W�2W�*W��V�U�U����@0� @zL9�L9�L9�L=|Er@�Au��<By By�Ay*B}�!9�Ay�A}G7�A}U��A�"C��)*C��Z�;RC�D�I=C��C��ֵQ�O=I��G�e>��I ��M ʕCi�� �lGI�� i�� ���0�ٺ���%A�|��gj,�J��E�AY}R�4�@�}R�B�@y}Rۿ=�}R\���}RH����@P6���������?������?���@r�������ۻ����@�����������������9���������?)~R�4�@ ~R�I[;I~Pɫ�髑)�� ��I��Y���@y���iG�xDUSBL response received:!U1,P 2FF,000,004AD,188,80,80,77,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 �M��>9�II�MdaGi�M2�@��I��I��I��M; �M�E��M�m���M�ҽ��M+�i�M��@��I �M�@)�M��@I�M�@i�M�@���'�M��<Y��>;QU�>�� �� �a �G�� ��y����}�>I�9��=�5�?��=�P� �=erA��M�?9�=RPC��=��: �=��:)�9�W��W�X� X��W�:W�2W�*W��V�U�U������v @zL�L�L�L>"r@�A5��<B1 B1�AU�_�*B]g!9�AY�A]�7�Ae"��Aa"Cu�)*C�o��;RC�0HB=C��C��� ��G=I�Q G� �>�B��gj,�d��E�AY}JX#�@�}J1�@y}JO�=�}J����}JH����������������?����#�?����-����� �c��������������{������Do����� )��?)~JX#�@ ~J�n[;I~J��Cɫq�q)�q �u���I�qY���@y���iG������AA��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����n����?�~j�t����� �rh�����V>����Ľ ��C��)��I��y���`��"���?J+���{�G�z�������=����ȽI� )� ?A�������������������� ��-:Y�xZ1y�q�:����5)�7�;�9%�����#� ��)��I���Ai���A�������A����;M�W=Y���.;QU��>�������a��G�����y����}�>I� ���:�� ��5�?���:�� S� � UrA���?9� aPC�� ��: � ��:)� <�:�WY�W�X� X��W�:W�2W�*W��V�U�U�����-@zL��>�L��>�L�G�@�L���z@�A���<B B�AlV�*B� 9�A �A �7�A 2��A "C�)*C�;�;RC�';=C�C��- �>=I�9GUv>�a��gj,Gv~��E�A�|i|�@Y}B��@�}B�%�@y}B�� =�}B>���}BH���������������?�����?���������� ������������� �������������@��?)~B��@ ~BHw[;I~B��CɫY�Y)�Y �]����I�YY����@y��DiG�xDUSBL response received:!U1,R,28E,000,004B8,189,80,80,96,FF �Fpublishing direction and range info��������ɰ���=鰥7�> ��)���CI��y���B����?�t���?`��I���������ٱ������M�s=Y��i;QU�?�������a��G������y��2��}�?Iȱ�ŵ@�5�?�ŵAU� ƵErA����?9ƵoPC�ǵ��; ȵ͐;)ȱ�W��W�X� X�W:W2W*W�VU U ���@Ֆ@�R=(Combining 5 samples.�P9*Q=�B�Z=��4�ʠo=@ᄋw��2����������Z=�?�t���?`��I���������2Q=��:Q9�Z=��8*z�6���(!�;�n�(�#ݿ�Z=���5��:�����f�h� ���BQ=[�@ Q=���Q=���P=}�9?�P=y�9?�P=����Q=����Q=�@"Q=M�@zL��L��L��L��z@�A���<B� B��A�"��*B�9�A��A�x7�A�>��A�"C �)*C �r�;RC !7=C �C��=п8=I�QGmW>� 9� I� i� �� =�� �� �� �; � �E)�)�I�)�i�)���)���)���-��5����gj,eT���E�AY}v��@�}vS"�@y}v@�!=�}v6���}vH�����R6������U��?���@�@�?��������� Bټ�����[:�����@n=��������������$��?)~v��@ ~v��[;I~tɫ���)�� �����I��Y�ɽ@y�iG��DNmea in: $SNTTA,,,,,170605.75*59 ���;�=����=���t>i����@��� ��\�@)��z�@I��z�@i��\�@������������������� �z.:Y��]1y���:����5)���;��-�V<M-6=Y�-�&:QU5�>��1��1�a5�G��9��9y�=�f�}E�>I�A��EH�5�?��E�W� �E1rA��U�?9�E�PC��E+�: �E{�:)�A�m�qAdded new target pos. range: 34.980000 m, bearing: 230.787256 deg, deltaT: 4.403817 s, approachRate: 0.149870 m/s, LOS rate: 1.122642 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����p}A@U��������?zL��L��L��L���z@�A���<B� B��A�2r�*B�@ 9�A��A�17�A�5��A�"C��)*C��ƌ;RC��6=C��C���}�89=I��G�^>�V��gj,^,���E�AY}6p�@�}6 #�@y}6}O$=�}6����}6H����`�/������{��?���@&%�?���`��������Ѽ�����I��������������@З���������?)~6p�@ ~6.�[;I~6��CɫI�I)�I �M����I�IY�}a�@y�}:jG��5�K=M=[=Y�=��:QU=�>��A��A�aE�G��A��Iy�M��9}M�>I�Q��]�:��U��5�?��]�:��UZ� �U rA��e�?9�U�PC��Us�: �U��:)�U=�:�W��W�X� X��W�:W�2W�*W��V�U�U�����E)�?��i�p=zL��L��L��L���z@�Am�B�<B� B��A�I&�*B�z"9�A��A��7�A�4��A�"C��)*C���;RC��Q7=C��C����п8=I��G J>����gj,=̟�E�A�|�|�;Y}J��@�}J�#�@y}J&�%=�}Jx{��}JH���� q+������B��?����Z��?������������ɼ������������R�������D*�����`���?)~J��@ ~J��[;I~J��Cɫq�y)�y �}���I�yY���@y� �iGܹ9ܹIܽ�aGiܽ��@�ܹ�ܹ�ܹ�ܽ�; 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ݵ�E�Shj,ݘ��E�AY}6��@�}6�'�@y}6�+=�}6�"��}6H����`3���������?����w�?�����������0������ ꍧ�����D~����� �~�����@���?)~6��@ ~6�u[;I~6��Cɫ9�9)�9 �9I�AY�E��@y�MjGI��)�� ������ҍ>��>���#=i��� �=�@)�=�@I�=�@i�=�@��5��;M5S=Y�5R�:QU=�>��9��9�a=�G��9��Ay�E0�5}M�>I�I��U�:��M^�5�?��]�:��M�b� �I��]�?9�M�PC��M�: �M��:)�M?�:�W��W�X� X��W�:W�2W�*W��V�U�U������6@zL)�L)�L)�L-�v@�A]m�<Ba Ba�Ae� �*Bef#9�Aa�Am$7�Am��Ai"Cu�)*Cu9u�;RCu�9=Cq�Cy��e�8=I�qG�9>��Dhj,Ot3��E�AY}R�@�}R�'�@y}R!".=�}R����}RH����`� ������'��?���`-Ɵ?����������������������������¥����`ru������D��?)~R�@ ~R9[;I~R��Cɫ�髡)�� ��I��Y��l�@y��HjG��p=ɮ�a=��/^�M-L=Y�5��:QU=�>��9��9�aE�G��A��Iy�M�,8}U�>I�Y��]��5�?��]�d� �]rA��m�?9�]�PC��]� ; �]�;)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����`$@�R�B*** querying acoustic contact ***�P��P���] ����]�����]�����]3�� �]�4:Y�]0Y1y�]��:��]��5zL��L��L��L��v@�A�*�<B� B��A�� �*B��"9�A��A��7�A����A�"C��)*C��ٔ;RC�(�9=C��C���Q9=I�!GEr>�Q,hj,OM��E�AY}:��@�}:�"�@y}:��.=�}:'J��}:H������2���������?�����?���� ������MҼ�����ۿ������@ե�����$������f��?)~:��@ ~:�^[;I~:��Cɫ9�9)�9 �9I�9Y�}�@y���jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�a9�aI�ai�a��a��a��a��ew; �e�E��%�>��%�D<��%��i�!��! �!)�!I�!i�!��U�=i�U�=��]�=M]7=Y�]٨9QUe�>��a��a�ae�G��a��iy�a��}��>Iȑ�ŕ��5�?�ŕg� Ƒ����?9ƕ�PC�Ǖ��: ȕ��:)ȑ�W��W�X� X �W :W 2W *W�VUU����o @zLQ�LQ�LQ�LU?�v@�Aeh��<B� B��A�CǼ*B��$9�A��A��7�A����A�"C��)*C�TE�;RC� �7=C��C�9ԡ�ԭmA�ԭmA�ֵl;=I��G �>�xVhj,Z*g��E�AY}FC�@�}F��@y}F|n-=�}F���}FH����������S��?��� f�?�����������|8����� ����'�������'���������?)~FC�@ ~FEg[;I~F��Cɫ�髹)�� ��I��Y��N�@y��#jGxDUSBL response received:!U1,P 28E,000,004B8,189,80,80,96,FF Command Ack BRequesting micromodem ping code 2i� �� �5�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I�=)�C=���4 �����������������B�� ��7:Y�d\1y���:����5�����~j�t�?�l����ˡE���������=����� ��'�)�I�y����|?5^�?��(\�µ��~j�t�������=�������D� �)�^AI��Ai�����A)��= ��=��%G�M%%=Y�-&�QU-�>��)��)�a-�G��1��1y�5(O�}=�>I�A��M�:��E��5�?��M�:��E�i� �E�qA��M�?9�E�PC��EM�: �E��:)�E@�:�Wq�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU���� w� @zL�L >�L�L >�L����@�L�Ży@�A��Z�<B� B��A��/�*B��"9�A��A��7�A����A�"C��)*C�T˗;RC�я2=C��C�9Խ�g9�֍ �;6=I�� G� �>�X> hj,}���E�AY}6���@�}6K�@y}6m�)=�}63��}6H�����($���������?��� ��?������������������� Q������~9�������������=��?)~6���@ ~6g[;I~6��Cɫ9�9)�9 �9I�9Y��о@y���jG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u�d=Mu�=Y�}hJ�QU}?��y���a��G����y���}�?Iȑ�ŕ��5�?�ŕk� ƕ�qA����?9ƕQC�Ǖ�: ȕ4�:)ȑi�}HmGI��i������/�ٺ�����$A�W�WX X!�WI:WQ2WQ*WY�VaU�U�����nU@zL�L�L�L7�y@�AM���<Ba Ba�Ae{ݼ*Be�#9�Ai�Aml7�Am���Ai"Cu�)*Cu�;RCu�*=Cq�Cy9�]:��5�3=I�9�]��>9�YI�Yi�Y��]=��Y��Y��]U; �]�EG}�>��h&hj,�����E�AY}:�@�}:��@y}:��&=�}:�!"��}:H����@ Ǿ����`���?���`��?����������`�^�����@�!������]ܤ������>�����@���?)~:�@ ~:Ù[;I~:��CɫY�Y)�a �aI�aY��C�@y��jG�xDUSBL response received:!U1,R,316,000,004AC,189,80,80,AC,FF �Fpublishing direction and range info����|0����ɰ���=鰩 ��)���,CI��y�� B�����y��%��?^I��Z���������ٱ�-�Ponly read 0 of 1 data item for BIT error���@���@���@���+�M�G=Y�E�QU��>������a��G������y���Ż}��>I������:���9�5�?����:���7m� ���qA���?9��QC�����; ��S�;)��A�:��]�����]�����]�����]w�� �]f.:Y�]�Y1y�]�:��]"�5)�]�;�9e��W��W�X� X��W�:W�2W�*W��V�U�U�����$�@�R(Combining 5 samples.�P)*Q- B�Z-��>G�o:@ �A��5����������Z-��y��%��?^I��Z���������2Q-�|0�:Q)�Z-�I�j���8�;1�7�8�aH��˿�Z-�P,&��)翔����濜�w�y�BQ-��y@ Q-��Q-d���P-u�9?�P-}�9?�P-����Q-����Q-^�@"Q-�@zLq�Lq�Lq�Lu�ny@�A�Ж�<B� B��A�5�*B��!9�A��A�67�A���A�"C��)*C�8��;RC���"=C��C�i��mAI��mA9��S: ���=����֕�K'=I��G��>�Œ,hj,����E�AY}6ɚ@�}6�֒@y}6:x$=�}6p#��}6H���� ������� ���?�������?���`�����@�%�������䦿���@���������\����� ���?)~6ɚ@ ~6��[;I~4ɫY�a)�a �e���I�aY��p�@y��LjG�MDNmea in: $SNTTA,,,,,170610.22*5F �������mA������T<MD=Y����QU�>�����a�G����!y�%��}%�>I�1��5Թ5�?��5Wo� �5�qA��=�?9�5QC��5��: �5b�:)�1�muyAdded new target pos. range: 34.259998 m, bearing: 223.625202 deg, deltaT: 4.474382 s, approachRate: -0.160916 m/s, LOS rate: -1.600680 deg/s, posRepo size: 4�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�����G!A@U�����z�?zL��L��L��L�>=y@�A���<B� B��A���*B�y"9�A��A�7�A�r ��A�"C��)*C�F�;RC� �=C��C�9���q:�֝�"=I��G�b>��z3hj,�Π�E�AY}:ꯚ@�}:���@y}:�� =�}:�,��}:H����`�*������!��?���@�r�?����������������� n\������������@� ���������?)~:ꯚ@ ~:��[;I~:��CɫY�Y)�Y �YI�aY��a�@y��:jG� ��>9� I� ,bGi� Է@�� �� �� ��D�� >; 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��{E�W�Fhj,o+��E�AY}6��@�}6̴�@y}6W�=�}6�$��}6H����`�N�����@x��?����e��?��� ʸ����@o)������g����dР����`3���������?)~6��@ ~6��[;I~4ɫY�Y)�Y �]����I�YY���@y��kG��}t����}+=��}�?i�}��@��y �}r�@)�}\�@I�}r�@i�}\�@���;M�O=Y�tһQU��>�����a��G����y�9/;}��>Iȩ�ŭe�5�?�ŭ�y� ƭ�qA����?9ƭfQC�ǭq�: ȭG�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�L�/x@�Am��<B B!�A%<��*B%�$9�A!�A%g7�A%���A!"C-�)*C5�۞;RC5e� =C1�C1 �E�=��E�=��yI��G�=>���Lhj,6��E�AY}6.��@�}6�ƒ@y}6~��<�}6����}6H����@[����� ���?����"��?�����������ؿ�������������V����������������?)~6.��@ ~6H�[;I~6��CɫY�Y)�Y �e���I�aY����@y��zjG��}��M}L=Y����QU��>�����a��G����y�ij;}��>Iȡ�ť��5�?�ť�|� ƥ�qA����?9ƥzQC�ǥ�); ȥ�*;)ȡ�WA�WAXA XA�WA:WA2WA*WI�VII�Q)�U@A��]�����]�����]�����]�� �]�/:Y�]d\1y�]��:��]O6UiUm����3@zL��L��L��L��Ux@�A����<B� B��A�]�*B�U#9�A��A�87�A����A�"C��)*C�H��;RC���=C��C���V� =I�G-N>�)�Shj,&�O��E�A�|i|�@Y}6�ƚ@�}6AԒ@y}6���<�}6O<(��}6H�������������s��?����|�?���@Ͻ���� ?U��������������9����� ����������?)~6�ƚ@ ~6��[;I~6��Cɫ9�9)�9 �=����I�9Y�u�@y�}kG�}a=ɮy�nAܩ9ܩIܭ�bGiܭw�@�ܭ=�ܩ�ܩ�ܭ�; ݭiE��Ý�̼�Ý�=�ÝQ��iÝG�@�Ù ĝ��@)ĝ��@Iĝ��@iĝr�@���=M�G=Y�餻QU��>�����a��G����y���;}��>I������:���Ӟ5�?����:����� ������?9���QC����; ���;)��D�:�W��W�X� X��W�:W�2W*W�VUU��� �S@�RB*** querying acoustic contact ***�P�PzL!�L!�L!�L%�qx@�A���<B� B��A��*B��$9�A��A�7�A�e��A�"C��)*C���;RC�d�=C��C��ֽ��=I��GI>���Yhj,�i��E�AY}>ƚ@�}>�Ӓ@y}>���<�}>�s&��}>H�����%�������o��?���@���?���`?����� �_�����@�ߟ������������@.ˤ�����f��?)~>ƚ@ ~>2�[;I~>��Cɫ9�A)�A �AI�AY�}��@y�}�jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]K����Y��Y��]l�� �]c%:Y�Yy�Y��]��5�����������?{�G�zt?�������������>���ף; �����)��I��y������Q��?��MbX���������������=����ʽ������ ��A)���AI�� Ai��������pA��洼M5=Y�X��QU�>�����a%�G��!��!y�-�}-�>I�1��5��5�?��5|�� �5�qA��=�?9�5�QC��5M�: �5ϸ:)�1�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu������ @zL�L>�L�L>�L���@�L�ڌy@�A����<B� B��A�g��*B��#9�A��A��7�A���A�"C��)*C�61�;RC�b=C��C������������=I��G l>���`hj,����E�AY}6Y��@�}6 Ò@y}6�a�<�}6�J��}6H�����S����� !��?���`6��?����������`���� U�����K�������F�����@���?)~6Y��@ ~6��[;I~6��CɫY�Y)�Y �YI�YY��۾@y���jG�xDUSBL response received:!U1,P 316,000,004AC,189,80,80,AC,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 ��L\<M s=Y��d��QU�?������a�G����!y�=볻}=�>��]=i�]p=I�y����:��}�5�?����:��}Ą� �}�qA��M�?9�}�QC��}��< �}l�<)�}E�:�W��W�X� X��W�:W�2W�*W��V�U�U������E @zL�L�L�L�iy@�A���<B� B��A�_Ҽ*B�h$9�A��A��7�A����A�"C��)*C��N�;RC��[=C��C�ܥ��>9ܡIܡiܡ�ܡ�ܡ�ܡ�ܥ�; ݥTE���y�=I�G�>��ghj,rp���E�A�|�|�;Y}6V��@�}6��@y}6{�<�}6����}6H����������������?����Z�?���@ȹ�����&j�������������@�B�����`�z�����@u��?)~6V��@ ~6"�[;I~4ɫ9�9)�9 �9I�9Y���@y��kG�U�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )��> ���=��e�����e�����e�����eE�� �e�:Y�e�W1y�eč:��el�5)�e v;�9m��Íj�=�Íb>�Í�)�iÍf�@�É čE�@)čE�@IčE�@ičE�@���<M�3=Y��ٻQU��>�����a��G����y����}��>Iȹ�Ž��5�?�Ž;�� ƽ�qA����?9ƽ�QC�ǽ^�: Ƚk�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����"@zL�L�L�L2y@�A-��<B) B)�A- ��*B-�$9�A1�A5�7�A5���A1"C=�)*C= !�;RC=�+=C9�CA��=]=I�IGeU>�M/mhj, M���E�AY}B�~�@�}BR��@y}B摔<�}B7��}BH���� ��������R��?���`�F�?����������@C������`�Ė������������@Y������`d��?)~B�~�@ ~BG�[;I~B��CɫY�Y)�Y �]���I�aY���@y��kG�xDUSBL response received:!U1,R,30A,000,004AD,189,80,80,B6,FF �Fpublishing direction and range info�����-����ɰ��=鰡 ��)���6CI��y��G B����c�9+^��?����E���������ٱ�����M�I=Y��ӻQU��>�����a��G�����y��F�}��>I�����:�����5�?�� �:������ ���qA�� �?9���QC����: ��E�:)��F�:�W1�W1X1 X1�W1:W12W9*W9�V9U9U=����B�@�RM(Combining 5 samples.�PQ*QUG B�ZU������:@};1�;�5����������ZU�c�9+^��?����E���������2QU��-�:QQ�ZU�$g�5�8��a(���7�ZV��P��?�ZU�f����4�F�/����'�� y?BQU��y@ QU��QU���PUs�9?�PUu�9?�PU����QU����QU��@"QU^�@zLy�Ly�Ly�L}��x@�A�as�<B� B��A����*B�%9�A��A��7�A�d��A�"C��)*C���;RC�6�<C��C��ֽD�=I��G�f>����>���ՕCi���lGI��i���E18�ٺA��E�,A�thj,�'ѡ�E�AY}6a`�@�}6n�@y}6��q<�}6����}6H���� �h�����@���?���@�E�?�����������V�������������-<�������u������W��?)~6a`�@ ~6��[;I~6��Cɫ9�9)�9 �=����I�A�M��>9�II�MXcGi�Mȸ@��I��I��I��M�; �M@EY�}��@y�}�jG��mj����mt����m"۽i�mQ�@��i �mz�@)�m\�@I�mz�@i�mz�@�� ��M�`=Y���QU�>�����a�G����!y�-��}-�>I�1��5Z�5�?��5�� �5�qA��E�?9�5�QC��5�; �5�;)�1I�UAA)�Q�m�uAdded new target pos. range: 34.320000 m, bearing: 223.516575 deg, deltaT: 4.449007 s, approachRate: 0.013486 m/s, LOS rate: -0.024416 deg/s, posRepo size: 4�W��W�X� X��W�:W������������������������� ���):Y���[1y��H�:���X�5)��Ň;2W�*W��V�U������(A@U���� o�?zL)�L)�L)�L-��x@�AEDv�<BA BA�AEX��*BM�$9�AQ�AUm7�AU/���AQ"Cm�)*Cm��;RCm���<Ci�Cq��eG��<I��G�b>�;Azhj,롩E�A�|i|�@ɫy�y)�y �}���I�yY���@y���jG�����~j�t��?����Sÿ�~j�t�x�����D=����� ���Ļ)��I��y����p= ף�?Zd;�O����� �rh�����>���j�����C�� fA)�AI�Ai�A������(A�©�©��V�M�G=Y����QU��>�������a��G������y�����}��>I�������5�?����� ���qA����?9���QC���Q�: ���:)���W��W�X� X��W�:W�2W�*W��V�U�U������P�?zL $>�L $>�L �Z�@�L �8}@�AVk�<B! B!�A%�ʼ*B%N$9�A!�AEI7�AM����AI"CM�)*CU�}�;RCUQ��<CQ�CQ��]��<I�qG�[>��(�hj,����E�Aɫ�髙)�� ��I��Y���@y���jG��{�:MD=Y�)QU5�>��9��9�a=�G��9��9y�A}E�>Iȹ����:�Ž��5�?����:�ŽT�� ƽkqA����?9ƽ�RC�ǽ�; Ƚ�;)ȽG�:�W��W�X� X��W�:W�2W�*W��V�U�U������7�?�� � ���� ����� ����� �� � �D:Y� xZ1y� q�:�� �6�9@zL!�L!�L!�L!�A=*�<B9 B9�A=CǼ*BEe$9�AA�AE&7�AEr���AA"CM�)*CMC>�;RCUj��<CQ�CQ��enA��a��yI��G�^>�A9�AI�E�cGi�E�@��E=��A��A��E�; �E+E)�цI�цi�ц��Ն=��Ն=��Ն��4��R�hj,����E�AY}6>�@�}6�K�@y}6�!�;�}6�6��}6H���� X�������H��?����08�?���@�������������,�����`,dt����`�ţ��������?)~6>�@ ~6p�[;I~6��Cɫ9�9)�9 �=����I�9Y�}�@y�}kG��e^�=��e�.���e�T<i�e\�@��a �e\�@)�aI�e\�@i�e\�@��mUh<MuV=Y�ueҼQUu�>��y��y�a}�G��y��y��4�}��>Iȉ�ō^�5�?�ō��� ƍVqA����?9ƍRC�Ǎ��: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U���� �?zL��L��L��L���|@�A����<B� B�AӚ�*B�$9�A�A 7�A@���A "C �)*C�ѧ;RC�#�<C�C�ޕ�=iޕ�=��e���<I�iG�9>��}�hj,�8��E�A�|�|4<Y}JW?�@�}JM�@y}Jd�;�}J���}JH�����P���������?���`!I�?����E���������������}�����Kb����������������?)~JW?�@ ~J�[;I~J��Cɫ�髹)�� ��I��Y��J�@y��YkG)�m�= �m�=����<M�B=Y���QU��>�����a�G�� �� y��9}�>I���-�:��u|5�?��5�:��v�� �>qA��5�?9� RC���W; ��Y;)�H�:�Wa�WiXi Xi�Wi:Wi2Wq*Wq�VyUyU�������?zL��L��L��L��|@�A����<B� B��A��F�*B��%9�A��A��7�A�����A�"C��)*C�݂�;RC��<C��C��� ����� ����� ����� r�� � �):Y� [1y� ݏ:�� �5����]�<I��GI>�6g�hj,�wR��E�AY}6�>�@�}6�L�@y}6�흹�}6$���}6H�������������q��?����!q�?��� >�����@X�������X~r����`��3?���`������`)��?)~6�>�@ ~6�\;I~4�v��>9�tI�v�dGi�v��@��v=��t��t��vU; �vEɫ1�9)�9 �=���I�9Y��)�@y��0kG�åҍ>�å/�=�å�'�iå��@�á ĥ��@)ĥ��@Iĥ��@iĥ��@���'�M�N=Y��λQU��>�������a��G������y����}��>I������x5�?��� �� ��(qA����?9��0RC�����: ��'�:)���W�WX X�W :W�2W�*W��V�U�U���� 4@zL��L��L��L��}@�A3��<B B �A ���*Bc%9�A�A�7�A%J���A1"CM�)*CM�,�;RCM4��<CI�CQ��]�u�<I��G�`>����hj,4Il��E�AY}:�7�@�}:�E�@y}:+�0��}:�� ��}:H������ ¿����B��?����pá?����6������1 ¿�����,b������f?����������@��?)~:�7�@ ~:��[;I~8ɫ9�9)�9 �=���I�9Y�}߾@y�}�jG鮅p=ɮ�p=����sh��|?�?B`��"۹�/�$��?�����>����ν ��,=)��I��y����������?sh��|?������Mb`������>���������� ¹)½�AI½�Ai¹���������3��M�H=Y��߿�QU��>�������a��G�����y�� �}�>I����:��Wu5�?��%�:����� �*qA��%�?9�@RC��M; ���:)�I�:�WY�WaXa Xa�Wa:Wa2WiI@A)AA*Wi�V�U�U�����<�@�RB*** querying acoustic contact ***�P�P��-�����-�����-�����-��� �-�2:Y�-0Y1y�-��:��-��5zLe�>�Le�>�LeN�@�Le�@�A}e)�<By By�A}�μ*B�U$9�A��A��7�A����A�"C��)*C�jЩ;RC�V�<C��C����I��Gj>��v�hj,S$���E�A�|i|Y}6.�@�}6�;�@y}6z����}6s6��}6H������0¿������?���@�/�?���@ì�����L3¿����B3<������t?���`�������>��?)~6.�@ ~6�\;I~4ɫa�a)�i �m����I�iY��J�@y��YkG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** ��鿡�mA�©��U��>��Ut���Uh�=i�UQ�@��Q �Ur�@)�Ur�@I�Ur�@i�U\�@��e_�<MeB=Y�m��QUm�>�����a��G����y��8�}��>Iȡ�ť�q5�?�ťK�� ƥ-qA����?9ƥPRC�ǥ�; ȥ��;)ȡ�W�WX X�W:W2W*W�VUU%���@�� @zLY�LY�LY�L]�~@�A��7�<B� B��A��F�*B��%9�A��A��7�A����A�"C��)*C�li�;RC�qb�<C��C���9��I���dGi�� �@������������*; ���E��57�<I�AG]v>����hj,i����E�AY}6�)�@�}6[7�@y}6}zݻ�}6ӏ#��}6H����� B¿���`s��?����X��?���`�����`+G¿����"8P?����A�{?����wp�����`H��?)~6�)�@ ~6��[;I~6��CɫI�I)�I �II�IY�}��@y�}�kG�xDUSBL response received:!U1,P 30A,000,004AD,189,80,80,B6,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 ���%=M�f=Y��5��QU�>��I��a�am�G��i��y����}��>I�1��E�:��5n5�?��u�:��5��� �50qA��u�?9�5_RC��52< �5�<)�5J�:������������������������ ��+:Y�xZ1y�q�:��+6)���;�9���W��W�X� X��W�:W�2W�*W��V�U�U�����W9 @zL�L�L�L5�~@�AM���<BI BI�AM���*BM�'9�AQ�AU�7�AU9���AQ"C]�)*C]��;RC]���<C��C��ԕmA�ԑ��u��<I��G�~>�j̭hj,�E�AY}B%�@�}B�2�@y}BP� ��}B��'��}BH����`1T¿����[��?����3b�?����G������[¿���@Ɗd?���`|X�?���������������?)~B%�@ ~B��[;I~B��CɫY�Y)�Y �YI�YY����@y���kG���AA���@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���N�M�>=Y���QU��>�����a��G����y��6��}��>I�����4k5�?���5�� ��4qA����?9��nRC�����: ����:)���W��W�X� X��W�:W�2W*W�VUU��� ��@zL!�L!�L!�L%��~@�A=p��<B9 B9�A=��*B=9'9�AA�AE�7�AEd��AA"CM�)*CMTz�;RCM��<CI�CQ�ޭ�=iީ��}���<I��G�=>����hj,��Ӣ�E�A�|4<�|�;Y}6'�@�}6�4�@y}6�A!��}6�^"��}6H�����L¿���� ��?����gͤ?����w����� RU¿��� ��p?����"(�?����:J������+��?)~6'�@ ~6 \;I~6��C�F��>9�DI�F�eGi�F��@��F=��D��D��F�; �F�EɫY�Y)�Y �]���I�YY�}8�@y�}BkG�xDUSBL response received:!U1,R,2EF,000,004AD,189,80,80,7D,FF �Fpublishing direction and range info���g�'����ɰ�鰁 ��)����BI��y������^+���^�?�������������ٱ�����$>�����=���t�i���@��� ����@)����@I����@i����@���V�MV=Y��k�QU�>�� �� �a �G�� ��y��):}%�>I�)��-�g5�?��-��� �-8qA��5�?9�-}RC��-��: �-��:)�)�W�WX X�W:W!2W!*W)�V)UQUU���@�@�Re(Combining 5 samples.�P�*Q��Z��W;�7�5;@��% ��4����������Z��^+���^�?�������������2Q�g�'�:Q��Z��h�o��8�:�k��7� ���?�Z��}����������P�J���h\�?BQ�j{z@ Q�v��Q�����P��P�s�9?�P�����Q�����Q�P�@"Q���@zL��L��L��L���~@�� ����������������� �-5:Y�0Y1y���:����5)�;�A--��<B1 B9�A=�k�*B=�%9�Ai�Aml7�Au���Aq"C��)*C�a%�;RC�M��<C��C����~M�<I�G5�>�&ݺhj,�����E�Aɫy�y)�y �yI�yY��Y�@y���lG�-dNmea in: $SNTTA,0.399857,0.399895,,,170619.07*5F ����X9��v��?�&1���/�$��������=����н ��,�)��I��y���R���Q�?��|?5^��{�G�z�������=����ҽ����#� ��)��I���Ai��5A������QA��E�=ME7=Y�M���QUM�>��Q��Q�aU�G��Q��Qy�]���}]�>I�a��m�:��e�c5�?��m�:��e��� �e/qA��u�?9�e�RC��ez�: �e�:)�eK�:�m�qAdded new target pos. range: 34.320000 m, bearing: 224.243225 deg, deltaT: 4.418784 s, approachRate: 0.000000 m/s, LOS rate: 0.164446 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�U������2�?zL��>�L��>�L���@�L��{o@�A����<B� B��A�Of:*B�*9�A��A�v7�A�!��A�"C��)*C���;RCe}�<C�C! �=�=��=�=��=�U�<I�IGeU>����hj,�r��E�Ai�n�mGI�i�9��}0,�ٺ�����!AY}N�@�}N�+�@y}N8P6��}N,���}NH������o¿���`���?�������?��� �����`�y¿����=�y?��� �Ɇ?���@�������`���?)~N�@ ~NHP\;I~N��Cɫ���)�� ��I��Y��ӿ@y��lGIީ)ޭ?A��U@��U@��U@��q�M�7=Y��<�QU��>�����a��G����y�Z"�}��>Iȩ�ŭG_5�?�ŭ��� ƭ%qA����?9ƭ�RC�ǭU�: ȭ��:)ȩ�W��W�X� X����� �������������������� ��]E:Y���W1y��č:�����5�9�@�W�:W�2W�*W��V�U�U����@�W�?zL�L�L�L�mo@�A�j��<B� B��A����*B��'9�A��A�q7�A����A�"C��)*C��A�;RC��a�<C��C�܉9܉I܉i܉�܉�܉�܉�܍�; ݍ�E���I��G��>�+��hj,VG!��E�A�|i|Y}6��@�}6�!�@y}6+�8��}6���}6H����@�¿���@F��?�����|�?���`�������̡¿��� %z?���`��?��� �Ӡ�������?)~6��@ ~67^\;I~6��CɫY�Y)�Y �]����I�YY��N�@y���lG ���� nA�� ��%�;=M%{=Y�-��QU- ?��)��1�a5�G��1��1y�=�y�}= ?I�A��M�:��E\5�?��M�:��E �� �EqA��M�?9�E�RC��E^�: �EI�:)�EL�:�W��W�X� X��W�:W�2W�*W��VUU��� �?zL!�L!�L!�L%�Yo@�AU���<BQ BY�AY*B]�)9�AY�A]z7�A]`��AY"Ce�)*Cm���;RCmӦ<Ci�C��ֽ�<I��G�E>���hj,�$;��E�AY}6G�@�}6��@y}6Pt=��}6����}6H�������¿�������?����>��?���`������`d�¿���@ںy?���`g��?���@@�����k��?)~6G�@ ~6��[;I~6��CɫI�I)�I �M���I�IY�}Y�@y�}�lG��%�[;M%J=Y�-j?�QU-�>��)��)�a5�G��1��1y�=ņ�}=�>I�A��E'X5�?��E֬� �EqA��M�?9�E�RC��Eϸ: �E��:)�A�Wi�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU�����%N�?zL��L��L��L�i=o@�AU��<BQ BQ�A]Of:*B]*9�AY�Ae�7�Ae���Aa"C��)*C�� �;RC���<C��C����}�������������������� ��`):Y��xZ1y��q�:�����5�ֽԅ�<I��G5O>�#�hj,z�T��E�A�9�I�xfGi�S�@��=�������; ��E)ݣ��Iݣ��iݣ���ݫ��=�ݫ��=�ݫ���"5Y}F���@�}F} �@y}F��?��}F����}FH�����_�¿����(��?��� a�?����'��������¿����Wx?���`���?��� ?�������]��?)~F���@ ~F��[;I~F��CɫY�Y)�Y �]����I�YY����@y���lG�������������í�<�íC�<�í�D<ií=�@�é ĭ��@)ĭ��@Iĩiĩ��q@<M�A=Y�����QU��>�������a��G������y��23�}��>I������:����S5�?���:������ ��qA���?9���RC����; ����:)��M�:�i�Wq�WqXq Xy�Wy:W�2W�*W��V�U�U����`z�@zLq�Lq�Lq�Luy(o@�A��<B� B��A���;*B�m*9�A��A��7�A��ߺ�A�"C��)*C����;RC�� �<C��C�����u�<I��G�>�9+�hj,s�n��E�A�|�;�|4<Y}B���@�}B��@y}B�<��}B�(��}BH������ ÿ����q��?����㥥?����M������ÿ������u?������?�����������`���?)~B���@ ~B}�[;I~B��CɫY�Y)�Y �YI�YY��%�@y��flGI�]a=)�]�=����Zd;�O�?��(\�µ�����MbP����~j>����� ����)��I��y����ʡE��?��|?5^��:��v���������=�������T� ��)�� AI��Ai���������A)��= �>���MD=Y�%��9QU%�>��)��)�a5�G��1��1y�=)�}=�>I�A��E�O5�?��E�� �E�qA��}�?9�E�RC��E�; �Ei�;)�A�W��W�X� X��W�:W�2W�*W��V�U�U����@;@��-=����-�����-�����-��� �-��:Y�-�U1y�-��:��-��5zLe, >�Le, >�Le{��@�Leֹu@�A}�b�<By By�A����*B�6)9�A��A��7�A��ݺ�A�"C��)*C�n�;RC���<C��C�����P�<I��G��>�"�hj,�����E�AY}=0��@�}=��@y}=|�8��}=�'��}=H�����wÿ���`��?���`+��?��� �����`� ÿ����ێt?������?���������������?)~=0��@ ~=1�[;I~=��Cɫ1�1)�1 �9I�9Y����@y��mG鮕a=ɮ�R=����P=���ף����E6�i����@��� ��)��I����@i�����*=ML=Y��&:QU �>�� �� �a�G����y�K]�}�>I�!��%�:��%�K5�?��-�:��%S�� �%�pA��=�?9�%�RC��%�; �%4�;)�%N�:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U���� �@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�5�u@�A�|p�<B� B��A��8<*B��+9�A��A��7�A��ܺ�A�"C��)*C�d�;RC���<C��C� ��=���=�-��>9�)I�-�fGi�-��@��-=��)��)��-m; �-�E����]�<I�GUt>�6=�hj,�����E�AY}6��@�}6��@y}6��$��}6� ��}6H������ÿ��� ���?�����k�?���@(������ÿ�����q?���`的?�����ߣ����@i��?)~6��@ ~6�[;I~6��CɫI�I)�I �M���I�IY�}��@y�}XmG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���7�<M�^=Y���V;QU��>�������a��G������y��S�9}�>I� �� H5�?�� h�� � �pA��-�?9� �RC�� ��; � !�;)� �WQ�WQXQ XY�WY:WY2WY*WY�VaUaUe����� @zL��L��L��L��u@�A��v�<B� B��A���<*B�h,9�A��A��7�A�7ۺ�A�"C��)*C����;RC�bl�<C��C�I)��U�����U�����U�����U�� �U}:Y�U[1y�Uݏ:��U!6)�U��;�9e���� �<I��GI>�pg�hj,<j���E�A�|i|Y}6E�@�}6���@y}6����}6o���}6H������8ÿ��� ���?����HƢ?���`ˢ������?ÿ�����i?�������?��� AR�����@s��?)~6E�@ ~6��[;I~6��Cɫ9�9)�9 �=����I�9Y����@y��mG�xDUSBL response received:!U1,P 2EF,000,004AD,189,80,80,7D,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 � � ��]mA��Y��'��M�A=Y��a;QU��>�����a��G�����y��T6�}��>I����C5�?��� ��pA���?9�SC���= �AQ;)��W��W�X� X��W�:W�2W�*W��V�UUE����5� @zL��L��L��L���u@�A����<B� B��A�&@<*B�+9�A��A��7�A�yٺ�A�"C�)*C%x:�;RC-�c�<C)�C1�֍'�<I��G��>�!9�!I�%@gGi�%��@��!��!��!��%;; �%�E�bO�hj,�E֣�E�AY}:Qՙ@�}:�@y}:�廙}:31��}:H����`��ÿ����˚�?����缡?����������@��ÿ�����\?������|?����/e��������?)~:Qՙ@ ~:9�[;I~:��Cɫ9�9)�9 �=���I�9Y�}��@y�}AmG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� 7�=�� 94��� `e�i� ��@�� � ƣ@)� z�@I� ��@i� z�@��E�,<MM>=Y�]�t;QUe�>��q��y�a}�G����y��̻}��>I�y����:��}?5�?����:��}i�� �}�pA����?9�}SC��}S.< �}�*<)�}O�:�W9�W9X9 X9�W9:Wa2Wa*Wa�VaUiUm��� �g@�����������������m�� �]-:Y��Y1y��:����5)��;zL��L��L��L��yu@�A�<ą<B� B��A��<*B��+9�A��A�7�A�.غ�A�"C��)*C����;RC��h<C�C!�����<I�!G=�>��y�hj,�"�E�AY}6n��@�}6ȑ@y}6����}6�� ��}6H������ÿ�������?��� Y��?����}������Q�ÿ����� ?����9�v?��� d������`���?)~6n��@ ~6�\;I~6��Cɫ9�9)�9 �=���I�9Y�}�@y�}�mG�xDUSBL response received:!U1,R,309,000,004AD,189,80,80,74,FF �Fpublishing direction and range info���^�-����ɰ�鰁 ��)����BI��y������E�R����?2�4����������ٱ���5�T㥛� �?��S㥛Ŀ#��~j��?��5�=��5�$� �5�=)�1I�1y�5�q= ףp�?B`��"۹�����Mb����5��=��5�ν��5� �5�A)�5�AI�5�Ai�5`A��1��5 A��UϞ<MU[=Y�U�t;QU]�>��Y��Y�a]�G��Y��ay�e{�}m�>I�i��m�;5�?��mD�� �m�pA��}�?9�m'SC��m��: �m��:)�i�WY�WYXY XY�WY:Wa2Wa*Wa�VaUaUm��� ��@�R�(Combining 5 samples.�P�*Q��Z��Ap��d�:@�H��C�5����������Z��E�R����?2�4����������2Q�^�-�:Q��Z����V+l9����� 7�iB����?�Z���o��8��]�.'{�A��ᠺ�?BQ�R.x@ Q�N��Q�a����=ip=�P�o�9?�P��P�����Q�����Q���@"Q�P�@zL �>�L �>�L ��@�L �`u@�AM�Tz<BI BI�AMZ�<*BU,-9�AQ�AU!7�AU �AQ"Ce�)*Ce���;RC�t�;<C��C��֝�jb<I��G�b>�udij,� ��E�A�|D�|F�;Y}%���@�}%m��@y}%dUq��}%� ��}%H������OĿ������?���`�Q�?����%�������PĿ��� �`������*n?����N@��������?)~%���@ ~%�;\;I~%��Cɫ�)� �����I�Y�5y�@y�5 nG��TNmea in: $SNTTA,0.085494,,,,170623.53*43 I���=)��)���= ���=�Å�#=�Åt�=�Å1�>iÅ��@�Á ą��@)ą��@Ią��@ią��@��p�<M�6=Y��;QU��>�����a��G�����y�����}��>I������:���:75�?����:������ ���pA����?9��8SC����F; ���J;)��P�:�m=uAdded new target pos. range: 34.320000 m, bearing: 222.183130 deg, deltaT: 4.445955 s, approachRate: 0.000000 m/s, LOS rate: -0.463364 deg/s, posRepo size: 4�WA�WAXI XI�WI:WI2WQ*WQ�VYUYU]����}�?zL�L�L�L�4u@�A5�i<B1 B1�A5=*B5:.9��}�����}�����}�����}��� �}=.:Y�}�W1y�}č:��}��5�9�@�AY�A�S7�A��պ�A�"C��)*C���;RC���<C��C�����>9��I���gGi��F�@������������; ��hE�֍*:<I��G��>�k�ij,��#��E�AY}:q��@�}:!��@y}:o���}:���}:H�����}tĿ������?���`�?�����������*sĿ��� =�p�����,_?�����������`X��?)~:q��@ ~:J\;I~:��Cɫ9�9)�9 �9I�9Y�]r�@y�]�nG��-�&�M-f=Y�-�;QU-�>��1��1�a5�G��1��9y�=+S�}E�>I�A��E�35�?��E��� �E�pA��U�?9�EFSC��E��: �E �:)�A�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�!u@�A���Y<B� B��A�Q=*B��.9�A��A�}7�A� պ�A�"C��)*C����;RC�)<C��C����� &<I��G*>���ij,ձ=��E�AY}6;��@�}6믑@y}6��8��}6����}6H�����YĿ���@ޑ�?����u\�?����͗����`VĿ�����6x������'?��� �������`���?)~6;��@ ~6�\;I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}nG��%��;M%K=Y�-n�;QU-�>��)��)�a5�G��1��y��;}��>Iȡ����:�ť�/5�?����:�ť��� ƥ�pA����?9ƥVSC�ǥ�; ȥ�;)ȥQ�:�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�L�-u@�A3�I<B B�A�=*B�.9�A!�A%�7�A%Ժ�A!"C-�)*C-��;RC5$G<C1�C1������ʕC��u�z<I��i��mG���X �������������� ���::Y��y�����W�5I�!i�I����.�ٺ����$AG�b>��9��I��i���������������; ��RE���ij,��W��E�AY}6N��@�}6���@y}6�$�:�}6�*��}6H�����&Ŀ����J��?�����L�?��� .�������Ŀ������}����`��S����@ ����������?)~6N��@ ~6�\;I~6��CɫY�Y)�Y �]���I�YY����@y��dnG ����nA��mA��=S�=��=�=��=�k�i�=ף@��9 �=ƣ@)�=ƣ@I�=ƣ@i�=ƣ@��M��<MU,=Y�U�?;QUU�>��Y��Y�a]�G��Y��Yy�e��;}e�>I�i��m�*5�?��m~�� �m�pA��u�?9�miSC��m�: �m/�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������j�?zL��L��L��L�kKu@�A�و:<B� B��A�9=*B�./9�A��A��7�A�Ӻ�A�"C��)*C�MS�;RC�K"8<C��C����� &<I�G-p>�v�ij,�gq��E�AY}6HǙ@�}6�ԑ@y}6B;�}6�A��}6H����@L�ÿ���`ʗ�?�����.�?���@��������ÿ���`5"�����`�Ah��������`���?)~6HǙ@ ~6�q\;I~4ɫI�I)�I �M���I�IY�}[�@y�}oG�����V-�?�~j�t���:��v�������h>����D� ���Լ)��I��y���R���Q�?333333���I+��?�����=���������94< �A)$AI+Ai�A�������A��-cO=M-_=Y�5*�;QU5�>��9��9�a=�G��9��Ay�E,�;}M�>I�Q��e�:��U=(5�?��e�:��U4�� �U�pA��e�?9�UtSC��UK(; �U!;)�UR�:�W��W�X� X��W�:W�2W�*W��V�U�U�����)1�@zL���=�L���=�L�:��@�L��y@�Aé+<B B�A%{�=*B%I29�A!�A-57�A-;Һ�A)"C=�)*C==��;RC=8"^<C9�CA���nA�������9<I��Gj>���"ij,.U���E�AY}>�י@�}>��@y}>�o�;�}>O��}>H�����ƅÿ���ଚ�?����睢?��� ����� h{ÿ���@6����� �-w������H�����`��?)~>�י@ ~>��\;I~<ɫQ�Q)�Q �U����I�QY���@y���nG��}ף���}t=��}��=i�}�@��y �}��@)�}��@I�yi�}��@��~��M�T=Y���;QU��>�����a��G����y��;}��>Iȱ�ŵb%5�?�ŵ��� Ƶ�pA����?9Ƶ�SC�ǵE�: ȵR�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����W9@zL��L��L��L�>y@�A��<B��ޥ�=iޥ�=�������������������� ��-:Y�DW1y�Y�:����5 B��A��_=*B��09�A��A�w7�A�~Ѻ�A�"C��)*C�rޱ;RC�]w<C��C��i9�iI�mhGi�m��@��i��i��i��m�; �m8E)��I��i�����������Y4�����`<I��G�I>���(ij,`���E�A�|�|Y}Bݙ@�}B��@y}B{�<�}B����}BH�����qÿ���@���?����<��?�����������cÿ���@�������ہ�����؞������D��?)~Bݙ@ ~B��\;I~B��CɫY�Y)�Y �]���I�YY��r�@y��:oGI��R=)��4=)���= ���=���!�<M�V=Y���<QU��>�������a��G������y�}"�:}��>Iȁ�Ņo"5�?�Ņ��� ƅ�pA����?9ƅ�SC�Dž��: ȅ�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����/g@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��Iy@�A�ư<B� B�A�=*B�29�A�A�7�A�к�A "C �)*C�,�;RCs�|<C�C����u<I�G=.>��/ij,H����E�AY}6�ՙ@�}6��@y}6�;<�}6���}6H����@_�ÿ���`_��?�����٠?����Q����� �}ÿ�����������{t������~�������l��?)~6�ՙ@ ~6��\;I~6��CɫY�Y)�Y �YI�YY����@y���oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5=M=E=Y�=��;QU=�>��A��A�aE�G��A��Iy�U��}U�>I�Y��e�:��]x5�?��e�:��]��� �]�pA��m�?9�]�SC��]�; �]�;)�]S�:�W��W�X� X��W�:W�2W�*W��V�U�U������� @��b����������������� �9':Y��X1y�/�:����5zL��L��L��L�]<y@�A��<B B �A��=*B�39�A�A'7�A"к�A"C-�)*C-쁲;RC-�#n<C1�C1��}��<I��G�^>��a��emA�m��>9�mp�CI�mlhGi�m�@��m=��i��i��m�; �m#E���5ij,��ؤ�E�AY}6�ʙ@�}6_ؑ@y}6wya<�}6�� ��}6H����@e�ÿ�������?�����q�?����^������g�ÿ����b�������.�����`f������ N��?)~6�ʙ@ ~6m�\;I~6��CɫY�Y)�Y �]����I�YY���@y���oG�xDUSBL response received:!U1,P 309,000,004AD,189,80,80,74,FF �Command Ack�BRequesting micromodem ping code 2i�������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 Iީ)ޭAA�Í~�>�Í���Íj��iÉ�É ĉ)ĉIĉiĉ���̕;M�%=Y��;QU-�>��1��9�a=�G��9��y��-�}��>Iȱ�ŵ�5�?�ŵ�� ƵqA��-�?9Ƶ�SC�ǵHv< ȵ�v<)ȱ�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqU�U����@z� @zL��L��L��L��'y@�A-���;BQ BY�A]#�=*B]d39�Aa�Ae�7�AmeϺ�Ai"C��)*C��ز;RC��\<C��C���� �m<I�� G� �>��<ij,q��E�A�|i|Y}6���@�}6`ȑ@y}6x�<�}6$���}6H����`u�ÿ��� .��?�����ݠ?���`������ ��ÿ�����������@��������U�����@���?)~6���@ ~6�\;I~6��Cɫa�a)�i �m���I�iY����@y���oG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �)�)��e������M�?�� �rh�?����Mb�?��en>��eC�< �e<)�aI�ay�e�)\���(�?Zd;�O���:��v������eG�=��ej����e�Լ �e�A)�e5AI�e�Ai�e�A��a��e A�����9�M�d=Y���;QU��>�����a��G������������������������ �J+:Y��W1y�č:��X�5y��(��}�?I������:����5�?����:������ ���pA����?9���SC�����: ��+�:)��T�:�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U�����AL@zL�<>�L�<>�L��Ų@�L���v@�A�A��;B� B��AΣ=*B*59�A �A �7�A �κ�A "C%�)*C-��;RC-��@<C)�C)��jZX<I�)GEs>���Bij,Ί��E�AY}6_��@�}6��@y}6Lڐ<�}6U:��}6H������(Ŀ�������?����v��?����u�����@�Ŀ�����������������E����������?)~6_��@ ~6U�\;I~6��CɫY�Y)�Y �YI�YY��q�@y��upG�xDUSBL response received:!U1,R,25B,000,004B4,188,80,80,75,FF �Fpublishing direction and range info���$�����ɰ�C�=鰭��> ��)����BI��y��� B������틻��?�$�����������ٱ���%�<��%t���%ף<i�!��! �!)�%ƣ@I�%��@i�!��5�H=M=c=Y�=l�;QU=�>��A��A�aE�G��A��Ay�M0��}M�>I�Q��U>5�?��U��� �U�pA��]�?9�U�SC��U��: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����ǣ@�R�(Combining 5 samples.�P�*Q�� B�Z���vG >@��YP�r1����������Z����틻��?�$�����������2Q�$��:Q��Z��� �v��5�qh����:�d���?�Z�����~Q8�\O-&K��pa�HPp?BQ���@ Q�g��Q�����P�w�9?�P�o�9?�P�����Q�����Q���@"Q���@zLA�LA�LA�LE�tv@�A}nw�;B� B��A���=*B�?79�A��A�R7�A�~κ�A�"C��)*C��-�;RC���-<C��C��Թ�ԽnA�)9�)I�-�hGi�-:�@��-=��)��)��-_; �-E�֥/�C<I��G�C>�(Iij,�g&��E�AY}6��@�}6���@y}6��<�}6��"��}6H����`XeĿ�������?����^j�?��� �������FHĿ����������ٿ�������R�����@���?)~6��@ ~6��\;I~6��Cɫ9�A)�A �E����I�AY��f�@y��gpG�eTNmea in: $SNTTA,0.043623,,,,170627.98*44 ��}KW�M}F=Y���;QU��>�����a��G����y�є�}��>Iș����:�ŝq5�?����:�ŝ��� Ɲ�pA����?9Ɲ�SC�ǝ��: ȝw�:)ȝU�:�m�qAdded new target pos. range: 34.740002 m, bearing: 230.811053 deg, deltaT: 4.412199 s, approachRate: 0.095191 m/s, LOS rate: 1.955470 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`�^A@U������l�?zL�L�L�L�Nv@�A����;B� B��A�"�=*B�$69�A��A��7�A�κ�A���C ����������������� �*9:Y��U1y���:����5)�4�;�9��"C��)*C�GN�;RC���<C��C����x/<I�G=�>��Pij,A@��E�AY}>���@�}>���@y}>@غ<�}>a=��}>H�����>�Ŀ���@ɏ�?���`���?�������������Ŀ����Bs�����@�Z�����@壿���@���?)~>���@ ~>ѩ\;I~>��Cɫ9�9)�9 �9I�9Y�}��@y�}�pGI��C=)���=)���= ���=���=M�I=Y���;QU��>�����a��G����y�G��}��>Iȱ�ŵ� 5�?�ŵ�� Ƶ{pA����?9Ƶ�SC�ǵӻ: ȵD�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����,�?zL �L �L �L �+v@�A%���;B! B!�A%��=*B%V89�A)�A-;7�A-�ͺ�A)"C5�)*C5�`�;RC=�'�;C9�C9�օ��<I��G�?>� ��>9� I� i� �� =�� �� �� <; � �E��9Vij,�Z��E�AY}B*�@�}Bڌ�@y}B�=�<�}B(���}BH�����z�Ŀ��� %��?��� �?�������������Ŀ���@ �����`g�������Z����� 6��?)~B*�@ ~B��\;I~@ɫa�a)�i �iI�qY����@y��qG��5$>��5�ξ��5��>i�5z�@��1 �5�@)�1I�5ƣ@i�5�@��=�;ME@=Y�E�;QUE�>��I��I�aM�G��I��Qy�U���}]�>I�Y��e�:��]� 5�?��m�:��]I�� �]OpA��m�?9�]�SC��]�; �]U;)�]V�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ;��?��U ���������������� ��::Y�d\1y���:���6)�r�;zL��L��L��L�� v@�A�.��;B� B��A�c�=*B��79�A��A��7�A�$ͺ�A�"C��)*C�tg�;RC���;C�C����0�;I��GI>��d\ij,T�s��E�AY}:Xr�@�}:��@y}:�0�<�}:����}:H���� �ſ������?�������?����P������V�Ŀ���@"ȟ�����T������������������?)~:Xr�@ ~:c�\;I~8ɫ9�9)�9 �=���I�9Y�}��@y�}�pG���ˡE����?�� �rh�?�� �rh�?���=�� �C=)�I�y���v��/�?��MbX������Mb�?��x�=���ʽ���< ��A)� AI��Ai��A����fA��5���M5K=Y�=�E;QU=�>��9��9�aE�G��A��Ay�M�~�}M�>I�Q��U�5�?��Uz�� �UjpA��]�?9�U�SC��U�: �U��:)�Q�W��W�X� X��W�IޭAA)ީ:W�2W *W �V UU���`���?zLmy>�Lmy>�Lm�-�@�Lm�u@�A�fj�;B� B��A�m�=*B�A79�A��A�:7�A��̺�A�"C��)*C��b�;RC����;C��C����;I�!G=r>i�� HmGI�� i� ��} �7�ٺ� ��� �,A��Kcij,pҍ��E�A�|i|Y}R���@�}RU��@y}R��<�}R�l��}RH�����f�Ŀ���� ��?����[$�?���@�������_�Ŀ�����r�����`��������������`8��?)~R���@ ~R�Z\;I~R��Cɫy�y)�y �}����I�yY����@y���pG��!��!-MPonly read 0 of 1 data item for BIT error��M@��M@��M@���+<M�S=Y�M;QU��>�������a��G������y����;}��>I�����5�?������ ���pA����?9��TC���ӻ: ����:)���W�WX X �W :W 2W *W�VUU�����F�@zL1�L1�L1�L5��u@�AE���;BI BI�AM��=*BM�89�AI�AU�7�AUY̺�AQ"C]�)*C]j�;RC]�4�;CY�Ca�� ����������������� �M4:Y��Y1y��:��"6�9�@ܱ9ܱIܵ3iGiܵ��@�ܵ=�ܱ�ܱ�ܵ; ݵ�E��=vт;I�IGeV>��uiij,�����E�AY}J���@�}Jo��@y}Js]�<�}J�* ��}JH�����0�Ŀ��� T��?����F��?��� 4����� ]Ŀ����Rʠ�����Ԋ����� )���������?)~J���@ ~J�G\;I~J��CɫY�Y)�Y �YI�YY����@y��qG��EF�;MER=Y�M�V�QUM�>��I��I�aU�G��Q��Qy�]�;}]�>I�a��m�:��eB�5�?��m�:��e��� �e�pA��m�?9�eTC��e��: �e��:)�eW�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�c@zL9�L9�L9�L=_�u@�A]�Y�;Ba Ba�Aev�=*BeU89�Aa�Ae07�Am�˺�Ai"Cu�)*Cuф�;RCuL�<Cq�Cy�ԅmA�ԅmA��e[R�;I�yG�<>��]pij,���E�AY}J���@�}J0��@y}J�]�<�}J��0��}JH����@]#Ŀ������?������?���@������i�ÿ�����?�����������^����� T��?)~J���@ ~J�Z\;I~J��CɫY�Y)�Y �]���I�YY���@y��+qG��p=ɮ�=��(<MM=Y�q:QU�>��!��!�a%�G��!��)y�-��;}-�>I�A��Eb�5�?��E��� �E�pA��M�?9�E-TC��E��: �E��:)�A�Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyUyU����`a�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��v@�A���;B� B��A���=*B�C99�A��A��7�A��˺�A�"C��)*C����;RC��!9<C��C�����=����=��=i�=���������������������C�� ���,:Y���[1y��H�:���� 6Y�,$9����H<I�G%o>ܭ ��>9ܩ Iܩ iܩ �ܭ =�ܩ �ܩ �ܭ �; ݭ �E)�E�p�CI�E�p�Ci�A���E�=��A���E�Xb4�|�vij,�fۥ�E�A�|<�|<Y}�W��@�}�͑@y}�I��<�}�� 0��}�H����@��ÿ����u��?���`;y�?������������ÿ����)á����@i������R������@#��?)~�W��@ ~�?\;I~���Cɫ���)�� ��I��Y� ��@y�&rGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******����/�$��?��(\�µ�:��v�������,=����� ���T�)��I��y����l����?/�$����I+��������=��������9�� ���A)���AI���Ai���A������ A)���= ���=�������������Õ�|>�Õ��=�Õ&1�iÕ̤@�Ñ đ)ĕ�@Iĕ�@iđ���qA=M�=Y��{;QU��>�������a��G������y���o;}��>I��� �:��(�5�?���:����� ��pA���?9�<TC��%-; � �;)�X�:�W��W�X� X��W�:W�2W�*W��V�U�U�����^� @zL��=�L��=�L�@�Lg�l@�AE���;BA BI�AM�>*BM:99�AI�AMe7�AM�˺�AI"CU�)*C]��;RC]#�O<CY�CYY�e t$9��]�9<I�iG��>��|ij,P���E�AY}6给@�}6�ɑ@y}6r�<�}6�:��}6H����`�ÿ����E��?����|)�?����E������T�ÿ����5�����@m�������ã���� F��?)~6给@ ~6 K\;I~6��Cɫ1�1)�1 �5����I�9Y�u.�@y�u]qG�xDUSBL response received:!U1,P 25B,000,004B4,188,80,80,75,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������M��=Y� �;QU?��!��!�a��G������y��沺}�?I�����5�?����� �tpA��=�?9�ETC����; ��;)������������������������� ��]-:Y���Y1y���:����5�WQ�WYXY X��W�:W�2W�*W��V�U�U������� @zLA�LA�LA�LE�l@�A}Cp�;By By�A} �=*B}�:9�A��A��7�A��ʺ�A�"C��)*C�2�;RC��$F<C��C�Y�uP$9��e NJN<I�� G� �>����ij,&��E�AY}6���@�}6B��@y}6��<�}6* ��}6H������YĿ���@p��?������?��� �������28Ŀ����������`: �������?����� ���?)~6���@ ~6�U\;I~6��Cɫ9�9)�9 �9I�9Y����@y���qG���@A���AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e�>��e^�=��e��;i�eף@��a �eƣ@)�eƣ@I�eƣ@i�eƣ@��+�<M�B=Y�j�:QU��>�����a��G����y���}��>Iȡ����:�ť��5�?����:�ť�� ƥRpA����?9ƥPTC�ǥ��; ȥ�;)ȥY�:�W��W�X� X��W�:W�2W�*W��V�U�U�����N1@zL��L��L��L�J�l@�A��ȹ;B� B��A��>*B�u<9�A��A�j7�A�Aʺ�A�"C��)*C�pO�;RC�2s<C��C�i��mAI��mA�Y9�YI�]�iGi�]ݽ@��Y��Y��Y��]�; �]�EYϝ,$9�֕L�M<I��G��>��Éij,I�(��E�AY}::��@�}:ꏑ@y}:=(�<�}:����}:H����`s�Ŀ����D��?������?�����������x�Ŀ����$9�������㟿����d�������Y��?)~::��@ ~:�\;I~:��Cɫ9�9)�9 �=���I�9Y�}Z�@y�}�rG�xDUSBL response received:!U1,R,2DB,000,004AF,189,80,80,6C,FF �Fpublishing direction and range info����N#����ɰ�q�=鰅7�> ��)����BI��y��� B����;4.���?��)m����������ٱ���dNmea in: $SNTTA,0.223618,0.223687,,,170632.41*5C I��)�������{=M�J=Y����:QU��>�������a��G������y����}��>I�����<�5�?���^�� ��-pA���?9��\TC����; ��o�;)���WY�WYXY XY�WY:WY2Wa*Wa�VaUaUe����*�@�R�(Combining 5 samples.�P�*Q�� B�Z������;@��U��4����������Z��;4.���?��)m����������2Q��N#�:Q��Z���F7��8���C��7��{��?�Ͽ�Z��#�Rf"�濙l��\D�4�)�j}�BQ�RQz@ Q����Q�����P�n�9?�P�w�9?�P������������������������� �Ti:Y�DW1y�Y�:����5)�Ѿ;�9��Q�����Q�p�@"Q���@zL��L��L��L��Ml@�A�E�;B� B��A�!>*B��=9�A��A�7�A��ɺ�A"C�)*C-kX�;RC-���;C)�C)Y�P$9���X<I�!GE�>�˫�ij,��B��E�AY}>c`�@�}>n�@y}>(�<�}>\c���}>H������Zſ����y��?�����!�?����N������G<ſ�����������C����� Qǟ�����;��?)~>c`�@ ~>��\;I~>��Cɫ9�9)�9 �=����I�9Y�}��@y�}JrG��E#�MEO=Y�E�ʺQUE�>��I��I�aM�G��I��Qy�U</�}]�>I�Y��]�5�?��]��� �]pA����?9�]gTC��]j�; �]��;)�Y�m�yAdded new target pos. range: 34.439999 m, bearing: 224.096020 deg, deltaT: 4.475407 s, approachRate: -0.067034 m/s, LOS rate: -1.500429 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����Q8A@U���� #K�?zL�L�L�L� l@�A]'J�;Ba Bi�Au�>*Bu%=9�Ay�A��7�A�Gɺ�A�"C5�)*C5�D�;RC=�s0;C9�C9Y�A��5#2�;I�IGmx>�M ��>9�I I�M `jGi�M �@��M =��I ��I ��M �; �M �E��ٖij,��\��E�AY}�/I�@�}��V�@y}����<�}�ޜ��}�H�������ſ����T��?�������?������������ſ�����衿��� 9������@����������?)~�/I�@ ~�י\;I~�ɫ�髉)�� �����I��Y���@y��srG�ޡiޥ�=�������������������� �11:Y��V1y��:��b6)�Q�;�����MbX9�?#��~j�Ŀ<�O��n�����ʡ=����%� ��t�)��I��y�����S㥛�?��������������������$>����̽������ ��KA)���AI���Ai���A�������å�E>�å�D;�å�$�iå�@�á ĥ�@)ĥ�@Iĥ�@iĥ�@��k <M�(=Y��*�QU��>�����a��G������y��T��}��>I������:�����5�?����:������ �� pA����?9��~TC�����: ����:)��Z�:�W�WX X�W:W2W *W �V U U��� 1l�?zL-B>�L-B>�L-�F�@�L-�!@�AE\X�;BA BA�AE�>*BM�;9�AI�AMf7�AM�Ⱥ�AI"CU�)*CU��;RCU�".:CY�CYY�m�$9��E �0;I�I Gm �>����ij,��v��E�A�|�|4<Y}:q@�@�}:!N�@y}:}�<�}:�:*��}:H����@_�ſ���`O��?����O��?���`���������ſ��� <��������.�������C�����`���?)~:q@�@ ~:qr\;I~:��Cɫa�a)�a �e����I�aY��a�@y���rG��U�<M]{=Y�]���QU] ?��a��a�ae�G��a��ay�m�V�}m ?Iȁ�Ņ��5�?�Ņ�� ƅpA����?9ƅ�TC�Dž��: ȅ�:)ȁ�W��W�X X�W:W2W!*W!�V!U!U%���� (�?zLA�LA�LA�LE�@�AU��;BY BY�A]�!>*B]M@9�AY�A]7�Ae+Ⱥ�Aa"Ce�)*CmS��;RCm6y��Ci�CqYϥl&9 ս�=�Խ�=�ֵ"5:I��G��>���ij,b���E�AY}6�H�@�}6QV�@y}6E=�<�}6y0��}6H����`Q�ſ��� &��?��� v�?���@P��������ſ���`�젿�����ƚ�����s�����`���?)~6�H�@ ~6�d\;I~4ɫ9�9)�9 �=���I�9Y��5�@y���rG�Ý�̼�Ý�L=�Ý�@>iÝ��@�Ù ĝ�@)ĝ�@Iĝ�@iĝ�@��EV�M�E=Y��X�QU��>�����a��G����y���;}��>I������:����5�?����:���j�� ������?9���TC�����: ����:)��[�:�W�WX X �W :W 2W *W��V�U�U���� 3��?��� ��������������C�� �>S:Y�[1y�ݏ:��� 6�9�@zL��L��L��L��#@��9��I���jGi��Ѿ@�������������; ���E�AIc�<B B�Am>*B.=9�A�A�7�A%�Ǻ�A!"CM�)*CM˳;RCM7��:CI�CQY�=�&9��5��9I�9G]�>��ij,=���E�AY}:U�@�}:�b�@y}:Ǯ�<�}:�U#��}:H����@T�ſ������?�������?���@��������eſ����2ҟ�����/U�������g���������?)~:U�@ ~:�O\;I~8ɫY�Y)�Y �YI�YY��e�@y���rG��U�t<M]P=Y�]k�QU]�>��a��a�ae�G��a��ay�m~;}m�>Iȁ�Ņ��5�?�Ņ��� Ɓ����?9ƅ�TC�Dž��: ȅU�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�����?��?zL��L��L��L�h;@�A��� <B� B��A�q">*B��?9�A��A�Z7�A��ƺ�A�"C�)*C��;RC��;C�C i�I�Iޭ@A)ޭ@AY���(9�ֽ�rg:I��G�i>�~��ij,�Ħ�E�A�|i|Y}6�c�@�}6Gq�@y}6T�<�}6o� ��}6H�����lOſ������?����)�?����g�������3ſ���@su�����`ꗿ���� ����������?)~6�c�@ ~6"p\;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}EsG�����>���ЕCi��nG���mAI� ���i�9�� ����������������� �"6:Y�0Y1y���:��46���fM�ٺ�����@A����<M�4=Y���G�QU��>�������a��G������y���~;}��>I��� �:��(�5�?���:��2�� ����?9��TC��6H; �2I;)�\�:�WA�WAXi Xi�Wq:Wq2Wq*Wy�VyUyU}���`��@���F?9���:AzL��L��L��L�XV@�A���<B� B��A�->*B�@>9�A��A%"7�A%ƺ�A!"C-�)*C-���;RC-Njs;C)�C1Y�5�(9��A��A��- "5;I�9 GU �>�� 9�� I�� �kGi�� s�@��� ��� ��� ��� s; �� �E�;'�ij,��ަ�E�AY}5�o�@�}5�}�@y}5���<�}5����}5H������ſ���ࢌ�?����F՛?������������ſ����iT������>_������X������� ��?)~5�o�@ ~5.P\;I~5��Cɫ�)� ����I�Y�M��@y�UsG�QɮUa=�����G�z��?V-����v��/�����p=>������ ��xi�)��I��y������S㥻?/�$���y�&1������/�=��������`e� ���A)��I��EAi���A�������A-�6only read 3 of 4 data items���@���@���@���`�M�O=Y��z�QU��>�����a��G����y��z;}��>Iȩ�ŭ��5�?�ŭ>�� ƭ�oA����?9ƭ�TC�ǭQ�: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U������@�R�B*** querying acoustic contact ***�P��P�zL �>�L �>�L ��@�L sx@�A%m<B! B!�A%�'>*B-@9�A)�A-�7�A-Yź�A)"C5�)*C5���;RC5� �;C1�C9Y�=)9��-vт;I�1GU�>�JO�ij,5����E�AY}V�t�@�}VK��@y}V��<�}Vr���}VH����@�ſ�������?����,��?����ʎ�������Ŀ����zʙ�����g������@ ����������?)~V�t�@ ~V�{\;I~V��Cɫq�y)�y �}����I�yY���@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���0=M�Y=Y����QU��>�������a��G������y����:}�>I�I��U�:��Mx�5�?��]�:��MH�� �M�oA��]�?9�M�TC��M]�: �M��:)�M]�:�W��W�X� X��W�:W��ޭ�=iީ��~���������������� �t):Y��W1y�č:���62W�*W��V�U�U���� �� @zL!�L!�L!�L%�|x@�A=�G(<B9 B9�A=38>*B=EA9�AA�AE�7�AE�ĺ�AI"Cm�)*Cm ��;RCm�5�;Ci�Cq��}R>��}%>Y�e�*9��U�ϩ;I�aG}z>�6�ij,����E�A�|�|�;Y}6n�@�}6�{�@y}6��<�}6����}6H������&ſ����{��?�������?����������ſ����僘����@qb�������X���������?)~6n�@ ~6�O\;I~4ɫY�Y)�Y �]���I�YY��s�@y��(tG�xDUSBL response received:!U1,P 2DB,000,004AF,189,80,80,6C,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 ܥ��>9ܡIܥ�kGiܥĿ@�ܥ=�ܡ�ܡ�ܥR; ݥ�E)�9�I�9�i�9���=�=��9���=���4�������������å���å�>�å��>iå�@�á ĥ�@)ĥ�@Iġiĥ�@�����<M�-=Y��j��QU��>�������a��G������y��2�}��>I�������5�?������ ���oA����?9���TC�����: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��L��L��L�mx@�AeIY2<Bi Bi�Am<D>*Bu>A9�Aq�A�u7�A��ú�A�"C��)*C����;RC��ϑ;C�C Y� +9 � �=�� �=��� I� G%�>�T`�ij,s�+��E�AY}6@h�@�}6�u�@y}6�Ά<�}6h�-��}6H����`�=ſ������?����B�?����I������#ſ����Eϗ������ِ����@A������@���?)~6@h�@ ~6@r\;I~6��Cɫ9�9)�9 �=���I�9Y�}d�@y�}tG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��g��M�x=Y����QU�?�����a��G����y���}�?Iȱ�ŵ��5�?�ŵ_ؾ� Ƶ�oA����?9ƵUC�ǵU�: ȵ@�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U���� p@zL �L �L �L �^x@�A5|^<<B1 B1�A5bB>*B5(F9�A9�A=* 7�A=�º�A9"CE�)*CEj��;RCEYQ};CA�CI��5�����5�����5�����5��� �5��:Y�5�V1y�5�:��5�6Y�e/-9��U�Ǥ;I�aG}z>�H�ij,�_E��E�AY}6R_�@�}6m�@y}6-s<�}6z�0��}6H�����%aſ���`D��?���`�|�?���������@�Hſ�����W�����`Ze������������|��?)~6R_�@ ~6�\;I~6��CɫY�Y)�Y �]����I�YY��1�@y���sG�xDUSBL response received:!U1,R,251,000,004B4,188,80,80,67,FF �Fpublishing direction and range info���<z����ɰ�C�=鰥��> ��)����BI��y��� B�����NW^��?�v1,�߿��������ٱ���䅼MS=Y�%�QU-�>��1��9�aE�G��A��Iy�]F5�}e�>I�y����:��}^�5�?����:��}oؾ� �}�oA����?9�}UC��}��; �}ʽ;)�}^�:�Wq�WqXq Xq�Wq:Wq2Wy*Wy�VyUyU���� Q�@�R�(Combining 5 samples.�P�*Q�� B�Z���s���0>@<��ז/1����������Z���NW^��?�v1,�߿��������2Q�<z�:Q��Z����b�(�5����\ �:�*���ط�?�Z����.J~=信�Ӳ�������=�?BQ���@ Q�@��Q�ɯ��P�t�9?�P�n�9?�P�����Q�����Q���@"Q�p�@zL��L��L��L��Mx@I�-AA)�-AA�A5D�E<B1 B1�A5�;>*B=%A9�A9�A=� 7�A=����A9"CE�)*CE�l�;RC���A;C��C�ȋȊY�a��u���;I��G��>ܕ ��>9ܑ Iܕ TlGiܕ �@�ܑ �ܑ �ܑ �ܕ 3; ݕ sE�Pv�ij,nL_��E�A�|Di|DY}b�S�@�}bda�@y}b�YW<�}bgP��}bH������ſ�������?����s^�?����?������{ſ����쓿����늿����Zȣ�����,��?)~b�S�@ ~b�\;I~b��Cɫ�髩)�� ��I��Y����@y���tG�]dNmea in: $SNTTA,0.066635,0.470099,,,170636.85*55 ����m������?�Zd;���~j�t�h?����n>������ ���D;)��I��y������(\��?��ʡE��<�O��n�����z>���-�����t�� �� A)��`AI��Ai��������pA����'=����#=���Q8�i��̤@��� ���@)���@I���@i���@�� �=M .=Y� �m�QU �>�����a�G����y��H�}�>��5����5�����5�����5��� �5*^:Y�5[1y�5ݏ:��5�6)�5,�;�9=�I�A��E�5�?��E�ؾ� �E�oA��M�?9�E%UC��Er�: �Eӻ:)�A�m}qAdded new target pos. range: 34.740002 m, bearing: 230.763050 deg, deltaT: 4.447195 s, approachRate: 0.067459 m/s, LOS rate: 1.499154 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`�^A@U����@^��?zL ".>�L ".>�L �ķ@�L �@�A=�O<BA BA�AE�M>*BEC9�AA�AE�!7�AM����AI"CM�)*CU?L�;RCU���:CQ�CyY�Up/9��a��a��E"5;I�QGm�>����ij, y��E�AY}R�D�@�}R[R�@y}R4#5<�}R���}RH�����~�ſ�������?����~��?���`������<�ſ����Ԑ����@H�������뮠����@&��?)~R�D�@ ~RD�\;I~Pɫy�y)�y �yI�yY����@y���tG��=.<M=n=Y�=�ƻQUE?��A��A�aE�G��A��Iy�MѮ�}U?I�Y��e�:��]ܻ5�?��e�:��]9 ؾ� �]ioA��e�?9�]3UC��]/�: �]��:)�]_�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L���@�A�M�W<B� B��A��P>*B��G9�A��A��"7�A�߿��A�"C��)*C�*�;RC�|�f9C��C�Yϵ�/9�����;I��GI>�'��ij,AE�AY}6�:�@�}6�H�@y}6��<�}6.���}6H�������ſ�������?����9�?����n��������ſ����������܁���� B������ -��?)~6�:�@ ~6��\;I~4ɫ9�9)�9 �=���I�9Y�}&�@y�}�sG��-+=��-��=��-v>>i�-Q�@��) �-9�@)�-9�@I�-9�@i�-9�@��uX�MuG=Y�}��QU}�>��y���a��G����y�c=�}��>Iȑ�ŕ�5�?�ŕ.ؾ� ƕMoA����?9ƕEUC�Ǖ'�: ȕU�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�\�@�A�A_<B B �A �:>*B �A9�A�An#7�Aľ��A"C�)*CR��;RC�7!�C�C!��-8>��-e>�99�9I�=mGi�=��@��9��9��9��=; �=dEY� ��5� ����5�����5�����5��� �5�T:Y�5�U1y�5��:��5�6)�5֬;��=��9I�IGeV>�K��ij,u̬��E�Aɫy�y)�y �}����I�yY����@y���tGI�%�=)�%�=��]w�=M]L=Y�]���QU]�>��a��a�ae�G��a��iy�m���}m�>I�q��}�:��uD�5�?��}�:��uؾ� �u2oA����?9�uWUC��uA�: �u8�:)�u`�:�W!�W!X! X)�W1:W12W1*W1�V1U9U=���`��?zLQ�LQ�LQ�LQ�Am� g<B� B��A��U>*B��D9�A��A�U$7�A�����A�"C��)*C��²;RC�����C��C�Yύ�19��}�!�I��G�_>����ij,�Ƨ�E�AY}6�2�@�}6�@�@y}6Kaf;�}6�v��}6H�����ƿ���`��?����Su�?���@L�������ƿ���@�9������%�l������ �����`F��?)~6�2�@ ~6��\;I~6��Cɫ9�A)�A �II�IY���@y��tG���t�����">�����=i����@��� ��)��I��i���@�� ��;M ?=Y� �G�QU�>�����a�G����y�l�}%�>I�!��%C�5�?��% ؾ� �%oA��5�?9�%iUC��%��: �%�:)�!�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUe������@zL��L��L��L���@�A�a�l<B� B��A�Y>*B��E9�A��A�<%7�A�s���A�"C��)*C�ω�;RC����C��C���E� ����E�����E�����E4�� �E{F:Y�E�^1y�Ea�:��EO 6�9M@Y���39�ֽybݹI��G�f>�1 9�1 I�5 �mGi�5 [�@��1 ��1 ��1 ��5 �; �5 UE����ij,��৩E�AY}>)4�@�}>�A�@y}>�:�}>�/��}>H���� �ƿ���`I~�?����.n�?����������@�ƿ����������WW���� ⥿�������?)~>)4�@ ~>�\;I~>��Cɫ9�9)�9 �=���I�9Y�}`�@y�}LuG�����������?ˡE���������Mb�����ff>����'� ���)��I��y����~j�t��?ˡE���������MbP?�����=���什����: � A)�AIKAi������zA��|�<M�Q=Y�Ǯ�QU��>�����a��G����y����9}��>I������:����5�?����:����ؾ� ��oA����?9��vUC�����: ����:)��a�:�W��W�X� X��W�:W2W*W�VU U ����8@zL%I>�L%I>�L%�p�@�L%�Qu@�A=�q<B9 B9�AE�a>*BEWG9�AA�AE'&7�AEO���AA"C��)*C��S�;RC�]"��C��C�i��I��I�-@A)�-?AY������ه�I��Gm>����ij,�^���E�A�|i|�@Y}6Z6�@�}6D�@y}6t��}6*�3��}6H�����<ƿ����$~�?�����.�?���@�����@��ſ����|�������B?�����w��������?)~6Z6�@ ~6R�\;I~6��Cɫy�y)�y �}����I�yY��J�@y��1uG鮽a=ɮ�p=���}�M�Y=Y��C��QU��>�������a��G������y���9:}��>I�������5�?����ؾ� ��%oA���?9���UC�����: ���:)���W��W�X� X��W�:W�2W�*W��V�U�U������]@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�Vu@�A��8u<B� B��A�_>*B�G9�A��A�'7�A�'���A�"C��)*C���;RC�%�m�C��C��=~ ����=�����=�����=��� �=IR:Y�=�X1y�=/�:��=�6Y�269������ vт�i�=mGI�ai�����UV�ٺ����FIAI��G-�>���jj,H6��E�AY}6�:�@�}6?H�@y}6�),��}6/�$��}6H�������ſ��� ��?����ǃ�?���@���������ſ���@��q�����:�e?���@Ֆ�����`X��?)~6�:�@ ~6��\;I~4ɫ9�9)�9 �E���I�AY�}8�@y�}uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******-Ponly read 0 of 1 data item for BIT error��@��@��@��%c��M%F=Y�%J��QU-�>��)��)�a5�G��1��9y�=��:}=�>I�I��M��5�?��M}ؾ� �M-oA��U�?9�M�UC��M�; �M�;)�I��9��I��HnGi����@�������������; ��GE�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�����V� @zL��L��L��L� \u@�A�~w<B B �A-�\>*B5:E9�A1�A5(7�A5ظ��A1"C=�)*C=>�;RC=�,��CA�CAY�}V69��uΒ{�I��G��>�X� jj,�.��E�AY}6YF�@�}6 T�@y}6�����}6 � ��}6H����`"�ſ�������?���`9�?�����������$�ſ�����&T������^s?����칡����@���?)~6YF�@ ~6N�\;I~4ɫa�i)�i �iI�iY��N�@y��5uG�xDUSBL response received:!U1,P 251,000,004B4,188,80,80,67,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 �� ��;ML=Y�%٪�QU-�>��9��9�aE�G��A��Yy�m�f;}m�>Iȉ����:�ō3�5�?����:�ō]ؾ� ƍ4oA����?9ƍ�UC�ǍZ�; ȍ��<)ȍb�:��1i�5�=��U�����U�����U�����U��� �U�{:Y�U�Y1y�U�:��U�6�W��W�X� X��W�:W�2W�*W��V�U�U����@d @zLi�Li�Li�Lm�pu@�A�a[x<B� B��A��_>*B�8E9�A��A��(7�A����A�"C �)*C ��;RC�2M:C�C9��Ua>��U>Y�5s89��% ��9I�1 GM �>���jj,��G��E�A�| �| Y}j�R�@�}j[`�@y}jW��}j3 ��}jH�����~�ſ����?��?���@��?���������� u�ſ�����#^?����x<~?����M������`���?)~j�R�@ ~j��\;I~j��Cɫ���)�� ������I��Y����@y���uG������AA�e�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����������\�=�������h��i���@�� �n�@)�n�@I�n�@i�n�@��-N�<M59=Y�5nŻQU5�>��9��9�a=�G��9��9y�Erc;}E�>I�I��M��5�?��MQؾ� �M<oA��U�?9�M�UC��M8�: �Mf�:)�I�Wy�WyXy Xy�Wy:W�2W�*W��V�U�U������$@zLa�La�La�Le��u@�A}ޭw<By By�A}�h>*B�NI9�A��A��)7�A�e���A�"C��)*C�+��;RC��;C��C�Y�� ���=����=����>9��I��oGi��O�@�������� ��9I�1 �������; ��9E)�a�I�a�i�a���e�=��e�=��e��W4Ge �>��jj,��a��E�Aɫ�髙)�� ��I��Y����@y���uG�xDUSBL response received:!U1,R,328,000,004B0,189,80,80,98,FF �Fpublishing direction and range info���I�4����ɰ���=��7�> ��)���CI��y��� B�����j��^�?�D��e����������ٱ��dNmea in: $SNTTA,0.068435,0.248709,,,170641.29*5C ����T㥛� �?Zd;�O���/�$��?���>���j�� ��,=)��I��y���)\���(�?����K��V-������G�=���^�������� ±)µ�AIµ�Aiµ�A������GA���Uc<M�Q=Y�����QU��>�������a��G������y�����}��>I������:����5�?����:���^ؾ� ��oA����?9���UC���]�: ����:)��c�:�W�WX! X!�W!:W!2W!*W!�V)U)U-��� I�@�R=(Combining 5 samples.�P9*Q=� B�Z=�[�k�E:@䭯�1\6����������Z=��j��^�?�D��e����������2Q=I�4�:Q9�Z=�̹�#�t:�=�6T�6����KD�?�Z=��㽛�迊��7N�俯$ 0`%�?BQ={�u@ Q=���Q=����P=g�9?�P=t�9?�P=����Q=����Q= �@"Q=��@zLe,>�Le,>�Le��@�Le�Dv@�AEv<B B�A[n>*B@I9�A�A�*7�A%=���A!��5 ����5�����5�����5��� �5I:Y�5�X1y�5/�:��5�6)�5��;�9=�"CM�)*CM��;RCMFP�:CI�CQY�=�:9��5�] ;I�AG]�>��8jj,z�{��E�AY}6yb�@�}6*p�@y}6 �2��}6T���}6H���� �Tſ������?�����C�?������������^ſ������q?�����\�?���������������?)~6yb�@ ~6];I~4ɫ9�9)�9 �9I�9Y�}��@y�}~uG�����MW=Y�a�QU�>��!��!�a%�G��!��)y�-F�;}-�>Iȁ�Ņ��5�?�Ņlؾ� ƅ�nA����?9ƅ�UC�Dž��: ȅ��:)ȁ�m�yAdded new target pos. range: 34.500000 m, bearing: 219.903609 deg, deltaT: 4.429334 s, approachRate: -0.054185 m/s, LOS rate: -2.451710 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������@A@U����`��?zL��L��L��L��\v@�A��r<B B�A�f>*B FI9�A �A �+7�A *���A "C�)*C�o�;RC��k;C�Ci�!I�!I�-AA)�-AAY�E�:9��=?B�:I�qG��>�V %jj,V����E�A�|i|�@ɫy�y)�y �}���I�yY��z�@y��luG��U� ?��U\>��U`�i�Uz�@��Q �U�@)�U��@I�U�@i�U�@��e@��MeF=Y�e���QUm�>��i��i�am�G��i܁9܁I܅toGi܅��@�܅=�܁�܁�܅�; ݅)E��y�%���}%�>I�)��5�:��-��5�?��5�:��-�!ؾ� �-�nA��=�?9�-�UC��-��: �-m�:)�-d�:�WY�WYXY Xa�Wa:Wa2Wa*Wa�VaUiUm����&�?zL��L��L��L��A���n<B� B��A�e>*B� G9�A��A��,7�A���A�"C��)*C�}]�;RC�-[;C��C���eb ����e�����e�����ew�� �e�;:Y�e0Y1y�e��:��e|6)�eW�;Yϭ�:9�Ա�Ա�֝r��;I��G�b>��J+jj,d\���E�AY}>�D�@�}>�R�@y}>=_H��}>>�.��}>H�������ſ����\��?����)��?���@҇������ſ���`�s?������?���@�ҥ���� ���?)~>�D�@ ~>{�\;I~<ɫ�髉)�� ������I��Y��U�@y��yvG��]��=MeK=Y�e�T�QUe�>��i��i�am�G��i��qy�uW�}}�>I�y��}�5�?��}�#ؾ� �}�nA����?9�}�UC��}Ǻ: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL��L��L��L��v@�A�X�i<Bi Bi�Au4�>*BuL9�Aq�Au�-7�Auⱺ�Aq"C}�)*C}4�;RC�P1�C��C�Y�m�<9��}yb];I��G�^>��52jj,�Eɨ�E�AY}=�,�@�}=k:�@y}=�8S��}=1��}=H������(ƿ��� �}�?��� J}�?����������`�4ƿ������x?�����f�?���@|�������I��?)~=�,�@ ~=I�\;I~=��Cɫ �)� ����I�Y�M��@y�M�uG���=���̼��/�=i�G�@�� �O�@)�O�@I�O�@i�O�@���M?=Y�˺QU�>�����a�G����!y�%�}-�>I�)��5�:��-�5�?��=�:��-�%ؾ� �-snA��=�?9�-�UC��-��: �-��:)�-e�:�WY�WYXa Xa�Wa:W�2W�*W��V�U�U���� �?�?zL1�L1�L1�L5]�u@��U����U�����U�����UQ�� �U8�:Y�UDW1y�UY�:��U�'6�9U@�Am�c<Bi Bi�Amrs>*BuH9�Aq�Au�.7�Au����Aq"C}�)*C���;RC�KO�C��C��̭,>�̭8>Y�y��m���I�yG�~>ܑ9ܑIܕ<pGiܕB�@�ܑ�ܑ�ܑ�ܕ�; ݕE��\8jj,I㨩E�AY}6,�@�}6�*�@y}6�Sb��}6����}6H������eƿ����|�?���`��?���`Ѐ����`�qƿ����@ �?����?J�?���` ����������?)~6,�@ ~6B�\;I~6��Cɫ9�9)�9 �=����I�AY�Yy�YI��4=)��%=��}��������?B`��"۹� ףp= ����}̌>��}�ν �}Q8�)�yI�yy�}��rh��|�?��|?5^������������}��=��}�ҽ��}��� �}� A)�yI�}�Ai�}�A��y��}zAY��QU��>�����a��G����y����}��>Iȩ�ŭ�5�?�ŭ"(ؾ� ƭ{nA����?9ƭVC�ǭ��: ȭ#�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����`��@zL G$>�L G$>�L ���@�L e�u@�A%�'\<B! B!�A!*B%FK9�A)�A-�/7�A-����A)"C5�)*C5���;RC5��q�C1�C9Y�-�>9���(�I�)GMR>��>jj,�����E�AY}6m�@�}6&�@y}6��x��}6����}6H�����uxƿ�����|�?�����K�?�����������ƿ���@&�?�����?��� �T������v��?)~6m�@ ~6�z\;I~6��Cɫ9�9)�9 �9I�AY�}��@y�}�vG����=M�<Y��d�QU�>��!��!�a%�G��!��)y�-�ú}-�>I�1��5�5�?��5b*ؾ� �5�nA��E�?9�5VC��5Ǻ: �5��:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wi�ViUqUu���@�.@zL��L��L��L���u@�A%[ S<B! B!�A%8�>*B%�L9�A)�A-�07�A-����A)"C5�)*C54_�;RC5yۂ�C9�C9Y�-Y?9��e� ����e�����e�����ec�� �e�U:Y�e[1y�eݏ:��eW6��%y��I�QG�]>��nEjj,!���E�AY}6�@�}6�+�@y}62���}6�!��}6H�����Dbƿ���`�|�?���`^��?������������qƿ�����׆?����c�?�����B���������?)~6�@ ~6Tx\;I~6��Cɫ9�9)�9 �9I�9Y����@y��wG��ɮ�a=�!9�!I�%�pGi�%��@��!��!��!��%l; �%E��E��>��E�=��E�νi�E@��A �E��@)�E��@I�En�@i�E��@��U��;MUF=Y�]��QU]�>��Y��a�ae�G��a��ay�mF�:}m�>I�q��}�:��uҀ5�?��}�:��u�,ؾ� �u�nA��}�?9�u%VC��u:�: �uG�:)�uf�:�W��W�X� X��W�:W�2W�*W��V�U�U����@�z@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�u@�A��7H<B� B��A���>*B��M9�A��A��27�A�����A�"C��)*C�[�;RC�%(X�C��Ci� I� I�M@A)�M@AY�mRA9��YI�iG�Z>���Kjj,Q�0��E�A�|i|Y}Bi0�@�}B>�@y}B�����}B����}BH������ƿ����-~�?���`���?��� ������ �,ƿ�����m�?����{��?���@6]���������?)~Bi0�@ ~B:H\;I~B��CɫY�Y)�Y �YI�YY����@y���vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��a��a���ջM�D=Y��I�QU��>������a��G������y����;}��>I�����z|5�?���8/ؾ� ���nA����?9��7VC�����: ����:)���WA�WAXA XA�WA:WA2WI*WI�ViUqUu������ @zL��L��L��L�%�u@�A5u<<B9 B9�A=8�>*B=sK9�AA�AE&37�AE����AA��ea ����e�����e�����e)�� �e�;:Y�e�X1y�e/�:��e!6"C��)*C��ӯ;RC�dy��C��C�Yϝ�C9�֍*:�I��G��>��m�>��mʕCi���mGI�i�9��Rjj,Y�J��E�A��^wR�ٺ\��^�EAɫ1�1)�1 �5���I�1Y�u��@y�u�vG}xDUSBL response received:!U1,P 328,000,004B0,189,80,80,98,FF }Command Ack}BRequesting micromodem ping code 2i�y��y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 -Ponly read 0 of 1 data item for BIT error��%@��%@��%@��Ee��MMA=Y�]���QU]�>��i��q�a}�G��y��y����}��>I������:���x5�?����:����1ؾ� ���nA����?9��HVC����< ���<)��g�:�Wy�W�X� X��W�:W�2W�*W��V�U�U����൹ @zL��L��L��L��A�/<B B�A�>*B%XJ9�A!�A%S47�A%����A!"C-�)*C-��;RC-�ѺC1�C1�99�9I�=hqGi�=6�@��9��9��9��=L; �=�E�֍Β{�I��G �>�e�Xjj,ad��E�AY}6�P�@�}6}^�@y}6:۟��}6�9��}6H������ſ��� ��?�����x�?����������ѱſ����6��?��� ��?���@.�����@��?)~6�P�@ ~6�X\;I~4ɫ1�9)�9 �=����I�9Y�u��@y�}�vG��y��}?A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��������Mb�����Q���T㥛� �?���������� ���=)��I��y���/�$��?�� �rh��{�G�z������=���C������#� ���A)��AI��lAi��A������ A����:M�O=Y�Q�QU�>�����a �G�� �� y��'<}�>I���du5�?��C3ؾ� ��nA��%�?9�SVC����: �'�:)��W!�W)X) X)�W):W)2W)*W1�V1U1U5��� �I@��Ai�Ea=��U� ����U�����U�����U��� �UE>:Y�U]1y�U�:��U��5)�U��;�9]�zLuG�=�LuG�=�LuI�@�Lu� w@�A��� <B� B��A�K�>*B�O9�A��A�Z57�A����A�"C��)*C�u�;RC�w�;C��C��֕?BɺI��G�b>���^jj,�4~��E�A�|�|Y}B=^�@�}B�k�@y}B/ ���}B�)��}BH����`�dſ�������?�����~�?����1����� 8{ſ����k�?�������?����� �����`z��?)~B=^�@ ~B�[\;I~B��CɫY�Y)�Y �YI�YY��7�@y��TvG�xDUSBL response received:!U1,R,39C,000,004B5,189,80,80,72,FF �Fpublishing direction and range info���plN����ɰ�m�=鰡 ��)����BI��y��3B�����6�l &�?������������ٱ����k�M�`=Y���9QU��>�������a��G������y��}�;}��>I������:����r5�?����:����4ؾ� ���nA����?9��]VC�����< ���<)��h�:�W��W�X� X��W�:W�2W�*W��VUU����;@�R5(Combining 5 samples.�P1*Q53B�Z5�D~/7*8@45w9����������Z5��6�l &�?������������2Q5plN�:Q1�Z5�x����<�I��#�3�~L��?�Z5����gs�ŷ���� �� �?BQ5W;o@ Q59��Q5���P5`�9?�P5g�9?�P5����Q5����Q5X�@"Q5 �@zLy�Ly�Ly�L}G,w@�A�q�<B� B��A��|>*B��L9�A��A�Y67�A�e���A�"C��)*C�ra�;RC�:�J;C��C� ��=���=��=��;I�iG�Z>�D�ejj,����E�AY}6[e�@�}6s�@y}6W����}6j���}6H������Hſ���� ��?����nN�?��� p����� #\ſ�����}�?�����~�?���������|��?)~6[e�@ ~6�-\;I~6��Cɫ�髙)�� ��I������>9��I��i��������������.; ���E)�Q�I�Q�i�Q���U�=��U�=��U��X4Y���@y�wG��TNmea in: $SNTTA,0.056247,,,,170645.77*43 ��U���]���]���]f�>��]O�=��]�ҽi�]G�@��Y �]O�@)�]O�@I�]O�@i�]O�@��m&=Mm3=Y�ugV:QUu�>��q��q�a}�G��y��yy� �:}��>Iȁ�Ņ�o5�?�Ņ�6ؾ� ƅ�nA����?9ƅjVC�Dž��: ȅ�:)ȁ�m�uAdded new target pos. range: 34.799999 m, bearing: 214.171441 deg, deltaT: 4.442781 s, approachRate: 0.067525 m/s, LOS rate: -1.290221 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`ffA@U������,�?zL9�L9�L9�L=�@w@��U� ����U�����U�����U �� �U�A:Y�UWU1y�U�:��U*6)�U��;�A���<B� B��A�ׇ>*B�tL9�A��A��77�A�����A�"C��)*C�:Q�;RC�ʤo;C��C��ֵyb];I��G�f>���kjj,�걩�E�AY}6�e�@�}64s�@y}6W���}6����}6H�����cHſ����F��?�����3�?��� �������'Yſ����=��?������?���`����������?)~6�e�@ ~6�E\;I~4ɫI�I)�I �M���I�IY�]:�@y�]�wG���~=M�e=Y��t�:QU��>�����a�G���� y� �`8} �>I���Pm5�?��8ؾ� �|nA��%�?9�tVC���: ��:)��WA�WAXA XA�WI:WI2WI*WI�VIUQUU������?zLq�Lq�Lq�Lu�Dw@�A����;B� B��A���>*B�{R9�A��A��87�A�B���A�"C��)*C��D�;RC��~j;C��C�I�a)�e?A��r��;I�G-->���rjj,7�˩�E�A�|i|�@ɫ�髙)�� ������I��Y���@y��jwG�Í+=�Í�<�Í�T>iÍQ�@�É č1�@)č1�@Ič1�@ič1�@����M�@=Y����QU��>�����a��G����y����}��>Iȹ����:�Žfj5�?����:�Ž�9ؾ� ƽqnA����?9ƽVC�ǽ��: Ƚ��:)Ƚi�:�W��W�X� X��W�:W�2W�*W��V�U�U�����qD�?zL��L��L��L��A����;B� B��A�x�>*B�2M9�A��A��97�A�����A�"C��)*C��3�;RC�C��C�i���I�����5����5����UR ����U�����U�����U�� �U\::Y�UxZ1y�Uq�:��U�6�9]@ܹ9ܹIܽ�qGiܽ��@�ܹ�ܹ�ܹ�ܽ; ݽ�E�ԉ�ԉ�֥ yb];I�� G� �>�h�xjj,�婩E�AY}>tK�@�}>%Y�@y}>�,���}>�C��}>H���� 6�ſ����M��?������?����M�����`�ſ�����چ?����Y�?���@������� K��?)~>tK�@ ~>�"\;I~>��CɫY�Y)�Y �YI�YY�}��@y�}!wG����:��v���?�"��~j�?�~j�t��?����T=���S�= ���D<)��I��y���X9��v��?T㥛� ���������������=���������� ©)�AI� Ai+A�������A���t��M�G=Y��.;QU��>�������a��G������y�����}��>I�����ce5�?��� <ؾ� ��}nA����?9���VC�����: ��Y�:)���W�WX X�W:W!2W!*W!�V!U!U-������?zLE5>�LE5>�LEV��@�LE�o@�A]���;BY BY�A]Ĉ>*Be�N9�Aa�Ae�:7�Ae^���Aa"Cm�)*Cm��;RCu�':Cq�Cq��}Β{;I��G�=>��"jj,�|���E�AY}6L<�@�}6�I�@y}6�����}6+��}6H�������ſ��� �~�?�������?����̅�������ſ�������?�����u�?����=`�����`���?)~6L<�@ ~6�\;I~6��CɫY�Y)�Y �YI�YY����@y��wG��5��M=T=Y�=��:QU=�>��A��A�aE�G��A��Ay�M���}M�>Iȡ����:�ť�`5�?����:�ťI>ؾ� ƥ�nA����?9ƥ�VC�ǥ�: ȥ��:)ȥj�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL�L�L�L��o@�A��z;B B�A��>*BsN9�A�A%�;7�A%���A!"C-�)*C-��;RC-j�7�C)�C1��M�=i�MR=��]� ����]�����]�����]0�� �]�?:Y�]�Y1y�]�:��]�6�օ��9I��G�C>�� �jj,�W��E�A�|�|Y}6�0�@�}6�>�@y}6�����}6_'3��}6H������ƿ����A|�?���@���?���@܃����� +ƿ����"��?����'_�?����Db���������?)~6�0�@ ~6�A\;I~6��CɫQ�Q)�Q �QI�Q�a9�aI�e0rGi�e��@��e=��a��a��e� ; �e�EY��}�@y���wG)�%�= �%�=��m��<��mh���mj��i�m3�@��i �m��@)�mn�@I�mn�@i�m��@��}/E=M�F=Y�[9QU��>�����a��G����y��[�}��>Iș�ŝ�[5�?�ŝ�@ؾ� Ɲ�nA����?9Ɲ�VC�ǝ��: ȝ>�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����b}@zL��L��L��L���o@�A Ć7;B B�A��>*B@O9�A�A==7�Aէ��A"C%�)*C%ء�;RC%��C!�C1 �E�=��E�=��]�rg�I�iG�_>��4�jj,�13��E�AY}6"1�@�}6�>�@y}6�����}6`�&��}6H������ƿ����\}�?���`��?���@݃������)ƿ����|/�?�������?����ܤ��������?)~6"1�@ ~6�\;I~6��Cɫ9�9)�9 �9I�9Y��y�@y���wG��p=ɮ�p=���J��M�U=Y����QU��>�������a��G������y���o8}��>I��� �:���V5�?�� �:���Bؾ� ��nA�� �?9��VC���: ��:)�k�:�W1�W1X1 X1�W9:W92W9*WA�VAUAUM����"a@�R]B*** querying acoustic contact ***�PY�PYzLy�Ly�Ly�L}d�o@�A�|6�:B� B��A�}�>*B�S9�A��A�]>7�A�����A�"C��)*C�Jn�;RC�V�̺C��C����� �������������������� ��S:Y��X1y�/�:��s6�����I�G-->���jj,M��E�Aɫ�髙)�� �����I��Y����@y��xG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 758****** ping requested ******�í��>�í��>�í��=ií��@�é ĭn�@)ĩIĩiĩ���1+<M�==Y�����QU��>�������a��G������y�����}��>I������Q5�?���,Eؾ� ���nA����?9���VC���4�: ��Ǻ:)���W �WX X�W:W2W*W�VUU������ @zL9�L9�L9�L9�AU�*:BQ BQ�AU͔>*BU7P9�AY�A]�?7�A]����AY"Ce�)*Ce�0�;RCaCa�CiIލAA)ލ@A��]NJκI������>9��I���rGi��*�@�����������D���� ; ���EG%�>��F�jj,�f��E�A�|i|�@ɫy�y)�y �}����I�yY��}�@y���wG�xDUSBL response received:!U1,P 39C,000,004B5,189,80,80,72,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �����������_�� �ؠ:Y�y���� 6)��<�9����u�H�z�G�?����Mb�?���Mb����u= >��u< �u�@�)�qI�qy�u�+��η?R���Q���~j�t��?��uv�=��u�½��u�D< �u�A)�u�AI�qi�q��q��u(A�nA�nA��.�M�#=Y�QU��>�������a��G������y��}��>I������:����L5�?����:���NGؾ� ���nA��-�?9���VC���7< ���<)��l�:�W��W�X� X��W:W!2W!*W)�V)U1UU���@R+@zL��>�L��>�L����@�L�H�o@�A���B B�A ��>*B OK9�A �A A7�A ����A"C�)*C�߭;RC^bϺC!�C!Y�E F9��U ����U �� �U ����U ��I�� G�>���jj,$|���E�AY}2EX�@�}2�e�@y}2�[���}2�����}2H����`�|ſ��� ��?���`B�?���@�������:�ſ�����ʅ?����N��?��� ����������?)~2EX�@ ~2�\;I~2��CɫI�I)�I �II�IY��+�@y���xG������i���mGI��i�����I�ٺ����`=A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e@��e@��e@��mO=MmB=Y�u�;QUu�>��y��y�a}�G��y��yy�<<}��>Iȉ�ō(I5�?�ōIؾ� ƍ�nA����?9ƍ�VC�Ǎ��: ȍj�:)ȉ�W��W�X� X��W�:W�2W*W�VUU ����j�@zLA�LA�LA�LE��o@�A}�˺By By�A}��>*B}"U9�A��A�DB7�A�ҧ��A�"C��)*C��ǭ;RC�658;C��C�I��G-N>��9��I��i��������������� ; ���E��3�jj,75���E�AY}Jd�@�}J�q�@y}JRtr��}J����}JH������Nſ����LJ�?����T�?����ˌ������\ſ����?����AN�?���@�R���������?)~Jd�@ ~J�\;I~J��Cɫy�y)�y �}���I�yY����@y��.xG�xDUSBL response received:!U1,R,3A4,000,004B2,189,80,80,9D,FF �Fpublishing direction and range info����5P����ɰ���=鰹 ��)���CI��y��z B����������?ҹ�@���������ٱ�����3�M��=Y��Z�;QU�?�������a��G����y���;}�?I�����F5�?����Jؾ� ��oA����?���i��a=��� ������������������� ��1I:Y��xZ1y��q�:���}6)�� �;9��WC���.�; ��G�;)���WI�WIXQ XQ�WQ:WQ2WQ*WY�VYUYU]����@�R�(Combining 5 samples.�P�*Q�z B�Z���{/�v�7@��m'9����������Z��������?ҹ�@���������2Q��5P�:Q��Z��-��_��<�v�[�A3��=Ψ! �?�Z��E��i���n��q��n������?BQ���n@ Q���Q�����P�^�9?�P�`�9?�P�Q�����Q���@"Q�X�@zL��L��L��L��p@�A �+�B B �A l�>*B uT9�A�AjC7�A����A"C=�)*CE;��;RCE�=k;CA�CII��G�>�"_�jj,����E�A�|�|Y}J�o�@�}J6}�@y}J�a��}J�'*��}JH�����T!ſ���@؇�?��� �!�?����ӎ����@�/ſ��� '^{?��� �"�?�����B������)��?)~J�o�@ ~J�\;I~J��Cɫ�髱)�� ������I��Y���@y���xG��DNmea in: $SNTTA,,,,,170650.19*53 )Ý�= Ý>���p�<M�<=Y���;QU��>�������a��G������y���`;}��>I������:���CB5�?����:���KLؾ� ��"oA���?9��WC�����: ��H�:)��m�:�m5yAdded new target pos. range: 34.620003 m, bearing: 213.815862 deg, deltaT: 4.511422 s, approachRate: -0.039898 m/s, LOS rate: -0.078818 deg/s, posRepo size: 4�W1�W1X1 X9�W9:W92W9*W9�VAUE���@\OA@UE����A�?zLa�La�La�LeF&p@�Au�l�By By�A} �>*B}�S9�Ay�A}�D7�A}G���A�"C��)*C�ز�;RC�K;�;C��C�I��G��=��E�jj,��Ѫ�E�AY}2V{�@�}2��@y}2�]P��}2�1��}2H���� ��Ŀ����2��?�������?����ߐ����@�ſ�����Hv?������?��� E0��������?)~2V{�@ ~2�B\;I~0ɫ9�9)�9 �9I�9Y�}��@y�}�wG��=���=���=���=;�>��=�@���=Y�i�=z�@��9 �9)�9I�=�@i�9��M#�MMT=Y�UR-;QUU�>��Q��Y�a]�G��Y��Yy�e�t;}e�>I�i��m�>5�?��m�Mؾ� �m>oA����?9�m!WC��m�d; �mCd;)�i���� �����������������U�� �� G:Y���Y1y���:����6�9�@�W!�W)X1 X1�W1:W12W1*W1�V9U9U=����I��?zLY�LY�LY�L]�Ap@�A�<���B� B��A�.�>*B�XQ9�A��A��E7�A�����A�"C��)*C�쵭;RC����;C��C��ٱ�ٵnA���0:�:I���9��I���rGi��{�@G�\>������������� ; ���E)���I���i�������=����=������4��o�jj,7�목E�AY}:a��@�}:��@y}:0�A��}:��&��}:H����`C�Ŀ�������?�������?����Ò����`��Ŀ����N�t?��� �4�?���`�Ѥ�������?)~:a��@ ~:��[;I~:��Cɫ9�9)�9 �9I�9Y�}y�@y�}yG����o��ʡ�?���S�ſ�I+������->���/� ��94�)��I��y����V-�?��������:��v���?���h�=����̽����T< ½� A)½+AI½1Ai½A�������AI��@A)�����k�=M�A=Y��$;QU��>�������a��G������y���P;}��>I�����:����:5�?���:���:Oؾ� ��]oA�� �?9��.WC�����: ���:)��n�:�W)�W1X1 X1�W1:W12W1*W9�V9U9U=���@q9�?zL]��=�L]��=�L]���@�L]�<f@�Au�㱻Bq Bq�Auu�>*BuU9�Ay�A}/G7�A}���Ay"C��)*C����;RC���;C��C i� I� ������ *��;I� G- �>��W�jj,���E�A�|i|Y}6R��@�}6��@y}6ʴ0��}6 k��}6H����@'�Ŀ���`��?����,Ӣ?���������� ��Ŀ���`&)t?��� }�?����!,������\��?)~6R��@ ~6��[;I~6��CɫY�Y)�Y �]���I�YY��I�@y���xG��MmA���� �����������������R�� ��B:Y���[1y��H�:����6��MmA��u�@���u�q=��uj��i�u��@��q �q)�qI�un�@i�un�@��}�b�M�A=Y��;QU��>�����a��G����y��K;}��>I������65�?����Pؾ� ��{oA����?9��;WC���a�: ����:)���Wi�WqXq Xq�Wq:Wq2Wq*Wy�VyUyU}���`�W�?zL��L��L��L�oNf@�A���̻B� B��A�s�>*B�[R9�A��A��H7�A�����A�"C�)*Cu٭;RC��<C �C ������;I�G-p>ܥ��>9ܡIܡiܡ�ܡ�ܡ�ܡ�ܥ� ; ݥ�E��jj,p|��E�AY}2���@�}2���@y}2��"��}2�d��}2H�������Ŀ��� ���?�����E�?�������������Ŀ����ʫr?��� �U�?������������@��?)~2���@ ~2�[;I~2��Cɫ9�A)�A �E���I�AY�}��@y�}rxG��A��Md=Y��;QU�>��!��!�a%�G��!��)y�-*:}-�>I�1��=�:��5�35�?��=�:��5�Qؾ� �5�oA��E�?9�5FWC��5��: �5o�:)�5o�:�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqU�U���� ���?zL��L��L��L��Of@�AU T�BQ BQ�AU�>*BU�W9�AY�A]�I7�A]���AY"Ce�)*CmN��;RC��#<C��C� ���=����=�ֽ�� <I��G�G>����jj,�^9��E�AY}B�@�}B��@y}B`Q��}B=$��}BH����`�Ŀ���`r��?����-�?���`-��������Ŀ����^�n?����*�?����zc�����@���?)~B�@ ~B��[;I~B��CɫY�Y)�Y �]����I�YY��[�@y���xG��UQ=MUF=Y�]�:QU]�>��Y��Y�a]�G��a��ay�e$ɺ}m�>I�y��}�/5�?��}�Rؾ� �}�oA����?9�}SWC��}@�: �}M�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U����`�-@����=i����� �����������������E�� ���q:Y��[1y��ݏ:���!6zL��L��L��L�LHf@�A ��B� B��A���>*B�QT9�A��A�K7�A�����A�"C��)*C���;RC��P�;C��C��֝�P�;I��G�A>�ϓ�jj,�2S��E�A�|4<�|4<Y}>߇�@�}>���@y}>�H ��}>���}>H���� ��Ŀ���`/��?���`T�?���@E��������Ŀ����o�b?���@��?��� �������@���?)~>߇�@ ~>L�[;I~<ɫY�Y)�Y �]���I�YY�}��@y�}rxG鮁ɮ�=)Ý�= Ý�=��E�����E��=��E�T>i�EG�@��A �EO�@)�EO�@I�EO�@i�EO�@��U�MUK=Y�]�:QU]�>��Y��Y�a]�G��a��ay�e5�}m�>I�i����:��m,5�?����:��mTؾ� �m�oA����?9�m`WC��m}f; �m��:)�mp�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�h@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�Cf@�A�D� �B� B��A��>*BrS9�A�AHL7�Ab���A"C �)*C��;RC~��;C�C�q9�qI�qi�q��q��q��q��uf ; �u�E�ֽ�r�;I��G=P>�w��jj,Im��E�AY}2���@�}2X��@y}2���}2�-,��}2H����`:�Ŀ����L��?���`��?�����������y�Ŀ�����?P?����C�?���@郥����@���?)~2���@ ~2�\;I~2��Cɫ9�9)�9 �=����I�9Y�}y�@y�}yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���� �����������������S�� ���T:Y���V1y���:����6)���;�9������+����?���������~j�t�h?���v�>����̼ ���D;)��I��y����A`��"�?J+�������Mbp�����=����Ƚ����� ¥�A)¥AI¥� Ai¥�A������\A����=M�4=Y����:QU��>�������a��G������y��i��}��>I������'5�?���WVؾ� ���oA���?9��qWC�����: ���:)���W)�W)X) X)�W1:W12W1*W1�V1U9U=���� @zL]�>�L]�>�L]�.�@�L]�Ys@�Am!��Bi Bq�Auu�>*BuFS9�Aq�Au�M7�Au/���Aq"C}�)*C���;RC�Z��;C��C��ԕmA�ԕmA���[R�;I��G�j>�V��jj,h놫�E�AY}2L}�@�}2���@y}2�f���}2��*��}2H�����S�Ŀ���@m��?���`3��?����������`��Ŀ�����C?������~?����uO�����`���?)~2L}�@ ~2�\;I~2��CɫY�a)�a �iI�iY����@y��IxG�xDUSBL response received:!U1,P 3A4,000,004B2,189,80,80,9D,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��)��AA�Ý�}=�Ýt=�Ý/]�iÝ@�Ù ĝ��@)ĝ��@Iĝ��@iĝ��@��e�;�Me4=Y�ms:QUm�>��i��i�am�G��q��qy�u(�}}�>Iȡ����:�ťM#5�?����:�ť�Xؾ� ƥ�oA����?9ƥ�WC�ǥY�: ȥD�:)ȥq�:�W��W�X� X��W�:W�2W�*W��VUU%��� �� @zLa�La�La�LeMs@�A����B� B��A�ϗ>*B�P9�A��A�O7�A����A�"C�)*C%s�;RC%�Q�;C!�C1Y�I ��9�I9�II�Ii�I��I��I��I��MG ; �MsEI�iG��>����jj,�Ġ��E�AY}2�}�@�}2o��@y}2Lܻ�}2���}2H����`��Ŀ���@���?����G_�?���`��������Ŀ����:�A?����v�{?�����������"��?)~2�}�@ ~2p#\;I~2��Cɫ9�9)�9 �=���I�9Y��6�@y���xG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��!��%nA��U�*=M]�=Y�]�+;QU]?��a��a�ae�G��a��ay�m�;9}m?I�q��ul 5�?��uZؾ� �q��}�?9�u�WC��ub�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U����� �������������������� ��gF:Y��0Y1y����:���`6)����;U������,@zL��L��L��L�UNs@�A�F7%�B� B��AJ�>*B~Y9�A�A-P7�A����A"C-�)*C-V!�;RC5��;C1�C1��]��;I�iG�Z>���jj,�����E�AY}:��@�}:b��@y}:��ͻ�}:N���}:H���� ��Ŀ�������?����!�?���������@��Ŀ�����OL?����*�y?���@1������ x��?)~:��@ ~:X;\;I~8ɫ9�9)�9 �=����I�9Y�}��@y�}{yG�xDUSBL response received:!U1,R,3CD,000,004B2,188,80,80,A1,FF �Fpublishing direction and range info����^Y����ɰ�鰅��> ��)���!CI��y������y�1$�?� 瘢���������ٱ����(=M?=Y��:QU�>�����a�G����!y�%�:}%�>I�)��-N5�?��-A\ؾ� �)��=�?9�-�WC��-��: �-�:)�)�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiU���� G�@�R�(Combining 5 samples.�P*Q�Z��V��7�6@l��#�9����������Z�y�1$�?� 瘢���������2Q�^Y�:Q�Z���|!�[=��XWBqR2�9y���?�Z����"��%w�y���`K�Y�?BQY�l@ Q���Q����P\�9?�P^�9?�P����QQ��@"Q��@zL)�L)�L)�L-�Rs@�A=ٝ,�B9 BA�AEQ�>*BE�V9�AA�AE�Q7�AM����AI"CU�)*CU(�;RCU̻�;CQ�CQ��]l�;I��G�^>�����>����Ci�}�lGI��i����3P�ٺ���CA����jj,hzԫ�E�Aɫ���)�� �����I��Y�M��@y�U�yG��TNmea in: $SNTTA,0.201989,,,,170654.69*45 ����=i���=���A �������������������� ��kM:Y��P^1y����:����6�9�@��585<M=H=Y�=���QU=�>��A��A�aE�G��A��Iy�M���}U�>I�Q��]�:��U`5�?��e�:��UK^ؾ� �Q��e�?9�U�WC��U4�: �U��:)�Ur�:�m�uAdded new target pos. range: 34.620003 m, bearing: 211.968323 deg, deltaT: 4.458590 s, approachRate: 0.000000 m/s, LOS rate: -0.414377 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�UIUU���@��?���>9�I�i���=������* ; �dEzL��L��L��L��A �83�B B �A��>*B�T9�A�AS7�A����A"C=�)*C]�/�;RC]D��;CY�Ca��M[R�;I�YG}�>���jj,LUE�A�|�;�|p;Y}6V��@�}6��@y}6�d���}6���}6H������Ŀ���@���?����(��?���@U������*�Ŀ������������v?���� b�����@'��?)~6V��@ ~6i\;I~6��Cɫ9�9)�9 �=����I�AY����@y���yG����ףp= ��?�&1�������Mb������>����P� ���)��I��y���L7�A`��?�~j�t���:��v���?���+>����Ľ����T< ���A)��I��lAi���A������A��/ML=Y���:QU�>��!��!�a%�G��!��)y�-��;}5�>I�1��5{5�?��5�`ؾ� �5�oA��E�?9�5�WC��5��: �5�:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wq�VqUqUu���@�G�?zL��'>�L��'>�L���@�L��{@�A�V�8�B� B��A�>�>*B�)\9�A��A�CT7�A�H���A�"C��)*C�>�;RC��g�;C��C�����;I��GI>�l�kj,�2��E�AY}N ��@�}NѬ�@y}N�����}N�"��}NH������eĿ�������?����9o�?����0�������hĿ�����N������?v?��� @����� x��?)~N ��@ ~N�\;I~N��Cɫ�髡)�� �����I��Y����@y��-yG-�Ponly read 0 of 1 data item for BIT error���@���@���@���ǼM�R=Y��E9QU��>�����a��G�����y���;}��>���� ������������������� ���V:Y���U1y����:����6I������:����5�?����:���ncؾ� �� pA����?9���WC���A�: ��M�:)��s�:�W�WX X�W:W2W!*W!�V!U!U-���`���?zLA�LA�LA�LE�E{@�A]�>�BY BY�A]b�>*B]�V9�Aa�Ae�U7�Ae/���Aa"Cm�)*Cm�]�;RCu��<Cq�Cqi�yI�y��y��y��y��y��e ���;I�q G� �>�� 9�� I�� i�� ��� =��� ��� ��� ; 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���E�UTNmea in: $SNTTA,0.051819,,,,170704.78*4E ��UC=i�U�=��u�V-��?��MbX���������?��u�m=��u�ʽ �u��<)�qI�qy�u������M�?1�Zd���������?��un>��u"۽��u��< �q)�u+AI�u�Ai�u�A��q��u3A)Í�= É-�Nonly read 0 of 1 data item for altitude���@���@���@���^�M�&=Y��PջQU��>�������a��G������y���J:}��>I������:���W�5�?����:���A�ؾ� ��_qA����?9��$YC��� �< ����:)��}�:�muAdded new target pos. range: 35.340000 m, bearing: 223.447644 deg, deltaT: 10.080185 s, approachRate: 0.071427 m/s, LOS rate: 1.138801 deg/s, posRepo size: 4�W�WX X�W:W2W*W!�V!U%��� ��A@U%�������?zL��8>�L��8>�L�w��@�L�Ky{@�A��K)�B� B��A�*�>*B��P9�A��A��r7�A��ź�A�"C��)*C����;RC���<C��C����������� �������I�� G� �>�]��kj,˺t��E�AY}F�5�@�}F^C�@y}F�����}F(���}FH����@�¿���`���?����%k�?��� �������&¿�������?�������?����\���������?)~F�5�@ ~F��];I~F��Cɫ�髙)�� �����I��Y��7�@y���wG�����;M�r=Y�����QU�?�������a��G������ ��������������9�� ��?:Y��]1y���:��� 6)�ɚ;�9 ��� y��\;}?I�����5�?����ؾ� ��qA��%�?9�4YC��'�: �w�:)��WA�WIXI XI�WI:WI2WQ*WQ�VQUQU]�������?zLq�Lq�Lq�LuЈ{@�A���*�B� B��A�R�>*B��X9�A��A��s7�A��ƺ�A�"C��)*C�C�;RC���<C��C�I��GU>��z�kj,h����E�AY}2K�@�}2�X�@y}2ʷ��}2����}2H���������������?����@��?������������������宑?�������?�����8�����`���?)~2K�@ ~2f�\;I~0ɫy�y)�y �yI�yY����@y��FwG��m���m���m���m~*?��m�R���m�i�m�@��i �mn�@)�mn�@I�m��@i�mn�@��}V��M�Q=Y�\�QU��>�����a��G����I��AA)��AAy�-��;}-�>I�1��=�:��5t�5�?��=�:��5��ؾ� �5�qA��=�?9�5FYC��5�: �5�:)�5~�:�Wa�WaXa Xa�Wa:Wi2Wi*Wi�VqUqUu���@Hk�?zL��L��L��L��{@�A��,�B� B��A���>*B��Q9�A��A��t7�A�oǺ�A�"C��)*C����;RC��;�<C��C�I��G�>� �>9� I� 0rGi� ��@�� �� �� �� ; 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X!�W!:W)2W)*W)�V)U1U5������@�R�B*** querying acoustic contact ***�P��P�zL���=�L���=�L�Q��@�L��@�A�4�B B �A v�>*B �N9�A �A *x7�A 2ʺ�A "C�)*Cb�;RC � =C�C��%���<I�1GM�>���kj,����E�A�|�;�|�;Y}6���@�}6f��@y}6]���}6���}6H����`�A�����@���?����K �?����o�������\������ޔ�?����˗?����(����������?)~6���@ ~6��\;I~6��Cɫ9�A)�A �E���I�AY��y���Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I�)�4=)� �= � >Y���:QU%?��!��!�a%�G��)��)y�5g�;}5?I�9��=٭5�?��=x�ؾ� �=7rA��M�?9�=~YC��=��: �= �:)�9�Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U������d@zLY�LY�LY�L]�B@�A}O�7�B� B��A�*B�hV9�A��A�+y7�A��ʺ�A�"C��)*C�J+�;RC���=C��C���mG�=I�qG�>����kj,���E�AY}F���@�}Fi��@y}F�����}F���}FH������)������Ÿ�?���@��?����4������IB������f�?���@�?����㔡��������?)~F���@ ~F��\;I~F��Cɫ�髁)�� ������I��Y����@y���vG�xDUSBL response received:!U1,P 2FF,000,004BE,189,80,80,9D,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 ���� �������������������� �(U:Y��Y1y��:��6�9�@��=�=��=�O>��=�|>i�=��@��9 �=n�@)�=n�@I�=n�@i�=ٮ@��lp�M��<Y���8QU��>�������a��G������y����:}��>I������:���(�5�?��%�:�����ؾ� ��?rA��%�?9���YC�����; ��1�;)����:�W��W�X� X��W�:W�2W�*W��V�U�U����`"w @zL��L��L��L�N@�A [�;�B B �Aq�>*B�M9�A�A[z7�A�̺�A"C-�)*C5e�;RC5CR=CQ�Ca խ�>�ԭ�=�֭V� =I��G��>��9��I��i���������������; ����E����kj,��)��E�AY}2L��@�}2���@y}2�����}2�%��}2H���� |�����@���?�����G�?���������� �3������]ȓ?���`�=�?�����⠿��� ?��?)~2L��@ ~2��\;I~0ɫY�Y)�Y �YI�YY����@y���vG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��I�<M�p=Y��p��QU�?�������a��G������y��C�:}�?I�����R�5�?����ؾ� ��DrA����?9���YC�����: ��8�:)���W�WX X�W:W2W*W!�V!U!U%��� } @zLA�LA�LA�LE�T@�A]"�?�BY BY�A]8�>*B]�U9�Aa�AeT{7�Ae�̺�Aa"Cm�)I�u@A)�q*Cu]0�;RCu&�=Cq�Cyi�yI�y�́�́��M ��=I�Y G} �>����kj,�C��E�A�|i|Y}J|��@�}J-Ȓ@y}J'�ļ�}J�� ��}JH������������0��?����ࡢ?���@E��������������?�������?��� @9���������?)~J|��@ ~J�a\;I~Hɫ�髹)�� ��I��Y��M�@y��pvGxDUSBL response received:!U1,R,2C9,000,004BE,189,80,80,86,FF Fpublishing direction and range info���&I����ɰ��� ��)���CI��y�������������?m�������������ٱ���A��A��M�MMR=Y�MFv�QUU�>��Q��Q�a]�G��Y��Yy�e��:}e�>I�i��u�:��m5�5�?��u�:��m��ؾ� �mJrA��}�?9�m�YC��m�; �m�;)�m��:�WI�WQXQ XY�WY:Wa���� �����������������L�� ��?:Y�0Y1y���:���62Wi*W��V�U�U������8@�Rm(Combining 5 samples.�Pq*Qq�Zu�* {j��<@��aP�4����������Zu��������?m�������������2Qu&I�:Qq�Zu�,��)�8����7�9���r�!�?�Zu��&����fZ�ϟq�pv;�$ �?BQu��}@ Qu ��Qu���Puf�9?�Puc�9?�Pu����Qu����Qu��@"Qu��@zL��L��L��L�5a@�A�:UD�B� B��A�{>*B�,N9�A��A�p|7�A��ͺ�A�"C��)*C��]�;RC�b�=C��C���l�=I�G%n>�N �kj,8�]��E�AY}U�Ě@�}U`Ғ@y}U#!ʼ�}U�6��}UH����ུ������X��?�����p�?��� j�����`7��������V�?���`|C�?����5�����@���?)~U�Ě@ ~U"8\;I~U��Cɫi�i)�i �iI�i�}�>9�yI�}�qGi�}��@��y��y��y��}�; �}��EY���@y��'vG�TNmea in: $SNTTA,0.068851,,,,170708.83*40 ai-@a��- am-@a��- aq-@a��- ae-@a��- ��-�-�����?���Mb�?�I+��?��-5^>��-�@= �-94<)�)I�)i�-�����Mb@�����Mb@�����Mb@���-©�-���-� �-��@)�-��@I�-l�@i�-l�@��-������-��@�Íj�<�Í+�=�Í���iÍ��@�É ĉ)ĉIĉičn�@��hv�M�*=Y����QU��>�����a��G����y��);}��>Iȹ�Ž��5�?�Ž}�ؾ� ƽRrA��%�?9ƽ�YC�ǽY]< Ƚ�>)ȹ�muqAdded new target pos. range: 35.340000 m, bearing: 227.153814 deg, deltaT: 4.073999 s, approachRate: 0.000000 m/s, LOS rate: 0.909713 deg/s, posRepo size: 4�Wq�WqXy Xy�Wy:Wy2W�*W��V�U�U�����%8�?�A���I�B� B��A�x>*B��M9�A��A��}7�A��κ�A�"C�)*C���;RC��=C�C!�� ��=I�G5�>�J0�kj,/Qw��E�AY}V�ʚ@�}Vjؒ@y}V��ͼ�}V9&��}VH����`�����������?�����,�?���������@�¿����``�?���� ��?����澤����`���?)~V�ʚ@ ~V�R\;I~V��Cɫq�y)�y �}���I�yY����@y���uG�� ��M�s=Y�_��QU�?�����a��G����y��;}�?Iȩ�ŭâ5�?�ŭ�ؾ� ƭXrA����?9ƭ�YC�ǭ�: ȭ�Q?)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����@�V�?�A%hO�B! B)�A-nm>*B- R9�A)�A-]~7�A5�Ϻ�A1"C5�)*C='a�;RC=�] =C9�C9��m�=i�i��}4 ����}�����}�����}��� �}�7:Y�}xZ1y�}q�:��}6��YI�iG�9>i�m HmGI�� i�� �� �H�ٺ �� �<A���kj,c&���E�A�|�|Y}6�ɚ@�}6�ג@y}6��μ�}6C�'��}6H������������@���?���@j�?���������@�ʿ������z�?�����ޙ?���`p����������?)~6�ɚ@ ~6#`\;I~4ɫY�Y)�Y �YI�YY��`�@y��LuG)��= ��=��=@��=@��=@����M�K=Y�/ԹQU��>�����a��G����y����}��>Iȩ����:�ŭ��5�?����:�ŭ��ؾ� ƭ_rA����?9ƭ�YC�ǭ�: ȭ|�?)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?�A%�wU�B) B)�A-�a>*B-~L9�A)�A5L7�A5�к�A1"C=�)*C=�x�;RC=��=C9�CA�օ��=I��G�=>�y9�yI�}hqGi�}6�@��y��y��y��}�; �}��E��B�kj,� ���E�AY}J[@�}JВ@y}J�^ȼ�}J�-��}JH�����Bǿ��������?���`Q�?���`+������[���������?��� 4�?�����������`���?)~J[@ ~J�n\;I~J��Cɫ�髱)�� ��I��Y����@y��~uG��uK<MuL=Y�u�;QU}�>��y��y�a}�G��y��y���}��>Iȑ�ŕc�5�?�ŕ6�ؾ� ƕerA����?9ƕ�YC�Ǖ�: ȕ��?)ȑ�Wa�WaXa Xa�Wa��}x ����}�����}�����}��� �}d=:Y�}�W1y�}č:��}r6)�}ۘ;�9��:Wa2W�*W��V�U�U�����}e�?�A��[�B� B��A��f>*B��L9�A��A�#�7�A��Ѻ�A�"C��)*C���;RC�Ha=C��C������� ���������I�YG�{>��(�kj,�į�E�AY}2鳚@�}2���@y}2g{���}2�2��}2H���� ����� ��?�����&�?�����������U6����� $��?�����.�?���@#ġ��������?)~2鳚@ ~2_d\;I~0ɫ9�9)�9 �=����I�9Y����@y���uG���;M�G=Y��;QU��>�������a��G������y�e���}m�>I�i)�m@AI�q��u�5�?��u��ؾ� �ulrA����?9�u�YC��u��: �u�@)�q�W��W�X� X��W�:W�2W�*W��V�U�U���� ���?�A��ya�B� B��A�1j>*B�tM9�A��A���7�A��Һ�A�"C��)*C���;RC��\=C��C�I�G->��U�kj,��ޯ�E�A�|Xi|Z�@Y} ꢚ@�} ���@y} #C���} ���} H����`t`�����@���?������?��� f������#x�����`ڑ�?������?����8������@o��?)~ ꢚ@ ~ �\;I~ �9�I�qGi���@��������; ���E)݉�I݉�i݉��݉��݉��ݍ�SB4ɫq�q)�q �yI�y��u ����u����u����u��� �u�4:Y�u�T1y�u��:��ui6)�u|�;Y��z�@y�-luGai��ai� am��am� aq��aq� ae��ae� �������S��?�����������x�&�?����>����L� ��7�=)��I��y������S㥻?�ʡE��/�$��?���/�=��������,= � A)EAIM AiEA���������(A�¥nA�¡��-���-���-���-�=��-Ga���-t<i�-�@��) �))�-O�@I�-O�@i�)��=�ME=Y�E�9QUE�>��I��I�aM�G��I��Iy�Uׇ�}u�>I�y����:��}��5�?����:��}��ؾ� �}�rA����?9�}�YC��}��: �}�:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U����@@�R�B*** querying acoustic contact ***�P��P�zL�(>�L�(>�L^��@�LT�p@�AU��g�BQ BQ�AUe>*BU�I9�AY�A]'�7�A]PԺ�AY"Ce�)*Ce��;RCeh�=Ca�CiI��G��>��|�kj,����E�AY}FŘ�@�}Fv��@y}F/ż�}F�#��}FH���� ��������$��?��� �6�?���`�������+������� �?���@J��?����r ���� =��?)~FŘ�@ ~F��\;I~F��CɫY�Y)�Y �YI�YY��U�@y��>uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��p=ɮ�p=��-]��M-�=Y�-V�QU5%?��9��9�a=�G��9��Ay�E���}M%?I�Q��U��5�?��U��ؾ� �UsA��e�?9�U�YC��UU; �U�;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@%@zL��L��L��L�Έp@�A�$(n�B� B��A�x`>*B��S9�A��A���7�A�պ�A�"C��)*C�lt�;RC�k�=C��C�I��G�>��flj,u��E�Aɫ�髹)�� �����I��Y��Q�@y��:uGxDUSBL response received:!U1,P 2C9,000,004BE,189,80,80,86,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 ���i���=�������������������� �'0:Y�xZ1y�q�:��{�5�9@�� ��=�� ��;�� X>i� �@�� � �@)� �@I� �@i� �@��%�k�M%#=Y�-���QU-�>��)��)�a5�G��1��1y�=���}=�>I�A��EG�5�?��E��ؾ� �EhsA��M�?9�EZC��Eb�: �E8�:)�A�W��W�X� X��W�:W�2W�*W��V�U�U�����<D @zL�L�L�L�A- �t�B1 B1�A5`>*B5HI9�A1�A]�7�A]�ֺ�AY"Ce�)*Ce���;RCe��=Ci�Cq�5�>9�1I�5�pGi�5��@��1��1��1��5k; �5}�E�֭��=I��G��>�P� lj,�J,��E�A�|�|Y}6̚@�}6�ْ@y}6?�ȼ�}6����}6H�����0z��������?��� ��?���@]������벿���� e�?������?�����N���������?)~6̚@ ~6�];I~4ɫ9�9)�9 �=����I�9Y�}��@y�}�tG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I��=)��=)��= ���5h�M=�=Y�=n��QU=?��A��A�aE�G��A��Ay�M��<}M?I�����:�����5�?���:���9�ؾ� ���sA�� �?9��ZC�����: ��b�:)����:�W)�W1X1 X1�W1:W12W1*W9�V9U9U=���@9�@zLY�LY�LY�L]��p@�Auy�{�Bq Bq�Au�U>*BuO9�Aq�A}p�7�A}��Ay"C��)*C���;RC���%=C��C��֍G�=I��G�>��vlj,)$F��E�Aɫ���)�� ��I��Y���@y��tG=xDUSBL response received:!U1,R,344,000,004BC,189,80,80,79,FF EFpublishing direction and range info��5��:���1ɰ5��=�1 �1)�5��BI�1y�5�B��5�U>�~���?�S,�;T���������ٱ1�ÝO�=�Ý\��Ý�ļiÝ��@�Ù ĝn�@)ĝn�@Iĝn�@iĝ��@��S�M�5=Y����QU��>�����a��G����y����}��>I������5�?���r�ؾ� ���tA����?9��"ZC�����: ���:)���W��W�X� X��W�:W�2W�*W��V�UU���@�@�R(Combining 5 samples.�P*Q�B�Z� 6EPsA:@B9��y7����������Z�U>�~���?�S,�;T���������2Q��:�:Q�Z�`~���:�g�F$7�&7i��r�?�Z�l؛�2迋o֥忦�AX6�?BQ<�v@ Q"��Q���P^�9?�Pf�9?�P����Q������=�����=�����=�����=��� �=�2:Y�=0Y1y�=��:��=��5Q��@"Q��@zL��L��L��L��A�3���B� B��A�R>*B��I9�A��A��7�A��غ�A�"C��)*C����;RC��!=C��C����=I�!G=r>�դlj,�`��E�AY}j��@�}j�+�@y}jϸ��}j��!��}jH������_����J��?����:f�?����e�����`&������\�?����a�?���@8���������?)~j��@ ~j��];I~j��Cܹ9ܹIܽ<pGiܽB�@�ܹ�ܹ�ܹ�ܽW; ݽs�Eɫ���)�� ��I��Y�=]�@y�EHuG��DNmea in: $SNTTA,,,,,170712.88*5C ����+�����?i��|?5������MbP?����>����� ���:)��I��y�����~j�t�?sh��|?��{�G�z�?�����=����������#= ¥ A)¥�AI¥ Ai¥dA������A����=M�H=Y��?�;QU��>�������a��G������y����<}��>I������:����5�?����:�����ؾ� ��KtA����?9��-ZC�����: ����:)����:�myAdded new target pos. range: 35.220001 m, bearing: 221.123222 deg, deltaT: 4.028441 s, approachRate: -0.029788 m/s, LOS rate: -1.497004 deg/s, posRepo size: 4�WI�!)�%?A�WX) X)�W):W)2W)*W1�V1U5����)�A@U5�����*�?zLU��=�LU��=�LUs��@�LU]zq@�Am�τ�Bi Bi�Amea>*BmNM9�Aq�Au[�7�Au*ں�Aq"C}�)*C}� �;RC}�rG=C��C��ԕmA�ԕmA�֕ȿ=I��G�a>�^�lj,��y��E�A�|i|ɫ���)�� ��I��Y�5�@y�5�tG�¡�¥nA����мM�[=Y�����QU��>�������a��G������y�����}��>I�����;�5�?���R�ؾ� ���tA���?9��8ZC����: ��Ǻ:)���W)�W)X) X)�W):W12W1*W1�V1U9U=������?zLQ�LQ�LQ�LQ��5 ����1��1��5 �� �5$4:Y�1y�1��5�6�Am/ ��BA BA�AE�W>*BE�L9�AI�AMɃ7�AM_ۺ�AI"CU�)*CU6c�;RCUT�B=CQ�CY��]4|E=I�iG�9>��$lj,l����E�AY}2�E�@�}2{S�@y}2�C���}2�^��}2H������������ ��?���@cF�?����K��������������?����"(�?�����I������/��?)~2�E�@ ~2Co];I~2��Cɫ9�9)�9 �=���I�9Y�]��@y�ehtG��������=��= �i���@�� �9�@)�O�@I��@i�9�@��%��M%V=Y�%�;QU-�>��)��)�a-�G��)��1y��I<}��>Iȩ����:�ŭG}5�?����:�ŭ��ؾ� ƭ�tA����?9ƭCZC�ǭo�: ȭ#�:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`���?zL�L�L�LV�q@�A-͊�B) B)�A-�J>*B5�J9�A1�A53�7�A5�ܺ�A9"C=�)*CE��;RCE+6U=CA�CA��%��G=I�1GM1>ܹ9ܹIܽ�oGiܽ��@�ܹ�ܹ�ܹ�ܽA; 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>*B-�E9�A)�A-7�A5��A1"C5�)*C= ��;RC=��`=C9�C9 �m�=��m�=��u�c=I��G�>�TDXlj,��b��E�A�|(�|(� 9� I� HnGi� ��@�� �� �� �� � ; � E�EY}-�g�@�}-�u�@y}-����}-�9��}-H����`�����������?����vk�?����d�������ɺ�����x`�?��� �?����T������`���?)~-�g�@ ~-]�[;I~)ɫ� )� � ����I� Y��&�@y���rG�xDUSBL response received:!U1,R,2EA,000,004C6,189,80,80,46,FF �Fpublishing direction and range info���s�&����ɰ�6�=鰩 ��)����BI��y��GB�����#�Ƅt�?����Ad���������ٱ���dNmea in: $SNTTA,0.037828,0.280833,,,170717.31*5F ��u�u�V�?T㥛� ���� �rh�?��urh>��u� �uC�<)�qI�qy�u���(\�µ?���Mb������Mb�?��u�=��u�����u= �u�A)�udAI�u� Ai�q��q��u�A)Í�= É��Y�M�H=Y�3�:QU��>�����a��G����y��M:}��>Iȱ�ŵ+b5�?�ŵ��ؾ� ƵvA����?9Ƶ�ZC�ǵ?�: ȵH�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������@�R�(Combining 5 samples.�P�*Q�GB�Z�����m~<@�6�ݴ5����������Z���#�Ƅt�?����Ad���������2Q�s�&�:Q��Z���Li�8�����V:�v������?�Z����qш��<�c\�H翏�]����?BQ�B}@ Q����Q�K���P�b�9?�P�^�9?�P�����Q�����Q���@"Q���@zL%�>�L%�>�L%UR�@�L%��q@�A]3'��BY BY�A]�>*B]�D9�Aa�Ae�7�Ae���Aa"Cm�)*Cm Z�;RCm�b=Ci�Cq��e�(a=I�qG�}>�^g^lj,�i|��E�AY}6�p�@�}6l~�@y}6�E���}6۫��}6H������^�����@���?�����l�?��� i����������������?������?���������������?)~6�p�@ ~6��[;I~6��Cɫ9�A)�A �AI�AY��*�@y���rG��Q�:M�]=Y��;QU��>�����a��G����y��=;}��>I������:���_5�?����:�����ؾ� ��LvA��M�?9���ZC����< ����<)����:�m}qAdded new target pos. range: 35.820000 m, bearing: 226.728580 deg, deltaT: 4.471299 s, approachRate: 0.134189 m/s, LOS rate: 1.253631 deg/s, posRepo size: 4�Wy�WyXy X��W�:W�2W�*W��V�U�������A@U�����?��?zL��L��L��L�μq@�A�S���B� B��A� >*B�/F9�A��A�e�7�A����A�"C��)*C����;RC�E6f=C��C���e ����e�����e�����e��� �e5:Y�eDW1y�eY�:��ei�5��B�a=I�9GuX>��Pelj,�K���E�AY}6�y�@�}6k��@y}6��{��}6����}6H�����_������E��?���`���?���`^�����@�8������-��?���`�z�?��������@k��?)~6�y�@ ~6 �[;I~4ɫ9�9)�9 �9I�9Y�u��@y�}rG��=�#?��=t=��=��i�= �@��9 �=�@)�=3�@I�=�@i�=�@��M��MMO=Y�U�>:QUU�>��Q��Q�a]�G��Y��Yy�e�6;}e�>I�a��e�[5�?��e1�ؾ� �e�vA��u�?9�e�ZC��e��: �e8�:)�a�W��W�X� X��W�:W�2W�*W��V�U�U������|�?zL��L��L��L�l�q@�A�(��B� B��A�>*B�D9�A��A���7�A�g��A�"C��)*C�xN�;RC�A�i=C��C����nAI�A)�A��Gj=I�)GM0>� �>9� I� �mGi� �@�� =�� �� �� � ; � 8�E� zklj,#���E�A�|i|Y}>�@�}>���@y}>��|��}>1���}>H��������������?�������?��� L������Y���`�?����族?����[9�����`���?)~>�@ ~>[;I~<ɫY�Y)�Y �aI�aY��m�@y���qG��}nA��y���ݼM�D=Y��U�QU��>�������a��G������y��L0;}��>I�����X5�?�����ؾ� ���vA�� �?9���ZC�����; ����;)���WA�WAXI XI�WI:WI2WQ*WQ�VQUQUU��� ���?zLq�Lq�Lq�Luw�q@�A��6��B B �A n>*B �A9�A�A��7�A���A"C�)*C%U)�;RC%U�m=��]�����]�����]�����]��� �]�/:Y�][1y�]ݏ:��]�6)�]��;�9m�C!�Cq�֝X�h=I��G�h>�Merlj,_ʱ�E�AY}~���@�}~���@y}~G�q��}~���}~H�����kf�����@���?����0٢?�����������.��������φ?��� �2�?�����0�����@���?)~~���@ ~~y[;I~~��Cɫ���)�� ��I��Y� ��@y� 8rG���7 >���(\>����ʽi��@��� ���@)����@I���@i���@�� % =M E=Y� &�:QU�>�����a�G����y�X{;}�>I�!��-�:��%�T5�?��5�:��%��ؾ� �%wA��5�?9�%�ZC��%�: �%�:)�%��:�WQ�WYXY XY�WY:WY2WY*Wa�VaUaUm������?zL��L��L��L���q@�A��ޢ�B� B��A��>*B��C9�A��A�H�7�A����A�"C��)*C���;RC���s=C��C�����hp=I��GI>�y�xlj,��㱩E�AY}2���@�}2���@y}2]&h��}2�#��}2H��������������?���`V�?���@�������v$������7��?������?�����b���������?)~2���@ ~2�k[;I~2��C��RnA��RoA�T9�TI�VmGi�V��@��T��T��T��V� ; �V/�EɫY�Y)�Y �]���I�YY����@y���qG�� �<�O��n�?���S㥛�X9��v��?�� t�<�� /ݼ � ��<)� I� y� ���ʡE�? ףp= ��y�&1��?�� -�=�� Q���� `�< � KA)� �AI� �Ai� �A�� �� �A��5쇼M=H=Y�=��:QU=�>��A��I�aM�G��I��Qy�Uqj;}]�>I�a��e=Q5�?��e~�ؾ� �e:wA��}�?9�e�ZC��e�; �e;)�a�W��W�X� X��W�:W�2W�*W��V�U�U�����Ѫ�?zL�Y>�L�Y>�L� c�@�L��0t@�A��0��B� B��A�� >*B��B9�A��A���7�A�D��A�"C��)*C����;RC�x=C��C� ��=��>���i���=������������������������ ��,*:Y���Y1y���:���6)��@�;�����r=I� G%M>���~lj,�����E�A�|�|Y}2D��@�}2���@y}2��]��}27���}2H����`��������q��?����N�?����������@fڸ����`� �?����b��?���@�P������j��?)~2D��@ ~2ͥ[;I~2��Cɫ9�9)�9 �=���I�9Y����@y��"qG��u�`�MuW=Y�}��:QU}�>��y���a��G����y�hD;}��>Iȑ����:�ŕ)N5�?����:�ŕ#�ؾ� ƕmwA����?9ƕ[C�Ǖ��: ȕG�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� ��@zL��L��L��L�Jt@�A��8��B� B��A��=*B��@9�A��A�ӈ7�A����A�"C��)*C��k�;RC�eT|=C��C����=i���mGI��I��i����-R2�ٺ)��-u'AG=r>����lj,T���E�Aɫ�髙)�� ������I��Y����@y��rG�å����åY��å�u=iåf�@�á ĥ1�@)ĥ��@Iĥ��@iĥ��@���[=M�F=Y�����QU��>�������a��G������y�����}��>I������J5�?�����ؾ��� tI ���wA���?9��[C���ظ; ��FL;)���WI�WIXQ XQ�WY:WY2WY*Wa�VaUaUe����f9@�RuB*** querying acoustic contact ***�Pq�PqzL �L �L �L �A%�/��B! B!�AE:>*BMsB9�AI�AM"�7�AMw��AI"CU�)*CU�M�;RCUv�{=CY�CY��� ����������������� �� ��"6:Y��0Y1y����:���*6�9�@Y�]�L9ܡ9ܥr�CIܥTlGiܥ�@�ܥ=�ܡ�ܡ�ܥ� ; ݥ(�E��mGBb=I�yG��>��Njlj,nh1��E�AY}2e��@�}2��@y}2ڊR��}2����}2H�����x\������P��?����s\�?����%�����`�x���������?����+Q�?�����ң����@.��?)~2e��@ ~29)\;I~2��CɫY�Y)�Y �]���I�YY���@y��=qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���P�M V=Y� ��:QU �>�����a�G����y�%y;}%�>I�)��5�:��-�G5�?��=�:��-��ؾ� �-�wA��=�?9�-[C��-u*; �->+;)�-��:�WI�WQXQ XQ�WQ:WQ2WY*WY�VYUaUe�����t @zL��L��L��L�-gt@�A ���B B�A��=*B�@9�A�Ad�7�A���A"CM�)*CMt�;RCM��=CI�CQ�ԉ�ԍmAI��)����}�W�=I��G�^>�|��lj,}XK��E�A�| i| Y}B鸛@�}B�Ɠ@y}B�X��}B���}BH������ ������f��?���@�ã?����������`*=���������?���`��?��� '6���������?)~B鸛@ ~B��[;I~B��CɫQ�Q)�Q �U����I�QY����@y���pG�xDUSBL response received:!U1,P 2EA,000,004C6,189,80,80,46,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������-��=��-;�=��-/�i�-ף@��) �-ƣ@)�-ƣ@I�-ƣ@i�-ƣ@���a�M�&=Y��H�QU��>������ �����������������?�� ��@:Y���X1y��/�:���| 6���a��G������y����:}��>I������C5�?�����ؾ� ��xA����?9��+[C�����; ���;)���W��W�X� X��W�:W�2W�*W��V�U�U������K @zL)�L)�L)�L-�qt@�A��͢�B� B��A���=*B��>9�A��A���7�A�����A�"C��)*C�8g�;RC �Y�=C�C��e Pڀ=I�� G� �>�}٘lj,&e��E�A�& �>9�$I�&�kGi�&Ŀ@��$��$��$��&� ; �&!�E)����I����r�Ci���������=�����=�����5Y}F{ɛ@�}F,ד@y}Fc{d��}FЂ��}FH����@��������T��?�����#�?��� H�����`)������@(��?����/��?���@َ���������?)~F{ɛ@ ~Fï[;I~F��Cɫy�y)�y �}���I�yY��=�@y��5pG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5�:��v���?{�G�z��/�$�����5��=��5ף� �5,�)�1I�1y�5���MbX�?:��v����L7�A`�?��5��=��5�Խ��5+= �1)�5�AI�5fAi�5dA��1��53A��My^�MMd=Y�U��QUU�>��Y��Y�a]�G��Y��Yy�e��;}e�>I�i��mT@5�?��m��ؾ� �mPxA��u�?9�m7[C��m��: �m�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U�����F�@zL��>�L��>�L�$$�@�L��t@�A� ���B� B��A��=*B�,?9�A��A�7�A�*���A�"C��)*C�I��;RC��&�=C��C����xr�=I� G%M>���lj,Y�~��E�AY}2�ޛ@�}22�@y}2��w��}2����}2H����`��������I��?��� U�?��� ����� a������/�?����d�?��� Or���������?)~2�ޛ@ ~2g�[;I~2��CɫY�Y)�Y �YI�YY��j�@y��lpG�xDUSBL response received:!U1,R,2D1,000,004C0,189,80,80,5B,FF �Fpublishing direction and range info����!����ɰ�:�=鰡 ��)����BI��y��� B�����+F8C��?�y.�����������ٱ����Fz<M�f=Y��UW�QU��>�������a��G������y����;}��>I������:����=5�?����:���R�ؾ� ���xA����?9��D[C����0; �� B;)����:�WA�WAXI XI�WI:WI2WQ*WY�VYUYUe�����q@�R}(Combining 5 samples.�P�*Q�� B�Z��ژHg�<@8R.�4����������Z���+F8C��?�y.�����������2Q��!�:Q��Z��#��8W7��X�I�:��`C����?�Z���N=� T��p��[�?BQ�Δ@ Q�Z��Q�����P�d�9?�P�b�9?�P�����Q�����Q�V�@"Q���@zL��L��L��L��5t@�A��\��B� B��A��=*B��>9�A��A��7�A�����A�"C��)*C�$��;RC���=C��C� �,>���=����=i���=�� � ���� ����� ����� �� � �>:Y� �V1y� �:�� �6��)��=I�)GEQ>���lj,$E�A�|,�|,ɫ � )� � ����I� Y�ES�@y�MPpG��DNmea in: $SNTTA,,,,,170721.75*5E )���= ��>��zԾ��I>����>i���@�� �K�@)�I��@i���7��M�0=Y����QU��>�����a��G����y����}��>Iȹ�Ž�85�?�Ž��ؾ� ƽ�xA����?9ƽU[C�ǽk�: ȽA�:)ȹ�m�uAdded new target pos. range: 35.460003 m, bearing: 228.808250 deg, deltaT: 4.364686 s, approachRate: -0.082479 m/s, LOS rate: 0.476476 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W�VU���`�A@U�����+�?zL!�L!�L!�L!�A5b)��B9 B9�A=��=*B=E=9�AA�AEE�7�AE]���AA"CM�)*CM���;RCM��=CI�CQi�QI�Q��Y��Y�99�9I�=�kGi�=s�@��9��9��9��=� ; �=�E��5 ���=I�A G] �>���lj,⯲��E�AY}:��@�}:q�@y}:�Ʌ��}:N���}:H���� <�������+��?����\�?���@������`�ɵ����@E��?������?���`=����������?)~:��@ ~:�[;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�oG���>�M�^=Y��X�QU��>�����a��G����y��c<}��>I������:���/55�?����:�����ؾ� ��yA����?9��c[C���5; ��;;)����:�W9�W9X9 X9�WA:WA2WA*WI�VIUQUU����2��?zL��L��L��L��t@�A����B B!�A%S�=*BE�;9�AI�AMr�7�AM����AI"CU�)*CU��;RCU>�=CY�CY��=? ����=�����=�����=-�� �=�8:Y�=0Y1y�=��:��=�6)�=�;�9M���yI��G�^>����lj,��̲�E�AY}6%�@�}6�!�@y}6<V���}6����}6H����@xI��������?��� ���?������������m������P�?����� �?����%���� ���?)~6%�@ ~6ۚ[;I~6��CɫY�Y)�Y �YI�YY��6�@y���nG��Mt�>��M��>��M�H�i�M=�@��I �Mƣ@)�M��@I�M��@i�M��@���2�M�J=Y�d�:QU��>�����a��G����y�c;}��>Iȱ�ŵu15�?�ŵ��ؾ� ƵJyA����?9Ƶq[C�ǵ��: ȵ:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�L8�t@�A5���B1 B1�A5rr=*B5�99�A1�A=��7�A=Z���A9"CE�)*CE���;RCE�\�=CA�CI��Y��Y��ef��=I�qG�9>�E �>9�AI�E�jGi�EѾ@��E=��A��A��E� ; �E�E�(�lj,�g沩E�AY}6%�@�}6� �@y}6��w��}6)��}6H�����|Q������r��?�������?����������@;s������4z�?�������?����n#����� V��?)~6%�@ ~6�~[;I~6��CɫY�Y)�Y �YI�YY��r�@y��:oGI�1)�5�A��E) ����E�����E�����EL�� �E7:Y�EDW1y�EY�:��E�6)�Ej�;��������S�?{�G�z��:��v��������>����#� ���Լ)��I��y����v��/�?���S㥻��� �rh�?���x�=���/ݽ���C�< ���A)��I��KAi��~A������\A������nA��{\<M�=Y���:QU��>�����a��G�����y��m�}��>I������:���),5�?����:�����ؾ� ��}yA����?9���[C�����: ����:)����:�W�W X X �W :W 2W *W�VUU���@�C�?zL5�!>�L5�!>�L59˰@�L5��w@�AM�&��BI BI�AM�=*BML99�AQ�AU7�AU4���AQ"C]�)*C]���;RC]���=CY�Ca��e ��=I�y G� �>��lj,VG���E�AY}2��@�}2X�@y}2�\w��}2�(��}2H������Ե���� ���?����O\�?��� 8������k������� ��?���@N�?���`�á���� "��?)~2��@ ~2|�[;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�nG���z�M��=Y��9QU1?���� �a �G�� �� y�d�}3?I����)5�?��+�ؾ� ��yA��%�?9��[C����: ���:)��WI�WIXI XI�WI:WI2WQ*WQ�VQUQU]���@��@zLq�Lq�Lq�Lu��w@�A�����B� B��A�Q=*B��:9�A��A�ۊ7�A�����A�"C��)*C��)�;RC��=C��C��֭i�=I��G+>��9�lj,��E�Aɫy�y)�y �yI�yY�� �@y���nG��m��=��m����mQ8�i�mf�@��i �m�@)�m�@I�m�@i�m�@��}yS<M�B=Y����QU��>��1��1�a5�G��1��Ay�E���}M�>I�q��}�:��uN%5�?����:��u��ؾ� �u�yA����?9�u�[C��u��; �u��;)�u��:�W�WX X�W:W)2W)*W)�V1U1U=������@zL��L��L��L��A�Z曼B� B��A�Vg=*B��89�A��A���7�A����A�"C��)*C��;��%=i�%a=��5�����5�����5�����5��� �51:Y�5�U1y�5��:��5�6�9=@RC=�=C9�CA �U�=��Q��9��I���iGi��.�@�����������D���� ; �� �E��5~4�=I�AGmx>��c�lj,Q�3��E�AY}2o��@�}2 �@y}2v̓��}2�� ��}2H�����+F�����`���?����K�?���`�������g������[ϊ?��� �y�?���� 9������M��?)~2o��@ ~2�[;I~2��Cɫ9�9)�9 �=���I�AY����@y��`nGI��4=)��4=)ý> ý>������M�S=Y��'�QU�>�� �� �a �G�� ��y�|��}�>I�)��-�!5�?��-��ؾ� �-�yA��=�?9�-�[C��-; �-�;)�)�Wi�WqXq Xy�Wy:Wy2Wy*W��V�U�U�����ʢ@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�,�w@�A�t��B� B��A�27=*B��89�A��A��7�A�2��A�"C��)*C�3��;RC���=C��C��ֽ�H�=I��G�f>��� ��� i�mnGI��i�����DM�ٺ�����@A��K�lj,g�M��E�AY}BF��@�}B��@y}Bx8���}B���}BH�����������@E��?���@�ԣ?���`3�������>������3ʌ?�����Ƒ?���@�!����� ��?)~BF��@ ~B<|[;I~B��CɫY�Y)�Y �YI�YY�}��@y�}nG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��]@��]����]�O>��]��i�]�����Y �]��@)�]��@I�]��@i�]��@�����M�2=Y�,6�QU��>�������a��G������y��-�:}��>I� �� *5�?�� ��ؾ� � zA���?9� �[C�� /; � + ;)� �W��W�X� X��W�:W�2W�*W��V�U�U������x @zL�L�L�L6�w@��5�����5�����5�����5=�� �5�-:Y�5�Y1y�5�:��5F 6�AM~U��BI BI�AM�=*BUw69�AQ�AU5�7�AU��AQ"C]�)*C]���;RC����=C��C���}i��=I��G��>��9��I��3iGi����@������������� ; ���E��u�lj,ޭg��E�Aɫ�髙)�� ������I��Y��T�@y���mG�xDUSBL response received:!U1,P 2D1,000,004C0,189,80,80,5B,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�%AA)�!��m��&1��?X9��v���y�&1��?��m��=��m�}� �m`e<)�iI�iy�m�`��"���?��(\�µ�:��v���?��m��=��m����m��< �m�A)�m AI�mfAi�mdA��i��m�A�� �7�M )=Y� ���QU �>�����a�G����y����}%�>I�!��-�:��%j5�?��5�:��%��ؾ� �%FzA��5�?9�%�[C��%��: �%�;)�%��:�Wy�W�X� X��W�:W�2W�*W��V�U�U������,@zL��>�L��>�L�,w�@�L����@�A"9��B! B!�A-�=*B-�59�A1�A5L�7�A����A�"C��)*C�k*<RC�C��C���) ��) ���B�=I�)GE�>��U�lj,�f���E�A�|i|Y}6�@�}6�!�@y}6����}6֭/��}6H���� �I����� ���?����S��?������������}���������?�����a�?���������@���?)~6�@ ~6��[;I~4ɫ)�))�) �)I�1Y����@y��mG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Q�Q��ϊ�M��=Y�^�QU�?�����a��G����y��3<}�?Iȡ�ť(5�?�ťv�ؾ� ƥlzA����?9ƥ�[C�ǥ�: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U������3@zL��L��L��L�ܫ�@�A�L���B� B��A��G<*B�+49�A��A�V�7�A����A�"C��)*C�x<RC���=C��C���Ex����E�����E�����E��� �E�(:Y�E�W1y�Eč:��E��5��-{�=I�9G]v>�x�lj,"���E�Aɫ�髙)�� �����I��Y����@y���lG�xDUSBL response received:!U1,R,248,000,004C8,188,80,80,7E,FF �Fpublishing direction and range info����w����ɰ���=����> ��)����BI��y���B�������A���?�M��9߿��������ٱ���-���-��>��-�q���-���i�-ף@��) �-ƣ@)�-ƣ@I�-ƣ@i�-ƣ@��=l<�MEP=Y�E���QUE�>��I��I�aM�G��I��Qy�����}��>I�����:����5�?���:���پ� ���zA���?9���[C����: ����:)����:�W)�W)X) XY�WY:WY2WY*Wa�VaUaUe������@�R�(Combining 5 samples.�P�*Q��B�Z���G��p_?@5�p���1����������Z�����A���?�M��9߿��������2Q��w�:Q��Z��%a�+�4����]4�=�,�!z�?�Z�� ���l��䋹{F��P f����?BQ��Ӄ@ Q�I��Q�����P�l�9?�P�d�9?�P�����Q�����Q���@"Q�V�@zL��L��L��L��A����B B�A��;*Ba39�A�A_�7�A4��A"C%�)*C%<RC%Z�=CI�CY��9��I���hGi��:�@�������������; ����E)�=�r�CI�9�i�9���=�=��=�=��=��5��]���=I�iG�Z>�7��lj,H����E�AY}Z/(�@�}Z�5�@y}Z�j���}Zk���}ZH�����������@���?������?����H�������ٴ��������?����?�������������?)~Z/(�@ ~ZDr[;I~Xɫ���)�� ������I��Y�s�@y��lG��DNmea in: $SNTTA,,,,,170726.20*59 ��=��M=;=Y�E֞�QUM�>��a��i�am�G��i��qy�u��;}}�>Iȁ�Ņ�5�?�Ņ�پ� ƅ�zA����?9ƅ�\C�Dž�/; ȅ1;)ȁ�m�qAdded new target pos. range: 35.939999 m, bearing: 236.034809 deg, deltaT: 4.475963 s, approachRate: 0.107239 m/s, LOS rate: 1.614526 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����Q�A@U��� ���?zL��L��L��L�)��@�A Y6��B B�Ay�;*B�29�A�Af�7�A����E�=i�E�=��Un ����U�����U�����U��� �U�<:Y�U[1y�Uݏ:��U�6)�U+�;�9]��AY"Ce�)*Ce�;<RCm�Ԛ=Ci�Ci��uf��=I��G�>�,��lj,��γ�E�A�|�|Y}6�.�@�}6�<�@y}6�����}6�����}6H����@,s�����`p��?���`���?����������`��������f��?����]�?���@t����������?)~6�.�@ ~6��[;I~6��Cɫ9�9)�9 �9I�9Y��0�@y��tlG�Õ�뽩Õ�D��Õµ>iÕQ�@�Ñ ĕz�@)ĕz�@Iĕz�@iĕz�@��#��M�T=Y����QU��>�����a��G����y�;}��>I������:���� 5�?����:���2پ� �� {A����?9��\C�����: ��3�:)����:�W��W�X� X��W�:W�2W�*W��VUU�����>�?zL��L��L��L�Ӵ�@�A�d���B� B��A����*B��19�A��A�i�7�A����A�"C��)*C�~8<RC���=C��C�����=I��G-p>ܥ�>9ܡIܥhGiܥ��@�ܥ=�ܡ�ܡ�ܥ; ݥ�E�J��lj,ݳ賩E�Aɫ�髹)�� ��I��Y��ſ@y���kG������S㥛�?���K7ѿ����K�?���ݤ>������ ��^�=)��I��y����v��/�?1�Zd�����S㥛?���xi=���"۽���/�< ��;A)���AI��i��5A�������A�����M D=Y� ���QU �>�����a�G����y����}�>I�!��%� 5�?��%Pپ� �%?{A��5�?9�%\C��%a�: �%�:)�!�W�WX X�W:W!2W!*W!�V!UIUM���@J��?zL�_�=�L�_�=�L��u�@�L��)c@�A�}8��B� B��A�*B�909�A��A�e�7�A�m��A�"C��)*C��p<RC��ۛ=C��C��]� ����]�����]�����]�� �]�F:Y�]�U1y�]��:��]6)�]��;��u���=I��G��>���mj,����E�AY}2�F�@�}2�T�@y}2U����}2����}2H����@z�������8��?����"��?����������`�泿�����{�?����fP�?�����֡��������?)~2�F�@ ~2S�[;I~2��Cɫ9�9)�9 �9I�9Y�}-�@y�}5kG��K�M[=Y�%4�QU%�>��!��!�a%�G��)��)y�-�<}5�>Iș����:�ŝ"5�?����:�ŝ[ پ� Ɲr{A����?9Ɲ'\C�ǝ�;; ȝ $;)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`/�?zL�L�L�L5_c@�AE攼By B��A�瀼*B��-9�A��A�Y�7�A���A�"C��)*C�z{<RC�g��=CI�CQI�E@A)�E?AY�Y��U�D�=I�aG}�>�2�mj,�i��E�A�|i|ɫy�y)�y �}���I�yY����@y���kG��u�>��uE����uC��i�uף@��q �uƣ@)�uƣ@I�uƣ@i�uƣ@��#=M�D=Y����QU��>�����a��G�����y����}�>I� �� C5�?�� | پ� � �{A���?9� 4\C�� ��: � ]�:)� �W9�W9X9 X9�W9:W92WA*WA�VAUAUM��� ��@zLq�Lq�Lq�Lq�A�����B� B��A���*B��/9�A��A�S�7�A����A�"C��)*C��<RC��=C��C�Yω�i9�iI�m�gGi�mF�@��i��i��i��ml(; �m�E���� �������������� ��VB:Y��y������6)��!�;�֝�Т=I��G�b>�[�mj,E6��E�AY}2�Y�@�}2�g�@y}2�����}2=�5��}2H����` �����`v��?�������?������������[�����@���?���`�s�?���ำ���������?)~2�Y�@ ~2�[;I~0ɫ9�9)�9 �=���I�AY����@y���kG��]��;M]M=Y�]D��QUe�>��a��a�ae�G��a��iy�m�;}m�>I�q��u��5�?��u�پ� �u�{A����?9�u@\C��u�: �u �:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������(@zL��L��L��L��c@�A�+���B� B��A����*B��/9�A��AuN�7�Au| ��Ay"C��)*C��� <RC��y�=C��C��̽�=�̽�=YϥM9�֝͢�=I��G����mj,�"P��E�AY}: T�@�}:�a�@y}:�ݾ��}:1�/��}:H����`@K�����`���?����i̦?����x������Y�������ot�?����#ۗ?����������� =��?)~: T�@ ~:�[;I~:��Cɫ9�9)�9 �9I�9Y�}l�@y�}�kG��������-�n>��- �=��-j��i�-G�@��) �-n�@)�-=�@I�-=�@i�-=�@��=ͯ�M=L=Y�E���QUE�>��A��A�aE�G��I��Iy�Mr�}U�>I�Y��e�:��]�5�?��e�:��]�پ� �]|A��e�?9�]L\C��]��: �] �:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U������]@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�8�c@�A�K|��B� B��A���*B��.9�A��A�D�7�A�3 ��A�"C��)*C�4� <RC� ��=C��C�Yϵ]H9 ���=����=����T�=I��G=P>��MJ����I��I��M��� �MO%:Y�Iy�I��M��5�9e@�E�>9�AI�E�fGi�E��@��E=��A��A��E�<; �E2E��mj,�i��E�AY}2JH�@�}2�U�@y}2��ü�}2�f��}2H�����ᨳ�����l��?��� �-�?��� v�����������dj�?����>x�?��� CJ���������?)~2JH�@ ~2ӿ[;I~2��Cɫ9�9)�9 �=����I�9Y�}۾@y�}�jG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��=)����-�<�O��n�?�~j�t�h?����Mb�?��-t�=��-�D; �-=)�)I�)y�-�X9��v��?y�&1���{�G�z�?��-��=��-`���-�#< �-�A)�-�AI�-Ai�-�A��)��-zA��eZ#�Me9=Y�m±�QUm�>��q��q�au�G��q��qy�}�T�}}�>Iȁ�Ņ��5�?�Ņxپ� ƅ2|A����?9ƅ_\C�Dž��: ȅ��:)ȁ�W��W�X� X��W�:W�2W *W �V U U��� s� @zLMh+>�LMh+>�LM��@�LM��y@�Ae�t��Ba Ba�Ae_Ҽ*Bm�,9�Aq�Au1�7�Au��Aq"C��)*C�D<RC�3S�=C��C�Yυ�C9��u��=I��G��>�J� mj,�փ��E�AY}2=�@�}2�J�@y}2ɼ�}2�a��}2H�����������8��?����Z�?��� w������p4������:z�?���@}"�?����>j������Q��?)~2=�@ ~2Y�[;I~2��Cɫ9�9)�9 �9I�9Y�}h�@y�}CjG�xDUSBL response received:!U1,P 248,000,004C8,188,80,80,7E,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 ����!�M�f=Y�<�QU �>�����a%�G��)��9y�M�u�}M�>I�i����:��m��5�?��5�:��m�پ� �mK|A��E�?9�mn\C��m��< �m��<i� VnG)�m��:I�9i�a���CC�ٺ����]7A�W1�W1X1 X1�W1:W12W9*W9�V9U9Ue������ @zL�L�L�L!�y@��%�����%�����%�����%!�� �%4-:Y�%�]1y�%��:��%F6�A}�w��B� B��A��"�*B�C+9�A��A��7�A����A�"C��)*C� <RC��3�=C��C�i� mAI� lAY���<9��� I�� G� �>�'mj,[����E�Aɫy�y)�y �}���I�yY��)�@y���iG鮽a=ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B -�Nonly read 0 of 1 data item for altitude���@���@���@���1��M�<=Y�����QU��>�������a��G����� y� ���}�>I���i�5�?���پ� �h|A��%�?9��\C��=�: ��:)��WA�WIXI XI�WI:WI2WQ*WQ�VQUQUU����� @zLq�Lq�Lq�Lq�A�6{��B� B��A�B�*B��(9�A��A���7�A�g��A�"C��)*C��x<RC�\��=C��C���9��s�CI��xfGi��S�@�������������D; ��zEY�H:9��)��)�� ���=I�GE�>��>-mj,�����E�AY}B�?�@�}B:M�@y}B]�˼�}B{g��}BH����@�����D��?����ٜ�?�����������S"�������Ė?�����t�?����ܪ������ ��?)~B�?�@ ~B\;I~B��Cɫy�y)�y �}����I�yY���@y���iG�xDUSBL response received:!U1,R,C09,000,004C7,18A,80,80,47,FF �Fpublishing direction and range info�����b?���ɰ�`�=����> ��)����BI��y���B�������B?�?������?��������ٱ� �������U��M�Z=Y��#[�QU��>�������a��G�����y�lS:}�>I� ���:�� ��5�?���:�� �پ� � �|A���?9� �\C�� ��: � ��:)� ��:�W9�W9XA XA�WA:WA2WA*WI�VIUIUM����&�@�R](Combining 5 samples.�Pa*Qe�B�Ze�#��j��6@_�io�;@���������Ze����B?�?������?��������2Qe��b?:Qa�Ze�vh���9@�����8���Oe�տ�Ze�b�w�?�?2")� ��c�ʲj��BQev��@ Qe|��QeU�A�Pe�9?�Pel�9?�Pe����Qe����Qe��@"Qe��@zLA�LA�LA�LE�y@�A]y딼BY BY�A]=e�*B]�(9�Aa�Aeي7�Ae ��Aa"Cm�)*C���<RC��g�=C��C�Yυ49��%�����%�����%�����%��� �%G/:Y�%0Y1y�%��:��%�6��u�L�=I��G�>�M)4mj,2tѴ�E�AY}rlR�@�}r`�@y}ryvͼ�}r!��}rH����`�W�����`4��?����&+�?���@������ �������@���?������?����m?���������?)~rlR�@ ~r_#\;I~r��Cɫ���)�� ��I��Y��@y��iG�}DNmea in: $SNTTA,,,,,170730.63*59 ��]���]���]���]�w>��]1>��]�>i�]=�@��Y �]ƣ@)�]��@I�]��@i�]��@��m��<Mm4=Y�u���QUu�>��q��q�a}�G��y��yy���;}��>Iȉ�ō �5�?�ō�پ� ƍ�|A����?9ƍ�\C�Ǎ��: ȍܹ:)ȉ�m�yAdded new target pos. range: 35.880001 m, bearing: 316.249069 deg, deltaT: 4.403999 s, approachRate: -0.013623 m/s, LOS rate: 18.213960 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������A@U�����?�?zL�L�L�L��y@�Apf��B B�A�G�*B�)9�A�A��7�A� ��A!"C-�)*C-��<RC-�Ǥ=C)�C1Y��/9��-�`�=I�9GU�>��� mA��� nA�� 9�� I�� �eGi�� ��@��� =��� ��� ��� �G; �� E)�q�I�q�i�q���u�=��u�=��u�95��P:mj,JC봩E�AY}2�m�@�}2�{�@y}2+<ʼ�}2H�%��}2H����`~}������K��?����F��?���������@f��������1�?��� �F�?���������������?)~2�m�@ ~2\;I~2��Cɫ9�9)�9 �9I�9Y�}e�@y�}iG�����������?�I+�ƿ{�G�z�?����L>���94� ���#<)��I��y�����~j�t�?����K�� ףp= �?�����=���^�����Q8= ½A)½�AI½;Ai¹�������A����p�M�U=Y��^�:QU��>�������a��G������y���<}��>I������:�����5�?����:���bپ� ���|A���?9���\C���Y�: ����:)����:�W!�W!X) X)�W):W)2W1*W1�V1U9U=������?zLU�>�LU�>�LU�@�LUXq@�AmZZ��Bi Bi�Au��*Bu�&9�Aq�Au��7�Au���Aq"C}�)*C}�<RC��Ū=C��C���M�=i�M�=���{n�=I��GI>��e� ����e�����e�����e��� �eLA:Y�e�W1y�eč:��e�6)�e;�;�9m���8Amj,���E�A�|�|ɫy�y)�y �yI�yY��S�@y���hG�����MF=Y����QU�>��!��!�a%�G��!��)y�-���}-�>I�1��5��5�?��5�پ� �5F}A��E�?9�5�\C��5�: �5��:)�1�Wa�WiXi Xi�Wi:Wi2Wq*Wq�VqUqUu�������?zL��L��L��L��A�EN��B� B��A����*B��&9�A��A�e�7�A�Q��A�"C��)*C��E<RC�� �=C��C������=I��G�F>��bGmj,Y���E�Aɫy�y)�y �yI�yY��D�@y���hG�Õ�L=�Õ�G��ÕS�iÕQ�@�Ñ ĕ\�@)ĕ�@Iĕ=�@iĕ=�@��,��M�R=Y�QU��>�����a��G����y�}��>I�������5�?���uپ� ���}A����?9���\C�����: ���:)���Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U������r�?zL��L��L��L��A���B B�Am��*Be&9�A�A-8�7�A-��A)"C5�)*C5�<RC532�=C1�C9ܙ9ܙIܝ�dGiܝ �@�ܙ�ܙ�ܙ�ܝ�J; ݝ}!E��}�\�=I������������������������� �y0:Y�xZ1y�q�:���6)���;G�_>��Mmj,��8��E�AY}R<��@�}R@y}R8,���}R�/ ��}RH�����zS���������?��� �D�?������������|������)3�?����8��?��� ;����������?)~R<��@ ~RD�[;I~Pɫy�y)�y �yI�yY��<�@y���hG��q��umA����M�I=Y�^<QU��>�����a��G������y���8<}��>I������:���d�5�?����:��� پ� ���}A����?9���\C�����: ����:)����:�W�WX X�W:W2W *W �V U U����gW�@zL)�L)�L)�L-�mq@�AED���BA BA�AEG��*BE�%9�AI�AM �7�AM���AI"CU�)*CU%�<RCU���=CY�CY��E��=I�I)�M@AI�QGu6>��tTmj,��R��E�A�|i|Y}6@�}6���@y}6�����}6����}6H������ͱ����@���?����EȢ?���`�������~����@���?�������?���`s6���������?)~6@ ~6*�[;I~6��CɫY�Y)�Y �YI�YY����@y���gG�ÍZ�>�Í�M>�Í�iÍ��@�É čr�@)č\�@Ičr�@ič\�@��:b�M�L=Y�ä;QU��>�����a��G����y����}��>Iȹ�Ž4�5�?�Ž�!پ� ƽ;~A����?9ƽ�\C�ǽϸ: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�����f�@zL�L�L�Lr^q@�A-����B) B)�A-�ɽ*B5C#9�A1�A5Չ7�A5���A1"C=�)*C=|�<RC=�r�=CA�CAi�M��I�M����M����M������������������������� ���*:Y��0Y1y����:���a6�9�@�� �*�=I� G5 �>܍ �>9܉ I܍ dGi܍ k�@�܉ �܉ �܉ �܍ MN; ݍ d#E���Zmj,Ҋl��E�AY}2�s�@�}2T��@y}2�����}2m���}2H������O���������?�����7�?����������@�t�����`Ł�?������?���@�����������?)~2�s�@ ~2м[;I~2��CɫI�I)�I �M���I�IY�}A�@y�}�gG���AA�����E���|?5^�?����Mb����(\�µ���E��=��E�� �E��)�AI�Ay�E�q= ףp�?333333���~j�t�h���E��=��E�����E�D� �E;A)�E�AI�EfAi�E�A��A��E�A��]ű�M]N=Y�e�k;QUe�>��a��a�am�G��i��iy�uŤ�}u�>I�y����:��}n�5�?����:��}$پ� �}=~A����?9�}�\C��}A�: �}�:)�}��:�W��W�X� X��W�:W)2W1*W1�V1U1U=��� 7�@�REB*** querying acoustic contact ***�PA�PAzL}�>�L}�>�L}���@�L}���@�A��D��B� B��A�;۽*B�n"9�A��A���7�A�E��A�"C��)*C��E<RC��O�=C��C������=I��G )>���amj,f���E�AY}2l�@�}2�y�@y}2np��}2�$��}2H�����C�������}��?����5�?���������� �����������?����{ �?����B������ z��?)~2l�@ ~2��[;I~2��Cɫ9�A)�A �E����I�IY���@y��jhGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75 8****** ping requested ******��5�=��5�y>��5K��i�5(�@��1 �5�@)�5�@I�5�@i�5�@��E@=ME<=Y�M";QUM�>�����a��G�����y����}��>I�����K�5�?����&پ� ��A~A����?9���\C���r�: ���:)���W��WX X�W:W2W*W)�V)U)U-����vT @zLi�Li�Li�Lm1��@�A�ԗ�B� B��A����*B�-%9�A��A�c�7�A���A�"C��)*C���<RC�E�=C��C� �=�=��=�=��U�=i�U�=���c �������������������� ���;:Y��WU1y���:����6����=I�!GEr>���gmj,1A���E�A�|�|Y}>�p�@�}>�~�@y}>i�U��}>�l ��}>H�����Je������@��?��� �y�?���������`u��������ۄ?�������?�������������?)~>�p�@ ~>��[;I~>��CɫY�Y)�Y �YI�YY��ռ@y��ShG�xDUSBL response received:!U1,P C09,000,004C7,18A,80,80,47,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��)���=���d��M�Q=Y���;QU�>��!��!�a%�G��!��!y�- �:}-�>I�a����:��e��5�?����:��e,)پ� �eC~A����?9�e ]C��ev < �e7 <)�e��:�I9�II�MXcGi�Mȸ@��I��I��I��M�R; �M�%E�W��W�X� X��W�:W�2W�*W��V�U�U�����.� @zL9�L9�L9�L=6��@�Au?��Bq Bq�Au3��*Bu�$9�Ay�A}.�7�A}���Ay"C��)*C���<RC��ȫ=C��C��֝Dk�=I��G��>���mmj,.���E�Aɫ�髁)�� ��I��Y��.�@y���gG鮹ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u[U�MuQ=Y�}���QU}�>��y���a��G����y����}��>Iȑ�ŕ��5�?�ŕ+پ� ƕE~A����?9ƕ]C�Ǖ÷: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�UM���`t7@zLi�Li�Li�Li�A�3f��B� B��A��߽*B�� 9�A��A���7�A�x��A�"C��)*C��<RC�C��C������=I��G=P>��=� ����=�����=�����=�� �=�A:Y�=0Y1y�=��:��=j6��)��1i��mGI��i���� VZ�ٺ �� MA�� �I?9�� �=A���tmj,�ӵ�E�AY}:��@�}:���@y}:}V컙}:���}:H������ݱ��������?���`A�?���@������ �걿���@S#t?���ྊ}?������������o��?)~:��@ ~:ϵ[;I~:��Cɫa�a)�a �aI�aY��*�@y���gG�xDUSBL response received:!U1,R,382,000,004CA,189,80,80,38,FF �Fpublishing direction and range info���y�H����ɰ���=鰥7�> ��)���`BI��y��=B������K���?"�������������ٱ����mA���nA���@���`�=���`e=����H=i�������� ��E�@)��E�@I����@i��&�@�� ��M%@=Y�%b`<QU%�>��)��)�a-�G��)��1y�5�;}5�>I�9��=��5�?��=.پ� �=F~A��E�?9�=']C��=��: �=4;)�9�W��W�X� X��W�:W�2W�*W��V�U�U ����#�@�Re(Combining 5 samples.�P�*Q�=B�Z�����9@7[a�'t9����������Z����K���?"�������������2Q�y�H�:Q��Z���"T);�K];:Ȳ7�b�ׇZ8�?�Z���d7+3迒Ic߸����έɜ?BQ�F�v@ Q����Q�H���P�W�9?�P��9?�P�����Q�����Q���@"Q���@zL��L��L��L���@�AIʔ�B B�A��*B#9�A�A��7�AV��A"CE�)*CE�v<RCESگ=CA�CI��Q��UnA��U벫=I�aG}�>�) 9�) I�- �bGi�- &�@��- =��) ��) ��- �X; �- �(E���zmj, ����E�AY}z�@�}z���@y}ze�l��}z"���}zH�����r�������V��?�����P�?����s�����@��������d.W?���`h�m?���@�9���������?)~z�@ ~zk�[;I~z��Cɫ���)�� ��I��Y�-��@y�5AgG��DNmea in: $SNTTA,,,,,170735.08*51 ��鿩��5�����K�?@5^�I¿V-��?��5^:>��5b� �5��=)�1I�1y�5��z�G�?V-��� ףp= �?��5 �=��5�����5Q8= �5�A)�5�AI�5�Ai�5�A��1��5A��U�{�MUG=Y�]i<QU]�>��Y��Y�ae�G��a��ay�m�;}m�>I�q��}�:��u��5�?��}�:��u\0پ� �u�~A��}�?9�u7]C��u��: �uA�:)�u��:�m�yAdded new target pos. range: 36.060001 m, bearing: 221.105873 deg, deltaT: 4.515601 s, approachRate: 0.039862 m/s, LOS rate: -21.069885 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �B@U�����*U�?zLm�&>�Lm�&>�LmvV�@�Lm�t@�A�����B� B��A����*B��9�A��A�t�7�A����A�"C��)*C� �<RC��=C��C�Y��/-9��5l ����5�����5�����5��� �5o<:Y�5�Y1y�5�:��5��6)�5�;�9=���% �x�=I�1 GM �>��ԁmj,X���E�AY}B`��@�}B��@y}Blm��}B� ��}BH���� ������@���?���`���?����������ࡡ�������{]����`��B?����;�������$��?)~B`��@ ~Bf�[;I~B��Cɫ�髁)�� ��I��Y�� �@y��XgG�����ý�>�ý��=�ý= �iý��@�ù Ĺ)Ľ�@IĽ\�@iĽ��@����;M�T=Y��<QU��>�������a��G������y���9}��>I�����ʿ5�?���v2پ� ���~A����?9��F]C���8�: ��/�:)���W�WX X�W:W2W*W!�V!U!U%��� L_�?zLA�LA�LA�LE�+t@�A]F���BY BY�A]�*B]c 9�AY�Ae7�7�Ae���Aa"Cm�)*Cm��<RCiCi�CqY�I�ֽ��=I��G�f>����mj,�!��E�Aɫy�y)�y �yI�yY��λ@y��gG)�%�= �%�=��U.��M]R=Y�]���QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��}�:��uϻ5�?��}�:��u�4پ� �u4A��}�?9�uV]C��u4�: �u �:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U������j�?zL��L��L��L��A���B� B��A����*B��9�A��A���7�A�?��A�"C��)*C�n� <RC��A�=C��C���>9��I���aGi����@�������������d; ��/E)�u�s�CI�u�s�Ci�q���u�=��u�=��u�5Y�m+9��Qi�Q��]���=I�qG�]>��U4 ����U�����U�����U��� �U�7:Y�UDW1y�UY�:��U�6)�U,�;��(�mj,�c;��E�A�|4<�|Y}>���@�}>���@y}>;�}>��,��}>H����`,�������Z��?����'^�?����h�������������@������`5t���� ȗ���������?)~>���@ ~>��[;I~<ɫY�Y)�Y �]���I�YY����@y���fGI�)���Ux��M]J=Y�]M_<QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��u��5�?��u�6پ� �u�A��}�?9�uf]C��u�: �u#�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`��?zL��L��L��L��[t@�A�la��B� B��A���*B�Z9�A��A���7�A����A�"C��)*C��3"<RC��R�=C��C�Y��l&9���I� GEs>���mj,�>U��E�AY}2��@�}2���@y}2���;�}2��-��}2H�����jձ��������?����w[�?���������� �������+Dž����@b�������������g��?)~2��@ ~2��[;I~2��CɫY�Y)�Y �]����I�YY����@y���fG��uC���uv����ut�<i�uכ@��q �u�@)�u�@I�u�@i�u�@���X�M�H=Y��;QU��>�����a��G����y���}��>Iȡ����:�ť��5�?����:�ť 9پ� ƥ�A����?9ƥv]C�ǥ7@; ȥV;)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U���@���?zL�L�L�L�Zt@�A5�T��B9 B9�AEK�*BE_9�AI�AMd�7�AU���AQ"Cm�)*Cuw�#<RC}�!�=Cy�C��ֽ��=I��G�h>�� 9�� I�� �aGi�� �@��� =��� ��� ��� �o; �� �4E��:�mj,�o��E�AY}J���@�}JW��@y}J%�T<�}J�y��}JH�����F豿����-��?����"l�?����>������%ȱ����@y�������ӑ�������������@I��?)~J���@ ~J۷[;I~J��CɫY�Y)�Y �YI�YY��y�������ʡE���?��ʡE�ӿ��MbX�?�����>������ ����=)��I��y����V-�? ףp= ���I+��?���h�=���Q�����9�< )^AI Ai5A�������AY�ES<QU��>�����a%�G��!��)y�- 5�}5�>I�1��5)�5�?��5�:پ� �5�A��E�?9�5�]C��5��: �5��:)�1�Wa�WaXa Xi�Wi:Wi2Wi*Wq�VqUqUu����`@zL��=�L��=�L��+�@�L���o@�A�HG��B� B��A�*B�p9�A��A��7�A�8��A�"C��)*C���$<RC���=C��C�I�A)�A��]u ����]�����]�����]J�� �]'=:Y�]�W1y�]č:��]�6)�]��;����=I�)GER>��&�mj,����E�A�|Di|F�@Y}E��@�}E�@y}EE�{<�}Ey7��}EH�����贱���� ���?���@�a�?���@i������6������������`�y�������E���������?)~E��@ ~E��[;I~E��Cɫ � )� ����I�Y�MP�@y�MtfG��U@A��Q�õ,>�õ7���õ9��iõ�@�ñ ĵ\�@)ĵ�@IĵE�@iĵE�@��� �M��<Y���;QU��>�������a��G������y��a;}��>I������:����5�?����:���<پ� ���A����?9���]C�����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U����`�j@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��o@�A��u�B B�A��*B�9�A�AΆ7�A���A"CE�)*CE&<RCEe��=CA�CI��UK�=I�aG�]>��L�mj,hТ��E�AY}J��@�}J�@y}J���<�}J�O��}JH����@�t������*��?��� ��?������������N������@Y������2�������(���������?)~J��@ ~Jj�[;I~J��CɫY�Y)�Y �]����I�YY����@y���fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��mN�<MmQ=Y�m��;QUu�>��y��y�a}�G��y��y�#;}��>Iȉ�ō�5�?�ōw=پ� ƍ'�A����?9ƍ�]C�Ǎ��; ȍ�;)ȉ�W��W�X� X�W:W2W*W�V U U ����cu @zLI�LI�LI�}�>9�yI�}7`Gi�}>�@��y��y��y��}bu; �}�7E�LM��o@�A�_�i�B� B��A�8�*B��9�A��A���7�A�b��A�"C��)*C�xY'<RC��s�=C��C���uo ����u�����u�����u��� �uQ:Y�u�X1y�u/�:��u�6)�uߩ;���p�=I��GI>�g{�mj,�����E�AY}>쓜@�}>���@y}>y�<�}>�+��}>H����@�M�����@���?�����Š?��� ������`��������,�������ݔ����������������?)~>쓜@ ~>��[;I~>��Cɫ�髑)�� ��I��Y���@y���eG�xDUSBL response received:!U1,P 382,000,004CA,189,80,80,38,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 )�%�= �%>��E�8�MUL=Y�]@�;QUe�>��q��y�a��G����y�%ж:}5�>I�I��M��5�?��M?پ� �M;�A��U�?9�M�]C��Mn�: �MV�:)�I�WI�WQXQ XQ�WQ:WY2W�*W��V�U�U������ @zL �L �L �L ��o@��=�=i�=�=�AM^�\�BQ By�A}��*B}�9�Ay�A}0�7�A}���A�"C��)*C�p�(<RC��~�=C��C�ȋȊ��9��9 �A ��E �=��5�*�=I�YGu�>��t�mj,��ֶ�E�A�|�;�|Y}6��@�}6ʤ�@y}6�N�<�}6y���}6H�����C4�����`y��?�����?����1����� ������ ��������@)������G�������<��?)~6��@ ~6�[;I~4ɫi�i)�i �qI�qY��L�@y��pfG鮵p=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����>���n�>���Ga�i����@��� ��n�@)���@I���@i���@��%B�<M%.=Y�58�;QU5�>��A��A�aM�G��I��Yy�m~a:}m�>Iȁ����:�Ņ��5�?����:�Ņ�@پ� ƅQ�A����?9ƅ�]C�Dž��: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�5@zL��L��L��L��p@��= ����=�����=�����=B�� �=&J:Y�=�V1y�=�:��=� 6�9E@�AU�*N�B� B��A�*�*B�9�A��A�7�A|��A"C5�)*C='.*<RC=?�=CA�CI�օõ=I��G��>�I 9�I I�M o_Gi�M ��@��I ��I ��I ��M �w; �M 9E����mj,D��E�AY}2���@�}2D��@y}2�<�}2�!��}2H�����88�����@���?����=4�?���`�������V�������L✿���`&A������+ �����@���?)~2���@ ~2)\;I~2��Cɫ9�9)�9 �=���I�9Y�}�@y�}�eG�xDUSBL response received:!U1,R,164,000,004C7,186,80,80,51,FF �Fpublishing direction and range info���������ɰ�`�=鰅��> ��)����BI��y���B����㶭 �w�?�t5��ӿ��������ٱ���dNmea in: $SNTTA,0.129817,0.170554,,,170739.53*55 ��=��I+��?��Q�ſ<�O��n����=94>��=�(� �=t�)�9I�9y�=�����K�?�v��/��{�G�z�?��=^�=��=x���=ף< �=�A)�=�AI�9i�= A��9��=�A��]��M]n=Y�]�;QU]?��a��a�ae�G��a��iy�m�F�}m?I�q��u��5�?��uFBپ� �u`�A����?9�u�]C��u;�: �u��:)�q�WA�WAXA XA�WA:WA2WI*WI�VIU�U�����d�@�R�(Combining 5 samples.�P*Q�B�Z�Nf��A@B��V��%����������Z�㶭 �w�?�t5��ӿ��������2Q���:Q�Z�7bV�w*��Tv�@��7>�vܿ�Z����V��|�������Zm��b��BQ��@ Qc�Q�S��Pz�9?�PW�9?�P���Q����Q��@"Q��@zL}�>�L}�>�L}�Z�@�L}�Op@�A���>�B� B��A�3�*B�E9�A��A���7�A����A�"C�)*C�W+<RC�-�=C�C ����=I�)GUu>�v��mj,ߊ ��E�Ai�j�lGI�ti���-fQ�ٺ)��-�DAY}�0��@�}�᠔@y}�Z�<�}�C#��}�H�����S����� S��?���`�e�?����:������� ������@N�����`������� A_���������?)~�0��@ ~�O3\;I~���CɫI�I)�Q �U���I�QY����@y���eG�Ý+���ÝZd��Ý^��iÝ��@�Ù ĝ�@)ĝ�@Ięię����M�6=Y��D;QU��>�����a��G����y��q�}��>I������:���$�5�?����:���cDپ� ��u�A����?9���]C����: ����:)����:�muAdded new target pos. range: 35.880001 m, bearing: 248.354694 deg, deltaT: 4.429837 s, approachRate: -0.040634 m/s, LOS rate: 6.151202 deg/s, posRepo size: 4�W�W X X �W :W 2W *W�VU�����A@U����H�?zL1�L1�L1�L5�Lp@�AM".�BI BI�AM� �*BM�9�AQ�AU=�7�AUW��AQ"C]�)*C]?�,<RC]���=CY�CaI�!)�%AA��5w ����5�����5�����5��� �5P=:Y�5�Y1y�5�:��56��u箵=I��G�^>����mj,F_$��E�A�|i|Y}>R��@�}>��@y}>�@�<�}>z���}>H������Y���������?����X��?������������������}<����� �������w����������?)~>R��@ ~>[�[;I~>��CɫQ�Y)�Y �]����I�YY��7�@y��eG��]�M]c=Y�]]5;QU]�>��a��a�ae�G��a��iy�m�}u�>I�q��u��5�?��uFپ� �u��A����?9�u�]C��u��: �u)�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�DJp@�A�J��B� B���9��I���^Gi����@������������u�; ���?E�A��.�*B @9�A�A�7�A���A"C�)*Cf�-<RCC�C!��=��=I�IGm5>�;��mj,�2>��E�AY}6Ɛ�@�}6w��@y}6�D�<�}6����}6H�����f����� -��?����禡?�����������" ����������������������а������!��?)~6Ɛ�@ ~6 �[;I~4ɫY�Y)�Y �YI�YY����@y��fG��=q=M=M=Y�=�;QU=�>��A��A�aE�G��A��Iy�M���}M�>Iȡ����:�ťj�5�?����:�ťHپ� ƥ��A����?9ƥ�]C�ǥ�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�L�Dp@�AV��B B�A��*B�9�A�A��7�A��A!"C%�)*C-s/<RC-�r�=C)�C1��iI�����3 �������������������� ���7:Y���V1GK>y���:����6����mj,�X��E�AY}6�@�}6s��@y}6!v�<�}6�\��}6H����`��������&��?����m�?���������@�G������ ������@���������(������*��?)~6�@ ~6�[;I~6��CɫI�I)�I �II�IY�}c�@y��QeG)�5�= �5�=���z�>����>����ļi��(�@��� ��)��I���@i���@���^ �M�1=Y��@;QU�>�����a�G�� �� y����}�>I���ߎ5�?��&Jپ� ���A��%�?9��]C�� �: ���:)��W��W�X� X��W�:W�2W�*W��V�U�U�����n/�?zL��L��L��L��:p@�A�'��B B�AS)�*B�9�A�A1�7�A`��A��%�=i�!"CE�)*CM��0<RCM���=CI�CI��}�l�=I��G��>��9��t�CI��D^Gi����@��� =���QD������k�; ��^LE)݉�I݉�i݉��ݍ�=�ݍ�=�ݍ���4�|��mj,�q��E�A�|4<�|4<ɫ�髙)�� ��I��Y��M�@y��5eG�����S㥛��?�~j�t�h?�����������$>����D; �����)��I��y����MbX9�?�E���Ը��~j�t������ʡ=����ƽ����D� ���A)��3AI���Ai���������A�����M�]=Y�����QU��>�������a�G����y����}��>Iș����:�ŝ��5�?����:�ŝ�Kپ� Ɲ��A����?9Ɲ ^C�ǝc0< ȝ�+<)ȝ��:�W�WX X�W:W2W*W�VU!U%�����1�@zL]��>�L]��>�L]���@�L]`-p@�A�-�ԻB� B��A�,�*B�l9�A��A�׃7�A����A�"C��)*C�̻1<RC��ճ=C��C���5� ����5�����5�����5W�� �5VB:Y�5�W1y�5č:��5 6)�5!�;�9=�Y���!9����*�=I��G��>����mj,zNj��E�AY}:�a�@�}:�o�@y}:�?=�}:�h��}:H������ڲ�������?���`�B�?����V����� ƌ�������������,Ǡ����@y������ :��?)~:�a�@ ~:��[;I~8ɫ9�9)�9 �9I�9Y�}P�@y�}:eG��ǔ>��u�u>��u���i�q��q �u�@)�u��@I�uҙ@i�u��@����:M�Q=Y�+�;QU��>�����a��G����y��V�}��>Iȡ�ťK�5�?�ť6Mپ� ƥ��A����?9ƥ^C�ǥ�: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�����@zL��L��L��L�X�o@�Ay���B B�A�+�*BQ9�A�A��7�A���A"C%�)*C%��2<RC-&C�=C)�C)��aI�iG�9>����mj,�����E�AY}2�K�@�}2yY�@y}2��=�}2 ��}2H�������������]��?���@�[�?��� K������\9������sܢ����`�}�����@ἢ���� ���?)~2�K�@ ~2@�[;I~2��Cɫ9�9)�9 �9I�9Y�} �@y�}�dG������AA��mA��h��M�Z=Y��s;QU��>�����a��G����y���}��>Iȹ�Ž �5�?�Ž�Nپ� ƽ��A����?9ƽ"^C�ǽ��: Ƚ�:)ȹ�W��W�X� X��W�:W�2W�*W��V�UU���@�@�R B*** querying acoustic contact ***�P �P zL!�L!�L!�L%D�o@ܝ�>9ܙIܝ�]GiܝV�@�ܙ�ܙ�ܙ�ܝʝ; ݝg\E�A��O��B� B��A��1�*B�<9�A��A�%�7�A����A�"C�)*C��3<RC㒦=C �C ��%�̬=I�))�)��=� ����=�����=�����=��� �=_C:Y�=�V1y�=�:��=O6)�=�;I�IG�<>��"�mj,�|���E�A�|i|�@Y}6w8�@�}6(F�@y}6NI=�}6����}6H������%���������?����)�?�����������|Գ�����=�����Mh������ɓ���������?)~6w8�@ ~6��[;I~6��Cɫ9�9)�9 �9I�9Y�}M�@y�}5eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����V<M�F=Y���йQU��>�������a��G�����y���} �>I����:��n�5�?���:��\Pپ� ���A��%�?9�0^C��P'; �(;)���:�WI�WIXI XQ�WQ:WQ2WQ*WY�VYUYU]�����m @zLy�Ly�Ly�L}�o@�A��UB�Bi Bi�Am,�*Bu9�Aq�Auǂ7�Au��Aq"C}�)*C}�5<RC}��=C��C��օ���=I��G�E>�� �mj,�Wٷ�E�AY}2;�@�}2�H�@y}2�8=�}2����}2H����`�������{��?���`g��?����Q�������ij�����?�����@U栿����#������@~��?)~2;�@ ~2��[;I~0ɫ9�9)�9 �9I�9Y��I�@y��1eG�xDUSBL response received:!U1,P 164,000,004C7,186,80,80,51,FF �Command AckBRequesting micromodem ping code 2i��� �M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��E�����E�����E�����E��� �E �:Y�E�[1y�EH�:��Er6�9U@�Å�u��Å= ��ÅQ8�iÅ̜@�Á ą&�@)ą&�@Ią�@ią&�@���a�M�=Y�,��QU��>�����a��G����y�� :}��>Iȱ�ŵ�|5�?�ŵrRپ� Ƶ{�A����?9Ƶ@^C�ǵ�; ȵY�;)ȱ�WA�WAXA XI�WI:WI2WI*WI�VIUQUU���@� @zL��L��L��L�ƈo@�A�]�B� B��A��,�*B��9�A��A�]�7�A�-��A�"C��)*C�Վ6<RC�5^�=C��C�ܹ9ܹIܽ|]Giܽ�@�ܽ=�ܹ�ܹ�ܽ�; ݽ8jE��- ;ʏ=I�9 GU �>�;5�mj,+4�E�AY}:/P�@�}:�]�@y}:�=�}:�_ ��}:H������h����� g��?������?����F������`"�������������`$C�������H������1��?)~:/P�@ ~:>�[;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�dG鮁ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u����K7�?�O��nÿ�Q���?��u�I>��u�� �u\�=)�qI�qy�u�q= ףp�?�Zd;���l����?��u��=��u�����u�= �u�A)�u�AI�u3Ai�u5A��q��uzA���)�M�l=Y���k�QU��?�������a��G������y����;}�?I������:���y5�?����:����Tپ� ����A����?9��O^C���f�: ����:)����:�W!�W!X! X!�W!:W)2W)*W)�V)U1U5����Z/@zLM�/>�LM�/>�LM���@�LMCEu@�Ae���Ba Bi�Am�6�*Bm9�Ai�Am�7�Am1��Ai"Cu�)*CuD�7<RC}�g�=Cy�CyíÍ�̑�̑��e�=i�e=��e �T�=I�� G� �>��nj,� ��E�A�|�;�|p;ɫ�髙)�� �����I��Y����@y���dG�xDUSBL response received:!U1,R,316,000,004CE,189,80,80,5B,FF �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 Xa�Wa:Wa2Wa*Wa�ViUiUm����)�@�R}(Combining 5 samples.�Py*Q}3B�Z}��.F�<@��Wx�7����������Z}��y��%��?^I��Z���������2Q}�|0�:Qy�Z}��K��"9�{�r{0:���!$%4���Z}��s��t(�'��fI翀�!���h�BQ}/�|@ Q}���Q}���P}Y�9?�P}z�9?�P}����Q}���Q}x�@"Q}��@zL��L��L��L��A��8<:B� B��A��5�*B��A��A���7�A�*��A�"C��)*C�5�8<RC�_Ȩ=C��C���uR����u�����u�����u~�� �u�:Y�u�W1y�uč:��u<6�����=I��GI>��F nj,��&��E�AY}2톜@�}2���@y}2���<�}2����}2H�������������!��?��� �N�?��� ������Ym������������`w������� Y���������?)~2톜@ ~2ˮ[;I~2��Cɫa�i)�i �m����I�iY��@y���dG�I9�II�M]Gi�M��@��I��I��I��M�; �M�sE�5TNmea in: $SNTTA,0.054678,,,,170744.00*49 ��}-�M�T=Y�Z�QU��>�����a��G����y���<}��>Iȹ����:�Ž�p5�?����:�Ž)Yپ� ƽрA����?9ƽp^C�ǽ��: Ƚ+�:)Ƚ��:�m=uAdded new target pos. range: 36.299995 m, bearing: 226.176291 deg, deltaT: 4.427248 s, approachRate: 0.094866 m/s, LOS rate: -5.009524 deg/s, posRepo size: 4�WA�WAXA XA�WA:WA2WA*WI�VIUm���@f&B@Uu������?zL��L��L��L�u@�A�8�:B� B��A��9�*B��A��A�C�7�A���A�"C��)*C�G�9<RC���=C��C���)��-mA����=I�)GER>�W0nj,��@��E�AY}2H��@�}2���@y}2@��<�}2�#��}2H����@:J�����`a��?����n�?������������������G%�������x�����@n�����`N��?)~2H��@ ~2ӝ[;I~0ɫ9�9)�9 �=���I�9Y�}Ϲ@y�}�dG���nA�����}��MR=Y� ��QU �>�� �� �a �G����y�ۊ;}�>I�!��%�l5�?��%[پ� �%��A��-�?9�%�^C��%��: �%Ǻ:)�!�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUYUe����l��?zLy�Ly�Ly�L}��u@�A��hI;B� B��A��;�*B��A��A��7�A����A�"C��)*C�Z;<RC��#�=C��C���u箵=I��G�>��5=�>��1��u� ����u�����u�����u��� �u:?:Y�u0Y1y�u��:��u�6i��HmGI��i���� �L�ٺ �� a@A�AYnj,ϠZ��E�AY}J@�}J���@y}J�=�<�}J��$��}JH����@ͤ�����@���?���@���?����\������Z������L%�������f��������������>��?)~J@ ~J��[;I~J��CɫY�a)�a �e����I�iY�� �@y���dG ��鿹��u�)\���(�?Zd;�O������Q�����uGa>��uj�� �u�u�)�qI�qy�u��ʡE��?+��η��Q��롿��u��=��uv����u\� �udA)�uAI�qi�udA��q��q�� G�=�� ����� Q8�i� ��@�� � �@)� �@I� ҙ@i� ���z<M-=Y�%�QU%�>��)��)�a-�G��)��1y�5@�}5�>I�9��E�:��=�h5�?��e�:��=g^پ� �=πA��m�?9�=�^C��=z�; �=��;)�=��:�W��W�X� X��W�:W�2W�*W��V�U�U����`� �?zL�/>�L�/>�L���@�L�x�}@�A-�1�;B1 B1�A5o4�*B5q9�A1�A5z�7�A=���A9"Ce�)*Ce��<<RCm�S�=Ci�Ci��QI�aG�~>�A9�AI�E�\Gi�Ec�@��E=��A��A��E��; �EHtE���nj,>zt��E�AY}2�k�@�}2ey�@y}2\�<�}2�`��}2H����� ������`,��?����A[�?����h�������H�����@���������������` i��������?)~2�k�@ ~2%�[;I~2��CɫY�Y)�Y �YI�YY���@y���dG��,;�M�f=Y�0��QU��>�����a��G�����y���#�}��>I�����ze5�?����`پ� ����A����?9���^C����: ��ӻ:)���W��WX X�W:W2W*W �V U U ���`g��?zL)�L)�L)�L-�M}@�A=|K�;BA BA�AE�8�*BE9�AA�AM�7�AM���AI"CU�)*CUg�=<RCU;�=CQ�CY �m�=��m�=��u�����u�����u�����uZ�� �uP0:Y�u�U1y�u��:��ua 6)�u��;�9}�����*�=I��GH>�Ij#nj,S���E�AY}2�J�@�}2dX�@y}2���<�}2%��}2H�����g�������o��?����g �?����9����� �W�������D�������������������@��?)~2�J�@ ~2|�[;I~2��CɫY�Y)�Y �YI�aY����@y���cG)�-�= �)��u�?��u��=��u��=i�u�@��q �uҙ@)�uҙ@I�qi�uҙ@�����M�M=Y��N�QU��>�����a��G����y��%�}��>Iș�ŝb5�?�ŝcپ� Ɲ��A����?9Ɲ�^C�ǝU�: ȝ��:)ș�W��W�X� XI�WQ:WQ2WQ*WQ�VQUYU]����+�@zL��L��L��L�!}@�A�:��;B� B��A�9V�*B��A��A�W7�A�S��A�"C��)*C���><RC��l�=C��C���m=i�ma=�����=I��GL>���)nj,�7���E�AY}2&0�@�}2�=�@y}2���<�}2l���}2H���� Wi���������?�������?���`�������C2������K����� �^������C����������?)~2&0�@ ~2 �[;I~2��Cɫ9�9)�9 �=���I�9Y�}��@y�}mdG��9��I��i��������������J�; ���rE)�u�t�CI�u�t�Ci�q���u�=��u�=��u��/5I�1)�1I�ER=)�ER=��uX=MuK=Y�up��QU}�>��y��y�a}�G��y��y���}��>Iȩ����:�ŭ�^5�?����:�ŭ�eپ� ƭ|�A����?9ƭ�^C�ǭb�: ȭM�:)ȭ��:�W��WX X�W:W2W*W �V U)U-��� P@zLi�Li�Li�Lm��|@�A}�n�;B� B��A�x@�*B��A��A��~7�A���A�"C��)*C� �?<RC��w�=C��C���m�����m�����m�����m"�� �m�/:Y�m�X1y�m/�:��ma6)�mތ;�ֽ���=I��G�E>��|0nj,�¸�E�AY}:&�@�}:�3�@y}:0,�<�}: ���}:H����ู���������?������?����;�����@�������@ �������啿��� �ܡ�����#��?)~:&�@ ~:��[;I~8ɫ9�9)�9 �9I�9Y�}v�@y�}-dG�����������M�Y=Y�HһQU��>�����a��G����y�NU�}��>Iȹ�ŽA[5�?�Ž�gپ� ƽb�A����?9ƽ�^C�ǽ'�: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������j@�R�B*** querying acoustic contact ***�P��P�zL�L�L�L�|@�A-Gx<B) B)�A-�F�*BQ�AY�A]�}7�Ae���Aa"C��)*C��A<RC���=C��C���=�/�=I�IGeV>��6nj,��۸�E�AY}Ef �@�}E.�@y}E�q�<�}E���}EH�����~紿�������?���`��?����=��������������gە������풿�����a�����`Q��?)~Ef �@ ~E��[;I~E��CɫQ�Q)�Q �U����I�YY��F�@y���cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******����o��ʡ�?�I+����&1��?���->���9�� ���P=)��I��y������S㥻?�&1���/�$��?���/�=����н����< ½�A)½3AI½�Ai½ A������(A��z>���L����D;i���@�� ��@)�ٮ@I�i��� �:�M =Y� ��QU �>�����a�G����y���}�>I�A��M�:��EtV5�?��M�:��E�jپ� �Ez�A��U�?9�E�^C��E��: �E��:)�E��:I�a)�a��u% ����u�����u�����u�� �u�6:Y�u�Y1y�u�:��u6�9}@�W��W�X� X��W�:W�2W�*W��V�U�U������s @zL�>�L�>�L�װ@�L8Ox@�A��<B B�A�L�*B9�A9�A=�|7�AE6��AA"CE�)*CM�gB<RCMO�=CI�CI���>9��I��i��������������۫; ��kE��u���=I��G��>��<nj,�����E�A�|i|�@Y}6W%�@�}6 3�@y}6���<�}6����}6H�����O������@���?����U��?����������������@������ 㗐����@��������r��?)~6W%�@ ~6��[;I~6��CɫY�Y)�a �aI�aY��Q�@y���dG�xDUSBL response received:!U1,P 316,000,004CE,189,80,80,5B,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 �1�1����;M�y=Y����QU�?���� �aE�G��A��Ay�M��:}}?Iȉ�ō?S5�?�ō�lپ� ƍ��A����?9ƍ�^C�Ǎ�8; ȍf9;)ȉ�Wy�WyX� X��W�:W�2W�*W��V�U�U�����tj @zL�L�L�L�Vx@�Au!e.<By By�A}�K�*By�Ay�A��{7�A����A�"C��)*C��tC<RC����=C��C��ֵ�2�=I��G��>���Cnj,���E�AY}2S.�@�}2<�@y}2X�r<�}2���}2H������x����� ��?���`�R�?��� ������ (T�������������`�Q�����`.���������?)~2S.�@ ~2��[;I~2��Cɫ9�9)�9 �=���I�AY�}�@y�}�cG鮁ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��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 Xy�Wy:Wy2Wy*W��V�U�U������)@zL��L��L��L�cx@�A�E�=<B� B��A��R�*B��A��A�%{7�A�j��A�"C �)*C ~kD<RC ]ȣ=C �C �%�=��%�=���Y �������������������� ��::Y��W1y�č:���6�����=I�!G=P>�3�Inj,�x)��E�AY}26�@�}2�C�@y}2��T<�}2�!��}2H�����0;�����@���?����^n�?���`�������������@9������&��������������=��?)~26�@ ~2��[;I~2��Cɫ9�9)�9 �9I�9܁9܁I܁i܁�܅ =�܁�܁�܅ͪ; ݅�iEY����@y��@cG xDUSBL response received:!U1,R,0C5,000,004D0,187,80,80,50,FF Fpublishing direction and range info��x 0���ɰ��=�1�> �)���BI�y��B���Ϲ��=��?u��ߙ�ſ��������ٱ��5��M5M=Y�50��QU=�>��9��9�a=�G��9��Ay�EY;}M�>I�I��M)L5�?��M�pپ� �M��A��]�?9�M_C��M(�: �M��:)�I�Wy�WyX� X��W�:W�2W�*W��V�U�U������@�R�(Combining 5 samples.�P�*Q��B�Z��5ȋk �A@��~�������������Z��Ϲ��=��?u��ߙ�ſ��������2Q�x 0�:Q��Z��N?@�"�a>A�����=�Ͽ�Z��b���:�Ͽ��SC���E�{�BQ�HĎ@ Q� �Q����P���9?�P�Y�9?�P� ���Q�����Q�ϰ@"Q�x�@zL��L��L��L��ox@�A��L<B� B��A�_�*B��A��A�Bz7�A����A�"C��)*C�7wE<RC��g�=C��C�����T�=I��G (>�/�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� X��W�:W�2W�*W��V�U������5B@U����`ު�?��m� ����m�����m�����m(�� �m�A:Y�m<`1y�m8�:��m6zL��L��L��L��x@�A�+�Y<B� B��A��O�*B��A��A�Ny7�A�O��A�"C��)*C���F<RC�ns�=C��C����I��G��>��Vnj,�:]��E�AY}]EB�@�}]�O�@y}]�!<�}]�M��}]H����� ڳ��������?���@���?�������������������������@�4�����@P(�����@���?)~]EB�@ ~])�[;I~YɫI�Q)�Q �U����I�QY��ȸ@y��WcG����/�$��?�x�&1̿�l����?����=���A`� ���=)��I��y���/�$��?:��v����<�O��n�?����=����Խ���t< ¡)¡I¥�Ai¥�A��������U��<��U�����U94=i�Q��Q �Q)�QI�U�@i�Q��eC�Mm:=Y�m�o�QUm�>��q��q�au�G��q��qy�}AZ:}}�>Iȑ�ŕD5�?�ŕauپ� ƕπA����?9ƕ+_C�Ǖ�: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� R(�?zL�4 >�L�4 >�L����@�L�o@�A��f<B B�A�\�*B �A �A kx7�A ���A "C�)*C��G<RC���=C�C���ا=I�GEs>�y9�yI�yi�y��y��y��y��}��; �}�gE�8]nj,� w��E�AY}6�:�@�}6aH�@y}6H4<�}6����}6H���� ����������?����Ӛ�?����z����� ��������o|������}F�����`���������?)~6�:�@ ~6�[;I~6��CɫY�Y)�Y �e���I�aY����@y���cG��!��!��U�\<M]t=Y�]X��QU]?��a��a�ae�G��a��ay�m�4�}m?I�q��u�@5�?��u�vپ� �uA��}�?9�u7_C��q �u �:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������k�?zL��L��L��L�:�o@�A}�cs<B� B��A�X�*B��A��A��w7�A�C��A�"C��)*C���H<RC�i>�=C��C�I�a)�a��u� ����u�����u�����uL�� �uaA:Y�uxZ1y�uq�:��u�6)�uM�;�9}��ֹI��G�E>i�M nGI�a i�y ��� �0�ٺ� ��� 4&A��dnj,됹�E�A�|i|Y}2�.�@�}2B<�@y}2#�;�}2��"��}2H�����`w������z��?����O�?��� ��������c���������@Xdx����`@Z�����@a��?)~2�.�@ ~2��[;I~2��Cɫ9�9)�9 �=���I�9Y�u��@y�}EcG��E��=��E��=��E���i�EG�@��A �E�@)�E�@I�E��@i�Eҙ@��UE��MUJ=Y�]���QU]�>��Y��Y�ae�G��a��ay�m�o�}m�>I�q��}�:��u-=5�?��}�:��u�xپ� �u�A��}�?9�uE_C��uk�: �uw�:)�u��:�W��W�X� X��W�:W�2W�*W��V�U�U����`���?zL��L��L��L�c�o@�A� �|<B� B��A��^�*B��A��A��v7�A����A�"C��)*C�� J<RC� ܣ=C��C ��=���=����=I�)GM0>�=1jnj,�E�AY}Vn"�@�}V 0�@y}VV3�;�}VN���}VH�����+ش����@���?���@���?���`������ �ɴ����`1�}�����gq������ۣ��������?)~Vn"�@ ~V��[;I~V��C�5�>9�1I�5]Gi�5��@��1��1��1��5�; �5QnEɫy�y)�y �}����I�yY���@y���cG���<M�E=Y����QU��>�����a��G������y��hi�}��>I�����R95�?���Izپ� ���A����?9��S_C���n�: ����:)���W�WX X�W:W2W*W �V U U����9E�@zL)�L)�L)�L-�yo@�AE!��<BA BA�AMLU�*BI�AI�AM�u7�AU��AQ"CU�)*C]y-K<RC]Е�=CY�CY��e�Ԙ=��u ����u�����u�����u��� �u6:Y�ud\1y�u��:��u6)�u��;I��G�<>�qnj,�Ĺ�E�AY}2q�@�}2#�@y}2��;�}2���}2H����@�_��������?��� ��?����_������MV������+@v���� ��c�����询��������?)~2q�@ ~2�[;I~2��CɫY�Y)�Y �YI�YY��ϸ@y��`cG)�U�= �U�=���x�MD=Y�-��QU5�>��9��A�aE�G��I��Yy�]���}e�>I�a��u�:��ed55�?��u�:��e|پ� �e��A��u�?9�ea_C��e�; �e�;)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�wSo@�A����<B� B��A��[�*B��A��A��t7�A�Y��A�"Cm�)*Cm�ML<RCm�0�=Ci�Cq��e�=i�e�=��}�Т=I��G�_>�Fwnj,8��E�A�|<�|>�;Y}~2��@�}~��@y}~��h:�}~J��}~H���������`,��?����7F�?������������뵿��� .o���� M������`������F��?)~~2��@ ~~��[;I~~��Cɫ���)�� ��I��Y�@y�rcG����@A����bX9���?ˡE����?����Mb`����E6>����'= ���)��I��y����v��/�?�v��/��{�G�zt����x�=���x����ף� ���A)��I��5Ai��������3A��=�>��=/]���=`�i�=(�@��9 �=�@)�=�@I�=�@i�=�@��M �;MMG=Y�U�p�QUU�>��Q��Q�a]�G��Y��Yy�eB��}e�>I�i��m+15�?��mr~پ� �m��A��}�?9�mr_C��m��: �m �:)�i�W��W�X� X��W�:W�2W�*W��V�U�U�����~�@�R�B*** querying acoustic contact ***�P��P�zL�+%>�L�+%>�L����@�L�E�u@�A����<B� B��A��Y�*B��A��A��s7�A����A�"C��)*C��ZM<RC����=C��C��� nA�� nA�����������������$�� ���:Y�P^1y���:���6�9�@�����=I�!G=Q>�9�I�i���=������D���; �#�E)�ɆI�Ɇi�Ɇ��͆ =��͆=��͆�4�%o}nj,�X���E�AY}B���@�}B=�@y}B��n8�}B��}BH�����>���������?�����p�?��������� �:�������hg����`�� �����e����������?)~B���@ ~BG&\;I~@ɫQ�Y)�Y �YI�YY��Ӹ@y��ecG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��-Sr�M-_=Y�5r�QU5�>��1��9�a=�G��9��Ay�E.R�}M�>I�Q��]�:��UX-5�?��]�:��U��پ� �U��A��e�?9�U�_C��UF; �UI;)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @zL��L��L��L�/�u@�A��v�<B� B��A�Q[�*B��A��A�s7�A���A�"C��)*C�vKN<RC�k�=C��C����vM�=I��G�$>�AU�nj,�,��E�AY}:?�@�}:���@y}:1�&��}:A��}:H����`����������?���@dؠ?���`������Q������ ̟b�������D?���@�ᠿ���@���?)~:?�@ ~:�\;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}cG�xDUSBL response received:!U1,P 0C5,000,004D0,187,80,80,50,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 ��������#���1�i��@�� �ҙ@)�ҙ@I�ҙ@i�ҙ@�����M�(=Y����QU��>�����a��G����y���)�}��>I� �� 4(5�?�� w�پ� � ��A���?9� �_C�� : � �:)� �W9�W9X9I�a)�e@A��u� ����u�����u�����u��� �uw?:Y�u�`1y�u��:��u/6 X9�Wy:Wy2W�*W��V�U�U���� � @zL�L�L�L��u@�AU�Ӎ<BY By�A�/c�*B��A��A�r7�A�0��A�"C��)*C�/�O<RC��3�=C��C� �=�=��=�=��- �D�=I�9 GU �>����nj,4,��E�A�|i|�@Y}6�@�}6���@y}6O�ƺ�}6w���}6H���������������?�����ܢ?����������Ԑ����� �\����@ �X?����ޢ����@m��?)~6�@ ~6�4\;I~6��C�`9�`I�`i�`��b =��`��`��b��; �b��EɫQ�Q)�Q �U���I�YY���@y���cG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����U}K=MUz=Y�U/�QU]?��Y��Y�a]�G��Y��ay�e�I�}e?I�i��m�$5�?��mR�پ� �m�A��}�?9�m�_C��m��: �m��:)�i�W9�W9X9 X9�W9:WA2WA*WA�VAUAUm����oC@zL��L��L��L��u@�A���<B� B��A��R�*B��A��A�?q7�A����A�"C��)*C��hP<RC�N��=C��C�������=I��G J>�<g�nj,��E��E�AY}6��@�}6M��@y}6H�庙}6ʂ#��}6H�����g]�����` ��?����o�?���`������`k]������E�\�����h�\?���`�n������v��?)~6��@ ~6�G\;I~6��Cɫ9�9)�9 �=����I�9Y��3�@y���cG�xDUSBL response received:!U1,R,03F,000,004DE,184,80,80,9F,FF Fpublishing direction and range info���z0a����ɰ�%�=����> ��)���CI��y�� B����ـ^h���?ɕ�n"����������ٱ���U"�>��U���UI>i�Uf�@��Q �U\�@)�U&�@I�U\�@i�UE�@���N�;M�5=Y��{�QU��>�������a��G������y����:}��>I������:���* 5�?����:�����پ� ������?9���_C�����: ����:)����:�W!�W!X! X!�W!:W!2W)*W)�V)U)U5���@��@�R=(Combining 5 samples.�PA*QE B�ZE����B@��*a�����������ZE�ـ^h���?ɕ�n"����������2QEz0a�:QA�ZE���2�'��գ�pB�8$]���?�ZE��*h��*¿i�J�",��&p?BQEG=�@ QE��QE8���PE��9?�PE��9?�PE ���QE ���QE�@"QEϰ@zLi�Li�Li�Lm߲u@�A}�D�<By B��A�HO�*B��A��A�\p7�A����A�"C��)*C�{}Q<RC�C'�=C��C���u ����u�����u�����u��� �u�5:Y�u�X1y�u/�:��u��5����~�=I�G%n>����nj,��_��E�AY}~���@�}~Q�@y}~�����}~��,��}~H����`�嵿���`���?����4��?���@��������嵿����6+\������_?����4������ ���?)~~���@ ~~d[\;I~~��Cɫ���)�� �����I��Y�-�@y�-�cG��DNmea in: $SNTTA,,,,,170752.85*55 ��-���K7�A�?� �rh�Ϳ�I+��?��->��-�l� �-9�<)�)I�)y�-�bX9�ȶ?㥛� ������Q��?��-E�=��-�����-�u< �-�A)�)I�-dAi�-�A��)��-�A��E�+�MMS=Y�M�¹QUM�>��Q��Q�aU�G��Q��Yy�]̚;}]�>I���m5�?��ۉپ� ��A���?9��_C��#�: �b�:)��mEqAdded new target pos. range: 37.259998 m, bearing: 261.840575 deg, deltaT: 4.496975 s, approachRate: 0.186792 m/s, LOS rate: 1.382649 deg/s, posRepo size: 4�WA�WAXA XI�WI:WI2WI*WI�VQUU����G�B@UU������?zL���=�L���=�L�X�@�L��o|@�A��<B� B��A�sS�*B��A��A�yo7�A�.��A�"C�)*C��R<RC ���=C �C ��9��=mA��]�=i�]p=ܹ9ܹIܽ|]Giܽ�@�ܹ�ܹ�ܹ�ܽ��; ݽ�E��5���=I�IGex>����nj,�y��E�A�|�|4<Y}>��@�}>��@y}> �Һ�}>�*��}>H���� Sc������5��?����Y�?���@Y�������b����� ��^�����@RZ?�����Z���������?)~>��@ ~>�\;I~>��CɫY�Y)�Y �]���I�YY��ڸ@y��ncGI� p=)� %=��]Д�Me[=Y�eL:QUe�>��i��i�am�G��i��qy�u0�;}u�>I�y����:��}5�?����:��}�پ� �}�A����?9�}�_C��}M�: �}Y�:)�}��:�W��W�X� X��W�:W�2W�*W��V�U�U�����F�?zL��L��L��L�֏|@�A��ю<B� B��A�dZ�*B��A��A��n7�A����A�"C�)*C,yS<RCe�=C�C ��e���=��}|����}�����}�����}��� �}��:Y�}�Y1y�}�:��}W�5)�}<�9��I��G�=>�W��nj,t���E�AY}2�@�}2�#�@y}2˺�}2�+!��}2H���� /;����� k��?����7#�?������������:�������.\����`�`Y?����&$�����@���?)~2�@ ~2��\;I~2��Cɫ9�9)�9 �=����I�9Y�}@y�}icG��-�?��-\�=��-�">i�-��@��) �-�@)�-ҙ@I�-ҙ@i�-��@��E铺MEL=Y�E49QUE�>��I��I�aM�G��I��Qy�U��:}U�>I�Y��]b5�?��][�پ� �]�A��m�?9�]�_C��]: �] �:)�Y�W��W�X� X��W :W2W*W�VUU�������?zLQ�LQ�LQ�LUO�|@�Am���<B� B��A��Z�*B��A��A��m7�A����A�"C��)*C��T<RC��͠=C��C�����`�=I��G�F>��ͪnj,vO���E�A�6�>9�4I�6�]Gi�6V�@��4��4��4��6��; �61�EY}F��@�}Ff �@y}F�Ű��}F����}FH������U������&��?���@�x�?��������� 8U�����`zF[����@�V?�����z���������?)~F��@ ~F��[;I~F��Cɫy�y)�y �yI�yY��̸@y��\cG��A��EnA��ufX�MuG=Y�}��9QU}�>��y���a��G����y���}��>Iȑ����:�ŕ�5�?����:�ŕE�پ� ƕ.�A����?9ƕ�_C�ǕD�: ȕ�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����`��?zL��L��L��L���|@�A��ۋ<B� B��A�>\�*B��A��A��l7�A�2��A�"C��)*C���U<RC���=C��C� ���=����=��}�����}�����}�����}/�� �}*,:Y�}�U1y�}��:��}�6)�}��;����L�=I��G�G>�W��nj,V*Ǻ�E�AY}J��@�}J��@y}J�*���}J����}JH����� ������@��?������?���`�������!���������]���� XeP?���`�������k��?)~J��@ ~JY\;I~J��CɫY�a)�a �aI�iY��B�@y���cG �A�A��a��ai��VnGI��i�����/�ٺ��3%A��}C�>��}��=��}���i�}z�@��y �}&�@)�}�@I�}�@i�}�@���=M�:=Y�DO:QU��>�����a��G����y��2�}��>Iȩ�ŭ�5�?�ŭP�پ� ƭ>�A����?9ƭ�_C�ǭ��: ȭ��:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U�����E�@zL�L�L�L[p|@�A92�<B B�A%nM�*B!�A!�A%�k7�A%���A!"C-�)*C5f�V<RC5D�=C1�C1��9I�IGeV>�/�nj,}ẩE�AY}2���@�}2� �@y}28�K��}2c���}2H�����)������5��?����Ϯ�?������������������sye�����s)?�����������@���?)~2���@ ~2\�[;I~0ɫ9�9)�9 �9I�9Y�}@y�}rcG����/�$��?�� �rh��Zd;�O��?����=���C� ��j�<)��I��y���!�rh���?�"��~j�����Q������l�=���S������� )^AIi3A�������A��i�M�Z=Y� ;QU��>�����a��G����y����}��>I������:����5�?����:���|�پ� ��*�A����?9���`C����: ��o�:)����:�W��W�X� X��W�:W�2W*W�VUU���@=@zL%%>�L%%>�L%7�@�L%9v@�A=,;�<B9 B9�A=�Y�*BA�AA�AEk7�AE���AA"CM�)*CU��W<RCU1d�=CQ�CQ��AI�I��m�����m�����m�����mz�� �mj:Y�m�Y1y�m�:��m��5�9u@G�8>�a9�aI�ai�a��e=��a��a��e��; �e(�E�� �nj,L����E�AY}2��@�}2d��@y}2���:�}2y���}2H����@j�������-��?����YV�?����������`j��������,q����`�_S����`�u������:��?)~2��@ ~23 \;I~2��CɫY�Y)�Y �YI�YY���@y���cG��������y�<M�[=Y��pq;QU��>�������a��G������y��λ}��>I�����5�?�����پ� ���A����?9��`C�����: ��ʽ:)���W �W X X �W :W 2W*W�VUU����@�R%B*** querying acoustic contact ***�P!�P!zL9�L9�L9�L=l�u@�AM-�<BQ BQ�AUR�*BQ�AQ�A]9j7�A]O��AY"Ce�)*Ce*�X<RCe s�=Ca�Ci����nA��r�=I�G-->��e�=i�a����nj,<���E�AY}2HΛ@�}2�ۓ@y}2LD;�}2Ɵ��}2H������v��������?�������?����z�������k����� �z�������h���� �Ң�����l��?)~2HΛ@ ~2�[;I~0ɫ9�9)�9 �9I�AY����@y��.cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���i���=I� 4=)� ��m�R>��m�'���mp=>i�m�@��i �mҙ@)�mҙ@I�mҙ@i�mҙ@��}q �M}?=Y�}ˊ;QU}�>�����a��G����y����}��>Iȑ�ŕ�5�?�ŕ�پ� ƕ��A����?9ƕ `C�Ǖn�: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zL��L��L��L��u@�A�Ƅ<B� B��A��`�*B��A �A =i7�A ���A "C�)*C��Y<RC+-�=C�C��u����u�����u�����uu�� �u�:Y�uDW1y�uY�:��u��5��E���=I�aG}Y>�a9�eu�CI�ai�a��e =��a��a��e��; �e��E)��I��i������� =����ҽ4��:�nj,X/��E�AY}B��@�}B�œ@y}B\r�;�}B�7 ��}BH����`_'������]��?����ﱣ?����[������%������������ F.t�����������`���?)~B��@ ~BC�[;I~B��CɫY�Y)�Y �]���I�YY���@y���cG�xDUSBL response received:!U1,P 03F,000,004DE,184,80,80,9F,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 ����<M N=Y���;QU%�>��)��1�a=�G��A��Iy�eiڻ}m�>Iȉ����:�ōe5�?����:�ōu�پ� ƍ�A����?9ƍ1`C�Ǎ&�; ȍ7�;)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����&T @zL9�L9�L9�L=��u@�Au�gx<Bq Bq�A}�T�*By�Ay�A}Kh7�A}� ��A�"C��)*C���Z<RC����=C��C����~4�=I��G��>��nj,��H��E�AY} ���@�} ���@y} ğ�;�} ����} H�����藸����`��?����ј�?���@��������������@M7����� �3y����������������?)~ ���@ ~ =�[;I~ ��Cɫ1�1)�1 �=����I�9Y�u�@y�u�dG�yɮ}R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �Å��>�Å94>�Åh�iÅ�@�Á ą&�@)ą&�@Ią&�@ią&�@��Q�=M�5=Y��2;QU��>�����a��G����y���}��>Iȱ�ŵ��5�?�ŵ��پ� ƵрA����?9ƵC`C�ǵ��: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U������"@zL �L �L �L Abu@�A%��p<B! B!�A%\5�*B)�A)�A-�g7�A-h ��A)"C5�)*C5��[<RC=>��=C9�C9 �M�=��M�=��UJ����U�����U�����U��� �UO%:Y�UP^1y�U��:��U��5��=�K�=I�IGeU>��B�nj,H�b��E�AY}b���@�}bH��@y}bk��;�}b�b��}bH���������������?��� ��?����+�������m�������R�����`_�{�����������@���?)~b���@ ~b��[;I~b��Cɫ�髹)�� �����I��Y���@y���dG�xDUSBL response received:!U1,R,089,000,004DD,187,80,80,6C,FF �Fpublishing direction and range info���H������ɰ���=��1�> ��)����BI��y���B����~?����?7�������������ٱ��dNmea in: $SNTTA,0.062333,0.277368,,,170757.31*57 I�)� �)�)������Q��?��(\�µ����S㥛�����(>����� ��/ݼ)��I��y����V-�?��~j�t���~j�t��?���h>����������D< µ�A)µAIµ Aiµ�A������(A�����M�W=Y����:QU��>�������a��G������y���[:}��>I������:��� �5�?����:���֟پ� ��܀A����?9��S`C�����: ��z�:)����:�W�WX! X��W�:W�2W�*W��V�U�U�����M�@�R%(Combining 5 samples.�P1*Q5�B�Z5��/"a�wB@�aXuX�����������Z5�~?����?7�������������2Q5H���:Q1�Z5���<����PE�+B�`��ി�Z5�n�ĶZ˿e����B��~o���a�BQ5��@ Q5\�Q5e���P5��9?�P5��9?�P1Q5 ���Q5I�@"Q5�@zL�a%>�L�a%>�L�(V�@�L���@�A��Hi<B B�A9�*B�A�A�f7�A ���A "C�)*Cj�\<RC^��=C�C!���>9��I��i����� =���������p�; ��(�E��-m�=I�9GUu>�kg�nj,'j|��E�AY}:ߺ�@�}:�ȓ@y}:�~�;�}:h���}:H�����R����� U��?�������?���������������� �����`��}����`�����@+��?)~:ߺ�@ ~:|\;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}RdG��=4ԼMEU=Y�E��:QUE�>��I��I�aM�G��I��Iy�U�;}U�>I�Y��]+�5�?��]��پ� �]�A��e�?9�]b`C��]�: �]n�:)�Y�m�yAdded new target pos. range: 37.200001 m, bearing: 257.660362 deg, deltaT: 4.447640 s, approachRate: -0.013490 m/s, LOS rate: -0.939872 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������B@U����`��?zL��L��L��L��'�@�A�(ea<B� B��A�?C�*B��A��A�f7�A�Y��A�"C��)*C��i]<RC����=C��C���tn�=I�G=.>��U! ����U�����U�����U[�� �U�J:Y�UDW1y�UY�:��U�(6)�U��;�9]��@O�nj,E���E�AY}6?ԛ@�}6��@y}6 �<�}6����}6H���� &G�����`��?������?��� �������-0��������������U����`�W������u��?)~6?ԛ@ ~6u�[;I~6��CɫY�Y)�Y �YI�YY��ڹ@y���dG��M33>��MC�=��M�T�i�M�@��I �M�@)�M�@I�M�@i�M�@��ܩ<M�E=Y��;QU��>�����a��G����y���;}��>Iȩ����:�ŭ�5�?����:�ŭ�پ� ƭ�A����?9ƭs`C�ǭ��: ȭ��:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����<w�?zL �L �L �L �@�@�A�Y<B! B!�A%t:�*B!�A!�A%Ce7�A%���A)"C5�)*C5�h^<RC5K{�=C1�C9��EmA��EmA�օ{�=I��G�>>��9��I��D^Gi����@��������������; ��3�E��y�nj,� ���E�AY}2��@�}2��@y}2��"<�}2:��}2H�����Һ������F��?����A�?��� =�����@���������������]����� ������@���?)~2��@ ~2��[;I~2��Cɫ9�9)�9 �=���I�9Y��B�@y��(eGI�%=)�%�=��U�=M]N=Y�]߉;QU]�>��a��a�ae�G��a��ay�my�;}m�>I�q��u(�5�?��u�پ� �u��A��}�?9�u�`C��u;�: �uH�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����ດ�?zL��L��L��L��S�@�A�U�Q<B� B��A�~-�*B��A��A��d7�A�P��A�"C��)*C��e_<RC�b�=C��C���m ����m�����m�����m��� �m5:Y�m]1y�m�:��m}6)�m �;�օ�P�=I��G�=>�Yd�nj,_ʻ�E�AY}v��@�}v`��@y}v��E<�}v,���}vH�����7������ _��?����E6�?������������i������㑏�����X��������ԣ�����A��?)~v��@ ~v)�[;I~v��Cɫ�髱)�� ������I��Y� :�@y� eG���f�>���/]����t�=i���@��� ��=�@)��&�@I��\�@i��&�@�����M�B=Y����;QU��>�������a��G������y��v�:}��>I������:����5�?����:����پ� ���A���?9���`C�����: ����:)����:�W!�W!X! X)�W):W)2W)*W)�V1U1U5����bR�?zLQ�LQ�LQ�LU,[�@�Ae�K<B� B��A�k.�*B��A��A��c7�A�� ��A�"C��)*C��~`<RC�k֙=C��C�����=I�!GEQ>�r��nj,��㻩E�AY}22�@�}2���@y}2�Cm<�}2F!��}2H����@쇶���� N��?����cf�?���@Y�����`�^�������M�����`0������@� ���������?)~22�@ ~2T�[;I~2��Cɫ9�9)�9 �=���I�9Y�}��@y�}�eG�����p= ף�?:��v����X9��v��?����>����T� ���}=)��I��y����A`��"�?:��v���������������Y=����Խ������ )�AI5Ai A�������A����<M�M=Y�v�;QU��>�����a��G����y���%9}��>I�����k�5�?����پ� ���A����?9���`C���<�: ��#�:)���W��W�X� X��W�:W2W*W�VUU ���`��?zL%�=�L%�=�L%��@�L%��a@�A=y#D<B9 B9�A=�"�*BE�9�AA�AEc7�AET ��AA"CM�)*CM�ta<RCU`�=CQ�CQ �e�=��e�=I�A)�A��]� ����]�����aI�q܉9܉I܉i܉�܍=�܉�܉�܍��; ݍ��E��]�����]��� �]>:Y�]DW1y�]Y�:��]6)�]h�;G�>>����nj,�����E�A�|i|�@Y}2���@�}2~�@y}2r3�<�}2���}2H�������������?���@ߢ?����������<������`�w������:������J����������?)~2���@ ~2K�[;I~2��Cɫ9�9)�9 �=����I�9Y���@y���dG �A�A��u[�M}N=Y�}�;QU}�>�����a��G����y��e�}��>Iȑ�ŕ��5�?�ŕ�پ� ƕ�A����?9ƕ�`C�Ǖϸ: ȕ@�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����`�@zL��L��L��L�U�a@�A3t=<B B�A�8�*B9�A �A [b7�A � ��A "C��)*C�}yb<RC�Y`�=C��C����I��G5O>i�aI�qi������:�ٺ�����/A�r�oj,���E�Aɫ�髙)�� ��I��Y��κ@y���eG������?A��mv>>��m�L���m��i�m=�@��i �m�@)�mҙ@I�m�@i�mҙ@��}�=M}J=Y�}���QU}�>�����a��G����y����}��>Iȑ����:�ŕ�5�?����:�ŕ �پ� ƕ�A����?9ƕ�`C�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �@@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A ��6<B B �A ��*Bz9�A�A�a7�Ao ��A"C�)*CKoc<RCۗ=C!�C!��%p�=I�1��U�����U�����U�����U��� �U~:Y�U�W1y�Uč:��U��5�9]@Ge4>܉9܍t�CI܍�^Gi܍��@�܉�܉�܉�܍Y�; ݍ��E���oj,Uh1��E�AY}2�ԛ@�}2N�@y}2�ک<�}24��}2H�����-C���������?����z�?���@W�����`������@{m����� �:�������$��������?)~2�ԛ@ ~2.d;I~2��CɫY�Y)�Y �YI�YY�}�@y�}�dG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)���= ���=���|f�M�T=Y���.<QU��>�������a��G�����y�(|�}�>I� �� ��5�?�� ��پ� � �A���?9� �`C�� #; � �;)� �WI�WIXI XI�WI:WI2WI*WQ�VUU����u� @zLa�La�La�Le�ra@�A�>'2<B� B��A�2�*B�9�A��A��`7�A����A�"C��)*C�yzd<RC��'�=C��C�����nA��Ai�A��]�[�=I�iG�Z>��oj,QiK��E�A�|�|�;Y}:��@�}:��@y}:�ȶ<�}:����}:H������ض���� ���?���`���?����C������W������@}��������ؖ���� 7���������?)~:��@ ~:�i;I~8ɫa�a)�a �e���I�aY����@y���eG�xDUSBL response received:!U1,P 089,000,004DD,187,80,80,6C,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���=)��%=����L����Y����`�i���@��� ��E�@)��E�@I��E�@i��&�@��%�<M%+=Y�-�W;QU5�>�������a��G������y���T;}��>I������:����5�?���:���6�پ� ���A���?9���`C���~�; ���;)����:��EK����E�����E�����E~�� �Ec%:Y�ExZ1y�Eq�:��E��5�WY�WYXY XY�Wa:Wa2Wa*Wa�VaUiUm���@�i @zL��L��L��L���a@�AU��.<BQ BQ�A]�"�*B]]9�Aa�Ae/`7�Aex��Aq"C��)*C��e<RC����=C��C�����<�=I�) Gm �>�y�oj,e��E�AY}6{�@�}6-��@y}6Dܼ<�}6X���}6H������|���������?�����\�?����&������@D�����������������������v�����@~��?)~6{�@ ~6`sh;I~4ɫ9�9)�9 �=����I�9Y�} �@y�}fG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����X9��v�?�Zd;��{�G�z�������=������ ���#�)��I��y���J+��?�v��/������Mb�?�����=���x����< ���A)��^AI�� Ai��dA������fA���s=M`=Y��;QU�>�� �� �a �G�� ��y��;}?I����5�?���پ� ��A��%�?9��`C��/�: ��:)��WI�WIXI XQ�WQ:WQ2WQ*WQ�VQUYU]���@@zL}(>�L}(>�L}DŽ�@�L}�q@�A� ;+<B� B��A��*B�9�A��A��_7�A�%��A�"C��)*C��vf<RC� 1�=C��C��U�>9�Uu�CI�UD^Gi�U��@��Q��Q��Q��U�; �UH�E)�̈́u�CI�̈́u�Ci�Ʉ��̈́=��Ʉ��̈́��4����=I��G�E>�oj,.�~��E�AY}: ��@�}:� �@y}:�&�<�}:%��}:H������赿���@���?���`�á?���@�������𬵿���@��������C������ �ࢿ������?)~: ��@ ~:&$f;I~8ɫ9�9)�9 �9I�9Y�}�@y�}�eG�xDUSBL response received:!U1,R,047,000,004E1,184,80,80,80,FF �Fpublishing direction and range info�����}����ɰ���=鰅��> ��)����CI��y���B�����?��G��?�\ o볯���������ٱ����a�M�c=Y��!;QU��>�����a��G����y����;}��>I������:�����5�?����:�����پ� ��#�A����?9���`C���s�: ��'�:)����:�W��W�X� X��W�:W2W*W�VUU �����|@�R(Combining 5 samples.�P*Q�B�Z�<���B@r�Ћ����������Z��?��G��?�\ o볯���������2Q��}�:Q�Z�ӽ/��v����B�Z0R�����Z�t�aT�¿�#;���@�y��!��BQc�@ Q�Q4���P��9?�P��9?�P���QQ��@"QI�@zLA�LA�LA�LE�5q@�AU�)<BY BY�A]��*B]�9�AY�A]_7�Ae���Aa"Cm�)*Cm�ig<RCm*>�=Ci�Cq Ձ�ԅ�=��aI�qG�>I�I)�I��um ����u�����u�����u+�� �u�<:Y�u�Y1y�u�:��uX6)�u�;�9�����%oj,����E�A�|,i|,Y}n��@�}nA#�@y}nJ��<�}n����}nH����`?=������O��?����l��?����\��������������替����������@㹣��������?)~n��@ ~noc;I~n��Cɫ���)�� ��I��Y� �@y�fG�mTNmea in: $SNTTA,0.033297,,,,170801.75*41 �y�y���C>����>������i��=�@��� ��ҙ@)��ҙ@I���@i��ҙ@���)7<M�8=Y��D�9QU��>�������a��G������y����;}��>I�����@�5�?����پ� ��,�A���?9���aC����: ��W�:)���m�qAdded new target pos. range: 37.439999 m, bearing: 261.540593 deg, deltaT: 4.374310 s, approachRate: 0.054865 m/s, LOS rate: 0.887050 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����Q�B@U�����4��?zL)�L)�L)�L-�bq@�Aep-(<Ba Ba�Ae�*Bm�9�Ai�AmU^7�AmL��Ai"C��)*C�e�h<RC����=C��C��֭��=I��G�d>�9�I��^Gi���@����������; ���E�3,oj,����E�AY}>R0�@�}>>�@y}>���<�}>����}>H������g������d��?���`̢?����p������ '�������N�������<������%ܣ����@X��?)~>R0�@ ~>��a;I~<ɫY�Y)�Y �YI�YY��6�@y��TfG��]�f<M]T=Y�]��:QUe�>��a��a�ae�G��a��iy�m� <}u�>I�y��}P�5�?��}ٸپ� �}4�A����?9�}aC��}r; �}N;)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����+��?zL�L�L�L�q@�A%�'<B! B!�A-��*B-�9�A)�A5�]7�A5���A1"C=�)*C=��i<RCE�h�=CA�CI��]�����]�����]�����]��� �]��:Y�]�[1y�]H�:��]i�5)�]#�;��e�Т=I�qG�9>���2oj,Ί̼�E�Aɫy�y)�y �yI�yY��A�@y��bfG)�%�= �%>��m�@=��mj<>��m��i�m�@��i �m=�@)�m�@I�m\�@i�m&�@��6V;M�E=Y����QU��>�����a��G�����y�����}��>I������:����5�?����:����پ� ��=�A����?9��aC���=�: ����:)����:�W��W�X X�W:W2W*W �V U U ���@>��?zL)�L)�L)�L)�A=�&<BA BA�AE� �*BE9�AA�AE(]7�AM���AI"CU�)*CU��j<RCUݮ�=CQ�CY��a��emA�օ�p�=I��G�?>��'9oj,�f漩E�AY}Ffa�@�}Fo�@y}F���<�}F���}FH����`Kಿ�������?����+q�?���@�������n������@�������/�������{���������?)~Ffa�@ ~Fg6`;I~F��Cɫi�i)�i �iI�iY����@y���fGI�4=)�4=��������S�?V-���Zd;�O��?����>������ ��j�<)��I��y�����MbX�?k�t�������Mbp������=��� ������� ±)±Iµ�Ai±�������A��=�=MEA=Y�E�;QUE�>��I��I�aM�G��I��Qy�Uhh<}U�>I�Y��]��5�?��]�پ� �]:�A��e�?9�]-aC��]M�: �]ϸ:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����@h��?zL�X>�L�X>�L��,�@�L�� {@�A�S2&<B� B��A�U��*B� 9�A��A��\7�A���A�"C�)*C�l<RC P�=C �C��9��I��i����������������; ��+�E��U� ����U�����U�����U��� �U6C:Y�U�X1y�U/�:��U �5)�U�;��F�=I�)GEQ>�@oj,�G���E�AY}2o�@�}2�|�@y}2�c�<�}2����}2H�����@s����� J��?����=Š?������������4������e�������������`�͡�������?)~2o�@ ~2�_;I~2��Cɫ9�9)�9 �9I�9Y�u_�@y�}�fG���p�M�a=Y�K�:QU�>�����a �G�� �� y���;}�>I���%�:����5�?��%�:���پ� �7�A��%�?9�9aC����: �R�:)���:�WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]����39�@zLq�Lq�Lq�Lu�%{@�A��`'<B� B��A�� �*B�09�A��A�\7�A����A�"C��)*C�`.m<RC�g��=C��C��֍��=I��G-,>��9Foj,K��E�AY}F�x�@�}Fs��@y}F$�<�}F�0��}FH������%���������?����G��?����I�������屿��� P��������#������l�����@���?)~F�x�@ ~F{^;I~F��Cɫ�髙)�� ��I��Y���@y��&gG��EmA��EmA�Í�D��Ít���Í;�=iÍ�@�É č�@)č�@Ič�@ič�@���O=M�>=Y��W�:QU��>�������a��G������y���3;}��>I�������5�?���A�پ� ��4�A����?9��GaC���ϸ: ���:)���W�WX! X!�W!:W!2W!*W)�V)U)U-������@zLI�LI�LI�LM�8{@�A�ϳ)<B� B��A�L�*B��9�A��A��[7�A�M��A�"C��)*C�Q�n<RC���=C��C� թ�ԭ�=��UH ����U�����U�����U1�� �U�9:Y�UxZ1y�Uq�:��U�6�9]@�ֽ箵=I��G�E>�� �>9�� I�� _Gi�� J�@��� ��� ��� ��� ��; �� ��E��cLoj,��3��E�A�|i|ɫy�y)�y �}���I�yY��ƻ@y��gGI��)�� �������� �M�[=Y�����QU��>�������a��G�����y����} �>I����:����5�?��%�:��6�پ� �1�A��%�?9�TaC���"; �|4;)���:�WY�WYXY XY�Wa:Wa2Wa*Wi�ViUiUm���`ܴ@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��A�P!-<B� B��A����*B�R9�A��A��Z7�A����A�"C��)*C�j�o<RC�Ƿ=C��C��օ �=I��G�=>���]�>���i�E�mGI�a��WSoj,�N��E�Ai���>R,�ٺ<��>�!AY}n�k�@�}n~y�@y}nD�<�}n�('��}nH����@ �������S��?�����ɣ?����0�������?�����@C՟���� �眿����u�������?)~n�k�@ ~n"�\;I~n��Cɫ�髡)�� ������I��Y��@y�&gG Z****** received transponder code query ****** F****** received ping request ****** <Arming DUSBL. detectThresh: 758****** ping requested ******�ýx齩ý���ý�w�iý��@�ù Ľz�@)Ľ\�@IĽ\�@iĽ\�@���E�;M�;=Y��r�:QU��>�������a��G������y���m�}��>I�����4�5�?���z�پ� ��.�A���?9��baC���1�; ����;)���WA�WAXA XA�WA:WA2WI*WI�VIUIUM��� @1 @zL �L �L �L q{@�A=Q�1<BA BA�AEL�*BE'9�AA�AEoZ7�AEk��AI"Cu�)*Cu�q<RCu���=Cq�Cy��=�����=�����=�����=�� �=�-:Y�=�[1y�=H�:��=��5�օ���=I��G�b>��uYoj,K�g��E�AY}2�]�@�}2�k�@y}2��<�}2!�)��}2H�����_���������?����D�?���@E�����`ĭ���������������|������\3����� ���?)~2�]�@ ~2 �\;I~0ɫ9�9)�9 �9I�9Y�].�@y�]�gGexDUSBL response received:!U1,P 047,000,004E1,184,80,80,80,FF eCommand AckeBRequesting 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 �y9�yI�}o_Gi�}��@��y��y��y��}��; �}7�E��-�sh��|?�?k�t����� �rh����-�)>��- �� �-C�)�)I�)y�-�X9��v��?��C�l绿�� �rh����-��=��-;߽��-C�� �-A)�-�AI�-^Ai�-�A��)��-�A��e��<Mm(=Y�m%\�QUm�>��q��q�au�G��q��yy�}~c�}}�>Iȡ����:�ťO�5�?����:�ť��پ� ƥ�A����?9ƥwaC�ǥf�: ȥ+�:)ȥ��:�W�WX9 XA�WA:WI2WI*WQ�VQUQU}����Y;@zL�)>�L�)>�L���@�L[iz@�AM�6<BQ Bq�Au�߽*Bu�9�Ay�A}�Y7�A}���Ay"C��)*C�7�r<RC��m�=C��C��ԙ�ԝnA�֍ �?�=I�� G� �>�_`oj,�����E�A�|�|Y}J�O�@�}J{]�@y}J�J�<�}J�� ��}JH������l���������?���@���?��� U�������$�����@�ڞ���� }蛿���`����������?)~J�O�@ ~JP�\;I~J��Cɫ�髩)�� ��I��Y��q�@y���gG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�}p=)�}�=��C�<M��=Y���QU� ?�����a��G������y��类}�?I�����%�5�?�����پ� ���A�� �?9���aC�����< ����<)���W��W�X� X��W�:W�2W�*W��V�U�U�������@zL�L�L�L1Oz@��M< ����M�����M�����M��� �M�8:Y�M�`1y�M��:��M��5�A��<<B� B��A�1Ͻ*B�@9�A��A�|Y7�A�|��A�"C��)*C���s<RC�L��=C��C��ֵ٦�=I��G��>���foj,�c���E�AY}6nB�@�}6 P�@y}6�:�<�}6����}6H���� 0׳���� )��?�����]�?��� d������������`R#������������� �z�����`C��?)~6nB�@ ~6X[\;I~6��Cɫ9�9)�9 �=���I�9Y�}��@y�}hG�xDUSBL response received:!U1,R,013,000,004E3,183,80,80,5E,FF �Fpublishing direction and range info���ԇ����ɰ���=鰅$�> ��)����BI��y��=B����r(����?HaX$P�����������ٱ��Ýr�>�Ý�D��ÝC�=iÝ�@�Ù ĝҙ@)ĝҙ@Iĝҙ@iĝҙ@���]<M�<=Y��N^�QU��>�������a��G������y��Xt�}��>I�����ȫ5�?�����پ� ���A����?9���aC���I�: ��@�:)���W!�W!X! X!�W!:W!2W)*W)�V)U)U5���� @�R=(Combining 5 samples.�PA*QE=B�ZE��j��B@��|�����������ZE�r(����?HaX$P�����������2QEԇ�:QA�ZE�ֳ�"�?��I+���B��숹����ZE�cɘ,>���=v�� r'�BQETȓ@ QE��QE�a��PE��9?�PE��9?�PE���QE���QE�@"QE��@zLi�Li�Li�Lm�8z@�A}��A<B� B��A�)ý*B��9�A��A�Y7�A���A�"C��)*C���t<RC��%�=C��C��ֽ�x�=I��G�f>�m �>9�i I�m �_Gi�m ��@��m =��i ��i ��m ��; �m ��E)� �I� �i� ��� ��� �=�� ��4���loj,O���E�Aɫ���)�� ��I��Y�5��@y�5!hG��TNmea in: $SNTTA,,0.080819,,,170806.19*48 �������� 9g;M U=Y� ���QU�>�����a�G����y����}�>I�)��-�:��-��5�?��5�:��-��پ� �-��A��5�?9�-�aC��-=�: �-��:)�-��:�meqAdded new target pos. range: 37.559998 m, bearing: 264.603605 deg, deltaT: 4.514084 s, approachRate: 0.026583 m/s, LOS rate: 0.678546 deg/s, posRepo size: 4�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUu������B@Uu�����A�?zL��L��L��L��A��wH<B� B��A�b��*B��9�A��A��X7�A����A�"C��)*C���u<RC�D��=C��C� ���=���IޝAA)ޙ�����������������z�� �=.:Y��a1y��:����5)�ċ;�9��������=I�GM>�ʙsoj,CϽ�E�A�|i|�@Y}6B�@�}6�O�@y}6���<�}6����}6H���� Qڳ���� ���?�����Q�?���`�������s������@⣛������7����� C.�����@l��?)~6B�@ ~6�e\;I~6��Cɫ9�9)�9 �9I�9Y��i�@y���gG �)�)�Ý~j>�Ý&�>�Ý��iÝz�@�Ù ĝ@)ĝ��@Iĝ��@iĝ��@�����M�Q=Y�伻QU��>�����a��G����y����}��>I������5�?���~�پ� ���A����?9���aC����: ����:)���Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U�����R�?zL��L��L��L��<z@�A���N<B� B��A�ѽ*B�M9�A��A5X7�A��A"C-�)*C-&�v<RC-溭=C)�C1��=�6�=I�iG�_>��yoj,@�轩E�AY}V�J�@�}VjX�@y}V��<�}VC���}VH������������`5��?�����x�?���`������ �\������������ s��������o�����@q��?)~V�J�@ ~Vш\;I~V��Cɫy�y)�y �yI�yY���@y���hG�����$��C�?T㥛� ���~j�t��?���Z>���� ���D=)��I��y����E���Ը?+��η��~j�t�h������=���v������D� ���A)���AI���Ai��dA�������A���u[=M�F=Y��hB�QU��>�������a�G����y� b';} �>I����:����5�?���:����پ� ��A���?9��aC�� �: �k�:)���:�WA�WAXA XA�WA:WI2WI*WQ�VQUQU]������?zL�� >�L�� >�9�I�7`Gi�>�@����������; �ŅE�L�O��@�L���w@�A=�xU<B9 B9�A=���*B="9�AA�AE�W7�AE���AA"CM�)*CM�x<RCM��=CQ�CQ���2�������������������� ���`:Y��P^1y����:�����5)��O�;��=�"�=I�IGeV>����oj,J���E�AY}2�T�@�}28b�@y}2߶<�}2�k+��}2H�����wG����� &��?������?����������@X��������������fۖ������j���������?)~2�T�@ ~2-r\;I~2��Cɫ9�9)�9 �9I�9Y�}S�@y�}�hG��%��<M-Y=Y�}�6�QU��>�����a��G����y��H;}��>Iȡ�ťL�5�?�ť��پ� ƥ�A����?9ƥ�aC�ǥU�: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U������#�?zL)�L)�L)�L-�w@�Au�d\<By B��A����*B�G"9�A��A��W7�A���A�"C��)*C�62y<RC���=C��C��ޥ�=iޥ�=�ֽ٦�=I��G�f>��ֆoj,���E�A�|"4<�| Y}JyU�@�}J+c�@y}J���<�}Jq6��}JH���� @������G��?���@��?���`�������/������ �.�����@E֕������ʦ�������?)~JyU�@ ~JR�\;I~J��Cɫ�髱)�� ��I��Y��Ƽ@y��AhG�����<���94=���/>i��=�@��� ���@)��ҙ@I��ҙ@i��ҙ@����"�M==Y���QU�>�� �� �a �G�� ��y�Ő9}�>I���%�:��5�?��%�:����پ� ��A��-�?9��aC��'�: �@�:)���:�WQ�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]���@���?zLy�Ly�Ly�L}��w@�A�R�c<B� B��A�繽*B�� 9�A��A�W7�A����A�"C��)*C�6az<RC�H�=C��C���0 ����������������� ��7:Y��_1y�̒:��E�5������=I��GI>�9 @� �>9� I� �`Gi� ��@�� �� �� �� ��; � ��E���oj,�6��E�AY}2eW�@�}2e�@y}2��<�}2��-��}2H������0������)��?����4Ϥ?���������@������<阿���`m�����������������?)~2eW�@ ~2q%];I~2��Cɫ9�9)�9 �=���I�AY��9�@y���hG��-=M5Y=Y�5���QU=�>��9��9�a=�G��9��Ay�E#:}E�>I�I��M��5�?��M��پ� �M�A��]�?9�M�aC��M��: �Mo�:)�I�W��W�X� X��W�:W�2W�*W��V�U�U�����O�@zL��L��L��L��w@�A��[k<B� B��A�4��*B��!9�A��A��V7�A�����A�"C��)*C��}{<RC�G��=C��C������=I��G�$>���oj,�iP��E�AY}R[J�@�}R X�@y}R�۩<�}R�d��}RH����@�������`��?���@���?����2�����@qe��������������;�������������`���?)~R[J�@ ~R];I~Pɫq�q)�y �}���I�yY��x�@y��iG����AA��1��5nA��}�D>��}ff>��}C�<i�}��@��y �}�@)�}��@I�}��@i�}��@��:�<M�D=Y�s��QU��>�����a��G����y�Xz�}��>Iȩ����:�ŭ�5�?����:�ŭ��پ� ƭ�A����?9ƭ�aC�ǭ��: ȭA�:)ȭ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����\I@�R�B*** querying acoustic contact ***�P�PzL�L�L�L��w@�A-�<s<B) B)�A5w��*B5T#9�A1�A5pV7�A5����A1"C=�)*C=Ҳ|<RCE=CA�CA��]�*�=I�iG�9>Iޥ@A)ޥ?A���4 �������������������� ���7:Y��d\1y����:���!�5��oj,�<j��E�A�|i|�@Y}6P9�@�}6G�@y}6��<�}6�����}6H������ ������?��?����!j�?���� �����`c��������}������L�����������`���?)~6P9�@ ~6��\;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�hG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5����Mb�?���S㥫?L7�A`堿��5��>��5/]= �5+�)�1I�1y�5��v��/�?+������y�&1�|���5x�=��5�����5`� �5A)�5�AI�5dAi�55A��1��5�A��U��MU?=Y�UI&�QU]�>��Y��Y�a]�G��Y��ay�e4��}e�>I�i��m�5�?��mC�پ� �m߀A��}�?9�mbC��m#�: �m��:)�i�W��W�X� X��W�:W�2W�*W�ܽ�>9ܹIܽ�aGiܽ�@�ܽ=�ܹ�ܹ�ܽr�; ݽ��E�V�U)U-����� @zLm� >�Lm� >�Lm>ܵ@�Lm��@�A}%�z<By By�A��*B��!9�A��A� V7�A�]���A�"C��)*C�`�}<RC��`�=C��C�����x�=I��G%n>���oj,2!���E�AY}F6+�@�}F�8�@y}F-8�<�}F�x��}FH�����O�������Q��?����䒜?����"�������l�������!�������ƒ����`�,��������?)~F6+�@ ~F];I~F��Cɫ�髑)�� �����I��Y��9�@y���hG�xDUSBL response received:!U1,P 013,000,004E3,183,80,80,5E,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 ��]��<Me[=Y�ue�QU}�>�����a�G��!��1y�E��}]�>I�y��}�5�?��}��پ� �}ـA����?9�}bC��}`�; �}�P;)�yi��nGI�i���M�+�ٺI��M1!A�WQ�WQXQ XQ�WY:WY2Wy*Wy�V�U�U���� l @��� ����������������� ��>:Y�]1y��:����5zL��L��L��L�T��@�A��C�<B� B��A�4��*B��"9�A��A��U7�A����A"C�)*C a6<RC ũ=C �C ��-��=I�9GU�>�Q$�oj,�����E�AY}2��@�}2r)�@y}2���<�}2� ��}2H����`���������?������?����&������崿���@/�������^����������������?)~2��@ ~2�\;I~2��Cɫ9�9)�9 �9I�AY�}��@y�})iG鮁ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��M�t>��M�%���M9��i�Mz�@��I �M&�@)�M&�@I�M�@i�M�@��]n�<M]J=Y�]���QUe�>��a��a�ae�G��a��iy�m]��}m�>I�y����:��}8�5�?����:��}��پ� �}ԀA����?9�}(bC��}��: �}��:)�}��:�WA�WIXI XI�WI:Wi2Wi*Wq�VqUqUu����F@zL��L��L��L�c�@�A� ��<B� B��A����*B�U"9�A��A�aU7�A�����A�"C��)*C���<RC��=C��C��1��5mA��=�.�=I�IGuX>ܱ 9ܱ Iܵ daGiܵ 2�@�ܵ =�ܱ �ܱ �ܵ ��; ݵ y�E�KO�oj,9ӷ��E�Aɫ�髱)�� ������I��Y����@y��riGxDUSBL response received:!U1,R,FA5,000,004E6,186,80,80,94,FF Fpublishing direction and range info����=��ɰt�=���> �)��CI�y��B����v��.��?��x�N�?��������ٱI�-C=)�-C=��="�<M=L=Y�=���QU=�>��A��A�aE�G��A��Iy�M���}M�>I�Q��UG�5�?��U\�پ� �UπA��e�?9�U6bC��U: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����1�@�R�(Combining 5 samples.�P�*Q��B�Z��:(}�~�B@ >v�@���������Z���v��.��?��x�N�?��������2Q���=:Q��Z��`�N�����*�m��B�����Z��@��:R*h���f�v�ᅧ<��L���BQ����@ Q���Q����P���9?�P���9?�P����Q����Q���@"Q��@zL��L��L��L��A��9�<B� B��A��w�*B�$$9�A��A�U7�A�����A�"C��)*C�[��<RC��]�=C��C��� ����������������� ��I:Y�d\1y���:��!�5)���;�9�����I� G]T>�6�oj,��Ѿ�E�AY}f��@�}fp�@y}f�w]<�}f2�:��}fH�����i�������Y��?�������?���������`�������� ������ ���������X���������?)~f��@ ~f��\;I~f��Cɫ���)�� �����I��Y���@y�iiG��TNmea in: $SNTTA,0.050010,,,,170810.65*48 ���7�=����(>���\�=i����@��� ����@)����@I����@i����@���� �M�?=Y��v�QU��>�������a��G�����y�λ}�>I� ���:�� �5�?���:�� ��پ� � ˀA���?9� EbC�� ��: � �:)� ��:�m qAdded new target pos. range: 37.739998 m, bearing: 269.830967 deg, deltaT: 4.395133 s, approachRate: 0.040954 m/s, LOS rate: 1.189352 deg/s, posRepo size: 4�W �W X X �W:W2W*W�VU���@��B@U���`���?zLQ�LQ�LQ�LUGҀ@�A� �<B� B��A�u{�*B�D$9�A��A��T7�A�)���A�"C��)*C�*�<RC�Nv�=C��C�����ا=I� G%o>�`�oj,�뾩E�Aɫ�髹)�� ������I��Y��ͽ@y���iG���{�G�z�?�l����y�&1�|���ף=���� �`�)�I�y��!�rh���?�I+���<�O��n����l�=��9����t�� �;A)�3AI�5Ai�����=A��5)�;M5F=Y�=���QU=�>��9��9�aE�G��A��Ay�M���}M�>�]�>9�YI�],bGi�]Է@��Y��Y��Y��] �; �]�E)��I��i�邉�邩����킹�5I�y��}��5�?��}f�پ� �}��A����?9�}TbC��}��: �}�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��>�L��>�L���@�L��~}@�Am���<Bi Bi�AmYp�*Bm*$9�Aq�Au�T7�Au����Aq"C}�)*C}`��<RC}�<�=Cy�C�Iޡ)ޥAA��������������$�� �Y��^1y�a�:���6)������=I��G k>��G�oj,l_��E�A�|i|Y}6���@�}6R�@y}6�|9<�}6�n��}6H�����=����� ���?�����9�?���`�������f������r������@s/������z̢��������?)~6���@ ~66�\;I~6��CɫY�Y)�Y �]���I�aY���@y��_jG���Qa=M�O=Y����QU��>�������a��G�����y���}�>I� ���:�� s}5�?���:�� ��پ� � ��A���?9� bbC�� ]�: � w�:)� ��:�W9�W9XA XA�WA:WA2WA*WI�VIUIUM�������?zLi�Li�Li�Lm�k}@�A}�c�<B� B��A�y�*B��&9�A��A�WT7�A�}���A�"C��)*C��)�<RC�n��=C��C�����Т=I��G J>�/r�oj,;��E�AY}60�@�}6���@y}6��$<�}6AD���}6H����@D������ ���?������?�����������z�����@��������:��������枿�������?)~60�@ ~6c�\;I~6��CɫY�Y)�Y �]����I�aY��R�@y��(jG�ý��ý"[>�ýQ8>iýz�@�ù Ľ���)Ľҙ@IĽ�@iĽҙ@���Y[�M�J=Y���K�QU��>�������a��G�����y��N�} �>I�i��mz5�?��m&�پ� �m��A��}�?9�mrbC��mܹ: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U�����'W�?zL��L��L��L��`}@�A�w�<B� B��A��-�*B�v&9�A��A�T7�A����A�"C��)*C����<RC�Tڝ=C��C���~ ����������������� �IR:Y�]1y��:����6�9�@���L�=I�)GuX>�U �>9�Q I�U �bGi�U &�@��U =��Q ��Q ��U m�; �U �E���oj,*9��E�AY}bm�@�}b�@y}b�. <�}b@���}bH�����3ζ�������?��� 韠?����#�����@̸�����@�G�������E�������������&��?)~bm�@ ~bY�\;I~`ɫ�髙)�� ��I��Y���@y���iG)�M> �M>��uᾼMuS=Y�}���QU}�>��y��y�a��G����y� �}��>Iȑ����:�ŕ�v5�?����:�ŕ\�پ� ƕ��A����?9ƕ�bC�Ǖ�: ȕ�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������,�@zL��L��L��L��N}@�AE$�<B B�A�R�*B�$9�A �A �S7�A ���A "C�)*C�&�<RC}�=C�C��I� G5.>�ޥ�=iޥp=���oj,��R��E�A�|�|Y}F���@�}F��@y}F���;�}F�'��}FH�����W�������?����p�?���@�������7ɶ���� F�����@#r�����3ߤ��������?)~F���@ ~Fg�\;I~Dɫy�y)�� �����I��Y����@y��ljG�ý��=�ýSc>�ý�>iý��@�ù Ľ��@)Ľ��@IĽ��@iĽ��@���=M�E=Y����QU��>�������a��G������y��aB�}��>I�����ss5�?�����پ� ����A����?9���bC�����: ��)���W�WX X�W:W!2W!*W!�V!U!U-�����~@zLA�LA�LA�LE'A}@�A]a�<BY BY�A]��*BeB'9�Aa�Ae�S7�Ae3��Aa"Cm�)*Cmѩ�<RCu�I�=Cq�Cq����X�=I���� ����������������� ��I:Y�d1y���:���5G]U>�2��oj,�l��E�AY}F�ߛ@�}Fj�@y}F"��;�}F]�9��}FH������붿�������?����OƦ?�����������IѶ�����V���������|������/����� e��?)~F�ߛ@ ~F��\;I~F��CɫY�Y)�Y �YI�YY�}��@y�}�jG������@A�����S㥛�?���Q���<�O��n�?���$>����� �t�<)�I�y�����Q��?���Mb��{�G�zt�����=�������ף� �A)� AI��Ai�dA�����A��=n�;M=T=Y�EP�QUE�>��A��I�aM�G��I��Iy�U�Ĺ}U�>I�Y��]p5�?��]7�پ� �]��A��e�?9�]�bC��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U���� ��@�R�B*** querying acoustic contact ***�P��P���9��t�CI���bGi��w�@���=���RD��������; ����EzLU->�LU->�LUO̳@�LU5H}@�A�}#�<B� B��A���*B��'9�A��A��S7�A����A�"C��)*C�>+�<RC��6�=C��C��֥���=I��G�D>���oj,#����E�AY}B'�@�}B��@y}B \�;�}BL02��}BH���������������?�����ܥ?��� b�����@[�������M����� r�|�����D������ ��?)~B'�@ ~B��\;I~B��Cɫq�y)�� ��I��Y�Mt�@y�UQjGeZ****** received transponder code query ******eF****** received ping request ******e<Arming DUSBL. detectThresh: 75�8****** ping requested ******�õ�w>�õ����õ̌�iõQ�@�ñ ĵz�@)ĵz�@Iĵz�@iĵz�@���SA�M�2=Y�����QU��>�������a��G������y���:}��>I�!��-�:��%�k5�?��-�:��%�پ� �%��A��5�?9�%�bC��%��: �%��:)�%��:�WQ�WQXY XY�WY:W�2W�*W��V�U�U����@XT @zL��L��L��L�S}@�A���<B� B��A��*B�&'9�A�AQS7�A��A"C �)*C ��<RC ���=C �C �5�=��5�=Iޙ)ޝ?A��D ����������������� ��M:Y�P^1y���:����5��M���=I�YGuz>����oj,����E�A�|i|�@Y}6�@�}6��@y}6jI�;�}6?���}6H�����Cٶ����`���?�������?��� ������Ŷ����@v������i{����@)��������?)~6�@ ~6{�\;I~6��Cɫq�q)�q �u����I�qY��̾@y���jG�xDUSBL response received:!U1,P FA5,000,004E6,186,80,80,94,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 ����<M�b=Y��SE�QU��>�������a��G�����!y�-���}-�>I�1��5�h5�?��5t�پ� �5��A��m�?9�5�bC��5��; �5��;)�1�W��W�X� X��W�:W�2W�*W��V�UU����� @zLY�LY�LY�L]OM}@�Au_��<Bq Bq�A�/�*B�G(9�A��A�)S7�A����A�"C��)*C�ZA�<RC� �=C��C�����ܝ=I��G��>���>9��I���cGi���@���=����������; ����E����oj,�^���E�AY}2Jܛ@�}2��@y}2"��;�}2<B��}2H�����'���������?���@�+�?�������������������݂�����X�y�����u����������?)~2Jܛ@ ~2\;];I~2��CɫY�Y)�a �aI�aY��ؾ@y���jG鮩ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���\;M�K=Y��k�QU��>�����a��G����9y�=#�}E�>I�A��U�:��Ee5�?��U�:��E��پ� �E��A��U�?9�E�bC��E��: �E8�:)�E��:�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U������B@zL��L��L��L�bB}@�A���<B� B��A�ּ*B��'9�A��A�S7�A�R��A�"C��)*C����<RC��Û=C��C���: ��������������p�� ��L:Y��]1���ஜ=I��G�E>y���:����5)�9�;�9�������� �Ci�u �mGI�� i�� ��� �3�ٺ� ��� �(A�M��oj,9Կ�E�AY}2�қ@�}2u��@y}2�(�;�}2T���}2H�����S��������?����v2�?���`��������C����� ���������y�����響�������?)~2�қ@ ~2��];I~2��Cɫ9�9)�9 �=���I�AY��%�@y��,kG�xDUSBL response received:!U1,R,F90,000,004EB,187,80,80,AB,FF �Fpublishing direction and range info���+�=���ɰ�F�=��1�> ��)���+CI��y��(B����Q�!���?A��_1��?��������ٱ�)���= ���=��5�=��5ף���51>i�5f�@��1 �5E�@)�5E�@I�5E�@i�5E�@��E��<MEP=Y�Ex��QUE�>��I��I�aM�G��I��Qy�U�K�}]�>I�Y��]�a5�?��]Sھ� �]��A��m�?9�]�bC��]��: �]�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�(Combining 5 samples.�P�*Q�(B�Z��V�����B@�$I� @���������Z��Q�!���?A��_1��?��������2Q�+�=:Q��Z�����]n�?�c�y�C�^��ֿ�Z��p �;�pz?�Vs�z��ZD<킿BQ����@ Q�&�Q�r{>�P��P���9?�P����Q����Q��@"Q���@zL��L��L��L�~/}@�A��W�<B� B��A�O��*B�e)9�A��A��R7�A����A�"C��)*C�(!�<RCCՙ=C�C�Ա�ԵnA������=I��G�F>����oj,bE�AY}2�ś@�}2uӓ@y}2���;�}2��}2H����������������?����� �?���`������@ �������˖������E�y������������}��?)~2�ś@ ~2��];I~2��Cɫ9�9)�A �E����I�AY�}�@y�}lG�dNmea in: $SNTTA,0.039052,0.353024,,,170815.09*53 ܩ9ܩIܭ�dGiܭ��@�ܭ=�ܩ�ܩ�ܭ��; ݭ�EI���=)���=��}��l�����?/�$�������Mb����}��>��}�� �}�)�yI�yy�}�+�����?���������~j�t�����}��=��}�̽��}�D� �};A)�}�AI�yi�}�A��y��y���[=M�6=Y�8QU��>�����a��G����!y�-`�}-�>I�1��=�:��5�]5�?��=�:��5ھ� �5x�A��E�?9�5�bC��5f�: �5+�:)�5��:�m�qAdded new target pos. range: 38.040001 m, bearing: 270.369869 deg, deltaT: 4.441212 s, approachRate: 0.067550 m/s, LOS rate: 0.121341 deg/s, posRepo size: 4�W��W�X� X��W�:WA2WI*WI�VIUU����C@UU��� wf�?�� ��������������+�� �J:Y�P^1y���:��X6)�ϣ;zL�r>�L�r>�L�}��@�L�am@�A����<B� B��A����*B��,9�A��A��R7�A�%��A�"C%�)*C%_��<RC%�Y�=C!�C)��-��=I�9G]�>��pj,.���E�AY}6s��@�}6%Ɠ@y}6�x�;�}6"�,��}6H����@�$������n��?�����2�?����U�����@�������i������ �x����`�����������?)~6s��@ ~6 ;];I~6��Cɫ�髙)�� �����I��Y����@y���kG�õף��õY=�õn�iõQ�@�ñ ĵz�@)ĵz�@Iĵz�@iĵz�@���g �M�Y=Y��IܹQU��>�������a��G������y��`��}��>I�����\Z5�?���~ھ� ��r�A����?9���bC����: ��r�:)���W �WX X�W:W2W*W�VUU���`�V�?zL9�L9�L9�L=�Cm@�AM�8�<BQ BQ�AU�*BU�*9�AQ�A]�R7�A]��AY"Ce�)*CeA�<RCe���=Ca�Ci�֝�~�=I��G�A>��pj,d�!��E�AY}2M��@�}2���@y}2���;�}2�i7��}2H����@{u���������?�������?����`�������]������u����({x����@-릿���@���?)~2M��@ ~2�];I~2��Cɫ9�9)�9 �=���I�9Y��y����mnA��iY�r��QU��>�����a��G�����y���I�}��>I������V5�?��� ھ� ��k�A����?9��cC���$; ���-;)���W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��-m@�A�?�<B� B��A�*B��*9�A��A��R7�A����A�"C��)*C��<RC�o�=C��C� � �=�� �=��E ��������������?�� ��M:Y��_1y�̒:��#�5�9�@����̓=I� G%N>ܙ9ܙIܙiܙ�ܝ=�ܙ�ܙ�ܝ��; ݝ�E)�-�t�CI�-�t�Ci�)���-�=��-�=��-��5��8pj,��;��E�A�|i|�@Y}>��@�}>Ʋ�@y}>{��;�}>��)��}>H����`龸��������?����0Τ?��� {�����`㨸�����˄������Ry������5���������?)~>��@ ~>�\;I~<ɫY�Y)�Y �]���I�YY��ӿ@y��lGI�9)�9 �I�I��RK<M��<Y��:QU��>�����a��G����y� 9�}��>Iȱ����:�ŵS5�?����:�ŵ�ھ� Ƶe�A����?9ƵcC�ǵ��: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@���?zL �L �L �L !m@�A%�{�<B! B!�A%���*B-$,9�A)�A-�R7�A-,��A)"C5�)*C5���<RC=�0�=C9�C9��e�v�=I�qG�9>�X pj,^�U��E�AY}2Ş�@�}2w��@y}2���;�}2E��}2H����������*��?����Ɨ�?���`������`ݸ�����b�����@)�|����@������ ���?)~2Ş�@ ~2��\;I~0ɫY�Y)�Y �]����I�YY��@y��lG���94�����H�����#<i����� ��)��I��i����aT;M C=Y� r;QU �>�����a�G����!y�5W�}=�>I�Q��UAO5�?��U. ھ� �U]�A����?9�U cC��UX�; �U�;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����;��@zLy�Ly�Ly�L}Vm@��� ��������������;�� ��R:Y��^1y�a�:�� 6�A�]��<B� B�A*B`,9�A�A�R7�Ax��A"C �)*C O��<RC,+�=C�C����H�=I��G��>�lJpj,O[o��E�AY}2��@�}2���@y}2��<�}2^v���}2H������6���������?���`�8�?���@�������$�������k�������]������N-���������?)~2��@ ~2O�\;I~0ɫ9�9)�9 �=���I�AY��N�@y���lG�A9�AI�ELeGi�E_�@��E=��A��A��Er�; �Eh�E�����G�z�?���������~j�t��?�����>������ ����<)��I��y�����C�l�?B`��"۹��~j�t�h����;�=����ν����D� ���A)���AI���Ai���������A)�%�= �%�=��-�=M5H=Y�5.;QU5�>��9��9�a=�G��9��9y�Em,�}E�>I�I��U�:��M{K5�?��U�:��Mjھ� �M\�A��]�?9�M/cC��M�: �M��:)�M��:�Wy�WyX� X��W�:W�2W�*W��V�U�U������@zL�2>�L�2>�L��%�@�L��ow@�A�?�<B� B��A�*B�$.9�A��A��R7�A�O��A�"C��)*C�$�<RC��l�=C��C��ޥ�=iޥ�=���{�=I� G%M>��;"pj,^���E�A�|B�;�|@Y}%���@�}%N��@y}%C�<�}%s����}%H������q���������?���@��?���� �����@�]�����`uꇿ����9ց�����������@���?)~%���@ ~%|];I~%��Cɫ���)�� ������I��Y�%��@y�%�lG��)��-AA�ý��ýף<�ý�D�iý��@�ù Ľ��@)Ľ��@IĽ��@iĽ��@�����<M�O=Y��"�:QU��>�������a��G������y��]�}��>I����G5�?��� ھ� �[�A���?9�>cC����< ��<)��W��W�X� X��W�:W�2W�*W��V�U�U�������@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L-�`w@�Ae˸�<Ba Ba�Ae�<*Bm(/9�Ai�Am�R7�Am�ߺ�Ai"C��)*C�)[�<RC�#�=C��C����� �������������������� ��A:Y�P^1y���:���6�֥x��=I��G�d>�x\(pj,����E�AY}6���@�}6���@y}6�]<�}6\d��}6H�����ֹ�����Q��?����֔�?�����������컹����@�䊿������������Z+�����@v��?)~6���@ ~6��\;I~4ɫ9�9)�9 �=���I�9Y�}��@y�}EmG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���T�<M�\=Y���;QU��>�������a��G�����y���} �>I�����:��DD5�?����:���ھ� �����?9�LcC����< ���:)���:�W�W!X! X!�W!:W!2W!*W)�V)U)U5����?� @zL��L��L��L��Gw@�A� M�<B� B��A�ψ<*B�P09�A��A��R7�A���A�"C��)*C����<RC��z�=C��C� �E�=��E�=��5p,�=�A9�AI�E�eGi�E��@��E=��A��A��E�; �E,�EI�YG}�>���.pj,-����E�AY}6�}�@�}6C��@y}6�?*<�}6�*��}6H����`6������� ��?����8��?���`H������������Ǎ������G����� B�����@~��?)~6�}�@ ~6w�^;I~4ɫ9�9)�9 �=����I�9Y�}��@y�}<mG�xDUSBL response received:!U1,P F90,000,004EB,187,80,80,AB,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 ������mA�����M�J=Y� H�:QU�>��!��)�a5�G��9��Iy�]��}e�>Iȁ�ŅV@5�?�Ņ�ھ� Ɓ��%�?9ƅ\cC�Dž8�< ȅ!�<)ȁ�Wy�WyXy X��W�:W�2W�*W��V�U�U����@k� @zL��L��L��L��?w@�A s�<B B �A f�<*B �/9�A �AS7�A*ݺ�A"C�)*C=7�<RC��=C�CAIޡ)ޥAA��� ����������������� �H:Y��]1y���:����5)��;�9����]���=I�yG�~>�So5pj,�����E�A�|i|Y}>���@�}>e��@y}>4x.<�}>w9��}>H���� C������?���@v�?����������@����������������΅������ ����� ,��?)~>���@ ~>��];I~<ɫY�Y)�Y �YI�YY����@y��NmG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�i)�i�� �E>�� `e��� ���i� ��@�� � ��@)� z�@I� z�@i� ��@��=Lw;ME*=Y�U :QU]�>��a��i�au�G��q��y�bR:}��>Iȑ����:�ŕ�;5�?����:�ŕ�ھ� Ƒ����?9ƕncC�Ǖ@�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������q@zL��L��L��L��Fw@�A [�<B B �A 6�<*BM09�A�A1S7�A�ۺ�A"C�)*C'��<RC}�=C��C����I��=I��G�>���;pj,;����E�AY}2(��@�}2ڕ�@y}2�r9<�}2/��}2H�����ݤ���������?�����/�?����D�����`������� Ϗ����@<.�������ߥ��������?)~2(��@ ~2��];I~2��CɫQ�Y)�Y �]���I�YY��F�@y���mG�xDUSBL response received:!U1,R,F6E,000,004EB,186,80,80,71,FF �Fpublishing direction and range info����w>���ɰ�鰝��> ��)����BI��y��������i���?��<�C�?��������ٱ����>9��s�CI��xfGi��S�@���=��������D�����; �� �E��������x��?����x�ƿy�&1�|����K7>���K7� ��`�)��I��y����MbX9�?ˡE���������Mbp����ʡ=���什����� ��fA)���AI��Ai���A������\A��5;�<M5K=Y�=��:QU=�>��A��A�ae�G��a��iy�u�;}u�>I�y��}�85�?��}.ھ� �}Z�A����?9�}zcC��}��; �}f�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U���@�@�RM(Combining 5 samples.�PI*QI�ZM����6��B@7����U@���������ZM���i���?��<�C�?��������2QM�w>:QI�ZM��$��h�?`���C��a�@F��ZM��_��h��?V�����'�0�$��BQMƨ�@ QM�QM@�?�PI�PI�PM���QM���QM��@"QM�@��> ����������������� ��8:Y��`1y���:���6)�ܔ;zL�V�=�L�V�=�L�>U�@�L�̫s@�A��<B� B��A�2�<*B��19�A�A\S7�A~ں�A"C%�)*C%��<RC-���=C)�C)��Y��]mA��M���=I�YGu�>�<�Bpj,O� ��E�AY}5+��@�}5ݛ�@y}5Y�I<�}5����}5H������t������)��?��� �@�?���������� :S�������L�������1����� �����������?)~5+��@ ~5Ui];I~5��Ci���lGI��i����d7�ٺ��7,AɫI�I)�I �II�IY����@y���nG�TNmea in: $SNTTA,,0.174360,,,170819.52*46 )�%�= �%>��u�=��u��=��u���i�u��@��q �u��@)�u��@I�u��@i�u��@��}�F=M�V=Y��(;QU��>�����a��G����y�r�:}��>Iș�ŝ65�?�ŝ�ھ� ƝY�A����?9Ɲ�cC�ǝ#�: ȝ��:)ș�m�qAdded new target pos. range: 38.040001 m, bearing: 271.544880 deg, deltaT: 4.530509 s, approachRate: 0.000000 m/s, LOS rate: 0.259355 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL �L �L �L ~�s@�A䎀<B! B!�A%F=*B%�49�A!�A%�S7�A-mٺ�A)"C-�)*C5�v�<RC5J��=C1�C1�֍TZ�=I��G��>�(�Hpj,�[$��E�AY}6 ��@�}6���@y}6��`<�}6̓��}6H�����>������8��?����!X�?��� N����� ������`�5������������Zq���������?)~6 ��@ ~6�];I~6��Cɫ9�9)�9 �9I�9Y����@y��mnG��4=i�=I�-C=)�-4=��u�ȻM}^=Y�}�z;QU}�>�����a��G����y��;}��>Iȡ����:�ť<35�?����:�ť%ھ� ƥW�A����?9ƥ�cC�ǥ�8; ȥ�M;)ȥ��:�W��W�X� X��W�:W�2W�*W��VUU����t�?zL��L��L��L���s@�A 1�|<B B�A�<=*B�39�A�A�S7�A:غ�A"C%�)*CM �<RCM�{�=CI�CI���h �����������������p�� ��<:Y��<`1y��8�:�����5�9�@��]x��=I�iG�^>��9��I���fGi����@���=���������(�; ����E���Npj,�4>��E�AY}:r��@�}:$��@y}:�lu<�}:�U���}:H����`�*�����`���?��� D��?����d������J ������^������R�������������� *��?)~:r��@ ~:Or];I~8ɫ9�9)�9 �9I�9Y�}��@y�}rnG��UG�:M]L=Y�]xO;QU]�>��a��a�ae�G��a��ay�m,@:}m�>I�q��u<05�?��u�ھ� �uU�A��}�?9�u�cC��uk�: �uw�:)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`>�?zL��L��L��L�q�s@�A�[�x<B� B��A��>=*B�N49�A��A�T7�A��A�"C��)*C��K�<RC���=C��C�i�mAI�mAY��9 ����=��{�=I�!G=r>�ѼUpj,�X��E�AY}2k��@�}2��@y}2p3�<�}2�. ��}2H������2���������?�������?����������������/(������<Ɛ����@R������ ��?)~2k��@ ~2�r];I~2��CɫY�a)�a �iI�iY��6�@y���nG��1��5nA����O>����D����.>i����@��� ��ƣ@)��ƣ@I��ƣ@i���� $�<M1=Y��G;QU�>����!�a%�G��!��)y�-]��}5�>I�9��M�:��=�,5�?��M�:��=�ھ� �=R�A��U�?9�=�cC��=�>; �=�M;)�=��:�W��W�X� X��W�:W�2W�*W��V�U�U���� xu�?zL��L��L��L��s@�A��t<B� B��A�rr=*B�59�A��A�RT7�A��պ�A�"C��)*C�+͌<RC���=C��C���� ����������� ��A:Y�y�����5Y�����;ʏ=I��G��>���[pj,�q��E�AY}2���@�}2h��@y}2���<�}2?�"��}2H����@V@������.��?��� [T�?���������� ������`:������`�������P�����`E��?)~2���@ ~2�7];I~2��CɫI�I)�I �M����I�I܁9܁I܅@gGi܅��@�܅=�܁�܁�܅�; ݅2�E)��s�CI��i�����=���=����5Y��n�@y��6oG����q= ףp�?�&1���{�G�z�������=����н ��ף�)��I��y����MbX9�?R���Q���~j�t�h��������½����D� )�AI�AiEA������QA��*�<M�d=Y�zh;QU��>��q��q�au�G��q��yy��}��>Iȑ�ŕt)5�?�ŕھ� Ƒ����?9ƕ�cC�Ǖu; ȕl;)ȑ�W�WX X�W:W2W*W�VU!U%����N��?zL]�=�L]�=�L]���@�L]�o@�A�(�p<B� B��A��=*B�}69�A��A��T7�A��Ժ�A�"C��)*C�{<�<RC�Gv�=C��C�Y���ֵZ=�=I��G��>���bpj,.Nj��E�Aɫy�y)�y �}���I�yY��(�@y���nG��m>��m����m�s�i�m(�@��i �i)�iI�m�@i�mƣ@��}k��M�M=Y����QU��>�����a��G����y����}��>Iȱ����:�ŵ6&5�?����:�ŵ�ھ� Ʊ����?9Ƶ�cC�ǵO; ȵ�_;)ȵ��:�W�WX X �W :W�2W�*W��V�U�U�������@zL��L��L��L��A%4m<B! B!�AM k=*BM�59�AI�AU�T7�AUӺ�AQ"C]�)*C]���<RCe���=Ca�C��̝�=�̝G>Yρ�ԉ�ԉ��� ����������������� ��?:Y�]1y��:��W�5�֕{�=I��G��>���hpj,Z����E�AY}:H��@�}:���@y}:���<�}:;�.��}:H����@�����������?�������?��������� ����������������^�����@�ԥ�������?)~:H��@ ~:#6];I~:��Cɫ9�9)�9 �=���I�9Y�}��@y�}�oG������?A)Õ�= Õ�=��T=M�Z=Y��\;QU��>�����a��G����y�ꤻ}��>Iȹ�Ž�"5�?�Ž� ھ� ƽQ�A����?9ƽ�cC�ǽ �: Ƚ8�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���o@�A%Ĉi<B! B)�A-S�=*B-]89�AI�AM;U7�AUvҺ�AQ"Cm�)*Cm �<RC���=C��C�Yρ�ޡiޥ�=�֡I��G�d>܁9܁I܅�gGi܅F�@�܅=�܁�܁�܅��; ݅��E��"opj,1|���E�A�|�|Y}6w�@�}62��@y}6Z|�<�}6�7 ��}6H������(�����@���?���`��?����������@����������� 7�������������)��?)~6w�@ ~66|];I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}�oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��I���=)���=�����M�E=Y����:QU��>�����a�G���� y� ���}�>I���%�:��e5�?��-�:���"ھ� �P�A��-�?9��cC���; ��;)���:�Wi�WiXi Xq�Wq:Wq2Wy*Wy�V�U�U����`zb @zLA�LA�LA�LE.�n@�A}�ef<B� B��A�y�=*B�479�A��A��U7�A�8Ѻ�A�"C��)*C-M��<RC5ڔ�=C1�C����������������������$�� ���*:Y���X1y��/�:����6)��Έ;�9��Yϙ�֕�@�=I��G��>�� vpj,�W���E�AY}2�e�@�}28s�@y}2\ŧ<�}2{���}2H�����u������`���?���@ʠ?��� ������ ̅�������������`K�������E�������:��?)~2�e�@ ~2,�];I~0ɫ9�9)�9 �9I�AY�yy���xDUSBL response received:!U1,P F6E,000,004EB,186,80,80,71,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 ��%�D;��%�u���%���i�%f�@��! �%b�@)�%��@I�%��@i�%��@Y��:QU��>�����a��G����y����}��>I�����5�?���~$ھ� ��O�A����?9���cC����: ��r�:)���W�WX X�W:WA2WA*WI�VIUIUM���� @zL��L��L��L�-�n@�A���c<B� B��A�*B�S79�A��A��U7�A�к�A�"C��)*C���<RC�5 �=C��C�Y�"9�� i��=I�9 G] �>��4|pj,�2���E�A�19�1I�5lhGi�5�@��1��1��1��5��; �5��Eɫy�y)�y �yI�yY����@y���oG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����~j�t��?�I+��� ףp= �?�����>���94� ��Q8=)��I��y���i��|?5�?��MbX�����Q��������=����ʽ������ ½�A)½ AI½�Ai½A������ A����K;M��<Y�����QU��>�������a��G�����y����} �>I����5�?���&ھ� �9�A��-�?9��cC��r; ��;)��Wa�WaXi Xi�Wi:Wi2Wq*Wq�VqUqU}����H@zL%� >�L%� >�L%R��@�L%��y@�A=`a<B9 B9�A=�=*B=V89�AA�AEPV7�AE�κ�AA"CM�)*CMfS�<RCUP��=CQ�CQIޡ)ޥBA�������������� ��-:Y�y�����6)�H�;Y�=�#9��M��=I�YG��>���pj,� ©E�A�|i|Y}>�D�@�}>bR�@y}>���<�}>� ��}>H�����s���������?����A�?����������`����������������B�������B]������e��?)~>�D�@ ~>;^;I~>��CɫY�Y)�Y �]���I�YY�}��@y�}�pG�xDUSBL response received:!U1,R,F89,000,004F2,187,80,80,90,FF �Fpublishing direction and range info���ɭ�=���ɰ�k�=鰅1�> ��)���CI��y���B���� ����?i�Q��?��������ٱ� ��鿡�Í->�Í�@>�Í�H�iÍp�@�É č�@)čƣ@Ič�@ič�@��Us=M�`=Y�3;QU��>�������a��G������y���4�}��>I����:�� 5�?���:���(ھ� �#�A���?9�dC���: ���:)���:�Wa�WaXa Xa�Wa:Wi2Wi*W��V�U�U������@�R�(Combining 5 samples.�P�*Q��B�Z����[ C@3J����@���������Z�� ����?i�Q��?��������2Q�ɭ�=:Q��Z���[l;�pǿ�_�L9C�?,a_ܜ��Z��`|���s���4V_��hu3��x��BQ�ߤ�@ Q���Q��;��P���9?�P��P����Q����Q��@"Q���@zL �L �L �L ��y@�A�P_<B! B!�A%w�=*B%�;9�A!�A%�V7�AM�ͺ�AI"CU�)*CU#��<RCU?�}=CQ�CYY�EP$9��5_�=I�AG]v>��I�pj,Q�&©E�AY}~I=�@�}~�J�@y}~��<�}~m��}~H�����7������@a��?���`z�?����������` ��������C����� �b����� }k��������?)~~I=�@ ~~��^;I~~��Cɫ���)�� ������I��Y�m��@y�mqG��DNmea in: $SNTTA,,,,,170823.98*50 ��5M�<M5C=Y�=�q:QU=�>��I��I�aM�G��I��Qy�]�}]�>I�a��e!5�?��em+ھ� �e �A��u�?9�edC��e�<; �eKG;)�a�m�uAdded new target pos. range: 38.459995 m, bearing: 269.727094 deg, deltaT: 4.388882 s, approachRate: 0.095695 m/s, LOS rate: -0.414180 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� �:C@U�����t��?zL�L�L�L�ly@�Am�B^<Bi Bq�Au��=*Bu�;9�Aq�AuAW7�Au�̺�Aq�������������������� �w2:Y�WU1y��:����6�9�@"C��)*C���<RC��}=C��C�����>���>Yϵl&9�9�I��hGi�:�@��������U�; �c�E����X=I��G �>��.�pj,��@©E�AY}2�?�@�}2HM�@y}2�/�<�}2�M��}2H���� �仿������?���@/�?����5������~��������������`�������P���������?)~2�?�@ ~2�w^;I~2��Cɫ9�9)�9 �9I�9Y�}S�@y�}�qG����=M�a=Y���7:QU��>�����a�G���� y� �K:} �>I����:���5�?���:���-ھ� ��A��%�?9�%dC����: ���:)���:�WA�WAXI XI�WI:WI2WI*WI�VQUQUU��� �|�?zLq�Lq�Lq�Lu�ly@�A�j�]<B� B��A�1�>*B�9@9�A��A��W7�A��˺�A "C�)*C�]�<RCȵ~=C�CY���(9�����|=I� ��)��)G]T>i���mGI��i�����DW�ٺ����&JA��X�pj,'�Z©E�AY}B�F�@�}BKT�@y}B�n�<�}B����}BH����@������@���?��� �|�?������������o�����@��������Ym�����`ݣ�������?)~B�F�@ ~BE:^;I~@ɫ�髡)�� ��I��Y����@y��pGI���=)��%=�����O��n�?��~j�t��y�&1��?����>������ ��`e<)��I��y�����|?5^�?��������y�&1��?�����=����̽���`e< KA)~AIEAi�A�������A���$>��C�<��Q�=i���@�� ���@)���@I����i���@��5��M5+=Y�=R�:QU=�>��9��A�aE�G��A��Qy�UI�:}U�>I�Y��]G5�?��]0ھ� �]�A��u�?9�]7dC��]z@; �]�N;)�Y�W!�W)X) X)�W):W12W1*W9�V9U9U=��� ;�?�������������������� ��2:Y�xZ1y�q�:��i�5zL��>�L��>�L��f�@�L�էu@�A���]<B� B��A��=*Br:9�A�AIX7�A�ʺ�A"C%�)*C%7Ր<RC%:��=C!�C)Y�5a)9��% �X=I�1 GM �>�[��pj,<�t©E�AY}:J�@�}:�W�@y}:j9�<�}:����}:H�����P������`��?�����i�?��� ����� yR�������C�������&�������ң��������?)~:J�@ ~:��];I~:��C�b�>9�bt�CI�`i�`��b=��`��b��D��bX�; �bߏEɫ1�1)�9 �9I�9Y�u�@y�uFqG��/�<M�f=Y�y;QU��>������a��G������y���:}��>I������:����5�?����:����1ھ� ���A����?9��DdC���o�: ���:)����:�W!�W!X! X!�W!:W!2WI*WI�VIUIUU������?zL��L��L��L���u@�A�1�^<B� B��A��=*B�?9�A��A��X7�A��ɺ�A�"C��)*C��#�<RC�0��=C��C�Y���*9���Pڀ=I��G��>��j�pj,eU�©E�AY}2oD�@�}2"R�@y}2��<�}2����}2H����@����������?���`��?��� s������u�������0F������m8������_n���������?)~2oD�@ ~2N�];I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}8rG��]�>��]��=��]�R�i�] �@��Y �]�@)�]�@I�]�@i�]�@��Su=M�L=Y�v29QU��>�����a��G����y���}��>Iȱ�ŵL5�?�ŵ�3ھ� Ƶ�A����?9ƵSdC�ǵ�: ȵD�:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL �L �L �L �u@�A%��_<B! B!�A%�>*B%�@9�A)�A-\Y7�A-�Ⱥ�A)"C5�)*C5&~�<RC5�Y�=C9�C9Y�5�+9Iީ)ޭAA���# �����������������+�� ���6:Y���U1y����:���X6��=S�=I�IGeV>����pj,w0�©E�A�|i|�@Y}63�@�}6�@�@y}60�<�}6���}6H������H����� ���?����ڦ�?����������`5 ������ɛ������������`���������?)~63�@ ~6�}];I~4ɫ9�9)�9 �9I�9Y�}��@y�}*rG���d�MR=Y�%���QU%�>��!��!�a-�G��)��)y�57��}5�>I�9��=��5�?��=�5ھ� �=(�A��E�?9�=adC��=��: �=:)�9�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUqU}�����@zL�L�L�L�~u@�A%��`<B) B)�A-d>*B-.@9�AI�AU�Y7�AU�Ǻ�AQ"C]�)*C]�ڑ<RC]<'y=CY�Ca��ml>��m�=Y�ES-9��I��MnA��9��I���iGi��ݽ@������������`�; ��^�E)�Q�I�U�s�Ci�Q���U�=��U�=��U���4��5�0=I�AG}{>��|�pj,��©E�AY}2s&�@�}2&4�@y}2]J�<�}2S)��}2H����@�������`���?�����y�?���@W�����@&s������;�����@�(�������⢿����T��?)~2s&�@ ~2�\;I~0ɫ9�9)�9 �9I�9Y����@y��ArG������AA�����;M�N=Y����QU��>�������a��G������y��r}�}��>I��� �:����5�?�� �:��8ھ� �4�A�� �?9�pdC��I�: ��:)���:�W1�W1X9 X9�W9:W92W9*WA�VAUAUE��� �C@�RMB*** querying acoustic contact ***�PI�PIzLa�La�La�Ledu@�A}��a<By By�A��>*B�A9�A��A��Z7�A��ƺ�A�"C��)*C�G.�<RC��t=C��C�Y�i��?��������������(�� �n$:Y�xZ1y�q�:��6)�K�;�9����}�Pz=I��G�^>���pj,��©E�AY}]e�@�}]#�@y}]�w�<�}]�9��}]H�����o4�����`c��?������?����������`[�������e��������N�����@�d������X��?)~]e�@ ~]>�\;I~]��Cɫ�髑)�� ��I��Y����@y���qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��u��~j�t��?sh��|?������������u��<��u��� �u�̼)�qI�qy�u�ˡE����?J+���V-�����u�=��u�Ƚ��u��� �u�A)�u�AI�u�Ai�uA��q��ufA)Í�= Í>���@���@���@���©�������i��G�@������� ��b�@)����@I����@i����@���\��M�"=Y���k�QU��>�������a��G������y�����}��>Iȁ�ŅI�5�?�Ņ :ھ� ƅ�A����?9ƅ�dC�Dž�: ȅ��:)ȁ�ޡiޥ�=�W��W�X� X��W�:W�2W�*W��V�UU���`,z @zL=,>�L=,>�L=��@�L=�m@�AU��b<BQ BQ�AU�>*B]�<9�Aa�Ae:[7�Aeź�Aa"C}�)*C�A��<RC���m=C��C�Y�Up/9��E ��r=I�Q Gm �>�Ѽpj,���©E�A�|4<�|4<�49�4I�6`jGi�6�@��4��4��4��6��; �6v�EY}F� �@�}Fc�@y}F]�<�}F���}FH������q�����`A��?����|�?���@������w=�����`?������Q�������)������ e��?)~F� �@ ~F�\;I~F��Cɫy�y)�y �����I��Y��^�@y���rG�xDUSBL response received:!U1,P F89,000,004F2,187,80,80,90,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 ��=��=ME�=Y�Uޤ�QU�?�������a�G����)y�U�0�}U�>I�a����:��e@�5�?����:��e\;ھ� �e�A����?9�e�dC��e< �eԩ<)�e��:�W��W�X� X��W�:W2W*W �V U U ���@du @zLY�LY�LY�L]��m@�A���c<B� B��A��!>*B�C9�A��A��[7�A�ĺ�A�"C��)*C���<RC� Sk=C��C���%Q����%�����%�����%��� �%�w:Y�%�V1y�%�:��%�6)�%�;YϽ�/9��� �@p=I�� G= �>�u��pj,�éE�Aɫ�髙)�� ������I��Y����@y��sG��a=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �������������í"۽�íC�<�í+=ií�@�í��� ĭ�@)ĭ�@Iĭ�@iĭ�@����d<M�B=Y�����QU��>�������a��G������y�����}��>I�������5�?����<ھ� ���A����?9���dC����: ��Y�:)���W �W X X�W:W2W*W�VUU����@zL9�L9�L9�L9�AM[�d<B B �A �'>*B �E9�A�A�\7�A&ú�A"C�)*C�6�<RCal=C�C!Y���19����8k=I�G%n>���pj,x)éE�AY}2.��@�}2��@y}2x=�<�}2~%��}2H�����4���������?�������?��� <�������������������tǑ������¢����@C��?)~2.��@ ~2`\;I~2��CɫY�Y)�Y �]���I�YY����@y��sG�xDUSBL response received:!U1,R,FAF,000,004FB,184,80,80,58,FF �Fpublishing direction and range info����Ð=���ɰ���=鰥��> ��)����BI��y���B����M�����?-�r.��?��������ٱ����mA���mA����;M�[=Y�� ��QU��>�������a��G������y��eƻ}��>I������:���Y�5�?����:���U>ھ� ���A����?9���dC�����: ����:)����:�W��W�X� X��W�:W�2W*W�VUU ���@%�@�R5(Combining 5 samples.�P9*Q=�B�Z=�;ׯ��sC@�r4 @���������Z=�M�����?-�r.��?��������2Q=�Ð=:Q9�Z=�r2]9@���9/m�yC��j����Z=��v�8/���� wq^�ᅦ��b��BQ=�K�@ Q=��Q=��P=��9?�P=��9?�P=���Q=���Q=��@"Q=�@zLy�Ly�Ly�L}!�m@�A�Xf<B� B��A�v(>*B�C9�A��A�<]7�A�º�A�"C��)*C�턓<RC���c=C��C�Y���19��E ����������������� �S9:Y�[1y�ݏ:��E�5�9%@�i9�iI�m�jGi�mѾ@��i��i��i��m�; �m��E��Mf�m=I�YG��>����pj,TSCéE�AY}n��@�}n4��@y}n�c�<�}nV���}nH�����%Z���������?���`�1�?����������N0�����`B㔿����O�������KO�����`���?)~n��@ ~n��\;I~lɫ���)�� ������I��Y�l�@y��rG�TNmea in: $SNTTA,0.057848,,,,170828.42*44 I� )� ��u�1�M}2=Y��QU��>�����a��G����y���7�}��>I������5�?���(@ھ� ���A����?9���dC���LC; ��_;)���m�uAdded new target pos. range: 38.999996 m, bearing: 267.312649 deg, deltaT: 4.430464 s, approachRate: 0.121884 m/s, LOS rate: -0.544964 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������C@U����@�@�?zL��L��L��L�P�m@�A Ffg<B B �A_#>*B�A9�A�A�]7�A����A"C�)*CYۓ<RC;`=C!�C!Y��19�� J�c=I� G= �>���pj,�:]éE�AY}5��@�}5���@y}5��{<�}5����}5H�������������]��?����mJ�?�����������~������O�������}�����`�\���������?)~5��@ ~5l�\;I~5��CɫI�I)�Q �QI�QY����@y��sG�����z�G��?bX9�ȶ�ˡE�������� W>���E�� ���'�)��I��y����A`��"�?��~j�t��������������=������������ µ1A)µdAI±iµ+A�������� |�?�� ž�� �>i� (�@�� � )� ƣ@I� ƣ@i� ƣ@��b<M%@=Y�-P�QU-�>��1��9�a=�G��9��Ay�M�5�}U�>I�Y����:��]��5�?����:��]oBھ� �]�A����?9�]�dC��]s�< �]R;)�]��:�Wq�W�X� X��W�:W�2W�*W��V�U�U�����.s�?zL�>�L�>�L+(�@�L� ~@�AU��h<BY BY�A]�'>*B]WB9�AY�A]�^7�A]����Aa"Ce�)*Cmf/�<RCmFk\=Ci�Ci��uD ����u�����u�����u��� �u>9:Y�uWU1y�u�:��u�6Y�U49��E ��^=I�Q Gm �>�Y9�YI�]�kGi�]s�@��Y��Y��Y��]��; �]��E�>�pj,"�wéE�AY}RC�@�}R��@y}R, U<�}R�e��}RH������þ���� ���?����ܡ?��� ��������������`������`�������4ˢ����`���?)~RC�@ ~R/�\;I~R��Cɫ�髡)�� ��I��Y����@y��sG��u�%�M}e=Y�}�ڻQU}�>�����a��G����y����}��>Iȑ�ŕY�5�?�ŕXDھ� ƕ�A����?9ƕ�dC�Ǖ'�: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@�O�?zL��L��L��L��~@�A�j<B B �A �&>*B lF9�A��A�N_7�A�����A�"C��)*C��j�<RC�d[=C��C�Y�I���i��a=��Mm�Y=I�QGuW>i�VnGI�!i�9��m�U�ٺi��m�HA��pj,��éE�A�|�;�|�;Y}6�@�}6��@y}6tw)<�}6�Z��}6H�����*�������N��?���`zâ?����i������-��������c�������.�����`�����@���?)~6�@ ~6݄\;I~4ɫ9�9)�9 �9I�9Y�}��@y�}EsGI��)���A��],���]�H=��]�i�]��@��Y �]O�@)�]9�@I�]9�@i�]9�@��m>�<MmO=Y�u�ܻQUu�>��y��y�a}�G��y��y��:}��>Iȉ�ōj�5�?�ō{Fھ� ƍ�A����?9ƍ�dC�Ǎ{�: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����x��?zL��L��L��L��~@�A��j<B B�A->*BTD9�A �A `7�A ����A "C�)*C���<RC�\=C�CY�%�59���B ������������������� �9:Y��U1y���:��j6����Y=I�!GEr>�31�pj,ƿ�éE�AY}6��@�}6F��@y}6g�<�}6�y"��}6H�����^Z��������?����U��?����������`�?������}։�����V�������M������K��?)~6��@ ~6Y�c;I~4ɫY�Y)�Y �YI�YY��-�@y���sG��5�=M=N=Y�=tûQU=�>��A��A�aE�G��A��Iy�M�f;}M�>I�Q��]�:��Ux�5�?��]�:��U�Hھ� �U�A��e�?9�U�dC��U0�: �U=�:)�U��:�W�WX X�W:W2W *W �V U)U5����]&�@zLI�LI�LI�LM�4~@�A}�j<By By�A}p;>*B}oE9�A��A��`7�A�[���A�"C��)*C���<RC���a=C��C�Yϥ269� 9� I� �kGi� Ŀ@�� =�� �� �� F�; � ՏE����S^=I��G��>��pj,��éE�AY}2{�@�}2.�@y}2*��;�}2�##��}2H�����HĽ�����3��?�����?��� K�����@K������ �M������<�w������b�����`]��?)~2{�@ ~2d/�;I~2��CɫY�Y)�Y �YI�YY��K�@y���sG��I��I��'<M�D=Y�D��QU��>��A��I�aU�G��Q��Yy�e�;}e�>I�i��m8�5�?��mKھ� �m�A��}�?9�m�dC��m�; �mM�:)�i�W��W�X� X��W�:W�2W�*W��V�U�U����`�@zL��L��L��L�LZ~@�A�[vj<B� B��A�$?>*B��F9�A��A��a7�A�/���A�"C��)*C�:W�<RC��j=C��C�Y��V69I�AA)�@A���� �������������������� �?:Y��V1y��:��{�5)�M�;�9������Pa=I�G%n>�0H�pj,���éE�A�|<i|>�@Y}~��@�}~�#�@y}~���;�}~ ��}~H������1������}��?����T��?����}�������!�����@8������1Pp�����,������@���?)~~��@ ~~�Ս;I~~��Cɫ���)�� �����I��Y�-��@y�-RsG��1��5@A����#��~j��?�&1������Q�������%>����н ���u�)��I��y����p= ף�?R���Q��y�&1�������=����½���`e� ��� A)���AI��KAi��A������GA�Ý�P��Ý��<�Ý�>iÝף@�Ù ĝƣ@)ĝƣ@Iĝƣ@iĝƣ@��h�M�:=Y�툻QU��>�����a��G����y����;}��>I������:�����5�?����:���HLھ� ���A����?9��eC�����: ����:)����:�W��W�X� X��W:W2W*W�VU U ������@�RB*** querying acoustic contact ***�P�PzL-z�=�L-z�=�L-���@�L-��g@�AESi<BA BA�AEz.>*BED9�AI�AM^b7�AM���AI"CU�)*CUƯ�<RCU��q=CQ�CYYύ�89�օf�m=I��G��>���>9��I���lGi��g�@�������������; ����E)ݍ�t�CIݍ�t�Ci݉��ݍ�=�ݍ�=�ݍ���4��n�pj,!X�éE�AY}j�(�@�}j}6�@y}jL�;�}j�~��}jH�����ߛ����� ��?���`2Т?���@�����������������y�������a������������M��?)~j�(�@ ~j��;I~j��Cɫ�髱)�� ������I��Y��{�@y��2tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 758****** ping requested ******��=w=M�_=Y�Π�QU��>�����a��G����y�>�;}��>Iȹ�Žt�5�?�ŽfMھ� ƽqA����?9ƽeC�ǽ��: Ƚ{�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL�L�L�L%h@�A-"�g<B) B)�A-)E>*B-sH9�A1�A5&c7�A5����A1"C=�)*C=E�<RC=&�y=C9�CAY�A���# �������������������� ���6:Y��DW1y��Y�:����6)����;��UGj=I�YG�~>�6Uqj,^,ĩE�AY}2�<�@�}2�J�@y}2�7_7�}2���}2H����@y����������?���@O�?���@��������������V�o����@������������`���?)~2�<�@ ~2\�;I~2��Cɫ9�9)�9 �=���I�9Y�}��@y�}htG�xDUSBL response received:!U1,P FAF,000,004FB,184,80,80,58,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 ����D;���"[����9��i��Q�@��� ��O�@)���@I��9�@i��9�@�� T7<M (=Y����QU�>�����a�G����y���;}%�>I�)��5�:��-L�5�?��5�:��-�Nھ� �-\A��5�?9�-eC��-��: �- �:)�-��:�WY�WYXY XY�WY:Wi2Wq*Wq�VqUqU}����� @zL��L��L��L��Qh@�A�p2e<B� B��A��J>*B��E9�A��A�d7�A�����A�"C��)*C��q�<RC��ʀ=C��C�i��I��Y���:9��� �|=I�� G� �>�h qj,�,ĩE�A�|�|4<Y}6[]�@�}6k�@y}6 ��}6yQ��}6H����������������?��� -��?����_����� v�������Y�����b!a?����K�������,��?)~6[]�@ ~6ɚ�;I~6��Cɫy�y)�y �yI�yY����@y���tG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����<M�z=Y��һQU�?�����a��G������y���E<}�?I�����~�5�?����Oھ� ��NA����?9��&eC�����: ����:)���W�WX X�W:W2W *W �V U U�����#@zL)�L)�L)�L-�h@�AE�b<BA BA�AE�T>*BEaL9�AI�AM�d7�AMƶ��AI"CU�)*CU�<RC]��=CY�CYYυ�:9��9��s�CI���mGi��[�@�������������; ����E���������������������]�� ����:Y���V1y���:���� 6)��CK<����@p=I��G�>�9gqj,��EĩE�AY}2���@�}2M��@y}2Zl���}2qG��}2H����������������?����+*�?���`����������������6K?������q?���`����������?)~2���@ ~2�Ԩ;I~2��CɫY�Y)�Y �]����I�YY��y���xDUSBL response received:!U1,R,F9D,000,004FD,186,80,80,72,FF �Fpublishing direction and range info���;�=���ɰ�9�=鰵��> ��)����BI��y��zB����Mٸir��?��Y���?��������ٱ�Y�U���QU]�>��i��i�aM�G��I��Qy�U�Q<}]�>I�Y��e�:��]��5�?��m�:��]1Qھ� �]<A����?9�]3eC��] �; �]��;)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U���� =�@�R(Combining 5 samples.�P*QzB�Z�n�.�|C@��@���������Z�Mٸir��?��Y���?��������2Q;�=:Q�Z�@��r�O�A��c��C�W�J�y�?�Z�` enR���3�5��&�ěN�U?BQ�Z�@ Qw�Q~ ��P��9?�P��9?�P���Q���Q��@"Q��@zL9�L9�L9�L=��h@�AU��]<BQ BY�AY*B]1H9�AY�A]�e7�A]����AY"C��)*C��9�<RC���=C��C�Y�q��U���=I�aG}{>�l�qj,��_ĩE�AY}z���@�}zb˓@y}zI�ܻ�}z���}zH����`�������` ��?���`�n�?���@�������9�������-j?���`;�{?����~1�����@��?)~z���@ ~zw6�;I~xɫ���)�� �����I��Y� ��@y� dtG�uDNmea in: $SNTTA,,,,,170832.86*5F ��m����x�&�?��C�l绿����������m7 >��m;߽ �m�̽)�iI�iy�m�1�Zd�?+�������~j�t�x���m"�=��m�����m�Ļ �m1A)�m�AI�mfAi�i��i��mA��y��y����k>���V����=�>i����� ��9�@)��9�@I��i�����[I�M��<Y��;��QU��>�������a��G������y���u<}��>I�������5�?����Sھ� ��8A����?9��AeC�����: ��/�:)���m5qAdded new target pos. range: 39.119999 m, bearing: 269.207617 deg, deltaT: 4.472016 s, approachRate: 0.026834 m/s, LOS rate: 0.423739 deg/s, posRepo size: 4�W1�W1X9 X9�W9:W92W9*WA�VAUE��� \�C@UE���`�U�?zL��>�L��>�L���@�L��6@�A�.Y<B� B��A@J>*BeG9�A!�A%�f7�A-���A)"Cm�)*Cu���<RC�+ߛ=C��C���5 ����5�����5�����5�� �5;J:Y�5�m1y�5�:��5�!6�95@Yϭd<9�֝ �=I�� G� �>�N�qj,l�yĩE�A�|i|�@�(9�(I�*�nGi�*��@��*=��(��(��*�; �*,�EY}J���@�}Jb �@y}J6e��}J�%��}JH����������� ���?���@��?����6������� ��������v?�������?����W����������?)~J���@ ~J�p�;I~J��Cɫi�i)�q �u����I�qY��?�@y���sG�� �M�b=Y�QU��>�����a��G����y�l�<}��>Iȡ�ť�5�?�ť�Uھ� ƥ5A����?9ƥMeC�ǥ4�: ȥ��:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�L�@�A�VS<B B�A�=>*B�H9�A�A`g7�A����A!"C��)*C�`0�<RC����=C��C�Y���<9�֭��=I��G�h>�Q�$qj,�s�ĩE�AY}:?�@�}:�L�@y}:�b;��}:1u-��}:H�����,�����s��?������?������������������ǒ�?����4l�?��������������?)~:?�@ ~: �;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�tG��u+�=��u9�<��uX�i�u �@��q �u�@)�u�@I�u�@i�u�@���o=M�K=Y���QU��>�����a��G����y���<}��>Iȡ����:�ť*�5�?����:�ť�Wھ� ƥ3A����?9ƥ[eC�ǥ��: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�LH�@�A�L<B B�A�U>*B�I9�A�ABh7�A����A!"C%�)*C-���<RC-5��=C)�C1Y� a=9�����=I�1GUS>��u� ����u�����u�����uj�� �u.@:Y�u�X1y�u/�:��u6�$�*qj, R�ĩE�AY}2f��@�}2��@y}2�^��}2P�*��}2H����`,걿����|��?�����ƥ?����)������������`��?���@C��?���@TW������ ��?)~2f��@ ~2^��;I~2��CɫY�Y)�Y �YI�YY����@y���tG)��= ��=��5��M5O=Y�=ï�QU=�>��9��A�aE�G��A��Ay�Mҥ<}M�>Iȩ�ŭ@�5�?�ŭ.Zھ� ƭ1A����?9ƭieC�ǭ��: ȭH�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U������=�?zL�L�L�L�]�@�A��D<B B�A�R>*B%3I9�A!�A%"i7�A%����A!"C-�)*C5�\�<RC5���=C1�C1i�9I�=lAYύ5?9�99�9I�=oGi�=O�@��==��9��9��=��; �=�E��]箵=I�iG�Z>�n�1qj,�*�ĩE�A�|4<�|�;Y}F/��@�}F�@y}F��|��}FB���}FH����`�D����� ��?����91�?���`x�������h������Le�?��� ��?����κ���������?)~F/��@ ~F�;I~F��Cɫa�a)�i �iI�qY��C�@y��(uG�íX�>�í�=�í�̼ií\�@�é ĭ9�@)ĩIĭ3�@iĩ����<M�A=Y���QU��>�������a��G������y���y<}��>I������:���N�5�?����:����\ھ� ��.A����?9��weC����; ���;)����:�W�WX X�W:W2W!*W!�V!U!U%��� .��?zLA�LA�LA�LE?��@��Y��]�C�A��;<B�i��mG B�I���A�(^>*B�mJ9i���A��A�j7�A�����A���U�ٺ���HA"C=�)���=?9��b2A*CE]�<RC�V��=C��C�����O�=I� G-p>���� �����������������3�� �B:Y�DW1y�Y�:��3 6)�D�;�9�����7qj,��ĩE�AY}22ݜ@�}2��@y}2�����}2ZH��}2H����`~ ���������?�����]�?���@��������Q�����@B5�?�������?����硿�������?)~22ݜ@ ~2� �;I~2��Cɫ9�9)�9 �9I�9Y��N�@y��5uG�����l�����?{�G�zt?�Q���?����>���ף; ��\�=)��I��y���ˡE����?�E���Ը�{�G�zt�����=����ƽ���ף� A)�AI�Ai+A������zA����[;M�J=Y����QU��>�������a��G������y���E<}��>I�����״5�?���F^ھ� ������?9���eC����: ��X�:)���W��W�X� X��W�:W�2W�*W��V�U�U������F@zL�*>�L�*>�L��@�@�L��/r@�A�pR2<B� B��A��_>*B�fJ9�A��A��k7�A�ۯ��A�"C��)*C ƚ<RC "��=C �C�� (S�=I�)GE0>�Q9�QI�UtoGi�U��@��Q��Q��Q��U��; �U܌E�y>qj, �ĩE�AY}J��@�}J���@y}J?�}JZ=��}JH���������������?�����~�?��� ��������E������M�?��� �}�?����:����� F��?)~J��@ ~J-�u;I~Hɫa�a)�i �iI�iY��%�@y��uG������AA��PT�MU=Y����QU�>��!��!�a%�G��!��)y�-�;}-�>I�1��=�:��5��5�?��=�:��5�_ھ� �5-A��E�?9�5�eC��5��: �5��:)�5��:�Wa�WaXi Xi�Wi:Wi2Wi*Wi�VqUqUu��� �7@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L� Rr@�A�h'(<B� B��A�tZ>*B��K9�A��A��k7�A����A�"C��)*C�,m�<RC�#��=C��C����/��=I��G)>���� �����������������J�� ���V:Y���W1y��č:����6)��î;���Dqj,s�ũE�A�|i|Y}6��@�}65��@y}6»���}63� ��}6H������լ��������?����G0�?���������� �"������m�?����:�?����i������`���?)~6��@ ~6}l;I~6��Cɫ9�9)�9 �9I�9Y�E�@y�E�tGMZ****** received transponder code query ******MF****** received ping request ******U<Arming DUSBL. detectThresh: 75]8****** ping requested ******��������=�����i�Q�@�� �1�@)�1�@I�1�@i�1�@��[�MK=Y���QU%�>��!��!�a%�G��!��)y�-8J:}-�>I�1��5�5�?��5�aھ� �1��E�?9�5�eC��5Y�: �5D�:)�1�Wa�WaXi Xi�Wi:Wi2Wi*Wi�VqUqUu�����n @zL1�L1�L1�L5�Vr@�AMv<BI BI�AM�V>*BMdI9�AQ�AU�l7�AUP���AQ"C]�)*C]*-�<RC]`��=CY�Ca�֥3W�=I��G�C>��Kqj,�.ũE�AY}2_�@�}2��@y}2�얼�}2����}2H������'������s��?����;��?����P����� p���������?����Oݒ?���@|���������?)~2_�@ ~2>�e;I~2��Cɫ9�9)�9 �9I�9Y��4�@y��uG�xDUSBL response received:!U1,P F9D,000,004FD,186,80,80,72,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 �� =]<MK=Y�%4��QU-�>��9��9�aE�G��A��Yy�m�Ǻ}u�>Iȑ����:�ŕ��5�?����:�ŕqcھ� Ƒ����?9ƕ�eC�Ǖ�; 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Ge �>�$�Rqj,��JũE�AY}V�ߜ@�}VG�@y}V����}V<'��}VH������㭿�������?�����t�?����i������I�������ԑ?���@�R�?���@�䤿�������?)~V�ߜ@ ~V�ib;I~Tɫ�髹)�� �����I��Y����@y���tG�p=ɮa=�%�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )Å> Å>��=7�>��=�>��=�G�i�=��@��9 �=O�@)�9I�=O�@i�=O�@��M ��MM*=Y�M-C�QUM�>��Q��Y�a]�G��a��qy�HF�}��>Iȉ�ō��5�?�ōveھ� ƍ/A����?9ƍ�eC�Ǎ�: ȍ��:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U������C@zL��L��L��L�3r@�A���<B� B�AoT>*B�J9�A�A�n7�A٬��A"C �)*C�<RCH�=C�C��E�m�=I�IGmV>��Xqj,`WdũE�AY}:�ܜ@�}:P�@y}:}���}:�%&��}:H��������������?�����\�?�����������~�������0�?����7��?���� ¤���� m��?)~:�ܜ@ ~:�`;I~:��Cɫ9�9)�9 �E����I�AY�}��@y�}vtG�xDUSBL response received:!U1,R,4EC,000,00501,189,80,80,52,FF �Fpublishing direction and range info���L������ɰ���=鰅7�> ��)����BI��y��pB�����G.�?F+ ����������ٱ�I��R=)���=������Q���?��~j�t�������������(\>������ �����)��I��y���q= ףp�?ˡE������~j�t�x������=���什����Ļ ���A)���AI�� Ai���A�������� ���MP=Y��]�QU�>�����a�G����y�%bt�}%�>I�)��-��5�?��-�gھ���5tI �-.A��=�?9�-�eC��-��: �-��:)�)�W��W�X� X��W�:W�2W�*W��V�U�U�����&�@�R�(Combining 5 samples.�P�*Q�pB�Z����2{�1@ˢO��A����������Z���G.�?F+ ����������2Q�L���:Q��Z��$�k��B��EI�}/�M`b]���?�Z����|͜J��^5�G,�ٿ�����j�?BQ�Cnc@ Q��{�Q���P�.�9?�P���9?�P�����Q����Q�'�A"Q���@zLE�>�LE�>�LE�=�@�LE��@�AU���;BY BY�A]L>*B]�H9�AY�A]{o7�Ae?���Aa"C��)*C�3j�<RC�hL�=C��C��ֽB��=I��G�i>���� �������������������� ��KC:Y���[1y��H�:���6�9@ܥ �>9ܡ Iܥ <pGiܥ B�@�ܡ �ܡ �ܡ �ܥ ��; ݥ ȊE�8�^qj,?~ũE�AY}J]�@�}J�@y}J�����}J�6��}JH�����*������@��?����2�?����J������x�����`Zf�?����X��?����ud��������?)~J]�@ ~Jl_;I~J��Cɫq�q)�q �yI�yY��?�@y��#uG�]DNmea in: $SNTTA,,,,,170837.30*57 ��!3=M�P=Y�%�QU��>�����a��G�����y���;}��>I������:�����5�?����:���Mjھ� ������?9���eC�����: ���:)����:�m yAdded new target pos. range: 39.360001 m, bearing: 203.606559 deg, deltaT: 4.472450 s, approachRate: 0.053662 m/s, LOS rate: -14.667812 deg/s, posRepo size: 4�W �W X X�W:W2W*W�VU�����C@U��� j�?zLY�LY�LY�L]��@�Au3*�;Bq Bq�Au�]>*B}L9�Ay�A}]p7�A}«��Ay"C��)*C���<RC��Z�=C��C��ԙ�ԝmA�֥! �=I��G J>���eqj,��ũE�AY}2_�@�}2��@y}2�U���}2 ��}2H���� *������`���?�������?���`��������^���������?����2ʗ?����yߡ��������?)~2_�@ ~2�^;I~2��Cɫ9�9)�9 �9I�9Y�}h�@y�}UuG������nA��5�T���59����5�u�i�5��@��1 �1)�59�@I�1i�59�@��E�P<MMR=Y�Mm3�QUM�>��Q��Q�aU�G��Q��Yy�]M;}]�>I�a��eĝ5�?��e�lھ� �e-A��m�?9�e�eC��e'�: �e��:)�a�W!�W!X) XI�WI:WQ2WQ*WQ�VQUYU]��� 54�?zL��L��L��L��#�@�A�E�;B� B��A��b>*B�~K9�A��A�Oq7�A�L���A�"C��)*C�ϟ<RC�F��=C��C�I�@A)���=A!�=I�QG}Y>���kqj,��ũE�AY}2���@�}2� �@y}2����}2� ��}2H���������������?�������?����W������|������`Q>�?����n2�?����HP��������?)~2���@ ~2�>^;I~2��Cɫ9�9)�9 �=���I�9Y����@y���uG��5_�<M=K=Y�=���QU=�>��A��A�aE�G��A��Iy�M�;}M�>I�Q��]�:��Uƚ5�?��]�:��U8oھ� �U,A��e�?9�U�eC��UI�: �Uw�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L�Q1�@�A�-��;B� B��A�1j>*B��M9�A��A�=r7�A���A�"C��)*C�vz�<RCm���=Cq�Cq� 9� I� �pGi� ��@�� �� �� �� q�; � g�E��5� ����5�����5�����5 �� �5#A:Y�5�Y1y�5�:��5*6)�5�;�9=��֥L��=I��G�A>���rqj,���ũE�AY}:I �@�}:��@y}:��¼�}:�5��}:H�����=9���������?������?����������饫���� �^�?��� ]�?����eD������v��?)~:I �@ ~:s(^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�uG��U����Ux�=��U�Ľi�U��@��Q �U9�@)�U�@I�U9�@i�Q��e´�MeG=Y�m�ϹQUm�>��i��i�au�G��q��qy�}�;}}�>Iȁ�Ņ��5�?�Ņ�qھ� Ɓ����?9ƅfC�Džk�: ȅU�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U����` 9�?zL�L�L�L^?�@�AM�y;B B�A�g>*BL9�A!�A%5s7�A%����A!"C-�)*C-<�<RC-k��=C)�C1Y�MvA9 �m�=��m�=��U��=I�iG�|>���xqj,#��ũE�Aɫy�y)�y �yI�yY����@y���uG����gfffff�?��n��ʿ:��v���?���33>���V� ����<)��I��y�������K�?/�$�������Mb`����^�=��������� ��)��+AI��i���A������(A)��= ��=��<M@=Y����QU�>�����a�G����!y�%���}%�>I�)��5�:��-��5�?��=�:��-�sھ� �-1A��=�?9�-fC��-��: �-��:)�-��:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViUiUm���@��@zL���=�L���=�L�a5�@�L��tz@�A�@�:;B� B��A��k>*B�[L9�A��A�3t7�A�f���A�"C-�)*C5��<RC5�n�=C1�C1��� ��������������G�� �)S:Y�0Y1y���:��X6�9@Y�%�A9���0�=I�!G=r>� 9� I� qGi� ��@�� �� �� �� �; � W�E��"qj,[|�ũE�A�|�;�|p;Y}6m(�@�}6 6�@y}6����}6��+��}6H�����X������i��?����[��?����������ʩ�������?������?�����m���������?)~6m(�@ ~6��];I~6��Cɫ9�9)�9 �=���I�9Y�}�@y�}vG����<M\=Y���;QU�>��!��!�a%�G��!��)y�-�!<}-�>I�1��5ő5�?��5�uھ� �56A��E�?9�5fC��5��: �5@�:)�1�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu���@k�@zL!�L!�L!�L%z�z@�AU��:BQ BY�A]:v>*B]�N9�AY�A]2u7�A]@���AY"Ce�)*Cmѿ�<RCm���=Ci�C��̝�=�̝�=Y�i��]^1�=I�qG�\>i���mGI��i����wR�ٺ���EA�� �qj,�WƩE�AY}2�&�@�}2�4�@y}2+}���}2I�+��}2H����`&o�����`V��?��� ��?����,�����@�۩��������?����E�?�����v��������?)~2�&�@ ~2$�];I~2��Cɫ9�9)�9 �=����I�9Y����@y���uG������@A��%7����%ʡ=��%,=i�%��@��! �%n�@)�%n�@I�%n�@i�%n�@��5ţ�M5I=Y�5�4;QU=�>��9��9�a=�G��9��Ay�EI�}E�>I�I��U�:��M��5�?��e�:��M�wھ� �M<A��m�?9�M(fC��MѪ; �M�;)�M��:�W��W�X� X��W�:W�2W�*W��V�U�U������J@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���z@�A�^�:B� B��A��m>*B��M9�A��A�*v7�A�-���A�"C��)*C�o|�<RC~�=C�CY�mvA9��q��q��v��������������\�� �f:Y��Y1y��:��� 6��}�=I��G�^>��4�qj, 33ƩE�AY}:c�@�}:*�@y}:�����}:�� ��}:H����`����������?���`��?�����������z������YF�?����g]�?���`������@��?)~:c�@ ~:��];I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��a��a��u��:M�F=Y�O�:QU��>�������a��G������y���H�}��>I�������5�?����yھ� ��AA��E�?9��5fC���fV< ����<)��ܩ9ܩIܩiܩ�ܩ�ܩ�ܩ�ܭg�; ݭ��E�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zL�L�L�L�z@�AM!8BQ BQ�AU[n>*BUL9�AQ�AU2w7�A],���AY"Ce�)*CeS�<RCe�O�=Ca�C�Y�}�A9��m���=I�yG��>�-�qj,�MƩE�A�|i|Y}6f�@�}6&�@y}6|l���}6ܪ��}6H����`wX���������?���`���?����������@᮪������Ñ?��� @��?�����3������O��?)~6f�@ ~6��];I~6��CɫY�Y)�Y �]���I�YY����@y���uG�xDUSBL response received:!U1,P 4EC,000,00501,189,80,80,52,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 ���� ף<�� �E>�� ��=i� �@�� � �@)� �@I� �@i� �@��UW~;M]/=Y�eT�:QUe�>�������a��G������y�����}��>��� ����������������� �B:Y��X1y�/�:���6I�A��M�:��E��5�?��M�:��E |ھ� �EGA��M�?9�EEfC��Eo�: �E��:)�E��:�W��W�X� X��W�:W�2W�*W��V�U�U����`9� @zL!�L!�L!�L%H�z@�Ae��g�Ba Ba�Am5p>*Bm�K9�Ai�AmDx7�AmA���Ai"C��)*C��3�<RC�B��=C��C����h��=I�! G= �>��F�qj,��fƩE�Aɫy�y)�y �}���I�yY����@y��vG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� ���K7��?T㥛� ������Mb���� I>�� � � ��)� I� y� ��rh��|�?bX9�ȶ�y�&1��?�� ��=�� E���� `e< � A)� EAI� lAi� �� �� ��%Gs<M-`=Y�-���QU-�>��1��1�a5�G��1��9y�=���}=�?I�A��EH�5�?��EL~ھ� �EbA��U�?9�ERfC��EH�: �E��:)�A�Wq�WqXy Xy�Wy:Wy2Wy*Wy�V�U�U������@zL� >�L� >�L���@�L��'�@�A5"�B1 B1�A=�u>*B=�Q9�A9�A=/y7�A=`���A9"CE�)*Ce�ѥ<RCm�3�=Ci�Ci��}����}�� �}����}��I�!GE�>�9 9�9 I�9 i�9 ��9 ��9 ��9 ��= >�; �= ��E)�}�t�CI�y�i�y���}�=��}�=��}�|4��.�qj,�ĀƩE�AY}6�@�}6�*�@y}6=����}6q ��}6H����@����������?������?���`������`x]�������+�?�������?���@�,�����`���?)~6�@ ~6�];I~4ɫY�Y)�Y �YI�YY��`�@y���vG�xDUSBL response received:!U1,R,F2E,000,00506,186,80,80,9F,FF �Fpublishing direction and range info���f�;>���ɰ���=鰥��> ��)���CI��y���B����t��v�?���m~S�?��������ٱ�����=M�c=Y��s�:QU��>�������a��G�����y���:}�>I� �� a�5�?�� ��ھ� � A���?9� `fC�� 3�: � L�:)� �W9�W9X9 XA�WA:WA2WA*WA�VIUIUM����`�@�R�(Combining 5 samples.�P�*Q��B�Z����.NyC@D�Ր��@���������Z��t��v�?���m~S�?��������2Q�f�;>:Q��Z��������@7(nuɧC� �����?�Z���Uo��?������I�0����?BQ�<�@ Q�>�Q�U�@�P���9?�P�.�9?�P����Q�����Q���@"Q�'�AzL1�L1�L1�L5�+�@�AM5�5�BI BI�Au�>*Bu/Q9�Ay�A�5z7�A�����A�"C��)*C����<RC�rv�=C��C�I��G�>��5`����1��1��5Q�� �5Nd:Y�1y�1��5j6)�5z�;�9=���[�qj,��ƩE�A�|$�|&�;Y}j$�@�}j�1�@y}j�ӎ��}j����}jH�����e���������?�����?����~�������쩿��� ��?����:ڑ?��� ������ Y��?)~j$�@ ~j��];I~j��Cɫ���)�� ��I��Y���@y��uG�uDNmea in: $SNTTA,,,,,170841.79*5B I��a=)��%=��=�����=��=��=�H�i�=��@��9 �=��@)�=��@I�=��@i�=��@��M�MM4=Y�U<;QUU�>��Q��Q�aU�G��Y��Yy�]8�:}e�>I�i��u�:��m�~5�?��u�:��m��ھ� �m�A��u�?9�mqfC��mI�: �mw�:)�m��:�m�uAdded new target pos. range: 39.660000 m, bearing: 277.577030 deg, deltaT: 4.411558 s, approachRate: 0.068003 m/s, LOS rate: 16.767426 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����z�C@U�����Xr�?zL��L��L��L�S5�@�A�L�q�B� B��A��o>*B�'M9�A��A�9{7�A�䪺�A�"C��)*C�+Q�<RC�n�=C�CI�!G= >�s��qj,o��ƩE�AY}6\)�@�}67�@y}6M1���}6�"��}6H������I������W��?�������?���`�������K������@�:�?�����%�?����VA�����`���?)~6\)�@ ~6u�];I~4ɫ9�9)�9 �=����I�9Y�uo�@y�}�vG��],U=Me[=Y�e�;QUm�>��q��q�au�G��q��yy�i�:}��>Iȉ�ō�{5�?�ō5�ھ� ƍ�A����?9ƍ�fC�Ǎ� ; ȍ�;)ȉ��9��I��i��������������l�; ���E�W��W�X� X��W�:W�2W�*W��V�U�U����@T��?zL�L�L�L�=�@�AuE]��Bq Bq�AuӁ>*BuvQ9�Ay�A}B|7�A};���Ay"C��)*C� �<RC��S�=C��C�i̱I̱�̵���̵���������������������� �Fn:Y�DW1y�Y�:��66)��;I��G�>��j�qj,LU�ƩE�Aɫ�髙)�� �����I��Y��d�@y���vG��A��EmA�Í|?��Í�>�Í��>iÍ��@�É čO�@)č�@Ič9�@ič�@���W�M�F=Y����QU��>�����a��G����y����}��>Iȹ����:�Ž�x5�?����:�Ž�ھ� ƽ�A����?9ƽ�fC�ǽ[�: Ƚ0�:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U������d�?zL�L�L�L�A-J[��B1 B1�A5!�>*B5[P9�A1�A5Q}7�A=����A9"C=�)*CE_̨<RCACA�CA��el��=I�iG�9>���qj,�0�ƩE�AY}2[�@�}2+�@y}2W3G��}2�a$��}2H����� �����@���?�����Ԥ?���������� �D��������?����B�?���`j����������?)~2[�@ ~2��];I~2��Cɫ9�9)�9 �=���I�9Y�}�@y�}+vGI��)���A ��������Zd;�O��?�~j�t�x?�~j�t��?���j�<�����; ����<)��I��y������x�&�?<�O��n�����Q��?���7�=���t������u< ¥�A)¥dAI¥�Ai¥+A������zA�����M�H=Y��,<QU��>�������a��G������y���k�}��>I������u5�?���a�ھ� ����A����?9���fC���Y�: ���:)���W �W X X �W :W2W*W�VUU���`���?zL5��=�L5��=�L5SǮ@�L5 �u@�AMߥϻBI BQ�AU�x>*BUO9�AQ�AUX~7�AU-���AY"C]�)*Cee��<RCe���=Ca�Ca��5U����5�����5�����5=�� �5nc:Y�5�X1y�5/�:��5F 6�9=@�֥p{�=I��G�A>��9��I��i����������������; ����E��|�qj,�ǩE�AY}2��@�}2�*�@y}2��'��}2�"��}2H����@�������j��?���@��?������������@�������?����`��?���`�B�����`���?)~2��@ ~2G�];I~2��CɫY�Y)�Y �]����I�YY�}%�@y�}>vG���;M�X=Y����;QU��>�������a��G�����y��3�} �>I� �� �s5�?�� ��ھ� � �A���?9� �fC�� ��: � ��:)� �W9�WAXA XA�WA:WA2WA*WI�VIUIUM����2��?zLi�Li�Li�Lm��u@�A}��B� B��A�dz>*B��P9�A��A�W7�A�����A�"C��)*C��C�<RC�X.�=C��C����N��=I��G�$>���qj,\�ǩE�AY}2>�@�}2�*�@y}2α��}2����}2H����� �����@:��?�����*�?�����������1��������}?����)��?�������������?)~2>�@ ~2��];I~0ɫ9�9)�9 �=���I�9Y����@y���vG)�%�= �%�=��m94=��mj����m�̽i�m�@��i �mn�@)�mO�@I�mn�@i�mO�@��}�&=M�A=Y��5;QU��>�����a��G����y�c�8}��>Iș����:�ŝ�p5�?����:�ŝ9�ھ� Ɲ�A����?9Ɲ�fC�ǝR�: ȝ��:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����`\@zL��L��L��L��u@�A�ܢ��B� B��A���>*B��P9�A��A�;�7�A�[���A�"C��)*C�P�<RC�B��=C��C����mA���mA��M ����I��I��M��� �M��:Y�Iy�I��Mr6�ֽl9�=I��G�E>���qj,��5ǩE�AY}:X&�@�}:4�@y}:�� ��}:_���}:H������z���������?��� ���?���������������@/�{?��� �V�?�����~����� ���?)~:X&�@ ~:f�];I~:��Cɫ9�A)�A �E����I�AY�}�@y�}"vGI��4=)��4=���W�M�X=Y��~�:QU��>�������a��G�����Qy�]�7;}]�>I�a��ewn5�?��e��ھ� �e,�A��m�?9�e�fC��eӻ: �e:)�a܅!�>9܁I܁i܁�܅=�܁�܁�܅��; ݅R�E�W��W�X� X��W�:W�2W�*W��V�U�U�����Q�@�R�B*** querying acoustic contact ***�P��P�zL!�L!�L!�L%�v@�AUs��BY BY�A]�w>*B]O9�AY�A]��7�A]���Aa"Ce�)*Cm�ի<RCm��=C��C�Yυ�C9��us��=I��G��>������ �Ci�EVnG����qj,��OǩE�AI�i���.3P�ٺ0��2�CAY} =J�@�} �W�@y} eNộ} CF��} H�����=���������?���`Y��?����]������[������Yu?��� �)|?����yg���������?)~ =J�@ ~ ��];I~ ��Cɫ���)�� �����I��Y���@y��vGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 75%8****** ping requested ******�Í�0?�Í���ÍZ�iÍ��@�É čO�@)ĉIč^�@iĉ��i=M�/=Y��_;QU��>�������a��G������y��O<}��>I�����:����k5�?�� �:���A�ھ� ��=�A�� �?9���fC�����; ���;)����:�WI�WIXQ XQ�WQ:WQ2WQ*WY�VYUYU]�����8 @zL��L��L��L�tVv@�A�ٺ�B� B��A�Մ>*B��O9�A��A�S�7�A�ݮ��A��� ���� ����� ����� ��� � s]:Y� 0Y1y� ��:�� �6"C�)*C=շ�<RC=Q��=C9�CAY�%�C9��m���=I�qG��>����qj,�ziǩE�Aɫ�髙)�� ������I��Y����@y���vG�xDUSBL response received:!U1,P F2E,000,00506,186,80,80,9F,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 ����q= ףp�?�&1��?D�l���������k>�����= ��O��)��I��y���{�G�z�?��~j�t��{�G�z�?���ף=����������#< ) EAI �Ai �A�������nA�nA��� <M�.=Y����QU��>�����a��G����y����}��>I������h5�?���B�ھ� ��J�A����?9���fC�����: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U������ @zL��=�L��=�L@�Lz5z@�A5?��B9 BA�AE�>*BEaP9�AI�AM�7�AM����AQ"C]�)*Ce���<RCm��=Ci�CiYϡ܁9܁I܁i܁�܅=�܁�܁�܅��; ݅��E��� lw�=I�� G� �>���qj,�S�ǩE�A�|i|�@Y}6T�@�}6�a�@y}6�\���}6%��}6H������������ G��?�������?���������� ]�������Ynm?�����v?���`�������@<��?)~6T�@ ~6@�];I~6��Cɫy�y)�y �yI�yY����@y��wG鮡ɮ�R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���E<M�=Y���;QU?��!��!�a-�G��1��Ay�]�q;}e ?I�y����:��}Tf5�?����:��}��ھ� �}S�A����?9�}�fC��}1�< �}��<)�}��:�Wi�WqXq Xy�Wy:Wy2Wy*Wy�V�U�U����`\\@zL��L��L��L�WNz@�A��U(�B� B��A�N�>*B��T9�A��A�o�7�A�r���A�"C��)*C��M�<RC����=C��C�����=���N>�������������������� �T�:Y�xZ1y�q�:��6)�D<�9%�Y���C9����]�=I��G �>�3��qj,�.�ǩE�AY}J�C�@�}JaQ�@y}J���}J����}JH����`������ ,��?��� !��?���`>�����������������>���@�]?����������� ���?)~J�C�@ ~J��];I~J��Cɫy�y)�y �yI�yY����@y���vG�xDUSBL response received:!U1,R,F12,000,00508,186,80,80,96,FF �Fpublishing direction and range info���ɭT>���ɰ��=鰡 ��)���CI��y��B�����b{�O�?YS�"�d�?��������ٱ�����=���T=����i�=�@�� �-�@)�9�@I��@i��@��%X1�M%Y=Y�%�<QU%�>��)��)�a-�G��)��1y�5`��}=�>I�9��=�c5�?��==�ھ� �=]�A��M�?9�=�fC��=˵: �=ض:)�9�Wi�WiXi Xq�Wq:W12W1*W1�V1U1U=���`��@�RE(Combining 5 samples.�PI*QMB�ZM�?��XivC@V)S��g @���������ZM��b{�O�?YS�"�d�?��������2QMɭT>:QI�ZM���MUl�@��:~��C�|Z@��aϿ�ZM�$�@���? 7R�u��y�JX�>y�BQM���@ QM�QM{�@�PM��9?�PM��9?�PM���QM���QM��@"QM��@zL��L��L��L�0z@�A��:/�B� B��A�8�>*B��S9�A��A���7�A�8���A�"C��)*C�k�<RC����=C��C�Y��������=I��G �>�G�qj,� �ǩE�AY}v/3�@�}v�@�@y}vkX ��}v^���}vH����`��������Y��?������?���@z������9�������_S����` �A?���������� ���?)~v/3�@ ~v��];I~tɫ���)�� �����I��Y���@y�wG�!9�!I�%�pGi�%��@��!��!��!��%�; �%�E)ݱ�Iݱ�iݱ��ݱ��ݱ��ݵ�m�4�}DNmea in: $SNTTA,,,,,170846.23*53 )Õ�= Õ�=��5�;M5:=Y�5�=;QU5�>��9��9�a=�G��9��Ay�Ep��}E�>Iȩ����:�ŭ�`5�?����:�ŭ-�ھ� ƭi�A����?9ƭ�fC�ǭM�: ȭY�:)ȭ��:�m-qAdded new target pos. range: 39.780003 m, bearing: 279.243924 deg, deltaT: 4.454057 s, approachRate: 0.026942 m/s, LOS rate: 0.374242 deg/s, posRepo size: 4�W)�W)X) X)�W):W12W1*W1�V1U=��� ��C@U=��� ���?zL��L��L��L�lz@�A� K5�B� B��A�%�>*B�Q9�A��A���7�A�+���A�"C��)*C�nܯ<RC�k��=C���b ��������������E�� ��;:Y�d\1y���:��!6)�W�;�C!Y�5�E9��- ��=I�y G� �>�'�qj,���ǩE�A�|,�|,Y}J6,�@�}J�9�@y}Ju覸�}J ��}JH�����������|��?���`�=�?����#����� �������*�Y������?��� �B������X��?)~J6,�@ ~J��];I~J��CɫY�Y)�Y �]����I�YY���@y��'vG�Å~�>�Å�y>�Å��>iÅ3�@�Á ą�@)ąO�@IąO�@iąO�@��Ug�M�U=Y�М:QU��>�����a��G����y�6�}��>Iȹ�Žd^5�?�ŽƘھ� ƽr�A����?9ƽ�fC�ǽw�: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�L��y@�A-7G:�B) B)�A-x>*B-�Q9�A1�A5�7�A5����A1"C=�)*C=���<RC=F��=C9�CAi�MmAI�MmAY�%�E9��1��=I�QG}{>��5�qj,���ǩE�AY}Fv'�@�}F)5�@y}F���}F���}FH�����i�����`"��?�����u�?���`��������g�������Q�������C?�����w������:��?)~Fv'�@ ~F$�];I~Dɫq�q)�q �u���I�qY����@y��vG����L7�A`��?5^�Iӿ��MbX�?���+>����� ����=)��I��y����������?Zd;�O���y�&1��?�����=���j�����`e< ���A)��I��KAi��A���������� �M�D=Y��p��QU�>�����a �G�� �� y����}�>I����:��[5�?��%�:���ھ� ���A��%�?9� gC��U�: ���:)���:�WI�WIXI XI�WI:WQ2WQ*WQ�VQUQU]���@Vp�?zLu�>�Lu�>�LuC�@�Lu �z@�A�Xs>�B� B��A�`t>*B��N9�A��A���7�A�볺�A�"C��)*C�kP�<RC�8��=C��C�Yϩ�� F ���� ����� ����� ��� � g9:Y� WU1y� �:�� O6�9@�֕���=I��G�c>�9�I�i���=��������; ���E�`rj,,�ȩE�AY}2�6�@�}2qD�@y}2 q��}2f���}2H������t������*��?���`䷢?���`�������u�����`�"K����`a#N?�����������`���?)~2�6�@ ~2�];I~2��Cɫ9�9)�9 �9I�9Y�}Q�@y�}tvG���<M%Z=Y�-!Z�QU5�>��A��A�aM�G��I��Yy�m8�;}u�>I����W5�?��.�ھ� ���A��]�?9�gC���< �D<)��W��W�X� X��W�:W�2W�*W��V�U�U�����G!�?zL �L �L �L � {@�A�A�B! B!�A%�>*B%#P9�AI�AM�7�AM洺�AI"CU�)*CU�!�<RCUv��=CQ�CY�֝�'�=I��G�b>�CCrj,OvȩE�A�|i|ɫy�y)�y �}����I�yY����@y���vG��u@��u@��u@��u©�u���u�i�u=�@��u���� �u��@)�u9�@I�qi�u��@��c�<M�D=Y����QU��>�����a��G����y����}��>Iȡ�ť�T5�?�ťF�ھ� ƥ��A����?9ƥ%gC�ǥ�: ȥD�:)ȡ�W��W�X� X��W�:W�2W�*W��V�U�U������ �@zLy�Ly�Ly�Ly�A�3hD�B� B��A��>*B��R9�A��A���7�A�ϵ��A�"C��)*C��<RC�g��=C��C���� ��������������2�� ��C:Y��W1y�č:�� 6�����=I��GI>��n rj,�W8ȩE�AY}R�L�@�}RZZ�@y}R����}Rܶ!��}RH������������G��?���@�3�?���@���������������S���� pPC?��� �5�����`���?)~R�L�@ ~R<�];I~Pɫq�y)�y �yI�yܹ9ܹIܽ<pGiܽB�@�ܹ�ܹ�ܹ�ܽy�; ݽ��EY�5\�@y�5�vG��M��M�G=Y��R:QU��>�����a��G������y����;}��>I������:���HQ5�?����:���|�ھ� ����A����?9��3gC����: ��#�:)����:�W�WX X�W:W2W *W �V U U����$V@zL)�L)�L)�L-�Q{@�AE-&F�BA BA�AE��>*BE�Q9�AI�AM�7�AM����AI"CU�)*CU��<RCUo��=CY�CY�ֹI��G�E>�>Urj,�,RȩE�AY}2yK�@�}2,Y�@y}2:2���}2���}2H���� {)������s��?��� Uأ?�����������w&�����@X����@G�2?�����ۣ��������?)~2yK�@ ~22�];I~2��Cɫ9�9)�9 �=���I�9Y�}>�@y�}]vG������AA)Õ�= Ñ���������������A`>���7ɾ������i��@������ ����@)��I���@i��9�@���}�M�X=Y���R:QU��>�������a��G�����y�Jǹ} �>I� �� 9N5�?�� ��ھ� � ��A���?9� @gC�� B; � >;)� �W��W�X� X��W�:W�2W�*W��V�UU����*�@�RB*** querying acoustic contact ***�P�PzLQ�LQ�LQ�LU�N{@�Ae�G�Bi Bi�Am�}>*Bu�P9�Aq�Au��7�A}����Ay"C��)*C�xq�<RC���=C��C���MZ ����M�����M�����M"�� �MjO:Y�M�U1y�M��:��Ma6������=I��G5O>�Zrj,�lȩE�A�|�|4<Y}6@�@�}6�M�@y}6u=H��}6���}6H�����jߧ��������?��� Ѣ?��� ������2ܧ�������X������)?����+բ�����t��?)~6@�@ ~6]�];I~6��CɫQ�Q)�Y �]���I�YY����@y���uG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����|?5^��?���MbȿL7�A`�?����M>����@� ��+=)��I��y�����MbX�?/�$�������MbP������=���������� �A)I�Ai�A����������M�3=Y��V9QU��>�����a��G����y�2G�}��>Iȱ����:�ŵ�J5�?����:�ŵ��ھ� Ƶ��A����?9ƵPgC�ǵ{�: ȵ��:)ȵ��:�W�WX X�W:W2W)*W)�V)U)U5����5 @zLm�>�Lm�>�Lmڋ�@�Lmw�}@�A��*G�B� B��A��s>*B�VN9�A��A�*�7�A�Ƹ��A�"C��)*C��L�<RC���=C��C�i����I����������������9��I��i��������������i�; ����E��� ���=I�� G �>�_g!rj,P�ȩE�AY}2T<�@�}2J�@y}2�湙}2 ���}2H�����������`���?�����2�?����������`��������<T�������<?��� h5����� ���?)~2T<�@ ~2k�];I~2��Cɫ9�9)�9 �=����I�9Y�o�@y��vG]xDUSBL response received:!U1,P F12,000,00508,186,80,80,96,FF ]Command Ack]BRequesting micromodem ping code 2i�a��a���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��-p ����-�����-�����-K�� �-�<:Y�-�Y1y�-�:��-�6)�-N�;�9=�i�=mGI�ii�����V^�ٺ�����PA��E �=��E�D<��E7�=i�E\�@��A �E�@)�E�@I�E9�@i�E�@��Uq�<M]%=Y�}��QU}�>�����a��G����y�$q�}��>Iȑ�ŕG5�?�ŕ��ھ� ƕ��A����?9ƕ`gC�ǕZ�; ȕ��;)ȑ�W �WX1 XY�WY:WY2Wa*Wa�ViUiUu���`�-@zL�L�L�L��}@�Au��F�Bq By�A}Ӂ>*B}�M9�A��A�Ƈ7�A����A�"C��)*C�gT�<RC��k�=C��C���� ��=I�� G� �>��'rj,7�ȩE�AY}2o7�@�}2"E�@y}2 �պ�}2�\��}2H������i����� 8��?����L��?���������`cm������|����` �Z?����������� ���?)~2o7�@ ~2ѳ];I~2��Cɫ)�))�) �-���I�)Y�m�@y�mvG�qɮup=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��1?�M��=Y���QU�!?�����a��G����y�� �}�!?Iȡ����:�ťE5�?����:�ť�ھ� ƥ��A����?9ƥigC�ǥk�: ȥw�:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����h@zL��L��L��L�փ}@�A�}E�B B�A:v>*B�Y9�A�A*�7�A����A�"C��)*C�Uζ<RC�:o�=C��C�������=I��G�G>���-rj,R��ȩE�A�|i|Y}FE=�@�}F�J�@y}F�{R��}F=q��}FH����@u������?��?����g�?�����������������`O�W?����tOj?����� ������H��?)~FE=�@ ~F �];I~F��CɫY�Y)�Y �]����I�Y�i9�iI�ii�i��m=��i��i��m��; �m��EY����@y���uG�xDUSBL response received:!U1,R,F5A,000,00511,186,80,80,56,FF �Fpublishing direction and range info����V>���ɰ���=鰡 ��)����BI��y��G!B����� �1��?'�ЌCz�?��������ٱ����(W�M�X=Y��؈�QU��>�������a��G������y��a�:}��>I�����2B5�?���$�ھ� ����A����?9��vgC�����< ��۱<)���W��W�X� X��W�:W�2W�*W��V�U�U������@�R(Combining 5 samples.�P*QG!B�Z��� ��C@����!H@���������Z�� �1��?'�ЌCz�?��������2Q�V>:Q�Z�����|@�zoALD�r�_����Z��������?ۂ�����8��a�BQ��@ Q� �Q�{@�P��9?�P��9?�P���Q���Q�@"Q��@zLA�LA�LA�LEY�}@�A]k%D�BY BY�A]"q>*Be3O9�Aa�Ae��7�Ae����Aa"C��)*C�鏷<RC�Q4�=C��C���M�����M�����M�����M��� �M��:Y�M�X1y�M/�:��M�6)�M#�;�ֽ��=I��G�E>�_�4rj,2t�ȩE�AY}2H�@�}2�U�@y}2�m���}2����}2H����@M_������/��?������?���@`�������q����� tzf?������r?���@�������?)~2H�@ ~2��];I~2��CɫY�a)�a �aI�iY��o�@y��^uG�5TNmea in: $SNTTA,0.055393,,,,170850.70*45 ����>����@=����i����@��� ��)��I���@i��O�@���M8=Y� �B�QU �>�� ���a�G����y�jC;}�>I�!��%�>5�?��%��ھ� �%ÀA��-�?9�%�gC��%�: �% �:)�!�m]uAdded new target pos. range: 40.319996 m, bearing: 275.602040 deg, deltaT: 4.438060 s, approachRate: 0.121673 m/s, LOS rate: -0.820603 deg/s, posRepo size: 4�Wa�WaXa Xa�Wa:Wa2Wi*Wi�VqUu�����(D@Uu����×�?zL��L��L��L��}@�A��eB�B� B��A��c>*B�nM9�A��A�$�7�A�����A�"C��)*C��^�<RC����=C��C�����=I�)GEQ>���:rj,�P�ȩE�AY}2N�@�}2�[�@y}2pƯ��}2m�"��}2H����@�������@0��?�����q�?���`�������������@>m?��� ��u?����[W����� j��?)~2N�@ ~2 �];I~2��Cɫ9�9)�9 �9I�9Y����@y���uG��������x��?)\���(��{�G�z�����K7>���Ga� ���#�)��I��y����"��~j�?333333���~j�t��?���S�=����������D< µ� A)µ�AI±i±�������A���G=M�N=Y��� �QU��>�������a��G������y���:}��>I������:���=<5�?����:����ھ� ��ЀA����?9���gC�����: ����:)����:�;��� w��Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;����w�dResuming normal ranging with 1.000000 count pings.�;����1<����W��W�X� X��W�:W�2W�*W��V�U�U��������?zL� >�L� >�L�@�LZp�@�AMy@�BI BI�AM"q>*BM%O9�AI�AU��7�AU}���AQ"C]�)*C]2�<RC]f��=CY�Ca�� =i� ��� ��������������@�� ��@:Y��V1y��:��� 6�9-@�ֽ�#�=I��G�f>�a9�aI�e�oGi�e��@��a��a��a��e��; �e��E)��I��i�����=����=������4�Z�Arj,c*ɩE�A�|4<�|�;Y}JFO�@�}J�\�@y}J�H̻�}J�( ��}JH������즿����p��?����-#�?��� �������������.Rr?��� �y?����������@���?)~JFO�@ ~J�^;I~J��Cɫ�髁)�� �����I��Y����@y���uG����@>����D;����Ƚi����@��� ��9�@)��I��O�@i���@���N�:M�G=Y��QU�>�����a �G�� �� y�r�9}�>I���95�?��f�ھ� �݀A��%�?9��gC��U�: �@�:)��XE�������?1<E���wE�Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�;E��� wE�Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR�WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]���@ن�?zLy�Ly�Ly�L}�p�@�AM�K=�BI BI�AU�q>*BUP9�AQ�AU"�7�AU]���AQ"C]�)*C]���<RCeDB�=Ca�C�Y�}UJ9��m�Q�=I�yG��>�t�Grj,l!ɩE�AY}2�U�@�}2;c�@y}2�\���}2+��}2H�������������v��?������?�����������騦����`�#x?���@�~?��� *Ģ�����C��?)~2�U�@ ~2h1^;I~2��CɫY�Y)�Y �]����I�YY��0�@y��uG��5�e�M=X=Y�=/^�QU=�>��A��A�aE�G��A��Iy�M-;}M�>Iȡ����:�ť�65�?����:�ť��ھ� ƥ�A����?9ƥ�gC�ǥX�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�L�L�Lmt�@�A�L:�B B�A�[>*B�M9�A�A��7�A;���A!"C%�)*C-i��<RC-���=C)�C1�� ��������������8�� �J:Y��W1y�č:��� 6��E��=I�QGm5>�� Nrj,��:ɩE�AY}6�`�@�}6]n�@y}6P��}6�[��}6H������֥����@~��?���`F��?����7�����`��������s~?�����I�?����Wʡ�������?)~6�`�@ ~6U^;I~6��C� "�>9� I� i� �� �� �� �� ��; � ��EɫY�Y)�Y �]���I�aY��`�@y��LuG��mA��mA��5On<M=J=Y�=e�QU=�>��A��A�aE�G��A��Iy�Mt\;}M�>I�Q��UE45�?��U#�ھ� �U��A��]�?9�U�gC��U4�: �U��:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�m}�@�AE�x7�BA BA�AE�a>*BE�M9�AI�AM�7�AM"���AI"CU�)*CUY��<RCU�m�=CQ�CYI�)���e���=I�iG�9>���Trj,�TɩE�A�|i|Y}6Ko�@�}6�|�@y}6��,��}6����}6H������줿�������?�����)�?���@������`�����@���?����@��?���`������� ���?)~6Ko�@ ~6�I^;I~6��Cɫ9�9)�9 �=���I�AY����@y���uG���@���@���@�Í©Í��Í�iÍ��@�Í���� č��@)č9�@Ič9�@ičO�@����<M�D=Y��QU��>�����a��G����y�*�;}��>Iȹ����:�Ž}15�?����:�Ž��ھ� ƽ�A����?9ƽ�gC�ǽ=�: Ƚ�:)Ƚ��:�W��W�X� X��W�:W2W *W��V�U�U�������@zL��L��L��L�k��@��5� ����5�����5�����5�� �5�B:Y�5�Y1y�5�:��5�6�A�'�4�B� B��A��m>*B�yM9�A��A���7�A�#���A�"C��)*C�Ƃ�<RC���=C��C������=I��G��>��[rj,ĖnɩE�AY}2�~�@�}2O��@y}2MG��}2#u��}2H����������������?�����g�?���`)������0����� ;�?����w�?���@!-�����`���?)~2�~�@ ~2M^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�tG��������E�/�$���?Zd;�O���X9��v��?��E��>��Ej�� �E�}=)�AI�Ay�E�R���Q�?㥛� ����~j�t��?��E��=��E�����E��< �E�A)�E�AI�E�Ai�E+A��A��EpA��e̐�MeN=Y�m��QUm�>��i��i�au�G��q��qy�}��;}}�>Iȁ�Ņ�.5�?�Ņ��ھ� ƅ�A����?9ƅ�gC�Džb�: ȅ�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�R�B*** querying acoustic contact ***�P��P����zL�=�=�L�=�=�L���@�L����@�A�Z�2�B� B��A�2Q>*B��N9�A��A���7�A����A"C�)*C �)�<RC ���=C �C��%���=I�9G]3>�9�I�i�����������; �ȓE�brj,ut�ɩE�AY}bb��@�}b��@y}bQ&a��}bƄ%��}bH�����D{������6��?������?��� K������`�������y�?��� �$�?����������� ���?)~bb��@ ~b�7^;I~b��Cɫ���)�� �����I��Y�5��@y�5~uG=Z****** received transponder code query ******=F****** received ping request ******=<Arming DUSBL. detectThresh: 75E8****** ping requested ******�������������ÅV>�ÅQ�=�Å33�iÅ�@�Å��� ąO�@)ąO�@Ią��@iā��sB=M�7=Y�g�QU��>�������a��G������y��� ;}��>I������:���,5�?����:��� �ھ� ��4�A���?9���gC����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U����`X> @zL��L��L��L�ŀ@��i�p=��R ��������M�� �\::Y�y����6)�=�;�9��AE�1�BA BA�AE�f>*BM�L9�AI�AM{�7�AM�º�AI"CU�)*CU�(�<RCU��=CY�CYi�aI�a��a��a��q ��q ��]�a�=I�iG��>��-hrj,fM�ɩE�A�|�;�|Y}6���@�}6V��@y}6�w��}6�)��}6H����`ǣ��������?��� �i�?���@�����������������?��� ���?����� ����� ��?)~6���@ ~6=V^;I~6��Cɫ9�9)�9 �=����I�9Y����@y���tG�xDUSBL response received:!U1,P F5A,000,00511,186,80,80,56,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��=)���=����M%i=Y�5�w�QU=�>��I��Q�a]�G��Y��iy�}�Ժ}��>Iȡ�ť�)5�?�ť��ھ� ƥI�A����?9ƥ�gC�ǥ��; ȥ�;)ȡ�W �W X X �W:W2W*W�VUU���`h� @zLQ�LQ�LQ�LU ��@�AmnI/�Bi Bi�Au�N>*BuIK9�Aq�Au�7�Au�ú�Aq"C}�)*C���<RC�Ca�=C��C�������=I��G��>��Wnrj,()�ɩE�AY}:u�@�}:���@y}:� ���}:�:'��}:H������������`W��?�����9�?����>����� ~椿�����?����!�?���@夿���@��?)~:u�@ ~:6f^;I~:��C�T9�TI�VtoGi�V��@��V=��T��T��V,�; �V��Eɫ9�9)�9 �9I�9Y�}��@y�}�tG鮁ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��UF<M]G=Y�]��QU]�>��a��a�ae�G��a��ay�m>{�}m�>Iȱ�ŵ3'5�?�ŵ�ھ� Ƶa�A����?9Ƶ�gC�ǵ��: ȵ��:)ȱ�W�WX X�W:W2W *W �V U)U5�����+@zLi�Li�Li�LmͰ�@�A�j�-�B� B��A��S>*B��N9�A��A�R�7�A�sĺ�A�"C��)*C�"��<RC���=C��C���=g ����=�����=�����=8�� �=sP:Y�=�[1y�=H�:��=� 6)�=R�;������=I� G5O>�� �� i�� �mGI�� i�� �� �V�ٺ �� �IA��?urj,��ɩE�AY}6pg�@�}6#u�@y}6D����}6�w��}6H����`�i��������?����HL�?����������`彥�����IӐ?���@p�?�������������?)~6pg�@ ~6��^;I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}�tG�xDUSBL response received:!U1,R,E5E,000,0050E,186,80,80,6F,FF �Fpublishing direction and range info����ú>���ɰ��=鰁 ��)����BI��y��� B����������?�O����?��������ٱ��¡�¥nA���j�������=����>i��3�@��� ��?�@)���@I���@i���@���bO�MP=Y�?U�QU�>�� �� �a �G�� ��y�;��}�>I���%�:���$5�?��%�:����ھ� �w�A��-�?9�hC����: �$�:)���:�Wy�WyX� X��W�:W�2W�*W��V�U�U���� "�@�P*Q� B�Z�"PC'B@w<L���,@���������Z�������?�O����?��������2Q�ú>:Q�Z�(��0�t)@�ՌܸC��Čo���?�Z����iK�?�C��)Y��}�0��m?BQ?�@ QE�Q�KA�P��9?�P��9?�P���Q���Qs�@"Q�@zLY�LY�LY�L]?��@�Am�,�Bq Bq�Au�N>*BuJ9�Aq�Auȍ7�Aujź�Ay"C��)*C����<RC��H�=C��C� յ�=�Ե�=�ֵ �=I��G��>�l{rj,>��ɩE�AY}f8X�@�}f�e�@y}fs���}f���}fH������\������,��?����0�?��� ������ 뱦����@l�?���� �?�����w���������?)~f8X�@ ~f&~^;I~f��Cɫ�髱)�� �����I��Y����@y��{tG�]TNmea in: $SNTTA,,0.380265,,,170855.11*44 �i�i������ �rh�?/�$�������MbP?���C�=����� ���:)��I��y����"��~j�?����K������Mb`?���S�=���^�����; ��)��dAI���Ai���A�������A����M�2=Y�!a�QU��>�����a��G�����y��`��}��>I������ 5�?�����ھ� ��~�A���?9��hC���6c; ��Dw;)���m�uAdded new target pos. range: 40.139999 m, bearing: 288.487929 deg, deltaT: 4.508385 s, approachRate: -0.039925 m/s, LOS rate: 2.858205 deg/s, posRepo size: 4�W��W�X� X��W��� � ���� ����� ����� ?�� � �?:Y� WU1y� �:�� | 6�9@:W�2W*W�VU%�����D@U%���`�?zLe�>�Le�>�LeT�@�Le��~@�Auǝ*�Bq Bq�A}�L>*B}�K9�A��A�5�7�A�>ƺ�A�"C��)*C�#u�<RC�>v�=C��C�ܡ9ܥu�CIܡiܡ�ܡ�ܡ�ܡ�ܥV�; ݥ �E����m�=I��G�>��T�rj,�� ʩE�AY} 9O�@�} �\�@y} C~���} &c��} H�����=즿��� ���?������?������������G������=��?����`��?���@�j�����@q��?)~ 9O�@ ~ ¶^;I~ ɫ���)�� ������I��Y�-&�@y�5�sG���>����o�����E>i����@��� ��O�@)��9�@I��O�@i��9�@���e=�M�V=Y��|�QU�>�����a �G�� �� y��<�}�>I���%�:���5�?��%�:���ھ� ���A��%�?9�%hC��*$; ��%;)���:�WY�WYXY XY�WY:Wa2Wa*Wa�VUU ����B��?zLA�LA�LA�LE��~@�AU��)�BY BY�A]�:>*B]�J9�Ay�A���7�A��ƺ�A�"C��)*C�U.�<RC�b��=C��C��֕���=I��G�b>��{�rj,ٔ#ʩE�AY}6�Z�@�}6Vh�@y}6If���}6c7��}6H����`�5���������?���@��?����*������{���������?���`EL�?�����d����� ���?)~6�Z�@ ~6��^;I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}�sG)���= ���=���m�M[=Y����QU�>��!��!�a%�G��!��)y�-Pt;}-�>Iȉ�ō�5�?�ō\�ھ� ƍ��A����?9ƍ3hC�Ǎ�: ȍ�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U����`�1�?zL��L��L��L�e�~@�A�=)�B� B��A�4>*BXJ9�A�A�7�A�Ǻ�A"C �)*C���<RC�=C�C��!��!��� ����������������� ��A:Y�0Y1y���:���6��e���=I�iG�=>�ޥ�rj,p=ʩE�A�|�|�$9�&t�CI�&oGi�&O�@��$��$��$��&��; �&.�E)����I����i���������=�����=�����F�4Y}F�n�@�}FV|�@y}F|�ɼ�}F�N��}FH����������������?�����(�?��� ������`_o�����@���?�����=�?��� �������x��?)~F�n�@ ~F�_;I~F��CɫY�Y)�Y �]���I�YY����@y���sG��=i��=I�%�=)�%�=��U��M]F=Y�]���QU]�>��a��a�ae�G��a��ay�m"�;}m�>I�q��}�:��u�5�?��}�:��u��ھ� �u��A����?9�uBhC��uw�: �u��:)�u��:�W��W�X� X��W�:W�2W�*W��V�U1U5�������?zLI�LI�LI�LM@�Ae��)�Ba Ba�Ae4>*BeyH9�Ai�AmQ�7�Au�Ⱥ�Aq"C��)*C����<RC�o��=C��C��օ��=I��G J>�ڍ�rj,�KWʩE�AY}2|��@�}2/��@y}2��ּ�}2�["��}2H���� y8������x��?���`7Ǥ?���@j������3��������?�?����К?��� QH�����`���?)~2|��@ ~2�^;I~2��Cɫ9�9)�9 �9I�9Y����@y��DtG��]t�<��]`e���]"۽i�]G�@��Y �Y)�]O�@I�Yi�]O�@���*=M�8=Y��a�QU��>�����a��G�����y��4�;}��>I�����5�?�����ھ� ����A���?9��ShC���ʦ; ��ߥ;)���Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUqUu����D��?zL��L��L��L�>=@�A� S+���� ��������T�� ��G:Y�y����6B� B��A�G>*B�J9�A��A���7�A�|ɺ�A�"C��)*C�J��<RC�&B>C��C��ֵ�M�=I��G��>�ෛrj,c&qʩE�AY}:���@�}:=��@y}:�rڼ�}: �!��}:H����@𧡿���`v��?�������?����6�����`�/������nߙ?�����M�?����s-���������?)~:���@ ~:�_;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}rsG���� ףp= �� ףp= ������Mb�?���Q8����Q8� ���<)��I��y����&1��?{�G�z��X9��v��?�����=���ף������< � A)+AI©i+A������(A������mA����`�M�X=Y�����QU��>�������a��G������y��`<}��>I������:���r5�?����:�����ھ� ����A����?9��_hC���k�: ���:)����:�W�WX X!�W!:W!2W!*W!�V)U)U-������@zL]{>�L]{>�L]Udz@�L]���@�A��-�B� B��A��1>*B��I9�A�A�7�A>ʺ�A"C �)*CJz�<RCl�>C�CI�)����4>I�)�I9�Mu�CI�Ii�I��M=��I��I��M��; �M`�EGeV>�颢rj,��ʩE�A�|,i|,Y}J��@�}J�Õ@y}J�*ۼ�}J:i��}JH���� �~�����@m��?����8�?���`������`������@�?���`d�?�������������?)~J��@ ~J:�_;I~J��Cɫq�q)�q �qI�qY����@y���sG���������">��\/���5��i��@�� ����)��@I��@i��@��%��;M%U=Y�-�o�QU��>�����a��G����y�)�;}��>I������5�?�����ھ� ��ӁA����?9��lhC�����: ��j�:)���W��W�X� X��W�:W�2W�*W��V�U�U����@�@�R B*** querying acoustic contact ***�P �P zL�L�L�Lϔ�@�A5�O0�B1 B9�A=4>*B=?I9�A9�A=z�7�A=˺�A9"CE�)*CMM�<RCM;�>CI�CQ�� a ���� ����� ����� 6�� � �;:Y� DW1y� Y�:�� � 6)� E�;�9���]�s>I�iG�9>��ɨrj,�ۤʩE�AY}6!��@�}6�Ε@y}6�3�}6����}6H����ෝ������%��?�������?���� ����� �R������r��?������?��� �����@E��?)~6!��@ ~6�C`;I~6��CɫY�Y)�Y �YI�YY����@y���sG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�� N;M M=Y� ���QU �>�����a�G����y�%5e;}%�>I�)��- 5�?��-��ھ� �-��A��=�?9�-xhC��-@; �-�;)�)�Wi�WiXi Xi�Wi:Wi2Wq*Wq�VqUqU}���@u, @zL��L��L��L�:��@�A��^3�B� B��A�l5>*B��I9�A��A�ِ7�A��˺�A�"C��)*C��%�<RC���>C��C���e� >I�qG��E#�>9�AI�E�nGi�E��@��A��A��A��Eg�; �E��E�H�rj,��ʩE�AY}>�ȝ@�}>�֕@y}>Ἑ}>Ŀ��}>H����` ������`u��?����j`�?����<������O������`4��?����!�?��� �������J��?)~>�ȝ@ ~>>�_;I~>��CɫY�Y)�Y �]���I�YY����@y��%sG�xDUSBL response received:!U1,P E5E,000,0050E,186,80,80,6F,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 )��= �>��-[�M5F=Y�E��QUM�>��Y��a�ae�G��i��yy�(;}��>Iȱ����:�ŵ 5�?����:�ŵD�ھ� Ƶ�A����?9Ƶ�hC�ǵ��; ȵ��;)ȵ��:�W��W�X� X��W�:W�2W�*W�����=i���=��� ����������������� ��@:Y�0Y1y���:���6)���;�V�U!U-���`�g @zL��L��L��L�E��@�A�6�B! B!�A%�)>*B-�D9�A)�A5C�7�A5ͺ�AQ"Ce�)*Cm�b�<RCm�>Ci�C��֥ �~>I�� G� �>��ܵrj,���ʩE�A�|4<�|Y}6�Ý@�}6eѕ@y}64�⼙}6o!��}6H������K���������?�������?���@�������2������N�?����X]�?��������� ���?)~6�Ý@ ~6rx_;I~6��Cɫ9�A)�A �E����I�AY�}G�@y�}�rG鮁ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����ʽ���`e������=i��Q�@��� ��9�@)��9�@I��9�@i��9�@�� ���M 1=Y� @�QU�>�����a�G����y�3��}%�>I�)��-5�?��-��ھ� �-2�A��E�?9�-�hC��-}G; �-�];)�)�W��W�X� X��W�:W�2W�*W��V�U�U���� 5@zL��L��L��L�v��@�A5�:�B9 B9�A��>*B�UH9�A��A���7�A��ͺ�A�"C��)*C��)�<RC��>C��C��� �>I�)GU�>���rj,l�ʩE�AY}6���@�}68͕@y}6[�Ἑ}6�?$��}6H�����џ�����-��?������?���`�������cw�������ߚ?�����/�?����������� P��?)~6���@ ~6-0_;I~6��Cɫ9�9)�9 �9I�AY�}�@y�}�qG�xDUSBL response received:!U1,R,ED9,000,00515,186,80,80,91,FF �Fpublishing direction and range info����>���ɰ�'�=鰁 ��)���CI��y��="B�������R ��?����eK�?��������ٱ���dNmea in: $SNTTA,0.154730,0.154980,,,170859.56*5A ��=���"��~�?<�O��n�?L7�A`堿��=�S>��=t< �=+�)�9I�9y�=�1�Zd�?��ʡE���{�G�zt?��="�=��=�����=ף; �= A)�=�AI�= Ai�=dA��9��=A��]���M]k=Y�]a:QU]�?��a��a�ae�G��a��iy�m���}m�?I�q��}�:��u�5�?��}�:��u��ھ� �u9�A����?9�u�hC��uY�: �u��:)�u��:�Wi�W�X� X��W�:W�2W�*W��V�U�U����@9�@�P*Q="B�Z��B˾��C@���A?�$@���������Z����R ��?����eK�?��������2Q�>:Q�Z�M��G0"@z�S���C�� TN�?�Z���'j0��?�4�4J.�(� (8ϐ?BQ��@ Q�Q�A�P��9?�P��9?�P���Q���Q��@"Qs�@zL]>�L]>�L]��@�L]�ځ@�A�@�=�B� B��A��>*B�D9�A��A�ؑ7�A��κ�A�"C��)*C����<RC�8�>C��C���� ����������������� ��B:Y��W1y�č:��{6�9@��9��I��HnGi����@��������������; ��ՔE����>I��Gk>���rj,?R˩E�AY}2���@�}2IǕ@y}2M?⼙}2�J ��}2H����`fG������M��?����vx�?�����������UӠ��������?�����F�?���@�����@���?)~2���@ ~2�_;I~0ɫ1�9)�9 �9I�9i��VnGI��i���5 *�ٺ1��5�AY�=��@y�=\rG��r?��A`>��;_�i��@�� ��@)��@I��@i��@��%3=M%>=Y�%Y�QU-�>��)��)�a5�G��1��1y�=Sܺ}=�>I�A��E��5�?��ES�ھ� �EC�A��M�?9�E�hC��E�: �E��:)�A�m}uAdded new target pos. range: 40.559998 m, bearing: 282.958700 deg, deltaT: 4.411206 s, approachRate: 0.095212 m/s, LOS rate: -1.253451 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������GD@U����`A��?zL��L��L��L��ԁ@�A��`B�B� B��A�|>*B��F9�A��A�'�7�A��Ϻ�A�"C��)*C�)��<RC��@>C��C�I�)�����>I�)GER>�&�rj,�$&˩E�A�|i|Y}6��@�}6���@y}6�༙}6����}6H�����z����������?����J�?���`������ #������۽�?���@���?����ע�����c��?)~6��@ ~6X�^;I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}FrG��=2ƻM=[=Y�=>:QUE�>��A��A�aE�G��A��Iy�M��}M�>I�Q��]�:��U=�5�?��e�:��U��ھ� �UK�A��e�?9�U�hC��U=�: �UI�:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U����`�O�?zL��L��L��L�o@�A��F�B� B��A�+>*B�F9�A��A�s�7�A��к�A�"C��)*C����<RC�C�>C��C���� ����������������� �B:Y��[1y�H�:���6��eQ>I�yG�;>��9��I���mGi��[�@��������������; ���E�;B�rj,��?˩E�AY}6;��@�}6@y}6�}6R���}6H�����͠��������?��� ��?�����������:E�����@���?�������?����'v�����@9��?)~6;��@ ~6�_;I~6��CɫY�Y)�Y �]���I�YY����@y��JrG��5ɒ:M=J=Y�=I:QU=�>��A��A�aE�G��A��Ay�M�\�}M�>I�Q��U��5�?��U��ھ� �UT�A��]�?9�U�hC��Uܹ: �U �:)�Q�W��W�X X�W:W2W*W �V U U �������?zL)�L)�L)�L-�ʁ@�A=|L�BA BA�AE�>*BE�D9�AA�AEĒ7�AM�Ѻ�AI"CU�)*CU�}�<RCUȬ>CQ�CY��e��>I��G�?>�*�rj,��Y˩E�AY}6O��@�}6��@y}6Tڼ�}6L� ��}6H�����ܫ�����`���?���ೣ�?���������� E ������#�?�����I�?�����2�����`w��?)~6O��@ ~6�_;I~6��CɫA�A)�I �M����I�IY����@y��rG)í> í>��]�A>��]�ƽ��]�>i�]f�@��Y �]�@)�]�@I�]�@i�]�@��m?Y�Mm8=Y�m�:QUu�>��q��q�au�G��q��yy�}�:}��>Iȁ����:�Ņ��5�?����:�Ņ|�ھ� ƅ^�A����?9ƅ�hC�Dž��: ȅ��:)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��́@�A��R�B� B��A�� >*B�D9�A�A�7�A�Һ�A"C �)*C �j�<RC ->C �C���=i��=��a ��������������b�� ��;:Y�WU1y��:��<6��YI�iG�Y>�T�rj,��s˩E�A�|�|Y}>��@�}>�˕@y}>�ؼ�}>����}>H����������������?����h��?���@"������K{����� �?������?��� �Q���������?)~>��@ ~>�L_;I~>��CɫY�Y)�Y �]���I�YY���@y���qG��%���Q��?�I+���+��η?��%�(>��%94� �%v�=)�!I�!y�%�i��|?5�?�I+���X9��v��?��%��=��%9����%��< �%� A)�%�AI�!i�%~A��!��%�A��E���MEM=Y�MV:QUM�>��Q��Q�aU�G��Q��Yy�]�V;}]�>I�a��ex�5�?��e�ھ� �e|�A��u�?9�e�hC��er�: �e��:)�a�W1�W1X1 X1�W1:W12W1*W9�V9U9U=����Z4�@zL] >�L] >�L]���@�L]B_�@�Au�YY�Bq Bq�Au�>*Bu^C9�Ay�A}^�7�A}�Ӻ�Ay"C��)*C��U�<RC�fe>C��C�ܙ9ܙIܝmGiܝ��@�ܙ�ܙ�ܙ�ܝ"�; ݝ��E)��u�CI��u�Ci�����=���=���,�4��}0e>I��G�^>�B<�rj,���˩E�AY}2nӝ@�}2!�@y}2�_ּ�}2�� ��}2H����`�T��������?����>z�?��� ������`�^����� 2��?����5˚?����f���������?)~2nӝ@ ~2�2_;I~2��CɫY�Y)�Y �]����I�YY�}@�@y�}tqG��-xi>��-= ���-�½i�-Q�@��) �-9�@)�-9�@I�-9�@i�-9�@��E㩼ME]=Y�E;>:QUE�>��I��I�aM�G��I��Qy����;}��>I�������5�?�����ھ� ����A����?9���hC���w�: ��b�:)���W��W�X� X��W�:W2W*W�VU U ��� �@zL!�L!�L!�L%z�@�A=_`�B9 B9�A=��=*BE�C9�AA�AE��7�AE�Ժ�AA"CM�)*CM�%�<RCUr� >CQ�CQ��� ��������������I�� ��Z:Y��V1y��:���6)��;�9���e�>I�iG�B>�f�rj,�k�˩E�AY}2��@�}2���@y}2hҼ�}24�*��}2H����@]虿������?�������?�����������(��������/�?��� EL�?����dR�����`0��?)~2��@ ~2)M_;I~2��CɫI�I)�I �II�IY�}��@y�}qG������@A��M�U=Y���:QU��>�����a��G����y�v<}��>Iȹ����:�Ž��5�?����:�Ž��ھ� ƽ��A����?9ƽiC�ǽ��: Ƚ��:)Ƚ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����@�R B*** querying acoustic contact ***�P �P zL!�L!�L!�L%���@�A5�Bg�B9 B9�A=v�=*B=,B9�A9�A=ܓ7�A=�պ�AA"CE�)*CM���<RCM��>CI�CI �e�=��e�=��M >I�QGm>I�)�܉9܉I܍�lGi܍g�@�܍=�܉�܉�܍�; ݍ��E��M�rj,�F�˩E�AY}6��@�}6U�@y}6kK˼�}6��(��}6H���� �����������?����!\�?���`w����� G������`kr�?�����h�?��������������?)~6��@ ~6N�^;I~6��Cɫy�y)�y �yI��Y���@y��9qG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** ����%�/<M-B=Y�-;QU-�>��1��1�a=�G��9��Ay�E?�;}E�>I�I��M��5�?��M��ھ� �MւA��]�?9�MiC��M; �M�;)�I�W��W�X� X��W�:W�2W�*W��V�U�U�����Nw @zL��L��L��L�ܳ�@�A��n�B� B��A���=*B��A9�A��A��7�A��ֺ�A�"C��)*C����<RC��f>C��C���� ����������������� ��F:Y�DW1y�Y�:���6)�٠;��%�>I�)GM1>��z�rj,A.�˩E�Aɫ�髹)�� ��I��Y���@y��pG5xDUSBL response received:!U1,P ED9,000,00515,186,80,80,91,FF 5Command Ack=BRequesting micromodem ping code 2i�9��A�m�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����㥛� ��?q= ףp�?{�G�z�?����>�����= ���#=)��I��y���{�G�z�?#��~j���y�&1��?���ף=���㥽���`e< ¥1A)¥~AI¥�Ai¥�A������\A��}�̼��}E����}`�i�}3�@��y �}ƣ@)�}��@I�}��@i�}ƣ@���<�M�=Y����QU��>������a��G������y����}�>I� ��=�:�� ��5�?��=�:�� �ھ� � �A��E�?9� #iC�� �; � L�;)� ��:�W�WX X�W!:W!2WI*WQ�VQUYU]���`�7@zL���=�L���=�L����@�L�Ǖy@�A���u�B� B��A���=*B��>9�A��A�k�7�A��غ�A�"C �)*C �d�<RC 72>C �C ��� �>I� G-�>�$��rj,3�˩E�AY}:v�@�}:*,�@y}:�K���}:� ��}:H������������@0��?���`�U�?����������@䶔������ϔ?������?���������� ��?)~:v�@ ~:d�^;I~:��CɫA�A)�A �E���I�AY����@y��qG��ɮ�R=��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}8<M��=Y��_<QU�!?�������a��G������y��e"<}�&?I�������5�?���K�ھ� ����A����?9��+iC�����: ��ܹ:)���W�WX X �W :W 2W *W �VUU���� �@zL��L��L��L�ٿy@�A��|�B B�A=�=*BF9�A �A ��7�A yٺ�A "C5�)*CU���<RCUH�>CQ�CY����=i��a=���K �����������������A�� ���9:Y��[1y��ݏ:�$�>9�I��kGi�Ŀ@��=��QD������; ��E���� 6)����;�օ>I��G�c>�+�sj,��̩E�A�|�;�|Y}>��@�}>�"�@y}>ћ��}>V ��}>H���� �)�����@}��?���`�s�?����������@�ϕ����`V��?�����y�?��� (@���������?)~>��@ ~>t_;I~>��CɫY�Y)�Y �YI�YY�}��@y�}�pG�xDUSBL response received:!U1,R,344,000,0051B,189,80,80,5F,FF �Fpublishing direction and range info�����:����ɰ�#�=鰅7�> ��)����BI��y���#B����U>�~���?�S,�;T���������ٱ�����H>�����>����!>i��p�@��� ���@)���@I���@i���@�����M�H=Y��I�;QU��>�����a�G���� y� S<�} �>I����:���5�?���:���ھ� ��A��%�?9�7iC����: �k�:)���:�WA�WAXA XI�WI:WI2WI*WQ�VQUQUU���`�@�Pa*Qe�#B�Ze�����?�>@�r�EFF;����������Ze�U>�~���?�S,�;T���������2Qe��:�:Qa�Ze����;�d�8r�=�d/��u��?�Ze��}��g�_7:d�y�g���?BQe��}@ QeK��Qe���Pe>�9?�Pe��9?�Pe���Qe���Qey�@"Qe��@zL��L��L��L�ƭy@�A�3B B�A��=*B@9�A�A֔7�A-�ں�A)"C5�)*C5���<RC5�v>C1�C9��=":>I�IGeV>�x� sj,��(̩E�Aɫ���)�� ������I��Y���@y��oG��DNmea in: $SNTTA,,,,,170904.03*56 �±�±����@�M�K=Y�����QU��>�������a��G�����y����}�>I� �� =�5�?�� ��ھ� � �A���?9� CiC�� 4�: � �:)� �mMyAdded new target pos. range: 40.920002 m, bearing: 227.010257 deg, deltaT: 4.421707 s, approachRate: 0.081418 m/s, LOS rate: -12.653132 deg/s, posRepo size: 4�WI�WIXQ XQ�WQ:WQ2WQ*WY�VYU]�����uD@U]�������?zLy�Ly�Ly�Ly�A�����B� B��A���=*B��=9�A��A��7�A��ۺ�A�"C��)*C����<RC�`�>C��C� յ�=�Ե�=��5� ����5�����5�����5V�� �5(U:Y�5�V1y�5�:��5�6�95@�֥ M>I��G�A>�)9�)I�)i�)��-=��)��-��D��-Z�; 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X!�W!:W)2W)*W)�V)U1U5��� z��?zLI�LI�LI�LM�y@�AeA���Ba Ba�AmI�=*Bm�>9�Ai�Am2�7�Am+ݺ�Ai"Cu�)*C}��<RC}1>Cy�Cy����>I��G�$>I�)���Q��Yi���mGI��i����R0�ٺ���%A���sj,��\̩E�A�|Di|F�@ɫ�髡)�� ������I��Y����@y���oG�������x�&�?<�O��n�?��~j�t�����7�>���t�= �����)��I��y���+�����?bX9�ȶ�<�O��n�?�����=���E�����t�< ���A)���AI��fAi��dA������ A��5xi���5O�=��5�!�i�5z�@��1 �5�@)�5ƣ@I�1i�5ƣ@��E't�ME(=Y�E���QUM�>��I��I�aM�G��I��Qy�]���}]�>I�a��e�:��e�5�?��m�:��e��ھ� �e:�A��m�?9�e\iC��e��: �eb�:)�e��:�W��W�X� X��W�:W�2W�*W��V�U�U�������?�� ��������������R�� �&J:Y��X1y�/�:���6zL='�=�L='�=�L=ӭ@�L=Ҽu@�A}K���By B��A���=*B��<9�A��A�g�7�A���A�"C��)*C� ��<RC�ٸ>C��C��ֽ5� >I��G��>�R�sj,�Dv̩E�AY}:�@�}:��@y}:���}:� ��}:H����`3�������x��?�����.�?�����������Y$�������!�?���@R��?��������������?)~:�@ ~: �^;I~:��Cɫ9�9)�9 �9I�AY�]��@y�]_oG)���= ���=��u�Mun=Y�}��:QU}?��y���a��G����y���:}�?Iȑ�ŕh�5�?�ŕ��ھ� ƕJ�A����?9ƕfiC�Ǖ��: ȕ�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����@Ǝ�?zL��L��L��L�m�u@�Ad���B B�Aq�=*B �=9�A �A ��7�A �ߺ�A "C�)*C��<RC�B>C�C��9��v�CI��(kGi��"�@���=�����������; ��\�E��%t>I�1GM0>���#sj,�*�̩E�AY}}\�@�}}!�@y}} z��}}Z���}}H�����zY����� ���?������?����C�������畿����í�?��� �A�?����є���������?)~}\�@ ~}�^;I~}��CɫI�I)�I �II�IY���@y��pG�Å��?�Å�;�Å��=iÅ�@�Á ą��@)ą��@Ią^�@iā��t=M�,=Y���:QU��>�����a��G����y��;}��>Iȱ����:�ŵ��5�?����:�ŵ۾� Ƶ_�A����?9ƵtiC�ǵ��: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����O��@��p=i�4=��L��������������i�� ��b:Y��V1y��:���6zL)�L)�L)�L-�u@�AEQ��BA BA�AE��=*BE�=9�AA�AMÕ7�AM���AI"CU�)*CU���<RCU�J>CQ�CY��u �>I�yG�~>�T*sj,/��̩E�A�|�|4<Y}6�%�@�}6v3�@y}6��h��}6�� ��}6H�����������`���?��� �|�?��� ������@���������̋?������?���@gZ����� w��?)~6�%�@ ~6¼^;I~6��Cɫ9�9)�9 �E���I�AY�]��@y�ecoG��gA�Mg=Y��A;QU�>�����a�G��!��!y�%��;}-�>I�1��5#�5�?��5�۾� �5o�A��=�?9�5iC��5��: �5�:)�1�WY�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUu����Cg@zL��L��L��L�� v@�A�s���B� B��A�^�=*B�:=9�A��A��7�A����A�"C��)*C����<RC�XU>C��C� ���=����=����>I��G��>�� %�>9�� I�� `jGi�� �@��� ��� ��� ��� �; �� {�E)�q�I�q�i�q���u�=��u�=��u��u5���0sj,���̩E�AY}R�:�@�}RYH�@y}R$DQ��}R����}RH������p��������?���@���?����F�������ᐿ������?����U(�?���`�����������?)~R�:�@ ~R�^;I~R��Cɫy�y)�y �}����I�yY��y����������I��MnAY�]�x;QU]�>��a��a�ae�G��a��ay�m��;}m�>I�q����:��uD�5�?����:��u+۾� �u��A����?9�u�iC��uw�; �up�;)�u�:�W!�W)X1 X1�W1:W92WA*WI�VQUYU]���@�@�R�B*** querying acoustic contact ***�P��P�zL�L�L�L�7v@�A=^��B9 B9�AA*BEC<9�AA�AE�7�AEh��Aa"Cm�)*Cm���<RCu4�>Cq�Cq�� ��������������`�� ��4:Y�0Y1y���:��6)�j�;�9-���]BN>I�iG�Z>�-7sj,���̩E�AY}E�H�@�}EIV�@y}E�9��}E����}EH�����f����� U��?����M�?���������� �?����� F�?�����"�?���@8����� ���?)~E�H�@ ~E�r^;I~E��Cɫ � )� ����I�Y�mP�@y�moGuZ****** received transponder code query ******uF****** received ping request ******u<Arming DUSBL. detectThresh: 75}8****** ping requested ******��e��Q����?���S㥫�{�G�z�?��e\>��e/]� �eף<)�aI�ay�e�!�rh���?�~j�t����~j�t��?��el�=��e�Ľ��e��< �eKA)�e AI�e�Ai�e~A��a��e�A��e��>��et�>��e=i�e��@��a �eK�@)�eƣ@I�eƣ@i�a��u+�Mu�<Y�u*L;QUu�>��y��y�a}�G����y�@i;}��>Iȩ�ŭ`�5�?�ŭ)۾� ƭ��A����?9ƭ�iC�ǭn�: ȭ4�:)ȩI��)��AA�W�WX X!�W!:W!2W!*W!�V)U)U-����RT @zL��>�L��>�L����@�L�t�@�A��o��B� B��A�h=*B��:9�A��A�<�7�A���A�"C��)*C����<RC�s�>C��C��� -�>I�G5�>�f?=sj,���̩E�A�| i| Y}RGV�@�}R�c�@y}RJ"��}R��)��}RH�����������`C��?����5G�?��� ������ ̊�����_7�?���`�O�?�����6���������?)~RGV�@ ~R5x^;I~Pɫ�髙)�� �����I��Y���@y���nG�xDUSBL response received:!U1,P 344,000,0051B,189,80,80,5F,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��E���MMv=Y�]9�;QUe?�������a��G�����y�% �;}-�>I�Q��]�:��Uw�5�?��]�:��Uj ۾� �U��A��]�?9�U�iC��Uk�: �U4�:)�U�:�W��W�X X�W:WI2WI*WQ�VQUYU]��� �W @܁9܁I܅�iGi܅.�@�܁�܁�܁�܅j�; ݅��E�� ���������������� ��5:Y�DW1y�Y�:��6)�P�;zL��L��L��L���@�A����B� B��A��_=*B��:9�A��A�]�7�A����A�"C��)*C����<RC��>C��C���!��!���>I�G1��&Dsj,iͩE�AY}2�]�@�}2ck�@y}28���}2�/��}2H���������������?���`_�?���`�������눿���`*�?������?����$������ ��?)~2�]�@ ~2�T^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�nG鮁ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )��= �>�í��>�í�T��ín>ií��@�é ĭ��@)ĭ��@Iĭ��@iĭ�@���Ѓ�M�B=Y����:QU��>�������a��G������y���;}��>I�����L�5�?����۾� ��ɃA����?9���iC���r�: ��ܹ:)���W�WX X!�W!:W!2W!*W!�V!U)U-����y!@zLI�LI�LI�LM�@�A]�-��BY Ba�Ae(D=*Be}:9�Aa�Aey�7�Ae���Aa"Cm�)*Cug��<RCu7>Cq�Cq���$z>I�G5O>�SJsj,�M+ͩE�AY}J�e�@�}J�s�@y}J�M��}J1&��}JH�����1���������?�����̤?����4�������Ȇ���� � �?���� �?����|������`���?)~J�e�@ ~J�L^;I~J��Cɫq�q)�q �u���I�yY����@y���nG�xDUSBL response received:!U1,R,330,000,00519,189,80,80,60,FF �Fpublishing direction and range info����K6����ɰ���=鰹 ��)����BI��y��3#B������M9�?�BH�����������ٱ�����;M�Z=Y���:QU��>�������a��G������y��W/;}��>I���B�5�?��:۾� ���A���?9��iC����: ���:)��W1�W1X1 X1�W9:W92W9*W9�V9UAUE����L�@�PQ*QU3#B�ZU���x��>@����ب:����������ZU���M9�?�BH�����������2QU�K6�:QQ�ZU��`���:�z|���>�@��Z��?�ZU�9���&��V�&��N�8,��?BQUX@ QU���QU����PU?�9?�PU>�9?�PU���QU���QU1�@"QUy�@zL��L��L��L��@�A>���B B�A�K=*B :9�A�A��7�A@��A"C%�)*C%���<RC%W.>C!�C)�� �=i� �=��%&>I�)GE0>��U�����U�����U�����U��� �U�1:Y�U0Y1y�U��:��UV6�9]@�i 9�i I�m 3iGi�m ��@��i ��i ��i ��m ��; �m ДE�d8Qsj,CEͩE�A�|4<�|�;Y}^_p�@�}^~�@y}^۟��}^*y��}^H�����It������^��?����X�?����\��������������?����?��� �M������~��?)~^_p�@ ~^�:^;I~^��Cɫ���)�� ��I��Y��n�@y���mG�}TNmea in: $SNTTA,0.045597,,,,170908.45*4C �å�F>�å��>�å�|�iå=�@�á ĥ��@)ĥ��@Iġiĥ��@����M�0=Y���:QU��>�������a��G������y���4;}��>I������:�����5�?����:���$۾� ����A����?9���iC�����: ����:)���:�muAdded new target pos. range: 40.799999 m, bearing: 228.595954 deg, deltaT: 4.409661 s, approachRate: -0.027214 m/s, LOS rate: 0.359596 deg/s, posRepo size: 4�W�WX X�W:W2W*W�V!U%���`ffD@U%�������?zLA�LA�LA�LE��@�AUi���BY BY�A]v=*B]�79�AY�A]��7�Ae���Aa"Cm�)*Cm���<RCm�_>Ci�Cqi�}mAI�}mAY�}yJ9 Ս�=�ԍ�=�֍'�>I��G��>�gWsj,c_ͩE�AY}�r�@�}C��@y}�����}/��}H�����肿������?�����K�?���@i������2e�������!~?���`^Y?���`�B���������?)~�r�@ ~0^^;I~��Cɫ���)�� ��I��Y�-k�@y�-�mG��-��~j�t�h�)\���(������Mb�?��-�D���-Ga� �-=)�)I�)y�-�y�&1��?��|?5^������Mb�?��-`�=��-�ҽ��-�< �-�A)�)I�-;Ai�-�A��)��-�A��9��9��M���MMQ=Y�M��:QUM�>��Q��Q�aU�G��Q��Yy�]�3:}]�>I������5�?����۾� ���A����?9���iC����: ����:)���W�WX! X!�W!:W!2W!*W)�V)U)U-��� ���?zLM�>�LM�>�LM�D�@�LM��}@�A]�Ȝ�Ba Ba�Ae�=*Be89�Aa�Aeǖ7�Amt���Ai"Cu�)*Cuź�<RCu��>Cq�Cy��-, ����-�����-�����-o�� �-T7:Y�-P^1y�-��:��-�6Y�9��-+�>I�9GUv>�?�]sj,�xͩE�AY}F,q�@�}F�~�@y}F����}F���}FH������@���������?��� *�?����g������ݻ��������}?���@n?����� ��������?)~F,q�@ ~F�1^;I~F��Cɫ�髙)�� ������I��Y����@y��7nG���<M�U=Y��+9QU��>�����a��G�����y��9�}��>I������:�����5�?����:����۾� ���A����?9���iC���k�: ���:)���:�W�WX X�W:W2W*W �V U U����]��?zL)�L)�L)�L-t�}@�AE+̜�BA BA�AE�&=*BE/99�AI�AMߖ7�AM���AQ"C]�)*C]_��<RC]w�>CY�Ca�9�I�lhGi��@��=������Y�; ��EY�M�J9I�!)�%@A��=;>I�IGeU>i�egmGI�yi�����u<�ٺ�����0A��tdsj,���ͩE�A�| i| Y}Nu�@�}N˂�@y}N��軙}NT3��}NH�����F�����`���?�������?����w������rł����`L�{?����0}?����]塿�������?)~Nu�@ ~N17^;I~N��Cɫ�髹)�� �����I��Y���@y��|mG�Í��=�ÍY��ÍQ�>iÍ��@�É č��@)č��@Iĉiĉ���J:�M�I=Y����:QU��>�������a��G������y����:}��>I�����4�5�?����۾� ��+�A����?9��jC�����: ��n�:)���W�WX X�W!:W!2W!*W!�V!U)U-�����I�?zLA�LA�LA�LE+�}@�A]�r��Ba Ba�Ae>�<*Be�69�Aa�Ae�7�Ae]��Ai"Cu�)*Cu���<RCu0$>Cq�Cy�̅�=�̅Y>YϕG9�ԥnA�ԡ��=�����=�����=�����=��� �=3:Y�=�X1y�=/�:��=�6��}.@>I��G�^>���jsj,���ͩE�AY}2z�@�}2�@y}2��⻙}2��%��}2H����@^�����`���?���`��?���@�������ɗ�������z?��� _|?���`����������?)~2z�@ ~2��];I~2��Cɫ9�9)�9 �=����I�9Y��(�@y���mG)� �= � �=��5U-<M=U=Y�=��9QU=�>��A��A�aE�G��A��Ay�M��:}M�>I�Q��]�:��Uܰ5�?��]�:��U�۾� �U<�A��e�?9�UjC��U�: �U��:)�U�:�W��W�X� X��W�:W�2W�*W��V�U�U������8�@zL��L��L��L�ɨ}@�A�����B� B��A���<*B�/79�A��A��7�A����A�"C��)*C�а�<RC��>C��C�Y��KC9���>J>I��Gk>� &�>9� I� hGi� ��@�� =�� �� �� ��; � r�E�O�qsj,�u�ͩE�AY}RO��@�}R��@y}R�_黙}R y2��}RH���� O�{����@��?��� �S�?��� ��������.}������{?���`�+}?����-M�����`��?)~RO��@ ~R�^;I~R��Cɫ�髙)�� ��I��Y�U��@y�U*mG��%S�=��%�=��%���i�%��@��! �%ƣ@)�!I�%ƣ@i�%ƣ@��5��M5;=Y�=@�QU=�>��9��9�a=�G��A��Ay�M `;}M�>I�Q��U�5�?��U�۾� �UO�A��]�?9�U&jC��U��: �U �:)�Q�W�WX X�W:W2W)*W1�V9UaUe��� �@zL��L��L��L���}@�A� ̚�B� B��A�,e<*B�V59�A��A��7�A����A�"C��)*C�`��<RC��@>C��C���Ai�E�=��U ����U�����U�����U*�� �UB5:Y�Ud\1y�U��:��U=6)�Uԑ;�9e�Yϵ5?9�֥0�>I��G��>���wsj, R�ͩE�A�|�;�|Y}6I��@�}6���@y}6[�黙}6��/��}6H�����^sv�����T��?����G��?��� ��������w������<|?��� [:}?���@�����B��?)~6I��@ ~6��];I~6��CɫQ�Q)�Q �QI�QY��`�@y���lG������>A��5�:��v���?y�&1��?��~j�t����5�T=��5`e< �5���)�1I�1y�5� ףp= �?Zd;�O������S㥛?��5Q�=��5j����5/�< �5fA)�5�AI�5�Ai�5�A��1��5�A�����M�R=Y���QU��>�������a��G������y��b;}��>I������:����5�?����:����۾� ��h�A����?9��3jC�����: ���;)���:�W �W X X �W:W2W*W�VUU������@�R%B*** querying acoustic contact ***�P!�P!zL=�>�L=�>�L=ۓ�@�L=�z@�AU܉��BQ BQ�AU��:*BU49�AY�A]�7�A]����AY"Ce�)*Ce���<RCex>Ca�Ci Օ�=�ԕ�=��}4#>I��G�<>� �}sj,X�ͩE�AY}N*��@�}Nު�@y}N�v�}N����}NH����`�p���� ���?����֣?������������q�����D�}?���`�.~?��� �ң��������?)~N*��@ ~N�$^;I~N��Cɫ�髹)�� �����I��Y����@y���lGZ****** received transponder code query ******F****** received ping request ****** <Arming DUSBL. detectThresh: 75 8****** ping requested ******��enA��a��u�N<MuO=Y�}�QU}�>�����a��G����y��p;}��>Iș�ŝ �5�?�ŝ�!۾� Ɲ��A����?9Ɲ@jC�ǝN�: ȝ�:)ș�W��W�ܹ9ܹIܽ@gGiܽ��@�ܹ�ܹ�ܹ�ܽ+�; ݽ��E)�u�v�CI�u�v�Ci�q���u�=��u�=��u���3X� X��W�:W�2W�*W��V�U�U����`6A @zL!�L!�L!�L%Ҭz@�A]���BY BY�A]]�;*B]�49�Aa�Ae�7�Aet���A�"C��)*C�f��<RC�\� >C��C���]# ����]�����]�����]\�� �]�6:Y�]0Y1y�]��:��]� 6)�]��;�֝8e>I��G�e>�sj,�ΩE�AY}2Ы�@�}2���@y}2�S滙}2)��}2H������_b�����.��?����N��?������������Ud������u|?����i�|?���`$����������?)~2Ы�@ ~2@^;I~2��Cɫ9�A)�A �AI�AY��0�@y��tlG�xDUSBL response received:!U1,P 330,000,00519,189,80,80,60,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �å��>�å�K��å�G>iå��@�á ĥ�@)ĥ��@Iĥ��@iĥ��@���ļM�4=Y�(D:QU�>��Q��Q�aU�G��Y��ay��y;}��>I�����[�5�?���$۾� ����A����?9��PjC���3�: ����:)���W1�W9X9 X9�W9:W92W9I�A)�EBA*W��V�U�U������� @zL��L��L��L��z@�A��8��B� B��A����*B�A39�A��A�"�7�A����A�"C �)*C�5�<RC�o">C�C��54!>I�9G]�>���sj,x�-ΩE�A�|i|�@Y}�خ�@�}����@y}�B��}��Y��}�H�������^����@���?���`&l�?�����������!a�����ϳ{?����z�{?���@bj���������?)~�خ�@ ~�VD^;I~���Cɫi�i)�q �u����I�qY���@y��lG鮹ɮ�R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��M�A=Y��9QU��>�����a��G����y�o:}��>Iȡ����:�ťP�5�?����:�ť&۾� ƥ��A����?9ƥ]jC�ǥ�: ȥb�:)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �@zL!�L!�L!�L%��z@��]e ����]�����]�����]��� �]�;:Y�]�W1y�]č:��] �5�9m@�Au���Bq Bq�Aq*Bu29�Ay�A} �7�A}t���Ay"CE�)*CE?N�<RCEw�">CA�CI��UmA��Q��5B+#>I�9G]�>ܹ 9ܹ Iܽ �fGiܽ ��@�ܹ �ܹ �ܹ �ܽ ��; ݽ u�E��ԑsj,��GΩE�AY}Ba��@�}B��@y}Bnx给}B��}BH����`��]����@n��?������?���@������ ˺`����`��|?������|?���`����� >��?)~Ba��@ ~BuA^;I~B��Cɫ�髁)�� ��I��Y����@y���kGxDUSBL response received:!U1,R,392,000,00525,189,80,80,5E,FF Fpublishing direction and range info����0L����ɰ���=�� ��)����BI��y��&B������kY�?'t�r�����������ٱ�)�%�= �%�=�í`�;�í�D<�í���iíf�@�é ĭE�@)ĭE�@IĭE�@iĭE�@������M�g=Y��/�QU�>���� �a �G�� ��)y�5�?9}5�>I�9��=��5�?��=�'۾� �=τA��E�?9�=hjC��==�: �=��:)�9�W��W�X� X��W�:W�2W�*W��V�U�U�����c�@�P�*Q�&B�Z����:��<@A��/�=����������Z����kY�?'t�r�����������2Q��0L�:Q��Z����?\�=�t���<����/ �?�Z��9�����2FN�JM�Ę%�{�?BQ�gpz@ Q�~��Q����P�7�9?�P�?�9?�P����Q����Q���@"Q�1�@zL9�L9�L9�L=��z@�A]촑�BY BY�AY*B]C19�AY�Ae�7�Ae����Aa"Cm�)*CmO9�<RCm�">Ci�Cqi�}��I�}����}����}����e N�!>I�� G� �>����sj,ڐaΩE�AY}zu��@�}z)��@y}z�ܻ�}z�o��}zH�����vU���� ���?���@n�?����������`+hY����`�J{?������{?�����l�����@���?)~zu��@ ~zXO^;I~z��Cɫ���)�� ��I��Y�5s�@y�5�kG��dNmea in: $SNTTA,0.077289,0.488237,,,170912.89*52 ����P��n��?����K���Zd;�?����>���^�� ���y=)��I��y���1�Zd�?bX9�ȶ��~j�t��?���"�=���E�������< ���A)���AI���Ai�� A������QA������M�==Y��(S:QU��>�������a��G������y���:}��>I�����:���_�5�?�� �:���g*۾� ���A�� �?9��wjC�����: ���:)���:�m=uAdded new target pos. range: 41.520000 m, bearing: 224.204716 deg, deltaT: 4.497455 s, approachRate: 0.160091 m/s, LOS rate: -0.976383 deg/s, posRepo size: 4�W9�W9X9 XA�WA:WA2WA*WI�VIUM���`��D@UM��� ���?zLm�>�Lm�>�Lmܲ@�LmQ��@�A�y���B� B��A�1�*B�k09�A��A��7�A�+���A�"C��)*C��R�<RC�Wt#>C��C���E�=i�Ep=��U� ����U�����U�����U0�� �U�?:Y�U�V1y�U�:��U�6��}@�">I��G�]>��(�sj,d{ΩE�A�|�|p;Y}2���@�}2i˖@y}2�ٻ�}2N��}2H���������������?���`5��?�������������4������{?����f!{?��������������?)~2���@ ~2� ^;I~0ɫ9�9)�9 �=���I�9Y�}�@y�}#kG��=k�M=j=Y�E��9QUE�>��A��A�aM�G��I��Iy�U�j;}U�>I�Y��]Ǘ5�?��]�,۾� �]��A��e�?9�]�jC��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������l�?zL��L��L��L��@�A��拼B� B��A����*B��.9�A��A��7�A�V���A�"C��)*C��B�<RC���$>C��C��a9�aI�exfGi�eS�@��e =��a��a��e��; �eL�E��=H!>I�G-->���sj,�>�ΩE�AY}2ў@�}2�ޖ@y}2��ͻ�}2��"��}2H�������b?�������?��� �S�?���������� ��`?�����z?�����y?���@�U������_��?)~2ў@ ~2P!^;I~2��Cɫy�y)�� ������I��Y���@y���jG��Y��Y��������t�<��� 0>i��ף@��� ��ƣ@)��ƣ@I��ƣ@i��ƣ@���a�M�?=Y��#R:QU��>������a�G����y� ��;} �>I�)��=�:��-��5�?��=�:��-/۾� �-�A��E�?9�-�jC��-�; �-#�:)�- �:�Wa�WaXi Xi�Wi:Wi2Wi*Wq�VqUqUu����Y�?zL��L��L��L�Ӏ@�A��f��B� B��A�ۿ�*B�|.9�A��A��7�A�����A�"C��)*C��q�<RC���&>C��C���u� ����u�����u�����u��� �u�B:Y�u�[1y�uH�:��u�6���Em$>I��GK>��:�sj,P�ΩE�AY}2��@�}2���@y}2�H���}2�% ��}2H�����Y[t?�������?�������?�����������1ms?���@0x?���@iw?��� \���������?)~2��@ ~2�-^;I~0ɫY�Y)�Y �]���I�YY��ž@y���jG��5�V�M=W=Y�=,�:QU=�>��A��A�aE�G��A��Ay�Mp�;}M�>I�Q��Uё5�?��U`1۾� �U*�A��]�?9�U�jC��U��: �U �:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L���@�A�Y���B� B��A���*B��-9�A��A���7�A�����A�"CU�)*CU��<RCU�L)>CQ�CYI�A)�E@A��eO�'>I�iG�9>�Q 9�Q I�U �eGi�U ��@��Q ��Q ��Q ��U ��; �U M�E��+�sj,��ΩE�A�|<i|>�@Y}En��@�}E" �@y}Eh���}E�a��}EH�����~?�������?���@qe�?�����������K�}?������w?���`��v?�����j���������?)~En��@ ~E�^;I~E��CɫA�A)�A �AI�IY���@y��kG��i��ii���mGI��i����%yd�ٺ!��%�VA��-���-����-�s�i�-�@��) �-=�@)�-=�@I�-&�@i�-=�@��E@�<ME-=Y�E��9QUE�>��I��I�aM�G��I��Qy�U��;}U�>I�Y��e�:��]W�5�?��e�:��]=4۾� �]E�A��m�?9�]�jC��]�: �]=�:)�] �:�W��W�X� X��W�:W�2W�*W��V�U�U������X�@��= ����=�����=�����=[�� �=�4:Y�=�V1y�=�:��=| 6)�=��;�9M�zLQ�LQ�LQ�LU���@�Am�z��B� B��A���*B�K/9�A��A�Ж7�A�����A�"C��)*C����<RC�?o+>C��C�Yϥ�89�֝ Tu)>I�� G �>��L�sj,B��ΩE�AY}:��@�}:d�@y}:�X���}:�}��}:H���� ��?������?������?������������?��� �]y?��� x?���������A��?)~:��@ ~: �^;I~8ɫ9�9)�9 �9I�9Y�}ž@y�}�jG����i��|?5�?�Q���?�������?�����=���\�= ����<)��I��y���Zd;�O��?��ʡE������Mbp?���j�=���-������; ��fA)��I��;Ai���A������)���= ���=�����M�c=Y���d�QU��>������a�G����y� �z;} �>I�����5�?��6۾� �K�A���?9��jC��M�: �w�:)��WA�WAXA XA�WA:WI2WI*WI�VIUQUU��� W8@zLm�>�Lm�>�Lm�Ұ@�Lm��}@�A���y�B� B��A���*B�C-9�A �A ��7�A =��A "C�)*C���<RC&�,>C�C��=��+>I�IGeV>��v�sj,m��ΩE�AY}2q�@�}2%�@y}2�S���}2qv��}2H�������?�������?���`?'�?���@�������&&�?����_�v?����oju?�����-������#��?)~2q�@ ~2ά^;I~2��CɫY�Y)�Y �e����I�aY��۾@y���jG������@A�����;M�_=Y����:QU��>�������a��G������y��U:}��>I����5�?��8۾� �P�A���?9��jC���; �:,;)��W��W�X� X��W�:W�2W�*W��V�U�U����`�X@�'�>9�I�LeGi�_�@��������x�; �1�E�R=B*** querying acoustic contact ***�P9�P9zLi�Li�Li�Lm9�}@�A�ߜp�B� B��A�_Ҽ*B�.9�A��A���7�A����A�"C��)*C���<RC�%�,>C��C���M�=i�M�=��}m ����}�����}�����}=�� �}�<:Y�}�X1y�}/�:��}F 6)�}�;��K�+>I�)G�`>�`�sj,��ϩE�A�|4<�|�;ɫy�y)�y �yI�yY���@y���iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�Õt<�Õ ���Õ,=iÕQ�@�Ñ ĕz�@)ĕz�@Iĕz�@iĕz�@���x�M�==Y����QU��>�����a��G����y����}��>Iș����:�ŝ��5�?����:�ŝn:۾� ƝX�A����?9Ɲ�jC�ǝ�; ȝ�;)ȝ�:�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L��A#h�B B�A�T�*B�*9�A�A��7�Ai��A"C%�)*C-)3�<RC-��,>C)�C) �=�=��=�=��][�+>I�aG�Y>���sj,�a0ϩE�AY}2���@�}2��@y}2D�L��}27���}2H����`XR~?�������?�����l�?���@�������[�}?���@��k?������i?�����o��������?)~2���@ ~2�|^;I~2��Cɫ9�9)�A �E���I�AY��C�@y��jG�xDUSBL response received:!U1,P 392,000,00525,189,80,80,5E,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��MmA��}V�<M�N=Y�c�;QU��>�����a��G�����y��|��}��>I�����5�?��n<۾� �^�A����?9��jC��= ��=)��W�WX X �W :W2W*W�V��U ����U�����U�����U�� �U�5:Y�U�W1y�Uč:��U�6�9]@UYU]�����s @zL��L��L��L�Ĩ}@�A���^�B� B��A�5�*B�",9�A��A�l�7�A���A�"C�)*C%���<RC%�t+>C!�C!��5l,>I�9Ge�>��9��I���dGi����@������������N�; ���E)ݑ�Iݑ�iݑ��ݕ� =�ݕ� =�ݕ���4�it�sj,�KJϩE�AY}n���@�}ns�@y}n2�5��}n����}nH���� `G{?�������?��� �X�?���`���������z?���ྰh?���`�f?���@[���������?)~n���@ ~n(J^;I~lɫ�髱)�� �����I��Y��)�@y���iG��a=ɮ��%�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��-I>��-t>��-� >i�-��@��) �))�)I�)i�-��@��=8�M=>=Y�=�U:QU=�>��A��A�aE�G��I��Iy�M��}U�>I�Q��]�:��U�5�?��e�:��U�>۾� �Ud�A��e�?9�U�jC��UA�: �U��:)�U�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zL��L��L��L�q�}@�A�\WU�B� B��A�B�*B��*9�A��A�Q�7�A�u��A�"C��)*C�zs�<RC�{+>C��CAi�AI�A��I��II�=AA)�=AA��A I�y G� �>����sj,�dϩE�A�|i|�@Y}6��@�}6h�@y}6�C��}6'� ��}6H������`�?���@��?���@y.�?���@������ *�?����ܳj?��� �ah?�����1������W��?)~6��@ ~6�T^;I~6��CɫQ�Y)�Y �]����I�aY�}i�@y�� iG�xDUSBL response received:!U1,R,26A,000,00526,189,80,80,6C,FF �Fpublishing direction and range info��� ����ɰ���=鰉 ��)����BI��y��Q&B�����ŵ�Du�?t^��n���������ٱ�����/�$���?��������<�O��n�������>������ ��t��)��I��y������Mb�?��MbX���~j�t��?�����=����ʽ����D= ;A)�AI�Ai A������A���)b�M�@=Y��x��QU��>�������a��G������y����;}�>I���}|5�?���@۾� ���A���?9��kC����: ���:)��W1�W1X9 X9�W9:W92W9*WA�VAUAUE���@q�@�P�*Q�Q&B�Z������A@w(aZ5����������Z���ŵ�Du�?t^��n���������2Q� �:Q��Z���M`\� 5�x�o���A�:�/T�X�?�Z������0����=��X���F�?BQ�6х@ Q�l�Q�L���P�L�9?�P�7�9?�P����Q����Q���@"Q���@zL�.>�L�.>�L���@�L�3�z@�A-��K�B1 B1�A5+��*B5�(9�A1�A5%�7�A=��A9��U ����U�����U�����U��� �U�4:Y�UxZ1y�Uq�:��U�6"C=�)*Ce˹�<RCe�->Ca�Ci��y��}nA��ux�*>I��G�>�#��sj,=�}ϩE�Aɫ�髹)�� �����I��Y�ѽ@y��iG�}TNmea in: $SNTTA,,0.262970,,,170917.35*47 ܙ9ܙIܝ�cGiܝ�@�ܝ=�ܙ�ܙ�ܝE�; ݝ�E)õ�= ñ���:=M�\=Y�����QU��>�������a��G�����y����} �>Iȩ����:�ŭLy5�?����:�ŭ�B۾� ƭ��A����?9ƭkC�ǭw�: ȭ��:)ȭ �:�m-qAdded new target pos. range: 41.579998 m, bearing: 239.598829 deg, deltaT: 4.463900 s, approachRate: 0.013441 m/s, LOS rate: 3.448579 deg/s, posRepo size: 4�W)�W)X) X)�W):W12W1*W1�V1U5���`=�D@U=������?zL��L��L��L��A���B�B� B��A�n�*B��)9�A�A�7�Av��A "C �)*C���<RC��,>C�C�֕�,>I��G��>����sj,SΗϩE�AY}:�2�@�}:z@�@y}:�0��}:� ��}:H�����2%�?�������?���`�+�?����$�����@��?������i?����7f?����1������Y��?)~:�2�@ ~:��^;I~8ɫ9�9)�9 �=����I�9Y�]�@y�]�iG����Ļ��������S�i��Q�@��� ��r�@)��r�@I��r�@i��r�@���&<M�L=Y��=:QU��>�������a��G������y�Ti<}�>I� �� 1v5�?�� E۾� � �A��%�?9� kC�� �; � m ;)� �WY�WYXY XY�WY:Wa2Wa*W��V�U�U������,�?zL)�L)�L)�L-�{@�A=�\9�BA BA�AE�]�*BE:*9�Ai�Am�7�Am���Ai"Cu�)*Cua��<RCu8�2>Cq�Cy��E�=i�Ea=��]1 ����]�����]�����]/�� �]�7:Y�]�[1y�]H�:��]�6��}[�+>I��G�b>���sj,i��ϩE�A�|�;�|Y}6�N�@�}6P\�@y}6�J��}6���}6H�����< �?�������?����5k�?���`�������{�?������h?����NIc?����gq��������?)~6�N�@ ~6��^;I~6��Cɫ9�9)�9 �=���I�AY�}��@y�}ViG���üMX=Y�bf:QU�>��!��!�a%�G��!��)y�-�<}-�>Iȁ�Ņs5�?�ŅG۾� ƅ�A����?9ƅ(kC�Dž]�: ȅ �:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U����`.p�?zL��L��L��L��_{@�A��0�B� B��An��*B�(9�A�A��7�A G��A "C�)*C/�<RC�65>C�C! �=�=��=�=��Eo�2>I�QG}7>ܙ9ܙIܝXcGiܝȸ@�ܙ�ܙ�ܙ�ܝ7�; ݝ�E�?��sj,6��ϩE�AY}2�c�@�}2;q�@y}2G���}2</��}2H�������?��� ���?���@�ڥ?����R���������?������b?���`�W?�����ߥ���� ���?)~2�c�@ ~2'�^;I~2��Cɫ1�1)�9 �=����I�9Y�uD�@y�}�hG������}=��}-����}�Ⱦi�}�@��y �}&�@)�}&�@I�}&�@i�}&�@����M<=Y� Z ;QU�>�����a�G����!y�%��;}-�>I�)��E�:��-�o5�?��E�:��-fI۾� �-:�A��M�?9�-7kC��-�K; �-2E;)�-�:�W��W�X� X��W�:W�2W�*W��V�U�U���� <Z�?zL��L��L��L���{@�A���&�B� B��A�m��*B�(9�A��A���7�A����A�"C��)*C��\�<RC�_N7>C��C���mP ����m�����m�����m��� �m3::Y�m�X1y�m/�:��m��6)�m�;�9u����vh5>I��GI>����sj,�]�ϩE�AY}6�l�@�}6�z�@y}6��@��}69�6��}6H����`ӕ?������?����w̦?����#����� �ĕ?���@d�[?�����H?�����Ϧ��������?)~6�l�@ ~6��^;I~6��Cɫ9�9)�9 �9I�AY��.�@y���hG����J+��?V-���X9��v��������=������ �����)��I��y����v��/�?ˡE�����<�O��n�����x�=���什���t� ©)^AIAi�A�������A�����M�O=Y����:QU��>�������a��G������y��T<;}��>I�����m5�?����K۾� ��5�A��m�?9��EkC���>�< ��'�<)���W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�>�L�>�L���@�L�Ow�@�A ���B B�A���*BV'9�A�Ab�7�A��A"C�)*C%���<RC%�<8>C!�C!I�E@A)�AY�-V69��5�U7>I�9G]�>�1�sj,�:�ϩE�A�|i|�@Y}:�j�@�}:4x�@y}:9����}:�*��}:H��������?������?����rT�?����0�����@�?������R?��� �22?����kV���������?)~:�j�@ ~:��^;I~8ɫA�A)�I �M���I�QY�}ܼ@y�}\hG�A9�AI�E�bGi�Ew�@��E =��A��A��E�; �E��E��}ZμM�O=Y��:QU��>�����a��G����y��h7�}��>I�����:���Rj5�?���:����N۾� ��1�A���?9��TkC����; ��D=;)���:�Wy�WyX� X��W�:W�2W�*W��V�U�U�����B2@zL��L��L��L��u�@�A5�5�B1 B9�A=Y��*B=&9�A9�AE/�7�AEt��AA"Cm�)*Cm��<RCm1�7>Ci�Cq��}6 ��Yρ�ԩ�ԭmA��}�����}�����}��� �}!8:Y�}�V1y�}�:��}��5)�}O�;�֕��7>I��G��>i���mGI��i������S�ٺ�����FA��tj,�ЩE�AY}6�e�@�}6�s�@y}6�;H9�}6'���}6H����@��?����,��?��� ��?����I������(�?���`�nA?����s)����@N���������?)~6�e�@ ~6'�^;I~6��Cɫ9�9)�9 �9I�9Y�}�@y�}�hG������)Ý�= Ý�=�����<���\=����T�i��@��� ��)��I��E�@i��E�@����?<M�T=Y����:QU��>�������a�G����y� ź} �>I����g5�?��Q۾� �,�A����?9�akC���< �#�<)��W��W�X� X��W�:W�2W�*W��V�U�U����@�/@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L-�r�@�A]i� �BY BY�A]��*Be=&9�Aa�Ae��7�Ae���Aa"C��)*C��<RC�B�7>C��C��̽�=�̽�=Yϝ�39�֑I��G��=%tj,�2ЩE�AY}2^�@�}2�k�@y}2!9�9�}2s���}2H����� ��?�������?�����?����p������r��?���@��.?��� $G6����@r����� v��?)~2^�@ ~2�^;I~2��CɫY�Y)�Y �]����I�YY��i�@y���gG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��!:�MH=Y�%�9QU%�>��)��)�a5�G��1��9y�E��}E�>I�I��]�:��M�d5�?��e�:��M�S۾� �M'�A��e�?9�MpkC��M%c; �Mud;)�M�:�W��W�X� X��W�:W�2W�*W��V�U�U����`� @zL!�L!�L!�L%�l�@�A5���B1 B9�A=ѽ*B=�$9�A9�A=Ĕ7�A=��AA"Ce�)*C��'�=RC�P�6>C��C���E=i�E=��] ����]�����]�����]��� �]a4:Y�]�X1y�]/�:��]E�5�9e@Y�}�/9�99�9I�=,bGi�=Է@��==��9��9��=v�; �=2�E��m}�7>I�yG��>�1 tj,��LЩE�A�|�|Y}6>Z�@�}6�g�@y}67:�}6����}6H�����o��?����Q��?������?��������������?������%����`��F�����ޔ�����`���?)~6>Z�@ ~6D�^;I~6��CɫY�Y)�Y �]���I�YY���@y��`hG�xDUSBL response received:!U1,P 26A,000,00526,189,80,80,6C,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 ���=�������E6>i��@�� �)�I�&�@i�&�@����<M�)=Y�/@:QU��>��!��!�a%�G��!��)y�-Mu�}5�>I�1��5�a5�?��5�V۾� �5 �A��e�?9�5�kC��5��; �5��;)�1�W��W�X� X��W�:W�2W�*W��V�U�U�����+h @zL��L��L��L�3i�@�A%��B) B)�A-l��*B5�&9�A1�A5��7�A]o��AY"Cm�)*CuJ��=RCu��6>Cq�C�Y��/-9 ���=������ j�6>I� G%�>�57tj,;�fЩE�AY}6VY�@�}6 g�@y}6�8�:�}6����}6H�����od�?���`F��?��� ��?���������� ym�?���@� I������V�����u}���������?)~6VY�@ ~6.�^;I~6��CɫY�Y)�Y �]����I�YY����@y��.hG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����i��|?5�?@5^�I¿��~j�t�?����q>���b� ����<)��I��y����v��/�?1�Zd��L7�A`�?������"۽���+= ) AI �Ai dA������zA�¡�¡���W�M�X=Y���:QU��>������a��G�����Iy�M���}M�>I�Q��]�:��UW^5�?��]�:��UmY۾� �U;�A��e�?9�U�kC��U��: �Uw�:)�U�:�W��W�X� X��W�:W�2W�*W��V�U�U�����8-@zL��#>�L��#>�L�C�@�L�W�~@�A%�B) B)�A-���*B-�$9�A)�A5[�7�A5���A1"C=�)*C=k=RC==�6>C9��U8 ����Q��Q��U��� �UI8:Y�Qy�Q��U�6�Ca�֕��6>I��G��>� tj,{��ЩE�AY}6�Y�@�}6Fg�@y}6�v�:�}6�2"��}6H������k�?������?�����H�?���@��������z�?����"�Q�������]�����E�����`���?)~6�Y�@ ~6�^;I~4ɫy�y)�y �}���I�yY��f�@y���gG�xDUSBL response received:!U1,R,EE5,000,0052D,186,80,80,64,FF �Fpublishing direction and range info���'�|>���ɰ��=����> ��)����BI��y���(B������elr�?�8O�J�?��������ٱ���9��I���aGi����@���=�����������; ��v�E)�q�I�q�i�q���u�=��u�=��u���4��h�Mi=Y�ը:QU�>�����a%�G��!��!y�-س8}-?I�)��-o[5�?��-�[۾� �-U�A��=�?9�-�kC��-w�: �- �:)�)�Wa�WaXa Xa�Wa:Wa2Wa*Wi�ViUiUm���`]~@�Py*Q}�(B�Z}��"�\D@��=�$@���������Z}���elr�?�8O�J�?��������2Q}'�|>:Qy�Z}�u��M&@}za�BD���옺��Z}���s����?�3�����O�r��BQ}�L�@ Q}"�Q}z0A�P}��9?�P}L�9?�P}"���Q}���Q}�@"Q}��@zLA�LA�LA�LE@�A]4лBY BY�Ae�ѽ*Be#9�Aa�Ae%�7�Ae���Aa"C��)*C�)�=RC�7>C��C�I�I)�I���{K7>I��G�E>�DP&tj,{�ЩE�A�|4i|4Y}�u�@�}E��@y}{~%;�}��3��}H�������?������?����x�?������������?�����9Y�����ͯd�����}y��������?)~�u�@ ~��^;I~ɫ)�))�) �-����I�)Y�m�@y�m4gG��DNmea in: $SNTTA,,,,,170921.78*5D ����=���Լ��t<i�f�@�� �E�@)�\�@I�E�@i�E�@��-���M-,=Y�5��:QU5�>��9��9�aE�G��A��Iy�M)�;}M�>I�Q��UNW5�?��U�^۾� �Uy�A��e�?9�U�kC��U��: �U{�:)�Q�m�uAdded new target pos. range: 42.000000 m, bearing: 285.226377 deg, deltaT: 4.375560 s, approachRate: 0.095988 m/s, LOS rate: 10.427819 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������E@U������z�?��E�����E�����E�����E��� �E�1:Y�E0Y1y�E��:��E46zL��L��L��L��G@�A�ۇ��B� B��A���*B��#9�A��A�ݓ7�A�.��A�"C��)*C��=RC��m:>C��C�����nA�� 7>I�G-�>�Rs,tj,�8�ЩE�Aɫ�髹)�� ��I��Y��@y�&gG)ù ý>���iu�M�b=Y�����QU��>�������a��G�����y����} �>I����:��.T5�?���:��a۾� ���A���?9��kC��I�: ��:)��:�WA�WAXA XA�WA:WA2WA*WI�VIUIUU��� $��?zLi�Li�Li�Li�A��۲�B� B��A�L�*B�O 9�A��A���7�A�\��A "C�)*C�5=RCw1:>C�C����;>I�)GUS>��(�>9��I��i�����=���������R�; ����E�>[3tj,��ЩE�AY}F���@�}Ftʗ@y}FG��:�}F�1��}FH������П?�������?����qK�?�����������ܟ?���@}�O�����G�_������E���������?)~F���@ ~F]�^;I~F��CɫY�Y)�Y �YI�YY����@y���fG��M��>��M`���M ��i�M��@��I �I)�ME�@I�M\�@i�M\�@�����M�O=Y�ֽ�QU��>�������a��G������y��r�<}��>I������P5�?����c۾� ����A����?9���kC����-; ���;)���W)�W)X1 X1�W1:W12W1*W1�V9UAUE�������?zLq�Lq�Lq�Luv�@�A����B� B��A���*B�!9�A��A�Y�7�A����A�"C��)*C�3�=RC��B>C��C�i��I��������������E�=i�A��U) ����U�����U�����U2�� �U7:Y�Ud\1y�U��:��U 6)�Uj�;�9]� խ�=�ԭ�=�֥ ��9>I�� G� �>��9tj,��ЩE�A�|�|Y}:ݟ@�}:��@y}: u!;�}:����}:H��������?����l��?����8$�?�����������M��?����=yW������.d����@P����� q��?)~:ݟ@ ~:�^;I~8ɫQ�Q)�Q �U���I�QY�u��@y�u�fG��e����x�&�?�����M�?�I+�����e7�=��en> �e94�)�aI�ay�e�V-��?���Mb��:��v���?��e�m=��e�����e�T< �eA)�e3AI�ai�e A��a��e=A��}�<M�L=Y��:QU��>�����a��G����y��"<}��>Iș����:�ŝ�M5�?��%�:�ŝe۾� Ɲ��A��-�?9Ɲ�kC�ǝ��< ȝ�<)ȝ�:�Wi�WiXq Xq�Wq:Wq2Wq*Wq�VyUyU}���@�d�?zL���=�L���=�L��|�@�L�V�n@�A�甗�B� B��A����*B��!9�A��A��7�A����A�"C�)*C%��=RC%�aE>C!�C!���#@>I�!GE1>�/n@tj,%�ѩE�AY}22�@�}2���@y}26�;�}2����}2H����`��?���@���?������?����7������1.�?������g�����#�p������Ӡ���� ���?)~22�@ ~2��^;I~0ɫ9�9)�9 �9I�9܁9܁I܅�aGi܅�@�܁�܁�܁�܅1�; ݅��EY��_�@y���fG� mA�����M�G=Y��I�;QU��>�������a��G������y��'�;}��>I� �� }J5�?�� �f۾� � ̆A���?9� �kC�� �); � ��:)� �Wy�WyX� X��W�:W�2W�*W��V�U�U��������@zL��L��L��L�]o@�A-v���B) B)�A-� �*B-� 9�A1�A5Œ7�A5���A1"C=�)*C=�@=RC=,AG>��MT ����M�����M�����M�� �M�::Y�M]1y�M�:��M+6)�M`�;CY�Ca�֕��B>I��G��>�{�Ftj,ΥѩE�AY}:��@�}:b��@y}:��;�}:S�#��}:H��������?�������?�������?��� 9������&�?�����&s�����H@y�����+v������L��?)~:��@ ~:��^;I~:��Cɫ9�9)�9 �=����I�9Y�}L�@y�}pfG��u��<��u,���u�L�i�u�@��q �u�@)�u�@I�u�@i�u�@��W��M�N=Y���;QU��>�����a��G����y��L�}��>Iȡ����:�ť|G5�?����:�ť�g۾� ƥچA����?9ƥ�kC�ǥ�: ȥ��:)ȥ�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �~@zL�L�L�Lo@�A%Pv�B B�A*�*B�9�A�A%�7�A% ��A!"C-�)*C-��=RC-r�F>C)�C1�� �G>I�G5>I�A)�E@A���Ltj,��5ѩE�A�|i|�@Y}2~ڟ@�}22�@y}2��;�}2>]8��}2H������á?�������?���`V)�?��� ������@��?�����Oy������������| ����� u��?)~2~ڟ@ ~2��^;I~2��CɫY�Y)�Y �aI�aY���@y��+gG���������G=M�V=Y��>�;QU��>�������a��G������y��[Ȼ}��>I����D5�?��5i۾� ��A���?9��kC���6; �_/;)��WI�WIXI XI�WI:WQ2W�*W��V�U�U����`y�@�RMB*** querying acoustic contact ***�PI�PIzLi�Li�Li�Lm%�n@�A�|GY�B� B��A�_�*B�)"9�A��A�<�7�A�1 ��A�"C��)*C��~=RC�S�D>C��C���Ua ����U�����U�����U��� �U�;:Y�UxZ1y�Uq�:��U�6�9]@�ֽ�G>I��G�E>܁9܅w�CI܅�`Gi܅��@�܁�܁�܁�܅4�; ݅��E�u�Stj,�[OѩE�AY}2�ȟ@�}2�֗@y}2/�<�}2�73��}2H�����3��?�������?�������?���@X������נ?����p~�����V������ �d���������?)~2�ȟ@ ~24�^;I~2��C��T��Ti�nGɫY�Y)�Y �YI�YI�yY��=�@i��y��^fG���3V�ٺ����&IA�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)Å> Å�=��5 �=��5�I>��5��i�5\�@��1 �5�@)�5&�@I�5E�@i�5&�@��k3�M�0=Y��;QU��>�����a��G����y��Ҙ�}��>I������:����@5�?����:����j۾� ����A����?9�� lC�����: ��A�:)���:�W��W�X� X��W�:W�2W*W�VUU �����B @zL!�L!�L!�L%(�n@�A=��<�B9 B9�A=�*B=�9�AA�AE�7�AEP ��AA"CM�)*CM�.=RCM�EC>CQ�CQ��}��D>I��G�g>��Ytj,5iѩE�AY}:���@�}:<Ǘ@y}:��<�}:P��}:H����`gi�?��� ��?����%�?��������������?�����������GV����� @ߢ�������?)~:���@ ~:%�^;I~:��Cɫ9�9)�9 �=���I�AY�}E�@y�}gfG�xDUSBL response received:!U1,P EE5,000,0052D,186,80,80,64,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 ��Ai�E�=��U�����U�����U�����U��� �UC3:Y�U�[1y�UH�:��U�6��%�+�����?ˡE�����{�G�z����%��=��%�'� �%�#�)�!I�!y�%�)\���(�?1�Zd��{�G�zt���%G�=��%"۽��%ף� �%;A)�%^AI�%�Ai�!��!��%�A��|�:M�-=Y����9QU��>�������a��G�����y� 6�}�>I����<5�?���m۾� ��A��u�?9�lC����< �z<)��W9�WAXA XA�WI:WI2WQ*Wy�VyUyU�����(f@zL�9>�L�9>�L�_�@�L�n#~@�A I� �B B �A �*B�!9�A�A��7�A%q ��A!"C=�)*C=0 =RC=0�A>C9�CAY�E l&9��=�>C>I�IGe�>�(�`tj,Z.�ѩE�A�|�|p<Y}6���@�}6oŗ@y}6sl<�}6����}6H����`�/�?��� ���?���`�ߝ?����������� p�?�����[������~-������⛝����`@��?)~6���@ ~6w�^;I~4�9�v�CI��_Gi���@���������; ���Eɫ�髉)�� ������I��Y����@y���fG��p=ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��-"�<M5~=Y�=>|�QUE ?��Q��Q�a]�G��Y��yy�>2�}� ?Iȩ�ŭ�95�?�ŭ�o۾� ƭ�A����?9ƭ)lC�ǭ��; ȭj�;)ȩ�Wq�WqXy Xy�Wy:Wy2Wy*W��V�U�U����`�n@zL��L��L��L�- ~@�A����B� B��A���*B�R9�A��A�V�7�A�� ��A�"C��)*C�G�=RC�CB>C��C���-��B>I�9GUu>�x�ftj,��ѩE�AY}2���@�}2�ʗ@y}2�T<�}2� Լ�}2H�����rן?����;��?��� ɚ?��� ������� �?�����`�����` �����`Q����������?)~2���@ ~2t�^;I~2��Cɫ9�9)�9 �9I�AY��Ǻ@y���eG�xDUSBL response received:!U1,R,212,000,0052F,187,80,80,7C,FF �Fpublishing direction and range info���h�쾩��ɰ�j�=鰥1�> ��)����BI��y��z(B����̢0bM��?���H��ܿ��������ٱ����nA�����t����`���"�=i�כ@�� ��@)��@I��@i��@��%*{�M%^=Y�%��:QU-�>��)��)�a-�G��)��1y�=@�:}=�>I�A��M�:��E�65�?��M�:��E5r۾� �E��A��M�?9�E7lC��E��: �Ef�:)�E�:�Wq�WqXy Xy�Wy:Wy2Wy*W��V�U�U�����i�@�P�*Q�z(B�Z��P�����B@wv�9�2����������Z��̢0bM��?���H��ܿ��������2Q�h��:Q��Z��_5X0�1�B�\1�!C�ܔ�\f�?�Z���G�`��ڿ��Gl����u���oj?BQ���@ Q� �Q�ٌ��P�S�9?�P���9?�P����Q�"���Q� �@"Q��@zL��L��L��L��*~@�Au��ֺBq Bq�Au��*B}�9�Ay�A} �7�A}� ��Ay"C��)*C�� =RC���B>C��C���]x����]�����]�����]9�� �]�(:Y�]�W1y�]č:��]� 6����B>I��G�E>�Qmtj,?�ѩE�AY}n�ß@�}n�ї@y}n�)<�}n����}nH������Z�?���`��?����r�?����a�������?����X?����� �;������D������@���?)~n�ß@ ~n1�^;I~n��Cɫ���)�� ��I��Y� �@y� +fG�uTNmea in: $SNTTA,0.037435,,,,170926.21*4E ��N�<M�C=Y�';QU��>�����a��G����y��;}��>Iȩ�ŭ*35�?�ŭ�t۾� ƭ�A����?9ƭGlC�ǭ��: ȭI�:)ȩ�m�uAdded new target pos. range: 42.119999 m, bearing: 245.291409 deg, deltaT: 4.446889 s, approachRate: 0.026985 m/s, LOS rate: -8.980428 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U���� \E@U��������?zL�L�L�L&8~@�A����B� B��A��*B�/9�A��A���7�A�� ��A�"C��)*C�ݿ =RC�4�C>C��C�I�A)�EAA����RC>I��GL>�9�w�CI�i����������; ���E)ݡ�Iݥ�w�Ciݡ��ݥ�=�ݥ�=�ݥ���4���stj,j��ѩE�A�|i|�@Y}>�ɟ@�}>�ח@y}>%�:<�}>����}>H����@���?����]��?������?���@�����`�?�����������CS�������ԣ����`R��?)~>�ɟ@ ~>��^;I~>��CɫY�Y)�Y �]���I�YY����@y��fG�Ý��=�Ý �=�Ý�;iÝ(�@�Ù ĝ�@)ęIęię����M�G=Y���";QU��>�������a��G������y��\�:}��>I������:����/5�?����:����w۾� ���A���?9��XlC�����: ����:)���:�W!�W!X! 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B!�A%�-�*B%9�A)�A-ʍ7�A-: ��A)"C5�)*C5�=RC5�O>C9�C9��E�sP>I�Q��m�=i�m�=G�9>��=�����=�����=�����=��� �=�.:Y�=xZ1y�=q�:��=�6�e��tj,�]�ҩE�A�|�|Y}B�@�}B3-�@y}B�߉<�}Bb7��}BH���� a�?�������?�����:�?��� 9������p�?���`kt�������;�����`Dি���`���?)~B�@ ~B�?^;I~B��Cɫi�i)�i �iI�qY��y���xDUSBL response received:!U1,R,1CB,000,00531,186,80,80,7B,FF �Fpublishing direction and range info���K;���ɰ���=鰽��> ��)����BI��y���(B��������w�?Qw�P��ؿ��������ٱ�Y����:QU��>�������a��G������y���@�}��>I��� �:���5�?�� �:����۾� �h�A���?9��lC��f�: ���:)��:�W1�W9X9 X9�W9:W92W9*WA�VAUAUE������@�PQ*QU�(B�ZU�g����rC@��:�ux0����������ZU�����w�?Qw�P��ؿ��������2QUK;:QQ�ZU�^݈�߅-�F�_2��C����Nϴ?�ZU�de�I�]ֿ���w���@m����_?BQUT_�@ QUN�QU.l��PUZ�9?�PUS�9?�PU"���QU���QUؼ@"QU �@zLy�Ly�Ly�L}b�}@�A��&m;B� B��A�*B�K9�A��A�o�7�A� ��A�"C��)*C�O�=RC��\N>C��C��֥�N>I��G� >�a9�aI�e�^Gi�e��@��a��a��a��eC�; �e$�E����tj,�2�ҩE�AY}��@�}?%�@y}D��<�}���}H�����B��?�������?����Tգ?���`���������?�����&����� �>������|����� ���?)~��@ ~.Z^;I~ɫ�)� �!I�!Y�U��@y�U�eG��TNmea in: $SNTTA,0.097198,,,,170930.68*4C ������mA���=���:��/�i�̜@�� �&�@)��@I�&�@i�&�@��-�z<M-�<Y�5!�7QU5�>��1��9�a=�G��9��9y�E��}E�>I�I��M5�?��MƎ۾� �MT�A��U�?9�M�lC��M4�: �M��:)�I�m�qAdded new target pos. range: 42.240002 m, bearing: 249.545278 deg, deltaT: 4.436235 s, approachRate: 0.027051 m/s, LOS rate: 0.958892 deg/s, posRepo size: 4�W��W�X� X��WI:WQ2WY*W��V�U����`�E@U��������?zL��L��L��L�"�}@��E�����E�����E�����E��� �Eo/:Y�E�Y1y�E�:��E�6)�E͌;�9M��A�'u�;B� B��A�� �*B��9�A��A��7�A����A�"C��)*C��k=RC���M>C��C��ԩ�ԩ�֍��M>I��G��>�ֽ�tj,� �ҩE�AY}2��@�}2p%�@y}2~��<�}27���}2H����`V��?�������?���@DZ�?������������֥?�����x������������@����������?)~2��@ ~2B^;I~2��Cɫy�y)�y �}���I�yY��j�@y��ZeG�������S��?��K7����~j�t������/]>���I� ���ļ)��I��y���Zd;�O��?`��"����<�O��n�?���j�=���������t�< ��)��3AI��i���������A���b��M�N=Y����QU��>�������a��G�����y�4w8}�>I� ���:�� 5�?���:�� �۾� � e�A���?9� �lC�� H�: � f�:)� �:�W9�WAXA XA�WA:WA2WA*WI�VIUIUU����;��?zLm�>�Lm�>�LmX��@�Lm�u@�A���;B� B��A�f(�*B��9�A��A���7�A����A�"C��)*C�U�=RC�cN>C��C�I�a)�e@A�֥�vM>I��G�C>�a9�aI�ai�a��e=��a��a��e%�; �e�E)���w�CI��i������������4�X��tj,�6өE�A�|i|Y}F^�@�}F*�@y}F�߄<�}F�ݼ�}FH���� m�?����b��?�����N�?����p�����`k�?��� HЎ������������������ ���?)~F^�@ ~Fv^;I~F��Cɫy�y)�� ������I��Y���@y��fG���C=���S�����=i���@��� ��)��&�@I��i�����&=MG=Y� ���QU �>�����a�G����y�/�:}�>I�!��%5�?��%3�۾� �%u�A��-�?9�%�mC��%��: �%/�:)�!�WQ�WQXQ XQ�WQ:WY2WY*WY�VYUYUe�����?zLy�Ly�Ly�L}O�u@�A�,��;B� B��A�F�*B��9�A��A�j�7�A����A�"C��)*C�8�=RC���N>C��C�Y��p%9��}�����}�����}�����}��� �}�0:Y�}DW1y�}Y�:��}��5)�}��;�����M>I��G��>�z��tj,�!өE�AY}:O!�@�}:/�@y}:$�}<�}:�����}:H�����x/�?����d��?���@7��?���`R����� �j�?���`�������@q��������������@D��?)~:O!�@ ~:��^;I~:��Cɫ9�9)�9 �9I�9Y�}��@y�}�eG)� �= � �=��5���M=Y=Y�=>��QU=�>��A��A�aE�G��A��Iy�M��:}M�>I�Q��Ue5�?��UE�۾� �U��A��]�?9�UmC��U��: �U�:)�Q�W��W�X� X��W�:W�2W�*W��V�U�U�����) �?zL��L��L��L��u@�A�ܳ�;B� B��A� �*B��9�A��A��7�A�O��A�"C��)*C��G=RC��wO>C��C� � �=�� �=��%�1O>I�1GU1>�� �tj,��:өE�AY}2�*�@�}2�8�@y}2�u<�}2����}2H�����Iʦ?�������?�����ɣ?����������`R�?�����+����� �������`�v������(��?)~2�*�@ ~2 �^;I~2��Cɫ9�9)�9 �9I�9Y�}r�@y�}ceG��=���M=J=Y�=��QUE�>��A��A�aE�G��A��Iy�M�?;}M�>I�Q��]�:��Ur5�?��e�:��U~�۾� �U��A��e�?9�UmC��U�: �U��:)�U�:�W��W�X� X��W�:W�2W�*W��V�U�U����@�A�@zL��L��L��L��u@�A�y��;B� B��A�y'�*B�j9�A��A���7�A���A�"C��)*C�u�=RC�7�P>C��C���E=i�E=��aI�yG�;>��9��v�CI��D^Gi����@��������������; ���E���3 �������������������� ���7:Y��[1y��ݏ:�����5)���;����tj,�TөE�A�|�|4<Y}2m4�@�}2!B�@y}2�.p<�}2��6��}2H�����a�?������?����6-�?����������@r��?��� �ȉ�����������@ۦ��������?)~2m4�@ ~2��^;I~2��Cɫ9�9)�9 �=���I�9Y�Ey�@y�EleG�� /]>�� �R>�� ��i� =�@�� � �@)� ҙ@I� ҙ@i� ҙ@���;M%L=Y�%kU�QU%�>��)��)�a-�G��)��1y�5:<;}5�>I�9��=��5�?��=��۾� �=��A��M�?9�=.mC��=�: �=ӻ:)�9�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VyUyU}���`�u@zL�L�L�Lj�u@�A5O��;B1 B1�A5�&�*B5�9�A9�A=b�7�A=���A9"CE�)*CE��=RCE�Q>CA�CI����sP>I��G�E>��tj,$�nөE�AY}2�:�@�}2uH�@y}2�Wl<�}2mC8��}2H�����;Ƨ?�������?�����W�?���`O��������?�����3��������������������@���?)~2�:�@ ~2r�^;I~2��Cɫ9�9)�9 �=���I�9Y�u$�@y�}eG��y��}?A��m�k�t��? ףp= �����S㥛?��m 0>��mQ8� �m/�<)�iI�iy�m�T㥛� �?���Q����~j�t�h?��m�=��m�����m�D; �m�A)�m�AI�ii�i��i��mfA�� nA���˼M�C=Y���QU��>�����a��G����y��:}��>Iȩ����:�ŭl�5�?����:�ŭP�۾� ƭ��A����?9ƭ<mC�ǭE�: ȭ��:)ȭ�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �@�R�B*** querying acoustic contact ***�P��P�zL � >�L � >�L JD�@�L zk@�A%n��;B! B!�A%21�*B%9�A)�A��7�A����A�"C��)*C�.k=RC��R>C��C��������ֽǵQ>I��G�H>�����������������2�� ��3:Y�P^1y���:�� 6�9�@��9��w�CI���^Gi����@��������������; ���E���tj,�r�өE�AY}}�D�@�}}]R�@y}}��l<�}}���}}H������d�?����<��?����R�?�����������[��?���@���������������@ ����������?)~}�D�@ ~}b�^;I~}��CɫQ�Q)�Q �U����I�YY��_�@y��LeG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��U�Ļ��U��<��US�i�U@��Q �U&�@)�U&�@I�Uz�@i�U�@��eh�<Me==Y�mt�8QUm�>��q��q�au�G��q��yy�}�7;}}�>Iȁ�Ņ.�5�?�Ņ��۾� ƅ��A��m�?9ƅKmC�DžD�< ȅW�<)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������� @zL��L��L��L��$k@�A5�!�;B1 B1�A5�)�*B5�9�A9�A=��7�A=*��A9I�A)�A"Ce�)*Ce�5=RCe��S>Ca�Cii�qI�q��q��q��]��R>I�iG��>��-�tj,M�өE�A�|i|Y}6�P�@�}6K^�@y}6�l<�}6�K���}6H�����,#�?�������?���`�`�?����D�������[�?�����P����� ��������Z������!��?)~6�P�@ ~6:�^;I~6��CɫY�Y)�Y �]���I�YY��+�@y��eG�xDUSBL response received:!U1,P 1CB,000,00531,186,80,80,7B,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 �� ^��M d=Y���QU%�>��1��9�aE�G��A���y��]x;}��>I����:��Z�5�?���:��~�۾� ���A��%�?9�YmC���; ��;)��:�W9�W9XA XA�Wi:Wq2Wq*Wy�VyUyU������ @zL��L��L��L��7k@�A=��<BA Ba�AeE0�*Be(9�Ai�AmB�7�Am���Aq"C}�)*C}{�=RC�T8U>C��C��� ��������������T�� �QH:Y�[1y�ݏ:���6����S>I�G�>��W�tj,�(�өE�AY}2NZ�@�}2h�@y}2�wi<�}2X���}2H����`k��?����*��?���� ʝ?��� ������`l�?����65�������.���������������?)~2NZ�@ ~2��^;I~2��Cɫ9�9)�9 �9I�9Y��T�@y��?eG��ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�E�= �E�=��u�B<MuC=Y�}�˹QU}�>��y���a��G����y��E;}��>Iȑ�ŕ��5�?�ŕ��۾� ƕ��A����?9ƕfmC�Ǖ+�: ȕ8�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� �<@zL��L��L��L�~Ik@�A�-<B B�A-+�*Bo9�A �A �7�A ���A "C��)*C�^�=RC��MV>C��C� ���=����=ܕ*�>9ܕv�CIܑiܑ�ܑ�ܑ�ܑ�ܕ��; ݕ�E����{U>I��G I>�� }�>�� �Ci�u gmGI�� i�� ��� �O�ٺ� ��� #CA�EIO?9�E�BA��?�tj,��өE�AY}>�e�@�}>ys�@y}>��e<�}>�`��}>H����@�u�?���@���?�����Ġ?����?�����`���?���`_?�����������j���������?)~>�e�@ ~>~�^;I~>��CɫY�Y)�Y �]����I�YY���@y���dG�xDUSBL response received:!U1,R,08F,000,0053D,187,80,80,52,FF �Fpublishing direction and range info���r������ɰ���=鰥1�> ��)����BI��y���+B����%�^�K��?��7}ݿ���������ٱ���=/]=��=9����=ף�i�=(�@��9 �=�@)�=�@I�=�@i�9��}��M�;=Y��k�QU��>�������a��G����� y�wI;}%�>I�A����:��E�5�?����:��Eʡ۾� �EćA����?9�EvmC��E�3< �E;y<)�E �:�W1�W1X9 X9�W9:W92Wa*Wa�ViUiUm���`T2@�P�*Q��+B�Z��L&rPE@ t�Isc����������Z��%�^�K��?��7}ݿ���������2Q�r���:Q��Z���10�� ���d�kE�= �@ۿ�Z���;yW���ԶH�������KL��BQ��u�@ Q�_+�Q��H��P�w�9?�P�Z�9?�P�(���Q�"���Q�L�@"Q�ؼ@zLa�La�La�LeNbk@�A�֦<B� B��A�#8�*B��9�A��A���7�A�"��A�"C��)*C�^q=RC�ĭW>C��C���P ��������������L�� �3::Y�]1y��:���6)��;�9%���- ֽV>I�9 GU �>�&j�tj,a��өE�AY}6m�@�}6�z�@y}6�0]<�}6d�#��}6H����@��?��� ���?�����ͤ?��� ��������+�?�����H�����`䥋������w�����@���?)~6m�@ ~6\�^;I~4ɫ9�9)�9 �=���I�9Y�}B�@y�}(eG��dNmea in: $SNTTA,0.046261,0.338422,,,170935.11*5C ���4=i���=��}��G�z��?R���Q������Mbp���}p=>��}�½ �}��)�yI�yy�}�Zd;�O��?㥛� ���{�G�z�?��}j�=��}�����}�#< �}�A)�yI�}dAi�y��y��}A��Ug�<MUM=Y�]5��QU]�>��Y��a�ae�G��a��ay�m�;}m�>I�q��u��5�?��uӣ۾� �u͇A��}�?9�u�mC��un�: �u�:)�q�m�qAdded new target pos. range: 42.959999 m, bearing: 265.815909 deg, deltaT: 4.557105 s, approachRate: 0.157994 m/s, LOS rate: 3.570387 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�zE@U����@|��?zL�e�=�L�e�=�L���@�L�9$�@�A ��<B B �A ~-�*B9�A�A-�7�A���A"C%�)*C���=RC�6�X>C��C�����^W>I��Gj>ܑ9ܕw�CIܕD^Giܕ��@�ܑ�ܑ�ܑ�ܕ��; 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���;)���W1�W1X9 X9�W9:W92W9*WA�VAUAUE��� �( @zLe�)>�Le�)>�Le~Y�@�Le^܂@�Au^LL<By By�A}.�*B}^9�A��A���7�A�����A�"C��)*C���&=RC��^>C��C������֭��]>I��G]�>�8O}uj,���թE�AY}R<��@�}R���@y}R!Z<�}Rc�ݼ�}RH�����u,�?����m��?���`�i�?������������Y�?�����'�����`�A������ �������F��?)~R<��@ ~R��^;I~R��Cɫq�y)�y �yI�yY����@y���fG���=M�p=Y����QU�?�������a��G������y��l(�}�?I�a��m�:��e��5�?��u�:��e��۾� �er�A��u�?9�e�nC��e��: �e�:)�e)�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��ڂ@�A���M<B� B��A�8�*B�"9�A��A�f�7�A�����A�"C��)*C��'=RC�C��C�i��I��������I��)��AA��I ���������������� ��9:Y��V1y��:��X6�9 @��9��I��o_Gi����@���=���������h�; ��7�E�� �]>I�A Gu �>�o5�uj,�֩E�A�|i|Y}6���@�}6n��@y}6�mg<�}6ύ��}6H�����)d�?������?����Ap�?��������������?�����ۈ�����z팿����N��������?)~6���@ ~6т^;I~6��CɫY�Y)�Y �YI�YY�}��@y�}�fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******鮑ɮ�a=��5��<��5�@���5Q8�i�5(�@��1 �5�@)�1I�5�@i�1��E��MED=Y�M�;QUM�>��I��I�aU�G��Q��Iy�U�x:}U�>I�Y��]��5�?��]�۾� �]t�A��e�?9�]�nC��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����`��!@zL��L��L��L��߂@�A�6BO<Bi Bi�Am��*Bm9�Ai�Au�7�Au����Aq"C}�)*C}`(=RC}-�^>Cy�C��օ��^>I��G�`>�u`�uj,��+֩E�AY}6I��@�}6���@y}6qt<�}6�3��}6H����@]�?����M��?�����Ħ?�����������M��?����������� �������`�����`B��?)~6I��@ ~6�w^;I~6��CɫI�I)�I �II�IY�}һ@y�}gG�xDUSBL response received:,80,63,E4 !U1,P 53D,187,80,80,52,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 �����<M�P=Y��;QU �>����!�a%�G��)��9y�M6�}U�>I�i����:��m�5�?����:��m��۾� �mv�A����?9�m�nC��ms�; �m��<)�m*�:��Mj ����M�����M�����MI�� �MF<:Y�Md\1y�M��:��M�6�W��W�X� X��W�:W�2W�*W��V�U�U�����+�"@zLA�LA�LA�LE�@�A]��P<BY BY�A]���*B]k 9�A��A�Ӂ7�A�y���A�"C��)*C��*)=RC�`�^>C��C� ���=����=�ֵ��^>I��G��>�#H�uj,N`E֩E�AY}:�@�}:���@y}:�[�<�}:\�?��}:H����`7�?�������?����rd�?�����������C�?����N�������E�������������� ���?)~:�@ ~:(F^;I~8ɫ9�A)�A �AI�IY�}��@y�}�fG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �y9�}v�CI�}�_Gi�}��@��} =��y��y��}{�; �}@�E�õp=>�õף=�õY=iõ��@�ñ ĵ\�@)ĵ\�@Iĵ\�@iĵz�@�����M�0=Y��h/;QU��>�������a��G������y���;}��>I���-=i�-p=��6�5�?��[�۾� �x�A��5�?9��nC��o�; ���;)��Wq�WyXy Xy�Wy:Wy2Wy*W��V�U�U����@�g#@zL��L��L��L���@�A��R<B� B��A�h��*B��9�A��A��7�A|���A "C%�)*C-��)=RC-j�_>C)�C)������i�e�lGI��i������F�ٺ�����:A��U��^>I�iG�|>�Wv�uj,�L_֩E�A�|8�|8Y}Z��@�}Z���@y}Z���<�}Z`1��}ZH�������?���`���?����@��?����������@8r�?������������8v�����@�������'��?)~Z��@ ~Z(M^;I~Z��Cɫ�髑)�� ��I��Y��O�@y���gG��dNmea in: $SNTTA,0.269406,0.269356,,,170945.25*55 I��)��I���=)��p=����<�O��n�?��x�&1ȿ�p= ף�?���t�<����A� ���=)��I��y�������K�?R���Q��:��v���?���^�=����½�����< ) 3AI dAi dA������=A��<K=MV=Y��;QU�>����!�a%�G��!��!y�-��;}-�>I�1��U�:��5f�5�?��]�:��5k�۾� �5��A��e�?9�5�nC��5��; 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�#�E)�сI�сi�с��Ձ =��Ձ =��Ձ�?5��U�>��U�P���UC�<i�U(�@��Q �U�@)�U�@I�U�@i�U�@��e�!�Me2=Y�m"�:QUm�>��q��q�au�G��q��yy�}9�9}}�>Iȁ�Ņ]�5�?�ŅX�۾� ƅ�A����?9ƅoC�Dž��: ȅ{�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U������d'@zL��L��L��L� �~@�A� �]<B� B��A���*B��!9�A��A�d�7�A�P��A�"C�)*C |�-=RC S�i>C �C ��=��>���� �������������������� ��A:Y��Y1y��:����5)�Ȝ;���i>I�)GER>�^��uj, ��֩E�AY}2�ޠ@�}2V�@y}2��<�}2�D6��}2H���� Y��?����M��?�����t�?�����������:�?�����꒿���`B����� ZŦ��������?)~2�ޠ@ ~2�.^;I~2��Cɫ9�9)�9 �9I�9Y����@y��!hG��U����K7�?��"��~ʿ����MbP?��U��>��U�S� �U�:)�QI�Qy�U��Q���?{�G�z��k�t�����U\�=��Uף���U 0� �UA)�U�AI�U5Ai�U A��Q��UA��uv7=M}[=Y�}��:QU}�>�����a��G����y��f�}��>Iȡ����:�ť�5�?����:�ť��۾� ƥʈA����?9ƥoC�ǥ�_; ȥa#;)ȥ-�:�W��W�X� X��W�:W�2W�*W��V�U�U������&(@zL���=�L���=�L��̭@�L�6z@�A�}`<B� B��A�b��*B��"9�A��A�.�7�A�A��A�"C��)*C��[.=RC��h>C��C��ލ�=iލ�=���I� G%M>���uj,�^�֩E�A�|�|4<Y}>Qʠ@�}>ؘ@y}>9��<�}>�@��}>H����`&]�?���@���?��� ���?���@@������'��?����Jp�����@����������������?)~>Qʠ@ ~>�^;I~>��CɫY�Y)�Y �YI�YY��q�@y���gGI��4=)���µnA�µnA������M�W=Y��?�:QU��>�������a��G������y��}ջ}M�>I�Y��][�5�?��]��۾� �]��A��e�?9�]%oC��]ϸ: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U���� ��(@zL��L��L��L��z@�APb<B B�A1Ͻ*B \!9�A �A �7�A7��A"C�)*C�/=RCG�f>C�C!����������������������� ��_:Y��d\1y����:����5�9�@��AI�IGm5>�9�I�i���������=�; 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ݥ�Ei� �lGI�!i�1��e�-�ٺa��e2#A�f �uj,���שE�A�|�|p;Y}6���@�}6]��@y}6���<�}6s�.��}6H���� �Э?������?������?����t������Z�?�����]������@�������-ڥ����`���?)~6���@ ~6�.^;I~6��Cɫ9�9)�9 �=���I�9Y�}�@y�}�iG�������xDUSBL response received:!U1,P 80,80,63,E4 D,187,80,80,52,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 ���mA���mA�����=��������94�i��=�@��� ����@)����@I����@i����@��]3�<M])=Y�e����� ��������������Q�� ��E:Y��X1y�/�:��j6)�)�;�9��QU��>�����a��G����y���o;}��>I������:����t5�?����:�����۾� ��k�A����?9���oC�����: ����:)��0�:�Wy�WyXy X��W�:W�2W�*W��V�U�U�������-@zL��L��L��L��u@�A-�u<B) B)�A-cc�*B5(9�A1�A5�}7�A5��A1"Ce�)*Cm��3=RCmO�c>Ci�Cq���b>I��G �>��J�uj,�[�שE�Aɫ�髁)�� ������I��Y���@y���iG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��}�,<M}n=Y�}���QU}?�����a��G����y����}�?Iȑ�ŕ�p5�?�ŕ��۾� ƕw�A����?9ƕ�oC�Ǖ�: ȕM�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U���� ��.@zL��L��L��L��A�F�y<B� B��A��T�*B��&9�A��A��}7�A���A�"C��)*C��G4=RC���c>C��C������c>I� G5O>�b6�uj,�G�שE�A�=-�>9�9I�=�aGi�=��@��= =��9��9��=+�; 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X!�W!:W!2W!*W)�V)U)U-���@D~0@zLI�LI�LI�LM�_z@�A]-ʂ<Ba Ba�Ae�"�*Be�(9�Aa�Ae�|7�Amt��Ai"Cm�)*CuB6=RCu�Nm>Cq�Cy���� �����������������Q�� ��gF:Y��0Y1y����:���j6�9�@��Ek>I�aG}7>�A9�AI�E,bGi�EԷ@��A��A��A��EI�; �E'�E)��I��i������������@4��ovj,�ةE�AY}2a��@�}2�@y}2�3�<�}2;���}2H���� Xܱ?����:��?���`=.�?���@i������u�?�����ė������噿��� �o�����@���?)~2a��@ ~2$�^;I~2��Cɫ9�9)�9 �=���I�9Y��]�@y��6jG��O�>��t�����k�i�3�@�� �\�@)�ٮ@I�\�@i�\�@��-�U�M-D=Y�56�9QU5�>��1��9�a=�G��9��9y�E61;}E�>I�I��M�a5�?��MV�۾� �Mb�A��U�?9�M�oC��M��: �M��:)�I�Wy�WyXy Xy�Wy:Wy2W�*W��V�U�U���� ��0@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L��qz@�A���<B� B��A�#(�*B�))9�A��A��|7�A� ��A�"C��)*C�EL7=RC�$<n>C��C��ލ�=iލp=���l>I� G-,>���vj,�0ةE�A�|�|�;Y}>���@�}>�@y}>�a�<�}>a��}>H������߱?���@���?���`���?��� Z����� f�?���`�w�����@{�����`�ࡿ��� Z��?)~>���@ ~>AO^;I~>��CɫY�Y)�Y �]���I�YY��t�@y��QjG���������;M�R=Y����9QU��>�������a��G������y��9}��>I�Q��]�:��U?^5�?��]�:��U��۾� �UV�A��]�?9�U�oC��U��: �UM�:)�U3�:�W��W�X� X��W�:W�2W�*W��V�U�U�����NP1@zL��L��L��L�Pnz@�A��<B� B��A��*B�c)9�A��A�n|7�A����A�"C��)*C�8=RC��Vn>C��C���������, ��������������J�� ��K:Y��Y1y��:���6��%�n>I�1GM1>���vj,�JةE�A�r.�>9�pI�r�bGi�r&�@��p��p��p��ra�; �r4�EY}!נ@�}��@y}�0�<�}_LC��}H�����2ð?���@���?���`4)�?����������� �?��� S~������{Ř�����Ye������K��?)~!נ@ ~`!^;I~��Cɫ���)�� ������I��Y��y�����\�=���h�=�����<i��f�@��� ��=�@)��=�@I��=�@i��=�@Y��6�QU�>�� �� �a �G�� ��y���}�>I����Z5�?���ܾ� �K�A��-�?9��oC���; ��;)��WI�WQXQ XQ�WQ:WQ2WQ*WY�VYUYU]������1@zLy�Ly�Ly�L}� z@�A���<B� B��A�*B��)9�A��A�:|7�A�eߺ�A�"C��)*C���8=RC�xj>C��C����I��G�>���vj,qYdةE�Aɫy�y)�y �}���I�yY��%�@y��,kG��U�R���Q�?������̿�&1��?��U��>��Uff� �U��=)�QI�Qy�U��rh��|�?�rh��|��ˡE�������U��=��U�����U�'� �UfA)�U�AI�U�Ai�U�A��Q��UzA��u��<Mu�<Y�}���QU}�>��y��y�a}�G����y����}��>I����V5�?���ܾ� �+�A���?9��oC��A�: ���:)��W��W�X� X��W�:W�2W�*W��V�U�U�����(2@zL�7>�L�7>�L����@�L���~@�A �A�<B B�AO��*B",9�A�A|7�A�A"C%�)*C%T�9=RC%�*k>C!�C)IލAA)ލ@A���� �����������������L�� �Y>:Y�]1y��:���6��Gj>I�)GER>�.�vj,�:~ةE�A�|i|�@Y}Jά�@�}J���@y}Jj��<�}J � ��}JH�������?�������?���@�g�?��� ��������H�?�����^������$������ Ÿ���������?)~Jά�@ ~J= ^;I~J��Cɫq�y)�y �}����I�yY���@y��kG�xDUSBL response received:!U1,N,80,80,63,E4 D,187,80,80,52,FF �ZNo reply:!U1,N,80,80,63,E4 D,187,80,80,52,FF -�<No response from remote modem.)��= ��=��5(�M5N=Y�=�B�QU=�>��9��9�aE�G��A��Ay�M�U�}M�>I�Q��]�:��U�R5�?��]�:��U�ܾ� �U �A��]�?9�UpC��U��: �U��:)�U4�:�W��W�X� X��W�:W�2W�*W��V�U�U���� ʆ2@zL��L��L��L�B�~@�A��U�<B� B��A����*B�`+9�A��A��|7�A��ܺ�A�"C��)*C�JY:=RC�of>C��C� ���=����=����j>I��G�&>��/�>9��I���bGi��w�@���=���������o�; ��<�E���%vj,��ةE�AY}F&��@�}Fڲ�@y}F��<�}F��ϼ�}FH����@�h�?���`���?���`�O�?��� i�����`׳�?��� ���������P������L�������=��?)~F&��@ ~F�6^;I~DɫY�Y)�Y �]���I�YY���@y���jG����<���+����`�i�� �@��� ��E�@)��\�@I��E�@i��z�@�� ��M M=Y� !�QU�>�����a�G����y�%��}%�>I�)��-�N5�?��-� ܾ� �-�A����?9�-!pC��-��< �-��<)�)�W��W�X� X��W�:W�2W�*W��V�U�U�������2@zL�L�L�L��~@�Ac��<B B�ACǼ*B*+9�A!�A%�{7�A%Vۺ�A!"C-�)*C-_;=RC-hf>C)�C1������������������������ �@�:Y�d\1y���:���6)��.<�9����} �e>I��G�=>���+vj,��ةE�AY}B*��@�}B�@y}B�<�}Bh���}BH����`i�?���@ ��?����(Ә?��� }��������?�����o�����`Fᖿ����e����������?)~B*��@ ~BA4^;I~@ɫ�髙)�� ��I��Y����@y���kG����=M�L=Y��"��QU��>�����a�G���� y� z�6} �>I����:���J5�?��%�:��� ܾ���%tI �ʇA��%�?9�3pC����: ���:)�5�:�WI�WIXI XI�WI:WI2WQ*WQ�VQUQU]�����S3@zLq�Lq�Lq�Luj�~@�A��ב<B� B��A����*B�?.9�A �A�{7�A�ٺ�A"C�)*C%q�;=RC%��f>C!�C)�މiމ���wf>I� G%M>�"�2vj, ��ةE�A�| �|"4<�@9�@I�B�cGi�B�@��@��@��@��Bh�; �B8�EY}R���@�}RB��@y}ReB�<�}R�_��}RH�����/�?�������?����篟?���@���������?��� ���������Ǖ�����i�����`���?)~R���@ ~R=@^;I~R��Cɫ�髩)�� ��I��Y���@y��lG�� nA�� nA��U�>��U��>��U�<i�U��@��Q �U��@)�U��@I�U��@i�U��@��e�w<MeC=Y�e&(�QUe�>��i��i�am�G��q��qy�u�l;}}�>I�y��}�F5�?��}�ܾ� �}��A����?9�}FpC��}8�: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�������3@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���~@����>��i�uHmGI��i������8�ٺ�����-A�A�i �<B� B��A�*B�/9�A��A��{7�A�cغ�A�"C��)*C%�<=RC%wVh>C!�C!��1��1���f ������������������� �_P:Y�xZ1y�q�:���6)�A�;��5g>I�AG]U>�>�8vj,���ةE�AY}2>ʠ@�}2�ט@y}2�ˢ<�}2b?'��}2H������\�?��� ��?����ہ�?����������`*��?�����������Y����� a夿���@���?)~2>ʠ@ ~2�^;I~2��Cɫ1�1)�9 �=����I�9Y�u��@y�u4lG}Z****** received transponder code query ******}F****** received ping request ******}<Arming DUSBL. detectThresh: 75�8****** ping requested ******��M�q= ףp�?q= ףp��:��v������M�k>��M�� �M�T�)�II�Iy�M��A`��"�?B`��"۹���~j�t�?��M�=��M�ν��M��< �MA)�M AI�M�Ai�M�A��I��M�A��mQ�;Mm;=Y�u�Q�QUu�>��q��q�au�G��y��yy�}��;}��>Iȉ����:�ōsC5�?����:�ōXܾ� ƍ��A����?9ƍVpC�Ǎ��: ȍ��:)ȍ6�:�W��W�X� X��W�:W�2W�*W��V�U�U����`�.4@zL�/>�L�/>�L����@�L����@�A���<B B�A*BY/9�A �A �A �ֺ�A "C�)*C�i==RCA*k>C�C��%�=��%�=Y�9��-��h>I�IGu�>��"?vj,g|�ةE�AY}2s�@�}2(��@y}2���<�}2�I��}2H����`�M�?�������?�������?�������������?����E�������Y�������,���������?)~2s�@ ~2�^;I~2��Cɫ9�9)�9 �=���I�9Y�}�@y�}lG�xDUSBL response received:!U1,P 80,80,63,E4 D,187,80,80,52,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 ����ѻM�g=Y��e��QU�>�����a��G�����y���<}��>I�9��=a@5�?��=�ܾ� �=̇A��u�?9�=epC��=��; �=��;)�9�W9�W9XA XA�WA:Wi2Wq*Wq�VyUyIޕ@A)ޕAA���< ����������������� �� ��"�:Y���X1y��/�:����6�9�@U]����!�4@zL!�L!�L!�L%Հ@�Au2ݗ<ܙ9ܙIܝ�dGiܝ��@�ܝ =�ܙ�ܙ�ܝv�; ݝ?�EBq B��A�*B�/9�A��A��{7�A�/պ�A�"C]�)*Ce�\>=RCe�n>Ci�CqY�u(9��e k>I�q G� �>��Fvj,9_٩E�A�|i|�@Y}6���@�}6c�@y}6��<�}6�uI��}6H�����m�?����5��?���@ջ�?��� \������B�?���`�0�����`f������@'+���������?)~6���@ ~6�];I~4ɫ1�9)�9 �=����I�9Y�u7�@y�u}lG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B )�]�= �]�=�å�?�å什�åt�iå��@�á ĥ@)ĥƣ@Iĥ��@iĥƣ@��=�<M�==Y���QU��>�������a��G������y��X�;}��>I������:���W=5�?����:���Wܾ� ��އA����?9��spC�����: ��+�:)��7�:�W�WX X �W :W 2W *W�VUU���`��4@zL��L��L��L���@�A�N�<B B �A *B Z09�A �A �{7�A �Ӻ�A"C�)*C �>=RC�q>C�CY� � �=�� �=����n>I�Gn>��4Lvj,�23٩E�AY}: �@�}:��@y}:�)�<�}:��)��}:H����@�Z�?����y��?����0ʥ?���`�������r��?����6�������e�������7���������?)~: �@ ~:^;I~:��Cɫ9�9)�9 �9I�9Y�}�@y�}OlG���I�M�^=Y�r]�QU��>�����a��G����y�M;}��>Iȹ�Ž|:5�?�Ž�ܾ� ƽ�A����?9ƽ�pC�ǽ4�: Ƚ�:)ȹ�W��W�X� X��W�:W�2W�*W��VqUyU}�����Y5@zL��L��L��L���@�A<��<B B�A*B�/9�A�A�{7�A�Һ�A"C%�)*C-�?=RC-��q>C1�C1i�EmAI�EmAY�)���������������������J�� ��2:Y��Y1y��:���6��12q>I�)GEQ>��Svj,PM٩E�A�0�>9�I�LeGi�_�@��=��������; �H�E)�s��I�s��i�s����s����s����{���5Y}}���@�}}_ �@y}}ɀ�<�}}�.���}}H�����S�?���@W��?����_��?���`o������)�?����^�������߯������������`���?)~}���@ ~}�];I~yɫi�i)�i �qI�qY��v�@y���lG��DNmea in: $SNTTA,,,,,170956.56*51 ����>����>���J>i�=�@�� �E�@)�E�@I�E�@i�@��%��<M-4=Y�-�$:QU-�>��1��1�a5�G��1��1y�=�7�}=�>I�A��E�65�?��E�ܾ� �E�A��M�?9�E�pC��E �: �E{�:)�A�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U�����.�5@zL��L��L��L��ـ@�A����<B� B��A�M�;*B�,19�A��A��{7�A��к�A�"C��)*C�ڀ@=RC�z�p>C��C��ލ�=iލ�=Y���ֱI��G�f>��FYvj,��f٩E�A�|4<�|�;Y}6F�@�}6���@y}6zǐ<�}6G=м�}6H���� �\�?��� >��?����1�?���@�������;y�?�����H������������������� ��?)~6F�@ ~6~9^;I~4ɫQ�Q)�Q �U���I�QY�}��@y�}mG������AA��=��~j�t��?Zd;�O�ǿ�~j�t�����=��=��=j<� �=�D�)�9I�9y�=�#��~j��?)\���(���Q��롿��=�=��=G���=\� �=�A)�=�AI�9i�=A��9��=\A��m��<MmW=Y�u0�:QUu�>��y��y�a}�G��y��yy�]�}��>Iȉ����:�ō�35�?����:�ōuܾ� ƍ�A����?9ƍ�pC�Ǎ/�: ȍ�:)ȍ8�:�W9�W9X9 X9�W9:W92WA*WA�VAUAUM����|/6@zL�f>�L�f>�L�}�@�L���u@�A�뭝<B� B��A��N<*B�?29�A��A��{7�A�vϺ�A�"C��)*C��EA=RC�Ơn>C��C����X �����������������p�� ��::Y�WU1y��:��'+6Y�����������I��Gj>��.`vj,;Ā٩E�Aɫy�y)�y �}����I�yY����@y��!mG�xDUSBL response received:!U1,R,FF6,000,04037,183,80,80,66,FF �Fpublishing direction and range info���5�<���ɰ�U�?��$�> ��)����BI��y��5mD�����ޙ%���?��B�7߁?��������ٱ������:M�S=Y�����QU��>�������a��G�����y����}�>I� �� "05�?�� _!ܾ� � ̇A���?9� �pC�� ��: � U�:)� �W9�W9X9 X9�W9:WA2WA*WA�VAUIUM������6@�PY*Q]5mD�Z]��h bn��@rjrg� @���������Z]��ޙ%���?��B�7߁?��������2Q]5�<:QY�Z]�{�r}�&R@�;��>����{��]�0��Z]��˫�і�?��Pr��│s���R��BQ]u?�@ Q]yl�Q]5�B�P]9�9?�P]w�9?�P]a���Q](���Q]G/�"Q]L�@zL��L��L��L��A�<B� B��A�^V<*B�t29�A��A�|7�A�κ�A�"C��)*C���A=RC��'o>C��C�Y�uL9�օ�m>I��G�=>�-1�>9�)I�-�eGi�-��@��-=��)��)��-q�; �-<�E��Yfvj,裚٩E�AY}2Ƞ@�}2�@y}2$��<�}2l!��}2H�����zK�?�������?�����?����4������<q�?����0�������M_������|b���������?)~2Ƞ@ ~2�7^;I~0ɫ9�9)�9 �=���I�9Y�}��@y�}mG��M\�=��M<��M�#�i�M̤@��I �Mƣ@)�M��@I�Mn�@i�M��@��e���MeC=Y�eOݺQUe�>��i��i�am�G��i��qy�uj#�}u�>I�y����:��}f,5�?����:��}o#ܾ� �}��A����?9�}�pC��}V�: �}��:)�}9�:�m�}Added new target pos. range: 948.840027 m, bearing: 274.389271 deg, deltaT: 22.559111 s, approachRate: 40.155838 m/s, LOS rate: 0.380040 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����`���@U�������?zL��L��L��L�;u@�A��<�<B B�A�N<*B629�A�A *|7�A q̺�A "C�)*Cd�B=RC�jk>C�CY� Iމ)ލ@A��$ ��������������5�� �K:Y��Y1y��:��j 6)���;�9����=0�p>I�IGeU>��lvj,�z�٩E�A�|i|�@Y}66ɠ@�}6�֘@y}6u�~<�}6��4��}6H���� �T�?���@��?�����?����Q������'~�?�����������`�ۏ����`�����@��?)~66ɠ@ ~6�:^;I~4ɫy�y)�y �}����I�yY��3�@y���mG���=M�F=Y�0_�QU��>�����a��G������y��ϳ9}��>I������(5�?���y%ܾ� ����A����?9���pC��� �: ��ӻ:)���W�WX X�W:W 2W *W �V UU��� ,��?zL)�L)�L)�L-�1u@�AE{}�<BA BA�AE��<*BM49�AI�AMQ|7�AM�ʺ�AI"CU�)*CU�C=RC]MAl>CY�CYYύ�9 ՝�=�ԝ�=��}�j>I��G�^>�!9�!I�%xfGi�%S�@��!��!��!��%n�; 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B!�A-�y=*B-^89�A)�A-�|7�A5ƺ�A1"C5�)*C=�E=RC=�p>C9�C9Y�P$9���!����������������� ��+;Y��[1y�H�:���S6�9�@��9��I��@gGi����@���=���������N�; ��)�E��Eo>I�)GEQ>i�=�lGI�Qi�q���#_�ٺ�����QA����vj,��کE�AY}2��@�}2I��@y}2��@<�}2 ���}2H�����l_�?�������?������?������������s�?��� �������������@Z��������?)~2��@ ~2�]^;I~2��Cɫ9�9)�9 �9I�9Y�}X�@y�}oG��5ȶ>��5n�>��5Ga=i�1��1 �1)�5��@I�1i�1��Eq�;MEN=Y�E��QUE�>��I��I�aM�G��I��Qy����9}��>I�����T5�?���J/ܾ� ��s�A����?9��qC���Y�: ����:)���W��W�X� X��W�:W�2W*W�VUU��� l�@zL!�L!�L!�L%���@�A=��<B9 B9�A=��=*B=�89�AA�AEK}7�AE�ĺ�AA"CM�)*CM��F=RCM{]p>CQ�CQ��]�>��]t>Y�Ml&9��]�o>I�iG�Z>�#ьvj,�5کE�Aɫy�y)�y �yI��Y����@y��coG��p=ɮ�R=�����<M�P=Y�����QU��>�����a�G���� y����}�>I���@5�?���1ܾ� �o�A��-�?9�qC���: ���:)��WQ�WQXQ XQ�WQ:WY2WY*WY�VYUaUe���`��@�RmB*** querying acoustic contact ***�Pi�PizL��L��L��L��A�២<B� B��A�^�=*B��99�A��A��}7�A�ú�A�"C��)*C��RG=RC��p>C��C)Y� �&9Iމ)މ���� �����������������v�� �A:Y�hl1y�0�:��`6��0�p>I�)GEQ>��2�>9��v�CI��hGi����@���=���������E�; ��$�E����vj,��OکE�A�|i|�@ɫ�髙)�� ��I��Y����@y���oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)�E�= �E�=�Ý�=�Ý7���Ý/]=iÝ �@�Ù ĝb�@)ęIęię��<><M�?=Y�QU��>�����a��G�����y��}��>I������:����5�?����:����4ܾ� ��l�A����?9��&qC���I�: ��b�:)��<�:�W��W�X� X��W:W2W*W�VU U ���� @zL�L�L�L�A�T�<B B�A��=*B�99�A�A�}7�A%>���A!"CM�)*CM�/H=RCM�p>CI�CQY�M�(9��QI�YG}�>��vj,BxiکE�AY}:Pڠ@�}:�@y}::%<�}:?�+��}:H�����ݰ?�������?�������?��������������?���@��}����`P������@eq�����`e��?)~:Pڠ@ ~:�^;I~:��Cɫ9�9)�9 �9I�9Y�}_�@y�}^pG�xDUSBL response received:!U1,P FF6,000,04037,183,80,80,66,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��H ����������������� ��9:Y��^1y�a�:��O6��M���/�$�?!�rh���?�~j�t�h���M&1>��Ml�= �M�D�)�II�Iy�M�㥛� ��?)\���(������Mb����M��=��MG���M�� �M�A)�M AI�M�Ai�M�A��I��M\A���#=M�$=Y�I^�QU��>�����a��G����y�����}��>I�����Z5�?����6ܾ� ��_�A����?9��7qC����: ����:)���W��W�X� X��W�:W�2W�*W��V�U�U����� A@zL�->�L�->�L����@�L��r@�A�1��<B� B��A�H�=*B�+;9�A��A�v~7�A�8���A�"C�)*Ct/I=RC�(o>C�CY� �*9��I�)GE�>�t vj,�/�کE�AY}2n�@�}2#�@y}2�9<�}2�t3��}2H������?���`���?����\��?����L������r5�?���@roz����@%G�������l���������?)~2n�@ ~2\$^;I~0ɫ)�))�) �5���I�1Y��q�@y��upG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��e��;Mm�=Y�m��QUm?��q��q�au�G��q��yy�}m\;}}?Iȁ����:�Ņ� 5�?����:�Ņ8ܾ� ƅX�A����?9ƅAqC�Dž��: ȅ4�:)ȅ=�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �5@zL!�L!�L!�L%�r@�A5���<B1 BY�A]��=*B]�?9�AY�A]�~7�Ae���Aa"Ce�)*Cm`�I=RCmO{p>Ci�Ci�ޝ�=iޝ�=�y9�yI�}�hGi�}:�@��}=��y��y��}Z�; �}.�E)��I��i�����=���=���(�5Yϝ+9�օ.�o>I��G��>��vj,S�کE�A�|�|Y}>��@�}>R��@y}>� <�}>e�'��}>H����@�o�?�������?���``0�?��� �������ł�?����:�v������@������|����@���?)~>��@ ~>�^;I~>��Cɫ9�9)�9 �9I�AY�}u�@y�}ypG��-z>��-ף���-G�i�-p�@��) �-�@)�-�@I�-�@i�-�@��=Z�:M=N=Y�EN#�QUE�>��A��I�aM�G��I��Iy�U[M;}U�>I�Y��]6 5�?��]�9ܾ� �]N�A��e�?9�]NqC��]��: �]�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�i�r@�A�� �<B� B��A���=*B� >9�A��A�=7�A�����A�"C��)*C�@fJ=RC���q>C��C�Y���������� ����������������� �k5:Y��Y1y��:��=6)���;�9������p>I��G�E>���vj,JԶکE�AY}���@�}k�@y}���;�}v���}H�����nȱ?�������?��� ���?���@������ dֱ?���@�s����� Q}����`�X�����`���?)~���@ ~1^;I~��Cɫ���)�� ������I��Y�M'�@y�MTqG�]DNmea in: $SNTTA,,,,,171002.22*5B ���S=M�C=Y�F�QU��>�����a��G����y���S;}��>I������:���5�?����:����;ܾ� ��C�A����?9��]qC�����: ����:)��>�:�W��W�X� X��W:W2W*W�VU U ���@Cx@zL)�L)�L)�L-��r@�A=�&�<B9 B9�AEF�=*BE�?9�AA�AE�7�AE,���AI"CM�)*CU^4K=RCU��r>CQ�CQ��]l>��]0>Y�S-9��� (q>I�G%M>܁9܁I܅�iGi܅ݽ@�܅=�܁�܁�܅o�; ݅8�E����vj,r��کE�Aɫy�y)�y �}���I�yY��y����a=ɮ���%َ>��%�u���%;�=i�%¥@��! �!)�!I�%�@i�!Y�5���QU=�>��9��9�a=�G��9��Ay�E���}M�>I�I��M5�?��M�=ܾ� �M9�A��]�?9�MjqC��M��: �M��:)�I�Wy�WyX� X��W�:W�2W�*W��V�U�U���� z@zL!�L!�L!�L!�A]��<BY BY�AY*B]�?9�Aa�Ae&�7�Ae����Aa"Cm�)*C�W�K=RC���s>C��C�Y�m�-9Iީ)ީ��l ���������� �o<:Y�y����6)��;��ew=s>I��G�f>��!�vj,�~�کE�A�|i|Y}2��@�}26�@y}2:��;�}2b��}2H�����S��?���`���?�����$�?����X������喲?����&f����@��t�����������``��?)~2��@ ~2�e^;I~0ɫ9�9)�9 �9I�9Y��@�@y��tqG��e���K7�A�?-���ƿZd;�O�����e>��e?5� �ej��)�aI�ay�e�i��|?5�?��(\�µ�����Mbp���e�q=��e����e�� �eKA)�e~AI�e�Ai�eA��a��e�A��Y�;M��<Y����QU��>�����a��G����y�R�;}��>Iș�ŝ@�5�?�ŝ?ܾ� Ɲ8�A����?9ƝuqC�ǝ��: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����`�@�R�B*** querying acoustic contact ***�P��P�zL��=�L��=�L��6�@�L�!�t@�A��W�<B� B��A���=*B��@9�A��A�j�7�A�7���A�"C��)*C���L=RC�v>C��C�Yύp/9 Օ�=�ԕ�=��}6s>I��G�`>�� �vj,�Y۩E�AY}:��@�}:� �@y}:��;�}:Oj��}:H���� ���?�������?��� �?����3������?��?����sX]������Vr�����(̢���� e��?)~:��@ ~:�V^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}qG��ټM�Z=Y���QU��>�����a��G�����y��B:}��>I������:�����5�?����:���s@ܾ� ��7�A����?9��qC���w�: ����:)��?�:�W9�W9XA XA�WI:Wy2Wy*W��V�U�U������`@zL��L��L��L���t@�A��X�<B� B��A�c�=*B��>9�A��A���7�A�����A�"C �)*C �M=RC Z&v>C �C�� ����������������� ��5:Y��W1y�č:��F6�9�@�19�1I�5`jGi�5�@��1��1��1��5n�; 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����E�1϶wj,z��ީE�AY}�E�@�}���@y}���㻙}��P"��}�H�����r|�?���@\��?����w��?���@j�������f�?�����?���@'x|?�����H������^��?)~�E�@ ~�?}^;I~���Cɫ�髡)�� ��I��Y����@y��iyG��TNmea in: $SNTTA,0.046507,,,,171018.82*44 I��C=)��4=��%< ����%�����%�����%��� �%M:Y�%�Y1y�%�:��%�6)�%\�;�9-�����'1�Z�?���Q����&1������Т>����u� ���P�)��I��y����Zd;�?ˡE���������Mbp?����y=���什����; �A)I �Ai������\A�¡�¡��u�C>��u�����ut��i�u��@��q �u��@)�qI�u��@i�u��@����M�=Y�y�9QU��>�����a��G����y�,�;}��>Iȡ����:�ťb�5�?����:�ť��ܾ� ƥ��A����?9ƥ}sC�ǥ<�: ȥE�:)ȥP�:�m�}Added new target pos. range: 46.739998 m, bearing: 274.668817 deg, deltaT: 21.029165 s, approachRate: -42.897568 m/s, LOS rate: 0.013293 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�^G@U�������?zLw�=�Lw�=�LdC�@�L��v@�A%�7��B) B)�A-d�>*B-W9�A1�A5��7�A5����A1"C=�)*C=R�k=RC=K\}>C9�CAYϝyJ9�֍ O�{>I�� G� �>�\�wj,E�ީE�AY}: �@�}:�-�@y}:��㻙}:�2��}:H�����w �?����a��?����Os�?��� �����`e��?������?���@�}|?�����ģ����@���?)~: �@ ~:��^;I~8ɫ9�9)�9 �9I�AY�}^�@y�}6zG��uO�=Mu�=Y�}長QU}?��y���a��G����y���;}�?Iȑ�ŕn�5�?�ŕ��ܾ� ƕ��A����?9ƕ�sC�Ǖ+�: ȕ��:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����N�?zL��L��L��L���v@�A|�B B�Aΰ>*B �e9�A �A F�7�A դ��A "C�)*C;&l=RC�r>C�CY�%�J9��E�}>I�!G=r>����wj,�"ߩE�AY}2W6�@�}2D�@y}2�ộ}2�a��}2H����@��?����!��?����?��?����m������ ��?������?�����!|?����� �����`#��?)~2W6�@ ~2��_;I~2��CɫY�a)�a �aI�a܉9܉I܍�sGi܍�@�܍=�܉�܉�܍'�; 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����;)���W��W�X� X��W�:W�2W�*W��V�U�U�����4��@zL�L�L�L�w@��5 ����5�����5�����5r�� �576:Y�5WU1y�5�:��5�6�9=@�AUժûBQ BQ�A]ݩ>*B]�[9�AY�A]e�7�A];���AY"C��)*C���n=RC��/�>C��C�ȋȊYϕkN9܁9܁I܁i܁�܅=�܁�܁�܅8�; ݅��E�։I��G��>��wj,U�]ߩE�Aɫi�i)�i �iI�qY��H�@y��zG����e;�O���?����Kǿ:��v���?����t>���^:� ���T<)��I��y������Mb�?ˡE��������S㥛������=������/ݼ ��� A)��I���Ai���A�������A��%=i�%p=��E��=��EC����Exi�i�EG�@��A �EO�@)�EO�@I�EO�@i�EO�@��U�<MU/=Y�]���QU]�>��Y��a�ae�G��a��ay�m���}m�>I�q��}�:��u�}5�?��}�:��u��ܾ� �u��A��}�?9�u�sC��u*�: �u��:)�uR�:�W��W�X� X��W�:W�2W�*W��V�U�U����@ @�R�B*** querying acoustic contact ***�P��P�zL��>�L��>�L���@�L��+�@�A��e̻B� B��A�k�>*B��]9�A��A!�7�A����A"C �)*C @}o=RC Q�>C �CY���N9�ֽ ��>I�� G� �>��>�wj,X�wߩE�A�|�|Y}F��@�}FI)�@y}F����}FIT"��}FH����`��?����h��?��� ��?��� f�����`ϲ?����(��?����/{?����I�����@S��?)~F��@ ~F�^;I~F��CɫY�Y)�Y �]���I�YY����@y���yG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��mA��mA��p�Mx=Y�Y�QU%?��)��)�a-�G��)��1y�=D?�}=?I�A��E�{5�?��EӚܾ� �E��A��U�?9�E�sC��E�= �E�=)�A�W��W�X� X��W�:W�2W�*W��V�U�U����� �@zL��L��L��L�@�@�A�<ջB� B��A��>*B�_9�A��A�ɗ7�A�:���A��=A ����=�����=�����=�� �=9:Y�=0Y1y�=��:��=6"C=�)*CE�6p=RCEF>CA�CiY�A��I��I��5��>I�IGew>�U&�wj,�g�ߩE�AY}6��@�}6p�@y}62`��}6�C��}6H����`%h�?����f��?����0��?���@������`qQ�?����� �?��� ���?����9碿����$��?)~6��@ ~6>�^;I~6��C�!9�!I�%$tGi�%o�@��!��!��!��%a�; �%��E)ݹ�Iݹ�iݹ��ݽ�=�ݽ�=�ݽ��4ɫy�y)�y �}����I�yY����@y��ryG�xDUSBL response received:!U1,P FF3,000,0057C,184,80,80,B8,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��%�x>��%�n>��%��i�%�@��! �%@)�%��@I�%@i�%��@��5��M5!=Y�=�k�QU=�>��9��a�ae�G��a��iy�m3y�}m�>I�q��}�:��u?x5�?��}�:��u��ܾ� �u|�A����?9�u�sC��u��; �uq�;)�uS�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �� @zL1�L1�L1�L5��@�AMpBI BI�AMۦ>*BMQY9�AI�AU��7�AUާ��AQ"C]�)*C}�$q=RC}V~>C��C�Y�m<Q9��e H�~>I�q G� �>��Q�wj,�G�ߩE�AY}6O��@�}6�@y}6�$��}6�� ��}6H����`��?���@L��?�����۠?��� h������m�?�����?�����Ă?����;��������?)~6O��@ ~6��^;I~4ɫy�y)�y �}���I�yY����@y���zG��ɮ�p=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��M"�=MUo=Y�U!D�QUU?��Y��Y�a]�G��Y��Yy�e��}e?I�i��mv5�?��m��ܾ� �ml�A��u�?9�m�sC��m'�: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U������l @zL��L��L��L����@�A��B� B��A���>*B��e9�A��A�0�7�A�Q���A�"C��)*C�:�q=RC� �|>C��C�I�I)�M@A��Um ����U�����U�����U��� �U�<:Y�UxZ1y�Uq�:��U=6��}E�}>I��G�`>��7�wj,��ߩE�A�|i|Y}6#�@�}6���@y}6�3"��}6%���}6H�����֛�?���@���?����Y�?����2��������?�������?����hF�?����[������j��?)~6#�@ ~6إ^;I~6��Cɫ9�9)�9 �E����I�AY��[�@y��1zG�xDUSBL response received:!U1,R,FDF,000,00579,184,80,80,84,FF �Fpublishing direction and range info������<���ɰ���=�� ��)���CI��y��=:B����o2At���?MG&c)|�?��������ٱ������Ma=Y�-��QU5�>��A��I�aU�G��Q��ay�m܂�}u�>Iȑ����:�ŕ�s5�?����:�ŕ��ܾ� ƕZ�A����?9ƕ�sC�Ǖ��; ȕ��;)ȕT�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �Q@�P�*Q�=:B�Z��~?Ň5EG@����Is�?���������Z��o2At���?MG&c)|�?��������2Q����<:Q��Z���j|�&@��=.+G�{�<��?�Z��f!Aܞ�?�B������Bb�?BQ���@ Q�X9�Q�7�@�P���9?�P�~�9?�P�7���Q�6���Q���@"Q���@zL�L�L�LQ�@�A%��B! BI�AM��>*BU�^9�AQ�AU�7�AU診�AQ"C]�)*C]��r=RC]��{>Ca�Ca Օ�=�ԕ�=��}Q�|>I��G�^>�!9�!I�%�tGi�%��@��!��!��!��%��; �%ÖE��l�wj,W#�ߩE�Aɫ � )� �I�Y�E�@y�M�yG��dNmea in: $SNTTA,0.464883,0.465751,,,171022.86*56 ����!�rh���?{�G�zt����Q������l�=���ף� ���u�)��I��y������x�&�?bX9�ȶ�����Mb�?���7 >���E�����< ��lA)���AI�� Ai���������A��E� ����E}����E}����E��� �E�@:Y�EkS1y�EԊ:��E�6)�E��;�9M���U�?��Uj<���U�">i�U��@��Q �U��@)�U��@I�U��@i�U��@��e���Me)=Y�m���QUm�>��i��i�au�G��q��qy�}���}}�>Iȁ�Ņ�p5�?�Ņc�ܾ� ƅf�A����?9ƅ�sC�Dž�: ȅ�Y;)ȁ�mMuAdded new target pos. range: 46.560001 m, bearing: 275.593570 deg, deltaT: 4.085940 s, approachRate: -0.044053 m/s, LOS rate: 0.226326 deg/s, posRepo size: 4�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqU}��� �GG@U}�������?zL��$>�L��$>�L�M�@�L��F�@�A��V��B� B��A�-�>*B��[9�A��A���7�A�����A�"C��)*C�ss=RC�O|>C�CI��]O�{>I�iG��>���wj,|��ߩE�AY}J���@�}J�@y}J�U��}J�0 ��}JH�����װ�?����s��?���`t��?�����������j��?���`j�?�������?����[������ ��?)~J���@ ~J2_;I~J��Cɫ�髙)�� �����I��Y��A�@y��zG��e�<M�l=Y���QU�?�����a��G������y��ru:}�?I������:���9n5�?����:����ܾ� ��o�A����?9��tC���(�: ��I�:)��U�:�W�WX X�W:W2W *W �V U U����0�?zL)�L)�L)�L-XK�@�AEgL��BA BA�AE��>*BE�d9�AI�AMK�7�AM���AI"CU�)*CU� t=RCU=�|>CQ�CY��M�=i�M�=��}?�{>I��G�=>�rtxj,`��E�A�|�|�d9�dI�di�d��f=��d��d��f��; �fɖEɫ�髙)�� ������I��Y��q�@y��LzG������j�����!�i�̬@�� ���@)�I�@i�@��%%f<M-C=Y�5���QU5�>��9��9�a=�G��9��Ay�M���}M�>I�Y��]ik5�?��]l�ܾ� �]{�A��e�?9�]tC��]��: �]D�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������I�?zL��L��L��L��A�H��B� B��A���>*B�_9�A��A��7�A�����A�"C��)*C�G�t=RC���|>C��C�i����I����������������Uz ����U�����U�����UH�� �U�=:Y�U[1y�Uݏ:��Us6)�U��;��������� C}>I�� G �>�K� xj,Y�,�E�AY}2��@�}2[�@y}2.�t��}2��(��}2H����@E/�?�������?��� t��?����c��������?�����@�?����ۜ�?���@������� ��?)~2��@ ~2�z^;I~2��Cɫ9�9)�9 �9I�9Y����@y���zG��u�<M}V=Y�}Σ�QU}�>�����a��G����y��;}��>Iȑ�ŕ�h5�?�ŕg�ܾ� ƕ��A����?9ƕ(tC�Ǖ��: ȕܹ:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U����`|X�?zL��L��L��L�t[�@�A}�I�B� B��A���>*B��a9�A��A�Ĝ7�A�c���A�"C��)*C���u=RC���~>C��C��ֽQ�|>I��G�G>���xj,fF�E�AY}:��@�}:m�@y}:N}:���}:H������/�?���@���?���@���?���`4�����`��?���`�p�?�������?�����^�����@ ��?)~:��@ ~:Bi^;I~8ɫ9�9)�9 �=���I�9Y�} �@y���yG��-l�=��-G�=��-l�=i�-��@��) �-��@)�)I�-��@i�-��@��E�N�ME>=Y�M�U�QUM�>�����a��G����y�"�7}��>Iȡ����:�ť�e5�?����:�ťڱܾ� ƥ��A����?9ƥ:tC�ǥ��: ȥ<�:)ȥV�:�W��W�X� X��W�:W�2W�*W��V�U�U����7�@zL9�L9�L9�L=vY�@I�I)�M?A��]� ����]�����]�����]o�� �]VB:Y�]�W1y�]č:��]�6�9e@�Au4��Bq Bq�Au{�>*Bu+]9�Ay�A}|�7�A}���Ay"C��)*C��vv=RC�n�~>C��C���m}�>��i��9��I���tGi���@��������������; ��ŖE��[�>i� HmGI�!I�9G]v>i�Y����[�ٺ�����NA���xj,�E`�E�A�|�@i|Y}6��@�}6��@y}6K����}6 � ��}6H����`��?�������?���@@�?���@>�������?�����f�?��� m��?����H����������?)~6��@ ~6�(^;I~6��Cɫy�y)�y �}����I�yY���@y���zG������S㥛�?J+���<�O��n�?����$>����Ƚ ��t=)��I��y����Zd;�?����K������Mb�?����y=���^����� ��Q A)��AI��� Ai��A������fA���ܝ=M�P=Y���E�QU��>�������a��G������y��Gn�}��>I���0c5�?��M�ܾ� ���A���?9�EtC���: ���:)��W1�W1X9 X9�W9:W92W9*WA�VAUAUE�����A@zLe��=�Le��=�Le���@�Le�ds@�Au{�By By�A}��>*B}d9�Ay�A}8�7�A�Ƭ��A�"C��)*C��.w=RC���~>C��C� ՝�=�ԙ�֝H�~>I��G�A>��xj,Pz�E�AY}6���@�}6G �@y}6¬���}6PX ��}6H����`�?��� [��?�������?����L������Mܱ?���� �?����T��?���`uI����� ���?)~6���@ ~6�Q^;I~6��CɫA�I)�I �QI�QY����@y���zG������@A����ȻM�]=Y��l�QU��>�������a��G������y��E�}��>I� ���:�� ~`5�?���:�� ��ܾ� � ��A��%�?9� OtC�� �9; � O/;)� W�:�WY�WYXa Xa�Wa:Wa2Wa*Wi�ViU�U������f@�RB*** querying acoustic contact ***�P�PzLA�LA�LA�LE`^s@�A�]o�B� B��A�չ>*B�4b9�A��A���7�A�����A�"C��)*C���w=RC�-�~>C��C���] ����]�����]�����]��� �]V5:Y�]�X1y�]/�:��]`6�����~>I��GI>���$xj,@���E�A�49�4I�6PuGi�6c�@��4��4��4��6f�; �6��EY}Fn�@�}F#��@y}F����}F)���}FH����@���?������?��� jա?���������@�\�?��� {��?�����B�?����k���������?)~Fn�@ ~FW^;I~F��CɫY�Y)�Y �YI�YY��|�@y��ZzG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�Í��=�ÍC=�Í�T�iÍz�@�É č��@)ĉIč��@ič��@����M�?=Y�Qh�QU��>�����a��G����y�ڍ�}��>Iȹ�Žd]5�?�ŽO�ܾ� ƽ��A����?9ƽ[tC�ǽ@�: Ƚ+�:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @zL�L�L�L�?s@�A%�����Ii�M�=BI BI�AU��>*BUl_9�AQ�AU��7�AUL���AQ"C]�)*C]P�x=RCe�@}>Ca�Ca��}w{~>I��G�^>�K�*xj,�ح�E�A�|�|Y}6N�@�}6��@y}6}t���}6�"��}6H������D�?����S��?���`?��?����������@W�?�����ܗ?����,.�?���@�Y���������?)~6N�@ ~6�G^;I~6��Cɫ9�9)�9 �=���I�9Y�]��@y�]�zGexDUSBL response received:!U1,P FDF,000,00579,184,80,80,84,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 ��q��q����<M�J=Y��R�QU��>�������a��G������y� o/�}�>I�!��]�:��%YZ5�?��e�:��%�ܾ� �%��A����?9�%gtC��%�< �%<)�%X�:��mH ����m�����m�����m��� �m�9:Y�m�[1y�mH�:��m�6�W��W�X� X��W�:W�2W�*W��V�U�U������K @zL��L��L��L�o.s@�AM�K!�BI BI�AM��>*BU`9�AQ�AU~�7�AU%���AY"Ce�)*Cm؞y=RCm�|>Ci�CqYϕ}S9�ԡ�ԡ�օ �|>I�� G� �>���1xj,m���E�AY}J-ݠ@�}J��@y}JW����}J](��}JH�������?�������?����:B�?����������Զ�?���@r�?����83�?���@������ (��?)~J-ݠ@ ~J�t^;I~J��Cɫa�i)�i �u���I�qY����@y���zG鮹ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����D�����C>���\�i����@��� ����@)��n�@I��n�@i��n�@��s1�MD=Y� ��QU �>�� ���a�G����y��G�}�>I�!��%jW5�?��%d�ܾ� �%ņA��-�?9�%rtC��%{�: �%��:)�!�WQ�WQXQ XQ�WQ:WQ2WY*WY�VYUYUe��� �@zLy�Ly�Ly�L}�s@�A���&�B� B��A�4�>*B��d9�A��A�.�7�A�ٯ��A�"C��)*C��Fz=RC���{>C��C Y���S9�i9�iI�ii�i��i��i��i��mJ�; �m��E)���I���i�������=����=������4��Q�|>I�)GEr>���7xj,����E�AY}2KӠ@�}2��@y}2V>���}2��$��}2H��������?�������?��� [ţ?����t������Ze�?�����b�?����>Ǘ?���@ܔ������+��?)~2KӠ@ ~2ڔ^;I~2��CɫY�Y)�Y �]����I�YY�}m�@y�}HzG�xDUSBL response received:!U1,R,018,000,00586,183,80,80,64,FF �Fpublishing direction and range info����������ɰ���=鰅$�> ��)����BI��y��\=B����H�V4��?P�4��q����������ٱ���M����Mb�?+������<�O��n�?��M�@>��M��� �I)�II�Iy�M�q= ףp�?�A`��"���~j�t��?��M��=��Mٽ��M�D< �M� A)�II�M�Ai�M�A��I��M=A��=��M=G=Y�E�u�QUE�>��A��I�aM�G��I��qy�u<>�}u�>Iȁ����:�Ņ�S5�?����:�Ņ=�ܾ� ƅՆA����?9ƅ�tC�Dž��; ȅ��;)ȅY�:�W)�W1X1 X1�W1:W12W1*W9�V9U9U=������@I�I)�M@A��]� ����]�����]�����]S�� �]Y>:Y�]�X1y�]/�:��](6)�]��;�9e��Pi*Qm\=B�Zm�;���0�G@p�}������������Zm�H�V4��?P�4��q����������2Qm����:Qi�Zm�K�n�4��@�YSݣG��o��8�?�Zm�{��ks��?�˨�������O���?BQm�5�@ Qm=�Qm�@�Pmx�9?�Pm��9?�Pm9���Qm7���Qm��@"Qm��@zL�� >�L�� >�L�L;�@�L���@�A��,�B� B��A���>*B�G^9�A��A��7�AȰ��A!"C-�)*C-{!{=RC-x�z>C)�C1i�=mAI�=mAY�}S9��NB{>I�G=�>�x+>xj,�n��E�A�|*�@i|(Y} �֠@�} R�@y} F�м�} ;���} H����@���?���`)��?����8��?�������������?����@T�?��� ��?�����p�����@���?)~ �֠@ ~ Q�_;I~ ��Cɫ���)�� �����I��Y���@y��zG�uDNmea in: $SNTTA,,,,,171027.28*56 ��%!�<M%L=Y�%z��QU-�>��)��)�a5�G��1��1y�=ԅ:}=�>I�9��=�P5�?��=�ܾ� �=�A��M�?9�=�tC��=��: �=��:)�9�m}uAdded new target pos. range: 47.339996 m, bearing: 272.529247 deg, deltaT: 4.465012 s, approachRate: 0.174690 m/s, LOS rate: -0.686297 deg/s, posRepo size: 4�Wy�WyX� X��W�:W�2W�*W��V�U�������G@U����`��?zL��L��L��L�p�@�A��H3�B� B��A���>*B��c9�A��A���7�A�����A�"C��)*C���{=RC�t�{>C��C�Y��`Q9 ���=����=���I��G��>�Y9�YI�Yi�Y��]=��Y��Y��]0�; �]��E�Z Exj,g��E�AY}bY۠@�}b�@y}bi�ټ�}b����}bH�������?��� ���?������?����?����� ���?��� �q�?�����2�?������������G��?)~bY۠@ ~bՇ`;I~b��Cɫ�髙)�� ������I��Y��H�@y��zG����>���������3��i����@��� ��ٮ@)����@I��ٮ@i����@�� �ۼM J=Y�+�QU�>�����a�G����!y�-ۺ:}-�>I�1��5`M5�?��5��ܾ� �5�A��M�?9�5�tC��5l0; �5>J;)�1�W��W�X� X��W�:W�2W�*W��V�U�U�������?��=} ����9��9��=-�� �=�=:Y�9y�9��=�6)�=3�;zLq�Lq�Lq�Lu��@�A���9�B� B��A�k�>*B��^9�A��A�a�7�A�����A�"C��)*C�q�|=RC��f|>C��C�Y��}S9���O�{>I��G��>��:Kxj,�/�E�AY}Fa�@�}F�@y}F=;Ἑ}F%���}FH������?���@���?������?���`�������Mа?���@@��?��� &�?����������@8��?)~Fa�@ ~F��`;I~F��Cɫy�y)�y �yI�yY�� �@y���yG��Uڦ�M]Y=Y�]�!�QU]�>��a��a�ae�G��a��ay�mp�;}m�>I������:���5J5�?����:���W�ܾ� ���A����?9���tC���8�: ��]�:)��Z�:�W��W�X� X��W�:W�2W�*W��V�UU����9��?zL�L�L�L�@�A5zA�B1 B9�A={�>*B=(b9�A9�A= �7�A=\���A9"CE�)*CE�N}=RCM3}>CI�CI��M=i�Mp=Y�m�S9��YI�iG�Z>��"Rxj,I�H�E�A�|:4<�|:4<Y}m��@�}mW�@y}mLc弙}m�i&��}mH�������?���`���?����ˣ?����������@\ʰ?���@\�?����t��?��� �ɤ�������?)~m��@ ~mQ�`;I~m��Cɫ1�1)�9 �9I�9Y�uL�@y�}zG����u����C�����ʡ�i��(�@��� ����@)����@I����@i����@����<M�4=Y��}��QU��>�������a��G������y���8}��>I� �� �F5�?�� c�ܾ� � �A���?9� �tC�� �$; � ~ ;)� ���� �����~�����~�����X�� ���C:Y��T1y��@�:���* 6�9�@�W��W�X� X��W�:W�2W�*W��V�U�U������"�?zL1�L1�L1�L5&�@�AmFH�Bi Bi�Am��>*Bm']9�Aq�AuϤ7�Au~���Aq"C}�)*C}�5~=RC}�Z}>Cy�C�� 9� I� i� �� �� �� �� �; � ��EYϕ�U9�ԡ�ԡ�֭ �}>I�� G �>�sVXxj,��b�E�Aɫ�髑)�� ��I��Y���@y���yG����333333�?��K7�Aؿ����K�?����>���¾ ��^�=)��I��y���333333�?���Mb��{�G�z�?�����=����������#< ½Q A)½�AI½� Ai½+A���������֊�M�[=Y�����QU��>�������a��G������y�����}��>I������:����C5�?����:����ܾ� ��!�A���?9���tC����: ����:)��[�:�W��W�X� X��W�:W�2W�*W��V�U�U����`\��?zL�!�=�L�!�=�L��X�@�L�6mx@�A%��O�B! B!�A%h�>*B%�a9�A)�A-z�7�A-j���A)"CU�)*CU�~=RCU�}>CY�CY�օ5�}>I��G�`>�5w^xj,`�|�E�AY}2֠@�}2��@y}2��}2�*��}2H�����/��?�������?�������?����������@�n�?����L�?������?�����������@[��?)~2֠@ ~2�9`;I~2��Cɫ9�9)�9 �=���I�9Y�}x�@y�}UzG��=�<M=V=Y�E0o�QUE�>��A��A�aM�G��I��Iy�USr�}U�>I�Y��]�@5�?��]��ܾ� �]-�A��e�?9�]�tC��]��: �]��:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L��Qx@�A�>W�B B�Am�>*B�c9�A �A *�7�AY���A"C�)*Cҗ=RC�Y|>C!�C)I�I)�MAA��� �����������������g�� ���I:Y���X1y��/�:���0*6�օ�}>I��G�=>i��gmGI��i������J�ٺ�����>A�-4�>9�)I�)i�)��-=��)��)��-�; �-��E�aexj,����E�AY}2Ҡ@�}2�ߘ@y}2֤���}2Z���}2H�����L��?����V��?����%ˠ?���`����� U�?���`,��?����iӞ?���@�ҡ�����R��?)~2Ҡ@ ~2p�_;I~2��CɫQ�Y)�Y �]����I�YY�e�@y�e�yG��i��mAA �y�y���x�=�����>��� �=i��3�@��� ��)��n�@I��n�@i����@���$��M�Q=Y��A�QU��>�������a��G������y�����}��>I������:���>5�?���:�����ܾ� ��:�A���?9���tC���R�: ����:)��\�:�W!�W)X) X)�W):W)2W1*W1�V1U1U5����'@�REB*** querying acoustic contact ***�PA�PAzLY�LY�LY�L]�Ex@�A�@�^�B� B��A�-�>*B��`9�A��A�ڦ7�A�c���A�"C��)*Cu,�=RCD|>C�C��O�{>I�)GE0>���kxj,c`��E�AY}2jՠ@�}2�@y}2�����}2���}2H����@´�?�������?����X�?����������`hq�?�����ܠ?�������?���������������?)~2jՠ@ ~2`;I~2��Cɫ9�9)�9 �AI�AY��H�@y��zG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���{<MG=Y�?��QU%�>��!��!�a-�G��)��)y�58�:}5�>I�9��=�:5�?��=r�ܾ� �=G�A��M�?9�=�tC��=��: �="�:)�9�Wy�WyX� X��W�:W�2W�*W��V�U�U�����t\ @zL��L��L��L��Ix@�A��f�B� B��A�k�>*B�=`9�A��A���7�A�����A�"C��)*C����=RC�:�|>C �C���q �����������������=�� ���<:Y���W1y��č:���F 6��=?�{>I�IGeV>�R�rxj,���E�Aɫ���)�� �����I��Y�W�@y�,zGxDUSBL response received:!U1,P 018,000,00586,183,80,80,64,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 ��-�=i�)�� = ��� = >�� /]=i� ̬@�� � )� ��@I� ��@i� @��mFe;Mm=Y�m���QUm�>��q��q�au�G��q��y܉9܍t�CI܉i܉�܍=�܉�܉�܍��; ݍe�Ey����}��>Iȡ����:�ť 75�?����:�ť��ܾ� ƥW�A����?9ƥuC�ǥ(�: ȥ��:)ȥ]�:�W��W�X� X�W:W2W*W�VU U ���` @zLI�LI�LI�LI�A}:Dn�B� B��A�X�>*B��[9�A��A�e�7�A� ���A�"C��)*C���=RC��}>C��C�i����I�������������C}>I� G �>��yxj,��E�A�|�;�|Y}2��@�}2��@y}2 ����}2���}2H�����<ѱ?��� ���?����k6�?�������������?���@�`�?����S�?����q^��������?)~2��@ ~2V.`;I~2��Cɫ)�))�) �-����I�1Y��#�@y���yG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����1�Zd�?����Kǿy�&1��?���"[>���^:� ��`e<)��I��y���T㥛� �?���x�&��X9��v��?����=���7 ������< lA)�AI� Ai������ A�¹�½nA������M�W=Y��Y��QU��>�������a��G������y�A=<} �>I� �� �25�?�� P�ܾ� � t�A���?9� uC�� :�: � ��:)� ��=� ����=�����=�����=�� �=�A:Y�=DW1y�=Y�:��=�6)�=��;�9E��WI�WIXI XI�WQ:WQ2WQ*WQ�VQUYU]��� E@zL}�>�L}�>�L}#ܤ@�L}�li@�A��v�B� B��A��>*B�Xb9�A��A�7�A"���A"C�)*C�j�=RC%���>C!�C!��U����U�� �U����U��I� G5 �>��2xj,'���E�AY}:��@�}:u�@y}:{���}:��(��}:H����@:N�?�������?���`H�?����������<��?���@�v�?���`��?����i����� ��?)~:��@ ~:'�_;I~8ɫ9�9)�9 �=���I�9Y�}��@y�}2yG�xDUSBL response received:!U1,R,F33,000,00586,186,80,80,5E,FF �Fpublishing direction and range info����07>���ɰ�鰅��> ��)����BI��y���������B}�?$2����?��������ٱ���u�C�M}R=Y�}�9QU}�>�����a��G����y��;}��>Iȑ�ŕ�.5�?�ŕ��ܾ� ƕ��A����?9ƕ uC�Ǖ��: ȕ)�:)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�������@�P*Q�Z�4�V�JG@��Xr� @���������Z����B}�?$2����?��������2Q�07>:Q�Z�X�;5t'@�9����F�d�?{%��?�Z����8��?��WZ�� ��3���?BQϞ@ Qg7�Q�;A�P��9?�Px�9?�P7���Q9���Q �@"Q��@zL9�L9�L9�L=�i@�AMn9~�BI BQ�AU��>*BU�^9�AQ�AU��7�AUU���AQ"C]�)*Ce<ȁ=RCe:m�>Ca�CaI��G�&>��� nA��� mA�� 9�� I�� i�� ��� ��� ��� ��� ��; �� R�E)�Y�I�Y�i�Y���]�=��]�=��]�&i5��;�xj,�$�E�AY}r��@�}re$�@y}r���}r��*��}rH���� b��?�������?���`��?���������`xf�?�������?��� 2��?���`?R���������?)~r��@ ~rb�_;I~r��Cɫ�髱)�� �����I��Y����@y��RyG��DNmea in: $SNTTA,,,,,171031.76*5A ��S㽩�,=���=i�3�@�� ���@)�n�@I���@i���@I�1)�5@A��Ez�;MEI=Y�U�48QUU�>��Y��Y�a]�G��Y��Yy�e��;}e�>I�q��}�:��ul*5�?����:��u��ܾ� �u��A����?9�u/uC��uH; �u��:)�u^�:��%� ����%�����%�����%\�� �%N?:Y�%�W1y�%č:��%� 6)�%��;�m}qAdded new target pos. range: 47.339996 m, bearing: 284.346540 deg, deltaT: 4.460071 s, approachRate: 0.000000 m/s, LOS rate: 2.649575 deg/s, posRepo size: 4�Wy�WyXy Xy�W�:W�2W�*W��V�U�U��������?zL��L��L��L���i@�A��g��B B�A<�>*B]9�A �A m�7�A ����A "C%�)*C%�5�=RC%6�>C!�C)I�iG�9>��c�xj,<�3�E�A�|i|Y}2��@�}2u+�@y}2U����}2^�"��}2H����@���?�������?����U�?���@������ ���?�����9�?����Ï�?���`;<�����@���?)~2��@ ~2p_;I~2��CɫY�Y)�Y �]���I�YY����@y��iyG)�%�= �%�=��Uv�;M][=Y�]��:QUe�>��a��a�am�G��i��qy���;}��>I�����?&5�?����ܾ� ��чA���?9��>uC���: ��D�:)���W)�W1X1 X1�W1:W92W9*W9�V9U9UE���@�A�?zLY�LY�LY�L]��i@�Au=���Bq Bq�Aud�>*B}�a9�Ay�A}�7�A}۾��Ay"C��)*C�]��=RC����>C��C�I��G��=��K�xj,J�M�E�AY}2d�@�}2-�@y}2 ����}2ڙ��}2H�������?�������?����`�?��� ������`���?��� #��?��� �Ҟ?����������`���?)~2d�@ ~2�Z_;I~2��CɫY�Y)�Y �]���I�YY����@y���yG��u94>��u9�=��qi�u@��q �un�@)�qI�qi�uٮ@���<M�G=Y���:QU��>�����a��G����y�.:}��>Iȹ��m�:�Ž�!5�?��u�:�Ž��ܾ� ƽ��A��}�?9ƽLuC�ǽ�< Ƚ��<)Ƚ_�:�W��WX X�W�99�9I�9i�9��==��9��=��D��=��; �=Z�E:WQ2WQ*WQ�VYUYU]������?��m� ����i��i��m��� �m0>:Y�iy�i��m�6)�m��;zL��L��L��L�b�i@�A�����B� B��A���>*B�^9�A��A�ɫ7�A�Y���A�"C��)*C����=RCb��>C�C ��S%}>I�YG�~>��u�xj,}�g�E�AY}:A�@�}:�$�@y}: r�}:�� ��}:H����� ²?������?�������?����Z�����@~�?�����v�?����m�?�����������@w��?)~:A�@ ~:�G_;I~:��Cɫ9�9)�9 �=����I�9Y�}T�@y�}�xG������~j�t�?��~j�t��V-��?����>����� ����<)��I��y���/�$��?�&1���{�G�z������=����н����#� )IlAiA�������A���K�M�H=Y�xy:QU��>�����a��G�����y��> �}��>I������5�?�����ܾ� ���A����?9��ZuC���6�: ��H�:)���W�WX X�W:W2W*W �V U U�����t�?zL-�>��5�=i�5�=�L-�>�L-�@�L-��y@�AE�?��BI BI�AM$�>*B� `9�A��A�g�7�A�����A�"C��)*C�SZ�=RC�[�>C��C�YϽ�W9�ֵE��>I��G��>��]�xj,v���E�A�|4<�|�;Y}6�@�}6��@y}6Q�9}6����}6H������h�?����8��?����M�?����D�������#�?����?A�?��� ���?����X1������O��?)~6�@ ~6�d_;I~4ɫ9�9)�9 �=���I�9Y�}��@y�}�yG���nA���mA��E�/=MER=Y�E,�:QUM�>��I��I�aM�G��I��Qy�]we�}e�>I�q����:��u�5�?����:��u��ܾ� �u�A����?9�uhuC��u�t; �uMu;)�u`�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL!�L!�L!�L%f�y@�A]Mn��Ba Ba�Ae��>*Be�_9�Ai�Am�7�Amú�Ai"Cu�)*C}���=RC}�܁>Cy�C����� �����������������L�� ��>:Y��X1y�/�:���6�9�@ ��p=����=����S�>I��Gk>�1 9�1 I�5 �tGi�5 �@��5 =��1 ��1 ��5 ��; �5 G�E����xj,�c��E�AY}2���@�}2��@y}2��뼙}2���}2H�������?�������?�����!�?��� T�����`5��?���`��?�����q�?�����4����� ���?)~2���@ ~2�8_;I~0ɫY�Y)�Y �]���I�YY��u�@y��yG��M+>��M�����Mj<=i�M��@��I �M��@)�M��@I�M��@i�M��@��e3��MeH=Y�eͪ:QUe�>��i��i�am�G��i��qy���y�}��>I�����!5�?�����ܾ� ���A����?9��vuC�����: ����:)���W�WX X�W:W2W!*W!�V!U!U-���@�7@zLI�LI�LI�LMe�y@�A]0���Ba Ba�Ae:�>*Be?^9�Aa�Ae��7�Am�ĺ�Ai"Cu�)*Cu�=RCu�K�>Cq�Cy�ֽ+�>I��G�E>�ر�xj,�>��E�Aɫy�y)�y �yI��Y����@y��nxG����������/�M�R=Y�����QU��>�����a�G���� y����}�>I���-�:��5�?��-�:����ܾ� ��A��5�?9��uC���; �a';)�a�:�Wa�WiXi Xi�Wi:Wi2Wi*Wq�VqUqU}���@�D@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�I�5AA)�5AA�A����B� B��A���>*B�9]9�A��A�]�7�A��ź�A�"C��)*C�W��=RC�3~�>C��C���0 ����������������� ��7:Y��Y1y��:��`6����4�>I��GK>�/��xj, ��E�A�|i|�@Y}6��@�}6H��@y}6 ⼙}6:���}6H���� 慱?���@���?�����L�?����������]@�?����О?�����A�?�����M������ ��?)~6��@ ~6�"_;I~6��Cɫ9�9)�9 �9I�9Y�u��@y�}wxG}Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)�-�= �->���]�>�����Ci��I��i���EeA�ٺA��E�5A���L?9��@A��9��I���tGi����@���!=�����������; ��C�E�� \=�� �>�� 94<i� �� � )� I� i� ���:M,=Y�%�;QU��>�����a��G����y� |�}��>Iș�ŝ 5�?�ŝX�ܾ� Ɲ��A����?9Ɲ�uC�ǝ��; ȝ�;)ș�W �W X X �W :W 2W*W�VUU����&1 @zLQ�LQ�LQ�LU(y@�Amiz��Bi Bi�Am �>*Bm�X9�Aq�Au�7�Au�Ǻ�Aq"C}�)*C���=RC��>C��C����nA���mA���+�>I�!G=�>��ùxj,���E�AY}2���@�}2M��@y}2-f༙}2|���}2H�����v�?���@!��?��� }�?���`�������84�?����\|�?������?����!{����� ���?)~2���@ ~2<5_;I~2��CɫY�Y)�Y �]����I�YY��2�@y���xG�xDUSBL response received:!U1,P F33,000,00586,186,80,80,5E,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 �� � ���� ����� ����� ��� � �?:Y� 0Y1y� ��:�� �6)� ��;�9�������ʡE�?�K7�A`ſV-��?���-2>���+� ��)��I��y���+��η?�v��/���������?���v�=���x������< �A) �AI � Ai �A�������A����<M�(=Y���9QU��>�����a��G����y���}��>Iȹ����:�Ž�5�?����:�Ž�ܾ� ƽ��A����?9ƽ�uC�ǽV�: Ƚ��:)Ƚb�:�W��W�X� X��W�:W�2W�*W��V�U�U��� �� @zL}�>�L}�>�L}���@�L}!7y@�A�PU��B� B��A��>*B�jZ9�A��A¯7�A�ɺ�A"C=�)*C=qm�=RCE=׀>CA�CIi�yI�y�́�́��m(��>I�yG��>����xj,DŽ�E�AY}Nx��@�}N-�@y}N��ݼ�}N� ��}NH������ı?�������?���@Ŷ�?����:���������?����k�?����ۼ�?����o���������?)~Nx��@ ~N��^;I~N��C��~�=i�~�=ɫ�髙)�� ��I��Y��j�@y���wG��ɮ��m�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��94>��>���T=i��� �)�I�i���-c��M-a=Y�-?Y:QU5�>��1��1�a5�G��1��9y�=$Y;}=�>I�A��E� 5�?��E�ܾ� �E�A��U�?9�E�uC��E��: �E��:)�A�Wq�WqXq Xy�Wy:Wy2Wy*W��V�U�U����@j@zL9�L9�L9�L=Iy@�AU�!��BQ BQ�AU��>*B]6\9�Ay�A}T�7�A}8˺�Ay"C��)*C�Aƅ=RC�儁>C��C����I��G�i>ܑ9ܑIܕ$tGiܕo�@�ܑ�ܕSD�ܑ�ܕd�; ݕ*�E���xj,�F!�E�A�|�|4<Y}2��@�}2y�@y}2�}ڼ�}2/���}2H���� �N�?���`A��?����Xq�?��� �����`��?�����ܝ?�����N�?�����u����� ���?)~2��@ ~2��^;I~2��CɫY�Y)�Y �aI�aY�}��@y�}xG�xDUSBL response received:!U1,R,FEC,000,0058D,183,80,80,73,FF �Fpublishing direction and range info���5��<���ɰ���=鰅$�> ��)����BI��y�� ?B����������?W7)ߑ?��������ٱ�������nA�����<M�b=Y����:QU��>������a�G���� y� A�;} �>I�!��%Z5�?��%�ܾ� �%-�A��5�?9�%�uC��%�.; �%*(;)�!�Wi�WiXi Xi������������������������ ��m}:Y��DW1y��Y�:����6)��-�;�Wq:W�2W�*W��V�U�U�������@�P *Q ?B�Z �"��$Y�G@��t@��?���������Z �������?W7)ߑ?��������2Q 5��<:Q �Z ��BH���@_�B���G��et��?�Z �����m¶?������I�r樚?BQ h��@ Q 7>�Q ߇@�P {�9?�P ��9?�P ;���Q 7���Q l�@"Q �@zL��L��L��L�aoy@�A��٫�B� B��A��>*B��\9�A��A��7�A��̺�A�"C��)*C�l#�=RC�쉂>C��C� ���=����=���j��>I��G�E>�g�xj,R+;�E�AY}b��@�}b�+�@y}b[ռ�}b<���}bH�����$��?���`��?����w��?��� ������@%��?���@�r�?����Ƣ�?�����������9��?)~b��@ ~b��^;I~`ɫ�髑)�� ��I��Y��$�@y���xG�TNmea in: $SNTTA,0.031178,,,,171036.26*4A ��=L=M=E=Y�=��:QUE�>��A��A�aE�G��A��Iy�UT�;}U�>I�Y��]�:��]�5�?��e�:��]n�ܾ� �]H�A��e�?9�]�uC��]s�: �]^�:)�]c�:�m�uAdded new target pos. range: 47.759995 m, bearing: 275.102316 deg, deltaT: 4.490190 s, approachRate: 0.093537 m/s, LOS rate: -2.058760 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����G�G@U�������?zL��L��L��L���y@�AU|{��BY BY�A]"�>*B]�]9�AY�A]��7�Aesκ�Aa"C��)*C�]��=RC���>C��C��֝�l�>I��G�A>���xj,}U�E�AY}2�.�@�}2W<�@y}2��ϼ�}2��!��}2H�����'}�?����t��?���@E0�?�����������l9�?���@X�?������?����Y:���������?)~2�.�@ ~2��^;I~0I�)�?Aɫ9�9)�9 �9I�A�Y9�YI�]�sGi�]�@��]#=��Y��Y��]~�; �]7�E)��t�CI��t�Ci�ဉ��!=���!=���@�5Y����@y��@xGI��)������ �����������������p�� ���A:Y��xZ1y��q�:����6)��p�;��MQ?��M�����M��i�M=�@��I �I)�Mn�@I�MI�@i�Mn�@��9μM�6=Y���:QU��>������a-�G��)��9y�E��;}m�>I�y��}v� 5�?��}�ܾ� �}g�A����?9�}�uC��}r�; �}Ӡ;)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����c��?zL��L��L��L��y@�A���B B�AY�>*B �X9�A �A ;�7�A �к�A "C�)*C��=RC朄>C9�CI��M���>I�YG}�>�0+�xj,M�n�E�A�|i|�@Y}6�?�@�}69M�@y}6=˼�}6E� ��}6H����@��?���@?��?��� �?���@e���������?����>r�?�����f�?���������� -��?)~6�?�@ ~6A:^;I~4ɫY�Y)�Y �YI�YY��E�@y���wG����y�&1��?'1�ZĿ�Q���?���`e<����"� ��\=)��I��y������S㥫?����K���� �rh�?���/]=���^�����C�< ��)��+AI���Ai���������A)��> ���=����)�M�V=Y��l�:QU��>�������a��G�����y�ݹ;}�>I� ���:�� �� 5�?���:�� S�ܾ� � w�A���?9� �uC�� 8�: � ��:)� d�:�W9�WAXA XA�WA:WA2WA*WI�VIUIUM������?zLm}�=�Lm}�=�Lm-�@�LmMp@�A�g��B� B��A�?�>*B�m^9�A��A�²7�A��Ѻ�A�"C��)*C��T�=RC�!��>C��C��ԭmA�ԩ�օ�@�>I��G�=>�,�xj,峈�E�AY}f�F�@�}f�T�@y}fL���}f_���}fH�����>�?������?����N�?�����������?������?���@�?����#O���������?)~f�F�@ ~fn^;I~dɫ�)� �I�Y�=�@y�EOwG��M�P=��MO�=��M.�i�M��@��I �Mn�@)�II�Mn�@i�I��]}��M]D=Y�e�T;QUe�>��i��i�am�G��i��qy�u_;}u�>I�y��}�� 5�?��}��ܾ� �}��A����?9�}�uC��}ܹ: �} �:)�y�W��W�X� X��W�:W�2W�*W��V�U�U�����8�?zL��L��L��L��]p@�A�����B� B��A��>*B��X9�A��A�V�7�A��Ӻ�A�"C��)*C�x��=RC��>C�C��%��>I�)GMR>�A9�Es�CI�E\sGi�E��@��E$=��A��A��E��; �EJ�E�V=�xj,2���E�AY}2�D�@�}2�R�@y}2hƴ��}2G��}2H���� �.�?�������?��� �̡?���`������`���?����hw�?����T��?����k������@���?)~2�D�@ ~2��];I~0��i�p=��� ����������������� ��?:Y�0Y1y���:���6)���;ɫ9�9)�9 �9I�9Y��/�@y���wG��=R=i�==��]�o<M]\=Y�]�t;QUe�>��a��a�ae�G��a��iy�m�(�}u�>I�y��}�:��}.� 5�?����:��}�ܾ� �}��A����?9�}�vC��}��: �}��:)�}e�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L�?\p@�A��g��B� B��A�܍>*B��[9�A��A��7�A��պ�A�"C��)*C�R�=RC�n߅>C�C�օ?΅>I��G�=>�`g�xj,�i��E�A�|�;�|�;Y}>�:�@�}>^H�@y}>̚���}>P���}>H����@�ݳ?����_��?���@���?���`y������G��?��� ]b�?�����?���`.������`���?)~>�:�@ ~>1�];I~>��CɫY�Y)�a �aI�aY�}�@y�}jwG��Q��UmA��}�ٻM�H=Y��;QU��>�����a��G����y��F�}��>Iȩ�ŭ5� 5�?�ŭh�ܾ� ƭ��A����?9ƭvC�ǭc; ȭ;)ȩ�W��W�X� X��W�:W�2W�*W��V�UU �����c@zL9�L9�L9�L=dJp@�AM���BQ BQ�AUx�>*BUIY9�AQ�AUz�7�AUj�AY"C]�)*CeE��=RCe�g�>Ca�Ca ��=���=��]6Ʌ>I��G�i>�5O�xj,�D��E�AY}6L)�@�}67�@y}60?���}6���}6H����`"S�?����v��?�����%�?�������������?������?���`�'�?��� �������@���?)~6L)�@ ~6h�];I~6��C�� � ���� ����� ����� ��� � #A:Y� �X1y� /�:�� �6�9@�x9�zt�CI�z�rGi�z{�@��z#=��x��x��z��; �zT�Eɫ9�9)�9 �=���I�9Y�]��@y�]�vG��a��e?A��������#=��� �=i��G�@��� ��O�@)��O�@I��O�@i��O�@����M�U=Y��$�:QU��>�������a��G������y�����}��>I�����q� 5�?�����ܾ� ����A�� �?9��vC���@�: ����:)���W)�W)X) X1�W�:W�2W�*W��V�U�U������@�R=B*** querying acoustic contact ***�P9�P9zL��L��L��L��)p@�A=����BA BA�Au��>*Bu_W9�Ay�A}�7�A�gٺ�A�"C��)*C���=RC�_��>C��C����<-�>I� G%o>�^y�xj,6 ��E�AY}2�@�}2�&�@y}2�ȩ��}2�;��}2H����`TѲ?�������?����Hq�?��� ���������?�������?���`�8�?���@&E������o��?)~2�@ ~2��];I~2��CI�-@A)�-AAɫ9�9)�9 �E����I�AY�}F�@y�}gvG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)��������MbX�?�$��C˿R���Q�?����J>���Z� ����=)��I��y���㥛� ��?�E���Ը��������������=����ƽ������ � A)I�Ai�A������\A����M�.=Y��b�QU��>�������a��G������y��S��}�>I�)��5�:��-�� 5�?��=�:��-��ܾ� �-A��=�?9�-$vC��-); �-�;)�-f�:�W��W�X� X��W�:W�2W�*W��V�U�U������Y @zL-��=�L-��=�L-�p�@�L-_w@�A=j�üB9 BA�Ae�~>*Be<U9�Ai�Au��7�Au~ۺ�Ay"C��)*C��e�=RC���>C��C��ֵ;��>I��G��>��cyj,� �E�A�|8i|8Y}v"�@�}v��@y}v._���}v^���}vH���� X��?�������?���@Ā�?�����������]d�?�����(�?���`k�?���@�S������^��?)~v"�@ ~v��];I~t��%�����%�����%�����%}�� �%�/:Y�%�W1y�%č:��% 6ɫ�髱)�� �����I��Y����@y���vGxDUSBL response received:!U1,P FEC,000,0058D,183,80,80,73,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 )���= ���=i�e�lGI��i����9��I��0rGi����@���!=���RD��������; ��_�E��%>�ٺ!��%z2A�ý��?�ý�;�ý�̼iý��@�ù Ľn�@)ĹIĽn�@iĽ��@�� a�<M =Y����QU�>�����a�G����y�%�˺}%�>I�I��U�:��M�� 5�?��U�:��MC�ܾ� �MLjA��U�?9�M5vC��Mb�: �MM�:)�Mg�:�W��W�X� X��W�:W�2W�*W��V�U�U������@zLI �LI �LI �LM ~�v@�A� �2ƼB� B� �A� ��>*B� �S9�A� �A� :�7�A� �A� "C� �)*C �=RC �Ã>C �C ��1 ��5 nA��5Ȥ�>I�AG]�>�=�yj,�#�E�AY}2q�@�}2& �@y}2�\���}2����}2H�����ќ�?������?����u<�?��� ������@�g�?�������?����6K�?����e����� ���?)~2q�@ ~2�];I~0ɫ)�1)�1 �5����I�1Y����@y��vG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���ŽM��=Y�f:QU�B?�������a��G������y���*9}�A?I������� 5�?���I�ܾ� ��ʈA���?9��<vC�����: ����:)���Wi�WqXq Xq�Wq:Wy2Wy*Wy�V�U�U������;@zL��L��L��L�#�v@�A�%FȼB� B��A�`t>*B�1`9�A��A���7�A�&ߺ�A�"C�)*C"�=RC%s��>C!�C!�����>I�!G=P>���yj,t�=�E�AY}F��@�}F�(�@y}Fޥ��}F���}FH�������?�������?���@��?���`���������?���`Xr�?����c��?���@�ࢿ������?)~F��@ ~F\�^;I~F��C���=i��=��- ����)��)��-��� �-�4:Y�)y�)��-36ɫY�Y)�Y �YI�YY����@y���vG�xDUSBL response received:!U1,R,03C,000,005D8,185,80,80,2B,FF �Fpublishing direction and range info���PwV����ɰ��=鰭+�> ��)���,BI��y�� QB����k����?yoU�˪���������ٱ���}BW=M�O=Y���:QU��>�����a��G����y��*;}��>Iȹ�Ž�� 5�?�Ž�ܾ� ƽΈA����?9ƽHvC�ǽ^�: Ƚk�:)ȹ�W �W1X1 X1�W1:W12W9*W9�V9U9U=�����@�Pi*Qm QB�Zm�,��J@��/p�����������Zm�k����?yoU�˪���������2QmPwV�:Qi�Zm��SN����?��y�J�|�.@��?�Zm��Z�{r��?����8J8����?BQm�{�@ Qm�P�Qm��?�Pmr�9?�Pm{�9?�PmD���Qm;���Qm��@"Qml�@zL��L��L��L�gw@�A��>ʼB� B��A�Մ>*B��X9�A��A�$�7�A���A�"C��)*C����=RC�_v�>C��C��%�"�>I�QG�[>� �yj,��W�E�A�|�|�D9�DI�F�qGi�F��@��F=��D��D��F��; �Fo�Eɫ�髹)�� ��I��Y��M�@y��pvGI��=)��=��9��9��]^?��]t����Yi�]��@��Y �Y)�]n�@I�]O�@i�]�@��m���Mm/=Y�m���QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ����:�ŅA� 5�?����:�Ņ'�ܾ� ƅӈA����?9ƅVvC�Dž��: ȅ4�:)ȅh�:�m�uAdded new target pos. range: 52.260002 m, bearing: 271.231019 deg, deltaT: 4.457060 s, approachRate: 1.009636 m/s, LOS rate: -0.868576 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�����G!J@U��������?zL�L�L�L�A-�˼B1 B1�A5{>*B5hU9�A1�A=��7�A=G��A9"CE�)*CEL��=RCE1��>CA�CI �]�=��]�=��53��>I�AG]v>�u�yj,�gq�E�AY}6<)�@�}6�6�@y}6�5���}6�e��}6H������R�?������?����t��?��������� 7 �?���@ۇ�?���`b��?���������������?)~6<)�@ ~6�K^;I~4ɫI�I)�I �II�I��eB����e�����e�����e�� �e�$:Y�exZ1y�eq�:��eW6Y����@y���uG�%TNmea in: $SNTTA,0.151500,,,,171040.82*49 aiE@a��M amM@a��M aqM@a��M aeU@a��U ��E��Zd;�?��MbXٿ�O��n�?��E�y=��E�ʾ �E�>)�AI�Ai�E�����Mb@�����Mb@�����Mb@���E©�E���E� �ES�@)�E=�@I�E�@i�ES�@��E������Ef�@��}�Y�M�[=Y�9;QU��>�����a��G����y�O�;}��>Iȩ�ŭ]� 5�?�ŭ��ݾ� ƭA����?9ƭbvC�ǭI; ȭ��>)ȩ�W��W�X� X��W�:W�2W�*W�VUU ����u~�?�AE��̼BA BA�A�k>*B��U9�A��A�)�7�A���A�"C �)*C GZ�=RC �o�>C �C���I�G%n>�Dz"yj,UQ��E�AY}F82�@�}F�?�@y}Fy����}F{�!��}FH�����v��?������?�����n�?����{�����`�f�?����<\�?����CU�?����i:������$��?)~F82�@ ~F�^;I~F��CI�1)�1ɫQ�Q)�Q �QI�QY����@y���uG�õ�&>�õ-2>�õ94�iõ\�@�ñ ĵ9�@)ĵ��@Iĵ9�@iĵ9�@���>h<M�V=Y��T:QU��>�������a��G������y���;;}��>I�����o� 5�?����ݾ� ��ۈA����?9��nvC���o�< ��H?)���W��W�X� X��W�:W�2W�*W��V�U�U�����ӭ�?�A��ͼB! 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B!�A%]<>*B%�N9�A!�A% �7�A--���A)"C-�)*C5`Q�=RC1C1�C1��U��>I�aG}z>��f\yj,lt�E�AY}n@N�@�}n�[�@y}n���}n���}nH������y�?����E��?����`��?����$����� �E�?����P�?�����B�?����Ȑ�����@i��?)~n@N�@ ~n#^;I~l��9i�=�=��]�����]�����]�����]�� �]�1:Y�]DW1y�]Y�:��]�6ɫ�髑)�� �����I��Y���@y���rG��TNmea in: $SNTTA,0.304359,,,,171045.18*47 ���i���=����~�M�f=Y���QU�>�� �� �a �G�� ��y��b;}�>I���%�:��� 5�?��%�:���ݾ� �o�A��-�?9��vC����: �]�:)�l�:�WI�WIXQ XY�WY:Wa2Wq*Wy�VyU�U������g@zL��L��L��L����@�A���ɼB� B��A��%>*B�N9�A��A�]�7�A�����A�"C��)*C��}�=RC�C��C����I�G%M>��Kcyj,�ҍ�E�A�|�;�|�;Y}6�V�@�}6�d�@y}6���}6&���}6H����@پ�?��� ���?����zv�?����h�����@���?���@ώ�?���`���?��� XZ���������?)~6�V�@ ~6�^;I~4ɫ9�9)�A �E���I�AY����@y��\rG������@A��>���D���t��i���@�� �O�@)�9�@I�9�@i�O�@��-,�M5Y=Y�5�#�QU5�>��9��9�a=�G��9��Ay�E�7;}E�>I�I��Mݻ 5�?��Mݾ� �M��A��]�?9�M�vC��M��: �M �:)�I�Wy�WyXy X��W�:W�2W�*W��V�U�U���� �@zL��L��L��L�ݤ�@�A�%jȼB� B��A�|>*B��K9�A��A���7�A�����A�"C��)*C�%Ԅ=RC�C��CQ Օ�=�ԕ�=�օ��>I��G�>>��9��I���nGi����@��������������; ���E��uiyj,ͭ��E�AY}:�Z�@�}:�h�@y}:�����}:xz��}:H����`�?����n��?���@&c�?���`������t��?���`Y�?���@��?��� M������u��?)~:�Z�@ ~:c0_;I~:��Cɫ9�9)�9 �=����I�A��U�����U�����U�����U1�� �U,:Y�U�[1y�UH�:��U�6)�U։;�9]�Y���@y��arG��=�:M=I=Y�=y��QUE�>��A��A�aE�G��A��Iy�M#�:}U�>I�Y��]� 5�?��]�ݾ� �]��A��e�?9�]�vC��]��: �]ܹ:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U����@i�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�a��@�A���ƼB� B��A��>*B��J9�A��A���7�A�����A�"C��)*C��2�=RC�C��C���g�>I�G-->��]pyj,����E�AY}2/X�@�}2�e�@y}2Ƀ���}2t��}2H������ȴ?�������?�����;�?���@���������?���@6��?������?����B,�����`j��?)~2/X�@ ~2�J_;I~2��Cɫ9�9)�9 �9I�AI�A)�EAAY�}e�@y�}�rGI��)�����=M�T=Y���QU��>�����a��G����y��r_�}��>I������:���U� 5�?����:����ݾ� ����A����?9�� wC�����: ����:)��m�:�W��W�X� X��W:W2W*W�VU U ���@�@zL��L��L��L�ڤ�@�A��żB� B��A�q">*B��L9�A��A�S�7�A�����A�"C��)*CA��=RC��>C!�CQ��=FӅ>I�IGeV>��9��I���mGi��[�@���=���������?�; ����E)�]�u�CI�]�u�Ci�Y���]�=��]�=��]��5��vyj,e��E�A�|i|�@��u�����u�����u�����u��� �u�1:Y�u�]1y�u��:��u�6)�u��;ɫ�髑)�� ��I��Y����@y��3rG ����������������㥛� ��?����Mb������������> ����)��I��y�������Mb�?�A`��"��/�$��?���=���ٽ����< � A)�AI�AidA������A��t>���(>��9�=i�3�@�� ���@)���@I�ƣ@i�ƣ@��],�M]&=Y�e���QUe�>��i��i�am�G��i��iy�u���}u�>I�y��}� 5�?��}�ݾ� �}��A����?9�}wC��}��: �}�:)�y�W��W�X� X��W�:W�2W�*W��V�U�U���� k@zL���=�L���=�L��-�@�L��`@�A�@ļB� B��A�Q>*B��H9�A��A���7�A�d���A�"C�)*C+�=RC� �>C�C ����nA�����>I�Gn>�ޱ|yj,�>��E�AY}2�[�@�}2Qi�@y}2�鴼�}2��}2H���� $�?�������?����q��?���@�������ѭ�?���� ��?�������?���`3����������?)~2�[�@ ~2DR_;I~2��CɫY�a)�i �iI�iY����@y��rG��5�M z=Y� �4�QU?�����a�G����!y�-��:}-?I�1��E�:��5A� 5�?��E�:��5�ݾ� �5ΉA��M�?9�5"wC��5�; �5�;)�5n�:�W��W�X� X��W�:W�2W�*W��V�U�U������i@zLi�Li�Li�Lm��`@�A��¼B� B��A�� >*B�K9�A��A��7�A�;��A�"C�)*CL�=RCC�C��m��>I�yG��>�>��yj,\ �E�AY}2.g�@�}2�t�@y}2����}2���}2H���� R@�?���@���?���@��?���������@c�?���@��?���`���?������������s��?)~2.g�@ ~2�_;I~2��Cɫ9�9)�9 �9I�9��Yi�]=��eX ����e�����e�����e �� �e�::Y�e�X1y�e/�:��e: 6�9m@Y�u^�@y�u�qG}xDUSBL response received:!U1,N,80,80,63,E4 8,185,80,80,2B,FF }ZNo reply:!U1,N,80,80,63,E4 8,185,80,80,2B,FF -}<No response from remote modem.����>����#<�����i����@��� ��1�@)���@I����@i����@��eּMm6=Y�m�\�QUu�>��q��q�au�G��q��yy�}|N;}}�>Iȁ�Ņg� 5�?�Ņ�ݾ� ƅ�A����?9ƅ.wC�Dž* ; ȅ� ;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U����@�"@zL��L��L��L���`@�A�����B� B��A��>*B�>H9�A�A9�7�A3��A"C �)*C Wt�=RCC�C�ف�فܑ9ܑIܕ�mGiܕ �@�ܕ=�ܑ�ܑ�ܕF�; ݕ��E����>I�)GEQ>��Éyj,E�(�E�A�|�|Y}6�t�@�}6i��@y}6�c���}6S/��}6H����`��?����.��?���@<��?���@e������o�?��� \�?���@���?���`V����������?)~6�t�@ ~6��^;I~6��Cɫ9�9)�9 �9I�9Y�]q�@y�e�qG��y��}nA��k�;M�j=Y����QU��?�������a��G������y��B�;}��?I������:���c� 5�?����:����ݾ� ����A����?9��8wC�����: ����:)��o�:�W��W�X� X��W�:W�2W�*W��V�U�U����`o�@zL��L��L��L��a@�A5����B1 B1�A5�>*B=�I9�A9�A=~�7�A=��A9"CE�)*CE@ׄ=RCACA�CQ Ց�ԕ�=�օ��>I��G�=>����yj,-�B�E�AY}2��@�}2���@y}2;�ü�}2��#��}2H���� ��?��� }��?��� �\�?���������`�ܵ?���@�?�����s�?���@}��������?)~2��@ ~2-�^;I~0��mT ����m�����m�����m��� �m�::Y�mxZ1y�mq�:��mD6ɫy�y)�y �}���I�yY����@y���pG���J]�M�G=Y����QU��>�������a��G������y��v�;}�>I���� 5�?��rݾ� � �A���?9�CwC����: ���:)��W9�W9X9 X9�W9:WA2WI*WY�VYUiUm����( @zL��L��L��L��-a@�A=P��B9 B9�A=m�=*B=�E9�AA�AE��7�AE��AA"Cm�)*Cm��w=RCiCq�Cq�֝��>I��G�b>�i9�iI�m�lGi�mg�@��i��i��i��ml�; �m��E��ؖyj,J�\�E�AI�eAA)�e@AY}���@�}����@y}�Q1ü�}���%��}�H�����a��?�������?�������?����������`pc�?����d�?�����e�?��� _������ ���?)~���@ ~�0|^;I~���Cɫ�髉)�� �����I��Y��.�@y��#pGI��)������%��C��?k�t������Mb�?���Zd>��� �� ���@=)��I��y���{�G�z�?+��η�{�G�z�?���ף=���v������#= ��1A)���AI���Ai��~A�������A���v>>���`�;����=i����� ����@)��I���@i���@�� � �M !=Y�?�8QU�>�����a%�G��!��)y�-��;}5�>I�9��M�:��=F� 5�?��M�:��=�!ݾ� �==�A��U�?9�=SwC��=$P; �=�);)�=p�:�W��W�X� X��W�:W�2W�*W��V�U�U�����!@�R�B*** querying acoustic contact ***�P��P�zL� >�L� >�L�q��@�L��Z|@�A�Y���B� B��A�?�=*B�(C9�A��A���7�A���A�"C��)*C���p=RC�C��C��֍��>I��G��>���yj,ӆv�E�AY}:ǝ�@�}:|��@y}:��Ƽ�}:w!��}:H������?����c��?������?���`���������?��� |O�?�����ј?�����������C��?)~:ǝ�@ ~:K�^;I~:��Cɫ9�9)�9 �=���I�A��u ����u�����u�����u/�� �uV5:Y�u�W1y�uč:��u�6Y���@y���oG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******)Å�= Å�=����M�z=Y�B��QU� ?������a��G������y���p;}� ?I������ 5�?����#ݾ� ��\�A����?9��]wC���w�: ����:)���WA�WAXA XA�WA:WA2WI*WI�V�U�U�������!@zL��L��L��L�th|@�AgS��B B�A$�=*BOD9�A�A-!�7�A-���A)"C5�)*C55!m=RC1C1�C9��=��>I�IGeV>�J�yj,�c��E�AY}2ƪ�@�}2{��@y}2��ɼ�}2z ��}2H������Z�?��� ��?�������?���@X������u�?���@���?��� V9�?��������������?)~2ƪ�@ ~2P�^;I~2��Cɫ9�9)�9 �=����I�9Y�]��@y�]oGexDUSBL response received:!U1,P 80,80,63,E4 8,185,80,80,2B,FF mCommand 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 i��HmGI��i����5�8�ٺ9��=�-A�Ý�(>�Ý��ÝV�iÝ��@�Ù ĝ��@)ĝƣ@Iĝƣ@iĝƣ@���D��M�,=Y���Y��9�I��kGi�Ŀ@��=��������; �ȖEQUE�>��I��I�aM�G��I��Qy�]�T;}]�>I�i��m�� 5�?��m�%ݾ� �m��A��}�?9�mlwC��ms; �m;)�i�W��W�X� X��WA:WA2WI*WI�VQUQU}���`��"@zL�L�L�L�v|@�A�q%��B� B��A��=*B��@9�A��A�Q�7�A���A�"C��)*C�ph=RC�C��C�����=����=Y�� �ֽ� �>I��G��>��yj,�^��E�AY}2:��@�}2�Ù@y}2^�̼�}2�?��}2H��������?���@���?���`���?��� 7������H{�?�����Ȝ?����|��?�����š�������?)~2:��@ ~2�_;I~0ɫI�I)�I �II�I��U�=i�U�=��e�����a��a��e8�� �en1:Y�ay�a��e� 6)�e��;�9m�Y�%��@y�%zoG�E�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���%=i���<����M�s=Y� ��QU�?�������a��G������y����;}� ?I������:���@� 5�?����:���}'ݾ� ����A����?9��vwC�����: ����:)��q�:�W �W X X �W :W 2W*W�VUU�����_#@zLq�Lq�Lq�Lu$�|@�A�I-��B� B��A���=*B� D9�A��A�u�7�A����A�"C��)*C��6c=RC�C��C�Y�}"X9�ԅ���ԅ�� Յ���ԅ��I�1GU�>�T��yj,���E�A�|�|Y}B���@�}B�Ǚ@y}B��ϼ�}B����}BH������ӷ?������?��� ���?��������������?��� V/�?���`:��?����K�������P��?)~B���@ ~Bv_;I~B��CɫY�Y)�Y �YI�aY����@y��MoG�xDUSBL response received:!U1,R,EFB,000,005A3,186,80,80,86,FF �Fpublishing direction and range info���Z;i>���ɰ�k�=鰽��> ��)���CI��y��QDB����R3M�m,�?��RW��?��������ٱ���%x�=��%�=��%��i�%(�@��! �%�@)�!I�!i�!��E�#�ME5=Y�MTF�QUM�>��Q��Q�a]�G��Y��Yy�eք:}e�>I�q��u � 5�?��u�)ݾ� �uъA����?9�u�wC��uh�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����%J$@�P�*Q�QDB�Z�� �ޢ��G@�H�&*&@���������Z��R3M�m,�?��RW��?��������2Q�Z;i>:Q��Z��kĄG��.@��<ܷHG���=�X�?�Z��b��9/�?B���\�&1��-�?BQ���@ Q�E:�Q��wA�P���9?�P�r�9?�P�;���Q�D���Q���@"Q���@zLq�Lq�Lq�Lu~�|@�A��X��B� B��A���=*B��@9�A��A���7�A����A�"CE�)*CU�cb=RCYCY�CYi�emAI�emAY�1I�AGe�>� 9� I� (kGi� "�@�� =�� �� �� ^�; � ��E�0*�yj,$ ��E�A��Y��Y��Y��]��� �YY�Yy�Y��]��5)�YY}����@�}�K��@y}�X.Ѽ�}��U%��}�H������p�?�������?��� �`�?����������`�*�?��� r̝?����%�?���������������?)~����@ ~���^;I~�ɫ�髩)�� �����I��Y���@y���nG�-DNmea in: $SNTTA,,,,,171050.83*57 ai�@a��� am�@a��� aq�@a��� ae�@a��� ����@5^�I�?����Mb��㥛� ������b>����� �����)��I��i�������Mb@�����Mb@�����Mb@����©������� ����@)���@I����@i���@����������f�@�����M�O=Y���QU��>�������a��G������y���|�}��>I��� �:��G� 5�?�� �:���+ݾ� ���A���?9��wC����: �A�>)�r�:�mEyAdded new target pos. range: 49.079998 m, bearing: 288.385804 deg, deltaT: 10.149464 s, approachRate: -0.313317 m/s, LOS rate: 1.690216 deg/s, posRepo size: 4�WA�WAXA XA�WI:WI2WI*WI�VIUU���`=�H@UU�������?�A�����B� B��A��c=*B3@9�A�A��7�A ��A"C �)*C _Yh=RC C�CY��U9I�!GER>�$O�yj,����E�AI�m@A)�m?Aɫ�髹)�� ������I��Y���@y��nGI�y)�y����M�a=Y����QU��>�����a��G�����y�����}��>I������� 5�?���i-ݾ� ���A����?9���wC�����: ���A?)���W��W�X� X�W:W2W*W�VU U ����,��?�A5���B9 B9�A=F=*B=a?9�A9�A=7�A=J ��AA"CE�)*CMĎg=RCICI�CQY�E<Q9I�iG�>��5�yj,e��E�A�|i|�@Y}6^��@�}6��@y}6'�Ҽ�}6�&��}6H�����c'�?���`y��?�����x�?�������������?����1�?��� GO�?���`e����������?)~6^��@ ~6�^;I~6��CɫA�A)�I �II�Q��mD ����m�����m�����m��� �m>9:Y�m[1y�mݏ:��m��6�9u@Y����@y��7nG�ÝMb>�Ý����Ý�D�iÝ3�@�Ù ĝ��@)ĝ��@Iĝ�@iĝ��@��(��M�K=Y�aѹQU��>�����a��G�����y���6�}��>I�����ލ 5�?���a/ݾ� ��=�A����?9���wC���l�: ��g�?)���W��W�X� X��W�:W2W*W�VUU ��� d�?�A50o��B1 B1�A=�&=*B=>9�A9�A=��7�A=,��A9"CE�)*CE�k=RCACI�CI��U>��U5?ܱ9ܱIܵ`jGiܵ�@�ܱ�ܱ�ܱ�ܵ9�; ݵ��E)�q�I�q�i�q���q���q���u��4Y�%�L9I�1GM1>�5`�yj,�+�E�AY}2ß�@�}2y��@y}2�м�}2�p��}2H����`��?���@���?����� �?����/���������?����~[�?������?����TK�����@���?)~2ß�@ ~2�T^;I~2��Cɫ9�9)�9 �9I�9Y�]Q�@y�e�mG����μM�Y=Y��K:QU��>�������a��G������y���º}��>I�����2� 5�?���:1ݾ� ��`�A�� �?9���wC����: ����?)���W)�W)X) X)�W1:W12W1*W1�V9U9U=����o�?�Ae*��Ba Bi�AmM�<*Bm�=9�Ai�Am�7�Am���Ai"Cu�)*C}dm=RCyCy�CyY�M9H9I�qG�>��G�yj,�_E�E�AY}2x��@�}2.��@y}2"�м�}2�� ��}2H�����f�?���`���?�������?���������@϶?���@��?��� ��?�����8���������?)~2x��@ ~2 y^;I~2��CɫA�A)�A �II�I��]�=i�]p=��mE ����m�����m�����m#�� �mS9:Y�m�V1y�m�:��m}6Y���@y�InG���a=i��R=��U��=��U= >��UQ��i�Q��Q �Q)�Uƣ@I�U��@i�Uƣ@��e�<Mm3=Y�mo;�QUm�>��q��q�au�G��q��yy�}RG9}}�>Iȁ����:�Ņ�� 5�?����:�Ņr3ݾ� ƅ��A����?9ƅ�wC�Dž)�: ȅ��?)ȅs�:�W��W�X� X��W�:W�2W�*W��V�U�U��������?�A����B� B��A��-=*B��=9�A��A�)�7�A����A�"C��)*C��l=RCC�CY��C9I�1G]T>ܩ 9ܩ Iܭ 3iGiܭ ��@�ܭ =�ܩ �ܩ �ܭ 2�; ݭ ��E�,u�yj,�G_�E�A�|@�|B4<Y}~���@�}~Dϙ@y}~��Ҽ�}~�� ��}~H����`��?�������?����!ğ?���`����� ַ?���`�s�?�����Y�?��� 1���������?)~~���@ ~~�^;I~|ɫ���)�� �����I��Y�5o�@y�5�lGai=�aiE amE�amE aqE�aqE aeE�aeE ��E����Q��?���������~j�t�h���E�u=��E��� �E�D�)�AI�Ay�E�ˡE����?�Zd;���Q���?��E�=��E�y���E\= �E�A)�E~AI�E�Ai�E�A��E�����E�A��eŽMeJ=Y���"�QU��>�������a��G������y���<}��>I�����%� 5�?���{5ݾ� ����A���?9���wC���/�: ����:)���W!�W)X) X)�W):W)2W)*W1�V1U1U5���@�4@zL]=�=�L]=�=�L][��@�L]*w�@�A��e��B� B��A�[k;*B�Z99�A��A�0�7�A�� ��A�"C��)*C���]=RC�C��C�I��G�:>�+��yj,�y�E�A��mf ����m�����m�����mq�� �m�;:Y�m�X1y�m/�:��m�6ɫ�髙)�� �����I��Y��d�@y���lG���w�M d=Y� ���QU �>�����a�G����y����}?I�!��%�� 5�?��%'7ݾ� �%NjA��-�?9�%�wC��%ض: �%/�<)�!�W��W�X� X��W�:W�2W�*W��V�U�U������@�R B*** querying acoustic contact ***�P �P zL�L�L�L�A5Y7��B1 B1�A=s;*B=O99�A9�A=6�7�A=���A9"CE�)*CE��_=RCICI�CII�aG}�=���yj,���E�AY}2g�@�}2�@y}2ަϼ�}2y��}2H���� m �?���@i��?���`�P�?����������5˸?�������?����%��?����E������ Q��?)~2g�@ ~2\�^;I~2��Cɫ9�9)�9 �E����I�AI�Y)�]@AY�e@y�elGmZ****** received transponder code query ******mF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******I��)����5��>��51���57�=i�5z�@��1 �5�@)�1I�5ƣ@i�5��@��E+�MEG=Y�E�v:QUM�>��I��I�aM�G��I��Qy�]�<}]�>I�a��e�:��e܂ 5�?��m�:��e'9ݾ� �e�A��m�?9�e�wC��e|�: �e��:)�et�:�W��WIXI XQ�WQ:WQ2WQ*WQ�VYUYU]����p @zLy�Ly�Ly�L}4��@�A����B� B��A����*B�79�A��A�4�7�A����A�"C��)*C���P=RC�C��C�I��G= >�Q9�QI�U�hGi�U:�@��Q��Q��Q��U.�; �U��E�@��yj,G̬�E�A�|i|�@Y}J��@�}Jl#�@y}J�ֶ��}Jl3��}JH����`��?���`k��?���@��?���`V�����`�i�?�����^�?����\ږ?����-]������#��?)~J��@ ~J�^;I~J��Cɫ�髑)�� ��I����>���������������� �v:Y��W1y�č:�� "6)���;�9��Y��y����a=ɮ�p=�xDUSBL response received:!U1,P EFB,000,005A3,186,80,80,86,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 )�=�= �=�=Y�m��;QUu�>�����a��G����y��{<}��>I������ 5�?���5;ݾ� �� �A��}�?9���wC�����< ����<)���W1�W1X1 X9�W9:W92WA*Wi�VqUqU}�����@zL�L�L�L��@�Au����By By�Ay*B�79�A��A�1�7�A���A"C �)*C ��:=RCC�CI��G�i>���yj,T���E�AY}F��@�}F7-�@y}Fؔ���}Fݤ%��}FH�����a��?���@^��?����I��?�����������ĺ?���`�n�?��� E2�?����!���������?)~F��@ ~F�^;I~F��Cɫy髁)�� ��I��Y��N�@y��^kG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��E�>��EE����E+�i�E��@��A �E��@)�Er�@I�E��@i�Er�@��U|��MU�<Y�]��;QU]�>��Y��a�ae�G��a��ay�me7;}m�>I�q��}�:��uB 5�?��}�:��uI=ݾ� �u,�A����?9�u�wC��u �: �u{�:)�uu�:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L����@�A�����B� B��A�(?�*B��49�A��A�'�7�A�^��A�"C��)*C�qj9=RC�C��C�i̥��I̥���̵���̵��������i�%gmGI�9i�I��u�Z�ٺq��}hMAI��G �>�i 9�i I�m hGi�m ��@��i ��i ��i ��m /�; �m ��E�ǿ�yj,����E�AY}F{�@�}F1,�@y}Fj@���}F����}FH����@���?�������?�����.�?���`/������WȺ?��� E?��� ��?�����:����� ���?)~F{�@ ~F~�^;I~F��CɫY�Y)�Y �]���I�a�ޝ�=iޝ%=��� ����������������� ��F:Y�DW1y�Y�:��.6)��;Y�%��@y�%�kG-xDUSBL response received:!U1,R,EAB,000,005A8,185,80,80,87,FF -Fpublishing direction and range info��-:\�>��)ɰ-=�=�-+�> �))�-�CI�)y�-�EB��-�aP.����?�cs����?��������ٱ)��Ep=i�E�=����y�&1��?/�$�����~j�t�����`�<����� ����)��I��y���k�t��?�����������Q��?��� 0=����̽����u< ���A)�� AI���Ai���A�������A��m%�<MmQ=Y�uK�;QUu�>��y��y�a}�G��y��yy�㠹}��>Iȉ�ō| 5�?�ō>ݾ� ƍ<�A����?9ƍxC�Ǎ��: ȍ{�:)ȉ�W�W)X) X)�W):W)2W1*W1�V1U1U5���@ �@�PA*QE�EB�ZE����ךG@�C���,@���������ZE�aP.����?�cs����?��������2QE:\�>:QA�ZE�*lϔW\3@��l�F��J��5�?�ZE�o�<���?�i�o��� .�1z?BQEj��@ QE�5�QE�A�PE��9?�PE��9?�PE:���QE;���QE��@"QE��@zL� �=�L� �=�L��ʣ@�L�W�i@�A��n��B� B��A�!��*B��59�A��A��7�A�J��A�"C��)*C� v:=RC�C��C�I�!Ge4>�5��yj,%v��E�A�|$�|&�;Y}v��@�}v_#�@y}v����}vDZ��}vH����`���?����~��?���@)x�?��� \�����@Z��?������?���`D#�?�����������@���?)~v��@ ~v��^;I~v��Cɫ���)�� ��I��Y��G�@y��UkG�uTNmea in: $SNTTA,0.044916,,,,171055.28*43 �mA�mA���*��M�L=Y����;QU��>�������a��G������y���7�}��>I������:����x 5�?����:����?ݾ� ��K�A����?9��xC�����: ����:)��v�:�m%qAdded new target pos. range: 49.380005 m, bearing: 293.084237 deg, deltaT: 4.421895 s, approachRate: 0.067846 m/s, LOS rate: 1.062538 deg/s, posRepo size: 4�W!�W!X) X)�W):W)2W)*W1�V1U5������H@U5�������?zLQ�LQ�LQ�LU��i@�Ae�:��Bi Bi�Am�M�*Bm�49�Ai�Au�7�Au��Aq"C}�)*C}%�>=RCyCy�C�I��GU>�y�zj,�9�E�AY}2��@�}2��@y}2/�j��}2�?��}2H������0�?�������?��� w�?����+�������?���@� �?��� dV�?�����栿������?)~2��@ ~2��^;I~2��CɫY�Y)�Y �]����I�Y������������������� ��1:Y��Y1y��:��F6�9�@Y���@y��#kG�ý`e=�ý�D��ý\�=iýQ�@�ù Ľz�@)Ľ\�@IĽz�@iĽz�@����I�M�K=Y���h;QU��>�������a��G������y��Ü�}��>I������u 5�?����@ݾ� ��[�A����?9��xC���b�: ��)���W�WX X�W!:W!2W!*W!�V!U)U-����²�?zLA�LA�LA�LE��i@�A]�BY BY�Ae���*Be549�Aa�Ae�7�Ae���Aa"Cm�)*Cu�;E=RCqCq�CqI��G��=��9��I���fGi����@������������ �; ����E�g� zj,.�E�AY}2���@�}2��@y}2�U��}2�-��}2H�����ȱ�?���@���?��� ��?�����������㏹?���`�?���`��?���`[D�����`��?)~2���@ ~2m^;I~2��CɫY�Y)�Y �]���I�YIޙ)ޝ?AY��{�@y��ZjG���>i��=��U�Q�M]R=Y�]^;QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��u�r 5�?��u�Aݾ� �uj�A��}�?9�u"xC��u@�: �u��:)�q�W��W�X� X��W�:W�2W�*W��V�U�U�����.��?zL��L��L��L�v~i@�Ae�|��Ba Ba�AeS�*Be�19�Aa�Am��7�Am���Ai"C��)*C��K=RC�C��C�I��G�>���zj,EH�E�A�|i|�@Y}>]�@�}>��@y}>#�6��}>*���}>H�����Cv�?�������?���@C�?���`�������V�?����c|�?���`eц?������������}��?)~>]�@ ~>Y_^;I~<ɫ���)�� ������I����%K ����%�����%�����%s�� �%�9:Y�%�X1y�%/�:��%6Y�5��@y�5�jG ��鿱)õ�= õ�=���K?���>���茶i��f�@��� ��)��z�@I��Ը@i���� m,<M>=Y�H�;QU�>�����a�G����y���}��>Iȩ����:�ŭo 5�?����:�ŭMCݾ� ƭ|�A����?9ƭ.xC�ǭ��: ȭ��:)ȭw�:�W�WX X�W:W!2W!*W!�V!U!U-����\��?zLa�La�La�Le�vi@�A�d���B� B��A���*B��29�A��A�ֿ7�A����A�"C��)*C��N=RC�C��C�Y��Y?9I��G�j>� 9� I� fGi� �@�� �� �� �� =�; � ��E)�q�I�q�i�q���u�=��u�=��u��O3�bzj,C�a�E�AY}:q�@�}:'��@y}:�k��}:#��}:H�����w�?�������?������?��� �������[�?����Y��?��� j͂?��� �������?)~:q�@ ~:�&^;I~:��Cɫ9�9)�9 �9I�9Y�}]�@y�}6jG�����n����?���Q����I+��?���V�>������ ��94=)��I��y���{�G�z�?��K7�A���~j�t��?���ף=���������< ���A)���AI���Ai��dA�������A���%��M�N=Y���;QU��>�������a��G������y��M�7}��>I���Vk 5�?��EEݾ� ���A�� �?9�=xC��D�: �^�:)��W1�W1X1 X1�W1:W12W9*W9�V9U9U=���`���?zL]�>�L]�>�L]�Ȩ@�L]Čs@�Au�l��Bq Bq�Au#(�*Bu�09�Ay�A}��7�A}l��Ay"C��)*C��M=RC�C��C�Y�vA9I�9G]T>�8zj,Y�{�E�AY}2 ��@�}2��@y}2O|軙}2���}2H��������?���`G��?���`�>�?����M���������?���`���?����y}?��� 3������`S��?)~2 ��@ ~2�+^;I~2��CɫY�Y)�Y �]���I�YY���@y���iG���=i��R=�� ! ���� ����� ����� �� � t6:Y� �V1y� �:�� O6I�)���%a=i�%%=��ּM�M=Y�Ϋ;QU��>�����a��G�����y��:-;}��>I������:���gg 5�?����:���TGݾ� ����A����?9��LxC���w�: ����:)��x�:�W�WX X�W:W2W*W �V U U���@I@zL)�L)�L)�L-Šs@�AE�Ч�BA BA�AE�R�*BE�/9�AI�AM��7�AM9��AI"CU�)*CUu�I=RCQCQ�CYY�e?9I�qG�;>�R %zj,E���E�AY}21 �@�}2��@y}2N����}2R���}2H����`L�?�������?���`�x�?���`�������G<�?���@��?���`�Tu?���� ס���� ���?)~21 �@ ~2^;I~2��CɫI�I)�I �M����I�IY�}�@y�}�iG������?AI��=)��4=�����>����>���t��i���@��� ����@)����@I����@i����@���E�M�X=Y��"�;QU��>�����a�G����y� ��;} �>I����c 5�?��NIݾ� ���A��-�?9�ZxC��Y�: �n�:)��WQ�WQXQ XY�WY:WY2WY*WY�VaUaUe�����!@�RmB*** querying acoustic contact ***�Pi�PizL��L��L��L�l�s@�A�*�B� B��A��a�*B�:/9�A��A�|�7�A����A�"C��)*C�o�A=RC�C��C1ܙ9ܙIܝ�dGiܝ �@�ܝ=�ܙ�ܙ�ܝM�; ݝ��EY� �:9I�!G= >��J+zj,�[��E�AY}2("�@�}2�/�@y}2�)F��}2����}2H�������?��� ��?�����֡?������������?�����{?��� 2�h?��������������?)~2("�@ ~2�`^;I~0ɫ9�9)�9 �9I�9Y����@y��[iG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5� ����5�����5�����5 �� �5�B:Y�5�Y1y�5�:��5*6)�5��;�9=���U���M]D=Y�]y�;QU]�>��a��a�ae�G��a��iy�m��;}}�>I�y����:��}�_ 5�?����:��}}Kݾ� �}ڌA����?9�}jxC��}�: �}�:)�}y�:�W��W�X� X��W�:W�2W�*W��V�U�U���� "u @zL��L��L��L��t@�A�%���B� B��A����*B��.9�A��A�V�7�A����A�"C�)*CUn7=RCC�C Yϝs89I��G�B>�$52zj,_B��E�AY}5Y7�@�}5E�@y}5�0��}5����}5H����`a��?�������?����&S�?���@������`���?����q�s?���`��F?��� z��������?)~5Y7�@ ~50^;I~1I��)��AAɫ�)� ����I�Y�5��@y�5diG=xDUSBL response received:!U1,P EAB,000,005A8,185,80,80,87,FF =Command Ack=BRequesting micromodem ping code 2i�9��9��E�=i�E�=I�A)�A�M�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��uj�=��u��=��u��i�u��@��q �u��@)�u&�@I�uE�@i�uE�@����:M�)=Y����;QU��>�������a-�G��)��1y�e�;}e�>I�i��m�Z 5�?��mNݾ� �m��A��u�?9�m}xC��m+�: �m{�:)�i�WY�WYXY Xa�Wa:Wa2Wa*Wa�ViUiU����� � @zL��L��L��L�#5t@�A��#��B� B��A�O}�*B��/9�A��A�*�7�A����A�"C��)*C�e/=RC�C��C�I��G��>ܡ 9ܡ Iܥ dGiܥ k�@�ܥ =�ܡ �ܡ �ܥ O�; ݥ ��E��\8zj,@��E�AY}2�H�@�}2�V�@y}2E��:�}2��)��}2H������G�?���@���?��� �2�?����������`�E�?�����i?�����3Y������=����� ���?)~2�H�@ ~2�(_;I~0ɫI�I)�I �M����I�IY�}&�@y�}�hG鮁ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �� Y ���� ����� ����� "�� � UO:Y� DW1y� Y�:�� a6)� [�;����ˡE����?�E���Ը��� �rh������'=����ƽ ��C��)��I��y����l����?B`��"۹��l����?����=����ν����= A)�AIAi5A������zA��]�C�M]c=Y�e��;QUe�>��a��i�am�G��i��qy�un�;}u?I�y����:��}�W 5�?����:��}Oݾ� �}�A����?9�}�xC��}��: �}�:)�}z�:�W��W�X� X��W�:W�2W�*W��V�U�U�����#@zL���=�L���=�L���@�L�&�f@�A�@��B� B��A�ա�*B�q*9�A��A��7�A�^��A�"C��)*C�(=RCC�C I�G= >�P�>zj,����E�AY}2�U�@�}2�c�@y}2��;�}2��(��}2H���� ���?����d��?���`7)�?����]�����`r��?������A?����v�p���� "���������?)~2�U�@ ~2ʡ_;I~0ɫ9�9)�9 �=���I�9Y����@y��!hG�xDUSBL response received:!U1,R,E35,000,005AD,186,80,80,79,FF �Fpublishing direction and range info���K�>���ɰ��=����> ��)����BI��y���FB��������w�?Qw�P���?��������ٱ����P+�M�e=Y��C�;QU��>�������a��G�����y���;}�>I� �� U 5�?�� �Oݾ� � 2�A��%�?9� �xC�� �Y; � Z;)� �WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]���`��@�Pi*Qm�FB�Zm�O��Z��F@6���!_3@���������Zm�����w�?Qw�P���?��������2QmK�>:Qi�Zm�B�_��[8@0IѠԤE��@��-{��Zm��Ͱ��`�?+��M���Sv�G��BQm�2�@ Qm&-�Qm��A�Pm��9?�Pm��9?�Pm7���Qm:���Qm1�@"Qm��@zL��L��L��L�$&g@�A�J啼B� B��A�b��*B��)9�A��A�о7�A���A�"C��)*C��\#=RC�C��C�I��G��=�SoEzj,���E�Ai�J�lGI�Pi�d�� A3�ٺ��U(AY}��^�@�}�yl�@y}�G��;�}����}�H���� ���?���`@��?����Eѣ?����E���������?����t�]����`�Py�����ʕ����� ���?)~��^�@����=i���=��-� ����-�����-�����-��� �-�?:Y�-�W1y�-č:��-��5�9U@ ~�H�`;I~���Cɫ)�1)�1 �1I�1�A9�AI�E�bGi�Ew�@��A��A��A��E6�; �E��EY�m��@y�m|hG�TNmea in: $SNTTA,0.052239,,,,171059.74*47 ��%=i�p=�ý9�<�ý(\>�ýt�=iýQ�@�ù Ľƣ@)Ľ\�@IĽ\�@iĽ\�@�����<M�$=Y����;QU��>�������a��G������y��m;}��>I�����Q 5�?���ZQݾ� ��[�A����?9���xC���n�: ����:)���m-qAdded new target pos. range: 49.679996 m, bearing: 299.366317 deg, deltaT: 4.383308 s, approachRate: 0.068440 m/s, LOS rate: 1.433182 deg/s, posRepo size: 4�W)�W)X1 X1�W1:W12W1*W1�V9U=��� �H@U=���@q��?zLY�LY�LY�L]�=g@�A�'��B� B��A�ޭ�*B��,9�A��A���7�A����A�"C��)*C��< =RC�C��C�I�G5P>���Kzj,<�0�E�A�|�|4<Y}6\j�@�}6x�@y}6 ��<�}6Z ��}6H������P�?���`��?�������?��� �������^�?���@b�o�����������b����������?)~6\j�@ ~6��`;I~6��Cɫ9�9)�9 �9I�9Y�}��@y�}hG������M��=Y��;QU?���� �a �G�� �� y�A�;}?I�!��-�:��%�N 5�?��5�:��%4Rݾ� �%u�A��5�?9�%�xC��%��: �%��:)�%{�:�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUm�������?zL��L��L��L��Ug@�A���B B�AN��*B_(9�A�Ak�7�A%h��A!"C%�)*C-<=RC)C)�CQI�aG��=���Rzj,B�J�E�AY}ZIs�@�}Z���@y}Z��<�}Z��}ZH��������?����_��?����,N�?�����������{��?������u����`dւ������ߠ�����4��?)~ZIs�@ ~Zh�`;I~Xɫ�髉)�� ��I��Y��ͼ@y��JhG���` �������������������� ��z;:Y��DW1y��Y�:�����6�Åh�>�Åt<�Å�&�iÅ@�Á ąE�@)ą&�@IąE�@ią&�@��n.<M�@=Y�4N;QU��>�����a��G����y�(;}��>Iȱ�ŵ5K 5�?�ŵ]Sݾ� Ƶ��A����?9Ƶ�xC�ǵk�: ȵܹ:)ȱ�WQ�WYXY XY�WY:WY2WY*W��V�U�U����@��?zL��L��L��L�#lg@�A�<dž�B� B��A� ��*B��+9�A�A4�7�A!��A"C �)*C ��=RC C �Ci�I�����I�qG��>�E 4�>9�A I�E �bGi�E &�@��A ��A ��A ��E �; �E ��E���Xzj,yYd�E�AY}:�v�@�}:���@y}:Y�,<�}:� ��}:H�����q��?����[��?���@ld�?����8�����@0ǽ?���@!?z�����q��������⡿���`���?)~:�v�@ ~:��`;I~:��Cɫ9�9)�9 �9I�9Y�}Ƽ@y�}AhGI��)��I�!)�%@A����/�$��?/�$����� �rh�?���,=����� ��C�<)��I��y���J+��?X9��v���:��v���?�����=����������T< ��)���AI���Ai���A�������A�����M�E=Y���S;QU��>�������a��G�����y��:} �>I����:��RG 5�?���:���Uݾ� ���A���?9��xC���: ���:)�|�:�WA�WAXA XA�WA:WA2WI*WI�VIUQUU��� T�?zLmc">�Lmc">�Lm�2�@�Lm}{@�A��2��B� B��A�繽*B��*9�A��A �7�A ���A "C�)*C��=RCC�CI�QG�>�X�^zj,77~�E�A�|i|�@Y}6gv�@�}6��@y}6�@H<�}6����}6H����`��?����S��?����s+�?����������ɽ?����L�����`������ =�������f��?)~6gv�@ ~6?`_;I~6��CɫY�Y)�Y �YI�YY��*�@y���gG ��)� �= � �=��%C ����%�����%�����%��� �%*9:Y�%<`1y�%8�:��%��5��=/L�M=W=Y�EӐ;QUE�>��A��A�aM�G��I��Iy����}��>I������C 5�?���xXݾ� ����A����?9���xC����: ���:)���W�WX X�W:W2W *W �V UU���`=U�@zL)�L)�L)�L- �{@�AE�v�BA BA�AE��*BM=(9�AI�AMý7�AMR��AI"CU�)*CU�A=RCYCY�CYI�yG��=�ɼezj,���E�AY}2/m�@�}2�z�@y}2&.g<�}2��$��}2H������f�?������?���`cH�?���`�������:��?�����8�������匿���������������?)~2/m�@ ~2��^;I~2��CɫI�I)�I �M����I�IY�}�@y�}OgG��=�x>��=�����=+��i�=z�@��9 �=�@)�9I�=�@i�=�@��M�H�MUI=Y�U8�;QUU�>��Y��Y�a]�G��Y��ay�ex5�}e�>I�i��u�:��m�? 5�?��u�:��m�Zݾ� �m��A��}�?9�m�xC��mV�: �m��:)�m}�:�W��W�X� X��W�:W�2W�*W��V�U�U���� �u@��9��I��daGi��2�@��������������; ����E)�q�I�q�i�q���q���q���u��44zL��L��L��L��w{@�A�*�i�B� B��A���*B�(9�A��A���7�A����A�"C��)*C |=RC C �CI�)GE>���kzj,>��E�AY}2�b�@�}2�p�@y}2��<�}2�h��}2H����� �?����O��?����X��?������������7�?���@�o������vU������-ˣ����`���?)~2�b�@ ~2��^;I~0ɫ9�9)�9 �=���I�9Y��ʻ@y��gG������AA������M�R=Y����;QU��>�������a��G������y�� U�}��>I�����H< 5�?���a]ݾ� ��͍A���?9���xC����: �� �:)����i��=��%F ����%}����%}����%��� �%g9:Y�%kS1y�%Ԋ:��%F6)�%i�;�9-��WQ�WQXQ XY�WY:WY2WY*WY�VaUaUe�����@�RmB*** querying acoustic contact ***�Pi�PizL��L��L��L�cc{@�A���\�B� B��A����*B�&9�A��A�A�7�A�e��A�"C��)*C�D�=RC�C��C�I��G��=���rzj,"���E�A�|�|�;Y}2�^�@�}2�l�@y}2��<�}2���}2H���� G��?�������?��� ��?����6��������?����P�������㠑����������������?)~2�^�@ ~2+�^;I~2��Cɫ9�9)�9 �=����I�9Y�}��@y�}�fG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���=���nA����� ���� j�<�� `�i� ̜@�� � &�@)� I� i� &�@��9�M8=Y�%O:;QU%�>��!��!�a-�G��)��-��@��1y�5뎺}5�>I�9��E�:��=8 5�?��E�:��=-`ݾ� �=ۍA��E�?9�=yC��=��: �==�:)�=~�:�Wi�WiXi Xi�Wq:Wq2Wq*Wq�VqUyU}�����" @zL��L��L��L��W{@�A�'�N�B� B��A�!��*B�'9�A��A���7�A����A�"C��)*C��� =RC�C��C�I�9Gu>��9��I���`Gi����@��������������; ��|�E���xzj,����E�AY}2�h�@�}2�u�@y}2u��<�}2����}2H���� �=�?�������?�����)�?���������@_�?���@8�������/2������a:���������?)~2�h�@ ~2��^;I~2��Cɫ9�9)�9 �=���I�9Y�}W�@y�}}fG�xDUSBL response received:!U1,P E35,000,005AD,186,80,80,79,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 ��� �������������������� ���4:Y��DW1y��Y�:���E�5)��|�;����#��~j��?���S㥫����S㥛?����=���/]� ��/�<)��I��y����MbX9�?1�Zd��k�t��?���ʡ=���"۽��� 0= ��)��^AI���Ai��dA�������A�����M.=Y��:QU�>��A��A�aE�G��A��Iy�M�;}M�>I�Q��UH4 5�?��U�bݾ� �U�A����?9�UyC��U�; �U��;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����@zLU#>�LU#>�LU�%�@�LUn�y@�A��'@�B� B��A�� �*B��&9�A��A���7�A�� ��A�"C�)*C��=RC C �C1Y�M h19I�i G� �>��"zj,�|��E�AY}:zz�@�}:0��@y}:zْ<�}:�v��}:H���� �Ͻ?���`���?����w#�?���`������@�?����}猿�����Z������|-���������?)~:zz�@ ~:v�^;I~:��Cɫ9�9)�9 �=����I�9Y�}6�@y�}TfG鮅p=ɮ�=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=i���=I��)����}aQ�M}�=Y�}�:QU�?�����a��G����y�b�;}�?Iș�ŝ�1 5�?�ŝ:dݾ� Ɲ$�A����?9ƝyC�ǝ�: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����&7@zL��L��L��L���y@�A �1�B B �A ��*B!9�A�Ab�7�A� ��A"C�)*C!=RCC�C!Y� �19I�IG�9>�� �zj,�W�E�A�|i|ɫy�y)�y �yI�yY�� �@y��"fG�xDUSBL response received:!U1,R,E15,000,005B1,187,80,80,54,FF �Fpublishing direction and range info����a�>���ɰ���=鰽1�> ��)����BI��y���GB�����\fpo�?����W��?��������ٱ��y9�yI�}�_Gi�}��@��y��y��y��}�; �}��E �Q�Q��]=�>��]$>��]ף�i�]@��Y �]\�@)�YI�]&�@��u� ����u����u����u��� �u3G:Y�u�T1y�u��:��u�5)�uT�;i�Y��*+�M�,=Y����QU��>�����a��G����y�����}��>I������:����- 5�?����:����fݾ� ��P�A����?9��/yC�����: ��b�:)���:�Wa�WaXa Xa�Wa:Wa2Wi*Wi�ViUiUu�����+@�P�*Q��GB�Z�� ^��F@TN1��4@���������Z���\fpo�?����W��?��������2Q��a�>:Q��Z�����D�9@���RUE����-����Z��j�^S��?���xcY��]E�#��BQ� >�@ Q��*�Q��A�P���9?�P���9?�P�6���Q�7���Q� �@"Q�1�@zL��L��L��L��A���"�B B�A�*B%�%9�A!�A% �7�A%O!��A!"C-�)*C-��=RC)C1�C1Y�-�19I�AG]�>�7�zj,�;3�E�AY}r��@�}rѲ�@y}r�Տ<�}r?,��}rH�����b"�?���@?��?����u�?����������`�L�?�����/�������������v�������~��?)~r��@ ~r{^;I~r��Cɫ���)�� �����I��Y�5��@y�5fG��TNmea in: $SNTTA,0.056757,,,,171104.16*43 �� ���Mh=Y���QU�>�����a%�G��!��)y�-lq<}5�>I�9��=+ 5�?��=�hݾ� �=q�A��M�?9�=;yC��=>+; �=w;)�9�mqAdded new target pos. range: 49.920002 m, bearing: 301.236723 deg, deltaT: 4.549067 s, approachRate: 0.052759 m/s, LOS rate: 0.411163 deg/s, posRepo size: 4�W�WX X!�W!:W!2W!*W)�V)U-������H@U-��� ���?zLI�LI�LI�LM�oz@�A]���Ba Ba�Ae��*Be'"9�Aa�Am��7�Am�!��Ai"Cu�)*Cuχ=RCqCq�CyY�Ep/9I�qG�9>���zj,M�E�AY}2H��@�}2���@y}2�F�<�}25 5��}2H��������?���@Ҹ�?�������?����C���������?����������@�H�����`מ���������?)~2H��@ ~2��^;I~0ɫ9�9)�9 �=����I�9Y�}j�@y�}ZeGI��)���A���a=i��a=��Qi�Up=��e; ����e~����e~����e��� �e�8:Y�eT1y�e@�:��e��6�9m@�����=����P�����=i��(�@��� ���@)���@I���@i���@����:�M�N=Y��JE:QU��>�������a��G������y����;}��>I������:����' 5�?����:����jݾ� ����A���?9��HyC���=�: ����:)����:�W!�W!X! 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�u�EI�UAA)�Q����\?����z?���n>i����@��� ��)��I��i��-�@���2�M�D=Y��":�QU��>�������a��G������y���}��>I������ 5�?���]nݾ� ����A����?9��gyC���4�: ���:)���W�WX X!�W!:W!2W!*W!�V)U)U-���@ �?zLI�LI�LI�LM�o@�Ae%Ī�Ba Ba�Ae�(�*Bed!9�Aa�AmZ�7�Am�"��Ai"Cu�)*Cu]��<RCqCq�CyI��G��=��zj,%z��E�A�|i|�@ɫy�y)�y �}���I�yY����@y��rdG)�M�= �I��m� ����m�����m�����m�� �m�@:Y�m0Y1y�m��:��m�6��}�k�M�P=Y����QU��>�����a��G���� y����}�>I���� 5�?���oݾ� ���A��%�?9�qyC��ܹ: ���:)��WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]���`��@zLq�Lq�Lq�Lq�A��ۊ�B� B��A�@�*B�W9�A��A��7�A��"��A�"C��)*C����<RC�C��C�I��G��>��j�zj,�U��E�AY}2Y��@�}2��@y}2+>�<�}2���}2H��������?��� ��?���`Ⲣ?����@�����`,��?����������g������L¡��������?)~2Y��@ ~2d�^;I~0ɫ9�9)�9 �=���I�9Y��>�@y���cG������@A���J>����=��<i�3�@�� ��@)��@I�i��@�� [�MQ=Y�%�.�QU%�>��)��)�a-�G��)��1y�5�O�}=�>I�9��E�:��= 5�?��M�:��=�pݾ� �=��A��M�?9�={yC��=#�: �=��:)�=��:�Wq�WqXq Xq�Wy:Wy2Wy*Wy�VyU�U�������@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�7o@�A���V�B� B��A��M�*B��9�A��A���7�A��"��A�"C��)*C��<RC�C��C�I��G}�=�99�9I�=�]Gi�=V�@��9��9��9��=��; �=^�E)��I��i�釉�釩�����&�4�ۖ�zj,i8��E�Aɫq�q)�y �}����I�yY��F�@y���cG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���R=i��%=��Qi�U=��e ����e�����e�����e2�� �e6:Y�e�Y1y�e�:��e 6)�e��;�9u��������Q��?�~j�t����l���������<����ļ ����)��I��y�������K�?:��v��������Mbp?���^�=����Խ����; ��)��I��dAi��dA����������:M�0=Y�����QU��>�������a��G������y�����}��>I���� 5�?���sݾ� ���A�� �?9��yC���: �+�:)��W1�W1X1 X1�W1:W92W9*W9�V9U9UE����� @zL]� >�L]� >�L]�̭@�L]�@�Auj�Bq Bq�Au�L�*Bu,9�Ay�A}�7�A} #��Ay"C��)*C�ڴ�<RC�C��C�ȋȊ�̑�̑I��G��>�U|�zj,} �E�A�|4<�|4<Y}6��@�}6¾�@y}6\4u<�}6'7��}6H���� ���?������?�������?����������@ߥ�?����?������@������@F⦿��� ���?)~6��@ ~6�d^;I~6��CɫY�Y)�Y �YI�YY��X�@y�� dG�xDUSBL response received:!U1,P E15,000,005B1,187,80,80,54,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 ��������Uy�;Mn=Y����QU�>�����a�G����!y�%�C�}%�>I�)����:��-� 5�?����:��-�uݾ� �-ÎA��M�?9�-�yC��-��< �-��<)�-��:�W�WX X�W:W2W*W�VUU%�����@zLY�LY�LY�L]�@�A���B� B��A��J�*B��9�A��A���7�A�#��A�"C��)*C�r��<RC�C��C�I��G�F>�l��zj,���E�AY}6m��@�}6#��@y}6'�t<�}6�~(��}6H������|�?���@J��?����֥?��� ������`���?����u������@������� � ����� (��?)~6m��@ ~6R{^;I~4ɫ9�9)�9 �=���I�9��9��I��|]Gi���@������������Y�; ��*�EY�@y�icG�=�Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �����������������6�� ��0:Y��U1y���:��� 6)��;��������=���̽i���@�� ���@)���@I���@i���@���M�4=Y�B��QU��>�����a��G����y�1=�}��>Iȩ�ŭ[ 5�?�ŭ%xݾ� ƭɎA����?9ƭ�yC�ǭ�: ȭ+�:)ȩ�W��W�X� X��W�:W�2W*W�VU!U-������@zLA�LA�LA�LE�@�Au�u�Bq Bq�Au�Z�*B}Q9�Ay�A}6�7�A} #��Ay"C��)*C���=RC�C��C�I��G*>�.��zj,D�5�E�AY}:Ƥ�@�}:|��@y}:CA\<�}:���}:H�����A �?�������?��� Ӣ?��� z�������:�?�����~����������������� ��?)~:Ƥ�@ ~:��^;I~8ɫ9�9)�9 �E����I�AY�}�@y�}�cG�xDUSBL response received:!U1,R,E39,000,005B9,186,80,80,65,FF �Fpublishing direction and range info����K�>���ɰ��=鰅��> ��)����BI��y���IB����n������?ma�G߿�?��������ٱ����c�<M�l=Y�����QU�?�������a��G������y����}��?Iޕ@A)ޕ?AI������:���p 5�?����:���Tzݾ� ��ΎA����?9���yC���b�: ����:)����:�W�WX X �W :W 2W *W�VUU���@iq@�P!*Q%�IB�Z%�V���M=G@�8��}3@���������Z%�n������?ma�G߿�?��������2Q%�K�>:Q!�Z%�l����8@�I/H�E�ѹ����Z%��62���?�GO�w��'��B����BQ%<f�@ Q%/�Q%��A�P%��9?�P%��9?�P%9���Q%6���Q%�@"Q% �@zLi�Li�Li�Lm��~@�A�p��9B� B��A�sS�*B��9�A��A�ʷ7�A�#��A�"C��)*C���=RC�C��C�I� GM>�N��zj,צO�E�A�|(i|*�@Y} �@�} ���@y} ;O<�} �����} H����@`�?����c��?����A �?��������������?����ւ�����@:�������DZ���������?)~ �@ ~ �6_;I~ ��Cɫ���)�� �����I��Y�z�@y�%2dG���t �����������������9�� �=:Y��X1y�/�:��� 6�9�@��DNmea in: $SNTTA,,,,,171108.61*57 ����)���= ���Í5^>�ÍX?�Í�H�iÍ=�@�É č�@)č���Ičҙ@ičҙ@��8�<M�0=Y�7�QU��>�����a��G����y� �}��>Iȹ�Ž 5�?�Ž�|ݾ� ƽӎA����?9ƽ�yC�ǽD�: Ƚ�:)ȹ�m5uAdded new target pos. range: 50.400005 m, bearing: 299.727388 deg, deltaT: 4.362673 s, approachRate: 0.110025 m/s, LOS rate: -0.345966 deg/s, posRepo size: 4�W1�WAXA XA�WA:WI2WI*WI�VIUU���`33I@UU�����\�?zLi�Li�Li�Lm<�~@�A���:B� B��A�|F�*B��9�A��A�]�7�A� #��A�"C��)*C�H=RC�C��C�I��G )>��9��I��]Gi����@���=��������� �; 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�m�EY����@y��7cG�í�N>�í�>�í��=ií�@�é ĩ)ĩIĭ�@iĭ�@����M�K=Y���@�QU��>�������a��G������y��̖;}��>I�������5�?���s�ݾ� ���A����?9���yC���b�: ����:)���W �W X X �W :W2W*W�VUU������?zL1�L1�L1�L58�s@�AM;BI BI�AM�_�*BU9�AQ�AU�7�AU�"��AQ"C]�)*C][�=RCYCa�CaI��G>�5�zj,� ��E�AY}6���@�}6VȚ@y}6�u <�}6*33��}6H����`,ο?��� _��?��� ���?���`<�������?�����h���� �N������\d���������?)~6���@ ~6w�^;I~6��Cɫ9�9)�9 �AI�AY�]��@y�e@cG��%;M%U=Y�-�d�QU-�>��)��)�a5�G��1��yy�}{�;}}�>Iȁ����:�ŅY�5�?����:�Ņ��ݾ� ƅ-�A������������������� �f�:Y�xZ1y�q�:��6����?9ƅzC�Dž��; ȅ�;)ȅ��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L��t@�A���;B B�A_�*B�9�A�A��7�A�"��A"C%�)*C% p�<RC!C!�C)I�AG]�=�"�zj,����E�AY}2�Т@�}27ޚ@y}27��;�}2@�8��}2H����@�=�?��� *��?���`b�?����������`�D�?������]���� 4���������� p��?)~2�Т@ ~2yp^;I~2��Cɫ9�9)�9 �9I�AY�}��@y�}%cGI��)����=Y���=�����=j<�i�9��9 �9)�=�@I�9i�9��MٻMUH=Y�U?�QUU�>��Y��Y�a]�G��Y��ay�eC�;}e�>I�i��m�5�?��m�ݾ� �mF�A��}�?9�mzC��mQ�: �m��:)�i�W9�W9X9 X9�W9:W92WA*WA�VAUAUE�����m@zL��L��L��L��0t@�A�p��;B� B��A��a�*B� 9�A��A��7�A�K"��A�"C��)*C�M��<RC�C��C�I� G% >�i9�iI�mP\Gi�m�@��i��i��i��m��; �mޕE�:1�zj,���E�A�|i|�@ɫy�y)�y �yI�yY��`�@y���bG ������m�B`��"۹?{�G�zԿ�I+��?��m��=��mף� �m9�=)�iI�iy�m��I+��?㥛� �������Mbp?��m9�=��m�����m�; �i)�mAI�m�Ai�m�A��i��mQA)�}�= �}�=����M�G=Y����QU��>�����a��G����y����}��>Iȡ����:�ť�5�?����:�ť&�ݾ� ƥK�A����?9ƥ!zC�ǥ;�: ȥ��:)ȥ��:��}� ����}�����}�����}��� �}�Y:Y�}�Y1y�}�:��}�g6)�}b�;�9���W��W�X� X��W�:W�2W�*W��V�U�U�����O�@�R�B*** querying acoustic contact ***�P��P�zL�N�=�L�N�=�L���@�L��ń@�A��;B B�A�i�*B�9�A�A��7�A "��A"C%�)*C%�`�<RC!C!�CIi�QI�Q��Q��QI�aG}�>�{j,��E�AY}:��@�}:d��@y}:���;�}:e!��}:H�������?�������?�����N�?�������������?�����aa������{����@����� ���?)~:��@ ~:�+^;I~:��Cɫ9�9)�9 �9I�9Y�e�@y�efbGmZ****** received transponder code query ******mF****** received ping request ******m<Arming DUSBL. detectThresh: 75u8****** ping requested ******��URMU>=Y�U��QU]�>��Y��Y�a]�G��Y��ay�ei�;}m�>I�������5�?�����ݾ� ��Q�A����?9��.zC�����: ����:)���W�WX! X!�W!:W!2W!*W1�V1U1U5�����" @zL��L��L��L��ׄ@�A��A�;B� B��A�=u�*B�9�A��A��7�A��!��A�"C��)*C���<RC�C��C�I��G5->�hC{j,�v�E�AY}2^�@�}2�@y}2��;�}2�o��}2H�����Ԅ�?���@7��?���@kz�?����P���������?����BEd������{�����1-����� ���?)~2^�@ ~2)^;I~0� 9� I� i� �� =�� �� �� ��; � �E)ݙ�Iݙ�iݙ��ݝ�=�ݝ�=�ݝ��5ɫ9�9)�9 �=���I�9Y�]��@y�e�aGmxDUSBL response received:!U1,P E39,000,005B9,186,80,80,65,FF mCommand AckmBRequesting micromodem ping code 2i�i��i�}�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��-E�>��-����-���i�-=�@��) �-ҙ@)�-�@I�-ҙ@i�-ҙ@��qi�q���������������������v�� �{�:Y��[1y�H�:���+6)���;�����M�I=Y�Ӥ�QU��>�������a��G������y����}�>I�1��E�:��5��5�?��E�:��5Ҏݾ� �5U�A��m�?9�5:zC��5X�; �5��;)�5��:�W��W�X� X��W:W2W*W �V U U ����� @zLI�LI�LI�LM�ф@�AmjS�;Bq Bq�Auހ�*Bq�Aq�Au��7�Aun!��Ay"C��)*C�ޘ�<RC�C��C�I��GMR>�o {j,�X8�E�AY}B!֢@�}B��@y}B&U�;�}B���}BH�����LT�?���@z��?������?����������jX�?�����.[������*x�����DР����`p��?)~B!֢@ ~B�H^;I~B��CɫQ�Y)�Y �YI�YY����@y���aG��ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�]�=)�Y��a��enA��mW�;Mm\=Y�uX��QUu�>��q��y�a}�G��y��yy����}��>Iȉ�ō��5�?�ō��ݾ� ƍZ�A����?9ƍEzC�Ǎ��: ȍb�:)ȉ�W��W�X� X��W�:W�2W�*W��V�U�U�����.@zL��L��L��L��ń@�A��<B� B��A���*B��A�A�7�A,!��A"C �)*C ��<RC C�CI��G�>�8U{j,g,R�E�AY}2Cˢ@�}2�ؚ@y}2ݥ�;�}2�c��}2H�����.)�?���@и�?��� `�?���`L�����@�-�?�����U����@�Tx�����M������`h��?)~2Cˢ@ ~2D�^;I~2��Cɫ9�9)�9 �9I�9Y�}��@y�}�aG�xDUSBL response received:!U1,R,E7C,000,005C0,186,80,80,6A,FF �Fpublishing direction and range info���-\�>���ɰ�,�=鰁 ��)����BI��y��GKB����6+dI�.�?�`� B�?��������ٱ���������E�����j�=i��G�@��� ��)����@I��i����@��ѽ�MR=Y���8QU �>�� �� �a �G�� ��y�T�}��>Iȹ����:�Ž��5�?����:�Ž��ݾ� ƽ_�A����?9ƽQzC�ǽ��: Ƚ(�:)Ƚ��:�W �W X) X)�W1:W12W1*W1�V1U9U=������@�PI*QMGKB��}� ����}�����}�����} �� �}�>:Y�}DW1y�}Y�:��}!6�9�@�ZM�7ʹG��G@ (��c�0@���������ZM�6+dI�.�?�`� B�?��������2QM-\�>:QI�ZM�aBw�*�6@<S��S�F� OG����ZM��Ï����?���f��쿀Cy��#��BQMD��@ QM�5�QMI�A�PM��9?�PM��9?�PM=���QM9���QM͚@"QM�@zL��L��L��L�~��@�Am�c<Bi Bi�Am��*Bq�Aq�Au�7�Au� ��Aq"C}�)*C}���<RCyC��C�I�G�;>�9�I��[Gi���@����������; �ȕE���{j,cl�E�AY}Z���@�}Z6Ϛ@y}Z)��;�}Zb�!��}ZH�����q�?��� ��?���� s�?��� ������`��?������O�����;qx������9������u��?)~Z���@ ~Z��^;I~Z��Cɫ���)�� ��I��Y��@y�AbG��TNmea in: $SNTTA,,0.412987,,,171113.04*41 I��)����=��������?i��|?5�?�Zd;����=�L>��=��= �=�y�)�9I�9y�=�D�l����?���x�&������MbP?��=O�=��=7 ���=�: �=�A)�=3AI�= Ai�9��9��=�A��U_�<MU6=Y�]�~8QU]�>��Y��a�ae�G��a��aI�i)�m@Ay�u/6�}u�>I�y��}5�5�?��}�ݾ����tI �}d�A����?9�}azC��}��: �}��:)�y�m�uAdded new target pos. range: 50.820004 m, bearing: 296.643203 deg, deltaT: 4.448816 s, approachRate: 0.094407 m/s, LOS rate: -0.693260 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U������hI@U��������?zL�W>�L�W>�L�R�@�L��o@�A��<B� B��A�x�*B�A�A���7�A�r ��A�"C��)*C�*��<RC�C��C�I��G(>�Bg!{j,���E�AY}26��@�}2�ǚ@y}2���;�}2�-#��}2H����� ˿?���`��?���@Ǖ�?����t������ӿ?�����XA����`8�v����@Hd������`��?)~26��@ ~2By^;I~2��CɫY�Y)�Y �]����I�YY��a�@y���aG)õ�= õ�=�� �@=�� $�>�� �(�i� 3�@�� � �@)� �@I� �@i� �@��(�MN=Y�%璺QU%�>��!��)�a-�G��)��1y�5X�}5�>I�9��=�5�?��=�ݾ� �=i�A��E�?9�=qzC��=��: �=M�:)�9�Wi��}k ����}�����}�����}6�� �}�P:Y�}�Y1y�}�:��}� 6�W�X� X��W�:W�2W�*W��V�U�U���� ?)�?zL��L��L��L�W�o@�A�R.<B� B��A�̈́�*B��A��A�s�7�A� ��A�"C��)*C�6"�<RC�C��C�I��G>�̒'{j,�ß�E�AY}2ʸ�@�}2�ƚ@y}2���;�}2 ��}2H����`ʿ�?����к�?��� �j�?���`������ Fƿ?����P�0�����nRt�����K@�����@��?)~2ʸ�@ ~2�~^;I~2��C�P9�PI�R�[Gi�Ro�@��R=��P��P��Ry�; �R��Eɫ9�9)�9 �9I�9Y�u��@y�}�aG��%��<M%[=Y�-�źQU-�>��)��)�aE�G��A��Ay�M*�}M�>I�Q��]�:��U%�5�?��]�:��U��ݾ� �Um�A��]�?9�UzC��U��: �U��:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U����@�?zL��L��L��L�W}o@�A�Q!<B� B��A�,��*B��A��A��7�A����A�"C��)*C�,��<RC�C��C�I��G �=���-{j,ԝ��E�AY}B��@�}B�ƚ@y}B榐;�}B"� ��}BH����@¿?���ර�?�����ӡ?����������(ǿ?�����\������r�����������`��?)~B��@ ~B�Z^;I~B��CɫY�Y)�Y �]���I�YY����@y���aG��M4=i�M�=��w�M�C=Y����QU��>�����a��G����y���8}��>Iȱ�ŵ��5�?�ŵ��ݾ� Ƶr�A����?9Ƶ�zC�ǵ��: ȵ��:)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL �L �L �L �|o@�A0&<B! B!�A%A��*B!�A!�A%g�7�A-N��A)"C5�)*C5S�<RC1C1�C9I�Q��ii�m�=��}s����}�����}�����}��� �}�e:Y�}�X1y�}/�:��}�6G��=�U�4{j,t��E�A�|4<�|�;Y}6ۻ�@�}6�ɚ@y}6�;�}6G' ��}6H�����'ؿ?�������?��� �h�?����K����� $ݿ?����� �������q�����D�����`C��?)~6ۻ�@ ~6~^;I~6��CɫY�Y)�Y �]����I�YY�}��@y�}�aG��������%��>��!i��HmGI��i����%�*�ٺ!��%q A��-<��-�q>��-`e<i�-z�@��) �-9�@)�-��@I�-��@i�-��@��=��;M=@=Y�Ek�QUE�>��A��A�aM�G��I��Qy�U�Q:}U�>I�Y��e�:��]T�5�?��e�:��]��ݾ� �]v�A��m�?9�]�zC��]��: �]��:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U���� �G�@zL��L��L��L�́o@�A���*<B� B��A����*B��A��A�ۯ7�A����A�"C-�)*C-ԑ�<RC1C1�CaI�G5P>ܡ9ܡIܥ$[Giܥ�@�ܡ�ܡ�ܡ�ܥ{�; ݥ��E�4�:{j,N��E�AY}2ͺ�@�}2�Ț@y}2��;�}2�.��}2H����@�Ͽ?���`(��?���@�l�?���@j�������տ?����*�����#s������D���������?)~2ͺ�@ ~2�P^;I~0ɫI�I)�I �M���I�IY��a�@y���aG������Mb�?gfffffƿ�~j�t�h?���@=��33� ��D;)�I�y���������?�z�Gế<�O��n�?���L=�� ��t< ��A)�AI��Ai��A����(A�����ML=Y�%�P:QU%�>��!��)�a-�G��)��1y�5Ϩ�}5�>I�9��=�5�?��=&�ݾ� �=��A��E�?9�=�zC��=#�: �=n�:)�9��}U ����}�����}�����}Y�� �}�::Y�}DW1y�}Y�:��}E 6)�}r�;�9���W��W�X� X��W�:W�2W�*W��V�U�U����@dx@zL���=�L���=�L���@�L���m@�A���.<B� B��A�̈́�*B��A��A�Q�7�A�r��A�"C��)*C�8��<RC�C��C�I��G>�h�A{j,�*��E�AY}B�@�}B�ʚ@y}B]m�;�}B� ��}BH�����-�?��� ��?������?����"��������?����`!;�������u������ߣ��������?)~B�@ ~B�Q^;I~B��CɫY�a)�a �e���I�iY����@y���`G����I�I)�I����u������=���\��i����@��� ��ҙ@)��ҙ@I��ҙ@i�����GR�M�N=Y��=�:QU��>�������a��G������y��0':}��>I�����:�����5�?�� �:�����ݾ� ����A�� �?9���zC����: ��k�:)����:I�q)�q�Wq�WqXy Xy�Wy:Wy2Wy*W��V�U�U�����(�@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�_�m@�A���1<B� B��A�7��*B��A�A��7�A��A"C-�)*C-���<RC)C)�C1I�iG�>���G{j,�!��E�A�|i|�@�$9�$I�$i�$��&=��$��$��&]�; �&��EY}b�@�}b�͚@y}b;�}b�M$��}bH��������?��� ��?���`麤?�����������c��?�����*B�������v����`4�������H��?)~b�@ ~b'^;I~b��Cɫ�髙)�� ��I��Y���@y��0aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** ��鿉)Í�= Í>����<M�M=Y��Q:QU��>�������a��G������y��q:}�>I���p�5�?����ݾ� ���A��%�?9��zC����: �ӻ:)��Wi��}M ����}�����}�����}��� �}�9:Y�}�X1y�}/�:��}`6)�}�;�W�X� X��W�:W�2W�*W��V�U�U���� � @zL��L��L��L�,�m@�A �/4<B B �A [��*B�A�A)�7�A���A"C�)*C�>�<RCC!�C!I�YG�>�� N{j,��:��E�AY}2�̢@�}2qښ@y}2Ɖ�;�}2�N��}2H�����/�?������?����?�?���������`^3�?������N�����/x������ȣ��������?)~2�̢@ ~2Q6^;I~2��Cɫ9�9)�9 �9I�9Y�}�@y�}aG�xDUSBL response received:!U1,P E7C,000,005C0,186,80,80,6A,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 ���� �M�Y=Y��:7:QU�>�����a%�G��!��iy�}��;}��>I���%�:�� �5�?��-�:��j�ݾ� ���A����?9��zC��_g< ��r<)���:�W1�W1X9 X9�W9:W92WA*Wi�ViUqUu���`!e @zL��L��L��L���m@�AM��5<BI BI�AU���*BQ�AQ�AU��7�AU��AQ"C]�)*C]��<RC�C��C�I��G�C>���T{j,��T��E�AY}24آ@�}2��@y}29��;�}2����}2H������\�?���`���?�����8�?���������� �`�?����0�W������x���� �������@���?)~24آ@ ~2c^;I~2��Cɫ9�9)�9 �=����I�9Y���@y��BaG��a=ɮ�R=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5=i�5C=�Ýd�>�Ýd�>�Ý�m�iÝp�@�Ù ĝ9�@)ĝ��@Iĝ�@ię���=<M�>=Y�Û9QU��>�����a��G����y�W^;}��>I�������5�?���Уݾ� ����A����?9���zC���<�: ��3�:)����m�=i�m�=�������������������� �P0:Y��a1y��:���6�9�@�W�WX) XI�WI:WQ2WY*Wa�VaUiUu�����O@zLi�Li�Li�Lm��m@�A�o�6<B� B��A�n��*B��A��A���7�A����A�"C��)*C�T��<RC�C��C�I�G5P>�A9�AI�Ai�A��A��A��A��E~�; �E��E)�مI�مi�م��݅=��݅=��݅V�4�9+[{j,s�n��E�A�|�;�|p<Y}>��@�}>k��@y}>�l�;�}>+O��}>H��������?�������?�����M�?�����������l��?�����^������my����� ������N��?)~>��@ ~>�o^;I~>��CɫY�Y)�Y �]���I�YY����@y���`G�xDUSBL response received:!U1,R,DEC,000,005C8,187,80,80,6D,FF �Fpublishing direction and range info���+��>���ɰ�{�=鰥1�> ��)����BI��y��3MB����W4�[��?TK���?��������ٱ�������Q�ſ�&1����p= ף������(�����P� ����)��I��y���L7�A`�?��|?5^������Mb`����+�=����ҽ���� ��dA)��I���Ai���A�������A���mA������SռM�5=Y����9QU�>�����a�G�� �� y�E�;}�>I���V�5�?��ѥݾ� ���A��%�?9��zC�� �: ���:)��WI�WIXI XI�WI:WQ2WQ*WQ�VQUYU]������@�Pq*Qu3MB�Zu��&��_�F@�z�rT�6@���������Zu�W4�[��?TK���?��������2Qu+��>:Qq�Zu��:a��<@��>�z?E��.�����Zu����N���?�k�T��r��}�BQu4Щ@ Qu�)�Qu��A�Pu��9?�Pu��9?�Pu8���Qu=���Qu%�@"Qu͚@zL���=�L���=�L�7�@�L���u@�A��6<B� B��A�s��*B��A��A�i�7�A�5��A�"C �)*C �/�<RC C �CI��G�E>�Lb{j,ϼ���E�AY}] ��@�}]��@y}]a�;�}]�� ��}]H��������?���@'��?�������?����ظ��������?����mf����@�}����`aO��������?)~] ��@ ~]Mh^;I~Yɫ1�1)�1 �1I�1Y��h�@y���aG��TNmea in: $SNTTA,0.106579,,,,171117.49*41 ��U����U�����U�����U��� �U] :Y�U�Y1y�U�:��U��5��u����u�>��u���i�u�@��q �uҙ@)�uҙ@I�uҙ@i�uҙ@���d=M�R=Y��.;QU��>�����a��G����y��};}��>Iș����:�ŝF�5�?����:�ŝ��ݾ� Ɲ��A����?9Ɲ�zC�ǝ��: ȝ��:)ȝ��:�m�qAdded new target pos. range: 51.299995 m, bearing: 304.049532 deg, deltaT: 4.486293 s, approachRate: 0.106991 m/s, LOS rate: 1.650880 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@f�I@U���� ��?zL�L�L�L��u@�A�W6<B B�A%W��*B!�A!�A%ݫ7�A%���A)"CE�)*CEۍ�<RCACA�CII��G�@>�9�I��ZGi�̱@����������; �ٕE�i=h{j,�����E�AY}6���@�}6d�@y}6��<�}6�k��}6H�����\��?������?��� r��?�������������?���@qk�����������@',���������?)~6���@ ~6�|^;I~6��CɫY�Y)�Y �]����I�YY��1�@y��baGI�))�)��uj��Mu]=Y�}�C;QU}�>��y���a��G����y�'Z9}��>Iȑ�ŕ^�5�?�ŕ0�ݾ� ƕ��A����?9ƕ{C�Ǖ��: ȕ��:)ȑ�W1�W1X1 X1�W1:W92W9*W9�V9UAUE���@��?I�Q)�UAAzLa�La�La�Le��u@�A}�6<By By�A�χ�*B��A��A�X�7�A�`��A�"C��)*C�u��<RC�C��C�I��G��=�rgn{j,Dj���E�A�|i|Y}61�@�}6���@y}6��<�}6��'��}6H����@���?����{��?����gf�?����T���������?����F�p����@Ls�����`���������?)~61�@ ~6]c^;I~6��Cɫ9�9)�9 �9I�9Y����@y���`G)�E�= �E�=��u��MuJ=Y�}`:;QU}�>��y���a��G����y�]ٺ}��>Iȑ����:�ŕ/�5�?����:�ŕ��ݾ� ƕ��A����?9ƕ {C�Ǖ��: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� ��?zL��L��L��L���u@�AW�5<B B�A���*B �A �A Ī7�A ����]b����]{����]{����]��� �]9':Y�]#R1y�]��:��]W�5�A�"C��)*C����<RC�C��C�I��G�>�8Ou{j,�D���E�AY}:��@�}:���@y}:ʹ.<�}:�*��}:H����@w��?���`p��?��� �ȥ?���`s������n��?����E;u�����~օ�����UA������x��?)~:��@ ~:K�^;I~:��Cɫ9�9)�9 �9I�9Y�}K�@y�}�aG�åA`>�åC�<�å�@�iå��@�á ĥ��@)ĥ��@Iĥ��@iĥ��@��:8=M�F=Y�29;QU��>�������a��G������y���2�}��>I���5�?��٬ݾ� ���A��=�?9�{C����; ���;)��W��W�X� X��W�:W�2W�*W��V�U�U�������?zL�L�L�L��u@�AM>5<BI BI�AM1��*BI�AQ�AU,�7�AUo��AQ"C]�)*C]���<RCYCY�C�I����9��I��\ZGi��{�@��������������; ��ؕEG�G>�\y{{j,. ���E�AY}2uߢ@�}2+�@y}2t$><�}2?���}2H�����y�?����\��?���@�T�?����R������DŽ�?��� ��z�����kć���������]��?)~2uߢ@ ~2$�^;I~2��CɫY�Y)�Y �YI�YY��4�@y��faG���4=i��4=����:��v���? ףp= ��Zd;�O��������<���Q�� ��j��)��I��y����ʡE��?i��|?5��{�G�zt?�����=��������ף; ���A)��3AI��i��������zA����ػM�G=Y���;QU��>�������a��G������y��[�}��>I��� �:��n�5�?�� �:��Яݾ� ���A�� �?9�,{C��U�: ���:)���:�W1�W1X1 X1�W1:W92W9*W9�V9U9UE����M��?��U�=i�Q��e�����e�����e�����e��� �e�+:Y�exZ1y�eq�:��e��5)�eĉ;�9m�zL}<*>�L}<*>�L}˯@�L}���@�A��4<B� B��A����*B��A��A���7�A���A�"C��)*C��T�<RC�C��C�I��Gu>��d�{j,� �E�A�|:4<�|:�;Y}r�ߢ@�}r��@y}r��I<�}r���}rH����@{�?���`���?������?����/���������?������������9�����`r����� ���?)~r�ߢ@ ~rq^_;I~pɫ�髱)�� �����I��Y��K�@y���aG��]nA��Y�å�>�å��=�å/ݽiåכ@�á ĥr�@)ĥ�@Iĥҙ@iĥҙ@���#�;M�I=Y���:QU��>�������a��G������y��9}��>I�����5�?��вݾ� ���A���?9�={C����: �f�:)��W1�W1X1 X9�W9:W92W9*W9�V9UAUE�����@zLa�La�La�Le���@�A}w�2<By By�A}1��*By�A��A��7�A����A�"C��)*C�\��<RC�C��C�I��G�>i�nGI�1i�A���Q �ٺ�����A��9��I���ZGi��̱@��������������; ��ܕE���{j,��#�E�AY}2?�@�}2��@y}2uOM<�}2Uf���}2H�������?���@���?���@��?���`{�����`��?����� ������©������������ U��?)~2?�@ ~2ds_;I~0ɫ9�9)�9 �=����I�AY��Ͷ@y���`G������AA���,�M�`=Y��:QU��>�������a��G������y��H�:}��>I�����ժ5�?�����ݾ� ��A����?9��L{C�����: ��8�:)���W�W X X �W :W 2W *W�VUU%����@�R-B*** querying acoustic contact ***�P)�P)zLA�LA�LA�LE��@�A]{�0<BY BY�A]��*Ba�Aa�Ae��7�Ae<��Aa"Cm�)*CmA�<RCiCi�CqI��G��=��]x����]�����]�����]��� �]�(:Y�]�W1y�]č:��]D�5)�]8�;�ҵ�{j,��=�E�AY}2|�@�}22��@y}2�*M<�}2 ���}2H���� ���?���`��?����(�?��������� ���?����Ỳ����`'�������uu��������?)~2|�@ ~2m_;I~2��Cɫ9�9)�9 �=���I�9Y�}%�@y�}TaG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����<M�H=Y��m��QU��>�������a��G������y���[;}��>I��� �:��U�5�?�� �:����ݾ� �ȏA���?9�^{C��~�: ���<)���:�W�WX X�W:W2W*W�VUU%����� @I�Q)�U@AzLa�La�La�Le�ā@�A���.<B� B��A����*B��A��A���7�A����A�"C��)*C��k�<RC�C��C I�!G]>�<��{j,d�W�E�A�|i|Y}6��@�}6� �@y}6.~P<�}6����}6H�����{��?�������?�����O�?���������`��?����1�������������*������`���?)~6��@ ~6Z�^;I~6��Cɫy�y)�y �}���I�yY����@y��aG�xDUSBL response received:!U1,P DEC,000,005C8,187,80,80,6D,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 ��)��= ��=������������������������ �/3:Y�DW1y�Y�:����6�9�@����=���-�������=i��̜@��� ��1�@)��ҙ@I����@i����@�� k=�M !=Y� p�9QU�>�����a�G�����i9�iI�m\ZGi�m{�@��m=��i��i��m��; �mŕEy�7v;}��>Iȁ�Ņ�5�?�Ņd�ݾ� ƅЏA����?9ƅt{C�Dž��: ȅQ�:)ȁ�W�WX X�W:W92WA*WA�VAUIUM����� @zL��L��L��L��Ձ@�AJ�,<B9 B9�A=���*B9�AA�AEQ�7�AE;��AI"C}�)*C}�¾<RCyC��C�I��G�>�qǛ{j,�gq�E�AY}2,�@�}2�!�@y}2�]<�}2��%��}2H������I�?���@���?�����q�?���`+�������X�?�����H����� ˾������c������ ���?)~2,�@ ~2,k^;I~2��Cɫ9�9)�9 �=����I�9Y�}"�@y�}PaG鮅p=ɮ�a=���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ������x�&1�?���x�&���� �rh�?����A>���7�� ��C�<)��I��y���k�t��?R���Q�����Q��?��� �=����½����u< ��dA)���AI��i���A������A����<Mp=Y�%>;QU%?��)��)�a-�G��)��1y�=��;}=?I�i��}�:��m��5�?��}�:��m>�ݾ� �mݏA��}�?9�m{C��m�; �m�;)�m��:�W1�W9X9 X9�W9:W92W9*WA�VAUAUe���@�"@zL�>�L�>�L��V�@�L���@�A�?A+<B� B��A����*B��A��A�Ϧ7�A����A�"C��)*C��N�<RC�C��C�I��G-,>����{j,�P��E�AY}:��@�}:V-�@y}:?r<�}:�w'��}:H����`Kw�?������?����bå?���`y���������?����ㆂ�����?B�������줿����B��?)~:��@ ~:ma^;I~:��Cɫq�q)�q �qI�qY��K�@y���aG�xDUSBL response received:!U1,R,E1C,000,005D0,186,80,80,64,FF �Fpublishing direction and range info����@�>���ɰ���=鰽��> ��)����BI��y��OB����%:y�0�?�9��-<�?��������ٱ����%=i��=��%@��%@��%@��%©�%���%�i�%Q�@��%���� �%��@)�%��@I�%��@i�%��@��E�W<MEX=Y�M6U;QUM�>��Q��Q�aU�G��Q��Yy�]gs;}]�>I�a��e�5�?��eL�ݾ� �e�A�� �?9�e�{C��e��< �e�<)�a��]�����]�����]�����]�� �]�1:Y�]�Y1y�]�:��]�6�Wq�WqXq Xy�Wy:Wy2Wy*Wy�V�U�U������@�P�*Q�OB�Z��p�Q�b�G@<r6��95@���������Z��%:y�0�?�9��-<�?��������2Q��@�>:Q��Z����,\�s;@v����E�^4�2v���Z�� ���4��?�18z��C������BQ����@ Q��/�Q���A�P���9?�P���9?�P�;���Q�8���Q�4�@"Q�%�@zL��L��L��L��@�A �1*<B B�A1��*B�A�AF�7�A���A"C�)*CEi��<RCICI�CII��G�>�a9�aI�ai�a��a��a��a��e]�; �e��E)��I��i�������=������4�ۨ{j,�$��E�AY}n�-�@�}n8;�@y}nLv~<�}n�"��}nH�����=��?����W��?���`9A�?����y������>��?�����:������uΏ������Y���������?)~n�-�@ ~n<^;I~n��Cɫ���)�� �����I��Y��@y�GaG�}DNmea in: $SNTTA,,,,,171121.95*57 ����d�M�B=Y��%�:QU��>�������a��G������y���;}��>I�i��m�:��m �5�?��m�:��m��ݾ� �m��A��u�?9�m�{C��m� = �m� =)�m��:�m�uAdded new target pos. range: 51.779999 m, bearing: 302.033752 deg, deltaT: 4.420128 s, approachRate: 0.108595 m/s, LOS rate: -0.456046 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������I@U����@��?zL��L��L��L�u��@�AM O)<BI BI�AM3��*BI�AQ�AU��7�AU��AQ"C��)*C�uS�<RC�C��C�I��G-N>���{j,"���E�AY}:�6�@�}:\D�@y}:n��<�}:!@��}:H����@a��?���` ��?���@�ã?���������@~��?�����܆����������IƢ�����b��?)~:�6�@ ~:U�];I~:��CɫY�Y)�Y �]����I�YY��y��Y�]�;QUe�>��a��a�ae�G��a��iy�m0<;}u�>I�y��}{�5�?��}��ݾ� �}�A����?9�}�{C��}f�: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L����@�A S�(<B B�A*B�A�A-�7�A���A"C�)*C%�|�<RC!C!�C!I�9��]�����Y��Y��],�� �]H-:Y�Yy�Y��]s6Gu�=���{j,x���E�AY}2�9�@�}2�G�@y}2Qf�<�}2և��}2H�����L��?����I��?����O��?����������@5��?��� ��������l�����@r������`���?)~2�9�@ ~2��];I~2��CɫY�Y)�Y �YI�YY��%�@y��TaGI�!)�!�������������õ�>�õ�ƽ�õ�l�iõ��@�õ��� ı)ıIıiĵ��@�����:M��<Y���:QU��>�������a��G������y��^h:}��>I������:���d�5�?����:���K�ݾ� ���A����?9���{C���w�: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U����@2��?�9�I�i����������; ���EzL��L��L��L�Q��@�A5M"(<B9 B9�A=���*B9�A9�A=��7�A==��Aa"Cm�)*CmO��<RCqCq�CqI��G�E>���{j,[���E�AY}B�7�@�}BfE�@y}BT,�<�}BQ��}BH�����q��?�������?���`�{�?����ڮ����@^��?������������R�������fn������ ��?)~B�7�@ ~B@^;I~B��Cɫi�i)�i �iI�iY���@y��=aG ������Zd;�O��?��(\�µ��~j�t�x����j<=����� ���Ļ)��I��y���+�����?�z�Gế<�O��n�������=��� ���t� ���A)��AI��i��������QA��-R��M5T=Y�5��9QU=�>��9��9�aE�G��A��A��e� ����e�����e�����e��� �e�R:Y�e0Y1y�e��:��eW�5)�e@�;�9u�y�u�6�}}�>Iȁ�ŅO�5�?�ŅQ�ݾ� ƅ�A����?9ƅ�{C�Dž},; ȅK,;)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL�A>�L�A>�L��=�@�L� �z@�A�T�'<B� B��A����*B�A�A �7�A���A"C �)*C ��<RCC�CI�)GM>���{j,%��E�AY}2!2�@�}2�?�@y}2���<�}2�{ ��}2H�����n��?����K��?������?��������������?����?�������������`߭���������?)~2!2�@ ~2��];I~2��Cɫ9�9)�9 �9I�9Y�u߶@y�}�`G��M�L���M\���MZ>i�M��@��I �M��@)�M��@I�M��@i�M��@��]���M]Y=Y�]��:QU]�>��a��a�ae�G��a��qy�-�}��>Iș�ŝ\�5�?�ŝ@�ݾ� Ɲ�A����?9Ɲ�{C�ǝw�: ȝ��:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L���z@�A _~'<B B �A猾*B�A�A{�7�A���A"C�)*C��<RC!C!�C!I��G�>�9�I�i�����������; ���E�G)�{j,�l&�E�AY}N#(�@�}N�5�@y}N~��<�}N)��}NH���� Ϙ�?��� ��?�������?��� ���������?�����ى������;��������������G��?)~N#(�@ ~N*�];I~N��Cɫq�q)�y �yI�yY����@y���`G����M�E=Y�ʡ:QU��>�����a��G����y�-B�}��>I������:���!�5�?����:���]�ݾ� ���A����?9���{C�����: ����:)����:�W��W�X� X��W�:W�2W*W�VUU��� 6@zL!�L!�L!�L%��z@�A=^�'<B9 B9�A=`��*B9�AA�AE�7�AE��AA"CM�)*CM�{�<RCICI�CQ��m=i�mp=��}� ����}�����}�����}��� �}�A:Y�}�V1y�}�:��}��5)�}p�;I��G��=�*�{j,�?@�E�A�|�;�|Y}6�$�@�}6{2�@y}6�<�}6�k��}6H����`g��?��� ��?���`�h�?����F���������?�����Ɋ�����[�������pK���������?)~6�$�@ ~6��];I~6��Cɫy�y)�y �}���I�yY��V�@y���aG������?AI��4=)��C=������mA���f=M�X=Y����:QU��>�������a��G������y�����}��>I���&�5�?��P�ݾ� ��A�� �?9��{C��U�: �Ǻ:)��Wa�WaXa Xi�Wi:Wi2Wi*Wi�ViUqU���� �j@�R�B*** querying acoustic contact ***�P��P�zL1�L1�L1�L5��z@�AE�Y(<BA BI�AM��*BI�Aq�AuV�7�Au���Aq"C}�)*C}^i�<RC�C��C�I��G�>������i��VnGI�!i�A��?�{j,�4Z�E�A��.�ٺ,��2�AY}b%%�@�}b�2�@y}b(�<�}b����}bH�������?��� ٫�?���@8��?����4������q��?���@�ۊ�������������{����������?)~b%%�@ ~b}�];I~b��Cɫ���)�� ��I��Y�Ud�@y�]�aGmZ****** received transponder code query ******uF****** received ping request ******}<Arming DUSBL. detectThresh: 75�8****** ping requested ******��uF����u�����u�����u��� �u�$:Y�uDW1y�uY�:��u��5�9}@��u��l�����?ˡE����?�V-����u�>��u�= �uh��)�qI�qy�u�+�����?�"��~j��{�G�z�?��u�=��uS���u�#< �u�A)�qI�qi�u�A��q��qܡ9ܡIܡiܡ�ܥ=�ܡ�ܡ�ܥ��; ݥ��E����>��`e=��(\>i���@�� ���@)���@I�ҙ@i���@��^h;M =Y��|9QU�>�����a%�G��!��!y�-2�8}-�>I�1��=�:��5��5�?��E�:��5��ݾ� �5�A��E�?9�5�{C��5A; �5E;)�5��:�Wa�WaXi Xi�Wi:Wi2Wi*Wq�VqUqUu���`�R @zL���=�L���=�L�ʛ�@�L��g@�A���)<B� B��A����*B��A��A���7�A�/��A�"C��)*C�'��<RC�C��C�I��G�G>��c�{j,'�s�E�AY}:�'�@�}:l5�@y}:�}�<�}:����}:H����� ��?���@���?���`Ft�?����ذ�����k��?���@�����@w������IS���������?)~:�'�@ ~:v�];I~:��Cɫ9�9)�9 �9I�9Y�}%�@y�}TaG�xDUSBL response received:!U1,P E1C,000,005D0,186,80,80,64,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����ҼM��=Y��89QU�?������a��G������y�w:}?I� �� Á5�?�� ��ݾ� � �A��=�?9� |C�� a�; � K�;)� I�q)�q�W��WX X�W:WI2WI*WQ�VQUYU]���@A @zL��L��L��L���g@�A �+<B B �A ���*B�A�A3�7�A���A"C�)*C�9�<RCC!�CAI�YG�:>�M�{j,�؍�E�A�|i|�@Y}F�)�@�}FV7�@y}F-�<�}F�7��}FH����@���?����t��?���`bc�?��������������?���`Ŋ�����Ⓙ��� �D�����`���?)~F�)�@ ~Fí];I~F��CɫY�Y)�Y �]����I�YY�9y�I��}�����}����}����}��� �}E1:Y�}�T1y�}��:��}{�5���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �1�1)�=> �=�=�å��å�=�å`e�iå��@�á ĥ~�@)ĥ~�@Iĥ��@iĥ~�@Y��QU��>�����a��G�����y��i�9}��>I������:���k}5�?����:���b�ݾ� ��&�A����?9��|C�����: ��v�:)����:�W�WX X�W:W2W *W �V U U ���`mw@zL)�L)�L)�L-,�g@�AED-<BA BA�AA*BA�AI�AM��7�AMT��AI"CU�)*CU_�<RCQCQ�CYI�qG�[>ܩ 9ܩ Iܩ iܩ �ܭ =�ܩ �ܩ �ܭ ��; ݭ ڕE��u�{j,����E�AY}2�,�@�}2T:�@y}2̶�<�}2����}2H����@���?��� ��?����-m�?����J����� ٽ�?����a]�������6����� @Z�����`���?)~2�,�@ ~2S�];I~0ɫI�I)�I �M���I�IY�}��@y�}�aG�xDUSBL response received:!U1,R,D5C,000,005D3,18A,80,80,6C,FF �Fpublishing direction and range info���?���ɰ�I�=鰅��> ��)����BI��y���OB����Y�l��?��6z,��?��������ٱ����`x<M��<Y���QU�!?�������a��G������y��ج:}�!?I������z5�?���:�ݾ� ��-�A����?9��|C���b�: ��o�:)���W!�W!X! X!�W!:W!2W)*W)�V)U)U-����˒@�PI*QM�OB�ZM�}��!ǖE@�a��<@���������ZM�Y�l��?��6z,��?��������2QM?:QI�ZM����GCHA@�= .`C�@"�R�����ZM�,.�BpI�?��U����ɫMU��BQM��@ QM�QMB B�PM��9?�PM��9?�PM3���QM;���QM�x@"QM4�@zLq�Lq�Lq�Lu%�g@�A���.<B� B��A�A��*B��A��A�*�7�A� ��A�"C��)*C��%�<RC�C��C�I�yG��=��_�{j,���E�AY}b�,�@�}bK:�@y}b�:�<�}b�c��}bH���� a��?����p��?�����ģ?����@����� ���?����?^�����@������`�������`6��?)~b�,�@ ~b\ ^;I~b��Cɫ���)�� �����I��Y����@y���aG�]DNmea in: $SNTTA,,,,,171126.39*56 ���:M�==Y�::QU��>�����a��G�����y��o&�}��>I������:���1w5�?����:�����ݾ� ��9�A����?9��&|C�����: ��A�:)����:��m�=i�m�=��}_ ����}�����}�����}�� �}f;:Y�}�W1y�}č:��}�6�mmqAdded new target pos. range: 51.959999 m, bearing: 311.731555 deg, deltaT: 4.397179 s, approachRate: 0.040935 m/s, LOS rate: 2.205460 deg/s, posRepo size: 4�Wi�WqXq Xy�Wy:W�2W�*W��V�U����@��I@U������N�?zL�L�L�Lb�g@�A5X1<B1 B1�A5��*B9�A9�A=��7�A]���AY"Ce�)*Ce��<RCaCi�CiI��GI>���{j,�d��E�AY}v�&�@�}v~4�@y}vd��<�}v����}vH����@`��?���`���?��� V:�?����������o��?����XX������֒����@�������}��?)~v�&�@ ~v�^;I~v��Cɫ���)�� ��I��Y��a�@y���aGI�%�=)�%�=��������Mb�?�I+��?J+��?����=���9�< ���H=)��I��y����Q���?J+����I+��?���\�=����Ƚ���94< ��dA)���AI���Ai�� A�������A���mA�����-�u���-�J���-��>i�-��@��) �-ҙ@)�-��@I�-ҙ@i�-ҙ@��=�C�M=4=Y�=�-:QUE�>��A�U3�>9�QI�Qi�Q��U=��Q��Q��U%�; �U�E)��I��i���=�������v4��A�am�G��q��qy�uʺ}}�>I�y��}�s5�?��}��ݾ� �}F�A����?9�}4|C��}��: �}��:)�y�W��W�X� X��W�:W�2W�*W��V�U�U������v�?zL���=�L���=�L����@�L��y@�A�M,4<B� B��A�̈́�*B��A��A� �7�A���A�"C��)*C����<RC�C��C�I��G�A>�!��{j,kH��E�AY}B,%�@�}B�2�@y}BP7�<�}B]���}BH����`��?����߬�?���`��?���`<��������?���`%P�������ƒ����`3����������?)~B,%�@ ~B]I^;I~B��Cɫ�髑)�� ��I��Y���@y��=bG�� 7=M�g=Y��-�QU��>�����a��G�����y��R�}��?I�����Eq5�?���S�ݾ� ��O�A����?9��?|C����: ����:)���W��W�X� X��W:W2W*W�VU U ���@���?zL!�L!�L!�L%p�y@�A=�m7<B9 B9�AEgy�*BA�AA�AE��7�AE���AA"CM�)*CUߢ<RCQCQ�CQ��}i ����}�����}�����}��� �}2<:Y�}P^1y�}��:��}j�5)�}җ;�9��I��G��=�͙|j,P�E�AY}2�*�@�}2E8�@y}2Ґ<�}2hI��}2H�����e��?������?�����:�?���������� ���?�����Ӊ���� ������y'�����`���?)~2�*�@ ~2�7^;I~2��Cɫ9�9)�A �E����I�AY�}��@y�}�aGI��)����UK?��Uj�>��U��i�U@��Q �U��@)�U�@I�U�@i�U�@��V��M�N=Y�7ٺQU��>�����a��G����y�f�:}��>Iȹ����:�ŽTn5�?����:�Ž3�ݾ� ƽZ�A����?9ƽK|C�ǽ��: Ƚ��:)Ƚ��:�W �W)X1 X1�W1:W12W1*W9�V9U9U=��� �X�?I�q)�qzL��L��L��L���y@�A���:<B� B��A�T��*B��A��A��7�A�<��A�"C��)*C�&��<RC�C��C�I�G= >�I 9�I I�M �ZGi�M ̱@��I ��I ��I ��M ^�; �M ,�E��� |j,��(�E�AY}J�<�@�}J~J�@y}J��<�}J�`��}JH����@���?���@��?��� Z�?���@<���������?����٭������.А�����Qꢿ����M��?)~J�<�@ ~J]m^;I~J��Cɫ�髑)�� ��I��Y���@y��xbG)�E�= �E�=��e�=MeL=Y�m N�QUm�>��i��i�au�G��q��qy�}��;}}�>Iȁ�Ņok5�?�Ņ�ݾ� ƅe�A����?9ƅW|C�DžM�: ȅ{�:)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U���� G�@zL��L��L��L�M�y@��}. ����}�����}�����} �� �}�K:Y�}]1y�}�:��}�6)�}e�;�A�:L><B� B��A�cs�*B��A��A���7�A����A�"C��)*C��t�<RC�C��C�I��G�>���|j,$�B�E�AY}>FH�@�}>�U�@y}>.�y<�}>���}>H�����F�?�������?����J��?��� Ŭ�����o(�?������������V8������,����������?)~>FH�@ ~>x^;I~<ɫ9�9)�9 �=���I�9Y�}��@y�}�aG��m� �MuJ=Y�}h=�QU��>�����a��G����y�Xa;}��>Iȡ����:�ťth5�?����:�ť��ݾ� ƥp�A����?9ƥd|C�ǥ^�: ȥ��:)ȥ��:�W��W�X� X��W�:W�2W�*W��V�U�U���� Z�@zL1�L1�L1�L5�z@�A5'4A<B1 B1�A5ހ�*B1�A9�A=��7�A=P��A9"CE�)*CE�&�<RCACa�CiI��G�>�9�|j,��\�E�AY}��K�@�}�eY�@y}���q<�}��l��}�H������%�?�������?���� ��?����X������S5�?���@��������4����� �ˣ��������?)~��K�@ ~�C�];I~���Cɫ���)�� ������I��Y� s�@y� �aG����@A��4=i��<�����������?k�t���k�t��?����L>��� �� �� �=)��I��y����&1��? ףp= ��:��v��������P=���Q������T� ©)©I Ai5A�������A���i���=���j �������������������� ��F<:Y���Y1y���:�����5�9�@� 9� I� i� �� =�� �� �� M�; � #�E�� ����� ^�=�� t=i� f�@�� � ~�@)� ~�@I� ~�@i� ~�@��K4�M=&=Y�=,��QUE�>��A��A�aE�G��A��Iy�M�\:}M�>I�Q��Ue5�?��U��ݾ� �Uf�A����?9�Uq|C��U��; �U�;)�Q�W��W�X� X��W�:W�2W�*W��V�U�U����`=�@�R�B*** querying acoustic contact ***�P�PzL5��=�L5��=�L5EK�@�L5��r@�AM?AD<BI BI�AM���*BI�AQ�AUd�7�AU���AY"C}�)*C}P}�<RCyCy�C�I��G5q>���|j,��v�E�A�|�|ɫy�y)�y �}���I�yY��Y�@y���aG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��nA��nA��%S)�M%�=Y�%���QU-?��)��1�a5�G��1��9y�=���}=?I�I��U�:��M�b5�?��e�:��M��ݾ� �M`�A��m�?9�My|C��MK�; �MS�;)�M��:�W��W�X� X��W�:W�2W�*W��V�U�U�����>: @zL��L��L��L��A [G<B B �A D��*B �A�A�7�AV��A"C�)*C�Ճ<RCC�C!I�9Gu>�J�#|j,�g��E�AY}b�B�@�}b7P�@y}b�i<�}bH���}bH����@{�?�������?���`7�?�������������?����)��������>������+^���������?)~b�B�@ ~b��];I~b��Cɫ�髱)�� ������I��Y��?�@y��taG�xDUSBL response received:!U1,P D5C,000,005D3,18A,80,80,6C,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 �� ����� ����� ����� ��� � /:Y� �X1y� /�:�� 3�5i���mGI��i������ٺ!��%KA�Í��>�Í�D;�Íף�iÍ(�@�É č�@)č�@Ič�@ič�@��?ȻM�=Y�nk�QU��>�������a��G������y����}��>I�����P_5�?�����ݾ� ��T�A��%�?9���|C����< ��q�:)���Wa�WiXi Xi�Wi:Wq2W�*W��V�U�U������:@zL�L�L�L��r@�Ae��J<Ba Ba�Am↾*Bi�A��A�G�7�A����A�"C��)*C���<RC�C��C�I� GE�>�� 4�>9�� I�� i�� ��� ��� ��� ��� :�; �� �E�@*|j,�=��E�Aɫ�髙)�� �����I��Y��з@y��&bG��ɮ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1CF7D30,2107E320,37BCD1E0,4000,4000,0*6B �� Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1CF7D30,2107E320,37BCD1E0,4000,4000,0*6B expected E���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �%.Nmea in: $CATXP,40*76 �-\Response from modem unexpected: $CATXP,40*76 ���oc=M�=Y�5���QU= ?��A��i�au�G��q��qy�}���}�?I��AA)��?AI�)��=�:��-�\5�?��E�:��-��ݾ� �-M�A��u�?9�-�|C��-v< �-�<)�-��:�W��W�X� X��W�:W�2W�*W��V�UAUE������@zL��L��L��L��A� �M<B� B��A��{�*B��A��A�˚7�A�F��A�"C�)*C�-�<RCC �C I�!G=Q>�&�0|j,e��E�A�|,i|.�@Y}V�N�@�}Vn\�@y}V4A<�}V���}VH���� �1�?����1��?����3ݢ?���`<����� �<�?���`({�����a#����� �0�����`B��?)~V�N�@ ~V��^;I~Tɫ�髡)�� ������I��Y����@y��SbG�xDUSBL response received:!U1,R,DAF,000,005E1,189,80,80,94,FF �Fpublishing direction and range info���<z?���ɰ���=��7�> ��)���CI��y��3SB�����NW^��?�v1,��?��������ٱ�� .Nmea in: $CATXF,40*60 �\Response from modem unexpected: $CATXF,40*60 �-�Nmea in: $CAXST,7,20210813,171130.850318,3,0,40,4000,14500,1,19829,28005,0,1,0,3,0,14500*65 �-�Response from modem unexpected: $CAXST,7,20210813,171130.850318,3,0,40,4000,14500,1,19829,28005,0,1,0,3,0,14500*65 �1�1)�=�= �=>��EB<MEV=Y�MMQU}�>�����a��G����y�p�;}��>I�����hZ5�?���+�ݾ� ��E�A����?9���|C���%�< �� �<)���W��W�X����3�����������������u�� ��y#:Y���W1y��č:�����5 X��W!:W)2W)*W)�V)U1U5���@�@�PA*QE3SB�ZE��'9�z�F@��Eo�:@���������ZE��NW^��?�v1,��?��������2QE<z?:QA�ZE�9��.@@��G� �D�Ȳe�K����ZE��@I)���?��E#E鿦S({|��BQE��@ QE�&�QEpB�PE��9?�PE��9?�PE9���QE3���QE�@"QE�x@zL��L��L��L���r@�A���O<B� B��A�w�*B��A��A�N�7�A�� ��A�"C��)*C�<RC�C��C�I�IG�=>�*7|j,���E�AY}]�S�@�}]�a�@y}]�4<�}]{���}]H����`�F�?���@-��?����?Q�?����������@�P�?�����)w�������������t������` ��?)~]�S�@ ~]�2_;I~YɫI�I)�I �M���I�IY�m�@y�mobG���Nmea in: $CAERR,171131,NI ,29,Busy completing a previous request*7F ���Got error from modem: $CAERR,171131,NI ,29,Busy completing a previous request*7F ��TNmea in: $SNTTA,,0.472415,,,171130.85*49 ���Response from modem unexpected: $SNTTA,,0.472415,,,171130.85*49 ��}��Q���?�����M¿/�$��?��}\=܍3�>9܉I܍$[Gi܍�@�܍=�܉�܉�܍�; ݍ��E��}n� �}�<)�yI�yy�}��ʡE��?�rh��|���~j�t�x���}��=��}�����}�Ļ �y)�}AI�yi�}�A��y��}(A��5E�=��5��>��5 i�5�@��1 �5�@)�5��@I�5��@i�5��@��eE�;Me!=Y�eyͺQUm�>��i��i�am�G��i��y���:}��>Iș�ŝ�U5�?�ŝ��ݾ� ƝB�A����?9Ɲ�|C�ǝY�: ȝǺ:)ș�muAdded new target pos. range: 52.799999 m, bearing: 307.814933 deg, deltaT: 4.508338 s, approachRate: 0.186321 m/s, LOS rate: -0.868751 deg/s, posRepo size: 4�W�WX X!�W!:W!2W!*W!�V!U-���`ffJ@U-���@���?zLm�->�Lm�->�Lm!�@�Lmm�@�A�R<B� B��A�Pt�*B��A��A�ę7�A�9 ��A�"C��)*C�-zy<RC�C��C�I� GMu>�O=|j,���E�AY}N]W�@�}Ne�@y}N�=/<�}N-t��}NH�����JT�?���@@��?������?����������W^�?���@�u������煿����m���������?)~N]W�@ ~N@_;I~N��Cɫ�髹)�� ������I��Y��s�@y���bG��}=i�}�<����!=M�=Y��?r�QU�?�������a��G������y��%�:}� ?I�����:���0S5�?���:���I�ݾ� ��A�A���?9���|C���^�: ����:)����:�W)�W)X) X)�W1:W12W1*W1�V1U9U=����d��?zLQ�LQ�LQ�LU�p�@�Amk6T<Bi Bq�AuZg�*Bq�Aq�Au[�7�Au���Aq"C}�)*C}��s<RC�C��C�I��G��=������������������������ ���,:Y���X1y��/�:����6�6D|j,���E�A�|4<�|Y}66X�@�}6�e�@y}6��+<�}6g���}6H���� �W�?����Ǥ�?����I��?���@��������a�?������s����@�~�������������@M��?)~66X�@ ~6\�^;I~6��Cɫ9�9)�9 �=���I�9Y�]߷@y�]8bG��-��=��-��=��-"[>i�-(�@��) �-�@)�-�@I�-�@i�-�@��=AA�M=U=Y�E��QUE�>��A��A�aM�G��I��Iy�U��9}e�>I�i��m�O5�?��m.�ݾ� �m?�A��}�?9�m�|C��m�: �m��:)�i�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��q�@�A���V<B� B��A��y�*B��A��A�ژ7�A�X��A�"C��)*C��es<RC�C��C�I� G��=ܑ 9ܑ Iܑ iܑ �ܑ �ܑ �ܑ �ܕ ��; ݕ ��E)�!�I�!�i�!���%�=��%�=��%�� 5�9`J|j,�+�E�AY}F�Q�@�}F�_�@y}F��)<�}F����}FH������>�?�������?��� )��?��������� �H�?���` :s�����==������~�������R��?)~F�Q�@ ~FKt^;I~F��CɫY�Y)�Y �e����I�aY���@y��jbG��}xE<M�F=Y����QU��>�����a��G����y��}��>Iș����:�ŝ#L5�?����:�ŝC�ݾ� Ɲ=�A����?9Ɲ�|C�ǝ��: ȝ��:)ȝ��:�W��W�X� X��W�:W�2W�*W��V�U�U�������?zL��L��L��L��k�@�A��X<B B�A�t�*B�A�AX�7�A���A"C%�)*C%�<RC!C!�C)I�AG]�=��� �����������������2�� ��84:Y���W1y��č:��� 6)���;�9�� HQ|j,�_E�E�AY}2JH�@�}2V�@y}2?�"<�}2�.��}2H�������?���@8��?�����I�?����O�������!�?�����q������R�����@]ģ����@}��?)~2JH�@ ~2nd^;I~0ɫA�A)�A �M���I�IY�}��@y�}cGI��)������$=M�E=Y�����QU��>�������a��G�����y�b9�}�>I� �� mH5�?�� f�ݾ� � ;�A���?9� �|C�� ��: � ��:)� �W9�W9X9 XA�WA:WA2WA*WA�VIUIUM�������?zL��L��L��L��a�@�A���Z<B� B��A��c�*B��A��A�ܗ7�A�?��A�"C��)*C����<RC�C��C I�!GE>��uW|j,�J_�E�A�|8i|8Y}f�A�@�}faO�@y}f�<�}f����}fH����`o��?��� Ѩ�?����,9�?����G����� ��?����pCq�����o^������l�������&��?)~f�A�@ ~f>z^;I~f��Cɫ���)�� ������I��Y��y�� �y�y�19�1I�5�[Gi�5o�@��1��1��1��54�; 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Elapsed:6.085724I�Y)�Y���)>���>���>i�̜@�� �&�@)��@I�&�@i�&�@��=���ME3=Y�E�B:QUE�>��I��I�aM�G��I��Qy�U��}U�>I�Y��]w 5�?��]�� �]��A��e�?9�]�}C��]�: �]+�:)�Y�W��W�X� X��W�:W�2W�*W��V�U�U�������"@zL��L��L��L��m@�A��BF<B� B��A��.�*B�F9�A��A��7�A����A�"C��)*C��y<RC�C��C�I��G >�9�I��]Gi�V�@���������; �x�E����|j,3�0�E�AY}:�`�@�}:�n�@y}:�<�}:����}:H���� �y�?���@���?�����2�?���������`�?����6p����`��������������� P��?)~:�`�@ ~:�X^;I~:��Cɫ9�9)�9 �=����I�9Y�}�@y�}�dG��PӼM�i=Y�'#:QU��>�����a��G����y�ތ;}��>Iȹ����:�Ž75�?����:�ŽL� ƽ��A����?9ƽ�}C�ǽ��: Ƚ��:)Ƚ��:�W��W�X� X��W�:W�2W�*Wq�VqUyU}����F#@zL��L��L��L�\�m@�A�jC<B� B��A�#8�*B��9�A��A���7�Al��A"C�)*C%�Rb<RC!C!�C)I�iG��=��}3����}�����}�����}��� �}y#:Y�}xZ1y�}q�:��}�6)�}w�;�9���v��|j,t�J�E�AY}b�u�@�}b���@y}b_:<�}b����}bH����`$��?����2��?�����g�?����Ҧ����@���?���@I@k����@<'��������������?)~b�u�@ ~b)9^;I~`ɫ�髉)�� �����I��Y����@y���eG���AA���@A��5�>��5�̼��5Ga�i�5\�@��1 �5O�@)�1I�5�@i�5�@��=�:=ME@=Y�E�g9QU��>�������a��G������y�� �;}��>I�����5�?���� ���A�� �?9��~C�����; ���;)���Wq�WqXq Xq�Wq:Wy2Wy*Wy�VyU�U�����e)$@zL��L��L��L��n@�A���?<B� B��A�<$�*B�*9�A�AL�7�A����A!"C%�)*C-�e?<RC)C)�C1I�qG�$>����|j,CYd�E�AY}2M��@�}2��@y}2NW<�}2QM*��}2H�����A�?��� J��?����F��?��� j�������I�?�����h������ �������G����� ���?)~2M��@ ~2�9^;I~0ɫ9�9)�9 �=����I�9Y�}�@y�}�dG���p=i���=��9��t�CI��D^Gi����@���=���������7�; ���E�����Zd;��<�O��n¿<�O��n�?����y����t� ��t<)��I��y����Q���?R���Q������Mb`����\�=����½���� ���A)��3AI��dAi���������A��y�M?=Y���:QU�>�����a�G����!y�-L<}5�>I�9��=4�5�?��= � �=�A��M�?9�=~C��=?'; �=�&;)�9�W��W�X� X��W�:W�2W�*W��V�U�U�������$@zL=��=�L=��=�L=�@�L=�_{@��ul����u�����u�����u\�� �u(:Y�u�X1y�u/�:��uY�5)�ud�;�A���<<B� B��A��3�*B��9�A��A��7�A�o���A�"C��)*C��� <RC�C��C�I�G=/>����|j,�4~�E�AY}2Z��@�}2��@y}2�<�}2�j1��}2H��������?�������?������?��� ����������?������g�����l�������H+���������?)~2Z��@ ~2!^;I~2��CɫY�Y)�Y �YI�YY��g�@y��UeG���Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 I��C=)���=�� }�<M\=Y�%r:QU-�>��9��A�aM�G��I��Yy�m��;}�>I���-�:��f�5�?��u�:��� � ���A��}�?9�%~C��"C< ��C<)���:�W�WX X)�W):W12W1*W9�V9U9UE���@��%@zL��L��L��L���{@�A�9<B! B)�A-�(�*B5�9�A9�A=��7�Ae����Aa"C}�)*C}S��;RC�C��C�I�aG�_>���|j,T��E�AY}2�£@�}2dЛ@y}2�6<�}2:&��}2H��������?���@C��?���`�g�?����������`X�?����5�r���� u������ zŤ��������?)~2�£@ ~2�,^;I~2��Cɫ1�9)�9 �9I�9Y�u�@y�ufG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ����=���E�����=i�(�@�� ��@)�I�i����0=M:=Y�%�[;QU%�>��i��q�au�G��q��yy�}�;}��>Iȩ�ŭr�5�?�ŭ�"� ƭ��A����?9ƭ2~C�ǭ ; ȭ�%;)ȩ�W)�W)X) X1�W1:W12W1*W9�V9U9��uE����u�����u�����u��� �u�$:Y�uxZ1y�uq�:��uj�5�9}@U}���@�&@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L���{@�A��7<B� B��Al�*B�9�A!�A%=�7�A% ���A!"C-�)*C-��;RC)C)�C1I��G�A>ܹ9ܹIܽ�^Giܽ��@�ܹ�ܹ�ܹ�ܽ��; ݽǔE)�I�I�I�i�I���M�=��M�=��M�J�4����|j,���E�AY}:�ʣ@�}:�؛@y}:�><�}:[���}:H�����#�?���`.��?������?���ਖ਼����@�'�?��� �ew������ڇ������֢��������?)~:�ʣ@ ~:" ^;I~:��Cɫ9�9)�9 �9I�9Y�}M�@y�}5eG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******���4z�M�a=Y����:QU��>�������a��G������y��[,;}��>I�����:�����5�?���:����$� �����?9��=~C�����; ���;)����:�Wi�WiX� X��W�:W�2W�*W��V�U�U������c'@zL��L��L��L�@�{@�A�d4<B B!�A%,�*B%D9�A!�A%�7�A%=���AA"CM�)*CU5�g;RCQCQ�CQI�qG�>����|j,���E�A�|&�@i|&�@Y}v�ģ@�}v�қ@y}v0N<�}v�� ��}vH�������?���`���?����r%�?���`�������?�?��� � }������������@ Z���������?)~v�ģ@ ~v�"^;I~v��Cɫ���)�� �����I��Y��@y�0fGxDUSBL response received:!U1,P DAF,000,005E1,189,80,80,94,FF Command AckBRequesting micromodem ping code 2i����-DNmea in: $SNTTA,,,,,171142.55*5E �5�Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 �!�!)�]�= �]�=���������������������c�� ��L:Y���V1y���:���W6�� ��>�� ����� ���i� כ@�� � )� �@I� i� ��5SF=M5=Y�=a�:QU��>�����a��G����y�Hĺ}��>Iȱ�ŵW�5�?�ŵ'� Ƶ��A����?9ƵL~C�ǵ�< ȵ#<)ȱ�Wa�WaXa Xa�Wa:Wi2Wi*Wi�ViUiUu��� <b(@zL��L��L��L�h�{@�AU�2<BY BY�A]��*Be- 9�Aa�Ae��7�Ae*���Ai"C��)*C��.�;RC�C��C�I��G= �>����|j,M���E�AY}6ȱ�@�}6��@y}6{3`<�}6����}6H��������?����/��?�������?����]������ ��?����8N������6������gѠ��������?)~6ȱ�@ ~6��];I~6��Cɫ9�9)�9 �=���I�9�a9�aI�e_Gi�eJ�@��a��a��a��e��; �e��EY�}�@y�}�eG����R���Q�?B`��"�ɿ����Mb�������=����N� ���)��I��y���bX9�ȶ?!�rh����Zd;�O������E�=���l����j�� ;A)AI5Ai5A������fA���T��M�{=Y��H_;QU� ?�������a��G������y���}�?I������:�����5�?����:����(� ���A����?9��X~C���w�: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U�������)@zL�)>�L�)>�L�%�@�L�d`}@�A�G0<B B)�A-��*B- 9�A)�A-D�7�A-����A1"C5�)*C=���;RC9C9�C9I�yG�>�y#�|j,�~��E�AY}:땣@�}:���@y}:ͭm<�}:� ��}:H����`�K�?����̜�?����D͢?�����������vY�?��� �������`u��������⡿���@#��?)~:땣@ ~:��];I~:��Cɫ9�9)�9 �=���I�9Y�}=�@y�}^fG�xDUSBL response received:!U1,R,157,000,005F2,185,80,80,53,FF �Fpublishing direction and range info����@�����ɰ�]�=鰅+�> ��)����BI��y��GWB����G@_V���?ۻ5~8�ҿ��������ٱ����Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��u4=i�u�=�����<M�K=Y��';QU��>�����a�G����!y�-�}M�>I�Q��UA�5�?��U`+� �U؏A��m�?9�Ug~C��U��; �U �;)�Q�W��W�X� X��W�:W�2W�*W �VUU%������)@�PQ*QUGWB�ZU��NK��I@��\��/����������ZU�G@_V���?ۻ5~8�ҿ��������2QU�@��:QQ�ZU�=�а��S��ΝJ��:,Ge�ȿ�ZU� U�ʆ�¿E�졦�x��#+m�BQU�@ QU�T�QU����PUK�9?�PU��9?�PUO���QU9���QU�@"QU�@���_�����|�����|������� ���&:Y���R1y��i�:���}6zLy�Ly�Ly�L}�$}@�A��/<B� B��A��*B��9�A��A��7�A�����A�"C��)*C�I�<RCC �CI�1GmW>�� }j,X��E�AY}:}�@�}:͊�@y}:��s<�}:6��}:H����@O��?���`��?����OУ?���`.�����`T��?�����삿�����r������!墿�������?)~:}�@ ~:��];I~8ɫY�Y)�a �e����I�aY��:�@y��YfG�%TNmea in: $SNTTA,0.059942,,,,171143.78*4D ����ҽ��������D�i���@��� ���@)���@I���@i���@��5�M5C=Y�5�b:QU5�>��9��9�a=�G��9��Ay�E��}E�>I�I��U�:��M��5�?��]�:��M�-� �MȏA��]�?9�Mv~C��MI�: �M��:)�M��:�m�yAdded new target pos. range: 53.820000 m, bearing: 261.531577 deg, deltaT: 12.930279 s, approachRate: 0.078885 m/s, LOS rate: -3.579455 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U�������J@U�����Z�?zL��L��L��L� �|@�A���-<B� B��A�z�*B��9�A��A���7�A�����A�"C��)*C�I�><RC�C��CiI��G�">�a9�aI�ai�a��a��a��a��eV�; �e��E��4}j,�23��E�AY}2�j�@�}2�x�@y}2\'j<�}2m���}2H��������?���@e��?������?��������� ��?����P������@�D������&3������f��?)~2�j�@ ~2J,^;I~2��CɫI�I)�I �II�IY�}�@y�}�eG��KӼM^=Y�ZͺQU�>��!��!�a%�G��!��)y�-Ż}-�>I�1��5��5�?��5�/� �5��A��E�?9�5�~C��5a; �5L;)�1�Wy�WyXy Xy�W�:W�2W�*W��V�U�U����@���?zL1�L1�L1�L5�|@�Au�<,<By By�A}3�*B}�9�A��A�Z�7�A����A�"C��)*C�ʐZ<RC�C��C�I��G% >��E ����E�����E�����E��� �E�4:Y�E�X1y�E/�:��EE�5)�EG�;�9M���}j,� M��E�AY}2Cg�@�}2�t�@y}2��b<�}2���}2H�������?���`��?���`;ţ?���`����� Ӡ�?����������@�S������/��������?)~2Cg�@ ~21S^;I~2��Cɫ9�9)�9 �=���I�9Y��u�@y���fGI�)���m;_>��m��>��mҍ>i�m�@��i �m\�@)�m&�@I�m=�@i�m&�@��)$=M�D=Y�\��QU��>�����a��G����y�s��}��>Iș�ŝH�5�?�ŝ\2� Ɲ��A����?9Ɲ�~C�ǝI�: ȝU�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U�����i��?zL��L��L��L�$�|@�Am'�*<Bq Bq�Au�*Bu89�Aq�Au�7�Au=���Ay"C��)*C��k\<RC�C��C�I��G�>�� �� i�u�lGI��i������ �ٺ����A��F}j,�f��E�AY}:�u�@�}:l��@y}:�*i<�}:����}:H�����*��?���@U��?��� !=�?����W��������?���@�������%�������]���������?)~:�u�@ ~:}�^;I~:��C� 9� I� o_Gi� ��@�� �� �� �� �; 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�m�E���,}j,Fy���E�A�|�;�|Y}2���@�}2`ě@y}2vg<�}2 W&��}2H��������?�������?��� ��?��������������?����bJ�����Pጿ�����Ȥ�����n��?)~2���@ ~2�_;I~2��Cɫ9�9)�9 �9I�9Y��u�@y���gG��ɮ�I�p=)�%=�� �� mA����MM=Y�=g:QU%�>��!��)�a-�G��)��1y�=��;}=�>I�A��EN�5�?��E�<� �E�A��U�?9�E�~C��Ey; �Ec;)�A�W��W�X� X��W�:W�2W�*W��V�U�U������,@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�2Ӏ@�A��Y'<B� B��A�Eν*B��"9�A��A��7�A�����A�"C��)*C��̮;RC�C��C�I��G��=��j3}j,�U���E�AY}:$£@�}:�ϛ@y}::r<�}:�r*��}:H���� L��?���@˓�?����(8�?���`�������U �?����Ɣ�����`�F����� 1L��������?)~:$£@ ~:�'_;I~:��Cɫ9�9)�9 �9I�9Y�}ؼ@y�}WhG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******�����=���t=���+�i��(�@��� ���@)���@I���@i���@�� ��<M==Y�Y�:QU�>�����a�G����!y�%�S;}%�>I�)��e�:��-��5�?��e�:��-�?� �-�A��e�?9�-�~C��-��: �-k�:)�-��:�W��W�X� X��W�:W�2W�*W��V�U�U�����k� @zL9�L9�L9�L=�߀@�A�c]'<B� B��A�F��*B�p%9�A��A��7�A����A�"C��)*C����;RC�C��C�I�1Gu6>��e����������������� �v':Y�DW1y�Y�:�� �5��9}j,�0���E�AY}2�ģ@�}2;қ@y}2�s<�}2vc&��}2H�������?��� ē�?���@ع�?��� R��������?����������`�o�����`aʤ�����V��?)~2�ģ@ ~2� _;I~0�T9�TI�V�`Gi�V��@��V=��T��T��V�; �Vv�E)�=�t�CI�=�t�Ci�9���=�=��=�=��=���4ɫY�Y)�Y �YI�YY�}ռ@y��ShG�xDUSBL response received:!U1,P 157,000,005F2,185,80,80,53,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����k�t��?�S㥛�п���Q��?��� 0=���$�� ����<)��I��y����~j�t��?�ʡE��{�G�z������D=��������ף� ��A)���AI��i��dA�������A��vy�M,=Y�J-9QU�>����!�ae�G��a��iy�m�:}m�>I�q��up�5�?��uuA� �u�A����?9�u�~C��u��; �uZ�;)�q�W��W�X� X��W�:W�2W�*W��V�U�U����`�� @zLe>�Le>�Le,A�@�Lel�k@�A�!�'<B� B��A�3��*B�%9�A��A���7�A�!���A�"C�)*C֫�;RC!C!�C)I��G��>��|@}j,���E�A�|i|Y}>}��@�}>4͛@y}>?Rz<�}>�X��}>H��������?���@\��?���@���?�������������?����ʵ����� �I������K���������?)~>}��@ ~>�_;I~>��CɫY�Y)�Y �YI�YY����@y��hG���@A���AA���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �9�9��M)��MM�=Y�U��:QUU?�����a��G����y����}�?Iȩ�ŭ��5�?�ŭ�B� ƭ؏A����?9ƭ�~C�ǭ��; ȭC�;)ȩ�W!�W)X) X)�W):Wy2Wy*W��V�U�U���� @zL��L��L��L��k@�A�{�'<B� B��A�N��*B��"9�A�A ~�7�A m��A "C-�)*C-���;RC)C1�C1I�qG�?>��� �����������������#�� ��5:Y���V1y���:���}6���F}j,����E�AY}2��@�}2�Ǜ@y}2~<�}2X��}2H�����?��?������?�����#�?���@ߛ�����r��?���� ����� 0�������� ���������?)~2��@ ~2�!`;I~2��Cɫ9�9)�9 �9I�AY�}��@y�}3hG�xDUSBL response received:!U1,R,DE7,000,005F9,188,80,80,62,FF �Fpublishing direction and range info�����>���ɰ���=鰅��> ��)����BI��y���XB����2e�E�?~z�����?��������ٱ������=����>����'�i��G�@��� ���@)��z�@I��\�@i��\�@���ͻ;MO=Y�<:QU�>�� �� �a �G�� �� y���}�>I���%�:�� �5�?��%�:��D� �ˏA��-�?9�C����: ���:)���:�WI�WIXI XI�WQ:WQ2WQ*WY�VYUYU]���`z�@�Pi*Qm�XB�Zm����6=2H@�[�1r8@���������Zm�2e�E�?~z�����?��������2Qm��>:Qi�Zm�n�u���?@�����E�/��������Zm�.들)��?d��+���O��;���BQm�Ū@ Qm�/�Qm��A�Pm��9?�PmK�9?�Pm@���QmO���Qm��@"Qm�@zLY�LY�LY�L] �k@�A�Db)<B� B��A����*B�e#9�A��A�L�7�A����A�"C��)*C���;RC�C��C�I��G >ܡ9ܡIܥ�aGiܥ�@�ܥ=�ܡ�ܡ�ܥ�; ݥq�E���L}j,`�5��E�AY}ZM��@�}Zě@y}ZB�|<�}Z����}ZH�����w��?���� ��?�����~�?����v������-��?����Ze������V�������,{�����@?��?)~ZM��@ ~Zŭ`;I~Z��Cɫ�髙)�� �����I��Y���@y��ehG�]DNmea in: $SNTTA,,,,,171148.20*56 ��q��unA���><M�?=Y��,�QU��>�����a��G�����y�� ��}��>I������5�?����E� ����A����?9��C���8�: ����:)���m�uAdded new target pos. range: 54.239998 m, bearing: 305.768281 deg, deltaT: 4.381292 s, approachRate: 0.095862 m/s, LOS rate: 10.096725 deg/s, posRepo size: 4�W��W�X� X��W�:W�2W�*W��V�U����@�K@U��������?zL�L�L�Le�k@�A�+<B! B!�A%��*B-%9�A)�A-�7�A5���A1"C=�)*C=�;RCACA�CII�yG*>������������������������ ��f.:Y��0Y1y����:�����5)���;�9�����S}j,$�O��E�AY}:���@�}:j��@y}:��w<�}:�\��}:H�����N��?���`\��?�����$�?���@5��������?�����h������0������`*�����`���?)~:���@ ~:9�`;I~:��Cɫ9�9)�9 �=����I�AY�]e�@y�]iGI��4=)����mQ8>��mr�>��mb�>i�m3�@��i �m��@)�m&�@I�m�@i�m&�@��}y#=M}N=Y�}<F�QU}�>�����a��G����y����}��>Iȑ����:�ŕ{�5�?����:�ŕG� ƕ��A����?9ƕ"C�Ǖ��: ȕb�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U������K�?zL��L��L��L��k@�A��,<B B �A ��*B <&9�A�A�7�A��A"C�)*C�2�;RCC�C!I�9Ge�=�$�Y}j,`xi��E�A�$9�$I�&daGi�&2�@��$��$��$��&�; �&w�EY}B��@�}B�Û@y}B%zo<�}B2{��}BH�����_��?������?���@eZ�?��� �������8��?���ຈ����������`�m�����`9��?)~B��@ ~B31`;I~B��CɫY�Y)�Y �YI�YY�}t�@y��iG����D�l����?�Q������&1������O >���\� ���P�)��I��y���333333�?�v��/���~j�t�x������=���x�����Ļ �A)�AI�Ai������=A��Y�;M�G=Y�Υ�QU��>�����a��G����y��ק:}��>I�������5�?���/I� ����A����?9��1C���8�: ���:)���W��W�X� X��W�:W�2W*W�VUU ���`U��?zL%�>�L%�>�L%�j�@�L%�0x@�A=�V.<B9 B9�A=d��*B='9�AA�AElj7�AE2��AA"CM�)*C]���;RCYCY�CaI�yG��=��= ����=�����=�����=��� �=r :Y�=�W1y�=č:��=��5)�=�;���`}j,?S���E�AY}2���@�}2�˛@y}2�wc<�}2B�"��}2H��������?���`"��?��� �6�?����t�����`1��?���@A�~���� �n�������Z���������?)~2���@ ~2��_;I~2��Cɫ9�9)�9 �=���I�AY�E�@y�M�iG)���= ��>���O'=M�Y=Y��-��QU��>�������a��G������y��0);}��>I������:���ƹ5�?����:���!K� ����A����?9��>C����: ��w�:)����:�W!�W!X! X)�W):W12W9*WA�VAUIUM����I��?zLi�Li�Li�Lm�@x@�A�d�/<B� B��A��]�*B��(9�A��A���7�A�e��A�"C��)*C��d�;RC�C��CI��GM>i�-�lGI�Ai�Q����%�ٺ�����A�%�f}j,�.���E�AY}2bʣ@�}2؛@y}2_c<�}2 �!��}2H����@��?����D��?����U�?�����������%)�?����H�~������k������<���������?)~2bʣ@ ~2t�_;I~0ɫ9�9)�9 �9I�AY����@y��RiG�Í,��Í�u��Í���iÍ��@�É č\�@)č\�@Ičz�@ič\�@��̴�M�>=Y�f�QU��>�����a��G����y��f;}��>Iȹ�Ž�5�?�Ž[M� ƽ��A����?9ƽMC�ǽܹ: Ƚ��:)ȹ�W��W�X� X��W�:W�2W�*W��V�U�U������N�@zL��L��L��L��Yx@�A�/1<B� B��A�[��*B� (9�A��A��7�A�u��A�"C��)*C��:h;RC�C��C�I�Ge>��E�����E�����E�����E��� �E�:Y�E�V1y�E�:��E��5�9M@�]2�>9�YI�]�aGi�]��@��Y��Y��Y��].�; �]��E�:m}j,� ���E�AY}>rУ@�}>)ޛ@y}>�b<�}>Lm��}>H������2�?�������?����x��?������������@�?����������eZ�����`𫣿���`*��?)~>rУ@ ~>'o_;I~>��CɫY�Y)�Y �]����I�aY���@y���iG��u)�<MuM=Y�}��QU}�>��y���a��G����y�r�:}��>Iȑ����:�ŕ��5�?����:�ŕlO� ƕ��A����?9ƕ[C�Ǖ��: ȕ(�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����|@zL��L��L��L��ex@�A�2<B B�Acc�*B h(9�A �A ^�7�A ����A "C�)*C��F;RCC�CI�1G]�=�t}j,�����E�AY}2fˣ@�}2ٛ@y}2ۦ[<�}2�K��}2H�������?������?�����ߣ?����h����� �+�?����A~������t������������ ���?)~2fˣ@ ~2�r_;I~0ɫY�Y)�Y �YI�YY����@y��@iG鮥a=ɮ����R=i��a=��t����)>��`e�i�f�@�� �E�@)�E�@I�E�@i�E�@��!мMQ=Y����QU�>����!�a%�G��!��!y�--κ}-�>I�1��5e�5�?��5sQ� �5��A��=�?9�5iC��5(�: �5;�:)�1�W��W�X� X�W:W2W*W�V U U ������@�R5B*** querying acoustic contact ***�P1�P1zLI�LI�LI�LM�[x@�A�ϙ4<B� B��A���*B��'9�A��A�6�7�A����A�"C��)*C��tr;RC�C��C�I��G >��F����������������� ��$:Y��[1y�H�:��i�5�A9�AI�E,bGi�EԷ@��E=��A��A��EP�; �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 X�W:W2W*W�VUU%���@�M @zL]>�L]>�L]0Ҭ@�L]v�~@�A���6<B� B��A��_�*B��)9�A��A��7�A����A�"C��)*C��Em;RC�C��C�I�G%+>���}j,���E�AY}2ᯣ@�}2���@y}23PP<�}2���}2H�����H��?����l��?�����}�?����Ý����@^��?��� Ib|����`� ������.������`���?)~2ᯣ@ ~2J�^;I~0ɫ9�9)�9 �=����I�9Y�uN�@y�}#jG�xDUSBL response received:!U1,P DE7,000,005F9,188,80,80,62,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 �í1>�í����í��=ií\�@�é ĭ\�@)ĭ\�@Iĭ\�@iĭ\�@��]��<M]=Y�eɭ�QUe�>��i��i�am�G��i��qy�}�ܻ}}�>Iȉ����:�ō��5�?����:�ō�V� ƍ��A����@9ƍ�C�Ǎ��: ȍ�:)ȍ��:�W��W�X� X��W�:W�2W�*W��V�U�U�����@<@zL��L��L��L���~@�A�8<B B�A �/�*B �*9�A �A ��7�A ���A "C�)*C��;RCC�CI�9Gew>��D�}j,5|��E�AY}2ꨣ@�}2���@y}2v�P<�}2|K��}2H��������?����_��?�������?����Ԟ��������?����a|����������� �碿�������?)~2ꨣ@ ~2�Y^;I~0ɫ9�9)�9 �9I�9Y�u��@y�}jG��y��y��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �}:Nmea in: 505,,,171152.69*5C ���Response from modem failed NMEA checksum: 505,,,171152.69*5C expected 0�����=M��=Y��l�8QU�?�������a��G������y�C@�}?I�����5�?���X� �}�A��-�@9��C���= ��=)���u�����u�����u�����u��� �u�2:Y�u�X1y�u/�:��u��5�W��W�X� X��W�:W�2W�*W��V�U�U�����u@zL��L��L��L���~@�A5��:<B1 B9�A=� �*B=�*9�AY�A}��7�A}���A�"C��)*C�p��;RC�C��C�I����9��u�CI���bGi��&�@���=���������o�; ����E)�y�I�y�i�y���}�=��}�=��}���4GI>�m�}j,HP8��E�A�|i|Y}R���@�}R���@y}Ra�A<�}R����}RH��������?���@o��?������?�����������ԩ�?����Wy���� g9������]Y������*��?)~R���@ ~R*�];I~R��Cɫy�y)�y �yI�yY����@y���jG�xDUSBL response received:!U1,R,1D0,000,005FD,186,80,80,99,FF �Fpublishing direction and range info���3QϾ���ɰ�*�=鰍��> ��)���CI��y���YB�������i�?0X6ٿ��������ٱ� ��鿹���I <M�]=Y���!�QU��>�������a��G������y��R4:}��>I������:���آ5�?����:����Z� ��r�A����@9���C�����: ����:)����:�W��W�X� X��W�:W�2W�*W��V�U�U�����C�@�P�*Q��YB�Z����R�� I@��ԦBv5����������Z�����i�?0X6ٿ��������2Q�3QϾ:Q��Z��> \��+�>iXcJ��Q%?g��?�Z��rƏZE�Ͽ�c$(��-I�j?BQ��Ŏ@ Q�S�Q�GX��P�9�9?�P���9?�P�P���Q�@���Q�_�@"Q���@zL9�L9�L9�L= �~@�Am =<Bq Bq�Aug��*BuW+9�Aq�Au͈7�A}$��Ay"C}�)*C��?�;RC�C��C�I��G�>�5U�}j,Z,R��E�AY}2��@�}2�ɛ@y}2?�1<�}2�F��}2H��������?������?����n��?����������8��?���@cju����`K2������������ p��?)~2��@ ~2�^;I~2��CɫY�Y)�Y �YI�YY��l�@y��HjG��U��<��U�T=��U��<i�Q��Q �Q)�QI�Qi�Q��eϮ�MeA=Y�e-�QUm�>��i��i�am�G��i���y��p�;}��>I�����l�5�?���Z]� ��d�A����@9���C���ϸ: ���:)���m-yAdded new target pos. range: 54.480000 m, bearing: 255.633845 deg, deltaT: 4.461522 s, approachRate: 0.053794 m/s, LOS rate: -11.237070 deg/s, posRepo size: 4�W1�W1X1 X1�W1:W12W9*W9�V9U=����p=K@U=���`�x�?zLY�LY�LY�L]F�~@�Auʯ><Bq Bq�Au� �*Bu�*9�Ay�A}��7�A}5��Ay"C��)*C�>��;RC�C��C�I��G��=��u�����u�����u�����u��� �ub:Y�u0Y1y�u��:��u|6��9��I��XcGi��ȸ@���=�����������; ����E���}j,S l��E�AY}6rң@�}6)��@y}61�1<�}6J���}6H������:�?����w��?���`�¢?���@������ rD�?�����t������9������+����� d��?)~6rң@ ~6��];I~6��CɫY�Y)�Y �]���I�YY�}ɾ@y�}�jGI��)����m��� �rh�?�l����¿ˡE����?��mC>��m�� �m�=)�iI�iy�m�+�����?���S㥻��~j�t�h���m�=��m/ݽ��m�D� �mfA)�m�AI�ii�m�A��i��mzA��9�<M�H=Y��8QU��>�����a��G����y�?�;}��>Iȩ����:�ŭ�5�?����:�ŭ�^� ƭe�A����@9ƭ�C�ǭ�; ȭ�;)ȭ��:�WY�WYXY XY�WY:Wa2Wa*Wa�VaUiUm���@�V�?zL�>�=�L�>�=�L���@�L�ei@�A�G@<B� B��A���*B�,9�A��A���7�A�@��A�"C��)*C�`�);RC�C��C�I� GU>��h�}j,����E�Aɫy髁)�� ��I��Y�-��@y�-�jGI���=)��R=��$>��,�����i��@�� ���@)���@I���@i���@��%�<M-A=Y�m���QUm�>��q��q�au�G��q��yy�}���}}�>Iȁ�Ņk�5�?�Ņ�_� Ɓ����@9ƅ�C�Dž1< ȅ|<)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL9�L9�L9�L9��u�����u�����u�����u�� �u�3:Y�uDW1y�uY�:��u6�A���A<B� B��A�W��*B��,9�A��A���7�A�E��A�"C��)*C�V-@;RC�C��CI�GU2>�V��}j,ǽ���E�AY}:��@�}:���@y}:7�6<�}:�i ��}:H��������?�������?����S��?��� Ɣ�����!��?����Ns�����gކ�����������`5��?)~:��@ ~:*�];I~:��Cɫ9�9)�9 �=����I�9Y�}0�@y�}9kG��=܀<M=[=Y�Ea:QUE�>��A��A�aM�G��I��Iy�U��<}U�>I�Y��e�:��]T�5�?��e�:��]a� �]f�A��e�@9�]�C��]��: �]�:)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U��������?zL��L��L��L��i@�A��NC<B� B��A�fz�*B�Y-9�A��A���7�A�p��A�"C��)*C���9RC�C��C�I� G%�=ܑ9ܑIܕ�cGiܕ�@�ܑ�ܑ�ܑ�ܕ�; ݕ��E�ȼ�}j,s����E�AY}:z�@�}:1�@y}:p�4<�}:�j&��}:H�����&��?������?���@�n�?���`����������?���@��q�������������ˤ��������?)~:z�@ ~:�];I~:��CɫY�Y)�Y �YI�YY���@y���jG)��= ��=��5;��M5K=Y�=���QU=�>��9��9�aE�G��A��Ay�M�غ}M�>Iȩ�ŭӑ5�?�ŭeb� ƭg�A����@9ƭ�C�ǭ�: ȭ�:)ȩ�W��W�X� X��W�:W�2W�*W��V�U�U����� &�@zL�L�L�LM�i@�A��D<B B!�A%ۿ�*B%�,9�A!�A%q�7�A%u��A!"C-�)*C5Q`�:RC1C1�C1I�IGe�=I�eAA)�e@A��uw ����u�����u�����u��� �u�Q:Y�u�U1y�u��:��u�6)�ul�;�9}��X��}j,t���E�Aɫy�y)�y �����I��Y����@y��/lG �!�!��u�u>��u����u\�i�u��@��q �u�@)�uE�@I�uz�@i�u\�@��,�=M�F=Y����QU��>�����a��G����y����}��>Iȡ�ťk�5�?�ť�c� ơ����@9ƥ�C�ǥ4�: ȥ �:)ȡ��9��=��Ci���mGI��i����?�ٺ��%�A�W��WX! X)�W):W12W9*Wa�VaUiUu���`A@�R�B*** querying acoustic contact ***�P��P�zL1�L1�L1�L1�AM��F<BQ BQ�AU���*BU�09�AQ�AY�A}?��Ay"C��)*C����:RC�C��C�I��Gn>܁9܁I܅�dGi܅��@�܁�܁�܁�܅^�; ݅ �E��ͺ}j,�O���E�AY}N�ϣ@�}N�ݛ@y}N�i#<�}Nh���}NH����@�0�?����e��?���@���?���� ����� 09�?���@jXp����`m������������`���?)~N�ϣ@ ~N��];I~N��Cɫy�y)�y �}����I�yY����@y���kG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��ɮ������I+���\���(\Ͽsh��|?�?���9������z� ����=)��I��y���<�O��n�?�Zd;����~j�t�����t�=������������ ��)���AI���Ai��dA���������DμM�6=Y����QU��>�������a��G������y� >��}�>I�!��-�:��%8�5�?��-�:��%�e� �%Y�A��5�@9�%�C��%�: �%��:)�%��:�Wa��}) ����}�����}�����}d�� �}7:Y�}DW1y�}Y�:��}s6)�}j�;�WaX� X��W�:W�2W�*W��V�U�U����`�@zL�\>�L�\>�L��ۧ@�L�@u@�A���G<B� B��A���*B�/9�A��A�k�7�A�f��A�"C��)*C���c;RC�C��C�I��GL>����}j,�+��E�AY}B-ǣ@�}B�ԛ@y}Bg#<�}B{� ��}BH�������?��� �?���`�ܡ?���`o������-�?���@D�p�����Yd�������P�����@���?)~B-ǣ@ ~BM�];I~B��CɫY�a)�a �e���I�iY����@y���kG�xDUSBL response received:!U1,P 1D0,000,005FD,186,80,80,99,FF �Command Ack�BRequesting micromodem ping code 2i�������4=i�C=��Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ������mA���}���S�=��Y�i�G�@�� ���@)�z�@I���@i���@��e���Me4=Y�mݑ�QUm�>��q��y�a}�G��y��y���}��>Iȱ�ŵ�5�?�ŵGh� ƵK�A����@9Ƶ�C�ǵD�; ȵ^<)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�����8� @zLi�Li�Li�Lm5u@�A�y�H<B� B��A�#,�*B�K/9�A�Ad�7�A1��A"C5�)*C5�;RC1C9�C9I�qG��>�r��}j,d!��E�AY}:�ƣ@�}:�ԛ@y}:e<�}:���}:H����`H �?����:��?������?�����������l�?��� �Wp������̂�������������\��?)~:�ƣ@ ~:(B^;I~8ɫ9�9)�9 �=����I�9Y�}0�@y�}tlG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��3s=M��=Y�Ws�QU�?�����a��G����y���}�?Iȱ����:�ŵ/�5�?����:�ŵ�i� ƵA�A����@9Ƶ�C�ǵ4�: ȵ��:)ȵ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@ @zL �L �L �L u@�A%ÞI<B! 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X!�W!:W)2W)*W)�V)U)U5����km�?zLI�LI�LI�LM��w@�A��I<B� B��A��=*B�669�A��A�ڈ7�A��ٺ�A�"C��)*C��"�:RC�C��C�Yϕ�9I��G��>�� 9�� I�� �fGi�� ��@��� =��� ��� ��� �; �� w�E��i�}j,�����E�AY}:��@�}:��@y}:U� <�}:Dp��}:H�����pt�?����n��?�����G�?����i�����@1{�?����LYh���� \��������̡��������?)~:��@ ~:u#^;I~:��Cɫ9�9)�9 �9I�9Y�}X�@y�}�mGI�)��������Mb�?㥛� �¿��~j�t������@>����� �����)��I��y����A`��"�?��C�l绿Zd;�O������Y=���;߽���j�� ��)��I���Ai���A�������A���FD�M�E=Y��M�9QU��>�������a�G����y� /f�} �>I���h5�?��'y� �)�A���@9�B�C�� �: �Y�:)��WA�WAXA XA�WA:WI2WI*WI�VIUQUU��� i��?zL���=�L���=�L�iG�@�L� p@�A-��H<B) B1�A5Z=*B5]69�A1�A=�7�A=�غ�A9���K�������������������� ��:Y��X1y�/�:���J6)�'O<"CE�)*C����:RC�C��C�YϡI��G�B>�Y~j,4� ��E�A�|8i|8Y} &�@�} ��@y} f�<�} ���} H�����}�?�������?����~�?���� ���������?����Pg�����\������`⠣���� ���?)~ &�@ ~ ��];I~ ��Cɫ���)�� ��I��Y�e��@y�mdnG��=�ゥ�=�T=��=�&�i�=��@��9 �9)�9I�9i�9��M��=MMD=Y�U?�:QUU�>��Q��Q�a]�G��Y��Yy�e�&:}e�>I�i��u�:��m�d5�?��u�:��m�z� �m�A��u�@9�mI�C��mw�: �m��:)�m��:�W��W�X� X��W�:W�2W�*W��V�U�U������J�@zLQ�LQ�LQ�LU�p@�A�I�G<B� B��A�9=*B��79�A��A��7�A���A�"C��)*C�0b�:RC�C��C�i��mAI��mAYϕ�9I��G�@>i�UVnGI�ii�����t*�ٺ���� A��{~j,d�#��E�Aɫy�y)�y �yI�yY��c�@y��(oG��]VV=Me\=Y�u���QU}�>��y��y�a��G����y����}��>Iȑ�ŕja5�?�ŕB|� ƕ �A����@9ƕN�C�Ǖ��: ȕ�:)ȑ�W�WX X�W:W2W*W�VU!U%�����^@zL9�L9�L9�L9�AU�UF<BQ BQ�A]U�=*B]�:9�AY�A]0�7�A]�ֺ�AY"Ce�)*CeЍ�:RCaCi�Ci��u� ����u�����u�����u� �� �uV:Y�uxZ1y�uq�:��u��6�9}@܉9܉I܍@gGi܍��@�܍=�܉�܉�܍�; ݍ}�EY���9I��G J>�ݥ~j,p=��E�AY}2�ߣ@�}2?�@y}2P�<�}2�'��}2H���� �n�?��� ���?�����a�?����������� w�?������f����@�R����� �ि��� ���?)~2�ߣ@ ~2u�];I~0ɫ9�9)�9 �9I�9Y��_�@y��$oG���a=i��%=���x��M�Q=Y��Ot:QU��>�����a�G���� y� ��} �>I����:��$^5�?���:���}� ���A��%�@9�T�C����: ���:)���:�Wi�WiXi Xi�Wi:Wq2Wq*Wq�VyUyU}���`�n@�R�B*** querying acoustic contact ***�P��P�zL��L��L��L�_p@�A�%�D<B� B��A�h�=*B�]:9�A��A�V�7�A��պ�A�"C��)*C�f\�:RC�C��C�Y��I�G-->���~j,'LW��E�A�|�;�|Y}>/�@�}>��@y}>�<�}>�f��}>H�����}�?���@#��?���@wף?��� ������@x��?����I�m�����&������@tK���������?)~>/�@ ~>��];I~<ɫY�Y)�Y �YI�YY����@y��hoG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��}�����}�����}�����}@�� �}H-:Y�}�X1y�}/�:��}� 6�í/]��í|?>�í5^>iíz�@�é ĭ�@)ĭƣ@Iĭ�@iĭƣ@��k`<M�%=Y���:QU��>�������a��G������y���k:}��>I������Y5�?����� ���A����@9��\�C�����: ��]�:)���W1�W1X1 X1�W1:W92W9*W9�V9UaUe�����l @zLy�Ly�Ly�L}p@�A���B<B� B��A�K�=*B��99�A��A���7�A��Ժ�A�"C��)*C��4�:RC�C��C�����=���?>Y��I��Gk>�i 9�i I�m hGi�m ��@��m =��i ��i ��m R�; �m ��E��~j,�&q��E�AY}:��@�}:���@y}:��"<�}:%���}:H�����У�?���`���?������?���@c�����`���?��� ޙq����`<Z������-z�����@���?)~:��@ ~:�^;I~8ɫ9�9)�9 �=���I�9Y�} �@y�}�oG�xDUSBL response received:!U1,P D02,000,036EB,189,80,80,73,FF �Command Ack�BRequesting micromodem ping code 2i��������Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��U���� �r�?��� �rȿ�~j�t��?��U��>��U�C� �U�D<)�QI�Qy�U�#��~j��?�"��~j���~j�t�h���U�=��US���U�D� �U�A)�U�AI�U�Ai�Q��Q��U�A��uZ=Mu?=Y�}*:QU}�>������a��G������y��y4;}��>I������:���nV5�?����:��� �� �����@9��d�C���u�; ��:�;)����:�W��W�X� X��W�:W�2W�*W��V�U�U���� �@zL}�>�L}�>�L}$��@�L}��{@�A��A<B� B��A���=*B��;9�A��A���7�A��Ӻ�A�"C��)*C�tT9RC�C��CY���9I��G��>��"~j,����E�AY}J���@�}Jl�@y}Jdw*<�}J����}JH����@���?���@֍�?���`���?����I�����@}��?���@��s����@�N����� q����@��?)~J���@ ~J#.^;I~J��CɫQ�Q)�Q �U����I�YY��E�@y��>pG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I� )� )��= ��=��e��=��e,���e��i�a��a �a)�aI�ai�e�@��}��<M}�=Y�}�:QU�?�����a��G����y��;}�?Iȑ�ŕT5�?�ŕƃ� Ƒ����@9ƕi�C�Ǖ{�: ȕʽ:)ȑ�Wa�WaXa Xa�Wi:Wi2Wi*Wi�ViUqUu���`�1@zL��L��L��L���{@�A���?<B� B��A�ͼ=*B�D@9�A��A��7�A��Һ�A�"C��)*C�:8��RC�C��C���u�����u�����u�����u��� �u<0:Y�uxZ1y�uq�:��u��5Y���!9I��G )>�j�(~j,���E�AY}2��@�}2� �@y}2�1<�}2;���}2H�����6��?���`@��?������?����4���������?�����xt�����=�������ݡ���� ���?)~2��@ ~2^;I~2��Cɫ9�9)�9 �9I�9Y�u��@y�}�pG�xDUSBL response received:!U1,R,03F,000,0060F,185,80,80,64,FF �Fpublishing direction and range info��}z0a���yɰ}�=�}+�> �y)�}��BI�yy�}=^B��}�ـ^h���?ɕ�n"����������ٱy��Uy�<MUM=Y�]X�:QU]�>��Y��Y�ae�G��a��ay�mo�;}m�>Iȑ�ŕ�P5�?�ŕ��� Ƒ����@9ƕp�C�ǕǺ: ȕӻ:)ȑ�W��W�X� X��W�:W�2W�*W �V UU��� i�@�P!*Q%=^B�Z%������K@���0�l����������Z%�ـ^h���?ɕ�n"����������2Q%z0a�:Q!�Z%�Rk�K�@@�����K� �߿�Z%��&�F��?uVо��vҸG��BQ%�K�@ Q%�\�Q%�@�P%j�9?�P%w�9?�P%U���Q%����Q%dz@"Q%8��zL��L��L��L��{@�A��d><B� B��A���=*B�J?9�A��A� �7�A�Һ�A�"C��)*C�3�ԺRC�C��C��0�>9�I��hGi�:�@��=��������; �˕E)ݩ�Iݩ�iݩ��ݩ��ݭ�=�ݭ�si4Y��,$9I� G-N>��.~j,�����E�AY}r���@�}rO �@y}r��/<�}rW\"��}rH���� ]��?����V��?����x�?����ʑ�����1��?����V�p���� 6������@�I�����`��?)~r���@ ~r��];I~r��Cɫ���)�� �����I��Y�-��@y�-�pG��DNmea in: $SNTTA,,,,,171202.34*5E ����ѻM�A=Y��8��QU��>�������a��G������y����}�>I� ���:�� TM5�?���:�� P�� � ���@9� x�C�� ��: � �:)� ��:�mM�Added new target pos. range: 55.560005 m, bearing: 276.265388 deg, deltaT: 4.441781 s, approachRate: -168.959259 m/s, LOS rate: -9.279206 deg/s, posRepo size: 4�WI�WIXI XI�WQ:WQ2WQ*WQ�VQU]���@��K@U]����2R�?zLq�Lq�Lq�Lu��{@�A-r =<��� �����������������r�� ��J:Y��X1y�/�:���6B� B��A�Q�=*B��>9�A��A�Y�7�A�,Ѻ�A�"C��)*C�`���RC�C��C�YϱI��G�g>���5~j,����E�AY}2.�@�}2���@y}2a�3<�}2/��}2H�����?��?������?�����?����u�����`���?����j�o������z�������ߥ�������?)~2.�@ ~2C�];I~2��Cɫa�a)�i �m���I�qY����@y���pG���C=i���<�� mA�� �ýE6>�ý��<�ýh�=iý̤@�ù Ľ�@)Ľ�@IĹiĽƣ@����<<M�==Y��' :QU��>�������a��G������y���@�}��>I�Y��]�I5�?��]NJ� �]�A��m�@9�]�C��]I; �]�;)�Y�W��W�X� X��W�:W�2W�*W��V�U�U������h�?zL��L��L��L���{@�A�|<<B� B��A���=*B��>9�A��A���7�A�+к�A�"C��)*C�Ъ��RC�C��C�Y��l&9I�GMt>� 9� I� 3iGi� ��@�� �� �� �� %�; 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ݽ&�EY���(9I�G >��}�����}�����}�����}��� �}:Y�}�Y1y�}�:��}]46)�}�<�6BO~j,��?��E�A�|i|Y}6��@�}6�ě@y}67 /<�}6����}6H��������?����Ř�?��� ���?���`ڜ�����T��?����Iw������ᅿ����lR�����@^��?)~6��@ ~6�E^;I~6��Cɫ9�9)�9 �=���I�9Y�yy�y ����Y��d#�QU��>�����a�G���� y� j�} �>I����<5�?��X�� ���A���@9���C��4�: ���:)��W��W�X� X��W�:W�2W�*W��V�U�U���� =L@zL��L��L��L�m�@�A���6<B� B��A*B�B9�A�A��7�A�̺�A"C �)*C��;RCC�CY� �(9I�G�>��)V~j,��Y��E�A��4��:��Ci�~mGI�i�i����B�ٺ����7Aɫ)�1)�1 �5����I�1Y�m��@y�m&rG�ua=ɮua=��Ponly read 0 of 1 data item for BIT errorai�@a��� am�@a��� aq�@a��� ae�@a��� ���7�=�����������i���@��� ����@)����@I����@i����@���(O<M�<Y����QU�>�� �� �a �G�� ��y����}�>I����85�?����� ���A��%�@��}I ����}�����}�����}��� �}N:Y�}�U1y�}��:��}&46�9}@9���C��K = ���?)��Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUqUu���`M:@�R}B*** querying acoustic contact ***�Py�Py�A��-5<B� B��A��>*B�3B9�A��A���7�A��˺�A�"C��)*C�&�;RC�C��C�Y���*9I��G �>ܱ 9ܱ Iܵ `jGiܵ �@�ܵ =�ܱ �ܱ �ܵ -�; ݵ �E�"T\~j,ȵs��E�Aɫy�y)�y �}���I�yY����@y��3rG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��)���A��%nA��%nA��-��;M5m=Y�1QU=?��9��A�aE�G��A��Iy�I}U?I�Y��e�:��]65�?��m�:��]�� �]}�A��m�@9�]��C��]; �]�Q?)�]��:�W��W�X� X��W�:W�2W�*W��V�U�U�����z� @�A�sW3<B� B��A�Q>*B��F9�A��A�A�7�A��ʺ�A�"C��)*C�9�;RC�C��C�Yϝ6+9I��G�B>�<c~j,.����E�A�|4<�|4<ɫ���)�� ��I��Y����@y���qGxDUSBL response received:!U1,P 03F,000,0060F,185,80,80,64,FF Command AckBRequesting micromodem ping code 2i���� �Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ����m=���94>����=i��f�@��� ���@)���@I���@i���@��=`��ME-=���H �����������������'�� ��9:Y�0Y1y���:���6Y�QU%�>��)��)�a-�G��)��)y�1}5�>I�9��=�15�?��=Y�� �=g�A��e�@9�=��C��=Է; �= �?)�9�W �W X X �W :W 2W*W�VUU��� �� @�A��1<B� B��A��>*B�(A9�A��A���7�A��ɺ�A�"C��)*C��߷;RC�C��C�Y�- S-9I�9 G] �>�-fi~j,<l���E�AY}F�@�}F��@y}FK� <�}F�0��}FH������|�?���`>��?���`i��?����������`!��?�����<n����@�������$���������?)~F�@ ~F�4^;I~F��Cɫ�髙)�� ������I��Y����@y��OrG��Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ���Z�<M�d=Y��� �QU��>�������a��G������y���<}�?I�����!/5�?������ ��X�A����@9����C�����: ����?)���W�W!X! X!�W!:W!2W!*W)�V)U)U-���@*@�Y9�YI�](kGi�]"�@��Y��Y��Y��]�; �]�E�Aut�/<By By�A}>*B}�G9�Ay�A}ی7�A�9ɺ�A�"C��)*C���:RC�C��C�YϙI��G�B>��Mp~j,G���E�AY}F|��@�}F3��@y}F�V<�}F1��}FH�����ҥ�?���@J��?������?���`b��������?����I�i����`�J����������������?)~F|��@ ~F�S^;I~F��Cɫ�髙)�� ��I��Y����@y���sG�xDUSBL response received:!U1,R,D19,000,0061D,189,80,80,85,FF �Fpublishing direction and range info�����%?���ɰ�4�>��7�> ��)���CI��y���aB�����m�(~��?-!r.S�?��������ٱ�I��)���A�� �>=M X=Y� �QU�>�����a�G����y�%�[;}%�>I�)��-�+5�?��-7�� �-G�A��5�@9�-ǀC��-9�: �-�@)�)�WY�WYXY XY�WY:WY2Wa*Wa�VaUaUe���`��@�Pq*Qu�aB�Zu��a}�zF@�m�ܳA@���������Zu��m�(~��?-!r.S�?��������2Qu��%?:Qq�Zu�x�8�kD@�,=�PnC�=��,�����Zu�\�<�c,�?;�������� ��BQuw��@ Qur�Qu_#B�PuŨ9?�Puj�9?�Pu9���QuU���QuU�@"Qudz@�A5�U-<B9 BA�AE%&>*BM G9�Ai�Am3�7�AueȺ�Aq"Cu�)*C}� 9RCyCy�Cy��U �������� �� ��::Y�y����6Y���/9I�G-N>��|v~j,�4���E�A�| i|"�@Y}r3��@�}r��@y}r P<�}rF>��}rH�����C��?���`č�?����ܱ�?���@ ������9��?����$�`������I�����`�F����� ���?)~r3��@ ~r�X^;I~pɫ�)� �I�!Y�m1�@y�m�sGaie�aie ame�ame aqe�aqe aee�aee ��e�y�&1���T㥛� �?�� �rh����e`e���e> �eC��)�aI�ay�e��A`��"�?�MbX9�����Q�����eY=��eʡ���e�u� �eKA)�e�AI�e�Ai�e�A��a��efA�����<����������B�i����@��� ��)��9�@I��9�@i��9�@����;=M�0=Y��T �QU��>�������a��G������y��t;}��>I������:���C)5�?����:����� ��;�A����@9��̀C���4�: ��N�:)����:�m-qAdded new target pos. range: 56.400005 m, bearing: 316.423950 deg, deltaT: 4.421700 s, approachRate: 0.189972 m/s, LOS rate: 9.082155 deg/s, posRepo size: 4�W1�W1X1 X1�W1:W12W9*W9�V9UE���`33L@UE���`��?zLe<�=�Le<�=�Le���@�Ley@�A}�+<By B�A�;>*B^H9�A�A%��7�A%zǺ�A!"C-�)*C-��0�RC)C)�C1i�YI�]lAY�-p/9I�AG]w>�U /�>9�Q I�U �kGi�U Ŀ@��U =��Q ��Q ��U ��; �U �E)�݈t�CI�݈t�Ci�و��و��݈=��݈�4��|~j,C���E�AY}:��@�}:��@y}:p��;�}:����}:H��������?������?���@�.�?����G���������?����<CM�����\�}�����w֣���� ���?)~:��@ ~:us^;I~:��Cɫ9�9)�9 �9I�9Y�]��@y�]esG��u���M}d=Y�}��QU��>�����a��G����y���:}��>Iș�ŝ&'5�?�ŝ;�� Ɲ2�A����@9ƝрC�ǝ �: ȝ�:)ș�W��W�X� X��W�:W�2W�*W��V�U�U����@�B�?zL��L��L��L��y@�A �(<B B �A T0>*B �I9�A�A��7�A�ƺ�A"C�)*C�&��RCC�C!Y���/9I��G>��uN ����q��q��uL�� �u::Y�qy�q��u�6)�u��;�9}��)��~j,����E�AY}2e�@�}2�@y}2��;�}2Ѹ)��}2H�����@��?����s��?����sx�?��� ����������?����t�1?������z�����n5����� ���?)~2e�@ ~2�@^;I~0ɫ9�9)�9 �=���I�9Y�}�@y�}�sGI��)�����mA�����5�=��5`e���5/ݼi�5̤@��1 �5�@)�5�@I�5�@i�5�@��}��<M}J=Y�}��QU}�>�����a��G����y��}��>Iȑ����:�ŕ�$5�?����:�ŕ��� ƕ(�A����@9ƕրC�Ǖs�: ȕ��:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U����@2��?zL��L��L��L��y@�A��%<B B �A F7>*B "I9�A�AW�7�A�ź�A"C�)*C��0�RCC�C!Y�E�19I�QG}7>�:��~j,��(��E�AY}2/�@�}2��@y}2��;�}2ڗ)��}2H�����.��?���`Ύ�?���`6a�?���������@H��?����*�Q?���@2w����`X1���������?)~2/�@ ~2I^;I~0ɫ9�9)�9 �9I�AY�]��@y�]DtGI��)���=���o"=M�S=Y����QU��>�����a�G���� y� ���} �>I���|"5�?��!�� ��A��%�@9�ۀC��^�: �k�:)��WA�WAXA XA�WI:WI2WI*WI�VIUQUU�������?zLi�Li�Li�Lm"�x@�A�2�"<B� B��A�G>*B��K9�A��A���7�A�2ź�A���9��I��TlGi���@������������B�; ���E"Cu�)*CuK֭:RCqCq�Cy��}1 ����}����}����}�� �}�7:Y�}�T1y�}��:��}{6)�}��;Yυ�19I��G�>>���~j,��B��E�AY}2�ԣ@�}2��@y}2�q�;�}2r���}2H����@�D�?��� ���?���`���?���������� �F�?������V?����-.s������w���������?)~2�ԣ@ ~2�=^;I~2��Cɫ9�9)�9 �=���I�9Y���@y���sG��U�M]D=Y�]b�QU]�>��a��a�ae�G��a��ay�m���}m�>I�q��u 5�?��u��� �u�A��}�@9�u��C��u��: �uϸ:)�q�W��W�X� X��W�:W�2W�*W��V�U�U������@�@zL��L��L��L���x@�A�C<B� B��A �9>*B�H9�A�A&�7�A[ĺ�A!"C=�)*C= s@;RCACI�CQY�=�39I�QGmV>�yɖ~j,}w\��E�AY}U�ģ@�}Ukқ@y}U��d;�}UЀ��}UH�������?��� W��?������?����"��������?����k�^?������l���� 6o������3��?)~U�ģ@ ~Uh^;I~U��CɫI�I)�Q �U����I�QY����@y��vtG����=i������L7�A`�?�A`��"���I+��?���+=���ٽ ��9�<)��I��y���T㥛� �?�"��~j�����Q�������=���S���� A)©I�AiA������GA)���= ���=�� ��=�� 7�>�� O��i� �@�� � �@)� �@I� �@i� �@�� =M1=Y��(�QU%�>��!��!�a-�G��)��)y�5���}5�>I�9��E�:��=5�?��E�:��=��� �= �A��E�@9�=�C��=Q�: �={�:)�=��:��u| ����u�����u�����u��� �u�=:Y�uxZ1y�uq�:��u6�9}@�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��>�L��>�L��P�@�L�:t@�A���<B� B��A�L>*B��J9�A��A���7�A��ú�A�"C��)*C�= �;RC�C��C�Y�M49I�aG}{>��9��I��mGi����@������������y�; ��!�E�e�~j,1Ev��E�AY}2<��@�}2�ƛ@y}2=�;�}2.���}2H��������?���@���?�������?���������`i��?������f?������b���� !������ ���?)~2<��@ ~2�s^;I~2��Cɫ9�9)�9 �9I�AY�}�@y�}�sG鮅p=ɮ�= ��鿡�����M�{=Y���l�QU� ?�������a��G������y��y��}�?I�����Z5�?���0�� ���A����@9���C���4�: ��3�:)���W�WX X�W:W2W!*W!�V!U!U%���@��@�R5B*** querying acoustic contact ***�P1�P1zL��L��L��L���s@�A�'<B� B��A��5>*B�[K9�A�A�7�A�º�A"C �)*C �ɷ;RCC�C1Y� I�G= >�3أ~j, ���E�AY}6_��@�}6��@y}68eI:�}6N ��}6H��������?���`[��?����(y�?����/�����`t��?����A�r?����,I����@��������$��?)~6_��@ ~6;�^;I~4ɫ9�9)�9 �=���I�9Y�}��@y�}tG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******��5��=��5��<��5�P=i�5�@��1 �5�@)�5�@I�5�@i�5�@��Es[=MEB=Y�M�p�QUM�>��I��Q�aU�G��Q��Yy�]��}]�>I�a��m�:��e�5�?��m�:��e�� �e��A��m�@9�e�C��e��: �eZ�:)�e��:�WQ�WQXY XY�WY:WY2WY*WY�VaUaUe���� @zL��L��L��L���s@�A�R�<B� B��A�M>*B�FK9�A��A�a�7�A�%º�A�"C��)*C�3��;RC�C��C���}l ����}�����}�����}X�� �}o<:Y�}DW1y�}Y�:��}* 6i���mGI��Y���59I��G J>i���=2F�ٺ9��E:A���~j,�����E�AY}2���@�}2_Û@y}2��/��}2����}2H���� ���?���@���?��� Di�?����������@���?��� %{?���`��E?����v������`���?)~2���@ ~2қ^;I~2��Cɫ9�9)�9 �=����I�9Y����@y���tG�xDUSBL response received:!U1,P D19,000,0061D,189,80,80,85,FF �Command Ack�BRequesting micromodem ping code 2i�����I��)�����C=i��=���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ��nA��mA��=1o<MEK=Y�Mi�QU]�>��i��q�a}�G��y��9��I���mGi�� �@������������l�; ����E��y�u��:}u�>Iȁ�Ņ5�?�Ņ �� ƅ�A����@9ƅ��C�Dž(p< ȅ@r<)ȁ�W��W�X� X��W�:W�2W�*W��V�U�U����@*� @zL1�L1�L1�L5G�s@�AM�i<BQ BQ�AUS>*BUK9�AQ�AUِ7�AUZ���AY"C��)*C��F�;RC�C��C�Y�}269I��G��>�7�~j,^����E�AY}2쿣@�}2�͛@y}2JHﺙ}2y�(��}2H�������?����*��?����[��?����������S��?���@NԀ?��� �]?���@������@ ��?)~2쿣@ ~2�^;I~2��CɫY�Y)�Y �YI�YY��,�@y��uG������@A���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��=��<M=;=Y�M�-�QUu�>��y���a��G����y��F;}��>I������:����5�?����:����� ���A����@9���C���n�; ����;)����:�W1�W1X9 X9�W9:W92W9*WA�VAUAUE���`\e@��}� ����}�����}�����}��� �}KC:Y�}�X1y�}/�:��}E6zL��L��L��L�S�s@�A�� <B B�A%a[>*B%EN9�A!�A%K�7�A-����A)"C-�)*C5�e�;RC1C1�C1Y�I�1GMR>���~j,7����E�AY}M�Σ@�}MVܛ@y}MlaV��}M�=*��}MH�����!,�?��� ђ�?���`���?����������`M#�?����\�?���`*�j?���@#F���������?)~M�Σ@ ~M�N^;I~M��Cɫ � )� �I�Y�-�@y�-�tG5xDUSBL response received:!U1,R,053,000,0061F,184,80,80,57,FF =Fpublishing direction and range info��5�V����1ɰ5^�>�5��> �1)�5��BI�1y�5bB��5��d�I���?�H�������������ٱ1�UdNmea in: $SNTTA,0.275663,0.274544,,,171211.24*5A �����Q����?�Q���?Zd;�O������\>���\= ��j<�)��I��y���:��v���?�E���Ը�<�O��n�?����T=����ƽ���t< ���A)���AI���Ai��������zA�Õ��>�Õ�>�Õ�N>iÕ��@�Ñ ĕ��@)ĕ�@Iĕ9�@iĕ9�@���M�4=Y��Q�QU��>�������a��G������y����;}��>I�����Z5�?������ ���A����@9���C�����: ����:)���W�WX X�W :W 2W *W �V UU��� +@�P!*Q%bB�Z%��1FS�/L@�mMpe\����������Z%��d�I���?�H�������������2Q%�V��:Q!�Z%�dӐ��d@N�N�'L�������?�Z%�t����?�O����%��V�y?BQ%{��@ Q%>a�Q%%�@�P%e�9?�P%Ũ9?�P%Y���Q%9���Q%b�@"Q%U�@zLM'�=�LM'�=�LM"��@�LM��r@�A]a3<Ba Ba�Ae6W>*BeM9�Aa�Ae��7�Am���Ai"Cm�)*Cu�GK;RCqCq�CyY�m+89I��G�~>ܑ9ܑIܕHnGiܕ��@�ܕ=�ܑ�ܑ�ܕ��; ݕ��E��>�~j,z����E�AY}B;�@�}B��@y}Bma���}B����}BH�����i��?���@.��?����d:�?�����������{�?����>х?����)lr?�����ڣ��������?)~B;�@ ~B�z^;I~B��CɫY�Y)�Y �YI�YY����@y���uG)�M�= �M>���=M�u=Y��p�QU�?�����a��G����y��<}�?Iȱ����:�ŵ�5�?����:�ŵɶ� Ƶ��A����@9Ƶ�C�ǵ��: ȵ��:)ȵ��:�m uAdded new target pos. range: 56.520000 m, bearing: 274.920988 deg, deltaT: 4.532589 s, approachRate: 0.026474 m/s, LOS rate: -9.156569 deg/s, posRepo size: 4�W �W X X�W:W2W*W�VU���`�BL@U�������?zL��L��L��L���r@�A �v�;B B �A �o>*B �R9�A�A6�7�A}���A"C�)*Cl3:RCC�C!��}� ����}�����}�����}��� �}�G:Y�}�V1y�}�:��}i6)�}��;�9��Y�=�89I�IGuX>�S&�~j,�g��E�AY}:���@�}:<�@y}:�+���}:mX��}:H�����g��?���@���?��� 锡?����w���������?�����$�?����k�v?��� �I�����@���?)~:���@ ~:6a^;I~:��Cɫ9�9)�9 �=���I�9Y�}`�@y�}LuG �����Å�{>�Åf�>�Å�=iÅ�@�Á ą��@)ąn�@Ią��@iąn�@�����M�F=Y���(�QU��>�������a��G������y����;}��>I������5�?���W�� ���A���@9���C���Ǻ: ����:)���W!�W!X! X!�W!:W!2W)*W)�V)U)U5����`��?zLI�LI�LI�LM�s@�Ae=��;Ba Ba�Ae�a>*Be�O9�Ai�Am��7�Am�Ai"Cu�)*Cu�詺RCyCy�CyY�iI��G�>�gQ�~j,�F+��E�AY}2� �@�}2��@y}2k�һ�}2���}2H�����8�?���@=��?�����(�?������������?����<Ԉ?����]z?���`z��������?)~2� �@ ~2�^;I~2��CɫY�Y)�Y �]����I�YY����@y��vG�99�9I�=oGi�=O�@��9��9��9��=��; �=��E)�сI�сi�с��с��с��Ձ,25��wF=M�L=Y��F�QU��>�������a��G������y����;}��>I������5�?���۹� ���A���@9���C�����: ��+�:)���W�WX X�W:W2W*W�VUU���`�Q�?zL9�L9�L9�L=�7s@�AUz~�;BQ BQ�AU�u>*BUqQ9�AY�A],�7�A]a���AY"Ce�)*Cev�9�RCaCa�CiY�-�:9I�9G]>��uu ����u�����u�����u0�� �u'=:Y�u�W1y�uč:��u�6)�u��;�U8�~j,E��E�AY}20�@�}2��@y}2���}2���}2H������.�?�������?�����L�?����ώ�����+"�?�������?����x~?���@�1��������?)~20�@ ~21j^;I~2��CɫI�I)�I �II�IY�}]�@y�}HuG����nA��]P�MeQ=Y�mq'�QUu�>��y���a��G����y���:}M�>I�Q��]�:��U�� 5�?��]�:��Uq�� �U�A��e@9�U�C��Uw�: �U��:)�U��:�W��W�X� X��W�:W�2W�*W��V�U�U�����@'�?zL�L�L�LqBs@�A%k9�;BA BI�AMea>*BMN9�AI�AM��7�AMҽ��AQ"CU�)*C]hCP�RCYCY�CYY�]�:9I�iG�[>�f�~j,�_��E�A�|<�|<ɫ���)�� ��I��Y�-o�@y�-^uGI��4=)��4=��U�ˡE����?i��|?5���� �rh����U�'=��U�� �UC��)�QI�Qy�U����x�&�?�~j�t������S㥛���U7�=��U�Ľ��U/ݼ �U A)�QI�U�Ai�U�A��Q��U�A�õ94��õ^�=�õף;iõ��@�ñ ĵ�@)ĵ�@Iĵ�@iĵ�@���g�;M�5=Y�����QU��>�������a��G������y�����}��>I������� 5�?���f�� ���A���@9��$�C�����: ��M�:)���W �W X X�W:W2W*W�VUU����h��?zL=�=�L=�=�L=~K�@�L=�{z@�AM�V�;BQ BQ�AU�c>*BU O9�AQ�AU �7�A]R���AY��u� ����u�����u�����u��� �uY>:Y�u�Y1y�u�:��u�6�9}@"C}�)*C}��J�RCyC��C�Y�u�<9I��G�^>�5.�>9�1I�5toGi�5��@��1��1��1��5�; �5ӑE�ٌ�~j,g�x��E�AY}R��@�}R��@y}RD���}R��-��}RH���� ��?������?���@@��?���`���������?��� ��?�����Q�?������������B��?)~R��@ ~R�^;I~R��Cɫy�y)�y �}���I�yY���@y��"vG��u�\=Muc=Y�}7��QU}�>��y���a��G����y�W��}��>Iȑ����:�ŕP� 5�?����:�ŕ�� ƕ��A���@9ƕ*�C�Ǖ��: ȕ�:)ȕ��:�W��W�X� X��W�:W�2W�*W��V�U�U�������@zL��L��L��L��Tz@�A�'�;B B �A �w>*B �S9�A�A��7�A꼺�A"C�)*C�S��RCC�C!Y� =9I�G= >�u�~j,1����E�AY}2�@�}2���@y}2�f,��}2�%��}2H��������?�������?�����z�?�������������?���@�L�?��� Č�?����������@���?)~2�@ ~2�p^;I~2��CɫY�Y)�Y �YI�YY��0�@y��KvG鮙ɮ�R=)õ> õ>����<���>���u�i���@�� �O�@)�O�@I�n�@i�O�@��_*<MQ=Y�[6�QU�>�����a�G����!y�%��}-�>I�)��-�� 5�?��-��� �-�A��=@9�-0�C��-��: �-��:)�)�W��W�X� X��W�:W�2W�*W��V�U�U������@�RB*** querying acoustic contact ***�P�PzL)�L)�L)�L-�Az@�Aey�;Ba Ba�Ae�{>*Be�Q9�Aa�Am"�7�Am|���A�"C��)*C��9[8RC�C��C���u( ����q��q��ut�� �umK:Y�qy�q��u*6Yϥ5?9I��G�B>����~j,����E�AY}2O�@�}2��@y}2?��}2�/��}2H�����\��?����B��?����^�?����O�������x�?����Y��?�����߇?��� �D����� :��?)~2O�@ ~2Ԙ^;I~2��CɫI�I)�I �M����I�IY�}�@y�}vG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ****** ����9��I��<pGi��B�@���=���������m�; �� �E���� �I�M K=Y��8�QU�>�����a�G����!y�-�g�}-�>I�1��=�:��5�� 5�?��=�:��5��� �5ҍA��E@9�56�C��5(�: �5��:)�5��:�Wa�WaXa Xi�Wi:Wi2Wi*Wi�VqUyU}���@y& @zL��L��L��L�^6z@�A��r�;B� B��A��v>*Bm�R9�Aq�Au��7�Au ���Aq"C}�)*C}i7�:RCyCy�C�YυY?9I��G�@>����~j,'f���E�AY}2ڣ@�}2��@y}2-RN��}2����}2H�����Y�?��� ��?�����?���@+������rI�?����� �?����ʉ?����嵠����`���?)~2ڣ@ ~2i�^;I~2��Cɫ9�9)�9 �=���I�AY����@y���vG-xDUSBL response received:!U1,P 053,000,0061F,184,80,80,57,FF -Command Ack5BRequesting micromodem ping code 2i�Q��Y���Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76 ���� �����������������b�� �"C:Y�0Y1y���:��<6����>��94����i�G�@�� �)�I�i�9�@��P$=M�=Y���QU��>�������a��G������y�18�}�>I� �� �� 5�?�� /�� � ��A��@9� >�C�� �: � '�:)� �WY�WyXy Xy�Wy:Wy2W�*W��V�U�U����`�q @zL��L��L��L��&z@�A��M�;B� B�A��>*B�O9�A �A C�7�A ����A"C�)*C%t\;RC!C)�C1Y�M vA9I�Y G} �>��� ��� i�e mGI�� i�� ��e�B�ٺi��m7A�Ѳ�~j,4J���E�AY}2�ͣ@�}2�ۛ@y}2q�c��}2���}2H�����k(�?��� ���?����d(�?���`������ ��?����d��?����~�?���`�~����� l��?)~2�ͣ@ ~2��^;I~0ɫ1�9)�9 �=����I�9Y�u��@y�uwG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B �}Ponly read 0 of 1 data item for BIT errorai}@a��} am}@a��} aq}@a��} ae}@a��} ���� �;M��=Y�j��QU�?�����a��G�����y�����}�?I������� 5�?������ ����A���@9��B�C���t�: ����>)���W��W�X� X��W:W2W*W�VU U ������@�A��x;B� B��A�%�>*B��Y9�A��A���7�A�p���A�"C��)*C�fn;RC C �C Y��I� G%N>��9��I���pGi����@���=�����������; ��#�E���~j,K���E�A�|�|�;Y}B�ͣ@�}BAۛ@y}BZnm��}B����}BH���� X'�?����ڔ�?�������?������������?��� 9��?��� ���?��������� m��?)~B�ͣ@ ~B'_;I~@ɫY�Y)�Y �YI�YY���@y��"vG�xDUSBL response received:!U1,R,07F,000,00628,186,80,80,3B,FF �Fpublishing direction and range info����⽩��ɰ�>鰥��> ��)���lBI��y��=dB�����g����?�!�cP����������ٱ�����M�M�9=Y�����QU��>�������a��G������y��ɗ�}��>I������:����� 5�?����:������ ����A��@9��I�C�����: ���=?)����:�W!�W!X) X)�W):W)2W)*W1�V1U1U5����z�@�PA*QE=dB�ZE��p �ZL@ϐ��d>����������ZE��g����?�!�cP����������2QE��:QA�ZE���Q��@Nta=~L�����>��?�ZE�4�;�?�`-i��20r� ��?BQE�O�@ QE�c�QE�,@�PE^�9?�PEe�9?�PE[���QEY���QE��@"QEb�@��} ����}�����}�����}-�� �}K6:Y�}�Y1y�}�:��}�6)�}��;�9���A��U;B� B��A��w>*B�/Q9�A��A�E�7�A�*���A�"C��)*C���_;RC�C��C�YϡI��GI>���j,����E�AY}2|ϣ@�}23ݛ@y}2�s}��}2�/(��}2H������.�?���`~��?�������?��� ���������?�����A�?����%��?�������������?)~2|ϣ@ ~2_;I~2��CɫI�I)�I �II�QY�}��@y�}8wG� DNmea in: $SNTTA,,,,,171215.71*59 ����������=���1�>i���@��� ����@)��n�@I����@i��n�@�����=M�\=Y��Z,�QU��>�������a��G������y��S':}��>I������� 5�?���M�� ����A��@9��N�C�����: ��y�?)���m=uAdded new target pos. range: 57.060005 m, bearing: 272.713280 deg, deltaT: 4.414495 s, approachRate: 0.122325 m/s, LOS rate: -0.500104 deg/s, posRepo size: 4�W9�W9X9 X9�W9:WA2WA*WA�VAUE���@��L@UM�������?�Au�[0;Bq By�A}�>*B}YW9�Ay�A}ϗ7�A}����Ay"C��)*C��Q;RC�C��C�Yύ�C9I��G�>��� j,��-��E�Aɫ�髁)�� ��I��ܙ9ܙIܝqGiܝ��@�ܙ�ܙ�ܙ�ܝ��; ݝR�EY����@y��!wG)�5�= �5�=��u���MuQ=Y�}���QU}�>��y���a��G����y����}��>Iȑ�ŕ � 5�?�ŕ�� ƕt�A���@9ƕT�C�Ǖ��: ȕt�?)ȑ�W��W�X� X��W�:W�2W�*W��V�U�U�����kR�?�A���;B� B��A�Ĉ>*BV9�A�A[�7�Aκ��A"C �)*C�a S;RC�C��C���}B ����y��y��}F�� �}9:Y�yy�y��}<6)�}"�;Yϥ�C9I��G�E>���j,��G��E�AY}Ju�@�}J,��@y}J�r���}J�#��}JH�����P��?����֏�?���@���?��� ������+{�?��� @a�?�����?���@Jo������2��?)~Ju�@ ~J�^;I~J��CɫY�a)�a �e���I�iY����@y��wG �9�9�Å��=�Å�u<�Å��iÅ��@�Á ąn�@)āIąn�@iā����M�H=Y����QU��>�����a��G����y���;}��>Iȱ�ŵ!� 5�?�ŵ��� Ƶb�A���@9ƵZ�C�ǵ �: ȵ��?)ȱ�W��W�X� X��W�:W�2W�*W��V�U�U�������?�A?��:B B�A%%�>*B%�T9�A!�A%�7�A%����A!"C-�)*C5���9RC1C1�C1Y�EhE9I�QGm5>���j,��a��E�AY}20��@�}2��@y}2�y���}2����}2H����@F��?����E��?���@D��?����H����� I��?����-��?�����Β?���`]v����� J��?)~20��@ ~2c�^;I~2��Cɫ9�9)�9 �=����I�9Y�}Q�@y�}�wGai��ai� am��am� aq��aq� ae��ae� ����B`��"��?��MbX���I+��?����N>����ʽ ��94=)��I��y���L7�A`�?bX9�ȶ�����Mb�?���+=���E�����< �A)�AI1Ai�������A���,=M�I=Y���QU��>�����a��G�����y��3�;}��>I������:���P� 5�?����:����� ��l�A���@9��_�C�����: ��+�:)����:�6�JTimed out from 2021-08-13T15:12:17.4Z�&�<lineCaptureDepth is completed.�&�NUninitializing Mission lineCaptureDepthq�����6�PAggregate::uninitialize lineCaptureDepth����� 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***:E�BE��A����B� B�_�@�A�u��*B��A��A��A�`���A�RC��C�Y�}��99�E��:I�QGm>��}�j,����E�AY}:�m�@�}:�{�@y}:�D���}:����}:H����`���?������?�����jJ����@S����`���?�����?�������?������������e��?)~:�m�@ ~:��^;I~:��Cɫ9�9)�9 �=����I�9Y�}��@y�}�UG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******I��@)��@i���������B�M�Q=Y���<QU��>�������a��G���y�����}��>I������:����� 5�?����:���kj߾� ��͗A���@9����C���|�: ��]O?)����:ZF9:F9�AU�D��BQ BUf�@�AU_��*BQ�AY�AY�A]uʺ�AYRCa�CaY�M[�99�-i�:I�9G]2>�����j,���E�AY}2e^�@�}2l�@y}2�py}2pN��}2H�����P��?��� F��?����0�O?�����Z�����=��?����0R�?���@�ܽ?����j碿����s��?)~2e^�@ ~2��^;I~2��CɫY�Y)�a �aI�aY��=�@y��#UG�xDUSBL response received:!U1,P DF5,000,0065A,187,80,80,7C,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�������u��<��u��>��u7��i�uQ�@��q �q)�u�@I�u��@i�uI�@�����M�2=Y���;QU��>�����a��G��y��+��}��>I����� 5�?���k߾� � �A��U@9���C����; �>�?)�ZF�:F��A��p�B� B�m�@�A���*B��A��A��A��Ժ�A�RC�C i�kAI�Y���99Խ3:I��Gj>�݊�j,��-�E�AY}2TW�@�}2e�@y}2jB彙}2����}2H��������?��� ޖ�?����&�k?��� Ca�����ݢ�?����[.�?���@���?�����_���������?)~2TW�@ ~2��_;I~2��Cɫ9�9)�9 �9I�9Y��H�@y���SG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B ��5�=i�5�=i�9��9I�E�=)�A��u~��Mu_=Y�}E^<QU}�>��y���a��G��y�G�}��>Iȉ�ō�� 5�?�ō�l߾� ƍ;�A���@9ƍ��C�Ǎ��: ȍ��?)ȉZF�:F��A�jB�B� B�s�@�A��¾*B��A��A��A�Hܺ�A�RC��C�Y��Ȅ99ԍ�:I��G�>��đ�j,�kG�E�AY}FPM�@�}F[�@y}F<ؽ�}F1H��}FH��������?����-��?�����jw?�����i�������?���`���?������?����͋������o��?)~FPM�@ ~F�`;I~Dɫa�i)�i �m����I�qY����@y��7SG �9�9i�9��9�Í����Í+��Í��<iÍ�@�É č�@)č���Ič3�@ič3�@��#>�M�H=Y�ɀ<QU��>�����a��G��y��C�}��>Iȹ�Ž�� 5�?�Ž�m߾� ƽt�A���@9ƽ��C�ǽl�: Ƚ��@)ȹZF�:F��A�<ؽB� B�{�@�A��̾*B��A��A��A����A�RC��C�Y��y�9i��I��������I��G��>�q�j,�La�E�AY}b�=�@�}b�K�@y}bȽ�}b@���}bH����@���?����ޜ�?�����}�?��� Yt������y�?�����º?��� ���?���`콣����@���?)~b�=�@ ~ba�`;I~b��Cɫ�髙)�� ������I��Y���@y��wSG��DNmea in: $SNTTA,,,,,171256.88*58 i�����ai�ai am�am aq�aq ae�ae �����~j�t�?)\���(�?�������?���>��G�> ���<)�I�y�����S㥫?:��v����J+��?��/]=���Խ���H= �^A)�!AI�fAi��*A�����A��5�t<M5A=Y�5W�<QU=�>��9��9�a=�G��9y�E���}E�>I�I��U�:��M�� 5�?��]�:��M�o߾� �M��A��]@9�M��C��MD�: �M��:)�M��:ZFi:Fi�A}ȽB� B���@�A�ʾ*B��A��A��A����A�RC��C��̝�>�̝�>Y�M�|9I�YG}>�:��j,2"{�E�AY}6)�@�}677�@y}6 <���}6�� ��}6H����`~�?�������?����,��?���������@OV�?���`��?���@���?���@������ ���?)~6)�@ ~6��`;I~4ɫ9�9)�9 �=����I�AY�}>�@y�}�RGi����� ��鿙���f�M�h=Y�f�<QU��>�����a��G��y� �}��>I�����R� 5�?���$q߾� ��ИA���@9����C���$�: ��0�:)��ZF�:F��A� <��B� B���@�A��Ծ*B��A��A��A�%��A�RC�CY���w9I�G%�=�#��j,z���E�AY}2��@�}2�#�@y}2w+���}2I#��}2H������[�?����ߦ�?���@�G�?����=������I4�?���@�D�?���`+?�?��� �U�����`@��?)~2��@ ~2k�`;I~2��Cɫ9�9)�9 �=����I�9Y��Ϫ@y��&RGI��@)��@i��������>��`�=��Ga�i�=�@�� �)��@I��@i��@����MD=Y���<QU�>�����a%�G��!y�%꺻}%�>I�)��-b� 5�?��-�r߾� �-�A��=@9�-��C��-��: �-�:)�)ZFI:FI�-MB*** querying acoustic contact ***:EQBEQ�Aew+��Ba Be��@�Ae:ܾ*Ba�Ai�Ai�Am����AiRCq�CqY�5�q9I�AGe�=�d+��j,'ٮ�E�AY}:��@�}:��@y}:�֜��}:��#��}:H������L�?����ר�?����?�����������&�?��� ���?��� �?��� g������v��?)~:��@ ~:+`;I~:��Cɫ9�9)�9 �=����I�9Y�}}�@y�}�QGi�������bѼM�R=Y�"�<QU��>�����a��G��y��;�}��>Iȹ����:�Ž�� 5�?����:�Ž�t߾� ƽ.�A���@9ƽ��C�ǽI�: Ƚ4�:)Ƚ��:ZF�:F��A����B� B���@�A���*B��A��A��A� ���AqRCq�CyíÍY�Mjl9I�aG}�=���j,����E�AY}]� �@�}]��@y}]�����}]� ��}]H������K�?����ʨ�?����y>�?������������(�?����ӳ?������?����~ ��������?)~]� �@ ~]^`;I~]��Cɫ1�1)�1 �5����I�1Y����@y��QG�xDUSBL response received:!U1,R,2BA,000,06E4C,189,80,80,58,FF �Fpublishing direction and range info���H�����ɰ��@鰕7�> ��)����BI��y���D�����F�*�>�?�w�O���������ٱ�i�����I��a=)��4=��j<=�� 0��� 0�i�G�@�� ��@)���@I���@i���@����M5=Y���<QU�>�����a�G��y�%�}%�>I�)��-y� 5�?��-�v߾� �-c�A��=@9�-��C��-�: �-��:)�)ZFI:FIJEQ�EU�D�EU���G��:�@˷�Ϟ�����������EU��F�*�>�?�w�O����������EUH���EQ�EU��]�9�=�����6~�����b`@�EU�jD�wԿ/ϮaGD��@�?�EU9��@rEU���zEU��REU��9?ZEU��9?bEU���jEUF����EU_C�EUFAA�AuT=��By B}��@�A}��*By�Ay�Ay�A}s��A�RC��C�Y�m�e9I�yG�>��=��j,����E�AY}2� �@�}2X�@y}2��w��}2Ʊ��}2H���� �K�?�������?���`��?����}�������,�?�������?�������?��� �k��������?)~2� �@ ~2��_;I~2��CɫI�I)�I �M����I�IY�}�@y�}QG ����i�������m��E���Ը?��~j�t���z�G�?��m��=��m��� �m �=)�iI�iy�m��~j�t��?!�rh�������Q��?��m��<��ml���m�u= �m�A)�m�!AI�mdAi�mz(A��i��m=A��l�M�S=Y���<QU��>�����a��G��y��}��>Iȩ��-�:�ŭ5� 5�?��5�:�ŭ�w߾� ƭ��A��5@9ƭ��C�ǭ��< ȭё<)ȭ��:ZFA:FA�Au�(��By B}��@�A}��*By�Ay�Ay�A}K��A�RC��C�Yυ&a9I��G�>�rg��j,Dj��E�AY}6Y��@�}6�@y}6��O��}6����}6H�����8�?���� ��?����hǕ?����������@��?���`�I�?����'�?����8���������?)~6Y��@ ~6>�_;I~6��Cɫ9�9)�9 �9I�9Y��z�@y���PGi���!��U9�M]N=Y�]{�<QU]�>��a��a�ae�G��ay�mXc�}m�>I�q��uܴ 5�?��u�x߾� 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������-�M5O=Y�E�<QUE�>��Y��Y�ae�G��ay�e;}��>Iȡ�ť� 5�?�ť�߾� ƥa�A���@9ƥ�C�ǥE= ȥ� =)ȡZF�:F��A]�q�Ba Be�@�Ae� �*B��A��A��A����A�RC��C�Y���39I��G%M>����j,Q��E�AY}>�̧@�}>�ڟ@y}>�R�<�}>E&��}>H��������?����ٱ�?���@b��?����������`���?�����*{���� *�����`e����������?)~>�̧@ ~>u_;I~>��CɫQ�Q)�Q �U����I�YY��i�@y���MG���Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B I�q)�u@i�q��q���\=���`����Q8�i���@��� ��)�� �@I��7�@i��7�@���-�;M�?=Y���<QU��>�������a��G���y����8}��>I������:���.� 5�?����:�����߾� ����A���@9���C�����: ��=�:)����:ZF :F�A%���B! 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�!�!��%���|?5^��j�t�Ŀ�A`��"����%�ҽ��%� � �%Y�)�!I�!y�%��v��/�?:��v����k�t��?��%xi=��%�Խ��% 0= �%�A)�%�&AI�%�'Ai�!��!��%�"A��E�A=MEg=Y�MA�;QUM�>��Q��Q�aU�G��Qy�]��;}]�>I�a��m�:��e�} 5�?��m�:��e̛߾� �e��A��u@9�e.�C��e�; �e;)�e�:ZF�:F��A���;B� B���@�A�G#�*B��A��A��A�u��A�RC��C�I��G��>��]@�j,�� �E�A�|i|�@Y}6� �@�}6��@y}6��=�}6�x��}6H����@�J�?��� ��?���@�k�?���������@�x�?���@������� o������[������@v��?)~6� �@ ~6�a;I~6��CɫQ�Q)�Q �QI�QY����@y���IG�xDUSBL response received:!U1,R,E99,000,00670,186,80,80,9E,FF �Fpublishing direction and range info���g�>���ɰ�>鰡 ��)���CI��y���uB����D���Bq�?_��U��?��������ٱ�I��@)��@i��������ƽM�E=Y��[:QU��>�����a��G��y�� <}��>I���{ 5�?���߾� ��A��]@9�4�C���< �� <)�ZF�:F�JE��E��uB�E��_��92M@zX����2@���������E��D���Bq�?_��U��?���������E�g�>�E��E���dBJeA@���WZ+I�]R!lMB��E��H���0#�?�E��b>�f��e����E��%�@rE�ZI�zE�(BRE���9?ZE���9?bE�V���jE�Y����E�˞>�E�]>@�A-}<B) B-Ĺ@�A5'.�*B1�A1�A1�A5 ��A1RC9�C9I��G�@>��F�j,'k �E�AY}N�(�@�}N:6�@y}N�}�=�}N���}NH���� D��?���@)��?������?���������`��?���@�t�����@�K������| ����� ]��?)~N�(�@ ~N �`;I~N��Cɫq�y)�y �yI�yY�� �@y���IG�=DNmea in: $SNTTA,,,,,171307.79*53 i�A��I��Q��Q���3<M�\=Y�d��QU��>�����a��G��y��!<}��>Iȩ�ŭ�x 5�?�ŭ��߾� ƭ8�A���@9ƭ:�C�ǭU�: ȭ4�:)ȩZF�:F��A�G�=<B� B�ѹ@�A��-�*B��A��A��A����A�RC��C�I�G >�ױL�j,�>5 �E�AY}:t?�@�}:,M�@y}:児=�}:�3��}:H�����a��?����U��?����Y�?����ƅ���� ��?����v뫿���@������`�a���������?)~:t?�@ ~:w`;I~:��Cɫ9�9)�9 �=����I�9Y�yy�y��!i�%�=i�)��)I�5R=)�5C=Y�}�QU}�>��y��y�a��G��y���;}��>Iȉ����:�ō�u 5�?����:�ō��߾� ƍ[�A���@9ƍ@�C�Ǎ��: ȍ��:)ȍ�:ZF�:F��A�F�a<B� B��@�A�.�*B��A��A��A�!��A�RC��C�I��G�=���S�j,�O �E�A�|�;�|4<Y}6�I�@�}6bW�@y}6��=�}6��?��}6H�����B��?���`��?�������?����q������\��?���@�ת��������������槿���`X��?)~6�I�@ ~6�_;I~6��Cɫ9�9)�9 �9I�9Y�}ڣ@y�}�IG ����i�������@��@��@��u/�Mu�<Y�}iB�QU}�>��y��y�a��G��y�4J;}��>Iȉ�ō>s 5�?�ō��߾� ƍ�A���@9ƍF�C�Ǎ��: ȍ��:)ȉZF�:F��A� �<B� B���@�A��0�*B��A��A��A����A�RC��C�I��G���Y�j,<�h �E�AY}6�D�@�}6�R�@y}6� �=�}6��5��}6H��������?�������?������?�����������+��?������������H^������k���������?)~6�D�@ ~6�R_;I~6��Cɫ9�9)�9 �=����I�9Y�}��@y�}[IGi�������m�+�����?�z�Gế{�G�zt?��m�=��m �mף;)�iI�iy�m��������?��~j�t��<�O��n����m�L=��m�����mt� �i)�m�'AI�mz(Ai�m�A��i��m #A)Å> Å>���l�M�I=Y� m�QU�>�����a�G��y�۳�}%�>I�!��5�:��%(q 5�?��5�:��%E�߾� �%x�A��5@9�%K�C��%��: �%M�:)�%�:ZFA:FA�A}�Ǐ<B� B��@�A��2�*B��A��A��A����A�RC��C�I��G��=���`�j,_Ђ �E�AY}2�=�@�}2�K�@y}2��=�}2�n��}2H��������?����(��?���@\\�?��������������?�����O�����`��������b���������?)~2�=�@ ~2N�_;I~2��Cɫ9�9)�9 �=����I�9Y����@y��2IGI�)�i�!��! �!�!��]�'�MeN=Y�m�ɻQUu�>��q��y�a}�G��yy�y�}��>Iȁ�ŅDo 5�?�ŅƦ߾� ƅp�A���@9ƅO�C�Dž��: ȅ/�:)ȁZF�:F��A�uۜ<B� B��@�A�z4�*B��A��A��A� ��A�RC��C�I� G�>���f�j,臭 �E�A�|i|Y}> 9�@�}>�F�@y}>G�|=�}>����}>H��������?���`���?����ٸ�?����4�����@D��?���`z�����ࣙ������9-������H��?)~> 9�@ ~>IJ`;I~>��Ci� mGI�)i�9ɫa�i)�i �iI�i��}�)�ٺy��}�BY��k�@y��IGI��@)��@i������������������åh�>�å\�>�å�'�iå�@�á ĥ�@)ĥ��@Iĥ�@iĥ�@����M�E=Y���QU��>�����a��G���y�����}��>I������:���;m 5�?����:���d�߾� ��h�A���@9��T�C���D�: ��k�:)���:ZF�:F��A�<B B*�@�A �5�*B�A�A!�A-8��A)RC1�C9I�QGm�=���l�j,n�� �E�AY}6�7�@�}6�E�@y}6�)j=�}6����}6H�����*��?���`$��?����%Ѧ?�������������?���@������� *A�������ѝ���� #��?)~6�7�@ ~6�Za;I~6��CɫY�Y)�Y �]����I�YY����@y��dIG鮥p=ɮ�i������¹�½kA�����<M�[=Y���I�QU��>�������a��G���y�����}��>I�����dk 5�?���۩߾� ��a�A���@9��X�C���s�: ����:)��ZF�:F��-B*** querying acoustic contact ***:EBE�A��<B B<�@�AV4�*B�A�A�Al��ARC!�C!I�9G��=�@�s�j,!t� �E�AY}��D�@�}��R�@y}�8SX=�}� ���}�H��������?�������?��� ��?����Ì��������?�����������@/������Du������V��?)~��D�@ ~�"�a;I~���Cɫ���)�� ������I��Y�:�@y� �HGZ****** received transponder code query ******F****** received ping request ******<Arming DUSBL. detectThresh: 758****** ping requested ******���=i��= ��i�1��1I�M>)�M�=��M�=��M�����MQ8=i�M�@��I �I)�M�@I�Ii�M̄@��]���M]=Y�e��QUe�>��a��i�am�G��iy�u&;}u�>I�y��}�:��}Vh 5�?����:��}L�߾� �}U�A���@9�}`�C��}8�: �}/�:)�}�:ZF�:F��A�;�<B� B�Y�@�A��8�*B��A��A��A���A�RC��C�I��G��>�z�j,=� �E�A�|�|Y}6�Z�@�}6�h�@y}64�G=�}6�v��}6H����`��?���@���?������?����������@B �?���@�����@�ݨ����േ�����@]��?)~6�Z�@ ~6��a;I~6��Cɫ9�9)�9 �=����I�9Y��c�@y��IG�xDUSBL response received:!U1,P E99,000,00670,186,80,80,9E,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�������������S�?��MbX�?��~j�t������>����J> �����)��I��y����Q���?B`��"۹�<�O��n�?���\=����ν���t< XA)&%AI�'Ai������f"A��%��<M%�=Y�-i�QU-?��)��)�a5�G��1y�5M<}5?I�9��=2f 5�?��=]�߾� �=\�A��u@9�=d�C��=�; �=�:)�9ZF�:F��A�%}�<B� B�h�@�A�'8�*B��A��A��A�V��A�RC��C�I� GMR>�����j,� �E�AY}2�|�@�}2x��@y}2J\6=�}21��}2H������+�?���@{�?�����?����]������I�?����w�������ɦ�����p.������/��?)~2�|�@ ~2��a;I~0ɫ9�9)�9 �=����I�9Y�}3�@y�}�HG���������Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B i�����)��= ��=����M�x=Y�N�QU� ?�������a��G���y���L<}?I�A��E�c 5�?��E��߾� �Ed�A���@9�Eh�C��E#< �E�<)�AZF�:F��A�7p�<B� B�y�@�A0:�*B�A�A�A���ARC �CI�IGe>��#��j, � �E�AY}2H��@�}2���@y}2��"=�}2�M<��}2H������j�?�����p�?������?����w��������?���`�w�������[������҂�����`���?)~2H��@ ~2��a;I~0ɫY�Y)�Y �]����I�YY���@y���HG�xDUSBL response received:!U1,R,E9B,000,0067D,187,80,80,A4,FF �Fpublishing direction and range info���V��>���ɰ�>鰥1�> ��)���$CI��y���xB���� ڧu�?�E����?��������ٱ�I��)��i����� ������ף���p=>��/ݽi� �@�� �)����I�i��@��%x�M%R=Y�-)I�QU-�>��)��)�a-�G��1y�=�+<}=�>I�A��E�:��Ea 5�?��M�:��E�߾� �Em�A��M@9�Em�C��Ek�: �EV�:)�E�:ZF:FJE�E�xB�E��3^8y�M@�)�� 3@���������E� ڧu�?�E����?���������EV��>�E�E��4�� B@���PBI�1?eV� ��E���e�8��? Ȉ���DK�����E룪@rEJ�zELBRE��9?ZE��9?bEjEV����E@�?�E˞>�A]]�<BY B]��@�Ae�;�*Ba�Aa�Aa�Ae���AaRC��C�I��G�>��O��j,��7 �E�AY}Ny��@�}N1à@y}N�f=�}NE(4��}NH�����z��?�����j�?���`��?����4q����@~��?���@ �����`�ˡ����`�������!��?)~Ny��@ ~N��a;I~N��Cɫy髁)�� ������I��Y��ڢ@y��\HG�DNmea in: $SNTTA,,,,,171312.24*5F i�)��)��uۗ�MuE=Y�u�E�QU}�>��y��y�a}�G��yy���;}��>Iȉ�ō%^ 5�?�ōo�߾� ƍx�A���@9ƍs�C�ǍY�: ȍ{�:)ȉ.�rDetached at range: 62.16 m. Transitioning DDM to standby.ZF�:F��A��R�<B� B���@�A�,>�*B��A��A��A����A�RCq�CqI��G��=��7��j,�Q �E�AY}6ͻ�@�}6�ɠ@y}6���<�}6�,#��}6H�����g��?���@�j�?���@���?���@�p����ຶ�?����y菿�����������a���������?)~6ͻ�@ ~6(�a;I~6��Cɫ9�9)�9 �=����I�9Y�u��@y�}�GGi�������������m吾��m1>��m+>i�m(�@��i �m�@)�m�@I�m3�@i�m�@��}4ҼM}J=Y��^�QU��>�����a��G��y���:}��>Iș����:�ŝ>[ 5�?����:�ŝ�߾� Ɲ��A���@9Ɲy�C�ǝ��: ȝ^�:)ȝ�:2F�ZF�:F��A�QN�<B� B���@�A�{A�*B��A��A��A����A�RC��C�I��G�=��`��j,@�k �E�AY}:縨@�}:�Ơ@y}:���<�}:���}:H��������?�����m�?����@�?���`�r����`J��?���@qu�������������X����� [��?)~:縨@ ~:��a;I~:��CɫY�Y)�Y �YI�YY���@y��jHG��]�=i�]�=i�a��aI�m�=)�m�=����/�$��?<�O��n�?�p= ף������=���t< ����)��I��y������x�&�?��(\�µ������������7�=����������� ���A)���'AI���%Ai��- A�������"A�� ��<MA=Y�G�QU�>�����a�G��y�%�[�}%�>I�)��-Y 5�?��-�߾� �-��A��5@9�-~�C��-A�: �-I�:)�)2FAZFA:FA�A]�(�<BY B]ʺ@�A]*?�*Ba�Aa�Aa�Ae���AaRCi�CqI��G= >��G��j,S^� �E�AY}6���@�}6L��@y}6�Ȟ<�}6�� ��}6H�������?���`�p�?����hj�?��� Vu����@T��?����y��������ؓ����`�3���������?)~6���@ ~6d�a;I~6��CɫY�Y)�Y �YI�YY�e��@y�e�GGi��� ��=2�M=Y=Y�E�M�QUM�>�����a��G��y��z��}��>I�����:���W 5�?���:����߾� ����A��@9����C�����; ���;)���:2F)ZF):F)�A]��<BY Be�@�Ae�B�*Ba�Aa�Aa�Ae���AaRC��C�I��G�>�r��j,�:� �E�AY}2���@�}2L��@y}2 an<�}2 ���}2H�����`��?�����p�?������?���`�u��������?������k���� �ˍ������{������Z��?)~2���@ ~2J7f;I~2��CɫY�]����)�Y �YI�YY��v�@y��IGi����)� �= � ��U`�;��U�H���U\�i�U��@��Q �U�@)�U �@I�U �@i�U �@��er�=MeH=Y�e�A�QUe�>��i��i�am�G��iy�u9�9}u�>I�y��}U 5�?��}�߾� �}��A���@9�}��C��}R�: �}��:)�y2F�ZF�:F��A�d�<B� B-��@�A5�;�*B1�A1�A1�A5���A1RC9�C9I�qG��=�i���j,�� �E�AY}2���@�}2aȠ@y}24�<�}2f��}2H�����-��?����9n�?���`|R�?�����s����`9��?����*1e?����U������@yˢ�����#��?)~2���@ ~2Kg;I~2��Cɫ9�9)�9 �9I�9Y��X�@y���GGI�Q)�QI�]@)�Yi�a��a �i�i�����M�G=Y�2X�QU��>�����a��G��y� ;}��>Iȩ�ŭS 5�?�ŭ�߾� ƭ��A���@9ƭ��C�ǭ/�: ȭ�:)ȩ2F�ZF�:F��A��<B� B��@�A��E�*B��A��A��A�� ��A�RC��C�I� G��=�Ń��j,��� �E�A�|i|�@Y}>�Ȩ@�}>u֠@y}>�Le;�}>�3��}>H����`%��?�����i�?���`�y�?��� �o�����z��?��� ���?������l�����,壿���@���?)~>�Ȩ@ ~>T"f;I~>��Cɫ����)� �����I�%Y�U��@y�U�GG�YɮYi�i��i�ý��>�ý`�;�ý ��iý �@�ù Ĺ)Ľ�@IĽ�@iĽ�@���EX<M�G=Y���`�QU��>�������a��G���y����;}��>I������:����P 5�?����:���.�߾� ����A���@9����C�����: ��(�:)�� �:.DDM at standby.ZF:F �- B*** querying acoustic contact ***:E BE �A�!�<B! B%"�@�A%�D�*B!�A!�A!�A%���A)RC)�C1I�IGe�=�����>���i�%�lGI�Ii�i����$�ٺ�����B�����j,}�� �E�AY}2Ϩ@�}2�ܠ@y}2l�κ�}2���}2H����`D��?����ih�?�����z�?����n��������?���@�q�?������Y?��� #������ ���?)~2Ϩ@ ~2aed;I~2��Cɫ9�9)�A �E����I�IY�}d�@y�}�GG�Z****** received transponder code query ******�F****** received ping request ******�<Arming DUSBL. detectThresh: 75�8****** ping requested ******i�����������K7�A�?��~j�tӿ{�G�z�?���>������ ��ף<)��I��y���y�&1�|? ףp= ���Q��롿���`�;���Q�����\� ���A)���%AI��- Ai��|#A������"A�� �� ��T�M�>=Y��A�QU��>�����a��G��y�=�:}��>Iȩ�ŭ�M 5�?�ŭ�߾� ƭo�A���@9ƭ��C�ǭ�: ȭ/�:)ȩ=.�8Undocking sequence complete.1����,JCompleted DefaultWithUndock:LeaveDock1��� ,fAggregate::uninitialize DefaultWithUndock:LeaveDock����q���.lAggregate::initialize DefaultWithUndock:SurfaceDefault��� /�Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen���1��q���0@Initialize GoToSurfaceComponent.�0�No depth rate setting specified. Using default value of nan m/s.�0~No pitch setting specified. Using default value of nan degrees.�0%�No speed setting specified. Using default value of 1.000000 m/s.�0%�No surface timeout specified. 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